V102 GPS Compass User Guide Part No.
This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Copyright Notice Hemisphere GPS Precision GPS Applications Copyright © Hemisphere GPS (2011). All rights reserved.
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V102 GPS Compass User Guide Contents Chapter 1 Introduction Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 Chapter 2 Installation Mounting Location. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 GPS Reception. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents Serial Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Default Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Chapter 3 Operation GPS Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 GPS Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Differential Operation. . . . . . . . . . . . .
Chapter 1: Introduction Overview Parts List
Chapter 1: Introduction Overview The V102™ GPS Compass is based upon Hemisphere GPS’ exclusive Crescent® and Crescent Vector™ II technology The V102 is a complete GPS compass and positioning system in a single enclosure that requires only one power/data cable connection. With its CAN support and ease of installation, the V102 is the perfect solution for both marine and land-based applications such as mine construction, earthworks and machine guidance.
V102 GPS Compass User Guide quality. The V102 is less likely to be affected by differential signal outages due to signal blockages, weak signals, or interference when using COAST. If you are new to GPS and SBAS, refer to the GPS Technical Reference for further information on these services and technologies before proceeding. The GPS Technical Reference is available from the Hemisphere GPS website at www.hemispheregps.com. Parts List Note: The V102’s parts comply with IEC 60945 Section 4.
Chapter 2: Installation Mounting Location Mounting Orientation Mounting Options Powering the V102 Connecting the V102 to External Devices
Chapter 2: Installation Mounting Location This section provides information on determining the best location for the V102.
V102 GPS Compass User Guide V102 Environmental Considerations The V102 is designed to withstand harsh environmental conditions; however, adhere to the following limits when storing and using the V102: • Operating temperature: -30°C to +70°C (-22°F to +158°F) • Storage temperature: -40°C to +85°C (-40°F to +185°F) • Humidity: 100% non-condensing VHF Interference VHF interference from such devices as cellular phones and radio transmitters may interfere with GPS operation.
Chapter 2: Installation Before installing the V102 use the following diagram to ensure there are no nearby devices that may cause VHF interference. VHF Antenna 1.5 m radius at top (minimum) Use these minimum distances to determine where to place the V102 1.
V102 GPS Compass User Guide Mounting Orientation The V102 outputs heading, pitch, and roll readings regardless of the orientation of the antennas. However, the relation of the antennas to the boat’s axis determines whether you will need to enter a heading, pitch, or roll bias. The primary antenna is used for positioning and the primary and secondary antennas, working in conjunction, output heading, pitch, and roll values.
Chapter 2: Installation Figure 2-2 and Figure 2-3 provide mounting orientation examples.
V102 GPS Compass User Guide V102 Alignment The top of the V102 enclosure incorporates sight design features to help you 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 Figure 2-4 and Figure 2-5.
Chapter 2: Installation Mounting Options The V102 allows for two different mounting options: flush mount and pole mount. • Flush mount - The bottom of the V102 contains four M8 holes for flush mounting the unit to a flat surface (see Figure 2-6 on page 13). • Pole mount - The bottom of the V102 contains a mounting hole (1" thread, 0.9" depth) for easy pole mounting. Hand tighten until snug (do not overtighten).
V102 GPS Compass User Guide V102 Dimensions Figure 2-6 illustrates the physical dimensions of the V102. 157.89 mm (6.21”) 68.90 mm (2.71”) SET SCREW 3/8-16 THREAD SIZE 2 PLACES MOUNTING HOLE M8 THREAD SIZE 4 PLACES 46.99 mm (1.85”) CL CL 31.75 mm (1.25”) 414.39 mm (16.
Chapter 2: Installation Power/Data Cable Considerations Before mounting the V102 consider the following regarding power/data cable routing: • Cable must reach an appropriate power source • Cable may connect to a data storage device, computer, or other device that accepts GPS data • Avoid running the cable in areas of excessive heat • Keep cable away from corrosive chemicals • Do not run the cable through door or window jams • Keep cable away from rotating machinery • Do not crimp or excessivel
V102 GPS Compass User Guide Figure 2-7: Flush mounting holes on bottom of V102 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. Before flush mounting the V102 • Determine your mounting orientation. See “Mounting Orientation” on page 9 for more information. • Choose a location that meets the mounting location requirements.
Chapter 2: Installation attaching the cable end to the port on the V102 (see “Connecting the power/data cable” on page 17). Flush mounting the V102 1. Photocopy the section of the V102 that contains the four mounting holes for use as a template to plan the mounting hole locations. Make sure the photocopy is scaled one to one with the mounting holes on the bottom of the V102. 2. Mark the mounting hole centers on the mounting surface. 3.
V102 GPS Compass User Guide Note: See “V102 Dimensions” on page 13 for information on routing the power/data cable. Connecting the power/data cable 1. Align the cable connector keyway with the V102 connector key. Make sure the connector keyway on the cable matches up with the connector key on the V102 Cable connector keyway 2. V102 connector key Rotate the cable ring clockwise until it locks. The locking action is firm, but you will feel a positive “click” when it has locked. Cable ring 3.
Chapter 2: Installation Pole Mount Note: This pole mount does not meet the IEC 60945, section 8.7 for vibration. Keep the following in mind when using a pole mount: • Thread type of the four mounting holes is 1" thread, 0.9" depth • Hand tighten until snug (do not overtighten) • Use the set screws on the long sides of the base (see middle drawing in Figure 2-6 on page 13) to secure the V102 in place (3/16" Allen wrench not included) Overtightening may damage the system.
V102 GPS Compass User Guide attaching the cable end to the port on the V102 (see “Connecting the power/data cable” on page 20). Routing the cable • Run the cable through the pole and then through any bulkheads as needed. Leave some slack to move the cable in and out of the pole mount by a few inches (centimeters) to allow you to connect the cable to the V102 easily.
Chapter 2: Installation Connecting the power/data cable 1. Align the cable connector keyway with the V102 connector key. Make sure the connector keyway on the cable matches up with the connector key on the V102 Cable connector keyway 2. V102 connector key Rotate the cable ring clockwise until it locks. The locking action is firm, but you will feel a positive “click” when it has locked. Cable ring 3. Tighten the clamp securing the cable to the V102.
V102 GPS Compass User Guide Powering the V102 Power Considerations For best performance use a clean and continuous power supply. The V102 power supply features reverse polarity protection but will not operate with reverse polarity. See Table B-3 on page 47 for complete power specifications. Connecting to a Power Source Before you power up the V102 you must terminate the wires of the power cable as required.
Chapter 2: Installation Connecting the V102 to External Devices Power/Data Cable Considerations The V102 uses a single 15 m (49 ft) cable for power and data input/output. 15 m 100 mm J1 P1 30 mm 25 mm Strip and tin 3 mm Figure 2-8: Power/data cable, 15 m The receiver end of the cable is terminated with an environmentally sealed 12-pin connection while the opposite end is unterminated and requires field stripping and tinning.
V102 GPS Compass User Guide Power/Data Cable Pinout Specifications Figure 2-9 show the power/data cable pinout, while Table 2-1 shows the cable’s pinout specifications.
Chapter 2: Installation Serial Ports The V102 offers position and heading data via two full-duplex (bi-directional) RS-232 serial ports. In addition to outputting data, these ports are used for firmware upgrades. Note: When selecting your baud rate and message types, use the following calculation to determine your baud rate for your required data throughput.
V102 GPS Compass User Guide There is likely little reason to connect the receive data input of the V102 to another device unless it is able to send configuration commands to the V102. Since the V102 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.
Chapter 3: Operation GPS Overview V102 Overview Common Commands and Messages
Chapter 3: Operation GPS Overview For your convenience, both the GPS and SBAS operation of the V102 features automatic operational algorithms. When powered for the first time, the V102 performs a "cold start," which involves acquiring the available GPS satellites in view and the SBAS differential service. If SBAS is not available in your area, an external source of RTCM SC-104 differential corrections may be used.
V102 GPS Compass User Guide When the V102 is properly positioned, the satellites transmit coded information to the antennas on a specific frequency. This allows the receiver to calculate a range to each satellite from both antennas. GPS is essentially a timing system. The ranges are calculated by timing how long it takes for the signal to reach the GPS antenna.
Chapter 3: Operation V102 Overview The V102 provides accurate and reliable heading and position information at high update rates. To accomplish this task, the V102 uses a high performance GPS receiver and two antennas for GPS signal processing. One antenna is designated as the primary GPS antenna and the other is the secondary GPS antenna. Positions computed by the V102 are referenced to the phase center of the primary GPS antenna.
V102 GPS Compass User Guide Primary antenna 0.275 m baseline Figure 3-1: Secondary antenna’s search volume Note: The V102 moving base station algorithm only uses GPS to calculate heading. Differential corrections are not used in this calculation and will not affect heading accuracy. Supplemental Sensors The V102 has an integrated gyro and two tilt sensors. The gyro and tilt sensors are enabled by default. Each supplemental sensor may be individually enabled or disabled.
Chapter 3: Operation Table 3-1: Sensor operation summary Feature Normal Operation Coasting (no GPS) Heading GPS Gyro Heave GPS None Pitch GPS Inertial sensor Roll Inertial sensor Inertial sensor Hemisphere GPS’ GPS Technical Reference describes the commands and methodology required to recalibrate, query, or change the sensors status. Tilt Aiding The V102’s accelerometers (internal tilt sensors) are factory calibrated and enabled by default.
V102 GPS Compass User Guide is lost because the satellite signals were blocked. The gyro provides a relative change in angle since the last computed heading, and, when used in conjunction with the tilt sensor, defines the search space as a wedge-shaped location (see Figure 3-3). Figure 3-3: V102’s gyro aiding The gyro aiding accurately smoothes the heading output and the rate of turn.
Chapter 3: Operation in an environment that has high dynamics for the first five to ten minutes instead of sitting stationary. With the gyro enabled, the gyro is also used to update the post HTAU smoothed heading output from the moving base station RTK GPS heading computation. This means that if the HTAU value is increased while gyro aiding is enabled, there will be little to no lag in heading output due to vehicle maneuvers.
V102 GPS Compass User Guide message. The default value of this constant is 0.5 seconds of smoothing. Increasing the time constant increases the level of pitch smoothing and increases lag. Rate of Turn (ROT) time constant: Use the $JATT,HRTAU command to adjust the level of responsiveness of the ROT measurement provided in the $GPROT message. The default value of this constant is 2.0 seconds of smoothing. Increasing the time constant increases the level of ROT smoothing.
Chapter 3: Operation Common Commands and Messages Note: When selecting your baud rate and message types, use the following calculation to determine your baud rate for your required data throughput. Messages * Message output rate * Message length (bytes) * bits in byte Ex: 5 * 20Hz * 40 bytes * 10 = 40,000 bits/sec For information on message output rates refer to GPS Technical Reference available from the Hemisphere GPS website at www.hemispheregps.com.
V102 GPS Compass User Guide Table 3-2: Commands (continued) Command Description $JRESET Reset unit’s configuration to firmware defaults Note: $JRESET clears all parameters. For the V102 you will have to issue the $JATT, FLIPBRD,YES command to properly redefine the circuitry orientation inside the product once the receiver has reset. Failure to do so will cause radical heading behavior.
Chapter 3: Operation Table 3-3: NMEA 0183 and other messages (continued) Message Info Type *$GPHDG H Description Provides magnetic deviation and variation for calculating magnetic or true heading IEC Approved Message Yes *see last bullet in Note at end of this table *$GPHDM H Magnetic heading (based on GPS-derived heading and magnetic declination) No *see last bullet in Note at end of this table *$GPHDT H GPS-derived true heading Yes *see last bullet in Note at end of this table $GPHEV H
V102 GPS Compass User Guide Table 3-3: NMEA 0183 and other messages (continued) Message Info Type Description IEC Approved Message Notes: • The GP of the message is the talker ID. • GPGRS, GPGSA, GPGST, and GPGSV support external integrity checking. They are to be synchronized with corresponding fix data (GPGGA or GPGNS). • For information on outputting roll, pitch, and heave data in one message refer to the Hemisphere GPS Technical Reference available at www.hemispheregps.com.
Chapter 3: Operation Table 3-5: Parameters specific to $JATT command Parameter Description Query Specify COGTAU Set/query COG time constant (0.0 to 3600.0 sec) X X CSEP Query antenna separation X EXACT Enable/disable internal filter reliance on the entered antenna separation X X FLIPBRD Turn the flip feature on/off X X GYROAID Enable/disable gyro X X HBIAS Set/query heading bias (-180.0º to 180.
Appendix A: Troubleshooting
Appendix A: Troubleshooting Table A-1 provides troubleshooting for common problems. Table A-1: Troubleshooting Symptom Possible Solution Receiver fails to power • Verify polarity of power leads • Check integrity of power cable connectors • Check power input voltage (6 to 36 VDC) • Check current restrictions imposed by power source (minimum available should be > 1.
V102 GPS Compass User Guide Table A-1: Troubleshooting (continued) Symptom Possible Solution No SBAS lock • Verify the V102 has a clear view of the sky • Verify the lock status of SBAS satellites (this can be done with PocketMax - monitor BER value) • SBAS lock can only get if you are in an appropriate SBAS region (currently, there is limited SBAS availability in the southern hemisphere) • Set SBAS mode to automatic with the $JWAASPRN,AUTO command • Check CSEP value is fairly constant without v
Appendix A: Troubleshooting Table A-1: Troubleshooting (continued) Symptom Possible Solution No DGPS position in external RTCM mode • Verify the baud rate of the RTCM input port matches the baud rate of the external source • Verify the pinout between the RTCM source and the RTCM input port (transmit from the source must go to receive of the RTCM input port and grounds must be connected) • Ensure corrections are being transmitted to the correct port—using the $JDIFF,PORTB command on Port A will caus
Appendix B: Specifications
Appendix B: Specifications Table B-1 through Table B-5 provide the V102’s GPS sensor, communication, power, mechanical, and environmental specifications. Table B-1: GPS sensor specifications Item Specification Receiver type L1, C/A code with carrier phase smoothing Channels Two 12-channel, parallel tracking (Two 10-channel when tracking SBAS) SBAS tracking 2-channel, parallel tracking Update rate Standard 10 Hz, optional 20 Hz (position and heading) Horizontal accuracy < 1.
V102 GPS Compass User Guide Table B-1: GPS sensor specifications (continued) Item Specification Heading fix < 10 s typical (valid position) Compass safe distance 30 cm (11.
Appendix B: Specifications Table B-4: Mechanical specifications Item Specification Enclosure UV resistant, white plastic, AES HW 600G, non-corrosive, self extinguishing Dimensions (not including mounts) 41.7 L x 15.8 W x 6.9 H (cm) Weight ~ 1.50 kg (3.3 lb) 16.4 L x 6.2 W x 2.
V102 GPS Compass User Guide Index A alarm watchdog 35 alignment 11 automatic SBAS tracking 29 tracking 28 automatic tracking 28 operation 28 overview 28 receiver performance 28 sensor specifications 46 GPS reception 6 gyro aiding 32 C H cable See power/data cable 14 COGTAU 35, 40 commands (common) 36 common commands and messages 36 communication specifications 47 connect to a power source 21 to external devices 22 course over ground time constant 35 heading time constant 34 heave 9, 38 accuracy 46 HRT
Index O HRTAU 35 HTAU 34 PTAU 34 SPDTAU 35 tracking automatic 28 automatic SBAS 29 troubleshooting 42 orientation for mounting 9 P parallel mounting 9 part numbers 3 parts list 3 perpendicular mounting 9 pitch time constant 34 pole mount 18 power connecting to a power source 21 considerations 21 electrical isolation 21 power specifications 47 PTAU 34, 40 V V102 gyro aiding 32 moving base station RTK 30 parts list 3 specifications 46 supplemental sensors 31 tilt aiding 32 time constants 34 VHF interfere
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10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. estimate of achievable accuracy based on specifications provided by the US Department of Defense for GPS positioning and DGPS service provider performance specifications, where applicable. WARRANTY DISCLAIMER.
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