Simrad HS60 User Manual
ENGLISH
HS60 GPS Compass
User Guide
simrad-yachting.com
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| HS60 GPS Compass User Guide
Preface
This device complies with part 15 of the FCC Rules. Operation is
subject to the following two conditions:
(1) This device may not cause harmful interference, and
(2) this device must accept any interference received, including
interference that may cause undesired operation.
Copyright
Copyright NAVICO Inc. (2014). All rights reserved.
No part of this manual may be reproduced, transmitted, transcribed,
stored in a retrieval system or translated into any language or computer language, in any form or by any means, electronic, mechanical, magnetic, optical, chemical, manual or otherwise, without the
prior written permission of NAVICO.
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| HS60 GPS Compass User Guide
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Contents | HS60 GPS Compass User Guide
Contents
6 Introduction
6 Overview
7 Parts lists
8 Operation
8 GPS overview
9 HS60 overview
13 Common commands and messages
18 Installation
18 Mounting location
20 Mounting orientation
23 Mounting options
28 Powering and connecting to the HS60
30 Troubleshooting
31 Specications
33 Wiring diagrams
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Introduction | HS60 GPS Compass User Guide
Introduction
Overview
The HS60™ GPS Compass is based upon SIMRAD’s new GPS technology. It is a complete GPS compass and position system in a single
enclosure that connects via a standard NMEA 2000 cable. With
NMEA 2000 support and ease of installation, the HS60 is the perfect
solution for marine-based applications.
The HS60 is an integrated system that houses the following:
• Vector II technology
• Dual integrated GPS antennas
• Power supply
• Single axis gyro
• Tilt sensor on each axis (X and Y axes)
The gyro and tilt sensors are present to improve system performance and to provide backup heading information in the event
that a GPS heading is not available due to signal blockage.
Vector II technology supports multiple RF front ends - enabling
tighter coupling of measurements from separate antennas for use
in heading-based products. Users will achieve excellent accuracy
and stability due to it’s more accurate code phase measurements,
improved multi- path mitigation, and fewer components.
The HS60’s GPS antennas are separated by 13.5 cm between their
phase centers, resulting in better than 2° rms heading performance.
The HS60 provides heading and position updates of up to 10 Hz
and delivers position accuracy of better than 1.0 m 95% of the time
when using differential GPS corrections from Space Based Augmentation Systems (SBAS).
The HS60 also features exclusive COAST™ technology that enables
SIMRAD GPS receivers to utilize old differential GPS correction data
for 40 minutes or more without significantly affecting the position
quality. The HS60 is less likely to be affected by differential signal
outages due to signal blockages, weak signals, or interference when
using COAST.
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Introduction | HS60 GPS Compass User Guide
Parts list
¼ Note: The parts of HS60 comply with IEC 60945 Section 4.4: “ex-
posed to the weather.”
Part name Qty Part number
HS60 GPS Compass (NMEA 2000) 1 000-12308-001
With standard accessory kit:
Screw housing caps
2 included
Mounting screws
2 included
Mounting base
1 included
Mounting nut
1 included
Screw housing cap O-rings
2 included
HS60 GPS Compass User Guide 1 988-10836-001
The latest version of the HS60 GPS Compass Operator and Installation manual is available for download from the website:
www.simrad-yachting.com
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Operation | HS60 GPS Compass User Guide
Operation
GPS overview
For your convenience, both the GPS and SBAS (WAAS, MSAS,
GAGAN and EGNOS) operation of the HS60 features automatic
operational algorithms. When powered for the first time, the HS60
performs a “cold start,” which involves acquiring the available GPS
satellites in view and the SBAS differential service.
GPS Operation
The GPS receiver is always operating, regardless of the DGPS mode
of operation. The following sections describe the general operation
of the HS60’s internal GPS receiver.
¼ Note: Differential source and status have no impact on heading,
pitch, or roll. They only have an impact on position and heave.
Automatic tracking
The HS60’s internal GPS receiver automatically searches for GPS satellites, acquires the signals, and manages the navigation information
required for position and tracking.
Receiver performance
The HS60 works by finding four or more GPS satellites in the visible
sky. It uses information from the satellites to compute a position
within 3 m. Since there is some error in the GPS data calculations,
the HS60 also tracks a differential correction. The HS60 uses these
corrections to improve its position accuracy to better than 1.0 m.
There are two main aspects of GPS receiver performance:
• Satellite acquisition
• Position and heading calculation
When the HS60 is properly positioned, the satellites transmit coded
information to the antennas on a specific frequency. This allows
the receiver to calculate a range to each satellite from both antennas. GPS is essentially a timing system. The ranges are calculated by
timing how long it takes for the signal to reach the GPS antenna.
The GPS receiver uses a complex algorithm incorporating satellite
locations and ranges to each satellite to calculate the geographic
location and heading. Reception of any four or more GPS signals
allows the receiver to compute three-dimensional coordinates and
a valid heading.
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Operation | HS60 GPS Compass User Guide
Dierential operation
The purpose of differential GPS (DGPS) is to remove the effects of
selective availability (SA), atmospheric errors, timing errors, and
satellite orbit errors, while enhancing system integrity. Autonomous
position capabilities of the HS60 will result in position accuracies of
3 m 95% of the time. In order to improve position quality to better than 1.0 m 95%, the HS60 is able to use differential corrections
received through the internal SBAS demodulator.
Automatic SBAS tracking
The HS60 automatically scans and tracks SBAS signals without the
need to tune the receiver. The HS60 features two-channel tracking
that provides an enhanced ability to maintain a lock on an SBAS
satellite when more than one satellite is in view. This redundant
tracking approach results in more consistent tracking of an SBAS
signal in areas where signal blockage of a satellite is possible.
HS60 overview
The HS60 provides accurate and reliable heading and position information at high update rates. To accomplish this task, the HS60 uses
a high performance GPS receiver and two antennas for GPS signal
processing. One antenna is designated as the primary GPS antenna
and the other is the secondary GPS antenna. Positions computed
by the HS60 are referenced to the phase center of the primary
GPS antenna. Heading data references the vector formed from the
primary GPS antenna phase center to the secondary GPS antenna
phase center.
The heading arrow located on the bottom of the HS60 enclosure
defines system orientation. The arrow points in the direction the
heading measurement is computed (when the antenna is installed
parallel to the fore-aft line of the vessel). The secondary antenna is
directly above the arrow.
Supplemental sensors
The HS60 has an integrated gyro and two tilt sensors. The gyro and
tilt sensors are enabled by default. Both supplemental sensors are
mounted on the printed circuit board inside the HS60.
The sensors act to reduce the search volume, which improves heading startup and reacquisition times. This improves the reliability and
accuracy of selecting the correct heading solution by eliminating
other possible, erroneous solutions. See Sensor operation summary
table on next page.
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Operation | HS60 GPS Compass User Guide
Sensor operation summary
Feature Normal operation Coasting (no GPS)
Heading GPS Gyro
Pitch GPS Inertial sensor
Roll Inertial sensor Inertial sensor
Tilt aiding
The HS60’s accelerometers (internal tilt sensors) are factory-calibrated and enabled by default. This allows for a steady heading solution
beyond the volume associated with just a fixed antenna separation.
This is because the HS60 knows the approximate inclination of the
secondary antenna with respect to the primary antenna. The search
space defined by the tilt sensor will be reduced to a horizontal ring
on the sphere’s surface by reducing the search volume. This considerably decreases startup and reacquisition times.
HS60’s tilt aiding
Gyro aiding
The HS60’s internal gyro offers several benefits. It reduces the sensor
volume to shorten reacquisition times when a GPS heading is lost
because the satellite signals were blocked. The gyro provides a relative change in angle since the last computed heading, and, when
used in conjunction with the tilt sensor, defines the search space as
a wedge-shaped location - see next page.
Tilt angle
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Operation | HS60 GPS Compass User Guide
HS60-s gyro aiding
The gyro aiding accurately smoothes the heading output and the
rate of turn. It provides an accurate substitute heading for a short
period depending on the roll and pitch of the vessel, ideally seeing
the system through to reacquisition. The gyro provides an alternate
source of heading, accurate to within 1º per minute for up to three
minutes, in times of GPS loss for either antenna. If the outage lasts
longer than three minutes, the gyro will have drifted too far and the
HS60 begins outputting null fields in the heading output messages.
There is no user control over the timeout period of the gyro.
Calibration, which is set at the factory, is required for the gyro to
remove latency from the heading solution as well as provide backup
heading when GPS is blocked. The receiver will calibrate itself after
running for a while but it may be important to follow the manual
calibration instructions if you want to guarantee performance
quickly after powering up the receiver.
With the gyro enabled, the gyro is also used to update the post
HTAU smoothed heading output from the GPS heading computation. This means that if the HTAU value is increased while gyro aiding
is enabled, there will be no lag in heading output due to vehicle
maneuvers. SIMRAD’ GPS Technical Reference includes information
on setting an appropriate HTAU value for the application.
Time constants
The HS60 incorporates user-configurable time constants that can
provide a degree of smoothing to the heading, pitch, rate of turn
(ROT), course over ground (COG), and speed measurements. You
can adjust these parameters depending on the expected dynamics
of the vessel. For example, increasing the time is reasonable if the
vessel is very large and is not able to turn quickly or would not pitch
quickly. The resulting values would have reduced “noise,” resulting
in consistent values with time. However, if the vessel is quick and
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