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CSI Wireless DGPS MAX Programming Manual

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Programming
Manual
Part Number: 875-0125-002
Date:
June 2005

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Summary of Contents for CSI Wireless DGPS MAX

  • Page 1 Programming Manual Part Number: 875-0125-002 Date: June 2005...
  • Page 2 Copyright Notice © Copyright 2005 by CSI Wireless Inc. All rights reserved. No part of this manual may be stored in a retrieval system, transmitted, or reproduced by any means, including, but not limited to photocopy, photograph, digitizing, or otherwise, without the prior written permission from CSI Wireless Inc.
  • Page 3 Purchaser’s Exclusive Remedy The purchaser’s exclusive remedy under this warranty shall be limited to the repair or replacement, at the option of CSI Wireless, of any defective part(s) of CSI Wireless receivers or accessories. Repairs shall be made through a CSI Wireless approved service center only.
  • Page 4 CSI Wireless products by unauthorized person(s) or party(s) shall render this warranty null and void. CSI Wireless does not warrant or guarantee the precision or accuracy of positions obtained when using CSI Wireless products. Product accuracy as stated in CSI Wireless literature and/or product specifications serves to provide only an estimate of achievable accuracy based on: •...

  • Page 5: Table Of Contents

    Table of Contents List of Figures ..........................xi List of Tables............................xi Preface xiii Organization ........................xiii Customer Service........................xv World Wide Web Site......................xvi Document Conventions ....................xvi Notes, Cautions, and Warnings..................xvi Introduction..........................1 Summary of Protocols....................1 1.1.1 NMEA 0183....................1 1.1.2 Binary ......................3 1.1.3 RTCM......................4 Communications......................5 1.2.1 Terminal Programs ..................5 1.2.2...
  • Page 6 RRE Data Message....................13 VTG Data Message....................13 ZDA Data Message ....................14 2.10 RD1 Data Message ....................15 2.11 $PCSI,1 Beacon Status Message................15 2.12 HDT Data Message ....................16 2.13 ROT Data Message ....................16 2.14 HPR Data Message ....................17 2.15 $PSAT,GBS Data Message..................
  • Page 7 ....... 39 $J4STRING........................ 39 $JRAIM ........................40 $JSMOOTH....................... 41 WAAS Commands......................43 $JWAASPRN ......................43 $JGEO......................... 44 $JASC,RTCM ......................45 OmniSTAR Commands (for DGPS MAX only)............47 $JLBEAM ........................47 $JLXBEAM......................... 49 $JOMS......................... 50 $JOMR........................51 $JFREQ........................52 Programming Manual...
  • Page 8 $JGEO......................... 53 Beacon Commands (for all receivers excluding Vector and Vector Sensor)..55 RTCM Output ($JASC,BEAC,r)................56 Tune Command ($GPMSK) .................. 56 7.2.1 Full Manual Tune Command ($GPMSK) ..........56 $PCSI,0 ........................58 Status Line A, Channel 0 ($PCSI,1)..............59 Status Line B, Channel 1 ($PCSI,2) ..............
  • Page 9 8.17 $JATT,ROLL ......................79 8.18 $JATT,SEARCH ....................... 79 8.19 $JATT,FLIPBRD......................80 8.20 $JATT,SUMMARY ....................80 8.21 $JATT,HELP ......................82 e-Dif Commands (for Mini MAX, PowerMAX and DGPS MAX only) ....84 $JRAD,1 ........................84 $JRAD,1,P ........................85 $JRAD,1,lat,lon,height..................... 85 $JRAD,2 ........................86 $JRAD,3 ........................
  • Page 10 10.11 Bin 99.......................... 98 Menu System Commands (for DGPS MAX only)..........101 11.1 Virtual Circuit ($JCONN,AB) ................102 11.2 $PCSI,HELP......................102 11.3 $PCSI,BAUD......................102 11.4 $PCSI,STATUS .......................103 11.5 $PCSI,SETUP,SET ....................103 11.6 $PCSI,SETUP,SHOW ...................104 11.7 $PCSI,SETUP,SAVE ....................105 11.8 $PCSI,SETUP,READ....................106 11.9 $PCSI,SETUP,RESET .....................106 11.10 $PCSI,SETUP,INTRO ...................107 11.11 $PCSI,SETUP,MUX, ....................107...

  • Page 11: List Of Tables

    List of Tables Table 1-1 NMEA Message Elements...................2 Table 1-2 Binary Message Structure...................4 Table 2-1 GPS NMEA Messages ....................8 Table 2-2 GGA Data Message Defined..................9 Table 2-3 GLL Data Message Defined..................10 Table 2-4 GSA Data Message Defined..................10 Table 2-5 GST Data Message Defined ..................11 Table 2-6 GSV Data Message Defined ..................
  • Page 12 Table 10-2 Bin 1 Message......................90 Table 10-3 Bin 2 Message......................91 Table 10-4 Bin 80 Message......................92 Table 10-5 Bin 93 Message......................93 Table 10-6 Bin 94 Message......................94 Table 10-7 Bin 95 Message......................94 Table 10-8 Bin 96 Message......................95 Table 10-9 Bin 97 Message......................

  • Page 13: Preface

    This manual supports the following products: the DGPS MAX receiver, the Mini MAX receiver, the PowerMAX receiver, the Vector heading system, the Vector PRO heading system, the Vector Sensor heading system, the Vector Sensor PRO heading system and the Vector OEM board heading system.
  • Page 14 OmniSTAR receiver. Only the DGPS MAX supports OmniSTAR. Chapter 7: Beacon Commands - defines the commands supported by the internal beacon sensor. The receivers that support beacon are: DGPS MAX, Mini MAX, PowerMAX, Vector PRO, Vector Sensor PRO and Vector OEM PRO. Chapter 8: Heading Commands –...

  • Page 15: Customer Service

    If you encounter problems during the installation or operation of this product, or cannot find the information you need, please contact your dealer, or CSI Wireless Customer Service. The contact numbers and e-mail address for CSI Wireless Customer Service are:...

  • Page 16: World Wide Web Site

    World Wide Web Site CSI Wireless maintains a World Wide Web home page at the following address: www.csi-wireless.com A corporate profile, product information, application news, GPS and DGPS literature, beacon coverage information, and software are available at this site. Document Conventions Bold is used to emphasize certain points.
  • Page 17 Cautions - Cautions inform of possible sources of difficulty or situations that may cause damage to the product. Warning - Warnings inform of situations that may cause you harm. Programming Manual xvii...

  • Page 19: Introduction

    1. Introduction This document provides detailed information relating to the programming of the DGPS MAX receiver, the Mini MAX receiver, the PowerMAX receiver, the Vector, the Vector PRO, the Vector Sensor, the Vector Sensor PRO and the Vector OEM board. Discussion of the programming includes data...

  • Page 20: Table 1-1 Nmea Message Elements

    <CR> and line feed <LF>. If a NMEA command is not working, this terminal facility option may not be set correctly. Please contact your dealer, or CSI Wireless Customer Service for more information. Programming Manual...

  • Page 21: Binary

    1.1.2 Binary Binary messages may be output from the DGPS MAX receiver, the Mini MAX receiver, the PowerMAX receiver, the Vector, the Vector PRO, the Vector Sensor, the Vector Sensor PRO and the Vector OEM along with NMEA 0183 data. Binary messages have a proprietary definition that likely will require custom software support if you wish to use it.

  • Page 22: Rtcm

    Table 1-2 Binary Message Structure Group Components Type Bytes Value Header Synchronization String 4 byte string $BIN BlockID - a number Unsigned 1, 2, 80, 93, 94, which tells the type of short 95, 96, 97, 98, binary message or 99 DataLength - the length Unsigned 52, 16, 40, 56,...

  • Page 23: Communications

    Radio Technical Commission for Maritime Services 1800 Diagonal Road, Suite 600 Alexandria, Virginia 22314-2840, USA Tel: (703)684-4481 Fax: (703)836-4229 Website: www.rtcm.org 1.2 Communications 1.2.1 Terminal Programs A variety of terminal utility programs may be used for serial communication with the receivers, however, it’s important that the communication parameters between the program and the receiver be matched (match baud rate of terminal program to receiver with an 8 data bit, no parity, and 1 stop bit setting).

  • Page 24: Pocketmax And Pocketmax Pc

    1.2.2 PocketMAX and PocketMAX PC CSI Wireless offers configuration utilities designed for use with CSI Wireless GPS products, including all of the products mentioned in this manual. As these utilities were not designed specifically for any one product alone, they support features not offered by every product, such as tracking of the OmniSTAR differential service and display of our Vector product’s true...
  • Page 25 The current versions of PocketMAX and PocketMAX PC, as well as their associated user manuals are available for download from our website at: www.csi-wireless.com/products/software.shtml The following is an example screen capture from this utility. Caution – It is important to note that when you are using PocketMAX, the program is doing many operations behind the scenes.

  • Page 26: Data Messages

    2. Data Messages This chapter describes in detail, the GPS data messages supported by the DGPS MAX, the Mini MAX, the PowerMAX and the Vector receivers. The following table summarizes the data messages supported by these receivers. Table 2-1 GPS NMEA Messages...

  • Page 27: Gll Data Message

    $GPGGA,hhmmss.ss,ddmm.mmmm,s,dddmm.mmmm,s,n,qq,pp.p,saaa aa.aa,M,±xxxx.xx,M,sss,aaaa*cc<CR><LF> Table 2-2 GGA Data Message Defined Field Description hhmmss.ss UTC time in hours, minutes, seconds of the GPS position ddmm.mmmmm Latitude in degrees, minutes, and decimal minutes s = N or s = S, for North or South latitude dddmm.mmmmm Longitude in degrees, minutes, and decimal minutes s =E or s = W, for East or West longitude...

  • Page 28: Gsa Data Message

    Table 2-3 GLL Data Message Defined Field Description ddmm.mmmmm Latitude in degrees, minutes, and decimal minutes s = N or s = S, for North or South latitude dddmm.mmmmm Longitude in degrees, minutes, and decimal minutes s = E or s = W, for East or West longitude hhmmss.ss UTC time in hours, minutes, and seconds of GPS position Status, s = A = valid, s = V = invalid...

  • Page 29: Gst Data Message

    2.4 GST Data Message The GST message contains Global Navigation Satellite System (GNSS) psuedorange error statistics. Table 2-5, breaks down the GST message into its components. This message has the following format: $GPGST,hhmmss.ss,a.a,b.b,c.c,d.d,e.e,f.f,g.g *cc<CR><LF> Table 2-5 GST Data Message Defined Field Description hhmmss.ss...

  • Page 30: Rmc Data Message

    Table 2-6 GSV Data Message Defined Field Description Total number of messages Message number, m = 1 to 3 Total number of satellites in view Satellite number Elevation in degrees, ee = 0 to 90 Azimuth (true) in degrees, aaa = 0 to 359 SNR (dB) + 30, ss = 0 to 99 Checksum <CR><LF>...

  • Page 31: Rre Data Message

    <CR><LF> Carriage return and line feed 2.7 RRE Data Message The RRE message contains the satellite range residuals and estimated position error. Table 2-8 breaks down the RRE data message into its components. This message has the following format: $GPRRE,n,ii,rr…ii,rr,hhh.h,vvv.v *cc<CR><LF> Table 2-8 RRE Data Message Defined Field Description...

  • Page 32: Zda Data Message

    Table 2-9 VTG Data Message Defined Field Description True course over ground, ttt = 000 to 359, in degrees True course over ground indicator, c = T always Magnetic course over ground, ttt = 000 to 359, in degrees Magnetic course over ground Indicator, always c = M ggg.gg Speed over ground, 000 to 999 knots Speed over ground units, u = N = Nautical mile/h...

  • Page 33: Rd1 Data Message

    2.10 RD1 Data Message The RD1 Data message contains a variety of information, has the following format: $RD1,s,w,f.f,l,ber,agc,dds,dop,dsp,arm,diff,nav<CR><LF> Table 2-11 summarizes the contents of this message. Table 2-11 RD1 Data Message Defined Field Description GPS seconds GPS week Current frequency (MHz) Lock Indicator (1 = lock, 0 = no lock) DDS in Hz Doppler in Hz...

  • Page 34: Hdt Data Message

    $PCSI,CS0,PXXX-Y.YYY,SN,fff.f,M,ddd,R,SS,SNR,MTP,Q,ID,H,T Table 2-12 $PCSI,1 Beacon Status Message Defined Field Description Channel 0 PXXX-Y.YYY Resident SBX-3 firmware version SBX-3 receiver serial number fff.f Channel 0 current frequency Frequency Mode (‘A’ - Auto or ‘M’ - Manual) MSK bit rate RTCM rate Signal strength Signal to noise ratio Message throughput...

  • Page 35: Hpr Data Message

    $HEROT,x.x,A*cc<CR><LF> Where ‘x.x’ is the rate of turn in degrees per minute and ‘A’ is a flag indicating that the data is valid. The ‘x.x’ field is negative when the vessel bow turns to port. 2.14 HPR Data Message The $PSAT,HPR message is a proprietary NMEA sentence that provides the heading, pitch / roll information, and time in a single data message.

  • Page 36: Table 2-14 $Psat,Gbs Data Message Defined

    Table 2-14 $PSAT,GBS Data Message Defined Field Description hhmmss.ss UTC time in hours, minutes, seconds of the GGA or GNS fix associated with this sentence. ll.l Expected error in latitude. LL.L Expected error in longitude. aa.a Expected error in altitude. ID number of most likely failed satellite.

  • Page 37: General Commands

    3. General Commands This section presents various commands relating to the general operation and configuration of the DGPS MAX, Mini MAX, PowerMAX, Vector, Vector PRO, Vector Sensor, Vector Sensor PRO and Vector OEM. The following table provides a brief description of the general commands supported by these receivers.

  • Page 38: Table 3-1 General Commands

    Baud rate change command for the receivers. $JCONN Virtual circuit command used to interface to the internal beacon receiver or communicate with the menu system microprocessor (for the DGPS MAX). $JDIFF This command is used to set the differential mode.

  • Page 39: Jasc,D1

    Note - Please ensure that you save any changes that you wish to maintain beyond the current power-up by using the $JSAVE command and wait for the ‘$> Save Complete’ response. 3.1 $JASC,D1 This command allows you to adjust the output of the RD1 diagnostic information message from the receiver.

  • Page 40: Jasc,Virtual

    Where feature status variable, ‘r’, may be one of the following values. Description NORM HIGH The receiver will reply with the following response. $> 3.3 $JASC,VIRTUAL When using an external correction source, this command is used to ‘daisy chain’ RTCM data from being input from one port and output through the other.

  • Page 41: Jalt

    The receiver will reply with the following response. $> 3.4 $JALT This command turns altitude aiding on or off for the receiver. When set to on, altitude aiding uses a fixed altitude instead of using one satellite’s observations to calculate the altitude. The advantage of this feature, when operating in an application where a fixed altitude is acceptable, is that the extra satellite’s observations can be used to betterment of the latitude, longitude, and time offset calculations, resulting in improved accuracy and...

  • Page 42: Jlimit

    The receiver will reply with the following response. $> 3.5 $JLIMIT This command is used to change the threshold of estimated horizontal performance for which the DGPS position LED is illuminated (only on the Mini MAX and PowerMAX). The default value for this parameter is a conservative 10.0 meters.

  • Page 43: Jbaud

    $>JAPP,current,other Where ‘current’ indicates the current application in use and ‘other’ indicates the secondary application that is not in use currently. To change from the current application to the other application (when a two applications are present), issue the following command. $JAPP,OTHER<CR><LF>...

  • Page 44: Jconn

    9600 19200 38400 When this command has been issued without the ‘,OTHER’ data field, the baud rate of the current port will be changed accordingly. When the ‘,OTHER’ data field is specified (without the square brackets), a baud rate change will occur for the other port. The receiver will reply with the following response.

  • Page 45: Jdiff

    3.10 $JK This command is used by the receiver to enable subscriptions for various features. This command will have the following format. $JK,x…<CR><LF> Where ‘x…’ is the subscription key provided by CSI Wireless and is 10 characters in length. Programming Manual...

  • Page 46: Jpos

    If you send the $JK command without a subscription key as follows, it will return the expiry date of the subscription. $JK<CR><LF> Reply. $>JK,12/31/2003,1 3.11 $JPOS This command is used to speed up the initial acquisition when changing continents with the receiver (for example, powering it for the first time in Europe after it has been tested in Canada).

  • Page 47: Jquery,Guide

    3.12 $JQUERY,GUIDE This command is used to poll the receiver for its opinion on whether or not it is providing suitable performance after the both SBAS and GPS have been acquired (up to 5 min). This feature takes into consideration the download status of the SBAS ionospheric map and also the carrier phase smoothing of the GPS.

  • Page 48: Jshow

    $JATT commands do not require a $JSAVE command to be issued subsequently as their changes are automatically saved. This command has the following structure. $JSAVE<CR><LF> The receiver will reply with the following two messages. Ensure that the receiver indicates that the save process is complete before turning the receiver off or changing the configuration further.
  • Page 49 $>JSHOW,BAUD,9600 $>JSHOW,BAUD,9600,OTHER $>JSHOW,ASC,GPGGA,1.0,OTHER $>JSHOW,ASC,GPVTG,1.0,OTHER $>JSHOW,ASC,GPGSV,1.0,OTHER $>JSHOW,ASC,GPGST,1.0,OTHER $>JSHOW,ASC,D1,1,OTHER $>JSHOW,DIFF,WAAS $>JSHOW,ALT,NEVER $>JSHOW,LIMIT,10.0 (10) $>JSHOW,MASK,5 (11) $>JSHOW,POS,51.0,-114.0 (12) $>JSHOW,AIR,AUTO,OFF (13) $>JSHOW,FREQ,1575.4200,250 (14) $>JSHOW,AGE,1800 (15) This example response is summarized in the following table. Line Description This line indicates that the current port is set to a baud rate of 9600 This line indicates that the other port is set to a baud rate of 9600 This line indicates that GPGGA is output at a rate of 1 Hz from the other port This line indicates that GPVTG is output at a rate of 1 Hz from the other port...
  • Page 50 When issuing this command with the optional ‘,subset’ data field (without the square brackets), a one-line response is provided. The subset field may be either CONF or GP. When CONF is specified for ‘subset’, the following response is provided. $>JSHOW,CONF,N,0.0,10.0,5,A,60W This response is summarize d in the following table.
  • Page 51 Type Description SLXg The DGPS MAX will respond with ‘SLXg’, where SLX is the name of the board controlling the receiver and ‘g’ stands for GPS system. SX1g The Mini MAX will respond with SX1g, where SX1 is the name of the board controlling the receiver and ‘g’...

  • Page 52: Jbin

    11577 This field provides the serial number of the GPS engine This field is the fleet number This is the hardware version 11102002 This field is the production date code 01/01/1900 This field is the subscription begin date 1/01/3003 This field is the Subscription expiration date This field is the ARM version This field is the DSP version 3.18 $JBIN...

  • Page 53: Gps Commands

    4. GPS Commands This section describes the selection of commands specific to the configuration and operation of the DGPS MAX, Mini MAX, PowerMAX, Vector, Vector PRO, Vector Sensor, Vector Sensor PRO and Vector OEM receivers. The following table provides a brief description of the commands supported by the GPS engine for its configuration and operation.
  • Page 54 choice of various update rates available, depending on what your requirements are. This command has the following layout. $JASC,msg,r[,OTHER]<CR><LF> Where ‘msg’ is the name of the data message and ‘r’ is the message rate, as shown in the table below. Sending the command without the optional ‘,OTHER’...

  • Page 55: Jpos,M

    The receiver will reply with the following response. $> 4.2 $JPOS,M This command allows you to ‘poll’ the receiver and output selected messages only when this manual mark is entered. To initiate this for the messages listed above that have this feature enabled, they must be turned on using the command $JASC,msg,M[,OTHER]<CR><LF>...

  • Page 56: Joff

    $JAGE,age<CR><LF> Where maximum differential age timeout variable, ‘age’, may be a value from 6 to 8100 seconds. The receiver will reply with the following response. $> 4.4 $JOFF This command allows you to turn off all data messages being output through the current or other port, including any binary messages.

  • Page 57: Jnp

    $JMASK,e<CR><LF> Where the elevation mask cutoff angle, ‘e’, may be a value from 0 to 60 degrees. The receiver will reply with the following response. $> 4.6 $JNP This command allows the user to specify the number of decimal places output in the GGA and GLL messages.

  • Page 58: Jraim

    Where ‘r’ may be one of the following baud rates. Baud Rates 4800 9600 When the ‘,OTHER’ data field is specified (without the square brackets), this command will turn on the four NMEA messages on the other port. The receiver will reply with the following response. $>...

  • Page 59: Jsmooth

    Variable Description Horizontal Protection Radius (HPR). You will receive notification in the $PSAT,GBS message that the horizontal error has exceeded this amount. The acceptable range for this value is from 1 to 10000 meters. The default is 10m. probHPR Maximum allowed probability that the position computed lies outside the HPR. The acceptable range for this value is from 0.001% to 50%.
  • Page 60 Note - If you are unsure of the best value for this setting, it’s best to be conservative and leave it at the default setting of LONG (15 minutes). Programming Manual...

  • Page 61: Waas Commands

    5. WAAS Commands This section details the NMEA messages accepted by the internal WAAS engine of the DGPS MAX, Mini MAX, PowerMAX, Vector, Vector PRO, Vector Sensor, Vector Sensor PRO and Vector OEM receivers. The following table provides a brief description of the commands supported by the WAAS demodulator for its control and operation.

  • Page 62: Jgeo

    There are no data fields to specify in this message. The receiver will respond with the following message: $>JWAASPRN,prn1,prn2 Where ‘prn1’ indicates the first PRN number and ‘prn2’ indicates the second PRN number. The PRN numbers for WAAS are 122 and 134. EGNOS is currently using PRN 120.

  • Page 63: Jasc,Rtcm

    5.3 $JASC,RTCM This command allows you to configure the receiver to output, through the MAIN (for DGPS MAX, Mini MAX or PowerMAX) or Primary Master (for Vector products) port, correction data currently being used by one of the three internal sensors. The correction data output is RTCM SC-104 even...
  • Page 64 Note - Turning RTCM on or off using this command provides the same functionality as setting the RTCM menu item to on or off in the NMEA On/Off menu of the DGPS MAX. The receiver will reply with the following response: $>...

  • Page 65: Omnistar Commands (For Dgps Max Only)

    This command allows you to tune the OmniSTAR receiver either in automatic mode or manually. $JGEO This command requests information relating to the current frequency and location of the OmniSTAR satellite in relation the antenna of the DGPS MAX system. The following subsections provide detailed information relating to the use of each command.
  • Page 66 This command has the following layout: $JLBEAM<CR><LF> The receiver will output the following data: $>JLBEAM,Sent frequency ,Used frequency ,Baud xxx,Geo xxx (1) $>JLBEAM,frequency ,longitude ,latitude ,symbol ,satlongitude $>JLBEAM,frequency ,longitude ,latitude ,baud,satlongitude The first line of this output is described in the following table: Data Field Description $JLBEAM...

  • Page 67: Jlxbeam

    $>JLBEAM,1554.4970,-98,45,1200,(-101) $>JLBEAM,1551.4890,-108,45,1200,(-101) $>JLBEAM,1531.2300,25,50,1200,(16) $>JLBEAM,1535.1375,-75,0,1200,(-98) $>JLBEAM,1535.1375,-165,13,1200,(-98) $>JLBEAM,1535.1525,20,6,1200,(25) $>JLBEAM,1558.5100,135,-30,1200,(160) $>JLBEAM,1535.1375,90,15,1200,(109) $>JLBEAM,1535.1375,179,15,1200,(109) 6.2 $JLXBEAM This command displays debug information for the spot beam table. This message has the following structure: $JLXBEAM<CR><LF> The receiver will respond with the following data output: $>JLBEAMEX,0 $> Table:0 $>...

  • Page 68: Joms

    Data Field Description DDSfreq This field provides the DDS frequency long This variable is the longitude of the spot beam centroid This field provides the latitude of the spot beam centroid symbol This data field indicates the symbol rate used for that particular spot beam satlong This field provides the longitude of the L-band satellite An example of this response follows:...

  • Page 69: Jomr

    This message is summarized in the following table Data field Description This field indicates a WET or DRY subscription Source RTCM source ID or ALL if VBS AccrReduction 0 is most accurate StartDate Subscription start date EndDate Subscription end date HourGlass Seconds of metered time Extention Time...

  • Page 70: Jfreq

    Where ‘freq’ is the frequency in kHz and ‘symb’ is the symbol rate (1200 or 2400 baud). The DGPS MAX will reply with the following response: $> Entering a frequency of zero with no associated symbol rate will place the OmniSTAR engine into automatic mode.

  • Page 71: Jgeo

    Coverage Area Longitude Frequency Baud Rate Sat. Name Eastern U.S. 101 West 1556.825 1200 AMSC-E Central U.S 101 West 1554.497 1200 AMSC-C Western U.S. 101 West 1551.489 1200 AMSC-W Central America, South America, Caribbean, 98 West 1535.1375 1200 AM-SAT West Africa, South Africa Asia, Pacific Islands 109 East...
  • Page 72 WAAS satellite PRN number Lon=-101 Longitude of the satellite El=31 Elevation angle from the DGPS MAX’s antenna to the WAAS satellite, referenced to the horizon. Az=163.4 Azimuth from the DGPS MAX’s antenna to the WAAS satellite, referenced to the horizon.

  • Page 73: Beacon Commands (For All Receivers Excluding Vector And Vector Sensor)

    7. Beacon Commands (for all receivers excluding Vector and Vector Sensor) This section details the commands supported by the DGPS MAX, Mini MAX, PowerMAX, Vector PRO, Vector Sensor PRO and Vector OEM PRO’s internal SBX beacon engine. The following table provides a brief description of the commands supported by this engine for control of its configuration and operation.

  • Page 74: Rtcm Output ($Jasc,Beac,R)

    7.1 RTCM Output ($JASC,BEAC,r) This command allows you to remotely instruct the receiver to output beacon RTCM data from the receiver, when operating in beacon mode. This command has the following structure: $JASC,BEAC,r Where r is either 0 or 1 indicating OFF or ON, respectively. The receiver will reply with the following response: $>...
  • Page 75 The internal SBX will reply with the following response: $PCSI,ACK,GPMSK,fff.f,M,ddd,M,n<CR><LF> Field Description fff.f Frequency in kHz (283.5 to 325) Designates manual frequency selection MSK bit rate (100 or 200 bps) Designates manual MSK bit rate selection Period of output of performance status message, 0 to 100 seconds ($CRMSS) When this message is acknowledged by the internal SBX, it will immediately tune to the frequency specified and demodulate at the rate specified.

  • Page 76: Pcsi,0

    When power to the receiver is removed and reapplied, the status output interval resets to zero (no output). The status message output by the SBX, as initiated using this command, is the CRMSS message response discussed in Section 7.9. 7.2.1.2 Automatic Beacon Search Command ($GPMSK) This command initiates the SBX automatic mode of operation in which the receiver operates without operator intervention, selecting the most appropriate beacon station.

  • Page 77: Status Line A, Channel 0 ($Pcsi,1)

    This command queries the receiver for the list of available proprietary $PCSI commands. It has the following form: $PCSI,0<CR><LF> The internal SBX will reply with the following response: $PCSI,0 $PCSI,ACK,0 $PCSI,P021-0,001 $PCSI,0 ->HELP Msg $PCSI,1 ->Status line A,<T>,<S> $PCSI,2 ->Status line B,<T> $PCSI,3 ->Dump Search $PCSI,4 ->Wipe Search $PCSI,5 ->Port Rate,<P0>,<P1>...

  • Page 78: Status Line B, Channel 1 ($Pcsi,2)

    Field Description This field indicates that the data pertains to channel 0 (the primary channel) PXXX-Y.YYY This data field provides the firmware version of the SBX beacon receiver This item shows the serial number of the SBX fff.f This field is the current primary channel frequency in kHz (283.5 to 325) This field indicates the frequency selection mode (M for manual or A for auto) This field shows the MSK bit rate This field indicates the MSK bit rate selection mode (M for manual or A for auto)

  • Page 79: Search Dump ($Pcsi,3)

    This item shows the serial number of the SBX fff.f This field is the current secondary channel frequency in kHz (283.5 to 325) This field indicates the frequency selection mode (M for manual or A for auto) This field shows the MSK bit rate This field indicates the MSK bit rate selection mode (M for manual or A for auto) This field provides the signal strength reading in dBµV This field shows the signal to noise ratio in dB...
  • Page 80 Field Description index to index This field indicates the channel number from 1 to 84 channels freq This field indicates the frequency corresponding to the index number This field shows the latest station ID of a beacon corresponding to the frequency This field is an internal status flag This field indicates the signal to noise ration in dB that was last measured for that beacon...

  • Page 81: Pcsi,4

    $PCSI,82,3240,000,0A,-100,0011,83,3245,000,0A,-100,0011,84,3250,000,0A,-100,0018 7.7 $PCSI,4 The Wipe Search command instructs the SBX to erase all parameters within the beacon almanac and to initiate a new Global Search to identify the beacon signals available for a particular area. The command has the following form: $PCSI,4<CR><LF>...

  • Page 82: Performance Status Query ($Gpcrq)

    Field Description fff.f Frequency in kHz (283.5 to 325) Tune mode (M = manual tune mode, A = automatic tune mode) MSK bit rate (100, or 200 bps) MSK rate selection (M = manual tune mode, A = automatic tune mode) Period of output of performance status message, 0 to 100 seconds ($CRMSS) An example of this message follows: $CRMSK,287.0,A,100,A,0*4A...

  • Page 83: Crmsk

    7.10 $CRMSK This message provides SBX receiver frequency status information and is described in Section 7.8.1 above. Programming Manual...

  • Page 84: Heading Commands (For Vector Products Only)

    8. Heading Commands (for Vector products only) This section details the various settings that relate to the GPS heading aspect of the Vector, Vector PRO, Vector Sensor, Vector Sensor PRO and Vector OEM heading systems. The following table summarizes the commands detailed in this section. Programming Manual...

  • Page 85: Jatt,Tiltaid

    Table 8-1 GPS Heading Commands Message Description TILTAID Command to turn on tilt aiding and query the current feature status TILTCAL Command to calibrate tilt aiding and query the current feature status MAGAID Command to turn on magnetic aiding and query the current feature status MAGCAL Command to store a new magnetic calibration table MAGCLR...

  • Page 86: Jatt,Tiltcal

    $JATT,TILTAID,NO<CR><LF> You may turn this feature back on with the following command. $JATT,TILTAID,YES,<CR><LF> To query the Vector for the current status of this feature, issue the following command. $JATT,TILTAID<CR><LF> Note - If you choose to increase the antenna separation of your Vector Sensor or Vector OEM beyond the default 0.5 m length, use of tilt aiding is required.

  • Page 87: Jatt,Magclr And Magcal

    To turn the magnetic-aiding feature on, use the following command. $JATT,MAGAID,YES<CR><LF> You may turn this feature back off with the following command. $JATT,MAGAID,NO<CR><LF> To query the Vector for the current status of this feature, issue the following command. $JATT,MAGAID<CR><LF> 8.4 $JATT,MAGCLR and MAGCAL Metallic structures on the vessel affect a compass’...

  • Page 88: Jatt,Gyroaid

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

  • Page 89: Jatt,Level

    If you wish to request the status of this message, send the following command. $JATT,GYROAID<CR><LF> Note - If you choose to increase the antenna separation of your Vector Sensor or Vector OEM beyond the default 0.5 m length, use of gyro aiding is required. 8.6 $JATT,LEVEL This command is used to invoke the level operation mode of the Vector.

  • Page 90: Jatt,Msep (For Vector Sensor/Sensor Pro And Oem Only)

    $JATT,CSEP<CR><LF> The Vector will reply with the following. $JATT,x,CSEP, Where ‘x‘ is the antenna separation in m. 8.8 $JATT,MSEP (for Vector Sensor/Sensor PRO and OEM only) This command is used to manually enter a custom separation between antennas (must be accurate to within one to two centimeters). The Vector Sensor, Vector Sensor PRO and Vector OEM are the only Vector products that has an adjustable antenna separation.

  • Page 91: Jatt,Ptau

    The following command is used to adjust the heading time constant. $JATT,HTAU,htau<CR><LF> Where ‘htau’ is the new time constant that falls within the range of 0.0 to 3600.0 seconds. Depending on the expected dynamics of the vessel, you may wish to adjust this parameter.

  • Page 92: Jatt,Hrtau

    $JATT,PTAU,ptau<CR><LF> Where ‘ptau’ is the new time constant that falls within the range of 0.0 to 3600.0 seconds. Depending on the expected dynamics of the vessel, you may wish to adjust this parameter. For instance, if the vessel is very large and is not able to pitch quickly, increasing this time is reasonable.

  • Page 93: Jatt,Cogtau

    Where ‘hrtau’ is the new time constant that falls within the range of 0.0 to 3600.0 seconds. Depending on the expected dynamics of the vessel, you may wish to adjust this parameter. For instance, if the vessel is very large and is not able to turn quickly, increasing this time is reasonable.

  • Page 94: Jatt,Spdtau

    As with the heading time constant, the setting of this value depends upon the expected dynamics of the vessel. If a boat is highly dynamic, this value should be set to a lower value since the filtering window needs be shorter in time, resulting in a more responsive measurement.

  • Page 95: Jatt,Hbias

    be set to a lower value since the filtering window would be shorter, resulting in a more responsive measurement. However, if a vessel is very large and has much more resistance to change in its motion, this value can be increased to reduce measurement noise.

  • Page 96: Jatt,Pbias

    8.15 $JATT,PBIAS You may adjust the pitch / roll output from the Vector in order to calibrate the measurement if the Antenna Array is not installed in a horizontal plane. The following NMEA message allows to you to calibrate the pitch / roll reading from the Vector.

  • Page 97: Jatt,Roll

    $JATT,NEGTILT,NO<CR><LF> To query the Vector for the current state of this feature, issue the following command. $JATT,NEGTILT<CR><LF> 8.17 $JATT,ROLL If you wish to get the roll measurement, you will need to install the Antenna Array perpendicular to the vessel’s axis, and send the following command to the Vector.

  • Page 98: Jatt,Flipbrd

    8.19 $JATT,FLIPBRD This new command was added to allow for the Vector board to be installed upside down. This command should only be used with the Vector Sensor, Vector Sensor PRO and the Vector OEM board, since flipping the board (or Vector Sensor enclosure) doesn’t affect the antenna array, which needs to remain facing upwards.
  • Page 99 $>JATT,SUMMARY,TAU:H=0.50,HR=2.00,P=0.50,COG=0.00,SPD=0.00,BIA S:H=0.00,P=0.00,FLAG_HEX:GN-RMTL=01 Field Description htau This data field provides the current heading time constant in seconds hrtau This data field provides the current heading rate time constant in seconds ptau This data field provides the current pitch time constant in seconds cogtau This data field provides the current course over ground time constant in seconds spdtau...

  • Page 100: Jatt,Help

    RMTL = hex ( 08 + 04) = hex (12) = C ‘GN-RMTL’ = 2C The following tables summarize the possible feature configurations for the first GN character and the second RMTL character. GN Value Gyro Aiding Negative Tilt RMTL Value Roll Mag Aiding Tilt Aiding...
  • Page 101 The Vector supports a command that you can use to get a short list of the supported commands if you find yourself in the field without documentation. This command has the following format. $JATT,HELP<CR><LF> The response to this command will be the following. $>JATT,HELP,CSEP,MSEP,EXACT,LEVEL,HTAU,HRTAU,HBIASPBIAS,NEG TILT,ROLL,TILTAID,TILTCAL,MAGAID,MAGCAL,MAGCLR, GYROAID,COGTAU,SPDTAU,SEARCH,SUMMARY...

  • Page 102: E-Dif Commands (For Mini Max, Powermax And Dgps Max Only)

    MAX only) This section provides information related to the NMEA messages accepted by the Mini MAX, PowerMAX and DGPS MAX’s e-Dif application. The following table provides a brief description of the commands supported by the e-Dif application for its control and operation.

  • Page 103: Jrad,1,P

    $>JRAD,1,51.00233513,-114.08232345,1050.212 Upon startup of the receiver with the e-Dif application running (as opposed to the SBAS application), no reference position will be present in memory. If you attempt to query for the reference position, the receiver will respond with the following message: $>JRAD,1,FAILED,Present Location Not Stable 9.2 $JRAD,1,P This command records the current position as the reference with which to...

  • Page 104: Jrad,2

    Data Field Description This is the latitude of the reference point in degrees decimal degrees. This is the longitude of the reference point in degrees decimal degrees. height This is the ellipsoidal height of the reference point in m. Ellipsoidal height can be calculated by adding the altitude and the geiodal separation, both available from the GGA sentence.
  • Page 105 This command is used for two primary purposes. The first is to invoke the e-Dif function once the unit has started up (with the e-Dif application active). The second purpose is to update the e-Dif solution (calibration) using the current position as opposed to the reference position used by the $JRAD,2 command.

  • Page 106: Binary Data

    10. Binary Data The DGPS MAX, Mini MAX, PowerMAX Vector, Vector PRO, Vector Sensor, Vector Sensor PRO and Vector OEM all support a selection of binary data messages that provide improved communication port efficiency. Additionally, certain data is available only in binary format, such as raw measurement information.

  • Page 107: Bin 1

    Table 10-1 Binary Message Structure Group Components Type Bytes Value Header Synchronization String 4 byte string $BIN BlockID - a number Unsigned 1, 2, 80, 93, 94, 95, which tells the type of short 96, 97, 98, or 99 binary message DataLength - the length Unsigned 52, 16, 40, 56, 96,...

  • Page 108: Bin 2

    Table 10-2 Bin 1 Message Name Components Type Bytes Value AgeOfDiff Age of differential, seconds. Byte 0 to 255 Use Extended AgeOfDiff first. If both = 0 then no differential NumOfSats Number of satellites used in Byte 0 to 12 the GPS solution GPSWeek GPS week associated with this...

  • Page 109: Bin 80

    Table 10-3 Bin 2 Message Name Components Type Bytes Value MaskSatsTracked A mask of satellites tracked by Unsigned Individual bits the GPS. Bit 0 corresponds to long represent satellites the GPS satellite with PRN 1. MaskSatsUsed A mask of satellites used in the Unsigned Individual bits GPS solution.

  • Page 110: Bin 93

    This message has a BlockID of 80 and is 40 bytes excluding the header and epilogue. This message contains the WAAS message. The following table describes the constituents of this message in order. Table 10-4 Bin 80 Message Name Components Type Bytes Value...

  • Page 111: Bin 94

    Table 10-5 Bin 93 Message Name Components Type Bytes Value Satellite to which this data belongs Unsigned short Spare Not used at this time Unsigned short Future use TOWSecOfWee Time at which this arrived Unsigned long (LSB = 1 sec) IODE Unsigned short Consult the ICD-GPS-200 for...

  • Page 112: Bin 95

    Table 10-6 Bin 94 Message Name Components Type Bytes Value a0,a1, a2,a3 AFCRL alpha parameters Double 8 x 4 = 32 b0,b1,b2,b3 AFCRL beta parameters Double 8 x 4 = 32 A0,A1 Coefficients for determining UTC time Double 8 x 2 = 16 Reference time for A0 and A1, second Unsigned long of GPS week...

  • Page 113: Bin 96

    10.8 Bin 96 This message has a BlockID of 96 and is 300 bytes excluding the header and epilogue. This message contains phase and code data. The following table describes the constituents of this message in order. Table 10-8 Bin 96 Message Name Components Type...

  • Page 114: Bin 97

    10.9 Bin 97 This message has a BlockID of 97 and is 28 bytes excluding the header and epilogue. This message contains statistics for processor utilization. The following table describes the details of this message in order. Table 10-9 Bin 97 Message Name Components Type...

  • Page 115: Table 10-10 Bin 98 Message

    Table 10-10 Bin 98 Message Name Components Type Bytes Value AlmanData Almanac-derived-data, 8 Structure 8 x 8 = 64 See the satellites at a time array following table LastAlman Last almanac processed Byte 0 to 31 IonoUTCVFlag Flag that is set when Byte 0 = not logged ionosphere modeling data is...

  • Page 116: Bin 99

    10.11 Bin 99 This message has a BlockID of 99 and is 304 bytes excluding the header and epilogue. This message contains quantities related to the tracking of the individual GPS satellites along with some other relevant data. The following table describes the constituents of this message in order.
  • Page 117 ChannelData Array Name Components Type Bytes Value Channel Channel number Byte 0 to 12 Satellite being tracked, 0 == not Byte 0 to 32 tracked Status Status bit mask (code carrier bit Byte Bit 0 = code lock frame) 1 = carrier lock 2 = bit lock 3 = frame sync 4 = frame sync and new...
  • Page 118 80000.0 DiffCorr 100 times the differential correction Short for this channel’s psuedorange PosResid 10 times the position residual from Short the GPS solution for this chanel VelResid 10 times the velocity residual from Short the GPS solution for this channel DoppHZ Expected Doppler for this channel in Short...

  • Page 119: Menu System Commands (For Dgps Max Only)

    (for DGPS MAX only) The menu system is operated by a processor on-board the SLX within the DGPS MAX. The menu system responds to a selection of specific NMEA messages. In order to communicate with the processor running the menu system, a virtual connection must first be established using the $JCONN,AB command, issued through the MAIN port of the DGPS MAX.

  • Page 120: Virtual Circuit ($Jconn,Ab)

    -Checksum Error Report Where ‘x.xxx’ is the current menu system version number. 11.3 $PCSI,BAUD The $PCSI,BAUD command is used to change the DGPS MAX’s baud rate and has the following structure: $PCSI,BAUD,baud<CR><LF> Where ‘baud’ is the following valid baud rates.

  • Page 121: Pcsi,Status

    The MAX will respond by issuing the following message: $>PCSI,MSG,Baud rate set to xxxx Where ‘xxxx’ is the new baud rate. Once issued, the DGPS MAX will change its baud rate to the desired baud rate. Note, the SLX-2 Port B baud rate does not change, this must be done manually.

  • Page 122: Pcsi,Setup,Show

    UTC offset of –7 hours, using beacon mode and receiving GPS data at 5 Hz. 11.6 $PCSI,SETUP,SHOW To see the setup the DGPS MAX currently has, the following command can be issued: $PCSI,SETUP,SHOW<CR><LF>...

  • Page 123: Pcsi,Setup,Save

    GGA and VTG Information received at 5 Hz. GGA and VTG Information received at 1 Hz 11.7 $PCSI,SETUP,SAVE To save the current setup parameters in memory for the DGPS MAX to use on any subsequent startups, use the following command to save the setup: $PCSI,SETUP,SAVE<CR><LF>...

  • Page 124: Pcsi,Setup,Read

    To reset the current setup parameters in RAM, use the following command to reset the setup: $PCSI,SETUP,RESET<CR><LF> The DGPS MAX will clear the configuration in RAM, but not in FLASH and set all values to their default state. Programming Manual...

  • Page 125: Pcsi,Setup,Intro

    Each line must be equal to 16 characters in length or less. As an example, if the following command was issued: $PCSI,SETUP,INTRO, CSI Wireless Inc, MAX<CR><LF> The setup must be saved, using the $PCSI,SETUP,SAVE<CR><LF>...

  • Page 126: Configuration Wizard (For Dgps Max Only)

    There are two main parts to the Configuration Wizard: you may choose to configure the DGPS MAX easily, step-by-step, or you may choose a pre- defined profile from one of the five saved in memory. Since the DGPS MAX is shipped with no pre-defined profiles, it’s advantageous to define the configurations as you feel necessary.

  • Page 127: Virtual Circuit ($Jconn,Ab)

    The commands described in this section require the issue of the virtual circuit command, $JCONN,AB discussed in Chapter 3. This command establishes a direct connection to the microprocessor that operates the menu system of the DGPS MAX receiver. 12.2 $PCSI,WIZARD,SET This command is used to set the Wizard parameters.

  • Page 128: Pcsi,Wizard,Rates

    Where: Field Purpose Options Description Wizard Number 1 – 5 Wizard Number, 1 to 5 Port B Baud Rate Valid Rates Valid baud rate for port B Port A Baud Rate Valid Rates Valid baud rate for port A diff Differential Source NONE Autonomous Mode...

  • Page 129: Pcsi,Wizard,Show

    Where: Field Purpose Options Description Wizard Number 1 – 5 Wizard Number, 1 to 5 GGA rate 0, 1, 5, 0.2 Valid rate for GGA GLL rate 0, 1, 5, 0.2 Valid rate for GLL GSA rate 0, 1, 5, 0.2 Valid rate for GSA GST rate 0, 1, 5, 0.2...

  • Page 130: Frequently Asked Questions

    13. Frequently Asked Questions Q - My receiver doesn’t appear to be communicating, what do I do? A - This could be one of a few issues: 1. Examine the cables and connectors for signs of damage. 2. Ensure that you are properly powering the system with the correct voltage.
  • Page 131 Q - What is the best software tool to use to communicate with my receiver and configure it? A - We use three different software applications at CSI Wireless for this application: • PocketMAX – Available from the CSI Wireless Web site. This PocketPC (2000, 2002 and 2003) application is a user friendly way to configure your receiver and to determine the current settings.
  • Page 132 • HyperTerminal – Available on all Windows 95, 98, ME, 2000 and XP. This tool is useful as it allows you to easily configure the receiver by directly typing commands into the terminal window. The output from the receiver is shown simultaneously.

  • Page 133: Appendix A - Resources

    Appendix A - Resources ICD-GPS-200 Specification is available for download from the following website: https://gpstest.46tg.af.mil/webpub/general/bbs.nsf/($All)/cb09775cdcb7eb6e88 25662d0056ee92?OpenDocument Programming Manual...

  • Page 134: Further Reading

    Association (NMEA 0183) Standard for Interfacing Marine Electronic Devices, Version 2.1, October 15, NMEA 1995, PO Box 50040, Mobile Alabama, 36605 USA CSI Wireless Inc., DGPS MAX Reference Manual, rev 00, March 2001, 4110 Street SE, Calgary Alberta, T2G 3C4 Canada Programming Manual...

  • Page 135: Index

    Index $PCSI,1, 76 $PCSI,2, 77 $PCSI,3, 78 $PCSI,4, 80 $GPCRQ,MSK, 80 $GPCRQ,MSS, 81 $GPGBS, 36 $GPGGA, 27 $GPGLL, 27 Automatic Beacon Search (ABS), 75 $GPGSA, 28 $GPGST, 29 $GPGSV, 29 $GPMSK, 73, 74, 75 Customer Service, xv $GPRMC, 30 $GPRRE, 31 $GPVTG, 31 $GPZDA, 32 $J4STRING, 56...
  • Page 136 $GPRMC, 30 $GPRRE, 31 $GPVTG, 31 www.csi-wireless.com, xvi $GPZDA, 32 Programming Manual...

This manual is also suitable for:

Mini maxVector sensorVector sensor proPowermaxVectorVector pro

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