Hemisphere GPS Crescent V100 Series User manual

Supplemental Sensors Common Commands and Messages
Crescent V100 Series
Quick Reference Guide
(Part Number 875-0185-000 Rev. A1)
A tilt sensor and gyro are integrated in the Crescent V100/
V110. The user can turn either on or off. However, the
system’s performance is optimized with both on.
GYRO AID TILT AID
Purpose Smooth rate of turn:
-Provides alternate
source of heading for
up to 3 minutes
when GPS lock is lost
-Shortens
heading
reacquisition
time
-Smooths rate of
heading
-Reduces startup
and
reacquisition
times for
obtaining
heading
Calibration
Procedure
Will self-calibrate after
several minutes
To manually calibrate:
-After heading is
computed
-$JATT,GYROAID,YES
-Spin Vector for 1
minute at less than
15oper second
-Leave unit stationary
for 4 minutes
**It is not necessary
to recalibrate with
standard use because
the gyro selects the
calibration.
Precalibrated
during
manufacture
To recalibrate:
-Ensure Vector is
level
-$JATT,TILTCAL
Differential Commands
$JDIFF Differential mode
$JWAASPRN Configure for specific SBAS PRN numbers
$JGEO Query for current location and satellites
$JASC,D1 Request SBAS diagnostic information
$GPMSK Tune beacon to specific frequency
Serial Port Setting Commands
$JBAUD RS-232C, RS-422 (output) communication rate
NMEA Messages
$GPGGA GPS fix data
$GPGLL Geographic position - lat/long
$GPGSA GNSS DOP and active satellites
$GPGSV GNSS satellites in view
$GPVTG COG and ground speed
$GPZDA Time and date
$GPHDG Provides magnetic deviation and variation for
calculating magnetic or true heading
$GPHDT RTK-derived GPS heading
$GPROT RTK-derived GPS Rate of Turn
$PCSI,1 Beacon status
$PSAT,HPR Heading, pitch/role and time in single message
$GPHDM Magnetic heading (based on RTK-derived GPS and
magnetic declination)
$J4STRING Output GPGGA, GPVTG, GPGSA and GPZDA (1 Hz max)
Heading Parameter
$JATT,TILTAID Enable/disable accelerometer,
pre-calibrated
$JATT,TILTCAL Calibrate accelerometer
$JATT,GYROAID Enable/disable gyro
$JATT,LEVEL Enable/disable level operation
$JATT,HTAU Set/query heading time constant (0.0 to 3600.0 sec)
$JATT,PTAU Set/query pitch time constant (0.0 to 3600.0 sec)
$JATT,HRTAU Set/query heading rate time constant (0.0 to 3600.0 sec)
$JATT,COGTAU Set/query COG time constant (0.0 to 3600.0 sec)
$JATT,SPDTAU Set/query speed time constant (0.0 to 3600.0 sec)
$JATT,HBIAS Set/query heading bias (-180.0° to +180.0°)
$JATT,PBIAS Set/query pitch/roll bias (-15.0° to +15.0°)
$JATT,NEGTILT Enable/disable negative tilt
$JATT,ROLL Configure for roll or pitch
$JATT,NMEAHE Changes the HDT, ROT, HDG and HDM message
headers between GP and HE (or HC)
Crescent V100 - DGPS
Crescent V110 - DGPS + Beacon
www.hemispheregps.com

Installation Wiring Interface Configuration
Choose a location for installation using either the pole or
fixed mount where the Crescent V100/V110:
• Has a clear view of the sky
• Is away from other antennas and electrical
equipment
• Has enough cable to reach power source
•Ishorizontal
Refer to the Crescent V100 Series User Guide for detailed
installation instructions.
• A1: Primary antenna determines your position
•A2: Secondary antenna determines pitch or roll
(enter 90°bias if using roll set-up)
Recessed arrow
located on bottom of
enclosure
Roll Installation
To provide heading and roll, mount perpendicular to
boat’s axis. Configure a bias heading of +90° if facing
port or -90° if facing starboard.
A1
A1
A2
A2
Information for the 15 meter cable (part number
051-0157-002) and 30 meter cable (part number
051-0158-001) is shown in the table below.
Port Baud
rate
NMEA message Default
update
rate
Wires
Port A
(RS-232)
19200 GPGGA, GPVTG,
GPGSV, GPZDA,
GPHDT, GPROT
1 Hz BLUE
BLACK with BLUE
Port B
(RS-232)
19200 GPGGA, GPVTG,
GPGSV, GPZDA,
GPHDT, GPROT
1 Hz BROWN
BLACK with BROWN
Port A
(RS-422)
19200 GPGGA, GPVTG,
GPGSV, GPZDA,
GPHDT, GPROT
1 Hz GREEN
BLACK with GREEN
Port B
(RS-422)
19200 GPGGA, GPVTG,
GPGSV, GPZDA,
GPHDT, GPROT
1 Hz YELLOW
BLACK with YELLOW
Power 10 – 36 V Red (+)
Black (-)
Serial Port Connection
Connect the wires to a DB9 female socket using either the
port A or port B configuration.
Port A DB9 RS-232 interface configuration
Pin Wire Color Signal
2 Blue Port A transmit RS-232
3 Black/blue striped Port A receive RS-232
5 Grey Signal ground
Port B DB9 RS-232 interface configuration
Pin Wire Color Signal
2 Brown Port B transmit RS-232
3 Black/brown striped Port B receive RS-232
5 Grey Signal ground
DB9 female socket numbering
1
2
3
4
5
6
7
8
9
Use a terminal program, or PocketMAX, to connect to a
serial port for additional configuration requirements. Use
default baud rate of 19,200 bps and 8-N-1 protocol.
• Change baud rate of either port to match that of the
external equipment to which the Crescent V100 will
be connected. After the baud rate is changed, you
will need to close the terminal program and
reconnect at the speed selected. The available baud
rates are 4800, 9600, 19200 or 38400.
• Configure NMEA messages to be output on the
appropriate port.
• Select differential source. (BEACON is the default on
the Crescent V110).
• Input heading bias (-180° to +180°) to compensate
for any offset from the centerline.
• Input bias for tilt (-15° to +15°) to compensate for
any offset from horizontal.
• Enable/disable supplementary sensors (default is
GYROID and TILTAID on).
• Use the $JSAVE command to save the configuration
changes when finished.
Pitch Installation
To provide heading and pitch, mount
parallel to boat’s axis, facing bow.