Hemisphere GPS V102 G User manual

V102 GPS Compass
User Guide
Part No. 875-0276-000 Rev C1

This device complies with part 15 of the FCC Rules. Operation is subject to the following two
conditions:
(1) This device may not cause harmful interference, and
(2) this device must accept any interference received, including interference that may cause
undesired operation.
Copyright Notice
Hemisphere GPS Precision GPS Applications
Copyright © Hemisphere GPS (2011). All rights reserved.
No part of this manual may be reproduced, transmitted, transcribed, stored in a retrieval system or
translated into any language or computer language, in any form or by any means, electronic,
mechanical, magnetic, optical, chemical, manual or otherwise, without the prior written permission
of Hemisphere GPS.
Trademarks
Hemisphere GPS®, the Hemisphere GPS logo, A100TM, A20TM, A21TM, A220TM, A221TM, A30TM,
A42TM, A52TM, AerialACETM, AirStarTM, AirTracTM, AutoMateTM, BantamTM, BaseLineHDTM,
BaseLineXTM, BEELINE®, COASTTM, Contour LockTM, Crescent®, Earthworks®, EclipseTM, e-Dif®,
eDrive®, eDriveTCTM, eDriveVSiTM, eDriveXTM, FliteTracTM, G100TM, GateMateTM, GPSteerTM, H102TM,
HQTM, IntelliFlow®, IntelliGateTM, IntelliStarTM, IntelliTracTM, Just Let GoTM, L-DifTM, LiteStar IITM,
LV 101 TM, LX-1TM, LX-2TM, M3TM, MapStar®, MBX-4TM, miniEclipseTM, OutbackTM, Outback 360TM,
Outback Guidance CenterTM, Outback Guidance®, Outback HitchTM, Outback STM, Outback S2TM,
Outback S3TM, Outback S-LiteTM, Outback StsTM, Outback Steering GuideTM, PocketMAX PCTM,
PocketMAXTM, PocketMax3TM, R100TM, R131TM, R220TM, R320TM, Satloc®, the Satloc logo, SBX-4TM,
V101TM, V102TM, V 111 TM, VS101TM, V S 111 TM, VectorTM, X200TM, X300TM, XF100TM, XF101TM, and
XF102TM are proprietary trademarks of Hemisphere GPS. Other trademarks are the properties of their
respective owners.
Patents
The Outback STM and S-LiteTM automated navigation and steering guide system is covered by U.S.
Patents No. 6,539,303 and No. 6,711,501. The Outback HitchTM automated hitch control system is
covered by U.S. Patent No. 6,631,916. The Outback eDriveTCTM GPS assisted steering system is
covered by U.S. Patent No. 7,142,956. Hemisphere GPS products may be covered by one or more of
the following U.S. Patents:
Other U.S. and foreign patents pending.
6,111,549 6,397,147 6,469,663 6,501,346 6,539,303
6,549,091 6,631,916 6,711,501 6,744,404 6,865,465
6,876,920 7,142,956 7,162,348 7,277,792 7,292,185
7,292,186 7,373,231 7,400,956 7,400,294 7,388,539
7,429,952 7,437,230 7,460,942

Notice to Customers
Contact your local dealer for technical assistance. To find the authorized dealer near you:
Hemisphere GPS
4110 9th Street S.E.
Calgary, Alberta, Canada T2G 3C4
Phone: [phone]
Fax: [phone]
[e-mail]
www.hemispheregps.com
Technical Support
If you need to contact Hemisphere GPS Technical Support:
8444 N 90th St, Suite 130
Scottsdale, AZ 85258 USA
Phone: [phone]
Fax: [phone]
[e-mail]
Documentation Feedback
Hemisphere GPS is committed to the quality and continuous improvement of our products and
services. We urge you to provide Hemisphere GPS with any feedback regarding this guide by writing
to the following email address: [e-mail].

V102 GPS Compass User Guide
iii
Contents
Chapter 1 Introduction
Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Chapter 2 Installation
Mounting Location. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
GPS Reception. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
V102 Environmental Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
VHF Interference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Mounting Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
V102 Alignment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Mounting Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
V102 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Power/Data Cable Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Flush Mount. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Pole Mount . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Powering the V102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Power Considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Connecting to a Power Source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Electrical Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Connecting the V102 to External Devices . . . . . . . . . . . . . . . . . . . . . . . . 22
Power/Data Cable Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Power/Data Cable Pinout Specifications . . . . . . . . . . . . . . . . . . . . . . . . . 23

iv
Contents
Serial Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Default Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Chapter 3 Operation
GPS Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
GPS Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Differential Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
V102 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Fixed Baseline Moving Base Station RTK. . . . . . . . . . . . . . . . . . . . . . . . 30
Supplemental Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Time Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Common Commands and Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Appendix A Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Appendix B Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
End User License Agreement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Warranty Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Chapter 1: Introduction
Overview
Parts List

2
Chapter 1: Introduction
Overview
The V102™ GPS Compass is based upon Hemisphere GPS’ exclusive
Crescent®and Crescent Vector™ II technology.
The V102 is a complete GPS compass and positioning system in a single
enclosure that requires only one power/data cable connection. With its CAN
support and ease of installation, the V102 is the perfect solution for both
marine and land-based applications such as mine construction, earthworks
and machine guidance.
The V102 is an integrated system that houses the following:
• Crescent and Crescent Vector II technology
• Dual integrated GPS antennas
• Power supply
• Single axis gyro
• Tilt sensor on each axis (X and Y axes)
The gyro and tilt sensors are present to improve system performance and to
provide backup heading information in the event that a GPS heading is not
available due to signal blockage.
Crescent Vector II technology supports multiple RF front ends - enabling
tighter coupling of measurements from separate antennas for use in
heading-based products. Users will achieve excellent accuracy and stability
due to Crescent’s more accurate code phase measurements, improved
multipath mitigation, and fewer components.
The V102’s GPS antennas are separated by 27.5 cm between their phase
centers, resulting in better than 0.75° rms heading performance. The V102
provides heading and positioning updates of up to 20 Hz and delivers
positioning accuracy of better than 1.0 m 95% of the time when using
differential GPS corrections from Space Based Augmentation Systems
(SBAS).
The V102 also features Hemisphere GPS’ exclusive COAST™ technology that
enables Hemisphere GPS receivers to utilize old differential GPS correction
data for 40 minutes or more without significantly affecting the positioning

V102 GPS Compass User Guide
3
quality. The V102 is less likely to be affected by differential signal outages
due to signal blockages, weak signals, or interference when using COAST.
If you are new to GPS and SBAS, refer to the GPS Technical Reference for
further information on these services and technologies before proceeding.
The GPS Technical Reference is available from the Hemisphere GPS website
at www.hemispheregps.com.
Parts List
Note: The V102’s parts comply with IEC 60945 Section 4.4: “exposed to the
weather.”
The V102 GPS Compass and the power/data cable (accessory item) are the
only two required components.
This User Guide is available for download from the Hemisphere GPS
website at www.hemispheregps.com.
Table 1-1: Parts list
Part Name Qty Part Number
V102 GPS Compass 1 804-0075-000#
(Accessory item)
Kit containing the following:
• Power/data cable, 15 m
•Clamp
•Screw
•Washer
1
1
1
1
880-1036-000
Quick Reference Guide 1 875-0277-000

Chapter 2: Installation
Mounting Location
Mounting Orientation
Mounting Options
Powering the V102
Connecting the V102 to External Devices

6
Chapter 2: Installation
Mounting Location
This section provides information on determining the best location for the
V102.
GPS Reception
When considering where to mount the V102, consider the following GPS
reception recommendations:
• Consider GPS (and hence SBAS) reception, ensuring there is a clear
view of the sky available to the V102 so the GPS and SBAS satellites
are not masked by obstructions that may reduce system
performance
• Since the V102 computes a position based on the internal primary
GPS antenna element, mount the V102 where you desire a position
with respect to the primary GPS antenna (located on the end
opposite the recessed arrow on the underside of the enclosure)
• Locate any transmitting antennas away from the V102 by at least
several feet to ensure tracking performance is not compromised,
giving you the best performance possible
• Make sure there is enough cable length to route into the vessel to
reach a breakout box or terminal strip
• Do not locate the antenna where environmental conditions exceed
those specified in Table B-5 on page 48

V102 GPS Compass User Guide
7
V102 Environmental Considerations
The V102 is designed to withstand harsh environmental conditions;
however, adhere to the following limits when storing and using the V102:
• Operating temperature: -30°C to +70°C (-22°F to +158°F)
• Storage temperature: -40°C to +85°C (-40°F to +185°F)
• Humidity: 100% non-condensing
VHF Interference
VHF interference from such devices as cellular phones and radio
transmitters may interfere with GPS operation. For example, if installing the
V102 near marine radios consider the following:
• VHF marine radio working frequencies (Channels 1 to 28 and 84 to
88) range from 156.05 to 157.40 MHz. The L1 GPS working center
frequency is 1575.42 MHz. The bandwidth is +/- 2MHz to +/- 10 MHz,
which is dependent on the GPS antenna and receiver design.
• VHF marine radios emit strong harmonics. The 10th harmonic of
VHF radio, in some channels, falls into the GPS working frequency
band, which may cause the SNR of GPS to degrade significantly.
• The radiated harmonic signal strength of different brands/models
varies.
• Follow VHF radio manufacturers’ recommendations on how to
mount their radios and what devices to keep a safe distance away.
• Handheld 5W VHF radios may not provide suitable filtering and may
interfere with the V102’s operation if too close.

8
Chapter 2: Installation
Before installing the V102 use the following diagram to ensure there are no
nearby devices that may cause VHF interference.
Figure 2-1: V102 distance from nearby VHF radios
1.5 m radius at top
(minimum)
1.0 m radius at base
(minimum)
Use these minimum
distances to determine
where to place the V102
VHF Antenna

V102 GPS Compass User Guide
9
Mounting Orientation
The V102 outputs heading, pitch, and roll readings regardless of the
orientation of the antennas. However, the relation of the antennas to the
boat’s axis determines whether you will need to enter a heading, pitch, or
roll bias. The primary antenna is used for positioning and the primary and
secondary antennas, working in conjunction, output heading, pitch, and roll
values.
Note: Regardless of which mounting orientation you use, the V102 provides
the ability to output the heave of the vessel. This output is available via the
$GPHEV message. For more information on this message refer to refer to
GPS Technical Reference available from the Hemisphere GPS website at
www.hemispheregps.com.
Parallel Orientation: The most common installation is to orient the V102
parallel to, and along the centerline of, the axis of the boat. This provides a
true heading. In this orientation:
• If you use a gyrocompass, you can enter a heading bias in the V102
to calibrate the physical heading to the true heading of the vessel.
• You may need to adjust the pitch/roll output to calibrate the
measurement if the Vector is not installed in a horizontal plane.
Perpendicular Orientation: You can also install the antennas so they are
oriented perpendicular to the centerline of the boat’s axis. In this orientation:
• You will need to enter a heading bias of +90° if the primary antenna
is on the starboard side of the boat and -90° if the primary antenna
is on the port side of the boat.
• You will need to configure the receiver to specify the GPS antennas
are measuring the roll axis using $JATT,ROLL,YES.
• You will need to enter a roll bias to properly output the pitch and roll
values.
• You may need to adjust the pitch/roll output to calibrate the
measurement if the Vector is not installed in a horizontal plane.

10
Chapter 2: Installation
Figure 2-2 and Figure 2-3 provide mounting orientation examples.
Figure 2-2: Recommended orientation and resulting signs of HPR values
Figure 2-3: Alternate orientation and resulting signs of HPR values
Forward
motion
Recessed arrow
located on
bottom of
enclosure
Forward
motion
Recessed arrow
located on
bottom of
enclosure

V102 GPS Compass User Guide
11
V102 Alignment
The top of the V102 enclosure incorporates sight design features to help you
align the enclosure with respect to an important feature on your vessel.
To use the sights, center the small post on the opposite side of the enclosure
from you, within the channel made in the medallion located in the center of
the enclosure top as shown in Figure 2-4 and Figure 2-5. Alignment accuracy
when looking through the long site (Figure 2-4) is approximately +/- 1°, while
alignment through the short site (Figure 2-5) is approximately +/- 2.5°.
Figure 2-4: Long site alignment
Figure 2-5: Short sight alignment
If you have another accurate source of heading data on your vessel, such as
a gyrocompass, you may use its data to correct for a bias in V102 alignment
within the V102 software configuration. Alternatively, you can physically
adjust the heading of the V102 so that it renders the correct heading
measurement; however, adding a software offset is an easier process.

12
Chapter 2: Installation
Mounting Options
The V102 allows for two different mounting options: flush mount and pole
mount.
• Flush mount - The bottom of the V102 contains four M8 holes for
flush mounting the unit to a flat surface (see Figure 2-6 on page 13).
• Pole mount - The bottom of the V102 contains a mounting hole (1"
thread, 0.9" depth) for easy pole mounting. Hand tighten until snug
(do not overtighten). The set screws on the long sides of the base
(see middle drawing in Figure 2-6 on page 13) allow you to secure
the V102 in place (3/16" Allen wrench not included).

V102 GPS Compass User Guide
13
V102 Dimensions
Figure 2-6 illustrates the physical dimensions of the V102.
Figure 2-6: V102 dimensions
C
L
C
L
68.90 mm
(2.71”) SET SCREW
3/8-16 THREAD SIZE
2 PLACES
MOUNTING HOLE
1-14 UNS-2A THREAD SIZE
MOUNTING HOLE
M8 THREAD SIZE
4 PLACES
414.39 mm (16.31”)
157.89 mm (6.21”)
46.99 mm
31.75 mm
(1.25”)
(1.85”)

14
Chapter 2: Installation
Power/Data Cable Considerations
Before mounting the V102 consider the following regarding power/data
cable routing:
• Cable must reach an appropriate power source
• Cable may connect to a data storage device, computer, or other
device that accepts GPS data
• Avoid running the cable in areas of excessive heat
• Keep cable away from corrosive chemicals
• Do not run the cable through door or window jams
• Keep cable away from rotating machinery
• Do not crimp or excessively bend the cable
• Avoid placing tension on the cable
• Remove unwanted slack from the cable at the V102 end
• Secure along the cable route using plastic wraps
Improperly installed cable near machinery can be dangerous
Flush Mount
The bottom of the V102 contains four holes for flush mounting the unit to a
flat surface (Figure 2-7). The flat surface may be something you fabricate per
your installation, an off-the-shelf item (such as a radar mounting plate), or an
existing surface on your vessel.
Note: Hemisphere GPS does not supply the mounting surface hardware.
You must supply the appropriate fastening hardware required to complete
the installation of the V102.

V102 GPS Compass User Guide
15
Figure 2-7: Flush mounting holes on bottom of V102
Note: You do not necessarily need to orient the antenna precisely as you
can enter a software offset to accommodate for any bias in heading
measurement due to installation.
Before flush mounting the V102
• Determine your mounting orientation. See “Mounting Orientation”
on page 9 for more information.
• Choose a location that meets the mounting location requirements.
• Using the fixed base as a template, mark and drill the mounting
holes as necessary for the mounting surface.
• Attach the power/data cable to the cable clamp and attach the clamp
to the bottom of the V102 using the screw and washer. Do not fully
tighten the screw so you can adjust the cable as necessary when
attaching the cable end to the port on the V102 (see “Connecting the