Simrad HS60 User manual

ENGLISH
HS60 GPS Compass
User Guide
simrad-yachting.com

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| HS60 GPS Compass User Guide
Preface
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
Copyright NAVICO Inc. (2014). All rights reserved.
No part of this manual may be reproduced, transmitted, transcribed,
stored in a retrieval system or translated into any language or com-
puter language, in any form or by any means, electronic, mechani-
cal, magnetic, optical, chemical, manual or otherwise, without the
prior written permission of NAVICO.

4 | | HS60 GPS Compass User Guide

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Contents | HS60 GPS Compass User Guide
Contents
6 Introduction
6 Overview
7 Parts lists
8 Operation
8 GPS overview
9 HS60 overview
13 Common commands and messages
18 Installation
18 Mounting location
20 Mounting orientation
23 Mounting options
28 Powering and connecting to the HS60
30 Troubleshooting
31 Specications
33 Wiring diagrams

6 | Introduction | HS60 GPS Compass User Guide
Introduction
Overview
The HS60™ GPS Compass is based upon SIMRAD’s new GPS techno-
logy. It is a complete GPS compass and position system in a single
enclosure that connects via a standard NMEA 2000 cable. With
NMEA 2000 support and ease of installation, the HS60 is the perfect
solution for marine-based applications.
The HS60 is an integrated system that houses the following:
• 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 perfor-
mance and to provide backup heading information in the event
that a GPS heading is not available due to signal blockage.
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 it’s more accurate code phase measurements,
improved multi- path mitigation, and fewer components.
The HS60’s GPS antennas are separated by 13.5 cm between their
phase centers, resulting in better than 2° rms heading performance.
The HS60 provides heading and position updates of up to 10 Hz
and delivers position accuracy of better than 1.0 m 95% of the time
when using differential GPS corrections from Space Based Augmen-
tation Systems (SBAS).
The HS60 also features exclusive COAST™ technology that enables
SIMRAD GPS receivers to utilize old differential GPS correction data
for 40 minutes or more without significantly affecting the position
quality. The HS60 is less likely to be affected by differential signal
outages due to signal blockages, weak signals, or interference when
using COAST.
1

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Introduction | HS60 GPS Compass User Guide
Parts list
¼Note: The parts of HS60 comply with IEC 60945 Section 4.4: “ex-
posed to the weather.”
Part name Qty Part number
HS60 GPS Compass (NMEA 2000) 1 000-12308-001
With standard accessory kit:
Screw housing caps 2 included
Mounting screws 2 included
Mounting base 1 included
Mounting nut 1 included
Screw housing cap O-rings 2 included
HS60 GPS Compass User Guide 1 988-10836-001
The latest version of the HS60 GPS Compass Operator and Installa-
tion manual is available for download from the website:
www.simrad-yachting.com

8 | Operation | HS60 GPS Compass User Guide
Operation
GPS overview
For your convenience, both the GPS and SBAS (WAAS, MSAS,
GAGAN and EGNOS) operation of the HS60 features automatic
operational algorithms. When powered for the first time, the HS60
performs a “cold start,”which involves acquiring the available GPS
satellites in view and the SBAS differential service.
GPS Operation
The GPS receiver is always operating, regardless of the DGPS mode
of operation. The following sections describe the general operation
of the HS60’s internal GPS receiver.
¼Note: Differential source and status have no impact on heading,
pitch, or roll. They only have an impact on position and heave.
Automatic tracking
The HS60’s internal GPS receiver automatically searches for GPS sat-
ellites, acquires the signals, and manages the navigation information
required for position and tracking.
Receiver performance
The HS60 works by finding four or more GPS satellites in the visible
sky. It uses information from the satellites to compute a position
within 3 m. Since there is some error in the GPS data calculations,
the HS60 also tracks a differential correction. The HS60 uses these
corrections to improve its position accuracy to better than 1.0 m.
There are two main aspects of GPS receiver performance:
• Satellite acquisition
• Position and heading calculation
When the HS60 is properly positioned, the satellites transmit coded
information to the antennas on a specific frequency. This allows
the receiver to calculate a range to each satellite from both anten-
nas. GPS is essentially a timing system. The ranges are calculated by
timing how long it takes for the signal to reach the GPS antenna.
The GPS receiver uses a complex algorithm incorporating satellite
locations and ranges to each satellite to calculate the geographic
location and heading. Reception of any four or more GPS signals
allows the receiver to compute three-dimensional coordinates and
a valid heading.
2

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Operation | HS60 GPS Compass User Guide
Dierential operation
The purpose of differential GPS (DGPS) is to remove the effects of
selective availability (SA), atmospheric errors, timing errors, and
satellite orbit errors, while enhancing system integrity. Autonomous
position capabilities of the HS60 will result in position accuracies of
3 m 95% of the time. In order to improve position quality to bet-
ter than 1.0 m 95%, the HS60 is able to use differential corrections
received through the internal SBAS demodulator.
Automatic SBAS tracking
The HS60 automatically scans and tracks SBAS signals without the
need to tune the receiver. The HS60 features two-channel tracking
that provides an enhanced ability to maintain a lock on an SBAS
satellite when more than one satellite is in view. This redundant
tracking approach results in more consistent tracking of an SBAS
signal in areas where signal blockage of a satellite is possible.
HS60 overview
The HS60 provides accurate and reliable heading and position infor-
mation at high update rates. To accomplish this task, the HS60 uses
a high performance GPS receiver and two antennas for GPS signal
processing. One antenna is designated as the primary GPS antenna
and the other is the secondary GPS antenna. Positions computed
by the HS60 are referenced to the phase center of the primary
GPS antenna. Heading data references the vector formed from the
primary GPS antenna phase center to the secondary GPS antenna
phase center.
The heading arrow located on the bottom of the HS60 enclosure
defines system orientation. The arrow points in the direction the
heading measurement is computed (when the antenna is installed
parallel to the fore-aft line of the vessel). The secondary antenna is
directly above the arrow.
Supplemental sensors
The HS60 has an integrated gyro and two tilt sensors. The gyro and
tilt sensors are enabled by default. Both supplemental sensors are
mounted on the printed circuit board inside the HS60.
The sensors act to reduce the search volume, which improves head-
ing startup and reacquisition times. This improves the reliability and
accuracy of selecting the correct heading solution by eliminating
other possible, erroneous solutions. See Sensor operation summary
table on next page.

10 | Operation | HS60 GPS Compass User Guide
Sensor operation summary
Feature Normal operation Coasting (no GPS)
Heading GPS Gyro
Pitch GPS Inertial sensor
Roll Inertial sensor Inertial sensor
Tilt aiding
The HS60’s accelerometers (internal tilt sensors) are factory-calibrat-
ed and enabled by default. This allows for a steady heading solution
beyond the volume associated with just a fixed antenna separation.
This is because the HS60 knows the approximate inclination of the
secondary antenna with respect to the primary antenna. The search
space defined by the tilt sensor will be reduced to a horizontal ring
on the sphere’s surface by reducing the search volume. This consid-
erably decreases startup and reacquisition times.
HS60’s tilt aiding
Gyro aiding
The HS60’s internal gyro offers several benefits. It reduces the sensor
volume to shorten reacquisition times when a GPS heading is lost
because the satellite signals were blocked. The gyro provides a rela-
tive change in angle since the last computed heading, and, when
used in conjunction with the tilt sensor, defines the search space as
a wedge-shaped location - see next page.
Tilt angle

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Operation | HS60 GPS Compass User Guide
HS60-s gyro aiding
The gyro aiding accurately smoothes the heading output and the
rate of turn. It provides an accurate substitute heading for a short
period depending on the roll and pitch of the vessel, ideally seeing
the system through to reacquisition. The gyro provides an alternate
source of heading, accurate to within 1º per minute for up to three
minutes, in times of GPS loss for either antenna. If the outage lasts
longer than three minutes, the gyro will have drifted too far and the
HS60 begins outputting null fields in the heading output messages.
There is no user control over the timeout period of the gyro.
Calibration, which is set at the factory, is required for the gyro to
remove latency from the heading solution as well as provide backup
heading when GPS is blocked. The receiver will calibrate itself after
running for a while but it may be important to follow the manual
calibration instructions if you want to guarantee performance
quickly after powering up the receiver.
With the gyro enabled, the gyro is also used to update the post
HTAU smoothed heading output from the GPS heading computa-
tion. This means that if the HTAU value is increased while gyro aiding
is enabled, there will be no lag in heading output due to vehicle
maneuvers. SIMRAD’GPS Technical Reference includes information
on setting an appropriate HTAU value for the application.
Time constants
The HS60 incorporates user-configurable time constants that can
provide a degree of smoothing to the heading, pitch, rate of turn
(ROT), course over ground (COG), and speed measurements. You
can adjust these parameters depending on the expected dynamics
of the vessel. For example, increasing the time is reasonable if the
vessel is very large and is not able to turn quickly or would not pitch
quickly. The resulting values would have reduced “noise,” resulting
in consistent values with time. However, if the vessel is quick and

12 | Operation | HS60 GPS Compass User Guide
nimble, increasing this value can create a lag in measurements. If
you are unsure on how to set this value, it is best to be conservative
and leave it at the default setting.
¼Note: For heading and rate of turn there is no lag once the gyro is
calibrated and enabled.
Rate of Turn (ROT) time constant
The default value of this constant is 2.0 seconds of smoothing.
Increasing the time constant increases the level of ROT smoothing.
Course Over Ground (COG) time constant
The default value of this constant is 0.0 seconds of smoothing.
Increasing the time constant increases the level of COG smoothing.
COG is computed using only the primary GPS antenna and its ac-
curacy depends upon the speed of the vessel (noise is proportional
to 1/speed). This value is invalid when the vessel is stationary, as tiny
movements due to calculation inaccuracies are not representative
of a vessel’s movement.
Speed time constant
The default value of this constant is 0.0 seconds of smoothing.
Increasing the time constant increases the level of speed measure-
ment smoothing.
Watchdog
The watchdog is a timer that is controlled by the software that
monitors if the heading is lost. The watchdog software is compliant
with IEC 60945.

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Operation | HS60 GPS Compass User Guide
Common commands and messages
The table below “Received messages based on a request” and the ta-
ble on the next page “Transmitted messages” provide brief descrip-
tions of common NMEA commands and messages for the HS60.
Received messages based on a request
PG No.
(PGN) Description
Default
Update
Rate
(msec)
Freq.
(Hz)
059392 ISO acknowledgement
Used to acknowledge the status of
certain requests addressed to a specific
ECU.
On
Request
On
Request
059904 ISO request
Request the transmission of a specific
PGN, addressed or broadcast.
On
Request
On
Request
060928 ISO address claim
Used to identify to other ECUs the ad-
dress claimed by an ECU.
On
Request
On
Request
126996 Product information
NMEA 2000 database version supported,
manufacturer’s product code, NMEA
2000 certification level, Load Equivalency
number, and other product-specific
information.
On
Request
On
Request
126464 Receive/transmit PGNs group function
The Transmit / Receive PGN List Group
type of function is defined by first field.
The message will be a Transmit or Re-
ceive PGN List group function.
On
Request
On
Request
129538 GNSS control status
GNSS common satellite receiver param-
eter status.
On
Request
On
Request
129545 GNSS RAIM output
Autonomous Integrity Monitoring (RAIM)
process. The Integrity field value is based
on the parameters set in PGN 129546
GNSS RAIM settings.
On
Request
On
Request
129546 GNSS RAIM settings
Used to report the control parameters
for a GNSS Receiver Autonomous Integ-
rity Monitoring (RAIM) process.
On
Request
On
Request

14 | Operation | HS60 GPS Compass User Guide
Transmitted messages
PG No.
(PGN) Description
Default
Update
Rate
(msec)
Freq.
(Hz)
126992 System time
The purpose of this PGN is twofold: to
provide a regular transmission of UTC time,
date, and to provide synchronism for mea-
surement data.
1000 1
127250 Vessel heading
Heading sensor value with a flag for True or
Magnetic. If the sensor value is Magnetic,
the deviation field can be used to produce
a Magnetic heading, and the variation field
can be used to correct the Magnetic head-
ing to produce a True heading.
100 10
127251 Rate of turn
Rate of change of the Heading.
100 10
127257 Attitude
Provides a single transmission that de-
scribes the position of a vessel relative to
both horizontal and vertical planes. This
would typically be used for vessel stabiliza-
tion, vessel control and on-board platform
stabilization.
1000 1
127258 Magnetic variation
Message for transmitting variation. The
message contains a sequence number to
allow synchronization of other messages
such as Heading or Course over Ground.
The quality of service and age of service are
provided to enable recipients to determine
an appropriate level of service if multiple
transmissions exist.
1000 1

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Operation | HS60 GPS Compass User Guide
PG No.
(PGN) Description
Default
Update
Rate
(msec)
Freq.
(Hz)
129025 Position, rapid update
Provides latitude and longitude referenced
to WGS84. Being defined as single frame
message, as opposed to other PGNs that
include latitude and longitude and are de-
fined as fast or multi-packet, this PGN lends
itself to being transmitted more frequently
without using up excessive bandwidth
on the bus for the benefit of receiving
equipment that may require rapid position
updates.
100 10
129026 COG & SOG, rapid update
Single frame PGN that provides Course
Over Ground (COG) and Speed Over
Ground (SOG).
250 4
129027 Position delta, high precision rapid update
The “Position Delta, High Precision Rapid
Update” Parameter Group is intended for
applications where very high precision
and very fast update rates are needed for
position data. This PGN can provide delta
position changes down to 1 mm with a
delta time period accurate to 5 msec.
100 10
129028 Altitude delta, high precision rapid update
The “Altitude Delta, High Precision Rapid
Update” Parameter Group is intended for
applications where very high precision
and very fast update rates are needed for
altitude and Course Over Ground data. This
PGN can provide delta altitude changes
down to 1 mm, a change in direction as
small as 0.0057°, and with a delta time
period accurate to 5 msec.
100 10
129029 GNSS position data
Conveys a comprehensive set of Global
Navigation Satellite System (GNSS) param-
eters, including position information.
1000 1
129033 Time & date
Single transmission that provides UTC time,
UTC Date, and Local Offset.
1000 1

16 | Operation | HS60 GPS Compass User Guide
PG No.
(PGN) Description
Default
Update
Rate
(msec)
Freq.
(Hz)
129539 GNSS DOPs
Provides a single transmission contain-
ing GNSS status and dilution of precision
components (DOP) that indicate the
contribution of satellite geometry to the
overall position error. There are three DOP
parameters reported: horizontal (HDOP),
vertical (VDOP), and time (TDOP).
1000 1
129540 GNSS satellites in view
GNSS information on current satellites in
view tagged by sequence ID. Information
includes PRN, elevation, azimuth, SNR,
defines the number of satellites; defines the
satellite number and the information.
1000 1
129542 GNSS pseudorange noise statistics
GNSS pseudorange measurement noise
statistics can be translated in the position
domain in order to give statistical measures
of the quality of the position solution.
Intended for use with a Receiver Autono-
mous Integrity Monitoring (RAIM) applica-
tion.
1000 1
Single frame packet denition - PGN: EFXX (Destination ad-
dressable)
MSGIDs Description MSGIDs Description
0x0001 N2K,MCODE 0x001B JK (read)
0x0002 N2K,PCODE 0x001C File Transfer Details
0x0003 N2K,LOAD 0x001 JWCONF,12
0x0004 N2K,CERT 0x001E GNSS receiver boot
loader reply messages
0x0005 JVERSION 0x001F JI, application version
0x0006 N2K,RESET 0x0020 JSYSVER
0x0007 N2K,ADDRESS 0x0021 JT
0x0008 JDIFF 0x0022 JATT,MSEP
0x0009 JDIFF,INCLUDE 0x0023 JATT,CSEP
0x000A JMODES 0x0024 ERROR

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Operation | HS60 GPS Compass User Guide
MSGIDs Description MSGIDs Description
0x000B JSBASPRN 0x0025 NMEA 2000 Message
Control
0x000C JBAUD,PORTx 0x0026 JNP
0x000 JMASK 0x0027 JSMOOTH
0x000E JATT,TILTAID 0x0028 JATT,HTAU
0x000F JATT,TILTCAL 0x0029 JAT T,HRTAU
0x0010 JATT,HBIAS 0x002A JAT T,COGTAU
0x0011 JATT,PBIAS 0x002B JAT T,SPDTAU
0x0012 JATT,GYROAID 0x002C JATT,NEGTILT
0x0013 JRESET 0x002 JATT,FLIPBRD
0x0014 JI, serial number 0x002E JATT,LEVEL
0x0015 JRAIM 0x002F JATT,MOVEBAS
0x0016 JATT,HIGHMP 0x0030 CANMODE
0x0017 JAPP 0x0031 GPHEV Heave
0x0018 JAGE 0x0032 JSAVE
0x0019 BIN1, stdev residuals 0x0033 DIAGNOSTICS
0x00A RD1 0x0034 INTLT Raw Tilt Values
Multi-frame fast packet denition: PGN: 1EFXX (Destination
addressable)
MSGIDs Description
0x8001 N2K,VERSION
0x8002 JK (write)
0x8003 JPOSOFFSET
0x8004 JVERSION
0x8005 JAUTH
0x8006 File Transfer Data Packet
0x8007 GNSS Boot loader Message
0x8008 Generic GNSS Serial Command
0x8009 RAW data transfer for differential
0x800A JI, Extended info
0x800B N2K,MODEL

18 | Installation | HS60 GPS Compass User Guide
Installation
Mounting location
This section provides information on determining the best location
for the HS60.
GPS reception
When considering where to mount the HS60, consider the following
GPS reception recommendations:
• Ensure there is a clear view of the sky available to the HS60 so the
GPS and SBAS satellites are not masked by obstructions that may
reduce system performance.
• Since the HS60 computes a position based on the internal GPS
antenna element, mount the HS60 where you desire a position with
respect to the GPS antenna (located on the side of the recessed ar-
row on the underside of the enclosure).
• Locate any transmitting and other GPS antennas away from the
HS60 by at least several meters to ensure tracking performance is
not compromised, giving you the best performance possible.
• Make sure there is enough cable length to tie into the NMEA 2000
backbone of the vessel.
• Do not locate the antenna where environmental conditions exceed
those specified in Environmental specifications, chapter 5.
HS60 environmental considerations
The HS60 is designed to withstand harsh environmental conditions;
however, adhere to the following limits when storing and using the
HS60:
• 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 devices such as cellular phones and radio
transmitters may interfere with GPS operation. For example, if install-
ing the HS60 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 +/- 2 MHz to +/- 10 MHz,
3

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Installation | HS60 GPS Compass User Guide
which is dependent on the GPS antenna and receiver design (see
below illustration).
• 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 VHF radios may not provide suitable filtering and may
interfere with the HS60’s operation if too close.
Before installing the HS60 use the following diagram to ensure there
are no nearby devices that may cause VHF interference.
1.5 m radius at
top (minimum)
1.0 m radius at base
(minimum)
Use these minimum
distances to detemine
where to place the
HS60
VHF antenna
HS60 distance from nearby VHF radios

20 | Installation | HS60 GPS Compass User Guide
Mounting orientation
The HS60 outputs heading, pitch and roll readings regardless of the
orientation of the antennas. The primary antenna is used for posi-
tion.The primary and secondary antennas, working in conjunction,
output heading, pitch and roll values.
Parallel orientation
The most common installation is to orient the HS60 parallel to, and
along the centerline of the boat’s axis. This provides a true heading.
In this orientation:
• If you use a gyrocompass, you can enter a heading bias in the HS60
to calibrate the physical heading to the true heading of the vessel.
• You may need to adjust the pitch/roll output to calibrate the mea-
surement if the HS60 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.
• 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 mea-
surement if the HS60 is not installed in a horizontal plane.