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Navigator G4 & G4B GPS Compasses

1. _ComNay marine itd Navigator G4 G4B GPS Compasses Installation amp Operation Manual ISO 9001 PN 29010082 ComNav Navigator G4 G4B Installation amp Operation Welcome Welcome Congratulations on your purchase of ComNav Marine s Navigator G4 G4B GPS Compasses At ComNav we are proud of our prominence as a leader in the design and manufacture of marine autopilot systems Our dedication to performance and reliability will ensure your satisfaction with the Navigator G4 G4B ComNav Marine Ltd Warranty Notice Prior to the installation and or operation of the equipment ensure that you read understand and accept the conditions of the warranties as detailed in the Warranty Information section of this manual Operator s Warning The P Series Autopilot System with or without the Navigator G4 G4B will steer your vessel However it is only an aid to navigation lts performance can be affected by many factors including equipment failure environmental conditions and improper handling or use An autopilot system does not reduce your responsibility for the control of the vessel when underway You must always be in a position to monitor the course supervise the autopilot and resume manual control if the need to do so arises Whenever underway your vessel must be under the control of a qualified and alert person General Notice This document ComNav part number 29010082 Version 1 Revision 0 is the approved Inst
2. G4 MA10 GPS antenna 30130009 G4B G4 MA10 GPS antenna 30130009 G4B MA40 DGPS antenna 30130010 Antenna cable TNC TNC 3 metres 31110045 Data cable DE9 DEY 3 metres 31110044 Power cable 3 metres 31110046 Manuals Not pictured Navigator G4 G4B Installation amp Operation 29010082 v1r0 GPS Technical Reference 875 0175 000 Rev C1 PocketMAX User Manual 875 0178 000 Rev Ai these two manuals are by Hemisphere GPS amp their part numbers are Hemisphere s Table 1 Navigator G4 System Parts List Document PN 29010082 V1 0 22 ComNav Navigator G4 G4B Installation amp Operation Installation Document PN 29010082 V1 0 23 ComNav Navigator G4 G4B Installation amp Operation Document PN 29010082 V1 0 24 ComNav Navigator G4 G4B Installation amp Operation Installation Technical Requirements Caution The following are the basic technical requirements that should be met before installation of the Navigator G4 G4B on your vessel Please refer to the Warranty Information in the Warranty section of this manual before proceeding with installation of the Navigator G4 G4B Hazard warning CAUTION Extreme caution is advised when using tools powered by alternating current AC from main AC supply circuits regardless of whether the supply circuits are indoor outdoor marine or industrial rated Water especially sea water is an EXCELLENT conductor of elect
3. Real Time Data Heading 180 0 COG 10 0 Vel 25 3 Km h ROT 3 2 Pitch Roll 6 2 Back Top Menu Aiding Menu Gyro aid NO Tiltaid YES Back Top Menu Main Menu Vector Menu Constants Menu Vector __ Display HTAU 0 5s GPS Aiding Features HRTAU 0 5s Config Wizard Bias Neg Tilt SPDTAU 0 5s System Setup Antenna Sep PTAU 0 5s Pitch Roll gt Pitch Back Back Top Menu Top Menu A Bias Menu Heading 0 0 Pitch Roll gt 0 0 Neg Tilt NO Level Op YES Back Top Menu Notes data values shown are the factory defaults Antenna Menu Computed 0 53m Measured gt 0 53m 19 Feb 2008 Back Top Menu real time data values in menus marked with are examples only Figure 19 Vector Menu Chart Document PN 29010082 V1 0 59 ComNav Navigator G4 G4B Installation amp Operation GPS Menu Appendices The GPS menu allows you to view and edit GPS amp data output settings These include specific positioning parameters UTC time offset and satellite visibility and positioning information Some values can be changed while others show the current real time values that the G4 is working with or has calculated Position Status Display Precision Menu Lt 49 11 3058300 Ln 123 04 511510 Hgt 1 60m Hdg 91 48 Vel 0 2 Km h Age 7 0s SV
4. database Compliance IEC 61108 4 beacon standard Table 8 Beacon Receiver G4B Document PN 29010082 V1 0 65 ComNav Navigator G4 G4B Installation amp Operation Appendices Correction I O protocol Data I O protocol NMEA 0183 Crescent binary Timing output 1 PPS HCMOS active high rising edge sync 10 k 10 pF load Table 9 Data Communications Operating Temperature 32 C to 74 C 25 F to 165 F Storage Temperature 40 C to 85 C 40 F to 185 F Humidity 95 non condensing Shock Vibration EP 455 EMC FCC Part 15 Subpart B Class B CISPR22 CE Table 10 Environmental Antenna Short Circuit Protection Yes Table 11 Power Supply Dimensions Lx W x H 189 mm x 114 mm x 71 mm 7 4 x 4 5 x 2 8 Weight 860 g 1 9 Ib Status indication Power primary GPS lock secondary GPS lock differential lock and heading lock Table 12 Mechanical Document PN 29010082 V1 0 66 ComNav Navigator G4 G4B Installation amp Operation Appendices G4 MA10 GPS Antenna Specifications GPS Frequency Range 1 575 GHz L1 GPS Bandwidth 20 MHz GPS LNA Gain 30 dB GPS LNA Noise 1 4 dB typical Table 13 GPS Antenna Input Voltage 5 to 12 VDC Input Current 20 mA Table 14 Power Supply Enclosure material Polycarbonate dimensions 146 mm dia x 80 mm high 5 76 dia x 3 15 high Weight 535 g 1 2 Ib Mounting Thread 1 14 UNS 2B Connec
5. Basic Options on page 38 for help configuring your system Warning When the gyro is first initializing the dynamics the gyro experiences MUST BE SIMILAR to the regular operating dynamics For example if you will be using the Navigator G4 on a high speed manoeuvrable craft you must use the receiver under highly dynamic conditions for the first 5 to 10 minutes after turning on power rather than sitting stationary Document PN 29010082 V1 0 43 ComNav Navigator G4 G4B Installation amp Operation Operating Display Screen showing Main Menu E Signal lock FE 20 NN Indicators Va i A 8 Selection Ka Ka Buttons Heading _ComNav GPs G4 Navigator Differential gt HEADING E FOMI SBAS or Beacon E ST Secondary GPS sec crs f Enter Select Primary GPS PRIM GPS POWER Down Back Gres ent Power On anes Indicator GE ng Ge CL Figure 17 Navigator G4 Front Panel For full information on all the menus please see Appendix 2 Menu on page 59in the Appendix Viewing GPS DGPS Status Most users will receive position and heading information through their on board navigation system If you have not connected the Navigator G4 to an existing navigation system or are troubleshooting your unit you may need to view GPS DGPS or Beacon status on the Navigator G4 s display screen Do Have a Signal Figure 17 shows which LEDs on the Navigator G4 will indicate GPS DGPS or Beacon signal lock when illum
6. ComNav Navigator G4 G4B Installation amp Operation Configuring the Time Constants Customizing Settings The Navigator G4 default settings are fine for most users If desired you can set the following time constants to further smooth heading course over ground and speed measurements The table below provides an overview of the time constant values that you can set in the Configuration Wizard or the Vector menu including the formulas for figuring out the optimal value of each time constant for your particular vessel For further details please consult Hemisphere s GPS Technical Reference Time Range HTAU Adjusts the responsiveness to true 0 0 to 60 sec Heading leading 2 0 sec when If vessel is large and unable to turn gyro enabled quickly you may want to increase this value HRTAU Adjusts the responsiveness to the 0 0 to 60 sec Heading rate of heading change 2 0 sec when Rate If vessel is large and unable to turn gyro enabled quickly you may want to increase this value COGTAU Adjusts the responsiveness to the 0 0 to 60 sec course over ground measurement Course 9 0 0 sec Over If vessel is small and dynamic Ground leave this value at 0 0 s to be conservative If the vessel is large and resistant to motion you may want to increase this value SPDTAU Adjusts the responsiveness to 0 0 to 60 sec Epeed Rest 0 0 sec If vessel is small and dynamic leave this value at 0
7. Document PN 29010082 V1 0 14 ComNav Navigator G4 G4B Installation amp Operation Introduction How the Navigator G4 Works The Navigator G4 series provides accurate reliable heading and position information at high update rates lt consists of a high performance GPS engine and two multipath resistant antennas for GPS signal processing The Navigator G4 uses moving base station Real Time Kinematic RTK technology to achieve very precise heading and position accuracies Moving Base Station RTK RTK technology uses two antennas One antenna is designated as the primary GPS while the other is designated as the secondary GPS Knowing the fixed distance between the primary and secondary antennas by default 0 5 m allows the Navigator G4 to constrain its search volume when computing GPS satellite positioning data The Navigator G4 is able to constrain its search volume because the location of the secondary antenna can theoretically only fall on the surface of a sphere with the radius centered on the location of the primary antenna Primary gt Antenna 0 5 m baseline Figure 2 Secondary antenna s search volume Therefore positions computed by the Navigator G4 are referenced to the phase center of the primary GPS antenna The Navigator G4 s internal GPS engine uses both the L1 GPS C A code and the RF carrier phase data to compute the location of the secondary GPS antenna in relation to the primary GPS antenna with
8. V1 0 5 ComNav Navigator G4 G4B Installation amp Operation A O Setting Basic Options with the Configuration Wizard Operando Initializing the System Viewing GPS DGPS Status Do I Have a Signal How Good is the Quality of My Signal Troubleshooting a Signal Loss General Troubleshooting Checklist GPS DGPS and Beacon Beacon External RTCM Troubleshooting Heading Customizing Settings a lilla Disabling the Tilt Aid Disabling the Gyro Aid Configuring the Time Constants Care amp Maintenance iii iii Cleaning and Appearance Protection of Wires and Cabling Periodic Checks Fuse Replacement Appendix 1 Frequently Asked Questions rrrriii Appendix 2 MOMS alal Vector Menu GPS Menu Differential Menu SBAS Beacon External RTCM Autonomous Configuration Wizard Menu System Setup Menu Appendix 3 Specificati0NS ooooccccccccnnnconnncconccoonccannncnnncnnnnanannncnnrrnnnnananannnns Receiver Specifications G4 MA10 GPS Antenna Specifications G4B MA40 DGPS Antenna Specifications Document PN 29010082 V1 0 6 Table of Contents ComNav Navigator G4 G4B Installation amp Operation Table of Contents List of Figures Figure Navigator 54 E une 12 Figure 2 Secondary antenna s search volume rr rer rr rr rr rr rr RR RAR KKR RR RR RR RR KKR RR KKR RR KKR RR KKR RR KKR rn nn 15 Figure 3 Navigator G4 S tilt aiding enes rr rr rr rr rr RR RA
9. a very high sub centimetre level of precision Using RTK technology the Navigator G4 analyzes a significant number of possible solutions to determine where various combinations of integer numbers of L1 wavelengths to each satellite intersect within the search volume Heading data references the vector formed from the primary GPS antenna phase center to the secondary GPS antenna phase center Note The Navigator G4 RTK algorithm only uses GPS to calculate heading Differential corrections are not used in this calculation and will not affect heading accuracy Document PN 29010082 V1 0 15 ComNav Navigator G4 G4B Installation amp Operation Introduction Supplemental Sensors The Navigator G4 contains an integrated tilt sensor and gyro which are enabled by default Each supplemental sensor may be turned on or off individually however the full functionality of the Navigator G4 system is realized only when both are used Each supplemental sensor is inside the Navigator G4 enclosure mounted on the internal printed circuit board Both sensors act to reduce the RTK search volume which improves heading startup and reacquisition times This also improves heading reliability and accuracy by eliminating other possible erroneous solutions The GPS Technical Reference manual describes the commands and methodology required to recalibrate query or change the status of these sensors Tilt aiding The Navigator G4 s internal tilt sensor ac
10. enter a heading bias in the Navigator G4 to calibrate the physical heading to the true heading of the boat if you have some a gyrocompass Roll Installing for heading and roll is an alternate installation Orienting the antennas perpendicular to and along the centreline of the axis of the boat will provide roll readings Note If you choose this installation you will need to enter a heading bias in the Navigator G4 The heading bias will be either 90 if the antennas face to Port or 90 if the antennas face to Starboard Planning the Optimal Antenna Placement Optimal antenna placement is important to obtain a high precision GPS reading Antennas must be placed with a clear view of the horizon away from other electronics and antennas along the fore aft amp or athwartships centrelines of the vessel Warning The Navigator G4 will not translate its position to the vessel s centreline if not installed along the centreline on a level plane at a maximum separation of 2 0 m default is 0 5 m away from radio frequencies and as high as possible with the connectors on both antenna modules pointing the same direction with the primary antenna located somewhere in front of the front panel of the receiver module but still along the vessel s centreline e with the secondary antenna located behind the back panel of the receiver module but still along the vessel s centreline Note Both antennae supplied with the G4 are identical thus
11. of the NMEA amp or proprietary sentence s that you want to be output on each of the two Data Ports and the update rate for each one to be output 7 Configure the Elevation Cutoff Angle You may set the Elevation Cutoff Angle between 0 and 45 The default value is 5 8 Set the Maximum DGPS Age Optional The maximum DGPS age is 3600 seconds 60 minutes by default If you need a shorter or longer DGPS age set it here 9 Configure the Baud Rate Optional If the default Baud rate on the desired port does not match that of the external device you are connecting to you will need to set it here Available values 4800 9600 19200 38400 57600 Document PN 29010082 V1 0 39 ComNav Navigator G4 G4B Installation amp Operation 10 11 12 13 14 15 16 Configure Aiding Features Optional While the default settings will work for most users you can configure the aiding features to reduce heading startup and reacquisition times Customers who may want to configure aiding features include those with a large slow to turn vessel or those with a small dynamic vessel To configure the aiding features see page 49 Configure Time Constants Optional While the default settings will work for most users you can configure the time constants to reduce heading start up and reacquisition times Customers who may want to configure aiding features include those with a large slow to turn vessel or those
12. provide to compute an appropriate position within 2 5 metres Since there is some error in the GPS data calculations the Navigator G4 also tracks a differential correction The Navigator G4 uses the differential corrections to improve its position to less than 1 metre There are two main aspects of GPS receiver performance e positioning e satellite acquisition quality When the Navigator G4 is properly positioned the satellites transmit coded information to the antenna on a specific frequency that allows the receiver to calculate a range to each satellite GPS is essentially a timing system The ranges are calculated by timing how long it takes for the GPS signal to reach the GPS antenna To calculate the geographic location the GPS receiver uses a complex algorithm incorporating satellite locations and ranges to each satellite Reception of any 4 or more of these signals allows a GPS receiver to compute 3 dimensional coordinates Document PN 29010082 V1 0 13 ComNav Navigator G4 G4B Installation amp Operation Introduction Differential Operation The purpose of differential GPS DGPS is to remove the effects of atmospheric errors timing errors and satellite orbit errors while enhancing system integrity Autonomous positioning capabilities of the Navigator G4 will result in positioning accuracies of 2 5 m rms In order to improve positioning quality to sub metre levels the Navigator G4 uses differential corrections received
13. with a small dynamic vessel To configure the time constants see page 50 Input the Heading Bias Optional If you installed the antennae exactly parallel to the vessel s fore aft centreline the Heading Bias is 0 0 If you did not install the antennae exactly parallel to and along the centreline enter a heading bias 180 0 to 180 0 to compensate for the angle of offset from the centerline Note If you installed the antennae for roll e perpendicular to the vessel s centreline rather than pitch the Heading Bias you enter will be 90 0 or 90 0 plus or minus any offset from a perpendicular to the centreline You must also enter the bias for roll see below Input the Bias for Pitch or Roll Optional Enter the bias for pitch or roll 15 0 to 15 0 to compensate for any offset from the vessel s centreline or from perpendicular to the centerline if installed for Roll Select the Antenna Separation Optional If you did not install the antennas 0 5 metres apart enter the actual antenna separation here Available range is 0 2 0 metres Configure the Navigator G4 for Pitch or Roll Pitch is the default installation for most users If you installed the Navigator G4 to read roll select Roll here Save Your Settings e After selecting the Save to Location option at the end of the Configuration menu you will be prompted for a location to save your configuration e Select one of the em
14. 0 s to be conservative lf the vessel is large and resistant to motion you may want to Increase this value PTAU Adjusts the responsiveness to pitch 0 0 to 60 sec Pitch If vessel is large and unable to pitch 0 5 sec quickly may want to increase this value Table 5 Time Constants Document PN 29010082 V1 0 50 gyro ON Ti 1 maxrate of turn in sec gyro OFF 20 maxrate of turn in sec maxrate of rate of turn in sec 10 maxrate of change of course in sec 10 maxrate of acceleration in metres sec 10 10 max rate of pitch in sec ComNav Navigator G4 G4B Installation amp Operation Care amp Maintenance Document PN 29010082 V1 0 51 ComNav Navigator G4 G4B Installation amp Operation Document PN 29010082 V1 0 52 ComNav Navigator G4 G4B Installation amp Operation Care Maintenance Care amp Maintenance The Navigator G4 G4B GPS Compasses have been designed to provide many years of reliable service The following periodic care and maintenance tips will help to ensure the longevity of your Navigator G4 G4B Cleaning and Appearance The enclosures should be carefully cleaned on are regular basis with a damp cloth and mild soap This is particularly important for the antennae modules Do not use abrasive cleaners or chemicals The antennae enclosure is designed to be weatherproof and splash resistant but it should not be immersed in wate
15. Count 5 HDOP 3 2 Precision Res rms 0 3m D a 0 2m D b 0 2m Azimuth 163 1 D Lat 0 2m D Lon 0 2m D Alt 0 3m Back Top Menu NAVCnd ABBABB DSP ARM 1F 1F Back NAV Condition Menu J Top Menu Satellites Menu CH01 SV39 EL 37 AZ 215 SNR 50 CH12 SV31 EL 11 AZ 163 SNR 42 Car Smooth 11 Eph Exists 11 Eph Healthy 10 NotUsed Prev 11 Above Ele 11 Diff Corr 10 No Diff Corr 0 Back Top Menu Back Top Menu Processors Menu Configure Menu Main Menu GPS Menu Vector gt PositionStatus gt GPS Satellites gt gt SBAS Configure Config Wizard Back System Setup Top Menu Notes Elev Mask 5 MaxDGPSAge 2700 Data Port A Data Port B UTC Offset 8h Back Top Menu data values shown are the factory defaults real time data values shown in menus marked with are examples only 19 Feb 2008 Figure 20 GPS Menu Chart Document PN 29010082 V1 0 60 DSP CarLock YES DSP BER YES DSP DSPLock YES DSP FrmSync YES DSP TrkMode YES ARM GPSLock YES ARM DifData YES ARM ARMLock YES ARM DGPS YES ARM Solutn YES Back Top Menu Data Ports Menu see Data Ports Menu on the Configuration Wizard Menu Map ComNav Navigator G4 G4B Installation amp Operation Differential Menu SBAS The Diff
16. ER A full bar height reflects good signal lock a BER of 0 A bar height only 2 pixels tall reflects a complete loss of signal a BER of 500 or greater Bar heights in between reflect intermediate degrees of signal quality For example if using WAAS there are two satellites available so two BERs are provided Beacon The Beacon indicator reflects the quality of the Beacon signal in terms of the signal strength SS and the signal to noise ratio SNR A full bar height reflects good signal lock an SS of 35 or greater and an SNR of 24 or greater A bar height only 2 pixels tall reflects a a complete loss of signal SS and SNR values of 0 Bar heights in between reflect intermediate degrees of signal quality If using Beacon the first bar indicates SS signal quality the second bar indicates SNR signal quality Document PN 29010082 V1 0 45 ComNav Navigator G4 G4B Installation amp Operation Operating Troubleshooting a Signal Loss With the Hemisphere GPS COAST technology you should be able to continue working in the event of a GPS or DGPS signal loss General Troubleshooting Checklist GPS DGPS and Beacon Beacon Check antenna connections Verify antennas have an unobstructed view of the sky Verify the lock status of the satellites Confirm baud rates match external source Verify the differential source In addition to checking the above general items check the following Verify that the receiver is t
17. N NO CASE EXCEED IN THE AGGREGATE THE COST OF CORRECTING THE DEFECT IN THE EQUIPMENT OR AT COMNAV S OPTION THE COST OF REPLACING THE DEFECTIVE ITEM IN NO EVENT WILL COMNAV BE LIABLE FOR ANY LOSS OF PRODUCTION LOSS OF PROFITS LOSS OF USE OR FOR ANY SPECIAL INDIRECT INCIDENTAL CONSEQUENTIAL OR CONTINGENT DAMAGES EVEN IF COMNAV HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES WITHOUT LIMITING THE FOREGOING COMNAV SHALL NOT BE LIABLE FOR ANY DAMAGES OF ANY KIND RESULTING FROM INSTALLATION USE QUALITY PERFORMANCE OR ACCURACY OF THE EQUIPMENT NOTICE OF DEFECT The Limited Warranty will not apply with respect to any defective Equipment unless written notice of such defect is given to ComNav by mail to the address for ComNav set forth below or by facsimile to ComNav at 604 207 8008 and unless that written notice is received by ComNav within ten 10 days of the date upon which the defect first became known to the Purchaser Notices sent by mail from within North America will be deemed to be received by ComNav on the seventh 7th day first following the date of posting Notices sent by mail from anywhere else in the world will be deemed to be received by ComNav on the tenth 10th day next following the date of posting Notices sent by facsimile will be deemed to be received by ComNav on the date of transmission with appropriate answerback confirmation REMEDIES NOT TRANSFERABLE The Purchaser s remedies under this Warranty apply o
18. R RKA R ARK R SARK KKR RAK RR RR KKR RR KKR RR KRA rrenan KKR rann 16 Figure 4 Navigator GAS OO OS 17 Figure 5 NavigatorG4 System Parls arl 21 Figure 6 Heading and Pitch installation top down view Of Vessel enes rrrr rr rrr rr rr nns r enn r anna 21 Figure 7 Heading and Roll installation top down view of vessel rr rr n arr rn nr ennen ann 28 PIQUE o OIE MOUNINO MEN 29 PIQUIG Os et gn TEE 31 Figure 10 Receiver Fastened to Bracket 31 PAG UGS Waly ele dl Lee ER Figure 12 Port connections on the Navigator GA 33 Figure 13 Port A B Connectors viewed from rear Of GA 34 Figure 14 The Navigator G4 s Rear Panel 31 Figure 15 Configuration Wizard Menu KE 38 Figure 16 The Navigator G4 s Rear Panel reser rens rer rr rr rr rar rr RR RR RR RR KKR RAR KKR RR KKR RR KAR RR KKR rann 43 Figure I Navigator Ge Front Panel ee ee 44 Figure 18 Signal BANS EE 45 Figure 19 Vector Menu Char EE 59 Elqures20 GRS Menu nata o tesoro titan ee 60 Eligure 21 SBAS Menu Chaco aa 61 Figure 22 lee e NO TE EE 62 Figure 23 External RTCM Menu Cha t a allea 62 Figure 24 Autonomous Menu Chat oia tido dede 63 Figure 25 System Setup Menu Chatrt i 64 List of Tables Table 1 Navigator G4 System Parts List ei 22 Table 2 Cable EE 30 Table 3 Default Data Sentences Dy Porta as 34 Table 4 Pin Connections f
19. allation and Operation Manual for use with Navigator G4 G4B GPS Compasses Where versions of this manual exist in other languages the English version shall be considered authoritative Document PN 29010082 V1 0 1 ComNav Navigator G4 G4B Installation amp Operation Welcome Document History Revision Date By Description Description 29 February 2008 HG staff First Release based on HG s VS1x0 UG Rev B1 CN staff Document PN 29010082 V1 0 2 ComNav Navigator G4 G4B Installation amp Operation Welcome About this Manual This manual provides essential information for the safe and reliable operation of your ComNav Navigator G4 G4B GPS Compasses You are urged to read this manual in its entirety before you use your Navigator G4 G4B for the first time and to keep it handy until you become thoroughly familiar with the operation of the compass Manual Format This manual has been formatted to be printed on both sides of the pages of the manual and on standard Letter sized paper 8 5 x 11 If you have obtained this manual as a soft copy please note that it is in Adobe Portable Document Format pdf and so may be viewed amp printed with Adobe Reader or compatible pdf format viewers When printing this manual with Reader you should select duplex printing or the equivalent term used by your printer s software driver in order to print it double sided on the paper If your printer does not h
20. ave built in duplexing capability you can still print this manual double sided by following the instructions that came with your printer for doing hand duplexing You should also select the Auto Rotate and Centre option in the Print Dialog box de select the Choose Paper Source by PDF page size option and set the Page Scaling to None Document PN 29010082 V1 0 3 ComNav Navigator G4 G4B Installation amp Operation Document PN 29010082 V1 0 ComNav Navigator G4 G4B Installation amp Operation Table of Contents MK EIERE ee de EE ee DOCUMENT HISTORY GE About this Manual Manual Format Table of Contents Table 0 CONAN ad LISTOFFIGUIEeS clin LIST OF RADIOS auna ele About the Navigator G4 G4B GPS Compasses GPS Overview GPS Operation Differential Operation Satellite Signal Loss No Problem How the Navigator G4 Works Moving Base Station RTK Supplemental Sensors Time Constants rr A blblll UTI AG KT J DEE Parts List installation aiar Technical Requirements Caution Power Supply A Tools Mounting the Antennas Selecting the Antenna Orientation Planning the Optimal Antenna Placement Mounting the Antennas Routing and Securing the Antenna Cable Mounting the Receiver Selecting the Receiver Orientation Mounting the Receiver Connecting the Cables Connecting the Power Source Selecting a Port for GPS Data Sentence Output Document PN 29010082
21. be one of a few issues Examine the power cable and its connector for signs of damage Ensure that you are properly powering the system with the correct voltage 10 to 36 Volts DC by measuring the voltage at the receiver end of the power cable when the cable is connected to the power source Check for any current restrictions imposed by the power source minimum available should be at least 1 0 A Verify that the LCD has turned on that time is incrementing in the upper right hand corner of the display and configure the COM port baud rates appropriately through the menu system Verify the polarity of power leads Check the in line power cable fuse Ensure that you have made a good connection to the power supply Consult the troubleshooting section of the other device s reference manual to determine if there may be a problem with that equipment Q Am I able to configure the two serial ports with different Baud rates A Yes the ports are independent For instance you may have one port set to 4800 Baud and the other to 19200 or vice versa Q Am I able to have the Navigator G4 output different NMEA sentences through the two ports A Yes you may have different NMEA sentences turned on for the two serial ports Further these NMEA sentences may also be at different update rates Q How can determine what the current configuration of the Navigator G4 s A You can view the current configuration from various screens of th
22. celerometer is enabled by default and is factory calibrated The tilt sensor constrains the RTK heading solution beyond the volume associated with just a fixed antenna separation It is able to do so since the Navigator G4 knows the approximate inclination of the secondary antenna with respect to the primary antenna The search space defined by the tilt sensor is reduced to a horizontal ring on the surface of the sphere By reducing the search volume startup and reacquisition times are considerably decreased see Figure 3 Figure 3 Navigator G4 s tilt aiding Document PN 29010082 V1 0 16 ComNav Navigator G4 G4B Installation amp Operation Introduction Gyro aiding The gyro initializes and calibrates itself when power is turned on Alternately you can manually calibrate it as outlined in the GPS Technical Reference manual When the gyro is first initializing the dynamics the gyro experiences MUST BE SIMILAR to the regular operating dynamics For example if you will be using the Navigator G4 on a high speed manoeuvrable craft you must use the receiver under highly dynamic conditions for the first 5 to 10 minutes after turning on power rather than sitting stationary Figure 4 Navigator G4 s gyro aiding The Navigator G4 s internal gyro offers two benefits 1 It shortens reacquisition times when a GPS heading is lost due to obstruction of satellite signals The gyro reduces the search volume required for so
23. d below does not include any connector losses RG58 0 78 dB m RG8 0 36 dB m Times Microwave LMR400 0 15 dB m Table 2 Cable Loss Warning When choosing a route for the antenna extension cable Avoid running cables in areas of excessive heat Keep antenna cables away from corrosive chemicals Do not run the extension cable through door or window jams Keep the antenna cable away from rotating machinery Improperly installed cables near machinery can be dangerous Do not bend excessively or crimp the antenna extension cable Avoid placing tension on the cable Remove unwanted slack from the antenna extension cable at the receiver end Secure along the cable route using plastic tie wraps Document PN 29010082 V1 0 30 ComNav Navigator G4 G4B Installation amp Operation Installation Mounting the Receiver Selecting the Receiver Orientation The Navigator G4 must be installed e inside and away from the elements and in a location that minimizes vibration shock extreme temperatures and moisture horizontally with the front panel of the receiver facing the primary antenna so the front panel menu screen LEDs and buttons is visible and accessible so the back panel is visible and accessible to switch out cables and turn power on and off Mounting the Receiver Use the enclosed mounting kit to mount the receiver To install the brackets for mounting 1 Slide the nuts through the opening along both sides of the
24. da The United Nations Convention on Contracts for the International Sale of Goods Act S B C 1990 c 20 and any other statutory enactments of the United Nations Convention on Contracts for the International Sale of Goods do not apply to this Warranty ComNav Maine Ltd 15 13511 Crestwood Place Richmond British Columbia Canada V6V 2G1 Document PN 29010082 V1 0 71 ComNav Navigator G4 G4B Installation amp Operation Appendices WARNING The Equipment is an aid to navigation only It is not intended or designed to replace the person on watch A qualified person should always be in a position to monitor the vessel s heading and to watch for navigational hazards and should be prepared to revert to manual steering immediately if an undesired change of heading occurs if the heading is not maintained within reasonable limits or when navigating in a hazardous situation ALWAYS REMEMBER WHENEVER UNDER WAY A QUALIFIED PERSON ON WATCH IS REQUIRED BY LAW Document PN 29010082 V1 0 12 ComNav Navigator G4 G4B Installation amp Operation Index Document PN 29010082 V1 0 73 ComNav Navigator G4 G4B Installation amp Operation Document PN 29010082 V1 0 74 ComNav Navigator G4 G4B Installation amp Operation Index Care amp Maintenance usado 53 Checks Ree 53 Fuse Replacement i 54 e diri N ees ee ee ee 11 at UE te WEE 25 Document PN 29010082 V1 0 75 Index Bee UE 25 Technical Requiremen
25. e 15 shows a chart of the Configuration Wizard menu Note basic setup assumes that you are using the following defaults e antennas are installed parallel to and along the centerline of the boat s axis e antennas are separated by 0 5 metres If this is not the case you will need to also enter the actual antenna separation and bias in the Wizard Data Ports Menu GGA 1 Hz CLL OFF CSA OFF CST OFF RMC OFF RRE OFF VTG OFF Config Menu Wizard Menu New Config Menu ZDA OFF BIN95 OFF Proceed Wizard Create New gt Enter Name A BINOG OFF Delete Saved Save Current DIFF SBAS RTCM OFF Use Previous Back Data Port A Back Cancel Top Menub Data Port B gt Elev Mask 5 Aiding Menu Main Menu Vector GPS SBAS Config Wizard System Setup 14 Feb 2008 GE 3600 Gyro aid gt YES Ger Se Tiltaid YES ort B 9600 Back Aiding Features Time Constants Bias Neg Tilt Ant Sep 0 500 Pitch Roll gt Pitch Save To Location Back Top Menu Constants Menu Note data values shown are the factory defaults HTAU 0 5s HRTAU 0 5s COGTAU 0 5s SPDTAU 0 5s PTAUD 0 5s Back Bias Menu Heading 0 0 Pitch Roll gt 0 0 Neg Tilt NO Level Op YES Back Save To Menu Save To Location Not Usedl Not Used2 Not Used3 Not Used4 Not Used5 Fig
26. e antennas offer 28 dB of gain so the loss budget to accommodate for cable losses is 18 dB e Regardless of the cable material and length that you choose you must ensure that cable losses are less than 18 dB of attenuation Due to variances in the antenna gain and practical attenuation of cable materials and connectors we recommend reducing this budget to 15 dB This budget of 15 dB is present to overcome the resulting attenuation of an RF cable e When deciding on an antenna location consider the amount of cable required Keep in mind that a longer cable of the same material will result in a higher loss than a shorter one If the overall loss of the longer cable exceeds 15 dB the cable material will need to be changed This normally means a more expensive material that has a larger diameter and less flexibility The standard cables that come with the Navigator G4 are of an RG58 material family Their attenuation is approximately 0 8 dB metre Including connector losses the nominal loss of these RF cables is approximately 10 dB which is within the tolerable loss budget If a 15 or 20 metre cable run is required an RG8 variety is available If lengths longer than 20 metres are required more sophisticated materials will be required For more information on cable length or low loss cable please contact your ComNav Marine dealer The following is a short summary of other readily available cable materials that have 50 Q impedance Cable loss cite
27. e menu system which show all configurable items of the receiver Alternately you may return the receiver to a previously saved configuration by selecting Config Wizard gt Use Previous to return to a known configuration Document PN 29010082 V1 0 SE ComNav Navigator G4 G4B Installation amp Operation Appendices Q My Navigator G4 doesn t appear to be using corrections from an external correction source what could be the problem A This could be due to a number of issues e Make sure that the corrections are compliant with the RTCM SC 104 protocol e Check to see that the baud rate of the port used by the Navigator G4 matches that of the external correction source e The external correction source should be using an 8 data bit no parity and 1 stop bit serial port configuration e Inspect the cable connection to ensure there s no sign of damage e Check the pin out information for the cables to ensure that the transmit line of the external correction source is connected to the receive line of the Navigator G4 s serial port and that the signal grounds are connected Save the configuration as the profile named RTCM in the Configuration Wizard cycle the power and load the RTCM profile Q Why am not getting data from the Navigator G4 A This could be due to the following e Check receiver power status LED to ensure that the receiver is powered e Verify that Navigator G4 is locked to a valid DGPS signal this ca
28. either may be used as the primary antenna For the G4B the DGPS labelled G4B or MA40 antenna must be the primary antenna See Figure 6 and Figure 7 for examples Document PN 29010082 V1 0 26 ComNav Navigator G4 G4B Installation amp Operation Y BOW Vessel s Heading Secondary Antenna 0 5 2 metres Face of Receiver Both Connectors Point Sternwards Primary Antenna DGPS module with G4B STERN Figure 6 Heading and Pitch installation top down view of vessel Document PN 29010082 V1 0 27 Installation ComNav Navigator G4 G4B Installation amp Operation Installation Vessel s Heading Face of Receiver Primary Antenna DGPS module with G4B Secondary Antenna Both Connectors Point Sternwards 0 5 2 metres STERN Figure 7 Heading and Roll installation top down view of vessel Document PN 29010082 V1 0 28 ComNav Navigator G4 G4B Installation amp Operation Installation Mounting the Antennas The antennas may be mounted with a pole mount or rail mount configuration The antennas are secured to the mounting bracket using 1 14 UNS 2B threaded mounts The antenna module s mount is located beneath the mass centre of the antennas in order to resist vibration modes Warning The maximum allowable antenna separation is 2 0 metres Any increase beyond this limit may result in an incorrect heading P
29. enu Chart Document PN 29010082 V1 0 62 ComNav Navigator G4 G4B Installation amp Operation Appendices Autonomous From this menu you can confirm that no Differential source is being used Main Menu Autonomous Menu Vector No Diff Source GPS Diff Autonomous Autonomous gt Back Config Wizard Top Menu System Setup Notes data values shown are the factory defaults 19 Feb 2008 Figure 24 Autonomous Menu Chart Document PN 29010082 V1 0 63 ComNav Navigator G4 G4B Installation amp Operation Appendices Configuration Wizard Menu The Configuration Wizard walks you through basic settings to get up and running Please see Setting Basic Options on page 38 for the Configuration Wizard menu System Setup Menu The System Setup menu allows you quickly view and edit current system settings General settings include such items as current applications units Baud rates logs LCD contrast display orientation you can flip the display 180 by selecting YES under FLIP DISPLAY and language Apps Data In Use Vector Other Vector Swap Applications Back Top Menu Format Menu Display Update 1 Hz LL Unit DM M Hgt Unit metres LL Unit Km h Back Top Menu Main Menu Setup Menu Vector Display Apps GPS Display Format Baud Rates Menu SBAS Baud Rates P Port AP 9600 Config Wi
30. erential menu allows you to view your differential settings Appendices The actual name of the differential menu shown in the display reflects your current differential source For example if you are using SBAS you will see SBAS on the Main Menu and then the associated SBAS menu Please find your differential source below for available menu options Differential sources available vary by model and the purchased configuration Potential options include SBAS Beacon External RTCM Autonomous From this menu you can view the current SBAS satellites status and adjust which SBAS satellites are being tracked Signal Status Data BER 122 0 BER 134 0 LN 122 54 0 LN 134 178 02 Elev122 9 82 Elev134 5 02 Az 122 114 09 Az 134 252 69 Back Top Menu Satellites Data Main Menu SBAS Menu Vector Signal Status GPS Satellites SBAS Diff SBAS Config Wizard Back System Setup Top Menu Notes data values shown are the factory defaults real time data values in menus marked with are examples only 19 Feb 2008 Figure 21 SBAS Menu Chart Document PN 29010082 V1 0 61 Mode Auto PRN1 122 PRN2 134 Back Top Menu ComNav Navigator G4 G4B Installation amp Operation Appendices Beacon From this menu you can view the current status of the DGPS Beacon receiver and adjust which DGPS stations are being used Note
31. ers The G4 can also accept DGPS information from an external data source e The Navigator G4 can also utilize conventional terrestrial DGPS Radiobeacon signals to obtain DGPS information in addition to SBAS information external DGPS data sources The G4 has a receiver module that contains a Hemisphere GPS Crescent GPS SBAS receiver with a single axis gyro amp a tilt sensor It is supplied with two separate GPS antenna modules The Navigator G4B receiver module also contains a Hemisphere SBX 4 DGPS Radiobeacon receiver module and one of the G4B s antenna modules also contains an H field beacon signals antenna The G4 can achieve heading accuracy ranging from 0 1 to 0 6 degrees rms depending on the antennae separation In addition it offers a GPS positioning performance of less than 1 metre rms using WAAS or other suitable differential GPS signals While the Navigator G4s are designed to provide a highly accurate GPS heading taking into account the pitch roll and speed of various marine vessels the use of the Navigator G4 is not limited to the marine market Other excellent applications include machine control and agricultural guidance or any application that requires a high precision heading solution Note most of the information in this manual applies to both the Navigator G4 and the Navigator G4B GPS Compasses For easier reading most references in the text use the term G4 but that should always be under
32. inated If you do lose the differential signal lock the Hemisphere GPS COAST technology allows the Navigator G4 to perform well for up to 45 minutes with old correction data The amount of time you can coast depends on the degree of tolerable drift Note In order to obtain a full set of SBAS corrections the Navigator G4 must receive the ionospheric map over a period of a few minutes After this the receiver can coast until the next set of corrections has been received Document PN 29010082 V1 0 44 ComNav Navigator G4 G4B Installation amp Operation Operating How Good is the Quality of My Signal In addition to the LED indicators for signal lock the Navigator G4 s display screen indicates the quality of your signal The bar chart at the top of the screen shows an indication of the quality of the GPS and DGPS or if applicable Beacon signal The first group of bars shows the GPS signal the second group of bars shows the DGPS or Beacon signal GPS signal inidcators DGPS or Beacon signal indicators Figure 18 Signal Bars Each bar represents a distinct channel and its associated signal quality The higher the bar the better the signal Note If using autonomous or external correction mode the DGPS signal indicator will not appear in the display DGPS SBAS The differential correction SBAS signal indicator reflects the quality of each satellite signal referred to as the Bit Error Rate B
33. ing output Verify that GYROAID is enabled default setting this will give heading for up to 3 minutes in times of GPS signal loss Verify that TILTAID is enabled default setting to reduce heading search times Monitor the number of satellites and SNR values for both antennas At least 3 satellites should have SNR values above 20 Verify that the antennae connectors are pointing in the same direction Document PN 29010082 V1 0 46 ComNav Navigator G4 G4B Installation amp Operation Customizing Settings Document PN 29010082 V1 0 47 ComNav Navigator G4 G4B Installation amp Operation Document PN 29010082 V1 0 48 ComNav Navigator G4 G4B Installation amp Operation Customizing Settings Customizing Settings While the default settings will work for most users you can configure the aiding features to further reduce heading start up and reacquisition times Customers who may want to configure aiding features include those with a large slow to turn vessel or those with a small dynamic vessel Disabling the Tilt Aid The Vector Sensor s tilt aid accelerometer is enabled by default and constrains the RTK heading solution to reduce startup and reacquisition times The tilt aid is pre calibrated at the factory However if you experience any tilt measurement offset you can recalibrate the tilt sensor from the Vector menu Be sure that the receiver is perfectly level before recalibrating the tilt aid The o
34. lution of the RTK by providing a relative change in angle since the last computed heading When used in conjunction with the tilt sensor the search space is reduced to a wedge shaped range see Figure 4 2 It also provides an accurate substitute heading for a short period depending on the roll and pitch of the vessel ideally seeing the system through to reacquisition The gyro will provide an alternate heading source accurate to within 1 for up to 3 minutes if either antenna loses GPS If the outage lasts longer than 3 minutes the Navigator G4 will assume the gyro readings have drifted too far and it will begin outputting null fields in the heading output sentences This 3 minute time out period is fixed and cannot be changed Document PN 29010082 V1 0 17 ComNav Navigator G4 G4B Installation amp Operation Introduction Time Constants The Navigator G4 incorporates customizable time constants that can provide a degree of smoothing to the heading course over ground and speed measurements Depending on the expected dynamics of the vessel you may wish to adjust these parameters For instance if the vessel is very large and is not able to turn or pitch quickly increasing this time is reasonable The resulting values would have reduced noise resulting in consistent values with time However artificially increasing this value such that it does not agree with a more dynamic vessel could create a lag in measurements Formulas f
35. mNav s expense Return delivery will be by the most economical means Should the Purchaser require that the Equipment be returned by a faster method the costs incurred by the faster delivery will be pre paid by the Purchaser 3 No refund of the purchase price for the Equipment will be made to the Purchaser unless ComNav is unable to remedy the defect after having a reasonable number of opportunities to do so 4 Warranty service shall be performed only by ComNav Any attempts to remedy the defect by anyone else shall render the warranties set forth in this Warranty null and void CHOICE OF LAW AND JURISDICTION This Warranty is governed by the laws of the Province of British Columbia Canada If the Purchaser acquired the Equipment outside of Canada each of the parties hereto irrevocably attorn to the jurisdiction of the courts of the Province of British Columbia Canada and further agree to settle any dispute controversy or claim arising out of or relating to this Limited Warranty or the breach termination or invalidity of it by arbitration under the rules of the British Columbia International Commercial Arbitration Centre BCICAC The appointing authority shall be BCICAC or if the BCICAC shall cease to exist the Chief Justice of the Supreme Court of British Columbia BCICAC shall administer the case in accordance with BCICAC Rules There shall be one arbitrator and the place of arbitration shall be Vancouver British Columbia Cana
36. n often be done on the receiving device or with PocketMAX e Verify that Navigator G4 is locked to GPS satellites this can often be done on the receiving device or with PocketMAX e Check integrity and connectivity of power and data cable connections Q Why am I getting random data from Navigator G4 A This could be due to the following e Verify that the RTCM or the Bin95 and Bin96 sentences are not being output accidentally send a JSHOW command e Verify that the Baud rate settings of the Navigator G4 and the remote device match correctly e Potentially the volume of data requested to be output by the Navigator G4 could be higher than the current Baud rate supports Try increasing the baud rate to 38400 for all devices or reduce the amount of data being output Or calculate the total number of characters being output per second by all enabled sentences and check that the total does not exceed 90 of the Baud rate Document PN 29010082 V1 0 58 ComNav Navigator G4 G4B Installation amp Operation Appendices Appendix 2 Menus There are five menus available from the start up screen Main Menu of the Navigator G4 Vector GPS SBAS Configuration Wizard System Setup Vector Menu The Vector menu allows you to view and adjust various operational settings Options vary depending on whether Pitch or Roll is selected and include items such as aiding features time constants heading bias and antenna separation
37. nly times you might need to disable the tilt aid feature are e if you were unable to install the Navigator G4 s receiver module in a level plane with the antennas The tilt aid or tilt sensor is located inside of the receiver so it is important that it be installed in a horizontal plane Warning If you were unable to install the receiver in a horizontal plane with the antennas you MUST DISABLE tilt aid e if troubleshooting to ensure the receiver is working properly You can turn the tilt aiding feature off either through the Configuration Wizard or through the Vector menu Disabling the Gyro Aid The Navigator G4 s internal gyro aid is enabled by default The gyro e shortens reacquisition times when a GPS heading is lost due to obstruction of satellite signals by reducing the search volume required for the RTK solution e provides accurate substitute headings for a short period depending on the roll and pitch of the vessel ideally seeing you through to reacquisition The only time you might need to disable the gyro aid is if troubleshooting to ensure the receiver is working properly Warning Do not exceed turn rates of 90 degrees per second The Navigator G4 uses gyro measurements to obtain a heading rate measurement and the gyro cannot measure rates beyond this rate You can turn the gyro aiding feature off either through the Configuration Wizard or through the Vector menu Document PN 29010082 V1 0 49
38. nly to the original end user of the ComNav Equipment being the Purchaser and apply only to the original installation of the Equipment The Purchaser s remedies under this Warranty are not transferable or assignable by the Purchaser to others in whole or in part Document PN 29010082 V1 0 70 ComNav Navigator G4 G4B Installation amp Operation Appendices CUSTOMER REMEDIES 1 If the Equipment or any part thereof proves to be defective within the warranty period the Purchaser shall do the following a contact ComNav by phoning 604 207 1600 to discuss the nature of the problem and to obtain return shipping instructions for the defective Equipment and b prepare a detailed written statement of the nature and circumstances of the defect to the best of the Purchaser s knowledge and including the date of purchase of the Equipment the place of purchase the name and address of the installer and the Purchaser s name address and telephone number all to be sent along with proof of purchase to ComNav at the address set out below and within the time limits set out above for Notice of Defect 2 If upon examination by ComNav the defect is determined to result from defective workmanship or material and if the defect has occurred within the warranty period set forth above the Equipment or the defective parts thereof shall be repaired or replaced at ComNav s sole option without charge and shall be returned to the Purchaser at Co
39. ole Mounting To mount an antenna on a pole 1 Select a location and orientation that meets the requirements listed in Selecting the Antenna Orientation and Planning the Optimal Antenna Placement on page 26 2 Thread the mounting pole into the mounting bracket on the bottom of the antenna Figure 8 Pole Mounting Warning When threading the pole mounts hand tighten only Damage resulting from over tightening is not covered by warranty Note The pole shown in the photos is not included it must be supplied by you or your Dealer 3 Mark and drill any mounting holes necessary for the pole mounts Rail Mounting To rail mount an antenna 1 Selectalocation and orientation that meets the requirements listed in Selecting the Antenna Orientation and Planning the Optimal Antenna Placement on page 26 2 Use appropriate hardware to securely attach the antenna to the chosen railing Document PN 29010082 V1 0 29 ComNav Navigator G4 G4B Installation amp Operation Installation Routing and Securing the Antenna Cable To route and secure the antenna cables please review the following guidelines e The two enclosed antennas each require a 50 Q impedance antenna extension cable such as RG 58U up to a maximum of 15 metres 49 ft in length for proper operation e The GPS engine inside the Navigator G4 requires a minimum input gain of 10 dB and maximum of 40 dB before saturation will occur Th
40. or Ports A andb ee 34 Tables TIME Constan etario lied eco di dico 50 Table 6 Ee ee EE e EE 54 ilrable 1 GRS ReGev elca elise iaia 65 Table g Beacon Receiver GAB isis dale lada tie ld e e I dedos 65 Table 9 Data Reen AE Te Le 66 Table 10 alen 66 Table Ti POWERS ee EE 66 Table 125 Ee ln e EE 66 ERRE A a O ne ene ee Cee eae Rene een 67 Table 1A TOWER SUD DIY EE 67 Table ILS GAT Ge ce ac A ae gad nc SN SNES 67 Fable To GPS Antenna solaio leali eat ciaooo ai 68 Table 17 POWE SUP ios 68 Tabe 1e Mechanical ontario abasto 68 Table 19 USer e 79 Document PN 29010082 V1 0 ComNav Navigator G4 G4B Installation amp Operation Document PN 29010082 V1 0 ComNav Navigator G4 G4B Installation amp Operation Introduction Document PN 29010082 V1 0 9 ComNav Navigator G4 G4B Installation amp Operation Document PN 29010082 V1 0 10 ComNav Navigator G4 G4B Installation amp Operation Introduction About the Navigator G4 G4B GPS Compasses The Navigator G4 amp G4B GPS Compasses offer a high precision GPS heading solution to meet the unique needs of the marine and machine control market The two models available Navigator G4 and Navigator G4 B are identical except in their Differential GPS DGPS correction features e The Navigator G4 can obtain DGPS information from Space Based Augmentation System SBAS sources where available 8 operational including WAAS EGNOS MSAS SNAS and oth
41. or determining the level of smoothing are located in Configuring the Time Constants see page 50 If you are unsure on how to set this value it is best to be conservative and leave it at the default setting Heading The heading time constant allows you to adjust the level of responsiveness of the true heading measurement provided in the HEHDT amp the alternate GPHDT sentence The default value of this constant is 2 0 seconds of smoothing when the gyro is enabled The gyro is enabled by default but can be turned off If you turn off the gyro the equivalent default value of the heading time constant is 0 5 seconds of smoothing However if you turn off the gyro you will need to enter this heading constant manually Increasing the time constant will increase the level of heading smoothing Pitch The pitch time constant allows you to adjust the level of responsiveness of the pitch measurement provided in the PSAT HPR sentence The default value of this constant is 0 5 seconds of smoothing Increasing the time constant will increase the level of pitch smoothing Heading rate The heading rate time constant allows you to adjust the responsiveness level of the rate of heading change measurement provided in the HEROT sentence The default value of this constant is 2 0 seconds of smoothing Increasing the time constant will increase the level of heading smoothing Course over ground COG The course over ground COG time constant allo
42. please refer to the respective ComNav amp Hemisphere models specifications The Navigator G4 G4B do not support any of Hemisphere s various optional GPS DGPS receiver features or subscription applications e Dif OmniStar L Dif etc Document PN 29010082 V1 0 12 ComNav Navigator G4 G4B Installation amp Operation Introduction GPS Overview For your convenience the Navigator G4 automatically tracks and calculates position information with complex algorithms whether using GPS or differential GPS DGPS When turned on for the first time the Crescent system acquires the available GPS satellites in view and the satellite based augmentation system SBAS differential service If SBAS is not available in your area you can use Beacon corrections depending on your model Alternatively you may use an external source of RTCM SC 104 differential corrections GPS Operation The GPS engine is always operating regardless of the DGPS mode of operation The following sections describe the general operation of the Navigator G4 s internal GPS engine Automatic Tracking The Navigator G4 s internal GPS engine automatically searches for GPS satellites acquires the signals and manages the navigation information required for positioning and tracking This is a hands free mode of operation Receiver Performance The Navigator G4 works by finding 4 or more GPS satellites in the visible sky and uses the information those satellites
43. pty slots noted by the name Not Used or select a slot with an existing configuration to overwrite it e After saving your configuration you must re enter the Configuration Wizard and select the configuration to use In this way you may continue to enter different receiver configurations without upsetting the current operation of the receiver Document PN 29010082 V1 0 40 ComNav Navigator G4 G4B Installation amp Operation Operating Document PN 29010082 V1 0 41 ComNav Navigator G4 G4B Installation amp Operation Document PN 29010082 V1 0 42 ComNav Navigator G4 G4B Installation amp Operation Operating Operating Operating the Navigator G4 is simple Turn it on and you re ready to go Most users connect the Navigator G4 to their existing navigation system during installation These users will receive the Navigator G4 s position and heading updates through the interface of their existing system The interface on the front panel of the Navigator G4 is helpful for configuring or changing system settings In addition the LEDs on the panel will notify you in the event of a GPS or DGPS signal loss Initializing the System Use the ON OFF Power switch on the rear panel to turn on the G4 push in the switch for On push it again for Off Figure 16 The Navigator G4 s Rear Panel The main menu screen see Figure 17 appears in the display on the front panel each time the G4 is turned on See Setting
44. r G4 G4B Installation amp Operation Document PN 29010082 V1 0 36 ComNav Navigator G4 G4B Installation amp Operation Setting Up These instructions are for configuring the Navigator G4 settings using the display amp keypad on the Navigator G4 receiver module A Configuration Wizard in the receiver itself walks you through setup options The Configuration Wizard allows you to save up to five different configuration settings if using this product on different vessels or for different applications Note If using a personal computer you may also use Hemisphere GPS PocketMAXPC software tool which can be obtained from Hemisphere s web site Please refer to the PocketMAX User Manual supplied with the G4 for help on using it First use the ON OFF POWER switch on the rear panel to turn on the G4 push in the switch for On push it again for Off ON OFF N PORT A om ci SECONDARY PRIMARY GPS RF ie Gi UU dl M N Figure 14 The Navigator G4 s Rear Panel There is also a version of PocketMAX that can be used on a Pocket PC Document PN 29010082 V1 0 37 ComNav Navigator G4 G4B Installation amp Operation Setting Basic Options with the Configuration Wizard The Configuration Wizard is one of the choices on the Main Menu in the display on the front panel of the Navigator G4 This section covers the basic items you need to set in the Configuration Wizard to get up and running Figur
45. r for a prolonged period of time Environments exceeding a maximum temperature of 85 C 185 C or below a minimum temperature of 40 C 40 F MUST BE AVOIDED Exposure of the receiver module to prolonged direct sunlight should be avoided in order to prevent damage to the electronics and housing and UV induced fading of the LCD Protection of Wires and Cabling After installation ensure that the system components are securely mounted and will not shake loose due to the vibrations that can be expected in a marine vessel Ensure that the cabling and wiring to all system components ESPECIALLY the antennae cables are well secured with clamps or alternative fasteners Many potential problems can be avoided by ensuring that cabling and wiring do not cause strain on the connectors Periodic Checks After the first six months of operation a thorough examination of the entire system MUST BE UNDERTAKEN All electrical connections cables clamps mounting brackets and mechanical connections must be secure An ANNUAL inspection should be undertaken thereafter There are no user serviceable parts or adjustments inside any of the Navigator G4 G4B enclosures Should the unit become damaged in any way return it to an authorized ComNav Dealer Document PN 29010082 V1 0 53 ComNav Navigator G4 G4B Installation amp Operation Care Maintenance Fuse Replacement There is one fuse used an in line fuse in the power cable Should
46. receiver Figure 9 Bracket Nuts 2 Place the bracket alongside the receiver and insert the thumb screws so they screw into the nuts Com Nav Navigator ESCH Figure 10 Receiver Fastened to Bracket Document PN 29010082 V1 0 31 ComNav Navigator G4 G4B Installation amp Operation Installation 3 Screw down the brackets in your desired location using fasteners not supplied which suit the location surface Figure 11 Mounting Receiver Document PN 29010082 V1 0 32 ComNav Navigator G4 G4B Installation 8 Operation Installation Connecting the Cables This section contains instructions for connecting the cables for e power e serial ports Warning The Navigator G4 receiver provides 5 VDC across the antenna ports Connection to incompatible devices may result in damage to equipment Connecting the Power Source The power source for the Navigator G4 must be between 10 36 Volts DC Use the Power cable PN 31110046 to connect the connector labelled Power Ground to your power source Selecting a Port for GPS Data Sentence Output The serial ports of the Navigator G4 operate at the RS 232C interface level to communicate with autopilot systems external data loggers navigation systems and other devices Note most marine equipment fully conforming to the NMEA 0183 standard uses the RS 422 electrical interface standard In order to connect the Navigator G4 to such equipment an e
47. ricity and can complete a path to AC Ground through a person s body causing injury or death if a tool malfunctions or short circuits gt Battery powered tools are STRONGLY recommended lt If AC tools are used they MUST be plugged into a circuit that is adequately protected against Ground Faults and other safety hazards in accordance with local electrical codes Power Supply Tools For safe amp reliable operation of your Navigator G4 G4B your vessel s power supply system must have an adequately breakered or fused DC direct current power supply at a nominal voltage between 9 and 36 volts Ensure that adequate wire sizes are used to handle the expected maximum currents General purpose tools such as a portable drill pliers wire cutters screwdrivers wire mounting bolts and wrenches will be required Document PN 29010082 V1 0 25 Installation ComNav Navigator G4 G4B Installation amp Operation Installation Mounting the Antennas Selecting the Antenna Orientation The Navigator G4 series GPS compass can be installed e to read heading and pitch or e heading and roll The relation of the antennas to the boat s axis determines whether the Navigator G4 will output pitch or roll readings in addition to heading Pitch Installing for heading and pitch is the most common installation Orienting the antennas parallel to and along the centreline of the axis of the boat will provide a true heading You can
48. stood as referring to both models Whenever a particular item applies only to the G4B it will be so stated in the text of that item When using this manual with the Navigator G4 model please ignore the sections which discuss Radiobeacon signals beacon receiver operation and installation details which relate to the beacon signals amp receiver Document PN 29010082 V1 0 11 ComNav Navigator G4 G4B Installation amp Operation Introduction ComNav GPS Figure 1 Navigator G4 GPS Compass The receiver module features the exclusive Hemisphere GPS Crescent branded application specific integrated circuit ASIC computer chipset technology that enables it to achieve higher update rates noise reduced raw measurements more memory more processor capacity lower power consumption more advanced applications and sophisticated configurations tighter coupling of measurements from separate antennae The Navigator G4 offers excellent accuracy and stability due to more accurate code phase measurements improved multipath mitigation and fewer components than competing products Note the Navigator G4 G4B GPS Compasses are customised OEM versions of the VS100 110 GPS Compasses made by Hemisphere GPS formerly CSI Wireless of Calgary Alberta Canada and Scottsdale Arizona U S A The ComNav GPS Compasses have slight differences from the corresponding Hemisphere models in their operational specifications for details
49. subject always to the other provisions of this Warranty that the Equipment is free from defects in workmanship and materials under normal use and service for a period of one 1 year from the date of purchase of the Equipment by the Purchaser EXCLUSIONS This Limited Warranty is null and void if 1 The serial number of the Equipment has been removed altered or mutilated 2 Any of the anti tamper seals covering case screw holes or other mechanisms for opening the Equipment s case have been removed broken or otherwise tampered with 3 There are any defects in it or damages to it caused by a Faulty installation or hook up of the Equipment b Abuse misuse or any use of the Equipment in violation of the instructions set forth in the Manual Shipping alterations or incorrect and or unauthorized service Accident exposure of the Equipment to excessive heat fire lightning or other electrical discharge or water immersion e Water damage due to failure to fully fasten the plug connected into the Equipment s power signal receptacle f Improper or inadequate ancillary or connected equipment OTHER LIMITATIONS AND EXCLUSIONS 1 ComNav does not warrant or guarantee the precision or accuracy of positions heading or other GPS based navigation data obtained when using the Equipment The potential accuracy of the Equipment as stated in the Manual associated ComNav literature and or Product specifications provides only an es
50. the fuse blow determine the cause before replacing Replace fuses only with the same type and rating as per the table below Generic Description Designator ComNav Part Number Manufacturer s amp Part Number s 3 15 A Medium Time Delay 125V or Fx 60810012 better 5 x 20 mm DIN 41571 IEC 127 Bussman GMC 3 15A Table 6 Fuse Replacement Guide Document PN 29010082 V1 0 54 ComNav Navigator G4 G4B Installation amp Operation Appendices Document PN 29010082 V1 0 55 ComNav Navigator G4 G4B Installation amp Operation Document PN 29010082 V1 0 56 ComNav Navigator G4 G4B Installation amp Operation Appendices Appendix 1 Frequently Asked Questions This section covers power communication and external RTCM questions For GPS and Heading troubleshooting please see Viewing GPS DGPS Status amp Troubleshooting a Signal Loss pages 44 4 46 Q Can the COAST technology work with corrections from an external source A Yes the Navigator G4 will operate in a similar fashion with the COAST technology as when using SBAS or Beacon corrections However SBAS corrections have the advantage that they are separated into separate error components allowing the Navigator G4 to anticipate how errors will change over the coasting period with more consistent accuracy and for a longer period than regular RTCM range corrections Q My Navigator G4 doesn t appear to be communicating What do do A This could
51. this menu is only available in the Navigator G4B Signal Status Data Beacon Tune Menus F 320 0 200 AA Africa gt SS 66 SNR 26 Asia MTP 100 WER 00 Australia Richmond Central America ID 304 H 1 Europe Back North America Main Menu Beacon Menu Top Menu South America Vector Signal Status Back GPS Configure Top Menu Diff Beacon Configure Menu Beacon Config Wizard Back Tune Auto Auto Bermuda System Setup Top Menu Auto Tune Canada TuneBeaconName gt Notes Back USA data values shown are the factory Top Menu Back defaults Top Menu real time data values in menus marked with are examples only Alert Bay BC the menu of Beacon names shown at the Ri end of the Beacon Tune menu chain is one of many that are possible depending on Richmond BC continent amp country that are selected in the oe prior menus of the chain Whiarton ON Back 19 Feb 2008 Top Menu Figure 22 Beacon Menu Chart External RTCM From this menu you can view amp adjust the current External RTCM data configuration Main Menu RTCM Menu Vector RTCM Port Port A GPS RTCM Baud 19200 External RTCM Diff External RTCM Config Wizard Back System Setup Top Menu Notes data values shown are the factory defaults 19 Feb 2008 Figure 23 External RTCM M
52. through one of the following e the internal SBAS demodulator e Radiobeacon corrections For more information on available differential services and the associated commands please refer to the Hemisphere GPS Technical Reference manual Supplied with the G4 or on Hemisphere s web site Automatic SBAS WAAS EGNOS MSAS etc tracking The Navigator G4 will automatically scan and track SBAS signals without the need to tune the receiver The Navigator G4 features two channel tracking that provides an enhanced ability to maintain a lock on a SBAS satellite when more than one satellite is in view This redundant tracking approach results in more consistent tracking of a SBAS signal when in an area where signal blockage of a satellite is possible Beacon Operation Many marine authorities such as coast guards have installed networks of Radiobeacons that broadcast DGPS corrections Increasingly this Radiobeacon network is used for terrestrial applications as well resulting in a densification of networks inland The dual channel beacon receiver in the G4B is able to operate in manual or automatic tuning mode Alternately a database mode will select the closest station in compliance with IEC 61108 4 standards Satellite Signal Loss No Problem The exclusive Hemisphere GPS COAST software enables the Navigator G4 receivers to use old DGPS correction data for 40 minutes or more without significantly affecting the quality of positioning
53. timate of the highest achievable accuracy based on a Specifications provided by the US Department of Defence for GPS Positioning b GPS Receiver specifications provided by the OEM manufacturer c DGPS service provider performance specifications 2 The Equipment is not intended for primary navigation or for use in safety of life applications ComNav does not warrant or guarantee that the Equipment will perform in accordance with the requirements of such usage 3 ComNav reserves the right to modify the Equipment without any obligation to notify supply or install any improvements or alterations to existing Equipment Document PN 29010082 V1 0 69 ComNav Navigator G4 G4B Installation amp Operation Appendices NO OTHER WARRANTIES THE FOREGOING WARRANTY IS EXCLUSIVE OF ALL OTHER WARRANTIES AND CONDITIONS WHETHER WRITTEN ORAL OR IMPLIED ARISING BY STATUTE OR OTHERWISE WITH RESPECT TO THE DESIGN SALE INSTALLATION OR USE OF THE EQUIPMENT INCLUDING BUT NOT LIMITED TO IMPLIED WARRANTIES OR CONDITIONS OF MERCHANTABILITY AND FITNESS FOR THE ORDINARY PURPOSES FOR WHICH THE EQUIPMENT IS USED OR FITNESS FOR A PARTICULAR PURPOSE AND ANY OTHER OBLIGATIONS ON THE PART OF COMNAV ITS EMPLOYEES SUPPLIERS AGENTS OR REPRESENTATIVES LIMITATION OF LIABILITY THE EXTENT OF COMNAV S LIABILITY FOR DAMAGES OF ANY NATURE TO THE END PURCHASER OR ANY OTHER PERSON OR ENTITY WHETHER IN CONTRACT OR TORT AND WHETHER TO PERSONS OR PROPERTY SHALL I
54. tor TNC S Storage Temperature 40 C to 85 C 40 F to 185 F Operating Temperature 40 C to 85 C 40 F to 185 F Humidity 100 condensing Table 15 Mechanical Document PN 29010082 V1 0 67 ComNav Navigator G4 G4B Installation amp Operation Appendices G4B MA40 DGPS Antenna Specifications GPS Frequency Range 1 575 GHz L1 GPS Bandwidth 20 MHZ GPS LNA Gain 30 dB GPS LNA Noise 1 4 dB typical Table 16 GPS Antenna Input Voltage 5 to 12 VDC Input Current 20 mA Table 17 Power Supply Enclosure material Polycarbonate dimensions 146 mm dia x 80 mm high 5 76 dia x 3 15 high Weight 535 g 1 2 Ib Mounting Thread 1 14 UNS 2B Connector TNC S Storage Temperature 40 C to 85 C 40 F to 185 F Operating Temperature 40 C to 85 C 40 F to 185 F Humidity 100 condensing Table 18 Mechanical Document PN 29010082 V1 0 68 ComNav Navigator G4 G4B Installation amp Operation Appendices Warranty Information Limited Warranty This Limited Warranty the Warranty covers all Vector and Navigator GPS Compass products amp accessories the Equipment sold by ComNav Marine Ltd Com Nav LIMITED ONE YEAR WARRANTY ComNav warrants to the Purchaser provided that the recommended installation and maintenance procedures set forth in the manual the Manual that has been provided with the Equipment have been followed and
55. ts annonnennennnnnnnennnnnnnsnreneene 25 COS loci 25 EIN d EE 1 25 69 ComNav Navigator G4 G4B Installation amp Operation Document PN 29010082 V1 0 76 ComNav Navigator G4 G4B Installation amp Operation User Notes Document PN 29010082 V1 0 77 ComNav Navigator G4 G4B Installation amp Operation Document PN 29010082 V1 0 78 ComNav Navigator G4 G4B Installation amp Operation User Notes User Notes Table 19 User Notes Document PN 29010082 V1 0 79
56. uned to the correct frequency and bit rate Verify antennas are away from potential sources of interference Ensure Beacon signal coverage is available in your area External RTCM In addition to checking the above general items check the following Verify the pin out between the RTCM source and the RTCM input port transmit from the source must go to receive of the RTCM input port and grounds must be connected Verify that the baud rate of the RTCM input port matches the baud rate of the external source Ensure corrections are being transmitted to the correct port Troubleshooting Heading In the event of no heading or incorrect heading values use the following checklist Verify that the primary antenna is located towards the stern and the secondary antenna towards the bow Heading is from Primary to Secondary antenna Check the measurement of the antenna separation The Measured MSEP and Calculated CSEP values are in metres and should agree to within 1 centimetre CSEP will continuously change so you should average this reading over a few minutes to obtain an approximate value Note The standard antenna mounting configuration provides 0 5 heading accuracy of 95 If you require more performance you will need to increase the antenna separation maximum allowable separation is 2 0 metres Reduce antenna separation the separation between the antennas must be at 2 metres or less for accurate and timely heading read
57. ure 15 Configuration Wizard Menu Tree Perform the following steps using the Configuration Wizard see the path shown in red arrows in Figure 15 Document PN 29010082 V1 0 38 ComNav Navigator G4 G4B Installation amp Operation 1 Start the Configuration Wizard gt select the Config Wizard item from the main menu 2 Select Proceed Wizard In this submenu you can also e delete a previously saved configuration e use a previously saved configuration 3 Select Create New to create a New Configuration You may alternately save the current receiver configuration if you have modified the receiver setup through other menu items or via the COM port 4 Enter the Name of the Configuration To enter a name to save your current setting under e First use the arrow keys to select a letter and then press the enter key to save the letter The cursor will move to the right e Entera blank character at the end of your name until the Enter character appears at the end of the name e When you are finished press the enter key again After entering the configuration name the first few letters of the name will be displayed on the previous menu 5 Select a DGPS Source The default DGPS source is SBAS If using a differential source other than SBAS please select it here Options are SBAS Beacon Autonomous and External RTCM Beacon is only available on the G4B 6 Select the GPS Data Sentence Outputs Select each
58. ws you to adjust the level of responsiveness of the COG measurement provided in the GPVTG sentence The default value of this constant is 0 0 seconds of smoothing Increasing the time constant will increase the level of COG smoothing COG is computed using the primary GPS engine only and its accuracy is dependant upon the speed of the vessel noise is proportional to 1 speed When stationary this value is invalid Speed The speed time constant allows you to adjust the level of responsiveness of the speed measurement provided in the GPVTG sentence The default value of this parameter is 0 0 seconds of smoothing Increasing the time constant will increase the level of speed measurement smoothing Document PN 29010082 V1 0 18 ComNav Navigator G4 G4B Installation amp Operation Unpacking Document PN 29010082 V1 0 19 ComNav Navigator G4 G4B Installation amp Operation Document PN 29010082 V1 0 20 ComNav Navigator G4 G4B Installation amp Operation Unpacking Unpacking Please look over the parts shipped with your system If anything is damaged due to shipping please contact your freight carrier If any parts are missing please contact your dealer Figure 5 Navigator G4 System Parts Document PN 29010082 V1 0 21 ComNav Navigator G4 G4B Installation amp Operation Unpacking Parts List Navigator receiver 30130008 30130011 Receiver mounting bracket 30120001 2 brackets with fasteners C
59. xternal RS 232C RS 422 convertor is required Contact your ComNav Dealer if you need a convertor There are two serial ports available on the back panel of the Navigator G4 each using a standard DE9 socket connection of ot SECONDARY GPS RF Figure 12 Port connections on the Navigator G4 Document PN 29010082 V1 0 33 ComNav Navigator G4 G4B Installation amp Operation Installation The available ports and associated default baud rates NMEA sentence types and update rates are shown in Table 3 Port Baud Rate NMEA Sentences Update Rate 19 200 GGA GSV 1 Hz Table 3 Default Data Sentences by Port Ports A and B have the connections detailed below on the DEY socket Pm gen ben TXD NMEA 0183 binary and RTCM output RXD NMEA 0183 binary and RTCM input Signal Ground Signal return ECH Mark Input Event marker input NE 1 PPS Timing output Table 4 Pin Connections for Ports A and B 54321 98 6 Figure 13 Port A B Connectors viewed from rear of G4 After selecting the physical connection you will need to select the desired NMEA data sentences if different from the defaults shown above Select the desired NMEA sentence types and update rates by port using the Configuration Wizard see Setting Basic Options on page 38 Document PN 29010082 V1 0 34 ComNav Navigator G4 G4B Installation amp Operation Setting Up Document PN 29010082 V1 0 35 ComNav Navigato
60. zard Display Logs Port B gt 9600 System Setup Software Display Back Contrast Top Menu Animation Subscription Plip Display Display Logs Menu Language CGA NO Back Top Menu GLL 1Hz CSA I Hz GSV I Hz RD1 gt NO PCSI 1 NO Back Top Menu Notes data values shown are the factory Software Menu defaults real time data values in menus REN marked with are examples only Crescent App S N SBX 19 Feb 2008 Back Top Menu Figure 25 System Setup Menu Chart Document PN 29010082 V1 0 64 ComNav Navigator G4 G4B Installation amp Operation Appendices Appendix 3 Specifications Receiver Specifications Receiver type L1 C A code with carrier phase smoothing Channels Two 12 channel parallel tracking Two 10 channel when tracking SBAS Horizontal accuracy lt 1m rms DGPS lt 2 5 m rms autonomous no SA Heading accuracy lt 0 6 rms 0 5 m antenna separation lt 0 3 rms 1 0 m antenna separation Update rate position and heading Satellite reacquisition Antennae Input Impedance Table 7 GPS Receiver Notes Depends on multipath environment number of satellites in view satellite geometry and ionospheric activity Depends on multipath environment number of satellites in view and satellite geometry Channels 2 channel parallel tracking Frequency range 283 5 to 325 KHz Operating modes Automatic signal strength or range manual and

Navigator G4 & G4B GPS Compasses

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Navigator G4 &amp; G4B GPS Compasses

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Navigator G4 & G4B GPS Compasses