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Javad JNSGyro-4T Operator's Manual

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JNSGyro-4T
Operator's Manual
© Copyright Javad Navigation Systems, Inc.
March, 2006
All contents in this manual are copyrighted by JNS. All rights reserved.
The information contained herein may not be used, accessed, copied,
stored, displayed, sold, modified, published, or distributed, or otherwise
reproduced without express written consent from JNS.

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  • Page 1 JNSGyro-4T Operator’s Manual © Copyright Javad Navigation Systems, Inc. March, 2006 All contents in this manual are copyrighted by JNS. All rights reserved. The information contained herein may not be used, accessed, copied, stored, displayed, sold, modified, published, or distributed, or otherwise...

  • Page 3: Table Of Contents

    Conclusion ........1-5 JNSGyro-4T Overview ....... . 1-6 JNSGyro-4T Accessory Kit .
  • Page 4 Reference point determination ..... . . 3-4 JNSGyro-4T Setup ........3-5 Antennas Setup .
  • Page 5 Things to Check First ....... . . 6-2 JNSGyro-4T Problems ....... . 6-3 Obtaining Technical Support .
  • Page 6 Specifications ........B-1 JNSGyro-4T Specifications ......B-1 Connector Specifications .
  • Page 7 Warranty Terms ........D-1 www.javad.com JNSGyro-4T Operator’s Manual v...
  • Page 8 Notes: vi JNSGyro-4T Operator’s Manual www.javad.com...
  • Page 9 Chapter 1. Introduction JNSGyro-4T ..............1-2 Front Panel ..............1-10 Back Panel ..............1-10 Chapter 2. Congfiguration Powering JNSGyro-4T ..........2-2 PCView Main Window ..........2-4 RS-232 Connection Parameters ........2-4 PCView Connection Established ........2-5 Configuration->Receiver ..........2-6 Receiver Configuration ..........2-7 Receiver Configuration –...
  • Page 10 Antennas setup ............. 3-5 Antennas Connection ........... 3-6 Determination of the body frame by the self-calibration procedure 3-7 Chapter 4. Operation JNSGyro-4T MinPad ............ 4-2 Connection Parameters – RTS/CTS Handshaking ..4-8 File->File Manager ............4-8 Find Files to Download ..........4-9 Download Files .............
  • Page 11 L I S T O F F I G U R E S Appendix B Power Connector ............B-5 RS-232C Connector ............. B-6 www.javad.com JNSGyro-4T Operator’s Manual ix...
  • Page 12 Notes: x JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 13: Preface

    (the “Manual”) have been prepared by Javad Navigation Systems, Inc. (“JNS”) for owners of JNS products. It is designed to assist owners with the use of the JNSGyro-4T and its use is subject to these terms and conditions (the “Terms and Conditions”).
  • Page 14 Software under the terms stated herein and in any case only with a single JNSGyro-4T or single computer. You may not assign or transfer the Software or this license without the express written consent of JNS. This license is effective until terminated.
  • Page 15 Conditions (including the Software license, warranty and limitation of liability). SAFETY – Improper use of the JNSGyro-4T can lead to injury to persons or property and/or malfunction of the product. The JNSGyro-4T should only be repaired by authorized JNS warranty service centers. Users should review and heed the safety warnings in “Safety Warnings”...

  • Page 16: Regulatory Information

    • Consult the dealer or an experienced radio/television technician for additional suggestions. WARNING: Any changes or modifications to the equipment not expressly approved by the party responsible for compliance could void your authority to operate such equipment. xiv JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 17: Canadian Emissions Labeling Requirements

    ANGER NDER NO CIRCUMSTANCES SHOULD THIS ACTION BE PERFORMED Screen Captures This manual includes sample screen captures. Your actual screen can look slightly different from the sample screen due to the receiver you have www.javad.com JNSGyro-4T Operator’s Manual xv...
  • Page 18 P R E F A C E Regulatory Information connected, operating system used and settings you have specified. This is normal and not a cause for concern. xvi JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 19: Chapter 1. Introduction

    Principles of Operation ....... 1-3 JNSGyro-4T Overview ....... . 1-6 JNSGyro-4T Accessory Kit .

  • Page 20: Overview

    The dual frequency code and carrier data from four antennas are processed to determine the three orientation angles and three-dimensional position up to 20 times per second. The JNSGyro-4T can also be operated in RTK or DGPS mode from an external base station to provide highly accurate position and velocity.

  • Page 21: Principles Of Operation

    (satellite positions as a function of time), to ensure the satellites transmit data properly. • User – The community and military that use GPS/GLONASS receivers and the corresponding satellites to calculate positions. www.javad.com JNSGyro-4T Operator’s Manual 1-3...

  • Page 22: Calculating Positions

    • Availability – The availability of satellites affects the calculation of valid positions. The more visible satellites available, the more valid and accurate the position. Natural and man-made objects can block, interrupt, and weaken signals, lowering the number of available satellites. 1-4 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 23: Conclusion

    GNSS users can use JNS GNSS receivers to collect data from a network of satellites and control stations to triangulate precise points anywhere on Earth. This overview simply outlines the basics of GPS and GLONASS positioning. For detailed information, visit the JNS website (http://www.javad.com). www.javad.com JNSGyro-4T Operator’s Manual 1-5...

  • Page 24: Jnsgyro-4T Overview

    (carrier and code phases) are measured. In addition, broadcast navigation data are retrieved from the navigation frame. After the JNSGyro-4T boards lock on to four or more satellites, it is possible to solve the so-called “absolute positioning problem” and compute the JNSGyro- 4T boards’...

  • Page 25: Jnsgyro-4T Accessory Kit

    Software and software manuals are also available on the JNS website (http:/ /www.javad.com). The following software will also be useful for operating, caring for and using your JNSGyro-4T system, and may be required for some applications. • FLoader – JNS's firmware loader; available on the JNS website. Literature JNSGyro-4T literature, including manuals and other product information are available on the JNS website (http://www.javad.com):...
  • Page 26 I N T R O D U C T I O N JNSGyro-4T Accessory Kit The following manuals will also be useful for operating and caring for your JNSGyro-4T: • PCView Software Manual • FLoader User's Manual • MinPad User’s Manual 1-8 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 27: Getting To Know Your Jnsgyro-4T

    Getting to Know Your JNSGyro-4T Getting to Know Your JNSGyro-4T The JNSGyro-4T is 92 mm high, 112 mm wide and 178 mm deep, and weighs ~ 1.47 kg. The casing allocates space for four Euro cards. These cards are the GNSS receivers.

  • Page 28: Front Panel

    Figure 1-2 shows the JNSGyro-4T’s front panel components: MinPad Figure 1-2. Front Panel • MinPad – The simple user interface for the JNSGyro-4T. The MinPad consists of three keys and up to four, eighth three-color LEDs. See “Using MinPad” on page 4-2 for detailed description.
  • Page 29 I N T R O D U C T I O N Getting to Know Your JNSGyro-4T –Port 1A (serial port of Master board) used for communication between the Master board and a controller or any other external device. –Ports 2A, 3A, 4A (serial ports of 2nd, 3rd, and 4th Slaves) used for communication between the slave boards and a controller or any other external device.

  • Page 30: Option Authorization File (Oaf)

    JNSGyro-4T’s boards according to particular needs, thus only purchasing those options needed. Typically, all JNSGyro-4T boards ship with a temporary OAF that allows the system to be used for a predetermined period. When the JNSGyro-4T is purchased, new OAFs activate desired, purchased options permanently.
  • Page 31 Powering the JNSGyro-4T ......2-2 Connecting the JNSGyro-4T and a Computer ....2-3 JNSGyro-4T Configuration .

  • Page 32: Powering The Jnsgyro-4T

    (3.0 Amp) to operate the JNSGyro-4T system. On the back panel of the JNSGyro-4T, there is the power connector, marked PWR. Connect an appropriate cable to this connector to power your unit.

  • Page 33: Connecting The Jnsgyro-4T And A Computer

    To configure or maintain the JNSGyro-4T, you need to connect four boards one by one and a computer using an RS232 cable.
  • Page 34 C O N F I G U R A T I O N Connecting the JNSGyro-4T and a Computer Figure 2-2. PCView Main Window Note that the lower-left hand corner shows the board status as “Disconnected”. On the Connection Parameters dialog box, select the following parameters and click Connect (Figure 2-3): –Set the Connection mode (Direct).
  • Page 35 C O N F I G U R A T I O N Connecting the JNSGyro-4T and a Computer flow control (if applicable) – display in the lower-left corner of the main window of PCView. A timer begins to count up in the lower-right corner as well (Figure 2-4).

  • Page 36: Jnsgyro-4T Configuration

    JNSGyro-4T Configuration PCView is JNS's receiver and board configuration software, used to configure the boards of the JNSGyro-4T unit. Any settings made using PCView will be saved in the unit's memory, and will be reflected when you use the MinPad. The full range of PCView configuration and function is outside the scope of this manual.

  • Page 37: Receiver Configuration

    Click the MinPad tab, configure the following settings, and click Apply (Figure 2-7 on page 2-8). • Set the Recording interval in seconds. • Set the Elevation mask for Log file in degrees. • Enter the File name prefix. www.javad.com JNSGyro-4T Operator’s Manual 2-7...

  • Page 38: Receiver Configuration - Minpad Tab

    Click the Advanced tab on the Receiver Configuration screen and then click the Multipath Reduction subtab. Enable the following boxes, and click Apply (Figure 2-8 on page 2-9): • Code multipath reduction • Carrier multipath reduction 2-8 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 39: Advanced Configuration - Multipath Reduction

    Click the Loop Management tab, enable the following boxes, and click Apply (Figure 2-9): • Enable Common Tracking • Static Mode (used for static receivers only, disable if using the receiver as a Rover) Figure 2-9. Advanced Configuration – Loop Management www.javad.com JNSGyro-4T Operator’s Manual 2-9...
  • Page 40 Repeat these steps with other boards. Once the JNSGyro-4T’s boards are configured, the configuration will remain until you change it either using PCView or clearing the boards NVRAM. 2-10 JNSGyro-4T Operator’s Manual...

  • Page 41: Minpad Configuration

    Use PCView to configure MinPad settings. Refer to the PCView Software Manual for all possible MinPad configurations. Connect selected board of your JNSGyro-4T and computer. See “Connecting the JNSGyro-4T and a Computer” on page 2-3 for this procedure. Start PCView.

  • Page 42: Configuration->Receiver

    • File name prefix on page 2-13 • Always append to the file on page 2-14 • Files Creation mode on page 2-14 • Automatic File Rotation Mode (AFRM) on page 2-14 • FN key mode on page 2-15 2-12 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 43: Receiver Configuration - Minpad Tab

    This parameter specifies what prefix will be added to the names of the board files created when pressing FN. The prefix can be up to 20 characters long. The default value is log. Log file names have the following structure: <prefix><month><day><sequential alphabet letter> www.javad.com JNSGyro-4T Operator’s Manual 2-13...
  • Page 44 • Files (total) - a counter that specifies how many multiple log files must be created in AFRM until this mode automatically turns off. This counter decrements on every file rotation until it value becomes zero, then file rotation automatically stops. The counter initializes with AFRM. 2-14 JNSGyro-4T Operator’s Manual www.javad.com...
  • Page 45 For more details, refer to the MinPad User's Manual and PCView Software Manual. Data Recording Auto-start parameter These radio buttons allow you to program your board's behavior in the event of a power failure. www.javad.com JNSGyro-4T Operator’s Manual 2-15...
  • Page 46 (to a newly created or an existing file) in the following three cases: • After pressing the Power key to turn on the unit. • After resetting the unit (with PCView or the Reset key). 2-16 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 47: Collecting Almanacs

    Non-Volatile Random Access Memory (NVRAM). Set up the JNSGyro-4T (connect the external antennas if needed) in a location with a clear view of the sky. Turn on the JNSGyro-4T. Wait for about 15 minutes while the unit collects almanac data from satellites. Notice: If 15 minutes have passed and the JNSGyro-4T does not lock on to satellites, you may need to clear the NVRAM.
  • Page 48 Notes: 2-18 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 49: Chapter 3. Setup And Measuring

    How to Work with JNSGyro-4T ......3-2 JNSGyro-4T Setup ........3-5 How to Setup JNSGyro4(T) for the First Time .

  • Page 50: How To Work With Jnsgyro-4T

    How to Work with JNSGyro-4T How to Work with JNSGyro-4T Although the attitude system JNSGyro-4T can be used to perform any types of receiver’s measuring, the attitude mode is its primary purpose. A brief description of the attitude determination is given below.

  • Page 51: Differential Corrections

    S E T U P A N D M E A S U R I N G How to Work with JNSGyro-4T ϕ the new Nose axis by the angle . The rotation matrix from the local horizon frame to the body frame is given by Differential corrections As stated above, the unit consists of four receiver boards.

  • Page 52: Reference Point Determination

    S E T U P A N D M E A S U R I N G How to Work with JNSGyro-4T set,att/procmode,<mode>, where mode = [delay|extrapolation] (the default value is “delay”). If the mode is set to “delay”, the extrapolation is off and the unit works with delays in time tags between the positions and attitude.

  • Page 53: Jnsgyro-4T Setup

    All antennas must be exposed to the open sky and not shaded. The attitude accuracy estimates obviously depend on the distances between the antennas, and their RMS values are found as HeadingR [rad], where L=DM1-S2D [m], Roll/PitchR [rad], where L=DS3-S4D[m]. www.javad.com JNSGyro-4T Operator’s Manual 3-5...

  • Page 54: Antennas Connection

    JNSGyro-4T Setup Antennas Connection Each antenna is connected to some JNSGyro-4T board. The boards are connected to each other through the serial ports as shown in Figure 3-4. The first board is referred to as Master. The other three boards (2nd, 3rd, and 4th) are called Slaves.

  • Page 55: Self-Calibration

    Nose, and is directed to the right. The axis Belly completes the right-oriented triple. The attitude determination unit estimates the WGS-84 base line vectors, averages a prescribed number of samples, and transforms the vectors to the www.javad.com JNSGyro-4T Operator’s Manual 3-7...
  • Page 56 “poff”, “roff”, “hoff” are the pitch, roll, and heading correction offsets, respectively. To learn the angles obtained after the self-calibration, the following command must be sent to the port A of Master: %%set,att/debug/ang,on The output will be zero until the self-calibration is finished. 3-8 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 57: How To Setup Jnsgyro-4T For The First Time

    How to Setup JNSGyro-4T for the First Time How to Setup JNSGyro-4T for the First Time Tip: To setup the attitude system JNSGyro-4T for the first time, the following steps need to be performed: Step 1. Connect the system to the computer through the selected serial port. See “Connecting the JNSGyro-4T and a Computer”...
  • Page 58 Notes: 3-10 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 59: Chapter 4. Operation

    Deleting Files ........4-11 Managing JNSGyro-4T Memory ..... . . 4-12 Checking an OAF .

  • Page 60: Using Minpad

    Pressing the power button turns the JNSGyro-4T on and off. Status LEDs • When the JNSGyro-4T is on and no satellites are tracked, the STAT LED of each board will blink red. • When satellites are tracked, the STAT LED will produce one blink for each tracked satellite (green for GPS, orange for GLONASS).
  • Page 61 CDU (control display unit) applications or for data recording. This operation may require from fractions of a second to several minutes, depending on the circumstances and the amount of internal memory. www.javad.com JNSGyro-4T Operator’s Manual 4-3...
  • Page 62 Release to start recording (Kinematic or Static Green post-processing occupation mode). Release to turn serial port A baud rate to 9600 Pressed for 5–8 seconds bps. Pressed for > 8 seconds No light No function. 4-4 JNSGyro-4T Operator’s Manual www.javad.com...
  • Page 63 No light Release to stop data recording. Release to turn serial port A baud rate to 9600 Pressed for 5–8 seconds bps. Pressed for > 8 seconds No light No function (data recording still on). www.javad.com JNSGyro-4T Operator’s Manual 4-5...

  • Page 64: Information Modes

    O P E R A T I O N Using MinPad Information Modes The JNSGyro-4T system has two information modes: Normal and Extended Information Mode (EIM). Normal In normal mode, the STAT LED of each board indicates the number of tracked satellites and the position's computation status.
  • Page 65 1. To switch to EIM, press and quickly release (within one second) the FN key on the MinPad. 2. Watch for the delimiter double-blink. With good JNSGyro-4T, antenna, and observation conditions, all blinks should be green within 15 minutes of powering on.

  • Page 66: Downloading Files To A Computer

    Downloading Files to a Computer When your measuring finishes, you can download your measuring files to a computer for storage, post-processing, or backup. Also, the JNSGyro-4T boards memory holds a finite amount of files and information, so downloading the files to a computer ensures that no files are lost.

  • Page 67: Download Files

    To select multiple files, hold down the shift key and click on nonsequential files to select several files at once; or, hold down the Ctrl key and click on individual files. Figure 4-5. Download Files www.javad.com JNSGyro-4T Operator’s Manual 4-9...
  • Page 68 • Green indicator – file has successfully downloaded. Figure 4-6. Download Files – Status Indicators When finished, click Exit on the File Manager dialog box. Continue with other operations. Or, click File->Disconnect, then File->Exit to quit PCView. 4-10 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 69: Deleting Files

    O P E R A T I O N Deleting Files Deleting Files Use the following steps to delete files from your JNSGyro-4T’s boards. Connect your JNSGyro-4T and computer. See “Connecting the JNSGyro-4T and a Computer” on page 2-3 for this procedure.

  • Page 70: Managing Jnsgyro-4T Memory

    Managing JNSGyro-4T Memory Managing JNSGyro-4T Memory When using the JNSGyro-4T in static or dynamic applications, you may need to know the amount of memory the boards’ log file occupies. The specific memory size depends on the type of data being recorded. Use the formulas below to compute the approximate size of the boards’...

  • Page 71: Checking An Oaf

    Tip: For a complete list of options and their details, visit the JNS website. You can check the status of your JNSGyro-4T boards' options, and load new OAFs, using the RS232 cable, a computer, and PCView. Refer to the PCView Software Manual for a more complete description of the PCView software.

  • Page 72: Option Manager

    • yes or no – the option is either enabled or disabled. Figure 4-9. Option Manager When finished, click Exit on the Option Manager screen, and then click File->Disconnect to prevent conflicts with serial port management. 4-14 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 73: Loading Oafs

    O P E R A T I O N Loading OAFs Loading OAFs Javad Navigation Systems dealers provide customers with OAF files. For any OAF related questions, E-mail JNS at options@javad.com. Please have your board ID number available (see “Checking Firmware Version” on page 4-18).

  • Page 74: Clearing The Nvram

    NVRAM can eliminate communication or tracking problems. Clearing the NVRAM in your JNSGyro-4T’s boards can be interpreted as a “soft boot” in your computer. After clearing the NVRAM, your board will require some time to collect new ephemerides and almanacs (around 15 minutes).

  • Page 75: Using Gril To Clear Nvram

    Because the JNSGyro-4T system consists of more than one receiver boards, NVRAM clearing procedure using GRIL command should be perform with every board. 1. Connect the selected serial port of JNSGyro-4T and a computer as described in “Connecting the JNSGyro-4T and a Computer” on page 2-3.

  • Page 76: Checking Firmware Version

    Checking Firmware Version Use PCView to check the firmware version of your boards. Connect the selected board of JNSGyro-4T and computer. See “Connecting the JNSGyro-4T and a Computer” on page 2-3 for this procedure. Start PCView. Click on Help->About (Figure 4-12).
  • Page 77 O P E R A T I O N Checking Firmware Version • Receiver IDs • Firmware version When finished, click OK, and then click File->Disconnect to prevent conflicts with serial port management. Repeat these steps with other boards. www.javad.com JNSGyro-4T Operator’s Manual 4-19...

  • Page 78: Loading New Firmware

    Loading New Firmware Loading New Firmware All JNSGyro-4T boards (one by one) must be loaded with the same firmware version. Use the latest firmware version, available for download from the JNS website (http://www.javad.com), to ensure your boards have the most recent updates.

  • Page 79: Set Device Type

    (usually 115200). Select the Device tab and set the Device Type as Receiver (Figure 4-15). Figure 4-15. Set Device Type Click Get from Device for device information (Figure 4-15). www.javad.com JNSGyro-4T Operator’s Manual 4-21...
  • Page 80 Reselect the correct file. Click File->Exit. Clear the board’s NVRAM (see “Clearing the NVRAM” on page 4-16) and update the almanac after loading new firmware. Repeat all these steps with every JNSGyro-4T boards. 4-22 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 81: Chapter 5. Commands And Messages

    [-90, 90], the value h belongs to the range [-180, 180] (6) To set the format of the differential corrections from the remote base, www.javad.com JNSGyro-4T Operator’s Manual 5-1...
  • Page 82 If the mode is auto, the reported position is the position of the reference point corrected by the rotated lever arm if the attitude is available. If the attitude is not available, the position is reported as the Master position. (14) set,att/fixed,[on | off], on by default. 5-2 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 83: The Messages Output From Master

    U1 cs; //checksum (3) struct AR u4 time; //time [ms] f4 p,r,h; //angles [deg] f4 sp,sr,sh; //angles rms [deg] U1 type[3]; //solution type for 3 base lines, 4 for fixed, 3 for float u1 flag; u1 cs; www.javad.com JNSGyro-4T Operator’s Manual 5-3...
  • Page 84 (6) The ASCII message [NR] of the type shown below: NR05B,ARMPOS,V,151545.10,A,{10,01},N55o47'55.232915",E037o31' 14.022980",339.4515,2.243,3.270,@72 where first 10 entries have the same meaning as the [NP] message, see GRIL manual; the last two entries are HRMS and VRMS, respectively. 5-4 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 85: Chapter 6. Troubleshooting

    ROUBLESHOOTING In general, as long as you follow the maintenance and safety instructions provided in this manual, you should have few problems with your JNSGyro-4T system. This chapter will help you diagnose and solve some common, minor problems you may encounter with your JNSGyro-4T system.

  • Page 86: Things To Check First

    Things to Check First Before contacting JNS Customer Support about any problems with the JNSGyro-4T system, refer to the following list of basic suggestions that may help: • Go through all external receiver connections carefully and make sure they are not wrong or loose.

  • Page 87: Jnsgyro-4T Problems

    Click Configuration->Receiver->Ports. Command mode. Change the Input for the serial port used for connection to Command. Problem The JNSGyro-4T boards do not lock on to satellites for a long period of time. Causes Solutions The boards store an Update the almanac.
  • Page 88 15 degrees). Check that the Multipath Reduction box has been enabled. measuring Connect your receiver and a computer and start PCView. conducted near See “Connecting the JNSGyro-4T and a Computer” on obstructions (tree page 2-3. canopy, tall buildings, Click Configuration->Advanced->Multipath Reduction etc.).
  • Page 89 See the modem’s manual for baud rate support information. receiver transmits differential messages to the modem and vice versa. The distance between Close the distance between the Base and Rover. Base and Rover is too Use repeaters to increase radio coverage. far. www.javad.com JNSGyro-4T Operator’s Manual 6-5...

  • Page 90: Obtaining Technical Support

    If in doubt which e-mail address to use for your particular question, please send it to support@javad.com. Website The Javad Navigation Systems website provides current information about JNS's line of products. The support area of the website provides access to frequently asked questions, configuration procedures, manuals, etc.

  • Page 91: Creating Scripts

    Tip: For more information on script files, see the PCView Software Manual. Connect selecting board of JNSGyro-4T and computer. See “Connecting the JNSGyro-4T and a Computer” on page 2-3 for this procedure. Start PCView.

  • Page 92: Edit Script

    Click Close editor. Once you have created a script file, Click Load script on the Manual Mode dialog box. Navigate to the folder that contains your script file. Select the appropriate script file and click Send command. A-2 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 93: Scripts

    Scripts m20.jpc, s20.jpc, m10.jpc, s10.jpc, m5.jpc, s5.jpc, m1.jpc, s1.jpc are described below. The up-to-date versions are available at the website (http://www.javad.com). The scripts consist of commands. Some of them are specific for the JNSGyro- 4T system (these commands have been described above). The other commands are common for all JNS receivers and are described in the GRIL (GPS Receiver Interface Language) Manual (see http://www.javad.com for the reference).

  • Page 94: M20.Jpc

    #OFF# #OFF# set,raw/pll/band,35 set,cur/term/echo,/dev/null set,cur/term/imode,cmd set,base/mode/,off set,rover/mode/,off set,dev/ser/b/imode,jps set,dev/ser/c/imode,jps set,dev/ser/d/imode,jps dm,dev/ser/b dm,dev/ser/c dm,dev/ser/d set,pos/mode/cur,sp set,dev/ser/b/rate,460800 set,dev/ser/c/rate,460800 set,dev/ser/d/rate,460800 set,pos/msint,1000 set,raw/msint,50 set,pos/elm,5 set,raw/elm,5 set,lock/elm,5 set,out/elm/dev/ser/b,5 set,out/elm/dev/ser/c,5 set,out/elm/dev/ser/d,5 set,att/mode,1 em,dev/ser/b,jps/{RT,SI,rc,2r,cp,2p,PO,ET}:0.05 em,dev/ser/c,jps/{RT,SI,rc,2r,cp,2p,PO,ET}:0.05 em,dev/ser/d,jps/{RT,SI,rc,2r,cp,2p,PO,ET}:0.05 set,pos/grid/cur,NONE set,lock/notvis,off set,pos/tropo,off set,pos/iono,off em,,jps/{RT,PO,mr,AR}:0.05 A-4 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 95: M10.Jpc

    #OFF# #OFF# set,raw/pll/band,35 set,cur/term/echo,/dev/null set,cur/term/imode,cmd set,base/mode/,off set,rover/mode/,off set,dev/ser/b/imode,jps set,dev/ser/c/imode,jps set,dev/ser/d/imode,jps dm,dev/ser/b dm,dev/ser/c dm,dev/ser/d set,pos/mode/cur,sp set,dev/ser/b/rate,460800 set,dev/ser/c/rate,460800 set,dev/ser/d/rate,460800 set,pos/msint,1000 set,raw/msint,100 set,pos/elm,5 set,raw/elm,5 set,lock/elm,5 set,out/elm/dev/ser/b,5 set,out/elm/dev/ser/c,5 set,out/elm/dev/ser/d,5 set,att/mode,1 em,dev/ser/b,jps/{RT,SI,rc,2r,cp,2p,PO,ET}:0.1 em,dev/ser/c,jps/{RT,SI,rc,2r,cp,2p,PO,ET}:0.1 em,dev/ser/d,jps/{RT,SI,rc,2r,cp,2p,PO,ET}:0.1 set,pos/grid/cur,NONE set,lock/notvis,off set,pos/tropo,off set,pos/iono,off em,,jps/{RT,PO,mr,AR}:0.1 www.javad.com JNSGyro-4T Operator’s Manual A-5...

  • Page 96: M5.Jpc

    #OFF# #OFF# set,raw/pll/band,35 set,cur/term/echo,/dev/null set,cur/term/imode,cmd set,base/mode/,off set,rover/mode/,off set,dev/ser/b/imode,jps set,dev/ser/c/imode,jps set,dev/ser/d/imode,jps dm,dev/ser/b dm,dev/ser/c dm,dev/ser/d set,pos/mode/cur,sp set,dev/ser/b/rate,460800 set,dev/ser/c/rate,460800 set,dev/ser/d/rate,460800 set,pos/msint,1000 set,raw/msint,200 set,pos/elm,5 set,raw/elm,5 set,lock/elm,5 set,out/elm/dev/ser/b,5 set,out/elm/dev/ser/c,5 set,out/elm/dev/ser/d,5 set,att/mode,1 em,dev/ser/b,jps/{RT,SI,rc,2r,cp,2p,PO,ET}:0.2 em,dev/ser/c,jps/{RT,SI,rc,2r,cp,2p,PO,ET}:0.2 em,dev/ser/d,jps/{RT,SI,rc,2r,cp,2p,PO,ET}:0.2 set,pos/grid/cur,NONE set,lock/notvis,off set,pos/tropo,off set,pos/iono,off em,,jps/{RT,PO,mr,AR}:0.2 A-6 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 97: M1.Jpc

    #OFF# #OFF# set,raw/pll/band,35 set,cur/term/echo,/dev/null set,cur/term/imode,cmd set,base/mode/,off set,rover/mode/,off set,dev/ser/b/imode,jps set,dev/ser/c/imode,jps set,dev/ser/d/imode,jps dm,dev/ser/b dm,dev/ser/c dm,dev/ser/d set,pos/mode/cur,sp set,dev/ser/b/rate,460800 set,dev/ser/c/rate,460800 set,dev/ser/d/rate,460800 set,pos/msint,1000 set,raw/msint,1000 set,pos/elm,5 set,raw/elm,5 set,lock/elm,5 set,out/elm/dev/ser/b,5 set,out/elm/dev/ser/c,5 set,out/elm/dev/ser/d,5 set,att/mode,1 em,dev/ser/b,jps/{RT,SI,rc,2r,cp,2p,PO,ET}:1 em,dev/ser/c,jps/{RT,SI,rc,2r,cp,2p,PO,ET}:1 em,dev/ser/d,jps/{RT,SI,rc,2r,cp,2p,PO,ET}:1 set,pos/grid/cur,NONE set,lock/notvis,off set,pos/tropo,off set,pos/iono,off em,,jps/{RT,PO,mr,AR}:1 www.javad.com JNSGyro-4T Operator’s Manual A-7...

  • Page 98: S20.Jpc

    A P P E N D I X Scripts s20.jpc set,raw/pll/band,35 dm,dev/ser/a dm,dev/ser/b dm,dev/ser/c dm,dev/ser/d set,pos/elm,5 set,raw/elm,5 set,lock/elm,5 set,out/elm/dev/ser/b,5 set,out/elm/dev/ser/c,5 set,out/elm/dev/ser/d,5 set,rover/mode/,off set,dev/ser/b/rate,460800 set,dev/ser/b/imode,jps set,pos/mode/cur,pd set,pos/pd/usebasedop,off set,pos/msint,1000 set,raw/msint,50 set,pos/pd/ion,off set,pos/pd/period,0.05 set,hd/uselen,off set,hd/mode,on set,pos/pd/mem,0.9997 set,att/mode,1 em,dev/ser/b,jps/BL:0.05 set,pos/grid/cur,NONE set,lock/notvis,off set,pos/tropo,off set,pos/iono,off A-8 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 99: S10.Jpc

    A P P E N D I X Scripts s10.jpc set,raw/pll/band,35 dm,dev/ser/a dm,dev/ser/b dm,dev/ser/c dm,dev/ser/d set,pos/elm,5 set,raw/elm,5 set,lock/elm,5 set,out/elm/dev/ser/b,5 set,out/elm/dev/ser/c,5 set,out/elm/dev/ser/d,5 set,rover/mode/,off set,dev/ser/b/rate,460800 set,dev/ser/b/imode,jps set,pos/mode/cur,pd set,pos/pd/usebasedop,off set,pos/msint,1000 set,raw/msint,100 set,pos/pd/ion,off set,pos/pd/period,0.1 set,hd/uselen,off set,hd/mode,on set,pos/pd/mem,0.9997 set,att/mode,1 em,dev/ser/b,jps/BL:0.1 set,pos/grid/cur,NONE set,lock/notvis,off set,pos/tropo,off set,pos/iono,off www.javad.com JNSGyro-4T Operator’s Manual A-9...

  • Page 100: S5.Jpc

    A P P E N D I X Scripts s5.jpc set,raw/pll/band,35 dm,dev/ser/a dm,dev/ser/b dm,dev/ser/c dm,dev/ser/d set,pos/elm,5 set,raw/elm,5 set,lock/elm,5 set,out/elm/dev/ser/b,5 set,out/elm/dev/ser/c,5 set,out/elm/dev/ser/d,5 set,rover/mode/,off set,dev/ser/b/rate,460800 set,dev/ser/b/imode,jps set,pos/mode/cur,pd set,pos/pd/usebasedop,off set,pos/msint,1000 set,raw/msint,200 set,pos/pd/ion,off set,pos/pd/period,0.2 set,hd/uselen,off set,hd/mode,on set,pos/pd/mem,0.9997 set,att/mode,1 em,dev/ser/b,jps/BL:0.2 set,pos/grid/cur,NONE set,lock/notvis,off set,pos/tropo,off set,pos/iono,off A-10 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 101: S1.Jpc

    A P P E N D I X Scripts s1.jpc set,raw/pll/band,35 dm,dev/ser/a dm,dev/ser/b dm,dev/ser/c dm,dev/ser/d set,pos/elm,5 set,raw/elm,5 set,lock/elm,5 set,out/elm/dev/ser/b,5 set,out/elm/dev/ser/c,5 set,out/elm/dev/ser/d,5 set,rover/mode/,off set,dev/ser/b/rate,460800 set,dev/ser/b/imode,jps set,pos/mode/cur,pd set,pos/pd/usebasedop,off set,pos/msint,1000 set,raw/msint,1000 set,pos/pd/ion,off set,pos/pd/period,1 set,hd/uselen,off set,hd/mode,on set,pos/pd/mem,0.9997 set,att/mode,1 em,dev/ser/b,jps/BL:1 set,pos/grid/cur,NONE set,lock/notvis,off set,pos/tropo,off set,pos/iono,off www.javad.com JNSGyro-4T Operator’s Manual A-11...
  • Page 102 Notes: A-12 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 103: Specifications

    The dual frequency code and carrier data from four antennas are processed to determine the three orientation angles and three dimensional position up to 20 times per second. The JNSGyro-4T can also be operated in RTK or DGPS mode from an external base station to provide highly accurate positionand velocity.

  • Page 104: Jnsgyro-4T Specifications

    A P P E N D I X JNSGyro-4T Specifications JNSGyro-4T Specifications The following sections provide specifications for the JNSGyro-4T and its internal components. General Details Table B-1 table lists the receiver’s general specifications. Table B-1. JNSGyro-4T General Specifications Physical...
  • Page 105 A P P E N D I X JNSGyro-4T Specifications Table B-1. JNSGyro-4T General Specifications (Continued) Communication Ports Seven high speed RS232 serial ports. Four External GPS/GLONASS Antenna, 1PPS output Connectors Event Marker input Eight 3-color LED's (4 pairs for each board),...
  • Page 106 A P P E N D I X JNSGyro-4T Specifications Table B-1. JNSGyro-4T General Specifications (Continued) In-band interference Up to 60 dB rejection Solutions up to 20 times per second Other Common quartz clock for all boards Multipath Rejection Strobed Sequence Sampler...
  • Page 107 Up to 256 MB of on-board data storage Raw Data Recording Up to 20 times per second (20Hz) Data Type Code and carrier from L1 and L2 of GPS PPS Output Number of PPS ports Edge Rise, Fall www.javad.com JNSGyro-4T Operator’s Manual B-5...
  • Page 108 Cinderella days is an option that turns a single frequency, GPS receiver into a dual-frequency, GPS+GLONASS receiver for 24 hours every other Tuesday at GPS midnight. Refer to JNS's website for more information and specific Cinderella day dates. B-6 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 109: Connector Specifications

    A P P E N D I X JNSGyro-4T Specifications Connector Specifications This sections list JNSGyro-4T connector details. Power Connector The power connector (Figure B-1) is a sealed receptacle, 5 pin, ODU p/n G80F1C-T05QF00-0000. Figure B-1. Power Connector Table B-3 gives power connector specifications.

  • Page 110: Serial Rs-232C Connector

    Figure B-2. RS-232C Connector Table B-4 gives the RS-232C cable connector specifications. Table B-4. Number Signal Name Details Power_OUT Power Output (supplied voltage) Signal ground Clear to send Request to send Receive data Transmit data Not used B-8 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 111: Gps External Antenna Rf Connector

    Signal Name Details RF input from LNA, 100 mA ANT_IN at 5.0 VDC output EVENT and 1PPS Connectors The EVENT and 1PPS connectors are coaxial female receptacles of BNC series, Kings Electronics part number KC-79-108. www.javad.com JNSGyro-4T Operator’s Manual B-9...
  • Page 112 Notes: B-10 JNSGyro-4T Operator’s Manual www.javad.com...

  • Page 113: Safety Warnings

    PPENDIX Safety Warnings General Warnings WARNING: The JNSGyro-4T is designed for measuring and measuring related uses (i.e., measuring coordinates, distances, angles and depths). This product should never be used: – Without the user thoroughly understanding this manual. – After disabling safety systems or altering the product.
  • Page 114 The owner should periodically test this product to ensure it provides accurate measurements. CAUTION: Inform JNS immediately if this product does not function properly. CAUTION: Only allow authorized JNS warranty service centers to service or repair this product. C-2 JNSGyro-4T Operator’s Manual www.javad.com...
  • Page 115 1. The warranty against defects in JNS battery, charger, or cable is 90 days. www.javad.com JNSGyro-4T Operator’s Manual D-1...
  • Page 116 Notes: D-2 JNSGyro-4T Operator’s Manual www.javad.com...

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