Si-tex VECTOR PRO User's Manual

Vector PRO / Lite

Reference Manual

Part Number 875-0076-001-R Date: April 6, 2005

© Copyright 2004 CSI Wireless Inc. All rights reserved. No part of this manual may be stored in a retrieval system, transmitted, or reproduced by any means, including, but not limited to photocopy, photograph, digitizing, or otherwise, without the prior written permission from CSI Wireless Inc.

Trademarks

The CSI Wireless logo and COAST™ are trademarks of CSI Wireless Inc. All other trademarks are the property of their respective owners.

FCC Notice

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

(1) this device may not ca use harmful interference, and (2) this device must accept any interference received, including

interference that may cause undesired operation.

CSI Wireless Inc.

4110 9th Street SE Calgary, Alberta, Canada T2G 3C4 Telephone number: +1-403-259-3311 Fax numb er: +1-403-259-8866 E-mail address: info@csi-wireless.com Web Site: www.csi-wireless.com

Vector PRO Reference Manual ii

CSI Wireless Limited Warranty

CSI Wireless Inc. (“CSI”) hereby warrants solely to the end purchaser of the Products, subject to the exclusions and procedures set forth herein below, that the Products sold to such end purchaser shall be free, under normal use and maintenance, from defects in material and workmanship for a period of 12 months from delivery to such end purchaser. Repairs and replacement components are warranted, subject to the exclusions and procedures set forth below, to be free, under normal use and maintenance, from defects in material and workmanship for 90 days from performance or delivery, or for the balance of the original warranty period, whichever is greater.

Purchaser’s Exclusive Remedy

The end purchaser’s exclusive remedy under this warranty shall be limited to the repair or replacement, at the option of CSI Wireless, of any defective Products or components thereof. The end user shall notify CSI Wireless or a CSI Wireless approved service center immediately of any claimed defect. Repairs shall be made through a CSI Wireless approved service center only.

Exclusions

CSI Wireless does not warrant damage occurring in transit or due to misuse, abuse, improper installation, neglect, lightning (or other electrical discharge) or fresh/salt water immersion of Products. Repair, modification or service of CSI Wireless products by any party other than a CSI Wireless approved service center shall render this warranty null and void. CSI Wireless does not warrant claims asserted after the end of the warranty period. CSI Wireless does not warrant or guarantee the precision or accuracy of positions obtained when using Products. Products are not intended for primary navigation or for use in safety of life applications. The potential accuracy of Products as stated in CSI

Vector PRO Reference Manual iii

Wireless literature and/or Product specifications serves to provide only an estimate of achievable accuracy based on:

• Specifications provided by the US Department of Defense for GPS Positioning,

• GPS OEM Receiver specifications of the appropriate manufacturer (if applicable), and

• DGPS service provider performance specifications.

CSI Wireless reserves the right to modify Products without any obligation to notify, supply or install any improvements or alterations to existing Products.

No Other Warranties

THE FOREGOING WARRANTY IS EXCLUSIVE OF ALL OTHER WARRANTIES, WHETHER WRITTEN, ORAL, IMPLIED OR ARISING BY STATUTE, COURSE OF DEALING OR TRADE USAGE, IN CONNECTION WITH THE DESIGN, SALE, INSTALLATION, SERVICE OR USE OF ANY PRODUCTS OR ANY COMPONENTS THEREOF, INCLUDING, BUT NOT LIMITED TO, ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE.

Limitation of Liability

THE EXTENT OF CSI WIRELESS’S LIABILITY FOR DAMAGES OF ANY NATURE TO THE END PURCHASER OR ANY OTHER PERSON OR ENTITY WHETHER IN CONTRACT OR TORT AND WHETHER TO PERSONS OR PROPERTY SHALL IN NO CASE EXCEED, IN THE AGGREGATE, THE COST OF CORRECTING THE DEFECT IN THE PRODUCT OR, AT CSI WIRELESS’S OPTION, THE COST OF REPLACING THE DEFECTIVE ITEM. IN NO EVENT WILL CSI WIRELESS BE LIABLE FOR ANY LOSS OF PRODUCTION, LOSS OF PROFITS, LOSS OF USE OR FOR ANY SPECIAL, INDIRECT, INCIDENTAL, CONSEQUENTIAL OR CONTINGENT DAMAGES, EVEN IF CSI WIRELESS HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. WITHOUT LIMITING THE FOREGOING, CSI

Vector PRO Reference Manual iv

WIRELESS SHALL NOT BE LIABLE FOR ANY DAMAGES OF ANY KIND RESULTING FROM INSTALLATION, USE, QUALITY, PERFORMANCE OR ACCURACY OF ANY PRODUCTS.

Governing Legislation

To the greatest extent possible, this warranty shall be governed by the laws of the State of Arizona. In the event that any provision hereof is held to be invalid by a court of competent jurisdiction, such provision shall be severed from this warranty and the remaining provisions shall remain in full force and effect.

Obtaining Warranty Service

In order to obtain warranty service, the end purchaser must bring the Product to a CSI Wireless approved dealer, along with the end purchaser’s proof of purchase. For any questions regarding warranty service or to obtain information regarding the location of any of CSI Wireless’s dealers, contact CSI Wireless at the following address.

CSI Wireless Inc. 4110 9th Street SE Calgary AB, T2G 3C4 Canada Telephone number: +1-403-259-3311 Fax number: +1-403-259-8866 E-mail address: techsupport@csi-wireless.com

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Table of Contents

List of Figures ..........................................................................................xiv

List of Tables........................................................................................... xvi

Preface................................................................................................. xviii

Organization.................................................................................... xix

Customer Service............................................................................ xxi

World Wide Web Site......................................................................xxii

Document Conventions .....................................................................xxii

Notes, Cautions, and Warnings .........................................................xxii

1. Quick Start ...................................................................................23

1.1 Receiving Your Shipment........................................................... 24

1.2 Unpacking Your Vector PRO System ......................................... 24

1.3 Vector PRO Interface ................................................................ 25

1.4 Understanding the Vector PRO .................................................. 25

1.4.1 Moving Base Station RTK................................................. 26

1.4.2 Supplemental Sensors - Reduced Search Time.................. 27

1.4.3 Supplemental Sensors - Heading System Backup.............. 27

1.5 Installation Overview.................................................................. 28

1.6 Mounting Configurations and Offset Settings................................ 29

1.7 Gyro Initialization Process......................................................... 30

1.8 NMEA 0183 Message Interface.................................................. 31

1.8.1 Tilt Aiding ....................................................................... 31

1.8.2 Tilt Sensor Calibration...................................................... 31

1.8.3 Magnetic Aiding .............................................................. 32

1.8.4 Magnetometer Calibration.................................................33

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1.8.5 Gyro Aiding .................................................................... 34

1.8.6 Time Constants............................................................... 35

1.8.7 Level Operation............................................................... 40

1.8.8 Heading Compensation.................................................... 40

1.8.9 Configuring for Pitch or Roll.............................................. 41

1.8.10 Configuring Negative Pitch or Roll ..................................... 42

1.8.11 Pitch / Roll Compensation................................................ 42

1.8.12 Forcing a New RTK Search .............................................. 43

1.8.13 Summary Command........................................................ 43

1.8.14 HELP command.............................................................. 43

1.8.15 $HEHDT Message........................................................... 44

1.8.16 $HEROT Message .......................................................... 45

1.8.17 Proprietary $PSAT,INTLT Message ................................... 45

1.8.18 Proprietary $PSAT,HPR Message .................................... 45

2. Installation.................................................................................... 47

2.1 System Parts List..................................................................... 47

2.2 Installation Overview.................................................................. 47

2.2.1 Fixed Base Installation .................................................... 47

2.2.2 Pole-mounting Base Installation........................................ 48

2.3 Vector PRO Interface................................................................ 49

2.4 Choosing a Mounting Location................................................... 49

2.4.1 GPS Reception............................................................... 49

2.4.2 Beacon Reception........................................................... 50

2.5 Environmental Considerations .................................................... 51

2.6 Power Considerations ............................................................... 51

2.7 Electrical Isolation .................................................................... 51

2.8 Vector PRO Mounting............................................................... 52

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2.8.1 Fixed Base Mounting....................................................... 54

2.8.2 Pole and Rail Mounting.................................................... 60

2.8.3 Vector PRO Alignment..................................................... 68

2.9 Routing and Securing the Power / Data Cable..............................70

2.10 Interfacing the Vector PRO ........................................................70

2.10.1 Power / Data Cable Pin-Out..............................................71

2.10.2 Connecting to a power source...........................................72

2.10.3 Overview of Serial Port Interface ........................................72

2.10.4 Overview of Serial Port Configuration..................................73

2.10.5 Interfacing to a PC Computer............................................74

2.10.6 Interfacing to Other Devices..............................................76

2.11 Default Parameters ...................................................................77

3. Vector PRO Overview.....................................................................80

3.1 GPS........................................................................................ 80

3.1.1 Satellite Tracking.............................................................81

3.1.2 Positioning Accuracy....................................................... 81

3.1.3 Update Rates.................................................................. 82

3.2 SBAS...................................................................................... 82

3.2.1 Automatic Tracking..........................................................82

3.2.2 SBAS Performance......................................................... 83

3.3 Beacon Operation..................................................................... 84

3.3.1 Tune Modes.................................................................... 84

3.3.2 Receiver Performance...................................................... 86

3.4 COAST™ Technology ............................................................... 86

3.5 Vector PRO Architecture........................................................... 87

3.5.1 GPS Hardware................................................................ 87

3.5.2 GPS Firmware ................................................................ 87

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3.5.3 GPS Applications............................................................ 88

3.5.4 Beacon Firmware............................................................ 88

4. Operation ..................................................................................... 89

4.1 Powering the Vector PRO.......................................................... 89

4.2 Communicating with the Vector PRO.......................................... 89

4.2.1 NMEA 0183 Interface....................................................... 90

4.2.2 Binary Interface............................................................... 91

4.2.3 RTCM SC-104 Protocol.................................................... 91

4.3 Configuring the Vector PRO....................................................... 93

4.4 Configuring the Data Message Output......................................... 93

4.4.1 This Port and the Other Port............................................. 94

5. PocketMAX Utility......................................................................... 95

6. NMEA 0183 Messages.................................................................. 96

6.1 NMEA Message Elements ........................................................ 96

6.2 PocketMAX.............................................................................. 97

6.3 General Commands .................................................................. 98

6.3.1 $JASC,D1 .....................................................................100

6.3.2 $JAIR............................................................................100

6.3.3 $JASC,VIRTUAL............................................................101

6.3.4 $JALT...........................................................................102

6.3.5 $JLIMIT .........................................................................103

6.3.6 $JAPP ..........................................................................103

6.3.7 $JBAUD........................................................................104

6.3.8 $JCONN........................................................................105

6.3.9 $JDIFF..........................................................................106

6.3.10 $JK...............................................................................106

6.3.11 $JPOS..........................................................................107

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6.3.12 $JQUERY,GUIDE.......................................................... 107

6.3.13 $JRESET...................................................................... 108

6.3.14 $JSAVE ....................................................................... 108

6.3.15 $JSHOW ...................................................................... 109

6.3.16 $JT............................................................................... 111

6.3.17 $JI................................................................................ 112

6.3.18 $JBIN........................................................................... 112

6.4 GPS Commands..................................................................... 113

6.4.1 $JASC.......................................................................... 114

6.4.2 $JAGE ......................................................................... 115

6.4.3 $JOFF.......................................................................... 116

6.4.4 $JMASK....................................................................... 116

6.4.5 $J4STRING................................................................... 117

6.4.6 $JSMOOTH .................................................................. 117

6.5 SBAS Commands................................................................... 118

6.5.1 $JWAASPRN................................................................ 119

6.5.2 $JGEO......................................................................... 120

6.5.3 $JASC,D1..................................................................... 122

6.5.4 $JASC,RTCM................................................................ 122

6.6 Data Messages ...................................................................... 123

6.6.1 GGA Data Message ...................................................... 124

6.6.2 GLL Data Message........................................................ 125

6.6.3 GSA Data Message....................................................... 126

6.6.4 GST Data Message....................................................... 127

6.6.5 GSV Data Message....................................................... 128

6.6.6 RMC Data Message ...................................................... 129

6.6.7 RRE Data Message....................................................... 130

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6.6.8 VTG Data Message........................................................131

6.6.9 ZDA Data Message........................................................132

6.6.10 RD1 Data Message........................................................133

6.6.11 $PCSI,1 Beacon Status Message....................................135

6.6.12 HDT Data Message........................................................136

6.6.13 ROT Data Message ........................................................136

6.6.14 HPR Data Message........................................................136

6.7 Beacon Receiver Commands ....................................................137

6.7.1 $GPMSK Beacon Tune Command...................................137

6.7.2 $PCSI,1 Beacon Status Command..................................139

6.8 GPS Heading Commands.........................................................139

6.8.1 $JATT,TILTAID...............................................................140

6.8.2 $JATT,TILTCAL..............................................................141

6.8.3 $JATT,MAGAID..............................................................141

6.8.4 $JATT,MAGCAL.............................................................142

6.8.5 $JATT,MAGCLR.............................................................143

6.8.6 $JATT,GYROAID............................................................144

6.8.7 $JATT,LEVEL................................................................145

6.8.8 $JATT,CSEP .................................................................146

6.8.9 $JATT,MSEP.................................................................146

6.8.10 $JATT,HTAU..................................................................147

6.8.11 $JATT,PTAU..................................................................148

6.8.12 $JATT,HRTAU ................................................................149

6.8.13 $JATT,COGTAU.............................................................150

6.8.14 $JATT,SPDTAU.............................................................151

6.8.15 $JATT,HBIAS.................................................................152

6.8.16 $JATT,PBIAS.................................................................152

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6.8.17 $JATT,NEGTILT .............................................................153

6.8.18 $JATT,ROLL ................................................................. 153

6.8.19 $JATT,SEARCH............................................................ 154

6.8.20 $JATT,SUMMARY......................................................... 154

6.8.21 $JATT,HELP ................................................................. 156

7. Binary Data................................................................................. 158

7.1 Binary Message Structure ....................................................... 158

7.1.1 Bin 1............................................................................ 160

7.1.2 Bin 2............................................................................ 161

7.1.3 Bin 80 .......................................................................... 162

7.1.4 Bin 93 .......................................................................... 163

7.1.5 Bin 94 .......................................................................... 164

7.1.6 Bin 95 .......................................................................... 165

7.1.7 Bin 96 .......................................................................... 166

7.1.8 Bin 97 .......................................................................... 167

7.1.9 Bin 98 .......................................................................... 168

7.1.10 Bin 99 .......................................................................... 170

8. Frequently Asked Questions ........................................................ 173

8.1 Heading ................................................................................. 173

8.2 General.................................................................................. 173

8.3 Support and Repairs................................................................ 174

8.4 Troubleshooting ...................................................................... 175

8.5 Power, Communication, and Configuration................................. 176

8.6 GPS Reception and Performance............................................. 178

8.7 SBAS Reception and Performance........................................... 178

8.8 Beacon Reception and Performance......................................... 180

8.9 External Corrections................................................................ 181

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8.10 Installation ..............................................................................181

9. Troubleshooting............................................................................183

9.1.1 Radiobeacon DGPS .......................................................208

9.2 DGPS Service Comparison.......................................................210

Appendix A - Specifications.....................................................................185

Appendix B - Interface.............................................................................186

Appendix B – Introduction to GPS, SBAS, and Beacon..............................187

Appendix C – Resources.........................................................................212

Index ..................................................................................................214

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List of Figures

Figure 1-1 Vector PRO.............................................................................23

Figure 1-2 Cable Interface .........................................................................25

Figure 2-1 Vector PRO Interface................................................................49

Figure 2-2 Vector PRO with Fixed Mount Base...........................................53

Figure 2-3 Vector PRO with Pole Mount Base............................................53

Figure 2-4 Fixed Mount Base ....................................................................55

Figure 2-5 Bottom View of Fixed Mount Base .............................................55

Figure 2-6 Running Cable Through Fixed Base Mount ..................................56

Figure 2-7 Running Cable Through Fixed Base............................................57

Figure 2-8 Power / Data Cable Key and Keyway .........................................57

Figure 2-9 Connecting the Power / Data Cable to the Vector PRO................58

Figure 2-10 Fastening the Fixed Base to the Vector PRO ............................59

Figure 2-11 Fastening the Fixed Base to the Vector PRO ............................59

Figure 2-12 Threading on the Lock Nut and Washer ....................................61

Figure 2-13 Running the Cable Through the Pole Base................................62

Figure 2-14 Running the Cable Through the Pole Base................................62

Figure 2-15 Running the Cable Through the Pole Mount...............................63

Figure 2-15 Completed Cable Run .............................................................63

Figure 2-16 Threading the Pole Base onto the Mount ...................................64

Figure 2-17 Pole Base Threaded onto Mount ..............................................64

Figure 2-18 Power / Data Cable Key and Keyway .......................................65

Figure 2-19 Connected Power / Data Cable ................................................66

Figure 2-20 Fastening the Pole Base to the Vector PRO .............................67

Figure 2-21 Threading the Lock Nut Against the Pole Base..........................67

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Figure 2-22 Locking the Vector PRO once Aligned..................................... 68

Figure 2-23 Lining up the Alignment Sight .................................................. 69

Figure 2-24 Correctly Lined-up Alignment Sight .......................................... 69

Figure 2-25 DB9 Socket Numbering........................................................... 76

Figure 6-1 PocketMAX Screen Capture ...................................................... 98

Figure C-1 WAAS Coverage.....................................................................203

Figure C-2 EGNOS Coverage ...................................................................204

Figure C-3 Broadcast WAAS Inonspheric Correction Map...........................206

Figure C-4 Extrapolated WAAS Inonspheric Correction Map.......................206

Figure C-5 Broadcast EGNOS Inonspheric Correction Map .........................207

Figure C-6 Extrapolated EGNOS Inonspheric Correction Map .....................207

Figure C-7 World DGPS Radiobeacon Coverage........................................210

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List of Tables

Table 2-1 Power Requirements ..................................................................51

Table 2-1 Wire Color Interface...................................................................71

Table 2-2 Primary GPS Port A DB9 RS -232 Interface..................................75

Table 2-3 Secondary GPS Port A DB9 RS -232 Interface..............................75

Table 3-2 Firmware Applications................................................................77

Table 3-3 Default Port Settings..................................................................77

Table 3-4 Available Baud Rates .................................................................77

Table 3-5 Default GPS NMEA Message Output ..........................................78

Table 3-6 Correction Age and Elevation Mask Defaults ................................78

Table 3-7 Default Differential Mode .............................................................78

Table 3-8 Beacon Operating Parameters ....................................................78

Table 3-1 Beacon Receiver Performance - SNR Reading.............................. 86

Table 6-1 NMEA Message Elements .........................................................97

Table 6-2 General Commands ...................................................................99

Table 6-3 GPS Commands ..................................................................... 113

Table 6-4 SBAS Commands ................................................................... 119

Table 6-5 Data Messages ....................................................................... 123

Table 6-6 GGA Data Message Defined ..................................................... 124

Table 6-7 GLL Data Message Defined...................................................... 125

Table 6-8 GSA Data Message Defined..................................................... 126

Table 6-9 GST Data Message Defined...................................................... 127

Table 6-10 GSV Data Message Defined ................................................... 128

Table 6-11 RMC Data Message Defined................................................... 129

Table 6-12 RRE Data Message Defined.................................................... 130

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Table 6-13 VTG Data Message Defined.....................................................131

Table 6-14 ZDA Data Message Defined .....................................................132

Table 6-15 RD1 Data Message Defined .....................................................133

Table 6-16 SBX Beacon Commands .........................................................137

Table 6-17 GPS Heading Commands ........................................................140

Table 7-1 Binary Message Structure .........................................................159

Table 7-2 Bin 1 Message .........................................................................160

Table 7-3 Bin 2 Message .........................................................................161

Table 7-4 Bin 80 Message.......................................................................162

Table 7-5 Bin 93 Message.......................................................................163

Table 7-6 Bin 94 Message.......................................................................164

Table 7-7 Bin 95 Message.......................................................................165

Table 7-8 Bin 96 Message.......................................................................166

Table 7-9 Bin 97 Message.......................................................................167

Table 7-10 Bin 98 Message .....................................................................168

Table 7-11 Bin 99 Message .....................................................................170

Table 9-1 Troubleshooting ........................................................................183

Table A-1 Specifications..........................................................................185

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Preface

Welcome to the Vector PRO Reference Manual and congratulations on purchasing this high-performance GPS compass. This product is based upon the succe ssful heritage of our SLX engine-based GPS products that are renowned for performance and reliability.

The Vector PRO is a complete GPS compass and positioning system in a single enclosure that requires only one power / data cable connection. The Vector PRO has been designed primarily for the Marine market, however it is also suitable for other markets, such as Machine Control and Agricultural Guidance. This reference manual has been written to address the primary use of the Vector PRO in the Marine industry, however the information provided should be sufficiently broad to also satisfy the needs of Vector PRO use in other markets.

The Vector PRO is an integrated system that houses two tightly coupled high-performance GPS receivers, dual GPS antennas, a DGPS beacon module, H -field beacon antenna, power supply, a single-axis gyro, a magnetic compass, and a tilt sensor. The gyro, magnetic compass, and tilt sensor 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 blockages.

Note - The Vector Lite model is identical to the Vector PRO with the exception that it does contain a DGPS beacon module. If you have purchased the Vector Lite, please ignore the sections of this manual that discuss the beacon signal, receiver operation, and implications to installation relating to the beacon signal.

The GPS antennas inside the Vector PRO are separated by approximately 0.5 m between antenna phase centers, resulting in a 0.5? rms heading performance. The Vector PRO provides industry standard $HEHDT and $HEROT NMEA heading messages at rates of up to 10 Hz and delivers sub-meter positioning (95%) using corrections from

Vector PRO Reference Manual xviii

Space Based Augmentation Systems (SBAS) or its internal SBX beacon demodulator at position update rates of up to 5 Hz.

An additional feature offered by the Vector PRO is our unique COAST™ technology that allows the internal GPS to use old correction data for up to 30 to 40 minutes without dramatically affecting the quality of your positioning. Using COAST, the Vector PRO is less vulnerable to differential signal outages, weak differential signal conditions, differential signal blockage or interference.

The purpose of this manual is to familiarize you with the proper installation, configuration, and operation of your new GPS compass. This document is a comprehensive resource rather than a simple user’s guide in order to place a generous amount of information in one place. We hope this saves you time by providing co mplete information in a single document and also increases your knowledgebase beyond the basic operation of the Vector PRO. At the same time, we’ve written Chapter 1 such that it condenses much of the heading aspect of the product in one convenient place.

SI-TEX has designed this GPS product to function in a wide array of applications and environments for many years of reliable operation.

Organization

This manual contains the following chapters.

Chapter 1: Introduction - provides an introduction to GPS and DGPS

technology, and the Vector PRO system.

Chapter 2: Installation - describes how to install the Vector PRO and

provides a foundation for interfacing it with an external navigation system or similar device.

Vector PRO Reference Manual xix

Chapter 3: Overview - provides details on the fundamental operating

modes of the Vector PRO system and its associated default parameters.

Chapter 4: Operation - describes how to configure and operate the

Vector PRO receiver.

Chapter 5: PocketMAX Utility - describes the general usage of the CSI

Wireless PocketMAX utility with the Vector PRO.

Chapter 6: NMEA 0183 - describes the subset of NMEA 0183

commands and queries used to communicate with the Vector PRO.

Chapter 7: Frequently Asked Questions - This chapter provides

answers to frequently asked questions about the Vector PRO.

Chapter 8: Troubleshooting - provides you with diagnostic information

to aid in determining a source of difficulty for a particular installation.

Appendix A - Specifications: - details the technical ch aracteristics of

the Vector PRO system.

Appendix B – Introduction to GPS, SBAS, and Beacon: provides

details on GPS, SBAS, and beacon services, and the implications to the Vector PRO

Appendix C - Resources: This appendix lists a number of different

resources that may be useful for the advanced user. The Index provides a listing of the locations of various subjects within

this manual.

Vector PRO Reference Manual xx

Customer Service

If you encounter problems during the installation or operation of this product, or cannot find the information you need, please contact your dealer, or CSI Wireless Customer Service. The contact numbers and e-mail address for CSI Wireless Customer Service are:

Telephone number: +1-403-259-3311 Fax number: +1-403-259-8866 E-mail address: techsupport@csi-wireless.com

Technical Support is available from 8:00 AM to 5:00 PM Mountain Time, Monday to Friday.

To expedite the support process, please have the product model and serial number available when contacting CSI Wireless Customer Service.

In the event that your equipment requires service, we recommend that you contact your dealer directly. However, if this is not possible, you must contact CSI Wireless Customer Service to obtain a Return Merchandise Authorization (RMA) number before returning any product to CSI Wireless. If you are returning a product for repair, you must also provide a fault description before CSI Wireless will issue an RMA number.

When providing the RMA number, CSI Wireless will provide you with shipping instructions to assist you in returning the equipment.

Vector PRO Reference Manual xxi

World Wide Web Site

CSI Wireless maintains a World Wide Web home page at the following address.

www.csi-wireless.com

A co rporate profile, product information, application news, GPS and DGPS literature, beacon coverage information, and software are available at this site.

Document Conventions

Bold is used to emphasize certain points.

Notes, Cautions, and Warnings

Notes, Cautions, and Warnings stress important information regarding the installation, configuration, and operation of the Vector PRO system.

Note - Notes outline important information of a general nature.

Cautions - Cautions inform of possible sources of difficulty or situations that may cause damage to the product.

Warning - Warnings inform of situations that may cause harm to yourself.

Vector PRO Reference Manual xxii

1. Quick Start

The purpose of this chapter is to help you get your Vector PRO running as quickly and painlessly as possible. This chapter is not intended to replace the balance of this reference manual and it assumes that you have a reasonable amount of knowledge with installation and operation of GPS navigation systems.

The Vector PRO is a highly functional system, and as such, it will take care to successfully install and configure. Although this chapter is titled Quick Start, the volume of information presented may be initially overwhelming, however, the default configuration of the Vector PRO provides a functional heading and positioning data output that satisfies many requirements little additional configuration.

Figure 1-1 shows the V ector PRO mounted on the fixed base.

Figure 0-1 Vector PRO

Vector PRO Reference Manual 23

The Vector PRO is composed of three main pieces; the Vector PRO, the mounts, and the power / data cable. The remaining parts are the manual, screws, and screwdriver bits.

If you are new to GPS and SBAS, we recommend that you consult Appendix B for further information on these services and technology before proceeding.

1.1 Receiving Your Shipment

If you find that any of these items are damaged due to shipment, please contact the freight carrier immediately for assistance.

1.2 Unpacking Your Vector PRO System

When you unpack your Vector PRO system, please ensure that it is complete by comparing the parts received against the packing slip. Unless your system has intentionally been equipped differently than a standard Vector PRO, you should find the following parts in your system.

• One Vector PRO receiver (P/N 804-0020-01A or greater) or

• One Vector Lite (P/N 804-0021-03A or greater)

• One pole mount (P/N 603-1002-000)

• One fixed mount (P/N603-1001-000)

• One power / data cable - 15 m (P/N 051-0063-003)

• One Vector PRO Manual (P/N 875-0076-000)

• One set of base mounting screws (8 pieces) (P/N 675-1078-000)

• Two T-20 Torx screwdriver bit for base mount ing (P/N 675-0037-000)

• One 1-14-UNS stainless steel jam nut (P/N 676-1003-000)

• One stainless steel washer (P/N 678-1039-000)

Vector PRO Reference Manual 24

Note - If, for some reason, you find a discrepancy between your packing slip and the contents of your shipment, please contact the sales person with which you placed your order.

1.3 Vector PRO Interface

The Vector PRO features a single power / data connection located on the bottom of the enclosure. This connector, when mated with the cable-mounted connector is weatherproof. Additionally, when the mounting base is fitted, this will provide addition protection from the elements. The following figure shows the Vector PRO’s power / data connection.

Figure 0-2 Cable Interface

1.4 Understanding the Vector PRO

The purpose of the Vector PRO system is to provide accurate, reliable heading and position information at high update rates. To accomplish this task, the Vector PRO uses two internal high performance GPS engines and two multipath-resistant antennas for GPS signal processing. One pair of receiver and antenna is designated the primary GPS and the second pair is designated as the secondary GPS.

Vector PRO Reference Manual 25

Positions computed by the Vector PRO 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 following figure shows the location of a heading arrow on the bottom of the Vector PRO enclosure, which defines system orientation. The arrow points in the direction that the heading measurement is computed (when the antenna is installed parallel to the fore-aft line of the vessel). The antenna inside the enclosure directly above the arrow is the secondary antenna.

1.4.1 Moving Base Station RTK

The Vector PRO’s internal GPS engines use both the L1 GPS C/A code and carrier phase data to compute the location of the secondary GPS antenna in relation to the primary GPS antenna with a very high subcentimeter level of precision. The technique of computing the location of the secondary GPS antenna with respect to the primary antenna, when the primary antenna is moving, is often referred to as moving base station Real-Time Kinematic (or moving base station RTK).

RTK technology generally is very sophisticated and requires a significant number of possible solutions to be analyzed where various combinations of integer numbers of L1 wavelengths to each satellite intersect within a certain search volume. The integer number of wavelengths is often referred to as the Ambiguity as they are initially ambiguous at the start of the RTK solution.

The Vector PRO places a constraint on the RTK solution with the prior knowledge of the fact that the secondary GPS antenna has a fixed separation of 0.50 m from the primary GPS antenna on the bracket of the Antenna Array. This reduces the search volume considerably (and hence startup times) since the location of the secondary antenna can theoretically fall only on the surface of a sphere with radius 0.50 m centered on the location of the primary antenna (versus a normal search volume that’s greater than a cubic meter).

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1.4.2 Supplemental Sensors - Reduced Search Time

In addition to incorporating two internal GPS engines, integrated inside the Vector PRO are a gyro, magnetometer, and a tilt sensor. When used, the combination of the tilt sensor and the magnetometer aid the rate at which a heading solution is computed on startup and also during reacquisition if the GPS heading is lost due to obstructions. Each supplemental sensor may be turned on or off individually, however, the full functionality of the Vector PRO system is realized only when all are used. Each supplemental sensor is inside the Vector PRO enclosure, mounted on the internal printed circuit board.

The tilt sensor reduces the search volume further beyond the volume associated with just a fixed antenna separation, since the Vector PRO knows the approximate inclination of the secondary antenna with respect to the primary. The magnetic sensor is able to provide a general indication of the true heading, reducing the search volume further. The gyro has a similar benefit as the magnetic sensor, however only on reacquisition since it initially requires a GPS heading to selfcalibrate. The gyro is more accurate for the short term than the magnetic heading sensor and it further reduces the search volume. Reducing the RTK search volume also has the benefit of improving the reliability and accuracy of selecting the correct heading solution by eliminating other possible, erroneous solutions.

Note - By default, the tilt aiding is turned on, however, the gyro and the magnetic sensors are turned off for shipping. The gyro sensor may be turned on at any time by sending a configuration command to the Vector PRO. The magnetic sensor should be turned on when Vector is mounted in its final location.

1.4.3 Supplemental Sensors - Heading System Backup

The magnetic sensor and the gyro are able to operate as secondary sources of heading during periods of GPS outage due to obstruction. We require that you turn on the magnetic aiding once the installation is complete. You may configure the Vector PRO to use the gyro aiding if

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you choose. Since the gyro is more accurate than the magnetic sensor for short periods of outage, if both sensors are used, the Vector PRO will use the gyro for heading initially during an outage. If the outage lasts longer than 60 seconds, the gyro will be deemed to have drifted too far and the Vector PRO will begin outputting a heading based upon the magnetic sensor. There is no user control over the time -out period of the gyro.

If the gyro is turned off and the magnetic sensor is the only secondary heading source, it will provide a heading indefinitely until a GPS heading has been reacquired.

1.5 Installation Overview

The following list summarizes the primary installation steps and points for consideration to successfully install and configure the Vector PRO system.

• Choose a mounting location with no structures above its horizon - failure to do so can reduce heading accuracy, startup times, signal reacquisition times, positioning accuracy, and availability of satellite signals from both GPS and SBAS. Make sure the Antenna Array is mounted away from other electronics and antennas (especially active TV antennas) by at least a few feet, preferably more. Keep in mind that the position computed by the Vector PRO is

referenced to the phase center of the primary GPS antenna, which is approximately 5.7 cm (2.25”) from the aft-end of the Vector PRO enclosure, residing on its centerline.

• You may want to install the Vector PRO on the vessel’s axis so the resulting position from the primary GPS receiver agrees with the centerline of the vessel. The Vector PRO does not support a command to translate its position to the vessel centerline if the enclosure is mounted offset from the centerline.

• The location that you choose to mount the Vector PRO should be a quiet location from a radio frequency perspective. This should location should have an omni directional view of the horizon and be mounted reasonably high (keeping in mind serviceability). This will ensure that you minimize outside interference with beacon reception.

• Determine how you wish to install the Antenna Array (either along the boat’s fore-aft line or athwartship (perpendicular to it) - this depends on whether or not

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you would like to use the second dimension of attitude that the Vector PRO provides - either pitch or roll)

• Choose either the fixed or pole mount for the installation, based on what will most easily meet your needs. If you choose to use the pole mount, ensure that

once the Vector PRO is mounted, its orientation will not change over time as this will affect the heading result.

• Connect the power / dat a cable to the Vector PRO before you fasten on the fixed mount or pole mount.

• Power the Vector PRO only with an input voltage between 8 and 40 VDC.

• Install the Vector PRO so that it is horizontal (as best as can be accomplished

- this will provide a foundation for performance success when the internal tilt sensor is used to supplement Vector PRO operation).

• Compensate for any heading offset of the Vector PRO, its configuration (the default is no compensation)

• Configure the NMEA data message output from the Vector (by default, Port A and B output GGA, VTG, GSV, ZDA, HDT, and ROT at 1 Hz)

• Configure the baud rates if necessary (default is 19,200 for Port A and B)

• Configure the supplementary sensors if necessary (the tilt sensor operates by

default and the magnetic sensor and gyro are disabled, but, the magnetic sensor is required to be on after installation is complete)

• Configure for your desired mode of differential operation (either SBAS, beacon, or external corrections – SBAS corrections are default)

• If you are using the second dimension of attitude provided by the Vector PRO (either roll or pitch, depending on the Antenna Array orientation), configure the Vector PRO appropriately (the default is pitch)

• Compensate for pitch / roll error due to installation, within the Vector PRO configuration (the default is no compensation)

• If your application does not involve pitching or rolling of more than 10? from horizontal, configuring the Vector PRO for level operation will reduce startup and reacquisition times significantly

1.6 Mounting Configurations and Offset Settings

There are two primary mounting orientations possible with the Vector PRO system. The first and most common method is to mount the Vector PRO enclosure pointing in a direction parallel to the axis of the boat, facing the bow. This mounting configuration will provide the ability

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for the Vector PRO system to output both heading and the pitch of the vessel.

If a gyrocompass is present onboard, this could be used as truth to calibrate the physical heading of the Vector PRO and its corresponding heading measurements to true heading of the boat by entering a heading bias into the Vector PRO configuration. For example, if a gyrocompass heading provides 183.2? while the Vector PRO provides a

heading reading of 184.0?, a bias of -0.8? (the bias is added) should be programmed into the Vector PRO to calibrate its heading. Obviously, the Vector PRO could be adjusted physically to correct for this deviation.

The second method of mounting the Vector PRO system to mount the Vector PRO perpendicular to the boat’s symmetrical axis. This orientation will provide the heading and roll of the vessel. The Vector PRO is then configured with a heading bias of +90? or -90? (depending if the Vector PRO points to port or starboard) to correct the heading.

A feature is present in the Vector PRO to change the sign of the roll / pitch measurement to be positive or negative, depending on the required convention for positive / negative roll, if needed. Co nsult Chapter 6 for further information.

1.7 Gyro Initialization Process

When the gyro is first initializing itself, it is important that the dynamics that the gyro experiences during this warm-up period are similar to the regular operating dynamics. For examp le, if you will be using the Vector on a high speed, maneuverable craft, it is essential that when gyro aiding in the Vector is first turned on that it be used for the first 5 to 10 minutes in an environment that has high dynamics as well, instead of just sitting stationary.

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