V104s GPS Compass
User Guide
Part No. 875-0346-0 Rev. A2
This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions:
(1) This device may not cause harmful interference, and
(2) this device must accept any interference received, including interference that may cause undesired operation.
This product complies with the essential requirements and other relevant provisions of Directive 2014/53/EU. The declaration of conformity
may be consulted at https://hemispheregnss.com/About-Us/Quality-Commitment.
Copyright Notice
Copyright Hemisphere GNSS, Inc. (2017). All rights reserved.
No part of this manual may be reproduced, transmitted, transcribed, stored in a retrieval system or translated into any language or
computer language, in any form or by any means, electronic, mechanical, magnetic, optical, chemical, manual or otherwise, without
the prior written permission of Hemisphere GNSS.
Trademarks
Hemisphere GNSS®, the Hemisphere GNSS logo, COASTTM, Crescent®, PocketMAXTM and VectorTM are proprietary trademarks of Hemisphere
GNSS, Inc. Other trademarks are the properties of their respective owners.
Patents
Hemisphere GNSS products may be covered by one or more of the following patents:
U.S. Patents
6111549
6397147
6469663
6501346
6539303
6549091
6711501
6744404
6865465
6876920
7142956
7162348
7277792
7292185
7292186
7373231
7388539
7400294
7400956
7429952
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7808428
7835832
7885745
7948769
8000381
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8190337
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8217833
8265826
8271194
8307535
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8334804
RE41358
Australia Patents
2002244539
2002325645
2004320401
Other U.S. and foreign patents pending.
Notice to Customers
Contact your local dealer for technical assistance. To find the authorized dealer near you:
Hemisphere GNSS, Inc. 8515 E.
Anderson Drive, Suite A
Scottsdale, AZ 85255 USA
Phone: (480) 348-6380
Fax: (480) 270-5070
precision@hgnss.com www.hgnss.com
Technical Support
If you need to contact Hemisphere GNSS Technical Support:
Hemisphere GNSS
8515 East Anderson Drive, Suite A
Scottsdale, Arizona, US 85255
Phone: (480) 348-6380
Fax: (480) 270-5070
techsupport@hgnss.com
Documentation Feedback
Hemisphere GNSS is committed to the quality and continuous improvement of our products and services. We urge you to
provide Hemisphere GNSS with any feedback regarding this guide by writing to the following email address:
techsupport@hgnss.com.
Contents
Contents
Chapter 1
Introduction
Overview ....................................................................................................................2
Parts List .....................................................................................................................3
Chapter 2
V104s Installation
Mounting Location .....................................................................................................6
GPS Reception ..................................................................................................................6
V104s Environmental Considerations .............................................................................6
VHF Interference ..............................................................................................................7
Mounting Orientation.................................................................................................9
V104s Alignment ........................................................................................................... 11
Mounting Options ....................................................................................................12
V104s Dimensions ...........................................................................................................12
Power/Data Cable Considerations ...................................................................................14
Flush Mount ....................................................................................................................15
Pole Mount .................................................................................................................... 17
Powering the V104s ..................................................................................................21
Power Considerations ................................................................................................... 21
Connecting to a Power Source ..................................................................................... 21
Electrical Isolation ......................................................................................................... 21
Connecting the V104s to External Devices ...............................................................22
Power/Data Cable Considerations ............................................................................... 22
Power/Data Cable Pin-out Specifications .................................................................... 23
iv
V104s GPS Compass User Guide
Serial Ports ...................................................................................................................... 24
Default Parameters ........................................................................................................25
Chapter 3
Operation
GPS Overview ........................................................................................................... 28
GPS Operation ................................................................................................................28
Differential Operation ..................................................................................................... 29
V104s Overview ........................................................................................................ 30
Supplemental Sensors ...................................................................................................31
Time Constants...............................................................................................................34
Watchdog .......................................................................................................................35
Common Commands and Messages......................................................................... 36
Appendix A Troubleshooting ............................................................................................ 41
Appendix B
Specifications .......................................................................................... 45
End User License Agreement .............................................................................................. 49
Warranty Notice ................................................................................................................ 52
iii
Contents
Chapter 1: Introduction
Overview
Parts List
1
V104s GPS Compass User Guide
Overview
The V104s™ GPS Compass is based upon Hemisphere GNSS’ exclusive Crescent® and Crescent
Vector™ II technology.
The V104s is a complete GPS compass and position system in a single enclosure that
requires only one power/data cable connection. With its serial support and ease of
installation, the V104s is the perfect solution for
marine-based applications.
The V104s is an integrated system that houses the following:
•
Crescent and Crescent Vector II technology
•
Dual integrated GPS antennas
•
Power supply
•
Single axis gyro
•
Tilt sensor on each axis (X and Y axes)
The gyro and tilt sensors are present to improve system performance and to provide
backup heading information in the event that a GPS heading is not available due to
signal blockage.
Crescent Vector II technology supports multiple RF front ends - enabling tighter
coupling of measurements from separate antennas for use in heading-based products.
Users will achieve excellent accuracy and stability due to Crescent’s more accurate code
phase measurements, improved multipath mitigation, and fewer components.
The V104s’s GPS antennas are separated by 13.5 cm between their phase centers, resulting
in better than 2° rms heading performance. The V104s provides heading and position
updates of up to 10 Hz and delivers position accuracy of better than 1.0 m 95% of the time
when using differential GPS corrections from Space Based Augmentation Systems (SBAS).
The V104s also features Hemisphere GNSS’ exclusive COAST™ technology that enables
Hemisphere GNSS receivers to utilize old differential GPS correction data for 40 minutes
or more without significantly affecting the position quality. The V104s is less likely to be
affected by differential signal outages due to signal blockages, weak signals, or
interference when using COAST.
2
Chapter 1: Introduction
If you are new to GPS and SBAS, refer to the GPS Technical Reference for further
information on these services and technologies before proceeding. The GPS Technical
Reference is available from the Hemisphere GNSS website at www.hgnss.com.
Parts List
Note: The V104s’ parts comply with IEC 60945 Section 4.4: “exposed to the weather.”
The V104s GPS Compass and the power/data cable (accessory item) are the only two
required components
Table 1-1: Parts list for Serial version of the V104s
Part Name
Qty
Part Number
V104s GPS Compass (Serial)
1
804-0114-0
Screw Housing Caps
2
675-0173-0
Serial Cable, 5m
1
051-0372-0
Mounting Screws
2
675-1199-000#
Mounting Base
1
676-0035-0
Mounting Nut
1
676-1021-000#
Screw Housing Cap O-Rings
2
681-1066-0
This User Guide is available for download from the Hemisphere GNSS website at
www.hgnss.com.
3
V104s GPS Compass User Guide
Chapter 2: V104s Installation
Mounting Location
Mounting Orientation
Mounting Options
Powering the V104s
Connecting the V104s to External Devices
4
Chapter 2: Installation
Mounting Location
This section provides information on determining the best location for the V104s.
GPS Reception
When considering where to mount the V104s, consider the following GPS reception
recommendations:
•
Ensure there is a clear view of the sky available to the V104s so the GPS and
SBAS satellites are not masked by obstructions that may reduce system
performance.
•
Since the V104s computes a position based on the internal GPS antenna
element, mount the V104s where you desire a position with respect to the GPS
antenna (located on the side of the recessed arrow on the underside of the
enclosure).
•
Locate any transmitting antennas away from the V104s by at least several
feet to ensure tracking performance is not compromised, giving you the
best performance possible.
•
Make sure there is enough cable length to route into the vessel to reach a
breakout box or terminal strip.
•
Do not locate the antenna where environmental conditions exceed those
specified in Table B-5 on page 48.
V104s Environmental Considerations
The V104s is designed to withstand harsh environmental conditions; however, adhere
to the following limits when storing and using the V104s:
•
Operating temperature: -30°C to +70°C (-22°F to +158°F).
•
Storage temperature: -40°C to +85°C (-40°F to +185°F).
•
Humidity: 100% non-condensing.
5
V104s GPS Compass User Guide
VHF Interference
VHF interference from devices such as cellular phones and radio transmitters may
interfere with GPS operation. For example, if installing the V104s near marine radios
consider the following:
•
VHF marine radio working frequencies (Channels 1 to 28 and 84 to
88) range from 156.05 to 157.40 MHz. The L1 GPS working center frequency is
1575.42 MHz. The bandwidth is +/- 2MHz to +/- 10 MHz, which is dependent
on the GPS antenna and receiver design (see next page).
•
VHF marine radios emit strong harmonics. The 10th harmonic of VHF radio,
in some channels, falls into the GPS working frequency band, which may
cause the SNR of GPS to degrade significantly.
•
The radiated harmonic signal strength of different brands/models varies.
•
Follow VHF radio manufacturers’ recommendations on how to mount their
radios and what devices to keep a safe distance away.
•
Hand-held 5W VHF radios may not provide suitable filtering and may
interfere with the V104s’s operation if too close.
6
Chapter 2: Installation
Before installing the V104s use the following diagram to ensure there are no nearby
devices that may cause VHF interference.
VHF Antenna
1.5 m radius at top (minimum)
Use these minimum distances to
determine where to place the
V104s
1.0 m radius at base
(minimum)
Figure 2-1: V104s distance from nearby VHF radios
7
V104s GPS Compass User Guide
Mounting Orientation
The V104s outputs heading, pitch, and roll readings regardless of the orientation of the
antennas. However, the relation of the antennas to the boat’s axis determines whether
you will need to enter a heading, pitch, or roll bias. The primary antenna is used for
position. The primary and secondary antennas, working in conjunction, output heading,
pitch, and roll values.
Note: Regardless of which mounting orientation you use, the V104s provides the ability
to output the heave of the vessel. This output is available via the $GPHEV message. For
more information on this message refer to refer to GPS Technical Reference available
from the Hemisphere GNSS website at www.hemispheregnss.com.
Parallel Orientation: The most common installation is to orient the V104s parallel to,
and along the centerline of, the axis of the boat. This provides a true heading. In this
orientation:
•
If you use a gyrocompass, you can enter a heading bias in the V104s to calibrate
the physical heading to the true heading ofthe vessel.
•
You may need to adjust the pitch/roll output to calibrate the
measurement if the Vector is not installed in a horizontal plane.
Perpendicular Orientation: You can also install the antennas so they are oriented
perpendicular to the centerline of the boat’s axis. In this orientation:
•
You will need to enter a heading bias of +90° if the primary antenna is on the
starboard side of the boat and -90° if the primary antenna is on the port side
of the boat.
•
You will need to configure the receiver to specify the GPS antennas are
measuring the roll axis using $JATT,ROLL,YES.
•
You will need to enter a roll bias to properly output the pitch and roll values.
•
You may need to adjust the pitch/roll output to calibrate the
measurement if the Vector is not installed in a horizontal plane.
8
V104s GPS Compass User Guide
Figure 2-2 and Figure 2-3 provide mounting orientation examples.
Forward motion
Recessed arrow
located on bottom
of enclosure
Figure 2-2: Recommended orientation and resulting signs of HPR values
Forward
motion
Figure 2-3: Alternate orientation and resulting signs of HPR values
10
Chapter 2: Installation
V104s Alignment
The top of the V104s enclosure incorporates sight design features to help you align the
enclosure with respect to an important feature on your vessel.
To use the sights, center the small post on the opposite side of the enclosure from you,
within the channel made in the medallion located in the center of the enclosure top as
shown in Figure 2-4 and Figure 2-5. Alignment accuracy when looking through the site
(Figure 2-4)and (Figure 2-5) is approximately
+/- 1°.
Figure 2-4: Long site alignment channel
Figure 2-5: Long sight alignment center post
If you have another accurate source of heading data on your vessel, such as a
gyrocompass, you may use its data to correct for a bias in V104s alignment within the
V104s software configuration (PocketMax or VectorPC).
Alternatively, you can physically adjust the heading of the V104s so that it renders the
correct heading measurement; however, adding a software offset is an easier process.
11
V104s GPS Compass User Guide
Mounting Options
The V104s allows for both pole or flush mounting. Follow directions below for detailed
mounting directions.
V104s Dimensions
Figure 2-6 illustrates the physical dimensions of the V104s.
Figure 2-6: V104s dimensions
12
Chapter 2: Installation
V104s dimensions with adapter
13
V104s GPS Compass User Guide
Power/Data Cable Considerations
Before mounting the V104s consider the following regarding power/data cable routing:
•
Cable must reach an appropriate power source
•
Cable may connect to a data storage device, computer, or other device
that accepts GPS data
•
Avoid running the cable in areas of excessive heat
•
Keep cable away from corrosivechemicals
•
Do not run the cable through door or window jams
•
Keep cable away from rotatingmachinery
•
Do not crimp or excessively bend the cable
•
Avoid placing tension on the cable
•
Remove unwanted slack from the cable at the V104s end
•
Secure along the cable route using plastic wraps
Improperly installed cable near machinery can be dangerous
14
Chapter 2: Installation
Flush Mount
The bottom of the V104s contains two holes for flush mounting the unit to a flat surface
(Figure 2-7). The flat surface may be something you fabricate per your installation, an offthe-shelf item (such as a radar mounting plate), or an existing surface on your vessel.
Note: Hemisphere GNSS does not supply the mounting surface hardware. You must
supply the appropriate fastening hardware required to complete the installation of the
V104s.
Figure 2-7: Flush mounting with holes in the V104s
Note: You do not necessarily need to orient the antenna precisely as you can enter a
software offset to accommodate for any bias in heading measurement due to
installation.
15
V104s GPS Compass User Guide
Before flush mounting the V104s
•
Determine your mounting orientation. See “MountingOrientation” on page 9
for more information.
•
Choose a location that meets the mounting location requirements.
•
Using the fixed base as a template, mark and drill the mounting holes as
necessary for the mounting surface.
Flush mounting the V104s
1.
Mark the mounting hole centers and connector center on the
mounting surface.
2.
Place the V104s over the marks to ensure the planned hole centers align
with the true hole centers (adjusting as necessary).
3.
Use a center punch to mark the hole centers.
4.
Drill the mounting holes to a diameter of 6.8mm (0.26 in)
appropriate for the surface.
5.
Drill the connector hole to a diameter of 28.6mm (1.13 in)
appropriate for the surface.
6.
Pull the cable through the center connector hole and attach the cable
directly to the V104s, ensuring the connector clicks.
7.
Place the V104s over the mounting holes and insert the mounting screws
through the top of the V104s and through the mounting surface.
8.
Use two M6 washers and M6 nuts to secure the V104s to the
mounting plate (washers and nuts not included).
When installing the V104s, hand tighten only. Damage resulting from
over-tightening is not covered by the warranty.
Note: See “V104s Dimensions” on page 12 for information on routing the power/data cable.
16
Chapter 2: Installation
Pole Mount
Before pole mounting the V104s
•
V104s provides roll measurements when mounted in any preferred
orientation. If accurate roll measurements are important to your use case, we
recommend mounting the V104s perpendicular to the vessel’s axis. If roll
measurements are less important, install the V104s parallel with the vessel’s
axis.
•
Choose a location that meets the mounting location requirements.
•
Mark and drill the mounting holes as necessary for the threaded pole.
17
V104s GPS Compass User Guide
Pole mounting instructions for V104s (Inside Pole)
Required tools: 5 mm Allen key for M6 screws and adjustable wrench to tighten jam nut
1.
Insert mating cable through both the jam nut and 1” (25.4mm)
mounting adapter base
2.
Place the jam nut on the pole followed by the 1” (25.4mm) adapter base.
Hand tighten the base to the desired orientation.
3.
Adjust the jam nut to secure the orientation.
4.
Connect the mating end of the cable to the V104s connector located on the
bottom of the unit.
5.
Insert the base adapter into V104s by placing the tongue of the base into the
groove of the V104s unit. When the tongue is properly seated in the groove,
the rest of the base can be pressed into place to create a smooth seam
between the base and V104s unit.
6.
Use 5 mm Allen key to fasten two M6 screws to secure V104s onto adapter.
Use 15 in-lb torque
7.
Insert each o-ring onto a plastic cap
8.
Install plastic cap with o-ring onto V104s unit (rectangular notch faced
towards the outside)
9.
Align and set the direction of V104s unit, while using the jam nut to secure the
unit (hand-tighten).
Over-tightening may damage the system. This is not covered under
warranty.
18
Chapter 2: Installation
Pole mounting instructions for V104s (Outside Pole)
Required tools: 5 mm Allen key for M6 screws and adjustable wrench to tighten jam nut
1.
Place the jam nut on the pole followed by the 1” (25.4mm) adapter base.
Hand tighten the base to the desired orientation.
2.
Adjust the jam nut to secure the orientation.
3.
Run the cable throughout the vessel making sure to leave enough slack to
mate the NMEA 2000 cable to both the NMEA 2000 backbone and the
V104s unit.
4.
Run the NMEA 2000 cable through the opening in the side of the pole
mounting adapter. And then connect the mating end of the cable to the
V104 connector located on the bottom of the unit.
5.
Insert the base adapter into V104s by placing the tongue of the base into the
groove of the V104s unit. When the tongue is properly seated in the groove,
the rest of the base can be pressed into place to create a smooth seam
between the base and V104s unit.
6.
Use 5 mm Allen key to fasten two M6 screws to secure V104s onto adapter.
Use 15 in-lb torque
7.
Insert each o-ring onto a plastic cap
8.
Install plastic cap with o-ring onto V104s unit (rectangular notch faced
towards the outside)
9.
Align and set the direction of V104s unit, while using the jam nut to secure the
unit (hand-tighten).
Over-tightening may damage the system. This is not covered under
warranty.
19
V104s GPS Compass User Guide
Connecting the power/data cable
1.
Align the cable connector key-way with the V104s connector key.
Key-way alignment
2.
Rotate the cable ring clockwise until it locks. The locking action is firm, but
you will feel a positive “click” when it has locked.
Note: See “V104s Dimensions” on page 12 for information on routing the power/data cable.
20
Chapter 2: Installation
Powering the V104s
Power Considerations
For best performance use a clean and continuous power supply. The V104s power supply
features reverse polarity protection but will not operate with reverse polarity.
See Table B-3 on page 47 for complete power specifications.
Connecting to a Power Source
Before you power up the V104s you must terminate the wires of the power cable as
required. There are a variety of power connectors and terminals on the market from
which to choose, depending on your specific requirements.
Do not apply a voltage higher than 36 VDC. This will damage the receiver
and void the warranty.
To interface the V104s power cable to the power source:
•
Connect the red wire of the cable’s power input to DC positive (+)
•
Connect the black wire of the cable’s power input to DC negative (-)
The V104s will start when an acceptable voltage is applied to the power leads of the
extension cable.
Electrical Isolation
The V104s’s power supply is isolated from the communication lines and the PC-ABS
plastic enclosure isolates the electronics mechanically from the vessel (addressing the
issue of vessel hull electrolysis).
21
V104s GPS Compass User Guide
Connecting the V104s to External Devices
Power/Data Cable Considerations
The V104s uses a single 15 m (49 ft) cable for power and data input/output.
Figure 2-8: Power/data cable, 15 m
The receiver end of the cable is terminated with an environmentally sealed 12-pin
connection while the opposite end is unterminated and requires field stripping and
tinning.
Depending on the application and installation needs, you may need to shorten this
cable. However, if you require a longer cable run than 15 m, you can bring the cable into
a break-out box that incorporates terminal strips, within the vessel.
When lengthening the cable keep the following in mind:
•
To lengthen the serial lines inside the vessel, use 20-gauge twisted pairs and
minimize the additional wire length.
•
When lengthening the power input leads to the V104s, ensure the additional
voltage drop is small enough that your power system can continue to power
the system above the minimum voltage of the system. Wire of 18-gauge or
larger should also be used.
•
Minimize RS-232 cable length to ensure reliablecommunication
22
Chapter 2: Installation
Power/Data Cable Pin-out Specifications
Figure 2-9 show the power/data cable pin-out, while Table 2-1 shows the cable’s pin-out
specifications.
Figure 2-9: Power/data cable pin assignment Table 2-1:
Power/data cable pin-out
Pin
Function
Wire Color
1
CH-GND
Drain
1
DGND
Brown
2
RXB
Blue
3
Power Input
Red
4
Power Ground
Black
5
TXB
Green
6
RXA
Orange
7
TXA
Purple
8
1PPS
Yellow
23
V104s GPS Compass User Guide
Serial Ports
The V104s offers position and heading data via two full-duplex (bi- directional) RS-232
serial ports. In addition to outputting data, these ports are used for firmware upgrades.
Selecting Baud Rates and Message Types
When selecting your baud rate and message types, use the following calculation to
determine your baud rate for your required data throughput.
Messages * Message output rate * Message length (bytes) * bits in byte Ex: 5 * 10Hz *
40 bytes * 10 = 20,000 bits/sec
For information on message output rates refer to GPS Technical Reference available
from the Hemisphere GNSS website at www.hemispheregnss.com.
Configuring the Ports
You may configure Port A or Port B of the GPS receiver to output any combination of data
that you want. Port A can have a different configuration from Port B in terms of data
message output, data rates, and the baud rate of the port. This allows you to configure
the ports independently based upon your needs. For example, if you want one
generalized port and one
heading-only port, you can configure the ports as follows:
•
Port A to have GPGGA, GPVTG, GPGSV, GPZDA, and GPHDT all output at 1
Hz over a 9600 baud rate
•
Port B to have GPHDT and GPROT output at their maximum rate of 10 Hz over
a 19200 baud rate
A personal computer (PC) typically uses a DB9-male connector for RS-232 serial port
communications.
Note: For successful communications use the 8-N-1 protocol and set the baud rate of
the V104s’s serial ports to match that of the devices to which they are connected. Flow
control is not supported.
24
Chapter 2: Installation
Default Parameters
Table 2-2 and Table 2-3 provide details on the default port settings, available baud rates,
differential age, elevation mask, and default differential mode.
Note: Use the $JSAVE command to save changes you make to the V104s’s configuration
for the changes to be present in subsequent power cycles.
Table 2-2: Default port settings
Port
Baud Rate
NMEA Messages
Update Rate
Port A
(RS-232)
19200
GPGGA, GPVTG, GPGSV, GPZDA, GPHDT,
GPROT
1 Hz
Port B
(RS-232)
19200
GPGGA, GPVTG, GPGSV, GPZDA, GPHDT,
GPROT
1 Hz
Power
6 - 36 VDC
RED (+)
BLK (-)
Table 2-3: Additional default settings
Parameter
Specification
Max DGPS age (correction age)
2700 seconds
Elevation mask
5°
Differential mode
SBAS (WAAS/EGNOS)
25
V104s GPS Compass User Guide
Chapter 3: Operation
GPS Overview
V104s Overview
Common Commands and Messages
26
Chapter 3: Operation
GPS Overview
For your convenience, both the GPS and SBAS (WAAS, MSAS, GAGAN and EGNOS)
operation of the V104s features automatic operational algorithms. When powered for
the first time, the V104s performs a "cold start," which involves acquiring the available
GPS satellites in view and the SBAS differential service.
If SBAS is not available in your area, an external source of RTCM SC-104 differential
corrections may be used. If you use an external source of correction data, it must
support an eight data bit, no parity, one stop bit configuration (8-N-1).
GPS Operation
The GPS receiver is always operating, regardless of the DGPS mode of operation.
The following sections describe the general operation of the V104s’s internal GPS
receiver.
Note: Differential source and status have no impact on heading, pitch, or roll. They only
have an impact on position and heave.
Automatic Tracking
The V104s’s internal GPS receiver automatically searches for GPS satellites, acquires the
signals, and manages the navigation information required for position and tracking.
Receiver Performance
The V104s works by finding four or more GPS satellites in the visible sky. It uses
information from the satellites to compute a position within 3 m. Since there is some
error in the GPS data calculations, the V104s also tracks a differential correction. The
V104s uses these corrections to improve its position accuracy to better than 1.0 m.
There are two main aspects of GPS receiver performance:
•
Satellite acquisition
•
Position and heading calculation
27
V104s GPS Compass User Guide
When the V104s is properly positioned, the satellites transmit coded information to the
antennas on a specific frequency. This allows the receiver to calculate a range to each
satellite from both antennas. GPS is essentially a timing system. The ranges are calculated
by timing how long it takes for the signal to reach the GPS antenna. The GPS receiver uses
a complex algorithm incorporating satellite locations and ranges to each satellite to
calculate the geographic location and heading. Reception of any four or more GPS signals
allows the receiver to compute three-dimensional coordinates and a valid heading.
Differential Operation
The purpose of differential GPS (DGPS) is to remove the effects of selective availability
(SA), atmospheric errors, timing errors, and satellite orbit errors, while enhancing
system integrity. Autonomous position capabilities of the V104s will result in position
accuracies of 3 m 95% of the time. In order to improve position quality to better than
1.0 m 95%, the V104s is able to use differential corrections received through the internal
SBAS demodulator or externally-supplied RTCM corrections.
Automatic SBAS Tracking
The V104s automatically scans and tracks SBAS signals without the need to tune the
receiver. The V104s features two-channel tracking that provides an enhanced ability to
maintain a lock on an SBAS satellite when more than one satellite is in view. This
redundant tracking approach results in more consistent tracking of an SBAS signal in
areas where signal blockage of a satellite is possible.
28
V104s GPS Compass User Guide
V104s Overview
The V104s provides accurate and reliable heading and position information at high
update rates. To accomplish this task, the V104s uses a high performance GPS receiver
and two antennas for GPS signal processing. One antenna is designated as the primary
GPS antenna and the other is the secondary GPS antenna. Positions computed by the
V104s are referenced to the phase center of the primary GPS antenna. Heading data
references the vector formed from the primary GPS antenna phase center to the
secondary GPS antenna phase center.
The heading arrow located on the bottom of the V104s enclosure defines system
orientation. The arrow points in the direction the heading measurement is
computed (when the antenna is installed parallel to the fore-aft line of the vessel).
The secondary antenna is directly above the arrow.
Primary antenna
0.135 m
baseline
Figure 3-1: Secondary antenna’s search volume
Note: The V104s moving base station algorithm only uses GPS to calculate heading.
Differential corrections are not used in this calculation and will not affect heading
accuracy.
30
Chapter 3: Operation
Supplemental Sensors
The V104s has an integrated gyro and two tilt sensors. The gyro and tilt sensors are
enabled by default. Both supplemental sensors are mounted on the printed circuit
board inside the V104s.
The sensors act to reduce the search volume, which improves heading startup and
reacquisition times. This improves the reliability and accuracy of selecting the correct
heading solution by eliminating other possible, erroneous solutions. Table 3-1 on page
32 provides a sensor operation summary.
31
V104s GPS Compass User Guide
Table 3-1: Sensor operation summary
Feature
Normal Operation
Coasting (no GPS)
Heading
GPS
Gyro
Pitch
GPS
Inertial sensor
Roll
Inertial sensor
Inertial sensor
Hemisphere GNSS’ GPS Technical Reference describes the commands and methodology required to
recalibrate, query, or change the sensors status.
Tilt Aiding
The V104s’ accelerometers (internal tilt sensors) are factory-calibrated and enabled by
default. This improves heading solution beyond the volume associated with just a fixed
antenna separation. This is because the V104s knows the approximate inclination of the
secondary antenna with respect to the primary antenna. The search space defined by the
tilt sensor will be reduced to a horizontal ring on the sphere’s surface by reducing the
search volume. This considerably decreases startup and reacquisition times (see Figure
3-2).
Tilt angle
Figure 3-2: V104s’s tilt aiding
Gyro Aiding
The V104s’ internal gyro offers several benefits. It reduces the sensor volume to
shorten reacquisition times when a GPS heading is lost because the satellite signals
were blocked. The gyro provides a relative change in
32
Chapter 3: Operation
angle since the last computed heading, and, when used in conjunction with the tilt
sensor, defines the search space as a wedge-shaped location (see Figure 3-3).
Figure 3-3: V104s’s gyro aiding
The gyro aiding accurately smoothes the heading output and the rate of turn. It provides
an accurate substitute heading for a short period depending on the roll and pitch of the
vessel, ideally seeing the system through to reacquisition. The gyro provides an alternate
source of heading, accurate to within 1º per minute for up to three minutes, in times of
GPS loss for either antenna. If the outage lasts longer than three minutes, the gyro will
have drifted too far and the V104s begins outputting null fields in the heading output
messages. There is no user control over the timeout period of the gyro.
Calibration, which is set at the factory, is required for the gyro to remove latency from
the heading solution as well as provide backup heading when GPS is blocked. The
receiver will calibrate itself after running for a while but it may be important to follow
the manual calibration instructions if you want to guarantee performance quickly after
powering up the receiver.
With the gyro enabled, the gyro is also used to update the post HTAU smoothed heading
output from the GPS heading computation. This means that if the HTAU value is
increased while gyro aiding is enabled, there will be no lag in heading output due to
vehicle maneuvers. Hemisphere GNSS’ GPS Technical Reference includes information on
setting an appropriate HTAU value for the application.
33
V104s GPS Compass User Guide
Time Constants
The V104s incorporates user-configurable time constants that can provide a degree of
smoothing to the heading, pitch, rate of turn (ROT), course over ground (COG), and
speed measurements. You can adjust these parameters depending on the expected
dynamics of the vessel. For example, increasing the time is reasonable if the vessel is
very large and is not able to turn quickly or would not pitch quickly. The resulting values
would have reduced “noise,” resulting in consistent values with time. However, if the
vessel is quick and nimble, increasing this value can create a lag in measurements.
Formulas for determining the level of smoothing are located in Hemisphere GNSS’ GPS
Technical Reference. If you are unsure on how to set this value, it is best to be
conservative and leave it at the default setting.
Note: For heading and rate of turn there is no lag once the gyro is calibrated and enabled.
Heading time constant: Use the $JATT,HTAU command to adjust the level of
responsiveness of the true heading measurement provided in the
$GPHDT message. The default value of this constant is 20.0 seconds of smoothing when
the gyro is enabled. The gyro is enabled by default, but can be turned off. By turning the
gyro off, the equivalent default value of the heading time constant would be 0.5 seconds
of smoothing. This is not automatically done and therefore you must manually enter it.
Increasing the time constant increases the level of heading smoothing andincreases lag.
Pitch time constant: Use the $JATT,PTAU command to adjust the level of responsiveness
of the pitch measurement provided in the $PSAT,HPR message. The default value of this
constant is 0.5 seconds of smoothing.
Increasing the time constant increases the level of pitch smoothing and increases lag.
Rate of Turn (ROT) time constant: Use the $JATT,HRTAU command to adjust the level of
responsiveness of the ROT measurement provided in the
$GPROT message. The default value of this constant is 2.0 seconds of smoothing.
Increasing the time constant increases the level of ROT smoothing.
34
Chapter 3: Operation
Course Over Ground (COG) time constant: Use the $JATT,COGTAU command to adjust the
level of responsiveness of the COG measurement provided in the $GPVTG message. The
default value of this constant is
0.0 seconds of smoothing. Increasing the time constant increases the level of COG
smoothing. COG is computed using only the primary GPS antenna and its accuracy
depends upon the speed of the vessel (noise is proportional to 1/speed). This value is
invalid when the vessel is stationary, as tiny movements due to calculation inaccuracies
are not representative of a vessel’s movement.
Speed time constant: Use the $JATT,SPDTAU command to adjust the level of
responsiveness of the speed measurement provided in the $GPVTG message. The
default value of this constant is 0.0 seconds of smoothing.
Increasing the time constant increases the level of speed measurement smoothing.
Watchdog
The watchdog is a timer that is controlled by the software that monitors if the heading is
lost. The watchdog software is compliant with IEC 60945.
35
V104s GPS Compass User Guide
Common Commands and Messages
Note: When selecting your baud rate and message types, use the following calculation to
determine your baud rate for your required data throughput.
Messages * Message output rate * Message length (bytes) * bits in byte Ex: 5 * 10Hz *
40 bytes * 10 = 20,000 bits/sec
For information on message output rates refer to GPS Technical Reference available
from the Hemisphere GNSS website at www.hemispheregnss.com.
Table 3-2 below through Table 3-4 provide brief descriptions of common commands
and messages for the V104s. Refer to the Hemisphere GNSS’ GPS Technical Reference
for more detailed information.
Table 3-2: Commands
Command
Description
$JAGE
Specify maximum DGPS (COAST) correction age (6 to 8100 seconds)
$JAPP
Query or specify receiver application firmware
$JASC
Specify ASCII messages to output to specific ports (see ASCII messages in
Table 3-3)
$JBAUD
Specify RS-232, RS-422 (output) communication rate
$JBIN
Specify binary messages to output to specific ports (see Table 3-4)
$JDIFF
Query or specify differential correction mode
$JGEO
Query or specify SBAS for current location and SBAS satellites
$JI
Query unit’s serial number and firmware versions
$JOFF
Turn off all data messages
$JQUERY,GUIDE
Query accuracy suitability for navigation
$JRESET
Reset unit’s configuration to firmware defaults
$JSAVE
Save session’s configuration changes
36
Chapter 3: Operation
In Table 3-3 the Info Type value is one of the following:
•
P = Position
•
V = Velocity, Time
•
H = Heading, Attitude
•
S = Sats, Stats, Quality
Table 3-3: NMEA 0183 and other messages
Message
Info
Type
Description
IEC
Approved
Message
$GPDTM
P
Datum reference
Yes
$GPGGA
P
GPS position and fix data
Yes
$GPGLL
P
Geographic position - lat/long
Yes
$GPGNS
P
GNSS position and fix data
Yes
$GPGRS
S
GNSS range residual (RAIM)
Yes
$GPGSA
S
GNSS DOP and active satellites
Yes
$GPGST
S
GNSS pseudo range error statistics and position
accuracy
Yes
$GPGSV
S
GNSS satellites in view
Yes
*$GPHDG
H
Provides magnetic deviation and variation for
calculating magnetic or true heading
Yes
*see last bullet in Note at end of this table
*$GPHDM
H
Magnetic heading (based on GPS-derived
heading and magnetic declination)
*$GPHDT
H
GPS-derived true heading
No
*see last bullet in Note at end of this table
Yes
*see last bullet in Note at end of this table
$GPHEV
H
Heave value (in meters)
Yes
$GPRMC
P
Recommended minimum specific GNSS data
Yes
*$GPROT
H
GPS-derived rate of turn (ROT)
Yes
*see last bullet in Note at end of this table
37
V104s GPS Compass User Guide
Table 3-3: NMEA 0183 and other messages (continued)
Message
Info
Type
Description
IEC
Approved
Message
$GPRRE
S
Range residual and estimated position error
Yes
$GPVTG
V
COG and ground speed
Yes
$GPZDA
V
Time and date
Yes
$PASHR
H
Time, heading, roll, and pitch data in one message
No
$PSAT,GBS
S
Satellite fault detection (RAIM)
Yes
$PSAT,HPR
H
Proprietary NMEA message that provides heading,
pitch, roll, and time in single message
No
$PSAT,INTLT
H
Proprietary NMEA message that provides the pitch and Yes
roll measurements from the internal inclinometers (in
degrees)
$RD1
S
SBAS diagnostic information
Yes
$TSS1
H
Heading, pitch, roll, and heave message in the
commonly used TSS1 message format
No
Notes:
•
The GP of the message is the talker ID.
•
You can change the message header for the HDG, HDM, HDT, and ROT messages to
either GP or HE using the $JATT,NMEAHE command. For more information refer to GPS
Technical Reference available from the Hemisphere GNSS website at
www.hemispheregnss.com.
•
GPGRS, GPGSA, GPGST, and GPGSV support external integrity checking. They are to
be synchronized with corresponding fix data (GPGGA or GPGNS).
•
For information on outputting roll, pitch, and heave data in one message refer to
GPS Technical Reference available from the Hemisphere GNSS website at
www.hemispheregnss.com.
38
Chapter 3: Operation
Table 3-4: Binary messages
$JBIN
Message
Description
1
GPS position
2
GPS DOPs
80
SBAS
93
SBAS ephemeris data
94
Ionosphere and UTC conversion parameters
95
Satellite ephemeris data
96
Code and carrier phase
97
Processor statistics
98
Satellites and almanac
99
GPS diagnostics
Table 3-5: Parameters specific to $JATT command
Parameter
Description
Query
Specify
COGTAU
Set/query COG time constant (0.0 to 3600.0 sec)
X
X
CSEP
Query antenna separation
X
EXACT
Enable/disable internal filter reliance on the
entered antenna separation
X
X
FLIPBRD
Turn the flip feature on/off
X
X
GYROAID
Enable/disable gyro
X
X
HBIAS
Set/query heading bias (-180.0º to 180.0º)
X
X
HELP
Show the available commands for GPS heading
operation and status
X
HIGHMP
Set/query the high multipath setting for use in poor GPS
environments
X
X
HRTAU
Set/query ROT time constant (0.0 to 3600.0 sec)
X
X
39
V104s GPS Compass User Guide
Table 3-5: Parameters specific to $JATT command (continued)
Parameter
HTAU
Description
Set/query heading time constant (0.0 to 3600.0 sec)
Query
Specify
X
X
Note: Higher HTAU values combined with disabling the gyro
will result in significant lag time
LEVEL
Enable/disable level operation
X
X
MSEP
Manually set or query antenna separation
X
X
NEGTILT
Enable/disable negative tilt
X
X
NMEAHE
Change the HDG, HDM, HDT, and ROT message headers
between Talker IDs (GP and HE)
X
X
PBIAS
Set/query pitch/roll bias (-15.0º to 15.0º)
X
X
PTAU
Set/query pitch time constant (0.0 to 3600.0 sec)
X
X
ROLL
Configure for roll or pitch GPS orientation
X
X
SEARCH
Force a new GPS heading search
SPDTAU
Set/query speed time constant (0.0 to 3600.0 sec)
X
SUMMARY
Display a summary of the current Crescent Vector
settings
X
TILTAID
Enable/disable accelerometer, pre-calibrated
X
TILTCAL
Calibrate accelerometers
40
X
X
X
X
Chapter 3: Operation
Appendix A: Troubleshooting
41
V104s GPS Compass User Guide
Table A-1 provides troubleshooting for common problems.
Table A-1: Troubleshooting
Symptom
Possible Solution
Receiver fails to power
•
Verify polarity of power leads
•
Check integrity of power cable connectors
•
Check power input voltage (6 to 36 VDC)
•
Check current restrictions imposed by power source
(minimum available should be > 1.0 A)
•
Check receiver power status to ensure the receiver is
powered (an ammeter can be used for this)
•
Verify desired messages are activated (using PocketMax,
Vector PC or $JSHOW in any terminal program)
•
Ensure the baud rate of the V104s matches that of the
receiving device
•
Check integrity and connectivity of power anddata cable
connections
•
Verify the RTCM or binary messages are not being output
accidentally (send a $JSHOW command)
•
Ensure the baud rate of the V104s matches that of the
remote device
•
Potentially, the volume of data requested to be output by
the V104s could be higher than the current baud rate
supports (try using 19200 as the baud rate for all devices
or reduce the amount of data being output)
•
Verify the V104s has a clear view of the sky
•
Verify the lock status of GPS satellites (this can be done
with PocketMax or VectorPC)
No data from V104s
Random data from V104s
No GPS lock
42
Appendix A: Troubleshooting
Table A-1: Troubleshooting (continued)
Symptom
Possible Solution
No SBAS lock
•
Verify the V104s has a clear view of the sky
•
Verify the lock status of SBAS satellites (this can be done
with PocketMax - monitor BER value)
•
Set SBAS mode to automatic with the
$JWAASPRN,AUTO command
Note: SBAS lock is only possible if you are in an appropriate
SBAS region; currently, there is limited SBAS availability in the
southern hemisphere.
No heading or incorrect
heading value
•
Check CSEP value is fairly constant without varying more
than 1 cm (0.39 in)—larger variations may indicate a high
multipath environment and require moving the receiver
location
•
Recalibrate the tilt sensor with $JATT,TILTCAL
command if heading is calculated then lost at
consistent time intervals
•
Heading is from primary GPS antenna to secondary GPS
antenna, so the arrow on the underside of the V104s should
be directed to the bow side
•
$JATT,SEARCH command forces the V104s to acquire a
new heading solution (unless gyro is enabled)
•
Enable GYROAID to provide heading for up to three minutes
during GPS signal loss
•
Enable TILTAID to reduce heading search times
•
Monitor the number of satellites and SNR values for both
antennas within PocketMax—at least four satellites
should have strong SNR values
•
Potentially, the volume of data requested to be output by
the V104s could be higher than the current baud rate
supports (try using 19200 as the baud rate for all devices
or reduce the amount of data being output)
•
Intermittent issues potentially caused by an incorrect HBIAS.
43
V104s GPS Compass User Guide
Table A-1: Troubleshooting (continued)
Symptom
Possible Solution
No DGPS position in external
RTCM mode
•
Verify the baud rate of the RTCM input port
matches the baud rate of the externalsource
•
Verify the pin-out between the RTCM source and the
RTCM input port (transmit from the source must go to
receive of the RTCM input port and grounds must be
connected)
•
Ensure corrections are being transmitted to the correct
port—using the $JDIFF,PORTB command on Port A will
cause the receiver to expect the corrections to be input
through Port B
44
Appendix A: Troubleshooting
Appendix B: Specifications
45
V104s GPS Compass User Guide
Table B-1 through Table B-5 provide the V104s’s GPS sensor, communication, power,
mechanical, and environmental specifications.
Table B-1: GPS sensor specifications
Item
Specification
Receiver type
Vector GPS L1 Compass
Channels
Two 12-channel, parallel tracking (Two 10channel when tracking SBAS)
SBAS tracking
2-channel, parallel tracking
Update rate
10 Hz standard (position and heading)
Position accuracy
Single Point1
1 m (95%)
SBAS2
3 m (95%)
Heading accuracy
2° (RMS)
Heave accuracy
< 30 cm (RMS)3
Pitch/Roll accuracy
2° (RMS)
Rate of turn
90°/s maximum
Cold start
< 60 s typical (no almanac or RTC)
Warm start
< 20 s typical (almanac and RTC)
Hot start
< 1 s typical (almanac, RTC, and position)
Heading fix
< 10 s typical (valid position)
Compass safe distance
30 cm (11.8 in)3
Maximum speed
1,850 kph (999 kts)
Maximum altitude
18,288 m (60,000 ft)
46
Appendix B: Specifications
Table B-2: Communication specifications
Item
Specification
Serial ports
2 full-duplex RS-232
Baud rates
4800, 9600, 19200, 38400, 57600, 115200
Correction I/O protocol
RTCM SC-104
Data I/O protocol
NMEA 0183, Crescent binary4
Table B-3: Power specifications
Item
Specification
Input voltage
8 to 36 VDC
Power consumption
~ 2 W nominal
Current consumption
165 mA @ 12 VDC
Power isolation
Isolated to enclosure
Reverse polarity protection
Yes
Table B-4: Mechanical specifications
Item
Specification
Enclosure
UV resistant, white plastic, Geloy CR7520 (ASA)
Dimensions (not including
mount)
25.9 L x 12.9 W x 4.5 H (cm)
Dimensions (including mount)
25.9 L x 12.9 W x 12.8 H (cm)
10.2 L x 5.1 W x 1.8 H (in)
10.2 L x 5.1 W x 5.0 H (in)
Weight (not including mount)
0.42 kg (0.9 lb)
Weight (including mount)
0.51 kg (1.1 lb)
47
V104s GPS Compass User Guide
Table B-5: Environmental specifications
Item
Specification
Operating temperature
-30°C to +70°C (-22°F to +158°F)
Storage temperature
-40°C to +85°C (-40°F to +185°F)
Water and Dust
IP69
Humidity
100% non-condensing
Vibration
IEC 60945
EMC
CE (IEC 60945 Emissions and Immunity) FCC Part 15,
Subpart B CISPR22F
1Depends on multipath environment, number of satellites in view, satellite geometry, no
and ionospheric activity.
2Depends on multipath environment, number of satellites in view, SBAS coverage and
satellite geometry.
3Based on a 40-second time constant.
4Hemisphere GNSS
proprietary
48
SA,
Appendix B: Specifications
Index
A
alarm
watchdog 35
alignment 11
automatic
SBAS tracking 29
tracking 28
automatic tracking 28
operation 28
overview 28
receiver performance 28
reception 6
sensor specifications 46
gyro aiding 32
C
H
cable See power/data cable 14 COGTAU 35,
39
commands (common) 36
common commands and messages 36
communication specifications 47 connect
to a power source 21 to
external devices 22
course over ground time constant 35
heading time constant 34 heave 9,
37
accuracy 46
HRTAU 34, 39
HTAU 34, 40
E
M
electrical isolation 21
environmental
considerations 6
specifications 48
environmental considerations 6
external devices 22
mechanical specifications 47
message (common) 36 mounting
alignment 11
cable considerations 14
environmental considerations 6
flush mount 15
GPS reception 6
location 6
orientation 9
parallel orientation 9
perpendicular orientation 9
pole mount 17
VHF interference 7
L
long sight alignment 11
F
flush mount 15
G
GPHEV 9, 37
GPS
automatic SBAS tracking 29
49
Index
O
HRTAU 34
HTAU 34
PTAU 34
SPDTAU 35
tracking
automatic 28
automatic SBAS 29
troubleshooting 42
orientation for mounting 9
P
parallel mounting 9
part numbers 3
parts list 3
perpendicular mounting 9
pitch time constant 34 pole
mount 17
power
connecting to a power source 21
considerations 21
electrical isolation 21
specifications 47
PTAU 34, 40
V
VHF interference 7
W
watchdog 35
R
rate of turn (ROT) time constant 34
receiver performance 28
RS-232 22, 23, 24, 25, 36, 47
S
sensor specifications 46
short site alignment 11
SPDTAU 35, 40
specifications
communication 47
environmental 48
GPS sensor 46
mechanical 47
power 47
speed time constant 35
supplemental sensors 31
T
tilt aiding 32
time constants 34
COGTAU 35
50
Appendix B: Specifications
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days from the date of the license of the Software or the purchase of the Product. The warranties given herein give Licensee specific legal rights and
Licensee may have other rights which may vary from jurisdiction to jurisdiction.
CHANGE TO WARRANTY. No employee or agent of Hemisphere is authorized to change the warranty provided or the limitation or disclaimer of warranty
provisions. All such changes will only be effective if pursuant to a separate agreement signed by senior officers of the respective parties.
WARRANTY CLAIM. In the event Licensee has a warranty claim Licensee must first check for and install all Updates that are made available. The warranty
will not otherwise be honored. Proof of purchase may be required. Hemisphere does not honor claims asserted after the end of the Warranty Period.
LICENSEE REMEDIES. In all cases which involve a failure of the Software to conform in any material respect to the documentation during the Warranty
Period or a breach of a warranty, Hemisphere's sole obligation and liability, and Licensee's sole and exclusive remedy, is for Hemisphere, at Hemisphere's
option, to (a) repair the Software, (b) replace the Software with software conforming to the documentation, or (c) if Hemisphere is unable, on a reasonable
commercial basis, to repair the Software or to replace the Software with conforming software within ninety (90) days, to terminate this Agreement and
thereafter Licensee shall cease using the Software. Hemisphere will also issue a refund for the price paid by Licensee less an amount on account of
amortization, calculated on a straight- line basis over a deemed useful life of three (3) years.
15.
LIMITATION OF LIABILITY. IN NO EVENT WILL HEMISPHERE BE LIABLE TO LICENSEE FOR ANY INCIDENTAL, CONSEQUENTIAL, SPECIAL OR INDIRECT
DAMAGES INCLUDING ARISING IN RELATION TO ANY LOSS OF DATA, INCOME, REVENUE, GOODWILL OR ANTICIPATED SAVINGS EVEN IF HEMISPHERE HAS
BEEN INFORMED OF THE POSSIBILITY OF SUCH LOSS OR DAMAGE. FURTHER, IN NO EVENT WILL HEMISPHERE'S TOTAL CUMULATIVE LIABILITY HEREUNDER,
FROM ALL CAUSES OF ACTION OF ANY KIND, EXCEED THE TOTAL AMOUNT PAID BY LICENSEE TO HEMISPHERE TO PURCHASE THE PRODUCT. THIS
LIMITATION AND EXCLUSION APPLIES IRRESPECTIVE OF THE CAUSE OF ACTION, INCLUDING BUT NOT LIMITED TO BREACH OF CONTRACT, NEGLIGENCE,
STRICT LIABILITY, TORT, BREACH OF WARRANTY, MISREPRESENTATION OR ANY OTHER LEGAL THEORY AND WILL SURVIVE A FUNDAMENTAL BREACH.
16.
LIMITS ON LIMITATION OF LIABILITY. Some jurisdictions do not allow for the limitation or exclusion of liability for incidental or consequential damages, so
the above limitation or exclusion may not apply to Licensee and Licensee may also have other legal rights which may vary from jurisdiction to jurisdiction.
BASIS OF BARGAIN. Licensee agrees and acknowledges that Hemisphere has set its prices and the parties have entered into this Agreement in reliance on
the limited warranties, warranty disclaimers and limitations of liability set forth herein, that the same reflect an agreed-to allocation of risk between the
parties (including the risk that a remedy may fail of its essential purpose and cause consequential loss), and that the same forms an essential basis of the
bargain between the parties. Licensee agrees and acknowledges that Hemisphere would not have been able to sell the Product at the amount charged on an
economic basis without such limitations.
17.
18.
PROPRIETARY RIGHTS INDEMNITY. Hemisphere shall indemnify, defend and hold harmless Licensee from and against any and all actions, claims, demands,
proceedings, liabilities, direct damages, judgments, settlements, fines, penalties, costs and expenses, including royalties and attorneys' fees and related
costs, in connection with or arising out of any actual infringement of any third party patent, copyright or other intellectual property right by the Software or
by its use, in accordance with this Agreement and documentation, PROVIDED THAT: (a) Hemisphere has the right to assume full control over any action,
claim, demand or proceeding,
(b) Licensee shall promptly notify Hemisphere of any such action, claim, demand, or proceeding, and (c) Licensee shall give Hemisphere such reasonable
assistance and tangible material as is reasonably available to Licensee for the defense of the action, claim, demand or proceeding. Licensee shall not settle
or compromise any of same for which Hemisphere has agreed to assume responsibility without Hemisphere's prior written consent. Licensee may, at its
sole cost and expense, retain separate counsel from the counsel utilized or retained by Hemisphere.
19.
INFRINGEMENT. If use of the Software may be enjoined due to a claim of infringement by a third party then, at its sole discretion and expense, Hemisphere
may do one of the following: (a) negotiate a license or other agreement so that the Product is no longer subject to such a potential claim, (b) modify the
Product so that it becomes non-infringing, provided such modification can be accomplished without materially affecting the performance and
functionality of the Product, (c) replace the Software, or the Product, with non- infringing software, or product, of equal or better performance and
quality, or (d) if none of the foregoing can be done on a commercially reasonable basis, terminate this license and Licensee shall stop using the Product and
Hemisphere shall refund the price paid by Licensee less an amount on account of amortization, calculated on a straight-line basis over a deemed useful life
of three (3) years.
The foregoing sets out the entire liability of Hemisphere and the sole obligations of Hemisphere to Licensee in respect of any claim that the Software or its
use infringes any third party rights.
20.
INDEMNIFICATION. Except in relation to an infringement action, Licensee shall indemnify and hold Hemisphere harmless from any and all claims,
damages, losses, liabilities, costs and expenses (including reasonable fees of lawyers and other professionals) arising out of or in connection with
Licensee's use of the Product, whether direct or indirect, including without limiting the foregoing, loss of data, loss of profit or business interruption.
21.
TERMINATION. Licensee may terminate this Agreement at any time without cause. Hemisphere may terminate this Agreement on 30 days notice to
Licensee if Licensee fails to materially comply with each provision of this Agreement unless such default is cured within the 30 days. Any such termination by
a party shall be in addition to and without prejudice to such rights and remedies as may be available, including injunction and other equitable remedies.
Upon receipt by Licensee of written notice of termination from
22.
23.
24.
25.
26.
27.
28.
29.
Hemisphere or termination by Licensee, Licensee shall at the end of any notice period (a) cease using the Software; and (b) return to Hemisphere (or
destroy and provide a certificate of a Senior Officer attesting to such destruction) the Software and all related material and any magnetic or optical media
provided to Licensee. The provisions of Sections 6), 7), 8), 9), 10), 15), 21), 26) and 27) herein shall survive the expiration or termination of this Agreement
for any reason.
EXPORT RESTRICTIONS. Licensee agrees that Licensee will comply with all export control legislation of Canada, the United States, Australia and any other
applicable country's laws and regulations, whether under the Arms Export Control Act, the International Traffic in Arms Regulations, the Export
Administration Regulations, the regulations of the United States Departments of Commerce, State, and Treasury, or otherwise as well as the export control
legislation of all other countries.
PRODUCT COMPONENTS. The Product may contain third party components. Those third party components may be subject to additional terms and
conditions. Licensee is required to agree to those terms and conditions in order to use the Product.
FORCE MAJEURE EVENT. Neither party will have the right to claim damages as a result of the other's inability to perform or any delay in performance due
to unforeseeable circumstances beyond its reasonable control, such as labor disputes, strikes, lockouts, war, riot, insurrection, epidemic, Internet virus
attack, Internet failure, supplier failure, act of God, or governmental action not the fault of the non-performing party.
FORUM FOR DISPUTES. The parties agree that the courts located in Calgary, Alberta, Canada and the courts of appeal there from will have exclusive
jurisdiction to resolve any disputes between Licensee and Hemisphere concerning this Agreement or Licensee's use or inability to use the Software and
the parties hereby irrevocably agree to attorn to the jurisdiction of those courts. Notwithstanding the foregoing, either party may apply to any court of
competent jurisdiction for injunctive relief.
APPLICABLE LAW. This Agreement shall be governed by the laws of the Province of Alberta, Canada, exclusive of any of its choice of law and conflicts of
law jurisprudence.
CISG. The United Nations Convention on Contracts for the International Sale of Goods will not apply to this Agreement or any transaction
hereunder.
GENERAL. This is the entire agreement between Licensee and Hemisphere relating to the Product and Licensee's use of the same, and supersedes all
prior, collateral or contemporaneous oral or written representations, warranties or agreements regarding the same. No amendment to or modification
of this Agreement will be binding unless in writing and signed by duly authorized representatives of the parties. Any and all terms and conditions set out
in any correspondence between the parties or set out in a purchase order which are different from or in addition to the terms and conditions set forth
herein, shall have no application and no written notice of same shall be required. In the event that one or more of the provisions of this Agreement is
found to be illegal or unenforceable, this Agreement shall not be rendered inoperative but the remaining provisions shall continue in full force and effect.
Warranty Notice
COVERED PRODUCTS: This warranty covers all products manufactured by Hemisphere GNSS and purchased by the end purchaser (the "Products"), unless otherwise
specifically and expressly agreed in writing by Hemisphere GNSS.
LIMITED WARRANTY: Hemisphere GNSS warrants solely to the end purchaser of the Products, subject to the exclusions and procedures set forth below, that the
Products sold to such end purchaser and its internal components shall be free, under normal use and maintenance, from defects in materials, and workmanship
and will substantially conform to Hemisphere GNSS’s applicable specifications for the Product, for a period of 12 months from delivery of such Product to such end
purchaser (the ”Warranty Period”). Repairs and replacement components for the Products are warranted, subject to the exclusions and procedures set forth
below, to be free, under normal use and maintenance, from defects in material and workmanship, and will substantially conform to Hemisphere GNSS’s applicable
specifications for the Product, for 90 days from performance or delivery, or for the balance of the original Warranty Period, whichever is greater.
EXCLUSION OF ALL OTHER WARRANTIES. The LIMITED WARRANTY shall apply only if the Product is properly and correctly installed, configured, interfaced,
maintained, stored, and operated in accordance with Hemisphere GNSS’s relevant User’s Manual and Specifications, AND the Product is not modified or misused.
The Product is provided “AS IS” and the implied warranties of MERCHANTABILITY and FITNESS FOR A PARTICULAR PURPOSE and ALL OTHER WARRANTIES, express,
implied or arising by statute, by course of dealing or by trade usage, in connection with the design, sale, installation, service or use of any products or any
component thereof, are EXCLUDED from this transaction and shall not apply to the Product. The LIMITED WARRANTY is IN LIEU OF any other warranty, express or
implied, including but not limited to, any warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE, title, and non-infringement.
LIMITATION OF REMEDIES. The purchaser’s EXCLUSIVE REMEDY against Hemisphere GNSS shall be, at Hemisphere GNSS’s option, the repair or replacement of any
defective Product or components thereof. The purchaser shall notify Hemisphere GNSS or a Hemisphere GNSS’s approved service center immediately of any
defect. Repairs shall be made through a Hemisphere GNSS approved service center only. Repair, modification or service of Hemisphere GNSS products by any party
other than a Hemisphere GNSS approved service center shall render this warranty null and void. The remedy in this paragraph shall only be applied in the event
that the Product is properly and correctly installed, configured, interfaced, maintained, stored, and operated in accordance with Hemisphere GNSS’s relevant
User’s Manual and Specifications, AND the Product is not modified or misused. NO OTHER REMEDY (INCLUDING, BUT NOT LIMITED TO, SPECIAL, INDIRECT,
INCIDENTAL, CONSEQUENTIAL OR CONTINGENT DAMAGES FOR LOST PROFITS, LOST SALES, INJURY TO PERSON OR PROPERTY, OR ANY OTHER INCIDENTAL OR
CONSEQUENTIAL LOSS) SHALL BE AVAILABLE TO PURCHASER, even if Hemisphere GNSS
has been advised of the possibility of such damages. Without limiting the foregoing, Hemisphere GNSS shall not be liable for any damages of any kind resulting
from installation, use, quality, performance or accuracy of any Product.
HEMISPHERE IS NOT RESPONSIBLE FOR PURCHASER’S NEGLIGENCE OR UNAUTHORIZED USES OF THE PRODUCT. IN NO EVENT SHALL Hemisphere GNSS BE IN
ANY WAY RESPONSIBLE FOR ANY DAMAGES RESULTING FROM PURCHASER’S OWN NEGLIGENCE, OR FROM OPERATION OF THE PRODUCT IN ANY WAY OTHER
THAN AS SPECIFIED IN Hemisphere GNSS’S RELEVANT
USER’S MANUAL AND SPECIFICATIONS. Hemisphere GNSS is NOT RESPONSIBLE for defects or performance problems resulting from (1) misuse, abuse, improper
installation, neglect of Product; (2) the utilization of the Product with hardware or software products, information, data, systems, interfaces or devices not made,
supplied or specified by Hemisphere GNSS; (3) the operation of the Product under any specification other than, or in addition to, the specifications set forth in
Hemisphere GNSS’s relevant User’s Manual and Specifications; (4) damage caused by accident or natural events, such as lightning (or other electrical discharge) or
fresh/salt water immersion of Product; (5) damage occurring in transit; (6) normal wear and tear; or (7) the operation or failure of operation of any satellite-based
position system or differential correction service; or the availability or performance of any satellite-based position signal or differential correction signal.
THE PURCHASER IS RESPONSIBLE FOR OPERATING THE VEHICLE SAFELY. The purchaser is solely responsible for the safe operation of the vehicle used in
connection with the Product, and for maintaining proper system control settings. UNSAFE DRIVING OR SYSTEM CONTROL SETTINGS CAN RESULT IN PROPERTY
DAMAGE, INJURY, OR DEATH. The purchaser is solely responsible for his/her safety and for the safety of others. The purchaser is solely responsible for maintaining
control of the automated steering system at all times. THE PURCHASER IS SOLELY RESPONSIBLE FOR ENSURING THE PRODUCT IS PROPERLY AND CORRECTLY
INSTALLED, CONFIGURED, INTERFACED, MAINTAINED, STORED, AND OPERATED IN ACCORDANCE WITH Hemisphere GNSS’S RELEVANT USER’S MANUAL AND
SPECIFICATIONS. Hemisphere GNSS does not warrant or guarantee the position and navigation precision or accuracy obtained when using Products. Products are
not intended for primary navigation or for use in safety of life applications. The potential accuracy of Products as stated in Hemisphere GNSS literature and/or
Product specifications serves to provide only an estimate of achievable accuracy based on performance specifications provided by the satellite service operator
(i.e. US Department of Defense in the case of GPS) and differential correction service provider. Hemisphere GNSS reserves the right to modify Products without
any obligation to notify, supply or install any improvements or alterations to existing Products.
GOVERNING LAW. This agreement and any disputes relating to, concerning or based upon the Product shall be governed by and interpreted in accordance with
the laws of the State of Arizona.
OBTAINING WARRANTY SERVICE. In order to obtain warranty service, the end purchaser must bring the Product to a Hemisphere GNSS approved service center
along with the end purchaser's proof of purchase. Hemisphere GNSS does not warrant claims asserted after the end of the warranty period. For any questions
regarding warranty service or to obtain information regarding the location of any of Hemisphere GNSS approved service center, contact Hemisphere GNSS at the
following address:
Hemisphere GNSS
8515 E. Anderson Drive, Suite A
Scottsdale, AZ 85255
Phone: 480-348-6380 Fax: 480-270-5070
techsupport@hgnss.com www.hgnss.com
Hemisphere GNSS Inc.
8515 E. Anderson Drive, Suite A
Scottsdale, AZ 85255, USA
Phone: +1 480 348 6380.
Fax: +1 480 270 5070.
precision@hgnss.com
www.hgnss.com