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1. A plug B plug 1 D N 9 VIN 2 2 RX 3 3 TX 4 4 ON 5 5 GND 6 7 RTS 7 8 CTS 1 54 DSNP Basic operating instructions for the 5000 series Troubleshooting Troubleshooting Front Panel Indicators 1 ON OFF Scroll indicator indicator OFF OFF Receiver not powered If this status is obtained after pressing the ON OFF push button check power supply connection cable connectors power source power voltage rear panel fuse If this status is obtained after a period of operation this means that the receiver has completed the programmed sessions and the receiver is now OFF due to automatic power supply control Self tests in progress initialisation phase a or eros session Flashing Operating receiver due to manual power supply control Pending session Flashing Receiver in standby due to automatic power supply control Pending session 7 Operating receiver Recording on PCMCIA in progress DSNP 1 55 Basic operating instructions for the 5000 series Troubleshooting 1 56 Error report Errors are reported in two different ways On the status display on Screen No 1 Each error occupies a sub screen see Screen No 1 Error report Chapter page 42 As a receiver reply to the PDAS DEFLT
2. Height correction T QUARTUS a 2082 SK Y t ma 8071279010 Y L L 17 54 51 Ne 12 50 m SV Coord System System Tools Visible Datum Release constellation Projection Time Satellite Change to WGS84 Configuration deselecting Load Geodesy Local grid lt to select an icon The selected icon is surrounded by dotted lines Press 4 to validate your selection or press the corresponding numeral key as a shortcut Station Firmware option Station Control Station Control T From the main menu select 9 Press J The following function menu then appears Station Control Position Transmitter Average position Each of these functions is described below Antenna This function allows you to enter the measurement you have made after installing the GPS antenna in the field From this value the program will determine the true height of this antenna with respect to the ground After choosing this function press the lt key to access the field from which you can select the type of measurement made see page 6 8 and then enter the measurement as explained in the screens which follow 5 12 DSNP Station Firmware option Station Control DSNP measurement User measurement d Select measurement method from this field press to access the selection menu Measurement entry an edit box appears on top of the screen True height computed after you ent
3. Plug A Plug B 1 2 12V 2 10 RXD 3 11 RXD 4 14 TXD 5 15 TXD 6 8 CTS 7 9 CTS 8 13 RTS 9 12 RTS 10 3 GND TIT 4 2 DSNP Extended I O option 10 MHz external oscillator input 10 MHz external oscillator input 1 pps output DSNP Any sine wave with amplitude level between 0 and 10 dBm frequency 10 MHz 10 0 dBm and input impedance 50 Q Automatic switching between external and internal master oscillator Changing the master oscillator while the receiver is in operation is not recommended as this can result in GPS signal loss BNC connector 1 Hz square wave form 0 5 V amplitude Falling edge synchronized onto UTC time Accurate to within 100 ns not including the SA induced error if the 30 metre antenna cable is used Settling time less than 30 seconds after the first fix is available Subject to frequency oscillator drift once no more fix is available BNC connector 4 3 4 Extended I O option External Event input External Event input 4 4 Accurate to within 100 ns SA with GPS fix effective CMOS input with 10 kQ pull up resistor to 5 V DC BNC connector Falling edge active Active edge DSNP Station Firmware Option NOTICE The Station Firmware is marketed as an option This section may be skipped unless you are the user of this option DSNP Station Firmware option Foreword 5
4. PDAS UNIT a hh lt CR gt lt LF gt QUERY command PDAS UNIT hh lt CR gt lt LF gt Command identification PDAS UNIT Parameters ref format a x Unit number or station identification number 4 char max 0 to 1023 hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS UNIT QUERY PDAS UNIT 0 30 Reply No 0000 PDAS UNIT 801 Changing unit number PDAS UNIT QUERY PDAS UNIT 801 39 Reply No 0004 DSNP C 95 Commands library _ZDA and _GPQ ZDA _ZDA and _GPQ ZDA e Function Respectively changes and reads the receiver date amp time e Syntax Change command ZDA a b c d e f hh lt CR gt lt LF gt Read command GPQ ZDA hh lt CR gt lt LF gt e Parameters ref format a hhmmss ss UTC time b XX Day 01 to 31 C XX Month 01 to 12 d XX Year 4 char e XX Local time offset in hours compared with UTC time 13 to 13 f XX Local time offset in minutes compared with UTC time 00 to 59 hh Checksum optional lt CR gt lt LF gt End of command C 96 DSNP Commands library _ZDA and _GPQ ZDA e 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 C DSNP C 97 Commands library _ZDA and _GPQ ZDA C 98 DSNP GPS Raw Data in SVAR forma
5. Press the Yes key A new screen appears Format Fixed Disk L Amount of memory for DOS Amount of memory for EMS 0 Use BIOS ram block H Ho move fchange accept Esc Quit The amount of memory for DOS should be 512 if 1Mbyte FS GS or 640 if 2 Mbyte FSGS If it is different make it equal to this value using the vertical arrow keys increment step 32kbytes DSNP 5 37 Station Firmware option Maintenance Steps Do not change the other parameters Press the Yes key A new screen appears Format Fixed Disk Track 2338 Format successful The machine will now reset Blinking Press any key to continue After loading the DOS the palmtop asks you to update the date amp time Atthe DOS prompt C gt type in DIR Check that 7 files are listed leaving about 462848 bytes free 1Mbyte FS GS E 5 38 DSNP Station Installation Kit Option NOTICE The Station Installation Kit is marketed as an option This section may be skipped unless you are the user of this option Station Installation Kit option Introduction 6 Station Installation Kit option Introduction The Station Installation Kit option contains all the accessories required to install an Aquarius 5000 receiver at a stationary point on land thus changing your receiver into a potential base station The option also includes containers making it easier for the operator to move the whole equipme
6. hh lt CR gt lt LF gt Command relative to elevation threshold PDAS SVDSEL a hh lt CR gt lt LF gt QUERY command PDAS SVDSEL hh lt CR gt lt LF gt DSNP C 91 Commands library PDAS SVDSEL e Parameters ref format a X X b X X C X X d X X hh lt CR gt lt LF gt C 92 Elevation threshold in degrees Indicates whether the PRNs that follow c d are those of the only satellites you want to reject this will be obtained by setting b to 0 or are added to the list of rejected satellites in which case b will also designate one of these satellites AS a summary b 0 No satellite is rejected except those specified in the next fields c d b 0 PRN of a satellite you want to reject 0 lt b lt 210 PRN of other satellite you want to reject 1 lt c lt 210 PRN of other satellite you want to reject 1 lt d lt 210 etc up to 12 SVs Checksum optional End of command DSNP DSNP e Note Commands libra ry PDAS SVDSEL The elevation threshold has no effect on the position processing when the EDGPS KART or LRK processing mode is selected e Examples PDAS SVDSEL PDAS SVDSEL 20 2 6 8 PDAS SVDSEL 5 PDAS SVDSEL PDAS SVDSEL 20 2 6 8 5 PDAS SVDSEL 0 2 7 PDAS SVDSEL PDAS SVDSEL 20 2 7 PDAS SVDSEL 15 PDAS SVDSEL PDAS SVDSEL 15 2 7 PDAS SVDSEL 0 PDAS SVDSEL PDAS SVDSEL 15 QUERY Elevat
7. PDAS COMMNT hh lt CR gt lt LF gt s Command identification PDAS COMMNT e Parameters none hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS COMMNT PDAS COMMNT 2 1 AQUARIUS 5000 SERIES 14 PDAS COMMNT 2 2 DEFAULT CONFIGURATION 2B DSNP C 11 Commands library PDAS CONFIG PDAS CONFIG Function Reads the data from the current configuration Syntax PDAS CONFIG hh lt CR gt lt LF gt Command identification PDAS CONFIG Parameters none hh Checksum optional lt CR gt lt LF gt End of command Examples PDAS CONFIG Reading the data from the current configuration PDAS CONFIG BEGIN 52 60 Reply PDAS COMMNT 2 1 AQUARIUS 5000 SERIES 14 PDAS COMMNT 2 2 DEFAULT CONFIGURATION 2B PDAS LANG EN f 1 1 43 PDAS AGECOR 040 0 31 PDAS ALTI 1 0 000 0 39 PDAS FILTER 6 00 1E PDAS DOPMAX 40 0 13 PDAS SVDSEL 5 0 0 2A PDAS SELGEO 0 21 PDAS CONFIG END 0001C81B 66 DSNP Commands library PDAS CONFIG INIT PDAS CONFIG INIT e Function Performs internal loading of the initial 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 The receiver is automatically re initialized after running this command e Syntax C PDAS CONFIG INIT hh lt CR gt lt LF gt s Command identification PDAS CONFIG INIT e Parame
8. PDAS DGPS MODE 1 Checking the content of line 1 PDAS DGPS MODE 1 D E 11 3 2 34 DSNP C 25 Commands library PDAS DGPS MODE PDAS DGPS MODE R for receivers processing corrections received from a reference station via a transmitter e Function Defines the receiver s serial port as a DGPS receive channel e Syntax Complete command PDAS DGPS MODE a b R d f g h i j hh lt CR gt lt LF gt QUERY command only the specified line is read PDAS DGPS MODE a hh lt CR gt lt LF gt QUERY command all lines are read PDAS DGPS MODE hh lt CR gt lt LF gt s Command identification PDAS DGPS MODE e Parameters ref format a x Line number 1 to 3 b a Port identification A B etc a R for Receiver The other setting E for this third parameter is discussed in the previous command description C 26 DSNP DSNP PDAS DGPS MODE hh lt CR gt lt LF gt X X X X X X X X X X X X Commands library Transmitter identification number as referenced in PDAS STATION If d is omitted corrections are simply allowed to be fed to the specified port no receiver control provided Empty field Empty field Identification of the reference station from which corrections should be processed in priority 0 to 1023 If g is omitted received corrections are processed without checking the reference station number future deve
9. QUERY commana PDAS QC hh lt CR gt lt LF gt s Command identification PDAS QC e Parameters ref format a X Internal or autonomous Quality Control 0 No internal Quality Control 1 UKOOA Control C 84 DSNP Commands library PDAS QC b a External Quality Control 0 No external Quality Control 1 WAAS EGNOS Quality Control 2 RTCM SC104Quality Control message type 5 C X Provider of external Quality Control if b 1 PRN of the GEO to be received if b 2 Number of the RTCM SC104 reference station to be received hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS QC QUERY PDAS QC 0 0 0 No Quality Control currently used PDAS QC 0 1 138 Selecting External Quality Control using WAAS EGNOS GEO PRN 138 PDAS QC Checking new setting PDAS QC 0 1 0138 Reply DSNP C 85 Commands library PDAS RAZALM PDAS RAZALM e Function Deletes the specified almanacs from the receiver s memory e Syntax PDAS RAZALM a hh lt CR gt lt LF gt e Parameters ref format a x Defines the type of almanacs you want to delete 0 or a omitted all 1 GPS almanacs only 2 WAAS EGNOS almanacs only hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS RAZALM Deletes all almanacs C 86 DSNP Commands library PDAS SELGEO PDAS SELGEO e Function Of the coordinate systems defined with t
10. e 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 complement DSNP E 3 GPS Raw Data in SBIN format SBIN R Single frequency GPS pseudoranges in satellite time SBIN R Single frequency GPS pseudoranges in satellite time e General form lt stb gt lt R 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 s Time tagging First 2 bytes Last 3 bytes E 4 2 bytes 2 bytes 5 bytes 1 byte 14 bytes 14 bytes 2 bytes 1 byte GPS week number assuming the modulo 2 ambiguity is removed GPS time in week unit 1 10 s The reference time is Jan 6 1980 at Ohr00 DSNP GPS Raw Data in SBIN format SBIN R Single frequency GPS pseudoranges in satellite time e Parameters A single byte Bits 0 and 1 Code smoothed by carrier according to RTCM message No 19 Smoothing Interval 00 0 to 1 minute 01 1 to 5 minutes 10 5 to 15 minutes Indefinite Bit 2 Bit3 0 Bits 4 to 6 reserved Bit 7 0 single frequency measurements E s Satellite Raw Data 1st byte SV number Next 4 bytes C A code pseudorange unit 10 s modulo 400 ms Next byte 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
11. s Setting the UHF receiver Use the PDAS DGPS MODE command to perform this operation e Checking the software version and device identification Use the PDAS IDENT command or select screen No 8 on the integrated status display see page 49 Screen No 8 Firmware Options 3 s Monitoring the UHF data link Select screen No 6 on the integrated status display see page 1 47 Screen No 6 Information about corrections DSNP 3 9 Data Link options UHF Data link option UHF Datalink Programming Examples s Transmitting receiving DGPS Data in the RTCM SC104 format compatible with the NDS100 Mk II station The characteristics of the UHF station are the following Station Id number 47 16 1043533 N 1 WGS84 Reference Position Beacon ld Frequency Modulation Transmission programming Format Messages 712 29 4543 W Altitude 48 752m 3 UHF band 444 55 MHz 1200 Bd DQPSK Free mode every 1 0 second RTCM SC104 Type 1 PRC s and type 3 Reference ECEF 5001SD or 5002SK Station using REFSTATION firmware PDAS UNIT 712 PDAS PREFLL 0 4716 1043533 N 00129 45430 00 W 48 752 PDAS FIXMOD 1 1 PDAS DGPS STATION 3 RTCM 3 4716 N 00129 W UHF 444550000 30 1200 DN PDAS DGPS MODE 1 D E 3 0 PDAS DGPDAT 1 D 1 10 1 1 3 DSNP Data Link options UHF Data link option 5001MD or 5002MK Mobile PDAS DGPS STATION 3 RTCM 3 4716 N 00129 W UHF 444550000
12. 00 FD 01 and FD 02 resulting from the transcoding described above must be counted as single characters DSNP E 1 GPS Raw Data in SBIN format Notation Rules e Conventions used The term field stands for one or more parameters The term data stands for a binary value occupying a byte Inabyte bit 0 stands for the least significant bit bit 7 for the most significant bit The most significant bit is always placed ahead e Symbols used lt gt lt stb gt lt blid gt lt long gt lt checksum gt lt etb gt e General form lt stb gt lt blid gt lt long gt lt data gt lt checksum gt lt etb gt denotes a field beginning of block ASCII character FE block type 1 ASCII character allowing identification 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 FF 1 byte EE 1 byte 2 bytes 1 to 1023 bytes 2 bytes 1 byte FEp The meaning of the data in each block type is predefined DSNP GPS Raw Data in SBIN format Notation Rules e Error check rule The message content is checked for transmission error through two checksum bytes the values of which result from the sum of all bytes modulo 2 from lt stb gt excluded to lt checksum gt excluded
13. 7 INTRF 7 INTRF _ 7 INTRF 8 NAVIG 9 POSIT 9 POSIT 9 POSIT 9 POSIT 9 POSIT 48 52 53_ 54 55 _ 56 57 58_ 59 60 61 SYSTM SYSTM SYSTM SYSTM ar SYSTM SYSTM MET SYSTM KEZ SYSTM 10 SYSTM DSNP File system full ile system full PC board not recognized Unknown PC card Battery voltage too low Battery voltage i Corrupted file system Corrupted file system GDOP too high LPME too high No fix computation No fix computation Frozen display Unknown option code Unknown option code C3 codes checksum error Bad checksum codes C3 Log checksum error Bad log checksum Real time clock Real Time Clock Dual port RAM EE No differential reception No differential reception Frozen display Dual port RAM Core module not ready Core module not ready Program checksum error Bad program checksum Data memory test Data memory test 1 59 1 Basic operating instructions for the 5000 series Troubleshooting SYSTM 3 1 N N EEL 999999 oo n lt n o A Serial port error n ep lt uiuj lt i LD lG d led lt n lt ep 4 1 Journal full 3 4 Selftest error 3 1 n lt ep 4 re bare bara bo Y lY lr ICB el 2 OJOJOJE 10 10 5 0 SIT STM PCMCIA removed 3 5 3 PO 81 82 83 7 8 10 SY 88 10 3 SYSTM CM iden
14. Beacon ld Frequency Modulation Transmission programming Format Messages 15 29 4543 W Altitude 48 752m 15 UHF band 444 55 MHz 1200 Bd DQPSK Free mode every 1 second DSNP Pseudorange corrections and phase measurements 5001SD or 5002SK Station using REFSTATION firmware and KARTMODE or LRKMODE firmware PDAS UNIT 15 00 W 48 752 PDAS PREFLL 0 4716 1043533 N 00129 45430 PDAS FIXMOD 1 1 PDAS DGPS STATION 15 KART 15 4716 N 00129 W UHF 444550000 30 1200 DN PDAS DGPS MODE 1 D E 15 0 PDAS DGPDAT 1 D 1 10 3 1 2 DSNP Data Link options UHF Data link option 5001MD or 5002MK Mobile PDAS DGPS STATION 15 KART 15 4716 N 00129 W UHF 444550000 30 1200 D N PDAS DGPS MODE 1 D R 15 15 PDAS FIXMOD 4 1 15 Conventional DGPS PDAS NAVSEL 1 1 3 5001MD or 5002MK Mobile using KARTMODE or LRKMODE firmware PDAS DGPS STATION 15 KART 15 4716 N 00129 W UHF 444550000 30 1200 DN PDAS DGPS MODE 1 D R 15 15 PDAS FIXMOD 7 1 14 KART with OTF initialization PDAS NAVSEL 4 1 Navigation from Real Time KART position solution DSNP 3 15 Data Link options UHF Data link option e Transmitting receiving DGPS Data in the LRK format The characteristics of the UHF station are the following Station Id number 47 16 1043533 N 1 WGS84 Reference Position Beacon ld Frequency Modulation Transmission programming Format Me
15. DSet Pack Software Introduction to DSet Pack The pointer will take the following shape if you move it on any cell except the top cell in the Status column which means that you will select the entire row if you then click the left mouse button This is useful when for example you want to delete a row In this case you just need to select the row and then depress the Delete key When the definition of a row is finished simply press the Enter key to stop editing Using the Graphic Pane In most cases the Graphic Pane will just display a summary of all the choices you have made in the selected sub module For example the only possible choice in the Mode sub module of the NAVIGATION module Working mode D GPS and Mode POSITION will be illustrated as follows in the Graphic Pane Working Mode B Mode The Graphic Pane can also be used as an input device to define beacons see page G 27 DSNP G 13 DSet Pack Software Introduction to DSet Pack Changing the options of DSetPack Inthe toolbar click or from the menu bar select Tool and then Options A dialog box appears in which you can set the options of Dset Pack General tab Timeout Maximum time allowed for a receiver to send an acknowledge to DSetPack At the end of this time if no connection is made DSetPack will cancel the operation in progress Communications tab General Communication Comm bad Auto Configure Spe
16. PDAS GNOS 2 138 where 2 enables the tracking of WAAS EGNOS and requests manual selection of a GEO 138 is the GEO PRN Running this command will cause a WAAS EGNOS reserved channel in the Aquarius receiver to be allocated to SV PRN 138 2 Enable the receiver to use the received WAAS EGNOS data in the position processing PDAS FIXMOD 4 2 138 where 4 selects single station DGPS as the current GPS fix mode 2 selects WAAS EGNOS to be the source of corrections hence WADGPS but pseudoranges from this system will not be used 138 is the PRN of the GEO used Processing options WADGPS Later once the GEO is received and used screen No 4 see also page 44 should look like this 4 32u 43 V138 r 58 i gt 2 89 120 8 25 116 The GEO will then be described in the lower line the symbol means that the satellite is geostationary as opposed to and v used to depict the orbit of a GPS satellite e WADGPS with EURIDIS GEO when operational 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 where 2 enables the tracking of WAAS EGNOS and asks for manual selection of a GEO 120 is the GEO PRN 2 20 DSNP Processing options WADGPS 2 Enable the receiver to use the received WAAS EGNOS data in the position processing PDAS FIXMOD 4 12 120 where
17. Parameters ref format a CC Session type END All sessions disabled or ends the immediate session ON Programmed sessions are run once CYCLE Programmed sessions will be repeated if this may happen IMMED Will cause the receiver to start operating and recording data on PCMCIA if option installed on reception of the command DSNP DSNP d hh lt CR gt lt LF gt CC Number of the session to be run in the Commands library PDAS EXPSES Power control type AUTPW Receiver power supply controlled by the programmed sessions MANPW Receiver power supply controlled only by the operator Number of the session to be run first Sessions are numbered from 1 to 8 corresponding to the description lines in which they are defined see SESSN command second third place up to 8 sessions in sequence Checksum optional End of command e Information supplement The reply to the Query command will vary with time depending first on the progress of the sessions but also on the operating options chosen with this command With ON selected as the session type session numbers will disappear after the corresponding sessions have been run With CYCLE selected as the session type sessions will be run in the specified order After a session has been run the number corresponding to that session will be moved to the end of the session sequence With AUTPW selected as the power
18. a X Total count of reply lines b X Number of reply line 1 necessarily C a PCMCIA card label c 0 if no card d X Total count of bytes used omitted if no card e x Total count of free bytes omitted if no card f X Total count of files omitted if no card C 68 DSNP Commands library PDAS MEMORY DIR ref format next lines a X Total count of reply lines b X Reply line number g a File name h X File size in bytes i XX File creation day dd j XX File creation month mm k XX File creation year yyyy t l hhmmss s File creation time hh Checksum optional lt CR gt lt LF gt End of reply e Examples Query PDAS MEMORY DIR Reply without PCMCIA card PDAS MEMORY DIR 1 1 0 Reply with a PCMCIA card inserted example PDAS MEMORY DIR 3 1 122880 3858432 2 PDAS MEMORY DIR 3 2 sesimmed d00 69444 18 02 1998 092034 0 PDAS MEMORY DIR 3 3 sesimmed d01 30304 18 02 1998 092230 0 DSNP C 69 Commands library C 70 PDAS NAVSEL PDAS NAVSEL Function Syntax Edits the navigation mode currently selected Complete command PDAS NAVSEL a b c d hh lt CR gt lt LF gt QUERY commana PDAS NA VSEL hh lt CR gt lt LF gt Command identification PDAS NAVSEL Parameters ref format a x b x Type of fix used for navigation 1 to 4 1 D GPS or WADGPS 2 EDGPS 3 KART A 4 KART R Navigation mode used 1 to 4 1 Position none 2
19. none 8 Frepeat 1 gr lle 1988 result if a results file repeat result No of points in file gr11le8 result if a job file T File name File type Select a file a job file or a result file and press gt A new screen appears showing the names of the points present in the file If a job file is selected two types of points may be selected target points and reference points 8 re pea thi Lerefi refi ref168 Point name L Select a point and press This loads the coordinates of this point to the receiver as the position of the station DSNP 5 15 Station Firmware option Station Control Transmitter This function allows you to program the UHF transmitter and enable disable UHF transmission Transmit status Station ID number ON or OFF UHE transnitter oFF Number BIT Carrier frequency Frequency 444 5300M 7 necessarily all Rate 1 Itiple of 12 5 kHz oe the band Slot lt 400 470 MHz Data 3 Transmission slot 1 to 4 Transmission rate 1 to 6 s Type of data transmitted through the data link Associated Help menu elp E Start AN Stop transmission Esc Abandon Quit displayed by pressing F1 removed by pressing Esc According to context Press the E key to enable transmission at the station or p
20. 1 49 Usual problems encountered at start up 1 14 DSNP Aquarius 5000 User s Manual Index UTC time C 96 V Visible Constellation 5 25 W WAAS A 7 A 8 A 10 C 41 C 52 C 78 WAAS EGNOS Pranges G 20 WAAS EGNOS pseudoranges 1 41 2 17 2 19 2 24 WAD A 6 WADGPS 2 17 Implementation 2 18 WDGP 2 17 Win Comm 1 11 1 14 1 35 WMS A 9 Working mode G 21 World Map editor G 28 WRS A 8 WTI i 2 26 Z Z counter output 3 19 3 20 ZDA C 54 C 96 Z FIXED 2 34 DASSAULT SERCEL Navigation Positionnement 16 rue de Bel Air B P 433 44474 CARQUEFOU Cedex 33 0 2 40 30 59 00 Fax 33 0 2 40 30 58 92 T lex SERCEL 710 695 F S A a Directoire et Conseil de surveillance au capital de 75 000 000 F RCS Nantes B 321 391 237
21. 529 ms In L1 L2 transmission capability up to 14 channels 408 bytes at 4800 Bd gt 850 ms e Corrections message Type X First 2 bytes Message length measured from 02 to 03 inclusive in binary notation from 0 to 65536 Next byte Transmission rate in seconds in BCD notation from 01 to 99 Next nxbytes XXXXXXXXX User message n depends on the baud rate n 68 for 1200 Bd or 405 for 4800 Bd Last 2 bytes XX XX Checksum binary sum from stx d 3 24 DSNP Extended I O Option NOTICE The extended I O board is marketed as an option This section may be skipped unless you are the user of this option Extended I O option Installation 4 Extended I O option Installation Only trained personnel can perform the installation of the optional I O board as this requires the opening of the receiver case RS422 port port C UO connector RS422 Port C pin view DSNP 4 1 4 Extended I O option RS422 port port C RS422 Cable Part number 26E1076571 A B C A is a 10 contact FGG 1K 310 CTAK 5011265 plug Manufacturer LEMO B is a 15 contact female subD DA 15S 5010832 connector with metal cover DA121073 150 and 250 8501 013 2 5080329 Manufacturer CANNON
22. A 4 O Receiver F1 carrier Beacon id q O F1 carrier Beacon id s Slot 2 F1 carrier Slot 4 Corrections will be received on the same reception frequency The receiver 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 Aquarius 5000 series up to 4 different sets of DGPS 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 method DSNP Processing options DGNSS Typical programming example The example below describes a DGNSS system using the DSNP UHF data link Proceed in the order given below 1 Enter the definition of the beacon i e the DSNP UHF transmitter by sending the following command to the GNSS receiver that will be used as the reference station PDAS DGPS STATION 1012 BLIXERD 3845 45 S 01021 00 E UHF 421000000 50 1200 DN Beacon ld 1012 Beacon name BLIXERD Beacon coordinates 38 45 45 S 10 21 E Band and carrier UHF 421 MHz Beacon range 50 km s Configuring the UHF reference station 2 two empty fields Baud rate 1200 Bd Modulation type DQPSK No encryption 2 Send the following command to define this receiver as the reference station PDAS DGPS MODE 1 D E
23. C 56 Graphic Pane G 7 G 13 GSA C 54 GSV C 54 H HARDRS C 59 Hardware and Software identification 1 50 HEALTH C 61 Height correction 5 32 HOLD 1 13 1 43 I O option RS422 port 4 1 IDENT C 63 IMME IMMED 1 46 C 36 Immediate recording at base station 5 20 Initial configuration B 3 Inmarsat 2 4 2 5 2 11 2 19 A 10 A 11 Input DC voltage 1 12 Insert PCMCIA card 1 34 Install DGNSS 2 1 DSet Pack G 1 Extended I O option 4 1 GPS antenna 1 3 6 5 QA QC 2 23 Receiver 1 4 DSNP Aquarius 5000 User s Manual Index Station Control Software 5 2 Station kit 6 5 UHF antenna 3 5 UHF receiver 3 4 UHF transmitter 3 4 WADGBPS 2 17 INTEGAP 2 27 INTEGID 2 27 Integrity definition A 8 Integrity results 2 23 INTEGS 1 16 2 27 Internal or autonomous Quality Control 2 22 C 84 Internet sites A 10 Inverse flattening C 45 K KART Characteristics 2 30 Implementing 2 33 Initialization modes 2 34 Theory of operation 2 28 KART A 2 35 KARTMODE 1 49 2 34 KART R 2 35 L1 A 2 L2 A 2 List Files on PCMCIA 1 37 Load Configuration from PCMCIA 1 38 Geodesy 5 30 Position from PCMCIA to base station 5 14 Aquarius 5000 User s Manual Index Load Settings G 16 Local Grid 5 31 Local time C 96 LRK Implementing 2 33 Initialization modes 2 34 Theory of operation 2 31 LRK format 2 11 2 33 2 38 2 39 3 2 3 3 3 16 3 18 LRK A 2 35 LRKMODE 1 49 2 34
24. DSNP E 5 GPS Raw Data in SBIN format SBIN R Single frequency GPS pseudoranges in satellite time Next 3 bytes Next 3 bytes Next byte Last byte E 6 L1cyq carrier phase unit 10 cycle modulo 10 cycles L1c a carrier phase unit 4x10 cycle s field 32 Hz MSB sign 800000 measurement not valid L1c a 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 complies with RTCM message No 18 000 phase error lt 0 00391 cycle 001 phase error lt 0 00696 cycle 010 phase error lt 0 01239 cycle 011 phase error lt 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 gt 0 12480 cycle C A code quality indicator Bits 0 to 3 pseudorange multipath error indicator complies with RTCM message No 19 1111 multipath error not determined DSNP GPS Raw Data in SBIN format SBIN R Single frequency GPS pseudoranges in satellite time Bits 4 to 7 pseudorange data quality indicator complies with RTCM message No 19 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 pseudor
25. Press the Del key to reject or re select the highlighted SV Press the Yes key to validate all the changes made to the PRN table DSNP 5 27 Station Firmware option Coordinate System Used Coordinate System Used From the main menu select the fifth icon G Press J The following function menu then appears oord systern Peet on Change to WGS84 Load geodesy Local grid Height correction Datum This function gives the characteristics of the datum used As shown in the example below this information is presented on two screens Use the PgUp and PgDn keys to change screen _l 2 Ntf 6 6378249 145n 293 463000000 1 666000000008 8 168 B88nm 72 008m 318 500mg 5 28 DSNP Station Firmware option Coordinate System Used Projection This function gives the characteristics of the projection used see example below rojection Lamber 46 48 66 088 Change to WGS84 This function allows you to choose the WGS84 as the new system used by the receiver User confirmation is required before the receiver switches to this system DSNP 5 29 Station Firmware option Coordinate System Used Load Geodesy This function allows you to transfer the geodesy coordinate system defined for a job to the base station 5 30 After inserting the PCMCIA into the GNSS receiver of the base station select the Load Geodesy function The names of the jobs read from the PCM
26. Receiver Standard connections same as 5001 5002 GPS COMPUTER O POWER DGPS A RS232 B RS232 l Built in UHF receiver GNSS Engine L1 L2 PCMCIA Reader 16 char x 2 line Status Display ON OFF Scroll B 20 DSNP Introduction to the DSNP Aquarius 5000 series Block Diagrams 5002 SK Long Range Kinematic Station L1 L2 antenna a 3 dB UHF antenna 10 metre GPS coaxial cable RG223 d 6 50 m UHF coaxial cable KX15 Accessories Plug in UHE e transmitter T Receiver Standard connections same as 5001 5002 lis K C A RS232 B RS232 DGPS D RS422 GNSS Engine L1 L2 E ON OFF Scroll B 21 Introduction to the DSNP Aquarius 5000 series Block Diagrams B 22 DSNP Commands library Introduction C Commands library Introduction This appendix provides a description of all the DSNP proprietary commands Commands are presented in alphabetical order and described outside their use contexts emphasis is placed on the syntax rather than on the use context For each command the description plan is always the same function syntax parameters examples Purpose The DSNP proprietary commands are intended for the control and configuration of your DGNSS receiver Applying commands to a DGNSS receiver This requires an RS232 serial line between the control terminal usually a PC computer and the receiver port A COMPUTER
27. Station Firmware option Foreword The Station Firmware option allows you to operate your receiver as a DGNSS corrections generator No instructions are provided in this section concerning the installation of the Station Firmware option as such As a matter of fact this option can only be installed by DSNP before delivery if your initial purchase includes this option or by your distributor if you ordered this option separately at a later date The Station Firmware option also includes a 3 2 diskette or a CD ROM containing the Station Control software This section tells you everything you should know to install and use this program The Station Control software is required to configure the DGNSS corrections generator from an external computer Typically this program should be installed and run on a palmtop computer such as the FS GS available from the DSNP catalogue Alternately the programming of the DGNSS corrections generator can be performed using the DSet Pack software 5 5 2 Station Firmware option Installation Installation Equipment required Your palmtop aPC type computer fitted with a 312 diskette drive and an RS232 port An RS282 serial line cable The 31 2 diskette or CD ROM supplied containing all the files of the Station Control software Program files The diskette supplied contains the following files t bat tov201fr lan tov201uk lan tov20100 exe topofr
28. TTT 2 28 URK T 2 31 Implementing the KART and LRK processing modes 2 33 3 Data LINK opionS ssssssssssssss esec 3 1 UHF Data link Option censenda 3 1 INTOGUCUONS sen a E A 3 1 Data link specifications sese eee eee eee eee eee 3 2 Instalati sinense a e a ay cones eteies 3 4 Typical programming Steps esse eee eee eee eee eee 3 8 UHF Datalink Programming Examples sese eee eee eee eee e 3 10 Transmitted Data Blocks sese eee 3 18 DSNP iii Aquarius 5000 User s Manual Table of Contents 4 Extended 1 O Option sss sese sse 4 1 Installation siisii ai e anaa ai aana 4 1 RS422 port Poft a 4 1 10 MHz external oscillator input eee ee eee eee eee eee 4 3 AT PPS OUMU THT 4 3 External Event MPU soisessa haska a aA 4 4 5 Station Firmware Option ccccccccccccsceeceeceeeeeeeeeeeeeeeeees 5 1 FOO WOPO aiiiar a e a a a a aa 5 1 le e iei aiaa Ta 5 2 Ss1HIsTnizT as e nia 5 2 Programi files srci a E a aE E EENE 5 2 Installation instructions eee eee eee eee eee 5 3 Introduction to operating Instructions sss sees eee eee eee eee eee 5 4 Introduction to the Station Control Software sse eee eee eee eee e 5 5 Palmtop display ses cesei23ccauchesesceceasdacecespenctaesdesdapessetdenauseaeaseieacaensaias 5 5 Keys Ald IMGNUS iriiri vee 5 5 Getting started H 5 10 Station Contolera ERR 5 12 ANDE ATE PE E EE ET 5 12 POSION deiae a eaaa T e eaaa EE ES 5 13 eze pt T viimises seian aaeeea N EEEE 5 16 Average positiON sss c
29. l Power supply mode Recording status End time hh mm of APW Automatic REC recording in next or current MPW Manual progress session blank no recording or current time if in progress Immediate session Power supply mode APW If this option is active sessions control the power supply of the receiver The ON OFF pushbutton is still usable but it won t turn off the receiver if a session is in progress MPW If this option is active sessions have no control on the power supply of the receiver Only the ON OFF pushbutton has Session status ON Programmed sessions are run once CYCL Programmed sessions will be repeated if this may happen IMME Immediate recording session in progress Data recorded on PCMCIA if option installed END All sessions are disabled or ends the immediate session 1 46 DSNP Basic operating instructions for the 5000 series Checking receiver operation from the Status Display Screen No 6 Information about corrections e If the equipment is connected to a transmitting beacon Display example Frequency band U UHF band Format type Mii WIE pana i DSNP Transmission H HF band RTCM X undefined Beacon ld LRK baud rate Bd i _ 0013 DSNP4800b C1 3 446 3625MHz l l Transmit slot number Transmission frequency in MHz Number of slots in UHF band 1p
30. lt GEO Number gt PRN of geostationary satellite gt 100 lt CRC validity flag gt 0 Good 1 Bad lt WAAS message No gt From 0 to 63 same as WAAS encoding lt Preamble identifier gt From 1 to 3 byte number in preamble lt WAAS word gt 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 Data block example W 980 209274 0 C 14 2 D 120 0 9 1 F471A0418A0F158CD50A 1B 178034D586A F55127E070B10E144F82 48 E 132 0 9 1 8AC442C6A FOF16AF558A 0F471A0410ECD500418A 15837A F89A0B4 62 oe D 24 DSNP GPS Raw Data in SBIN format Notation Rules E GPS Raw Data in SBIN format Notation Rules e Reserved characters By principle all possible binary values in a byte are allowed However three ASCII characters are used for message identification ASCII byte FE denotes beginning of binary block ASCII byte FF denotes end of binary block ASCII byte FD denotes intentionally altered character If between the beginning and the end of a block the binary string initially includes such characters then the following modifications are made to the string to avoid misinterpretation of the data at a further stage FD is converted into FD 00 FE is converted into FD 01 i FF is converted into FD 02 NOTE When counting bytes in a message remember that all the doubled characters i e FD
31. lt cr gt lt it gt PDAS COMMNT lt cr gt lt if gt for identification of the configuration you ve just loaded PDAS COMMNT 1 1 CONFIG PALMTOP 61 1 38 DSNP DSNP Basic operating instructions for the 5000 series Checking receiver operation from the Status Display Checking receiver operation from the Status Display Your receiver is fitted with a 2 line x 16 character display which allows you to check its current operating status A Scroll pushbutton on the front panel allows you to access the different data available from this display When you turn on the receiver the following message appears on the status display until the self tests are complete Then the status display changes as the receiver status changes Ten different screens have been designed to describe the receiver s internal data status configuration options software versions You only need to use the Scroll pushbutton located on the front panel to access each of these screens A long press on this button will unconditionally take you back to screen No 0 the most important one at receiver start up 1 1 39 Basic operating instructions for the 5000 series Checking receiver operation from the Status Display Each screen is identified by a number to help you navigate through the set of screens The screen number is located at the beginning of the upper line When the amount of data is too large to fit on a single screen several sub
32. 1 4 To enter 40 seconds as the maximum age not to be exceeded by the DGPS corrections received send the following command PDAS AGECOR 40 2 12 DSNP Processing options DGNSS When the DGPS corrections are received and involved in the position processing Screen No 0 on the Status display should look like this In this screen example 8DGPS corrections are received aged 1 second on average DGPS position solution delivered by the receiver of the 10 pseudoranges received 8 are corrected The DGPS corrections received can be viewed by selecting Screen No 7 on the Status display e Example of programming steps letting the receiver use RTCM SC104 or DSNP UHF corrections acquired by the built in UHF receiver 1 Enter the definition of the station transmitting corrections in the DSNP UHF format by using the command below carrier frequency 444 55 MHz 1200 Bd DQPSK modulation PDAS DGPS STATION 8 DSNP 4716 N 00129 W UHF 444550000 30 1200 DN DSNP 2 13 Processing options DGNSS Use the following command to configure the built in UHF receiver in order to let the receiver acquire and decode the DGPS data received from the reference station used in this example station No 14 used PDAS DGPS MODE 1 D R 8 514 Use the following command to choose the fix mode in which the DGPS corrections received will be involved PDAS FIXMOD 4 1 14 To choose the DGPS solution as the po
33. 10 EA E software error Software error SYSTM DSNP 1 61 1 Basic operating instructions for the 5000 series Troubleshooting 1 62 DSNP Processing Options NOTICE In the first part of this section the differential processing methods are described conventional DGNSS WADGPS complete with QC All users should read this part as these methods are implemented in all receivers from the Aquarius 5000 Series In the second part the optional KART LRK methods are presented This part may be skipped unless you are the user of one of these options Processing options DGNSS 2 Processing options DGNSS Introduction DGNSS is a processing mode used to refine the GPS position computed in a GNSS receiver using pseudo range corrections generated at a stationary point by a reference Station To operate in DGNSS you can use DGPS pseudo range corrections in the RTCM format delivered by an external equipment attached to your receiver via a serial port or use a specific data link from the reference station to each receiver A UHF hardware option is available from DSNP see section 3 to implement this kind of data link This section assumes that you are familiar with the basic DGPS techniques A few additional key elements are required however to understand all the DGNSS capabilities offered by your receiver This is discussed in the next pages Software installation As the DGNSS processing mode is part of any eq
34. 1001 1010 1011 1100 1101 1110 1111 pseudorange error lt 0 020 pseudorange error lt 0 030 pseudorange error lt 0 045 pseudorange error lt 0 066 pseudorange error lt 0 099 pseudorange error lt 0 148 pseudorange error lt 0 220 pseudorange error gt 0 329 pseudorange error lt 0 491 pseudorange error lt 0 732 pseudorange error lt 1 092 pseudorange error lt 1 629 pseudorange error lt 2 430 pseudorange error lt 3 625 pseudorange error lt 5 409 pseudorange error gt 5 409 DSNP GPS Raw Data in SVAR format SVARIA Almanac data e Data block example 1R 945 409517 0 amp P 30 0 3 2137408867 7051638 1159380 51 2 0B 8F 23 50 45 50D76954 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 212381893S3 1570001 1821372 51 2 42 7F 12 158 234 1893847 1419264 01 5F 6 23 2202008192 7741120 1358284 45 2 01 9F 12 106 130 6822254 1058392 21 9F 7 25 2292481 156 6441213 4086108 37 A 54 BF 500 0 00 00 9 31 2248027302 5125919 2635232 39 2 5B BF 12 212 243 3302338 2053544 62 CF SVARIA Almanac data e General Form lt stx gt lt eoln gt lt IA gt lt time tagging gt lt eoln gt lt parameters gt lt
35. 1012 Beacon name BLIXERD Beacon coordinates 38 45 45 S 10 21 E Band and carrier UHF 421 MHz Beacon range 50 km two empty fields Baud rate 1200 Bd Modulation type DQPSK No encryption DSNP 2 9 Processing options DGNSS Send the following command to define the GNSS receiver aS a corrections receiver the navigator receiver PDAS DGPS MODE 1 D R 1012 13 Command line 1 Port D serial port of the DSNP UHF transmitter Receiver defined as DGPS corrections receiver R Beacon ld the received DSNP UHF transmitter 1012 Identification number of the reference station received 13 Send the following command to select the DGNSS mode in the navigator receiver PDAS FIXMOD 4 1 13 Single station DGPS fix mode 4 DGPS reference station 1 Identification of the DGPS reference station 13 Send the following command to select the DGPS solution as the position solution used in navigation PDAS NAVSEL 1 1 DGPS fix used for navigation 1 Navigation mode none gt 1 DSNP DSNP Processing options DGNSS Implementing Conventional DGNSS Introduction With the basic version of the Aquarius 5001 or 5002 receiver conventional DGPS can be implemented using DGPS RTCM SC104 data in the 6 of 8 character format In this operating case the required data will be generated by an external receiver demodulator a device receiving data from an MF rad
36. 4 selects single station DGPS as the current GPS fix mode 12 selects WAAS EGNOS to be the source of DGPS corrections hence WADGPS and pseudoranges from this system will be used 120 is the PRN of the GEO used IMPORTANT When you decide to use the WAAS EGNOS system to enhance your navigation do not forget to issue the corresponding position solution i e DGNSS by running the following command PDAS NAVSEL 1 1 DSNP 2 21 Processing options QA QC 2 22 QA QC Introduction Two types of Quality Control can be used in the Aquarius receiver 1 Autonomous Quality Control whose main features are summarized below Operates in standalone without resorting to information from external equipment Consists of a simplified UKOOA control in which suspect pseudoranges are simply detected not eliminated from the position processing QC results are not reported on the front panel status display but instead stored as internal variables which can be issued from the receiver by defining and enabling appropriate computed data output See page 2 26 As of today is only available in Straight GNSS conventional DGPS or WADGPS 2 External Quality Control whose main features are summarized below Uses implicitly integrity information from a WASS EGNOS GEO when the WADGPS processing mode is used Monitors SV states The state of any SV rejected by the WAAS EGNOS integrity control will be
37. 8 PDAS OUTMES 8 C 1 20 1 5 7 8 9 10 20 6A C 74 DSNP DSNP Commands library PDAS OUTMES PDAS OUTMES 1 A 1 100 Creating Validating output 1 on the port through which this command is sent Data blocks such as those below are returned to your display terminal GPGGA 104849 99 4716 12353 N 00129 44097 W 0 09 1 85 99 M 0 00 M 1 0 0000 GPGGA 104859 99 4716 12259 N 00129 43925 W 0 09 1 80 49 M 0 00 M 1 0 0000 GPGGA 104909 99 4716 12146 N 00129 43786 W 0 09 1 75 71 M 0 00 M 1 0 0000 GPGGA 104919 99 4716 12013 N 00129 43679 W 0 09 1 71 56 M 0 00 M 1 0 0000 GPGGA 104929 99 4716 11865 N 00129 43614 W 0 09 1 68 01 M 0 00 M 1 0 0000 GPGGA 104939 99 4716 11713 N 00129 43585 W 0 09 1 65 04 M 0 00 M 1 0 0000 C 75 Commands library PDAS OUTON and PDAS OUTOFF PDAS OUTON and PDAS OUTOFF e 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 disabling command PDAS OUTOFF hh lt CR gt lt LF gt Output re enabling command PDAS OUTON hh lt CR gt lt LF gt e Parameters none hh Checksum optional lt CR gt lt LF gt End of command s Examples PDAS OUTOFF All data outputs suspended No reply PDAS OUTON All data outputs resumed No reply C 76 DSNP Commands librar
38. 99 A D 7E F 4 DSNP Computed Data Outputs Output 3 GPVIG Output 3 GPVTG Course Over Ground and Ground Speed GPVTG x x T x xx N x xx K a hh lt cr gt lt lf gt Field type Variable Field Designation ConfPack GPVTG NMEA183 message identifier x x IT COG _ Course Over Ground degrees x xx N SOG Speed Over Ground knots X Xx K SOG Speed Over Ground km hr a Mode indicator A Autonomous mode D Differential mode E Estimated dead reckoning mode N Data not valid e Output example GPVTG 120 4 T 5 74 N 10 63 K D 45 GPVTG 119 1 T 5 81 N 10 76 K D 4E l 1 DSNP F 5 Computed Data Outputs Output 4 GPGSA Output 4 GPGSA GPS DOP and Active Satellites GPGSA A X XX XX XX XX XX XX XX XX XX XXyyo9995 X X X X X X hh lt cr gt lt lf gt Field type Variable Field Designation ConfPack GPGSA NMEA183 message identifier A 2D 3D automatic switching mode x MODE Fix mode 1 invalid fix 2 2D mode 3 3D mode XX XX NSVU PRN of SVs used in the solution X X PDOP _ Position DOP 1 0 if not computed X X HDOP Horizontal DOP 1 0 if not computed X X VDOP Vertical DOP 1 0 if not computed e Output example GPGSA A 3 24 18 25 07 15 19 16 04 14 555 2 0 1 1 1 0 19 GPGSA A 3 24 18 25 07 15 19 16 04 14 555 2 0 1 1 1 0 19 F 6 DSNP Computed Data Outputs Output 5 GPZDA Output 5 GPZDA UTC day month year
39. Appendix F describes the default messages of computed data Appendix G presents the DSetPack software including the Win Comm communication software DSNP Aquarius 5000 User s Manual Table of Contents Table of Contents 1 Basic operating instructions for the 5000 series 1 1 Introductory c 1 1 Unpacking and installation sese eee eee eee eee 1 2 Talee ale issic ste casdea caband adecdedea a stdecccd gies cia tstlendasaren iE iare ee 1 2 GPS antenna installation sese eee eee eee 1 3 Receiver installation sssssssee esse esse esse essere ennenen nenen 1 4 COnnechioOnS esse eee eee 1 6 Receiver GeSCription cccecsecceceeseceeeeeeneeseeeeneeseeeeneeseeeeneeees 1 7 Front Panel ccs sence check eepeine deh asceteusestcedstghesccudslecaesterdesnessradaevineaeseeees 1 7 Rear PANG coi vessobedivlegexesste a a E esr eee 1 9 Getting your equipment Started sese eee eee 1 10 S Tesla enle l 1 10 PC Tc eue ls 1 10 Getting Started ee eee 1 11 Editing the estimated Position eee eee eee 1 15 Editing the receiver time amp Cate seene 1 16 Checking the fix mode used sees eee eee 1 17 Checking the type of position solution used for navigation 1 18 WOK SOSSIONS T 1 19 Theory Of Operations ssssssce esse es sere eesee essere enre ennenen ennenen 1 19 A few programming examples sse eee eee eee eee eee 1 22 Usual changes made to the receiver configuration from the Control computer eee eee eee eee ee
40. Automatic power mode 5 21 Autonomous Quality Control 2 22 AUTPW 1 20 C 37 Average position mode 5 4 5 18 Basic connections 1 10 Baud rate 2 7 2 9 3 8 C 30 C 59 G 15 G 16 Beacon 2 2 Beacon Id 2 2 2 7 2 8 2 9 2 10 3 8 3 10 3 12 3 14 3 16 G 22 G 23 Beacon name 2 7 2 9 3 8 Bold Times New Roman C 4 Buttons ON OFF 1 7 1 12 1 46 5 4 ON OFF indicator light 1 55 Scroll 1 7 1 13 1 39 1 42 Scroll indicator light 1 55 C 38 Buzzer station control software 5 10 C C3 code G 22 Carrier frequency 3 8 Cell types G 10 Change Definition of computed data outputs 1 28 Definition of GPS raw data outputs 1 30 Definition of pseudorange data outputs 1 31 Estimate 1 15 Filtering time constant 1 33 Fix mode 1 17 Navigation mode 1 32 Receiver time amp date 1 16 Sequence of sessions 5 21 Serial ports settings 1 27 Solution used for navigation 1 18 Station parameters 5 8 To WGS84 5 29 Check count of received satellites 1 12 Estimated position 1 14 Fix mode 1 17 Power voltage 1 12 Receiver operation from status display 1 39 Solution used for navigation 1 18 Choose location for station 6 5 DSNP CM C 63 Combo cells G 10 COMMNT C 11 Computed Data Outputs defaults F 1 Conf Pack 1 10 CONFIG C 12 CONFIG CFG file 1 38 CONFIG INIT C 13 CONFIG LOAD C 14 CONFIG READ C 15 CONFIG RESET C 16 Configuration 5 34 ConfPack 1 38 Continuity indicator 3 2
41. Commands are generated using the computer in terminal mode or better using DSNP DSet Pack or Win Comm software DSNP C 1 Commands library Introduction If for any reason you do not have the serial cable required you can prepare a cable according to the following wiring instructions Control _ Receiver computer SubD 9F s TxD RxD 2 yA mli 3 5 GND aT g Gls ars 7 7 BIR crs 8 Pinout of COMPUTER connector on DGNSS receiver rear panel COMPUTER connector RS232 Port A type JKX FD1G 07 MSSDSM plug JBX1 MPN 3 Pin Signal manufacturer FCI pin view 2 EA C 2 DSNP Commands library Introduction Format The format of all the commands available complies with the NMEA 0183 standard DSNP was assigned a manufacturer code by the NMEA 0183 Committee for all its proprietary sentences which we call here commands This code is DAS As a consequence the first field in any DSNP proprietary command will therefore be PDAS where indicates the beginning of a command P identifies a proprietary command DAS is our manufacturer code The beginning of any field is denoted by a comma This character is the only way 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 cheksum field is compulsory it is optional in all DSNP propr
42. D en Only pseudorange corrections are available in this format For example to let the receiver output DGPS data on its B port in Immediate mode and in the LRK format use the following command PDAS DGPDAT 1 B 3 2 A DSNP 2 39 2 Processing options KART LRK 2 40 DSNP Data Link Options NOTICE The Data Link hardware is marketed as an option This section may be skipped unless you are the user of one of these options WARNING Each country maintains its own rules and regulations with respect to the operation of radio equipment It is the user s responsibility to assure that proper licensing procedures are followed in accordance with the laws of each country DSNP may provide licensing assistance for operation of the UHF transmitter Operating an unlicensed radio transmitter is a violation of the law You may be subject to fines or other penalties if you operate a radio transmitter without proper licensing DSNP Data Link options UHF Data link option 3 Data Link options UHF Data link option Introduction The UHF data link allows operations in the UHF RTCM SC104 DGNSS the KART or the LRK format The UHF data link comes as a hardware option unless you have an Aquarius 5002 SK MK or Aquarius 5001 SD MD receiver in which case the UHF data link is part of your purchase If your initial purchase does not include this option and you buy it later you will have to make it instal
43. DSNP UHF SVAR D RTCM S0104 DSNP UHF For example to let the receiver output DGPS data on its A port in time mode every 10 seconds and in the SVAR D format use the following command PDAS DGPDAT 1 A 1 100 4 For example to allow the receiver to start an immediate session with data recording on PCMCIA PCMCIA recording capability option is required send the two commands below In this example data in the DSNP UHF format will be recorded PDAS EXPSES IMMED MANPW PDAS DGPDAT 2 P 3 3 1 Use the following command to stop the data recording and end the immediate session PDAS EXPSES END MANPW 2 16 DSNP Processing options WADGPS WADGPS Introduction WADGPS Wide Area DGPS is a processing mode used to refine the GPS position computed by the Aquarius receiver using the WADGPS corrections and possibly the WAAS EGNOS pseudo ranges broadcast by a geostationary satellite GEO of the WAAS or EGNOS system Please refer to Appendix A for more information about these systems When only pseudoranges are used in the position processing then GNOS is reported as the fix mode currently used by the receiver see Screen No O in page 4 When WADGPS corrections and possibly WAAS EGNOS pseudoranges are used WDGP is reported on that screen Software Installation As the WADGPS processing mode is part of any equipment from the 5000 Series no prior installation phase is required to use
44. Data in SBIN format SBIN R Dual frequency GPS pseudoranges in satellite time Next byte Next 2 bytes Next 2 bytes Next 3 bytes Next 3 bytes Bits 4 to 7 pseudorange data quality indicator complies with RTCM message No 19 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 pseudorange error lt 5 409 1111 pseudorange error gt 5 409 L1pyy Lica carrier phase deviation centred around zero unit 1 256th cycle MSB sign 80 measurement not valid PL CIA code deviation unit 10 s field 3 2 us MSB sign 8000 measurement not valid PLS C A code deviation unit 10 s field 3 2 us MSB sign 8000 measurement not valid L2p y carrier phase unit 10 cycles modulo 107 cycles of L2 L2py carrier speed unit 4x10 cycles s field 32 kHz MSB sign 800000 measurement not valid GPS Raw Data in SBIN format SBIN R Dual frequency GPS pseudoranges in satellite time Next byte Last byte
45. E Atlantic Ocean Region East located above the Equator at 15 5 W longitude PRN 131 INMARSAT MI F1 IOR Indian Ocean Region located above the Equator at 64 E longitude DSNP A 11 Introduction to GNSS GEO current status December 1998 MSAS Japan No information available to date concerning the availability of a signal E A 12 DSNP Introduction to the DSNP Aquarius 5000 series Preamble B Introduction to the DSNP Aquarius 5000 series Preamble Welcome to the DSNP Aquarius 5000 series We hope that this equipment will give you full satisfaction The DSNP Aquarius 5000 series has been designed for marine surveys As you know the modular concept adopted in the design of the 5000 series has made it possible to optimize the purchase of your surveying equipment by allowing you to buy just the necessary pieces of equipment needed for your applications In this appendix we will describe the whole 5000 series from the basic equipment up to the most sophisticated one In this description you will recognize the equipment you have just purchased you will read the preliminary instructions on how to control and operate it and you will be informed on how to make extensions to your initial configuration The heart of your equipment The heart of your equipment is what we call the GNSS engine All the products from the Aquarius 5000 series are built around this engine The GNSS engine comes in two
46. Eia 1sec GPRMC Recommended Minimum E a GNSS S EAJ TIME GPGRS GNSS Range Residuals A TIME 1sec GPGST GNSS Pseudorange Error Statistics BEO RL o A TIME 1sec GPGSV GNSS Satellites in View EE eta S ve e ee L By default all outputs are OFF at receiver power on DSNP F 1 Computed Data Outputs Output 1 GPGGA Output 1 GPGGA Global Positioning System Fix Data GPGGA hhmmss ss IIL IMIILa yyyyy Yyyyy a X XX X X X xx M x xx M x x xxxx hh lt cr gt lt lf gt Field type Variable ConfPack GPGGA hhmmss ss TUTC M a LAT yyyyy yyyyy a LON X FIXS DS XX NSVU F 2 Field Designation NMEA183 message identifier UTC time of position computation Latitude degrees 2 char minutes 2 char 1 100 000 min N S indicator Longitude degrees 3 char minutes 2 char 1 100 000 min E W indicator GPS quality figure 0 fix not available or invalid 1 straight GPS fix 2 Differential GPS fix 4 Real Time Kinematic KINE A KINE R LRK or LRKW 5 Real Time Kinematic EDGPS KART or LRK initialization 6 Estimated dead reckoning mode Number of SVs used to compute the fix DSNP Computed Data Outputs Output 1 GPGGA X X HDOP Horizontal Dilution of Precision 1 if not computed x xx M ZP Antenna altitude above MSL in meters if MSL lt 0 If MSL 0 ZP is the altitude above the WGS84 x xx M MSL Geo
47. Heading future use 3 Heading along a specified direction future use 4 Route future use DSNP Commands library PDAS NAVSEL C C C Navigation instructions 8 characters max If b 2 or 3 c label of target waypoint If b 4 c label of the route to follow d X Direction of travel along the route If d 1 direct If d 0 inverse hh Checksum optional lt CR gt lt LF gt End of command t e Examples PDAS NA VSEL QUERY PDAS NAVSEL 1 1 29 DGPS Position mode PDAS NAVSEL 2 Changing fix used for navigation PDAS NA VSEL QUERY PDAS NAVSEL 2 1 2A EDGPS Position mode DSNP C 71 Commands library PDAS OUTMES PDAS OUTMES e Functions Edits the definitions of the computed data outputs Adds new definitions of computed data outputs e Syntax Complete command PDAS OUTMES a b c d e n hh lt CR gt lt LF gt QUERY command PDAS OUTMES a b hh lt CR gt lt LF gt Command identification PDAS OUTMES e Parameters ref format a X X message number 0 to 20 b a Port identification A B C D P C X Trigger mode 8 to 8 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 Event is the triggering signal 3 reserved 4 1pps is the triggering signal C 72 DSNP Commands library PDAS OUTMES 5 Manual future developmen
48. 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 D 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 PDAS DGPDAT 2 A 1 50 1 2 3 5 9 16 Re defining output 2 To port A Time output mode 5 sec output rate RTCM SC104 data messages Nos 2 3 5 9 16 PDAS DGPDAT Re listing definitions of outputs 1 amp 2 PDAS DGPDAT 1 D 1 10 3 1 2 71 PDAS DGPDAT 2 A 1 50 1 2 3 5 9 16 54 Again if a display terminal is connected to port A then data blocks of the following type are now received fAC fEr fRXnzdUOlorxDs ICSnY OnY cTzCiXaOOu MouRjpL JZPN CzPM mI_puAOulCosdYn cp ET bo l Ym qfLi Dp GpzWyC KsMfQB jEXsb_DCBey pfLZGDDbxOEhFL_L_fQB OzoB IDCbpZLL YsOGNDDGpzW t LdYn cpy_tbIDCbVcpfLRGMDQGpzWy AIsw Yn cUFhG DCbcXTMIss cWJgxOEhFX JvLJfQB jy pbj lm_cgpvLY_bdFnxOEhF IpLQfQB OF w lm y svLy MXe xOEX WNwL C 35 Commands library PDAS EXPSES C 36 PDAS EXPSES Function Syntax Edits the operating mode linked to sessions Complete command PDAS EXPSES a b c d hh lt CR gt lt LF gt QUERY commana PDAS EXPSES hh lt CR gt lt LF gt Command identification PDAS EXPSES
49. LRK R 2 35 M MANPW 1 20 2 16 C 37 Map resolution world map editor G 32 MDEf i 2 26 MEMORY C 67 MEMORY DIR C 68 Modulation type C 30 Menus Function 5 6 Help 5 7 Main 5 6 Modulation type 2 7 2 9 3 2 3 3 3 8 MPW MANPW 1 46 MSAS A 12 MSAT A 7 MSL C 9 N Naming product naming B 5 NAVIGATION G 21 Navigator receiver 2 3 2 4 NAVSEL C 70 NDS100 3 12 NDS100 Mk IT 2 15 3 10 3 12 3 14 3 18 B 16 NFMEA 2 26 NFTST 2 26 NFVAL 2 26 NMEA 0183 standard C 3 NM2DM 2 26 NM3DM 2 26 Normal Times New Roman C 4 NSV2D 2 26 NSV3D 2 26 O ON 1 21 1 46 C 36 Operating Status 1 41 Orbits GPS satellites A 1 OTF 2 34 2 38 3 15 3 17 B 14 OUTMES C 72 OUTON OUTOFF C 76 P Palmtop Re format disk 5 35 Reset 5 35 PC connection 1 10 PCMCIA 1 34 C 67 C 68 Control 1 35 File organization 1 35 List files 1 37 Load configuration from 1 38 Read amount of free memory 1 36 DSNP PCMCIA recording capability option 1 19 1 23 1 36 2 15 2 16 2 39 Pending session 1 8 1 46 1 55 Period XMTR G 23 Phase centre 1 3 6 1 6 10 6 11 Pinout Rear connectors 1 51 1 52 1 53 COMPUTER connector C 2 Placing beacons on the map G 35 POSIT 1 56 1 59 1 60 2 34 2 35 Position solution 1 43 Position solutions Types 1 18 2 35 Power cable 1 10 POWER connectors 1 9 PRANGE C 77 Precautions Source polarity 1 10 when installing the GP
50. Line number 1 to 3 Port identification A B etc E for Transmitter The other setting R for this third parameter is discussed in the next command description Transmitter identification number as referenced in PDAS STATION If d is omitted corrections are simply made available on the specified port no transmitter control provided Transmission programming 1 0 free mode 1 to 6 transmission rate in seconds synchronous mode In synchronous mode e 1 to 6 f is the transmit slot number 1 to 6 Checksum optional End of command DSNP Commands library PDAS DGPS MODE e Examples PDAS DGPS STATION Listing all known stations PDAS DGPS STATION 1 LRK1 4716 28 N 00129 23 W UHF 446532000 0 50 00 4800 0 GN 4E PDAS DGPS STATION 1 1 DSNP1 47 10 00 N 00030 00 E UHF 443550000 0 35 00 1200 0 DN 3B PEDAS DGPS MODE 1 D E 1 3 2 Writing description line 1 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 PDAS DGPS MODE Listing all the description lines PDAS DGPS MODE 1 D E 1 3 2 05 PDAS DGPS MODE 2 N 79 PDAS DGPS MODE 3 N 78 PEDAS DGPS MODE 1 D E 11 0 Re programming line 1 According to this line line 1 the receiver will transmit corrections via transmitting station No 11 in free running mode No receiver reply
51. MODE 2 B R 712 713 26 PDAS DGPS MODE 3 N 78 C 28 DSNP Commands library PDAS DGPS STATION PDAS DGPS STATION e Functions Allows you to enter the complete description including decryption code C3 of each of the usable reference stations Allows you to list the description of each of them or all of them e Syntax Complete command PDAS DGPS STATION a b c d e n hh lt CR gt lt LF gt QUERY command only the specified station is reported PDAS DGPS STATION a hh lt CR gt lt LF gt QUERY command all stations are listed PDAS DGPS STATION hh lt CR gt lt LF gt e Command identification PDAS DGPS STATION DSNP C 29 Commands library PDAS DGPS STATION C 30 e Parameters ref a a a T format X CC ILI a yyyyy yy X X X X CC X X X X cc Transmitter identification number 0 to 1023 Transmitter name 12 char max Reference latitude North or South latitude N or S Reference longitude East or West longitude E or W Band of first transmission frequency UHF First transmission frequency in Hz Range in km Band of second transmission frequency for future development Second transmission frequency in Hz for future development Baud rate 1200 or 4800 Bd Character string containing the following information Modulation type D for DQPSK G for GMSK En
52. See also PDAS FIXMOD and PADS PREEFLL e Syntax Complete command PDAS PREFNE a b c d hh lt CR gt lt LF gt QUERY commana PDAS PREFNE hh lt CR gt lt LF gt s Command identification PDAS PREFNE e Parameters ref format a X Coordinate system number 1 to 10 default 0 b X X Reference station Northing centimetric accuracy required C X X Reference station Easting centimetric accuracy required C 82 DSNP Commands library PDAS PREFNE d X X Reference station altitude in metres centimetric accuracy required hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS PREFNE QUERY PDAS PREFLL 0 0000 000000 N 00000 000000 E 0 00 3E No projection PDAS SELGEO 2 Changing coord syst PDAS PREFNE 2 259127 688 310500 551 48 752 Changing station s coords PDAS PREFNE Checking new ccords PDAS PREFNE 2 259127 6882 310500 5510 48 7520 38 DSNP C 83 Commands library PDAS QC PDAS QC e 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 e Syntax Complete command PDAS QC a b c hh lt CR gt lt LF gt
53. Station ID RCVR Number of other reference station connected to the specified beacon if there is a fourth one NOTE You can only enter 4 different station ID s over the possible three rows of the Editor table DGNSS data You can create up to 2 rows in the Editor table Each row should contain the complete description of aa DGNSS data message as defined below Software set field identifies the row in the Editor table where this DGPS data message is defined Port Port on which this DGPS data message will be available Output Mode STOP TIME EVENT IMMEDIATE Event triggering this message Message inhibited no trigger event Message triggered at regular intervals of time defined in the Rate column Message triggered at every occurrence of the signal chosen from the Rate column Message triggered on releasing the message output when changing the On Off status to ON On Off Default message status when turning on the receiver ON or OFF G 24 DSNP DSNP Rate Format DSet Pack Software Modifying a configuration file using DSet Pack In TIME output mode Rate is a factor defining the output rate of the message expressed in 100 ms units In EVENT output mode Rate is a drop down menu from which you should choose the trigger event EVT1 or 1PPS In this mode the value of output rate will simply result from the occurrence of the chosen trigger event 1 s
54. WADGPS selection in the System cell G 20 DSNP DSet Pack Software Modifying a configuration file using DSet Pack e NAVIGATION Mode A single row possible in the Editor table Working mode Specify the type of position solution that should be available for navigation the possible options depend on the choice you make in the Process module Mode sub module Mode Choose the default Navigation mode which should be used in your receiver s Position is the only option possible in this version Waypoint or Route Inactive cell Direction Inactive cell Bearing Inactive cell DSNP G 21 DSet Pack Software Modifying a configuration file using DSet Pack G 22 e DGNSS Beacons You can create up to 20 rows in the Editor table Each row should contain the complete description of a beacon as defined below Beacon ID Name Lat Long Band 1 Freq 1 Hz Band 2 Freq 2 Hz Range km Baud Rate DQPSK D or GMSK G Yes corrections encrypted or No Modulation Encryption C3 code Identification number of the beacon Beacon name Beacon latitude Beacon longitude Transmission band used Carrier frequency For future use For future use Estimated beacon range Data Transmission baud rate corrections in plain C3 encryption code provided by the beacon s owner You may not type C3 at this stage but when later the receiver use
55. and local time zone GPZDA hhmmss ss xx xx XXXX XX Xx hh lt cr gt lt lf gt Field type Variable Field Designation ConfPack GPZDA NMEA183 message identifier hhmmss ss TUTC UTC time XX XX Xxxx DUTC UTC date day month year XX Local zone hours 00 to 13 hr XX E Local zone minutes 00 to 59 e Output example GPZDA 075448 99 04 11 1998 00 00 4A GPZDA 075449 99 04 11 1998 00 00 4B DSNP F 7 Computed Data Outputs Output 6 GPRMC Output 6 GPRMC Recommended Minimum Specific GPS TRANSIT Data GPRMC hhmmss ss a III I a yyyyy yyyyy a X X X X XXXXXX a hh lt cr gt lt lf gt Field type Variable Field Designation ConfPack GPRMC_ NMEA183 message identifier hhmmss ss TUTC UTC time a FIXS GPS quality figure V Fix not available or invalid A GPS fix available IILI LAT Latitude in degrees 2 char minutes 2 char 1 100 000 min N S indicator yyyyy yyyyy a LON Longitude in degrees 3 char minutes 2 char 1 100 000 min E W indicator X X SOG Speed Over Ground knots X X COG Course Over Ground degrees XXXXXX Date ddmmyy a Mode indicator A Autonomous mode D Differential mode E Estimated dead reckoning mode N Data not valid F 8 DSNP Computed Data Outputs Output 6 GPRMC e Output example GPRMC 193612 99 A 4716 10435 N 00129 45430 W 0 0 0 0 0 41198 D 64 GPRMC 193613 99 A 4716 1043
56. by turning the equipment off and on the user is encouraged to try to correct the interferences by one or more of the following measures Reorient or relocate the receiving antenna Increase the separation between the equipment and the receiver Connect the equipment into an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help The user may find the following booklet prepared by the Federal Communications Commission helpful How to identify and Resolve Radio TV Interference Problems This booklet is available from the U S Government Printing Office Washington DC 20402 Stock No 004 000 00345 4 Use of a shielded cable is required to comply within Class B limits of Part 15 of FCC Rules Pursuant to Part 15 21 of the FCC Rules any changes or modifications to this equipment not expressly approved by DSNP may cause harmful interference and void the FCC authorization to operate this equipment DSNP makes no warranty of any kind with regard to this equipment including but not limited to the implied warranties of merchantability and fitness for a particular purpose DSNP shall not be liable for errors contained herein or for incidental consequential damages in connection with the furnishing performance or use of this equipment This manual contains proprietary information which is protected by copyright All rights are reserved No part of t
57. chapter covers equipment unpacking and installation The 3rd chapter provides a brief description of the receiver The front and rear panels are presented In the 4th chapter page 0 Getting your equipment started it is assumed that the receiver has been properly installed and contains the appropriate configuration This chapter will give you all the basic instructions to start your receiver The 5th chapter page 1 19 Work sessions introduces the notion of session and provides instructions on how to program sessions in the receiver The 6th chapter page 26 describes the usual changes you can make to an operating receiver from the control computer The 7th chapter deals with the PCMCIA card reader page 1 34 PCMCIA reader The usual operations relevant to this card are presented 1 1 Basic operating instructions for the 5000 series Unpacking and installation The 8th chapter page 39 Checking receiver operation from the Status Display provides a comprehensive description of the different screens available on the status display The 9th chapter page 5 Rear panel Connectors contains technical information on connectors The identification and pinout of each connector is provided The 10th chapter page 55 Troubleshooting should help you fix up some problems you might encounter when starting operating the receiver Unpacking and installation Unpacking Remove the different parts from the
58. code for GPS WAAS and pseudolite The WAAS EGNOS pseudorange will be issued in a separate data block 2 24 DSNP Processing options QA QC e WAAS EGNOS data output on a serial port Run the GEODAT command in which you specify the type of data to be output The WAAS EGNOS data comes in two possible formats SBIN W or SVAR W Example PDAS GEODAT 1 A 1 2 where 1 Output number A Output port identification 1 WAAS EGNOS data in SBIN W format s WADGPS corrections output on a serial port Run the DGPDAT command in which you specify RTCM as the type of corrections to be output Example PDAS DGPDAT 1 B 1 200 1 1 9 2 where 1 Output number B Output port identification 1 Time output mode 200 Output rate every 20 seconds 1 Data type RTCM SC104 1 9 Corrections 2 Deltas of corrections DSNP 2 25 Processing options QA QC Internal Variables containing QC results As explained earlier QC results are stored in the receiver as variables see lists below e Autonomous QC NM2DM NSV2D NM3DM NFMEA NFTST F Test result performed on pseudorange WTLi MDE i 2 26 Max 2D MDE Mean Detectable Error on fix in meters PRN of SV responsible for Max 2D MDE Max 3D MDE on fix meters NSV3D NFVAL PRN of SV responsible for Max 3D MDE Instantaneous value of F Test performed on fix solution Average value of F Test performed on fix solu
59. command see this command in Appendix C Error families Errors are classified into families depending on the probable origin of error The table below summarizes the 11 different error families eJ e ewe noeros E 01 cm I O 05 Input Output User Interface Power supply interface Navigation Fix processing 10 System Data link DSNP Basic operating instructions for the 5000 series Troubleshooting Error classification Errors are classified into four categories depending on gravity Simple information reported to user code 1 Warnings code 2 The receiver operates correctly but might be disturbed by the reported error Serious errors code 3 The receiver operates but delivers erroneous results Fatal errors code 4 The receiver can no longer operate correctly You should re initialize the receiver DSNP 1 57 1 Basic operating instructions for the 5000 series Troubleshooting Error list z Gra Family vity Error label oa eN EE Program memory error Program memory anomaly Data memory error Data memory anomaly 07 1 CM Reception circuit error Reception circuit anomaly Correlation circuit error Correlation circuit anom C A P YCommunication error Communication C A P Y Non used output data Unread output datas Non identified input data Unknown input datas B 1 CM reu Non complying input data 1 CM 1 GPS data error GPS data anomal
60. control type the receiver will be turned on 5 minutes before the beginning of the session and turned off 30 seconds after the end of the session C 37 Commands library PDAS EXPSES With MANPW selected as the power control type the receiver will be turned on 5 minutes before the beginning of the first session unless it is already ON at that time From that moment the receiver will operate continuously until somebody turns it off A receiver cannot be turned off with the ON OFF button if a session with without recording is in progress The SCROLL front panel indicator will blink if a session is pending with ON or CYCLE selected It will be lit while the session is being run e Examples PDAS EXPSES QUERY PDAS EXPSES END MANPW 28 No session pending PDAS EXPSES IMMED Running an immediate session PDAS EXPSES QUERY PDAS EXPSES IMMED MANPW 2F Immediate session in progress PDAS EXPSES END Ending an immediate session PDAS EXPSES QUERY PDAS EXPSES END MANPW 28 C 38 DSNP Commands library PDAS EXPSES PDAS SESSN Listing the programmed sessions PDAS SESSN 1 103000 120000 1 RECORD1 63 PDAS SESSN 2 140000 153000 1 RECORD2 60 PDAS SESSN 3 070000 200000 0 78 PDAS EXPSES ON MANPW 1 2 Validating sessions 1 and 2 in this order run once ON manual power control MANPW PDAS EXPSES QUERY checking the validated sessions PDAS EXPSES ON MANPW 1 2 65 PDAS EXPSE
61. counter output modulo 49152 in 0 1 second units in BCD notation Next nx5 bytes SV ph ph ph cq n count of SVs max 10 SV in BCD SV number ph in BCD phase value modulo 10 000 cycles in 1 100th of a cycle C continuity indicator 4 bits from 0 to F incremented by one every time the status of phase measurement is different from 0 q 0 phase quality indicator not operational in this version 3 20 DSNP Data Link options UHF Data link option Next 15 bytes XXXXX yyyyy ZZZZZ XYZ position in BCD notation of the station on ECEF same as RTCM 3 For each parameter field 2 147 483 647 in BCD unit 0 01 m sign placed in the most significant bit of the 1st byte 80hex Last 2 bytes XX XX Checksum binary sum from stx DSNP 3 21 Data Link options Next nxbytes XXXXXXXXX 3 22 e Corrections message Type R 2nd byte Last 2 bytes XX XX Message length measured from 02 to 03 inclusive in binary notation from 1 to 255 Transmission rate in seconds in BCD notation from 01 to 99 RTCM message in the 6x8 characters format All values less than 80hex A 30 bit RTCM word is transformed into 5 bytes At the transmission input n will depend on the UHF baud rate 1200 or 4800 bits s for a transmission duration of 900 ms max Checksum binary sum from stx RTCM SC104 messages are described in the document referenced RTCM RECOMMENDED STANDARDS FOR DIFFE
62. ee A l Sequence status Start End Session Stopped Once or 3 characteristics Every Da ume timg software set y Day This symbol Each of these lines contains the al ME definition of a session selected session Associated Help menus elp i 2 R Start sessions End sessions Yes Edit a session 1 8 Select a session Del Delete a session A Automatic power elp 2 2 N Manual power P Modify period Esc Abandon Quit 5 22 DSNP Station Firmware option File Management According to context Press the R key to run the sequence of sessions and then specify whether the sequence must be executed once or every day tart Y Every ay Press the S key to stop the sequence of sessions Press the A key to switch the station to Automatic power mode Press the M key to switch the station to Manual power mode Press the P key to change the raw data output rate After placing the pointer in a session line press a numeral key 1 to 8 to assign a run time number to this session For example if you press 2 the session will be executed in second position within the sequence Not assigning a number to a session line will result in the non execution of the session Conversely after placing the pointer in a session line press the Del key to remove the session from the sequence the session will no longer be executed After select
63. eee eee eee eee eee eee eee 6 10 DSNP V Aquarius 5000 User s Manual Appendices Appendices A Introduction to GNSS sss ssssseeeee essen ennenen A 1 GPS Constellation rs svssvc socs srsscvo eanas oyna stanc nrar arat A 1 SIQNAIS senaisseevcieceaiti niin deine a a ais A 2 Navigation Messages esse esse sees esse eser e nenen nene A 3 GNSS A civiuta ce caus beactaeh deck is ccecdareces dist aacvanide chtbateceniane A 4 General Description esse eee eree eee A 4 PUNDOSG menuk ele Herein A 6 GNSS Concept TT A 6 The different systems sees eee eee eee A 7 WAAS aa onpi E EEE E EE EE A 8 EGNOS cceccsiseecceati okeeacts evadetsibeabetinendvestscaasdath vadeasitetdadiaavedesiinis A 10 GEO current status December 19981 ee A 10 B Introduction to the DSNP Aquarius 5000 series B 1 PYOAM el B 1 The heart of your equipment sees eee eee eee B 1 Operating environment eee eee eee eee eee eee eee eee B 2 COMPQUI ATION T B 3 The clue to product naming in the Aquarius 5000 series B 5 Product applications a cece cece eeeeeneeeeeeaeeeseeaeeeeeeaeeeesenaes B 5 Product Selection Gude sss sees B 7 SoftWare eleis n B 8 ly lse sien B 8 Specifications arseno sania aaiae aa eaei AE eain B 9 Physical saisin eisni enpreni i eean e EEE EERDE B 9 Electrical isenana a aae r EEE B 9 Environmental esse eee eee B 10 DSNP DSNP Aquarius 5000 User s Manual Appendices Receiver standard features sees eee eee ee
64. function is to receive differential corrections transmitted in the DSNP UHF or RTCM104 format by a 5001 SD reference station The 5001 SD reference station is intended for marine surveys in which sub meter accuracies are required It is fitted with a plug in UHF transmitter whose function is to broadcast differential corrections in the DSNP UHF or RTCM104 format Corrections are intended for mobiles typically of the 5001 MD type DSNP B 5 B Introduction to the DSNP Aquarius 5000 series Product applications The 5002 MK mobile sensor is intended for marine surveys in which real time centimeter accuracies is required operation based on the use of the KART or LRK format It is fitted with a built in UHF receiver whose function is to receive differential corrections transmitted in the DSNP UHF KART or LRK format by a reference station typically a 5002 SK The 5002 SK Reference Station is intended for marine surveys in which real time centimeter accuracies is required operation based on the use of the KART or LRK format It is fitted with a plug in UHF transmitter whose function is to broadcast differential corrections in the DSNP UHF KART or LRK format Corrections are intended for mobiles typically of the 5002 MK type DSNP Introduction to the DSNP Aquarius 5000 series Product Selection Guide Product Selection Guide 5001 5002 5001 5001 5002 5002 SD MD SK MK L1 L2 Core Module UHF Tx Module
65. gt lt etx gt s Time tagging line IE lt GPS week gt lt GPS time gt lt eoln gt GPS week number and time within week in seconds Reference time is Jan 6 1980 at Ohr00 assuming the modulo 2 ambiguity is removed s Parameter line lt Number of the SV corresponding to the transmitted ephemeris gt lt eoln gt DSNP D 19 D GPS Raw Data in SVAR format SVARIE Ephemeris data e 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 which are hex encoded to form 6 bytes 0 to 1 A to F with the first byte corresponding to bits 1 to 4 Each ephemeris 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 Data block example 1E 945 414347 7 10 EC5701 73336D D49E97 A3469F FEEBFC 346432 000004 027605 34FBF4 2FAA69 5E1LFFF FCA201 5BF1EC 11BCA1 0D90EA 64327C 0006D4 97F2C8 002527 577D88 1B60F3 6B16D7 FFA8CD 340D02 D 20 DSNP DSNP GPS Raw Data in SVAR format SVARIU lono UTC data SVARIU lono UTC data e General Form lt stx gt lt eoln gt lt IU gt lt time tagging gt lt eoln gt lt lono UTC data line gt lt eoln gt lt etx gt s Time tagging line 1U lt GP
66. gt lt If gt The receiver will return a reply of this type GPZDA 180919 00 17 2 1998 00 00 78 Tochange the local time for example it should be OS8hr 21min dec18 1997 offset Ihr send the following command ECZDA 082100 18 12 1997 1 00 lt cr gt lt If gt Changing the local time will re initialize the position processing If the local time is now correct the receiver will reach operational status in no time A detailed description of the commands used above is provided in Appendix C After entering a local time select screen No 3 to check your entry For example screen No 3 would look like this after sending the ECZDA command above DSNP Basic operating instructions for the 5000 series Getting your equipment started Checking the fix mode used Screen No 0 shows the fix mode in which the receiver operates see parameter 4 in the display example of page 11 If for any reason you need to change that mode use the FIXMOD command as explained below From the control computer send the following command to read the fix mode currently used PDAS FIXMOD lt cr gt lt If gt If the receiver is operating in the straight GPS mode the reply will be PDAS FIXMOD 3 1 39 To change that mode for example you want to work in single station DGPS with reference station No 801 send the following command PDAS FIXMOD 4 1 801 lt cr gt lt if gt Check the new fix mode used by send
67. hh lt CR gt lt LF gt e Syntax e Parameters ref format a CC hh lt CR gt lt LF gt NMEA code corresponding to the parameters for which you want the receiver to return their current values The codes list is given below entry is also possible in the NMEA standard for underlined data DTM GLL GSA GSV ZDA Datum Reference Geographic Position Latitude Longitude GNSS DOP and Active Satellites GNSS Satellites in view Time amp Date Checksum optional End of command DSNP Commands library GPQ e Examples ECGPQ DTM GPDTM W84 0 0000 N 0 0000 E 0 0 W84 6F ECGPQ GLL GPGLL 4716 104353 N 00129 454296 W 134944 00 A IF ECGPQ GSA GPGSA A 3 30 23 02 26 07 08 21 09 05 2 5 1 3 1 0 1F ECGPQ GSV GPGSV 3 1 09 30 03 223 31 23 35 270 44 02 13 051 3 8 26 51 152 49 75 GPGSV 3 2 09 07 33 077 43 08 37 278 45 21 23 309 4 2 09 74 306 49 7D GPGSV 3 3 09 05 44 217 48 4D ECGPQ ZDA GPZDA 135127 00 8 12 1998 00 00 7C DSNP C 55 Commands library PDAS GPSDAT PDAS GPSDAT e Functions Edits the definitions of the GPS raw data outputs Adds new definitions of GPS raw data outputs e Syntax Complete command PDAS GPSDAT a b d e f hh lt CR gt lt LF gt QUERY command all output definitions are returned PDAS GPSDAT hh lt CR gt lt LF gt QUERY command only the specified output is returned PDAS GPSDAT a h
68. inane aaa aa eaae C 80 SPDAS PREFNE airos ireren tls sind indents a ded C 82 TET ee C 84 GPDAS RAZALIM sccssssecedexesieceviss sstesatva soccsinbdacccsnstpeevendcwossita estes C 86 GPDAS ELEC aasa aaa RRIT C 87 BPDAS SESSN ressicvesdscilecisesucdeasssteesctesssceadicidastdeaieivadstaeeesswiatess C 88 PDAS SVDSE HT C 91 GPDAS T Roiate niaaa aia a a e aiana aR alee C 94 SPDAS UNIT T C 95 _ZDA and GRO ZDA asosan eaae CR oai etn C 96 D GPS Raw Data in SVAR Iorrmat sss sssss sese sese D 1 NOTATION TUe Siesia aa aa iaaa aE D 1 SVARID Single frequency Differential corrections 00 D 5 SVARIR Single frequency GPS pseudoranges IN Satellite T D 8 SVARIR Dual frequency GPS pseudoranges in Satellite tiMe eee eee eeceeeee cece ee eeeeeeaeeeceeeseseeeaeaeeeeeeeeneeenenaeess D 12 SVARIA Almanac data D 17 SVARIE Ephemeris data D 19 SVARIU lt IONO UTC daia vrasan nareyrotngs sgt annoar znane D 21 SVARIS Health amp A S data D 22 SVARIW WAAS EGNOS Dala sese D 23 ix Aquarius 5000 User s Manual Appendices E GPS Raw Data in SBIN format sss ssssssseee sse ssssseeeee ennes E 1 Notation H E 1 SBIN R Single frequency GPS pseudoranges IN Satellite si cesna E 4 SBIN R Dual frequency GPS pseudoranges IN Satellite Me scenen E 8 SBIN A Almanac daia E 14 SBIN E Ephemeris data E 15 SBIN U lono UTC data E 16 SBIN S Health amp A S data E 17 SBIN W WAAS EGNOS Data sss eee E 1
69. link option to the N receptacle of the UHF transmitter if you are installing the data link at the reference station UHF transmitter antenna connection Warning For single frequency reference stations allow for a safe distance of at least 1 5 m between the GPS antenna and the 3 dB UHF antenna whatever the UHF frequency used For dual frequency reference stations the minimum distance required between these two antennas is a function of the UHF frequency used namely 4 20 m at 410 MHz 2 10 mat 415 MHz 1 5m from 420 to 470 MHz For any other frequency please consult DSNP Data Link options UHF Data link option Typical programming steps Defining the data link At the reference station and in the user receiver s use the PDAS DGPS STATION command to define the DGPS corrections transmitter or beacon which here is the attached UHF transmitter Beacon Id Beacon name Antenna coordinates 2D Frequency band Carrier frequency Baud rate Modulation type Setting the UHF transmitter as the beacon attached to the reference station At the reference station use the PDAS DGPS MODE command to declare the attached UHF transmitter as the beacon used to transmit DGPS corrections Defining the data transmitted through the data link The transmitted data depends on the processing used DGNSS KART LRK See page 2 Processing options DSNP Data Link options UHF Data link option
70. long record of field proven reliability in excess of the requirements of the KART To sum up it is advisable to install both the GPS and UHF antennas of the reference station at a location clear of any obstructions and high enough to cover the area of interest and preclude any multipath effects that otherwise might affect the performance of the system Even if the UHF link allows operations over longer ranges initializations should be performed within no more than 10 to 15 km of the reference station DSNP Processing options KART LRK LRK The advantages of using the two GPS frequencies lie in that this makes it possible to cover longer ranges and cut down the initialization time while increasing the reliability of the initialization process As far as maximum range is concerned the uncorrelation of ionospheric errors no longer prohibits operations more than 15 km away from the reference station We can compensate for uncorrelation by combining the measurements taken on L1 and L2 ionospheric delays are inversely proportional to the squared frequency Then the remaining limitations arise from the uncorrelation of tropospheric errors and from the errors on the broadcast ephemerides but those errors have a much smaller impact in terms of amplitude As a result the only practical limitation is dependent on the quality of the radio link several tens kilometers in the case of the DSNP UHF link When it comes to so
71. not valid XXXXXXXXxxx GPST GPS time Modulo 10 seconds Low Significant Digit 1x10 seconds F 2 x FIXS GPS status 1 character 0 UTC time solution computed 9 UTC time solution not valid hhmmss sss_ TUTC UTC time of event DSNP F 13 Computed Data Outputs Output 10 Time Mark 3 x Event origin EVENT XXX Event counter modulo 256 e Output example M 945 416249 0 1 0 416249 0000000 2 0 193716 999 3 1 1 M 945 416250 0 1 0 416250 0000000 2 0 193717 999 3 1 2 E F 14 DSNP DSet Pack Software Installation G DSet Pack Software Installation DSet Pack comes in a separate set of 31 inch diskettes or is part of a CD ROM containing all the software applications developed for the Aquarius 5000 Series Computer requirements Processor DX2 66 minimum Pentium recommended RAM 16 Mbytes minimum 24 Mbytes recommended Operating system Windows 95 Display screen SVGA 17 inches recommended Installation procedure from the CD ROM Insert the Aquarius CD ROM into the CD ROM drive The auto start procedure presents a selection of software packages to be installed Select DSet Pack and proceed with the installation as described in the next pages Same procedure as with the diskettes DSNP G 1 DSet Pack Software Installation procedure from the set of 34 diskettes Installation procedure from the set of 314 diskettes Insert the first d
72. receiver For example in the case of a straight or natural GPS receiver this parameter will change from HOLD to GPS If DGPS corrections are received the parameter will change to DGPS All the possible values of this parameter are listed in page 1 41 Screen No 0 Operating Status If corrections are processed in the receiver you will probably be interested in knowing the values of the parameters annotated 5 and 6 in our screen example above respectively count of corrections received or transmitted and age of corrections If you do not remember the options installed in your receiver press the Scroll pushbutton repeatedly until you reach screen No 8 After reading this screen depress this button again and keep it depressed for a longer time to come back to screen No 0 Now that a solution is available go to screen No 2 by pressing the Scroll pushbutton Check that the displayed position is the expected one Press the Scroll pushbutton once more to access screen No 3 Check that the local time displayed beginning of lower line is correct If you have reached this operational stage without any problem then you can now let the receiver operate on its own even forget it and proceed with your work If you encounter a problem please read what follows DSNP 1 13 Basic operating instructions for the 5000 series Getting your equipment started A common problem which may be encountered
73. receiver Mobile receiver providing position or navigation data e Reference station programming outlines The following DSNP proprietary commands are used to implement the DGNSS processing in a reference station PDAS DGPS MODE is used to define your receiver as a corrections generator specify the associated beacon and its transmission rate PDAS DGPS STATION is used to let the reference station know the transmission specifications carrier modulation type encryption of the attached beacon PDAS DGPDAT is used to specify the type of corrections which the reference station will generate DSNP 2 3 Processing options DGNSS PDAS UNIT is used to assign an identification number to the reference station PDAS FIXMOD allows you to specify the fix computing mode used at the reference station PDAS PREFLL or PDAS PREFNE allows you to enter the precise coordinates of the reference station e Navigator receiver programming outlines The following DSNP proprietary commands are used to implement the DGNSS processing in a navigator receiver PDAS DGPS MODE is used to define your receiver as a corrections consumer specify the beacon which should be received If no beacon id is specified then corrections are assumed to be delivered by a third equipment Inmarsat decoder for example attached to one of the receiver s serial ports specify the reference station s from w
74. reported as b for bad on Screen No 4 DSNP DSNP Processing options QA QC Integrity results are stored as internal variables which can be issued from the receiver by defining and enabling appropriate computed data output see page 2 26 As of today is only available in Straight GNSS or WADGPS NOTE The two types of Quality Control can be used concurrently Software Installation The use of the Autonomous Quality Control requires the installation of the QA QC software option The use of the External Quality Control does not require any additional software or hardware option Implementation Procedures The implementation of the Quality Control whether autonomous or external is not automatic as this requires the use of the PDAS QC command as explained in the example below 2 2 23 Processing options QA QC e Autonomous and External QC performed concurrently Run a command of this type PDAS QC 1 1 138 where 1 Requests Autonomous QC UKOOA 1 Requests External QC from WAAS EGNOS 138 Provider of external integrity information GEO PRN 138 e WAAS EGNOS pseudorange output on a serial port Use the same command PRANGE as you would for GPS pseudoranges Example PDAS PRANGE 1 A 1 100 2 0 0 0 where 1 Output number A Output port identification 1 Output mode time 100 Output rate every 10 seconds 2 Data type SBIN R 0 0 0 No filtering on carrier
75. statistical tests are naturally attractive but they are only efficient on condition that the stochastic models can be determined properly Unfortunately it is very difficult to determine precise models for the errors affecting the GPS measurements The multipath effects or the propagation errors to name but a few are not easy to evaluate As a result the so called optimal methods are not so optimal in practice as they are to much dependent on the a priori models 2 29 Processing options KART LRK 2 30 e Characteristics The maximum range and the initialization time are the main two aspects to be considered in order to achieve the best possible results with a real time kinematic system The maximum range is defined as the maximum distance from the reference station within which the user will fully benefit from the performance of the system Two major factors may affect the maximum range Physical phenomena in the case of KART just like in any single frequency system the maximum range is mostly limited by the uncorrelation of ionospheric errors This phenomenon is significant at distances in excess of 10 to 15 km for a medium latitude Generally such distances can be covered with the KART even though longer initialization times are required Data transmission and the techniques implemented to provide a reliable link from the reference station to the mobile The traditional UHF DGPS systems from DSNP have a
76. the following command to check the currently selected navigation mode PDAS NA VSEL cr gt lt if gt The receiver will return a reply of this type PDAS NAVSEL 1 1 29 DGPS solution 1 Position mode 1 For example to select the EDGPS solution to be used in navigation send this command PDAS NAVSEL 2 lt cr gt lt If gt Check the changes made PDAS NA VSEL lt cr gt lt if gt PDAS NAVSEL 2 1 2A Refer to Appendix C for more information on the PDAS NAVSEL command DSNP Basic operating instructions for the 5000 series Usual changes made to the receiver configuration from the Control computer Editing the filtering time constant applied to speed You may want to change the filtering time constant applied to the speed parameter due to new or unexpected navigation conditions From the control computer send the following command to check the currently selected filtering time constant PDAS FILTER lt cr gt lt if gt The receiver will return a reply of this type PDAS FILTER 6 30 speed filtering time constant 6 seconds Tochange the speed filtering time constant to 32 seconds for example send this command PDAS FILTER 32 lt cr gt lt if gt Check the changes made PDAS FILTER lt cr gt lt Iif gt PDAS FILTER 32 07 Refer to Appendix C for more information on the syntax of the PDAS FILTER command DSNP 1 33 Basic operating instructions for the 5000 series PCMCIA r
77. the status display on Screen No 2 From the control computer send the following command to read the coordinates of the estimated position ECGPQ GLL lt cr gt lt If gt The receiver will return a reply of this type GPGLL 47 16 091395 N 00129 463318 W 180449 00 A 14 Tochange the estimated coordinates of your current position for example they should be Jat 39 40 00 N and long 4 15 00 E send the following command ECGLL 3940 N 00415 E lt cr gt lt if gt Changing the coordinates of the estimated position will re initialize the position processing If the new coordinates are correct the receiver will reach operational status in no time A detailed description of the commands used above is provided in Appendix C After entering an estimated position select screen No 2 to check the new coordinates of this position For example screen No 2 would look like this after sending the ECGLL command above PN G S 8 4 39640 4815 ON H 46 0 E DSNP 1 15 Basic operating instructions for the 5000 series Getting your equipment started Editing the receiver time amp date You may need to use this command if the receiver cannot start functioning because of a too different local time compared with the receiver time The current local time is visible on the status display on Screen No 3 From the control computer send the following command to read the local date amp time ECGPQ ZDA lt cr
78. to cancel the request Then a message is displayed asking you whether in the same time the receiver should be turned off press the Del key or not press e Making changes to parameters Depending on the size and type of the parameters that can be changed the program will use different scenarios to let you make that change If the screen contains numerical or alpha numerical parameters a blinking cursor will appear on the first of them 5 8 DSNP Station Firmware option Introduction to the Station Control software To change this parameter simply type in the new value Note that the position of the field on the screen will be shifted to the left while you edit it If the size of the parameter is relatively long an edit box will appear on top of the screen to show the entire field while you edit it In both cases the new value will be validated after you press J Use L or T to access the next or previous field respectively Ifa parameter can only be set to some specific software set values then this field will be marked with a To know the possible values and choose one of them use J or T to access this field and then press A select box appears showing these values Use J or T to choose the desired value and press to validate your choice the select box is removed from the screen at the same time Alternately you can directly type the numeral key corresponding to the row in which the desi
79. versions Depending on your purchase your equipment will use an L1 single frequency engine or an L1 L2 dual frequency engine If necessary your equipment will be easily transformable from single to dual frequency by purchasing the L1 to L1 L2 upgrade DSNP B 1 B Introduction to the DSNP Aquarius 5000 series B 2 Operating environment Operating environment The products of the 5000 series are of the black box type thus making them extremely flexible and versatile For example the same receiver can be used as a navigator receiver or as a base station In operation all the data are made available on the serial ports to be sent to your usual terminals for further processing and display Two types of serial lines are available for this purpose RS232 ports A and B I O and COMPUTER adedicated RS422 port port D interfacing with the optional data link module Optional RS422 port C I O An integrated intelligent status display exists on the receiver front panel whose function is to provide information on how the receiver operates reception conditions current position solution etc not an input device To change the conditions of operation new configuration etc you will need to attach a computer to the receiver s RS232 A port COMPUTER and then send a number of commands to make the changes required DSNP DSNP Introduction to the DSNP Aquarius 5000 series Configuration Configu
80. when first starting up the equipment is the incapability for the receiver to fix the position whereas the count of satellites used is sufficient to perform this operation a minimum of 4 satellites is required This state is reported on Screen No 0 where HOLD keeps on being displayed while the count of satellites has been 4 or more for a certain time To solve this problem first check the estimated position on Screen No 2 and the local time on Screen No 3 If either of these parameters or both are incorrect you will need to make the necessary corrections see Editing the estimated position page 1 15 or and Editing the receiver time amp date page 1 16 These corrections require the connection of the control computer to the A port as described earlier see page 7 10 PC connection and the use of Win Comm from DSet Pack running on this computer see Appendix G to know how to send commands from Win Comm If the two parameters are correct or if you are facing any other kind of problem please refer to page 55 Troubleshooting DSNP Basic operating instructions for the 5000 series Getting your equipment started Editing the estimated position You may need to use this command if the receiver cannot start functioning because of a too distant estimated position gt 200 km The current estimated position which then becomes the position solution when the receiver reaches operational status is visible on
81. will then be updated accordingly Following any correction to the definition of a beacon in the Editor table the Graphic Pane is refreshed and the Zoom to Fit command is executed automatically You cannot delete a beacon if it is involved anywhere in the Mode sub module DGNSS module DSNP DSet Pack Software Using DSet Pack connected to a DSNP GNSS GPS receiver Using DSet Pack connected to a DSNP GNSS GPS receiver Using one of the serial ports of your computer DSetPack can connect to a DSNP GNSS GPS receiver so that you can work on the DGNSS section of its configuration Remember however that it s the entire configuration file that you transfer and not only the DGNSS section when you perform read or write operations with DSet Pack You can also use the integrated version of Win Comm to send commands to the receiver or log data from the receiver Prior to performing any of these functions you should configure the PC serial port properly using the Communications tab in the Options dialog box Then and depending on what you intend to do follow one of the procedures described in the next pages DSNP G 37 DSet Pack Software Using DSet Pack connected to a DSNP GNSS GPS receiver G 38 Writing a configuration into a receiver e Direction of transfer Computer il Active Receiver configuration file Assuming the receiver is properly connected and the serial line is properly configured Ope
82. 0 Control computer I 11 C 1 Control segment A 1 Corrections As reported on status display 2 13 As reported on status display receiver generates corrections 1 47 As reported on status display receiver processes received corrections 1 48 DSNP UHF types C 34 In SVAR D format D 6 Message of the type C 3 19 Message of the type P 3 20 Message of the type R 3 22 Message of the type T 3 23 Message of the type X 3 24 Output formats 2 16 2 39 RTCM type C 33 Count of SVs used bargraph 5 5 CPU Board 1 50 Current configuration B 3 CYCL CYCLE 1 46 CYCLE 1 21 C 36 DSNP Aquarius 5000 User s Manual Index DAS C 3 Data Link Defining 3 8 Identification As reported on status display 1 50 Transmitted data blocks 3 18 UHF receiver specifications 3 3 UHF transmitter specifications 3 2 Default configuration B 3 Defining beacons through a simple click of the mouse G 27 DEFLT C 17 DELSES C 19 DESCRIPTION G 18 DGNSS DGNSS module as modifiable using DSet Pack G 22 Implementing conventional DGNSS 2 11 Output data definition G 24 Particular cases of networks 2 5 Theory 2 1 WADGBPS 2 17 DGNSSMODE 1 49 DGPDAT C 32 DGPS coaxial connector 1 9 DGPS DELSTA C 21 DGPS MODE E C 23 DGPS MODE R C 26 DGPS STATION C 29 Differential corrections 1 48 Disable all data outputs 1 26 Display Pane Window G 46 DSet Pack 1 10 1 11 1 14 1 35 5 1 G 1 Attached to a receiver G 37 Logging data
83. 1 2 181 21 16 9 0 10 1 2 231 22 1 0 0 04 1 2 78 23 3 6 0 17 1 2 103 DSNP D 7 D GPS Raw Data in SVAR format SVARIR Single frequency GPS pseudoranges in satellite time SVARIR Single frequency GPS pseudoranges in satellite time e General Form lt stx gt lt eoln gt lt IR gt lt time tagging gt lt eoln gt lt soln gt lt parameters gt lt eoln gt lt soln gt lt Ist line of raw data gt lt eoln gt lt soln gt lt nth line of raw data gt lt eoln gt lt etx gt s Time tagging line IR lt GPS week gt lt GPS time gt lt eoln gt GPS week number and time within week in seconds Reference time is jan 6 1980 at Ohr00 assuming the modulo 2 ambiguity is removed s Parameter line lt soln gt 1stchar lt amp gt data type 2 2nd char lt C gt L1 phase measurement C A code lt filter time constant gt in seconds code smoothed by carrier lt eoln gt D 8 DSNP GPS Raw Data in SVAR format SVARIR Single frequency GPS pseudoranges in satellite time s Raw data lines lt soln gt 2 characters and channel No in hexadecimal lt SV No gt lt C A code pseudorange gt in 10 s modulo 10 s lt L1cja carrier phase gt in 10 cycles modulo 10 cycles lt L1ca carrier speed gt in 10 cycle s lt C A L1 C No gt in dBHz lt L1 channel status gt encoded on a 4 bit ASCII character 0 to F bit 0 0 not used bit 1 0 reserved bit 2
84. 1 if invalid L1 phase measurement bit 3 0 reserved lt L1 carrier quality indicator gt encoded on 2 ASCII characters 0 to F 8 bits MSB first 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 DSNP D 9 D GPS Raw Data in SVAR format SVARIR Single frequency GPS pseudoranges in satellite time D 10 lt C A code quality indicator gt bits 5 to 7 data quality indicator complies with RTCM message No 18 000 001 010 011 100 101 110 111 encoded on 2 ASCII characters 0 to phase error lt 0 00391 cycle phase error lt 0 00696 cycle phase error lt 0 01239 cycle phase error lt 0 02208 cycle phase error lt 0 03933 cycle phase error lt 0 07006 cycle phase error lt 0 12480 cycle phase error gt 0 12480 cycle F 8 bits MSB first bits 0 to 3 pseudo range multipath error indicator complies with RTCM mess 1111 multipath error not determined bits 4 to 7 pseudo range data quality indicator complies with RTCM mess 0000 0001 0010 0011 0100 0101 0110 0111 1000 1001 1010 1011 age No 19 age No 19 pseudorange error lt 0 020 pseudorange error lt 0 030 pseudorange error lt 0 045 pseudorange error lt 0 066 pseudorange error lt 0 099 pse
85. 1012 0 Command line 1 Port D serial port of the DSNP UHF transmitter DSNP 2 7 Processing options DGNSS Receiver defined as DGPS corrections generator E Beacon Id a DSNP UHF transmitter 1012 Transmission mode free 0 3 Send the following command to select the processing mode used at the reference station PDAS FIXMOD 1 1 Residuals computation in transmitting reference station mode 1 DGPS reference station 1 4 Send the following command to enter the position of the reference station in this example Lat 38 45 448532 S Lon 10 20 993478 E and H 93 833 m PDAS PREFLL 0 3845 448532 S 01020 993478 E 93 833 5 Send the following command to define the identification number of the reference station in this example station id 13 PDAS UNIT 13 2 8 DSNP Processing options DGNSS 6 Send a command of this type to define the DGPS corrections generated by the reference station PDAS DGPDAT 1 D 1 10 3 1 In this example Command line 1 DGPS corrections output on port D to UHF transmitter in time mode output rate 1 second Data type DSNP UHF UHF stations only Data description code corrections e Configuring a UHF mobile 1 Send the same command as you did for the reference station to tell the navigator receiver which UHF transmitter to work with PDAS DGPS STATION 1012 BLIXERD 3845 45 S 01021 00 E UHF 421000000 50 1200 DN Beacon ld
86. 18 2 25 2 39 3 10 3 12 3 14 3 16 3 22 PDAS DGPS 2 3 2 4 2 7 2 10 2 12 2 13 2 14 2 15 2 36 2 38 3 8 3 9 3 10 3 11 3 12 3 13 3 14 3 15 3 16 3 17 PDAS EXPSES 1 21 1 22 1 24 1 25 2 16 PDAS FILTER 1 33 PDAS FIXMOD 1 17 2 4 2 8 2 10 2 12 2 14 2 15 2 18 2 19 2 21 2 34 2 36 2 38 3 10 3 11 3 12 3 13 3 14 3 15 3 16 3 17 PDAS GEODAT 2 18 2 25 PDAS GNOS 2 18 2 19 2 20 DSNP Aquarius 5000 User s Manual Index PDAS GPSDAT 1 23 1 30 PDAS HARDRS 1 27 PDAS MEMORY 1 36 PDAS NAVSEL 1 18 1 32 2 5 2 10 2 12 2 14 2 15 2 21 2 35 2 37 2 38 3 11 3 13 3 15 3 17 SPDAS OUTMES 1 28 PDAS OUTOFF 1 26 SPDAS OUTON 1 26 PDAS PRANGE 1 23 1 31 2 24 PDAS PREFLL 2 4 2 8 2 36 3 10 3 12 3 14 3 16 PDAS PREFNE 2 4 SPDAS QC 2 18 2 23 2 24 PDAS SESSN 1 21 1 22 PDAS UNIT 2 2 2 4 2 8 3 10 3 12 3 14 3 16 1 1 pps output Extended I O option 4 3 5 5001 amp 5002 B 18 Aquarius 5000 User s Manual Index 5001MD 3 11 3 13 3 15 3 17 B 5 B 14 B 19 5001SD 3 1 3 10 3 12 3 14 6 1 B 5 B 15 B 20 5002MK 3 11 3 13 3 15 3 17 B 7 B 16 B 21 5002SK 3 1 3 10 3 12 3 14 3 16 6 1 B 7 B 17 B 22 A Age of corrections C 8 AGECOR C 8 ALTI C 9 Altitude processing mode C 9 Antenna bracket 1 3 Antenna coordinates 3 8 APW AUTPW 1 46 Attach Computer to receiver 1 10 Auto Configure G 15
87. 30 1200 DN PDAS DGPS MODE 1 D R 3 712 PDAS FIXMOD 4 1 712 PDAS NAVSEL 1 1 DSNP 3 11 Data Link options UHF Data link option s Transmitting receiving DGPS Data in the DSNP format compatible with the NDS100 and NDS100 Mk II stations The characteristics of the UHF station are the following Station Id number 47 16 1043533 N 1 WGS84 Reference Position Beacon ld Frequency Modulation Transmission programming Format Messages 14 29 4543 W Altitude 48 752m 18 UHF band 444 55 MHz 1200 Bd DQPSK 1PPS synchronous mode during 1st second of a 3 second cycle DSNP Pseudorange corrections 5001SD or 5002SK Station using REFSTATION firmware PDAS UNIT 14 PDAS PREFLL 0 4716 1043533 N 00129 45430 00 W 48 752 PDAS FIXMOD 1 1 PDAS DGPS STATION 18 DSNP 18 4716 N 00129 W UHF 444550000 30 1200 DN PDAS DGPS MODE 1 D E 18 3 1 PDAS DGPDAT 1 D 2 3 3 1 DSNP Data Link options UHF Data link option 5001MD or 5002MK Mobile PDAS DGPS STATION 18 DSNP 18 4716 N 00129 W UHF 444550000 30 1200 D N PDAS DGPS MODE 1 D R 18 14 PDAS FIXMOD 4 1 14 PDAS NAVSEL 1 1 DSNP 3 13 Data Link options UHF Data link option s Transmitting receiving DGPS Data in the DSNP format compatible with the NDS100 Mk II station The characteristics of the UHF station are the following Station Id number 47 16 1043533 N 1 WGS84 Reference Position
88. 5 N 00129 45430 W 0 0 0 0 04 1198 D 65 GPRMC 193614 99 A 4716 10435 N 00129 45430 W 0 0 0 0 0 41198 D 61 DSNP F 9 Computed Data Outputs Output 7 GPGRS Output 7 GPGRS GNSS range residuals GPGRS hhmmss ss 1 x xx X XX X XX X XX lt cr gt lt lf gt Field type Variable Field Designation ConfPack GPGRS NMEA183 message identifier hhmmss ss TUTC UTC time 1 This 1 means that residuals were re computed after the GNSS position was computed X XX CRE i Range residuals in meters for satellites used in the navigation solution null for unused field e Output example GPGRS 143322 99 1 10 34 3 40 0 12 24 49 0 91 6 47 6 90 27 81 16 70 46 GPGRS 143323 99 1 10 56 3 46 0 11 24 81 0 77 6 55 7 01 28 03 16 82 42 GPGRS 143324 99 1 10 71 3 44 0 09 25 23 0 49 6 72 7 08 28 12 16 92 4C F 10 DSNP Computed Data Outputs Output 8 GPGST Output 8 GPGST GNSS pseudo range error statistics GPGST hhmmss ss X XX X XX X XX hh lt cr gt lt lf gt Field type Variable Field Designation ConfPack GPGST NMEA183 message identifier hhmmss ss TUTC UTC time 99999 Null fields X XX NPSD_ Standard deviation of latitude error meters X XX EPSD_ Standard deviation of longitude error meters X XX HPSD Standard deviation of altitude error meters e Output example GPGST 080154 99 0 02 0 02 0 03 6C GPG
89. 6 mm max insertion length allowed in these holes Bottom Side 1 5 Basic operating instructions for the 5000 series Unpacking and installation Connections GPS antenna DC power source a battery or other To your navigation terminal Power cable connected to either POWER input RS232 cable GPS coaxial cable yon O Eem YE OO LH T pors D R5422 paS AUL L NP is Sct Receiver Rear Panel 3 OGC E 9 1 6 DSNP T ON OFF pushbutton DSNP Basic operating instructions for the 5000 series Receiver description Receiver description Front Panel Your receiver is fitted with the following parts on its front and rear panels e Front panel controls Scroll pushbutton Blinking used to turn on and off the receiver The indicator light nested in this button starts blinking when you press the button if the receiver is connected to a power source From the end of the self tests the light is permanently ON used to access the different data screens available from the status display Activates the screen light for 30 seconds whenever depressed A long press on the Scroll pushbutton allows you to return to screen No 0 The indicator light nested in the button provides information about the possible planned sessions or session in progress as soon as you connect the receiver to the power source A session is programmed to be run at a later time a
90. 8 F Computed Data Outputs ccccccssssssseseecccceeeeeeseeees F 1 Tsis e e coach Gane bi aioe F 1 Computed data outputs default sss F 1 Output EE EET TE F 2 Output 2 t GPRGL Lcsesegetcerdetcdysuecnneenieatdehaesitaesea dia ateneadaa F 4 OUTPUTS 2 GPVT 1 T F 5 Output 4 el ae F 6 Output 5 GPZDA oisinnean cee Gea seals F 7 Output 6 GPRMC wisi tended lade decanter iat dee F 8 Output 7 GPGRS erior niae dete eat dens F 10 Output 8 GPGST 0 cece n eiae aaa Ea aia aaa F 11 O tp t 9 GPGSV inisinia aE aaia aai F 12 Output 10 Time Mark sese F 13 DSNP Aquarius 5000 User s Manual Appendices G DSet Pack Sofiwgare sssssssseeee se ssssseeee ennenen nenen G 1 Installation sinine aa aaia G 1 Computer requirements see ee eee ee esse eee eee eee G 1 Installation procedure from the CD ROM G 1 Installation procedure from the set of 31 diskettes G 2 Introduction to DSet Pacl ssc cxv stez ssc sso starna bansa nne G 5 PUIDOSC iinan eia E EE EE EEE E AENEA G 5 How a configuration file is shown with DSetPack ceeeee G 6 Using the Select Pane sees eee eee G 8 Using the Edit Pane sts ascto i Gaitiad nash nadie G 9 Using the Graphic Pane sse ee eee eee eee eee G 13 Changing the options of DSetPark eee eee eee G 14 Modifying a configuration file using DSet Pack eee eee G 17 Opening saving closing a configuration hie sse eee eee ee G 17 DSet Pack modifiable modules sss sese e
91. A 3 3 3 3 lt cr gt lt If gt Check the changes made PDAS GPSDA T lt cr gt lt if gt PDAS GPSDAT 1 A 3 3 3 3 4F PDAS GPSDAT 2 N 43 Refer to Appendix C for more information on the PDAS GPSDAT command DSNP Basic operating instructions for the 5000 series Usual changes made to the receiver configuration from the Control computer Editing the definition of a pseudorange data output The definition of each of the pseudorange data outputs generated according to the receiver configuration can be modified through the following steps From the control computer send the following command to list all the generated data outputs PDAS PRANGE lt cr gt lt if gt The receiver will return a reply of this type PDAS PRANGE 1 B 1 10 4 0 0 0 4F PDAS PRANGE 2 N 59 For example to change the definition of output 1 described in the1st reply line send a command of this type PDAS PRANGE 1 A 1 lt cr gt lt If gt Check the changes made PDAS PRANGE lt cr gt lt If gt PDAS PRANGE 1 A 1 10 4 0 0 0 61 PDAS PRANGE 2 N 59 Refer to Appendix C for more information on the PDAS PRANGE command DSNP 1 31 Basic operating instructions for the 5000 series Usual changes made to the receiver configuration from the Control computer Editing the navigation mode currently selected You may want to change the navigation mode due to new or unexpected navigation conditions 1 32 From the control computer send
92. AS GEO Coordinate system number 0 to 10 default 0 Coordinate system name 10 characters max Semi major axis A placed before Inverse flattening 1 F placed before Scale factor S placed before Unit code see table below t X deviation Dx placed before Y deviation Dy placed before Z deviation Dz placed before Unit code see table below X angular deviation Ax placed before Y angular deviation Ay placed before Z angular deviation Az placed before Unit code see table below Projection number 1 99 Projection name 12 characters max Projection parameters C 45 Commands library PDAS GEO Checksum optional hh End of command lt CR gt lt LF gt e Examples PDAS GEO 2 PDAS GEO 8 1 0 0 6E PDAS GEO 8 2 02 NTF 33 PDAS GEO 8 3 A 6378249 145 1 F 293 465000 S 1 0000 0000 1 1E PDAS GEO 8 4 Dx 168 000000 Dy 72 000000 Dz 318 500000 1 4F PDAS GEO 8 5 Ax 0 000000 Ay 0 000000 Az 0 554000 e 03 PDAS GEO 8 6 02 LambII 49 PDAS GEO 8 7 Lori 0 8 168 1408993 Gori 0 04079233948 Eori 600000 000 Nori 200000 000 d1 11 PDAS GEO 8 8 Ko0 0 999877420 6A DSNP C 46 Commands library PDAS GEODAT PDAS GEODAT e 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
93. As a result the Options dialog box appears The default options are shown below Coast lines I Country boundaries T State boundaries E Islands M Lakes E Rivers M Grid Resolution Low resolution z Four levels of map resolution are available Low Medium High Very High The higher the resolution the more accurate the details on the map but the longer the time required to display the map G 32 DSNP DSet Pack Software Modifying a configuration file using DSet Pack e Zooming in Position the mouse pointer anywhere on the Graphic Pane Click with the right mouse button The shortcut menu pops up Choose the Zoom In command from the menu As a result the menu vanishes and the pointer looks like A Position the pointer somewhere on the region on which you want to zoom in and click with the left mouse button As a result the window displays a magnified view of the region centered around the clicked point You can zoom in repeatedly i e so long as the mouse pointer looks like amp e Zooming out Position the mouse pointer anywhere on the Graphic Pane Click with the right mouse button The shortcut menu pops up Choose the Zoom Out command from this shortcut menu As a result the menu vanishes and the pointer looks like GQ Position the pointer somewhere on the region and click with the left mouse button As a result the window displays a larger scale v
94. CIA appear on the screen Example Choose a job none B Knenpat 80 L grit 198 Choose one and press This causes the selected coordinate system to be instantaneously loaded from the PCMCIA to the base station Press the Esc key to leave the function DSNP Station Firmware option Coordinate System Used Local Grid This function allows you to view the local grid used if any When selecting the function the datum and projection currently used are recalled on the screen which then appears From this screen you can access the Datum and Projection functions described in the preceding pages Screen example Local pid batun Projection Gri Select the Grid field third line and press gt A new screen appears viewing the local grid lLocal grid _ L Grid DSNP 5 31 Station Firmware option Coordinate System Used 5 32 Height correction This function allows you to view the vertical system used When selecting this function the ellipsoid and antenna altitude are recalled on the screen which then appears Screen example Height correction Ellipsoid STANAG Geoid Correction Antenna ARAR To view the height correction select the Correction field and then press A new screen appears viewing the height correction Z C correction DSNP Station Firmware option System Tools System Tools From the main m
95. CONFIGURATION PDAS COMNT 2 2 BY PATRICE BONN N PDAS GEO 6 1 PDAS GE0 6 2 1 NTF PDAS GEO 5 2 A 6278249 145 1 F 292 465000000 3 1 000000000 1 PDAS GEO 6 4 Dx 168 000 Dy 72 000 Dz 218 500 1 PDAS GEO 6 5 c 0 000000 2y 0 000000 2z 0 554000 lt PDAS GE0 6 6 00 LGH NTF PDAS GEO 8 le PDAS GE0 8 2 2 NTF PDAS GEO 8 2 A 6278249 145 17 F 292 465000000 3 1 000000000 1 PDAS GEO 8 4 Dx 168 000 Dy 72 000 D3 218 500 1 PDAS GEO 8 5 c 0 000000 y 0 000000 m 0 554000 e pnae crn gt ND TAMEPDOT 1 How to quit DSet Pack From the menu bar select File and then Exit Unless an unsaved configuration is still open this causes the DSetPack main window to be closed immediately If one or more unsaved configurations are still open in the DSetPack window warning messages appear successively for each of these configurations asking you to save the last changes made to the file before quitting DSetPack Click the Yes button to save the last changes made or the No button to discard them G 49 DSet Pack Software A review of the DSet Pack commands G 50 A review of the DSet Pack commands File menu commands The File menu offers the following commands Open Close Save Save As Print Print Preview Print Setup Opens an existing configuration file Closes the active configuration file Saves the active configuration fil
96. DAS AGECOR 040 0 3 1 PDAS ALTL0 2 000 0 3A PDAS FILTER 6 00 1E PDAS DOPMAX 40 0 13 PDAS SVDSEL 5 0 0 2A PDAS SELGEO 0 21 PDAS CONFIG END 00015678 62 DSNP C 15 Commands library PDAS CONFIG RESET PDAS CONFIG RESET 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 The receiver is automatically re initialized after running this command Syntax PDAS CONFIG RESET hh lt CR gt lt LF gt Command identification PDAS CONFIG RESET Parameters none hh Checksum optional lt CR gt lt LF gt End of command Examples PDAS CONFIG RESET PDAS COMMNT PDAS COMMNT 1 1 CONFIG PALMTOP 61 PDAS CONFIG RESET PDAS COMMNT PDAS COMMNT 2 1 AQUARIUS 5000 SERIES 14 PDAS COMMNT 2 2 DEFAULT CONFIGURATION 2B DSNP PDAS DEFLT e Functions Syntax Commands library PDAS DEFLT 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 Complete command PDAS DEFLT a b hh lt CR gt lt LF gt C QUERY command PDAS DEFLT hh lt CR gt lt LF gt Command identification PDAS DEFLT e Parameters ref format a X X b X X hh lt CR gt lt LF gt DSNP Err
97. DASSAULT NP N TION POSITIONING Aquarius 5000 Series USER S MANUAL 0311374 Rev B Issue January 1999 Notice The accuracy of this receiver is not only dependent on its performance but also on various external factors installation and environmental conditions handling use etc Therefore it should be used as an aid to navigation rather than a substitute for a navigator s skill and judgment This DSNP receiver is a reliable shipmate that will help you to make vital decisions in critical situations but don t let them allow yourself to believe this relieves you of customary prudence and navigational care FCC statement USA The United States Federal Communications Commission in 47 CFR 15 105 has specified that the following notice be brought to the attention of users of this product This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined
98. DSet Pack Opening saving closing a configuration file To open a configuration file located on the PC Use the Open command from the File menu Select the desired file and click the OK button The file then opens and you can work on the DGNSS related section of this file Save the changes made to the file using the Save command from the File menu You can create a new configuration file from the active file by using the Save As command from the File menu Remember that in this case you create a complete configuration file not a file that would contain only the DGNSS related section of the configuration To modify a receiver s configuration file directly from the PC see page G 4 Sending commands to a receiver To close the active file select Close from the File menu If the file has not been saved yet DSet Pack will ask you to confirm or reject the changes made before closing the file DSet Pack modifiable modules This chapter presents the four DGNSS related modules from a configuration file which you can modify using DSet Pack DSet Pack Software Modifying a configuration file using DSet Pack e DESCRIPTION Comment Free text limited to 30 characters per line 6 lines max a key note for clear identification of the configuration This sub module is made available to you for modifications with DSet Pack so that you can later identify the changes made to this configuration with this software e PROCE
99. E 12 L2 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 complies with RTCM message No 18 000 phase error lt 0 00391 cycle 001 phase error lt 0 00696 cycle 010 phase error lt 0 01239 cycle 011 phase error lt 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 gt 0 12480 cycle P Y code quality indicator Bits 0 to 3 pseudorange multipath error indicator complies with RTCM message No 19 1111 multipath error not determined DSNP GPS Raw Data in SBIN format SBIN R Dual frequency GPS pseudoranges in satellite time Bits 4 to 7 pseudorange data quality indicator complies with RTCM message No 19 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 er
100. EMORY lt cr gt lt If gt The receiver will return a reply of this type PDAS MEMORY DIR 1 1 122880 3858432 0 The percentage of free memory on the PCMCIA card is indicated in Screen No 0 on the status display Display example WES V O09 EDGP 12TD11 12 1V so 101 F45 Free memory percentage 1 36 DSNP Basic operating instructions for the 5000 series PCMCIA reader Listing all the files present on a card From the control computer send the following command PDAS MEMORY DIR lt cr gt lt it gt The receiver will return a reply of this type PDAS MEMORY DIR 3 1 122880 3858432 2 PDAS MEMORY DIR 3 2 sesimmed d00 694 44 18 02 1998 092034 0 PDAS MEMORY DIR 3 3 sesimmed d01 303 04 18 02 1998 092230 0 DSNP 1 37 Basic operating instructions for the 5000 series PCMCIA reader Loading a configuration from a card For successful completion of this load operation a configuration file named CONFIG CFG should be stored on the PCMCIA card Typically this type of file is created using the DSNP ConfPack Software The configuration file currently used by the receiver can be identified using the PDAS COMMNT command Typical procedure From the control computer send this series of commands PDAS COMMNT lt cr gt lt if gt for identification of the default configuration PDAS COMMNT 2 1 AQUARIUS 5000 SERIES 14 PDAS COMMNT 2 2 DEFAULT CONFIGURATION 2B PDAS CONFIG LOAD
101. F For example to change the settings of port B to 19200 Bd 7 data bits Odd parity send this command PDAS HARDRS B 19200 7 1 O lt cr gt lt lf gt Check the new settings for port B by sending the following command PDAS HARDRS lt cr gt lt if gt PDAS HARDRS 4 1 A 9600 8 1 0 N 0A PDAS HARDRS 4 2 B 19200 7 1 0 0 31 PDAS HARDRS 4 3 C 9600 8 2 0 N 09 PDAS HARDRS 4 4 D 19200 8 1 0 N 3F DSNP 1 27 Basic operating instructions for the 5000 series Usual changes made to the receiver configuration from the Control computer 1 28 If you change the settings of the serial port on the receiver do not forget to make the same changes on the concerned serial port of the control computer Refer to Appendix C for more information on the PDAS HARDRS command Editing adding the definition of a computed data output The definition of each of the computed data outputs generated according to the receiver configuration can be modified through the following steps From the control computer send the following command to list all the data outputs PDAS OUTMES lt cr gt lt If gt The receiver will return a reply of this type PDAS OUTMES 1 A 1 10 1 5 7 8 9 10 20 4F PDAS OUTMES A 1 10 2 7 8 5 11 20 5B PDAS OUTMES 3 A 1 10 12 20 51 PDAS OUTMES 4 A 1 10 13 20 57 PDAS OUTMES S A 1 10 3 5 6 20 64 DSNP Basic operating instructions for the 5000 series Usual changes made to the receiver configura
102. G Click the Send button G 41 DSet Pack Software Using DSet Pack connected to a DSNP GNSS GPS receiver G 42 e Adding new commands to the combo box Click the Advanced button in the Command Pane The Commands Editor dialog box appears allowing you to set up a group of commands interpretable by the connected receiver The commands you select in this dialog box will be prompted in the main window As a result you will only need to choose the desired command from the list in the main window and click to send the command to the connected receiver Commands Editor Eg Group Label aquarius Command Label Add Command Delete Command Load Commands Save Commands The buttons in the Commands Editor dialog box allow you to load any command group file available make any change to the group and save your own command groups The selected command group will be available in the main window after you close the Commands Editor dialog box by clicking in the upper right corner DSNP DSet Pack Software Using DSet Pack connected to a DSNP GNSS GPS receiver e Using the Commands Editor dialog box Group Label Text box used to enter and or view the name given to a command group For example this name can suggest the type of receiver connected when this command group should be used Command Text box used to enter and or view each command script Use the associated scrollbar to brows
103. NAVSEL Edits the currently selected navigation mode PDAS OUTMES Edits definitions of computed data outputs PDAS OUTON Respectively enables and disables data outputs PDAS OUTOFF on the serial ports outputs PDAS SELGEO Selects the coordinate system that should be used by the receiver C 6 DSNP Commands library Command summary table PDAS SESSN Edits adds definitions of sessions PDAS SVDSEL Deals with rejected SVs amp elevation threshold PDAS TR Triggers data output in RS232 mode on the specified port PDAS UNIT Edits receiver or station identification number L LGPQZDA Respectively changes and reads receiver date amp time __ZDA DSNP C 7 Commands library PDAS AGECOR PDAS AGECOR e Function Edits the maximum age permitted for DGPS corrections Syntax Complete command PDAS AGECOR a hh lt CR gt lt LF gt QUERY command PDAS AGECOR hh lt CR gt lt LF gt Command identification PDAS AGECOR Parameters ref format a X X Maximum age of corrections in seconds default 40 s hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS AGECOR Reading current max age of corrections PDAS AGECOR 40 1E 40 seconds PDAS AGECOR 50 Changing max age of corrections 50 s PDAS AGECOR Checking new max age of corrections PDAS AGECOR 50 1F C 8 DSNP DSNP PDAS ALTI Function Syntax Commands library PDAS AL
104. P L1 phase C A code KART format R RTCM T L1 or L1 L2 LRK format 10 to 16 V DC non floating 15 W from the receiver to which the transmitter is attached 20 to 55 C 198x66x60 mm IP65 complying with ETS 300 279 and ETS 300 113 DSNP Data Link options UHF Data link option e UHF receiver Sensitivity Analog 118 dBm typical for signal to noise and distortion added of 12 dB Digital 118 dBm typical for a bit error rate of 1x10 in DQPSK or GMSK Frequency band 410 470 MHz 4801 channels 12 5 kHz apart 3 dB bandwidth 6 MHz typical at 410 MHz 8 MHz typical at 470 MHz Modulation types DQPSK Differential Quadrature 3 Phase Shift Keying 1200 bits s 1200 Hz sub carrier GMSK GaussianMinimum Shift Keying 4800 bits s in base band Message type C DSNP corrections P L1 phase C A code KART format R RTCM T L1 or L1 L2 LRK format X Relay 1 or 2 DSNP 3 3 Data Link options UHF Data link option Installation s UHF transmitter Installed at the reference station it is simply plugged onto the SubD 15 C connector located on the rear panel of your receiver port D RS422 DGPS The UHF transmitter is secured on the rear panel by four screws See photo below ZYY NS 6025201392 e UHF receiver Only trained personnel can perform this operation as this requires the opening of the receiver case For your information a photo of the UHF receiver board is provided
105. RENTIAL GNSS RTCM SPECIAL COMMITTEE No 104 MARCH 1 1996 The UHF reference stations from the Aquarius 5000 series can transmit the following types of RTCM messages depending on the choice made using the PDAS DGPDAT command 1org 2 3 5 16 PRC s corrections Delta PRC s corrections Reference station position Constellation Health User message DSNP Data Link options UHF Data link option e Corrections message Type T First 2 bytes Message length measured from 02 to 03 inclusive in binary notation from 1 to 65535 Next byte Transmission rate in seconds in BCD notation from 01 to 99 Next 3 bytes XX XX XX Time tagging GPS time in week in 1 10 seconds Next byte pp C A amp P Y amp L1 L2 filtering indicator Next nx14 or 27 bytes XXXXXXXXX Satellite raw data on L1 C A or L1 L2 PY Next 15 bytes XXXXX yyyyy ZZZZZ XYZ position in BCD notation of the station on ECEF same as RTCM 3 For each parameter field 2 147 483 647 in BCD unit 0 01 m sign placed in the most significant bit of the 1st byte 80hex Next 2 bytes XX XX Station battery output voltage in BCD notation unit 107 V Last 2 bytes XX XX Checksum binary sum from stx Data complying with the same data in SBIN R format single and dual frequency DSNP 3 23 Data Link options UHF Data link option In L1 C A transmission capability up to 16 channels 254 bytes at 4800 Bd gt
106. RK The POSIT initialization mode requires the prior entry of a reference position using the PDAS PREFLL or PDAS PREFNE command With the KART or LRK processing mode three distinct position solutions are available EDGPS for Enhanced DGPS Precise DGPS position computed every 0 1 second available on reception of DGPS data from the reference station without having to wait for the end of the KART or LRK initialization phase KART A or LRK A A for Accurate Accurate KART or LRK kinematic position computed every time DGPS data from the reference station is received every 1 0 second in general KART R or LRK R R for Real Time KART or LRK kinematic position computed from extrapolated DGPS data available every 0 1 second To choose one of these position solutions to be used as the input information for your navigation needs use the PDAS NAVSEL command DSNP 2 35 Processing options KART LRK s Example of programming steps letting the mobile receiver process DGPS Data received by the built in UHF receiver data in the DSNP UHF format 1 Send the command below to let the receiver know the characteristics of the station transmitting the corrections in the DSNP UHF format carrier 444 55 MHz transmission rate 1200 Bd modulation type DQPSk PDAS DGPS STATION 8 DSNP 4716 N 00129 W UHF 444550000 30 1200 DN 2 Send the command below to configure the built in UHF receiver so that it can re
107. S CYCLE AUTPW 3 Cycling on session 3 in auto power mode AUTPW PDAS EXPSES QUERY checking the validated session PDAS EXPSES CYCLE AUTPW 3 2A DSNP C 39 Commands library PDAS FILTER PDAS FILTER e Function Edits the speed filtering time constant e Syntax Complete command PDAS FILTER a hh lt CR gt lt LF gt QUERY commana PDAS FILTER hh lt CR gt lt LF gt s Command identification PDAS FILTER e Parameters ref format a X X Speed filtering time constant default 6 seconds hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS FILTER QUERY PDAS FILTER 6 30 Reply 6 seconds C 40 DSNP Commands library PDAS FIXMOD PDAS FIXMOD e Function Edits the fix mode 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 Wherever a reference position is required for example at a reference station or for KART or LRK initialization use the PDAS PREFLL or PDAS PREFNE command to enter that position e Syntax Complete command PDAS FIXMOD a b hh lt CR gt lt LF gt QUERY command PDAS FIXMOD hh lt CR gt lt LF gt s Command identification PDAS FIXMOD e Parameters ref format a X Selects GPS fix mode 0 no fix computation 1 Residuals computation in transmitting refe
108. S IDENT hh lt CR gt lt LF gt e Receiver Reply syntax PDAS IDENT a b c d hh lt CR gt lt LF gt s Parameters returned in the reply ref format a X X Total count of reply lines b X X Line number C CCCC Subassembly hardware identification Always 4 characters cl c2 c3 cd where c1c2 are the 2 characters identifying the subassembly clc2 CM Core Module clc2 TD Data Transmission clc2 UC Application Central Unit DSNP C 63 Commands library PDAS IDENT c3 c4 b7 b6 b5 b4 b3 b2 b1 bO 0 010 0 0 C A Core Module 1 P Y Core Module c3 c4 b7 b6 b5 b4 b3 b2 b1 bO 000 001 010 100 011 10 mW 000 410 470 MHz 100 mW 001 400 410 MHz 500 mW 4 W C 64 gt c3c4 are the 2 characters identifying the hardware version of the subassembly CI If c1c2 CM then c3 identifies the type of board c3 0 Core Module Type I and cd represents the 4 bits read from the IC device If c3 0 see in the opposite diagram how to interpret bit b3 in character c4 JIP cle2 TD bits 2 1 and 0 character c4 identify the PCB version and bits 5 4 and 3 the transmission power see opposite diagram DSNP Commands library PDAS IDENT c3 c4 T If c1e2 UC c4 identifies the PCB b7 b6 b5 b4 b3 b2 b1 b0 version of the Central Unit a
109. S antenna 1 4 When installing the UHF antenna 3 6 When using WADGPS 2 17 2 21 When using signals from GEOs dec 1998 A 10 PREFLL C 80 PREFNE C amp 2 PROCESS G 18 Procom GP450 3 3 5 Proprietary commands Conventions C 4 Format C 3 Pseudolite 2 24 C 78 DSNP Aquarius 5000 User s Manual Index Q OA OC 1 49 Implementing 2 23 Types 2 22 Variables containing QC results 2 26 OC C 84 R_GEO A 6 RAZALM C 86 Re size Editor table G 11 Panes G 7 Read Amount of free memory on PCMCIA 1 36 Receiver holder 6 2 RECORDING 1 49 Recover Permanent operation 1 22 Reference Position G 18 Reference station 2 1 2 2 2 3 2 4 2 7 2 33 C 27 C 80 C 82 C 95 REFSTATION 1 49 3 10 3 12 3 14 3 16 Release 5 33 Remove PCMCIA card 1 35 Restoring port settings G 16 RS232 cable 1 54 RS232 connectors 1 9 RS232 port B 2 RS422 connector 1 9 RS422 port B 2 Aquarius 5000 User s Manual Index RTCM SC104 2 11 2 12 2 13 2 15 2 25 3 22 B 5 B 9 B 15 B 16 B 17 C 61 S S N ratio view 5 26 Safety distance between UHF amp GPS antennas 3 7 SBIN format E 1 SBIN W E 18 SBIN A C 57 E 14 SBIN E C 56 E 15 SBIN Q C 78 SBIN r C 78 E 4 SBIN R dual frequency E 8 SBIN S C 57 E 17 SBIN U C 57 E 16 SBIN W 2 25 C 47 Scale factor C 45 Select Pane G 6 G 8 Selection Guide B 8 SELGEO C 87 Semi major axis C 45 Send Commands 1 14 Sessions 5 21 As
110. S week gt lt GPS time gt lt eoln gt GPS week number and 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 is removed s 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 which are hex encoded to form 6 bytes 0 to 1 A to F with the first byte corresponding 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 Data block example 1U 945 414740 3 780F00 FF0136 FEFC03 000032 000000 0F90B1 0C9002 0CAAAA D 21 D GPS Raw Data in SVAR format SVARIS Health amp A S data D 22 SVARIS Health amp A S data e General Form lt stx gt lt eoln gt lt I gt lt time tagging gt lt eoln gt lt Health amp A S data line gt lt eoln gt lt etx gt s Time tagging line IS lt GPS week gt lt GPS time gt lt eoln gt GPS week number and 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 is removed e 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 from words 3 to 10 i
111. SDAT QUERY PDAS GPSDAT 1 B 3 3 3 3 4C Reply 2 lines PDAS GPSDAT 2 N 43 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 are now received 1U 945 378367 0 780F00 FFO136 FEFC03 000032 000000 0F90B 1 0C9002 0CAAAA C 58 DSNP Commands library PDAS HARDRS PDAS HARDRS e Function Edits the settings of the receiver s serial ports Syntax Complete command QUERY command PDAS HARDRS hh lt CR gt lt LF gt C Command identification PDAS HARDRS Parameters ref format a X Count of lines containing definitions of serial ports b X Line number from 1 to a a Port identification A B etc d X X Baud rate 1200 2400 4800 9600 19200 default 9600 Bd e X Number of data bits 6 7 8 default 8 f X X Number of stop bits 1 1 5 2 default 2 DSNP C 59 Commands library PDAS HARDRS g a Parity control N for None O for Odd E for Even M for Mark S for Space default N hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS HARDRS QUERY PDAS HARDRS 6 1 A 9600 8 1 0 N 08 PDAS HARDRS 6 2 B 9600 8 1 0 N 08 PDAS HARDRS 6 3 C 9600 8 2 0 N 0B PDAS HARDRS 6 4 D 19200 8 1 0 N 3D PDAS HARDRS B 19200 7 1 0 Changing port B setti
112. SS Reference Position Precise coordinates of the DGPS reference station or of the mobile receiver in the case of KART or LRK initialization from this location A single row possible in the Editor table Coord System Input Latitude East Xgeo Longitude North Ygeo Altitude Height Zgeo Specify the coordinate system in which the reference position is expressed choose one of the coordinate systems you have defined or the default one Type of coordinates used to express the reference position Latitude Easting or X coordinate of the reference position depending on the coordinate system used Longitude Northing or Y coordinate of the reference position depending on the coordinate system used Altitude of the reference position depending on the coordinate system used DSNP DSNP DSet Pack Software Modifying a configuration file using DSet Pack Mode Process Position process type this choice depends on the destination of your receivers Reference Station Configuration file intended for a stationary receiver associated with a reference station transmitting corrections Monitoring Station Configuration file intended for a stationary receiver associated with a monitoring station GPS Natural Configuration file intended for a pure GPS receiver i e not including a DGPS correction receiver DGPS Configuration file intended for a GPS receiver capable of receiving an
113. ST 080155 99 0 02 0 02 0 04 6A F GPGST 080156 99 0 02 0 02 0 03 6E GPGST 080157 99 0 02 0 02 0 04 68 DSNP F 11 Computed Data Outputs Output 9 GPGSV Output 9 GPGSV GNSS satellites in view Field type Variable Field Designation ConfPack GPGSV NMEA183 message identifier x Total number of messages X Message number XX NSVR Total number of satellites in view XX CSV i Satellite ID number XX CEL i Elevation in degrees 90 max XXX CAZ i Azimuth in degrees True 0 to 359 XX CSB i SNR C No 00 to 99 dB Hz The last four parameters are provided for each satellite in view Depending on the number of satellites in view the message can occupy up to 3 lines e Output example GPGSV 3 1 10 24 13 313 41 18 61 206 50 25 07 031 38 0 7 29 234 43 72 GPGSV 3 2 10 15 08 136 41 19 09 168 39 16 78 020 50 1 3 03 222 37 78 GPGSV 3 3 10 04 53 303 49 14 41 077 47 74 F 12 DSNP Computed Data Outputs Output 10 Time Mark Output 10 Time Mark lt stx gt lt cr gt lt lf gt YM XXXX XXXXXX X lt Cr gt lt lf gt 1X XXXXXXXXXXX lt CIr gt lt lf gt 2 x hhmmss sss lt cr gt lt lf gt 3 x XXX lt Cr gt lt lf gt lt etx gt Field type Variable Field Designation ConfPack YM xxxx GPSW GPS week number XXXXXX X GPST GPS week time Lsd 1 10 second 1 x FIXS GPS status 1 character 0 GPS time solution computed 9 GPS time solution
114. Software Introduction to DSet Pack e Saving port settings Click the Save settings button This opens a dialog box that allows you to save the serial port configuration currently enabled so that you can quickly retrieve it at a later date using the Load Settings pushbutton In the File Name text box enter a name for the file to which the serial port configuration should be saved typically with set as extension Typically serial port configuration parameters are saved to the set directory Click the Save button to save the following communication parameters Serial port No Baud rate Number of bits per character Parity check option Number of stop bits Clicking Cancel would take you back to the Communication Settings dialog box without saving any settings e Restoring port settings Click the Load settings button This opens a dialog box that allows you to select any serial port configuration file saved earlier using the Save Settings button Click the desired file name in the list box to select it typically in the ser directory and click Open As a result the serial port parameters in the Communication Settings dialog box are automatically set as specified in the file you selected Clicking Cancel would take you back to the Communication Settings dialog box without loading any settings DSNP DSNP DSet Pack Software Modifying a configuration file using DSet Pack Modifying a configuration file using
115. Station Control software Introduction to the Station Control software Palmtop display All screens are divided into two distinct areas as shown below The status area is permanently shown 0 if transmission OFF or g Count of SV corrections 9 transmitted if transmission ON x Count of SVs used Transmit indicator I Battery indicator ILJ T Parameter Area Status Area Count of SVs used L Blinking icon if the count of SVs drops and remains below 4 Transmit indicator ni op D Respectively OFF and ON Keys and menus A few keys and menu types need to be known for best use of the Palmtop Software program DSNP 5 5 Station Firmware option Introduction to the Station Control software s Main menu screen The main menu shows the 6 groups of functions available in the form of icons see below 1 2 3 Use the vertical or horizontal arrow keys 4 gt lt to select an icon The selected icon is surrounded by dotted lines Then press to enter the corresponding function Alternately you can directly enter a function by pressing the corresponding numeral key see figures 1 to 6 in the screen example above e Function menus They are displayed after selecting an icon in the main menu and pressing Function menu example Using the vertical arrow keys select a function in the menu and then press again to run this function Alternately you can directly run a
116. TI Edits the altitude processing mode and the altitude correction mode Complete command PDAS ALTI a b c hh lt CR gt lt LF gt QUERY commana PDAS ALTI hh lt CR gt lt LF gt Command identification PDAS ALTI Parameters ref a format X Altitude processing mode 0 to 3 0 H user Twess4 ellips MSL stanag ES EMSL cai offset 1 Hauser Hwass4 ellips EMS Liocal offset 2 Huser Htransfo geoid EM SL a a offset 3 H user H WGS84 ellips MSLiuser EMSLi oa offset where MSL Geoidal separation Commands library PDAS ALTI b X X Offset altitude from 999 999 to 999 999 m default 0 00 m This parameter describes the height of the antenna phase center with respect to the reference surface C x EMSLroa altitude correction mode 0 to 9 0 no altitude correction EMSLjoca 0 0 gt 0 model used for altitude correction for future applications hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS ALTI Reading current correction mode PDAS ALTI 0 2 000 0 0A PDAS ALTI 1 1 9 0 Changing correction mode PDAS ALTI Re reading current correction mode PDAS ALTI 1 1 900 0 01 C 10 DSNP Commands library PDAS COMMNT PDAS COMMNT e Functions Reads the comment field present in the current configuration one or more lines This field is assumed to identify the configuration e Syntax
117. UHF Rx Module Extended I O Topographic Kit Station Firmware DSNP B 7 B Introduction to the DSNP Aquarius 5000 series Product Selection Guide Software options Below is the complete list of software items which you can acquire from DSNP to extend the configuration of your 5001 or 5002 receiver PCMCIA recording capability Differential GNSS reference station firmware using RTCM104 and DSNP formats KART firmware LRK firmware Local geoid height input firmware released at a later date Hardware options Below is the complete list of hardware items which you can acquire from DSNP to extend the configuration of your 5001 or 5002 receiver L1 to L1 L2 upgrade for 5001 only Built in UHF receiver Plug in UHF transmitter Extended I O board plugged inside the case offering the following new inputs and outputs External event input for time tagging of this event one extra RS422 port I O port C 1PPS output 10 MHz input for use of an external oscillator Topographic kit Station kit with antenna tripod interface container and miscellaneous DSNP Introduction to the DSNP Aquarius 5000 series Specifications Specifications Physical Dimensions inmm Weight UHF antenna HxWxD in kg length in cm 5002 130x260x220 S 5001 SD 130x260x250 UI 5002 SK 130x260x250 UI 5002MK l 130x260x220 With plug in UHF transmitter Electrical Power Drain DC Power voltage Type in W range i
118. Using the Edit Pane The Editor Pane shows the Editor table The Editor table consists of a top row in gray a Status column leftmost column in gray and a variable number of editable or non editable cells arranged in rows and columns data rows and columns 1 cell A data row Status Column A data column DSNP G 9 RTCM_SC1 ALL DSet Pack Software Introduction to DSet Pack e Cell types There are 4 different types of cells Combo cells Only the options from the combo box can be selected in this type of cell Process GPS Natura lt Reference Stati Monitoring Stati GPS Natural DGPS MDGPS EDGPS KART LRK Text cells Can contain a limited number of alpha numerical characters Comment DSETPACK Sample Numeral cells Can only contain numerical values with delimited range Range km w o Software set cells Controlled by DSetPack Whenever the content of a cell is irrelevant to the current context then the cell is locked no data entry possible G 10 DSNP DSet Pack Software Introduction to DSet Pack e Re sizing the editor table Re sizing rows Position the pointer on the bottom border of any cell in the status column leftmost gray column The pointer shape then looks like this Using the left mouse button drag the pointer downward to increase the row height or upward to decrease it Release the mouse button when you get the desired hei
119. acccicccdecesstacteiesstcassaseecenssdeataasteneseanceathichivensiert 5 17 File Management cenie ax 53 yogot zx 97292 2az czas 5 19 PCMCIA Carecer 5 19 Paw Data TT 5 20 eT 5 21 Nabat EN AE A AA N E 5 25 Visible Constellation eee eee eee 5 25 IRI ene 5 27 DSNP Aquarius 5000 User s Manual Table of Contents Coordinate System Used sese 5 28 DEE tAE To EEE E E heal ae nai 5 28 ansi ole T 5 29 Change tO WGS864 ooo eeeeececeeeeneneeeeeeeneseeseaeeneaaeseaneneeeseaneneaes 5 29 Load Geodesy iiaeie ieee 5 30 Koler IKE To T 5 31 Height COrrection cceseccceceseeeeeeeeeeeeeeeceeeeseeeeereseeneneeeeeeenees 5 32 System TOS ssa scsces cesses ieekeesectsndssedecdgesectesstenegessidbeendisaeedivabaeeds 5 33 sie 5 33 bT T 5 34 Configuration ccteaicAd iti a Re 5 34 Maintenance Te 5 35 Resetting the palmtop sees eee eee eee 5 35 Reformatting the diek sss esssee esse cesse seer 5 35 6 Station Installation Kit OPtion sssseecececceesessesseees 6 1 WALPOCUICHION cai vecsaasechsdeteadacapvsccted sasdvceteanethessesavecnpancededdatencaspaneeeadese 6 1 IIE COSCMPUON ussas e aana 6 2 WNPaCkinG iss siesi cis cain eee ade eee ead 6 3 Station installation see eee eee eee ee eee eee 6 5 Choosing a location where to install the station sse cee 6 5 Connections and Setup sees eee eee eee eee 6 6 Measuring the GPS antenna height eee eee eee 6 8 DSNP measurement eee eee eee eree eee eee 6 8 USER measurement
120. ach Each word takes 0 6 second to transmit A A 3 Introduction to GNSS GNSS 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 GNSS General Description Satellite navigation systems are now used in scores of applications worldwide The best known two systems in operation as of today are The US GPS Global Positioning System which is the most complete 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 Defence Department of the two countries As a result civilians cannot be sure of being allowed full access 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 DSNP DSNP Introduction to GNSS GNSS 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 The current GNSS 1 is the first phase in that scheme based on the augmentation of the GPS ser
121. amples PDAS PRANGE QUERY PDAS PRANGE 1 B 1 10 4 0 0 0 4F Reply 2 lines PDAS PRANGE 2 N 59 PDAS PRANGE 1 A 1 40 Validating SVARIR data blocks on port A in time mode every 4 seconds Data blocks such as the one below are returned to your display terminal if you sent the command through port A R 945 393528 0 amp P 30 0 4 3118942645 2536448 2407692 38 A 70 BF 16 100 0 83 EF 1 5 3019470900 3296845 2821288 47 2 00 8F 27 43 119 6985938 2198376 01 7F 2 14 3154649176 3909466 113 1044 26 A 9C FF 500 0 00 00 38 2993264420 3359515 3040848 49 2 01 8F 35 2 8 1 601 1982 2369436 01 7F 4 9 3111375648 3690470 4080896 42 2 21 AF 35 36 4 9813601 3179876 41 AF 6 29 3056856053 7688995 162032 45 2 23 9F 20 28 139 1925823 126280 22 9F 7 25 3045055618 2261374 2272900 46 2 16 9F 31 124 231 7378134 1771120 22 8F 8 30 2968080800 5981519 718444 50 2 01 8F 35 43 76 9875600 559820 01 6F 9 1 3035062400 3442959 2495792 45 2 03 9F 39 197 244 939225 1 1944616 21 9F A 6 3002300530 8653059 1492552 49 2 00 8F 3 1 63 139 7324873 1163000 02 6F B 24 3062858884 5679502 186896 44 2 00 AF 4 6 29 1506867 145640 42 9F DSNP C 79 Commands library PDAS PREFLL PDAS PREFLL e Functions In a reference station allows you to enter the precise latitude and longitude of this station In a mobile receiver allows you to enter the precise latitude and longitude of the position from which the rec
122. and time within week in seconds Reference time is jan 6 1980 at Ohr00 assuming the modulo 2 ambiguity is removed s Parameter line lt soln gt i1stchar lt amp gt lt P gt L1 and L2 phase measurements C A P Y codes lt filter time constant gt in seconds C A code smoothed by carrier lt eoln gt D 12 DSNP GPS Raw Data in SVAR format SVARIR Dual frequency GPS pseudoranges in satellite time e Dual frequency raw data lines lt soln gt lt SV No gt lt C A code pseudorange gt lt L G A Carrier phase gt lt L G A Carrier speed gt lt C A L1 C No gt lt L1 L2 channel status gt lt L1 carrier quality indicator gt DSNP 2 characters and channel No in hexadecimal in 10 s modulo 10 s in 10 cycles modulo 10 cycles in 10 cycle s in dBHz encoded on a 4 bit 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 L2py phase measurement not valid encoded on 2 ASCII characters 0 to F 8 bits MSB first 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 D 13 D GPS Raw Data in SVAR format SVARIR Dual frequency GPS pseudoranges in satellite time lt C A code quality indicator gt bits 5 to 7 da
123. ange 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 pseudorange error lt 5 409 1111 pseudorange error gt 5 409 DSNP E 7 GPS Raw Data in SBIN format SBIN R Dual frequency GPS pseudoranges in satellite time SBIN R Dual frequency GPS pseudoranges in satellite time e General form lt stb gt lt R 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 s Time tagging First 2 bytes Last 3 bytes 2 bytes 2 bytes 5 bytes 1 byte 14 bytes 14 bytes 2 bytes 1 byte GPS week number assuming the modulo 2 ambiguity is removed GPS time in week unit 1 10 s The reference time is Jan 6 1980 at Ohr00 DSNP GPS Raw Data in SBIN format SBIN R Dual frequency GPS pseudoranges in satellite time e Parameters A single byte bits 0 and 1 C A code smoothed by carrier complies with RTCM message No 19 Smoothing Interval 0 to 1 minute 01 1 to 5 minutes 5 to 15 minutes Indefinite Bit 2 Bit 3 1 Bits 4 to 6 0 reserved Bit 7 1 dual frequency measurements e Satellite Raw D
124. anual Appendices PDAS CONFIG RESE Tisonen aaan C 16 SPDAS DEF ss ttitetec nei gadtai didnt att dete C 17 SPDAS DELSESs ieisiiatien dvi lenitete tel faded ates dene C 19 PDAS DGPS DELSTA sirfid aiaiai C 21 PDAS DGPS MODE E C 23 PDAS DGPS MODE BI C 26 PDAS DGPS STATION 2 cccccceseeeeeeeeeceeeeeeeeeaeseaeeeeseeeeeeees C 29 SPDAS DGPDAT wissesvevenccenvus annia aaan anaE C 32 SPDAS EXPSES peata ainaani aa aa eaa a aaa aa ia C 36 SPDAS FILTE lt C 40 PDAS FIXMOD panna A C 41 SPDAS GEQ rnn a a die eens C 44 SPDAS GEODAT ssiesinasesctetieneiadeaseeqattesseesteaseceintiacsdedeasecciatenseenie C 47 _GLL and BGP CGN cect sc tiacquatedelihea sda cmndescebcn aotceeadvaelelads C 49 PDAS GNOS aieia arai eseiad esate needs C 51 eT eT C 54 PDAS GPSDAS rradisa eiaa a C 56 SPDAS HARDRS isisitehde eatin tnteatel hin ttle eet C 59 PDAS HEALTH for future US ss eee eee C 61 SPDAS IDENT ces ecsesxsnenscvnate cavevsaneaaxhslceastsbaredestadeastaobiecastbetecenit C 63 PDAS MEMORY 2 ccecceecceeseeeeeeeeeeeeeecaeesaaecaeseaeeeaeeeeeeneee C 67 TDDAS MEMORY DIR C 68 SPDAS NAVSE La vssenetrenccutus snuviendenestiveniivnedlbunteuvierrenuiie de C 70 PDAS OUT MES irsenceravcccitend nccnevlaschabarpexnceystehelvadexenevbreetiesedese C 72 PDAS OUTON and PDAS OUTOFF cccceeeeeeeteeteees C 76 k ST ee C 77 DSNP DSNP Aquarius 5000 User s Manual Appendices SPDAS PREEFL Lives eceeivs azo inienn
125. at 1200 bits s of the NDS100 Mk I type RTCM104 messages Nos 1 2 3 5 9 16 18 19 e UHF reception range Up to 50 km using a 5002 SK station range height dependent e LRK Performance characteristics With Aquarius 5002 SK station Automatic OTF initialization from 4SVs Range 30 km typical LRK fix at a rate of up to 10 Hz with latency lt 0 1 second DGPS operational from 4 SVs minimum LRK accuracy 1 cm X Y Z 95 at 1 s rate 5 SVs or more HDOP lt 4 future implementation B Introduction to the DSNP Aquarius 5000 series 5002 SK specific data sheet KART High rate KART and DGNSS compatible with Aquarius 5002 SK and 5001 SD stations 5002 SK specific data sheet Differential corrections generated LRK format 4800 bits s High rate KART format 4800 bits s KART format 1200 bits s of the NDS100 Mk II type DSNP UHF format 1200 bits s of the NDS100 Mk II type RTCM104 messages Nos 1 2 3 5 9 16 18 19 LRK Performance characteristics L1 L2 code amp phase data Full set of corrections updated every 1 second DGNSS KART and High Rate KART capability UHF coverage Up to 50 km depending on the height of the installation location future implementation DSNP Introduction to the DSNP Aquarius 5000 series Block Diagrams Block Diagrams 5001 amp 5002 L1 5001 or TN L1 L2 5002 SS antenna 30 metre coaxial ca
126. ata 1st byte SV number E Next 4 bytes C A code pseudorange unit 10 s modulo 0 4 s Next byte bits 0 to 4 Level indicator C No 26 in dB Hz bits 5 6 and 7 channel status bit 5 0 if P code 1 if Y code bit 6 1 if L2p y phase measurement not valid bit 7 1 if L1c a phase measurement not valid DSNP E 9 GPS Raw Data in SBIN format SBIN R Dual frequency GPS pseudoranges in satellite time Next 3 bytes Next 3 bytes Next byte Next byte E 10 L1cyq carrier phase unit 10 cycle modulo 10 cycles L1cja carrier phase unit 4x10 cycles s field 32 kHz MSB sign 800000 measurement not valid L1c a 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 complies with RTCM message No 18 000 phase error lt 0 00391 cycle 001 phase error lt 0 00696 cycle 010 phase error lt 0 01239 cycle 011 phase error lt 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 gt 0 12480 cycle C A code quality indicator Bits 0 to 3 pseudorange multipath error indicator complies with RTCM message No 19 1111 multipath error not determined DSNP DSNP GPS Raw
127. 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 b is the PRN of the 1st WAAS EGNOS GEO to be tracked 120 lt b lt 138 irrelevant for the other values of a If a 2 c is the PRN of the 2nd WAAS EGNOS GEO to be tracked 120 lt b lt 138 irrelevant for the other values of a See also comments below Checksum optional End of command DSNP Commands library PDAS GNOS e 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 WAAS or EGNOS system The selected GEO is PRN 122 Manual selection mode PDAS GNOS 2 122 Command allowing the use of the C e Comments Although in the Aquarius receiver two channels can be reserved for the reception of one GEO each we do not recommend users to select two GEOs in the case of Manual selection In future users should be allowed to run such a command in which two GEOs are selected manually PDAS GNOS 2 122 138 DSNP C 53 Commands library GPQ C 54 GPQ e Function Returns the current values of the parameters whose generic code accompanies the command All replies are compliant with the approved sentences of the NMEA 0183 standard vers 2 30 March 1 1998 GPQ a
128. bat topouk bat h bat tov20100 cfg Batch file allowing you to run the Station Control software by simply typing in t then on the palmtop keyboard Text files containing all the program menus displays messages and other in French and in English Program file to be run from the palmtop Batch files run from the PC to download the program to the palmtop Batch file run from the palmtop through which the Waiting for transfer state is selected in the palmtop Station configuration file intended for the receiver unit might be required if the receiver configuration was incompatible with the palmtop DSNP DSNP Station Firmware option Installation Installation instructions The procedure given below is for a DSNP FS GS palmtop If you documentation to know how to transfer files to this palmtop Through this procedure you should download the following files to the root directory Boot the PC Insert the diskette supplied into the PC drive After checking that the palmtop is off connect its RS232 port to an RS232 port of the PC using the serial cable supplied Turn on the palmtop On the palmtop type in hcom c2 or simply h if h bat is already present in the root directory and then press On the PC run topouk bat or topofr bat from the diskette This launches the installation procedure Wait for the end of installation Once installation is complete press the esc key o
129. below 3 4 DSNP DSNP Data Link options UHF Data link option e UHF antenna A Procom GP450 3 whip antenna is used both at the reference station and on user receivers The accessory kit consists of A coaxial cable 6 50 m for reference station 30 m for user receiver An N TNC adaptor An antenna mast A stainless bracket ref 33100115 Allen wrenches provided to secure the antenna base on the mast 3 5 Data Link options UHF Data link option For the installation of this antenna you should take the same precautions as with the GPS antenna see page 3 GPS antenna installation As said elsewhere the geographical location of the UHF antenna is not of prime importance for the DGNSS processing as such Connect UHF antenna here 3 6 Assemble the Procom antenna Insert the hollow mast provided into the coaxial cable and then plug the coaxial cable to the connector located in the base of the antenna Move the mast along the cable to insert it into the base of the antenna Tighten the screws using one of the Allen wrenches provided to secure the antenna on the mast Using the bracket provided secure the assembly on the main mast not provided Connect the other end of the coaxial cable to the DGPS input on rear panel through the N TNC adaptor provided if you are installing the data link on the user receiver receiving DSNP DSNP Data Link options UHF Data
130. ber of sub screens for screen No 8 will depend on the number of options installed Display example Basic operating instructions for the 5000 series Checking receiver operation from the Status Display 1st screen 1st line Receiver identification o0 LEC 2 00145 P01 DGNSSMODE OP01 OP02 OP03 Option number and identification DGNSSMODE REFSTATION KARTMODE OP04 OP05 OPO6 OP07 LRKMODE USERGEOID RECORDING QA QC 1 49 1 Basic operating instructions for the 5000 series Checking receiver operation from the Status Display Screen No 9 Hardware and Software identification Each subassembly in the receiver is described on a sub screen Display examples Data Link oe EUHFV10300 or ee RUHFV10300 GNSS Engine CM0O08 CMBLV00109 CM08 CMPYV0020 4 UC CPU board GBU C 0 1 U CBS V 2000 0 UCO 1 UCBLV10000 GBU C 0 1 U CBN VY 2020 4 l l Hardware Software identification identification 1 50 DSNP Basic operating instructions for the 5000 series Rear panel Connectors Rear panel Connectors GPS antenna DC power source a battery or other To your navigation terminal GPS coaxial cable Power cable connected to either POWER input Diff DGPS RS232 cable antenna input A R5232 D R5232 DASSAULT NP SERCEL Fuse 2 A DGPS connector Port D DSNP 1 51 Basic operating instructions f
131. ble Accessories Receiver 5001 or 5002 COMPUTER VO GPS A RS232 B RS232 GNSS Engine L1 or L1 L2 PCMCIA Reader 16 char x 2 line Status Display ON OFF Scroll DSNP B 17 Introduction to the DSNP Aquarius 5000 series Block Diagrams 5001 MD L1 antenna ae 3 dB UHF antenna 30 metre GPS coaxial cable RG223 gt A 30 metre UHF coaxial cable KX15 Accessories Receiver Standard connections same as 5001 5002 G COMPUTER vO POWER DGPS i A RS232 B RS232 Built in UHF receiver GNSS Engine L1 PCMCIA R li i CMC eader 16 char x 2 line Status Display ON OFF Scroll B 18 DSNP Introduction to the DSNP Aquarius 5000 series Block Diagrams 5001 SD Reference Station L1 antenna LN 3 dB UHF antenna 10 metre GPS coaxial cable RG223 d 6 50 m UHF coaxial cable KX15 Accessories c Plug in UHF as ae ER a aa transmitter Sas ele ee aaa Receiver Standard connections same as 5001 5002 GPS COMPUTER vo POWER A ao DGPS A RS232 B RS232 DGPS D RS422 GNSS Engine L1 PCMCIA R li i 16 char x 2 line Status Display ON OFF Scroll DSNP B 19 Introduction to the DSNP Aquarius 5000 series Block Diagrams 5002 MK Mobile Sensor L1 L2 antenna 3 dB UHF antenna C 10 or 30 metre GPS coaxial cable RG223 1 10 or 30 metre UHF coaxial cable KX15 Accessories
132. ceive and decode the DGPS data from this reference station station No 14 PDAS DGPS MODE 1 D R 8 14 3 Send the command below to enter a reference position for a KART initialization at a known point centimetric accuracy demanded PDAS PREFLL 0 4716 1043533 N 00129 45430 00 W 48 752 4 Send the command below to select and initialize the KART processing mode from a known point using the DGPS data received PDAS FIXMOD 10 1 14 2 36 DSNP Processing options KART LRK 5 Send the command below to choose the KART R position solution for your navigation needs PDAS NAVSEL 4 1 the new settings of the built in UHF receiver and the current reception level In this example the screen should look like this 6 Select Screen No 6 on the Status display to check 7 CBU 0 0 0 8 1200 D 45dB 444 5500MHz When the DGPS corrections are received and involved in the position processing Screen No 0 on the Status display should look like this B 8 B V U 10TD08 01s KART 12 1V F This field successively changes from GPS to IKAR during the initialization phase and finally to KART when initialization is complete DSNP 2 37 Processing options KART LRK 2 38 e Example of programming steps letting the mobile receiver process the dual frequency DGPS data received by the built in UHF receiver DGPS data in LRK format 1 Send the command below to let the receiver
133. cept for the DGNSS data sub module which may be deselected all the shown modules and sub modules will be part of or will remain in the configuration file that you open Also provides viewing options for each module sub modules can be shown or hidden by a simple click of the mouse G 6 DSNP DSet Pack Software Introduction to DSet Pack e Edit Pane Shows the Editor table corresponding to the parameter sub module you select The number of columns in the Editor table is specific to the selected sub module The number of rows depends on the number of entries you make for this sub module The Edit Pane is updated whenever you click the document icon of a sub module whether selected or not in the Select Pane e Graphic Pane Shows the entries you make in the Edit Pane ina more synthetic user friendly way not an entry pane Inthe case of the DGNSS module only this pane operates as a graphic editor as any click of the mouse in this pane will be translated directly into an alpha numerical entry a beacon in the Edit pane e Re sizing the three panes of the DSetPack main window Position the pointer inside the main window on either a vertical or horizontal pane border This causes the pointer to change shape k if the pointer is on a vertical border or if the pointer is on a horizontal border Using the left mouse button drag the border to the desired location When you reach this locati
134. ck Software Using DSet Pack connected to a DSNP GNSS GPS receiver Reading the initial configuration from a receiver e Direction of transfer Computer i Initial configuration G g Read file Receiver becomes the active file in DSet Pack Assuming the receiver is properly connected and the serial line is properly configured Inthe toolbar click or in the menu bar select the Transfer menu and then Read Initial DSet Pack then starts reading the initial configuration file from the receiver A new window is opened in DSet Pack showing this file default name Confign G 40 DSNP DSNP DSet Pack Software Using DSet Pack connected to a DSNP GNSS GPS receiver Sending commands to a receiver Assuming the receiver is properly connected and the serial line is properly configured Inthe toolbar click or in the menu bar select the Tool menu and then Win Comm A new window appears showing the Win Comm dialog box m Command aquarius r Recorder lt Advanced m Display Directory a dsetpack raw S El File Name Record r Raw A File Max Size No Limits x 4 4 L Pause Clear View Print View Start Recording To send a command use the Command Pane upper left Directly type the command in the upper combo box or select it from that combo box or fill that box by choosing the corresponding label from the lower combo box
135. ck connected to a DSNP GNSS GPS receiver e Display Pane Window After communication is enabled between the computer and a GPS receiver the Display pane allows you to view the data stream on the receiver port including data output in response to any command generated by Win Comm Display If you wish to enlarge the Display pane click BI in this pane top right This causes the pane to be transformed into a separate window which you can move re size using the usual commands assigned to windows in the Windows95 environment To restore the Display pane at the initial location click l or XI top right G 46 DSNP DSet Pack Software Using DSet Pack connected to a DSNP GNSS GPS receiver As the data may be refreshed every 0 1 seconds it is not possible to log all that is relayed through the port so that it can be displayed at a later date or this would require a huge memory size For that reason only the latest 100 data lines are stored and can be viewed using the vertical scroll bar available Each data line ends with a CR LF code and or when it reaches the maximum length 90 characters The Display pane contains the following buttons Pause Freezes the Display pane and changes the label of the button to Resume Pressing the Pause button does not suspend the data flow on the receiver port or the recording in progress Pressing this button again now changed to a Resume button will re activate th
136. ck does not show the configuration file under its final aspect i e a list of command lines executable in receivers but instead provides a more user friendly view using three different panes from which you can more easily modify the DGNSS related section of the file DSetPack lets you open several files concurrently if necessary This feature allows you for example to overwrite an open file with the content of another open file For effortless entry of beacons present in the work area DSetPack lets you define them through a simple click of the mouse on the map of your work region conventional entry from the keyboard remains possible however DSetPack also includes a communication tool so that among other things configuration files can be directly loaded into or read from your receivers DSNP G 5 DSet Pack Software Introduction to DSet Pack How a configuration file is shown with DSetPack When opening a configuration file with DSetPack a new window appears showing the DGNSS related parameters present in this file through three distinct Panes Select Edit and Graphic as illustrated below These three panes have been designed so that you can work more easily on the shown parameters IR DUHFPACK cfg m M DESCRIPTION E M PROCESS BAS NAVIGATION Edit Pane a g DGENSS Select Pane Graphic Pane e Select Pane Lists the DGNSS related parameters of the open configuration file Ex
137. command PDAS CONFIG INIT can be used to make the initial configuration the new current configuration The command PDAS CONFIG LOAD can be used to load a configuration file from a PCMCIA to a receiver unit to become its new initial and current configurations Firmware Non volatile memory Scroll pressed at power on PDAS CONFIG RESET a DANCON INIT Default Initial Current Configuration Configuration Configuration Dset Pack or Conf Pack PC running Software PCMCIA Operator commands B 4 DSNP Introduction to the DSNP Aquarius 5000 series The clue to product naming in the Aquarius 5000 series The clue to product naming in the Aquarius 5000 series In the Aquarius 5000 series the 1 suffix refers to a single frequency L1 engine the 2 suffix refers to a dual frequency L1 L2 M refers to a roving receiver Mobile S refers to a stationary receiver Station D refers to DGNSS capability K refers to KART or LRK capability Product applications The 5001 and 5002 are multipurpose GNSS receivers intended for marine applications They are directly derived from the two GNSS engines described previously the 5001 is the single frequency receiver the 5002 is the dual frequency receiver The 5001 MD sensor is intended for marine surveys in which sub meter accuracies are required It is fitted with a built in UHF receiver whose
138. connectors should be watertight In any case clearance from superstructures and other antennas is essential Whenever possible the coaxial cable should not be routed along any cable carrying heavy currents starters alternators connections to echo sounder radar etc The antenna downlead should be attached to the mast using adhesive or clamps to preclude any stress on the connectors If you are installing a GPS antenna for a reference station see DGNSS Data Link option section 3 Remember that the GPS antenna location should be known with the best accuracy as the accuracy on the DGNSS processing will rely on it Receiver installation The receiver is designed to withstand a marine environment waterproof case resist dripping water and operate from 20 to 55 C Subject to these conditions the receiver does not require any special precaution However it is advisable to install the receiver clear of any moving device and away from splashes of lubricant or water Also direct exposure to excessive heat should be avoided The status display screen should be kept away from direct sun light for better legibility DSNP DSNP Basic operating instructions for the 5000 series Unpacking and installation The receiver should be secured from below the case using the four tapped holes see dimensions below receiver case shown upside down Use M4 screws and choose a length for 1 these screws compatible with the
139. container Keep the container away in a safe place as you may need it at a later date for return shipment transit transportation or storage Inspect each of the parts If a part has been damaged during transportation please inform your retailer The main elements part of the shipment are non exhaustive list e Receiver unit e GPS Antenna e RS232 cable e Power cable e GPS coaxial cable e User s Manual DSNP GPS antenna installation The antenna should not be installed within the reach of any source of radio interference The antenna should not be exposed to smoke whenever Basic operating instructions for the 5000 series Unpacking and installation possible It should be overlooking any superstructure and clear of any large metal surface Antenna sce K Two U bolts Le 3 B on horizontal mast dia 56 mm max Mount dimensions of antenna bracket A M 4 on vertical mast On flat dia 56 mm max surface Mount dimensions for U bolts 4 4 le gt i i 14 62 Phase centre DSNP 1 3 Basic operating instructions for the 5000 series Unpacking and installation Good connections contribute a lot to the quality of signals received and therefore to the performance of the receiver See that contacts are clean and connectors securely tightened Coaxial
140. crypted non encrypted corrections C for encrypted N for non encrypted DSNP Commands library PDAS DGPS STATION n C C If encrypted corrections decryption code C3 for future development hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS DGPS STATION Listing all known stations PDAS DGPS STATION NONE 56 Reply none C PDAS DGPS STATION 1 LRK1 4716 28 N 00129 23 W UHF 446532000 50 4800 GN PDAS DGPS STATION 11 DSNP1 4710 N 00030 E U HF 443550000 35 1200 DN PDAS DGPS STATION Re listing all known stations PDAS DGPS STATION 1 LRK1 4716 28 N 00129 23 W UHF 446532000 0 50 00 4800 0 GN 4E PDAS DGPS STATION 1 1 DSNP1 4710 00 N 00030 00 E UHF 443550000 0 35 00 1200 0 DN 3B DSNP C 31 Commands library PDAS DGPDAT PDAS DGPDAT e Function Edits the definitions of the DGPS raw data outputs Syntax Complete command PDAS DGPDAT a b c d e f hh lt CR gt lt LF gt QUERY command s Command identification PDAS DGPDAT e Parameters ref format a X Output number 1 or 2 If a 0 all description lines are cleared b a Output port identification A B etc C X Output mode 0 to 3 0 stopped 1 time 2 trigger 3 immediate C 32 DSNP Commands library PDAS DGPDAT d X X Output rate If c 1 time d is the data output rate expressed in units of 0 1 seconds If c 2 trigger then d 1 next data block followin
141. ctory a dsetpack raw S File Name Record l Paw File Max Size No Limits z G 44 DSNP DSNP DSet Pack Software Using DSet Pack connected to a DSNP GNSS GPS receiver s Changing the options in the Recorder Pane Directory File Name File Max Size Start Recording Used to specify the directory to which you wish to record the data from the receiver Clicking the button to the right opens a dialog box that allows you to navigate through the directory tree on your hard disk or a floppy disk and select the desired destination directory Used to specify the name of the file to which you wish to record the data from the receiver Unless a maximum size is selected for the file you are also allowed to enter an extension into the associated box Used to specify whether a single file should be created on the disk No Limits option or the file should be split into 0 7 MB or 1 4 MB segments with a view to storing it to floppy disks If you elect to split the file into segments then the system will automatically add 001 as extension to the name of the first segment This will automatically be incremented for each file segment generated if the file exceeds the File Max Size selected Causes the data to be recorded to the specified file until you click the button again The label of the button changes from Start Recording to Stop Recording G G 45 DSet Pack Software Using DSet Pa
142. d processing DGPS corrections MDGPS Configuration file intended for a GPS receiver capable of receiving DGPS corrections and processing MDGPS solutions EDGPS Configuration file intended for a GPS receiver capable of receiving KART LRK data and processing EDGPS solutions KART LRK Configuration file intended for a GPS receiver capable of delivering a KART or LRK position solution with OTF initialization DSet Pack Software Modifying a configuration file using DSet Pack System Allows you to select the source of positioning data GPS corrections data needed for the process you have chosen in the Process cell previous cell The possible options for this cell are also deduced from the selection you have made in the previous cell The possible combinations are listed below Reference station GPS Nat Monitoring station GPS Nat GPS DGPS KART LRK GPS Reference station or NMEA message eee ie GEO satellite GPS Nat aps Nat Nat aps sd DGPS or MDGPS DGPS KART LRK GPS Reference station or NMEA message WADGPS GPS GEO satellite EDGPS or KART LRK DGPS KART LRK GPS Reference station or NMEA message Station number s or GEO PRN Identification number s of the reference station used up to 4 stations or GEO PRN according to the selection in the System cell WAAS EGNOS Pranges Allows you to specify the use of pseudoranges from WAAS EGNOS in the position processing only consistent with
143. e Although you can only work on the DGNSS section of a configuration file it s the entire configuration that you save when you use this command Saves the active configuration as a cfg file or a txt file Although you can only work on the DGNSS section of a configuration file it s an entire new configuration that you create when you use this command Prints the content of the currently active pane If the Select Pane is active then the configuration file as such is printed i e a list of receiver interpretable command lines Displays the content of the currently active pane as it would appear printed If the Select Pane is active then the configuration file as such is displayed i e a list of receiver interpretable command lines Selects a printer and printer connection DSNP DSet Pack Software A review of the DSet Pack commands File list Names of the configuration files last opened using DSetPack Exit Exits DSetPack Edit menu commands The Edit menu offers the following commands Cut Moves the current selection to the clipboard Copy Copies the current selection to the clipboard Paste Pastes the clipboard content where the insertion point is positioned View menu commands The View menu offers the following commands Toolbar Shows hides the toolbar Status bar Shows hides the status bar Transfer menu commands The Transfer menu offers the following commands Read Current Reads the current config
144. e 5000 series Checking receiver operation from the Status Display Screen No 2 Position solution Depending on the coordinate system used with or without projection this screen can be of two different types Without projection example Reference Datum used Latitude EAN G S 8 4 47B16 1N H 48 1629 4 W l J l Altitude Longitude With projection example Projection used Northing f EA a mb 2 259127N H 48 310500 E l J l Altitude Easting If no solution is available HOLD displayed on screen No 0 this screen will display the initial position as defined by the configuration or the latest position computed in case of lasting solution unavailability due to reception loss for example The position displayed is not for navigation purposes As it is only a coarse indication of the current position it does not reflect the real degree of accuracy achieved by the position solution DSNP 1 43 Basic operating instructions for the 5000 series Checking receiver operation from the Status Display Screen No 3 Time information Display example Main oscillator drift speed Local time UTC Zoulou A time 1 44 DSNP Basic operating instructions for the 5000 series Checking receiver operation fr
145. e B 10 Station standard features sese eee eee eee B 11 Built in UHF recever sse sees eee ee eee eree eee B 11 Plug in UHF transmitter s sssssscezsszseo zas sszocs29zcsxozs tsz vczaazzs zzy cst ess B 12 5001 5002 specific performance data eee eee B 12 5001MD specific performance data se eee eee eee eee B 13 5001 SD specific performance data B 14 5002 MK specific performance data sese eee eee eee B 15 5002 SK specific data sheet B 16 BlOCk Ree lT B 17 SOOM amp 5002 rrsan sce muacaa EEEE EE a TEZE casas B 17 18161 le E e R a eaea B 18 5001 SD Reference Staon B 19 5002 MK Mobile Sensor cccccseceessneeeeeeeeeeesneeeeeseeeeesseeees B 20 5002 SK Long Range Kinematic Stalon eee eee eee B 21 C Commands library sssssssssssse ss sssssseeee sees seene ennenen C 1 sn sise e Misc esti n ina czdevadnaaaaedee sedan nuvsea ceded veduvad aa C 1 UND OSG T C 1 Applying commands to a DGNSS recever see eee eee ee C 1 Formaten eiiie ae ee ea C 3 CONVENTIONS cccceccceeeeeeeeeseneeeeesneeeseaeeeeecaeeeeseneeeseneeeesenseeetees C 4 Command summary able sees eee eee eee eee eee C 5 SPDAS AGEG el C 8 SPDAS ALT Ss ete E a C 9 SPDAS COMMNT cnini eee aian C 11 SPDAS GONE I Ge esses cg soc di cee ani raaa aa ARE Aa EnaA C 12 PDAS CONEIGJINTT es ses eee eee C 13 SPDAS CONFIG LOAD cccccccccccsececsteeeesseeeseeecseeessseesseeeesees C 14 PDAS CONEIG HEAD C 15 vii viii Aquarius 5000 User s M
146. e Display pane Clear View Deletes any data displayed in the Display pane window Print View Opens a Print dialog box that allows you to print any data displayed in the Display pane window G DSNP G 47 DSet Pack Software Copying all the data from an open configuration file to another open file Copying all the data from an open configuration file to another open file Assuming the two configuration files are open do the following G 48 Click the left mouse button anywhere within the Select Pane of the source file In the toolbar click Move the mouse pointer to the Select Pane of the target file and click the left mouse button anywhere within this pane In the toolbar click e A message box appears asking you to confirm the copy operation Click the Yes button if you really want to overwrite the entire target file with the data from the source file DSNP DSNP DSet Pack Software Viewing the resulting configuration file Viewing the resulting configuration file Click the left mouse button anywhere within the Select Pane In the toolbar click or from the menu bar select File and then Print Preview The preview shows the current content of the configuration file a list of command lines interpretable by DSNP GPS receivers including the DGNSS related commands defined with DSetPack Example partial view PDAS CONFIG BEGIN 69 PDAS COMMNT 2 1 NR202K DEFAULT
147. e deviation gt lt P C A code deviation gt lt L2p carrier phase gt lt L2p carrier speed gt lt L2 carrier quality indicator gt lt P Y code quality indicator gt DSNP in 10 cycles modulo 1 cycle centered around zero in 10 s in 10 s in 10 cycles modulo 10 cycles of L2 in 10 cycles encoded on 2 ASCII characters 0 to F 8 bits MSB first 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 complies with RTCM message No 18 000 phase error lt 0 00391 cycle 001 phase error lt 0 00696 cycle 010 phase error lt 0 01239 cycle 011 phase error lt 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 gt 0 12480 cycle encoded on 2 ASCII characters 0 to F 8 bits MSB first D GPS Raw Data in SVAR format SVARIR Dual frequency GPS pseudoranges in satellite time D 16 lt eoln gt bits 0 to 3 pseudo range multipath error indicator complies with RTCM message No 19 1111 multipath error not determined bits 4 to 7 pseudo range data quality indicator complies with RTCM message No 19 0000 0001 0010 0011 0100 0101 0110 0111 1000
148. e eee 1 26 Enabling disabling all data outputs 0 0 0 sees eee eee eee 1 26 Editing the settings of a Serial port sese eee eee eee 1 27 Editing adding the definition of a computed data outpult 1 28 DSNP i Aquarius 5000 User s Manual Table of Contents Editing the definition of a GPS raw data output ees 1 30 Editing the definition of a pseudorange data output 1 31 Editing the navigation mode currently selected eee eee 1 32 Editing the filtering time constant applied to speed 1 33 PCMCIA reader sss sse se eres e nenen 1 34 Inserting a PCMCIA Gard 1 34 Removing a PCMCIA Gard eee 1 35 PCMCIA file organization see eee eee 1 35 PCMCIA control sese 1 35 Reading the amount of free Memory sese eee eee renee 1 36 Listing all the files present ON a Card sees eee 1 37 Loading a configuration from a Card sese essere eee eee eee 1 38 Checking receiver operation from the Status Display 1 39 Screen No 0 Operating Status eee eee eee 1 41 Screen No 1 Error report sees eee eee eee 1 42 Screen No 2 Position solution sees eee ee eee ee eee 1 43 Screen No 3 Time information cecceeeceeeeeeeseeeeeeeeeneeeeeeeeeaes 1 44 Screen No 4 GNSS reception salus eee eee ee 1 45 Screen No 5 Information about Sessiona eee eee eee eee 1 46 Screen No 6 Information about Corrections sse ee eee eee eee 1 47 Screen No 7 Differential Gorreciions sese ee
149. e eee 1 48 Screen No 8 Firmware Options installed sese eee eee 1 49 Screen No 9 Hardware and Software identification 0 1 50 Rear panel Connectors cccccceceeeeeeeeeeeeeeseeeeeseaeeesaeeeeneeens 1 51 AS23832 cable icin aer eraa E EEEO 1 54 TrOUBDIGSNOOUNG erenn tdi 1 55 Front Panel Indicators siirius 1 55 Error e 1 56 Error families sse eee eee eee 1 56 Entor ClASSINIGALON ices cessecctissdeceinessesdeataccsseiacenesi scezzasctecaduacepeasie 1 57 ErrOnlist chess oeee Hee eR E 1 58 DSNP Aquarius 5000 User s Manual Table of Contents 2 Processing options cce sees eee 2 1 DONS S csaa eE a E 2 1 IMTOO UCHON mae E ET E 2 1 Software installation sriiscrecireiriiisinrn disies iiaea 2 1 Implementation Procedures sss eee eee 2 2 Typical programming example sse eee eee eee eee eee eee 2 7 Implementing Conventional DGNSS sese eee ee eee eee eee 2 11 WADGP T 2 17 INMOGUCIION Avsi citi ioe Bee ee eee eee 2 17 Software Installation see eee eee ee ee 2 17 Implementation Procedure sss eee eee eee eee eee 2 18 QAI QC acrita fecsauststva Mans ecaassiaaesitalectdeia ansaigdcaaeenvers 2 22 aeiee T 2 22 Software Installation ss sgsszzsas essissazzs 2225252575227227 e 522 5asa52252ezc ans 2 23 Implementation Procedures sss sees eee eee eee eee 2 23 Internal Variables containing QC resulta eee eee eee 2 26 KARTAERK siccvcedeecternandedh eeepercadantecdewnsseatnannensde creda nduagedaaneassad cube 2 28 KART
150. e numeral by a lt space gt character D 3 D GPS Raw Data in SVAR format Notation rules e Error check rule An optional checksum can be placed at the end of every line except for the lt stx gt and lt etx gt lines between the last data in the line and lt eoln gt 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 ASCII encoded The most significant character is transferred first D 4 DSNP GPS Raw Data in SVAR format SVARID Single frequency Differential corrections SVARID Single frequency Differential corrections e General Form lt stx gt lt eoln gt lt ID gt lt time tagging gt lt eoln gt lt soln gt lt parameters gt lt eoln gt lt soln gt lt Ist line of differential corrections gt lt eoln gt lt soln gt lt nth line of differential corrections gt lt eoln gt lt etx gt s Time tagging line ID lt GPS week gt lt GPS time gt lt eoln gt GPS week number and time within week in seconds Reference time is jan 6 1980 at Ohr00 DSNP D 5 D GPS Raw Data in SVAR format SVARID Single frequency Differential corrections s Parameter line lt soln gt 2 char lt Station number g
151. e through the list of available commands Label Text box used to enter and or view a plain label for each command script Use the associated scrollbar to browse through the list of available commands Add command Adds the command viewed in the text box to the list of available commands Delete command Removes the command viewed in the text box from the list of available commands Load commands Opens a dialog box that allows you to choose the appropriate command group file for the connected receiver so that the command group becomes available in the main window after you close the Commands Editor dialog box Save commands Opens a dialog box that allows you to save your own command group as viewed in the Commands Editor dialog box cmd extension G Click XI to close the Commands Editor dialog box This loads the selected command group to the main window DSNP G 43 DSet Pack Software Using DSet Pack connected to a DSNP GNSS GPS receiver e Logging data sent by the receiver Assuming the receiver is properly connected and the serial line is properly configured Inthe toolbar click Pa or in the menu bar select the Tool menu and then Win Comm A new window appears showing the Win Comm dialog box Unless the options shown in the Recorder Pane are incorrect simply click the Start Stop Recording button lower right corner to start and stop the recording manually Recording OKB SS Dire
152. eader PCMCIA reader Inserting a PCMCIA card 1 34 Unlock the cover by applying a finger on its upper middle part and then by pushing it The cover will open when you remove your finger Orient the PCMCIA card as shown below Insert the PCMCIA in the slot and push gently until you hear a click indicating that the card is locked in the reader Close the cover a click indicates that the cover is locked by pushing the cover in the same way as you did previously to open it DSNP Basic operating instructions for the 5000 series PCMCIA reader Removing a PCMCIA card Unlock the cover 1 With a finger depress the black square shaped knob located to the right of the reader until the card is released Take the card out of the reader PCMCIA file organization All the files are stored in the PCMCIA root directory No subdirectories can be created on a PCMCIA card PCMCIA control You need a computer attached to the receiver s port A to perform the usual operations described in the continuation of this chapter Use DSet Pack or Win Comm to send the required commands DSNP 1 35 Basic operating instructions for the 5000 series PCMCIA reader If your receiver is fitted with the PCMCIA recording capability option see Work sessions page 1 19 to know how to write on the PCMCIA Reading the amount of free memory From the control computer send the following command PDAS M
153. eceiver is fitted with an optional built in UHF receiver use the TNC TNC UHF coaxial cable supplied to connect the DGPS input to the UHF antenna see section 3 DGNSS Data Link for more information about that particular point Use a serial cable to connect port A COMPUTER or port B I O to your usual navigation terminal PC connection Your receiver has been configured earlier to fulfill the specific function required by your application This operation was performed using the DSet Pack or Conf Pack software DSNP Basic operating instructions for the 5000 series Getting your equipment started If you encounter one of the problems described later when getting the receiver started see page 3 you will have to use the Win Comm tool from the 1 DSet Pack software To use this tool you will need to run DSet Pack from a control computer attached to the receiver see diagram below kad RS232 line Port A RS232 cable COMPUTER See Appendix G to know how to install and use DSet Pack Getting started After making the necessary connections see page 0 Basic connections just press the ON OFF pushbutton to get the receiver started What your receiver is then busy to is reported on the status display Follow the instructions below based essentially on the observation and use of the status display to be certain that your receiver reaches its operational status for a complete description of that d
154. econd with 1PPS In IMMEDIATE output mode Rate is irrelevant Type of DGPS data contained in the message RTCM_SC104 RTCM SC104 formatted data LRK_UHF DSNP formatted data transmitted in the UHF band to operate in LRK KART_UHF DSNP formatted data transmitted in the UHF band to operate in KART SVARID Non configurable GPS data in USERS DATA Data transmitted in a user format G ASCII format with field delimiters G 25 DSet Pack Software Modifying a configuration file using DSet Pack Station Type Type of the station generating the DGPS corrections contained in the message ALL Any type UHF Station transmitting in the UHF band HF Station transmitting in the HF band MF Station transmitting in the MF band RTCM numeric Station transmitting data in the RTCM format Message Number Number of the corrections sentence from the selected type of station chosen to be part of the message excluding the others for RTCM SC104 and KART format only G 26 DSNP DSet Pack Software Modifying a configuration file using DSet Pack Defining beacons through a simple click of the mouse When you first select the Beacons sub module by clicking the corresponding document icon in the Select Pane the Graphic Pane is changed into a map centered around the point 0 0 0 000 N 0 0 0 000 E WGS84 coordinate system used necessarily A grid is represented adapted to the size of the G
155. ed 3600 E Receiver Tupe Data bits E x Parity None x Stop bits 1 hd Load Settings Save Settings Performs automatic settings of the serial port connected to a DSNP receiver or lets you enter these settings manually see explanations in the next pages Allows you to save restore port settings see explanations in the next pages G 14 DSNP DSet Pack Software Introduction to DSet Pack e Automatic settings Assuming a receiver is connected to your computer through a serial port Click the Auto Configure button to initiate an automatic search for the Baud rate Use this button if you are not sure about the Baud rate An automatic search for the Baud rate is only allowed with DSNP receivers as this requires that the receiver be capable of returning a consistent reply to a proprietary command After choosing Auto Configure you can disable the communication by clicking Cancel or if the identification is successful close the Communication Settings dialog box by clicking OK This enables communications between the computer and the GPS receiver and allows you to transfer configuration files to the receiver or use any of the functions of WinComm e Manual settings Enter the following communication parameters Serial port No Baud rate number of bits per character parity check option number of stop bits Click the OK button DSNP G 15 DSet Pack
156. ee G 17 Defining beacons through a simple click of the mouse G 27 Using DSet Pack connected to a DSNP GNSS GPS receiver G 37 Writing a configuration into a receiver sse e eee eee eee eee eee G 38 Reading the currently used configuration from a receiver G 39 Reading the initial configuration from a receiver seese G 40 Sending commands to a recever eee eee eee G 41 Copying all the data from an open configuration file O another Open ilesti a G 48 Viewing the resulting configuration ile sese eee eee eee e G 49 How to quit DSet Pack sese eee eee G 49 DSNP xi xii Aquarius 5000 User s Manual Appendices A review of the DSet Pack COMMANGG c cccccccssssststeeeees G 50 File menu COMMANAS wi i 62 3 s2sie0ss si ee een eed aide cies G 50 Edit MENU commands G 51 View MENU COMMANAS 0cceeeeeeeeesseeseesssssesesssessseessseseeeseeeees G 51 Transfer MENU COMMANAS ccccccccececccececcceceeeeeceeeceeeeeeeeeseeeseeess G 51 TOOS MENU oiiire cebnerdesndiadisendeend sandbedereedeerd adh arau atii G 52 WINdOW menu G 52 Help nT G 52 DSNP 1 Basic Operating Instructions for the 5000 Series DSNP 1 Basic operating instructions for the 5000 series Introductory Notes Basic operating instructions for the 5000 series Introductory Notes In this section you will learn how to install and start your GNSS receiver The 1st chapter is the present introduction The 2nd
157. eiver will be initialized In both cases the command is used to enter a reference position See also PDAS FIXMOD e Syntax Complete command PDAS PREFLL a b c d e f hh lt CR gt lt LF gt QUERY command PDAS PREFLL hh lt CR gt lt LF gt s Command identification PDAS PREFLL e Parameters ref format a X Coordinate system number 1 to 10 default 0 b ILI Reference station latitude with centimetric accuracy C a Latitude direction N or S dyyyyy yyyyyy Reference station longitude with centimetric accuracy C 80 DSNP Commands library PDAS PREFLL e a Longitude direction E or W f X X Reference station altitude in metres centimetric accuracy required for this parameter hh Checksum optional lt CR gt lt LF gt End of command e Examples C PDAS PREFLL QUERY PDAS PREFLL 0 0000 000000 N 00000 000000 E 0 00 3E Changing the coordinates of the reference station PDAS PREFLL 0 3835 448532 S 01020 993478 E 93 833 PDAS PREFLL QUERY PDAS PREFLL 0 3835 448532 S 01020 993478 E 93 83 18 DSNP C 81 Commands library PDAS PREFNE PDAS PREFNE e Function In a reference station allows you to enter the precise projected coordinates of this station ln a mobile receiver allows you to enter the precise projected coordinates of the position from which the receiver will be initialized In both cases the command is used to enter a reference position
158. enu select the fifth icon li Press J The following function menu then appears Tools Tine Configuration Release This function gives information about the versions and revisions of the hardware elements composing the system UCBS 26008 DSNP 5 33 Station Firmware option System Tools Time This function allows you to read change the local time 31 20 87 9819 08 08 31 Press F1 to display the Help menu Use the key letters shown in this menu to change the time amp date Configuration This function allows you to define the lower operating limit of battery voltage Conf i guration Battery alarn ipii 5 34 DSNP DSNP Station Firmware option Maintenance Steps Maintenance Steps Resetting the palmtop If for any reason the palmtop gets stuck because of illegal operations on the keyboard for example although this should not have such a consequence the processor should be reset using a particular key combination an operation similar to the well known Ctrl Alt Del on PCs To reset the processor press simultaneously the ON red key and the two T keys on either side of the Yes key until the screen turns blank Then release the keys and follow the instructions on the screen type any key confirm date and time Reformatting the disk Although this should be extremely rare you will have to re format the disk if one of the fol
159. eoln gt lt Almanac line gt lt eoln gt lt etx gt s Time tagging line IA lt GPS week gt lt GPS time gt lt eoln gt GPS week number and time within week in seconds Reference time is Jan 6 1980 at Ohr00 assuming the modulo 2 ambiguity is removed DSNP D 17 D GPS Raw Data in SVAR format SVARIA Almanac data s Parameter line lt Number of the SV corresponding to the transmitted almanac gt lt Almanac reference week number gt assuming the modulo 2 ambiguity is removed lt eoln gt s 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 corresponding 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 e Message example 1A 945 414504 2 4 945 4426B6 901606 FD3F00 A10D2F AAA009 DDC8B3 ECF6F5 01003B D 18 DSNP GPS Raw Data in SVAR format SVARIE Ephemeris data SVARIE Ephemeris data e General Form lt stx gt lt eoln gt lt IE gt lt time tagging gt lt eoln gt lt parameters gt lt eoln gt lt Ist line of ephemeris data gt lt eoln gt lt 2nd line of eohemeris data gt lt eoln gt lt 3rd line of ephemeris data gt lt eoln
160. er cable to Battery 10 m coaxial cable 6 50 m coaxial to GPS antenna cable to UHF antenna 6 6 DSNP DSNP Station Installation Kit option Station installation Base station Complete setup not shown in real conditions of operation UHF antenna FE lt f Ens Battery 25 poe i od not provided not provi E i v a a l j z J Station Unit GPS receiver and plug in UHF transmitter secured on stand 6 7 ra Station Installation Kit option Measuring the GPS antenna height Measuring the GPS antenna height When programming the station you will need to know the height of the GPS antenna phase center above the landmark There are two ways of measuring this height DSNP measurement With this method use the Meter Kit Part No 2612076601 as described below The meter kit is composed of a tape measure and a measuring arm Insert the measuring arm into the mast just under the antenna base plane Insert the tape hook into the measuring arm upper point Unwind the tape and place the tip onto the landmark lower point Write down the value read on the scale This value will be entered later as the antenna height with the DSNP measure option selected see page 5 2 Antenna 6 8 DSNP DSNP Station Installation Kit option Measuring the GPS antenna height for transportation use this recess to secure the Insert this end 1 arm on the tape into the mast AON Measu
161. er configuration in which case you have nothing else to do but use these sessions you can still define re define or delete a programmed session using the PDAS SESSN and PDAS DELSES commands Programmed sessions can be run once ON or several times CYCLE if you give the receiver enough time to do so e Immediate session An immediate session starts when the appropriate PDAS EXPSES command PDAS EXPSES IMMED is run in the receiver If the command is in the receiver configuration the immediate session will start when you depress the ON OFF pushbutton If you send this command from the control computer the immediate session will start when the command is processed in the receiver There is a single way of ending an immediate session by sending the PDAS EXPSES END command DSNP 1 21 Basic operating instructions for the 5000 series Work sessions e Recovering permanent operation Permanent operation of the receiver is obtained by rejecting all the programmed sessions if any or by programming a single session from Ohr 00 to 24hr 00 A few programming examples The session type and power supply control parameters are grouped in the PDAS EXPSES command All the parameters defining a programmed session are grouped in the PDAS SESSN command Programmed sessions can be deleted using the PDAS DELSES command For more information about these commands see Appendix C e Listing and validat
162. er measurement and you press J 5 Position This function allows you to enter the position of the station There are three ways of entering this position 1 by typing in successively each of its coordinates in the dedicated fields see screen example on next page Then press to validate this position If the position is not accurately known enter an estimate of each of the coordinates and then let the receiver run in the Average Position mode for some time to allow it to refine this position see page 5 17 DSNP 5 13 Station Firmware option Station Control 2 by loading it from a PCMCIA containing a job see procedure below 3 by transferring the solution available after running in Average Position mode as the new position of the station Position T On the position screen see example above the name of the coordinate system used top of the screen and the height of the GPS antenna bottom of the screen are just displayed for your information The coordinate system is the one defined using the Coord System function see page 5 27 and the antenna height is the one defined using the Antenna function see page 5 72 e Loading the station position from a PCMCIA Insert the PCMCIA into the card reader Select the Position function Press the F key This displays the list of jobs present on the PCMCIA 5 14 DSNP Station Firmware option Station Control Lhoose a job
163. essage type Bit 7 CRC validity flag 0 Good 1 Bad Bit 6 0 no particular meaning Bits 5 to 0 message type 0 to 63 same as WAAS encoding 3rd byte 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 Next 26 bytes The last 208 bits from the 212 bit WAAS word excluding preamble message number and parity E DSNP E 19 GPS Raw Data in SBIN format SBINIW WAAS EGNOS Data E 20 DSNP Computed Data Outputs Introduction F Computed Data Outputs Introduction All computed data outputs programmed in the default configuration of your receiver comply with the NMEA 0183 standard The definition of any computed data output can be modified directly on the receiver using the PDAS OUTMES proprietary command see this command in Appendix C The definition of each of the formats generating an output cannot however be modified this can be done only by using the DSNP ConfPack software Computed data outputs default Ident Por Mode T Rate Ganten _ GPGGA Global Positioning System Fix Data 2 A TIME 1sec GPGLL Geographic Position ede as Latitude Longitude GPVTG Course Over Ground and Ground Speed TE TE TIME 1sec GPZDA GPZDA Time and Date 0 and Date A
164. essions programming Carrier smoothed C A code data Update rate for a full set of corrections every 1 second for either L1 only or L1 amp L2 Built in UHF receiver Frequency band 410 470 MHz Channelizing 12 5 kHz Modulation types DQPSK 1200 bits s or GMSK 4800 DSNP bits s selectable B Introduction to the DSNP Aquarius 5000 series 5001 5002 specific performance data Plug in UHF transmitter Frequency band 410 470 MHz Channelizing 12 5 kHz Output power 4 W Modulation types DQPSK 1200 bits s or GMSK 4800 bits s selectable 5001 5002 specific performance data e DGNSS performance characteristics with optional built in UHF receiver or with corrections decoded by third party equipment DGNSS fix at a rate of up to 10 Hz with latency lt 0 1s DGNSS accuracy 1 meter typical 95 at 1 s rate 5 SVs or more HDOP lt 4 with DSNP reference stations B 12 DSNP Introduction to the DSNP Aquarius 5000 series 5001MD specific performance data 5001MD specific performance data e Corrections data processed DSNP UHF format 1200 bits s of the NDS100 Mk II type RTCM104 messages Nos 1 2 3 5 9 16 18 19 e DGNSS Performance characteristics With Aquarius 5002 SK or 5001 SD station Fix from 4 SVs min and no limited range Fix at arate of up to 10 Hz with latency lt 0 1 second DGNSS accuracy lt 1 meter typical 95 at 1 sec rate 5 SVs or more HDOP
165. eting all sessions that can be deleted PDAS DELSES 0 hh lt CR gt lt LF gt Command identification PDAS DELSES e Parameters ref format a x b X hh lt CR gt lt LF gt DSNP Number of the session first deleted a 0 all existing programmed sessions are deleted Number s of the session s next deleted if any Checksum optional End of command C 19 Commands library PDAS DELSES e Examples PDAS SESSN Listing the existing programmed sessions PDAS SESSN 1 111500 00 140000 00 1 ESSAT1 23 reply PDAS SESSN 2 154500 00 173000 00 1 ESSAI2 22 PDAS SESSN 3 180000 00 203000 00 1 TEST 1 73 PDAS DELSES 1 3 Deleting sessions 1 and 3 PDAS SESSN Checking the new list of sessions PDAS SESSN 2 154500 00 173000 00 1 ESSAI2 22 PDAS DELSES 0 Deleting all sessions PDAS SESSN Checking the new list of sessions PDAS SESSN 0 6E None left C 20 DSNP Commands library PDAS DGPS DELSTA PDAS DGPS DELSTA e Function Erases a DGPS transmitting station in the receiver Syntax Complete command PDAS DGPS DELSTA a b hh lt CR gt lt LF gt Shortened command cancels all stations PDAS DGPS DELSTA hh lt CR gt lt LF gt C Command identification PDAS DGPS DELSTA Parameters ref format a X Station number 0 to 1023 b X Station number 0 to 1023 X Station number 0 to 1023 hh Checksum optional lt CR gt l
166. function by pressing the corresponding numeral key se figures in the screen example above 5 6 DSNP Station Firmware option Introduction to the Station Control software NOTE The first icon is inactive e Help menus There is a Help menu specific to almost each function listing all the commands available in the context of this function To display the Help menu press the F1 key This causes the Help menu to be superimposed on the screen Then do the following Press the key letter to run the desired command or simply press the Esc key if you do not want to run any command Incidentally this will remove the Help menu from the screen For example and as shown on the Help menu below pressing the key will let you define the start and end times of the selected session line NOTE You cannot view any Help menu while editing a parameter DSNP 5 7 Station Firmware option Introduction to the Station Control software e Other important keys Esc Pressing the Esc key will take you back to the preceding screen or will remove the Help menu from the screen or will cancel the change you make to a parameter or after the auto test will allow you to switch from the antenna height screen which automatically appears at the end of the auto test to the main menu screen F4 Pressing the F4 key will allow you to quit the program Confirm this choice by pressing or press Del
167. g EVENT is output d 3 next data block following 1PPS is output e X Data type x t 1 RTCM SC104 2 LRK 3 DSNP UHF 4 SVAR 5 Relayed user data f 8p x If e 1 RTCM messages of the type f g are generated If e 3 DSNP UHF messages of the type f g are generated hh Checksum optional lt CR gt lt LF gt End of command s RTCM correction types Type Data 1 and9 Corrections 2 Correction Delta 3 Parameters of the reference station 5 Constellation Health DSNP C 33 Commands library PDAS DGPDAT 16 Mail 18 Carrier phase measurement for future development 19 Code measurement for future development e DSNP UHF correction types Type Corrections 1 Code corrections type C 2 Phase corrections type P e Examples PDAS DGPDAT Listing DGPS raw data outputs PDAS DGPDAT 1 N 57 Reply none PDAS DGPDAT 2 N 54 PDAS DGPDAT 1 D 1 10 3 1 2 Defining DGPS raw data output 1 To port D to UHF transmitter Time output mode 1 sec output rate DSNP UHF data type C and P PDAS DGPDAT 1 Checking definition of output 1 PDAS DGPDAT 1 D 1 10 3 1 2 71 PDAS DGPDAT 2 A 1 100 4 Defining DGPS raw data output 2 Toport A Time output mode 10 sec output rate SVAR data PDAS DGPDAT Listing definitions of outputs 1 amp 2 PDAS DGPDAT 1 D 1 10 3 1 2 71 PDAS DGPDAT 2 A 1 100 4 43 C 34 DSNP DSNP Commands library PDAS DGPDAT
168. g command PDAS NAVSEL 3 l lt cr gt lt lf gt Check the new selection by sending the following command PDAS NAVSEL cr gt lt if gt Basic operating instructions for the 5000 series Work sessions The receiver should return PDAS NAVSEL 3 1 2B 1 A detailed description of the command used above is provided in Appendix C Work sessions Theory of operation Work sessions constitute a fundamental operating aspect of your receiver You need to know everything about sessions if you do not want in some particular cases to be surprised by the behavior of the receiver A work session is defined as a period of time during which you want a receiver to operate The rest of the time power will be removed from the receiver only the session managing circuit will remain powered There are two good reasons for you to use the concept of session you want to limit the daily operating time of the receiver to save battery power at a station for example If you use the PCMCIA recording capability you want to precisely define the recording time spans for best management of the PCMCIA memory space Indeed if the PCMCIA recording capability option is installed defining a programmed session with recording bit 1 or an immediate session and programming a data output or data outputs on port P will result in the recording of the data on the PCMCIA card during the whole session DSNP 1 19 Basic operatin
169. g connectors A GPS coaxial connector GPS antenna input TNC female type A DGPS coaxial connector for optional DANSS UHF data link TNC female type Two RS232 connectors port A named COMPUTER port B named lO An RS422 connector port D named DGPS 15 C SubD female type used to connect the optional plug in UHF transmitter available from DSNP Two POWER connectors in parallel This allows the receiver to be maintained in operation while you swap the power source For example in the case of a battery powered receiver you can connect the new battery before removing the low one With the extended I O option four other connectors are present on the rear panel see Extended I O option in page 4 1 DSNP 1 9 Basic operating instructions for the 5000 series Getting your equipment started Getting your equipment started Basic connections See precedent chapter page 2 Unpacking and installation These connections are briefly reviewed below Use the power cable supplied to connect either of the two power inputs or both to the DC source Make sure the DC voltage delivered is within the allowed range 10 to 15 V for a station 10 to 36 V fora mobile and the source can deliver the required power Mind the polarity of the source the power input is protected from polarity reversal by a fuse Use the TNC TNC GPS coaxial cable supplied to connect the GPS input to the GPS antenna If your r
170. g instructions for the 5000 series Work sessions Whatever the use you make of sessions you have to decide on the value to give to the option controlling the receiver power supply Two values are possible for that option see also the PDAS EXPSES command Either you give full control of the power supply to the session managing circuit choose AUTPW Warning Providing a user with a receiver configured with this option active and no pending session may get this user into trouble if no further explanation is provided Indeed the receiver will unconditionally switch off after 30 seconds of operation if nothing else is done in the meantime or you still allow an operator to turn on and off the receiver outside the session times choose MANPW Programmed sessions however if any will continue to have priority in the management of the power supply If there is no programmed session and this option is used the receiver will operate on a permanent basis with power only controlled by the ON OFF pushbutton There are two kinds of sessions programmed session 1 20 immediate session DSNP Basic operating instructions for the 5000 series Work sessions s Programmed session A programmed session is defined by 1 a start time an end time a recording indicator 0 without recording 1 with recording a session label 8 characters max Unless the desired programmed sessions are present in the receiv
171. ged to X Watching the pointer coordinates displayed in the upper right corner of the Graphic pane position the pointer where you want a new beacon to be created and click with the left mouse button As a result a beacon is created at this location a milestone is placed to indicate its location and a default range 20 km is assigned to it represented by a circle centered around that location What s more a new row is created at the bottom of the Editor table Edit Pane containing the complete definition of that new beacon expressed in the currently selected coordinate system UHF G DSNP G 35 saral Name tat ow 0 0 0 59 9999 N 0 1 11 2455 E DSet Pack Software Modifying a configuration file using DSet Pack e Notes G 36 No default name is assigned to a beacon defined graphically The corresponding field in the Editor table is left blank and a blue rectangle is shown above the milestone in the Graphic Pane see above You should therefore enter a name in the corresponding Name field in the Editor table Also in the same row you will need to verify change a number of parameters such as transmission band carrier frequency modulation encryption etc as these parameters are defined with defaults in the case of a beacon defined graphically Subsequent modifications to a beacon defined graphically will be possible only from the corresponding row in the Editor table and the Graphic Pane
172. ght Note that all other rows if any in the Editor table are also resized according to your new setting Note also that re sizing the Editor table rows from any sub module will also affect the Editor Table of all other modules and sub modules Re sizing a column DSNP Move the pointer into the in the header top gray cell of the column you want to re size and position the pointer on the right hand border of this cell The pointer shape then looks like this Using the left mouse button drag the pointer to the right to enlarge the column or to the left to narrow it Release the mouse button when you obtain the desired width DSet Pack Software Introduction to DSet Pack e Editing instructions To move the cursor from cell to cell within the Editor table use any of the 4 arrow keys Alternately you can use the tab key for horizontal forward jump or the Shift Tab keys for horizontal backward jump The Status column can contain the following symbols gt al indicates that a cell is selected somewhere in this row denotes an editing operation in progress somewhere in a Cell of this row denotes the last row of the Editor table necessarily an empty row Unless you have already created the last row possible in the table this symbol will disappear as soon as you enter a single character anywhere in the row A new empty row will then be created with this symbol in the first cell DSNP
173. gitude of estimated position d a East or West Longitude E or W e hhmmss ss UTC time f a Data status A data valid V data not valid hh Checksum optional lt CR gt lt LF gt End of command DSNP C 49 Commands library _GLL and _GPQ GLL e Examples ECGPQ GLL QUERY GPGLL 47 16 09 1395 N 00129 463318 W 180449 00 A 14 Reply ECGLL 3940 N 00415 E Initializing position ECGPQ GLL QUERY GPGLL 3940 000000 N 004 15 000000 E 18073 1 00 A 06 Reply C 50 DSNP Commands library PDAS GNOS PDAS GNOS e 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 e Syntax Complete command PDAS GNOS a b c hh lt CR gt lt LF gt QUERY command PDAS GNOS hh lt CR gt lt LF gt s Command identification PDAS GNOS DSNP C 51 Commands library PDAS GNOS C 52 e Parameters ref a hh lt CR gt lt LF gt format X Controls the tracking of the WAAS EGNOS system in the receiver and the way the receiver selects GEOs possible values for a 0 1 or 2 default 1 0 Use of WAAS EGNOS disabled 1 Automatic selection of the WAAS EGNOS GEO the receiver will be allowed to choose the GEOs with which to work nothing then needs to be specified in fields
174. gt lt eoln gt lt soln gt lt gt lt nth data line gt lt eoln gt lt etx gt The count and type of data in any given line are predefined which means that the count of separators lt gt is invariable Any data missing or replaced by one or more spaces means that this data is not available D 2 DSNP DSNP e Rule about numerals GPS Raw Data in SVAR format Notation rules A zero value is assumed to be valid Spaces placed before or after numerals are not significant There cannot be spaces within a numeral The following formats are usable decimal integer floating signed e Rule about labels 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 figure otherwise the integer notation is used particular case of decimal notation without separator exponent character is E example 6 2512E3 6251 2 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 Labels are denoted by lt gt characters surrounding them They can take any ASCII value except lt gt lt stx gt and lt etx gt 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 th
175. h lt CR gt lt LF gt s Command identification PDAS GPSDAT e Parameters ref format X Output number 1 or 2 a Output port identification A B etc C xX Ephemeris data output 0 none 1 at regular intervals in SBIN E binary format C 56 DSNP Commands library PDAS GPSDAT 2 on request in SBIN E binary format 3 at regular intervals in SVARIE format 4 on request in SVARIE format d x Almanac data output 0 none 1 at regular intervals in SBIN A binary format 2 on request in SBIN A binary format 3 at regular intervals in SVARIA format 4 on request in SVARIA format e X lono UTC data output 0 none 1 at regular intervals in SBIN U binary format 2 on request in SBIN U binary format 3 at regular intervals in SVAR U format 4 on request in SVAR U format f X Health amp A S data output 0 none 1 at regular intervals in SBIN S binary format 2 on request in SBIN S binary format 3 at regular intervals in SVAR S format 4 on request in SVAR S format DSNP C 57 Commands library PDAS GPSDAT hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS GPSDAT QUERY PDAS GPSDAT 1 B 3 3 3 3 4C PDAS GPSDAT 2 N 43 Reply a single output defined output 1 on port B all GPS data blocks programmed in this output are invalidated PDAS GPSDAT 1 B 3 3 3 3 Validating GPS data blocks in output 1 PDAS GP
176. han the approximate position is used to solve for integers in the second step with higher accuracy Final computation of the position over long distances using the two frequencies compensates for ionospheric delays and increases the covered area Solution validation testing the residuals on L1 and L2 The checking for the repeatability of the fitting solution is used only in the case of critical conditions e g only four satellites received DSNP DSNP Processing options KART LRK To sum up the LRK system can be used farther from the reference station than the KART and allows shorter initialization times to be achieved meaning that it can be used in critical environments forests urban areas harbours etc However this does not relieve the user of the necessity of installing the reference station antenna in an open area high enough to cover the desired range Implementing the KART and LRK processing modes Intoduction Unless your initial delivery includes a UHF Datalink reception module also named UHF built in receiver you need to install this hardware option to be able to implement the KART or LRK processing mode in your Aquarius mobile receiver You also need the presence of a suitable UHF reference station transmitting code amp phase data within your work area Two data formats are usable Pseudorange corrections and L1 phase measurements in a DSNP format and transmitted through the UHF Da
177. he PDAS GEO command selects one to be the current coordinate system in the receiver e Syntax Complete command PDAS SELGEO a hh lt CR gt lt LF gt QUERY commana PDAS SELGEO hh lt CR gt lt LF gt Command identification PDAS SELGEO e Parameters ref format a x Number of the coordinate system to be used 1 to 10 default 0 hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS SELGEO QUERY PDAS SELGEO 0 21 Reply coordinate system No 1 PDAS SELGEO 2 Selecting coord system 2 PDAS SELGEO QUERY PDAS SELGEO 2 23 Reply coordinate system No 2 used DSNP C 87 Commands library PDAS SESSN PDAS SESSN e Functions Edits the definitions of the programmed sessions in the receiver Adds new sessions in the receiver e Syntax Complete command PDAS SESSN a b c d e hh lt CR gt lt LF gt QUERY command s Command identification PDAS SESSN e Parameters ref format a X Line number 1 to 8 b hhmmss_ Start time c hhmmss_ End time d X X Recording indicator 0 without data recording 1 with data recording on PCMCIA DSNP Commands library PDAS SESSN e CC Session label 8 characters max hh Checksum optional lt CR gt lt LF gt End of command s Information supplement This command should be used in conjunction with PDAS EXPSES see page C 36 With AUTPW selected as the power con
178. he record file will be closed thereby making the system ready for the next data recording 5 20 DSNP Station Firmware option File Management Sessions This function allows you to plan operating sessions for the base station A session is an interval of time during which you wish the station to operate combined with the possibility of having raw data recorded on the PCMCIA card The two underlying operating aspects of a session are the following Through a session you can ask the station to switch on and off automatically at planned times on a daily basis or not thus allowing you to save energy from your batteries this operating mode requires that you choose the Automatic power mode Through a session you can ask the station to perform data recording on PCMCIA during the session Making recordings at a station may be a requirement tied to the surveying method used Before doing anything about sessions please read the following If you do nothing with sessions then the station will operate on a permanent basis with no recording on the PCMCIA until you turn it off manually Changes can be made on sessions only if the sequence of sessions has been disabled DSNP 5 21 5 Station Firmware option File Management Power mode Automatic or Manual Raw data output rate Current local time ae Mode Status Scroll bar use T L PgUp or Period ae ee Sets a i 115 09 Fl
179. he globe If the current view of the globe does not display the region where you would like to work in a function is available allowing you to rotate the globe Position the mouse pointer anywhere on the pane of the World Map window Click the right mouse button The World Map shortcut menu pops up Choose the Grabber command from this menu The menu vanishes and the pointer looks like ZN Depress the left mouse button and drag the pointer in the direction where your region is Note that the globe will rotate only when you release the mouse button Note also that the rotation angle is defined by the distance covered by the pointer when you drag it e Zooming in Position the mouse pointer anywhere on the pane of the World Map window Click with the right mouse button The World Map shortcut menu pops up Choose the Zoom In command from the menu As a result the menu vanishes and the pointer looks like Position the pointer somewhere on the region on which you want to zoom in and click with the left mouse button As a result the window displays a magnified view of the region centered around the clicked point DSNP G 29 DSet Pack Software Modifying a configuration file using DSet Pack You can zoom in repeatedly i e so long as the mouse pointer looks like 4 Up to 6 successive zoom in operations are possible from the initial view of the World Map e Zooming out Position the mouse poin
180. hich corrections are acquired PDAS DGPS STATION is used to let the receiver know the transmission specifications carrier modulation type encryption of each of the potentially usable beacons PDAS FIXMOD allows you to select the DGPS computation mode and the reference station to be used 2 4 DSNP Processing options DGNSS Inthe navigator receiver PDAS DGPDAT is used only to define the output of DGPS corrections and so has no fundamental role in the programming of the DGNSS processing Ifthe DGNSS processing used provides several position solutions PDAS NAVSEL lets you choose the type of position solution you want to use for your navigation application e Particular cases of DGPS networks usable with the 5000 series 1 A number of reference stations can use the same beacon to transmit their corrections USCG beacon INMARSAT transmission Transmitting antenna Xb Yb Zb Xb Yb Zb GPS Beacon GPS Xrett Yrett Zrett transmitter Xref2 Yret2 Zref2 Beacon ld k DGPS corrections Reference station No m Reference station No n 2 5 Processing options 2 6 DGNSS 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 received in sequence Beacon id p Beacon id r F1 carrier F1 carrier Slot 1 W Slot 3 M
181. his document may be photocopied reproduced or translated into another language without the prior written consent of DSNP The information contained in this manual is subject to change without notice Aquarius 5000 Series User s Manual How to use this Manual How to use this Manual This manual is designed to encompass the whole 5000 series of DSNP Aquarius products and therefore reflects the modular design of the series We deliberately made the choice of extending the modular concept of the Aquarius series up to its documentation for we think this is the best way to preserve the consistency of the whole set of technical information proper to this series of products As a consequence you may not need to read all the manual if your purchase does not include the options described from section 2 to section 6 This user s manual is made up of the following sections and appendices Section 1 Basic operating instructions for the 5000 series should be read first as this section covers the whole installation procedure and the first level operating instructions For most cases of use only the reading of the first two chapters of section 1 Unpacking amp installation Getting started is required For users who wish to know more about their receivers a second level of operating instructions is provided in section 1 involving the use of a control computer and DSNP proprietary commands Section 1 also includes a brief descript
182. ial GPS future use WDGFP Differential GPS using WADGPS corrections and integrity control from GEO and possibly WAAS EGNOS pseudoranges GNOS Same as GPS except that WAAS EGNOS pseudoranges are involved in the position processing DSNP 1 41 Basic operating instructions for the 5000 series Checking receiver operation from the Status Display 1 42 Screen No 0 refresh rate 1 0 second will be maintained on the status display until you depress the Scroll button If an error is detected in the receiver anomaly etc the screen number will start blinking prompting you to have a look at screen No 1 to know more about the detected error s Unless the detected error still persists it is simply acknowledged when quitting the screen reporting that error With screen No 0 currently displayed depressing the Scroll pushbutton repeatedly will cause new screens to appear in the order given below Screen No 1 Error report Depending on the number of errors detected none one or more several sub screens for screen No 1 may exist Display example Error Error Error identification number extra code Day of Error start Error end time occurrence time hh mm or current 1 31 hh mm time if error still persists The list of all the possible errors is given in the Troubleshooting chapter page 55 DSNP Basic operating instructions for th
183. idal separation between ellipsoid and Mean Sea Level X X DAGE Age of Differential corrections on average null field if DGPS not used XXXX DSTA Identification of reference station used null field if not used hh Checksum field e Output example GPGGA 192348 99 4716 10435 N 00129 45430 W 4 09 1 1 93 83 M 0 00 M 2 0 0055 5C GPGGA 192349 99 4716 10435 N 00129 45430 W 4 09 1 1 93 79 M 0 00 M 3 0 0055 5D GPGGA 192350 99 4716 10435 N 00129 45430 W 4 09 1 1 93 78 M 0 00 M 2 0 0055 51 F DSNP F 3 Computed Data Outputs Output 2 GPGLL Output 2 GPGLL Geographic Position Latitude Longitude GPGLL IILIN a yyyyy yyyyy a hhmmss ss A a hh lt cr gt lt lf gt Field type Variable ConfPack GPGLL IILI LAT yyyyy yyyyy a LON hhmmss ss_ TUTC A FIXS a e Output example Field Designation NMEA183 message identifier Latitude in degrees 2 char minutes 2 char 1 100 000 min N S indicator Longitude in degrees 3 char minutes 2 char 1 100 000 min E W indicator UTC time of position computation GPS quality figure V Fix not available or invalid A GPS fix available Mode indicator A Autonomous mode D Differential mode E Estimated dead reckoning mode N Data not valid GPGLL 4716 10435 N 00129 45430 W 192531 99 A D 70 GPGLL 4716 10435 N 00129 45430 W 192532 99 A D 71 GPGLL 4716 10435 N 00129 45430 W 192533
184. ietary 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 DSNP C 3 Commands library Introduction Conventions The following symbols and conventions are used in the description of the DSNP proprietary commands Square brackets X X XX GC Character string fixed length a a hhmmss ss Latitude ddmm mmmmm yyyyy yyyyyy y x cc used to bound optional parameters designates the format of any numerical data signed or not with or without decimal point and decimal places and with an integer part of variable length designates a one letter parameter example A designates the format of any numerical data which is necessarily an integer Numerical data fixed length Character string variable length Keyword Time Longitude dddmm mmmmmm 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 Times New Roman for commands sent from the control computer Normal Times New Roman for replies to these commands returned by the DGNSS receiver C 4 DSNP Commands library Command s
185. iew centered around the region You can zoom out repeatedly i e so long as the mouse pointer looks like DSNP G 33 DSet Pack Software Modifying a configuration file using DSet Pack G 34 s Moving the map within the Graphic pane Position the mouse pointer anywhere on the Graphic Pane Click with the right mouse button The shortcut menu pops up Choose the Grabber command from this shortcut menu As a result the menu vanishes and the pointer looks like Depress the left mouse button and drag the pointer in the direction where you want the map to be moved Note that the move will take place only when you release the mouse button and it will be proportional to the distance covered by the pointer when you drag it e Adjusting the zoom so as to see all the beacons Select the Zoom to Fit command from the Shortcut menu This causes the map to be re adjusted through a zoom and grab operation so that it can view all the beacons you have defined The Zoom to Fit command is executed automatically whenever corrections are made to the Editor table of the Beacons sub module DSNP DSet Pack Software Modifying a configuration file using DSet Pack e Placing beacons on the map Position the mouse pointer anywhere on the Graphic Pane Click with the right mouse button In the shortcut menu which then appears choose the Draw command As a result the menu vanishes and the pointer shape is chan
186. ime the status will switch to STOP or press the S key to stop operating in this mode thus causing the status to be changed to STOP or press the A key to transfer the displayed position as the new valid position of the station this position will then appear on the screen of the Position function see page 5 3 NOTE Access to this function is denied if UHF transmission is active DSNP DSNP Station Firmware option File Management File Management From the main menu select the third icon a Press J The following function menu then appears PCMCIA card This function gives information about the PCMCIA card currently inserted into the receiver name nominal capacity free memory space PCMCI A Name nellier Memory np Free menory 1827Kb 46 4 6 i Station Firmware option File Management Raw Data This function allows you to perform immediate recording of GPS raw data Recording status Stopped or Recording RAU S Status Skonpedig Fil 103011308 v IR RE bi L Record file name user settable Recording rate Default MMDDhhmm month day between 0 1 and 99 9sec hours minutes Associated Help menu elp R Start recording 3 Stop recording Esc Abandon Quit According to context Press the R key to start recording raw data on the PCMCIA or press the S key to stop recording As a result t
187. ing a session from the displayed list press to edit its characteristics DSNP 5 23 Station Firmware option File Management 5 24 Example of screen obtained when editing the characteristics of a session From this field specify whether raw data must be recorded Yes or not No during the session press gt to access the selection menu Example of screen obtained while a sequence of sessions is being executed typical sequence in which two sessions are run every day from 9 00 to 12 00 am and from 2 00 to 5 00 pm essions 15 88 33 Mode Automatic Status Every day 1089 00 12 00 R 69801288 7 K 214 00 17 00 R 14881788 lu 00 88 08 88 E 68 88 80 08 DSNP Station Firmware option SVs SVs From the main menu select the fourth icon L Press J The following function menu then appears Deselection Visible Constellation This function gives information about the GPS constellation visible from the base station The information is arranged in two screens 1 2 and 2 2 Within the function use the PgUp and PgDn keys to change screen Screen 1 2 example 5 SV PRN No Same as opposite Elevation S Searching angle in U Used degrees R Received but not used Azimuth f l l angle in SV orbit ascending 4 or descending 4 degrees DSNP 5 25 Station Firmware option SVs Screen 2 2 contains graphical a
188. ing programmed sessions From the control computer send the following command PDAS SESSN lt cr gt lt if gt Receiver reply example PDAS SESSN 1 111500 140000 0 5E PDAS SESSN 2 154500 173000 0 5C Interpreting the receiver reply 1st line session 1 from 11hr15 to 14hr00 without data recording 2nd line session 2 from 15hr45 to 17hr30 without data recording 1 22 DSNP Basic operating instructions for the 5000 series Work sessions From the control computer send the following command to validate these sessions run order 2 then 1 for example sessions repeated and to select 1 automatic power supply control PDAS EXPSES CYCLE AUTPW 2 1 lt cr gt lt lf gt Check the changes made by sending the following command PDAS EXPSES lt cr gt lt if gt Expected receiver reply PDAS EXPSES CYCLE AUTPW 2 1 36 e Running ending an immediate session with data recording on PCMCIA requires PCMCIA recording capability option For example from the control computer define a GPS pseudo range output PDAS PRANGE 1 P 1 10 4 lt cr gt lt if gt Check the definition of this output by sending the following command PDAS PRANGE lt cr gt lt If gt PDAS PRANGE 1 P 1 10 4 0 0 0 70 PDAS PRANGE 2 N 59 and define a raw data output PDAS GPSDAT 1 P 3 3 3 3 lt cr gt lt If gt DSNP 1 23 Basic operating instructions for the 5000 series Work sessions Check the definition of thi
189. ing the following command PDAS FIXMOD lt cr gt lt f gt The receiver should return PDAS FIXMOD 4 1 801 2B Changing the fix mode will re initialize the position processing A detailed description of the command used above is provided in Appendix C DSNP 1 17 Basic operating instructions for the 5000 series Getting your equipment started Checking the type of position solution used for navigation The type of position solution on which to base your navigation should be distinguished from the fix mode used In a kinematic fix mode for example KART or LRK three different types of position solutions are available for your navigation EDGPS KART A LRK A A for Accurate 1 Hz rate or KART R LRK R R for Real time 10 Hz rate In these cases of use you will have to specify the desired type of position solution otherwise the receiver will deliver the default position type which is straight GPS or conventional DGPS if available If you need to change the type of position solution used for navigation use the NAVSEL command as explained below From the control computer send the following command to read the type of position solution used for navigation PDAS NA VSEL lt cr gt lt if gt If the receiver is operating in the straight GPS or conventional DGPS mode the reply will be PDAS NAVSEL 1 1 29 Tochange that selection for example you want to select the KART A LRK A fix send the followin
190. io beacon or an INMARSAT demodulator for example and applied to the receiver through one of its serial ports With the integration into the receiver of a UHF Datalink reception module and the use of a suitable UHF reference station conventional DGPS can also be implemented using one of the following formats DGPS RTCM SC104 data in the 6 of 8 character format transmitted through the UHF Datalink at 1200 or 4800 Bd Pseudorange corrections in the DSNP format transmitted through the UHF Datalink at 1200 Bd To date conventional DGPS cannot be implemented using the data received in the LRK format through the UHF Datalink operated at 4800 Bd The receiver can decode concurrently the correction data sets received from 4 different stations However the receiver will process only one of these correction data sets 2 Processing options DGNSS e Example of programming steps letting the receiver use RTCM SC104 corrections received on its serial port 1 Use the following command to configure the serial port This will let the receiver acquire and decode the DGPS data received from station No 710 via its B port PDAS DGPS MODE 1 B R 710 2 Use the following command to choose the fix mode in which the DGPS corrections received will be involved PDAS FIXMOD 4 1 710 3 To choose the DGPS solution as the position solution used for your navigation applications send the following command PDAS NAVSEL 1
191. ion PDAS IDENT 6 1 TD20 EUHFV 10300 PDAS IDENT 6 2 CM08 CMPY V0020107 PDAS IDENT 6 3 CM08 CMBLV0020107 PDAS IDENT 6 4 UC01 UCBNV 12000 PDAS IDENT 6 5 UC01 UCBLV 10000 PDAS IDENT 6 6 UC01 UCBSV20000 C 66 DSNP Commands library PDAS MEMORY PDAS MEMORY e Function Reads the amount of free memory space on the PCMCIA card result returned in bytes e Syntax PDAS MEMORY hh lt CR gt lt LF gt e Receiver Reply syntax PDAS MEMORY DIR a b c d e f hh lt CR gt lt LF gt e Reply Parameters ref format a X Total count of reply lines b X Reply line number C a PCMCIA card label c omitted if no card d X Total count of bytes used e X Total count of free bytes f X Number of files f omitted if no card hh Checksum optional lt CR gt lt LF gt End of reply e Examples PDAS MEMORY QUERY PDAS MEMORY DIR 1 1 122880 3858432 0 PDAS MEMORY QUERY PDAS MEMORY DIR 1 1 0 no PCMCIA inserted DSNP C 67 Commands library PDAS MEMORY DIR PDAS MEMORY DIR e Function Provides the characteristics of a file or of all files stored on the PCMCIA card Syntax PDAS MEMORY DIR a hh lt CR gt lt LF gt Receiver Reply syntax PDAS MEMORY DIR a b c d e f1 hh lt CR gt lt LF gt PDAS MEMORY DIR a b g h i j k l hh lt CR gt lt LF gt PDAS MEMORY DIR a b g h i j k l hh lt CR gt lt LF gt Reply Parameters ref format first line
192. ion of the receiver front and rear panels and a troubleshooting guide Section 1 is common to all the Aquarius products DSNP Aquarius 5000 Series User s Manual Section 2 Processing options contains the necessary information to operate your receiver in the desired processing method DGNSS WADGPS KART LRK It is assumed that the receiver has reached the operational status described in section 1 In fact only the KART and LRK methods are options as the DGNSS and WADGPS methods are available in all the receivers of the 5000 series Section 3 DGNSS Data link option describes the hardware required for a DGNSS Data link and how to operate this option Section 4 Extended I O option describes the hardware required to give the receiver new I O capabilities 1 pps RS422 port 10 MHz clock input external event Section 5 Station firmware option provides all the information needed to implement and use this option Section 6 Station Installation Kit option tells you how to install a base station using this optional kit Appendix A is a short introduction to the GNSS system Appendix B reviews all the products of the 5000 series from the simplest equipment up to the most sophisticated one Appendix C provides a complete description of all the DSNP NMEA0188 compliant proprietary commands Appendices D and E describe the GPS raw data issued by the receiver respectively in the SVAR format and SBIN format
193. ion threshold is 20 SVs PRN 2 6 8 are currently rejected Adding SV PRN 5 to the list of rejected satellites QUERY checking the change made Reply Clearing the list of intentionally rejected SVs SV PRN 2 and 7 will now be the only SVs that are rejected QUERY checking the change made Reply Changing elevation threshold 15 QUERY checking the change made Reply Clearing the list of rejected satellites QUERY checking the change made Reply No satellite rejected C 93 Commands library PDAS TR PDAS TR e Function Triggers data output in RS232 mode on the specified port PDAS TR a b hh lt CR gt lt LF gt s Command identification PDAS TR e Parameters ref format Syntax a a Output port identification A B etc Placing a comma behind this letter will delete the current user text to be replaced by the next one see below b CC User text 60 characters max hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS OUTMES 1 A 6 1 Validating output 1 on port A in TR mode PDAS OUTMES Checking output 1 definition PDAS OUTMES 1 A 6 1 1 5 7 8 9 10 20 55 PDAS TR Asking for output 1 to be sent Resulting data blocks example C 94 DSNP Commands library PDAS UNIT PDAS UNIT e Function Edits the unit number or the identification number in the case of a reference station Syntax Complete command
194. iskette disk 1 into the PC drive From the Windows 95 task bar click Start Select Run from the pop up menu Inthe text box which then appears type and click the OK button or press Enter This causes the Setup program to be started from the diskette This program will assist you through the entire installation procedure Below are the main stages in the installation e Welcome Dialog box As mentioned in this box we recommend you to close all the active applications before proceeding with the installation e Registration Specify the following in the two text boxes e your name e your company s name G 2 DSNP DSet Pack Software Installation procedure from the set of 3 4 diskettes s Destination directory Specify the name of the target directory where you would like the software to be installed You can specify a non existing directory the program will create it for you after confirmation s Program folder Specify the name of the folder where you would like the program shortcuts to be created e Start copying files Click the Next button to start installing the software or click the Back button to come back to the installation parameters if you want to change any of them After you have clicked Next insert the next diskette when prompted by the Setup program step to be repeated until the files from all the diskettes have been installed e End of installation The end
195. isplay see page 39 Checking receiver operation from the Status Display DSNP 1 11 Basic operating instructions for the 5000 series Getting your equipment started When you press the ON OFF button a welcome message is displayed until the receiver completes all its self tests this may take a few seconds Then anew display appears gathering the essential information you need at that time Screen No 0 Example of screen No 0 3 2 6 6 i for screen No 0 s v o 8 ogTD e GPS 12 2V F12 4 1 7 Check the power voltage 1 which should be within the expected voltage range otherwise change the source or adjust it or if the battery used is low replace it Power voltage range 10 to 36 V de floating all the 5000 series except for the 500x SD or 500x SK station or 10to15Vdc 500x SD or 500x SK station Check that both the count of received satellites 2 and the count of satellites used 3 increase with time The count of received satellites should finally reflect the currently visible satellite constellation from the considered point 1 12 DSNP Basic operating instructions for the 5000 series Getting your equipment started When the count of satellites used reaches 4 check that a position solution is available denoted by the parameter 4 changing from HOLD to a mode tied 1 to the configuration of your
196. it To allow an Aquarius receiver to operate in this mode one or two of its reception channels must be given the function of receiving and decoding the information broadcast by a GEO Two channels in the Aquarius receiver are usable for this purpose However for the time being we recommend that a single channel be used for WADGPS operation DSNP 2 17 Processing options WADGPS Implementation Procedure The following DSNP proprietary commands are used to implement the WADGPS processing mode in the Aquarius receiver PDAS GNOS is used 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 is used to enable the use of the WAAS EGNOS in the position processing PDAS GEODAT is used to configure outputs of WAAS or EGNOS data PDAS DGPDAT is used to configure outputs of DGPS data PDAS QC is used to select the type of quality control used The first two commands are essential in the implementation of the WADGPS processing mode The use of these two commands is illustrated with the two examples below For the other commands please refer to Appendix C DSNP DSNP Processing options WADGPS e WADGPS with INMARSAT III F5 GEO 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
197. know the characteristics of the station transmitting the corrections in the LRK format carrier 444 55 MHz transmission rate 4800 Bd modulation type GMSK PDAS DGPS STATION 12 LRK 4716 N 00129 W UHF 444550000 30 4800 GN 2 Send the command below to configure the built in UHF receiver so that it can receive and decode the DGPS data from this reference station station No 72 PDAS DGPS MODE 1 D R 12 72 3 Send the command below to select the LRK processing mode and the OTF initialization using the DGPS data received PDAS FIXMOD 7 1 72 4 Send the command below to choose the KART A position solution for your navigation needs PDAS NAVSEL 3 1 DSNP Processing options KART LRK When the DGPS corrections are received and involved in the position processing Screen No 0 on the Status display should look like this V08 10TD 0 LL RK 12 1V This field successively changes from GPS to 2 ILRK during the initialization phase and finally to LRK when initialization is complete e Programming data outputs to a serial port or to the PCMCIA The DGPS digital information received on a serial port or by the UHF Datalink can be routed to a serial port or recorded on a PCMCIA if the PCMCIA recording capability option has been activated for archive or post processing purposes Three output formats are available Acquisition Possible output formats format DSNP UHF SVAR
198. l time due to the large number of possible solutions This is why the scheme used in the KART system is radically different Recursive computation of an approximate solution using the phase and pseudo ranges triple difference The solution tends towards the actual solution over time DSNP DSNP Processing options KART LRK On each measurement epoch computation of a double difference solution with a fixed value for ambiguous terms integers The solution results from successive updatings starting from the approximate solution first fixing the integers for the satellite pair less sensitive to the initial position error and finishing with the most sensitive pair Validation of these solutions with fixed ambiguous terms traditional test on residuals complemented by a test for their changes over time Check for the repeatability of the solution over a given period This scheme dramatically differs from the traditional methods The following differences can be pointed out No search volume is required meaning that the method does not rely on any hypothesis on the quality of the approximate solution so the actual solution does not risk being left outside a search volume that may be improperly estimated No statistical analysis on multiple solutions No Kalman filter or statistical analysis More generally no stochastic models or statistical distributions need to be a priori determined The methods based on
199. led by your usual retailer as this operation requires some technical skills The UHF data link consists of a UHF transmitter and a UHF receiver Typically the transmitter is installed in a reference station the receiver in a mobile The UHF transmitter or receiver communicates with a DSNP GNSS receiver through a serial RS422 line operating at 19200 Bd max transmitter plugged on that port see SubD connector on the GNSS receiver rear panel 1 UHE a a UHE antenna sk sk Plug in UHF LJ transmitter EEE EEE aes DGPS GNSS Receiver gee aay Receiver ____ DGPS Built in UHF receiver DGPS Station D RS422 User 3 Data Link options UHF Data link option Data link specifications s UHF transmitter Radiated power Frequency band Modulation types Data transmission rate Data input mode Message type Power supply Operating temperature Dimensions LxWxH Waterproofing Magnetic compatibility 3 2 Factory set at user s request 4 W 36 dBm 2 W 33 dBm 0 5 W 27 dBm or 0 1 W 20 dBm 410 470 MHz 4801 channels 12 5 kHz apart DQPSK Differential Quadrature Phase Shift Keying 1200 bits s 1200 Hz subcarrier GMSK Gaussian Minimum Shift Keying 4800 bits s in base band on data reception or synchronous with the 1pps optional output differential RS422 1200 4800 9600 or 19200 bits C DSNP corrections
200. lopment Identification of the reference station from which corrections should be processed in second priority 0 to 1023 optional Identification of the reference station from which corrections should be processed in third priority 0 to 1023 optional Identification of the reference station from which corrections should be processed in fourth priority 0 to 1023 optional Checksum optional End of command C 27 Commands library PDAS DGPS MODE e Examples PDAS DGPS STATION Listing all known stations PDAS DGPS STATION 1 DSNP1 4710 00 N 00030 00 E UHF 443550000 0 35 00 1200 0 DN 3B PDAS DGPS STATION 12 DSNP2 4630 00 N 00100 00 E UHF 443550000 0 35 00 1200 0 DN 3A PDAS DGPS MODE 1 D R 11 11 12 Writing description line 1 According to this line line 1 the receiver will receive R corrections via its port D from transmitter No 11 These corrections will be generated by reference stations Nos 11 and 12 PDAS DGPS MODE 1 Checking the Content of description line 1 PDAS DGPS MODE 1 D R 11 11 12 21 Reply ata DGPS MODE 2 B R 712 713 Writing line 2 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 PDAS DGPS MODE Listing all description lines PDAS DGPS MODE 1 D R 11 11 12 21 Reply PDAS DGPS
201. lowing messages is returned by the palmtop Bad Sector in Drive C or Verify failed sector x x or Data corrupted or Potential Data Corruption Detected 5 5 35 Station Firmware option Maintenance Steps If the palmtop is still reactive to DOS commands such as DIR please skip the next paragraph Fatal errors and read Util directly Fatal errors Ifthe RAM disk is damaged the message Please contact your system provider will be displayed on the screen In that case key in the emergency password 56580 which will cause the following message to appear Default disk lose all data Y N Press Y to reformat the RAM disk which will cause all the files to be deleted as signaled by the following messages All data has been erased Use UTIL to format fixed disk Util Type in UTIL The main menu appears Field system 2 Utility Set time Set date Format diskette Format Fixed Disk Communication Port 1 Set Up Communication Port 2 Set Up move select Esc Quit 5 36 DSNP Station Firmware option Maintenance Steps Using the horizontal arrow keys move the cursor to Format Fixed disk Press the Yes key A new screen appears Format Fixed Disk WARNING This will erase all disk data OK to proceed move fchange accept Esc Quit Using the vertical arrow keys have Yes displayed in the selected field instead of No
202. lt 4 UHF reception range up to 50 km using an Aquarius 5001 SD range is height dependent s Performance characteristics with optional KART With Aquarius 5002 SK or 5001 SD station Automatic OTF initialization from 5 SVs within 12 km KART fix at a rate of up to 10 Hz with latency lt 0 1 second KART accuracy 2 cm X Y 5cm Z 95 at 1 sec rate 5 SVs or more HDOP lt 4 EDGPS backup 20 cm X Y Z 95 future implementation DSNP B 13 B Introduction to the DSNP Aquarius 5000 series 5001 SD specific performance data e Performance characteristics with optional high rate KART With Aquarius 5002 SK or 5001 SD station Automatic OTF initialization from 5 SVs within 12 km KART fix at a rate of up to 10 Hz with latency lt 0 1 second KART accuracy 1 cm X Y Z 95 at 1 sec rate 5 SVs or more HDOP lt 4 EDGPS backup 20 cm X Y Z 95 5001 SD specific performance data s Differential corrections generated DSNP UHF format 1200 bits s of the NDS100 Mk II type RTCM104 messages Nos 1 2 3 5 9 16 B 14 DSNP DSNP Introduction to the DSNP Aquarius 5000 series 5002 MK specific performance data 5002 MK specific performance data e Corrections data processed Proprietary LRK format 4800 bits s Proprietary high rate KART format 4800 bits s Multi station reception capability in LRK or high rate KART up to 4 stations Proprietary standard KART form
203. lving for the ambiguous terms in carrier phase measurements resorting to two frequency is still more beneficial Combining the two frequencies makes it possible to get a wavelength of 86 cm L2 L1 which decreases the number of solutions that may be retained around the approximate position and increases the separation between any two possible solutions All those features allow the initialization time to be substantially reduced and they significantly increase the reliability of the solution DSNP 2 31 Processing options KART LRK 2 32 As many tests have been conducted that reveal the merits of the technique used in the KART system the same processes can be used for the LRK with the following enhancements Recursive computation of the approximate solution in addition to the pseudo ranges C A code and phase triple difference on L1 a triple difference is computed on the phase of L2 and on L1 L2 pseudo ranges P Y code This leads to a faster convergence towards the actual solution On each epoch computation of a double difference solution only one with resolved integers With the LRK method however the position solution is computed in two steps Starting from the approximate solution in the first step a coarse solution is computed through a linear combination of the measurements made on L1 and L2 86 cm integer ambiguity instead of 19 cm on wide windows The solution more accurate albeit coarse t
204. mp date 1 7 Basic operating instructions for the 5000 series Receiver description A few minutes before starting the session the receiver will be automatically turned on unless meanwhile this is made manually by the operator who presses the ON OFF button or unless the power supply control mode has been set to MPW refer to page 46 Screen No 5 Information about sessions for more information about this parameter ON An operating or recording session is in progress The other indicator light is necessarily ON OFF No pending session The receiver will be powered only manually by using the ON OFF button Status Display 2 linex16 character display providing information about receiver operation for a complete description of the displayed data see page 39 Checking receiver operation from the Status Display Status Display ON OFF pushbutton amp light indicator PCMCIA __ card reader Scroll pushbutton amp light indicator 1 8 DSNP Basic operating instructions for the 5000 series Receiver description e PCMCIA card reader A PCMCIA card reader is located in the left hand part of the front panel In the basic version this device is a card reader only With optional software it can be used as a recorder too The PCMCIA reader is seen from the DSNP GNSS engine as a conventional I O port port P See page 34 Rear panel The rear panel is fitted with the followin
205. n the palmtop use another palmtop refer to the manufacturer s topo exe topo lan t bat tov20100 cfg Station Firmware option Installation Introduction to operating Instructions If the station does not need to be programmed or re programmed somebody else did it for you just press the ON OFF pushbutton on the receiver front panel and then check that the station reaches its operational status by reading the information reported on the station s status display more particularly screen No 0 and screen No 6 see pages 7 41 and 1 47 If changes have to be made to the programming of the station you will need to connect your palmtop and use the Station Control software Basically a station can function in two different operating modes s The Average position mode in which the station is requested to provide a position solution of its own location at the end of a certain time by continually averaging its position solutions collected over this period of time This operating mode should be run only if the position of the station is not sufficiently known It should be run for some time typically 24 hours and then the averaged position should be used to program the station in UHF transmission mode e The transmission mode the normal operating mode for a station in which corrections computed by the station are transmitted to users through a data link DSNP Station Firmware option Introduction to the
206. n V 5001 10 to 36 Floating 5002 10 to 36 Floating HI 10 to 15 Non floating 1 5001 MD 10 to 36 Floating 5002 SK 2 10 to 15 Non floating 5002 MK 10 to 36 Floating With 4 W radiated power DSNP B 9 B Introduction to the DSNP Aquarius 5000 series Specifications Environmental Receiver operating temperature 20 C to 55 C Receiver storage temperature 40 C to 70 C GPS Antenna operating temperature 40 C to 70 C UHF Antenna operating temperature 40 C to 70 C Humidity 100 fully sealed Receiver standard features 16 channel L1 receiver WAAS EGNOS compatible 5001 12 channel L1 L2 4 channel L1 receiver fully operational with P code encryption 5002 Multipath mitigation techniques and low noise observables GNSS raw data output 10 Hz rate ASCII or binary formats Navigation algorithms 250 waypoints Fully configurable numerical outputs NMEA0183 or user formats Extensive set of remote commands User defined datums and projections DSNP Introduction to the DSNP Aquarius 5000 series Specifications Station standard features 16 channel L1 receiver WAAS EGNOS compatible 5001 M 12 channel L1 L2 4 channel L1 receiver fully operational with P code encryption 5002 S Multipath mitigation techniques and low noise observables GNSS raw data output 10 Hz rate ASCII or binary formats Auto referencing Monitoring mode S
207. n subframe 5 page 25 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 corresponding to bits 1 to 4 The Health amp A S 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 DSNP GPS Raw Data in SVAR format SVAR IW WAAS EGNOS Data e Data block example 18 945 414740 3 7F9999 999999 009999 999099 999990 999080 000F C0 000FE9 7390B1 000000 000000 000F FF F00000 00003F 000000 AAAAAB SVAR W WAAS EGNOS Data e General Form lt stx gt lt eoln gt lt IW gt lt time tagging gt lt eoln gt lt soln gt lt parameters gt lt eoln gt lt soln gt lt Data from 1st GEO gt lt eoln gt lt soln gt lt Data from nth GEO gt lt eoln gt lt etx gt e Time tagging line IW lt GPS week gt lt GPS time gt lt eoln gt GPS week number and time within week in seconds when generating the message Reference time is Jan 6 1980 at Ohr00 DSNP D 23 D GPS Raw Data in SVAR format SVARIW WAAS EGNOS Data s Parameter line gt oC lt message counter gt lt count of GEOs in the message gt lt eoln gt The counter is modulo 16 incremented by 1 on arrival of a new message GEO count from 1 to 4 e Pre decoded WAAS data line lt soln gt 2characters and channel No in hexadecimal
208. n the configuration file you want to write into the receiver A In the toolbar click l or in the menu bar select the Transfer menu and then Write Initial A dialog box appears asking you to confirm the write operation Press the Yes button to start writing the active file into the receiver A dialog box appears asking you to confirm or change the unit number assigned to the attached receiver After sending the file DSet Pack waits for a transfer acknowledgment from the receiver If the acknowledge signal is returned in time then the write operation is considered to be successful the transferred file is then the receiver s new initial and current configurations If no acknowledge signal is received the write operation is aborted after the user set time out DSNP DSet Pack Software Using DSet Pack connected to a DSNP GNSS GPS receiver Reading the currently used configuration from a receiver e Direction of transfer Computer ation currently used Receiver il Configur _ Read file becomes the active file in DSet Pack Assuming the receiver is properly connected and the serial line is properly configured v In the toolbar click S or in the menu bar select the Transfer menu and then Read Current DSet Pack then starts reading the current configuration file from the receiver A new window is opened in DSet Pack showing this file default name Confign DSNP G 39 DSet Pa
209. nd alpha numerical information about the constellation Help menu associated with screen 2 2 elp Esc Abandon Quit N Nb channels view P Parameter bargraph Press the N key to define the number of channels represented on the bar graph typically 16 or 12 Press the P key to select which bar graph to show on the screen either S N Ratio or Elevation view Use the horizontal arrow keys to display complete information for the desired channel SIN ratio view 2 Elevation view Detailed information about selected channel i _ N Channels ste Each vertical bar represents a reception channel The bar s amplitude is proportional to the S N ratio or the elevation of the SV received on that channel Indicates selected channel press or lt to select another channel 5 26 DSNP Station Firmware option SVs Deselection This function allows you to reject one or more GPS satellites from the position processing performed at the station 4y Deselection Ai 62 03 04 65 6 a7 ag A Pointer a9 fie 11 12 13 14 15 Pi hodan 17 19 20 21 22 23 24 if anal 29 29 i 28 29 38 31 32 d satellite SN D Rejected satellites Associated Help menu elp Del Select unselect y Yes Accept selection L Esc Abandon F4 Quit According to context Use the arrow keys to select the PRN of the SV you want to reject or re select
210. nd c3 the type of Central Unit see opposite j diagram 0001 A5000 ERIDAN board 0000 486 ERIDAN board d1 d2 d3 d4 d5 d6 d7 d8 d9 d10d11d12 l Software Soft Temp Iter label rev Soft id mod Dvipt Soft stage vers d CC Subassembly software identification always 10 or 12 characters see diagram just above gt d1 to d4 Software label CMBL Core Module Boot Loader CMCA C A L1 Core Module CMPY C A amp P Y L1 amp L2 Core Module UCBS BIOS application UCBL Application Boot Loader UCBN Black Box Application EUHF UHF transmitter data link RUHF UHF receiver data link lt gt d5 Development stage B for B test version V for production version X for development version DSNP C 65 Commands library PDAS IDENT d6 Identification of software version or standard 0 SO S0 S0 2 and S0 3 Core Module 1 E1 state application 2 E2 state application 3 E3 state application lt gt 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 hh Checksum optional lt CR gt lt LF gt End of reply e Examples Query PDAS IDENT Reply from a dual frequency stat
211. ngs PDAS HARDRS QUERY PDAS HARDRS 6 1 A 9600 8 1 0 N 08 PDAS HARDRS 6 2 B 19200 7 1 0 N 33 PDAS HARDRS 6 3 C 9600 8 2 0 N 0B PDAS HARDRS 6 4 D 19200 8 1 0 N 3D C 60 DSNP Commands library PDAS HEALTH for future use PDAS HEALTH for future use e Function Edits the health status of the reference station information delivered at a monitoring station e Syntax Complete command PDAS HEALTH a hh lt CR gt lt LF gt QUERY command PDAS HEALTH hh lt CR gt lt LF gt s Command identification PDAS HEALTH Parameters ref format a X Health status 0 to 7 default 6 or 7 RTCM SC104 Health conventions 7 station not working 6 station not monitored UDRE scale factor is 0 1 UDRE scale factor is 0 2 UDRE scale factor is 0 3 UDRE scale factor is 0 4 UDRE scale factor is between 0 5 amp 0 75 0 UDRE scale factor is 1 hh Checksum optional lt CR gt lt LF gt End of command NOAA DSNP C 61 Commands library PDAS HEALTH for future use C 62 e Examples PDAS HEALTH PDAS HEALTH 0 2A PDAS HEALTH 6 PDAS HEALTH PDAS HEALTH 6 2C QUERY Reply Initializing health status for a working station QUERY Reply DSNP Commands library PDAS IDENT PDAS IDENT e Function Reads the identification of each of the hardware and software parts in the receiver s Command syntax a QUERY command only PDA
212. nt from an installation site to the other Note that this option includes neither a transmitter for data link nor the station firmware The Station Installation Kit option is part of the delivery if you ordered a 5001 SD or 5002 SK station The Station Installation Kit option may have been acquired separately if for example you wish to migrate your Aquarius 5000 receiver from a mobile sensor to a base station As this section is assumed to cover both the delivery of a 5001 SD or 5002 SK station and the separate delivery of the kit alone the various parts of the Station Installation Kit option are presented complete with the Aquarius 5000 receiver the GPS antenna the UHF transmitter the UHF antenna and various cables all these parts being delivered to constitute either of the above mentioned stations After this description instructions are provided to implement a base station Two procedures are also described to measure the height of the GPS antenna phase centre above the ground DSNP 6 1 ra Station Installation Kit option 6 2 Kit description Kit description The Station Installation Kit option consists of the following items DSNP reserves the right to make changes to this list without prior notice GPS station kit Part No 26E1076434 adapters Meter Kit and other small parts Station container Part No 790077805 consists of the container as such the inner foam trays used to secure the various item
213. of installation is denoted by the message Setup is complete DSNP G 3 DSet Pack Software Installation procedure from the set of 34 diskettes s Program folders and shortcuts After successful installation and using Windows95 explorer the following is now visible on your disk EG DSetPack t h Bin Bin Contains all the program files mainly exe dll hlp ocx etc Cfg Default directory for configuration files Cmd Default directory used to save all Win Comm command files Raw Default directory invoked when acquiring data records Set Default directory invoked when saving port settings In addition a new folder the program folder is present in C windows Start Menu Programs D S N P containing the shortcuts listed below File Edit View Help 1 object s selected 311 bytes e Getting started Double click on the DSet Pack icon to start the program G 4 DSNP DSet Pack Software Introduction to DSet Pack Introduction to DSet Pack Purpose DSetPack is designed to let you modify the DGNSS section of the configuration file present in your receiver or station Whereas Conf Pack allows you to create a complete configuration file DSet Pack only lets you edit the DGNSS related section of an existing configuration file although any Write Read Save or Save As operations you perform are necessarily run on the complete file not only on its DGNSS section DSetPa
214. of the WAAS for the European countries More information about this system can be obtained from http concord cscdc be GEO current status December 1998 WARNING At the present time only test signals are broadcast by the different administrations involved in the development of the system These signals are not guaranteed to be reliable and accurate and so may be the source of erroneous indications WAAS North American Region Test signals are currently broadcast for use by the FAA This broadcasting is under control of the NSTB National Satellite Test Bed and takes place from the following geostationary satellites GEQs PRN 122 INMARSAT MI F4 AOR W Atlantic Ocean Region West located above the Equator at 54 W longitude PRN 134 INMARSAT MI F4 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 gps faa gov Programs NSTB Provisions sis htm A 10 DSNP Introduction to GNSS GEO current status December 1998 EGNOS Europe Test signals are intermittently broadcast from the following satellite PRN 138 INMARSAT M F5 Spare located above the Equator at 25 E longitude As from the middle of the year 1999 this broadcasting is scheduled to be continuous from the same satellite and progressively from 2 other satellites identified below PRN 120 INMARSAT MI F2 AOR
215. om the Status Display Screen No 4 GNSS reception status Each line describes the reception of a satellite Hence two satellites are shown on a sub screen and n sub screens will exist if 2n or 2n 1 satellites are received In WADGPS mode the selected GEO appears in the lower line of the last sub screen No 4 Display example with GPS SV PRN 18 and GEO PRN 138 GPS SV state r received but not used d received but user deselected u received and used ees SA oror b received but deselected by Ac ascending WAAS EGNOS integrity control v descending S N ratio Elevation Azimuth dB 9 LU XIS 91 11 10 l A Denotes a GEO eee aa GEO state r received but not used u received and used In the lower line containing the description of a GEO the elevation and azimuth will be reported as equal to 000 if no ephemeris data is available to compute these angles DSNP 1 45 1 Basic operating instructions for the 5000 series Checking receiver operation from the Status Display Screen No 5 Information about sessions The current or pending session is described on the screen Display example Session Begin time status hh mm of next or see below current session e Ss oes Al RES E S IMME B20 10 APW REC E22 12 l
216. on PDAS FIXMOD 1 1 Changing fix mode PDAS FIXMOD QUERY PDAS FIXMOD 1 1 3B Reply transmitting reference station PDAS FIXMOD 4 1 12 Changing fix mode PDAS FIXMOD QUERY PDAS FIXMOD 4 1 12 11 Reply Single station DGPS mode DGPS station No 12 PDAS FIXMOD 4 12 128 Changing fix mode WADGPS selected using GEO PRN No 128 WAAS EGNOS pseudoranges involved in position processing DSNP C 43 Commands library PDAS GEO PDAS GEO e Function Edits the characteristics the specified coordinate system datum amp projection Lists the characteristics of all or specified coordinate systems e Syntax Complete commands PDAS GEO a b c d hh lt CR gt lt LF gt PDAS GEO a b f hh lt CR gt lt LF gt PDAS GEO a b A 1 F S j hh lt CR gt lt LF gt PDAS GEO a b Dx Dy Dz n hh lt CR gt lt LF gt PDAS GEO a b Ax Ay Az r hh lt CR gt lt LF gt PDAS GEO a b s t hh lt CR gt lt LF gt PDAS GEO a b u v w hh lt CR gt lt LF gt QUERY commana PDAS GEO e hh lt CR gt lt LF gt s Command identification PDAS GEO e Parameters ref format a X X Count of lines required to describe the specified coordinate system b X X Number of the present line C X X GPS week number optional X X GPS time within week in sec optional C 44 DSNP DSNP U X X CC X X X X X X X X X X X X X X X X X X Commands library PD
217. on release the mouse This causes the three panes to be re sized accordingly DSNP G 7 DSet Pack Software Introduction to DSet Pack Using the Select Pane The Select Pane shows the four parameter modules controlling the DGNSS function read from the configuration file of the attached unit iQ DGNSS A module M E Beacons v E Mode and its _ bmodul m E DGNSS data J acs Handling the Select Pane is much similar to working with Windows 95 explorer For each parameter module The leftmost button is used to show hide all the sub modules of a module g 09 sub modules shown book open amp sub modules hidden book close The check button right adjacent to the button will turn gray if one of its sub modules is deselected only the DGNSS data sub module can be deselected This check button is always checked button checked ac button checked one or more sub module deselected G 8 DSNP DSet Pack Software Introduction to DSet Pack The check button left adjacent to a sub module name is used to select deselect the sub module Only the DGNSS data sub module can be deselected ME button checked sub module selected Clicking the document icon will cause the Editor table corresponding to that sub module to appear in the Edit Pane OB button cleared sub module deselected Clicking the document icon will cause the Edit Pane to turn blank
218. or SVAR W data outputs e Syntax t Complete command PDAS GEODAT a b c hh lt CR gt lt LF gt QUERY command all output definitions are returned PDAS GEODAT hh lt CR gt lt LF gt QUERY command only the specified output is returned PDAS GEODAT a hh lt CR gt lt LF gt s Command identification PDAS GEODAT DSNP C 47 Commands library PDAS GEODAT e Parameters ref format a X X Output number 1 2 etc default 1 a Output port identification A B etc C x Data output control 0 No output invalidated 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 lt CR gt lt LF gt End of command e Examples PDAS GEODAT 1 PDAS GEODAT 1 A 1 PDAS GEODAT 1 A 0 C 48 QUERY about output 1 definition Reply output 1 enabled delivers SBIN W data on port A Invalidates output 1 no reply DSNP Commands library _GLL and _GPQ GLL GLL and _ GPQ GLL e Function Edits the estimated position used in the initial position speed time processing or displays the latest position solution e Syntax Complete command GLL a b c d e f hh lt CR gt lt LF gt QUERY command GPQ GLL hh lt CR gt lt LF gt e Parameters ref format a ILI Latitude of estimated position b a North or South latitude N or S C yyyyy yyy Lon
219. or code to be listed 1 to 104 If b is absent and a 0 all errors except those still persisting are acknowledged Error code to be acknowledged Checksum optional End of command C 17 Commands library PDAS DEFLT Receiver reply to a QUERY command PDAS DEFLT A B C D E F hh lt CR gt lt LF gt reply data format A X Error code 0 to 100 B X Error extra code 1 to 256 C a a Keyword TD SYSTM CONFG POSIT NAVIG I O CM IHM DGPS INTRF GEODY NONE D X Day 1 to 31 E hhmmss ss Time of first occurrence of the error F hhmmss ss Time of latest occurrence of the error hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS DEFLT Listing all detected errors PDAS DEFLT 23 0 1 O 18 174909 174910 6C PDAS DEFLT 24 0 1 O 18 174835 175045 6D PDAS DEFLT 103 1 1 O 18 174827 174828 59 PDAS DEFLT 102 4 1 O 18 174827 174828 5D PDAS DEFLT 8 1003 CM 18 174826 174827 49 PDAS DEFLT 103 Reading error 103 PDAS DEFLT 103 1 1 0 18 174827 174828 59 PDAS DEFLT 0 Acknowledging all errors PDAS DEFLT Re listing errors PDAS DEFLT 24 0 1 O 18 174835 175045 6D error 24 persisting DSNP PDAS DELSES e Function Syntax Commands library PDAS DELSES Deletes the specified programmed sessions All sessions invoked by the last EXPSES command run cannot be deleted Complete command PDAS DELSES a b hh lt CR gt lt LF gt C Command del
220. or the 5000 series Rear panel Connectors COMPUTER connector RS232 Port A type JKX FD1G 07 MSSDSM plug JBX1 MPN manufacturer FCI Signal pin view RXD REMOTE ON i GND I O connector RS232 Port B type JKX FD1G 07 MSSDSM plug JBX1 MPN manufacturer FCI pin view F POWER connector type JKX FD1G 04 MSSDSM plug JBX1 MPN manufacturer FCI pin view 10 O4 10 04 20 O38 20 O38 1 52 DSNP Basic operating instructions for the 5000 series Rear panel Connectors TNC male TNC male coaxial connector coaxial connector to from optional DGPS GNSS antenna input antenna 1 Yos Yoors DGPS connector RS422 Port D pin view 15 C SubD female type For exclusive use by DSNP UHF transmitter RXD input i i GND eeg 7 eND K A A A L 12 V output 15 9 Reserved Reserved 12 Reserved 3 Reserved Reserved 1 2 3 4 EA 9 10 Reserved LB 14 15 Notused DSNP 1 53 Basic operating instructions for the 5000 series Rear panel Connectors RS232 cable A B H if ser i bl 6T O00 O A is a 7 contact JKX FD 1G 07 MSSDSM 5011253 plug with JBX1 MPN 5080359 sleeve Manufacturer FCI B is a 9 contact female subD DE 9S 5030357 connector with metal cover 8655MH09 11 5080357 Manufacturer FCI Shielded cable 4 pair FMA2R 6030097 Overall length 2 m
221. orrections same code corrections as those generated by an NDS100 MkII station L1 phase C A code same phase corrections as those generated by an NDS100 MkII station RTCM L1 or L1 L2 LRK format Reference station number in BCD notation 00 to 99 If greater than 99 which will be the case with an RTCM SC104 the reference station number will be encoded modulus 100 the station identification number as entered using the PDAS UNIT command Corrections message Format tied to identifier see below End of block etx in ASCII notation DSNP Data Link options UHF Data link option e Corrections message Type C 1st byte Message length measured from 02 to 03 inclusive in BCD notation from 00 to 99 2nd byte Transmission rate in seconds in BCD notation from 01 to 99 Next 3 bytes ZZ ZZ ZZ Z counter output modulo 49152 in 0 1 second units in BCD notation Next nx4 bytes SV cr cr CT n count of SVs max 10 3 SV in BCD SV number 80hex if correction lt 0 or SV number 40pex if ephemris change cr in BCD correction value in cm max 999 999 cm Last 2 bytes XX XX Checksum binary sum from stx DSNP 3 19 Data Link options UHF Data link option e Corrections message Type P 1st byte Message length measured from 02 to 03 inclusive in BCD notation from 00 to 99 2nd byte Transmission rate in seconds in BCD notation from 01 to 99 Next 3 bytes ZZ ZZ ZZ Z
222. parts screws washers standoffs DSNP DSNP Station Installation Kit option Station installation Station installation Although installing a station is rather an easy operation you should however be very careful in every detail of the installation Indeed how and where you install the station and the antennas will greatly determine the level of performance you can expect from your station You do not need particular tool for the installation of the station but your usual tool box Choosing a location where to install the station Remember the station should be installed in a place clear of any devices likely to produce radio frequency interference and also of any obstructions liable to hinder GPS reception or to produce multipath effects GPS antenna Install the GPS antenna at a safe distance from high power antennas and radio transmitters Refer to page 3 7 to know the minimum distance recommended between this antenna and the UHF antenna Choose a place providing a 360 degree view of the horizon for the best possible GPS reception UHF antenna The higher the UHF antenna the better its coverage 6 5 ra Station Installation Kit option Station installation Avoid mounting the UHF antenna parallel to or in the neighborhood of other metal parts such as masts supporting wires etc Connections and Setup For station control amp command connect your palmtop to port A COMPUTER Pow
223. pe EGNOS European Geostationary Navigation Overlay System For Asia MSAT DSNP A 7 Introduction to GNSS WAAS 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 expansive augmentation to the GPS service 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 integrity 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 navigation 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 DSNP DSNP Introduction to GNSS WAAS These WRSs are linked to form the U S WAAS network Each WRS in the network relays the data to the wide area master station WMS where correction information is comp
224. ps synchronous mode C0 0 free mode Screen obtained with no programming performed in the UHF Data Link module mx x xxx X b k X X MH Z Future use DSNP 1 47 Basic operating instructions for the 5000 series Checking receiver operation from the Status Display e if the equipment is a corrections receiver 1 48 Display example Frequency band U UHF band M MF band H HF band N Numeric X undefined Future use Beacon Id Transmission baud rate Bd Signal Noise ratio Receiving frequency in MHz Screen No 7 Differential corrections Each line describes the correction to be applied to a measurement made from the satellite specified in the line Hence two corrections are shown on a sub screen and n sub screens will exist if 2n or computed received Display example 2n 1 corrections are Pseudorange SV number Correction value in m in m s Correction speed OR lt aN ow o KLU o SV number Pseudorange Correction value in m in m s Correction speed DSNP DSNP Screen No 8 Firmware Options installed The first line indicates the serial number of the receiver Each of the next lines identifies a firmware option installed in the receiver The num
225. r wishes to work with that beacon the receiver will request that code 6 figures You can also use the Graphic Pane to define beacons see page G 26 DSNP DSet Pack Software Modifying a configuration file using DSet Pack Mode You can create up to 3 rows in the Editor table In each row you define the receiver either as a corrections generator a reference station or a corrections receiver a user receiver You can define one reference station max and two corrections receivers max Software set field identifies the row in the Editor table where this reference station is defined Port A B C or D Mode Reference station XMTR or corrections receiver RCVR Beacon ID Identification of the beacon connected to the reference station if a reference station or from which corrections are received if a user receiver Period XMTR Data transmission rate if a reference station Slot XMTR Number of the slot during which corrections are received from the specified beacon if a user receiver Station ID RCVR Number of the reference station connected to the specified beacon connected to the specified beacon if Station ID RCVR Number of other reference station there is a second one G Station ID RCVR Number of other reference station connected to the specified beacon if there is a third one DSNP G 23 DSet Pack Software Modifying a configuration file using DSet Pack
226. raphic Pane The map is magnified with the maximum zoom in ratio possible The coordinates of the mouse pointer as you move it within the pane are reported in white with red background in the upper right corner of the map 0 0 0 0005 N Current location of pointer on the map 0 0 0 0000 N 0 0 0 0005 S U U 0 00TU 0 0 0 0000 E U A Shortcut menu is available from within this pane through which you can perform the operations described in the next pages Defining the region where to place your beacons using the World Map editor see next page Zooming in out on the map see page G 33 DSNP G 27 DSet Pack Software Modifying a configuration file using DSet Pack Moving the map within the Graphic pane see page G 34 Adjusting the zoom so that all the beacons can be viewed on the map see page G 34 Placing beacons on the map see page G 35 e Defining the region where to place your beacons using the World Map editor Position the mouse pointer anywhere on the Graphic Pane click the right mouse button to display the Map Shortcut menu and then select the Region command A new window appears showing the World Map editor A Shortcut menu is available from within this pane through which you can perform the operations described in the next pages G 28 DSNP DSet Pack Software Modifying a configuration file using DSet Pack e Rotating t
227. ration As the receiver has no built in user interface but a simple readout status display used for monitoring and performance checks the user has to resort to commands sent from a control computer to be able to access the desired data for changes e g geodetic system output messages etc Some data cannot be accessed in this way In this case the Conf Pack configuration software has to be employed see the corresponding manual Three types of configurations are saved in the unit Default configuration resident in the firmware This configuration cannot be modified It resets all parameters in the unit to known values operating mode RS port configuration output messages etc Initial configuration saved in a non volatile memory It can be modified using the configuration software 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 configuration is modified by the operator s actions through the human computer interface or through remote control words The Default configuration can be loaded in place of the current configuration by pressing the pushbutton on the integrated display and holding it depressed at power on or by sending the command PDAS CONFIG RESET B Introduction to the DSNP Aquarius 5000 series Configuration The
228. red value is shown same as function menus see page 5 6 e Messages and alarms Alarm report e Error or warning messages DSNP 5 9 Station Firmware option Getting started The buzzer will sound in the following cases e AL ihe end of the initialization phase not an alarm beeps three times e Satellite alarm brief 3 tone down sound every 6 seconds approx e Battery alarm brief 3 tone up sound every 6 seconds approx e Invalid display request brief 2 tone sound e Invalid data entry brief 2 tone sound e Other errors brief 2 tone sound Getting started Assuming the base station is now ready and you have the palmtop in hand do the following From the DOS prompt type in T or t and press The following screen appears denoting auto tests in progress Autotest DASSAULT yp GERCEL NAVIGATION POSITIONING AQUARIUS 3002 SK 5 10 DSNP DSNP Use the vertical or horizontal arrow keys 4 gt Station Firmware option Getting started At the end of the auto tests the antenna height screen automatically appears This is to suggest you not to forget to enter this very important parameter this screen is described in page 5 2 Then press the Esc key to access the main menu Inactive icon Station Control Antenna Position UHF transmission Averaging File Management PCMCIA Raw Data Sessions
229. rence station mode 2 Residuals computation in monitoring reference station mode for future use DSNP C 41 Commands library PDAS FIXMOD C 42 3 Straight GPS fix mode 4 Single station DGPS fix mode 5 Multiple station DGPS fix mode MDGPS for future use 6 EDGPS fix mode Enhanced DGPS 7 KART or LRK fix mode with OTF initialization 8 KART or LRK fix mode with Static initialization 9 KART or LRK fix mode with Z FIXED initialization 10 KART or LRK fix mode initialization from a known point Selects the source of corrections none from WAAS EGNOS or from DGPS reference station and simultaneously enables or disables the use of pseudoranges from the selected GEO if any 0 Straight GPS without WAAS EGNOS pseudoranges 1 DGPS KART LRK without WAAS EGNOS pseudoranges 2 WADGPS without WAAS EGNOS pseudoranges 10 Straight GPS with WAAS EGNOS pseudoranges 11 DGPS KART LRK with WAAS EGNOS pseudoranges 12 WADGPS with WAAS EGNOS pseudoranges Commands library PDAS FIXMOD Cass X If b 1 or 11 Identification s of DGPS reference station s If b 2 or 12 c PRN No of WAAS EGNOS GEO If c is not mentioned then the corrections data from the closest WAAS EGNOS GEO is used future development hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS FIXMOD QUERY PDAS FIXMOD 3 1 39 Reply Straight GPS fix mode DGPS stati
230. reported on status display 1 25 1 46 DELSES C 19 EXPSES C 36 Immediate 1 21 Power management 1 20 Programmed 1 21 Run sequence at base station 5 23 SESSN C 88 status 1 46 Theory 1 19 SESSN C 88 Slot XMTR G 23 Source polarity protection 1 10 Space segment A 1 Square brackets C 4 Start Receiver 1 11 STATIC 2 34 Station container 6 2 Station control software Antenna function 5 12 Average position function 5 17 Getting started 5 10 Position function 5 13 Transmitter function 5 16 Station ID RCVR G 23 Station Id number 3 10 3 12 3 14 3 16 Station number s or GEO PRN G 20 Status column G 12 Status Display 1 8 1 11 Sub screens 1 40 1 45 1 48 1 56 SV Deselection 5 27 SVAR format D 1 SVARIA C 57 D 17 SVAR D D 5 SVARIE C 57 D 19 SVAR Q C 78 SVARIR C 78 D 8 SVARIR dual frequency D 12 SVARIS C 57 D 22 SVARIU C 57 D 21 SVAR W C 47 SVAR W 2 25 D 23 SVDSEL C 91 Swapping power source 1 9 DSNP System Tools 5 33 T Tapped holes in bottom of receiver case 1 5 TD C 63 Time 5 34 Timeout G 14 Time information 1 44 TR C 94 Transmission mode 5 4 Transmit indicator 5 5 UC C 63 UDRE C 61 UDRE 1 16 2 27 UHF coverage B 17 UHF receiver Characteristics B 12 UHF transmitter Characteristics B 13 Setting 3 8 UKOOA Control C 84 UNIT C 95 User measurement antenna height 5 13 6 10 USERGEOID
231. ress the S key to disable transmission 5 16 DSNP Station Firmware option Station Control Average position This function allows you to program the Average Position mode and enable disable this mode Operating the base station in this mode makes it possible to refine its location if the coordinates you entered through the Position function see page 5 3 are just an estimate Time elapsed since you Total time planned in Status of the started this model this mode Average Position mode Stop or Running First the coordinates of the station as entered through the Position function then progressively an averaged refined solution for this position as the station keeps running in the Average Position mode Associated Help menu elp A Accept R Start averaging Stop averaging Esc Abandon F4 Quit displayed by pressing F1 removed by pressing Esc DSNP 5 17 Station Firmware option Station Control 5 18 According to context Press the R key to enable the Average Position mode In the edit box which then appears enter the time hh mm during which you want the station to operate in this mode Averaging time 18 88 where hh hours and mm minutes Choose this time according to the figures given in the table below Operating time in Resulting uncertainty on Average Position mode station s coordinates At the end of this planned t
232. ring arm N S Tape measure 6 9 ra Station Installation Kit option Measuring the GPS antenna height DSNP measurement Upper point Vertical m Tape oblique Lower point USER measurement Knowing the location of the phase centre in the GPS antenna you can measure its height above the landmark with your own method 6 10 DSNP DSNP Station Installation Kit option Measuring the GPS antenna height If you find it easier you can split the height measurement into two distinct vertical components which you measure one after the other For example you can measure the height of the phase centre above an arbitrary mark on the mast 1st measurement and then measure the height of this mark above the land mark 2nd measurement You just need to use the tape measure for this kind of measurement USER measurement illustration example Tape vertical Upper point 0 12m If as opposed to the illustration above the tape hook is placed on the upper point and the tape tip on the landmark do not forget to add 0 12 m to the value you read on the scale Station Installation Kit option Measuring the GPS antenna height 6 12 DSNP DSNP Introduction to GNSS GPS Constellation A Introduction to GNSS GPS Constellation The GPS system Global Positioning System consists of three segments Space segment Con
233. ror lt 3 625 1110 pseudorange error lt 5 409 1111 pseudorange error gt 5 409 DSNP E 13 GPS Raw Data in SBIN format SBIN A Almanac data SBIN A Almanac data e General form lt stb gt lt A gt 2 bytes lt long gt 2 bytes lt almanac ident gt 3 bytes lt SV almanac gt 24 bytes lt checksum gt 2 bytes lt etb gt 1 byte s Almanac identification First byte Number of the GPS satellite corresponding to the transmitted almanac binary Last 2 bytes Almanac reference week number modulo 2 ambiguity removed e Almanac data Bits 1 to 24 from words 3 to 10 in subframes 4 or 5 depending on SV number E 14 DSNP GPS Raw Data in SBIN format SBIN E Ephemeris data SBIN E Ephemeris data e General form lt stb gt lt E gt 2 bytes lt long gt 2 bytes lt ephemeris ident gt 1 byte lt SV almanac gt 24 bytes lt words 3 to 10 subfr 1 gt 24 bytes lt words 3 to 10 subfr 2 gt 24 bytes lt words 3 to 10 subfr 3 gt 24 bytes lt checksum gt 2 bytes lt etb gt 1 byte s Ephemeris identification A single byte Number of the GPS satellite corresponding to the transmitted ephemeris binary e 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 DSNP E 15 GPS Raw Data in SBIN format SBIN U lono UTC data SBIN U lono UTC data e General form lt stb gt l
234. s in the container Receiver holder Part No 751076466 black rubber and metal support Part No 751076467 black rubber Metal support Part No 751076467 DSNP Station Installation Kit option Kit description Unpacking UHF antenna whip from GP450 3 Ground plane UHF antenna mast element 50 cm antenna from GP450 3 antenna Part No 735076661 Part No 3310202 Part No 3310202 Adaptor assembly composed of GAWE600 Tripod adapter Part No 3310205 e GAF 5 8 adapter Part No 3310206 FMP40 antenna mount kit Part No 3310115 y Allen wrench for assembling the UHF antenna GPS antenna NAPOO1 L1 Part No 26E1076311 or NAP002 L1 L2 Part No 26E1076208 with 5 8 adaptor Part No 724076577 Meter Kit 2 parts Part No 2612076601 Set of cables 1 power cable 2 m Part No 605076503 1 RS232C cable 2m Part No 605076570 1 x 10 metre GPS coaxial cable TNC m TNC m Part No 5050196 1 x 6 50 metre UHF coaxial cable N m N m Part No 5050197 DSNP 6 3 ra Station Installation Kit option Kit description Receiver holder Receiver Part No 26H1076468 Part No or 751076466 Receiver Part No 26H2076469 black rubber Metal support Part No 751076467 Plug in UHF transmitter Part No 26E1075203 Station stand Part No 26E1076942 consists of the receiver holder the metal support and small
235. s output by sending the following command PDAS GPSDA T lt cr gt lt lf gt PDAS GPSDAT 1 P 3 3 3 3 5E PDAS GPSDAT 2 N 43 From the control computer send the following command to start the immediate session PDAS EXPSES IMMED lt cr gt lt Iif gt Check that a session is now in progress by sending the following command PDAS EXPSES lt cr gt lt if gt PDAS EXPSES IMMED MANPW 2F To end the immediate session send the following command PDAS EXPSES END lt cr gt lt Iif gt Check that there is no more session in progress by sending the following command PDAS EXPSES lt cr gt lt if gt PDAS EXPSES END MANPW 28 1 24 DSNP Basic operating instructions for the 5000 series Work sessions s Selecting Manual control for the power supply and disabling all programmed sessions 1 From the control computer send the following PDAS EXPSES END MANPW lt cr gt lt if gt No receiver reply Information about sessions is reported on the receiver status display by selecting screen No 5 Display example DSNP 1 25 Basic operating instructions for the 5000 series Usual changes made to the receiver configuration from the Control computer 1 26 Usual changes made to the receiver configuration from the Control computer While using your receiver you will probably need to make some changes to the receiver configuration more particularly regarding its data outputs This chapter discusses the us
236. s used Signals The signals transmitted by the satellites fall into two categories signals used to control the system and signals used for measurements within receivers user segment The first type of signal is transmitted in the S band on the following frequencies 1 783 74 kHz for links from the control station to the satellites 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 1 575 42 kHz L2 1 227 6 kHz DSNP DSNP Introduction to GNSS Navigation Message SATELLITE SIGNAL FUNDAMENTAL FREQUENCY 10 23 MHz C A CODE 1 023 MHz 50 BPS SATELLITE MESSAGE Navigation Message The Navigation Message contains the necessary information for the description 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 e
237. screens are created for this screen In this case the screen number is recalled at the beginning of each sub screen Use the same button the Scroll pushbutton to access the different sub screens and then to access the next screen 1 40 DSNP Basic operating instructions for the 5000 series Checking receiver operation from the Status Display Screen No 0 Operating Status At the end of the self tests status screen No 0 appears Display example Count of Count of SVs corrections used received received or transmitted Age Fix mode o of EDGP corrections IKAR UBS V08 12TD11 01 s 99smax ee EDGP 12 2V F12 LRK et l l P oes Battery voltage Free memory space HOLD in V on PCMCIA in DGPS In GPS or GNOS fix mode only appears if MDGP WAAS EGNOS integrity data is used for SV monitoring WDGP GNOS Indicates current operation in Average position mode the receiver is used at a reference station e Fix mode EDGP EDGPS Enhanced DGPS IKAR Kinematic Application Initialization KART Kinematic Application Real Time ILRK Long Range Kinematic Initialization LRK Long Range Kinematic GPS pure or straight GPS REF User set reference position for a station only not a computed position HOLD No position solution available DGPS Differential GPS MDGP MDGPS Multi different
238. sent by the receiver G 44 Aquarius 5000 User s Manual Index Sending commands to a receiver G 41 DSet Pack modifiable modules G 17 DSNP measurement antenna height 5 13 6 8 DSNP UHF 2 13 DSNP UHF format 2 36 DTM C 54 EDGPS 2 35 Edit Pane G 7 G 9 Editor table G 12 EGNOS A 7 A 10 A 11 C 41 C 52 Elevation threshold C 92 Elevation view 5 26 EMSL C 9 Encrypted non encrypted corrections C 30 END 1 46 C 36 End of start up procedure 1 13 Error classification 1 57 Error families 1 56 Error report 1 42 1 56 Errors list 1 58 Esc key 5 8 Estimated position C 49 Estimated time in Average position mode at base station 5 18 Euridis 2 20 EXPSES C 36 External Event input Extended I O option 4 4 External oscillator input 10 MHz 4 3 External Quality Control 2 22 C 85 F4 key 5 8 FAA A 8 FILTER C 40 Firmware Options installed 1 49 Fix mode 1 41 FIXMOD C 41 Free memory on PCMCIA As reported on status display 1 36 G GEO 2 17 C 51 C 91 As described on status display 2 20 Data line E 19 GEO coordinate systems C 44 GEO current status December 1998 A 10 GEODAT C 47 GIC A 6 GLL C 49 C 54 GLONASS A 4 A 6 GNOS 2 17 C 51 GNSS A 4 GNSS Engine 1 50 B 1 GNSS reception status 1 45 GPO C 54 GPOQ GLL C 49 GPO ZDA C 96 GPS coaxial connector 1 9 DSNP GPS navigation message A 3 GPS signals A 2 GPSDAT
239. sition solution used for your navigation applications send the following command PDAS NAVSEL 1 1 Select Screen No 6 on the Status display to check the new settings of the built in UHF receiver In this example the screen should look like this JU 0 0 0 8 1200 b 45dB 444 5500MHz DSNP Processing options DGNSS e Particular case in which the RTCM SC104 DGPS data received are transmitted by a UHF NDS100 Mkil reference station This kind of data is transmitted systematically with 1 as the station number which is therefore different from the true station number contained in the header of the RTCM message 2 The programming steps provided below will let the receiver acquire and decode DGPS RTCM SC104 data received from station No 715 this data being transmitted by a UHF NDS100 MkIl station at the carrier frequency of 436 125 MHz PDAS DGPS STATION 4 RTCM 3812 N 0042 7 E UHF 436125000 30 1200 DN PDAS DGPS MODE 1 D R 4 1 715 PDAS FIXMOD 4 1 715 PDAS NAVSEL 1 1 s Programming data outputs to a serial port or to the PCMCIA The DGPS digital information received on a serial port or by the UHF Datalink can be routed to a serial port or recorded on a PCMCIA if the PCMCIA recording capability option has been activated for archive or post processing purposes DSNP 2 15 Processing options DGNSS Three output formats are available Acquisition Possible output formats format RTCM SC104
240. ssages 22 29 4543 W Altitude 48 752m 30 UHF band 444 55 MHz 4800 Bd GMSK Free mode every 1 second LRK Pseudorange corrections and phase measurements 5002SK Station using REFSTATION firmware and LRKMODE firmware PDAS UNIT 22 PDAS PREFLL 0 4716 1043533 N 00129 45430 00 W 48 752 PDAS FIXMOD 1 1 PDAS DGPS STATION 30 LRK 30 4716 N 00129 W UHF 444550000 30 4200 GN PDAS DGPS MODE 1 D E 30 0 PDAS DGPDAT 1 D 1 10 2 DSNP Data Link options UHF Data link option 5001MD Mobile using KARTMODE firmware PDAS DGPS STATION 30 LRK 30 4716 N 00129 W UHF 444550000 30 4200 G N PDAS DGPS MODE 1 D R 30 22 PDAS FIXMOD 7 1 22 High Rate KART with OTF initialization PDAS NAVSEL 4 1 Navigation from Real Time KART position solution 3 5002MK Mobile using LRKMODE firmware PDAS DGPS STATION 30 LRK 30 4716 N 00129 W UHF 444550000 30 4200 GN PDAS DGPS MODE 1 D R 30 22 PDAS FIXMOD 7 1 22 LRK with OTF initialization PDAS NA VSEL 3 1 Navigation from Accurate LRK position solution DSNP 3 17 Data Link options UHF Data link option Transmitted Data Blocks The syntax used for these blocks is described below 1st byte 2nd byte 3rd byte then YYYYYYYYY Last byte 02 Beginning of block stx in ASCII notation XX Message identifier an alphabetical character in ASCII notation XX 03 C R T DSNP pseudo range c
241. t lt Reception Quality gt lt iono tropo flag gt lt eoln gt e Corrections line lt soln gt lt C A code correction gt lt correction speed gt D 6 lt S gt DSNP type corrections includes ionospheric corrections lt R gt RTCM type corrections does not include ionospheric corrections lt n gt 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 messages received correctly 10 100 0 lono tropo corrections are not included in differential corrections 1 lono tropo corrections are included in differential corrections 3 characters and SV number PRC in meters at time To of message Positive correction means it must be added to pseudorange RRC in m s DSNP GPS Raw Data in SVAR format SVARID Single frequency Differential corrections lt correction age gt in seconds algebraic difference between time of message and time of GPS measurements from which corrections were generated lt IOD gt Issue Of Data for DSNP corrections counter output modulo 256 incremented by 1 every time IOD changes state lt UDRE gt User Differential Range Error lt eoln gt Time correction value T PRC RRC T To e Data block example D 945 410950 1 R 710 0 3 20 3 0 05 1 2 224 19 20 7 0 15 1 2 33 17 17 3 0 06 1 2 235 31 1 7 0 09
242. t 6 by PDAS TR command 7 amp 8 for future development A negative value will cause the output to be disabled but the trigger mode information will still be present in the output definition for further use d X X if c 1 then d is the trigger rate expressed in 100 ms units if c 2 or 4 then d is the trigger rate expressed in count of events Gass H X X numbers of the formats which will generate the message being defined hh Checksum optional lt CR gt lt LF gt End of command C 73 DSNP Commands library PDAS OUTMES e Examples PDAS OUTMES Querying the receiver to obtain the list of its computed data outputs PDAS OUTMES 1 A 1 10 1 5 7 8 9 10 20 4F PDAS OUTMES A 1 10 2 7 8 5 11 20 5B PDAS OUTMES 3 A 1 10 12 20 51 PDAS OUTMES 4 A 1 10 13 20 57 PDAS OUTMES 5 A 1 10 3 5 6 20 64 PDAS OUTMES 6 A 1 10 4 5 11 7 8 14 20 70 PDAS OUTMES 7 B 2 1 15 20 16 20 17 20 18 20 19 4C PDAS OUTMES 2 B 4 Changing output 2 PDAS OUTMES 2 Checking new output 2 PDAS OUTMES 2 B 4 10 2 7 8 5 11 20 70 PDAS OUTMES B 4 Invalidating output 2 trigger information setting preserved PDAS OUTMES 2 Checking output 2 PDAS OUTMES 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 0 10 2 7 8 5 11 20 74 PDAS OUTMES 8 C 1 20 1 5 7 8 9 10 20 Creating output 8 PDAS OUTMES 8 Checking output
243. t Notation rules D GPS Raw Data in SVAR format Notation rul es e Reserved characters 02h lt stx gt Beginning of message 21h Format indicator 2Ch Field delimiter 40h Checksum delimiter 2Eh Decimal separator 22h Beginning and end of label ODh 0OAh lt eoln gt End of line 03h lt etx gt End of message Subscript letter this string is in hexadecimal notation e Conventions used field data lt gt lt stx gt lt sobk gt lt soln gt lt eoln gt lt etx gt DSNP h at the end of a character string means that Generic term representing one or more data Numerical value or label Surrounds a field name Beginning of message 02h Beginning of block one or more characters identifies beginning of block Beginning of line one or more characters identifies beginning of line in a block End of line 2 characters CR LF ODh OAh End of message 03 D GPS Raw Data in SVAR format Notation rules The term block stands for a group of data of the same nature The term numerical value encompasses all types of possible codings binary decimal 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 e General form lt stx gt lt eoln gt lt sobk gt lt gt lt time tagging line gt lt eoln gt lt soln gt lt gt lt Ist data line
244. t LF gt End of command DSNP C 21 Commands library PDAS DGPS DELSTA e Examples PDAS DGPS STATION Listing all known stations PDAS DGPS STATION LRK1 4716 28 N 00129 23 W UHF 446532000 0 50 00 4800 0 GN 4E PDAS DGPS STATION 2 LRK2 4728 45 N 00148 19 W UHF 446532000 0 45 00 4800 0 GN 42 PDAS DGPS STATION 1 DSNP1 4710 00 N 00030 00 E UHF 443550000 0 35 00 1200 0 DN 3B PDAS DGPS STATION 12 DSNP2 4630 00 N 00100 00 E UHF 443550000 0 35 00 1200 0 DN 3A PDAS DGPS DELSTA 2 12 Deleting stations 2 and 12 PDAS DGPS STATION Re listing all known stations PDAS DGPS STATION LRK1 4716 28 N 00129 23 W U HF 446532000 0 50 00 4800 0 GN 4E PDAS DGPS STATION 1 DSNP1 4710 00 N 00030 00 E UHF 443550000 0 35 00 1200 0 DN 3B C 22 DSNP Commands library PDAS DGPS MODE PDAS DGPS MODE E for receivers used as corrections generators and so connected to a transmitter e Function Defines the receiver s serial port as a DGPS transmit channel e Syntax Complete command PDAS DGPS MODE a b E e f hh lt CR gt lt LF gt QUERY command PDAS DGPS MODE a hh lt CR gt lt LF gt QUERY command all lines are read PDAS DGPS MODE hh lt CR gt lt LF gt s Command identification PDAS DGPS MODE DSNP C 23 Commands library PDAS DGPS MODE e Parameters ref format a X a a d X e X X X X hh lt CR gt lt LF gt C 24
245. t 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 e lono UTC Data Bits 1 to 24 from words 3 to 10 in subframe 4 page 18 declared valid by the GPS sensor E 16 DSNP GPS Raw Data in SBIN format SBIN S Health amp A S data SBIN S Health amp A S data e General form lt stb gt lt S gt 2 bytes lt long gt 2 bytes lt A S amp Health data gt 24 bytes lt Health data gt 24 bytes lt checksum gt 2 bytes lt etb gt 1 byte e Health amp A S Data A S amp Health Bits 1 to 24 from words 3 to 10 in subframe 4 page 25 declared valid by the GPS sensor Health Bits 1 to 24 from words 3 to 10 in subframe 5 page 25 declared valid by the GPS sensor DSNP E 17 GPS Raw Data in SBIN format SBINIW WAAS EGNOS Data SBIN W WAAS EGNOS Data e General Form lt stb gt lt W gt lt long gt lt Parameters gt lt Data from ist GEO gt lt Data from nth GEO gt lt checksum gt lt etb gt s Parameters line A single byte bits 7 to 4 bits 3 and 2 bits 1 and 0 2 bytes 2 bytes 1 byte 29 bytes 29 bytes 2 bytes 1 byte Message counter modulo 16 incremented by 1 whenever a new message is received 0 no particular meaning Count of GEOs in the message Co a y ad Ge H o o 4 DSNP GPS Raw Data in SBIN format SBINIW WAAS EGNOS Data e GEO data line First byte GEO PRN 2nd byte M
246. ta quality indicator complies with RTCM message No 18 000 001 010 O11 100 101 110 111 encoded on 2 ASCII characters 0 to phase error lt 0 00391 cycle phase error lt 0 00696 cycle phase error lt 0 01239 cycle phase error lt 0 02208 cycle phase error lt 0 03933 cycle phase error lt 0 07006 cycle phase error lt 0 12480 cycle phase error gt 0 12480 cycle F 8 bits MSB first bits 0 to 3 pseudo range multipath error indicator complies with RTCM mess 1111 multipath error not determined bits 4 to 7 pseudo range data quality indicator complies with RTCM mess 0000 0001 0010 0011 0100 0101 0110 0111 1000 1001 1010 1011 1100 1101 1110 1111 age No 19 age No 19 pseudorange error lt 0 020 pseudorange error lt 0 030 pseudorange error lt 0 045 pseudorange error lt 0 066 pseudorange error lt 0 099 pseudorange error lt 0 148 pseudorange error lt 0 220 pseudorange error gt 0 329 pseudorange error lt 0 491 pseudorange error lt 0 732 pseudorange error lt 1 092 pseudorange error lt 1 629 pseudorange error lt 2 430 pseudorange error lt 3 625 pseudorange error lt 5 409 pseudorange error gt 5 409 DSNP GPS Raw Data in SVAR format SVARIR Dual frequency GPS pseudoranges in satellite time lt L1py L1cya Carrier phase deviation gt lt P_ C A cod
247. talink at 1200 Bd should be chosen to let the receiver compute a KART position solution Pseudorange and phase measurements in the LRK format transmitted through the UHF Datalink at 4800 Bd should be chosen to let the receiver compute a high rate KART position solution with L1 only or a LRK position solution with L1 and L2 2 33 Processing options KART LRK 2 34 To date the RTCM SC104 data in the 6 of 8 character format transmitted through the UHF Datalink at 1200 or 4800 Bd does not allow the receiver to issue a KART or LRK position solution this functionality should be the object of a future extension In addition the mobile receiver should be fitted with the appropriate firmware and GNSS engine KARTMODE firmware and L1 GNSS engine for KART processing mode LRKMODE firmware and L1 L2 GNSS engine for LRK processing mode To reduce the initialization time especially with the KART and depending on the application different initialization modes are possible which you can select by using the PDAS FIXMOD command 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 DSNP Processing options KART L
248. ter anywhere on the pane of the World Map window Click with the right mouse button The World Map shortcut menu pops up Choose the Zoom Out command from this shortcut menu As a result the menu vanishes and the pointer looks like amp Position the pointer somewhere on the region and click with the left mouse button As a result the window displays a larger scale view centered around the clicked point You can zoom out repeatedly i e so long as the mouse pointer looks like until you reach the view of the entire globe e Selecting a region on the World Map Assuming the desired region is now visible on the World Map after rotation and Zoom in operations do the following G 30 Choose the Draw command from the World Map shortcut menu DSNP DSet Pack Software Modifying a configuration file using DSet Pack Drag the mouse button so as to surround the desired region Release the mouse when you agree with the selection Click the OK button On the Graphic pane which then displays again note that that the graduations have been updated to comply with your choice e Changing the viewing options of the World Map Position the mouse pointer anywhere on the pane of the World Map window Click with the right mouse button The World Map shortcut menu pops up DSNP G 31 DSet Pack Software Modifying a configuration file using DSet Pack Choose the Options command from this shortcut menu
249. ters none hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS COMMNT PDAS COMMNT 2 1 AQUARIUS 5000 SERIES 14 PDAS COMMNT 2 2 DEFAULT CONFIGURATION 2B PDAS CONFIG INIT PDAS COMMNT PDAS COMMNT 1 1 CONFIG PALMTOP 61 DSNP C 13 Commands library PDAS CONFIG LOAD C 14 PDAS CONFIG LOAD Function Loads the configuration from the PCMCIA into the receiver so as to make it the receiver s new initial and current configurations The file read from the PCMCIA card is necessarily CONFIG CFG The receiver is automatically re initialized after running this command Syntax PDAS CONFIG LOAD hh lt CR gt lt LF gt Command identification PDAS CONFIG LOAD Parameters none hh Checksum optional lt CR gt lt LF gt End of command Examples PDAS COMMNT PDAS COMMNT 2 1 AQUARIUS 5000 SERIES 14 PDAS COMMNT 2 2 DEFAULT CONFIGURATION 2B PDAS CONFIG LOAD PDAS COMMNT PDAS COMMNT 1 1 CONFIG PALMTOP 61 DSNP Commands library PDAS CONFIG READ PDAS CONFIG READ e Function Reads the data from the initial configuration PDAS CONFIG READ hh lt CR gt lt LF gt s Command identification e Syntax PDAS CONFIG READ e Parameters t none hh Checksum optional lt CR gt lt LF gt End of command e Examples PDAS CONFIG READ PDAS CONFIG BEGIN 40 63 Reply PDAS COMMNT 1 1 CONFIG PALMTOP 61 PDAS LANG EN f 1 1 43 P
250. tification error CMOS date failed Selftesterror Full anomalies journal PCMCIA removed g dentification CM error Coprocessor test Coprocessor test Error on serial port IDE file system mounting error File system IDE mount err Option lending period has now Option no more elapsed available 4 Max number of tries reached Max option tries reached CMOS date Failed Autotest error Erroneous blocks Bad blocks Count of restarts since selftest No restart since autotest Mailbox overflow Mailbox overflow DPR1 Overflow Overflow DPR 3 Kinematic initialization inematic initialization EA Line in CM file too long Line file CM too Lon 10 3 CM card file inconsistency ncoherence file SYSTM card CM 10 3 Flash CM clear error Clear flash CM SYSTM error 91 10 3 CM program loading error CM program file SYSTM load error 6 IHM Kinematic mode change Kinematic mode change 93 6 IHM 3 No position computed No computed position 7 INTRF 4 Binary file inconsistency Binary file incoherent SYSTM GEODY RTC send error Altimetry error 97 10 Applic software Re load error Appli soft reload SYSTM error 1 60 DSNP Basic operating instructions for the 5000 series Troubleshooting pes eventos error ae SYSTM lem S Sete ee SYSTM port A L 101 5 0 2 Error on port B in reception Receiving error on port B 102 5 I O 2 Error on port C in reception Receiving error on port C port D 104
251. tion F Test result residuals i channel number 1 to 16 2D MDE on pseudoranges in meters i channel number 1 to 16 DSNP Processing options QA QC e External QC INTEGAP External QC in progress Yes No INTEGID PRN of the GEO from which external QC is performed 120 to 138 or 1 if information not available INTEGS 1 16 WAAS EGNOS external QC status for each channel 0 Unmonitored 1 Unhealthy 2 Healthy UDRE 1 16 Current value of UDRE User Differential Range Error in meters provided by WAAS EGNOS external QC for each channel 1 if information not available DSNP 2 27 Processing options KART LRK 2 28 KART LRK KART Theory of operation Typically the algorithms used to determine the values of ambiguous terms go through the following steps Defining a search volume built on the basis of the approximate position according to its uncertainty covariance Computing all possible solutions in the search volume Choosing the best possible solution minimum variance Validating the solution through comparison with the second best solution Some conditions and tests are applied at different levels so that a priori inconsistent solutions can be rejected This scheme can be used for dual frequency receivers because the number of possible solutions remains relatively low within the search volume In single frequency receivers it is not reasonably applicable in rea
252. tion from the Control computer For example to enable output 2 on port B in 1pps mode type the following command 1 PDAS OUTMES 2 B 4 lt cr gt lt If gt Check the changes made to output 2 PDAS OUTMES 2 lt cr gt lt If gt PDAS OUTMES 2 B 4 10 2 7 8 5 11 20 70 To disable an output output 2 for example send one of the following commands PDAS OUTMES 2 B 0 lt cr gt lt If gt but you lose the initial trigger information relevant to this output by using 0 as the 3rd parameter in the command or PDAS OUTMES 2 B 4 lt cr gt lt If gt you preserve the initial trigger information by placing before the 3rd parameter in the command Refer to Appendix C for more information on the PDAS OUTMES command DSNP 1 29 Basic operating instructions for the 5000 series Usual changes made to the receiver configuration from the Control computer 1 30 Editing the definition of a GPS raw data output The definition of each of the raw data outputs generated according to the receiver configuration can be modified through the following steps From the control computer send the following command to list all the generated data outputs PDAS GPSDAT lt cr gt lt Ilf gt The receiver will return a reply of this type PDAS GPSDAT 1 B 3 3 3 3 4C PDAS GPSDAT 2 N 43 For example to change the definition of output 1 described in the1st reply line send a command of this type PDAS GPSDAT 1
253. trol 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 master station located in Colorado Springs USA The data collected are processed corrected filtered and finally uploaded to the satellites that broadcast them through a navigation message ephemerides 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 simultaneously in view round the clock 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 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 signals received from the satellites A A 1 Introduction to GNSS Signals 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 signal
254. trol type see PDAS EXPSES the receiver will be turned on t 5 minutes before the beginning of the session and turned off 30 seconds after the end of the session Fora session defined with Recording indicator 1 and provided the recording firmware is present a file will be created on the PCMCIA at the beginning of this session The file will be named lt session_label gt Dxx where xx is a software set order number and all outputs performed on port P will be written into that file until the end of the session DSNP C 89 Commands library PDAS SESSN e Examples PDAS SESSN QUERY PDAS SESSN 0 6E Reply no existing sessions Defining three sessions PDAS SESSN 1 111500 140000 1 ESSAT1 PDAS SESSN 2 154500 173000 1 ESSAI2 PDAS SESSN 3 180000 203000 1 TEST1 Listing the programmed sessions PDAS SESSN PDAS SESSN 1 111500 140000 1 ESSAI1 23 PDAS SESSN 2 154500 173000 1 ESSAI2 22 PDAS SESSN 3 180000 203000 1 TEST 1 73 C 90 DSNP Commands library PDAS SVDSEL PDAS SVDSEL e 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 e Syntax Command relative to rejected satellites PDAS SVDSEL a b c d
255. ual changes you can make from the control computer see page 0 PC connection Other changes can be made see Appendix C in which all the possible commands are presented Enabling disabling all data outputs You may be interested in disabling all the active data outputs raw data and computed data outputs for example in order to facilitate maintenance steps on the attached peripheral equipment This is simply achieved through a single command From the control computer send the following command PDAS OUTOFF lt cr gt lt If gt No receiver reply The inverse operation is also very simple Just send the following command to re enable all the data outputs PDAS OUTON lt lt cr gt lt if gt No receiver reply DSNP Basic operating instructions for the 5000 series Usual changes made to the receiver configuration from the Control computer The syntax of the above commands is detailed in Appendix C 1 Editing the settings of a serial port You may want to change the settings of a serial port on the receiver in order to allow communications with your peripheral equipment From the control computer send the following command to list the settings of all the receiver serial ports PDAS HARDRS lt cr gt lt if gt The receiver will return a reply of this type PDAS HARDRS 4 1 A 9600 8 1 0 N 0A PDAS HARDRS 4 2 B 9600 8 1 0 N 0A PDAS HARDRS 4 3 C 9600 8 2 0 N 09 PDAS HARDRS 4 4 D 19200 8 1 0 N 3
256. udorange error lt 0 148 pseudorange error lt 0 220 pseudorange error gt 0 329 pseudorange error lt 0 491 pseudorange error lt 0 732 pseudorange error lt 1 092 pseudorange error lt 1 629 DSNP GPS Raw Data in SVAR format SVARIR Single frequency GPS pseudoranges in satellite time 1100 pseudorange error lt 2 430 1101 pseudorange error lt 3 625 1110 pseudorange error lt 5 409 1111 pseudorange error gt 5 409 lt eoln gt e Data block example R 945 409178 0 amp C 30 0 3 1642748611 1336643 3745940 50 0 21 8F 1 6 1770768785 6159605 1173036 38 0 20 BF 2 17 1653042024 2007234 66112 49 0 2A 8F 3 19 1765372780 2787887 4030232 38 0 54 BF 4 21 1750942628 5177540 5179588 46 0 02 9F 5 22 1622832882 903573 850340 51 0 0B 7F 6 23 1707824729 5132206 3991356 45 0 0C 9F 7 25 1786374004 4350534 1642228 37 0 40 BF 9 31 1756457738 8208042 5146444 37 0 62 CF DSNP D 11 D GPS Raw Data in SVAR format SVARIR Dual frequency GPS pseudoranges in satellite time SVARIR Dual frequency GPS pseudoranges in satellite time e General Form lt stx gt lt eoln gt lt IR gt lt time tagging gt lt eoln gt lt soln gt lt parameters gt lt eoln gt lt soln gt lt Ist line of raw data gt lt eoln gt lt soln gt lt nth line of raw data gt lt eoln gt lt etx gt s Time tagging line IR lt GPS week gt lt GPS time gt lt eoln gt GPS week number
257. uipment from the 5000 Series no prior installation phase is required to use this functionality DSNP 2 1 Processing options DGNSS Implementation Procedures e Terminology used Reference station Beacon a stationary GPS receiver with accurately known location whose function is to generate DGPS corrections and data The identification number of a reference station is user defined through the PDAS UNIT command In DGNSS processing mode your receiver will read this identification number from the DGPS messages received to identify the source of corrections and data A transmitting unit connected to one or more reference stations The beacon is used to transmit DGPS corrections to users A beacon is identified 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 DSNP Processing options DGNSS 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 corrections transmitter the closest to their positions Conversely the coordinates of a reference station must be known with the best possible accuracy as they are essential in the computing of DGPS corrections Navigator
258. ummary table Command summary table PDAS CONFIG INIT Makes initial configuration the receiver s new current configuration PDAS CONFIG LOAD Loads configuration from PCMCIA into the receiver to be its new initial configuration PDAS CONFIG READ Reads data from initial configuration PDAS CONFIG RESET Makes default configuration the receiver s new current configuration PDAS DEFLT Reports acknowledges errors if any PDAS DELSES Cancels the specified programmed sessions PDAS DGPS DELSTA Cancels a DGPS transmitting station in the receiver PDAS FIXMOD Edits the current fix mode amp associated reference station or GEO PDAS GEO Edits the coordinate system used DSNP C 5 Commands library Command summary table PDAS GEODAT Edits definitions of WAAS EGNOS data outputs __GPQ GLL Edits estimated position __GLL PDAS GNOS Enables disables operation with WAAS EGNOS also used to specify PRNs of GEOs tracked if chosen selection mode is Manual __GPQ _ Returns the current value of the specified parameter NMEA0183 compliant PDAS GPSDAT Edits definition of GPS raw data outputs PDAS HARDRS Edits settings of serial ports PDAS HEALTH Edits health status of reference station PDAS IDENT Reads identification of harware and software parts PDAS MEMORY Reads amount of free memory space on PCMCIA card PDAS MEMORY DIR Provides characteristics of files stored on PCMCIA card PDAS
259. uration file from the attached receiver Read Initial Reads the initial configuration file from G the attached receiver Write Initial Writes an initial configuration into the attached receiver DSNP G 51 DSet Pack Software A review of the DSet Pack commands Tools menu The Tools menu offers the following commands Win Comm Starts the Win Comm software module Options Allows you to display change the options of DSetPack Window menu The Window menu offers the following commands Cascade Arranges all the open windows in cascade configuration Tile Horizontally Places all the open windows side by side in the horizontal direction Tile Vertically Places all the open windows side by side in the vertical direction Close All Closes all the open configuration files File list The names of the currently open configurations are listed here to let the user choose the active configuration directly from this menu Help menu The Help menu offers the following commands which provide you assistance with this application Contents Displays the opening screen of Help Using Help Displays instructions for using Help About DSetPack Displays the version number of DSetPack G 52 DSNP Index ECGLL 1 15 SECGPO GLL 1 15 ECGPO ZDA 1 16 SECZDA 1 16 PDAS AGECOR 2 12 PDAS COMMNT 1 38 PDAS CONFIG 1 38 B 3 B 4 PDAS DEFLT 1 56 PDAS DELSES 1 21 1 22 PDAS DGPDAT 2 3 2 5 2 9 2 16 2
260. uted The WMS calculates correction algorithms and assesses the integrity of the system A correction message is prepared and uplinked to a GEO via a ground uplink system GUS 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 satellites also act as additional navigation satellites for users thus providing additional navigation signals for position determination The WAAS will improve basic GPS accuracy to approximately 7 meters vertically and horizontally improve system availability through the use of geostationary communication satellites GEOs carrying navigation payloads 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 initial 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 More information about the WAAS and the GEO broadcast schedule can be obtained from the FAA site http gps faa gov A Introduction to GNSS EGNOS EGNOS EGNOS is the equivalent
261. vice through geostationary satellites GNSS1 CONCEPT GPS constellation GLONASS BI a WAD Geostationary Host Telemetry Navigation and Monitoring Processing L and Mission ane eee 4 Monitoring stations Geostationary satellite control centre A 5 Introduction to GNSS GNSS Purpose The GNSS scheme serves three major purposes Complementing the range measurements with geostationary satellites 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 A 6 Stations monitoring the navigation system GPS GLONASS distributed 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 necessary data to the geostationary satellites One or more geostationary satellites broadcasting the data R_GEO GIC WAD over the area to be covered DSNP Introduction to GNSS GNSS l AALT Edge of coverage 5 deg sail 4 L Ll L 150 100 50 0 50 100 150 The different systems There are three systems as of today For the American continent WAAS Wide Area Augmentation System For Euro
262. y 1 DPRAM error DPRAM anomaly 1 Erroneous message length Bad message length 1 EEPROM error EEPROM anomaly Trigger time tag error Datation Trigger Error Config integrity altered Bad config integrity Config parameter error Config parameter error No transmitting station 3 DGPS CPU DIFF overflow CPU DIFF overflow Coordinate system error Geodesy error GEODY 5 VO 2 T Unknown remote command Unknown telecommand 5 I O 2 Non complying param format Bad parameter format C 10 1 11 1 12 1 13 1 14 1 15 1 ane BDE ONFG HE CONFG 20 3 21 3 HAR pay gt EA 31 04 05 10 CM 11 CM 12 CM 13 CM 14 CM 15 CM 16 CM 17 CM 18 19 20 3 DGPS 21 22 23 24 25 26 27 30 31 2 Non complying format block Bad block format 5 S 5 1 0 Command checksum error Bad telecommand checksum 5 eo 5 VO 3 DPRiInputerror Input error on DPRI 5 1 0 EA Non complying LRK block port D smo o Pon A Overfow S 32 5 VO 3 PortBOverlow Overflow PortB 33 5 VO_ 3 PortCOverflow Overflow PortC 34 5 VO 3 PortDOverflow Overflow PortD 3 3 3 3 3 4 2 2 2 1 1 1 1 3 4 3 3 3 3 2 2 3 3 3 3 3 3 3 1 58 DSNP Basic operating instructions for the 5000 series Troubleshooting 5 0 Format interpretation error Format interpretation 7 INTRF 7 INTRE 7 INTRE 7 INTRF 7 INTRF 7 INTRF
263. y PDAS PRANGE PDAS PRANGE e Functions Edits the definitions of the pseudorange data outputs Adds definitions of pseudorange data outputs e Syntax Complete command PDAS PRANGE a b c d f g h hh lt CR gt lt LF gt C QUERY command only the specified line is returned PDAS PRANGE a lt CR gt lt LF gt QUERY command all output definitions are returned PDAS PRANGE lt CR gt lt LF gt e Command identification PDAS PRANGE e Parameters format a X Output number 1 or 2 b a Output port identification A B C etc X Output mode 1 2 etc 0 stopped 1 time 2 trigger DSNP C 77 Commands library PDAS PRANGE d X X Output rate if c 1 output rate in units of 0 1 second if c 2 1 Data block following External Event is output 3 Data block following 1pps is output e y x Data type 1 to 5 see Appendices D amp Ey 1 SBIN r 2 SBIN R 3 SBIN Q 4 SVARIR 5 SVAR IQ and y Multi Core data 0 or 1 0 Master Core Module default 1 All Core Modules future use f X X GPS carrier code filtering time constant in seconds 0 to 600 future use g X X WAAS carrier code filtering time constant in seconds 0 to 600 future use h X X Pseudolite carrier code filtering time constant in seconds 0 to 600 future use hh Checksum optional lt CR gt lt LF gt End of command C 78 DSNP Commands library PDAS PRANGE e Ex

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