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Product Name Vector V103/113 GPS Compass

1. Used to report the control parameters for a GNSS Receiver Autonomous Integrity Monitoring RAIM process Default PG No ET Update PGN Description Level ENS Freq Hz msec 059392 ISO Acknowledgement B On On Used to acknowledge the status of Request Request certain requests addressed to a specific ECU 059904 ISO Request B On On Request the transmission of a specific Request Request PGN addressed or broadcast 060928 ISO Address Claim B On On Used to identify to other ECUs the Request Request address claimed by an ECU 126996 Product Information B On On NMEA 2000 database version supported Request Request manufacturer s product code NMEA 2000 certification level Load Equivalency number and other product specific information 126464 Receive Transmit PGNs group function B On On The Transmit Receive PGN List Group Request Request type of function is defined by first field The message will be a Transmit or Receive PGN List group function 129538 GNSS Control Status B On On GNSS common satellite receiver Request Request parameter status 129545 GNSS RAIM Output B On On Used to provide the output from a GNSS Request Request receiver s Receiver Autonomous Integrity Monitoring RAIM process The Integrity field value is based on the parameters set in PGN 129546 GNSS RAIM Settings 129546 GNSS RAIM Settings B On On Request Request Vector V103 V113 User Guide 20 PN 875 0287 000 Re
2. Vector V103 113 GPS Compass User Guide Part No 875 0287 000 Rev A1 5 Hemisphere a JJ 7 0 This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 This device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation Copyright Notice Hemisphere GPS Precision GPS Applications Copyright Hemisphere GPS 2012 All rights reserved No part of this manual may be reproduced transmitted transcribed stored in a retrieval system or translated into any language or computer language in any form or by any means electronic mechanical magnetic optical chemical manual or otherwise without the prior written permission of Hemisphere GPS Trademarks Hemisphere GPS the Hemisphere GPS logo A100 A20 A21 A220 A221 A30 A31 A320 A321 A42 A52 AC110 AerialACE AirStar AirTrac AutoMate Bantam BaseLineHD BaseLineX BEELINE COAST Contour Lock Crescent Earthworks Eclipse e Dif eDrive eDriveTC eDriveVSi eDriveX FliteTrac G100 G4 GateMate GPSteer H102 H320 HO IntelliFlow IntelliGate IntelliStar IntelliTrac Just Let Go L Dif LiteStar II LV101 LX 1 LX 2 M3 MapStar MBX 4 miniEclipse
3. Outback Outback 360 Outback Guidance Center Outback Guidance Outback Hitch Outback STM Outback S2 Outback S3 M Outback S Lite Outback Sts Outback Steering Guide PocketMAX PC PocketMAX PocketMax3 R100 R131 R220 R320 S320 Satloc the Satloc logo SBX 4 V101 V102 V103 V111 V113 VS101 M VS111 VS131 V Vector X200 X300 XF1 XF100 V XF101 and XF102 are proprietary trademarks of Hemisphere GPS Other trademarks are the properties of their respective owners Patents The Outback S and S Lite automated navigation and steering guide systems are covered by U S Patents No 6 539 303 and No 6 711 501 The Outback Hitch automated hitch control system is covered by U S Patent No 6 631 916 The Outback eDriveTC GPS assisted steering system is covered by U S Patent No 7 142 956 Hemisphere GPS products may be covered by one or more of the following U S Patents 6 111 549 6 397 147 6 469 663 6 501 346 6 539 303 6 549 091 6 631 916 6 711 501 6 744 404 6 865 465 6 876 920 7 142 956 7 162 348 7 277 192 7 292 185 7 292 186 7 373 231 7 400 956 7 400 294 7 388 539 7 429 952 7 437 230 7 460 942 Other U S and foreign patents pending Notice to Customers Contact your local dealer for technical assistance To find the authorized dealer near you Hemisphere GPS 4110 9th Street S E Calgary Alberta Canada T2G 3C4 Phone 40
4. 1 850 kph 999 kts Maximum altitude 18 288 m 60 000 ft Table B 2 Beacon sensor specifications V113 only Item Specification Channels 2 channel parallel tracking Frequency range 283 5 to 325 kHz Operating modes Manual automatic and database Compliance IEC 61108 4 beacon standard Vector V103 V113 User Guide 44 PN 875 0287 000 Rev A1 Appendix B Technical Specifications Table B 3 Communication specifications Correction I O protocol Item Specification Serial ports 1 RS 232 full duplex 2 RS 422 1 full duplex 1 half duplex Baud rates 4800 9600 19200 38400 RTCM SC 104 LDif 5 Data I O protocol NMEA 0183 NMEA 2000 Crescent binary L Dif Table B 4 Power specifications Item Specification Input voltage 6 to 36 VDC Power consumption V103 V113 3 W nominal 3 3 W nominal Current consumption V103 V113 320 mA 9 VDC 240 mA 12 VDC 180 mA 16 VDC 350 mA 9 VDC 265 mA 12 VDC 200 mA 16 VDC Power isolation Reverse polarity protection Isolated to enclosure Yes Item Table B 5 Mechanical specifications Specification Enclosure UV resistant white plastic AES HW 600G non corrosive self extinguishing Dimensions 66 3 L x 20 9 W x 14 6 H cm 26 1 L x 8 3 W x 5 8 H in Weight V103 V13 2 1 kg 4 6 Ib 2 4 kg 5 4 Ib Power
5. Max DGPS age correction age 2700 seconds V113 internal beacon parameters Elevation mask 5 Differential mode V103 SBAS V113 Beacon Frequency selection Automatic MSK rate selection Automatic Vector V103 V113 User Guide 26 PN 875 0287 000 Rev A1 IT Chapter 3 Operation GPS Overview V103 113 Overview Common Commands and Messages Vector V103 V113 User Guide 27 PN 875 0287 000 Rev A1 Chapter 3 Operation GPS Overview For your convenience both the GPS and SBAS operation of the V103 113 features automatic operational algorithms When powered for the first time the V103 113 performs a cold start that involves acquiring the available GPS satellites in view and the SBAS differential service If SBAS is not available in your area an external source of RTCM SC 104 differential corrections may be used If you use an external source of correction data it must support an eight data bit no parity one stop bit configuration 8 N 1 GPS Operation The GPS receiver is always operating regardless of the DGPS mode of operation The following sections describe the general operation of the V103 113 s internal GPS receiver Note Differential source and status have no impact on heading pitch or roll They only have an impact on positioning and heave Automatic Tracking The V103 113 s internal GPS receiver automatically searches for GPS satellites acquires the signals a
6. Provides latitude and longitude referenced to WGS84 Being defined as single frame message as opposed to other PGNs that include latitude and longitude and are defined as fast or multi packet this PGN lends itself to being transmitted more frequently without using up excessive bandwidth on the bus for the benefit of receiving equipment that may require rapid position updates B 100 10 129026 COG amp SOG Rapid Update Single frame PGN that provides Course Over Ground COG and Speed Over Ground SOG B 250 Vector V103 V113 User Guide 21 PN 875 0287 000 Rev A1 Chapter 2 Installation Table 2 2 Transmitted messages continued Default PG No Ttt Update Freq PGN Description Level RI Hz msec 129027 Position Delta High Precision Rapid Update B 100 10 The Position Delta High Precision Rapid Update Parameter Group is intended for applications where very high precision and very fast update rates are needed for position data This PGN can provide delta position changes down to 1 mm with a delta time period accurate to 5 msec 129028 Altitude Delta High Precision Rapid Update B 100 10 The Altitude Delta High Precision Rapid Update Parameter Group is intended for applications where very high precision and very fast update rates are needed for altitude and course over ground data This PG can provide delta altitude changes down to 1 millimeter a change
7. message The default value of this constant is 0 0 seconds of smoothing Increasing the time constant increases the level of COG smoothing COG is computed using only the primary GPS antenna and its accuracy depends upon the speed of the vessel Vector V103 V113 User Guide 32 PN 875 0287 000 Rev A1 Chapter 3 Operation noise is proportional to 1 speed This value is invalid when the vessel is stationary as tiny movements due to calculation inaccuracies are not representative of a vessel s movement Speed time constant Use the JATT SPDTAU command to adjust the level of responsiveness of the speed measurement provided in the GPVTG message The default value of this constant is 0 0 seconds of smoothing Increasing the time constant increases the level of speed measurement smoothing Alarm Functionality Note Alarm functionality is only valid for serial communication A relay is located on the Transmit Heading Device THD circuit board The relay contacts are isolated from all circuitry in the THD The THD is connected to the coil side of the relay but not to the contacts that are connected to the external pins through the main IO connector If the THD loses power or heading the coil voltage is lost and the relay opens and activates the notification method employed by the user When the heading is output the relay contacts remain closed completing the circuit as an indication that the V103 113 is operational Note Alarm p
8. Appendix B Technical Specifications Vector V103 V113 User Guide 43 PN 875 0287 000 Rev A1 Appendix B Technical Specifications Table B 1 through Table B 6 provide the V103 113 s technical specifications and Table B 7 provides the V103 113 s certification information Table B 1 GPS sensor specifications Item Specification Receiver type L1 C A code with carrier phase smoothing Channels GPS sensitivity Two 12 channel parallel tracking Two 10 channel when tracking SBAS 142 dBm SBAS tracking 2 channel parallel tracking Update rate 20 Hz position and heading Horizontal accuracy lt 0 6 m 95 confidence DGPS 2 5 m 9596 confidence autonomous no SA Heading accuracy 0 30 rms Normal operation GPS Coasting no GPS Gyro Heave accuracy 30 cm rms Normal operation GPS Coasting no GPS None Pitch accuracy Roll accuracy 1 rms Normal operation GPS Coasting no GPS Inertial sensor 1 rms using accelerometer Normal operation Inertial sensor Coasting no GPS Inertial sensor Timing 1 PPS accuracy 50 ns Rate of turn 90 s maximum Cold start 60 s typical no almanac or RTC Warm start 20 s typical almanac and RTC Hot start 1 s typical almanac RTC and position Heading fix 10 s typical valid position Compass safe distance 75 cm 29 5 in Maximum speed
9. RELATION TO ANY LOSS OF DATA INCOME REVENUE GOODWILL OR ANTICIPATED SAVINGS EVEN IF HEMISPHERE HAS BEEN INFORMED OF THE POSSIBILITY OF SUCH LOSS OR DAMAGE FURTHER IN NO EVENT WILL HEMISPHERE S TOTAL CUMULATIVE LIABILITY HEREUNDER FROM ALL CAUSES OF ACTION OF ANY KIND EXCEED THE TOTAL AMOUNT PAID BY LICENSEE TO HEMISPHERE TO PURCHASE THE PRODUCT THIS LIMITATION AND EXCLUSION APPLIES IRRESPECTIVE OF THE CAUSE OF ACTION INCLUDING BUT NOT LIMITED TO BREACH OF CONTRACT NEGLIGENCE STRICT LIABILITY TORT BREACH OF WARRANTY MISREPRESENTATION OR ANY OTHER LEGAL THEORY AND WILL SURVIVE A FUNDAMENTAL BREACH LIMITS ON LIMITATION OF LIABILITY Some jurisdictions do not allow for the limitation or exclusion of liability for incidental or consequential damages so the above limitation or exclusion may not apply to Licensee and Licensee may also have other legal rights which may vary from jurisdiction to jurisdiction BASIS OF BARGAIN Licensee agrees and acknowledges that Hemisphere has set its prices and the parties have entered into this Agreement in reliance on the limited warranties warranty disclaimers and limitations of liability set forth herein that the same reflect an agreed to allocation of risk between the parties including the risk that a remedy may fail of its essential purpose and cause consequential loss and that the same forms an essential basis of the bargain between the parties Licensee agrees and acknowledges that Hemisphere would n
10. RS 232 and RS 422 output signals may be used simultaneously Note For successful communications use the 8 N 1 protocol and set the baud rate of the V103 113 s serial ports to match that of the devices to which they are connected Flow control is not supported Vector V103 V113 User Guide 18 PN 875 0287 000 Rev A1 Chapter 2 Installation Selecting Baud Rates and Message Types When selecting your baud rate and message types use the following formula to calculate the bits sec for each message and then sum the results to determine the baud rate for your required data throughput Message output rate Message length bytes bits in byte Bits second 1 character 1 byte 8 bits 1 byte use 10 bits byte to account for overhead See Common Commands and Messages on page 34 for an example of this calculation For information on message output rates refer to the Hemisphere GPS Technical Reference go to www hemispheregps com support and click the GPS Reference icon Recommendations for Connecting to Other Devices When interfacing to other devices ensure the transmit data output from the V103 113 is connected to the data input of the other device The signal grounds must also be connected Since RS 422 is a balanced signal with positive and negative signals referenced to ground ensure you maintain the correct polarity For example when connecting the transmit data output positive signal to the receive line of the other
11. Software which is embedded in the Product BY INSTALLING OR USING THE SOFTWARE UPDATE OR THE PRODUCT LICENSEE THEREBY AGREES TO BE LEGALLY BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE TO THESE TERMS I DO NOT INSTALL OR USE THE SOFTWARE AND Il IF YOU ARE INSTALLING AN UPDATE TO THE SOFTWARE DO NOT INSTALL THE UPDATE AND PROMPTLY DESTROY IT HEMISPHERE PROVIDES LIMITED WARRANTIES IN RELATION TO THE SOFTWARE AS WELL THOSE WHO USE THE EMBEDDED SOFTWARE DO SO AT THEIR OWN RISK YOU SHOULD UNDERSTAND THE IMPORTANCE OF THESE AND OTHER LIMITATIONS SET OUT IN THIS AGREEMENT BEFORE INSTALLING OR USING THE SOFTWARE OR THE PRODUCT 1 LICENSE Hemisphere hereby grants to Licensee a non transferable and non exclusive license to use the Software as embedded in a Product and all Updates collectively the Software solely in binary executable form 2 RESTRICTIONS ON USE Licensee agrees that Licensee and its employees will not directly or indirectly in any manner whatsoever a install or use more copies of the Software than the number of copies that have been licensed b use or install the Software in connection with any product other than the Product the Software was intended to be used or installed on as set out in the documentation that accompanies the Software c copy any of the Software or any written materials for any purpose except as part of Licensee s normal backup processes d modify or create derivative works based on
12. Tm 25 mm 50 mm Shrink tubes Cover drain wire with black shrink tube Figure 2 9 Power data cable 15 m or 30 m The receiver end of the cable is terminated with an environmentally sealed 18 pin connection while the opposite end is unterminated and requires field stripping and tinning Depending on the application and installation needs you may need to shorten this cable However if you require a longer cable run than 30 m you can bring the cable into a break out box that incorporates terminal strips within the vessel When lengthening the cable keep the following in mind To lengthen the serial lines inside the vessel use 20 gauge twisted pairs and minimize the additional wire length When lengthening the power input leads to the V103 113 ensure the additional voltage drop is small enough that your power system can continue to power the system above the minimum voltage of the system Wire of 18 gauge or larger should also be used Minimize RS 232 cable length to ensure reliable communication Vector V103 V113 User Guide 24 PN 875 0287 000 Rev A1 Chapter 2 Installation Power Data Cable Pinout Specifications Figure 2 10 shows the power data cable pinout while Table 2 3 shows the cable s pinout specifications 0000 00000 2 3 3 9 9 9 Figure 2 10 Power data cable pin assignment Table 2 3 Power data cable pinout Pi
13. V103 113 use the following diagram to ensure there are no nearby devices that may cause VHF interference VHF antenna Horizontal spacing more than 2 m Vertical spacing of greater than 1 m GPS cable should be 30 cm away from VHF cable for first 5 m of VHF cable Figure 2 1 V103 113 distance from nearby VHF radios Vector V103 V113 User Guide 8 PN 875 0287 000 Rev A1 Chapter 2 Installation Mounting Orientation The V103 113 outputs heading pitch and roll readings regardless of the orientation of the antennas However the relation of the antennas to the boat s axis determines whether you will need to enter a heading pitch or roll bias The primary antenna is used for positioning and the primary and secondary antennas working in conjunction output heading pitch and roll values Note Regardless of which mounting orientation you use the V103 113 provides the ability to output the heave of the vessel This output is available via the GPHEV message For more information on this message refer to the Hemisphere GPS Technical Reference go to www hemispheregps com support and click the GPS Reference icon Parallel Orientation The most common installation is to orient the V103 113 parallel to and along the centerline of the axis of the boat This provides a true heading In this orientation If you use a gyrocompass you can enter a heading bias in the V103 113 to calibrate the physical heading to the true hea
14. and limit access to such support at any time 5 BACKUPS AND RECOVERY Licensee shall back up all data used created or stored by the Software on a regular basis as necessary to enable proper recovery of the data and related systems and processes in the event of a malfunction in the Software or any loss or corruption of data caused by the Software Licensee shall assume all risks of loss or damage for any failure to comply with the foregoing 6 OWNERSHIP Hemisphere and its suppliers own all rights title and interest in and to the Software and related materials including all intellectual property rights The Software is licensed to Licensee not sold 7 TRADEMARKS Hemisphere GPS Outback Guidance BEELINE Crescent Eclipse and the associated logos are trademarks of Hemisphere Other trademarks are the property of their respective owners Licensee may not use any of these trademarks without the consent of their respective owners 8 LIMITED WARRANTY Hemisphere warrants solely to the Licensee subject to the exclusions and procedures set forth herein below that for a period of one 1 year from the original date of purchase of the Product in which it is embedded the Warranty Period the Software under normal use and maintenance will conform in all material respects to the documentation provided with the Software and any media will be free of defects in materials and workmanship For any Update Hemisphere warrants for 90 days fro
15. data connector 18 pin environmentally sealed Table B 6 Environmental specifications Item Specification Operating temperature 30 C to 70 C 22 F to 158 F Storage temperature 40 C to 85 C 40 F to 185 F Humidity 95 non condensing Vibration IEC 60945 EMC CE IEC 60945 Emissions and Immunity FCC Part 15 Subpart B CISPR22 Vector V103 V113 User Guide 45 PN 875 0287 000 Rev A1 Appendix B Technical Specifications Table B 7 Certifications IMO Resolution MSC 116 73 ISO 22090 3 Ed 1 0 2004 incl Corr 1 2005 IMO Resolution A 694 17 IEC 60945 Ed 4 0 2002 incl Corr 1 2008 IMO Resolution MSC 191 79 IEC 61162 1 Ed 4 0 2010 IEC 61162 2 Ed 1 0 1998 IEC 62288 Ed 1 0 2008 IMO wheelmarked for Annex A 1 item 4 41 Transmitting heading device THD GNSS method Based on the Directive 2009 26 EC 1Depends on multipath environment number of satellites in view satellite geometry baseline length for local services and ionospheric activity 2Depends on multipath environment number of satellites in view and satellite geometry 3Based on a 40 second time constant 4This is the minimum safe distance measured when the product is placed in the vicinity of the steering magnetic compass The ISO 694 defines vicinity relative to the compass as within 5 m 16 4 ft separation 5Hemisphere GPS proprietary Vector V
16. device computer or other device that accepts GPS data Avoid running the cable in areas of excessive heat Keep cable away from corrosive chemicals Do not run the cable through door or window jams Keep cable away from rotating machinery Do not crimp or excessively bend the cable Avoid placing tension on the cable Remove unwanted slack from the cable at the V103 113 end Secure along the cable route using plastic wraps WINNS Improperly installed cable near machinery can be dangerous Vector V103 V113 User Guide 13 PN 875 0287 000 Rev A1 Chapter 2 Installation Mounting the V103 113 This section describes how to flush mount or pole mount the V103 113 Keep the following in mind when planning your installation Hemisphere GPS does not supply mounting surface hardware or a mounting pole You must supply the appropriate hardware or mounting pole required to complete V103 113 installation You do not necessarily need to orient the antenna precisely as you can enter a software offset to accommodate for a heading measurement bias due to installation Flush Mounting the V103 113 The bottom of the V103 113 contains eight holes two sets of four holes for flush mounting the unit to a flat surface Figure 2 7 The flat surface may be something you fabricate per your installation an off the shelf item such as a radar mounting plate or an existing surface on your vessel Figure 2 7 Flush mounting holes on bottom o
17. terminate this Agreement at any time without cause Hemisphere may terminate this Agreement on 30 days notice to Licensee if Licensee fails to materially comply with each provision of this Agreement unless such default is cured within the 30 days Any such termination by a party shall be in addition to and without prejudice to such rights and remedies as may be available including injunction and other equitable remedies Upon receipt by Licensee of written notice of termination from Hemisphere or termination by Licensee Licensee shall at the end of any notice period a cease using the Software and b return to Hemisphere or destroy and provide a certificate of a Senior Officer attesting to such destruction the Software and all related material and any magnetic or optical media provided to Licensee The provisions of Sections 6 7 8 9 10 15 21 26 and 27 herein shall survive the expiration or termination of this Agreement for any reason EXPORT RESTRICTIONS Licensee agrees that Licensee will comply with all export control legislation of Canada the United States Australia and any other applicable country s laws and regulations whether under the Arms Export Control Act the International Traffic in Arms Regulations the Export Administration Regulations the regulations of the United States Departments of Commerce State and Treasury or otherwise as well as the export control legislation of all other countries PRODUCT COMPONENTS Th
18. the Software e sub license rent lease loan or distribute the Software f permit any third party to use the Software g use or operate Product for the benefit of any third party in any type of service outsourcing application service provider service or service bureau capacity h reverse engineer decompile or disassemble the Software or otherwise reduce it to a human perceivable form i Assign this Agreement or sell or otherwise transfer the Software to any other party except as part of the sale or transfer of the whole Product 3 UPDATES At Hemisphere s discretion Hemisphere may make Updates available to Licensee An update Update means any update to the Software that is made available to Licensee including error corrections enhancements and other modifications Licensee may access download and install Updates during the Warranty Period only All Updates that Licensee downloads installs or uses shall be deemed to be Software and subject to this Agreement Hemisphere reserves the right to modify the Product without any obligation to notify supply or install any improvements or alterations to existing Software 4 SUPPORT Hemisphere may make available directly or through its authorized dealers telephone and email support for the Software Contact Hemisphere to find the authorized dealer near you As well Hemisphere may make available user and technical documentation regarding the Software Hemisphere reserves the right to reduce
19. the V103 113 Connecting the V103 113 to External Devices Default Parameters Vector V103 V113 User Guide 5 PN 875 0287 000 Rev A1 Chapter 2 Installation Mounting Location This section provides information on determining the best location for the V103 113 GPS Reception When considering where to mount the V103 113 consider the following GPS reception recommendations Consider GPS and hence SBAS reception ensuring there is a clear view of the sky available to the V103 113 so the GPS and SBAS satellites are not masked by obstructions that may reduce system performance Since the V103 113 computes a position based on the internal primary GPS antenna element mount the V103 113 where you desire a position with respect to the primary GPS antenna located on the end opposite the recessed arrow on the underside of the enclosure Recessed arrow Locate any transmitting antennas away from the V103 113 by at least a few meters to ensure tracking performance is not compromised giving you the best performance possible Make sure there is enough cable length to route into the vessel to reach a breakout box or terminal strip Do not locate the antenna where environmental conditions exceed those specified in Table B 6 on page 45 Beacon Reception When using the V113 s internal beacon receiver as the correction source consider the possible mounting locations from the perspective of ambient noise within the beacon
20. time constant 32 receiver performance 28 S sensor specifications 44 short site alignment 11 Vector V103 V113 User Guide 47 PN 875 0287 000 Rev A1 Index SPDTAU 33 37 specifications beacon sensor 44 certifications 46 communication 45 environmental 45 GPS sensor 44 mechanical 45 power 45 speed time constant 33 supplemental sensors 30 T tilt aiding 30 time constants 32 COGTAU 32 HRTAU 32 HTAU 32 PTAU 32 SPDTAU 33 tracking automatic 28 automatic SBAS 29 troubleshooting 40 v V103 gyro aiding 31 moving base station RTK 29 parts list 3 specifications 44 supplemental sensors 30 tilt aiding 30 time constants 32 VHF interference 7 Ww watchdog 33 34 Vector V103 V113 User Guide 48 PN 875 0287 000 Rev A1 End User License Agreement IMPORTANT This is an agreement the Agreement between you the end purchaser Licensee and Hemisphere GPS Inc Hemisphere which permits Licensee to use the Hemisphere software the Software that accompanies this Agreement This Software may be licensed on a standalone basis or may be embedded in a Product Please read and ensure that you understand this Agreement before installing or using the Software Update or using a Product In this agreement any product that has Software embedded in it at the time of sale to the Licensee shall be referred to as a Product As well in this Agreement the use of a Product shall be deemed to be use of the
21. 000 Rev A1 Chapter 3 Operation Table 3 3 NMEA 0183 and other messages continued Info Max IEC Message Toe Output Description Approved YP Rate Message GPRMC P 20 Hz Recommended minimum specific GNSS Yes data GPROT H 20 Hz GPS derived rate of turn ROT Yes see last bullet in Note at end of this table GPRRE S 1Hz Range residual and estimated position error Yes GPVTG V 20 Hz COG and ground speed Yes GPZDA V 20 Hz Time and date Yes PASHR H 20 Hz Time heading roll and pitch data in one No message PSAT GBS S 1Hz Satellite fault detection RAIM Yes PSAT HPR H 20 Hz Proprietary NMEA message that provides No heading pitch roll and time in single message PSATINTLT H 1Hz Proprietary NMEA message that provides Yes the pitch and roll measurements from the internal inclinometers in degrees RD1 S 1Hz SBAS diagnostic information Yes TSS1 H 20Hz Heading pitch roll and heave message in No the commonly used TSS1 message format Notes The GP of the message is the talker ID GPGRS GPGSA GPGST and GPGSV support external integrity checking They are to be synchronized with corresponding fix data GPGGA or GPGNS For information on outputting roll pitch and heave data in one message refer to the Hemisphere GPS Technical Reference go to www hemispheregps com support and click the GPS Reference icon You can change the message header for the H
22. 1 Introduction Overview Parts List Vector V103 V113 User Guide 1 PN 875 0287 000 Rev A1 Chapter 1 Introduction Overview The Vector V103 GPS Compass and V113 GPS Compass are based on Hemisphere GPS exclusive Crescent and Crescent Vector II technologies Hemisphere a Figure 1 1 V103 113 side view Note When referring to both the Vector V103 GPS Compass and the Vector V113 GPS Compass this manual uses the term V103 113 When referring to either product this manual uses either V103 or V113 respectively The V103 113 is a complete GPS compass and positioning system in a single enclosure that requires only one power data cable connection With its CAN support and ease of installation the V103 113 is the perfect solution for professional commercial marine and machine control applications The V103 113 is an integrated system that houses the following Crescent and Crescent Vector II technology Dual GPS multipath resistant antennas DGPS beacon module and H field beacon antenna V113 only Power supply Single axis gyro Tilt sensor on each axis X and Y axes The gyro and tilt sensors are present to improve system performance and to provide backup heading information in the event a GPS heading is not available due to signal blockage The gyro provides a substitute heading for a short period accurate to within 1 per minute for up to three minutes Note The V103 GPS Compass
23. 103 V113 User Guide 46 PN 875 0287 000 Rev A1 Index A alarm watchdog 33 34 alignment 11 automatic SBAS tracking 29 tracking 28 beacon sensor specifications 44 c cable See power data cable 13 certifications 46 COGTAU 32 37 commands common 34 common commands and messages 34 communication specifications 45 connect to a power source 23 to external devices 24 course over ground time constant 32 electrical isolation 23 environmental considerations 7 specifications 45 environmental considerations 7 external devices 24 F flush mount 23 G GPHEV 9 35 GPS automatic SBAS tracking 29 automatic tracking 28 operation 28 overview 28 receiver performance 28 sensor specifications 44 GPS reception 6 gyro aiding 31 heading time constant 32 heave 9 35 accuracy 44 HRTAU 32 37 HTAU 32 37 L long sight alignment 11 mechanical specifications 45 message common 34 mounting alignment 11 cable considerations 13 environmental considerations 7 flush mount 23 GPS reception 6 location 6 orientation 9 parallel orientation 9 perpendicular orientation 9 pole mount 18 VHF interference 7 moving base station RTK 29 o orientation for mounting 9 P parallel mounting 9 part numbers 3 parts list 3 perpendicular mounting 9 pitch time constant 32 pole mount 18 power connecting to a power source 23 considerations 23 electrical isolation 23 power specifications 45 PTAU 32 37 rate of turn ROT
24. 3 259 3311 Fax 403 259 8866 precision hemispheregps com www hemispheregps com Technical Support If you need to contact Hemisphere GPS Technical Support 8444 N 90th St Suite 130 Scottsdale AZ 85258 USA Phone 480 348 9919 Fax 480 348 6370 techsupport hemispheregps com Documentation Feedback Hemisphere GPS is committed to the quality and continuous improvement of our products and services We urge you to provide Hemisphere GPS with any feedback regarding this guide by writing to the following email address DocFeedback hemispheregps com Contents Chapter 1 Chapter 2 Chapter 3 Introduction lll 1 OVERVIEW i vice V RRGORT SIT ERR SUFRE SE RE ERR E 2 Parts Listri seeti DI T T ned I ds cm tdi 3 Installation REI Eme 5 Mounting Location 0 neie en nn 6 GPS Rece ptlOn 24 22 02 ca aeons RA AER EROR a 6 Beacon Reception ellllseeeeeeelee leer 6 Environmental Considerations esllslss 7 VHF Interference 2 00 eee ee 7 Mounting Orientation 0 cece e 9 V103 113 Alignment iis fest eis er exu preme 11 Mounting Options sera Diy eee 12 V103 113 Dimensions 00 0c eee eee eee 12 Power Data Cable Considerations 2 13 Mounting the V103 113 0 cee eee 14 Connecting the Serial Cable or Serial to NMEA 2000 Adapter tothe VITONA nears o eae o eT Len Sis 16 POMS sais pct tate nna EE Ent tea deed t tout d
25. DG HDM HDT and ROT messages to either GP or HE using the JATT NMEAHE command To preface these messages with GB issue the following command JATT NMEAHE 0 lt CR gt lt LF gt To preface these messages with HE issue the following command JATT NMEAHE 1 lt CR gt lt LF gt For more information on the JATT NMEAHE command refer to the Hemisphere GPS Technical Reference JBIN Message Description Table 3 4 Binary messages 1 GPS position 2 GPS DOPs 80 SBAS 93 SBAS ephemeris data 94 lonosphere and UTC conversion parameters Vector V103 V113 User Guide 36 PN 875 0287 000 Rev A1 Chapter 3 Operation Table 3 4 Binary messages continued JBIN Message Description 95 Satellite ephemeris data 96 Code and carrier phase 97 Processor statistics 98 Satellites and almanac 99 GPS diagnostics Table 3 5 Parameters specific to JATT command Parameter Description Query Specify COGTAU Set query COG time constant 0 0 to 3600 0 sec x x CSEP Query antenna separation X EXACT Enable disable internal filter reliance on the entered x X antenna separation FLIPBRD Turn the flip feature on off X x GYROAID Enable disable gyro x x HBIAS Set query heading bias 180 0 to 180 0 x x HELP Show the available commands for GPS heading x operation and status HIGHMP Set query the high multipath setting for u
26. ESET does plus it clears almanacs e JRESET BOOT does everything JRESET ALL does plus clears use of the real time clock at startup clears use of backed up ephemeris and almanacs and reboots the receiver when done JSAVE Save session s configuration changes In Table 3 3 the Info Type value is one of the following P Position V Velocity Time H Heading Attitude S Sats Stats Quality Table 3 3 NMEA 0183 and other messages Info Max IEC Message pe Output Description Approved Rate Message GPDTM P 1 Hz Datum reference Yes GPGGA P 20 Hz GPS position and fix data Yes GPGLL P 20 Hz Geographic position lat long Yes GPGNS P 20 Hz GNSS position and fix data Yes GPGRS S 1Hz GNSS range residual RAIM Yes GPGSA S 1Hz GNSS DOP and active satellites Yes GPGST S 1Hz GNSS pseudo range error statistics and Yes position accuracy GPGSV S 1Hz GNSS satellites in view Yes GPHDG H 20 Hz Provides magnetic deviation and variation Yes for calculating magnetic or true heading see last bullet in Note at end of this table GPHDM H 20 Hz Magnetic heading based on GPS derived No heading and magnetic declination see last bullet in Note at end of this table GPHDT H 20 Hz GPS derived true heading Yes see last bullet in Note at end of this table GPHEV H 20 Hz Heave value in meters Yes Vector V103 V113 User Guide 35 PN 875 0287
27. GPS s applicable specifications for the Product for a period of 12 months from delivery of such Product to such end purchaser the Warranty Period Repairs and replacement components for the Products are warranted subject to the exclusions and procedures set forth below to be free under normal use and maintenance from defects in material and workmanship and will substantially conform to Hemisphere GPS s applicable specifications for the Product for 90 days from performance or delivery or for the balance of the original Warranty Period whichever is greater EXCLUSION OF ALL OTHER WARRANTIES The LIMITED WARRANTY shall apply only if the Product is properly and correctly installed configured interfaced maintained stored and operated in accordance with Hemisphere GPS s relevant User s Manual and Specifications AND the Product is not modified or misused The Product is provided AS IS and the implied warranties of MERCHANTABILITY and FITNESS FOR A PARTICULAR PURPOSE and ALL OTHER WARRANTIES express implied or arising by statute by course of dealing or by trade usage in connection with the design sale installation service or use of any products or any component thereof are EXCLUDED from this transaction and shall not apply to the Product The LIMITED WARRANTY is IN LIEU OF any other warranty express or implied including but not limited to any warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE title and non infringement
28. HERE GPS BE IN ANY WAY RESPONSIBLE FOR ANY DAMAGES RESULTING FROM PURCHASER S OWN NEGLIGENCE OR FROM OPERATION OF THE PRODUCT IN ANY WAY OTHER THAN AS SPECIFIED IN HEMISPHERE GPS S RELEVANT USER S MANUAL AND SPECIFICATIONS Hemisphere GPS is NOT RESPONSIBLE for defects or performance problems resulting from 1 misuse abuse improper installation neglect of Product 2 the utilization of the Product with hardware or software products information data systems interfaces or devices not made supplied or specified by Hemisphere GPS 3 the operation of the Product under any specification other than or in addition to the specifications set forth in Hemisphere GPS s relevant User s Manual and Specifications 4 damage caused by accident or natural events such as lightning or other electrical discharge or fresh salt water immersion of Product 5 damage occurring in transit 6 normal wear and tear or 7 the operation or failure of operation of any satellite based positioning system or differential correction service or the availability or performance of any satellite based positioning signal or differential correction signal THE PURCHASER IS RESPONSIBLE FOR OPERATING THE VEHICLE SAFELY The purchaser is solely responsible for the safe operation of the vehicle used in connection with the Product and for maintaining proper system control settings UNSAFE DRIVING OR SYSTEM CONTROL SETTINGS CAN RESULT IN PROPERTY DAMAGE INJURY OR DEATH The pu
29. LIMITATION OF REMEDIES The purchaser s EXCLUSIVE REMEDY against Hemisphere GPS shall be at Hemisphere GPS s option the repair or replacement of any defective Product or components thereof The purchaser shall notify Hemisphere GPS or a Hemisphere GPS s approved service center immediately of any defect Repairs shall be made through a Hemisphere GPS approved service center only Repair modification or service of Hemisphere GPS products by any party other than a Hemisphere GPS approved service center shall render this warranty null and void The remedy in this paragraph shall only be applied in the event that the Product is properly and correctly installed configured interfaced maintained stored and operated in accordance with Hemisphere GPS s relevant User s Manual and Specifications AND the Product is not modified or misused NO OTHER REMEDY INCLUDING BUT NOT LIMITED TO SPECIAL INDIRECT INCIDENTAL CONSEQUENTIAL OR CONTINGENT DAMAGES FOR LOST PROFITS LOST SALES INJURY TO PERSON OR PROPERTY OR ANY OTHER INCIDENTAL OR CONSEQUENTIAL LOSS SHALL BE AVAILABLE TO PURCHASER even if Hemisphere GPS has been advised of the possibility of such damages Without limiting the foregoing Hemisphere GPS shall not be liable for any damages of any kind resulting from installation use quality performance or accuracy of any Product HEMISPHERE IS NOT RESPONSIBLE FOR PURCHASER S NEGLIGENCE OR UNAUTHORIZED USES OF THE PRODUCT IN NO EVENT SHALL HEMISP
30. airly constant without varying more than 1 cm 0 39 in larger variations may indicate a high multipath environment and require moving the receiver location Heading is from primary GPS antenna to secondary GPS antenna so the arrow on the underside of the V103 113 should be directed to the bow side JATT SEARCH command forces the V103 113 to acquire a new heading solution unless gyro is enabled Enable GYROAID to provide heading for up to three minutes during GPS signal loss Enable TILTAID to reduce heading search times Monitor the number of satellites and SNR values for both antennas within PocketMax at least four satellites should have strong SNR values Potentially the volume of data requested to be output by the V103 113 could be higher than the current baud rate supports try using 19200 as the baud rate for all devices or reduce the amount of data being output No DGPS position in external RTCM mode Verify the baud rate of the RTCM input port matches the baud rate of the external source Verify the pinout between the RTCM source and the RTCM input port transmit from the source must go to receive of the RTCM input port and grounds must be connected Ensure corrections are being transmitted to the correct port using the JDIFFPORTB command on Port A will cause the receiver to expect the corrections to be input through Port B Vector V103 V113 User Guide 41 PN 875 0287 000 Rev A1 gt
31. and leave it at the default setting Note For heading and rate of turn there is no lag once the gyro is calibrated and enabled Heading time constant Use the JATT HTAU command to adjust the level of responsiveness of the true heading measurement provided in the GPHDT message The default value of this constant is 10 0 seconds of smoothing when the gyro is enabled The gyro is enabled by default but can be turned off By turning the gyro off the equivalent default value of the heading time constant would be 0 5 seconds of smoothing This is not automatically done and therefore you must manually enter it Increasing the time constant increases the level of heading smoothing and increases lag only if the gyro is disabled Pitch time constant Use the JATT PTAU command to adjust the level of responsiveness of the pitch measurement provided in the PSAT HPR message The default value of this constant is 0 5 seconds of smoothing Increasing the time constant increases the level of pitch smoothing and increases lag Rate of Turn ROT time constant Use the JATT HRTAU command to adjust the level of responsiveness of the ROT measurement provided in the GPROT message The default value of this constant is 2 0 seconds of smoothing Increasing the time constant increases the level of ROT smoothing Course Over Ground COG time constant Use the JATT COGTAU command to adjust the level of responsiveness of the COG measurement provided in the GPVTG
32. band Keep the following in mind when deciding upon a location with respect to maximizing beacon performance Ensure that the antenna is as far as possible from all other equipment that emits electromagnetic interference EMI including DC motors alternators solenoids radios power cables display units and other electronic devices Vector V103 V113 User Guide 6 PN 875 0287 000 Rev A1 Chapter 2 Installation If you are installing the antenna on a vessel mount the V113 as high as possible considering maintenance and accessibility In addition ensure that the antenna is higher than the highest metal object on the vessel If a radar system is present mount the antenna outside the path of the radar beam The V113 s internal beacon receiver calculates a signal to noise ratio SNR measured in decibels dB that indicates the receiver s performance The SNR is the height of the signal above the noise floor the higher the SNR the better your beacon receiver demodulates the signal The optimum antenna location will be a position where your average SNR is highest You should turn on all accessories that you intend to use during normal operation when locating the best position for the antenna By monitoring the SNR you can determine the optimum location with respect to beacon reception The SNR is available in the CRMSS NMEA message described in the Hemisphere GPS Technical Reference go to www hemispheregps com support an
33. be used for this e Verify desired messages are activated using PocketMax or JSHOW command in any terminal program e Ensure the baud rate of the V103 113 matches that of the receiving device e Check integrity and connectivity of power and data cable connections Random data from e Verify the RTCM or binary messages are not being V103 113 output accidentally send a JSHOW command e Ensure the baud rate of the V103 113 matches that of the remote device e Potentially the volume of data requested to be output by the V103 113 could be higher than the current baud rate supports try using 19200 as the baud rate for all devices or reduce the amount of data being output No GPS lock e Verify the V103 113 has a clear view of the sky e Verify the lock status of GPS satellites this can be done with PocketMax No SBAS lock e Verify the V103 113 has a clear view of the sky e Verify the lock status of SBAS satellites this can be done with PocketMax monitor BER value e Set SBAS mode to automatic with the JWAASPRN AUTO command Note SBAS lock is only possible if you are in an appropriate SBAS region currently there is limited SBAS availability in the southern hemisphere Vector V103 V113 User Guide 40 PN 875 0287 000 Rev A1 Appendix A Troubleshooting Table A 1 Troubleshooting continued Symptom Possible Solution No heading or incorrect heading value Check CSEP value is f
34. ce when using COAST If you are new to GPS and SBAS refer to the Hemisphere GPS Technical Reference go to www hemispheregps com support and click the GPS Reference icon for further information on these services and technologies before proceeding Parts List Note The V103 113 s parts comply with IEC 60945 Section 4 4 exposed to the weather Table 1 1 lists the parts included with your V103 or V113 The V103 113 GPS Compass and the power data cable accessory item are the only two required components Table 1 1 Parts list Part Name Qty Part Number Vector receiver model one of the following models e V103 1 940 3072 000 e V113 1 940 3074 000 All the following are accessory items available for purchase separately from your V103 or V113 Power data cable 15m 1 880 1042 000 Power data cable 30 m 1 880 1043 000 Each cable includes the following items e Clamp e Screw e Washer Serial to NMEA 2000 adapter includes the 1 710 0113 000 following items e Screws e Washers Installation bracket black 1 602 1113 000 Replacement connector 18 pin 1 400 0246 000 when upgrading from V101 111 to V103 113 This User Guide is available for download from the Hemisphere GPS website at www hemispheregps com Vector V103 V113 User Guide 3 PN 875 0287 000 Rev A1 II Chapter 2 Installation Mounting Location Mounting Orientation Mounting Options Ports Powering
35. d click the GPS Reference icon Environmental Considerations The V103 113 is designed to withstand harsh environmental conditions however adhere to the following limits when storing and using the V103 113 Operating temperature 30 C to 70 C 22 F to 158 F Storage temperature 40 C to 85 C 40 F to 185 F Humidity 95 non condensing VHF Interference VHF interference from such devices as cellular phones and radio transmitters may interfere with GPS operation For example if installing the V103 113 near marine radios consider the following VHF marine radio working frequencies Channels 1 to 28 and 84 to 88 range from 156 05 to 15740 MHz The L1 GPS working center frequency is 1575 42 MHz The bandwidth is 2MHz to 10 MHz which is dependent on the GPS antenna and receiver design VHF marine radios emit strong harmonics The 10th harmonic of VHF radio in some channels falls into the GPS working frequency band which may cause the SNR of GPS to degrade significantly The radiated harmonic signal strength of different brands models varies Follow VHF radio manufacturers recommendations on how to mount their radios and what devices to keep a safe distance away Handheld 5W VHF radios may not provide suitable filtering and may interfere with the V103 113 s operation if too close Vector V103 V113 User Guide 7 PN 875 0287 000 Rev A1 Chapter 2 Installation Before installing the
36. device it should be connected to the receive positive terminal The negative transmit data signal from the V103 113 is then connected to the receive data negative input of the other device There is likely little reason to connect the receive data input of the V103 113 to another device unless it is able to send configuration commands to the V103 113 Since the V103 113 uses proprietary NMEA 0183 commands for control over its configuration the vast majority of electronics will not be able to configure its settings unless the other device has a terminal setting where you can manually issue commands NMEA 2000 Port To use V103 113 for NMEA 2000 you have to connect the included serial to NMEA 2000 adapter P N 710 0113 000 see Figure 2 8 to the unit Insert the 18 pin connector of the adapter into the male end of the 18 pin connector on the V103 113 by aligning the keys You can then attach the adapter to the unit using the supplied screws machine 8 32 2 PPHC SS and washer flat 8 SS The 5 pin male Micro C connector connects to your NMEA 2000 drop cable Figure 2 8 Serial to NMEA 2000 adapter Note The serial to NMEA 2000 adapter is not an IMO requirement and may not be used in such an application Vector V103 V113 User Guide 19 PN 875 0287 000 Rev A1 Chapter 2 Installation Table 2 1 shows the requested PGNs with the V103 113 in NMEA 2000 mode Table 2 1 Received messages based on a request
37. ding of the vessel You may need to adjust the pitch roll output to calibrate the measurement if the Vector is not installed in a horizontal plane Perpendicular Orientation You can also install the antennas so they are oriented perpendicular to the centerline of the boat s axis In this orientation You will need to enter a heading bias of 90 if the primary antenna is on the starboard side of the boat and 90 if the primary antenna is on the port side of the boat You will need to configure the receiver to specify the GPS antennas are measuring the roll axis using SJATT ROLL YES You will need to enter a roll bias to properly output the pitch and roll values You may need to adjust the pitch roll output to calibrate the measurement if the Vector is not installed in a horizontal plane Vector V103 V113 User Guide 9 PN 875 0287 000 Rev A1 Chapter 2 Installation Figure 2 2 and Figure 2 3 provide mounting orientation examples P 4 Forward motion 5 Recessed arrow located on bottom of enclosure H H Recessed arrow located on bottom of enclosure H v 9 SS c Forward motion P x P Figure 2 3 Alternate orientation and resulting signs of HPR values Vector V103 V113 User Guide 10 PN 875 0287 000 Rev A1 Chapter 2 Installation V103 113 Alignment The top of the V103 113 enclosure incorporates sight design features to help you align the enc
38. e Product may contain third party components Those third party components may be subject to additional terms and conditions Licensee is required to agree to those terms and conditions in order to use the Product FORCE MAJEURE EVENT Neither party will have the right to claim damages as a result of the other s inability to perform or any delay in performance due to unforeseeable circumstances beyond its reasonable control such as labor disputes strikes lockouts war riot insurrection epidemic Internet virus attack Internet failure supplier failure act of God or governmental action not the fault of the non performing party FORUM FOR DISPUTES The parties agree that the courts located in Calgary Alberta Canada and the courts of appeal there from will have exclusive jurisdiction to resolve any disputes between Licensee and Hemisphere concerning this Agreement or Licensee s use or inability to use the Software and the parties hereby irrevocably agree to attorn to the jurisdiction of those courts Notwithstanding the foregoing either party may apply to any court of competent jurisdiction for injunctive relief APPLICABLE LAW This Agreement shall be governed by the laws of the Province of Alberta Canada exclusive of any of its choice of law and conflicts of law jurisprudence CISG The United Nations Convention on Contracts for the International Sale of Goods will not apply to this Agreement or any transaction hereunder GENERAL This i
39. e Software as stated in the Product or Software documentation serves to provide only an estimate of achievable accuracy based on specifications provided by the US Department of Defense for GPS positioning and DGPS service provider performance specifications where applicable WARRANTY DISCLAIMER EXCEPT AS EXPRESSLY SET OUT IN THIS AGREEMENT HEMISPHERE MAKES NO REPRESENTATION WARRANTY OR CONDITION OF ANY KIND TO LICENSEE WHETHER VERBAL OR WRITTEN AND HEREBY DISCLAIMS ALL REPRESENTATIONS WARRANTIES AND CONDITIONS OF ANY KIND INCLUDING FITNESS FOR A PARTICULAR PURPOSE MERCHANTABILITY ACCURACY RELIABILITY OR THAT THE USE OF THE SOFTWARE WILL BE UNINTERRUPTED OR ERROR FREE AND HEREBY DISCLAIMS ALL REPRESENTATIONS WARRANTIES AND CONDITIONS ARISING AS A RESULT OF CUSTOM USAGE OR TRADE AND THOSE ARISING UNDER STATUTE LIMITS ON WARRANTY DISCLAIMER Some jurisdictions do not allow the exclusion of implied warranties or conditions so some of the above exclusions may not apply to Licensee In that case any implied warranties or conditions which would then otherwise arise will be limited in duration to ninety 90 days from the date of the license of the Software or the purchase of the Product The warranties given herein give Licensee specific legal rights and Licensee may have other rights which may vary from jurisdiction to jurisdiction CHANGE TO WARRANTY No employee or agent of Hemisphere is authorized to change the warranty provided or the limita
40. engths is often referred to as the ambiguity as they are initially ambiguous at the start of the RTK solution The V103 113 restricts the RTK solution It does this knowing that the secondary GPS antenna is 50 cm from the primary GPS antenna This is called a fixed baseline and it defines the search volume of the secondary antenna as the surface of a sphere with radius 50 cm centered on the location of the primary antenna see Figure 3 1 Vector V103 V113 User Guide 29 PN 875 0287 000 Rev A1 Chapter 3 Operation Primary antenna 50 cm baseline Figure 3 1 Secondary antenna s search volume Note The V103 113 moving base station algorithm only uses GPS to calculate heading Differential corrections are not used in this calculation and will not affect heading accuracy Supplemental Sensors The V103 113 has three supplemental sensors gyro and two tilt sensors that are integrated into the unit s carrier board The supplemental sensors are enabled by default You can enable disable the gyro and both tilt sensors you cannot enable disable each tilt sensor separately The sensors act to reduce the RTK search volume which improves heading startup and reacquisition times This improves the reliability and accuracy of selecting the correct heading solution by eliminating other possible erroneous solutions Table 3 1 provides a sensor operation summary Table 3 1 Sensor operation summary Feature No
41. es a high performance GPS receiver and two antennas for GPS signal processing One antenna is designated as the primary GPS antenna and the other is the secondary GPS antenna Positions computed by the V103 113 are referenced to the phase center of the primary GPS antenna Heading data references the vector formed from the primary GPS antenna phase center to the secondary GPS antenna phase center The heading arrow located on the bottom of the V103 113 enclosure defines system orientation The arrow points in the direction the heading measurement is computed when the antenna is installed parallel to the fore aft line of the vessel The secondary antenna is directly above the arrow Fixed Baseline Moving Base Station RTK The V103 113 s internal GPS receiver uses both the L1 GPS C A code and carrier phase data to compute the location of the secondary GPS antenna in relation to the primary GPS antenna with a very high sub centimeter level of precision The technique of computing the location of the secondary GPS antenna with respect to the primary antenna when the primary antenna is moving is often referred to as moving base station Real Time Kinematic or moving base station RTK Generally RTK technology is very sophisticated and requires a significant number of possible solutions to be analyzed where various combinations of integer numbers of L1 wavelengths to each satellite intersect within a certain search volume The integer number of wavel
42. essel s axis For more information refer to Figure 2 2 and Figure 2 3 on page 10 Complete the following steps to pole mount the V103 113 1 Determine the desired location and proper orientation for the V103 113 See Mounting Orientation on page 9 for information on determining the desired orientation 2 Hand tighten the V103 113 on the pole until snug unit is stable on pole while ensuring correct orientation INER eH Hand tighten only Damage resulting from overtightening is not covered by the warranty 3 Use the set screws on the long sides of the base see Figure 2 6 on page 12 to secure the V103 113 in place 3 16 Allen wrench not included Vector V103 V113 User Guide 15 PN 875 0287 000 Rev A1 Chapter 2 Installation Connecting the Serial Cable or Serial to NMEA 2000 Adapter to the V103 113 After you mount the V103 113 connect either the serial power data cable or the serial to NMEA 2000 adapter to the V103 113 Connecting the Serial Power Data Cable 1 Align the cable connector keyway with the V103 113 connector key 2 Rotate the cable ring clockwise until it locks The locking action is firm you B 7 Steps 1 amp 2 Connect cable here will feel a positive click Attach when it has locked cable Cable ring to unit Cable connector V103 113 keyway connector key 3 Attach the power data cable to the cable clamp 4 Fasten the clamp to the bottom of the V103 113 using the sc
43. f V103 113 Complete the following steps to flush mount the V103 113 1 Determine the desired location and proper orientation for the V103 113 See Mounting Orientation on page 9 for information on determining the desired orientation Use the supplied template or photocopy the section of the V103 113 that contains the eight mounting holes see Figure 2 7 for use as a template to plan the mounting hole locations Use the inner four holes or the outer four holes per your installation If using a photocopy make sure it is scaled one to one with the mounting holes on the bottom of the V103 113 Mark the mounting hole centers on the mounting surface Place the V103 113 over the marks to ensure the planned hole centers align with the true hole centers adjusting as necessary Use a center punch to mark the hole centers Drill the mounting holes with a 9 mm bit appropriate for the surface Place the V103 113 over the mounting holes and insert the mounting screws through the bottom of the mounting surface into the V103 113 When installing the V103 113 hand tighten only Damage resulting from overtightening is not covered by the warranty Vector V103 V113 User Guide 14 PN 875 0287 000 Rev A1 Chapter 2 Installation Pole Mounting the V103 113 If you need the GPS assisted roll measurement install the V103 113 perpendicular to the vessel s axis If you do not need this measurement install the V103 113 parallel with the v
44. in direction as small as 0 0057 and with a delta time period accurate to 5 msec 129029 GNSS Position Data B 1000 1 Conveys a comprehensive set of Global Navigation Satellite System GNSS parameters including position information 129033 Time amp Date B 1000 1 Single transmission that provides UTC time UTC Date and Local Offset 129539 GNSS DOPs B 1000 1 Provides a single transmission containing GNSS status and dilution of precision components DOP that indicate the contribution of satellite geometry to the overall positioning error There are three DOP parameters reported horizontal HDOP Vertical VDOP and time TDOP 129540 GNSS Sats in View B 1000 1 GNSS information on current satellites in view tagged by sequence ID Information includes PRN elevation azimuth SNR defines the number of satellites defines the satellite number and the information Vector V103 V113 User Guide 22 PN 875 0287 000 Rev A1 Chapter 2 Installation Powering the V103 113 Power Considerations For best performance use a clean and continuous power supply The V103 113 power supply features reverse polarity protection but will not operate with reverse polarity See Table B 4 on page 45 for complete power specifications Connecting to a Power Source Note This section refers to powering the unit via serial connection To power the unit via NMEA 2000 connection follow the standard
45. ins must be connected to an IMO approved device Alarm Signal There are two wires 24 AWG multistrands on the output cable that are used for the external alarm function The color codes for the two wires are white and white red stripe and are the output of a relay When this relay closes the connection is complete on the user defined external notification device Watchdog The watchdog is a timer that is controlled by the software that monitors if the heading is lost The watchdog software is compliant with IEC 60495 Vector V103 V113 User Guide 33 PN 875 0287 000 Rev A1 Chapter 3 Operation Common Commands and Messages Note When selecting your baud rate and message types use the following formula and example to calculate the bits sec for each message and then sum the results to determine the baud rate for your required data throughput The V103 113 has maximum baud rate of 38400 Message output rate Message length bytes bits in byte Bits second 1 character 1 byte 8 bits 1 byte use 10 bits byte to account for overhead Example Message Rate Bytes Bits in byte Bits sec GPHDT 10 20 10 2000 GPROT 5 18 10 900 GPHDG 1 33 10 330 GPGGA 1 83 10 830 GPZDA 1 38 10 380 Total 4440 For information on message output rates refer to the Hemisphere GPS Technical Reference go to www hemispheregps com support and click the GPS Reference icon Table 3 2 below through Table 3 5 on page 37 provide brief descripti
46. is identical to the V113 GPS Compass with the exception that it does not contain a DGPS beacon module and antenna If you purchased the V103 GPS Compass disregard the sections of this manual that discuss the beacon signal receiver operation and implications to installation relating to the beacon signal Crescent Vector II technology supports multiple RF front ends enabling tighter coupling of measurements from separate antennas for use in heading based products Users will achieve excellent accuracy and stability due to Crescent s more accurate code phase measurements improved multipath mitigation and fewer components Vector V103 V113 User Guide 2 PN 875 0287 000 Rev A1 Chapter 1 Introduction The V103 113 s GPS antennas are separated by 50 0 cm between their phase centers resulting in better than 0 30 rms heading performance The V103 113 provides heading and positioning updates of up to 20 Hz and delivers positioning accuracy of 0 6 m 95 of the time when using differential GPS corrections from beacon V113 only or from Space Based Augmentation Systems SBAS The V103 113 also features Hemisphere GPS exclusive COAST technology that enables Hemisphere GPS receivers to utilize old differential GPS correction data for 40 minutes or more without significantly affecting the positioning quality The V103 113 is less likely to be affected by differential signal outages due to signal blockages weak signals or interferen
47. lex RS 422 You can connect up to three devices at one time using two ports One device can receive data via Port A RS 422 transmit only while two devices can transmit and receive data via Ports A and B one connected to Port A RS 232 and one connected to Port B Note Port A RS 422 or Port B is required for communicating to an IMO approved device You can update firmware via Port A RS 232 or Port B Note The V103 113 has maximum baud rate of 38400 Serial Port Configuration You may configure Port A or Port B of the GPS receiver to output any combination of data Port A can have a different configuration from Port B in terms of data message output data rates and the baud rate of the port This allows you to configure the ports independently based upon your needs For example if you want one generalized port and one heading only port you can configure the ports as follows Port A to have GPGGA GPVTG GPGSV GPZDA and GPHDT all output at 1 Hz over a 9600 baud rate Port B for GPHDT and GPROT message output at their maximum rate of 20 Hz over a 19200 baud rate The messages you configure each port to output and the rate of the port will be the same for both RS 232 and RS 422 interface levels For example the RS 232 Port A and RS 422 Port A output the same data messages at the same baud rate If the baud rate or messages for the RS 422 port need to be changed this needs to be commanded through the RS 232 port Both
48. losure with respect to an important feature on your vessel To use the sights center the small post on the opposite side of the enclosure from you within the channel made in the medallion located in the center of the enclosure top as shown in Figure 2 4 and Figure 2 5 Alignment accuracy when looking through the long site Figure 2 4 is approximately 1 while alignment through the short site Figure 2 5 is approximately 2 5 Figure 2 4 Long site alignment Figure 2 5 Short sight alignment If you have another accurate source of heading data on your vessel such as a gyrocompass you may use its data to correct for a bias in V103 113 alignment within the V103 113 software configuration Alternatively you can physically adjust the heading of the V103 113 so that it renders the correct heading measurement however adding a software offset is an easier process Vector V103 V113 User Guide 11 PN 875 0287 000 Rev A1 Chapter 2 Installation Mounting Options The V103 113 allows for two different mounting options flush mount and pole mount Flush mount The bottom of the V103 113 contains eight M8 1 25 holes for flush mounting the unit to a flat surface see Figure 2 6 The eight holes comprise two sets of four holes The inner four holes are in the same location as the V102 allowing you to use the V103 113 as a drop in replacement The outer four holes provide a wider mounting option Pole mount The bott
49. m performance or delivery or for the balance of the original Warranty Period whichever is greater that the Update under normal use and maintenance will conform in all material respects to the documentation provided with the Update and any media will be free of defects in materials and workmanship Notwithstanding the foregoing Hemisphere does not warrant that the Software will meet Licensee s requirements or that its operation will be error free 9 WARRANTY EXCLUSIONS The warranty set forth in Section 8 will not apply to any deficiencies caused by a the Product not being used as described in the documentation supplied to Licensee b the Software having been altered modified or converted in any way by anyone other than Hemisphere approved by Hemisphere c any malfunction of Licensee s equipment or other software or d damage occurring in transit or due to any accident abuse misuse improper installation lightning or other electrical discharge or neglect other than that caused by Hemisphere Hemisphere GPS does not warrant or guarantee the precision or accuracy of positions obtained when using the Software whether standalone or embedded in a Product The Product and the Software is not intended and should not be used as the primary means of navigation or for use in safety of life applications The potential 10 11 12 13 14 15 16 17 18 19 20 positioning and navigation accuracy obtainable with th
50. n Function Wire Color 1 Power Red 2 Power Black 3 Port A Tx RS 232 Blue 4 Port A Rx RS 232 Black blue stripe 5 Reserved 6 Port A Tx RS 422 Green 7 Port B Rx RS 422 Brown 8 Port B Rx RS 422 Black brown stripe 9 Reserved 10 Drain Bare wire 11 Port A Tx RS 422 Green black stripe 12 Signal ground Grey 13 Alarm White 14 Alarm White red stripe 15 1 PPS Orange 16 Port B Tx RS 422 Yellow 17 Port B Tx RS 422 Yellow black stripe 18 1 PPS Orange black stripe Vector V103 V113 User Guide 25 PN 875 0287 000 Rev A1 Chapter 2 Installation Default Parameters Table 2 4 and Table 2 5 provide details on the default port settings available baud rates differential age elevation mask and default differential mode Note Use the JSAVE command to save changes you make to the V103 113 s configuration for the changes to be present in subsequent power cycles Table 2 4 Default port settings Port Baud Rate NMEA Messages Update Rate Port A 19200 GPGGA GPVTG GPGSV GPZDA 1 Hz RS 232 GPHDT GPROT Port C 19200 GPGGA GPVTG GPGSV GPZDA 1 Hz RS 232 GPHDT GPROT Power 6 36 VDC RED BLK Note The default update rate for NMEA 0183 messages is 1 Hz 10 Hz is the standard maximum rate but you can purchase a subscription to upgrade the output rate to 20 Hz Table 2 5 Default parameters Unit Parameter Specification V103 and V113
51. nd manages the navigation information required for positioning and tracking Receiver Performance The V103 113 works by finding four or more GPS satellites in the visible sky It uses information from the satellites to compute a position within 2 5 m Since there is some error in the GPS data calculations the V103 113 also tracks a differential correction The V103 113 uses these corrections to improve its position accuracy to better than 0 6 m The two main aspects of GPS receiver performance are 1 satellite acquisition and 2 positioning and heading calculation When the V103 113 is properly positioned the satellites transmit coded information to the antennas on a specific frequency This allows the receiver to calculate a range to each satellite from both antennas GPS is essentially a timing system The ranges are calculated by timing how long it takes for the signal to reach the GPS antenna The GPS receiver uses a complex algorithm incorporating satellite locations and ranges to each satellite to calculate the geographic location and heading Reception of any four or more GPS signals allows the receiver to compute three dimensional coordinates and a valid heading Differential Operation The purpose of differential GPS DGPS is to remove the effects of selective availability SA atmospheric errors timing errors and satellite orbit errors while enhancing system integrity Autonomous positioning capabilities of the V103 113 will
52. om of the V103 113 contains a mounting hole 1 thread 0 9 depth for easy pole mounting Hand tighten until snug do_ not overtighten The set screws on the long sides of the base see middle drawing in Figure 2 6 allow you to secure the V103 113 in place 3 16 Allen wrench not included Bracket mount You can purchase on optional mounting bracket See Table 1 1 on page 3 for bracket part information V103 113 Dimensions Figure 2 6 illustrates the physical dimensions of the V103 113 208 38 mm 8 203 in jm i a JZ e Set screw 3 8 16 UNC thread size 2 places 662 29 mm 26 074 in T E ps LE a Note This drawing shows the Serial 3175mm 1 14 UNS thread size M8x125threadsize to NMEA 2000 1 250 in 8 places adapter attached 101 60 mm 4 000 in i i i 63 50 mm 2 500 in 7620 mm rre 5080 mm 3 000 in gt 2 000 in e gt 93 98 mm 3 70 in 15240 mm 6 000 in Figure 2 6 V103 113 dimensions Vector V103 V113 User Guide 12 PN 875 0287 000 Rev A1 Chapter 2 Installation Power Data Cable Considerations Before mounting the V103 113 consider the following regarding power data cable routing Cable must reach an appropriate power source Cable may connect to a data storage
53. ons of common commands and messages for the V103 113 Refer to the Hemisphere GPS Technical Reference for more detailed information Table 3 2 Commands Command Description GPMSK Tune beacon to specific frequency JAGE Specify maximum DGPS COAST correction age 6 to 8100 seconds JAPP Query or specify receiver application firmware JASC Specify ASCII messages to output to specific ports see ASCII messages in Table 3 3 JBAUD Specify RS 232 RS 422 output communication rate JBIN Specify binary messages to output to specific ports see Table 3 4 JDIFF Query or specify differential correction mode JGEO Query or specify SBAS for current location and SBAS satellites JI Query unit s serial number and firmware versions JOFF Turn off all dat messages JQUERY GUIDE Query accuracy suitability for navigation Vector V103 V113 User Guide 34 PN 875 0287 000 Rev A1 Chapter 3 Operation Table 3 2 Commands continued Command Description JRESET Reset unit s configuration to firmware defaults Note JRESET clears all parameters For the V103 113 you will have to issue the JATT FLIPBRD YES command to properly redefine the circuitry orientation inside the product once the receiver has reset Failure to do so will cause radical heading behavior You can also issue the JRESET command with an optional field as follows e JRESET ALL does everything JR
54. ot have been able to sell the Product at the amount charged on an economic basis without such limitations PROPRIETARY RIGHTS INDEMNITY Hemisphere shall indemnify defend and hold harmless Licensee from and against any and all actions claims demands proceedings liabilities direct damages judgments settlements fines penalties costs and expenses including royalties and attorneys fees and related costs in connection with or arising out of any actual infringement of any third party patent copyright or other intellectual property right by the Software or by its use in accordance with this Agreement and documentation PROVIDED THAT a Hemisphere has the right to assume full control over any action claim demand or proceeding b Licensee shall promptly notify Hemisphere of any such action claim demand or proceeding and c Licensee shall give Hemisphere such reasonable assistance and tangible material as is reasonably available to Licensee for the defense of the action claim demand or proceeding Licensee shall not settle or compromise any of same for which Hemisphere has agreed to assume responsibility without Hemisphere s prior written consent Licensee may at its sole cost and expense retain separate counsel from the counsel utilized or retained by Hemisphere INFRINGEMENT If use of the Software may be enjoined due to a claim of infringement by a third party then at its sole discretion and expense Hemisphere may do one of the foll
55. owing a negotiate a license or other agreement so that the Product is no longer subject to such a potential claim b modify the Product so that it becomes non infringing provided such modification can be accomplished without materially affecting the performance and functionality of the Product c replace the Software or the Product with non infringing software or product of equal or better performance and quality or d if none of the foregoing can be done on a commercially reasonable basis terminate this license and Licensee shall stop using the Product and Hemisphere shall refund the price paid by Licensee less an amount on account of amortization calculated on a straight line basis over a deemed useful life of three 3 years The foregoing sets out the entire liability of Hemisphere and the sole obligations of Hemisphere to Licensee in respect of any claim that the Software or its use infringes any third party rights INDEMNIFICATION Except in relation to an infringement action Licensee shall indemnify and hold Hemisphere harmless from any and all claims damages losses liabilities costs and expenses including reasonable fees of lawyers and other professionals arising out of or in connection with Licensee s use of the Product whether direct or indirect including without limiting the foregoing loss of data loss of profit or business interruption 21 22 23 24 25 26 27 28 TERMINATION Licensee may
56. procedure for powering up via NMEA 2000 Before you power up the V103 113 you must terminate the wires of the power cable as required There are a variety of power connectors and terminals on the market from which to choose depending on your specific requirements NEGUN Do not apply a voltage higher than 36 VDC This will damage the receiver and void the warranty To interface the V103 113 power cable to the power source Connect the red wire of the cable s power input to DC positive Connect the black wire of the cable s power input to DC negative The V103 113 will start when an acceptable voltage is applied to the power leads of the extension cable Electrical Isolation The V103 113 s power supply is isolated from the communication lines and the PC ABS plastic enclosure isolates the electronics mechanically from the vessel addressing the issue of vessel hull electrolysis Vector V103 V113 User Guide 23 PN 875 0287 000 Rev A1 Chapter 2 Installation Connecting the V103 113 to External Devices Note This section refers to a serial connection For connecting external NMEA 2000 devices plug the serial to NMEA 2000 adapter into the V103 113 and then attach a standard NMEA 2000 dropline cable to the adapter Power Data Cable Considerations The V103 113 uses a single 15 m 49 ft or 30 m 98 ft cable for power and data input output 15m 30m r 100 mm 25 mm
57. rchaser is solely responsible for his her safety and for the safety of others The purchaser is solely responsible for maintaining control of the automated steering system at all times THE PURCHASER IS SOLELY RESPONSIBLE FOR ENSURING THE PRODUCT IS PROPERLY AND CORRECTLY INSTALLED CONFIGURED INTERFACED MAINTAINED STORED AND OPERATED IN ACCORDANCE WITH HEMISPHERE GPS S RELEVANT USER S MANUAL AND SPECIFICATIONS Hemisphere GPS does not warrant or guarantee the positioning and navigation precision or accuracy obtained when using Products Products are not intended for primary navigation or for use in safety of life applications The potential accuracy of Products as stated in Hemisphere GPS literature and or Product specifications serves to provide only an estimate of achievable accuracy based on performance specifications provided by the satellite service operator i e US Department of Defense in the case of GPS and differential correction service provider Hemisphere GPS reserves the right to modify Products without any obligation to notify supply or install any improvements or alterations to existing Products GOVERNING LAW This agreement and any disputes relating to concerning or based upon the Product shall be governed by and interpreted in accordance with the laws of the State of Arizona OBTAINING WARRANTY SERVICE In order to obtain warranty service the end purchaser must bring the Product to a Hemisphere GPS approved service center along wi
58. result in positioning accuracies of 2 5 m 95 of the time In order to improve positioning quality to better than 0 6 m 95 the V103 113 is able to use differential corrections received through the internal SBAS demodulator or beacon receiver or through externally supplied RTCM corrections Vector V103 V113 User Guide 28 PN 875 0287 000 Rev A1 Chapter 3 Operation Automatic SBAS Tracking The V103 113 automatically scans and tracks SBAS signals without the need to tune the receiver The V103 113 features two channel tracking that provides an enhanced ability to maintain a lock on an SBAS satellite when more than one satellite is in view This redundant tracking approach results in more consistent tracking of an SBAS signal in areas where signal blockage of a satellite is possible Beacon Operation Many marine authorities such as coast guards have installed networks of radiobeacons that broadcast DGPS corrections to users of this system With the increasing utility of these networks for terrestrial applications there is an increasing trend toward densification of these networks inland The dual channel beacon receiver in the V113 can operate in manual or automatic tuning mode or using database mode will select the closest station in compliance with IEC 61108 4 standards V103 113 Overview The V103 113 provides accurate and reliable heading and position information at high update rates To accomplish this task the V103 113 us
59. rew and washer 5 Attach the cable cover Steps 3 amp 4 Attach clamp and cable to unit Step 5 Attach cable cover Vector V103 V113 User Guide 16 PN 875 0287 000 Rev A1 Chapter 2 Installation Connecting the Serial to NMEA 2000 Adapter For more information on the serial to NMEA 2000 adapter see NMEA 2000 Port on page 19 1 Align the adapter connector keyway with the V103 113 Steps 1 amp 2 connector ke Attach id adapter 2 Rotate the cable ring Connect to unit clockwise until it locks The adapter here locking action is firm you will feel a positive click when it has locked Cable connector V103 113 keyway connector key 3 Fasten the adapter to the body of the V103 113 using the provided screws and the two slots in the adapter Step 3 Fasten adapter to unit 4 Attach the cable cover Step 4 Attach cable cover Vector V103 V113 User Guide 17 PN 875 0287 000 Rev A1 Chapter 2 Installation Ports The V103 113 offers either serial port or NMEA 2000 port functionality Serial Ports The V103 113 has three ports Port A Port B and Port C where Port A can be both full duplex RS 232 and half duplex RS 422 transmit only Port B is full duplex RS 422 Port C is for NMEA 2000 and only available via serial to NMEA 2000 adapter You can receive external differential corrections via either Port A full duplex RS 232 or Port B full dup
60. rmal Operation Coasting no GPS Heading GPS Gyro Heave GPS None Pitch GPS Inertial sensor Roll Inertial sensor Inertial sensor Refer to the Hemisphere GPS Technical Reference go to www hemispheregps com support and click the GPS Reference icon for the commands and methodology required to recalibrate query or change a sensor s status Tilt Aiding The V103 113 s accelerometers internal tilt sensors are factory calibrated and enabled by default This constrains the RTK heading solution beyond the volume associated with just a fixed antenna separation This is because the V103 113 knows the approximate inclination of the secondary antenna with respect to the primary Vector V103 V113 User Guide 30 PN 875 0287 000 Rev A1 Chapter 3 Operation antenna The search space defined by the tilt sensor will be reduced to a horizontal ring on the sphere s surface by reducing the search volume This considerably decreases instances of incorrect headings as well as startup and reacquisition times see Figure 3 2 Tilt angle Figure 3 2 V103 113 s tilt aiding Gyro Aiding The V103 113 s internal gyro offers several benefits It reduces the sensor volume for an RTK solution This shortens reacquisition times when a GPS heading is lost because the satellite signals were blocked The gyro provides a relative change in angle since the last computed heading and when used in conjunction with the tilt sensor defines
61. s the entire agreement between Licensee and Hemisphere relating to the Product and Licensee s use of the same and supersedes all prior collateral or contemporaneous oral or written representations warranties or agreements regarding the same No amendment to or modification of this Agreement will be binding unless in writing and signed by duly authorized representatives of the parties Any and all terms and conditions set out in any correspondence between the parties or set out in a purchase order which are different from or in addition to the terms and conditions set forth herein shall have no application and no written notice of same shall be required In the event that one or more of the provisions of this Agreement is found to be illegal or unenforceable this Agreement shall not be rendered inoperative but the remaining provisions shall continue in full force and effect Warranty Notice COVERED PRODUCTS This warranty covers all products manufactured by Hemisphere GPS and purchased by the end purchaser the Products unless otherwise specifically and expressly agreed in writing by Hemisphere GPS LIMITED WARRANTY Hemisphere GPS warrants solely to the end purchaser of the Products subject to the exclusions and procedures set forth below that the Products sold to such end purchaser and its internal components shall be free under normal use and maintenance from defects in materials and workmanship and will substantially conform to Hemisphere
62. se in poor X x GPS environments HRTAU Set query ROT time constant 0 0 to 3600 0 sec X X HTAU Set query heading time constant 0 0 to 3600 0 sec X X LEVEL Enable disable level operation X x MSEP Manually set or query antenna separation x x NEGTILT Enable disable negative tilt x X NMEAHE Change the HDG HDM HDT and ROT message x X headers between GP and HE PBIAS Set query pitch roll bias 15 0 to 15 0 X x PTAU Set query pitch time constant 0 0 to 3600 0 sec X X ROLL Configure for roll or pitch GPS orientation X X SEARCH Force a new GPS heading search X SPDTAU Set query speed time constant 0 0 to 3600 0 sec x x SUMMARY Display a summary of the current Crescent Vector x settings TILTAID Enable disable accelerometer pre calibrated x X TILTCAL Calibrate accelerometers X Vector V103 V113 User Guide 37 PN 875 0287 000 Rev A1 gt Appendix A Troubleshooting Vector V103 V113 User Guide 39 PN 875 0287 000 Rev A1 Appendix A Troubleshooting Table A 1 provides troubleshooting for common problems Table A 1 Troubleshooting Symptom Possible Solution Receiver fails to power e Verify polarity of power leads e Check integrity of power cable connectors e Check power input voltage 6 to 36 VDC e Check current restrictions imposed by power source minimum available should be gt 1 0 A No data from V103 113 e Check receiver power status to ensure the receiver is powered an ammeter can
63. t it is recommended that when gyro aiding in the V103 113 is first turned on use it in an environment that has high dynamics for the first five to ten minutes instead of sitting stationary With the gyro enabled the gyro is also used to update the post HTAU smoothed heading output from the moving base station RTK GPS heading computation This means that if the HTAU value is increased while gyro aiding is enabled there will be little to no lag in heading output due to vehicle maneuvers The Hemisphere GPS Technical Reference includes information on setting an appropriate HTAU value for the application Time Constants The V103 113 incorporates user configurable time constants that can provide a degree of smoothing to the heading pitch rate of turn ROT course over ground COG and speed measurements You can adjust these parameters depending on the expected dynamics of the vessel For example increasing the time is reasonable if the vessel is very large and is not able to turn quickly or would not pitch quickly The resulting values would have reduced noise resulting in consistent values with time However if the vessel is quick and nimble increasing this value can create a lag in measurements Formulas for determining the level of smoothing are located in the Hemisphere GPS Technical Reference go to www hemispheregps com support and click the GPS Reference icon If you are unsure on how to set this value it is best to be conservative
64. th the end purchaser s proof of purchase Hemisphere GPS does not warrant claims asserted after the end of the warranty period For any questions regarding warranty service or to obtain information regarding the location of any of Hemisphere GPS approved service center contact Hemisphere GPS at the following address Hemisphere GPS 8444 N 90th Street Suite 130 Scottsdale AZ 85258 Phone 480 348 9919 Fax 480 348 6370 techsupport hemispheregps com www hemispheregps com Hemisphere www hemispheregps com
65. the search space as a wedge shaped location see Figure 3 3 Figure 3 3 V103 113 s gyro aiding The gyro aiding accurately smoothes the heading output and the rate of turn It provides a substitute heading for a short period accurate to within 1 per minute for up to three minutes in times of GPS loss for either antenna If the outage lasts longer than three minutes the gyro will have drifted too far and the V103 113 begins outputting null fields in the heading output messages There is no user control over the timeout period of the gyro Calibration which is set at the factory is required for the gyro to remove latency from the heading solution as well as provide backup heading when GPS is blocked The receiver will calibrate itself after running for a while but it may be important to follow the manual calibration instructions if you want to guarantee performance quickly after powering up the receiver The gyro initializes itself at powerup and during initialization or you can calibrate it as outlined in the Hemisphere GPS Technical Reference go to www hemispheregps com support and click the GPS Reference icon When the gyro Vector V103 V113 User Guide 31 PN 875 0287 000 Rev A1 Chapter 3 Operation is first initializing it is important that the dynamics that the gyro experiences during this warmup period are similar to the regular operating dynamics For example if you use the V103 113 on a high speed maneuverable craf
66. tion or disclaimer of warranty provisions All such changes will only be effective if pursuant to a separate agreement signed by senior officers of the respective parties WARRANTY CLAIM In the event Licensee has a warranty claim Licensee must first check for and install all Updates that are made available The warranty will not otherwise be honored Proof of purchase may be required Hemisphere does not honor claims asserted after the end of the Warranty Period LICENSEE REMEDIES In all cases which involve a failure of the Software to conform in any material respect to the documentation during the Warranty Period or a breach of a warranty Hemisphere s sole obligation and liability and Licensee s sole and exclusive remedy is for Hemisphere at Hemisphere s option to a repair the Software b replace the Software with software conforming to the documentation or c if Hemisphere is unable on a reasonable commercial basis to repair the Software or to replace the Software with conforming software within ninety 90 days to terminate this Agreement and thereafter Licensee shall cease using the Software Hemisphere will also issue a refund for the price paid by Licensee less an amount on account of amortization calculated on a straight line basis over a deemed useful life of three 3 years LIMITATION OF LIABILITY IN NO EVENT WILL HEMISPHERE BE LIABLE TO LICENSEE FOR ANY INCIDENTAL CONSEQUENTIAL SPECIAL OR INDIRECT DAMAGES INCLUDING ARISING IN
67. ue 18 Serial Ports uo ue ete Oia dete OE ee eee d 18 NMEA 2000 Port truie eaen m e EN do es Y 19 Powering the V103 113 sierica krri Ba piia eee eh 23 Power Considerations 0 2 0 cee eee eee eee 23 Connecting to a Power Source 0 000 e eee eee 23 Electrical Isolation lille 23 Connecting the V103 113 to External Devices 24 Power Data Cable Considerations Ls 24 Power Data Cable Pinout Specifications 25 Default Parameters css rario nehera eee eee 26 Operation ceo eee eile IE ESI RR ness 27 GPS Ove tVvIeW ou ese EP EDS A ee te ita 28 GPSi Operation 522r RU Ea Rh E IRE eds 28 Differential Operation 0 000 e eee eee 28 V103 113 Overview awia ansni samiska en 29 Fixed Baseline Moving Base Station RTK 29 Supplemental Sensors 20 0c eee eee 30 Time Constants rotulo SALIS eis ce Da ds 32 Alarm Functionality 00 00 c eee ee ee 33 Vector V103 V113 User Guide iii PN 875 0287 000 Rev A1 Contents Common Commands and Messages 0 00 eevee 34 Appendix A Troubleshooting 39 Appendix B Technical Specifications 43 Indexin vues yeaa Ned NES ES SERENE rv M RUE Res e IRR Rar en epee 47 End User License Agreement 49 Warranty Notice 22 202 eee ee ee 52 Vector V103 V113 User Guide iv PN 875 0287 000 Rev A1 ca Chapter
68. v A1 Chapter 2 Installation Table 2 2 shows the transmitted PGNs with their default update rate with the V103 113 in NMEA 2000 mode Table 2 2 Transmitted messages PGN PG No Description Default Update Rate msec Level Freq Hz 126992 System Time The purpose of this PGN is twofold To provide a regular transmission of UTC time and date To provide synchronism for measurement data B 1000 127250 Vessel Heading Heading sensor value with a flag for True or Magnetic If the sensor value is Magnetic the deviation field can be used to produce a Magnetic heading and the variation field can be used to correct the Magnetic heading to produce a True heading B 100 10 127251 Rate of Turn Rate of change of the Heading B 100 10 127257 Attitude Provides a single transmission that describes the position of a vessel relative to both horizontal and vertical planes This would typically be used for vessel stabilization vessel control and onboard platform stabilization B 1000 127258 Magnetic Variation Message for transmitting variation The message contains a sequence number to allow synchronization of other messages such as Heading or Course over Ground The quality of service and age of service are provided to enable recipients to determine an appropriate level of service if multiple transmissions exist 1000 129025 Position Rapid Update

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