Javad JNSGyro-4T User manual
JNSGyro-4T
Operator’s Manual
© Copyright Javad Navigation Systems, Inc.
March, 2006
All contents in this manual are copyrighted by JNS. All rights reserved.
The information contained herein may not be used, accessed, copied,
stored, displayed, sold, modified, published, or distributed, or otherwise
reproduced without express written consent from JNS.
www.javad.com JNSGyro-4T Operator’s Manual i
TABLE OF CONTENTS 1
Preface
Terms and Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
Regulatory Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
FCC Class B Compliance . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
Canadian Emissions Labeling Requirements . . . . . . . . . . . .xv
Manual Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xv
Screen Captures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xv
Chapter 1. Introduction
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Principles of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
GPS Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Calculating Positions . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
GPS Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
JNSGyro-4T Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
JNSGyro-4T Accessory Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Literature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Getting to Know Your JNSGyro-4T . . . . . . . . . . . . . . . . . . . . . . 1-9
ii JNSGyro-4T Operator’s Manual www.javad.com
TABLE OF CONTENTS
Internal Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Four Euro Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
External Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
Back Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
Option Authorization File (OAF) . . . . . . . . . . . . . . . . . . . . . . . 1-12
Chapter 2. Configuration
Powering the JNSGyro-4T . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Turning On/Off the JNSGyro-4T . . . . . . . . . . . . . . . . . . . . 2-2
Connecting the JNSGyro-4T and a Computer . . . . . . . . . . . . . . 2-3
Establishing an RS232 Cable Connection . . . . . . . . . . . . . . 2-3
Establishing a PCView Connection . . . . . . . . . . . . . . . . . . . 2-3
JNSGyro-4T Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
MinPad Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Collecting Almanacs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-17
Chapter 3. Setup and Measuring
How to Work with JNSGyro-4T . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Geometry and Coordinate Transformations . . . . . . . . . . . . 3-2
Differential corrections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Delay and extrapolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Reference point determination . . . . . . . . . . . . . . . . . . . . . . . 3-4
JNSGyro-4T Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Antennas Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Antennas Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Self-Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
How to Setup JNSGyro4(T) for the First Time . . . . . . . . . . . . . 3-9
www.javad.com JNSGyro-4T Operator’s Manual iii
TABLE OF CONTENTS
Chapter 4. Operation
Using MinPad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Power button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Reset Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
FN Key and Record LED . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Information Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
Normal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
Extended Information Mode (EIM) . . . . . . . . . . . . . . . . 4-6
Downloading Files to a Computer . . . . . . . . . . . . . . . . . . . . . . . 4-8
Deleting Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
Managing JNSGyro-4T Memory . . . . . . . . . . . . . . . . . . . . . . . 4-12
Checking an OAF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
Loading OAFs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15
Clearing the NVRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Using PCView to Clear NVRAM . . . . . . . . . . . . . . . . . . . 4-16
Using GRIL to Clear NVRAM . . . . . . . . . . . . . . . . . . . . . 4-17
Using MinPad to Clear NVRAM . . . . . . . . . . . . . . . . . . . 4-17
Checking Firmware Version . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
Loading New Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
Chapter 5. Commands and messages
The commands entered to Master . . . . . . . . . . . . . . . . . . . . . . . . 5-1
The messages output from Master . . . . . . . . . . . . . . . . . . . . . . . 5-3
Chapter 6. Troubleshooting
Things to Check First . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
JNSGyro-4T Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Obtaining Technical Support . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
iv JNSGyro-4T Operator’s Manual www.javad.com
TABLE OF CONTENTS
E-mail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
Website . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
Appendix A
Creating Scripts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
Scripts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
m20.jpc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4
m10.jpc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-5
m5.jpc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
m1.jpc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7
s20.jpc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8
s10.jpc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-9
s5.jpc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-10
s1.jpc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-11
Appendix B
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .B-1
JNSGyro-4T Specifications . . . . . . . . . . . . . . . . . . . . . . . . .B-1
Connector Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . .B-5
Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .B-5
Serial RS-232C Connector . . . . . . . . . . . . . . . . . . . . . . .B-6
GPS External Antenna RF Connector . . . . . . . . . . . . . . .B-7
EVENT and 1PPS Connectors . . . . . . . . . . . . . . . . . . . .B-7
Appendix C
Safety Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-1
General Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C-1
vi JNSGyro-4T Operator’s Manual www.javad.com
Notes:
www.javad.com JNSGyro-4T Operator’s Manual vii
LIST OF FIGURES 2
Chapter 1. Introduction
JNSGyro-4T ................................................................. 1-2
Front Panel ................................................................... 1-10
Back Panel .................................................................... 1-10
Chapter 2. Congfiguration
Powering JNSGyro-4T ................................................. 2-2
PCView Main Window ................................................ 2-4
RS-232 Connection Parameters .................................... 2-4
PCView Connection Established .................................. 2-5
Configuration->Receiver .............................................. 2-6
Receiver Configuration ................................................ 2-7
Receiver Configuration – MinPad Tab ........................ 2-8
Advanced Configuration – Multipath Reduction ......... 2-9
Advanced Configuration – Loop Management ............ 2-9
JNSGyro-4T MinPad .................................................... 2-11
Connection Parameters – RTS/CTS Handshaking ....... 2-12
Configuration->Receiver .............................................. 2-12
Receiver Configuration – MinPad Tab ........................ 2-13
viii JNSGyro-4T Operator’s Manual www.javad.com
LIST OF FIGURES
Chapter 3. Setup and Measuring
Body reference frame ................................................... 3-2
Local horizon frame ..................................................... 3-2
Antennas setup ............................................................. 3-5
Antennas Connection ................................................... 3-6
Determination of the body frame by the self-calibration procedure 3-7
Chapter 4. Operation
JNSGyro-4T MinPad .................................................... 4-2
Connection Parameters – RTS/CTS Handshaking ....... 4-8
File->File Manager ....................................................... 4-8
Find Files to Download ................................................ 4-9
Download Files ............................................................. 4-9
Download Files – Status Indicators .............................. 4-10
Delete Files ................................................................... 4-11
Tools->Receiver Options ............................................. 4-13
Option Manager ............................................................ 4-14
Load OAF ..................................................................... 4-15
Tools->Clear NVRAM ................................................. 4-16
Help->About ................................................................. 4-18
About PCView ............................................................. 4-18
Floader Main Screen .................................................... 4-21
Set Device Type ........................................................... 4-21
Program Tab Settings ................................................... 4-22
Appendix A
File->Manual Mode ...................................................... A-1
Edit script ..................................................................... A-2
xJNSGyro-4T Operator’s Manual www.javad.com
Notes:
www.javad.com JNSGyro-4T Operator’s Manual xi
PREFACE 3
Thank you for purchasing this product. The materials available in this Manual
(the “Manual”) have been prepared by Javad Navigation Systems, Inc. (“JNS”)
for owners of JNS products. It is designed to assist owners with the use of the
JNSGyro-4T and its use is subject to these terms and conditions (the “Terms
and Conditions”).
Notice:
Please read these Terms and Conditions carefully.
Terms and Conditions
PROFESSIONAL USE – JNS boards are designed to be used by a
professional. The user is expected to have a good knowledge and understanding
of the user and safety instructions before operating, inspecting or adjusting.
COPYRIGHT – All information contained in this Manual is the intellectual
property of, and copyrighted material of JNS. All rights are reserved. You may
not use, access, copy, store, display, create derivative works of, sell, modify,
publish, distribute, or allow any third party access to, any graphics, content,
information or data in this Manual without JNS' express written consent and
may only use such information for the care and operation of your JNSGyro-4T.
The information and data in this Manual are a valuable asset of JNS and are
developed by the expenditure of considerable work, time and money, and are
the result of original selection, coordination and arrangement by JNS.
TRADEMARKS – JNSGyro-4T™, JNS® and Javad Navigation Systems™
are trademarks or registered trademarks of JNS. Windows® is a registered
xii JNSGyro-4T Operator’s Manual www.javad.com
PREFACE
Terms and Conditions
trademark of Microsoft Corporation. Product and company names mentioned
herein may be trademarks of their respective owners.
DISCLAIMER OF WARRANTY – EXCEPT FOR ANY WARRANTIES IN
THIS MANUAL OR A WARRANTY CARD ACCOMPANYING THE
PRODUCT, THIS MANUAL AND THE JNSGYRO-4T ARE PROVIDED
“AS-IS.” THERE ARE NO OTHER WARRANTIES. JNS DISCLAIMS ANY
IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY
PARTICULAR USE OR PURPOSE. JNS AND ITS DISTRIBUTORS
SHALL NOT BE LIABLE FOR TECHNICAL OR EDITORIAL ERRORS OR
OMISSIONS CONTAINED HEREIN; NOR FOR INCIDENTAL OR
CONSEQUENTIAL DAMAGES RESULTING FROM THE FURNISHING,
PERFORMANCE OR USE OF THIS MATERIAL OR THE JNSGYRO-4T.
SUCH DISCLAIMED DAMAGES INCLUDE BUT ARE NOT LIMITED TO
LOSS OF TIME, LOSS OR DESTRUCTION OF DATA, LOSS OF PROFIT,
SAVINGS OR REVENUE, OR LOSS OF THE PRODUCT'S USE. IN
ADDITION, JNS IS NOT RESPONSIBLE OR LIABLE FOR DAMAGES OR
COSTS INCURRED IN CONNECTION WITH OBTAINING SUBSTITUTE
PRODUCTS OR SOFTWARE, CLAIMS BY OTHERS, INCONVENIENCE,
OR ANY OTHER COSTS. IN ANY EVENT, JNS SHALL HAVE NO
LIABILITY FOR DAMAGES OR OTHERWISE TO YOU OR ANY OTHER
PERSON OR ENTITY IN EXCESS OF THE PURCHASE PRICE FOR THE
JNSGYRO-4T.
LICENSE AGREEMENT – Use of any computer programs or software
supplied by JNS or downloaded from a JNS website (the “Software”) in
connection with the JNSGyro-4T constitutes acceptance of these Terms and
Conditions in this Manual and an agreement to abide by these Terms and
Conditions. The user is granted a personal, non-exclusive, non-transferable
license to use such Software under the terms stated herein and in any case only
with a single JNSGyro-4T or single computer. You may not assign or transfer
the Software or this license without the express written consent of JNS. This
license is effective until terminated. You may terminate the license at any time
by destroying the Software and Manual. JNS may terminate the license if you
fail to comply with any of the Terms or Conditions. You agree to destroy the
Software and manual upon termination of your use of the JNSGyro-4T. All
ownership, copyright and other intellectual property rights in and to the
www.javad.com JNSGyro-4T Operator’s Manual xiii
PREFACE
Terms and Conditions
Software belong to JNS. If these license terms are not acceptable, return any
unused software and manual.
CONFIDENTIALITY – This Manual, its contents and the Software
(collectively, the “Confidential Information”) are the confidential and
proprietary information of JNS. You agree to treat JNS' Confidential
Information with a degree of care no less stringent that the degree of care you
would use in safeguarding your own most valuable trade secrets. Nothing in this
paragraph shall restrict you from disclosing Confidential Information to your
employees as may be necessary or appropriate to operate or care for the
JNSGyro-4T. Such employees must also keep the Confidentiality Information
confidential. In the event you become legally compelled to disclose any of the
Confidential Information, you shall give JNS immediate notice so that it may
seek a protective order or other appropriate remedy.
WEBSITE; OTHER STATEMENTS – No statement contained at the JNS
website (or any other website) or in any other advertisements or JNS literature
or made by an employee or independent contractor of JNS modifies these Terms
and Conditions (including the Software license, warranty and limitation of
liability).
SAFETY – Improper use of the JNSGyro-4T can lead to injury to persons or
property and/or malfunction of the product. The JNSGyro-4T should only be
repaired by authorized JNS warranty service centers. Users should review and
heed the safety warnings in “Safety Warnings” on page C-1.
MISCELLANEOUS – The above Terms and Conditions may be amended,
modified, superseded, or canceled, at any time by JNS. The above Terms and
Conditions will be governed by, and construed in accordance with, the laws of
the State of California, without reference to conflict of laws.
xiv JNSGyro-4T Operator’s Manual www.javad.com
PREFACE
Regulatory Information
Regulatory Information
The following sections provide information on this product's compliance with
government regulations.
FCC Class B Compliance
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.
This equipment has been tested and found to comply with the limits for a Class
B digital device, pursuant to Part 15 of the FCC rules. These limits are designed
to provide reasonable protection against harmful interference in residential
installations. This equipment generates, uses, can radiate radio frequency
energy, and if not installed and used in accordance with the instructions, may
cause harmful interference to radio communications. However, there is no
guarantee that interference will not occur in a particular installation.
If this equipment does cause interference to radio or television equipment
reception, which can be determined by turning the equipment off and on, the
user is encouraged to try to correct the interference by one or more of the
following measures:
• Reorient or relocate the receiving antenna.
• Move the equipment away from the receiver.
• Plug the equipment into an outlet on a circuit different from that to which the
receiver is powered.
• Consult the dealer or an experienced radio/television technician for
additional suggestions.
WARNING:
Any changes or modifications to the equipment not
expressly approved by the party responsible for
compliance could void your authority to operate such
equipment.
www.javad.com JNSGyro-4T Operator’s Manual xv
PREFACE
Regulatory Information
Canadian Emissions Labeling Requirements
This Class B digital apparatus meets all requirements of the Canadian
Interference-Causing Equipment Regulations.
Cet appareil numérique de la classe B respecte toutes les exigences du
Réglement sur le matériel brouilleur du Canada.
Manual Conventions
This manual uses the following conventions:
Tip: Supplementary information that can help you to
configure, maintain, or set up a system.
Notice:
Supplementary information that can have an affect on
system operation, system performance, measurements,
or personal safety.
CAUTION:
Notification that an action has the potential to
adversely affect system operation, system
performance, data integrity, or personal health.
WARNING:
Notification that an action will result in system
damage, loss of data, loss of warranty, or personal
injury.
D
ANGER
:
UNDER NO CIRCUMSTANCES SHOULD THIS ACTION BE
PERFORMED.
Screen Captures
This manual includes sample screen captures. Your actual screen can look
slightly different from the sample screen due to the receiver you have
Example Description
File->Exit Click the File menu and click Exit
Enter Press or click the button or key labeled Enter.
xvi JNSGyro-4T Operator’s Manual www.javad.com
PREFACE
Regulatory Information
connected, operating system used and settings you have specified. This is
normal and not a cause for concern.
www.javad.com JNSGyro-4T Operator’s Manual 1-1
INTRODUCTION 1
This chapter provides an overview of the JNSGyro-4T, including its features
and physical elements. In addition, a brief description of the principals of GPS
operation is presented. This information is split into the following sections:
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Principles of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
JNSGyro-4T Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
JNSGyro-4T Accessory Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Getting to Know Your JNSGyro-4T . . . . . . . . . . . . . . . . . . . . . . 1-9
Option Authorization File (OAF) . . . . . . . . . . . . . . . . . . . . . . . 1-12
1-2 JNSGyro-4T Operator’s Manual www.javad.com
INTRODUCTION
Overview
1
Overview
Javad Navigation System's JNSGyro-4T (Figure 1-1) is the first and the only
dual frequency satellite-based attitude system. If you ever doubted the reliability
of GPS attitude systems, it was because you used single frequency systems. The
effective 86 cm dual frequency wave length (compared to 19 cm of single
frequency) makes JNSGyro-4T the most reliable and the fastest-to-settle
attitude system in the world.
JNSGyro-4T is actually four 20-channel geodetic quality dual frequency GPS /
GLONASS receivers packaged in one small box that is in turn connected to four
antennas. The dual frequency code and carrier data from four antennas are
processed to determine the three orientation angles and three-dimensional
position up to 20 times per second. The JNSGyro-4T can also be operated in
RTK or DGPS mode from an external base station to provide highly accurate
position and velocity.
Figure 1-1. JNSGyro-4T
The JNSGyro-4T can receive and process L1 and L2 signal. The GNSS
component of JNSGyro-4T means you can access both the GPS (Global
Positioning System) satellites of the United States, and the GLONASS (Global
Navigation Satellite System) satellites of the Russian Federation, increasing the
number of satellites your board can detect, thus improving the accuracy of your
measuring points, increasing productivity, and reducing cost.
Table of contents
Other Javad GPS manuals
