Hemisphere GPS Vector VR1000 User manual

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 1of 36
Vector VR1000 GNSS Receiver Quick Reference Guide
(QRG)
Introduction
Created by Hemisphere GNSS, this QRG provides information and
the steps to follow to set up your Vector VR1000 GNSS Receiver.
VR1000 key
features
Key features of the VR1000 include:
•High-precision positioning in Athena RTK, Atlas L-band, and SBAS
•Athena technology for improved RTK performance, especially
with GLONASS, Galileo, and BeiDou
•Atlas* L-band technology providing highly accurate corrections
over the air (*Requires the purchase of a subscription)
•Heave of 30 cm RMS (DGNSS), 10 cm (RTK)
•Pitch and roll < 1° RMS
•
Heading accuracy up to .01°
Mounting
When considering where to mount the VR1000, consider the
following satellite reception recommendations:
•Ensure cable length is adequate to route into the machine to
reach a breakout box or terminal strip.
•Do not mount the receiver where environmental conditions
exceed those specified in the VR1000 Technical Specifications of
this document.
•Route cables away from any potential source of mechanical
damage.
Figure 1: VR1000 GNSS Receiver
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 2of 36
Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),
Continued
Environmental
considerations
Hemisphere Vector GNSS Receivers are designed to withstand
harsh environmental conditions; however, adhere to the following
limits when storing and using the VR1000:
•Operating temperature: -40°C to +70°C (-40°F to +158°F)
•Storage temperature: -40°C to +85°C (-40°F to +185°F)
•
Humidity: IEC 16750-4:2010 Section 5.6 Humid heat, cyclic test
Mounting
orientation
The VR1000 outputs heading, pitch, and roll readings regardless of
the orientation of the VR1000. The relation of the antennas to the
machine’s axis determines if you 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.
Parallel
orientation
Install the GNSS antennas parallel to, and along the centerline of the
axis of the machine. This provides a true heading. In this
orientation:
•If you use a gyrocompass and there is a need to align the
antennas, you can enter a heading bias in the VR1000 to calibrate
the physical heading to the true heading of the machine.
•You may need to adjust the pitch/roll output to calibrate the
measurement if the receiver is not installed in a horizontal plane.
Perpendicular
orientation
Install the GNSS antennas perpendicular to the centerline of the
machine’s axis. In this orientation:
•Enter a heading bias of +90° if the secondary antenna is installed
on the right side of the machine, and -90° if the secondary
antenna is installed on the left side of the machine.
•Configure the receiver to specify the GNSS receiver is measuring
the roll axis using the VR1000 WebUI.
•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 receiver is not installed in a horizontal plane.
`Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 3of 36
Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),
Continued
Mounting
orientation
Figure 2: 0-degree heading bias example
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 4of 36
Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),
Continued
Mounting
orientation
example
Figure 3: 90-degree heading bias example
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 5of 36
Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),
Continued
Mounting
orientation
example,
continued
Figure 4: Negative 90-degree heading bias example
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 6of 36
Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),
Continued
Mounting
orientation
example,
continued
Figure 5: 180-degree heading bias example
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 7of 36
Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),
Continued
Mounting
options
The VR1000 allows for two different mounting options: mount with
bolts, or mount with magnets.
Serial port
configuration
You may configure Port A or Port B of the GNSS receiver to output
any combination of data.
Port A can have a different configuration from Port B in data
message output, data rates, and the baud rate of the port, and
configure the ports independently based upon your needs.
Note: For successful communications, use the 8-N-1 protocol and
set the baud rate of the VR1000’s serial ports to match that of the
devices to which they are connected. Flow control is not supported.
Baud Rates &
Message Types
When selecting your baud rate and message types, use the
following formula to calculate the bits/sec for each message and
sum the results to determine the baud rate for your required data
throughput.
Message output rate * Message length (bytes) * bits in byte =
Bits/second
(1 character = 1 byte, 8 bits = 1 byte, use 10 bits/byte to account for
overhead).
For information on message output rates refer to the Hemisphere
GNSS Technical Reference Manual.
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 8of 36
Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),
Continued
VR1000
communication
specifications
Table 1 lists the communication items and technical specifications
of the VR1000 GNSS receiver.
Table 1: VR1000 Communication Specifications
Item
Specification
I/O ports
2x CAN, 1x Ethernet, 2x Serial (Port A
RS232, Port B RS232/RS422)
Baud rates
4800 - 115200
Correction I/O
protocol
Atlas, Hemisphere GNSS proprietary,
RTCM v2.3 (DGPS), RTCM v3 (RTK), CMR,
CMR+ 1 NMEA 0183, Hemisphere GNSS
binary
Timing output
1PPS, CMOS, active high, rising edge sync,
10 kΩ, 10 pF load
Event marker input
CMOS, active low, falling edge sync, 10
kΩ, 10 pF load
Radio Interfaces
Bluetooth 2.0 (Class 2), Wi-Fi 2.4 GHz, UHF
(400 MHz)
Power/data
cable pin-out
assignments,
continued
For VR1000 pin-out information, refer to Table 2: VR1000 Pin-Out
assignments and Figure 7: VR1000 Back Panel and Pin-Out.
VR1000 Back Panel Connector Definition:
1. PWR/Comm (23PIN x 1)
2. RADIO (TNC x 1)
3. BT/Wi-Fi (TNC x 1)
4. GNSS ANT (N-Type x 2)
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 9of 36
Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),
Continued
Power/data
cable pin-out
assignments,
continued
Table 2 lists the VR1000 connector pin-out. Refer to Appendix B,
Figure B-1: Cable drawing for more detailed information.
Table 2: VR1000 Connector Pin-out
Pin
Description
1
CAN2 Low
2
CAN1 High
3
Ethernet RX-
4
Ethernet TX-
5
RS232 Port A Rx
6
1PPS OUT
7
Port B RS422
TX+/SPEED OUT
8/15
Power Ground
9
CAN2 High
10
CAN1 Low
11
Ethernet RX+
12
Ethernet TX+
13
RS232 Port A Tx
14
Port B RS422 RX-
/EVENT MARK
16
CAN2 Shield
17
CAN1 Shield
18/19
Signal Ground
20
Port B RS232
TX/RS422 TX-
21
Port B RS232
RX/RS422 RX+
22/23
Power Positive
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 10 of 36
Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),
Continued
Power/data
cable pin-out
assignments,
continued
Figure 6 shows the VR1000 back panel and pin-out.
Figure 6: VR1000 back panel and pin-out
1. Primary antenna
GNSS Primary RF +5V to power antenna
2. Secondary antenna
GNSS Secondary RF +5V to power antenna
3. Radio antenna
Radio RF
4. BT/Wi-Fi antenna
BT/Wi-Fi RF
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 11 of 36
Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),
Continued
LED Indicators
The VR1000 has twelve LED lights located on the front panel of the
unit. Table 3 below describes each LED indicator.
Figure 7: VR1000 LED
Table 3: LED indicators
Indicator
Description/Function
Power
Solid GREEN indicates receiver is powered on
Primary GNSS
Solid GREEN indicates tracking 4+ satellites
Solid RED indicates No Satellites
Secondary GNSS
Solid GREEN indicates tracking 4+ satellites
Solid RED indicates No Satellites
Heading
Solid GREEN indicates 2D GNSS heading
Solid AMBER indicates 2D sensor heading
Quality
Solid GREEN indicates RTK fixed
Flashing GREEN (1/sec) indicates DGPS / Float
Solid AMBER indicates Autonomous
Flashing AMBER indicates No Position
Solid RED indicates No Satellites
Atlas
Flashes GREEN each time an Atlas message is
received
Solid GREEN indicates Atlas locked
Solid AMBER indicates Atlas activated but not
locked
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 12 of 36
Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),
Continued
LED Indicators,
continued
Table 3: LED indicators (continued)
Indicator
Description/Function
Bluetooth
Solid BLUE indicates Bluetooth is turned on
Flashing BLUE (1/sec) indicates Bluetooth is
connected
Wi-Fi
Solid GREEN indicates Wi-Fi is operational
Flashing GREEN (1/sec) indicates Wi-Fi is
connected
CAN1
Solid GREEN indicates CAN operational
Flashing GREEN (1/sec) indicates CAN in use
CAN2
Solid GREEN indicates CAN operational
Flashing GREEN (1/sec) indicates CAN in use
Ethernet
Solid GREEN indicates Ethernet operational
Flashing GREEN (1/sec) indicates Ethernet in
use
Radio
Flashes GREEN each time radio message is
received/sent
Solid GREEN indicates radio mode but no
data
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 13 of 36
Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),
Continued
Recommend-
ations for
connecting to
other devices
When interfacing to other devices, ensure the transmit data
output and the signal grounds from the VR1000 are connected to
the data input, and signal grounds of the other device.
The RS-422 is a balanced signal with positive and negative signals
referenced to ground; ensure you maintain the correct polarity.
When connecting the transmit data output positive signal to the
receive line of the other device, it should be connected to the
receive positive terminal.
The negative transmit data signal from the VR1000 is then
connected to the receive data negative input of the other device.
For a list of Hemisphere GNSS commands, please refer to the
Hemisphere GNSS Technical Reference Manual. To configure the
unit through the WebUI, please refer to Configuring the VR1000
using the WebUI.
Power/Data
cable
considerations
The VR1000 uses a single 3 m cable for power and data input/
output.
The receiver end of the cable is terminated with an
environmentally-sealed 23-Pin connection while the opposite end
is terminated with multiple connectors. Ensure that the PWR-/B-
wire is connected to a clean chassis ground. DO NOT ground
directly to the battery.

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 14 of 36
Configuring the VR1000 Using the WebUI
Overview
The VR1000 is equipped with an onboard WebUI.
Note: The VR1000 WebUI supports Chrome and Firefox web
browsers.
First, connect the Bluetooth/WiFi antenna to the connector. The
receiver displays as an available Wi-Fi device in your available
networks. Connect your device to the VR1000’s Wi-Fi. The
password is hgnss1234.
Open a web browser window and type the following IP address:
192.168.100.1
Status
The VR1000 Status tab displays. You can view RX Info, Position,
Heading, L-band and SBAS.
Table 4: Status fields
Field
Description
Time
UTC time obtained from satellites, Local time
configured in Settings; Miscellaneous tab
Position
Latitude, Longitude, Altitude
Heading
Heading, COG, ROT, YAW, pitch, roll, heave, speed,
and the difference between heading and COG
Precision
Satellites used in solution, 3D Accuracy, 2D
Accuracy, horizontal dilution of precision
Solution
Status
Solution type, correction source, correction signal
latency
L-band
/SBAS
Atlas Frequency, Source, Bit Error Rate, Carrier
Lock, DSP Lock, Frame Sync, Frame Sync 2*
*Note: For a definition of the L-band/SBAS fields refer to Appendix
A, Terms and Definitions.
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 15 of 36
Configuring the VR1000 Using the WebUI, Continued
Tracking
On the Tracking tab, the Sky Plot shows the azimuth, elevation,
and SNR values of all tracked satellites.
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 16 of 36
Configuring the VR1000 Using the WebUI, Continued
Information tab
On the Information tab, the Serial Number, Board Type, Board
Firmware, Subscriptions, Devices, RX info, and Port information is
displayed.
Activated items are in green.
Important: If you have purchased an activation or subscription,
use the field on the System screen to enter the Subscription Code,
and click the ‘arrows’ button.
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 17 of 36
Configuring the VR1000 Using the WebUI, Continued
Files tab
Use the file tab to upload files and download log files from the
receiver.
System
The System tab can be used to upgrade both GNSS firmware or
carrier board firmware. You can add subscription codes on this
screen.
Use the buttons at the bottom of the screen:
•Format Disk-format the internal storage
•Self Test- run a receiver self-test
•Factory Restore- restore the unit to factory settings
•Reboot-reboot the unit
Note: The filesystem cannot be used when Bluetooth is enabled. If
Bluetooth is enabled, an option will be given to disable Bluetooth.
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 18 of 36
Configuring the VR1000 Using the WebUI, Continued
System,
continued
After Bluetooth is disabled, the filesystem displays. Any log files
stored on the receiver will be available for download.
To upgrade firmware, click Choose File, select the GNSS or carrier
board firmware, and press “Upload.”
Settings
A pop-up dialog box displays prompting for username and password.
Type the UserName: admin and the password: Hemi3384.
You can configure the following using the VR1000 WebUI:
•Heading
•CAN
•Serial
•Radio
•Ethernet
•Logging
•Ntrip
•Atlas
•Miscellaneous
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 19 of 36
Configuring the VR1000 Using the WebUI, Continued
Heading menu
The Heading menu displays the following data.
Various heading settings can also be configured.
Click the box of the desired setting and type the configuration
setting values.
Continued on next page

875-0422-10 Vector VR1000 QRG Rev A1
March 29, 2019 Page 20 of 36
Configuring the VR1000 Using the WebUI, Continued
Heading menu,
continued
Table 5 lists the heading configurations.
Table 5: Heading Configurations
Heading
Configuration
Description
Heading Bias
Add a bias to the heading value the receiver
outputs.
Heading is defined as the direction of the
vector created from the primary to secondary
antenna. Heading is measured using true
north.
Range: -180 – +180
Pitch Bias
Add a bias to the pitch value the receiver
outputs.
If the receiver is in “roll” mode, this will add a
bias to the roll instead.
Range: -15 – +15
Gyro Aiding
Gyro aiding enables the use of the internal gyro
sensor and allows for the continuous output of
heading for up to three minutes during a GNSS
outage. Gyro aiding improves the reacquisition
time when GNSS heading is lost because of an
obstruction in GNSS signal.
Negative Tilt
Change the sign of the pitch/roll measurement.
Tilt Aiding
Turn OFF or ON tilt aiding. When on, the
sensors are used to reduce the RTK search
volume – improving heading startup and
reacquisition times.
Flip Board
N/A
Level
Operation
If the Vector will be operated within +/- 10
degrees of level, you may use this mode of
operation for increased robustness and faster
acquisition times of the heading solution.
Continued on next page