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CSI Wireless Seres Reference Manual

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Seres™
Reference Manual
Part Number 875-0056-000
Date:
September 2002

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Table of Contents

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  • Page 1 Seres™ Reference Manual Part Number 875-0056-000 Date: September 2002...
  • Page 2 Copyright Notice © Copyright 2002 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 end purchaser’s exclusive remedy under this warranty shall be limited to the repair or replacement, at the option of CSI Wireless, of any defective Products or components thereof. The end user shall notify CSI Wireless or a CSI Wireless approved service center immediately of any claimed defect.
  • Page 4 Products are not intended for primary navigation or for use in safety of life applications. The potential accuracy of Products as stated in CSI Wireless literature and/or Product specifications serves to provide only an estimate of achievable accuracy based on: •...
  • Page 5 Obtaining Warranty Service In order to obtain warranty service, the end purchaser must bring the Product to a CSI Wireless approved service center, along with the end purchaser’s proof of purchase. For any questions regarding warranty service or to obtain information regarding the location of any of CSI Wireless’s approved service centers, contact CSI Wireless at the following...
  • Page 6 Seres Reference Manual...

  • Page 7: Table Of Contents

    Factors Affecting DGPS Accuracy..............4 1.4.1 Proximity of the Reference Station ............5 1.4.2 Correction Latency.................. 7 1.4.3 Satellite Constellation Geometry............7 1.4.4 GPS Signal Multipath ................8 1.4.5 GPS Receiver Quality................8 Space Based Augmentation Systems..............8 Seres Reference Manual...
  • Page 8 2.6.1 Magnetic Mount..................26 2.6.2 Surface Mount..................27 2.6.3 Pole Mount....................28 2.6.4 Powering the Seres ................29 2.6.5 Connecting the Seres To External Devices ........30 2.6.6 Routing and Securing the Cable ............33 Seres Overview......................34 GPS Operation .....................34 3.1.1 Automatic Tracking................34 3.1.2 GPS Performance...................34 SBAS Operation ....................35...
  • Page 9 Factory Default Parameters................38 Seres Architecture ....................39 3.5.1 Hardware....................40 3.5.2 Firmware....................40 3.5.3 Applications....................41 Seres Operation ......................42 Powering the Seres ....................42 Communicating with the Seres................42 4.2.1 NMEA 0183 Interface................43 4.2.2 Binary Interface..................44 4.2.3 RTCM SC-104 Protocol................44 Configuring the Seres..................46 Changing the Application...................46 Configuring the Data Message Output............46...
  • Page 10 5.3.15 $JSHOW....................60 5.3.16 $JT......................63 GPS Commands ....................63 5.4.1 $JASC .......................64 5.4.2 $JAGE,age....................65 5.4.3 $JOFF......................65 5.4.4 $JMASK....................66 5.4.5 $JBIN......................66 5.4.6 $J4STRING ....................67 SBAS Commands....................68 5.5.1 $JWAASPRN ..................69 5.5.2 $JGEO......................70 5.5.3 $JRD1.......................71 5.5.4 $JASC,RTCM...................71 e-Dif Commands ....................72 5.6.1 $JRAD,1....................73 Seres Reference Manual...
  • Page 11 VTG Data Message................84 5.7.9 ZDA Data Message................85 5.7.10 RD1 Data Message................86 Frequently Asked Questions..................88 General ........................88 Support and Repairs....................89 Troubleshooting....................90 Power, Communication, and Configuration ...........91 GPS Reception and Performance..............93 SBAS Reception and Performance..............94 e-Dif........................95 External Corrections...................96 Installation ......................97 Troubleshooting......................98 Seres Reference Manual...
  • Page 12 Appendix A - Specifications....................100 Appendix B - Interface......................102 Appendix C – Surface Mount Template................108 Appendix D – Resources.....................110 Index .............................113 Seres Reference Manual...

  • Page 13: List Of Figures

    Figure 2-3 Pole Mount Installation..................29 Figure 2-5 DB9 Socket Numbering ..................31 Figure 2-6 Port A Interface....................32 Figure 2-7 Port B Interface.....................32 Figure 5-1 SLXMon Screen Capture..................50 Figure B-1 GPS Data Interface.....................103 Figure B-2 RTCM Data Output Interface................104 Seres Reference Manual xiii...
  • Page 14 Seres Reference Manual...

  • Page 15: List Of Tables

    Table 5-12 RMC Data Message Defined ................82 Table 5-13 RMC Data Message Defined ................83 Table 5-14 VTG Data Message Defined................84 Table 5-15 ZDA Data Message Defined ................85 Table 5-16 RD1 Data Message Defined ................86 Table 7-1 Troubleshooting ....................98 Seres Reference Manual...
  • Page 16 Table A-1 Specifications.......................100 Seres Reference Manual...

  • Page 17: Preface

    The Seres also supports optional e-Dif firmware that allows it to position with similar accuracy to differential mode for up to 30 to 40 minutes. e-Dif allows the Seres to become it’s own base station during a short calibration procedure and use corrections computed from this initialization for extended periods while providing high accuracy.

  • Page 18: Organization

    Introduction - provides an introduction to GPS and DGPS technology, and the Seres smart antenna Chapter 2: Installation - describes how to install the Seres smart antenna, and provides a foundation for interfacing it with an external data logging or monitoring device.

  • Page 19: 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 20: 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 21: Introduction

    This chapter provides a brief overview of GPS, differential GPS, Space Based Augmentation Systems (SBAS) such as WAAS / EGNOS / MSAS, in addition to a description of the Seres positioning system. 1.1 GPS The United States Department of Defense (DoD) operates a reliable, 24 hour a day, all weather Global Positioning System (GPS).

  • Page 22: Gps Services

    1.2 Differential GPS The purpose of differential GPS (DGPS) is to remove the effects of SA, atmospheric errors, timing errors, and satellite orbit errors, while enhancing system integrity. Seres Reference Manual...

  • Page 23: How It Works

    1.3 DGPS Format For manufacturers of GPS equipment, commonality is essential to maximize the utility and compatibility of a product. The governing standard associated with GPS is the Interface Control Document, ICD-GPS-200, Seres Reference Manual...

  • Page 24: Factors Affecting Dgps Accuracy

    Space Based Augmentation Systems (SBAS) such as the European Geostationary Navigation Overlay System (EGNOS) and the Japanese MT-SAT Satellite-based Augmentation System (MSAS) use this data format. The Seres system is compatible with each of these differential services. 1.4 Factors Affecting DGPS Accuracy Many factors affect the positioning accuracy that a user may expect from a DGPS system.

  • Page 25: Proximity Of The Reference Station

    The distance between a remote user and the reference station can sometimes be considerable, such as when using 300 kHz DGPS radiobeacons (not supported by the Seres). Consequently, some of the errors associated with GPS at the base station differ somewhat from those at the remote user’s location.
  • Page 26 Compared to using a DGPS beacon, the effect of geographic proximity to a single reference station is minimized resulting in more consistent system performance throughout all locations within the network. Seres Reference Manual...

  • Page 27: Correction Latency

    Additionally, if the satellites are evenly spread around the receiver, rather than grouped in a few regions of the sky, a lower DOP (stronger solution) will result. Seres Reference Manual...

  • Page 28: Gps Signal Multipath

    Higher accuracy GPS receivers are able to achieve sub-1 meter horizontal accuracy 95% of the time using real-time DGPS transmissions. The Seres receiver / antenna system falls in to this latter category.
  • Page 29 Civil Aviation Bureau (JCAB). China has a similar program for a SBAS and the service is named the Chinese Satellite Navigation Augmentation System (SNAS). The Seres smart antenna is capable of receiving correction data from all compatible SBAS. EGNOS is currently in a prototyping phase, referred to as the EGNOS System Test Bed (ESTB) and which has been broadcasting a test signal since February 2000.

  • Page 30: How It Works

    • The Space Segment includes geostationary satellites (For example, WAAS and EGNOS use Inmarsat-III transponders). • The user segment consists of the user equipment, such as the Seres smart antenna system. A SBAS uses a state-based approach in their software architecture. This means that a separate correction is made available for each error source rather than the sum effect of errors on the user equipment’s range...

  • Page 31: Signal Information

    To enhance the information provided by SBAS, the Seres system extrapolates the ionospheric information beyond the broadcast information. This increases the usable geography for WAAS and is discussed in Section 1.5.5. This feature helps to improve the usable coverage area of a SBAS service.

  • Page 32: Waas And Estb Coverage

    COAST technology helps to maintain system performance during times of differential outage. When using SBAS correction data, the Seres is able to provide you with the azimuth and elevation of the SBAS available satellites via a NMEA serial port command to aid in determining their position with respect to the built-in antenna.
  • Page 33 SBAS may not be desirable or possible, as four or greater satellites (with correctors) must be available to compute a DGPS position. The next section provides further information on the ionospheric map features of SBAS and the Seres antenna. Seres Reference Manual...

  • Page 34: Figure 1-1 Waas Coverage

    Figure 1-1 WAAS Coverage Seres Reference Manual...

  • Page 35: Figure 1-2 Egnos Coverage

    Figure 1-2 EGNOS Coverage Seres Reference Manual...

  • Page 36: Sbas Ionospheric Map Extrapolation

    1.5.5 SBAS Ionospheric Map Extrapolation To improve upon the ionospheric map provided by SBAS, the Seres smart antenna extrapolates a larger ionospheric map from the broadcast coverage map, extending its effective coverage. This allows the Seres to be used successfully in regions that competitive products may not.

  • Page 37: Figure 1-3 Broadcast Waas Inonspheric Correction Map

    Figure 1-3 Broadcast WAAS Ionospheric Correction Map Figure 1-4 Extrapolated WAAS Ionospheric Correction Map Seres Reference Manual...

  • Page 38: Figure 1-5 Broadcast Egnos Inonspheric Correction Map

    Figure 1-5 Broadcast EGNOS Ionospheric Correction Map Figure 1-6 Extrapolated EGNOS Ionospheric Correction Map Seres Reference Manual...

  • Page 39: E-Dif - Extended Differential Option

    Australia, and Asia. Since e-Dif is an option, it will either come pre-installed inside your Seres, or you may order the option at a later time. It can be easily installed in the field using a PC computer and some simple software if not pre-installed.

  • Page 40: Figure 1-7 E-Dif Error Drift

    Figure 1-7 e-Dif Error Drift To use e-Dif, an option must be purchased from CSI Wireless. The Seres system comes pre-installed with e-Dif firmware and a simple key command Seres Reference Manual...

  • Page 41: Coast™ Technology

    COAST technology provides more consistent positioning during periods when signal loss occurs, thus bridging the gap to when the signal is reacquired. This means that the Seres system is more tolerant than competing products to loss of SBAS or externally input RTCM SC-104 corrections.
  • Page 42 The interface to the Seres is a built-in extension cable that provides power input to the antenna and serial communication with the SERES through dual serial ports. The standard extension cable consists of a 10 foot length of cable that breaks into two 4 foot long pigtails terminated with DB9 female serial connectors and an 8 foot long power pigtail that is un- terminated.
  • Page 43 Seres Reference Manual...

  • Page 44: Installation

    • Optional Pole Mount (part number478-0004-00A) 2.2 Cable Interface The Seres features a built-in extension cable that provides access to both of its serial ports and also a power input. This cable also features an in-line fuse for protection of the antenna against reverse polarity and excessive current draw.

  • Page 45: Seres Placement

    • The GPS engine inside the Seres computes a position based upon measurements from each satellite to the internal GPS antenna element. Mount the Seres in the location for which you desire a position. When choosing a location to mount the antenna, please ensure that there is an unobstructed hemisphere of sky available to the Seres smart antenna.

  • Page 46: Power Considerations

    A magnetic mount has been pre-installed on the bottom of the Seres antenna for mounting to ferrous metallic surfaces. To install the Seres antenna use the following procedure to mount it on a ferrous surface: • Place the antenna in the desired location.

  • Page 47: Surface Mount

    • Mark the mounting hole centers as necessary • Remove the screw plugs from the Seres antenna • Place the Seres antenna over the marks to ensure that the planned hole centers agree with the true hole centers – if not, then adjust •...

  • Page 48: Pole Mount

    Figure 2-2 Surface Mount Installation 2.6.3 Pole Mount You may choose to use the pole-mount option of the Seres antenna as opposed to the magnetic and surface mount options. The pole mount offers a 5/8-11-UNC thread option for Seres mounting. The Seres magnetically mounts to the pole mount.

  • Page 49: Powering The Seres

    2.6.4 Powering the Seres The first step to powering the Seres is to terminate the power leads of the extension cable. There are a variety of power connectors and terminals on the market from which to choose, depending on your specific requirements.

  • Page 50: Connecting The Seres To External Devices

    Once the Seres system has been installed, you’re ready to turn the system on by applying power to it. The Seres smart antenna will start when and acceptable voltage is applied to the power leads of the extension cable. Be careful not to provide a voltage higher than the input range as this will damage the antenna.

  • Page 51: Figure 2-5 Db9 Socket Numbering

    Table 2-2 Port A Pin-out, RS-232C Interface Level Signal Description Seres NMEA 0183, binary, and RTCM output Seres NMEA 0183, binary, and RTCM input Sig. Ground Signal return Table 2-3 Port B Port Pin-out, RS-232C Interface Level Signal Description Seres NMEA 0183, binary, and RTCM output Seres NMEA 0183, binary, and RTCM Input Sig.

  • Page 52: Figure 2-6 Port A Interface

    Figure 2-6 and 2-7 illustrate the standard interface for the Seres when interfaced to an external device with either the Port A or Port B serial ports. External Device SERES Port A 5 GND NMEA/Binary/ 3 RX RTCM 2 TX...

  • Page 53: Routing And Securing The Cable

    Note - For successful communications, the baud rate of the Seres serial ports must be set to match that of the devices to which they are connected. Chapter 6 describes the baud rate change command. 2.6.6 Routing and Securing the Cable When choosing a route for the Seres extension cable: •...

  • Page 54: Seres Overview

    3. Seres Overview For your convenience, both the GPS and SBAS operation of the Seres antenna feature automatic operational algorithms. When powered for the first time, the Seres system will perform a ‘cold start’, which involves acquiring the available GPS satellites in view and the SBAS differential service.

  • Page 55: Sbas Operation

    Satellite acquisition quality is described as a signal to noise ratio (SNR). A higher SNR is indicative of better quality signal reception. SNR information is provided by the Seres through the use of NMEA 0183 data messages available via its dual serial ports.

  • Page 56: Sbas Performance

    GPS model and the ionospheric SBAS map. To minimize the impact of this issue on your use of the Seres, we suggest that you wait up to five minutes before using the Seres or issue the $JQUERY,GUIDE<CR><LF>...

  • Page 57: E-Dif Operation

    3.3.1 Start-up When you turn the Seres on with the e-Dif application running, it will require a minimum of a few minutes to gather enough satellite tracking information to model the errors for the future (up to 10 minutes may be required depending on your environment).

  • Page 58: Factory Default Parameters

    3.4 Factory Default Parameters Tables 3-1, 3-2, and 3-3 identify the default Seres configuration settings of the Seres smart antenna. Caution - The changes you make to the Seres configuration are saved in memory for subsequent power-up.

  • Page 59: Seres Architecture

    1800 seconds 5° 3.5 Seres Architecture The Seres smart antenna is comprised of two main components – hardware and software. This chapter provides a brief overview of the hardware and software architecture of the Seres receiver in order to provide further insight into the operation of the product.

  • Page 60: Hardware

    The e-Dif application, if installed, also resides within the SX-1 engine. In addition to the SX-1, the Seres incorporates an L1 GPS antenna and an interface board that provides power input to the SX-1 and serial port level translation.

  • Page 61: Applications

    Chapter 6 describes the messages used to communicate with the Seres. The $JAPP<CR><LF> message requests the current application in use from the Seres and also reports the secondary application name, if present. Seres Reference Manual...

  • Page 62: Seres Operation

    With the application of power, the Seres will proceed through an internal start-up sequence, however it will be ready to communicate immediately. When installed such that the Seres has an unobstructed view of the sky, the Seres will provide a position quickly, within approximately 60 seconds from a factory cold start.

  • Page 63: Nmea 0183 Interface

    The Seres supports a variety standard and proprietary NMEA messages. These messages are used to configure the Seres and also contain the required information from the Seres. You may configure a selection of...

  • Page 64: Binary Interface

    Use of binary messages for most users is not recommended the NMEA interface allows you to control the operation of the Seres and also receive all necessary data regarding status and positioning information. 4.2.3 RTCM SC-104 Protocol RTCM SC-104 is a standard that defines the data structure for differential correction information for a variety of differential correction applications.
  • Page 65 The scatter or the receiver is likely to remain close to constant. The RTCM SC-104 data output by the Seres is converted from the RTCM SC-159 data broadcast by SBAS.

  • Page 66: Configuring The Seres

    4.3 Configuring the Seres All aspects of Seres operation may be configured through either serial port with the use of NMEA 0183 commands. These commands are described in the following chapter. The following items are user-configurable: • Selecting one of the two on-board applications (SBAS or e-Dif, if present) •...
  • Page 67 If you wish to turn a data message on the opposite port, on or off, that port is referred to as the ‘Other’ port. For example, if you are communicating with the Seres Port B, and wish to turn the GPGGA message on at an update rate of 5 Hz on Port A, the following command would be used.

  • Page 68: Nmea 0183 Messages

    5. NMEA 0183 Messages This chapter identifies the selection of standard and proprietary NMEA 0183 messages for the Seres receiver. 5.1 NMEA Message Elements NMEA 0183 messages have a common structure, consisting of a message header, data fields, checksum, and carriage return/line feed message terminator.

  • Page 69: Slxmon

    5.2 SLXMon SLXMon is a utility designed for use with CSI Wireless SLX and SX based products. As it’s not designed specifically for the Seres alone, it supports features not offered by the Seres, such as tracking of the OmniSTAR different service, however, the interface may be used for all I/O operations.

  • Page 70: General Commands

    SBAS signal more quickly upon start-up. This is not normally needed. $JQUERY,GUIDE This command is used to poll the Seres for its opinion on whether or not it is providing suitable accuracy after the both SBAS and GPS have been acquired...

  • Page 71: Jasc,D1

    RD1 message on the other port. 5.3.2 $JAIR This command allows you to place the SX-1 GPS engine within the Seres into AIR mode, where the receiver is optimized for the high dynamic environment associated with airborne platforms.

  • Page 72: Jasc,Virtual

    For example, if RTCM is input on Port B, this data will correct the Seres position and also be output through Port A. The Seres acts as a pass-through for the RTCM data. Either port may be configured to accept RTCM data input and this command then allows the opposite port to output the RTCM data.

  • Page 73: Jalt

    5.3.4 $JALT This command turns altitude aiding on or off for the SX-1 GPS engine inside the Seres. 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...

  • Page 74: Jlimit

    The Seres smart antenna does not support this command. 5.3.6 $JAPP This command allows you to request the Seres for the currently installed applications and to choose which application to use. The Seres by default comes pre-installed with WAAS (SBAS) with a second, empty application.

  • Page 75: Jbaud

    Note – Other derivatives of the $JAPP command are the $JAPP,1<CR><LF> and $JAPP,2<CR><LF> commands that can be used to set the Seres to use the first and second application. It’s best to follow up the sending of these commands with a $JAPP query to see which application is 1 or 2.

  • Page 76: Jconn

    5.3.8 $JCONN This command is used to create a virtual circuit between the A and B port, if needed. This allows you to through the Seres to the device on the opposite port. The virtual circuit command has the following form: $JCONN,p<CR><LF>...

  • Page 77: Jpos

    In order for the Seres to operate in autonomous mode, the NONE argument may be specified in this command. 5.3.10 $JK This command is used by the Seres smart antenna to enable the e-Dif option. This command will have the following format: $JK,x…<CR><LF>...

  • Page 78: Jquery,Guide

    Seres smart antenna. 5.3.12 $JQUERY,GUIDE This command is used to poll the Seres for its opinion on whether or not it is providing suitable accuracy after the both SBAS and GPS have been acquired (up to 5 min). This feature takes into consider the download status of the SBAS ionospheric map and also the carrier phase smoothing of the unit.

  • Page 79: Jreset

    $>JQUERY,GUIDE,YES<CR><LF> Otherwise, it will return the following message: $>JQUERY,GUIDE,NO<CR><LF> 5.3.13 $JRESET This command is used to reset the SLX inside the Seres to its default operating parameters. This message has the following format: $JRESET[,ALL] <CR><LF> The ‘[,ALL]’ field is optional. When this command is issued without this field present, the configuration only is defaulted.

  • Page 80: Jshow

    However, do not rely on this feature to save your changes. This command has the following structure: $JSAVE<CR><LF> The Seres 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 81 This line indicates that the current differential mode is WAAS This line indicates the status of the altitude aiding feature. The Seres does not support this feature. This line indicates the current elevation mask cutoff angle, in degrees. This line indicates the current seed position used for startup, in decimal degrees.
  • Page 82 ‘0.0’ indicates the aiding value, if specified (either specified height or PDOP threshold) 10.0 Residual limit for the $JLIMIT command, which is not supported by the Seres. Elevation mask cutoff angle, in degrees AIR mode indication Maximum acceptable age of correction data in seconds Current differential mode, ‘W’...

  • Page 83: Gps Commands

    5.3.16 $JT This command displays the type of receiver engine within the Seres smart antenna and has the following format: $JT<CR><LF> The receiver will return the following response, indicating that the receiver is an SX1g (‘g’ for global differential operation) when in SBAS mode and SX1i when in e-Dif mode (‘i’...

  • Page 84: Jasc

    Course Over Ground and Ground Speed GPZDA 5, 1, 0, or .2 Time and Date When the ‘,OTHER’ data field is specified (without the square brackets), this command will enact a change in the $GPmsg message on the other port. Seres Reference Manual...

  • Page 85: Jage,Age

    The default setting for the Seres is 1800 seconds, however, you may change this value as you feel appropriate. Using COAST technology, the Seres is able to use old correction data for extended periods of time. If you choose to use a maximum correction age...

  • Page 86: Jmask

    When the ‘,OTHER’ data field is specified (without the square brackets), this command will turn on the four NMEA messages on the other port. There are no variable data fields for this message. The Seres will reply with the following response: $>...

  • Page 87: J4String

    Binary message containing satellite and almanac information. Bin99 5, 1, 0, or .2 Binary message containing GPS diagnostic information. The Seres will reply with the following response: $> 5.4.6 $J4STRING This command allows the GPGGA, GPVTG, GPGSA, and GPZDA messages to all be output with the issue of a single command. The output rate of each message is limited to 1 Hz, however, you may choose the set the baud rate of the current or other port at the same time.

  • Page 88: Sbas Commands

    This command is used to poll the WAAS demodulator for information relating to your current location and WAAS satellites $JRD1 This command is used to poll the Seres for SBAS diagnostic information $JASC,RTCM This feature allows you to configure the Seres to output RTCM...

  • Page 89: Jwaasprn

    Where ‘sv1’ is the PRN number of the first SBAS satellite and ‘sv2’ is the PRN number of the second SBAS satellite. Either ‘sv1’ or both ‘sv1’ and ‘sv2’ may be specified. The Seres will reply with the following response: $> Seres Reference Manual...

  • Page 90: Jgeo

    5.5.2 $JGEO This message is used to display information related to the current frequency of SBAS, and its location in relation to the Seres’ internal antenna. To query the Seres for the currently used SBAS satellite information, use the following query: $JGEO<CR><LF>...

  • Page 91: Jrd1

    WAAS satellite not being currently used. Both outputs follow the format in the previous table for the $JGEO query. 5.5.3 $JRD1 This command is used to request diagnostic information from the Seres antenna. To command the Seres to output the diagnostic information message for the currently used SBAS satellites at a rate of 1 Hz, use the following query: $JASC,D1,1[,OTHER]<CR><LF>...

  • Page 92: E-Dif Commands

    RTCM SC-104 even though SBAS uses a different over-the- air protocol (RTCA). To have the Seres unit output RTCM corrections, send the following command to the smart antenna: $JASC,RTCM,r[,OTHER]<CR><LF> The message status variable ‘r’ may be one of the following values: Description When the ‘,OTHER’...

  • Page 93: Jrad,1

    Upon startup of the Seres 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 Seres will respond with the following message: $>JRAD,1,FAILED,Present Location Not Stable...

  • Page 94: Jrad,1,P

    This would be used in relative mode, as no absolute point information is specified. This command has the following format: $JRAD,1,P<CR><LF> The Seres will reply with the following response: $>JRAD,1P,OK 5.6.3 $JRAD,1,lat,lon,alt This command is a derivative of the $JRAD,1,P command and is used when absolute positioning is desired.

  • Page 95: Jrad,2

    This command is normally used following a $JRAD,1 type command. This command has the following format: $JRAD,2<CR><LF> The Seres will reply with the following response: $>JRAD,2,OK 5.6.5 $JRAD,3 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).

  • Page 96: Data Messages

    If the e-Dif algorithms do not find that there has been sufficient data collected, the Seres will send the following response: $>JRAD,3,FAILED,Not Enough Stable Satellite Tracks If you receive the failure message after a few minutes of operation, try again shortly until the ‘OK’...

  • Page 97: Gga Data Message

    Antenna altitude Altitude units, M = meters ±xxxx.xx Geoidal separation (needs geoidal height option) Geoidal separation units, M = meters Age of differential corrections in seconds Reference station identification Checksum <CR><LF> Carriage return and line feed Seres Reference Manual...

  • Page 98: Gll Data Message

    = 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 Checksum <CR><LF> Carriage return and line feed Seres Reference Manual...

  • Page 99: Gsa Data Message

    Satellites used in the position solution, a null field occurs if a channel is unused Position Dilution of Precision (PDOP) = 1.0 to 9.9 Horizontal Dilution of Precision (HDOP) = 1.0 to 9.9 Vertical Dilution of Precision (VDOP) = 1.0 to 9.9 Checksum <CR><LF> Carriage return and line feed Seres Reference Manual...

  • Page 100: Gst Data Message

    Standard deviation of semi-minor axis of error ellipse (meters) Orientation of semi-major axis of error ellipse (degrees) Standard deviation of latitude error (meteers) Standard deviation of longitude error (meters) Standard deviation of altitude error (meters) Checksum <CR><LF> Carriage return and line feed Seres Reference Manual...

  • Page 101: Gsv Data Message

    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> Carriage return and line feed Seres Reference Manual...

  • Page 102: Rmc Data Message

    Track made good, referenced to true north ddmmyy UTC date of position fix in day, month, year Magnetic Variation in degrees Variation sense v = E = East, v = W = West Checksum <CR><LF> Carriage return and line feed Seres Reference Manual...

  • Page 103: Rre Data Message

    Table 5-13 RRE Data Message Defined Field Description Number of satellites used in position computation Satellite number Range residual in meters hhh.h Horizontal position error estimate in meters vvv.v Vertical position error estimate in meters Checksum <CR><LF> Carriage return and line feed Seres Reference Manual...

  • Page 104: Vtg Data Message

    Speed over ground, 000 to 999 knots Speed over ground units, u = N = Nautical mile/h ggg.gg Speed over ground, 000 to 999 km/h Speed over ground units, u = K = kilometer/h Checksum <CR><LF> Carriage return and line feed Seres Reference Manual...

  • Page 105: Zda Data Message

    Day, dd = 0 to 31 Month, mm = 1 to 12 yyyy Year Local zone description in hours, xx = -13 to 13 Local zone description in minutes, yy = 0 to 59 Checksum <CR><LF> Carriage return and line feed Seres Reference Manual...

  • Page 106: Rd1 Data Message

    Checksum <CR><LF> Carriage return and line feed The following table describes the DSP status. The DSP status should be 17, 1B, or 1F when SBAS tracking has been achieved. Seres Reference Manual...
  • Page 107 The ARM processor has lock DGPS solution DGPS solution is good Not used Not used The DiffStatus data field is not supported by the Seres. An example of the NavCondition is presented in the following table for the 179889A value. Field Description...

  • Page 108: Frequently Asked Questions

    Q – Can the COAST technology work with corrections from an external source? A – Yes, the Seres will operate in a similar fashion with the COAST technology as when using SBAS. However, SBAS corrections have the advantage that they are separated into separate error components, allowing...

  • Page 109: Support And Repairs

    PDA product. Q – How does the Seres compare to competitor’s products? A – There Seres is a unique solution in that it is very compact, yet offers a high degree of performance. There are a number of smart antenna products on the marketplace, however, very few of these are suitable for commercial use in applications such as Agricultural Guidance or GIS &...

  • Page 110: Troubleshooting

    Technical Service Representative from CSI Wireless. Q - Can I contact CSI Wireless directly regarding technical problems? A - Yes, however, we recommend that you speak to your dealer first as they would be your local support.

  • Page 111: Power, Communication, And Configuration

    6.4 Power, Communication, and Configuration Q - My Seres system doesn’t appear to be communicating, what do I do? A - This could be one of a few issues: 1. Examine the Seres pigtail, its connector, the extension cable, and its connector for signs of damage.
  • Page 112 A - Yes, the ports are independent. For instance, you may have one port set to 4800 and the other to 19,200, or vice versa. Q - Am I able to have the Seres antenna output different NMEA messages through the two ports? A - Yes, you may have different NMEA messages turns on for the two serial ports.

  • Page 113: Gps Reception And Performance

    $JSAVE if you feel it’s necessary, however, it is not required. Q - What is the best software tool to use to communicate with the Seres and configure it? A - We use two different software applications at CSI Wireless for this application: •...

  • Page 114: Sbas Reception And Performance

    $GPGGA data message. Q - Do I have to be careful when using the Seres to ensure that it tracks properly? A – For best performance, you have to be careful such that the hemisphere above the Seres is unobstructed for satellite tracking.

  • Page 115: E-Dif

    SLXMon utility discussed in Chapter 5 is a useful tool that provides this information without needing to use NMEA commands. Q - Does it matter much if the Seres is frequently loosing lock on SBAS due obstructions and the low satellite elevation angles at my geographic...

  • Page 116: External Corrections

    A - This could be due to a number of issues: • Make sure that the corrections are of an RTCM SC-104 protocol. • Check to see that the baud rates of the port used by the Seres matches that of the external correction source •...

  • Page 117: Installation

    Seres performance? A – No, all methods of mounting the Seres are equally suited for its use. Q - Can I use a vehicle’s power system to operate the Seres or do I need a dedicated battery? A - Yes you can - the internal power supply of the Seres is designed for use with industrial vehicles.

  • Page 118: Troubleshooting

    Check receiver power status (this may be done with an ammeter) • Verify that Seres is locked to a valid DGPS signal (this can often be done on the receiving device or with the use with SLXMon running on a PC) •...
  • Page 119 RTCM input port (transmit from the source must go to receive of the RTCM input port and grounds must be connected - Refer to Appendix B) • Non-differential GPS output Verify Seres SBAS and lock status (or external source is locked) Seres Reference Manual...

  • Page 120: Appendix A - Specifications

    Appendix A - Specifications This appendix provides the operational, mechanical, electrical, physical, and environmental specifications of the Seres smart antenna. Table A-1 Specifications Internal GPS Engine Operational Specifications Item Specification Frequency 1.575 GHz Channels 12 parallel tracking Horizontal Accuracy < 1 m 95%...
  • Page 121 Environmental Specifications Item Specification Storage Temperature -40°C to 85°C Operating Temperature -30°C to 70°C Humidity 95% Non-Condensing Seres Reference Manual...

  • Page 122: Appendix B - Interface

    To establish communications between the Seres and your data logging or navigation device in this mode of operation, you must: • Connect Pin-2 - transmit (TX) of either Seres port to the receive pin (RX) of the data logging or navigation device.

  • Page 123: Figure B-1 Gps Data Interface

    Figure B-1 illustrates the required interface between the Seres and an external device: External Device SERES Port A / B 5 GND 3 RX NMEA 2 TX NMEA Figure B-1 GPS Data Interface Note - For successful communications, the baud rate of the Seres ports must be set to match that of the data logging or monitoring device.

  • Page 124: Figure B-2 Rtcm Data Output Interface

    In this operating mode, an external correction device inputs RTCM correction data through either Seres serial port. In order to accomplish this, the Seres must be commanded to use external corrections using the $JDIFF command. To configure external correction input on Port B you must:...
  • Page 125 • Communicate with the Seres on Port A. Ensure that the baud rate of Port B and the external correction source match by issuing the appropriate $JBAUD command. • Issue a $JDIFF,OTHER<CR><LF> command through Port A. You may configure the Seres to accept corrections on Port A by using the same procedure but by switching the Port A and B references.
  • Page 126 Note - For successful communications, the baud rate of the Seres differential port must be set to match that of the external correction source. The correction source must support an RS- 232 interface level and the baud rates between each device must match.
  • Page 127 Seres Reference Manual...

  • Page 128: Appendix C - Surface Mount Template

    Appendix C – Surface Mount Template The following template should be used to plan for the location of mounting holes used when surface mounting the Seres smart antenna. We suggest that you photocopy this template for use. Seres Reference Manual...
  • Page 129 Seres Reference Manual...

  • Page 130: Appendix D - Resources

    Special Committee No. 159, RTCA 1998, 1828 L Street, NW, Suite 805, Washington, DC, 20036 USA, Tel: +1-202-833-9339 CSI Web Site This following address is the CSI Wireless Web site which provides detailed information on all products offered by CSI Wireless. www.csi-wireless.com...
  • Page 131 This site contains information relating to past performance, real-time performance, and broadcast schedule of EGNOS www.esa.int/export/esaEG/estb.html Solar and Ionospheric Activity Web Sites The following sites are useful in providing details regarding solar and ionospheric activity. iono.jpl.nasa.gov//latest.html iono.jpl.nasa.gov//gim_dailymovie.html www.spaceweather.com www.maj.com/sun/noaa.html Seres Reference Manual...
  • Page 132 Seres Reference Manual...

  • Page 133: Index

    Age of Correction, 6 $JQUERY,GUIDE, 57 Geometry, 7 $JRAD,1, 72, 73 Latency, 6 $JRAD,1,P, 72 Multipath, 7 $JRAD,2, 73 Proximity, 5 $JRAD,3, 74 Differential Corrections, 3 $JRD1, 70 Differential GPS (DGPS), 2, 3, 4 $JRESET, 58 $JSAVE, 58 $JSHOW, 59 Seres Reference Manual...
  • Page 134 Power Considerations, 25 Troubleshooting, 97 Tune Mode WAAS Automatic Tracking, 34 Multipath, 7 WAAS Bit Error Rate, 35 Receiver Performance, 35 NMEA 0183, 42, 47 WGS-84, 1 NMEA 0183 messages, 47 www.csi-wireless.com, xx Port A Pin-out, 30 Seres Reference Manual...

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