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Vector G1 GPS Satellite Compass

1. 46 99 mm 1 85 416 93 mm 16 41 Figure 2 6 G1 dimensions 11 Vector G1 User Guide Power Data Cable Considerations Before mounting the G1 consider the following regarding power data cable routing Cable must reach an appropriate power source Cable may connect to a data storage device computer or other device that accepts GPS data Avoid running the cable in areas of excessive heat Keep cable away from corrosive chemicals Do not run the cable through door or window jams Keep cable away from rotating machinery Do not crimp or excessively bend the cable Avoid placing tension on the cable Remove unwanted slack from the cable at the G1 end Secure along the cable route using plastic wraps Improperly installed cable near machinery can be dangerous Flush Mount The bottom of the G1 contains four holes for flush mounting the unit to a flat surface Figure 2 7 The flat surface may be something you fabricate per your installation an off the shelf item such as a radar mounting plate or an existing surface on your vessel Note ComNav does not supply the mounting surface hardware You must supply the appropriate fastening hardware required to complete the installation of the Gl Figure 2 7 Flush mounting holes on bottom of G1 Note You do not necessarily need to orient the antenna precisely as you can enter a software offset to accommodate for any bias in heading me
2. Humidity 100 non condensing Vibration TEC 60945 EMC FCC Part 15 Subpart B CISPR22 IEC 60945 CE Vector G1 User Guide Depends on multipath environment number of satellites in view satellite geometry ionospheric activity and use of SBAS Depends on multipath environment number of satellites in view satellite geometry and ionospheric activity ATEC 60945 Standard Based on a 40 second time constant 44 Appendix C Using Vector G1 with NMEA 2000 Commands 45 46 Appendix C Using Vector Gl with NMEA 2000 Commands NMEA 2000 cable with pinouts we supply the cable NMEA 2000 Messages Table C 1 describes the NMEA 2000 messages Table C 1 NMEA 2000 Messages Default Description Level Update Rate PG Number PGN Freq 059392 ISO Acknowledgement Used to B On Request acknowledge the status of certain requests addressed to a specific ECU On Request 059904 ISO Request Request the B On Request transmission of a specific PGN addressed or broadcast On Request 060928 ISO Address Claim Used to B On Request identify to other ECUs the address claimed by an ECU On Request 126996 Product Information NMEA 20000 B On Request Database Version Supported Manufacturer s Product Code NMEA 20000 Certification Level Load Equivalency Number and other product specific information On Request 126464 Receive Transmit PGNs group B On Request
3. JATT COGTAU cogtau Query or Set Course Smoothing Time cogtau 0 0 to 3600 0 seconds SJATT CSEP Query Current Antenna Separation SJATT EXACT NO YES Query or Disable enable the internal filter reliance on the entered antenna separation JATT FLIPBRD NO Query the current flip feature status or turn off on it When the flip feature YES is turned off the board is installed right side up default mode SJATT GYROAID NO Query or Disable Enable the Gyro Aid function YES JATT HBIAS hbias Query or Set Heading Output Offset range is 180 to 180 JATT HELP Provide a short list of commands available JATT HIGHMP NO YES Query or Disable enable the high multipath setting for use in poor GPS environment JATT HRTAU hrtau Query or Set Rate of Turn Smoothing Time hrtau 0 0 to 3600 0 seconds JATT HTAU htau Query or Set Heading Smoothing Time htau 0 0 to 3600 0 seconds JATT LEVEL NO YES Query or Disable Enable Level Mode Operation JATT MSEP sep Manually set antenna separation this cannot be changed on the Vector G1 JATT NEGTILT NO Query or Set Normal Reverse Pitch Roll sign convention YES JATT NMEAHE 0 Set Talker ID for HDG HDM amp HDT sentences to GP JATT NMEAHE Set Talker ID for HDG amp HDT sentences to HE and HDM to HC JATT PBIAS pbias Query or Set Pitch Roll Bias range is 15 to 15 JATT PTAU ptau Query or Set Pitch Smoothing Time ptau 0 0 to
4. Recommendations for Connecting to Other Devices When interfacing to other devices ensure the transmit data output from the G1 is connected to the data input of the other device The signal grounds must also be connected The G1 input ports are designed to work with the Navigator G2 compass display or PC ComNav Toolkit for configuration purpose There is likely little reason to connect the receive data input of the G1 to another device Unused input line can be left open Detailed wiring diagram for connections to ComNav autopilots and GPS display units are given in Appendix D 15 NMEA 2000 Port Vector G1 User Guide By default Port C is configured as a NMEA 2000 port with the default baud rate of 57600 To use G1 for NMEA 2000 you have to connect the included serial to NMEA 2000 adapter P N 676 0026 000 to the unit Figure 2 8 shows the adapter Insert the 12 pin connector of the adapter into the male end of the 12 pin connector on the G1 by aligning the keys You can then attach the adapter to the unit using the supplied screws machine 8 32 2 PPHC SS and washer washer flat 8 SS The 5 pin male Micro C connector connects to your NMEA 2000 drop cable Figure 2 8 Serial to NMEA 2000 adapter Circuit 2 HET S red V Circuit 1 Shield Female Micro C eee Connector Circuit 4 HET H white CAN_H Circuit 5 Circuit 3 HET L HET C blue CAN_L black V NMEA 2000 Standard pinout Table
5. 1 while alignment through the short site Figure 2 5 is approximately 2 5 Figure 2 4 Long site alignment Figure 2 5 Short sight alignment If you have another accurate source of heading data on your vessel such as a gyrocompass you may use its data to correct for a bias in G1 alignment within the G1 software configuration Alternatively you can physically adjust the heading of the G1 so that it renders the correct heading measurement however adding a software offset is an easier process Chapter 2 Installation Mounting Options The G1 allows for two different mounting options flush mount and pole mount e Flush mount The bottom of the G1 contains four M8 holes for flush mounting the unit to a flat surface see Figure 2 6 Pole mount The bottom of the G1 contains a mounting hole 1 thread 0 9 depth for easy pole mounting Hand tighten until snug do not overtighten The set screws on the long sides of the base see diagram below allow you to secure the G1 in place 3 16 Allen wrench not included G1 Dimensions Figure 2 6 illustrates the physical dimensions of the G1 157 89 mm 6 21 66 90 mm T 0 63 SET SCREW 3 8 16 THREAD SIZE 2 PLACES MOUNTING HOLE E MOUNTING HOLE M8 THREAD SIZE 1 14 UNS 2B THREAD SIZE 4 PLACES 31 75 mm 1 25
6. It does this knowing that the secondary GPS antenna is 0 27 m 0 89 ft from the primary GPS antenna This is called a fixed baseline and it defines the search volume of the secondary antenna as the surface of a sphere with radius 0 27 m 0 89 ft centered on the location of the primary antenna see Figure 3 1 Primary antenna 0 27 m baseline Figure 3 1 Secondary antenna s search volume Note The Vector Gl moving base station algorithm only uses GPS to calculate heading Differential corrections are not used in this calculation and will not affect heading accuracy Supplemental Sensors The G1 has an integrated gyro and two tilt sensors The gyro and tilt sensors are enabled by default Each supplemental sensor may be individually enabled or disabled Both supplemental sensors are mounted on the printed circuit board inside the G1 The sensors act to reduce the RTK search volume which improves heading startup and reacquisition times This improves the reliability and accuracy of selecting the correct heading solution by eliminating other possible erroneous solutions Table 3 1 on page 24 provides a sensor operation summary 26 Vector G1 User Guide Feature Normal Operation Coasting no GPS Heading GPS Gyro Heave GPS None Pitch GPS Inertial sensor Roll Inertial sensor Inertial sensor Table 3 1 Sensor operation summary Sensors can be recalibrated queried or disabled by some NMEA like se
7. any delay in performance due to unforeseeable circumstances beyond its reasonable control such as labor disputes strikes lockouts war riot insurrection epidemic Internet virus attack Internet failure supplier failure act of God or governmental action not the fault of the non performing party FORUM FOR DISPUTES The parties agree that the courts located in Vancouver BC Canada and the courts of appeal there from will have exclusive jurisdiction to resolve any disputes between Licensee and ComNav concerning this Agreement or Licensee s use or inability to use the Software and the parties hereby irrevocably agree to attorn to the jurisdiction of those courts Notwithstanding the foregoing either party may apply to any court of competent jurisdiction for injunctive relief APPLICABLE LAW This Agreement shall be governed by the laws of the Province of British Columbia Canada exclusive of any of its choice of law and conflicts of law jurisprudence CISG The United Nations Convention on Contracts for the International Sale of Goods will not apply to this Agreement or any transaction hereunder GENERAL This is the entire agreement between Licensee and ComNav relating to the Product and Licensee s use of the same and supersedes all prior collateral or contemporaneous oral or written representations warranties or agreements regarding the same No amendment to or modification of this Agreement will be binding unless in writing and signed by duly a
8. 2 1 lists the commands used to configure Port C back to serial or NMEA 2000 when necessary You can only send these commands using Port A Table 2 1 Commands for changing Port C must be sent through Port A Command Reply Description JRELAY PORTC JSERIALMODE gt JSERIALMODE ENABLED Switch Port C to gt resetting serial JRELAY PORTC JN2K MODE gt JN2KMODE ENABLED Switch Port C to gt resetting NMEA 2000 Table 2 2 shows the requested PGNs with the G1 in NMEA 2000 mode Table 2 2 Received messages based on a request Default PGNo Prats Update Level F H PGN Description eve Rate req Hz msec 059392 ISO Acknowledgement B On Request On Request Used to acknowledge the status of certain requests addressed to a specific ECU 16 Chapter 2 Installation Table 2 2 Received messages based on a request continued Default PG No ee Update PGN Description Level Rate msec Freq Hz 059904 ISO Request B On Request On Request Request the transmission of a specific PGN addressed or broadcast 060928 ISO Address Claim B On Request On Request Used to identify to other ECUs the address claimed by an ECU 126996 Product Information B On Request On Request NMEA 2000 database version supported manufacturer s product code NMEA 2000 certification level Load Equivalency number and other product specific information 126464 Re
9. 3600 0 seconds JATT ROLL NO YES Query or Set Pitch Roll function to measure Pitch or Roll JATT SEARCH Force a new RTK Search JATT SPDTAU spdtau Query or Set Speed Smoothing Time Constant spdtau 0 0 to 200 0 seconds JATT SUMMARY Query Current Settings JATT TILTAID NO YES Query or Disable Enable the Tilt Aid function 34 Table 3 6 NMEA Configuration Sentences Command Description JATT TILTCAL Calibrate the Tilt Aid sensor the Vector G1 must be level and all satellite signals be blocked when this command is issued JBAUD 4800 PORTX Set Baud rate to 4800 JBAUD 9600 PORTX Set Baud rate to 9600 JBAUD 19200 PORTX Set Baud rate to 19200 JBAUD 38400 PORTX Set Baud rate to 38400 JBIN rate Output Binary GPS Position rate 0 0 2 1 5 10 or 20 Hz JBIN 2 rate Output Binary GPS DOPs rate 0 or 1 Hz JBIN 80 rate Output Binary GPS SBAS information rate 0 or 1 Hz JBIN 93 rate Output Binary SBA ephemeris data rate 0 or 1 Hz JBIN 94 rate Output Ionosphere amp UTC conversion parameters rate 0 or 1 Hz JBIN 95 rate Output Binary GPS ephemeris information rate 0 or 1 Hz JBIN 96 rate Output Binary code amp carrier phase information rate 0 0 2 1 5 10 or 20 Hz JBIN 97 rate Output Binary process statistics rate 0 0 2 1 5 10 or 20 Hz JBIN 98 rate Output Binary GPS Satellite
10. ANY KIND EXCEED THE TOTAL AMOUNT PAID BY LICENSEE TO COMNAV TO PURCHASE THE PRODUCT THIS LIMITATION AND EXCLUSION APPLIES IRRESPECTIVE OF THE CAUSE OF ACTION INCLUDING BUT NOT LIMITED TO BREACH OF CONTRACT NEGLIGENCE STRICT LIABILITY TORT BREACH OF WARRANTY MISREPRESENTATION OR ANY OTHER LEGAL THEORY AND WILL SURVIVE A FUNDAMENTAL BREACH LIMITS ON LIMITATION OF LIABILITY Some jurisdictions do not allow for the limitation or exclusion of liability for incidental or consequential damages so the above limitation or exclusion may not apply to Licensee and Licensee may also have other legal rights which may vary from jurisdiction to jurisdiction BASIS OF BARGAIN Licensee agrees and acknowledges that ComNav has set its prices and the parties have entered into this Agreement in reliance on the limited warranties warranty disclaimers and limitations of liability set forth herein that the same reflect an agreed to allocation of risk between the parties including the risk that a remedy may fail of its essential purpose and cause consequential loss and that the same forms an essential basis of the bargain between the parties Licensee agrees and acknowledges that ComNav would not have been able to sell the Product at the amount charged on an economic basis without such limitations PROPRIETARY RIGHTS INDEMNITY ComNav shall indemnify defend and hold harmless Licensee from and against any and all actions claims demands proceedings liabilities di
11. 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 c Shipping alterations or incorrect and or unauthorized service d 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 estimate of the highest achievable accuracy based on Specifications provided by the US Department of Defence for GPS Positioning o S GPS Receiver specifications provided by the OEM manufacturer c DGPS service provider performance specifications N 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 o
12. OR THE PRODUCT LICENSEE THEREBY AGREES TO BE LEGALLY BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE TO THESE TERMS I DO NOT INSTALL OR USE THE SOFTWARE AND ID IF YOU ARE INSTALLING AN UPDATE TO THE SOFTWARE DO NOT INSTALL THE UPDATE AND PROMPTLY DESTROY IT COMNAV PROVIDES LIMITED WARRANTIES IN RELATION TO THE SOFTWARE AS WELL THOSE WHO USE THE EMBEDDED SOFTWARE DO SO AT THEIR OWN RISK YOU SHOULD UNDERSTAND THE IMPORTANCE OF THESE AND OTHER LIMITATIONS SET OUT IN THIS AGREEMENT BEFORE INSTALLING OR USING THE SOFTWARE OR THE PRODUCT 1 LICENSE ComNav hereby grants to Licensee a non transferable and non exclusive license to use the Software as embedded in a Product and all Updates collectively the Software solely in binary executable form 2 RESTRICTIONS ON USE Licensee agrees that Licensee and its employees will not directly or indirectly in any manner whatsoever a install or use more copies of the Software than the number of copies that have been licensed b use or install the Software in connection with any product other than the Product the Software was intended to be used or installed on as set out in the documentation that accompanies the Software c copy any of the Software or any written materials for any purpose except as part of Licensee s normal backup processes d modify or create derivative works based on the Software e sub license rent lease loan or distribute the Software f permit any third
13. centerline of the boat s axis In this orientation e You will need to enter a heading bias of 90 if the primary antenna is on the starboard side of the boat and 90 if the primary antenna is on the port side of the boat e You will need to configure the receiver to specify the GPS antennas are measuring the roll axis using JATT ROLL YES You will need to enter a roll bias to properly output the pitch and roll values You may need to adjust the pitch roll output to calibrate the measurement if the Vector is not installed in a horizontal plane Figure 2 2 and Figure 2 3 provide mounting orientation examples P Forward motion Recessed arrow located on H bottom of enclosure H i E JU BT Yin R Figure 2 2 Recommended orientation and resulting signs of HPR values Vector G1 User Guide Recessed arrow located on bottom of enclosure H W Forward motion Figure 2 3 Alternate orientation and resulting signs of HPR values G1 Alignment The top of the G1 enclosure incorporates sight design features to help you align the enclosure with respect to an important feature on your vessel To use the sights center the small post on the opposite side of the enclosure from you within the channel made in the medallion located in the center of the enclosure top as shown in Figure 2 4 and Figure 2 5 Alignment accuracy when looking through the long site Figure 2 4 is approximately
14. in View rate 0 or 1 Hz TX JASC GPHDGrate PO RTX Output Generic Heading rate 0 0 2 1 5 10 or 20 Hz JASC GPHDM rate PO Output Magnetic Heading rate 0 0 2 1 5 10 or 20 Hz RTX JASC GPHDT rate POR Output True Heading rate 0 0 2 1 5 10 or 20 Hz TX JASC GPROT rate POR Output Rate Of Turn rate 0 0 2 1 5 10 or 20 Hz TX JASC GPRMC rate PO Output Recommended Minimum Specific GNSS data RIX rate 0 0 2 1 5 10 or 20 Hz JASC GPRRE rate POR Output Range Residual Error data rate 0 or 1 Hz TX JASC GPVTGrate POR Output Course Over Ground and Speed Over Ground data TX rate 0 0 2 1 5 10 or 20 Hz JASC GPZDA rate PO Output Time and Date rate 0 0 2 1 5 10 or 20 Hz RTX 33 Chapter 3 Operation Table 3 6 NMEA Configuration Sentences Command Description JASC PASHR rate POR Output time heading roll and pitch data in one message rate 0 or 1 TX Hz JASC GPHPR rate POR Output heading and pitch or roll data rate 0 0 2 1 5 10 or 20 Hz TX SJASC INTLT rate PORT Output Internal Tilt sensor measurement rate 0 or 1 Hz x JASC GPGBS rate POR Output Receiver Autonomous Integrity Monitoring RAIM rate 0 or 1 TX Hz SJASC PTSS1 rate POR TX Output Heading pitch roll and heave in TSS1 message format rate 0 0 2 1 5 10 or 20 Hz
15. is intended for applications where very high precision and very fast update rates are needed for altitude and course over ground data This PG can provide delta altitude changes down to 1 millimeter a change in direction as small as 0 0057 degrees and with a delta time period accurate to 5 milliseconds 100 10 129029 GNSS Position Data This PGN conveys a comprehensive set of Global Navigation Satellite System GNSS parameters including position information 1000 129033 Time amp Date This PGN has a single transmission that provides UTC time UTC Date and Local Offset 1000 129538 GNSS Control Status GNSS common satellite receiver parameter status On Request On Request 129539 GNSS DOPs This PGN provides a single transmission containing GNSS status and dilution of precision components DOP that indicate the contribution of satellite geometry to the overall positioning error There are three DOP parameters reported horizontal HDOP Vertical VDOP and time TDOP 1000 49 Table C 1 NMEA 2000 Messages Default EC Number Description Level Update Freq PGN Rate 129540 GNSS Sats in View GNSS B 1000 1 information on current satellites in view tagged by sequence ID Information includes PRN elevation azimuth SNR defines the number of satellites defines the satellite number and the information 50 V
16. is applied to the power leads of the extension cable Electrical Isolation The G1 s power supply is isolated from the communication lines and the PC ABS plastic enclosure isolates the electronics mechanically from the vessel addressing the issue of vessel hull electrolysis Connecting the G1 to External Devices Note This section refers to a serial connection For connecting external NMEA 2000 devices plug the serial to NMEA 2000 adapter into the G1 and then attach a standard NMEA 2000 dropline cable to the adapter Power Data Cable Considerations The G1 uses a single 15 m 49 ft cable for power and data input output 15m ET J x 30 mm 25mm Strip and tin 3 mm Figure 2 9 Power data cable 15 m 20 Chapter 2 Installation The receiver end ofthe cable is terminated with an environmentally sealed 12 pin connection while the opposite end is unterminated and requires field stripping and tinning Depending on the application and installation needs you may need to shorten this cable However if you require a longer cable run than 15 m you can bring the cable into a break out box that incorporates terminal strips within the vessel When lengthening the cable keep the following in mind To lengthen the serial lines inside the vessel use 20 gauge twisted pairs and minimize the additional wire length When lengthening the power input leads to the G1 ensure the additional voltage drop is small enough that yo
17. mode Verify the baud rate of the RTCM input port matches the baud rate of the external source Verify the pinout between the RTCM source and the RTCM input port transmit from the source must go to receive of the RTCM input port and grounds must be connected Ensure corrections are being transmitted to the correct port using the JDIFF PORTC command on Port A will cause the receiver to expect the corrections to be input through Port C 40 Vector G1 User Guide 41 Appendix B Specifications 42 Appendix B Specifications Table B 1 through Table B 5 provide the G1 s GPS sensor communication power mechanical and environmental specifications Table B 1 GPS sensor specifications Item Specification Receiver type L1 C A code with carrier phase smoothing Channels Two 12 channel parallel tracking Two 10 channel when tracking SBAS SBAS tracking 2 channel parallel tracking Update rate Standard 10 Hz optional 20 Hz position and heading Horizontal accuracy lt 1 0 m 95 confidence DGPS lt 4 0 m 95 confidence autonomous no SA Heading accuracy lt 0 759 rms Normal operation GPS Coasting no GPS Gyro Heave accuracy lt 30 cm rms Normal operation GPS Coasting no GPS None Pitch accuracy lt 1 5 rms Normal operation GPS Coasting no GPS Inertial sensor Roll accuracy lt 1 5 rms using accelerometer Normal operation Inertial sens
18. of heading smoothing required when the gyro is in use htau in seconds 40 maximum rate of turn in sec When the gyro is disabled the formula is htau in seconds 10 maximum rate of turn in sec Pitch time constant Use the JATT PTAU command to adjust the level of responsiveness of the pitch measurement provided in the PSAT HPR message The default value of this constant is 0 5 seconds of smoothing Increasing the time constant increases the level of pitch smoothing and increases lag you can use the following formula to determine the level of pitch smoothing required ptau in seconds 10 maximum rate of pitch in sec Heading Rate time constant Use the JATT HRTAU command to adjust the level of responsiveness of the rate of heading change measurement provided in the GPROT message The default value of this constant is 2 0 seconds of smoothing Increasing the time constant increases the level of heading smoothing You can use the following formula to determine the level of smoothing hrtau in seconds 10 maxiumum rate of the rate of turn in sec 28 Vector G1 User Guide Course Over Ground COG time constant Use the JATT COGTAU command to adjust the level of responsiveness ofthe COG measurement provided in the GPVTG message The default value of this constant is 0 0 seconds of smoothing Increasing the time constant increases the level of COG smoothing COG is computed using only the primary GPS antenna and i
19. optional parameter PORTX without the square brackets where applicable causes the configuration parameter to be applied to the other port these sentences are NOT sent from For example if you send this command from Port A to configure Port C you should add PORTC to the command if you send this command from Port C to configure Port A you should add PORTA Caution These commands will affect the performance of the Vector G1 Improper settings may result in degradation of system output that can affect the overall safety of vessels and personnel Table 3 6 NMEA Configuration Sentences Command Description JAGE age PORTX Set Differential Age Timeout 6 to 8100 seconds JASC D1 rate PORTX Output SBAS diagnostic information rate 0 or 1 Hz JASC GPDTM rate PO Output Datum Reference information rate 0 or 1 Hz RTX JASC GPGGA rate PO Output GPS Fix data rate 0 0 2 1 5 10 or 20 Hz RTX JASC GPGLL rate POR Output Geographic position rate 0 0 2 1 5 10 or 20 Hz TX SJASC GPGNS rate POR Output GNSS Fix data rate 0 0 2 1 5 10 or 20 Hz TX JASC GPGRS rate POR Output GNSS Range Residual data rate 0 0 2 1 5 10 or 20 Hz TX JASC GPGSA rate POR Output GNSS DOP and Active Satellites rate 0 or 1 Hz TX JASC GPGST rate POR Output Pseudorange Error Statistics rate 0 or 1 Hz TX JASC GPGSV rate POR Output Satellites
20. place 3 16 Allen wrench not included Overtightening may damage the system This is not covered under warranty Before pole mounting the G1 e Decide if you need the roll measurement If you need roll measurement the G1 will need to be installed perpendicular to the vessel axis If it you do not need roll measurement install the G1 parallel with the vessel s axis e Choose a location that meets the mounting location requirements 13 Vector G1 User Guide Connecting the power data cable Note This procedure is for connecting the serial 12 pin power data cable to the G1 To connect the serial to NMEA 2000 adapter to the G1 connect in a similar manner See NMEA 2000 Port on page 14 for more information on the adapter 1 Align the cable connector keyway with the G1 connector key Make sure the connector keyway on the cable matches up with the connector key on the Gl Cable connector keyway Gl connector key 2 Rotate the cable ring clockwise until it locks The locking action is firm but you will feel a positive click when it has locked Cable ring 14 Chapter 2 Installation Ports The G1 offers either serial port or NMEA 2000 port functionality Serial Ports The G1 offers position and heading data via two full duplex bi directional RS 232 serial ports In addition to outputting data these ports are used for firmware upgrades Selecting Baud Rates and Message Types When selecting your
21. 50 129027 Position Delta High Precision Rapid Update The Position Delta High Precision Rapid Update Parameter Group is intended for applications where very high precision and very fast update rates are needed for position data This PGN can provide delta position changes down to 1 mm with a delta time period accurate to 5 msec 100 129028 Altitude Delta High Precision Rapid Update The Altitude Delta High Precision Rapid Update Parameter Group is intended for applications where very high precision and very fast update rates are needed for altitude and course over ground data This PG can provide delta altitude changes down to 1 millimeter a change in direction as small as 0 0057 and with a delta time period accurate to 5 msec 100 129029 GNSS Position Data Conveys a comprehensive set of Global Navigation Satellite System GNSS parameters including position information 1000 18 Vector G1 User Guide Chapter 2 Installation Table 2 3 Transmitted messages continued PGN PG No Description Level Default Update Rate msec Freq Hz 129033 Time amp Date Single transmission that provides UTC time UTC Date and Local Offset 1000 129539 GNSS DOPs Provides a single transmission containing GNSS status and dilution of precision components DOP that indicate the contribution of satellite geometry to the overall positionin
22. ComNav Mmerine UTE Vector G1 GPS Satellite Compass Installation amp Operation Manual mo COMPLIES WITH E pa 7 3 Q S 4 0 9001 PN 29010087 v1 1 CE REGULATIONS DB This device complies with part 15 ofthe FCC Rules Operation is subject to the following two conditions 1 This device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation Copyright Notice No part ofthis manual may be reproduced transmitted transcribed stored in a retrieval system or translated into any language or computer language in any form or by any means electronic mechanical magnetic optical chemical manual or otherwise without the prior written permission of ComNav Marine Ltd Chapter 1 Introduction Overview Parts List Chapter 1 Introduction Overview Note Throughout this manual the Vector G1 GPS Compass is referred to simply as the G1 The Gl is a complete GPS compass and positioning system in a single enclosure that requires only one power data cable connection With its CAN support and ease of installation the Gl is the perfect solution for both marine and land base applications such as mine construction earthworks and machine guidance The Gl is an integrated system that houses the following e Crescent Vector II technology Dual integrated GPS antennas e Power supply e Single axis gy
23. S lock Verify the G1 has a clear view of the sky Verify the lock status of SBAS satellites this can be done with ComNav Toolkit monitor BER value SBAS lock can only get if you are in an appropriate SBAS region currently there is limited SBAS availability in the southern hemisphere Set SBAS mode to automatic with the FWAASPRN AUTO command No heading or incorrect heading value Check CSEP value is fairly constant without varying more than 1 cm 0 39 in larger variations may indicate a high multipath environment and require moving the receiver location Recalibrate the tilt sensor with JATT TILTCAL command if heading is calculated then lost at consistent time intervals Heading is from primary GPS antenna to secondary GPS antenna so the arrow on the underside of the G1 should be directed to the bow side JATT SEARCH command forces the G1 to acquire a new heading solution unless gyro is enabled Enable GYROAID to provide heading for up to three minutes during GPS signal loss Enable TILTAID to reduce heading search times Monitor the number of satellites and SNR values for both antennas within ComNav Toolkit at least four satellites should have strong SNR values Potentially the volume of data requested to be output by the G1 could be higher than the current baud rate supports try using 19200 as the baud rate for all devices or reduce the amount of data being output No DGPS position in external RTCM
24. amp Almanac information rate 0 or 1 Hz JBIN 99 rate Output Binary GPS diagnostic information rate 0 or 1 Hz JDIFF NONE Operate in autonomous mode JDIFF PORTX SAVE Use corrections input through PORT C or PORT A Save the configuration if SAVE is appended to the command SIDIFF WAAS SAVE Use SBAS corrections save the configuration if SAVE is appended to the command JGEO Queries frequency and location of SBAS satellites JI Query the GI s serial number amp firmware revisions JOFF Turn off all data output JQUERY GUIDE Query whether the Vector G1 is providing suitable performance or not JRESET Reset to default settings _DO NOT USE JSAVE Save current Configuration wait until the Vector replies with gt Save Complete before powering it down SISHOW Show current Configuration JSMOOTH time Query or Set Carrier Smoothing Time time SHORT gt 300 seconds time LONG gt 900 seconds time 15 to 6000 seconds SIWAASPRN Query PRNs of SBAS satellites currently being used 35 Vector G1 User Guide Chapter 3 Operation Use the JATT HBIAS amp JATT ROLL commands if the Vector is installed athwartships JATT ROLL YES and then if you have mounted the Vector pointing to Port JATT HBIAS 90 0 or if you have mounted the Vector pointing to Starboard JATT HBIAS 90 0 This command sets the configuration parameters to the ComNav fact
25. and the other is the secondary GPS antenna Positions computed by the G1 are referenced to the phase center of the primary GPS antenna Heading data references the vector formed from the primary GPS antenna phase center to the secondary GPS antenna phase center The heading arrow located on the bottom of the G1 enclosure defines system orientation The arrow points in the direction the heading measurement is computed when the antenna is installed parallel to the fore aft line of the vessel The secondary antenna is directly above the arrow Fixed Baseline Moving Base Station RTK The G1 s internal GPS receiver uses both the L1 GPS C A code and carrier phase data to compute the location of the secondary GPS antenna in relation to the primary GPS antenna with a very high sub centimeter level of precision The technique of computing the location of the secondary GPS antenna with respect to the primary antenna when the primary antenna is moving is often referred to as moving base station Real Time Kinematic or moving base station RTK Generally RTK technology is very sophisticated and requires a significant number of possible solutions to be analyzed where various combinations of integer numbers of L1 wavelengths to each satellite intersect within a certain search volume The integer number of wavelengths is often referred to as the ambiguity as they are initially ambiguous at the start of the RTK solution The G1 restricts the RTK solution
26. asurement due to installation Before flush mounting the G1 Determine your mounting orientation See Mounting Orientation on page 7 for more information 12 Chapter 2 Installation e Choose a location that meets the mounting location requirements Using the fixed base as a template mark and drill the mounting holes as necessary for the mounting surface Flush mounting the G1 1 Photocopy the section of the G1 that contains the four mounting holes for use as a template to plan the mounting hole locations Make sure the photocopy is scaled one to one with the mounting holes on the bottom of the Gl 2 Mark the mounting hole centers on the mounting surface 3 Place the Gl over the marks to ensure the planned hole centers align with the true hole centers adjusting as necessary 4 Use a center punch to mark the hole centers 5 Drill the mounting holes with a 9 mm bit appropriate for the surface 6 Place the G1 over the mounting holes and insert the mounting screws through the bottom of the mounting surface and into the G1 When installing the G1 hand tighten only Damage resulting from overtightening is not covered by the warranty Pole Mount Keep the following in mind when using a pole mount e Mounting hole is 1 thread 0 9 depth e Hand tighten until snug do not overtighten while ensuring correct orientation Use the set screws on the long sides of the base see Figure 2 6 to secure the G1 in
27. baud rate and message types use the following calculation to determine your baud rate for your required data throughput Messages Message output rate Message length bytes bits in byte Ex 5 20Hz 40 bytes 10 40 000 bits sec Configuring the Ports System PN 11210030 default as follows PORT A set for NMEA 0183 4800 Baud PORT C set for NMEA 2000 System PN 11210029 default as follows PORT A set for NMEA 0183 4800 Baud PORT C set for NMEA 2000 You may configure Port A or Port C of the GPS receiver to output any combination of data that you want Port A can have a different configuration from Port C in terms of data message output data rates and the baud rate of the port This allows you to configure the ports independently based upon your needs Port A is always a serial port To configure Port C as a serial port refer to Table 2 1 on page 16 If you want one generalized port and one heading only port you can configure the ports as follows e Port A to have GPGGA GPVTG GPGSV GPZDA and GPHDT all output at 1 Hz over a 9600 baud rate Port C to have GPHDT and GPROT output at their maximum rate of 20 Hz over a 19200 baud rate A personal computer PC typically uses a DB9 male connector for RS 232 serial port communications Note For successful communications use the 8 N 1 protocol and set the baud rate of the G1 s serial ports to match that of the devices to which they are connected Flow control is not supported
28. ceive Transmit PGNs group function B On Request On Request The Transmit Receive PGN List Group type of function is defined by first field The message will be a Transmit or Receive PGN List group function 129538 GNSS Control Status B On Request On Request GNSS common satellite receiver parameter status 129545 GNSS RAIM Output B On Request On Request Used to provide the output from a GNSS receiver s Receiver Autonomous Integrity Monitoring RAIM process The Integrity field value is based on the parameters set in PGN 129546 GNSS RAIM Settings 129546 GNSS RAIM Settings B On Request On Request Used to report the control parameters for a GNSS Receiver Autonomous Integrity Monitoring RAIM process Table 2 3 shows the transmitted PGNs with their default update rate with the G1 in NMEA 2000 mode Table 2 3 Transmitted messages Default PG No ALOE Update Freq PGN Description Level Rate Hz msec 126992 System Time B 1000 1 The purpose of this PGN is twofold To provide a regular transmission of UTC time and date To provide synchronism for measurement data 127250 Vessel Heading B 100 10 Heading sensor value with a flag for True or Magnetic If the sensor value is Magnetic the deviation field can be used to produce a Magnetic heading and the variation field can be used to correct the Magnetic heading to produce a True heading 17 Table 2 3 Tra
29. claim Licensee must first check for and install all Updates that are made available The warranty will not otherwise be honored Proof of purchase may be required ComNav does not honor claims asserted after the end of the Warranty Period LICENSEE REMEDIES In all cases which involve a failure of the Software to conform in any material respect to the documentation during the Warranty Period or a breach of a warranty ComNav s sole obligation and liability and Licensee s sole and exclusive remedy is for ComNav at ComNav s option to a repair the Software b replace the Software with software conforming to the documentation or c if ComNav is unable on a reasonable commercial basis to repair the Software or to replace the Software with conforming software within ninety 90 days to terminate this Agreement and thereafter Licensee shall cease using the Software ComNav will also issue a refund for the price paid by Licensee less an amount on account of amortization calculated on a straight line basis over a deemed useful life of three 3 years LIMITATION OF LIABILITY IN NO EVENT WILL COMNAV BE LIABLE TO LICENSEE FOR ANY INCIDENTAL CONSEQUENTIAL SPECIAL OR INDIRECT DAMAGES INCLUDING ARISING IN RELATION TO ANY LOSS OF DATA INCOME REVENUE GOODWILL OR ANTICIPATED SAVINGS EVEN IF COMNAV HAS BEEN INFORMED OF THE POSSIBILITY OF SUCH LOSS OR DAMAGE FURTHER IN NO EVENT WILL COMNAV S TOTAL CUMULATIVE LIABILITY HEREUNDER FROM ALL CAUSES OF ACTION OF
30. e documentation provided with the Update and any media will be free of defects in materials and workmanship Notwithstanding the foregoing ComNav does not warrant that the Software will meet Licensee s requirements or that its operation will be error free 9 WARRANTY EXCLUSIONS The warranty set forth in Section 8 will not apply to any deficiencies caused by a the Product not being used as described in the documentation supplied to Licensee b the Software having been altered modified or converted in any way by anyone other than ComNav or approved by ComNav c any malfunction of Licensee s equipment or other software or d damage occurring in transit or due to any accident abuse misuse improper installation lightning or other 57 10 11 12 13 14 15 16 17 18 19 electrical discharge or neglect other than that caused by ComNav ComNav GPS does not warrant or guarantee the precision or accuracy of positions obtained when using the Software whether standalone or embedded in a Product The Product and the Software is not intended and should not be used as the primary means of navigation or for use in safety of life applications The potential positioning and navigation accuracy obtainable with the Software as stated in the Product or Software documentation serves to provide only an estimate of achievable accuracy based on specifications provided by the US Department of Defense for GPS positioning and DGPS
31. e to such rights and remedies as may be available including injunction and other equitable remedies Upon receipt by Licensee of written notice of termination from ComNav or termination by Licensee Licensee shall at the end of any notice period a cease using the Software and b return to ComNav or destroy and provide a certificate of a Senior Officer attesting to such destruction the Software and all related material and any magnetic or optical media provided to Licensee The provisions of Sections 6 7 8 9 10 15 21 26 and 27 herein shall survive the expiration or termination of this Agreement for any reason EXPORT RESTRICTIONS Licensee agrees that Licensee will comply with all export control legislation of Canada the United States Australia and any other applicable country s laws and regulations whether under the Arms Export Control Act the International Traffic in Arms Regulations the Export Administration Regulations the regulations of the United States Departments of Commerce State and Treasury or otherwise as well as the export control legislation of all other countries PRODUCT COMPONENTS The Product may contain third party components Those third party components may be subject to additional terms and conditions Licensee is required to agree to those terms and conditions in order to use the Product FORCE MAJEURE EVENT Neither party will have the right to claim damages as a result of the other s inability to perform or
32. ecting the performance and functionality of the Product c replace the Software or the Product with non infringing software or product of equal or better performance and quality or d if none of the foregoing can be done on a commercially reasonable basis terminate this license and Licensee shall stop using the Product and ComNav shall refund the price paid by Licensee less an amount on account of amortization calculated on a straight line basis over a deemed useful life of three 3 years The foregoing sets out the entire liability of ComNav and the sole obligations of ComNav to Licensee in respect of any claim that the Software or its use infringes any third party rights INDEMNIFICATION Except in relation to an infringement action Licensee shall indemnify and hold ComNav harmless from any and all claims damages losses liabilities costs and expenses including reasonable fees of lawyers and other professionals arising out of or in connection with Licensee s use of the Product whether direct or indirect including without limiting the foregoing loss of data loss of profit or business interruption TERMINATION Licensee may terminate this Agreement at any time without cause ComNav may terminate this Agreement on 30 days notice to Licensee if Licensee fails to materially comply with each provision of this Agreement unless such default is cured within the 30 days Any such termination by a party shall be in addition to and without prejudic
33. ective 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 62 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 ComNav 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 go
34. ector G1 User Guide Appendix D Interfacing to ComNav Autopilot and Compass Display 51 52 Appendix D Interfacing to ComNav Autopilot and Compass Display Commander P2 or Admiral P3 and Navigation Gl Figure 1 shows the typical connections used with a ComNav Commander P2 Autopilot System an Admiral P3 would be wired identically a Navigator G2 GPS Compass Display System and a generic Chartplotter or other type of Navigation System Note this wiring information assumes that the G1 is in its factory default configuration Autopilot data on Port A Port C defaults to NMEA 2000 Use ComNav toolkit software to convert to 0183 if required CD included The wiring from G1 to commander P2 and Admiral P3 SPU J9 NAV I O connector is as follows J9 Wire A A Data Pin Color Signal Signal user 2B IN supplied Navigation a O om Waypoints 2A Chartplotter p dos 1B IN user sie osition i etc 1A 2A supplied G H IN GD 1B Yellow from G1 Headin Port A Speed 9 A IN White Signal Transmit P B 1A ground PA user OUT ae supplied ie 6 NAV 1 0 z Chartplotter R 9 OUT en a RS 422 etc A B Port C when configured to NMEA 0183 Table 3 Commander P2 Connection Detail In addition to the above wiring the Commander P2 must be configured to look for both heading and speed data from its NAV1 input port and for Navigation data from NAV2 for details see the respective Source selection descript
35. f 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 61 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 in 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 eq
36. function The Transmit Receive PGN List Group type of function is defined by first field The message will be a Transmit or Receive PGN List group function On Request 126992 System Time The purpose of B 1000 this PGN is twofold To provide a regular transmission of UTC time and date To provide synchronism for measurement data 127250 Vessel Heading Heading sensor B 100 value with a flag for True or Magnetic If the sensor value is Magnetic the deviation field can be used to produce a Magnetic heading and the variation field can be used to correct the Magnetic heading to produce a True heading 10 127251 Rate of Turn Rate of Turn is the B 100 rate of change of the Heading 10 47 Table C 1 NMEA 2000 Messages PG Number PGN Description Level Default Update Rate Freq 127257 Attitude is PGN provides a single transmission that describes the position ofa vessel relative to both horizontal and vertical planes This would typically be used for vessel stabilization vessel control and onboard platform stabilization 1000 127258 Magnetic Variation Message for transmitting variation The message contains a sequence number to allow synchronization of other messages such as Heading or Course over Ground The quality of service and age of service are provided to enable recipients to determine an appropriate level of service if multiple trans
37. g error There are three DOP parameters reported horizontal HDOP Vertical VDOP and time TDOP 1000 129540 GNSS Sats in View GNSS information on current satellites in view tagged by sequence ID Information includes PRN elevation azimuth SNR defines the number of satellites defines the satellite number and the information 1000 19 Vector G1 User Guide Powering the G1 Power Considerations For best performance use a clean and continuous power supply The G1 power supply features reverse polarity protection but will not operate with reverse polarity See Table B 3 on page 53 for complete power specifications Connecting to a Power Source Note This section refers to powering the unit via serial connection To power the unit via NMEA 2000 connection following the standard procedure for powering up via NMEA 2000 Before you power up the Gl you must terminate the wires of the power cable as required There are a variety of power connectors and terminals on the market from which to choose depending on your specific requirements Do not apply a voltage higher than 36 VDC This will damage the receiver and void the warranty To interface the G1 power cable to the power source e Connect the red wire of the cable s power input to DC positive e Connect the black wire of the cable s power input to DC negative The G1 s smart antenna will start when an acceptable voltage
38. g the G1 use the following diagram to ensure there are no nearby devices that my cause VHF interference 1 5 m radius at top minimum a a Use these minimum distances to determine where to place the G1 1 0 m radius at base S minimum Figure 2 1 G1 distance from nearby VHF radios Chapter 2 Installation Mounting Orientation The G1 outputs heading pitch and roll readings regardless of the orientation of the antennas However the relation of the antennas to the boat s axis determines whether you will need to enter a heading pitch or roll bias The primary antenna is used for positioning and the primary and secondary antennas working in conjunction output heading pitch and roll values Note Regardless of which mounting orientation you use the G1 provides the ability to output the heave of the vessel This output is available via the GPHEV message Parallel Orientation The most common installation is to orient the G1 parallel to and along the centerline of the axis of the boat This provides a true heading In this orientation e If you use a gyrocompass you can enter a heading bias in the G1 to calibrate the physical heading to the true heading of the vessel You may need to adjust the pitch roll output to calibrate the measurement if the Vector is not installed in a horizontal plane Perpendicular Orientation You can also install the antennas so they are oriented perpendicular to the
39. ge residual RAIM Yes X X 20 GPGSA S GNSS DOP and active satellites Yes X X 1 30 Table 3 3 NMEA 0183 and other messages continued Vector G1 User Guide The GP of the message is the talker ID e GPGRS GPGSA GPGST and GPGSV support external integrity checking They are to be synchronized with corresponding fix data GPGGA or GPGNS e You can change the message header for the HDG HDM HDT and ROT messages to either GP or HE using the JATT NMEAHE command e Optional maximum rate Fees may apply nn Enabled Max Info AR Rate Message Description Approved Port A Port C Type Message Default User Default User GPGST S GNSS pseudo range error statistics and Yes X X 1 position accuracy GPGSV GNSS satellites in view Yes 1 GPHDG H Provides magnetic deviation and variation for Yes 20 calculating magnetic or true heading GPHDM H Magnetic heading based on GPS derived No 1 10 20 heading and magnetic declination SGPHDT H GPS derived true heading Yes 1 10 20 GPHEV H Heave value in meters Yes X X 20 GPRMC P Recommended minimum specific GNSS data Yes X X 20 SGPROT H GPS derived rate of turn ROT Yes 1 X 20 GPRRE S Range residual and estimated position error Yes X X 1 message GPVTG V COG and ground speed Yes 1 1 20 GPZDA Time and date Yes 1 X 20 PASHR Time heading r
40. ions for the Standby Auto amp Nav menus in the P2 Installation amp Operation manual Other ComNav Autopilot Systems All other ComNav autopilots require the use of an optional Sine Cosine Interface Box PN 21010004 with matching interface cable PN 31110023 or 31110051 to use them with a Vector Gl See the instructions included with the Sine Cosine Box for wiring and setup information Note that the G1 s Port C Tx and the signal ground wires are the ones to be connected to the Convertor 53 Vector Gl User Guide Vector Gl m Poner Fuse Switch or Breaker RED 18ANG BLACK 18 AWG ily Qt off amp tape back O sips Shield Drain amp Battery green wire 11 36 VDC PORTC when configured to 0183 YELLOW Signal Ground VATE amp or other NVEA equipment AY A i Heading Source NAVINI k FEN N Speed Source NAV IM To Navigation System Controller en Navigation Source NAV IN2 amp or other NVEA equipment E ee SS ee aes ee a GPS Compass Display System Navigator G2 shown Port A RS 232 le Tx BLACKw BLUE STRIFE Re YELLOW Sora Gourd Figure 1 Typical Wiring Diagram of a Vector G1 System with Autopilot amp Compass Display 54 Appendix D Interfacing to ComNav Autopilot and Compass Display Interfacing to a PC Figure 2 shows the typical connections when using a PC to perform Navigation disp
41. l receiver 1 31210010 Power data cable 15 m accessory item 1 31110053 Serial to NMEA 2000 adapter 1 31210011 ComNav Tool Kit CD 1 29030052 User Manual 1 29010087 Table 1 1 Parts list Note if Gl system Part number 11210029 was ordered use cable part number 31110052 for serial adapter 31210011 rather than cable part number 31110053 3 Chapter 2 Installation Mounting Location Mounting Orientation Mounting Options Powering the G1 Connecting the G1 to External Devices Chapter 2 Installation Mounting Location This section provides information on determining the best location for the G1 Note Mounting Template available Vector G1 Satellite Compass part number 29030054 GPS Reception When considering where to mount the Gl consider the following GPS reception recommendations e Consider GPS and hence SBAS reception ensuring there is a clear view of the sky available to the Gl so the GPS and SBAS satellites are not masked by obstructions that may reduce system performance e Since the Gl computes a position based on the internal primary GPS antenna element mount the G1 where you desire a position with respect to the primary GPS antenna located on the end opposite the recessed arrow on the underside of the enclosure e Locate any transmitting antennas away from the G1 by at least a several feet to ensure tracking performance is not compromised giving you the best performance possible Make s
42. lay amp or control functions or to use the ComNav Toolkit to configure the Gl PCfor Vector GI Control amp Display using Can Tot PC ar Hyper Temina 5 DType9pin Ferde Oornedor usersugpien Figure 2 Typical Wiring with a PC for Vector G1 Control amp Display Interfacing to other NMEA 0183 devices Many NMEA 0183 devices can accept RS 232 input signal For these devices you can connect the G1 RS 232 Rx of Port A or Port C to NMEA 0183 A and the G1 signal ground to NMEA 0183 B However there are devices that only accept RS 422 signal In such situation a standard RS 232 RS 422 Convertor can be used to interface the Gl to an NMEA 0183 devices 55 56 End User License Agreement IMPORTANT This is an agreement the Agreement between you the end purchaser Licensee and ComNav Marine Ltd ComNav which permits Licensee to use the ComNav software the Software that accompanies this Agreement This Software may be licensed on a standalone basis or may be embedded in a Product Please read and ensure that you understand this Agreement before installing or using the Software Update or using a Product In this agreement any product that has Software embedded in it at the time of sale to the Licensee shall be referred to as a Product As well in this Agreement the use of a Product shall be deemed to be use of the Software which is embedded in the Product BY INSTALLING OR USING THE SOFTWARE UPDATE
43. le commands for GPS heading operation X X and status HIGHMP Set query the high multipath setting for use in poor GPS X X X environments HRTAU Set query time constant 0 0 to 3600 0 sec X X 2 00 HTAU Set query heading time constant 0 0 to 3600 0 sec X X 10 00 LEVEL Enable disable level operation X X NO MSEP Manually set or query antenna separation X X X NEGTILT Enable disable negative tilt X X NO NMEAHE Change the HDG HDM HDT and ROT message X X NO headers between GP and HE PBIAS Set query pitch roll bias 15 0 to 15 0 X X 0 00 PTAU Set query pitch time constant 0 0 to 3600 0 sec X X 0 50 ROLL Configure for roll or pitch GPS orientation X X NO SEARCH Force a new GPS heading search X X SPDTAU Set query speed time constant 0 0 to 3600 0 sec X X 0 00 SUMMARY Display a summary of the current Crescent Vector X X settings TILTAID Enable disable accelerometer pre calibrated X X YES TILTCAL Calibrate accelerometers X X NMEA Configuration commands The following NMEA like input sentences can be used to configure the Vector G1 To query what is the current value of most parameters leave off the last value portion of the sentence For those sentences that enable the output of repeating NMEA data sentences the range of valid repeat rates is shown in parentheses 0 causes the sentence to be disabled Some sentences may only be disabled or enabled with a NO or YES parameter value 32 Vector G1 User Guide The
44. missions exist 1000 128259 Speed The purpose of this PGN is to provide a single transmission that describes the motion ofa vessel 1000 129025 Position Rapid Update This PGN provides latitude and longitude referenced to WGS84 Being defined as single frame message as opposed to other PGNs that include latitude and longitude and are defined as fast or multi packet this PGN lends itself to being transmitted more frequently without using up excessive bandwidth on the bus for the benefit of receiving equipment that may require rapid position updates 100 10 129026 COG amp SOG Rapid Update This PGN is a single frame PGN that provides Course Over Ground COG and Speed Over Ground SOG 250 48 Vector G1 User Guide Appendix C Using Vector Gl with NMEA 2000 Commands Table C 1 NMEA 2000 Messages PG Number PGN Description Level Default Update Rate Freq 129027 Position Delta High Precision Rapid Update The Position Delta High Precision Rapid Update Parameter Group is intended for applications where very high precision and very fast update rates are needed for position data This PGN can provide delta position changes down to 1 millimeter with a delta time period accurate to 5 milliseconds 100 10 129028 Altitude Delta High Precision Rapid Update The Altitude Delta High Precision Rapid Update Parameter Group
45. n times of GPS loss for either antenna If the outage lasts longer than three minutes the gyro 27 Chapter 3 Operation will have drifted too far and the G1 begins outputting null fields in the heading output messages There is no user control over the timeout period of the gyro Calibration which is set at the factory is required for the gyro to remove latency from the heading solution as well as provide backup heading when GPS is blocked The receiver will calibrate itself after running for a while but it may be important to follow the manual calibration instructions if you want to guarantee performance quickly after powering up the receiver The gyro initializes itself at powerup and during initialization or you can calibrate it using JATT When the gyro is first initializing it is important that the dynamics that the gyro experiences during this warmup period are similar to the regular operating dynamics For example if you use the G1 on a high speed maneuverable craft it is essential that when gyro aiding in the G1 is first turned on use it in an environment that has high dynamics for the first five to ten minutes instead of sitting stationary With the gyro enabled the gyro is also used to update the post HTAU smoothed heading output from the moving base station RTK GPS heading computation This means that ifthe HTAU value is increased while gyro aiding is enabled there will be little to no lag in heading output due to vehicle mane
46. nd firmware versions JOFF Turn off all data messages JQUERY GUIDE Query accuracy suitability for navigation JRESET Reset unit s configuration to firmware defaults Note JRESET clears all parameters For the G1 you will have to issue the JATT FLIPBRD YES command to properly redefine the circuitry orientation inside the product once the receiver has reset Failure to do so will cause radical heading behavior JSAVE Save session s configuration changes NMEA Output The following NMEA 0183 amp proprietary data output messages are the ones most commonly used on the Vector G1 for others see the next 3 pages Factory enabled messages are shown in Grey and the default repeat rate is shown in the default column Factory disabled sentences are shown with an X Once the Vector G1 is installed and setup correctly record in the User column any changes you made for future reference In Table 3 3 the Info Type value is one of the following P Position V Velocity Time H Heading Attitude S Sats Stats Quality Table 3 3 NMEA 0183 and other messages Enabled Max IEC Info Er Rate Message Description Approved Port A Port C Type Message Default User Default User GPDTM P Datum reference Yes X X 1 GPGGA P GPS position and fix data Yes X X 20 GPGLL P Geographic position lat long Yes 1 X 20 GPGNS P GNSS position and fix data Yes X X 20 GPGRS S GNSS ran
47. nsmitted messages continued PG No PGN Description Level Default Update Rate msec Freq Hz 127251 Rate of Turn Rate of change of the Heading 100 127257 Attitude Provides a single transmission that describes the position of a vessel relative to both horizontal and vertical planes This would typically be used for vessel stabilization vessel control and onboard platform stabilization 1000 127258 Magnetic Variation Message for transmitting variation The message contains a sequence number to allow synchronization of other messages such as Heading or Course over Ground The quality of service and age of service are provided to enable recipients to determine an appropriate level of service if multiple transmissions exist 1000 128259 Speed Provides a single transmission that describes the motion of a vessel 1000 129025 Position Rapid Update Provides latitude and longitude referenced to WGS84 Being defined as single frame message as opposed to other PGNs that include latitude and longitude and are defined as fast or multi packet this PGN lends itself to being transmitted more frequently without using up excessive bandwidth on the bus for the benefit of receiving equipment that may require rapid position updates 100 129026 COG amp SOG Rapid Update Single frame PGN that provides Course Over Ground COG and Speed Over Ground SOG 2
48. ntences See descriptions in Messages and Configuration Commands Tilt Aiding The G1 s accelerometers internal tilt sensors are factory calibrated and enabled by default This constrains the RTK heading solution beyond the volume associated with just a fixed antenna separation This is because the G1 knows the approximate inclination of the secondary antenna with respect to the primary antenna The search space defined by the tilt sensor will be reduced to a horizontal ring on the sphere s surface by reducing the search volume This considerably decreases startup and reacquisition times See Figure 3 2 Tilt angle Figure 3 2 Vector G1 s tilt aiding Gyro Aiding The G1 s internal gyro offers several benefits It reduces the sensor volume for an RTK solution This shortens reacquisition times when a GPS heading is lost because the satellite signals were blocked The gyro provides a relative change in angle since the last computed heading and when used in conjunction with the tilt sensor defines the search space as a wedge shaped location See Figure 3 3 Figure 3 3 Vector G1 s gyro aiding The gyro aiding accurately smoothes the heading output and the rate of turn It 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 provides an alternate source of heading accurate to within 1 for up to three minutes i
49. o 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 63
50. oll and pitch data in one No 1 message PSAT S Satellite fault detection RAIM Yes 1 GBS PSAT H Proprietary NMEA message that provides No X X 20 HPR heading pitch roll and time in single message PSAT H Proprietary NMEA message that provides the Yes X X 1 INTLT pitch and roll measurements from the internal inclinometers in degrees RDI SBAS diagnostic information Yes X X 1 TSS1 H Heading pitch roll and heave message in No 20 the commonly used TSS1 message format Notes Table 3 4 Binary messages SJBIN Message Description 1 GPS position 2 GPS DOPs 80 SBAS 93 SBAS ephemeris data 94 Ionosphere and UTC conversion parameters 31 Chapter 3 Operation Table 3 4 Binary messages continued SJBIN Description Message 95 Satellite ephemeris data 96 Code and carrier phase 97 Processor statistics 98 Satellites and almanac 99 GPS diagnostics Table 3 5 Parameters specific to JATT command Parameter Description Query Specify Default COGTAU Set query COG time constant 0 0 to 3600 0 sec X X 0 00 CSEP Query antenna separation X X EXACT Enable disable internal filter reliance on the entered X X X antenna separation FLIPBRD Turn the flip feature on off X X YES GYROAID Enable disable gyro X X YES HBIAS Set query heading bias 180 0 to 180 0 X X 0 00 HELP Show the availab
51. or Coasting no GPS Inertial sensor Rate of turn 90 s maximum Cold start lt 60 s typical no almanac or RTC Warm start lt 20 s typical almanac and RTC Hot start lt 1 s typical almanac RTC and position Heading fix lt 10 s typical valid position Compass safe distance 30 cm 11 8 in Maximum speed 1 850 kph 999 kts Maximum altitude 18 288 m 60 000 ft Table B 2 Communication specifications Item Specification Serial ports 2 full duplex RS 232 Baud rates 4800 9600 19200 38400 57600 115200 Correction I O protocol RTCM SC 104 Data I O protocol NMEA 0183 NMEA 2000 43 Table B 3 Power specifications Item Specification Input voltage 6 to 36 VDC Power consumption 3 W nominal Current consumption 320 mA 9 VDC 240 mA 12 VDC 180 mA 16 VDC Power isolation Isolated to enclosure Reverse polarity protection Yes Table B 4 Mechanical specifications Item Specification Enclosure UV resistant white plastic AES HW 600G non corrosive self extinguishing Dimensions 41 7Lx 15 8 W x 6 9 H cm not including mounts 16 4 L x 6 2 W x 2 7 H in Weight 1 50 kg 3 3 Ib Table B 5 Environmental specifications Item Specification Operating temperature 30 C to 70 C 22 F to 158 F Storage temperature 40 C to 85 C 40 F to 185 F
52. ory default values 36 37 Appendix A Troubleshooting 38 Appendix A Troubleshooting Table A 1 provides troubleshooting for common problems Table A 1 Troubleshooting Symptom Possible Solution Receiver fails to power Verify polarity of power leads Check integrity of power cable connectors Check power input voltage 6 to 36 VDC Check current restrictions imposed by power source minimum available should be gt 1 0 A No data from G1 Check receiver power status to ensure the receiver is powered an ammeter can be used for this Verify desired messages are activated using ComNav Toolkit or JSHOW in any terminal program Ensure the baud rate of the G1 matches that of the receiving device Check integrity and connectivity of power and data cable connections Random data from Gl Verify the RTCM or binary messages are not being output accidentally send a JSHOW command Ensure the baud rate of the G1 matches that of the remote device Potentially the volume of data requested to be output by the G1 could be higher than the current baud rate supports try using 19200 as the baud rate for all devices or reduce the amount of data being output No GPS lock Verify the G1 has a clear view of the sky Verify the lock status of GPS satellites this can be done with ComNav Toolkit 39 Table A 1 Troubleshooting continued Symptom Possible Solution No SBA
53. party to use the Software g Use or operate Product for the benefit of any third party in any type of service outsourcing application service provider service or service bureau capacity h reverse engineer decompile or disassemble the Software or otherwise reduce it to a human perceivable form i Assign this Agreement or sell or otherwise transfer the Software to any other party except as part of the sale or transfer of the whole Product 3 UPDATES At ComNav s discretion ComNav may make Updates available to Licensee An update Update means any update to the Software that is made available to Licensee including error corrections enhancements and other modifications Licensee may access download and install Updates during the Warranty Period only All Updates that Licensee downloads installs or uses shall be deemed to be Software and subject to this Agreement ComNav reserves the right to modify the Product without any obligation to notify supply or install any improvements or alterations to existing Software 4 SUPPORT ComNav may make available directly or through its authorized dealers telephone and email support for the Software Contact ComNav to find the authorized dealer near you As well ComNav may make available user and technical documentation regarding the Software ComNav reserves the right to reduce and limit access to such support at any time 5 BACKUPS AND RECOVERY Licensee shall back up all data used created or stored by
54. rect damages judgments settlements fines penalties costs and expenses including royalties and attorneys fees and related costs in connection with or arising out of any actual infringement of any third party patent copyright or other intellectual property right by the Software or by its use in accordance with this Agreement and documentation PROVIDED THAT a ComNav has the right to assume full control over any action claim demand or proceeding b Licensee shall promptly notify ComNav of any such action claim demand or proceeding and c Licensee shall give ComNav such reasonable assistance and tangible material as is reasonably available to Licensee for the defense of the action claim demand or proceeding Licensee shall not settle or compromise any of same for which ComNav has agreed to assume responsibility without ComNav s prior written consent Licensee may at its sole cost and expense retain separate counsel from the counsel utilized or retained by ComNav INFRINGEMENT Ifuse of the Software may be enjoined due to a claim of infringement by a third party then at its sole discretion and expense ComNav may do one of the following a negotiate a license or other agreement so that the Product is no longer subject to such a potential claim b modify the Product so that it becomes non infringing provided such modification can 58 20 21 22 23 24 23 26 27 28 be accomplished without materially aff
55. ro Tilt sensors two The gyro and tilt sensors are present to improve system performance and to provide backup heading information in the event that a GPS heading is not available due to signal blockage Crescent technology supports multiple RF front ends enabling tighter coupling of measurements from separate antennas for use in heading based products Users will achieve excellent accuracy and stability due to Crescent s more accurate code phase measurements improved multipath mitigation and fewer components The G1 s GPS antennas are separated by 27 cm between their phase centers resulting in better than 0 60 rms heading performance The G1 provides heading and positioning updates of up to 20 Hz and delivers positioning accuracy of better than 1 0 m 95 of the time when using differential GPS corrections from Space Based Augmentation Systems SBAS The G1 GPS receivers may utilize old differential GPS correction data for 40 minutes or more without significantly affecting the positioning quality The G1 is less likely to be affected by differential signal outages due to signal blockages weak signals or interference when using COAST If you are new to GPS and SBAS refer to the GPS Technical Reference for further information on these services and technologies before proceeding Parts List Note The G1 s parts comply with IEC 60945 Section 4 4 exposed to the weather Part Name Qty Part Number G
56. service provider performance specifications where applicable WARRANTY DISCLAIMER EXCEPT AS EXPRESSLY SET OUT IN THIS AGREEMENT COMNAV MAKES NO REPRESENTATION WARRANTY OR CONDITION OF ANY KIND TO LICENSEE WHETHER VERBAL OR WRITTEN AND HEREBY DISCLAIMS ALL REPRESENTATIONS WARRANTIES AND CONDITIONS OF ANY KIND INCLUDING FITNESS FOR A PARTICULAR PURPOSE MERCHANTABILITY ACCURACY RELIABILITY OR THAT THE USE OF THE SOFTWARE WILL BE UNINTERRUPTED OR ERROR FREE AND HEREBY DISCLAIMS ALL REPRESENTATIONS WARRANTIES AND CONDITIONS ARISING AS A RESULT OF CUSTOM USAGE OR TRADE AND THOSE ARISING UNDER STATUTE LIMITS ON WARRANTY DISCLAIMER Some jurisdictions do not allow the exclusion of implied warranties or conditions so some of the above exclusions may not apply to Licensee In that case any implied warranties or conditions which would then otherwise arise will be limited in duration to ninety 90 days from the date of the license of the Software or the purchase of the Product The warranties given herein give Licensee specific legal rights and Licensee may have other rights which may vary from jurisdiction to jurisdiction CHANGE TO WARRANTY No employee or agent of ComNav is authorized to change the warranty provided or the limitation or disclaimer of warranty provisions All such changes will only be effective if pursuant to a separate agreement signed by senior officers of the respective parties WARRANTY CLAIM In the event Licensee has a warranty
57. t data bit no parity one stop bit configuration 8 N 1 GPS Operation The GPS receiver is always operating regardless of the DGPS mode of operation The following sections describe the general operation of the G1 s internal GPS receiver Note Differential source and status have no impact on heading pitch or roll They only have an impact on positioning Automatic Tracking The G1 s internal GPS receiver automatically searches for GPS satellites acquires the signals and manages the navigation information required for positioning and tracking Receiver Performance The G1 works by finding four or more GPS satellites in the visible sky It uses information from the satellites to compute a position within 4 0 m 8 2 ft Since there is some error in the GPS data calculations the G1 also tracks a differential correction The G1 uses these corrections to improve its position accuracy to better than 1 0 m 1 97 ft There are two main aspects of GPS receiver performance e Satellite acquisition e Positioning and heading calculation When the G1 is properly positioned the satellites transmit coded information to the antennas on a specific frequency This allows the receiver to calculate a range to each satellite from both antennas GPS is essentially a timing system The ranges are calculated by timing how long it takes for the signal to reach the GPS antenna The GPS receiver uses a complex algorithm incorporating satellite loca
58. the Software on a regular basis as necessary to enable proper recovery of the data and related systems and processes in the event of a malfunction in the Software or any loss or corruption of data caused by the Software Licensee shall assume all risks of loss or damage for any failure to comply with the foregoing 6 OWNERSHIP The Licensee understands that the Licensee does NOT own rights title and interest in and to the Software and related materials including intellectual property rights The Software is licensed to Licensee not sold 7 TRADEMARKS ComNav and the associated logos are trademarks of ComNav Other trademarks are the property of their respective owners Licensee may not use any of these trademarks without the consent of their respective owners 8 LIMITED WARRANTY ComNav warrants solely to the Licensee subject to the exclusions and procedures set forth herein below that for a period of one 1 year from the original date of purchase of the Product in which it is embedded the Warranty Period the Software under normal use and maintenance will conform in all material respects to the documentation provided with the Software and any media will be free of defects in materials and workmanship For any Update ComNav warrants for 90 days from performance or delivery or for the balance of the original Warranty Period whichever is greater that the Update under normal use and maintenance will conform in all material respects to th
59. tions and ranges to each satellite to calculate the geographic location and heading Reception of any four or more GPS signals allows the receiver to compute three dimensional coordinates and a valid heading Differential Operation The purpose of differential GPS DGPS is to remove the effects of selective availability SA atmospheric errors timing errors and satellite orbit errors while enhancing system integrity Autonomous positioning capabilities of the G1 will result in positioning accuracies of 4 0 m 8 2 ft 95 of the time In order to improve positioning quality to better than 1 0 m 1 97 ft the G1 is able to use differential corrections received through the internal SBAS demodulator or externally supplied RTCM corrections Automatic SBAS Tracking The G1 automatically scans and tracks SBAS signals without the need to tune the receiver The G1 features two channel tracking that provides an enhanced ability to maintain a lock on an SBAS satellite when more than one satellite is in view This redundant tracking approach results in more consistent tracking of an SBAS signal in areas where signal blockage of a satellite is possible 25 Chapter 3 Operation Vector G1 Overview The G1 provides accurate and reliable heading and position information at high update rates To accomplish this task the G1 uses a high performance GPS receiver and two antennas for GPS signal processing One antenna is designated as the primary GPS antenna
60. ts accuracy depends upon the speed of the vessel noise is proportional to 1 speed This value is invalid when the vessel is stationary as tiny movements due to calculation inaccuracies are not representative of a vessel s movement You can use the following formula to determine COGTAU cogtau in seconds 10 maximum rate of change of course in degree sec Speed time constant Use the JATT SPDTAU command to adjust the level of responsiveness of the speed measurement provided in the GPVTG message The default value of this constant is 0 0 seconds of smoothing Increasing the time constant increases the level of speed measurement smoothing Watchdog The watchdog is a timer that is controlled by the software that monitors if the heading is lost The watchdog software is compliant with IEC 60495 29 Chapter 3 Operation Messages and Configuration Commands Table 3 2 Commands Command Description JAGE Specify maximum DGPS COAST correction age 6 to 8100 seconds JAPP Query or specify receiver application firmware JASC Specify ASCII messages to output to specific ports see ASCII messages in Table 3 3 JBAUD Specify RS 232 output communication rate JBIN Specify binary messages to output to specific ports see Table 3 4 JDIFF Query or specify differential correction mode JGEO Query or specify SBAS for current location and SBAS satellites JI Query unit s serial number a
61. uipment 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 only to the original end user ofthe ComNav Equipment being the Purchaser and apply only to the original installation ofthe Equipment The Purchaser s remedies under this Warranty are not transferable or assignable by the Purchaser to others in whole or in part CUSTOMER REMEDIES 1 Ifthe 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 def
62. ur power system can continue to power the system above the minimum voltage of the system Wire of 18 gauge or larger should also be used Length limits for RS 232 cables Power Data Cable Pinout Specifications Figure 2 10 show the power data cable plug pinout while Table 2 4 shows the cable s pinout specifications Figure 2 10 Power data cable pin assignment Table 2 4 Power data cable pinout Pin Function Wire Color 1 Port C RS 232 female DB9 pin 2 device out Tx White 2 Port C RS 232 female DB9 pin 3 device in Rx Green 3 N C N C 4 N C N C 5 Power input Red 6 N C N C 7 Signal ground Yellow 8 Port A RS 232 female DB9 pin 3 device in Rx Brown 9 Port A RS 232 female DB9 pin 2 device out Tx Blue 10 Power ground Black 11 CH_GND Drain 12 N C N C 21 22 23 Chapter 3 Operation GPS Overview Vector Gl Overview Messages and Configuration Commands 24 Vector G1 User Guide GPS Overview For your convenience both the GPS and SBAS operation ofthe Vector Gl features automatic operational algorithms When powered for the first time the Vector G1 performs a cold start which involves acquiring the available GPS satellites in view and the SBAS differential service If SBAS is not available in your area an external source of RTCM SC 104 differential corrections may be used If you use an external source of correction data it must support an eigh
63. ure there is enough cable length to route into the vessel to reach a breakout box or terminal strip e Do not locate the antenna where environmental conditions exceed those specified in Table B 5 on page 54 G1 Environmental Considerations The Gl is designed to withstand harsh environmental conditions however adhere to the following limits when storing and using the G1 e Operating temperature 30 C to 70 C 22 F to 158 F Storage temperature 40 C to 85 C 40 F to 185 F e Humidity 100 non condensing VHF Interference VHF interference from such devices as cellular phones and radio transmitters may interfere with GPS operation Keep the following in mind regarding VHF interference VHF marine radio working frequency Channel 1 to 28 is from 156 05 to 157 40 MHz The L1 GPS working center frequency is 1575 42 MHz The bandwidth is 2MHz to 10 MHz which is dependent on the GPS antenna and receiver design VHF marine radios emit strong harmonics The 10th harmonic of VHF radio in some channels falls into the GPS working frequency band which may cause the SNR of GPS to degrade significantly The radiated harmonic signal strength of different brands models varies 7 Vector Gl User Guide e Follow VHF radio manufacturers recommendations on how to mount their radios and what devices to keep a safe distance away Handheld 5W VHF radios may not provide suitable filtering Before installin
64. uthorized representatives of the parties Any and all terms and conditions set out in any correspondence between the parties or set out in a purchase order which are different from or in addition to the terms and conditions set forth herein shall have no application and no written notice of same shall be required In the event that one or more of the provisions of this Agreement is found to be illegal or unenforceable this Agreement shall not be rendered inoperative but the remaining provisions shall continue in full force and effect 59 60 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 ComNav LIMITED ONE YEAR WARRANTY ComNav warrants to the Purchaser provided that the recommended installation and maintenance procedures set forth in the manual the Manual provided with the Equipment have been followed and 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
65. uvers Setting an appropriate HTAU value for the application is further discussion later Time Constants The G1 incorporates user configurable time constants that can provide a degree of smoothing to the heading course over ground COG and speed measurements You can adjust these parameters depending on the expected dynamics of the vessel For example increasing the time is reasonable if the vessel is very large and is not able to turn quickly or would not pitch quickly The resulting values would have reduced noise resulting in consistent values with time However ifthe vessel is quick and nimble increasing this value can create a lag in measurements If you are unsure on how to set this value it is best to be conservative and leave it at the default setting Note There is no lag once the gyro is calibrated and enabled Heading time constant Use the JATT HTAU command to adjust the level of responsiveness of the true heading measurement provided in the GPHDT message The default value of this constant is 2 0 seconds of smoothing when the gyro is enabled The gyro is enabled by default but can be turned off By turning the gyro off the equivalent default value of the heading time constant would be 0 5 seconds of smoothing This is not automatically done and therefore you must manually enter it Increasing the time constant increases the level of heading smoothing and increases lag You can use the following formula to determine level
66. verned 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 Canada 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 V6V 2G1 Canada www comnav com 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 t

Vector G1 GPS Satellite Compass

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