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

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

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7373231

7388539

7400294

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7808428

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RE41358

Australia Patents

2002244539

2004320401

2002325645

Continued on next page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 4 of 78

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

ATLASSIAN

NET

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PORTAL

/2/

USER

DESTINATION

PORTAL

%2F2

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 5 of 78

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

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 6 of 78

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.

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 7 of 78

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

Product Overview

Key Features

What’s Included in Your Kit

Using PocketMax to Communicate with the V200s

Firmware Upgrades

See Page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 8 of 78

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.

Continued on next page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 9 of 78

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

Continued on next page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 10 of 78

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

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 11 of 78

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

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 12 of 78

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

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 13 of 78

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.

Continued on next page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 14 of 78

Using PocketMax to Communicate with the V200s

, Continued

Using

PocketMax to communicate with the V200s , continued

Table 1-3: PocketMax Communication

Step

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 .

Continued on next page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 15 of 78

Using PocketMax to Communicate with the V200s

, Continued

Using

PocketMax to communicate with the V200s , continued

Table 1-3: PocketMax Communication (continued)

Step

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.

Continued on next page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 16 of 78

Using PocketMax to Communicate with the V200s

, Continued

Using

PocketMax to communicate with the V200s , continued

Table 1-3: PocketMax Communication (continued)

Step

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 .

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 17 of 78

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:

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

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.

Continued on next page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 18 of 78

Firmware Upgrades

, Continued

RightArm upgrade , continued

Table 1-4: RightArm Upgrade (continued)

Step

Action

Choose the COM port connected to the V200s 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.

Click the Programming button.

Continued on next page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 19 of 78

Firmware Upgrades

, Continued

RightArm upgrade , continued

Table 1-4: RightArm Upgrade (continued)

Step

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.

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.

Continued on next page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 20 of 78

Firmware Upgrades

, Continued

RightArm upgrade , continued

Table 1-4: RightArm Upgrade (continued)

Step

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).

Continued on next page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 21 of 78

Firmware Upgrades

, Continued

RightArm upgrade , continued

Table 1-4: RightArm Upgrade (continued)

Step

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.

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 22 of 78

Chapter 2: Mounting the V200s

Overview

Introduction This chapter provides instructions on how to mount your V200s GNSS

Compass.

Contents

Topic

Mounting the V200s

Surface-mounting the V200s

Pole-mounting the V200s

See Page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 23 of 78

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.

Continued on next page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 24 of 78

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

Continued on next page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 25 of 78

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

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 26 of 78

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

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 27 of 78

Mounting the V200s

, Continued

Mounting orientation example

Figure 2-3: Recommended orientation and resulting signs of HPR values

Continued on next page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 28 of 78

Mounting the V200s

, Continued

Mounting orientation example, continued

Figure 2-4: Alternate orientation and resulting signs of HPR values

Continued on next page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 29 of 78

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

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 30 of 78

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

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 31 of 78

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

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 32 of 78

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

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 33 of 78

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:

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

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 34 of 78

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

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.

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 35 of 78

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

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

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 36 of 78

Surface-mounting the V200s

, Continued

Surfacemounting the

V200s , continued

Table 2-2: Bottom-up, Surface-mounting the V200s (continued)

Step

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

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)

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

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.

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)

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

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

Complete the following steps to pole-mount the V200s:

Table 2-4: Pole-mounting the V200s

Step

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.

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

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

Ports

Selecting Baud Rates and Message Types

Connecting the V200s to External Devices

See Page

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.

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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 .

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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.

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.

GNSS Overview

Differential Operation

Topic See Page

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.

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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

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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

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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

Powering the V200s

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 58 of 78

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

Troubleshooting

Topic See Page

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 60 of 78

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

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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

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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).

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Introduction

Appendix B: Technical Specifications

Appendix B provides the V200s technical specifications, and the V200s certification information.

Contents

Topic

V200s Technical Specifications

See Page

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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

◦

0.75

◦

RMS 1

RMS optional 1

30 cm

1.5

◦

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

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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

875-0395-10 V200s Vector GNSS Compass User Guide Rev A6 Page 66 of 78

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

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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

38 byte

Total

Bits/sec

2000

900

330

830

380

4440

Topic See Page

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

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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

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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

1 Hz

50 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

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

50 Hz

1 Hz

50 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

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

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

Max Output

Rate

50 Hz

Description IEC Approved Message

Yes

$PASHR

$PSAT,GBS

$PSAT,HPR

$RD1

$TSS1

$PSAT,INTLT H

50 Hz

1 Hz

50 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

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

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

Description

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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Continued on next page

Warranty Notice

, Continued

Warranty notice , continued

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Здравейте! Аз съм AI чатбот, специално обучен да ви помага с Hemisphere V200 GNSS Compass User Guide. Аз съм прегледал задълбочено документа и мога да ви помогна да намерите точната информация, която ви е необходима, или да обясня съдържанието на ясни и прости термини. Независимо дали търсите насоки за конкретни функции, стъпки за отстраняване на неизправности или обща употреба, не се колебайте да задавате въпросите си. Колкото повече подробности предоставите за вашите притеснения или нужди, толкова по-точно и ефективно мога да ви помогна!