FURUNO WMB6340 User Guide
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875-0387-0 Vector V123_V133
User Guide
Revision: A2
November 7, 2018
Table of Contents
Using PocketMax4 to Communicate with the V123_V133 .............................................. 16
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Device Compliance, License and Patents
Device Compliance
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
/A
BOUT
-U
S
/Q
UALITY
-C
OMMITMENT
.
Copyright Notice
Copyright Hemisphere GNSS, Inc. (2018). 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
Patents
Hemisphere GNSS®, the Hemisphere GNSS logo, TRACER
TM
, Crescent®, Eclipse
TM
, e-Dif®, L-Dif
TM
, PocketMax4
TM
,
S320
TM
, SBX-4
TM
, Vector
TM
, XF1
TM
, and XF2
TM are proprietary trademarks of Hemisphere GNSS, Inc. Other trademarks are the properties of their respective owners.
Hemisphere GNSS products may be covered by one or more of the following patents:
Patents
6111549
6397147
6469663
6501346
6539303
6549091
6711501
6744404
6865465
8214111
8307535
6876920
7142956
7162348
7277792
7292185
7292186
7373231
7388539
7400294
8217833
8311696
7400956
7429952
7437230
7460942
7689354
7808428
7835832
7885745
7948769
8265826
8334804
8000381
8018376
8085196
8102325
8138970
8140223
8174437
8184050
8190337
8271194
RE41358
Australia Patents
2002244539
2004320401
2002325645
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Device Compliance, License and Patents
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Notice to Customers
Technical Support
Documentation
Feedback
Contact your local dealer for technical assistance. To find the authorized dealer near you:
Hemisphere GNSS, Inc
8515 East Anderson Drive
Scottsdale, AZ 85255 USA
Phone: (480) 348-6380
Fax: (480) 270-5070
PRECISION
@
HGNSS
.
COM
WWW
.
HGNSS
.
COM
If you need to contact Hemisphere GNSS Technical Support:
Hemisphere GNSS, Inc.
8515 East Anderson Drive
Scottsdale, AZ 85255 USA
Phone: (480) 348-6380
Fax: (480) 270-5070
SUPPORT
.
HGNSS
.
COM
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 opening a support case at the following website:
SUPPORT
.
HGNSS
.
COM
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Terms and Definitions
Introduction
V123_V133 terms & definitions
The following table lists the terms and definitions used in this document.
Atlas
Term
Activation
Beacon
Base Station
BeiDou
DGPS/DGNSS
Definition
Activation refers to a feature added through a onetime purchase.
Atlas is a subscription-based service provided by
Hemisphere that enables the V123_V133 to achieve sub-meter accuracy without a base station or datalink.
Refers to a base station that transmits a DGPS signal over a radio frequency between 283.5 and 325.0 kHz.
The Base Station is a receiver placed over a familiar point, provides real-time observations, and sends those observations to nearby RTK rovers via UHF radio or the internet.
BeiDou is a Chinese satellite-based navigation system.
Differential GPS/GNSS refers to a receiver using
Differential Corrections.
A method of improving precision of a GNSS rover. Two Differential
Corrections GNSS receivers placed in a nearby area will have similar error. A base station is placed over a known point.
Elevation Mask Elevation Mask is the minimum angle between a satellite and the horizon for the receiver to use that satellite in the solution.
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Terms and Definitions
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V123_V133 terms & definitions
, continued
Term
Firmware
GALILEO
Definition
Firmware is the software loaded into the receiver that controls the functionality of the receiver and runs the
GNSS engine.
Galileo is a global navigation satellite system implemented by the European Union and European
Space Agency.
Global Orbiting Navigation Satellite System (GLONASS) GLONASS
Heading is a Global Navigation Satellite System deployed and maintained by Russia.
The vector created from the primary to secondary antenna. It points to the direction that the receiver is facing
Vector Receiver A Hemisphere GNSS receiver capable of providing heading
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Chapter 1: Introduction
Overview
Introduction
Contents
This User Guide provides information to help you quickly set up your
V123_V133. You can download this manual from the Hemisphere GNSS website at
WWW
.
HGNSS
.
COM
.
Topic
Using PocketMax4 to Communicate with the
See Page
9
13
14
16
20
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Product Overview
Product overview
The Vector V123_V133™ GNSS Compass supports GPS, GLONASS, Galileo,
QZSS, and BeiDou satellites using Hemisphere GNSS’ Crescent Vector H220™
GNSS module. This User Guide is available for download from www.HGNSS.com
.
Note:
When referring to both the Vector V123 and V133™ GNSS Compass, this manual uses the term V123_V133. When referring to either product this manual uses either V123 or V133, respectively.
The V123_V133 is designed for marine and land applications that require precise heading and sub-meter position performance. Featuring a Crescent
Vector GNSS receiver and two separate antennas, V123_V133 achieves heading accuracy of 0.30º RMS.
The V123_V133 tracks single frequency GPS, GLONASS, Galileo, QZSS, and
BeiDou. The V123_V133 can be upgraded via activations to support Atlas Lband.
The V123_V133 is a complete multi-GNSS compass system for heading and positioning in a single enclosure that requires only one power/data cable connection. With its CAN support and ease of installation, the V123_V133 is the perfect solution for professional, commercial marine, Radar/ARPA, AIS,
ECDIS, scanning sonar and vessel control applications.
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Product Overview
,
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Product overview
, continuedError!
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There are no mechanical parts such as gimbals or a rotating motor, thus the
V123 and V133 Compass is free from routine maintenance. Heading is determined from GNSS, and there is no need to wait for settling time, gyrocompass calibration and speed corrections. Vector performance is not affected by geomagnetism, making it the perfect solution for any marine application.
The V123_V133 is an integrated system that houses the following:
• Crescent and Crescent Vector H220 module
•
Dual GNSS multipath-resistant antennas
• DGPS beacon module and H-field beacon antenna (V133 only)
• Power supply
• Six-axis sensor
The sensor is present to improve system performance and to provide backup heading information in the event a GNSS heading is not available due to signal blockage. The sensor provides a substitute heading, accurate to within
1º per minute for up to three minutes.
The V133 has an internal Beacon antenna capable of receiving these signals, demodulating them, and applying the differential correction to the GNSS position
Note:
Used as a heading device, the V123 GNSS Compass is identical to the
V133 GNSS Compass. Used as a positioning device, only the V133 GNSS
Compass contains a DGPS beacon module and antenna. If you purchased the
V123 GNSS Compass, disregard the sections of this manual that discuss the beacon signal, receiver operation, and implications to installation relating to the beacon signal.
The Crescent Vector H220 module supports multiple RF front ends - enabling tighter coupling of measurements from separate antennas for use in heading-based products.
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Product Overview
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Product overview
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The V123_V133’s GPS antennas are separated by 50.0 cm between phase centers, resulting in a heading performance better than 0.30° RMS. The
V123_V133 can provide heading and positioning updates of up to 50 Hz and delivers positioning accuracy of 0.6 m 95% of the time when using differential GPS corrections from Satellite Based Augmentation Systems
(SBAS) or from beacon (V133 only).
The V123_V133 also features Hemisphere GNSS’ exclusive Tracer™ technology, which enables Hemisphere GNSS receivers to use old differential
GPS correction data for 40 minutes or more without significantly affecting the positioning quality. The V123_V133 is less likely to be affected by differential signal outages due to signal blockages, weak signals, or interference when using Tracer.
If you are new to GNSS and SBAS, refer to the Hemisphere GNSS Technical
Reference Manual (for further information on these services and technologies before proceeding.
Figure 1-1: V123_V133
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Product Overview
,
Continued
Atlas L-band
Atlas L-band is Hemisphere's industry leading correction service, which can be added to the V123_V133 as a subscription. Atlas L-band has the following benefits:
•
Positioning accuracy -
Competitive positioning accuracies down to 30 cm
RMS in certain applications
•
Positioning sustainability -
Cutting edge position quality maintenance in the absence of correction signals, using Hemisphere’s patented technology
For more information
For more information about Athena RTK, see:
HTTP
://
HGNSS
.
COM
/T
ECHNOLOGY
For more information about Atlas L-band, see:
HTTP
://
HGNSS
.
COM
/A
TLAS
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Key Features
V123_V133 Key features
Key features of the V123_V133 include:
•
Sub-meter positioning
•
DGNSS corrections from all SBAS constellations and over beacon
•
Position accuracies of 30 cm horizontal RMS without the need of a base station by using Atlas L-band*
(*Requires the purchase of a subscription)
• Heave of 30 cm RMS (DGNSS)
RMS • Heading accuracy of 0.30
º
• Pitch and roll < 1° RMS
• Simple menu operations
• 1 PPS output
• Event marker input
• 1 full-duplex RS232, 1 full-duplex RS422, and 1 half-duplex RS422 serial ports for NMEA 0183 output and serial configuration
• Up to 50 Hz output
•
Accurate heading up to 3 minutes during GNSS outages
• Integrated sensor delivers fast startup times and provide heading updates during temporary loss of GNSS
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What’s Included in Your Kit
V123_V133 kit
Table 1-1 lists the parts included with your V123 or V133. The V123_V133
GNSS Compass and the power/data cable (accessory item) are the only two required components.
Note:
The V123_V133’s parts comply with IEC 60945 Section 4.4: “Exposed to the weather.”
V123_V133
Parts list
Table 1-1 V123_V133 Parts list
Part No.
940-3123-xx
940-3131-xx
940-3124-xx
940-3132-xx
Description
Vector kit
• Vector V123 GNSS Compass
• Vector V123 IMO GNSS Compass
• Vector V133 GNSS Compass
•
Vector V133 IMO GNSS Compass
Vector receiver model
(one of the following models):
• V123
• V133
804-0156-xx
804-0157-xx
Qty
1
1
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What’s Included in Your Kit
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V123_V133
Parts list
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All the following are accessory items available for purchase separately from your V123 or V133.
Part No. Description
880-1042-000 Power/data cable, 15 m
880-1043-000 Power/data cable, 30 m
Each cable includes:
•
Clamp
•
Screw
•
Washer
710-0113-000# Serial-to-NMEA 2000 adapter, includes the
Qty
1
1
1 following items:
• Screws
• Washers
602-1113-000# Installation bracket (black)
400-0246-000# Replacement connector, 18-pin
1
1
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Using PocketMax4 to Communicate with the
V123_V133
Using
PocketMax4 to communicate with the
V123_V133
First, power on and connect the receiver to your computer’s com port. A configuration screen appears prompting you to choose the COM port and baud rate of the receiver.
Choose from the following communications settings options:
•
Select COM Port.
• If you do not know the baud rate, select the
Auto-Baud
feature to cycle through all possible baud rates, and click
Connect
.
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Using PocketMax4 to Communicate with the V123_V133
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Using
PocketMax4 to communicate with the
V123_V133
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Using PocketMax4 to Communicate with the V123_V133
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Using
PocketMax4 to communicate with the
V123_V133
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You can monitor your connection status through the message displayed at the bottom of the screen.
If you receive a message “Receiver not found…” check your connections, your com port, and your baud rate and try to re-send.
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Using PocketMax4 to Communicate with the V123_V133
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Using
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V123_V133
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The Quick Configuration screen allows you to use “PortA” and “PortB” tabs to configure the output messages and baud rates of these two ports.
The Port displaying “[THIS]” is the port currently connected. “[OTHER]” is the other port.
Enable all desired messages for PortA and PortB.
Use RxConfig to make basic receiver configurations. To exit the software, click Save Settings and Disconnect. For all other PocketMax4 questions, please reference the PocketMax4 User Guide on the HGNSS website .
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Firmware Upgrades
Overview
RightArm updates
Periodically, Hemisphere GNSS releases firmware upgrades to improve performance, fix bugs, or add new features to a product. To update the firmware on the V123_V133:
1.
Download the latest version of Hemisphere GNSS RightArm from the following link:
HTTPS
://
HGNSS
.
COM
/R
ESOURCES
-S
UPPORT
/S
OFTWARE
.
Connect the V123_V133 to a computer over serial. Firmware can be loaded over either serial port. Set the baud rate of the serial port you are using to
19200.
Launch RightArm.
Click the
Connect
button or navigate to Receiver -> Connect.
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Firmware Upgrades
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RightArm updates
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Choose the COM port connected to the V123_V133 and click
OK
.
Note:
The baud rate of the serial port should be set to 19200 bps. Select
“Allow Auto Baud” to change the baud rate during the firmware upgrade for a faster update.
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Firmware Upgrades
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RightArm updates
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Click the
Programming
button.
Select a
Program Type
.
The V123_V133 has two firmware applications, allowing two different versions of GNSS firmware. Hemisphere GNSS suggests loading the new firmware onto both applications.
After the firmware update is completed, check the current GNSS firmware.
If the current firmware is not the same as the newly loaded firmware, the
V123_V133 could be using the other application. You can switch applications by sending the following command:
$JAPP,OTHER.
Choose the Application, and press
Select File
to select the firmware file.
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Firmware Upgrades
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RightArm updates
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Choose the firmware, and click
Erase and Program
.
The
Activate Loader
checkbox in the Programming View window is selected.
After pressing the Erase and Program button, this checkbox will de-select, and the
Status
field indicates the receiver is in loader mode (ready to receive the new firmware file).
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Firmware Upgrades
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RightArm updates
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Note:
If the Activate Loader check box remains selected, power the receiver off and on. When the receiver powers back on, the Activate Loader box should be de-selected.
Do not to interrupt the power supply to the receiver, and do not interrupt the communication link between the PC and the receiver until programming is complete. Failure to do so may cause the receiver to become inoperable and will require factory repair.
Note:
After completing the firmware update, Hemisphere GNSS suggests repeating this process for the other application.
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Chapter 2: Installing the
V123_V133
Overview
Introduction
This chapter provides instructions on how to mount and install your
V123_V133 receiver.
Contents
Topic
Selecting Baud Rates and Message Types
Connecting the V123_V133 to External Devices
See Page
26
43
45
46
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Mounting
the V123_V133
Introduction
This section provides information on mounting the V123_V133 in the optimal location, orientation considerations, environmental considerations, and other mounting options.
GNSS satellite reception
When considering where to mount the V123_V133, consider the following satellite reception recommendations:
•
Ensure there is a clear view of the sky available to the V123_V133 so the
GNSS and L-band satellites are not masked by obstructions that may reduce system performance
•
Mount the V123_V133 in a position in respect to the primary GNSS antenna (located on the end opposite the recessed arrow on the underside of the enclosure)
• Locate any transmitting antennas away from the V123_V133 by at least a few meters to ensure tracking performance is not compromised
• Ensure cable length is adequate 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 Appendix B, Technical Specifications of this document.
875-0387-0 V123_V133 User Guide Rev A2
Figure 2-1: Recessed arrow
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Mounting the V123_V133
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Beacon reception
When using the V133’s internal beacon receiver as the correction source, consider the possible mounting locations from the perspective of ambient noise within the beacon band.
Keep the following in mind when deciding upon a location with respect to maximizing beacon performance:
•
Ensure that the antenna is as far as possible from all other equipment that emits electromagnetic interference (EMI), including DC motors, alternators, solenoids, radios, power cables, display units, and other electronic devices.
•
If you are installing the antenna on a vessel, mount the Vector compass as high as possible, considering maintenance and accessibility. In addition, ensure that the antenna is higher than the highest metal object on the vessel.
• If a radar system is present, mount the antenna outside the path of the radar beam.
The V133’s internal beacon receiver calculates a signal-to-noise ratio (SNR), measured in decibels (dB), that indicates the receiver’s performance. The
SNR is the height of the signal above the noise floor: the higher the SNR, the better your beacon receiver demodulates the signal.
The optimum antenna location is a position where your average SNR is highest. You should turn on all accessories you intend to use during normal operation when locating the best position for the antenna. By monitoring the
SNR, you can determine the optimum location with respect to beacon reception. The SNR is available in the $CRMSS NMEA message described in the Hemisphere GNSS Technical Reference Manual .
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VHF interference
VHF interference from such devices as cellular phones and radio transmitters may interfere with GPS operation, however the Vector compass can still track other constellations, maintaining heading and position.
For example, if installing the V123_V133 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 GNSS antenna and receiver design.
• 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 GNSS 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.
• Handheld 5W VHF radios may not provide suitable filtering and may interfere with the V123_V133’s operation if too close.
Before installing the Vector Compass, use the following diagram to ensure there are no nearby devices that may cause VHF interference.
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Figure 2-2: V123_V133 distance from nearby VHF radios
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Environmental considerations
Mounting orientation
Hemisphere Vector Smart Antennas are designed to withstand harsh environmental conditions; however, adhere to the following limits when storing and using the V123_V133:
•
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: 95% non-condensing
The V123_V133 outputs heading, pitch, and roll readings regardless of the orientation of the antennas. The relation of the antennas to the vessel’s axis determines if you need to enter a heading, pitch, or roll bias.
The primary antenna is used for positioning and the primary and secondary antennas, working in conjunction, output heading, pitch, and roll values.
Note:
Regardless of which mounting orientation you use, the V123_V133 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 the
Hemisphere GNSS Technical Reference Manual .
Parallel orientation
Parallel installation orients the V123_V133 parallel to, and along the centerline of, the axis of the vessel.
This provides a true heading
. In this orientation:
• If you use a gyrocompass and there is a need to align the Vector smart antenna, you can enter a heading bias in the V123_V133 to calibrate the physical heading to the true heading of the vessel.
• You may need to adjust the pitch/roll output to calibrate the measurement if the Vector is not installed in a horizontal plane.
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Perpendicular orientation
You can also install the antennae, so they are oriented perpendicular to the centerline of the vessel’s axis. In this orientation:
•
Enter a heading bias of +90° if the primary antenna is on the starboard side of the vessel and -90° if the primary antenna is on the port side of the vessel.
• Configure the receiver to specify the GNSS smart antenna is measuring the roll axis using $JATT,ROLL,YES.
• 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.
Mounting orientation example
Figure 2-3: Recommended orientation and resulting signs of HPR values
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Mounting orientation example,
continued
Moun ting orientation example,
Mounting alignment
Figure 2-4: Alternate orientation and resulting signs of HPR values
The top of the V123_V133 enclosure incorporates sight design features to help you align the enclosure 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 2-5 and Figure 2-6.
Alignment accuracy when looking through the long site (Figure 2-5) is approximately +/- 1°, while alignment through the short site (Figure 2-6) is approximately +/- 2.5°.
875-0387-0 V123_V133 User Guide Rev A2
Figure 2-5: Long site alignment
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Mounting alignment
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Mounting options
Figure 2-6: Short site alignment
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 V123_V133 alignment within the V123_V133 software configuration.
Alternatively, you can physically adjust the heading of the V123_V133 so that it renders the correct heading measurement or add a software offset.
The V123_V133 allows for three different mounting options: flush-mount, pole-mount, and bracket-mount:
1.
Flush-mount -
The bottom of the V123_V133 contains eight M8-1.25 holes for flush mounting the unit to a flat surface (see Figure 2-7). The eight holes comprise two sets of four holes. Flush mounting does not provide any additional dampening to the receiver. The V123_V133 can be mounted using an optional mounting bracket. See Table 1-1 for bracket part information.
2.
Pole-mount -
The V123_V133 can be mounted using a mounting pole.
The set screws on the long sides of the base (see middle drawing in
Figure 2-7) allow you to secure the V123_V133 in place (3/16" Allen wrench not included).
Hand tighten until snug (do not overtighten).
3.
Bracket-mount -
You can purchase on optional mounting bracket. See
Table 1-1 for bracket part information.
Note:
Hemisphere GNSS does not supply mounting surface hardware or a mounting pole. You must supply the appropriate mounting hardware required to complete V123_V133 installation.
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V123_V133 dimensions
Figure 2-7 illustrates the physical dimensions of the V123_V133.
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Figure 2-7: V123_V133 dimensions
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Power/data cable considerations
Before mounting the V123_V133, consider the following regarding power/data cable routing:
Do
Ensure cable reaches appropriate power source
Keep cable away from corrosive
Do not
Run cables in areas of excessive heat
Run cables through a door or window jams
Crimp or excessively bend the cable chemicals
Connect to a data storage device, computer, or other device that accepts GNSS data
Keep cable away from rotating machinery
Remove unwanted slack from the cable at the V123_V133 end
Secure along the cable route using plastic wrapping
Place tension on the cable
Improperly installed cable near machinery can be dangerous.
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Mounting the V123_V133
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Connecting the serial power/data cable
Step
1
2
3
4
5
Action
Align the cable connector key-way with the V123_V133 connector key.
Rotate the cable ring clockwise until it locks. The locking action is firm; you will feel a positive “click” when it has locked.
Attach the power/data cable to the cable clamp.
Fasten the clamp to the bottom of the V123_V133 using the screw and washer.
Attach the cable cover.
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Mounting the V123_V133
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Connecting the serial power/data cable
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Figure 2-8: Connecting the serial power/data cable
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Mounting the V123_V133
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Connecting to the serial-to
NMEA 2000 adapter
After you mount the V123_V133, connect either the serial power/data cable, or the serial-to-NMEA 2000 adapter to the V123_V133.
Step
1
2
3
Action
Align the adapter connector keyway with the V123_V133 connector key.
Rotate the cable ring clockwise until it locks. The locking action is firm; you will feel a positive “click” when it has locked.
Fasten the adapter to the body of the V123_V133 using the provided screws and the two slots in the adapter.
Attach the cable cover. 4
Note:
For more information on the serial-to-NMEA 2000 adapter see “NMEA
2000 Port”.
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Mounting the V123_V133
,
Continued
Connecting to the serial-to
NMEA 2000 adapter
, continued
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Mounting the V123_V133
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Continued
Connecting to the serial-to
NMEA 2000 adapter
, continued
Figure 2-9: Connecting to the serial-to-NMEA 2000 adapter
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Mounting the V123_V133
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Continued
Flush-mounting the V123_V133
This section describes how to flush-mount or pole-mount the V123_V133.
Be mindful of the following when planning your installation:
•
Hemisphere GNSS does not supply mounting surface hardware or a mounting pole. You must supply the appropriate hardware or mounting pole required to complete V123_V133 installation.
• You can enter a software offset to accommodate for a heading measurement bias due to installation.
The bottom of the V123_V133 contains eight holes (two sets of four holes) for flush-mounting the unit to a flat surface (Figure 2-10).
The flat surface may be fabricated per your installation, an off-the-shelf item
(such as a radar mounting plate), or an existing surface on your vessel.
Figure 2-10: Flush-mounting holes on bottom of V123_V133
Note:
For flush mounting the V123_V133, refer to the dimensions drawing for mounting specifications.
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Mounting the V123_V133
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Continued
Flush-mounting the V123_V133
, continued
Complete the following steps to mount the V123_V133:
Step
1
Action
Determine the desired location and proper orientation for the
V123_V133. See “ Mounting Orientation ” for information on determining the desired orientation.
2
3
4
5
6
7
8
9
Navigate to the HGNSS website Home / Products / Products /
Position & Heading / Vector V123&V133 Smart Antenna
Use the supplied drawing or photocopy the section of the
V123_V133 that contains the eight mounting for use as a template to plan the mounting hole locations. Use the inner four holes or the outer four holes per your installation.
If using a photocopy, make sure it is scaled one-to-one with the mounting holes on the bottom of the V123_V133.
Mark the mounting hole centers on the mounting surface.
Place the V123_V133 over the marks to ensure the planned hole centers align with the true hole centers (adjusting as necessary).
Use a center punch to mark the hole centers.
Drill the mounting holes with a 9mm bit appropriate for the surface.
Place the V123_V133 over the mounting holes and insert the mounting screws through the bottom of the mounting surface into the V123_V133.
When installing the V123_V133, hand-tighten to no more than 20 Ibf.in.
Damage resulting from overtightening is not covered by the warranty.
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Mounting the V123_V133
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Continued
Pole-mounting the V123_V133
If you need the GNSS-assisted roll measurement, install the V123_V133 perpendicular to the vessel’s axis. If you do not need this measurement, install the V123_V133 parallel with the vessel’s axis.
Complete the following steps to pole-mount the V123_V133:
Step
1
2
Action
Determine the desired location and proper orientation for theV123_V133. See “ Mounting Orientation ” for information on determining the desired orientation.
Hand tighten the V123_V133 on the pole until snug (unit is stable on pole) while ensuring correct orientation.
3
Hand tighten to no more than 20 Ibf.in. Damage resulting from over-tightening is not covered by the warranty.
Use the set screws on the long sides of the base to secure the
V123_V133 in place (3/16" Allen wrench not included).
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Figure 2-11: Pole-mounting specifications
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Ports
Overview
Serial ports
The V123_V133 offers either serial port or NMEA 2000 functionality.
The V123_V133 has three serial ports:
1.
Port A can be both full-duplex RS-232 and half-duplex RS-422 (transmit only)
2.
Port B is full-duplex RS-422
3.
Port C is for NMEA 2000 and only available via serial-to-NMEA adapter
You can receive external differential corrections via either Port A (full-duplex
RS-232) or Port B (full-duplex RS-422).
You can connect up to three devices at one time using two ports.
One device can receive data via Port A (RS-422 transmit only) while two devices can transmit and receive data via Ports A and B (one connected to
Port A RS- 232 and one connected to Port B).
Note:
Port A (RS-422) or Port B is required for communicating to an IMOcertified device.
You can update firmware via Port A (RS-232) or Port B.
Note:
The V123_V133 has maximum baud rate of 115200.
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Ports
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Serial port configuration
You may configure Port A or Port B of the GNSS receiver to output any combination of data.
Port A can have a different configuration from Port B in data message output, data rates, and the baud rate of the port, and configure the ports independently based upon your needs. Both RS-232 and RS-422 output signals may be used simultaneously.
The RS-232 Port A and RS-422 Port A output the same data messages at the same baud rate. If the baud rate or messages for the RS-422 port need to be changed, this needs to be commanded through the RS-232 port.
Note:
For successful communications, use the 8-N-1 protocol and set the baud rate of the V123_V133’s serial ports to match that of the devices to which they are connected. Flow control is not supported.
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Selecting Baud Rates and Message Types
Baud rates &
Message types
When selecting your baud rate and message types, use the following formula to calculate the bits/sec for each message and sum the results to determine the baud rate for your required data throughput.
Message output rate * Message length (bytes) * bits in byte = Bits/second
(1 character = 1 byte, 8 bits = 1 byte, use 10 bits/byte to account for overhead).
For information on message output rates refer to the Hemisphere GNSS
Technical Reference Manual .
NMEA 2000 port
To use the V123_V133 for NMEA 2000, connect the included serial-to-NMEA
2000 adapter (P/N 710-0113-000#, see Figure 2-12) to the unit. Insert the 18pin connector of the adapter into the male end of the 18-pin connector on the V123_V133 by aligning the keys.
Attach the adapter to the unit using the supplied screws (machine, 8-32, ½”,
PPHC, SS) and washer (flat, #8, SS). The 5-pin male Micro-C connector connects to your NMEA 2000 drop cable.
Note:
The serial-to-NMEA 2000 adapter is not an IMO requirement and may not be used in such an application.
Figure 2-12: Serial-to-NMEA adapter
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Connecting the
V123_V133
to External Devices
Recommendations for connecting to other devices
When interfacing with other devices, ensure the transmit data output and the signal grounds from the V123_V133 is connected to the data input of the other device. The signal grounds must also be connected.
The RS-422 is a balanced signal with positive and negative signals referenced to ground, ensure you maintain the correct polarity.
When connecting the transmit data output positive signal to the receive line of the other device, it should be connected to the receive positive terminal.
The negative transmit data signal from the V123_V133 is connected to the receive data negative input of the other device.
For a list of Hemisphere GNSS commands, please refer to the Hemisphere
GNSS Technical Reference Manual .
Power/data cable considerations
The V123_V133 uses a single 15 m (49 ft) or 30 m (98 ft) cable for power and data input/output.
Figure 2-13: Power/data cable
Note:
Cover drain wire with black shrink tube.
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Connecting the V123_V133 to External Devices
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Continued
Power/data cable considerations
, continued
The receiver end of the cable is terminated with an environmentally-sealed
18-pin connection while the opposite end is unterminated and requires field stripping and tinning.
Note:
This section refers to a serial connection. For connecting external
NMEA 2000 devices, plug the serial-to-NMEA 2000 adapter into the
V123_V133 and then attach a standard NMEA 2000 dropline cable to the adapter.
Power/data cable pin-out assignments
Depending on the application and installation needs, the cable may need to be shortened. However, if you require a longer cable run than 30 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 V123_V133, ensure the additional voltage drop is small enough 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 reliable communication.
Figure 2-14 shows the power/data cable pin-out assignments.
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Figure 2-14: V123_V133 pin-out assignments
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Connecting the V123_V133 to External Devices
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Power/data cable pin-out specifications
Table 2-1 shows the cable pin-out specifications.
Table 2-1: V123_V133 pin-out specifications
Signal Pin
1
2
3
6
7
4
5
8
9
Power (+)
Power (-)
Port A Tx RS-232
Port A Rx RS-232
Reserved
Port A Tx RS-422(+)
Port B Rx RS-422(+)
Port B Rx RS-422(-)
Reserved
10 Drain
11 Port A Tx RS-422(-)
12 Signal ground
13 Alarm
14 Alarm
15 1 PPS(+)
16 Port B Tx RS-422(+)
17 Port B Tx RS-422(-)
18 1 PPS(-)
Color
Red
Black
Blue
Black/blue stripe
Green
Brown
Black/brown stripe
Bare wire
Green/black stripe
Grey
White
White/red stripe
Orange
Yellow
Yellow/black stripe
Orange/black stripe
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Overview
Chapter 3: Understanding the
V123_V133
Introduction
The GNSS receiver begins tracking satellites when it powers up and is placed outside in an open area. Position and heading accuracy vary depending upon location and environment. Position performance can be improved with RTK or DGNSS.
The following sections provide the steps to configure your V123_V133 to use
Atlas, Beacon, SBAS, or RTK.
Note:
Differential source and RTK status impact only positioning and heave.
There is no impact to heading, pitch, or roll.
Contents
Topic See Page
50
50
51
52
53
56
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Differential Operation
Differential
(DGNSS) operation
The V123_V133 delivers positioning accuracies of 2.5 m 95% and provides positioning quality to better than 0.6 m 95% using differential corrections received through the internal SBAS demodulator, beacon receiver, Atlas Lband, or through externally-supplied RTCM corrections.
SBAS Tracking
SBAS tracking
The V123_V133 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.
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GNSS Overview
GNSS operation
The GNSS receiver is always operating, regardless of the DGNSS mode of operation. The following sections describe the general operation of the
V123_V133’s internal GNSS receiver.
Note:
Differential source and status have no impact on heading, pitch, or roll.
They only have an impact on positioning and heave.
The V123_V133 provides accurate and reliable heading and position information at high update rates. To accomplish this task, the V123_V133 uses a high performance GNSS receiver and two antennas for GNSS signal processing.
One antenna is designated as the primary GNSS antenna and the other is the secondary GNSS antenna. Positions computed by the V123_V133 are referenced to the phase center of the primary GNSS antenna. Heading data references the Vector formed from the primary GNSS antenna phase center to the secondary GNSS antenna phase center.
The heading arrow located on the bottom of the V123_V133 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.
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Atlas L-band
Atlas L-band
Atlas L-band corrections are available worldwide. With Atlas, the positioning accuracy does not degrade as a function of distance to a base station, as the data content is not composed of a single base station’s information, but an entire network’s information.
The V123_V133 can calculate a position with 30 cm RMS (horizontal) accuracy.
To configure the receiver to use Atlas L-band, a subscription must be purchased.
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Supplemental Sensors
Overview
The V123_V133 has a supplemental sensor integrated into the H220 GNSS board that is enabled by default. You can enable/disable the sensor.
The sensor acts to reduce the RTK 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.
The Hemisphere GNSS Technical Reference Manual describes the commands and methodology required to recalibrate, query, or change the sensor status.
Tilt aiding
The V123_V133’ s internal sensor is factory calibrated and enabled by default and constrains the RTK heading solution beyond the volume associated with a fixed antenna separation.
The V123_V133 knows the approximate inclination of the secondary antenna with respect to the primary antenna. The search space defined by the sensor is reduced to a horizontal ring on the sphere’s surface by reducing the search volume and decreases startup and reacquisition times (see Figure 3-1).
Tilt angle
Figure 3-1: V123_V133 tilt aiding
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Supplemental Sensors
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Gyro aiding
The V123_V133’s internal sensor reduces reacquisition times when a GNSS heading is lost due to blocked satellite signals.
The sensor provides a relative change in angle since the last computed heading and defines the search space as a wedge-shaped location (see Figure
3-2).
Figure 3-2: V123_V133 gyro aiding
The gyro aiding accurately smooths the heading output and the ROT. The sensor also provides an alternate source of heading, accurate to within 1º per minute for up to three minutes in times of GNSS loss for either antenna.
If the outage lasts longer than three minutes, the sensor will have drifted too far and the V123_V133 begins outputting null fields in the heading output messages. There is no user control over the timeout period of the sensor.
The sensor initializes itself at power up and during initialization, or you can calibrate it as outlined in the Hemisphere GNSS Technical Reference Manual .
For optimal performance, when the sensor is first initializing, the dynamics the sensor experiences during this warm-up period are similar to the regular operating dynamics.
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Supplemental Sensors
,
Continued
Gyro aiding
, continued
Gyro-aiding updates the post HTAU-smoothed heading. As a result, if the
HTAU value is increased while gyro aiding is enabled, there will be little to no lag in heading output due to vessel maneuvers.
The Hemisphere GNSS Technical Reference Manual includes information on setting an appropriate HTAU value for the application.
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Time Constants
Overview
The V123_V133 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.
If the vessel is quick and nimble, increasing this value can create a lag in measurements.
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 sensor is calibrated and enabled.
Formulas for determining the level of smoothing are located in the
Hemisphere GNSS Technical Reference Manual . If you are unsure how to set this value, it is best to be conservative and leave the default setting.
Heading
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 0.1 seconds of smoothing when gyro-aid is enabled.
By disabling gyro-aid, the equivalent default value of the heading time constant should be 0.5 seconds of smoothing. This is not automatic, and therefore it must be manually entered.
Note:
Increasing the time constant increases the level of heading smoothing and increases lag (with gyro-aid disabled).
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Time Constants
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Continued
Pitch
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.
Note:
Increasing the time constant increases the level of pitch smoothing and increases lag.
Rate-of-Turn
(ROT)
Course-Over-
Ground (COG)
Speed
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.
Note:
Increasing the time constant increases the level of ROT smoothing.
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.
Note:
Increasing the time constant increases the level of COG smoothing.
COG is computed using only the primary GNSS 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.
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 parameter is 0.0 seconds of smoothing.
Note:
Increasing the time constant increases the level of speed measurement smoothing.
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Overview
Chapter 4: Operating the V123_V133
Introduction
This section provides information on how to power and operate your
V123_V133 receiver.
Contents
Topic
See Page
59
60
61
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Powering the V123_V133
Power connections
For best performance, use a clean and continuous power supply. The
V123_V133 power supply features reverse polarity protection but will not
operate with reverse polarity. See Table B-4 for complete power
specifications.
Note:
This section refers to powering the unit via serial connection. To power the unit via NMEA 2000 connection, follow the standard procedure for powering up via NMEA 2000.
Before you power up the V123_V133 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 V123_V133 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 V123_V133 starts when an acceptable voltage is applied to the power leads of the extension cable.
Electrical isolation
The V123_V133’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).
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Beacon Operation
V123_V133 beacon
Many marine authorities, such as coast guards, have installed networks of radio- beacons that broadcast DGNSS corrections to system users.
The dual channel beacon receiver in the V133 can operate in manual or automatic tuning mode, or, using database mode, will select the closest station in compliance with IEC61108-4 standards.
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Alarm Functionality
Overview
A relay is located on the Transmit Heading Device (THD) circuit board. The relay contacts are isolated from all circuitry in the THD. The THD is connected to the coil side of the relay, but not to the contacts that are connected to the external pins through the main IO connector.
If the THD loses power or heading, the coil voltage is lost, and the relay opens and activates the notification method employed by the user. When the heading is output, the relay contacts remain closed, completing the circuit as an indication that the V123_V133 is operational.
Note:
Alarm functionality is only valid for serial communication. Alarm pins must be connected to an IMO-certified device.
Alarm signal
Watchdog
There are two wires (24 AWG multi-strands) on the output cable that are used for the external alarm function. The color codes for the two wires are white and white/red stripe and are the output of a relay. When the receiver has heading, pins 13 and 14 have continuity. When the receiver loses heading, pins 13 and 14 do not have continuity. The receiver then outputs 4V of power between pins 14 and signal ground (pin 12), triggering the alarm.
The watchdog is a timer controlled by the software which monitors heading loss. The watchdog software is compliant with IEC 60945.
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Appendix A: Troubleshooting
Overview
Introduction
Appendix A provides troubleshooting for common problems.
Contents
Topic See Page
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Troubleshooting
Appendix A troubleshooting
Symptom
Receiver fails to power
No data from
V123_V133
Random data from
V123_V133
No GNSS lock
Possible Solution
• Verify polarity of power leads
• Check integrity of power cable connectors
• Check power input voltage (9 to 36 VDC)
• Check the voltage coming out of the connector at the end of the cable
• Check current restrictions imposed by power source (minimum available should be > 1.0 A)
• Check receiver power status to ensure the receiver is powered
• Verify desired messages are activated (using
PocketMax4 or $JSHOW command in any terminal program)
• Ensure the baud rate of the V123_V133 matches that of the receiving device
• Check integrity and connectivity of power and data cable connections
•
Verify the RTCM or binary messages are not output accidentally (send a $JSHOW command)
•
Ensure the baud rate of the V123_V133 matches that of the remote device
•
The volume of data requested for output by the
V123_V133 could be higher than the current baud rate supports. IMO-compliant units require
38400, and 19200 may be necessary for some non-IMO units (depending on message output settings).
• Verify the V123_V133 has a clear view of the sky
• Use PocketMax4 to check how many satellites are in view and the SNR values
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Troubleshooting
,
Continued
Appendix A troubleshooting
, continued
Symptom
No SBAS lock
No Atlas
Possible Solution
• Verify the V123_V133 has a clear view of the sky
• 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.
•
First, check to see for an Atlas Basic subscription by sending $JK,SHOW to see which commands are listed. Or, connect to
PocketMax4, go to the About tab, and check the listed activations
• Ensure you are tracking the correct Atlas satellite, or set the receiver to ‘Auto-Tune’ by sending $JFREQ,AUTO
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Troubleshooting
,
Continued
Appendix A troubleshooting
, continued
Symptom
No heading or incorrect heading value
Possible Solution
• Check CSEP value is constant without varying more than 1 cm (0.39 in)—larger variations may indicate a high multipath environment and require moving the receiver location
• Heading is from primary GNSS antenna to secondary GNSS antenna, so the arrow on the underside of the V123_V133 is directed to the bow side
•
$JATT,SEARCH command forces the
V123_V133 to acquire a new heading solution (unless gyro is enabled)
•
Enable GYROAID to provide heading for up to three minutes during GNSS signal loss
•
Enable TILTAID to reduce heading search times
•
Monitor the number of satellites and SNR values for both antennas within
PocketMax4—at least four satellites should have strong SNR values
• The volume of data requested for output by the V123_V133 could be higher than the current baud rate supports. IMO-compliant units require 38400, and 19200 may be necessary for some non-IMO units
(depending on message output settings)
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Troubleshooting
,
Continued
Appendix A troubleshooting
, continued
Symptom
No DGPS position in external RTCM mode
Possible Solution
• Verify the baud rate of the RTCM input port matches the baud rate of the external source
• Verify the pinout between the RTCM source and the RTCM input port (transmit from the source must go to receive of the RTCM input port and grounds must be connected)
• 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
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Appendix B: Technical Specifications
Technical Specifications
Introduction
Appendix B provides the V123_V133 technical specifications, and the
V123_V133 certification information.
Contents
Topic
V123_V133 Technical Specifications
See Page
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V123_V133 Technical Specifications
V123_V133 technical specifications
Table B-1: V123/ 133 sensor
Receiver type
Item
Signals Received
QZSS 3
300
-142 dBm
Specification
GNSS L1
GPS, GLONASS, BeiDou, Galileo,
, and Atlas
Channels
GPS sensitivity
SBAS tracking 2-channel, parallel tracking
Update rate (position and heading) 10 Hz standard, optional 20 Hz
Position accuracy
(Non-IMO) and 50 Hz (IMO/Non-
IMO)
1.2 m RMS (autonomous)
0.3 m RMS (SBAS)
Heading accuracy (GNSS)
Heave accuracy (GNSS)
Pitch accuracy
Roll accuracy
Timing (1 PPS) accuracy
Rate of turn
Cold start
Warm start
Hot start
Heading fix
Compass safe distance
Maximum speed
Maximum altitude
0.3 m RMS (Atlas)
< 0.30° RMS
< 30cm RMS 1
< 1° RMS
< 1° RMS using accelerometer
20 ns
145°/s maximum
< 40 s typical (no almanac or RTC)
< 20 s typical (almanac and RTC)
< 1 s typical (almanac, RTC, and position)
< 10 s typical (valid position)
75 cm (29.5 in) 2
1,850 kph (999 kts)
18,288m (60,000 ft)
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Table B-2: Beacon sensor (V133 only)
Item Specification
Operating modes Manual, automatic, and database
Compliance IEC 61108-4 beacon standard
Table B-3: Communication
Item
Serial ports
Specification
RS-232 (full-duplex)
RS-422 (1 full duplex, 1 half duplex)
Baud rates
Correction I/O
4800, 9600, 19200, 38400, 57600, 115200
RTCM Atlas L-band protocol
Data I/O protocol NMEA 0183, NMEA 2000
Table B-4: Power
Item
Input voltage
Power consumption
6 to 36 VDC
V123
~ 4.3 W nominal
Current consumption
V123
~ 0.36 A nominal
Power isolation Isolated to enclosure
Reverse polarity protection
Yes
Specification
V133
~ 4.6 W nominal
V133
~ 0.38 A nominal
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Table B-5: Mechanical
Item
Enclosure
Dimensions
Weight
Power/data connector
Table B-6: Environmental
Item
Operating temperature
Storage temperature
Humidity
Vibration
EMC
Specification
Top Enclosure:
ASA/PC Blend
Bottom Enclosure:
PC
66.5 L x 20.8 W x 14.6 H (cm)
26.2 L x 8.2 W x 5.8 H (in)
V123 V133
2.1 kg (4.6 lb) 2.4 kg (5.4 lb)
18-pin, environmentally sealed
Specification
-30°C to +70°C (-22°F to +158°F)
-40°C to +85°C (-40°F to +185°F)
95% non-condensing
IEC 60945
CE (IEC 60945 Emissions and
Immunity), RED (2014/53/EU)
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Table B-7: Certifications
The following certifications apply to the V123 and V133 models only and do not apply to the V123 Non-IMO and V133 Non-IMO models.
Certification
IMO Resolution MSC.116(73)
IMO Resolution A.694(17)
IMO Resolution MSC.191(79)
IMO Resolution MSC.302(87)
ISO 22090-3:2014
IEC 60945 Ed.4.0, 2002 incl. Corr.1,
2008
IEC 61162-1 Ed.4.0 2010
IEC 61162-2 Ed.1.0, 1998
IEC 62288 Ed. 2.0 (2014-07)
IMO wheel marked for MED/4.41 Transmitting heading device THD (GNSS method). Based on the Directive 2014/90/EU, Regulation (EU) 2017/306
3
1
Based on a 40 second time constant
2
Minimum safe distance measured when the product is placed in the vicinity of the steering magnetic compass. The
ISO 694 defines “vicinity” relative to the compass as within 5 m (16.4 ft) separation.
With future firmware upgrade and activation
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Overview
Appendix C: Commands and Messages
Introduction
Appendix C contains the common commands and messages used by the
V123_V133. Reference the following tables for sending and receiving commands and messages.
For information on message output rates refer to the Hemisphere GNSS
Technical Reference Manual .
Example message
GPHDT
GPROT
GPHDG
GPGGA
GPZDA
Rate Bytes Bits in
10
5
1
1
1
20
18
33
83
38
byte
10
10
10
10
10
Total
Bits/sec
2000
900
330
830
380
4440
Contents
Topic
TSP20181178146232_MapTitles
See Page
73
75
77
94
94
95
99
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Commands
Commands
The V123_V133 has a maximum baud rate of 115200.
Note:
When selecting baud rate and message types, use the following formula and example to calculate the bits/sec for each message and then sum the results to determine the baud rate for your required data throughput.
Message length (bytes) * bits in byte = Bits/second
(1 character = 1 byte, 8 bits = 1 byte, use 10 bits/byte to account for overhead)
Table C-1: Commands
Command
$GPMSK
$JAGE
$JAPP
$JASC
$JBAUD
Description
Tune beacon to specific frequency
Specify maximum DGPS (COAST) correction age
(6 to 8100 seconds)
Query or specify receiver application firmware
Specify ASCII messages to output to specific ports
Specify RS-232, RS-422 (output) communication rate
$JBIN
$JDIFF
$JGEO
$JI
$JOFF
$JQUERY,GUIDE
Specify binary messages to output to specific ports (see Table 3-4)
Query or specify differential correction mode
Query or specify SBAS for current location and
SBAS satellites
Query unit’s serial number and firmware versions
Turn off all data messages
Query accuracy suitability for navigation
$JMODE,GPSONLY,YES GPS only mode
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Table C-1: Commands (continued)
Command Description
$JMODE,GPSONLY,NO Multi-GNSS mode
$JRESET Reset unit’s configuration to firmware defaults
Note:
$JRESET clears all parameters. For the
V123_V133 you will have to issue the $JATT,
FLIPBRD,YES command to properly redefine the circuitry orientation inside the product once the receiver has reset. Failure to do so will cause radical heading behavior.
You can also issue the $JRESET command with an optional field as follows:
•
$JRESET,ALL does everything $JRESET does,
$JSAVE plus it clears almanacs
•
$JRESET,BOOT does everything $JRESET,ALL does, plus clears use of the real-time clock at startup, clears use of backed-up ephemeris and almanacs, and reboots the receiver when done
Save session’s configuration changes
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Binary Messages
Binary messages
Table C-2 lists the Binary messages used by the V123_V133. To log raw binary data to convert to Rinex, turn on Bin 76 (GPS), Bin 66 (GLONASS), Bin 36
(BeiDou),
or
turn on Bin 16 (all constellations; required for Galileo).
Additionally, enable ephemeris messages: Bin 95 (GPS), Bin 65 (GLONASS),
Bin 35 (BeiDou), and Bin 45 (Galileo).
Enable the time conversion messages: Bin 94 (GPS), Bin 34 (BeiDou), and Bin
44 (Galileo).
Table C-2: Binary messages
Description $JBIN
Message
1
2
80
93
94
95
96
97
98
99
16
34
35
GNSS position
GPS DOPs
SBAS
SBAS ephemeris data
Ionosphere and UTC conversion parameters
Satellite ephemeris data
Code and carrier phase (not needed if using Bin 16, Bin 16 includes information for all constellations)
Processor statistics
Satellites and almanac
GPS diagnostics
All constellation code and phase observation data. Use
Bin16 if you need Galileo code and carrier phase observation. Galileo does not have a separate message
BeiDou time conversion
BeiDou ephemeris information
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Table C-2: Binary messages (continued)
$JBIN
Message
36
Description
44
45
65
66
BeiDou code and carrier phase information (not needed if using Bin 16, Bin 16 includes information for all constellations)
Galileo time conversion
Galileo ephemeris
GLONASS ephemeris information
GLONASS code and carrier phase information (not needed if using Bin 16, Bin 16 includes information for all constellations)
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NMEA Messages
V123_V133
NMEA received messages
PGN
Table C-3: NMEA messages received based on a request
Description
059392 ISO Acknowledgement
Used to acknowledge the status of certain requests addressed to a specific ECU.
059904 ISO Request
Request the transmission of a specific PGN, addressed or broadcast.
060928 ISO Address Claim
Used to identify to other ECUs the address claimed by an ECU.
126996 Product Information
NMEA 2000 database version supported, manufacturer’s product code, NMEA 2000 certification level, Load Equivalency number, and other product- specific information.
Default
Update Rate
Freq (Hz)
(msec)
On Request On Request
On Request On Request
On Request On Request
On Request On Request
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PGN
Table C-3: NMEA messages received based on a request (continued)
Description Default
Update Rate
(msec)
On Request
Freq (Hz)
On Request 126464 Receive/Transmit PGNs group function
The Transmit / Receive PGN List Group type of function is defined by the first field.
129545 GNSS RAIM Output
Used to provide the output from a GNSS receiver's Receiver Autonomous Integrity
Monitoring (RAIM) process.
The Integrity field value is based on the parameters set in PGN 129546 GNSS RAIM
Settings.
129546 GNSS RAIM Settings
Used to report the control parameters for a
GNSS Receiver Autonomous Integrity
Monitoring (RAIM) process.
On Request
On Request
On Request
On Request
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NMEA transmitted messages
PGN
Table C-3: NMEA transmitted messages
Description
126992 System Time
The purpose of this PGN is twofold:
1) To provide a regular transmission of
UTC time and date, and
2) To provide synchronism for measurement data
126993 Heartbeat
Confirms a device is still present on the network.
127250 Vessel Heading
Heading sensor value with a flag for True or
Magnetic.
If the sensor value is Magnetic, the deviation field can be used to produce a Magnetic heading, and the variation field can be used to correct the Magnetic heading to produce a True heading.
127251 Rate of Turn
Rate of change of heading.
Default
Update Rate
(msec)
1000
60000
100
100
Freq (Hz)
1
1/60
10
10
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PGN
Table C-3: NMEA transmitted messages (continued)
Description
127257 Altitude
Provides a single transmission that describes the position of a vessel relative to both horizontal and vertical planes.
Altitude can be used for vessel stabilization, vessel control and onboard platform stabilization.
127258 Magnetic Variation
Message for transmitting variation.
The message contains a sequence number to synchronize other messages such as
Heading or Course over Ground.
The quality of service and age of service are provided to determine appropriate level of service if multiple transmissions exist.
Default
Update Rate
(msec)
1000
1000
Freq (Hz)
1
1
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PGN
Table C-3: NMEA transmitted messages (continued)
Description
129025 Position, Rapid Update
Provides latitude and longitude referenced to WGS84.
A single frame message (opposed to other
PGNs that include latitude and longitude and are defined as fast or multi- packet), this
PGN lends itself to more frequent transmission without using excessive bandwidth.
129026 COG & SOG, Rapid Update
Single frame PGN that provides Course Over
Ground (COG) and Speed Over Ground
(SOG).
Default
Update Rate
(msec)
100
250
Freq (Hz)
10
4
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PGN
Table C-3: NMEA transmitted messages (continued)
Description
129027 Position Delta, High Precision Rapid Update
The ‘Position Delta, High Precision Rapid
Update’ Parameter Group is for applications requiring high precision and very fast update rates for position data.
This PGN provides delta position changes down to 1 mm with a delta time period accurate to 5 msec.
Default
Update Rate
(msec)
100
Freq (Hz)
10
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Table C-3: NMEA transmitted messages (continued)
PGN Description
129028 Altitude Delta, High Precision Rapid Update
The ‘Altitude Delta, High Precision Rapid
Update’ Parameter Group is intended for applications requiring high precision and fast update rates are needed for altitude and course over ground data.
This PGN can provide delta altitude changes down to 1 millimeter, a change in direction as small as 0.0057°, and with a delta time period accurate to 5 msec.
Default Update
Rate (msec)
100
Freq (Hz)
10
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PGN
Table C-3: NMEA transmitted messages (continued)
Description
129029 GNSS Position Data
Conveys a comprehensive set of Global
Navigation Satellite System (GNSS) parameters, including position information.
129033 Time & Date
Single transmission that provides UTC time,
UTC Date, and Local Offset.
129539 GNSS DOPs
Provides a single transmission containing
GNSS status and dilution of precision components (DOP) that indicate the contribution of satellite geometry to the overall positioning error.
Three DOP parameters are reported: horizontal (HDOP), Vertical (VDOP), and time
(TDOP).
Default
Update Rate
(msec)
1000
1000
1000
Freq (Hz)
1
1
1
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PGN
Table C-3: NMEA transmitted messages (continued)
Description
129540 GNSS Sats in View
GNSS information on current satellites in view tagged by sequence ID.
Information includes PRN, elevation, azimuth, SNR, defines the number of satellites; defines the satellite number and the information.
Default
Update Rate
(msec)
1000
Freq (Hz)
1
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NMEA 0183 and other messages
Table C-4 NMEA 0183 and other messages
In Table C-4 the Info Type value is one of the following:
•
P = Position
• V = Velocity, Time
• H = Heading, Attitude S = Sets, Stats, Quality
Message Info
Type
Max Output
Rate
Description
$GPDTM
$GPGGA
$GPGLL
$GPGNS
$GPGRS
$GPGSA
$GPGST
$GPGSV
*$GPHDG
P
P
P
P
S
S
S
S
H
1 Hz
50 Hz
50 Hz
50 Hz
1 Hz
1 Hz
1 Hz
1 Hz
50 Hz
IEC Approved Message
Datum reference Yes
GPS position and fix data
Geographic position - lit/long
GNSS position and fix data
GNSS range residual
(RAIM)
Yes
Yes
Yes
Yes
GNSS DOP and active satellites
GNSS pseudo range error statistics and
Yes
Yes position accuracy
GNSS satellites in view Yes
Yes Provides magnetic deviation and variation for calculating magnetic or true heading
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Table C-4 NMEA 0183 and other messages (continued)
Message Info
Type
*$GPHDM H
Max Output
Rate
50 Hz
Description IEC Approved Message
*$GPHDT
$GPHEV
$GPRMC
*$GPROT
$GPRRE
$GPVTG
$GPZDA
$HEACK
$HEACN
$HEALF
$HEALC
$HEALR
$HEHBT
H
H
P
H
S
V
V
S
S
S
S
S
S
50 Hz
50 Hz
50 Hz
50 Hz
1 Hz
50 Hz
50 Hz
1 Hz
1 Hz
1 Hz
1 Hz
1 Hz
1 Hz
Magnetic heading
(based on GNSSderived heading and magnetic declination)
GNSS-derived true heading
Heave value (in meters)
Recommended minimum specific
GNSS data
GNSS-derived rate of turn (ROT)
Range residual and estimated position error
No
Yes
Yes
Yes
Yes
Yes
COG and ground speed
Yes
Time and date Yes
Acknowledge alarm Yes
Alert command
Alert sentence
Cyclic alert list
Set alarm state
Heartbeat supervision sentence
Yes
Yes
Yes
Yes
Yes
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Table C-4 NMEA 0183 and other messages (continued)
Message
$HETHS
Info
Type
H
Max Output
Rate
50 Hz
Description IEC Approved Message
$PASHR
$PSAT,GBS
$PSAT,HPR
H
S
H
$PSAT,INTLT H
$RD1
$TSS1
S
H
50 Hz
1 Hz
50 Hz
1 Hz
1 Hz
50 Hz
True heading and status
Time, heading, roll, and pitch data in one message
Satellite fault detection (RAIM)
Proprietary NMEA message that provides heading, pitch, roll, and time in single message
Proprietary NMEA message that provides the pitch and roll measurements from the internal inclinometers (in degrees)
SBAS diagnostic information
Heading, pitch, roll, and heave message in the commonly used
TSS1 message format
Yes
No
Yes
No
Yes
Yes
No
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Table C-4 NMEA 0183 and other messages (continued)
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 uses the $JATT,NMEAHE command
−
To preface these messages with GP, issue the following command:
$JATT,NMEAHE,0<CR><LF>
−
To preface these messages with HE, issue the following command:
$JATT,NMEAHE,1<CR><LF>
•
GPGRS, GPGSA, GPGST, and GPGSV support external integrity checking; synchronize with corresponding fix data (GPGGA or GPGNS)
•
For information on outputting roll, pitch, and heave data in one message refer to the
Hemisphere GNSS Technical Reference Manual
• HBT is sent every 30 seconds
• After 60 seconds, a heading loss warning is escalated to an alarm
• Silence timeout is 30 seconds
• THS message definition (from IEC61162-1 ed5): THS – True heading and status
• $HETHS,x.x,a*hh<CR><LF>
• x.x Heading, degrees true
• a Mode indicator (This field should not be null): A = Autonomous, E = Estimated (dead reckoning), V = Data not valid (including standby)
• 50Hz output requires 50Hz-capable firmware plus 50Hz activation
For more information on the $JATT,NMEAHE command refer to the Hemisphere GNSS
Technical Reference Manual.
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Parameters specific to the
$JATT command
Parameter
BALERT
COGTAU
CSEP
EXACT
FLIPBRD
HELP
HIGHMP
Table C-5: Parameters specific to the $JATT command
Description
Enables Bridge Alert
Management
Functionality
Set/query COG time constant (0.0 to
3600.0 sec)
Query antenna separation
Enable/disable internal filter reliance on the entered antenna separation
Turn the flip feature on/off
Enable/disable gyro
Set/query heading bias (-180.0º to
180.0º)
Show the available commands for GNSS heading operation and status
Set/query the high multipath setting for use in poor GNSS environments
Query
X
X
X
X
X
X
X
GYROAID
HBIAS
X
X
Specify
X
X
X
X
X
X
X
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Parameter
HRTAU
Table C-5: Parameters specific to the $JATT command (continued)
Query
X
Specify
X
HTAU
LEVEL
MSEP
NEGTILT
NMEAHE
PBIAS
PTAU
Description
Set/query ROT time constant (0.0 to
3600.0 sec)
Set/query heading time constant (0.0 to
3600.0 sec)
Enable/disable level operation
Manually set or query antenna separation
Enable/disable negative tilt
Change the HDG,
HDM, HDT, and ROT message headers between GP and HE
Set/query pitch/roll bias (-15.0º to 15.0º)
Set/query pitch time constant (0.0 to
3600.0 sec)
X
X
X
X
X
X
X
X
X
X
X
X
X
X
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Parameter
ROLL
Table C-5: Parameters specific to the $JATT command (continued)
Query
X
Specify
X
SEARCH
SPDTAU
Description
Configure for roll or pitch GNSS orientation
Force a new GNSS heading search
Set/query speed time constant (0.0 to
3600.0 sec)
X
X
X
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$JATT command
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Parameter
SUMMARY
Table C-5: Parameters specific to the $JATT command (continued)
Query
X
Specify
TILTAID
TILTCAL
Description
Display a summary of the current Crescent
Vector settings
Enable/disable accelerometer, precalibrated
Calibrate accelerometers
X X
X
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Index
Activate Loader
........................................ 23
Activation .................................................... 6
Atlas .......................................... 6, 12, 49, 52
Base Station ................................................ 6 beacon .............. 10, 11, 13, 27, 50, 60, 69, 73
BeiDou ......................................................... 6
Bracket-mount
.......................................... 32 cable length ......................................... 26, 47
COAST .................................................. 11, 73 course-over-ground .................................. 56
Course-Over-Ground (COG) ...................... 57
Crescent Vector ............................... 9, 10, 93
CSEP value ................................................. 65
DGPS/DGNSS ............................................... 6
Differential Corrections .............................. 6
Elevation Mask ............................................ 6 environmental ..................................... 26, 29 firmware .......................20, 21, 22, 23, 24, 43
Firmware ................................................... 20
Flush-mount
.............................................. 32
GPS .............................................................. 6 gyro ......................................... 54, 56, 65, 90
Heading ............................................... 79, 80
HPR values
................................................ 30
NMEA ........................................................ 77
NMEA 2000 adapter .....15, 37, 38, 39, 45, 47
Pitch .............................................. 13, 57, 68
Pole-mount
............................................... 32
Port A ...................................... 43, 44, 48, 66
Port B....................................... 43, 44, 48, 66
Positioning accuracy
................................. 12
Positioning sustainability
......................... 12
Program Type
........................................... 22 radar mounting plate ................................ 40
Rate-of-Turn .............................................. 56
Rate-of-Turn (ROT) .............................. 56, 57
RightArm ................................................... 20
RTCM ....................................... 50, 63, 66, 69
RTK ................................. 6, 12, 49, 53, 55, 68
SBAS ........... 11, 13, 49, 50, 64, 68, 73, 75, 88
Speed .................................................. 57, 81
THD ............................................................ 61
Tilt aiding ................................................... 53 tilt sensors ........................................... 10, 53
TILTAID ................................................ 65, 93
VHF interference ....................................... 28
VHF marine radio ...................................... 28 watchdog................................................... 61
WebUI ....................................................... 20
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End User license agreement
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- This is an agreement (the "
Agreement
") between you, the end purchaser ("
Licensee
") and
Hemisphere GNSS Inc. ("
Hemisphere
") which permits Licensee to use the Hemisphere software (the "
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BY INSTALLING OR USING THE SOFTWARE UPDATE OR THE PRODUCT, LICENSEE THEREBY AGREES TO BE LEGALLY
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HEMISPHERE PROVIDES LIMITED WARRANTIES IN RELATION TO THE SOFTWARE. AS WELL, THOSE WHO USE THE
EMBEDDED SOFTWARE DO SO AT THEIR OWN RISK. YOU SHOULD UNDERSTAND THE IMPORTANCE OF THESE AND
OTHER LIMITATIONS SET OUT IN THIS AGREEMENT BEFORE INSTALLING OR USING THE SOFTWARE OR THE
PRODUCT.
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LICENSE
. Hemisphere hereby grants to Licensee a non-transferable and non-exclusive license to use the Software as embedded in a Product and all Updates (collectively the "
Software
"), solely in binary executable form.
RESTRICTIONS ON USE
. Licensee agrees that Licensee and its employees will not directly or indirectly, in any manner whatsoever: a.
install or use more copies of the Software than the number of copies that have been b.
licensed; use or install the Software in connection with any product other than the Product the
Software was intended to be used or installed on as set out in the documentation that accompanies the Software.
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copy any of the Software or any written materials for any purpose except as part of
Licensee's normal backup processes; modify or create derivative works based on the Software; sub-license, rent, lease, loan or distribute the Software; permit any third party to use the Software; use or operate Product for the benefit of any third party in any type of service outsourcing, application service, provider service or service bureau capacity; reverse engineer, decompile or disassemble the Software or otherwise reduce it to a h.
i.
human perceivable form;
Assign this Agreement or sell or otherwise transfer the Software to any other party except as part of the sale or transfer of the whole Product.
UPDATES
. At Hemisphere's discretion Hemisphere may make Updates available to Licensee. An update ("
Update
") means any update to the Software that is made available to Licensee including error corrections, enhancements and other modifications. Licensee may access, download and install Updates during the Warranty Period only. All Updates that Licensee downloads, installs or uses shall be deemed to be Software and subject to this Agreement.
Hemisphere reserves the right to modify the Product without any obligation to notify, supply or install any improvements or alterations to existing Software.
SUPPORT.
Hemisphere may make available directly or through its authorized dealers telephone and email support for the Software. Contact Hemisphere to find the authorized dealer near you.
As well, Hemisphere may make available user and technical documentation regarding the
Software. Hemisphere reserves the right to reduce and limit access to such support at anytime.
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BACKUPS AND RECOVERY.
Licensee shall back-up all data used, created or stored by the
Software on a regular basis as necessary to enable proper recovery of the data and related systems and processes in the event of a malfunction in the Software or any loss or corruption of data caused by the Software. Licensee shall assume all risks of loss or damage for any failure to comply with the foregoing.
OWNERSHIP.
Hemisphere and its suppliers own all rights, title and interest in and to the
Software and related materials, including all intellectual property rights. The Software is licensed to Licensee, not sold.
TRADEMARKS
. "Hemisphere GNSS", "Crescent", "Eclipse" and the associated logos are trademarks of Hemisphere. Other trademarks are the property of their respective owners.
Licensee may not use any of these trademarks without the consent of their respective owners.
LIMITED WARRANTY
. Hemisphere warrants solely to the Licensee, subject to the exclusions and procedures set forth herein below, that for a period of one (1) year from the original date of purchase of the Product in which it is embedded (the "Warranty Period"), the Software, under normal use and maintenance, will conform in all material respects to the documentation provided with the Software and any media will be free of defects in materials and workmanship. For any Update, Hemisphere warrants, for 90 days from performance or delivery, or for the balance of the original Warranty Period, whichever is greater, that the Update, under normal use and maintenance, will conform in all material respects to the documentation provided with the Update and any media will be free of defects in materials and workmanship.
Notwithstanding the foregoing, Hemisphere does not warrant that the Software will meet
Licensee's requirements or that its operation will be error free.
WARRANTY EXCLUSIONS
. The warranty set forth in Section (8) will not apply to any deficiencies caused by (a) the Product not being used as described in the documentation supplied to
Licensee, (b) the Software having been altered, modified or converted in any way by anyone other than Hemisphere approved by Hemisphere, (c) any malfunction of Licensee's equipment or other software, or (d) damage occurring in transit or due to any accident, abuse, misuse, improper installation, lightning (or other electrical discharge) or neglect other than that caused by Hemisphere. Hemisphere GNSS does not warrant or guarantee the precision or accuracy of positions obtained when using the Software (whether standalone or embedded in a Product).
The Product and the Software is not intended and should not be used as the primary means of navigation or for use in safety of life applications. The potential lpositioning and navigation accuracy obtainable with the Software as stated in the Product or Software documentation serves to provide only an estimate of achievable accuracy based on specifications provided by the US Department of Defense for GPS positioning and DGPS service provider performance specifications, where applicable.
WARRANTY DISCLAIMER.
EXCEPT AS EXPRESSLY SET OUT IN THIS AGREEMENT, HEMISPHERE
MAKES NO REPRESENTATION, WARRANTY OR CONDITION OF ANY KIND TO LICENSEE,
WHETHER VERBAL OR WRITTEN AND HEREBY DISCLAIMS ALL REPRESENTATIONS, WARRANTIES
AND CONDITIONS OF ANY KIND INCLUDING FITNESS FOR A PARTICULAR PURPOSE,
MERCHANTABILITY, ACCURACY, RELIABILITY OR THAT THE USE OF THE SOFTWARE WILL BE
UNINTERRUPTED OR ERROR-FREE AND HEREBY DISCLAIMS ALL REPRESENTATIONS,
WARRANTIES AND CONDITIONS ARISING AS A RESULT OF CUSTOM, USAGE OR TRADE AND
THOSE ARISING UNDER STATUTE.
LIMITS ON WARRANTY DISCLAIMER.
Some jurisdictions do not allow the exclusion of implied warranties or conditions, so some of the above exclusions may not apply to Licensee. In that case, any implied warranties or conditions which would then otherwise arise will be limited in duration to ninety (90) 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.
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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.
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 OFTHE 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.
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.
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.
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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,
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(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.
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. 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 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.
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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
25.
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,
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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
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 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 noninfringement.
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 positioning system or differential correction service; or the availability or performance of any satellite-based positioning 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.
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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 positioning 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 Scottsdale, AZ 85255, USA
Phone: +1-480-348-6380
Fax: +1-480-270-5070
TECHSUPPORT
@
HGNSS
.
COM
WWW
.
HGNSS
.
COM
Hemisphere GNSS Inc.
8515 East Anderson Drive, Suite A
Scottsdale, Arizona, US 85255
Phone: 480-348-6380
Fax: 480-270-5070
PRECISION
@
HGNSS
.
COM
WWW
.
HGNSS
.
COM
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