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allstar user`s manual

1. J1 PIN J3PIN SIGNAL NAME ei Footnotes 1 Reserved e 2 Disc_IP_3 I a 3 Reserved e 4 1 Reserved e 5 3 Power Control Input I a 6 4 Rx_No_3 Optional Port I 7 5 Time Mark 1 PPS Output O 8 Ground 9 6 Disc_IP_1 I bcd 10 2 Tx No 3 Optional port O 11 7 Rx No 2 COM2 I a 12 9 Ground 13 8 Tx No 2 COM2 O 14 10 Disc_IP_2 I a 15 11 VDD 16 Ground 17 12 Rx No 1 COM1 I d 18 13 Ground 19 14 Tx No 1 COM1 O 20 15 Reserved S 21 17 5V Digital 22 Ground 23 16 Preamp Active Antenna supply 24 18 Ground Continued on Page 112 ALLSTAR User Manual Rev B 111 25 20 Disc_I O_1 LO d 26 19 5V RF On board pull up resistor For normal operation the pin should be tied to GND preferred option or left open The pin has been reserved for the reprogramming mode see Appendix G On board pull down resistor Reserved pins are left unconnected eno C 2 I O Electrical Characteristics Table 13 shows the voltage level limits for all different I O signals Table 13 I O Signals Voltage Limits Input low Input Output Output Input Rise SIGNAL NAME TYRE max highmin low max high min amp Fall Time Volt Volt Volt Volt us Power Control Input note1 l 0 50 2 00 lt 1 Disc_IP_1 Disc_IP_2 Disc_IP_3 DISC_10_1 0 7 2 3 lt 1 Rx No 1 Rx No 2 Rx No 3 l 0 8 2 Tx No 1 TX No 2 0 8 VDD 0 1 Timemark Output 1PPS O 0 4 DISC 10 1 lo lt 200uA Tx No 3 O 0 4 SE
2. 5 3 1 Message Summary ceeeeeeeeeee 5 3 2 Message Content 5 4 Supported NMEA Protocol 5 4 1 NMEA Message Fommat 5 4 2 NMEA Field Definitions 00000000000 5 5 NMEA Protocol Input Messages 5 5 1 Configure COM1 Port Command 5 5 2 Initialization Data Command 5 5 3 Set Altitude Hold Command 5 5 4 Initiated Bit Self Test Command 5 5 5 Request Output Message Command 5 5 6 Set Output Configuration Command 5 5 7 Switch to Reprogramming Mode Commande 5 5 8 Erase Non Volatile Memory Commande 5 5 9 Set Receiver Parameter Command 5 5 10 Define Waypoint in MGRS Format 5 5 11 Select Active Waypoint 06 5 5 12 Command Message to the Radio Beacon ssssseessseesseeesieerrisssirsssrrssrnnsrnsstntennnnrnnnsrnent 5 6 NMEA Protocol Output Messages 5 6 1 Navigation Gratis 5 6 2 Data Request List Overflow 5 6 3 Self Test Results Message 5 6 4 Radiobeacon Proprietary Information 5 6 5 Bearing Distance and Delta Elevation to Waypoint 0 0 00 eeeecceceeesneeeeeeeeneeeeeseeaeeeeeeeeaaaes ALLSTAR User Manual Rev B Table of Contents 5 6 6 User Position in MGRS Fomat 87 5 6 7 Receiver Parameter Status cccccccceccceseeeceeneeeeeeaeeceeeeeceeaeeseeeeeecaaaeseceeeessaaeeeeeeeeessaeeeneneees 88 5 6 8 Global Positioning System Fix Data 89 5 6 9 Geographic Position Latitude LONGitUde ccecee
3. lt Without the voltage regulator option the active antenna supply is set to 5 VDC 1 8 BATTERY If the battery option is installed ON the battery backup is active A 6 Time Mark Connector The 1 pulse per second 1PPS time mark signal CMOS level is available on the rear panel connector This 1 millisecond positive pulse can be aligned on the GPS time or free running see also Page 24 A 7 Software Upgrade 104 The Development Kit is forced in programming mode by setting S1 5 to ON Press the RESET button momentarily Prior to programming the StarView software must be configured to 19200 BPS The terminal window in StarView should display w once per second From the menu select Options Programming Select the directory and filename the last 3 digits of the ALLSTAR software number represent the variation e g 613913 058 stands for software variation 058 After programming select the communication port ex COM1 change the communication speed to 9600 BPS if required then set S1 5 to OFF Press the RESET button momentarily ALLSTAR User Manual Rev B vec wi CENT 0 ANT NOTE C VEC soour c18 D IP_L1 PROG 1 6KE22A cs 0 1UF cw PREAMP ru Sen 100UF vec Vi MAX232 18 100 ws PRIMARY TXI u He 2 RS J5 E 1 5 c2 wW WF A B 5 3 4 UE DB9 FEM DEFAULT JP Re 100 we DGPS JP1A 28 3A 4A 58 Tx2 10 z 2 S ch Bee RT ee 81 1 2 3 4 5 OFF 9 2 3 1 6 7 8 ON ex C4 up o Note A voc D Batter
4. At power up the receiver sends two categories of factory information data to COM Lat 9600 bauds The categories of information Boot and Operational information can be displayed on a dummy terminal 4 2 1 Boot Information The Boot information contains the following factory data ALLSTAR v4 G XXXXXXXXXX 169 613914 007 Boot S W Part Number DO PCPB XXXXXXXXXX GO Go in Operational Mode 4 2 2 Operational Information The Operational information contains both the factory and the current operating mode information The current operating mode baud rate is output twice This is useful when the operating baud rate is not 9600 Example lt Part Nb 169 614110 XXX CB 0x0000003F SHP Go to Binary 19200 baud In Binary 19200 baud P gt 4 3 Data Requests Data may be requested for output by the receiver for display or logging purposes The list of data request commands and data messages is detailed in the following section 4 4 Configurable Parameters Several parameters of the receiver and the base station are configurable and therefore must be defined by the 1 Operational S W Part Number 2 Power up BIT result 3 Line transmitted at the Configured Baud Rate ALLSTAR User Manual Rev B 35 Chapter 4 Operation user prior to operation 4 4 1 Mask Angle The mask angle is defined as the minimum satellite elevation angle in degrees above which any given satellite must be in order for it to be used in the
5. HUBER amp SUHNER One Allen Martin Drive P O Box 400 Essex VT 05451 TEL 1 802 878 0555 RADIALL 150 Long Beach Blvd Stratford CT 06497 TEL 1 203 386 1030 5 J3 Interface and Power Connector The J3 Interface and Power connector is a 0 100 x 0 100 20 Pin Header 3 examples of manufacturer s part numbers AMP 1 103783 0 BERG 67996 120 SAMTEC TSW 1 10 07 S D or a 0 100 x 0 100 20 pin Right Angle Shrouded Header with detent windows 1 example of manufacturer s part number connector and mating Connector AMP102570 8 Mating AMP87835 4 lt Internal row contains the odd pin number 1 19 External row contains the even pin number 2 20 22 ALLSTAR User Manual Rev B Receiver Specifications 2 9 2 Power Input The receiver operates from regulated DC power supplies as specified in Table 5 on Page 23 Chapter 2 STANDBY ACTIVE ACTIVE RIPPLE FUNCTION VOLTAGE CURRENT CURRENT CURRENT R TYP mA TYP mA MAX mA MAX J1 21 5V Digital 5V 18 70 130 100 mV 10 5 J1 26 5V RF 5V 5 15 75 110 50 mV J1 15 VDD d 5V 0 180 90 170 100 mV 10 5 VDD 2 6V 0 030 a To avoid CMOS latch up condition the maximum AV including ripple between the 5V Digital 5V RF and VDD is lt 0 5 V b The Standby Current is measured when the Power Control Input is LO or when the 5V Digital is below the 4 5 V threshold Ripple specification is defined for frequencies up to 100 kHz
6. 7 8 11 14 bits 0 3 System Mode 0 Self test 1 Initialization 2 Acquisition 3 Navigation 4 Fault bits 4 5 Reserved bit 6 Satellite tracking mode 0 All SVs in view based on current Almanac position and time 1 Sky Search bit 7 NVM Controller State 0 Idle no process in progress 1 Busy Erase and or Store data process in progress bit 0 0 Tropospheric model enabled bit 1 0 MSL model enabled bits 2 3 Last Power up Modes 0 Cold Start Invalid almanac time or position 1 Initialized Start Valid almanac Time and Position 2 Warm Start Valid almanac Time Position and Ephemeris only with Battery Back up RAM bit 4 Reserved bits 5 7 Time Source 0 Initialization required 1 External 2 SV without Nav 3 SV with Nav Almanac Week of Collection unsigned 16 Week number unsigned 16 SV Deselect bitmap byte 11 bit 0 SV1 byte 14 bit 7 SV32 N A N A N A N A N A N A N A N A N A N A Continued on Page 61 60 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 15 16 Channel Deselection bitmap byte 15 bit 0 N A N A Ch1 byte 16 bit 7 Ch12 17 23 Reserved 0 01 24 25 Mask Angle degree Ushort 26 Discrete Inputs 27 28 TCXO Error Estimate Hz short 29 TCXO Ageing unsigned char 0 1 ppm 0 1 ppm Uchar 30 33 Search Noise dB float 34 Nav Mode see Message ID 20 byte 71 for N
7. Figure 4 shows the OEM board outline ALLSTAR User Manual Rev B 15 Chapter 2 Receiver Specifications a 15 STRAIGHT 8 00 JACK RECEPTACLE la 160 MAX 4 06 070 008 1 787 20 312 HOUSING HEIGHT OF COMPONENTS ON SOLDER SIDE TO BE 150 MAX PIN26 PIN1 2X 150 8 81 469 l 11 91 587 D aan Bee sae mm 14 92 33 66 TOLERANCE 007 0 18 Figure 4 Receiver OEM Board Outline Drawing VAR XX1 Figure 5 shows the receiver OEM board outline for VAR XX2 right angle connector VAR XX3 straight header connector on top side VAR XX0 straight header connector on bottom side 16 ALLSTAR User Manual Rev B Receiver Specifications Chapter 2 STRAIGHT HEADER TOP VIEW STRAIGHT HEADER 350 gt 8 89 640 16 26 42 70 4l naan RIGHT ANGLE PIN 19 PIN4 PIN 20 REVERSE STRAIGHT HEADER BOTTOM VIEW J 100 2 54 0 mm TOLERANCE 007 0 18 Figure 5 Receiver OEM Board Outline Drawing VAR XX0 XX2 XX3 2 5 2 Packaging Description The receiver assembly consists of one printed circuit board PCB containing a shielded RF section digital and TO sections located on both sides of the PCB and a surface mount connector The receiver does not require heat sinking to a metal case Mechanical packaging of the receiver is designed to allow for mounting within various different configurations of OEM units 1
8. d Ifthe application doesn t request the SRAM Keep Alive Mode see Page 33 this pin must be connected to J1 21 5 V Digital Typically the data will stay valid for VDD down to 2 6 V but it is not guaranteed for all variations when VDD lt 4 5 V Only for variations contact Customer Service more information having Low voltage data retention SRAM will the data be kept valid down to 2 6 V The time source will be kept valid for VDD down to 2 6 V for any variations e VDD current in SRAM Keep Alive Mode D Table 5 Power Input 1 Power Control Input The receiver possesses its own circuitry to perform a power down and power up sequence in order to preserve the non volatile data in SRAM The Power Control input also allows the possibility to generate a master reset Standby Mode to the receiver without removing the power A low voltage input will cause a master reset Please see Appendix C External Interface starting on Page 111 for the electrical characteristics 2 Preamplifier Power Pass Through Antenna Supply The PREAMP signal is available on the I O connector for the host to provide power to the antenna preamplifier via the centre conductor of the RF cable J2 The receiver is capable of handling voltages in the range of 5 V to 16 V gt lt Maximum current is 100 mA on J2 3 RF Input The receiver will receive the GPS signal from the antenna amplifier on the J2 RF input connector The RF input port impedance is 50 Ohm
9. t Care 21 28 Interpreted field 000 BYY Latitude radians double SYY ROO GSP Don t Care 29 36 Interpreted field 000 BYY Longitude radians double SYY ROO GSP Don t Care 81 5 8 Mask angle 0 2 2 radians float Set Mask angle 9 16 Reserved N A N A The value is stored in NVM 82 byte 5 msg data length RTCM raw data Transmit DGPS data Each byte is in a 6 out of 8 format as specified N A N A message in section 4 0 and 5 0 of Reference 2 Page 3 83 5 bit 0 Enable O OFF 1 On Set DGPS Configuration bit 1 3 Should be 1 bits 4 6 Should be 0 N A N A bit 7 Port O0 COM1 1 Dedicated Continued on Page 49 48 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 18 25 Differential Coast Time Reserved COM2 Port Baud Rate 1 300 32 9600 64 19200 Message Retransmission Bitmap bit0 msg type1 bit63 msg type 64 bits 0 6 Reserved bit 7 Reserved Reserved seconds N A 300 bauds N A N A N A Uchar N A N A N A N A N A 84 Set Tropospheric Model Use Use tropospheric model correction if password is valid MSB of ID byte 0 correction applied 1 correction not applied Password UGPS 000 in ASCII format U character first N A N A 85 Set Beacon Receiver parameters 6 7 Reserved Frequency range 0 2835 to 3250 283 5KHz to KHz 0 sets the Frequency Beacon Receiv
10. the process of determining a vessel s approximate position by applying from its last known position a vector or a series of consecutive vectors representing the run that has since been made using only the courses being steered and the distance run as determined by log engine rpm or calculations from speed measurements Destination the immediate geographic point of interest to which a vessel is navigating It may be the next waypoint along a route of waypoints or the final destination of a voyage ALLSTAR User Manual Rev B Differential GPS DGPS a technique to improve GPS accuracy that uses pseudorange errors measured at a known location to improve the measurements made by other GPS receivers within the same general geographic area Dilution of Precision DOP A numerical value expressing the confidence factor of the position solution based on current satellite geometry The lower the value the greater the confidence in the solution DOP can be expressed in the following forms GDOP all parameters are uncertain latitude longitude height clock offset PDOP 3D parameters are uncertain latitude longitude height HTDOP 2D parameters and time are uncertain latitude longitude time HDOP 2D parameters are uncertain latitude longitude VDOP height is uncertain TDOP clock offset is uncertain Doppler the change in frequency of sound light or other wave caused by movement of its source relative to the observer Dop
11. 1 ALO pulse of 150 ns minimum will invoke a master reset to the receiver 2 Conditions 5V 5 for all limits Mw amp 112 ALLSTAR User Manual Rev B Dei IA Antenna Specifications Di The GPS antenna is an important part of the total system performance and should be selected depending of your application All the GPS receivers designed and manufactured for GPS OEM include a Low Noise Amplifier LNA before the the RF ASIC This 20 dB LNA permits reasonable performances with a passive GPS antenna But depending on the cable loss between the antenna element and the GPS receiver and position accuracy requirements a 12 dB up to 36 dB Active GPS Antenna may be needed This appendix is divided in characteristics for high end Active Geodetic Antennas including a Choke Ring Antenna a lower cost Active Antenna and a Passive Antenna We also offer the coaxial cables required between the GPS Antenna and the ALLSTAR You will also find in this section different coaxial cables required in your GPS system The end of this section includes very detailed Antenna drawings Cable Selection The interconnecting cable between the GPS Antenna and the receiver is of prime importance for the proper performance of the system Three parameters should be considered 1 Loss 2 Isolation 3 Outer Diameter The bigger the Outer Diameter the lower the Loss The Loss increases with the length of the cable and decreases with extra isolation If
12. 110 on Page 52 If no default message list has been stored in NVM the receiver will output Message ID 20 see Page 45 at a rate of once per second after each power up lt The default baud rate is 9600 baud unless your receiver has the Carrier Phase Output option 19200 baud 2 11 2 COM2 Port COM2 input is used to receive roving unit mode or transmit base station mode RTCM differential messages see Reference 2 on Page 3 The default baud rate is 9600 and can be modified using the Binary Set DGPS Configuration Message ID 83 see Page 48 The new configuration will be stored in NVM The output port is used to transmit RTCM differential message when the receiver is acting as a base station 2 12 Non Volatile Memory Data 26 The receiver stores different types of information used to accelerate the TTFF and to configure the I O in NVM See Table 6 below for a partial list of data stored in NVM ALLSTAR User Manual Rev B Receiver Specifications Chapter 2 PARAMETER ALMANAC The most recent one Position in NVM is updated at different rates depending on the LAST POSITION application The last known position is always kept in battery back up SRAM DGPS CONFIGURATION Contains the following configuration information 1 Mode of operation 2 Baud Rate 300 to 38400 RS232 CONFIGURATION 3 Default Binary message list 4 Time Alignment Mode State 5 Mask Angle 6 Used Datum SR aoe Position and message r
13. ALLSTAR User Manual Rev B If the GPS receiver does not receive all the SV specific almanac data messages in the common message within 55 seconds then a time out error occurs The GPS receiver then disregards all the data currently received and sends an unsuccessful status message to the transmitter The transmitter resends common messages first and then all other data messages The GPS receiver ALWAYS sends back an almanac reception status message after the full almanac upload is or is not successful The transmitter waits for this status message or waits for a 60 s time out period before requesting another almanac upload Otherwise the previous almanac upload aborts and the new almanac upload request is ignored Almanac data specific to each SV are detailed below SV and type bit 0 5 SV bit 6 7 00 gt GLONASS 01 gt GPS 10 GIC SBAS such as WAAS and EGNOS Almanac Parameters Coarse_af0 Clock Aging Parameter range 2 0 10 2 0 20 2 0410 1 0 2 0 20 resolution 2 0 20 Coarse_af1 Clock Aging Parameter range 2 0 10 2 04 38 2 0410 1 0 2 0 38 resolution 2 0 38 Coarse_M0 Mean Anomoly of Reference Time range 2 0 23 2 04 23 m 2 0 23 1 0 2 04 23 x resolution 2 0 23 z Coarse_W Argument of Perigee range 2 0 23 2 04 23 T 2 0423 1 0 2 0 23 a resolution 2 04 23 z Coarse_Omega
14. E 35 36 g 50 mA XX OTHER VOLTAGE 00 PASSVE 05 5 voc RG 5 18 VOC XX OTHER WEATHERABLE POLYMER MATT TEXTURE re OPTION NOT AVALIABLE WTH THIS MODEL SPEOFY WHEN ORDERING 4 OUNCES STANDARD MODEL AT575 1040 TNCF 000 05 26 NM i 55 000 CONNECTOR ADD R TO CONNECTOR NOTATION 5 Sas OP TON AVAILABLE FOR CABLED ANTENNAS ONLY 55T TO 857 ENV CAT ue d a t F2 ODER 5 8 11 THREAD d DCK MIL STD B10C MIL C 5541 TYPE TNC FEMALE 1 5 8 L WASHER AND NUT SUPPLIED b erA ANON TORQUE 5 FT LB MAX MIL E 5400 MIL E 5272C NOTES UNLESS OTHERWISE SPECIFIED NAMEPLATE LOCATION CMC PART NUMBER 201 990147 432 Outline Drawing GPS Antenna 1575 MHz AT575 104 Rev AT575 68X EEN OK HEN H SPECIFICATION E MAGNET aia n ara Boa FREQUENCY 1575 MHz 10 MHz POLARIZATION RIGHT HAND CIRCULAR 3 dB MAX 4 0 dBic 1 0cBic De 20 3 0 aie 26 26 Ge ite mal g BEN 50 OHM 1 WATT OUTDOOR WEATHERABLE POLYMER MINATION Bor 000 IN INCHES d se 55C TO 85 C OPTION NOT AVALIABLE WITH THIS MODEL po 1606 STANDARD MODEL AT575 68W TNCF 000 05 26 NM Weeer RIGHT ANGLE CONNECTOR ADD R TO CONNECTOR NOTATION THIS OPTION AVAMABLE FOR CABLED ANTENNAS ONLY FOE 885522 aii S ZAN ASSEMBLE ANTENNA TO ADAPTER USING 4 SCREWS ON CROSS MOTION DO NOT OVER TORQUE THE SCREWS CMC PART NUMBER 201 990144 807 12db CMC PART NUMBER 201 990144 589 Odb CMC PART NUMBER 201 9
15. No Data received during internal loop tests bit 3 Framing or Parity error bit 4 RX not full flag error bit 5 OVERRUN test failed bit 6 7 Reserved COM2 Port UART results bit 0 UART not ready or UART busy bit 1 TX not full flag error bit 2 No Data received during internal loop tests bit 3 Framing or Parity error bit 4 RX not full flag error bit 5 OVERRUN test failed bit 6 7 Reserved RTC results bit 0 2 RTC warning bit 3 4 Data Retention register error bit 5 7 Reserved RF Test Results 0 7 RF warning code Global Correlator test results 1 bit 0 Channel 0 error in 1 amp Q test bit 1 Channel 1 error in 1 amp Q test bit 2 Channel 2 error in 1 amp Q test bit 3 Channel 3 error in 1 amp Q test bit 4 Channel 4 error in 1 amp Q test bit 5 Channel 5 error in 1 amp Q test bit 6 Channel 6 error in 1 amp Q test bit 7 Channel 7 error in 1 amp Q test N A N A N A N A N A N A N A N A N A N A N A N A N A N A N A N A ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 17 18 19 30 31 40 Global Correlator test results 2 bit 0 Channel 0 error in Measurement test bit 1 Channel 1 error in Measurement test bit 2 Channel 2 error in Measurement test bit 3 Channel 3 error in Measurement test bit 4 Channel 4 error in Measurement test bit 5 Channel 5 error in Measurement test bit 6 Channel 6 error in Measurement test bit 7 C
16. SPMCAG 000 0 58 lt CR gt lt LF gt ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 5 2 Initialization Data Command This message initializes ALLSTAR OEM with reference UTC date and time and user position HEADER SPMCAG 001 CONTENTS OF DATA FIELDS XX XX XXXX XX XX XX tXxX xXxX t1111 11 a yyyyy yy a x x c hh lt CR gt lt LF gt GG Reserved altitude longitude E Ww latitude Nn s reserved reserved Example Set Reference Position sentence SPMCAG 001 08 07 1993 16 37 21 00 00 5301 97 N 00133 48 E 35 3 40 lt CR gt lt LF gt Date 08 07 1993 Time 16 37 21 Reserved Must be 00 Local zone minutes Must be 00 Latitude 53 01 97 North Longitude 1 33 48 East Altitude 35 35 m above mean sea level Reserved No character Reserved no character Altitude in meters above or below mean sea level resolution 0 01 m Longitude E W with respect to WGS 84 Latitude N S with respect to WGS 84 Reserved must be 00 Reserved must be 00 UTC Time Hour 0 23 Minutes 0 59 Seconds 0 59 UTC Date Day 1 31 Month 1 12 Year 1980 2079 CIADNWARWNE ALLSTAR User Manual Rev B 69 Chapter 5 Serial Data Interface 5 5 3 Set Altitude Hold Command This message defines the Altitude Hold mode of navigation 2D HEADER CONTENTS OF DATA FIELDS l PMCAG 002 I C C XXXXxX xx hh lt CR gt lt
17. b Transmitted on first request and then on new ephemeris reception c Option Contact Customer Service for more information LEGEND CM Command Message PM Protocol Message DM Data Message SM Status Message DR Data Request UR Update Request FR First Request lt The protocol messages PM and status messages SM are scheduled to be output once per second ALLSTAR User Manual Rev B 53 Chapter 5 5 3 2 Message Content Serial Data Interface MESSAGE BYTE DESCRIPTION 6 5 Data set number Channel 1 assignment data N A N A Current channel SV and type assignment data 1 6 6 bit 0 4 SV 0 31 bit 5 7 Reserved NA N A 7 10 Carrier frequency cycles Ulong resolution cycles 11 14 SNR dB Hz float 15 18 Reserved N A N A 19 Status N A N A Bit 0 1 encodes tracking state 00 not ready 01 gt bits ready 10 gt meas ready 11 gt failed Bit 2 3 encodes allocation state 00 idle 01 location 10 gt tracking Bit 4 encodes channel mode 1 gt automatic 0 gt manual 20 33 Channel 2 assignment data as per ch1 as per ch1 34 47 Channel 3 assignment data as per ch1 as per ch1 48 61 Channel 4 assignment data as per ch1 as per ch1 62 75 Channel 5 assignment data as per ch1 as per ch1 76 89 Channel 6 assignment data as per ch1 as per ch1 7 5 Data set number asper msg aspermsg Current Channel Assignment Data 7 12 6 89 Channel 7 12 assignment data ID6 ID6 2
18. 01 04 RESERVED 05 ALMANAC 06 08 RESERVED 09 TCXO PARAMETERS 10 IONO amp UTC PARAMETERS 11 POSITION 12 TIME 13 DGPS CONFIGURATION 14 DEFAULT NMEA MSG LIST 15 RS232 CONFIGURATION 103 Enter the date and time UTC This data is Set Date Time amp GPS Time accepted only if a SV is not presently being N A N A Alignment Mode tracked and if password is valid Continued on Page 52 ALLSTAR User Manual Rev B 51 Chapter 5 Serial Data Interface 5 12 Password in ASCII format U character first N A char 8 UGPS 000 the date and time parameter is applied UGPS 001 the date and time parameter won be applied but forces the receiver to align its measurements and TIMEMARK signal on GPS time after the next power up A master reset is requested 10 seconds after the acknowledge of the Message ID 103 to ensure the proper operation of the time alignment function Contact Customer Service for more information UGPS 002 The date and time parameter won t be applied but forces the receiver to not align its measurements and TIMEMARK signal on GPS time 13 15 UTC Time MNI byte byte resolution 1 s HR MN SC byte 16 19 Data MO byte byte resolution 1 day DY MO YR byte 105 5 bit 0 Reserved Set Default Binary bit 1 Message ID 1 Flag So N A Message List 0 is not transmitted 1 is transmitted bit 2 Message ID 2 Flag 0 is not transmitted 1 is transmitted bit 3 7 Message ID 3 7 Flags 0 is not transmitted
19. 16 m s 0 1 m s 0 1 m s Altitude 40m 5m 0 2m N S Velocity 0 1088 m s 0 035 m s 0 035 m s E W Velocity 0 1088 m s 0 035 m s 0 035 m s Time Tus Tus 1 us a Velocity accuracies are for straight and level motion during zero acceleration Dynamic errors due to jerk of 2 m s3 results in a maximum additive error of 4 2 m s b For a ground speed of 20 km hour or greater c At the rising edge of Time Mark output Table 3 Position and Velocity Outputs The accuracies are met for the following Dilution of Precision DOP conditions HDOP 1 5 VDOP 2 0 TDOP 0 8 2 2 Figure of Merit The receiver provides an estimated accuracy level The accuracy level estimate is provided in the horizontal and vertical Figure of Merit FOM The FOM reflects a 95 confidence level for the position solution accuracy estimate The FOM accounts for all major sources of errors in the pseudoranges of the satellites used in the position solution The error sources which are included are selective availability ionospheric and tropospheric errors satellite position errors based on transmitted user range error and thermal noise 2 3 Time To First Fix TTFF The receiver enters Navigation mode and provides valid outputs in less than 50 seconds 95 after completion of the self test and the following initialization criteria have been met 12 ALLSTAR User Manual Rev B Receiver Specifications Chapter 2 2 4 1 Valid time 10 mi
20. 6 20 GE elei Fl a essage ID 8 ags 21 28 Reserved N A N A 110 5 bits 0 6 Baud Rate in 300 bauds unit Configure COM1 Mode 1 300 32 9600 64 19200 65 38400 N A N A bit 7 Mode 1 Binary 0 NMEA 112 Switch to Reprogramming 5 Baud Rate 1 300 32 9600 64 19200 300 bauds N A Mode 52 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 3 Binary Protocol Output Messages 5 3 1 Message Summary ID DEFINITION MESSAGE TYPE RATE s BYTES 6 Current channel assignment data 1 6 UR FR 1 91 7 Current channel assignment data 7 12 UR FR 1 91 20 Navigation data user coordinates UR FR 12 77 21 Navigation data GPS coordinates UR FR 12 85 22 Ephemeris ICD GPS 200 format data H UR FR 1 79 23 Measurement block data UR FR VAR 149 33 Satellite visibility data and status UR FR 12 67 43 DGPS configuration UR 27 45 Software identification information UR 1 101 47 Base station status data optional DR 1 50 48 Differential message status DR 1 29 49 Receiver status data DR 1 46 50 Satellite health summary UR FR 30 14 51 Initiated BIT result UR 42 63 Initiate link PM 0 1 14 78 Almanac reception status SM 1 6 83 RTCM data Message Retransmission DM 0 1 6 94 85 Beacon Receiver Status SM VAR 22 125 Link overload error message PM 1 22 126 Acknowledge message PM 0 1 11 a Transmitted twice per second when in 2Hz PVT mode
21. 600932 000 is used set S2 to PROG then apply 5V supply voltage or press S1 if supply voltage is already applied 2 The baud rate for programming mode setting by hardware is 19200 F 2 1 Programming Mode Set by Software F 3 To set the programming mode by software enter message PMCAG006 when in NMEA mode or Message ID 112 when in Binary mode In either case the receiver will be forced to enter the programming mode at a specific baud rate The commands are sent at the operating baud rate Once these commands are decoded the receiver will enter programming mode at the specified baud rate independently of the operating baud rate Example NMEA PMCAG 006 19 2 7A lt CR gt lt LF gt Binary 0x01 0x70 0x8F 0x01 0x40 0x41 0x01 The programming utility will send one of these commands to force the programming mode thus avoiding the need to tie the DISC_IP_1 pin to 5 volts It is useful when the system does not provide external access to the DISC_IP_1 pin How to Verify Programming Mode Once in programming mode the receiver sends the following information to both communication ports Ready wwwww Character w means waiting for data exchange and will be repeated until the programming utility starts to send data The baud rate will be 19200 if the programming mode setting is done by hardware and any other baud rate if done through operational software command ALLSTAR User Manual Rev B 127 F 4 Port COM 1 or COM2 can be
22. A description 35 44 Reserved 50 5 bit map bit 0 1 gt SV 1 bit 6 7 gt W N A Satellite Health Summary SV 4 healthy 1 gt unhealthy 6 bit map bit 0 1 gt SV 5 bit 6 7 gt as per byte N A SV 8 5 7 bit map bit 0 1 gt SV 9 bit 6 7 gt as per byte N A SV 12 5 8 bit map bit 0 1 gt SV 13 bit 6 7 gt as per byte N A SV 16 5 9 bit map bit 0 1 gt SV 17 bit 6 7 gt as per byte N A SV 20 5 10 bit map bit 0 1 gt SV 21 bit 6 7 gt asperbyte N A SV 24 5 11 bit map bit 0 1 gt SV 25 bit 6 7 gt as per byte N A SV 28 5 12 bit map bit 0 1 gt SV 29 bit 6 7 gt asperbyte N A SV 32 5 51 5 bit 0 7 Copy of the Initiated BIT request N A N A Initiated BIT Result message byte 1 6 General Results O fail 1 Pass N A N A bit 0 RAM bit 1 Flash bit 2 Eeprom bit 3 Uart bit 4 Real Time Clock bit 5 Correlator amp RF bit 6 7 Reserved Continued on Page 62 ALLSTAR User Manual Rev B 61 Chapter 5 Serial Data Interface Continued on Page 63 62 7 9 10 11 12 13 14 15 16 Reserved Memory Test Results O ok 1 failure bit 0 Bad Boot S W Checksum bit 1 Bad Operational S W Checksum bit 2 4 FLASH Error Code if different of 000 Receiver can not be reprogrammed bit 5 7 Reserved EEPROM Status bit 0 7 Number of Usable Pages COM1 Port UART busy bit 0 UART not ready or UART busy bit 1 TX not full flag error bit 2
23. F E ol PDO PRNs of SVs Used xx x hh lt CR gt lt LF gt This message sent sent at twice the requested update rate if the 2Hz PVT mode is active Example GPS DOP and Active Satellites Data sentence SGPGSA A 3 14 22 03 09 08 29 17 2 7 2 2 1 6 3A lt CR gt lt LF gt Mode Automatic 3D SVs Used PRNs 14 22 03 09 08 29 and 17 PDOP 2 7 HDOP 2 2 VDOP 1 6 1 Mode M Manual forced to operate in 2D or 3D mode A Automatic allowed to automatically switch 2D 3D 2 Mode 1 Fix not available 2 2D 3 3D 3 PRN numters of satellites used in solution null for unused fields 92 ALLSTAR User Manual Rev B Serial Data Interface 5 6 11 GPS Satellites In View Chapter 5 Number of SVs in view PRN numbers elevation azimuth and SNR values Four satellites maximum per transmission additional satellite data sent in second or third sentence HEADER CONTENTS OF DATA FIELDS SGPGSV PK XX RX KK eh as Sve SNR1 Azimuth degrees Elevation degrees Satellite PRN number Total number of satellite 1 23 Message number 12 3 mm otal number of messages 1 s in view Example GPS Satellites in View Data sentence SGPGSV 2 1 06 03 12 238 06 07 82 008 15 11 04 053 27 43 178 12 7F lt CR gt lt LF gt Messages 2 Msg No 1 SV Visible 6 PRN 03 Elevation 12x Azimuth 238x SNR 6 dB PRN 07 Elevation 82x Azimuth 8x SNR 15 dB PRN 11 Elevation
24. GPS position solution Low satellites usually do not yield accurate measurements due to weak signal reception and possible multipath Typical mask angle values range from 5 10 depending on the receiver s location This value is programmable via command Message ID 81 4 4 2 GPS Antenna Position For the base station it is imperative to program the surveyed position of the GPS antenna This can be done using either the X Y Z coordinates in meters within the WGS 84 reference frame or latitude and longitude in degrees as well as height in meters This can be achieved via Message ID 80 36 ALLSTAR User Manual Rev B Chapter 5 Serial Data Interface 5 1 Binary Serial Data Communication Protocol This section defines a serial data transfer protocol for the ALLSTAR The serial data is transmitted in variable size message blocks where the message block header defines the contents and size of all message blocks bearing an ID number ID For discussion purpose the transmitter is the controlling Host CPU and the receiver is the GPS Receiver Prior to entering the protocol both the transmitter and receiver must be set up at the same baud rate and data setting Upon entering the protocol the transmitter and receiver wait for the transmission of message blocks 5 1 1 Physical Link Layer The electrical signals used are those for an RS 232 communication port Only the Receive and Transmit lines are required The serial port is asynch
25. Intf TX 1 COMI Serial Interface Port Transmitter gt 7 Serial Intf RX 1 COM1 Serial Interface Port Receiver 8 GND 9 RESERVED 10 RESERVED 11 TEST CMOS discrete input with 10KQ pull up resistor Reprogramming Mode at power up if connected to Ground Left OPEN for normal operation 12 RESERVED 13 GND 14 RESERVED 15 RESERVED 16 DISC_OP_1 CMOS discrete output with 100 Q series resistor 17 RESERVED 18 TIMEMARK_2 OPEN DRAIN output with a 10KQ pull up resistor 500ma max 19 GND 20 Serial Intf TX 2 COM Serial Interface Port Transmitter Note 1 21 Serial Intf RX 2 COM Serial Interface Port Receiver Note 2 22 RESERVED 23 RESERVED 24 RESERVED 25 12V_DC 9V 36V Power Input with Reversed Voltage Protection a Should be lefted OPEN in not used in the application b RS232 Driver 5V in 3KW Short Circuit Protection 60mA max c RS232 Receiver Vil 0 7V Vih 2 0V 108 8V max for normal operation ALLSTAR User Manual Rev B B 3 RF Connector The GPS RF connector is a TNC female connector B 4 LEDs The STARBOX has 2 LEDs LED s COLOR DESCRIPTION When flashing at a 1 Hz rate indicates that the receiver had YELLOW enough satellite information to perform a Navigation solution Doesn t flash by default after a power up GREEN Valid Internal 5 Volt Indicator B 5 Cable A schematic of the cable to be used with the STARBOX is depicted in Figure 15 on Page 110 part number is 217 601729 VAR ALLSTAR User Ma
26. Manual Rev B 65 Chapter 5 5 4 2 NMEA Field Definitions Field Type Special Format Fields Symbol Serial Data Interface Definition Status Single character field A Yes Data Valid Warning Flag Clear V No Data Invalid Warning Flag Set Latitude Fixed Variable length field degrees minutes decimal 2 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros always included for degrees and minutes to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Longitude yyyyy yy Fixed Variable length field degrees minutes decimal 3 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros always included for degrees and minutes to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Time hhmmss ss Fixed Variable length field hours minutes seconds decimal 2 fixed digits of hours 2 fixed digits of minutes 2 fixed digits of seconds and a variable number of digits for decimal fraction of seconds Leading zeros always included for hours minutes and seconds to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Defined field Numeric Value Fie
27. be set to 0 or 1 But the SYNC_B_R parameter has to be set to the programming mode baud rate in use by the receiver sending w characters ALLSTAR User Manual Rev B 129 d i TACH Service and Support Gi Contact Information Postal Address NovAtel Inc 1120 68 Ave NE Calgary AB CANADA T2E 8S5 WEB Site http Awww novatel com Technical Support Tel 1 800 NovAtel in Canada or the U S or 403 295 4900 Email support novatel ca G2 Troubleshooting Checklist This section is intended to assist you in the use of our ALLSTAR products 1 If you are having problems communicating with the ALLSTAR SUPERSTAR product e Verify connection look for broken pins a misaligned connectors or intermittent contact e Verify power supply input is acceptable e g at a good level low ripple and not noisy e Verify the Receive Transmit ports are going to the correct ports on the host computer Check signal directions and voltage levels e Verify communication settings match the host computer for both protocol and baud rate 2 If you are experiencing problems with low SNR levels e Verify antenna connector look for broken or poor connections on the RF signal shield contacts e If using an active antenna verify antenna is receiving correct power from RF connector preamp input into ALLSTAR SUPERSTAR is feeding a DC bias on the center conductor e Verify cable length from the antenna to ALLSTAR SUPERSTAR signal wi
28. level ALLSTAR User Manual Rev B 89 Chapter 5 90 UTC Latitude Longitude Quality SVs used HDOP Altitude Serial Data Interface 01 23 38 61 56x 19 2837 North 172x 35 8964 East GPS fix 5 2 3 34 2 m below mean sea level ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 6 9 Geographic Position Latitude Longitude Latitude and Longitude of present position time of position and status HEADER CONTENTS OF DATA FIELDS SGPGLL l111 1111 a yyyyy yyyy a hhmmss ss A hh lt CR gt lt LF gt U d Status UTC of position E W East or West Longitude N S North or South Latitude UTC of position Example SGPGLL 5619 2837 N 17235 8964 E 012338 61 A 0C lt CR gt lt LF gt Latitude 56x 19 2837 North Longitude 172x 35 8964 East UTC 01 23 38 61 Status Valid Data 1 Status A Data Valid V Data Invalid 2 Longitude with respect to WGS 84 3 digit degrees 2 digit minutes 4 digit decimal fraction minutes 3 Latitude with respect to WGS 84 2 digit degrees 2 digit minutes 4 digit decimal fraction minutes ALLSTAR User Manual Rev B 91 Chapter 5 Serial Data Interface 5 6 10 GPS DOP and Active Satellites Operating mode satellites used for navigation and DOP values HEADER CONTENTS OF DATA FIELDS S GPGSA Mode VDOP Mode a X XX XX XX XX XX XX XX XX XKX XX XX XX XX X XX X MT ole sti HD LI ti
29. lt LF gt 234 6 degrees from North Speed 75 3 knots Speed 139 5 km hr ALLSTAR User Manual Rev B 97 98 Chapter 5 Serial Data Interface 5 6 15 Time and Date UTC Time date and local time zone HEADER CONTENTS OF DATA FIELDS SGPZDA hhmmss ss Xx XxX XXXxX xXxX xx hh lt CR gt lt LF gt WWW io Local zone minutes description Peril A Local zone description Year month day UTC Example Time amp Date sentence SGPZDA 224512 45 12 01 2003 hh lt CR gt lt LF gt UTC 22 45 12 45 Date 12 January 2003 Local zone GMT 1 Local zone minutes 00 59 Same sign as local hours 2 Zone description is the number of whole hours added to local time to obtain UTC Zone description is negative for East longitudes 00 13 hrs ALLSTAR User Manual Rev B Chapter 6 Quality Assurance Provisions 6 1 QA Conformance Testing The equipment is subjected to testing in accordance with this section to demonstrate compliance with this specification Production tests are those tests which are conducted on each production equipment prior to delivery 6 2 Standard Test Conditions Unless otherwise specified the equipment is subjected to the acceptance tests under the following conditions Temperature Room Ambient 25 deg C 10 deg C Altitude Normal Ground Vibration None Humidity Room Ambient 6 3 User Defined Tests The user is encouraged to design a customized test to ensure h
30. of an initiate link message block containing a valid password the receiver sends a message block back to the transmitter with its own password This command also cancels all previous data request messages within 2 seconds The receiver responds to the initiate link command within 300 msec ALLSTAR User Manual Rev B 39 Chapter 5 Serial Data Interface 5 1 4 Data Transmission In most cases the receiver is given command message blocks for which it responds with one or several blocks of data Typically the following sequence of events occur once the link is initiated The transmitter sends one or more message blocks to the receiver while keeping track of all message blocks that need to be acknowledged by the receiver The receiver searches out each message block sent by the transmitter and then compares its own checksum calculation with the value that was sent by the transmitter If the values match the receiver includes that particular ID in the acknowledge message block If the checksums are different the receiver does not include the ID Once all message blocks received during the last scheduled time interval are decoded a new acknowledge message block is built with all valid ID s received The acknowledge message is transmitted in the next available time slot For each individual message block transmitted the transmitter waits for its corresponding acknowledge message or produces a time out error if not acknowledged within 300 ms Th
31. operation 33 48 92 port 52 position velocity and time PVT 13 24 reprogramming 52 74 SRAM keep alive 33 stand alone nav 34 multipath 29 N navigation 2D 70 data 45 54 56 mode 12 34 82 satellites used 92 NMEA 65 70 72 97 noise 14 non operation mode 33 non volatile memory NVM 26 51 75 O operation 33 35 operation mode 48 92 options 10 ordering bit 37 outline 16 17 output configuration 73 P packaging 17 parameter receiver 35 76 performance 13 132 pin assignment 111 port 25 28 52 position accuracy 12 data 96 geographic 91 last 27 velocity and time PVT mode 13 waypoint 78 power antenna 23 connector 22 control 23 down 33 input 23 ALLSTAR User Manual Rev B level 29 transmit 30 up 35 preamplifier 23 Q quality 99 R rate 13 reacquisition 13 receiver parameter 76 88 sections 17 signal 95 status 45 60 61 reliability 18 reprogramming mode 52 74 request overflow 83 RF 23 31 109 rover 29 34 RTCM 63 64 A satellite acquisition 34 deselection 50 for navigation 92 health 45 61 in view 93 status 45 57 58 track 50 visibility 45 57 58 self test 20 33 71 84 sensitivity 30 serial communication 132 signal 13 14 size 17 software identification 45 58 59 reprogramming 127 129 software StarView 106 speed 96 97 SRAM keep alive mode 33 stand alone nav mode 34 STARBOX 107 109 StarV
32. or West Longitude N S North or South 3 Latitude Status UTC of position fix XXXXXX hh lt CR gt lt LF gt Date Example Recommended Minimum Specific GPS Data sentence SGPRMC 224512 45 A 2518 3847 S 08339 8367 E 003 8 311 5 080793 2E lt CR gt lt LF gt UTC 22 45 12 45 Status A Latitude 25x 18 3847 South Longitude 083x 39 8367 East Speed 3 8 knots Heading 311 5x from North Date 08 07 93 1 The track made good measured in clockwise from North direction at the current position Range 0 360 degrees 2 Longitude with respect to WGS 84 3 digit degrees 2 digit minutes 4 digit decimal fraction minutes 3 Latitude with respect to WGS 84 2 digit degrees 2 digit minutes 4 digit decimal fraction minutes 4 Status A Data Valid V Nav receiver warning 5 Date 2 digit day 2 digit month and 2 digit year ddmmyy 96 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 6 14 Track Made Good and Ground Speed Actual track made good and speed relative to the ground HEADER CONTENTS OF DATA FIELDS S GPVTG r xXXxK x T xXXxK xX N xxx x K hh lt CR gt lt LF gt IW Speed km hr Speed knots Track degrees True This message is sent at twice the requested update rate if the 2Hz PVT mode is active Example Track Made Good and Ground Speed Data sentence GPVTG 234 6 T Track 075 3 N 139 5 K 21 lt CR gt
33. starting on Page 107 ALLSTAR User Manual Rev B Introduction Chapter 1 1 1 Equipment Identification Using the DGPS base station receiver requires specific hardware equipment The required equipment and their part numbers or models are listed in Table 2 EQUIPMENT PART NUMBER OR NOMENCLATURE RECOMMENDED MODEL GPS Receiver 220 600944 00X Active Geodetic Antenna eens between 12dB and 36dB DPGS Receiving Antenna Any UHF antenna Receiving Modem GLB Model SN2RX96 450 1 Refer to Appendix D or contact Customer Service for our list of antennas sold separately Table 2 Equipment Identification 1 2 System Architecture Figure 2 below depicts the block diagram of the receiver assembly 3 DISCRETE I P S 1 DISCRETE UO 1PPS O P SERIAL LOGIC 1 0 NO 1 Jaen SERIAL CORRELATOR PONDS SERIAL IO NO 3 OPTIONAL Figure 2 Receiver Block Diagram ALLSTAR User Manual Rev B 11 Chapter 2 Receiver Specifications 2 1 Navigation Performance The position and velocity outputs meet the accuracies defined in Table 3 under the dynamic conditions of 500 m s and linear acceleration of up to 4 0 g Specified accuracies are achieved with a 95 probability Receiver Performance NAVIGATION RTK 2 SIGMA 95 ACCURACIES optional Horizontal Position 30 m 2m 0 2 m Ground Speed 0 13 m s 0 05 m s 0 05 m s Track Angle True 1 0 deg 0 1 deg 0 1 deg Vertical Speed 0
34. to the base Latency is affected by the data rate at the serial ports of all the equipment in the link as well as the over the air data rate The higher the data rates the lower the latency or age of DGPS corrections The higher the data rate the higher the number of updates or DGPS corrections per second ALLSTAR User Manual Rev B Installation and Verification Chapter 3 3 5 7 The Radio Frequency Used The radio frequency can have some effect on the link results Low frequencies tend to propagate better over terrain and higher frequencies tend to be more line of sight For a given amount of antenna gain higher frequency antennas are smaller in direct proportion to the frequency difference The higher gain antennas also tend to be less expensive at higher frequencies due to their smaller size At the higher frequencies above 400 MHz transmission line loss must be considered A run of 50 feet using an inappropriate cable can easily lead to a loss of half of your transmit power or more The same applies to the receive side of the link in terms of loss of effective receiver sensitivity Refer also to NovAtel s application note APN 003 RF Equipment Selection and Installation including extended length antenna cable runs 3 5 8 Frequency Selector Many DGPS links in North America are operated on a small group of unstable frequencies These frequencies can become congested in urban areas Most radios are synthesized and can be programmed to o
35. used to program the receiver It is recommended to stop any communication on the unused port for proper operation in programming mode F 5 Programming Utility The programming utility PROG EXE is used to 1 Set the receiver to programming mode if not already done 2 Erase the Operational S W 3 Transfer the new operational S W data to the receiver To verify if the operation has been done successfully type PROG at the DOS prompt to get help information on the utility Example C gt PROG PROGRAMMING UTILITY VERSION 1 104 lt This utility uses the serial port interrupt Example PROG UGPSO SUM 1 0 1 0 lt ENTER gt parameter 1 Operational S W filename parameter 2 PC Serial Port 1or2 parameter 3 0 BSCBinary 1 NMEA protocol parameter 4 Synchronisation baud rate 300 to 19200 parameter 5 Data transfer baud rate 300 to 38400 Baud Rate Code 0 38400 1 19200 2 9600 3 4800 4 2400 5 1200 6 600 7 300 Parameters 3 4 and 5 are optional and their default values are 0 1 0 F 6 PROGEXE Parameters The PROGEXE utility requires the following parameters PROG FILENAME COM MODE BAUD_RATE TRANSFER_B_R Parameters MODE BAUD_RATE and TRANSFER_B_R are optional and have the following default values FILENAME New receiver binary file provided COM PC Serial Communication Port presently used COM 1 1 COM 2 2 MODE Actual receiver operating mode Binary 0 default NMEA 1 128 ALLSTAR User Manual Rev B S
36. within 1 usec of UTC i Li I t D t I t I t l l I 1 l H t TIME MARK i USER i i t D D VALID NAV SOLUTION D I t H t t t D 1 i LAT LONG ALT TK GS NS EW VEL VERT SPD UTC USER TIME EPOCH GPS SOLUTION VALID Figure 8 GPS Timing Relationships 2 11 Serial Data Interface The receiver includes 2 standard serial input output interface ports COM1 and COM2 and one optional port Both COM ports operate independently with baud rates adjustable from 300 baud to 38 4 K baud COM 1 supports data input for receiver configuration and control and data output for example navigation results and receiver status COM2 supports data input roving unit mode or output base station mode for differential correction data ALLSTAR User Manual Rev B 25 Chapter 2 Receiver Specifications adhering to Reference 2 on Page 3 Both ports can be used for S W reprogramming please see Appendix F Software Reprogramming Mode starting on Page 127 See also Section C External Interface starting on Page 111 for the electrical characteristics 2 11 1 COM1 Port COM 1 supports communication using the Binary protocol Through specific binary messages COM1 is re configurable to communicate with a PC based user interface named StarView for extensive monitoring of SV tracking measurements and navigation status The default baud rate is 9600 but can be reconfigured see Message ID
37. 0 The message is output once per second upon Navigation Data user reception of a Message ID 20 request coordinates The latency on this message is less than 0 5 seconds The latency defined here refers to the time difference between the time tag of the computed position and the time of transmission of the first message byte 5 14 UTC Time HR MN SC GET E 5 bit 0 4 hour in day ule Es bit 5 time not corrected by UTC parameters peer 3 1 True 0 False double bit 6 7 reserved 6 minute in day 7 14 second in day Continued on Page 55 54 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 15 18 Date DY MO YR day gt byte byte 15 bits 5 7 Reserved month gt byte year gt word 19 26 Latitude radians double range P1 2 P1 2 27 34 Longitude radians double range P1 P1 35 38 Altitude m float 39 42 Ground Speed m s float 43 46 Track Angle radians float range P1 P1 47 50 Velocity North m s float 51 54 Velocity East m s float 55 58 Vertical velocity m s float 59 62 HFOM Height Figure of Merit see Page 12 m float 63 66 VFOM Velocity Figure of Merit see Page 12 m float 67 68 HDOP word N A resolution 0 1 units 69 70 VDOP word N A resolution 0 1 units 71 bits 0 4 NAV Mode N A N A 0 gt Init Required 1 gt Initialized 2 gt Nav 3 D 3 gt Alt Hold 2 D 4 gt Diff 3 D 5 gt Diff 2 D 6 Dead Reckoning bit 5 Solution Confi
38. 1 Pitcairn Astro 1967 International 185 165 42 Pitcairn Island 52 Qatar National International 128 283 22 Qatar 53 Qornoq International 164 138 189 Greenland South 54 Schwarzeck EE Leier Le 251 Namibia Argentina Bolivia Brazil Chile Colombia Ecuador 55 South American 1969 South_America_1969 57 1 41 Guyana Paraguay Peru Trinidad amp Tobago Venezuela 56 South American 1969 South_America_1969 60 2 41 Brazil 57 South American 1969 South_America_1969 44 6 36 Colombia 58 South American 1969 South_America_1969 45 8 33 Venezuela 59 South Asia Modified Fisher 1960 7 10 26 Singapore 60 Tananarive Observatory 1925 International 189 242 91 Madagasgar 61 Tokyo Bessel_1841 148 507 685 Japan 62 Tokyo Bessel_1841 128 481 664 Mean Value 63 WGS 1972 WGS 72 0 0 0 Global definition E 2 Ellipsoid Description Table Ellipsoid name Airy Airy_modified Australian_National Bessel 1841 Bessel 1841 in Namibia Clarke 1866 Clarke 1880 Everest Sabah amp Sarawak ALLSTAR User Manual Rev B Semi major axis Lal 6377563 3960 6377340 1890 6378 160 0000 6377397 1550 6377483 8650 6378206 4000 6378249 1450 6377298 5560 Inverse flattenning 1 f 299 324964600 299 324964600 298 250000000 299 152812800 299 152812800 294 978698200 293 465000000 300 801700000 125 126 Everest 1830 Everest 1948 Everest 1956 Everest_Modified GRS 80 Hel
39. 147 593 1 Power Supply Adapter 120VAC to 12VDC 504 990147 682 1 ALLSTAR and or SUPERSTAR User s Manual 1826 1127 1 Schematic and Description of the Development Kit a The last 3 digits of the part number corresponds to the GPS Receiver Part Number which depends on the connector type and software options Please refer to the price list for a full description ALLSTAR User Manual Rev B 100 A3 Development Kit Setup and Operation GPS Development Kit TIME St MARK DGPS 1 8 RESET Trrrersic e ON a WU POWER TIME MARK ACTIVE aie DGPS ACTIVE S17 RESET ANTENNA SUPPLY ON OFF FLASH PROGRAMMING MODE ON OFF DISC IP2 DISC 101 DISC 102 DISC IP3 Figure 9 Development Kit Front Panel A 4 Setup Refer to the installation procedure to install the StarView software AAT Normal Setup For normal operation of the Development Kit DIP switches S1 must be set as follows S1 1 to S1 5 set to OFF S1 6 to S1 8 set to ON and the reset push button must be not be pressed in See Figure 9 on Page 101 and Figure 10 on Page 102 when following these instructions 1 Connect the Development Kit COM serial port labelled PORTZ to an IBM compatible computer PC serial port 2 Connect the Development Kit COM2 serial port labelled PORT2 to an RTCM SC 104 DGPS correction receiver if available 3 Connect the GPS Antenna t
40. 39 405 60 Ethiopia Eritrea 32 Merchich Clarke_1880 31 146 47 Morocco 33 Minna Clarke_1880 92 93 122 Nigeria 34 Nahrwan Clarke_1880 247 148 369 Oman Masirah Island 35 North American 1927 Clarke_1866 5 135 172 Alaska Antigua Barbados Bermuda Caicos Islands Cuba 36 North American 1927 Clarke_1866 3 142 183 Dominican Republic Grand Cayman Jamaica Turks Islands 37 North American 1927 Clarke _1866 10 158 187 Canada 38 North American 1927 Clarke_1866 go Ur Vigs Sanada Aberta British Columbia 39 North American 1927 Clarke_1866 9 157 184 Canada Manitoba Ontario Canada New Brunswick 40 North American 1927 Clarke_1866 22 160 190 Newfoundland Nova Scotia Quebec 41 North American 1927 Clarke_1866 4 159 gg Carada Northwest Territories Saskatchewan 42 North American 1927 Clarke_1866 7 139 181 Canada Yukon 43 North American 1927 Clarke _1866 0 125 201 Canal zone 44 North American 1927 Clarke_1866 0 125 194 Central America 45 North American 1927 Clarke_1866 12 130 190 Mexico 46 North American 1983 GRS 80 0 0 0 Alaska Canada CONUS Central America Mexico 47 Old Egyptian 1907 Helmert_1906 130 110 13 Egypt 124 ALLSTAR User Manual Rev B 48 Old Hawaiian Clarke_1866 61 285 181 Hawaii Kauai Maui Oahu 49 Oman Clarke 1890 346 1 224 Oman England Isle of Man 50 Ord Survey G Britain 1936 Airy 375 111 431 Scotland Shetland Islands Wales 5
41. 4x Azimuth 53x SNR Not tracked PRN 27 Elevation 43x Azimuth 178x SNR 12 dB 1 Azimuth range 000 to 359 degrees 2 Elevation range 00 to 90 degrees 3 SNR C No 00 99 dB null when not tracking ALLSTAR User Manual Rev B 93 Chapter 5 94 Serial Data Interface Example SGPGSV 2 2 06 15 23 187 8 2 17 35 323 11 4E lt CR gt lt LF gt Messages 2 Msg No 2 SV Visible 6 PRN 15 Elevation 23x Azimuth 187x SNR 8 dB PRN 17 Elevation 35x Azimuth 323x SNR 11 dB ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 6 12 MSS MSK Receiver Signal Status This message sent the information about the Signal To Noise ratio and signal strength frequency and bit rate from a MSK Beacon receiver This message is transmitted at the rate set in the input message GPCAGMSK HEADER CONTENTS OF DATA FIELDS MSS x hh lt CR gt lt LF gt Beacon bit rate 25 50 100 200 bits per second at edn radiobeacon frequency Signal to Noise ratio SNR dB Signal Strength SS dB re luV m 285 5 325 0 kHz x 4 x x PoR ALLSTAR User Manual Rev B 95 Chapter 5 Serial Data Interface 5 6 13 Recommended Minimum Specific GPS Data Time date position course and speed data HEADER CONTENTS OF DATA FIELDS S GPRMC nhmmss ss A 1111 1111 a yyyyy yyyy a xxx xX XxXxX X Track Speed knots E W East
42. 5 C Optional extended temperature range 40 C to 85 C e 1 PPS Output aligned on GPS Time 200 ns e 1 2 5 or 10 Hz Measurement Output Aligned on GPS Time e Support for 62 predefined datums e Upgradeable software stored in Flash memory via the RS 232 serial port e Code and Carrier tracking of L1 GPS frequency for increased accuracy e Retention of satellite almanac and ephemeris data in non volatile memory for rapid time to first fix TTFF after power interruption e Very fast signal reacquisition due to signal masking obstruction or vehicle attitude e Two serial input output data ports One is for host communication The second one is for differential data output in base mode and data input in receiver mode Both can be used for the maintenance reprogramming mode e On board rechargeable lithium battery optional Custom Application Optional Features e Spare CPU time e Third serial input output data port e Memory expansion FLASH EEPROM and SRAM memories e 2 Hz and 5 Hz PVT Output Optional The receiver is available in 3 formats e as an OEM board e within the Development Kit e within the STARBOX casing The Development Kit is an equipment set permitting easy evaluation of the receiver A full description of this kit is provided in Appendix A Development Kit starting on Page 100 The STARBOX casing is a special packaging of the receiver A full description of the STARBOX is provided in Appendix B STARBOX
43. 5 satellite measurements H High Navigation solution is obtained from at least 5 satellite measurements 2 Navigation modes 3DD 3 D fix with differential aiding 3 D 3 D fix 2DD 2 D fix constant altitude with differential aiding 2 D 2 D fix constant altitude D R Dead Reckoning INI Initialized Last good fix or external initialization NCD No Computed Data Fix data is not valid and should be ignored The ALLSTAR doesn t have a valid time and or a valid position from Last good fix or external initialization 82 ALLSTAR User Manual Rev B Serial Data Interface 5 6 2 Data Request List Overflow Returned when more than 8 data requests are pending Chapter 5 HEADER CONTENTS OF DATA FIELDS SPMCAG 901 hh lt CR gt lt LF gt Example SPMCAG 901 4C lt CR gt lt LF gt ALLSTAR User Manual Rev B 83 Chapter 5 5 6 3 Self Test Results Message Serial Data Interface Result of ALLSTAR OEM self test This message is automatically outputed in response to an initiated BIT self test request see input message identifier 003 This message can also be requested through input message identifier 004 to retrieve the current status of the engine without initiating a self test sequence HEADER CONTENTS OF DATA FIELDS SPMCAG 902 SW Part Number XXXXXX XXX a aaaa xx xx hh lt CR gt lt LF gt Faults Identifier nb of active faults Engine Selftest Result SW revision letter
44. 90144 791 26db GPS Pre Amplifier Antenna AT575 68 Rev F Figure 19 GPS Antenna AT575 104 1575 MHz and AT575 68 Pre Amplifier 120 ALLSTAR User Manual Rev B mig fent 18 Th COPIED ACPRODUCED OL OTHER GE LUMI NUM INNED CC NOMINA NOMINA NOMINAL CAPAC ATTENUATION STRAIGHT TAC MALE RIGHT A BNC NALE STRAIGHT STRAIGHT TNC MALE STRAIGHT BNC NALE STRA CME CANADIAN MAR COMPANY MONTREAL CANADA A 6 Figure 20 Coaxial Cable Assembly ALLSTAR User Manual Rev B 121 GME CANADIAN MARCONI COMPANY E E TPT ES MONTREAL GUEBEC Canada SAT EA HINTON MO MT Figure 21 RF Micro Cable 122 ALLSTAR User Manual Rev B DIe Z2TOAR Supported Datum List E 1 DATUM Description Table NAME ELLIPSE DX DY BYA COUNTRIES 0 WGS 1984 WGS 84 0 0 0 Global definition 1 User Defined 1 2 User Defined 2 3 Adindan Clarke_1880 161 14 205 Sudan 4 Are 1950 Clarke_1880 Bas eng e D eee Cee E 5 Arc 1950 Clarke_1880 169 19 278 Zaire 6 Arc 1960 Clarke_1880 160 6 302 Kenya Tanzania 7 Australian Geodetic 1984 E 134 48 149 Australia Tasmania 8 Bogota Observatory International 307 304 318 Colombia 9 Campo Inchauspe International 148 136 90 Argentina 10 Cape Clarke_1880 136 108 292 South Africa 11 Carthage Clarke_1880 263 6 431 Tunisia 12 Chatham Island Astro 1971 International CN
45. ALLSTAR USER S MANUAL or DGPS BASE or RT STAR for P N 220 600944 0XX DRAFT Specification are subject to change Manual No OM 20000080 Rev OB July 07 2003 ELECTROSTATIC DISCHARGE ELECTROSTATIC DISCHARGE This equipment contains components which are sensitive to damage by electrostatic discharge ESD Modules containing components sensitive to ESD are identified on the module by a label bearing an ESD marking When these modules have to be replaced and returned for service the following precautions should be observed 1 2 3 Handle the modules as little as possible Do not touch the leads pin or tracks while handling Keep spare modules in the ESD protective packing until ready for use Discharge static before handling modules removal or replacement by touching a grounded metallic surface such as rack or cabinet hardware Use of wrist strap grounded through a one mega ohm resistor is preferred when handling modules This ground should be the same as the equipment ground Do not slide static sensitive modules over any surface Clothing must not come in contact with components or assemblies Short sleeves are preferred if long sleeves are worn then should be rolled up Package parts properly for storage or transportation Modules which are removed from the equipment should be placed into ESD protective packing immediately Do not place any paper card or other plastic inside the ESD protective packing W
46. B LNA on board For this reason an Active 12dB is more than adequate antenna with 26 dB and 36 dB may overdrive the RF input of the GPS Receiver if used with a short cable between the Antenna and the Receiver Table 18 lists the active antennae which could be used with any of the GPS receivers Table 18 Recommended Active Antennae Typical Applications Part Numbers Supplier Part Numbers AVL This antenna is currently supplied with ALLSTAR and the SUPERSTAR development kit The lowest cost available for AVL 201 990146 716 MCX connector amp 6 meter cable 201 990146 789 BNC connector amp 6 meter cable 201 990148 152 TNC connector amp 6 meter cable 201 990147 432 TNC Female Bulk head AT575 70W 12dB AT575 104W 12dB Marine application 201 990144 807 TNC Female Bulk head AT575 68W 12dB lt Prices and availability can be found in the latest GPS OEM Price List You can request this list by sending an e mail to the GPSMARKET the exact e mail address is supplied in Appendix G of this document For RTK applications where centimeter level accuracy is required it is strongly recommended to use an active geodetic GPS antenna if possible In the event where the cable length between the receiver and the antenna is very short less than one meter a passive antenna could then be considered Table 19 on Page 116 lists the specifications for recommended Passive Antennae patch itself ALL
47. CPU to Receiver Message Types There are 5 types of messages Dummy Message ID 0 Reserved Initiate Link ID 63 This is the first message sent by the transmitter upon entering the protocol It informs the receiver that communication is desired A password is encoded in the message If the receiver was already transmitting data this message interrupts all output messages and waits for new data request messages See also Message ID 63 on Page 46 Data Request DR Messages Request the receiver to turn on off the transmission of broadcast data or to transmit data only once The MSB of the Message ID indicates the type of request with 1 to turn on broadcast and 0 for once only or to turn off the broadcast ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 1 3 Command Messages Request a particular receiver action other than a data request The MSB of the Message ID may be used to set the receiver to Normal mode MSB 0 or to Special mode MSB 1 Data Messages Any message containing data to be saved in receiver memory or processed by the ALLSTAR Receiver to Host CPU Message Types There are 6 types of messages All data is sent in receiver internal format Dummy Message ID 0 Reserved Initiate Link ID 63 This is the response to the transmitter initiate link message See also Message ID 63 on Page 63 Acknowledge Message ID 126 All transmitter messages are acknowledged by t
48. Cl Ee BE Chatham 13 Chua Astro International 134 229 29 Paraguay 14 Corrego Alegre International 206 172 6 Brazil Austria Belgium Denmark Finland France West Germany Gibraltar Greece 15 European 1950 International 87 98 121 Italy Luxembourg Netherlands Norway Portugal Spain Sweden Switzerland 16 European 1950 International 104 101 140 Cyprus 17 European 1950 International 130 117 151 Egypt England Channel Islands 18 European 1950 International 86 96 120 Ireland Scotland Shetland Islands 19 European 1950 International 117 132 164 Iran 20 European 1950 International 97 88 135 Italy Sicily Austria Findland 21 European 1979 International 86 98 119 Netherlands Norway Spain Sweden Switzerland ALLSTAR User Manual Rev B 123 22 Geodetic Datum 1949 International 84 22 209 New Zealand 23 Hjorsey 1955 International 73 46 86 Iceland 24 Hong Kong 1963 International 156 271 189 Hong Kong 25 Hu Tzu Shan International 637 549 203 Taiwan 26 Indian 1954 Everest 1830 218 816 297 Thailand Vietnam 27 Ireland 1965 Airy_modified 506 122 611 Ireland 28 Kertau 1948 Everest 1948 11 851 5 West Malaysia amp Singapore 29 Liberia 1964 Clarke_1880 90 40 88 Liberia 30 Luzon Clarke_1866 E EE cok EE Mindanao 31 Massawa Bessel_1841 6
49. Current channel assignment data request DR 6 20 Navigation data request user coordinates DR 6 21 Navigation data request GPS coordinates DR 6 22 Ephemeris ICD GPS 200 format request DR 6 23 Measurement block data request DR 7 33 Satellite visibility data and status request DR 6 43 DGPS configuration request DR 6 45 Software identification request DR 6 47 Base station status request optional DR 6 48 Differential message status request DR 6 49 Receiver status request DR 6 50 Satellite health summary request DR 6 51 Initiated BIT request DR 7 63 Initiate link PM 14 64 Set channel deselection CM 16 65 Raw DGPS data request optional CM 6 77 Update almanac CM 6 78 Common almanac data transfer CM 21 79 Specific almanac data transfer DM 79 80 Set user s position operating mode CM 38 81 Set mask angle CM 18 82 Transmit DGPS data message CM see note D 83 Set DGPS configuration CM 27 84 Set tropospheric model use CM 14 85 Set beacon receiver status CM DR 11 86 Set mean sea level model use CM 14 Continued on Page 44 ALLSTAR User Manual Rev B 43 Chapter 5 Serial Data Interface 88 Select define datum to use CM 38 90 Set SV deselection CM 18 91 Differential message configuration optional CM 8 95 Track SV request CM 19 99 Erase NVM CM 14 103 Set date time and GPS time alignment mode CM 21 105 Set default binary message list CM 30 110 Configure COM1 mode CM 7 112 Switch to r
50. EEEEEN ENEE Add 3 Equipment Identification 22 00 ccceecccceeeessccceceeeeeeeceeeeeneeceeceeeneececeeesseaeeeesnsaeeaeeesaseeaeeeesneneaeesenneaaaes 11 Position and Velocity Outputs issiesnisicsi iieii inei ieii eiia aa idas 12 Environmental Categories ccccccccscecceeeeeeeeneeeeeeeeeeeeaeeseeeeeeceaaeegeneeecaaeeedeaeeeseaaesseaaeesecaeeeseaeeeees 19 Power Mp t sinda eile Li eee eddy ial en ie ENNEN 23 Non Volatile Memory Data c cece radiani tien ee tent eee AT A eee enna eee entrada eee eeenaeeeeeeenaeeeeneeea 27 GOM1 Port Input Messages EE 67 Bad Rate Sele Ctho ie eet Eeer ee elteren dE EE SEA 68 PMCAG 007 Elements eegene Ee Ee Ae haves nie ted ENEE Ee 75 COM1 Port Output Sentences 0 cececceeeceeeeeeeceeceeeeeeeaeeceaaeeeeaaaecaeeeeeeaaesseaeeeseaaaesseeeeesaeeeeeneees 81 STARBOX DB 25 Connector Pinout ccecceeceeececeeeee cence eeeeaeeeeeeeeecaaaeeeceeeesaaaeeeeaaeesneaeeeeeneeesaas 108 J1 and J3 Interfaces and Power Connector Pin Assignment 2 ccccceeceeeeeeeeeeeeteeeeeeeeeaeeeeees 111 ee GIE Voltage CEET 112 Coaxial Cable Specifications ccccccceccecceccecesesceeceeeeeeeaaeeeeeaeeseaaeeeeaeeseseaaeeseaeeeseaaeeeseeeseesaeeneanes 113 Antenna Gain Depending on Cable Length Required ccccscecceeeeceeeeeeceeneeeeeneeeeeeneeeenaeeeees 114 Typical Current Consumption Versus Antenna Gain cccceeceeeeeceeeeeeeeeeeeeceaeeeeeeeeeseaeeeeeeeeeees 114 Recommended Geodetic Acti
51. ENNA TECHNOLOGY 1000 OPTIONAL SPECIFICATION FREQUENCY 1575 Mis 410 Mite POLARIZATION ACAL RATIO DO 160C ENV CAT F2 AB CLY XSFDFSXOO00KK2AC ARINC 743 MR STD 810C MR E 5400 ML C 5541 MIL E 5272C CMC PART NUMBER 201 990147 684 12db Outline Drawing GPS Antenna 1575 MHz AT575 32 Rev E Figure 16 GPS Antenna AT575 19 Pre Amplifier and AT575 32 ALLSTAR User Manual Rev B 117 PHASE CENTER L1 3 035 77 089MM jt San E 118 P IMPEDANCE VSWR BAND REJECTION POWER HANDUNG FINISH WEIGHT ALTITUDE OPERATING TEMP DESIGNED TO IFICATION 575 MHz 5 MHz RIGHT HAND CIRCULAR 3 dB MAX 4 0 dBic 1 0 dic Oe 2 5 dBle 75 lt 45 dBic 8T lt 7 5 d ie 2 5 dB MAX 50 OHM 2 021 35 gp 1 WATT POLYURETHANE ENAMEL COLOR WHITE 10 Lbs MAX 20 000 55 C TO 85 C DO 160C AT575 90X XXXX XXX XX XX XX 1 14 UNC amp 3 4 NPT NTPF FEM 0000 NO TERMINATION CABLE LENGTH 000 IN INCHES OPTION NOT AVALIABLE GAIN 2 db 00 PASSIVE 12 12 DB 20 mA 26 26 db 55 mA 36 36 db 50 mA XX OTHER VOLTAGE 00 PASSIVE 05 5 voc RG 5 TO 18 VOC XX OTHER WITH THIS MODEL STANDARD MODEL ATS75 90W TNCF 000 05 26 NM NOTES UNLESS OTHERWSE SPECIFIED 1 LOGO OPTIONAL 2 SIZE SHAPE AND CONTENTS OF NAMEPLATE ARE SUBJECT TO CHANGE WITHOUT NOTICE Outline Drawing AT575 90 Rev E AT575 75TX XXXX XXX XX XX X
52. L Alarm Limit ASCII American Standard Code for Information Interchange BIT Built In Test bps Bits per Second C A Code Coarse Acquisition Code CEP Circular Error Probable CMC CMC Electronics Inc C No Carrier to Noise Density Ratio CPU Central Processing Unit CR Carriage Return CRC Cyclic Redundancy Check CTS Clear To Send CW Continuous Wave dB Decibel dBm Decibel Reletive to 1 milliWatt DGNSS Differential Global Navigation Satellite System DGPS Differential Global Positioning System DOP Dilution Of Precision DSP Digital Signal Processor DSR Data Set Ready DTR Data Terminal Ready ECEF Earth Centered Earth Fixed EEPROM Electrically Erasable Programmable Read Only Memory EGNOS Europian Geo Stationary Navigation System EMC Electromagnetic Compatibility ESD Electrostatic Discharge FOM Figure of Merit 139 ALLSTAR User Manual Rev B Appendix J 140 GDOP GIC GMT GND GPS HDOP hex HFOM HTDOP Hz Ic ICD IEEE IF IM I O IODE IRQ LF LHCP LNA LO Isb msb ms MHz MSL MTBF NAVSTAR NCO NMEA ns Acronyms Geometric Dilution Of Precision GPS Integrity Channel Greenwich Mean Time Ground Global Positioning System Horizontal Dilution Of Precision Hexadecimal Horizontal Figure of Merit Horizontal position and Time Dilution Of Precision Hertz Integrated Circuit Interface Control Document Institute of Electrical amp Electronics Engineers Intermediate Frequency Intermodul
53. LF gt altitude2 mode1 Altitude hold mode OFF Altitude hold mode is disabled The ALLSTAR OEM never goes in 2D mode ON Altitude hold mode is active The ALLSTAR OEM is always in 2 D mode The specified Altitude is used AUTO Altitude hold mode is automatically selected when GDOP is only available in 2D mode 70 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 5 4 Initiated Bit Self Test Command This message requests a complete self test of ALLSTAR OEM Results of the engine self test are automatically output output message 902 on COM 1 at completion of the BIT selftest sequence HEADER CONTENTS OF DATA FIELDS SPMCAG 003 hh lt CR gt lt LF gt Example SPMCAG 003 47 lt CR gt lt LF gt ALLSTAR User Manual Rev B 71 Chapter 5 Serial Data Interface 5 5 5 Request Output Message Command 72 This message requests only one transmission of one NMEA output message HEADER CONTENTS OF DATA FIELDS SPMCAG 004 cce hh lt CR gt lt LF gt Sentence Identifier Example Request approved sentence GPGGA SPMCAG 004 GGA 2D lt CR gt lt LF gt 1 Valid sentence identifiers are those listed in Table 7 on Page 67 except Message ID 901 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 5 6 Set Output Configuration Command This message is used to configure the output of the COMI port It contains the input output COM1 baud rate and the list of me
54. Link Options 32 Many companies provide DGPS link products They can be used in the field with our products Wireless links have been extensively used for DGPS applications Features may include e Multiple channel selector switch e High receiver sensitivity e Built in preselector for image interference rejection e Powerful AX 25 and MX 25 protocol for repeating or network coverage e High speed 9600 bps operation e Fast turnaround time for tracking and AVL e Rugged water resistant packaging es 5 W and 25 W transmitters ALLSTAR User Manual Rev B Chapter 4 Operation 4 1 Receiver States 4 1 1 Non Operational States The receiver has two non operating modes OFF mode and SRAM Keep Alive mode The maintenance of the DC power on the SRAM will determine which of the two non operating modes will be automatically entered during the power down sequence 1 OFF Mode In OFF mode only the data contained in the NVM is retained for use when power is re applied See Section 2 12 Non Volatile Memory Data starting on Page 26 for details on retained data 2 SRAM Keep Alive Mode In SRAM Keep Alive mode specific data contained in the SRAM is retained to reduce the time to first fix when power is re applied Data retained in SRAM mainly consists of valid satellite ephemeris data not more than 3 hours old 4 1 2 Operational States The receiver has 6 operating modes Self Test Initialization Acquisition Navigation Dead Reckoning a
55. MAX aw 35 d 1 WATT zs OPTION NOT AVALIABLE WTH THIS MODEL FLUID RESISTANT POLYURETHANE ENAMEL STANDARD MODEL ATS75 70W SMAM 120 05 26 RM COLOR DARK GRAY RIGHT ANGLE CONNECTOR ADO R TO CONNECTOR NOTATION SMS FEMALE 522 900 0630H THIS OPTION AVAILABLE FOR CABLED ANTENNAS ONLY 5 OUNCES 20 000 TEMPERATURE 20 To 85 NOTES UNLESS OTHERWISE SPECFIED 1 LOGO OPTIONAL 2 SZE SHAPE AND CONTENTS OF NAME PLATE ARE SUBJECT TO CHANGE WITHOUT NOTICE CMC PART NUMBER 201 990146 789 BNCM CMC PART NUMBER 201 990146 7166 lt MCXM GPS Pre Amplifier Antenna AT575 70 Rev B SPECIFICATION FREQUENCY 1575 MHz 10 MHz POLARIZATION RIGHT HAND CIRCULAR AXIAL RATIO 3 dB MAX RADIATION COVERAGE 4 0 dBic 1 0 dic O lt O lt 2 5 dic 75 lt 8 e IMPEDANCE 50 OHM VSWR 0 531 POWER HANDLING 1 WATT FINISH WEATHERABLE POLYMER WHITE CONNECTOR TNC FEMALE WEIGHT 89 69 3 2 OUNCES ALTITUDE 20 000 TEMPERATURE 55C TO 85 C DESIGNED TO DO 160C ENV CAT F2 AB CLY XSFDFSXXXXXXXL2AC MIL STD 810C MIL C 5541 ich SS MIL E 5400 MIL E 5272C 5 8 LOCK NUT ACROSS FLATS 1 06 HEIGHT 250 o 7s 80 Outline Drawing GPS Antenna 1575 MHz AT575 97CA Rev Figure 18 GPS Antenna AT575 70 Pre Amplifier and AT575 97CA 1575 MHz ALLSTAR User Manual Rev B 119 SPECIFICATION 1575 Witz 10 MHz RIGHT HAND CIRCULAR 3 dB MAX 2 db 4 0 Bic 00 PASSVE 12 12 d 20 mA 26 26
56. NPUT se eve eel ENNEN eee ee ee ae 23 2 10 Time Mark Output 1 PPR 24 2 11 Serial Data Interface sinmoru eee ihe et eae eel 25 2 TL ASGOMTAP a TEE 26 2 0122 COM2 EE 26 2 12 Non Volatile Memory Data 26 3 Installation and Verification 28 321 Equipment REQUIFEG 3 eeu dee ideit e i a i r a e i cutive 28 3 2 Electrostatic DisCharge EE 28 3 3 Equipment Interconnection 0 2 2 eee ceeeeeeeeeee eee eeneeee eee eeeeeeeeeseaaeeeeeeeaaeeeeeeeeaaeeeeeeseeeeeeeeseneeeeeeeeeeaneees 28 3 4 Installation Considerations cccccceeeeeeeeeceeeeeeeeeeeeaeeeeceeeeeeaeeeeeeeeseaeeeeeaaeeseeeeeeeaaeeseeeeeeseeeseeeeees 28 3 451 Antenna Location 01 ree eee ae ee eee ee eee Re epee eee 28 3 4 2 Base Station Location 0 ec ee tee ceeece cence eeeeeeeeeaaeseneeeeeaaesecaeeecaaeeseeaaeeseaeeseeeaeeeneeeeeeaaeeneaes 28 3 4 3 Data Link ENEE See Seen eee Ue ede ah eddie ee eee ele A ee eee 29 3 4 4 Base Station and Rover Units Gepnaration nne 29 3 5 Choice of a Wireless DGPS Data Link 002 0 ceecececceeeeeeeeee cece eeeeeaeeseeeeeeeaaeeseeeeessaaaeseeeeeeseaeeneeeeees 29 SB Dsl RANG OL een eege he b sse tans beer SC 29 3 52 Terre A7 neta ied Mpa ead la edt aed ila ieee eel 30 3 5 3 Transmit Power and Receiver Sensitivity 0 ccccceececseeeeeeeeeeeeeaaeeeeeeeesaaeeeeeeeesecaeeeseaeeeeeas 30 3 5 4 Antenna Gain gees the ee A pte ean eae ee a 30 3 5 5 One Way vs Two Way Link cccccccceeeeeeeeeeeeeeeaaeeeeeeeeeeeaaeese
57. ONTENTS OF DATA FIELDS SPMCAG 008 15 a a a X X X a X X X UTC Time Resolution 1 13 X X hh lt CR gt lt LF gt DL Lat Long Resolution Reserved COM2 Port Baud Rate 1 gt Diff Coast Time 1 DGPS Mode E D 1 7 Datum Number Mask Angle 1s Tropospheric Model Use E D MSL Model Use E D GPS Time Alignment Mode E D 1 10 Number of elements Each of the parameters except the number of elements may be NULL the associated receiver parameter are left unchanged Example SPMCAG 008 15 E E 10 5 0 E 45 9 6 37 lt CR gt lt LF gt Ni NDAMA Ee Stored in NVM This parameter controls the number of digits that are transmitted for the fraction part of the UTC Time data in all NMEA messages The default value is 2 and the range is 0 to 9 This parameter control the number of digits that are transmitted for the fraction part of the latitude and longitude data in all NMEA messages The default value is 4 and the range is 0 to 5 All Reserved Fields are NULL Valid baud rates 0 3 0 6 1 2 2 4 4 8 9 6 19 2 in KBaud units 0 255 seconds This parameter is used to specify the datum that is used to express the position See Appendix E Sup ported Datum List starting on Page 123 Value between 0 0 to 90 0 degree At the next power up the ALLSTAR aligns its TIMEMARK pulse and GPS measurements on GPS time 10 This number indicates h
58. Overload Error 5 20 N A N A Message See also Page 39 126 5 ID of first message acknowledged N A N A Acknowledge Message 6 ID of second message acknowledged N A N A 7 ID of third message acknowledged N A N A 8 ID of fourth message acknowledged N A N A 9 ID of fifth message acknowledged N A N A See also Page 39 64 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 4 Supported NMEA Protocol 5 4 1 NMEA Message Format This section describes the serial protocol used to communicate with the Host CPU The serial communication runs under the following set up Speed 300 to 38400 bauds Format 8 bit data 1 start bit 1 stop bit no parity 10 bits character Data information passed on the serial line is divided in one or many NMEA approved or proprietary sentences having the following structure SPMCAG XXX XXX XX XX CK lt CR gt lt LF gt l End of sentence TR Checksum Checksum field delimiter Data 1st field msg identifier SE DEE EE Interface ID G GPS Serbs SS ee d EE areas Originator ID MCA Originator foe EE Ee eee ee Special ID P Proprietary SoS e esos sce so enee Record Sync Character lt The checksum field delimiter and checksum are optional The checksum is an 8 bit exclusive OR of all characters in the sequence including delimiters between but not including the and the delimiters ALLSTAR User
59. R User Manual Rev B 79 Chapter 5 Serial Data Interface 5 5 12 Command Message to the Radio Beacon This message is used to configure the set the frequency and bit rate parameters of the radiobeacon and also to set the rate of the output message MSS and PMCAG 903 HEADER CONTENTS OF DATA FIELDS MSK x ig p X X a X X hh lt CR gt lt LF gt Ela li sil Interval for sending PMCAG 903 and MSS msg 1 in seconds Auto Manual bit rate Beacon bit rate 25 50 100 200 bits per second Auto Manual frequency A M radiobeacon frequency 285 5 325 0 kHz Examples SGPMSK 308 0 M 25 A 010 71 lt CR gt lt LF gt Output Messages MSS and 903 transmitted every 10 seconds Set the frequency in manual mode and bit rate in automatic mode SGPMSK 308 0 M 25 M 010 7D lt CR gt lt LF gt Output Messages MSS and903 transmitted every 10 seconds Set the frequency at 308kHz and bit rate at 25 bps 1 When status data is not to be transmitted this field is null If not null the MSS and PMCAG 903 sentences are sent at the specified rate 80 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 6 NMEA Protocol Output Messages Table 10 lists all valid output sentences Table 10 COM1 Port Output Sentences Sentence identifiar oC Max Chars 900 Navigation Status 21 Adjustable 901 Data Request List Overflow 15 N A 902 Self Test Results 39 On Request 903 R
60. RSTAR 4 If you are not receiving expected messages from the ALLSTAR SUPERSTAR e Verify transmit message settings i e receiver s output configuration or requested message e Verify hardware and software part numbers are as per expected configuration e Restore default settings by sending a CLEAR NVM command to ALLSTAR SUPERSTAR e Read User s Manual see Chapter 5 Serial Data Interface starting on Page 37 describing message contents 5 Isolate suspected unit in your application e Substitute another ALLSTAR SUPERSTAR e Substitute another host hardware e Substitute another RF source i e antenna cable e Substitute another interconnect harness e Substitute alternate power source or isolate main power source from auxiliary power source for ALLSTAR SUPERSTAR e Make intermittent problems more repeatable i e by raising operating temperature varying power supply source re orienting hardware placement Be sure to note what make the problem worse lessens the problem e Are there any work arounds 6 Having gone through all the steps above contact Technical Support see Page 130 e Describe your problem be sure to include observations symptoms and environmental conditions for your application e Please supplement your problem event descriptions with associated log files e Give hardware part number and software part numbers including installed configurations e Customer support staff will give you
61. STAR User Manual Rev B 115 Table 19 Passive Antenna Specifications Patch Element Frequency 1575 MHz 2 MHz Polarization Right Hand Circular 4 0 dBic 0 degrees 1 0 dBic 0 lt elev Angle lt 75 Radiation Coverage 2 5 dBic 75 lt elev Angle lt 80 4 5 dBic 80 lt elev Angle lt 85 7 5 dBic 85 lt elev Angle lt 90 Connector TNC Female most common Other connectors also available Temperature 55 C to 85C Environmental DO 160C Lower cost antennae for higher volume applications or for more cost sensitive applications are available All GPS receivers manufactured by implementing a 20dB LNA on board For this reason in many cost sensitive applications it may be necessary to select one of the following passive antennas in conjunction with a low loss coaxial cable Table 20 lists the passive antennae which could be used with any of the GPS receivers Table 20 Recommended Passive Antennae Typical Applications Part Numbers Supplier Part Numbers The lowest cost available for AVL 201 990147 433 TNC Female Bulk head AT575 97CA 116 ALLSTAR User Manual Rev B Lie X Ada RECESSED FLAT HEAD SS 303 AT575 5 TYPE ANTENNA ATS75 19 TYPE ANTENNA jijiji ZEESR aa ERE p CABLE LENGTH 000 IN INCHES zs OPTION NOT AVALABLE WITH THIS MODEL STANDARD MODEL ATS75 32W TNCF COO RG 26 NM NOTES UNLESS OTHERWISE SPECIFIED A O RING AND 4 SCREWS SUPPLIED BY AEROANT
62. SW Variation Number root number Faults Identifier Description has to be converted in HEX format General Results 0 fail 1 Pass bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 7 Examples RAM Flash EEPROM UART Real Time Clock Correlator amp RF Reserved PMCAG 902 613913 042 A PASS 00 63 23 lt CR gt lt LF gt SPMCAG 902 613913 042 A FAIL 03 49 3B lt CR gt lt LF gt Faults in Flash EEPROM and UART sections 49 0x31 1 Engine self test result from the last initiated BIT PASS FAIL See also the opening paragraph above 84 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 6 4 Radiobeacon Proprietary Information This message is automatically outputed in response to an MSK request see input message identifier MSK HEADER CONTENTS OF DATA FIELDS SPMCAG 903 X X aa X X X X X X ie Gl x x x x hh lt CR gt lt LF gt reserved Null reserved Null reserved Null reserved Null SW Part Number root number Radiobeacon self test result Impulse noise count Radiobeacon Self Test 0 pass 1 fail bit 0 Antenna Fault detected bit 1 Battery Backed RAM Invalid bits 2 5 Reserved ALLSTAR User Manual Rev B 85 Chapter 5 Serial Data Interface 5 6 5 Bearing Distance and Delta Elevation to Waypoint Bearing distance and delta elevation to and location of a specified waypoint from present position T
63. TROSTATIC DISCHARGE 2 WARRANTY 2 FORWARD 3 1 Introduction 9 1 1 Equipment Jdenttceton reier eraai EA EAE IER ET OEE ORATE LEETE i 11 TD System Architect r eiiean auet Desay ny vasces aap aeaaea devas a aaa eer edd EAEE EE dE 11 2 Receiver Specifications 12 2 1 Navigation Performance ossai aiiis o iare iA EREE EEEE T ENE NEEE EUERE EEE EAEE TOR EEEE 12 PA Foure Or Merits aaa A ET woes tee O ads Sete 12 23 Time To First Fix T TFF jrcrr a e a a a need edits ai e 12 2 4 Receiver Hertormancge seakari iee atA paea ar ARE AKA aa Aei pasaian Ead kia iee deiga faa 13 2 5 Physical Characteristics musuia cee ov ave eed 15 2 5 1 Outline and Form Factor cccccececcececceceeeneeeeeeeeeeeeaeeceeaeeeeaaaeseeeeeeesaaeeseeeeesaaeseeeeessnaeeeseneees 15 2 5 2 Packaging Descriptio Naenae i eE TNE E e AAE 17 KEE a EE 18 2 7 Environmental and EMC Requirements eesseeeseeeeiesirresrrestrnsstnresnnrtnnnntnntstnestnnnstnnsstnnnsnnnnnnnnnn 18 2 8 Design ANd Construction eccececeeceenee eens eeeeeeee tees eeeeaaeeseaeeeeseaeeeeceeeesaaaesseeeeeseaeeeseeeeeseaeeneaeeees 20 2 8 1 Materials ProceSSeS and Parts 20 2 8 2 Equipment Markings a acena revii arraia KNEA rE haccchevbbacuet svvesdecastesbeaduteseeisdcccrtbvbaacasietns 20 2 8 3 Built In Test BIT REQuireMents ensorrar ia iin a aiiai ia iaa 20 2 8 4 Interchangeabllity ioraa a a tk Raina ea 20 2 9 Hardware Interface EE 20 2 9 1 Connectors and Connector Pins Aeslonment 21 2 9 2 Power I
64. The receiver weight limit is 1 76 ounces 50 grams maximum 2 The receiver size is Height total including components 0 55 1 4 cm Length 4 00 10 2 cm Width 2 65 6 7 cm ALLSTAR User Manual Rev B 17 Chapter 2 Receiver Specifications 2 6 2 7 18 Reliability A design goal of 55 000 hours mean time between failures MTBF for a Ground Fix environment is pursued through a robust design when the receiver is installed in an OEM unit offering reasonable environmental protection The high reliability is ensured through concurrent engineering practices covering all aspects of the electrical and mechanical design Attention is paid to all features that affect the producibility testability and maintainability of the assembly The MTBF calculation uses where possible models derived from past experience service and test which also account for failures due to causes other than piece parts When such data is not available the analysis procedure of MIL HDBK 217F is used assuming a 40 C ambient temperature inside the host unit Environmental and EMC Requirements The receiver operates within the performance requirements specified herein during and or after exposure to the following environmental and electrical conditions The receiver meets all specified requirements and provides performance and reliability under any natural combination of the service conditions outlined in Table 4 on Page 19 In normal operation the env
65. X TT MAGNET NM NO MAGNET 1M INTERNAL RM REMOVABLE HD HEAVY DUTY GAN _ 2 db 00 PASSIVE 12 12 db 20 mA 26 26 db 35 mA 36 36 db 50 mA XX OTHER VOLTAGE 00 PASSIVE 05 5 VDC RG 5 TO 18 VOC XX OTHER Co o 738805 d IN INCHES OPTION NOT AVAILABLE WITH THIS MODEL STANDARD MODEL AT575 75TW TNCF 000 RG 26 NM CMC PART NUMBER 201 990146 888 12db CMC PART NUMBER 201 990147 607 26db CMC PART NUMBER 201 990147 680 36db SPECIFICATION 1575 MHz 2 MHz RIGHT HAND CIRCULAR O 3 dB MAX 4 0 d s 35 dB 1625 MHz 1 WATT MATERIAL GELOY XP1001 WEATHERABLE POLYMER CONNECTOR SEE TABLE WEIGHT 13 OUNCES MAX ALTITUDE 12 000 TNC FEMALE CONNECTOR 1 14 UNS 2B THREAD 5 8 11 ADAPTER OPTIONAL OPERATING TEMP DESIGNED TO NOTES UNLESS OTHERWISE SPECIFIED 40C TO 70 C 00 160C 1 SIZE SHAPE AND CONTENTS OF NAMEPLATE ARE SUBJECT TO CHANGE WITHOUT NOTICE 2 LOGO OPTIONAL CMC PART NUMBER 201 990146 887 12db CMC PART NUMBER 201 990147 606 26db CMC PART NUMBER 201 990147 679 364b Outline GPS Antenna AT575 75T RevA Figure 17 GPS Antenna AT575 90 and AT575 75T ALLSTAR User Manual Rev B SPECIFICATION FREQUENCY 1575 Wis 42 Wiz POLARIZATION AXIAL RATIO on RA RADIATION COVERAGE 00 PASSIVE 12 12 amp 20 mA 26 26 amp 35 mA ob 50 mA XX OTHER VOLTAGE 37 VOC 10 BIASED THROUGH 50 oa CONNECTOR 30 mA
66. YNC_B_R Synchronisation Baud Rate 38400 0 19200 1 default 9600 2 4800 3 2400 4 1200 5 600 6 300 7 lt This baud rate will be used by the receiver to start data exchanges with the Programming utility when in Programming mode TRANSFER_B_R Data Transfer Baud Rate see SYNC_B_R description for possible values Default Value 0 38400 F 7 Programming Utility Algorithm Programming utility performs the following tasks 1 Verify the parameter values 2 Verify the receiver binary file validity Send the input message PMCAG006 MODE 1 or Message ID 112 MODE 0 at the specified baud rate SYNC_B_R parameter Wait for w character SYNC_B_R 9 Start amp Verify Erase process Change communication baud rate to the TRANSFER_B_R value Ek O E e Start and Verify Programming process Examples If the receiver is forced into programming mode via the DISC_IP_1 input pin only the following command is necessary PROG FILENAME 1 if COM 1 in use see Default Value for other parameters If the receiver is in NMEA mode 9600 PROG FILENAME 1 1 2 0 This forces the utility to send NMEA message PMCAG 006 on COM 1 9600 and to transfer the binary data 38400 If the receiver is in Binary mode 19200 and wish to set the transfer baud rate 19200 PROG FILENAME 1 0 1 1 If the receiver sends w characters 4800 PROG FILENAME 1030 In programming mode the MODE parameter is no longer important and can
67. _0 Right Ascension range 2 0 23 2 0 23 m 2 0 23 1 0 2 0 23 x resolution 2 0 23 x Coarse_Root_A Semi Major Axis range 2525 0 2 0 24 1 0 2 0 11 resolution 2 04 11 N A seconds seconds per second radians radians radians N A double double precision double double double double 47 Chapter 5 Serial Data Interface 54 61 Coarse_Omega_Dot Rate of Right Ascension range 2 0 15 2 0 38 radians per doubl mt 2 0 15 1 0 2 04 38 a second eu resolution 2 0 38 x 62 69 Coarse_Del_i Angle of Inclination relative to 0 3370 range 2 0 15 2 04 19 m 2 0 15 1 0 2 0 19 x resolution 2 04 19 a radians double 70 77 Coarse_e Eccentricity range 0 0 03 double resolution 2 04 21 80 Set Operating Mode 5 12 Password UGPS XXxX in ASCII format U N A character first char 8 where XXX 000 Set User Position AllStar compatible see below ROO Force to Rover Mode position not saved GSP Get Survey Position BYY Set Base Position and Base Information SYY Force to Survey Mode where YY bytes 11 12 Station ID and Station Health bits 0 9 Station ID 10 bits 1 1023 bits 10 12 Station Health as per RTCM bits 13 15 Reserved 13 20 Interpreted field 000 BYY Altitude Ellipsoid m double SYY Survey Time 0 0 48 0 hours double ROO GSP Don
68. a two character talker identifier and a three character sentence formatter For proprietary sentences composed of the character P HEX 50 followed by a three character manufacturer identification code Almanac a set of orbit parameters that allows calculation of approximate GPS satellite positions and velocities The almanac is used by a GPS receiver to determine satellite visibility and as an aid during acquisition of GPS satellite signals Attenuation reduction of signal strength Azimuth the horizontal direction of a celestial point from a terrestrial point expressed as the angular distance from 000x reference clockwise through 360x The reference point is generally True North but may be Magnetic North or Relative ship s head Bearing the horizontal direction of one terrestrial point from another terrestrial point expressed as the angular distance from a reference direction usually measured from 000x at the reference direction clockwise through 360x The reference point may be True North Magnetic North or Relative ship s head Carrier the steady transmitted RF signal whose amplitude frequency or phase may be modulated to carry information Checksum by NMEA standard a validity check performed on the data contained in the sentences calculated by the talker appended to the message then recalculated by the listener for comparison to determine if the message was received correctly Required for some sentenc
69. adiobeacon Proprietary Info 40 WEE via 906 Bearing Distance amp Delta Elevation to waypoint 77 Adjustable 907 User Position MGRS Format 57 Adjustable 908 Receiver Parameter Status 60 On Request GGA Global Positioning System Fix Data 82 Adjustable GLL Geographic Position Latitude Longitude 51 Adjustable GSA GPS DOP and Active Satellites 66 Adjustable GSV GPS Satellites in View 3 70 Adjustable MSS MSS MSK Radiobeacon Receiver Signal Status 29 eee RMC Recommended Minimum Specific GPS Data 69 Adjustable VTG Track Made Good and Ground Speed 37 Adjustable ZDA UTC Time amp Date and local time zone 39 39 Adjustable a The message can be longer in the future software release see message description b This message is sent at twice the requested update rate if the 2Hz PVT mode is active c This message is sent at five times the requested update rate if the 5Hz PVT mode is active ALLSTAR User Manual Rev B 81 Chapter 5 Serial Data Interface 5 6 1 Navigation Status This message provides the current navigation mode and GPS fix quality indicator HEADER CONTENTS OF DATA FIELDS SPMCAG 900 ccc c hh lt CR gt lt LF gt GPS Fix Quality Indicator Navigation mode Example SPMCAG 900 3 D H 5F lt CR gt lt LF gt Navigation Mode 3 D fix GPS Fix Quality Obtained from at least 5 SVs 1 GPS Fix Quality Indicator L Low Navigation solution is obtained from less than
70. are required to determine location and altitude Three dimensional 3D navigation navigation mode in which altitude and horizontal position are ALLSTAR User Manual Rev B 137 138 determined from satellite range measurements Time To First Fix TTFF the actual time required by a GPS receiver to achieve a position solution This specification will vary with the operating state of the receiver the length of time since the last position fix the location of the last fix and the specific receiver design Track made good the single resultant direction from a point of departure to a point of arrival or subsequent position at any given time may be considered synonymous with Course Made Good True bearing bearing relative to true north compass bearing corrected for compass error True heading heading relative to true north Two dimensional coverage hours the number of hours per day with three or more satellites visible Three visible satellites can be used to determine location if the GPS receiver is designed to accept an external altitude input Two dimensional 2D navigation navigation mode in which a fixed value of altitude is used for one or more position calculations while horizontal 2D position can vary freely based on satellite range measurements Undulation the distance of the geoid above positive or below negative the mathematical reference ellipsoid spheriod Also known as geoidal separation geoidal undul
71. as i e HEX 2C2C or for the last data field in a sentence one comma followed by either the checksum delimiter HEX 2A or the sentence delimiters lt CR gt lt LF gt HEX ODOA Note the ASCII Null character HEX 00 is not to be used for null fields Obscuration term used to describe periods of time when a GPS receiver s line of sight to GPS satellites is blocked by natural or man made objects Origin waypoint the starting point of the present navigation leg expressed in latitude and longitude P Code precise or protected a spread spectrum direct sequence code that is used primarily by military GPS receivers to determine the range to the transmitting GPS satellite Uses a chipping rate of 10 23 MHz ALLSTAR User Manual Rev B PDOP Position Dilution of Precision A numerical value expressing the confidence factor of the position solution based on current satellite geometry 3D position latitude longitude height is unknown The lower the PDOP value the greater the confidence factor PRN Pseudo Random Noise number the identify of the GPS satellites as determined by a GPS receiver Since all GPS satellites must transmit on the same frequency they are distinguished by their pseudo random noise codes Parallel receiver a receiver that monitors four or more satellites simultaneously with independent channels Precise Positioning Service PPS the GPS positioning velocity and time service which
72. as follows 1 If the character received when expecting the start of a block is not a SOH then it ignores the character and continues to search for a SOH 2 Once a SOH is found the receiver assumes that the next two bytes are a valid block ID number and complement 3 If they are complements then it assumes that the packet has begun and the search for the next SOH starts after the checksum even if the checksum is invalid If they are not complements it continues to search for a SOH from the location of the block ID number ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 1 6 Checksum Calculation Rules The 16 bit checksum is defined as the 16 bit sum of all the unsigned 8 bit bytes starting at the beginning of the header any overflow or carry over to the 16 bit sum is discarded immediately Therefore it adds unsigned bytes to produce a 16 bit result For example a valid initiate link message can be SOH ID COMPL ID LENGTH U G P S 0 0 0 CKSUM LSB CKSUM MSB SYNTAX DI 63 192 08 85 71 80 83 45 48 48 48 772 DECIMAL 01H 3FH COH 08H 55H 47H 50H 53H 2DH 30H 30H 30H 04H 03H HEXADECIMAL 5 1 7 Field Types This section describes the data representation standards to be used in formulating the contents of data fields The structures defined are 1 Character Data 2 Integer Values 3 Fixed Point Values 4 Floating Point Values Chara
73. at the roving user s antenna to be visible at the base station as well ALLSTAR User Manual Rev B Installation and Verification Chapter 3 2 Multipath interference must be minimized as much as possible Multipath is defined as the interaction of the GPS satellite signal and its reflections This causes errors mainly on the GPS code and less so on the GPS carrier Even though the receiver uses carrier phase measurements it can revert to code differential GPS operation if carrier phase differential GPS cannot be performed Hence the base station s antenna must be far from any reflecting elements 3 The position of the base station s antenna must be surveyed using appropriate surveying equipment This position must then be programmed in the base station using Message ID 80 see Page 48 Any error in the base station s position will be reflected in the roving unit s computed position 3 4 3 Data Link 1 The data link must operate at a minimal rate of 9600 bauds 2 The required power level depends on the distance separating the base station and the roving units 3 4 4 Base Station and Rover Units Separation 3 5 The operational range of carrier phase differential measurements is limited to about 20 km after which significant accuracy degradation could occur If your application requires greater separations your own base station network must be established Choice of a Wireless DGPS Data Link The choice of wireless lin
74. ata is available to produce a GPS fix Navigation mode is entered from Acquisition or Dead Reckoning mode and exits to Dead Reckoning or Fault mode In Navigation mode a receiver configured as a roving unit operates in 2 sub modes Differential and Stand Alone Nav Sub mode transition occurs automatically depending on satellite data availability A receiver which is configured as a base station unit will operate in Base Station Navigation mode only The receiver reports its current navigation sub mode on its host port a Differential Roving Unit Only The receiver operates in Differential mode when data from at least 4 satellites with adequate geometry and differential corrections and or measurements exists to compute position velocity and time outputs This is the preferred navigation mode Differential data is supplied to the receiver via the differential input port Differential data can be received only on the COM2 serial data port b Stand Alone Nav Roving Unit Only The receiver operates in Stand Alone Nav mode when it has data from at least 4 satellites with adequate geometry but no differential corrections or measurements exists to compute position velocity and time outputs This is the preferred navigation mode when insufficient differential data is available to generate a differential GPS fix c Base Station Nav Base Station Unit Only The receiver operates in Base Station Nav mode once the time has been initialized and a
75. aterials is based on commercial parts suitable for automotive and airborne applications All parts and materials are subject to incoming inspection for conformance to requirements Non standard parts are also subject to incoming inspection which includes as a minimum the following e Electrical and mechanical characteristics e Environmental and Quality Assurance requirements e Workmanship requirements e Marking requirements The manufacturing processes used are selected for their full compliance to airborne requirements and are under statistical process control All manufacturing processes are fully documented in house 2 8 2 Equipment Markings The receiver part number is 220 600944 XXX The last 3 digits are used to identify specific variations 1 S W Part Number The S W part number appears on a label on top of the card The host gets access to the latest S W part number through the serial interface port 2 Modification A modification record numbered from 1 through 5 is etched on the PCB close to the H W part number This modification number is used primarily for H W changes 3 Electrostatic Discharge Protection The receiver is identified with a Caution Label The receiver can withstand an electrostatic discharge level of 2 kV from 100 pF through 1 5 kQ between any two pins in either polarity Mil Std 883 human body model 2 8 3 Built in Test BIT Requirements The receiver performs self tests and generates status informatio
76. ates base station configuration only Table 6 Non Volatile Memory Data ALLSTAR User Manual Rev B 27 Chapter 3 Installation and Verification 3 1 3 2 3 4 This section covers the installation and verification of the receiver Sold separately the StarView Graphical User Interface StarView running on a PC allows you to control the receiver and to display its outputs Details on StarView are provided in Reference 5 on Page 3 Equipment Required See Appendix A Figure 9 on Page 101 or Appendix B Figure 14 on Page 107 for a description of the type of enclosure equipment required for the receiver to operate Electrostatic Discharge See the electrostatic discharge notice on Page 2 of this manual Equipment Interconnection As mentioned in Chapter 1 Introduction starting on Page H the receiver can be provided either as an OEM board within a STARBOX unit or within a Development Kit The interconnection of the OEM board format is guided by its physical and electrical specifications as detailed in the previous section A complete description of the Development Kit is provided in Appendix A Development Kit starting on Page 100 and a complete description of the STARBOX is provided in Appendix B STARBOX starting on Page 107 The receiver includes two serial communication ports COM1 and COM2 Serial communication with the receiver must be performed on COM1 The I O protocol is discussed in a subsequent section Th
77. ation Input Output Issue of Data Ephemeris Interrupt Request Line Feed Left Hand Circular Polarization Low Noise Amplifier Local Oscillator Least significant bit Most significant bit millisecond MegaHertz Mean Sea Level Mean Time Between Failures Navigation System with Timing and Ranging Numerically Controlled Oscillator National Marine Electronics Association nanosecond ALLSTAR User Manual Rev B Acronyms NVM OCXO OEM PC PCB P Code PDOP PLL PPM PPS PRN PVT RAM RF RHCP ROM RTC RTCA RTCM RTK RTS RXD SA SBAS SEP SNR SPS SRAM SV TCXO TDOP TES ALLSTAR User Manual Rev B Appendix J Non Volatile Memory Oven Controlled Crystal Oscillator Original Equipment Manufacturer Personal Computer Printed Circuit Board Precise Code Position Dilution Of Precision Phase Lock Loop Parts Per Million Precise Positioning Service or Pulse Per Second Pseudo Random Noise number Position Velocity Time Random Access Memory Radio Frequency Right Hand Circular Polarization Read Only Memory Real Time Clock Radio Technical Commission for Aviation Services Radio Technical Commission for Maritime Services Real Time Kinematic Request To Send Received Data Selective Availability Satellite Based Augmentation System Spherical Error Probable Signal to Noise Ratio Standard Positioning Service Static Random Access Memory Space Vehicle Temperature Compensated Cry
78. ation geoidal height Universal Time Coordinated UTC this time system uses the second defined true angular rotation of the Earth measured as if the Earth rotated about its Conventional Terrestrial Pole However UTC is adjusted only in increments of one second The time zone of UTC is that of Greenwich Mean Time GMT Update rate the GPS receiver specification which indicates the solution rate provided by the receiver when operating normally VDOP Vertical Dilution of Precision A numerical value expressing the confidence factor of the position solution based on current satellite geometry The lower the VDOP value the greater the confidence factor Variable field by NMEA standards a data field which may or may not contain a decimal point and which may vary in precision following the decimal point depending on the requirements and the accuracy of the measuring device WGS 84 World Geodetic System 1984 is an ellipsoid designed to fit the shape of the entire Earth as well as possible with a single ellipsoid It is often used as a reference on a worldwide basis while other ellipsoids are used locally to provide a better fit to the Earth in a local region GPS uses the center of the WGS 84 ellipsoid as the center of the GPS ECEF reference frame Waypoint a reference point on a track ALLSTAR User Manual Rev B Live AW Acronyms 1PPS One Pulse Per Second 2D Two Dimensional 3D Three Dimensional A D Analog to Digital A
79. b of SV used to compute this N A N A solution bits 4 7 Reserved 81 83 Reserved N A N A 56 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 22 Ephemeris Data This message contains ephemeris data for one Satellite without parity bits It is transmitted at a rate of one message per second until the ephemeris data list is complete and then it is transmitted only if a new ephemeris occurs You are directed to Ref 1 Page 3for specifics on the format of the ephemeris data bits 0 4 SV Number bits 5 7 reserved Ephemeris sub frame 1 3 words 3 10 MSB of byte 6 is the Bit 61 of subframe 1 N A Ref 1 N A Ref 1 23 Measurement Block Data 1 2 5 10 Hz 17 18 21 22 25 26 Reserved Number of measurement blocks N Predicted GPS Time bits 0 5 SV 0 31 bit 6 reserved bit 7 Toggle at each Ephemeris Transmission SNR Signal to Noise Ratio Code Phase range 0 2095103999 Integrated Carrier Phase bit 0 1 0 Ready 1 Phase Unlock 2 Cycle Slip Detected 3 Not Ready bits 2 11 Carrier Phase range 0 1023 bits 12 31 Integrated Number of Cycles range natural roll over Cycle_Slip Counter Increment by 1 every time a cycle slip is detected during a 10ms period range natural roll over Measurement block 2 Measurement block N N A N A S N A 0 25 dB Hz 1 1024 half chip N A 1 1024 cycles cycles N A as
80. can also be established when there is more than one rover station linked to a single base station The base receiver must be initialized to fix its position to agree with latitude longitude and height of the phase center of the base station GPS receiver antenna Also accurately account for the antenna offset position from the base The rover station must be tracking the same satellites as the base station in order for corrections to take effect Thus only common satellite pseudoranges will utilize the differential corrections When the rover is able to compute its positions based on pseudorange corrections from the base station its position accuracies will approach that of the base station Remember the computed position solutions are always that of the GPS receiving antenna phase centre ALLSTAR User Manual Rev B 103 A 5 DIP SWITCHES The I O discretes of the GPS receiver can be driven HI or LO using switches S1 1 to 1 5 For normal operation S1 1 to S1 5 must be set to OFF Switch Function Description S1 1 IP_3 When ON discrete IP_3 is set to LO 1 2 10_2 When ON discrete IO_2 is set to HI 1 3 10_1 When ON discrete IO_1 is set to HI 1 4 IP_2 When ON discrete IP_2 is set to LO 1 5 IP_1 When ON force programming mode 1 6 PREAMP When ON power is applied to the antenna S1 7 ANT 5V 12V If the antenna voltage regulator option is installed ON the antenna supply is set to 5 VDC OFF the antenna supply is set to 12 VDC
81. cter Data is stored in the following order in the Block data field and are unsigned by default Bu w Sai wien 8 Tema oe Roses 0 CHAR 2 CHAR 1 CHAR 4 CHAR 3 CHAR 6 CHAR 5 CHAR 8 CHAR 7 Integer Values are represented in two s complement form Floating Point Values are stored in IEEE format to store data types that are larger than one byte Words are stored in two consecutive bytes with the low order byte at the lowest address and the high order byte at the highest address The same convention applies for 32 bit and 64 bit values Following is the detail of the floating point format Float 32 bits MSB bit 31 Sign Bit 30 23 Exponent exp Bit 22 00 Mantissa 2exp 1 bit22 2 exp 2 bit21 Value Sign I mantissa 2 exp EXP 127 Double 64 bits MSB bit 63 Sign ALLSTAR User Manual Rev B 41 Chapter 5 Serial Data Interface Bit 62 52 Exponent exp Bit 51 00 Mantissa 2exp 1 bit51 2 exp 2 bit50 Value Sign I mantissa 2 exp EXP 1023 For example Message ID 6 bytes 11 14 SNR value float byte 11 85 byte 12 AC byte 13 41 byte 14 42 float 4241AC85 Sign EXP 132 mantissa 0 5130773782 value 48 4 42 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 2 Binary Protocol Input Messages 5 2 1 Message Summary ID DEFINITION MESSAGE TYPE BYTES 6
82. dence Level 0 Normal NAV solution from less than SVs 1 High NAV solution from at least 5 SVs bits 6 Reserved bit 7 GPS Time Alignment mode 1 Enable 0 gt Disable 72 bits 0 3 Number of SVs used to compute this N A N A solution bits 4 7 Coordinate system lowest nibble Continued on Page 56 ALLSTAR User Manual Rev B 55 Chapter 5 Serial Data Interface 73 bits 0 3 Sytem mode N A N A bits 4 5 Coordinate system highest nibble bit 6 System Mode and Satellite tracking mode 0 All SVs in view based on current Almanac position and time 1 Sky Search bit 7 Reserved Datum number B73 b5 b4 B72 b7 b6 b5 b4 B byte b bit 74 75 Reserved 21 5 12 GPS Time s double Navigation Data GPS range 0 0 604800 0 coordinates 13 14 Week weeks word 15 22 X Position in GPS units m double 23 30 Y Position in GPS units m double 31 38 Z Position in GPS units m double 39 42 X Velocity in GPS units m s float 43 46 Y Velocity in GPS units m s float 47 50 Z Velocity in GPS units m s float i micro 51 58 Clock Bias seconds float 59 66 Clock Drift s double 67 70 HFOM Height Figure of Merit see Page 12 m float 71 74 VFOM Velocity Figure of Merit see Page 12 m float 75 76 HDOP N A word resolution 0 1 units 77 78 VDOP N A word resolution 0 1 units 79 NAV Mode where true alignment isn t set N A N A see Message ID 20 byte 71 for the description 80 bits 0 3 N
83. e identification No data bytes N A N A request 47 Base station status No data bytes N A N A request 48 Differential message status No data bytes N A N A request No data bytes N A N A Receiver status request ues 50 Satellite health summary No data bytes N A N A request 51 5 0 PowerUp BIT Results N A N A Initiated BIT request 1 Initiate a Customer BIT 2 255 Reserved ALLSTAR User Manual Rev B 45 Chapter 5 Serial Data Interface 63 Initiate link This request cancels all previous data request messages within 2 seconds Password UGPS 000 in ASCII format U character first See also Page 38 N A char 8 64 Set channel deselection 5 12 13 14 Set deselection criteria for all 12 channels if password valid The channels to be deselected are indicated in bit map form 1 in the bit map specifies the corresponding channel to be deselected Password UGPS 000 in ASCII format U character first bit map bit O gt ch 1 bit 7 ch 8 bit map bit O gt ch 9 bit 3 gt ch 12 N A N A N A char 8 N A N A 65 Raw DGPS data request No data bytes 77 Update almanac Force the decoding of a new almanac from SV subframe 4 amp 5 data No data bytes N A N A 78 Common almanac data transfer 13 14 15 16 17 18 19 Command message that initiates a transmitter to GPS receiver data transfer if the password is
84. e maximum baud rate is 19200 The other serial port COM2 is used for a differential link and its minimal baud rate is 9600 Installation Considerations All formats of the receiver are not waterproof therefore they must be mounted in a dry location They should also be located where it is convenient for cables to run to the power source display device and antenna Drip loops should also be formed to prevent moisture from running down the cables and into the receiver Mount the receiver several feet away from radio transmission equipment 3 4 1 Antenna Location 1 The antenna must be mounted high enough to provide an unobstructed view of the sky in all directions The receiver uses satellites as low as 5 above the horizon so ensure nothing is blocking it from the sky Ensure that the bottom of the antenna is at least 5 inches above the surface it is mounted on The antenna should also be mounted below the radiation plane of INMARSAT or radar antennas and away from any other high power transmitting antennas 2 Care should also be taken to avoid coiling the antenna cable around the mounting base and pinching the antenna cable in window or door jambs 3 4 2 Base Station Location 28 1 The base station must be located on a site that is above all obscuring elements on the surrounding terrain in order to have all satellites above the horizon visible at the base station s antenna The intent is to have all satellites that are visible
85. e transmitter can send additional message blocks at any time All message blocks are treated independently therefore the transmitter does not wait for the acknowledge message before another message block can be transmitted except for file transfer command messages in which case the transmitter waits for the acknowledge message before continuing a file upload 5 1 5 Error Recovery and Timing 40 Error detection and recovery are incorporated in this protocol Some of the common error conditions are listed below 5 1 5 1 Block ID Complement Error If the block ID in the header portion does not match the complement block ID the block is discarded This means that the data received is probably not a block 5 1 5 2 Checksum Error For the ALLSTAR if the calculated checksum value on receipt of a block does not match the value in the block the block is discarded and this message block ID is not indicated in the acknowledge message block sent to the transmitter For the transmitter if it detects a checksum error then the block is discarded and a message block time out occurs for the corresponding request 5 1 5 3 Transmit Time Out Errors The transmitter waits until the time of the message rate is over for the reception of a data message block Afterwards the transmitter reports the error 5 1 5 4 Frame Synchronization Errors Extra characters can be generated when using asynchronous communications To overcome this synchronization is
86. eeeeeeeeceeeeeeeeeeeeeeaeeeseeeeesaaeeeeeeeeesenaeeeseneees 91 5 6 10 GPS DOP and Active Gatelltes AA 92 5 6 11 GPS Satellites In View eceeececcececeeeeeeeeeeeeeeeeseeeeseeaeeeeaaaeeseaeeeseaaeeseeeeesaaaeseeeeeeseaeeseaeees 93 5 6 12 MSS MSK Receiver Signal Status c cccceseeeeeeeececeeeeeeeeeeceaeeeeeeeeeseaeeeesaaeeseeeeeesaaeeseness 95 5 6 13 Recommended Minimum Specific GPS Data 96 5 6 14 Track Made Good and Ground Speed ccccceeeeeeeeeeecaeeeeeeeeeeeaeeeseneeeeeaaeeeeeeeeessaeeeseneees 97 5 62 15 Time and Date esc2s ne AE AAAI AE EEA EVAN S T AERTS R 98 6 Quality Assurance Provisions 99 6 1 GA Conformance TeStinG EE 99 6 2 Standard Test Conditions cecccceceeeeeeeeeeeeeceeeeeeeeeeeaaeeseeeeeecaaaeseeneeeecaaeseeeeeeecaeeeseaaeeseeeetiaaeseeaes 99 6 3 User Defined Tests ee eebe deed heave neeytancepecnia dotedeuvathcad pee clashaan tn tate Dag 99 APPENDICES A Development Kit 100 B STARBOX 107 C External Interface 111 D Antenna Specifications 113 E Supported Datum List 123 F Software Reprogramming Mode 127 G Service and Support 130 H Technical Specifications Summary 132 Glossary of Terms 134 J Acronyms 139 6 ALLSTAR User Manual Rev B Figures OONDOaARWND Receiver Single Board ioeie eid aden tives niviel ean ENEE ev deed 9 Receiver Block Diagram ek 11 Out of Band Interference Carrier Wave cccccccceeeeeceeseeeceeeeeeaeeceeeeeesaaaeeseeeeeseaeeeeeeeeetiaee
87. eprogramming mode CM 7 a Issue this command in continuous mode to receive data If you issue it in one shot mode the transmission stops without any data b Variable length 6 94 bytes 44 LEGEND CM Command Message DM Data Message DR Data Request PM Protocol Message ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 2 2 Message Content MESSAGE BYTE DESCRIPTION 6 Current channel assignment data request This request causes the GPS receiver to send N A N A both messages ID 6 and 7 No data bytes 20 Navigation data request No data bytes N A N A User coordinates RI No data bytes N A N A Navigation data request E 22 Each time a new request is sent the GPS Ephemeris ICD GPS receiver transmits a complete set of all 200 format request ephemeris and SV clock data currently acquired In the case of broadcast mode the N A N A GPS receiver transmits a complete set and then transmits only on new ephemeris reception No data bytes 23 Request measurement block data for all Measurement block data tracked SV s The GPS receiver responds by request sending Message ID 23 every 100 msec if requested at 10 Hz 5 bits 0 1 Transmission Rate 0 1 Hz 1 2 Hz 2 5 Hz 3 10 Hz 2 7 Reserved null 0 33 Satellite visibility data and No data bytes N A N A status request 43 DGPS configuration No data bytes N A N A request 45 Softwar
88. er board in automatic mode Bit Rate 0 automatic mode D4 hex 25 bps D5 hex 50 bps D6 hex 100 bps D7 hex 200 bps Interval for sending report Message ID 85 0 stops the transmission of Message ID 85 N A 100 Hz N A N A unsigned word N A Uchar 86 Set Mean Sea Level model use Use MSL model if password is valid MSB of ID byte 0 model is used 1 model is not used Password UGPS 000 in ASCII format U character first N A N A ALLSTAR User Manual Rev B 49 Chapter 5 Serial Data Interface 88 Select the datum used to report the position Select Define datum and define user defined datum 5 Function N A N A 0 Select datum 1 Define a user defined datum 2 Select and define a user defined datum 6 Datum number from 0 to 63 see Page 123 N A N A 7 8 dx m short 9 10 dy m short 11 12 dz m short 13 20 a semi major meter double 29 36 Reserved N A N A Note The navigation data user coordinates message contains the datum currently in use 90 Set deselection for all 32 SVs if password Set SV deselection valid The SVs deselection is indicated in a bit map form 1 in the bit map specifies that the corresponding SV is to be deselected 5 12 Password UGPS 000 in ASCII format N A char 8 U character first 13 bit map bit O gt SV 1 bit 7 gt SV 8 N A N A 14 bit map bit O gt SV 9 bit 7 gt SV 16 N A N A 15 bit
89. es optional for all others Circular Error Probable CEP the radius of a circle centered at the user s true location that contains 50 percent of the individual position measurements made using a particular navigation system Coarse Acquisition C A Code a spread spectrum direct sequence code that is used primarily by commercial GPS receivers to determine the range to the transmitting GPS satellite Uses a chip rate of 1 023 MHz Communication protocol a method established for message transfer between a talker and a listener which includes the message format and the sequence in which the messages are to be transferred Also includes the signalling requirements such a baud rate stop bits parity and bits per character Control segment the Master Control Station and the globally dispersed Monitor Stations used to manage the GPS satellites determine their precise orbital parameters and synchronize their clocks Course the horizontal direction in which a vessel is to be steered or is being steered the direction of travel through the air or water Expressed as angular distance from reference North either true magnetic compass or grid usually 000x north clockwise through 360x Strictly the term applies to direction through the air or water not the direction intended to be made good over the ground see track Differs from heading Cycle slip an error in the continuous count of carrier phase cycles Dead Reckoning DR
90. eteneees 15 Receiver OEM Board Outline Drawing VAR XT 16 Receiver OEM Board Outline Drawing VAR XX0 XX2 KK 17 SAE Composite Curve Random Vibration ccccecceesceeceeeeeeeneeececeeeesaaeeseneeeesaeeeeeeeeessaeeeseneees 19 Time Mark EN el 25 GPS Timing Relationships cccccceeceeeeeeeeeeeeeeeeeeaaeeceeeeeecaaeeeeeneeecaeeeeseeeesesaeessaaeeseeeeeeeaaeseaeees 25 Development Kit Front Panel 101 Development Kit Back Panel AANEREN 102 RI STAR Te EE 103 Development Kit Schematic cccccecceeeeenceeeeeeeeeeeeeeceeeeeeeaaeeeeeeecaaeseseeeeeseaeesseaaeeseeeeeetaeeseenees 105 Development Kit Options ccccceceecececeeeeeeeeceeeeeeeaeeeceaeeeceaaeeeeeeeceaaeeeseeeeeseaeeeseaaeeseeeessiaeeseneees 105 STARBOX Outline Drawing sestier nease reneidona aiad aa aeiia aS aaea aa aO eiia adaki iaoa Pra aad LADRA ia addat 107 C ble 217 601729 VAR EE 110 GPS Antenna AT575 19 Pre Amplifier and ATI 117 GPS Antenna AT575 90 and ATbOb ET 118 GPS Antenna AT575 70 Pre Amplifier and AT575 97CA 1575 MES 119 GPS Antenna AT575 104 1575 MHz and AT575 68 Pre Amplifier cccsceeseeeeesteeeeees 120 Coaxial Cable Assembly ccccccceeeceseeeeeeeeeeeeeeeeeeeaaeeeeeeeeseaaeeseeaeeeseaeeeseaaeeseaeeeeseaeeeseeeeeeiaeeeees 121 RE Micro Gable siai eaan aaaea a a aa aaie aaa a a a ege ee ees 122 ALLSTAR User Manual Rev B Tables OO OO JO Om P Go h Related Publications 40 ascii aiid ea dEE
91. etween any two points along the surface of a sphere or ellipsoid and therefore the shortest navigation distance between any two points on the Earth Also called Geodesic Line HDOP Horizontal Dilution of Precision A numerical value expressing the confidence factor of the horizontal position solution based on current satellite geometry Makes no constraint assumptions about time and about height only if the FIX HEIGHT command has been invoked The lower the HDOP value the greater the confidence in the solution HTDOP Horizontal position and Time Dilution of Precision A numerical value expressing the confidence factor of the position solution based on current satellite geometry Assumes height is known if the FIX HEIGHT command has been invoked If not it will give the normalized precision of the horizontal and time parameters given that nothing has been constrained The lower the HTDOP value the greater the confidence factor Heading the direction in which a vessel points or heads at any instant expressed in degrees 000x clockwise through 360x and may be referenced to True North Magnetic North or Grid North The heading of a vessel is also called the ship s head Heading is a constantly changing value as the vessel oscillates or yaws across the course due to the effects of the air or sea cross currents and steering errors L1 frequency the 1575 42 MHz GPS carrier frequency which contains the coarse acquisition C A code as we
92. face Chapter 5 5 6 8 Global Positioning System Fix Data Time position and fix related data HEADER CONTENTS OF DATA FIELDS SGPGGA hnhmmss ss 1111 1111 a yyyyy yyyy a x xXx XxX xX aper Svs in uset Quality indicator E Longitude W East or West N S North or South Latitude UTC of position EXXXXX X M XXXX M XXXX XXXX hh lt CR gt lt LF gt Differential reference station ID 0000 1023 Age of Differential GPS Data Units of geoidal separation meters Geoidal Separation Units of antenna altitude meters Altitude This message is sent at twice the requested update rate if the 2Hz PVT mode is active Example SGPGGA 012338 61 5619 2837 N 17235 8964 E 1 05 02 3 00034 2 M M 66 lt CR gt lt LF gt 1 May be different from number in view 2 GPS Quality indicator 0 fix not available or invalid 1 GPS fix 2 Differential GPS fix 3 Longitude with respect to WGS 84 3 digit degrees 2 digit minutes 4 digit decimal fraction minutes 4 Latitude with respect to WGS 84 2 digit degrees 2 digit minutes 4 digit decimal fraction minutes 5 Time in seconds since last SC104 Type 1 or 9 update empty field when DGPS is not used 6 Geoidal separation the difference between the WGS 84 earth ellipsoid and mean sea level geoid mean sea level below ellipsoid 7 Altitude with respect to mean sea
93. g the confidence factor of the position solution based on current satellite geometry Assumes that 3D position latitude longitude height and receiver clock offset time are variables in the solution The lower the GDOP value the greater the confidence in the solution Geodetic datum the reference ellipsoid surface that defines the coordinate system Geoid the figure of the earth considered as a sea level surface extended continuously through the continents The actual geoid is an equipotential surface coincident with mean sea level to which at every point the plumb line direction in which gravity acts is perpendicular Geostationary a satellite orbit along the equator that results in a constant fixed position over a particular reference point on the earth s surface GPS satellites are not geostationary Global Positioning System GPS full name NAVSTAR Global Positioning System a space based radio positioning system which provides suitably equipped users with accurate position velocity and time data When fully operational GPS will provide this data free of direct user charge worldwide continuously and ALLSTAR User Manual Rev B 135 136 under all weather conditions The GPS constellation will consist of 24 orbiting satellites four equally spaced around each of six different orbital planes The system is being developed by the Department of Defense under U S Air Force management Great circle the shortest distance b
94. hannel 7 error in Measurement test Global Correlator test results 3 bit 0 Channel 9 error in 1 amp Q test bit 1 Channel 10 error in 1 amp Q test bit 2 Channel 11 error in 1 amp Q test bit 3 Channel 12 error in 1 amp Q test bit 4 Channel 9 error in Measurement test bit 5 Channel 10 error in Measurement test bit 6 Channel 11 error in Measurement test bit 7 Channel 12 error in Measurement test Reserved Reserved N A N A N A N A 63 Initiate Link Password UGPS xxx in ASCII format U character first See also Page 39 N A char 8 78 Almanac reception status Informs the transmitter on the complete status of the almanac upload The MSB of the ID field encodes the status as follows 0 unsuccessful 1 successful This message is sent once after a new almanac data transfer which includes one Message ID 78 and multiple messages of Message ID 79 to confirm successful almanac upload No data bytes N A N A 83 RTCM data Message retransmission Continued on Page 64 ALLSTAR User Manual Rev B This message contains one or part of one RTCM message Message type selected in the Set DGPS Configuration message ID 83 bytes 9 16 is retransmitted through this message Message length is variable and a message can be transmitted up to once every 100 ms A RTCM message always starts as the first byte of a message and always ends as the last byte of a message Th
95. he distance is calculated along the great circle path HEADER SPMCAG 906 CONTENTS OF DATA FIELDS XX a a a XXXXX XXKXX tXXKKX X C C XX XXKX X XXXKXXXXK XXK XXKXK xX a hh lt CR gt lt LF gt Grid easting Square row Square column Zone letter Zone number Distance m True bearing degrees Waypoint number 00 99 Waypoint name max 8 char Altitude above MSL m Grid northing Example SPMCAG 906 18 T X R 02069 38914 100 5 03 355 8 143 772 70 6 A 6E lt CR gt lt LF gt Zone number 18 Zone letter T Square column X Square row R Grid easting 02090 Grid northing 38914 Altitude 100 5 Waypoint ID 03 Bearing 355 8 degrees Distance 143 772 m Delta altitude 70 6 m Status Data Valid 1 Status A Data Valid V Data Invalid 86 ALLSTAR User Manual Rev B Status Delta Altitude Serial Data Interface 5 6 6 User Position in MGRS Format Current position in MGRS format and UTC time of position HEADER CONTENTS OF DATA FIELDS SPMCAG 907 XX a a a XXXXX XXXXX xxKxxx x hhmmss ss A hh lt CR gt lt LF gt 1 Status UTC time of position Altitude above MSL m Grid northing Grid easting Square row Square column Zone letter Zone number Example PMCAG 907 18 T X R 02090 38779 100 5 141105 A 79 lt CR gt lt LF gt Zone number Zone letter Square column Square row Grid easting Grid northing A
96. he receiver reacquires the satellite signal within 0 3 seconds after the satellite visibility has been restored When a satellite signal has been lost due to signal masking the signal is typically reacquired within 2 3 seconds after the satellite signal meets the minimum input levels The vehicle dynamics during the masking period are assumed to be less than or equal to 0 5 g acceleration and 100 m s velocity When total signal masking occurs navigation will resume within 3 5 seconds of a Navigation mode criteria being met 3 Measurement Rate The receiver is capable of 10 measurements per satellite per second A complete navigation solution is computed every second 2 per second if in 2 Hz Position Velocity and Time PVT mode or 5 per second if in 5 Hz PVT mode whenever a sufficient set of measurements is acquired The Allstar PVT modes can be 1 2 or 5 Hz where 2 and 5 are options 4 Operational Signal Level Input The receiver operates with a signal level input from 165 dBW to 120 dBW 5 RF Input Impedance The impedance is 50 ohms with VSWR of 2 0 1 or better ALLSTAR User Manual Rev B 13 Chapter 2 14 Receiver Specifications Receiver Noise Figure The receiver has the following noise figure characteristics Typical 3 8 dB Maximum 4 8 dB in the temperature range of 40 C to 85 C and supply voltage range of 5V 5 Acquisition Sensitivity The receiver is capable of acquiring satellite signals with a m
97. hen packing these modules for storage or transportation keep them in the bag Fold over and seal the mouth of the bag to keep out any static generating packing material eg foamed polystyrene Pack around the bag firmly to prevent motion which could generate static WARRANTY In the case of any ESD sensitive module bearing the marking described above which is received by CMC Electronics Inc not in ESD protective packing other than the initially reported fault all warranty present or future is voided for failure related to ESD sensitive components ALLSTAR User Manual Rev B FORWARD FORWARD This user manual defines the design operational characteristics physical interface functional and performance requirements for the receiver along with the installation and operation procedures Related Publications The related publications are listed in Table 1 PUBLICATION NAME PUBLICATION NAME 1 ICD GPS 200 Rev B NAVSTAR GPS Space Segment Navigation Interface 2 RTCM 104 version 2 1 Recommended Standards for Differential NAVSTAR GPS January 1994 Radio Technical Commission for Maritime Services Recommended Environmental Practices for Electronic RISSE J1211 Equipment Design 4INMEA 0183 Rev 2 20 National Marine Electronics Association Standard for Interfacing SJSTARVIEW User s Manual Part Number 1205 GEN 0101 Table 1 Related Publications ALLSTAR User Manual Rev B 3 Table of Contents ELEC
98. his message It is sent as soon as possible if there is at least one message to acknowledge The data field of this message contains 5 bytes which encode the ID s of the messages acknowledged 4 messages per time interval and possibly a message from a previous time interval that was not completely decoded A maximum of five messages may be acknowledged per message Message ID 0 indicates a dummy message and is discarded by the transmitter Its purpose is only to fill the data field of the acknowledge message block See also Message ID 126 on Page 64 Link Overload Error Message ID 125 Sent by the receiver only when at least one output message caused an overload of the transmission link This message is sent at a maximum rate of once per second It encodes a bit map of all the Message ID s 1 127 therefore indicating which ID s caused the link overload The message request that caused the overload is cancelled to prevent any further overload See also Message ID 125 on Page 64 Data Messages DM Messages containing requested data Status Messages SM Informs the transmitter of the status of a file transfer performed using a command message The status is encoded in the MSB of the ID field If the MSB 0 the command request is unsuccessful If the MSB 1 the command is successfully performed This message is sent within 1 minute after the command message This is currently only used for the almanac Initiation Upon receipt
99. iew 28 100 104 ALLSTAR User Manual Rev B Index StarView software 106 station base 27 32 34 36 station base 29 status base station 45 59 beacon 64 differential message 45 59 60 receiver 45 60 61 88 95 structure message 37 summary message 43 system architecture 11 T temperature 133 terrain 30 time data 33 96 mark 24 25 104 NMEA 69 set 51 52 to first fix TTFF 132 to first fix TTFF 12 26 UTC 25 98 track made good 97 tracking sensitivity 14 transmit data 40 type field 41 U universal time coordinated UTC 25 98 V velocity accuracy 12 verification 28 vibration 19 voltage 112 Ww warranty 2 waypoint 78 79 86 weight 17 133 wireless link 29 32 145
100. iming and ephemeris errors Sequential receiver a GPS receiver in which the number of satellite signals to be tracked exceeds the number of available hardware channels Sequential receivers periodically reassign hardware channels to particular satellite signals in a predetermined sequence Spherical Error Probable SEP the radius of a sphere centered at the user s true location that contains 50 percent of the individual three dimensional position measurements made using a particular navigation system Spheroid sometimes known as ellipsoid a perfect mathematical figure which very closely approximates the geoid Used as a surface of reference for geodetic surveys The geoid affected by local gravity disturbances is irregular Standard Positioning Service SPS a positioning service made available by the United States Department of Defense which will be available to all GPS civilian users on a continuous worldwide basis typically using C A code SV Space Vehicle ID sometimes used as SVID also used interchangeably with Pseudo Random Noise Number PRN TDOP Time Dilution of Precision A numerical value expressing the confidence factor of the position solution based on current satellite geometry The lower the TDOP value the greater the confidence factor Three dimensional coverage hours the number of hours per day when four or more satellites are available with acceptable positioning geometry Four visible satellites
101. inimum input carrier to noise density ratio C Np to the correlator of 34 dB Hz Tracking Sensitivity Once a signal has been acquired the receiver is capable of tracking satellite signals with a minimum input carrier to noise density ratio C Ng to the correlator of 31 dB Hz Input Burn Out Protection The receiver is capable of withstanding a signal level not exceeding 15 dBm at L1 50 MHz without damage 10 Out of Band Continuous Wave CW Signal Rejection The receiver in a suitable system configuration is capable of continuous operation under interference conditions specified in Figure 3 on Page 15 ALLSTAR User Manual Rev B Receiver Specifications Chapter 2 0 20 m H 40 Jl m 80 zl D 80 400 g 120 0 5 0 7 0 9 1 1 1 3 1 5 1 7 1 9 2 1 FREQUENCY GHz Frequency GHz Power Frequency GHz Power dBm 0 500 20 0 1 560 120 0 1 000 20 0 1 590 120 0 1 200 50 0 1 625 50 0 1 525 50 0 2 000 25 0 Figure 3 Out of Band Interference Carrier Wave 2 5 Physical Characteristics This section applies to the OEM board version of the receiver For details on the physical characteristics of the Development Kit version of the receiver please see Appendix A Development Kit starting on Page 100 For details on the physical characteristics of the STARBOX version of the receiver please see Appendix B STARBOX starting on Page 107 2 5 1 Outline and Form Factor
102. instructions if the unit needs to be returned to the factory ALLSTAR User Manual Rev B 131 iNeed BW Technical Specifications Summary H 1 ALLSTAR GPS Card GENERAL CHARACTERISTICS 12 PARALLEL ALL IN VIEW TRACKING Optional SBAS Support for example WAAS and EGNOS L1 Frequency 1 575 42 MHz Minimum Tracking Sensitivity Position Accuracy 135 dBm antenna input level PERFORMANCE DGPS lt 1 m CEP Single Point lt 5 m CEP SBAS lt 1 5 m CEP Time to First Fix Signal Re Acquisition Hot start 15 s typical with current almanac position time and ephemeris Warm start 45 s typical with current almanac position and time Cold start 2 min typical no almanac no position and no time lt 1 s typical five second obscuration Dynamics Velocity 514 m s limited by US and Canadian export laws Acceleration 4 Gs 39 2 m s Jerk 2 mis Altitude Input Voltage 18 km 60 000 ft HARDWARE SPECIFICATIONS 5 0 V DC Power Consumption 14 W typical at 5 0 VDC with passive antenna Keep Alive Mode Input voltage 3 to 5 25 VDC Current draw lt 1 mA SRAM and RTC lt 50 pA RTC only Serial Communications 2 x RS 232 TTLlevel asynchronous data ports up to 19 200 bps Input Messages Output Messages COM1 NMEA or proprietary binary COM2 RTCM SC 104 types 1 2 and 9 COM1 NMEA or pro
103. ironmental and EMC tests are performed with the receiver installed within the host unit When in an enclosure the environmental requirements are also met as in Table 4 on Page 19 The basic version of the receiver typically dissipates 1 2 W The receiver relies on convection and radiation for heat dissipation If the host unit s internal temperature is greater than the maximum operating temperature thermal management provides for heat sinking of the RF shield to the host unit chassis ALLSTAR User Manual Rev B Receiver Specifications Chapter 2 Operating Temperature 30 C to 75 C Optional 40 C to 85 C Storage Temperature 55 C to 100 C Version without battery Temperature Variation 4 C per minute Humidity Relative Humidity up to 95 non condensing Altitude 1 000 feet to 60 000 feet 18 000 m Vibration operational See SAE curve Figure 6 on Page 19 Shock 20 g peak 5 ms duration 3 axes Dynamics Velocity 514 m s Acceleration 4 g Jerk 2 m s Table 4 Environmental Categories Sinewave 2 foot pp displacement 1 8 Hz 2 826 G peak accelaration ae VIBRATION FREQUENCY Hz G704082CDA RANDOM VIBRATION OVERALL ACCELERATION 3 GRMS SAE COMPOSITE CURVE RANDOM NOISE Figure 6 SAE Composite Curve Random Vibration ALLSTAR User Manual Rev B 19 Chapter 2 Receiver Specifications 2 8 Design and Construction 2 8 1 Materials Processes and Parts The selection of parts and m
104. is system functions properly 99 ALLSTAR User Manual Rev B Dieiel ldeT Development Kit A 1 Overview The Receiver Development Kit allows new users to easily evaluate the GPS receiver The Development Kit implements the receiver control operation and I O functions of the receiver using an IBM compatible personal computer PC a serial port an external geodetic GPS antenna and an I O cable with a 115 VAC to 12 VDC power adapter The GPS receiver is contained in a plastic extrusion unit with I O connectors and status LEDs StarView is an MS Windows application running on a PC that allows communication with the receiver All commands and data requests can be sent through this application and all received data is decoded and displayed in specific windows A data logging facility is also provided within this tool Details on the use of GPS Star View is provided in the StarView User s Manual Ref 5 This Appendix explains how to configure the Development Kit and the receiver and how to interconnect the equipment A 2 Description The Development Kit Order no 241 600246 XXX contains the following equipment QTY DESCRIPTION PART NUMBER 1 Development Kit Unit with built in ALLSTAR or SUPERSTAR receiver card 100 600266 XXX 12dB Active GPS Antenna with 20 ft cable AT 575 70W MCXM 240 0 50 12RM 201 990146 789 1 StarView Software diskette 189 613931 002 1 Cable Assy DB 9 Female to DB 9 Male 217 990
105. ite visibility data of the 11 Sv as per SV1 asperSV1 61 65 Satellite visibility data of the 12 sv as per SV1 as per SV1 43 5 bit 0 Enable O OFF 1 On N A N A DGPS Configuration bits 1 3 Should be 1 bits 4 6 Should be 0 bit 7 Port 0O COM1 1 Dedicated 6 Differential Coast Time seconds Uchar 7 Reserved N A N A 8 Baud Rate 1 300 32 9600 64 19200 300 bauds N A 9 16 Messages requested for Retransmission N A N A Bitmap bm 1 bit63 64 see Message ID 83 17 bits 0 6 Reserved N A N A bit 7 Message 5 usage disabled 0 False 1 True 18 25 Reserved N A N A 45 5 18 Operational S W Part number XXX XXXXXX N A char 14 Software Identification XXX Information 19 36 Reserved ASCII string N A char 18 Continued on Page 59 58 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 37 50 Boot S W Part number XXX XXXXXX XXX N A char 14 51 90 Reserved N A N A 91 94 Boot Checksum N A N A 95 98 Operational Checksum N A N A 99 Reserved N A N A 47 This message is output once per second upon N A N A Base Station Status reception of a Message ID 47 request 5 BaseStatus N A N A bits 0 1 Base Status 0 Not in Base Rover Mode 1 Base initialized but the position is invalid 2 Base initialized with a valid position 3 Reserved bits 2 4 Baud Rate 0 300 1 600 2 1200 3 2400 4 4800 5 9600 6 19200 7 38400 bits 5 7 Reserved 6 13 Time Remaining Survey hours doub
106. k is a key part of any DGPS system The functionality and reliability of the link can have a significant effect on the success of the DGPS system The key functional parameters affecting the performance and cost of DGPS wireless links are e Range e One way versus two way data capability e Latency and rate of data transmission e Radio frequency e Frequency selector e Interference rejection e Wide area differential network capability For narrow band communication typical frequencies of operation are in the 150 MHz or 450 MHz bands Data rates range from 9600 bps to 19 2 kbps RF transmit power ranges from 2 W to 30 W For spread spectrum links 900 MHz or 2 4 GHz is typical Data rates range from 19 2 to 115 kbps Power is 1 W or less These are typically short range lt 5 miles or 8 05 km links for portable or mobile operations 3 5 1 Range Exact range of a wireless radio link is difficult to calculate without a detailed engineering analysis Reasonable approximations are possible however Range is primarily affected by the combination of the following factors e Terrain e Transmit power and receiver sensitivity e Transmitter and receiver antenna gain ALLSTAR User Manual Rev B 29 Chapter 3 Installation and Verification The simplest calculation of range assumes the earth is smooth and spherical This is the starting point for all range calculations and establishes the minimum height requirements for the antennas The calcula
107. lds Some fields are specified to contain pre defined constants most often alpha characters Such a field is indicated in this standard by the presence of one or more valid characters Excluded from the list of allowable characters are the following which are used to indicate field types within this standard A a c hh hhmmss ss III x yyyyy yy Variable numbers X X Variable length integer or floating numeric field Optional leading and trailing zeros The decimal point and associated decimal fraction are optional if full resolution is not required example 73 10 73 1 073 1 73 Fixed HEX field hh Fixed length HEX number only MSB on the left Information Fields Variable text Variable length valid character field Fixed alpha field Fixed length field of upper case or lower case alpha characters Fixed number field Fixed length field of numeric characters Fixed text field CC Fixed length field of valid characters NOTES 1 Spaces can not be used in variable text field 2 A negative sign HEX 2D is the first character in a Field if the value is negative The sign is optional if value is positive The following sections define the valid input and output sentences available on COM1 66 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 5 NMEA Protocol Input Messages Table 7 lists all valid input sentences The sen
108. le 14 17 Base Station Position CEP m float 18 25 Base Station Position Latitude radians double 26 33 Base Station Position Longitude radians double 34 41 Base Station Position Height m double 42 45 Reserved N A N A 46 Number of Differential Message N A byte bit 0 4 Number of Differential Message bit 5 8 Reserved 47 48 byte 1 Msg Type N A byte byte 2 Programmed Msg Rate Period s byte 48 This message is output at a nominal rate of Differential Message once per second upon reception of a Message Status ID 48 request 5 Station Id bits 0 7 N A byte 6 bit 0 1 Reserved N A byte bit 2 4 Station Health bit 5 6 Station Id bit 8 9 bit 7 Reserved 7 14 Msg Type Received Bitmap bit0 1 bit63 N A N A 64 15 16 Receiver Mode N A N A Differential data link Valid Word Count Base Mode Reserved Continued on Page 60 ALLSTAR User Manual Rev B 59 Chapter 5 Serial Data Interface 17 18 19 24 25 26 27 28 Receiver Mode Differential data link Parity Error Count Base Mode Reserved Reserved bits 0 12 ZCount of last message 1 2 3 9 or 59 Receiver Mode bits 13 15 DGPS Status 0 DGPS Disabled 1 gt Initialization Synchronization 2 gt Correcting 3 Bad GDOP 4 Old corrections 5 gt Station unhealthy 6 Too few SVs 7 Reserved Base Mode Reserved Reserved N A N A N A N A N A N A N A N A 49 Receiver status data
109. le to produce an initial navigation solution Acquisition mode is entered from Initialization or Dead Reckoning mode and exits to Navigation or Fault mode To acquire signals from the GPS satellites the receiver uses Almanac data which describes the satellite orbits Time which in conjunction with almanac data is used to estimate the present position of satellites in their orbits 33 ALLSTAR User Manual Rev B Chapter 4 34 5 Operation The approximate location of the receiver so a prediction can be made as to which satellites are visible The receiver then collects ephemeris data by decoding the satellite down link data message After each satellite in view is acquired its measurement data set is produced When a sufficient number of satellites are being tracked position velocity and time can be computed and Navigation mode entered If the receiver cannot perform an acquisition due to an absence of valid almanac data or user position and or time it initiates a Search the Sky acquisition The receiver attempts to acquire all satellites in the GPS constellation Once a satellite has been acquired ephemeris data is decoded from the satellite down link message After sufficient satellites have been acquired the receiver enters Navigation mode In Search the Sky the TTFF is typically less than 3 minutes Navigation Mode The receiver is in Navigation mode whenever sufficient satellite information and measurement d
110. ll as encrypted P code and navigation messages used by commercial GPS receivers L2 frequency a secondary GPS carrier containing only encrypted P code used primarily to calculate signal delays caused by the ionosphere The L2 frequency is 1227 60 MHz Magnetic bearing bearing relative to magnetic north compass bearing corrected for deviation Magnetic heading heading relative to magnetic north Magnetic variation the angle between the magnetic and geographic meridians at any place expressed in degrees and minutes east or west to indicate the direction of magnetic north from true north Mask angle the minimum GPS satellite elevation angle permitted by a particular GPS receiver design Satellites below this angle will not be used in position solution Measurement error variance the square of the standard deviation of a measurement quantity The standard deviation is representative of the error typically expected in a measured value of that quantity Multipath errors GPS positioning errors caused by the interaction of the GPS satellite signal and its reflections Nanosecond 1 x 10 second Nautical mile any of various units of distance for sea and air navigation in the U S since 1959 an international unit of linear measure equal to minute of arc of a great circle of the Earth 1 852 metres 6 076 feet Null field by NMEA standard indicates that data is not available for the field Indicated by two ASCII comm
111. ll be attenuated based on this length For best performances ensure the gain at the input of the receiver is between 3 dB and 8 dB see Table 21 below for RG 58 U LLDS80 cables Table 21 Cable Lengths Vs Gain Antenna Gain Min Cable Length Max Cable Length Signal Level Loss Loss at Input 0 dB Um 0 dB 3m 3 dB 0 dB 3 dB 12 dB 5m 4 dB 25m 15 dB 8 dB 3 dB 26 dB 30m 18 dB 54m 31 dB 8 dB 3 dB 36 dB 49m 28 dB 69m 39 dB 8 dB 3 dB e Check antenna s installation verify there is a clear view of the sky i e no obstructions and there 130 ALLSTAR User Manual Rev B is no reflective surface nearby that may cause muti path interferences e Verify the effectiveness of your EMI EMC shielding Close proximity to high energy sources both digital amp RF circuitry can affect your ALLSTAR SUPERSTAR s performance e Verify the cleanness i e low ripple minimum noise spikes voltage level variations of the power source Isolate the power supply of the ALLSTAR SUPERSTAR from the main system power e Check digital RF and power ground returns Look for noise being coupled on ground return paths 3 If you are not receiving differential corrections e Check DGPS connection on COM port 2 of the ALLSTAR SUPERSTAR e Verify DGPS source settings are active e Verify DGPS base station is actually transmitting DGPS corrections and base data is being received by the ALLSTAR SUPE
112. ltitude UTC time Status 18 T X R 02090 38779 100 5 14 11 05 Valid Data 1 Status A Data Valid V Data Invalid ALLSTAR User Manual Rev B 87 Chapter 5 Serial Data Interface 5 6 7 Receiver Parameter Status HEADER CONTENTS OF DATA FIELDS SPMCAG 908 x UTC Time Resolution Lat Long Resolution COM2 Port Baud Rate 2 15 a a a X X a X X X X X ah lt CR gt lt LF gt 1 Diff Coast Time DGPS Mode E D 3 Datum Number Mask Angle Tropospheric Model Use E D MSL Model Use E D GPS Time Alignment Mode E D Nb of Elements Example SPMCAG 908 15 D E E 8 35 E 45 9 6 5 6 5B lt CR gt lt LF gt Enable DGPS Tropospheric and MSL modes Disable GPS Time Alignment Mask Angle 8 0 Degrees Used datum 35 North American 1927 Canada DGPS Coast time 45 seconds DGPS Baud Rate 9600 COM2 port Lat Long resolution 0 00001 of minutes UTC Time resolution lus 1 Valid baud rates 0 3 0 6 1 2 2 4 4 8 9 6 19 2 in KBaud units 2 0 255 seconds 3 This parameter reports the number of the datum that is currently used to report the position Refer to the supported datum list in Appendix E Supported Datum List starting on Page 123 4 Indicates the number of elements that follow It is set to 15 but new receiver parameters can be added in the future software release 88 ALLSTAR User Manual Rev B Serial Data Inter
113. map bit O SV 17 bit 7 gt SV 24 N A N A 16 bit map bit 0 SV 25 bit 7 gt SV 32 N A N A 91 5 Message type and protocol Differential Message bits 0 5 0 Clear All Messages Configuration 1 63 Message Type bits 6 7 00 RTCM N A N A 01 Reserved 10 RTCA 11 Reserved 6 Rate 0 Stop transmitting S byte 1 255 every xx second s 95 Track SV on any available channel that is not Track SV request currently in tracking or has been deselected starting the search at a given carrier frequency offset search center frequency The search window option is specified from 0 to 100 kHz in 1 kHz increments 5 SV and type bit 0 5 SV 1 32 bit 6 7 00 gt GLONASS 01 gt GPS N A N A 10 gt GIC SBAS such as WAAS and EGNOS 6 7 Search Center Frequency Hz double range 60 000 60 000 word 10 Search Window Size range 0 100 SES Uchar 11 14 Min C No dB Hz float Continued on Page 51 50 range 0 0 63 0 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 15 16 Doppler Rate Hz s unsigned 17 Track Command 0 automatic mode 1 manual mode N A N A 99 f Erase the data contained in the EEPROM if BEES AA password is valid 5 10 Password UGPS 0 in ASCII format U character first N A N A 11 12 Element to erase 00 15 in ASCII Ex 15 gt 0x31 0x35 DS NA Characters Element 00 ALL
114. mert 1906 Hough International Krassovsky Modified Fisher 1960 SGS 85 South America 1969 WGS 72 WGS 84 6377276 3450 6377304 0630 6377301 2430 6377304 0630 6378137 0000 6378200 0000 6378270 0000 6378388 0000 6378245 0000 6378 155 0000 6378 136 0000 6378 160 0000 6378135 0000 6378 137 0000 300 801700000 300 801700000 300 801700000 300 801700000 298 257222101 298 300000000 297 000000000 297 000000000 298 300000000 298 300000000 298 257000000 298 250000000 298 260000000 298 257223563 ALLSTAR User Manual Rev B hied Software Reprogramming Mode F 1 F 2 General The receiver has an integrated reprogramming facility The receiver has Flash Memory devices that allow software updates via the RS 232 communication port in less than 2 minutes The OEM circuit card assembly is forced to enter reprogramming mode when the voltage at the input pin DISC_IP_1 is HI More information on this mode is available on request Programming Mode Procedure The receiver can be set to programming mode by hardware or by software PROGRAMMING MODE SETTING BY HARDWARE 1 At the 26 pin ZIF connector J1 tie pin 9 to the 5V supply 2 At the 20 pin header connector J3 tie pin 6 to the 5V supply 3 Apply either 5V supply voltage to the receiver or a master reset pulse to the power control input pin J1 5 or J3 3 lt 1 If a programming adapter Part Number 220
115. n increase battery life or reduce battery weight in portable applications 3 5 4 Antenna Gain Antenna gain increases the effective radiated power of a transmitter and the effective sensitivity of a receiver A 5 W transmitter with a 6 dB 4x dipole gain antenna looks like a 20 W transmitter when compared to the same unit on a simple vertical whip with a ground plane A receiver with a 6 dB antenna sees a 5 W transmitter as if it has raised its power to 20 W With a 6 dB antenna on both the transmitter and receiver the 5 W transmitter performs like an 80 W transmitter in the case of 0 dB antennas on both ends 3 5 5 One Way vs Two Way Link In many applications such as DGPS it is only important to send a message one way In this case the wireless link can be made less expensive by using transmit only and receive only radios This can also reduce the cost size and weight of the link Two way is useful in applications such as tracking AVL and dispatch where the data must be sent back to the base In two way applications that have high update rates and or a large number of users key performance items to look for are over the air data rate and data turnaround time See Latency and Rate of Data Transmission below 3 5 6 Latency and Rate Of Data Transmission 30 Latency and rate of data transmission can have a significant effect on the number of users that can be supported on a single radio channel as well as the time it takes to get an update
116. n to provide an indication of the operational readiness and facilitate maintenance actions Failure indication is transmitted on the COM serial output bus via the self test result Message ID 51 90 of all receiver failure modes are detected and annunciated or have no effect on receiver outputs 2 8 4 Interchangeability Interchangeability of the receiver with any other receiver bearing the same part number does not necessitate readjustments of any component in order to meet the performance requirements 2 9 Hardware Interface This section applies to the OEM board version of the receiver For details on the hardware interface of the Development Kit version of the receiver please see Appendix A Development Kit starting on Page 100 For details on the hardware interface of the STARBOX version of the receiver please see Appendix B 20 ALLSTAR User Manual Rev B Receiver Specifications Chapter 2 STARBOX starting on Page 107 2 9 1 Connectors and Connector Pins Assignment 1 3 4 Pin Assignment Please see Appendix C External Interface starting on Page 111 General The receiver has two standard connectors J1 is a 26 pin connector for general input output interfaces and power input and J2 is a MCX type RF connector VAR XX1 Imm Flexible Printed Circuit 26 pin ZIF connector J1 The receiver is also available in different variations VAR XX2 with a 0 100 x 0 100 20 pin 2x10 Right Angle Shrouded Header with de
117. nd Fault The receiver switches between modes automatically The receiver reports on its host port the current operating and navigation modes 1 Self Test Mode The receiver enters Self Test mode upon request from an external source see Message ID 5lon Page 45 The time duration spent in the Self Test mode is no more than 15 seconds On self test completion the receiver reports the BIT results on its host port through Message ID 51 Self Test mode exits to either Initialization or Fault mode 2 Initialization Mode Upon power up the receiver enters Initialization mode During this mode hardware is initialized prior to Acquisition mode entry The Initialization mode is also initiated upon completion of the Self Test mode but always exits to the Acquisition mode Depending on the previous non operating state OFF or SRAM Keep Alive mode the receiver will retrieve data only from NVM cold start or from both NVM and SRAM warm start Integrity checking is done on all data retrieved from the non operating state During initialization the receiver retrieves the last received valid almanac data and last user position from NVM the current time from the low power time source and predicts which satellites are currently visible This list of visible satellites is then used in Acquisition mode to program the 12 parallel correlator channels 3 Acquisition Mode The receiver is in Acquisition mode when insufficient satellite data is availab
118. nd one or several roving units The base station broadcasts its differential data and the roving units receive it through a data port directly connected to a radio receiver The roving units can then display velocity time and other information as needed for their marine terrestrial or aeronautical applications The receiver with a separate GPS antenna decodes the GPS satellites RF signal and interfaces with a host system to provide three dimensional user position and velocity time and other status information at a maximum rate of once per second It decodes differential corrections from the transmitting base station as well The receiver uses WGS 84 as its geographic reference The receiver has 12 independent parallel channels each capable of simultaneously tracking a GPS satellite signal The receiver makes provisions for external initialization of data to support faster GPS signal acquisition Figure I on Page 9 illustrates the receiver single board Figure 1 Receiver Single Board The main features are listed as follows e Decodes differential corrections encoded in the RTCM message format e Twelve channel correlator for all in view satellite tracking e Single chip RF Front End e Supports active and passive antennas 9 ALLSTAR User Manual Rev B Chapter 1 Introduction 10 e Single 5V input operation e Complete GPS receiver and navigator on a single compact board e Operation under standard temperature range 30 C to 7
119. neeesaaeeedeeeeeseaaeeeseaeeeseeeessnaeeeeaas 30 3 5 6 Latency and Rate Of Data Transmission c cccccsceeeeeeeeeeeeeeeeeeeeeeeaeeseeeeeeeeaaeeseeueeesiaaeetsaes 30 3 5 7 The Radio Frequency USE 00 eceeceeeeeeeee eee eeeeeee eee eeeeaaeeeeeeeaaaeeeeeeeeaaeeeeeeseaaeeeeseeeaeeeeeneeaaes 31 3 5 8 Frequency Selectors ete Qaeda A ee ene aa 31 4 ALLSTAR User Manual Rev B Table of Contents 3 5 9 Interference Rejection eeee 3 5 10 Network Capability 0 eee 3 5 11 Wireless DGPS Link Options 4 Operation 4 1 Receiver States ccccceceeeeeseeeeeeeeeeeneeees 4 1 1 Non Operational Giates 4 1 2 Operational States 0 ces 4 1 3 DATUM Support 4 2 Power Up Information 4 2 1 Boot Information eee 4 2 2 Operational Intormaton 4 3 Data Requests ccceeesneeeeeenteeeeeeeeaes 4 4 Configurable Parameters 4 4 1 Mask Angle seeen 4 4 2 GPS Antenna Position aaseeeeeea 5 Serial Data Interface 5 1 Binary Serial Data Communication Protocol 5 1 1 Physical Link Layer 5 1 2 Data Link Layer eee 5 1 3 Initiation eee ceeeeeeeeceeeeeeeeeeeeeeteeeeees 5 1 4 Data Transmission eeeeeeeee 5 1 5 Error Recovery and Timing 00sea 5 1 6 Checksum Calculation Rules 5 1 7 Field Typos ees 5 2 Binary Protocol Input Messages 01 5 2 1 Message Summary ceeeeeeeeeees 5 2 2 Message Content 5 3 Binary Protocol Output Messages
120. nual Rev B 109 nnna 2 SNOI IYDI Iddy J ASSY L GN mn nm GH Sieve gi Paved i a SUE DL swi f enna ECEE E vm e mme a oro E ane fs y ANYGNOJ INODHYA wg eg IMI ED S kno sn el NO1L93FOKd Iowy Seet 1S11 Sluvd Jlv vdJs 33S YVA 62L109 LI2 Mayn 291 VBA SE men 1 d0 3S se and Z AU et fra SE il 2 K bainte d x TT x Tx EET EE S ano Hit ar ai Ho T Willi en A ON Luvd g S O193KNOD QI0NIINI ano d ir IO HEN GR Site WYYOVIG DILVAGHOS p e E UA ie zen M 2810 9 seme war d IWNI 6 90 Hi LNO 39N GIND 2 160d NI S490 2 160d af l I e 149 19 2721 6 B0 IMO WE NIVA LYOd If Se SE d 138 9nd y3 el INANI Min 2d mee oe SS ag 1j 8 ed JIN SZ g0 id j JLIHM JB OL KOHN GNVG 03141934S 0ISIMYIH10 qi SSIINNA mY 22 38 OL SIIM Vv I Kal G S310N H X RR E Tu 4 egal siva noriaiassao Jg anozjoifele cla s rjeie r iss C Se SNOTSIA3Y SLUMS X Sivas wu S 2 ji D Cable 217 601729 VAR Figure 15 ALLSTAR User Manual Rev B 110 deift Aaf External Interface C 1 Connector Pin Assignment Table 12 shows the Interface and Power connector J1 or J3 depending of OEM variation pin assignment Table 12 J1 and J3 Interfaces and Power Connector Pin Assignment
121. nutes and position data 100 km from actual position 2 Valid almanac data less than one year old 3 At least 4 satellites greater than 5 elevation above the horizon 4 HDOP lt 6 The time allowed for self test and device initialization is less than 5 seconds In the case where the following additional conditions are met the TTFF is reduced to less than 30 seconds 95 e Unit was in SRAM Keep Alive mode before nominal power was re applied e Last navigation fix occurred within the last 2 hours e Valid ephemeris data age of less than 4 hours for at least 5 satellites With no initialization the time from power application to valid navigation output is less than 3 minutes typically less than 10 minutes 95 Receiver Performance The receiver meets the performance requirements defined below under conditions of vehicle operating speeds of up to 514 m s limited by Canadian amp US Export Laws acceleration of up to 4 0 g jerk of up to 2 mie specified temperature range as specified herein and minimum carrier to noise ratios as specified herein 1 GPS Signals The receiver is meant to operate using the L1 GPS signal as described in Reference 1 on Page 3 2 Reacquisition Reacquisition is defined as resumption of tracking and measurement processing There is no disruption of navigation data output when a satellite signal is lost unless there is a power interruption for a period of less than or equal to 200 ms Also t
122. o cables at the end of this section Table 15 Antenna Gain Depending on Cable Length Required Cable PNs ANTENNA GAIN CABLE TYPE MAX LENGTH MIN LENGTH 217 601730 XXX 0 dB no LNA RG 58 Low Loss 3 meter 3 dB 0 feet 217 601 730 XXX 12dB RG 58 Low Loss 20 meter 12dB 0 feet 217 601730 XXX 26dB RG 58 Low Loss 50 meter 28dB 20 meter 12dB 217 601730 XXX 36dB RG 58 Low Loss 65 meter 36dB 50 meter 28dB a A1 dB loss for the coaxial cable is usually required between the RG 58 cable and the GPS Receiver MCX connector and it is included in attenuation number in parentheses If the distance between the antenna and the GPS receiver needs to be longer than 65 m you should select an other type of coaxial cable with a lower loss per meter The 26dB and 36dB antenna can accept a supply voltage between 5V and 18VDC It is recommended to compute the drop in the coaxial cable so the active antenna will always see the minimum operating voltage of 4 5Volt The Table 16 on Page 114 list the current taken by each of these antenna Table 16 Typical Current Consumption Versus Antenna Gain Antenna Gain Current Consumption 12dB 20 mA 26dB 35 mA 36dB 50 mA D 2 Geodetic Active Antenna For RTK applications where centimeter level accuracy is required it is strongly recommended to use an active geodetic GPS antenna if possible In the event where the cable length between the receiver and
123. o the RF IN BNC connector ALLSTAR User Manual Rev B 101 4 Connect the power supply to the rear panel 9 16 VDC input jack The POWER indicator should be ON P N 100 SN O G Ooo PRIMARY DGPS 2 OUTPUT 2 OUTPUT 3 INPUT 3 INPUT 5 GROUND 5 GROUND TIME MARK RETURN 2 TIME MARK OUTPUT 1 Figure 10 Development Kit Back Panel 5 Launch the StarView software application By default the StarView software is configured to serial port COM at 9600 BPS Your installation may require the selection of another communication port lt The ALLSTAR communication baud rate is 9600 BPS except when it has the Carrier Phase Output option that requires 19200 BPS A 4 2 RT Star Setup with the STARBOX This development kit contains the following e a GPS receiver in a STARBOX unit e 115 VAC to 12 VDC adaptor e RS 232 I O cables DB 25 to DB 9 connectors and 12 V plug e Antenna e Coaxial cable e StarView Software Set up the equipment as in Appendix 11 RT STAR Setup starting on Page 103 for differential messages 102 ALLSTAR User Manual Rev B SY SN e ORK RRO LoS N E Jo ge ppg Cy lt Radio Data Link To Power Source Base Station Rover Station Figure 11 RT STAR Setup Differential operation requires that stations operate in pairs Each pair consists of a base station and a rover station A differential network
124. ow many parameters are listed in the messages 15 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 Enabled GPS Time Alignment DGPS and MSL modes Doesn t affect current Tropospheric model status Mask Angle 10 5 Degrees Datum 0 WGS 1984 DGPS Coast time 45 seconds DGPS Baud Rate 9600 COM2 port Don t affect present resolution on Lat Long and UTC time data ALLSTAR User Manual Rev B 77 Chapter 5 Serial Data Interface 5 5 10 Define Waypoint in MGRS Format Define the position of a waypoint in MGRS format HEADER CONTENTS OF DATA FIELDS SPMCAG 009 XX a a a XXXXX XXXXX XXXXX X C C XX hh lt CR gt lt LF gt Waypoint number 00 99 Waypoint name max 8 char Altitude above MSL m Grid northing Grid easting Square row Square column Zone letter Zone number Example SPMCAG 009 18 T X R 02090 Zone number Zone letter Square column Square row Grid easting Grid northing Altitude Waypoint name Waypoint ID 78 38779 100 5 POINTA 03 79 lt CR gt lt LF gt 18 T X R 02090 38779 100 5 POINTA 03 ALLSTAR User Manual Rev B Serial Data Interface 5 5 11 Select Active Waypoint Selects the active waypoint to be used in subsequent requests to PMCAG 906 Chapter 5 HEADER CONTENTS OF DATA FIELDS SPMCAG 010 xx hh lt CR gt lt LF gt Waypoint ID Example SPMCAG 010 03 47 lt CR gt lt LF gt ALLSTA
125. per meas block 1 N A N A double N A Uchar Ulong N A N A N A Uchar as per meas block 1 33 Satellite Visibility Data and Status Continued on Page 58 ALLSTAR User Manual Rev B bit 0 3 Total number of Satellites in view bit 4 7 reserved Data transmission of up to 12 satellites in view listed in decreasing elevation order Satellite visibility data of the 15t SV Computed data bit map bit 0 4 SV Number bit 5 6 SV Status 0 In View 1 Tracking 2 MeasReady 3 Used by Nav bit 7 Differential Corrections available N A N A N A N A 57 Chapter 5 Serial Data Interface 7 Elevation degree char range 90 90 8 9 Azimuth degree word range 0 360 bits 9 15 Reserved 10 SNR dB byte range 0 90 11 15 Satellite visibility data of the 2 SV as per SV1 asperSV1 16 20 Satellite visibility data of the 3 SV as per SV1 asperSV1 21 25 Satellite visibility data of the A SV as per SV1 asperSV1 26 30 Satellite visibility data of the E SV as per SV1 asperSV1 31 35 Satellite visibility data of the 6 SV as per SV1 asperSV1 36 40 Satellite visibility data of the 2 SV as per SV1 asperSV1 41 45 Satellite visibility data of the 8 SV as per SV1 asperSV1 46 50 Satellite visibility data of the 9 SV as per SV1 asperSV1 51 55 Satellite visibility data of the 10 Sv as per SV1 asperSV1 56 60 Satell
126. perate at a specific frequency or set of frequencies if equipped with a selector switch Having the selector switch under field conditions can greatly simplify changing frequencies in the case of interference from other users on a frequency Having a larger number of positions on the selector switch can give a greater choice of alternate frequencies 3 5 9 Interference Rejection Common forms of interference are e Co channel Co channel interference is when someone is operating on the same channel as your wireless link The simplest ways to eliminate this are to relocate to a different channel or to use more power than the competitor Note that using more power means that your receiver must see your base station at a higher power level than the competing station e Image channel Image channels are channels that are separated from your channel by 2x the first intermediate frequency IF of your receiver A common IF is 21 4 MHz With poor image rejection a channel that is 42 8 MHz away from your channel can strongly interfere with your desired signal An external preselector can minimize this problem Some radios are available with high selectivity preselectors already built in and thus minimize the tangle of extra cables and bulk of the external unit e Intermodulation Intermodulation IM interference is a complex process where two channels mix to generate a signal that is on your channel This mixing can take place in the DGPS wireless link
127. pler aiding a signal processing strategy which uses a measured Doppler shift to help a receiver smoothly track the GPS signal to allow more precise velocity and position measurement Earth Centered Earth Fixed ECEF a right hand Cartesian coordinate system with its origin located at the center of the Earth The coordinate system used by GPS to describe three dimensional location ECEF Earth Centered Earth Fixed coordinates are centered on the WGS 84 reference ellipsoid have the Zz axis aligned with the Earth s spin axis the X axis through the intersection of the Prime Meridian and the Equator and the Y axis is rotated 90 degrees East of the X axis about the Z axis Ephemeris a set of satellite orbit parameters that is used by a GPS receiver to calculate precise GPS satellite positions and velocities The ephemeris is used in the determination of the navigation solution and is updated periodically by the satellite to maintain the accuracy of GPS receivers Field a character or string of characters immediately preceded by a field delimiter Fixed field a field in which the number of characters is fixed For data fields such fields are shown in the sentence definitions with no decimal point Other fields which fall into this category are the address field and the checksum field if present Flash ROM Programmable read only memory GDOP Geometric Dilution of Precision A numerical value expressin
128. prietary binary NMEA types GGA GSA GSV RMC VTG ZDA GLL plus proprietary messages ALLSTAR User Manual Rev B 132 Time Mark Output Dimensions L1 pulse s aligned with GPS time 200 ns typical in absolute mode Discrete 3 general purpose input output lines PHYSICAL AND ENVIRONMENTAL 67 x 102 x 14mm Weight 50g Operating Temperature 30 C to 75 C standard 40 C to 85 C extended optional Storage Temperature 55 to 90 C Humidity 5 to 95 relative humidity non condensing to 60 C ALLSTAR DEVELOPMENT KIT Input Voltage 9 to 32 VDC Operting Temperature 20 C to 70 C Storage Temperature 55 C to 85 C Main Connector DB 25 Antenna Connector TNC female Accessories Included A metal STARBOX enclosure containing and ALLSTAR receiver A 12 dB active GPS antenna with a magnetic mount and a 6 m RF cable A STARBOxX interface cable for power and PC connections with DB 9 connectors Specifications are subject to change without notice ALLSTAR User Manual Rev B 133 Appendix Glossary of Terms 134 ASCII A 7 bit wide serial code describing numbers upper and lower case alpha characters special and non printing characters Address field for sentences in the NMEA standard the fixed length field following the beginning sentence delimiter HEX 24 For NMEA approved sentences composed of
129. ransmission 30 40 datum 35 50 123 125 dead reckoning mode 34 development kit 100 102 104 105 133 DGPS 11 27 29 31 32 45 46 configuration 48 58 transmit data 48 differential corrections 103 message 45 59 60 message configuration 50 mode 34 dilution of precision DOP 12 55 92 dimensions 133 discrete 23 104 dynamics 12 132 E electrical conditions 18 electrostatic discharge ESD 2 ellipsoid 125 126 EMC 18 environment 18 19 ephemeris 34 45 57 equipment development kit 100 error detection and recovery 40 example message 41 F fault mode 34 features 9 10 field types 41 figure of merit FOM 12 55 fix 89 90 frequency 132 G glossary 134 138 ALLSTAR User Manual Rev B Index H humidity 133 I I O 26 104 112 impedance 13 initialization 12 33 69 input 23 installation 28 interface 21 22 25 28 111 interference 15 31 K kit development 133 L link error 64 initiate 63 overload 64 wireless 29 low noise amplifier LNA 113 M mark time 24 25 104 mask angle 36 48 measurement block 45 57 message acknowledge 64 blocks 37 content 45 52 54 64 default list 52 identifiers 73 request 72 structure 37 summary 43 53 types 38 messages input 132 output 132 MGRS format 87 mode alignment 24 altitude hold 70 dead reckoning 34 differential 34 fault 34 navigation 12 144 non operation 33
130. rating modes Aligned on GPS Time Free Running In Aligned on GPS Time mode the Time Mark Output and GPS measurements will be aligned on GPS time at 200 ns typically With respect to Figure Son Page 25 Tb is 1 01 ms 0 01 ms To allow the synchronization on GPS Time a maximum delay of 5 seconds can be added to the TTFF See Message ID 20 on Page 45 and Message ID 103 on Page 51 for more information In Free Running mode the Time Mark is not aligned and the TTFF is according to the specification With respect to Figure 8 on Page 25 Tb is 1 01 ms 0 01 ms and occurs once each second approximately 999 999 ms receiver clock drift with the rising edge 0 to transition corresponding to the receiver epoch 1 Hz In 2 Hz and 5 Hz PVT mode the Time Mark will be output once per second In Time Alignment mode the Time Mark will be synchronized to the Seconds boundary of the GPS Time The Time Mark Output can also be configured as a standard discrete output fully controlled by the software for customized versions See Section C 2 I O Electrical Characteristics starting on Page 112 for the electrical characteristics 24 ALLSTAR User Manual Rev B Receiver Specifications The timing relationship for the GPS Time Mark output from the receiver is defined in Figure 8 The 1 PPS Figure 7 Time Mark Waveform Chapter 2 a Navigation Data Message ID 20 defines the UTC time of the epoch The rising edge of the Time Mark is accurate to
131. receiver Some types of IM can be reduced by having a good preselector on the receiver front end thereby attenuating one or both of the offending signals Close in frequencies simply require a good IM performance specification Look for an IM specification in excess of 60 dB e Adjacent channel Adjacent channel interference typically occurs when there is a strong signal in the next adjacent channel and you are near the limit of range of your system Look for specifications in excess of 65 dB ALLSTAR User Manual Rev B 31 Chapter 3 Installation and Verification 3 5 10 Network Capability In some cases a DGPS base station with a single transmitter cannot cover enough area without the logistical difficulty of frequently moving the station A wider area can be covered using a single reference station with multiple transmitters The Network uses the first transmitter to send the DGPS correction and it is in turn repeated by one or more distant transmitters To set up a DGPS network with several repeaters requires the wireless link to have a network protocol capability Protocols such as AX 25 or the more powerful MX 25 support powerful features such as multi hop digipeting digital repeating and time slotted digipeting Systems have been set up that cover more than 30 000 square miles using a single DGPS reference station Systems can even include mobile marine or airborne repeaters without a degradation of DGPS accuracy 3 5 11 Wireless DGPS
132. ronous and should be set up with 1 start bit 8 data bits no parity bit and one stop bit A default baud rate of 9600 is used Both transmitter and receiver are operating at the same rate and can be reprogrammed see Message ID 110 on Page 52 5 1 2 Data Link Layer 5 1 2 1 Bit Ordering The ordering of data within message blocks is such that the least significant bit LSB is the first bit received and the most significant bit MSB is the last bit in the sequence MSB LSB Order 76543210 This ordering is applied to all data formats which include integer values fixed point values floating point values and character strings 5 1 2 2 Message Block Structure Communication uses message blocks Each message block consists of a header and possibly data The data portion of the block is of variable length depending on the Message ID The header has a fixed length of 4 bytes consisting of a Start of Header character SOH Block ID Block ID Complement and Message Data length Each block has a truncated 16 bit word containing the Checksum associated with the complete content of the block It is appended at the end of the Data portion of the block The Message Block structure has the following form byte 1 SOH byte 2 ID byte 3 Cmpl ID byte 4 Message Data Length 0 255 byte 5 n n 4 Data bytes byte n 1 n 2 Checksum lt For transmitter messages MSB 0 is for one shot or to cancel continuous MSB 1 is for continuou
133. s unless specified otherwise 37 ALLSTAR User Manual Rev B Chapter 5 38 5 1 2 3 where Serial Data Interface SOH Start of header character decimal 1 ID Byte containing the block ID numeric value The block ID number field is used uniquely to identify the format of the data portion of the block Since only 7 bits are needed for the ID the higher bit is used to identify if the message is sent in one shot or continuous mode This prevents an unnecessary increase in overhead by eliminating any extra bytes in the protocol e g Message ID 23 with ID 17 D MSG 0x7F binary 0001 0111 where the msb 0 for one shot or ID 97 ID MSG 0x80 binary 1001 0111 where the msb 1 for continuous Cmpl ID 1 s complement of the ID field This can be calculated as Cmpl ID 255 Block ID or Cmpl ID Block ID XOR 255 This field in conjunction with the Start Of Header helps to synchronize the message blocks since the SOH character can appear within the data the Cmpl ID field validates the header contents and thus confirms the start of the block Msg Data Length One byte containing the length of the data part of the message in bytes excluding header and checksum Checksum This fields contains the checksum value for the complete message blocks transmitted which includes the header and data The checksum calculations is discussed in Checksum Calculation Rules on Page 41 Message Block Types 1 Host
134. s nominal with a maximum return loss of 10 dB over the frequency range of 1575 42 3 MHz The nominal source impedance presented by the antenna is 50 Ohms with a maximum return loss of 10 dB 4 Discrete Inputs For normal operation all discrete inputs can be left opened See Appendix C External Interface ALLSTAR User Manual Rev B 23 Chapter 2 Receiver Specifications starting on Page 111 for the electrical characteristics a DISC_IP_1 The discrete input Discrete 1 is used to control the reprogramming of the operational software See Appendix F Software Reprogramming Mode starting on Page 127 for details on the programming mode procedure b DISC_IP_2 DISC_IP_3 and DISC_IO_1 These 2 discrete inputs and the configurable discrete I O signal are general purpose default condition inputs DISC_IO_1 can be configured as a discrete output signal for custom applications lt Not all signals are available depending on the type of connector selected see Appendix C External Interface starting on Page 111 2 10 Time Mark Output 1PPS The Time Mark discrete output interface is implemented using a standard TTL logic output type Clamping diodes are provided to Vcc and Ground and the output is current limited using a series resistor The time mark is a 1 Hz signal with its rising edge corresponding to the time when the navigation outputs are valid see Figure 7 on Page 25 for Time Mark waveform The Time Mark Output has 2 ope
135. ssage identifiers with their minimum time interval between consecutive transmissions 900 Navigation Status 906 Bearing and Distance to Waypoint 907 User Position in MGRS Format GGA Global Positioning System Fix Data GLL Geographic Position Latitude Longitude GSA GPS DOP and Active Satellites GSV GPS Satellites in View RMC Recommended Minimum Specific GPS Data VTG Track Made Good and Ground Speed ZDA UTC Time amp Date HEADER CONTENTS OF DATA FIELDS SPMCAG 005 X X CCC XXX CCC xXxxx hh lt CR gt lt LF gt nth message block first message block baud rate Example SPMCAG 005 4 8 GGA 010 RMC 001 VTG 001 ZDA 010 48 lt CR gt lt LF gt Output Messages GGA and ZDA transmitted every 10 seconds RMC and VTG transmitted every second 4800 BAUD PMCAG 005 1 GLL 001 2A lt CR gt lt LF gt output messages GGA and ZDA transmitted every 10 seconds GLL RMC and VTG transmitted every second 4800 BAUD and store in NVM GLL 001 4800 all previous messages in NVM are overwritten 1 Each message block includes ccc message identifier xxx time interval between consecutive transmissions 001 999 seconds 000 stops the transmission 2 Valid baud rates 0 3 0 6 1 2 2 4 4 8 9 6 19 2 38 4 in KBaud units 0 Keep same baud rate no effect and update message list with new update rate values 1 Save the included list in NVM and over write the previous one ALLSTAR User Manual Re
136. stal Oscillator Time Dilution Of Precision Time Estimator Status 141 Appendix J 142 TIL TOA TRAIM TTFF TXD UART UDRE UTC VDOP VFOM VSWR WAAS WGS wpt XTE Acronyms Time Integrity Limit Time of Almanac Time Receiver Autonomous Integrity Monitor Time To First Fix Transmitted Data Universal Asynchronous Receiver Transmitter User Differential Range Error Universal Time Coordinated Vertical Dilution of Precision Vertical Figure of Merit Voltage Standing Wave Ratio Wide Area Augmentation System World Geodetic System Waypoint Crosstrack Error ALLSTAR User Manual Rev B 143 IPPS 24 104 2D 70 A accuracy 12 positioning 103 acknowledge message 64 acquisition 14 33 34 acronyms 140 141 almanac 27 33 parameters 47 status 63 transfer 46 47 update 46 altitude hold mode 70 antenna 113 114 active 115 base station 29 gain 30 114 location 28 passive 116 power 23 104 114 architecture system 11 B base station 27 29 32 34 36 status 45 59 battery 30 104 baud rate 52 68 73 102 104 beacon 64 80 85 95 bit ordering 37 block diagram 11 Built In Test BIT 45 61 63 C cable 109 110 113 calculation checksum 41 CD 106 channel 45 46 54 checksum calculation 41 coaxial cable 113 communication 37 132 configuration output 73 connector 21 22 111 course 96 D data link 29 request 35 transfer 37 t
137. t least 4 satellites with adequate geometry can be used for navigation purposes Once in this mode only a change of configuration rover mode requested or a reset will cause the unit to leave this navigation mode In this mode the unit will have the ability to transmit the DGPS messages which are requested and allowed once its position is initialized See also Section 4 4 Configurable Parameters starting on Page 35 for position initialization details Dead Reckoning Mode The receiver enters Dead Reckoning mode when it cannot remain in Navigation mode The speed and direction is assumed to be constant to allow the receiver to provide an estimated position Fault Mode The receiver enters Fault mode during the period of time in which the receiver outputs are affected by one or more critical system faults This mode supersedes all others and remains active until the next power down power up cycle Fault mode is entered from any other mode except Initialization ALLSTAR User Manual Rev B Operation Chapter 4 4 1 3 DATUM Support The receiver has the ability to provide its position in one of the 62 predefined datums The list of all the supported datum is provided in Appendix E Moreover the receiver can also support two user defined datum These have to be defined prior to their use using Message ID 88 Afterwards the desired datum whether it is user defined or predefined can be selected using Message ID 88 4 2 Power Up Information
138. te 1 Start up the PC and launch your internet service program 2 Go to our website and download the StarView setup program 3 Select Run from the Start menu and press the Browse button to locate Setup exe The default location is in the C Program Files Starview directory 4 Click on the OK button to install the StarView software and follow the steps on the screen lt If you purchased the GPS Receiver with the Carrier Phase Output option the default communication baud rate will be 19 2 Kbaud For all other versions the baud rate is 9 6 Kbaud 106 ALLSTAR User Manual Rev B Dee IA STARBOX B 1 Overview The STARBOX lt is a robust metal casing that houses the GPS receiver and a power supply Communication with the receiver is performed via a DB 25 connector Figure 14 depicts the interconnection required for the STARBOX 7 1 8mm 24 1mm 14 5mm Figure 14 STARBOX Outline Drawing B 2 Description The pinouts of the DB 25 connector are shown in Table 1 on Page 108 ALLSTAR User Manual Rev B 107 Table 11 STARBOX DB 25 Connector Pinout DB 25 PIN STAR BOX DESCRIPTION 1 DISC_IP_1 OPEN GND CMOS discrete input with 10K pull up resistor 2 GND Ground Connection 3 DISC_IP_2 OPEN GND CMOS discrete input with 10K pull up resistor 4 RESERVED 5 TIMEMARK 1 1 Pulse Per Second Output TTL level with a 100 series resistor 6 Serial
139. tence type has the following meanings P DR Proprietary sentence issuing a data request P CM Proprietary sentence issuing a command Table 7 COM Port Input Messages Sentence Length Identifier Max Chars 000 Configure COM1 Port Command P CM 17 001 Initialization Data Command P CM 77 003 Initiate BIT Selftest Command P CM 15 004 Request Output Message Command P DR 19 005 Set Output Configuration Command P CM 67 006 Switch to Reprogramming Mode Command P CM 20 007 Erase Non Volatile Memory P CM 18 008 Set Receiver Parameters P CM 60 009 Define waypoint P CM 57 010 Select active waypoint P CM 18 MSK Command message to the radiobeacon P CM DR 27 ALLSTAR User Manual Rev B 67 Chapter 5 5 5 1 68 Configure COM1 Port Command Serial Data Interface This message is used to change the COMI port mode Once this command is issued to ALLSTAR OEM the controller supporting the Monitor mode protocol is activated then NMEA communications with the ALLSTAR OEM can be restored only by using binary Message ID 110 on Page 52 On power up with NVM COM stays in the same mode Without NVM the default mode is Monitor Mode BINARY HEADER CONTENTS OF DATA FIELDS S PMCAG 000 X hh lt CR gt lt LF gt a Rate Selection Table 8 Baud Rate Selection 0 19200 1 300 2 600 3 1200 4 2400 5 4800 6 9600 7 19200 8 38400 Example Configure COM1 to Monitor Mode at 19200
140. tent windows J3 instead of the ZIF connector J1 VAR XX3 with a 0 100 x 0 100 20 pin 2x10 Straight Header J3 instead of the ZIF connector J1 on the TOP side VAR XX0 with a 0 100 x 0 100 20 pin 2x10 Straight Header J3 instead of the ZIF connector J1 on the BOTTOM side See Appendix C External Interface starting on Page 111 for more details J1 Interface and Power Connector The J1 Interface Connector is a 1mm Flexible Printed Circuit 26 pin AMP 2 487952 6 or ELCO 00 6200 026 032 800 Following is the list of possible mating Flat Flexible Cable and connector manufacturers a AXON CABLE cable 390 E HIGGINS Road ELK GROVE VILLAGE IL 6000 TEL 708 806 6629 b MIRACO mating and connector 9 PITTSBURG Av P O BOX 1163 NASHUA NH 03061 1163 TEL 603 882 6887 c ELCO USA connector 3250 KELLER Street Unit One SANTA CLARA CA 95054 TEL 408 499 1861 J2 RF Input Connector ALLSTAR User Manual Rev B 21 Chapter 2 Receiver Specifications The J2 RF input connector is an MCX Sub Miniature Snap On Connector straight jack receptacle The following is the list of possible mating connectors compatible with RG316 cable type Right angle OMNI SPECTRA 5807 5001 09 or SUHNER 16 MCX 50 2 5C 111 or RADIALL R113182 Straight OMNI SPECTRA 5831 5001 10 or SUHNER 11MCX 50 2 10C or RADIALL R113082 OMNI SPECTRA M A COM 100 Chelmsford St P O Box 3295 Lowell MA 01853 9910 TEL 1 800 366 2266
141. the antenna is very short less than one meter a passive antenna could then be considered Table 17 lists the specifications for recommended Passive Antennas Complete drawings are at the end of this appendix 114 ALLSTAR User Manual Rev B Table 17 Antenna Types Part Numbers Recommended Geodetic Active Antennas SUPPLIER Part Numbers Choke ring antenna with trypod mount and permanent mount Ground plane included 201 990146 888 201 990147 607 201 990147 680 AT575 90W with 12 dB AT575 90W with 26 dB AT575 90W with 36 dB Completely sealed round disk antenna with 1 inch tread and 5 8 inch adaptor with build in ground plane 201 990146 887 201 990147 606 201 990147 679 AT575 75W with 12dB AT575 75W with 26 dB AT575 75W with 36dB Smaller mobile mount ground plane required 201 990147 684 AT575 32W with 12dB Ground plane with 5 8 inch adaptor for AT575 32 antenna above 267 990148 137 SK0044 The Antenna gain should be selected depending on the cable loss between the antenna and the receiver prices and availability can be found in the latest GPS OEM Price List You can request this list by sending an e mail to the GPSMARKET the exact e mail address is supplied in section 7 of this document D 3 Active Antenna Lower cost antennae for higher volume applications or for more cost sensitive applications are available All GPS receivers manufactured by implementing a 20d
142. the highest accuracy possible is not required GPS OEM receivers can accept a total cable loss of 3 dB Depending on the cable type this could represent a cable run from 2 m up to 10 m Table 14 on Page 113 details the specifications of the RG 58 Low Loss Cable RG 58 U LLDS80 used in the GPS Antenna Cable 217 601730 XXX The RG 58 U LLDS80 is a custom made low loss noise coaxial cable made according to AeroAntenna specifications It is a double shielded cable similar to Belden Type 9310 but with the improvement of having 85 miniumum coverage of the second shield versus the Belden at 55 coverage The electrical characteristics are included in Table 14 Table 14 Coaxial Cable Specifications Center Conductor 20 Bare Copper wire Resistance 33 1 ohms per Km Insulation Polyethylene Inner Shield Aluminium Foil 100 coverage Outer Shield Tinned copper braid 85 coverage Resistance 45 9 ohms per Km Jacket Black PVC Nominal Impedance 50 ohms Nominal Vel of propagation 66 Nominal Capacity 101 7 pf per meter Attenuation 1000mhz 44 3 dB per 100 m or 54 dB 1575MHz Table 15 shows the minimum and maximum cable length when using GPS Antenna cable drawing 217 ALLSTAR User Manual Rev B 113 601730 XXX used in conjunction with the smaller cable Drawing 217 601727 XXX which is usually required between the receiver and the chassis case of the user system You will find the drawings for these tw
143. tion establishes range by line of sight The range in miles is given by Range V 2 H v 2 H where H is the height of the transmitter antenna in feet and H is the height of the receiver antenna in feet Given 8 feet height for the receiver antenna and 25 feet height for the transmitter antenna the range is 11 miles lt If the transmitter antenna or receiver antenna are on hilltops the height of the hill above the highest terrain between the transmitter and receiver should be included in the height of the antenna 3 5 2 Terrain Terrain is the greatest contributor to short range lt 100 miles communication Terrain includes the shadowing or blocking effect of hills and valleys as well as buildings and foliage Dense foliage can easily shorten a smooth earth range calculation of 10 miles to 2 or 3 miles Foliage can often be overcome by brute RF transmit power or excellent receiver sensitivity 3 5 3 Transmit Power and Receiver Sensitivity Transmit power and receiver sensitivity can be traded off against each other in cases where you are not competing with another user on the same frequency Having a receiver sensitivity of say 6 dB better than a competing receiver makes your transmitter look 6 dB 4x more powerful This translates to more range and a more reliable link Alternately having a sensitive receiver can significantly lower the cost of the transmitter by allowing a lower power model Having a lower power transmitter ca
144. us a RTCM message can be output in one or many messages but a message block cannot contain more than one RTCM message The control byte is used to determine the start and the end of aRTCM message The sequence number of the control byte can be used to detect the loss of a message block on the transmitter side It starts at 0 and increments by one for each consecutive message block 0 1 2 3 0 1 2 3 0 1 Control Byte bits 0 1 Sequence number bit 2 Set if first block of a RTCM message bit 3 Set if last block of a RTCM message bits 4 7 Reserved must be 0 skip the message if not N A N A 63 Chapter 5 Serial Data Interface 6 n 4 Data Contains a full or part of one message N A N A without parity bits byte 0 word 1 bits 1 8 byte 1 word 1 bits 9 16 byte 2 word 1 bits 17 24 byte 3 word 2 bits 1 8 85 5 Reserved N A N A Beacon Receiver Status 6 7 Frequency range 0 2835 to 3250 283 5 KHz 100 Hz unsigned to 325 0 KHz word 8 Bit Rate N A N A D4 25 bps D5 50 bps D6 100 bps D7 200 bps 9 11 Reserved N A N A 12 13 Signal Strength dB uV unsigned word 14 Signal to Noise dB Uchar 15 17 Atmospheric impulse count over the last 10 N A N A seconds 18 Self Test result 6 bits N A N A Os means all tests passed bit 0 Antenna Fault detected bit 1 Battery Backed RAM Invalid bits 2 5 reserved 19 20 S W version N A N A 125 bit map bit O gt ID 1 bit 127 gt ID 127 Link
145. v B 73 Chapter 5 Serial Data Interface 5 5 7 Switch to Reprogramming Mode Command See Appendix F Software Reprogramming Mode starting on Page 127 for more information HEADER CONTENTS OF DATA FIELDS SPMCAG 006 xXxX x hh lt CR gt lt LF gt baud rate Example SPMCAG 006 19 2 7A lt CR gt lt LF gt 1 Valid baud rates 0 3 0 6 1 2 2 4 4 8 9 6 19 2 or 38 4 in KBaud units Baud rate used for synchronisation with the programming utility 74 ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 5 5 8 Erase Non Volatile Memory Command HEADER CONTENTS OF DATA FIELDS SPMCAG 007 xx hh lt CR gt lt LF gt element 1 Table 9 PMCAG 007 Elements Characters Element 00 ALL 01 04 RESERVED 05 ALMANAC 06 08 RESERVED 09 TCXO PARAMETERS 10 IONO amp UTC PARAMETERS 11 POSITION 12 TIME 13 DGPS CONFIGURATION 14 DEFAULT NMEA MSG LIST 15 RS232 CONFIGURATION Woo W99 Waypoint ID WXX All waypoints a These commands force the ALLSTAR OEM to go into binary mode 9600 at the next power up Example SPMCAG 007 15 6B lt CR gt lt LF gt 1 NVM element to erase configuration of COM1 and binary message list transmitted by default after each power up See also Table 9 above ALLSTAR User Manual Rev B 75 Chapter 5 Serial Data Interface 5 5 9 Set Receiver Parameter Command 76 HEADER C
146. valid The data field of the message is composed of a list of available SV s 4 byte bit map and the almanac data common to all SVs and almanac week This message is sent ahead of the specific almanac data transfer message ID 79 defined below Password UGPS 000 in ASCII format U character first bit map bit 0 gt SV 1 bit 7 gt SV 8 bit map bit 0 gt SV 9 bit 7 gt SV 16 bit map bit 0 gt SV 17 bit 7 gt SV 24 bit map bit 0 gt SV 25 bit 7 gt SV 32 Almanac data common to all SVs are the week number and the reference time detailed below Almanac Week range 0 65535 toa range 0 147 resolution 602112 4096 N A N A N A N A N A weeks seconds char 8 N A N A N A N A word Uchar 79 Specific almanac data transfer Continued on Page 47 46 Transmitter to GPS receiver data transfer of SV specific almanac data using YUMA almanac format The first data byte is the SV A complete series of these messages is sent in increasing SV order from 1 to 32 for the SVs specified in the common almanac SV bit map data message It is very important to note that each specific data message must be acknowledged through Message ID 126 see Page 64 before sending the next specific data message ALLSTAR User Manual Rev B Serial Data Interface Chapter 5 14 21 22 29 30 37 38 45 46 53 Continued on Page 48
147. ve Antennas sseessseeeseessieesisssrisssrnsstrnustnnstnnnttnnntnnnssrnnsrnnnnnnt 115 Recommended Active Antennae ccccccceeeeeneeeeeeeeenneeee ee eaaeeeeeeeaaeeeeeeeeaeeeeeeeeaeeeeeenaeeeeeeeaea 115 Passive Antenna Specifications Patch Element ccccceeeceeeeeeeeeeeeeeeeseeeeseeeeeeeaaeeseeaeeeeeaeees 116 Recommended Passive Antennae 0 eeeccceeeeeeecee eee ee eeae ee ee eee aaeee ee eeaaeeeeeeeaaaeeeeeeeaaeeeeeeeaaeeeeeee 116 Gable Lengths Vs Gait 3s c 2st c aakniadelidetee nei diel ieee diate aaa aata A 130 ALLSTAR User Manual Rev B Chapter 1 Introduction The ALLSTAR receiver is a Global Positioning System GPS Standard Positioning Service SPS single board twelve channel code differential receiver for embedding in Original Equipment Manufacturer OEM navigation systems Code Differential GPS Code DGPS is regular GPS with an additional differential correction signal This correction signal improves the accuracy of GPS and can be broadcast over any authorized communication channel The GPS determined position of a base station is computed and compared to its surveyed geodetic position The differential information is transmitted to your receivers by radio or other means These differences can then be matched up with GPS measurements from the roving GPS receiver and used to remove the systematic correctable error factors A DGPS system therefore consists of at least two units a base station a
148. will be available on a continuous worldwide basis to users authorized by the U S Department of Defense typically using P Code Pseudolite an Earth based transmitter designed to mimic a satellite May be used to transmit differential corrections Pseudorange the calculated range from the GPS receiver to the satellite determined by taking the difference between the measured satellite transmit time and the receiver time of measurement and multiplying by the speed of light This measurement generally contains a large receiver clock offset error Receiver channels a GPS receiver specification which indicates the number of independent hardware signal processing channels included in the receiver design Relative bearing bearing relative to heading or to the vessel Residual in the context of measurements the residual is the misclosure between the calculated measurements using the position solution and actual measurements Route a planned course of travel usually composed of more than one navigation leg Satellite elevation the angle of the satellite above the horizon Selected waypoint the waypoint currently selected to be the point toward which the vessel is travelling Also called to waypoint destination or destination waypoint Selective Availability SA the method used by the United States Department of Defense to control access to the full accuracy achievable by civilian GPS equipment generally by introducing t
149. y circut AUF l 9 or W12 installed Not vec gt Third Uart option 9 use USF vec Note C D10 Kap Du O Antenna supply ka ak eil 13 12 or Wt Installed wd 1N4148 tK DGPS Vap usc R19 74HC14 7 100K cte p lt 6 lt lt 8 1UF x If U3A i uss aig bb TINEMARK gt 1 o2 REI 9 D I EL TIMEMARK R11 1K vec R14 100K T4HC14 9 10K ZE co c10 zl WEEN Dee Tithe GPS DEVELOPMENT KIT J6 10 16V R17 D3 1N4001 DS 1N4001 ANT SUPPLY 5V Document Number EVALBSH1 D REV wo Bate Apri 15 1998 SEE THIRD UART DESCRIPTION vec U2 MAX232 SEE BATTERY OPTION DESCRIPTION 1N4148 R2 1K BF1 ALLSTAR User Manual Rev B DB9 FEM D2 1N4148 SEE ANTENNA SUPPLY 5V 12V DESCRIPTION 1N4001 D6 LM317 R20 1 5k ORA ESER S1 7 ON 5V OFFet2v Figure 13 Development Kit Options 105 A8 StarView Software Installation Once the receiver is connected to the PC antenna and power supply install the StarView software The StarView CD is supplied with the development kits otherwise StarView is available on our website From CD 1 Start up the PC 2 Insert the StarView CD in the CD ROM drive of the computer 3 Install the StarView software and follow the steps on the screen If the setup utility is not automatically accessible when the CD is inserted select Run from the Start menu and press the Browse button to locate Setup exe on the CD drive From our websi

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