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1. SCANNING In this example the first station was selected from the station library whether saved in non volatile memory or received The 2nd and 3rd station fields are available for you to enter the number of an RTCM station that is not listed in the library The 4th station field is not to be assigned to any station Pressing J again allows you to access the blank RTCM station number entry fields The cursor appears on the first blank RTCM field Station 1 Station 2 4 0014 BRES poo RTCM 0000 RTCM NONE SCANNING Enter the desired RTCM station number 0000 to 1023 using the numeric keypad Press to enable your selection NOTE On each digital port you should not mix UHF and RTCM stations Issue February 2000 3 11 How to use the Differential mode 3 1 4 KART PROCESSING DIF 2 KART If corrections including phase corrections are available from a DSNP UHF station your NR203 is capable of computing a KART position see Appendix 4 for details DIF KART UP In process View current lmode Station settings lorr 53 SCILL Change current Mode Station settings gt OTF 53 SCILL SCANNING lt J PRE gt Pressing the DIF key and selecting 2 KART displays the above screen that allows you to view and set parameters for the KART pr
2. Corresponding Corresponding meer valle DGPS Fix label 1 DGPS with PRC set 1 DGPS1 2 DGPS with PRC set 2 DGPS2 3 DGPS with PRC set 3 DGPS3 4 DGPS with PRC set 4 DGPS4 5 Multi ref DGPS fix MDGPS 6 Enhanced DGPS fix EDGPS 7 Accurate RTK fix KARTA 8 Real time RTK fix KARTR WGS84 Latitude radians WGS84 Longitude radians Altitude above WGS84 ellipsoid metres Fix Status flag 0 1 0 No fix 1 Fix available Fix Quality 0 19 0 3 Straight GPS 4 5 DGPS 2D T 6 9 DGPS 3D T 10 19 EDGPS amp KART Issue February 2000 A8 7 Accessible Variables HD 1 N 1 T 1 D 1 DT 1 DB 1 DA DA 1 FDRM 1 M2DM 1 SV2D 1 M3DM 1 SV3D 1 FVAL 1 FMEA FTST 1 0311357 8 8 Horizontal DOP 1 not available Number of SVs Used 1 15 UTC Time of Fix in seconds UTC Date of Fix yyyymmdd DGPS fix type 0 8 DGPS Fix DGPS Fix Type Corresponding Type definition DGPS Fix label 0 No DGPS GPS 1 DGPS with PRC set 1 DGPS1 2 DGPS with PRC set 2 DGPS2 3 DGPS with PRC set 3 DGPS3 4 DGPS with PRC set 4 DGPS4 5 Multi ref DGPS fix MDGPS 6 Enhanced DGPS fix EDGPS T Accurate RTK fix KARTA 8 Real time RTK fix KARTR DGPS Station number 0 1023 DGPS Reception Quality 1 10 1 not received 0
3. DGPS UPDATE DGPS1 DGPS3 DGPS2 DGPS4 Used 0008 PORSPODE a aes ee 0012 LA COUBRE Sate Bees DGPS1 NU SCANNING lt EV NE ELD J VALID Press the DIF key and select 3 DGPS to view the above screen that allows you to select up to four sets of measurements to be used for conventional DGPS and specify the differential position which is to be used for the navigation display With the cursor resting on the 1st or 2nd upper row or 3rd or Ath lower row station selection field use the T or J arrow key to scroll through the available differential measurements With the cursor resting on the Used field use the 7 or 4 arrow key to select the DGPS position to be used for the navigation display DGPS1 computed from 1st set of measurements in the upper row DGPS2 computed from 2nd set of measurements in the upper row DGPS3 computed from 3rd set of measurements in the lower row DGPS4 computed from 4th set of measurements lower row MDGPS weighted mean DGPS position Multi differential resulting from the combination of DGPS1 DGPS2 DGPS3 DGPS4 depending on whether two or three or four DGPS positions are available GPS straight GPS the NONE option may be selected for all four DGPS fields Issue February 2000 How to use the Differential mode 0311357 3 1 6 VIEWING UPDATING THE STATION LIBRARY
4. Drill two holes dia 6 5 in the desired mounting surface using the bracket as a template and attach the bracket with four screws Slide the receiver into the bracket and secure it in position by tightening the knobs on either side A mounting bracket and two clamps moisture resistant are supplied that allow you to install the NAP4 antenna on a vertical or horizontal rod approx dia 35 to 50 mm as shown below Mounting the NAP001 on its bracket Antenna bracket Two U bolts on horizontal mast on vertical mast On flat dia 56 mm max dia 56 mm max surface Mount dimensions of Mount dimensions antenna bracket for U bolts 4 4 62 The antenna should not be exposed to smoke whenever possible It should be overlooking any superstructure and clear of any large metal surface 0311357 Issue February 2000 Al 3 Installation Mounting the HF MF antenna The DHM5000 is fitted with the same type of bracket as the NAP0O01 see preceding page 0311357 Issue February 2000 Installation 0311357 For good reception of Differential corrections The HF MF antenna should be at least 1 5 m away from any wire antennas or guy wires Also any such wires including those more than 1 5 m away should not overlook the antenna The antenna should not be installed within the reach of any source of radio interference The traditional method for choosing a place for the antenna is recomme
5. MODE DRT HS A3 11 Message line identifier Geometric Dilution of Precision 1 if not computed Line of position Mean Error meters 1 if not computed Message line identifier Position Mode H Hold DR Dead reckoning 2T 2 dimensions T 3T 3 dimensions T If MODE H or DR Time since DR sec If MODE 2D or 3T Fix Quality figure Message line identifier Frequency pilot drift speed sec sec Issue February 2000 Connecting a peripheral Messages 11 amp 12 Global Positioning System Fix Data GPGGA with parity check SGPGGA hhmmss ss 1111 1llll a yyyyy yyyy a xX XX XX xX xXxx x M 12 5 M xx x Xxxx hh lt cr gt lt 1f gt SGPGGA NMEA183 message identifier hhmmss ss TUTC UTC time of position computation 1111 1111 a L84 Latitude in degrees 2 char minutes 2 char 1 10 min N S indicator yyyyy yyyy a G84 Longitude degrees 3 char minutes 2 char 1 10 min E W indicator x DS GPS quality figure 1 straight GPS fix or not available 2 Differential GPS fix XxX NSVU Number of SVs used to compute the fix XX X HDOP Horizontal Dilution of Precision 1 if not computed xxxX x M ZP Antenna altitude above MSL meters 12 3 M Altitude correction XX X DAGE Mean age of Differential corrections 1 0 if not computed XXXX DSTA Identification of Differential station used hh Message parity 031135
6. Message 8 Of the NR103 type beginning lt cr gt lt lf gt lt cr gt lt lf gt QLY x 1 x x M x x x x X X X X x x lt cr gt lt lf gt ZDA hhmmss s xx XxX XXXx X x lt cr gt lt lf gt OLY Message line identifier x 1 PS GPS position status 0 Fix not available or invalid 1 GPS fix available x x M DRMS Position DRMS meters 1 if not computed ep he pee SVU PRN of SVs used in the solution ZDA Message line identifier hhmmss s TUTC UTC time xx xx xxxx DUTC UTC date day month year x x GPSD Time difference UTC GPS sec Message 9 Of the NR103 type continued GLL 1111 1111 a yyyyy yyyy a x xx M lt cr gt lt lf gt VTG hhmmss s xx XX XXXX X X lt cr gt lt lf gt GLL Message line identifier 1111 1111 a L84 Latitude in degrees 2 char minutes 2 char 1 10 min N S indicator yyyyy yyyy a G84 Longitude in degrees 3 char minutes 2 char 1 107 min E W indicator x xx M Z84 Antenna altitude above ellipsoid m 0311357 Issue February 2000 A3 10 Connecting a peripheral COG SOG ZS Message line identifier Course Over Ground degrees Horizontal Speed m s Vertical Speed m s Message 10 Of the NR103 type end SGD x x G x x M lt cr gt lt lf gt SYS cc x lt cr gt lt lf gt ZEF x XXXXE 00 6 lt cr gt lt lf gt SYS cc ZEF X XXXXXE 006 0311357 GDOP LPME
7. Searching for a satellite r Satellite Received but not used Elevation too low orno DGPS corrections received u satellite received and Used Signal to Noise ratio Satellite Elevation A if rising v if setting Satellite Azimuth gt To quit press any function key Issue February 2000 3 44 How to use Auxiliary functions 3 5 2 Viewing and clearing events and anomalies AUX 2 Anomaly In most cases anomalous events detected by the receiver do not result from a malfunction of the receiver itself so they do not appear automatically on the screen Instead they are recorded so that the navigator can look at the list of anomalies whenever he wishes to as if they where recorded in a log book Then he is allowed to clear erase from the list those anomalies which do not persist gt How to view anomalies e Press AUX and select 2 Anomaly If one or more anomalies are currently reported the latest two are viewed first Scroll through the list of anomalies if any using the J and T arrow keys None means the list is empty all possible anomalies and their meanings are listed in Appendix 10 message AUX ANOMALY Additional POSIT No fix computation 0 error code Begin Aug 19 14 04 15 End 14 13 46 identification gt DIFF CPU DIFF overflow Begin Aug 19 14 04 19 End 14 17 20 MU SCANNING a AcKNowLEDGE Ed time or current time if per
8. UTC if the offset is 00 00 LOC if the offset is other than 00 00 PERFORMANCE CHECK After you have completed the above instructions the receiver should be ready to operate Check the configuration and selection of local DGPS stations see par 3 1 for any details See if the navigation data are displayed as shown in Chapter 2 Check for proper operation in both straight GPS and Differential GPS Check the Quality figure of local DGPS stations See if each navigation mode works properly Check for anomaly messages AUX function key This completes the instructions for putting the receiver into operation NOTE DSNP agents should give users any necessary advice 0311357 on DGPS stations Issue December 1996 A2 3 Getting started 0311357 Issue December 1996 A2 4 Connecting a peripheral APPENDIX 3 CONNECTING A PERIPHERAL If you wish to connect your receiver to a peripheral device such as a digital plotter or video plotter then you need to set the parameters of the I O port to be used on the receiver and select the messages to be generated computed or raw data Depending on the peripheral to be used the vendor should give the user any advice needed to make appropriate choices HOW TO SET THE CONFIGURATION OF AN OUTPUT PORT e Press AUX and select 9 Inp Outp e Select 1 Ports The screen that shows up allows you to select the appropriate parameters for the peripheral to
9. DIF 4 STATIONS Press the DIF key and select 4 Stations Station Type Position 0010 LA CRAU SERC 50b s 43 08N Code 3 H1630000Hz H2635000Hz 6 03E SCANNING E ELD 4 UPDATE The above screen allows you to view and update the specifications of the stations contained in the receiver s station library Only 15 stations can be saved in the non volatile memory but the station library has room for 30 more stations whose specifications are received via the radio link or from the numeric input If corrections are available from any stations that are not saved in the non volatile memory those stations are prompted too The station library may contain up to 45 stations The above screen shows an encrypted station with two transmission frequencies hence a DSNP HF station For an non encrypted station with a single frequency the screen would look like the one below Station Type Position 0011 GATTEVILLE RTCM 100b s 49 42N M0297500 i 1 16W To view the specifications of a station Use the J and arrow keys until the desired station is displayed Issue February 2000 3 16 How to use the Differential mode gt 0311357 To change the specifications of a station With the desired station viewed on the screen press Update and change the specifications using the keyboard as explained in par 1 4 All the specifi
10. NR203 Multi Differential GPS Receiver User s Manual Software version V4 1 Documentation Part No 0311352 Issue February 2000 In no event shall DSNP be liable for incidental or consequential damages or related expenses resulting from the use of this product or arising out of or related to this manual or the information contained in it even if DSNP has been advised or knew or should have known of the possibility of such damages The information in this manual is believed to be accurate and reliable However DSNP reserves the right to make changes to its products or specifications at any time without notice in order to improve design or performance and to supply the best possible product CONTENTS 1 INTRODUCTION 1 1 About the NR203 receiver exiacadanitidnec ind ingindindind ndlad acing dtaansas 1 2 About DSNP s Differential GPS As3 ADOUL TIS MANUALS aut enian adorns a aa a aa aa aa aaa i e e ae 1 4 How to use the keyboard 2 STANDARD NAVIGATION 2 1 The standard navigation display 2 2 How to enter an initial estimate 2 3 How to turn off the receiver 3 HOW TO USE ALL ADVANCED FUNCTIONS 3 1 The Differential mode 3 1 1 IntroductioM ani tot cari haat al nh a bk anid Salen tiene ale lis 3 1 2 Viewing the status of DGPS stations 3 1 3 Selecting differential stations 3 1 4 Kart PrOCeSSING erene ienee caniotatcs E E 9 1 5 DGPS ProcesSSiNg niiae ed ate 3 1 6 Viewing updating the Station library e 3 1 7 C
11. lt eoln gt End of line 2 characters CR LF OD OA lt etx gt Enf of message 03n 0311352 Issue September 1997 A7 1 Raw Data The term block stands for a group of data of the same nature The expression numerical value encompasses all notation types binary decimal or hexadecimal The term number if no further indication is provided depicts a decimal number in base 10 The term Label stands for an ASCII character string e GENERAL FORM OF MESSAGE 0311352 one A element lt stx gt lt eoln gt one B element lt sobk gt lt time tagging line gt lt eoln gt one or more C elements lt soln gt lt 1st data line gt lt eoln gt one D element lt gsoln gt lt nth data line gt lt eoln gt lt etx gt For any given line type the count and type of data are predefined The count of characters in any data is also predefined Issue September 1997 A7 2 Raw Data A7 1 2 DATA CLASSIFICATION There are four main categories of raw data e GPS DATA MESSAGES Two types CDAT non formatted GPS data message in hexadecimal E A U S H FDAT formatted GPS data message in ASCII E A U S H e DIFFERENTIAL CORRECTIONS D K corrections received by user receivers e DGPS RAW DATA MEASUREMENTS Two types CMEAS Compacted raw data measurements through FIR type filtering R SMEAS Sampled raw data measurements thr
12. 6 7 8 9 Control signal input Data input Control signal output Data output Port L RS422 is especially designed for the UHF NDR104 receiver but it can also be used for RTCM104 digital input NR203 O O CO NDR104 0311357 Issue February 2000 A1 12 Installation 0311357 Connecting an RTCM corrections receiver Three cases are possible depending on the type of serial port used on the corrections receiver side 1 The corrections receiver uses an RS232 port Port K Correction NR 203 receiver SubD 15 f RS232 port a GND GND Y l A 3 o y RXD f6 TXD L LJ 2 The corrections receiver uses an RS422 port Port L NR203 Corrections receiver Sune et RS422 port A GND l lene 3 2 O 7 40 TXD RXD l 11 l Itxp 3 Using the RS422 port with an RS232 receiver output Port L NR203 Corrections receiver SubD 15 f RS232 port va GND l leno A 3 Ui RXD a i 1 Issue February 2000 A1 13 Installation Connecting an NDR104 UHF receiver Use the cable described below NR203 SubD 15f NDR104 Binder 7 contacts GND RXD TXD RXD TXD TXD RXD TXD RXD RS422 port L RS422 port Power input connector Socket 3 contacts male Plug 3 contacts female PIN SIGNAL FUNCTION Vcc Battery terminal Vcc Battery terminal not used The power supply is
13. Example R 1 2 3 4 5 6 7 570 2092800 7769273215 9724661 2 31 0 0 7848424467 21861933 9 40 0 0 7736550634 27759127 11 35 0 0 7840226253 451393 12 31 0 0 7734216380 99973224991 14 39 0 0 76696079457 99995383873 15 38 0 0 7790593602 33314106 21 41 0 0 Issue September 1997 AT7 17 Raw Data A7 1 7 PROCESSED DATA e PHASE DATA RECEIVED FROM A KART DIFF STATION K 0311352 Format lt stx gt lt eoln gt K lt sp gt lt b1 gt lt sp gt lt b2 gt lt eoln gt lt c1 gt lt sp gt lt c2 gt lt sp gt lt c3 gt lt sp gt lt c4 gt lt c5 gt lt eoln gt lt etx gt Data b1 b2 c1 c2 c3 c4 c5 4 char 7 char 2 char 6 char 2 char 1 char 1 char GPS week number GPS time in reference to week in 1 10 s units Station number Phase measurement modulo 10000 turns 9999 trs LSB 10 tr SV PRN number Phase continuity 4 hex ASCIl encoded bits 0 to F Phase quality 4 hex ASCll encoded bits 0 to F Message length 21 char 17 char x message count 21 191 char Direction CPU gt port A or J Recurrence Depends on reception Example K 0629 2015186 981280 12 01 898120 28 198502 14 098128 01 1 289810 23 981280 981280 06 13 1 981280 OF OOS OO OO o WE Sea ea g a eg 1 Issue September 1997 A7 18 Raw Data e ECEF POSITION OF RE
14. September 1997 3 27 Waypoints and tracks 3 2 5 3 2 6 0311357 HOW TO UPDATE A WAYPOINT Press WPT and then select 2 WAYPTS Press T or J repeatedly until the desired waypoint is displayed Select 1 UPDATE The cursor shows up on the first character in the Label field If the waypoint is part of a track or is involved in the navigation mode currently used the blinking message Wot in use or in track Confirm update shows up Make all the necessary changes to the label type and coordinates Press I to store the new definition of the waypoint HOW TO DELETE A WAYPOINT Press WPT and select 2 WAYPTS Press T or J repeatedly until the desired waypoint is displayed Select 2 DELETE Select 1 YES to confirm your choice otherwise select 2 NO The waypoint is removed from the waypoints library NOTE You cannot delete a protected waypoint Delete command dimmed when you display this waypoint or any waypoint part of a track or involved in the navigation mode currently used Issue September 1997 3 28 Waypoints and tracks 0311357 3 2 7 3 2 8 HOW TO VIEW EXISTING TRACKS e Press WPT and then select 3 TRACKS The screen should look like this Ma Racks Free Waypoints 85 99 Free Tracks 7 9 No Label Waypts 01 ST NAZAIR 01 02 04 03 05 00 00 00 00 00 00 OO M scannING uppate 2 DELETE 3 CREATE e Scroll through the list of tra
15. carrier detected but no data 1 3 very poor reception 4 6 intermittent reception 7 10 good reception quality Average age of DGPS corrections seconds DRMS meters MDE 2d Max meters PRN of the SV causing 2d Max 1 32 MDE 3d Max meters PRN of the SV causing 3d Max 1 32 F_TEST value F_TEST value mean F_TEST result 0 1 Issue February 2000 A8 8 NR203 Specifications APPENDIX 9 NR203 SPECIFICATIONS GPS CHARACTERICTICS GPS Reception e SPS L1 type 1575 42 MHz e 15 parallel channels e Low noise C A code and L1 carrier phase GPS Antenna NAP001 micro strip antenna e Built in preamplifier 39 dB e 30 m RG223 cable DIFFERENTIAL FEATURES Corrections messages e NDS200 HF format e NDS100 UHF format phase and or PRCs e RTCM 104 V2 1 format Differential channels Six parallel channels e 4 HF or Radio beacon MF e 1 UHF or RTCM 104 e 1 RTCM 104 0311357 Differential antenna e HF amp Radio beacon MF integrated reception e Active type e Freq Bands 283 5 to 325 kHz 1 6 to 3 5 MHz e 30 m KX15 cable Antenna options e Narrow band passive HF e Wide band HF MF H field e NDR 104 UHF module PERFORMANCE General e Kinematic OTF KART mode offering Automatic initialization with 5 Vs or more Operational range 10 to 15 km KART R fix 0 6 s rate 2 cm X Y Z accuracy KART A fix 2 s rate 1 cm X Y Z accuracy E DGPS fix 0 6 s rate
16. if you are allowed to use the station the station s administrator should have sent it to you e To enter a new code press _ Update In our preceding example the lower line would change as follows Station Type Position 0010 LA CRAU SERC 50 b s 43 08N 00000 H1630000Hz H2635000Hz 6 03E Enter the C3 code into this field e Key in the 6 characters making up the new code and press J The new code is then saved and the initial data are restored in the lower line WARNING In the case of a station currently in use you need to deselect the station first if you want to change the C3 code The change will take effect when you select the station again Issue February 2000 3 20 How to use the Differential mode 3 1 7 CHECKING THAT THE SELECTED STATIONS ARE PROPERLY RECEIVED The quality of the DGPS signal is indicated on the screen after you press DIF in the Ag column Check that the average age of corrections is correct Ag figure reset to 0 whenever new corrections are received Up to 4 analog channels can be monitored concurrently by reading the Qu column on the screen after you press DIF then T The quality figure Qu should be interpreted as previously explained in par 3 1 2 NOTE Reading a good quality figure and a good signal to noise ratio on your receiver display does not mean that DGPS corrections are necessarily available Indeed reception can be correct whereas the C3 co
17. waypoints which cannot be deleted at receiver level Waypoints can also be created in the receiver provided waypoint numbers still remain free They can also be updated or deleted provided they are not protected waypoints Waypoint No 00 cannot be part of a track definition as the number 00 is used to inform the receiver of the end of a track see below 0311357 Issue September 1997 3 23 Waypoints and tracks 0311357 Tracks are defined as series of waypoints up to 12 waypoints per track representing routes along which to navigate The path between any two successive waypoints is called a segment A track is defined by atrack number 1 to 9 alabel 8 alphanumeric characters a series of waypoints numbers up to 12 if a track consists of n waypoints where n lt 12 enter 00 in the n 1 field to indicate the end of the track that is why waypoint No 00 cannot be part of a track definition Up to 9 tracks can be stored into the receiver Tracks can be defined using CONF 203 or at receiver level The purpose of storing waypoints and tracks into your receiver is to guide you to these waypoints or along these tracks by choosing the appropriate mode see par 3 3 Issue September 1997 3 24 Waypoints and tracks 3 2 2 HOWTO READ THE LIST OF WAYPOINTS STORED IN YOUR RECEIVER e Press WPT The screen displays the number of free memory locations i e the number of free waypoint number
18. 9 721 5 23 608 2 SR 45 0 05 471 5 23 458 2 0311352 15 75 2 4 2 31 3 0 14 35 1 2 125 2 75 1 2 125 Issue September 1997 A7 25 Raw Data A7 2 4 GPS BIT FLOW e GENERAL FORM OF MESSAGE lt stx gt lt eoln gt lt B gt lt time tagging gt lt eoln gt lt soln gt lt block counter gt lt eoln gt lt soln gt lt 1st line of bit flow gt lt eoln gt lt soln gt lt nth line of bit flow gt lt eoln gt lt etx gt e TIME TAGGING LINE 1B lt GPS week gt lt GPS time gt lt eoln gt GPS week number and time in reference to week and in seconds when the last bit was transmitted Reference time is jan 6 1980 at Ohr00 e BLOCK COUNTER LINE C lt block counter gt lt eoln gt This counter is incremented by one every time a message is issued counter modulo 10 e GPS BIT FLOW LINE lt soln gt 2 characters and channel No in hexadecimal lt SV No gt lt count of useful bits gt lt GPS bit block gt n last bit received hex encoded lt eoln gt Following the reception of N bits M bits all O s are appended at the end of the message in such a way that N M k times 4 The k hexadecimal values are ASCll encoded to form a block The N useful bits are placed at the beginning of the block GPS data are provided regardless of their meaning and error checks at the end of the words CRC The count of bits in a block depends on the message out
19. A which may also be included in GPS messages Examples ALMANAC 21 lt stx gt SA 643 1332660 21 643 0311352 Issue February 2000 A6 3 Allowable commands from a PC Command CON FIG Function This command is used to read the configuration data saved in the receiver or to load the default configuration data Syntax CONF I G lt cr gt lt lf gt read CONF IG lt sp gt INIT lt cr gt lt lf gt reset to default Parameters none Comments Loading a configuration file may take a few minutes during which the receiver cannot execute any other command To load configuration data other than the default configuration data you must transmit a configuration file whose format is shown below using serial port A K lt SUXSCPSO000 825 oath eet eee lt etx gt lt parl gt lt par2 gt lt Z gt The CONFGPS PC software provided on the CONF203 disk can be used to prepare and load the GPS configuration file Examples CONFIG GPS000 016 40 LABEL 026 02 COMMENT 082 00 ELIPS 078 00 PROJ D7 CONFIG INIT CONFIG INIT proceeding CONFIG INIT completed 0311352 Issue February 2000 A6 4 Allowable commands from a PC Command DATE Function This command is used to read change the date amp time parameters Syntax DATE lt cr gt lt lf gt read DATE lt sp gt DD MM YYYY HH MM SS HH MM lt cr gt lt lf gt load Par
20. Data lt stx gt lt eoln gt S lt sp gt lt b1 gt lt sp gt lt b2 gt lt eoln gt lt t4m3 gt lt sp gt lt t4m4 gt lt t4m9 gt lt sp gt lt t4m10 gt lt eoln gt lt etx gt b1 4char GPS week number b2 7 char GPS time in reference to week in 1 10 s units t4m3 t4m9 Words 3 to 10 from Frame 4 page 25 bits d01 to d24 for satellites 1 to 32 health data for SVs 25 to 32 6 characters per word Count of transmitted characters 78 e HEALTH H Format Data lt stx gt lt eoln gt H lt sp gt lt b1 gt lt sp gt lt b2 gt lt eoln gt lt t5m3 gt lt sp gt lt t5m4 gt lt t5m9 gt lt eoln gt lt etx gt b1 4char GPS week number b2 7 char GPS time in reference to week in 1 10 s units t5m3 t5m9 Words 3 to 9 from Frame 5 page 25 bits d01 d24 satellites 1 to 24 6 characters per word Count of transmitted characters 71 Example 0311352 6H 570 2100564 13723A FCOO3F FCOFFF O3F000 000000 000000 O3F03F Issue September 1997 A7 7 Raw Data A7 1 4 FDAT FORMATTED GPS DATA ASCII The FDAT generic term gathers the following data E A U S and H e EPHEMERIDES E Format lt stx gt lt eoln gt E lt sp gt lt b1 gt lt sp gt lt b2 gt lt eoln gt lt c1 gt lt eoln gt lt eoln gt lt eoln gt lt c31 gt lt eoln gt lt c32 gt lt eoln gt lt etx gt Data b1 4 char b2 7 char c1 to c32 GPS week number GPS time in reference
21. HDOP Horizontal Dilution of Precision 1 if not computed x xx M ZP Antenna altitude above MSL metres x M MSL Geoidal separation between ellipsoid and Mean Sea Level X X DAGE Mean age of Differential corrections 1 0 if not computed XXXX DSTA Identification of Differential station used 0311357 Issue February 2000 A3 6 Connecting a peripheral Message 2 Geographic Position Latitude Longitude GPGLL NMEA183 v2 0 SGPGLL 1111 11111 a yyyyy yyyyy a hhmmss ss a lt cr gt lt lf gt SGPGLL NMEA183 message identifier 1111 11111 a LAT Latitude degrees 2 char minutes 2 char 1 10 min N S indicator yyyyy yyyyy a LON Longitude degrees 3 char minutes 2 char 1 10 min E W indicator hhmmss ss TUTC UTC time of position computation a PS _ GPS quality figure V Fix not available or invalid A GPS fix available Message 3 Course Over Ground and Ground Speed GPVTG SGPVTIG x x T x xx N lt cr gt lt lf gt SGPVTIG NMEA183 message identifier 307 COG Course Over Ground degrees x xx N SOG Speed Over Ground knots 0311357 Issue February 2000 A3 7 Connecting a peripheral Message 4 GPS DOP and Active Satellites GPGSA SGPGSA A x xXxX XX xXX XX XX XX XX XX XX XX X X X lt cr gt lt lif gt SGPGSA NMEA183 message identifier A 2D 3D automatic switching mode X MODE Fix mode 1 invalid fix 2 2 dimension mod
22. Init next 6 Units to view the above screen that allows you to select units for Distance metres m or Nautical Miles NM for navigation screens Speed metres second m s kilometres hour k h knots KT Position degrees minutes degrees minutes seconds Direction Angular reference True North Magnetic North Grid The Magnetic North and Grid options are not yet available Lang language option EN for English FR for French gt If you wish to make changes use gt or lt to go to the desired field and or J to select the desired unit Press to store your selection and quit gt To quit without making any changes press any function key gt To go back to the Init menu press 0 0311357 Issue February 2000 3 52 How to use Auxiliary functions 0311357 3 5 5 5 Altitude calculation mode ALTMODE AltMode Offset Dmsl 0 0000 000m 0000 000 m NU SCANNING lt gt PREV NEXT FIELD J VALID Press the AUX key and select 5 Init next 7 ALTMODE to view the above screen that allows you to select the altitude calculation mode and enter an offset and a DMSL correction AltMode Altitude correction mode O ALTuser ALTwassa DMSLstanac Offset 1 ALTuser ALTwess4 DMS Luser Offset 2 ALTuser ALTusercliipsoid Offset Offset Antenna height above user reference Dmsl Geoid WGS84 separation gt You
23. Issue September 1997 Introduction 0311357 Issue September 1997 1 8 Standard Navigation 2 STANDARD NAVIGATION e Your receiver is very easy to use simply press the ON OFF key and that s all All the parameters required at power up position last computed selection of a Differential GPS station etc were saved to the non volatile memory when the receiver was last turned off In most cases you will not need to care about those parameters when you turn it back on Furthermore the date and time continually updated during power outages are available straight away at power up 2 1 THE STANDARD NAVIGATION DISPLAY 0311357 e To turn on the receiver briefly press the ON OFF key top left key in the keypad The receiver automatically runs its power on self test and retrieves the parameter settings saved when it was last turned off PWES1 Addr bus Data bus Flash test DIFO3x VX X Flash test DSNP PWES1 VX X IDxx COMPLETE COMPLETE COMPLETE COMPLETE GPS03 VX X IDXX COMPL COMPLETE COMPLETE COMPLETE COMPLETE COMPLETE GPS03 Data mem Main Osc Math Copr Asic GP1 Asic GP2 Asic GP3 ETE 2 1 Issue September 1997 Standard Navigation When self test is complete the receiver automatically selects the standard navigation d
24. Long Clock covariance M 9 Altitude Clock covariance M 10 Clock variance External Trigger Mark number 1 every time a new trigger event occurs User variable Value computed at format execution Channel information 1 to 15 CST CSV CR1 CR2 CR3 CR4 CRE CRS CCS Channel Status 0 5 0 Free 1 SV Received 2 SV Lost 3 SV Usable 4 SV Used 5 SV Searched Channel SV PRN 0 32 0 channel not used Channel Residual for DGPS1 fix metres Channel Residual for DGPS2 fix metres Channel Residual for DGPS3 fix metres Channel Residual for DGPS4 fix metres Channel Residual for Navigation fix metres Channel Residual Speed metres sec Channel Correction Status N M D N Not available M No DGPS correction D DGPS correction Issue February 2000 A8 6 Accessible Variables 0311357 CSB CEL CAZ CIO CTR WT1 WT2 WT3 WT4 WT MD1 MD2 MD3 MD4 MDE Channel Signal Noise Ratio dB Channel SV Elevation radians Channel SV Azimuth radians Channel lono correction metres Channel Tropo correction metres W_Test for DGPS1 fix W_Test for DGPS2 fix W_Test for DGPS3 fix W_Test for DGPS4 fix W_Test Navigation fix MDE 2D for DGPS1 fix meters MDE 2D for DGPS2 fix meters MDE 2D for DGPS3 fix meters MDE 2D for DGPS4 fix meters MDE 2D for Navigation fix meters Individual Fixes results 1 8 L 1 8 G 1 8 Z 1 8 S 1 8 Q 1 8
25. MODE The mode currently used is indicated on the screen In progress Select 3 BEARING Using T or J look up the waypoint you want to use as the target Once the characteristics of the target waypoint are displayed press 1 to validate this waypoint This causes the receiver to switch to the bearing mode The course to steer CTS is computed from the current position and then the screen switches back to the standard navigation display Select 3 GRAPHIC to display the graphic screen 0311357 Issue September 1997 3 36 Navigation modes Navigation parameters relevant to the Bearing Mode CTS Course To Steer XTE Cross Track Error ATD Along Track Distance Waypoint DTW CTW 4 a ae eee mobile location ed Mobile location when selecting the Bearing mode Plot Modes Segment cTs 0 Waypoint 2 Direction held fixed on central vertical line CTW Course To Waypoint DTW Distance To Waypoint TTG Time To Go Waypoint ji Held fixed at centre point North Waypoint The mobile trace starts from the moment you select the Bearing mode The first position solution available from that moment is plotted at the centre point NOTE CTS and CTW are computed with respect to the WGS84 geographical North 0311357 3 37 Issue September 1997 Naviga
26. RTCM Station 3 DGPS3 6 sets of correctiong Port L or Digital RTCM gt The receiver has a non volatile station library that can hold the specifications of up to 15 stations You can view change the specifications of the stations in the library or enter new stations see par 3 1 6 which also covers the case of encrypted stations gt When the receiver works with an RTCM station via the radio channel or a serial port whichever is used not only does it receive the expected corrections from the station but also the specifications coords type frequency etc of nearby stations You can view the specifications by pressing DIF and selecting 4 Stations You may want to copy the specifications of one of these stations manually as one of the possible 15 stations saved in the receiver s non volatile station library if there is room for one or more non encrypted stations see par 3 1 6 gt At power on the receiver automatically selects the stations Differential mode Fixing mode that were used when you last turned it off and automatically starts computing the requested position or positions as soon as the necessary signals are available 0311357 Issue February 2000 How to use the Differential mode 3 1 2 VIEWING THE STATUS OF DGPS STATIONS Aug 27 1996 AUTO DGPS1 UTC 13 06 38 3D 08 10SVs WGS84 47 16 08951 N BARES HO 163 3m 1 29 48802 E 0 4KT 1 4KT A v Station Chl F
27. SELECT 1 1 2 2 3 1 0 D lt i 20 5 703 704 1 a e ee DIFF SELECT 3 13 1 DIFF SELECT DIFF 1 SELECT 1 11 1 2 11 2 3 13 1 4 1 0 5 703 704 1 1 6 14 1 lt 1 1 0311352 Issue February 2000 A6 14 Allowable commands from a PC 0311352 Command DIFF DIFF STATION Function This command is used to provide the list usable stations Syntax DIFF lt sp gt STAT TON lt cr gt lt lf gt Parameters Comments The list includes all stations whose characteristics have been described in the configuration file saved in the receiver and characteristics of stations broadcasted RCTM SC104 message types 3 and 7 The configuration file is generated and loaded to the receiver by the CONFDIF program Examples DIFF STATION DIFF 1 STATION 1 TAH EAA 2 as ee 3 3H 2 4 4H 2 5 5 H 2 6 6 H 2 7 7H2 8 8 H 2 9 9H 2 10 DO H2 11 11 M1 12 12M1 13 14 U1 14 99H2 15 13H2 16 i Oit I 018 i 019 1 0 20 i 0 zJ t 0 22 I IS tl wO ei 25 ed eo 2e SE OOF El 028 ST eS i 0 0 3t i PSD STOR SR SIO BA ALES S 0 36 1 0 37 1 0 38 1 0 39 1 0 40 1 0 41 1 0 42 1 0 43 1 0 44 1 0 45 1 0 Issue February 2000 A6 15 Allowable commands from a PC e Characteristics of up to 45 stations are listed The first 15 entries are reserved for the stations in the configuration file e For each station the following inf
28. Status the following INTernal or EXTernal and drift 0311357 AUX STATUS NU Master Oscill SA Received SVs INT 0 00E 00 OFF 0 DGPS Fx Station USV Q Dop 0013 DSNP 6 1 1 5 Delta 0 00 Lpme 14 12 MD MULTI DGPS 6 1 1 5 14 12 0 00 DGPS positions available The DGPS position requested to be use for the navigation screen is Fx highlighted Station DGPS station used USV Number of SVs used Q Quality figure 0 to 3 straight GPS 4 to 9 Differential GPS Dop Horizontal Dilution of Precision 1 if not available Lpme Mean Error of Lines of Position Delta Deviation between each DGPS position and the position used for the navigation screen a Ax ay a Issue February 2000 3 41 How to use Auxiliary functions gt KART initialization status AUX STATUS nU Oscill Received SVs INT 0 00E 00 0 Init Mode OK number x Comput for e Used SVs First Init Mode Comput for Used SVs Sigma Rdop OK number First Last 0311357 Last KART initialization mode time elapsed since the search for a KART solution was initiated Number of SVs used Standard deviation should decrease with time Relative Dilution of Precision qualifying the geometry during initialization process Number of KART OK solutions providing the same result is combined with elapsed times see bel
29. USED field generic term representing one or more data data numerical value or label lt gt surrounds a field name lt stx gt beginning of message 02h lt sobk gt beginning of block one or more characters identifies beginning of block lt soln gt beginning of line one or more characters identifies beginning of line in a block lt eoln gt end of line 2 characters CR LF OD 0An lt etx gt end of message 03h The term block stands for a group of data of the same nature The term numerical value encompasses all types of possible encodings binary decimal hexadecimal The term number used without any further indication stands for a decimal number base 10 The term label stands for an ASCII character string 0311352 Issue September 1997 A7 20 Raw Data e GENERAL FORM OF MESSAGE lt stx gt lt eoln gt lt sobk gt lt gt lt time tagging line gt lt eoln gt lt soln gt lt gt lt 1st data line gt lt eoln gt lt soln gt lt gt lt n data line gt lt eoln gt lt etx gt The count and type of data in any given line are predefined which means that the count of separators lt gt is invariable Any data missing or replaced by one or more spaces means that this data is not available e RULE ABOUT NUMERALS A zero value is assumed to be valid Spaces placed before or after numerals are not significant There cannot be spaces within a numeral The followin
30. extended format 22 CBIN SBIN Format Measurement average extended format 30 RBINO SBIN Format Code phase smoothed measurements Abridged format with no phase 31 RBIN Format SBIN Code phase smoothed measurements Abridged format with phase Diff Differential GPS corrections 0 NONE No Differential correction output 3 DGPS SFIX Format Differential correction output 6 KGPS SFIX Format Station s phase measurement output 7 FGPS SFIX Format Correction and phase measurement output 13 DVAR Format SVAR Multistation differential correction output Data GPS data 0 NONE no GPS data output 4 FDAT SFIX Format Formatted data 5 CDAT SFIX Format Compacted data 10 CBIT SVAR Format Bit flow 15 BDAT SFIX compacted data Bit flow SVAR Format 0311352 Issue February 2000 A6 29 Allowable commands from a PC 0311352 Tau Measurement filtering time constant in seconds when SMEAS or SVAR or RBIN or SBIN is part of the message otherwise meaningless Comments e Reads the raw data output specifications from the configuration memory e Writes the new raw data output specifications to the configuration memory The Trigger output mode is prohibited if CMEAS or CVAR or CBIN is part of the message Examples RAWDAT RAWDAT 1 A 8 Too Hae coe oy ek G RAWDAT 1 A 8 25 0 RAWDAT RAWDAT 1 A 8 25 0 1 3 5 1 O0 Raw data output status Enabling 15 second compacted o
31. field you are allowed to update use the gt or lt arrow key to move the cursor to the desired character or entry field and make the necessary changes then press _ to save the new values or options 0311357 Issue September 1997 1 6 Introduction Whenever the data to be displayed are in the form of a list with two or more pages you may scroll through the list using J and T For each entry field you can enter only authorized characters The value typed on the keyboard is tested as you press If it is inconsistent then the cursor keeps blinking on the first suspect character until you type an authorized value or you leave the entry field by pressing any function key An error message appears self explanatory in some cases which disappears as you next press any key NOTE n an alphanumeric field you may use the numeric keys rather than T or J to enter the desired letters Example pressing 1 will enter 1 1 1 will enter A 1 1 1 will enter B 1 1 1 1 will enter C 1 1 1 1 1 will enter 1 and so on NOTICE Whenever you wish to terminate the step in progress simply press any function key Pressing the 0 key allows you to quit some dialog screens unless a numeric entry field is selected This takes you back to the screen that initiated the dialog Pressing the 0 key also allows you to move up one step in any menu 0311357
32. gt lt eoln gt S lt sp gt lt b1 gt lt sp gt lt b2 gt lt eoln gt lt c1 gt lt eoln gt lt c2 gt lt eoln gt lt c3 gt lt eoln gt lt c4 gt lt eoln gt lt c5 gt lt eoln gt lt etx gt b1 b2 4 char 7 char c1 to c5 GPS week number GPS time in reference to week in 1 10 s units Anti spoofing data c1 8x4 char c4 8x4 char c5 25 char Count of transmitted characters 184 Example S 570 2092752 Os k n0t Ge On 0 Oe 0 Oe TO wE Og ior gb o ol 1 1 1 1 1 O 1 0 OG Or agn 0h Or o n O 0311352 Issue September 1997 A7 12 Raw Data e HEALTH H Format lt stx gt lt eoln gt H lt sp gt lt b1 gt lt sp gt lt b2 gt lt eoln gt lt c1 gt lt eoln gt lt c2 gt lt eoln gt lt c3 gt lt eoln gt lt c4 gt lt eoln gt lt c5 gt lt eoln gt lt etx gt Data b1 4 char b2 7 char c1 to c5 GPS week number GPS time in reference to week in 1 10 s units Health data c1 8 x 4 char c4 8 x 4 char c5 25 char Count of transmitted characters 184 Example H 570 2100564 63 0 0 63 0 0 63 63 63 0311352 63 63 Or 563 63 0 0 0 0 0 0 O 63 O 63 63 63 63 63 63 Issue September 1997 A7 13 Raw Data A7 1 5 DIFFERENTIAL CORRECTIONS e DIFFERENTIAL CORRECTIONS RECEIVED D 0311352 Format lt stx gt lt eoln gt D lt sp gt lt b1 gt lt sp gt lt b2 gt lt eoln gt lt c1 gt lt sp gt lt c2 gt lt sp gt lt
33. identification code 255 Auxiliary code 5 Day 1 31 when fault was first detected 7 24 00 Time when fault was first detected 8 17 14 Time when fault vanished current time if still persisting Issue February 2000 A6 6 Allowable commands from a PC The last line in the list is blank Examples DEFAULT DEFAULT I O 35 255 5 7 24 00 8 17 14 DEFAULT I O 34 255 5 7 23 00 8 16 22 DEFAULT RCVER 10 0 4 16 21 14 12 16 23 DEFAULT POSIT 28 0 4 16 21 14 16 25 38 DEFAULT 34 RESET DEFAULT DEFAULT I O 35 B55 5 7 24 00 8 17 14 DEFAULT RCVER 10 0 4 6 21 14 12 16 23 DEFAULT POSIT 28 0 4 16 21 14 16 25 38 DEFAULT RESET DEFAULT DEFAULT NONE 5 10 48 21 0311352 Issue February 2000 A6 7 Allowable commands from a PC Command DI FF Function This command is used to control the DIFF section of the receiver Five sub commands are available CONFIG Returns the configuration data MODE Select DGPS mode SELECT Select DGPS station STATION List of known DGPS stations Syntax DIFF lt sp gt com lt sp gt parl parn lt cr gt lt lf gt Com Sub command parl parn Parameters in the sub command see next pages 0311352 Issue February 2000 A6 8 Allowable commands from a PC Command DIFF DIFF CONFIG Function This command is used to read the configuration data from the r
34. is an NMEA WPL approved sentence Examples SECGPQ WPL SGPWPL 4716 09077 N 00129 48151 W WPTOO 0311352 Issue February 2000 A6 23 Allowable commands from a PC Command aaG PQ TLL Function This command is used to read the characteristics of all the waypoints stored in the receiver Syntax aaGPQ TLL hh Parameters aa identification of talker hh message parity optional Comments NMEA 0183 Query sentence sent to read the characteristics of all the waypoints stored in the receiver The receiver reply to this command is a list of NMEA 0183 TLL approved sentences for all the waypoints Examples SECGPQ TLL SGPTLL 00 4716 09077 N 00129 48151 W WPTOO SGPTLL 01 4728 01230 N 00129 52133 W BOUEE SGPTLL 04 4709 47332 N 00127 00832 W JETY 0311352 Issue February 2000 A6 24 Allowable commands from a PC Command IONO Function This command is used to read the latest lono UTC data from the receiver Syntax IONO lt sp gt format lt cr gt lt lf gt read Parameters Format Format of lono UTC data C Compacted F Formatted Compacted if no format specified Comments This command reads all or part of the data labelled U or U from the receiver U and U data may also be part of the GPS messages Examples IONO lt stx gt SU 643 1332802 0311352 Issue February 2000 A6 25 Allowable commands from a PC
35. on trigger or timed output 254 on GPS synchro ouput 255 on Raw data output 34 7 1 0 Overflow on B port 2 on trigger or timed output 254 on GPS synchro ouput 255 on Raw data output 35 7 1 0 Overflow on port Port Number 3 C 9 10 J 11 K 12 L 36 7 1 0 Format interpretation Number of erroneous format 37 7 1 0 A Port control error 38 7 1 0 B Port control error 39 7 1 0 er 39 Dual port RAM error code 40 7 1 0 CPU PWES1 data transfer Error code 41 8 DIALG Operator error cursor 43 52 11 PWES1 Output DPRAM buffer overflow 0 _ 60 10 DIF03 Physical port number err 10 DIF03 Output DPRAM buffer overflow OQ O Serial port initialization error code Issue February 2000 A10 2 DSNP 16 rue de Bel Air B P 433 44474 CARQUEFOU Cedex T 33 0 2 40 30 59 00 Fax 33 0 2 40 30 58 92 Web site www dsnp com S A a Directoire et Conseil de surveillance au capital de 5 000 000 F 321 391 237 RCS Nantes
36. submenu The cursor may be prepositioned on the field you are most likely to wish to change In that case you only need to press to select the highlighted choice number or press the desired key to select another choice number you may also use gt or k to move the cursor to the desired choice number then press _ Depending on the context the two equivalent procedures take you to a submenu or a display or cause the immediate performance of an action or take you to fields and or options that you are allowed to update Issue September 1997 1 5 Introduction After selecting a menu or submenu Example After pressing AUX then 5 then 2 you should get the following screen AUX NIT POSITION Lat Lon 47 16N 1 29W MU SCANNING K gt PREV NEXT FIELD 4 VALID Current menu selection steps Current values in memory The bottom row on the screen will be used for any of the following purposes simply displaying information or displaying a menu with a cursor or displaying the highlighted prompt Update meaning that you only need to press to access entry fields that will allow you to make changes to some data or displaying the highlighted prompt Valid meaning that you are allowed to update some parameters and or options The cursor automatically shows up on the first character or entry
37. to week in 1 10 s units Ephemeris data c1 parameter name 11 char and value 16 char parameter name 11 char and value 16 char c31 parameter name 11 char and value 16 char c32 27 char Count of transmitted characters 949 0311352 Issue September 1997 A7 8 Raw Data 0311352 Example E 570 2092740 Channel Sv Iodc AfO us Af1 ns s Af2 ns s2 Toc s ode A m Ww dm s Mo d m s o d m s dt d s Om d m s Omdt d s e Toe s Wk_nb Dn d s CEC m Crs m Cuc d Cus d CLS d Cis d C_L2 Uare m Health L2_Df Fit hours Tgd ns xwxw xwa vo rH He aa e e oo oo oo oo oo oo oo 7 21 325 14 2446 0 0015 0 0000E 6 216000 325 26560375 336 ELI 2 295 5354 55 36 1 7879 54 40 30 9644 OCT OR URS 111 42 43 8552 4 6201E 7 0 99415128E 2 216000 570 2 6410E 7 193 50 B18 0 0004E 3 0 5471E 3 0 0031E 3 0 0115E od rF OOF W od A7 9 Issue September 1997 Raw Data e ALMANACS A 0311352 Format Data lt stx gt oln gt A lt sp gt lt b1 gt lt sp gt lt b2 gt lt eoln gt lt c1 gt lt eoln gt lt eoln gt lt eoln gt lt c13 gt lt eoln gt lt c14 gt lt eoln gt lt etx gt b1 4 char b2 7 char c1 to c14 Example Sv Health A 570 2873946 Af0 us Afl ns s Toa s Wk_nb_Alm GPS week number GPS time in r
38. 00 NONE SCANNING After you select UPDATE the cursor appears on the first character of the Station Number field Use the J and 7 arrow keys to scroll through the available stations Use the and lt arrow keys to jump to another digital channel The receiver prompts the UHF or RTCM stations from its station library It also prompts any additional RTCM station whose corrections are available The following options are also prompted NONE to be used if you do not wish to select any station on the digital channel RTCM to be used if you wish to enter a station that is absent from the stations library see the procedure below after the NOTES After selecting the desired station or stations press J to enable your selection NOTE 1 You cannot select any station that is already assigned to another channel This is why the following message may show up Already used here or on another channel 0311357 Issue February 2000 How to use the Differential mode 0311357 NOTE 2 NOTE 3 NOTE 4 A maximum of 6 sets of corrections whether from analog or from digital channels can be processed You are not allowed to add any station if those already selected amount to 6 sets of corrections In that case the following message shows up More than 6 sets of corrections Cancel your choice press DIF Disable one or mor
39. 10 EVMIN EVMIN 10 A6 21 read modify Issue February 2000 Allowable commands from a PC Command G EODESY Function This command is used to read load geoedesy and projection data Syntax GEODES Y lt sp gt Geod_No lt cr gt lt lf gt read Parameters Geod_No Number of the geodetic system to be listed If you do not specify the number all geodetic systems are listed Comments To load geodetic and projection data you must transmit a configuration file whose format is shown below using serial port A lt stx gt lt cr gt lt lf gt WS Gop ear wesc ere amp op ede akon eI eE lt etx gt The CONFGEO PC software provided on the CONF203 disk can be used to prepare and load the Geodesy configuration file Examples GEODESY 1 G Ly SNCs 2 A 6378249 145 1 F 293 4649999999 S 1 0000000000 0 1 3 Dx 168 000 Dy 72 000 Dz 318 500 1 4 Ax 0 000000000 Ay 0 000000000 Az 0 554000000 e 1 O ntft 2 Gori 0 03490658500 d 0311352 Issue February 2000 A6 22 Allowable commands from a PC Command aaG PQ WPL Function This command is used to read the characteristics of waypoint No 00 Syntax SaaGPQ WPL hh Parameters aa identification of talker hh message parity optional Comments NMEA 0183 Query sentence sent to read the characteristics of the waypoint No 00 The receiver reply to this command
40. 20 cm X Y Z accuracy Issue February 2000 NR203 Specifications or e Conventional DGPS mode offering A Primary single station solution 0 6 s rate DGPS 1 Up to 3 other parallel single station solutions DGPS2 to DGPS4 An optimized Multistation solution 0 6 s rate MDGPS providing sub meter to meter accuracy Processing features e Multi path mitigation techniques e Weighted least squares position processing e UKOOA compliant navigation and QC processing Other data e PPS output lt 1 us e External event time tagging lt 1us e Raw data 0 6 sec rate PHYSICAL CHARACTERISTICS NR203 Receiver e Dimensions H x W x D 165 x 365 x 220 mm e Weight 4 4 kg Fixing parts 2 3 kg KART mode and conventional DGPS mode cannot be run simultaneously 0311357 A9 2 e Temperature operating 10 C 55 C storage 40 C 70 C e Humidity 95 non condensing NAP001 Antenna e Dimensions Diameter 143 mm Height 44 mm e Weight 0 360 kg e Temperature operating 40 C 65 C DHM5000 HF MF Antenna Height 234 mm Diameter 137 mm Weight 0 400 kg Temperature operating 40 C 65 C Electrical e Input voltage 10 36 Volts e Consumption 16 Watts INTERFACES Wide angle 180 electro luminescent display 1 RS 232 I O port up to 19200 bauds 2 RS 422 I O ports up to 76800 bauds Configurable display and digital ports Ex
41. 4991 14 39 0 0 6 7669679457 99995383873 15 38 0 0 7 7790593602 33314106 21 41 0 0 e SMEAS SAMPLED GPS RAW DATA MEASUREMENTS R Format lt stx gt lt eoln gt R lt sp gt lt b1 gt lt sp gt lt b2 gt lt eoln gt lt c1 gt lt sp gt lt c2 gt lt sp gt lt c3 gt lt sp gt lt c4 gt lt sp gt lt c5 gt lt sp gt lt c6 gt lt sp gt lt c gt lt eoln gt lt etx gt Data Each line describes the measurements made on a reception channel while tracking a satellite 15 lines max where b1 4 char GPS week number b2 7 char GPS time in reference to week in 1 10 s units 0311352 Issue September 1997 A7 16 Raw Data 0311352 c1 c2 c3 c5 c6 c7 2 char 11 char 11 char 2 char 2 char 3 char 1 char and channel number 1 to 9 0 A to F Code pseudorange in 1 x 10 seconds modulo 10 seconds Carrier phase in 1 x 10 cycles modulo 1 x 10 thousandths of a cycle Phase measurement decreases as distance increases Satellite number C No in dB Hz Pseudorange phase standard deviation in 1 x 10 seconds Validity of phase measurement at the moment of sampling bit O 1 if parity error bit 1 1 if code and carrier phase unlocked bit 2 1 if phase leaps by 2n 1 z bit O 1 and bit 3 1 phase measurement not valid at the moment of sampling Count of transmitted characters 21 40 x SV count Leading O s are replaced by spaces as field separators
42. 7 Issue February 2000 A3 12 Connecting a peripheral Message 13 Course Over Ground and Ground Speed GPVTG with parity check SGPVTG xxx x T X xx N hh lt cr gt lt lf gt SGPVTG NMEA183 message identifier xxx x T COG Course Over Ground degrees xx xx N SOG Speed Over Ground knots hh Message parity Message 14 Global Positioning System Fix Data GPGGA with parity check SGPGGA hhmmss ss 1111 l11111 a yyyyy yyyyy a X XX XX xX xXxx x M 12 5 M xx x xxxx hh lt cr gt lt lf gt SGPGGA NMEA183 message identifier hhmmss ss TUTC UTC time of position computation 1111 11111 a L84 Latitude in degrees 2 char minutes 2 char 1 10 min N S indicator yyyyy yyyyy a G84 Longitude in degrees 3 char minutes 2 char 1 10 min E W indicator x DS GPS quality figure 1 Straight GPS fix or not available 2 Differential GPS fix XxX NSVU Number of SVs used to compute the fix XX X HDOP Horizontal Dilution of Precision 1 if not computed xxxX x M ZP Antenna altitude above MSL metres 12 3 M Altitude correction 0311357 Issue February 2000 A3 13 Connecting a peripheral XX X DAGE Mean age of Differential corrections 1 0 if not computed XXXX DSTA Identification of Differential station used hh Message parity Message 15 Global Positioning System Fix Data GPGGA with parity check SGPGGA hhmmss ss 1111 llll a yyyy
43. Band L 0008 PORSPODER 1 HF 0311357 Issue February 2000 3 6 How to use the Differential mode gt Digital ports K L Number and label of the stations Input 1 to 4 to be input to this port Port 1st row 1st and 2nd station K or L 2nd row 3rd and 4th station Port Station 1 3 Station 2 4 K 14 BREST 15 OUESSANT Osaa NONE Oraa NONE coas To make any changes scroll through the list until the desired channel or port is displayed and select UPDATE press gt Selecting a station on an analog channel 0311357 Station 008 PORSPODE SCANNING After you select UPDATE the cursor appears on the first character of the Station Number field Use the 4 and arrow keys to scroll through the available stations Only the HF or MF stations are prompted HF or MF stations whose specifications have been saved in the non volatile library NONE is also prompted to be used if you do not wish to select any station on the channel For an HF station you are allowed to jump to the Frq Frequency field As HF stations may have two transmission frequencies you have to specify the frequency No 1 or No 2 to be received on the channel You will be able to assign the second frequency to another channel After selecting the desired station and frequency if any press J to enable your choice Issue Feb
44. Command OUT M ES Function This command is used to read or modify the configuration of the output messages computed data Syntax OUT_MES lt sp gt Mes lt cr gt lt lf gt read OUT_MES lt sp gt Mes lt sp gt Port Trig_Mode Period Form_lines lt cr gt lt lf gt modiy Parameters Mes Message identification No 1 to 10 Port Port used for the transfer A pot A port J port J Trig_mode Message output mode 1 time 5 Manual MRK key on front panel 6 RS232 on reception of TR command 9 trigger by 1 sec PPS signal 10 trigger by input signal on port A pin 1 11 trigger by input signal on AUX pin 9 18 trigger by input signal on AUX pin 3 negative message suspended 0311352 Issue February 2000 A6 26 Allowable commands from a PC Period Message output rate With output mode 1 time interval in seconds between any two consecutive messages With all other output modes number of events required between any two consecutive messages Form_lines identification Nos of the format description lines generating the message 1 to 5 lines Examples OUT_MES OUT_MES 1 A l 0 6 12 14 15 16 O OUT_MES 2 A l 0 6 17 18 19 0 O OUT_MES 3 A l 03 6 20 215227 0z 60 OUT_MES 4 A 4 s0 T3 L6 tl oy 22 OUTOMES lt 5 71 Ty LO Oss Se Tye 28 95 0 OUT_MES 6 1 4 Ter Sp Pp 8 95 20 OUT_MES 1 A 1 1 0 OUT_MES 1 OUT_ME
45. DIX 1 INSTALLATION UNPACKING The shipment case should contain all the items appearing in the accompanying LIST OF ITEMS We recommended you to keep that list so that you can order any spare part you may need at a later date The shipment is mainly composed of an NR203 unit an NAP001 GPS antenna an HF MF receiving antenna DHM5000 a set of cables an accessory kit the present manual including a User s Quick Guide CONF203 Configuration software disk with manual Options NDR104 UHF receiver DMA8 HF MF magnetic antenna DSA7 HF selective antenna ENVIRONMENT The receiver is designed to withstand a marine environment waterproof case resist dripping water and operate from 10 to 55 C Subject to these conditions the receiver does not require any special precaution However it is advisable to install the receiver clear of any moving device and away from splashes of lubricant or water Also direct exposure to excessive heat should be avoided The display screen should be kept away from direct sun light for better legibility Issue February 2000 Al 1 Installation INSTALLING THE RECEIVER AND THE ANTENNAS The receiver should be mounted using the bracket supplied allowing quick installation in any position even in cluttered bridges Mounting bracket viewed from top All dimensions in mm 250 0 3 100 0 3 0311357 Issue February 2000 Installation
46. Differential GPS 2 THE DIFFERENTIAL GPS TECHNIQUE 0311357 gt The basic principle of the Differential GPS technique consists of observing each satellite separately and measuring the error brought about by the satellite using a receiver installed at a station with known coordinates The DGPS technique relies on the error measured for each satellite separately If instead the technique consisted of directly comparing the geographical positions computed by two receivers one of which still being stationary one could never be sure that both receivers used the same satellites to compute the respective positions which might lead to large errors The deviations called corrections observed on each satellite incorporated in digital messages must be broadcast to Differential GPS users through a specific highly reliable radio frequency link The corrections received are applied to the signals and data from the SVs in DGPS receivers before the fix is computed gt The Differential GPS reference stations from DSNP may offer a coverage of up to 500 nautical miles gt The DGPS policy is approved and even recommended by the U S D O D since the DGPS system is a regional rather than global enhancement of precision and therefore its military impact is relatively unimportant gt Some DSNP DGPS stations provide free access to the corrections they are broadcasting no encryption Other stations owned by loca
47. FERENCE N Format lt stx gt lt eoln gt N lt sp gt lt b1 gt lt sp gt lt b2 gt lt eoln gt 1 lt sp gt lt c1 gt lt sp gt lt c2 gt lt eoln gt 2 lt sp gt lt c3 gt lt sp gt lt c4 gt lt sp gt lt c5 gt lt eoln gt lt etx gt Data b1 b2 1 c1 c2 2 c3 c4 c5 4 char GPS week number 7 char GPS time in week when corrections are computed low significant digit 0 1s 4 char Station identification 0 1023 1 char Station health 0 7 10 char ECEF X Coord 9999999 metres LSB 10 metre 10 char ECEF Y Coord 9999999 metres LSB 10 metre 10 char ECEF Z Coord 9999999 metres LSB 10 metre Message length 69 char Function Station status and WGS84 ECEF Reference position Direction CPU gt port A or J Recurrence 30 seconds Example sN 0629 2015186 1 0012 6 x2 433441175 011281184 466213155 0311352 Issue September 1997 A7 19 Raw Data A7 2 NON CONFIGURABLE GPS DATA IN ASCII FORMAT WITH FIELD DELIMITERS SVAR A7 2 1 NOTATION RULES e RESERVED CHARACTERS 02h lt stx gt Beginning of message 21n Format indicator gt 2Cp Field delimiter 40r checksum delimiter 2En Decimal separator x 22h Beginning and end of label ODp 0An lt eoln gt End of line 03n lt etx gt End of message Subscript letter h at the end of a character string means that this string is in hexadecimal notation e CONVENTIONS
48. Port J Solder RS232 RS422 RS422 ground terminal we ground lug This connection should be made to properly ground the antenna base Antennas 0311357 Good connections contribute a lot to the quality of signals received and therefore to the performance of the receiver See that contacts are clean and connectors securely tightened Coaxial connectors should be watertight In any case clearance from superstructures and other antennas is essential Whenever possible the coaxial cable should not be routed along any cable carrying heavy currents starters alternators connections to echo sounder radar etc The antenna downlead and grounding lead should be attached to the mast using adhesive or clamps to preclude any stress on the connectors Issue February 2000 A1 6 Installation Options The DMA8 magnetic antenna should be connected to the WIDE BAND input The DSA7 selective antenna should be connected to the NARROW BAND input If this antenna is used the receiver can only operate at the antenna tuning frequency To use the NARROW BAND input a hardware change should be made to the DIFO3 board Warning the change should be made by skilled personnel only Peripherals Turn off both the receiver and the peripheral whenever you need to plug unplug any cable between the two Peripherals should be connected to port A or port I or port J 10 MHz external oscillator input Any sinewave with a
49. S 1A 1 1 0 12 14 15 16 0 0311352 Issue February 2000 A6 27 Allowable commands from a PC Command RAWDAT Function This command is used to read or modify the configuration of the GPS raw data messages Syntax RAWDAT lt sp gt No lt cr gt lt lf gt read RAWDAT lt sp gt Nb lt sp gt Port Tr_Mode Period Meas Diff Data Tau lt cr gt lt lf gt Parameters No Pore Tr mode Period 0311352 modify message number 1 or 2 1 by default Port used for the transfer A Port A Port J Port J Message output mode lt 0 output suspended 8 synchronous with GPS format 9 trigger by 1 PPS signal 10 trigger by input signal on port A 18 trigger by input signal on port I output period and compacting Issue February 2000 A6 28 Allowable commands from a PC Mode 9 TRG1 1 Only the data block available right after the trigger time is provided in Mode 10 TRGA the message Mode 18 TRGI 2 Both the data blocks available right before and right after the trigger time are provided in the message Mode 8 SYNCH Multiple of 0 6 s Meas GPS measurements 0 NONE No GPS measurement output 1 SMEAS SFIX Format Code phase smoothed measurements 2 CMEAS SFIX Format Measurement average 11 SVAR SVAR Format Code phase smoothed measurements 12 CVAR SVAR Format Measurement average 21 SBIN SBIN Format Code phase smoothed measurements
50. So long as you are scrolling through the non volatile area the label of the key is UDPATE This changes to COPY when you are scrolling through the volatile area Station Type Position XXXX RTCM XXb s XX XXN MXXXXXXXHZ X XXE NMU scANNING COPY e Press If all 15 stations in the non volatile area are encrypted you are not allowed to make any change apart from changing the access code As a result the COPY key label is dimmed If that is not the case the screen should look like this Station OVERWRITE Station XXXX dlo12 PORSPODER SCANNING M PRE The screen now prompts stations from the non volatile area e Use the and J arrow keys to scroll through the non volatile area and select a memory location you do not mind erasing encrypted stations are not prompted 0311357 Issue February 2000 How to use the Differential mode 0311357 To update You are allowed to change the station s label Press I to enable the copy A warning message appears with two options so you can choose to confirm the copy or quit without making any change to the non volatile area Previous data will be lost Confirm 1 Yes overwrite the specifications of the station selected in the non volatile area with those from the volatile area 2 No quit without making any change the list of stations in the non volatile library I
51. UX connector pin 3 Period Output rate or number of messages With the SYNC trigger mode the output rate is specified in 0 6 second steps in this field For all the other trigger modes the Period field tells the receiver to insert only the next available Data Block Period 1 or the next and preceding Data blocks Period 2 into the raw data message Example Assuming t1 time when Data Block n is available in the receiver tO time of message request from external equipment t2 time when Data Block n 1 is available ty to t2 A 6 sec If Period 1 only Data Block n 1 is inserted into the message If Period 2 both Data Blocks n and n 1 are inserted into the message 0311357 Issue February 2000 A3 18 Connecting a peripheral Tau Filter time constant Seconds only for filtered GPS measurements i e with the SMEAS SVAR and SBIN options of the Gmea field 0311357 Issue February 2000 A3 19 Connecting a peripheral 0311357 Issue February 2000 A3 20 Differential GPS APPENDIX 4 DIFFERENTIAL GPS 1 WHY DO WE NEED DIFFERENTIAL GPS 0311357 gt v Vv The signals and data from the GPS satellites may exhibit some inherent normal errors such as errors due to wave propagation inaccuracies on satellite orbit predictions and clock drifts All such errors affect the positioning accuracy in traditional GPS receivers On average horizontal positioning
52. ameters DD MM YYYY_ Day 1 31 month 1 12 year HH MM SS UTC time if no offset Local UTC 0 or Local time if offset Local UTC 0 HH MM Offset local time UTC time Comments Reading the Date amp Time will cause the Local UTC offset to be reported as well if other than 0 lf at least one satellite is received then the time is updated with the GPS time When specified in the command the Local UTC offset is saved to the receiver s configuration memory Examples DATE DATE 04 11 1991 L323 2 453 DATE 4 11 1991 14 30 00 1 00 DATE DATE 04 11 1991 14 33212 01 00 0311352 Issue February 2000 A6 5 Allowable commands from a PC 0311352 Command DEFAU LT Function This command is used to read clear the faults detected by the receiver Syntax DEFAULT lt sp gt F ault_No lt cr gt lt lf gt read DEFAULT lt sp gt Fault_No lt sp gt RESET lt cr gt lt lf gt clear Parameters Fault_No Fault identification code Comments If no fault identification code is specified in the command then all faults detected in the receiver will be read cleared The fault list starts from the latest to the oldest The information provided for each fault is described below Appendix 10 reviews all the possible faults and anomalies which the receiver may detect DEFAULT I O 35 255 5 7 24 00 8 17 14 1 0 Fault label 35 Fault
53. and is used to read change the altitude correction mode and the correction value Syntax ALT lt cr gt lt lf gt ALT lt sp gt alt_mode dmsl1 of fset lt cr gt lt lf gt Parameters alt _mode Altitude correction mode 0 above MSL 1 STANAG 7 WGS84 1 above WGS84 ellipsoid read change 2 above ellipsoid chosen by operator dmsl User supplied DMSL 9999 999 m max used if alt_mode 1 offset Antenna height correction 9999 999 m max 1 Mean Sea Level Comments If alt _mode 0 Mobile Altitude Alt wesg4 7 MSLSTANAG offset If alt _ mode 1 Mobile Altitude Alt wGs84 dmsl offset If alt_mode 2 Mobile Altitude Alt Ellips offset Examples ALT ALT 0 0 000 0 000 ALT 0 0 0 10 5 ALT ALT 0 0 0000 10 500 A6 2 Issue February 2000 Allowable commands from a PC Command ALMANAC Function This command is used to read the latest almanac transmitted by the specified satellite or latest almanacs transmitted for all satellites Syntax ALMANAC lt sp gt SV_No format lt cr gt lt lf gt Parameters SV_No PRN No of the satellite for which you wish to read the latest almanac received latest almanacs of all SVs if no SV is specified Format Almanac data format C Compacted F Formatted compacted if no format specified Comments The ALMANAC command reads all or part of the data identified as A or
54. ar 1 3 how to enter alphanumeric characters Enter a type for your waypoint optional Choose one of the available icons using J or T as a visual indication on the nature of your waypoint Enter the coordinates of your waypoint in the geodetic system currently selected see top of the screen Press 1 to create the waypoint The screen then shows this waypoint from the updated library of waypoints Issue September 1997 3 26 Waypoints and tracks 3 2 4 HOW TO CREATE A WAYPOINT FROM THE NAV SCREEN This function allows you to save the position currently displayed on the NAV screen as a waypoint From the NAV screen and whatever the mode used select 4 FREEZE This causes the FRZ indicator to show up in the abridged status line at the top of the screen Before this indicator vanishes i e in the next 10 seconds press WPT The screen looks like this W wavers CREATE Free Waypoints 85 99 Free Tracks 7 9 No Label Type Position 01 10 05 5 47 16 01234 N 1 29 56789 W Ml_scannine lt gt PREV NEXT FIELD J VALID The lowest free waypoint number is prompted to be assigned to the waypoint you want to create no other choice is possible Change the label if necessary default time when you selected 1 FREEZE Press 1 to create the new waypoint Note You can freeze the current position also from the WPT screen 0311357 Issue
55. available Fix Quality same as QUAL or Dead Reckoning Time in seconds if MODE 1 DR DRMS metres 1 not available Standard deviation of semi major axis of error ellipse metres Standard deviation of semi minor axis of error ellipse metres Orientation of semi major axis of error ellipse Fix Quality 0 19 0 3 Straight GPS 4 5 DGPS2D T 6 9 DGPS3D T 10 19 EDGPS amp KART Issue February 2000 A8 2 Accessible Variables 0311357 PS Position Status Flag 0 1 TXT PS Position Status Label Position Position Position status flag status status definition flag label No fix 0 BAD Fix available 1 GOOD SA Selective Availability SA Flag 0 1 TXT SA Selective Availability Label SA Flag definition SA flag SA label No SA 0 OFF SA activated 1 ON NM2DM MDE 2d Max meters NSV2D PRN ofthe SV causing 2d Max 1 32 NM3DM MDE 3d Max meters NSV3D PRN ofthe SV causing 3d Max 1 32 NFVAL F_TEST value NFMEA F_TEST value mean NFTST F_ TEST result flag 0 1 Navigation Fix DGPS Status DS DGPS Status Flag 0 1 TXT DS DGPS Status Label DGPS Status DGPS DGPS Status Flag Status label definition flag No DGPS 0 NAT or HOLD DGPS available 1 DIFF Issue February 2000 A8 3 Accessible Variables DFT DGPS Fix Type 0 8 TXT DFT DGPS Fi
56. b gt 0311352 2 bytes 2 bytes 3 bytes 6 or 9 bytes 6 or 9 bytes 2 bytes 1 byte Issue September 1997 A7 28 Raw Data e TIME TAGGING 3 bytes GPS time in reference to week in 1 10 s units e RAW DATA FROM SV 0311352 1 byte 4 bytes 1 byte 3 bytes SV number code pseudorange in 10 s units modulo 0 1s bits Oto 4 C No 20 in dBHz bits 5and 6 channel status 0 okay 1 parity error 2 cycle slip 3 phase measurement not valid bit 7 0 field of carrier phase bits absent 1 field of carrier phase bits present L1 carrier phase in 10 tr units modulo 10 tr Issue September 1997 A7 29 Raw Data AT 3 3 SINGLE FREQUENCY GPS RAW DATA Satellite Time e GENERAL FORM OF MESSAGE lt stb gt R 2 bytes lt long gt 2 bytes lt time tagging gt 5 bytes lt parameters gt 2 bytes lt raw data 1st SV gt 14 bytes lt raw data last SV gt 14 bytes lt checksum gt 2 bytes lt etb gt 1 byte e TIME TAGGING 2 bytes GPS week number assuming the modulo 2 ambiguity is removed 3 bytes GPS time within week in 1 10 s units Reference time is jan 6 1980 at Ohr0O e PARAMETERS 1 byte bits 0 and 1 code smoothing by carrier according to RTCM message 19 bits 2 to 6 0 future development bit 7 0 single frequency measurements e RAW DATA FROM SV 1 byte SV No 4 bytes C A code pseudo range unit 10 s modulo 0 1s 1 byte bitsOto4 C No 20
57. be used see the manufacturer documentation AUX INP OUT PORTS Port Baud DaBit Parity StBit A 9600 8 No 2 Port A NU SCANN NG 4 UPDATE Number of stop bits 1 or 2 Baud rate 50 Bd Number of 300 Bd data bits 1200 Bd 7or8 2400 Bd 4800 Bd 9600 Bd 19200 Bd 38400 Bd 76800 Bd PortA OA aH Parity NO EVEN ODD 0311357 Issue February 2000 A3 1 Connecting a peripheral 0311357 e The J or T key allows you to select the desired port A RS232 used for computed or raw data outputs or GPS board software loading RS422 used for computed or raw data outputs or I O board software loading J RS422 used for computed or raw data outputs K RS232 used to connect an RTCM digital correction receiver or for DGPS board software loading L RS422 used to connect an NDR104 UHF option or an RTCM digital correction receiver You are allowed to make any changes needed by pressing The cursor shows up on the first digit of the Baud rate Press T or J until the desired Baud rate is displayed NOTE 1 The Maximum baud rate on port A is limited to 19200 bauds NOTE 2 There is a restriction on the Baud rate choice on ports I J and K L if you choose 50 Bauds or 19200 Bauds on one port you cannot choose 76800 Bauds on the other Press gt then T or J to select the number of data bits 7 or 8 Press gt then T or J to selec
58. bits MSB first bits 0 to 4 cumulative loss of continuity indicator always 00000 includes parity errors bits 5 to 7 data quality indicator 000 valid data 111 invalid data lt C A code quality indicator gt encoded on 2 ASCII characters 0 to F 8 bits MSB first bits O to3 pseudo range multipath error indicator always 1111 bits 4 to 7 pseudo range data quality indicator always 1111 lt eoln gt The C A pseudorange is the value of the receiver s time base at the moment the C A code transition is detected at the beginning of the word corresponding to the GPS time of the message The carrier phase is sampled at the same time Message example IR 570 209274 6 C 120 1 12 7769273215 9724661575 1126895 35 8 00 FF B 23 7769266082 5966327231 3820775 37 8 00 FF 0311352 Issue September 1997 A7 23 Raw Data A7 2 3 SINGLE FREQUENCY DIFFERENTIAL CORRECTIONS These messages are generated by receivers provided with differential corrections through a data transmission line e GENERAL FORM OF MESSAGE lt stx gt lt eoln gt lt D gt lt time tagging gt lt eoln gt lt soln gt lt parameters gt lt eoln gt lt soln gt lt 1st line of differential corrections gt lt eoln gt lt soln gt lt nth line of differential corrections gt lt eoln gt lt etx gt e TIME TAGGING LINE ID lt GPS week gt lt GPS time gt lt eoln gt Time tagging in GPS
59. bytes in binary notation specifying the count of bytes in the block from lt stb gt excluded up to lt checksum gt excluded lt checksum gt 2 bytes transmission error check lt etb gt end of block ASCII character FF NOTE When counting bytes in a message remember that all the doubled characters i e FD 00 FD 01 and FD 02 resulting from the transcoding described above must be counted as single characters 0311352 Issue September 1997 AT7 27 Raw Data e GENERAL FORM OF MESSAGE lt stb gt lt blid gt lt long gt lt data gt lt checksum gt lt etb gt 1 byte 1 byte 2 bytes 1 to 1023 bytes 2 bytes 1 byte The meaning of the data in each block type is predefined e ERROR CHECK RULE The message content is checked for transmission error through two checksum bytes the values of which result from the sum of all bytes modulo 216 from lt stb gt excluded to lt checksum gt excluded e RULE ABOUT NUMERALS Unless otherwise specified e numerals are expressed in binary with fixed decimal point e the notation of signed numbers meets the rule of the 2 s complement e RULE ABOUT LABELS Labels cannot be included in a binary format unless a specific block is defined for that purpose A7 3 2 SINGLE FREQUENCY GPS RAW DATA short e GENERAL FORM OF MESSAGE lt stb gt B lt long gt lt time tagging gt lt raw data 1st SV gt lt raw data last SV gt lt checksum gt lt et
60. c3 gt lt sp gt lt c4 gt lt sp gt lt c5 gt lt sp gt lt c6 gt lt eoln gt eens Data b1 b2 c1 c2 c3 c4 For DSNP station c5 c6 For RTCM station c5 c6 4 char 7 char 2 char 7 char 4 char 2 char 1 char 2 char GPS week number GPS time in reference to week in 1 10 s units DSNP station number 1 to 99 depending on configuration c1 0 for numeric RTCM Differential correction in cm max 999 999 cm Age of correction Unit 1 x 107 second Satellite number Always 0 Rate of good words received on that frequency 1 to 10 1 carrier not detected Oto20 transmission quality only up to 10 for single frequency station Station identification number 100 c5 c6 Count of transmitted characters 21 25 x SV count Correction is to be subtracted from measurement DSNP corrections include IONO TROPO terms RTCM corrections do not include IONO TROPO terms If several stations are received there is one block for each station Issue September 1997 A7 14 Raw Data Examples DSNP Station No 1 D 570 2092800 55 6 2 00 10 78 33 90 10 77 6 11 0 10 53 9 12 0 10 RTCM Station No 720 D 620 2058420 0 45 16 37 20 0 70 33 97 20 0 71 6 12 7 20 0 63 9 13 7 20 A7 1 6 PSEUDORANGE RAW DATA e CMEAS COMPACTED GPS RAW DATA MEASUREMENTS R Format lt stx gt lt eoln gt R lt sp gt lt b1 gt lt sp gt
61. cations of a non encrypted station may be changed Do not attempt to assign the same identification number to two different stations the receiver would discard such a request After typing the new specifications press again to enable the changes WARNING In the case of a station currently in use you can make changes to its frequency format baud rate and C3 code only after deselecting it Your changes will take effect when you select the station again t Station Type Position 0011 GATTEVILLE RTCM 100b s 49 42N M0297500 1 16W D Station number and label RTCMor DSNP and data bit rate Station latitude and longitude Blank unless the station is encrypted Transmission band and frequency H HF band M MF band U UHF band with and NDR104 option Second transmission frequency in the case of an HF station Issue February 2000 How to use the Differential mode gt To copy specifications received to the non volatile library area The station library includes two areas a non volatile area that may contain the specifications of up to 15 stations a volatile area that may contain the specifications of up to 30 stations received along with Differential corrections If you wish to update the library with any specifications from the volatile area scroll through the list of stations in the volatile area until the desired station is displayed
62. ceiver board DIFO3 houses six parallel input channels Four analog inputs for HF or MF radiobeacon signals Two serial ports an RS232 port for digital RTCM104 corrections an RS422 port for RTCM104 or DSNP UHF corrections The signals from up to six different stations can be fed to six parallel processing channels depending on the selections made by the operator using the DIFF SELECT menu As a result six sets of differential corrections may be available to the GPS board used either for KART or for DGPS processing e KART This processing mode can be used if the corrections include phase corrections DSNP UHF stations The resulting position can be KART A providing 1 cm XYZ accuracy The position is updated at the same rate as the corrections received from the UHF station typically every 2 seconds which means a position latency figure of about 2 to 3 seconds Issue September 1997 A4 3 Differential GPS 0311357 DGPS KART R providing 2 cm XYZ accuracy Corrections are extrapolated from the last two successive corrections received from the UHF Differential Station in order to achieve a higher update rate for the KART position 0 6 seconds i e a position latency less than 1 second EDGPS providing 20 cm XYZ accuracy with a 0 6 second output rate Where the 1 or 2 cm accuracy of KART A or KART R is unnecessary the EDGPS Enhanced DGPS mode allows you to benefit from the KART processi
63. cify This mode plots graphic information to help you follow this track The basic positioning information from the standard display is recalled on the right of the chart Provides positioning information position speed course etc This mode can be used when no further navigation information is required The mobile position and the possible waypoints nearby are however shown on the graphic screen Issue September 1997 3 32 Navigation modes 3 3 2 GRAPHIC SCREEN NAV 3 GRAPHIC Centre of square indicates Small blinking square the location of a waypoint Centre point Scale used These dotted lines invisible on the screen represent the limits of plotting area Whenever the mobile crosses one of these limits the receiver switches to the adjacent section of chart up down left or right depending on the direction of displacement Example Mobile moving downward and crossing down limit EE Yf Screen skips over to indicates the current position of the mobile Mobile trace Abridged status area a 0 02 NM 1 SCALE 2 PLTMODE pee 3 OPTIONS 4 CLEAR to go back to the previous menu Chart scale in NM or in m km down adjacent section of chart Yir A 0311357 Information from standard navigation display recalled in this area Navigation mode me currently used i Navigation parame
64. cks previoulsy defined if any by pressing repeatedly T or 4 HOW TO DEFINE A NEW TRACK e Press WPT and then select 3 TRACKS e Select 3 CREATE The receiver automatically assigns a track number the lowest free track number to the track you are creating e Enter a label for the track 8 characters max e Choose the waypoints making up the track 12 waypoints max To do this first move the cursor to the first field by pressing gt e Press T or J until you display the desired waypoint After each press on or J note that the complete definition of the selected waypoint is displayed in the centre of the screen e Press to access the second waypoint field and repeat the above step etc e Press J when the definition of the track is complete Issue September 1997 3 29 Waypoints and tracks NOTES Leave the last unused waypoint fields filled with o0 You can define a track as a close loop by specifying the same waypoint at the beginning and at the end of the track 3 2 9 HOW TO DELETE A TRACK e Press WPT and then select 3 TRACKS e Press T or J repeatedly until the track you want to delete is displayed e Select 2 DELETE The blinking message Delete this track Are you sure appears e Select 1 Yes to confirm your choice otherwise 2 NOQ NOTE You cannot delete a track if it s currently followed by the receiver Profile mode currently active alon
65. cs as above except that it is the trailing edge instead of the rising edge which is synchronized onto UTC time Using both pin 4 and pin 5 makes the 1 pps compatible with the signal requirements of an RS422 line 0311357 Issue February 2000 Installation RS232C port port A Sub D 9 female connector O PN SIGNAL RS 232 C line TOP EXT Ext event input TrgA TXD Data output RXD Data input DSR Not used GND 0 Volt ground DTR Not used CTS Control signal input RTS Control signal output Not used 1 2 3 4 5 6 7 8 9 Time tagging of Ext event input Trg A Pin 1 Accurate to within 1 ms Input featuring 10 KQ pull up resistor tied to 12 V DC Input signal requirements 2ms2ms min min OV active edge 0311357 Issue February 2000 A1 10 Installation RS422 ports Port and Port J Sub D 9 female connector pin sicwat Rs4z2tine Ground Control signal input Data input Control signal output Data output 1 2 3 4 5 6 7 8 9 0311357 Issue February 2000 Al 11 Installation NDR104 UHF receiver option or RTCM104 corrections receiver These two devices can be attached to the NR203 receiver through the NUM connector described below NUM connector Sub D 15 female Bal SIGNAL RS 232 Line RS 422 Line port K port L NDR 104 VDC Ground Ground Control Signal Input Control Signal Ouput Data Input Data Output 1 2 3 4 5
66. ction keys gt Arrow keys MARK pushbutton wrx wrr _ OO Oe umeric keypad 4 Saves or gives access to data that can be updated via the keyboard the lower part of the screen Pressing a function key causes a specific menu to show up in WHEN THE CURSOR RESTS on a menu atthe on a character or option that you bottom of the are allowed to update Valid screen is prompted Move the cursor Move the cursor to the next horizontally within characters or options that you are the menu allowed to update Scroll through the possible values for a character or option Possible values for an alphanumeric character are Scroll through the display pages figures from 0 to 9 upper case letters A to Z characters and space Direct choice within a menu The 0 key may act as an EXIT key taking you back to the previous menu or step Entry of a permitted numeral if the cursor rests on a character entry field Entry of a letter 1 of 3 within an alphanumeric field 0311357 Issue September 1997 Introduction How to select a menu 0311357 In the procedures described throughout this manual you will be required to press a function key NAV or AUX or WPT and to select a menu For example if you are required to Press AUX and select 5 Init then 2 Position You only need to press AUX then 5 then 2 The direct method above allows you to rapidly access any menu or
67. dBHz bits 5 and 6 0 not used bit 7 1 if invalid phase measurement 3 bytes Llc carrier phase unit 10 cycles modulo 10 cycle 3 bytes Llc carrier speed unit 2x10 cycle s field 16kHz MSB sign 800000 invalid measurement 1 byte carrier quality indicator Llc bits O to 4 cumulative loss of continuity indicator always 00000 includes parity errors bits 5to 7 data quality indicator 000 valid data 111 invalid data 1 byte C A code quality indicator bits O to3 pseudo range multipath error indicator always 1111 bits 4to7 pseudo range data quality indicator always 1111 The C A pseudorange is the value of the receiver s time base at the moment the C A code transition is detected at the beginning of the word corresponding to the GPS time of the message The carrier phase is sampled at the same time 0311352 Issue September 1997 A7 30 Accessible Variables 0311357 APPENDIX 8 VARIABLES ACCESSIBLE USING CONFGPS SOFTWARE IN OUTPUT MESSAGES AND USER DEFINED SCREENS The CONFGPS software contained in the CONF203 floppy disk allows you to define formats using the variables listed below Some of the variables mentioned below can be combined with the TXT function to produce a string of characters or numeric values The underlined variables are interpolated for the time of output Navigation fix results L84 G84 Z84 DATM LAT LON YP XP ZP HP WGS84 Latitud
68. de you have entered is wrong In this case however corrections won t be decoded This operational status will result in an abnormally high corrections refresh rate reported in the Ag column see above 3 1 8 DISPLAYING DGPS MESSAGES DIF 5 MSGES This function allows you to view the following types of messages received including the time of reception RTCM 104 message type 16 DSNP HF user message Screen example Aug 25 1997 UTC 14 42 51 Station 0001 1 0005212 C You can view the last 8 messages received by pressing repeatedly the T or 4 key These messages are those received from any station including non selected stations 0311357 Issue February 2000 3 21 How to use the Differential mode 0311357 Issue February 2000 3 22 Waypoints and tracks 3 2 WAYPOINTS AND TRACKS 3 2 1 DEFINITIONS Waypoints are defined as particular locations holding interest in terms of navigation locations of buoys fishing spots work marks emergency destinations dangerous spots etc A wapyoint is defined by a waypoint number 00 to 99 alabel 7 alphanumeric characters a type optional represented by an icon X Y or L G coordinates a 2D position The number of possible waypoints in your receiver has been configured using CONF203 max 100 Using this software waypoints may also have been created An additional feature offered by CONF203 is that you can create protected
69. e 3 3 dimension mode XX XX NSVU PRN of SVs used in the solution x PDOP Position DOP 1 if not computed x HDOP Horizontal DOP 1 if not computed x VDOP Vertical DOP 1 if not computed Message 5 Time and Date GPZDA SGPZDA hhmmss ss XX XX XXXX lt Cr gt lt lf gt GPZDA NMEA183 message identifier hhmmss ss TUTC UTC time xx xx xxxx DUTC UTC date day month year 0311357 Issue February 2000 A3 8 Connecting a peripheral Message 6 Recommended Minimum Specific GPS TRANSIT Data GPRMC SGPRMC hhmmss ss a 1111 111 a yyyyy yYyy arX XX X X SOP SIE 0311357 SGPRMC hhmmss ss TUTC a PS 1111 111 a LAT yyyyy yyy a LON X XX SOG X X COG Message 7 Time Mark lt stx gt lt cr gt lt lf gt T xxxx XXXXX 1 XXXXXXXXXX lt etx gt Longitude NMEA183 message identifier UTC time GPS quality figure V Fix not available or invalid A GPS fix available Latitude degrees 2 char minutes 2 char 1 10 min N S indicator degrees 3 char minutes 2 char 1 10 min E W indicator Speed Over Ground knots Course Over Ground degrees xx lt cr gt lt lf x lt cr gt lt lf gt T xxxx GPSW_ GPS week number XXXXXXX GPST GPS week time Lsd 1 10 second 1 xxxxxxxxxxx GPST GPS time Modulo 10 seconds A3 9 Lsd 1x10 seconds Issue February 2000 Connecting a peripheral
70. e d m s Ground gt M25 H TaS Altitude see note 1 k k SZT ETS T Horizontal Vertical speed the speed arrow denotes the see note 2 direction Northing Easting N F234 S2 Northing aati E 123456 12 Easting Ground gt xx 0 H 7 45m Altitude see note 1 0 An A 1 3 i Horizontal Vertical speed the speed arrow denotes the see note 2 direction 0311357 Issue September 1997 Standard Navigation NOTE 1 NOTE 2 NOTE 3 is displayed if the COG is inconsistent if the speed is zero or near zero Depending on the unit selected AUX 5 gt 6 the speed may be expressed in knots kT metres second m s kilometres hour k h Selecting FREEZE prevents the display from being refreshed for about 10 seconds The navigation display data are continually visible either occupying the large size navigation display area or shrunk in the upper part under the abridged status area Aug 12 19968 ANOMLO 5 CESIE UTE 7202 15 3D 08 09SVs AT 1 60 895 Ni BAe 248 1 1 29 48802 E 0 2kT 1 9kT Aug 12 1996 AURORE DGES e ULE WGS84 N 12345 12 zx H 48 1m Q 9 0702815 3D 08 09SVs E 123456 12 Oro 2 Shey OR Shrunk navigation display data whenever a function other than the standard navigation display is used 0311357 Issue September 1997 2 4 Standard Navigation Abridged status area Type of switching from a Fix M
71. e radians WGS84 Longitude radians Altitude above WGS84 ellipsoid metres Selected Datum Projection 0 9 TXT DATM gt Selected Datum Projection name Latitude on selected datum radians Longitude on selected datum radians Northing on selected datum metres Easting on selected datum metres Altitude above geoid metres Master Oscillator offset seconds Speed results North Speed smoothed metres sec East Speed smoothed metres sec Upward Speed smoothed metres sec Clock Speed seconds sec Speed Over Ground Module metres sec Course made Good radians Issue February 2000 A8 1 Accessible Variables 0311357 Navigation Fix Quality MSL MODE NSVR NSVU HDOP VDOP PDOP TDOP GDOP XDOP LPME DRT DRMS SDMA SDMI El radians QUAL Computed Mean Sea Level metres Position Mode 0 6 TXT MODE Mode label Mode Position Mode identification mode label Hold 0 H Dead Reckoning 1 DR Time mode Ref 2 TP 2 dimensions 3 2 2 dimensions 4 OT Time 3 dimensions 5 3 3 dimensions 6 ugy Time Number of SVs received 0 15 Number of SVs Used 0 15 TXT NSVU PRN ofthe SVs used Horizontal DOP 1 not available Vertical DOP 1 not available Position DOP 1 not available Time DOP 1 not available Geometric DOP 1 not available Expected GDOP 1 not available LPME metres 1 not
72. e Datum you select with the AUX 5 Init 4 Geo Proj function depending on the type of navigation chart you are using DSNP agents will give you all necessary information in that respect 0311357 Issue September 1997 A5 2 Allowable commands from a PC ALT ALMANAC CONFIG DATE DEFAULT DIFF DSELECT DUMP D_RECK EPHEM EVMIN GEODESY aaGPQ WPL IONO OUT_MES RAW DAT SEL_GEO TR aaTLL UNIT aaWPL aaGPQ TLL APPENDIX 6 ALLOWABLE COMMANDS FROM APC Altitude correction Almanac data Read load configuration data Date amp time Read Recover faults Commands related to differential corrections List of excluded satellites Status of output messages Read current position enter position estimate Ephemeris data Minimum elevation of satellites Read load Geodesy data Read characteristics of waypoint No 00 lono UTC data Computed data output Raw data output Geodesy selection RS232 mode output Change initialize any waypoint Receiver identification number Change initialize waypoint No 00 Read characteristics of all waypoints Conventions used below to describe the commands 1 In the syntax of commands Parameters between square brackets optional lt sp gt space required 2 In examples 0311352 Bold characters commands from PC Normal characters receiver reply Issue February 2000 A6 1 Allowable commands from a PC 0311352 Command ALT Function This comm
73. e stations to make room for one or more sets of corrections choose 1 SELECT select a channel or port press 1 select NONE and press Select again the station you wish to add On each digital port you should not mix UHF and RTCM stations At high input rate synchronizing the RTCM data flow causes heavy processing load In order to guarantee correct operation of the whole DGPS acquisition it is recommended to observe the following rules 1 Do not feed the NR203 digital ports with DGPS data that are not in UHF DSNP format or RTCM 6 of 8 numeric format 2 Do not feed the NR203 digital ports with data that use transmission characteristics baud rate parity etc different from those programmed on its serial ports K and L In addition do not use baud rates greater than 9600 Bd 3 If demodulators are used to deliver several corrections sets this may be a satellite system demodulator or any other demodulator please limit the number of corrections sets available at the demodulator output to those really useful in the working area Issue February 2000 3 10 How to use the Differential mode gt Entering an RTCM station number 0311357 When you select stations on a serial port you may choose the RTCM option to reserve a blank field for an RTCM station see above Example Station 1 Station 2 4 0014 BRE m s RECM 2 NONE
74. eceiver Syntax DIFF lt sp gt CONF I G lt cr gt lt lf gt read DIFF lt sp gt CONF I G lt sp gt INI T lt cer gt lt lf gt reset to default Parameters Comments e The configuration data are displayed in the following format KSEXPDIFOOOS fide 4 eee oe lt etx gt lt parl gt lt par2 gt lt Z gt e To load configuration data to the receiver send your configuration file in the following format via serial port A KSUXSDIFREX he shea seas lt etx gt lt parl gt lt par2 gt lt Z gt e The CONFDIF PC software provided on the CONF203 disk can be used to prepare and load the DIFF configuration file 0311352 Issue February 2000 A6 9 Allowable commands from a PC Examples DIFF CONFIG DIF002 16 7 LABEL 20 3 COMMENT 92 3 STATION 12 3 HARD_RS 02 03 02 0A 02 03 100 NR EN NR E4 01 i KERRE KE KKKKKK 2 KKKKKK KKKKKK 1 Dy BERIT y KkKKKKK Al DIFF CONFIG INIT DIFF 1 CONFIG INIT proceeding DIFF 1 CONFIG INIT completed 0311352 A6 10 Issue February 2000 Allowable commands from a PC 0311352 Command DIFF DIFF MODE Function This command is used to read change the DGPS processing and initialization mode the type of fix to use and the sets of PRC data to use in computing fix or fixes Syntax iw TIFF lt sp gt MO DE lt cr gt lt lf gt read
75. eference to week in 1 10 s units Almanac data c1 parameter name 11 char and value 14 char parameter name 11 char and value 14 char c13 parameter name 11 char and value 14 char c14 25 char Count of transmitted characters 399 3 26560338 828 147 26 42 07 135 44 50 46 63 59 45 03 5 2 54 12 3 3790E 7 1 25647E 2 229 28 O tel 466944 570 0 A7 10 Issue September 1997 Raw Data IONO UTC U 0311352 Format lt stx gt lt eoln gt U lt sp gt lt b1 gt lt sp gt lt b2 gt lt eoln gt lt c1 gt lt eoln gt lt eoln gt lt eoln gt lt c16 gt lt eoln gt lt c17 gt lt eoln gt lt etx gt Data b1 4 char b2 7 char c1 to c17 GPS week number GPS time in reference to week in 1 10 s units lono UTC data c1 parameter name 11 char and value 14 char parameter name 11 char and value 14 char c16 parameter name 11 char and value 14 char c17 25 char Count of transmitted characters 480 Example U 570 2092746 a0 ns al ns sc a2 ns sc2 a3 ns sc3 bO s bl s sc b2 s sc2 b3 s sc3 AO s AL ns s Tot s DTls s DTlsf s WNt wk WNlsf wk DN day Sie 29 8 pe BRS ee 0 0 155648 180224 65536 196608 0 0000000419 0 0001696 466944 6 6 58 9 1 A7 11 Issue September 1997 Raw Data e ANTI SPOOFING S Format Data lt stx
76. emote control word input via RS232C or RS422 port TRG1 Triggered by 1pps signal TRGA Triggered by TOPEXT signal pin 1 on Port A connector TRGB Triggered by MOB signal pin 9 on AUX connector TRGI Triggered by EVT signal pin 3 on AUX connector e Move the cursor to the desired parameter using gt or lt and select the desired option using J or T for the repetition rate use the numeric keypad to enter the value e After making the necessary choices press _ as a result the selected options are entered and saved into the memory even during power outages NOTE The Period field is only prompted for the TIME trigger mode For other modes it is replaced by a Ticks field used to specify the number of events between any two successive messages 0311357 Issue February 2000 A3 4 Connecting a peripheral DESCRIPTION OF AVAILABLE MESSAGES 1 2 wo O oa r O oO N 10 11 12 13 14 15 16 0311357 k i ENCER E i i Global Positioning System Fix Data GPGGA NMEA183 V2 0 Position chosen for navigation precision 10 minutes no parity check Geographic Position Latitude Longitude GPGLL NMEA183 V2 0 Position chosen for navigation precision 10 minutes no parity check Course Over Ground and Ground Speed GPVTG no parity check GPS DOP and Active Satellites GPGSA no parity check Time and Date GPZDA no parity check Recom
77. er 1997 2 6 Standard Navigation 2 2 HOW TO ENTER AN INITIAL ESTIMATE Entering an initial estimate may be helpful if the ship has moved more than 1 in latitude or longitude since the receiver was last turned off This will substantially shorten the time required for the receiver to lock on satellites and compute the first fix The initial estimate entry procedure is as follows 0311357 After turning on the receiver wait for the Standard Navigation Display to show up Press AUX and select the initialization menu 5 Init For detailed information on how to use the keyboard see par 1 4 Select the submenu 2 Position This causes the latest computed position to show up in the bottom row Lat 4 7 16N SCANNING lt gt PRE Enter the estimated latitude and longitude or Northing and Easting Check the coordinates keyed in then press 1 to validate your entry This completes the entry procedure To call back the previous navigation display press NAV again Issue September 1997 2 7 Standard Navigation 2 3 HOW TO TURN OFF THE RECEIVER 0311357 To turn off the receiver hold down the ON OFF key until the screen becomes blank about 2 seconds then release the key the receiver is off This completes the few actions required to operate the receiver for standard navigation The next chapter is intended for users who wish t
78. errors may be as high as 30 to 50 metres for a 95 probability Of course the user may occasionally notice better accuracies but in the long run for example over one or more years problems of repeatability will lead to the above figures Furthermore both the signals and data available to civilian GPS users are subject to intentional impairment through the Selective Availability process SA that may be activated at any time by the US Department of Defence S A will be systematically implemented when the global 3 dimension positioning capability of the GPS system is achieved The effect of S A is a decrease in position and speed accuracies achievable worldwide to a level consistent with the security requirements set out by the U S military Accuracies of the order of 100 to 500 m 95 were experienced when SA was first activated The current policy aims at setting the accuracy impairment at about 100 m Also inaccuracies on the speed observed may reach 2 knots 95 which for many applications is still more detrimental than the position error All those errors whether intentional or inherent in the GPS system when it is used straight away have a common characteristic high degree of correlation in space A high degree of space correlation means that the errors observed by all GPS receivers locked on a given satellite will be virtually the same over an area of several thousand miles Issue September 1997 A4 1
79. f you wish to enter the specifications of any station into the non volatile library area choose a memory location you do not mind erasing For example choose a saved station which is of no interest e g because it is too far away press UPDATE and overwrite its specifications with those of the new station You are not allowed to make any change to an encrypted station apart from changing the access code code 3 If you choose to enter a new station in place of any of those listed make sure the new station is nearer is available if it is encrypted you will not be allowed to use it unless the administrator gives you an access code Issue February 2000 3 19 How to use the Differential mode gt 0311357 About encrypted stations Some stations using the DSNP format broadcast encrypted corrections This type of station is identified in the list by code 3 appearing on the left of the station number None of the specifications of an encrypted station can be changed only your client support centre can do it If you intend to insert an encrypted station into your DGPS station library consider what follows If the encryption code was not changed at the station since your receiver was last configured then nothing particular is required to use this station compared to a non encrypted station But if the encryption code was changed since then you should key in the new C3 code for this station
80. floating meaning that the Vcc and Vcc lines are not tied to the receiver s chassis ground The input power supply voltage should be between 10 and 36 VDC 0311357 Issue February 2000 A1 14 Getting started APPENDIX 2 GETTING STARTED POWER ON e Check for a power input between 10 and 36 VDC with the correct polarity Typically the power source used is a 12 or 24 V battery e Turn on the receiver press the ON OFF key e At the end of a few seconds the self test is complete and the receiver is ready to operate SOFTWARE e Press the AUX key and select 5 Init then 4 About The screen shows the GPS reception software version the identification of the configuration file loaded the version of the PWES1 and DIFO3 boards If an NDR104 UHF correction receiver is connected this also appears in the ABOUT screen CHECK AND OR UPDATE THE DATE AND TIME The Date and Time are entered once and for all into the receiver and continually updated even when the power is turned off or disconnected Therefore the operator will not have to enter or update the date and time The first time the receiver is put into service however it is advisable to verify these two parameters 0311357 Issue December 1996 A2 1 Getting started About the time at the initialization stage The time should be accurate to within 5 minutes When the receiver is capable of computing a fix the data from the sate
81. g formats are usable decimal decimal separator is the symbol It is always preceded by at least one figure 25 is written 0 25 and followed by at least one figure otherwise the integer notation is used integer particular case of decimal notation without separator floating exponent character is E example 6 2512E3 6251 2 signed signs are placed at the beginning of the mantissa and after the exponent character A numeral with no sign is assumed to be positive There cannot be spaces between the sign and the first figure e RULE ABOUT LABELS Labels are denoted by lt gt characters surrounding them They can take any ASCII value except lt gt lt stx gt and lt etx gt Labels can optionally be associated with a numeral In this case e They are placed just before or after the lt gt field delimiter e They are separated from the numeral by a lt space gt character 0311352 Issue September 1997 A7 21 Raw Data e ERROR CHECK RULE Optionally a checksum can be placed at the end of every line between the last data in the line and lt eoln gt The presence of the checksum is denoted by the character followed by the two end of line characters The checksum results from exclusive OR gating all the characters in the line excluding the character The resulting 8 bit checksum is converted into 2 x 4 bits in hexadecimal notation and then the two half bytes are ASCll encoded The most s
82. g this track 0311357 Issue September 1997 3 30 Navigation modes 3 3 NAVIGATION MODES 0311357 3 3 1 DEFINITIONS The positioning and navigation information you get from your NR203 depends on two different factors The configuration of your receiver which defines the content aspect and number of alphanumeric displays not including the standard navigation display s and the graphic screen These displays are independent of the navigation mode selected the navigation mode you select on your receiver Depending on this choice additional information is provided on a chart from which you can deduce steering instructions see graphic screen in the next paragraph HOMING BEARING Navigation mode based on a waypoint that you specify This mode provides graphic information to help you reach that point along a great circle The basic positioning information from the standard display is recalled on the right of the chart Navigation mode also based on a waypoint that you specify This mode provides graphic information to help you reach that point according to the bearing angle defined by the waypoint location and your current location when you select this mode The basic positioning information from the standard display is recalled on the right of the chart Issue September 1997 3 31 Navigation modes 0311357 PROFILE POSITION Navigation mode based on a track that you spe
83. gation chart to be used to pinpoint your position European Datum 50 is the reference of virtually all european charts In some countries minor discrepancies may give rise to deviations of a few metres relative to local charts DSNP agents are informed of such discrepancies and will configure their receivers so as to take them into account WGS84 World Geodetic System 84 is the reference for the GPS Unfortunately no local detailed mapping is available yet in this Datum However local WGS84 referenced charts may gradually become available in the decades to come In that respect it is worth noting that most GPS receivers currently marketed display positions computed in the WGS84 datum and in most cases do not even warn the operator This may give rise to additional errors of up to 100 to 200 metres in some regions in pinpointing the positions on local navigation charts To preclude any such error which is essential if one wishes to benefit from the centimetric accuracy in Kinematic or Differential GPS the position displayed must be in the same Datum as local navigation charts Issue September 1997 A5 1 Datum Different regions on Earth may have different Datum s for example the DGPS stations covering some Australian coasts use the AGD Datum Australian Geodetic Datum On line Datum transformation routines in your NR203 will convert the WGS84 latitude longitude to a latitude longitude or Northing Easting on th
84. hecking that the selected stations are properly received 3 1 8 Displaying DGPS message 3 2 Waypoints and tracks 3 2 1 DIGTINILIONS srera a e e e asi 3 2 2 How to read the list of waypoints stored in your receiver 3 2 3 How to create a waypoint from an existing waypoint 3 2 4 How to create a waypoint from the NAV screen 3 2 5 How to update a waypoint 3 2 6 How to delete a Waypoint cceceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeee 3 2 7 How to view existing tracks 3 2 8 How to define a new track 3 2 9 How to delete a track 3 3 Navigation MOdeS sssssssessrrerrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrrtrtrtteteretrttrrtttttt 3 31 3 9 1 DETNMILIOMS psss innn n n ete ee Leet eee 3 31 3 3 2 Graphic Scree N e aseinani nen a dined EE E 3 33 3 3 3 How to use the position MOdE ceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeaeeeees 3 34 3 3 4 How to use the homing mode n eerren reenen 3 35 3 3 5 How to use the bearing mode ccccccneccneccneceneeeneceneceneeeneeeeeeees 3 36 3 3 6 How to use the profile mode ccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 3 38 3 4 Intentionally DIANnK cwcicuccuctaneame sane nen nen a aaia 3 39 SP A xiliary TUNCUONS eese ceser seese esde lc bts eee eree eee er eede euriek eKits 3 40 S 6 BBR E E T 3 41 3 5 2 Viewing and clearing events and anomalies cceeeeeeeeeeeeeeeeees 3 45 3 5 3 Viewing the UKOOA QC data eere eeerrerrrrrrerenrr
85. ifferential processing board V3 0 12 09 1997 ID FO V3 1 24 10 1996 Differential UHF receiver option Press the AUX key and select 4 About to view the above screen showing the software version of each board in the NR203 and the configuration For the CPU board the receiver identification code C2 is also viewed The C2 code is used by an encrypted DGPS station administrator to generate a secret code C3 that will allow the receiver to use the encrypted station The ID hexadecimal code provides hardware information on each board the first digit stands for the printed circuit version the second digit stands for the options installed on the board 3 5 5 INITIALIZATION AUX 5 INIT 2 POSITION 3 SVs 5 FILTER 6 UNITS 8 DIFF For the Date and Time function AUX gt 5 1 see Appendix 2 For the Position function AUX 5 gt 2 see chapter 2 For the other AUX functions see below Issue February 2000 3 48 How to use Auxiliary functions 3 5 5 1 Intentionally discarded satellites amp Minimum elevation e press AUX and select 5 Init e Select 3 SVs Deselected SVs 00 00 00 00 00 00 PREV NEXT FIELD J VALID The cursor shows up on the Min Elev field Any satellite whose elevation is less than the value you enter into the Min Elev field will automatically be di
86. ifferential GPS stations and depending on the count of SVs received and on the way they are received the Differential mode used is displayed if no Differential station is received or the reception level is too weak whereas the Differential mode is activated the Differential mode indicator is blinking If no fix is obtained after 15 minutes of operation the Search in sky process is started during which the receiver tries to track all the known satellites in succession until a position solution can be obtained gt Depending on the configuration of your receiver one or more navigation displays are available standard display and other displays see chapter 3 for more details In the case of several displays available use the T and J keys to scroll through the different displays gt During this very simple procedure simply pressing the ON OFF key special cases may arise that require a few more actions of an operator entering an initial estimate see par 2 2 entering the date and time see Appendix 2 selecting another Differential station or changing the fixing mode or Differential mode see Chapter 3 NOTES e The keypad is tested at power on if you press any key after pressing the ON OFF key e The default GPS and DIF configuration parameters are restored at power on if you press the key and hold it depressed during the power on sequence until the DSNP logo re appears 0311357 Issue Septemb
87. ignificant character is transferred first A7 2 2 SINGLE FREQUENCY GPS RAW DATA Satellite time e GENERAL FORM OF MESSAGE lt stx gt lt eoln gt lt R gt lt time tagging gt lt eoln gt lt soln gt lt parameters gt lt eoln gt lt soln gt lt 1st line of raw data gt lt eoln gt lt soln gt lt nth line of raw data gt lt eoln gt lt etx gt e TIME TAGGING LINE IR lt GPS week gt lt GPS time gt lt eoln gt GPS week number and time within week in seconds Reference time is jan 6 1980 at Ohr00O assuming the modulo 2 ambiguity is removed e PARAMETER LINE lt soln gt 1st character lt gt 2nd character lt C gt L1 phase measurement C A code lt filtering time constant gt in seconds code smoothed by carrier lt eoln gt 0311352 Issue September 1997 A7 22 Raw Data e RAW DATA LINES lt soln gt 2 characters and channel No in hexadecimal lt SV No gt lt C A code pseudorange gt in 10 s modulo 10s lt C A L1carrier phase gt in 10 cycles modulo 10 cycles lt C A L1carrier speed gt in 10 cycle s lt C A L1 C No gt in dBHz lt L1 L2 channel status gt encoded on a 4 bit ASCII character 0 to F bitO 0O not used bit1 0O ifP code 1 if Y code Anti Spoofing bit 2 1 if invalid L1 phase measurement bit 3 1 if invalid L2 phase measurement lt L1 carrier quality indicator gt encoded on 2 ASCII characters 0 to F 8
88. isplay providing the data helpful to most navigators most of the time At power up the standard display shows the latest position computed when the receiver was last turned off as in the example below Aug 13 1996 AUTO GPS UTC LO 273 05 3D 08 10SVs sav gt WGS84 a gt SCANNING 1 FREEZE 2 MODE 3 GRAPHIC Abridged status area see details below Tells you which function is selected Tells you which Datum or geodetic system is currently used Fix Quality figure 0 to 9 for DGPS 10 to 19 for KART Appears if two or more screenfuls are available Menu area depends on the function selected Large size navigation display area see details below 0311357 Issue September 1997 2 2 Standard Navigation Large size navigation display area Depending on the geodetic system selected AUX 5 4 either Latitude Longitude or Northing Easting coordinates may be displayed e Latitude Longitude Depending on the units selected AUX gt 5 gt 6 either a degrees minutes or degrees minutes seconds format may be used to display the Latitude and Longitude AT 16 08 573 Latitude d m Course Over LO Zo 49842 Longitude d m Ground gt O H 7 45 Altitude one ime see note 1 47 16 08 734 Latitude d m s Course Over 1 29 49 426 Longitud
89. istance to Target metres Time To Go to Target seconds Transverse distance metres Along Track distance metres Next Course To Steer radians data User label Port A used only with TXT function User label Port B used only with TXT function User label Port C used only with TXT function User label Port used only with TXT function User label Port J used only with TXT function NMEA message Port A used only with TXT Time of last DGPS User Message received sec TXT UM Last DGPS User Message received Station ID of last DGPS User Message received Time of DGPS User Message PRC set 1 TXT UM1 GPS User Message PRC set 1 Time of DGPS User Message PRC set 2 TXT UM2 GPS User Message PRC set 2 Time of DGPS User Message PRC set 3 TXT UM3 GPS User Message PRC set 3 Time of DGPS User Message PRC set 4 TXT UM4 GPS User Message PRC set 4 Time of DGPS User Message PRC set 5 TXT UM5 GPS User Message PRC set 5 Time of DGPS User Message PRC set 6 TXT UM6 GPS User Message PRC set 6 Issue February 2000 A8 5 Accessible Variables 0311357 Data array SVU 1 15 M 1 10 MRK 1 16 UV 1 9 PRN of SV used 1 32 Fix Variance Covariance Matrix m M 1 Latitude variance M 2 Lat Long covariance M 3 Longitude variance M 4 Lat Altitude covariance M 5 Long Altitude covariance M 6 Altitude variance M 7 Lat Clock covariance M 8
90. iw Parameters dgps_mode IF F lt sp gt MODE lt sp gt dgps mode fix used set1 set2 set3 set4 load DGPS mode processing or initialization mode 0 not DGPS 1 Conventional DGPS 2 KART with On the Fly OTF initialization 3 KART with Static initialization 4 KART with Fixed altitude initialization 5 KART with known position initialization 6 Enhanced DGPS fix_used Computed fix used for navigation and geodesy change 1 DGPS Fix with PRC set 1 2 DGPS Fix with PRC set 2 3 DGPS Fix with PRC set 3 4 DGPS Fix with PRC set 4 5 Multistation DGPS fix 6 Enhanced DGPS fix 7 Accurate KART fix 8 Real time KART fix if dgos mode 0 or 1 if dgps mode 2 to 6 Issue February 2000 A6 11 Allowable commands from a PC 0311352 Set 1 Set of PRC s to use for DGPS fix 1 Enhanced DGPS or KART 1 to 6 Set 2 Set of PRC s to use for DGPS fix 2 Set 3 Set of PRC s to use for DGPS fix 3 Set 4 Set of PRC s to use for DGPS fix 4 Comments Before selecting KART with known position initialization dgps_mode 5 accurate position must be provided using D RECK command Example DIFF MODE DIFF 1 MODE 1 1 1 0 0 0 DIFF MODE 1 5 1 2 5 6 DIFF MODE DIFF 1 MODE 1 5 1 2 5 6 Issue February 2000 A6 12 Allowable commands from a PC Command DIFF DIFF SELECT Function This command is used to read change the DGPS stations to be used Sy
91. l mode gt Differential corrections may be input to the receiver through a radio link or a serial wireline Radio link Corrections broadcasted in the HF band DSNP format or in the MF band RTCM format received through the WIDE BAND or NARROW BAND antenna connector are input to four analog channels If an NDR104 UHF receiver is used optional on the NUM connector corrections received in the UHF band DSNP or RTCM format may also be available Serial line If an auxiliary receiver is used connected to the NUM connector providing digital RTCM 104 corrections four sets of corrections may be available from four distinct DGPS stations By pressing the DIF key and selecting 1 Select you can assign DGPS stations to your receiver s reception channels thus allowing the processing of up to 6 sets of corrections By pressing the DIF key and selecting 2 KART or 3 DGPS you can choose the desired Differential mode From the available processed corrections up to 6 sets you can generate up to four DGPS positions and an MDGPS position weighted mean DGPS position or a KART position EDGPS KART A KART R Also you specify the position to be used in the navigation display Issue February 2000 3 2 How to use the Differential mode Channel 1 Channel 2 Channel 3 Wide Band or Narrow Band Channel 4 Station 1 DGPS1 NUM Pome Station 2 DGPS Digital
92. l organizations acting as service administrators may broadcast encrypted corrections so that only authorized users can receive them In that case the station s administrator may periodically disclose the necessary password i e user code C3 to authorized users gt The NR203 is capable of receiving and using DGPS corrections from both non encrypted and encrypted stations for an encrypted station the C3 user code must be entered into the receiver The NR203 is also capable of processing RTCM formatted corrections either through a radio link or through a serial line connecting them to an auxiliary receiver Issue September 1997 A4 2 Differential GPS 3 THE KART TECHNIQUE With the KART processing the same general technique is used but in addition the complete carrier phase cycles known as phase integers are determined therefore the resulting accuracy is from 1 to a few centimetres This far better accuracy however is only achievable after a short initialization interval 3 to 10 minutes typically the precise duration of which depends on the constellation on the distance from the reference station on environmental conditions extent of multipath effect After the initialization is complete centimetric accuracy is achieved continually provided that at least four satellites remain simultaneously in view as is always the case at sea 4 THE DIFFERENTIAL GPS IN THE NR203 0311357 The differential re
93. llites will allow the time to be automatically updated to within 1 second Incidentally if you try to enter any incorrect time or date the receiver makes the necessary corrections within 1 second The time displayed may be UTC or local as requested by the operator The time is displayed in the 0 24 h format as follows Ex 22 10 15 KL Ll hour minute second See if the date and time are correct and if necessary make the necessary corrections as follows e Press AUX and select 5 Init e Select 1 Date Time The screen should look like this AUX INIT DATE TIME Date Time Dutc aus 20 1996 07 53 21 UTC 00 00 NU SCANNING lt 3 PREV NEXT FIELD J VALID offset eThe cursor rests on the first character of the month If required press or J until the desired month is displayed elf required enter the time UTC or local elf you wish to view the local rather than UTC time then you need to enter the Local UTC time offset Dutc field Move the cursor to the sign of the offset using lt or gt 0311357 Issue December 1996 A2 2 Getting started Choose the desired sign using 7 or J Press gt and enter the offset 12 hours in 30 minute steps Press J This takes you back to the INIT menu of the AUX function The abridged status in the top section of the screen indicates
94. lt b2 gt lt eoln gt lt c1 gt lt sp gt lt c2 gt lt sp gt lt c3 gt lt sp gt lt c4 gt lt sp gt lt c5 gt lt sp gt lt c6 gt lt sp gt lt c 7 gt lt eoln gt lt etx gt Data Each line describes the measurements made on a reception channel while tracking a satellite 15 lines max where b1 4 char GPS week number b2 7 char GPS time in reference to week in 1 10 s units c1 2 char and channel number 1 to 9 0 A to F c2 11char Code pseudorange in 1 x 107 seconds modulo 10 seconds c3 11char Carrier phase in 1x 10 cycles modulo 1 x 10 thousandths of a cycle Phase measurement decreases as distance increases c4 2 char Satellite number 0311352 Issue September 1997 A7 15 Raw Data c5 2 char C No in dB Hz c6 3 char Pseudorange phase standard deviation in 1 x 10 seconds c7 o 1 char Validity of phase and pseudorange measurements over the compacting period The 8 bits bits O to 7 of c7 are described below bit O 1 if parity error bit 1 1 if code and carrier unlocked bit 2 1 if phase leaps by 2n 1 z bit 0 1 and bit 3 1 phase measurement not valid Count of transmitted characters 21 40 x SV count Leading O s are replaced by spaces as field separators Example SR 570 2092800 ele SPROIZ7 3215 9724661 2 31 0 0 2 7848424467 21861933 9 40 0 0 3 7736550634 27159127 L135 0 0 4 7840226253 451393 12 31 0 0 5 7734216380 9997322
95. mal mode is 3D T If the GDOP exceeds the programmed threshold or if less than four satellites are received then the receiver automatically switches to the 2D T mode The programmed threshold Commutation GDOP is displayed 2 2D 2D T manual With this option the altitude is assumed constant so it is not computed The fix accuracy then depends on the accuracy of the altitude entered 0311357 Issue February 2000 3 55 How to use Auxiliary functions Therefore when you select the 2D option you are required to see if the altitude entered is correct and confirm or update it AUX In p Commutation G INIT Fixed NU rogress Tp FIXMODE B UPDATE AUTOMATIC DOP MANUAL 2D height SCANNING lt 10 PRE 4 VALID To confirm the altitude displayed simply press _ To update the altitude displayed enter the correct value then press to store it 3 3D 3D T manual This option is used to prohibit the use of the 2D T mode If the GDOP exceeds the programmed threshold or if less than 4 satellites are received then the fix is no longer computed This function is usable only in conventional DGPS It has no effect if the receiver uses the KART technique gt To quit without making any changes press any function key 0311357 3 56 Issue February 2000 Installation 0311357 APPEN
96. mended Minimum Specific GPS TRANSIT Data GPRMC no parity check Raw Data Time Mark NR103 type message beginning QLY ZDA NR103 type message continued GLL VTG NR103 type message end SGD SYS ZEF Global Positioning System Fix Data GPGGA WGS84 position precision 10 minutes with parity check Global Positioning System Fix Data GPGGA WGS84 position precision 10 minutes with parity check Course Over Ground and Ground Speed GPVTG With parity check Global Positioning System Fix Data GPGGA WGS84 position precision 10 minutes with parity check Position chosen for navigation precision 10 minutes with parity check GPS Pseudorange Noise Statistics GPGST With parity check By default all output messages are OFF at power on Issue February 2000 A3 5 Connecting a peripheral Message 1 Global Positioning System Fix Data GPGGA NMEA183 v2 0 SGPGGA hhmmss ss 1111 11111 a yyyyy yyyyy a x XX X X M xX M X X XXxXxX lt cr gt lt 1lf gt SGPGGA NMEA183 message identifier hhmmss ss TUTC UTC time of position computation 1111 11111 a LAT Latitude degrees 2 char minutes 2 char 1 10 min N S indicator yyyyy yyyyy a LON Longitude degrees 3 char minutes 2 char 1 10 min E W indicator x PS DS GPS quality figure 0 fix not available or invalid 1 straight GPS fix 2 Differential GPS fix xX NSVU Number of SVs used to compute the fix x
97. mplitude level between 0 and 10 dBm frequency 10 MHz 10 and input impedance 50 Q Automatic switching between external and internal master oscillator Changing the master oscillator while the receiver is in operation is not recommended as this can result in GPS signal loss 0311357 Issue February 2000 A1 7 Installation AUX connector Sub D 9 male connector PN SIGNAL DESCRIPTION GND Ground sensEVT Not used EVT Ext event input Trg l 1 PPS 1pps output true 1 PPS 1 pps output complement Env data Not used Alarm Not used Not used MOB Ext event input Trg B 1 2 3 4 5 6 7 8 9 Time tagging of ext event input Trg pin 3 Accurate to within 100 ns SA Input featuring 10 KQ pull up resistor to 5 V DC Active edge EVT active edge 0311357 Issue February 2000 A1 8 Installation Time tagging of ext event input Trg B pin 9 Accurate to within 1 ms Input featuring 10 KQ pull up resistor tied to 12 V DC Input signal requirements 2ms2ms min min OV active edge 1 pps output pin 5 1 Hz square waveform Rising edge synchronized onto UTC time Accurate to within 100 ns SA if the 30 metre antenna cable is used Settling time less than 30 seconds after the first fix is available Subject to frequency oscillator drift once no more fix is available 1 pps output pin 4 Pin 5 s complement Same characteristi
98. mt Svs Ag Kart Dgps PORSPODE LA COUBRE ABERDEE SCILLY BREST EL ECT 2 KART 3 DGPS 4 STATION 5 MSGE Press the DIF key to view the above screen showing the status of each DGPS station from which corrections are available DE Station Chl Fmt Svs Ag Kart Dgps I JF ttt f 0000 P Columns to tell you how corrections are received gt Columns and tell you how corrections are used Station Number and Label of the station Chi Identification of the analog channel No 1 to 4 or digital channel NUM port K or L assigned to the station As an HF DSNP station has two transmitting frequencies two channels may be assigned to such a station one for each frequency Fmt Format SHF DSNP HF SUHF DSNP UHF or RTCM UHF RTCM RTCM 104 MF or numeric 0311357 Issue February 2000 3 4 How to use the Differential mode SVs Count of satellites for which differential corrections are available from the station Ag Average age of corrections in seconds Used means that corrections from the station are actually used to compute a KART DGPS position Avai means that corrections are available from the station but not requested to compute any KART DGPS position Reje means that corrections from the station are rejected because they do not allow any KART DGPS position to be computed Blank mea
99. n critical situations but don t let them allow yourself to believe this relieves you of customary prudence and navigational care NOTICE DSNP DGPS receivers can use the correction signals broadcast by the long range DGPS stations installed by DSNP on the French territory So long as no broadcasts by radio positioning systems are taxed in this country DSNP can offer its customers free access to the corrections provided by those stations However if French regulations changed in the future to impose taxation on radiopositioning transmissions DSNP would reserve the right to pass on the resulting financial expenses to the users working with those stations Introduction 1 INTRODUCTION 1 1 ABOUT THE NR203 RECEIVER 0311357 Multidifferential All in view real time survey receiver the NR203 integrates a powerful multi frequency multi station correction receiver capable of processing differential messages from a variety of Sources e DSNP NDS200 HF Station e DSNP NDS100 UHF Station e IALA Radiobeacon e Any RTCM 104 compatible DGPS system The corrections are subsequently used to compute either KART and EDGPS positions when phase data are available or up to 4 single station solutions when only PRCs available then mixed in an optimized multistation DGPS solution Thus in any case the NR203 gives the user the best possible position with the highest degree of reliability The most advanced and powerful
100. n of talker 1111 11111 A_ Latitude of waypoint ddmm mmmmm N or S VYVYY yyyyy A_ Longitude of waypoint dddmm mmmmm E or W c c_ Waypoint label Comments Waypoint position is entered in latitude and longitude on the currently selected datum Example SECWPL 4716 723 N 00129 412 W ZPOINT 0311352 Issue February 2000 A6 35 Allowable commands from a PC 0311352 Issue February 2000 A6 36 Raw Data APPENDIX 7 RAW DATA Notice The expression non configurable refers to those data whose format is predefined and therefore not modifiable by the user A7 1 NON CONFIGURABLE GPS DATA IN ASCII FORMAT Fixed size Fields SFIX format A7 1 1 NOTATION RULES e RESERVED CHARACTERS 021 lt stx gt beginning of message 25h lt gt indicates type of block 23h lt gt indicates type of block 2An lt gt indicates type of block ODy 0An lt eoln gt end of line 031 lt etx gt end of message 20h lt sp gt space separator Subscript letter h following a character string means that the string is in hexadecimal notation e CONVENTIONS USED Field Generic term standing for one or more data Data Numerical value or label lt gt Denotes a field lt stx gt Beginning of message 02h lt sobk gt Beginning of block one or more characters identifying beginning of block lt soln gt Beginning of line one or more characters identifying beginning of line in a block
101. nded using a portable radio set and successively turning on every electric or electronic shipboard device The traditional protective measures including interference suppression on electric generators and grounding of moving mechanical structures are also recommended The HF MF antenna downlead is floating above the ship s ground system the shield of the downlead should not be grounded at any end A grounding capacity is included in the antenna The above requirements are necessary for the nominal 500 Nautical Mile DGPS coverage to be achieved NOTICE If you need to shorten the GPS antenna downlead cut the end to be connected to the receiver rather than the end connected to the antenna to preclude any problem of sealing the antenna cable should not be less than 10 m long the wiring of the new TNC connector should be done by skilled personnel only Issue February 2000 Installation CONNECTIONS The receiver should be connected to a power source to the antennas and if required to any peripheral device needed recorder video plotter etc as shown below The antenna ground lead should be connected to the ship s ground system Antenna downlead ae Vi Ferrites on downlead should be close to receiver B C C E T O Mount bracket ee Mo ee Jo o oV_ o o oN oV_ o AUX Port A Port
102. ng to achieve decimetric accuracy without the need for any initialization step This mode allows you to use corrections from up to four stations Three options are available for the position solution DGPS1 Primary solution 0 6 s output rate resulting from a single station DGPS2 DGPS3 DGPS4 up to three distinct solutions resulting from three more stations MDGPS Multistation solution 0 6 s output rate from a least square processing on the available DGPS positions DGPS1 2 3 4 providing a weighted mean position with submetre to metre accuracy KART and standard DGPS modes cannot be run NOTICE simultaneously Issue September 1997 A4 4 Differential GPS 5 DSNP DGPS COVERAGE 0311357 Issue September 1997 A4 5 Differential GPS 0311357 Issue September 1997 A4 6 Datum 0311357 APPENDIX 5 DATUM The parameters visible on each navigation display Latitude Longitude Course Over Ground etc are described in Chapter 2 The specific parameters in each navigation mode are described in par 3 3 Below are a number of comments concerning the Datum e g WGS84 A Datum results from taking an ellipsoid and moving its centre so the ellipsoid matches the geoid very closely in your area of interest The Datum is used to specify the geodetic reference and type of projection of the position displayed it allows you to identify the type of navi
103. ns that corrections are not available from the station but anyway not requested to compute a Kart DGPS solution gt Pressing or J displays another screenful showing the status of Differential reception on all four analog channels B Frequency band Frq DGPS Station frequency Sn Signal to Noise ratio Qu Quality figure used to appreciate the reception of corrections 1 station not received 0 carrier detected but no words detected 1 to 10 carrier detected and words decoded 1 to 3 very poor reception single frequency station 4 to 6 intermittent reception single frequency station 7 to 10 good quality reception single frequency station The time required for the link to be established with a DGPS station is less than 30 seconds after power up and after selection of a new station 0311357 Issue February 2000 3 5 How to use the Differential mode 3 1 3 SELECTING DIFFERENTIAL STATIONS SELECT Station 0008 PORSPOD SCANNING Press the DIF key and select 1 SELECT to view the above screen Use the Up T and Down J arrow keys to view the stations assigned to the four analog channels and the two digital ports if any gt Analog channels Number and label of the station Input to be picked up on this channel channel Transmission frequency number 1 to 4 1 or 2 for HF station only Frequency band HF or MF Chl Station Frq
104. ntax TF F lt sp gt SELECT lt cr gt lt lf gt iw IFF lt sp gt SELECT lt sp gt chnl station Frg Load for analog channel w iw IFF lt sp gt SELECT lt sp gt chnl stationl station2 station3 station4 Load for digital channel Parameters chnl Reception channel to set up 1 to 4 Analog channels for HF MF reception 5 digital channel RS232 port K 6 digital channel RS422 port L Station DGPS HF or MF station identification 0 to 1023 1 unused Frq Broadcast frequency for dual frequency HF station station 1 DGPS station identifier to receive on digital channel station 2 DGPS station identifier to receive on digital channel station 3 DGPS station identifier to receive on digital channel station 4 DGPS station identifier to receive on digital channel 0 to 1023 1 unused 0311352 Issue February 2000 A6 13 Allowable commands from a PC Comments e The total number of stations selected should not exceed 6 An HF station with 2 frequencies selected stands only for one e Mixing HF and MF stations on analog channels is not allowed All 4 channels should be programmed on HF band or MF band e Digital channels ports K and L can only be programmed with UHF or RTCM SC104 digital station 6 of 8 format e Mixing UHF and RTCM SC104 digital station is not allowed on the same digital channel Examples DIFF SELECT DIFF 1
105. o take advantage of all the advanced functions provided by the receiver Issue September 1997 2 8 How to use the Differential mode 3 HOW TO USE ALL ADVANCED FUNCTIONS The operator is assumed to be familiar with the few actions required to operate the receiver for ordinary navigation described in Chapter 2 As a reminder the only steps to be taken unless you wish to change something in the parameters displayed are turning the receiver on or off entering an initial estimate exceptionally selecting a navigation display The present chapter provides detailed information on the following functions Differential GPS Navigation modes and corresponding screens Auxiliary functions purpose and operating instructions NOTICE For detailed information on how to use the keyboard see par 1 4 Installation instructions mostly intended for the persons in charge of setting up and servicing the equipment are provided in Appendix 1 0311357 Issue February 2000 3 1 How to use the Differential mode 3 1 THE DIFFERENTIAL MODE 0311357 Your receiver has been configured to receive the Differential GPS DGPS stations covering your region The theory of operation of Differential GPS is explained in Appendix 4 3 1 1 Introduction This paragraph introduces the few key points and definitions required to understand all the capabilities offered by your receiver to operate in Differentia
106. ocessing KART initialization mode or EDGPS If NONE is displayed for the current mode this means that the receiver does not use the KART technique Either the straight GPS or DGPS mode is used Station to be used selection from the available sets of Differential measurements KART position to be used for navigation selection from three KART positions computed in different ways gt The cursor automatically appears on the Used field Use the arrow keys to go to the desired field and make the necessary changes and press J This enables the new settings and triggers an initialization sequence If the cursor is on Mode field Used allows you to specify the computed position which is to be used for the navigation display EDGPS or KARTA or KARTR see Appendix 4 If the initialization Mode field is set at EDGPS you cannot choose KARTA or KARTR Station prompts the first UHF station received or the latest used Use T or J to scroll through the stations from 0311357 Issue February 2000 3 12 How to use the Differential mode 0311357 Mode which differential measurements are available that can be used for the KART processing Only DSNP UHF stations are prompted If NONE appears this means that no suitable corrections are available and the KART technique cannot be used KART initialization mode INITK causes reinitialization in the same Mode which is viewed in the In Proce
107. ode to another Automatic or Manual switching Differential mode used to compute the fix Blinking if another Differential mode is requested using DIF 2 or 3 see par 3 1 4 or 3 1 5 Date Straight GPS GPS Day Conventional Diff DGPS1 2 3 4 or MDGPS Month Year KART EDGPS KARTA KARTR Aug 14 1996 AUTO DGPS1 UTC 10 27 05 3D 08 10SVs Time Count of satellites received SVs for Space Vehicl UTC or LOC if a local SVs for Space Vehicles time offset is used Count of satellites used see Appendix 2 Fix Mode DR if Dead Reckoning HOLD if no position is computed 3D if 3 dimension computation 2D _ if 2 dimension computation NOTE FRZ or MRK appears in the upper right corner displayed for about 10 seconds after selecting FREEZE in the NAVigation menu or pressing MRK on the keypad gt Naturally at power up no satellite is locked on so the count remains at 0 but at the end of 1 to 2 minutes the count increases 1 2 up to a maximum of 15 SVs The receiver processes the 15 best usable satellites concurrently and completely 0311357 Issue September 1997 2 5 Standard Navigation At the end of 3 to 4 minutes The blinking HOLD indicator vanishes replaced by the Fixing Mode 2D or 3D The speed is computed and displayed along with the Course Over Ground The position is computed and updated Finally within an area covered by D
108. on of semi major axis of error ellipse degres from North 1 if not computed xX X M 1 Standard deviation of latitude error meters 1 if not computed XxX X M 3 Standard deviation of longitude error meters 1 0 if not computed xX X M 6 Standard deviation of altitude error meters 1 0 if not computed hh Message parity 0311357 Issue February 2000 A3 15 Connecting a peripheral DEFINING AND ACTIVATING A RAW DATA MESSAGE e Press the AUX key and select 9 Inp Outp e Select 2 RawData A screen appears showing the current description of a raw data message with the output rate the trigger mode and the port used Use the T or J arrow key to view the description of the other raw data messages if any INP OUT OUTPUT Gdat Dgps Gmea Mode Period Tau CDAT DGPS CMEA SYNC 25 0 1 SCANNING UPDATE e f you wish to make changes press Use or to go to the desired field and T or J to select the desired data see the description of each entry field below After making the necessary selections press to enable the new configuration and quit 00 re No Po Gdat Dgps Gmea Mode Period Tau 1 A CDAT DGPS CMEA SYNC 25 0 1 SCANNING lt gt PREV next field 0311357 Issue February 2000 A3 16 Connecting a peripheral 0311357 Ra
109. only need to enter a Dmsi value for AltMode 1 gt For AltMode O it is the MSL value from the STANAG model which is used gt For AltMode 2 ALT userEllipsoid is the altitude above the ellipsoid chosen by the user The transformation already includes the necessary MSL correction Phase centre Phase centre NAP4 GPS antenna NAPOO1 GPS Antenna Issue February 2000 3 53 How to use Auxiliary functions Antenna phase centre ALTwess4 Offset USER Reference as wese4 p GPS reference gt If you wish to make changes use or lt to go to the desired field and or J to select the desired unit Press to store your selection and quit gt To quit without making any changes press any function key 3 5 6 Unavailable 3 5 7 Screen brightness Press AUX then 7 changes the display brightness mode from high to low or the other way round 0311357 Issue February 2000 3 54 How to use Auxiliary functions 3 5 8 GPS FIX MODE AUX 8 FIXMODE AUX FIXMODE In progress AUTOMATIC Commutation GDOP 10 1 AUTOMATIC 2 2D 3 3D 4 AIDED 5 1DzZ 6 STATION 7 MONITOR Press the AUX key and select 8 FIX MODE to view the above screen that allows you to select a mode for computing the GPS position The mode currently enabled is displayed The menu at the bottom of the screen allows you to select one of the following modes 1 Automatic The nor
110. ormat lt stx gt lt eoln gt A lt sp gt lt b1 gt lt sp gt lt b2 gt lt eoln gt lt c1 gt lt sp gt lt c2 gt lt eoln gt lt t4m3 gt lt sp gt lt t4m4 gt lt t4m9 gt lt sp gt lt t4m10 gt lt eoln gt lt etx gt Data b1 4 char b2 7 char c1 2 char c2 4 char t4m3 t4m10 GPS week number GPS time in reference to week in 1 10 s units Satellite number Almanac week number Words 3 to 10 from Frame 4 pages 2 to 5 7 to 10 bits d01 d24 almanacs for satellites 25 to 32 Words 3 to 10 from Frame 5 pages 1 to 24 bits d01 d24 almanacs for satellites 1 to 24 6 characters per word Count of transmitted characters 87 Example oA 3 570 2873946 570 424964 72096A FD4100 ALOCCF CEFBE1 808A11 D 0311352 EED18 FDOOILF A7 5 Issue September 1997 Raw Data e IONO UTC U Format lt stx gt lt eoln gt U lt sp gt lt b1 gt lt sp gt lt b2 gt lt eoln gt lt t4m3 gt lt sp gt lt t4m4 gt lt t4m9 gt lt sp gt lt t4m10 gt lt eoln gt lt etx gt Data b1 4char GPS week number b2 7 char GPS time in reference to week in 1 10 s units t4m3 t4m10 Words 3 to 10 from Frame 4 page 18 bits d01 d24 6 char per word Count of transmitted characters 78 Example sU 570 2092746 782204 FE004C FSFFO3 FFFF41 000000 2D723A 060901 O6AAA8 0311352 Issue September 1997 A7 6 Raw Data e ANTI SPOOFING S Format
111. ormation is viewed Station row 1 to 45 Station ID 0 to 1023 1 if unused if unused Frequency band H HF M MF U UHF N NUMERIC Number of Frequencies 1 2 0311352 Issue February 2000 A6 16 Allowable commands from a PC Command DSELECT Function This command is used to read modify the list of excluded satellites Syntax DSELECT lt cr gt lt lf gt read DSELECT lt sp gt SV_No SV_No SV_No l lt cr gt lt lf gt modify Parameters SV_No PRN of the satellite to be excluded 1 to 32 0 re selects all excluded satellites Comments Satellites may be excluded one by one whereas sending a re select command DSELECT 0 applies to all excluded satellites at the same time Examples DSELECT DSELECT 00 00 00 00 00 00 00 00 DSELECT 21 DSELECT DSELECT 21 00 00 00 00 00 00 00 DSELECT 21 24 DSELECT DSELECT 21 24 00 00 00 00 00 00 DSELECT 0 DSELECT DSELECT 00 00 00 00 00 00 00 00 0311352 Issue February 2000 A6 17 Allowable commands from a PC Command DU M P Function This command is used to read modify the state of the output messages Syntax DUMP lt cr gt lt lf gt read DUMP lt sp gt Command lt cr gt lt lf gt modify Parameters Command ON suspends or disables the output messages OFF restores the initial state of the output messages Comments gt The DUMP command returns
112. ough IIR type filtering R 0311352 Issue September 1997 A7 3 Raw Data A7 1 3 CDAT NON FORMATTED GPS DATA Hex encoded binary The CDAT generic term gathers the following data WE A U S and H e EPHEMERIDES E Format Data lt stx gt lt eoln gt E lt sp gt lt b1 gt lt sp gt lt b2 gt lt eoln gt lt c1 gt lt sp gt lt c2 gt lt eoln gt lt t1m3 gt lt sp gt lt t1m4 gt lt t1m9 gt lt sp gt lt t1m10 gt lt eoln gt lt t2m3 gt lt sp gt lt t2m4 gt lt t2m9 gt lt sp gt lt t2m10 gt lt eoln gt lt t3m3 gt lt sp gt lt t3m4 gt lt t8m9 gt lt sp gt lt t3m10 gt lt eoln gt lt etx gt b1 4char GPS week number b2 7 char GPS time in reference to week in 1 10 s units c1 1char Channel number 1 to F for 15 channels 1 to 9 O for 10 channels c2 2char Satellite number t1m3 t1m10 Words 3 to 10 from Frame 1 bits d01 d24 6 char per word t2m3 t2m10 Words 3 to 10 from Frame 2 bits d01 d24 6 char per word t3m3 t3m10 Words 3 to 10 from Frame 3 bits d01 d24 6 char per word Count of transmitted characters 198 Example 0311352 ole E 570 2092740 21 E9201 92DBF6 3B6CF8 697523 D2C00D 4534BC OOFFF3 FE2209 4500B9 326A27 89C2F3 FFFCO5 170DD1 1406A1 O0D6841 34BC56 OO1D4F 709505 FF9426 E1542A 183054 C42E11 FFA7CF 45F155 oe Issue September 1997 A7 4 Raw Data ALMANACS A F
113. ow to decide of the end of the initialization stage Time elapsed since the first KART solution was detected Time elapsed since the last KART solution was detected Issue February 2000 3 42 How to use Auxiliary functions gt KART Status in use Fx Station USV Q Dop Lpme Delta 0311357 AUX STATUS WU Master Oscill SA Received SVs INT 0 00E 00 OFF 0 KART FX Station USV Q Dop lpme ED 0014 DSNP_UHF 8 13 1Iz0 0403 8 19 1 0 0 00 8 19 1 0 0 00 KART positions available The KART position requested to be used for the navigation screen is highlighted DGPS station used Number of SVs used Quality figure 0 waiting for a consistent EDGPS solution 11to13 EDGPS fix 14to19 KART Aor KART R fix Horizontal Dilution of Precision 1 if not computed Mean Error of Lines of Position Deviation between KART R and EDGPS solutions is one of them is used for the navigation screen a Ax ay a No Delta is computed in relation to the KA position Issue February 2000 3 43 How to use Auxiliary functions 0311357 Another screenful is accessible by pressing the T or J arrow key showing the status of the GPS constellation Ch Sv St Sn Elv Azi ny Ch Sv St Sn Elv Azi 09 27 u 49 10 28 u Receiver channel number Satellite identification number PRN Number Satellite status s
114. put rate and the channel throughput 50 bits s for GPS 250 bits s for a WAAS geostationary It is limited to 480 bits max i e 120 hexadecimal characters Message example B 570 209274 6 C 3 1 12 30 3F471A04 2 23 30 18AC442C 0311352 Issue September 1997 A7 26 Raw Data A7 3 NON CONFIGURABLE GPS DATA IN BINARY FORMAT SBIN A7 3 1 NOTATION RULES e RESERVED CHARACTERS By principle all possible binary values in a byte are allowed However three ASCII characters are used for message identification ASCII byte FE denotes beginning of binary block ASCI byte FFn denotes end of binary block ASCII byte FD denotes intentionally altered character If between the beginning and the end of a block the binary string initially includes such characters then the following modifications are made to the string to avoid misinterpretation of the data at a further step FD is transcoded into FD 00n FE is transcoded into FD 01 FF is transcoded into FD 02 e CONVENTIONS USED The term field stands for one or more parameters The term data stands for a binary value occupying a byte In a byte bit 0 stands for the least significant bit bit 7 for the most significant bit The most significant bit is always placed ahead lt gt denotes a field lt stb gt beginning of block ASCII character FEn lt blid gt block type 1 ASCII character allowing identification of the data type lt long gt 2
115. real time survey receiver available The NR203 is based on DSNP latest high performance 15 channel GPS core and is fully compatible with industry standards RTCM UKOOA etc It makes use of sophisticated statistical testing and quality control procedures to guarantee the reliability of results Furthermore it delivers high rate raw GPS data and includes advanced facilities including a 1 pps output and 3 event trigger inputs A fully programmable serial interface able to accommodate virtually all industry standard protocols as well as non standard user specific requirements is also included to guarantee a smooth integration into the user s working environment Issue September 1997 1 1 Introduction 1 2 ABOUT DSNP S DIFFERENTIAL GPS 0311357 DSNP s Differential GPS provides Centimetric to metric accuracy according to the processing mode Optimal correction messages for high accuracy navigation Acoherent line of transmitters and receivers Numerous Differential transmitting stations worldwide The absolute positioning accuracy as well as the excellent repeatability of the system are continually afforded whether the SA Selective Availability under the control of the US Department of Defense is activated or not One should remember that in the presence of SA most non Differential GPS receivers provide poor results position accuracy no better than 100 to 500 metres speed accuracy from 1 to 2 knots
116. rrnrre erene 3 46 3 5 4 Viewing the software version eeen 3 48 3 9 5 MitialiZatiO N ae a ea etn a aa eE Ee DEE AEE AEE Ee DEE AE EEEE ERAR 3 48 3 5 0 Unavail Ble senssa Aa 3 54 3 5 7 Screen brightness renean eneen 3 54 IO GPS MPC MOUG 10 a e Eaa e eati 3 55 APPENDIX 1 APPENDIX 2 APPENDIX 3 APPENDIX 4 APPENDIX 5 APPENDIX 6 APPENDIX 7 APPENDIX 8 APPENDIX 9 APPENDIX 10 instalation heeneinenenenene n i e elt i clad a A1 1 Getting started izeien e re E ea e E TE e Ta EEA TEE AAEE A2 1 Connecting a peripheral os cacazes ocedstexasaereSaneystesapeseeSeacstienaneuaren A3 1 Differential GP Sessien es eas ae ers aca es aria A4 1 DATUM tice rather a E E T E euteuder A5 1 Allowable commands from a PC A6 1 PREW UD ALG iens yane eaae e a EEA AE A7 1 Variables accessible using the CONFGPS software in output messages and user defined screens A8 1 NR203 Specifications crass i352 ise Siavnc cid uae ak Gdeein eSucucd exisecan cebeend AQ 1 List of possible anomalies cee eeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeaes A10 1 WARNING The accuracy of this receiver is not only dependent on its performance but also on various external factors installation and environmental conditions handling use etc Therefore it should be used as an aid to navigation rather than a substitute for a navigator s skill and judgement The NR203 is a reliable shipmate that will help you to make vital decisions i
117. ruary 2000 3 7 How to use the Differential mode 0311357 NOTE 1 NOTE 2 NOTE 3 You cannot select any station that is already assigned to another channel This is why the following message may show up Already used here or on another channel All selected stations should be in the same frequency band If one or more stations on another HF or MF band are selected the following message shows up Other s on another band Confirm 1 YES 2 NO Choosing YES enables the station you are selecting As a result any stations on another band are disabled NONE is assigned to the corresponding channels Choosing NO cancels your selection and restores the initial assignment A maximum of 6 sets of corrections whether from analog or from digital channels can be processed You are not allowed to add any station if those already selected amount to 6 sets of corrections In that case the following message shows up More than 6 sets of corrections Cancel your choice press DIF Disable one or more stations to make room for one or more sets of corrections choose 1 SELECT select a channel or port press 1 select NONE and press Select again the station you wish to add Issue February 2000 3 8 How to use the Differential mode gt Selecting a station on a digital port Station 1 3 Station 2 4 0014 BRES 0015 OUESSANT 0000 NONE 00
118. s out of the total number allowed by the configuration file and also the number of free tracks 9 tracks max Free Waypoints 85 99 Free Tracks 7 9 M FREEZE 2 WAYPTS 3 TRACKS e Select 2 WAYPTS The first waypoint with lowest waypoint number appears in the lower part of the screen eT wavets Free Waypoints 85 99 Free Tracks 7 9 No Label Type Position 01 NANTES 47 16 09157 N 1 29 48196 W f scANNING _uppatr 2 DELETE 3 CREATE e Press to scroll through the waypoint library Each press on T causes the receiver to search for the next higher existing waypoint and display it in place of the one previously displayed a single waypoint definition is shown at a time e Press J to scroll through the library in the reverse direction 0311357 Issue September 1997 3 25 Waypoints and tracks 0311357 3 2 3 HOW TO CREATE A WAYPOINT FROM AN EXISTING WAYPOINT Press WPT and then 2 WAYPTS Press J or 1 repeatedly until the definition of the waypoint from which you want to create a new waypoint appears on the screen Press 3 CREATE The receiver automatically assigns a waypoint number the lowest free waypoint number to the waypoint you are creating You cannot choose the waypoint number for a waypoint that you create from the NR203 keypad The cursor appears on the first modifiable field Label field Enter a label for your waypoint see p
119. scarded by the receiver The eight Deselected SVs fields allow you to forcibly discard any satellite suspected of malfunction WARNING The operation consisting of intentionally discarding a satellite should be considered only on very exceptional occasions such as notices from authorized vendors or urgent international notice to navigators Any change to the list of intentionally discarded satellites if any is saved during power outages Ifall 8 numbers are 00 then no satellite is discarded If you need to discard a satellite simply enter its identification number then press to store the list this takes you back to the INIT menu of the AUX function gt To quit without making any changes press any function key 0311357 Issue February 2000 3 49 How to use Auxiliary functions 0311357 3 5 5 2 Geodesy and projection EO_PROJ Projection Datum O XXXXXXXXXX YYYYYYYYY U SCANNING 4 VALID Press the AUX key and select 5 Init next 4 Geo Proj to view the above screen showing the Projection system and Datum currently in use GPS positions are normally on the WGS84 Datum On line Datum transformation routines in your NR203 convert the WGS84 latitude longitude of the fix displayed on the navigation screen to a latitude longitude or Northing Easting on the Datum of your navigation charts see Appendix 5 Use the T and J arrow keys to select your Dat
120. sisting Beginning day and time gt How to delete an anomaly from the list You are allowed to erase those anomalies which have come to an end e Press or J until the desired anomaly is displayed in the bottom rows e Press this removes the anomaly from the list If an anomaly persists then the current time is displayed as End time There is no point in trying to erase such an anomaly as it shows up again in the list so long as it is persisting gt To quit without making any changes press any function key 0311357 Issue February 2000 3 45 How to use Auxiliary functions 0311357 3 5 3 Viewing the UKOOA QC data From V3 0 and only if the NR203 operates in DGPS or MDGPS mode a new function is available showing the results of QC tests Quality Control tests performed according to the UKOOA recommendations Press AUX key and select 3 QC The QC status screen displays showing the results of the FTEST Roa QC Status T FX Station FTest DRMS Sv MDEmax D1 0022 PORSPODE ee 0 42 11 0 76 D2 0016 BREST 6 38 6 2h AG D3 0017 XXXXXX OK 0 36 12 0 65 D4 0002 YYYYY OK 0 53 0 0 34 MD OK 0 47 l J i Pan j 1 2 3 4 5 6 Basically the FTEST or Unit variance test checks the validity of the noise model used The following results are provided 1 2 3 4 5 6 DGPS Fix identification Identification of the station from
121. ss display area POINT you have to key in the exact position of the antenna assuming you have determined it accurately by some means of your own Latitude Longitude format Lat Lon H 23 00000N 4 56 00000W 0070 000 SCANNING lt gt PRE Northing Easting format Northing Easting 4259105 195 310464 000 SCANNING lt gt PRE Issue February 2000 How to use the Differential mode 0311357 OTF STATIC ZFIXED EDGPS Antenna motion is free The antenna position is determined On The Fly standard mode for sea navigation The antenna should be kept motionless 1 cm along the three axes for a few minutes with at least 5 satellites in view to accurately determine its position Initialization time is shorter than in OTF Same as OTF except that the altitude is assumed constant Therefore the antenna may move horizontally during the initialization step but its height should not change Initialization is easier than in STATIC mode but requires that one more satellite be used Time required for initialization between Static and OTF If you do not need centimetric accuracy you can use the EDGPS mode you will not have to care about any initialization step still your NR203 will achieve decimetric accuracy within a few minutes Issue February 2000 3 14 How to use the Differential mode 0311357 3 1 5 DGPS PROCESSING DIF 3 DGPS
122. t the parity No Odd Even Press gt then T or J to select the number of stop bits 1 or 2 After selecting the appropriate options press as a result the selected options are entered and saved into the memory even during power outages Issue February 2000 A3 2 Connecting a peripheral SELECTING MESSAGES AND ACTIVATING THE OUTPUT e Press AUX and select 9 Inp Outp e Select 2 Output The screen that shows up allows you to select the type of message to be transmitted via port A or J and the trigger mode and repetition rate INP OUT OUTPUT 2 RAWDATA Select 1 Messages The screen that shows up allows you to view and modify the characteristics of the computed data output messages INP OUT OUTPUT MESSAGE Status Mode Period s OFF TIME 1 0 SCANNING e T or J allows you to view the available messages see description in the next paragraph e You are allowed to select the output port status trigger mode and repetition rate by pressing 0311357 Issue February 2000 A3 3 Connecting a peripheral Msg Port atus Mode Period s 1 A der TIME 1 0 f f l Message Output status Repetition rate type ON enabled max 9999 9 s OFF disabled see NOTE below Output port A or J Trigger mode TIME Time between two consecutive messages MARK Manual output by MARK key ASYNC TR r
123. tandard navigation display i Waypoint H Mobile The mobile trace starts from the moment you select the Profile mode The first position solution available from that moment is plotted at the centre point 0311357 Issue September 1997 3 34 Navigation modes 3 3 4 HOW TO USE THE HOMING MODE Press NAV Select 2 MODE The screen displays the navigation mode currently used In progress Select 2 HOMING Using T or J look up the waypoint you want to use as the target Once the characteristics of the target waypoint are shown in the lower part of the screen press J to validate this waypoint This causes the receiver to switch to the homing mode and the screen to switch back to the standard navigation display Select 3 GRAPHIC to display the graphic screen N Navigation parameters relevant to the Homing Mode Waypoint CTW Course To Waypoint m DTW Distance To Waypoint CTW TTG Time To Go DTW Plot Modes Mobile X Target fi N North j N D D Waypoint O int 1 Waypoint a Mobile 2 w j w Held fixed at centre point The mobile trace starts from the moment you select the Homing mode The first position solution available from that moment is plotted at the centre point 0311357 Issue September 1997 3 35 Navigation modes 3 3 5 HOW TO USE THE BEARING MODE Press NAV Select 2
124. ternal oscillator Issue February 2000 List of possible anomalies 0311352 APPENDIX 10 List of possible anomalies No Family Error message Additional error code 7 1 SYSTM GP12 test at power up Test result status 1 SYSTM Progr Memory at power up Number of error 1 SYSTM Data Memory at power up Test result status v 1 SYSTM Main Oscill at power ae Test result status os svem Protomcatpmeuy te 06 ROER PIOA Creador Tessas GP12 1 ASIC read error Test status asic2 CME E E T 09 2RCVER AGCeror S0 S 10 2RCVER Antennaeror TO 3 CONFG DIFF configuration error 98 at initialization 99 Checksum error 3 CONFG Configuration read error xxyy xx Configuration section error yy Section line number 3 CONFG Configuration parameter error 14 15 Data not valid xx Configuration section error 17 number of parameters not yy Section line number valid xx values See error 13 Pood Reserved for other board 22 5 POSIT No Differential reception 0 Issue February 2000 A10 1 List of possible anomalies 0311352 No Family Error message Additional error code 23 5 POSIT Too few SVs Number of SVs 24 5 POSIT GDOP too high DOP value 25 5 POSIT LPME too high LPME value 27 5 POSIT 7 err 27 7 1PPS signal error S o faea a O corrections 29 5 POSIT No fix computation 0 31 6 NAVIG Navigation error Error code 0 command error 33 7 1 0 Overflow on A port 1
125. ters target 7 waypoint relative to mode used Coordinates of centre point other and J active in Bearing and Profile Re Clears mobile trace Remember you can press 0 1 wnn Show Hide waypoint numbers 2 1 Show Hide mobile trace Plot Modes Vv 1 NORTH North West oriented chart with 2 TARGET 3 SEGMENT no particular point or direction held fixed first built on the basis of the mobile position when running a new mode this position is plotted at the centre point and then re adjusted only if the mobile moves beyond the position plotting area see explanations on this page Target waypoint held fixed at centre point North West oriented chart Segment currently followed is the central vertical line not a North West oriented chart 3 33 All modes the North axis gives the direction E of the WGS84 Geographical North Bearing and Homing only Bearing and Profile only Issue September 1997 Navigation modes 3 3 3 HOW TO USE THE POSITION MODE Press NAV Select 2 MODE The screen displays the navigation mode currently used In progress Select 1 POSITION This causes the receiver to switch immediately to the POSITION mode and the screen to switch back to the standard navigation display Select 3 GRAPHIC if you want to plot the position solution on a chart No further information is provided compared with the s
126. the state of the output messages via the RS232 port receiving the command gt The DUMP ON command suspends all output messages normally released via the RS232 port receiving the command and disables the Automatic Stop function gt The DUMP OFF command restores the states of the output messages such as they were defined before sending DUMP ON normally released via the RS232 port receiving the command and restores the Automatic Stop function Examples DUMP DUMP OFF RAWDAT none OUT_MES Ol off O2 off O3 off O4 off O5 off DUMP ON DUMP DUMP ON RAWDAT none OUT_MES Ol off O2 off O3 off O4 off O5 off DUMP OFF 0311352 Issue February 2000 A6 18 Allowable commands from a PC 0311352 Command D_ REC K Function This command is used to read the known current position or to enter a position estimate Syntax D_RECK lt cr gt lt lf gt read D_RECK lt sp gt Datno DD lt sp gt MM ddddN DDD lt sp gt enter MM ddddE mmmmm m lt cr gt lt lf gt Parameters Datno Identification number of the datum used 0 WGS84 Only WGS84 is implemented whatever the selected datum DD MM ddddN WGS84 latitude in degr min dir N North S South DDD MM ddddE WGS84 longitude in degr min dir E East W West mmmmm m Altitude in metres Comments You may enter any number of decimal places for latitude longitude and al
127. time of message GPS week number and time in reference to week in seconds Reference time is jan 6 1980 at Ohr00O e PARAMETER LINE lt soln gt 2 characters lt station number gt lt reception quality gt lt iono tropo flag gt lt eoln gt 0311352 lt S gt DSNP corrections lt R gt RTCM corrections lt n gt message other than corrections to be defined for future use Read from receiver configuration or from RTCM 104 message 0 to 20 describes the ratio of good messages 10 100 for single freq 20 100 for dual freq bifrq 0 iono tropo corrections are no part of the corrections message 1 iono tropo corrections are present in the corrections message Issue September 1997 A7 24 Raw Data e CORRECTIONS LINE lt soln gt lt C A code correction gt lt correction speed gt lt correction age gt lt IOD gt lt UDRE gt lt eoln gt 3 characters and SV number PRC in metres at time To of message Positive correction means it must be added to pseudorange RRC in m s in seconds algebraic difference between time of message and time of GPS measuremens from which corrections were generated Issue Of Data for DSNP corrections counter output modulo 256 incremented by 1 every time IOD changes state User Differential Range Error Time correction value T PRC RRC T To Message example D 570 209274 6 S 12 9 1
128. tion modes 3 3 6 HOW TO USE THE PROFILE MODE Press NAV Select 2 MODE The screen displays the navigation mode currently used In progress Select 4 PROFILE Using T or J look up the track you want to follow Using gt or lt specify the direction of travel along the track direct or reverse Press 1 to validate the track This causes the receiver to switch to the Profile mode and the screen to switch back to the standard navigation display e Select 3 GRAPHIC to display the graphic screen 0311357 Issue September 1997 3 38 Navigation modes N Track ist segment WPTaa WPTbb 2nd segment WPTbb WPTcc NCTS 3rd segment WPTcc WPTdd WPTcc Mobile location WPTaa WPTdd Navigation parameters relevant to the Profile Mode CTS Course To Steer CTW Course To Waypoint NCTS Next Course To Steer DTW Distance To Waypoint XTE Cross Track Error ATD Along Track Distance TTG Time To Go Plot Modes Segment North WPTbb Segment WPTaa WPTaa Direction held fixed on central vertical line The mobile trace starts from the moment you select the Profile mode The first position solution available from that moment is plotted at the centre point NOTE CTS CTW and NCTS are computed with respect to the WGS84 geographical North 0311357 Issue September 1997 3 39 How to use Auxiliary func
129. tions 3 5 AUXILIARY FUNCTIONS AUX KEY 0311357 2 ANOMALY 3 OC 5 INIT 6 UNAVAILABLE 8 FIXMODE 9 INP OUTP The AUX key allows you to access the following functions 1 Status see par 3 5 7 2 Viewing and clearing events and anomalies See par 3 5 2 3 UKOOA QC data 4 About See par 3 5 4 5 Initialization INIT Date and time see Appendix 2 Position see Chapter 2 Viewing updating intendedly discarded satellites Manual rejection of any satellite is a very exceptional operation See par 3 5 5 1 Geodesy and projection See par 3 5 5 2 Speed filtering See par 3 5 5 3 Units See par 3 5 5 4 Altitude mode See par 3 5 5 5 Maximum age of DGPS corrections 6 Unavailable 7 Screen See par 3 5 7 8 Fix mode See par 3 5 8 9 Viewing Updating output port configurations See Appendix 3 information intended for the person in charge of installing the receiver Issue February 2000 3 40 How to use Auxiliary functions 3 5 1 STATUS AUX 1 Status Pressing the AUX key and selecting 1 Status causes a screen to appear that provides information on the computed position or positions depending on the Differential mode in progress DGPS KART initialization KART in use All three status screens have a common area showing information Master oscillator source rate SA status ON or OFF Number of received SVS gt DGPS
130. titude The altitude you enter must be consistent with the definition you give to this parameter through the ALT command Examples D_RECK D_RECK 0 47 16 07240N 1 29 47050W 79 000 D_RECK 0 47 10 2N 1 29 0W 35 D_RECK D_RECK 0 47 10 20000N 1 29 00000W 35 000 Issue February 2000 A6 19 Allowable commands from a PC Command EPH EM Function This command is used to read the latest ephemeris data from the receiver for a specified reception channel or for all channels Syntax EPHEM lt sp gt channo format lt cr gt lt lf gt Parameters Channo Channel No on which the desired ephemeris is received or all ephemerides from all channels if no channel is specified Format Format of ephemeris data C Compacted F Formatted Compacted if no format specified Comments This command reads all or part of the data labelled E or E from the receiver E and E data may also be part of the GPS messages Examples EPHEM 1 F lt stx gt E 643 1335368 Channel SV 3 j 0311352 Issue February 2000 A6 20 Allowable commands from a PC 0311352 Command EVMIN Function This command is used to read or modify the minimum elevation angle for all satellites Syntax EVMIN lt cr gt lt lf gt EVMIN lt sp gt min_elev lt cr gt lt lf gt Parameters min_elev Minimum elevation angle in degrees Examples EVMIN EVMIN 5 EVMIN
131. um Press to enable your choice The Datum currently used is continually indicated in the shrunk standard navigation display area gt To quit without making any changes press any function key gt To go back to the Init menu press 0 You need to use the software program called CONFGEO provided on CONF203 diskette to add new projections and datums into your receiver Issue February 2000 3 50 How to use Auxiliary functions 3 5 5 3 Speed filtering FILTE Speed Filtering MEDIUM NU SCANNING 4 VALID e Press AUX and select 5 Init e Select 5 Filter This function allows you to view and if required update the filtering coefficient currently applied to the speed None 0 06 s time constant Wide 2 s time constant Medium 6 s time constant Tight 20 s time constant gt If you wish to change the filtering use or J to select the desired option and press to store your selection and quit gt To quit without making any changes press any function key gt To go back to the Init menu press 0 0311357 Issue February 2000 3 51 How to use Auxiliary functions 3 5 5 4 Units UNITS Distance Speed Position Direction Lang m m s dm True EN NU SCANNING lt gt PREV NEXT FIELD JJ VALID Press the AUX key and select 5
132. ut message is triggered Example TR SGPGGA 101456 4716 0727 N 00129 472 W 9 6 3 35 M 85 M TRA TR A Ptopo 10 Issue February 2000 A6 32 Allowable commands from a PC Command S aaTLL Function This command is used to change initialize the characteristics of any waypoint Syntax SaaTLL xx 1111 11111 A4 yyyyy yyyyy A C C Parameters aa Identification of talker xx Waypoint number 00 to 99 1111 11111 A_ Latitude of waypoint ddmm mmmmm N or S VYVYY yyyyy A_ Longitude of waypoint dddmm mmmmm E or W c c Waypoint label Comments Waypoint position is entered in latitude and longitude on the currently selected datum Example SECTLL 01 4716 723 N 00129 412 W TARGET 0311352 Issue February 2000 A6 33 Allowable commands from a PC Command U N IT Function This command is used to read change the receiver identification number Syntax Unit lt cer gt lt lf gt read Unit lt sp gt Unit_Nox lt cr gt lt lf gt change Parameters Unit_No receiver identification number 0 to 999 Example UNIT UNIT 000 UNIT 4 UNIT UNIT 004 0311352 Issue February 2000 A6 34 Allowable commands from a PC Command S aaWP L Function This command is used to change initialize the characteristics of waypoint No 00 Syntax SaaWPL 1111 11111 A yyyyy yyyyy A C C Parameters aa Identificatio
133. utput mode Raw data output status Issue February 2000 A6 30 Allowable commands from a PC 0311352 Command SEL G EO Function This command is used to read change the geodetic system used by the receiver Syntax SEL_GEO lt cr gt lt lf gt SEL_GEO lt sp gt Geod_No lt xcr gt lt lf gt Parameters Geod_No Examples SEL_GEO SEL_GEO 0 SEL_GEO 1 SEL_GEO SEL_GEO 1 read change Identification No of the new geodetic system it must be known to the receiver A6 31 Issue February 2000 Allowable commands from a PC 0311352 Command TR Function This command is used to trigger an output message configured with output mode 6 RS232 via the specified port Syntax TR lt sp gt P ort lt sp gt Labe1 lt cr gt lt lf gt Parameters Port RS port used by the message Label ASCII label string of up to 127 characters stored as ULA variable if port A stored as ULI variable if port Stored as ULJ variable if port J Comments If no port is specified the triggered message is that configured on the port receiving the command Variables ULA ULI ULJ may be included in an output message thanks to the TXT operator For more information refer to the CONFGPS Reference Manual Doc part No 0311227 gt If it is specified in the command line the ASCII label is loaded to the relevant variable ULA ULI or ULJ before the outp
134. w Data Message Number Port to which the raw data message is routed A or or J Gdat Type of GPS data contained in the message NONE FDAT Formatted GPS data CDAT Compacted GPS data CBIT Data Bits flow BDAT Data Bits flow Compacted GPS data DGPS Type of differential GPS corrections contained in the message NONE DGPS PRC corrections SFIX Format KGPS Phase measurements at reference SFIX Format FGPSPRC corrections Phase measurements SFIX Format DVAR_ PRC corrections SVAR Format Gmea Type of GPS measurements contained in the message NONE SMEA Sampled and filtered measurements SFIX Format CMEA Compacted measurements not compatible with TRG_A and TRG _ trigger modes SFIX Format SVAR Sampled and filtered measurement SVAR format CVAR_ Compacted measurements SVAR format SBIN Sampled and filtered measurement SBIN format CBIN Compacted measurements SBIN format RBIN Sampled measurement SBIN Reduced format Issue February 2000 A3 17 Connecting a peripheral RBIO Sampled measurement SBIN Reduced format without phase measurements Mode Output trigger mode OFF no message is output SYNC synchronized onto the GPS format TRG1 triggered by PPS signal TRGA triggered by TOPEXT signal Port A connector pin 1 TRGB triggered by MOB signal AUX connector pin 9 TRGI triggered by EVT signal A
135. which makes those receivers inefficient in most applications on continental shelves Naturally differential corrections are not available everywhere on the Earth s surface However with its 15 true parallel channels capable of processing the complete set of GPS data your receiver in Straight GPS mode keeps up with the best competitors on the market Issue September 1997 1 2 Introduction D Ny 0311357 1 3 ABOUT THIS MANUAL The present manual includes two major chapters Chapter 2 takes you to the standard navigation display in just one step pressing the ON OFF key The standard navigation display provides basic navigation data position course speed quality figure which are continually visible on the screen even when other navigation functions are being used Chapter 3 teaches you how to use the available navigation functions HOMING ROUTES and auxiliary functions These two chapters are summarized in the User s Quick Guide accompanying this manual Appendices provide general support information in connection with the use of your receiver Installation Connection to a peripheral The Differential technique Datum s receiver specifications etc Conventions used in this manual The following symbols are used to represent the arrow keys for A e for a 7 F or for Vv gt for gt Issue September 1997 Introduction 1 4 HOW TO USE THE KEYBOARD ner Fun
136. which the position solution results station number label of station assigned to this fix FTest result OK displayed if mean value of unit variance is 1 otherwise NOK is displayed DRMS Identification of the satellite for which MDE2 max is found 2 Dimensional MDE max in metres The maximum value of MDE Marginally Detectable Error is the smallest bias that can be detected by the W test with a certain probability Issue February 2000 3 46 How to use Auxiliary functions Press or J The results of the W test display ral QC W TEST fi Sv Dl D2 D3 D4 Sv Dl D2 D3 D4 07 OK OK 05 WA NOK NOK 13 OK OK OK 10 OK OK OK 20 OK OK OK 24 OK ee OK 25 OK OK 14 OK OK OK a o 0 A The W test is a statistical test performed on observations The results of the test are the following 1 Satellite number 2 W test result on DGPS Fix 1 W test lt 2 576 OK good W test gt 2 576 gt NOK bad 3 Same as 2 on DGPS Fix 2 4 Same as 2 on DGPS Fix 3 5 Same as 2 on DGPS Fix 4 0311357 Issue February 2000 3 47 How to use Auxiliary functions 0311357 3 5 4 Viewing the software version AUX 4 About ABOUT GPS203 V3 0 12 09 1997 CPU board GPS03 C2 187367 ID FO STANDARD CONFIGURATION Configuration V3 0 07 08 1997 V3 0 12 09 1997 I O and Power board ID FO D
137. x Label DGPS Bere Fix TYPE Fix DGPS Fix label definition Type No DGPS 0 GPS DGPS with PRC set 1 1 DGPS1 DGPS with PRC set 2 2 DGPS2 DGPS with PRC set 3 3 DGPS3 DGPS with PRC set 4 4 DGPS4 Multi ref DGPS fix 5 MDGPS Enhanced DGPS fix 6 EDGPS Accurate RTK fix 7 KARTA Real time RTK fix 8 KARTR DSTA DGPS Station number 0 1023 DRCV DGPS Reception Quality 1 10 1 not received 0 carrier detected but no data 1 3 very poor reception 4 6 intermittent reception 7 10 good reception quality DAGE Average age of DGPS corrections seconds Time information GPSW GPST P U 97 w ar E Slza 0311357 GPS Week Number GPS Week Time seconds GPS UTC Time difference seconds UTC Time seconds UTC Date yyyymmdd Local Time seconds Local Date yyyymmdd Issue February 2000 A8 4 Accessible Variables Navigation Fix Track data WPF WPN WPY WPX CTS CTW DTW TTG XTE ATD NCTS Various ULA ULB ULC ULI ULJ NMEA function UM UR UM1 UM2 UM3 UM4 UM5 UM6 0311357 Current Starting Waypoint Number Current Target Waypoint Number TXT WPN gt Current Target Waypoint Label Lat Northing of current target waypoint radians m Lon Easting of current target waypoint radians m Course to Steer radians Course to Target radians D
138. y yyyy a X XX X X X xxx x M 12 5 M xx x xxxx hh lt cr gt lt lf gt SGPGGA NMEA183 message identifier hhmmss ss TUTC UTC time of position computation 1111 1111 a LAT Latitude in degrees 2 char minutes 2 char 1 10 min N S indicator yyyyy yyyy a LON Longitude in degrees 3 char minutes 2 char 1 10 min E W indicator x DS GPS quality figure 1 straight GPS fix or not available 2 Differential GPS fix XxX NSVU Number of SVs used to compute the fix x HDOP Horizontal Dilution of Precision 1 if not computed xxxX x M ZP Antenna altitude above MSL meters 12 3 M Altitude correction XX X DAGE Mean age of Differential corrections 1 0 if not computed XXXX DSTA Identification of Differential station used hh Message parity 0311357 Issue February 2000 A3 14 Connecting a peripheral Message 16 GPS Pseudorange Noise Statistics GPGST with parity check SGPGST hhmmss ss Xx X XX X XX X XXX X XX X XX X XxX xX hh lt cr gt lt lf gt SGPGST NMEA183 message identifier hhmmss ss TUTC UTC time of position computation XX X DRMS RMS value of the standard deviation of range inputs in fix meters 1 if not computed XX X SDMA Standard deviation of semi major axis of error ellipse meters 1 if not computed XX X SDMI Standard deviation of semi minor axis of error ellipse meters 1 if not computed XXX X El Orientati

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