Home

Marine Survey Products User Manual RevB

Contents

1. Port Settings PortA PortB Port C PortD Type RS422 RS232 RS422 RS422 NMEA0183 TRM100 PC Software NMEA0183 RTCM1044TD Baud Rate 9600 38400 19200 19200 Data Bits 8 8 8 8 Stop Bits 1 1 1 1 Parity Check none none none none Computed data messages e Available Default Output mode MEN NMEA 0183 essage sn port status amp rate 0183 sentence No sentence No 1 A Deactivated Time 1s GGA 1 2 A Deactivated Time 1s GLL 2 3 A Deactivated Time 1s VTG 3 4 A Deactivated Time 1s GSA 4 5 A Deactivated Time 1s ZDA 5 6 A Deactivated Time 1s RMC 6 7 A Deactivated Time 1s GRS 7 8 A Deactivated Time 1s GST 8 9 A Deactivated Time 1s GSV 9 10 A Deactivated Time 1s GMP 10 11 B Deactivated Time 1s HDT 11 12 B Deactivated Time 1s HDG 12 13 B Deactivated Time 1s ROT 13 14 B Deactivated Time 1s VBW 14 15 B Deactivated Time 1s VHW 15 16 B Deactivated Time 1s OSD 16 17 B Deactivated Time 1s HRP 17 1 pps generated on every 18 C Deactivated occurrence of the 1 pps ZDA 5 pulse Detail in Section 16 Pseudorange data output Output Available Output mode bim No on port Default status T rate Content Data in SVAR R format no 1 B Deactivated Time 1s code phase smoothing no restriction in SV elevation min elevation 0 Raw data output Appendices Aquarius amp Aquarius Default Configuration Output Available Output
2. 2 i i Antenna brai as S LS o E e t i b a gt Su 5 2 5 Two U bolts J o b ES C FH D On horizontal mast On flat Diameter 56 mm 2 2 max F PA surface a On vertical mast Diameter 56 mm 2 2 max Antenna bracket U bolts Mount dimensions Mount dimensions 70 mm 62 mm 215 j teg 4 mm 0 167 9 Q4 gt lt 4 mm 0 167 14 mm 0 557 44 mm 1 73 62 mm 2 44 48 mm 1 89 27 7 mm 1 1 15 2 16 Aquarius amp Aquarius Installation Receiver Receiver Choose the installation location taking account of the following Desired location in cabin Location of third equipment the receiver must be attached to Lengths of coaxial cords to antennas Allow for a clear space of about 25 dm H200 x W345 x D350 mm in the cabin to install the receiver on its bracket The receiver should be mounted on its bracket using the 4 screws and washers provided Use an Allen wrench No 4 to tighten the screws Mount the receiver on the bracket BEFORE mounting the bracket in the cabin The bracket should be secured on a horizontal plane in the cabin after drill ing 4 holes in this plane see drilling diagram below Fix the bracket firmly on the plane using 4 screws nuts washers NOT PROVIDED a Drilling Diagram Drill 4 holes Diameter 5 mm 0 2 in the plane where to mount the receiver with its bracket F Receiver Dimensions to
3. Port receiving corrections Name of unit Desired Operating mode status 4 None for GPS and transmitting Operating U Operating mode en WAAS EGNOS corrections data Mode abled Port C or D for UHF or N U Operating mode HF MF Radio link 3 Y disabled Any port for RTCM input A U MB Manual Backup B C D icname AB Automatic Backu PD Irrelevant to autonomous GPS P GEO PRN in WADGPS Two rows can be in U The receiver itself automati Transmitter name if UHF radio link state at the same time See cally fills in this column after used for E DGPS KART LRK or 2 opposite analyzing the different hardware RELATIVE s Reference station name if HF MF components installed station or external RTCM receiver 150 Using TRM100 as Control amp Navigation Terminal DGNSS Menu 1 Each line describes a potential specific operating environment deduced from the hardware and firmware components attached to the receiver The GPS line is always shown It confirms the presence of an operat ing GPS receiver capable of computing a position solution in autonomous GPS mode The WAAS line is always shown If WADGPS is enabled in this line the receiver will refine the GPS position using corrections and pseudo ranges from the WADGPS geostationary satellites The HFMF1 and HFMF2 lines are shown only if an Rx 1635 HM Link HF MF reception kit is installed in the receiver Note that ONE HM Link
4. ew frequency no detected and properly received No If in Open mode Receiver indefinitely continues to receive former station on other channel as long as that is possible a Changing Frequency Band As the HM Link can only be all HF or MF whenever you ask the module to receive a station operating in a band different from that currently selected in the module then the module stops receiving the station s it has been receiv ing until now and switches to the new frequency band to be able to receive the station you are asking it to work with 186 Using TRM100 as Control amp Navigation Terminal LED Indicators on Inner Front Panel Aquarius LED Indicators on Inner Front Panel Aquarius In what follows you will learn all about LED indicators on the inner front panel when you turn on Aquarius with the TRM100 unit detached from the receiver case When you apply the power voltage to the receiver the Power LED lights up straight away indicating that the unit is now on It will stay lit as long as the receiver is correctly powered A few seconds after switching on the receiver an initialization phase is started This operating state is indicated on the Number of received satel lites LED which then lights up For a single frequency receiver this LED will be held permanently lit throughout the initialization phase For a dual frequency receiver the LED will light up at the beginning of ini tializat
5. vA c zh 2 E 5 The 3011 GPS compass is delivered in a non reusable cardboard box The following items are provided 1x 3011 processor P100683 1x NAP 011 dual sensor antenna P100680 1x set of fixing elements P101041 for NAP 011 antenna 1x power cord 2 meters P0067035 1x data cord DB9 male DB9 female 2 meters P0067860 1x coaxial cable RG223 type TNC male TNC male 30 meters C05050188 1x CD ROM containing the TRM 100 PC Software for Windows 95 98 2000 NT 1x User Manual the present manual Magellan reserves the right to make changes to the above list without prior notice Options 1x DGPS HF MF reception kit PO101146 automatic search two channels including 1x HF MF DGPS reception module 1x DHM 5000 dual band HF MF antenna 1x antenna cable KX15 type TNC TNC 30 meters 1x antenna interface P073815A 1x TRM 100 keyboard screen terminal P0100722 complete with 1x data cord DB15 male DB15 female 1 meter 1x mounting bracket knobs and screws 1x RS232 RS422 converter cable 89 0 3011 GPS Compass Equipment Description 3011 Processor 3011 Processor a Description of the Control Panel To TRM 100 Terminal Option if used Control Push Button LED indicating number of received satellites Output to VGA screen HF MF Antenna Input 1 PPS Output 1xRS232 Port B Power LED oo 2xRS422 Ports A am
6. 12 V via L 56 nH a Port A RS422 All receivers Sub D9 female Pin No Signal Designation 1 GND Electrical Ground uu RS422 CTS signal input Clear To Send a RS 422 RX signal input Receive Data O ee RS422 RTS signal output Request To Send H RS422 TX signal output Transmit Data 386 ch 9000000 15 9 Connector shown from outside the case Connector shown from outside the case O a Port B RS232 All receivers Sub D9 female Pin No Signal Designation DCD212 RS232 DCD input Data Carrier Detect RS232 TX output Transmit Data RS232 RX input Receive Data RS232 DSR input Data Set Ready Electrical Ground RS232 DTR output Data Terminal Ready RS232 CTS input ClearTo Send RS232 RTS output Request To Send ojoj xoa co 2 RS232 RI input Ring Indicator a Port C RS422 All receivers Sub D15 female Pin No Signal Designation 1 TX3 RS422 TX signal output Transmit Data 2 TX3 3 RX3 aa 1 RX RS422 RX signal input Receive Data 5 NC Not connected 6 GND Electrical Ground 1 GND Electrical Ground 8 12 V via R 1 kQ 9 CTS3 E 10 CT 3 RS422 CTS signal input Clear To Send 11 PPS24 7 F I T1PPS RS422 symmetrical output for 1 PPS signal 13 RTS34 M RTS3 RS422 RTS si
7. checksum lt etb gt a Time tagging 3 bytes 276 2 bytes 2 bytes 3 bytes 1 byte 29 bytes 29 bytes 2 bytes 1 byte GPS time in week unit 1 10 s The reference time is Jan 6 1980 at OhrOO a Parameters line A single byte bits 7 to 4 bits 3 and 2 bits 1 and O a GEO data line First byte 2nd byte 3rd byte Next 26 bytes Raw Data Outputs in SBIN Format SBIN W WAAS EGNOS Data Message counter modulo 16 incremented by 1 whenever a new message is received 0 no particular meaning Count of GEOs in the message GEO PRN Message type Bit 7 CRC validity flag 0 Good 1 Bad Bit 6 20 no particular meaning Bits 5 to 0 message type 0 to 63 same as WAAS encoding Bits 7 and 6 Identifies preamble 8 bits out of 24 totally as follows 1 1st byte from preamble 2 2nd byte from preamble 3 3rd byte from preamble Bits 5 and 4 0 no particular meaning Bits 3 to 0 first 4 bytes MSB from the 212 bit WAAS word The last 208 bits from the 212 bit WAAS word excluding preamble message number and par ity 277 5 n is zZ mj la 5 E sjndyno veq Mey 8 Raw Data Outputs in SBIN Format SBING V RELATIVE Mode Data SBIN V RELATIVE Mode Data a General Form lt stb gt lt V gt lt long gt lt Time tagging gt lt Secondary Mobile data gt lt checksum gt lt etb gt a Time tagging 3 bytes a P
8. E TRM100 PC Software Overview Terminal view a Sending Commands to the Receiver from a Dictionary Another way of sending a command to the receiver is to work from a dic tionary A dictionary is a file with ude extension containing a number of entries Each entry consists of a label associated with one or more proprietary or standard NMEA commands The label should be defined to depict as clearly as possible the function performed by the associated command set All the entries in the currently loaded dictionary are listed in the combo box located in the left upper part of the Terminal window When opening the Terminal view the default dictionary default ude is loaded To send a command from the dictionary to the receiver do the following Onthe right of the combo box click the Down key to display the list of entries and choose one from the list Example inal Z dev serial com1 9600_8 1 0 N Outputs TF talal X 4 eg Gn ta amp 3 Tr Firmware ld Receiver Id Serial Port Settings Click E to send the associated command to the receiver As a re sult the command line appears in the Edit pane followed by the receiver reply For example if you select Receiver Id in the combo box the content of the Edit pane will look like this SPDAS UNIT SPDAS UNIT 801 39 Receiver Id 801 126 TRM100 PC Software Overview Terminal view a Creating a New Dictionary Inthe Terminal toolbar click
9. 5 1PPS2 1 PPS symmetrical output 6 NC Not connected Connector shown from RX symmetrical input Receive Data outside the case 9 MOB Man Over Board input 1 1 For 3011 GPS compass connect the MOB emergency punch push button not provided to this pin When actuated the MOB push button should pull this input to ground Input specifications connected to 3 3 V DC voltage vial0 kQ pull up resistor logic low level lt 0 3 V protected from overvoltages max 36 V by diodes kzi I E Q l1 Dn 385 Appendices Connector Pinouts and Cables All Receivers a VGA Connector All receivers Sub D15 female Pin No Signal PinNo Signal 1 RED 9 NC 2 GREEN 10 GND 3 BLUE 11 NC 4 NC 12 NC 5 GND 13 HSYNC 6 GND 14 VSYNC 1 GND 15 NC 8 GND a Terminal Connector Sagitta and 3011 GPS Compass only Sub D15 female Pin No Signal Pin No Signal BPON1 9 Scan via R2 150 Q eL Control LED ON ef pushbutton 10 CP1 via R 150 Q 11 CP2 via R 150 Q 5 1 o 00 0 0 100000 0f6 O o0o0o0o0 O 15 ll Connector shown from outside the case 8 1 KBDATA keyboard data 12 DVO via R2 150 Q KBCLK keyboard clock 13 DV1 via R 150 Q GND electrical ground 14 DV2 via R2 150 Q GND electrical ground 15 DV3 via R2 150 Q co SI DH e Wo r2
10. Atsuch a distance from the Aquarius unit that the coaxial cable pur chased 10 or 30 meters can normally be used to connect these two elements together Fora UHF antenna at the highest possible location for best possible reception For HF MF antenna at a location allowing connection of its ground terminal to ship s ground This antenna does not necessarily need to be located on top of a mast Tx 4800 U LINK Option See page 394 18 Aquarius amp Aquarius Installation Connections Required in Typical Applications Connections Required in Typical Applications a UHF antenna Aquarius 01 or 02 With Rx 4812 U Link Option Installed DC Power Source 12 24 V DC Adapter C05050216 Cable P0067035 Cable C5050168 30 m or P0101131 10m A e e Interfacing Cable P05050156 1 m D p Cable C5050196 10 m oma able m d p or C5050188 30 m 9 9 2 a UHF antenna Aquarius 12 With Rx 4812 U Link Option Installed NAP 002 Primary antenna DC Power Source 12 24 V DC Cable P0067035 Adapter C05050216 L Cable C5050168 30 m 5 or P0101131 10m A san Interfacing Cable P05050156 1 m NAP 001 o X p Secondary antenna Cable C5050196 10 m eat able m p or C5050188 30 m L o o 9 m Primary antenna ALWAYS connected to
11. ID number of the antenna used at the station as defined X 15 with PDAS ANTEN hh Checksum optional ICRIILF End of command a Examples Listing all known stations PDAS DGPS STATION PDAS DGPS STATION NONE 56 Reply none Defining new stations PDAS DGPS STATION 1 LRK1 4716 28 N 00129 23 W UHF 446532000 50 4800 GN 3 PDAS DGPS STATION 11 PENNET 4710 N 00030 E UHF 443550000 35 1200 DN 5 Re listing all known stations PDAS DGPS STATION PDAS DGPS STATION 1 LRK1 4716 28 N 00129 23 W UHF 446532000 0 50 00 4800 0 G N 3 hh PDAS DGPS STATION 11 PENNET 4710 00 N 00030 00 E UHF 443550000 0 35 00 1200 0 DN 5 hh 308 PDAS Command Library PDAS DGPDAT PDAS DGPDAT a Function Edits the definitions of the DGPS raw data outputs a Syntax Set command PDAS DGPDAT a b c d e f hh ICR TLF Query command PDAS DGPDAT a hh CR LF a Parameters Format i Comments a X lor2 Output number If a 0 all description lines are cleared b a Output port identification A B etc Output mode 0 Deactivated s 1 Period time 5 c X 4 4 2 Trigger E 3 Immediate a 4 Data flow Leading sign combined with 1 4 disables data output 8 Output rate a If c 1 period d is the data output rate expressed in units of 0 1 seconds d X X If c 2 trigger then d 1 next data block following EVENT is output d 3 next data block following 1PP
12. LRK R R for Real Time LRK position computed from extrapo lated corrections data available every 0 1 second Should the receiver be unable to produce a kinematic solution during ini tialization phase or if insufficient amount of data then an EDGPS solution would be provided every 0 1 second in place of the LRK A or LRK R solu tion WLANE Wide Lane In this mode the receiver works on the phase differ ence L1 L2 instead of working separately on the L1 amp L2 phases as this is done in LRK Consequently ambiguity resolution is easier and more reli able but the precision is not so good as in LRK WLANE can therefore be used as an alternative to the LRK mode in ad verse operating conditions and as far as the precision level then achievable is still compatible with the user s application WLANE can be selected in the USED column on the Mode screen see page 150 Aquarius Series Processing Modes LRK Processing a Configuration Guidelines Use the DGNSS menu see page 24 or use the TRM100 PC Software to send the adequate commands to the receiver from the Terminal view see pages 123 and 124 From the Terminal view the following set of commands should be used e PDAS DGPS STATION page 307 to let the receiver know the transmission specifications carrier modulation type encryption of each of the potentially usable transmitters e PDAS DGPS MODE see page 305 To define your receiver as a correctio
13. PDAS Command Library PDAS FIXPAR PDAS FIXPAR Q Function Queries or sets the parameters defining the conditions in which the receiver automatically switches from the primary to the backup mode and vice versa a Syntax Set command PDAS FIXPAR a b c hh C R JLF Query command PDAS FIXPAR hh CR ILF a Parameters Format ij i Comments Mode switching constant tied to data reception quality in primary mode a xx 36 20 601 eio for WAAS EGNOS Reception level for GPS differential data Time delay before switching to backup mode from the time pri mary mode data is no longer available or the reception level in primary mode if operating is less than the mode switching con stant Time delay before switching to primary mode from the time primary mode data is available again or the reception level in primary mode if operating is greater than the mode switching b X X 20 0 999 a 5 5 Z a E Iz i lt 4 c XX 20 0 999 constant hh Checksum optional CRILF End of command a Examples PDAS FIXPAR 10 2 30 Change constannts to respectively 10 2 s and 30s 319 9 PDAS Command Library PDAS FIXTYP PDAS FIXTYP Q Function Deals with multi mode position processing a Syntax Set command PDAS FIXTYP a b c d e f g h hh CR LF Query command PDAS FILTYP hh CR LF a Parameters Format i
14. F3 AUX F5 gt gt gt if necessary to have STATUS displayed on the menu F2 STATUS Example of screen then obtained with dual frequency receiver Mar 04 2002 GPS Q 3 TD 7 S Same as Position view UTC 15 51 27 NONE lt gt 09 108vs 47 17 938542N wese4 00 0 KT 001 30 542492W 92 25m eo e teinte i MAIN AUX STATUS PRIMARY ANTENNA Sv L1 L2 Sn Elv Azi Sv L1 L2 Sn Elv Azi 002 u r 45 v34 217 028 u r 40 13 323 003 u r 48 v49 131 029 u r 44 22 73 031 u r 50 v86 233 3D position COG speed 4 name of coordinate system used Indicates function path i e the succes sive selections made to access this screen Azimuth Orbital information V descending for SBAS satellites A ascending Elevation angle Signal Noise ratio SNR Satellite status for L1 and L2 r received but not used u received and used in main position fix d intentionally rejected s searching phase or SV lost t Pseudorange received but not used low SNR no ephemeris Satellite PRN No Press the Left or Right key to read the same data for the secondary antenna Press the same key once more to access a third screen providing in formation about the master oscillator drift the DOP LPME etc 174 Using TRM100 as Control amp Navigation Terminal AUX Menu a Changing Speed Filtering This function allows you to change the time constant in the filter
15. From the main menu see page 23 select successively F1 NAVIG F4 GRAPH What the screen then shows depends on the active navigation mode the options and the plot modes used as explained hereafter Information tied to navigation mode used r Standard position information Jun 12 2002 UTC 12 37 17 47 17 938041N 001 30 541610W wess4 9 51m LRK NONE Q 18 TD11 02s 08 118vs Waypoint Mobile s current position Mobile trace Clears mobile trace F4 WPT RTE Show hide waypoint numbers F5 TRAJ Show hide mobile trace CTS Plot Modes NCTS F3 ZOOM Zoom in F4 ZOOM Zoom out Zooming range 0 001 NM to 4 NM or 2 m to 10 km v F3 North North West oriented chart with no particular point or direction held fixed first built on the basis of the mobile po sition when running a new mode this position is plotted at the center point and then re adjusted only if the mobile moves beyond the plotting area The path to follow is represented by the central vertical line not a North West oriented chart Target waypoint held fixed at center point North West oriented chart F4 Leg F5 Target All modes the North axis gives the direction of the WGS84 Geographi cal North Bearing and Profile only Bearing and Homing only 144 Using TRM100 as Control amp Navigation Terminal DGNSS Menu DGNSS Men
16. 330 PDAS Command Library GLL and GPQ GLL GLL and GPQ GLL Q Function Edits the estimated position used in the initial position speed time process ing or displays the latest position solution a Syntax Set command GLL a b c d e f g hh CR JL F Query command GPQ GLL hh CR J LF a Parameters Format i i Comments a AMI Latitude of estimated position b a Sign of Latitude N or S c yyyyy yyy Longitude of estimated position d a Sign of Longitude E or W Q e hhmmss ss UTC time E Data status 5E f a A data valid as V data invalid Eo Mode indicator NMEA 0183 V3 0 S A Autonomous 2 D Differential g a E Estimated dead reckoning mode M Manual input mode S Simulator mode N No fix hh Checksum optional CR LF End of command a Examples ECGPQ GLL Query GPGLL 4717 937672 N 00130 543197 W 133643 16 A A 58 Reply ECGLL 3940 N 00415 E Initializing position ECGPQ GLL Query GPGLL 3940 000000 N 00415 000000 E 180731 00 A A 06 Reply 331 19 332 PDAS Command Library PDAS GNOS PDAS GNOS a Functions Enables disables the tracking of the WAAS or EGNOS satellite Specifies the way WAAS EGNOS GEOs should be selected by the receiver Auto Manual Provides the receiver with the PRNs of the GEOs to be used in case of Manual selection Syntax Set command PDAS GNOS a b c hh CR JLF
17. Lit while the TRM100 software sends data to the 3011 green color Lit while the TRM100 software receives data from the 3011 red color 111 112 3011 GPS Compass Getting Started TRM100 PC Software a Connecting amp Disconnecting the TRM100 Software Connect the RS232 cord provided between a serial port on the PC and connector B on the 3011 After launching the TRM100 software only two buttons in the toolbar can be activated Connect button Help button Click g In the dialog box that opens enter the settings for the port used on the PC The standard settings are provided in the screenshot below Obviously the port number 1st field depends on which port is used on PC side Select stream x Serial DPRAM Client Fie BaudRate z40 sd ByteSize xz StopBits fh Parity oe Click OK to start the serial line between PC and 3011 To end this connection click i If you do not do this when leaving the TRM100 software connection will automatically be re established next time you run the software 3011 GPS Compass Getting Started TRM100 PC Software a Working Environment Use the File gt Properties command to define the interface language and to specify whether the working environment should be saved before leaving the program so that it can be restored when next running the program a Heading View This view has already been introduced in the previous chapter when
18. Q Power Cord 0 0000000 00 LLL Q RS232 RS422 Serial Cord Q SerialCord 00 0000000000 LLL Q RS422 RS232 Adaptor Cable Q DB15 DB9 RS232 RS422 Data Cable Option 1 1 1 1 393 Radio Module Options 0 0 0 0 394 TRM100 Keypad Display 4 2 020 02020 02 395 Introduction to GNSS 1 11 1 395 Q GPS Constellation 0000000000000 395 Q Signals 2 02 02 LLL 396 Q NavigationMessage 0 00 000 o 397 Q GNSS 00 0 5 LLL 397 Q WAAS 0 00 000000000000 LLL 400 El IEGNOS oe ee es nes eda ATTEN S OST IAE 401 Q GEO current status Jan 2002 0 401 List of Possible Anomalies 403 About the Three Configurations Stored in a Receiver 404 TRM100 Functions Summary 1 0 0 0 405 Q NAVIG Function 00000000 LLL 405 GU DGNSS F nctioh isses eere terere rere rer retener 406 Q AUXfuncion 00 000000000 LLL 407 CQ WPT RTE Function 0 00000000000 LLL 408 Q MARK Function 00000000000 LLL 408 Fix Quality Index 202 0222 LLL 409 Sagitta Quick Start Leaflet 1 1 1 1 411 Glossary Index xi Aquarius amp Aquarius Equipment Description Standard Supply 1 Aquarius amp Aquarius Equipment Description Magellan reserves the right to make changes to the list below without prior notice E S 5 B c 5 5 5 na 5 E g e zi zsniienby x snaenby Standard Supply a Aquar
19. RESTART F5 408 Appendices Fix Quality Index Fix Quality Index This index ranges from 0 to 19 with the following meaning for each of the possible values 0 No position solution or straight GPS with SA HDOP poor 1 Straight GPS with SA HDOP good 2 Straight GPS no SA 3 Straight GPS no SA HDOP and LPME both good 4 Diff mode in 2D 5 Diff mode in 2D HDOP and LPME both good 6 Diff mode in 3D HDOP and Diff corrections both poor 7 Diff mode in 3D HDOP poor Diff corrections good 8 Diff mode in 3D Diff corrections and HDOP both good 9 Diff mode in 3D HDOP LPME and Diff corrections all good 3 EDGPS from meter 10 to decimeter 13 precision after a time constant of approximately 8 minutes for a single frequency receiver or 3 minutes for a dual frequency re ceiver 14 to 19 Kinematic mode The quality index is derived from the LPME Line of Position Mean Error quadratic average of weighted residuals on every computed line of position a quantity deduced from the position solution The quality index is a function of both the station to mobile distance and the following ratio LPME measured LPME max The expression of the quality index Q is then Q 14 7 1 LPME measured LPME max d 3 5 S O 2 Where LPME max equals expressed in millimeters 15 Station to Mobile Distance in km single frequency 20 Distance Station Mobile in km dual frequency
20. Returns the current values of the parameters whose generic code is part of the command All replies are compliant with the approved sentences of the NMEA 0183 standard version 2 30 March 1 1998 and later a Syntax GPQ a hh CR TLF a Parameters Format i Comments value NMEA code corresponding to the parameters for which you wantthe receiver to return their current values The codes list is given below entry is also possible in the NMEA standard for underlined data ALM GPS Almanac data DTM Datum Reference GGA Global Positioning System Fix Data GLL Geographic Position Latitude Longitude GMP GNSS Map Projection Fix Data GRS GNSS Range Residuals GSA GNSS DOP and Active Satellites a C C GST GNSS Pseudorange Error Statistics GSV GNSS Satellites in view RMC Recommended Minimum Specific GNSS Data ZDA Time amp Date VTG Course Over Ground and Ground Speed With Aquarius only HDT Heading HDG Heading and associated data ROT Rate of Turn VBW Ground S peed Data VHW Heading and speed OSD Heading course and speed hh Checksum optional CRIILF End of command 334 PDAS Command Library GPQ a Examples ECGPQ ALM GPALM 29 1 01 1115 00 2A13 4E 0E57 FD61 A10C19 BAF 3D1 9C4A73 79B 474 011 170 48 GPALM 29 2 02 1115 00 AD06 4E F 9F5 FD49 A10CF6 ACBD04 E DAB30 F F 47B8 FD5 FDF 4D GPALM 29 28 30 1115 00 2E87 4E 00A4 F D4F A10D
21. Same as previously if the calculated value is negative Aquarius Only Processing Modes Heading Processing Principles a Automatic Calibration Computation while Navigating Measurement conditions Start navigating in a set direction at a minimum speed of 4 knots Start the automatic calibration procedure on the receiver Keep on navigating in the given direction until you get steady meas urements and then make a 180 turn to navigate in the opposite direction there is no particular navigation in structions during the half turn as the calibration pro cedure automatically rejects this phase in the process provided the turn rate is greater than 1 second This maneuver allows the receiver to eliminate any un desired effects interfering with the process such as currents and ship s attitude After a certain time the receiver indicates that a calibration has been determined with sufficient accuracy and displays this value The processing time can be prolonged for as long as you wish providing you continue to navigate according to the specified conditions In fact the longer the traveled distance the better the calibration When you think the calibration is accurate enough for example value of RMS precision less than a certain level stop the calibration procedure Confirm the use of this value End of procedure T oo a 2s wu m Z 2 ee so 2 5 es N d Important NEVER go astern during an aut
22. n X Unit code 12 meter Ax XX X angular deviation Ax placed before PDAS Command Library PDAS GEO Format i 1 i Comments Ay X X Y angular deviation Ay placed before Az X X Z angular deviation Az placed before r a Unit code e second s X X 1to 99 Projection number t c C Projection name 12 characters max Ue Projection parameters hh Checksum optional CRIILF End of command a Examples PDAS GEO 2 P DAS GEO 8 1 0 0 6E PDAS GEO 8 2 2 NTF 03 P DAS GEO 8 3 A 6378249 200 1 F 293 466021294 5 1 000000000000 1 23 P DAS GEO 8 4 Dx 168 000 Dy 60 000 D2 320 000 1 5F P DAS GEO 8 5 Ax 0 000000 Ay 0 000000 Az 0 000000 e 07 P DAS GEO 8 6 02 Lambert 2 38 P DAS GEO 8 7 Lori 0 81681408993 G ori 0 04079234433 E ori 600000 000 No ri 200000 000 d1 17 P DAS GEO 8 8 K0 0 999877420000 5A Svdd e 5 5 Z a E g gl lt 4 325 9 PDAS Command Library PDAS GEODAT PDAS GEODAT Q Function Edits the definitions of the SBIN W or SVAR W data outputs This type of data is received from WAAS EGNOS GEOs Adds new definitions of SBIN W or SVAR W data outputs a Syntax Set command PDAS GEODAT a b c hh CR LF Query command all output definitions are returned PDAS GEODAT hh CR TLF Query command only the specified output is returned PDAS GEODAT a hh CR TLF a P
23. soln GPS vernier gt eoln soln UTC Time lt eoln gt soln source lt eoln gt eb a Time tagging line IM GPS week GPS time gt lt eoln gt GPS week GPS week number Reference time is Jan 6 1980 at Ohr00 GPS time GPS time in seconds in week at the time of the event lt eoln gt a GPS vernier line GPS status GPS vernier eoln GPS status 1 character O computed GPS time solution 1 estimated GPS time solution to within 10 ms 9 undetermined GPS time solution GPS vernier gt GPS time in week modulo 10 seconds at the time of the event this data is a duplicate of the GPS time data from the time tagging line but in this case featuring a useful precision of 10 S Raw Data Outputs in ASCII Format SVAR M Event Time Tagging a UTC time line UTC status UTC time eoln UTC status 1 character O valid UTC time 9 invalid UTC time UTC time UTC time at the time of the event Format hhmmss sss same as NMEA 0183 Useful a 10 precision 10 s a Source line 3 Event origin E vent counter gt lt eoln gt E gt Nn iei m Les la 3 o syndyno gd sey lt Event origin gt ASCII character identifying event source 1 EVT1 2 EVT2 4 1PPS Event counter Counter modulo 256 incremented on occur rence of every event from a given source a Data block example 1M 1154 153146 9 1 0 6 9999999904 2 0
24. 1 682 39 530 290 PDAS Command Library PDAS ANTEN DES PDAS ANTEN DES Q Function Allows you to enter the characteristics of all the antennas you are using Each antenna is assigned an identification number a Syntax Set command PDAS ANTEN DES a b c d hh C R LF Query command returning the complete list of antennas PDAS ANTEN DES hh CR J LF Query command returning the description of a single antenna PDAS ANTEN DES b hh CR LF a Parameters s a Format q Comments El zi a X X Number of antennas in the list a z b X X 1 a Antenna identification number an 10 5 c C C m Antenna name a Delta H between L1 amp L2 phase cen d M 0 ters incm hh Checksum optional CRIILF End of command a Examples PDAS ANTEN DES B9Model 0 2 Adding new antenna named B9Model with AH 0 2 cm 291 292 PDAS Command Library PDAS ANTEN MOB PDAS ANTEN MOB Q Function Allows you to edit or query the identification numbers of the antennas used as primary and secondary antennas a Syntax Set command PDAS ANTEN MOB a b hh CR ILF Query command PDAS ANTEN MOB hh CR J LF a Parameters Format i i Comments Number of antenna used as primary a a 13 antenna b xx 1 5 Number of antenna used as secondary antenna hh Checksum optional CRI LF End of command a Example PDAS ANTEN MOB
25. 14 Using TRM100 as Control amp Navigation Terminal NAVIG Menu a Viewing the Navigation Mode Currently Used From the main menu see page 23 select successively F1 NAVIG F2 MODE This displays the navigation mode currently active in the receiver For example in the screen example below the currently active navi gation mode is Homing It is set to help you head for the waypoint labeled MARK_001 Jun 11 2002 LRK Q 18 TD11 02s UTC 12 14 24 NONE 08 118Vs 47 17 938423N wese4 00 0 KT 001 30 541277W 9 22m Cole e JMAIN NAVIG MODE Navigation Mode HOMING MARK O01 lt POSIT HOMING BEARING PROFILE se QOTIALL Suits m S i zi e z L3 lt m S Z I E a Changing the Navigation Mode Simply view the navigation mode being used as explained above and you have access to a menu allowing you to choose another naviga tion mode See the glossary for the definitions of the available navigation modes Your choice of a navigation mode whatever it is does not impact the Data screens presented on page 23 There is no prerequisite for selecting the Position mode When you select this mode a message is displayed Quit this Navigation Mode asking you to confirm your choice Press F5 OK to confirm your choice The other navigation modes are detailed in the next pages 137 1 4 Using TRM100 as Control amp Navigation Terminal NAVIG Menu a Selecting the Homing or Bearing Mo
26. 409 20 Appendices Fix Quality Index As an example for a station to mobile distance of 23 km and with a single frequency receiver we have LPME max 38 mm n kinematic the fix quality index can range from 14 to 19 When itis less than 14 the position computation is re initialized If only 4 satellites are used the LPME cannot be determined and so the fix quality index is forced to 15 to warn the user The quality index is maximum 19 for an accurate solution KA It is maximum 18 for a real time solution KR 410 Appendices Sagitta Quick Start Leaflet Sagitta Quick Start Leaflet Mount Sagitta in cabin Mount GPS antenna at best possible location for a wide open view of the sky Mount Radio antenna Radio antenna GPS antenna Sagitta unit Adapter C 05050216 Cable C5050168 30 m or P0101131 10 E Interfacing Cable P 05050156 1 m Cable P0101243 Cable C5050196 10 m Cable P0067035 or C5050188 30 m DC Power Source 12 24 V DC Connect GPS antenna and possibly radio antenna to Sagitta Connect Sagitta to TRM100 or third equipment on board Connect receiver to power source Sagitta automatically switches on Green LED lights up Let Sagitta run initialization This phase denoted by yellow LED continually lit with dual frequency receiver starts blinking with equal ON OFF states when L1 received After
27. Lica carrier phase deviation Pi C A code deviation Pi C Auicode deviation L2 carrier phase L2 carrier speed 244 2 characters and channel No in hexadeci mal Satellite PRN number In 10 units of a second propagation time corrected for clock error minus clock error In 10 units of a cycle modulo 10 cycles mi nus clock error In 10 units of a cycle s In dB Hz Coded in 4 bits 1 ASCII character O to F bit 0 0 not used bit 1 0 if code P 1 if code Y antispoofing bit 2 1 if Lica phase measurement not valid bit 3 1 if L2p y phase measurement not valid Coded in 8 bits 2 ASCII characters O to F MSB first bits 0 to 4 cumulative loss of continuity indica tor complies with RTCM message 18 counter modulo 32 incremented every time the continuity of the carrier phase measurement is lost bits 5 to 7 data quality indicator See page 227 Coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 3 pseudo range multipath error indica tor complies with RTCM message 19 1111 multipath error not determined bits 4 to 7 pseudorange data quality indicator See page 227 In 10 units of a cycle modulo 1 cycle cen tered around zero In 109 units of a second In 10 units of a second In 10 units of a cycle modulo 10 cycles of L2 minus clock error In 10 units of a cycle Raw Data Outputs in ASCII Format SVAR Q Dual f
28. Q TRM100 Software CANNOT be used throughout initialization 412 ATD Bearing mode CTS CTW DTW Homing mode Leg Position mode Primary antenna Marine Survey Receivers User Manual Glossary Glossary Along Track Distance Distance still to go pro jected onto the leg Navigation mode based on a waypoint that you specify This mode provides graphic information to help you reach that point according to the bearing angle defined by the waypoint location and your current location when you select this mode The basic positioning information from the stan dard display is recalled on the right of the chart Course To Steer to head for the target waypoint along a great circle Course To Waypoint Angle measured with respect to True North from your current position Distance To Waypoint The distance measured along a great circle still to travel before getting ata waypoint Navigation mode also based on a waypoint that you specify This mode provides graphic informa tion to help you reach this point along a great circle The basic positioning information from the stan dard display is recalled on the right of the chart The path along a great circle between any two successive waypoints in a route Provides positioning information position speed course etc This mode can be used when no fur ther navigation information is required The mobile position and the possible wayp
29. bit 1 0 if P code or bit 1 1 if Y code anti spoofing bit 2 1 if L1c 4 phase measurement invalid bit 321 if L2p phase measurement invalid Coded in 8 bits 2 ASCII characters O to F MSB first bits 0 to 4 cumulative loss of continuity indica tor as in RTCM message 18 bits 5 to 7 data quality indicator as in RTCM message 18 Coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 3 pseudorange multipath error indica tor as in RTCM message 19 bits 4 to 7 pseudorange data quality indicator as in RTCM message 19 In 10 units of a cycle modulo 1 cycle Cen tered at 0 In 10 units of a second In 10 units of a second In 10 units of a cycle modulo 40 L2 cycles In 10 units of a cycle per second Raw Data Outputs in ASCII Format SVAR D Differential Data L2 carrier quality index Coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 4 cumulative loss of continuity indica tor as in RTCM message 18 bits 5 to 7 data quality indicator as in RTCM message 18 lt P Y code quality index Coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 3 pseudorange multipath error indica tor as in RTCM message 19 bits 4 to 7 pseudorange data quality indicator as in RTCM message 19 E gt Nn ie m Les la 3 o lt eoln gt In single frequency the last fields in the line starting from Lipy Lica car rier phase devi
30. 0 or close to 0 if there is some uncertainty on the orientation Perpendicular to the ship s longitudinal axis Calibration value 90 or Ex cec cce cc te dp EN close to 90 if there is some uncertainty on the orientation a When to perform or resume calibration At equipment delivery the calibration value in Aquarius is 0 Conse quently if you are absolutely sure to have oriented the antennas in the same direction as the ship s longitudinal axis you can conclude that no calibration is required On the contrary a calibration procedure will be necessary in ALL other cases of orientation whether you accurately know this orientation or not Likewise if you accurately know the direction of the two antennas and in the same time you do not know which calibration value was entered in Aquar ius then you must check this value and change it if it is wrong There are two different methods possible for calibrating Aquarius Manual calibration 2 procedures a static one and a dynamic one Automatic calibration a dynamic procedure 60 Aquarius Only Processing Modes Heading Processing Principles a Manual Calibration along a Quay Measurement conditions Dock the ship to keep her immobile in a known direction for exam ple align the ship along a quay with accurately known orientation true heading Check that the calibration value currently used by Aquarius is 0 Read the heading me
31. 1 Port D allows acquisition of corrections data via built in UHF reception module Receiver defined as DGPS corrections receiver R Transmitter Id 8 2 blank fields Identification of the secondary mobile unit 14 3 Select the RELATIVE processing mode PDAS FIXTYP 1 P N 80 1 14 Command line No 1 P for Primary point N for normal direction of relative positioning Secondary in re lation to Primary Fix mode RELATIVE 80 Source of corrections LRK 1 Identification of secondary mobile 14 PDAS FIXMOD 5 1 Multi mode processing 5 Reference to FIXTYP command line number 1 ye pan o amp ad 5 e a gt zA SE E A E a p 49 50 Aquarius Series Processing Modes DGPS Processing DGPS Processing Q Precision Level Metric depending on constellation status GDOP etc Specific Requirements Hardware U Link or HM Link built in reception module or external re ceiver demodulator attached to Aquarius via one of its serial port Firmware Aquarius standard version no additional firmware option re quired Corrections data RTCM SC104 data in 6 of 8 character format 1200 or 4800 Bd type 1 2 3 9 Configuration Guidelines Use the DGNSS menu see page 24 or use the TRM100 PC Software to send the adequate commands to the receiver from the Terminal view see pages 123 and 124 From the Terminal view the following set of commands should be u
32. 1x Power cable 2 meters long Antenna kits associated with radio options UHF Marine 30 meter antenna kit P0101390 1x KX13 N m N m coaxial cable low loss 30 meters long C5050168 1x CXL70 3 dB UHF antenna N female connector mount ing parts Low band 400 430 MHz C3310145 Medium band 420 450 MHz C3310146 High band 440 470 MHz C3310175 1x KX15 TNC m TNC m coaxial cable interfacing 1 m long P05050156 1x TNC f N f adapter C5050216 Aquarius amp Aquarius Equipment Description Aquarius amp Aquarius Hardware Options UHF Marine 10 meter antenna kit P0101391 1x KX13 N m N m coaxial cable low loss 10 meters long P0101131 1x CXL70 3 dB UHF antenna N female connector mount ing parts Low band 400 430 MHz C3310145 Medium band 420 450 MHz C3310146 High band 440 470 MHz C3310175 1x KX15 TNC m TNC m coaxial cable interfacing 1 m long P05050156 1x TNC f N f adapter C5050216 HF MF Marine 30 meter antenna kit P0101503 1x DHM 5000 dual band HF MF antenna P0100084 1x marine mounting kit PO71448A for DHM 5000 antenna 1x KX15 TNC m TNC m coaxial cable low loss 30 m long C5050195 1x antenna interface P073815A HF MF Marine 10 meter antenna kit P0101505 1x DHM 5000 dual band HF MF antenna P0100084 1x marine mounting kit PO71448A for DHM 5000 antenna 1x KX15 TNC m TNC m coaxial cable low loss 10 m long C5050196 1x antenn
33. 3GaDODODOO EDGPS Processing Precision Levels 2 00000000 ive Positioning Processing Definition Secondary Mobile Specific Requirements _ Primary Mobile Configuration Guidelines DCODOOUO 5 6 7 Aquarius Only Processing Modes Sagitta Series I nstallation Q Example Introduction Marine Survey Receivers Table of Contents Heading Processing Principles Q Introduction DODODODD z t y o T D ar 2 S S Heading Processing Implementation Q Specific Requirements GPS Antenna Sagitta Unit Rx 4812 U LINK amp Rx 1635 HM LINK Options Radio Antenna UHF or HF MF Tx 4800 U LINK Option iii Marine Survey Receivers Table of Contents 8 Sagitta Series Getting Started 81 DC Power 0 020 000 00 00000 LLL 81 D Switching on Sagitta is Automatic at Installation 81 Q Switching off Sagitta Manually 0 000000000 0 81 0 Switching on Sagitta after Intentional Power Removal a 81 Q An initialization Phase Takes Place after you Switch On the Sagitta 82 Checking that Operational Status is reached 82 Using TRM100 as Control amp Navigation Terminal 84 Q Preliminaries 000000000000 LLL 84 Q Identification Screen 0 000 0000000000000 84 Q Data Screens 00 00 000 0000 0000000 85 9 Sagitta Series Processing Modes 87 10 3011
34. Antenna On Primary Antenna Heading or Relative OTF processing may be run simultaneously with one of these 5 processing modes Position Heading Heading Relative North North Heading Heading Fixed baseline Primary Primary position computed according to chosen processing Position Relative Relative OTF AX AY AZ Variable baseline Primary Primary position computed according to chosen processing Q Fixed baseline SNO Relative AX AY AZ Primary Remote separate Primary position not computed system Heading Rel Relative Relative OTF AX AY AZ Variable baseline Data Link Primary RY Relative Remote AX AY AZ separate Primary position not computed system 65 7 gt 5 G amp D n o 2 a ee so 2 5 es Nn 5 Aquarius Only Processing Modes Multi Mode Operation 66 Sagitta Series Equipment Description Standard Supply 6 Sagitta Series Equipment Description Standard Supply The Sagitta 01 P0100749 or Sagitta 02 P0100750 receiver is delivered in a non reusable cardboard box The following items are provided 1x Sagitta 01 or 02 unit depending on purchase order 1x GPS antenna NAPO01 or NAPO02 depending on purchase order NAP 001 P076311B NAP 002 PO101158 Firmware modules RAWDAT WAAS EGNOS EDGPSMODE USERGEOID FASTOUTPUT 1x power cord 2 meters P0067035 1x data cord DB9 male DB9 female 2 meters P0101243
35. Ask the secondary mobile to transmit GPS data via port D PDAS DGPS MODE 1 D E 8 Command line No 1 Output port for GPS data D Secondary mobile used as source of data E E for emission or transmission Transmitter Id 8 antenna number 2 Choose straight GPS as the fix mode and LRK as the type of transmitted data PDAS FIXMOD 3 Straight GPS fix mode 3 you could choose any other fix mode Define the content of the data output on port D PDAS PRANGE 1 D 1 10 7 Command line No 1 Output port for GPS data D Output mode Time 1 Output rate 10 units of 0 1 s or 1 0 s Data type SBIN R Data in LRK format 7 Aquarius Series Processing Modes Relative Positioning Processing Primary 1 Let the primary mobile know the characteristics of the transmitter broadcasting data from the secondary mobile PDAS DGPS STATION 8 ESCORT 4716 52 N 00129 54 W UHF 444550000 i ee e GN 2 Transmitter Id 8 Transmitter Name ESCORT Transmitter position entered not involved in the process Transmission band UHF Cartier 444 55 MHz Range 30 km 2blank fields Baudrate 4800 Modulation type G GMSK Encryption N none Antenna number 2 2 Configure the built in UHF reception module so that it can receive and decode the data from the secondary mobile unit No 14 at tached to transmitter No 8 PDAS DGPS MODE 1 D R 8 14 Command line No
36. Bits 4 to 7 pseudorange data quality indicator See page 227 265 5 Nn is zZ mj la 5 E sjndyno veq Mey Raw Data Outputs in SBIN Format SBINQG Q Single frequency GPS WAAS EGNOS pseudoranges in receiver time SBIN Q Single frequency GPS WAAS EGNOS pseudoranges in receiver time a General form lt stb gt lt Q gt lt long gt lt time tagging gt lt parameters gt lt Raw Data 1stSV gt lt Raw Data last SV gt lt checksum gt lt etb gt a Time tagging First 2 bytes Next 3 bytes Next 3 bytes Last byte a Parameters A single byte Bits 0 and 1 Bit 2 Bit3 266 2 bytes 2 bytes 9 bytes 1 byte 15 bytes 15 bytes 2 bytes 1 byte GPS week number assuming the modulo 2 ambiguity has been solved GPS time in week unit 1 10 s The reference time is Jan 6 1980 at OhrOO Delay in micro seconds defined as GPS time of measurement GPS time in week Z count 0 Reserved Code smoothed by carrier according to RTCM message 19 Smoothing Interval 00 OtoLminute 1 Type of time tagging O time tagging estimated from decoded naviga tion data 1 time tagging computed from position amp time solution clock error subtracted from code amp phase measurements Raw Data Outputs in SBIN Format SBIN Q Single frequency GPS WAAS EGNOS pseudoranges in receiver time Bits 4 and 5 Sensor Id number 0 to 3 Default value 0 for
37. HRP Sentence No 17 PDAS HRP poyndurod 3011 and Aquarius only S 2 z 2 9 z ES 5 Dn Message length 57 characters max PDAS HRP hhmmss ss x Xx T X Xx X Xx x xxx a hh C R ILF Mode indicator 4 Number of common SVs involved in the heading processing 3 Heading standard deviation in degrees Pitch angle 2 L Roll angle 1 Heading True UTC time Proprietary sentence header 1 90 positive if port up amp starboard down not signed if positive blank field if invalid 2 90 positive if bow up amp stern down not signed if positive blank field if invalid 8 Number of satellites received concurrently by the two GPS antennas 4 Mode indicator A Available E Estimated Dead Reckoning Mode N Data not valid Example PDAS HRP 090144 10 270 15 T 3 45 0 40 08 A hh O 223 1 6 Computed Data Outputs Sentence No 17 PDAS HRP 224 Raw Data Outputs in ASCII Format Notation rules 17 Raw Data Outputs in ASCII Format Notation rules a Reserved characters 021 lt stx gt Beginning of message B 210 Format indicator ae 2C Field delimiter 5s 401 Checksum delimiter ef 2En Decimal separator 5E 22h Beginning and end of label 8 ODh 0An lt eoln gt End of line 03h eb End of message Subscript letter at the end of a character string means that this string is in hexadecimal notati
38. I E Q l1 Dn 379 20 Appendices 3011 GPS Compass Technical Specifications a General Characteristics 9 to 36 V DC power voltage floating Consumption without any option connected lt 15 W Weight Processor 1 9 kg 4 19 Ib Antenna 2 1 kg 4 63 Ib with mast Operating temperature Processor 20 C to 55 C Antenna 40 C to 70 C Storage temperature 40 C to 70 C Water tightness processor IP42 Antenna IP66 Q Interfaces 1 RS232 input output port 2 RS422 input output ports 1RS422 input for RTCM104 DGPS corrections 1 TTL compatible event input 1 TTL compatible MOB input 1RS422 1PPS output 1VGA screen output Baud rates 1200 to 115200 Bd Protocol NMEA 0183 version 3 0 NMEA 0183 sentences GGA GLL GMP GRS GSA GST GSV HDG HDT RMC VTG OSD ROT VBW VHW ZDA proprietary sentences 380 Appendices 3011 GPS Compass Connection to NT920 HDI unit 3011 GPS Compass Connection to NT920 HDI unit The diagram below shows how to connect the 3011 to the NT920 HDI from Navitron Systems ltd In addition to the NMEA format this connection allows you to use the STEP BY STEP format 3 6 12 24 steps per degree and the Furuno format ADIO Clock Data to control any compatible equipment 3011 port A RS422 Sub D9 female Connector shown from 560000 outside the unit Og Qo Oo bO Output Messages GPHDG or GPHDT Serial lin
39. L2 cycles In 10 units of a cycle 239 E gt Dn cel imi 5 la 5 E syndyno gd sey 240 Raw Data Outputs in ASCII Format SVAR R Dual frequency GPS pseudoranges in satellite time L2 carrier quality indicator Coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 4 cumulative loss of continuity indica tor complies with RTCM message 18 counter modulo 32 incremented every time the continuity of the carrier phase measurement is lost bits 5 to 7 data quality indicator See page 227 P Y code quality indicator Coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 3 pseudo range multipath error indica tor complies with RTCM message 19 1111 multipath error not determined bits 4 to 7 pseudorange data quality indicator See page 227 lt eoln gt a Data block example IR 945 409517 0 amp P 30 0 3 2137408867 7051638 1159380 51 2 0B 8F 23 50 45 50D 76954 903432 01 6F 1 6 2275926394 9438843 3673120 39 2 60 BF 43 17 18 5496814 2862292 81 DF 2 19 2259497283 5974953 13A74584 39 A 43 BF 0 208 0 A1 EF 3 17 2155976904 3988834 2716264 48 2 21 8F 23 143 211 1373394 2116524 01 7F 4 21 2242445140 6696450 2660704 47 2 46 9F 20 64 28 5048311 2073184 21 8F 5 22 2123818935 3 1570001 1821372 51 2 42 7F 12 158 234 1893847 1419264 01 5F Raw Data Outputs in ASCII Format SVAR Q Single frequency GPS WAAS EGNOS pseudoranges
40. MXe xXOEXWNwL Data described from pages 228 to 236 PDAS Command Library PDAS EVENT PDAS EVENT Q Function Edits the definitions of accurate time data outputs in SBIN M or SVARIM format triggered on occurrence of chosen events a Syntax Set command PDAS EVENT a b c d e hh CR J LF Query command all output definitions returned PDAS EVENT hh CR J LF Query command only specified output definition returned PDAS EVENT a hh CR LF Q Parameters Format i 1 Comments e a XX 1 Output number 1 2 etc E b a Output port identification A B etc E Triggering event zi 3 1PPS deactivated output m x 1 External event deactivated output s 0 No output deactivated amp 3 1PPS activated output E 1 External event activated output d XX Triggering event division ratio 22 Data type e X X 2 SBINQ M data output 4 SVAR M data output hh Checksum optional CRIILF End of command 313 9 PDAS Command Library PDAS EVENT a Examples PDAS EVENT 1 Query about output 1 definition PDAS EVENT 1 A 1 1 2 08 Reply output 1 activated provides SBIN M data on port A on every occurrence of the external event PDAS EVENT 1 A 3 2 4 Redefining output 1 so that it delivers SVAR M data on portA on every other occurrence of the 1PPS If the last command above was sent via port A then data blocks will appear on the terminal sc
41. Multi station operation is also discussed in this section Section 16 describes the computed data outputs that can be enabled if you use the receiver s default configuration Section 17 describes the raw data outputs in ASCII format Section 18 describes the raw data outputs in binary format Section 19 is a compilation of all the PDAS commands through which you can control the configuration and operation of your receiver Not all the PDAS commands can be applied to a given type of receiver For example it makes sense to use the PDAS commands relevant to heading measurements in the 3011 or Aquarius but not in the Sagitta or Aquarius It is therefore from a good knowledge of the receiver you are using that you will be able to deduce the set of PDAS commands that suits your receiver Section 20 discusses various topics for each of the receivers such as special procedures specifications accessories etc Marine Survey Receivers Table of Contents Table of Contents 1 Aquarius amp Aquarius Equipment Description 1 Standard Supply 000000 LLL 1 Q Aquarius I Q Aquarius 0000000000000 LLLA 2 Firmware Options lt oaa aaa a 3 Q Aquaius 00000 000000000000 LLLA 3 EE AQUARIUS CDD EDD 3 Aquarius Upgrades 0 0 0000000 000 3 Aquarius amp Aquarius Hardware Options 222222 4 RECOGNI ot Se 6 Q Front Panel 0 0000 0 oo LLL 6 Q RearPanel 000000000 LLLI 6 Receiver Brac
42. To adjust the contrast of the simulated screen click E3 repeatedly or hold it depressed until you get the desired contrast To display the properties of the view left click ET In the menu that ap pears select Properties The dialog box that opens allows you to adjust The sound heard when pressing any key with the mouse a sound when pressing a sound when releasing the key A sound is de fined by its frequency in Hz and its duration in ms The higher the frequency the higher the note produced 114 3011 GPS Compass Getting Started TRM100 PC Software The background color of the simulated screen Click inside the field showing the color currently used to access the color palette and choose one The Restore Connection option is not used About the editable fields shown on the screen When accessing any screen containing this type of field a cursor is shown a red line under the first editable field Togo to the next editable field if any on this screen press the Right key You can also click on the editable field directly to move the cur sor under this field There are two different cases to change the content of an editable field Inthe preset fields press the Up or Down key directly to scroll through the possible values and to display the desired one n purely numerical fields type the new value directly over the displayed one To move the emulation within the TRM100 window left click on
43. With Aquarius however not only can this mode be implemented between two remote receivers as explained for Aquar ius on page 45 but also between two GNSS antennas each being connected to a specific GNSS input on the same Aquarius receiver In this type of application the Relative Positioning processing is used for example to measure the baseline variations due to ship de formation or to monitor the movements of a mobile part on the ship a crane for example with respect to any fixed point on the ship structure DGPS processing WAAS EGNOS processing WADGPS GPS processing 35 56 Aquarius Only Processing Modes Heading Processing Principles Heading Processing Principles a Introduction The heading processing is typically used to determine the ship s heading angle In the heading processing two GNSS antennas are used One is called the primary antenna attached to GPS input 1 on the receiver the other is called the secondary antenna attached to GPS input 2 Two fundamental parameters are involved in this processing resulting from the way the two antennas have been installed Baseline horizontal distance between phase centers Knowing this distance is a prerequisite for heading computation In a preliminary step Aquarius will compute this distance which you will have to en ter before heading computation can actually take place Direction of the line passing through the two phase centers with re spe
44. all single sensor receivers Bit6 0 Reserved Bit7 0 single frequency measurements a Satellite Raw Data 1st byte SV number Next byte 0 Reserved Next 4 bytes C A code pseudorange unitz10 S propa gation time Next byte bits O to 4 Level indicator C No 26 dB Hz bits 5 to 6 not used bit 721 if phase measurement not valid Next 3 bytes L1cya carrier phase unit 10 cycle modulo 10 cycles 5 Nn is zZ mj la 5 E smdmo veq Mey Next 3 bytes L1cya carrier speed unit 4x10 cycle s field 32 Hz MSB sign 800000h measurement not valid Next byte L1cya carrier quality indicator Bits 0 to 4 cumulative loss of continuity indicator complies with RTCM message No 18 counter modulo 32 incremented every time the continuity of the carrier phase measurement is lost Bits 5 to 7 data quality indicator See page 227 Last byte C A code quality indicator Bits 0 to 3 pseudorange multipath error indica tor complies with RTCM message No 19 1111 multipath error not determined Bits 4 to 7 pseudorange data quality indicator See page 227 Owing to the fact that they are received later pseudoranges from WAAS EGNOS satellites are output in a separate block 267 Raw Data Outputs in SBIN Format SBIN Q Dual frequency GPS pseudoranges in receiver time SBIN Q Dual frequency GPS pseudoranges in receiver time a General form lt stb gt lt
45. amp I ge un 5 5 9 a SOLIS EBES With the TRM100 keypad display unit you can only work on the receiver via interactive display not in command mode What can be done with the TRM100 unit is fully described in the Using TRM100 as Control amp Naviga tion Terminal section on page 137 Alternately the interactive display can be used as Navigation terminal Note that the Remote Display view of the TRM100 PC Software is in fact an emulation of the TRM100 keypad display unit If you start working with the default Sagitta configuration unchanged see description on page 368 none of the preset output messages will be en abled To enable the desired messages use TRM100 see page 164 or use PDAS OUTMES see page 348 83 84 Sagitta Series Getting Started Using TRM100 as Control amp Navigation Terminal Using TRM100 as Control amp Navigation Terminal Q Preliminaries Read context of use on page 82 The TRM100 should be connected to the receiver as follows TRM100 keypad display connect the TRM100 unit to the receiver via its TRM connector using the serial cable provided TRM100 software version use an RS232 line to connect the PC running the TRM100 PC Software to the receiver use port B for ex ample or port A via an RS232 RS422 converter cable Identification Screen When starting Sagitta and TRM100 an identification message is displayed on the screen The information provided al
46. c eR eo a mio 5 Receiver AO Ty Port D Aquarius RS422 cable LLL External Power Source 10 to 16 V DC Port C Sagitta 2m cable length 2 m N 19200 Bd 8 data bits no parity 1 stop bit 199 1 5 Using the U Link Transmitter Setting Sagitta or Aquarius as a UHF Reference Station Setting Sagitta or Aquarius as a UHF Reference Station For the attention of 5000 receiver users Unlike the 5000 series the new series of Aquarius receivers cannot be operated under control of programmed sessions So do not try to use the PDAS command you used to send to your 5000 station to let it operate according to planned sessions Also when you use the ConfigPack software to create a con figuration file for an Aquarius receiver please leave the SESSIONS module blank a Entering the Precise Coordinates of the Station From the main menu see page 23 select successively F3 AUX F2 INIT F2 POSIT Enter all the information relative to the location of the station geod esy coordinates to within 1 10 000th of a second Jul 01 2002 Q 3 DA eas UTC 15 29 21 hacky o7 10S s 47 17 56 3423N wese4 00 0 KT 001 30 32 5746W 82 70m DO EE AE JMAIN AUX INIT POSIT Altmode Offset Ems1 Wass4 000 000 m None Geodesy WGSS4 Estimated position 14 52 40 1200N 012 46 10 1200W 0007 657 m zee pee Click OK to enable your entries 200 Using the U Link Transmitter Sett
47. receiver P Station involved in primary mode B Station involved in backup mode If blank station not used se QOTIALL SUSAN a S i zi e z L3 lt m S Z I E 155 4 Using TRM100 as Control amp Navigation Terminal DGNSS Menu Monitor screen 2 3 Example UTC 17 09 58 47 17 9378672N 001 30 543216W Mar 05 2002 LRK NONE Q 18 TD08 02s 08 108vs WGS84 00 0 KT 88 42m COGESEST ES MODE Primary The following information is shown on this screen for each station re ceived from left to right No Station B Frq Sn Qu 156 Transmitter Id Transmitter name Transmission frequency band Carrier frequency Signal to Noise Ratio in dB Quality figure for a UHF station 1 station not received 0 carrier detected but no data detected 1 to 10 carrier detected and data decoded 1 to 3 very poor reception single freq station 4 to 6 intermittent reception single freq station 7 to 10 good quality reception single freq station Bit error rate for an HF MF station 0 bit error rate 10096 10 bit error rate 096 Using TRM100 as Control amp Navigation Terminal DGNSS Menu Monitor screen 3 3 Jun 19 2002 DGPS Q 8 TD09 03s UTC 15 19 40 424 09 098Vs 47 17 937897N Wass4 00 0 KT 001 30 543346W 90 86m COQUO ae Er R B SNR Lev St 1800 0Khz 50 HF 26 64 NR The followin
48. triggering threshold 34 V DC the unit is automatically turned on a From Voltage Drops If the power voltage drops below 9 V DC for more than 100 ms a power off procedure is started Power shutdown will be effective after maximum 8 seconds Re start up is automatic as soon as the power voltage exceeds 9 5 V DC a From Current Surges If the DC current flowing across the unit is greater than 3 Amps for more than 100 ms the unit is automatically turned off After a delay of 2 4 seconds the re start up procedure is initiated automati cally 384 Appendices Connector Pinouts and Cables All Receivers Connector Pinouts and Cables All Receivers a AUX Connector Aquarius and Aquarius only Sub D9 male Pin No Signal Designation 1 GND Electrical Ground Defines active edge of external event signal 2 SENS EVT rising edge if grounded falling edge 1 5 if not connected 3 EVT External Event Input DN eC 4 1PPS1 6 9 5 IPPSI 1 PPS symmetrical output 6 NC Not connected Connector shown from 7 NC Not connected outside the case 8 NC Not connected 9 NC Not connected Sagitta and 3011 GPS Compass only Sub D9 male Pin No Signal Designation 1 GND Electrical Ground Defines active edge of external event signal 2 SENS EVT rising edge if grounded falling edge 1 5 if not connected EVT External Event Input ery 6 9 3 4 1PPS2
49. via Aquarius s B port PDAS DGPS MODE 1 B R 710 Command line No 1 Port B allows acquisition of corrections data from external rec Receiver defined as DGPS corrections receiver R Next parameter Beacon ld omitted to let the receiver acquire corrections from the specified serial port B Identification number of the reference station received 710 If this argument is omitted all corrections will be acquired without testing the reference station Id 2 Choose the desired fix mode PDAS FIXMOD 7 1 710 LRK with OTF initialization 7 Source of corrections 1 DGPS KART LRK Identification of the reference station 710 If this argument is omitted the processing will use the only set of corrections available 34 Aquarius Series Processing Modes LRK Processing a Corrections Data Outputs The corrections data received on the Data link input can be routed to a se rial port for archival or post processing purposes Four output formats are available Acquisition Possible output formats format ea RTCM SVARID ewe v v1 pak LY 7 ww Cd For example to let the receiver output data on its B port in immedi ate mode and LRK format use the following command PDAS DGPDAT 1 B 3 2 aU pan zi WE Sz ad 5 amp ga y 2 ET as PE Nn 35 Aquarius Series Processing Modes KART EDGPS Processing KART EDGPS Processing Q Precision Levels Real Time C
50. 00 0000 o LLL 293 PDAS COMMNT JJ 0 0 20022 LLL 295 PDAS CONFIG 0 0 0000000 LLL 296 PDAS CONFIG INIT 0 0000000 LLL 297 PDAS CONFIGRREAD 0 0000 298 PDAS CONFIG RESET 1 1 0 0000 299 PDAS DEFLT 300 Marine Survey Receivers Table of Contents PDAS DGPSIDELSTA 00002022 LL LLL 302 PDAS DGPS MODE E se 303 PDAS DGPS MODE R 2L LLL 305 PDAS DGPS STATION 22D 307 PDAS DGPDAT 2222 LLL 309 PDAS EVENT 222022 LLL LLL 313 PDASFILTER s o e Ls 315 PDAS FILTYP O 316 PDAS FIXMOD_ 22 LLL LLL 317 PDAS FIXPAR o LLLI 319 SPDAS FIXDY DEL sieur AS le rca rm E Santa EI MR MER 320 PDAS FMT 5 2 LL RR 323 PDAS GEO uuo turc a e UT 324 PDAS GEODAT 00000022 LLL 326 PDAS GEOID HEIGHT 0 LLL LLL 327 PDAS GEOID READ 0000200 LLL LLL 329 _GLLand _GPQ GLE o LLL 331 PDAS GNOS_ 02022 332 GPQ 220202 LL LLL LLL 334 SPDAS GPSDAT eo c reuse apu oe oe eS ee cs 336 PDASHARDRS 0000002 LLL 338 SPDAS HEAIEES Ls coe deu tn pdt ere e the 339 PDAS HDGINI 0020222 LLLLLLL 340 PDASHDGSET 22002 341 PDASHRP O JL LLL 342 PDAS IDENT 22222 LLL 343 SPDAS NAVSEL iux cota ue ense rco uc Pec LI es m in 347 PDAS OUTMES O 348 PDAS OUTON and PDAS OUTOFF 0022 350 PDAS PPRANGE 2222 LLL 351 SPDAS PREFRLU a e muss AL aestu hU ae a RUE UCM 353 PDAS PPREFNE 0 o LLL 354 SPDASIQO S ooo S LL EL LL mn 355 PDAS RAZALM 000000 LLL LLL 357 PDAS SSCREEN 2L LLL 358 P
51. 000 98 000 121 000 0 000000 0 000000 0 000000 ion 2 OSGB36 OGB M 6377563 396 299 324964600 1 000000000000 375 000 111 000 431 000 0 000000 0 000000 0 000000 Log 3 NAD27 NAS C 6378206 400 294 978698200 1 000000000000 8 000 160 000 176 000 0 000000 0 000000 0 000000 pal 4 SAD69 SAN M 6378160 000 298 250000000 1 000000000000 57 000 1 000 41 000 0 000000 0 000000 0 000000 B 5 CAPE CAP 6378249 145 293 465000000 1 000000000000 136 000 108 000 292 000 0 000000 0 000000 0 000000 Lohn 6 TOKYO TOY M 6377397 155 299 152812800 1 000000000000 148 000 507 000 685 000 0 000000 0 000000 0 000000 Lond 7 HONGK HKD 6378388 000 297 000000000 1 000000000000 156 000 271 000 189 000 0 000000 0 000000 0 000000 Loft 8 SASIA SOA 6378155 000 298 300000000 1 000000000000 7 000 10 000 26 000 0 000000 0 000000 0 000000 Lo 9 ADG84 AUG 6378160 000 298 250000000 1 000000000000 134 000 48 000 149 000 0 000000 0 000000 0 000000 Eos 383 kzi I i Q l1 Dn Appendices Power Supply Protections All Receivers Power Supply Protections All Receivers a From Power Surges In the event of a power surge gt 36 V DC the unit is turned off immediately for safety purposes no prior warning causing the two LEDs to go off im mediately When the power voltage comes back to normal i e goes under the re
52. 1 i Comments a X 1 x Command line number P Primary mode S Secondary mode b 5 B Backup mode for primary mode BM Manual backup mode with manual restore BA Automatic backup mode with automatic restore according to parameters defined with command PDAS FIXPAR Entry mode used for station position 2 As transmitted via radio link default choice if blank field 1 Through command PDAS PREFLL or PDAS PREFNE E d 0 N Number of command line containing the station position entered through command P DAS REFSTA N or PDAS PREFLL or PDAS PREFNE d NR N Normal mode default choice if blank field R Reverse mode 0 1 86 Time during which computed data is averaged in seconds No 400 averaging if blank field 320 PDAS Command Library PDAS FIXTYP Format 1 i Comments Selects GPS fix mode same as a in FIXMOD 0 no fix computation 1 Residuals computation in transmitting reference station mode 3 Straight GPS fix mode 4 DGPS fix mode using WAAS EGNOS data or data from a reference station 5 Multi mode position processing f XX 1 110 6 to 30 Kinematic processing see table below Initialization KART LRK WideLane LRK KART EDGPS 6 16 26 OTF 1 17 27 STATIC 8 18 28 Z FIXED 9 19 29 KNOWN POINT 10 20 30 80 RELATIVE processing from data
53. 183213 999 3 4 231 247 248 Raw Data Outputs in ASCII Format SVARIA Almanac data SVARIA Almanac data a General form lt stx gt lt eoln gt IA time tagging lt eoln gt parameters eoln Almanac line lt eoln gt eb a Time tagging line IA GPS week gt lt GPS time eoln GPS week number Time in week in seconds Reference time is Jan 6 1980 at Ohr00 assuming modulo a ambiguity has been solved lt eoln gt a Parameter line Number of the SV corresponding to the transmitted almanac Almanac reference week number assuming the modulo 510 ambigu ity has been solved lt eoln gt a Almanac data lines Bits 1 to 24 from words 3 to 10 in subframes 4 or 5 depending on SV number Each GPS word bits 1 to 24 is split into six 4 bit strings which are hex encoded to form 6 bytes 0 to 1 A to F with the first byte corre sponding to bits 1 to 4 The almanac line is organized as follows lt word 3 gt lt word 4 gt lt word 5 gt lt word 6 gt lt word 7 gt lt word 8 gt lt word 9 gt lt word 10 gt lt eoln gt Raw Data Outputs in ASCII Format SVARIE Ephemeris data a Message example 1A 945 414504 2 4 945 4426B6 901606 F D3F00 A10D2F AAA009 DDC8B3 ECF 6F 5 01003B SVARIE Ephemeris data a General Form 5 gt Dn coi imi S m E syndjno gd sey lt stx gt lt eoln gt IE time tagging lt eoln gt parame
54. 1833066 2 47 8F 18 735902041 2822996 2 27 6F 21 730101608 5719453 2 27 6F 22 144255213 7491117 2 31 6F 23 838268133 5442711 2 9B AF 26 840898292 9111465 2 B1 AF 21 807057928 568055 2 8C AF 31 713302553 5219383 2 3A TF E gt Dn cel 5 la 5 E syndyno gd sey 235 7 Raw Data Outputs in ASCII Format SVAR R Single frequency GPS WAAS EGNOS pseudoranges in satellite time SVARIR Single frequency GPS WAAS EGNOS pseudoranges in satellite time a General Form lt stx gt lt eoln gt IR gt lt time tagging lt eoln gt lt soln gt lt parameters gt lt eoln gt soln 1st line of raw data lt eoln gt lt soln gt lt nth line of raw data lt eoln gt eb a Time tagging line IR GPS week GPS time gt lt eoln gt GPS week GPS time lt eoln gt a Parameter line lt soln gt lt filter time constant gt lt Antenna identification gt lt eoln gt a Raw data lines soln SV No C A code pseudorange gt 236 GPS week number Time in week in seconds Reference time is Jan 6 1980 at Ohr00 assuming the modulo 2 ambiguity has been solved 1st character lt amp gt data type 2 2nd character C L1 phase measurement C A code In seconds code smoothed by carrier 0 primary antenna by default lt 1 2 3 gt secondary antennas 2 characters and channel No in hexadeci mal S
55. 27 7 mm 1 1 76 Sagitta Series Installation Sagitta Unit Sagitta Unit As visual access to the Sagitta unit is not permanently needed it can be mounted inside a piece of furniture located in the cabin However allow for easy access to the control panel which may sometimes be required Also choose the installation site taking into account the location of the on board equipment the unit must be attached to The unit may be installed in horizontal or vertical position a Drilling Diagram Drill 4 holes Dia 7 mm 0 27 in the plane where to mount the unit e a S E oe fa E x E ae E SE NE i Elio AD e D Nn 12 los So 53 Ste cu 5 o 2 al E J o i 11 4 290 mm Hp 0 0 77 7 Sagitta Series Installation Sagitta Unit Q Typical Setup with Rx 4812 U Link Option Installed a Standard UHF antenna VGA Monitor NAP 001 or NAP 002 Sagitta unit d Adapter C05050216 m VGA AUX A B C TRM m Cable C5050168 30 m or P0101131 10 m HH H HH Interfacing Cable P05050156 1 m M Cable PO101243 A cable C5050196 10 m or C5050188 30 m Y cable P0067035 Cable PO101243 N RS232 RS422 converter cable PO75675A option DC Power Source 12 24 V DC 5 Use either of these links to connect Sagitta to the PC run ning TRM100 Software Cable P0100688 1
56. 5 ssedwop SdD TIOE sensors strictly at the same height when on a calm sea If for any reason the coaxial cable must be shortened Do not cut the end of the cable connected to the antenna as this end must remain fully wa ge on terproof r4 AS Wire the new TNC plug accord ing to the rules Only qualified personnel are allowed to do this In theory there is no minimum length required for this cable 95 1 ji 3011 GPS Compass Installation NAP 011 Antenna a Possible Orientations The arrow seen from under the radome tells you how to orient the antenna with respect to the ship The 3011 can be operated with one of the following two orientations for the antenna Arrow pointed to the bow see op posite This orientation choice will also allow pitch measurement Arrow pointed to starboard per pendicularly to the ship s longitudinal axis see opposite This orientation choice will also al low roll measurement In this case proper operation of the sys tem will require that you enter a horizontal offset of 90 or close to 90 in the 3011 processor The location of the antenna with respect to the ship s longitudinal axis does not matter What fundamentally matters is the orientation of the an tenna with respect to this axis parallel or perpendicular In addition whatever the orientation choice the antenna must always be horizontal a Aid to Orientation If onboard the sh
57. 5 PDAS SELGEO 0 21 Reply coordinate system 1 PDAS SELGEO 2 Selecting coord system 2 PDAS SELGEO Query PDAS SELGEO 2 23 Reply coordinate system 2 used 359 19 360 PDAS Command Library PDAS SVDSEL PDAS SVDSEL a Functions Allows intentional rejection of satellites from the position processing in the receiver Satellites may be GPS SVs or GEOs Lists the intentionally rejected satellites Reads changes the elevation threshold minimum elevation angle required of a non rejected satellite to be involved in the position processing Syntax Command relative to rejected satellites PDAS SVDSEL a b c d hh C R JF Command relative to elevation threshold PDAS SVDSEL a hh CR JLF Query command PDAS SVDSEL hh CR LF Parameters Format i Comments a XX Elevation threshold in degrees Indicates whether the P RNs that follow c d are those of the only satellites you wantto reject this will be obtained by setting b to 0 or are added to the list of rejected satellites in which b iX 0 lt b lt 210 ee also designate one of these satellites b 0 No Satellite is rejected except those specified in the next fields c d b 0 gt PRN ofa satellite you want to reject c X X 1 lt c lt 210 PRN of other satellite you want to reject d X X 1 lt d lt 210 PRN of other satellite you want to reject etc up to 12 SVs hh Checksum optional CRLF End
58. A phase measurement invalid bit 3 1 free lt L1 carrier quality index gt Coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 4 cumulative loss of continuity indica tor as in RTCM message 18 bits 5 to 7 data quality indicator as in RTCM message 18 lt eoln gt Example of L1 phase measurements and station position issued in the same block information received in proprietary UHF format from station No 99 1D 1153 569492 4 N 99 4331877 920 114119 170 4664433 510 K 99 10 0 2 1545 0 24 3 4761 0 04 15 6026 0 0F 17 6216 0 06 18 2352 0 08 21 8062 0 05 22 9411 0 10 231 17 SVAR D Differential Data Raw Data Outputs in ASCII Format a Code amp phase measurement line in LRK UHF format lt soln gt lt SV No gt lt C A code pseudorange gt lt Licya carrier phase lt Licya carrier speed lt L1cja C No gt lt L1 L2 channel status gt L1 carrier quality index C A code quality index lt L1py Lica carrier phase deviation Pi C ALi code deviation Pi C ALi code deviation L2 carrier phase L2 carrier speed 232 1 or 2 characters and channel number in hexadecimal optional Satellite PRN number In 10 units of a second modulo 10s In 10 units of a cycle modulo 10 cycles In 10 units of a cycle per second In dB Hz Coded in 4 bits 1 ASCII character 0 to F bit 0 0 free
59. Back to previous screen Access to next section of the menu Appendices TRM100 Functions Summary F1 M ANT F2 DATUM F3 REF POS F4 F1 OK F5 UNITS F2 TIME F3 LANG F4 F1 gt gt gt F5 BASE F2 OFFSET F3 F1 APPLY F4 POSIT F2 OK F5 HEADING F3 DESEL F4 gt gt gt F5 F1 KEYBRD F4 SCREEN F5 F1 F1 TEST F2 Iz F3 PORTS F3 lt lt lt F4 OUTPUT F4 OK F5 FI ACKNOW F5 MSGES F4 RAWDATA F5 FI gt gt gt F3 Fi F4 ADD F2 lok F5 PORT F3 Fie PORT F4 INIT F5 F3 lt lt lt F4 OK F5 F1 F1 N LINE F2 lt lt lt F3 MODIFY F5 J gt gt gt F4 OK F5 407 kzi I E z N 2 0 Appendices TRM100 Functions Summary a WPT RTE Function F lt lt lt F3 FI gt gt gt F4 es OK F5 OK F5 pis lt lt lt F3 gt gt gt F4 FI Fl OK F5 MODIFY F2 M p MARK F3 DELETE F3 WPT RTE WPTS F4 CREATE F4 T ROUTES F5 MANAGE P3 INSERT F4 F1 gt gt gt F2 Back to previous screen INSERT F3 DELETE F4 OK FS F1 MODIFY F2 FI DELETE F3 F2 CREATE F4 DELETE F3 ADD F4 OK F5 a MARK Function SAVE Fl MARK
60. Free Waypoints 991 999 Free Routes 18 20 Q Bad H 2 No Name Icon Position e E 2 MARK D01 47 19 000088N 4E D01 31 000009W d Z 92 983m es E j ES To scroll the list of waypoints up and down use the Up Down keys 5 To access the list of existing routes select F1 to come back to the parent menu F5 ROUTES As said previously the screen shows the definition of a single route at a time Use the Up Down keys to scroll the list up amp down JMAIN WPT RTE ROUTE Free Waypoints 991 999 Free Routes 18 20 ROUTE Foundatoo1 WAYPTS MARK_0014 MARK O02 MARK_O04 177 14 178 Using TRM100 as Control amp Navigation Terminal WPT RTE Menu a Creating a waypoint From the main menu see page 23 select successively F4 WPT RTE F4 WPTS F4 CREATE The screen then automatically switches to the Edit mode to allow you to type the definition of a new waypoint Jun 12 2002 LRK Q 18 TD11 02s UTC 16 26 44 NONE 09 115Vs 47 17 937583N wes84 00 0 KT 001 30 541020W 84 88m OGRA NE MAIN WPT RTE LIST CREATE Free Waypoints 991 999 Free Routes 18 20 No Name Icon Position 010 MARK_OO6 4 47 17 937570N DB01 30 541003W 0000 000 Note that the cursor is directly positioned on the waypoint name not on the waypoint number This is because the receiver automatically fills in this field after scanning the list of waypoints to determine the next available waypoint number For e
61. Input 1 19 na A E E 5 cSnienby o sniuenby 2 Aquarius amp Aquarius Installation Connections Required in Typical Applications a UHF antenna Aquarius 22 With Rx 4812 U Link amp Rx 1635 HM Link Options Installed HF MF antenna NAP 002 Primary antenna Cable C5050168 30 m or P0101131 10m Adapter C05050216 Cable C5050195 30 m Interfacing Cable P 05050156 1 m or 5050196 10 m y m 9 o Lar a le Antenna Interface d p P073815A am O 4 NAP 002 a_p Secondary antenna i O Cable C5050196 10 m comes able m or C50501 m PIO C5050188 30 m Le 2 p Im YS cable P0067035 DC Power Source 12 24 V DC 20 Aquarius amp Aquarius Getting Started Switching On Off the Receiver 3 Aquarius amp Aquarius Getting Started Switching On Off the Receiver Depress E to switch on the receiver For about 5 seconds the front panel screen first shows a few techni cal data about the receiver BIOS used copyright notice etc followed by a System Initialization message about 20 seconds Then an identification message is displayed see example below for about 5 seconds Aquarius example THALES ACUARTUS3 22 n i DEFAULT CONFIGURATION V1 0 09 03 2002 ueso UCROV20000 vees UCIMVI0045 US6B UCLNV30000 uep UC
62. It contains the necessary parameter settings for the reference configuration of an application or for any particular operating mode mobile reference station etc Current configuration saved in a non volatile memory This configu ration can be modified interactively by the user through TRM100 or proprietary PDAS commands The Default configuration can be loaded in place of the current configuration by sending the command PDAS CONFIG RESET The default configura tion then also becomes the current one The command PDAS CONFIG INIT can be used to make the initial con figuration the new current configuration PDAS CONFIG RESET PDAS CONFIG INIT Default Initial Current Configuration Configuration Configuration ConfigPack PDAS commands PC Software Firmware Non volatile memory 404 Appendices TRM100 Functions Summary TRM100 Functions Summary This chapter shows the organization of the functions available in the TRM100 By TRM100 we mean either the TRM100 keypad display termi nal option TRM100 unit or the software emulation of this option included in the TRM100 PC Software see Remote Display view Therefore the dia grams presented below apply to either the hardware of software version of the TRM100 a NAVIG Function Fl REVERSE F4 F1 OK F5 POSIT F2 HOMING F3 BEARING F4 Eis PROFILE F5 ZOOM F3 pe ZOOM F4 MODE F2 Fi GOTO F3 NAV
63. LRK format 29 35 37 LRK A 30 38 LRK R 30 38 M Manual backup 188 MSAS 402 Navigator receiver 28 NAVSEL 347 NMEA 0183 118 380 NMEA 0183 standard 281 Normal Times New Roman 282 NT920 HDI 381 O Orbits GPS satellites 395 OSD 222 OTF 30 38 OUTMES 348 OUTON OUTOFF 350 P Pilot 94 POSIT 30 38 Position solutions Types 30 38 Power Applying 103 Consumption 380 PRANGE 351 Precautions When using signals from GEOs dec 1998 401 PREFLL 353 PREFNE 354 Primary solution 188 Proprietary commands Conventions 281 Format 281 Marine Survey Receivers User Manual Glossary OC 355 R R_GEO 398 RAZALM 357 Reference station 28 353 354 363 20 2 Remote Display view TRM100 Software 114 ROT 221 RTCM SC104 35 44 210 S SBIN W 276 SBING A 273 SBIN E 273 SBIN R 261 266 SBIN R dual frequency 263 SBIN S 274 SBIN U 274 SBIN W 326 SELGEO 359 Sessions 200 EXPSES 313 Space segment 395 Square brackets 281 STATIC 30 38 Station Id number 204 SVARIA 248 SVAR D 228 SVARIE 249 SVARIR 236 SVAR R dual frequency 238 243 SVAR S 251 SVAR U 250 SVAR W 254 SVAR W 326 SVDSEL 360 Marine Survey Receivers User Manual Index Threshold values automatic calibration 110 TR 362 UNIT 363 VBW 222 VHW 222 Ww WAAS 317 399 400 402 WAAS EGNOS pseudoranges 53 54 WAD 398 WLANE 30 WMS 400 WRS 400
64. NM a 39 se QOTIALL Suits Waypoint il S i zi e z L3 lt m S Z I E 1 TTG Also displayed on this screen as a reminder name and coordinates of the target waypoint you are heading for 141 14 142 Using TRM100 as Control amp Navigation Terminal NAVIG Menu Bearing Mode Active The screen provides the following additional informa tion 1 2 TTG 3 CTS TS 189 4 DTW Visual Left Right indicator of Cross Track Error XTE You know at a glance where you are with respect to the leg followed Current Posi tion represented by a down arrow The scale is automatically adjusted to fit the current value of XTE Time To Go TTG an estimate of the time required before reaching the target based on the distance still to go and your current speed Course To Steer CTS to head for the target waypoint along a great circle Distance To Waypoint DTW the distance measured along a great circle still to travel before getting at the waypoint Along Track Distance ATD distance still to go projected onto the leg Cross Track Error XTE Normal distance from the current position to the leg being followed Course To Waypoint CTW angle measured with respect to True North from your current position 1 XTE Visual Indicator Jun 12 2002 LRK Q 18 TD11 02s U
65. Name LA FLEUR Reference coordinates 47 16 52 N 1 29 54 W Transmission band UHF Carrier 444 55 MHz Range 30 km 2 blank fields Baud rate 1200 Modulation type D DQPSk Encryption N none Antenna number 1 2 Configure the built in UHF reception module in order to let the re ceiver acquire and decode the corrections data generated by the reference station used in this example station No 14 used PDAS DGPS MODE 1 D R 8 14 Command line No 1 Port D allows acquisition of corrections data via built in UHF reception module Receiver defined as DGPS corrections receiver R Transmitter Id 8 2 blank fields Identification of the reference station generating corrections 14 This argument can be omitted if there is only one reference station attached to the transmitter aU pan zi WE Sz ad 5 amp ga y 2 ET as PE Nn 43 Aquarius Series Processing Modes KART EDGPS Processing 3 Choose the desired fix mode PDAS FIXMOD 6 1 14 Kinematic processing with EDGPS initialization 6 Source of corrections 1 DGPS KART LRk Identification of the reference station 14 This argument can be omitted if there is only one set of corrections available 4 Choose the differential position solution for your navigation needs PDAS NAVSEL 1 1 Differential position solution used for navigation 1 Navigation mode none 1 a Corrections data out
66. OUT OF BREACH OF THIS WARRANTY OR ANY IMPLIED WARRANTY EVEN THOUGH CAUSED BY NEGLIGENCE OR OTHER FAULT OFMAGELLAN NAVIGATION OR NEGLI GENT USAGE OF THE PRODUCT IN NO EVENT WILL MAGELLAN NAVIGATION BE RESPONSIBLE FOR SUCH DAMAGES EVEN IF MAGELLAN NAVIGATION HAS BEEN ADVISED OF THE POSSIBIL ITY OF SUCH DAMAGES This written warranty is the complete final and exclusive agreement between Magellan Navigation and the purchaser with respect to the quality of performance of the goods and any and all warranties and representations This warranty sets forth all of Magellan Navigation s responsibilities regarding this product This limited war ranty is governed by the laws of the State of California without reference to its conflict of law provisions or the U N Convention on Contracts for the International Sale of Goods and shall benefit Magellan Navigation its successors and assigns This warranty gives the purchaser specific rights The purchaser may have other rights which vary from locality to locality including Directive 1999 44 EC in the EC Member States and certain limitations contained in this warranty including the exclusion or limitation of incidental or consequential damages may not apply For further information concerning this limited warranty please call or write Magellan Navigation Inc 960 Overland Court San Dimas CA 91773 Phone 1 909 394 5000 Fax 1 909 394 7050 or Magellan Navigation SA ZAC La Fleuriaye BP 4
67. R 58s 11 4 e 290 mm 98 a 3011 GPS Compass Installation 3011 Processor Installation Examples On horizontal plane On vertical plane B z a E 2 S 5 ssedwop Sd IL0 For best operation of the 3011 in its environment it is advisable to con nect the calculator chassis to the ship ground via a wire connection This connection should be as short as possible On the calculator the ground terminal a solder terminal is located on the receptacle of the GPS in put 99 1 3011 GPS Compass Installation 3011 Processor oa Interconnections The diagram below shows all units to which the 3011 processor can be connected NAPO11 e THALES DHM5000 GPS Compass AU DC Power Source 12 24 V DC Repeater NAVITRON i Interface X ECDIS Navigation x System or other ARPA Radar MLR FX312 Pro or MLR FX412 Pro ECDIS Navigation System or other N 100 3011 GPS Compass Installation TRM100 PC Software TRM100 PC Software a Computer Requirements PC type computer Operating system Windows 95 98 2000 NT Processor DX2 66 minimum Pentium recommended RAM 16 MB minimum 24 MB recommended Space required on hard disk 12 5 MB approx 1 CD ROM drive 1 RS232 serial port available Q Installation Procedure Switch on the PC Insert the TRM100 CD ROM in the CD ROM drive From the Windows task bar select Start gt Run In the dialog bo
68. REL REF INIT No Station 0800 55 U452000000Hz GMSK 4800b s 029 NM DATAS LRK REFERENCE 0254 PORT D RATE synchrone NO PERIOD 5 0s TRANSMISSION OFF gU NEXT woprrv Press F5 MODIFY to define the characteristics of the transmitter and secondary mobile Beacon number beacon transmitter Beacon name 12 characters max Frequency band used U for UHF Carrier frequency in Hz Skip next parameter Modulation type GMSK The resulting baud rate is software set Estimated maximum range between secondary and primary mobiles Transmitted data format LRK necessarily Secondary mobile number reference station corrections source Port providing corrections data to transmitter select port D Station operation Select Rate synchron No Transmission rate a time interval in seconds Enable the beacon to transmit by setting the TRANSMISSION field to ON Press F5 OK to store all these characteristics in the receiver The receiver then starts operating as a secondary mobile generating pseudorange corrections and transferring them via port D to the transmitter to be broadcast to the primary mobile on the specified carrier frequency a 2 e ce n 5 e ae eo M xm 5 x 203 1 5 Using the U Link Transmitter Examples Examples a Transmitting Secondary Mobile See example on page 48 a Reference Station Transmitting Data in LRK Format The characteristics of the reference station
69. STOP and then F4 APPLY to enter the computed value as the new Used value Select F5 OK to allow the receiver to compute the heading angle T a 2s wu m Z 2 2 so 2 5 ee Nn 57 58 Aquarius Only Processing Modes Heading Processing Principles a Calibrating the heading measurement In a second step once the baseline is determined and heading measure ments are available a calibration must take place to compensate for the intentional or unintentional non alignment of the antennas with the ship s horizontal axis Several methods are proposed to do this as described below The reason why calibration is necessary is also explained Computing the calibration value offset is achieved in a way much similar to that of the baseline provided a dynamic calibration method is used Select the AUX gt INIT gt HEADING function Inthe Orient column enter 000 00 in the Used cell Select F3 OFFSET and watch the Average and RMS parameters in the Orient column as time passes time elapsed indicated on the right on top of the table Wait till the RMS value approaches or is equal to 0 00 The computed value of heading displayed in the Average cell is then assumed to be valid Compare this value to the known value provided by the condi tions of calibration see next pages Calculate the difference if it is negative see page 59 and then enter this difference into the Used cell With the static manual method
70. V RELATIVE Mode Data 280 PDAS Command Library Introduction 19 PDAS Command Library Introduction a Command Format a Conventions Used The format of all the commands available complies with the NMEA 0183 standard Magellan formerly Thales Navigation formerly DSNP formerly Das sault Sercel NP was assigned a manufacturer code by the NMEA 0183 Committee for all its proprietary sentences This code is DAS As a consequence the first field in any of our proprietary commands is PDAS The beginning of any field is denoted by a comma This character is the only one required to detect and identify a new field Most fields containing numerical data are of variable length Although from version 2 1 of the NMEA standard the checksum field is compulsory it is optional in all our proprietary sentences in order that commands can be sent from a simple non intelligent terminal or communications utility When the checksum field is present and the test on this checksum fails the command is rejected Any command that you send can contain empty fields If a field data is missing it is assumed to keep its current value e EI EI Z z a E T 5 E lt The following symbols and conventions are used in the description of the commands Square brackets used to bound optional parameters x x designates the format of any numerical data signed or not with or without decimal point and decimal pl
71. V DC 40 mA via coax Gain 39 dB approx Admissible loss in antenna coaxial 24 dB max which means for example a maximum length of 30 meters with RG223 type coaxial cable Temperature ranges 40 C to 65 C operating 40 C to 70 C storage 71 Sagitta Series Equipment Description TRM 100 PC Software TRM 100 PC Software This software program delivered on CD ROM is used to interface the Sag itta to a PC type computer see computer requirements on page 17 Using this program the user can communicate with the Sagitta and have all the navigation data computed by the Sagitta displayed on the computer screen The TRM100 Software can be used in two different ways Only as a setup tool to perform the required preliminary settings geodetic format speed filtering coefficient etc After getting the Sagitta started the PC can be disconnected from the Sagitta which then operates as a black box connected to the onboard equipment Oras areal navigation terminal As previously it is first used to make the required settings and then it is used as a display terminal for navigation information 72 Sagitta Series Equipment Description U Link Radio Option U Link Radio Option Rx 4812 reception module inside Sagitta UHF antenna UHF Marine Antenna Kit Procom CXL 70 3 Height 1 3 m approx 5 12 Weight 1 2 kg approx 2 65 Ib Diameter upper part 16 mm 0 63 i Diameter low
72. any non active point in the blue part of the case hold the mouse button de pressed and drag the emulation to the desired location Then release the mouse button To close the view left click FAD In the menu that appears select Close Q e Iz ge Dn E i ssedwop SdD TIOE For more information refer to TRM100 PC Software Overview on page 121 115 116 3011 GPS Compass Getting Started TRM100 Option Used as Navigation Terminal TRM100 Option Used as Navigation Terminal a Identification Screen When starting the 3011 and the TRM100 software program or hardware option at the same time an identification message is displayed on the screen The information provided allows full identification of the different elements used in the 3011 Example THALES AQUARIUS 22 n 1 DEFAULT CONFIGURATION V1 0 08 03 2002 U6B8 UCBGV20000 UBB8 UCIMV10045 U6B8 UCLNV30000 U6B8 UCBKV8_2 U6B8 UCKBVO0023 TD02 RAUHFY20100 D e Iis C3BLY0000001 a Heading Screens From the Identification screen press the 4 key One of the available head ing screens is now displayed There are 3 different heading screens To change from a heading screen to another use the Left or Right key The content is roughly the same on the 3 heading screens They only differ from each other by the fact that emphasis is put on different parameters see examples on next page It is therefore the user s
73. as part of the route To do this Press F2 gt gt gt to select the field where you want the new waypoint to be inserted Choose the waypoint from the waypoints list using the Up or Down key Press F3 INSERT As a result the new waypoint appears in the selected field and the waypoint that occupied this field as well as all those in the next fields are shifted by one position to the right Through the MODIFY function you can also delete a waypoint from the route by selecting this waypoint and then by pressing F4 DELETE The waypoint is then removed from the route and the route definition is up dated to reflect that change i e all waypoints after the deleted waypoint are shifted by one step to the left se 00IWAL Suits a El zi e z L3 lt m S Z I E 181 182 Using TRM100 as Control amp Navigation Terminal MARK Menu MARK Menu This function allows you to quickly create a waypoint by pressing only three keys from the main menu F5 MARK F1 SAVE F5 OK By doing this you create a waypoint defined with the following default charac teristics Name MA lt hh mm ss gt where hh mm ss is the current time when you press MARK Icon a vertical flag 4 Coordinates current location of the mobile when you press MARK You can however change these defaults before actually creating the way point To do this select F5 MARK F1 SAVE Change defaults F5 OK This function is available at three
74. between a serial port on the PC and the RS232 port on Aquarius port B After launching the TRM100 software only two buttons in the toolbar can be activated S lt oO igi lt 9J643J0S Od 00LIARLL Connect button Help button Click g In the dialog box that opens enter the settings for the port used on the PC The standard settings are provided in the screenshot below Obviously the port number 1st field depends on which port is used on PC side Select stream x Serial DPRAM Client File Pon BaudRate jso ByteSize feo StopBits fi Parity None Click OK to start the serial line between PC and Aquarius To end this connection click 3 If you do not do this when leaving the TRM100 software connection will automatically be re established next time you run the software 123 E TRM100 PC Software Overview Working Environment Working Environment 124 Use the File gt Properties command to define the interface language and spec ify whether the working environment should be saved before leaving the program so that it can be restored when next running the program Terminal view This function allows you to communicate with Aquarius through a number of commands using any of the possible three methods described hereafter All possible commands are described in Section 8 in this manual In the TRM100 window click 5 to open the Terminal view which
75. bytes Next byte Last byte Raw Data Outputs in SBIN Format SBIN R Single frequency GPS WAAS EGNOS pseudoranges in satellite time 1 0 reserved 0 single frequency measurements SV number 400 ms bits 0 to 4 Level indicator C No 26 dB Hz bits 5 to 6 not used bit 7 1 if phase measurement not valid Licya carrier phase unit 10 cycle modulo 10 cycles Lica carrier speed unit 4x10 cycle s field 32 Hz MSB sign 800000n2measurement not valid L1g A carrier quality indicator Bits 0 to 4 cumulative loss of continuity indica tor complies with RTCM message 18 counter modulo 32 incremented every time the continuity of the carrier phase measurement is lost Bits 5 to 7 data quality indicator See page 227 C A code quality indicator Bits 0 to 3 pseudorange multipath error indica tor complies with RTCM message No 19 1111 multipath error not determined Bits 4 to 7 pseudorange data quality indicator See page 227 Owing to the fact that they are received later pseudoranges from WAAS EGNOS satellites are output in a separate block 262 Raw Data Outputs in SBIN Format SBIN R Dual frequency GPS pseudoranges in satellite time SBIN R Dual frequency GPS pseudoranges in satellite time a General form lt stb gt lt R gt 2 bytes long 2 bytes time tagging 5 bytes parameters 1 byte Raw Data istSV gt 27 bytes Raw Data last SV gt 2
76. calibration value computed heading true heading Enter the calibration value in the 3011 Confirm the use of this value by clicking the Apply button Then check that with the ship s longitudinal axis still aligned with the seamarks the heading provided by the 3011 is now the true head ing End of procedure kzi I E Q l1 Dn 8 Same as previously if the calculated value is negative 377 Appendices 3011 GPS Compass Calibration Procedures a Automatic Calibration Computation while Navigating Measurement conditions Start navigating in a set direction at a minimum speed of 4 knots Onthe Heading view start the automatic calibration procedure by clicking the Start button Keep on navigating in the given direction until you get steady measurements and then make a 180 turn to navigate in the opposite direction there is no par ticular navigation instructions during the half turn as the calibration pro cedure automatically rejects this phase in the process provided the turn rate is greater than 1 second This maneuver allows the 3011 to eliminate any undesired effects interfering with the process such as currents and ship s attitude After a certain time the 3011 indicates that a calibration has been determined with sufficient accuracy and displays this value The processing time can be prolonged for as long as you wish providing you continue to navigate accord
77. different levels in the TRM100 as shown in the diagram below lt MARK ROUTE Using TRM100 as Control amp Navigation Terminal Open Operating Mode Open Operating Mode Corrections data used in some non autonomous modes DGPS LRK etc can be delivered to the receiver by different sources These can be HF MF or UHF stations that Aquarius can directly receive thanks to its built in reception modules Orany other sources received by local external corrections receivers attached to Aquarius via one of its serial ports The Open operating mode is designed to let the receiver choose by itself the best corrections data source in terms of reception and that is compatible with the currently enabled processing mode a Enabling the Open mode To let the receiver choose the best data source compatible with the desired processing mode enable the Open mode in the receiver as follows Onthe MODE screen see page 150 it is a good idea to empty all the fields in the STATION column Inthe OPEN line last line enter the following PORT column necessarily STATION column do nothing this field can only be empty USED column choose a processing mode that the receiver will switch to once a corrections data source is properly received Making this choice causes the last field in the line to switch to U meaning that the OPEN mode is now active D As soon as you enter
78. dis cussing the calibration procedure Once the 3011 has been set up or calibrated you can display only the left hand area of this view for maximum readability of the true heading value measured Wa TRM100 dev serial com1 38400 8 1 0 N Heading ioj x File View Help poj1ejg Sunjo ssedwop Sd9 TIOE Number of satellites used in computing the heading Current value of heading Heading Standard deviation 113 2 3011 GPS Compass Getting Started TRM100 PC Software a Remote Display View This view is in fact an emulation of the TRM100 unit option It simulates both its screen and its keyboard It offers all the functions available in this unit THALES E 4 2 e z Using this emulation is however different compared to the TRM100 unit op tion This is explained below To activate one of the function keys F1 to F5 or to use the numeric pad including Left Right and Up Down keys Click on the left mouse button after positioning the mouse pointer on the desired button For the function keys F1 to F5 you can also click inside the corresponding frame in the lower part of the screen just above the key Or on the PC keyboard depress the corresponding key F1 to F5 numeric key or direction keys Later in this manual when we ask you to press a key keep in mind the couple of possibilities presented here to let you perform this op eration
79. expansive augmentation to the GPS ser vice The coverage includes all the United States as well as Canada and Mexico The purpose of the WAAS is to improve the accuracy availability and in tegrity of the basic GPS signals The definitions of these 3 parameters are recalled below Accuracy Difference between position measured at any given time and actual position Availability Ability of a system to be used for navigation whenever needed Integrity Ability of a system to provide timely warnings to users or to shut itself down when it should not be used for naviga tion Description The WAAS is based on a network of approximately 35 ground reference stations that covers a very large service area Signals from GPS satellites are received by wide area ground reference stations WRSs Each of these precisely surveyed reference stations receive GPS signals and determine if any errors exist These WRSs are linked to form the U S WAAS network Each WRS in the network relays the data to the wide area primary station WMS where cor rection information is computed The WMS calculates correction algorithms and assesses the integrity of the system A correction message is prepared and up linked to a GEO via a ground uplink system GUS Appendices Introduction to GNSS The message is then broadcast on the same frequency as GPS L1 1575 42MHz to users navigating within the broadcast coverage area of the WAAS The communications
80. from which the receiver will be initialized In both cases the command is used to enter a reference position See also PDAS FIXMOD and PADS PREFLL a Syntax Set command PDAS PREFNE a b c d hh CR JLF Query command PDAS PREFNE hh CR LF a Parameters Format Range i Comments a X 0t010 0 Coordinate system Id b X X Reference station Northing centimeter accuracy required c X X Reference station Easting centimeter accuracy required d T Reference station altitude in meters centimeter accuracy required hh Checksum optional CRIILF End of command a Examples PDAS PREFNE Query P DAS PREFNE 0 0 000 0 000 93 933 0C No projection PDAS SELGEO 2 Changing coord syst P DAS PREFNE 2 259127 688 310500 551 48 752 Changing station s coordinates PDAS PREFNE Checking new coordinates P DAS PREFNE 2 259127 688 310500 551 48 752 0A 354 PDAS Command Library PDAS QC PDAS QC For future use a Functions Enables Quality Integrity Control in the receiver and simultaneously chooses the type of Quality Control used internal or external Disables Quality Control Reports the type of Quality Control currently used if any Of the two types of Quality Control possible only the external one relying on the WAAS EGNOS system is operational to date a Syntax Set command PDAS QC a b c hh CR TLF Query command PDAS QC hh CR LF a Par
81. in receiver time SVARIQ Single frequency GPS WAAS EGNOS pseudo ranges in receiver time a General form lt stx gt lt eoln gt lt Q gt lt time tagging lt eoln gt lt soln gt lt parameters gt lt eoln gt lt soln gt lt 1st line of raw data lt eoln gt lt soln gt lt nth line of raw data gt lt eoln gt eb a Time tagging line IQ GPS week GPS time delay eoln GPS week GPS time Delay lt eoln gt a Parameter line lt soln gt 1st char lt Filter time constant gt lt Antenna identification gt lt eoln gt a Raw data lines lt soln gt lt SV No gt GPS week number Time in week in seconds Reference time is Jan 6 1980 at Ohr00 assuming the modulo 2 ambiguity has been solved GPS time of measurement GPS time in week Z count in useconds 1st character lt amp gt data type 2 2nd character C L1 phase measurement C A code in seconds code smoothed by carrier 0 primary antenna by default lt 1 2 3 gt secondary antennas 2 characters and channel No in hex SV number 241 E gt Dn eel S la B E syndyno gwd sey 7 Raw Data Outputs in ASCII Format SVAR Q Single frequency GPS WAAS EGNOS pseudoranges in receiver time C A code pseudorange gt In 10 units of a second propagation time corrected for clock error minus clock error L1c Acarrier phase In 10 un
82. initialization yellow LED starts flashing Series of flashes indi cates number of received satellites Series of flashes gradually passes from one flash 1 sat received to several flashes according to visible constellation from antenna location When acquiring data from 4 received satellites Sagitta can compute position On your navigation terminal check that position is now computed Z c 5 a e oO wa 411 2 0 Appendices Sagitta Quick Start Leaflet If Sagitta fails to deliver position while number of received satellites is suffi cient check initial position date amp time data output processing mode Todo this unless already done connect Sagitta to PC running TRM100 PC Software to communicate with Sagitta Sagitta Specify port settings Open Remote Display view Select AUX gt INIT gt TIME and check type new date amp time Select AUX gt INIT gt POSIT and check that estimated start position is not too far from real position Select DGNSS and check to see if the expected source of correc tions data is properly received see page 153 for more detail Select DGNSS MODE and check that Sagitta is properly set to func tion in the desired processing mode see page 149 for more detail If Sagitta fails to deliver the expected output messages Select AUX gt IN OUTP and check enabled messages Enable those you want to use if they are currently deactivated See page 164 for more detail
83. it can be increased if the number of visible satellites is always much greater than the minimum required It can be reduced if this number is critical or insufficient From the main menu see page 23 select successively F3 AUX F5 gt gt gt if necessary to have INIT displayed on the menu F2 INIT F5 gt gt gt if necessary to have DESEL displayed on the menu F4 DESEL Example of screen then obtained Dec 19 2001 GPS Q 3 TASE UTC 08 55 29 HDG 08 115Vs 47 17 9470N WGS84 00 0 KT 001 30 5219W 27 0 m CODES MAIN AUX INIT DESEL Min Elev 08 Deselected SVs 005 000 O00 O00 000 O00 O00 000 Enter the desired value in the Min Elev field see above screen Press F5 OK to enable the change made The TRM100 then comes back to the previous screen se QOTIALL SUN gpl S i zi e z L3 lt m S zZ I E a Rejecting Satellites from the Processing One or more satellites up to 8 can be rejected intentionally This may be required if for example one of them is declared by the US Administration as temporarily non operational or if you only wish to use the WADGPS capabil ity not the ranging capability of a WAAS EGNOS satellite PRN 120 to 138 Select AUX gt INIT gt DESEL allowing you to display the above screen Enter the satellite PRN to be rejected in the first of the 8 fields shown in the lower part of the screen PRN Number provided in the list dis played by AUX STATUS Sv colu
84. looks like this erminal dev serial com1 9600 8 1 0 N pwsevs eaaeo e Edit pane Toolbar Combo box containing entry selected Sends command s to from currently loaded dictionary receiver according to See page 20 selection in combo box Data Outputs IE 3 35 Eh Provides access to functions to create load revise and save dictionaries Future use Sends command text file Clears Edit pane Suspends resumes data flow in Edit pane When data flow is suspended the Edit pane appears with gray background color Color choices amp Display mode TRM100 PC Software Overview Terminal view a Basic Way of Sending a Command to the Receiver Click anywhere on the Edit pane inside the window The cursor a flashing vertical bar appears at the bottom of the Edit pane Type the desired command For example type PDAS IDENT E SPDAS ID 4 b Then press the Enter key to send the command to the receiver As a result your command line now appears at the top of the Edit pane and the reply from the receiver appears just below The default col ors used are dark blue for your command line and blue for the receiver reply To change colors see page 130 Example of receiver reply 7 n E 9J643J0S Od OOTNAL PDAS IDENT PDAS IDENT 3 1 UC82 UCBG 75 PDAS IDENT 3 2 UC82 UCBNV30133 42 PDAS IDENT 3 3 UC82 UCLNX10000 19 125
85. loss of continuity indicator as in RTCM message 18 bits 5 to 7 data quality indicator as in RTCM message 18 Code quality index Coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 3 pseudorange multipath error indica tor as in RTCM message 19 bits 4 to 7 pseudorange data quality indicator as in RTCM message 19 lt eoln gt Depending on the type of message only the useful fields are filled Data pertaining to messages 18 and 19 for a given time and frequency may be grouped in the same lines Likewise data pertaining to messages 18 or and 19 for a given time and for frequencies L1 and L2 may be grouped in the same message 234 Raw Data Outputs in ASCII Format SVAR D Differential Data Example of L1 C A phase amp code measurements and L2 P code issued in the same block Information received in RTCM SC104 format in messages 18 and 19 transmitted by station No 99 for the same time 1D 1153 573626 000000 Q 99 10 0 30 3 673602451 8856059 2 04 5F 8 817636071 3039258 2 3D AF 15 741874452 9346352 2 0F 7F 17 789526891 6427801 2 26 8F 18 735902003 1914227 2 08 6F 21 730101508 9517164 2 05 6F 22 144255081 92875 2 10 6F 23 838267849 4961914 2 3A AF 26 840897988 8028918 2 22 AF 21 807057691 5086488 2 2A AF 31 713302477 7309574 2 15 TF Q 99 10 2 30 3 673602463 7875656 2 1A 5F 8 817636430 671855 2 BF AF 15 741874584 4889773 2 50 7F 17 789527119
86. lt L1c a carrier speed C A L1 C No gt L1 L2 channel status L1 carrier quality indicator C A code quality indicator lt Lipy Lica carrier phase deviation Pi 1 C A 1code deviation Pi C A 1code deviation L2 carrier phase L2 carrier speed 2 characters and channel No in hexadeci mal in 10 s modulo 10 s in 10 cycles modulo 10 cycles in 10 cycle s in dB Hz coded in 4 bit s 1 ASCII character 0 to F bit 0 0 not used bit 1 0 if code P 1 if code Y antispoofing bit 2 1 if Lica phase measurement not valid bit 3 1 if L2p y phase measurement not valid coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 4 cumulative loss of continuity indica tor complies with RTCM message 18 counter modulo 32 incremented every time the continuity of the carrier phase measurement is lost bits 5 to 7 data quality indicator See page 227 Coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 3 pseudo range multipath error indica tor complies with RTCM message No 19 1111 multipath error not determined bits 4 to 7 pseudorange data quality indicator See page 227 1101 pseudorange error lt 3 625 1110 pseudorange error lt 5 409 1111 pseudorange error 5 409 In 10 units of a cycle modulo 1 cycle cen tered around zero In 10 units of a second In 10 units of a second In 10 units of a cycle modulo 10
87. m 78 Sagitta Series Installation TRM100 PC Software TRM100 PC Software a Computer Requirements PC type computer Operating system Windows 95 98 2000 NT Unit DX2 66 minimum Pentium recommended RAM 16 MB minimum 24 MB recommended Space required on hard disk 12 5 MB approx 1 CD ROM drive 1 RS232 serial port available Q Installation Procedure Switch on the PC Insert the TRM100 CD ROM in the CD ROM drive From the Windows task bar select Start gt Run Inthe dialog box that opens specify the path to the CD ROM and then type setup example type e setup or browse on the CD ROM and choose the setup exe file Then click OK to start the installation procedure Follow the instructions provided on the screen to complete the instal lation process i uw E E z Il 5 SILIIS BYVISES Rx 4812 U LINK amp Rx 1635 HM LINK Options Only trained personnel can install one of these reception modules as this requires the opening of the receiver case 79 7 Sagitta Series Installation Radio Antenna UHF or HF MF Radio Antenna UHF or HF MF The radio antenna should be installed Atsuch a distance from the Sagitta unit that the coaxial cable pur chased 10 or 30 meters can normally be used to connect these two elements together Fora UHF antenna at the highest possible location for best possible reception For HF MF antenna at a location allowing conne
88. manual Recorder View See on line documentation provided with TRM100 PC Software 133 134 TRM100 PC Software Overview Heading View Heading View This view is dedicated to displaying information relative to the heading measurements performed by Aquarius It is irrelevant to Aquarius This view is divided into two distinct panes 1 The left pane shows a compass rose to be used for displaying the computed value of heading together with the associated value of standard deviation and the number of satellites used in the process ing To have this information displayed on the view you have to define an output message containing the HRP and HDT macros You also have to route this message to the receiver port connected to the PC running TRM100PC Software and choose the output rate that suits your application Example of output message routed to the view PDAS FMT 15 HDT 4 1 HRP 3 1 PDAS OUTMES 1 B 1 10 0 15 Example of resulting display Number of SVs used Standard deviation The heading value is displayed in two different forms compass rose pointing to this value as well as the value itself displayed at the cen ter of the compass rose TRM100 PC Software Overview Heading View 2 The right pane is displayed only after clicking It is made up of two tabs Offset calibration and Base calibration showing the important data involved in determining the baseline length and calibrating the head
89. measured angle so that the 3011 can provide the true heading Correcting the measured angle is achieved by en tering a value called calibration value into the 3011 What is the calibration value It is the deviation observed BEFORE calibration between the heading computed by the 3011 and the ship s true heading see diagram below calibration value computed heading true heading N AFTER calibration i e after having entered the calibra tion value the 3011 can apply the correction to the computed heading in such a way that 3011 output heading true heading True heading Computed ee p The calibration value can only be positive If a negative value is obtained it must be transformed into a positive value by calculating its 360 s complement Example In the above diagram the true heading is 70 degrees The com puted heading is 160 degrees Therefore the calibration value is 160 70 90 Being positive this value can be used directly On the other hand if the obtained calibration value is for example 24 5 the calibration value actually entered in the 3011 will be its 360 s comple ment i e 360 24 5 335 5 Appendices 3011 GPS Compass Calibration Principles The two diagrams below show the typical values of calibration as a function of the possible two orientations of the antenna with respect to the ship Parallel to the ship s longitudinal axis Calibra
90. misinterpretation of the data at a further stage FD is converted into FDp 00 FEn is converted into FDp 01h FF is converted into FDp 02h E un is zZ 7 S la 5 E smdmo veq Mey When counting bytes in a message remember that all the doubled characters i e FD 00h FD 01 and FD 02 resulting from the change of coding described above must be counted as single characters a Conventions used The term field stands for one or more parameters The term data stands for a binary value occupying a byte In a byte bit 0 stands for the least significant bit bit 7 for the most significant bit The most significant bit is always placed ahead 259 8 Raw Data Outputs in SBIN Format Notation Rules a Symbols used lt gt lt long gt lt checksum gt lt etb gt a General form stb lt blid gt lt long gt lt data gt lt checksum gt lt etb gt denotes a field lt stb gt lt blid gt beginning of block ASCII character FEn block type 1 ASCII character allowing identifi cation of the data type 2 bytes in binary notation specifying the count of bytes in the block from lt stb gt excluded up to lt checksum gt excluded 2 bytes for transmission error check end of block ASCII character FFn 1 byte FEn 1 byte 2 bytes 1 to 1023 bytes 2 bytes 1 byte FEh The meaning of the data in each block type is predefined Q Er
91. of command PDAS Command Library PDAS SVDSEL a Examples PDAS SVDSEL Query P DAS SVDSEL 20 0 2 6 8 11 Elevation threshold is 20 SVs PRN 2 6 8 are currently rejected PDAS SVDSEL 5 Adding SV PRN 5 to the list of rejected satellites PDAS SVDSEL Query checking the change made PDAS SVDSEL 20 0 2 5 6 8 08 Reply PDAS SVDSEL 0 2 7 Clearing the list of intentionally rejected SVs SV PRN 2 and 7 will now be the only SVs that are rejected PDAS SVDSEL Query checking the change made PDAS SVDSEL 20 0 2 7 04 Reply PDAS SVDSEL 15 Changing elevation threshold 15 PDAS SVDSEL Query checking the change made PDAS SVDSEL 15 0 2 7 02 Reply PDAS SVDSEL 0 Clearing the list of rejected satellites PDAS SVDSEL Query checking the change made P DAS SVDSEL 15 0 07 Reply No satellite rejected Svdd e e 3 5 Z a E 7 2 1 lt 4 361 1 Q PDAS Command Library PDAS TR PDAS TR a Function Triggers data output in terminal mode on the specified port a Syntax PDAS TR a b hh CR LF a Parameters Format i Comments Output port identification A B etc a a Placing a comma behind this letter will delete the current user text to be replaced by the next one see below b C C User text 60 characters max hh Checksum optional CRIILF End of command a Examples PDAS OUTMES 1 A 6 1 Validating output 1 on portA i
92. of the esti mated position to move the cursor forward or backward press F4 gt gt gt Or F3 lt lt lt respectively Press F1 lt to come back to the previous screen Press F3 DATUM On the new screen that appears do the following In the Altmode field choose the desired altitude computation mode WGS84 MSL84 DATUM or USER For more detail see page 286 where Altmode is the a argument described A local geoid can be used Use the ConfigPack software to load all or part of this local ge oid into the receiver After doing this select USER in the Altmode field to let the receiver work with this geoid In the Offset field enter the antenna height from the reference surface In the Emsl field select Linear if a local height correction is used oth erwise choose None See also page 286 for this parameter In the Geodesy field choose the coordinate system to be used Up to 10 different systems can be defined in Aquarius At delivery only the WGS84 is available Use the PDAS GEO command or ConfigPack Software from V3 31 to add new systems see page 324 Press F5 OK to enable all the choices made on this screen This takes you back to the previous screen Press F5 OK again to enable all the choices made on the POSIT Screen Using TRM100 as Control amp Navigation Terminal AUX Menu a Changing the Minimum Elevation The recommended elevation angle is 5 You may sometimes have to change this angle As a general rule
93. output messages 99 ce 282 PDAS Command Library Command summary table Command Function Page Calculates the height of the geoid 327 Reads the header from a geoid file 329 GPQ GLL Edits estimated position 331 331 Enables disables operation with WAAS EGNOS also used to PDAS GNOS specify PRNs of GEOs tracked if chosen selection mode is 332 Manual Returns the current value of the specified parameter NME A0183 ain compliant 99 w m __GPQ PDAS GPSDAT Edits definition of GPS raw data outputs PDAS HARDRS Edits settings of serial ports PDAS HEALTH Edits health status of reference station Edits computes geometrical data of antenna array from which 340 heading measurements are performed Edits geometrical data of antenna array from which heading P DAS HDGSET measurements are performed filtering time constant and max 341 dead reckoning time es es Www food Fon 99 w wo Co ER N Provides set of results tied to heading processing Reads identification of harware and software parts Edits the currently selected navigation mode Edits definitions of computed data outputs 3s nore Respectively enables and disables data outputs on the serial ports 350 Edits adds definitions of pseudorange data outputs Edits coordinates of reference position Edits projected coordinates of reference position Deals with Quality Control in the receiver Deletes the specified type of
94. primary mode there is more chance that its initialization time be longer a Terminology Used e Reference station A stationary receiver with accurately known location that generates correc tions data 5000 series receiver or later see section 11 The identification number of a reference station is user defined through the PDAS UNIT com mand In DGNSS processing mode the mobile receiver will read this identification number from the DGPS messages received to identify the source of corrections data e Beacon or Transmitter or Transmitting station A transmitting unit connected to one or more reference stations The beacon is used to transmit corrections data to users A beacon is identi fied by a specific identification number called Beacon Id complying with the beacon numbering rule defined by the RTCM It is important to note that a reference station and the beacon to which it is attached may have different identification numbers When defining a beacon you will be asked to enter its geographical coordinates Remember that these coordinates do not need to be very precise as they are just used by navigators to select the beacon the closest to their locations On the contrary the coordinates of a reference station must be known with the best possible precision as they are essential in generating corrections data e Navigator receiver Mobile user receiver providing users with position or and navigation data e Primary mobile Nav
95. pseudorange error lt 5 409 1111 pseudorange error gt 5 409 227 228 Raw Data Outputs in ASCII Format SVAR D Differential Data SVAR D Differential Data a General Form sb eoln ID time tagging lt eoln gt soln parameters lt eoln gt soln 1st line of differential corrections lt eoln gt soln nth line of differential corrections eoln eb a Time tagging line ID GPS week GPS time gt lt eoln gt GPS week GPS time lt eoln gt a Parameters line Pseudorange corrections lt soln gt 2 char lt Station number gt lt Reception Quality gt lt lono tropo flag gt lt eoln gt GPS week number Time in week in sec Reference time is Jan 6 1980 at Ohr00 lt S gt Proprietary type corrections includes ionospheric corrections lt R gt RTCM type corrections does not in clude ionospheric corrections itn Message other than corrections further use to be notified at a later date Read from the receiver configuration or from the RTCM 104 message 0 to 10 corresponds to the ratio of the mes sages received correctly 10 100 0 lono tropo corrections are not included in differential corrections 1 lono tropo corrections are included in differ ential corrections Raw Data Outputs in ASCII Format SVAR D Differential Data Code and carrier phase measurements or corrections lt soln gt 2 char lt S
96. reception kit installed results in TWO lines on this screen as this kit consists of two distinct reception channels The figures 1 and 2 placed after HFMF are only order numbers and so do not correspond to reception channels 1 and 2 in each HM Link reception kit Another very important thing to say about the HM Link reception kit is that you cannot define an HF frequency on one channel and an MF frequency on the other The HM Link reception kit must be all HF or all MF For more detail see page 184 The UHFx line is shown only if an Rx 4812 U Link UHF reception kit is installed in the receiver x is the order number of the U Link module i e 1 or 2 The NUM1 line is also always shown If an operating mode is enabled in this line the receiver will compute a DGPS position solution using the corrections data applied in digital form to the specified port The OPEN line is also always shown If the Open mode is enabled the receiver will automatically choose the best source of corrections data For more details see page 183 2 For example with Aquarius 22 the heading processing can be enabled using the two antennas HDG selected in GPS row USED column AND the LRK processing or any other mode can be enabled on the primary an tenna for example LRK selected in UHF1 row USED column Other example Relative processing enabled using the two antennas REL selected in GPS row USED column
97. satellites also act as additional navigation sat ellites for users thus providing additional navigation signals for position determination The WAAS will improve basic GPS accuracy to approximately 7 meters ver tically and horizontally improve system availability through the use of geostationary communication satellites GEOs carrying navigation pay loads and to provide important integrity information about the entire GPS constellation Schedule The delivery schedule will be accomplished in three phases by delivering an initial operating system and then upgrading the system through pre planned product improvements P I Phase 1 WAAS will also provide the WAAS ini tial operating system which consists of two WMSs 25 WR leased GEOs and ground uplinks Shortly after the contractor completion of Phase 1 the FAA will commission the WAAS for operational use in the U S National Airspace System mid 1999 EGNOS EGNOS is the equivalent of the WAAS for the European countries GEO current status Jan 2002 WARNING At the present time only test signals are broadcast by the different admini strations involved in the development of the system These signals are not guaranteed to be reliable and accurate and so may be the source of erro neous indications 401 d 3 5 S O N 402 Appendices Introduction to GNSS WAAS North American Region Test signals are currently broadcast for use by the FAA T
98. table Aquarius amp Aquarius Equipment Description below Aquarius 11 Aquarius 12 Aquarius 22 pee e 2 aramek o 12 chanel Antenna NAP OO1 NAP 002 NAP 002 Sensor ons Te chan ek ET Antenna NAPOOl NAP 001 NAP 002 2x GNSS antenna a combination of NAP 001 and NAP 002 anten nas see table above depending on purchase order NAP 001 P076311B NAP 002 P0101158 Firmware modules All receivers RAWDAT WAAS EGNOS KARTMODE USERGEOID FASTOUTPUT Aquarius 12 and 22 only HEADING firmware Aquarius 22 only RELATIVE OTF firmware 1x power cord 2 meters P0067035 2x data cord DB9 male DB9 female 2 meters P0101243 1x RS232 RS422 converter cable P075675A 1x TRM 100 unit P0100722 consisting of the following 1x detachable keypad display terminal PO100599 in fact the receiver front panel 1x data cord DB15 male DB15 female 1 meter P0100688 1x mounting bracket knobs and screws P0101297 Last two items used only if TRM100 detached from re ceiver to be used as remote unit Mounting bracket for entire receiver Aquarius TRM100 unit Aquarius amp Aquarius Equipment Description Firmware Options 1x User Manual the present manual 1x CD ROM containing TRM 100 PC Software for Windows 95 98 2000 NT and User Manual in the form of PDF document E S B c 5 5 5 na G E A e zi zsniienby x snaenby Firmwar
99. terms of precision Secondary Mobile Specific Requirements Hardware Tx 4800 U Link transmission module option and UHF antenna see installation on page 18 You can also use external equipment such as GSM radio modem etc for the transmission of GPS data in LRK format via one of the receiver ports Firmware In addition to standard firmware DGPS EDGPS KARTMODE you need the following options LRKMODE if dual frequency REFSTATION Aquarius Series Processing Modes Relative Positioning Processing a Primary Mobile Configuration Guidelines Use the DGNSS menu see page 24 or use the TRM100 PC Software to send the adequate commands to the receiver from the Terminal view see pages 123 and 124 From the Terminal view the following set of commands should be used for the primary mobile e PDAS DGPS STATION page 307 to let the primary mobile know the transmission specifications carrier modulation type encryption of the secondary mobile e PDAS DGPS MODE see page 305 To define your receiver as a corrections user To specify the secondary mobile s transmitter Id To specify the secondary mobile s station Id e PDAS FIXMOD page 316 and PDAS FIXTYP to select the Rela tive processing in the primary mobile a Secondary mobile Configuration Guidelines Use the TRM100 PC Software to send the adequate commands to the re ceiver from the Terminal view see pages 123 and 124 or use the DGNSS menu see page 2
100. the available process ing modes Raw Data Output Rate 10 Hz Computed data 20 Hz output rate and Latency 5 ms 0 005 s Heading amp Relative Processing Specifications Aquarius only Heading Precision Baseline Heading Precision Initialization Range Length RMS Time s Typical Aquarius 11 0 2 to 0 04 1to2m 0 2 D 10 s 30 s m Aquarius 12 0 2 to 0 04 1to5m 0 2 D 10 s 30 s m Aquarius 22 0 1 to 0 01 gt 2m 0 2 D 5 s m D Baseline Length in meters Relative GPS OTF initialization time 30 seconds typical Same level of precision as in EDGPS KART LRK Processed data heading amp relative GPS issued at 20 Hz output rate and latency lt 5 ms 0 005 s regardless of the mode used a GPS GNSS Characteristics 16xL1 channels Aquarius 01 amp 02 12 x L2 channels Aquarius 02 only 32 x L1 channels Aquarius 11 amp 12 24 x L2 channels Aquarius 12 amp 22 only C A code and L1 phase P code and L2 phase with multi path processing Differential modes WAAS EGNOS Numeric RTCM Version 2 2 messages 1 3 5 9 16 18 amp 19 Appendices Aquarius amp Aquarius Technical Specifications Q Interfaces GPS and Radio antenna connectors all female TNC 4two way I O ports one RS232 three RS422 with baud rates from 1200 to 115200 bauds AUX port 1 PPS output external event input etc TRM100 display also availa
101. the cursor on the desired message num ber Press F5 INIT to display the definition of the message Example of screen then obtained Mar 04 2002 GPS Q 3 TUAR eS UTC 15 45 23 NONE 09 108vs 47 17 938582N WGS84 00 0 KT 001 30 542412W 92 03m COQ sae TES MAIN AUX IN OUTP OUTPUT MSGES PORT A MODE MANUAL PERIOD 0000 0is MSGES GGA ere B55 As shown on this screen the definition of an output message relies on the following three parameters MODE Activating deactivating the message 2 possible values in this field OFF Deactivated TIME Activated message available on output at regular inter vals of time as specified in Period parameter below TRIGGER Activated message available on output every x occurrences of an external event signal applied to pin 3 EVT on the AUX connector IMMED Activated message generated once when validating this output mode for the message 1PPS Activated message generated on the active edge of the 1PPS signal MANUAL Activated message generated once on keyboard request TR Activated message generated every time the PDAS TR command is sent through the port to which the message is routed se QOTIALL SUN il S i zi e z L3 lt m S Z I E 165 14 166 Using TRM100 as Control amp Navigation Terminal AUX Menu PERIOD MSGES Significant only if TIME TRIGGER or 1PPS selected in MODE field above Enter th
102. the identification of a station in the STATION col umn the receiver will immediately stop operating in OPEN mode None then displayed in the OPEN line STATION column The receiver will then operate according to the content of the line where a station identification has been entered as soon as you choose an operating mode in this line se QOTIALL SUN gpl S e z L3 lt m S zZ I E a Source Selection Criteria After you enable the OPEN operating mode the receiver will continually ex amine all the corrections data inputs and will always choose the best The following criteria are used to decide on which source is the best with the fol lowing decreasing order of priority Distance to Station SNR ratio Reception level Distance to corrections data source 1st source received is the best 183 14 184 Using TRM100 as Control amp Navigation Terminal About the HM Link Reception Kit So the receiver will preferably choose a station provided the type of data re ceived is compatible with the chosen processing mode If none of the possible stations is received properly first two criteria not met the receiver will try to use corrections data from an external corrections re ceiver if any As previously with stations the type of incoming data must be compatible with the chosen processing mode otherwise the corrections data source will be discarded Of the possible sources meeting the third criteria
103. the receiver will choose the one with the shortest distance to the source this information being normally provided by external demodulators the receiver can easily make a choice Finally if there is only one corrections data source available then the re ceiver can only use it as there is no other choice possible 4th criterion About the HM Link Reception Kit a Use Guidelines The reception module that is part of this kit is fitted with two independent parallel channels Each channel may be allocated a different reception fre quency provided both frequencies are chosen in the same frequency band both must be either HF or MF MF stations use a single transmission frequency which means that if you want to work with this type of station you can Use one channel to receive this frequency and leave the other chan nel free Use one channel to receive this frequency and use the other channel to receive another MF station HF stations are often dual frequency stations To work with one of them Onthe Mode screen see page 150 select the name of this station in one of the lines HFMF1 or HFMF2 resulting from the presence of the reception module in the receiver Leave the other line blank The re ceiver will manage by itself the allocation of the reception channels to the two carrier frequencies Working with a dual frequency HF station does not mean that you get two distinct position fixes from your Aquarius Fundamental
104. to open the Dictionary Editor dialog box You can also click located in the lower part of the terminal view to open this dialog box Click the Save button Type a filename for the new dictionary and then click Save You can create a new dictionary only by saving the currently loaded dic tionary under a different name This operation is equivalent to running the usual Save As function which further means that the newly created dic tionary also becomes the currently loaded dictionary After creating a new dictionary you will probably want to delete all the en tries from the copied dictionary To do this select each of these entries and select the Cut function from the popup menu In that sense it is a good idea to create a new dictionary from the default dictionary as this dictionary is empty The default directory where your dictionaries are saved is TRM100 Dictionary Ie 7 c lt z e 9J643J0S Od 00TIARLL a Making New Entries in a Dictionary Continued from previous paragraph Suppose your new dictionary is now empty and you wish to create an entry allowing you for example to read the receiver time To do this Position the mouse cursor anywhere in the left pane Label pane and then click with the right mouse button This displays the follow ing pop up menu Dictionary editor Label Value 127 13 128 TRM100 PC Software Overview Terminal view On this menu select N
105. view of the sky to avoid the presence of large obstructing objects in the vicinity of the antenna At the furthest possible distance from any sources of radio frequency interference Atsuch a distance from the Sagitta unit that the coaxial cable pur chased 10 or 30 meters can normally be used to connect these two elements together Whenever possible avoid exposing the antenna to smoke If for any reason the coaxial cable must be shortened Do not cut the end of the cable connected to the antenna as this end must remain fully waterproof Wire the new TNC plug according to the rules Only qualified per sonnel are allowed to do this In theory there is no minimum length required for this cable ij an a E E z Il 5 SILIIS BYVISES 75 7 Sagitta Series Installation GPS Antenna a Antenna Mounting Use the bracket provided in one of the configurations shown below C p 3 cc Antenna bracket n l as A Two U bolts J H gt b On horizontal mast On flat Diameter 56 mm 2 2 max F F surface On vertical mast Diameter 56 mm 2 2 max Antenna bracket U bolts Mount dimensions Mount dimensions 70 mm 62 mm 2 15 Gi f 4 mm 0 16 par mm 0 167 14 mm 0 557 44 mm 1 73 62 mm 2 44 48 mm 1 89 49 9 V
106. 011 is connected to the automatic pilot For this reason two possibilities are offered to cope with this possi ble event 1 Dead reckoning see page 173 2 Using an external aid connected to the 3011 see page 94 Copyright Notice Copyright 2003 2006 Magellan Navigation Inc All rights reserved Trademarks All products and brand names mentioned in this publication are trademarks or regis tered trademarks of their respective holders Conventions used L symbol indicates end of section MAGELLAN NAVIGATION PROFESSIONAL PRODUCTS LIMITED WARRANTY NCSA Magellan Navigation warrants their GPS receivers and hardware accessories to be free of defects in material and workmanship and will conform to our published specifications for the product for a period of one year from the date of original purchase THIS WARRANTY APPLIES ONLY TO THE ORIGINAL PURCHASER OF THIS PRODUCT In the event of a defect Magellan Navigation will at its option repair or replace the hardware product with no charge to the purchaser for parts or labor The repaired or replaced product will be warranted for 90 days from the date of return shipment or for the balance of the original warranty whichever is longer Magellan Naviga tion warrants that software products or software included in hardware products will be free from defects in the media for a period of 30 days from the date of shipment and will substantially conform to the then current user documentatio
107. 14 attached to transmitter No 8 PDAS DGPS MODE 1 D R 8 14 Command line No 1 Port D allows acquisition of corrections data via built in UHF reception module Receiver defined as DGPS corrections receiver R Transmitter Id 8 2 blank fields Identification of the reference station generating corrections 14 Aquarius Series Processing Modes KART EDGPS Processing 3 Enter a reference position for KART initialization at a known point centimeter accuracy required PDAS PREFLL 0 4716 1043533 N 00129 4543000 W 48 752 Position latitude longitude height 4 Select and initialize the KART processing mode from a known point using the data received PDAS FIXMOD 10 1 14 Fix mode KART initialization from known point 10 Source of corrections KART 1 Identification of reference station used 14 5 Choose the KART R position solution for your navigation needs PDAS NAVSEL 1 1 Fix used for navigation KART R 1 Navigation mode none 1 z pan Sz ad 5 amp ga y 2 ET as g Nn 41 Aquarius Series Processing Modes KART EDGPS Processing a Example 2 KART processing using RTCM format and external corrections receiver GPS antenna Aquarius DO Ext receiver Y Port B Station No 710 RTCM SC104 corrections data 3 18 19 Assuming port B on Aquarius has been properly set to receive data from the external receive
108. 189 14 190 Using TRM100 as Control amp Navigation Terminal Backup Option a Activating the Backup Mode If the BACKUPMODE option is not available but the firmware version is V20053 or later you can send a request to your GPS supplier to activate the option Go to the menu AUX VERSION From the main menu select successively F3 AUX F3 VERSION On the first line is the internal code C2 In the example below this code is 25478 Nov 30 2006 GPS Q 8 TD s UTC 11 82 50 11 118Vs 51 49 69809N WGSB4 0 0KT 004 43 24436E 60 8m COG 0 0 AQUARIUS n 0 25478 DEFAULT CONFIGURATION V1 0 08 03 2002 U6B8 UCBGV20001 U6B8 UCIMV20061 U6B8 UCLNV30000 U6B8 UCBKV8_2 IT Send this number including the serial number of the receiver to your GPS supplier You will receive an e mail including the code allowing you to activate the Backup option Example PDAS OPTION 19 BACKUPMODE 3EB 700AD63744 Using the WinComm program make a connection to your receiver and check that you can communicate with the receiver Using TRM100 as Control amp Navigation Terminal Backup Option Copy the line with the activation code in the command line from WinComm Y WinComm Com 2 38400 B No 1 Mode Command JAQUAFIUS_ 5000 RCKUPMODE 3EB7004D63744 v E san icum em Serole Gps Recader D Ss Drectoy eterno aj FileName Record Row Fle Max Sae No Limits Click Send This will act
109. 1x RS422 serial cable 2 meters long 1x Power cable 2 meters long Antenna kits associated with radio options UHF Marine 30 meter antenna kit P0101390 1x KX13 N m N m coaxial cable low loss 30 meters long C5050168 1x CXL70 3 dB UHF antenna N female connector mount ing parts Low band 400 430 MHz C3310145 Medium band 420 450 MHz C3310146 High band 440 470 MHz C3310175 1x KX15 TNC m TNC m coaxial cable interfacing 1 m long P05050156 1x TNC f N f adapter C5050216 68 Sagitta Series Equipment Description Hardware Options UHF Marine 10 meter antenna kit P0101391 1x KX13 N m N m coaxial cable low loss 10 meters long P0101131 1x CXL70 3 dB UHF antenna N female connector mount ing parts Low band 400 430 MHz C3310145 Medium band 420 450 MHz C3310146 High band 440 470 MHz C3310175 1x KX15 TNC m TNC m coaxial cable interfacing 1 m long P05050156 1x TNC f N f adapter C5050216 HF MF Marine 30 meter antenna kit P0101503 1x DHM 5000 dual band HF MF antenna P0100084 1x marine mounting kit PO71448A for DHM 5000 antenna 1x KX15 TNC m TNC m coaxial cable low loss 30 m long C5050195 1x antenna interface P073815A HF MF Marine 10 meter antenna kit P0101505 1x DHM 5000 dual band HF MF antenna P0100084 1x marine mounting kit PO71448A for DHM 5000 antenna 1x KX15 TNC m TNC m coaxial cable low loss 10 m long C5050196 1x antenna
110. 20 60 0C8D33B9E 529F 50 6 4 60 0DADC 395E 525040 7 11 60 0DCE1235E529F 3C A 13 60 0E 1E9745E529F 3C 18 1114 489613 2 C 1 0 19 60 880168867D86BB4 1 25 60 880168867D86BB4 2 7 60 8B0168867D86BB4 3 1 60 880168867D86BB4 5 20 60 880168867D86BB4 6 4 60 880168867D86BB4 7 11 60 880168867D86BB4 A 13 60 880168867D86BB4 Data described in pages 252 SVARIB and 275 SBIN b PDAS Command Library PDAS COMMNT PDAS COMMNT a Functions Reads the comment field from the current configuration one or more lines This field generally provides a brief description of the configuration a Syntax PDAS COMMNT hh CR JLF a Parameters Format i Comments none hh Checksum optional CRIILF End of command a Examples Svdd PDAS COMMNT P DAS COMMNT 3 1 AQUARIUS 0B PDAS COMMNT 3 2 DEFAULT CONFIGURATION 2A PDAS COMMNT 3 3 V1 0 15 01 2002 6C e EI 5 Z a E Iz lt 4 295 296 PDAS Command Library PDAS CONFIG PDAS CONFIG Q Function Reads the data from the current configuration a Syntax PDAS CONFIG hh CR JLF a Parameters Format i Comments none hh Checksum optional CR ILF End of command a Examples PDAS CONFIG Reading the data from the current configuration PDAS CONFIG BEGIN 63 62 Reply PDAS COMMNT 3 1 AQUARIUS 0B PDAS COMMNT 3 2 DEFAULT CONFIGURA
111. 222222 22200 0000000 129 Q Sending a series of commands fromatextfile 1 130 Q Color and Display Mode choices eee 130 Q Creating custom font colors 222 131 Remote Display view a 132 Recorder View 00000000 000 133 Heading View 00 LLLA 134 14 Using TRM100 as Control amp Navigation Terminal 137 NAVIG Menu 2 2 20 LLLA 137 Q Viewing the Navigation Mode Currently Used 137 Q Changing the Navigation Mode 1 137 D Selecting the Homing or Bearing Mode 222222 138 Q Selecting the Profile Mode eee 139 Displaying the Data Specific to the Navigation Mode Used 141 Q Using the Graphic Screen to Navigate 144 DGNSS Men ss o oio S ce epo ee 145 Q Entering the characteristics of one or more stations 145 vi Marine Survey Receivers Table of Contents AUX 148 148 149 154 158 enu 159 Entering Local Time amp Local UTC Time Deviation Choosing the Interface language 22 Initializing Position amp Choosing a Coordinate System Changing the Minimum Elevation Rejecting Satellites from the Processing __ Accessing the List of Output Messages Modifying an Output Message Adding an output message Setting Raw Data Outputs Changing Serial Port Settings 1 1 1 1 11 Determining the Baseline Length Aquarius DCODOOCOODDDOOODODDODOO DDODOUO WPT RTE Menu About the HM Link Reception Kit Modifyin
112. 232 RS422 RS422 yp NMEA0183 TRM100 NMEA0183 RTCM1044TD Baud Rate 9600 38400 19200 19200 Data Bits 8 8 8 8 Stop Bits 1 1 1 1 Parity Check none none none none Computed data messages e Available Default Output mode AMEE NMEA 0183 essage sn port status amp rate 0183 sentence No sentence No 1 A Deactivated Time 1s GPGGA 1 2 A Deactivated Time 1s GPGLL 2 3 A Deactivated Time 1s GPVTG 3 4 A Deactivated Time 15 GPGSA 4 5 A Deactivated Time 1s GPZDA 5 6 A Deactivated Time 1s GPRMC 6 7 A Deactivated Time 1s GPGRS 7 8 A Deactivated Time 1s GPGST 8 9 A Deactivated Time 1s GPGSV 9 10 A Deactivated Time 15 GPGMP 10 1 pps generated on every 11 C Deactivated occurrence of the 1 pps GPZDA 5 pulse Detail in Section 16 Pseudorange data output Output Available Output mode Pisan No on port Default status ae Content Data in SVAR R format no 1 B Deactivated Time 1s code phase smoothing no restriction in SV elevation min elevation 0 Raw data output Appendices Sagitta Series Default Configuration Output Available Output mode Message No on port Default status amp rate Content Ephemeris in ASCII format Atregularinter Almanac in ASCII format 1 P Daca Ed vals of time lono UTC in ASCII format Health amp A S in ASCII format Time data output Output Available Output mode Message No
113. 33 44474 Carquefou Cedex France Phone 33 0 2 28 09 38 00 Fax 33 0 2 28 09 39 39 MAGELLAN NAVIGATION PROFESSIONAL PRODUCTS LIMITED WARRANTY Europe Middle East Africa All Magellan Navigation global positioning system GPS receivers are navigation aids and are not intended to replace other methods of navigation Purchaser is advised to perform careful position charting and use good judgment READ THE USER GUIDE CAREFULLY BEFORE USING THE PRODUCT 1 MAGELLAN NAVIGATION WARRANTY Magellan Navigation warrants their GPS receivers and hardware accessories to be free of defects in material and workmanship and will conform to our published specifications for the product for a period of one year from the date of original purchase or such longer period as required by law THIS WARRANTY APPLIES ONLY TO THE ORIGINAL PURCHASER OF THIS PRODUCT In the event of a defect Magellan Navigation will at its option repair or replace the hardware product with no charge to the purchaser for parts or labor The repaired or replaced product will be warranted for 90 days from the date of return shipment or for the balance of the original warranty whichever is longer Magellan Naviga tion warrants that software products or software included in hardware products will be free from defects in the media for a period of 30 days from the date of shipment and will substantially conform to the then current user documentation provided with the software includi
114. 4 From the Terminal view the following set of commands should be used for the secondary mobile e PDAS UNIT page363 to define the identification number of the sec ondary mobile e PDAS DGPS STATION page 307 to define the transmission specifications of the secondary mobile carrier modulation type eig AG DGPS MODE see page 305 To define the secondary mobile as a corrections generator To define the secondary mobile s transmitter Id e PDAS PRANGE page 351 to enable the receiver to output GPS data in LRK format on the chosen port port C or D for U Link or another port if another data link is used e PDAS FIXMOD to select straight GPS mode if the secondary is a mobile non stationary or Single station if used as a stationary unit ye ga o w Sz d 5 amp ga y 2 JE Qt coe Nn 47 Aquarius Series Processing Modes Relative Positioning Processing a Example Built in UHF antenna a Y reception module Tx 4800 U Link transm Primary Mobile 39 pseudorange module No 8 corrections at Data Link 4800 Bd Secondary Mobile unit No 14 Secondary 1 Define its Unit Id 48 PDAS UNIT 14 Unit Number 14 Define the transmission specifications of the transmitter attached to the secondary mobile PDAS DGPS STATION 8 ESC ORT 4716 52 N 00129 54 W UHF 444550000 30 4800 GN 2 Transmitter position entered not involved in the process
115. 4 bytes 24 bytes 2 bytes 1 byte 273 5 N is zZ 7 S la 5 E smdmo veq Mey 8 Raw Data Outputs in SBIN Format SBIN U Iono UTC data a Ephemeris identification A single byte Number of the GPS satellite corresponding to the transmitted ephemeris binary a Ephemeris data Bits 1 to 24 from words 3 to 10 in subframe 1 Bits 1 to 24 from words 3 to 10 in subframe 2 Bits 1 to 24 from words 3 to 10 in subframe 3 SBIN U lono UTC data a General form lt stb gt lt U gt 2 bytes lt long gt 2 bytes lt lono UTC data gt 24 bytes lt checksum gt 2 bytes lt etb gt 1 byte a lono UTC Data Bits 1 to 24 from words 3 to 10 in subframe 4 page 18 declared valid by the GPS sensor SBIN S Health amp A S data a General form lt stb gt lt S gt 2 bytes long 2 bytes A S amp Health data 24 bytes Health data 24 bytes lt checksum gt 2 bytes lt etb gt 1 byte 274 a Health amp A S Data A S amp Health Health Raw Data Outputs in SBIN Format SBIN b GPS Bit Flow Bits 1 to 24 from words 3 to 10 in subframe 4 page 25 declared valid by the GPS sensor Bits 1 to 24 from words 3 to 10 in subframe 5 page 25 declared valid by the GPS sensor SBIN b GPS Bit Flow a General Form lt stb gt lt b gt lt long gt lt time tagging gt lt Parameters gt lt Data from 1st GPS SV gt lt Data from nth GPS SV gt lt checksum gt lt etb g
116. 4D 387176 E F E06F 156 5C8 008 F D0 79 GPALM 29 29 31 1115 00 537D 4E 0251 FD49 A10C BB 236C D4 1A3CA8 43 E9C7 000 060 72 ECGPQ DTM GPDTM W84 0 000000 N 0 000000 E 0 000 W 84 6F ECGPQ GGA GPGGA 142938 24 4717 937677 N 00130 543208 W 2 08 1 0 88 312 M 0 00 0 M 2 4 0120 58 ECGPQ GLL GPGLL 4717 937689 N 00130 543202 W 142946 22 A D 5D Svdd ECGPQ GRS GPGRS 142951 49 1 0 00 0 00 0 00 0 00 0 02 0 00 0 01 0 01 67 e e 3 5 Z a E 7 2 4 335 19 336 PDAS Command Library PDAS GPSDAT PDAS GPSDAT a Functions Edits the definitions of the GPS raw data outputs Adds new definitions of GPS raw data outputs Syntax Set command PDAS GPSDAT a b c d e f hh CR JLF Query command all output definitions are returned PDAS GPSDAT hh CR LF Query command only the specified output is returned PDAS GPSDAT a hh CR LF Parameters Format i Comments a X 1102 Output number b a Output port identification A B etc Ephemeris data output 0 none 1 BINE at regular intervals in SBIN E binary format 2 BIN E on request in SBIN E binary format 3 ASCE at regular intervals in SVAR E format 4 ASC E on request in SVAR IE format c X 0to4 Almanac data output 0 none 1 BINA at regular intervals in SBIN A binary format 2 BIN A on request in SBIN A binary format 3 ASCA at regular intervals in SVAR A format 4
117. 7 bytes checksum 2 bytes lt etb gt 1 byte a Time tagging E n is zZ 7 S la 5 E First 2 bytes GPS week number assuming the modulo on ambiguity has been solved Last 3 bytes GPS time in week unit 1 10 s The reference time is Jan 6 1980 at OhrOO smdmo veq Mey Q Parameters A single byte bits 0 and 1 C A code smoothed by carrier complies with RTCM message 19 Smoothing Interval 00 Oto 1 minute 1 to 5 minutes 5 to 15 minutes Indefinite 263 18 Bit 2 Bit 3 Bits 4 t0 6 Bit7 a Satellite Raw Data 1st byte Next 4 bytes Next byte Next 3 bytes Next 3 bytes Next byte Next byte Next byte 264 Raw Data Outputs in SBIN Format SBIN R Dual frequency GPS pseudoranges in satellite time 1 0 reserved 1 dual frequency measurements SV number C A code pseudorange unit 107 s modulo 0 4 S bits 0 to 4 Level indicator C No 26 in dB Hz bits 5 6 and 7 channel status bit 520 if P code 1 if Y code bit 6 1 if L2py phase measurement not valid bit 721 if L1cj phase measurement not valid L1g A carrier phase unit 10 cycle modulo 10 cycles L1c a carrier speed unit 4x1 0 cycles s field 32 kHz MSB sign 800000h measurement not valid L1Cc A carrier quality indicator Bits 0 to 4 cumulative loss of continuity indica tor complies with RTCM message No 18 counter modulo 32 incremented every time th
118. 70 3362615 514468 50 0 17 7F 6 10 68810541880 5252323 1178488 49 0 19 7F 7 13 68905898850 959909 2909440 45 0 33 8F 9 2 68933290713 4760641 3009252 42 0 3A 9F Owing to the fact that they are received later pseudoranges from WAAS EGNOS satellites are output in a separate block 237 7 Raw Data Outputs in ASCII Format SVAR R Dual frequency GPS pseudoranges in satellite time SVAR R Dual frequency GPS pseudoranges in satellite time a General Form lt stx gt lt eoln gt IR gt lt time tagging gt lt eoln gt lt soln gt lt parameters gt lt eoln gt lt soln gt lt 1st line of raw data lt eoln gt lt soln gt lt nth line of raw data gt lt eoln gt eb a Time tagging line IR GPS week GPS time gt lt eoln gt GPS week GPS week number and time in week in sec GPS time Reference time is jan 6 1980 at Ohr00 assum ing the modulo 2 ambiguity is removed eoln a Parameter line soln 1stchar lt amp gt P L1 and L2 phase measurements C A P Y codes Filter time constant in seconds C A code smoothed by carrier Antenna identification 0 primary antenna by default lt 1 2 3 gt secondary antennas lt eoln gt 238 Raw Data Outputs in ASCII Format SVAR R Dual frequency GPS pseudoranges in satellite time a Dual frequency raw data lines lt soln gt lt SV No gt lt C A code pseudorange gt lt L1c a carrier phase
119. 84 and ICD200 a geoid model that is valid worldwide as defined in ICD200 document Huser H wass4 elias MSLicp200 EMS Loca offset Where Huser Altitude computation result H wase4 ellips Altitude on WGS84 MSL cpzoo Undulation between ICD200 model and WGS84 EMS Loca Local height correction Offset Antenna height Sea Land Hwassa ellips Hwassa ellips ia X Local EMSL a correction EMSL ocal correction nm d X ICD200 ICD200 A MSLicp200 8id MSL p amp oid v v Y v WGS84 WGS84 ellipsoid ellipsoid 286 PDAS Command Library PDAS ALTI a 1 WGS84 Altitude referenced to WGS84 only Huser Hweses ellips EMS Lica offset Where Huser Altitude computation result Hwesea ellips Altitude on WGS84 EMS Loca Local height correction Offset Antenna height Sea Land Surveyed Surveyed Hwassa ellips Hwassa ellips i Local X Local EMSL cat correction EMSL ocal correction v Y Y v WGS84 WGS84 ellipsoid ellipsoid e EI 5 Z a E Iz lt 4 287 ji Q PDAS Command Library PDAS ALTI a 2 DATUM Altitude referenced to local ellipsoid Huser Hocal etips EMSLi a offset Where Huser Altitude computation result Hyocal etips Altitude on local ellipsoid EMS Loca Local height correction Offset Antenna height Sea A A Land Hyocal ellips Nc A Local Haser correcti
120. 9 0 e Worldwide 0 0 0 0 0 0 Austria Belgium Finland France Ger many Gibraltar Greece Italy Luxembourg the Netherlands Norway Portugal Spain Sweden Switzerland England Man Island Scotland Shetland Islands Wales rae 3 0 8 0 25 0 10 0 10 0 15 0 w dium Solution amp Tobago Venezuela 5 Cape CAP on ellipsoid Clarke 1880 CD South Africa 3 0 6 0 6 0 Tokyo Datum TOY M 6 jon ellipsoid Bessel 1841 BR Japan Okinawa South Korea 320 0 5 0 20 0 Medium Solution Hong Kong 1963 HKD on ellipsoid International 1924 IN South Asia SOA on modified ellipsoid Fischer 1960 FA Australian Geodetic Datum 1984 9 on ellipsoid Australian National AUG Australia Tasmania 2 0 2 0 220 Hong Kong 25 0 25 0 25 0 Singapore 25 0 25 0 25 0 Any other system can be loaded into the receiver using the Magellan Con figPack software 382 a Geodetic Parameters Used Appendices 3011 GPS Compass Available Geodetic Systems Identification Ellipsoid ECEF Offset in m ECEF Rotations in N Coord Datum a m lf k Dx Dy Dz Rx Ry Rz roj System Kind 0 WGS84 WE 6378137 000 298 257223563 1 000000000000 0 000 0 000 0 000 0 000000 0 000000 0 000000 p 1 ED50 EUR M 6378388 000 297 000000000 1 000000000000 87
121. A Data valid V Navigation receiver warning UTC of position fix 1 Mode Indicator A Autonomous Mode D Differential Mode E Estimated Dead Reckoning Mode N Data not valid 217 6 Computed Data Outputs Sentence No 7 GPGRS Sentence No 7 GPGRS GPGRS hhmmss ss X X XX X XX XX XX oX XX XX XX XX X X X hh CR ILF residuals in meters for satellites used in the navigation solution Mode 1 residuals were recomputed after the GGA position was computed UTC time of the GGA fix associated with this sentence 1 If the range residual exceeds 99 9 meters then the decimal part is dropped re sulting in an integer maximum value 999 2 The sense or sign of the range residual results from Residual calculated range measured range Sentence No 8 GPGST GPGST hhmmss ss Xx X X X X X XX XX X X X hh C R ILF Standard deviation of altitude error meters Standard deviation of longitude error meters Standard deviation of latitude error meters L JOrientation of semi major axis of error ellipse 1 Standard deviation of semi minor axis of error ellipse 1 Standard deviation of semi major axis of error ellipse 1 RMS value of the standard deviation on pseudo ranges 1 UTC time of the GGA fix associated with this sentence 1 Fields not computed in this version 218 Computed Data Outputs
122. AS DGPDAT 2 A 1 100 4 To port A Time output mode 10 sec output rate S VAR data Listing definitions of outputs 1 amp 2 PDAS DGPDAT PDAS DGPDAT 1 D 1 10 3 1 2 71 PDAS DGPDAT 2 A 1 100 4 43 Svdd e 5 8 a E E us lt If a display terminal is connected to port A this may be the terminal from which you sent the preceding commands then data blocks of the following type are now received 1D 945 329190 1 R 14 0 3 5 9 0 33 0 0 201 17 8 0 0 19 0 0 183 19 32 2 0 28 0 0 224 21 40 5 0 14 0 0 204 22 2 6 0 39 0 0 51 23 17 9 0 51 0 0 75 27 23 3 0 22 0 0 228 31 29 8 0 12 0 0 153 15 12 5 0 13 0 0 50 311 312 PDAS Command Library PDAS DGPDAT Re defining output 2 PDAS DGPDAT 2 A 1 50 1 2 3 5 9 16 To port A Time output mode 5 sec output rate RTCM SC104 data messages Nos 2 3 5 9 16 Re listing definitions of outputs 1 amp 2 PDAS DGPDAT PDAS DGPDAT 1 D 1 10 3 1 2 71 P DAS DGPDAT 2 A 1 50 1 2 3 5 9 16454 Again if a display terminal is connected to port A then data blocks of the following type are now received fAC fE r fR XnzdUO JorxDs 1CS nY OnY cTzCiXa0 Ou MouR jpL Z PN CzPM ml_puAOulCosdY nkp ET o migfLi Dp GpzWyC Q KsMfQB jE Xsb DCBey pfLZGDD bxOEhFL L fQBYOzoBJIDCbpZLL YsOGNDDGpzWY LdYnkpy tblIDCbVcpfLRGMDQGpzWy AlswY n JcUFhG J8 DCbcXTMIss cW gxOEhF X WL fQB jylpbj Jm_cgpvLY_bdFnxOE hF IpLQfQB OF w m y svLy
123. AS NAVSEL 1 129 DGPS Position mode PDAS NAVSEL 2 Changing fix used for navigation PDAS NAVSEL Query P DAS NAVSEL 3 1 2B KART LRK A Position mode 347 19 348 PDAS Command Library PDAS OUTMES PDAS OUTMES a Functions Edits the definitions of the computed data outputs Adds new definitions of computed data outputs Syntax Set command PDAS OUTMES a b c d e n hh CR ILF Query command PDAS OUTMES a b hh CR J LF Parameters Format Comments w X X 0 to 20 Message number Port identification A B C D P 8 to 8 Trigger mode 0 disables the output no possibility to know what the former trigger mode was for this output as opposed to the sign see below 1 Time 2 External Eventis the triggering signal 3 reserved 4 1pps is the triggering signal 5 Manual future development 6 by PDAS TR command 7 amp 8 for future development A negative value will cause the outputto be disabled but the trigger mode information will still be present in the output defini tion for further use XX If c 1 then d is the trigger rate expressed in 100 ms units If cz2 or 4 then d is the trigger rate expressed as a count of events enu N X X Numbers of the formats macros that will generate the mes sage being defined hh Checksum optional CRIILF End of command PDAS Command Library PDAS OUTMES
124. ASC A on request in SVAR A format d X 0to4 lono UTC data output 0 none 1 BINU at regular intervals in SBIN U binary format 2 BIN U on request in SBIN U binary format 3 ASCU at regular intervals in SVAR U format 4 ASC U on request in SVAR U format e X 0t04 PDAS Command Library PDAS GPSDAT Format i Comments Health amp A S data output 0 none 1 BINS at regular intervals in SBIN S binary format 2 BIN S on request in SBIN S binary format 3 ASCS at regular intervals in SVAR S format 4 ASC S on request in SVAR S format hh Checksum optional CRIILF End of command a Examples PDAS GPSDAT Query P DAS GPSDAT 1 B 3 3 3 3 4C P DAS GPSDAT 2 N 0 0 0 0 43 Reply a single output defined output 1 on portB allGPS data blocks programmed in this output are invalidated PDAS GPSDAT 1 B 3 3 3 3 Validating GP S data blocks in output 1 PDAS GPSDAT Query P DAS GPSDAT 1 B 3 3 3 3 4C Reply 2 lines P DAS GPSDAT 2 N 0 0 0 0 43 Svdd e e 3 5 Z a E 7 2 1 lt 4 PDAS GPSDAT 2 A 0 0 4 0 Adding output 2 on port A iono utc data If a display terminal is connected to port A this may be the terminal from which you sent the preceding commands then data blocks of the following type will be displayed 1U 945 378367 0 780F00 FF0136 FEFC03 000032 000000 0F90B 1 0C9002 0CAAAA Data described
125. B etc hh Checksum optional CRIILF End of command 345 e 5 8 a E E lt 9 PDAS Command Library PDAS IDENT a Examples Query PDAS IDENT Reply from a dual frequency mobile P DAS IDENT 8 1 U698 UCBGV20000 64 P DAS IDENT 8 2 U698 UCIMV10045 64 P DAS IDENT 8 3 U 698 UCLNV30000 60 PDAS IDENT 8 4 U698 UCBKV8 2 0A P DAS IDENT 8 5 U 698 UCKBV9999 5E PDAS IDENT 8 6 TD02 RUHFV20100 D 60 PDAS IDENT 8 7 CM39 C3BLX0000001 101 P DAS IDENT 8 8 CM39 C 3PYV0000007 1 01 346 PDAS Command Library PDAS NAVSEL PDAS NAVSEL a Function Edits the navigation mode currently selected a Syntax Set command PDAS NAVSEL a b c d hh CR J LF Query command PDAS NAVSEL hh CR I LF a Parameters Format i Comments Type of fix used for navigation a X 1to4 1 or2or4 DJIGPS WADGPS EDGPS or KART R 3 KART A Navigation mode used 1 Position none b a 2 Homing future use 3 Homing along a specified direction future use 4 Route future use Navigation instructions 8 characters max c C C If bz 2 or 3 c label of target waypoint If bz 4 c label of the route to follow Direction of travel along the route e 5 5 Z Qa E T 4 d X Direct if dz 1 Inverse if dz 0 hh Checksum optional CRIILF End of command a Examples PDAS NAVSEL Query PD
126. Code 2699075675AC date code SubD 9S Plug female straight B Plug wl alul alu Oo O OOOo00 OO000 Solder view Appendices Connector Pinouts and Cables All Receivers a DB15 DB9 RS232 RS422 Data Cable Option Aquarius Aquarius and Sagitta only NE h J GO Marki p arking A DSNP101587A B SubD 15 Plug SubD 9 Plug male straight female straigh A Plug B Plug 1 1 2 2 O 50 3 Nm 3 ollg O 4 4 96 O eel s 5 o9 o 6 6 1o 9 e e 7 7 O e o e 8 8 Solder view gt 9 9 e 9 J 9 1 10 O T Solder 12 view 13 14 15 kzi I E z N 393 20 Appendices Radio Module Options Radio Module Options Aquarius Aquarius and Sagitta only Tx 4800 U Link UHF Transmission Module Operating in UHF band 410 to 470 MHz Data formats LRK RTK and RTCM Modulation type GMSK at 4800 bits s Radiated power 4 W or 0 5 W according to local authorization CXL 70 3 dB antenna Norm ETS100 313 Certified in Europe the US and most other countries EMI specifications EN60945 ETS 300279 Rx 4812 U Link UHF Reception 1 or 2 built in modules Operating in UHF band 410 to 470 MHz Designe
127. D hh CR JLF a Parameters Format i i Comments Q a X Number of lines in the reply to the command E b X Number of the present line S c c C Geoid name None if no geoid in the receiver amp d C C Date amp time of creation for the geoid file e INN TH Lower latitude of grid S f a Sign of lower latitude N North or S South d g INL THI Upper latitude of grid h a Sign of upper latitude N North or S South i X Number of latitude points j X Geoid version number k Yyyyy yyyyyy Lower longitude of grid l a Sign of lower longitude E East or W West m yyyyy yyyyyy Upper longitude of grid n a Sign of upper longitude E East or W West 0 X Number of longitude points j X Geoid version number p C C Comment hh Checksum optional CRIILF End of command 329 9 PDAS Command Library PDAS GEOID READ a Examples PDAS GEOID READ Query P DAS GEOID READ 1 1 NONE 72 Reply No geoid in the receiver After downloading a user geoid to the receiver using the GEOIDS utility from ConfigPack and after enabling the USER GEOID firmware option in the receiver the reply will be different as shown below PDAS GEOID READ Query PDAS GEOID READ 3 1 RAF 98 01 12 01 18 02 55 4200 000000 N 5130 000000 N 381 0 21 PDAS GEOID READ 3 2 RAF98 01 12 01 18 02 55 00530 000000 W 00830 000000 E 421 0 31 PDAS GEOID READ 3 3 France 45
128. DAS DEFLT hh CR J LF Parameters Format i 1 i Comments lto Error code to be listed a X X 104 If b is absent and a 0 all errors except those still persisting are acknowledged b X X Error code to be acknowledged hh Checksum optional CR ILF End of command PDAS Command Library PDAS DEFLT a Receiver reply to a Query command PDAS DEFLT A B C D E F hh CR ILF Format Comments 0 to A X 100 Error code 1 to B X 256 Error code to be acknowledged C a Keyword TD SYSTM CONFG POSIT NAVIG 1 0 CM IHM DGPS INTRF GEODY NONE D X 1 to 31 Day of first occurrence E hhmmss ss Time of first occurrence F hhmmss ss Time of last occurrence hh Checksum optional CR LF End of command a Examples PDAS DEFLT Listing all detected errors P DAS DEFLT 23 0 1 0 18 174909 174910 6C P DAS DEFLT 24 0 1 0 18 174835 175045 6D P DAS DEFLT 103 1 1 0 18 174827 174828 59 P DAS DEFLT 102 4 1 0 18 174827 174828 5D PDAS DEFLT 8 1003 CM 18 174826 174827 49 PDAS DEFLT 103 Reading error 103 P DAS DEFLT 103 1 1 0 18 174827 174828 59 PDAS DEFLT O PDAS DEFLT Acknowledging all errors Re listing errors PDAS DEFLT 24 0 0 18 174835 175045 6D Error 24 persisting 301 e e 3 5 Z a E 7 2 1 lt 4 Svdd 302 PDAS Command Library PDAS DGPS DELSTA PDAS DGPS DELSTA a Funct
129. DAS SELGEO 2L LLL LLL LLL 359 PDAS SVDSEL 2022 LLL LLL LLL 360 PDAS TR ae aa eo cee ten Me eo eee ee ee ee 362 PDAS UNIT O LLL 363 ZDAand GPQIZDA LLL LLL 364 20 Appendices 1 365 ix Marine Survey Receivers Table of Contents Aquarius amp Aquarius Default Configuration Sagitta Series Technical Specifications Sagi 3011 GPS Compass Calibration Procedures Pow DCODOCODOOCOLD Physical Main Features DODDDODDD z e a 8 Physical rre he ae ne IRR tta Series Default Configuration Q What is the calibration value Q Manual Calibration along a Quay Q GPS GNSS Characteristics Q General Characteristics 0000000000000 Q Interfaces Q Systems List er Supply Protections All Receivers Q From Power Surges Q From Voltage Drops Port A RS422 Port B RS232 Port C RS422 OOOOCOO 3011 GPS Compass Calibration Principles 3011 GPS Compass Connection to MLR FX312 or FX412 GPS Receiver 3011 GPS Compass Available Geodetic Systems 365 365 365 366 366 367 367 367 367 368 370 370 370 370 370 371 371 371 371 372 374 374 375 376 376 377 378 379 379 379 380 380 381 381 382 382 383 384 384 384 384 385 385 386 386 386 387 387 Marine Survey Receivers Table of Contents D Port D R5422 0 eee 388 Q Powerln Connectr 0 0 0 0 0 388 D J6 388 E Mi ace D ne eat sa 389 Q Eventinput
130. Dual frequency GPS pseudoranges in receiver time SVAR Q Dual frequency GPS pseudoranges in receiver time a General Form sb eoln IQ time tagging lt eoln gt soln parameters lt eoln gt lt soln gt lt 1st line of raw data lt eoln gt lt soln gt lt nth line of raw data lt eoln gt eb a Time tagging line IQ GPS week GPS time Delay eoln GPS week GPS time Delay lt eoln gt a Parameter line lt soln gt lt Filter time constant gt lt Antenna identification gt lt eoln gt GPS week number Time in week in seconds Reference time is Jan 6 1980 at Ohr00 assuming the modulo 2 ambiguity has been solved GPS time of measurement GPS time in week Z count in useconds 1st character amp 2nd character P L1 and L2 phase meas urements C A P Y codes In seconds C A code smoothed by carrier 0 primary antenna by default lt 1 2 3 gt secondary antennas 243 E gt Dn eel imi mj S la B E syndyno gwd sey 17 Raw Data Outputs in ASCII Format SVAR Q Dual frequency GPS pseudoranges in receiver time a Dual frequency raw data lines lt soln gt lt SV No gt lt C A code pseudorange gt lt L1c a carrier phase lt Licya carrier speed lt L1c A C No L1 L2 channel status L1 carrier quality indicator C A code quality indicator lt Lipy
131. Fixing parts for receiver case screws washers nuts E RETRO ride Ez 2 zh 5 amp z 6 Nn O 3 T jeg S 5 1x User Manual the present manual 1x CD ROM containing TRM 100 PC Software for Windows 95 98 2000 NT and User Manual in the form of PDF document Magellan reserves the right to make changes to the above list without prior notice Firmware Options KARTMODE P0100892 LRKMODE P0100893 RELATIVE OTF P0101345 REFSTATION P077252A 67 Sagitta Series Equipment Description Hardware Options Hardware Options One of the following two options is necessary to operate Sagitta GNSS Marine 30 meter cable kit P076464A 1x RG223 TNC m TNC m coaxial cable low loss 30 m long C5050188 1x marine mounting kit for NAP 00x antenna P0714484A GNSS Marine 10 meter cable kit PO101393 1x RG223 TNC m TNC m coaxial cable low loss 10 m long C5050196 1x marine mounting kit for NAP 00x antenna P0714484A Radio options available Rx 4812 U Link UHF reception kit P0101388 including 1x UHF re ception module 1x cord for internal coaxial connection Designed to be embedded in Sagitta Rx 1635 HM Link HF MF reception kit PO101504 including HE MF radio receiver designed to be embedded in Sagitta Tx4800 U Link UHF transmission kit P0101389 including 1x U Link Tx 4812 transmitter module with N female output connector 1x U Link Tx 4812 interfacing box
132. GPS Compass Equipment Description 89 Standard Supply 0 000 000 00 oo LL 89 Options 2020000 00000000 LLL 89 3OllProcessor 90 Q Description ofthe Control Panel 0 90 Q Dimensions 000 00000000000 LLL 90 NAP 011 Antenna 91 Q Description of the different parts 222 91 Q Dimensions 91 TRM100PCSoftware L 77 1 92 TRM 100 Terminal Option 0 0 20 93 HF MF DGPS Reception KitOption J P iii 93 ExemalAid Z0 4 2 20D 94 11 3011 GPS Compass Installation 95 NAP 011 Antenna 95 OQ Choosing a location where to install the antenna 95 Q Possible Orientations 00000000 oo 96 Q AidtoOrientation 000 000000000 96 Q AntennaMounting 000000000000 97 LJ Possible Types of Antenna Mounting 0 98 30OllProcessor 0 J Z L0 J 98 Q Drilling Diagram 98 Q Installation Examples 0 0 0000000000000 00000000 99 El SitenCOnn CGHONS us weve v eEEEE ETE CE Y E EL bee EE TT oy kb 100 TRM100PCSoftware A 101 Q Computer Requirements 0 101 0 Installation Procedure 101 HF MF Antenna J 2 2 00 0 00 00 101 12 3011 GPS Compass GettingStarted 103 DC Power 0 0 20 0 0 0 00 103 QO Switching on the 3011 i
133. GPS antenna attached to the station From the station charac teristics screen Press F2 B ANT Mar 31 2005 Q 0 8 TD30 09s UTC RT SRS eS eee 08 118vs 47 17 983551N WGS84 0 0KT 001 30 53996W 75 0m COG 0 0 MAIN DGNSS MOB BEACON MODIFY ANT Antenna name L2 L1 offset Select antenna for LA FLEURIAYE ANT1 Up to 5 different antennas can be defined for each station This will al low you to quickly update the characteristics of the station if later on you need to change the type of GPS antenna used by this station Enter each of the characteristics using the keypad To move the cur sor from one field to the other press F3 previous field or F4 next field To move the cursor to the next line press F2 Press F4 repeatealy until you reach the last field at the bottom of the screen Of the various antennas defined above choose the one used by the station Press the or Y key until the name of this antenna appears in the field Then press F5 OK to store the characteristics of the new station se QOTIALL Suits il S i zi e z L3 lt m S Z I E 147 4 Using TRM100 as Control amp Navigation Terminal DGNSS Menu To define another station first have the following displayed by press ing the Up or Down key No Station Position KAKAK KKKKAKKK KKK KKOKKKKAKK FOI IO po KKAKKAKAKKHZ XX Ok IK IK FOI OOK bs xxx Lm Press F5 MODIFY and resume from step 4 above t
134. IG GRAPH F4 MARK F5 SCALE 3 NORTH d PLTMODE F3 LEG OPTIONS F4 TARGET i CLEAR F5 Back to previous screen SAVE FI WPT RTE Fa TRAJ NO F5 gt k Ss I E Q l1 Dn 405 2 0 Appendices TRM100 Functions Summary a DGNSS Function In a mobile in which REFSTATION is not installed F1 N LINE F2 lt lt lt F3 F1 gt gt gt F4 OK F5 p MODE F3 paxs BEACON F4 MSGES ps F1 DELETE F4 MODIFY F5 In a station REFSTATION enabled pir N LINE INIT or DELAY F2 lt lt p3 FI gt gt gt FA OK F5 MODE F3 BEACON r4 Fie MSGES ps DELETE F4 F1 MODIF F5 B ANT F2 F1 lt lt lt F3 F2 MOBILE F2 gt gt gt F4 DGNSS REL REF F3 OK F5 FIX REF F4 Fl Fl Fl NEXT F2 E lt lt lt F3 INIT F3 MODIFY F5 4 gt gt gt F4 OK F5 FI Fl js MANT F2 DATUM F3 lt lt lt F3 F1 REF POS F4 gt gt gt F4 POSIT F44 IOK FS ok Fs5 INIT F3 MODIFY F5 Fi Fl DGPS ST F4 NEXT F2 M ANT 2 lt lt lt F3 lt lt lt F3 Back to previous screen ua i OE a Depending on cursor position on screen 406 Q AUX function FI INIT F2 VERSION F3 IN OUTP F4 gt gt gt F5 AUX E F 1 STATUS F2 ANOMALYF3 SPEED F4 gt gt gt F5
135. J Correction data string generalform 222 206 Q LRKFormatMessage 0 0 0 0000 207 LJ Proprietary Pseudorange Corrections Message 208 D Ll phase C A Code Message 0 209 L1 RTEM Message es Hn as ALLL LLL 210 D User Message 2 0 000 00 000000 LLL 211 16 Computed Data Outputs 213 Conventions used 0 0 0 000 00000000000 213 Sentence No 1 GPGGA 0 0 214 Sentence No 2 GPGLL 1 0 0 0 0 215 Sentence No 33 GPVTG 1 0 0 215 Sentence No 4 GPGSA 1 1 216 Sentences No 5 amp 18 for Aquarius GPZDA 1 1 1 216 Sentence No 6 SGPRMC 1 1 0 0 0 217 Sentence No 7 GPGRS 1 1 1 218 Sentence No 8 GPGST 1 1 218 Sentence No 9 GPGSV 1 1 1 219 Sentence No 10 GPGMP 11 1 0 220 Sentence No 11 GPHDT 1 1 0 221 Sentence No 12 GPHDG 1 221 Sentence No 13 GPROT 1 1 0 221 Sentence No 14 GPVBW 1 1 0 222 Sentence No 15 GPVHUW 000 0 0 222 Sentence No 16 GPOSD 1 1 222 Sentence No 17 PDAS SHRP 0 223 17 Raw Data Outputs in ASCII Format J 225 Notation rules ZJ 2200 020 00 002 0000 225 Q L1 carrier quality indicator 0 0 0000000000000 227 Q C A code quality indicator ___ 0 00000000000 227 SVAR D Differential Data 228 SVARIR Single frequency GPS WAAS EGNOS pseudoranges in satellite time_ 236 vli viii Marine Survey Receivers Table of Contents SVARIR Dual frequency GPS pseudoranges in satellite time 238 SVARI
136. LF End of command a Examples ECGPQ ZDA Query GPZDA 180919 00 17 2 1998 00 00 78 Reply ECZDA 082100 18 12 1997 1 00 Changing time ECGPQ ZDA Checking new time GPZDA 082117 00 18 12 1997 01 00 4B Q 364 20 Appendices Appendices Aquarius amp Aquarius Technical Specifications Aquarius amp Aquarius Technical Specifications Q Main Features L1 L2 LRK centimeter real time positioning Aquarius 02 L1 KART centimeter real time positioning Aquarius 01 User Coordinate System local datum projection geoid model a Configurations Standard eid GNSS Firmware Hardware Features Standard Antennas Options Options 1 1xNAP 001 f complete REFSTATION with standard RELATIVE OTF supply 1 IxNAP 002 ILRKMODE y 1 gt complete REFSTATION B 3 E G with standard jp ATIVE OTF 8 supply 8 E i f g A D x E 5 A 2xNAP 001 X25 3 ju HEADING complete REFSTATION 3 2r ny with standard RELATIVE OTF 2 Z if supply 2 T H y p U 1xNAP 001 g E X 3 V E 1xNAP IRKMODE er ai HEADING ae REFSTATION 2 E with standard RELATIVE OTF supply 2xNAP 002 4 HEADING complete LRKMODE RELATIVE OTF with standard REFSTATION supply 365 kzi I E Q l1 Dn 366 Appendices Aquarius amp Aquarius Technical Specifications a Performance Figures See sections 4 and 5 for all specifications relevant to
137. LRK or any other mode enabled on primary antenna LRK selected in UHF1 row USED column 3 The N Line command is available only when the cursor is positioned anywhere within the PORT column 4 The rightmost column is software set according to the choice made in the USED column se QOTIALL SUN i9 S i zi e z L3 lt m S Z I E 151 14 152 Using TRM100 as Control amp Navigation Terminal DGNSS Menu Typical use examples 1 LRK processing corrections data from transmitter La Fleuriaye via UHF radio link input port C or D Mar 05 2002 LRK Q 18 TD11 02s UTC 15 58 51 NONE 09 115Vs 47 17 937674N Wass4 00 0 KT 001 30 543214W 88 42m Cole Exe par MAIN DGNSS MODE SOURC PORT STATION USED WAAS N U UHF 1 D La Fleuriaye LRK u NUM1 7 b N U OPEN N U In this case of use F2 INIT allows you to choose which reference sta tion to use in priority among the 4 possibly received Even if there is only one station possible it is recommended to enter its number through this function After selecting LRK in the USED column and before enabling it in column on the right F2 INIT allows you to choose the solution type real time or accurate and the initialization mode OTF static Z fixed or POSIT See also page 29 for more information 2 Relative processing corrections data received by primary mobile from transmitter SM attached to sec
138. MAGELLAN PROFESSIONAL Important Recommendations 1 The 3011 Sagitta Aquarius and Aquarius receivers are high precision navigation instruments They should not however replace the need for good judgment and careful navigation using traditional methods 2 Using and connecting 3011 Sagitta Aquarius or Aquarius to any navigation peripheral does not make it less necessary for navigators to be cautious and continually on the watch 3 Like for any other GPS receiver the performance of Aquarius and Aquarius is subject to the decisions of the US Department Of De fense which has full control of the GPS At any time the DOD can decide to impair the precision and availability of the GPS signals worldwide without the possibility for GPS users to claim for dam ages 4 Magellan and its distributors shall not be liable for errors con tained herein or for incidental consequential damages in connection with the furnishing performance or use of this equipment The 3011 GPS compass basically is a GPS receiver with the addi tional capability to perform heading measurements thanks to its dual sensor antenna Like for any GPS receiver the performance level of the 3011 is closely tied to the conditions of GPS reception In the event of partial or complete reception loss the 3011 will no longer be able to perform heading measurements The loss of heading information however brief it may be is espe cially undesirable when the 3
139. Manual 61 106 376 Prerequisites 105 Theory 59 374 COMMNT 295 CONFIG 296 CONFIG INIT 297 CONFIG READ 298 CONFIG RESET 299 Configuration 118 Control segment 395 Corrections DSNP UHF types 310 In SVAR D format 230 Output formats 35 44 RTCM type 310 Current configuration 404 D DAS 281 Dead reckoning heading 173 Default configuration 404 DEFLT 300 DGNSS Particular cases of networks 205 DGPDAT 309 DGPS DELSTA 302 DGPS MODE E 303 Marine Survey Receivers User Manual Index DGPS MODE R 305 DGPS STATION 307 EGNOS 317 399 401 402 Elevation threshold 360 Estimated position 331 External aid 94 FAA 400 FILTER 315 FIXMOD 317 FX312 FX412 381 G GEO 52 332 360 Data line 277 GEO coordinate systems 324 GEO current status December 1998 401 GEODAT 326 327 329 Geodetic systems 382 GIC 398 GLL 331 GLONASS 397 398 GNOS 332 GNSS 397 GPQ 334 GPQ GLL 331 GPQ ZDA 364 GPS navigation message 397 GPS signals 396 GPSDAT 336 Gyrosky 379 H HARDRS 338 HDG 221 Heading screens 117 Heading view 113 HEALTH 339 IDENT 343 Initial configuration 404 Initialization phase 104 Inmarsat 205 402 Integrity definition 400 Internet sites 402 K KART Initialization modes 30 38 KART A 38 KART R 38 L1 396 L2 396 LED Number of received satellites 104 Power 103 Local time 364 LRK Initialization modes 30 38
140. N f 1 1 43 PDAS AGECOR 040 0 31 PDAS ALTI 0 2 000 0 3A PDAS FILTER 6 00 1E P DAS DOPMAX 40 0 13 PDAS SVDSEL 5 0 0 2A PDAS SELGEO 0 21 P DAS CONFIG END 00015678 62 PDAS Command Library S SPDAS CONFIG RESET PDAS CONFIG RESET Q Function Performs internal loading of the default configuration so as to make it the receiver s new current configuration The current configuration is referred to as the active configuration in the receiver See also page 404 The receiver is automatically re initialized after running this command a Syntax PDAS CONFIG RESET hh CR J LF a Parameters Format i i Comments none hh Checksum optional CRIILF End of command a Examples PDAS CONFIG RESET PDAS COMMNT PDAS COMMNT 1 1 CONFIG PALMTOP 61 PDAS CONFIG RESET PDAS COMMNT P DAS COMMNT 3 1 AQUARIUS 0B PDAS COMMNT 3 2 DEFAULT CONFIGURATION 2A PDAS COMMNT 3 3 V1 0 15 01 2002 6C Svads e EI 5 Z a E Iz lt 4 299 300 PDAS Command Library PDAS DEFLT PDAS DEFLT a Functions Reports the errors if any detected by the receiver Errors are listed from the latest to the earliest Can acknowledge these errors they are then removed from the list unless they are still persisting The list of possible anomalies or errors is provided on page 403 Syntax Set command PDAS DEFLT a b hh CR LF Query command P
141. NIT displayed on the menu F2 INIT F5 gt gt gt if necessary to have UNITS displayed on the menu F2 UNITS Example of screen then obtained Dec 18 2001 GPS Q 3 TDESI UTC 15 15 14 HDG 09 115Vs 47 17 98477N WGSS84 00 0 KT 001 30 5190W 85 0ft COG Fes se JMAIN AUX INIT UNITS Position Distance Speed dm m KT Height North Ref m True North Precision 0 0 sexes ok The following units can be chosen Position degrees minutes dm or degrees minutes seconds dms Distance Nautical miles N Mile meters m or miles Mile Speed Knots KT miles per hour mph feet per sec ond fps or kilometers per hour k h Height Meters m or feet Feet North Ref True North is the only option Precision Number of decimal places for all values using floating point format se QOTIALL Suits il S i zi e z L3 lt m S Z I E Then Press F5 OK to enable your choices 159 14 160 Using TRM100 as Control amp Navigation Terminal AUX Menu a Entering Local Time amp Local UTC Time Deviation In the event of relatively long satellite search in the Aquarius when first using it it may be useful to enter the current date amp time in order to help the sys tem speed up this phase Otherwise if satellites are found without any problem which will generally be the case the GPS receiver itself will fill in these date amp time fields On the other hand for the Aquarius to
142. NSS gt MODE function 1st or 2nd row in the table see page 149 Onany of the data screens see page 22 check that after a certain time the receiver actually operates in the desired mode Aquarius amp Aquarius Getting Started Use Guidelines a Processing modes implying the use of a data link For these processing modes you also have to do the following using func tions from the DGNSS menu Enter the specifications of the data transmitting source station or other see pages 145 and 148 Select and enable the desired processing mode select the correc tions data source defined previously to be involved in that processing see page 149 Check to see if the corrections data is properly acquired see page 153 On any of the data screens see page 22 check that after a certain time the receiver actually operates in the desired mode a Particular Case of Heading Processing The heading processing is also a standalone operating mode but that can only be implemented in Aquarius To work in this mode you need to do the following Select and enable this mode through the DGNSS gt MODE function see page 149 Then using the AUX gt INIT gt HEADING function Allow the receiver to determine the baseline length see page 170 Once determined validate this length in the receiver to allow it to per form heading measurements page 170 LET THE RECEIVER DETERMINE THE HEADING Calibrate the heading measureme
143. OS 2 WAAS EGNOS differential data partial via signals 3 WAAS EGNOS differential data partial via serial port 4 WAAS EGNOS differential data complete via signals 5 WAAS EGNOS differential data complete via serial port Cyn X X Identification of differential data source If b 1 c Identification s of DGPS reference station s If b 2 C0 PRN Nos of WAAS EGNOS GEOs Or identification of FIXTYP command line if a 5 multi mode position processing The table below summarizes the possible meanings of arguments c d etc as a function of arguments a and b a 0of1 2 3 4 5 6 30 40 43 44 46 70 80 83 84 86 110 b 1 Reference Reference station Reference station No No station No b 2 WAAS EGN WAAS EGNOS OS PRN PRN FIXTYP command line No hh Checksum optional ICR ILF End of command a Examples PDAS FIXMOD P DAS FIXMOD 3 1 39 PDAS FIXMOD 1 1 PDAS FIXMOD P DAS FIXMOD 1 1 3B PDAS FIXMOD 4 1 12 PDAS FIXMOD Query Reply Straight GPS fix mode DGPS station Changing fix mode Query Reply transmitting reference station Changing fix mode Query PDAS FIXMOD 4 1 12 11 Reply Single station DGPS mode DGPS station No 12 PDAS FIXMOD 4 2 128 Changing fix mode WADGPS selected using GEO PRN No 128 WAAS EGNOS pseudoranges involved in position processing unless rejected via command PDAS SVDSEL
144. Outputs Conventions used 16 Computed Data Outputs EX UO z 2 z 2 9 z ES 5 Dn Conventions used In all messages hh checksum CR ILF OD OA Hex characters End Of Line Representation of variables xx numeric value fixed length xx numeric value integer or floating decimal vari able length c c text variable length Preset Fields hhmmss ss UTC time in hours minutes seconds and 1 100th of a second a any field with preset content A asingle character A or V indicative of data validity MLIN latitude N or S yyyyy yyE longitude E or W M Used after some variables heading speed to qualify the variable as magnetic not true Also used as distance unit meters N Speed Unit N for Knots K Speed Unit K for km hr T Used after some variables heading speed to qualify the variable as true not magnetic As stipulated in the NMEA183 standard the length of NMEA messages can be in excess of 80 characters for the receiver to reach the level of precision expected from a kinematic processing 213 1 6 Computed Data Outputs Sentence No 1 GPGGA Sentence No 1 GPGGA Differential Reference Station ID 0 1023 2 4 Age of Differential GPS Data in seconds 2 4 Geoidal Separation in meters 3 4 Altitude re mean sea level geoid in meters Horizontal Dilution of Precision GPGGA hhm
145. PS constellation GEO No 120 GPS antenna Aquarius 1 Enable the tracking of the WAAS or EGNOS system by specifying the PRN number of the GEO used and choosing a selection mode Auto or Manual Example PDAS GNOS 2 120 2 enables the tracking of WAAS EGNOS and requests manual selection of aGEO 120 is the GEO PRN Inmarsat Ill F2 AOR E Running this command will cause a WAAS EGNOS reserved channel in the receiver to be allocated to SV PRN 120 2 If needed disable the use of the GEO pseudoranges in the position processing PDAS SVDSEL 5 120 5 minimum elevation required of SVs GPS amp GEO to be used in the position processing 120 is the PRN of the GEO from which pseudoranges should be rejected 3 Enable the receiver to use the received WAAS EGNOS data in the position processing PDAS FIXMOD 4 2 120 4 selects single station DGPS as the current GPS fix mode 2 selects WAAS EGNOS to be the source of corrections 120 is the PRN of the GEO used 4 Choose the differential position solution for your navigation needs PDAS NAVSEL 1 1 WADGPS position solution used for navigation 1 Navigation mode none 1 ye pan o w Sz ad 5 amp ga y 2 JE Qt Ge Nn 53 Aquarius Series Processing Modes GPS Processing GPS Processing Q Precision Level 5 m RMS depending on constellation status GDOP etc a Specific Requirements Hardware Standard Firmware Aquarius standard vers
146. Press F5 OK when you have finished defining the outputs Using TRM100 as Control amp Navigation Terminal AUX Menu a Changing Serial Port Settings From the main menu see page 23 select successively F3 AUX F5 gt gt gt if necessary to have IN OUTP displayed on the menu F4 IN OUTP F3 PORTS Example of screen then obtained Mar 04 2002 GPS Q 3 AT UTC 15 49 27 NONE 09 108vs 47 17 938628N WGS84 00 0 KT 001 30 542688W 92 08m COGRESS AS JMAIN AUX IN OUTP PORTS Port Baud DataBit Parity StopBit A 38400 8 N 1 B 9600 8 N 1 C 38400 8 N 1 D 19200 8 N 1 Press F8 or F4 gt gt gt to move the cursor to the previous or next parameter in the line and also to change line For each parameter in a line press the Up or Down key to choose one of the possible values for this parameter As shown on the above screen the following parameters have to be defined when setting a port Port Port name Baud Baud rate 6 different values are possible 1200 2400 4800 9600 19200 38400 57600 or 115200 DataBit Number of data bits 4 different values are possible 5 6 7 or 8 Parity Parity check 5 possible values in this field None N forced to 0 S for space forced to 1 M for mark even E or odd O StopBit Number of stop bits 1 or 2 se QOTIALL SUIN il S i zi e z L3 lt m S Z I E Press F5 OK to enable your changes If a U Link or HM Link reception kit
147. Provides the set of results tied to the heading processing a Syntax Query command only PDAS HRP hh CR LF a Parameters in the Reply Message Format Range Comments a hhmmss ss UTC time attached to computed values b XX 0 360 Heading True in degrees c X X 90 90 Roll angle in degrees d X X 90 90 Pitch angle in degrees e X X Heading standard deviation in degrees f 0 12 Number of satellites used concurrently by the two antennas to compute the heading angle Mode indicator A Available g A E N E Estimated dead reckoning N Invalid data hh Checksum optional CRIILF End of command a UTC time attached to computed values Argument a above For Accurate heading time of last valid heading computation no extrapola tion Normal situation corresponding to g A as long as Current time Time of computation 1 5 second For real time heading an extrapolated heading also the time of last valid heading computation Normal situation corresponding to g A as long as Current time Time of computation 1 5 second a Examples PDAS HRP Query P DAS HRP 170903 00 90 9 T 3 3 0 6 8 A 5A Reply 342 PDAS Command Library PDAS IDENT PDAS IDENT Q Function Reads the identification of each of the hardware and software parts in the receiver a Command syntax a query command only PDAS IDENT hh CR LF a Receive
148. Q Single frequency GPS WAAS EGNOS pseudoranges in receiver time 241 SVAR Q Dual frequency GPS pseudoranges in receiver time 243 SVARIM Event Time Tagging 0 0 0 0 246 SVARIA Almanac data 0 00 0000000 00000000 248 SVARIE Ephemeris data eee 249 SVAR U lono UTC data 1 1 0 0 0 0 0 250 SVAR S Health amp A S data 0 251 SVARIB GPS Bit Flow _ 0000 LLLI 252 SVARIW WAAS EGNOS Data 1 254 SVARIV RELATIVE Mode Data 256 18 Raw Data Outputs in SBI N Format 259 Notation Rules LLL 259 SBIN R Single frequency GPS WAAS EGNOS pseudoranges in satellite time 261 SBIN R Dual frequency GPS pseudoranges in satellite time 263 SBIN Q Single frequency GPS WAAS EGNOS pseudoranges in receiver time 266 SBIN Q Dual frequency GPS pseudoranges in receiver time 268 SBIN M Event Time Tagging 22222 271 SBIN A Almanac data 1 000 0 273 SBIN E Ephemeris data 273 SBIN U lono UTC data 1 1 1 1 0 274 SBIN S Health amp A S data 1 1 0 274 SBIN b GPS Bit Flow D00 2 2 2 275 SBIN W WAAS EGNOS Data 1 1 11 1 216 SBIN V RELATIVE Mode Data 278 19 PDAS Command Library 1 281 Introduction O 281 Q Command Format 0 281 Q Conventions Used 00 0 0 0000000 o 281 Command summary table eee 282 PDASjAGECOR 1 0 000000000 284 PDAS ALTI 0 000000000 o LLL 285 PDAS ANTEN DES 1 0 0 291 PDAS ANTEN MOB 1 1 1 0 00000000020 LL 292 PDAS BITFLW 0
149. Q gt lt long gt lt time tagging gt lt parameters gt lt Raw Data 1stSV gt lt Raw Data last SV gt lt checksum gt lt etb gt a Time tagging First 2 bytes Next 3 bytes Next 3 bytes Last byte a Parameters A single byte bits 0 and 1 Bit 2 Bit3 268 2 bytes 2 bytes 9 bytes 1 byte 28 bytes 28 bytes 2 bytes 1 byte GPS week number assuming the modulo 2 ambiguity has been solved GPS time in week unit 1 10 s The reference time is Jan 6 1980 at OhrOO Delay in micro seconds defined as GPS time of measurement GPS time in week Z count 0 Reserved C A code smoothed by carrier complies with RTCM message No 19 Smoothing Interval 00 Oto 1 minute 1 Type of time tagging O time tagging estimated from decoded naviga tion data 1 time tagging computed from position amp time solution clock error subtracted from code amp phase measurements Raw Data Outputs in SBIN Format SBIN Q Dual frequency GPS pseudoranges in receiver time Bits 4 and 5 Sensor Id number 0 to 3 Default value 0 for all single sensor receivers Bit6 0 Reserved Bit7 21 dual frequency measurements a Satellite Raw Data 1st byte SV number Next byte 0 Reserved Next 4 bytes C A code pseudorange unit to S propa gation time Next byte bits 0 to 4 Level indicator C No 26 in dB Hz bits 5 6 and 7 channel status bit 520 if P c
150. Query P DAS ANTEN MOB 1 1 16 Reply Antenna ID number for both primary and secondary antennas is currently 1 PDAS Command Library PDAS BITFLW PDAS BITFLW Q Function Allows you to edit the definitions of bit flow GPS data outputs generated in SBIN b or SVAR B format a Syntax Set command PDAS BITFLW a b c d hh CR JLF Query command returning all existing definitions PDAS BITFLW hh CR LF Query command returning a single definition PDAS BITFLW a hh CR LF a Parameters Format q Comments E a X X 1 Output number 1 2 etc a b a Identification of output port A B etc n Format of output data E 0 no data output s i 1 BIN binary SBIN b output data 3 ASC ASCII SVAR B output data d X X 1 Output rate expressed in units of 0 6 second hh Checksum optional CRIILF End of command 293 19 294 PDAS Command Library PDAS BITFLW a Examples PDAS BITFLW 1 PDAS BITFLW 1 A 1 1 58 PDAS BITFLW 1 A 0 PDAS BITFLW 1 A 3 2 Query about output 1 Reply output active provides SBIN b data on portA every 0 6 second Deactivates output 1 no reply If you send the last command above via port A then data blocks will be sent back to your terminal screen see example below 18 1114 489612 0 C 0 0 19 60 0D3329E 1E529F DC 1 25 60 0D9C 7AD1E529FDC 2 7 60 0DB4F571E524AD8 3 1 60 0C 7B9595E529F 3C 5
151. Query command PDAS GNOS hh CR JLF Parameters Format i Comments value Controls the tracking of the WAAS EGNOS system in the receiver and the way the receiver selects GEOs 0 Use of WAAS EGNOS disabled 1 Automatic selection of the WAAS EGNOS GEO the receiver a X 1 willbe allowed to choose the GEOs to work with nothing then needs to be specified in fields b and c 2 Manual selection of the WAAS EGNOS GEOs the receiver will work with the GEOs whose PRNs are specified in fields b and c below If a 2 c is the PRN of the 2nd WAAS EGNOS GEO to be tracked b a 120 lt b lt 138 irrelevant for the other values of a See also comments below If b 1 c Identification s of DGPS reference station s If b 2 c PRN No of WAAS EGNOS GEO Sis d If c is omitted then the corrections data from the closest WAAS EGNOS GEO is used future development hh Checksum optional CRI LF End of command PDAS Command Library PDAS GNOS a Examples PDAS GNOS Query PDAS GNOS 0 Reply Use of WAAS EGNOS currently disabled PDAS GNOS 1 Command allowing the use of the WAAS or EGNOS system GEOs are selected automatically by the receiver PDAS GNOS 2 122 Command allowing the use of the WAAS or EGNOS system The selected GEO is PRN 122 Manual selection mode e e 3 5 Z a E 7 2 1 lt 4 333 Q PDAS Command Library GPQ GPQ Q Function
152. RECHT u NUM 1 N U N U Use the F2 function key to select the time needed before the receiver is al lowed to return to the primary mode Nov 30 2006 GPS Q 8 TD s UTC 13 34 44 51 49 69615N WGS84 004 43 24381E 58 2m COG TIME CONSTANT BackUp Primary 020 s The standard time delay is set to 20 seconds This means that if your primary solution is back after 20 seconds the receiver will automatically return to the primary solution at that time Press the F5 function key twice to accept the settings 194 Using TRM100 as Control amp Navigation Terminal Backup Option The DGNSS menu now shows that all the stations are available and the working mode is DGPS This mode is blinking meaning that the Backup mode is currently in use See screen below Nov 30 2006 DGPS Q 0 9 TD07 08s UTC 13 38 56 3 1 3 07 10SVs 51 49 69537N 004 43 24412E The current quality index for the primary GPS mode is 0 The current quality index for the backup GPS mode is 9 On the screen example below the working mode is LRK This means that both primary and backup modes are available and the receiver is using the LRK mode Nov 30 2006 LRK Q 18 9 TD12 02s UTC 13 50 13 3 lt gt 09 10SVs 51 49 69587N wess4 0 0KT 004 43 24411E 60 8m OG 0 0 MAIN DGNSS mone BEACON wscks The current quality index for the backup GPS mode is 9 DGPS 195 iss E zd e z F3
153. S DGPS STATION Q Functions Allows you to enter the complete description including decryption code C3 of each of the usable transmitting stations up to 45 different stations can be saved to memory Allows you to list the description of each of them or all of them a Syntax Set command PDAS DGPS STATION a b c d e n hh CR LF Query command only the specified station is reported PDAS DGPS STATION a hh C R ILF Query command all stations are listed PDAS DGPS STATION hh CR LF a Parameters e S 3 Format i Comments 3 a X 1to 1023 Transmitter identification number 3j b Cc Transmitter name 12 characters max lt c MILI Transmitter latitude d a NorS North or South latitude e yyyyy yy Transmitter longitude f a EorW Eastor West longitude g c C Band of first transmission frequency UHF h X X First transmission frequency in Hz i X X Range in km j C C Band of second transmission frequency for future design k X X Second transmission frequency in Hz for future design l X X 1200 or 4800 Baud rate Character string containing the following information fi amp Modulation type D for DQPSK G for GMSK Encrypted non encrypted corrections C for encrypted N for non encrypted n Ex If encrypted corrections decryption code C3 for future design 307 9 PDAS Command Library PDAS DGPS STATION Format i Comments
154. S is output If c 4 d is the number of bits or bytes per second x Data type 1 RTCM 2 LRK 3 Code proprietary UHF 0 to 5 y 4 ASC ASCII SVAR e ly x 1t05 x 5 Relayed User Data 6 CMR y Multi station data in reception 0 All 1 UHF 309 9 PDAS Command Library PDAS DGPDAT Format i Comments 2 HF 3 MF 4 RTCM numerical 5 WAAS Ife 1 RTCM messages of the type f g are generated fg M 1to 19 see next page m If e 3 Proprietary UHF messages of the type f g are generated see next page hh Checksum optional CRIILF End of command a RTCM correction types Type Data 1 and 9 PRC s corrections 2 Delta PRC s corrections 3 Parameters of reference station 5 Constellation Health 16 User Message 18 Carrier phase measurement 19 Code measurement a Proprietary UHF correction types Type Corrections 1 Code corrections type C 2 Phase corrections type P 310 PDAS Command Library PDAS DGPDAT a Examples Listing DGPS raw data outputs PDAS DGPDAT PDAS DGPDAT 1 N 57 Reply none P DAS GP DAT 2 N 54 Defining DGPS raw data output 1 PDAS DGPDAT 1 D 1 10 3 1 2 To port D to UHF transmitter Time output mode 1 sec output rate Proprietary UHF data type C and P Checking definition of output 1 PDAS DGPDAT 1 PDAS DGPDAT 1 D 1 10 3 1 2 71 Defining DGPS raw data output 2 PD
155. SED OF THE POSSIBILITY OF SUCH DAMAGES Some national state or local laws do not allow the exclusion or limitation of incidental or consequential dam ages so the above limitation or exclusion may not apply to you 7 COMPLETE AGREEMENT This written warranty is the complete final and exclusive agreement between Magellan Navigation and the purchaser with respect to the quality of performance of the goods and any and all warranties and representations THIS WARRANTY SETS FORTH ALL OF MAGELLAN NAVIGATION S RESPONSIBILITIES REGARD ING THIS PRODUCT THIS WARRANTY GIVES YOU SPECIFIC RIGHTS YOU MAY HAVE OTHER RIGHTS WHICH VARY FROM LOCALITY TO LOCALITY including Directive 1999 44 EC in the EC Member States AND CER TAIN LIMITATIONS CONTAINED IN THIS WARRANTY MAY NOT APPLY TO YOU 8 CHOICE OF LAW This limited warranty is governed by the laws of France without reference to its conflict of law provisions or the U N Convention on Contracts for the International Sale of Goods and shall benefit Magellan Navigation its successors and assigns THIS WARRANTY DOES NOT AFFECT THE CUSTOMER S STATUTORY RIGHTS UNDER APPLICA BLE LAWS IN FORCE IN THEIR LOCALITY NOR THE CUSTOMER S RIGHTS AGAINST THE DEALER ARISING FROM THEIR SALES PURCHASE CONTRACT such as the guarantees in France for latent defects in accordance with Article 1641 et seq of the French Civil Code For further information concerning this limited warranty please call or write M
156. Sentence No 9 GPGSV Sentence No 9 GPGSV PEG UO z 2 z 2 9 z ES 5 Dn GPG SV Kis XX HA HH XXX NK reer ane ea POOH HH CR TILF The same for 4th satellite 2 The same for 2nd 3rd satellites 2 SNR C NO 00 to 99 dB Hz null when not tracking Azimuth True in degrees 000 to 359 Elevation in degrees 90 max Satellite ID number PRN 87 for WAAS Total number of satellites in view Message number 1 1 to 9 Total number of messages 1 1 to 9 1 Satellite information may require the transmission of multiple messages all con taining identical field formats The first field specifies the total number of messages minimum value 1 The second field identifies the order of this mes sage message number minimum value 1 For efficiency null fields are used in the additional sentences when the data is unchanged from the first sentence If the number of satellites is less than 4 only the fields for these satellites are sent In this case the message is shorter as the null fields at the end of the mes sage are not sent 2 219 6 Computed Data Outputs Sentence No 10 GPGMP Sentence No 10 GPGMP Differential reference station ID 7 Age of differential data in seconds 7 GPGMP hhmmss ss C C C C X X X X C C XX X X X X X X X X XXXX MhICR J LF Geoidal separation met
157. TC 08 31 06 NONE 098 118vs 47 17 938385N 001 30 542590W MAIN NAVIG GOTO 1 100NM 0 1 100N TG 00h 42m 21s gt 004 MARK DD4 47 11 938058N oni nons N pep qe xd DTW Waypoint Also displayed as a reminder name and coordinates of the target waypoint you Your location are heading for when you selected the bearing mode Your current location Using TRM100 as Control amp Navigation Terminal NAVIG Menu Profile Mode Active Same as Bearing mode active plus the following in formation 8 Next Course To Steer NCTS This angle allows you to anticipate your navigation by indicating the next course to steer to go to the next waypoint once you get at the current target waypoint 1 7 Same as Bearing Mode see previous page 1 XTE Visual Indicator Jun 12 2002 LRK Q 18 TD11 02s UTC 08 31 06 NONE og 118 s 47 17 938385N 001 30 542590W 2 TTG _ 4 100NM ITG 00h 42m 21s gt U4 MARK O04 Also displayed as a 3 CTS fTS 189 gt 210 47 411 938058N reminder name and D01 32 000821W coordinates of the target waypoint you are heading for 4 DTW 8 NCTS se OOTIRLL SUN il S i zi e z L3 lt m S zZ 5 E Waypoint n Waypoint n 1 Waypoint n 1 Your current location 143 Using TRM100 as Control amp Navigation Terminal NAVIG Menu 14 a Using the Graphic Screen to Navigate
158. TION 2A PDAS COMMNT 3 3 V1 0 15 01 2002 6C PDAS SELGEO 0 21 P DAS ALTI 1 0 000 0 39 PDAS SVDSEL 5 0 0 2A GPZDA 00 00 63 P DAS FILTER 20 6 60 34 P DAS SELGEO 0 21 PDAS CONFIG END 0001C985 19 PDAS Command Library PDAS CONFIG INIT PDAS CONFIG INIT Q Function Performs internal loading of the initial configuration so as to make it the re ceiver s new current configuration The current configuration is referred to as the active configuration in the receiver See also page 404 The receiver is automatically re initialized after running this command a Syntax PDAS CONFIG INIT hh CR JLF a Parameters Format i i Comments none hh Checksum optional ICRIILF End of command a Examples Svdd e 5 5 Z Qa E T 4 PDAS COMMNT P DAS COMMNT 3 1 AQUARIUS 0B PDAS COMMNT 3 2 DEFAULT CONFIGURATION 2A PDAS COMMNT 3 3 V1 0 15 01 2002 6C PDAS CONFIG INIT PDAS COMMNT PDAS COMMNT 1 1 CONFIG PALMTOP 61 297 298 PDAS Command Library PDAS CONFIG READ PDAS CONFIG READ Q Function Reads the data from the initial configuration a Syntax PDAS CONFIG READ hh CR LF a Parameters Format i Comments none hh Checksum optional CR ILF End of command a Examples PDAS CONFIG READ PDAS CONFIG BEGIN 40 63 Reply PDAS COMMNT 1 1 CONFIG PALMTOP 61 PDAS LANG E
159. W FAC i s d Lo acta See MAIN AUX INIT LANG Language English lt seri eem eee OK S Use the Up or Down key directly on the keyboard or on the view to A select one of the available languages E z English 3 French E Spanish Press F5 OK to enable your choice a Initializing Position amp Choosing a Coordinate System In the event of relatively long satellite search in the Aquarius when first using it it may be useful to enter an estimate of the current position in order to help the system speed up this phase Otherwise if satellites are found without any problem this operation is not required On the other hand for the Aquarius to provide position data with the desired coordinates you should specify which coordinate system must be used 161 162 Using TRM100 as Control amp Navigation Terminal From the main menu see page 23 select successively F3 AUX F5 gt gt gt if necessary to have INIT displayed on the menu F2 INIT F5 gt gt gt if necessary to have POSIT displayed on the menu F2 POSIT Example of screen then obtained Dec 18 2001 GPS Q 3 MOSSES UTC 16 21 16 NONE 09 09SVs 47 17 9459N wese4 00 0 KT 001 30 5197W BO OTE COE AE JMAIN AUX INIT POSIT Altmode Offset Emsl WGS84 000 000 m None Geodesy WGS84 Referenced position 00 00 00000N 000 00 00000E 0000 000 m lt DATUM REF POS OK Press F4 REF POS and then enter the 3 coordinates
160. ZDA 364 Z FIXED 30 38 Aquarius Sagitta 3011 User Manual Magellan Survey Solutions Contact Information In USA 1 408 615 3970 Fax 1 408 615 5200 Toll Free Sales in USA Canada 1 800 922 2401 In South America 56 2 273 3214 Fax 56 2 273 3187 Email surveysales magellangps com In Singapore 65 6235 3678 Fax 65 6235 4869 In China 86 10 6566 9866 Fax 86 10 6566 0246 Email surveysalesapac magellangps com In France 33 2 28 09 38 00 Fax 33 2 28 09 39 39 In Germany 49 81 6564 7930 Fax 49 81 6564 7950 In Russia 7 495 956 5400 Fax 7 495 956 5360 AG E LL P In the Netherlands 31 78 61 57 988 Fax 31 78 61 52 027 Email surveysalesemea magellangps com www pro magellanGPS com PROFESSIONAL Magellan follows a policy of continuous product improvement specifications and descriptions are thus subject to change without notice Please contact Magellan for the latest product information 2003 2006 Magellan Navigation Inc All rights reserved Aquarius Sagitta 3011 LRK GYROSKY and ConfigPack are trademarks of Magellan Navigation Inc All other product and brand names are trademarks of their respective holders P N 631548 01B
161. a 02 L1KART centimeter real time positioning Sagitta 01 User Coordinate System local datum projection geoid model a Configurations Standard Features Firmware Hardware Options Options Compact case receiver KART Rx 4812 U Link Reception Module OR NAP 001 antenna with standard REFSTATION Rx 1635 HM Link Reception Module x1 supply RELATIVE OTF a Firmware DGPS EDGPS Tx 4800 U Link Transmission Module TRM100 keyboard amp screen Compact case receiver KART Rx 4812 U Link Reception Module OR NAP 002 antenna with standard LRK amp Rx 1635 HM Link Reception Module x1 supply REFSTATION em Firmware DGPS EDGPS RELATIVE OTF 1X 4800 U Link Transmission Module TRM100 keyboard amp screen a Performance Figures See section 9 for all specifications relevant to the available processing modes Raw Data Output Rate 10 Hz Computed data 20 Hz output rate and L lt 5 ms 0 005 s a GPS GNSS Characteristics 16xL1 channels Sagitta 01 amp 02 12 x L2 channels Sagitta 02 only C A code and L1 phase P code and L2 phase with multi path proc essing Differential modes WAAS EGNOS Numeric RTCM Version 2 2 messages 1 3 5 9 16 18 amp 19 370 Appendices Sagitta Series Technical Specifications Q Interfaces GPS and Radio antenna connectors all female TNC 3 two way I O ports one RS232 two RS422 with baud rates from 1200 to 115200 bauds AUX port 1 PPS ou
162. a Examples PDAS OUTMES Querying the receiver to obtain the list of its computed data outputs P DAS OUTMES 1 A 1 10 0 1 51 P DAS OUTMES 2 A 1 10 0 2 51 P DAS OUTMES 3 A 1 10 0 3 51 P DAS OUTMES 4 A 1 10 0 4 51 P DAS OUTMES 5 A 1 10 0 5 51 P DAS OUTMES 6 A 1 10 0 6 51 P DAS OUTMES 7 A 1 10 0 7 51 P DAS OUTMES 8 A 1 10 0 8 51 P DAS OUTMES 9 A 1 10 0 9 51 P DAS OUTMES 10 A 1 10 0 10 51 P DAS OUTMES 11 B 1 10 0 11 52 P DAS OUTMES 12 B 1 10 0 12 52 P DAS OUTMES 13 B 1 10 0 13 52 P DAS OUTMES 14 B 1 10 0 14 52 P DAS OUTMES 15 B 1 10 0 15 52 P DAS OUTMES 16 B 1 10 0 16 52 P DAS OUTMES 17 B 1 10 0 17 52 a PDAS OUTMES 18 C 4 1 0 5 5A 8 PDAS OUTMES 2 B 4 Changing output 2 ES PDAS OUTMES 2 Checking new output 2 as PDAS OUTMES 2 B 4 10 0 2 7A z PDAS OUTMES 2 B 4 Disabling output 2 trigger information setting preserved PDAS OUTMES 2 Checking output 2 PDAS OUTMES 2 B 4 10 2 7 8 5 11 20 5D PDAS OUTMES 2 B 0 Stopping output 2 trigger information setting lost PDAS OUTMES 2 Checking output 2 PDAS OUTMES 2 B 4 10 0 2557 349 350 PDAS Command Library PDAS OUTON and PDAS OUTOFF PDAS OUTON and PDAS OUTOFF a Functions Respectively enables disables data outputs on the port connected to the PC for receiver control These commands have no effect on the port currently used as far as the dialog between PC and receiver is concerned Syntax Output di
163. a interface P073815A E S 3 c 5 5 5 n r ix g e zi zsniienby 3 snaenby Miscellaneous DB15 DB9 RS232 RS422 data cable 2 m long P0101587 1 Aquarius amp Aquarius Equipment Description Receiver Receiver a Front Panel Recei S Receiver Front View After removing detachable TRM100 unit LED indicating the number of received SVs Power LED X TRMIO0 Plug In Unit as front panel Sub D15C f connector receptacle Used exclusively for connection to TRM100 a Rear Panel 1xRS422 Sub D9 f Port A Aquarius Aquarius Output to VGA scree lor2 lor2 External event input 1 PPS Output Data Link Data Link Inputs Control Push Button F6 For future u Antenna Inputs 2xRS422 IPPS Sub D15 f Ports C amp D Used for connection to the PC running the TRM 100 PC Software Aquarius amp Aquarius Equipment Description Receiver Bracket Receiver Bracket a Description a 2 E gz 5 g 2 6 4 aa z g z zsniienby y sniienby The receiver bracket basically consists of two plates fixed together by two knobs and two adjustable handles Rear Side Inner plate Knob Front Side Handl Outer plate ane Mechanical Specifications Weight 4 kg 8 82 Ib Dimensions H x W x P 160 x 355 x 210 mm 6 30 x 13 40 x 8 27 Approximate space occupied by bracket re
164. aKVG_2 U6BB UCKBVO023 TOO2 RUHFV20100 b asa CS8 V0000001 1 Q e S ge un 5 a Ll cSurienby o snrienb y The information provided allows full identification of the different hardware and software parts used in the receiver Use the Up and Down keys to scroll through the list Then a data screen is displayed see next page To switch off the receiver keep O depressed for a few seconds until a message on the screen confirms that the receiver is being switched off Back light Control amp Screen Contrast Adjustments operates as a toggle switch allowing you to alternatively turn on and off the screen back light After switching on the receiver the back light is automatically turned off before the end of initialization Adjust the screen backlight by holding down while pressing the Up or Down key Adjust the screen contrast by holding down while pressing the Left or Right key 21 3 Aquarius amp Aquarius Getting Started Data Screens Data Screens After the initialization step and following the display for about 5 seconds of the receiver identification screen the receiver will display one of the possible 4 data screens see examples opposite and will provide access to the main menu in the lower part of the screen To change data screen press the Right or Left key The fourth data screen is accessible only if the Relative Position ing processing is enabled in the rec
165. ables the built in or external screens attached to the receiver or reads the current settings a Syntax Set command PDAS SCREEN a b c hh C R TLF Query command PDAS SCREEN hh CR LF a Parameters Comments value Format Range i a X 1to2 Command line number Identification of the port to which the screen is attached Use A B C orD if external display attached to one of these receiver ports AtoD V designates both the built in TRM100 LCD screen b XX V i AND the external VGA screen if any attached to the receiver via the VGA connector If b is omitted itis assumed to be the identification of the port routing the command Action on addressed screen c CC ON Screen active OFF Screen inactive hh Checksum optional CRIILF End of command a Examples PDAS SCREEN Query PDAS SCREEN 1 V ON P DAS SCREEN 2 B OFF Only the VGA LCD screen is active 358 PDAS Command Library PDAS SELGEO PDAS SELGEO Q Function Of the coordinate systems defined with the PDAS GEO command selects one to be the current coordinate system in the receiver a Syntax Set command PDAS SELGEO a hh CR ILF Query command PDAS SELGEO hh CR JF a Parameters Format Range i 1 Comments a X 0to10 0 Id number of the coordinate system to be used hh Checksum optional Q CR ILF End of command B a Examples E in PDAS SELGEO Query
166. aces and with an integer part of variable length a designates a one letter parameter example A X designates the format of any numerical data which is necessarily an integer xx Numerical data fixed length 281 ji Q PDAS Command Library Command summary table c c Character string variable length cc Character string fixed length a a Keyword hhmmss ss Time II Latitude ddmm mmmmm yyyyy yyyyyy Longitude dddmm mmmmmm y x Field containing two one figure parameters the first of which is optional In the examples given at the end of each description the following fonts are used Bold Arial Narrow for all commands sent by the user Normal Arial Narrow for all receiver replies Command summary table Command Function Page SPDAS CONFIGINIT Makes initial configuration the receiver s new current configuration 297 T Makes default configuration the receiver s new current PDAS DEFLT Reports acknowledges errors if any PDAS DGPS DELSTA Cancels a DGPS transmitting station in the receiver PDAS DGPS MODE Controls DGPS transmit or receive channel E amp Describes lists DGPS transmitting stations 31 1 ets condit imary amp vi dits multi i w w uw ele wl a u w PDAS FIXPAR Sets conditions to switch from backup to primary amp vice versa 31 SPDAS FIXTYP Edits multi mode settings 2 PDAS FMT Lists available macros generating content of
167. acro Macro name Ist figure number of decimal places used in angles distances and speeds 2nd figure output data ends with 1 or without 0 or omitted checksum Svdd e i E E lt Macro number 323 324 PDAS Command Library PDAS GEO PDAS GEO a Function Edits the characteristics of the specified coordinate system datum amp projec tion Lists the characteristics of all or specified coordinate systems a Syntax Set commands PDAS GEO a b c d hh CR LF PDAS GEO a b e f hh CR ILF PDAS GEO a b A 1 F S j hh CR LF PDAS GEO a b Dx Dy Dz n hh CR LF PDAS GEO a b Ax Ay Az r hh CR ILF PDAS GEO a b s t hh CR ILF PDAS GEO a b u v w hh TCR JLF Query command PDAS GEO e hh CR ILF a Parameters Format i i Comments a oy Number of lines required to describe the specified i coordinate system b X X Number of the present line c X X GPS week number optional d X X GPS time within week in seconds optional e X X 0 0to9 Coordinate system number f C C Coordinate system name 10 characters max A X X Semi major axis A placed before lF XX Inverse flattening 1 F placed before S X X Scale factor S placed before j X Unit code 12 meter Dx X X X deviation Dx placed before Dy X X Y deviation Dy placed before Dz X X Z deviation Dz placed before
168. ad the heading measured by the receiver Compute the calibration value computed heading true known head ing Select the AUX gt INIT gt HEADING function Enter the calibration value in the Orient column Used row Press F4 APPLY F5 OK Check that the receiver now displays the expected value of heading End of calibration Automatic calibration see principles on page 63 Select the AUX gt INIT gt HEADING function Press F3 OFFSET Navigate according to the instructions given on page 63 After a certain time when the average value of heading Orient col umn Average row gets stable denoted by low RMS then the calibration value is assumed to be valid Press F3 STOP to stop the calibration sequence and then F4 APPLY to enter the computed calibration value as the Used value Press F5 OK to quit End of calibration Using TRM100 as Control amp Navigation Terminal AUX Menu a Defining the Dead Reckoning Time in Heading Processing In case of momentary loss of satellite reception typical case going under a bridge the receiver may not be able to provide heading measurement In this case the last valid heading value computed will be updated using the COG Course Over Ground This operating status is denoted by the term HDG_E E for Estimated appearing on all heading screens associated with the estimated heading value Example n HDG E 078 8 The time during which the COG is allowed to update the heading v
169. agellan Navigation SA ZAC La Fleuriaye BP 433 44474 Carquefou Cedex France Phone 33 0 2 28 09 38 00 Fax 33 0 2 28 09 39 39 About this manual This manual covers all the receivers from the Magellan marine survey prod uct range namely 3011 GPS Compass Sagitta and Aquarius Series It is split into the following 18 sections Sections 1 to 3 provide all the information you need to operate an Aquarius or Aquarius receiver Section is about receiver description section 2 about installation and section 3 about how to get started with this type of receiver Section 4 and 9 details all the possible position processing modes that can be used in the Aquarius and Sagitta receivers listing the requirements in terms of hardware and software and explaining the basic way to implement these modes from the TRM100 display screen Another way of implementing these modes based on the use of PDAS commands is also presented This method is more particularly intended for expert users Section 5 gives all the details of the processing modes specific to Aquarius This section uses a structure similar to Section 4 Sections 6 to 8 provide the same type of information as the first three sec tions but this time for the Sagitta Series Sections 10 to 12 provide the same type of information as the first three sec tions but this time for the 3011GPS compass Section 13 guides you until you reach the desired operational status fo
170. almanac Sets displays tasks Selects the coordinate system that should be used by the receiver Deals with rejected SVs amp elevation threshold Triggers data output in RS232 mode on the specified port its receiver or station identification number Respectively changes and reads receiver date amp time Co n w ww RIA e K1e1qrT pueuruo 35 Cco co co co wj w w LW LW co DIDI AD Of ajajajaja BF WM OS oO oof x anl 2 co re 364 rn e 283 ji Q PDAS Command Library PDAS AGECOR PDAS AGECOR Q Function Edits the maximum age permitted for DGPS corrections and lono correc tions transmitted in RTCM message 15 a Syntax Set command PDAS AGECOR a b hh CR J LF Query command PDAS AGECOR hh CR J LF a Parameters Format i i i Comments x3 40 100 m age of DGPS corrections in sec b X X 600 1 1500 Maximum age of iono corrections in seconds hh Checksum optional CR ILF End of command a Examples PDAS AGECOR Reading current max age of DGPS and iono correc tions PDAS AGECOR 40 0 600 0 05 40 seconds and 600 seconds respectively PDAS AGECOR 50 Changing max age of DGPS corrections 50 s PDAS AGECOR Checking new max age of DGPS corrections P DAS AGECOR 50 0 600 0 04 284 PDAS Command Library PDAS ALTI PDAS ALTI a Function Edits the altitude processing mode and the altitude cor
171. alue is ad justable from O to 600 seconds If at the end of this time Aquarius is still unable to deliver heading measurements then it will stop displaying the es timated heading value and instead will display To modify the dead reckoning time applied to the heading From the main menu select successively F3 AUX F5 gt gt gt if necessary to have INIT displayed on the menu F2 INIT F5 gt gt gt if necessary to have HEADING displayed on the menu F3 HEADING Example of screen then obtained Mar 04 2002 GPS Q 8 TD s UTC 15 08 34 NONE 47 17 938779N WGS84 001 30 541733W 91 94m JMAIN AUX INIT HEADING se QOTIALL Suits Time elapsed el S i zi e z L3 lt m S zZ I E 00 00 00 Filter 0 00 0 00 0 00 mers Gers gms xS Ex 000 000m DOO DO 00 00 Used 00s Dead reck time INITIALIZATION 300s BASE OFFSET APPLY Select the Dead reck time field located bottom right in the table Enter the desired value in seconds in this field Press F5 OK to enable your choice 173 4 Using TRM100 as Control amp Navigation Terminal AUX Menu a Viewing the visible GPS constellation This function allows you to display information on the satellites currently re ceived by the NAP 00x primary antenna This information is both qualitative and quantitative From the main menu see page 23 select successively
172. amentally it is still in fact data trans mitted in LRK format gt You can also use RTCM messages No 3 18 and 19 received by external equip ment attached to the receiver EDGPS processing can specifically be obtained working with corrections data in proprietary UHF format transmitted at 1200 Bd Possible Corrections Sources Sagitta 01 or Aquarius 01 used at sta tions 5001 SK stations from the previous series of marine survey products Dual frequency stations would do the job as well gt Any equipment transmitting corrections data in RTCM SC104 format if you intend to work with an external receiver capable of receiving such data Corrections data in proprietary UHF format transmitted at 1200 Bd comes exclu sively from NDS100 MKkII stations former series of UHF stations ye ga o w Sz d 5 amp ga y 2 JE Qt EP Nn 37 Aquarius Series Processing Modes KART EDGPS Processing Q Definitions KART is a kinematic processing method providing real time positioning with centimeter level precision It can be implemented in single frequency re ceivers Aquarius 01 amp 11 To reduce the initialization time and depending on the application different initialization modes are possible OTF On the Fly Initialization with receiver in motion start point unknown STATIC Initialization with receiver at a standstill but point unknown Z FIXED Initialization with receiver in motion start point unkn
173. ameters f i Comments Internal or autonomous Quality Control aj x 0to1 0 No internal Quality Control 1 UKOOA Control External Quality Control 0 No external Quality Control e 5 5 Z a E 7 lt 4 b a 0to2 T Waas EGNOS Quality Control 2 RTCM SC104 Quality Control message type 5 Provider of external Quality Control c x ifb 1 PRN of the GEO to be received ifb 2 Number of the RTCM SC 104 reference station to be received hh Checksum optional CRIILF End of command 355 356 PDAS Command Library PDAS QC a Examples PDAS QC P DAS QC 0 0 38 PDAS QC 0 1 138 PDAS QC PDAS QC 0 1 138 2F Query No Quality Control currently used Selecting External Quality Control using WAAS EGNOS GEO PRN 138 Checking new setting Reply PDAS Command Library PDAS RAZALM PDAS RAZALM Q Function Deletes the specified almanacs from the receiver s memory a Syntax PDAS RAZALM a hh CR LF a Parameters Format i Comments Defines the type of almanacs you want to delete Oto 0 ora omitted all a i 2 1 GPS almanacs only 2 WAAS EGNOS almanacs only hh Checksum optional CR LF End of command a Examples PDAS RAZALM Deletes all almanacs Q 5 5 Z a E T lt 4 357 Q PDAS Command Library PDAS SCREEN PDAS SCREEN Q Function Enables dis
174. and the initialization mode used by the receiver e PDAS PREFLL or PDAS PREFNE to enter the known position from which initialization will take place only if you have chosen this initializa tion mode The following set of commands indirectly deals with this processing mode e PDAS DGPDAT page 309 lets you define DGPS corrections out puts e PDAS NAVSEL page 347 lets you choose the type of position solu tion you want to use in your navigation application ye pan o amp ad 5 e a gt zA SE E A E a p 39 40 Aquarius Series Processing Modes KART EDGPS Processing a Example 1 KART processing with LRK KART format and with U Link internal receiver 1 GPS antenna UHF Built in UHF T antenna reception module Aquarius Transmitter Data Link No 8 Ref Station Pseudorange amp phase LRK format at 4800 Bd No 14 Let the receiver know the characteristics of the transmitter broadcasting the corrections PDAS DGPS STATION 8 LA FLEUR 4716 52 N 00129 54 W UHF 444550000 30 4800 GN 2 Transmitter Id 8 Transmitter Name LA FLEUR Reference coordinates 47 16 52 N 1 29 54 W Transmission band UHF Carrier 444 55 MHz Range 30 km 2 blank fields Baud rate 4800 Modulation type G GMSK Encryption N none Antenna number 2 Configure the built in UHF reception module so that it can receive and decode the data from reference station No
175. and the associated DGPS reference station or WAAS EGNOS GEO About the selection of the associated reference station this command will require prior execution of PDAS DGPS MODE To decide on whether pseudoranges from GEO SVs should be used in the position processing or not use the PDAS SVDSEL command Wherever a reference position is required for example at a reference sta tion or for KART or LRK initialization use PDAS PREFLL or PDAS PREFNE to enter that position a Syntax Set command PDAS FIXMOD a b c hh CR JILF Query command PDAS FIXMOD hh CR JLF e a Parameters 8 5 amp Format i Comments E Selects GPS fix mode lt 0 no fix computation 1 Residuals computation in transmitting reference station mode 3 Straight GP S fix mode 4 DGPS fix mode using WAAS EGNOS data or data from a reference station 5 Multi mode position processing 8 6 to 30 Kinematic processing see table below a XX p Initialization KART LRK Wide Lane LRK KART EDGPS 6 16 26 OTF 7 17 27 STATIC 8 18 28 Z FIXED 9 19 29 KNOWN POINT 10 20 30 40 to 70 Position processing above HEADING processing 80 to 110 Position processing above RELATIVE processing 317 19 318 PDAS Command Library PDAS FIXMOD Format Comments 0 5 Selects the source of differential data 0 None 1 Differential data source other than WAAS EGN
176. arameters Format i 1 Comments a X X 1 Output number 1 2 etc b a Output port identification A B etc Data output control x 0 No output deactivated 1 Output of SBIN W data at regular intervals of time 3 Output of SVAR W data at regular intervals of time hh Checksum optional CRIILF End of command a Examples PDAS GEODAT 1 PDAS GEODAT 1 A 1 PDAS GEODAT 1 A 0 Data described on pages 276 SBIN W and 254 SVARIW 326 Query about output 1 definition Reply output 1 activated delivers SBIN W data on port A Invalidates output 1 no reply PDAS Command Library S SPDAS GEOID HEIGHT PDAS GEOID HEIGHT Q Function Computes the height of the geoid above the WGS84 ellipsoid for a given point location The geoid file is generated and downloaded to the receiver using the GE OIDS utility from the ConfigPack software Using the geoid in the receiver is controlled by the PDAS ALTI 3 command and in addition requires that the USERGEOID firmware option be validated in the receiver a Syntax Set command entering geoid height for a given point PDAS GEOID HEIGHT a b c d e hh CR LF Query command computing geoid height for a given point PDAS GEOID HEIGHT a b c d hh CR LF a Parameters a TIU MI WGS84 latitude for the considered point b a Sign of latitude North or South N or S Jyyyy yyyyyy WGS 84 longitude for the con
177. asured by the receiver computed heading Calculate the calibration value computed heading true heading Enter the calibration value in the receiver Confirm the use of this value Then check that the head ing provided by Aquarius is now the true heading End of procedure T 2 2 G amp D n m 2 5 5 wget so 25 es wn 1 If itis negative take the 360 s complement to make it positive If for example you get 65 for the calibration value the actual calibration value will be 360 65 295 If itis positive use it directly 61 62 Aquarius Only Processing Modes Heading Processing Principles a Manual Calibration Based on Alignment with Seamarks Measurement conditions Navigate to align the ship s longi tudinal axis with seamarks By p definition the resulting heading cj Seamarks followed is known gt true head ing 7 Navigate at constant speed Check that the calibration value currently used by Aquarius is 0 After a certain time of navigation in these conditions read the j heading measured by the receiver computed heading Calculate the calibration value computed heading true heading Enter the calibration value in the receiver Confirm the use of this value Then check that with the ship s longitudinal axis still aligned with the seamarks the heading provided by the receiver is now the true heading End of procedure
178. ata line lt soln gt 2 characters and primary mobile ID Quality Quality of position solution 0 invalid 1 GPS simple difference of autonomous GPS solutions 2 DGPS 4 Kinematic Kart or LRK 5 EDGPS 6 Dead Reckoning Number of SVs gt Number of satellites used in the solution lt Datatype gt Type of data delivered 0 dX dY dZ ECEF 1 dN dE dH lt dN or dX gt in meters with 3 decimal places lt dE or dY gt in meters with 3 decimal places 256 Raw Data Outputs in ASCII Format SVAR V RELATIVE Mode Data lt dH ordZ gt in meters with 3 decimal places oXY Planimetric precision in meters with 3 decimal places oZ X Altimetric precision in meters with 3 decimal places Q E gt Dn coi imi 5 la 5 E syndyno gd sey 257 1 7 Raw Data Outputs in ASCII Format SVAR V RELATIVE Mode Data 258 Raw Data Outputs in SBIN Format Notation Rules 18 Raw Data Outputs in SBIN Format Notation Rules a Reserved characters By principle all possible binary values in a byte are allowed However three ASCII characters are used for message identification ASCII byte FEn denotes beginning of binary block ASCII byte FF denotes end of binary block ASCII byte FDn denotes intentionally altered character If between the beginning and the end of a block the binary string initially in cludes such characters then the following modifications are made to the string to avoid
179. atellite PRN number In 10 units of a second modulo 10 s Raw Data Outputs in ASCII Format SVARIR Single frequency GPS WAAS EGNOS pseudoranges in satellite time lt L1c a carrier phase In 10 units of a cycle modulo 10 cycles L1c Acarrier speed In 10 units of a cycle per second lt C A L1 C No In dB Hz L1 channel status Coded in 4 bits 1 ASCII character 0 to F bit 0 0 not used bit 1 0 reserved bit 2 1 if invalid L1 phase measurement bit 3 0 reserved L1 carrier quality indicator Coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 4 cumulative loss of continuity indica tor complies with RTCM message 18 counter modulo 32 incremented every time the continuity of the carrier phase measurement is lost bits 5 to 7 data quality indicator See page 227 E gt Nn ie m Les la 3 o syndyno gd sey lt C A code quality indicator gt Coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 3 pseudo range multipath error indica tor complies with RTCM message 19 1111 multipath error not determined bits 4 to 7 pseudorange data quality indicator See page 227 lt eoln gt a Data block example IR 1134 126617 0 amp C 0 0 0 0 28 68923091353 363866 3215172 42 0 24 9F 1 24 68878747407 9349799 2775656 45 0 3A 8F 2 27 68835925174 3657665 1423244 50 0 1A 7F 3 26 68919677583 2027685 3159436 42 0 31 9F 5 8 687939417
180. ation are not output Example of dual frequency phase measurements and station position is sued in the same block information received in LRK UHF format from station No 99 1D 1153 571099 0 N 99 4331877 920 114119 170 4664433 510 T 99 10 4 2 2 484740591 5093712 1265884 44 2 04 9F 16 140 311 7737689 986300 17 455439361 5645472 4000356 47 2 06 8F31 47 63 9287226 3117032 gt 411294801 6905432 3720104 40 2 10 7F 16 44 138 3326040 2000312 31 veo Te cr ee rer 2 Tb 110623 121786 62S 1210528685257 919080 18 451824524 9774291 380780 47 2 08 8F 12 49 124 9463630 296676 27 6F 3 397692932 3483616 213300 50 2 04 7F 20 148 102 7192714 166200 3A 5F 21 528966670 6088217 104580 39 2 2A AF 121 53 316 2126443 81368 8C A F 233 7 Raw Data Outputs in ASCII Format SVAR D Differential Data a Code amp phase measurement line in RTCM SC104 format type 18 or 19 lt soln gt 1 or 2 characters and channel number in hexadecimal optional SV No Satellite PRN number P or C A code pseudorange In 10 units of a second P or C A carrier phase In 10 units of a cycle modulo 10 cycles lt Blank field gt lt Blank field gt Channel status Coded in 4 bits 1 ASCII character 0 to F bit 0 0 free bit 120 if C A code or phase or bit 1 1 if P code or phase bit 2 0 free bit 3 0 free Carrier quality index Coded in 8 bits 2 ASCII characters 0 to F MSB first bits O to 4 cumulative
181. ation page indicator 8 7 number of used received satel 35 a An Pus ER Delta Height Current Position latitude longitude 9 3 Coordinate system used amp altitude 9 6 m 4 Vertical Speed NAVIG DGNSS WPT RTE MARK 5 Speed Over Ground 6 Course Over Ground 7 Bearing True see page 45 8 Vector length see page 45 9 Height deviation see page 45 D Ist example grabbed with receiver operated in GPS processing the 2nd in RELATIVE processing This indication will flash at slow rate until the receiver reaches the desired operating mode see MODE func tion in DGNSS menu on page 149 85 i e amp I ge un 5 a a SIIS EBES 86 Sagitta Series Getting Started Using TRM100 as Control amp Navigation Terminal For more information on on how to use the TRM100 unit refer to Aquarius amp Aquarius Getting Started on page 137 O Sagitta Series Processing Modes Using TRM100 as Control amp Navigation Terminal 9 Sagitta Series Processing Modes All Aquarius processing modes can also be used in Sagitta Refer to Sec tion 4 from page 27 LI SdL1ag ByIseg 6 e wu g 5 ga e 2 e n 87 88 Sagitta Series Processing Modes Using TRM100 as Control amp Navigation Terminal 3011 GPS Compass Equipment Description Standard Supply 10 3011 GPS Compass Equipment Description SdD atus Standard Supply ei 5 D 7 an
182. ation as of today are The US GPS Global Positioning System which is the most com plete The Russian GLONASS GLObal NAvigation Satellite System As both these systems are originally designed for military applications they are entirely under the control of the respective Defense Department of the two countries As a result civilians cannot be sure of being allowed full ac cess to the signals in critical periods of time Moreover the accuracy achieved using the non encrypted signals is only on the order of a few tens meters All those aspects led the civilian community to devise a totally new system known as GNSS Global Navigation Satellite System In future a complete constellation GNSS2 should provide civilian users with signals and data allowing them to compensate for any shortcomings in the navigation systems at sea on land or in the air kzi I i Q l1 Dn 397 Appendices Introduction to GNSS The current GNSS1 is the first phase in that scheme based on the augmen tation of the GPS service through geostationary satellites 398 Telemetry Remote Control Geostationary satellite control centre GNSS1 CONCEPT GPS constellation GLONASS Le Geostationary Host 5 Navigation and Monitoring Processing and Mission Cen o Y Bb c m Monitoring stations Purpos
183. ats listed opposite All these sentences are compatible with the NMEA 0183 standard version 3 0 The last sentence 17 is a proprietary sentence In the default configuration used by the 3011 each output message is in fact a combination of several of these sentences see table on next page Incidentally do not confuse out put message No with sentence No No Sentence No Sentence 1 GPGGA 10 GPGMP 2 GPGLL 11 GPHDT 3 GPVTG 12 GPHDG 4 GPGSA 13 GPROT 5 GPZDA 14 GPVBW 6 GPRMC 15 GPVHW 7 GPGRS 16 GPOSD 8 GPGST 17 PDAS HRP 9 GPGSV The 3011 configuration is defined to meet the requirements of most users in terms of heading computation However if modifications are required to meet some specific needs the 3011 configuration can be modified but only by qualified personnel using a PC computer Please contact your local dealer for more detail 3011 GPS Compass Getting Started Outputs Port Settings PortA PortB PortC PortD Type RS422 RS232 RS 422 RS 422 NMEA0183 TRM100 NMEA0183 HS RTCM104 4TD Baud Rate 4800 38400 19200 19200 Data Bits 8 8 8 8 Stop Bits 1 1 1 1 Parity Check none none none none Output Messages Output Available Output mode Message No on port planis ans amp rate Content GPGGA4 GP VTG 4 GPHDT4 GPHDG
184. ble on VGA output NMEA 0183 messages GGA GLL VTG GSA ZDA RMC GRS GST GSV GMP HDT HDG ROT VBW VHW OSD and proprie tary PDAS HRP for Aquarius User messages via ConfigPack Q Electrical Power source 9 to 36V DC floating input mobile 9 to 16 V DC non floating for station operated with U Link Min amp Max Power requirements 10 to 21 W Aquarius depending on configuration used 12 to 25 W Aquarius depending on con figuration used DC current drain Aquarius 02 mobile I 1 3 A approx DC current drain Aquarius 02 station I 2 0 A approx Power requirement for TRM100 alone under 12 V DC 1 2W I2 160 mA approx with backlight on 2 0 5 W I 40 mA approx with backlight off Q Environmental IP 52 compliant rigid aluminum case Operating temperature range 20 to 55 C antennas 40 to 70 C Storage temperature range 40 to 70 C Vibration EN 60495 amp ETS 300 019 shocks 3 EMI EN 60495 a Physical Hx Wx D 125 x 245 x 305 mm 4 92 x 9 64 x 12 Weight 4 2 kg 9 26 Ib 5 With Power In 7 12 7 V DC and 8 satellites received 367 20 368 Appendices Aquarius amp Aquarius Default Configuration Aquarius amp Aquarius Default Configuration The main parameters held by this configuration are presented below
185. ceiver in horizontal posi tion 175 x 345 x 305 mm 6 89 x 13 59 x 12 0 H x W x P This bracket allows you to fix the receiver on a horizontal plane Depending on how the inner plate is positioned with respect to the outer plate the re ceiver will be fixed from under the bracket table mounting or from above ceiling mounting SS S di ji a ES 8 9 o o o o o ill A Table Mounting Ceiling Mounting 1 Aquarius amp Aquarius Equipment Description Receiver Bracket a Table Mounting The receiver can be secured on the bracket in one of the possible 6 posi tions giving an angle to the receiver from 0 horizontal to 30 or 20 depending on how you orientate the inner plate with respect to the outer plate Note that in the extreme two positions 30 and 20 allow for the receiver case to come through the fixing plane Horizontal position is obtained when the handles are inserted in the 4th hole midpoint Do not use the lower hole 30 position Horizontal position 20 position o di 2 i E y p p Handle To change the orientation of the receiver on the bracket you must first re move the two handles rotate the inner plate with respect to the outer plate until you get the desired orientation Then put back and tighten the handles The lever of each handle can then be oriented as desired by placing a thumb at the end of the ha
186. ceiver then switches to the Profile mode and the screen looks like this Jun 11 2002 LRK Q 18 TD11 02s UTC 15 54 12 NONE 47 17 937985 001 30 541743W MAIN NAVIG MODE Navigation Mode PROFILE Foundat 01 From MARK O01 POSIT HOMING BEARING PROFILE Using TRM100 as Control amp Navigation Terminal NAVIG Menu a Displaying the Data Specific to the Navigation Mode Used From the main menu see page 23 select successively F1 NAVIG F3 GOTO What the screen then shows depends on the active navigation mode as explained hereafter Position Mode Active The screen is just to remind you that you are in Posi tion navigation mode and so you cannot expect any additional information or guidance in this mode Homing Mode Active The screen provides three additional parameters to help you head for the waypoint as shown on the screen example below 1 Time To Go TTG an estimate of the time required before reaching the target based on the distance still to go and your current speed 2 Distance To Waypoint DTW the distance measured along a great circle still to travel before getting at the waypoint 3 Course To Waypoint CTW angle measured with respect to True North from your current position Jun 11 2002 LRK Q 18 TD11 02s UTC 16 09 44 NONE 08 118vs 47 17 937561N WGS84 4 3 KT 001 30 541835W 9 80m COG 35 8 MAIN NAVIG GOTO TTG OOh 37m 09s gt 03 MARK 002 47 19 000098N DD1 31 000009W To 2 T
187. ceiver will be able to sort out the corrections as a function of the source by analyzing the identification number of the reference station contained in the corrections messages With a navigator receiver from the Sagitta or Aquarius series up to 4 different sets of corrections data can be received concurrently one of which being chosen to be involved in the fix processing This time sharing scheme is not recommended if you work with the high accuracy KART or LRK kinematic method 3 iJ 2 E E 1 xurT 0 94 3uts 205 15 206 Using the U Link Transmitter Transmitted Correction Data Transmitted Correction Data a Correction data string general form O2xxxxyyyy yyyyy03 End of block etx in ASCII notation last byte Correction data message Tied to message identifier 2nd byte present in the data string See message descriptions below Reference station Id number 3rd byte in BCD notation 00 to 99 If greater than 99 which will be the case with RTCM SC104 this number will be defined as Reference station Id number modulo 100 as defined using command PDAS UNIT Message identifier 2nd byte One of the following characters in ASCII notation C Proprietary pseudorange corrections same code corrections as in former NDS100 Mk II stations P L1 phase C A code same phase corrections as in former NDS100 Mk II stations R RTCM T LRK LI L2 or L1 onl
188. command PDAS HEALTH hh CR I LF a Parameters Format Range i Comments value Health status RTCM SC104 Health conventions T station not working a 6 station not monitored E 5 UDRE scale factor is 0 1 B a X 0t07 60r7 4 UDRE scale factor is 0 2 zi S 3 UDRE scale factor is 0 3 as 2 UDRE scale factor is 0 4 7 1 UDRE scale factor is between 0 5 amp 0 75 E 0 UDRE scale factor is 1 E hh Checksum optional CR LF End of command a Examples PDAS HEALTH Query PDAS HEALTH 0 2A Reply PDAS HEALTH 6 Initializing health status for a working station PDAS HEALTH Query P DAS HEALTH 6 2C Reply 339 19 340 PDAS Command Library PDAS HDGINI PDAS HDGINI Q Function Reads the geometrical parameters of the antenna array used to perform heading measurements or initializes the computation of these parameters a Syntax Set command PDAS HDGINI a b c d e f g hh CR J LF Query command PDAS HDGINI hh CR ILF a Parameters Format Range Comments 0 999 Computation time a X X 0 Initializes the computation 1 Stops the computation b X X 0 999 Baseline length in meters c X X 0 360 Horizontal offset in degrees d X X 90 90 Vertical offset in degrees blank field if data invalid e X X 0 999 Baseline standard deviation in meters f XX 0 360 Horizontal offset standard deviation i
189. ct to the ship s longitudinal axis Knowing this angle is also a prerequisite for valid heading computation In another preliminary step called calibration Aquarius will compute this angle which you will have to enter thus validating the heading angle measured by Aquarius Secondary antenna Primary antenna Top View y Primary antenna Secondary antenna doooSo sss ay AH Side View e a lt Baseline l Unlike the Relative Positioning processing there is a maximum altitude de viation AH between the two antennas not to be exceeded for a given baseline length The angle a formed by the two antennas in the vertical plane should not exceed 20 Aquarius Only Processing Modes Heading Processing Principles a Determining the Baseline Length Knowing the baseline is essential if you want the receiver to be able to make heading measurements The baseline can be determined as follows after enabling the Heading processing in the DGNSS gt MODE function Select the AUX gt INIT gt HEADING function In the Length column enter an estimate of the baseline length in the Used cell Select F2 BASE and watch the Average and RMS parameters in the Length column as time passes time elapsed indicated on the right on top of the table Wait till the RMS value approaches or is equal to 0 00 The computed value of baseline displayed in the Average cell is then assumed to be valid Select F3
190. ction of its ground terminal to ship s ground This antenna does not necessarily need to be located on top of a mast Tx 4800 U LINK Option See page 137 O 80 Sagitta Series Getting Started DC Power 8 Sagitta Series Getting Started DC Power a Switching on Sagitta is Automatic at Installation When you apply the power voltage to the Sagitta via the power cord the Power LED green lights up straight away indicating that the Sagitta unit is now on a Switching off Sagitta Manually Without unplugging the power cord Using a sharp tool depress the control push button for about 2 seconds Power removal is effective after a few seconds Q e amp I ge un 4 E 9 a SIIS EBES If the push button is released before power is actually removed the Power LED will flash until power removal is effective If the push button is released after power is removed the Power LED will di rectly change from the permanently lit state to the off state Q Switching on Sagitta after Intentional Power Removal Using the same tool as previously depress briefly the control push button The Power LED green will light up straight away indicating that the Sagitta unit is now on 81 Sagitta Series Getting Started Checking that Operational Status is reached a An initialization Phase Takes Place after you Switch On the Sagitta A few seconds after switching on the Sagitta an initialization phase i
191. d from the 3011 which then operates as a black box connected to the onboard equipment Oras a real navigation terminal As previously it is first used to make the required settings and then it is used as a display terminal for compass amp navigation information 92 3011 GPS Compass Equipment Description TRM 100 Terminal Option TRM 100 Terminal Option Rr TIOE This option offers the same functions as the TRM 100 PC Software but this time from a dedicated hardware equipment see below called TRM100 keyboard screen Terminal or TRM100 unit to which the 3011 is attached ei 5 E E 7 an oO va c zh 2 s 5 126 mm Cc 08 253 mm 9 96 HF MF DGPS Reception Kit Option HF MF Marine Antenna Kit DHM5000 Combined Antenna HE MF antenna Dual band 270 330 kHz amp TNC type 1 6 3 5 MHz Hi P Height 242 mm 9537 Diameter 136 mm 5 35 in lower part im TNC female plug TNC Separate ground terminal Data Link input type HF MF reception module inside 3011 Antenna KX15 cable low loss 1 Minimizes interferenc Interface option cable 30 meters 1 93 94 3011 GPS Compass Equipment Description External Aid External Aid The 3011 GPS compass can interface with any type of NMEA 0183 compatible external aid magnetic heading sensor or flux gate sensor pro viding HDT HDM or HDG sentence at a maximum update
192. d in RTCM SC104 format from station No 99 message type 3 1D 1153 568084 8 96N 99 4331877 920 114119 160 4664433 510 a Pseudorange correction line lt soln gt 3 characters and SV number C A code correction PRC in meters at time To of message Posi tive correction means it must be added to pseudorange Correction speed RRC in m s Correction age In seconds algebraic difference between time of message and time of GPS measurements from which corrections were generated lOD Issue Of Data for proprietary corrections counter output modulo 256 incremented by 1 every time IOD changes state UDRE User Differential Range Error in meters lt eoln gt Time correction value T PRC RRC T To Data block example D 1153 567911 4 R 99 10 0 2 30 48 0 008 0 0 101 0 3 13 00 0 000 0 0 88 0 6 34 06 0 004 0 0 127 0 15 10 34 0 002 0 0 123 0 17 10 26 0 006 0 0 222 0 18 25 32 0 004 0 0 15 0 21 45 32 0 022 0 0 170 0 230 Raw Data Outputs in ASCII Format SVAR D Differential Data a Phase measurement line in proprietary UHF format lt soln gt 1 or 2 characters and channel number in hexadecimal optional SV No Satellite PRN number Blank field gt Ligacarrier phase In 10 units of a cycle modulo 10 cycles B Blank field GE Blank field z lt L1 L2 channel status gt Coded in 4 bits 1 ASCII character 0 to F 5 5 bit 0 0 free bit 1 0 free bit 2 1 if L1 C
193. d to be integrated into the receiver Modulation type GMSK 4800 bits s or DQPSK 1200 bits s NDS 100 type CXL 70 3 dB antenna RTTE EMI specifications EN60945 ETS 300279 Rx 1635 HM Link HF MF Reception 1 or 2 built in modules Designed to be integrated into the receiver Dual channel in HF band 1 6 to 3 5 MHz BCPSK modulation NDS 200 type Dual channel in MF band 270 to 330 kHz MSK modulation DHM 5000 dual band antenna H x Diameter 245 x 135 mm 9 64 x 5 31 394 Appendices TRM100 Keypad Display TRM100 Keypad Display Aquarius Aquarius and Sagitta only as standard with Aquarius Aquarius as an option with Sagitta Front Panel Plug In Unit for Aquarius Aquarius 4 NVGA screen and keyboard terminal Dimensions H x W x D 125 x 255 x 40 mm 4 92 x 10 0 x 1 57 One meter cable for connection to receiver in case of remote use TRM100 mounting kit for remote use Introduction to GNSS a GPS Constellation The GPS system Global Positioning System consists of three segments Space segment Control segment User segment The Control segment is made up of monitoring stations distributed along the equator They are used to pick up the signals from the satellites and relay the data they convey to a primary station located in Colorado Springs USA The data collected are processed corrected filtered and finally up loaded to the satellites that broadcast them through a navigat
194. d to refine the GPS position computed by the re ceiver using the WADGPS corrections and possibly the WAAS EGNOS pseudo ranges broadcast by a geostationary satellite GEO of the WAAS EGNOS or any other compatible SBAS system Please refer to pages 400 and 401 for more information about these systems Specific Requirements Hardware Aquarius standard version no additional hardware option re quired Firmware Aquarius standard version no additional firmware option re quired Corrections data from geostationary satellite received on GPS reception channel Configuration Guidelines Use the DGNSS menu see page 24 or use the TRM100 PC Software to send the adequate commands to the receiver from the Terminal view see pages 123 and 124 From the Terminal view the following set of commands should be used PDAS GNOS to choose either automatic or manual selection of the GEO to be received If manual selection is chosen this command must also include the PRN of the GEO to be received PDAS FIXMOD to enable the use of the WADGPS corrections in the position processing PDAS SVDSEL to disable the use of WAAS EGNOS pseudoranges in the position processing Aquarius Series Processing Modes WAAS EGNOS Processing The following set of commands indirectly deals with the implementation of a WAAS EGNOS processing PDAS GEODAT to configure WAAS EGNOS data outputs PDAS DGPDAT to configure DGPS data outputs a Example G
195. de You cannot activate the Homing or Bearing mode unless there is at least one waypoint stored in the receiver see page 178 Assuming Position is the active navigation mode From the main menu see page 23 select successively F1 NAVIG F2 MODE F3 HOMING or F4 BEARING A new screen appears asking you to specify the target waypoint For example the following is displayed Jun 11 2002 LRK Q 18 TD11 02s UTC 13 15 47 NONE 08 118vs 47 17 937070N WGS84 00 0 KT Navigation Mode HOMING Waypoint to follow No Name Icon Position This area gives access to the list 5 MARK_004 4 47 11 938058N of available waypoints A single pam 001 32 000821W waypoint definition is shown at a 90 050m time Use the Up or Down key to E Ss es nr s scroll the list Using the Up or Down key scroll through the list of waypoints to find the desired target When the definition of the desired waypoint is on the screen press F5 OK The receiver then switches to the Homing or Bearing mode and the screen looks like this Homing selected on this screen Jun 11 2002 LRK Q 18 TD11 02s UTC 14 36 36 NONE 09 11S s 47 17 936983N Wass4 00 0 KT 001 30 541733W 8 78m DOGS JMAIN NAVIG MODE Navigation Mode HOMING MARK O04 lt POSIT HOMING BEARING PROFILE 138 Using TRM100 as Control amp Navigation Terminal NAVIG Menu a Selecting the Profile Mode You cannot activate the Profile mode unles
196. dorange Corrections Message Message not transmitted by Tx4800 U Link transmitter option but still accepted by mobile equipped with Rx4812 U Link receiver option Message identifier 2nd byte in data string C mmTTzzzzzzsvcrcrcrsvcrcrcr SVCrCECEXXXX binary computed from stx 2 bytes Nx4 bytes where N number of SVs max 10 sv BCD notation SV No 80 if correction lt 0 or SV No 40 if ephemeris change erercr BCD notation correction value in cm max 999 999 cm Z counter output 3 bytes modulo 49152 in 10 units of a second in BCD notation Transmit rate one byte in seconds from 01 to 99 BCD notation Message length one byte as measured between first stx and last etx bytes in data string including these bytes in BCD notation from 00 to 99 208 Using the U Link Transmitter Transmitted Correction Data a L1 phase C A Code Message Message not transmitted by Tx4800 U Link transmitter option but still accepted by mobile equipped with Rx4812 U Link receiver option Message identifier 2nd byte in data string P mmTTzzzzzzsvphphphcq svphphphcqxxxxxyyyyyZZZZZXXxxx Checksum binary computed from stx 2 bytes L XYZ of station position BCD notation 15 bytes on ECEF same as RTCM 3 For each component field 2 147 483 647 in BCD units 0 01 m sign is Most Significant bit in first byte 80 2 N
197. e The GNSS scheme serves three major purposes Complementing the range measurements with geostationary satel lites R GEO Controlling the integrity of the navigation system GIC Broadcasting differential corrections over a wide area WAD GNSS concept The GNSS system consists of the following elements Stations monitoring the navigation system GPS GLONASS dis tributed over the area to be covered allowing continuous monitoring of the system A Processing and Mission Center that collects and computes the data required for the performance of the system A control center for the geostationary satellites uploading the nec essary data to the geostationary satellites One or more geostationary satellites broadcasting the data R GEO GIC WAD over the area to be covered Appendices Introduction to GNSS The different systems Three different systems are planned or already existing as of today For the American continent WAAS Wide Area Augmentation Sys tem For Europe EGNOS European Geostationary Navigation Overlay System For Asia amp Pacific MSAS MTSAT Satellite based Augmentation System kzi I E z N 399 400 Appendices Introduction to GNSS a WAAS Definition amp Purpose The FAA US Federal Aviation Administration has been developing a safety critical navigation system called WAAS Wide Area Augmentation System offering a geographically
198. e continuity of the carrier phase measurement is lost Bits 5 to 7 data quality indicator See page 227 C A code quality indicator Bits 0 to 3 pseudorange multipath error indica tor complies with RTCM message No 19 1111 multipath error not determined Bits 4 to 7 pseudorange data quality indicator See page 227 L1p v Licya carrier phase deviation centered around zero unit 1 256th cycle MSBz sign 80n2measurement not valid Next 2 bytes Next 2 bytes Next 3 bytes Next 3 bytes Next byte Last byte Raw Data Outputs in SBIN Format SBIN R Dual frequency GPS pseudoranges in satellite time PL1 C AL1 code deviation unit 10 S field 3 2 us MSB sign 8000n2measurement not valid Pi 2 C A 1 code deviation unit 10 S field 3 2 us MSB sign 8000n2measurement not valid L2p y carrier phase unit 10 cycles modulo 10 cycles of L2 L2p v carrier speed unit 4x1 0 cycles s field 32 kHz MSB sign 800000n2measurement not valid L2 carrier quality indicator Bits 0 to 4 cumulative loss of continuity indica tor complies with RTCM message No 18 counter modulo 32 incremented every time the continuity of the carrier phase measurement is lost Bits 5 to 7 data quality indicator See page 227 P Y code quality indicator Bits 0 to 3 pseudorange multipath error indica tor complies with RTCM message 19 1111 multipath error not determined
199. e Backup Mode Go to the menu DGNSS MODE From the main menu select successively F2 DGNSS F3 MODE Nov 30 2006 GPS Q 8 TD s UTC 13 06 31 10 118Vs 51 49 69632N WGS84 0 0KT 004 43 24385E 57 8m G 0 0 SOURC PORT STATION N U N U N U N U NUM1 N U OPEN N U 192 Using TRM100 as Control amp Navigation Terminal Backup Option Select your primary system Nov 30 2006 GPS Q 3 TD s UTC 13 12 30 A 10 128Vs 51 49 69624N WGS84 0 0KT 004 43 24405E 57 6m OOG 0 0 MAIN DGNSS MODE SOURC PORT STATION GILZERIJEN DORDRECHT Select your backup system Nov 30 2006 GPS Q 3 TD s UTC 13 12 30 A 10 12SVs 51 49 69624N WGS84 0 0KT 004 43 24405E 57 6m OOG 0 0 MAIN DGNSS MODE SOURC PORT STATION GILZERIJEN DORDRECHT se QOTIALL SUN is E 5 e z F3 lt c 5 5 E E After selecting the working mode Under USED DGPS mode the receiver shows MB in the Operating mode status This stands for Manual Backup 193 4 Using TRM100 as Control amp Navigation Terminal Backup Option Change this to Automatic Backup so the receiver can automatically switch back to LRK when available again Nov 30 2006 GPS Q 3 TD g UTC 13 31 04 10 118Vs 51 49 69620N WGS84 0 0KT 004 43 24376E 58 6m COG 0 0 MAIN DGNSS MODE SOURC PORT STATION GPS N U WAAS N U HFMF 1 GILZERIJEN B HFMF2 N U UHF 1 DORD
200. e Options a Aquarius LRKMODE P0100893 except for Aquarius 01 RELATIVE OTF P0101345 REFSTATION P077252A a Aquarius LRKMODE P0100893 except for Aquarius 1 1 RELATIVE OTF P0101345 standard in Aquarius 22 REFSTATION P077252A Aquarius Upgrades Aquarius 12 to Aquarius 22 P0101509 Aquarius 11 to Aquarius 12 P0101510 Aquarius amp Aquarius Equipment Description Aquarius amp Aquarius Hardware Options Aquarius amp Aquarius Hardware Options One of the following two options is necessary to operate Aquarius Aquar ius needs two of them GNSS Marine 30 meter cable kit P076464A 1x RG223 TNC m TNC m coaxial cable low loss 30 m long C5050188 1x marine mounting kit PO71448A for NAP 00x antenna GNSS Marine 10 meter cable kit P0101393 1x RG223 TNC m TNC m coaxial cable low loss 10 m long C5050196 1x marine mounting kit PO71448A for NAP 00x antenna Radio options available Rx 4812 U Link UHF reception kit P0101388 including 1x UHF re ception module coaxial cords for internal connections Designed to be embedded in Aquarius Rx1635 HM Link HF MF reception kit PO101504 including HE MF radio receiver designed to be embedded in Aquarius Tx 4800 U Link UHF transmission kit P0101389 including 1x U Link Tx 4812 transmitter module with N female output connector 1x U Link Tx 4812 interfacing box 1x RS422 data cable 2 meters long
201. e connec tor Please try to limit the number of times you have to plug or unplug the TRM100 as this might end up damaging the connector Removing the TRM100 unit unveils the inner front panel of the receiver This panel is fitted with a Sub D15C f connector receptacle used for plug ging the TRM100 and two LEDs See page 177 for more information about these LEDs Use the cable provided P0100688 to link this unit to the receiver USE EXCLUSIVELY the connector receptacle on the inner front panel to attach the TRM100 unit to the receiver cO Ome com Cc 1098 Cable P0100688 10 Aquarius amp Aquarius Equipment Description NAPO001 or NAPOO2 Antenna NAPO001 or NAPOO2 Antenna Phase center um gel i LT LILTITT k TNC female NAP 001 single frequency version L1 NAP 002 dual frequency version L1 L2 For both antennas Diameter 143 mm Height 44 mm Weight 342 g Power requirement 5 to 13 V DC 40 mA via coax Gain 39 dB approx Admissible loss in antenna coaxial 24 dB max which means for example a maximum length of 30 meters with RG223 type coaxial cable Temperature ranges 40 C to 65 C operating 40 C to 70 C storage Aquarius amp Aquarius Equipment Description TRM 100 PC Software TRM 100 PC Software This software program delivered on CD ROM is used to interface the Aquar ius to a PC type comp
202. e desired interval of time between any two consecutive messages of the type being currently defined In seconds if TIME selected Max output rate 20 Hz is ob tained when PERIOD 0 00 s TRIGGER in number of occurrences of external event 1PPS in number of 1PPS cycles This parameter defines the content of the output message It consists of 10 different fields Each of these fields can contain the name of an NMEA sentence or the first three letter of a user defined sentence The chosen NMEA or user defined sentences will be output in the indicated or der To select the desired sentence in a field once the cursor points to this field use the Up or Down key to scroll through the possible choices To define an empty field se lect To know the detail of each of the available NMEA sentences refer to Section 16 Computed Data Outputs Press F5 OK to enter the changes made The TRM100 then comes back to the previous screen showing the operation status of the mes sages on the concerned port including the one you have just changed a Adding an output message Access the output messages screen as explained on page 164 Press F2 ADD This gives access to the same screen as the one normally accessed when you want to modify an existing output mes sage Refer to the previous paragraph After defining the new message press F5 OK to enable the new message 3 User defined sentences can be created using ConfigP ack S
203. e passing through 001 30 543200W VIS the antenna phase centers WGSS4 88 41m X N A E Top view Speed oo y 00 0 xXx xo VR x5 Line passing through T the antenna phase centers Front view AUX wPT RTE MARK AH Bearing True g gs O WE LE Poe 5 amp ga y 2 dE Qt 2 T 7 Basically this processing type is implemented by configuring the secondary mobile exactly as if it were virtually a reference station although obviously not stationary This means that the secondary mobile transmits data in LRK format via a radio link typically UHF and the primary mobile receives and processes this data to deliver the above results 45 46 Aquarius Series Processing Modes Relative Positioning Processing a Primary Mobile Specific Requirements Hardware Rx 4812 U Link reception module option and UHF antenna see installation on page 18 You can also use external equipment such as GSM radio modem etc for the reception of GPS data in LRK format via one of the receiver ports Firmware In addition to standard firmware DGPS EDGPS KARTMODE you need the following RELATIVE OTF firmware The precision obtained for Relative Positioning depends on the presence or absence of the other firmware options With standard firmware you can only get REL processing equiva lent to KART in terms of precision With LRK firmware you can get REL processing equivalent to LRK in
204. e usable Decimal decimal separator is the symbol It is always preceded by at least one figure 25 appears as 0 25 and followed by at least one fig ure otherwise the integer notation is used Integer particular case of decimal notation without separator Floating exponent character is E example 6 2512E3 6251 2 Signed signs are placed at the beginning of the mantissa and after the exponent character A numeral with no sign is assumed to be positive There cannot be spaces between the sign and the first figure Rule about labels Labels are denoted by lt gt characters surrounding them They can take any ASCII value except lt gt lt stx gt and etx Labels can optionally be associated with a numeral In this case They are placed just before or after the lt gt field delimiter They are separated from the numeral by a space character Error check rule An optional checksum can be placed at the end of every line except for the lt stx gt and etx lines between the last data in the line and lt eoln gt Raw Data Outputs in ASCII Format Notation rules The presence of the checksum is denoted by the character followed by the two end of line characters The checksum results from exclusive OR gating all the characters in the line excluding the character The resulting 8 bit checksum is converted into 2 x 4 bits in hexadecimal notation and then the two half bytes are AS Cll encoded The
205. ecimal For de coding see document ICD GPS 200C E gt Nn iei m Les la 3 o syndyno gd sey lt eoln gt For a given set of N received bits M bits all at O are placed after the N bits in such a way that N M kx4 The k hexadecimal values are ASCII encoded and form a block The number of useful bits N is sent at the beginning of the block The GPS data is sent without taking into account their meaning or the checksum CRO placed at the end of the words The number of bits in a block depends on the message periodicity and channel transmission speed 50 bits s This number is limited to a maxi mum of 480 bits or 120 hex characters a Data block example 1B 570 209274 6 C 3 1 12 30 3F 471A04 2 23 30 18AC 442C 253 7 Raw Data Outputs in ASCII Format SVAR W WAAS EGNOS Data SVAR W WAAS EGNOS Data a General Form lt stx gt lt eoln gt IW gt lt time tagging lt eoln gt lt soln gt lt parameters gt lt eoln gt lt soln gt lt Data from 1st GEO lt eoln gt lt soln gt lt Data from nth GEO lt eoln gt lt etx gt a Time tagging line IW lt GPS week gt lt GPS time gt lt eoln gt GPS week number Time within week in seconds when generating the message Refer ence time is Jan 6 1980 at Ohr0O lt eoln gt a Parameter line C lt message counter count of GEOs in the message lt eoln gt The counter is modulo 16 incremented by 1 on arr
206. econdary mobile REFSTATION LRKMODE x e ae n 5 e ST eo a mio 5 197 5 Using the U Link Transmitter Transmitter Description Transmitter Description UHF antenna connector Side view Transmit LED RS422 line Power connector O Q Bottom view Power in LED Power In connector green Specifications 198 Input Voltage 10 to 16 V DC non floating Input protections from polarity reversal power surge up to 60 V current surge up to 2 8 A The power circuitry will not start if the input voltage is less than 9 5 V DC or greater than 16 5 V DC On Off control from receiver Indicator lights The Power in LED lights up when the receiver is turned on It stays lit until you turn off the receiver ON states for the transmit LED coincide with those times during which the unit trans mits data Using the U Link Transmitter Connecting the Transmitter to Sagitta or Aquarius Power In connector amp cable C Shield Black wire B Red wire RS4224 Power connector 1 RX 3 RX 5 TX 6 PPS 7 TX 8 PPS 9 Carrier Detected 11 GND 12 GND 13 GND 14 VEPIS 15 VEPIS Connecting the Transmitter to Sagitta or Aquarius Transmitting N connector UHF antenna Coaxial cable Power input N connector 22 e ES n Bc E
207. ed The Secondary mode b S is another processing mode This mode and the Primary or Backup mode are run concurrently The Reverse mode b R is used in DGNSS processing to allow users to determine the location of a receiver from which they receive data via a ra dio link or any other means Unlike all the processing modes linked to PDAS FIXMOD which process data produced in the receiver itself the RELATIVE mode f 80 processes data received via a radio link from an external receiver whose identification is provided in field h For this reason the RELATIVE mode cannot be com bined with any other mode using the data link PDAS Command Library PDAS FMT PDAS FMT Q Function Lists the names of the available macros such as NMEA 0183 sentences GGA GLL etc used to generate data outputs see also PDAS OUTMES Macros can be defined using ConfigPack software a Syntax Query command PDAS FMT hh CR JF a Examples PDAS FMT Query PDAS FMT 1 GGA 6 1402 Reply P DAS FMT 2 GLL 5 1 04 P DAS FMT 3 VTG 2 1400 P DAS FMT 4 GSA 1 1 14 P DAS FMT 5 ZDA 2 1 1C P DAS FMT 6 RMC 5 1 1B P DAS FMT 7 GRS 2 1407 P DAS FMT 8 GS T 2 1 0E P DAS FMT 9 GSV 1 1 0E P DAS FMT 10 GMP 2 12D P DAS FMT 11 HDT 1 1 2D P DAS FMT 12 HDG 1 1 3D P DAS FMT 13 ROT 1 143E P DAS FMT 14 VBW 1 1433 P DAS FMT 15 VHW 1 1 38 P DAS FMT 16 0SD 1 1 2A P DAS FMT 17 HRP 1 1439 EE instructions n n for data produced by the m
208. ed 5 00 0 4 ROT 1_ 00 0 s Pitch 6 13 s 00 0 _ NAVIG DGNSS T Mar 29 2002 LRK 4 18 08 T012 02s 1 __ UT 10 48 38 REL 10 12SVs 47 17 9378671N 001 30 543200W WGS84 88 41m Speed Relative Positioning Screen 5 00 Okr Base Length 1 M 35 4 T Delta Height 9 6 NAVIG DGNSS 23 24 Aquarius amp Aquarius Getting Started Use Guidelines Use Guidelines a Common Tasks Whatever the position processing mode you intend to enable in your re ceiver you will probably have to do one of the tasks listed below All the functions allowing these tasks to be performed are gathered in the AUX menu To use any of these functions refer to the page mentioned below with the task Choose the units used on the screen see page 159 Check the local date amp time see page 160 Choose the language used on the screen page 161 Enter check the initial position and the coordinate system used see page 161 Enable disable modify the data messages available on the output ports page 164 Check modify the port settings see page 167 Check change the speed filtering constant used see page 175 Choose a navigation mode see page 26 Miscellaneous see other function in the AUX menu Chapter on page 159 a Autonomous Processing Modes For any of these modes GPS WAAS EGNOS WADGPS Relative for Aquarius only you just need to do the following Select and enable this mode through the DG
209. eiver 1 From left to right 1st line Current Date Position processing i Quality Index ii Number of Corrections ireceived and Age of Differential Corrections i2nd line Current Local Time UTC displayed if local time UTC time processing indicator ii page indicator x y and lt gt displayed in turn number of satellites used received urrent Position latitude longitude computed eading Course Over Ground l Pitch or roll angle depending on how antennas re orientated j ransverse speed i11 Altitude deviation between primary and secondary 13 antennas ngle between True North and line ipassing through the phase centers the GNSS antennas i Processing used by the receiver to calculate position This field will display the name of the operating mode you chose as soon as the receiver is capable of Operating in this mode Until this requirement is met the field will flash at a low rate providing the name of the currently running operating mode i e GPS then DGPS etc If a backup mode is used the symbol will appear at the end of this field when the primary mode is used AND the backup mode is potentially usable If the receiver switches to the backup mode the field will flash indicating the name of this mode If the field flashes and ends with a this means 1 The receiver operates in backup mode 2 The condi
210. ellites 2227 5 kHz for links from the satellites to the monitoring stations The second type of signal is for signals known as L1 and L2 transmitted in the L band on the following frequencies L1 1575 42 kHz L2 1 227 6 kHz SATELLITE SIGNAL FUNDAMENTAL FREQUENCY 10 22 MHz C A CODE 1 023 MHz SATELLITE MESSAGE Appendices Introduction to GNSS a Navigation Message The Navigation Message contains the necessary information for the de scription of the constellation and for the position computation The message includes orbital Keplerian parameters precisely defining the orbits of the satellites It also includes parameters used to partially correct system errors e g signal propagation errors satellite clock errors etc The complete message is contained in a data frame that is 1500 bits long with a total duration of 30 seconds i e the data transmission clock rate is 50 bits second The 1500 bit frame is divided into five 300 bit subframes each with a 6 second duration Each subframe consists of 10 words of 30 bits each Each word takes 0 6 second to transmit The content of subframes 4 and 5 changes on a page roll basis it changes on every frame and repeats every 25 frames As a result it takes at least 12 1 2 minutes to log the entire navigation message a GNSS General Description Satellite navigation systems are now used in scores of applications world wide The best known two systems in oper
211. en its antenna position and that of the secondary mobile Also called moving base station Time To Go An estimate of the time required be fore reaching a target waypoint based on the distance still to go and your current speed Any location holding interest for you The definition of a waypoint consists of a number a name an icon and X Y or L G coordinates a 2D position The receiver will guide you to this waypoint after you select the bearing or homing mode configured to head for this waypoint Cross Track Error This is the distance from your current position to the leg being followed meas ured along the line passing through your position and perpendicular to the leg normal distance Q Index PDAS AGECOR 51 PDAS CONFIG 404 PDAS DGPDAT 31 35 39 44 50 53 204 210 PDAS DGPS 31 32 34 39 40 42 43 47 48 49 50 51 204 PDAS FIXMOD 33 34 41 42 44 49 51 52 53 54 204 PDAS GEODAT 53 PDAS GNOS 52 53 PDAS NAVSEL 31 33 39 41 44 50 51 53 54 PDAS PREFLL 41 204 PDAS UNIT 28 204 A Acquisition time 379 Age of corrections 284 AGECOR 284 ALTI 285 Automatic backup 188 Backup 188 Backup mode activate 190 Backup mode select and use 192 BACKUPMODE option 189 Beacon 28 Marine Survey Receivers User Manual Glossary Beacon Id 28 204 Bold Times New Roman 282 C Calibration Alignment with seamarks 62 377 Automatic 63 108 378
212. en releasing the key A sound is de fined by its frequency in Hz and its duration in ms The higher the frequency the higher the note produced 132 TRM100 PC Software Overview Recorder View The background color of the simulated screen Click inside the field showing the color currently used to access the color palette and choose one The Restore Connection option is not used About the editable fields shown on the screen When accessing any screen containing this type of field a cursor is shown a red line under the first editable field Togo to the next editable field if any on this screen press the Right key You can also click on the editable field directly to move the cur sor under this field There are two different cases to change the content of an editable field Inthe preset fields press the Up or Down key directly to scroll through the possible values and to display the desired one n purely numerical fields type the new value directly over the displayed one To move the emulation within the TRM100 window left click on any non active point in the blue part of the case hold the mouse button de pressed and drag the emulation to the desired location Then release the mouse button To close the view left click FED In the menu that appears select Close 7 igi E 9J643J0S Od 00LIARLL All functions in the Remote Display view are discussed in Section 3 in this
213. en the receiver generates the message Reference time is Jan 6 1980 at Ohr00 assuming the modulo 2 ambiguity has been solved lt eoln gt 250 Raw Data Outputs in ASCII Format SVARIS Health amp A S data a lono UTC data line Bits 1 to 24 from words 3 to 10 in subframe 4 page 18 Each GPS word bits 1 to 24 is split into six 4 bit strings that are hex encoded to form 6 bytes 0 to 1 A to F with the first byte corre sponding to bits 1 to 4 The lono UTC data line is organized as follows lt word 3 gt lt word 4 gt lt word 5 gt lt word 6 gt lt word 7 gt lt word 8 gt lt word 9 gt lt word 10 gt lt eoln gt E gt Nn iei m Les a E syndyno gwd sey a Data block example 1U 945 414740 3 T80F00 F F 0136 FEF C03 000032 000000 0F 9081 0C 9002 0CAAAA SVARIS Health amp A S data a General Form lt stx gt lt eoln gt I5 gt time tagging lt eoln gt Health amp A S data line eoln eb a Time tagging line IS GPS week gt lt GPS time gt lt eoln gt GPS week number Time within week Z count in seconds when the receiver generates the message Reference time is Jan 6 1980 at Ohr00 assuming the modulo 2 ambiguity has been solved eoln 251 7 Raw Data Outputs in ASCII Format SVAR B GPS Bit Flow a Health amp A S data line A S amp Health Bits 1 to 24 from words 3 to 10 in subframe 4 page 25 Health Bits 1 to 24 f
214. entimeter KART Mode RTK L1 Operating range up to 12 km 5 SVs or more with OTF kinematic ini tialization OTF initialization time 10 minutes typical Precision In KR Fast Mode 20 Hz max and 5 ms latency 10 mm 0 5 ppm XY 20 mm 1 0 ppm Z In KA Synchronous Mode 1 Hz and 1 s latency 5 mm 0 5 ppm XY 10 mm 1 0 ppm Z EDGPS No operational limits of distance Data convergence time 2 minutes typical Precision 20 cm 2 ppm XYZ Performance figures are 1s RMS values measured in normal conditions of GPS reception normal ionospheric activity 5 satellites used and HDOP lt 4 on clear site 36 Aquarius Series Processing Modes KART EDGPS Processing a Specific Requirements Receiver Single frequency receiver type Aquarius 01 Additional Hardware Rx 4812 U Link reception module option and UHF antenna see installation on page 18 You can also use external equipment such as GSM radio modem etc allowing the acquisition of RTCM messages No 3 18 and 19 via one of the receiver ports Additional Firmware None required firmware KARTMODE is provided as standard Corrections Data Pseudorange and phase measurements in LRK format at 4800 Bd In this case the LRK format may not contain any L2 related data but the data organization strictly remains that of the LRK format In this case i e when there is no L2 data included we sometimes refer to this data string as being in KART format Fund
215. er part j 23 mm 0 9 Connector N female 1 Mounted on mast using bracket and U clamps provided TNC type TNC N adapter Data Link input J p N type A T EE KX15 I meter KX13 cable interfacing cable 10 or 30 meters HM Link Radio Option HF MF Marine Antenna Kit DHM5000 Combined Antenna all MF antenna Dual band 270 330 kHz amp TNC 1 6 3 5 MHz ye P Height 242 mm 9 53 Diameter 136 mm 5 35 in lower part Data Link input TNC female plug P ui Separate ground terminal type Rx 1635 reception module inside Sagitta Antenna KX15 cable low loss Interface 1 10 or 30 meters 1 Minimizes interference due to antenna cable at data link input Tx 4800 U Link UHF transmission kit See page 137 73 z 2 zh aa 3 S Li 6 wn e 4 T z S 5 SILI BISeS Sagitta Series Equipment Description TRM 100 Keypad Display Option TRM 100 Keypad Display Option This option offers the same functions as the TRM 100 PC Software but this time from a dedicated hardware equipment see below called TRM100 keypad display Terminal or TRM100 unit to which the Sagitta is attached com 74 Sagitta Series Installation GPS Antenna 7 Sagitta Series Installation GPS Antenna a Choosing a location where to install the antenna The antenna should be installed Atthe best possible location for a wide open
216. erminal Option dialog box Highlight the item you want to modify in the Message column TRM100 PC Software Overview Terminal view Right click on the corresponding item in the Mode column and select the desired display mode on the pop up menu The Mode column is then updated to reflect your choice Right click on the corresponding color bar in the Color column This opens the Color dialog box Choose the desired basic color or create and choose the desired custom color and then click OK To create custom colors see be low The Color column is then updated to reflect your choice a Creating custom font colors Inthe Color dialog box click on Define Custom Colors This extends the current dialog box to show the range of possible colors Click inside the color chart A area below on the desired color E Click inside the right hand strip B area below to choose the lumi e nosity or drag the left arrow vertically so that it points to the desired u luminosity a A 28 s B E Hue h23 Red p B Sat 120 Green 0 ColorlSolid Lum 0 Blue 0 Add to Custom Colors The resulting color is shown in the ColorSolid rectangle and the val ues of its components are automatically set in the six fields nearby When you agree with the color click on the Add to Custom Colors but ton to create the custom color The newly created color is now available from the Custom colors palette on the left Use it select i
217. ers 6 L Antenna altitude meters re mean sea level geoid in meters 4 HDOP 5 Total number of satellites in use 00 99 Mode indicator 3 X Eastern component of grid or local coordinates Y Northern Component of grid or local coordinates Map zone 2 Map projection identification 1 UTC of position 1 UTM Universal Transverse Mercator or LOC local coordinate system 2 Designation of coordinate system 3 Mode indicator A Autonomous Mode D Differential Mode E Estimated Dead Reckoning Mode R Real Time Kinematic KART LRK Sagitta amp Aquarius only F EDGPS Float solution Sagitta amp Aquarius only N Data not valid 4 Referenced to mean sea level for UTM map projections or to local coordinates if LOC map projections are specified 5 Calculated using all the satellites used in computing the position solution 6 The difference between the earth ellipsoid surface and mean sea level geoid surface Negative sign if mean sea level below WGS84 ellipsoid 7 Null empty fields if no DGPS received 220 Computed Data Outputs Sentence No 11 GPHDT Sentence No 11 GPHDT p mduop S 2 z 2 9 z ES 5 Dn GPHDT x x T hh CR ILF 3011 and Aquarius only Heading True degrees Sentence No 12 GPHDG GPHDG x x x x a x x a hh CR LF 3011 and Aq
218. esulting from inaccurate satellite transmissions Inaccurate transmissions can occur due to changes in the position health or geometry of a satellite or modifications to the receiver that may be required due to any change in the GPS Note Magellan Navigation GPS receivers use GPS or GPS GLONASS to obtain position velocity and time information GPS is operated by the U S Government and GLONASS is the Global Navigation Satellite System of the Russian Federation which are solely responsible for the accuracy and maintenance of their systems Certain conditions can cause inaccuracies which could require modifications to the receiver Examples of such conditions include but are not limited to changes in the GPS or GLONASS transmis sion Opening dismantling or repairing of this product by anyone other than an authorized Magellan Navigation Service Center will void this warranty 6 EXCLUSION OF INCIDENTAL OR CONSEQUENTIAL DAMAGES MAGELLAN NAVIGATION SHALL NOT BE LIABLE TO PURCHASER OR ANY OTHER PERSON FOR ANY INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES WHATSOEVER INCLUDING BUT NOT LIMITED TO LOST PROFITS DAMAGES RESULTING FROM DELAY OR LOSS OF USE LOSS OF OR DAMAGES ARISING OUT OF BREACH OF THIS WARRANTY OR ANY IMPLIED WARRANTY EVEN THOUGH CAUSED BY NEGLIGENCE OR OTHER FAULT OF MAGELLAN NAVIGATION OR NEGLIGENT USAGE OF THE PRODUCT IN NO EVENT WILL MAGELLAN NAVIGATION BE RE SPONSIBLE FOR SUCH DAMAGES EVEN IF MAGELLAN NAVIGATION HAS BEEN ADVI
219. et and are secured using four AZ6 stainless washers M6 H stainless nuts pd 5 u a E E E S 5 sseduio Sd5 II0 To allow the 3011 to reach the expected precision in terms of heading it is essential that the NAP 011 antenna be firmly fixed to avoid vibrations or mini rotations around the antenna axis due to bad weather conditions for example liable to interfere with the heading measurement For this reason it is recommended to check the quality of an tenna mounting at regular intervals of time 97 11 3011 GPS Compass Installation 3011 Processor a Possible Types of Antenna Mounting NAP 011 antenna mast Mast on ship chosen to support the antenna Vertical Mast Mounting Bracket U clamp Plane Support Mounting NAP 011 antenna mast Bracket Plane support U clamp 3011 Processor As visual access to the 3011 processor is not permanently needed it can be mounted inside a piece of furniture located in the cabin However allow for easy access to the control panel which may sometimes be required Also choose the installation site taking into account the location of the on board equipment the processor must be attached to a Drilling Diagram Drill 4 holes Dia 7 mm 0 27 in the plane where to mount the processor e e S TEJ E 5 E E D os ee e e 9 wT t i i 9 z yo Li
220. etting Started Checking that Operational Status is reached At this stage the Getting started phase is assumed to be finished If however you wish to have a closer look in the receiver to know exactly how it operates which type of position solution is computed which results are available on the output ports which units are used etc and to be able to make changes to some of these parameters we recommend the use of TRM100 either in its software or hardware version Software version standard delivery TRM100 PC Software Hardware version option TRM100 keypad display unit With TRM100 Software you can work on your receiver in two different ways Via interactive display based on menus and parameter screens Remote Display View What can be done with this display is fully described in the Using TRM100 as Control amp Navigation Terminal section on page 137 To know how to use the Remote Display View refer to the Remote Display view section on page 132 Alternately the interactive display can be used as Navigation terminal n command mode Terminal view This mode allows you to com municate with the receiver through PDAS commands If you are familiar with these commands you may wish to use them rather than work with the Interactive Display although the latter is more user friendly To send PDAS commands to the receiver refer to page 124 PDAS commands are described in Section 19 Command Li brary Q e
221. etx bytes in data string including these bytes in binary notation from 1 to 255 RTCM SC104 messages are described in the document referenced RTCM RECOMMENDED STANDARDS FOR DIFFERENTIAL GNSS RTCM SPECIAL COMMITTEE No 104 Reference stations using receivers from the Aquarius series can transmit the following types of RTCM messages depending on the choice made using the PDAS DGPDAT command 10r9 2 3 5s 16 18 19 210 PRC s corrections Delta PRC s corrections Reference station position Constellation Health User message Carrier phase measurement Code measurement Using the U Link Transmitter Transmitted Correction Data a User Message Message not transmitted by Tx4800 U Link transmitter option but still accepted by mobile equipped with Rx4812 U Link receiver option Message identifier 2nd byte in data string X mmTTddddd dddddxxxx Checksum binary computed from stx 2 bytes User message N bytes N depends on transmission rate N 68 at 1200 baud N 405 at 4800 baud Transmit rate one byte in seconds from 01 to 99 BCD notation L Message length one byte as measured between first stx and last etx bytes in data string including these bytes in binary notation from 1 to 65535 Jd m 3 iJ 2 E Z 1 xurT 0 94 3uts 211 1 5 Using the U Link Transmitter Transmitted Correction Data 212 Computed Data
222. ew The dialog box now prompts you to define a label depicting the new entry Value enter value Choose a label that clearly explains what the associated command will be supposed to do For our example enter Receiver time and then press Enter In the right pane Value pane drag the mouse cursor to highlight enter value and then type the corresponding command GPGPQ ZDA followed by a press on the Enter key Please note that pressing the Enter key is essential as this will en able the command to be sent to the receiver when using the entry Label Value mE i PGPQ ZDA Repeat the previous 4 steps as many times as the number of entries you wish to create then click OK to close the dialog box The new entries will then be available from the combo box in the Terminal window and also as buttons in the lower part of the Terminal window aN As already mentioned an entry may consist of several command lines The example below shows an entry labeled Set Outputs containing 2 command lines Dictionary editor Label Value PDAS OUTMES14 1 100 1 3 5 PDAS OUTMES 2 B 1 200 2 4 6 The receiver will respond to a series of commands by returning a reply if any to each of these commands after it has received the complete series of commands TRM100 PC Software Overview Terminal view a Loading a Dictionary Inthe Terminal toolbar click to open the Dictionary Editor dialog box Click the Load button I
223. external to receiver Selects the source of differential data same as b in FIXMOD 0 None 1 Differential data source other than WAAS EGNOS g X 0 5 2 WAAS EGNOS differential data partial via signals 3 WAAS EGNOS differential data partial via serial port 4 WAAS EGNOS differential data complete via signals 5 WAAS EGNOS differential data complete via serial port Identification of data source depending on arguments f and g as explained in the table below f oJI 2 3 4 5 6 30 80 q 8 g h X X mi s 0 g 8 g Reference Reference station Reference 1 station No No station No g WAAS EGNO WAAS EGNOS 2 S PRN PRN FIXTYP Id of data tq commandi be proc line No essed hh Checksum optional CRIILF End of command 321 e EI 5 Z Qa E T 2 gl 4 322 PDAS Command Library PDAS FIXTYP a Comments This command can only be used in conjunction with PDAS FIXMOD a command that refers to the data lines defined with PDAS FIXTYP when its a argument is set to 5 see page 317 The Primary mode b P refers to the nominal processing mode used The definition of the Primary mode includes the associated degraded modes which can be used if necessary and the possible automatic change of DGNSS stations while using this mode In theory there cannot only be a single primary mode The Backup mode b B replaces the Primary mode when the operating conditions do not allow the primary mode to be us
224. from pages 248 ASCII format and 273 binary format 337 Q PDAS Command Library PDAS HARDRS 338 PDAS HARDRS Q Function a Syntax Set command Edits the settings of the receiver s serial ports PDAS HARDRS a b c d e f g hh CR ILF Query command PDAS HARDRS hh CR J LF a Parameters Format Range i 1 Comments a X Number of lines containing definitions of serial ports b X ltoa Line number c a Port identification A B etc d X X 9600 Baud rate 1200 2400 4800 9600 19200 e X 6108 8 Number of data bits f XX 1152 2 Number of stop bits N Parity control N for None O for Odd E for g Even M for Mark S for Space default N hh Checksum optional CR ILF End of command e Examples PDAS HARDRS Query P DAS HARDRS 4 1 A 9600 8 1 0 N 0A P DAS HARDRS 4 2 B 38400 8 1 0 N 3A P DAS HARDRS 4 3 C 38400 8 1 0 N 3A PDAS HARDRS 4 4 D 19200 8 1 0 N 3F PDAS HARDRS B 19200 7 1 0 PDAS HARDRS P DAS HARDRS 4 1 A 9600 8 1 0 N 08 P DAS HARDRS 4 2 B 19200 7 1 0 N 33 P DAS HARDRS 4 3 C 38400 8 1 0 N 3A P DAS HARDRS 4 4 D 19200 8 1 0 N 3F Changing port B settings Query PDAS Command Library PDAS HEALTH PDAS HEALTH Future use a Function Edits the health status of the reference station information delivered at a monitoring station a Syntax Set command PDAS HEALTH a hh CR LF Query
225. ftware Overview Purpose 13 TRM100 PC Software Overview Purpose Associated with Aquarius or Aquarius the TRM100 software for PC can perform the following functions Emulating the TRM100 unit Remote Display view Sending NMEA commands to the receiver for monitoring amp control purposes Terminal view Controlling the receiver s outcoming data recorded on an external medium Recorder view Display heading measurements Heading view Aquarius only The toolbar provides direct access to these 4 views 7 oO igi E Establishing connection with Aquarius Help Ending connection with Aquarius Access to Heading view Access to Remote Display view Access to Recorder view Access to Terminal view 9J643J0S Od 00LIARLL 121 3 TRM100 PC Software Overview Purpose The views can be displayed together within the TRM100 software window WS TRM100 dev serial com1 38400 8 1 0 N File View Help SPDAS HARDRS PDAS HARDRS 4 1 A 115200 8 1 0 N 02 PDAS HARDRS 0 3A lt 2 B 384048 1 0 N ISPDAS HA RDRS 4 3 C 3840 erminal view TRM 100 Lit while the TRM100 software sends data to the Aquarius green color Lit while the TRM100 software receives data from the Aquarius red color 122 TRM100 PC Software Overview Connecting amp disconnecting the TRM100 software Connecting amp disconnecting the TRM100 software Connect the RS232 cord provided
226. g Deleting a Waypoint _ Creating a Route OOOCO L Use Guidelines Q Switching Over From a Single Frequency Station to Another 186 Q Changing Frequency Band 0 00 00 186 LED Indicators on Inner Front Panel Aquarius 1 187 Backup Option 1 000 0 00000200 LLL 188 Q WhatistheBackupOption 0 188 Q How to check if the Backup Option is available 1 11 11 189 Q Activating the BackupMode 1 190 Q Selecting and Using the Backup Mode 192 15 Using the U Link Transmitter 197 Introduction 22 197 Q Additional Hardware Options Required 197 L Optional Firmware Required 197 Marine Survey Receivers Table of Contents Transmitter Description 0 0 0 00 0 00 00000000 198 Connecting the Transmitter to Sagitta or Aquarius 1 1 1 11 199 Setting Sagitta or Aquarius as a UHF Reference Station 200 LJ Entering the Precise Coordinates of the Station 200 LJ Allowing the Station to Transmit its Corrections Data 201 Q Checking the Corrections Generated by a Reference Station 202 Setting Sagitta or Aquarius as a Secondary Mobile 1 203 Examples 20 2020 00 000000 204 Q Transmitting Secondary Mobile 1 1 204 Q Reference Station Transmitting Data in LRK Format 1 1 204 Multi Station Operation 1 1 0 0 0 205 Transmitted Correction Data 1 1 206 L
227. g information is shown on this screen for each HF or MFstation received from left to right Ch Reception channel number 1 or 2 Com Port acquiring data from this channel Frq Channel frequency R Baud rate B Frequency band HF or MF SNR Signal Noise Ratio dB Lev Reception level dB u V St Status F Free channel NR No Received signal R Received signal but data not decoded RD Received decoded Data S HF stations only Searching signal se QOTIALL SUN il S i zi e z L3 lt m S Z I E 157 DGNSS Menu ji 4 Using TRM100 as Control amp Navigation Terminal 158 a Messages Messages can be sent by the station for user information for example RTCM message No 16 To check the possible presence in your receiver of one of theses messages From the main menu press F2 DGNSS then F5 MSGES Press F1 to come back to the previous screen Message example Mar 04 2002 LRK Q 18 TD09 02s UTC 16 04 37 NONE 08 108vs 47 17 938717N wess4 00 0 KT D01 30 542407W 93 56m De Lt e ER JMAIN DGNSS Mar 04 2002 UTC 16 03 40 STATION 04 ESSAI MESSAGE TYPE 16 Time when message was transmitted and reference station source of this message Message content Using TRM100 as Control amp Navigation Terminal AUX Menu AUX Menu a Choosing the Units to Be Used From the main menu see page 23 select successively F3 AUX F5 gt gt gt if necessary to have I
228. gnal output Request To Send 15 NC Not connected Appendices Connector Pinouts and Cables All Receivers Connector shown from O outside the case 8 1 00000000 oooo0000 O 15 9 Connector shown from outside the case 387 gt k I E z N 20 388 Appendices Connector Pinouts and Cables All Receivers a Port D RS422 Aquarius Aquarius only Sub D15 female a Power In Connector All receivers 3C connector receptacle with polarity alignment keyway Pin No Signal Designation 1 IM RS422 TX signal output Transmit Data 2 TX4 3 RX4 mnm 1 RYA RS422 RX signal input R eceive Data 5 NC Not connected 6 GND Electrical Ground 8 1 7 GND Electrical Ground O O0000000 O 8 12 V via R 1 kQ Q 9 9 9 9 9 8 9 NC Not Connected 10 NC Not Connected 11 lPPS34 f Connector shown from 12 HPPS3 RS422 symmetrical output for 1 PPS signal outside the case 13 NC Not Connected 14 NC Not Connected 15 NC Not connected Pin No Signal Designation 1 NC 2 Power In 3 Power In a J Aquarius Aquarius only Sub D9 female For future use Shown from outside the case Appendices Connector Pinouts and Cables All Receivers a 1PPS Output Aquarius Aquarius and Sagitta only On AUX connector ports C and D 1PPS output 1 Hz square waveform Rising edge synchro
229. h the available three filter ing options Onthe previous screen select F4 INIT The following is displayed Speed Filtering High 060s Medium 020s Low 006s Make the changes required and then press F5 OK a Other functions The following functions are also available from the AUX menu Testing keyboard and screen AUX gt IN OUTP gt TEST Listing possible anomalies AUX gt ANOMALY An acknowledge key F5 is present in this function allowing you to delete the report of a past anomaly from the list of anomalies Refer to page 403 to know the list and identification of all possible anomalies Listing the different versions of the Aquarius internal parts AUXSVERSION same information as that obtained on the Remote Display view when starting the receiver 176 Using TRM100 as Control amp Navigation Terminal WPT RTE Menu WPT RTE Menu a Listing the Waypoints and Routes Stored in the Receiver From the main menu see page 23 select F4 WPT RTE The screen indicates the number of free waypoints and routes out of the total number of possible waypoints and routes For example if the following is displayed this means that 8 waypoints and two routes are currently stored in the receiver MAIN WPT ATE Free Waypoints 991 999 Free Routes 18 20 To access the list of existing waypoints select F4 WPTS The screen shows the definition of a single waypoint at a time JMAIN WPT RTE LIST
230. his broadcasting is under control of the NSTB National Satellite Test Bed and takes place from the following geostationary satellites GEOs PRN 122 INMARSAT III F4 AOR W Atlantic Ocean Region West located above the Equator at 54 W longitude PRN 134 INMARSAT III F3 POR Pacific Ocean Region located above the Equator at 178 E longitude Updated information concerning the broadcasting from these satellites is constantly available from http wwws raytheontands com waas EGNOS Europe Test signals under control of the EGNOS Test Bed are permanently broad cast from the following geostationary satellites PRN 120 INMARSAT III F2 AOR E Atlantic Ocean Region East located above the Equator at 15 5 W longitude PRN 131 INMARSAT III F1 IOR Indian Ocean Region located above the Equator at 64 E longitude WADGPS corrections only i e no pseudoranges Regularly updated information about these two satellites can be found on the following web site http www esa int navigation Information can also be obtained from EURIDIS MCC Mission and Control Center tel 33 0 56128 1356 MSAS Japan No information available to date concerning the availability of a signal The launching of MTSAT Multi functional Transport Satellite geostationary meteorological satellites is planned n 2003 for MTSAT 1 n 2004 for MTSAT 2 located at about 140 E These satellites should accommodate the MSAS MTSAT Sa
231. igator receiver given the capability to accurately determine the vector be tween its antenna position and that of a secondary mobile from which it receives corrections data e Secondary mobile Mobile receiver virtually operated as a reference station i e transmitting corrections data so that the primary mobile can accurately determine the vector between its an tenna position and that of the secondary mobile Aquarius Series Processing Modes LRK Processing LRK Processing Q Precision Level Operating range up to 40 km 5 SVs or more with OTF kinematic ini tialization OTF initialization time 30 seconds typical Precision In KR Fast Mode 20 Hz max and 5 ms latency 10 mm 0 5 ppm XY 20 mm 1 0 ppm Z In KA Synchronous Mode 1 Hz and 1 s latency 5 mm 0 5 ppm XY 10 mm 1 0 ppm Z Performance figures are 1s RMS values measured in normal conditions of GPS reception normal ionospheric activity 5 satellites used and HDOP 4 on clear site a Specific Requirements Receiver Dual frequency receiver type Aquarius 02 Additional Hardware Rx 4812 U Link reception module option and UHF antenna see installation on page 18 You can also use external equipment such as GSM radio modem etc allowing the acquisition of RTCM messages No 3 18 and 19 via one of the receiver ports Additional Firmware LRKMODE Corrections Data Pseudorange and phase measurements in LRK format at 4800 Bd c You can als
232. in free running mode No receiver reply Checking the content of line 1 PDAS DGPS MODE 1 PDAS DGPS MODE 1 D E 11 3 2 34 304 PDAS Command Library PDAS DGPS MODE R PDAS DGPS MODE R For receivers processing corrections received from a reference station via a transmitter a Syntax Q Function Set command PDAS DGPS MODE a b R d e f g h i j hh CR JLF Query command only the specified line is read PDAS DGPS MODE a hh CR LF Query command all lines are read PDAS DGPS MODE hh CR JLF a Parameters Defines the receiver s serial port as a DGPS receive channel aah i Comments a X 1to3 Line number b a Port identification A B etc R R for Receiver The other setting E for this third parame ter is discussed in the previous command description Transmitter identification number as referenced in d i PDAS DGPS STATION If d is omitted corrections are simply allowed to be fed to the specified port no receiver control provided e amp f X X Empty fields Identification of the reference station from which corrections XX Oto 1023 should be processed in priority If g is omitted received g corrections are processed without checking the reference station number Identification of the reference station from which corrections i X tae should be processed in second priority optional Identifica
233. in this field and click on the Apply button Once the 3011 has determined its first heading this value is pro vided in the left hand side of the view Example Y Heading Of x Offset calibration Base calibration Base length Horizontal offset Vertical offset Filtering time Duration Calibration value Heading computed by the 3011 intentionally set to 0 Calculate manually the calibration value to be entered calibration value computed heading true heading see also Appendices 106 3011 GPS Compass Getting Started Calibration Example 1 If the true heading is 225 the calibration value is then 315 1 225 90 1 Example 2 If the true heading is 320 the calibration value is then 315 1 320 4 9 Because this value is negative take its 360 s complement This results in a calibration value equal to 360 4 9 355 1 Enter the computed calibration value in the horizontal offset field Click on the Apply button Check that the heading computed by the 3011 displayed on left is now the true heading The calibration value is saved into the 3011 only in the next 30 seconds following the click on the Apply button For this reason DO NOT switch off the 3011 in the minute following the calibra tion operation or you would lose the calibration value entered In example 1 described above the screen should now look like this Yt Heading L ICE Offset calib
234. ing Sagitta or Aquarius as a UHF Reference Station a Allowing the Station to Transmit its Corrections Data From the main menu see page 23 select successively F2 DGNSS F4 FIX REF F3 INIT The following is now displayed Jun 17 2002 GPS Q 3 DAS UTC 16 23 51 PUR 07 O9SVs 47 17 938356N wase4 00 0 KT 001 30 541845W 90 14m DOR NSN INS L MAIN DGNSS FIX REF INIT Na Station KAKAK XXX AK AK FORO ooo OK 17k I ICRC KC LL XX Xxxx b o X Lm DATA LRK IRE 0 0 0 0 REFERENCE 0000 PORT A RATE synchron NO PERIOD 00 0s TRANSMISSION OFF ERE NEXT Posrr MODIFY Press F5 MODIFY to define the characteristics of the transmitter and reference station Transmitter Id No Transmitter Name Station Frequency band used select U for UHF Carrier frequency in Hz Skip next parameter Modulation type GMSK The resulting baud rate is software set Maximum range estimated coverage Transmitted data format LRK proprietary UHF code or RTCM Message types if RTCM selected up to 4 different types Reference station number reference station corrections source Port providing corrections data to transmitter select port D Station operation Multi station Rate synchron Yes or single station Rate synchron No See theory of multi station operation on page 205 Transmission rate a slot number 1 to 6 if multi station is selected or a time interval in seconds if sing
235. ing process applied to both the speed and the course over ground COG Filtering the speed enhances the stability of the speed result by smoothing the successive values computed by the receiver The filtering value should be chosen to adapt to both the type of navigation performed and the weather conditions default value 2 seconds For example if numerous maneuvers turns etc must be performed at moderate or high speed on a calm sea we recommend low filtering or even no filtering at all On the contrary if you try to navigate with constant heading on a rough sea medium or even high filtering is recommended for better readability of the speed measurement From the main menu see page 23 select successively F3 AUX F5 gt gt gt if necessary to have SPEED displayed on the menu F4 SPEED Example of screen then obtained Dec 19 2001 GPS Q 8 TD s UTC 11 01 23 HDG 07 098vs 47 17 9487N WGS84 00 0 KT 001 30 5190W 25 8 m COG x xe MAIN AUX SPEED se OOTIRLL SUN ie S e z L3 lt m S zZ I E Speed Filtering Low zee 1 Te 175 4 Using TRM100 as Control amp Navigation Terminal AUX Menu Use the up or Down key directly on the keyboard or on the view to select one of the possible 3 choices Low default 6 second Medium default 20 seconds High default 60 seconds Press F5 OK to enable your choice You can change the filtering values associated wit
236. ing processing If you prefer to use this environment follow the same instructions as those given on pages 170 and 172 The table below gives the corre spondence between fields and buttons on the Heading view and those in the AUX gt INIT gt HEADING function Heading view Corresponding item on AUX gt INIT gt HEADING screen Base length Length Average Horizontal offset Orient Average Vertical offset Site Average T Filtering time Filter Used E on Duration Time elapsed EK Precision base length Length RMS o z Precision horizontal offset Orient RMS z s Precision vertical offset Site RMS 5 z Start OFFSET F3 zw Stop STOP F3 Apply APPLY F4 5 Threshold z OK F5 Offset calibration Base calibration Offset calibration Base calibration Value Precision Value Precision Base lenath 0 00 m oi Base length 3493 m 7999 n Horizontal offset EN B i 20 Vertical offset 00 ii Vertical offset 353 i o0 i Filtering time dE Duration 203 s Duration Stop Apply Threshold a Start 5 Threshold Heading view on right area two tabs Time elapsed 00 03 22 Filter CERES Won EHE 27 0 00 0 00 0 04 Used Dead reck time 300s Table on AUX gt INIT gt HEADING screen L1 135 1 3 TRM100 PC Software Overview Heading View 136 Using TRM100 as Control amp Navigation Terminal NAVIG Menu
237. ing to the chosen modulation type UHF GMSK at 4800 bits s OR DQPSK at 1200 bits s MF MSK at 50 100 or 200 bits s HF BCPSK at 50 bits s OR MSKF16 at 400 bits s not used Maximum range in km or NM expected se QOTIALL SUN m S i zi e z L3 lt m S zZ I E 145 1 4 Using TRM100 as Control amp Navigation Terminal DGNSS Menu Example of UHF station characteristics Mar 31 2005 Q 0 9 TD30 05s ier Seis Had tis 08 118vs 47 17 83556N WGS84 0 0KT D01 30 53991W 74 0m COG ops MAIN DGNSS MOB BEACON MODIFY No Station Position 0001 La Fleuriaye 47 417 93N U440000000Hz 001 30 53W seras ni GMSK 4800b s 000 km Example of MF station characteristics Jun 18 2002 HOLD Q 0 TD s UTC 12 55 28 00 028Vs 00 00 000000N wess4 00 0 KT 000 00 000000E 0 00m DOES MAIN DGNSS MOB BEACON MODIFY No Station Position 0701 SABLES 46 31 50N MO00307000Hz 001 47 50W nageed MSK 50b s 054 NM Example of HF station characteristics Jun 18 2002 Q 0 TAA GSAS UTC 13 04 21 esed 00 028Vvs 00 00 000000N WGS84 00 0 KT 000 00 000000E 0 00m OE AES MAIN DGNSS MOB BEACON MODIFY No Station Position 0003 PAIMBOEUFBI 47 11 7N HOO2500000Hz H003450000Hz 001 34 12W nouo BCPSK 50b s O68 NM 146 Using TRM100 as Control amp Navigation Terminal DGNSS Menu For each station that you define enter the characteristics name L1 L2 offset in cm of the
238. ing to the specified conditions In fact the longer the traveled distance the better the calibration When you think it s time to do it stop the calibration procedure by clicking the Stop button Confirm the use of this value by clicking the Apply button End of procedure 1 Important NEVER go astern during an automatic cali bration operation 378 Appendices 3011 GPS Compass Technical Specifications 3011 GPS Compass Technical Specifications a Performance Characteristics in Normal Conditions of Use Heading 0 5 RMS precision Turn rate 25 s max Precision on pitch and roll 0 8 RMS Angular resolution 0 01 n standalone GPS mode position precision is 3 meters RMS n HF DGPS mode position precision is 0 5 to 1 meter RMS Speed precision 0 05 m s 0 1 knot a GPS GNSS Characteristics L1receiver 1575 42 MHz 16 parallel channels 12 GPS channels channels dedicated for WADGPS i e for WAAS EGNOS or MSAS satellites Gyrosky technology for acquisition from dual sensor antenna using a single cable and for fast unambiguous heading computation Acquisition time 80 s at start up 15 s in re acquisition Update rate 10 Hz Acceleration 4 g Other geodetic systems and other output messages can be defined via the receiver configuration The receiver does not operate at speeds of 1 000 knots or beyond and also for altitudes of 30 000 feet or higher kzi
239. interface P073815A E RETRO ride Ez 2 5 amp z 6 N e 4 T eg S B User Interface TRM 100 unit P0100722 consisting of the following 1x keypad display terminal P0100599 1x data cord DB15 male DB15 female 1 meter P0100688 1x mounting bracket knobs and screws P0101297 Miscellaneous 1x RS232 RS422 converter cable P075675A 1x DB15 DB9 RS232 RS422 data cable 2 m long P0101587 69 Sagitta Series Equipment Description Sagitta Unit Sagitta Unit a Description of the Control Panel To TRM 100 Terminal Option if used Control Push Button Output to VGA screen Power LED DGPS DGNSS Input 1xRS222 Port B GPS Antenna Input LED indicating number of received satellites 2xRS422 Ports A amp C Power Input a Dimensions 264 mm 10 4 bc c 9 G4 ajE ee C Qoo9 9 ig d f b 310 mm 4 12 2 8 E E E iu i amp e t D E 11 4 o 290 mm 70 Sagitta Series Equipment Description NAPO001 or NAP002 Antenna NAPO001 or NAPOO2 Antenna E RETRO ride a 2 zh aa 3 ic 5 E 6 wn O 3 T eg S 5 Phase center um gel LT OUT E TNC female NAP 001 single frequency version L1 NAP 002 dual frequency version L1 L2 For both antennas Diameter 143 mm Height 44 mm Weight 342 g Power requirement 5 to 13
240. ion Deletes a DGPS transmitting station from the receiver Syntax Set command PDAS DGPS DELSTA a b hh CR JLF Shortened command cancels all stations PDAS DGPS DELSTA hh CR JLF Parameters Format i Comments a X 0 to 1023 Station number b X Station number etc hh Checksum optional CRIILF End of command Examples PDAS DGPS STATION Listing all known stations PDAS DGPS STATION 1 LRKNET1 4716 27 N 00129 22 W UHF 443550000 0 50 00 1200 0 DN 3 11 PDAS DGPS STATION 12 PENNET 4630 00 N 00100 00 E UHF 443550000 0 50 1200 DN 3 05 PDAS DGPS STATION 58 LA F LEURIAY E 4717 93 N 00130 53 W UHF 440000000 0 90 4800 GN 1 6B PDAS DGPS DELSTA 12 58 Deleting stations 12 and 58 PDAS DGPS STATION Re listing all known stations PDAS DGPS STATION 1 LRKNET1 4716 27 N 00129 22 W UHF 443550000 0 50 00 1200 0 DN 3 11 PDAS Command Library PDAS DGPS MODE E PDAS DGPS MODE E For receivers used as corrections generators and so connected to a trans mitter Q Function Defines the receiver s serial port as a DGPS transmit channel a Syntax Set command PDAS DGPS MODE a b E d e f hh C R JLF Query command PDAS DGPS MODE a hh CR LF Query command all lines are read PDAS DGPS MODE hh CR JLF a Parameters Format i Comments 1to3 Line number b a Port identification A B etc E for Transmitter The other
241. ion N none Antenna number 2 Configure the built in UHF reception module so that it can receive and decode con No 8 the data from reference station No 14 attached to bea PDAS DGPS MODE 1 D R 8 14 Command line No 1 Port D allows acquisition of corrections data via built in UHF reception module Receiver defined as DGPS corrections receiver R Beacon ld 8 2 blank fields Identification of the reference station generating corrections 14 Aquarius Series Processing Modes LRK Processing 3 Select the LRK processing mode with OTF initialization PDAS FIXMOD 7 1 14 Fix mode LRK OTF initialization 7 Source of corrections LRK 1 Identification of reference station used 14 5 Choose the KART A position solution for your navigation needs PDAS NAVSEL 3 1 Fix used for navigation KART A 3 Navigation mode none 1 rd ga zi WE Sz ad 5 amp ga y 2 ET as PE 7 33 Aquarius Series Processing Modes LRK Processing a Example 2 LRK processing using RTCM format and external corrections receiver GPS antenna T DO Aquarius Ext receiver Y Port B Station No 710 RTCM SC104 corrections data 3 18 19 Assuming port B on Aquarius has been properly set to receive data from the external receiver 1 Let the receiver acquire and decode the RTCM SC104 corrections data provided by the external receiver data from station No 710
242. ion no additional firmware option Corrections data None required a Configuration Guidelines Use the DGNSS menu see page 24 or use the TRM100 PC Software to send the adequate commands to the receiver from the Terminal view see pages 123 and 124 From the Terminal view the following set of commands should be used e PDAS FIXMOD page 316 to select the computation mode autono mous or straight GPS e PDAS NAVSEL page 347 lets you choose the type of position solu tion you want to use in your navigation application a Example GPS constellation Aquarius GPS antenna 1 Enable the Straight GPS processing in the receiver PDAS FIXMOD 3 0 3 selects straight GPS as current fix mode 0 deselects any possible source of corrections 2 Choose the straight GPS position solution for your navigation needs PDAS NAVSEL 1 1 GPS position solution used for navigation 1 Navigation mode none gt 1 L1 54 Aquarius Only Processing Modes Introduction 5 Aquarius Only Processing Modes Introduction T 5 LN n Z 2 Le so 2 5 es Nn The processing mode specific to Aquarius is The HEADING processing This processing type is detailed on the next pages In addition to the HEADING processing Aquarius offers the same process ing modes as Aquarius namely LRK processing KART EDGPS processing RELATIVE POSITIONING processing only as standard in Aquar ius 22
243. ion but after a certain time it will start blinking with equal ON OFF times denoting L1 tracking by the receiver for a number of received satel lites Denotes Initialization Phase in Progress when flashing with equal ON OFF times se QOTIALL SUN il S i zi e z L3 lt m S Z 5 E The end of initialization is denoted by a flashing Number of received satel lites LED with the number of flashes reflecting the number of satellites received by the receiver This flashing state is the sign that the receiver will soon reach its fully opera tional state i e as soon as the number of received satellites is sufficient 4 satellites minimum 187 188 Using TRM100 as Control amp Navigation Terminal Backup Option Backup Option The backup option is a new feature available from firmware version 20053 This option is free of charge but must be activated in the receiver What is the Backup Option The backup option makes it possible to process two independent DGPS a DGPS RTK or two RTK solutions at the same time One can be defined as a primary solution the second as manual backup or automatic backup If the primary solution is lost the backup will take over if available There are two different Backup modes MB Manual Backup AB Automatic Backup Manual Backup If the primary solution is lost the receiver will go to the selected backup mode and stay in this mode even if the primary solution is resto
244. ion message ephemeris almanacs clock corrections The Space segment consists of 24 satellites often referred to as SVs which is an abbreviation for Space Vehicles orbiting approximately 20200 km above the earth s surface so that at least four satellites can be simulta neously in view round the clock and anywhere on earth The satellites are distributed over 6 orbit planes inclined 55 with respect to the equatorial plane Each satellite completes an orbit once every 12 hours approximately From any point on earth a satellite remains in view for 5 hours maximum above the horizon d 3 5 S O 2 395 20 396 Appendices Introduction to GNSS The user segment is naturally that which means most to us It is made up of all the marine land or air borne applications deciphering and using the sig nals received from the satellites From a user s point of view the user segment consists of a receiver capable of recording the GPS information so that it can be processed at a later date or a receiver computing a position in real time with an accuracy depending on the signals used Signals The signals transmitted by the satellites fall into two categories signals used to control the system and signals used for measurements within re ceivers user segment The first type of signal is transmitted in the S band on the following frequen cies 1 783 74 kHz for links from the control station to the sat
245. ion value a Manual Calibration along a Quay Measurement conditions Dock the ship to keep her immobile in a known direction for exam ple align the ship along a quay with accurately known orientation true heading Check that the calibration value currently used by the 3011 is 0 Read the heading measured by the 3011 computed heading Calculate the calibration N value computed heading true heading Enter the calibration value in the 3011 Confirm the use of this value by clicking the Apply button Then check that the heading provided by the 3011 is now the true heading End of procedure True heading omputed heat Y cdi F 7 fitis negative take the 360 s complement to make it positive If for example you get 65 for the calibration value the actual calibration value will be 360 65 295 If itis positive use it directly 376 Appendices 3011 GPS Compass Calibration Procedures a Manual Calibration Based on Alignment with Seamarks Measurement conditions Navigate to align the ship s longi tudinal axis with seamarks By p definition the resulting heading cj Seamarks followed is known gt true head ing 7 Navigate at constant speed Check that the calibration value currently used by the 3011 is 0 a After a certain time of navigation f in these conditions read the j heading measured by the 3011 computed heading Calculate the
246. ions receiver R Next parameter Beacon ld omitted to let the receiver acquire corrections from the specified serial port B Identification number of the reference station received 710 If this argument is omitted all corrections will be acquired without testing the reference station Id 2 Choose the desired fix mode PDAS FIXMOD 4 1 710 Single station DGPS fix mode 4 Source of corrections 1 DGPS KART LRK Identification of the reference station 710 If this argument is omitted the processing will use the only set of corrections available 3 Choose the differential position for your navigation needs PDAS NAVSEL 1 1 Differential position solution used for navigation 1 Navigation mode none 1 yS pan Sz ad 5 amp ga y 2 JE Qt oz Nn 4 For example enter 40 seconds as the maximum age not to be ex ceeded by the DGPS corrections received PDAS AGECOR 40 51 52 Aquarius Series Processing Modes WAAS EGNOS Processing WAAS EGNOS Processing a Precision Level Service area as defined for the system of satellites used The differ ent systems available are WAAS in North America EGNOS in Europe and MSAS in Japan Precision 1 to 2 meters XY 3 meters Z Performance figures are 1s RMS values measured in normal conditions of GPS reception normal ionospheric activity 5 satellites used and HDOP 4 on clear site Definition This processing is use
247. ip there is a plane accurately oriented in one of the re quested two directions that can be used for antenna installation it will then be easy to accurately orient the antenna without the need for a system cali bration before using the 3011 As a matter of fact the antenna mounting parts are designed in such a way that the antenna is automatically oriented parallel to or perpendicularly to the chosen support plane owing to the pre drilled holes in the antenna mast which determine the orientation of the antenna with respect to the support see next paragraph On the other hand if you mount the antenna assembly direct onto a mast it will be much more difficult to accurately orient the antenna In this case you will have to resort to a calibration procedure see p 187 amp 365 to know the exact orientation of the antenna with respect to the ship s longitudinal axis calibration value 96 3011 GPS Compass Installation NAP 011 Antenna a Antenna Mounting Use the bracket shown below The NAP 011 antenna mast should be in serted into the hollow part of the bracket as shown below 1 Insert the two M6x60 H screws M6 H nuts washers into these two holes to secure the bracket on the mast of the NAP 011 antenna the 2 screws go Z through holes drilled for that 2 particular purpose Insert the two U shaped i clamps into these 4 holes The 2 clamps go through the re maining 4 holes drilled in the brack
248. is installed port C or D must be set to 19200 baud 8 data bits no parity and 1 stop bit 169 4 Using TRM100 as Control amp Navigation Terminal AUX Menu a Determining the Baseline Length Aquarius This task is required as the first prerequisite for heading processing After enabling this mode through DGNSS gt MODE see page 149 do the following From the main menu see page 23 select successively F3 AUX F5 gt gt gt if necessary to have INIT displayed on the menu F2 INIT F3 HEADING You may enter an estimate of the baseline in the field shown below Mar 29 2002 LAK Q 18 X TD10 01s UTC 09 58 41 SIKE 09 12SVs 47 17 937673N WGS84 001 30 543202W 88 41m JMAIN AUX INIT HEADING Time elapsed 00 00 oo EUM Used Cons 500 006 500m 000 00 15 ao Dead reck time 300s Press F2 BASE to start the baseline computation The screen then looks like this Mar 29 2002 UTC 10 00 33 47 17 937670N 001 30 543191W X I Q 18 TD12 02s 10 128vs REL displayed while baseline being determined enitn orient site Filter 30 48 0 00 16 25 8 834 0 00 0 00 Average Used 00s Dead reck time 300s Ts stop APPLY 170 Using TRM100 as Control amp Navigation Terminal AUX Menu When the Average value of baseline gets stable denoted by low RMS press successively F3 STOP to stop the initialization pha
249. it is operational when the primary mode fails You could for example program LRK using reference station x as the primary mode and LRK using reference station y as the backup mode Obviously you cannot program a backup mode if no primary mode has been defined previously A very important thing to know is that from the moment you define a backup mode the receiver will always strive to operate in the primary mode but while doing this it will make sure the backup mode is always operational in the background although actually not using it ye ga zi WE LE d Ee ga y 2 dE Qt 2e 7 27 Aquarius Series Processing Modes Introduction The way the receiver switches over to the backup mode is immediate when the primary mode fails Conversely the way it switches back to primary when this mode regains its operational status will conform to one of the fol lowing scenarios depending on which of them you chose earlier Manual mode The receiver will return to the primary mode only when you select it manually The position processing indicator shown at the top of any of the data screens see page 22 will tell you when the receiver can successfully come back to the primary mode Automatic mode The primary mode will automatically be re selected after a user set time delay Note that because the processing mode used as backup mode is character ized by a slower update rate i e 5 sec compared to the
250. its of a cycle modulo 10 cycles mi nus clock error Lic Acarrier speed In 10 units of a cycle s C AL1 C No In dB Hz L1 channel status Coded in 4 bits 1 ASCII character 0 to F bit 0 0 not used bit 1 0 reserved bit 2 1 if invalid L1 phase measurement bit 3 0 reserved L1 carrier quality indicator Coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 4 cumulative loss of continuity indica tor complies with RTCM message 18 counter modulo 32 incremented every time the continuity of the carrier phase measurement is lost bits 5 to 7 data quality indicator See page 227 C A code quality indicator Coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 3 pseudo range multipath error indica tor complies with RTCM message 19 1111 multipath error not determined bits 4 to 7 pseudorange data quality indicator See page 227 lt eoln gt a Data block example 1Q 1154 219648 0 100000 amp C 0 0 0 0 22 669594947 7516076 2171784 49 0 0A 7F 1 25 774437143 915744 1618380 45 0 05 8F 2 10 834559315 8754675 387152 40 0 23 AF 3 6 784199046 8248591 1286532 44 0 18 9F 4 15 680587687 7941127 2636064 49 0 02 7F 5 2 864959475 1448632 4779648 37 0 5E BF 6 17 695573168 7695579 1539468 48 0 03 7F Owing to the fact that they are received later pseudoranges from WAAS EGNOS satellites are output in a separate block 242 Raw Data Outputs in ASCII Format SVAR Q
251. ius The Aquarius 01 P0100751 or Aquarius 02 P0100752 receiver is deliv ered in a ruggedized container in which the following items are provided 1x Aquarius 01 or 02 unit depending on purchase order fitted with a single GNSS sensor 1x GPS antenna NAPO01 or NAP002 depending on purchase order NAP 001 P076311B NAP 002 P0101158 Firmware modules RAWDAT WAAS EGNOS KARTMODE USERGEOID FASTOUTPUT 1x power cord 2 meters P0067035 2x data cord DB9 male DB9 female 2 meters P0101243 1x RS232 RS422 converter cable P075675A 41x TRM 100 unit P0100722 consisting of the following 1x detachable keypad display terminal PO100599 in fact the receiver front panel 1x data cord DB15 male DB15 female 1 meter P0100688 1x mounting bracket knobs and screws P0101297 Last two items used only if TRM100 detached from re ceiver to be used as remote unit Mounting bracket for entire receiver Aquarius TRM100 unit 1x User Manual the present manual 1x CD ROM containing TRM 100 PC Software for Windows 95 98 2000 NT and User Manual in the form of PDF document Standard Supply a Aquarius The Aquarius 11 P0101385 Aquarius 12 P0101386 or Aquarius 22 P0101387 receiver is delivered in a ruggedized container in which the fol lowing items are provided 1x Aquarius 11 12 or 22 unit depending on purchase order equipped with two GNSS sensors primary secondary see
252. ival of a new message Number of possible GEOs from 1 to 4 254 Raw Data Outputs in ASCII Format SVAR W WAAS EGNOS Data a Pre decoded WAAS data line lt soln gt 2 characters and channel No in hexadeci mal GEO Number gt PRN of geostationary satellite 2 100 lt CRC validity flag gt 0 Good 1 Bad lt WAAS message No From 0 to 63 same as WAAS encoding Preamble identifier From 1 to 3 byte number in preamble WAAS word occupies 212 bits in 53 ASCII HEX encoded characters preamble and parity excluded lt Checksum gt Optional but recommended checksum word lt eoln gt E gt Nn iei m Les la 3 o syndyno gd sey a Data block example 1W 980 209274 0 C 14 2 D 120 0 9 1 F 471A0418A0F 158CD50A1B178034D586AF 55127E070B10E 144 F82048 E 132 0 9 1 8AC 442C 6AF OF 16AF 558A0F 471A0410E CD500418A15837AF 89 A0B4 62 255 7 Raw Data Outputs in ASCII Format SVAR V RELATIVE Mode Data SVAR V RELATIVE Mode Data a General Form sx eoln IV time tagging lt eoln gt lt soln gt lt parameters gt lt eoln gt lt soln gt lt Data line from RELATIVE mode processing gt lt eoln gt eb a Time tagging line IV GPS week gt lt GPS time gt lt eoln gt GPS week number Time within week in seconds when generating the message Refer ence time is Jan 6 1980 at Ohr00 ambiguity of modulo p removed eoln Q Relative mode d
253. ivate the option Check on the receiver screen or send the PDAS OPTION command from WinComm to see if the Backup option is now activated SPDAS OPTION 3 KARTHODE 6D2E21CC665 PDAS OPTION 4 LRKMODE OC7FEDSOA140 PDAS QETION H USERGEOID 6D2E22192F Directory cMemp SPDAS OPTION 8 EDGPSMODE 6D2E218012 SPDAS OPTION 10 VAAS EGNOS 6D2E2328 FioName Record Raw WinComm Com 2 38400 B No 1 x A Command AQUARIUS _5000 Mode E sPORS OPTION ORCVACODE v Single GPS Recorder Setting 2 Programmable GPS Recorder AN ze Heb ES Display F Sargis Gp Recorder z S Eding SPDAS OPTION 0 RCVRCODE 25478911 qe e 3S 8 i Da E PDAS OPTION 11 FASTOUTPUT 3E9FF549 PDAS OPTION 12 RAVDAT 3E FF18B6C61 SPDAS OPTION 19 BACKUPMODE 3EB700AD PDAS OPTION 99805 Fie Max Size No Lims Stat Recording 191 4 Using TRM100 as Control amp Navigation Terminal Backup Option a Selecting and Using the Backup Mode In the example below it is assumed that you are using an Aquarius 02 re ceiver with LRK UHF and DGPS MF HF station Here you have the opportunity to use the receiver in LRK mode with DGPS as backup mode If the LRK solution is lost the DGPS mode will take over this makes the position more stable than switching to straight GPS When the LRK solution comes back the receiver can automatically return to the LRK mode How to select th
254. k at 4800 Bd 8 data bits 2 stop bits no parity Pin 9 NT920 HDI Terminal Block O Pinll O Pin 10 3011 GPS Compass Connection to MLR FX312 or FX412 GPS Receiver Connection Diagram 3011 port C RS422 Sub D15 female a 3 8 1 Connector shown fro OO 0 oO O O outside the unit o ojo o o ojo 15 Pin 6 FX312 412Pro Cable Black wire Green wire 381 I Appendices 3011 GPS Compass Available Geodetic Systems On the 3011 port C should be configured as follows 4800 bauds 8 data bits 2 stop bits no parity check Output sentences GPVBW et PDAS HRP On the FX312 PRO or FX412 PRO select NMEA183 as the serial input Only the receivers from version 2 81 are compatibles with the 3011 3011 GPS Compass Available Geodetic Systems a Systems List Datum Area ECEF errorat lo m N X Y Z World Geodetic S ystem 1994 standard on ellipsoid WGS 84 WE European Datum 1950 EUR M on ellipsoid International 1924 IN Me dium Solution Ordnance Survey of Great Britain 1936 OGB M on ellipsoid Airy 1830 AA Medium Solution North American Datum 1927 NAS C on ellipsoid Clarke 1866 CC Medium Solu USA CONUS Contiguous United States 5 0 5 0 6 0 tion South American Datum 1969 SAN M on Argentine Bolivia Brazil Chili Columbia 4 ellipsoid South American 1969 SA Me Equator Guyana Paraguay Peru Trinidad 15 0 6 0
255. ket OOOO LLL 7 Li D scnption 2 220 s oco eut com mom touto c uou c m ve men 7 TableMounting 000000000 0 LLL 8 Q Ceiling Mounting 0 LLL 8 Detachable TRM 100 Keypad Display_ 022 LLL 9 NAPOO1 or NAPOO2 Antenna 10 TRM 100 PC Software 0000 LLL 11 UHF Radio Option 00 LLL 12 HF MF Radio Option 12 Tx 4800 U Link UHF transmission kit 4 12 2 Aquarius amp Aquarius Installation hb 1 13 GPS Antenna 13 Q Choosing a location where to install the antenna 13 Q Antenna Mounting 0000000000 LLL 15 Receiver aaa a a a a a 16 Q Drilling Diagram LLL 16 TRM100 PC Software 000 LLL LLL 17 Q Computer Requirements 0 0 17 Q Installation Procedure eee 17 Rx 4812 U LINK amp Rx 1635 HM LINKOptions 18 Radio Antenna UHF or HF MF 0000000 18 Tx 4800 U LINK Option LLL 18 Connections Required in Typical Applications 19 3 Aquarius amp Aquarius Getting Started 21 Switching On Off the Receiver 00 000 00000000 21 Back light Control amp Screen Contrast Adjustments 21 Data Screens 000000 LLL LLL LLL 22 Use Guidelines 24 Marine Survey Receivers Table of Contents Q Common Tasks 24 a a a 4 Aquarius Series Processing Modes 27 Introduction LRK KAR Rela Q Primary and Backup Modes Q Terminology Used Processing Configuration Guidelines Example 1 Example 2
256. le station is selected Enable the transmitter to transmit by setting the TRANSMISSION field to ON a Sie cue n 5 e ae eo a mio 5 x 201 5 Using the U Link Transmitter Setting Sagitta or Aquarius as a UHF Reference Station Press F5 OK to store all these characteristics in the receiver The receiver then starts operating as a reference station determining DGPS corrections for each satellite received and transferring them via port D to the transmitter to be broadcast to users on the specified carrier frequency a Checking the Corrections Generated by a Reference Sta tion From the main menu see page 23 select successively F2 DGNSS F4 FIX REF F4 DGPS ST Below is an example of what the screen shows once the receiver is able to compute corrections for the first satellite received Jun 18 2002 REF Q 2 TD01 02s UTC 08 18 24 01 07Svs 00 00 000000N WGS84 00 0 KT 000 00 000000E 0 00m CO GEEZ Aaa MAIN DGNSS FIX REF ST DGPS sv Corr Ft Bpd Ft s sv corr Ft Bpd Ft s 29 17 0 24 202 Using the U Link Transmitter Setting Sagitta or Aquarius as a Secondary Mobile Setting Sagitta or Aquarius as a Secondary Mobile From the main menu see page 23 select successively F2 DGNSS F3 REL REF F3 INIT The following is now displayed Jun 18 2002 REF 4 DSR AS UTC 08 23 09 NK 02 07SVs 00 00 000000N WGS84 00 0 KT 000 00 000000E 0 00m COG sess oet JMAIN DGNSS
257. le the changes or F3 DELETE then F5 OK to delete the waypoint a Creating a Route Warning Unless there are at least two waypoints stored in the receiver you will not be allowed to create a route 1 From the main menu see page 23 select successively F4 WPT RTE Q F5 ROUTES T F4 CREATE LS ra a The screen then looks like this A z Jun 13 2002 LRK Q 18 TD11 02s UTC 08 31 18 NONE 08 118vs d E 47 17 9888426N WGS84 00 0 KT Eg 001 30 542087W 90 69m COG etos toad MAIN WPT ATE ROUTES CREATE ROUTES TRACK_09 No Name Icon Position 1 MA08 55 47 4 47 15 886917N 002 21 180983W WAYPTS 170 756Tt se DELETE 2 Type aname for the route you are creating 179 14 180 Using TRM100 as Control amp Navigation Terminal WPT RTE Menu Then you must indicate each waypoint making up the route note that the cursor is positioned in the first field prompting you to enter the route s start waypoint As you can see the screen also shows the definition of a waypoint This waypoint is read from the list of available waypoints stored in the receiver To scroll the waypoints list up and down use the Up Down keys Every time you press one of these keys the definition of the previous or next waypoint in the list appears on the screen Once the desired waypoint appears on the screen press F4 ADD to choose it as the start waypoint As a result the name of this waypoint now appears in the fir
258. libration procedure is needed If it is needed choose right now which calibration pro cedure suits you best a Prerequisites 1 Connecting the PC type computer to the 3011 Connect the serial cord provided between an RS232 port on the PC and connector B on the 3011 Q e Se 5 ge un E ii ssedwop Sd9 TIOE 2 Launching TRM100 PC Software On the PC screen double click the TRM100 shortcut icon In the window that opens click g in the left hand side of the tool bar On the Serial tab set the following parameters for the port used on PC side 38400 Bd 8 data bits 1 stop bit amp parity none then click OK The toolbar which is now fully available indicates that the TRM100 software can now communicate with the 3011 In the TRM100 status bar the indicator light fully to the right starts flashing red reflecting this new status 3 Continue with the calibration as such using a manual or automatic procedure as described below 105 2 3011 GPS Compass Getting Started Calibration a Manual Calibration Measurement condition Dock the ship to keep her immobile in a known direction Procedure Inthe TRM100 software window click x Onthe Heading view which then displays click gt to display the complete window Onthe Offset Calibration tab that appears check to see if the cali bration value Horizontal offset parameter is equal to 0 0 If not enter 0 0
259. lows full identification of the dif ferent hardware and software parts used in Sagitta Example THALES AQUARIUS 22 n 1 DEFAULT CONFIGURATION V1 0 08 03 2002 UBBB UCBGV20000 UBBB UCIMV10045 UBBB UCLNV30000 UBBB UCBKV8 2 UBBB UCKBVOO23 TDO2 RUHFV20100 D CM398 C3BLY0000001 I Use the Up and Down keys to scroll through the list Sagitta Series Getting Started Using TRM100 as Control amp Navigation Terminal a Data Screens From the Identification screen press the key to display one of the data screens There are two data screens Position screen ever present Relative Positioning screen only if RELATIVE firmware installed and Relative processing active REL displayed on top of screen To change data screen press the Right or Left key Screen Examples Position Screen Mar 29 2002 LAK Q 18 08 TD12 01s 1 Fix Quality Index UTC 10 28 07 HDG lt gt 10 128Vs 0 3 GPS 47 17 937672N 10 13 EDOPS 14 19 Kinematic 001 30 543197W bnnc more information Relative Positioning Screen LRK Q 18 08 TD12 02s 1 UTC 10 48 38 REL 10 128Vs 1 From left to right n 17 937571N 1st line Current Date Fix Mode O Fix 2 3 Teese porn Quality Index see opposite Number Snead amp Age of Differential Corrections 5 pon 2nd line Current Local Time UTC 1 00 n Okr 6 displayed if local time UTC time Base Length heading inform
260. lt c E E 5 E E se QOTIALL SUN 14 196 Using TRM100 as Control amp Navigation Terminal Backup Option Automatic selection of the DGPS backup station The backup mode can also be used to benefit from the two reception chan nels of the MF HF module if present On the screen example below the receiver is configured to use the best DGPS station as backup Nov 30 2006 GPS Q 8 TD s UTC 12 59 33 10 108Vs 51 49 69618N WGS84 0 0KT 004 43 24406E 57 9m COG 0 0 SOURC PORT STATION GILZERIJEN HVHOLLAND DORDRECHT Using the open mode in DGPS Automatic Backup the receiver will use the best DGPS station as Backup Q Using the U Link Transmitter Introduction 15 Using the U Link Transmitter Introduction There are two mains applications in which Sagitta or Aquarius can be used attached to a U Link transmitter When it is used as a UHF reference station Or when it is used as a transmitting secondary mobile RELATIVE POSITIONING In both cases the hardware and software requirements are the same see below The two applications only differ on the type of data that are transmit ted a Additional Hardware Options Required Tx 4800 U Link UHF Transmission Kit UHF Marine Antenna Kit with 10 or 30 m coaxial cable a Optional Firmware Required Aquarius 01 station REFSTATION Aquarius 02 LRK station REFSTATION LRKMODE Aquarius 01 secondary mobile REFSTATION Aquarius 02 LRK s
261. lue called calibration value into Aquarius eim 2 2 E 2s wu m ez ga a f so e 5 es Nn Computed heading a What is the calibration value It is the deviation observed BEFORE calibration between the heading computed by Aquarius and the ship s true heading see diagram below N calibration value computed heading true heading AFTER calibration i e after having entered the calibration value Aquar ius can apply the correction to the computed heading in such a way that Aquarius output heading true heading The calibration value can only be positive If a negative value is ob tained it must be transformed into a positive value by calculating its 360 s complement 1 Example In the above diagram the true heading is 70 degrees The com puted heading is 160 degrees Therefore the calibration value is 160 70 90 Being positive this value can be used directly On the other hand if the obtained calibration value is for example 24 55 the calibration value actually entered in Aquarius will be its 360 s comple ment i e 360 24 5 335 5 N Computed 7 heading a Primary 59 Aquarius Only Processing Modes Heading Processing Principles The two diagrams below show the typical values of calibration as a function of two typical orientations of the antennas with respect to the ship Parallel to the ship s longitudinal axis Calibration value
262. ly Aquarius provides a single position fix even in the case of DGPS operation using an HF station On the other hand working with a dual frequency HF station means that the update rate of corrections in the receiver is twice slower Note that RTCM corrections data can be routed thru one or two HF MF modules at 19200 baud Using TRM100 as Control amp Navigation Terminal About the HM Link Reception Kit Switching Over From a Dual Frequency Station to Another In this particular case where the HM Link reception module has to switch over from two frequencies to two new frequencies a routine is run to main tain smooth operation of the receiver while passing from a station to the other This is summarized in the flowchart below Select another station name on MODE screen Receiver assigns Ist frequency of new station to HF channel MODE screen updated to reflect this change receiving former station with lowest reception level elas seo s B p S Search on DGNSS The other channel continues to screen 3 3 receive the former station lt After less than one minute New Ist frequency now detected and properly received Receiver now assigns 2nd fre MODE screen updated quency of new station to the to reflect this change same HF channel Status set to 5 The other channel still continues Search on DGNSS to receive the former station screen 3 3 y Receiver assigns m After less than one
263. minute frequency of new station MODE screen to the other HF channel updated to Which then stops receiv refiect this change ing the best frequency of the former station Yes SES If the Open mode is enabled the corrections data from the new station will automatically be involved in the fix processing Otherwise Aquarius will indefinitely work using the former station and obviously will fail to operate in DGPS if this station is not received any more New 2nd frequency now detected and properly received No 185 a S i zi e z L3 lt m S Z I E se QOTIALL SUN ji 4 Using TRM100 as Control amp Navigation Terminal About the HM Link Reception Kit a Switching Over From a Single Frequency Station to Another In this particular case where the HM Link reception module has only to switch over from a frequency to another another routine is run to maintain smooth operation of the receiver while passing from a station to the other This is summarized in the flowchart below This routine is made possible thanks to the fact that the HM Link reception module has two distinct recep tion channels and one is supposedly always free Select another station name on MODE screen MODE screen updated Receiver assigns frequency of to reflect this change new station to free channel Status set to S Other channel continues to Search on DGNSS receive former station screen 3 3
264. mn see page 170 Any field containing 000 means that it does not reject any satellite Press F5 OK On the AUX STATUS screen this satellite will now be listed as a deselected satellite d index in L1 column 163 14 164 Using TRM100 as Control amp Navigation Terminal a Accessing the List of Output Messages From the main menu see page 23 select successively F3 AUX F5 gt gt gt if necessary to have IN OUTP displayed on the menu F4 IN OUTP F4 OUTPUT F4 MSGES Example of screen then obtained Mar 04 2002 GPS Q 3 MOSSER UTC 15 14 40 NONE 12 128Vs 1 OFF GGA 2 OFF GLL 3 OFF VTG 4 OFF GSA 5 OFF ZDA B OFF RMC amp This screen shows the operation status of a number of preset mes sages on port A as well as their respective contents NMEA sentences or user defined messages Use the Up or Down key to scroll through the entire list of available messages on this port To list the output messages defined on the other ports use the F3 key Port or F4 key Port The operation status of a message can be ON message is activated available on specified port OFF message is deactivated not available Using TRM100 as Control amp Navigation Terminal AUX Menu a Modifying an Output Message Access the output messages screen as explained above Select the screen showing the message you want to modify by press ing the F3 or F4 key Using the Down key place
265. mode Message No on port Default status amp rate Content Ephemeris in ASCII format Atregularinter Almanac in ASCII format 1 P Daca Ed vals of time lono UTC in ASCII format Health amp A S in ASCII format Time data output Output Available Output mode Message No on port Default status amp rate Content External event generated on i 1 B Deactivated every occurrence of the ext Data INSVAR M iaimat event Other Parameters Coordinate System WGS84 Altitude Expressed on MSL as defined in ICD200 model no offset Satellite Minimum Elevation 5 0 Intentionally Deselected Satellites None UTS Local time deviation O0hr00min Speed Filtering 20 Quality Control None Fix used for navigation D GPS WADGPS EDGPS or KART R Fix Mode Standalone or straight GPS Max Permitted DOP 10 lono Correction Mode According to ICD200 model Display options Default Interface Language English Latitude Longitude Format degrees amp minutes Distance Unit Nautical Mile Angle Reference True North DGNSS Data Input PortD RTCM numeric all stations PRCs Time Out 40 seconds lono Data Time Out 600 seconds WAAS EGNOS no satellite selected 369 kzi I E z N Appendices Sagitta Series Technical Specifications Sagitta Series Technical Specifications Q Main Features L1 L2 LRK centimeter real time positioning Sagitt
266. most significant character is transferred first L1 carrier quality indicator This 8 bit indicator appears repeatedly in the data described in this section as well as in Section 18 This indicator complies with RTCM message 18 The meaning of bits 5 to 7 data quality indicator is given below 000 phase error lt 0 00391 cycle 001 phase error lt 0 00696 cycle 010 phase error lt 0 01239 cycle 011 phase error x 0 02208 cycle 100 phase error lt 0 03933 cycle 101 phase error lt 0 07006 cycle 110 phase error lt 0 12480 cycle 111 phase error 0 12480 cycle E gt Dn cel imi S m E syndyno gd sey C A code quality indicator This 8 bit indicator appears repeatedly in the data described in this section as well as in Section 18 This indicator complies with RTCM message 19 The meaning of bits 4 to 7 pseudo range data quality indicator is given below 0000 pseudorange error lt 0 020 0001 pseudorange error lt 0 030 0010 pseudorange error lt 0 045 0011 pseudorange error lt 0 066 0100 pseudorange error lt 0 099 0101 pseudorange error lt 0 148 0110 pseudorange error lt 0 220 0111 pseudorange error gt 0 329 1000 pseudorange error lt 0 491 1001 pseudorange error lt 0 732 1010 pseudorange error lt 1 092 1011 pseudorange error lt 1 629 1100 pseudorange error lt 2 430 1101 pseudorange error lt 3 625 1110
267. mss ss lll Il N yyyyy yy E X XXX X X x Mx x Mx x xxxx hh CR ILF Number of satellites in use GPS Quality Indicator 1 Longitude E W Latitude N S UTC of position 1 GPS Quality Indicator 0 Fix not available or invalid 1 GPS SPS Mode fix valid 2 Differential GPS SPS Mode fix valid 4 Real Time Kinematic KART LRK Sagitta amp Aquarius only 5 EDGPS Sagitta amp Aquarius only 6 Estimated Dead Reckoning Mode 2 Null empty field if DGPS Mode invalid or if WADGPS is used in partial mode and there are no fast corrections In the latter case the Age of Differential GPS Data field will be empty even if the DGPS Mode is valid 3 Difference between the WGS84 earth ellipsoid surface and mean sea level ge oid surface sign mean sea level surface below WGS84 ellipsoid surface 214 Sentence No 2 GPGLL GPGLL Illl ll N yyyyy yy E hhmmss ss A a hh CR ILF Mode Indicator 1 Status A Data valid V Data not valid UTC of position Longitude E W Latitude N S 1 Mode Indicator A Autonomous Mode D Differential Mode E Estimated Dead Reckoning Mode N Data not valid Sentence No 3 GPVTG GPVTG x x T X X N X xX K a hh CR ILF Mode Indicator 1 L Speed over ground km hr Speed over ground knots Course over ground degrees True 1 Mode Indicator A Aut
268. n TR mode PDAS OUTMES Checking output 1 definition PDAS OUTMES 1 A 6 1 0 1 4B PDAS TR Asking for output 1 to be sent Resulting data blocks example GPGGA 191138 30 4717 937668 N 00130 543202 W 4 11 0 8 88 321 M 0 00 0 M 1 3 0099 5F 362 PDAS Command Library PDAS UNIT PDAS UNIT Q Function Edits the unit number or the identification number in the case of a reference station a Syntax Set command PDAS UNIT a hh CR J LF Query command PDAS UNIT hh CR JLF a Parameters Format i Comments a X Oto 1023 Unitnumber or station identification number 4 char max hh Checksum optional CR LF End of command Q a Examples E PDAS UNIT Query F P DAS UNIT 0 30 Reply No 0000 F PDAS UNIT 801 Changing unit number i PDAS UNIT Query P DAS UNIT 801 39 Reply No 0801 363 1 Q PDAS Command Library _ZDA and _GPQ ZDA ZDA and GPQ ZDA a Function Changes and reads respectively the receiver date amp time a Syntax Change command ZDA a b c d e f hh C R JLF Read command GPQ ZDA hh CR JLF a Parameters Format i Comments a hhmmss ss UTC time b XX 01 to 31 Day c XX 01to12 Month d XX Year 4 char e XX 13 to 413 Local time offset in hours with respect to UTC time f XX 00 to 59 Local time offset in minutes with respect to UTC time hh Checksum optional CR
269. n degrees 90 90 Vertical offset standard deviation in degrees blank field if data gj xx invalid hh Checksum optional CRIILF End of command a Examples PDAS HDGINI O Initializing computation of geometrical parameters PDAS HDGINI Reading current geometrical parameters P DAS HDGINI 3420 0 40 90 8 0 003 0 15 447 Reply PDAS Command Library PDAS HDGSET PDAS HDGSET Q Function Edits the baseline length the horizontal and vertical offsets of the antenna array the time constant used in the heading filtering as well as the allowed heading dead reckoning time in case of GPS signal loss a Syntax Set command PDAS HDGSET a b c d e hh CR JLF Query command PDAS HDGSET hh CR LF a Parameters Format Range Comments a X X 0 999 Baseline length in meters b X X 0 360 Horizontal offset in degrees a c X X 90 90 Vertical offset in degrees E 0 60 Heading filtering time constant in seconds if filtering cec S A required 5 2 acd e X X 10 600 Maximum heading dead reckoning time in seconds z E hh Checksum optional s CRIILF End of command E a Examples PDAS HDGSET Reading values currently used PDAS HDGSET 0 40 91 6 2 1 2A Reply PDAS HDGSET 90 8 Changing horizontal offset PDAS HDGSET Checking new settings PDAS HDGSET 0 40 90 8 22 1 447 Reply 341 9 PDAS Command Library PDAS HRP PDAS HRP a Function
270. n provided with the software including updates thereto Magellan Navigation s sole obligation shall be the correction or replacement of the media or the software so that it will substantially conform to the then current user documentation Magellan Navigation does not warrant the software will meet purchaser s requirements or that its operation will be uninterrupted error free or virus free Purchaser assumes the entire risk of using the software PURCHASER S EXCLUSIVE REMEDY UNDER THIS WRITTEN WARRANTY OR ANY IMPLIED WARRANTY SHALL BE LIMITED TO THE REPAIR OR REPLACEMENT AT MAGELLAN NAVIGA TION S OPTION OF ANY DEFECTIVE PART OF THE RECEIVER OR ACCESSORIES WHICH ARE COVERED BY THIS WARRANTY REPAIRS UNDER THIS WARRANTY SHALL ONLY BE MADE AT AN AUTHORIZED MAGELLAN NAVIGATION SERVICE CENTER ANY REPAIRS BY A SERVICE CENTER NOT AUTHORIZED BY MAGELLAN NAVIGATION WILL VOID THIS WARRANTY To obtain warranty service the purchaser must obtain a Return Materials Authorization RMA number prior to shipping by calling 800 229 2400 U S or 408 615 3981 International or by sending a repair request on line at http professional magellangps com fr contact The purchaser must return the product postpaid with a copy of the original sales receipt to the address provided by Magellan Navigation with the RMA number Purchaser s return address and the RMA number must be clearly printed on the outside of the package Magellan Navigation reserves the righ
271. nded Magellan Navigation suggests using a trackable shipping method such as UPS or FedEx when returning a product for service 4 LIMITATION OF IMPLIED WARRANTIES EXCEPT AS SET FORTH IN ITEM 1 ABOVE ALL OTHER EXPRESSED OR IMPLIED WARRANTIES INCLUDING THOSE OF FITNESS FOR ANY PARTICULAR PURPOSE OR MERCHANTABILITY ARE HEREBY DISCLAIMED AND IF APPLICABLE IMPLIED WARRANTIES UNDER ARTICLE 35 OF THE UNITED NATIONS CONVENTION ON CONTRACTS FOR THE INTERNATIONAL SALE OF GOODS Some national state or local laws do not allow limitations on implied warranty or how long an implied warranty lasts so the above limitation may not apply to you 5 EXCLUSIONS The following are excluded from the warranty coverage 1 periodic maintenance and repair or replacement of parts due to normal wear and tear 2 batteries 3 finishes 4 installations or defects resulting from installation 5 any damage caused by i shipping misuse abuse negligence tampering or improper use ii disasters such as fire flood wind and lightning iii unauthorized attachments or modification 6 service performed or attempted by anyone other than an authorized Magellan Navigations Service Center 7 any product components or parts not manufactured by Magellan Navigation 8 that the receiver will be free from any claim for infringement of any patent trademark copyright or other proprietary right including trade secrets 9 any damage due to accident r
272. ndle axis pulling the handle and rotating the lever until you get the desired position Then let go Ceiling Mounting Same as previously except that the number of possible positions is limited to 2 0 horizontal and 10 A higher tilt angle can be obtained if the re ceiver is allowed to rotate beyond above the fixing plane Horizontal position 10 position Handle Aquarius amp Aquarius Equipment Description Detachable TRM 100 Keypad Display Detachable TRM 100 Keypad Display Koror com Ceo 10 98 253 mm zsniienby x sniienby a 2 gz 5 g 6 wn 6 d a z i 9 96 This unit is in fact the receiver s front panel It is plugged to the receiver via a single Sub D15 f connector It is secured on the receiver case by means of two screws located on either side of the unit When necessary it can be detached from the receiver case to be used as a remote unit A bracket is provided to allow separate installation of the TRM100 at maximum 1 meter from the receiver Before detaching the TRM100 from the receiver TURN OFF the receiver Then you just have to loosen and remove the central screw on either side of the TRM100 as shown below TURN OFF the receiver before plugging or un plugging the TRM100 You just have to remove this screw Unplug the TRM100 gently from the receiver to avoid damaging th
273. ng updates thereto Magellan Navigation s sole obligation shall be the correction or replacement of the media or the software so that it will substantially conform to the then current user documentation Magellan Navigation does not warrant the software will meet purchaser s requirements or that its operation will be uninterrupted error free or virus free Purchaser assumes the entire risk of using the software 2 PURCHASER S REMEDY PURCHASER S EXCLUSIVE REMEDY UNDER THIS WRITTEN WARRANTY OR ANY IMPLIED WARRANTY SHALL BE LIMITED TO THE REPAIR OR REPLACEMENT AT MAGELLAN NAVIGA TION S OPTION OF ANY DEFECTIVE PART OF THE RECEIVER OR ACCESSORIES WHICH ARE COVERED BY THIS WARRANTY REPAIRS UNDER THIS WARRANTY SHALL ONLY BE MADE AT AN AUTHORIZED MAGELLAN NAVIGATION SERVICE CENTER ANY REPAIRS BY A SERVICE CENTER NOT AUTHORIZED BY MAGELLAN NAVIGATION WILL VOID THIS WARRANTY 3 PURCHASER S DUTIES To obtain service contact and return the product with a copy of the original sales receipt to the dealer from whom you purchased the product Magellan Navigation reserves the right to refuse to provide service free of charge if the sales receipt is not provided or if the information contained in it is incomplete or illegible or if the serial number is altered or re moved Magellan Navigation will not be responsible for any losses or damage to the product incurred while the product is in transit or is being shipped for repair Insurance is recomme
274. nly not heading 0 No position fix or SA active and 4 satellites received 5 Diff mode in 2D HDOP and LPME both good 1 SA active more than 4 satellites received 6 Diff mode in 3D HDOP and Diff corrections both poor 2 SA inactive 4 satellites received 7 Diff mode in 3D HDOP poor Diff corrections good 3 SA inactive more than 4 satellites received 8 Diff mode in 3D Diff corrections and HDOP both good 4 Diff mode in 2D 9 Diff mode in 3D HDOP LPME and Diff corrections all good 3 or roll angle depending on antenna orientation with respect to vessel 117 118 3011 GPS Compass Getting Started Outputs For more information on how to use the TRM100 option refer to Using TRM100 as Control amp Navigation Terminal on page 137 Outputs a Introduction to the Configuration of the 3011 The internal configuration defines how the 3011 should operate which re sults should be available on its output ports which units should be used etc The main parameters held by this configuration are presented below together with the values assigned to them at delivery default values From the user s point of view three different groups of parameters should be introduced dnput output port settings Definitions of the available output messages Other parameters The 3011 output messages are one of the es sential parameters for the user To generate these messages the 3011 relies on the 17 sentences or form
275. nous with UTC time Accurate to within 100 ns SA if the 30 m antenna cable is used Settling time less than 30 seconds after first fix is available Subject to frequency oscillator drift once fix is no longer available 1PPS output Pin 5 s complement Same characteristics as above except that the trailing edge instead of the rising edge is the signal edge synchro nous with UTC time Using both 1PPS and 1PPS signals makes the 1 pps output com patible with the signal requirements of an RS422 line You can also use these outputs in reference to ground in which case you will get signal levels of respectively 0 5 V for 1PPS and 0 5 V for 1PPS a Event Input Aquarius Aquarius and Sagitta only Input characteristics 10 kQ pull up resistor tied to 5 V DC d 3 5 S O N 389 20 Appendices Connector Pinouts and Cables All Receivers a Power Cord T A Plug 681 Series female straight with cable clamp Plug A I Marking Code 2630067035A date code Shield a RS232 RS422 Serial Cord Aquarius Aquarius and Sagitta only Flexible shielded cable 2x0 93 mm black amp red Plug B Black wire Red wire or r Ferrite clip q __ ae Marki arking A Code 101243A SubD 9S Plug date c
276. ns user To specify the corrections transmitter To specify the reference station s generating corrections e PDAS FIXMOD page 316 to select the processing LRK and the initialization mode used by the receiver e PDAS PREFLL or PDAS PREFNE to enter the known position from which initialization will take place only if you have chosen this initializa tion mode The following set of commands indirectly deals with this processing mode e PDAS DGPDAT page 309 lets you define DGPS corrections out puts e PDAS NAVSEL page 347 lets you choose the type of position solu tion you want to use in your navigation application ye pan o amp ad 5 e a gt zA SE E A E a p 31 32 Aquarius Series Processing Modes LRK Processing a Example 1 LRK processing with LRK format and internal U Link receiver 1 UHF Built in UHF antenna reception module Aquarius Transmitter Data Link No 8 i Ref Station Proprietary pseudorange corrections at 4800 Bd No 14 Let the receiver know the characteristics of the transmitter broadcasting the corrections PDAS DGPS STATION 8 LA FLEUR 4716 52 N 00129 54 W UHF 444550000 3 0 4800 GN 2 Transmitter Id 8 Transmitter Name LA FLEUR Reference coordinates 47 16 52 N 1 29 54 W Transmission band UHF Carrier 444 55 MHz Range 30 km 2 blank fields Baud rate 4800 Modulation type G GMSK Encrypt
277. nthe dialog box that appears select the ude file corresponding to the dictionary you wish to load Click Open This makes the selected dictionary active in the Terminal window and all its entries are now listed in the Label pane in the Edit Dictionary dialog box a Revising a Dictionary The following changes can be made to the loaded dictionary using the con text sensitive menu in the Label pane of the Edit Dictionary dialog box New Adds a new entry label command and prompts you to define a label for the new entry Copy Copies the entry label command corresponding to the highlighted label Cut Deletes the entry label command corresponding to the highlighted label Paste Creates a new entry by pasting the last copied entry Prompts you to rename the label for this entry You should also change the com mand s in this entry Value pane Edit Allows you to change the highlighted label The same type of pop up menu also exists from within the Value pane to help you make your changes Lindo Cut Copy Paste Delete Select All e Every time you revise a dictionary do not forget to save it after revision using the Save button in the Edit Dictionary dialog box otherwise all your changes will be lost 129 T igi E is 9J643J0S Od 00LIARLL 3 TRM100 PC Software Overview Terminal view a Sending a series of commands from a text file There is a third method allowing you to send command
278. nts using one of the possible meth ods page 172 Validate the offset angle resulting from the calibration The calibration result is stored to be part of the data present in the re ceiver configuration Calibrating the heading measurement is required when first installing the equipment on board and then every time changes are made in the equipment installation Q Q e Iz ge un 5 a zsniienby x snrienb y 25 3 Aquarius amp Aquarius Getting Started Use Guidelines 26 Aquarius Series Processing Modes Introduction 4 Aquarius Series Processing Modes Introduction Q Modes Available The following processing modes are available in Aquarius LRK processing KART EDGPS processing RELATIVE POSITIONING processing This mode allows you to ac curately locate a receiver in relation to another A radio link is needed between the two receivers DGPS processing WAAS EGNOS processing WADGPS GPS processing a Primary and Backup Modes To be sure your receiver can in all circumstances deliver the output data you need you can program a second processing mode to back up the mode you have initially chosen for the receiver Hence the following two terms introduced now Primary mode the processing mode you choose as the mode to be used in priority in the receiver Backup mode the processing mode that backs up the primary mode which means this mode will be used if
279. o define a new station a Listing the stations stored in the receiver From the main menu see page 23 select successively F2 DGNSS F4 BEACON Press the Up or Down key After each press the characteristics of the next or previous station in memory are displayed Scrolling through the list of stations is complete when blank characteristics are shown on the screen all fields filled with It is incidentally from this dis play that you can add the characteristics of a new station a Deleting or modifying the characteristics of a station From the main menu see page 23 select successively F2 DGNSS F4 BEACON Press repeatedly the Up or Down key until the characteristics of the station you want to delete or modify appear on the screen Press F4 DELETE to delete the station from the receiver memory or press F5 MODIFY to edit its characteristics You cannot delete a station currently used by the receiver 148 Using TRM100 as Control amp Navigation Terminal DGNSS Menu a Choosing the desired processing in the receiver As explained in Section 4 Aquarius can operate in one of the following modes 1 Standalone GPS 2 WAAS EGNOS WADGPS 3 DGPS EDGPS KART or LRK using corrections data received via ra dio link 4 DGPS EDGPS KART or LRK using corrections data received via ex ternal RTCM receiver 5 RELATIVE Positioning allowing the receiver used as the primary mo bile to Know the relative position
280. o use RTCM messages No 3 18 and 19 received by external equip ment attached to the receiver Possible Corrections Sources Sagitta 02 or Aquarius 02 used at sta tions 5002 SK stations from the previous series of marine survey products gt Any equipment transmitting corrections data in RTCM SC104 format if you intend to work with an external receiver capable of receiving such data yS kan Q S d 5 amp ga y 2 JE a Se 7 29 30 Aquarius Series Processing Modes LRK Processing a Definitions LRK is a kinematic processing method providing real time positioning with centimeter level precision It can be implemented in dual frequency receiv ers Aquarius 02 12 amp 22 To reduce the initialization time and depending on the application different initialization modes are possible OTF On the Fly Initialization with receiver in motion start point unknown STATIC Initialization with receiver at a standstill but point unknown Z FIXED Initialization with receiver in motion start point unknown but receiver altitude remains constant throughout the initialization phase POSIT Initialization from a known point This mode requires the prior entry of a reference position Two different types of LRK solutions are available LRK A A for Accurate Accurate LRK position computed every time corrections data from the reference station is received every 1 0 second in general
281. ode 1 if Y code bit 621 if L2py phase measurement not valid bit 721 if L1c 4 phase measurement not valid Next 3 bytes L1cya carrier phase unit 10 cycle modulo 10 cycles 5 Nn is zZ mj la 5 E smdmo veq Mey Next 3 bytes L1 a carrier speed unit 4x10 cycles s field 32 kHz MSB sign 800000h measurement not valid Next byte Licya carrier quality indicator Bits 0 to 4 cumulative loss of continuity indica tor complies with RTCM message 18 counter modulo 32 incremented every time the continuity of the carrier phase measurement is lost Bits 5 to 7 data quality indicator See page 227 Next byte C A code quality indicator Bits 0 to 3 pseudorange multipath error indica tor complies with RTCM message 19 1111 multipath error not determined Bits 4 to 7 pseudorange data quality indicator See page 227 Next byte Lipsy L1c A carrier phase deviation centered around zero unit 1 256th of a cycle MSBesign 80n2measurement not valid 269 8 Raw Data Outputs in SBIN Format SBIN Q Dual frequency GPS pseudoranges in receiver time Next 2 bytes P4 C Aj 1 code deviation unit 10 S field 3 2 us MSB sign 8000n2measurement not valid Next 2 bytes P2 C Aj 1 code deviation unit 10 S field 3 2 uis MSB sign 8000n2measurement not valid Next 3 bytes L2p y carrier phase unit 10 cycles modulo 10 cycles of L2 Next 3 bytes L2p y carrier s
282. ode male straight O Solder view 390 Fiche A D ooj u DN Mm A SIN SubD 9S Plug female straight Fiche B Se y i 1 D oo u DN Mm A wl dvd GOOO OO OO Solder view Appendices Connector Pinouts and Cables All Receivers a Serial Cord 8011 GPS Compass only r Ferrite clip o Na a i q o Ea gt Marki p arking A Code 2630067860F B SubD 9S Plug date code SubD 9S Plug male straight female straight Plug A Plug B 1 NC 1 O 2 2 O 5 3 3 5 O 9 Points 1 4 amp 6 p gt all 4 INC linked together 4 o9 5 M M 9 O O 9 1 6 NC L 6 10 6 O 7 7 O Solder 8 8 Solder Side View Side View 9 NC NC 9 Cable shield connected to metal covers on SubD plugs gt I E e Dn 391 20 392 Appendices Connector Pinouts and Cables All Receivers a RS422 RS232 Adaptor Cable Aquarius Aquarius only N IL ae A SubD 9S Plug male straight A Plug 1 O 2 5 3 9 4 5 6 1 6 O 7 Solder 8 view 9 Marking
283. of a secondary mobile virtually configured as a station For Aquarius the following modes comes in addition to those listed above for Aquarius 6 RELATIVE positioning between the primary and secondary antennas as standard only for Aquarius 22 as an option in Aquarius 11 and 12 7 HEADING processing using the primary and secondary antennas se QOTIALL SUN g9 iz ge z S E I 2 149 4 Using TRM100 as Control amp Navigation Terminal DGNSS Menu The screen described below allows you to choose the desired operating mode and specify the conditions required to let the receiver actually function in this mode From the main menu see page 23 select successively F2 DGNSS F3 MODE Example of screen then obtained Mode currently used Non Blinking Primary mode is currently used Blinking Backup mode is currently used Current quality index in primary mode Means that the other mode i e Backup if Primary is used or Primary if Backup is used is potentially usable but not used If not displayed this other mode is not currently operational Current quality index in backup mode I Jun 18 2002 LRK Q Q 18 12 TD10 02s UTC 13 11 12 10 118vs 48 02 800000N WGS84 00 2 KT 001 30 040000E 0 00m LOO cete ae MAIN DGNSS MODE SOURC PORT STATION Possible WADGPS operating environments See 1 opposite
284. oftware Using TRM100 as Control amp Navigation Terminal AUX Menu a Setting Raw Data Outputs From the main menu see page 23 select successively F3 AUX F5 gt gt gt if necessary to have IN OUTP displayed on the menu F4 IN OUTP F4 OUTPUT F5 RAWDATA Example of screen then obtained Jul 02 2002 GPS Q 8 TD s UTC 08 45 51 07 078Vs 47 17 56 3190N WGS84 00 0 KT D01 30 32 5855W A 116 25m COQ x x MAIN AUX IN OUTP OUTPUT RAWDATA STOP STOP STOP Wen Sc se ee Se STOP FCM cote o oe cu BINE STOP STOP STOP STOP STOP STOP STOP PERIOD 05 0s EVT2 D m STOP BIN GT 0 0 zem jp 3E MOOT This screen allows you to define two different messages for each type of raw or differential data the receiver can deliver on its output ports In fact each line on this screen reflects the syntax of the correspond ing PDAS command described in Section 19 BITFLW page 291 DGPDAT page 309 GPSDAT page 336 and PRANGE page 351 Note the following differences on this screen compared with the PDAS commands N is used in the port field for no output and STOP is used in the raw data fields for no data Press F5 MODIFY and define your messages as needed using F2 N LINE to change line F3 lt lt lt and F4 gt gt gt to move the cursor horizon tally and the Up Down keys to select a value in each field e For BITFLW bit flow GPS data specify the output port the data forma
285. oints nearby are however shown on the graphic screen GPS antenna used as reference in heading or rela tive processing Marine Survey Receivers Series User Manual Index Primary mobile Profile mode Reference station Route Secondary antenna Secondary mobile TTG Waypoint XTE Navigator receiver given the capability to accu rately determine the vector between its antenna position and that of a secondary mobile from which it receives corrections data Navigation mode based on a route that you spec ify This mode plots graphic information to help you follow this route The basic positioning information from the stan dard display is recalled on the right of the chart A stationary receiver with accurately known loca tion that generates and broadcasts corrections data Also called base station Formed by a succession of waypoints up to 15 waypoints The receiver will guide you along this route after you select the Profile mode configured to follow this route The data received by this GPS antenna are used in Aquarius to let it determine either the distance separating this antenna from the primary antenna relative processing or the direction in which the line passing through these two antennas point to heading processing Mobile receiver virtually operated as a reference station i e transmitting corrections data so that the primary mobile can accurately determine the vector betwe
286. omatic cali bration operation 63 Aquarius Only Processing Modes Heading Processing Implementation Heading Processing Implementation a Specific Requirements Hardware Standard with two antennas Firmware Aquarius standard version no additional firmware option Corrections data None required a Configuration Guidelines Use the DGNSS menu see page 24 or use the TRM100 PC Software to send the adequate commands to the receiver from the Terminal view see pages 123 and 124 From the Terminal view the following set of commands should be used e PDAS FIXMOD to enable the heading processing combined with a position processing mode at your convenience a Example GPS constellation Primary Secondary Aquarius GPS antenna GPS antenna PDAS FIXMOD 43 0 Heading processing standalone GPS fix mode 0 Corrections data source none 64 Multi Mode Operation The table below summarizes the possible four cases of multi mode opera tion in which two processing modes can be used concurrently Aquarius Only Processing Modes Multi Mode Operation Using external data Proprietary Standalone UHF or RTCM Processing Relative Relative KART i GPS WADGPS Multi Mode Heading OTE aTr DGPS EDGPS ori Ak Position Heading v Q e Q Nu 7 x Position Relative vie e bi Heading Relative v Y Heading Rel Relative Y Y On Primary
287. on a Conventions used field Generic term representing one or more data data Numerical value or label lt gt Surrounds a field name bo Beginning of message 021 sobk Beginning of block one or more characters identifies beginning of block lt soln gt Beginning of line one or more characters identifies beginning of line in a block eoln End of line 2 characters CR LF 0Dn OAn eb End of message 031 The term block stands for a group of data of the same nature The term numerical value encompasses all types of possible coding types binary decimal or hexadecimal The term number used without any further indication stands for a decimal number base 10 The term label stands for an ASCII character string 225 17 226 Raw Data Outputs in ASCII Format Notation rules a General form lt stx gt lt eoln gt lt sobk gt lt gt time tagging line lt eoln gt lt soln gt lt gt 1st data line lt eoln gt lt soln gt lt gt n data line lt eoln gt eb The count and type of data in any given line are predefined which means that the number of separators lt gt is invariable Any data missing or replaced by one or more spaces means that this data is not available at that time Rule about numerals All zero values are valid data Spaces placed before or after numerals are not significant There cannot be spaces within a numeral The following for mats ar
288. on v Y User Datum 288 Hiocal ettips X Local Has correction y Y User Datum PDAS Command Library PDAS ALTI a 3 USER Altitude referenced to user geoid Huser Hwesea ellips MS Luser EMS Liccai offset Where Huser Altitude computation result Hwesea ellips Altitude on WGS84 MSLuser Undulation between user geoid and WGS84 EMSL 4 Local height correction Offset Antenna height Sea Land A A Surveyed Surveyed Hwassa ellips Hwassa ellips X Local X Local EMSL ocal correction EMSL cca correction S B TUE i User eee A User S _ MSLose geoid a MSL geoid se v Y v v WGS84 WGS84 E ellipsoid ellipsoid a 289 9 PDAS Command Library PDAS ALTI The example below illustrates the different processing modes available Altitude on WGS84 88 408 m Altitude on ICD200 48 464 m Altitude on local ellipsoid 41 860 m Altitude on user geoid 47 196 m Local height correction 1 682 m Antenna height 0 0 m PDAS ALTI 0 0 000 0 Altitude 88 408 48 464 39 944 PDAS ALTI 0 0 000 1 gt Altitude 88 408 48 464 1 682 38 262 PDAS ALTI 1 0 000 0 Altitude 88 408 PDAS ALTI 1 0 000 1 Altitude 88 408 1 682 86 726 PDAS ALTI 2 0 000 0 Altitude 41 860 PDAS ALTI 2 0 000 1 Altitude 41 860 1 682 40 178 PDAS ALTI 3 0 000 0 Altitude 88 408 47 196 41 212 PDAS ALTI 3 0 000 1 Altitude 88 408 47 196
289. on port Default status amp rate Content External event generated on i 1 B Deactivated every occurrence of the ext Data INSVAR M iaimat event Other Parameters Coordinate System WGS84 Altitude Expressed on MSL as defined in ICD200 model no offset Satellite Minimum Elevation 5 0 Intentionally Deselected Satellites None UTS Local time deviation 00hr00min Speed Filtering 20s Quality Control None Fix used for navigation D GPS WADGPS EDGPS or KART R Fix Mode Standalone or straight GPS Max Permitted DOP 10 lono Correction Mode According to Stanag document Display options Default Interface Language English Latitude Longitude Format degrees amp minutes Distance Unit Nautical Mile Angle Reference True North DGNSS Data Input PortD RTCM numeric all stations PRCs Time Out 40 seconds lono Data Time Out 600 seconds WAAS EGNOS no satellite selected 373 gt k I E z N 374 Appendices 3011 GPS Compass Calibration Principles 3011 GPS Compass Calibration Principles The diagram opposite shows the angle actually measured by the 3011 Ob viously this angle depends on the orientation given to the NAP 011 antenna If the antenna is in a direction different from that of the ship s axis which will necessarily be the case if you want the 3011 to measure the roll angle as well a correction must be made to the
290. on the threshold button on the Heading view In harsh conditions bad weather currents etc this procedure may be unsuccessful For this reason and whenever possible use the manual procedure described above TRM100 PC Software a Introduction Associated with the 3011 GPS compass the TRM100 software for PC can perform the following functions Viewing computed heading and providing aid to calibration Heading view Emulating the TRM100 unit Remote Display view Controlling 3011 outcoming data recorded on an external medium Recorder view Exchanging data with the 3011 Terminal view The toolbar provides direct access to these four views Establishing connection with 3011 Help Ending connection with 3011 I to Heading view Access to Remote Display view Access to Recorder view Access to Terminal view 110 3011 GPS Compass Getting Started TRM100 PC Software These four views can be displayed together within the TRM100 software window WA TRM100 dev serial com1 38400 8 1 0 N Eie View Help EESTI ET SPDAS HARDRS 4 0 8 1 0 N 3A SPDAS HARDRS 4 3 C 38400 8 1 0 N 3A SPDAS HARDRS 4 4 PDAS HARDRS T rminal view PDAS HARDRS 4 1 A 115200 8 1 0 N 02 ISPDAS HARDRS 4 2 B 38400 8 1 0 N 3 ISPD S HARDRS 4 3 C 38400 8 1 0 N 3 Q e Se 5 ga un E 5 sseduiod Sd5 TIOE TRM 100 49 97 ee kkk 0 Remote Dis _ play view
291. ondary mobile via UHF radio link input port C or D or via another radio medium Mar 06 2002 REL Q 19 TD09 02s UTC 17 31 05 NONE 07 085Vs 47 17 948020N WGS84 00 0 KT 001 30 518723W 82 32m COGESEN SE JMAIN DGNSS MODE SOURC PORT STATION USED WAAS N U UHF 1 D SM REL u NUM 1 6 N U OPER e N U Using TRM100 as Control amp Navigation Terminal DGNSS Menu 3 DGPS processing corrections data received from dual frequency HF station SABLES Jun 18 2002 HOLD Q 0 DAS ees UTC 13 11 12 D0 03Svs DO 00 000000N wese4 00 0 KT 000 00 000000E 0 00m COGEEA SS MAIN DGNSS MODE SOURC PORT STATION 4 LRK set as the primary mode using station La Fleuriaye WADGPS set as automatic backup mode using SV122 as corrections source Apr 01 2005 WGPS Q 0 9 TD30 18s UTC AOS 04 X 10 108 s 47 17 93567N 001 30 53895W 153 eS S zi e z LJ lt c 3 E E se QOTIALL SUN 4 Using TRM100 as Control amp Navigation Terminal DGNSS Menu a Monitoring the stations received Real time monitoring is possible for all the stations received through two dif ferent screens for UHF stations or three different screens HF or MF stations From the main menu see page 23 select successively F2 DGNSS A monitor screen is then displayed Using the Left or Right key you can access the other monitor screens one additional screen for a UHF station two additional
292. one other than an authorized Magellan Navigations Service Center 6 any product compo nents or parts not manufactured by Magellan Navigation 7 that the receiver will be free from any claim for infringement of any patent trademark copyright or other proprietary right including trade secrets and 8 any damage due to accident resulting from inaccurate satellite transmissions Inaccurate transmissions can occur due to changes in the position health or geometry of a satellite or modifications to the receiver that may be required due to any change in the GPS Note Magellan Navigation GPS receivers use GPS or GPS GLONASS to obtain position velocity and time information GPS is operated by the U S Government and GLONASS is the Global Navigation Satellite System of the Russian Federation which are solely responsible for the accuracy and main tenance of their systems Certain conditions can cause inaccuracies which could require modifications to the receiver Examples of such conditions include but are not limited to changes in the GPS or GLONASS transmis sion Opening dismantling or repairing of this product by anyone other than an authorized Magellan Naviga tion Service Center will void this warranty MAGELLAN NAVIGATION SHALL NOT BE LIABLE TO PURCHASER OR ANY OTHER PERSON FOR ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES WHATSOEVER INCLUDING BUT NOT LIM ITED TO LOST PROFITS DAMAGES RESULTING FROM DELAY OR LOSS OF USE LOSS OF OR DAMAGES ARISING
293. onomous Mode D Differential Mode E Estimated Dead Reckoning Mode N Data not valid Computed Data Outputs Sentence No 2 GPGLL S 2 z 2 9 z ES 5 Dn 215 EX UO 1 6 Computed Data Outputs Sentence No 4 GPGSA Sentence No 4 GPGSA GPGSA a X XX XX XX XXXX XX XX XX XX XXXX XX XX X X X X hh CR ILF L ll VDOP HDOP PDOP ID numbers of satellites used in solution 1 Fix not available 2 2D Mode 3 3D Mode L MzManual forced to operate in 2D or 3D mode A Automatic allowed to automatically switch 2D or 3D Range 1 32 or PRN 87 for WAAS Sentences No 5 amp 18 for Aquarius GPZDA GPZDA hhmmss ss xx XX XXXX XX XX hhI C R ILF Local zone minutes 00 to 59 min Local zone hours 00 to 13 hrs Year Month 1 12 UTC Day 1 31 L UTC For Aquarius the two sentences only differ by the way they are output in time mode for No 5 in 1PPS mode for No 18 216 Computed Data Outputs Sentence No 6 GPRMC Sentence No 6 GPRMC PEG LO z 2 z 2 9 z ES 5 E Dn GPRMC hhmmss ss A llll Il N yyyyy yy W X X X XXxxxx a hh CR ILF Mode Indicator 1 Date ddmmyy Course over ground degrees True Speed over ground knots Longitude E W Latitude N S L Status
294. own but receiver altitude remains constant throughout the initialization phase POSIT Initialization from a known point This mode requires the prior entry of a reference position Two different solutions are available KART A A for Accurate Accurate KART position computed every time corrections data from the reference station is received every 1 0 second in general KART R R for Real Time KART position computed from extrapolated corrections data available every 0 1 second Should the receiver be unable to produce a kinematic solution during ini tialization phase or if insufficient amount of data then an EDGPS solution would be provided every 0 1 second in place of the KART A or KART R solution Aquarius Series Processing Modes KART EDGPS Processing a Configuration Guidelines Use the DGNSS menu see page 24 or use the TRM100 PC Software to send the adequate commands to the receiver from the Terminal view see pages 123 and 124 From the Terminal view the following set of commands should be used e PDAS DGPS STATION page 307 to let the receiver know the transmission specifications carrier modulation type encryption of each of the potentially usable transmitters e PDAS DGPS MODE see page 305 To define your receiver as a corrections user To specify the corrections transmitter To specify the reference station s generating corrections e PDAS FIXMOD page 316 to select the processing KART
295. p C Input Power Input Used for connection to the PC running the TRM 100 PC Software a Dimensions 264 mm 10 4 9 AE VC Ch KS OO0 y Nx E 310 mm 12 2 o 115 mm max 215 mm as 50 mm 11 4 290 mm 6 90 3011 GPS Compass Equipment Description NAP 011 Antenna NAP 011 Antenna a Description of the different parts a GPS sensor GPS sensor This arrow for antenna orienta tion with respect to ship see page 8 lt Mast The mast is fitted with a female TNC connector located at the base of the mast for connection of the antenna to the 3011 processor a Dimensions Dia 40 mm Dia 1 6 S 91 ei E g Ed wu 1 i S 2 6 4 z g i ze S Rr TIOE 0 3011 GPS Compass Equipment Description TRM 100 PC Software TRM 100 PC Software This software program delivered on CD ROM is used to interface the 3011 to a PC type computer see computer requirements on page 17 Using this program the user can communicate with the 3011 and have all the naviga tion data computed by the 3011 displayed on the computer screen The TRM100 Software can be used in two different ways Only as a setup tool to perform the required preliminary settings geodetic format speed filtering coefficient etc After getting the 3011 started the PC can be disconnecte
296. p view 245 x 305 mm 9 64 x 12 rs Bracket Dimensions base plane 170 x 273 mm 6 70 x 10 75 A 80 mm 3 15 K 4 40 mm 5 517 Drill 4 holes Dia 5 mm 0 2 00 dq 172 mm 6 77 85 mm 3 35 Aquarius amp Aquarius Installation TRM100 PC Software TRM100 PC Software a Computer Requirements PC type computer Operating system Windows 95 98 2000 NT XP Unit DX2 66 minimum Pentium recommended RAM 16 MB minimum 24 MB recommended Space required on hard disk 12 5 MB approx 1 CD ROM drive 1 RS232 serial port available 5 wu E amp S Iz cSnienby x sniuenby Q Installation Procedure Switch on the PC Insert the TRM100 CD ROM in the CD ROM drive From the Windows task bar select Start gt Run Inthe dialog box that opens specify the path to the CD ROM and then type setup example type e setup or browse on the CD ROM and choose the setup exe file Then click OK to start the installation procedure Follow the instructions provided on the screen to complete the instal lation process 17 2 Aquarius amp Aquarius Installation Rx 4812 U LINK amp Rx 1635 HM LINK Options Rx 4812 U LINK amp Rx 1635 HM LINK Options Only trained personnel can install one of these reception modules as this requires opening the receiver case Radio Antenna UHF or HF MF The radio antenna should be installed
297. peed unit 4x1 0 cycles s field 32 kHz MSB sign 800000n2measurement not valid Next byte L2 carrier quality indicator Bits 0 to 4 cumulative loss of continuity indica tor complies with RTCM message 18 counter modulo 32 incremented every time the continuity of the carrier phase measurement is lost Bits 5 to 7 data quality indicator See page 227 Last byte P Y code quality indicator Bits 0 to 3 pseudorange multipath error indica tor complies with RTCM message 19 1111 multipath error not determined Bits 4 to 7 pseudorange data quality indicator See page 227 270 Raw Data Outputs in SBIN Format SBIN M Event Time Tagging SBIN M Event Time Tagging a General form stb M long time tagging lt vernier gt lt UTC time gt lt parameters gt lt checksum gt lt etb gt a Time tagging First 2 bytes Last 3 bytes Q Vernier 4bytes a UTC time First byte 2 bytes 2 bytes 5 bytes 4 bytes 4 bytes 2 bytes 2 bytes 1 byte GPS week number assuming the modulo 2 ambiguity has been solved GPS time in week unit 1 10 s at the time of event Time vernier units 107 s modulo 0 1 S Adds up to GPS time of event for precise time tagging of the event Bit 7 indicates validity of UTC time O valid 1 invalid Bits 6 and 5 indicate validity of GPS time 00 determined according to Position Velocity Time solution used 01 meaningless 10 es
298. provide the correct local time it is es sential that you specify the deviation between UTC time and local time From the main menu see page 23 select successively F3 AUX F5 gt gt gt if necessary to have INIT displayed on the menu F2 INIT F5 gt gt gt if necessary to have TIME displayed on the menu F3 TIME Example of screen then obtained Dec 18 2001 GPS Q 8 TD s UTC 15 41 24 NONE 09 108Vs 47 17 9485N WGS84 00 0 KT 001 30 5188W 79 5ft COG x xe JMAIN AUX INIT TIME Date 18 Dec 2001 Time 15h 4imn 22s UTC 00h00min lt lt lt gt gt o Enter the current date amp time then the time deviation a positive or negative value between local time and UTC time Press F5 OK to enable your choice NOTE Local time is ALWAYS displayed on the screen in the upper frame top left When Local time UTC time the UTC label is placed before Otherwise the local time is preceded by the LOC la bel as this time is different from UTC time Using TRM100 as Control amp Navigation Terminal AUX Menu a Choosing the Interface language From the main menu see page 23 select successively F3 AUX F5 gt gt gt if necessary to have INIT displayed on the menu F2 INIT F5 gt gt gt if necessary to have LANG displayed on the menu F4 LANG Example of screen then obtained Dec 18 2001 GPS Qa 3 DS SS UTC 15 10217 HDG 09 10Svs 47 17 9461N WGS84 00 0 KT 001 30 5206
299. put Yes 1 or No 0 Keyboard Display Yes 1 or No 0 NMEA 2000 bus Yes 1 or No 0 PDAS Command Library PDAS IDENT Format Comments cc Subassembly software identification always 10 or 12 characters see diagram below d10 dll d12 di d2 d3 d4 d5 d6 d7 d8 d9 Software Soft Temp Iter label rev i Soft id mod Soft vers Dvlpt stage d1 to d4 Software label Core Module Type 1b 3 3V C3BL Core Module Boot Loader C3CA C A L1 Core Module C3PY C A amp P Y L1 amp L2 Core Module UCBG BIOS UCLN STPC Central Unit Boot Loader UCIM Black Box Application UCBK Power board circuit breaker firmware UCKB Display Keypad firmware EUHF UHF transmitter data link RUHF UHF receiver data link cc continued d5 Development stage B for b test version V for production ver sion X for development version d6 Identification of software version or standard 0 0 0 0 2 and 0 3 Core Module 1 E1 state application 2 E2 state application 3 E3 state application d7 amp d8 Revision of the software version d9 amp d10 Temporary or On Site software modification d11 amp d12 Iteration identification optional applies to CM only e a Identifies the port the concerned subassembly is connected to A
300. puts The corrections data received on the serial port or Data link input can be routed to a serial port for archival or post processing purposes Three output formats are available Acquisition Possible output formats format LRK or RTCM SC104 proprietary SVARID UHF wasuw v Y LRK or proprie For example to let the receiver output DGPS data on its A port in time mode every 10 seconds in the SVARID format use the follow ing command PDAS DGPDAT 1 A 1 100 4 44 Aquarius Series Processing Modes Relative Positioning Processing Relative Positioning Processing Q Definition This advanced function is used to determine the location of a remote sec ondary mobile S in relation to the location of a primary mobile P Relative 3D positioning is then achieved between the secondary and primary mo biles The corresponding positioning information is available at the primary mobile only The following two sets of three components are determined for the secon dary mobile AN AE AH in meters p vector length in m horizontal azimuth in degrees 0 site an gle in degrees True North 6 AN positive if Secondary located North of Primary AE positive if Secondary located East of Primary AH positive if Secondary higher than Primary AN As Reported on TRM100 screen A Example AE e Mar 29 2002 LRK Q 18 08 TD12 02s m UTC 10 48 38 REL 10 128Vs a 47 17 937671N N Lin
301. r 1 Let the receiver acquire and decode the RTCM SC104 corrections data provided by the external receiver data from station No 710 via Aquarius s B port PDAS DGPS MODE 1 B R 710 Command line No 1 Port B allows acquisition of corrections data from external rec Receiver defined as DGPS corrections receiver R Next parameter Beacon ld omitted to let the receiver acquire corrections from the specified serial port B Identification number of the reference station received 710 If this argument is omitted all corrections will be acquired without testing the reference station Id 2 Choose the desired fix mode PDAS FIXMOD 28 1 710 42 KART with STATIC initialization 28 Source of corrections 1 DGPS KART LRK Identification of the reference station 710 If this argument is omitted the processing will use the only set of corrections available Aquarius Series Processing Modes KART EDGPS Processing a Example 3 EDGPS with NDS100 MkII station GPS antenna UHF NDS100 q Built in UHF antenna MkII station reception module mr c Aquarius Transmitter Data Link No 8 Proprietary UHF format at 1200 Bd Ref Station No 14 1 Enter the definition of the transmitter broadcasting corrections in the proprietary UHF format PDAS DGPS STATION 8 LA FLEUR 4716 52 N 00129 54 W UHF 444550000 30 1200 DN 1 Transmitter Id 8 Transmitter
302. r Reply syntax PDAS IDENT a b c d e hh CR TLF a Parameters in the reply Format Comments a X X Total number of reply lines b XX Line number Subassembly hardware identification Always 4 characters c1 c2 C3 c4 where e c1c2 are the 2 characters identifying the subassembly clc2 CM gt Core Module clc2 TD Data Transmission on clc2 Ux Application Central Unit e C3c4 are the 2 characters identifying the hardware version of the subassembly If c1c2 CM then c3c4 30 Core module type 1b 3 3 V Q 5 5 Z a E T lt 4 343 1 9 PDAS Command Library PDAS IDENT 344 Format Comments parameter c continued If c1c2 TD bits 2 1 and 0 character c4 identify the PCB ver sion and bits 5 4 and 3 the transmission power see diagram below c3 c4 b7 b6 b5 b4ib3 b2 bl bO 000 10 mW 000 410 470 MHz 001 100 mW 001 400 410 MHz 010 500 mW 011 2 W 100 4 W If cl U c2 c3 and c4 describe the following relative to a UC STPC board c2 c3 c4 b3 b2 bl bO b7 b6 b5 b4 b3 b2 bl b0 A LN MPE P Proc clock Memory size or 00 25 MHz x001 4 Mb STPC 01 33 MHz x010 8 Mb 10 66 MHz x100 16 Mb 11 80 MHz VGA out
303. r your receiver assuming the installation and Getting Started phases have been completed according to the instructions presented in the relevant sections above In fact this section describes all the functions of the TRM100 Basically the TRM100 is the front panel common to all Magellan marine survey receivers An important thing to know is that the TRM100 also comes as a software program called TRM100 PC Software part of the standard supply There is however two additional functions in the TRM100 PC software allowing us ers to control the receiver directly via the set of available PDAS commands or in the case of 3011 and Aquarius to display heading measurements on a compass rose Section 14 is an overview of the TRM100 PC Software It tells you how to connect the PC running this software to a receiver and how to use the Re mote Display view A thorough description of the Terminal view is also provided This view allows you to communicate with a receiver using PDAS commands the only language understood by the receiver Section 15 deals with the use of Sagitta or Aquarius at a reference station or as a secondary mobile for which relative positioning is determined at a pri mary mobile In these specific applications a U Link transmitter device has to be used This section gives all the details for connecting the U Link transmitter to a Sagitta or Aquarius A full description of the data transmitted by the U Link device is provided
304. rate of 10 Hz 0 1 second and a baud rate of 4800 bauds The external aid can be connected to any of the 3011 inputs port A port B port C or AUX provided this input is properly configured to receive these sentences Some automatic pilots are already fitted with a low cost heading sensor In this case you do not need to connect an external aid to the 301 1 In case of temporary signal loss in the 3011 and if an external aid is used it will then be possible to update the last valid heading value computed by the 3011 using the variations AHeading provided by the external sensor after prior smoothing of these variations in the 3011 Example of compatible external aid Simrad model FRC35N L1 3011 GPS Compass Installation NAP 011 Antenna 11 3011 GPS Compass Installation NAP 011 Antenna a Choosing a location where to install the antenna The antenna should be installed m Atthe best possible location for a wide open view of the sky to avoid the presence of large ob structing objects in the vicinity of the antenna At the furthest possible distance from any sources of radio fre quency interference At such a distance from the 3011 processor that the 30 meter coaxial cable supplied can dl be normally used to connect i these two elements together 9 a Horizontally the base of the ra gt dome must be in horizontal position in order to have the two tt Md E 5 z a E E E
305. ration Base calibration Q e zl ge mn E iat ssedwop Sd9 TIOE Value Precision Base length 0 40 m zy m Horizontal offset w b pom Y Vertical offset y iy Filtering time Duration Heading computed by the 3011 Calibration value de true heading termined manually Click lt to close the area dealing with calibration End of procedure The 3011 is now correctly set up You can now start using your system with or without the TRM100 as display termi nal 107 108 3011 GPS Compass Getting Started Calibration a Automatic Calibration Computation Navigate in any given direction at a minimum speed of 4 knots In the TRM100 software window click On the Heading view which then displays click to display the complete window On this view click on the Start button From that moment all the fields displayed in the right hand area of the view are under control of the 3011 and so can no longer by user changed grayed fields Example of heading view then obtained Heading Oy x Offset calibration Base calibration Value Precision Base length 0 40 m o0 m Horizontal offset B d ow b Vertical offset uc BENS Filtering time 25 Duration 00 s Heading computed by the 3011 Tends to ultimate tends to True Heading calibration value Make a 180 turn to navigate in the opposite direction still at the minimum recommended speed After a cer
306. rection mode a Syntax Set command PDAS ALTI a b c hh CR LF Query command PDAS ALTI hh CR J LF a Parameters Format i 1 i Comments Altitude processing mode 0 MSL84 Huser Hwesee etis MS Lico200 EMS Ltocai offset a X 0to3 1 WGS84 Huserz Hwcsa4 ellips EMS LLtocai offset 2 DATUM Huser H Local etis E MS Ltocai offset 3 USER Huser Hwesse elips MS Luser EMSLtocai offset See detailed information on next page Antenna height in meters This parameter describes the height of the antenna phase center with respectto the refer ence surface c x lt x lt e o e 999 999 to 4999 999 e 5 5 a s y lt EMS Lic altitude correction mode 0 no altitude correction EMS Luca 0 0 c X 0to9 1 Local linear altimetry is used EMSL toca hO a G GO b L LO gt 1 model Id used for altitude correction future applications hh Checksum optional CR LF End of command a Examples PDAS ALTI Reading current correction mode P DAS ALTI 0 2 000 0 3A PDAS ALTI 1 1 9 0 Changing correction mode PDAS ALTI Re reading current correction mode P DAS ALTI 1 1 900 0 31 285 ji Q PDAS Command Library PDAS ALTI a Altitude Processing Modes As listed for the a argument on the previous page there are four different altitude processing modes a 0 MSL84 Altitude referenced to WGS
307. red Automatic Backup If the primary solution is lost the receiver will go to the selected backup mode If the primary solution comes back the receiver will return to the pri mary system after the chosen time delay has elapsed Using TRM100 as Control amp Navigation Terminal Backup Option a How to check if the Backup Option is available Go to the AUX VERSION menu and from the main menu select succes sively F3 AUX F3 VERSION Here is the firmware version available as shown on the screen below This must be UCIMV20053 or higher Nov 30 2006 GPS Q 3 TD s UTC 10 28 44 A 11 118SVs 51 49 69828N WGS84 0 0KT 004 43 24307E 60 3m CoG 0 0 MAIN AUX VERSION UCBGV20001 UCIMV20061 UCLNV30000 UCBKV8_2 UCKBV0027 RHBLV10001 RHMFV 10007 If the firmware version is older than V20053 please contact your GPS sup plier who will tell you how to upgrade the firmware version At the bottom of the list are all the options available in the receiver Use the down arrow key to view the bottom of the list The last option shown is the Backup Option called BACKUPMODE se QOTIALL SUN Nov 30 2006 GPS Q 3 TD s UTC 10 29 40 RRAR 11 11SVs 51 49 69819N WGS84 0 0KT 004 43 24311E 60 6m OG 0 0 MAIN AUX VERSION eo 5 H e zZ LJ lt c 3 E E USERGEOID QAQC EDGPSMODE WAAS EGNOS FASTOUTPUT RAWDAT BACKUPMODE If BACKUPMODE is displayed then you can start using this option
308. reen see example below 1M 1114 495792 9 1 0 2 9999999831 2 0 174259 999 3 4 44 1M 1114 495794 9 1 0 4 9999999892 2 0 174301 999 3 4 46 Page 246 or 271 for binary format details the format of the data displayed on the screen 314 PDAS Command Library PDAS FILTER PDAS FILTER Q Function Edits the time constant of the filtering applied to the speed over ground a Syntax Set command PDAS FILTER a b c hh CR LF Query command PDAS FILTER hh CR LF a Parameters Format i 1 i Comments a X X 20 0 999 Preset medium time constant b X X 6 0 999 Presetlow time constant c X X 60 0 999 Preset high time constant e hh Checksum optional S ICRILF End of command E ad a Examples a PDAS FILTER Query PDAS FILTER 20 6 60 34 Reply 315 316 PDAS Command Library PDAS FILTYP PDAS FILTYP Q Function Enables one of the available three preset time constants for the filtering of the speed over ground a Syntax Set command PDAS FILTYP a hh CR ILF Query command PDAS FILTYP hh CR LF a Parameters Format i i i Comments Selected time constant a xx fos wm 3 high hh Checksum optional CRI LF End of command a Examples PDAS FILTYP Query PDAS FILTTYP 1 29 Reply PDAS Command Library PDAS FIXMOD PDAS FIXMOD o Function Edits the fix mode
309. requency GPS pseudoranges in receiver time L2 carrier quality indicator Coded in 8 bits 2 ASCII characters 0 to F MSB first bits 0 to 4 cumulative loss of continuity indica tor complies with RTCM message 18 counter modulo 32 incremented every time the continuity of the carrier phase measurement is lost bits 5 to 7 data quality indicator See page 227 lt P Y code quality indicator Coded in 8 bits 2 ASCII characters 0 to F a MSB first e bits 0 to 3 pseudo range multipath error indica tor complies with RTCM message 19 5 1111 multipath error not determined E bits 4 to 7 pseudorange data quality indicator E See page 227 lt eoln gt a Data block example 1Q 1154 219640 0 100000 amp P 0 0 0 0 22 669625664 2355927 2176540 49 2 0A 7F 8 110 260 214820 1696244 29 5F 1 25 774275720 5423682 1616432 44 2 05 9F 23 71 168 7525845 1258840 8E 9F 2 10 834460029 3120363 383036 40 2 23 AF 78 13 141 3302024 298328 CA CF 3 6 784054033 5408867 1285588 44 2 18 8F 4 99 150 4777000 1001792 B5 AF 4 15 680642097 6497373 2641408 49 2 02 7F 0 41 161 7834773 2058344 59 7F 5 2 865122419 7131997 4779036 36 A 5E BF 6 17 695571879 7478529 1544504 48 2 03 7F 23 40 168 3490676 1203408 42 7F 245 246 Raw Data Outputs in ASCII Format SVAR M Event Time Tagging SVAR M Event Time Tagging a General Form lt stx gt lt eoln gt IM time tagging lt eoln gt
310. responsibility to choose which screen suits her him best 3011 GPS Compass Getting Started TRM100 Option Used as Navigation Terminal Mar 29 2002 LRK Q 18 08 TD12 02s UTC 10 29 43 HDG lt gt 10 128vs 47 17 937670N 271801 30 543197W emus A HDG_T WGS84 88 40m ae No Mar 28 2002 LRK 0Q 18 08 TD11 O2s 4 UTC 10 28 58 HDG 10 128vs 2 _ 47 17 837878N WGSB4 3 01 30 543202W 88 41m E o gt 2 amp 7 coa voc 1 This frame S S contains two 4 z B data lines a E from left to right 5 1 ca Ist line Current Date NAVIG D NSS AUMar 28 2002 LRK 0 18 08 TD12 01s Fix Mode 1 UTC 10 28 07 HDG lt gt 10 128vs Quality Note 2 number and age of oe corrections 2 A7 1 7 i 03767 001 30 54319 Current Local Time UTC displayed if local time UTC time heading type page indicator lt gt number of used received satellites 2 Current Position latitude longitude coordinate system used amp altitude 3 Speed Over Ground 4 Turn Rate 5 Pitch 3 6 True Heading r3 NAvIG penss Aux WAT ATE MARK T Course Over Ground L List of menus accessed after a 7 8 Longitudinal Speed press on the F key located just 9 Transverse Speed below Example press F3 to 1 GPS standalone GPS or DGPS Differential GPS ee meiu 2 Value between 0 and 9 relative to fix processing o
311. rimary Mobile Data First byte Second byte Third byte Next 3 bytes Next 3 bytes 278 2 bytes 2 bytes 3 bytes 16 bytes 2 bytes 1 byte GPS time in week unit 1 10 s Primary Mobile identification binary 0 255 Bits 0 to 2 Fix quality 0 invalid 1 GPS simple difference of Straight GPS posi tions 2 DGPS 4 Kinematic KART or LRK 5 EDGPS 6 Estimated Mode Bits 3 to 6 Number of satellites involved in solution Bit 7 Data type provided 0 dX dY dZ ECEF 1 dN dE dH GPS time in 1 10th of seconds modulo 20 seconds dXEcEF in cm QXECEF X ECEFPrim Mobile XECEFsec Mobile Or depending on bit 7 in 2 byte dN in cm 8388607 cm 23 bits Most Signifi cant bit set at 1 for negative value dYEcEr in cm Raw Data Outputs in SBIN Format SBIN V RELATIVE Mode Data dYECEF Y ECEFPrim Mobile YECEFsec Mobile Or depending on bit 7 in 2 byte dE in cm 8388607 cm 23 bits Most Signifi cant bit set at 1 for negative value Next 3 bytes dZECEF in cm dZECEF Z ECEFPrim Mobile ZECEFsec Mobile Or depending on bit 7 in 2 byte dH in cm 8388607 cm 23 bits Most Signifi cant bit set at 1 for negative value Next 1 V byte oXY planimetric precision in cm 0 to 4095 Next 1 V byte oZ altimetric precision in cm 0 to 4095 Last byte Null O 5 Nn is zZ mj la 5 E smdmo veq Mey 279 1 8 Raw Data Outputs in SBIN Format SBING
312. rite Error GPS Data Anomaly File Read Error DPRAM Anomaly Navigation Error Bad Message Length Binary File Incoherent EEPROM Anomaly Trigger Time Tagging Error Unknown Command Bad Parameter Format Bad Block Format GDOP Too High Bad Command Checksum LPME Too High Input Error on DPRI No Fix Computation Input Error on DPR2 Kinematic Initialization Input Error on DPR3 a Bad LRK Block on COM4 SYSTM Category ES Overflow COMI Software Error zm Overflow COM2 Frozen Display Ici Overflow COM3 Unknown Option Code Overflow COM4 Bad Checksum C3 Codes Format Interpretation Bad Log Checksum Input Error COM1 Real Time Clock Input Error COM2 Dual Port RAM Input Error COM3 Core Module Not Ready Input Error COM4 Bad Program Checksum Overflow DPR1 Data Memory Test Overflow DPR2 Coprocessor Test POSIT Category No Corrections Received Too Few Svs Send Error Appl Soft Reload Error Backup RAM failure Stack Overflow 403 I Appendices About the Three Configurations Stored in a Receiver About the Three Configurations Stored in a Receiver Three different configurations are stored in the receiver Default configuration resident in the firmware This configuration cannot be modified It resets all parameters in the receiver to known values operating mode serial port settings output messages etc Initial configuration saved in a non volatile memory It can be modi fied using ConfigPack software
313. rom words 3 to 10 in subframe 5 page 25 Each GPS word bits 1 to 24 is split into six 4 bit strings that are hex encoded to form 6 bytes 0 to 1 A to F with the first byte corre sponding to bits 1 to 4 The Health amp A S data line is organized as follows word 3 gt lt word 4 word 5 gt lt word 6 gt lt word 7 gt lt word 8 gt lt word 9 gt lt word 10 gt lt eoln gt a Data block example 15 945 414740 3 7F9999 999999 009999 999099 999990 999080 000F C0 000F E9 7390B 1 000000 000000 000F FF F 00000 00003F 000000 AAAAAB SVAR B GPS Bit Flow a General Form lt stx gt lt eoln gt IB gt lt time tagging lt eoln gt lt soln gt lt Block counter lt eoln gt lt soln gt lt Ist line of bit flow gt lt eoln gt lt soln gt nth line of bit flow gt lt eoln gt eb a Time tagging line IB GPS week gt lt GPS time gt lt eoln gt GPS week number GPS time in week in seconds of last transmitted bit Reference time is Jan 6 1980 at Ohr0O lt eoln gt 252 Raw Data Outputs in ASCII Format SVAR B GPS Bit Flow a Block counter line soln C Block counter gt Counter modulo 10 incremented by one on reception of every new message lt eoln gt a GPS bit flow line lt soln gt 1 or 2 characters and channel No in hexa decimal optional SV No Satellite PRN number Useful bits gt Number of useful bits GPS bit block gt n last bits received in hexad
314. ror check rule The message content is checked for transmission error through two check sum bytes the values of which result from the sum of all bytes modulo 2 from stb excluded to lt checksum gt excluded a Rule about numerals Unless otherwise specified Numerals are expressed in binary with fixed decimal point The notation of signed numbers meets the rule of the 2 s comple ment 260 Raw Data Outputs in SBIN Format SBIN R Single frequency GPS WAAS EGNOS pseudoranges in satellite time SBIN R Single frequency GPS WAAS EGNOS pseudoranges in satellite time a General form lt stb gt lt R gt 2 bytes long 2 bytes time tagging 5 bytes parameters 1 byte Raw Data istSV gt 14 bytes Raw Data last SV gt 14 bytes checksum 2 bytes lt etb gt 1 byte a Time tagging First 2 bytes GPS week number assuming the modulo on ambiguity has been solved Last 3 bytes GPS time in week unit 1 10 s The reference time is Jan 6 1980 at OhrOO E N is zZ 7 S la 5 E smdmo veq Mey a Parameters A single byte Bits 0 and 1 Code smoothed by carrier according to RTCM message 19 Smoothing Interval 00 Oto1 minute 1 to 5 minutes 5 to 15 minutes Indefinite 261 18 Bit 2 Bit3 Bits 4 to 6 Bit7 a Satellite Raw Data 1st byte C A code pseudorange unit 10 s modulo Next 4 bytes Next byte Next 3 bytes Next 3
315. s started This operating state is indicated on the Number of received satel lites LED which then lights up For a single frequency receiver this LED will be held permanently lit throughout the initialization phase For a dual frequency receiver the LED will light up at the beginning of ini tialization but after a certain time it will start blinking with equal ON OFF times denoting L1 tracking by the receiver for a number of received satel lites Denotes Initialization Phase in Progress The Sagitta does not generate any output message throughout the initialization phase Queries cannot either be addressed from the TRM100 The end of initialization is denoted by a flashing Number of received satel lites LED with the number of flashes reflecting the number of satellites received by the Sagitta This flashing state is the sign that the Sagitta will soon reach its fully opera tional state i e as soon as the number of received satellites is sufficient 4 satellites minimum Checking that Operational Status is reached As mentioned above basically the operational status is reached when the Number of received satellites LED produces a series of minimum 4 flashes reflecting the number of received satellites The series of n flashes are separated by relatively longer OFF states This should result in valid data on the TRM100 or on any other navigation terminal attached to the receiver Sagitta Series G
316. s Automatic at Installation 103 iv Marine Survey Receivers Table of Contents Q Switching off the 3011 Manually 2 202 103 D Switching On the 3011 after Intentional Power Removal 1 103 Q An initialization Phase Takes Place after you Switch On the 3011 104 Calibration cee ECRIRE ERES EC IN a NEN 105 Q Prerequisites 0000000 105 0 Manual Calibration 106 D Automatic Calibration Computation 108 TRM100 PC Software 00000 LLL LLLI 110 D introd cti ohe a o e oL 110 Q Connecting amp Disconnecting the TRM100 Software 112 Q Working Environment 00 0 0 o 113 Q Heading View 00000000 LLL 113 Q Remote Display View eee 114 TRM100 Option Used as Navigation Terminal 116 Q Identification Screen 0 0 000000000000 0000 116 0 Heading Screens 5 o o o o S o oS S S S e i 116 Outputs eae et ee te 118 D Introduction to the Configuration ofthe 3011 1 1 1 1 118 Q Description of the Output Sentences 120 13 TRM100 PC Software Overview 121 Purpose 121 Connecting amp disconnecting the TRM100 software 1 1 1 123 Working Environment 00000000000 124 Terminal view 000000000000 124 Q Basic Way of Sending a Command to the Receiver 2222222 125 Q Sending Commands to the Receiver from a Dictionary 1 126 Q Creating aNewDictionary eee 127 Q9 Making NewEntriesinaDictionary 22222 127 Q Loading a Dictionary eee 129 Q RevisingaDictionary
317. s released after power is removed the Power LED will di rectly change from the permanently lit state to the off state Q Switching On the 3011 after Intentional Power Removal Using the same tool as previously depress briefly the control push button The Power LED green will light up straight away indicating that the 3011 processor is now on 103 12 104 3011 GPS Compass Getting Started DC Power a An initialization Phase Takes Place after you Switch On the 3011 A few seconds after switching on the 3011 an initialization phase is started automatically This operating state is indicated on the Number of received satellites LED which is held permanently lit throughout this phase lit throughout the initialization phase A The 3011 does not generate any output message throughout the initialization phase Queries cannot either be addressed from the TRM100 The end of initialization is denoted by a flashing Number of received satel lites LED The number of flashes then reflects the number of satellites received by the 3011 This flashing state is the sign that the 3011 will soon reach its fully operational state i e as soon as the number of received satellites is sufficient 4 for position 5 for heading 3011 GPS Compass Getting Started Calibration Calibration Refer to pages 365 and next ones to know more about the theory of calibra tion the possible calibration procedures and to know when a ca
318. s there is at least one route stored in the receiver As a route consists of minimum two waypoints there must be at least two waypoints stored in the receiver See page 179 Assuming Position is the active navigation mode From the main menu see page 23 select successively F1 NAVIG F2 MODE F5 PROFILE A new screen appears asking you to specify the route along which to navigate For example the following is displayed Jun 11 2002 LRK Q 18 TD11 02s UTC 15 45 41 NONE 08 118vs 47 17 938902N WGS84 00 0 KT 001 30 541507W 9 84m Lac road edi JMAIN NAVIG MODE PROFILE Navigation Mode PROFILE This area gives access to the list of available routes A single route definition is shown at a time Use the Up or Down key to scroll the list ROUTE Foundatoo4 Select the start waypoint MARK O01 _ MARK 002 MARK 004 lt REVERSE Note that the cursor is positioned on the route name field Use the Up or Down key to select the desired route from the list of ex isting routes Then if necessary use the Left or Right key to underline the waypoint to reach first before the receiver starts guiding you along the route If necessary you can also change the direction of travel along the path by pressing F4 REVERSE se QOTIALL SUN il S i zi e z L3 lt m S Z I E 139 14 140 Using TRM100 as Control amp Navigation Terminal NAVIG Menu Press F5 OK The re
319. s to the receiver Then Create a text file containing all the commands you would like the re ceiver to execute The commands can be pasted from any other text file Each line in this file should contain a single command Com mands should be listed one after the other without creating any blank line Save the file In the Terminal toolbar click ss This opens a classic Open dialog box listing the files present in the current directory Select the text file containing the desired set of commands Click the Open button As a result the file is open an all the com mands it contains are directly sent in succession to the receiver and displayed in the Edit pane All replies if any to these commands will be returned to the Edit pane only after the receiver has received the complete set of commands a Color and Display Mode choices The following parameters can be customized in the Terminal view Font colors used in the Edit pane for each type of command or mes sage Display mode for each type of command or message Four choices are available None Command or message not displayed Label A short label appears to indicate that a command or mes sage has been sent or received Raw Command or message shown as sent or received Dump Command or message in hexadecimal notation Decode Command or message displayed in clear text To change one of these parameters do the following 130 In the Terminal toolbar click 4 to open the T
320. sabling command PDAS OUTOFF hh CR LF Output re enabling command PDAS OUTON hh CR JLF Parameters Format i 1 Comments none hh Checksum optional CRIILF End of command Examples PDAS OUTOFF All data outputs suspended No reply PDAS OUTON All data outputs resumed No reply PDAS Command Library PDAS PRANGE PDAS PRANGE a Functions Edits the definitions of the pseudorange data outputs Adds definitions of pseudorange data outputs a Syntax Set command PDAS PRANGE a b c d e f g hh CR TLF Query command only the specified line is returned PDAS PRANGE a CR J LF Query command all output definitions are returned PDAS PRANGE CR J LF a Parameters Format i Comments a S i a X 1t02 _ Output number E b a Output port identification A B C etc amp Output mode 0 stopped x E 002 s period tme 5 2 trigger Output rate if c 1 d output rate in units of 0 1 second d X X if c 2 and d 1 then data block following External E vent is output or d 3 then data block following 1pps is output Data type see Appendices D amp E 2 BIN GT SBIN R binary data in satellite time 3 BIN RT SBIN Q binary data in receiver time e X 2105 4 ASC GT SVAR R ASCII data in satellite time 5 ASC RT SVAR Q ASCII data in receiver time T SBIN R Data in LRK format f XX 0 to 600 GPS amp WAAS EGNOS code phase filtering
321. screens for an HF or MF station see be low Note that the receiver memorizes the last monitor screen displayed This means that next time you select F2 DGNSS it is the monitor screen last displayed that will be shown first ew ER R B SNR Lev St 1800 0Khz 50 HF 26 64 NR 154 Using TRM100 as Control amp Navigation Terminal DGNSS Menu Monitor screen 1 3 Example Mar 05 2002 LRK Q 18 TD08 02s UTC 17 09 59 NONE 08 108vs 47 17 937574N WGS84 00 0 KT 001 30 543216W 88 41m DOGS AS JMAIN DGNSS LRK MODE Primary The following information is shown on this screen for each station re ceived from left to right No Transmitter Id Station Transmitter name Com Receiver port receiving corrections data For HF MF stations this parameter includes the port identification the channel number s Example C 1 C 2 C12 or C21 C21 means that channel 2 started receiving data before channel 1 C12 means the opposite Fmt Format of the corrections data received Svs Number of GPS satellites for which corrections are provided Ag Age of corrections Ref Reference station Id HF stations have no Id For this reason the re ceiver allocates the following Id to the possible four HF stations 2000 for the first one received 2001 for the second 2003 for the fourh Far right P or B in this column means that the data received from this station is being used in the
322. se F4 APPLY to make the measured length of baseline the Used length of baseline F5 OK to allow the receiver to start computing the heading As a result the receiver is now allowed to start determining the head ing The following is displayed in the upper part of the screen as long as no heading value is available Mar 29 2002 R Q 18 TD12 02s UTC 10 10 45 3 10 128Vs 47 17 887671N WGS84 on 001 30 543188W 88 41m COG Flashing JMAIN AUX INIT After a certain time the receiver can determine the heading as indi cated on top of the screen The heading value is displayed on one of the data screens Mar 28 2002 LAK GQ 18 TD12 02s UTC 10 16 50 HDG 09 128Vs 47 17 937671N flGs84 001 30 543199W 88 41m JMAIN AUX INIT se QQTIALL SUN il S i zi e z L3 lt m S Z 5 E 171 172 Using TRM100 as Control amp Navigation Terminal AUX Menu a Calibrating the Heading Processing Aquarius Prerequisite After letting the receiver determine the base line length validate this value as the baseline used in the heading processing Select the AUX gt INIT gt HEADING function and check that the calibration value is 000 00 in Orient column Used row Let the receiver determine the heading See previous chapter Manual static calibration see principles on page 61 or manual dynamic calibration based on alignment with seamarks see principles on page 62 Re
323. sed e PDAS HARDRS page 338 to set the receiver port attached to the external demodulator e PDAS DGPS MODE see page 305 To specify the port that the RTCM receiver is attached to To define your receiver as a corrections consumer To specify the identification of the reference station generating the corrections e PDAS FIXMOD page 316 to select the computation mode single station DGPS and the reference station used by the receiver The following set of commands indirectly deals with this processing mode e PDAS NAVSEL page 347 lets you choose the type of position solu tion you want to use in your navigation application e PDAS AGECOR page 284 lets you specify the maximum age per mitted for corrections Any corrections exceeding this age will be discarded from the differential processing Aquarius Series Processing Modes DGPS Processing a Example with external receiver demodulator GPS antenna cm co Aquarius Ext receiver Y Port B Station No 710 RTCM SC104 corrections data Assuming port B on Aquarius has been properly set to receive data from the external receiver 1 Let the receiver acquire and decode the RTCM SC104 corrections data provided by the external receiver data from station No 710 via Aquarius s B port PDAS DGPS MODE 1 B R 710 Command line No 1 Port B allows acquisition of corrections data from external rec Receiver defined as DGPS correct
324. sentences 143411412 Deactivated Time 15 GPGGA GPGSA sentences 1 4 GPHDT4 GPHDG 4 P DAS HRP Activated me 05s sentences 11412417 Deactivated Time 1s GPGGA GPGSA sentences 144 E GPRMC PDAS HRP GPVBW Activated me 01s sentences 6 17 14 Deactivated Time 1s GPGGA GPGSA sentences 144 1 A Activated Time 15 O wo gt 2 3 4 5 6 i e S ge Nn E iat ssedwio SdD TIOE Other Parameters Coordinate System WGS84 Altitude Expressed on MSL as defined in ICD200 model no offset Sat Min Elevation 8 Intentionally Deselected Sats None UTS Local time deviation 00hr00min Speed Filtering Medium time constant 6 seconds Calibration Value 0 Heading Filtering 25 Fix Mode Standalone GPS L1 internal heading Max Permitted DOP 40 lono Correction Mode According to Stanag document Default Interface Language English Latitude Longitude Format degrees amp minutes Distance Unit Nautical Mile Angle Reference True North PortD RTCM numeric all stations PRCs Time Out 40 seconds lono Data Time Out 600 seconds WAAS EGNOS no satellite selected Display options DGNSS Data Input 119 1 2 3011 GPS Compass Getting Started Outputs a Description of the Output Sentences Refer to Computed Data Outputs on page 213 L1 120 TRM100 PC So
325. setting R for this third w gt lt e EI 5 Z a E Iz lt 4 E i parameter is discussed in the next command description Transmitter identification number as referenced in d 3 PDAS DGPS STATION If d is omitted corrections are simply made available on the specified port no transmitter control provided Transmission programming 1 e X X 0to6 0 free mode 1 to 6 transmission rate in seconds synchronous mode In synchronous mode e 1 to 6 f is the transmit slot num f X X 1to 6 ber 1 to 6 hh Checksum optional CRIILF End of command 303 9 PDAS Command Library PDAS DGPS MODE E a Examples Listing all known stations PDAS DGPS STATION PDAS DGPS STATION T LRKNET1 4716 27 N 00129 22 W UHF 443550000 0 50 00 1200 0 DN 3 11 PDAS DGPS STATION 12 PENNET 4630 00 N 00100 00 E UHF 443550000 0 50 1200 DN 3 05 Writing description line 1 PDAS DGPS MODE 1 D E 1 3 2 According to this description line line 1 the receiver will transmit corrections via transmitter No 1 in slot 2 at a transmit format of 3 seconds No receiver reply Listing all the description lines PDAS DGPS MODE P DAS DGPS MODE 1 D E 1 3 2 05 P DAS DGPS MODE 2 N 79 P DAS DGPS MODE 3 N 78 Re programming line 1 PDAS DGPS MODE 1 D E 11 0 According to this line line 1 the receiver will transmit corrections via transmitting station No 11
326. should be for example the fol lowing Station Id number 22 WGS84 Reference Position 47 16 1043533 N 1 29 4543 W Alti tude 48 752 m Beacon Id 30 Frequency UHF band 444 55 MHz Modulation GMSK 4800 Bd Transmission spec Free mode every 1 second Format LRK Messages Pseudorange corrections and phase measurements Programming Steps PDAS UNIT 22 PDAS PREFLL 0 4716 1043533 N 00129 4543000 W 48 752 PDAS FIXMOD 1 1 PDAS DGPS STATION 30 LRK 30 4716 N 00129 W UHF 444550000 30 4800 GN 1 PDAS DGPS MODE 1 D E 30 0 PDAS DGPDAT 1 D 1 10 2 204 Using the U Link Transmitter Multi Station Operation Multi Station Operation 1 A number of reference stations can use the same beacon to transmit their corrections USCG beacon Inmarsat transmission Transmitting antenna Xo Yb Zb GPS Xret2s Yret2s Zret2 GPS Xrefis Yietts Zref1 Beacon Reference transmitter Reference station Beacon Id k station No m No n Corrections data 2 In UHF band up to 6 beacons can use the same carrier frequency In this case a specific transmit time slot is assigned to each beacon so that corrections from each beacon can be transmitted and re ceived in sequence Beacon id r F1 carrier FI carrier eal Q Q Slot 3 Beacon id q F1 carrier Slot 2 a Receiver Beacon id s FI carrier F1 carrier O Slot 4 Beacon id p Corrections will be received on the same reception frequency The re
327. sidered point d a Sign of longitude Eastor West E or W Height of geoid above WGS84 ellipsoid in meters e X X e 9999 if the point location is outside of the geoid s validity area or if there is no geoid presentin the receiver hh Checksum optional CRIILF End of command Comments value Svdd e EI 5 Z a E T 1 327 9 PDAS Command Library PDAS GEOID HEIGHT a Examples PDAS GEOID HEIGHT 4716 0 N 00129 0 W Asking for geoid height for point 47 16 N amp 1 29 W PDAS GEOID HEIGHT 4716 000000 N 00129 000000 W 9999 000 4C Reply 9999 no geoid available in the receiver After downloading a user geoid to the receiver using the GEOIDS utility from ConfigPack and after enabling the USER GEOID firmware option in the receiver the reply will be different as shown below PDAS GEOID HEIGHT 4716 0 N 00129 0 W Asking for geoid height for point 47 16 N amp 1 29 W PDAS GEOID HEIGHT 4716 000000 N 00129 000000 W 047 189 7F Reply geoid height is 47 189 m at the specified point 328 PDAS Command Library PDAS GEOID READ PDAS GEOID READ Q Function Reads the header from a geoid file previously downloaded to the receiver a Syntax Set commands PDAS GEOID READ a b c d e f 9 h i j nh C R LF PDAS GEOID READ a b c d k l m n o j hh CR J LF PDAS GEOID READ a b p hh CR TLF Query command PDAS GEOID REA
328. ssing Aquar ius follow the same recommendations as above for the two antennas There is no need for mutual visibility between the two antennas In heading processing the height deviation between the two antennas should form an angle of 20 maximum for a given baseline length See page 56 Primary antenna iind antenna r J Baseline l 13 2 Aquarius amp Aquarius Installation GPS Antenna The baseline length should be chosen between 1 and 5 meters 3 28 and 16 4 feet for Aquarius 12 between 1 and 2 meters for Aquarius 11 It should be greater than 2 meters 6 56 feet with virtually no upper limit for Aquarius 22 Remember that the longer the baseline the better the accuracy but the longer the initialization time In heading processing giving the baseline a direction strictly parallel to or perpendicular to the ship s longitudinal axis lubber line will allow the re ceiver to compute a vertical angle representative of respectively the ship s pitch or roll angle The receiver can compute the heading angle AND the pitch angle The receiver is able to com the roll angle 14 Aquarius amp Aquarius Installation GPS Antenna a Antenna Mounting Use the bracket provided in one of the configurations shown below p 3 cc C C i c
329. st field the cursor is automatically moved to the next field and the definition of the next waypoint in the list of way points is automatically shown on the screen Have the second waypoint displayed on the screen and then pressF4 ADD again and so on for the next points When the last waypoint in your route is defined press F5 OK to save the route You can overwrite a waypoint as indicated below Press F2 lt lt lt to select the field where you want to overwrite a waypoint Choose the waypoint from the waypoints list using the Up or Down key Press F4 ADD As a result the new waypoint appears in the selected field and the waypoint that occupied this field is removed from the route defini tion F3 DELETE allows you to remove the waypoint from the selected field which then becomes a blank field Using TRM100 as Control amp Navigation Terminal WPT RTE Menu a Modifying Deleting a Route From the main menu see page 23 select successively F4 WPT RTE F5 ROUTES Using the Up or Down key scroll the routes list up or down to access the desired route i e the one you want to modify or delete Once this route is displayed on the screen select F2 MODIFY to change one or more parameters in the definition of the route then F5 OK to enable the changes or F3 DELETE then F5 OK to delete the route E Through the MODIFY function you can insert a waypoint between any two waypoints previously defined
330. t a Time tagging First 2 bytes Last 3 bytes a Parameters First byte Last byte 2 bytes 2 bytes 5 bytes 2 bytes 2 N bytes 2 N bytes 2 bytes 1 byte GPS week number assuming the modulo 2 ambiguity has been solved GPS time in week unit 1 10 s of last transmit ted GPS bit Bits 7 to 5 message counter modulo incre mented by one on reception of every new message Bits 4 to 0 0 to 31 Bits 7 to 4 0 Reserved Bits 3 to 0 Number k of 0 6 sec periods in the message 1 to 15 Number of satellites in the message 275 5 N is zZ 7 S la 5 E smdmo veq Mey 8 Raw Data Outputs in SBIN Format SBING W WAAS EGNOS Data a SV Data First byte Next byte N next bytes a Comments Channel number in receiver 1 to 255 SV PRN number 1 to 255 Consists of k times 30 data bits MSB first followed by M 0 to 6 bits set at 0 in such a way that 30k M results in N times 8 bits see document ICD GPS 200C for decoding The presence of GPS signal is tested for every bit df more than 3 bits are found while signal level less than the specified threshold no bit flow message is issued for this SV If 3 bits or less are wrong the bit flow message for this SV is issued with the possibility of further corrections SBIN W WAAS EGNOS Data a General Form stb W long Time tagging Parameters Data from 1st GEO Data from nth GEO
331. t ASC ASCII or BIN binary and the output rate in seconds e For DGPDAT DGPS raw data specify the output port the trigger mode Immed for immediate or Period the output rate in seconds if trigger mode Period the data type RTCM ASC CODE or LRK if Immed mode is used choose CMR as the data type the RTCM message up to 4 if data type RTCM RTCM messages available 59 19 18 16 9 5 3 1 se OOTIRLL SUN il S i zi e z L3 lt m S Z I E 167 168 Using TRM100 as Control amp Navigation Terminal eFor GPSDAT GPS raw data specify the output port and up to 4 sentences making up the message E for ephemeris data A for Almanac data U for iono utc data S for health and A S data The leading 3 or 4 characters indicate the data format ASC for ASCII data format with periodic output ASC for ASCII data format with data sent only once to output BIN for binary data format with pe riodic output BIN for binary data format with data sent only once to output eFor PRANGE pseudo range data specify the output port the trig ger mode Period is the only option the output rate in seconds if trigger mode Period the data type BIN_RT binary data in receiver time BIN_GT binary data in GPS time ASC RT ASCII data in re ceiver time ASC_GT ASCII data in GPS time the code phase filtering time constant in seconds 0 600 and the SV minimum eleva tion in degrees
332. t in the same way as you would for a basic color ea delete a custom color re define it as white color 131 3 TRM100 PC Software Overview Remote Display view Remote Display view This view is in fact an emulation of the receiver front panel plug in TRM100 unit It simulates both its screen and its keyboard It offers all the functions available in this unit THALES 1 zZ Using this emulation is however different compared to the TRM100 unit as explained below To activate one of the function keys F1 to F5 or to use the numeric pad including the Up Down and Left Right keys Click on the left mouse button after positioning the mouse pointer on the desired button For the function keys F1 to F5 you can also click inside the corresponding frame in the lower part of the screen just above the key Or on the PC keyboard depress the corresponding key F1 to F5 numeric key or direction keys Later in this manual when we ask you to press a key keep in mind the couple of possibilities presented here to let you perform this op eration To adjust the contrast of the simulated screen click E3 repeatedly or hold it depressed until you get the desired contrast To display the properties of the view left click FD In the menu that ap pears select Properties The dialog box that opens allows you to adjust The sound heard when pressing any key with the mouse a sound when pressing a sound wh
333. t to refuse to provide service free of charge if the sales receipt is not provided or if the information contained in it is incomplete or illegible or if the serial number is altered or re moved Magellan Navigation will not be responsible for any losses or damage to the product incurred while the product is in transit or is being shipped for repair Insurance is recommended Magellan Navigation suggests using a trackable shipping method such as UPS or FedEx when returning a product for service EXCEPT AS SET FORTH IN THIS LIMITED WARRANTY ALL OTHER EXPRESSED OR IMPLIED WARRANTIES INCLUDING THOSE OF FITNESS FOR ANY PARTICULAR PURPOSE MERCHANT ABILITY OR NON INFRINGEMENT ARE HEREBY DISCLAIMED AND IF APPLICABLE IMPLIED WARRANTIES UNDER ARTICLE 35 OF THE UNITED NATIONS CONVENTION ON CONTRACTS FOR THE INTERNATIONAL SALE OF GOODS Some national state or local laws do not allow limitations on implied warranty or how long an implied warranty lasts so the above limitation may not apply to you The following are excluded from the warranty coverage 1 periodic maintenance and repair or replacement of parts due to normal wear and tear 2 batteries and finishes 3 installations or defects resulting from installa tion 4 any damage caused by i shipping misuse abuse negligence tampering or improper use ii disasters such as fire flood wind and lightning iii unauthorized attachments or modification 5 service performed or attempted by any
334. tain time the 3 precision fields change color from red to green indicating that the calibration value has been determined with sufficient accuracy 3011 GPS Compass Getting Started Calibration Offset calibration Base calibration Value Precision Base lenath 904 m Horizontal offset Vertical offset Filtering time Duration Heading computed by the 3011 Calibration value now now regarded as valid regarded as valid When you think it is time to do it click on the Stop button to end the automatic calibration procedure Then click on the Apply button to save the calibration value computed by the 3011 Q e ge Dn E iat DO NOT switch off the 3011 in the minute following the calibra The calibration value is saved into the 3011 only in the next 30 seconds following the click on the Apply button For this reason i j tion operation or you would lose the calibration value entered Click lt to close the area dealing with calibration End of procedure The 3011 is now correctly set up You can now start using your system with or without the TRM100 as display termi nal 109 ssedwop Sd9 TIOE 2 3011 GPS Compass Getting Started TRM100 PC Software Below are the recommended threshold values for the parameters controlling color changes in the precision fields Base length baseline 0 01 m Horizontal offset 0 25 Vertical offset 0 25 To check these values click
335. tation number gt lt Reception Quality gt lt Measurement type gt lt Code filtering gt lt eoln gt Reference position lt soln gt 2 char lt Station number gt lt ECEF X gt lt ECEF Y gt lt ECEF Z gt lt eoln gt lt K gt Phase measurements in proprietary UHF format lt T gt Phase amp code measurements in LRK UHF format lt Q gt Phase amp code measurements in RTCM 18 19 format lt C gt Phase amp code measurements in RTCM 20 21 format Read from the receiver configuration or from the message 0 to 10 corresponds to the ratio of the mes sages received correctly 10 100 Empty field in the case of a transmitter 0 Single frequency L1 1 Reserved 2 Single frequency L2 3 Reserved 4 Dual frequency L1 L2 Filtering time constant in seconds used in the process of smoothing the code by the carrier E gt Dn coi imi 5 la 5 E lt N gt Position of reference station Read from the receiver configuration or from the RTCM 104 message ECEF X coordinate WGS84 of reference sta tion ECEF Y coordinate WGS84 of reference sta tion ECEF Z coordinate WGS84 of reference sta tion In the case of RTCM SC104 data this line contains the position provided by message Type 3 229 syndyno gd sey 7 Raw Data Outputs in ASCII Format SVAR D Differential Data Example of a block issued separately providing the reference position re ceive
336. tellite based Augmentation System a function under control of the Japan Civil Aviation Bureau This system is expected to cover the Asia Pacific area Appendices List of Possible Anomalies List of Possible Anomalies CM Category Overflow DPR3 Error On Serial Port GPS Not Ready Reception Error on COM1 File System IDE Mount Err RAM Anomaly Reception Error on COM2 Option No More Available Processor Anomaly Reception Error on COM3 Max Option Tries Reached Timing Anomaly Reception Error on COM4 Full Anomalies Journal Program Memory CMOS Date Failed Data Memory Anomaly THM Autotest error Reception Circuit Anomaly THM Error Bad Blocks Correlation Circuit Anom No Computed Position Restarts since Autotest Communication C A P Y X Out Of Screen Mailbox Overflow Unused Output Data Y Out Of Screen PCMCIA Removed String Exceeds Screen Width CM File Line Too Long CONFG Category INTRF CM Identification Error Bad Config Integrity Xilinx Load CM Card File Inconsistency Config Parameter Error Low Power Command CM Flash Clear Error PCMCIA Overflow CM Program File Load Error DGPS Category File System Full Kinematic Mode Change No Sending Station CPU DIFF Overflow GEODY Category Geodesy Error Altimetry Error Unknown PC Card Battery Voltage Corrupted File System First Antenna Error Second Antenna Error Third Antenna Error Fourth Antenna Error I O Category File Open Error Unknown Input Data File Close Error Bad Input Data File W
337. ters eoln Ist line of ephemeris data lt eoln gt 2nd line of ephemeris data eoln 3rd line of ephemeris data lt eoln gt eb a Time tagging line IE GPS week GPS time gt lt eoln gt GPS week number Time in week in seconds Reference time is Jan 6 1980 at Ohr00 assuming modulo p o ambiguity has been solved lt eoln gt o Parameter line Number of the SV corresponding to the transmitted ephemeris lt eoln gt 249 7 Raw Data Outputs in ASCII Format SVARIU Iono UTC data a Ephemeris data line Line 1 bits 1 to 24 from words 3 to 10 in subframe 1 Line 2 bits 1 to 24 from words 3 to 10 in subframe 2 Line 3 bits 1 to 24 from words 3 to 10 in subframe 3 Each GPS word bits 1 to 24 is split into six 4 bit strings that are hex encoded to form 6 bytes 0 to 1 A to F with the first byte corre sponding to bits 1 to 4 Each ephemeris data line is organized as follows word 3 gt lt word 4 word 5 gt lt word 6 gt lt word 7 word 8 word 9 word 10 gt lt eoln gt a Data block example IE 945 414347 7 10 EC5701 73336D D49E97 A3469F FEEBFC 346432 000004 027605 SVARIU lono UTC data a General Form lt stx gt lt eoln gt lU gt time tagging lt eoln gt lt lono UTC data line lt eoln gt eb a Time tagging line IU GPS week GPS time eoln GPS week number Time within week Z count in seconds wh
338. the precise latitude and longitude of this station In a mobile receiver this command allows you to enter the precise latitude and longitude of the position from which the receiver will be initialized In both cases the command is used to enter a reference position See also PDAS FIXMOD a Syntax Set command PDAS PREFLL a b c d e f hh CR LF Query command PDAS PREFLL hh CR JLF a Parameters Format Range i 1 Comments a X 0t010 0 Coordinate system Id b MMIII Reference station latitude with centimeter accuracy c a Nors Sign of latitude North or South d yyyyy yyyyyy Reference station longitude with centimeter accuracy e a EorW Sign of longitude f Reference station altitude in meters centimeter accuracy required for this parameter hh Checksum optional CRI LF End of command a Examples PDAS PREFLL Query PDAS PREFLL 2B PDAS PREFLL 0 3835 448532 S 01020 993478 E 93 833 Changing the coordinates of the reference station PDAS PREFLL Query P DAS PREFLL 0 3835 448532 S 01020 993478 E 93 833 2B 353 Qa 3 5 Z 2 E T 4 Svdd 9 PDAS Command Library PDAS PREFNE PDAS PREFNE a Function In a reference station this command allows you to enter the precise pro jected coordinates of this station In a mobile receiver this command allows you to enter the precise projected coordinates of the position
339. there is no such computation phase You just have to enter the calibration value offset after deducing it from the value of heading measured by Aquarius once available and from the ex act value of heading in which the ship s longitudinal axis is currently pointing to About the height deviation between the two antennas When the heading processing is valid Aquarius also determines the angle resulting from the baseline length and the height deviation between the two antennas angle c as described on page 56 On the display screen this angle can be read in the Site column Average row It is important to note that the value of the o angle does not interfere with the determination of the roll or pitch angle as the receiver automatically cor rects its results for the value of this angle if different from 0 Aquarius Only Processing Modes Heading Processing Principles Q Need for calibration N The diagram opposite shows the angle ac tually measured by Aquarius Obviously this angle depends on the orientation given to the two GNSS antennas If the antennas are in a direction different X from that of the ship s axis which will nec N essarily be the case if you want that Primary GNSS Aquarius also measures the roll angle a NUM e correction must be made to the measured x angle so that the receiver can provide the Secondary y true heading Correcting the measured an GNSS antenna SZ gle is achieved by entering a va
340. timated without using Position Velocity Time solution 10 ms 11 GPS time not determined Bits 4 to 0 UTC time hours 0 to 23 271 E n is zZ mj la 5 E smdmo veq Mey 8 Raw Data Outputs in SBIN Format SBIN M Event Time Tagging Next byte Last 2 bytes a Parameters First byte Last byte 272 UTC time minutes 00 to 59 UTC time seconds expressed in 1 1000th of a second 0 to 59999 Event counter modulo 256 incremented on every occurrence of the same type of event ASCII alphanumerical character identifying the type of event 1 EVT1 2 EVT2 4 1PPS Raw Data Outputs in SBIN Format SBIN A Almanac data SBIN A Almanac data a General form lt stb gt lt A gt lt long gt lt almanac ident gt lt SV almanac gt lt checksum gt lt etb gt 2 bytes 2 bytes 3 bytes 24 bytes 2 bytes 1 byte a Almanac identification First byte Last 2 bytes oa Almanac data Number of the GPS satellite corresponding to the transmitted almanac binary Almanac reference week number modulo 2 ambiguity solved Bits 1 to 24 from words 3 to 10 in subframes 4 or 5 depending on SV number SBIN E Ephemeris data a General form lt stb gt lt E gt lt long gt lt ephemeris ident gt lt words 3 to 10 subfr 1 gt lt words 3 to 10 subfr 2 gt lt words 3 to 10 subfr 3 gt lt checksum gt lt etb gt 2 bytes 2 bytes 1 byte 24 bytes 2
341. time constant in sec SV minimum elevation in degrees Pseudoranges from satellites located under this elevation will not be output 351 1 9 PDAS Command Library PDAS PRANGE Format i Comments hh Checksum optional CRILF End of command a Examples PDAS PRANGE Query PDAS PRANGE 1 B 1 10 4 0 0 0 0 53 Reply 2 lines P DAS PRANGE 2 N 0 0 0 0 0 0 0 45 PDAS PRANGE 1 A 1 40 4 0 5 Validating SVAR R data blocks on port A in time mode every 4 seconds no filter 5 min elevation Data blocks then display on your terminal screen if you sent the command through port A Example R 1115 235000 0 amp P 0 0 0 4 1 947429699 4292298 1170460 49 2 13 7F 12 80 180 5239253 911940 33 5F 7 4 918562103 9139108 1346052 49 2 17 7F 8 41 115 7658103 1048820 2E 5F 3 7 1046602438 8786582 2210672 41 2 3A 9F 86 223 35 9835197 1722756 91 AF 6 13 909859147 2589101 1142872 49 2 0C 7F 16 63 137 8788655 890704 10 5F 9 20 1007778951 5712481 1976220 47 2 0F 8F 4 78 156 6630620 1539736 5A 7F 1 24 1003172324 2645942 3789260 42 2 10 9F 4 241 213 3461349 2952648 4C 8F 8 27 1026263932 2118672 4122732 42 2 33 9F 31 77 146 4136725 3212756 9B 9F Data described from pages 236 ASCII format and 261 binary format 352 PDAS Command Library PDAS PREFLL PDAS PREFLL a Functions In a reference station this command allows you to enter
342. tion of the reference station from which corrections ie ups should be processed in third priority optional XX Oto 1023 Identification of the reference S ation from which corrections J should be processed in fourth priority optional hh Checksum optional CR LF End of command eoi 3 5 Z Qa E Iz 2 lt 4 305 9 PDAS Command Library PDAS DGPS MODE R a Examples Listing all known stations PDAS DGPS STATION PDAS DGPS STATION T LRKNET1 4716 27 N 00129 22 W UHF 443550000 0 50 00 1200 0 DN 3 11 P DAS DGPS STATION 12 PENNET 4630 00 N 00100 00 E UHF 443550000 0 50 1200 DN 3 05 Writing description line 1 PDAS DGPS MODE 1 D R 11 11 12 According to this line line 1 the receiver will receive R corrections via its port D from trans mitter No 11 These corrections will be generated by reference stations Nos 11 and 12 Checking the content of description line 1 PDAS DGPS MODE 1 PDAS DGPS MODE 1 D R 11 11 12 21 Writing line 2 PDAS DGPS MODE 2 B R 712 713 According to this line line 2 the receiver will receive R corrections from an external receiver 4th field blank via its port B These corrections will be generated by stations Nos 712 and 713 Listing all description lines PDAS DGPS MODE PDAS DGPS MODE 1 D R 11 11 12 21 PDAS DGPS MODE 2 B R 12 713 26 PDAS DGPS MODE 3 N 78 306 PDAS Command Library PDAS DGPS STATION PDA
343. tion value 0 or Se St sa State aS PS a a ge close to 0 if there is some C uncertainty on the orientation Perpendicular to the ship s longitudinal axis Calibration value 90 or _ close to 90 if there is some uncertainty on the orientation a When to perform or resume calibration At equipment delivery the calibration value in the 3011 is 0 Consequently if you are absolutely sure to have oriented the antenna in the same direction as the ship s longitudinal axis you can conclude that no calibration is re quired On the contrary a calibration procedure will be necessary in ALL other cases of antenna orientation whether you accurately know this orientation or not Likewise if you accurately know the antenna orientation and in the same time you do not know which calibration value was entered in the 3011 then you must check this value and change it if it is wrong d 3 5 S O N 375 20 Appendices 3011 GPS Compass Calibration Procedures 3011 GPS Compass Calibration Procedures There are two different methods available for calibrating the 3011 Manual calibration 2 procedures a static one and a dynamic one Automatic calibration a dynamic procedure Whatever the method you choose you have first to connect a PC computer to the 3011 for access to the calibration value On the PC run the TRM100 software and use the Heading view to read change and confirm the calibra t
344. tions are restored to come back to the primary mode and 3 The receiver is waiting either for user action to come back to the primary mode if manual backup mode was selected or the end of the user set time delay to switch back to the primary mode if automatic backup mode was selected ii Fix Quality Index 0 3 GPS 6 9 DGPS See also page 409 10 13 EDGPS 14 19 Kinematic If a backup mode is used there are two quality indices displayed in this field separated by the sym bol The first quality index refers to the primary mode the 2nd one to the backup mode iii Processing indicator HDG Heading processing flashing result not available yet On heading result available REL Relative processing flashing result not available yet On Relative result available None No Heading or Relative processing enabled 22 Aquarius amp Aquarius Getting Started Data Screens Screen Examples Mar 29 2002 LRK Q 18 08 TD12 01s UTC 10 28 07 HDG lt gt 47 17 937672N 001 30 543197W HDG_T ES Mar 29 2002 LRK 9 18 08 TD11 O2s UTC 10 28 58 HDG 10 128Vs 47 17 937673N WGS84 00 0 KT 2434546 a s D01 30 543202W 88 41m eae testo ru St ge ER 6 amp E 7 g a 8 Mar 29 2002 LRK Q 18 08 TD12 02s 1 UTC 10 29 43 HDG lt gt 10 128Vs 47 17 937670N 2 3 001 30 543197W L WGS84 88 40m Spe
345. tput external event input RTCM input on RS422 etc TRM100 display also available on VGA output NMEA 0183 messages GGA GLL VTG GSA ZDA RMC GRS GST GSV GMP User messages via ConfigPack Q Electrical Power voltage source 9 to 36V DC floating input 9 to 16 V DC non floating for station operated with U Link Min amp Max Power requirements mobile 7 to 15 W Sagitta 01 8 to 16 W Sagitta 02 DC current drain Sagitta 02 mobile I 1 3 A approx DC current drain Sagitta 02 station I 2 0 A max Additional power required for TRM100 unit option under 12 V DC 1 2 W I 160 mA approx with backlight on 2 0 5 W I 40 mA approx with backlight off Q Environmental IP 52 compliant rigid aluminum case Operating temperature range 20 to 55 C antennas 40 to 70 C Storage temperature range 40 to 70 C Vibration EN 60495 amp ETS 300 019 shocks gt EMI EN 60495 E i i a Physical 5 HxWxD 65x265 x 215 mm 2 56 x 10 43 x 8 46 Weight 2 kg 4 41 Ib 6 With Power In 12 7 V DC and 8 satellites received 371 20 372 Appendices Sagitta Series Default Configuration Sagitta Series Default Configuration The main parameters held by this configuration are presented below Port Settings PortA PortB Port C PortD Tup RS422 RS
346. type X 1 6 3 5 MHz Height 242 mm 9 53 Diameter 136 mm 5 35 in lower part Data Link input im TNC female plug TNC Separate ground terminal type Rx 1635 reception module A A inside Aquarius Antenna KX15 cable low loss Interface 1 10 or 30 meters 1 Minimizes interference due to antenna cable at data link input Tx 4800 U Link UHF transmission kit See page 137 L1 12 Aquarius amp Aquarius Installation GPS Antenna 2 Aquarius amp Aquarius Installation GPS Antenna a Choosing a location where to install the antenna gt 2 The antenna should be installed E Atthe best possible location for a wide open view of the sky to a a avoid the presence of large obstructing objects in the vicinity of the ii antenna a Atthe furthest possible distance from any sources of radio frequency Z interference KS Atsuch a distance from the Aquarius unit that the coaxial cable pur chased 10 or 30 meters can normally be used to connect these two elements together Whenever possible avoid exposing the antenna to smoke If for any reason the coaxial cable must be shortened Do not cut the end of the cable connected to the antenna as this end must remain fully waterproof Wire the new TNC plug according to the rules Only qualified per sonnel are allowed to do this In theory there is no minimum length required for this cable If two GNSS antennas are used for heading or Relative proce
347. u a Entering the characteristics of one or more stations From the main menu see page 23 select successively F2 DGNSS F4 BEACON To enter the characteristics of a new station make sure the following is displayed blank fields Press 7 or J if necessary No Station Position KAKKK XC GO X XXX XX O0 X XXX X FOR III HZ OR OIC III pa XX OK ICCA IK x xxx ORK BIS xxx Lm Press F5 MODIFY Type successively the following parameters press F4 gt gt gt to move the cursor to the next field or F3 lt lt lt to come back to the previous field Transmitter Id No Transmitter Name Station Latitude amp longitude of transmitting station Position NOTE You just need to type approximate coordinates as these are only used to estimate your distance to the station Frequency band U for UHF M for MF or H for HF amp carrier in Hz To select the band once the cursor is positioned on that field beginning of second line press the Up or Down key repeatedly until the desired band code U M or H is displayed For HF dual frequency station H displayed in the frequency band field 2nd frequency in Hz C3 code Decryption code required for receiving corrections from an en crypted HF station code specific to your receiver and provided by the station owner Leave this field unchanged if you want to work with a non encrypted station Modulation type baud rate displayed next is set accord
348. uarius only Magnetic variation degrees E W 1 Magnetic deviation degrees E W 1 Magnetic sensor heading degrees 1 Values of magnetic variation amp deviation are forced to 0 magnetic heading true heading Sentence No 13 GPROT GPROT x x A hh CR ILF 3011 and Aquarius only Validity A Data valid V Data invalid Rate of turn in degrees minute if bow turns to port 221 1 6 Computed Data Outputs Sentence No 14 GPVBW Sentence No 14 GPVBW GPVBW X x X X A V V hh CR LF 3011 and Aquarius only ground speed A Data valid Transverse ground speed in knots 1 Longitudinal ground speed in knots 1 1 Transverse speed port Longitudinal speed astern Sentence No 15 GPVHW GPVHW x x T X x N x xXK hh CR I LF 3011 and Aquarius only Speed in km hr Speed in knots Heading degrees true Sentence No 16 GPOSD GPOSD x x A x x eo 3011 and Aquarius only Speed reference 1 Vessel speed ourse reference 1 Vessel Course degrees true Heading status A data valid V data invalid Heading degrees true 1 Reference system on which the calculation of vessel course and speed is based derived directly from the referenced system Here it is ALWAYS P Positioning system ground reference 222 Computed Data Outputs Sentence No 17 PDAS
349. uter see computer requirements on page 17 Using this program the user can communicate with the Aquarius and have all the navigation data computed by the Aquarius displayed on the computer screen gt 2 E E E i N gt 2 I FS The TRM100 Software can be used in two different ways Only as a setup tool to perform the required preliminary settings geodetic format speed filtering coefficient etc After getting the Aquarius started the PC can be disconnected from the Aquarius which then operates as a black box connected to the onboard equipment Oras areal navigation terminal As previously it is first used to make the required settings and then it is used as a display terminal for navigation information 11 1 Aquarius amp Aquarius Equipment Description UHF Radio Option UHF Radio Option Rx 4812 reception module inside Aquarius UHF antenna UHF Marine Antenna Kit Procom CXL 70 3 Height 1 3 m approx 5 12 Weight 1 2 kg approx 2 65 Ib Diameter upper part 16 mm 0 63 i Diameter lower part j 23 mm 0 9 Connector N female 1 Mounted on mast using bracket and U clamps provided TNC type N type se TNC N adapter Data Link input d i T EX KX15 I meter KX13 cable interfacing cable 10 or 30 meters HF MF Radio Option HF MF Marine Antenna Kit MN DHM5000 Combined Antenna HF MF antenna Dual band 270 330 kHz amp TNC
350. x that opens specify the path to the CD ROM and then type setup example type e setup or browse on the CD ROM and select setup exe Then click OK to start the installation procedure Follow the instructions provided on the screen to complete the instal lation process HF MF Antenna This antenna should be installed At such a distance from the receiver unit that the coaxial cable sup plied 30 meters can normally be used to connect these two elements together At a location allowing connection of its ground terminal to ship s ground This antenna does not necessarily need to be located on top of a mast LJ 101 z zi D J A E zi ssedwop SdD TIOE 1 1 3011 GPS Compass Installation 102 3011 GPS Compass Getting Started DC Power 12 3011 GPS Compass Getting Started DC Power Q Switching on the 3011 is Automatic at Installation When you apply the power voltage to the 3011 via the power cord the Power LED green lights up straight away indicating that the 3011 proces sor is now on Q Switching off the 3011 Manually Without unplugging the power cord Using a sharp tool depress the control push button for about 2 seconds Power removal is effective after a few seconds Q e z ge Dn A E iat ssedwop SdD TIOE If the push button is released before power is actually removed the Power LED will flash until power removal is effective If the push button i
351. x5 bytes where N number of SVs max 10 sv BCD notation SV No ph BCD notation phase value in 1 100th of a cycle modulo 10 000 cycles c continuity indicator 4 bits from 0 to F incre mented by 1 every time phase measurement is not equal to 0 q 0 Z counter output 3 bytes modulo 49152 in 10 units of a second in BCD notation TTransmit rate one byte in seconds from 01 to 99 BCD notation Message length one byte as measured between first stx and last etx bytes in data string including these bytes in BCD notation from 00 to 99 a x e ES n E c eR eo a mio 5 x 209 5 Using the U Link Transmitter Transmitted Correction Data a RTCM Message Message not transmitted by Tx4800 U Link transmitter option but still accepted by mobile equipped with Rx4812 U Link receiver option Message identifier 2nd byte in data string R mmTTnnnnnnnn nnnnxx XX Eum binary computed from stx 2 bytes Nxbytes where N depends on baud rate used at UHF transmission input 1200 or 4800 baud for a maxi mum transmission time of 900 ms nnnn nnnn RTCM message in 6x8 character format All values less than 80 Any RTCM word 30 bits long is transformed into 5 bytes Transmit rate one byte in seconds from 01 to 99 BCD notation L Message length one byte as measured between first stx and last
352. xample if the last waypoint in the list is No 10 then the receiver will prompt No 11 for the waypoint you are creating If however the prompted waypoint number does not suit move the cursor to this field pressing F3 lt lt lt and type the desired number Press F4 gt gt gt to move the cursor to the next parameter in the waypoint definition Likewise there is a default waypoint name prompted by the receiver The form is MARK lt order number gt where order number is automati cally incremented by the receiver Also in this case you can type a completely different name if you wish Press F4 gt gt gt and select an icon for the waypoint Up to 20 different icons are available Use the Up Down keys to choose one Press F4 gt gt gt and type the first coordinate of the waypoint Press F4 gt gt gt and type the second coordinate of the waypoint Do the same for third coordinate if a 3D waypoint Press F5 OK to save the definition of the new waypoint Using TRM100 as Control amp Navigation Terminal WPT RTE Menu Q Modifying Deleting a Waypoint From the main menu see page 23 select successively F4 WPT RTE F4 WPTS Using the Up Down keys scroll the waypoints list up or down to ac cess the desired waypoint i e the one you want to modify or delete Once this waypoint is displayed on the screen select F2 MODIFY to change one or more parameters in the definition of the waypoint then F5 OK to enab
353. y format Start of block stx in ASCII notation 1st byte Using the U Link Transmitter Transmitted Correction Data a LRK Format Message Message identifier 2nd byte in data string T mmTTDooxxxppnnnnnnn nnnnxxxxxyyyyyzzzzzbbbbxxxx Checksum binary computed from stx 2 bytes Battery output voltage at station in BCD units 10 v 2 bytes L XYZ of station position BCD notation 15 bytes on ECEF same as RTCM 3 For each component field 2 147 483 647 in BCD units 0 01 m sign is Most Significant bit in first byte 80 2 Nx14 or 27 bytes Satellite raw data on L1 C A or L1 L2 P Y Same as in single or dual frequency SBIN GR format L C A amp P Y amp LI L2 filtering indicator Same as in single or dual frequency SBINGR format GPS time in week in 1 10th of a second TTransmit rate one byte in seconds from 01 to 99 BCD notation Message length one byte as measured between first stx and last etx bytes in data string including these bytes in binary notation from 1 to 65535 In L1 C A transmission capability up to 16 channels 254 bytes at 4800 Bd 529 ms In L1 L2 transmission capability up to 14 channels 408 bytes at 4800 Bd 850 ms a x e ES n 30 E c eR eo a mio 5 x 207 5 Using the U Link Transmitter Transmitted Correction Data a Proprietary Pseu

Download Pdf Manuals

Related Search

Related Contents

"user manual"  Samsung 225UW  

Copyright © All rights reserved. Failed to retrieve file