NavCom SF-2110 User Manual Rev.C

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NavCom Technology, Inc.

20780 Madrona Avenue Torrance, California 90503 USA

Tel: +1 310.381.2000 Fax: +1 310.381.2001

sales@navcomtech.com www.navcomtech.com

P/N: 9

3100

3001

SF-2110 User Guide – Rev. C

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SF-2110 User Guide – Rev. C

List of Figures..........................................................iv

List of Tables ............................................................ v

Notices ...........................................................vi

Trademarks ................................................................vi

FCC Notice................................................................ vii

User Notice................................................................ vii

Limited Warranty ....................................................... vii

StarFire Licensing™..................................................viii

USG FAR....................................................................ix

Global Positioning System ......................................... ix

Revision History........................................................x

Use of this Document..............................................xi

Related Documents........................................................xi

SF-2110 Quick Start Guide........................................xi

StarUtil-2110 User Guide...........................................xi

SF-2110 Technical Reference Manual...................... xii

RINEXUtil User Guide...............................................xii

Integrators Toolkit...................................................... xii

NavCom Release Notes............................................ xii

Related Standards.........................................................xiii

ICD-GPS-200 ............................................................xiii

RTCM-SC-104...........................................................xiii

CMR, CMR+..............................................................xiii

NMEA-0183...............................................................xiii

Publicly-Operated SBAS Signals ..............................xiii

RTCA/DO-229D....................................................xiii

WAAS (Wide Area Augmentation System).......... xiv

EGNOS (European Geostationary Navigation

Overlay Service)................................................... xiv

MSAS (MTSAT Satellite-based Augmentation

System)................................................................xiv

GAGAN (GPS Aided Geo Augmented

Navigation)........................................................... xiv

Chapter 1 Introduction .....................................15

System Overview...........................................................15

GPS Sensor System .................................................15

Accuracy....................................................................16

Features … Applies to All Models.............................16

SF-2110 User Guide – Rev. C

Output Data Rate ......................................................16

NCT Binary Proprietary Data.....................................17

NMEA-0183 Data......................................................17

Models...........................................................................18

SF-2110M..................................................................18

SF-2110R..................................................................18

Bluetooth ...................................................................19

Antennae .......................................................................20

Standard....................................................................20

L-band (option – SF-2110R only)..............................20

Controller.......................................................................21

Included Items...........................................................22

Applications...............................................................24

Unique Features............................................................25

Chapter 2 Interfacing........................................ 27

Electrical Power.........................................................27

Communication Ports................................................31

*Event........................................................................35

*1 PPS.......................................................................36

Indicator Panel...............................................................37

Chapter 3 Installation....................................... 41

Standard Antenna .....................................................41

L-Band Antenna (SF-2110R Only)............................43

GPS Sensor...............................................................44

Block Diagrams.........................................................45

Communication Port Connectivity.............................47

GPS Antenna Connector...........................................48

Chapter 4 Configuration ..................................51

Factory Default Output Messages.................................53

Message Descriptions...............................................53

Message Descriptions...............................................55

3rd Party Controller Configuration Settings...............56

Chapter 5 Safety Instructions.......................... 57

Transport...................................................................57

Maintenance..............................................................57

External Power Source..............................................57

Safety First ................................................................58

A GPS Module Specifications.............................59

Features ....................................................................59

Time-To-First-Fix.......................................................60

Dynamics...................................................................60

Measurement Performance.......................................61

SF-2110 User Guide – Rev. C

User programmable output rates...............................61

Data Latency .............................................................62

*1PPS........................................................................62

Connector Assignments............................................62

Input/Output Data Messages.....................................63

LED Display Functions (Default)...............................63

Satellite Based Augmentation System Signals.........63

Physical and Environmental......................................64

B Antenna Specifications ....................................65

Radiation Pattern.......................................................67

Radiation Pattern.......................................................71

C StarFire ..........................................................73

Description.................................................................73

Infrastructure .............................................................74

Reliability...................................................................75

How to Access the StarFire Service..............................77

D *Event Input Configuration...............................79

E CE Declara tion of Conformity..........................81

Glossary ..........................................................83

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SF-2110 User Guide – Rev. C

List of Figures

Figure 1: SF-2110 Supplied Equipment .................. 22

Figure 2: Universal Power Adapter.......................... 28

Figure 3: AC Power Cord ........................................ 28

Figure 4: Power Cable Pin Assignment...................29

Figure 5: SF-2110 Front View With Bluetooth......... 33

Figure 6: SF-2110 Front View Without Bluetooth.... 33

Figure 7: NavCom Serial Cable...............................34

Figure 8: NavCom Serial Cable Pin Assignment.....34

Figure 9: SF-2110M Back View...............................35

Figure 10: SF-2110R Back View.............................35

Figure 11: Indicator Panel – With Bluetooth............ 37

Figure 12: Indicator Panel – Without Bluetooth....... 37

Figure 13: Standard GPS/L-band Antenna.............. 41

Figure 14: SF-2110 Base Plate Dimensions Without

Mounting Brackets.................................. 44

Figure 15: SF-2110 Base Plate Dimensions With

Mounting Brackets.................................. 45

Figure 16: SF-2110M Block Diagram......................46

Figure 17: SF-2110R Block Diagram....................... 46

Figure 18: Communication Port Connections..........47

Figure 19: StarUtil-2110 Rover Navigation Setup ... 56 Figure 20: PN: 82-001017-0001LF Antenna

Dimensions............................................. 66

Figure 21: 82-001017-0001LF Radiation Pattern.... 67

Figure 22: PN: 82-001018-0001LF Antenna

Dimensions (SF-2110R only).................69

Figure 23: PN: 82-001018-0001LF Mounts............. 70

Figure 24: Pipe Mount Adapter for L-band SF-2110R

Antenna.................................................. 70

Figure 25: 82-001018-0001LF Radiation Pattern.... 71

Figure 26: StarFire Network .................................... 78

Figure 27: *Event Cable Wiring Diagram................. 79

Figure 28: *PPS & Event Latch Configuration......... 80

Figure 29: *Event Latch Output Rate Configuration 80 Figure 30: DTE to DCE RS-232 Pin Assignments... 86

SF-2110 User Guide – Rev. C

List of Tables

Table 1: Supplied Equipment...................................23

Table 2: External Power Cable Pin-Out...................27

Table 3: Optional DC Pwr Cable Pin Assignments..29

Table 4A: Port A Serial Cable Pin-Outs...................32

Table 4B: Port B Serial Cable Pin-Outs...................32

Table 5: GPS LED Indication...................................38

Table 6: StarFire Link LED Indication (Default) .......38

Table 7: Data I/O Active LED Indication ..................39

Table 8: Bluetooth Connectivity LED Indication.......39

Table 9: Acceptable Cable Lengths.........................49

Table 10: Factory Default NCT Binary Messages....53

Table 11: Factory Default NMEA Messages............55

Table 12: 82-001017-0001LF Standard Antenna ....65

Table 13: L-band SF-2110R Antenna......................68

Table 14: *Event Wiring Connections......................79

SF-2110 User Guide – Rev. C

Notices

SF-2110 GPS Products User Guide P/N 96-310023-3001 Revision C September 2008

Serial Number:

Date Delivered:

Purchased From:

Copyright

computer program(s) described herein may be reproduced, stored, or transmitted by any means, without the expressed written consent of the copyright holders. Translation in any language is prohibited without the expressed written consent of the copyright holders.

Trademarks

‘find your way’, ‘NavCom Globe’ and ‘NAVCOM TECHNOLOGY’ logos are trademarks of NavCom Technology, Inc. StarFire™ is a registered trademark of Deere & Company. All other product and brand names are trademarks or registered trademarks of their respective holders.

SF-2110 User Guide – Rev. C

FCC Notice

This device complies with Part 15 Subpart B Class B of the FCC Rules. Operation is subject to the following two conditions:

1. This device may not cause harmful interference, and

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

User Notice

NavCom Technology, Inc. shall not be responsible for any inaccuracies, errors, or omissions in information contained herein, including, but not limited to, information obtained from third party sources, such as publications of other companies, the press, or competitive data organizations.

This publication is made available on an “as is” basis and NavCom Technology, Inc. specifically disclaims all associated warranties, whether express or implied. In no event will NavCom Technology, Inc. be liable for direct, indirect, special, incidental, or consequential damages in connection with the use of or reliance on the material contained in this publication, even if advised of the possibility of such damages. NavCom Technology, Inc. reserves the right to make improvements or changes to this publication and the products and services herein described at any time, without notice or obligation.

Limited Warranty

NavCom Technology, Inc., warrants that its products will be free from defects in workmanship at the time of delivery. Under this limited warranty, parts found to be defective or defects in workmanship will be

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SF-2110 User Guide – Rev. C

repaired or replaced at the discretion of NavCom Technology, Inc., at no cost to the Buyer, provided that the Buyer returns the defective product to NavCom Technology, Inc. in the original supplied packaging and pays all transportation charges, duties, and taxes associated with the return of the product. Parts replaced during the warranty period do not extend the period of the basic limited warranty.

This provision does not extend to any NavCom Technology, Inc. products, which have been subjected to misuse, accident or improper installation, maintenance or application, nor does it extend to products repaired or altered outside the NavCom Technology, Inc. production facility unless authorized in writing by NavCom Technology, Inc.

This provision is expressly accepted by the buyer in lieu of any or all other agreements, statements or representations, expressed or implied, in fact or in law, including the implied warranties of merchantability and fitness for a particular purpose and of all duties or liabilities of NavCom Technology, Inc. To the buyer arising out of the use of the goods, and no agreement or understanding varying or extending the same will be binding upon NavCom Technology, Inc. unless in writing, signed by a dulyauthorized officer of NavCom Technology, Inc.

This limited warranty period is one (1) year from date of purchase.

StarFire Licensing™

The StarFire signal requires a subscription that must be purchased in order to access the service. Licenses are non-transferable, and are subject to the terms of the StarFire Signal License agreement. For further details on the StarFire Signal Network, its capabilities, terms and conditions visit www.navcomtech.com send an email inquiry to sales@navcomtech.com

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SF-2110 User Guide – Rev. C

USG FAR

Technical Data Declaration (Jan 1997) The Contractor, NavCom Technology, Inc., hereby

declares that, to the best of its knowledge and belief, the technical data delivered herewith under Government contract (and subcontracts, if appropriate) are complete, accurate, and comply with the requirements of the contract concerning such technical data

Global Positioning System

Selective availability (S/A code) was disabled on 02 May 2000 at 04:05 UTC. The United States government has stated that present GPS users use the available signals at their own risk. The US Government may at any time end or change operation of these satellites without warning.

The U.S. Department of Commerce Limits Requirements state that all exportable GPS products contain performance limitations so that they cannot be used to threaten the security of the United States.

Access to satellite measurements and navigation results will be limited from display and recordable output when predetermined values of velocity and altitude are exceeded. These threshold values are far in excess of the normal and expected operational parameters of the SF-2110 GPS Sensor.

SF-2110 User Guide – Rev. C

Revision History

Added Bluetooth description, specs, text, new photos of front panel with Bluetooth icon, and new block diagrams to include Bluetooth

Rev C (Sept 2008)

Rev B (May 2008)

Revised Included Items Added note that StarFire Satellite

Locations & IDs may change after September 19, 2008

Removed references to 44 message FCC Notice revised;

CE Declaration of Conformity added as Appendix E

RTCA/DO-229C standard updated to RTCA/DO-229D; MSAS & GAGAN added to the organizations implementing the standard

ITRF2000 updated to ITRF2005 (Apr

08) as reference for StarFire position outputs

Added data to the Accuracy section in Chapter 1

Added Caution to Chapter 2: Functionality Rules: Interaction of Front Panel On/Off Switch & Ignition Pin

Updated text and graphics pertaining to StarFire -- new satellite uplink sites

Updated Specs in Appendix A: Measurement Performance –

Updated Velocity from

0.01 m/s to 0.03 m/s Updated StarFire Position (V) Accuracy from <75cm to < 1m

Updated IPPS Accuracy from 15ns to 50ns

Rev A (Dec. 2007) Initial release

SF-2110 User Guide – Rev. C

Use of this Document

This User Guide is intended to be used by someone familiar with the concepts of GPS and satellite surveying equipment.

 Note indicates additional information

to make better use of the product.

This symbol means Reader Be

Careful. Indicates a caution, care, and/or safety situation. The user might do something that could result in equipment damage or loss of data.

This symbol means Danger. You are in

a situation that could cause bodily injury. Before you work on any equipment, be aware of the hazards involved with electrical and RF circuitry and be familiar with standard practices for preventing accidents.

Revisions to this User Guide can be obtained in a digital format from

http://www.navcomtech.com/Support/

Related Standards

ICD-GPS-200

NAVSTAR GPS Space Segment / Navigation User Interfaces Standard. ARINC Research Corporation; 2250 E. Imperial Highway; El Segundo, California 90245

RTCM-SC-104

Recommended Standards For Differential GNSS Service. Radio Technical Commission For Maritime Services; 1800 N. Kent St, Suite 1060; Arlington, Virginia 22209

CMR, CMR+

Compact Measurement Record; Trimble Navigation Limited; 935 Stewart Drive; Sunnyvale, CA 94085

NMEA-0183

National Marine Electronics Association Standard For Interfacing Marine Electronic Devices. NMEA National Office; 7 Riggs Avenue; Severna Park, Maryland 21146

Publicly-Operated SBAS Signals

RTCA/DO-229D

The Radio Technical Commission for Aeronautics (RTCA) develops consensus-based recommendations regarding communications, navigation, surveillance, and air traffic management (CNS/ATM) system issues.

RTCA. 1828 L Street, NW, Suite 805, Washington, DC 20036.

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SF-2110 User Guide – Rev. C

These organizations implement the RTCA/DO-229D standard set by RTCA:

WAAS (Wide Area Augmentation System)

U.S. Department of Transportation. Federal Aviation Administration. 800 Independence Ave, SW, Washington, DC 20591

EGNOS (European Geostationary Navigation Overlay Service)

European Space Agency. 8, 10 rue Mario-Nikis, F-75738 Paris Cedex 15, France.

MSAS (MTSAT Satellite-based Augmentation System)

Japan Civil Aviation Bureau. Ministry of Transport. Kasumigaseki 2-1-3, Chiyoda-ku, Tokyo 100, Japan.

GAGAN (GPS Aided Geo Augmented Navigation)

Indian Space Research Organization. Antariksh Bhavan, New Bel Road, Bangalore - 560 094, India.

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SF-2110 User Guide – Rev. C

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

System Overview

GPS Sensor System

The SF-2110 GPS sensor delivers unmatched accuracy to the precise positioning community. This unique receiver is designed to use NavCom’s StarFire is a worldwide Satellite Based Augmentation System (SBAS) for half meter level position accuracy (postconvergence period). The receiver is also capable of RTCM code and DGPS operating methods. The operating software is also capable of supporting an external radio modem.

network, which

The SF-2110 integrated sensor consists of:

9 14-channel, L1-frequency, precision GPS receiver 9 2 separate SBAS channels, RTCA/DO-229D

compliant (WAAS/EGNOS/MSAS/GAGAN)

9 StarFire

L-Band receiver

There are two models, the SF-2110M and the SF-2110R. Packaging and performance standards of the models are the same; the differences lie in the features, as described later in this chapter. Only SF-2110 sensors with the Bluetooth icon on the front indicator panel are Bluetooth capable (see Figure 11).

The system also includes a wide-band antenna with a built-in LNA and other interconnection accessories outlined in Table 1, later in this chapter.

Subscription Required

* Consult Release Notes on the NavCom web site for availability. 1-15

SF-2110 User Guide – Rev. C

Accuracy

The system provides <50cm position accuracy (postconvergence

period) when StarFire correction signals on the WAAS grid are used, <1m off the WAAS grid.

 System accuracy with WAAS, EGNOS,

MSAS, or GAGAN signals is subject to the quality and update rate of these publiclyoperated signals. Refer to Related

Standards\Publicly-Operated SBAS Signals for contact information regarding

the organizations that implement the RTCA/DO-229D standard.

The system provides <1m position accuracy, when WAAS, EGNOS, MSAS, or GAGAN (RTCA/DO-229D compliant) SBAS correction signals are used.

The system provides <1m position accuracy, when dGPS code correction signals are used.

Features … Applies to All Models Output Data Rate

Both SF-2110 models can output proprietary raw data at programmable rates from < rates up to 10Hz

and Position Velocity Time (PVT) data at programmable rates from < predetermined rates up to 10Hz

1Hz to predetermined

1Hz to

through two 115kbps RS-232 serial ports with less than 100ms latency. <

50cm horizontal and <75cm vertical accuracy are maintained as each output is independently calculated based on an actual GPS position measurement, as opposed to an extrapolation/interpolation between 1Hz measurements.

See Glossary or Web-site;2Separate Software Option Required

1-16 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

NCT Binary Proprietary Data

The sensor can output proprietary raw data containing information including (but not limited to):

9 Satellite Ephemeris (0x81) 9 Raw Pseudorange Measurements (0xB0) 9 Position, Height, & Time (0xB1) 9 Velocity & Heading (0xB1) 9 Signal to Noise (0x86) 9 Channel Status (0x86) 9 Correction Data (mirror data; 0xEC) 9 *Event/Marker 9 Measurement Quality (0xB1 and 0xB5)

These data can be integrated in real-time positioning applications or post-processed against any number of software applications designed to handle NCT or RINEX raw data. The SF-2110 Technical Reference Manual (TRM) is included on the CD with the SF-2110 and is also available on NavCom’s website. The TRM describes the attributes of each of the input/output records (see Related Documents in the fore-matter).

NMEA-0183 Data

The SF-2110 is capable of outputting several standard NMEA-0183 data strings (see Related Standards in the fore-matter). Each data string is headed with GP.

Standard:

9 *ALM – GPS Almanac Data 9 GBS – GNSS Satellite Fault Detection

* Consult Release Notes on the NavCom web site for availability. 1-17

SF-2110 User Guide – Rev. C

9 GGA – GPS Fix Data 9 GLL – Geographic Position – Lat / Lon 9 GSA – GNSS DOP & Active Satellites 9 GST – GNSS Pseudorange Error Statistics 9 GSV – GNSS Satellites In View 9 RMC – Recommended Minimum Specific GNSS

Data

9 VTG – Course Over Ground & Ground Speed 9 ZDA – Time & Date

Models

SF-2110M

This model utilizes a compact dual-band antenna capable of receiving GPS and StarFire signals. This antenna provides excellent phase center stability in a small, robust, lightweight format.

The model is ideal for vehicle mounting to suit a wide variety of machine guidance and control applications in: GIS (Geographic Information Systems) data collection, and Nautical Stationkeeping.

It is equipped with additional features allowing interconnectivity with a variety of antennas and other instrumentation to suit specific applications and configurations.

SF-2110R

The SF-2110R is similar to SF-2110M, except that it includes a separate L-Band antenna (PN: 82-001018-0001LF) for enhanced StarFire

1-18 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

signal reception in challenging environments such as high geographic latitude.

 Both the GPS antenna port (ANT 1) and

the StarFire antenna port (ANT 2 - SF-2110R only) provide 5.0VDC. Care must be taken to select an appropriately rated GPS antenna if the standard NavCom antenna is not used.

Bluetooth

Only SF-2110M and SF-2110R sensors with the Bluetooth icon on the front indicator panel are Bluetooth capable (see Figure 11). The Bluetooth module permits cableless operation between the sensor and a Bluetooth equipped controller. Wireless connectivity is provided within a range of 10 meters (32 feet). The Bluetooth module contains Bluetoothcertified components, and is FCC and CE certified.

 Refer to the StarUtil-2110 User Guide

for instructions to setup Bluetooth communications via the supplied NavCom software utility, StarUtil-2110, (see Related Documents in the fore-matter).

* Consult Release Notes on the NavCom web site for availability. 1-19

SF-2110 User Guide – Rev. C

Antennae

Standard

The standard integrated antenna (PN: 82-0010170001LF) tracks all GPS, WAAS/EGNOS and StarFire signals. Our compact GPS antenna has excellent tracking performance and a stable phase center for GPS L1. The robust housing assembly features a standard 5/8” BSW thread for mounting directly to a surveyor’s pole, tripod, or mast and is certified to 70,000 feet (see Specifications for restrictions).

L-band (option – SF-2110R only)

The L-band antenna (PN: 82-001018-0001LF) tracks StarFire signals. This antenna has excellent tracking performance of geostationary satellites for latitudes furthest from the equator. The robust housing assembly features a flat mounting surface with three mounting holes and a 3m coaxial cable with TNC connectors. The L-Band antenna comes with a pipe mount adapter for one inch diameter pipes (see Figure 24). The SF-2110R uses the SF-2110M GPS antenna to receive the GPS and WAAS/EGNOS signals.

1-20 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

Controller

The SF-2110 GPS sensor is designed for use with an external controller solution connected via one of two serial ports or Bluetooth.

This may be accomplished using a PC, Tablet PC or, Personal Digital Assistant (PDA) and a software program which implements the rich control language defined for NavCom GPS products. Refer to the user’s guide of the controller solution for further information. NavCom lists several application software solutions on our website:

http://www.navcomtech.com/Support/ApplicationSoftware.cfm

In addition, NavCom provides a Windows™ based software utility, called StarUtil-2110, with the receiver.

The StarUtil-2110 User Guide, P/N 96-310027-3001, is available on-line at

http://www.navcomtech.com/Support/DownloadCenter.cfm?categ ory=manuals.

* Consult Release Notes on the NavCom web site for availability. 1-21

SF-2110 User Guide – Rev. C

Included Items

Figure 1: SF-2110 Supplied Equipment

1-22 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

Table 1: Supplied Equipment

SF-2110 GPS Sensor

(SF-2110M P/N 92-310367-3002LF) (SF-2110R P/N 92-310367-3001LF)

Positronic 9-Pin to DB9S Data Cable, 6 ft

(P/N 94-310260-3006LF) L1/L-Band GPS Antenna, Patch

(P/N 82-001017-0001LF) GPS Antenna Cable, 12 ft (x2, SF-2110R only)

(P/N 94-310261-3012LF) Positronic 9-Pin Universal AC/DC Power Adapter

12VDC, 1.25A (P/N 82-020005-3001LF )

CD-Rom containing User Guides, brochures,

software utilities, and technical papers. (P/N 96-314001-3001)

L-Band GPS Antenna, Helix (SF-2110R only)

(P/N 82-001018-0001LF)

8 North American 3-Pin AC power Cord, 10 ft

Mounting Bracket {Shown with GPS Sensor}

(P/N 88-310408-3001LF) Shipping Carton with Label {Not Shown}

(P/N 79-200303-0001) SF-2110 User’s Guide {Not Shown}

(P/N 96-310023-3001 - included on supplied CD) SF-2110 Quick Start Guide {Not Shown}

(P/N 96-310031-3001 Hard Copy) Pipe Mount Adapter for L-Band GPS Antenna, Helix

(SF-2110R only) {see Figure 24}

* Consult Release Notes on the NavCom web site for availability. 1-23

SF-2110 User Guide – Rev. C

Applications

The rugged and reliable SF-2110 GPS series is designed for productivity with minimal setup time. The SF-2110 series is ideal for mounting to suit a variety of machine guidance and control applications as well as for use in backpack GIS and mapping applications. The primary operation mode uses the StarFire service, and offers half-meter accuracy for immediate results in the field (post-convergence period); great for navigation and relocation of existing assets. The two SBAS channels provide free GPS RTCA/DO229D compliant corrections (WAAS/EGNOS/MSAS/ GAGAN), which coupled with NavCom’s enhanced SBAS algorithm typically provide sub-meter real-time accuracy. The receiver also provides sub-meter accuracy using RTCM DGPS code corrections from sources such as USCG beacons (additional equipment required).

Simply connect the controller solution to an available port and receive NMEA format position information, or use a NavCom partner controller solution for additional configuration and monitoring capabilities. The SF-2110 GPS sensors meet the needs of a large number of applications including, but not limited to:

9 Land Survey / GIS 9 Nautical Stationkeeping 9 Asset Location 9 Hydrographic Survey 9 Photogrammetric Survey 9 Machine Control 9 Railway, Ship and Aircraft Precise Location

Several application software solutions are listed on the NavCom website at:

http://www.navcomtech.com/Support/ApplicationSoft ware.cfm

1-24 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

Unique Features

The SF-2110 GPS sensor has many unique features:

 StarFire

The ability to receive NavCom’s unique StarFire correction service is fully integrated within each unit. A single set of corrections can be used globally enabling a user to achieve half-meter level positioning accuracy without the need to deploy a separate base station, thus saving time and capital expenditure.

StarFire position outputs are referenced to the ITRF2005 datum (Apr 08).

 Positioning Flexibility

The SF-2110 is capable of using WAAS, EGNOS, MSAS, GAGAN (RTCA/DO-229D compliant) code corrections via two internal Satellite Based Augmentation System (SBAS) channels. The SF-2110 automatically configures to use the most suitable correction source available and changes as the survey dictates (this feature can be overridden).

 Data Sampling 1Hz std, 5 and 10Hz Optional

GPS L1 raw measurement data is output up to 1Hz in the standard configuration. An optional upgrade allows 5 and 10Hz raw measurement data via either of the two serial ports.

The PVT (Position, Velocity, & Time) data is output at up to 1Hz in the standard configuration. An optional upgrade allows 5 and 10Hz position updates for highly dynamic applications.

Separate Software Option Required

* Consult Release Notes on the NavCom web site for availability. 1-25

SF-2110 User Guide – Rev. C

 GPS Performance

The SF-2110 utilizes a precision GPS engine, which incorporates several patented innovations. The engine’s industry leading receiver sensitivity provides more than 50% signal to noise ratio advantage over competing technologies. This results in improved real time positioning, proven through independent tests, when facing various multipath environments.

 Rugged Design

Units have been tested to conform to MIL-STD-810F for low pressure, solar radiation, rain, humidity, saltfog, sand, and dust.

The rugged design of the SF-2110 system components provides protection against the harsh environments common to areas such as construction sites, offshore vessels, and mines.

1-26 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

Chapter 2 .................................Interfacing

This chapter details the SF-2110 GPS sensor connectors, LED display, appropriate sources of electrical power, and how to interface the communication ports.

Electrical Power

A rear panel 9-pin Positronic male connector provides electrical power to the SF-2110. Pin assignments are given in Table 2; see Figure 4 for pin location on the connector.

Table 2: External Power Cable Pin-Out

Pin Signal Color

1 *1PPS Out Blue 2 Ignition Brown 3 *Event Yellow 4 Power Input Orange 5 Power Return Black 6 Power Input Red 7 Not Used Green 8 Not Used Violet 9 Signal GND Gray

* Consult Release Notes on the NavCom web site for availability. 2-27

SF-2110 User Guide – Rev. C

The SF-2110 is supplied with a universal AC/DC, 12V, 1.25A power adapter (P/N 82-020005-3001LF).

Figure 2: Universal Power Adapter

 Replacement AC power cords are

available through electronics retailers (Radio Shack, Walmart, Best Buy, etc.)

Figure 3: AC Power Cord

2-28 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

P/N 94-310262-3010LF is an optional 10ft (3m) unterminated power cable fitted with a Positronic plug type, used to connect directly to a DC source. The wiring color code and pin assignments are labeled on the cable assembly and provided below.

Table 3: Optional DC Power Cable Pin Assignments

Color Signal Pin No

Blue *1PPS Out 1 Brown Ignition 2 Yellow *Event 3 Orange Power Input 4 Black Power Return 5 Red Power Input 6 Green Not Used 7 Violet Not Used 8 Gray GND 9

Figure 4: Power Cable Pin Assignment

* Consult Release Notes on the NavCom web site for availability. 2-29

SF-2110 User Guide – Rev. C

The GPS sensor is protected from reverse polarity with an inline diode. It will operate on any DC voltage between 9 and 36 VDC, 5 watts (maximum).

 Voltages less than 9VDC will turn the

unit off. To turn the unit on, power must be in the 9 to 36 VDC range. Press and hold the I/O switch in for more than 3 seconds.

Voltages in excess of 36VDC will

damage the unit. The power supply must be well conditioned with surge protection. Vehicular electrical systems which create voltage spikes in excess of 36VDC will benefit from providing power protection during vehicle engine power-up. This can be accomplished through a relay power-on sequence and/or power conditioning (such as a DC to DC converter). Do not connect equipment directly to the vehicles battery without in-line protection (such as a DC to DC converter).

Functionality Rules: Interaction of Front

Panel On/Off Switch & Ignition Pin

9 If the unit is powered off from the front panel

On/Off switch (see Figure 5):

• Applying +7VDC or greater to the Ignition pin (see Figure 4) turns the unit on

• Removing power from the Ignition pin turns the unit off

9 If the unit is turned on from the front panel On/Off

switch, the Ignition pin is over-ridden and will not function.

2-30 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

9 If the unit is turned off from the Ignition pin, the

front panel On/Off switch is over-ridden and will not function.

9 If the unit is turned on from the Ignition pin and

the user wishes to use the On/Off switch for future on/off procedures, the unit must be turned off from the front panel On/Off switch.

Communication Ports

The SF-2110 provides two 9-pin female Positronic connector communication ports labeled Port A and Port B located at the back of the sensor, as shown in Figure 9. Each conforms to the EIA RS232 standard with data rates from 4.8 to 115.2Kbps. The connector pin-outs are described in Table 4A and 5B. The supplied interface data cable (P/N 94-3102603006LF) is constructed as described in Figure 8. The SF-2110 is configured as a DCE device. Laptop and desktop computers are configured as DTE devices, therefore a straight-through cable provides proper connectivity (PC TXD pin 2 connects to SF-2110 RXD pin 2).

New models of the SF-2110 provide Bluetooth wireless connectivity within a range of 10 meters (32 feet). Only SF-2110 sensors with the Bluetooth icon on the front indicator panel are Bluetooth capable (see Figure 11). The Bluetooth module contains Bluetooth-certified components. The data rate for Bluetooth communications is 230.4Kbps.

* Consult Release Notes on the NavCom web site for availability. 2-31

SF-2110 User Guide – Rev. C

Table 4A: Port A Serial Cable Pin-Outs

(P/N 94-310260-3006LF)

Positronic

Pins

Signal Nomenclature

[DCE w/respect to DB9]

1 Not connected 2 Not connected 3 *1PPS 8 4 RXD RS-232 3 5 TXD RS-232 2 6 Not connected 7 7 Not connected 8 Not connected 9 GND 5

Table 4B: Port B Serial Cable Pin-Outs

(P/N 94-310260-3006LF)

Positronic

Pins

Signal Nomenclature

[DCE w/respect to DB9]

1 Not connected 2 Not connected -

DB9S

Pins

DB9S

Pins

3 RD+ RS-422 8 4 RXD RS-232 / RD- RS-422 3 5 TXD RS-232 / TD- RS-422 2 6 TD+ RS-422 7 7 Not connected 8 Not connected 9 GND 5

2-32 * Consult Release Notes on the NavCom web site for availability.

Power/GPS

Status

Figure 5: SF-2110 Front View With Bluetooth

StarFire

Status

On/Off

SF-2110 User Guide – Rev. C

Data I/O

Activity

Bluetooth

Connectivity

Power/GPS

Status

StarFire

Status

On/Off

Data I/O

Activity

Figure 6: SF-2110 Front View Without Bluetooth

* Consult Release Notes on the NavCom web site for availability. 2-33

SF-2110 User Guide – Rev. C

Figure 7: NavCom Serial Cable P/N 94-310260-

3006LF

PN: 94-310260-3006LF

Positronic

NavCom

Receiver

Port A / Port B

1 2

1PPS / RD+ RS-422

RD RS-232 / RD- RS-422

4 5

TD RS-232 / TD- RS-422

NC / TD+ RS-422

7 8

GND / GND

Figure 8: NavCom Serial Cable Pin Assignment

DB9S

07-00048-E

1 2 3 4 5 6 7 8 9

2-34 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

TNC Connector 1

L1/StarFire Antenna

Figure 9: SF-2110M Back View

TNC Connector 1

L1 Antenna

Port A

RS232

Power

Port

Port B

RS232/422

(switchable)

Power

Port

TNC Connector 2

Optional Separate

StarFire Helix

Antenna

Port A

RS232

Port B

RS232/422

(switchable)

Figure 10: SF-2110R Back View

*Event

The SF-2110 accepts an event input pulse to synchronize external incidents requiring precise GPS time tagging, such as aerial photography. For example, the action of a camera’s aperture creates an input pulse to the Event port. The SF-2110 outputs

* Consult Release Notes on the NavCom web site for availability. 2-35

SF-2110 User Guide – Rev. C

position and time information relative to each photograph taken.

Specifications:

9 50 Ohm input impedance 9 3Vdc > Input Voltage, High < 6Vdc 9 0Vdc < Input Voltage, Low < 1.2Vdc 9 Minimum pulse width, 100nsec 9 Rising or Falling edge Synchronization

Connecting the shared EVT MKR port requires a nine pin, cable fitted with a Positronic plug, NavCom P/N 94-310262-3010LF.

 An *event latch interface unit may be

necessary if the input device pulse is unable to drive the input.

Detailed specifications of the Event Input, cable wiring, and configuration may be found in Appendix D of this User Guide.

*1 PPS

A pulse is available from the SF-2110 at an output rate of once per second. This pulse can be used for a variety of Time/Mark applications where relative timing is required.

Specifications:

9 15ns relative accuracy 9 Better than 100ns absolute accuracy 9 50 Ohm, TTL level 9 Pulse width, default 100mS, range 10 – 999mS 9 Pulse delay, default 0mS, range 0 – 999mS 9 Rising or Falling Edge Synchronization

2-36 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

Indicator Panel

Figure 11: Indicator Panel – With Bluetooth

Figure 12: Indicator Panel – Without Bluetooth

The indicator panel provides a quick status view of the GPS navigation/operating mode, StarFire signal strength, the On/Off (I/O) switch, and, in new models, Bluetooth connectivity, respectively.

To power the unit on or off, depress the I/O switch for more than 3 seconds. All LEDs illuminate for a period of 3-5 seconds during power-up of the GPS sensor.

 Refer to the Functionality Rules on page 2-30

for details on powering on/off the unit.

* Consult Release Notes on the NavCom web site for availability. 2-37

SF-2110 User Guide – Rev. C

 GPS LEDs

Table 5: GPS LED Indication

Icon

Indicator Status Description

Off

Power on but not

Acquiring GPS

(no nav 2D/3D fix yet)

Tracking GPS

satellites (nav fix)

Power/GPS

Red

Green

Blinking

Green

 The GPS LEDs blink at the PVT

positioning rate (1, 5, or 10Hz)

 StarFire Link LEDs

Table 6: StarFire Link LED Indication (Default)

Icon

Indicator Status Description

No StarFire signal No StarFire License

Acquiring StarFire signal Tracking StarFire signal

StarFire Link

Red Red

Blinking

Green

Blinking

Green

Power off

tracking

satellites

2-38 * Consult Release Notes on the NavCom web site for availability.

 Data I/O Active LEDs

Table 7: Data I/O Active LED Indication

SF-2110 User Guide – Rev. C

Icon

Indicator Status Description

No data output Data I/O active

Data

Red

Green

Blinking

 Bluetooth Connectivity LEDs

Table 8: Bluetooth Connectivity LED Indication

Icon

Indicator Status Description

Red

Bluetooth

Blue

No Bluetooth connection

Bluetooth connection active

* Consult Release Notes on the NavCom web site for availability. 2-39

SF-2110 User Guide – Rev. C

This page is left blank intentionally

2-40 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

Chapter 3 .................................Installation

This chapter provides guidance on hardware installation for optimum performance.

Standard Antenna

The 5/8 inch BSW threaded antenna mount has a depth of 16mm (0.63 inch).

The BSW insert is secured in-place with an

adhesive, and its removal will change the shock and vibration sustainability characteristics of the antenna mount.

Figure 13: Standard GPS/L-band Antenna

Do not loosen or remove the Phillips screws

on the base of the antenna for mounting purposes. This will VOID the warranty and compromise the environmental seal of the antenna, leading to internal damage.

9 Antenna placement is critical to good system

performance. Avoid antenna shading by buildings, rooftop structures, foliage, hills/mountains, etc.

9 Locate the antenna where it has a clear view of

the sky, to an elevation angle of 7º if possible. Obstructions below 15º elevation generally are not a problem, though this is dependent on satellite availability for the local region.

* Consult Release Notes on the NavCom web site for availability. 3-41

SF-2110 User Guide – Rev. C

9 Avoid placing the antenna where more than 90º

azimuth of the sky is obstructed. When more than 90º of azimuth is shaded, it is often still possible for the reciever to navigate, however, poor satellite geometry (due to satellite shading) will provide poor positioning results. Even 10º of shading can have a negative effect on performance, though this generally is not the case.

9 Avoid placing the antenna on or near metal or

other electrically reflective surfaces.

9 Do not paint the antenna enclosure with a

metallic-based paint.

9 Avoid placing the antenna near electrical motors

(elevator, air conditioner, compressor, etc.)

9 Do not place the antenna too close to other active

antennas. The wavelength of L1 is 0.19m. The minimum acceptable separation between antennas is 1m (39 in), which provides 6dB of isolation. For 10dB of isolation, separate the GPS antennas by 2.5m (8ft), and for 13dB of isolation (recommended) separate the antennas by 5m (16ft).

9 Active antennas (those with LNA’s or amplifiers)

create an electrical field around the antenna. These radiated emissions can interfere with other nearby antennas. Multiple GPS antennas in close proximity to each other can create multipath and oscillations between the antennas. These add to position error or the inability to process the satellite signals.

9 Most antenna’s have better gain when the satellite

is high in elevation. Expect tracking performance to fade as the satellite lowers in elevation. It is not unusual to see 10dB difference in antenna gain

3-42 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

(which translates into signal strength) throughout the entire elevation tracking path.

9 Map obstructions above the horizon using a

compass and inclinometer. Use satellite prediction software with a recent satellite almanac to assess the impact on satellite visibility at that location (available on NavCom’s website).

9 A clear line of sight between the antenna and the

local INMARSAT satellite is required to track the StarFire signal. INMARSAT satellites are geosynchronized 35,768kms above the Equator, currently at Longitudes 15.5° West, 098° West, 142° West, 025° East, 109° East, and 143.5° East. An inclination and bearing estimation tool is available on NavCom’s website to aid in determining potential obstructions to StarFire signal.

 StarFire Satellite locations and IDs may

change after September 19, 2008, as replacement satellites are brought into service for aging satellites.

L-Band Antenna (SF-2110R Only)

The separate L-band antenna for the SF-2110R is used in high latitude applications and most frequently on marine vessels. This is an active antenna, meaning it has a built-in LNA. Therefore, this antenna should have good isolation from other near-frequency antennae. The best practice is to follow the same precautions as the standard GPS antenna. On platforms with many antenna systems, it is better to locate the standard GPS antenna closer to the wheelhouse, but out of the radar or satcom beam path and the L-band antenna high on the mast. For best performance, do not allow more than 7dB of cable loss between the antenna and the receiver.

* Consult Release Notes on the NavCom web site for availability. 3-43

SF-2110 User Guide – Rev. C

Applications at high latitudes without the L-band antenna should mount the GPS antenna high on the mast, with the same considerations for beam path avoidance and cable loss limitations.

GPS Sensor

Mount the SF-2110 GPS sensor to a flat surface. Shock isolators suitable for 1.8kg (4lbs) may be necessary for environments with high vibration, i.e. Earth moving equipment or aircraft installation.

The SF-2110 can be installed in a backpack for mobile surveying applications.

Do not place the sensor in a confined space or where it may be exposed to excessive heat, moisture, or humidity.

There are no user serviceable parts

inside the SF-2110 GPS sensor. Removing the screws that secure the front end and rear end plates will void the equipment warranty.

Figure 14: SF-2110 Base Plate Dimensions

Without Mounting Brackets

3-44 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

Figure 15: SF-2110 Base Plate Dimensions

With Mounting Brackets

Block Diagrams

The SF-2110 has three user configurable physical communications ports (two external and one internal) and several logical communications ports. New SF-2110 models include a Bluetooth module which provides wireless communication with a Bluetooth enabled controller. To aid in distinguishing these ports, please refer to the block diagrams below.

(Continued)

* Consult Release Notes on the NavCom web site for availability. 3-45

SF-2110 User Guide – Rev. C

* *

Figure 16: SF-2110M Block Diagram

* *

Figure 17: SF-2110R Block Diagram

3-46 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

Communication Port Connectivity

There is no default control port on the receiver. Establish communications via Bluetooth or a data cable:

9 Setup Bluetooth communications via either

StarUtil-2110 or a third party software/utility.

9 Connect the supplied Positronic 9-Pin connector

of the serial cable (P/N 94-310260-3006LF) to Port A or Port B of the SF-2110. Connect the DB9 end to the control device.

 Figure 18 shows a common configuration with

the control device connected to Port A and an auxiliary device connected to Port B for data logging.

 Some devices may require an additional

adapter. The receiver is configured as a DCE device.

Figure 18: Communication Port Connections

* Consult Release Notes on the NavCom web site for availability. 3-47

SF-2110 User Guide – Rev. C

GPS Antenna Connector

The connector used on the SF-2110 is a TNC female, labeled ANT 1 on the rear panel of the sensor as shown in Figure 9.

 Both the GPS antenna port (ANT 1)

and the StarFire antenna port (ANT 2 - SF-2110R only) provide

5.0VDC, 150mA. Do not disconnect the antenna when the GPS unit is powered on.

The system is supplied with 12ft (3.6m) of RG58/U cable (P/N 94-310261-3012LF). The cable is fitted with two straight male TNC connectors.

The cable length between the antenna and SF-2110 should not exceed 7dB loss at 1.575GHz for optimum performance, though the system may tolerate up to 10dB of cable loss with minimal performance. Lower elevation satellite tracking suffers the most with more than 7dB insertion loss.

3-48 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

Table 9: Acceptable Cable Lengths

Cable

Type

RG-58C 19.605 36.00 7.06 64.32 11.00 7.08 RG-142 16.494 43.00 7.09 54.12 13.00 7.04 RG-213 9.564 74.00 7.08 31.38 22.50 7.06 RG-223 17.224 41.00 7.06 56.51 12.50 7.06 LMR600 3.407 207.00 7.05 11.18 63.00 7.04 LMR400 5.262 133.00 7.00 17.26 41.00 7.08 LMR240 10.127 70.00 7.09 33.23 21.00 6.98 LMR195 14.902 47.00 7.00 48.89 14.00 6.85

Atten.

(dB) per

100 Ft.

Cable Length in Feet

Loss in dB

Atten.

(dB)

per

100 m

Cable

Length

Meters

Loss in dB

In-line amplifiers suitable for all GPS frequencies may be used to increase the length of the antenna cable, but care should be exercised that tracking performance is not degraded due to multiple connections, noise from the amplifier, and possible ingress of moisture and dust to the in-line amplifier. In-line amplifier or splitter devices must pass DC power from the receiver to the antenna, or source the appropriate voltage and current to the antenna (see Antenna Specifications). In-line amplifiers may also over-saturate the receiver front-end if improperly used.

 The antenna cable can degrade signal

quality if incorrectly installed, or the cable loss exceeds NavCom specifications. Take care not to kink, stretch, distort, or damage the antenna cable. Do not place the cable adjacent to cables carrying electrical power or radio frequencies. In these instances, attempt to cross cables at 90º angles in an effort to reduce crosscoupling of RF signals.

* Consult Release Notes on the NavCom web site for availability. 3-49

SF-2110 User Guide – Rev. C

Where the GPS antenna is exposed to

sources of electromagnetic discharge such as lightning, install a properly grounded in-line electrical surge suppressor between the GPS sensor and antenna. Install protective devices in compliance with local regulatory codes and practices. Protective devices must pass DC power from the receiver to the antenna.

3-50 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

Chapter 4 ...............................Configuration

The SF-2110 has a rich interface and detailed control language, allowing each unit to be individually tailored to a specific application.

There are essentially 3 methods available to configure and control the SF-2110:

9 StarUtil-2110 – This program is a NavCom

developed utility designed to configure and view many (but not all) of the SF-2110 functions. In addition to its setup capabilities, StarUtil can capture and log data, upload new software and licenses to the internal processors, and query and display various receiver performance functions. Though it is developed as an Engineering tool, it has its own place in the commercial market as well. The program is provided on the CD with the SF-2110.

9 3rd party controller – Some manufacturers have

already integrated NavCom’s control features in their bundled hardware and software solution kits in a variety of applications including GIS, Machine Control, Aerial Photogrammetry, Land & Oceanographic Survey, Agriculture, and Military products. Information on these applications is available from the NavCom website and customer service.

9 User Program – Users may develop unique

operating programs to control the SF-2110 (potentially in conjunction with other devices or utilities). To facilitate this effort, NavCom has an additional tool available: the SF-2110 Technical Reference Manual (TRM). The TRM is provided on the CD with the SF-2110. Information on this tool is also available on the NavCom website and customer service.

* Consult Release Notes on the NavCom web site for availability. 4-51

SF-2110 User Guide – Rev. C

Ports A and B, and Bluetooth Virtual COM Port There is no default control port on the receiver. When

either port is connected to control software (such as StarUtil-2110), that port becomes the control port.

 PORT A

9 Configuration – Control or Data Port 9 Rate – 57.6kbps

This port is normally used to input and output proprietary messages used for navigation and receiver setup. Table 10 describes the default messages needed to best initiate surveying with minimal effort.

The user has full control over the utilized message types and their associated rates via either StarUtil-2110 or a third party software/utility.

 PORT B

9 Configuration – Control or Data Port 9 Rate – 57.6kbps

This port is normally used to output data to other devices or machines that can make immediate use of the precise positioning data available from the SF-2110. The data port outputs NCT Binary Messages and NMEA Messages, and when applying external dGPS corrections, also serves as the dGPS correction input port.

 BLUETOOTH VIRTUAL COM PORT

9 Configuration – Control Port 9 Rate – 230.4kbps

The PC’s virtual COM port is used to input and output proprietary messages used for navigation and receiver setup. Table 10 describes the default messages needed to best initiate surveying with minimal effort.

4-52 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

The user has full control over the utilized message types and their associated rates via either StarUtil-2110 or a third party software/utility.

Factory Default Output Messages

 NCT Binary Messages

Table 10: Factory Default NCT Binary Messages

Msg Rate Description 81 On Change Ephemeris 86 On Change Channel Status A0 On Change Alert Message AE 600 Seconds Identification Block B0 On Change Raw Measurement Data B1 On Change PVT Solution

 The term “On Change” indicates that

the SF-2110 will output the specified message only when the information in the message changes. On occasion, there may be an epoch without a message block output. Refer to StarUtil-2110 User Guide.

Message Descriptions

The following message descriptions are fully defined in the SF-2110 Technical Reference Manual (see Related Documents)

9 81 Packed Ephemeris:

Individual satellite tracking information including: GPS Week number of collected ephemeris, GPS Time of week [in seconds] of collected

* Consult Release Notes on the NavCom web site for availability. 4-53

SF-2110 User Guide – Rev. C

ephemeris, IODC, and sub-frame 1, 2, and 3 data.

9 86 Channel Status:

Receiver channel status information containing: the GPS week, GPS Time of Week, number of satellites viewed/tracked, PDOP, tracked satellite identity, satellite elevation and azimuth, C/No for the L1 signals, and correction age for each satellite.

9 A0 Alert Text Message:

Details message receipt and processing.

9 AE Identification Block:

Details the receiver software versions (GPS Engine, and Processor) and digital serial numbers.

9 B0 Raw Measurement Data:

Raw Measurement Data Block containing: the GPS Week, GPS Time of Week, Status, Channel Status, CA Pseudorange, and L1 Phase. This data stream is repeated for each individual tracked satellite.

9 B1 PVT (Position, Velocity, and Time):

Provides: GPS Week number, satellites used, latitude, longitude, navigation mode, and DOP information.

4-54 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

 NMEA Messages

Table 11: Factory Default NMEA Messages

Msg Rate Description GGA On Change GPS Fix Data

VTG On Change

Course Over Ground & Ground Speed

Message Descriptions

9 GGA GP S Fix Data:

Time, position and fix related data.

9 VTG Course Over Ground & Ground Speed:

The actual course and speed relative to the

ground.

 Rover Navigation Setup

NavCom’s StarUtil-2110 provides Rover setup capabilities in the Rover / Navigation & Tracking

Setup window shown in Figure 19. Refer to the StarUtil-2110 User Guide, included on the CD with

the SF-2110, for details.

* Consult Release Notes on the NavCom web site for availability. 4-55

SF-2110 User Guide – Rev. C

Figure 19: StarUtil-2110 Rover Navigation Setup

3rd Party Controller Configuration Settings

Please refer to the third party controller solution manual/user guide if the SF-2110 GPS sensor is part of an integrated solution.

4-56 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

Chapter 5 .................... Safety Instructions

The SF-2110 GPS sensor is designed for precise navigation and positioning using the Global Positioning System. Users must be familiar with the use of portable GPS equipment, the limitations thereof and these safety instructions prior to use of this equipment.

Transport

Always carry the NavCom equipment in either the original packing material or packaging which provides protection to the receiver and antenna against shock and vibration.

Utilize all original packaging when transporting via rail, ship, or air.

Maintenance

The NavCom equipment may be cleaned using a new lint free cloth moistened with pure alcohol.

Connectors must be inspected, and if necessary cleaned before use. Always use the provided connector protective caps to minimize moisture and dirt ingress.

Inspect cables regularly for kinks and cuts as these may cause interference and equipment failure.

Damp equipment must be dried at a temperature less than +40°C (104°F), but greater than 5°C (41°F) at the earliest opportunity.

External Power Source

The SF-2110 is supplied with an external power cable (P/N 94-310262-3010LF). This must be connected to the chosen external power solution in accordance with Chapter 2 Interfacing\Electrical Power. It is

5-57

SF-2110 User Guide – Rev. C

important that the external power source allow sufficient current draw for proper operation. Insufficient supplied current will cause damage to the external power source.

If the chosen external power source is a disposable battery, please dispose the battery in accordance with the local regulations.

Safety First

The owner of this equipment must ensure that all users are properly trained prior to using the equipment and are aware of the potential hazards and how to avoid them.

Other manufacturer’s equipment must be used in accordance with the safety instructions issued by that manufacturer. This includes other manufacturer’s equipment that may be attached to NavCom Technology, Inc. manufactured equipment.

Always use the equipment in accordance with local regulatory practices for safety and health at work.

There are no user serviceable parts inside the SF-2110 GPS sensor. Accessing the inside of the equipment will void the equipment warranty.

Take care to ensure the SF-2110 does not come into contact with electrical power installations, the unit is securely fastened and there is protection against electromagnetic discharge in accordance with local regulations.

5-58

SF-2110 User Guide – Rev. C

A.................... GPS Module Specifications

The technical specifications of this unit are detailed below. NavCom Technology, Inc. is constantly improving, and updating our technology. For the latest technical specifications for all products go to:

http://www.navcomtech.com/Support/

These GPS sensors are fitted with an internal Lithium coin cell battery used to maintain GPS time when power is removed from the unit. This allows faster satellite acquisition upon unit power up. The cell has been designed to meet over 10 years of service life before requiring replacement at a NavCom approved maintenance facility.

Features

9 Fully integrated receiver in robust housing 9 "All-in-view" tracking on 16 channels

(14 L1 GPS + 2 SBAS)

9 Global half-meter level accuracy using StarFire

corrections

9 Fully automatic acquisition of StarFire

broadcast

corrections

9 2 separate SBAS channels, RTCA/DO-229D

compliant (WAAS/EGNOS/MSAS/GAGAN)

9 L1 C/A code with carrier phase smoothing 9 User programmable measurement and

navigation data rates

9 Minimal data latency 9 Output format NMEA 0183 or NavCom

proprietary binary

9 Bluetooth capable in new models

* Consult Release Notes on the NavCom web site for availability. A-59

SF-2110 User Guide – Rev. C

9 *1PPS Output 9 *Event Marker 9 Accessories Included: AC/DC adapter, Antenna,

Antenna cable, Data cable, Mounting brackets, Documentation/Software CD

9 Software included: Command and Control Utility,

Raw binary to RINEX 2.X Conversion Utility

9 Certification: FCC Part 15 Class B, CE 9 Indicator LEDs: Power/GPS status, StarFire

status, Interface status, Bluetooth connectivity

9 Rugged and lightweight package for mobile

applications

9 User programmable output rates 9 Output of NMEA 0183 v3.1 messages

Time-To-First-Fix

Cold Start

Satellite Acquisition

Satellite Reacquisition

< 45 Seconds (typical/without Almanac)

< 1 second outage time;

immediate reacquisition

< 30 seconds software, typical; with outage time < 65 seconds

> 65 seconds outage time requires full acquisition process

Dynamics

Acceleration: 4g Speed: < 1000knots (515 m/s1) Altitude: < 60,000 ft1 (18.3 km)

Restricted by export laws

A-60 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

Measurement Performance

Real-time StarFire SBAS Accuracy

Position (H):

Position (V):

Velocity:

Without WAAS IONO

<50 cm <1 m

0.03 m/s

<1 m H; <1.5 m V

Real-time WAAS/EGNOS/MSAS/GAGAN SBAS Accuracy

Position (H):

Position (V):

Velocity:

<1 m <2 m

0.03 m/s

RTCM Code Differential GPS <200km (RMS)

Position (H):

Position (V):

Velocity:

<1 m <2 m

0.03 m/s

Pseudo-range Measurement Precision (RMS)

Raw C/A code :

Raw carrier phase

noise:

90cm 5 mm

User programmable output rates

SF-2110M

PVT 1Hz Standard

5 & 10Hz Optional

Raw data 1Hz Standard

5 & 10Hz Optional

SF-2110R

PVT

1Hz Standard 5 &10Hz Optional

Raw data

1Hz Standard 5 & 10Hz Optional

* Consult Release Notes on the NavCom web site for availability. A-61

SF-2110 User Guide – Rev. C

Data Latency

PVT < 100 ms at all rates Raw data < 100 ms at all rates

*1PPS

Accuracy: 50ns (Relative; User

Configurable)

Connector Assignments

Port A RS-232 serial port, from 4800

bps to 115.2 kbps *1PPS

Port B RS-232/RS-422 serial port, from

4800 bps to 115.2 kbps

Port C Power port, from 9V to 36V

*Event Marker *1PPS

Bluetooth 1 Serial Port Service, 230.4kbps

10m (32 ft) range

A-62 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

Input/Output Data Messages

NCT Proprietary Data

NMEA-0183 Messages

(Output Only) Code Corrections RTCM 1 or 9; 3

PVT, Raw Measurement Satellite Messages Nav Quality Receiver Commands

*ALM, GGA, GLL, GSA, GST, GSV, RMC, VTG, ZDA, GBS, and GRS

WAAS/EGNOS/MSAS/GAGAN StarFire

 See Related Standards at the front of

this manual for information on the various data formats

LED Display Functions (Default)

GPS Link

Data I/O Active Bluetooth

Satellite Based Augmentation System Signals

Position Quality StarFire Signal Strength

Data I/O Status Bluetooth Connectivity

RTCA/DO-229D Standard (WAAS/EGNOS/MSAS/GAGAN) StarFire

* Consult Release Notes on the NavCom web site for availability. A-63

SF-2110 User Guide – Rev. C

Physical and Environmental

Size (L x W x H): w/o Bracket

Size (L x W x H): with Bracket

< 8.3 x 4.7 x 2.5(in) (211 x 119.4 x 63.5)mm

< 8.3 x 6.55 x 2.56(in)

(211 x 166 x 65)mm Weight: 1.7lbs (0.77 kg) External Power:

Input Voltage: Consumption:

Connectors:

I/O Ports: DC Power: GPS/L-Band Antenna: L-Band Antenna:

Antenna Power: ANT 1: ANT 2 (SF-2110R

9 VDC to 36 VDC

<5 W

2 x 9 pin Circular

1 x 9 pin Circular

TNC-F

TNC-F (SF-2110R Only)

5.0 VDC, 150mA

Only):

Temperature (ambient)

Operating

Storage:

-30º to +70º C

(-22º to +158º F)

-40º to +85º C

(-40º to +185º F) Humidity: 95% non-condensing

A-64 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

B........................... Antenna Specifications

Table 12: 82-001017-0001LF Standard Antenna

Frequency 1525-1660 MHz

GPS L1 plus StarFire Polarization Right Hand Circular (RHCP) Pre–Amplifier 35dB gain (+/-1.2dB) Noise Figure <2.1dB Filter Rejection 9dB @ 1690MHz

21dB @ 1626MHz

38dB @ 1660MHz Impedance 50 Ohms VSWR / RL Band Rejection 20dB @ 250MHz RF Power Handling +30dBm (1 W) Input Voltage 2.5 – 24 VDC Power Consumption 0.2W

Cable Connector TNC Female Operating Temp Altitude 70,000ft; 21,336m Finish Skydrol resistant

Material 6061-T6 Aluminum alloy

Weight 397g (14oz) Vibration >30g’s

≤ 2.0:1 / 9.54dB min.

39mA +

-55°C to +85°C

polyurethane Enamel with

nickel plated base

base composite radome,

impact, abrasion, UV,

solvent, skydrol resistant,

and fire retardant

10mA @ 5VDC

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Designed to FAA TSO-C144, DO-160D,

D0-228, MIL-C-5541, MIL-E5400, MIL-I-45208A, MILSTD-810, AND SAE J1455

Figure 20: PN: 82-001017-0001LF Antenna Dimensions

 To achieve the greatest level of accuracy,

the absolute phase center values must be incorporated into the processing. Phase

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center information on this antenna is found in Table 12 above.

Radiation Pattern

Figure 21: 82-001017-0001LF Radiation Pattern

Optimal antenna performance is realized at elevations greater than 30º.

 There is a 10dB variation between 0º and 90º

elevation (factor 10x); therefore, lower elevation satellites are always more difficult to track.

 There is a 5dB variation between ~35º and 0º

elevation (factor >3x)

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Table 13: L-band SF-2110R Antenna

Part Number 82-001018-0001LF Frequency 1525-1575 MHz

INMARSAT StarFire Polarization Right Hand Circular (RHCP) Pre–Amplifier 34dB gain min. Noise Figure 2.9dB Impedance 50 Ohms Input Voltage 2.5 to 24 VDC Power Consumption 0.3W typical

60mA +

10mA @ 5.0VDC Connector TNC Female Operating Temp

-55°C to +85°C

Finish Skydrol resistant

polyurethane Enamel base Iriditeper MIL-C-5541

Material 6061-T6 Aluminum alloy

base composite radome, impact, abrasion, UV, solvent, skydrol resistant,

and fire retardant Weight 5.2oz [146g] Vibration >30g’s Designed to FAA TSO-C144, DO-160D,

D0-228, MIL-C-5541, MIL-I-

45208A, MIL-STD-810, AND

SAE J1455 Wind loading 135 MPH

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Figure 22: PN: 82-001018-0001LF Antenna

Dimensions (SF-2110R only)

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Figure 23: PN: 82-001018-0001LF Mounts

Figure 24: Pipe Mount Adapter for L-band SF-2110R

Antenna

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Radiation Pattern

Figure 25:

82-001018-0001LF Radiation Pattern

SF-2110 User Guide – Rev. C

Optimal antenna performance is realized at elevations between 10º and 50º.

 There is an 8dB variation between 40º

and 90º elevation (factor 6.3x); therefore, higher elevation satellites are always more difficult to track.

There is a 3dB variation between 10º and 0º elevation (factor >2x)

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C .................................................... StarFire

Description

The StarFire Network is a global system for the distribution of SBAS corrections giving the user the ability to measure their position anywhere in the world with exceptional reliability and unprecedented accuracy of better than 50cm (19.7 inches; in this product). Because the SBAS corrections are broadcast via INMARSAT geo-stationary satellites, the user needs no local reference stations or postprocessing to get this exceptional accuracy. Furthermore, the same accuracy is available virtually any where on the earth's surface on land or sea from 76°N to 76°S latitude, due to the worldwide coverage of these geo-stationary satellites.

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Infrastructure

The system utilizes the GPS satellite system, L-Band communication satellites, and a worldwide network of reference stations to deliver real-time high precision positioning.

To provide this unique service, NavCom has built a global network of dual-frequency reference stations, which constantly receive signals from the GPS satellites as they orbit the earth. Data from these reference stations is fed to two USA processing centers in Torrance, California and Moline, Illinois where they are processed to generate the differential corrections.

From the two processing centers, the correction data is fed via redundant and independent communication links to satellite uplink stations at Laurentides, Canada; Perth, Australia; Burum, The Netherlands; Santa Paula, California; Auckland, New Zealand; and Southbury, Connecticut for rebroadcast via the geostationary satellites.

The key to the accuracy and convenience of the StarFire system is the source of SBAS corrections. GPS satellites transmit navigation data on two L-Band frequencies. The StarFire reference stations are all equipped with geodetic-quality, dual-frequency receivers. These reference receivers decode GPS signals and send precise, high quality, dual-frequency pseudorange and carrier phase measurements back to the processing centers together with the data messages, which all GPS satellites broadcast.

At the processing centers, NavCom's proprietary differential processing techniques used to generate real time precise orbits and clock correction data for each satellite in the GPS constellation. This proprietary Wide Area DGPS (WADGPS) algorithm is

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optimized for a dual-frequency system such as StarFire in which dual-frequency ionospheric measurements are available at both the reference receivers and the user receivers. It is the use of dualfrequency receivers at both the reference stations and the user equipment together with the advanced processing algorithms, which makes the exceptional accuracy of the StarFire system possible.

Creating the corrections is just the first part. From our two processing centers, the differential corrections are then sent to the Land Earth Station (LES) for uplink to L-Band communications satellites. The uplink sites for the network are equipped with NavCom-built modulation equipment, which interfaces to the satellite system transmitter and uplinks the correction data stream to the satellite that broadcasts it over the coverage area. Each L-Band satellite covers more than a third of the earth.

Users equipped with a StarFire precision GPS receiver actually have two receivers in a single package, a GPS receiver and an L-Band communications receiver, both designed by NavCom for this system. The GPS receiver tracks all the satellites in view and makes pseudorange measurements to the GPS satellites. Simultaneously, the L-Band receiver receives the correction messages broadcast via the L-Band satellite. When the corrections are applied to the GPS measurements, a position measurement of unprecedented real time accuracy is produced.

Reliability

The entire system meets or exceeds a target availability of 99.99%. To achieve this, every part of the infrastructure has a built-in back-up system.

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All the reference stations are built with duplicate receivers, processors and communication interfaces, which switch automatically or in response to a remote control signal from the processing centers. The data links from the reference stations use the Internet as the primary data link and are backed up by dedicated communications lines, but in fact the network is sufficiently dense that the reference stations effectively act as back up for each other. If one or several fail, the net effect on the correction accuracy is not impaired.

There are two continuously running processing centers, each receiving all of the reference site inputs and each with redundant communications links to the uplink LES. The LESs are equipped with two complete and continuously operating sets of uplink equipment arbitrated by an automatic fail over switch. Finally, a comprehensive team of support engineers maintains round the clock monitoring and control of the system.

The network is a fully automated self-monitoring system. To ensure overall system integrity, an independent integrity monitor receiver, similar to a standard StarFire user receiver, is installed at every reference station to monitor service quality. Data from these integrity monitors is sent to the two independent processing hubs in Torrance, California and Moline, Illinois. Through these integrity monitors the network is continuously checked for overall SBAS positioning accuracy, L-Band signal strength, data integrity and other essential operational parameters.

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How to Access the StarFire Service

StarFire is a subscription service. The user pays a subscription, which licenses the use of the service for a predetermined period of time.

Subscriptions can be purchased for quarterly, biannual or annual periods and are available via a NavCom authorized representative, or by contacting

NavCom Sales Department

An authorized subscription will provide an encrypted key, which is specific to the Serial Number of the NavCom receiver to be authorized. This is entered into the receiver using the provided controller solution. Typically the initial license is preinstalled at the factory, and subsequent licenses will be installed by the user.

The only piece of equipment needed to use the StarFire system is a StarFire receiver. NavCom offers a variety of receivers configured for different applications. Details of all the StarFire receivers are available from the NavCom authorized local representative or the NavCom website at:

www.NavComtech.com

StarFire receivers include a dual-frequency GPS receiver and an L-Band receiver integrated into a single unit to provide the exceptional precise positioning capability of the StarFire Network, anywhere, anytime.

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Figure 26: StarFire Network

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D .....................*Event Input Configuration

Figure 27 details the wiring of the Event/Can cable assembly NavCom part number P/N 94-310262-3010LF.

Refer to Chapter 2, Event section for detailed electrical specifications.

Table 14 details the wiring configuration required for Event-Hi, and Event-Lo pulse sensing.

Figure 27: *Event Cable Wiring Diagram

Table 14: *Event Wiring Connections

Pin # Signal Name Color

1 *1PPS Out Blue 2 Ignition Brown 3 *Event Yellow 4 Power Input Orange 5 Power Return Black 6 Power Input Red 7 Not Used Green 8 Not Used Violet 9 GND Gray

Once the cable is wired to correspond with the event pulse requirements, configure the receiver to output the message containing a time mark, referenced to

* Consult Release Notes on the NavCom web site for availability. D-79

SF-2110 User Guide – Rev. C

the time kept within the receiver, indicating when the event is sensed (0xB4).

The *Event Input can be triggered on the Rising or Falling edge of the input pulse. Configuration is possible thru the StarUtil-2110 program. Figure 28 is a screen capture of the program’s PPS &

Event Latch window.

Figure 28: *PPS & Event Latch Configuration

Enable the Event Latch message (0xB4) in the NCT Binary Messages output list. Set the Message Rate for 0xB4 to “On Trigger”. Right-Click on the Rate cell for the B4 Message, and follow the menu as depicted in Figure 29. Once configured, the Event Latch Message (0xB4) is output upon recognition of an input trigger by the receiver.

Figure 29: *Event Latch Output Rate Configuration

D-80 * Consult Release Notes on the NavCom web site for availability.

SF-2110 User Guide – Rev. C

E................. CE Declaration of Conformity

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Glossary

.yym files see meteorological files (where yy = two digit year data was collected).

.yyn files see navigation files (where yy = two digit year data was collected).

.yyo files see observation files (where yy = two digit year data was collected).

almanac files an almanac file contains orbit information, clock corrections, and atmospheric delay parameters for all satellites tracked. It is transmitted to a receiver from a satellite and is used by mission planning software.

alt see altitude. altitude vertical distance above the ellipsoid or geoid.

It is always stored as height above ellipsoid in the GPS receiver but can be displayed as height above ellipsoid (HAE) or height above mean sea level (MSL).

Antenna Phase Center (APC) The point in an antenna where the GPS signal from the satellites is received. The height above ground of the APC must be measured accurately to ensure accurate GPS readings. The APC height can be calculated by adding the height to an easily measured point, such as the base of the antenna mount, to the known distance between this point and the APC.

APC see antenna phase center or phase center. Autonomous positioning (GPS) a mode of

operation in which a GPS receiver computes position fixes in real time from satellite data alone, without reference to data supplied by a reference station or orbital clock corrections. Autonomous positioning is typically the least precise positioning procedure a

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GPS receiver can perform, yielding position fixes that are precise to 100 meters with Selective Availability on, and 30 meters with S/A off.

azimuth the azimuth of a line is its direction as given by the angle between the meridian and the line measured in a clockwise direction from the north branch of the meridian.

base station see reference station. baud rate (bits per second) the number of bits sent

or received each second. For example, a baud rate of 9600 means there is a data flow of 9600 bits each second. One character roughly equals 10 bits.

bits per second see baud rate. bps see baud rate. BSW (British Standard Whitworth) a type of coarse

screw thread. A 5/8” diameter BSW is the standard mount for survey instruments.

C/A code see Coarse Acquisition code. CAN BUS a balanced (differential) 2-wire interface

that uses an asynchronous transmission scheme. Often used for communications in vehicular applications.

channel a channel of a GPS receiver consists of the circuitry necessary to receive the signal for a single GPS satellite.

civilian code see Coarse Acquisition code. Coarse Acquisition code (C/A or Civilian code)

the pseudo-random code generated by GPS satellites. It is intended for civilian use and the accuracy of readings using this code can be degraded if selective availability (S/A) is introduced by the US Department of Defense.

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COM# shortened form of the word Communications. Indicates a data communications port to/from the GPS sensor to a controller or data collection device.

Compact Measurement Record (CMR) a standard format for DGPS corrections used to transmit corrections from a reference station to rover sensors. See Related Standards in Notices.

controller a device consisting of hardware and software used to communicate and manipulate the I/O functions of the GPS sensor.

convergence period (StarFire) is the time necessary for the received StarFire signal corrections to be applied and the position filtered to optimal performance. The convergence period is typically 30 to 45 minutes to achieve <decimeter accuracy. This period may be overcome using the Quick Start method.

data files files that contain Proprietary, GPS, NMEA, RTCM, or any type of data logged from a GPS receiver.

datum A reference datum is a known and constant surface which can be used to describe the location of unknown points. Geodetic datums define the size and shape of the earth and the origin and orientation of the coordinate systems used to map the earth.

DB9P a type of electrical connector containing 9 contacts. The P indicates a plug pin (male).

DB9S a type of electrical connector containing 9 contacts. The S indicates a slot pin (female).

DCE Data Communications Equipment. Defined pin assignments based on the IEEE RS-232 signaling standard. See Figure 30.

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Modem

DTE

DB25RJ45 DB9DB9 DB25 6 5

4 2 3

1 8

4 5

Straight-Through Cable

DCD

RD TD

DTR

GND

DSR RTS CTS

DCE

1 2 3 4 5 6 7 8

07-00041-A

8 3 2

7 6 4 5

Figure 30: DTE to DCE RS-232 Pin Assignments

DGPS see Differential GPS. Differential GPS (DGPS) a positioning procedure

that uses two receivers, a rover at an unknown location and a reference station at a known, fixed location. The reference station computes corrections based on the actual and observed ranges to the satellites being tracked. The coordinates of the unknown location can be computed with sub-meter level precision by applying these corrections to the satellite data received by the rover.

Dilution of Precision (DOP) a class of measures of the magnitude of error in GPS position fixes due to the orientation of the GPS satellites with respect to the GPS receiver. There are several DOPs to measure different components of the error. Note: this is a unitless value. see also PDOP.

DOP see Dilution of Precision. DTE Data Terminal Equipment. See DCE.

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dual-frequency a type of GPS receiver that uses both L1 and L2 signals from GPS satellites. A dualfrequency receiver can compute more precise position fixes over longer distances and under more adverse conditions because it compensates for ionospheric delays.

dynamic mode when a GPS receiver operates in dynamic mode, it assumes that it is in motion and certain algorithms for GPS position fixing are enabled in order to calculate a tighter position fix.

EGNOS (European Geostationary Navigation Overlay Service) a European satellite system used

to augment the two military satellite navigation systems now operating, the US GPS and Russian GLONASS systems.

elevation distance above or below Local Vertical Datum.

elevation mask the lowest elevation, in degrees, at which a receiver can track a satellite. Measured from the horizon to zenith, 0º to 90º.

ellipsoid a mathematical figure approximating the earth’s surface, generated by rotating an ellipse on its minor axis. GPS positions are computed relative to the WGS-84 ellipsoid. An ellipsoid has a smooth surface, which does not match the earth’s geoidal surface closely, so GPS altitude measurements can contain a large vertical error component. Conventionally surveyed positions usually reference a geoid, which has an undulating surface and approximates the earth’s surface more closely to minimize altitude errors.

epoch literally a period of time. This period of time is defined by the length of the said period.

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GAGAN (GPS Aided Geo Augmented Navigation)

an Indian satellite system that provides a set of corrections for the GPS satellites, which are valid for the Indian region. They incorporate satellite orbit and clock corrections.

geoid the gravity-equipotential surface that best approximates mean sea level over the entire surface of the earth. The surface of a geoid is too irregular to use for GPS readings, which are measured relative to an ellipsoid. Conventionally surveyed positions reference a geoid. More accurate GPS readings can be obtained by calculating the distance between the geoid and ellipsoid at each position and subtracting this from the GPS altitude measurement.

GIS (Geographical Information Systems) a computer system capable of assembling, storing, manipulating, updating, analyzing and displaying geographically referenced information, i.e. data identified according to their locations. GIS technology can be used for scientific investigations, resource management, and development planning. GIS software is used to display, edit, query and analyze all the graphical objects and their associated information.

Global Positioning System (GPS) geometrically, there can only be one point in space, which is the correct distance from each of four known points. GPS measures the distance from a point to at least four satellites from a constellation of 24 NAVSTAR satellites orbiting the earth at a very high altitude. These distances are used to calculate the point’s position.

GMT see Greenwich Mean Time. GPS see Global Positioning System. GPS time a measure of time. GPS time is based on

UTC, but does not add periodic ‘leap seconds’ to

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correct for changes in the earth’s period of rotation. As of September 2002 GPS time is 13 seconds ahead of UTC.

Greenwich Mean Time (GMT) the local time of the 0° meridian passing through Greenwich, England.

HAE see altitude, and ellipsoid. IODC Issue of Data, Clock - The IODC indicates the

issue number of the data set and thereby provides the user with a convenient means of detecting any change in the correction parameters. The transmitted IODC will be different from any value transmitted by the satellite during the preceding seven days.

JPL Jet Propulsion Laboratory. Kbps kilobits per second. L-Band the group of radio frequencies extending

from approximately 400MHz to approximately 1600MHz. The GPS carrier frequencies L1 (1575.4MHz) and L2 (1227.6 MHz) are in the L-Band range.

L1 carrier frequency the primary L-Band carrier used by GPS satellites to transmit satellite data. The frequency is 1575.42MHz. It is modulated by C/A code, P-code, or Y-code, and a 50 bit/second navigation message. The bandwidth of this signal is

1.023MHz. L2 carrier frequency the secondary L-Band carrier

used by GPS satellites to transmit satellite data. The frequency is 1227.6MHz. It is modulated by P-code, or Y-code, and a 50 bit/second navigation message. The bandwidth of this signal is 10.23MHz.

lat see latitude. latitude (lat) the north/south component of the

coordinate of a point on the surface on the earth; expressed in angular measurement from the plane of

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the equator to a line from the center of the earth to the point of interest. Often abbreviated as Lat.

LED acronym for Light Emitting Diode. LEMO a type of data or power connector. LES Land Earth Station the point on the earth’s

surface where data is up linked to a satellite. logging interval the frequency at which positions

generated by the receiver are logged to data files.

lon see longitude. longitude (long) the east/west component of the

coordinate of a point on the surface of the earth; expressed as an angular measurement from the plane that passes through the earth’s axis of rotation and the 0° meridian and the plane that passes through the axis of rotation and the point of interest. Often abbreviated as Long.

Mean Sea Level (MSL) a vertical surface that represents sea level.

meridian one of the lines joining the north and south poles at right angles to the equator, designated by degrees of longitude, from 0° at Greenwich to 180°.

meteorological (.YYm) files one of the three file types that make up the RINEX file format. Where YY indicates the last two digits of the year the data was collected. A meteorological file contains atmospheric information.

MSAS (MTSAT Satellite-based Augmentation System) a Japanese satellite system that provides a

set of corrections for the GPS satellites, which are valid for the Japanese region. They incorporate satellite orbit and clock corrections.

MSL see Mean Sea Level.

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multipath error a positioning error resulting from interference between radio waves that has traveled between the transmitter and the receiver by two paths of different electrical lengths.

navigation (.YYn) files one of the three file types that make up the RINEX file format. Where YY indicates the last two digits of the year the data was collected. A navigation file contains satellite position and time information.

observation (.YYo) files one of the three file types that make up the RINEX file format. Where YY indicates the last two digits of the year the data was collected. An observation file contains raw GPS position information.

P/N Part Number. P-code the extremely long pseudo-random code

generated by a GPS satellite. It is intended for use only by the U.S. military, so it can be encrypted to Ycode deny unauthorized users access.

parity a method of detecting communication errors by adding an extra parity bit to a group of bits. The parity bit can be a 0 or 1 value so that every byte will add up to an odd or even number (depending on whether odd or even parity is chosen).

PDA Personal Digital Assistant. PDOP see Position Dilution of Precision. PDOP mask the highest PDOP value at which a

receiver computes positions. phase center the point in an antenna where the

GPS signal from the satellites is received. The height above ground of the phase center must be measured accurately to ensure accurate GPS readings. The phase center height can be calculated by adding the height to an easily measured point, such as the base

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of the antenna mount, to the known distance between this point and the phase center.

Position the latitude, longitude, and altitude of a point. An estimate of error is often associated with a position.

Position Dilution of Precision (PDOP) a measure of the magnitude of Dilution of Position (DOP) errors in the x, y, and z coordinates.

Post-processing a method of differential data correction, which compares data logged from a known reference point to data logged by a roving receiver over the same period of time. Variations in the position reported by the reference station can be used to correct the positions logged by the roving receiver. Post-processing is performed after the user collects the data and returns to the office, rather than in real time as data is logged, so it can use complex, calculations to achieve greater accuracy.

Precise code see P-code. PRN (Uppercase) typically indicates a GPS satellite

number sequence from 1 – 32. prn (Lower Case) see Pseudorandom Noise. Protected code see P-code. Proprietary commands those messages sent to and

received from GPS equipment produced by NavCom Technology, Inc. own copyrighted binary language.

pseudo-random noise (prn) a sequence of data that appears to be randomly distributed but can be exactly reproduced. Each GPS satellite transmits a unique PRN in its signals. GPS receivers use PRNs to identify and lock onto satellites and to compute their pseudoranges.

Pseudorange the apparent distance from the reference station’s antenna to a satellite, calculated

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by multiplying the time the signal takes to reach the antenna by the speed of light (radio waves travel at the speed of light). The actual distance, or range, is not exactly the same because various factors cause errors in the measurement.

PVT GPS information depicting Position, Velocity, Time in the NCT proprietary message format.

Quick Start (StarFire) a startup mode that allows instant <decimeter accuracy with received StarFire signals, allowing the convergence period to be waived. The Quick Start (user input) position should have an accuracy of better <decimeter to achieve maximum results. Any error in the user input position will bias the StarFire position error accordingly, until convergence can correct the bias. In this scenario, convergence may take longer than the typical startup convergence period.

Radio Technical Commission for Maritime Services see RTCM.

range the distance between a satellite and a GPS

receiver’s antenna. The range is approximately equal to the pseudorange. However, errors can be introduced by atmospheric conditions which slow down the radio waves, clock errors, irregularities in the satellite’s orbit, and other factors. A GPS receiver’s location can be determined if you know the ranges from the receiver to at least four GPS satellites. Geometrically, there can only be one point in space, which is the correct distance from each of four known points.

RCP a NavCom Technology, Inc. proprietary processing technique in which carrier phase measurements, free of Ionospheric and Troposphere effects are used for navigation.

Real-Time Kinematic (RTK) a GPS system that yields very accurate 3D position fixes immediately in

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real-time. The base station transmits its GPS position to roving receivers as the receiver generates them, and the roving receivers use the base station readings to differentially correct their own positions. Accuracies of a few centimeters in all three dimensions are possible. RTK requires dual frequency GPS receivers and high speed radio modems.

reference station a reference station collects GPS data for a fixed, known location. Some of the errors in the GPS positions for this location can be applied to positions recorded at the same time by roving receivers which are relatively close to the reference station. A reference station is used to improve the quality and accuracy of GPS data collected by roving receivers.

RHCP Right Hand Circular Polarization used to discriminate satellite signals. GPS signals are RHCP.

RINEX (Receiver Independent Exchange) is a file set of standard definitions and formats designed to be receiver or software manufacturer independent and to promote the free exchange of GPS data. The RINEX file format consists of separate files, the three most commonly used are:

the observation (.YYo) file, the navigation (.YYn) file, meteorological (.YYm) files; where YY indicates

the last two digits of the year the data was collected.

rover any mobile GPS receiver and field computer collecting data in the field. A roving receiver’s position can be differentially corrected relative to a stationary reference GPS receiver or by using GPS orbit and clock corrections from a SBAS such as StarFire.

roving receiver see rover.

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RTCM (Radio Technical Commission for Maritime Services) a standard format for Differential GPS corrections used to transmit corrections from a base station to rovers. RTCM allows both real-time kinematic (RTK) data collection and post-processed differential data collection. RTCM SC-104 (RTCM Special Committee 104) is the most commonly used version of RTCM message.

RTK see Real-time kinematic. RTG Real Time GIPSY, a processing technique

developed by NASA’s Jet Propulsion Laboratory to provide a single set of real time global corrections for the GPS satellites.

S/A see Selective Availability. SBAS (Satellite Based Augmentation System) this

is a more general term, which encompasses WAAS, StarFire and EGNOS type corrections.

Selective Availability (S/A) is the deliberate degradation of the GPS signal by encrypting the Pcode and dithering the satellite clock. When the US Department of Defense uses S/A, the signal contains errors, which can cause positions to be inaccurate by as much as 100 meters.

Signal-to-Noise Ratio (SNR) is a measure of a satellite’s signal strength.

single-frequency is a type of receiver that only uses the L1 GPS signal. There is no compensation for ionospheric effects. The SF-2110 is a single frequency receiver.

SNR see signal-to-noise Ratio. StarFire a set of real-time global orbit and clock

corrections for GPS satellites. StarFire equipped receivers are capable of real-time decimeter positioning

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(see Appendix C). Spread Spectrum Radio (SSR) a radio that uses

wide band, noise like (pseudo-noise) signals that are hard to detect, intercept, jam, or demodulate making any data transmitted secure. Because spread spectrum signals are so wide, they can be transmitted at much lower spectral power density (Watts per Hertz), than narrow band signals.

SV (Space Vehicle) a GPS satellite. Universal Time Coordinated (UTC) a time standard

maintained by the US Naval Observatory, based on local solar mean time at the Greenwich meridian. GPS time is based on UTC.

UTC see Universal Time Coordinated. WAAS (Wide Area Augmentation System) a US

satellite system that provides a set of corrections for the GPS satellites, which are valid for the North American region. They incorporate satellite orbit and clock corrections.

WADGPS (Wide Area Differential GPS) a set of corrections for the GPS satellites, which are valid for a wide geographic area.

WGS-84 (World Geodetic System 1984) the current standard datum for global positioning and surveying. The WGS-84 is based on the GRS-80 ellipsoid.

Y-code the name given to encrypted P-code when the U.S. Department of Defense uses selective availability.

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NavCom SF-2110 User Manual Rev.C

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

List of Figures

List of Tables

Notices

Copyright

Trademarks

FCC Notice

User Notice

Limited Warranty

StarFire Licensing™

USG FAR

Global Positioning System

Revision History

Use of this Document

Related Documents

SF-2110 Quick Start Guide P/N 96-310031-3001

StarUtil-2110 User Guide P/N 96-310027-3001

SF-2110 Technical Reference Manual P/N 96-312006-3001

RINEXUtil User Guide P/N 96-310021-2101

Integrators Toolkit

NavCom Release Notes

Related Standards

ICD-GPS-200

RTCM-SC-104

CMR, CMR+

NMEA-0183

Publicly-Operated SBAS Signals

RTCA/DO-229D

WAAS (Wide Area Augmentation System)

EGNOS (European Geostationary Navigation Overlay Service)

MSAS (MTSAT Satellite-based Augmentation System)

GAGAN (GPS Aided Geo Augmented Navigation)

System Overview

GPS Sensor System

Accuracy

NCT Binary Proprietary Data

NMEA-0183 Data

Models

SF-2110M

SF-2110R

Bluetooth

Antennae

Standard

L-band (option – SF-2110R only)

Controller

Included Items

Applications

Unique Features

Electrical Power

Communication Ports

*Event

*1 PPS

Indicator Panel

Standard Antenna

L-Band Antenna (SF-2110R Only)

GPS Sensor

Block Diagrams

Communication Port Connectivity

GPS Antenna Connector

Factory Default Output Messages

Message Descriptions

Message Descriptions

3rd Party Controller Configuration Settings

Transport

Maintenance

External Power Source

Safety First

Features

Time-To-First-Fix

Dynamics

Measurement Performance

User programmable output rates

Data Latency

*1PPS

Connector Assignments

Input/Output Data Messages