GVRC - Artisan Technology Group
Contents
1. A rtisan Artisan Technology Group is your source for quality TecmoogyGroup new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment EQUIPMENT DEMOS HUNDREDS OF InstraV ea REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com 7 information on price duotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED ode We aed Contact us 888 88 SOURCE sales artisantg com www artisantg com ES Trimble Force 11 GLOBAL POSITIONING SYSTEM GPS VERSA MODULE EUROPA VME RECEIVER CARD GVRC Installation Operation and Maintenance Manual April 1 1997 Part Number 30300 00 Rev C TRIMBLE NAVIGATION LTD Sunnyvale CA 94086 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com EXTrimble GPS VME Receiver Card GVRC Table of Contents iEn M 1 IEEE EDU 1 I2 Capabilities is o E2. J100 COMPONENT SIDE 28706 00 SM I i N HULLLLLLLI GE HEL Hg pH O PIN C32 PIN A32 PIN A32 Figure 2 1 GVRC Connectors and Pin Arrangement April 1 1997 Trimble Navigation Page 9 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com EXTrimble GPS VME Receiver Card GVRC Pin Signal Name Pin Signal Name Pin Signal Name VME P1 CONNECTOR DOO BBSY D08 DO1 BCLR D09 D02 ACFAIL D10 D03 BGO IN D11 D04 BGO OUT D12 D05 BG1 IN D13 D06 BG1 OUT D14 D07 BG2 IN D15 GND BG2 OUT GND SYSCLK BG3 IN SYSFAIL GND BG3 OUT BERR DS1 BRO SYSRESET DSO BR1 LWORD WRITE BR2 AMS GND BR3 A23 DTACK AMO A22 GND AM1 A21 AS AM2 A20 GND AM3 A19 ACK GND A18 ACKIN SERCLK A17 ACKOUT SERDAT A16 AM4 GND A15 A07 IRQ7 A14 A06 IRQ6 A13 A05 IRQ5 A12 A04 IRO4 A11 A03 IRQ3 A10 A02 IRQ2 A09 A01 IRQ1 A08 12V 5VSTDBY 12V 5V 5V 5V VME P2 CONNECTOR TM CODE IN 5V TM CODE IN TM FAULT IN ACTIVE GND TBD LOW TM FAULT INA RESERVED TM FAULT IN B TM CODE OUT A A24 TM CODE OUT B TM FAULT OUT ACTIVE A25 TBD LOW TM FAULT OUT A A26 TM FAULT OUT B HAVEQUICK OUT A27 HAVEQUICK OUT RTN RS 422 OUT A A28 RS 422 OUT B RS 422 IN A A29 RS 422 INB TIME MARK PULSE A30 NC BAUD RATE SELECT A31 NC D RESET GND NC GVRC RDY 45V NC NC D16 NC NC D17 NC NC D18 NC NC D19 NC NC D20 NC NC D21 NC NC D22 NC
3. www artisantg com Trimble GPS Time HDOP IODE L1 L2 Key Loader Mapping Datum NAV Data P code Pseudo random noise PRN Pseudorange PDOP Range Relative Positioning Rise Set Time TDOP Time To Go VDOP Velocity A 4 GPS VME Receiver Card GVRC The length of the second is fixed and is determined by primary atomic frequency standards Leap seconds are not used as they are in Universal Time Coordinated Horizontal Dilution of Precision describes how an uncertainty in range affects the horizontal position latitude and longitude Issue Of Data Ephemeris Part of the navigation data It is the issue number of the ephemeris information A new ephemeris is available usually on the hour The primary L band signal radiated by each NAVSTAR satellite at 1575 42 Mhz The L1 beacon is modulated with the NAV message L2 is centered at 1227 60 MHz The secondary L band signal radiated by each NAVSTAR satellite at 1227 6 MHz Cryptokey loading device KYK 13 KOI 18 or AN CYZ 10 Refers to a mathematical model of the earth Many local datums model the earth for a small region e g Tokyo datum Alaska NAD 27 North American Others WGS 84 for example model the whole earth The 1500 bit navigation message broadcast by each satellite at 50 bps on both L1 and L2 beacons This message contains system time clock correction parameters ionospheric delay model parameters and the vehicle s ephemeris and
4. NC D23 NC NC GND NC NC D24 NC NC D25 NC NC D26 NC NC D27 NC NC D28 NC NC D29 NC NC D30 NC NC D31 NC NC GND NC NC 45V NC J9 CONNECTOR IP J11 CONNECTOR MP J10 CONNECTOR KEYFILL N C N C SA AS RETURN RS 232 TX RS 232 TX N C RS 232 RX RS 232 RX KYK E N C N C KYK C GND GND KYK A PPS IN PPS IN ZEROIZE ALL N C N C LOAD STATUS N C N C KYK D N C N C KYK B Figure 2 2 GVRC Pin to Signal Assignments Pin outs CHONOOTRWN CMONOOTARWND Qoo xoosom Page 10 Trimble Navigation P N 30300 00 Rev C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation Operation amp Maintenance Manual Trimble e TTHITT warranty ExPIRES p EEEREN E C J150 RF Attenuation Jumpers S 5 VDC summ Wa Antenna Bias Sc heer Jumper DATE CODE N Controlling dit Interface DE EEE Er Select umper VME Address Switch S100 Figure 2 3 GVRC Jumper and DIP Switch Locations April 1 1997 Trimble Navigation Page 11 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com EXTrimble GPS VME Receiver Card GVRC 2 1 2 Select Controlling Interface The GVRC can be configured to have either the VME interface or the Instrument Port as the controlling interface as specified in ICD GPS 156 Select the desired controlling interface as i
5. Speed Geoid GPD April 1 1997 the GVRC to begin SA correction and or P Y code demodulation A technique similar to relative positioning except that one or both of the points may be moving The pilot of a ship or aircraft may need to know his position relative to a harbor or runway A data link is used to relay the error terms to the moving vessel to allow real time navigation A topocentric spherical coordinate system East North Up Vertical distance from current position to waypoint The angle between the line of sight vector and the horizontal plane Refers to the elevation angle below which a satellite is considered unusable It is used to prevent the GVRC from searching for satellites which are obscured by buildings or mountains A set of parameters that describe a satellite s orbit very accurately It is used by the GVRC to compute the position of the satellite This information is broadcast by the satellites Geometric Dilution of Precision describes how much an uncertainty in range affects the uncertainty in position It depends on where the satellites are relative to the user Velocity over the ground Actual physical shape of the earth which is difficult to describe mathematically because of the local surface irregularities and sea land variations Global positioning with differential corrections applied Trimble Navigation A 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE
6. be initialized from an external source while in INITIALIZE mode 1 3 4 4 Summary of Primary Operating Modes INITIALIZE The GVRC does not attempt to search acquire or track satellites The GVRC defaults to this mode following power up or reset An exception is following a short less than 30 April 1 1997 Trimble Navigation Page 5 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ES Trimble GPS VME Receiver Card GVRC second power interruption in which case the GVRC returns to the mode present prior to interruption The GVRC must be in this mode to accept the following initialization data a Time of day b Initial position c Almanac d Ephemeris e Lever arms f L1 L2 equipment delay The GVRC will accept aiding data in the INITIALIZE mode NAVIGATE In this mode the GVRC searches for acquires and tracks satellites to calculate a navigation solution It accepts aiding data and utilizes a blending filter to calibrate system accuracy In the Y CODE ONLY mode the GVRC will remain in the INITIALIZE mode after being commanded to NAVIGATE unless it has initial position time almanac and cryptovariables as discussed in section 1 3 4 3 Once this data is supplied the GVRC will transition to NAVIGATE mode if it was formerly commanded to do so TEST Mode The GVRC enters this mode to perform commanded or initial built in test STANDBY Mode This is similar to INITIALIZ
7. dms DoD DOP DPORT DTM EAE ECEF ECM ECCM EFM EHE EIA EIR EL April 1 1997 Two Dimensional RMS error Three Dimensional Almanac Anti Spoofing Average Azimuth Binary Coded Decimal Built In Test Celsius Climb Angle Circular Error Probable Command Climb Rate Course Cryptovariable Crypto Variable Weekly Department of the Army Departure Angle Error Decibels per Hertz Decibels referenced to 1 Watt Degrees Deselect Degrees Decimal Minutes Defense Mapping Agency Degrees Minutes Seconds Department of Defense Dilution of Precision Data Port Datum East Entry Angle Error Earth Centered Earth Fixed Electronic Counter Measures Electronic Counter Counter Measures Ephemeris Estimated Horizontal Error Electronic Industries Association Equipment Improvement Report Elevation ELA ELD EMC EMI EMP EPE EPLRS ETA EVE fix FOM FRZ ft ft sec GDOP G GPA GPE GPS GPU GS GUV GVAR GVRC HA HAE HAHO HDG HDOP HMMWV HPA IAW ICD INIT VO Trimble Navigation Trimble Elevation Angle Elevation Distance Electromagnetic Compatibility Electromagnetic Interference Electromagnetic Pulse Estimated Position Error Enhanced Position Location Reporting System Estimated Time of Arrival Estimated Verticle Error Fahrenheit Position Fix Figure of Merit Freeze Foot Foot Per Second Geometric Dilution of Precision Grid Glide Path Angle Glide Path Error Glo
8. health This information is used to process GPS signals to obtain user position and velocity The Precise code sent on both L1 and L2 GPS beacons When encrypted it is resistant to SA and spoofing Each GPS satellite generates its own distinctive PRN code which serves as identification of the satellite as a timing signal and as a subcarrier for the navigation data A measure of the range from the GVRC s antenna to the satellite Pseudo range is obtained by multiplying the speed of light by the apparent transit time of the signal from the satellite Position Dilution of Precision is the determination of position uncertainty in range affecting both the horizontal position latitude and longitude and the vertical position elevation Horizontal distance from current position to waypoint The process of determining the vector distance between two points and the coordinates of one spot relative to another This technique yields GPS positions with greater precision than the single point positioning mode The period during which a satellite is visible i e has an elevation angle that is above the elevation mask A satellite is said to Rise when its elevation angle exceeds the mask and Set when the elevation drops below the mask Time Dilution of Precision the uncertainty of clock bias affects the horizontal position latitude and longitude Estimated time to go until arrival at a waypoint Vertical Dilution of Precision desc
9. of the time GVRC Selective Availability and Key Loading When operating with current cryptovariables loaded GVRC automatically removes SA error Cryptovariables are loaded into the GVRC using the front panel J10 connector While the keyloading device is attached and operated the GVRC front panel ORANGE LED blinks at a rate Trimble Navigation P N 30300 00 Rev C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation Operation amp Maintenance Manual Trimble of 2 5 Hz When the keyloader is removed or inactivated the ORANGE LED blinks at Hz until keys are validated whereupon the ORANGE LED is continuously illuminated Once CVs have been loaded the user has the option to specify a mission duration to the GVRC This is a period in days after which the GVRC security module will automatically zeroize the CVs Once CVs are loaded the mission duration defaults to one 1 day The user may modify the value once and only once as follows Step 1 Enter a mission duration via one of the digital interfaces within one 1 hour of the loading of the CVs Maximum value is 244 days Step 2 Operate the GVRC through or during a period of greater than one 1 hour but less than one 1 day following loading of the CVs In this case the GVRC will set a default mission duration of 240 days If the user does not perform either of Step 1 or Step 2 above the GVRC will zeroize CVs u
10. CD GPS 156 for details Page 18 Trimble Navigation P N 30300 00 Rev C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation Operation amp Maintenance Manual Trimble 4 TESTING 4 1 RS 232 and RS 422 Interface Application software is provided to run on an IBM compatible personal computer to allow a PC operator to fully test the GVRC The program includes FLASH EXE Reads the current software image file and downloads into the GVRC Also used for MAGVAR and Datum upgrades TPMON EXE Monitor program to exercise the GVRC via the TIPY digital data port DATAMON EXE Monitor program to exercise the GVRC via the ICD GPS 153 digital data port Note that if the PC operator has the GVRC transmitting data at 76 8K Baud the PC must have a special serial I O board 4 2 VMEbus Interface Testing of the VMEbus interface requires a special diagnostic analyzer installed in the VMEbus rack which is interfaced to an IBM compatible personal computer April 1 1997 Trimble Navigation Page 19 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com rtisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Glossary Appendix A GLOSSARY Acronyms and Abbreviations 2D 2dRMS 3D A S AVG BCD BIT CA CEP CMD CR CRS CV CVW DA DAE dB Hz dBW deg desel dm DMA
11. E mode with the exception that the GVRC will attempt Y code re acquisition after having been in this mode for a period of up to 20 minutes upon being commanded back to NAVIGATE 1 3 5 Selective Availability SA 1 3 5 1 1 3 5 2 Page 6 General In the early days of GPS the DoD directed that GPS include the capability to deny military utility to unauthorized users Selective Availability and Anti Spoofing SA and A S are the results of that directive SA is the deliberate introduction of errors into the GPS measurements This denial of accuracy is implemented in two ways First predetermined errors are introduced into the navigation data transmitted by the satellites The result is that unauthorized users users without receivers that can neutralize the error compute erroneous positions and clock offsets Second the satellite clock itself is altered Whereas errors in the navigation data create slowly varying errors in the position solutions the clock dither produces a much faster error behavior Clock dither is quite obvious in velocity computations SA results in errors in position velocity and time With SA off and without differentially correcting the data horizontal accuracy using single frequency code phase receivers has been demonstrated to be about 12 meters Circular Error Probable CEP 30 meters 95 of the time With SA in effect the U S government promised 40 meters horizontally CPE and less than 173 meters 95
12. R EE ee GE E eee eee HIE 1 Ne iuc E 1 1 2 2 Position Velocity and Time PVT GPS Solutions cee esse ee ee ee ee ee ee ee Re ee ee Ge 1 1 2 5 External Gie ME ee OR OE RE OE Eai 2 124 ER EE terrere rrt N EE OO EE 2 1 25 io see ve OE ue N N AK EE PER EeNR 2 IKE GESUNDE AE EO DU 2 M3 amp OIE RE Et 2 BA RE EE EIU EE EI IDE 2 1 3 3 Satellite Acquisition and Selection ee ee ee sse een eene emere 3 1 3 3 1 Signal Acquisition Process see see ee ee ee ee Ge Se GR RR GR RA GR Gee ee ee ee 3 1 3 3 2 Time to First Fix TTEE esse sesse ese se ese ee ese ek ee se ee Ge ee Gee Re eke ee SR Ge ee Ge ee GR ee ee 3 1 353 3 Satelit Selection RE OR OE EE EE N 4 1 3 4 Anti Spooling ACS OR EE OE EE EE Eee 4 1 3 4 1 Anti Spoofing ON and Anti Spoofing OFF ees esse see cee see se ee ee ee ee ee ee 5 13 4 2 Afti Spoofing Operation sisses esse SES Se AE Le ee Bede seg sek bee de ee ne Sore ae ee 5 1 3 4 3 Anti Spoofing OFF Operation sees een nenne nennen 5 1 3 4 4 Summary of Primary Operating Modes sseeeeeenreee 6 1 3 5 Selective Availability SA esse se ee ee GR Re ee GR Re ee rennen GR Re nennen nent RR ee ener 6 EA Re EA EE AE NR EEN EE OE 6 ee V RE SA ORE EE evt tes RE EE OE EG 7 1 3 6 GVRC Initialization Using PLGR esee ee AR Re AR Re RA RA Re ee ee ee 7 20 EG EE IE OE OT etre e N EE EER Rs 8 2 1 Installation ConfiIgutratiOD erret erret tb DER EET EE Be Ee OER ERR REFER o ER
13. R HER GE ER BU EE eb ek 8 DML Se WME GE OR EE EE cauias 8 2 1 2 Select Controlling Interface Reese nenene Pekin edo sek seg de be se 12 21 3 Configure Antenna Bias ses EE des Sadie Re ERGE EER REOR SARS ees 12 2 1 4 Configure RF Input Attenuation 0 iese see see ee ee Gee Gee Ge ee ee ee AR Re AR Re RA RA ee ee ee ee 12 2 1 5 Pre Set Jumper and Switch Configuration eese 13 2 1 6 Instrumentation Port IP Baud Rate Selection ee ee ee ER Re RR Ge ee GR Re ee ee 13 2 2 Controls Indicators and Connectors ese ee ee ee ee 14 2 2 1 Front Panel Control and IndicatOTS esse see esse ee ee ee ee Re ee Re ee ee RR ee ee Re ee RR ee Re ee ee ee 14 D22 Sue Se ESE EE N NE EE OR EE EO EP pe e EEE 14 23 GVRGC Interface Cabling iiia ee teet oroe Ge Ged ee Be see oe Ee bee gane eb ede ES BE vee oa iege oae Dig 15 30 Maintenance and SerVlCe i iss nesteen e este gee He rte entre te tenen Ee DEEL DEE Ee See 16 31 HS els vie ARE EE EE EE ER RES 16 SUME J A EE MR EE EE EE EE 16 RO EE iet Ee o HU EE OE EE Es 16 51 3 Built Test Protocols sessies Es bee EER SEER GER GERED kes EHE gee ee See E e ERE KEER Re RR Dee 16 31 3 1 tial Selfs Fest ien E RENEE cadences teauesassacedteacoupesessacas REEL sa ek EES E 17 3 1 3 2 Commanded BIT eee ette beg EE Re Se ient dee Ee ee Ee de re eb Ee ds ee de E 17 3 1 3 3 Background BIT RE EE Ihn IE EA E RE EN 17 3 2 SOM ware W un
14. RE ER N EE EE 18 Page ii Trimble Navigation P N 30300 00 Rev C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation Operation amp Maintenance Manual Trimble 4 0 vo RR EE OO EE ee EE OER aSa E 19 4 1 RS 232 and RS 422 Interface esse se ee ER ee RA Ge AR ee GR ee AR ee ee ER Re ee neni 19 42 VMEbuSInterlace s iis e od vee ads ee te doge eue tive iste utes ee ees ee ee Ge Ds E aei 19 Appendix die AR EE EE AR RE EO EE NG A 1 April 1 1997 Trimble Navigation Page iii Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com EXTrimble GPS VME Receiver Card GVRC Tables Table No Page No 1 1 GYRC Dynamic Limits HC N ORE N OE S ERS 2 1 2 nudi M 3 1 3 FOM and AB vi ie Se RE 4 2 1 S100 Switches and VME Address Relationships esse esse esse ese ee ee Se ee ee GRA GR Gee ee ee ee 8 2 2 Configure Controlling Interface ee se se se Ge Re Gee ee ee be ee ee ee ee Se Ge Re rennen 12 2 3 Configure Antenna Bias Voltage iese se ee ee ee ee ee Ge ee ee ee AR Re RR RA Re Gee ee ee 12 2 4 Pre Set Jumper and Switch Configuration essen ee Re RA ee 13 2 5 LED Indications N AE AE HERE N N EE 14 2 6 GVRC Interface COMME CONS pepe meet Sup terit iai en tie e or ee Oe Heg Ee 15 Figures Figure No Page No 2 1 GVRC Connectors and P
15. ZE is to be used with caution All GVRC random access memory including position cryptovariables almanac time and ephemeris data will be erased if this method of zeroize is used Memory data lost during EMERGENCY ZEROIZE may be manually restored through one of the digital data ports 3 L 3 Built In Test Protocols The GVRC performs three types of built in test BIT On initial application of power the GVRC completes a self test and reports a GO or NO GO status to the NAVSSI host The GVRC will respond to a host command to complete a self test at any time during normal operation The Page 16 Trimble Navigation P N 30300 00 Rev C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation Operation amp Maintenance Manual Trimble GVRC also performs a background BIT during normal operation as a method of performance monitoring The GO and NO GO status discrete is a dedicated pin on the VME P2 connector The commanded and background BIT results are provided via shared memory in the O GVRC21 output message which is defined in ICD GPS 156 As a means of maintenance support or whenever implemented by the NAVSSI host the GVRC provides extended status and health communications over the IP or MP via the serial communications ports on the front panel or VME P2 connector The IP MP status and health communications are defined in the TIPY protocol ICD P N 27028 01 3 1 3 1 Initia
16. ading port is required for PPS operation This interface also includes a discrete to zeroize CVs 1 2 4 Dynamics The GVRC is capable of providing outputs with the specified accuracy throughout the dynamic environment expected for naval vessels and water craft The default velocity acceleration and jerk limits are summarized in Table 1 1 Table 1 1 GVRC Dynamic Limits Characteristic Velocity 40 m s Acceleration 15 m s s Jerk 7 5 m s s s 1 2 5 Environment The GVRC will operate to specified performance levels at temperatures from 0 C to 60 C It can be stored at temperatures from 40 C to 85 C with no degradation The GVRC is designed to operate in conditions of relative humidity up to 98 percent including condensation in the form of water and frost The GVRC satisfies EMI C requirements of MIL STD 461C Class Ala and is resistant to jamming and spoofing when properly keyed 13 Characteristics 1 3 1 GPS Signals The GVRC operates on the L1 L2 GPS frequencies and has the capability to demodulate both the C A code and the P Y code When an authorized user has keyed the GVRC with the appropriate cryptovariables the GVRC can remove SA accuracy degradation and operate with the encrypted Y code 1 3 2 Accuracy Table 1 2 compares PPS enabled GVRC performance with SPS accuracy Table 1 2 Accuracy Page 2 Trimble Navigation P N 30300 00 Rev C Artisan Technology Group Quality Instrumentation Guarante
17. al Mile National Telecommunications amp Information Operations amp Maintenance Overall Position Accuracy Operations Page Position Dilution of Precision Position Position Fix Present Position Pulse Per Second Precise Positioning Service Precise Positioning Service Security Module PseudoRandom Noise Precise Time amp Time Interval SA A S SAIP SEP SM sq SR SS SSI STBY STR STR 3D STS SV s TFOM TGT TM TNG TR TRK TTFF TTG TTSF UPS URA URE USRA UTC UTM VA VDOP VEL VEP Trimble Navigation GPS VME Receiver Card GVRC Position Velocity amp Time Remote Antenna Random Access Memory Reaction Time Range Read Only Memory South Selective Availability Selective Availability Anti Spoofing Spares Acquisition Integrated with Production Spherical Error Probable Security Module Square Slant Range System Specification Systems Security Instruction Standby Steering Angle Up Down Steering Angle Status Satellite Vehicles s True Time Figure of Merit Target Technical Manual Training Technical Report Track Time To First Fix Time To Go Time To Subsequent Fix Universal Polar Stereo graphic User Range Accuracy User Range Error User Supplied Remote Antenna Universal Time Coordinated Universal Transverse Mercator Vehicle Antenna Vertical Dilution of Precision Velocity Vertical Error Probable April 1 1997 Artisan Technology Group Quality I
18. bal Positioning System General Purpose User Ground Speed Group Unique Variable Grid Variation Global Positioning System GPS Versa Module Europa VME Receiver Card Helmet Antenna Height Above Ellipsoid High Altitude High Opening Heading Horizontal Dilution of Precision High Mobility Muti purpose Wheeled Vehicle Horizontal Position Accuracy In Accordance With Interface Control Document Installation Mount Initialize Input Output Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Trimble JTIDS kts lat LCD lcl L L LLA lon LRU MK m s s MAG MAGVAR MCSP MGRS MI MIL MMD MPH MSL mvar M V N N A NAV NBC NM NTISSI O amp M OPA OPS P PDOP POS posfix PP pps PPS PPS SM PRN PTTI A 2 Joint Tactical Information Distribution System Kilometer Kilometers Per Hour Knots Local Time Latitude Liquid Crystal Display Local Latitude Longitude Latitude Longitude Altitude Longitude Line Replaceable Unit Magnetic North Meter Mark Meters per second Meters per second per second Magnetic Magnetic Variation Mission Complete Success Probability Military Grid Reference System Statute Miles Angualr Measure for 1 6400th of a Circle Minimum Miss Distance Miles Per Hour Mean Sea Level Magnetic Variation Manpack Vehicle North Not Applicable Navigation Nuclear Biological amp Chemical Nautic
19. e Navigation Page 15 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com EXTrimble GPS VME Receiver Card GVRC 3 MAINTENANCE AND SERVICE The GVRC is designed to require very little operator maintenance or service It has a built in test BIT capability for self diagnostic check of operations 3 1 Troubleshooting The GVRC is designed with a BIT feature that performs a power up self test The self test can detect 95 of all failures If a significant failure has occurred which is indicated by the orange LED on the front panel status can by obtained via any one of the digital data ports None of the BIT failures can be repaired by the operator Repair of the GVRC is completed above the organizational level Refer to approved maintenance instructions for disposition of retrograde units 3 1 1 Power The GVRC indicates power is present by a lighted red LED on the front panel e Ifthe GVRC fails to power up verify that proper external input power is supplied to the GVRC e If it is determined that proper power is supplied to the GVRC the unit must be returned for repair 3 L2 Signal If the GVRC will not track satellites be sure that the antenna is free from obstruction and has an unrestricted view of the sky If tracking does not begin within a reasonable time zeroizing the GVRC will clear all memory and return the unit to default settings CAUTION EMERGENCY ZEROI
20. e four LED indicators on the front panel of the GVRC Collectively they indicate the current status of the GVRC as shown in Table 2 5 Table 2 5 LED Indications PWR red Constantly lit Power is applied to GVRC OPNL yellow Constantly lit GVRC is operational Blinking Fatal error detected by boot program e g corrupted invalid main program Yellow green Blinking in unison Built in test BIT in process and orange 2 2 2 Interface Connectors The GVRC interface connectors are listed in Table 2 6 Page 14 Trimble Navigation P N 30300 00 Rev C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation Operation amp Maintenance Manual Trimble Table 2 6 GVRC Interface Connectors VMEbus VME P1 Back edge ICD GPS 150 156 VME P2 Back edge using RS 422 PTTI timing signals VME P2 Back edge per ICD GPS 060 L1 L2 RF signals J4 SMA RF IN and Front panel 50 ohm cable ICD GPS 150 156 DB9 Front panel using RS 232 J9 IP Instrument Port J11 MP Maintenance Port KOI 18 KYK 13 AN DB9 Front panel CYZ 10 keyfill J10 KEYFILL Pulse Per Second Out BNC Front panel J6 PPS OUT Pulse Per Minute Out BNC Front panel J7 PPM OUT Pulse Per Second In BNC Front panel J5 PPS IN 2 3 GVRC Interface Cabling Standard off the shelf commercial cables can be used to interface the RS 232 digital data ports to an IBM compatible PC April 1 1997 Trimbl
21. ed 888 88 SOURCE www artisantg com Installation Operation amp Maintenance Manual Trimble POSITION ACCURACY 16 meters SEP steady state Authorized User 18 meters SEP maximum dynamics POSITION ACCURACY 76 meters SEP Unauthorized User VELOCITY ACCURACY 0 1 meter sec RMS no jerk unaided Authorized User 0 03 meters sec RMS aided PULSE PER SECOND TIMING 100 nanoseconds 1 sigma ACCURACY HAVE QUICK TIMING 10 microseconds 1 sigma ACCURACY The listed position accuracies are in terms of meters spherical error probable SEP The listed accuracies apply assuming a user range error URE Space Control of less than 4 0 meters under the following conditions a Position Dilution of Precision PDOP less than 2 57 b Horizontal Dilution of Precision HDOP less than 1 6 c Vertical Dilution of Precision VDOP of less than 2 0 d Unmodelled ionospheric error of less than 5 meters one sigma SPS Mode unauthorized user values assume that Selective Availability is active The GVRC computes a Figure of Merit FOM value which equates to an Expected Position Error EPE as shown in Table 1 3 1 3 3 Satellite Acquisition and Selection 1 3 3 1 1 3 3 2 April 1 1997 Signal Acquisition Process When power is applied the GVRC enters the INITIALIZATION mode in which it does not attempt to acquire and track satellites Upon being commanded to the NAVIGATION mode the GVRC uses information stored in memory
22. electable options No jumpers installed for operational service 2 1 6 Instrumentation Port IP Baud Rate Selection The GVRC can be commanded into either of two instrumentation port IP baud rates The standard rate is 9600 baud which is compatible with the PLGR standard The high data rate is 19 200 baud for receive and 76 800 baud for transmit The IP baud rate is selectable by the user via the A11 pin on connector P2 If the A11 pin is connected to chassis ground the IP operates in April 1 1997 Trimble Navigation Page 13 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com EXTrimble GPS VME Receiver Card GVRC the high data rate mode If the A11 pin is not connected open circuit the IP operates in the PLGR standard data rate 2 2 Controls Indicators and Connectors In addition to the configuration switches and jumpers the GVRC provides controls and indicators on its front panel that can be used during operation Six connectors four on the front panel two on the plug in edge provide convenient interface with various system functions 2 2 1 Front Panel Control and Indicators The RESET switch on the front panel causes a reset when operated and the receiver is reset to the INITIALIZE mode Host equipment will need to re initialize the VME interface and re establish IP MP connectivity following activation of this reset Refer to ICD GPS 156 for further details There ar
23. ier and code Doppler rates The GVRC can protect against deception and denial of GPS service Protection is provided during initial satellite signal acquisition satellite signal re acquisition during normal operation and while incorporating a new satellite into the PVT solution set Rejection of the deception signals is based on use of the encrypted Y code Trimble Navigation P N 30300 00 Rev C Page 4 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation Operation amp Maintenance Manual Trimble 1 3 4 1 Anti Spoofing ON and Anti Spoofing OFF The GVRC operates in either an ANTI SPOOFING ON or an ANTI SPOOFING OFF condition In the ON condition it is optimized for use against spoofers While in the OFF condition it is optimized for ease of use and improved TTFF When powered on the GVRC defaults to the ANTI SPOOFING ON condition If the database is complete and the GVRC is keyed the GVRC will proceed to acquire and track satellites in this mode when commanded to NAVIGATE by the user 1 3 4 2 Anti Spoofing Operation The GVRC must be correctly initialized to enable ANTI SPOOFING ON operation If not resident within the GVRC memory user insertion of initialization data via any of the available data ports must include the following data a Current SV almanac b Current position accurate within 100 km c Current time accurate within two 2 minutes d Valid c
24. in Arrangement iese see ese ee ee ee ee be ee ee ee Re Re ee RA RA ee 9 2 2 GVRC Pin to Signal Assignments see see ee ee ee ge ee ee ee Ge Ge ee GR Re RR RA Re ee ee ee 10 2 3 GVRC Jumper and DIP Switch Locations ee see see se ee ee Ge Ge Ge ee ee ee Re AR Re ER RA 11 Page iv Trimble Navigation P N 30300 00 Rev C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation Operation amp Maintenance Manual Trimble 1 1 1 2 1 2 1 INTRODUCTION Purpose The GPS Versa Module Europa VME Receiver Card GVRC is a Precise Positioning Service PPS receiver designed to collect and process the Global Positioning System GPS satellite signals to derive accurate 3 dimensional position velocity and time The receiver can also be aided by an auxiliary sensor for increased performance in integrated applications Capabilities Overview The GVRC operates with signals broadcast from the NAVSTAR Global Positioning System satellites As the satellites orbit the earth the satellite availability changes continuously The GVRC contains functions for determining the availability of satellites at any given time and for determining the optimum times for usage When the GVRC is operated with antenna line of sight visibility to the sky the GVRC automatically searches for satellite signals and acquires the data necessary for a GPS solution Using data derived from sate
25. l Self Test The POWER ON SELF TEST is initiated on first application of power to the GVRC or in response to a system reset command The reset can be implemented in any of three ways The reset toggle switch on the front panel may be placed momentarily to RESET The Discrete Reset DRESET signal may be asserted on pin A12 of VME connector P2 The reset may also be commanded by software from the NAVSSI host When the self test is in progress the GVRC stops all processing and indicates not ready or NO GO by outputting a logic 0 less than 0 6 VDC on pin A13 of VME connector P2 Upon successful completion of the self test less than 8 seconds the GVRC enters the INITIALIZATION mode and asserts ready or GO on pin A13 of VME connector P2 3 1 3 2 Commanded BIT The results of the commanded BIT are reported in shared memory output message 0 GVRC21 Word 9 Initial Commanded BIT Log The Word 9 log provides status on 8 receiver functions as follows EEPROM RAM A D Converter DPRAM Auxiliary Power Low or Absent Security Module Reference Clock Low Power Time Source A D Converter BIT Channel BIT Task Status Further definition of the faults identified in Word 9 is provided in Words 11 through 19 of message 0 GVRC21 3 1 3 3 Background BIT The results of the performance monitoring tests background BIT are reported to the NAVSSI host in message 0 GVRC21 Word 8 The faults which can be reported in Word 8 are as follows AGC Le
26. llite signals the GVRC calculates position velocity and time PVT solutions for output via the digital data ports The GVRC is capable of operating in a Precise Positioning Service PPS mode after an authorized operator has loaded the appropriate cryptovariables Cryptovariables CVs can be entered through the key fill port by using a KOI 18 KYK 13 or AN CYZ 10 data loader CVs can also be manually entered via the digital data ports Operation in the PPS mode mitigates the effects of Selective Availability SA and the Anti Spoofing A S feature allows access to the encrypted Y code The GVRC is capable of processing both the P Y code and C A code on the L1 L2 GPS frequencies When not authorized for PPS operation the GVRC is capable of operating in the Standard Positioning Service SPS mode Hardware and software zeroize functions allow cryptovariable information and all volatile memory data to be immediately and irreversibly deleted from GVRC memory components The remainder of this section briefly outlines the various capabilities of the GVRC 1 2 2 Position Velocity and Time PVT GPS Solutions April 1 1997 The GVRC calculates position velocity and time solutions at a maximum rate of one solution per second The accuracy of the solution depends on the operating mode and other conditions as described in section 1 3 2 Each solution is time tag referenced to GPS and or Universal Coordinated Time UTC The GVRC provides Preci
27. ndicated in Table 2 2 Note that only commands described in ICD GPS 156 are influenced by this setting The Interface Control jumper is located on the jumper block labeled J150 as shown in Figure 2 3 Table 2 2 Configure Controlling Interface 2 1 3 Configure Antenna Bias Voltage The GVRC can be configured to have a 5 VDC bias voltage on the center pin of the RF input connector by inserting a jumper where indicated in Figure 2 3 The antenna bias voltage jumper is located on jumper block J150 Table 2 3 Configure Antenna Bias Voltage 2 1 4 Configure RF Input Attenuation The GVRC can be configured with jumpers to attenuate the RF input Proper installation of the jumper s is required for optimal performance Too much attenuation of the RF input can cause low or inconsistent SNR readings when tracking satellites Too little attenuation of the RF input can cause degraded anti jamming performance The GVRC has six jumper settings ranging from 1 dB to 32 dB which will allow the RF input to be attenuated from 1 dB up to 63 dB See Figure 2 3 for the location of the six jumpers on the GVRC The attenuation jumpers are located on jumper block J151 2 4 8 16 and 32 dB and block J150 1 dB The jumpers provide a range of attenuation to account for installation dependent variations in the antenna LNA and signal losses in the RF cable connecting the LNA to the GVRC Page 12 Trimble Navigation P N 30300 00 Rev C Artisan Technology G
28. nstrumentation Guaranteed 888 88 SOURCE www artisantg com Glossary Trimble W West WGS World Grid System YD Yards WMM World Magnetic Model WP Waypoint Z Zulu Time XTE Crosstrack Error Glossary Of Terms 2dRMS Twice the distance root mean squared As used by the operators of the GPS when specifying SA levels it is the error distance within which 95 of the position solutions will fall 2D Two dimensional positions A 2D position fix provides latitude and longitude Elevation is assumed to be fixed Only three satellites are required to provide a 2D position with a user supplied elevation 3D 3D position provides the elevation in addition to Lat Lon and requires four satellites Almanac A reduced precision subset of the ephemeris parameters Used by the GVRC to compute the elevation and azimuth angles of the satellites Each satellite broadcasts the almanac for all the satellites C A code Coarse Acquisition code This is the civilian code made available by the Department of Defense DoD It is subject to SA The authorized user can correct the degradation effects of SA Channel Refers to the GVRC hardware that is required to lock to a satellite make the range measurements and collect data from the satellite Cryptovariable The coded information transferred to the GVRC manually or via key loaders which allow Differential Navigation ENU Elevation Difference Elevation Angle Elevation Mask Ephemeris GDOP Ground
29. pon subsequent power up default of one day exceeded Note in the above that the period of one 1 day commences at midnight UTC on the day in which CVs were loaded Once set mission duration cannot be reset prior to expiration without first zeroizing the keys and re keying 1 3 6 GVRC Initialization Using PLGR April 1 1997 The maintenance port defaults to the PLGR interface standard mode 9600 baud 8 data bits no parity and 1 stop bit regardless of jumper settings This port can be connected to a PLGR which can be commanded to transfer initialization data to the GVRC Refer to the PLGR operating manual for details Once a transfer is commenced GVRC will enter the INITIALIZATION mode Following successful transfer the GVRC will enter the STANDBY mode Trimble Navigation Page 7 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com EXTrimble GPS VME Receiver Card GVRC 2 INSIALLATION 2 1 Installation Configuration Figure 2 1 illustrates the GVRC board connectors and general configuration Figure 2 2 presents the pin to signal assignments pin outs for the VME connectors and the face plate connectors Figure 2 3 identifies the locations of the various DIP switches and jumpers that can be set to provide the desired configuration for the GVRC The pre set configuration installed at the factory prior to delivery is defined in section 2 1 5 The GVRC requires the following operato
30. r settings before installation into a double height single width slot of a VMEbus rack e Set the VME address refer to section 2 1 1 e Select the controlling interface refer to section 2 1 2 e If required select the 5 VDC bias for the GPS antenna and low noise amplifier LNA refer to section 2 1 3 e Configure proper RF input attenuation refer to section 2 1 4 2 1 1 Set VME Address The GVRC must be configured to interface on the VME bus Setting the individual DIP switches of 100 establishes the address of the GVRC Figure 2 3 depicts the location of switch S100 Data or instructions passed over the VME bus to or from the GVRC are coded with a unique device address The device address determined by the settings of S100 must match the address used by the VME bus controller At initial installation the GVRC S100 switches should be set to the values required by the bus controller software Table 2 1 identifies the VME address bit for each of the 10 switches of S100 Turn a switch on to assert its address line and turn the switch off to negate the address line Table 2 1 S100 Switches and VME Address Relationships Switch VME Address Bit VME Address Bit 18 Not used Page 8 Trimble Navigation P N 30300 00 Rev C Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Trimble Installation Operation amp Maintenance Manual E ey rae F FINE
31. ribes how an uncertainty in range affects the vertical position elevation Three dimensional velocity Trimble Navigation April 1 1997 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com A rtisan Artisan Technology Group is your source for quality TecmoogyGroup new and certified used pre owned equipment FAST SHIPPING AND SERVICE CENTER REPAIRS WE BUY USED EQUIPMENT DELIVERY Experienced engineers and technicians on staff Sell your excess underutilized and idle used equipment TENS OF THOUSANDS OF at our full service in house repair center We also offer credit for buy backs and trade ins IN STOCK ITEMS www artisantg com WeBuyEquipment EQUIPMENT DEMOS HUNDREDS OF InstraV ea REMOTE INSPECTION LOOKING FOR MORE INFORMATION MANUFACTURERS Remotely inspect equipment before purchasing with Visit us on the web at www artisantg com 7 for more our interactive website at www instraview com 7 information on price duotations drivers technical LEASING MONTHLY specifications manuals and documentation RENTALS ITAR CERTIFIED ode We aed Contact us 888 88 SOURCE sales artisantg com www artisantg com
32. roup Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com Installation Operation amp Maintenance Manual Trimble The configuration of the jumper s is dependent on the LNA that provides amplification to the satellite signals received at the antenna and the signal loss due to the RF cable connecting the LNA to the GVRC The initial attenuation setting is calculated by taking the base value of 21 dB adding the gain of the LNA and then subtracting the loss of the RF cable The base value of 21 dB is the difference between the P Y code signal level of 163 dB at the antenna as specified in ICD GPS 200 and the minimum required signal level of 142 dB at the RF input of the GVRC as specified in CI GVRC 300 Examples Pre amplifier Gain minus Cable Loss Recommended Attenuation Setting 21 dB 8 442 16 48 4441 2 15 Pre Set umper and Switch Configuration The pre set configuration of the GVRC upon delivery from the manufacturer is presented in Table 2 4 Table 2 4 Pre Set Jumper and Switch Configuration VME Address Bits 100 All Switches OFF All Bits Negated Controlling Interface J150 Jumper Not Installed VME Interface Controls Antenna Bias Voltage J150 Jumper Not Installed No Bias Voltage RF Attenuation J151 and J150 Jumper Installed on J151 at the 8 dB position Other positions have no jumpers installed Factory Testing Options J100 The Jumpers on block J100 are not for user s
33. ryptovariables If the initialization data is not available the GVRC will remain in the WAITING FOR INITIALIZATION state when commanded to the NAVIGATION mode Otherwise it will commence search and acquisition of satellites 1 3 4 3 Anti Spoofing OFF Operation If operational conditions permit or if initialization data insertion cannot be completed the GVRC can be operated in the ANTI SPOOF OFF mixed mode condition The following types of operation are possible with ANTI SPOOFING OFF a PPS receiver operation tracking P code corrected for SA b C A code differential GPS operation keyed or unkeyed and connected via any of the digital data ports to a source of differential corrections c SPS receiver operation using C A code d Blind search no knowledge of initial position time or satellite visibility e Anywhere searches poor or unreliable knowledge of position but having approximate time and almanac In the ANTI SPOOFING OFF mode the GVRC will upon being commanded to NAVIGATION search for and acquire satellites regardless of the initial status of its database To prevent inadvertent corruption of a database in a spoofing environment GVRC always powers on in the ANTI SPOOFING ON condition unless exiting from a power interrupt condition of less than 30 seconds The GVRC must be deliberately switched to ANTI SPOOFING OFF before it will attempt to acquire satellites when not fully initialized The GVRC database may
34. se Time and Time Interval PTTT data in several formats Time rollover pulses are provided at each UTC second and minute Binary Coded Decimal BCD time of day data is also provided in accordance with ICD GPS 156 and ICD GPS 060 HaveQuick compliant time of day signals are provided in Manchester code Trimble Navigation Page 1 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com EXTrimble GPS VME Receiver Card GVRC 1 2 3 Extemal Interfaces The GVRC is designed to be installed in a VMEbus system The antenna interface is a SMA connector to support a coaxial cable connection to a remote antenna The GVRC incorporates three distinct input output interfaces The primary control power and data interface is the VMEbus which complies with the IEEE STD 1014 1987 VMEbus Specification and ICD GPS 156 An Instrumentation Port IP which complies with ICD GPS 150 is provided on the GVRC face plate see figure 2 1 The IP is an RS 232 communications port incorporating a DB9 style connector The third interface option is the Maintenance Port MP which is also implemented as an RS 232 port on the face plate and is configured for the Precision Lightweight GPS Receiver PLGR interface standard mode see section 1 3 6 The KOI 18 KY K 13 CYZ 10 interface is a single function port for insertion of encryption keys The key loading port complies with ICD GPS 225 and CZE 93 105 Proper use of the key lo
35. signal level minimum elevation angle maximum GDOP and the 4SV 3SV switch GDOP to be used in calculating a solution The GVRC will track the eight highest satellites in view and calculate a PVT solution The GVRC will automatically select fewer satellites if eight are not available If four satellites are not available or there is no four satellite combination which provides GDOP lower than the GDOP switch mask the GVRC will augment available satellites with external sensor data when available In this condition the GVRC will use altitude hold when enabled employing the last known GPS altitude or a value input from the host system As time passes and the satellite availability changes the GVRC will automatically acquire rising satellites and adjust the selected constellation for the solution 1 3 4 Anti Spoofing A S The GVRC can provide the navigation accuracy presented in section 1 3 2 in a spoofing environment A spoofing environment is considered to be present when at least one deceptive pseudolite signal is being received which has the same C A and P codes associated with a valid Pseudo Random Noise PRN code number Deceptive signals are typically broadcast at signal levels of up to 10 dB greater than received satellite signal levels The deceptive signal attempts to force the GPS receiver to calculate erroneous PVT data by shifting to the higher power pseudolite carrier and code Doppler rates away from the actual satellite carr
36. to determine which satellites are above the horizon and the approximate Doppler frequencies of the signals Typically this information would include the satellite constellation almanac the last GVRC position fix and an estimate of current time If any of this information is not resident in GVRC memory when power is applied the time to acquisition will be lengthened unless the user provides this initialization data to the unit Position and time estimates plus almanac information can be inputted through any one of the digital data ports Time to First Fix TTFF Time to first fix is the elapsed time from the user demand on the GVRC to the first display of accurate PVT data The probability is 0 95 that the TTFF will be less than 90 seconds provided the GVRC position uncertainty does not exceed 100 km the GVRC has a time uncertainty of less than 2 minutes current almanac is available and the cryptovariables for that day are loaded and validated if SA A S operation is required Trimble Navigation Page 3 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ES Trimble GPS VME Receiver Card GVRC 1 3 3 3 Table 1 3 FOM and Definition ONE T re NN ONE nn 0 snore tbo NN ONNIE ENE Satellite Selection The GVRC will consider all satellite vehicles SVs currently being tracked for use in calculating a GPS solution The satellites must satisfy line of sight masking criteria minimum
37. vel Low Security Module Fault Auxiliary Power Low ICD 225 CV Erase Fault L2 Tracking Fault Software Zeroize Failed Hardware Zeroize Failed Shorted Antenna Fault Open Antenna Fault High Antenna Current April 1 1997 Trimble Navigation Page 17 Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com EXTrimble GPS VME Receiver Card GVRC Clock Reference Fault Task OS Fault Further definition of the faults identified in Word 8 is provided in Words 11 through 19 of message 0 GVRC21 3 2 Software Upgrades Software upgrades will be made available as necessary to update the operational program the MAGVAR table and the Datum tables in the GVRC These upgrades will be IBM PC compatible and can be downloaded via the RS 232 or RS 422 data ports MAGVAR and Datum Tables which are stored in read only memory ROM are individually field upgradeable PC based software is used to re program the ROM Refer to approved maintenance instructions The GVRC employs dual sets of MAGVAR and datum information One set is part of the main program and the second is the field loaded file The GVRC will test for a field loaded file and will then select for use either its internal or the down loaded data depending on which has the later date code Software version numbers and date code information for the active MAGVAR and Datum information is stored within the Card ID area of the GVRC shared memory Refer to I
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