User manual
Contents
1. Finish White epoxy corrosion resistant Approvals CE Marking OmniSTAR Issue April 2001 The Global Positioning System 37 2100LR12 Receiver Technical Manual Appendix C List of communication satellites List of communication satellites The following table presents a list of L band communication satellites which will enable you to use your 3100LM over the entire world depending on your subscription type you might only be entitled to a restricted area Table 8 Worldwide satellite frequencies and symbol rates Satellite Channel Frequency MHz Symbol Rate EA SAT 1535 1525 2438 OPTUS 1558 5100 2436 AMSC East 1556 8250 2436 AMSC Centre 1554 4970 2436 AMSC West 1551 4890 2436 The position marker and coverage area of each satellite are displayed in the following figures The AMSC satellite coverage area s are in one figure Eik EMS EA SAT Figure 12 Location and coverage area per satellite OmniSTAR Issue April 2001 The Global Positioning System 38 2100LR12 Receiver Technical Manual OPTUS AMSC Figure 13 Location and coverage area per satellite Issue April 2001 The Global Positioning System 39 2100LR12 Receiver Technical Manual Appendix D List of reference stations The following tables present the current list of reference stations which are broadcast over communication satellites used by OmniSTAR The list of reference stations change regularly to improve the networ2. has not been used for a long period of time or has been moved a long distance it may take up to 12 5 minutes to start outputting NMEA messages The outputting of differentially corrected NMEA may take up to 40 minutes under these circumstances OmniSTAR Issue April 2001 The Global Positioning System 11 2100LR12 Receiver Technical Manual 3 3 1 LED INDICATORS The 2100LR12 receiver has 4 LED s that serve as status indicators These LED s should all be illuminated solid non blinking when the receiver is powered ON and has a valid GPS and differential solution Otherwise the LED s can be in various states blinking on solid or off The LED operations are described in the following tables 2nd Yellow ist Yellow Green Red Power 0006 Figure 7 LED Location and Colours Red LED This LED should be on solid once power Right hand side is applied to the receiver y This is the only LED that is not under O O O Computer control Table 1 Red LED Function OmniSTAR Issue April 2001 The Global Positioning System 12 2100LR12 Receiver Technical Manual 1 Yellow LED This LED serves two purposes e At power on it will blink 3 to 4 Vv times once per second and then O O go off If it fails to blink the L Band differential processor is likely to have failed If it does not stop blinking the GPS processor is the likely culprit After a minute or so this LED should g
3. 4 Satellite elevations The signal from a satellite which is low on the horizon will travel a greater distance through the atmosphere This results in a lower signal strength and a delayed reception thereby causing erroneous and noisy data By default the 2100LR12 is configured to ignore any satellites which have an elevation angle lower than 5 2 5 Differential corrections For accurate positioning it is essential that the differential corrections are received In order to ensure reception of the OmniSTAR satellite signal it must be prevented that the line of sight towards the satellite is blocked by objects such as trees and buildings Multipath reflections can cause destructive interference thereby significally decreasing the signal strength It is therefore recommended to mount the 2100LR12 directly onto a surface in a reflection free environment Although the 2100LR12 has been designed to provide optimal system performance under most circumstances it is possible due to the nature of radio communications that system performance degrades due to local interference sources OmniSTAR Issue April 2001 The Global Positioning System 5 2100LR12 Receiver Technical Manual 3 Installation This chapter contains instructions and recommendations for the installation of the 2100LR12 3 1 System parts list A shipment usually consists of 2100LR12 receiver part nr REC 2100LR12 Combined data power cable part nr CBL 2100 02
4. 6 2100LR12 L Band Receiver Commands contd OmniSTAR Issue April 2001 The Global Positioning System 2100LR12 Receiver Technical Manual Command Description and Allowed Reply Values JASC RTCM r OTHER Turn On Off RTCM msg r Turn on RTCM r 0 0 2 or 1 0 turns JASC RTCM 1 RTCM message will begin message off outputting Use the keyword OTHER to configure to the other port JASC Dx r OTHER Turn on off Diagnostics Turn on diag I gt aa JASC DI 1 Diagnostic message 1 will r Oor1 Hz begin outputting every second see Format for reply to JASC D1 1 command x 1 more may be added Use the keyword OTHER to configure to the other port Table 6 2100LR12 L Band Receiver Commands contd OmniSTAR Issue April 2001 The Global Positioning System 24 2100LR12 Receiver Technical Manual Command Description and Allowed Reply Values JASC MSG r OTHER Configure to turn On Off Turn text messages on general text messages these begin with RMSG JASC MSG 1 Text Messages will begin outputting for any direct r 0 for Off text messages being Peti On broadcast over the network Use the keyword OTHER to configure to the other port Table 6 2100LR12 L Band Receiver Commands contd OmniSTAR Issue April 2001 The Global Positioning System 25 2100LR12 Receiver Technical Manual Command Description and Allowed Reply Values SJAIR m Turn on
5. ALL Reset configuration to default Clear only the user gt Saving Configuration and makes this permanent configuration Please Wait Equivalent to SLIMIT 10 JRESET gt Save Complete SJMASK 5 JALT NEVER O SJOFF JAIR O SJFREQ O and JOFF OTHER followed by a JSAVE If ALL is included also resets ALMANAC and clears spot beams to defaults Display receiver unit number Show Receiver gt JI 810 123 1 3 2502 1 fleet hardware version information 998 01 06 1980 06 30 1 production date code SJI 999 2 4 20 subscription begin date subscription expiration date ARM and DSP software version Table 6 2100LR12 L Band Receiver Commands contd OmniSTAR Issue April 2001 The Global Positioning System 2100LR12 Receiver Technical Manual Command Description and Allowed Reply Values JT Display receiver type Show receiver type gt JT SLXg e g 2100LR12 o Display subscription expiration Show current expiration gt JK 12 31 1999 date JPOS Lat Lon Set your current location to be a 33 11 111 25 used at start up until a new location is found Good for first time start ups in new spot beam JLBEAM Display current spot beams Show spot beam gt JLBEAM information Information see Format SJLBEAM for reply to JLBEAM command Table 6 2100LR12 L Band Receiver Commands contd OmniSTAR Issue April 2001 The Global Positioning System 32 2100LR12 Receiver Technical Manual Command De
6. Manual OmniSTAR Issue April 2001 The Global Positioning System vi 2100LR12 Receiver Technical Manual 1 Introduction The Global Positioning System GPS is a reliable continuous all weather navigation system which is operated by the United States Government At the time of writing the space segment of GPS includes a constellation of 28 satellites which orbit the earth at an altitude of approximately 22 000 km These satellites Space Vehicles or SV s transmit radio signals containing precise satellite time and position information By receiving four or more of these signals a 3 dimensional position can be computed Although GPS provides an acceptable level of performance for some users many applications demand a more reliable and precise position than GPS alone can provide In such cases Differential GPS DGPS must be used The purpose of DGPS is to minimize the effects of atmospheric and satellite errors on the position determination In order to achieve this a reference GPS receiver must be installed at a point of known coordinates This receiver uses the radio signals from each of the GPS satellites which are in view to measure so called pseudo ranges to these satellites Because the exact locations of the satellites and the reference receiver are known it is then possible to determine the difference between the actual and the expected pseudo ranges pseudo range correction or PRC In order to provide compatibility fo
7. This manual part nr MAN 2100 00 Command cable optional part nr CBL 2100 00 Parasol Antenna part nr ANT SATL 00 Antenna Cable 1 2 m Blue part nr CBL 2100 03 Toolkit software part nr SOF 2100 00 3 2 Installing the 2100LR12 In order to provide for a smooth and successful installation please observe the following instructions and recommendations 3 2 1 Installation Considerations Determine preferred location of each unit prior to beginning installation Consider cable length connector attacnment space cable bend radius stowing excess cable moisture chemical corrosion vibration and heat exposure Before drilling holes consider using existing hardware and hardware locations Avoid drilling holes that may damage other equipment example structural frame members electrical cables or fluid lines High vibration and high temperature locations should be avoided whenever possible In applications where vibration exceeds 6 Gs acceleration shock mounts are required Refer to Customer support for mounting recommendations Vehicle primary power contains voltages that may be harmful to personnel and equipment Detach battery cable connector from battery ve negative terminal before attempting connection to any power terminals OmniSTAR Issue April 2001 The Global Positioning System 6 2100LR12 Receiver Technical Manual 3 2 2 Electrical Grounding Requirements The 2100LR12 requires a perfect ground to ve
8. air mode so that Turn on air mode gt Air Mode ON receiver responds better to higher dynamics and signal PAIR fades m O turn off air mode m tum on air mode Note this comes on automatically once the speed exceeds 30m s unless it has been deliberately turned off Table 6 2100LR12 L Band Receiver Commands contd OmniSTAR Issue April 2001 The Global Positioning System 26 2100LR12 Receiver Technical Manual Command Description and Allowed Reply Values JCMODE m OTHER Configure port to accept Configure other port to RTCM accept RTCM m O port accepts normal JCMODE 1 0THER commands m port accepts RTCM and will ignore other commands JOFF OTHER Turn off all messages except Shut off all messages the JASC MSG those that are output to other beginning with RMSG port Use the keyword OTHER to JOFF OTHER configure to the other port JSAVE Save the current configuration Save setting changes gt Saving Configuration make permanent SJSAVE Please Wait gt Save Complete Table 6 2100LR12 L Band Receiver Commands contd OmniSTAR Issue April 2001 The Global Positioning System 27 2100LR12 Receiver Technical Manual Command Description and Allowed Reply Values SJSHOW Show the current Show status of port gt JSHOW data configuration and receiver see Format for reply to configurations JSHOW command SJSHOW JBAUD r Configure the baud
9. locations four places for the mounting bolts then remove the receiver 5 Drill 4 holes at the marked locations OmniSTAR Issue April 2001 The Global Positioning System 10 2100LR12 Receiver Technical Manual 3 2 3 Connecting to external equipment The 2100LR12 uses the RS232 protocol to communicate with external equipment The 2100LR12 is normally shipped for communicating with the following settings 9600 bps 8 bits No parity 1 stop bit e flowcontrol none The 2100LR12 is normally configured to output the following NMEA sentences GGA GSA e VTG ZDA Other NMEA sentences are available see Appendix D The standard data cable allows the receiver to output NMEA data A so called command cable part nr CBL 2100 00 is available as an option for experienced users who need to change settings Please contact OmniSTAR for more information 3 3 Start up procedure Consider the following guidelines before starting to work with the system e Normally the receiver software is already set to the user s specific requirements e Make sure that the 2100LR12 has a clear line of sight to the communication satellite e Connect the 9 pin sub D connector to a PC or other logging device which has been set to communicate using 9600 8 N 1 e Connect the power cable to an appropriate power supply 9 5 to 40 VDC which has been turned off e Tum on the power supply When the unit is used for the first time
10. mm n ddddmm mmm w z z y y ddmmyy d d v Table 20 Description of the RMC message Field Number Description Latitude in degrees d and minutes m N North or S South Longitude in degrees d and minutes m E East or W West Ground speed in knots ea es E 4 6 VTG Track Made Good and Ground Speed The VTG message conveys the actual track made good COG and the speed relative to the ground SOG VTG ttt tt T ttt tt M ggg gg N ggg gg K OmniSTAR Issue April 2001 The Global Positioning System 49 2100LR12 Receiver Technical Manual Table 21 Description of the VTG message Field Number Description Track Made Good in Degrees True Track Made Good in Degrees Magnetic Speed Over the Ground in Knots Speed Over the Ground in Kilometer s per Hour E 4 7 ZDA Time and Date The ZDA message contains UTC the day the month and the year of the local time zone ZDA hhmmss ss dd mm yyyy shh mm Table 22 Description of the ZDA message Field Number Description Year S O Year Local Zone Description Hours 13 Hours Local Zone Description Minutes NOTES Local zone description is the number of whole hours added to local time to obtain UTC The zone description is always negative for eastern longitudes A GPS receiver cannot independently identify the local time zone offsets E 4 8 GST GPS pseudorange noise statistics This message is used to support receiver autonomous integrety moni
11. 00000 0 radians and a radius distance 000000 0 000000 in meters The receiver will gt JOMR 4 0 000000 0 work in the radius of a 000000 0 000000 specified area if an inclusion ae ae gt JOMR 5 0 000000 0 zone is given positive radius 000000 0 000000 value and will not work within dl the radius of the specified see Format for reply to area if an exclusion zone is JOMR command given negative radius value Table 6 2100LR12 L Band Receiver Commands contd OmniSTAR Issue April 2001 The Global Positioning System 2100LR12 Receiver Technical Manual Appendix B Specifications Table 7 2100LR12 specifications OmniSTAR Engine Frequency Range 1525 1559 MHz GPS Engine Serial Interface Serial Protocol RS232 Connector receiver end ree Head Connector user end 9 pin sub D 4800 9600 19200 Data output NMEA RTCM optional 1 Hz 5Hz Power Specifications Power supply 9 5 40 VDC OmniSTAR Issue April 2001 The Global Positioning System 36 2100LR12 Receiver Technical Manual Environmental Specifications Operating Temperature 34 C to 72 C Storage Temperature 50 C to 85 C Humidity 100 condensing 10mm Displacement 10 17 6 Gs to 2000 Hz Operating Methode 213 Procedure J Dust Method 510 3 Procedure MIL STD 202F Method 101 Salt Fo Condition II 5 Solution for 48 hours Physical Characteristics Weight 750 gram Dimensions n 140 x 140 x 40
12. April 2001 The Global Positioning System 46 2100LR12 Receiver Technical Manual E 4 NMEA 0183 sentences In this section each message is described in more detail E 4 1 GGA GPS Fix Data The GGA message includes time position and fix related data for the GPS receiver GGA hhmmss ss ddmm mmmmm s dddmm mmmmm s q n uu pp p taaaaa aa M xxxx xx M sss aaaa Table 16 Description of the GGA message Field Number Description 1 Latitude in degrees d and minutes m N North or S South Longitude in degrees d and minutes m E East or W West Number of Satellites in Use Horizontal Dilution of Precision HDOP 9 10 Antenna Altitude in Meters M Meters 11 12 Geodial Separation in Meters M Meters Age of Differential GPS Data Differential Reference Station ID 0000 1023 NOTES Geodial Separation is the difference between the WGS 84 earth ellipsoid and mean sea level MSL or when expressed in a formula FE CCO 6 GPS Quality Indicator O No GPS 1 GPS 2 DGPS 910 3 O Heightus Heightenipsoia Heightceoia Time in seconds since the last RTCM SC 104 message type 1 or type 3 update E 4 2 GLL Geographic Position Latitude Longitude The GLL message contains the latitude and longitude of the present position the time of the position fix and the status GLL ddmm mmmmm s dddmm mmmmm s hhmmss ss A OmniSTAR Issue April 2001 The Global Positioning System 47 2100LR12 Rece
13. OmniSTAR The Global Positioning System 2100LR12 OPERATOR S MANUAL Release April 2001 2100LR12 Receiver Technical Manual About this manual This manual has been released by OmniSTAR BV Dillenburgsingel 69 2263 HW Leidschendam The Netherlands Phone 31 70 3170900 Fax 31 70 3170919 Email dgps omnistar nl www omnistar n Manual release date April 2001 Manual part number MAN 2100LR12 00 The information in this manual applies to 2100LR12 receivers with Software version 1 41 release date August 10 2000 DSP L Band version 3 3 release date August 27 2000 ARM GPS version 3 7 Specifications are subject to change without notice Copyright Notice O 2001 OmniSTAR BV All rights reserved No part of this manual may be copied photocopied reproduced translated or reduced to any electronic medium or machine readable form without prior written consent from OmniSTAR BV OmniSTAR Issue April 2001 The Global Positioning System ij 2100LR12 Receiver Technical Manual OmniSTAR Limited Warranty This warranty applies only to normal usage of the product It does not apply to units or electronic circuit boards which are defective due to improper installation or handling Physical damage due to lightning or other electrical discharge and units subjected to fresh or salt water contamination is not covered OmniSTAR reserves the right not to warrant the product if upon request sufficient proof of recommended inst
14. allation compliance as laid out in this manual is not provided No other warranties are expressed or implied No other warranties exist One Year Limited Hardware Warranty OmniSTAR reserves the right to repair and or replace at its option any part or parts found to be defective provided such defects in their opinion are due to faulty material or workmanship and are not caused by unauthorised or improper repair or abuse or normal wear Purchaser shall be responsible for shipping and insurance of the returned product for repair under this warranty OmniSTAR will pay shipping and insurance for the product s return to purchaser provided that the product returned proves to be defective under this limited warranty OmniSTAR BV and its operating companies world wide Fugro NV warrants this product to be free from defects in workmanship and material for a period of one year from the date of original sale by OmniSTAR or its authorised dealers to the Original purchaser or end user OmniSTAR assumes no responsibility for any consequential or incidental losses or damages of any nature with respect to the use of this product OmniSTAR Issue April 2001 The Global Positioning System iii 2100LR12 Receiver Technical Manual Table of contents OmniSTAR Issue April 2001 The Global Positioning System iv 2100LR12 Receiver Technical Manual OmniSTAR Issue April 2001 The Global Positioning System V 2100LR12 Receiver Technical
15. ch individual reference station will be used in the position calculation depends on the user s OmniSTAR subscription 1 2 Subscription type The 2100LR12 supports the following OmniSTAR service e Virtual Base Station VBS where the data from multiple reference stations is used in the processor software to produce enhanced corrections for the user s location This service provides optimal position accuracy with a minimum dependence on the user s location The VBS service can be obtained on a continental country or regional basis Figure 1 OmniSTAR 2100LR12 OmniSTAR Issue April 2001 The Global Positioning System 2 2100LR12 Receiver Technical Manual Figure 2 World coverage map for the OmniSTAR service 90 Que cree elevation 75 ae Reis rs 5 degrg elevation ra 10 de ayee elevahos e T 60 a bb E mM 4 30 15 e 30 15 0 15 30 45 60 75 90 Longitude degrees Figure 3 EMS spotbeam for coverage in Europe OmniSTAR Issue April 2001 The Global Positioning System 3 2100LR12 Receiver Technical Manual 2 Factors affecting system performance The 2100LR12 has proven to be a high quality positioning device The accuracy that the user can obtain depends on several factors including Number of visible satellites Multipath Dilution of Precision DOP Satellite elevations Differential correction 2 1 Number of visible satellites A minimum of four satellites are required to calculate a 3 d
16. egion for which No Go to a or receiver failure subscription has valid region contact been applied OmniSTAR Yes Receiver failure contact OmniSTAR Figure 11 Troubleshooting OmniSTAR Issue April 2001 The Global Positioning System 19 2100LR12 Receiver Technical Manual 5 1 Contacting OmniSTAR If you encounter a technical problem during installation or system operation please contact OmniSTAR at 31 70 3170900 OmniSTAR Issue April 2001 The Global Positioning System 20 2100LR12 Receiver Technical Manual Appendix A Receiver Commands Note The word s contained in brackets in the Command column in the following pages indicate s an optional addition to the particular command line They may be omitted or added without the brackets however the user sees fit Note Configuration changes are not saved between power cycles unless the JSAVE command is issued The JFREQ and the 4STRING commands are exceptions They are automatically saved after issuing JBIN msg r OTHER Turn On Off binary message Turn on 99 at 1Hz gt Binary message R 0 0 2 1 or 5Hz JBIN 99 1 so Mi Dedin outputting every 0 turns message off second Msg 1 2 97 98 or 99 more See Appendix may be added Msg 97 98 and 99 Binary Message only support 1Hz Type 99 for further Use the keyword OTHER to details configure to the other port Table 6 2100LR12 L Band Receiver Commands OmniSTAR Issue Apr
17. hicle structure at the negative line in the receiver power input The L Band receiver should read zero Ohms to where the battery negative terminal is connected to vehicle ground 3 2 3 Counter Electromagnetic Force CEMF A potential problem inherent in any installation of electronic systems in a vehicle is Counter Electromagnetic Force CEMF CEMF is caused when relays or solenoids connected to the common vehicle DC power bus are de energised The voltage produced may exceed 400 volts CEMF is produced by equipment such as the following Differential correction Electric Fan Brakes Air Conditioners Starter relays Electric Pump Relays CEMF is more than sufficient to damage or cause erratic operation of any electronic system also connected to DC power CEMF can be eliminated by installing diodes at the relays and solenoids that cause the CEMF and more importantly at the power supply cable connection of the 2100LR12 system A 47V 5W Zener diode 1N5368 or equivalent should be connected Battery ve positive supply _f D Ground Zener Diode Figure 5 Zener Diode Installation 3 2 4 Cable Installation Considerations Cables must be correctly installed for optimum system operation Therefore the following should be noted Do not route an L Band receiver remote antenna cable along with the cabling of any other radio system This can cause interference between both systems OmniSTAR Issue April 2001 The Globa
18. il 2001 The Global Positioning System 21 Command Description and Allowed Reply Values JASC GP GGA GLL VTG GSV RMC GSA ZDA GST r OTHER 2100LR12 Receiver Technical Manual Turn On Off NMEA msg x at rate r R 0 0 2 1 or 5Hz 0 turns message off Options supported are SJASC GPGGA r SJASC GPGLL r SJASC GPVTG r SJASC GPGSV r JASC GPRMC r SJASC GPGSA r JASC GPZDA r SJASC GPGST r Options with only available at 0 2Hz or 1Hz Optional with only available at 1Hz Use the keyword OTHER to configure to the other port Turn on GGA JASC GPGGA 1 Table 6 2100LR12 L Band Receiver Commands contd Issue April 2001 Om ISTAR The Global Positioning System NMEA string GGA will begin outputting every second 22 2100LR12 Receiver Technical Manual Command Description and Allowed Reply Values J4STRINGL rlOTHER Configure port to output Configure other port NMEA strings GPGGA to output 4 Strings of q GPVTG GPGSA and NMEA at 4800 baud ao J4STRING OTHER NMEA strings GGA VTG GSA and ZDA will begin outputting at 4800 BAUD The output rate of each string every second from the other is 1Hz and all other strings on port the port are turned off Makes the change permanent i e saves configuration r 4800 9600 if r is omitted the rate defaults to 4800 Use the keyword OTHER to configure to the other port Table
19. imensional position In general it can be said that every increase in the number of visible satellites will result in an increase in the system s accuracy As the GPS satellites orbit around the earth the number of visible satellites will change in time The GPS constellation has been designed so as to provide a minimum of 4 visible satellites at any location at all times The number of visible satellites can decrease due to blockage by objects such as trees and buildings 2 2 Multipath It is possible for satellite signals to reflect off large nearby objects such as buildings cars or even the ground thereby resulting in an erroneous distance measurement This phenomenon is known as multipath Multipath can cause significant errors in the position determination and it is therefore important to place the receiver in an environment which is free of large reflective surfaces It is also recommended to mount the receiver directly onto a surface while maintaining a clear view of the sky in all directions Figure 4 Multipath OmniSTAR Issue April 2001 The Global Positioning System 4 2100LR12 Receiver Technical Manual 2 3 Position Dilution of Precision DOP The Position Dilution of Precision PDOP is a measure of the satellite geometry The lower the PDOP value the more accurate the GPS position will be By default the 2100LR12 is configured to output position data as long as the Position Dilution of Precision does not exceed 10 2
20. iver Technical Manual Table 17 Description of the GLL message Field Number Description Latitude in degrees d and minutes m N North or S South Longitude in degrees d and minutes m E East or W West UTC of Position 6 Status A Valid V Invalid E 4 3 GSA GPS DOP and Active Satellites The GSA message indicates the GPS receivers operating mode and lists the satellites used for navigation and the DOP values of the position solution GSA a M XX XX XX XX XX XX XX XX XX XX XX XX Pp p hh h vv v Table 18 Description of the GSA message Field Number Description Current Mode 1 Fix not available 2 2D fix 3 3D fix 15 Position Dilution of Precision PDOP E Horizontal Dilution of Precision HDOP Vertical Dilution of Precision VDOP NOTES When less than 12 satellites are used the unused fields are null E 4 4 GSV Satellite Information The GSV message contains GPS satellite information Null fields occur where no data is available due to the number of tracked satellites GSV t m n ii ee aaa ss ii ee aaa ss OmniSTAR Issue April 2001 The Global Positioning System 48 2100LR12 Receiver Technical Manual Table 19 Description of the GSV message Field Number Description Total number of messages Message number 1 3 0 E 4 5 RMC Recommended Minimum Configuration The RMC message contains the recommended minimum GPS data RMC hhmmss ss a ddmm
21. k Table 9 Reference stations on EMS Nr Station ID Data 1 Tromso Norway 6 0 YES 2 Orlandet Norway 5 Aberdeen Scotland 6 Shannon Ireland 8 Toulouse France JA YES 9 Vienna Austria ee AEE ria Egypt 6 Bodo Norway 122 YES 17 Visby Sweden 229 VES Ny Alesund Spitsbergen 101 NO Vardo Norway MANO Trondheim Norway 126 NO OmniSTAR Issue April 2001 The Global Positioning System 40 2100LR12 Receiver Technical Manual Table 10 Reference stations on EA SAT Nr Station ID Data 6 Nairobi Kena Jos ves E Douala Cameron os VES o Abidjan ory Coas oso YES Motagos Nigeria oeo YES Rio de Janeiro Brazi 226 NO Rio de Janeiro Brazi 225 NO lbmumbaramiindia fiot NO OmniSTAR Issue April 2001 The Global Positioning System 41 2100LR12 Receiver Technical Manual Table 11 Reference stations on AP Sat Nr Station ID Data 9 Okinawa Japan Hong Kong 16 Bali Indonesia OSG YES 21 Abu Dhabi UAE OmniSTAR Issue April 2001 The Global Positioning System 42 2100LR12 Receiver Technical Manual Table 12 Reference stations on AM Sat Nr Station ID Data 4 Carmen Mexico 5 Punta Arenas Chile 6 Guayaquil Ecuador 202 YES 8 St Johns Newfoundland 9 Dartmouth Nova Scotia 440 YES Table 13 Reference stations on Optus Nr Station ID Data 3 Darwin Australia 6 Melbourne Australia Pt Augusta Aust
22. l Positioning System 7 2100LR12 Receiver Technical Manual o If at all possible do not run L Band receiver antenna cables parallel to other radio system cabling closer than 30 centimetres o If cables must cross ensure that they cross at an angle of 90 This minimises the possibility of interference As far as is practicable ensure that cables and I O connectors are unique and fit only in their allocated location o Avoid routing cables along side power generator cabling and other high electrical noise sources This can cause interference o Do not kink or force cables into sharp bends that may damage the cables and cause system failure o After installation ensure that excess cable in looped and clamped or tied safely away from any control cables fuel lines hydraulic lines or moving parts o When stowing over length cables form loops not less than 150mm minimum cable bend radius o Cable routing must avoid high temperature exposure e g exhaust manifold 3 2 5 Antenna Location Antenna position is critical to system performance The following conditions must be met for optimum system operation 2100LR12 antenna must be mounted at least 1 to 5 metres away from transmitting antennae of any frequency Closer positioning may cause overloading of receiver RF circuits The 2100LR12 antenna should be mounted at the highest practical point that will give a good view of the horizon and be as near to level as pos
23. llow and one green LED s blink in sequence 3 times then the subscription on the receiver has expired OmniSTAR Issue April 2001 The Global Positioning System 2100LR12 Receiver Technical Manual 3 4 Subscription re activation If the OmniSTAR subscription on your 2100LR12 has not been activated yet will expire soon or has been expired already a new subscription can be sent over the satellite link The procedure for obtaining a new subscription is Fillin the OmniSTAR subscription agreement form see Appendix F e Fax the form to OmniSTAR BV at 31 70 3170919 At the agreed time of activation make sure your receiver is outside and ina place where it will be able to receive signals from the communication satellite e Have the receiver switched on at the time of activation At the time of activation a series of commands containing the new expiry date and other subscription information will be sent over the satellite link to your 2100LR12 receiver If your receiver does not start outputting differential position data within 45 minutes after the activation time please contact OmniSTAR by phone at 31 70 3170900 OmniSTAR Issue April 2001 The Global Positioning System 15 2100LR12 Receiver Technical Manual 4 Connections 4 1 Electrical Interface Description The RF connector is a standard TNC 50 Ohm female connector There are 5V DC present when the unit is powered up to bias the Low Noise Amplifier LNA in the remote a
24. ntenna Care should be taken not to connect or disconnect while powered up The I O connector is a standard metal eight pin circular Bendix style connector PTO2E 12 8P The pin out is defined in Pino Name Descrpion A Vin 9 5 to 40V DC 5W power input 12V DC 0 417A 1 PPS One pulse per second tus width rising edge aligned TTL levels C Aux Tx Auxiliary communication port transmit line RS232 levels NMEA Aux Rx Auxiliary communication port receive line RS232 levels NMEA Diag Tx Primary communications port transmit line RS232 levels Command Diag Rx Primary communications port receive input line RS232 levels Command Mark in Manual Mark input line TTL levels falling edge triggered H Ground Digital power and analogue ground Table 5 Pin out for I O Connector NMEA Port Pin Signal DATA OUT N A N A GND N A N A N A N A OMAN DOA EONa DB9 Female Figure 8 9 pin sub D connector on data cable OmniSTAR Issue April 2001 The Global Positioning System 16 2100LR12 Receiver Technical Manual 4 2 Cables The 2100LR12 is normally shipped with a combined data power cable and an antenna cable For experienced users who need to change settings a command cable is available mu mj in i LL 3 al S To 2100LKA12 a Li a f E D i D q m I moa q co a Fm ao fa i wo SE LU Do co o Da mite i o
25. o on solid yellow to indicate that GPS has lock This is true even if differential corrections are not available Table 2 1st Yellow LED Function 2 Yellow LED This LED can be in several states Off L Band differential signal has not y been received 0006 Flickering on and off the receiver is close to acquiring the L Band Blinking at a steady rate L Band differential signal has been acquired but the Bit Error Rate is high Generally this will not affect performance but it is a warning of weak signal strength On Steady L Band differential signal has been acquired and signal strength is good Table 3 2nd Yellow LED Function OmniSTAR Issue April 2001 The Global Positioning System 13 2100LR12 Receiver Technical Manual Green LED This LED will remain off until a differentially corrected GPS solution is available It will blink at a steady rate if the solution has not y converged to the accuracy specified by the O O JLIMIT command and will become solid green after the solution has converged The JLIMIT sets the threshold for the RMS residual error and this error gives a rough indication of expected user accuracy Note however that it is not a direct measure of accuracy factors such as constellation geometry must also be taken into account The default value for JLIMIT is 10 meters Table 4 Green LED Function Other Conditions If at start up the two ye
26. oning System 45 2100LR12 Receiver Technical Manual E 3 NMEA 0183 message format NMEA 0183 allows a single source talker to transmit serial data over a single twisted wire pair to one or more receivers listeners The NMEA 0183 protocol covers a broad array of navigational data This is separated into discrete messages which convey a specific set of information The NMEA 0183 message structure is outlined below IDMSG D1 D2 D3 D4 Dn CS CR LF The signifies the start of message ID The Talker identification is a two letter mnemonic which describes the source of the navigation information The GP identification signifies a GPS source MSG The message identification is a three letter mnemonic which describes the message content and the number and order of the data fields t 3 Commas serve as deliminators for the data fields Dn Each message contains multiple data fields Dn which are delimited by commas didi The asterisk serves as a checksum delimiter CS The checksum field contains two ASCII characters which indicate the hexadecimal value of the checksum CR LF The carriage return CR and line feed LF combination terminate the message NMEA messages vary in length but each message is limited to 79 characters or less This length limitation excludes the and the CR LF The data field block including delimiters is limited to 74 characters or less OmniSTAR Issue
27. r exchanging this correction data a standard has been developped by the Radio Technical Commission for Maritime Services Special Committee 104 This standard is commonly known as RTCM SC 104 When RTCM version 2 0 correction data from the reference receiver is applied to a nearby GPS receiver the position accuracy will be substantially better than if stand alone GPS were to be used 1 1 The OmniSTAR system The 2100LR12 is one of several DGPS receivers which have been designed to work with the world wide OmniSTAR service The OmniSTAR DGPS system delivers corrections from an array of reference stations which are located all around the world see figures 2 and 3 on page 3 The RTCM correction data from these reference stations is provided to OmniSTAR s two global Network Control Centres NCC where the corrections are decoded checked and repackaged in a highly efficient format for broadcast OmniSTAR Issue April 2001 The Global Positioning System 1 2100LR12 Receiver Technical Manual The OmniSTAR data is broadcast over a series of L band communication satellites The signal transmitted over each of these satellites contains the corrections from the reference stations in and close to the region in which this satellite can be received When a receiver with a valid subscription receives data through one of OmniSTAR s satellite channels it will output a differentially corrected position The way in which the correction data from ea
28. ralia 8 Kalgoorlie Australia 3SJYES 9 Cobar Australia M6JYES 16 Bali Indonesia 096 YES 18 Bathurst Australia OmniSTAR Issue April 2001 The Global Positioning System 43 2100LR12 Receiver Technical Manual Table 14 Reference stations on AMSC Nr Station ID Data 5 Pensacola FI USA 6 Cocoa Beach FL USA 120 YES 8 Long Island NY USA 9 Duluth Mn USA OmniSTAR Issue April 2001 The Global Positioning System 44 2100LR12 Receiver Technical Manual Appendix E NMEA 0183 E 1 NMEA introduction NMEA 0183 is an interface protocol created by the National Marine Electronics Association The latest release of NMEA 0183 is Version 2 2 This protocol was originally established to allow marine navigation equipment to share information NMEA 0183 is a simple yet comprehensive ASCII protocol which defines both the communication interface and the data format E 2 NMEA 0183 message options The OmniSTAR 2100LR12 is normally configured to output the GGA GSA and VTG NMEA 0183 sentences GGA GSA RMC for John Deere customers Sentences can be added or removed at the customer s request The output rate is normally configured at a 1 second interval Table 15 NMEA 0183 message options Message Sentence Description GPS Fix Data Geographic Position Latitude Longitude GPS DOP and Active Satellites GPS pseudorange noise statistics OmniSTAR Issue April 2001 The Global Positi
29. rate Configure other port at r 4800 9600 and 19200 4800 baud Use the keyword OTHER to JBAUD 4800 OTHER configure to the other port Table 6 2100LR12 L Band Receiver Commands contd OmniSTAR Issue April 2001 The Global Positioning System 28 2100LR12 Receiver Technical Manual Command Description and Allowed Reply Values JALT c v Configure altitude aiding Use altitude aiding at c NEVER PDOP 4 0 am Altitude aiding if ALWAYS SOMETIMES JALT SOMETIMES 4 0 PDOP gt 4 0 If c ALWAYS v altitude in meters If c SOMETIMES v PDOP threshold Default NEVER If c NEVER v is ignored Table 6 2100LR12 L Band Receiver Commands contd OmniSTAR Issue April 2001 The Global Positioning System 29 2100LR12 Receiver Technical Manual Command Description and Allowed Reply Values SJLIMIT v Set residual threshold for Set green LED Green LED v ranges from threshold to 2 meters 1 0 to 50 0 meters JLIMIT 2 0 You must have differential and the rms pseudo range residual less than v before the green LED becomes solid non blinking Default 10 0 SJMASK e Configure elevation mask e Use 5 degree mask 0 1 2 60 degrees Default 0 0 JMASK 5 Table 6 2100LR12 L Band Receiver Commands contd OmniSTAR Issue April 2001 The Global Positioning System 2100LR12 Receiver Technical Manual Command Description and Allowed Reply Values JRESET
30. s ope cA eI to O Oar ore E a DF To a 2 53 od w 00 4 LA Eca 5 mi mu o C J zZ To antenna PTO2E 12 8s Figure 9 User and Antenna Cable OmniSTAR Issue April 2001 The Global Positioning System 17 2100LR12 Receiver Technical Manual EDIF Power NMEA COMMAND BDSF L ermn 2100LR1 Z Command Cable hm Cable colour Blue Total length PTO 2E 12 8s Figure 10 2100LR12 Command cable OmniSTAR Issue April 2001 The Global Positioning System 18 5 Troubleshooting 2100LR12 Receiver Technical Manual Use to following diagram to identify and solve problems in the event that the 2100LR12 does not output a differentially corrected position Is unit Place unit NMEA No outside with No outside output clear view of with clear sky view of sky Yes Yes Clear line of sight Place unit towards L band No outside Is power communication with clear supply No Turn on replace satellite line of sight outputting power supply to satellite proper voltage Yes Faulty cable l Yes contact Has the unit been Keep unit OmniSTAR outside for at least No outside for 45 minutes at least 45 Turn off power No minutes supply disconnect blown Yes Turn on power supply Contact Power on pins Valid subscription on No OmniSTAR to E amp F Yes receiver obtain a see fiqure 6 edpsenplen Replace 2A fuse Yes Yes Receiver on land in Faulty data cable r
31. scription and Allowed Reply Values JFREQ Frequency in Force differential frequency SJFREQ 1551489 1200 KHz Symbol Rate and symbol rate to these values and stop using spot beam tables A frequency value of O will re enable use of spot beam tables Set the frequency offset of the Zero the TCXO value gt TCXO at L1 stored in the JDCO 0 0 ARM Here v is a double in a Eee Hz Itis only used if the ARM does not have a nav solution gt GPS Already has lock Table 6 2100LR12 L Band Receiver Commands contd OmniSTAR Issue April 2001 The Global Positioning System 33 2100LR12 Receiver Technical Manual Command Description and Allowed Reply Values Display OmniSTAR Show raw subscription gt JOMS DRY ALL VBS 0 01 06 Subscription Information information 1980 06 30 1999 0 0 1E00 1 19 gt JOMS Opt Source Type Ac JOMS see Format for reply to JOMS crReductionStartDate EndDat command e HourGlass ExtentionTime LinkVector Software Version Table 6 2100LR12 L Band Receiver Commands contd OmniSTAR Issue April 2001 The Global Positioning System 34 2100LR12 Receiver Technical Manual Command Description and Allowed Reply Values Display Subscription Region Show subscription gt JOMR 1 0 994787 Information region information 1 605694 4500000 000 gt JOMR 2 0 000000 0 This command will respond JOMR 000000 0 000000 with a set of Lat and Lon in gt JOMR 3 0 0
32. sible The 2100LR12 Receiver must be located along the vehicle centre line to ensure correct data accuracy OmniSTAR Issue April 2001 The Global Positioning System 8 2100LR12 Receiver Technical Manual e The receiver has a clear line of sight towards the L band communication satellite Since these satellites are located above the equator they are to the South of Europe at an elevation angle of 20 Oslo to 45 Athens 3 2 2 Power considerations Power can be supplied to the 2100LR12 by connecting 9 5 40 VDC on the fused power wire The other power wire should be connected to ground Only supply power after the cable has been connected to the 2100LR12 never attach or detach a powered cable to from the unit The power consumption of the 2100LR12 is 400 mA at 12 V In order to protect the equipment from power surges a 2 A in line fuse has been adopted in the positive power wire Do not run the equipment with the fuse bypassed as this will void warranty OmniSTAR Issue April 2001 The Global Positioning System 9 2100LR12 Receiver Technical Manual 3 2 3 Mounting 204 45 Figure 6 2100LR12 Mounting Details 1 Determine the proper mounting location s for the 2100LR12 receiver 2 Verify that cables are of sufficient length and routing meets all the conditions listed 3 Position the 2100LR12 receiver on the desired mounting location 4 Use the 2100LR12 receiver as a template and mark the drill
33. toring RAOM Pseudorange measurement noise statistics can be translated in the position domain in order to give statistical measures of the quality of the position solution GGA hhmmss x x xX X X X X X X X X X X X XxX nh OmniSTAR Issue April 2001 The Global Positioning System 50 2100LR12 Receiver Technical Manual Table 23 Description of the GST message Field Number Description RMS value of the standard deviation of the range inputs to the navigation process Range inputs include pseudoranges and DGPS corrections Standard deviation of semi major axis of error ellipse meters Orientation of semi major axis of error ellipse degrees from true north Standard deviation of latitude error meters Standard deviation of longitude error meters Standard deviation of semi minor axis of error ellipse meters Soreness 8 Standard deviation of altitude error meters OmniSTAR Issue April 2001 The Global Positioning System 51 2100LR12 Receiver Technical Manual Appendix F OmniSTAR subscription agreement form The next page contains the form which is necessary to apply for a new OmniSTAR subscription for your 2100LR12 receiver OmniSTAR Issue April 2001 The Global Positioning System 52
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