Crescent Vector II OEM Board Integrator s Guide

Transcription

1 Crescent Vector II OEM Board Integrator s Guide Part No Rev. A1

2 This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Copyright Notice Hemisphere GPS Precision GPS Applications Copyright Hemisphere GPS (2010). 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 GPS. Trademarks Hemisphere GPS, the Hemisphere GPS logo, A220 TM, A221 TM, AerialACE TM, AirStar TM, AirTrac TM, BaseLineHD TM, BEELINE, COAST TM, Contour Lock TM, Crescent, Earthworks TM, Eclipse TM, e-dif, edrive, edrivetc TM, edrivex TM, GPSteer TM, IntelliFlow, Just Let Go TM, L- Dif TM, LiteStar II TM, LV101 TM, MapStar, Outback TM, Outback 360 TM, Outback Guidance Center TM, Outback Guidance, Outback Hitch TM, Outback S TM, Outback S2 TM, Outback S3 TM, Outback S- Lite TM, Outback Sts TM, Outback Steering Guide TM, PocketMAX PC TM, PocketMAX TM, Satloc M3 TM, Satloc, the Satloc logo, V101 TM, V111 TM, VS101 TM, VS111 TM, Vector TM, X200 TM, and X300 TM are proprietary trademarks of Hemisphere GPS. Other trademarks are the properties of their respective owners. Patents The Outback S TM and S-Lite TM automated navigation and steering guide system is covered by U.S. Patents No. 6,539,303 and No. 6,711,501. The Outback Hitch TM automated hitch control system is covered by U.S. Patent No. 6,631,916. The Outback edrivetc TM GPS assisted steering system is covered by U.S. Patent No. 7,142,956. Hemisphere GPS products may be covered by one or more of the following U.S. Patents: 6,111,549 6,397,147 6,469,663 6,501,346 6,539,303 6,549,091 6,631,916 6,711,501 6,744,404 6,865,465 6,876,920 7,142,956 7,162,348 7,277,792 7,292,185 7,292,186 7,373,231 7,400,956 7,400,294 7,388,539 7,429,952 7,437,230 7,460,942 Other U.S. and foreign patents pending.

3 Notice to Customers Contact your local dealer for technical assistance. To find the authorized dealer near you, contact us at: Hemisphere GPS th Street S.E. Calgary, Alberta, Canada T2G 3C4 Telephone number: Fax number: address: (403) (403)

4 Warranty Notice Covered Products This warranty covers all products manufactured by Hemisphere GPS (the "Products"). Hemisphere GPS Limited Warranty Hemisphere GPS hereby warrants solely to the end purchaser of the Products, subject to the exclusions and procedures set forth herein below, that the Products sold to such end purchaser shall be free, under normal use and maintenance, from defects in material and workmanship for a period of 12 months from delivery to such end purchaser. Repairs and replacement components are warranted, subject to the exclusions and procedures set forth below, to be free, under normal use and maintenance, from defects in material and workmanship for 90 days from performance or delivery, or for the balance of the original warranty period, whichever is greater. Purchaser's Exclusive Remedy The end purchaser's exclusive remedy under this warranty shall be limited to the repair or replacement, at the option of Hemisphere GPS, of any defective Products or components thereof. The end user shall notify Hemisphere GPS or a Hemisphere GPS approved service center immediately of any claimed defect. Repairs shall be made through a Hemisphere GPS approved service center only. Exclusions Hemisphere GPS does not warrant damage occurring in transit or due to misuse, abuse, improper installation, neglect, lightning (or other electrical discharge) or fresh/salt water immersion of Products. Repair, modification or service of Hemisphere GPS products by any party other than a Hemisphere GPS approved service center shall render this warranty null and void. Hemisphere GPS does not warrant claims asserted after the end of the warranty period. Hemisphere GPS does not warrant or guarantee the precision or accuracy of positions 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 GPS literature and/or Product specifications serves to provide only an estimate of achievable accuracy based on: Specifications provided by the US Department of Defense for GPS Positioning DGPS service provider performance specifications Hemisphere GPS reserves the right to modify Products without any obligation to notify, supply or install any improvements or alterations to existing Products.

5 No Other Warranties The foregoing warranty is exclusive of all other warranties, whether written, oral, implied or arising by statute, course of dealing or trade usage, in connection with the design, sale, installation, service or use of any products or any components thereof, including, but not limited to, any warranty of merchant ability or fitness for a particular purpose. Limitation of Liability The extent of Hemisphere GPS liability for damages of any nature to the end purchaser or any other person or entity whether in contract or tort and whether to persons or property shall in no case exceed, the aggregate, the cost of correcting the defective item. In no event will Hemisphere GPS be liable for any loss of profits, loss of use or for any special, indirect, incidental, consequential or contingent damages, even if Hemisphere GPS has been advised of the possibility of such damages. Without limiting the foregoing, Hemisphere GPS shall not be liable for any damages of any kind resulting from installation, use, quality, performance or accuracy of any products. Governing Legislation To the greatest extent possible, this warranty shall be governed by the laws of the State of Arizona. In the event that any provision hereof is held to be invalid by a court of competent jurisdiction, such provision shall be severed from this warranty and the remaining provisions shall remain in full force and effect. Obtaining Warranty Service In order to obtain warranty service, the end purchaser must bring the Product to a Hemisphere GPS approved service center along with the end purchaser's proof of purchase. For any questions regarding warranty service or to obtain information regarding the location of any of Hemisphere GPS' approved service centers, contact Hemisphere GPS at the following address: Hemisphere GPS 8444 N. 90th Street, Suite 130 Scottsdale, AZ Phone: Fax: techsupport@hemispheregps.com Documentation Feedback Hemisphere GPS is committed to the quality and continuous improvement of our products and services. We urge you to provide Hemisphere GPS with any feedback regarding this guide by writing to the following address: DocFeedback@hemispheregps.com.

6 Crescent Vector II Integrators Guide Contents Preface Overview Integration of the Crescent Vector II OEM Board Features of the Crescent Vector II OEM Board Customer Service Web Site Chapter 1 Introducing the Crescent Vector II OEM Board What s Included Specifications Mechanical Layout Connectors Mounting Mounting Method Mounting Method Pinout Signals RF Input Communication Ports Communication Port D LED Indicators PPS Timing Signal v

7 Contents Event Marker Input Grounds Miscellaneous Pins Shielding Chapter 2 Getting Started The GPS Technical Reference Configuring Crescent Vector II NMEA 0183 Message Interface Binary Message Interface PocketMAX and PocketMAX PC Loaded Application and Configuration Defaults Chapter 3 Crescent Vector II OEM Board Installation Mounting the Antennas Mounting Orientation Planning the Optimal Antenna Placement Connecting the Antennas to the Crescent Vector II OEM Board Chapter 4 Crescent Vector II OEM Board Evaluation Kit Cable Interface Routing and Securing the Cable Environmental Requirements Power Requirements Power Specification Powering the Evaluation System Serial Port Interface vi

8 Crescent Vector II Integrators Guide Factory Default Parameters LED Indicators Appendix A Troubleshooting Appendix B Specifications Index End User License Agreement vii

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10 Preface

11 Preface T his preface provides an overview of the Crescent Vector II OEM Board and information on: Integration of the board Key features of the board A summary of the content of the chapters in this manual Note: This manual does not cover in any detail receiver operation, the PockeMAX utility, nor commands and messages (NMEA 0183, 2000 or HGPS proprietary messages). For full coverage of these subjects refer to Hemisphere GPS GPS Technical Reference available at See The GPS Technical Reference on page 16 for a brief overview of the GPS Technical Reference. Overview You can use the Crescent Vector II OEM Board for any application needing accurate heading (0.3 rms heading accuracy) or DGPS positioning to better than 60 cm. Fitted with Hemisphere GPS patented Crescent Receiver technology, the Crescent Vector II OEM Board computes heading and position using two antennas. This design provides precise heading and GPS sub-meter positioning accuracy while stationary. And with integrated SBAS support, you can receive precision guidance anywhere those services are available. Integration of the Crescent Vector II OEM Board Successful integration of the Crescent Vector II OEM Board within a system requires electronics expertise that includes: Power supply design Serial port level translation Reasonable radio frequency competency An understanding of electromagnetic compatibility Circuit design and layout 2

12 Crescent Vector II Integrators Guide The Crescent Vector II GPS engine is a low-level module intended for custom integration with the following general integration requirements: Regulated power supply input (3.3 VDC ± 3%) and 300 ma continuous Low-level serial port communications (3.3 V CMOS) Radio frequency (RF) input to the engine from a GPS antenna is required to be actively amplified (10 to 40 db gain) GPS antenna is powered with a separate regulated voltage source up to 15 VDC maximum Antenna input impedance is 50 Ω Features of the Crescent Vector II OEM Board Some notable features of the Crescent Vector II OEM Board are: 12-channel GPS engine (2 channels dedicated to SBAS tracking) Sub-meter horizontal accuracy 95% Raw measurement output (via documented binary messages) Position and heading update rates of 20 Hz max COAST technology that provides consistent performance with correction data e-dif-ready - a base station-free way of differentially positioning L-Dif-ready Local differential is a proprietary Hemisphere GPS method where a specialized set of messages are relayed between two Crescent Vector receivers Quick times to first fix Three full-duplex serial ports, a dedicated RTCM input port, and a USB port 1 PPS timing output Event marker input ~ 3.6 W nominal power consumption Compact form-factor 3

13 Preface Customer Service If you encounter problems during the installation or operation of this product or cannot find the information you need, contact your dealer or Hemisphere GPS Customer Service. The contact numbers and address for Hemisphere GPS Customer Service are: Phone: (480) Fax: (480) Technical support is available from 8:00 AM to 5:00 PM Mountain Time, Monday to Friday. To expedite the support process, have the product model and serial number available when contacting Hemisphere GPS Customer Service. If your equipment requires service, Hemisphere GPS recommends that you contact your dealer directly. If this is not possible, you must contact Hemisphere GPS Customer Service to obtain a Return Merchandise Authorization (RMA) number before returning any product to Hemisphere GPS. If you are returning a product for repair, you must also provide a fault description before Hemisphere GPS will issue an RMA number. When providing the RMA number, Hemisphere GPS will provide you with shipping instructions to assist you in returning the equipment. Web Site Hemisphere GPS maintains a World Wide Web home page at 4

14 Chapter 1: Introducing the Crescent Vector II OEM Board Specifications Mechanical Layout Connectors Mounting Pinout Signals

15 Chapter 1: Introducing the Crescent Vector II OEM Board T he Crescent Vector II OEM Board provides accurate, reliable heading and position information at high update rates. It does this by using a high performance GPS engine for GPS signal processing. The one receiver processes information from both the primary GPS antenna and secondary GPS antenna. Positions computed by the Crescent Vector II OEM Board are referenced to the phase center of the primary GPS antenna. Heading data references the vector formed from the primary GPS antenna phase center to the secondary GPS antenna phase center. What s Included The Crescent Vector II OEM Board is available in two configurations: Crescent Vector II OEM Board only - designed for integrators who are familiar with Crescent Vector board integration Crescent Vector II OEM Board evaluation kit - designed for integrators who are new to Crescent Vector board integration and includes the following parts in addition to the Crescent Vector II OEM Board: Enclosure with motherboard and additional Crescent Vector II OEM Board already installed Two A20 antennas with mounting hardware Associated cables Specifications For the complete list of GPS sensor, communications, environmental, power, and mechanical specifications of the Crescent Vector II OEM Board see Appendix B, Specifications. 6

16 Crescent Vector II Integrators Guide Mechanical Layout Figure 1-1 shows the mechanical layout for the Crescent Vector II OEM Board. All dimensions are in inches. Figure 1-1: Crescent Vector II OEM Board mechanical layout 7

17 Chapter 1: Introducing the Crescent Vector II OEM Board Connectors Table 1-1 details the connectors used by the Crescent Vector II OEM Board as well as information on the mating connectors. Because your requirements may be different, you are free to choose a different, compatible connector. The antenna input impedance is 50 Ω. Table 1-1: Crescent Vector connectors Connector Crescent SMT Connector Mating Connector RF Interface MCX, straight jack (female) (Johnson: ) 17x2 pin header plug (male) 0.050" pitch (Samtec: FTSH L-DV) MCX, straight plug (male) (AMP: ) 17x2, SMT header socket (female) 0.050" pitch (Samtec: FLE G DV) Mounting There are two methods of mounting the Crescent Vector II OEM Board. Hemisphere GPS recommends using Mounting Method 1; it is the most cost-effective method because it does not use cable assemblies to interface the board. Mounting Method 1 The first method is to place an RF connector, header connector, and mounting holes on your motherboard. The Crescent Vector II OEM Board then mounts on stand-offs and the RF and header connector. If you choose this mounting method, be very conscious of the RF signals present on your motherboard and consider the correct standoff height so that no flexural stress is placed on the Crescent Vector II OEM Board mechanically when fastening it. The Crescent Vector Evaluation Motherboard, with its Johnson RF connector and Samtec header socket, uses a standoff height of (there should not be any washers between either the stand-off and the Crescent Vector II OEM Board or the standoff and the motherboard with this height unless accommodated for). If you choose a 8

18 Crescent Vector II Integrators Guide different header connector, you may have to change the height of the stand-off. (See also Note on page 9 regarding right angle connectors). Mounting Method 2 The second method, which involves the cost of cable assemblies, is to mount the Crescent Vector II OEM Board mechanically such that you can connect a ribbon power/data cable to the board and an internal RF cable assembly. With this second method, it is simple to accommodate a right angle MCX connector (See Note following). Note: If you want to use a right angle MCX connector in the first method, you will need to use a taller header than the Samtec described in Mounting Method 1 on page 8 to get the required clearance. As well as increased expense, there is a reliability factor with cable assemblies. The mounting holes of Crescent Vector II OEM Board have a standard inner diameter of Pinout The Crescent Vector II OEM Board uses a 34-pin (17 pins x 2 rows) header connector for interfacing to power, communications, and other signals. You can identify the first pin of this connector by a small triangular corner on the silk screen of the header connector footprint. There is also a small diamond symbol next to pin 1 and P900 printed beside the pin. Pin numbering is the conventional row-by-row approach. When looking at the board so that the P900 is right side up, pin 2 is to the right of the first pin. Pin three is below the first pin, and so on. 9

19 Chapter 1: Introducing the Crescent Vector II OEM Board Table 1-2 describes the pinouts for the Crescent Vector II OEM Board s 34-pin header connector. Table 1-2: Crescent Vector II pinouts Pin Signal and Description Pin Signal and Description Volts Input (range: VDC) Volts Input (range: VDC) 3 Antenna Power (0 15VDC) 4 Backup power input ( VDC, <5 ma consumption) 18 Differential Lock Indicator (Active Low) (1 ma max, active low, 3.3 VDC optional connection) 19 DGPS Lock Indicator (Active Low) (1 ma max, active low, 3.3 VDC optional connection) 20 ARM Boot Select (Active Low) - leave disconnected 21 GPIO0 5 USB+ 22 GPIO1 6 USB- 23 GPIO2 7 GND 24 GPIO3 8 GND 25 Speed radar pulse 9 Port A TX 26 Speed radar ready signal 10 Port A RX 27 GND 11 Port B TX 28 GND 12 Port B RX 29 CLK [Reserved. Do not connect.] 13 Port D TX 30 Alarm - RTC Alarm Output 14 Port D RX 31 Port C TX 15 1 PPS (Active High) 32 Port C RX 16 Manual Mark (Active Low) 33 GPIO4 [PRMUX] 17 GPS Lock Indicator (Active Low) (1 ma max, active low, 3.3 VDC optional connection) 34 Reset (Active Low) - Input 10

20 Crescent Vector II Integrators Guide Table 1-2: Crescent Vector II pinouts (continued) Pin Signal and Description Pin Signal and Description Note: 1. Leave any data or I/O pins unconnected if not in use. 1. The Crescent Vector II OEM Board and the Crescent Vector OEM Board differ from their predecessor, the Vector OEM, in that they do not have power supply or communication translation: this must be accomplished by a carrier board. Signals This section provides more detail on the signals available via the 34-pin header connector. RF Input The Crescent Vector II OEM Board is designed to work with active GPS antennas with an LNA gain of 10 to 40 db. The purpose of this LNA gain above the minimum requirement of 10 db is to accommodate for losses in the cable system. Essentially, there is a maximum cable loss budget of 30 db for a 40 db gain antenna. Depending on the antenna you choose, your loss budget will likely be lower (a 24 db gain antenna would have a 14 db loss budget). When designing your internal and external cable assemblies, and choosing your RF connectors, be sure not to exceed your loss budget; otherwise, the tracking performance of Crescent Vector II OEM Board will be compromised. Communication Ports The Crescent Vector II OEM Board has four communications ports: Port A, Port B, Port C, and Port D. Ports A, B, and C are the main ports. Port D is exclusively used for interface to the SBX beacon module or a source of external corrections and will not output normal GPS-related NMEA messages. Communicating into either Port A, B, or C, you may establish a virtual connection to the device on Port D using the $JCONN command. Further, you may connect the device on Port A directly to the device on Port B using a derivative of this same command. 11

21 Chapter 1: Introducing the Crescent Vector II OEM Board As the Crescent Vector II OEM Board s serial ports are a 3.3 V CMOS level, you may have to translate this level to interface to other devices based on your product requirements. For example, if you route the Port A / B / C serial ports directly to the outside world, you will likely want to translate to an RS-232-compatible level for communication with PCs. However, translation of the signal levels is entirely at your discretion based on your product requirements. Communication Port D The exclusive function of Port D is for external correction input to the Crescent Vector. The source of corrections may depend on the geographical use of your final product, market, customer, and positioning performance requirements. If you intend to market products outside of SBAS coverage, you may want to allow your product to be used with external correction input or integrate a second source of corrections along with Crescent Vector II, such as the Hemisphere GPS SBX beacon module. Refer to Hemisphere GPS GPS Technical Reference available at for more information on SBAS. If used, Port D will free up the task of Port A, B, or C from being used for external correction input. If you want to support external correction input when the product is in the field, Hemisphere GPS recommends that you offer the facility to the user to input corrections on Port A, B or C, and that Port D remain within the integration only. Note: DGPS corrections are not required for heading accuracies as specified. External corrections will only affect positioning performance. LED Indicators Table 1-3 lists the seven SMT LEDs on the Crescent Vector II OEM Board. Table 1-3: LED indicators LED (text silk screened on board( PWR Description Power 12

22 Crescent Vector II Integrators Guide Table 1-3: LED indicators (continued) LED (text silk screened on board( M-GPS DIFF DGPS S-GPS A-GPS HDG Description Master GPS lock Differential lock DGPS position Secondary GPS lock Auxiliary GPS lock (not in use) Heading lock The signals that drive these LEDs are also available through the 34-pin header connector (excluding a power indication which could drive an LED from somewhere else in the power supply chain). Refer to Table 1-2 for their pin number. Note: Each signal pin can offer only 1 ma of current and is active low. Because 1 ma of current may be inadequate for your application, you may want to transistor-buffer these signals in order to provide more current capacity for acceptable LED luminance. 1 PPS Timing Signal The one pulse per second (1 PPS) timing signal is used in applications where devices require time synchronization. This signal output is typical of most GPS modules and is not an obligatory feature. Note: Do not connect the pin if you do not need this feature. The 1 PPS signal is 3.3 V HCMOS active low with rising edge synchronization. The 1 PPS signal is capable of driving a load impedance which is greater than 10 kω in parallel with 10 pf. 13

23 Chapter 1: Introducing the Crescent Vector II OEM Board Event Marker Input Depending on your application, you may need to force a GPS solution at a particular instance not synchronized with GPS time. Such an application could be to compute the location of a perspective center of a camera being used for a photogrammetric application. Because the aircraft moves with considerable speed an interpolation between two GPS epochs could be unreliable. Note: Do not connect the pin if you do not need this feature. The event marker input is active low 3.3 V HCMOS with falling edge synchronization. The input impedance and capacitance is higher than 10 kω and 10 pf respectively with a threshold of lower than 0.7 V required to recognize the input. Grounds Because the four ground pins of Crescent Vector II OEM Board are not separate analog and digital grounds that require separate attention, you can connect all four grounds together. Miscellaneous Pins The ARM boot select pin should not be connected and is there for factory use only. Shielding Typically, the Crescent Vector II OEM Board does not require shielding for improving immunity to RF noise incident upon the board and its various devices. You may, however, wish to shield the Crescent Vector II OEM Board from the rest of the integration if you determine it interferes with other devices or systems. If you are designing a smart antenna based on the Crescent Vector II OEM Board (the Crescent Vector II OEM Board and the two GPS antennas in close proximity), you will likely want to shield the Crescent Vector II OEM Board so that it does not interfere with the incoming GPS signals to the antenna. 14

24 Chapter 2: Getting Started The GPS Technical Reference Configuring Crescent Vector II NMEA 0183 Message Interface Binary Message Interface PocketMAX and PocketMAX PC Loaded Application and Configuration Defaults

25 Chapter 2: Getting Started T his chapter provides information to help you get your Crescent Vector II OEM Board running quickly and assumes you have a reasonable amount of knowledge with installation and operation of GPS navigation systems. This chapter is not intended to replace all the other information in this manual. The GPS Technical Reference If you are new to GPS and SBAS, consult Hemisphere GPS GPS Technical Reference for further information on these services and technology. The GPS Technical Reference also has detailed coverage of: PocketMAX NMEA commands Binary messages The GPS Technical Reference is available as online help on the Hemisphere GPS website: Configuring Crescent Vector II The Crescent Vector II OEM Board has four communication ports, A, B, C, and D. Ports A, B, and C are fully independent and may have different message output at different rates. You can configure each of these ports for external correction input or output binary message information or RTCM corrections from an outside source. You can also configure the output of ports A, B or C through any of those ports. Configure the baud rates if necessary; the default is for Ports A, B, and C. Port D is reserved for RTCM differential corrections and may be used by the SBX4 board. Configure the supplementary sensors if necessary. The tilt sensor operates by default and the gyro is disabled but it is recommended that all sensors be turned on once installation is complete. Configure for your mode of differential operation: SBAS, beacon, or external corrections. 16

26 Crescent Vector II Integrators Guide NMEA 0183 Message Interface The Crescent Vector II OEM Board uses a NMEA 0183 interface that enables you to easily make configuration changes by sending text-type commands to the receiver. Relevant commands for making the configuration changes are discussed in other chapters. Refer to Hemisphere GPS GPS Technical Reference available at for more information on NMEA commands. Binary Message Interface In addition to the NMEA interface, the Crescent Vector II OEM Board supports a selection of binary messages. There is a wider array of information available through the binary messages and binary messages are inherently more efficient with data. If, for example, your application requires raw measurement data, you will need to use the binary format. For more information on binary messages refer to Hemisphere GPS GPS Technical Reference available at PocketMAX and PocketMAX PC The PocketMAX and PocketMAX PC utilities enable you to graphically monitor the status and function of the Crescent Vector II and provide you with an interface for its control. You can use either PocketMAX to gain initial experience with the Crescent Vector II OEM Board then migrate your work to either a dumb terminal or begin the integration of appropriate commands and messages within your application software. For more information PocketMAX and PocketMAX PC refer to Hemisphere GPS GPS Technical Reference or the PocketMAX User Guide, both available at Loaded Application and Configuration Defaults The Crescent Vector II OEM Board comes loaded with the ATTITUD2 firmware application. 17

27 Chapter 2: Getting Started The following tables show the configuration defaults. Note: To ensure any changes you make are retained after a power-cycle, use the $JSAVE NMEA command to save the changes. Table 2-1: Port settings Port Baud Rate Data Bits Parity Stop Bit Interface Level A, B, C None V CMOS D None V CMOS Note: The data bits, parity, and stop bit are not adjustable, They are fixed with an 8-N-1 configuration. Table 2-2: GPS NMEA message output Port GPS NMEA Messages Update Rate A GPGGA, GPVTG, GPGSV, GPZDA, GPHDT, GPROT 1 Hz B GPGGA, GPVTG, GPGSV, GPZDA, GPHDT, GPROT 1 Hz C GPGGA, GPVTG, GPGSV, GPZDA, GPHDT, GPROT 1 Hz D NONE N/A Table 2-3: Parameters Max DGPS Age Elevation Mask 1800 seconds 5 18

28 Chapter 3: Crescent Vector II OEM Board Installation

29 Chapter 3: Crescent Vector II OEM Board Installation T he inclusion of the tilt sensor and gyro in the Crescent Vector II OEM Board makes it more complicated to configure than many traditional pieces of GPS equipment. The following steps summarize the primary installation steps and the things you need to consider to successfully install and configure the Crescent Vector II OEM Board. Mounting the Antennas When mounting the antennas you need to consider the following: Mounting orientation (parallel or perpendicular) Proper antenna placement Mounting Orientation The Crescent Vector II OEM Board outputs heading, pitch, and roll readings regardless of the orientation of the antennas. However, the relation of the antennas to the boat s axis determines whether you will need to enter a heading, pitch, or roll bias. The primary antenna is used for positioning and the primary and secondary antennas, working in conjunction, output heading, pitch, and roll values. Note: Regardless of which mounting orientation you use, the Crescent Vector II OEM Board 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 Hemisphere GPS GPS Technical Reference. Parallel Orientation: The most common installation is to orient the antennas parallel to, and along the centerline of, the axis of the boat. This provides a true heading. In this orientation: If you use a gyrocompass, you can enter a heading bias in the Crescent Vector II OEM Board 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. 20

30 Crescent Vector II Integrators Guide Perpendicular Orientation: You can also install the antennas so they are oriented perpendicular to the centerline of the boat s axis. In this orientation: You will need to enter a heading bias of +90 if the primary antenna is on the starboard side of the boat and -90 if the primary antenna is on the port side of the boat. You will need to configure the receiver to specify the GPS antennas are measuring the roll axis using $JATT,ROLL,YES. You will need to enter a roll bias to properly output the pitch and roll values. You may need to adjust the pitch/roll output to calibrate the measurement if the Vector is not installed in a horizontal plane. Planning the Optimal Antenna Placement Proper antenna placement is important to obtain a high-precision GPS reading. Place the antennas: With a clear view of the horizon Away from other electronics and antennas Along the vessel s centerline You must install the primary antenna along the vessel s centerline; you cannot adjust the position readings if the primary antenna is installed off the centerline. Positions are computed for the primary antenna. On a level plane With a 2.0 m maximum separation Away from radio frequencies As high as possible For the best results, orient the antennas so the antennas connectors face the same direction. 21

31 Chapter 3: Crescent Vector II OEM Board Installation See Figure 3-1 through Figure 3-3 for mounting orientation examples. Forward motion Crescent Vector II OEM Board (arrow on board must point from primary antenna to secondary antenna) Antenna separation (0.5 m default, 2.0 m maximum) Figure 3-1: Recommended orientation and resulting signs of HPR values Crescent Vector II OEM Board (arrow on board must point from primary antenna to secondary antenna) Forward motion Antenna separation (0.5 m default, 2.0 m maximum) Figure 3-2: Alternate orientation and resulting signs of HPR values 22

32 Crescent Vector II Integrators Guide Centerline Figure 3-3: Antenna installation: Cross-section of boat Connecting the Antennas to the Crescent Vector II OEM Board Connect the primary antenna to the port marked J1000 on the Crescent Vector II OEM Board and the secondary to the port identified as J

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34 Chapter 4: Crescent Vector II OEM Board Evaluation Kit Cable Interface Environmental Requirements Power Requirements Powering the Evaluation System Serial Port Interface Factory Default Parameters LED Indicators

35 Chapter 4: Crescent Vector II OEM Board Evaluation Kit T his chapter describes the Crescent Vector II OEM Board evaluation kit as a complete integrated product. It provides detailed information that describes the interface of the evaluation system, its specifications, and its requirements The Crescent Vector II OEM Board evaluation kit is composed primarily of the following sub-assemblies: Enclosure with motherboard and additional Crescent Vector II OEM Board already installed Two A20 antennas with mounting hardware Associated cables Cable Interface The Crescent Vector II OEM Board evaluation kit requires power, data, and antenna cable interfaces. Figure 4-1 shows the various connections located on the rear panel of the Crescent Vector II evaluation enclosure. Figure 4-1: Cable interface Routing and Securing the Cable Consider the following when determining a route for evaluation kit cables: Avoid running cables in areas of excessive heat Keep antenna cables away from corrosive chemicals 26

36 Crescent Vector II Integrators Guide Do not run the extension cable through door or window jambs Keep the cable away from rotating machinery Do not bend excessively or crimp the extension cable Do not apply tension to the cable Remove unwanted slack from the cable at the opposite end to the antenna Secure the cable route using plastic ties Improperly installed cables near machinery can be dangerous. Environmental Requirements The equipment supplied with the Crescent Vector II OEM Board evaluation kit has specific environmental limits that you should ensure are met when storing and using the kit. The evaluation enclosure and Crescent Vector II OEM Board are designed to be stored between -40 C and +85 C. The operating temperature range is -30 C and +70 C. The enclosure with internal motherboard and Crescent Vector II OEM Board are specified to operate with humidity up to 95% non-condensing. The antennas are designed to operate in an outdoor environment with 100% relative humidity, condensing. Power Requirements There are three methods of powering the Crescent Vector II OEM Board evaluation kit enclosure. The first is method is via a power cable that interfaces to the enclosure s POWER connector. This system accepts an input voltage from 5 to 18 VDC. 27

37 Chapter 4: Crescent Vector II OEM Board Evaluation Kit The second method is through the 2.1 mm IDC power connector. The center of the connector is positive, as is indicated on the back panel of the unit. This input also accepts from 5 to 18 VDC. The third method is through the USB port located on the front panel of the enclosure. For best performance, the supplied power should be continuous and clean. Note: Only one source of power can be connected at one time. Power Specification Table 4-1 provides the power specifications of the Crescent Vector II OEM Board. Table 4-1: Power requirements Input Voltage Input Current Input Power 3.3 VDC +/- 3% ~ VDC ~ 3.6 W nominal Connecting more than one power source at a time can seriously damage the unit and will void the warranty. Powering the Evaluation System The first step to powering the Crescent Vector II OEM Board evaluation kit is to terminate the power leads of the power cable, connect the IDC connector, or connect the USB. There are a variety of power connectors and terminals on the market from which to choose if you are terminating the power cable yourself, depending on your specific requirements. Hemisphere GPS suggests you use a weather-tight connection and connector if the connection will be located outside or if it will be part of a portable system. 28

38 Crescent Vector II Integrators Guide Applying a voltage higher than 18 VDC will damage the receiver and void the warranty. To turn on the Crescent Vector II OEM Board evaluation kit: 1. Connect the red wire of the cable s power input to DC positive (+). 2. Connect the black wire of the cable s power input to DC negative (-). The Crescent Vector II OEM Board evaluation kit motherboard features reverse polarity protection to prevent damage if you accidentally reverse the power leads. A 1.0 A fast-blow fuse is situated in-line of the power input of the extension cable and protects the Crescent Vector II OEM Board receiver from power surges. The fuse container should remain accessible after installation. The Crescent Vector II OEM Board evaluation kit will start when an acceptable voltage is applied to the power leads of the extension cable. Do not provide a voltage higher than the input range as this could damage the system. Operating the Crescent Vector II OEM Board evaluation kit with the fuse bypassed will void the warranty. Serial Port Interface The four serial ports of the Crescent Vector II OEM Board evaluation kit motherboard are compatible with the RS-232C interface level to communicate with external data loggers, navigation systems, PC computers, PDAs, and other devices. These serial ports are accessible via the rear panel of the evaluation kit enclosure and have Port A, Port B, Port C, and Port D labels. 29

39 Chapter 4: Crescent Vector II OEM Board Evaluation Kit You may use any of the ports A, B, or C for system operation; however, Port A should be used for firmware updates. Port D has been designed exclusively as an external correction input port; however, either Port A, B, or C may be used for the input of external differential corrections, if needed. The following tables provide the pin assignments for all three ports. Table 4-2: Port A pinout, RS-232C interface level Pin Signal Description 2 TXD NMEA 0183, binary, and RTCM output 3 RXD NMEA 0183, binary, and RTCM Input 5 Sig. Ground Signal Return Table 4-3: Port B Port pinout, RS-232C interface level Pin Signal Description 2 TXD NMEA 0183, binary, and RTCM output 3 RXD NMEA 0183, binary, and RTCM Input 5 Sig. Ground Signal Return Table 4-4: Port C Port pinout, RS-232C interface level Pin Signal Description 2 TXD NMEA 0183, binary, and RTCM output 3 RXD NMEA 0183, binary, and RTCM Input 5 Sig. Ground Signal Return Table 4-5: Port D Port pinout, RS-232C interface level Pin Signal Description 2 TXD HGPS Proprietary 30

40 Crescent Vector II Integrators Guide Table 4-5: Port D Port pinout, RS-232C interface level Pin Signal Description 3 RXD RTCM Input 5 Sig. Ground Signal Return Note: Port D is to be used exclusively for external RTCM input to the Crescent Vector II from a source such as a beacon receiver. This port operates permanently at 9600 baud with an 8 data bit, no parity, and 1 stop bit configuration. The presence of Port D does not, however, preclude you from using Port A, B or C for correction input. Figure 4-2 shows the numbering scheme for extension cable s DB9 socket connectors (female). The associated numbering for the plug connector (male) is a mirror reflection of the scheme showed in Figure Figure 4-2: DB9 socket numbering Note: For successful communications, the baud rate of the Crescent Vector II OEM Board serial ports must be set to match that of the devices to which they are connected. Refer to Hemisphere GPS GPS Technical Reference available at for the command to change the baud rate. 31

41 Chapter 4: Crescent Vector II OEM Board Evaluation Kit Factory Default Parameters The Crescent Vector II OEM Board comes loaded with the ATTITUD25 firmware application. The following tables show the default communication parameters of the Crescent Vector II OEM Board evaluation kit. Table 4-6: Default port settings Port Baud Rate Data Bits Parity Stop Bit Interface Level A, B, C None 1 RS-232 Note: The RS-232C interface level is that of the evaluation kit motherboard and not the Crescent Vector II OEM Board, which uses a CMOS level. Port D operates permanently at 9600 baud. Table 4-7: Default GPS NMEA message output Port GPS NMEA Messages Update Rate A, B, C GPGGA, GPVTG, GPGSV, GPZDA, GPHDT, GPROT 1 Hz Table 4-8: Default parameters Max DGPS Age Elevation Mask 1800 seconds 5 Note: You must save any changes you make to the Crescent Vector II OEM Board configuration with the $JSAVE NMEA command in order for the changes to be present for a subsequent power-cycle. 32

42 Crescent Vector II Integrators Guide LED Indicators The Crescent Vector II OEM Board evaluation kit motherboard features surface-mounted diagnostic LEDs that provide a quick status indications. These LEDs are routed to through-hole mounted LEDs visible through windows in the front panel display. Figure 4-3 shows the front panel layout of the Crescent Vector II OEM Board evaluation kit enclosure, including the location and labeling of each LED. Figure 4-3: Crescent Vector Evaluation front panel The ten diagnostic LEDs visible from the front panel of the evaluation enclosure provide the following functionality: Table 4-9: LED Indicator Definition LED Color Function POWER Red Power indicator - Illuminates when you power up the Crescent Vector II OEM Board within the evaluation enclosure. RESET Green Reset indicator - Illuminates when you press the reset button. It also flashes on power up. Note: The button to initiate reset is inside the enclosure. Hemisphere GPS highly recommends using ESD protection when opening the evaluation enclosure. 33

43 Chapter 4: Crescent Vector II OEM Board Evaluation Kit Table 4-9: LED Indicator Definition (continued) LED Color Function 1PPS Blue The 1 pulse per second timing signal strobes once per second when a GPS lock is attained. MARK Red Mark indicator - Initiated and illuminates when you release the mark button. Note: The button to initiate manual mark is inside the enclosure. Hemisphere GPS highly recommends using ESD protection when opening the evaluation enclosure. GPS Yellow Primary GPS lock indicator - Once the Crescent Vector II OEM Board achieves a solid GPS lock on the primary antenna, this LED remains illuminated. If this LED blinks on and off repeatedly, it could be an indication of a receiver hardware failure. S-GPS Yellow Not used in this application and is illuminated at all times: this is normal. A-GPS Yellow Not used in this application. DIFF Yellow Differential lock indicator - Continuously illuminated when the Crescent Vector II OEM Board has achieved (and maintains) a solid SBAS lock with better than a 150 bit error rate (BER) or when it is successfully receiving externally input RTCM corrections. If the SBAS BER is higher than 150 but the receiver is still locked, the indicator blinks, indicating that lock is marginal. DGPS Green DGPS position indicator - Illuminates when the receiver has achieved a differential position and the pseudorange residuals are below that set with the $JLIMIT command. The default value is a pseudorange residual of better than 10.0 m. If the residual value is worse than the current threshold, the indicator blinks indicating that differential mode has been attained but that the residual has not yet met the threshold. HDG Blue Heading lock indicator - Illuminates continuously when the Crescent Vector II OEM Board has achieved a solid heading lock. If this LED blinks on and off repeatedly, it could be an indication of a receiver hardware failure. 34

44 Appendix A: Troubleshooting

45 Appendix A: Troubleshooting U se the following checklist to troubleshoot anomalous Crescent Vector II OEM Board receiver operation. Table A-1 provides a problem symptom, followed by a list of possible solutions. Table A-1: Troubleshooting Symptom Possible Solution Receiver fails to power Verify polarity of power leads Check integrity of power cable connections Check power input voltage (3.3 VDC +/-3%) Check current restrictions imposed by power source (minimum available should be > 1.0 A) No data from Crescent Vector II OEM Board Random data from Crescent Vector II OEM Board Check receiver power status LED to ensure that the receiver is powered Verify the Crescent Vector II OEM Board is locked to a valid DGPS signal through the LEDs or with the use with PocketMAX running on a PC) Verify the Crescent Vector II OEM Board is locked to GPS satellites (this can often be done on the receiving device or with PocketMAX PC) Check integrity and connectivity of power and data cable connections Verify that the RTCM or the Bin95 and Bin96 messages are not being output accidentally (send a $JSHOW command) Verify baud rate settings of the Crescent Vector II OEM Board and remote device match correctly Potentially, the volume of data requested to be output by the Crescent Vector II OEM Board could be higher than the current baud rate supports. Try using as the baud rate for all devices or reduce the amount of data being output 36

46 Crescent Vector II Integrators Guide Table A-1: Troubleshooting (continued) Symptom Possible Solution No GPS lock Check integrity of antenna cable Verify antenna s unobstructed view of the sky Verify the lock status of GPS satellites (you can do this through the board's LEDs or with the use of PocketMAX PC) No SBAS lock Check antenna connections Verify antennas have unobstructed view of sky Verify the lock status of SBAS satellites (you can do this through the board's LEDs or with the use of PocketMAX PC - monitor BER value) SBAS corrections are only applied to the position, not to the heading. If SBAS lock is lost, you will still have the same heading accuracy, but your position accuracy may be degraded. No beacon lock Check beacon antenna connected to J410 port Verify that the receiver is tuned to the correct frequency and bit rate Ensure that beacon signal coverage is expected in your area Beacon corrections are only applied to the position, not to the heading. If beacon lock is lost, you will still have the same heading accuracy, but your position accuracy may be degraded. 37

47 Appendix A: Troubleshooting Table A-1: Troubleshooting (continued) Symptom No DGPS position in external RTCM mode Non-differential GPS output Possible Solution Verify that 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) There is only differential positioning enabled for the primary antenna and RTCM corrections should be input to the primary receiver (either Port A or B) Ensure corrections are being transmitted to the correct port. Using the $JDIFF,OTHER command on Primary Port A will cause the receiver to expect the corrections to be input through Primary Port B Verify SBAS and beacon lock status (or external source is locked) Confirm baud rates match an external source correctly Issue a $JDIFF<CR><LF> command and see if the expected differential mode is in fact the current mode Differential corrections are only applied to the position, not to the heading. If differential lock is lost, you will still have the same heading accuracy, but your position accuracy may be degraded 38