Spectracom VersaPNT Getting Started Manual

VersaPNT

Getting Started Guide

Document Part No.: 1228-5000-0057

Revision: 2.0

Date: 5-September-2018

About this Guide

This Getting Started Guide is a supplement to the main user manual for VersaPNT. The latest ver­sion of the main user manual can be found online under manuals.spectracom.com.

© 2018 Spectracom. An Orolia brand.

Orolia USA, Inc. dba Spectracom

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CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0

Product Overview

1

1.1 Interfaces Overview

1.1.1 Input Timing Interfaces

1.1.2 Output Timing Interfaces

1.1.3 Navigation Inputs & Outputs

1.1.4 Other Interfaces

1.2 Connectors and their Pinouts

1.2.1 Power Connector

1.2.2 Input/Output Connector

1.2.3 Ethernet Connector

1.2.4 Optional I/O Connector

1.2.5 Coaxial Connectors

1.3 Included Cables

1.4 Status LEDs

1.4.1 Blinking Intervals

1.4.2 LED Lighting Patterns

1.4.3 Legend, individual LEDs

1.4.3.1 LED Patterns during Boot Sequence

1.4.4 Blackout Mode

1

2
2
2
3

4

4
4
5
6
6

7

9

9
9

10

11

11

CONTENTS

1.5 The VersaPNT Web UI

1.5.1 The Web UI HOME Screen

Quick Start

2.1 Network Setup

2.2 Zero Configuration Setup

2.2.1 Using Zeroconf

2.3 Assigning I/O Pins

2.3.1 Signal Types

2.3.2 I/O Signal Mapping Table

2.4 INS Configuration

2.4.1 "IMU Output" Tab

2.4.2 "Calibration" Tab/Antenna Installation

11

11

13

14

19

20

21

21
22

26

27
29

VersaPNT Getting Started Guide • TABLE OF CONTENTS

i

2.4.3 "Log" Tab

2.4.4 "FIR Filter" Tab

2.4.5 "Coning/Sculling" Tab

2.4.6 "Frame Rotation" Tab

31
31
32
33

2.5 INS Initialization

2.6 INS Expert Mode

2.7 VICTORY Configuration

SAFETY

3.1 SAFETY: Before You Begin Installation

Technical Support

4.1 Regional Contact

34

35

36

37

37

39

39

ii

VersaPNT Getting Started Guide • TABLE OF CONTENTS

Product Overview

This section is designed to help you become familiar with the structure, features, and functions
of the VersaPNT.

1.1 Interfaces Overview

All of VersaPNT's interfaces are integrated into the unit's connectors, which are located on the
front panel:

1.1 Interfaces Overview

Figure 1-1: VersaPNT front panel connectors

Note: VersaPNT is highly configurable and the connections can be adjusted many

different ways. Your interface configuration may vary based on options you selec­ted during the ordering process.

The following interfaces are provided:

CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0

1

INPUTSIGNAL

Total

available

DCLS

RS-232 RS-485 ETH

Connector No.

(see Fig. above)

TTL 10V

1PPS (1) 1 4

ASCII/HaveQuick/IRIG B (1) 1 4

ASCII/NMEA (1) 1 4

Network Interface (10/100/1000bT):
NTP (Stratum 2), PTP

(2) 1 5

OUTPUTSIGNAL

Total

available

DCLS

RS- 232 RS-485 ETH

Connector No.

(see Fig. above)

TTL 10V

10 MHz (1+3) SMA 3

1PPS (2) 1 1 4

ASCII/HaveQuick (1) 1 4

ASCII/NMEA (1) 1 4

NTP server,
PTP v2 master

(1) 1 5

SIGNAL TYPE

Option Number/

Channel Position

DCLS

RS- 232

RS-422
(n or p)

Connector No.

(see Fig. above)

TTL

INS OUT Channels 1, 4, & 6 1 4

PPS IN Option & Channel 1 1 4

PPS OUT Option & Channel 2 1 4

1.1 Interfaces Overview

1.1.1 Input Timing Interfaces

Table 1-1:

VersaPNT

timing

inputs

1.1.2 Output Timing Interfaces

Table 1-2:

VersaPNT

timing

outputs

All Multi I/O interfaces (connector no. 4) are software-configurable, see "Assigning I/O Pins"
on page21.

1.1.3 Navigation Inputs & Outputs

The following VersaPNT options apply to the INS option board. The standard INS
OUTconnection will communicate your position and navigation information, while the Options
1-8 provide additional information via the multi I/O connector:

Table 1-3:

2

Navigation input and output options

CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0

SIGNAL TYPE

Option Number/

Channel Position

DCLS

RS- 232

RS-422
(n or p)

Connector No.

(see Fig. above)

TTL

GPS IN Option & Channel 3 1 4

GPS OUT Option & Channel 4 1 4

IMU IN Option & Channel 5 1 (p) 4

IMU IN Option & Channel 6 1 (n) 4

IMU OUT Option & Channel 7 1 (p) 4

IMU OUT Option & Channel 8 1 (n) 4

1.1.4 Other Interfaces

USB serial equivalent: CLI interface (Connector 4)

1.1 Interfaces Overview

CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0

3

Pin Signal

1 V

Main

(10 to 32V)

2 V

Main

(10 to 32 V)

3 V

Batt

(10 to 32 V)

4 GND

5 GND

1.2 Connectors and their Pinouts

1.2 Connectors and their Pinouts

All of VersaPNT's connectors are provided at the front panel of the unit, below the Status LEDs.

1.2.1 Power Connector

Note: View in mating direction from front.

Table 1-4:

Power connector pinout

1.2.2 Input/Output Connector

VersaPNT has a 26-pin input/output connector that offers 8 software-configurable CHANNELS,
plus one fixed DCLS channel, and a USB interface. To learn more about types of interfaces and
signals, and how to configure them, see "Assigning I/O Pins" on page21.

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CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0

Pin Channel Signal Pin Channel Signal

1

0 1PPS output (5V)

15

7 Have Quick output (RS-

485 signal +)

2

GND

16

GND

3

1 HaveQuick input (RS-

485 signal +)

17

8 Have Quick output (RS-

485 signal –)

4

GND

18

GND

5

2 HaveQuick input (RS-

485 signal –)

19

9

(USB ded-

icated)

GND

6

GND

20

GND

7

3 1PPS output (10 V)

21

Not connected

8

GND

22

GND

9

4 ASCII output (RS-232)

23

USB D–

10

GND

24

GND

11

5 1PPS input

25

USB D+

12

GND

26

GND

13

6 ASCII input (RS-232)

14

GND

1.2 Connectors and their Pinouts

Table 1-5:

Default I/O connector pinout

1.2.3 Ethernet Connector

CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0

Note: View in mating direction from front.

5

Pin Signal Pin Signal

1 Ethernet_1 A+ 9 Ethernet_2 A+

2 Ethernet_1 A– 10 Ethernet_2 A–

3 Ethernet_1 B+ 11 Ethernet_2 B+

4 Ethernet_1 B– 12 Ethernet_2 B–

5 Ethernet_1 C+ 13 Ethernet_2 C+

6 Ethernet_1 C– 14 Ethernet_2 C–

7 Ethernet_1 D+ 15 Ethernet_2 D+

8 Ethernet_1 D– 16 Ethernet_2 D–

1.2 Connectors and their Pinouts

Table 1-6:

Ethernet connector pinout

1.2.4 Optional I/O Connector

The Optional I/O connector is used in conjunction with the Option Board that is available for
VersaPNT. If the unit is not equipped with an Option Board, this connector is not used.

1.2.5 Coaxial Connectors

VersaPNT offers five (5) coaxial connectors, three (3) of which can be configured at the factory
to accommodate requirements for e.g., IRIG AM signals or additional 10MHz outputs. The min­imum configuration includes the GNSS antenna and a 10MHz sinewave output.

Unless otherwise ordered at the factory, all coaxial connectors (aside from the GNSS con­nection) produce a 10MHz output that is not software configurable.

All coaxial connectors are standard SMA connectors.

ETHERNET connector wiring:

1 through 8: A Ethernet Connect, 4 pairs, 1000bT

9 through 16: B Ethernet Connect, 4 pairs, 1000bT

POWER connector pinout

1; 2: V

3: V

Batt

4; 5: Ground return

6

, 10 to 32 V

Main

DC

, 10 to 32 VDC(Standby Power)

CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0

1.3 Included Cables

The VersaPNT Evaluation Kit contains the following cables (the antenna cable is not shown):

Power Cable

1.3 Included Cables

I/O Cable

CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0

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1.3 Included Cables

I/O Breakout Cable

Ethernet Data Cable

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CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0

1.4 Status LEDs

Start-up HEARTB. OFF OFF OFF OFF OFF OFF OFF

Acquir­ing fix

FAST FAST FAST FAST FAST FAST HEARTB. FAST

Software
upgrade

FAST OFF OFF FAST OFF FAST HEARTB. OFF

VersaPNT's front panel status LEDs provide a real-time status overview: Eight (8) LEDs indicate
the unit's current operating state:

The LEDs can be disabled, see "Blackout Mode" on page11.

1.4.1 Blinking Intervals

The status LEDs can communicate five different operating states:

1.4 Status LEDs

"OFF"

"ON"

"FAST": blinking interval @ 8Hz

"SLOW": blinking interval @ 2Hz

"HEARTBEAT": sinus-shaped interval @ 1Hz

1.4.2 LED Lighting Patterns

The table below indicates LED status light patterns for common VersaPNT operating statuses.

Table 1-7:

Common light patterns

CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0

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Icon Light Meaning

OFF No power

HEARTBEAT Booting

ON Powered

OFF No GNSS reception (0 satellites)

HEARTBEAT GNSS acquisition in process (≥ 1satellite(s), or 1PPS OK, or Time OK

SLOW Jamming detected

FAST Antenna short circuit

ON GNSS is available as reference (1PPS and Time OK)

OFF Inputs not detected/all inputs are disabled

FAST 1 or more input is missing, or invalid timing on 1 or more input detected

ON Inputs are enabled

OFF Unit is in Holdover (valid)

ON System Clock OK (valid)

FAST Invalid Time (Holdover period exceeded, or oscillator damaged)

OFF No output signal(s) detected/all outputs are disabled

FAST Malfunction detected (short circuit, or overload)

ON Outputs are enabled

OFF No network detected

FAST Network malfunction detected (e.g., no auto-negotiation)

ON Network OK, configuration OK

OFF Unit OK

FAST Unit requires attention; check other status LEDs, see Web UI

HEARTBEAT See table

"LED Lighting Patterns" on the previous page

OFF Temperature OK

FAST High temperature detected

1.4 Status LEDs

1.4.3 Legend, individual LEDs

Table 1-8:

Legend for Status LEDs

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CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0

1.4.3.1 LED Patterns during Boot Sequence

For the first five seconds after power-up all LEDs will be OFF. Then the Power LED will be blink­ing before it will be lit permanently. If you have configured your unit to operate in Blackout
Mode, this will take effect once the blinking cycle ends.

1.4.4 Blackout Mode

All LEDs can be turned off via the WebUI.
The LED brightness level can be set from 63 (as bright as possible) to 0 (not visable).
To disable all LED activity via the WebUI:

Navigate to MANAGEMENT > OTHER: LED Configuration, and set the Brightness level to
"0".

1.5 The VersaPNT Web UI

1.5 The VersaPNT Web UI

VersaPNT has an integrated web user interface (referred to as "WebUI" throughout this doc­umentation) that can be accessed from a computer over a network connection, using a standard
web browser. The WebUI is used to configure the unit, and for status monitoring during every­day operation.

Note: An integrated Command-Line Interpreter interface (CLI) allows the use of a

subset of commands that are integrated into the Web UI.

The minimum browser requirements for the Web UI are: Internet Explorer®9 or higher,
Firefox®, or Chrome®.

1.5.1 The Web UI HOME Screen

Note: Screens displayed in this manual are for illustrative purposes. Actual

screens may vary depending upon the configuration of your product.

The HOME screen of the VersaPNT web user interface ("Web UI") provides comprehensive
status information at a glance, including:

vital system information

current status of the references

key performance/accuracy data

major log events.

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1.5 The VersaPNT Web UI

The HOMEscreen can be accessed from anywhere in the Web UI, using the HOMEbutton in
the Primary Navigation Bar:

The Primary Navigation Bar provides access to all menus:

HOME: Return to the HOME screen (see above)

INTERFACES: Access the configuration pages for …

… references (e.g., GNSS, NTP)

… outputs (e.g. 10 MHz, PPS, NTP) and

… installed input/output option cards.

MANAGEMENT: Access the NETWORK setup screens, and OTHER setup screens e.g., to

configure Reference Priorities, System Time, and the Oscillator.

TOOLS: Opens a drop-down menu for access to the system maintenance screens and sys-

tem logs.

HELP: Provides Spectracom Service Contact Information and high-level system con-

figurations you may be required to furnish when contacting Spectracom Service.

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CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0

Quick Start

Requirement Action Evaluation kit cable

USB con­nection

Connect USB to the Multi I/O
connector.

Connect the USB connector to a PC with a terminal
emulator program (CA08R-CRUB-0002)

Network
connection

Connect at least one of the
two Ethernet connectors to a
network.

Connect the RJ45 jack labeled ETH0 or ETH1 to a
network hub/switch or directly to a PC (CA08R­CRET-0002)

During the procedure described below, you will connect the Power cable, the Multi I/O cable,
and the Ethernet cable to the unit. These cables are included in the Evaluation kit. If you plan to
use your own cables, some of these instructions may not apply.

The step-by-step instructions below outline the VersaPNT installation and configuration process:

1.

Install VersaPNT in the designated vehicle:

Choose a mounting location within reach of your antenna and networking cables

A location near the center of gravity of the vehicle is recommended.

It is recommended to orient the unit so that the rear panel of the unit (the opposite
of the connector face) points in the direction of travel. Other orientations (includ­ing upside down) are possible, but will require Frame Rotation calculations (see
""Frame Rotation" Tab" on page33).

Ground the unit by connecting the DC negative terminals to the chassis of the unit,
and to the vehicle metallic structure.

The mounting plate should be in direct contact with the unit base plate, and the
mounting surface is even and heat conductive.

2.

Install the GNSS antenna(s). Follow your antenna manufacturer's instructions. See ""Cal-

ibration" Tab/Antenna Installation" on page29 for specifications.

3.

Wire the antenna cables and interface cables. (Most customers will require the Multi I/O

and Ethernet cables for these connections.)

USB: Connect the Multi I/O connector to the VersaPNT unit. If you are using the

Evaluation Kit, connect the Multi I/O USB output to a PC. Install a terminal emu-

lator program on the PC (e.g., TeraTerm

Ethernet: Connect the Ethernet cable to the ETH port of the unit. If you are using

®

or PuTTY®).

the Evaluation Kit, connect at least one of the two I/O cable Ethernet ports (ETH0
or ETH1) to a network switch/hub, or to the PC mentioned above (using a stand­ard Ethernet patch cable, or a crossover cable).

For pinout tables, see "Connectors and their Pinouts" on page4.

4.

Connect the power supply. The unit will power up, and the ON/OFF status LED will

pulsate.

CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

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Requirement Action Evaluation kit cable

Power up Connect 12 VDCto the

power connector.

Attach a cable and apply 12 VDCto the plug labeled
"Main" (CA08R-CRPB-0002)

2.1 Network Setup

5.

Establish a network connection so as to allow access to the web user interface ("Web UI").

See "Network Setup" below for information on the USB driver installation and network
address configuration.

Note: On a DHCP network, you can also use Zeroconf to access the Web

UI (see "Zero Configuration Setup" on page19).

6.

Using the Web UI, configure the following:

Software-configurable I/O pins, see "Assigning I/O Pins" on page21.

INS settings, see "INS Configuration" on page26:

IMU data output settings (output format, position type, polling frequency)

Calibration settings: antenna offsets

Data log settings

FIR filter settings

Coning and sculling error compensation settings

Frame rotation configuration (if required).

This list covers the standard configuration options. More complex configurations
can be generated using the "INS Expert Mode" on page35.

Other VersaPNT INTERFACES settings and MANAGEMENT settings e.g., network
settings, reference priorities (see main product user manual).

2.1 Network Setup

After making the connections outlined in the Quick Start list, the following information will help
you to establish a network connection.

VersaPNT has a Command Line Interpreter ("CLI"). Using the CLI connection, you can set up
access to the web user interface ("Web UI") that is used to configure and monitor the unit.

Default settings:

VersaPNT network settings default to DHCP, i.e. if the unit is connected to a DHCP server via
ETH0 or ETH1, it will accept an assigned dynamic IP address.

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CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

2.1 Network Setup

In order to apply a static IP address, DHCP must be disabled. (Your network administrator can
provide you with an IP address you can use for the unit.)

Note: VersaPNT supports zeroconf: If you have a DHCP enabled network, you can

use zeroconf for initial setup. For more information, see "Zero Configuration
Setup" on page19. Otherwise follow the instructions below for conventional
setup.

Network connection:

1.

USB Driver

On the PC connected to your unit, new hardware (the USB interface) will be detec­ted. The correct driver should be installed automatically. If not, download the
driver from www.ftdichip.com/Drivers/VCP.htm, and install it manually via
the instructions for your operating system.

2.

Network Address

a.

Start the terminal emulator program on the PC. Select the COM port that is
assigned to the USB interface:

Access the CLI via ssh or telnet: The required port configuration is 115200 8N1:

CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

15

2.1 Network Setup

Press the Return key, and enter the login credentials:

Note: The default login credentials are:

User name = spadmin
Pass word = admin123 (will not be displayed on the screen)

b.

If you are on a DHCP-enabled network, retrieve the IP address assigned to Ver­saPNT by typing the net4 command. The command should return the network set-

tings, including the IP address assigned to the unit. Take note of the IP address.

You can use this IP address to login to the VersaPNT Web UI and then set a static
IP address, subnet mask and gateway (see Step 4. below).

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CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

2.1 Network Setup

Or, continue with the network configuration via the CLI, as described under Step
c. below.

Note: For your reference, the command helpcli produces a list of

available commands. Press the space key to display the next page,
or the b key to display the previous page.

Note: Should it become necessary to leave the VI editor mode (indic-

ated by a command line prompt ":"), press Q, or Ctrl C.

c.

To disable DHCP type dhcp4set <x> off , (x being 0/1 for ETH0 and
ETH1, respectively). Example:

dhcp4set 0 off

d.

Type net4 to confirm that DHCP has been turned off. Setup a new IP address by
typing ip4set <x> <IP address> <subnet mask> and –if
required– gw4set <x> <gateway address>. For a table with subnet
mask values, see manuals.spectracom.com.

3.

Log In to the Web UI

a.

On a PC connected to VersaPNT via ETH0 or ETH1, start a web browser.

b.

Navigate to the IP address obtained in Step 3.b, or assigned in Step 3.d.

c.

Login to the VersaPNT Web UI, using the same credentials as mentioned above.

d.

If so required, you can also change VersaPNT's IP configuration (address, subnet,
gateway, ...):

i.

Navigate to MANAGEMENT > Network Setup.

ii.

In the Ports panel on the right, click the GEAR button next to ETH0 or ETH1:
The Edit Ethernet Port Settings panel will open.

CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

17

2.1 Network Setup

Note: If you have not disabled DHCP yet, uncheck Enable

DHCPv4, but DO NOT click Submit until after completing all

IP configuration settings.

e.

Click Submit, and start a new Web UIsession by entering the new IP address into
your browser, and logging into the Web UIagain.

f.

You have now established a network connection with VersaPNT. Continue with
other configurations e.g., NTP settings, references, outputs, etc. See the user
manual: manuals.spectracom.com.

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CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

2.2 Zero Configuration Setup

As an alternative to the conventional network configuration, VersaPNT can also be set up using
the zero-configuration networking technology ("zeroconf").

Note: Zeroconf only works on DHCP-enabled networks.

When using zeroconf, a TCP/IP network will be created automatically, i.e. without the need for
manual configuration: Once VersaPNT's ETH connector is connected to a hub, you can directly
access the VersaPNT WebUI, using a standard web browser, without any configuration.

This is made possible because zeroconf utilizes these technologies:

Automatic allocation of network addresses for all connected devices

Automatic distribution and resolution of computer hostnames

Automatic detection of all available network services.

For more information on zeroconf and the multicast Domain Name System, see

https://en.wikipedia.org/wiki/Multicast_DNS.

2.2 Zero Configuration Setup

Zeroconf Requirements

Prior to using zeroconf, ensure the following requirements are met:

Your LAN network must have DHCP enabled.

Your VersaPNT unit must have DHCP enabled for its ETH0 port (this is the factory default
setting)

Note: Zeroconf is only supported on the ETH0 port.

Check the serial number label on the side of the unit, and write down the last 6 digits of
the MAC 0 address e.g., "0C 00 19"

Windows 7/8 users should install Bonjour Print Services, otherwise access to *.local
addresses will not be possible.

Windows 10 already supports mDNS and DNS-SD, hence there is no need to install
additional software.

CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

19

2.2 Zero Configuration Setup

2.2.1 Using Zeroconf

Connect to the Web UI of your VersaPNT unit in these 3 steps:

1.

Connect VersaPNT to a router on your LAN via the ETH connector.

2.

Connect the power supply to the VersaPNT unit.

3.

On a connected computer, open your web browser and in the URL field type the fol­lowing:

where [xxxxxx] are the last six digits of the MAC0 address you copied from the serial
number label on the unit.

You should now be prompted for a username and password. The factory default cre­dentials are:

versapnt-[xxxxxx].local/

Username: spadmin

Password: admin123

Note: If you do not have physical access to the unit, you can obtain the MAC

address also by accessing VersaPNT's CLI via the I/O connector USB port, using
e.g., the ifconfig command.

Once you logged into the VersaPNT via zeroconf, you can retrieve the DHCP address for
future use:

Navigate to MANAGEMENT: NETWORK > Network Setup, and click General Settings in
the Actions panel on the left. The IPV4 ADDRESS will be displayed for each port on the
bottom of the window.

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CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

2.3 Assigning I/O Pins

VersaPNT's I/O connector is software configurable, i.e. the pin interfaces and the signal mod­ulations can be configured by the user via the VersaPNT WebUI.

The software-configurable 26-pin I/O connector comprises 9 user-configurable Channels, plus
one fixed USB interface. Channels can be used for the following input or output interfaces:

2.3 Assigning I/O Pins

Figure 2-1: I/O configuration options

2.3.1 Signal Types

The table below shows the maximum number of available interfaces for each signal type. Note
that you can assign only one signal for each pin pair, hence only four to nine input and output
signals can be transmitted/received at any given time.

CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

21

DCLS, TTL DCLS, 10V RS485 RS 485, 120 Ω RS232

PPS out (5), in (2) out (1), in (1) out (4), in (4) in (4)

IRIG out (5), in (2) out (1), in (1) out (4), in (4) in (4)

HQ out (5), in (2) out (1), in (1) out (4), in (4) in (4)

GPIO out (5) out (1)

ASCII out (4), in (4) in (4) out (3), in (3)

INS out (3), in (3)

2.3 Assigning I/O Pins

Table 2-1:

Note: ASCII Time Code is abbreviated in the UI as ATC.

Available signal types

DCLS Signal Lines

Up to six TTL (5V) or 10V DCLS outputs and three DCLS inputs are available for e.g., 1PPS,
xPPS, IRIGB 00x, HaveQuick, ASCII ToD signal transmission.

Single-ended Serial Lines

VersaPNT provides up to 3 RX and 3 TX RS232 interfaces for e.g., ASCII ToD – NMEA 0183
(ICD-GPS-153).

Differential Serial Lines

Up to four differential serial lines are available. Each of them can be set in either RS422 or

RS485 electrical standard, and used as input or output. One can be used in CAN mode. PPS

or Time-of-Day messages will be available, as well as HaveQuick and ICD GPS-060. Note that
this kind of interface uses two Channels.

Non-Configurable Pins

Channel # 0 provides a DCLSTTL output signal that is not user-configurable.

Also note that pins # 19 through 26 are reserved for the USB command line interface.

2.3.2 I/O Signal Mapping Table

Each Channel (i.e., each pin pair e.g., "3&4" = Channel 1) can serve as only one interface,
and not all combinations are possible due to the internal multiplexer architecture.

Spectracom provides an online interactive I/O switch matrix configurator that can be used to
design a custom I/O configuration:

http://manuals.spectracom.com/VSS/Content/VSS/SETUP/IOpinConfiguration.htm.

The table below illustrates the signal combinations that can be assigned to the 18 configurable
pins.

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CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

2.3 Assigning I/O Pins

Table 2-2:

I/O signal mapping to Channels

Notes:
Pins to Channels (e.g., pins 3 & 4= Channel 1)

green = Signal Message Type can be assigned to this Channel (RS485 requires two Channels)

red = This Signal Message type cannot be assigned to this Channel

ATC = ASCII Time Code

Configuring a new Input or Output

1.

In the VersaPNT Web UI, navigate to MANAGEMENT > NETWORK: Pin Layout. The Pin

Layout screen will be displayed.

2.

Prior to assigning the new output, identify a pin pair in the pin Layout table that is not
used (Signal = "None") or not needed. You can Delete it, but you may also simply
assign the new PPS Output as described below, thus overwriting the existing Input or
Output.

3.

Add a pin configuration by clicking the PLUS icon in the top-right corner. The Add Pin
window will display.

CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

23

SIGNAL TYPE

Option Number/

Channel Position

Pins

DCLS

RS- 232

RS-422
(n or p)

TTL

INS OUT Channels 1, 4, & 6 (3 &4), (9 & 10), or (11 & 12) 1

PPS IN Option 1 & Channel 1 3 & 4 1

PPS OUT Option 2 & Channel 2 5 & 6 1

GPS IN Option 3 & Channel 3 7 & 8 1

GPS OUT Option 4 & Channel 4 9 & 10 1

IMU IN Option 5 & Channel 5 11 & 12 1 (p)

IMU IN Option 6 & Channel 6 13 & 14 1 (n)

IMU OUT Option 7 & Channel 7 15 & 16 1 (p)

IMU OUT Option 8 & Channel 8 17 & 18 1 (n)

2.3 Assigning I/O Pins

4.

5.

6.

7.

8.

Navigation Pinout Configuration

VersaPNT has navigation-specific options that can be configured through the multi I/O con­nector"I/O signal mapping to Channels" on the previous page

To configure INS IN or OUT via RS232, follow the steps for "Configuring a new Input or Out­put" on the previous page.

To configure any of the navigation options listed in the following chart(Options 1-8):

1.

Start with the Type Filter drop-down menu (second line in the window) and select a signal
type.

From the Signal drop-down menu, select a signal.

From the Pins drop-down menu in line 3, select the pin pair you chose in Step 2. (Note
that you will need 4 pins if you selected a RS485 signal Type.)

Click Submit.

In the Actions panel, click Apply Changes.

Navigate to MANAGEMENT > NETWORK > Pin Layout as above and click to PLUS sign
in the top right corner..

2.

Under Signal, select OPTION.

3.

Select the correct Pins from the drop-down menu that correspond to the Option number.

4.

You can then click Submit. Be sure to also Apply Changes in the Actions menu.

Restoring the Default I/O Configuration

VersaPNT is shipped with a default I/O configuration that you can be customized. However, if
required you can restore the default configuration at any time after applying changes.

To restore the default I/O pin configuration:

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CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

2.3 Assigning I/O Pins

A.

Navigate to the MANAGEMENT: NETWORK > Pin Layout screen.

B.

In the Actions panel on the left, click Restore Default Layout.

Reloading the Current I/O Configuration

To reload the currently used I/O configuration after adding pin layout changes, but before
clicking Apply Changes:

A.

Navigate to the MANAGEMENT: NETWORK > Pin Layout screen.

B.

In the Actions panel on the left, click Reload Layout.

CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

25

2.4 INS Configuration

2.4 INS Configuration

VersaPNT is equipped with a GPS-aided high-performance Inertial Navigation System (INS).
This MEMS-based unit incorporates 3-axis accelerometers, gyros, magnetometer (all of which 3­axis), as well as a barometric pressure sensor, a temperature sensor and two separate 50-chan­nel L1 GPS receivers.

To configure the INS:

1.

In the VersaPNT Web UI, navigate to MANAGEMENT > NETWORK: INS Setup (1). The
INS screen will appear:

The INS screen has two panels:

Actions:

Toggle ON/OFF Expert Mode, which allows you to write directly into the
configuration file.

Toggle ON/OFF Panacea Support.

Restore the Default INS Configuration

Status: This panel lists INS configuration settings and status messages.

INS Model

HW Version

FW Version

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CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

2.4 INS Configuration

INS Mode [aligned, aligning, none]: The INS mode should read "aligned"

for accurate navigation.

GPS Fix [3D, 2D, no fix, time only]: For accurate positioning, the unit
needs a 3D fix (at least 4 satellites).

Num Sats: The number of tracked satellites

Output format [Binary, NMEA]: user settings

Polling Rate: user settings

Initial Heading [Enabled/Disabled]: user settings

2.

In the INS Status panel, click the GEAR icon (2). The Edit INS Settings window opens:

This window is used to configure the INS. The window has six tabs which are described

below:

2.4.1 "IMU Output" Tab

VersaPNT provides two different means of obtaining measurements, using either human-read­able ASCII messages in an NMEA format, or user-configurable custom binary output messages:

CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

27

Header Output Type

VNOFF Asynchronous output turned off

VNYPR Yaw, Pitch, Roll

VNQTN Quaternion

VNQMR Quaternion, Magnetic, Acceleration and Angular Rates

VNDCM Directional Cosine Orientation Matrix

VNMAG Magnetic Measurements

VNACC Acceleration Measurements

VNGYR Angular Rate Measurements

VNMAR Magnetic, Acceleration, and Angular Rate Measurements

VNYMR Yaw, Pitch, Roll, Magnetic, Acceleration, and Angular Rate Meas-

urements

VNYBA Yaw, Pitch, Roll, Body True Acceleration, and Angular Rates

VNYIA Yaw, Pitch, Roll, Inertial True Acceleration, and Angular Rates

VNIMU

IMU Measurements

VNGPS

GPS LLA

VNGPE GPS ECEF

VNINS INS LLA

VNINE INS ECEF

VNISL INS LLA 2

VNISE INS ECEF 2

VNDTV Delta theta and delta velocity

VNG2S GPS2 LLA

VNG2E GPS2 ECEF

2.4 INS Configuration

NMEA Output

Each different ASCII output message type has its own unique 5 character heading so that it can
easily be distinguished in the data stream.

Output Format: [Binary/NMEA] Select NMEA to output the IMU data in an NMEA ASCII format.
ASCII Type: This register selection controls the type of data that will be asynchronously output.

You can specify which data register will be automatically output once it is updated with a new
reading. Select an ASCII output type from the drop-down list:

Table 2-3:

ASCIIoutput settings

To learn more about the settings listed above, see the main user manual.

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CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

2.4 INS Configuration

Polling Frequency : [Hz; default= 50] Select the frequency at which the NMEA output data

described above will be sent out.

Binary Output

For high-rate data, or custom message outputs, VersaPNT supports the ability to construct your
own binary output messages. This selected measurement subset will be packaged into a single
compact binary packet provided at any rate from 1 to 400 times per second.

Output Format: [Binary/NMEA] Select Binary to output the IMU data in binary format.

Position: [checkbox] Select ON to output IMU position data.

Raw Position: [checkbox] Select ON to output raw sensor position data (i.e.,

unprocessed by Kalman filter), instead of processed position data.

Orientation: [checkbox] Select ON to output orientation data.

Acceleration: [checkbox] Select ON to output IMU acceleration data.

Raw Acceleration: [checkbox] Select ON to output raw sensor acceleration data

(i.e., unprocessed by Kalman filter), instead of processed acceleration data.

Temperature: [checkbox] Select ON to output temperature data.

Magnetometer: [checkbox] Select ON to output magnetometer data.

Raw Magnetometer: [checkbox] Select ON to output raw (unprocessed) mag-

netometer data.

Time: [checkbox] Select ON to output time data.

Polling Frequency: [Hz; default=50; min.=1; max.=400]

2.4.2 "Calibration" Tab/Antenna Installation

VersaPNT can be connected to one or two GNSS antennas., depending on the model type.
When selecting antenna installation locations, make sure that the following requirements are
met:

the view of the sky is unobstructed

the antennas are located on opposite ends of the vehicle, as far away from the Ver­saPNT unit as possible, but the antenna cables are not longer than necessary.

Should only one GNSS antenna be used, the antenna can be installed at any location on the
vehicle with an unobstructed view of the sky.

The X-Y-Z distances between the first antenna and the X-Y-Z etching on the lid of the VersaPNT
unit, as well as the distance between the second antenna and the first antenna are referred to
as offsets and need to be configured under the Calibration tab. The illustration below shows an
example configuration:

CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

29

2.4 INS Configuration

Figure 2-2: GPS antenna offset (Image source: VectorNav Technologies)

Antenna 1 Offset X: [m] The X-offset from the X-Y-Z etching on the VersaPNT lid to the

GNSS antenna number 1.

Antenna 1 Offset Y: [m] The Y-offset from the X-Y-Z etching on the VersaPNT lid to the

GNSS antenna number 1.

Antenna 1 Offset Z: [m] The Z-offset from the X-Y-Z etching on the VersaPNT lid to the

GNSS antenna number 1.

Antenna 2: [checkbox] Select ON when using a second GNSS antenna. Note that the

use of a second antenna is optional, but a second antenna is required for compassing
functionality. Also note that the offset of antenna 2 is relative to antenna 1, not to the Ver­saPNT X-Y-Z etching (see illustration below).

Antenna 2 Offset X: [m] The relative Y-offset from antenna 2 to antenna 1.

Antenna 2 Offset Y: [m] The relative Y-offset from antenna 2 to antenna 1.

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CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

2.4 INS Configuration

Antenna 2 Offset Z: [m] The relative Y-offset from antenna 2 to antenna 1.

The antenna 2 uncertainty settings indicate how accurate the actual distances could be
measured.

Antenna 2 Uncert X: [m; default=0.0254] The stated offset dimension is certain to be

accurate within 2.54 cm.

Antenna 2 Uncert Y: [m; default=0.0254] The stated offset dimension is certain to be

accurate within 2.54 cm.

Antenna 2 Uncert Z: [m; default=0.0254] The stated offset dimension is certain to be

accurate within 2.54 cm.

Initial Heading: [checkbox] Set to ON if each mission shall start with a pre-set initial com-

pass heading.

Initial Compass: [Deg] Set the initial compass heading here.

2.4.3 "Log" Tab

You can configure your unit to stop logging events in this tab or to change the file name that
your logs are stored in.

Log To CSV File: [checkbox: OFF] Select ON to log to a comma-separated values file.

File Name: Change the file name and the path to its location if a log file other than the

default one shall be used.

2.4.4 "FIR Filter" Tab

Prior to sending the IMU sensor data to the INS Kalman filter it can be processed by a finite
impulse response filter. To configure the FIR filter, use the following settings (for additional
information, see the OEM documentation):

Mag Window Size (default 400 Hz): Define the number of magnetometer samples at the

IMU rate which will be averaged for each output measurement.

CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

31

2.4 INS Configuration

The Filter Mode parameters for each sensor select which output quantities the filtering should be
applied to. Filtering can be applied to either the uncompensated IMU measurements, com­pensated (HSI and biases compensated by onboard filters, if applicable), or both.

Accel Window Size (default 400 Hz): Define the number of acceleration sensor samples

at the IMU rate which will be averaged for each output measurement.

Gyro Window Size (default 400 Hz): [Range: ] Define the number of gyroscope samples

at the IMU rate which will be averaged for each output measurement.

Temp Window Size (default 400 Hz): [Range: ] Define the number of temperature sensor

samples at the IMU rate which will be averaged for each output measurement.

Pres Window Size (default 400 Hz): [Range: ] Define the number of pressure sensor

samples at the IMU rate which will be averaged for each output measurement.

Mag Filter Mode: [No Filtering/Uncompensated/Compensated/(Uncom-

pensated/Compensated)]

Accel Filter Mode: [No Filtering/Uncompensated/Compensated/(Uncom­pensated/Compensated)]

Gyro Filter Mode: [No Filtering/Uncompensated/Compensated/(Uncom­pensated/Compensated)]

Temp Filter Mode: [No Filtering/Uncompensated/Compensated/(Uncom­pensated/Compensated)]

Pres Filter Mode: [No Filtering/Uncompensated/Compensated/(Uncom-

pensated/Compensated)]

2.4.5 "Coning/Sculling" Tab

The IMU's coning and sculling algorithms can be configured to operate in multiple frames and
with different compensations applied. The IMU computes and accumulates the coning and scull­ing integrals which track the delta angle and delta velocity.

Integration Frame: [Body Frame/NED Frame/ECEF Frame] This setting selects the reference frame

used for coning and sculling. Note that using any frame other than the body frame will rely on
the onboard Kalman filter’s attitude estimate. The factory default state is to integrate in the
sensor body frame.

Gyro Compensation: [checkbox: OFF] This setting selects the compensation to be applied to the

angular rate measurements before integration. If set to ON, the Kalman filter’s real-time estim­ate of the gyro biases will be used to compensate the IMU measurements before integration.
For additional information, see the OEM documentation.

To configure the compensation (if set to ON), the INS needs to be operated in Expert Mode.

Acceleration Compensation: [checkbox: OFF] This setting selects the compensation to be applied

to the acceleration measurements before integration. If set to ON, the Kalman filter’s real-time
estimate of the accel biases will be used to compensate the IMU measurements before integ­ration.

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CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

2.4.6 "Frame Rotation" Tab

By default VersaPNT will output the heading, pitch, and roll with respect to the VersaPNT ref­erence frame as it is shown on the etching on the lid of the unit. To ensure that the output is con­sistent with the attitude of the vehicle VersaPNT is used in, you will need to align the unit to the
unit such that the X-axis points out the front of the vehicle (bow), the Y-axis points out the right
(starboard), and the Z-axis points down. If it is not possible to orient VersaPNT in this con­figuration with respect to the vehicle, then you will need to use the Reference Frame Rotation to
set the relative orientation of the unit with respect to the vehicle.

Please note: Some VersaPNT units were released with incorrect axis chassis markings. For the

purpose of these instructions, the correct default X-Y-Z orientation at startup is:

The X-axis pointing toward the back of the unit (along the cover, from the connections
side to the back)

The Y-axis pointing toward the right when looking at the connections face

The z-axis pointing down.

The frame rotation matrix allows for the transformation of measured acceleration, magnetic,
and angular rates from the VersaPNT body frame to any other arbitrary frame of reference.
The frame rotation matrix allows for the sensor to be placed in any arbitrary orientation with
respect to the user’s desired body coordinate frame. This register can also be used to correct
for any orientation errors due to mounting VersaPNT on the user’s vehicle or platform.

2.4 INS Configuration

The variables
erence frame with respect to the VersaPNT unit. The variables
meter such as acceleration in the user’s frame of reference. The reference frame rotation
register thus needs to be loaded with the transformation matrix that will transform measurements
from the body reference frame of the VersaPNT unit to the desired user frame of reference.

{X,Y,Z}

Note: The matrix C in the Reference Frame Rotation Register must be an orthonor-

mal, right-handed matrix. The sensor will output an error if the tolerance is not
within 1e-5. The sensor will also report an error if any of the parameters are
greater than 1 or less than -1.

are a measured parameter such as acceleration in the body ref-

Body

{X,Y,Z}

are a measured para-

U

CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

33

2.5 INS Initialization

2.5 INS Initialization

VersaPNT needs a few orientation laps in order to fully orient itself after startup.
It is recommended that you maneuver in a known, repeating pattern for approximately five

minutes in order to align with your surrounding satellites. (The length of time necessary for ini­tialization may vary by location, size of route, time of day, etc.).

A figure-eight pattern is ideal in order to excite all possible axes.
There are three possible INS modes:

Aligned indicates the solution is reliable and GNSS verified

Aligning indicates either that the current solution is outside the range of validity, or that

the INS is working to develop a solution

None indicates that no INS solution is currently available. This message also occurs at

startup.

The goal of initialization is to reach an aligned state before dependence on your solution.
To verify your INS status in the WebUI, navigate to MANAGEMENT > INS Setup > Status. In the

Status panel, INSMode will indicate your current alignment state.

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CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

2.6 INS Expert Mode

2.6 INS Expert Mode

Advanced INS configuration is possible via the INS Expert Mode, which allows you to write dir­ectly into the configuration file.

Caution: INS Expert Mode should only be utilized by advanced users, as incor-

rectly altering the configuration file can cause NTP to stop working (if NTP is con­figured as an input reference, VersaPNT could lose synchronization).

To access the INS Expert Mode, navigate to MANAGEMENT > INS Setup. The switch for the
INS Expert Mode is in the ACTIONS panel.

Caution: Any configurations made in INS Expert Mode will be lost as soon as INS

Expert Mode is disabled. If changes are made to the INS configuration file while

in the Expert mode, Expert mode should remain enabled from that point forward.

CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

35

2.7 VICTORY Configuration

Caution: Spectracom Tech Support does not support the editing of the INS con-

figuration files while in the Expert Mode.

The INS configuration file can be reset back by clicking Restore Default INS Configuration.
To learn more about INS configuration, see the OEM documentation.

2.7 VICTORY Configuration

VersaPNT is equipped with an interface that complies with the VICTORY (Vehicular Integration
for C4ISR/EW Interoperability) standard. The use of the VICTORY interface is optional. Prior to
using it, however, the interface needs to be configured.

To configure the VICTORY interface, see the separate document "VICTORY Configuration".

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CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0

SAFETY

3.1 SAFETY: Before You Begin Installation

Table 3-1:

Symbol Signal word Definition

Safety symbols used on this product or in this document

Potentially dangerous situation which may lead to personal

DANGER!

CAUTION!

NOTE

ESD

CHASSIS GROUND

Analog Ground

Recycle

injury or death! Follow the instructions closely.

Potential equipment damage or destruction!
Follow the instructions closely.

Tips and other useful or important information.

Risk of Electrostatic Discharge!
Avoid potential equipment damage by following ESD Best
Practices.

This symbol is used for identifying the functional ground of an
I/O signal. It is always connected to the instrument chassis.

Shows where the protective ground terminal is connected
inside the instrument. Never remove or loosen this screw!

Recycle the mentioned components at their end of life. Follow
local laws.

3.1 SAFETY: Before You Begin Installation

DANGER! If the equipment is used in a manner not specified by the manufacturer,

the protection provided by the equipment may be impaired.

DANGER! — INSTALLATION OF EQUIPMENT:

Installation of this product is to be done by authorized service personnel
only.This product is not to be installed by users/operators without legal author­isation.

CHAPTER 3 • VersaPNT Getting Started Guide Rev. 2.0

37

3.1 SAFETY: Before You Begin Installation

Installation of the equipment must comply with local and national electrical codes.

DANGER! — DONOTOPENEQUIPMENT, UNLESSAUTHORIZED:

The interior of this equipment does not have any user serviceable parts. Contact
Spectracom Technical Support if this equipment needs to be serviced. Do not
open the equipment. Follow Spectracom Safety Instructions, and observe all local
electrical regulatory requirements.

Caution: Electronic equipment is sensitive to Electrostatic Discharge (ESD).

Observe all ESD precautions and safeguards when handling Spectracom equip­ment.

38

CHAPTER 3 • VersaPNT Getting Started Guide Rev. 2.0

Country Location Phone Address

China Beijing +861082319601

Spectracom China

Room 208, No. 3 Zhong Guan Village
South Road
Hai Dian District
Beijing 100081

France Les Ulis, Cedex +33(0)164533980

Spectracom France

Parc Technopolis – Bat. Sigma
3, Avenue du Canada
91974 Les Ulis Cedex

USA Rochester, NY +15853215800

Spectracom USA

1565 Jefferson Road, Suite 460
Rochester, NY 14623

4.1 Regional Contact

Technical Support

To request technical support for your VersaPNT unit, please go to the "Support" page of the
Spectracom Corporate website, where you can not only submit a support request, but also find
additional technical documentation.

Phone support is available during regular office hours under the telephone numbers listed
below.

To speed up the diagnosis of your VersaPNT, please send us:

the current product configuration (navigate to TOOLS > Upgade/Backup > System Con-
figuation panel), and

the events log.

Thank you for your cooperation.

4.1 Regional Contact

Spectracom operates globally and has offices in several locations around the world. Our main
offices are listed below:

Table 4-1:

Additional regional contact information can be found on the Contact page of the Spectracom
website.

Spectracom contact information

CHAPTER 4 • VersaPNT Getting Started Guide Rev. 2.0

39