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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1.8 NMEA 0183 Message Interface

The Vector PRO uses the common NMEA 0183 interface, which allows you to easily make configuration changes by sending text-type commands to the receiver.

Each of the following sections provide the appropriate commands for making the configuration change discussed. The NMEA interface of the Vector PRO is described in more detail in Chapter 6.

1.8.1 Tilt Aiding

The Vector PRO’s internal tilt sensor (accelerometer) is enabled by default, is factory calibrated, and constrains the RTK heading solution to reduce startup and reacquisition times.

To turn the tilt-aiding feature off, use the following command.

$JATT,TILTAID,NO<CR><LF>

You may turn this feature back on with the following command.

$JATT,TILTAID,YES,<CR><LF>

To query the Vector PRO for the current status of this feature, issue the following command.

$JATT,TILTAID<CR><LF>

1.8.2 Tilt Sensor Calibration

The tilt sensor within the Vector PRO is pre-calibrated during the manufacturing process so it’s not necessary that it be recalibrated in the field. If, for some reason, recalibration is necessary, Chapter 6 describes the command and methodology required to recalibrate this sensor.

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1.8.3 Magnetic Aiding

For shipping purposes, magnetic aiding is disabled, but, it is required to be turned on and calibrated when the final installation is complete. The Vector’s internal magnetometer reduces the time required to compute a heading solution on startup and during GPS reacquisition by constraining the moving base station RTK solution. Further, it reduces the likelihood of computing the wrong GPS solution. With an approximate heading from the magnetometer, the search volume for the RTK solution is reduced, since the Vector has a general indication of the direction of the secondary GPS antenna.

The magnetic sensor also can provide a secondary source of heading output in the event that a GPS outage occurs due to signal obstruction.

Use of the magnetic aiding feature is now required, but, for shipping purposes, this feature is disabled. In addition to reducing the time required to compute a heading solution, it can also provide a secondary source of heading when a GPS heading is not available. When you are ready to turn the magnetic aiding feature on, there are two different ways of calibrating. The magnetic sensor must be calibrated after the completion of the installation process.

To turn the magnetic-aiding feature on, use the following command.

$JATT,MAGAID,YES<CR><LF>

You may turn this feature back off with the following command.

$JATT,MAGAID,NO<CR><LF>

To query the Vector for the current status of this feature, issue the following command.

$JATT,MAGAID<CR><LF>

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1.8.4 Magnetometer Calibration

Metallic structures on the vessel affect a compass’ reading, so this effect must be ‘removed’ through the calibration process. Once the Vector is installed in its final location, to use this feature, magnetic aiding must first be turned on, followed by its calibration. A valid GPS heading is mandatory for the calibration process. There are two different ways to calibrate the magnetometer.

The first way is to send a command to clear the current magnetic information to begin the initialization process.

$JATT,MAGCLR<CR><LF>

Then, if you leave the unit powered continuously, it will automatically save the magnetic calibration tables when the system has sufficiently sampled the magnetic field with numerous rotations. Depending on this dynamics of your vessel, this may several days. For instance, if this system is being used on a large cargo vessel that may only see significant rotation during harbor approaches or maneuvers within a port or channel, this process may take many days. Thereafter, there is no further calibration required. If you wish to check if the magnetic information has been saved, you can issue the following command.

$JATT,MAGCAL<CR><LF>

The second method requires more work up front, but ensures your magnetic calibration information is up to date and complete within a short period of time. A command to clear the current magnetic information mu st first be sent to begin the initialization process, followed by slowly rotating the vessel a full 360? approximately 3 to 10 times. Calibration should be performed in a clear environment without any potential satellite blockages to minimize any possible errors during the process. The command to initialize the magnetic calibration process follows.

$JATT,MAGCLR<CR><LF>

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Once the command has been issued, the vessel needs to rotate 360? three to four times. The following command can be sent during the calibration procedure to ‘ask’ the Vector if the calibration is complete and if so, to automatically save it to memory for subsequent power cycles.

$JATT,MAGCAL<CR><LF>

If the Vector enclosure is reinstalled in a different location, even on the same vessel, you will need to clear the calibration table with the $JATT,MAGCLR command and complete the new calibration. Similarly, if any objects containing metal are moved near or away from the sensor, this command will need to be sent to the receiver and a new calibration performed.

Note - It is very important to perform the calibration only after the installation of the Vector has been confirmed to be complete. If the Vector’s location is changed, you will need to clear the calibration and recalibrate. A valid GPS heading is required during the calibration process.

1.8.5 Gyro Aiding

The Vector PRO’s internal gyro is not used by default, however it can offer two benefits. It will shorten reacquisition times when a GPS heading is lost, due to obstruction of satellite signals, by reducing the search volume required for solution of the RTK. It will also provide an accurate substitute heading for a short period (depending on the roll and pitch of the vessel) ideally seeing the system through to reacquisition.

Should you wish to use gyro-aiding, you will need to turn it on using the following command.

$JATT,GYROAID,YES<CR><LF>

If you wish to turn this feature off, the use the following command.

$JATT,GYROAID,NO<CR><LF>

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If you wish to request the status of this message, send the following command.

$JATT,GYROAID<CR><LF>

1.8.6 Time Constants

The Vector PRO incorporates user-configurable time constants that can provide a degree of smoothing to the heading, course over ground, and speed measurements. The following sections describe how to configure their values.

1.8.6.1 Heading Time Constant

The heading time constant allows you to adjust the level of responsiveness of the true heading measurement provided in the $HEHDT message. The default value of this constant is 2.0 seconds of smoothing when the gyro is enabled. The gyro by default is enabled, but can be turned off. By turning the gyro off, the equivalent default value of the heading time constant would be 0.5 seconds of smoothing. This is not done automatically, and therefore must be entered manually by the user. Increasing the time constant will increase the level of heading smoothing.

The following command is used to adjust the heading time constant.

$JATT,HTAU,htau<CR><LF>

Where ‘htau’ is the new time constant that falls within the range of 0.0 to

3600.0 seconds. Depending on the expected dynamics of the vessel, you may wish to

adjust this parameter. For instance, if the vessel is very large and is not able to turn quickly, increasing this time is reasonable. The resulting heading would have reduced ‘noise’, resulting in consistent values with time. However, artificially increasing this value such that it does not agree with a more dynamic vessel could create a lag in the heading measurement with higher rates of turn. A convenient formula for determining what the level of smoothing follows for when the gyro is in

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use. If you are unsure on how to set this value, it’s best to be conservative and leave it at the default setting.

htau (in seconds) = 40 / maximum rate of turn (in ?/s) – gyro ON

htau (in seconds) = 10 / maximum rate of turn (in ?/s) – gyro OFF

You may query the Vector for the current heading time constant by issuing the same command without an argument.

$JATT,HTAU<CR><LF>

Note - If you are unsure of the best value for this setting, it’s best to be conservative and leave it at the default setting of 2.0 seconds when the gyro is on and at 0.5 seconds when the gyro is off.

1.8.6.2 Pitch Time Constant

The pitch time constant allows you to adjust the level of responsiveness of the pitch measurement provided in the $PSAT,HPR message. The default value of this constant is 0.5 seconds of smoothing. Increasing the time constant will increase the level of pitch smoothing.

The following command is used to adjust the pitch time constant.

$JATT,PTAU,ptau<CR><LF>

Where ‘ptau’ is the new time constant that falls within the range of 0.0 to

3600.0 seconds. Depending on the expected dynamics of the vessel, you may wish to

adjust this parameter. For instance, if the vessel is very large and is not able to pitch quickly, increasing this time is reasonable. The resulting pitch would have reduced ‘noise’, resulting in consistent values with time. However, artificially increasing this value such that it does not agree with a more dynamic vessel could create a lag in the pitch measurement. A convenient formula for determining what the level of

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smoothing follows. If you are unsure on how to set this value, it’s best to be conservative and leave it at the default setting.

ptau (in seconds) = 10 / maximum rate of pitch (in ?/s)

You may query the Vector PRO for the current pitch time constant by issuing the same command without an argument.

$JATT,PTAU<CR><LF>

Note - If you are unsure of the best value for this setting, it’s best to be conservative and leave it at the default setting of 0.5 seconds.

1.8.6.3 Heading Rate Time Constant

The heading rate time constant allows you to adjust the level of responsiveness of the rate of heading change measurement provided in the $HEROT message. The default value of this constant is 2.0 seconds of smoothing. Increasing the time constant will increase the level of heading smoothing.

The following command is used to adjust the heading time constant.

$JATT,HRTAU,hrtau<CR><LF>

Where ‘hrtau’ is the new time constant that falls within the range of 0.0 to 3600.0 seconds.

Depending on the expected dynamics of the vessel, you may wish to adjust this parameter. For instance, if the vessel is very large and is not able to turn quickly, increasing this time is reasonable. The resulting heading would have reduced ‘noise’, resulting in consistent values with time. However, artificially increasing this value such that it does not agree with a more dynamic vessel could create a lag in the rate of heading change measurement with higher rates of turn. A convenient formula for determining what the level of smoothing follows. If you are

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unsure on how to set this value, it’s best to be conservative and leave it at the default setting.

hrtau (in seconds) = 10 / maximum rate of the rate of turn (in ?/s2)

You may query the Vector PRO for the current heading rate time constant by issuing the same command without an argument.

$JATT,HRTAU<CR><LF>

Note - If you are unsure of the best value for this setting, it’s best to be conservative and leave it at the default setting of 2.0 seconds.

1.8.6.4 Course over Ground Time Constant

The course over ground (COG) time constant allows you to adjust the level of responsiveness of the COG measurement provided in the $GPVTG message. The default value of this constant is 0.0 seconds of smoothing. Increasing the time constant will increase the level of COG smoothing.

The following command is used to adjust the COG time constant.

$JATT,COGTAU,cogtau<CR><LF>

Where ‘cogtau’ is the new time constant that falls within the range of 0.0 to 3600.0 seconds.

COG is computed using the primary GPS engine only, and its accuracy is dependant upon the speed of the vessel (noise is proportional to 1/speed) and when stationary, this value is invalid.

As with the heading time constant, the setting of this value depends upon the expected dynamics of the vessel. If a boat is highly dynamic, this value should be set to a lower value since the filtering window needs be shorter in time, resulting in a more responsive measurement. However, if a vessel is very large and has much more resistance to change in its motion, this value can be increased to reduce

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measurement noise. The following formula provides some guidance on how to set this value. If you are unsure what is the best value for this setting, it’s best to be conservative and leave it at the default setting.

cogtau (in seconds) = 10 / maximum rate of change of course (in ?/s)

You may query the Vector PRO for the current heading time constant by issuing the same command without an argument.

$JATT,COGTAU<CR><LF>

Note - If you are unsure of the best value for this setting, it’s best to be conservative and leave it at the default setting of 0.0 seconds.

1.8.6.5 Speed Time Constant

The speed time constant allows you to adjust the level of responsiveness of the speed measurement provided in the $GPVTG message. The default value of this parameter is 0.0 seconds of smoothing. Increasing the time constant will increase the level of speed measurement smoothing.

The following command is used to adjust the speed time constant.

$JATT,SPDTAU,spdtau<CR><LF>

Where ‘spdtau’ is the new time constant that falls within the range of 0.0 to 3600.0 seconds.

Speed is computed using the primary GPS engine only. As with the heading time constant, the setting of this value depends upon the expected dynamics of the vessel. If a boat is highly dynamic, this value should be set to a lower value since the filtering window would be shorter, resulting in a more responsive measurement. However, if a vessel is very large and has much more resistance to change in its motion, this value can be increased to reduce measurement noise. The following formula provides some guidance on how to set this value initially, however, we recommend that you test how the revised value

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works in practice. If you are unsure what is the best value for this setting, it’s best to be conservative and leave it at the default setting.

spdtau (in seconds) = 10 / maximum acceleration (in m/s2)

You may query the Vector PRO for the current heading time constant by issuing the same command without an argument.

$JATT,SPDTAU<CR><LF>

Note - If you are unsure of the best value for this setting, it’s best to be conservative and leave it at the default setting of 0.0 seconds.

1.8.7 Level Operation

If the Vector PRO system will operate in a level plane (within ? 10? from horizontal), an additional constraint can be placed upon the RTK heading solution in order to reduce the RTK search time and increase solution robustness. This feature, referred to as ‘level operation’ is disabled by default but can be invoked using the following command.

$JATT,LEVEL,YES<CR><LF>

To turn this feature off, issue the following command.

$JATT,LEVEL,NO<CR><LF>

To determine the current status of this message, issue the following command.

$JA TT,LEVEL<CR><LF>

1.8.8 Heading Compensation

You may adjust the heading output from the Vector PRO in order to correct for any physical offset of the enclosure from the true heading of the vessel.

Vector PRO Reference Manual 40

$JATT,HBIAS,x<CR><LF>

Where x is a bias that will be added to the Vector PRO’s heading, in degrees. The acceptable range for the heading bias is -180.0? to

180.0?. The default value of this feature is 0.0?. To determine what the current heading compensation angle is, send the

following message to the Vector PRO.

$JATT,HBIAS<CR><LF>

1.8.9 Configuring for Pitch or Roll

The mounting orientation of the Vector PRO determines if the second dimension of vessel orientation will be roll or pitch. As mentioned, if you install the Vector PRO parallel to the axis of the boat, it will provide pitch in addition to heading. If the Array were mounted athwartship (perpendicular to the vessel axis), the second dimension of orientation would be roll.

If you install the Vector PRO in a parallel direction as the boat’s axis, you do not need to make any configuration changes to receive the pitch measurement - you need to only turn the appropriate message on (the $PSAT,HPR message).

If you wish to get the roll measurement, you will need to install the Vector PRO perpendicular to the vessel’s axis, and send the following command to the unit.

$JATT,ROLL,YES<CR><LF>

If you wish to return the Vector PRO to its default mode of outputting the pitch measurement, issue the following command.

$JATT,ROLL,NO<CR><LF>

You may query the Vector PRO for the cu rrent roll / pitch status with the following command.

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$JATT,ROLL<CR><LF>

1.8.10 Configuring Negative Pitch or Roll

When the secondary GPS antenna is below the primary GPS antenna, the angle from the horizon at the primary GPS antenna to the secondary GPS antenna is considered negative by default.

Depending on your convention for positive and negative pitch / roll, you may wish to change the sign (either positive or negative) of the pitch / roll. To do this, issue the following command.

$JATT,NEGTILT,YES<CR><LF>

This will cause the pitch measure to be positive when the secondary GPS antenna is below the primary GPS antenna.

To return the sign of the pitch / roll measurement to its original value, issue the following command.

$JATT,NEGTILT,NO<CR><LF>

To query the Vector PRO for the current state of this feature, issue the following command.

$JATT,NEGTILT<CR><LF>

1.8.11 Pitch / Roll Compensation

If you have installed the Vector PRO and you have it correctly aligned, but there is a bias in the amount of tilt that it has, or it’s not fully horizontal, you may adjust the pitch / roll output from the Vector PRO in order to calibrate the measurement. The following NMEA message allows to you to calibrate the pitch / roll reading from the Vector PRO.

$JATT,PBIAS,x<CR><LF>

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Where x is a bias that will be added to the Vector PRO’s pitch / roll measure, in degrees. The acceptable range for the heading bias is -

15.0? to 15.0?. The default value of this feature is 0.0?. To determine what the current pitch compensation angle is, send the

following message to the Vector PRO.

$JATT,PBIAS<CR><LF>

Note - The pitch / roll bias is added after the negation of the pitch / roll measurement (if so invoked with the $JATT,NEGTILT command).

1.8.12 Forcing a New RTK Search

You may force the Vector PRO to reject the current RTK heading solution, and have it begin a new search with the following command.

$JATT,SEARCH<CR><LF>

1.8.13 Summary Command

This command is used to receive a summary of the current Vector PRO settings. This command has the following format.

$JATT,SUMMARY<CR><LF>

The Vector PRO will reply with the following output.

$>JATT,SUMMARY,TAU:H=0.50,HR=2.00,COG=0.00,SPD=0.00,BIAS:

H=0.00,P=0.00,FLAG_HEX:GN-RMTL=01

Chapter 6 summarizes this output in detail.

1.8.14 HELP command

The Vector PRO supports a command that you can use to get a short list of the supported commands if you find yourself in the field without documentation.

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This commands has the following format.

$JATT,HELP<CR><LF>

The response to this command will be the following.

$>JATT,HELP,CSEP,MSEP,EXACT,LEVEL,HTAU,HRTAU,HBIASPBIA

S,NEGTILT,ROLL,TILTAID,TILTCAL,MAGAID,MAGCAL,MAGCLR,

GYROAID,COGTAU,SPDTAU,SEARCH,SUMMARY

1.8.15 $HEHDT Message

This message provides true heading of the vessel. This is the direction that the vessel (Vector PRO) is pointing and is not necessarily the direction of vessel motion (the course over ground), although they may be the same.

The COG measurement in the $GPVTG message describes the true direction of travel of the boat as a result of the vessel trust, currents, wind, etc. Please note that the COG measure is derived from the primary GPS receiver only and is less accurate than the true heading derived using the RTK solution that uses both GPS receivers.

The $HEHDT message output rate may be configured with the following command.

$JASC,HEHDT,rate<CR><LF>

Where ‘rate’ may be any of the following values expressed in Hz: 0, 1, 5, 10, or 0.2.

The output from the $JSHOW<CR><LF> command provides the current output rate setting for this message.

The details of this command and the $HEHDT are described in Chapter

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1.8.16 $HEROT Message

This message provides rate of turn of the vessel and has units of degrees per second.

The $HEHDT message output rate may be configured with the following command.

$JASC,HEROT,rate<CR><LF>

Where ‘rate’ may be any of the following values expressed in Hz: 0, 1, 5, 10, or 0.2.

The output from the $JSHOW<CR><LF> command provides the current output rate setting for this message.

The details of this command and the $HEROT message are described in Chapter 6.

1.8.17 Proprietary $PSA T,INTLT Message

The $PSAT,INTLT data message is a proprietary NMEA sentence that provides the tilt measurement from the internal inclinometer, in degrees. This message can be output only at 1 Hz and is turned on using the following command.

$JASC,INTLT,1<CR><LF>

To turn this message off, use the following command.

$JASC,INTLT,0<CR><LF>

The details of this command and the $PSAT,INTLT message are described in Chapter 6.

1.8.18 Proprietary $PSAT,HPR Message

The $PSAT,HPR message is a proprietary NMEA sentence that provides the heading, pitch / roll information, and time in a single data

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message. The output of this data message is controlled using the following message.

$JASC,HPR,rate<CR><LF>

Where ‘rate’ may be any of the following values expressed in Hz: 0, 1, 5, 10, or 0.2.

The details of this command and the $PSAT,HPR data message are described in Chapter 6.

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2. Installation

This chapter contains instructions and recommendations for the installation of the Vector PRO GPS heading system.

2.1 System Parts List

The followi ng list of standard equipment is included with the Vector PRO.

• 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 mounting (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)

2.2 Installation Overview

The following sub-sections summarize the installation steps for the Vector PRO, which differs depending on which mount that you choose.

2.2.1 Fixed Base Installation

When using the fixed base mount, the following list provides an overview of the installation process.

• Choose a mounting location for the Vector PRO

• Determine if you wish to use the second dimension of attitude being either the

roll or the pitch. If you wish to use the roll measure, you must install the Vector PRO perpendicular to the direction of travel and then accommodate for this orientation in the receiver software configuration)

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• Connect the power / data cable connector to the Vector PRO connector, ensuring the locking ring has positively locked

• Fasten the Vector PRO enclosure to the fixed base mount

• Route the cable from this location through fixed base mount, through the

mounting surface, and any bulkheads as necessary (leave enough slack to remove the Vector PRO from the fixed base as necessary)

• Install the fixed base mount without tightening down the screws fully, to allow for adjustment at a later step

• Adjust the orientation of the Vector PRO as necessary and secure it when complete (you may wish to use the ‘alignment sights’ on the top of the enclosure for this purpose)

• Interface the Vector PRO to a PC computer for configuration of the communication settings, data message output, and any offset that’s necessary.

2.2.2 Pole-mounting Base Installation

The following list details the installation process when using the pole mount.

• Choose a mounting location for the Vector PRO

• Determine if you wish to use the second dimension of attitude being either the

• Install the mounting pole as necessary

• Thread the hex nut and then the washer onto the threaded pole

• Thread the Vector PRO’s pole-mounting base onto the threaded pole (do not

tighten down at this point to allow for adjustment of orientation at a later time)

• Route the cable through the pole mount, pole, and any bulkheads as necessary (leave enough slack to remove the Vector PRO from the polemounting base as necessary)

• Connect the cable-mounted connector to the Vector PRO bulkhead connector, ensuring the locking ring has positively locked

• With the Vector PRO approximately facing the final direction, align the polemounting base and nut / washer combination to the GPS compass. Fasten the Vector PRO enclosure to the pole-mounting base

• Adjust the orientation of the Vector PRO as necessary and secure it when complete (you may wish to us e the ‘alignment sights’ on the top of the enclosure for this purpose)

• Interface the Vector PRO to a PC computer for configuration of the communication settings, data message output, and any offset that’s necessary.

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2.3 Vector PRO Interface

The following figure shows the location of the connector located on the bottom of the Vector PRO enclosure. This connector is the only interface to the product and includes the power input and the serial communication input / output.

Figure 2-1 Vector PRO Interface

2.4 Choosing a Mounting Location

When considering the various mounting locations present, you will need to give regard for both GPS (and hence SBAS) and beacon reception. The following two sections provide information that will help you determine the best location for the Vector PRO.

2.4.1 GPS Reception

When considering various locations to mount the Vector PRO, consider the following recommendations cl osely.

• The primary GPS engine inside the Vector PRO computes a position based upon measurements from each satellite to the internal primary GPS antenna

Vector PRO Reference Manual 49

element. Mount the Vector PRO in the location for which you desire a position with respect to the primary GPS antenna.

• When choosing a location to mount the antenna, please ensure that there is an unobstructed hemisphere of sky available to the Vector PRO. This will ensure that GPS and SBAS satellites are not masked by obstructions, potentially reducing system performance.

• It’s important to locate any transmitting antennas away from the Vector PRO by at least a few feet. This will ensure that tracking performance is not compromised, giving you the best performance possible.

• Make sure that you have enough cable length to route into the vessel, in order to reach a breakout box or terminal strip.

• Do not locate the antenna where environmental conditions exceed those specified in Section 2.4.

2.4.2 Beacon Reception

When using the Vector PRO’s internal beacon receiver as the correction source, you will need to consider the possible mounting locations from a perspective of ambient noise within the beacon band. The following list provides some general guidelines for deciding upon a location with respect to maximizing beacon performance.

• Ensure that the antenna is as far as possible from all other equipment that emits Electromagnetic Interference (EMI), including DC motors, alternators, solenoids, radios, power cables, display units, and other electronic devices

• If you are installing the antenna on a vessel (using DGPS beacon corrections), mount the Vector PRO antenna as high as possible, considering maintenance and accessibility. In addition, ensure that the antenna is lower than the highest metal object on the vessel.

• If a radar system is present, mount the antenna outside the path of the radar beam

The Vector PRO’s internal beacon receiver calculates a Signal to Noise Ratio (SNR), measured in dB (Decibels) that indica tes the receiver’s performance. The SNR is height of the signal above the noise floor. The higher the SNR, the better your beacon receiver is demodulating the signal. The optimum antenna location will be a position where your average SNR is highest. You should turn on all accessories that you intend to use during normal operation when locating the best position for the antenna. By monitoring the SNR, you can determine the optimum

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location with respect to beacon reception. The SNR is available in the $CRMSS NMEA message described in Chapter 6.

Note – Beacon data is only accessible via primary GPS Port A and B. The secondary GPS Port A does not provide access to the beacon receiver.

2.5 Environmental Considerations

The Vector PRO is designed to withstand the harsh outdoor environment, however, there are specific environmental limits that you should ensure are met when storing and using this system.

The Vector PRO is designed to be stored between -40?C and +85?C. The operating temperature range is -30?C and +70?C. It is designed for harsh marine use and will operate in an environment with 100% relative

humidity.

2.6 Power Considerations

The Vector PRO is powered with an input voltage of between 8 and 40 VDC. For best performance, the supplied power should be continuous and clean. Table 2-1 details the power specifications of the Vector PRO.

Table 2-1 Power Requirements

Input Voltage Input Current Input Power

8 to 40VDC <360 mA @ 12 VDC <4.5 W maximum

The Vector PRO power supply features reverse polarity protection but will not operate with reverse polarity power.

2.7 Electrical Isolation

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The Vector PRO features a power supply that is isolated from the communication lines. Further, the PC-ABS plastic enclosure isolates the electronics mechanically from the vessel. This addresses the issue of vessel hull electrolysis.

2.8 Vector PRO Mounting

The Vector PRO may be mounted with either the fixed base or polemounting base, both supplied with the system.

The fixed base allows you to mount the Vector PRO on a wide array of flat surfaces, such as radar platforms. The pole mount is designed for use with 1-14-UNS-2B threaded mounts, such as pole and rail mounts.

Note - Installations that use the pole mount require the use of the supplied hexagonal jam nut and flat washer in order to mechanically couple the Vector PRO system to the pole mount with less stress on the threads. If the nut / washer combination is not used, failure of the pole mounting base could occur, which may damage the Vector PRO. Any such damage to the Vector PRO system resulting from not using the nut / washer combination is not covered under warranty.

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The following figure shows the Vector PRO mounted with the fixed base.

Figure 2-2 Vector PRO with Fixed Mount Base

The following figure shows the Vector PRO with the pole mount.

Figure 2-3 Vector PRO with Pole Mount Base

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2.8.1 Fixed Base Mounting

The fixed base supplied with the Vector PRO is intended to allow you to mount the system to a flat surface. This surface may be something that you fabricate for the sake of the installation, or may be something that already exists on your vessel or an off-the-shelf item, such as a radar mounting plate.

2.8.1.1 Fixed Base Overview

As you can see from Figure 2-4, the fixed base has the following features:

• Six holes for mounting onto the Vector PRO enclosure

• A channel through the mount for the power / data cable.

• Two small keys that aid the alignment of the base to the enclosure.

• Four slots used for fastening the mounted enclosure to the vessel.

• Four tunnels that allow you to route the cable outside the base and along the

mounting surface.

The slots on the bottom of the base allow for a degree of adjustment when the Vector PRO is secured in its final location.

Note - You do not necessarily need to orient the antenna precisely as you can enter a software offset to accommodate for any bias in heading measurement due to installation.

The base also features four tunnels that allow you to bring the power / data cable out from within the mount in order to route it along the surface of the plate beneath the Vector PRO system. Alternatively, you may wish to route the power / data cable through the mounting surface rather than bringing it out through one of the tunnels.

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Figure 2-4 Fixed Mount Base

Figure 2-1 Bottom View of Fixed Mount Base

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2.8.1.2 Before you start

To mount the antenna on the fixed base

• Decide if you need the roll measurement, as if you do, the Antenna Array will need to be installed orthogonal to the vessel axis. If you don’t require roll, install the Vector PRO parallel with the vessel’s axis.

• Choose a location that meets the requirements of Section 2.5

• Using the fixed base as a template, mark and drill the mounting holes as

necessary for the mounting surface

• Alternatively, you may rail mount the Antenna Array with appropriate hardware

2.8.1.3 Routing the cable

To install the Vector PRO using the fixed base, insert either end of the power / data cable through the center of the fixed base as shown in the following two figures.

Figure 2-6 Running Cable Through Fixed Base Mount

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Figure 2-7 Running Cable Through Fixed Base

Align the connector keyway of the cable to the key of the connector mounted on the Vector PRO encl osure as show in Figure. Insert the cable-mount connector into the bulkhead connector, aligning the locking ring at the same time.

Figure 2-8 Power / Data Cable Key and Keyway

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Once inserted, rotate the ring clockwise until it locks. The locking action is firm, but you will feel a positive ‘click’ when it has locked, as shown in the following figure.

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

Once you have secured the connector, slide the fixed base up to the bottom of the Vector PRO enclosure. There are two alignment keys on top of the base that must fit into two holes of the Vector PRO enclosure. Once you have aligned the base, use a screwdriver fitted with the supplied Torx T20 bit to fasten the base to the enclosure using the supplied screws. These screws self tap a thread in the blind screw holes of the enclosure. Fasten the screws firmly, but be careful not to strip the thread.

Note - The base is not intended to be removed and re-fastened frequently. Frequent removal of the base from the enclosure may result in failure of the screw hole threads. Stripped threads are not covered under the product warranty.

The following two figures show the location of the screw holes.

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

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

Once you have fastened the fixed base to the Vector PRO enclosure using six mounting screws, you are ready to fasten the assembly to your mounting surface. We recommend that you use machine screws that have an Allen Key head (hexagonal) and an “L-shaped” Allen Key,

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as there may not be sufficient clearance between the bottom of the antenna and your mounting surface to use a normal screwdriver.

Note - As we do not supply the mounting surface, you will need to supply the appropriate fastening hardware required to complete the installation of the Vector PRO and mount assembly.

2.8.2 Pole and Rail Mounting

You may choose to pole-mount or rail-mount the Vector PRO as opposed to the magnetic mounting approach. The pole mount incorporates a 1-14-UNS thread. To aid in the installation of the Vector PRO, we have supplied a hex jam nut and washer. These are used to secure the antenna in a particular direction without bottoming out the system on the threaded pole. Additionally, the nut and washer distributes forces associated with vibration onto the bottom surface of the Vector PRO pole mount.

Caution – Do not bottom out the Vector PRO pole base on the threaded mount. Such manner can damage the system. Use of the jam nut and washer are mandatory for pole mounting. Any damage resulting from not using these pieces to mount the Vector PRO will not be covered under warranty.

2.8.2.1 Before you start

To mount the antenna on the pole mount bracket:

• Choose a location that meets the requirements of Section 2.5

• Mark and drill the mounting holes as necessary for the threaded pole as

necessary

• Alternatively, you may rail mount the Antenna Array with appropriate hardware

2.8.2.2 Pole Mount Installation and Preparation

You will need to supply the pole or rail mount hardware that you wish to use. Once you have installed the pole or rail mount, thread the

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hexagonal jam nut onto to the mount, followed by the stainless steel washer, both supplied with the Vector PRO system. You should thread the nut onto the mount approximately 8 to 10 full turns to provide adequate mounting thread for the pole mount base. The following figure illustrates this step.

Figure 2-12 Threading on the Lock Nut and Washer

2.8.2.3 Routing the Cable

When mounting the Vector PRO using the pole mount, the cable must be run first through the center of the pole mount base (from top to bottom), through the pole, and then through any bulkheads as needed (the power / data connector is too large to fit through the threaded portion of the pole mount base).

Note - Be sure to have some slack to move the cable in and out of the pole mount by a few inches. This will allow you to connect the cable to the Vector PRO easily.

The following three figures detail the process of routing the cable.

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Figure 2-13 Running the Cable Through the Pole Base

Figure 2-14 Running the Cable Through the Pole Base

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Figure 2-14 Running the Cable Through the Pole Mount

Once you have routed the cable correctly through the pole mount base and the mounting pole, the mounting assembly should look like the following figures.

Figure 2-15 Com pleted Cable Run

2.8.2.4 Mounting the Pole Mount Base

Thread the pole mount base onto the pole mount four to five full turns.

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Figure 2-1 Threading the Pole Base onto the Mount

Ensure that there’s a gap between the lock nut and washer, and the pole mount base as shown in the following figure. This will allow you to orient the combination of Vector PRO and pole mount base to the vessel.

Figure 2-17 Pole Base Threaded onto Mount

2.8.2.5 Connecting the Cable to the Vector PRO

At this point, fasten the cable to the Vector PRO connector. Notice that the connector on the receiver enclosure has a key and that the cable-

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mount co nnector has a keyway. The key and keyway need to align as you insert the cable-mount connector into the bulkhead connector.

Note – you may have to align the locking ring on the cable-mount connector as you insert it into the bulkhead connector, to ensure that it seats properly.

Once the cable-mount connector has seated fully, rotate the locking ring clockwise until it locks. You will feel the ring ‘click’ when it has locked.

The following two figures show the key, keyway, and the connection when complete.

Figure 2-18 Power / Data Cable Key and Keyway

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Figure 2-19 Connected Power / Data Cable

2.8.2.6 Fastening the Vector PRO to the Pole Mount Base

The next step is to fasten the Vector PRO enclosure to the pole mount base using the supplied self-tapping screws. The following figure illustrates this process. There are two alignment keys on top of the base that must fit into two holes of the Vector PRO enclosure. Once you have aligned the base, use a screwdriver fitted with the supplied Torx T20 bit to fasten the base to the enclosure using the supplied screws. These screws self tap a thread in the blind screw holes of the enclosure. Fasten the screws firmly, but be careful not to strip the thread.

Vector PRO Reference Manual 66

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

The next step is to rotate the hex nut and washer up to the bottom surface of the pole mount base. Do not tighten them at this point as you will need to align the Vector PRO.

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

Orient the Vector PRO using the sights on the top of the enclosure. Using an adjustable wrench, tighten the lock nut against the Vector

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PRO while ensuring accurate alignment of the antenna system. Section 2.8.3 details the use of the alignme nt sights.

2.8.2.7 Alignment of the Vector PRO

Figure 2-22 Locking the Vector PRO once Aligned

Note - You will need to tighten the locking nut against the pole mount base tightly. To ensure that you don’t over tighten the nut, periodically check to see how secure the antenna system is, as mounted on the pole. If it’s loose, tighten the lock nut further until you can not move it.

2.8.3 Vector PRO Alignment

The top of the Vector PRO enclosure incorporates a pair of sight design features for assisting antenna alignment. The sights will help you to align the enclosure with respect to an important feature on your vessel.

To use the sights, center the small post on the opposite side of the enclosure from you, within the channel made in the medallion located in the center of the enclosure top as shown in the two following figures. Alignment accuracy when looking through the long site is approximately

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? 1?. Using the short site, alignment is approximately accurate to ?

2.5?.

Figure 2-23 Lining up the Alignment Sight

Figure 2-24 Correctly Lined -up Alignment Sight

If you have another accurate source of heading data on your vessel, such as a gyrocompass, you may use its data to correct for a bias in Vector PRO alignment within the Vector PRO software configuration.

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Alternatively, you may wish to physically adjust the heading of the Vector PRO so that it renders the correct heading measurement, however, adding a software offset is an easier process.

2.9 Routing and Securing the Power / Data Cable

The Vector PRO comes with a 15 m power / data cable. When choosing a route for the antenna extension cable:

• Avoid running the cable in areas of excessive heat

• Keep the cable away from corrosive chemicals

• Do not run the cable through door or window jams

• Keep the cable away from rotating machinery

• Do not bend excessively or crimp the cable

• Avoid placing tension on the cable

• Secure along the cable route using plastic tie wraps as necessary

Warning - Improperly installed cables near machinery can be dangerous.

2.10 Interfacing the Vector PRO

The Vector PRO uses a single cable for application of power and to facilitate the input and output operations. The power cable is 15 m in length and is terminated on the receiver end with an environmentally sealed 18-pin connection. The opposite end is un-terminated and requires field stripping and tinning.

Depending on your application and installation needs, you may have to shorten this cable. If so, this is a simple matter.

However, if you require a longer cable run than 15 m, we recommend that you bring the cable into a break-out box that incorporates terminal strips, within the vessel. To lengthen the serial lines inside the vessel, ensure that you use 20 gauge twisted pairs and minimize the additional

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wire length. The RS-422 signal should be used for longer cable runs as compared to the RS-232 ports, as it’s more resistant to noise and attenuation.

When lengthening the power input leads to the Vector PRO, please ensure that the additional voltage drop is small enough that your power system can continue to power the system above the minimum voltage of the system. Wire of 18 gauge or larger should also be used.

2.10.1 Power / Data Cable Pin-Out

The following table details the wire colors and their associated functions. Each wire color is twisted with a black wire.

Table 2-1 Wire Color Interface

Wire Pairs Signal

Red Power input (8 to 40 VDC)

Black Power ground

Blue Primary GPS Port A transmit RS-232

Black with White stripe Primary GPS Port A receive RS-232

White Primary GPS Port B transmit RS-232

White with Black stripe Signal Ground

Green Primary GPS Port A transmit RS-422+

Green with White stripe Primary GPS Port A transmit RS-422-

Brown Secondary GPS Port A transmit RS-232

Brown with White stripe Secondary GPS Port A receive RS-232

Yellow Primary GPS Port B transmit RS-422+

Yellow with Black stripe Primary GPS Port B transmit RS-422-

Orange 1 pulse per second + (1 PPS +)

Orange with White stripe 1 pulse per second - (1 PPS -)

Bare Wire Drain for RF shielding – Do not

connect

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Note - To identify the function of each black wire, you need to examine which color it is twisted with. For instance, if you look at one black wire and it’s twisted with a green wire, the function of that black wire is ‘Primary GPS Port A transmit RS-422’.

2.10.2 Connecting to a power source

The first step to powering the Vector PRO is to terminate the wires of the power cable as required. There are a variety of power co nnectors and terminals on the market from which to choose, depending on your specific requirements

Caution - do not apply a voltage higher than 40 VDC as this will damage the receiver and void the warranty

To interface the Vector PRO power cable to the power source:

• Connect the red wire of the cable’s power input to DC positive (+)

• Connect the black wire of the cable’s power input to DC negative (-)

The Vector PRO smart antenna features reverse polarity protection to prevent damage if the power leads are accidentally reversed. The Vector PRO, however, does not function with reverse polarity.

Once the Vector PRO system has been installed, you’re ready to turn the system on by applying power to it. The Vector PRO smart antenna will start when an acceptable voltage is applied to the power leads of the extension cable. Be careful not to provide a voltage higher than the input range as this will damage the antenna.

2.10.3 Overview of Serial Port Interface

The Vector PRO offers position and heading data via both RS-232 and RS-422 level serial ports. The answer of which serial port level to use resides with the serial port level(s) supported by the other electronics involved. You may find that the other electronics need either serial port level or mixture of both.

The following sections describe the two serial port levels supported by the Vector PRO.

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2.10.3.1 RS-232 Interface Level

The Vector PRO features two full duplex (bi-directional) RS-232 serial ports, one each for the primary and secondary GPS receivers. In addition to outputting data, these ports are used for firmware upgrades.

Warning - the port for the secondary receiver may be used for output of heading data only, and specifically, the $HEHDT and $PSAT,HPR data messages. All other messages should not be considered accurate. This port has been included primarily for firmware upgrades to the secondary GPS receiver.

The primary GPS receiver full duplex serial port is Port A, however the primary receiver also features a second half-duplex RS-232 serial port output, Port B (an additional, programmable output data port). You may configure Port B through Port A, so the input to Port B is not required.

In addition to supporting RS-232 signal levels, data output from both Port A and B are available with an RS-422 interface level. Again, these signals are outputs only as you configure the data output from Port A and B through the RS-232 Port A input line.

Note - For general configuration of the Vector PRO, such as adjusting the time constants, primary GPS Port A should be used.

2.10.3.2 RS-422 Interface Level

The RS-232 interface level is intended to be used with one-to-one communications, where the serial port communicates only to one listening device at a time. The RS-422 standard allows for one device to communicate with many other devices simultaneously. The Vector PRO supports both serial port levels as it’s likely that the variety of electronic devices that you use will support one or the other, or both. This improves the versatility of the Vector PRO.

2.10.4 Overview of Seri al Port Configuration

You may configure Port A or B of the primary GPS receiver to output any combination of data that you wish. Port A can have a different configuration from Port B in terms of data message output, their data

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rates, and also the baud rate of the port. This allows you to configure the ports independently, based upon your needs. For instance, if you wish to have one generalized port and one heading-only port, you may wish to configure Port A to have GGA, VTG, GSV, ZDA, and HDT all output at 1 Hz over a 9600 baud rate. You may also wish to configure Port B for HDT and ROT message output at their maximum rate of 10 Hz over a 19,200 baud rate.

The messages that you configure each port to output, and the rate of the port will be the same for both RS-232 and RS-422 interface levels. For instance, the RS-232 primary GPS receiver Port A and RS-422 primary GPS receiver Port A output the same data messages at the same baud rate. If you wish to change the baud rate or messages for the RS-422 port, this needs to be commanded through the RS-232 primary GPS Port A.

You may use both the RS-232 and the RS-422 output signals simultaneously.

2.10.5 Interfacing to a PC Computer

PC computers typically use a DB9-male connector for RS-232 serial port communications. To terminate either the primary GPS receiver Port A and the secondary GPS Port A for connection to a PC serial port, connect the wires to a DB9 female connector according to the following two tables.

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Note – If you need to upgrade the primary and receiver firmware in the future, you will need to load it from a PC by connecting the primary GPS Port A and secondary GPS Port B to a PC using the DB9 interface shown below.

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

Pin Wire Color Signal

2 Blue Primary GPS Receiver Transmit Data RS-

232

3 Black twisted with blue Primary GPS Receiver Receive Data RS-

232

5 Black twisted with

white

Sig. Ground

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

Pin Wire Color Signal

2 Brown Primary GPS Receiver Transmit Data RS-

232

3 Black twisted with

brown

5 Black twisted with

white

The following figure displays the numbering scheme for a DB9 socket connector (female). The associated numbering for the plug connector (male) on a PC computer is a mirror reflection of scheme showed in this figure.

Primary GPS Receiver Receive Data RS232

Sig. Ground

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123

67958

Figure 2-25 DB9 Socket Numbering

Note - For successful communications, the baud rate of the Vector PRO serial ports must be set to match that of the devices to which they are connected. Chapter 6 describes the baud rate change command.

2.10.6 Interfacing to Other Devices

When interfacing to other devices, make sure that the transmit data output from the Vector PRO is connected to the data input of the other device. The signal grounds must also be connected.

Since RS-422 is a balanced signal with positive and negative signals referenced to ground, ensure that you maintain the correct polarity. For instance, when connecting the transmit data output positive signal to the receive line of the other device, it should be connected to the receive positive terminal. The negative transmit data signal from the Vector PRO is then connected to the receive data negative input of the other device.

There’s likely not much reason to connect the receive data input of the Vector PRO to another device, unless it is able to send configuration commands to the Vector PRO. Since the Vector PRO uses proprietary NMEA 0183 commands for control over its configuration, the vast majority of electronics will not be able to configure its settings unless the other device has a terminal setting where you can manually issue commands.

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2.11 Default Parameters

This section outlines the default parameters of the Vector PRO. The following tables provide details on the firmware types, port settings, default NMEA messages, elevation mask, differential age mask, default differential mode, and beacon receiver settings.

Note - Any changes you make to the Vector PRO configuration need to be saved with the $JSAVE NMEA command in order to be present for a subsequent power-cycle.

Table 3-2 Firmware Applications

GPS Receiver Application 1 Application 2

Primary Attitude master firmware None

Secondary Attitude secondary

firmware

Table 3-3 Default Port Settings

Port Baud Rate Data Bits Parity Stop Bit Interface Level

None

Primary Port A 19200 8 None 1 RS-232C

Primary Port B 19200 8 None 1 RS-232C (output

only)

Secondary Port

Primary Port A 19200 8 None 1 RS-422 (output only)

Primary Port B 19200 8 None 1 RS-422 (output only)

19200 8 None 1 RS-232C

Note - The data bits, parity, and stop bit are not adjustable. They are fixed with an 8-n-1 configuration.

Table 3-4 Available Baud Rates

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Baud Rates

4800

9600 19200 38400

Table 3-5 Default GPS NMEA Message Output

Port GPS NMEA Messages Update Rate

Primary A GGA, GSV, VTG, ZDA, HDT, ROT 1 Hz Primary B GGA, GSV, VTG, ZDA, HDT, ROT 1 Hz

Secondary

No output (idle) N/A

Table 3-6 Correction Age and Elevation Mask Defaults

Max DGPS Age Elevation

Mask

1800 seconds 5?

Table 3-7 Default Differential Mode

Differential Mode

SBAS (WAAS / EGNOS)

The internal beacon module, though not the default differential correction source, operates in full automatic mode by default as shown in the following table.

Table 3-8 Beacon Operating Parameters

Default Differential

Mode

MSK Rate Selection

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Automatic Automatic

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3. Vector PRO Overview

This chapter provides a brief introduction to the Vector PRO system and some its high-level features. The remaining chapters provide more detailed information on the workings of the product.

As mentioned in the previous chapter, if you are new to GPS and SBAS, we recommend that you consult Appendix B for further information on these services and technology.

For your convenience, both the GPS and SBAS operation of the Vector PRO feature automatic operational algorithms. However, you must program the receiver inside the Vector PRO for which differential service to use as it does not automatically choose one service over the other. By default, the Vector PRO operates with SBAS corrections.

When powered, the internal GPS system performs a ‘cold start’, which involves acquiring the available GPS satellites in view and the SBAS and beacon differential services, if available. Acquisition of a GPS heading is also automatic, however, you are able to force a new heading search if needed.

If SBAS or beacon corrections are not available in your area, an external source of RTCM SC-104 differential corrections may be used. If you choose to use an external source of correction data, you will need to ensure that the external source supports RS-232 and an eight data bit, no parity, and one stop bit configuration (8-N-1) and also configure the Vector PRO for external correction operation.

3.1 GPS

The following sections describe the general operation of the GPS technology within the Vector PRO.

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3.1.1 Satellite Tracking

The internal GPS receivers automatically search for GPS satellites, acquire the signal, and manage the associated navigation information required positioning and tracking. This is a hands-free mode of operation. Satellite acquisition quality is described as a signal to noise ratio (SNR). A higher SNR is indicative of better quality signal reception. The primary GPS receiver supplies SNR information via $GPGSV NMEA 0183 data messages that may be output through either Port A or B.

3.1.2 Positioning Accuracy

The Vector PRO provides sub-meter 95% accurate positions under ideal conditions horizontally (minimum errors). Since the Vector PRO will be used in the real world, multipath signals and GPS signal blockages can reduce the level of system performance. To aid in challenging environments, the internal antennas feature a ground plane to reduce the effects of multipath.

The performance of common GPS systems is affected when using old correction data. Blockage of signals from SBAS satellites is often inevitable in real world environments, as are weak beacon signals or a noisy beacon spectrum. The COAST feature of the Vector PRO provides solace from obstruction of SBAS services and intermittent beacon reception for up to 30 to 40 minutes, depending on the amount of tolerable performance drift. After 30 minutes, our testing has shown that the Vector PRO. This feature operates by default and the COAST time is adjusted by setting the maximum differential age as needed. COAST is discussed in further detail in Section 3.4.

For example, if you wish to shorten this time period in order to minimize the effect of the divergence between COAST modeling and the true errors, the maximum COAST age can be changed to 10 minutes (600 seconds) with the following command: $JDIFF,600<CR><LF>.

The estimated positioning precision is accessible through the use of NMEA 0183 command responses as described in Chapter 6 (The GST NMEA data message). As the receiver is not able to determine

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accuracy with respect to a known location in real time (this is traditionally performed in post -mission analyses), the precision numbers are relative in nature and are only approximate.

3.1.3 Update Rates

The update rate of each Vector PRO NMEA message can be set independently with a maximum that is dependant upon the message type. Some messages have a 1 Hz maximum, for example, while others are 5 Hz or 10 Hz. Consult Chapter 6 for further information on individual NMEA messages.

3.2 SBAS

The following sections describe the general operation and performance monitoring of the SBAS (WAAS, EGNOS, MSAS, and SNAS) demodulator within the Vector PRO. SBAS are described in further detail in Appendix A.

3.2.1 Automatic Tracking

The SBAS demodulator featured within the Vector PRO automatically determines if your receiver can receive WAAS or EGNOS based upon its location. This automatic tracking allows the user to focus on other aspects of their application rather than ensuring the receiver is tracking SBAS correctly.

The SBAS demodulator features two -channel tracking that provides an enhanced ability to maintain acquisition on a SBAS satellite in regions where more than one satellite is in view. This redundant tracking approach results in more consistent acquisition of a signal when in an area where signal blockage of either satellite is possible.

Since SBAS broadcast at L-band frequency, a line of sight to the SBAS satellites is required in order to acquire the signal.

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3.2.2 SBAS Performance

The performance of the SBAS receiver is described in terms of a bit error rate (BER). It indicates the number of unsuccessfully decoded symbols in a moving window of 2048 symbols. Due to the use of forward error correction algorithms, one symbol is composed of two bits. The BER value for both SBAS receiver channels is available in the RD1 NMEA data message described in detail in Chapter 6.

A lower BER indicates that data is being successfully decoded with fewer errors, providing more consistent throughput. The bit error rate has a default, no-lock value of 500 or more. As the receiver begins to successfully acquire the signal, it will result in a lower bit error rate. For best operation, this value should be less than 150 and ideally less than

20. Space-Based Augmentation Systems broadcast an ionospheric map on

a periodic basis that may take up to 5 minutes to receive upon startup. The Vector PRO uses the GPS broadcast ionospheric model until it has downloaded the SBAS map, which can result in lower performance as compared to when the map has been downloaded. This will be the case for any GPS product supporting SBAS services.

Caution – Soon after startup, when the map has been downloaded, you may observe a position jump due to the potential difference between the GPS ionospheric model and the ionospheric SBAS map. To minimize the impact of this issue on your use of the Vector PRO, you may wish to wait up to five minutes before using the Vector PRO or issue the $JQUERY,GUIDE<CR><LF> message to determine if the internal GPS receiver has achieved optimum performance.

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3.3 Beacon Operation

The following sect ions describe the general operation and performance monitoring of the SBX beacon engine within the Vector PRO.

3.3.1 Tune Modes

The internal beacon sensor may be operated in either Automatic or Manual beacon tune modes. In Automatic Beacon Search (ABS) mode, the receiver will identify and tune to the station providing the strongest DGPS signal. In Manual Tune mode, you specify the frequency to which the receiver will tune. NMEA 0183 commands are used to modify the configuration of the beacon sensor.

3.3.1.1 Automatic Beacon Search (ABS) Mode

The Vector PRO’s internal beacon sensor operates in Automatic Beacon Search (ABS) mode by default, selecting and tuning to the most appropriate beacon without operator intervention. The beacon receiver uses its two independent beacon channels to identify and lock to DGPS beacons without interrupting the continuous flow of RTCM data to the GPS receiver.

ABS mode is ideal for navigation applications that traverse considerable distances, eliminating the need for operator intervention when transitioning from one beacon coverage zone to another. The beacon module may be manually tuned, however, this requires a NMEA command to be send to the Vector PRO as discussed in Chapter 6.

Note - We recommend that you leave the beacon receiver in the default ABS mode unless your requirements mandate operating with a specific beacon.

3.3.1.2 ABS Global Beacon Search

When powered for the first time in ABS mode, the beacon sensor initiates a Global Search using both channels, examining each available DGPS beacon frequency, and recording Signal Strength (SS) measurements in units of dB? V to the Global Search Table. The

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receiver uses these measured values to compute an average SS, noise floor, and to sort the frequencies in descending order of SS.

The beacon receiver’s two channels cooperatively examine the frequencies with the highest SS measurements, above the computed noise floor, to determine the station providing the strongest RTCM signal. The receiver's primary channel locks to the first identified DGPS broadcast, while the second channel continues searching in the background for superior beacon signals. If no signal is available, the Vector PRO will initiate a fresh Global Search, continuing this cycle until it finds a valid station.

3.3.1.3 ABS Background Beacon Search

During the Background Search, the second beacon channel examines all frequencies at both 100 and 200 bps MSK bit rates to identify beacons possessing superior signal quality. If a DGPS broadcast is identified that exhibits a 2 dB stronger signal strength than that of the primary station, the receiver will automatically switch to this beacon. No loss of lock occurs on the primary station during the background scan.

The beacon module stores the current primary beacon in memory so that it is available upon subsequent power-up.

3.3.1.4 Manual Tracking

In manual tune mode, you may select a specific frequency and bit rate for the receiver to tune, or specify the frequency only, allowing the Vector PRO to identify the correct MSK bit rate on its own. This mode of operation is most useful when working in an area where you know the frequency though not necessarily the MSK bit rate of the closest beacon.

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3.3.2 Receiver Performance

The Signal to Noise Ratio (SNR) best describes the Vector PRO’s internal SBX beacon receiver performance. The SNR, measured in dB, is the height of the signal above the noise floor. The higher the SNR, the more successfully the beacon receiver is demodulating the signal. You can easily monitor the SNR in the Beacon Status menu.

Table 3-1 describes the beacon receiver quality of reception with respect to the SNR reading.

Table 3-1 Beacon Receiver Performance - SNR Reading

SNR Reception

Description

>25 Excellent 100% data throughput 20 to 25 Very Good 100% data throughput 15 to 20 Good Good data throughput up to 100% 10 to 15 Stable Moderate to good data throughput

7 to 10 Intermittent Low data throughput

<7 No Lock No data throughput

Approximate Data

Throughput

3.4 COAST™ Technology

The Vector PRO GPS technology incorporates SI -TEX COAST technology that allows it to operate with old correction data for up to 30 to 40 minutes or more without significant accuracy degradation. The feature’s performance is attributed to sophisticated algorithms that are able to anticipate how errors change during a period of correction loss.

Traditional receiver technology would experience an increasing degradation with increasing age of corrections, resulting in less than adequate performance over a shorter period of time. COAST technology provides more consistent positioning during periods when signal loss occurs, thus bridging the gap to when the signal is reacquired. This means that the Vector PRO GPS is more tolerant than

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competing products to loss of SBAS or externally input RTCM SC-104 corrections.

3.5 Vector PRO Architecture

The Vector PRO is comprised of two main components - hardware and software. This section provides a brief overview of the hardware and software architecture of the Vector PRO receiver in order to provide further insight into the operation of the product.

As the Vector PRO receiver supports the following services, it provides receiving capability for each.

• GPS

• SBAS (WAAS and EGNOS)

• Beacon

3.5.1 GPS Hardware

The SI -TEX GPS engines inside the Vector PRO provide receiving capability for GPS and SBAS correction services (including WAAS, and EGNOS).

The GPS engines process GPS and SBAS signals simultaneously, devoting 2 of the primary GPS engine’s 12 parallel channels to SBAS tracking while using the remaining 10 channels for GPS. This provides effective tracking of multiple SBAS satellites if available.

3.5.2 GPS Firmware

The software that operates the internal components of the Vector PRO operates within internal, low-level devices and is often referred to as firmware.

There are two types of firmware within the Vector PRO. One type of firmware drives the on-board digital signal processors (DSP) and another the ARM processors. Each of these types of firmware may be upgraded in the field through either primary GPS receiver port as new

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revisions become available. The secondary GPS receiver may be upgraded through the secondary GPS receiver port.

3.5.3 GPS Applications

The ARM processor of the two GPS engines inside the Vector PRO each support two simultaneous versions of firmware. In the case of the Vector PRO both the first application contains the Vector heading application. The second application is empty. The primary GPS receiver uses master vector firmware for both applications while the secondary uses slave vector firmware for both of its applications.

Note - As new firmware is released, to alleviate having to different versions of heading firmware inside the primary and secondary GPS recei ver at the time of field upgrade of firmware, both application slots should be overwritten with the new version of firmware.

3.5.4 Beacon Firmware

The Vector PRO’s internal beacon module incorporates its own version of firmware that controls its operation. This firmware can be updated independent of the Vector GPS firmware if needed through either primary GPS Receiver port.

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4. Operation

This chapter provides a brief overview of the operations of the Vector PRO and provides an introduction its the input / output interface. This will help you understand how to customize its configuration to meet your needs.

4.1 Powering the Vector PRO

As described in Chapter 2, Installation, the Vector PRO is powered by connecting the red and black power leads of the power cable to an 8 to 40 VDC power source. You may wish to use an ammeter in-line of the power leads in order to verify that the system has been correctly powered. Once powered, the Vector PRO will proceed through an internal start-up sequence, however it will be ready to communicate within a few seconds. On power-up, you will see through the communications port the GSV message output at 1 Hz. This is another method to confirm that the receiver is powered and communicating correctly.

When installed such that the Vect or PRO has an unobstructed view of the sky, it will provide a position within approximately 60 seconds from startup. SBAS and beacon lock require approximately 30 and 60 seconds to acquire from startup, respectively.

Note - It can take up to 5 minutes for a full ionospheric map to be received from SBAS. Optimum accuracy will be obtained once the Vector PRO is processing corrected positions using complete ionospheric information. This can be confirmed with the $JQUERY,GUIDE<CR><LF> command.

4.2 Communicating with the Vector PRO

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The Vector PRO features two full-duplex serial ports, one to each GPS receiver inside the Vector PRO enclosure. In addition to the primary GPS receiver’s full-duplex Port A, it features a second half-duplex, output-only port (Port B) that may be configured through Port A.

The data message output from the primary GPS receiver’s Port A and B may be configured for a mixture of NMEA 0183, binary, and RTCM SC104 data. The usual data output is only required NMEA data messages. The output from the secondary GPS Port A is limited to heading data only.

Note - If you require different data types to be output from the Vector PRO simultaneously you may wish to separate the data between two serial ports if this is more convenient.

Warning - In addition to heading information, you can turn position-related data on, on the secondary GPS receiver’s Port B. Please note that the position data is NOT valid and should NOT be used. This data is accessible for factory testing only.

4.2.1 NMEA 0183 Interface

NMEA 0183 is a communications standard established by the National Marine Electronics Association (NMEA) and provides data definitions for a variety of navigation and related equipment. Such instruments supported include gyrocompasses, Loran receivers, echo sounders, GPS receivers, and more. NMEA functionality is virtually standard on all GPS equipment available. NMEA has an ASCII character format that allows you to read the data via terminal software on the receiving device (if possible). Some example NMEA data from the Vector PRO follows.

$GPGGA,144049.0,5100.1325,N,11402.2729,W,1,07,1.0,1027.4,M,0,M,,0100*61 $GPVTG,308.88,T,308.88,M,0.04,N,0.08,K*42 $GPGSV,3,1,10,02,73,087,54,04,00,172,39,07,66,202,54,08,23,147,48*79 $GPGSV,3,2,10,09,23,308,54,11,26,055,54,15,00,017,45,21,02,353,45*78 $GPGSV,3,3,10,26,29,257,51,27,10,147,45,,,,,,,,*74

Depending on each manufacturer’s goals for a product, they may have the need to combine data into custom messages, which allows them to

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improve communication and programming efficiency. The standard NMEA standard provides for manufacturers to define their own custom, proprietary messages as required. Proprietary NMEA messages are likely to be supported only by the specific manufacturer and partners.

The Vector PRO supports a variety standard and proprietary NMEA messages. These messages are used to configure the Vector PRO and also contain the required information from the system. You may configure a selection of NMEA 0183 data messages on one port at various update rates (each message has a maximum update rate) and a different selection of NMEA 0183 messages with different rates on the other port.

Chapter 6 presents information relating to the NMEA interface of the Vector PRO. Appendix C - Resources provides contact information should you wish to purchase a copy of the NMEA 0183 standard.

4.2.2 Binary Interface

Binary messages may be output from the Vector PRO along with NMEA 0183 data. Binary messages have a proprietary definition that likely will require custom software support if you wish to use it. Binary message inherently are more efficient than NMEA 0183 and would be used when you require maximum communication efficiency. Use of binary messages for most users is not recommended as the NMEA interface allows you to control the operation of the Vector PRO and also receive all necessary data regarding status and positioning information. Binary messages are described in Chapter 7.

4.2.3 RTCM SC-104 Protocol

RTCM SC-104 is a standard that defines the data structure for differential correction information for a variety of differential correction applications. It has been developed by the Radio Technical Commission for Maritime services (RTCM) and has become an industry standard for communication of correction information. RTCM is a binary data protocol and is not readable via a terminal program. It appears as ‘garbage’ data on-screen since it is a binary format and not

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ASCII text. The following is an example of how the RTCM data appears on-screen.

mRMP@PJfeUtNsmMFM{nVtIOTDbA^xGh~kDH`_FdW_yqLRryrDuhc B\@}N`ozbSD@O^}nrGqkeTlpLLrYpDqAsrLRrQN{zW|uW@H`z]~a GxWYt@I`_FxW_qqLRryrDCikA\@Cj]DE]|E@w_mlroMNjkKOsmMF M{PWDwW@HVEbA^xGhLJQH`_F`W_aNsmMFM[WVLA\@S}amz@ilIuP qx~_IZhTCpLLrYpdP@kOsmMFM[kVDHwVGbA^P{WWuNt_SW_yMsmM nqdrhcC\@sE^ZfC@}vJmNGAHJVhTCqLRryrdviStW@H_GbA^P{wx u[K

RTCM has various levels of detail, however the highest level is the message. RTCM defines numerous messages that contain specific information. The Vector PRO processes the C/A code for positioning and does not support more advanced methods of differential such as real-time kinematic (RTK) positioning that uses different RTCM message types. Considering this fact, the following RTCM messages are important for use with the Vector PRO.

• Type 1 and Type 9 messages, both of which contain similar information. These two messages contain pseudorange corrections and range rate corrections to each GPS satellite.

• The Type 2 message contains delta differential corrections that are used when the remote receive r is using a different satellite navigation message than used by the base station.

• The Type 5 message contains GPS constellation health information used for improving tracking performance of a GPS receiver

• The Type 6 message contains null information, and is broadcast so that a beacon receiver demodulating the data from the broadcast does not lose lock when the beacon station has no new data to transmit.

Note - RTCM is a local area data standard. This means that when positioning with correction input to the Vector PRO from an external source or outputting corrections from the Vector PRO to another GPS receiver, performance will degrade as a function of distance from the base station. The additional degradation will depend on the difference in observed orbit and ionospheric errors between the reference station and the remote unit. A general rule of thumb would be an additional 1 m error per 100

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miles. This error is often seen as a bias in positioning, resulting in a position offset. The scatter of the receiver is likely to remain close to constant.

The RTCM SC-104 data output by the Vector PRO is converted from the RTCM SC-159 data broadcast by SBAS.

Appendix C - Resources contains the contact information should you wish to purchase a copy of the RTCM SC-104 specification.

4.3 Configuring the Vector PRO

All aspects of Vector PRO operation should be configured through the primary GPS Port A with the use of NMEA 0183 commands. These commands are described in the Chapter 6. The following items are user-configurable only through the primary GPS receiver).

• NMEA 0183 message interface

• Tilt aiding

• Tilt Sensor calibration

• Magnetic aiding

• Magnetometer calibration

• Gyro aiding

• Time constants

• Level operation

• Heading compensation

• Configuration for pitch or roll

• Antenna separation

• Elevation mask

• Differential timeout

• Baud rates

4.4 Configuring the Data Message Output

The Vector PRO primary GPS receiver features two serial port outputs referred to as A and B. GPS data messages for both ports are easily configured by sending NMEA commands to the Vector PRO receiver through Port A (the output of Port B can be configured through A). The

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$JASC NMEA message discussed in Chapter 6 in details allows you to turn messages on and off as you require.

4.4.1 This Port and the Other Port

When interfacing to Port A for the sake of turning data messages on or off on Port B, Port B is referred to as the ‘Other’ port.

For example, if you are communicating with the Vector PRO Port A, and wish to turn the GPGGA message on at an update rate of 5 Hz on Port B, the following command would be used.

$JASC,GPGGA,5,OTHER<CR><LF>

If you wish to turn the GPGGA message on at 5 Hz on Port A, you would issue the following command.

$JASC,GPGGA,5<CR><LF>

Consult Chapter 6 for more information on NMEA messages.

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5. PocketMAX Utility

PocketMAX is a freely available Windows PocketPC utility designed for use with CSI Wireless SLX and SX -1 based products, including the Vector PRO. As this utility was not designed specifically for any one product alone, it supports features not offered by every product, such as tracking of the OmniSTAR differential service and display of our Vector product’s true heading, however, the interface may be used for all I/O operations.

This software offers you the following flexibility:

• Tune your beacon and WAAS receivers

• Monitor beacon and WAAS reception

• Configure GPS message output and port settings

• Configure and monitor heading, time constants, etc.

• Record various types of data

PocketMAX runs on any PDA with PocketPC 2000, 2002, or 2003. CSI offers two different executables, one labeled PocketPC 2002, which works on both 2000 and 2002 operating platforms and one labeled PocketPC 2003, which works on the 2003 platform. You must have the corresponding cable for your PDA to connect to a serial port on your product. If you don’t have the latest version of PocketMAX, you can download it from the CSI Wireless website.

www.csi-wireless.com

For a detailed discussion on the PocketMAX software, please refer to the PocketMAX Manual, also available for download from the CSI Wireless website.

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current settings. It will then ask you if you want to proceed and save these settings or go back and change them. Once you have the settings configured properly for you, it is imperative to let the program close completely on its own before you disconnect or power down the receiver. This may take up to 10 seconds. If this is not performed, the receiver will not be configured as you feel it should, and can output a mixture of binary and NMEA data.

6. NMEA 0183 Messages

This chapter identifies the selection of standard and proprietary NMEA 0183 messages for the Vector PRO receiver.

Note – All NMEA commands must be sent through the primary GPS Port A RS-232 port. From this port, you can configure the settings of the Vector PRO and also the data messages output from primary GPS Port A and B. The secondary GPS may be configured for HDT and HPR message output only, using appropriate commands.

6.1 NMEA Message Elements

NMEA 0183 messages have a common structure, consisting of a message header, data fields, checksum, and carriage return/line feed message terminator. An example NMEA sentence follows.

$XXYYY,zzz,zzz,zzz…*xx<CR><LF>

The components of this generic NMEA message example are displayed in the following table.

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Table6-1 NMEA Message Elements

Element Description

$ Message header character

XX NMEA Talker field. GP indicates a GPS

talker

YYY Type of GPS NMEA Message

zzz Variable Length Message Fields

*xx Checksum

<CR> Carriage Return

<LF> Line Feed

Null, or empty fields occur when no information is available for that field.

6.2 PocketMAX

CSI Wireless offers a configuration program designed for Windows PocketPC software that runs on PocketPC 2000, 2002 and 2003 platforms. It can be used to configure and monitor your differential source, GPS messages and it also records various types of data. It is available for download from CSI’s website. This utility is discussed in the PocketMAX Manual and a screen-shot is shown in the following figure.

Caution – It is important to note that when you are using PocketMAX, the program is doing many operations behind the scenes. This includes modifying the data output from the serial port as the program require, which is screen dependant. When you close PocketMAX, it will give you a message confirming the current set tings. It will then ask you if you want to proceed and save these settings or go back and change them. Once you have the settings configured properly for you, it is imperative to let the program close completely on its own before you disconnect or power down the receiver. This may take up to 10 seconds. If this is not performed, the receiver will not be configured as you feel it should, and can output a mixture of binary and NMEA data.

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Figure 6-1 PocketMAX Screen Capture

6.3 General Commands

This section presents various commands relating to the general operation and configuration of the Vector PRO.

The following table provides a brief description of the general commands supported by the Vector PRO.

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Table 6-1 General Commands

Message Description

$JASC,Dx Command to turn on diagnostic information.

$JAIR This is a command to place the receiver into ‘AIR’ mode where the

receiver will respond better to the high dynamics associated with airborne applications.

$JASC,VIRTUAL This command is used to output RTCM data fed into the other port, through

the current port

$JASC,RTCM This command is used to output RTCM data from the SBAS demodulator

$JALT This command is used to set the altitude aiding mode of the Vector PRO $JAPP This command is used to query the current applications and also choose

the current application. $JBAUD Baud rate change command for the Vector PRO. $JCONN Virtual circuit command used to interface to the internal beacon receiver

or communicate with the menu system microprocessor.

$JDIFF This command is used to set the differential mode.

$JK This command is used to subscribe certain features of use of the Vector

PRO.

$JPOS This command is used to provide the Vector PRO with a seed position to

acquire a SBAS signal more quickly upon start-up. This is not normally

needed.

$JQUERY,GUIDE This command is used to poll the Vector PRO for its opinion on whether or

not it is providing suitable accuracy after the both SBAS and GPS have

been acquired (up to 5 min)

$JRESET This command is used to reset the configuration of the Vector PRO.

$JSAVE This command is used to save the configuration of the Vector PRO.

$JSHOW This command is used to query the Vector PRO for its configuration.

$JT This command is used to poll the Vector PRO for its receiver type

$JBIN This command is used to turn on the various binary messages supported

by the Vector PRO

$JI This command is used to get information from the Vector PRO such as its

serial number and firmware version information

The following subsections provide detailed information relating to the use of each command.

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Note - Please ensure that you save any changes that you wish to survive beyond the current power-up by using the $JSAVE command and wait for the ‘$> Save Complete’ response.

6.3.1 $JASC,D1

This command allows you to adjust the output of the RD1 diagnostic information message from the Vector PRO.

This command has the following structure.

$JASC,D1,r[,OTHER]<CR><LF>

Currently, only the RD1 message is currently defined, with x = 1. The message status variable ‘r’ may be one of the following values.

r Description

0 ON 1 OFF

When the ‘,OTHER’ data field is specified (without the square brack ets), this command will enact a change in the RD1 message on the other port.

6.3.2 $JAIR

This command allows you to place the primary GPS engine within the Vector PRO into AIR mode HIGH, where the receiver is optimized for the high dynamic environment associated with airborne platforms. JAIR defaults to normal (NORM) and this setting is recommended for most applications. Turning AIR mode on to HIGH is not recommended for Vector PRO operation.

The format of this command follows.

$JAIR,r<CR><LF>

Where feature status variable, ‘r’, may be one of the following values.

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Si-tex VECTOR PRO User's Manual

Specifications and Main Features

Frequently Asked Questions

User Manual