Hemisphere V200 GNSS Compass User Guide
Hemisphere V200 GNSS Compass is a high-precision, multi-GNSS compass that provides accurate heading, pitch and roll data. Featuring industry-leading Atlas GNSS technology, the V200 delivers reliable performance in challenging environments. Its rugged design makes it ideal for a wide range of applications, including marine navigation, land surveying, and robotics. With its compact size, low power consumption, and versatile connectivity options, the V200 is an excellent choice for integration into demanding systems.
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875-0395-10 V200s Vector™
User Guide
Revision: A6
March 22, 2021
Table of Contents
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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:
This device may not cause harmful interference, and 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 .
E-Mark Statement: This product is not to be used for driverless/autonomous driving.
Copyright Notice
Trademarks
Patents
Copyright Hemisphere GNSS, Inc. (2021). 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.
Hemisphere GNSS®, the Hemisphere GNSS logo, TRACER TM , Crescent®, Eclipse TM , e-Dif®, L-Dif TM , PocketMax TM trademarks of Hemisphere GNSS, Inc. Other trademarks are the properties of their respective owners.
,
S320 TM , SBX-4 TM , Vector TM , Vega™, Phantom™, Cygnus™, Atlas™, aRTK, SureFix™, and Athena™ are proprietary
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
Continued on next page
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Device Compliance, License and Patents
, Continued
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
HTTPS
@ HGNSS .
COM
://
WWW
.
HEMISPHEREGNSS
.
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:
HTTPS
://
HEMISPHERE
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ATLASSIAN
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NET
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SERVICEDESK
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CUSTOMER
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LOGIN
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=
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%2F2
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Terms and Definitions
Introduction
V200s terms & definitions
The following table lists the terms and definitions used in this document.
Activation
Atlas
Term
BeiDou
DGPS/DGNSS
Differential
Corrections
Firmware
Galileo
GLONASS
GNSS
Definition
Activation refers to a feature added through a onetime purchase. For features that require recurring fees, see Subscription .
Atlas is a subscription-based service provided by
Hemisphere GNSS.
BeiDou is a global navigation satellite system deployed and maintained by China.
Differential GPS/GNSS refers to a receiver using
Differential Corrections.
A method of improving precision of a GNSS rover.
Two GNSS receivers placed in a nearby area will have similar error. A base station is placed over a known point.
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 deployed and maintained by the European Union and
European Space Agency.
Global Orbiting Navigation Satellite System
(GLONASS) is a Global Navigation Satellite System deployed and maintained by Russia.
Global Navigation Satellite System (GNSS) is a system that provides autonomous 3D position (latitude, longitude, and altitude) and accurate timing globally by using satellites. Current GNSS providers are: GPS,
GLONASS and Galileo.
Continued on next page
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Terms and Definitions
, Continued
V200s terms & definitions , continued
GPS
I/O
NMEA
QZSS
Term
Heading
Definition
Global Positioning System (GPS) is a global navigation satellite system deployed and maintained by the
United States.
The vector created from the primary to secondary antenna. It points to the direction that the receiver is facing.
Input/Output
National Marine Electronics Association (NMEA) is a marine electronics organization that sets standards for communication between marine electronics.
Quasi-Zenith Satellite System (QZSS) is a regional satellite navigation system deployed and maintained by Japan.
Root mean square
Real-Time-Kinematic (RTK) is a real-time differential
RMS
RTK
SBAS
SNR
Subscription
GPS method that provides better accuracy than differential corrections.
Satellite Based Augmentation System (SBAS) is a system that provides differential corrections over satellite throughout a wide area or region.
Signal-to-Noise ratio
A subscription is a feature that is enabled for a limited time. Once the end-date of the subscription has been reached, the feature will turn off until the subscription is renewed.
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 V200s
Vector GNSS Compass. You can download this manual from the Hemisphere
GNSS website at WWW .
HGNSS .
COM .
Topic
Using PocketMax to Communicate with the V200s
See Page
9
12
13
14
18
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Product Overview
Product overview
The V200s Vector™ GNSS Compass is capable of tracking and using GPS,
GLONASS, Galileo, BeiDou, and QZSS satellites.
Note: When referring to both the V200s Vector™ GNSS Compass, this manual uses the term V200s.
The multi-GNSS V200s offers an amazing world-wide 30 cm (RMS) accuracy via Hemisphere’s Atlas GNSS global correction service.
The V200s offers an incredible combination of simple installation, small form factor, and amazing performance. The compass - measuring only 35 cm in length - mounts easily to a flat surface or pole. The stability and maintenance-free design of the V200s provides simple integration into autopilots, chart plotters, and AIS systems.
There are no mechanical parts such as gimbals or a rotating motor, so the
V200s 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 V200s is an integrated system that houses the following:
• Dual mGNSS, multipath-resistant antennas
• 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.
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Product Overview
, Continued
Product overview , continued
The V200s’s GNSS antennas are separated by 20 cm between phase centers, resulting in a heading performance of better than 0.75° RMS (with
High Accuracy Heading activated). The V200s 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 Atlas.
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: V200s GNSS Compass
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Product Overview
, Continued
Athena RTK Athena RTK is Hemisphere’s next-generation RTK engine designed to support all available constellations and take advantage of available new signals. Athena was designed to seamlessly integrate into existing product portfolios and supports all major industry correction formats and standards.
Athena RTK can be added to the V200s as an activation.
Athena RTK has the following benefits:
• Improved Initialization time Performing initializations in less than 15 seconds at better than 99.9% of the time.
• Robustness in difficult operating environments Extremely high productivity under the most aggressive of geographic and landscapeoriented environments.
• Performance on long baselines Industry-leading position stability for long baseline applications.
For more information about Athena RTK, see:
HTTPS :// WWW .
HEMISPHEREGNSS .
COM / TECHNOLOGY /# ATHENA
Atlas L-band Atlas L-band is Hemisphere’s industry leading correction service, which can be added as a subscription. Atlas L-band has the following benefits:
• Positioning accuracy Competitive positioning accuracies down to 4 cm
RMS in certain applications.
• Positioning sustainability - Cutting edge position quality maintenance in the absence of correction signals, using Hemisphere’s patented technology.
• Scalable service levels - Capable of providing virtually any accuracy, precision and repeatability level in the 4 cm to 50 cm range.
• Convergence time Industry-leading convergence times of 10-40 minutes
• Global Ionospheric Model - Real-time ionospheric activity and data is sent to the receiver and allows Atlas-capable devices to adjust accordingly, providing excellent convergence performance.
For more information about Atlas L-band, see: HTTP :// HGNSS .
COM /A TLAS
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Key Features
V200s key features
Key features of the V200s include:
• L1 GPS, GLONASS, Galileo, BeiDou, QZSS
• 30 cm RMS world-wide positioning accuracy with Atlas corrections
• Standard 1.5° and optional 0.75° heading accuracy in small form factor
• Excellent in-band and out-of-band interference rejection
• Integrated gyro and tilt sensors help deliver fast start-up times and provide heading updates during temporary loss of satellites
• Provides heading, positioning, heave, pitch, and roll
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What’s Included in Your Kit
V200s kit Table 1-1 lists the parts included with your V200s. The V200s GNSS
Compass and the power/data cable (accessory item) are the only two required components.
Note: The V200s’s parts comply with IEC 60945 Section 4.4: “Exposed to the weather.”
V200s Parts list The following table lists the part numbers and description for the V200s.
Table 1-1: V200s Parts list
Part No.
940-3141-11 HGNSS SA V200s SX6
Description
804-0164-20 V200s, SX6, WIFI/BT, HGNSS
940-3152-11 HGNSS SA V200s (OEM - Unbranded)
804-0164-10 V200s, SX6, WIFI/BT, OEM
All the following are accessory items available for purchase separately from your V200s GNSS Compass.
Table 1-2: V200s Accessory list
Part No. Description
051-0404-10 15 m power/data cable, RA (unterminated)
051-0405-10 15 m power/data cable (unterminated)
710-0162-10 V200 Surface Mounting Kit
710-0166-10 V200 Pole Mounting Kit
710-0167-10 V200 Complete Mounting Kit
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Using PocketMax to Communicate with the V200s
Using
PocketMax to communicate with the V200s
Hemisphere’s PocketMax is a free utility program that runs on your
Windows PC or Windows mobile device. Simply connect your Windows device to the V200s via the COM port and open PocketMax.
The screens in PocketMax easily interface with the V200s:
• configure GNSS message output and port settings
• configure the receiver
• record various types of data
• monitor the V200s status and function
PocketMax is available for download from the Hemisphere GNSS website.
Use the following steps to set up the V200s communication with
PocketMax.
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Using PocketMax to Communicate with the V200s
, Continued
Using
PocketMax to communicate with the V200s , continued
Table 1-3: PocketMax Communication
Step
1
Action
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.
2 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 PocketMax to Communicate with the V200s
, Continued
Using
PocketMax to communicate with the V200s , continued
Table 1-3: PocketMax Communication (continued)
Step
3
Action
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 resend.
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Using PocketMax to Communicate with the V200s
, Continued
Using
PocketMax to communicate with the V200s , continued
Table 1-3: PocketMax Communication (continued)
Step
4
Action
The Quick Configuration screen allows you to use “PortA”,
“PortB”, and “PortC” 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 PortC.
Use RxConfig to make basic receiver configurations. To exit the software, click Save Settings and Disconnect. For all other
PocketMax questions, please reference the PocketMax User
Guide on the HGNSS website .
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Firmware Upgrades
Overview
RightArm upgrade
Periodically, Hemisphere GNSS releases firmware upgrades to improve performance, fix bugs, or add new features to a product. To update the firmware on the V200s:
1.
Download the latest version of Hemisphere GNSS RightArm from the following link:
HTTPS :// HGNSS .
COM /R ESOURCES -S UPPORT /S OFTWARE .
Use the following steps to upgrade the RightArm firmware on your V200s:
Table 1-4: RightArm Upgrade
Step
1
Action
Connect the V200s to a computer over serial. Firmware can be loaded over 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
, Continued
RightArm upgrade , continued
Table 1-4: RightArm Upgrade (continued)
Step
2
Action
Choose the COM port connected to the V200s and click OK .
5
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.
Click the Programming button.
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Firmware Upgrades
, Continued
RightArm upgrade , continued
Table 1-4: RightArm Upgrade (continued)
Step
6
Action
Select a Program Type .
The V200s 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.
7
If the current firmware is not the same as the newly loaded firmware, the V200s 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
, Continued
RightArm upgrade , continued
Table 1-4: RightArm Upgrade (continued)
Step
8
Action
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
, Continued
RightArm upgrade , continued
Table 1-4: RightArm Upgrade (continued)
Step
9
Action
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.
10 After completing the firmware update, Hemisphere GNSS suggests repeating this process for the other application.
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Chapter 2: Mounting the V200s
Overview
Introduction This chapter provides instructions on how to mount your V200s GNSS
Compass.
Contents
Topic
See Page
24
36
41
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Mounting the V200s
Introduction
GNSS satellite reception
This section provides information on mounting the V200s in the optimal location, orientation considerations, environmental considerations, and other mounting options.
When deciding where to mount the V200s, consider the following satellite reception recommendations:
• Ensure there is a clear view of the sky available to the V200s so the GNSS and L-band satellites are not masked by obstructions that may reduce system performance.
• Position is based off the primary GNSS antenna located on located on the end opposite the recessed arrow on the underside of the enclosure.
• Locate any transmitting antennas away from the V200s 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.
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Mounting the V200s
, Continued
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 V200s 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 V200s’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.
Figure 2-1: V200s distance from nearby VHF radios
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Mounting the V200s
, Continued
Environmental considerations
Mounting orientation
Hemisphere Vector Compasses are designed to withstand harsh environmental conditions. Adhere to the following limits when storing and using the V200s:
• 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 V200s 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.
The top of the V200s enclosure incorporates a sight design feature to help you align the enclosure on your vessel. Alignment accuracy is approximately +/- 2°.
Figure 2-2: Shorter design element
Note: Regardless of which mounting orientation you use, the V200s 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 .
Continued on next page
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Mounting the V200s
, Continued
Parallel orientation
Parallel installation orients the V200s 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 Compass, you can enter a heading bias in the V200s 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.
Perpendicular orientation
You can also install the antennas, 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 Compass 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.
Continued on next page
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Mounting the V200s
, Continued
Mounting orientation example
Figure 2-3: Recommended orientation and resulting signs of HPR values
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Mounting the V200s
, Continued
Mounting orientation example, continued
Figure 2-4: Alternate orientation and resulting signs of HPR values
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Mounting the V200s
, Continued
V200s dimensions
Figure 2-5 illustrates the physical dimensions of the V200s GNSS Compass.
Figure 2-5: V200s dimensions
Continued on next page
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Mounting the V200s
, Continued
V200s mounting with pole mount accessory
Figure 2-6 illustrates the physical dimensions of the V200s GNSS Compass when mounted using the pole mount accessory.
Figure 2-6: V200s with pole mount accessory
Continued on next page
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Mounting the V200s
, Continued
V200s mounting with low-profile surface mount accessory
Figure 2-7 illustrates the physical dimensions of the V200s GNSS Compass when mounted using the low-profile mount accessory.
Figure 2-7: V200s with low-profile surface mount accessory
Continued on next page
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Mounting the V200s
, Continued
V200s mounting with highprofile surface mount accessory
Figure 2-8 illustrates the physical dimensions of the V200s GNSS Compass when mounted using the high-profile mount accessory.
Figure 2-8: V200s with high-profile mount accessory
Continued on next page
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Mounting the V200s
, Continued
V200s dimensions , continued
Power/data cable considerations
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 V200s alignment within the V200s software configuration.
Alternatively, you can physically adjust the heading of the V200s so that it renders the correct heading measurement or add a software offset.
Before mounting the V200s, consider the following regarding power/data cable routing:
Do
Ensure cable reaches appropriate power source.
Keep cable away from corrosive 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 V200s end.
Secure along the cable route using plastic wrapping.
Do not
Run cables in areas of excessive heat.
Run cables through a door or window jams.
Crimp or excessively bend the cable.
Place tension on the cable.
Improperly installed cable near machinery can be dangerous.
Continued on next page
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Mounting the V200s
, Continued
Power/data cable considerations , continued
The following table lists the steps to connect the power/data cable to your
V200s.
Table 2-1: Connect Power/Data Cable
Step
1
2
Action
Align the cable connector keyway with the V200s 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.
When installing the V200n, hand-tighten only. Damage resulting from over-tightening is not covered by the warranty.
Mounting options
The V200s offers four different mounting options:
• Bottom-up Surface Mounting for straight cable
• Top-down Surface Mounting for straight cable
• Top-down Surface Mounting for right-angle cable
• Pole Mounting
Note: Hemisphere GNSS does not supply mounting surface hardware or a mounting pole. You must supply the appropriate mounting hardware required to complete V200s installation.
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Surface-mounting the V200s
Surfacemounting the
V200s
Surfacemounting the
V200s from the bottom up for straight cable
Be mindful of the following when planning your installation:
• If you need the GNSS-assisted roll measurement, install the V200s perpendicular to the vessel’s axis. If you do not need this measurement, install the V200s parallel with the vessel’s axis.
• Hemisphere GNSS does not supply mounting surface hardware or a mounting pole. You must supply the appropriate hardware or mounting pole required to complete V200s installation.
• You can enter a software offset to accommodate for a heading measurement bias due to installation.
• 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.
Complete the following steps to Surface-mount the V200s from the bottom up.
Table 2-2: Bottom-up, Surface-mounting the V200s
Step
1
2
3
4
Action
Determine the desired location and proper orientation for the
V200s. See “ Mounting Orientation ” for information on
determining the desired orientation.
Go to the HGNSS website /Technical Documentation/ V200
Mounting Template.
Use the supplied V200 Mounting Template drawing or photocopy the bottom of the V200s to plan the mounting hole locations. If using a photocopy, make sure it is scaled one-toone with the mounting holes on the bottom of the V200s.
If required, use a center punch to mark the hole centers on the mounting surface, then drill the mounting holes with a 9mm
(.35 in) bit appropriate for the surface.
Continued on next page
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Surface-mounting the V200s
, Continued
Surfacemounting the
V200s , continued
Table 2-2: Bottom-up, Surface-mounting the V200s (continued)
Step
5
Action
Place the V200s over the mounting holes and insert the mounting screws through the bottom of the mounting surface into the V200s.
6 Tighten to a torque of 8 - 10 lbs.-ft. The maximum thread depth engagement must be no more than 0.50 in!
Damage resulting from over-tightening is not covered by the warranty.
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 37 of 78
Surface-mounting the V200s
, Continued
Surfacemounting the
V200s from the top down for straight cable and for rightangle cable
Complete the following steps to surface-mount the V200s from the top down.
Table 2-3: Top down, Surface-mounting the V200s
Step
1
Action
Secure the Surface Mount Adapter (676-0043-10) to the V200s using the supplied mounting hardware. Tighten to a torque of
8 - 10 lbs.-ft. The maximum thread depth engagement must be no more than 0.50 in!
Figure 2-9: Surface Mount Adapter
(676-0043-10)
2
Figure 2-10: Surface Mount Adapter secured to V200s
Determine the desired location and proper orientation for the
V200s. See Mounting Orientation for information on
determining the desired orientation.
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 38 of 78
Surface-mounting the V200s
, Continued
Surfacemounting the
V200s from the top down for straight cable and for rightangle cable , continued
Table 2-3: Top down, Surface-mounting the V200s (continued)
Step
3
Action
Select the applicable surface mount:
Select this surface mount if you will thread the cable straight down.
Select this surface mount if you will thread the cable towards the back of the unit.
4
5
Figure 2-11: V200 Low-
Profile Surface Mount
Figure 2-12: V200 Right-
Angle Surface Mount
(676-0041-10) (676-0042-10)
Place the surface mount in the desired location on the installation surface.
If required, use a center punch to mark the hole centers, then drill the mounting holes with bit appropriate for the surface.
Note : The diameter of the
676-0041-10 mounting holes is 6.4 mm (.25 in)
Note: The diameter of the
676-0042-10 mounting holes is 9 mm (.35 in)
6
Figure 2-13: 676-0041-10
Mounting Holes
Figure 2-14: 676-0042-10
Mounting Holes
Secure the mount to the installation surface. Tighten to a maximum torque of 10 lbs.-ft.
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 39 of 78
Surface-mounting the V200s
, Continued
Surfacemounting the
V200s from the top down for straight cable and for rightangle cable , continued
Table 2-3: Top down, Surface-mounting the V200s (continued)
Step
7
8
Action
Thread the cable into through the surface mount, then connect the cable to the unit.
Carefully secure the mount to the V200s by placing it into the surface mount until the four latches snap into place, first on one side, and then the other.
Straight Right-Angle
Figure 2-15: Adapters with both sides secured
Note: To remove the V200s, simply reverse the process by pushing in the clips on one side, at which point the V200s can easily be removed.
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 40 of 78
Pole-mounting the V200s
Pole-mounting the V200s
Complete the following steps to pole-mount the V200s:
Table 2-4: Pole-mounting the V200s
Step
1
2
Action
Determine the desired location and proper orientation for the
V200s. See Mounting Orientation for information on
determining the desired orientation.
Thread the jam nut onto the 1-inch pole, then thread the pole mount.
3
4
Figure 2-16: Pole mount with jam nut loosely threaded
Do not tighten the pole mount to more than 4 lbs-ft.
Thread the cable either through the hollow pole or through the opening in the pole mount.
Connect the cable to the V200s, then secure the pole mount to the V200s using the supplied mounting hardware. Tighten to a torque of 8 - 10 lbs.-ft. The maximum thread depth engagement must be no more than 0.50 in!
Figure 2-17: Pole mount secured to V200s
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 41 of 78
Pole-mounting the V200s
, Continued
Pole-mounting the V200s , continued
Table 2-4: Pole-mounting the V200s (continued)
Step
5
Action
Verify the orientation of the unit, then tighten the jam nut to the bottom of the pole mount to a torque of 8 – 10 lbs.-ft.
Figure 2-18: Pole mount with jam nut tightly threaded to secure V200s orientation
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 42 of 78
Chapter 3: Connecting the V200s
Overview
Introduction
Contents
This chapter provides instructions on how to connect your V200s receiver.
Topic
Selecting Baud Rates and Message Types
Connecting the V200s to External Devices
See Page
44
45
46
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 43 of 78
Ports
Overview
Serial ports
Serial port configuration
The V200s offers RS-232 and RS-422 communication.
The V200s supports:
• two independent full-duplex RS-232 (Ports A and B) and one RS-422 Tx
(Port C); or
• one full-duplex RS-422 (Port A) and one RS-422 Tx (Port C)
The V200s automatically detects and switches to the appropriate serial protocol on Ports A and B.
Note: The V200s has maximum baud rate of 115200.
You may configure the GNSS receiver to output any combination of data.
Note: For successful communications, use the 8-N-1 protocol and set the baud rate of the V200s’s serial ports to match that of the devices to which they are connected. Flow control is not supported.
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 44 of 78
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 .
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 45 of 78
Connecting the V200s to External Devices
Recommendations for connecting to other devices
When interfacing with other serial devices, ensure the transmit data output and the signal grounds from the V200s are connected to the data input of the other device. The signal grounds must also be connected.
For a list of Hemisphere GNSS commands, please refer to the Hemisphere
GNSS Technical Reference Manual .
Power/data cable considerations
The V200s automatically detects and switches to the correct serial protocol on Ports A and B.
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 46 of 78
Connecting the V200s to External Devices
, Continued
Power/data cable pin-out specifications
The V200s uses a 12-pin connector and supports RS-232 and RS-422. The
V200s can auto-detect and auto-switch between RS-232 and RS-422.
7
8
5
6
3
4
1
2
9
10
11
12
Figure 3-1: V200s pin-out assignments
Table 3-1 shows the cable pin-out specifications.
Table 3-1: V200s Pinouts (Device Out)
Pin Signal
RS232 Tx B/RS422 Tx A+
RS232 Rx B/RS422 Rx A-
1PPS
Alarm
Power In
RS422 TX C+
Digital Ground
RS232 Rx A /RS422 Rx A+
RS232 Tx A / RS422 Tx A-
Power Ground
Drain
RS422 Tx C-
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 47 of 78
Chapter 4: Understanding the V200s
Overview
Introduction
Contents
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 V200s to use
Atlas, SBAS, or RTK.
Note: Differential source and RTK status impact only positioning and heave.
There is no impact to heading, pitch, or roll.
Topic See Page
49
50
51
52
53
56
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 48 of 78
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
V200s’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 V200s provides accurate and reliable heading and position information at high update rates. To accomplish this task, the V200s 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 V200s 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 V200s 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.
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 49 of 78
Differential Operation
Differential
(DGNSS) operation
The V200s 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 or through Atlas L-band.
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 50 of 78
SBAS Tracking
SBAS tracking The V200s 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.
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 51 of 78
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 V200s can calculate a position with 30 cm RMS (horizontal) accuracy.
To configure the receiver to use Atlas L-band, a subscription must be purchased.
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 52 of 78
Supplemental Sensors
Overview The V200s has an integrated supplemental sensor 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
1).
The V200s’ 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 V200s 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 (Figure 4-
Tilt angle
Figure 4-1: V200s tilt aiding
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 53 of 78
Supplemental Sensors
, Continued
Gyro aiding The V200s’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 4-2).
Figure 4-2: V200s 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 V200s 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 .
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 54 of 78
Supplemental Sensors
, Continued
Gyro aiding , continued
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.
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.
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 55 of 78
Time Constants
Overview The V200s incorporates user-configurable time constants that can provide a degree of smoothing to the heading, pitch, Rate-of-Turn (ROT), Courseover-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 0.2 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).
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 56 of 78
Time Constants
, Continued
Pitch
Rate-of-Turn
(ROT)
Course-Over-
Ground (COG)
Speed
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.
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.
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 57 of 78
Chapter 5: Operating the V200s
Overview
Introduction
Contents
This chapter provides information on how to power and operate your V200s receiver.
Topic See Page
59
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Powering the V200s
Power connections
For best performance, use a clean and continuous power supply.
See Table B3 for complete power specifications.
If using an unterminated cable, before powering up the V200s, 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. Refer to Figure 2-9 and Table 2-4 for pinout specifications.
Do not apply a voltage higher than 36 VDC. The V200s is protected from a reversed power connection. A 3-Amp power fuse is recommended for the protection of personnel and the system.
The V200s starts when sufficient voltage is applied to the power leads of the extension cable.
Electrical isolation
The V200s’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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Appendix A: Troubleshooting
Overview
Introduction Appendix A provides troubleshooting for common problems.
Contents
Topic See Page
61
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Troubleshooting
Appendix A troubleshooting
Symptom
Receiver fails to power
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).
No data from V200s • Check receiver power status to ensure the receiver is powered.
• Verify desired messages are activated (using
PocketMax or $JSHOW command in any terminal program).
• Ensure the baud rate of the V200s matches that of the receiving device.
• Check integrity and connectivity of power and
Random data from
V200s
No GNSS lock data cable connections.
• Verify the RTCM or binary messages are not output accidentally (send a $JSHOW command)
• Ensure the baud rate of the V200s matches that of the remote device.
• The volume of data requested for output by the
V200s could be higher than the current baud rate supports.
• Verify the V200s has a clear view of the sky.
• Use PocketMax to check how many satellites are in view and the SNR values.
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 61 of 78
Troubleshooting
, Continued
Appendix A troubleshooting
, continued
Symptom
No SBAS lock
No Atlas
Possible Solution
• Verify the V200s 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
PocketMax, 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
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 62 of 78
Troubleshooting
, Continued
Appendix A troubleshooting
, continued
Symptom
No heading or incorrect heading value
No DGPS position in external RTCM mode
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 V200s is directed to the bow side.
• $JATT,SEARCH command forces the V200s 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
PocketMax—at least four satellites should have strong SNR values.
• The volume of data requested for output by the V200s could be higher than the current baud rate supports.
• 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).
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 63 of 78
Introduction
Appendix B: Technical Specifications
Appendix B provides the V200s technical specifications, and the V200s certification information.
Contents
Topic
V200s Technical Specifications
See Page
65
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V200s Technical Specifications
V200s technical specifications
Table B-1: V200s sensor and positioning accuracy
Item
Receiver type
Signals Received
Specification
Vector sFreq GNSS Compass
GPS, GLONASS, BeiDou, Galileo,
QZSS 1 , and Atlas
424
-142 dBm
Channels
GPS sensitivity
SBAS tracking 2-channel, parallel tracking
Update rate (position and heading) 10 Hz standard, 20 Hz optional
Positioning accuracy (Standard)
Positioning accuracy (Optional)
2.0 m RMS (Autonomous, no SA)
0.50 m RMS (SBAS)
1.2 m RMS (Autonomous, no SA) 1
Heading accuracy (GNSS)
Heave accuracy (GNSS)
Pitch/Roll accuracy
Rate of turn
Cold start
Warm start
Hot start
Heading fix
Maximum speed
Maximum altitude
Compass safe distance
Differential options
0.30 m RMS (SBAS)
0.50 m RMS (Atlas)
1.5
◦
2
3
0.75
◦
RMS 1
RMS optional 1
30 cm
1.5
◦
4
RMS
90°/s maximum
60 s typical (no almanac or RTC)
20 s typical (almanac and RTC)
1 s typical (almanac, RTC, and position)
10 s typical (valid position)
1,850 kph (999 kts)
18,288m (60,000 ft)
50 cm 5
Atlas, SBAS
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 65 of 78
V200s Technical Specifications
, Continued
V200s technical specifications , continued
Table B-2: Communication
Item
Connector ports 12-pin
Ports
Baud Rates
Correction I/O
Protocol
RS-232 or RS-422
4800-115200
RTCM SC-104
Specification
Data I/O Protocol NMEA 0183, Hemisphere proprietary
Table B-3: Power
Item
Input voltage
Power consumption
SBAS:
Atlas:
Specification
6 to 36 VDC
(multi-GNSS, typical continuous draw @ 12V)
3.2 W
3.6 W
Current consumption
TBD
Power isolation Isolated to enclosure
Reverse polarity protection
Yes
Continued on next page
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V200s Technical Specifications
, Continued
V200s technical specifications , continued
Table B-4: Mechanical
Item
Dimensions
No Mount:
LP Flat Mount:
HP Flat Mount:
Pole Mount:
Notes:
Specification
34.8 L x 15.8 W x 6.5 H (cm)
34.8 L x 15.8 W x 7.6 H (cm)
34.8 L x 15.8 W x 10.7 H (cm)
34.8 L x 15.8 W x 16.8 H (cm)
Tolerances for the above measurements are
-0/+0.25 cm.
Please refer to drawings in the Mounting the
V200s section of this document for details.
Weight (no mount) 0.75 kg
Power/data connector 12-pin
Aiding Devices
Gyro:
Provides smooth heading, fast heading reacquisition and reliable 1˚ per minute
Tilt Sensor:
Table B-5: Environmental
Item Specification
Operating temperature -40°C to + 70°C (-22°F to + 158°F)
Storage temperature
Humidity
Enclosure
Vibration
EMC heading for periods up to 3 minutes when loss of GPS has occurred 2
Provides pitch and roll data and assist in fast start-up and reacquisition of heading solution.
-40°C to + 85°C (-40°F to + 185°F)
95% non-condensing
ISO 60529:2013 for IPx6/IPx7/IPx9
IEC 60945:2002 Section 8.7 Vibration
IEC60945:2002
EN 301 489-1 V2.1.1
EN 301 489-5 V2.1.1
EN 301 489-19 V2.1.0
EN 303 413 V1.1.1
Continued on next page
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V200s Technical Specifications
, Continued
V200s technical specifications , continued
Table B-6: Certifications
Certification
RCM (Australia)
1 Depends on multipath environment, number of satellites in view, satellite geometry, no SA, and ionospheric activity
2 Depends on multipath environment, number of satellites in view, SBAS coverage and satellite geometry
3 Depends on multipath environment, number of satellites in view, and satellite geometry
4 Based on a 40 second time constant
5 This is the 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
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 68 of 78
Overview
Appendix C: Commands and Messages
Introduction
Contents
Appendix C contains the common commands and messages used by the
V200s. 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
Topic See Page
70
73
77
80
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 69 of 78
Serial Commands
Serial commands
The V200s 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: Serial commands
$JAGE
Command
$JAPP
$JASC
$JATT, COGTAU
$JATT, CSEP
$JATT, EXACT
$JATT, GYROAID
$JATT, HBIAS
$JATT, HELP
$JATT, HIGHMP
$JATT, HRTAU
$JATT, HTAU
$JATT, LEVEL
$JATT, NMEAHE
$JATT, PBIAS
Description
Specify maximum DGPS (COAST) correction age
(6 to 8100 seconds)
Query or specify receiver application firmware
Specify ASCII messages to output to specific ports
Set/query COG time constant (0.0 to 3600.0 sec)
Query antenna separation
Enable/disable internal filter reliance on the entered antenna separation
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
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
Change the HDG, HDM, HDT, and ROT message headers between GP and HE
Set/query pitch/roll bias (-15.0º to 15.0º)
Continued on next page
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Serial Commands
, Continued
Serial commands , continued
Table C-1: Serial commands (continued)
Command
$JATT, PTAU
$JATT, ROLL
$JATT, SEARCH
$JATT, SPDTAU
Description
Set/query pitch time constant (0.0 to 3600.0 sec)
Configure for roll or pitch GNSS orientation
$JATT, SUMMARY
$JATT, TILTAID
$JATT, TILTCAL
$JBAUD
Force a new GNSS heading search
Set/query speed time constant (0.0 to 3600.0 sec)
Display a summary of the current Vector settings
Enable/disable accelerometer, pre-calibrated
Calibrate accelerometers
Specify RS-232, RS-422 (output)
$JBIN
$JDIFF
$JGEO
$JI
$JOFF
$JQUERY,GUIDE communication rate
Specify binary messages to output to specific ports
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
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 71 of 78
Serial Commands
, Continued
Serial commands , continued
Table C-1: Serial 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
V200s 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
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 72 of 78
NMEA 0183 Messages
V200s
NMEA 0183 and other messages
Table C-2: NMEA 0183 and other messages
In Table C-2 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
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 73 of 78
NMEA 0183 Messages
, Continued
V200s
NMEA 0183 and other messages , continued
Message
Table C-2: NMEA 0183 and other messages (continued)
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
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 74 of 78
NMEA 0183 Messages
, Continued
V200s
NMEA 0183 and other messages , continued
Message
$HETHS
Table C-2: NMEA 0183 and other messages (continued)
Info
Type
H
Max Output
Rate
50 Hz
Description IEC Approved Message
Yes
$PASHR
$PSAT,GBS
$PSAT,HPR
$RD1
$TSS1
H
S
H
$PSAT,INTLT H
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
No
Yes
No
Yes
Yes
No
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 75 of 78
NMEA 0183 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.
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 76 of 78
Binary Messages
Binary messages
Table C-3 lists the Binary messages used by the V200s. 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-3: Binary messages
$JBIN
Message
1
2
80
93
94
95
96
97
98
99
16
34
35
GNSS position
GPS DOPs
SBAS
SBAS ephemeris data
Description
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
Continued on next page
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 77 of 78
Binary Messages
, Continued
Binary messages , continued
Table C-3: 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)
875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 78 of 78
Index
Activate Loader ........................................ 21
Activation .................................................... 6
Atlas .......................................... 6, 11, 48, 52 beacon ....................................................... 50
BeiDou ......................................................... 6 cable length ............................................... 24
COAST ........................................................ 70
Convergence time .................................... 11 course-over-ground .................................. 56
Course-Over-Ground (COG) ...................... 57
CSEP value ................................................. 63
DGPS/DGNSS ............................................... 6
Differential Corrections .............................. 6 environmental ..................................... 24, 26 firmware ............................ 18, 19, 20, 21, 22
Firmware ................................................... 18
GLONASS ..................................................... 6
GPS .......................................................... 6, 7 gyro ................................... 54, 55, 56, 63, 70
HPR values ................................................ 28
NMEA .......................................................... 7
Pitch .................................................... 57, 65
Positioning accuracy ................................. 11
Positioning sustainability ......................... 11
Program Type ........................................... 20 radar mounting plate ................................ 36
Rate-of-Turn .............................................. 56
Rate-of-Turn (ROT) .............................. 56, 57
RightArm ................................................... 18
RTCM ................................................... 61, 63
RTK ................................. 7, 11, 48, 53, 55, 65
SBAS ....... 7, 10, 48, 50, 51, 62, 65, 71, 75, 77
Scalable service levels .............................. 11
Speed ........................................................ 57
Subscription ............................................ 6, 7
Tilt aiding ................................................... 53 tilt sensors ............................................. 9, 53
TILTAID ................................................ 63, 71
VHF interference ....................................... 25
VHF marine radio ...................................... 25
WebUI ....................................................... 18
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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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Warranty Notice
, Continued
Warranty notice , continued
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
Scottsdale, Arizona, US 85255
Phone: 480-348-6380
Fax: 480-270-5070
PRECISION @ HGNSS .
COM
WWW .
HGNSS .
COM
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Key features
High-precision heading, pitch and roll data
Industry-leading Atlas GNSS technology
Rugged design for challenging environments
Low power consumption
Compact size
Versatile connectivity options
Frequently asked questions
The V200 provides heading accuracy of up to 0.1 degrees, pitch and roll accuracy of up to 0.01 degrees, and position accuracy of up to 2 centimeters.
The V200 measures 10.5 cm x 10.5 cm x 5.2 cm (4.1 in x 4.1 in x 2.0 in).
The V200 can operate on a voltage range of 8 to 36 volts.
The V200 weighs 600 grams (21 ounces).
The V200 has an enclosure rating of IP67, making it dustproof and waterproof.
The V200 comes with a standard 2-year warranty.
