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Hemisphere GPS V102 G User Manual

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V102 GPS Compass
User Guide
Part No. 875-0276-000 Rev C1

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Summary of Contents for Hemisphere GPS V102 G

  • Page 1 V102 GPS Compass User Guide Part No. 875-0276-000 Rev C1...
  • Page 2 U.S. Patent No. 6,631,916. The Outback eDriveTC GPS assisted steering system is covered by U.S. Patent No. 7,142,956. Hemisphere GPS products may be covered by one or more of the following U.S. Patents: 6,111,549...

  • Page 3: Technical Support

    Fax: (480) 348-6370 techsupport@hemispheregps.com Documentation Feedback Hemisphere GPS is committed to the quality and continuous improvement of our products and services. We urge you to provide Hemisphere GPS with any feedback regarding this guide by writing to the following email address: DocFeedback@hemispheregps.com.

  • Page 4: Table Of Contents

    V102 GPS Compass User Guide Contents Chapter 1 Introduction Overview........... . 2 Parts List .
  • Page 5 Contents Serial Ports ..........24 Default Parameters .
  • Page 6 Chapter 1: Introduction Overview Parts List...

  • Page 7: Overview

    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...

  • Page 8: Parts List

    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 4.4: “exposed to the...
  • Page 10 Chapter 2: Installation Mounting Location Mounting Orientation Mounting Options Powering the V102 Connecting the V102 to External Devices...

  • Page 11: Mounting Location

    Chapter 2: Installation Mounting Location This section provides information on determining the best location for the V102. GPS Reception When considering where to mount the V102, consider the following GPS reception recommendations: • Consider GPS (and hence SBAS) reception, ensuring there is a clear view of the sky available to the V102 so the GPS and SBAS satellites are not masked by obstructions that may reduce system performance...

  • Page 12: V102 Environmental Considerations

    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) •...
  • Page 13 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 1.0 m radius at base (minimum) Figure 2-1: V102 distance from nearby VHF radios...

  • Page 14: Mounting Orientation

    This output is available via the $GPHEV message. For more information on this message refer to refer to GPS Technical Reference available from the Hemisphere GPS website at www.hemispheregps.com. Parallel Orientation: The most common installation is to orient the V102 parallel to, and along the centerline of, the axis of the boat.
  • Page 15 Chapter 2: Installation Figure 2-2 and Figure 2-3 provide mounting orientation examples. Forward motion Recessed arrow located on bottom of enclosure Figure 2-2: Recommended orientation and resulting signs of HPR values Recessed arrow located on bottom of enclosure Forward motion Figure 2-3: Alternate orientation and resulting signs of HPR values...

  • Page 16: V102 Alignment

    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.

  • Page 17: Mounting Options

    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). •...

  • Page 18: V102 Dimensions

    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 SET SCREW (2.71”) 3/8-16 THREAD SIZE 2 PLACES 46.99 mm MOUNTING HOLE MOUNTING HOLE (1.85”) M8 THREAD SIZE 1-14 UNS-2A THREAD SIZE 4 PLACES 31.75 mm (1.25”)

  • Page 19: Power/Data Cable Considerations

    (such as a radar mounting plate), or an existing surface on your vessel. Note: Hemisphere GPS does not supply the mounting surface hardware. You must supply the appropriate fastening hardware required to complete the installation of the V102.
  • Page 20 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 •...
  • Page 21 Chapter 2: Installation power/data cable” on page 17). Flush mounting the V102 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.
  • Page 22 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 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...

  • Page 23: Pole Mount

    Chapter 2: Installation Pole Mount 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"...
  • Page 24 V102 GPS Compass User Guide 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.
  • Page 25 Chapter 2: Installation Connecting the power/data cable 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 V102 connector key Rotate the cable ring clockwise until it locks.

  • Page 26: Powering 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.

  • Page 27: Connecting The V102 To External Devices

    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 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...

  • Page 28: Power/Data Cable Pinout Specifications

    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. Figure 2-9: Power/data cable pin assignment Table 2-1: Power/data cable pinout Function Wire Color Port C, RS-232 female DB9 pin 2, device out White Port C, RS-232 female DB9 pin 3, device in Green...

  • Page 29: Serial Ports

    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. Configuring the Ports You may configure Port A or Port C of the GPS receiver to output any combination of data that you want.

  • Page 30: Default Parameters

    V102 GPS Compass User Guide Recommendations for Connecting to Other Devices When interfacing to other devices, ensure the transmit data output from the V102 is connected to the data input of the other device. The signal grounds must also be connected. 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.
  • Page 31 Chapter 2: Installation Table 2-3: Additional default settings Parameter Specification Max DGPS age (correction age) 2700 seconds Elevation mask 5° Differential mode SBAS (WAAS/EGNOS)
  • Page 32 Chapter 3: Operation GPS Overview V102 Overview Common Commands and Messages...

  • Page 33: Gps Overview

    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.

  • Page 34: Differential Operation

    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.

  • Page 35: V102 Overview

    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.

  • Page 36: Supplemental Sensors

    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.
  • Page 37 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. This constrains the RTK heading solution beyond the volume associated with just a fixed antenna separation.
  • Page 38 The gyro initializes itself at powerup and during initialization, or you can calibrate it as outlined in Hemisphere GPS’ GPS Technical Reference. When the gyro is first initializing, it is important that the dynamics that the gyro experiences during this warmup period are similar to the regular operating dynamics.

  • Page 39: Time Constants

    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. Hemisphere GPS’ GPS Technical Reference includes information on setting an appropriate HTAU value for the application.

  • Page 40: Watchdog

    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.

  • Page 41: Common Commands And Messages

    For information on message output rates refer to GPS Technical Reference available from the Hemisphere GPS website at www.hemispheregps.com. Table 3-2 below through Table 3-4 provide brief descriptions of common commands and messages for the V102. Refer to the Hemisphere GPS Technical Reference for more detailed information. Table 3-2: Commands...
  • Page 42 V102 GPS Compass User Guide Table 3-2: Commands (continued) Command Description $JRESET Reset unit’s configuration to firmware defaults V102 Note: $JRESET clears all parameters. For the you will have to issue the $JATT, FLIPBRD,YES command to properly redefine the circuitry orientation inside the product once the receiver has reset.
  • Page 43 Chapter 3: Operation Table 3-3: NMEA 0183 and other messages (continued) Info Message Description Approved Type Message *$GPHDG Provides magnetic deviation and variation for calculating magnetic or true heading *see last bullet in Note at end of this table *$GPHDM Magnetic heading (based on GPS-derived heading and magnetic declination) *see last bullet in Note at end of this table...
  • Page 44 GPGNS). • For information on outputting roll, pitch, and heave data in one message refer to GPS Technical Reference available from the Hemisphere GPS website at www.hemispheregps.com. • * You can change the message header for the HDG, HDM, HDT, and ROT messages to either GP or HE using the $JATT,NMEAHE command.
  • Page 45 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) CSEP Query antenna separation EXACT Enable/disable internal filter reliance on the entered antenna separation FLIPBRD Turn the flip feature on/off GYROAID Enable/disable gyro HBIAS...

  • Page 46: Appendix A Troubleshooting

    Appendix A: Troubleshooting...
  • Page 47 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) •...
  • Page 48 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) •...
  • Page 49 Appendix A: Troubleshooting Table A-1: Troubleshooting (continued) Symptom Possible Solution No DGPS position in • Verify the baud rate of the RTCM input port external RTCM mode 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)

  • Page 50: Appendix B Specifications

    Appendix B: Specifications...
  • Page 51 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...
  • Page 52 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 (11.8 in) Maximum speed 1,850 kph (999 kts) Maximum altitude 18,288 m (60,000 ft) Table B-2: Communication specifications Item Specification...
  • Page 53 Depends on multipath environment, number of satellites in view, satellite geometry, ionospheric activity, and use of SBAS Depends on multipath environment, number of satellites in view, satellite geometry, and ionospheric activity Hemisphere GPS proprietary IEC 60945 Standard Based on a 40 second time constant...

  • Page 54: Index

    V102 GPS Compass User Guide Index automatic SBAS tracking 29 automatic tracking 28 alarm operation 28 watchdog 35 overview 28 alignment 11 receiver performance 28 automatic reception 6 SBAS tracking 29 sensor specifications 46 tracking 28 gyro aiding 32 cable See power/data cable 14 heading time constant 34 COGTAU 35, 40 heave 9, 38...
  • Page 55 Index HRTAU 35 HTAU 34 orientation for mounting 9 PTAU 34 SPDTAU 35 tracking parallel mounting 9 automatic 28 part numbers 3 automatic SBAS 29 parts list 3 troubleshooting 42 perpendicular mounting 9 pitch time constant 34 pole mount 18 VHF interference 7 power connecting to a power source 21...

  • Page 56: End User License Agreement

    (d) damage occurring in transit or due to any accident, abuse, misuse, improper installation, lightning (or other electrical discharge) or neglect other than that caused by Hemisphere. Hemisphere GPS does not warrant or guarantee the precision or accuracy of positions obtained when using the Software (whether standalone or embedded in a Product).
  • Page 57 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. EXCEPT AS EXPRESSLY SET OUT IN THIS AGREEMENT, HEMISPHERE MAKES NO REPRESENTATION, WARRANTY OR CONDITION OF ANY KIND TO LICENSEE, WHETHER VERBAL OR WRITTEN AND HEREBY DISCLAIMS ALL REPRESENTATIONS, WARRANTIES AND CONDITIONS OF ANY KIND INCLUDING FITNESS FOR A PARTICULAR PURPOSE, MERCHANTABILITY, ACCURACY, RELIABILITY OR THAT THE USE OF THE SOFTWARE WILL BE UNINTERRUPTED OR ERROR-FREE AND HEREBY DISCLAIMS ALL REPRESENTATIONS, WARRANTIES AND CONDITIONS ARISING AS A RESULT OF CUSTOM, USAGE...
  • Page 58 the 30 days. Any such termination by a party shall be in addition to and without prejudice to such rights and remedies as may be available, including injunction and other equitable remedies. Upon receipt by Licensee of written notice of termination from Hemisphere or termination by Licensee, Licensee shall at the end of any notice period (a) cease using the Software;...

  • Page 59: Warranty Notice

    INCIDENTAL OR CONSEQUENTIAL LOSS) SHALL BE AVAILABLE TO PURCHASER, even if Hemisphere GPS has been advised of the possibility of such damages. Without limiting the foregoing, Hemisphere GPS shall not be liable for any damages of any kind resulting from installation, use, quality, performance or accuracy of any Product.
  • Page 60 www.hemispheregps.com...

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