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DSNP NR203 User Manual

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NR203
Multi-Differential

GPS Receiver

User's Manual
Software version : V4.1
Documentation Part No. 0311352
Issue : February 2000

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  • Page 1: Gps Receiver

    NR203 Multi-Differential GPS Receiver User's Manual Software version : V4.1 Documentation Part No. 0311352 Issue : February 2000...
  • Page 2 DSNP has been advised, or knew or should have known of the possibility of such damages.

  • Page 3: Table Of Contents

    CONTENTS Page 1 - INTRODUCTION ..................1-1 1-1 About the NR203 receiver ................1-1 1-2 About DSNP's Differential GPS ..............1-2 1-3 About this Manual ..................1-3 1-4 How to use the keyboard................1-4 2 - STANDARD NAVIGATION ................2-1 2-1 The standard navigation display ..............
  • Page 4 3-3 Navigation modes..................3-31 3-3-1 Definitions ................... 3-31 3-3-2 Graphic screen..................3-33 3-3-3 How to use the position mode............. 3-34 3-3-4 How to use the homing mode ............. 3-35 3-3-5 How to use the bearing mode ............. 3-36 3-3-6 How to use the profile mode ............... 3-38 3-4 Intentionally blank..................
  • Page 5 APPENDIX 6 : Allowable commands from a PC..........A6-1 APPENDIX 7 : Raw Data................... A7-1 APPENDIX 8 : Variables accessible using the CONFGPS software in output messages and user-defined screens A8-1 APPENDIX 9 : NR203 Specifications ............... A9-1 APPENDIX 10 : List of possible anomalies ............A10-1...
  • Page 6 Therefore, it should be used as an aid to navigation rather than a substitute for a navigator's skill and judgement. The NR203 is a reliable shipmate that will help you to make vital decisions in critical situations, but don't let them allow yourself to believe this relieves you of customary prudence and navigational care.

  • Page 9: Introduction

    4 single station solutions (when only PRCs available) then mixed in an optimized multistation DGPS solution. Thus, in any case the NR203 gives the user the best possible position with the highest degree of reliability. The most advanced and powerful real-time survey receiver available.

  • Page 10: About Dsnp's Differential Gps

    Introduction 1-2 ABOUT DSNP'S DIFFERENTIAL GPS DSNP's Differential GPS provides : - Centimetric to metric accuracy according to the processing mode, - Optimal correction messages for high-accuracy navigation, - A coherent line of transmitters and receivers, - Numerous Differential transmitting stations worldwide.

  • Page 11: About This Manual

    Introduction 1-3 ABOUT THIS MANUAL The present manual includes two major chapters : - Chapter 2 takes you to the standard navigation display in just one step : pressing the ON/OFF key. The standard navigation display provides basic navigation data (position, course, speed, quality figure) which are continually visible on the screen (even when other navigation functions are being used).

  • Page 12: How To Use The Keyboard

    Introduction 1-4 HOW TO USE THE KEYBOARD On/Off key Function keys Arrow keys MARK pushbutton Numeric Saves or gives access to keypad data that can be updated via the keyboard Pressing a function key causes a specific menu to show up in the lower part of the screen.
  • Page 13 Introduction How to select a menu In the procedures described throughout this manual, you will be required to press a function key ([NAV] or [AUX] or [WPT]) and to select a menu. - For example, if you are required to : [AUX] 5-Init 2-Position...
  • Page 14 Introduction After selecting a menu or submenu Example : After pressing [AUX] then [5] then [2], you should get the following screen : INIT POSITION 47°16N 1°29W Ýß = SCANNING <>=PREV/NEXT FIELD ↵ =VALID Current menu selection steps Current values in memory The bottom row on the screen will be used for any of the following purposes : - simply displaying information...
  • Page 15 Introduction Whenever the data to be displayed are in the form of a list (with two or more pages) you may scroll through the list, using [↓] and [↑]. For each entry field, you can enter only authorized characters. The value typed on the keyboard is tested as you press [↵].
  • Page 16 Introduction 0311357 Issue : September 1997...

  • Page 17: Standard Navigation

    • To turn on the receiver, briefly press the ON/OFF key (top left key in the keypad). The receiver automatically runs its power-on self-test and retrieves the parameter settings saved when it was last turned off. DSNP PWES1 GPS03 VX X VX X...
  • Page 18 Standard Navigation When self-test is complete, the receiver automatically selects the standard navigation display (providing the data helpful to most navigators most of the time). At power-up, the standard display shows the latest position computed when the receiver was last turned off, as in the example below.
  • Page 19 Standard Navigation & & & & Large-size navigation display area Depending on the geodetic system selected (AUX→5→4), either Latitude/Longitude or Northing/Easting coordinates may be displayed. E Latitude/Longitude Depending on the units selected (AUX→5→6), either a degrees, minutes or degrees, minutes, seconds format may be used to display the Latitude and Longitude.
  • Page 20 Standard Navigation NOTE 1 : *** is displayed if the COG is inconsistent (if the speed is zero or near zero). NOTE 2 : Depending on the unit selected (AUX → 5 → 6) the speed may be expressed in : knots (kT) metres/second (m/s) kilometres/hour (k/h)
  • Page 21 Standard Navigation & & & & Abridged status area Type of switching from a Fix Mode to another (Automatic or Manual switching). Differential mode used to compute the fix Blinking if another Differential mode is requested using [DIF] → 2 or 3 (see par. 3-1-4 or 3-1-5) Date - Straight GPS (GPS) - Conventional Diff (DGPS1, 2, 3, 4 or MDGPS)
  • Page 22 ON/OFF key. • The default configuration parameters are restored at power-on if you press the ↵ key and hold it depressed during the power- on sequence until the DSNP logo re-appears. 0311357 Issue : September 1997...

  • Page 23: How To Enter An Initial Estimate

    Standard Navigation 2-2 HOW TO ENTER AN INITIAL ESTIMATE Entering an initial estimate may be helpful if the ship has moved more than 1° in latitude or longitude since the receiver was last turned off. This will substantially shorten the time required for the receiver to lock on satellites and compute the first fix.

  • Page 24: How To Turn Off The Receiver

    Standard Navigation 2-3 HOW TO TURN OFF THE RECEIVER • To turn off the receiver, hold down the ON/OFF key until the screen becomes blank (about 2 seconds), then release the key : the receiver is off. This completes the few actions required to operate the receiver for standard navigation.

  • Page 25: How To Use All Advanced Functions

    How to use the Differential mode 3 - HOW TO USE ALL ADVANCED FUNCTIONS The operator is assumed to be familiar with the few actions required to operate the receiver for ordinary navigation (described in Chapter 2). As a reminder, the only steps to be taken, unless you wish to change something in the parameters displayed, are : - turning the receiver on or off, - entering an initial estimate (exceptionally),...

  • Page 26: The Differential Mode

    Differential corrections may be input to the receiver through a radio link or a serial wireline. - Radio link Corrections broadcasted in the HF band (DSNP format) or in the MF band (RTCM format) — received through the WIDE BAND (or NARROW BAND) antenna connector —...
  • Page 27 6 sets of Station 4 corrections Port L MDGPS UHF (DSNP) Digital RTCM " The receiver has a non-volatile station library that can hold the specifications of up to 15 stations. You can view/change the specifications of the stations in the library or enter new stations (see par.

  • Page 28: Viewing The Status Of Dgps Stations

    : Identification of the analog channel (No. 1 to 4) or digital channel (NUM port K or L) assigned to the station. As an HF DSNP station has two transmitting frequencies, two channels may be assigned to such a station (one for each frequency).
  • Page 29 How to use the Differential mode Count satellites which differential corrections are available from the station. Average age of corrections (in seconds) Used means that corrections from the station are actually used compute KART/DGPS position. Avai means that corrections are available from the station but not requested to compute any KART/DGPS position.

  • Page 30: Selecting Differential Stations

    How to use the Differential mode 3-1-3 SELECTING DIFFERENTIAL STATIONS SELECT Station Band 0008 PORSPODER ↵ =UPDATE Ýß = SCANNING Press the DIF key and select 1-SELECT to view the above screen. Use the Up (↑) and Down (↓) arrow keys to view the stations assigned to the four analog channels and the two digital ports, if any.
  • Page 31 How to use the Differential mode " " " " Digital ports (K, L) Number and label of the stations Input (1 to 4) to be input to this port. Port 1st row : 1st and 2nd station (K or L) 2nd row : 3rd and 4th station Port Station 1/3...
  • Page 32 How to use the Differential mode NOTE 1 : You cannot select any station that is already assigned to another channel. This is why the following message may show up : Already used here or on another channel ! NOTE 2 : All selected stations should be in the same frequency band.
  • Page 33 How to use the Differential mode " " " " Selecting a station on a digital port Port Station 1/3 Station 2/4 0014 BREST 0015 OUESSANT 0000 NONE..0000 NONE..Ýß =SCANNING <>=PREV/NEXT FIELD ↵ =VALID After you select UPDATE the cursor appears on the first character of the Station Number field.
  • Page 34 DGPS data that are not in UHF DSNP format or RTCM (6 of 8) numeric format. 2 – Do not feed the NR203 digital ports with data that use transmission characteristics (baud rate, parity, etc.) different from those programmed on its serial ports K and L.
  • Page 35 How to use the Differential mode " " " " Entering an RTCM station number When you select stations on a serial port you may choose the ..RTCM ..option to reserve a blank field for an RTCM station (see above). Example : Port Station 1/3...

  • Page 36: Kart Processing

    How to use the Differential mode 3-1-4 KART PROCESSING (DIF 2-KART) If corrections including phase corrections are available (from a DSNP UHF station), your NR203 is capable of computing a KART position (see Appendix 4 for details). KART UPDATE In process :...
  • Page 37 How to use the Differential mode which differential measurements are available that can be used for the KART processing. Only DSNP UHF stations are prompted. If ..NONE..appears, this means that no suitable corrections are available and the KART technique cannot be used.
  • Page 38 Static and OTF. EDGPS : If you do not need centimetric accuracy you can use the EDGPS mode : you will not have to care about any initialization step, still your NR203 will achieve decimetric accuracy within a few minutes. 0311357...

  • Page 39: Dgps Processing

    How to use the Differential mode 3-1-5 DGPS PROCESSING (DIF 3-DGPS) DGPS UPDATE DGPS1/DGPS3 DGPS2/DGPS4 Used 0008 PORSPODER ..NONE..0012 LA COUBRE ..NONE..DGPS1 Ýß = SCANNING <>=PREV/NEXT FIELD ↵=VALID Press the DIF key and select 3-DGPS to view the above screen that allows you to select up to four sets of measurements ...

  • Page 40: Viewing/Updating The Station Library

    (The station library may contain up to 45 stations). The above screen shows an encrypted station, with two transmission frequencies (hence a DSNP HF station). For an non-encrypted station with a single frequency the screen would look like the one below.
  • Page 41 0011 GATTEVILLE RTCM 100b/s 49°42N M0297500 1°16W Station number and label RTCM or DSNP, and data bit rate Station latitude and longitude Blank, unless the station is encrypted Transmission band and frequency H : HF band M : MF band...
  • Page 42 How to use the Differential mode " To copy specifications received to the non-volatile library area The station library includes two areas : - a non-volatile area that may contain the specifications of up to 15 stations, - a volatile area that may contain the specifications of up to 30 stations received along with Differential corrections.
  • Page 43 How to use the Differential mode You are allowed to change the station's label. Press [↵ ↵ ↵ ↵ ] to enable the copy. A warning message appears with two options so you can choose to confirm the copy or quit without making any change to the non-volatile area : Previous data will be lost.
  • Page 44 How to use the Differential mode " About encrypted stations Some stations using the DSNP format broadcast encrypted corrections. This type of station is identified in the list by "code 3" appearing on the left of the station number. None of the specifications of an encrypted station can be changed (only your client support centre can do it).

  • Page 45: Checking That The Selected Stations Are Properly Received

    3-1-8 DISPLAYING DGPS MESSAGES (DIF-5-MSGES) This function allows you to view the following types of messages received, including the time of reception : RTCM 104 message, type 16 DSNP HF user message Screen example : MSGES Aug 25 1997 UTC 14:42:51...
  • Page 46 How to use the Differential mode 0311357 Issue : February 2000 3-22...

  • Page 47: Waypoints And Tracks

    Waypoints and tracks 3-2 WAYPOINTS AND TRACKS 3-2-1 DEFINITIONS Waypoints are defined as particular locations holding interest in terms of navigation (locations of buoys, fishing spots, work marks, emergency destinations, dangerous spots, etc.) A wapyoint is defined by : - a waypoint number (00 to 99) - a label (7 alphanumeric characters) - a type (optional) represented by an icon - X-Y or L-G coordinates (a 2D position)
  • Page 48 Waypoints and tracks Tracks are defined as series of waypoints (up to 12 waypoints per track) representing routes along which to navigate. The path between any two successive waypoints is called a "segment". A track is defined by : - a track number (1 to 9) - a label (8 alphanumeric characters) - a series of waypoints numbers (up to 12 ;...

  • Page 49: How To Read The List Of Waypoints Stored In Your Receiver

    Waypoints and tracks 3-2-2 HOW TO READ THE LIST OF WAYPOINTS STORED IN YOUR RECEIVER • Press [WPT]. The screen displays the number of free memory locations (i.e. the number of free waypoint numbers) out of the total number allowed by the configuration file and also the number of free tracks (9 tracks max.).

  • Page 50: How To Create A Waypoint From An Existing Waypoint

    • Press "3-CREATE". The receiver automatically assigns a waypoint number (the lowest free waypoint number) to the waypoint you are creating. You cannot choose the waypoint number for a waypoint that you create from the NR203 keypad. The cursor appears on the first modifiable field ("Label" field).

  • Page 51: How To Create A Waypoint From The "Nav" Screen

    Waypoints and tracks 3-2-4 HOW TO CREATE A WAYPOINT FROM THE "NAV" SCREEN This function allows you to save the position currently displayed on the NAV screen as a waypoint. - From the NAV screen, and whatever the mode used, select "1-FREEZE".

  • Page 52: How To Update A Waypoint

    Waypoints and tracks 3-2-5 HOW TO UPDATE A WAYPOINT • Press [WPT] and then select "2-WAYPTS" • Press [↑] or [↓] repeatedly until the desired waypoint is displayed. • Select "1-UPDATE". The cursor shows up on the first character in the "Label" field. If the waypoint is part of a track or is involved in the navigation mode currently used, the blinking message "Wpt in use or in track : Confirm update ?"...

  • Page 53: How To View Existing Tracks

    Waypoints and tracks 3-2-7 HOW TO VIEW EXISTING TRACKS • Press [WPT] and then select "3-TRACKS". The screen should look like this. TRACKS Free Waypoints : 85/99 Free Tracks : Label Waypts ST NAZAIR 01 02 04 03 05 00 00 00 00 00 00 00 Ýß= SCANNING...

  • Page 54: How To Delete A Track

    Waypoints and tracks NOTES : - Leave the last unused waypoint fields filled with "00". - You can define a track as a close loop by specifying the same waypoint at the beginning and at the end of the track. 3-2-9 HOW TO DELETE A TRACK •...

  • Page 55: Navigation Modes

    3-3-1 DEFINITIONS The positioning and navigation information you get from your NR203 depends on two different factors : - The configuration of your receiver, which defines the content, aspect and number of alphanumeric displays (not including the standard navigation display(s) and the graphic screen).
  • Page 56 Navigation modes PROFILE : Navigation mode based on a track that you specify. This mode plots graphic information to help you follow this track. The basic positioning information (from the standard display) is recalled on the right of the chart. POSITION : Provides positioning information (position, speed, course, etc.).

  • Page 57: Graphic Screen

    Navigation modes [NAV] [3-GRAPHIC] 3-3-2 GRAPHIC SCREEN Small blinking square Mobile trace indicates the current position Centre of square indicates of the mobile Abridged status area the location of a waypoint Information from standard navigation display recalled in this area Centre point Navigation mode currently used...

  • Page 58: How To Use The Position Mode

    Navigation modes 3-3-3 HOW TO USE THE POSITION MODE - Press [NAV] - Select "2-MODE". The screen displays the navigation mode currently used ("In progress : ..). - Select "1-POSITION". This causes the receiver to switch immediately to the POSITION mode and the screen to switch back to the standard navigation display.

  • Page 59: How To Use The Homing Mode

    Navigation modes 3-3-4 HOW TO USE THE HOMING MODE - Press [NAV] - Select "2-MODE". The screen displays the navigation mode currently used ("In progress : ...") - Select "2-HOMING" - Using [↑ ↑ ↑ ↑ ] or [↓ ↓ ↓ ↓ ], look up the waypoint you want to use as the target : - Once the characteristics of the target waypoint are shown in the lower part of the screen, press [↵...

  • Page 60: How To Use The Bearing Mode

    Navigation modes 3-3-5 HOW TO USE THE BEARING MODE - Press [NAV] - Select "2-MODE". The mode currently used is indicated on the screen ("In progress : ...") - Select "3-BEARING". - Using [↑ ↑ ↑ ↑ ] or [↓ ↓ ↓ ↓ ], look up the waypoint you want to use as the target : - Once the characteristics of the target waypoint are displayed, press [↵...
  • Page 61 Navigation modes Navigation parameters relevant to the Bearing Mode: CTS : Course To Steer CTW : Course To Waypoint XTE : Cross Track Error DTW : Distance To Waypoint ATD : Along Track Distance TTG : Time To Go Target Waypoint Waypoint Current mobile location...

  • Page 62: How To Use The Profile Mode

    Navigation modes 3-3-6 HOW TO USE THE PROFILE MODE - Press [NAV] - Select "2-MODE". The screen displays the navigation mode currently used ("In progress : ...") - Select "4-PROFILE" - Using [↑ ↑ ↑ ↑ ] or [↓ ↓ ↓ ↓ ], look up the track you want to follow. - Using [→...
  • Page 63 Navigation modes Track: 1st segment : WPTaa-WPTbb 2nd segment : WPTbb-WPTcc NCTS 3rd segment : WPTcc-WPTdd WPTbb WPTcc Mobile location WPTdd WPTaa Navigation parameters relevant to the Profile Mode: CTS : Course To Steer CTW : Course To Waypoint NCTS : Next Course To Steer DTW : Distance To Waypoint XTE : Cross Track Error ATD : Along Track Distance...

  • Page 64: Auxiliary Functions

    How to use Auxiliary functions 3-5 AUXILIARY FUNCTIONS ([AUX] 3-QC 1-STATUS 2-ANOMALY 4-ABOUT 5-INIT 6-UNAVAILABLE 7-SCREEN 8-FIXMODE 9-INP/OUTP The [AUX] key allows you to access the following functions : 1 - Status: see par. 3-5-1. 2 - Viewing and clearing events and anomalies. See par.
  • Page 65 STATUS Master Oscill. Received SVs 0.00E+00 -------------------DGPS----------------- Station Lpme Delta 0013 DSNP 14.12 0.00 MD MULTI DGPS 14.12 0.00 : DGPS positions available. The DGPS position requested to be use for the navigation screen is highlighted. Station : DGPS station used.
  • Page 66 How to use Auxiliary functions " " " " KART initialization status Ýß STATUS Oscill. Received SVs 0.00E+00 -------------------KART----------------- Init Mode OK number : x Comput. for : x.x mn Used SVs First Sigma : x.x Last Rdop : x.x Init Mode : KART initialization mode Comput.
  • Page 67 How to use Auxiliary functions " " " " KART Status (in use) Ýß STATUS Master Oscill. Received SVs 0.00E+00 -------------------KART----------------- Station Dop lpme Delta ED 0014 DSNP_UHF 13 -1.0 0.03 0.17 19 -1.0 0.00 19 -1.0 0.00 0.00 : KART positions available. The KART position requested to be used for the navigation screen is highlighted.
  • Page 68 How to use Auxiliary functions Another screenful is accessible by pressing the ↑ or ↓ arrow key, showing the status of the GPS constellation. Ýß STATUS Ch Sv St Sn Elv Azi Ch Sv St Sn Elv Azi ........01 03 u 43 ^39 133 09 27 u 49 v38 171...
  • Page 69 How to use Auxiliary functions 3-5-2 Viewing and clearing events and anomalies (AUX 2-Anomaly) In most cases, anomalous events detected by the receiver do not result from a malfunction of the receiver itself, so they do not appear automatically on the screen. Instead, they are recorded so that the navigator can look at the list of anomalies whenever he wishes to, as if they where recorded in a log book.

  • Page 70: Viewing The Ukooa Qc Data

    How to use Auxiliary functions 3-5-3 Viewing the UKOOA QC data From V3.0 and only if the NR203 operates in DGPS or MDGPS mode, a new function is available showing the results of QC tests (Quality Control tests) performed according to the UKOOA recommendations.
  • Page 71 How to use Auxiliary functions Press [↑] or [↓]. The results of the W-test display : Ýß W-TEST D4 |Sv |05 NOK NOK NOK OK |10 OK | OK | OK | OK | The W-test is a statistical test performed on observations. The results of the test are the following : (1) Satellite number (2) W-test result on DGPS Fix 1...

  • Page 72: Viewing The Software Version

    Press the AUX key and select 4-About to view the above screen showing the software version of each board in the NR203 and the configuration. For the CPU board, the receiver identification code (C2) is also viewed. The C2 code is used by an encrypted DGPS station administrator to generate a secret code (C3) that will allow the receiver to use the encrypted station.
  • Page 73 How to use Auxiliary functions 3-5-5-1 Intentionally discarded satellites & Minimum elevation • press [AUX] and select "5-Init". • Select "3-SVs". INIT MinElev Deselected SVs 05° Ýß = SCANNING <>=PREV/NEXT FIELD ↵=VALID The cursor shows up on the "Min Elev" field. Any satellite whose elevation is less than the value you enter into the "Min Elev"...
  • Page 74 Projection system and Datum currently in use. GPS positions are normally on the WGS84 Datum. On-line Datum transformation routines in your NR203 convert the WGS84 latitude/longitude of the fix displayed on the navigation screen to a latitude/longitude or Northing/Easting on the Datum of your navigation charts (see Appendix 5).
  • Page 75 How to use Auxiliary functions 3-5-5-3 Speed filtering INIT FILTER Speed Filtering MEDIUM ↵=VALID Ýß = SCANNING • Press [AUX] and select "5-Init". • Select "5-Filter". This function allows you to view and, if required, update the filtering coefficient currently applied to the speed : None : 0.06-s time constant Wide...
  • Page 76 How to use Auxiliary functions 3-5-5-4 Units INIT UNITS Distance Speed Position Direction Lang True Ýß = SCANNING <>=PREV/NEXT FIELD ↵=VALID Press the AUX key and select 5-Init next 6-Units to view the above screen that allows you to select units for : Distance : metres (m) or Nautical Miles (NM), for navigation screens Speed...
  • Page 77 How to use Auxiliary functions 3-5-5-5 Altitude calculation mode INIT ALTMODE AltMode Offset Dmsl +0000.000m +0000.000 m Ýß = SCANNING <>=PREV/NEXT FIELD ↵=VALID Press the [AUX] key and select 5-Init, next 7-ALTMODE to view the above screen that allows you to select the altitude calculation mode and enter an offset and a DMSL correction.

  • Page 78: Unavailable

    How to use Auxiliary functions Antenna phase centre WGS84 Offset USER Reference Geoid (MSL) DMSL WGS84 (GPS reference) " If you wish to make changes use [→] or [←] to go to the desired field and [↑] or [↓] to select the desired unit. Press [↵] to store your selection and quit.

  • Page 79: Gps Fix Mode

    How to use Auxiliary functions 3-5-8 GPS FIX MODE (AUX 8-FIXMODE) FIXMODE In progress : AUTOMATIC Commutation GDOP: 10 1-AUTOMATIC 2- 2D 3- 3D 4-AIDED 5-1DZ 6-STATION 7-MONITOR Press the AUX key and select 8-FIX MODE to view the above screen that allows you to select a mode for computing the GPS position.
  • Page 80 How to use Auxiliary functions Therefore, when you select the 2D option, you are required to see if the altitude entered is correct, and confirm or update it : FIXMODE UPDATE In progress : AUTOMATIC Commutation GDOP : INIT MANUAL Fixed height :+0028.1m...

  • Page 81: Appendix 1 : Installation

    The shipment is mainly composed of : - an NR203 unit - an NAP001 GPS antenna - an HF/MF receiving antenna (DHM5000)
  • Page 82 Installation INSTALLING THE RECEIVER AND THE ANTENNAS The receiver should be mounted using the bracket supplied, allowing quick installation in any position, even in cluttered bridges. Mounting bracket viewed from top (All dimensions in mm) 250 ± 0.3 100 ±0.3 0311357 Issue : February 2000 A1-2...
  • Page 83 Installation - Drill two holes (dia. 6.5) in the desired mounting surface (using the bracket as a template) and attach the bracket with four screws. - Slide the receiver into the bracket and secure it in position by tightening the knobs on either side. A mounting bracket and two clamps (moisture resistant) are supplied that allow you to install the NAP4 antenna on a vertical or horizontal rod (approx.
  • Page 84 Installation Mounting the HF/MF antenna The DHM5000 is fitted with the same type of bracket as the NAP001 (see preceding page). 0311357 Issue : February 2000 A1-4...
  • Page 85 Installation For good reception of Differential corrections : - The HF/MF antenna should be at least 1.5 m away from any wire antennas or guy wires. Also, any such wires, including those more than 1.5 m away, should not overlook the antenna.
  • Page 86 Installation CONNECTIONS The receiver should be connected to a power source, to the antennas and, if required, to any peripheral device needed (recorder, video plotter, etc.) as shown below. The antenna ground lead should be connected to the ship's ground system. Antenna downlead (30 m)
  • Page 87 Installation Options The DMA8 magnetic antenna should be connected to the WIDE BAND input. The DSA7 selective antenna should be connected to the NARROW BAND input. If this antenna is used, the receiver can only operate at the antenna tuning frequency. To use the NARROW BAND input a hardware change should be made to the DIF03 board (Warning : the change should be made by skilled personnel only).
  • Page 88 Installation AUX connector (Sub-D-9 male connector) SIGNAL DESCRIPTION Ground sensEVT Not used Ext. event input (Trg I) – 1 PPS 1pps output (true) 1 PPS 1 pps output (complement) Env data Not used Alarm Not used Not used Ext event input (Trg B) Time-tagging of ext.
  • Page 89 Installation Time-tagging of ext. event input Trg B (pin 9). - Accurate to within ± 1 ms - Input featuring 10 kΩ pull-up resistor tied to + 12 V DC. - Input signal requirements : 2 ms 2 ms active edge 1 pps output (pin 5) - 1 Hz square waveform - Rising edge synchronized onto UTC time...
  • Page 90 Installation RS232C port (port A) (Sub-D-9 female connector) SIGNAL RS 232 C line TOP EXT Ext. event input (TrgA) Data output Data input Not used 0 Volt (ground) Not used Control signal input Control signal output Not used Time tagging of Ext. event input Trg A (Pin 1) - Accurate to within ±...
  • Page 91 Installation RS422 ports (Port I and Port J) (Sub-D-9 female connector) SIGNAL RS 422 line Ground CTS+ Control signal input CTS– RXD+ Data input RXD– RTS– Control signal output RTS+ TXD+ Data output TXD– 0311357 Issue : February 2000 A1-11...
  • Page 92 Installation NDR104 (UHF receiver) option or RTCM104 corrections receiver These two devices can be attached to the NR203 receiver through the NUM connector described below. connector (Sub-D-15 female) SIGNAL RS 232 Line RS 422 Line (port K) (port L) N. C.
  • Page 93 1) The corrections receiver uses an RS232 port (Port K) Correction NR 203 receiver SubD 15-f RS232 port 2) The corrections receiver uses an RS422 port (Port L) Corrections NR203 receiver SubD 15-f RS422 port RXD + TXD + RXD - TXD - ²...
  • Page 94 Installation Connecting an NDR104 UHF receiver Use the cable described below. NR203 NDR104 SubD 15f Binder 7 contacts + 12 V +6 to +16 VDC 4,5,6,7 RXD + TXD + RXD - TXD - TXD + RXD + TXD -...

  • Page 95: Appendix 2 : Getting Started

    Getting started APPENDIX 2 GETTING STARTED POWER ON • Check for a power input between 10 and 36 VDC, with the correct polarity. Typically the power source used is a 12- or 24-V battery. • Turn on the receiver (press the ON/OFF key). •...

  • Page 96: Getting Started

    Getting started About the time at the initialization stage The time should be accurate to within 5 minutes. When the receiver is capable of computing a fix, the data from the satellites will allow the time to be automatically updated to within 1 second.
  • Page 97 - See if each navigation mode works properly - Check for anomaly messages (AUX function key). This completes the instructions for putting the receiver into operation. NOTE : DSNP agents should give users any necessary advice on DGPS stations. 0311357 Issue : December 1996...
  • Page 98 Getting started 0311357 Issue : December 1996 A2-4...

  • Page 99: Appendix 3 : Connecting A Peripheral

    Connecting a peripheral APPENDIX 3 CONNECTING A PERIPHERAL If you wish to connect your receiver to a peripheral device such as a digital plotter, or video plotter, then you need to set the parameters of the I/O port to be used on the receiver and select the messages to be generated (computed or raw data).
  • Page 100 Connecting a peripheral • The [↓] or [↑] key allows you to select the desired port : A (RS232) : used for computed or raw data outputs or GPS board software loading. I (RS422) : used for computed or raw data outputs or I/O board software loading.
  • Page 101 Connecting a peripheral SELECTING MESSAGES AND ACTIVATING THE OUTPUT • Press [AUX] and select "9-Inp/Outp". • Select "2-Output". The screen that shows up allows you to select the type of message to be transmitted via port A, I or J, and the trigger mode and repetition rate.
  • Page 102 Connecting a peripheral Port Status Mode Period(s) TIME Message Output status Repetition rate type ON enabled (max. 9999.9 s) OFF : disabled see NOTE below Output port (A, I or J) Trigger mode TIME Time between two consecutive messages MARK Manual output by MARK key ASYNC TR remote control word input via RS232C or RS422 port TRG1...
  • Page 103 Connecting a peripheral DESCRIPTION OF AVAILABLE MESSAGES Ident Port Mode Rate Contents Global Positioning System Fix Data – GPGGA TIME 1sec (NMEA183 V2.0). Position chosen for navigation, precision 10 minutes, no parity check. Geographic Position Latitude/Longitude – GPGLL TIME 1sec (NMEA183 V2.0).
  • Page 104 Connecting a peripheral Message 1 : Global Positioning System Fix Data - GPGGA (NMEA183 v2.0) $GPGGA,hhmmss.ss,llll.lllll,a,yyyyy.yyyyy,a,x ,xx,x,x,M,x,M,x.x,xxxx<cr><lf> NMEA183 message identifier $GPGGA TUTC : UTC time of position computation hhmmss.ss Latitude degrees (2 char.), minutes llll.lllll,a (2 char.), 1.10 min., N/S indicator : Longitude degrees (3 char.), minutes yyyyy.yyyyy,a 1.10...
  • Page 105 Connecting a peripheral Message 2 : Geographic Position Latitude/Longitude - GPGLL (NMEA183 v2.0) $GPGLL,llll.lllll,a,yyyyy.yyyyy,a,hhmmss.ss,a <cr><lf> : NMEA183 message identifier $GPGLL : Latitude degrees (2 char.), minutes llll.lllll,a 1.10 (2 char.), min., N/S indicator : Longitude degrees (3 char.), minutes yyyyy.yyyyy,a 1.10 (2 char.), min., E/W indicator...
  • Page 106 Connecting a peripheral Message 4 : GPS DOP and Active Satellites - GPGSA <cr><lf> $GPGSA,A,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,,,x,x,x NMEA183 message identifier $GPGSA 2D/3D automatic switching mode MODE Fix mode 1 = invalid fix 2 = 2-dimension mode 3 = 3-dimension mode NSVU PRN of SVs used in the solution xx,...,xx PDOP Position DOP (-1 if not computed)
  • Page 107 Connecting a peripheral Message 6 : Recommended Minimum Specific GPS/TRANSIT Data - GPRMC <cr><lf> $GPRMC,hhmmss.ss,a,llll.lll,a,yyyyy.yyy,a,x.xx,x.x,,, NMEA183 message identifier $GPRMC TUTC UTC time hhmmss.ss GPS quality figure V = Fix not available, or invalid. A = GPS fix available Latitude degrees (2 char.), minutes llll.lll,a (2 char.), 1.10 min., N/S indicator...
  • Page 108 Connecting a peripheral Message 8 : Of the NR103 type (beginning) <cr><lf> <cr><lf> <cr><lf> QLY,x,1,x.x,M,x,x,x,x,x,x,x,x,x,x <cr><lf> ZDA,hhmmss.s,xx,xx,xxxx,x.x Message line identifier QLY, GPS position status 0 = Fix not available, or invalid. 1 = GPS fix available DRMS Position DRMS (meters) x.x,M (-1 if not computed) SVU[]...
  • Page 109 Connecting a peripheral Message line identifier VTG, Course Over Ground (degrees) x.x,T Horizontal Speed (m/s) x.xx,H Vertical Speed (m/s) x.xx,V Message 10 : Of the NR103 type (end) <cr><lf> SGD,x.x,G,x.x,M <cr><lf> SYS,cc,x <cr><lf> ZEF,x.xxxxE-006 & Message line identifier SGD, GDOP : Geometric Dilution of Precision x.x,G (-1 if not computed)
  • Page 110 Connecting a peripheral Messages 11 & 12: Global Positioning System Fix Data - GPGGA (with parity check) $GPGGA,hhmmss.ss,llll.llll,a,yyyyy.yyyy,a,x,xx ,xx.x,+xxx.x,M,+12.5,M,xx.x,xxxx*hh<cr><lf> NMEA183 message identifier $GPGGA TUTC : UTC time of position computation hhmmss.ss Latitude in degrees (2 char.), llll.llll,a : minutes (2 char.), 1.10 min., N/S indicator : Longitude degrees (3 char.), minutes...
  • Page 111 Connecting a peripheral Message 13 : Course Over Ground and Ground Speed – GPVTG (with parity check) $GPVTG,xxx.x,T,,,x.xx,N,,*hh<cr><lf> NMEA183 message identifier $GPVTG Course Over Ground (degrees) xxx.x,T Speed Over Ground (knots) xx.xx,N Message parity Message 14: Global Positioning System Fix Data - GPGGA (with parity check) $GPGGA,hhmmss.ss,llll.lllll,a,yyyyy.yyyyy,a,x,xx ,xx.x,+xxx.x,M,+12.5,M,xx.x,xxxx*hh<cr><lf>...
  • Page 112 Connecting a peripheral DAGE : Mean age of Differential corrections xx.x (-1.0 if not computed) DSTA : Identification of Differential station xxxx used. Message parity Message 15: Global Positioning System Fix Data - GPGGA (with parity check) $GPGGA,hhmmss.ss,llll.llll,a,yyyyy.yyyy,a,x,xx,x x.x,+xxx.x,M,+12.5,M,xx.x,xxxx*hh<cr><lf> NMEA183 message identifier $GPGGA TUTC : UTC time of position computation...
  • Page 113 Connecting a peripheral Message 16: GPS Pseudorange Noise Statistics - GPGST (with parity check) $GPGST,hhmmss.ss,xx.x,xx.x,xx.x,xxx.x ,xx.x,xx.x,xx.x*hh<cr><lf> NMEA183 message identifier $GPGST TUTC : UTC time of position computation hhmmss.ss DRMS RMS value of the standard xx.x deviation of range inputs in fix (meters) (-1 if not computed) SDMA...
  • Page 114 Connecting a peripheral DEFINING AND ACTIVATING A RAW DATA MESSAGE • Press the [AUX] key and select "9-Inp/Outp". • Select "2-RawData". A screen appears showing the current description of a raw data message, with the output rate, the trigger mode, and the port used. Use the ↑...
  • Page 115 Connecting a peripheral Raw Data Message Number Port to which the raw data message is routed (A or I or J) Gdat : Type of GPS data contained in the message. - NONE - FDAT : Formatted GPS data - CDAT : Compacted GPS data - CBIT : Data Bits flow - BDAT : Data Bits flow + Compacted GPS data DGPS : Type of differential GPS corrections contained in...
  • Page 116 Connecting a peripheral - RBI0 : Sampled measurement (SBIN Reduced format) without phase measurements. Mode : Output trigger mode - OFF : no message is output - SYNC : synchronized onto the GPS format - TRG1 : triggered by PPS signal - TRGA : triggered by TOPEXT signal (Port A connector pin 1) - TRGB : triggered by MOB signal (AUX connector pin 9).
  • Page 117 Connecting a peripheral Tau : Filter time constant (seconds), only for filtered GPS measurements (i.e. with the SMEAS, SVAR and SBIN options of the Gmea field). 0311357 Issue : February 2000 A3-19...
  • Page 118 Connecting a peripheral 0311357 Issue : February 2000 A3-20...

  • Page 119: Appendix 4 : Differential Gps

    Differential GPS APPENDIX 4 DIFFERENTIAL GPS 1 - WHY DO WE NEED DIFFERENTIAL GPS ? " The signals and data from the GPS satellites may exhibit some inherent ("normal") errors, such as errors due to wave propagation, inaccuracies on satellite orbit predictions and clock drifts.
  • Page 120 (i.e. user code C3) to authorized users. " The NR203 is capable of receiving and using DGPS corrections from both non-encrypted and encrypted stations (for an encrypted station, the C3 user code must be entered into the receiver).
  • Page 121 - Two serial ports : . an RS232 port for digital RTCM104 corrections . an RS422 port for RTCM104 or DSNP UHF corrections. The signals from up to six different stations can be fed to six parallel processing channels, depending on the selections made by the operator using the DIFF SELECT menu.
  • Page 122 Differential GPS - KART R : providing accuracy. Corrections are extrapolated from the last two successive corrections received from the UHF Differential Station, in order to achieve a higher update rate for the KART position (0.6 seconds), i.e. a position latency less than 1 second.
  • Page 123 Differential GPS 5 - DSNP DGPS COVERAGE 0311357 Issue : September 1997 A4-5...
  • Page 124 Differential GPS 0311357 Issue : September 1997 A4-6...

  • Page 125: Appendix 5 : Datum

    "European Datum 50" is the reference of virtually all european charts. In some countries, minor discrepancies may give rise to deviations of a few metres relative to local charts. DSNP agents are informed of such discrepancies and will configure their receivers so as to take them into account.
  • Page 126 Northing/Easting on the Datum you select with the AUX → → → → 5- Init → → → → 4-Geo-Proj function, depending on the type of navigation chart you are using. DSNP agents will give you all necessary information in that respect.

  • Page 127: Appendix 6 : Allowable Commands From A Pc

    Allowable commands from a PC PPENDIX ALLOWABLE COMMANDS FROM A PC Altitude correction ALMANAC Almanac data CONFIG Read/load configuration data DATE Date & time DEFAULT Read/Recover faults DIFF Commands related to differential corrections DSELECT List of excluded satellites DUMP Status of output messages D_RECK Read current position/enter position estimate EPHEM...
  • Page 128 Allowable commands from a PC Command : Function : This command is used to read/change the altitude correction mode and the correction value. Syntax (read) <cr><lf> (change) <sp> <cr><lf> alt_mode,dmsl,offset Parameters : Altitude correction mode alt_mode 0: above MSL - WGS84 STANAG 1: above WGS84 ellipsoid 2: above ellipsoid chosen by operator...
  • Page 129 Allowable commands from a PC ALMANAC Command : Function : This command is used to read the latest almanac transmitted by the specified satellite or latest almanacs transmitted for all satellites. Syntax [<sp> ] <cr><lf> ALMANAC SV_No ,format Parameters : PRN No. of the satellite for which you wish to read SV_No the latest almanac received (latest almanacs of all SVs if no SV is specified).
  • Page 130 Allowable commands from a PC CONFIG Command : Function : This command is used to read the configuration data saved in the receiver, or to load the default configuration data. Syntax (read) <cr><lf> CONFIG (reset to default) <sp> <cr><lf> CONFIG INIT Parameters : none Comments...
  • Page 131 Allowable commands from a PC DATE Command : Function : This command is used to read/change the date & time parameters. Syntax (read) <cr><lf> DATE (load) <sp> ]<cr><lf> DATE DD/MM/YYYY,HH:MM:SS HH:MM Parameters DD/MM/YYYY : Day (1..31), month (1..12), year HH:MM:SS : UTC time if no offset (Local - UTC= 0) Local time if offset (Local - UTC ≠...
  • Page 132 Allowable commands from a PC DEFAULT Command : Function : This command is used to read/clear the faults detected by the receiver. Syntax (read) <sp> <cr><lf> DEFAULT Fault_No (clear) <sp> < sp > <cr> < lf > DEFAULT Fault_No RESET Parameters Fault_No :Fault identification code Comments...
  • Page 133 Allowable commands from a PC - The last line in the list is blank. Examples DEFAULT DEFAULT I/O 7:24:00 / 8:17:14 DEFAULT I/O 7:23:00 / 8:16:22 DEFAULT RCVER 16:21:14 / 12:16:23 DEFAULT POSIT 16:21:14 / 16:25:38 DEFAULT 34 RESET DEFAULT DEFAULT I/O 7:24:00 / 8:17:14...
  • Page 134 Allowable commands from a PC DIFF Command : Function : This command is used to control the DIFF section of the receiver. Five sub-commands are available : CONFIG Returns the configuration data MODE Select DGPS mode SELECT Select DGPS station STATION List of known DGPS stations Syntax...
  • Page 135 Allowable commands from a PC DIFF Command : DIFF CONFIG Function : This command is used to read the configuration data from the receiver. Syntax read <sp> < cr >< lf > DIFF CONFIG reset to default <sp> <sp> < cr >< lf > DIFF CONFIG INIT...
  • Page 136 Allowable commands from a PC Examples DIFF CONFIG DIF002 16, 7,LABEL. 20, 3,COMMENT 92, 3,STATION 12, 3,HARD_RS 02,03,02,0A,02,03, 100,NR,EN,NR,E4,01 1,******,****** 2,******,****** 5,******,****** DIFF CONFIG INIT DIFF 1 CONFIG INIT proceeding DIFF 1 CONFIG INIT completed 0311352 Issue : February 2000 A6-10...
  • Page 137 Allowable commands from a PC DIFF Command : DIFF MODE Function : This command is used to read/change the DGPS processing and initialization mode, the type of fix to use and the sets of PRC data to use in computing fix or fixes. Syntax (read) <sp>...
  • Page 138 Allowable commands from a PC Set 1 : Set of PRC's to use for DGPS fix 1, Enhanced DGPS or KART (1 to 6). Set 2 : Set of PRC's to use for DGPS fix 2 Set 3 : Set of PRC's to use for DGPS fix 3 Set 4 : Set of PRC's to use for DGPS fix 4.
  • Page 139 Allowable commands from a PC DIFF Command : DIFF SELECT Function : This command is used to read/change the DGPS stations to be used. Syntax <sp> <cr><lf> DIFF SELECT (Load for analog channel) <sp> <sp> DIFF SELECT chnl,station,Frq <sp> <sp> DIFF SELECT chnl,station1,station2,station3,station4...
  • Page 140 Allowable commands from a PC Comments • The total number of stations selected should not exceed 6. An HF station with 2 frequencies selected stands only for one. • Mixing HF and MF stations on analog channels is not allowed. All 4 channels should be programmed on HF band or MF band.
  • Page 141 Allowable commands from a PC DIFF Command : DIFF STATION Function : This command is used to provide the list usable stations. Syntax <sp> <cr><lf> DIFF STATION Parameters Comments The list includes all stations whose characteristics have been described in the configuration file saved in the receiver and characteristics of stations broadcasted (RCTM-SC104 message types 3 and 7).
  • Page 142 Allowable commands from a PC • Characteristics of up to 45 stations are listed. The first 15 entries are reserved for the stations in the configuration file. • For each station the following information is viewed : - Station row (1 to 45) - Station ID (0 to 1023) -1 if unused * if unused...
  • Page 143 Allowable commands from a PC DSELECT Command : Function : This command is used to read/modify the list of excluded satellites. Syntax (read) <cr><lf> DSELECT (modify) <sp> ... ]]]]]]]<cr><lf> DSELECT SV_No ,SV_No ,SV_No Parameters : PRN of the satellite to be excluded (1 to 32) SV_No 0 : re-selects all excluded satellites Comments...
  • Page 144 Allowable commands from a PC DUMP Command : Function : This command is used to read/modify the state of the output messages. Syntax (read) <cr><lf> DUMP (modify) <sp> <cr><lf> DUMP Command Parameters : ON : suspends or disables the output Command messages OFF : restores the initial state of the output...
  • Page 145 Allowable commands from a PC D_RECK Command : Function : This command is used to read the known current position or to enter a position estimate. Syntax (read) <cr><lf> D_RECK (enter) <sp> <sp> <sp> D_RECK Datno,DD MM.ddddN,DDD <cr><lf> MM.ddddE,+mmmmm.m Parameters Datno : Identification number of the datum used (0 : WGS84).
  • Page 146 Allowable commands from a PC EPHEM Command : Function : This command is used to read the latest ephemeris data from the receiver for a specified reception channel or for all channels. Syntax [<sp>[ ]<cr><lf> EPHEM channo ,format Parameters : Channel No. on which the desired ephemeris is Channo received (or all ephemerides from all channels if no channel is specified).
  • Page 147 Allowable commands from a PC EVMIN Command : Function : This command is used to read or modify the minimum elevation angle for all satellites. Syntax (read) <cr><lf> EVMIN (modify) <sp> <cr><lf> EVMIN min_elev Parameters : Minimum elevation angle in degrees. min_elev Examples EVMIN...
  • Page 148 Allowable commands from a PC GEODESY Command : Function This command is used to read/load geoedesy and projection data. Syntax (read) [<sp> ]<cr><lf> GEODESY Geod_No Parameters : Number of the geodetic system to be listed. If you do Geod_No not specify the number, all geodetic systems are listed.
  • Page 149 Allowable commands from a PC $aaGPQ,WPL Command : Function This command is used to read the characteristics of waypoint No. 00. Syntax $aaGPQ,WPL[*hh] Parameters aa : identification of talker *hh : message parity (optional) Comments - NMEA 0183 Query sentence sent to read the characteristics of the waypoint No.
  • Page 150 Allowable commands from a PC $aaGPQ,TLL Command : Function This command is used to read the characteristics of all the waypoints stored in the receiver. Syntax $aaGPQ,TLL[*hh] Parameters aa : identification of talker *hh : message parity (optional) Comments - NMEA 0183 Query sentence sent to read the characteristics of all the waypoints stored in the receiver.
  • Page 151 Allowable commands from a PC IONO Command : Function This command is used to read the latest Iono-UTC data from the receiver. Syntax (read) [<sp> ]<cr><lf> IONO format Parameters : Format of Iono-UTC data Format C : Compacted F : Formatted (Compacted if no format specified) Comments This command reads all or part of the data labelled %U or *U from the...
  • Page 152 Allowable commands from a PC OUT_MES Command : Function : This command is used to read or modify the configuration of the output messages (computed data). Syntax : (read) [<sp> ] <cr><lf> OUT_MES <sp> <sp> OUT_MES Port ,Trig_Mode ,Period (modify) ]]]<cr><lf>...
  • Page 153 Allowable commands from a PC : Message output rate Period . With output mode 1, time interval, in seconds, between any two consecutive messages. . With all other output modes, number of events required between any two consecutive messages. Form_lines : identification Nos. of the format description lines generating the message (1 to 5 lines).
  • Page 154 Allowable commands from a PC RAWDAT Command : Function This command is used to read or modify the configuration of the GPS raw data messages. Syntax (read) [<sp> ]<cr><lf> RAWDAT RAWDAT[<sp>Nb]<sp>Port[,Tr_Mode[,Period[,Meas,Diff,Data ,Tau]]] (modify) <cr><lf> Parameters : message number (1 or 2), 1 by default : Port used for the transfer Port A : Port A...
  • Page 155 Allowable commands from a PC Mode 9 TRG1 1 : Only the data block available right after the trigger time is provided in Mode 10 TRGA the message Mode 18 TRGI 2 : Both the data blocks available right before and right after the trigger time are provided in the message.
  • Page 156 Allowable commands from a PC Tau : Measurement filtering time constant, in seconds, when SMEAS or SVAR or RBIN or SBIN is part of the message (otherwise, meaningless). Comments • Reads the raw data output specifications from the configuration memory. •...
  • Page 157 Allowable commands from a PC SEL_GEO Command : Function This command is used to read/change the geodetic system used by the receiver. Syntax (read) <cr><lf> SEL_GEO (change) <sp> <cr><lf> SEL_GEO Geod_No Parameters : Identification No. of the new geodetic system (it must Geod_No.
  • Page 158 Allowable commands from a PC Command : Function This command is used to trigger an output message, configured with output mode 6 (RS232), via the specified port. Syntax [<sp> ][<sp> ]<cr><lf> Port Label Parameters : RS port used by the message Port : ASCII label (string of up to 127 characters) Label...
  • Page 159 Allowable commands from a PC $aaTLL Command : Function This command is used to change/initialize the characteristics of any waypoint. Syntax $aaTLL,xx,llll.lllll,A,yyyyy.yyyyy,A,C--C Parameters aa : Identification of talker xx : Waypoint number ( 00 to 99) llll.lllll,A : Latitude of waypoint ddmm.mmmmm, N or S yyyyy.yyyyy,A : Longitude of waypoint dddmm.mmmmm, E or W...
  • Page 160 Allowable commands from a PC UNIT Command : Function This command is used to read/change the receiver identification number. Syntax (read) <cr><lf> Unit (change) <sp> <cr><lf> Unit Unit_No Parameters receiver identification number (0 to 999) Unit_No Example UNIT UNIT 000 UNIT 4 UNIT UNIT 004...
  • Page 161 Allowable commands from a PC $aaWPL Command : Function This command is used to change/initialize the characteristics of waypoint No. 00. Syntax $aaWPL,llll.lllll,A,yyyyy.yyyyy,A,C--C Parameters aa : Identification of talker llll.lllll,A : Latitude of waypoint ddmm.mmmmm, N or S yyyyy.yyyyy,A : Longitude of waypoint dddmm.mmmmm, E or W C--C : Waypoint label Comments...
  • Page 162 Allowable commands from a PC 0311352 Issue : February 2000 A6-36...

  • Page 163: Appendix 7 : Raw Data

    Raw Data PPENDIX RAW DATA Notice : The expression "non-configurable" refers to those data whose format is predefined, and therefore not modifiable by the user. A7 - 1 NON-CONFIGURABLE GPS DATA IN ASCII FORMAT (Fixed-size Fields - SFIX format) A7-1-1 NOTATION RULES •...
  • Page 164 Raw Data The term "block" stands for a group of data of the same nature. The expression "numerical value" encompasses all notation types : binary, decimal or hexadecimal. The term "number", if no further indication is provided, depicts a decimal number (in base 10) The term "Label"...
  • Page 165 Raw Data A7-1-2 DATA CLASSIFICATION There are four main categories of raw data : • GPS DATA MESSAGES Two types: – CDAT: non-formatted GPS data message (in hexadecimal) (%E, %A, %U, %S, %H) – FDAT: formatted GPS data message (in ASCII) (*E, *A, *U, *S, *H) •...
  • Page 166 Raw Data A7-1-3 CDAT : NON-FORMATTED GPS DATA (Hex-encoded binary) The CDAT generic term gathers the following data : %E, %A, %U, %S and • EPHEMERIDES (%E) Format : <stx><eoln> %E<sp><b1><sp><b2><eoln> <c1><sp><c2><eoln> <t1m3><sp><t1m4>..<t1m9><sp><t1m10><eoln> <t2m3><sp><t2m4>..<t2m9><sp><t2m10><eoln> <t3m3><sp><t3m4>..<t3m9><sp><t3m10><eoln> <etx> Data : (4 char) GPS week number (7 char) GPS time in reference to week, in 1/10 s units...
  • Page 167 Raw Data • ALMANACS (%A) Format : <stx><eoln> %A<sp><b1><sp><b2><eoln> <c1><sp><c2><eoln> <t4m3><sp><t4m4>..<t4m9><sp><t4m10><eoln> <etx> Data : (4 char) GPS week number (7 char) GPS time in reference to week, in 1/10 s units (2 char) Satellite number (4 char) Almanac week number t4m3..t4m10 : Words 3 to 10 from Frame 4, pages 2 to 5, 7 to 10, bits d01..d24 (almanacs for satellites 25 to 32)
  • Page 168 Raw Data • IONO-UTC (% U) Format : <stx><eoln> %U<sp><b1><sp><b2><eoln> <t4m3><sp><t4m4>..<t4m9><sp><t4m10><eoln> <etx> Data : (4 char) GPS week number (7 char) GPS time in reference to week, in 1/10 s units t4m3..t4m10 Words 3 to 10 from Frame 4, page 18, bits d01.. d24 (6 char per word) Count of transmitted characters: 78 Example :...
  • Page 169 Raw Data • ANTI-SPOOFING (%S) Format : <stx><eoln> %S<sp><b1><sp><b2><eoln> <t4m3><sp><t4m4>..<t4m9><sp><t4m10><eoln> <etx> Data : (4 char) GPS week number (7 char) GPS time in reference to week, in 1/10 s units t4m3..t4m9 Words 3 to 10 from Frame 4, page 25, bits d01 to d24 (for satellites 1 to 32, health data for SVs 25 to 32) (6 characters per word) Count of transmitted characters: 78...
  • Page 170 Raw Data A7-1-4 FDAT : FORMATTED GPS DATA (ASCII) The FDAT generic term gathers the following data : *E, *A, *U, *S and • EPHEMERIDES (*E) Format : <stx><eoln> *E<sp><b1><sp><b2><eoln> <c1> <eoln> .. <eoln> .. <eoln> <c31><eoln> <c32><eoln> <etx> Data : (4 char) GPS week number (7 char)
  • Page 171 Raw Data Example : 570 2092740 Channel Iodc (us): -14.2446 Af1 (ns/s): -0.0015 Af2(ns/s2): 0.0000E-6 (s): 216000 Iode (m): 26560375.336 (d m s): 119 12 9.5351 Mo (d m s): 55 36 1.7879 Io (d m s): 54 40 30.9644 (d/s): -0.1921E-7 Om (d m s):...
  • Page 172 Raw Data • ALMANACS (*A) Format : <stx>oln> *A<sp><b1><sp><b2><eoln> <c1> <eoln> .. <eoln> .. <eoln> <c13><eoln> <c14><eoln> <etx> Data : b1 (4 char) GPS week number b2 (7 char) GPS time in reference to week, in 1/10 s units c1 to c14 Almanac data parameter name (11 char) and value (14 char) parameter name (11 char) and value (14 char)
  • Page 173 Raw Data • IONO-UTC (*U) Format : <stx><eoln> *U<sp><b1><sp><b2><eoln> <c1> <eoln> .. <eoln> .. <eoln> <c16><eoln> <c17><eoln> <etx> Data : (4 char) GPS week number (7 char) GPS time in reference to week, in 1/10 s units c1 to c17 Iono-UTC data : parameter name (11 char) and value (14 char) - - - : parameter name (11 char) and value (14 char)
  • Page 174 Raw Data • ANTI-SPOOFING (*S) Format : <stx><eoln> *S<sp><b1><sp><b2><eoln> <c1><eoln> <c2><eoln> <c3><eoln> <c4><eoln> <c5><eoln> <etx> Data : (4 char) GPS week number (7 char) GPS time in reference to week, in 1/10 s units c1 to c5 Anti-spoofing data 8 × 4 char 8 ×...
  • Page 175 Raw Data • HEALTH (*H) Format : <stx><eoln> *H<sp><b1><sp><b2><eoln> <c1><eoln> <c2><eoln> <c3><eoln> <c4><eoln> <c5><eoln> <etx> Data : (4 char) GPS week number (7 char) GPS time in reference to week, in 1/10 s units c1 to c5 Health data 8 × 4 char 8 ×...

  • Page 176: Differential Corrections

    Data : (4 char) GPS week number (7 char) GPS time in reference to week, in 1/10 s units (2 char) DSNP station number (1 to 99, depending on configuration) c1=0 for numeric RTCM (7 char) Differential correction in cm (max. ± 999 999 cm) –1...
  • Page 177 Raw Data Examples : DSNP Station No. 1 570 2092800 2 0 10 9 0 10 6 11 0 10 9 12 0 10 RTCM Station No. 720 620 2058420 3 7 20 9 7 20 6 12 7 20...
  • Page 178 Raw Data (2 char) C/No in dB Hz (3 char) Pseudorange/phase standard deviation –10 in 1 × 10 seconds (1 char) Validity of phase and pseudorange measurements over the compacting period. The 8 bits (bits 0 to 7) of c7 are described below : bit 0 = 1 if parity error bit 1 = 1 if code and carrier unlocked bit 2 = 1 if phase leaps by (2n+1) π...
  • Page 179 Raw Data (2 char) * and channel number (1 to 9, 0, A to F) –10 (11 char) Code pseudorange in 1 × 10 seconds modulo 10 seconds –3 (11 char) Carrier phase in 1 × 10 cycles modulo 1 × 10 thousandths of a cycle.
  • Page 180 Raw Data A7-1-7 PROCESSED DATA • PHASE DATA RECEIVED FROM A KART DIFF STATION (#K) Format : <stx><eoln> #K<sp><b1><sp><b2><eoln> <c1><sp><c2><sp><c3><sp><c4><c5><eoln> <etx> Data : (4 char) GPS week number (7 char) GPS time in reference to week, in 1/10 s units (2 char) Station number (6 char) Phase measurement modulo 10000 turns (9999 trs, –2...
  • Page 181 Raw Data • ECEF POSITION OF REFERENCE (%N) Format : <stx><eoln> %N<sp><b1><sp><b2><eoln> *1<sp><c1><sp><c2><eoln> *2<sp><c3><sp><c4><sp><c5><eoln> <etx> Data : (4 char) GPS week number (7 char) GPS time in week when corrections are computed (low significant digit = 0.1s) (4 char) Station identification (0..1023) (1 char) Station health (0..7) –2...
  • Page 182 Raw Data A7-2 NON-CONFIGURABLE GPS DATA IN ASCII FORMAT WITH FIELD DELIMITERS (SVAR) A7-2-1 NOTATION RULES • RESERVED CHARACTERS <stx> Beginning of message Format indicator Field delimiter "checksum" delimiter Decimal separator " Beginning and end of label <eoln> End of line End of message <etx>...
  • Page 183 Raw Data • GENERAL FORM OF MESSAGE <stx> <eoln> <sobk> <,> < time tagging line > <eoln> <soln> <,> < 1st data line > <eoln> <soln> <,> < n data line > <eoln> <etx> The count and type of data in any given line are predefined, which means that the count of separators <,>...
  • Page 184 Raw Data • ERROR CHECK RULE Optionally a checksum can be placed at the end of every line between the last data in the line and <eoln>. The presence of the checksum is denoted by the @ character followed by the two end-of-line characters. The checksum results from exclusive-OR gating all the characters in the line, excluding the @ character.
  • Page 185 Raw Data • RAW DATA LINES <soln>, { 2 characters: * and channel No. (in hexadecimal) } <SV No.>, <C/A code pseudorange> { in 10 s, modulo 10 s } <C/A L1carrier phase>, { in 10 cycles, modulo 10 cycles } <C/A L1carrier speed>, { in 10 cycle/s }...
  • Page 186 GPS week number and time, in reference to week, in seconds. Reference time is jan 6 1980 at 0hr00. • PARAMETER LINE <soln>, 2 characters: <%S> DSNP corrections <%R> RTCM corrections <#n> message other than corrections (to be defined for future use) <station number>...
  • Page 187 { in seconds, algebraic difference between time of message and time of GPS measuremens from which corrections were generated} <IOD>, { Issue Of Data, for DSNP corrections, counter output modulo 256, incremented by 1 every time IOD changes state } <UDRE>, { User Differential Range Error} <eoln>...
  • Page 188 Raw Data A7-2-4 GPS BIT FLOW • GENERAL FORM OF MESSAGE <stx> <eoln> <!B>,< time tagging > <eoln> <soln>,<block counter > <eoln> <soln>,<1st line of bit flow> <eoln> <soln>,<nth line of bit flow> <eoln> <etx> • TIME-TAGGING LINE !B,<GPS week>,<GPS time><eoln> GPS week number and time, in reference to week and in seconds , when the last bit was transmitted.
  • Page 189 Raw Data A7- 3 NON-CONFIGURABLE GPS DATA IN BINARY FORMAT (SBIN) A7-3-1 NOTATION RULES • RESERVED CHARACTERS By principle, all possible binary values in a byte are allowed. However three ASCII characters are used for message identification : ASCII byte FE denotes beginning of binary block ASCII byte FF denotes end of binary block...
  • Page 190 Raw Data • GENERAL FORM OF MESSAGE <stb> 1 byte <blid> 1 byte <long> 2 bytes <data> 1 to 1023 bytes <checksum> 2 bytes <etb> 1 byte The meaning of the data in each block type is predefined • ERROR CHECK RULE The message content is checked for transmission error through two "checksum"...
  • Page 191 Raw Data • TIME TAGGING 3 bytes : GPS time in reference to week (in 1/10 s units) • RAW DATA FROM SV 1 byte SV number 4 bytes code pseudorange (in 10 s units, modulo 0.1s) 1 byte bits 0 to 4 [C/No - 20] (in dBHz) bits 5 and 6 : channel status...
  • Page 192 Raw Data A7-3-3 SINGLE-FREQUENCY GPS RAW DATA (Satellite Time) • GENERAL FORM OF MESSAGE <stb>R 2 bytes <long> 2 bytes <time tagging> 5 bytes <parameters> 2 bytes <raw data, 1st SV> 14 bytes <raw data, last SV> 14 bytes <checksum> 2 bytes <etb>...
  • Page 193 Accessible Variables APPENDIX 8 VARIABLES ACCESSIBLE USING CONFGPS SOFTWARE IN OUTPUT MESSAGES AND USER-DEFINED SCREENS The CONFGPS software contained in the CONF203 floppy disk allows you to define formats using the variables listed below. Some of the variables mentioned below can be combined with the TXT: function to produce a string of characters or numeric values.
  • Page 194 Accessible Variables Navigation Fix Quality Computed Mean Sea Level (metres) MODE Position Mode (0..6) TXT:MODE → Mode label Mode Position Mode identification mode label Hold “ H” Dead Reckoning “DR” Time mode (Ref.) “ T” 2 dimensions “ 2” 2 dimensions + “2T”...
  • Page 195 Accessible Variables Position Status Flag (0..1) TXT:PS → Position Status Label Position Position Position status flag status status definition flag label No fix “BAD” Fix available “GOOD” Selective Availability (SA) Flag (0..1) TXT:SA → Selective Availability Label SA Flag SA flag SA label definition No SA...
  • Page 196 Accessible Variables DGPS Fix Type (0..8) TXT:DFT → DGPS Fix Label DGPS DGPS Fix Type DGPS Fix label definition Type No DGPS “ . GPS . ” DGPS with PRC set 1 “DGPS1” DGPS with PRC set 2 “DGPS2” DGPS with PRC set 3 “DGPS3”...
  • Page 197 Accessible Variables Navigation Fix Track data Current Starting Waypoint Number Current Target Waypoint Number TXT:WPN → Current Target Waypoint Label Lat/Northing of current target waypoint (radians/m) Lon/Easting of current target waypoint (radians/m) Course to Steer (radians) Course to Target (radians) Distance to Target (metres) Time To Go to Target (seconds) Transverse distance (metres)
  • Page 198 Accessible Variables Data array SVU[1.. 15] PRN of SV used (1..32) M[1.. 10] Fix Variance/Covariance Matrix (m M[1] = Latitude variance M[2] = Lat/Long covariance M[3] = Longitude variance M[4] = Lat/Altitude covariance M[5] = Long/Altitude covariance M[6] = Altitude variance M[7] = Lat/Clock covariance M[8] = Long/Clock covariance M[9] = Altitude/Clock covariance...
  • Page 199 Accessible Variables Channel Signal/Noise Ratio (dB) Channel SV Elevation (radians) Channel SV Azimuth (radians) Channel Iono correction (metres) Channel Tropo correction (metres) W_Test for DGPS1 fix W_Test for DGPS2 fix W_Test for DGPS3 fix W_Test for DGPS4 fix W_Test Navigation fix MDE 2D for DGPS1 fix (meters) MDE 2D for DGPS2 fix (meters) MDE 2D for DGPS3 fix (meters)
  • Page 200 Accessible Variables HD[1..8] Horizontal DOP (-1 : not available) N[1..8] Number of SVs Used (1..15) T[1..8] UTC Time of Fix (in seconds) D[1..8] UTC Date of Fix (yyyymmdd) DT[1..8] DGPS fix type (0..8) DGPS Fix DGPS Fix Type Corresponding Type definition DGPS Fix label No DGPS...

  • Page 201: Appendix 9 : Nr203 Specifications

    NR203 Specifications APPENDIX 9 NR203 SPECIFICATIONS GPS CHARACTERICTICS Differential antenna • HF & Radio-beacon MF GPS Reception integrated reception • SPS L1 type, 1575.42 MHz • Active type • 15 parallel channels • Freq. Bands : 283.5 to 325 kHz •...
  • Page 202 NR203 Specifications • Temperature : - operating : - 10°C, + 55°C • Conventional DGPS mode - storage : - 40°C, + 70°C offering : • Humidity : 95% non-condensing - A "Primary" single station solution 0.6 s rate (DGPS 1)

  • Page 203: Appendix 10 : List Of Possible Anomalies

    List of possible anomalies APPENDIX 10 List of possible anomalies Family Error message Additional error code 1-SYSTM GP12 test at power-up Test result status 1-SYSTM Progr. Memory at power-up Number of error 1-SYSTM Data Memory at power-up Test result status 1-SYSTM Main Oscill.
  • Page 204 List of possible anomalies Family Error message Additional error code 5-POSIT Too few SVs Number of SVs 5-POSIT GDOP too high DOP value 5-POSIT LPME too high LPME value 5-POSIT err 27 1PPS signal error 5-POSIT Less than 4 differential corrections 5-POSIT No fix computation...
  • Page 206 16 rue de Bel Air B.P. 433 44474 CARQUEFOU Cedex +33 (0)2 40 30 59 00 Fax +33 (0)2 40 30 58 92 Web site: www.dsnp.com S.A. à Directoire et Conseil de surveillance au capital de 5 000 000 F 321 391 237 RCS Nantes...

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