Saab R4 User manual

Saab TransponderTech
OPERATOR’S MANUAL
R4 Navigation System

Copyright
The entire contents of this manual and its appendices, including any future updates and
modifications, shall remain the property of Saab TransponderTech AB at all times. The
contents must not, whether in its original form or modified, be wholly or partly copied or
reproduced, nor used for any other purpose than the subject of this manual.
Disclaimer
While reasonable care has been exercised in the preparation of this manual, Saab
TransponderTech AB shall incur no liability whatsoever based on the contents or lack of
contents in the manual.
Caution
No single navigation aid should ever be relied upon as the exclusive means for navigating
a vessel. The navigator is responsible for checking all aids available to confirm his posi-
tion. Electronic aids are intended to assist, not replace, the navigator.
Software
This manual reflects the capabilities of R4 Navigation Display software version 5.0.90
onwards.
Operators Manual Part Number and Revision
Part number 7000 109-143, revision F2.
This manual is a replacement for the earlier manual 7000 109-143 rev F.
Safety Instructions
Note the following compass safe distances:
How To Contact Us
For Information on New Products and Dealers:
Please visit our home page www.transpondertech.se
For Installation, Service and Technical Support:
Please contact your R4 Navigation System dealer.
Equipment Standard magnetic
compass
Steering magnetic
compass
R4 Display 0.6 m 0.3 m
R4 Navigation Sensor
(GPS and DGPS)
0.6 m 0.4 m

3
Table of Contents
Table of Contents
Product Description ................................................. 7
System Overview 7
Main Features 8
Concepts and Terminology ..................................... 9
Getting Started ...................................................... 11
Front Panel Keys 11
How to Operate the R4 Display 12
Views and Function Keys 12
Change Settings 12
Alarm Pop-ups 13
Turning On and Off the R4 Display 13
System Modes 14
Status Bar 16
Status Icons 16
RAIM Accuracy Level 17
Show Current Position 18
Create Waypoints 18
Create New Waypoint 19
Sail To a Waypoint 20
Create a Route 22
Insert Waypoints Into the Route 23
Adjusting Navigation Algorithm and RAIM Accuracy Level 25
Finish Creating a Route 26
Review an Existing Route 27
Start Sailing a Route 29
Navigate Towards a Waypoint and Follow a Route 30
Plot the Active Route 31
View the Active Route 32
Visual Settings 33
Reference .............................................................. 35
Status LEDs 35
R4 Display LEDs 35
R4 Navigation Sensor LEDs 35
Icon Description 36
Message Symbols 36
Redundant Operation Status Symbols 36
GPS Status Symbols 36
Miscellaneous Symbols 36

4
Adjusting Settings 37
Man Over Board 39
Event Mark 40
Alarm Pop-ups 41
Changing System Mode 42
Navigate Mode 43
Overview 43
Position 45
GPS Status 46
Beacon Status 47
Satellite Info 48
SBAS Info 48
Set RAIM 49
Nav 50
Active Route 53
Edit Active Route 56
Plot 59
User Defined 60
Trip Logs 63
Trip Log Details 64
Anchor Watch 65
Route List 67
Plan Voyage Mode 69
Overview 69
Route List 71
Sail Route 73
Sail To 73
Edit Route 75
Create Route 78
Create Route From 79
View Route 79
Route Related Views 81
Select Waypoint 81
Insert Waypoints 82
Select Route 83
Waypoint List 85
Waypoint Related Views 88
View Waypoint 88
Edit Waypoint 88
Create Waypoint 90
Alarms & Msgs Mode 91
Overview 91
Alarm List 92
DGPS Message 93
Scheduled Alerts 93
Scheduled Alert Related Views 94
Create Time Alert 95
Create ETA Alert 96
Edit Time Alert 97
Edit ETA Alert 97

5
Table of Contents
View Time Alert 97
View ETA Alert 97
Config Mode 99
Overview 99
Time Config 101
Display Config 102
Visual Config 102
Sound Config 103
Nav Config 103
Alarm Config 105
Units Config 106
GPS/DGPS Config 107
GPS Config 107
Beacon Config 109
SBAS Config 111
Redund Config 112
I/O Config 114
Input Config 114
Compass Config 115
Depth Config 115
Wp/Rte Input 116
Output Config 117
Port Rate Config 118
System Info 121
Appendix .............................................................. 123
Alarm Messages 123
Navigation Alarms Description 123
Transfer Waypoints and Routes 126
Download Waypoints and Routes 126
Waypoint and Complete Route Downloads 126
Working Route Downloads 126
Upload Waypoints and Complete Routes 126
Output Working Route and Remaining Waypoints 127
Glossary ............................................................... 129
Index .................................................................... 131

6

7
Product Description
System Overview
Product Description
System Overview
The R4 Navigation System is available in two configurations: GPS and DGPS. Both con-
figurations feature an R4 Display. The GPS configuration also features an R4 GPS Nav-
igation Sensor and an MGA-2 GPS antenna, while the DGPS configuration features an
R4 DGPS Navigation Sensor and an MGL-4 combined GPS/Beacon antenna.
The R4 Display provides a graphical interface to the system. Via the display it is possible
to create, edit and modify routes and waypoints, navigate following a route, plot the route,
view sensor data, perform setup as well as supervise the systems status.
The R4 GPS Navigation Sensor features a high-precision GPS receiver, capable of receiv-
ing WAAS, EGNOS and MSAS differential corrections. The R4 DGPS Navigation Sen-
sor has all the features of the GPS Sensor, as well as a dual channel beacon receiver for
reception of IALA radio beacon DGPS corrections.
The R4 Navigation Sensor is connected to the antenna, either an MGA-2 GPS antenna or
an MGL-4 combined GPS/Beacon antenna. The MGL-4 antenna is capable of receiving
and interpreting both radio beacon and satellite signals.
Together the R4 Display and the R4 Navigation Sensor provides three configurable serial
user ports, of which two are bidirectional and one used only for output of data. There are
also a binary Speed Log and an Alarm Output port, as well as an Alarm Acknowledge in-
put port.

Main Features
8
Main Features
• High resolution, sunlight readable, 6'' graphic day and night display.
• Signal integrity monitoring calculations (RAIM) according to the IEC 61108-1 (2nd
edition) standard. The RAIM function detects whether an expected user defined navi-
gation accuracy is achieved.
• Reception and use of differential corrections from SBAS, from the serial interface in
RTCM SC-104 format and, in the DGPS configuration, from IALA radio beacons.
• Automatic or manual SBAS satellite selection modes.
• Navigational views with next waypoint information and cross-track error visualiza-
tion.
• Display of latitude, longitude, speed over ground and course over ground.
• Up to five user defined views providing a large variety of graphical as well as numer-
ical presentation options according to customer preferences.
• Capability to handle and store up to 2000 individually named waypoints and up to 100
different routes.
• Man Over Board (MOB) and Event Mark functionality.
• Two trip log counters with indication of average speed and accumulated time during
motion.
• Anchor Watch position deviation alarm.
• Scheduled Alerts, user configurable time alarms and time to ETA alarms.
• Time frame related to UTC or user defined local offset.
• Synchronization of waypoint/route database and settings with an external R4 Naviga-
tion system in dual redundant installations.
• Input and output of IEC 61162-1 sentences configurable on sentence level and per
port, providing control over interpreted, ignored and transmitted sentences.
• User interface design centred around modes of operation corresponding to typical
operator activities such as voyage planning, status monitoring and ship navigation.
• Upgradeable without hardware modifications due to fully integrated DSP solution.
• Output of GPS positioning information on User port 1 and 2, enabling external sys-
tems to connect to and use the GPS information from the R4 Navigation Sensor.
• Meets the following standards:
• IMO Performance Standard for GPS
• IEC 61108-1, second edition
• IEC 61162-1, second edition

9
Concepts and Terminology
Concepts and Terminology
This chapter describes some of the commonly used terms of this Operator’s Manual, and
the implied meaning when used in this manual.
Waypoint
A waypoint is a position on the earths surface, represented by latitude and longitude,
which is given a unique name. A waypoint is typically used for navigation direct to a cer-
tain position or as part of a route.
MOB Waypoint
A waypoint created when using the Man Over Board (MOB) functionality. The system
can store up to 20 MOB waypoints at the same time, if more are created the oldest one is
deleted. It is not possible to use MOB waypoints in routes.
Route
A route is a named, ordered sequence of waypoints, which together describes a path from
the start to the end waypoint. The route that currently is being sailed is called the active
route.
Active Route
The active route is the route currently being sailed and used for navigation. When starting
to sail a route, a copy of the route is made into the active route. Changes made to the active
route does not affect the source route, unless the active route is explicitly stored. Only one
route can be active at any point in time.
Leg
A leg is the segment of a route between two consecutive waypoints. A route with the way-
points A, B and C has two legs: “A to B” and “B to C”. For each leg in a route, the navi-
gation algorithm and RAIM accuracy level can be set.
RAIM
RAIM is a GPS integrity monitoring scheme that evaluates the quality of the position data
and is able (under normal circumstances) to detect a satellite malfunction that results in a
large range error.
RAIM Accuracy Level
The RAIM accuracy level is the radius that is used to calculate current RAIM status.
RAIM Status
The RAIM status can be one of safe, caution and unsafe, and is indicated by the LEDs on
the front of the R4 Display.
Navigation Algorithm
The navigation algorithm is the algorithm used for calculating the course to steer to reach
the next waypoint. It is also used for calculating the distance to the waypoint. The navi-
gation algorithm can be either great circle or rhumb line.

10
Great Circle Navigation
The great circle navigation algorithm calculates a course line that is the shortest path be-
tween two points on the surface of the earth. Using this navigation algorithm, course to
steer when navigating towards a waypoint is not constant. The resulting track of this nav-
igation algorithm will differ from the straight line drawn on a Mercator projected chart.
Rhumb Line Navigation
The rhumb line navigation algorithm calculates a course line that corresponds to a straight
line on a Mercator projected chart, and cuts across all meridians at the same angle.
Waypoint Pass Criterion
The criterion used to determine when a waypoint in the active route is considered passed.
The waypoint pass criterion can be any of Manual, Distance, Bisector Line and Perpen-
dicular Line.
Manual Waypoint Pass Criterion
Using this pass criterion, the waypoint is only considered passed when the operator skips
the waypoint.
Distance Waypoint Pass Criterion
Using this pass criterion, the waypoint is considered passed
once the ship has reached an imaginary circle around the way-
point. See illustration to the right. The radius of the circle is
configurable.
Bisector Line Waypoint Pass Criterion
Using this pass criterion, the waypoint is considered passed
once the ship has reached an imaginary bisector line of the an-
gle between current and next leg. See illustration to the right.
Perpendicular Line Waypoint Pass Criterion
Using this pass criterion, the waypoint is considered passed
once the ship has reached an imaginary line perpendicular to
current leg. See illustration to the right.

11
Getting Started
Front Panel Keys
Getting Started
Front Panel Keys
POWER Used for turning the R4 Display on and off. To turn the power off press and hold
the key for 3 seconds.
MOB Used to mark the spot of an event or when a person has fallen overboard. To mark
an event, press the key momentarily. To activate the Man Over Board (MOB) function,
press the key for at least 5 seconds.
DISPLAY Provides controls for fast configuration of backlight, contrast, LED illumina-
tion and button illumination. Two separate configurations are available, for day and night
operation.
STATUS Not used in the R4 Navigation System.
MODE Used for changing mode of operation, which can be set to any of Navigate, Plan
Voyage, Alarms & Msgs and Config.
ALPHANUMERIC KEYS These keys are used for entering text and numbers. To write a
number in a numeric field press the key once. To write a character in a text field press once
for the first character associated with the key, twice for the second character and so on.
PAGE Provides access to additional pages of function keys in certain views. A small ar-
row in the bottom right corner of the display is used to indicate that more pages are avail-
able.
ENTER Used to start editing a field and for confirming data entry. Also used to view or
edit a highlighted route, leg or waypoint.
ESC Returns display to previous page, or restores a data field's previous value.
∧∨(Up and down on ARROW KEYPAD) Moves the field and list highlight up and down,
and the cursor position when editing a field.
< > (Left and right on ARROW KEYPAD) Jumps between pages in lists, moves the field
highlight left and right and moves the cursor position when editing a field.
FUNCTION KEYS These keys have different functions depending on current view. The
function is displayed above each key on the screen. In some views, additional pages of
function keys may be accessed with the PAGE key.

Front Panel Keys
12
How to Operate the R4 Display
Views and Function Keys
The user interface is built upon a number of views, organized in four different modes. The
different views are reached with the function keys below the screen and the ESC and
PAGE keys on the right side of the front panel. The mode is changed by pressing the
MODE key followed by the function key corresponding to the desired mode.
Use the function keys to step into a specific view and ESC to get back one level. PAGE
provides access to additional pages of function keys in some views. An example view is
shown below. In the following sections of the manual the views of the R4 Navigation Sys-
tem are described.
The function keys are view-specific and the function of each key is specified with a label
on the screen. Note that unlabelled keys are not active in that specific view. Also, in some
views the function keys might serve as switches, e.g. toggling a parameter.
The status bar of the system is present in all views at the top of the screen, and further
described in section “Status Bar” on page 16.
Change Settings
Several of the views in the R4 Navigation System contain parameters that can be edited.
To edit a parameter, select it by using the ∧∨< > keys and press ENTER. Then enter data
in one of four ways:
•Numbers: Press the ALPHANUMERIC KEY that corresponds to each digit. To
delete a digit, press function key Backspace.
•Text:Press the ALPHANUMERIC KEY that corresponds to each character.
Press the key once for the first character, twice for the second character and so
on. Press the key marked with a dot twice, where allowed, to bring up a menu
for entering special characters. To delete a character, press function key
Backspace. To change between upper and lower case letters, press function
key Capslock (if present).
• List of predefined values: Use the ∧∨ keys to select between the predefined
values.
•Bar graph data: Use the < > keys to increment or decrement the parameter.
System status
Function key label
leading to a sub
view
bar

13
Getting Started
Front Panel Keys
Press ENTER when done. If desired, use the ∧∨< > keys to select a new parameter to be
edited, else press function key Apply and Exit.
Use the ESC key to undo changes and to return to the previous view.
Alarm Pop-ups
The R4 Display features alarm pop-ups that can appear any time during operation. To ac-
knowledge an alarm message, press ENTER.An example is shown below.
For more information on alarms see the Reference, section “Alarm Pop-ups” on page 41.
For alarm definitions see Appendix, section “Alarm Messages” on page 123.
Turning On and Off the R4 Display
To turn on the R4 Display, press the POWER key. The LEDs on the display will blink
momentarily, indicating that the R4 Display is starting up. Any alarm active when the dis-
play is started will be indicated by Alarm pop-ups, as described above. Press ENTER to
acknowledge any present alarm, and the corresponding pop-up will be removed.
The R4 Display will power up in the Navigate mode, showing the Position view. The dif-
ferent modes and the basic operation of the R4 Navigation System are described in the
following sections.
To power off the R4 Display, press and hold the POWER key for 3 seconds, until the
screen goes black.

System Modes
14
System Modes
The user interface of the R4 Display has four different system modes, which each corre-
spond to different types of user activities.
The four modes are Navigate, Plan Voyage, Alarms & Msgs and Config. Current mode is
changed by pressing the MODE key, which will bring up the function key labels illustrat-
ed below. Press the corresponding function key to enter the desired mode.
The different modes are described below, with illustrations of typical mode views.
Navigate Mode
The Navigate mode is used under normal ship operation. It supports viewing bearing and
distance to the next waypoint, skipping waypoints, plotting the active route, editing the
active route, monitoring cross-track error and viewing sensor information such as current
depth, speed, heading and position. It also supplies functions for viewing current GPS and
Beacon status. This mode is described in detail on page 43 and onwards in the Reference
chapter.
Plan Voyage Mode
The Plan Voyage mode supports viewing, creating and deleting waypoints and routes, as
well as starting to sail a route or sailing directly to a specific location. This mode is de-
scribed in detail on page 69 and onwards in the Reference chapter.
Function keys
for selecting
system mode

15
Getting Started
System Modes
Alarms & Msgs Mode
The Alarms & Msgs mode supports functions for monitoring current system status. This
includes functions for viewing present and previous alarms, definition of scheduled time
alerts, clearing the alarm log and viewing received DGPS messages. This mode is de-
scribed in detail on page 91 and onwards in the Reference chapter.
Config Mode
The Config mode comprises functions used to setup and configure the R4 Navigation Sys-
tem. It includes functions for modifying visual and sound settings, navigation settings,
disable and enable different alarms, used units, GPS and beacon settings, serial port set-
tings and viewing system information. This mode is described in detail on page 99 and
onwards in the Reference chapter.
Functions Accessible Regardless of Mode
Functions associated with the MODE, DISPLAY, MOB and POWER keys are accessible
regardless of mode. These keys provide functionality for switching system mode, chang-
ing display settings, marking the position in case of accident (MOB) or other event (event
mark) and for turning the display on and off.

Status Bar
16
Status Bar
The top of the screen of the R4 Display always displays a summary of the system’s status.
See illustration below.
If a valid navigation position is available, it is displayed to the left. The status icons are
displayed in the middle, and to the right current RAIM accuracy level (in meters) and time
is shown. It is possible to select whether displayed time shall refer to UTC or a local time
frame defined by an offset setting in the Time view as described in section “Time Config”
on page 101.
As an option, the position displayed in the status bar may be replaced by the name of the
waypoint the system currently is navigating towards. Which data to display can be select-
ed in Config mode by the ‘Status Information’ parameter in the Nav Config view (See
“Nav Config” on page 103.).
Status Icons
The status icons that can be displayed are:
Unread DGPS message
Active alarms
Redundant operation status, being one of:
Redundant operation active
Redundant operation active. Synchronizing from external unit.
Redundant configuration has been enabled but no communication is established.
GPS status, being one of:
DGPS based on external differential corrections applied through the User 1 port
DGPS based on corrections from the internal radio beacon receiver (DGPS version)
DGPS based on SBAS differential corrections
Navigating without differential corrections
No valid position information
No communication with the R4 Navigation Sensor
DGPS Integrity Alert, displayed immediately to the right of GPS status when active.
HDOP status indication (active if HDOP is above 4)
The icons are also described in section “Icon Description” on page 36 in the Reference
chapter.
Current position
Current RAIM
Current time (UTC)
Status icons
accuracy level
Current time
(local)

17
Getting Started
Status Bar
RAIM Accuracy Level
The RAIM accuracy level specifies (in meters) the desired position accuracy used to cal-
culate current RAIM status. RAIM is a GPS integrity monitoring scheme that evaluates
the quality of position data and compares it to the specified accuracy level.
The LEDs on the front of the R4 display will show the RAIM status. The green LED in-
dicates safe state; the calculated position accuracy is better than the set accuracy level.
The yellow LED indicates caution state; the system is unable to safely determine if the
position accuracy is better or worse than the set accuracy level. The red LED indicates un-
safe state; the calculated position accuracy is worse than the set accuracy level. The LEDs
and RAIM states are further described in section “Status LEDs” on page 35.
The used RAIM accuracy level is the latest specified accuracy level, ei-
ther specified manually or by a leg setting in the sailed route. An under-
lined accuracy level indicates that a manually entered RAIM level
overrides RAIM levels set in the active route. This is illustrated in the figure to the left.
For details of this and on how to set current RAIM accuracy level, see section “Set RAIM”
on page 49 in the Reference chapter.

Show Current Position
18
Show Current Position
The R4 Display will power up in the Position view. The view shows current position,
speed over ground (SOG) and course over ground (COG) as reported by the R4 Naviga-
tion Sensor. If no position information is available from the R4 Navigation Sensor, the
view shows the last available values and the time they were acquired. For details on this
view, refer to the Reference chapter, section “Position” on page 45.
The view is present in Navigate mode, accessed by pressing MODE followed by the func-
tion key NAVIGATE. The view is then accessed by pressing function key Position.
Create Waypoints
Waypoints are the basis for ship navigation. A waypoint is a position on the earth surface
that is given a unique name and stored in the memory of the R4 Display. Waypoints can
be entered in several different ways, and used for building routes as well as for direct nav-
igation to a specific position.
Creating waypoints is performed in the Waypoint List view in Plan Voyage mode. Plan
Voyage mode is accessed by pressing the MODE key followed by the PLAN VOYAGE
function key. The Waypoint List view is then accessed by pressing function key Way-
point List.

19
Getting Started
Show Current Position
Create New Waypoint
Access the Waypoint List view as described above. Press the function key Create New
Wp. The Create Waypoint view is displayed.
To name the waypoint, select the Name field using ∧and press ENTER. The field be-
comes editable and the following function keys are displayed.
Enter a descriptive name for the waypoint you are creating, using the alphanumeric key-
pad. Use the Backspace function key to erase characters, and the Capslock function key
to change between upper and lower case letters. Press ENTER when done.
The Lat and Long values are per default set to the latitude and longitude of current posi-
tion. If a different position is desired, select each field to modify using ∧∨, press ENTER
and use < > keys to select the digits to alter. Enter new digits using the alphanumeric key-
pad and press ENTER when done.
To create the waypoint, press function key Apply and Exit.

Sail To a Waypoint
20
Sail To a Waypoint
The R4 Navigation System supports sailing directly to a waypoint. Starting to sail to a
waypoint is done in Plan Voyage mode, just as creating waypoints. The mode is accessed
by pressing the MODE key followed by the PLAN VOYAGE function key. The Sail To
function is present in the Route List view, accessed by function key Route List. The view
is illustrated below.
The Route List view can also be accessed from the Navigate mode as follows. Press the
MODE key followed by the NAVIGATE function key. Then press the PAGE key in order
to access a second page of function keys that includes the Route List key.
In the Route List view, press the function key Sail To Wp/Pos to sail to a specific loca-
tion. The following view is displayed.
To select the destination waypoint, press function key Select Dest. This brings up the
Select Waypoint view.
Destination
waypoint
(none selected yet)