2201 and 2201/NMEA
WAAS Pods
Installation Manual
Northstar Technologies, Inc.
30 Sudbury Road
Acton, Massachusetts 01720
Revision B
Part Number GM2201
800/628-4487
978/897-6600
www.northstarcmc.com
Limited warranty policy
Northstar Technologies, Inc. warrants its products to be free from defects
in material and workmanship for a period of two (2) years. This warranty
applies to the original purchaser and to any subsequent owner during the
warranty period, which begins on the date of shipment of the unit, F.O.B
Acton, Massachusetts, to an authorized Northstar dealer.
Systems may not be returned to Northstar without a Returned Materials
Authorization (RMA) number. Call the Northstar dealer or Northstar for
instructions.
During the unit’s warranty period, Northstar will repair or replace, at its
option, any part of the unit it finds to be defective due to faulty material(s) or workmanship. All such repairs and/or replacements will be
promptly performed by Northstar free of charge to the owner, excluding
freight costs incurred in shipping to the factory. Return shipments from
Northstar to points within the United States are made via ground transportation, freight prepaid. Special shipping charges (overnight, two-day,
and so on) are the responsibility of the owner.
To be covered by this warranty, the Northstar equipment must have been
in normal use. This warranty does not apply to units with defects caused
by improper installation, physical damage, abuse, tampering, lightning or
other abnormal electrical discharge, or to units with defaced or altered
serial numbers, or to units repaired by unauthorized persons or repaired
in a manner that violates Northstar’s recommended service procedures.
All repairs and/or replacements made under this warranty must be performed at Northstar’s facilities in Acton, Massachusetts. Performance of
warranty work elsewhere will not be authorized, and Northstar will not
pay for any charges for such work. Northstar will not be responsible for
payment of any charges imposed by a Northstar dealer or other party for
services requested by and/or performed for a unit’s owner in connection
with this warranty. Such services might include removal of the unit from
a vessel, inspection, packaging, handling, reinstallation, and the like.
Northstar Technologies, Inc. assumes no responsibility for any consequential losses of any nature with respect to any of its products or services sold, rendered, or delivered. The foregoing is the only warranty
expressed or implied. No other warranty exists.
Table of contents
SECTION ONE Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
Welcome to the Northstar 2201 and 2201/NMEA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
Who should read this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Scope of this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Getting technical support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Servicing the 2201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Returning a 2201 for service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Standard 2201 features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
2201 operating modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
SECTION TWO Installing the 2201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Before installing the 2201. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Choosing a mounting location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Mounting the 2201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
SECTION THREE Interfacing the 2201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Using the 2201-CA cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Connecting the 2201 (binary) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
Connecting the 2201/NMEA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
SECTION FOUR Using WAAS with Northstar’s 941/951/952 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
WAAS and auto differential options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
Setting the 2201 options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
Reviewing the WAAS features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
SECTION FIVE Troubleshooting 2201 operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Installation test checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
Troubleshooting installation problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
APPENDIX A Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
APPENDIX B 2201/NMEA communication protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Set output configuration command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Set receiver parameter command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
Select/deselect SVS command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
GPS/WAAS satellites in view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
Glossary and acronyms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2201 INSTALLATION MANUAL, Revision B Page i
Page ii 2201INSTALLATION MANUAL, Revision B
List of figures
Figure 1: Northstar 2201 and 2201/NMEA components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 2: 2201 mounting position for standard mast-mount . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Figure 3: 2201 mounting configuration for a flat surface (as shown from underneath). . . . . . . . . . . 16
Figure 4: Connections for the Northstar 2201-CA cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Figure 5: GPS SATS screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2201 INSTALLATION MANUAL, Revision B Page iii
Page iv 2201INSTALLATION MANUAL, Revision B
List of tables
Table 1: Contacting Northstar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
Table 2: Northstar 2201 (binary) connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
Table 3: Northstar 2201/NMEA connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
Table 4: PRN satellite equivalents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
Table 5: Troubleshooting 2201 and 2201/NMEA installation problems . . . . . . . . . . . . . . . . . . . . . . . . .30
Table 6: 2201 and 2201/NMEA technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
2201 INSTALLATION MANUAL, Revision B Page v
Page vi 2201 INSTALLATION MANUAL, Revision B
SECTION ONE
Introduction
he Northstar 2201 and 2201/NMEA Installation Manual
T
describes how to properly mount, interface, connect, and
troubleshoot the Northstar 2201 and Northstar 2201/NMEA.
Also described are their physical, mechanical, and electrical
characteristics.
This section explains who should read this manual, how to
obtain technical support, and how to return a 2201 or 2201/
NMEA for servicing. Also described are some of the standard
features of the 2201 and 2201/NMEA, and all of their operating
modes.
In this manual, unless otherwise stated, the term “2201” refers
to the 2201 and the 2201/NMEA.
Welcome to the
Northstar 2201
and 2201/NMEA
2201 INSTALLATION MANUAL, Revision B Page 1
The Northstar 2201 WAAS Pod and the Northstar 2201/NMEA
WAAS Pod are self-contained, high-performance GPS antennas/
engines that also receive WAAS (Wide Area Augmentation
System) differential correction signals. These corrections
enhance position accuracy to a degree previously unavailable
with separate beacon differential receivers.
SECTION ONE Introduction
Understanding the 2201
and 2201/NMEA
The 2201 is available in either of two configurations:
• 2201 (binary output) — for interfacing with new and
existing Northstar 941X/XD, 951X/XD, and 952X/XD units
in order to provide WAAS differential corrections. (In the
future, the 2201 will be able to interface with Northstar’s
961X/XD and 962X/XD.)
• 2201/NMEA (NMEA) — for interfacing directly with
autopilots, plotters, components of integrated or
standalone marine navigation systems that accept NMEA
0183 data, or NMEA 0183-compatible laptop PC’s, in order
to receive WAAS differential-corrected GPS position data.
NOTE:
For the binary 2201 to provide WAAS corrections to
a Northstar 941, 951, or 952, these units must be
running software version 3.18 or higher. To obtain
an Upgrade CD and a PC loader cable (Northstar
part number 1100-LC), dealers should contact the
Northstar Sales Department. End users should
contact their local Northstar dealer for upgrading.
Understanding WAAS
satellite differential
As with Coast Guard radiobeacons, WAAS satellites use
surveyed reference stations to monitor GPS signals from each
visible satellite and determine if errors exist, and then develop
corrections. However, unlike Coast Guard radiobeacons or
other land-based transmitters on other frequencies, WAAS uses
a network of geostationary communication satellite
transponders, in fixed positions at approximately twice the
distance from the earth’s surface as the orbiting GPS satellites,
on the same frequency as GPS.
These satellite-based transmissions provide consistent position
corrections over a much greater contiguous geographic
location than the other radiobeacons. WAAS differential
corrections maintain a position accuracy of better than 3
meters 2dRMS, without the signal interference problems
periodically experienced with low-frequency, shore-based
radiobeacon differential signals.
Page 2 2201 INSTALLATION MANUAL, Revision B
SECTION ONE Introduction
Who should read
this manual
Scope of this
manual
The Northstar 2201 and 2201/NMEA Installation Manual is
intended for marine technicians who are installing, connecting,
and troubleshooting the Northstar 2201 with the Northstar
941/951/952 or other marine navigation system as described
earlier.
In this manual, you’ll find information about the following:
•
the 2201’s operating modes
•
mounting the 2201
•
interfacing the 2201 to a Northstar 941/951/952, and to
power
•
interfacing the 2201/NMEA to an integrated marine
instrument or laptop PC, and to power
•
troubleshooting
Getting technical
support
After you’ve followed the instructions in this manual, if you
need additional technical or operations support or have any
other service-related questions, please contact your dealer or
the Northstar Service Department. You can reach Northstar by
email, fax, U.S. mail, or phone as described in the table below.
You can also visit Northstar’s website for additional
service-related information.
Please have the 2201’s serial number available and be as
complete and accurate as possible when describing the
problem. This ensures that a Northstar service technician can
research the issue and provide the quickest possible response.
Northstar’s Service Department is available between 9:00 AM
and 5:00 PM Eastern Time, Monday through Friday, excluding
major holidays.
2201 INSTALLATION MANUAL, Revision B Page 3
SECTION ONE Introduction
You can email the
Northstar Service
Department directly
from Northstar’s
website,
www.northstarcmc.com.
Here, you also can
access additional
technical information
under either the
Manuals
or Support
links.
If you’re looking for an authorized Northstar dealer, or want
product information and brochures, contact the Northstar Sales
Department.
Table 1: Contacting Northstar
Email:
Service: service@northstarcmc.com
Sales: sales@northstarcmc.com
Fax:
Service: 978/897-1595
Sales: 978/897-7241
Telephone:
Main number: 978/897-6600 or 800/628-4487
U.S. mail:
30 Sudbury Road
Acton, MA 01720
Website:
www.northstarcmc.com (you can send email to
Northstar directly from this site)
Using the Dealer
Express web pages
You can visit the Dealer Express area on Northstar’s website for
online service-related information (contact Northstar for your
dealer password before clicking on the Dealer Express
including the following:
•
service bulletins (for known issues and solutions)
•
software update information (for new software features)
•
service request form (for sending systems back)
•
service status request form (for systems currently under
repair)
•
warranty registration form (for registering new products)
Hearing from you Your feedback is important and helps Northstar ensure that this
manual is a valuable resource for all marine technicians. Send
your questions, comments, or suggestions about this manual
to:
manuals@northstarcmc.com
Online information
sources
For the most current information about WAAS, you may want
to visit the following websites:
link) ,
Page 4 2201 INSTALLATION MANUAL, Revision B
SECTION ONE Introduction
•
for the status of WAAS implementation:
http://gps.faa.gov/programs/waas/implementation_Status/
implementation_status.htm
•
for the U.S. government’s WAAS/GPS website:
http://gps.faa.gov
•
for Stanford University’s WAAS Research Center:
http://www.stanford.edu/group/GPS/Projects/WAAS/metrics.html
•
for U.S. Coast Guard differential status:
http://www.nis-mirror.com/systems/dgps/Dgpssts.txt
Ordering parts To order spare, replacement, or missing parts, call the Northstar
Sales Department at 978/897-6600 or 800/628-4487.
Servicing the
2201
Repair of the Northstar 2201 is performed only by authorized
Northstar dealers or at the Northstar factory. Service includes a
complete hardware and software check-out.
NOTE:
For a 2201 under warranty, shipping charges to the factory are
the only cost for factory repair. The repaired 2201 will be
returned via prepaid economy ground freight (freight for units
returned overseas is chargeable).
A 2201 and any accessories returned for warranty repair that
are determined to be without fault are subject to a handling
charge.
For units still under warranty, field repairs are not
authorized and will void the warranty!
2201 INSTALLATION MANUAL, Revision B Page 5
SECTION ONE Introduction
Returning a 2201
for service
Before returning the
2201 to the Northstar
factory, it is critical
that you first obtain a
Return Materials
Authorization (RMA)
number from the
Northstar Service
Department. If you
purchased the 2201
through a dealer, to get
an RMA number, call
the dealer with the
2201 serial number .
The serial number can
be found on the rim of
the pod near the
Northstar logo.
Shipments without a
proper RMA number
will not be accepted!
The 2201 is covered by a two-year, hardware-only warranty. In
summary, this states that if the 2201 is returned to the
Northstar factory by the owner or dealer during the warranty
period, Northstar will repair or replace, free of charge, any part
found to be defective due to faulty materials or workmanship if
the system has been properly installed and hasn’t been abused.
See the Limited Warranty Policy at the front of this manual for
further details. The only cost to the owner will be the one-way
shipping charges and any associated charges that may be
imposed by the dealer. If you have overnight or second-day
shipping requirements, before shipping the 2201 please call
Northstar for turnaround time, freight charges, and payment
arrangements.
The 2201 should be shipped only in a properly designed carton
with packing material. Please reference the RMA number on the
outside of the shipping carton. Shipments to the Northstar
factory should be sent to the following address:
Northstar Technologies, Inc.
Service Department
30 Sudbury Road
Acton, MA 01720 USA
Standard 2201
features
Page 6 2201 INSTALLATION MANUAL, Revision B
The 2201’s standard features include the following:
•
self-contained 12-channel L1 GPS/WAAS Pod
antenna-receiver
•
10 parallel GPS channels for “all-in-view” satellite tracking
•
2-channel WAAS reception
•
Northstar proprietary binary data-output format (2201
binary only)
•
NMEA 0183 data-output format (2201/NMEA only)
•
remote power on/off capability
•
accepts SC104 differential corrections via RS232 port
•
fully automatic operating modes; no user intervention
required
•
WAAS accuracy <3 meters 2dRMS
•
1-Hz data rate
•
50-foot (15 meters) data/power cable
SECTION ONE Introduction
•
operating temperature -30° C to +75° C (standard)
•
9 to 36 VDC (12V and 24V system) 2.4 watts typical at 12V
•
1” x 14 (threads per inch) standard thread mast mounting
•
screws and washers for deck mounting
•
waterproof, fully sealed unit
For the complete listing of the 2201’s specifications, see
Appendix A at the back of this manual.
2201 operating
modes
Self-test mode The 2201 enters self-test mode upon a host’s request, using an
The 2201 has seven automatic operating modes:
•
Self-test
•
Initialization
•
Acquisition
•
Navigation (includes three sub-modes: Differential 3-D,
Differential 2-D, and 3-D Nav)
•
WAAS/beacon differential
•
Dead-reckoning
•
Fault
The 2201 automatically switches between modes, and reports
through its host port the current operating and navigation
modes. The seven operating modes are described in detail
below.
NMEA or binary message, via the GPS primary port. This test
requires no more than 15 seconds. When the self-test is
completed, the 2201 reports the test results on its host port
through another NMEA or binary message, and then either
proceeds to initialization mode if the test was passed or to fault
mode if a problem was detected.
Initialization mode The 2201 enters initialization mode automatically when power
2201 INSTALLATION MANUAL, Revision B Page 7
is applied or after completion of the self-test mode. While in
initialization mode, the 2201 retrieves satellite orbital data
(ephemeris or almanac) stored in its EEPROM memory.
Integrity checking is performed on all data retrieved from the
EEPROM to ensure accuracy. After initialization, the 2201
enters acquisition mode.
SECTION ONE Introduction
Acquisition mode The 2201 enters acquisition mode whenever sufficient
real-time satellite data is available to produce an initial
navigation solution. Acquisition mode can be entered from
initialization, navigation or dead-reckoning mode. The 2201
exits either to navigation mode when satellites have been
acquired or to fault mode if a problem is detected.
After each satellite in view is acquired, the 2201 collects new
ephemeris data by decoding the satellite downlink data
message. When a sufficient number of satellites are being
tracked, position, velocity and time are computed, and the 2201
enters navigation mode. If the 2201 can’t acquire signals
normally due to an absence of valid almanac data, it initiates a
“Search the Sky” acquisition, attempting to acquire any and all
satellites in the GPS constellation. After a satellite has been
acquired, ephemeris data is decoded from the satellite’s
down-link message. In “Search the Sky,” the Time-To-First-Fix
(TTFF) is typically less than two minutes. After a sufficient
number of satellites have been acquired, the 2201 enters
navigation mode. For TTFF details, see Table 1, “2201 and
2201/NMEA technical specifications,” on page 31.
Navigation mode The 2201 operates in navigation mode whenever sufficient
satellite information and measurement data are available to
produce a GPS fix. Navigation mode is entered from either
acquisition or dead-reckoning mode, and exits to
dead-reckoning or fault mode.
Navigation mode has three sub-modes (the 2201 automatically
chooses the highest-performance sub-mode available for the
satellite data currently being received, and reports the current
navigation sub-mode to its host port):
•
differential 3-D
•
differential 2-D
•
3-D nav
Differential 3-D mode
The 2201 operates in differential 3-D mode when it receives
data from at least four satellites with adequate geometry and
differential corrections, from either WAAS satellites or
radiobeacons, via SC104 data supplied on the AUX INPUT port.
This is the navigation mode with the highest performance.
Page 8 2201 INSTALLATION MANUAL, Revision B
SECTION ONE Introduction
Differential 2-D mode
The 2201 operates in differential 2-D mode when it receives
data from only three satellites with adequate geometry and
WAAS or external radiobeacon differential corrections. This is
the navigation mode with the highest performance when
differential 3-D mode can’t be used.
3-D Nav mode
The 2201 operates in 3-D nav mode when it receives data from
at least four satellites with adequate geometry, but no
differential corrections. This is the preferred navigation mode
when sufficient WAAS or external radiobeacon differential
corrections aren’t available.
WAAS/beacon differential
mode
Dead-reckoning mode
The 941/951/952 has four options for setting the binary 2201’s
WAAS and radiobeacon differential operations:
•
auto (the default setting) - for automatically using WAAS,
but the 2201 will revert to beacon differential if WAAS
becomes unavailable and external beacon corrections are
applied through the port.
•
WAAS - forces WAAS only
•
radiobeacon - forces beacon differential only
•
disabled - turns off differential corrections
After connecting the 941/951/952 with the 2201, to select one
of these options, see “SECTION FOUR Using WAAS with
Northstar’s 941/951/952” beginning on page 25.
For information on using the 2201 with external SC104 data,
contact the Northstar Service Department.
The 2201 enters dead-reckoning mode when navigation mode
can’t be maintained. The speed and direction are assumed
constant, based on the last-known data, to allow the 2201 to
provide an estimated position.
Fault mode The 2201 enters fault mode if it determines that the its outputs
2201 INSTALLATION MANUAL, Revision B Page 9
are affected by one or more critical system faults. This mode
supersedes all others and remains active until the next
power-down/power-up cycle. Fault mode can be entered from
any other mode (except initialization) whenever an
unrecoverable fault is detected. Fault mode prevents inaccurate
data from being transmitted.
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