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1. SBAS gt 9 Config Wizard Back System Setup Top Menu gt SBAS YES OMNIVBS YES OMNIHP gt YES RTCM2 NO DFX gt NO CMR gt NO RTCM3 gt NO ROX gt NO Back gt Top Menu gt BER 138 236 BER 133 0 BER 135 500 LN 138 154 LN 133 97 LN 135 133 Elev138 50 Elev133 47 Elev135 44 Az 138 sal Az 133 155 Az 135 215 Back gt Top Menu gt O 0 O N TI O O O Signal Status gt Satellites gt Back gt Top Menu gt Mode gt Auto PRN1 138 PRN2 133 PRN3 135 Back gt Top Menu gt Figure C 3 SBAS menu vector gt GPS gt Differential gt p RIK gt Config Wizard gt Back gt System Setup gt Top Menu p Include The RTK corrector format you select appears next to InUse ROX in this figure The other possible formats are CMR DFX and RTCM3 SBAS gt YES OMNIVBS gt YES OMNIHP gt YES RTCM2 gt NO DFX gt NO CMR gt NO RTCM3 gt NO ROX gt NO Back gt Top Menu gt DiffPort gt PORT B DiffBaud gt 19200 Radio gt 9 Back gt Auto Scanning Back gt Top Menu gt Top Menu gt Figure C 4 RTK menu Vector VS131 GPS Compass User Guide 50 PN 875 0311 000 Rev A1 Chapter 3 Installing the VS131 Mounting the Antennas Mo
2. Vector VS131 GPS Compass User Guide 22 PN 875 0311 000 Rev A1 Vector VS131 GPS Compass User Guide 43 PN 875 0311 000 Rev A1 Chapter 3 Installing the VS131 Place the bracket alongside the receiver and insert the thumbscrews two thumbscrews per bracket so they screw into the nuts ALD LET TA Wvecron vsi31 Using the remaining holes in Remaining bracket holes the brackets two holes per bracket screw down the paa Pa brackets in the desired location Note Hemisphere GPS does not provide the screws E am Remaining bracket holes Connecting the Cables This section contains instructions for connecting the cables for the power and serial ports Adhere to the following warnings when connecting the cables Do not run cable in areas of excessive heat Do not expose cable to corrosive chemicals Do not crimp or excessively bend cable Do not place tension on cable Coil up excess cable near unit Secure along the cable route using plastic tie wraps as necessary Do not run cable near high Voltage or strong RF noise and transmitter sources INANI Ned Improperly installed cables near machinery can be dangerous The power source for the VS131 must be between 8 V and 36 V Attach the power cable to your power source Vector VS131 GPS Compass User Guide 23 PN 875 0311 000 Rev A1 Chapter 3 Installing the VS131 Selecting a Port for GPS Data Message Output The serial ports of the VS131 communicate a
3. Vector VS131 GPS Compass User Guide Part No 875 0311 000 Rev A1 Hemisphere www hemispheregps com Hemisphere c3 This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 This device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation Copyright Notice Hemisphere GPS Precision GPS Applications Copyright Hemisphere GPS 2012 All rights reserved No part of this manual may be reproduced transmitted transcribed stored in a retrieval system or translated into any language or computer language in any form or by any means electronic mechanical magnetic optical chemical manual or otherwise without the prior written permission of Hemisphere GPS Trademarks Hemisphere GPS the Hemisphere GPS logo A100 A20 A21 A220 A221TM A30 A31 A320 A321 A325 A42 A52 AC110 AerialACE AgJunction AirStar AirTrac AutoMate Bantam BaseLineHD BaseLineX BEELINE COAST Contour Lock Crescent Earthworks Eclipse e Dif eDrive eDriveTC eDriveVSi eDriveX FliteTrac G100 G4 GateMate GPSteer H102 H320 HO IntelliFlow IntelliGate IntelliStar IntelliTrac Just Let Go L Dif LiteStar II LV101 LX 1 LX 2
4. Vector VS131 GPS Compass User Guide 5 PN 875 0311 000 Rev A1 Appendix D Technical Specifications Table D 19 A31 environmental specifications Specification Description Storage temperature 40 C to 85 C 40 F to 185 F Operating temperature 30 C to 70 C 22 F to 158 F Enclosure rating IP69K Shock and vibration EP 455 Humidity 95 non condensing Vector VS131 GPS Compass User Guide 59 PN 875 0311 000 Rev A1 Appendix D Technical Specifications A31 Antenna Specifications Table D 14 through Table D 19 list the technical specifications of the A31 antenna Table D 14 A31 GNSS sensor specifications GNSS reception GPS SBAS L band and beacon LNA gain 30 dB LNA noise lt 2 0 dB Table D 15 A31 L Band sensor specifications L Band frequency 1 525 1 585 GHz L Band LNA gain GNSS frequency 1 575 GHz L1 Table D 16 A31 Beacon sensor specifications Beacon frequency 283 5 325 kHz Beacon LNA gain 30 dB Table D 17 A31 power specifications Input voltage 5 to 12 VDC Input current 50 to 60 mA Table D 18 A31 mechanical specifications Dimensions 10 4 H x 14 5 D cm 4 1 H x 5 7 D in Weight 734 g 25 9 oz Mounting thread 1 coarse thread 5 8 adapter available Connector TNC Vector V8131 GPS Compass User Guide 58 PN 875 0311 000 Rev A1 P Chapter 2 Understanding the VS131 GPS Overview VS131 Overview Vector VS131 GPS Compass User Guide 7 PN 87
5. Formula cogtau s 10 max rate of change of course sec Adjust the responsiveness to the rate of heading change If vessel is large and unable to turn quickly you may want to increase this value Default value 2 0 s with gyro enabled Range 0 0 to 60 s Formula hrtau s 10 max rate of the rate of turn s Adjust the responsiveness to true heading If vessel is large and unable to turn quickly you may want to increase this value For longer baselines b m HTAU should be between 0 5 and 1 0 since the gyro introduces noise Default value 2 0 s with gyro enabled Range 0 0 to 60 s Formula htau s 40 max rate of turn s with gyro ON htau s 10 max rate of turn s with gyro OFF Adjust the responsiveness to pitch If vessel is large and unable to pitch quickly may want to increase this value Default value 0 5 s Range 0 0 to 60 s Formula ptau s 10 max rate of pitch s Adjust the responsiveness to speed If vessel is small and dynamic leave this value at 0 0 s to be conservative If the vessel is large and resistant to motion you may want to increase this value Default value 0 0 s Range 0 0 to 60 s Formula spdtau s 10 max acceleration m s PN 875 0311 000 Rev A1 POWER fr Figure 4 2 VS131 LEDs Table 4 1 LED indicators Indicator Description Function HEADING Valid GNSS heading available Illuminates solid green when the receive achieves
6. e If you use a gyrocompass you can enter a heading bias in the VS131 to calibrate the physical heading to the true heading of the vessel e You may need to adjust the pitch roll output to calibrate the measurement if the Vector is not installed in a horizontal plane Perpendicular Orientation You can also install the antennas so they are oriented perpendicular to the centerline of the boat s axis In this orientation 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 You will need to configure the receiver to specify the GPS antennas are measuring the roll axis using JATT ROLL YES e You will need to enter a roll bias to properly output the pitch and roll values e You may need to adjust the pitch roll output to calibrate the measurement if the Vector is not installed in a horizontal plane Vector VS131 GPS Compass User Guide 16 PN 875 0311 000 Rev A1 Appendix C Menu Map GPS Menu Use the GPS menu to view and edit your GPS settings Settings include the data port outputs specific positioning parameters UTC time offset and satellite visibility and positioning information Lt 51 00 131035 Res rms 0 300m Ln 114 00 273158 o a 0 200m Hgt 1030 400 m o b 0 100m COG 236 65 Azimuth 163 10 Vel 10 5 km h
7. L Band Extern RTCM External RTCM 5 Change the type of GPS data message sent to the data ports Select either Data Port A or Data Port B from the menu list 6 Set the elevation cutoff angle Select Elev Mask and set the angle between 0 and 45 The default value is 5 4 Set the maximum DGPS age The maximum DGPS age is 2700 seconds 45 minutes by default 8 Configure baud rates If the default baud rate on the selected port does not match that of the external device you are connecting to you will need to configure the Baud Rate using the Port A or Port B entries 4800 9600 19200 38400 57600 and 115200 are the available baud rates 9 Enable disable aiding features The Aiding Features menu enables you to turn the gyroaid and tiltaid features on or off For more information on disabling the aiding features see Disabling Tilt Aiding on page 35 or Disabling Gyro Aiding on page 35 10 Adjust time constants While the default time constants settings will work for most users if you have a large slow turning vessel or a small quick moving vessel you may want to adjust the time constants to reduce heading start up and re acquisition times Vector V8131 GPS Compass User Guide 33 PN 875 0311 000 Rev A1
8. PROPRIETARY RIGHTS INDEMNITY Hemisphere shall indemnify defend and hold harmless Licensee from and against any and all actions claims demands proceedings liabilities direct damages judgments settlements fines penalties costs and expenses including royalties and attorneys fees and related costs in connection with or arising out of any actual infringement of any third party patent copyright or other intellectual property right by the Software or by its use in accordance with this Agreement and documentation PROVIDED THAT a Hemisphere has the right to assume full control over any action claim demand or proceeding b Licensee shall promptly notify Hemisphere of any such action claim demand or proceeding and c Licensee shall give Hemisphere such reasonable assistance and tangible material as is reasonably available to Licensee for the defense of the action claim demand or proceeding Licensee shall not settle or compromise any of same for which Hemisphere has agreed to assume responsibility without Hemisphere s prior written consent Licensee may at its sole cost and expense retain separate counsel from the counsel utilized or retained by Hemisphere INFRINGEMENT If use of the Software may be enjoined due to a claim of infringement by a third party then at its sole discretion and expense Hemisphere may do one of the following a negotiate a license or other agreement so that the Product is no longer subject to such a potent
9. S SBAS coasting between corrections 37 not available 8 receiving corrections 37 tracking 9 use of 8 serial ports communicate at 24 communicate with 24 setup system menu map 52 signal indicators 37 lock 37 lock LED readout 37 quality 37 specifications A21 environmental 57 A21 L band sensor 57 A21 mechanical 57 A21 power 57 A31 beacon sensor 58 A31 environmental 59 Vector V8131 GPS Compass User Guide 62 A31 GNSS sensor 58 A31 L band sensor 58 A31 mechanical 58 A31 power 58 beacon sensor 54 communication 55 environmental 56 GNSS sensor 57 GPS 54 power bb receiver 54 T tilt aid disabling 35 time constants 36 adjusting 36 course over ground 13 heading 12 HRTAU 13 speed 13 tracking automatic 8 turn rate limits 35 U updates receiving 37 V vector menu map 48 Ww wizard configuration 32 51 configuration using 33 PN 875 0311 000 Rev A1 Chapter 1 Introduction Other key features of the VS131 include Heave lt 30 cm rms DGPS e Pitch and roll lt 1 rms e Simple menu operations Accurate heading up to 3 minutes during GPS outages Integrated gyro and tilt sensors deliver fast start up times and provide heading updates during temporary loss of GPS L band beacon and SBAS capable With more accurate code phase measurements improved multipath mitigation and fewer components than competing products VS131 offers superior accuracy and stability The VS131 re
10. agreement signed by senior officers of the respective parties WARRANTY CLAIM In the event Licensee has a warranty claim Licensee must first check for and install all Updates that are made available The warranty will not otherwise be honored Proof of purchase may be required Hemisphere does not honor claims asserted after the end of the Warranty Period LICENSEE REMEDIES In all cases which involve a failure of the Software to conform in any material respect to the documentation during the Warranty Period or a breach of a warranty Hemisphere s sole obligation and liability and Licensee s sole and exclusive remedy is for Hemisphere at Hemisphere s option to a repair the Software b replace the Software with software conforming to the documentation or c if Hemisphere is unable on a reasonable commercial basis to repair the Software or to replace the Software with conforming software within ninety 90 days to terminate this Agreement and thereafter Licensee shall cease using the Software Hemisphere will also issue a refund for the price paid by Licensee less an amount on account of amortization calculated on a straight line basis over a deemed useful life of three 3 years LIMITATION OF LIABILITY IN NO EVENT WILL HEMISPHERE BE LIABLE TO LICENSEE FOR ANY INCIDENTAL CONSEQUENTIAL SPECIAL OR INDIRECT DAMAGES INCLUDING ARISING IN RELATION TO ANY LOSS OF DATA INCOME REVENUE GOODWILL OR ANTICIPATED SAVINGS EVEN IF HEMISPHERE HAS BEEN
11. gt Off GNGNS gt Off GPGSA gt Off GNGSA gt Off GPGST gt Off GPGSV gt Off GLGSV gt Off GPHDT gt Off GPHEV gt Off HPR gt Off 2 ector Proceed Wizard gt Create New gt y pinea Name gt A PASHR gt Off GPS gt Delete Saved gt Save Current gt Diff gt SBAS GPRMC gt Off SBAS gt Use Previous gt Back gt Data PORT A gt GPROT gt Off Config Wizard gt Cancel gt Top Menu gt Data PORT B gt GPRRE gt Off gt System Setup Elev Mask gt 5 TSS1 gt Off MaxDGPSAge gt 3600 PORT A gt 9600 PORT B gt 9600 Aiding Features gt GPVTG gt Off GPZDA gt Off INTLT gt Off Binl gt Off Time Constants Bin2 gt Off Bias Neg Tilt gt Bin62 gt Off w Sep gt 0 500m HTAU gt 0 5 Pitch Roll gt Pitch Bia HRTAU 5 0 0 Heading 5 0 0 Save to Location 5 pinge gt Or Gyroaid gt YES coe 5 0 0 Pitch Roll gt 0 0 Back gt Ringa gt Off Tiltaid gt YES SPEED gt 0 5 Neg Tilt gt NO Top Menu gt HO gt eue Calibrate tilt gt PTAU 5 0 0 Level Op 5 YES Bings gt Off ae BE Se cp FI pee emacs Bin95 gt Off Bin96 gt Off Save to Location gt Bin97 gt Off Not Usedl gt Bin98 gt Off Not Used2 gt Bin99 gt Off Not Used3 gt Binl100 gt Off Not Used4 gt RD1 gt Off Not Used5 gt Back gt Figure 4 3 Config Wizard menu Vector VS131 GPS
12. INFORMED OF THE POSSIBILITY OF SUCH LOSS OR DAMAGE FURTHER IN NO EVENT WILL HEMISPHERE S TOTAL CUMULATIVE LIABILITY HEREUNDER FROM ALL CAUSES OF ACTION OF ANY KIND EXCEED THE TOTAL AMOUNT PAID BY LICENSEE TO HEMISPHERE TO PURCHASE THE PRODUCT THIS LIMITATION AND EXCLUSION APPLIES IRRESPECTIVE OF THE CAUSE OF ACTION INCLUDING BUT NOT LIMITED TO BREACH OF CONTRACT NEGLIGENCE STRICT LIABILITY TORT BREACH OF WARRANTY MISREPRESENTATION OR ANY OTHER LEGAL THEORY AND WILL SURVIVE A FUNDAMENTAL BREACH LIMITS ON LIMITATION OF LIABILITY Some jurisdictions do not allow for the limitation or exclusion of liability for incidental or consequential damages so the above limitation or exclusion may not apply to Licensee and Licensee may also have other legal rights which may vary from jurisdiction to jurisdiction BASIS OF BARGAIN Licensee agrees and acknowledges that Hemisphere has set its prices and the parties have entered into this Agreement in reliance on the limited warranties warranty disclaimers and limitations of liability set forth herein that the same reflect an agreed to allocation of risk between the parties including the risk that a remedy may fail of its essential purpose and cause consequential loss and that the same forms an essential basis of the bargain between the parties Licensee agrees and acknowledges that Hemisphere would not have been able to sell the Product at the amount charged on an economic basis without such limitations
13. M3 MapStar MBX 4 miniEclipse Outback Outback 360 Outback ConnX Outback Guidance Center Outback Guidance Outback Hitch Outback MAX Outback S Outback S2M Outback S3 Outback S Lite Outback Sts Outback Steering Guide PocketMAX PC PocketMAX PocketMax3 R100 R131 R220 R320 S320 Satloc the Satloc logo SBX 4 SLXMon V101 V102 M V103 V111 M V113 VS101 VS111 VS131 M VS330 M Vector X200 X300 XF1 XF100 XF101 and XF102 are proprietary trademarks of Hemisphere GPS Other trademarks are the properties of their respective owners Patents The Outback S and S Lite automated navigation and steering guide systems are covered by U S Patents No 6 539 303 and No 6 711 501 The Outback Hitch automated hitch control system is covered by U S Patent No 6 631 916 The Outback eDriveTC GPS assisted steering system is covered by U S Patent No 7 142 956 Hemisphere GPS products may be covered by one or more of the following U S Patents 6 111 549 6 397 147 6 469 663 6 501 346 6 539 303 6 549 091 6 631 916 6 711 501 6 744 404 6 865 465 6 876 920 7 142 956 7 162 348 7 277 192 7 292 185 7 292 186 7 373 231 7 400 956 7 400 294 7 388 539 7 429 952 7 437 230 7 460 942 Other U S and foreign patents pending Notice to Customers Contact your local dealer for technical assistance To find the authorized dealer
14. User Guide 27 PN 875 0311 000 Rev A1 Chapter 4 Operating the VS131 Powering the Receiver On Off The power button on the VS131 is located on the front panel circled below When you first apply power to the unit it turns on VECTOR VS131 HEADING fe DIFF fa SEC GPS PRIM GPS f POWER f Figure 4 1 VS131 front panel with power button The VS131 accepts an input voltage of 8 to 36 VDC via the power cable The supplied power should be continuous and clean for best performance Table D 5 on page 55 provides the power specifications of the VS131 IN ENS Ned Do not apply a voltage higher than 36 VDC This will damage the receiver and void the warranty Also do not attempt to operate the VS131 with the fuse bypassed as this will void the warranty The VS131 features reverse polarity protection to prevent damage if the power leads are accidentally reversed Although the V8131 proceeds through an internal startup sequence when you apply power it will be ready to communicate immediately Initial startup may take 5 to 15 minutes depending on the location Subsequent startups will output a valid position within 1 to 5 minutes depending on the location and time since the last startup The VS131 may take up to 5 minutes to receive a full ionospheric map from SBAS Optimum accuracy is obtained once the VS131 is processing corrected positions using complete ionospheric information To power on the VS131 1 Connect
15. menu to view and adjust Vector settings Options vary depending on whether you select Pitch or Roll and include such items as aiding features time constants heading bias and antenna separation Heading 180 00 COG 10 00 Vel 25 3 km h ROT 3 2 Pitch 5 Roll 6 2 Heave gt Back gt Top Menu gt Gyroaid gt YES Tiltaid gt Yes Calibrate tilt gt Back gt Top Menu gt Vector gt Display gt Vector VS131 GPS Compass User Guide 48 PN 875 0311 000 Rev A1 LSF HTAU gt 0 5 GPS gt naang Features gt HRTAU gt 0 0 FOSSER ELL gt DNE SS SNE TNE gt COG gt 0 0 Config Wizard gt ERE ME be ll SPEED 5 0 5 System Setup gt PETES mieu ve PTAU 0 0 Pitch Roll Pitch Back gt Back gt Top Menu gt Top Menu gt Heading gt 0 0 Pitch Roll gt 0 0 Neg Tilt gt NO Level Op gt YES Back gt Top Menu gt Computed gt 0 550m Measured gt 0 550m Back gt Top Menu gt Figure C 1 Vector menu Chapter 3 Installing the VS131 Planning the Optimal Antenna Placement Note In the VS131 kit install the A31 antenna as the primary antenna as it is used for positioning Note Proper antenna placement is important to obtain a high precision GPS reading For the best results orient the antennas so the antennas connectors face the same direction Also place the antennas e With a clear view of the hori
16. o Lat 0 200m Age 6 0 s o Lon 0 200m SV Count 10 o Alt 0 300m HDOP ibe Si Back gt Precision gt Top Menu gt NavCnd gt ABBABB DSP ARM gt 1F 1F Back gt Top Menu gt Car Smooth 11 Eph Exists 11 Vector gt Position Status gt Eph Healthy 10 GPS GPS Sats CHO1 SV23 EL 37 NotUsed Prev 11 Differential EN Configure AZ 092 SRN 45 E Ele 11 Config Wizard 5 Back 5 Diff Corr 10 System Setup 5 Top Menu 5 i No Diff Corr 0 Back gt H Top Menu gt CH12 SV09 EL 45 AZ 183 SRN 47 Back gt BASE 5 NO Top Menu 5 DSP CarLock YES FOREST 5 NO DSP BER YES GPSONLY gt NO DSP DSPLock YES LIONLY 5 NO Elev Mask gt 5 DSP FrmSync YES MIXED 5 NO MaxDGPSAge 5 2700 DSP TrkMode YES NULLNMEA gt NO Data PORT A gt ARM GPSLock YES SBASR gt NO Data PORT B gt ARM DifData YES TIMEKEEP gt NO UTC Offset gt 7Hr ARM ARMLock YES TUNNEL NO GGAALLGNSS No ARM DGPS YES WIDESEARCH NO Rx Modes ARM Solutn YES GLOFIX NO Back Back FIXLOC NO Top Menu 5 Top Menu gt SURETRACK gt YES SBASNORTK gt NO Back gt Top Menu gt Figure C 2 GPS menu Vector VS131 GPS Compass User Guide 49 PN 875 0311 000 Rev A1 Appendix C Menu Map This appendix shows the complete menu map for each menu listed below on the VS131 Top menu Vector GPS Differential menu item will be the selected differential source such as SBAS or Autonomous Config Wizard System Setup Vector Menu Use the Vector
17. obtain a full set of SBAS corrections the VS131 must receive the ionospheric map over a period of a few minutes After this the receiver can coast until the next set of corrections has been received How Good is the Quality of My Signal In addition to the LED indicators for signal lock the VS13 1 s display indicates signal quality The bars along the top of the display represents the quality of the GPS and DGPS or if applicable beacon signal The first group of bars shows the GPS signal the second group shows the DGPS or beacon signal Each GPS signal DGPS or beacon bar represents a distinct channel and its associated indicator signal indicator signal quality The higher the bar the better the signal Note If using autonomous or external correction mode the DGPS signal indicator will not appear in the display DGPS SBAS The differential correction or SBAS signal indicator reflects the quality of each satellite signal or the bit error rate BER A full bar height reflects a signal lock and a BER of 0 A bar height only 2 pixels tall reflects a signal loss or BER of 500 or greater Bar heights in between reflect intermediate degrees of signal quality For example when using WAAS two satellites are available so two BERs are provided Beacon The beacon indicator reflects the quality of the beacon signal or the signal strength SS and the signal to noise ratio SNR A full bar height reflects a signal lock 555 35
18. the ends of the VS131 power cable to a clean power source providing 8 to 36 VDC Note Hemisphere GPS recommends you use a weather tight connection and connector if the connection is located outside 2 Press and hold the soft power switch on the front panel until the splash screen appears To power off the VS131 Press and hold the soft power switch on the front panel until the screen goes blank Vector VS131 GPS Compass User Guide 28 PN 875 0311 000 Rev A1 Chapter 4 Operating the VS131 Connecting to Existing Navigation Systems Most users connect the VS131 to their existing navigation system during installation These users will receive the V8131 s position and heading updates through the interface of their existing system Viewing GPS DGPS Status Most users will receive position and heading information through their on board navigation system If you have not connected the VS131 to an existing navigation system or are troubleshooting your unit you may need to view GPS DGPS or Beacon status on the VS131 s display screen Do I Have a Signal Figure 4 2 on page 29 shows which LEDs on the VS131 will indicate GPS DGPS or Beacon signal lock when illuminated If you lose the differential signal lock Hemisphere GPS COAST technology allows the VS131 to perform well for 40 minutes or more with aging differential GPS correction data The amount of time you can coast depends on the degree of tolerable drift Note To
19. the receiver is working properly You can turn tilt aiding off either through the Config Wizard or Vector menus Disabling Gyro Aiding The VS131 s internal gyro aid is enabled by default The gyro Shortens re acquisition times when satellites are obstructed and heading is lost by reducing the search volume required for the RTK solution and e Provides accurate substitute headings for a short period depending on the roll and pitch of the vessel ideally seeing you through to re acquisition The only time you might need to disable the gyro aid is during troubleshooting to ensure the receiver is working properly INVAN eH Do not exceed turn rates of 90 sec The VS131 uses gyro measurements to obtain a heading rate measurement and the gyro cannot measure beyond this rate You can turn the gyroaid feature off either through the Config Wizard menu or the Vector menu Vector VS131 GPS Compass User Guide 35 PN 875 0311 000 Rev A1 Chapter 4 Operating the VS131 11 12 13 14 15 Vector VS131 GPS Compass User Guide 34 For details on configuring the time constants see Adjusting the Time Constants on page 36 Enter a heading bias If you did not install the antenna s parallel to and along the vessel s centerline you will need to enter a heading bias in the Heading field of the Bias Neg Tilt menu The heading bias 180 to 180 compensates for any offset from the centerline Note If you installe
20. 5 0311 000 Rev A1 Chapter 2 Understanding the VS131 GPS Overview For your convenience both the GPS and SBAS operation of the VS131 features automatic operational algorithms When powered for the first time the VS131 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 eight data bit no parity one stop bit configuration 8 N 1 GPS Operation The GPS receiver is always operating regardless of the DGPS mode of operation The following sections describe the general operation of the VS131 s internal GPS receiver Note Differential source and RTK status have no impact on heading pitch or roll They only have an impact on positioning and heave Automatic Tracking The VS131 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 VS131 works by finding four or more GPS satellites in the visible sky It uses information from the satellites to compute a position within 2 5 m Since there is some error in the GPS data calculations the VS131 also tracks a differential correction The VS131 uses these corrections to improve its position accuracy to
21. 8 dB m RG8 RB 088 dB Times Microwave LMR400 0 15 dB m For additional cable guidelines see Connecting the Cables on page 23 Vector VS131 GPS Compass User Guide 21 PN 875 0311 000 Rev A1 Chapter 3 Installing the VS131 Mounting the Receiver Use the enclosed kit to mount the receiver When mounting the VS131 receiver adhere to the following guidelines e Install the receiver inside and away from the elements and in a location that minimizes vibration shock extreme temperatures and moisture e Position the receiver horizontally with its display facing the primary antenna Ensure the front panel menu screen LEDs buttons is visible and accessible e Ensure the back panel is easily accessible to switch out cables Figure 3 4 shows the dimensions including attached mounting brackets of the VS131 Use Figure 3 4 when using the receiver mounting procedure that follows 134 6 mm 5 30 in P Appendix B FAQ 119 4 mm 201 4 mm 4 70 in 7 93 in 74 9mm C 0 oTE F 143mm 4 50 in 152 4 mm 6 00 in Figure 3 4 VS131 dimensions with mounting brackets To mount the receiver 1 Locate the thumbscrews nuts and brackets included in your kit 2 Slide the nuts through the opening circled at right along a both sides of the receiver see Hemisphere also Figure 3 4 on page 22
22. Compass User Guide 32 PN 875 0311 000 Rev A1 Chapter 4 Operating the VS131 Using the Config Wizard The basic setup instructions outlined in this section assume the antennas are e Installed parallel to and along the centerline of the vessel s axis Separated by 1 0 m If this is not the case you will need to enter the actual antenna separation and bias in the Config Wizard 1 Select Config Wizard gt Proceed Wizard The Proceed Wizard menu appears 2 Select Create New to create a new configuration Enter Name 5 A You are prompted to enter a name for your Diff 5 SBAS configuration In addition to the Name you can set Data PORT A gt the options shown at right also shown in Data PORT B gt Figure 4 3 on the previous page Elev Mask gt 5 MaxDGPSAge gt 3600 PORT A gt 9600 Note For help on using the menus to view and PORT B gt 9600 set values see Using the Menus on page 31 Aiding Features gt Time Constants gt 3 Enter a name Use the arrow buttons to select a Bias Neg ans Ant Sep gt 1 m letter and then press the Enter button to save the cus tud letter The cursor moves to the right Save to Location o Enter a blank character at the end of your name SIGS c Top Menu until the gt character appears at the end of the name Press the Enter button again 4 Seta DGPS source From the same menu select DIFF The options are SBAS default Autonomous RTK
23. ERLY AND CORRECTLY INSTALLED CONFIGURED INTERFACED MAINTAINED STORED AND OPERATED IN ACCORDANCE WITH HEMISPHERE GPS S RELEVANT USER S MANUAL AND SPECIFICATIONS Hemisphere GPS does not warrant or guarantee the positioning and navigation precision or accuracy obtained when using Products Products are not intended for primary navigation or for use in safety of life applications The potential accuracy of Products as stated in Hemisphere GPS literature and or Product specifications serves to provide only an estimate of achievable accuracy based on performance specifications provided by the satellite service operator i e US Department of Defense in the case of GPS and differential correction service provider Hemisphere GPS reserves the right to modify Products without any obligation to notify supply or install any improvements or alterations to existing Products GOVERNING LAW This agreement and any disputes relating to concerning or based upon the Product shall be governed by and interpreted in accordance with the laws of the State of Arizona OBTAINING WARRANTY SERVICE In order to obtain warranty service the end purchaser must bring the Product to a Hemisphere GPS approved service center along with the end purchaser s proof of purchase Hemisphere GPS does not warrant claims asserted after the end of the warranty period For any questions regarding warranty service or to obtain information regarding the location of any of Hemisphere GPS ap
24. ONSIBLE for defects or performance problems resulting from 1 misuse abuse improper installation neglect of Product 2 the utilization of the Product with hardware or software products information data systems interfaces or devices not made supplied or specified by Hemisphere GPS 3 the operation of the Product under any specification other than or in addition to the specifications set forth in Hemisphere GPS s relevant User s Manual and Specifications 4 damage caused by accident or natural events such as lightning or other electrical discharge or fresh salt water immersion of Product 5 damage occurring in transit 6 normal wear and tear or 7 the operation or failure of operation of any satellite based positioning system or differential correction service or the availability or performance of any satellite based positioning signal or differential correction signal THE PURCHASER IS RESPONSIBLE FOR OPERATING THE VEHICLE SAFELY The purchaser is solely responsible for the safe operation of the vehicle used in connection with the Product and for maintaining proper system control settings UNSAFE DRIVING OR SYSTEM CONTROL SETTINGS CAN RESULT IN PROPERTY DAMAGE INJURY OR DEATH The purchaser is solely responsible for his her safety and for the safety of others The purchaser is solely responsible for maintaining control of the automated steering system at all times THE PURCHASER IS SOLELY RESPONSIBLE FOR ENSURING THE PRODUCT IS PROP
25. OVIDES LIMITED WARRANTIES IN RELATION TO THE SOFTWARE AS WELL THOSE WHO USE THE EMBEDDED SOFTWARE DO SO AT THEIR OWN RISK YOU SHOULD UNDERSTAND THE IMPORTANCE OF THESE AND OTHER LIMITATIONS SET OUT IN THIS AGREEMENT BEFORE INSTALLING OR USING THE SOFTWARE OR THE PRODUCT 1 LICENSE Hemisphere hereby grants to Licensee a non transferable and non exclusive license to use the Software as embedded in a Product and all Updates collectively the Software solely in binary executable form 2 RESTRICTIONS ON USE Licensee agrees that Licensee and its employees will not directly or indirectly in any manner whatsoever a install or use more copies of the Software than the number of copies that have been licensed b use or install the Software in connection with any product other than the Product the Software was intended to be used or installed on as set out in the documentation that accompanies the Software C copy any of the Software or any written materials for any purpose except as part of Licensee s normal backup processes modify or create derivative works based on the Software d e sub license rent lease loan or distribute the Software f permit any third party to use the Software g use or operate Product for the benefit of any third party in any type of service outsourcing application service provider service or service bureau capacity li reverse engineer decompile or disassemble the Software or otherwise reduce it to
26. PS s approved service center immediately of any defect Repairs shall be made through a Hemisphere GPS approved service center only Repair modification or service of Hemisphere GPS products by any party other than a Hemisphere GPS approved service center shall render this warranty null and void The remedy in this paragraph shall only be applied in the event that the Product is properly and correctly installed configured interfaced maintained stored and operated in accordance with Hemisphere GPS s relevant User s Manual and Specifications AND the Product is not modified or misused NO OTHER REMEDY INCLUDING BUT NOT LIMITED TO SPECIAL INDIRECT INCIDENTAL CONSEQUENTIAL OR CONTINGENT DAMAGES FOR LOST PROFITS LOST SALES INJURY TO PERSON OR PROPERTY OR ANY OTHER INCIDENTAL OR CONSEQUENTIAL LOSS SHALL BE AVAILABLE TO PURCHASER even if Hemisphere GPS has been advised of the possibility of such damages Without limiting the foregoing Hemisphere GPS shall not be liable for any damages of any kind resulting from installation use quality performance or accuracy of any Product HEMISPHERE IS NOT RESPONSIBLE FOR PURCHASER S NEGLIGENCE OR UNAUTHORIZED USES OF THE PRODUCT IN NO EVENT SHALL HEMISPHERE GPS BE IN ANY WAY RESPONSIBLE FOR ANY DAMAGES RESULTING FROM PURCHASER S OWN NEGLIGENCE OR FROM OPERATION OF THE PRODUCT IN ANY WAY OTHER THAN AS SPECIFIED IN HEMISPHERE GPS S RELEVANT USER S MANUAL AND SPECIFICATIONS Hemisphere GPS is NOT RESP
27. Troubleshooting continued Symptom Possible Solution No heading or incorrect Check CSEP value is fairly constant without varying heading value more than 1 cm 0 39 in larger variations may indicate a high multipath environment and require moving the receiver location The standard antenna mounting configuration provides a 0 5 heading accuracy at 95 confidence If you require more performance you will need to increase the antenna separation maximum recommended separation is 5 0 m See Table D 1 on page 54 for antenna separation specifications Recalibrate the tilt sensor with SJATT TILTCAL command if heading is calculated then lost at consistent time intervals Heading is from primary GPS antenna to secondary GPS antenna SJATT SEARCH command forces the VS131 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 e Monitor the number of satellites and SNR values for both antennas within PocketMax at least four satellites should have strong SNR values Potentially the volume of data requested to be output by the VS131 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 Verify the baud rate of the RTCM input port matches external RTCM mode the baud rate of the external source Ve
28. a Specifications Index creen End User License Agreement Warranty Notice Vector V8131 GPS Compass User Guide iv TIER OTI RS S leds xod ob em RE PN 875 0311 000 Rev A1 21 22 23 24 25 26 27 28 TERMINATION Licensee may terminate this Agreement at any time without cause Hemisphere may terminate this Agreement on 30 days notice to Licensee if Licensee fails to materially comply with each provision of this Agreement unless such default is cured within the 30 days Any such termination by a party shall be in addition to and without prejudice to such rights and remedies as may be available including injunction and other equitable remedies Upon receipt by Licensee of written notice of termination from Hemisphere or termination by Licensee Licensee shall at the end of any notice period a cease using the Software and b return to Hemisphere or destroy and provide a certificate of a Senior Officer attesting to such destruction the Software and all related material and any magnetic or optical media provided to Licensee The provisions of Sections 6 7 8 9 10 15 21 26 and 27 herein shall survive the expiration or termination of this Agreement for any reason EXPORT RESTRICTIONS Licensee agrees that Licensee will comply with all export control legislation of Canada the United States Australia and any other app
29. a human perceivable form i Assign this Agreement or sell or otherwise transfer the Software to any other party except as part of the sale or transfer of the whole Product 3 UPDATES At Hemisphere s discretion Hemisphere may make Updates available to Licensee An update Update means any update to the Software that is made available to Licensee including error corrections enhancements and other modifications Licensee may access download and install Updates during the Warranty Period only All Updates that Licensee downloads installs or uses shall be deemed to be Software and subject to this Agreement Hemisphere reserves the right to modify the Product without any obligation to notify supply or install any improvements or alterations to existing Software 4 SUPPORT Hemisphere may make available directly or through its authorized dealers telephone and email support for the Software Contact Hemisphere to find the authorized dealer near you As well Hemisphere may make available user and technical documentation regarding the Software Hemisphere reserves the right to reduce and limit access to such support at any time 5 BACKUPS AND RECOVERY Licensee shall back up all data used created or stored by the Software on a regular basis as necessary to enable proper recovery of the data and related systems and processes in the event of a malfunction in the Software or any loss or corruption of data caused by the Software Licensee shall assume a
30. a valid heading solution from the GNSS receiver You must see PRIM GPS and SEC GPS illuminated before a heading solution is possible If the GNSS solution is no longer available the LED turns off DIFF DGPS position indicator Illuminates solid green when the receiver achieves a differential position and a pseudorange residual of better than 10 0 m If the residual value is worse than the current threshold the LED blinks green indicating differential mode has been attained but the residual has not met the threshold SEC GPS Secondary antenna is tracking 4 or more satellites Illuminates solid amber when the secondary antenna is tracking four or more satellites PRIM GPS Primary antenna is tracking 4 or more satellites Illuminates solid amber when the Primary antenna is tracking four or more satellites POWER Power indicator Illuminates solid red when the receiver is powered on Vector VS131 GPS Compass User Guide 29 PN 875 0311 000 Rev A1 Chapter 4 Operating the VS131 Startup When you power on the VS131 the Hemisphere GPS splash screen appears followed by the main screen or Top menu see top right photo Press the Down Arrow button to display the remaining items on the Top menu You use the menus to view and configure system data and settings for the following Top menu items Vector GPS e Differential menu item will be the selected differential source such as SBAS or Autonomous Config Wizard e Syst
31. acking from the other side of the foam adhesive and press the zinc disc onto the mounting surface on the vessel applying firm pressure to ensure good adhesion 9 Place the antenna on top of the zinc disc ensuring the antenna is secure in its mounting position Pole Mounting You can pole mount the antennas using existing hardware on your vessel To mount the antennas using a pole mount 1 Select a location and orientation that meets the requirements outlined in Mounting Orientation on page 16 and Planning the Optimal Antenna Placement on page 17 2 A21 antenna only Unlike the A31 the A21 antenna does not include a threaded mounting hole You must attach the mounting base using the four screws included in your kit see at right 3 Thread the pole mount not included into the mounting bracket on the bottom of the A21 antenna or into the bottom of the A31 antenna INES Sistem When threading the pole mounts hand tighten only Damage resulting from over tightening may void your warranty 4 Mark and drill any mounting holes necessary for the pole mounts Rail Mounting You can rail mount the antennas using existing hardware on your vessel Vector V8131 GPS Compass User Guide 20 PN 875 0311 000 Rev A1 Appendix B FAQ e The external correction source should be using an 8 data bit no parity 1 stop bit 8 N 1 serial port configuration e Inspect the cable connection to ensure there are no signs of d
32. als without the need to tune the receiver The VS131 features two channel tracking that provides an enhanced ability to maintain a lock on an SBAS satellite when more than one satellite is in view This redundant tracking approach results in more consistent tracking of an SBAS signal in areas where signal blockage of a satellite is possible Beacon Operation Many marine authorities such as coast guards have installed networks of radiobeacons that broadcast DGPS corrections to users of this system With the increasing utility of these networks for terrestrial applications there is an increasing trend toward densification of these networks inland The dual channel beacon receiver in the VS131 can operate in manual or automatic tuning mode or using database mode will select the closest station in compliance with IEC 61108 4 standards RTK Real time kinematic RTK technology is available on Crescent based GPS receivers RTK requires the use of two separate receivers a stationary base station primary receiver that broadcasts corrections over a wireless link to the rover secondary receiver The localized corrections are processed on the rover to achieve superior accuracy and repeatability Performance testing has shown positioning accuracy at the centimeter level L Band L band corrections are available worldwide through third party providers With this service the positioning accuracy does not degrade as a function of distance to a bas
33. amage e Check the pinout information for the cables to ensure the transmit line of the external correction source is connected to the receive line of the VS131 s serial port and that the signal grounds are connected Save the configuration as the profile named RTCM in the Config Wizard cycle the power and load the RTCM profile O Why am not getting data from the VS131 A There are several possible reasons for this Check the following items Check receiver power status LED to ensure the receiver is powered Verify the VS131 is locked to a valid DGPS signal this can often be done on the receiving device or with PocketMax Verify the VS131 is locked to GPS satellites this can often be done on the receiving device or with PocketMax e Check the integrity and connectivity of power and data cable connections Q Why am getting random data from VS131 A There are three possible reasons for this Check the following items e Verify the RTCM or the Bin95 and Bin96 messages are not being output accidentally send a SISHOW command e Verify the baud rate settings of VS131 and remote device match correctly e Potentially the volume of data requested to be output by the VS131 could be higher than the current baud rate supports Try increasing the baud rate to 38400 for all devices or reduce the amount of data being output Q I could not install my antennas at the same height How do calibrate for the height offse
34. and SNR gt 24 A bar height only 2 pixels tall reflects a signal loss or SS and SNR values of 0 Bar heights in between reflect intermediate degrees of signal quality If using beacon the first bar indicates SS signal quality the second bar indicates SNR signal quality Vector V8131 GPS Compass User Guide 37 PN 875 0311 000 Rev A1 Chapter 4 Operating the VS131 Chapter 4 Operating the VS131 LED Indicators The VS131 includes five LEDs located on to the left of the display on the front panel HEADING f shown at right Adjusting the Time Constants The VS131 s default settings are fine for most users however you can set the time constants to further smooth heading course over ground COG and speed measurements Table 4 3 provides an overview of the time constant values you can set in the Config Wizard including the formulas for finding the optimal value of each AA AA LED indicator time constant for your vessel SEC GPS amp DIFF fl Table 4 3 Time constants PRIM GPS fm Time Constant COGTAU Course Over Ground HRTAU Rate of Turn HTAU Heading PTAU Pitch SPDTAU Speed Vector VS131 GPS Compass User Guide 36 Description Adjust the responsiveness to the course over ground measurement If vessel is small and dynamic leave this value at 0 0 s to be conservative If the vessel is large and resistant to motion you may want to increase this value Default value 0 0 s Range 0 0 to 60 s
35. are will meet Licensee s requirements or that its operation will be error free 9 WARRANTY EXCLUSIONS The warranty set forth in Section 8 will not apply to any deficiencies caused by a the Product not being used as described in the documentation supplied to Licensee b the Software having been altered modified or converted in any way by anyone other than Hemisphere approved by Hemisphere c any malfunction of Licensee s equipment or other software or d damage occurring in transit or due to any accident abuse misuse improper installation lightning or other electrical discharge or neglect other than that caused by Hemisphere Hemisphere GPS does not warrant or guarantee the precision or accuracy of positions obtained when using the Software whether standalone or embedded in a Product The Product and the Software is not intended and should not be used as the primary means of navigation or for use in safety of life applications The potential Index Diff differential source 50 GPS 48 49 SBAS 50 system setup 52 vector 48 mounting See antenna mounting N NMEA messages 24 44 P position 37 power A21 specifications 57 A31 specifications 58 powering up the system 28 specifications 55 power indicator LED 29 powering off the receiver 28 powering on the receiver 28 receiver powering off 28 powering on 28 receiver mounting 22 RTK and L Dif 9 constrained heading solution 35 moving base station 10 use by VS131 10
36. better than 0 6 m There are two main aspects of GPS receiver performance Satellite acquisition e Positioning and heading calculation When the VS131 is properly positioned the satellites transmit coded information to the antennas on a specific frequency This allows the receiver to calculate a range to each satellite from both antennas GPS is essentially a timing system The ranges are calculated by timing how long it takes for the signal to reach the GPS antenna The GPS receiver uses a complex algorithm incorporating satellite locations and ranges to each satellite to calculate the geographic location and heading Reception of any four or more GPS signals allows the receiver to compute three dimensional coordinates and a valid heading Differential Operation The purpose of differential GPS DGPS is to remove the effects of selective availability SA atmospheric errors timing errors and satellite orbit errors while enhancing system integrity Autonomous positioning capabilities of the VS131 will result in positioning accuracies of 2 5 m 95 of the time To improve positioning quality to sub meter levels the VS131 is able to use differential corrections received through the internal SBAS demodulator or externally supplied RTCM corrections Vector VS131 GPS Compass User Guide 8 PN 875 0311 000 Rev A1 Appendix D Technical Specifications A21 Antenna Specifications Table D 9 through Table D 13 list the technical speci
37. ble accuracy based on specifications provided by the US Department of Defense for GPS positioning and DGPS service provider performance specifications where applicable WARRANTY DISCLAIMER EXCEPT AS EXPRESSLY SET OUT IN THIS AGREEMENT HEMISPHERE MAKES NO REPRESENTATION WARRANTY OR CONDITION OF ANY KIND TO LICENSEE WHETHER VERBAL OR WRITTEN AND HEREBY DISCLAIMS ALL REPRESENTATIONS WARRANTIES AND CONDITIONS OF ANY KIND INCLUDING FITNESS FOR A PARTICULAR PURPOSE MERCHANTABILITY ACCURACY RELIABILITY OR THAT THE USE OF THE SOFTWARE WILL BE UNINTERRUPTED OR ERROR FREE AND HEREBY DISCLAIMS ALL REPRESENTATIONS WARRANTIES AND CONDITIONS ARISING AS A RESULT OF CUSTOM USAGE OR TRADE AND THOSE ARISING UNDER STATUTE LIMITS ON WARRANTY DISCLAIMER Some jurisdictions do not allow the exclusion of implied warranties or conditions so some of the above exclusions may not apply to Licensee In that case any implied warranties or conditions which would then otherwise arise will be limited in duration to ninety 90 days from the date of the license of the Software or the purchase of the Product The warranties given herein give Licensee specific legal rights and Licensee may have other rights which may vary from jurisdiction to jurisdiction CHANGE TO WARRANTY No employee or agent of Hemisphere is authorized to change the warranty provided or the limitation or disclaimer of warranty provisions All such changes will only be effective if pursuant to a separate
38. ceiver with its display and user interface can be conveniently installed near the operator while the two antennas are mounted separately with a user determined separation up to 5 m to meet the desired accuracy VS131 uses Lband SBAS WAAS EGNOS MSAS etc or beacon for differential GPS positioning offering differential positioning performance of less than 0 6 m 95 of the time VS131 also features Hemisphere GPS exclusive COAST technology that enables Hemisphere GPS receivers to utilize aging differential GPS correction data for 40 minutes or more without significantly affecting positioning quality VS131 is less likely to be affected by differential signal outages due to signal blockages weak signals or interference when using COAST What s Included in Your Kit Your V 131 kit Figure 1 2 on page 4 includes the following parts e VS131 receiver and related mounting hardware e Antennas and related mounting hardware e Power data and antenna cables Table 1 1 on page 4 provides the description and part number of each part in your kit Vector VS131 GPS Compass User Guide 3 PN 875 0311 000 Rev A1 Chapter 1 Introduction Review the parts shipped with your kit if any parts are damaged contact your freight carrier If any parts are missing contact your dealer Figure 1 2 VS131 system parts diagram Table 1 1 Parts list G i 1 VS131 receiver Antennas A21 antenna A31 antenna Power cable ci
39. ctive relief APPLICABLE LAW This Agreement shall be governed by the laws of the Province of Alberta Canada exclusive of any of its choice of law and conflicts of law jurisprudence CISG The United Nations Convention on Contracts for the International Sale of Goods will not apply to this Agreement or any transaction hereunder GENERAL This is the entire agreement between Licensee and Hemisphere relating to the Product and Licensee s use of the same and supersedes all prior collateral or contemporaneous oral or written representations warranties or agreements regarding the same No amendment to or modification of this Agreement will be binding unless in writing and signed by duly authorized representatives of the parties Any and all terms and conditions set out in any correspondence between the parties or set out in a purchase order which are different from or in addition to the terms and conditions set forth herein shall have no application and no written notice of same shall be required In the event that one or more of the provisions of this Agreement is found to be illegal or unenforceable this Agreement shall not be rendered inoperative but the remaining provisions shall continue in full force and effect 10 11 12 13 14 15 16 17 18 19 20 positioning and navigation accuracy obtainable with the Software as stated in the Product or Software documentation serves to provide only an estimate of achieva
40. d the antennas for roll perpendicular to the boat s axis rather than pitch you must enter the heading bias 90 You must also enter the bias for roll see below Enter a pitch roll bias Enter the bias for pitch or roll 15 15 to compensate for any offset from the boat s centerline Enter this bias in the Pitch Roll field of the Bias Neg Tilt menu Enter the antenna separation If you did not install the antennas 1 0 m apart enter the actual antenna separation In the Ant Sep field The available range is 0 5 0 m Configure antenna for roll Most users install the antennas for pitch however if you install the antennas for roll you will need to configure the VS131 for roll In the Create New menu set the Pitch Roll setting to Roll Save your configuration To save your new configuration select the Save to Location field You will be prompted for a location to save your configuration Select one of the empty slots noted by the name Not Used or select a slot with an existing configuration to overwrite it After your configuration is saved you must select it from the Config Wizard in order to activate it You may then continue to enter different receiver configurations without upsetting the current operation of the receiver Re enter the Config Wizard and select the configuration to use PN 875 0311 000 Rev A1 Chapter 4 Operating the VS131 Using the Menus The VS131 menu system is designed for easy se
41. e station as the data content is not composed of a single base station s information but an entire network s information Vector VS131 GPS Compass User Guide 9 PN 875 0311 000 Rev A1 Chapter 2 Understanding the VS131 VS131 Overview The VS131 provides accurate and reliable heading and position information at high update rates To accomplish this task the VS131 uses a high performance GPS receiver and two antennas for GPS signal processing One antenna is designated as the primary GPS antenna and the other is the secondary GPS antenna Positions computed by the VS131 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 Fixed Baseline Moving Base Station RTK The VS131 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 eac
42. e antennas offer 28 dB of gain so the loss budget to accommodate for cable losses is 18 dB e Regardless of the cable material and length you choose ensure the cable losses are less than 18 dB of attenuation Due to variances in the antenna gain and practical attenuation of cable materials and connectors Hemisphere GPS recommends reducing this budget to 15 dB this budget is present to overcome the resulting attenuation of a RF cable e When deciding on an antenna location consider the amount of cable required a longer cable of the same material will result in a higher loss than a shorter one If the overall loss of the longer cable exceeds 15 dB change the cable material this normally means a more expensive material that has a larger diameter and less flexibility The standard cables included with the VS131 are of the RG58 material family and their attenuation is 0 8 dB m Including connector losses the nominal loss of these RF cables is 10 dB which is within the tolerable loss budget If a 15 m or 20 m cable run is required a RG8 variety is available If lengths longer than 20 m are required more sophisticated materials are required For more information on cable length or low loss cable contact your dealer or Hemisphere GPS Technical Support Table 3 1 provides a summary of other readily available cable materials with 50 Q impedance Table 3 1 Cable losses not including connector losses Loss at GPS L1 1 575 GHz RG58 0 7
43. ecifications A21 Antenna Specifications A31 Antenna Specifications PN 875 0311 000 Rev A1 Appendix C Menu Map System Setup Menu The System Setup menu allows you quickly view and edit current system settings General settings include such items as current applications units baud rates logs LED contrast subscription code display orientation you can flip the display 180 by selecting YES under Flip Display and language 1 In Use 5 ATTITUD2 2 Other gt ATTITUD2 SwapApplications gt Back gt Top Menu gt Disp Update gt 1Hz LL Unit gt DM M Hgt Unit gt meters Vel Unit gt km h Back gt Top Menu gt P gt due i idis i PORT A 9600 1splay Forma PORT B 19200 Differential Baud Rates gt 9 Back Config Wizard Software Disp gt Top Menu gt System Setup gt Contrast gt Animation gt Off Subscription gt Flip Display gt NO M gt LCD Off gt never enu RxApp gt Language gt Pr Back i l Top Menu gt Authorizations gt E Back Top Menu Figure C 7 System Setup menu Vector V8131 GPS Compass User Guide 52 PN 875 0311 000 Rev A1 Chapter 2 Understanding the VS131 Rate of Turn ROT Time Constant Use the SJATT HRTAU command to adjust the level of responsiveness of the ROT measurement provided in the GPROT message The default value of this constant is 2 0 s
44. econds of smoothing Increasing the time constant increases the level of ROT smoothing Course Over Ground COG Time Constant Use the SJATT COGTAU command to adjust the level of responsiveness of the 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 its accuracy depends upon the speed of the vessel noise is proportional to 1 speed This value is invalid when the vessel is stationary Speed Time Constant Use the SJATT SPDTAU command to adjust the level of responsiveness of the speed measurement provided in the GPVTG message The default value of this parameter is 0 0 seconds of smoothing Increasing the time constant increases the level of speed measurement smoothing Vector V8131 GPS Compass User Guide 13 PN 875 0311 000 Rev A1 Appendix C Menu Map Vector 5 GPS 5 Config Wizard 5 System Setup gt Differential gt gt Include gt Back gt InUse Beacon Beacon gt _ _ _ __ gt Top Menu gt Back gt Signal Status gt Configure gt Top Menu gt lp F 295 0 200 AA Ss 34 SNR 26 MTP 1003 WER 00 Unselected Bx ID 1025 H 08 Back 5 Top Menu gt Tune 319 0 Auto Tune gt Back gt Top Menu gt TuneBeaconNa
45. either beacon or Lband positioning can be achieved Featuring a Hemisphere GPS Crescent Vector based receiver and two separate antennas VS131 achieves heading accuracy ranging from 0 1 to 0 3 rms depending on the antenna separation and offers robust positioning performance gt Figure 1 1 VS131 receiver and antennas Vector VS131 GPS Compass User Guide 2 PN 875 0311 000 Rev A1 End User License Agreement IMPORTANT This is an agreement the Agreement between you the end purchaser Licensee and Hemisphere GPS Inc Hemisphere which permits Licensee to use the Hemisphere software the Software that accompanies this Agreement This Software may be licensed on a standalone basis or may be embedded in a Product Please read and ensure that you understand this Agreement before installing or using the Software Update or using a Product In this agreement any product that has Software embedded in it at the time of sale to the Licensee shall be referred to as a Product As well in this Agreement the use of a Product shall be deemed to be use of the Software which is embedded in the Product BY INSTALLING OR USING THE SOFTWARE UPDATE OR THE PRODUCT LICENSEE THEREBY AGREES TO BE LEGALLY BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE TO THESE TERMS I DO NOT INSTALL OR USE THE SOFTWARE AND Il IF YOU ARE INSTALLING AN UPDATE TO THE SOFTWARE DO NOT INSTALL THE UPDATE AND PROMPTLY DESTROY IT HEMISPHERE PR
46. em Setup For a complete menu path of each Top menu item see Appendix C Menu Map Vector V8131 GPS Compass User Guide 30 Vector p gt GPS p gt Diff SBAS Config Wizard System Setup Vector PN 875 0311 000 Rev A1 Chapter 4 Operating the VS131 Disabling the Aiding Features While the default settings will work for most users you can configure the tilt and gyro aiding features to further reduce heading startup and re acquisition times Disabling Tilt Aiding The VS131 s tiltaid accelerometer is enabled by default and constrains the RTK heading solution to reduce startup and re acquisition times The tiltaid is precalibrated at the factory however if you experience any tilt measurement offset you can recalibrate the tilt sensor via the Calibrate Tilt option in the Vector menu See Vector menu on page 48 for a menu map on how to access this feature Note Make sure the receiver is perfectly level before recalibrating the tiltaid The only times you may need to disable the tiltaid feature are e If you were unable to install the VS131 on a level plane with the antennas The tilt sensor is located inside the VS131 so it is important that you install the VS131 on a level horizontal plane NiENIDIeM If you were unable to install the VS131 in a horizontal plane with the antennas you must disable tiltaid Failure to do so may cause erratic equipment behavior e If troubleshooting to ensure
47. es set forth below to be free under normal use and maintenance from defects in material and workmanship and will substantially conform to Hemisphere GPS s applicable specifications for the Product for 90 days from performance or delivery or for the balance of the original Warranty Period whichever is greater EXCLUSION OF ALL OTHER WARRANTIES The LIMITED WARRANTY shall apply only if the Product is properly and correctly installed configured interfaced maintained stored and operated in accordance with Hemisphere GPS s relevant User s Manual and Specifications AND the Product is not modified or misused The Product is provided AS IS and the implied warranties of MERCHANTABILITY and FITNESS FOR A PARTICULAR PURPOSE and ALL OTHER WARRANTIES express implied or arising by statute by course of dealing or by trade usage in connection with the design sale installation service or use of any products or any component thereof are EXCLUDED from this transaction and shall not apply to the Product The LIMITED WARRANTY is IN LIEU OF any other warranty express or implied including but not limited to any warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE title and non infringement LIMITATION OF REMEDIES The purchaser s EXCLUSIVE REMEDY against Hemisphere GPS shall be at Hemisphere GPS s option the repair or replacement of any defective Product or components thereof The purchaser shall notify Hemisphere GPS or a Hemisphere G
48. fault Parameters 22 39 15 AG Hk Cede tie eden RR d 25 Chapter 4 Operating the VS131 27 Powering the Receiver On Off llle 28 LED Indicators sus venPPRRA SIEG EE ete be EISE es 29 eina sama KA eed be NA DALAN PANATA NA KA MAKA 30 Using the Menus 55 s ugar en dr EE me bane Uu TP TELSS I 31 Configuring The VOSTST iuis oo m chon i Seda A KER PA 32 Contig Wizard Menu 12s emen ace gc DA ene d 32 Using the Config Wizard 5 ee apa teri ac SC ox a Be crga a 33 Disabling the Aiding Features aaaa a 35 Disabling Tilt Aiding x aa ma ores ais oe eed ace EUR we ote BG 35 Disabling Gyro Aiding 22 5 iua a don R3 RUE AGA Gale t a 35 Adjusting the Time Constants eee eee 36 Connecting to Existing Navigation Systems 37 Viewing GPS DGPS Status zs ax d ee kx anane 37 Vector VS131 GPS Compass User Guide iii PN 875 0311 000 Rev A1 Contents Appendix A Appendix B Appendix C Appendix D Do I Have a Signal How Good is the Quality of My Signal Troubleshooting Menu Map Vector MENU 24 up dose CE icri MIA AA ADA GPS MENU x rarac KAMA bn heed ewes Differential Menu lsess Config Wizard Menu System Setup Menu Technical Specifications VS131 Receiver Specifications A21 Antenna Specifications A31 Antenn
49. ferential source menu map 50 disabling gyro 35 tilt aid 35 E environmental A21 specifications 57 A31 specifications 59 environmental specifications 56 event marker 24 G GNSS A31 sensor specifications 58 sensor specifications 57 GPS menu map 49 operation 8 receiver performance 8 specifications 54 status 37 gyro 35 aiding 11 calibration self or manual 11 disabling 35 H heading 16 37 bias 16 heading rate time constant 13 HRTAU 13 L L band A21 sensor specifications 57 A31 sensor specifications 58 L Dif and RTK 9 LED DGPS position indicator 29 indicators 29 power indicator 29 mechanical A21 specifications 57 A31 specifications 58 menu map 30 PN 875 0311 000 Rev A1 Chapter 1 Introduction Using VectorPC to Communicate with the VS131 Hemisphere GPS VectorPC is a free utility program that runs on your Windows PC or Windows mobile device Simply connect your Windows device to the VS131 via the COM port and open VectorPC The screens within VectorPC allow you to easily interface with the VS131 to e Select the internal SBAS beacon or L band correction source if available and monitor reception e Configure GPS message output and port settings e Review heading pitch and roll visually e Help calculate heading offset or heading bias VectorPC is available for download from the Software Downloads page of the Precision Product Support section on the Hemisphere GPS website www hemispheregps com
50. fications of the A21 antenna Table D 9 A21 GNSS sensor specifications GNSS reception GPS SBAS and L band GNSS frequency 1 575 GHz L1 LNA gain 30 dB LNA noise lt 2 0 dB Table D 10 A21 L Band sensor specifications L Band frequency 1 525 1 585 GHz L Band LNA gain 30 dB Table D 11 A21 power specifications Input voltage 3 3 to 12 VDC Input current 24 mA typical Table D 12 A21 mechanical specifications Specification Description 2 8 H x 5 1 D in Rumes RF connector TNC Table D 13 A21 environmental specifications Operating temperature 30 C to 70 C 22 F to 158 F Storage temperature 40 C to 85 C 40 F to 185 F Enclosure rating IP69K Shock and vibration EP455 Humidity 96 non condensing Vector VS131 GPS Compass User Guide 57 PN 875 0311 000 Rev A1 Appendix D Technical Specifications Table D 6 VS131 environmental specifications Specification Operating temperature 30 C to 4700C 22 F to 158 F Storage temperature 40 C to 85 C 40 F to 185 F Humidity 95 non condensing Enclosure rating IP66 IEC 60529 Shock and vibration Mechanical Shock EP455 Section 5 14 1 Vibration EP455 Section 5 15 1 Random EMC CE IEC 60945 Emissions and Immunity FCC Part 15 Subpart B CISPR 22 IMO wheelmarked No certification Table D 7 VS131 mechanical specifications fren seit Dimensions 20 2 L x 12 0 W x 7 5 H cm 8 0 L x 4 7 W x 3 0 H in Powe
51. g issues e Examine the power cable and its connector for signs of damage Ensure you are properly powering the system with the correct voltage 8 to 36 VDC by measuring the voltage at the receiver end of the power cable when the cable is connected to the power source e Check current restrictions imposed by power source minimum available should be gt 1 0 A e Verify the display has turned on and that time is incrementing in the upper right corner of the display and configure the COM port baud rates appropriately through the menu system e Verify polarity of power leads Check the 1 0 A inline power cable fuse e Since you are required to terminate the power input with your choice of connector ensure you have made a good connection to the power supply e Consult the troubleshooting section of the other device s reference manual to determine if there is an issue with that device Q Am I able to configure the two serial ports with different baud rates A Yes the ports are independent For example you may have one port set to 4800 and the other to 19200 or vice versa Q Am I able to have the VS131 output different NMEA messages through the two ports A Yes you may have different NMEA messages turned on for the two serial ports Further these NMEA messages may also be at different update rates O How do I determine the current configuration of the VS131 A You can view the current configuration from various
52. h 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 VS131 restricts the RTK solution by knowing that the secondary GPS antenna is a fixed distance from the primary GPS antenna The default value is 1 0 m but you may install the antennas with a different separation distance then enter that value into the VS131 This is called a fixed baseline and it defines the search volume of the secondary antenna as the surface of a sphere with radius 1 0 m centered on the location of the primary antenna see Figure 2 1 Primary antenna ET m baseline Figure 2 1 Secondary antenna s search volume Note The VS131 moving base station algorithm only uses GPS to calculate heading Differential and RTK corrections are not used in this calculation and will not affect heading accuracy Vector V8131 GPS Compass User Guide 10 PN 875 0311 000 Rev A1 Appendix D Technical Specifications Table D 3 VS131 L band sensor specifications Specification Channel spacing 7 5 kHz Satellite selection Manual and automatic Rejection 15 kHz spacing 30 dB 300 kHz spacing 60 dB Processor DSP for demodulation and protocol decoding module provides processing for differential algorithms Command support Reports L band region and satellite information Allows input and status of L band subscription bit e
53. ial claim b modify the Product so that it becomes non infringing provided such modification can be accomplished without materially affecting the performance and functionality of the Product c replace the Software or the Product with non infringing software or product of equal or better performance and quality or d if none of the foregoing can be done on a commercially reasonable basis terminate this license and Licensee shall stop using the Product and Hemisphere shall refund the price paid by Licensee less an amount on account of amortization calculated on a straight line basis over a deemed useful life of three 3 years The foregoing sets out the entire liability of Hemisphere and the sole obligations of Hemisphere to Licensee in respect of any claim that the Software or its use infringes any third party rights INDEMNIFICATION Except in relation to an infringement action Licensee shall indemnify and hold Hemisphere harmless from any and all claims damages losses liabilities costs and expenses including reasonable fees of lawyers and other professionals arising out of or in connection with Licensee s use of the Product whether direct or indirect including without limiting the foregoing loss of data loss of profit or business interruption P Chapter 1 Introduction What s In This Guide Product Overview and Features What s Included in Your Kit Using VectorPC to Communicate with the VS131 Vector VS131 GPS Compas
54. ices or reduce the amount of data being output No GPS lock Verify the VS131 has a clear view of the sky Verify the lock status of GPS satellites this can be done with PocketMax No beacon lock Verify the receiver is tuned to the correct frequency and bit rate Ensure beacon signal coverage is expected in your area Ensure environmental noise is not masking the signal reducing the SNR reading No SBAS lock Verify the VS131 has a clear view of the sky Verify the lock status of SBAS satellites this can be done with PocketMax monitor BER value Set SBAS mode to automatic with the SJWAASPRN AUTO command SBAS lock is only possible if you are in an appropriate SBAS region currently there is limited SBAS availability in the southern hemisphere Vector VS131 GPS Compass User Guide 40 PN 875 0311 000 Rev A1 Chapter 3 Installing the VS131 Default Parameters The following represents the standard configuration for the VS131 For more information on these commands refer to the Hemisphere GPS Technical Reference go to www hemispheregps com and click the GPS Reference icon Note Use the JSAVE command to save changes you make to the VS131 configuration for the changes to be present in subsequent power cycles Also if you change any default values and then issue a SJRESET command make sure you verify your settings to make sure you consistently get correct headings To reset the VS131 to its default parameters you can re instal
55. l the configuration file shown below contact your dealer or Hemisphere GPS Technical Support for information on obtaining and re installing the configuration file SJOFF PORTA SJOFF PORTB SJOFF PORTD SJAGE 2700 SULIMIT 10 SJMASK 5 SJNP 5 JWAASPRN AUTO SJDIFF LBAND JPOS 51 0 114 0 JSMOOTH LONG SITA COG 0 00 SJTAU SPEED 0 00 SJAIR AUTO SJALT NEVER SJATT HTAU 2 0 SJATT HRTAU 2 0 SJATT COGTAU Dal SJATT MSEP 1 0 SJATT GYROAID YES SJATT TILTAID YES SJATT LEVEL NO SJATT EXACT NO SJATT HIGHMP NO SJATT FLIPBRD NO SJATT HBIAS 0 0 SJATT NEGTILT NO SJATT NMEAHE 1 SJATT PBIAS 0 0 SJATT PTAU 0 5 SJATT ROLL NO SJATT SPDTAU 0 0 SJASC GPGGA 1 0 PORTA SJASC GPVTG 1 0 PORTA SJASC GPGSV 1 0 PORTA SJASC GPZDA 1 0 PORTA SJASC HEHDT 1 0 PORTA SJASC HEROT 1 0 PORTA SJASC GPGGA 1 0 PORTB SJASC GPVTG 1 0 PORTB SJASC GPGSV 1 0 PORTB SJASC GPZDA 1 0 PORTB SJASC HEHDT 1 0 PORTB OSJASC HEROT 1 0 PORTB SJBAUD 19200 PORTA SJBAUD 19200 PORTB SJSAVE Vector V8131 GPS Compass User Guide 25 PN 875 0311 000 Rev A1 P Appendix A Troubleshooting Vector VS131 GPS Compass User Guide 39 PN 875 0311 000 Rev A1 Chapter 4 Operating the VS131 Powering the Receiver On Off LED Indicators Startup Using the Menus Configuring the VS131 Disabling the Aiding Features Adjusting the Time Constants Connecting to Existing Navigation Systems Viewing GPS DGPS Status Vector VS131 GPS Compass
56. licable 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 any delay in performance due to unforeseeable circumstances beyond its reasonable control such as labor disputes strikes lockouts war riot insurrection epidemic Internet virus attack Internet failure supplier failure act of God or governmental action not the fault of the non performing party FORUM FOR DISPUTES The parties agree that the courts located in Calgary Alberta Canada and the courts of appeal there from will have exclusive jurisdiction to resolve any disputes between Licensee and Hemisphere concerning this Agreement or Licensee s use or inability to use the Software and the parties hereby irrevocably agree to attorn to the jurisdiction of those courts Notwithstanding the foregoing either party may apply to any court of competent jurisdiction for injun
57. ll risks of loss or damage for any failure to comply with the foregoing 6 OWNERSHIP Hemisphere and its suppliers own all rights title and interest in and to the Software and related materials including all intellectual property rights The Software is licensed to Licensee not sold 7 TRADEMARKS Hemisphere GPS Outback Guidance BEELINE Crescent Eclipse and the associated logos are trademarks of Hemisphere Other trademarks are the property of their respective owners Licensee may not use any of these trademarks without the consent of their respective owners 8 LIMITED WARRANTY Hemisphere warrants solely to the Licensee subject to the exclusions and procedures set forth herein below that for a period of one 1 year from the original date of purchase of the Product in which it is embedded the Warranty Period the Software under normal use and maintenance will conform in all material respects to the documentation provided with the Software and any media will be free of defects in materials and workmanship For any Update Hemisphere warrants for 90 days 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 the documentation provided with the Update and any media will be free of defects in materials and workmanship Notwithstanding the foregoing Hemisphere does not warrant that the Softw
58. m Setup Menu Figure 3 3 Antenna installation Cross section of boat Mounting Options You can mount the antennas with a magnetic mount pole mount or rail mount configuration You can secure the antennas to a 5 8 threaded pole or a 1 14 UNS 2B threaded mount using the mounting adapters The VS131 kit contains one A21 antenna one A31 antenna and an A21 height adapter The A31 antenna has a slightly higher profile than the A21 so the A21 height adapter is used to bring the two antennas level If the adapter is not used you will need to enter a non level bias calculation into the system see O could not install my antennas at the same height How do calibrate for the height offset on page 45 of Appendix B FAQ PINTA Ned The maximum allowable antenna separation is 5 0 m Any greater distance may result in an incorrect heading Vector VS131 GPS Compass User Guide 18 PN 875 0311 000 Rev A1 Vector VS131 GPS Compass User Guide 47 PN 875 0311 000 Rev A1 Chapter 3 Installing the VS131 Magnetic Mounting Note Your kit may not include a magnetic mount You can screw the magnetic mount into the bottom of the antenna and mount it to any metal surface If there are no metal surfaces use the zinc disc and foam adhesive included in your kit to mount the antenna To mount the antennas using the magnetic mount 1 Select a location and orientation that meets the requirements outlined in Mounting Orientation
59. me gt J 100 gt Africa gt Asia gt Australia gt Central America gt Europe gt North America gt gt South America gt Back gt Top Menu gt Bermuda gt Canada gt USA gt Back gt Top Menu gt Figure C 5 Beacon menu Vector gt GPS gt External RTCM gt Config Wizard gt System Setup gt RTCM Port gt PORT A RTCM Baud gt 19200 Diff gt Extern RTCM Back gt Top Menu gt Figure C 6 External RTCM menu Config Wizard Menu The Config Wizard walks you through basic settings to get up and running See Configuration Wizard on page 27 to view the Config Wizard menu map Vector VS131 GPS Compass User Guide 51 Alexandria VA Annette IS AK Youngstown NY Back gt Top Menu gt PN 875 0311 000 Rev A1 Appendix C Menu Map Differential Menu Use the Differential menu to view your differential settings From this menu you can view your current status or adjust satellites tracked The following available differential sources depend on the configuration you purchased e SBAS RTK CMR DFX ROX RTCM3 e Beacon e External RTCM e Autonomous Figure C 3 through Figure C 6 show the complete menu maps for the SBAS RTK Beacon and External RTCM differential sources respectively Vector InUse SBAS GPS Include Differential gt
60. menu appear and the Select indicator appears to the right of Disp Update the first item on the Display Format menu Press Enter on the Disp Update item The Display indicator changes to the Select indicator Press the Up Arrow or Down Arrow button to scroll through the available options such as 1Hz and 5Hz Press Enter on the highlighted option to select it That option is now the setting for the menu item and the Select indicator changes back to the Display indicator To return the menu system to the factory default configuration e Press and hold the Enter and Up Arrow buttons until the splash screen disappears Enter and Power share the same soft switch Vector VS131 GPS Compass User Guide PN 875 0311 000 Rev A1 Chapter 4 Operating the VS131 Configuring the VS131 The Config Wizard menu guides you through various configuration options enabling you to save up to five different configurations that are useful when using the VS131 on different vessels or for different applications If you use a personal computer or Windows mobile device you can use Hemisphere GPS VectorPC software to configure the VS131 See Using VectorPC to Communicate with the V8131 on page 5 for more information Config Wizard Menu This section describes the basic Config Wizard options you need to set to get up and running Figure 4 3 outlines the menu structure of the Config Wizard menu GPGGA gt Off GPGLL gt Off GPGNS
61. near you Hemisphere GPS 4110 9th Street S E Calgary Alberta Canada T2G 3C4 Phone 403 259 3311 Fax 403 259 8866 precision hemispheregps com www hemispheregps com Technical Support If you need to contact Hemisphere GPS Technical Support 8444 N 90th St Suite 130 Scottsdale AZ 85258 USA Phone 480 348 9919 Fax 480 348 6370 Documentation Feedback Hemisphere GPS is committed to the quality and continuous improvement of our products and services We urge you to provide Hemisphere GPS with any feedback regarding this guide by writing to the following email address docfeedback hemispheregps com Warranty Notice COVERED PRODUCTS This warranty covers all products manufactured by Hemisphere GPS and purchased by the end purchaser the Products unless otherwise specifically and expressly agreed in writing by Hemisphere GPS LIMITED WARRANTY Hemisphere GPS warrants solely to the end purchaser of the Products subject to the exclusions and procedures set forth below that the Products sold to such end purchaser and its internal components shall be free under normal use and maintenance from defects in materials and workmanship and will substantially conform to Hemisphere GPS s applicable specifications for the Product for a period of 12 months from delivery of such Product to such end purchaser the Warranty Period Repairs and replacement components for the Products are warranted subject to the exclusions and procedur
62. ntenna separation lt 0 17 rms 1 0 m antenna separation lt 0 08 rms 2 0 m antenna separation lt 0 03 rms 5 0 m antenna separation 1 850 kph 999 kts 18 288 m 60 000 ft Table D 2 VS131 beacon sensor specifications Channels Frequency range Operating modes Compliance Vector VS131 GPS Compass User Guide 54 PN 875 0311 000 Rev A1 Chapter 2 Understanding the VS131 Supplemental Sensors The VS131 has an integrated gyro and two tilt sensors which 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 VS131 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 The Hemisphere GPS Technical Reference go to www hemispheregps com and click the GPS Reference icon describes the commands and methodology required to recalibrate query or change the sensors status Tilt Aiding The VS131 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 VS131 knows the approximate inclination of the secondary antenna with respect to the primary antenna The sea
63. oise resulting in consistent values with time However if the vessel is quick and nimble increasing this value can create a lag in measurements Formulas for determining the level of smoothing are located in the Hemisphere GPS Technical Reference go to www hemispheregps com and click the GPS Reference icon If you are unsure on how to set this value it is best to be conservative and leave it at the default setting 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 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 Vector VS131 GPS Compass User Guide 12 PN 875 0311 000 Rev A1 Appendix D Technical Specifications Vector VS131 GPS Compass User Guide 53 VS131 Receiver Sp
64. on page 16 and Planning the Optimal Antenna Placement on page 17 2 A21 antenna only Unlike the A31 the A21 antenna does not include a threaded mounting hole You must attach the mounting bracket see at right using the four screws in your kit 3 Attach the magnetic mount extension to the magnetic base plate Note Photos at right and in step 4 show the zinc disc attached to the magnetic base plate You will only need the zinc disc if mounting the antenna to a non metal surface see steps 6 through 11 starting below 4 Thread the magnetic mount into the mounting bracket on the bottom of the A21 antenna or into the bottom of the A31 antenna PNAN eH When threading the magnetic mounts hand tighten only Damage resulting from over tightening may void your warranty If you are mounting the antenna on a metal surface go to step 5 If you are mounting the antenna on a non metal surface and need to use the metal disc and foam adhesive skip step 5 and complete steps 6 through 11 Vector VS131 GPS Compass User Guide 19 PN 875 0311 000 Rev A1 Chapter 3 Installing the VS131 5 Place the antenna in the desired location ensuring the antenna is secure in its mounting position end of metal surface mounting procedure Clean and dry the surface where you will attach the zinc disc 7 Remove the backing from one side of the foam adhesive and press the adhesive onto the zinc plate at right 8 Remove the b
65. proved service center contact Hemisphere GPS at the following address Hemisphere GPS 8444 N 90th Street Suite 130 Scottsdale AZ 85258 Phone 480 348 9919 Fax 480 348 6370 techsupport hemispheregps com www hemispheregps com Contents Chapter 1 Introduction Ka uu wow E ee eee EE 1 What s In This Guide 2 ck rne mm ed wee NG 2 Product Overview and Features eee eens 2 What s Included in Your Kit 0 2 0 a 3 Using VectorPC to Communicate with the VS131 5 Chapter 2 Understanding the VS131 7 GPS Overview ua uaa dira R odes dee AN SUE ACH ewes do ac e RH KG 8 GPS OPEN lION m RTT PTT 8 Differential Operation llle 8 VST3T Overview uiu ac uc hg cir KAWAN BER ean ost e doa esci ru seas es 10 Fixed Baseline Moving Base Station RTK 10 Supplemental Sensors leeren 11 Time CONSIAINS s uuuracihu d acit aor d arse S 3E ok acti ek rw 12 Chapter 3 Installing the V8131 15 Mounting the Antennas cess surrender Exe wy eee eed 16 Mounting Orientation llle 16 Planning the Optimal Antenna Placement 17 Mounting Options lessen 18 Routing and Securing the Antenna Cable 21 Mounting the Receiver celere 22 Connecting the Cables 2 65 uds ir ach hp eR dad ws 23 Selecting a Port for GPS Data Message Output 24 De
66. r primary GPS lock secondary GPS lock differential lock DGPS position heading RTK lock L band lock BELEK TNC female Table D 8 Aiding devices a a a Gyro Provides smooth heading fast heading reacquisition and reliable lt 1 per minute heading for periods up to 3 minutes when loss of GPS has occurred Tilt Sensors Provide pitch roll data and assist in fast start up and reacquisition of heading solution 1Depends on multipath environment number of satellites in view satellite geometry baseline length for local services and ionospheric activity 2Depends on multipath environment number of satellites in view and satellite geometry 3Requires a subscription from L band service provider Based on a 40 second time constant 9Hemisphere GPS proprietary 6 Under static conditions Vector VS131 GPS Compass User Guide 56 PN 875 0311 000 Rev A1 Chapter 2 Understanding the VS131 In addition to these differential services the VS131 can also receive radiobeacon corrections You can also purchase the VS131 with an RTK rover option which enables 0 02 m positioning performance when paired with a suitable Hemisphere GPS RTK base receiver product For more information on the differential services and the associated commands refer to the Hemisphere GPS Technical Reference go to www hemispheregps com and click the GPS Reference icon Automatic SBAS Tracking The VS131 automatically scans and tracks SBAS sign
67. rch 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 2 2 Tilt angle Figure 2 2 VS131 s tilt aiding Gyro Aiding The VS131 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 2 3 Figure 2 3 VS131 s gyro aiding Vector VS131 GPS Compass User Guide 11 PN 875 0311 000 Rev A1 Chapter 2 Understanding the VS131 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 per minute for up to three minutes in times of GPS loss for either antenna If the outage lasts longer than three minutes the gyro will have drifted too far and the VS131 begins outputting null fields in the heading output messages There is no user control over the timeout period of the gyro The gyro initializes itself at powerup and d
68. rcular Receiver mounting kit two brackets and related hardware Antenna mounting kit A21 antenna mounting kit A31 antenna mounting kit Note Your kit may not include a mag mount Antenna cable TNC male to TNC male 10 m Data cable DB 9 female to DB 9 male 3 m Vector VS131 GPS Compass User Guide 4 Part Number 803 3022 000 804 3036 000 804 3043 000 054 0118 000 710 0056 000 710 0110 000 710 0111 000 052 0004 000 050 0011 022 PN 875 0311 000 Rev A1 Index Numerics 1 PPS output 24 A A21 antenna GNSS sensor specifications 57 L band sensor specifications 57 A31 antenna beacon sensor specifications 58 GNSS sensor specifications 58 L band sensor specifications 58 accelerometer See tilt aid antenna cable routing and securing 21 mounting 18 mounting magnetic 19 mounting pole mount 20 mounting rail mount 20 placement optimal 17 primary search volume 10 secondary 10 B base station moving RTK 10 baud rate 44 beacon A31 sensor specifications 58 description of 9 sensor specifications 54 status 37 C cables antenna 21 connecting 22 23 selecting port message output 24 COAST corrections from external source 44 communication specifications 55 configuration menu system 31 of the system 32 returning to factory defaults 31 wizard 32 51 wizard using 33 D DGPS status 37 DGPS position indicator LED 29 Vector V8131 GPS Compass User Guide 61 Diff dif
69. rify 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 JDIFFRPORTB command on Port A will cause the receiver to expect the corrections to be input through Port B Vector V8131 GPS Compass User Guide 41 PN 875 0311 000 Rev A1 Appendix A Troubleshooting Table A 1 provides troubleshooting for common problems Table A 1 Troubleshooting Receiver fails to power Verify polarity of power leads Check integrity of power cable connectors Check power input voltage 8 to 36 VDC Check current restrictions imposed by power source minimum available should be gt 1 0 A No data from VS131 Check receiver power status to ensure the receiver is powered an ammeter can be used for this Verify desired messages are activated using PocketMax or JSHOW in any terminal program Ensure the baud rate of the VS131 matches that of the receiving device Check integrity and connectivity of power and data cable connections Random data from VS131 Verify the RTCM or binary messages are not being output accidentally send a SISHOW command Ensure the baud rate of the VS131 matches that of the remote device Potentially the volume of data requested to be output by the VS131 could be higher than the current baud rate supports try using 19200 as the baud rate for all dev
70. rror rate BER output for reception quality indication and manual frequency tuning Table D 4 VS131 communication specifications Re c Kao CC USB ports 1 USB B 1USBB Table D 5 VS131 power specifications ii ARRA Power input voltage 8 to 36 VDC Power consumption 4 5 W nominal L1 GPS and L band 3 6 W nominal L1 GPS Current consumption lt 0 38 A nominal L1 GPS and Lband 0 30 A nominal L1 GPS Antenna short circuit Yes protection Vector V8131 GPS Compass User Guide 55 PN 875 0311 000 Rev A1 Appendix D Technical Specifications VS131 Receiver Specifications Table D 1 through Table D 7 list the technical specifications of the VS131 Table D 1 VS131 GPS sensor specifications Receiver type Signals received Channels GPS sensitivity SBAS tracking Update rate Horizontal accuracy Heading accuracy Pitch roll accuracy Heave accuracy Timing 1PPS accuracy Rate of turn Cold start time Warm start time Hot start time Heading fix Maximum speed Maximum altitude L1 C A code with carrier phase smoothing GPS Two 12 channel parallel tracking Two 10 channel when tracking SBAS 142 dBm 2 channel parallel tracking 10 Hz standard 20 Hz available by subscription RMS 67 2DRMS 9596 RTK 10mm 1 ppm 20mm 2 ppm L band DGPS service 0 3 m 0 6 m SBAS WAAS 0 3 m 0 6m Beacon 0 3m 0 6m Autonomous no SA 1 2 m 2 5 m lt 0 33 rms 0 5 m a
71. s User Guide 1 PN 875 0311 000 Rev A1 Chapter 1 Introduction What s In This Guide This User Guide provides the following information to get you up and running quickly with your Vector V8131 GPS receiver compass This chapter briefly describes the VS131 and the parts in your VS131 kit e Chapter 2 Understanding the VS131 discussing GPS and differential operation as well as sensors and time constants related to the VS131 Chapter 3 Installing the VS131 describes how to mount the antennas and receiver connect the cables and power the system e Chapter 4 Operating the VS131 provides instructions on configuring the receiver disabling aiding features adjusting the time constants and operating the receiver e Appendix A Troubleshooting provides possible solutions for issues e Appendix B FAQ includes answer to common questions Appendix C Menu Map provides a full map of all system menus Appendix D Technical Specifications lists the technical specifications of the VS131 and the included antennas Note Throughout the rest of this user guide the Vector VS131 GPS Compass is referred to simply as the VS131 Product Overview and Features The VS131 Figure 1 1 provides a highly accurate GPS heading that takes into account the pitch roll and speed of various vehicles and vessels and is ideal for professional machine control and navigation applications in areas where
72. screens of the menu which show all configurable items of the receiver Alternately you can select Config Wizard gt Use Previous to return the receiver to a previously saved known configuration O My VS131 does not appear to be using corrections from an external correction source What could be the problem A This could be due to a number of issues Check the following items e Make sure the corrections are of an RTCM SC 104 protocol e Verify the baud rates of the port used by the VS131 match that of the external correction source Vector VS131 GPS Compass User Guide 44 PN 875 0311 000 Rev A1 Chapter 3 Installing the VS131 To rail mount the antennas 1 Select a location and orientation that meets the requirements listed in Mounting Orientation on page 16 and Planning the Optimal Antenna Placement on page 17 2 Use appropriate hardware to securely attach the antenna to the railing Routing and Securing the Antenna Cable IN ENS Sem The VS131 receiver provides 5 VDC across the antenna ports Connection to incompatible devices may damage equipment To route and secure the antenna cables review the following guidelines The two enclosed antennas each require a 50 impedance antenna extension cable such as RG 58U up to a maximum of 15 m 49 ft in length for proper operation The GPS receiver inside the VS131 requires a minimum input gain of 10 dB and maximum of 40 dB before saturation will occur Th
73. t A You may enter an non level bias calculation that adjusts the pitch roll output to calibrate the measurement if the antenna array is not installed on a horizontal plane To calibrate the pitch roll reading send the following command JAT T PBIAS x lt CR gt lt LF gt where x is a bias in degrees that will be added to the pitch roll measurement The acceptable pitch bias range is 15 0 to 15 0 default is 0 0 To determine the current pitch compensation angle send the following command JAT TI PBIAS lt CR gt lt LF gt The pitch roll bias is added after the negation of the pitch roll measurement if so invoked with the JATT NEGTILT command Vector VS131 GPS Compass User Guide 45 PN 875 0311 000 Rev A1 Appendix B FAQ This appendix covers power communication and external RTCM questions For GPS and Heading troubleshooting see Chapter 4 Operating the VS131 Q Can COAST technology work with corrections from an external source A Yes the VS131 will operate in a similar fashion with COAST technology as when using SBAS or Beacon corrections However SBAS corrections have the advantage that they are separated into separate error components allowing the VS131 to anticipate how errors will change over the coasting period with more consistent accuracy and for a longer period than regular RTCM range corrections O My VS131 does not appear to be communicating What do I do A This could be one of the followin
74. t the RS 232 interface level with external data loggers navigation systems and other devices The two serial ports on the back panel of the receiver use a standard DB9 socket connection PRIMARY RF USB SECONDARY RF ER RT Y oli mj c o C PORT A PORT B Tarer Be TIE WA 9 J 0 a j O 6 Figure 3 5 VS131 port connections The default baud rates NMEA message types and update rates for serial ports A and B are listed in Default Parameters on the following page If the NMEA data messages you desire are different from the default values you will need to select those also Use the Config Wizard to select your NMEA message types and update rates per port see Using the Config Wizard on page 33 Ports A and B have the connections detailed below in Figure 3 6 and Table 3 2 Table 3 2 Port A Port B serial port pinouts C 5 4 3 Transmit data Port A Transmit data Port B NMEA 0183 binary NMEA 0183 binary and RTCM input and RTCM input Figure 3 6 Serial port 3 Receive data Port A Receive data Port B pinout assignment NMEA 0183 binary NMEA 0183 binary and RTCM output and RTCM output Not connected Not connected signal return signal return 6 Event marker input 2 Nercomeded Notconnecea 3 T PPS aming output BV output 380 mA max Vector VS131 GPS Compass User Guide 24 PN 875 0311 000 Rev A1 Appendix A Troubleshooting Table A 1
75. tup and configuration of the unit in or out of the field and supports multiple languages You can perform most configuration tasks entirely through the menu without having to connect to a computer The VS131 front panel contains the three soft buttons shown at right The Enter button also functions as the power switch see Powering the Receiver On Off on page 28 for more information Table 4 2 describes the indicators to the right of specific menu items Table 4 2 Menu item indicators Go to the indicated submenu This indicator also appears to the right of the Back and Top Menu menu Pispiay items indicator e Press Enter when Back is selected to return to the previous menu Press Enter when Top Menu is selected to return to the Top menu Scrolls within a menu to highlight an option to select Select indicator Up Arrow button moves to the previous menu item or to the previous selection within a menu item Enter button displays a submenu or selects an option within a menu item Down Arrow button moves to the next menu item or to the next selection within a menu item On the Top menu press the Down Arrow button to highlight System Setup The Display indicator appears to the right of System Setup Press Enter to display the System Setup menu Press the Down Arrow button again to highlight the Display Format option and then press Enter The items on the Display Format
76. unting the Receiver Connecting the Cables Selecting a Port for GPS Data Message Output Default Parameters Vector VS131 GPS Compass User Guide 15 PN 875 0311 000 Rev A1 Chapter 3 Installing the VS131 Mounting the Antennas When mounting the antennas you need to consider the following e Mounting orientation parallel or perpendicular e Proper antenna placement e Magnetic pole or rail mounting INITAN Ned When installing the receiver and antennas the receiver display must face the primary antenna or you will have to disable tilt aiding Mounting Orientation The VS131 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 Regardless of which mounting orientation you use the VS131 provides the ability to output the heave of the vessel This output is available via the GPHEV message For more information on this message refer to the Hemisphere GPS Technical Reference go to www hemispheregps com and click the GPS Reference icon Parallel Orientation The most common installation is to orient the antennas parallel to and along the centerline of the axis of the boat This provides a true heading In this orientation
77. uring initialization or you can calibrate it as outlined in the Hemisphere GPS Technical Reference go to www hemispheregps com and click the GPS Reference icon 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 VS131 on a high speed maneuverable craft it is essential that when gyro aiding in the VS131 is first turned on use it in an environment that has high dynamics for the first five to ten minutes instead of sitting stationary With the gyro enabled the gyro is also used to update the post HTAU smoothed heading output from the moving base station RTK GPS heading computation This means that if the HTAU value is increased while gyro aiding is enabled there will be little to no lag in heading output due to vehicle maneuvers The Hemisphere GPS Technical Reference includes information on setting an appropriate HTAU value for the application Time Constants The VS131 incorporates user configurable time constants that can provide a degree of smoothing to the heading pitch rate of turn ROT course over ground COG and speed measurements You can adjust these parameters depending on the expected dynamics of the vessel For example increasing the time is reasonable if the vessel is very large and is not able to turn quickly or would not pitch quickly The resulting values would have reduced n
78. zon Away from other electronics and antennas e Along the vessel s centerline PNAN eH You must install the primary antenna along the vessel s centerline you cannot adjust the position readings if the primary antenna is installed off the centerline Positions are computed for the primary antenna On a level plane e With a 5 0 m maximum separation default is 1 0 m e Away from radio frequencies e As high as possible Set the MSEP value to be accurate to within 1 to 2 cm For more information on MSEP refer to the Hemisphere GPS Technical Reference go to www hemispheregps com and click the GPS Reference icon See Figure 3 1 below through Figure 3 3 on page 18 for mounting orientation examples P P primary antenna A31 Forward S secondary antenna A21 A motion H H Receiver display must face F primary Antenna antenna N separation 1 0 m default 5 0 m maximum Figure 3 1 Recommended orientation and resulting signs of HPR values Vector VS131 GPS Compass User Guide 17 PN 875 0311 000 Rev A1 Chapter 3 Installing the VS131 R P primary antenna A31 S secondary antenna A21 Receiver display must face primary antenna v Antenna lt separation 1 0 m default Forward 5 0 m maximum motion Figure 3 2 Alternate orientation and resulting signs of HPR values P Appendix C Menu Map Vector Menu GPS Menu Differential Menu Config Wizard Menu Centerline Syste

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