User manual NORTHSTAR 2201 - Installation Guide

2201 and 2201/NMEA WAAS Pods Installation Manual Revision B Part Number GM2201 Northstar Technologies, Inc. 30 Sudbury Road Acton, Massachusetts 01720 800/628-4487 978/897-6600 www.northstarcmc.com Limited warranty policy Northstar Technologies, Inc. warrants its products to be free from defects in material and workmanship for a period of two (2) years. This warranty applies to the original purchaser and to any subsequent owner during the warranty period, which begins on the date of shipment of the unit, F.O.B Acton, Massachusetts, to an authorized Northstar dealer. Systems may not be returned to Northstar without a Returned Materials Authorization (RMA) number. Call the Northstar dealer or Northstar for instructions. During the unit's warranty period, Northstar will repair or replace, at its option, any part of the unit it finds to be defective due to faulty material(s) or workmanship. All such repairs and/or replacements will be promptly performed by Northstar free of charge to the owner, excluding freight costs incurred in shipping to the factory. Return shipments from Northstar to points within the United States are made via ground transportation, freight prepaid. Special shipping charges (overnight, two-day, and so on) are the responsibility of the owner. To be covered by this warranty, the Northstar equipment must have been in normal use. This warranty does not apply to units with defects caused by improper installation, physical damage, abuse, tampering, lightning or other abnormal electrical discharge, or to units with defaced or altered serial numbers, or to units repaired by unauthorized persons or repaired in a manner that violates Northstar's recommended service procedures. All repairs and/or replacements made under this warranty must be performed at Northstar's facilities in Acton, Massachusetts. Performance of warranty work elsewhere will not be authorized, and Northstar will not pay for any charges for such work. Northstar will not be responsible for payment of any charges imposed by a Northstar dealer or other party for services requested by and/or performed for a unit's owner in connection with this warranty. Such services might include removal of the unit from a vessel, inspection, packaging, handling, reinstallation, and the like. Northstar Technologies, Inc. assumes no responsibility for any consequential losses of any nature with respect to any of its products or services sold, rendered, or delivered. The foregoing is the only warranty expressed or implied. No other warranty exists. Table of contents SECTION ONE Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 Welcome to the Northstar 2201 and 2201/NMEA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 Who should read this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 Scope of this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 Getting technical support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 Servicing the 2201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5 Returning a 2201 for service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6 Standard 2201 features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6 2201 operating modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7 SECTION TWO Installing the 2201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Before installing the 2201. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11 Choosing a mounting location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13 Mounting the 2201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14 SECTION THREE Interfacing the 2201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Using the 2201-CA cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17 Connecting the 2201 (binary) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19 Connecting the 2201/NMEA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22 SECTION FOUR Using WAAS with Northstar's 941/951/952 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 WAAS and auto differential options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26 Setting the 2201 options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26 Reviewing the WAAS features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27 SECTION FIVE Troubleshooting 2201 operations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Installation test checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29 Troubleshooting installation problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30 APPENDIX A Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 APPENDIX B 2201/NMEA communication protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Set output configuration command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35 Set receiver parameter command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37 Select/deselect SVS command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39 GPS/WAAS satellites in view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40 Glossary and acronyms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 2201 INSTALLATION MANUAL, Revision B Page i Page ii 2201INSTALLATION MANUAL, Revision B List of figures Figure 1: Northstar 2201 and 2201/NMEA components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Figure 2: 2201 mounting position for standard mast-mount . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Figure 3: 2201 mounting configuration for a flat surface (as shown from underneath). . . . . . . . . . . 16 Figure 4: Connections for the Northstar 2201-CA cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Figure 5: GPS SATS screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 2201 INSTALLATION MANUAL, Revision B Page iii Page iv 2201INSTALLATION MANUAL, Revision B List of tables Table 1: Contacting Northstar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 Table 2: Northstar 2201 (binary) connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20 Table 3: Northstar 2201/NMEA connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 Table 4: PRN satellite equivalents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28 Table 5: Troubleshooting 2201 and 2201/NMEA installation problems . . . . . . . . . . . . . . . . . . . . . . . . .30 Table 6: 2201 and 2201/NMEA technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31 2201 INSTALLATION MANUAL, Revision B Page v Page vi 2201 INSTALLATION MANUAL, Revision B SECTION ONE Introduction The Northstar 2201 and 2201/NMEA Installation Manual describes how to properly mount, interface, connect, and troubleshoot the Northstar 2201 and Northstar 2201/NMEA. Also described are their physical, mechanical, and electrical characteristics. This section explains who should read this manual, how to obtain technical support, and how to return a 2201 or 2201/ NMEA for servicing. Also described are some of the standard features of the 2201 and 2201/NMEA, and all of their operating modes. In this manual, unless otherwise stated, the term "2201" refers to the 2201 and the 2201/NMEA. Welcome to the Northstar 2201 and 2201/NMEA The Northstar 2201 WAAS Pod and the Northstar 2201/NMEA WAAS Pod are self-contained, high-performance GPS antennas/ engines that also receive WAAS (Wide Area Augmentation System) differential correction signals. These corrections enhance position accuracy to a degree previously unavailable with separate beacon differential receivers. 2201 INSTALLATION MANUAL, Revision B Page 1 SECTION ONE Introduction Understanding the 2201 and 2201/NMEA The 2201 is available in either of two configurations: · 2201 (binary output) -- for interfacing with new and existing Northstar 941X/XD, 951X/XD, and 952X/XD units in order to provide WAAS differential corrections. (In the future, the 2201 will be able to interface with Northstar's 961X/XD and 962X/XD.) 2201/NMEA (NMEA) -- for interfacing directly with autopilots, plotters, components of integrated or standalone marine navigation systems that accept NMEA 0183 data, or NMEA 0183-compatible laptop PC's, in order to receive WAAS differential-corrected GPS position data. · NOTE: For the binary 2201 to provide WAAS corrections to a Northstar 941, 951, or 952, these units must be running software version 3.18 or higher. To obtain an Upgrade CD and a PC loader cable (Northstar part number 1100-LC), dealers should contact the Northstar Sales Department. End users should contact their local Northstar dealer for upgrading. Understanding WAAS satellite differential As with Coast Guard radiobeacons, WAAS satellites use surveyed reference stations to monitor GPS signals from each visible satellite and determine if errors exist, and then develop corrections. However, unlike Coast Guard radiobeacons or other land-based transmitters on other frequencies, WAAS uses a network of geostationary communication satellite transponders, in fixed positions at approximately twice the distance from the earth's surface as the orbiting GPS satellites, on the same frequency as GPS. These satellite-based transmissions provide consistent position corrections over a much greater contiguous geographic location than the other radiobeacons. WAAS differential corrections maintain a position accuracy of better than 3 meters 2dRMS, without the signal interference problems periodically experienced with low-frequency, shore-based radiobeacon differential signals. Page 2 2201 INSTALLATION MANUAL, Revision B SECTION ONE Introduction Who should read this manual The Northstar 2201 and 2201/NMEA Installation Manual is intended for marine technicians who are installing, connecting, and troubleshooting the Northstar 2201 with the Northstar 941/951/952 or other marine navigation system as described earlier. Scope of this manual In this manual, you'll find information about the following: · · · · · the 2201's operating modes mounting the 2201 interfacing the 2201 to a Northstar 941/951/952, and to power interfacing the 2201/NMEA to an integrated marine instrument or laptop PC, and to power troubleshooting Getting technical support After you've followed the instructions in this manual, if you need additional technical or operations support or have any other service-related questions, please contact your dealer or the Northstar Service Department. You can reach Northstar by email, fax, U.S. mail, or phone as described in the table below. You can also visit Northstar's website for additional service-related information. Please have the 2201's serial number available and be as complete and accurate as possible when describing the problem. This ensures that a Northstar service technician can research the issue and provide the quickest possible response. Northstar's Service Department is available between 9:00 AM and 5:00 PM Eastern Time, Monday through Friday, excluding major holidays. 2201 INSTALLATION MANUAL, Revision B Page 3 SECTION ONE Introduction You can email the Northstar Service Department directly from Northstar's website, www.northstarcmc.com. Here, you also can access additional technical information under either the Manuals or Support links. If you're looking for an authorized Northstar dealer, or want product information and brochures, contact the Northstar Sales Department. Table 1: Contacting Northstar Email: Service: service@northstarcmc.com Sales: sales@northstarcmc.com Fax: Service: 978/897-1595 Sales: 978/897-7241 Telephone: Main number: 978/897-6600 or 800/628-4487 U.S. mail: 30 Sudbury Road Acton, MA 01720 Website: www.northstarcmc.com (you can send email to Northstar directly from this site) Using the Dealer Express web pages You can visit the Dealer Express area on Northstar's website for online service-related information (contact Northstar for your dealer password before clicking on the Dealer Express link) , including the following: · · · · · service bulletins (for known issues and solutions) software update information (for new software features) service request form (for sending systems back) service status request form (for systems currently under repair) warranty registration form (for registering new products) Hearing from you Your feedback is important and helps Northstar ensure that this manual is a valuable resource for all marine technicians. Send your questions, comments, or suggestions about this manual to: manuals@northstarcmc.com Online information sources For the most current information about WAAS, you may want to visit the following websites: Page 4 2201 INSTALLATION MANUAL, Revision B SECTION ONE Introduction · for the status of WAAS implementation: http://gps.faa.gov/programs/waas/implementation_Status/ implementation_status.htm · · for the U.S. government's WAAS/GPS website: http://gps.faa.gov for Stanford University's WAAS Research Center: http://www.stanford.edu/group/GPS/Projects/WAAS/metrics.html · for U.S. Coast Guard differential status: http://www.nis-mirror.com/systems/dgps/Dgpssts.txt Ordering parts To order spare, replacement, or missing parts, call the Northstar Sales Department at 978/897-6600 or 800/628-4487. Servicing the 2201 Repair of the Northstar 2201 is performed only by authorized Northstar dealers or at the Northstar factory. Service includes a complete hardware and software check-out. NOTE: For units still under warranty, field repairs are not authorized and will void the warranty! For a 2201 under warranty, shipping charges to the factory are the only cost for factory repair. The repaired 2201 will be returned via prepaid economy ground freight (freight for units returned overseas is chargeable). A 2201 and any accessories returned for warranty repair that are determined to be without fault are subject to a handling charge. 2201 INSTALLATION MANUAL, Revision B Page 5 SECTION ONE Introduction Returning a 2201 for service Before returning the 2201 to the Northstar factory, it is critical that you first obtain a Return Materials Authorization (RMA) number from the Northstar Service Department. If you purchased the 2201 through a dealer, to get an RMA number, call the dealer with the 2201 serial number . The serial number can be found on the rim of the pod near the Northstar logo. Shipments without a proper RMA number will not be accepted! The 2201 is covered by a two-year, hardware-only warranty. In summary, this states that if the 2201 is returned to the Northstar factory by the owner or dealer during the warranty period, Northstar will repair or replace, free of charge, any part found to be defective due to faulty materials or workmanship if the system has been properly installed and hasn't been abused. See the Limited Warranty Policy at the front of this manual for further details. The only cost to the owner will be the one-way shipping charges and any associated charges that may be imposed by the dealer. If you have overnight or second-day shipping requirements, before shipping the 2201 please call Northstar for turnaround time, freight charges, and payment arrangements. The 2201 should be shipped only in a properly designed carton with packing material. Please reference the RMA number on the outside of the shipping carton. Shipments to the Northstar factory should be sent to the following address: Northstar Technologies, Inc. Service Department 30 Sudbury Road Acton, MA 01720 USA Standard 2201 features The 2201's standard features include the following: · · · · · · · · · · · self-contained 12-channel L1 GPS/WAAS Pod antenna-receiver 10 parallel GPS channels for "all-in-view" satellite tracking 2-channel WAAS reception Northstar proprietary binary data-output format (2201 binary only) NMEA 0183 data-output format (2201/NMEA only) remote power on/off capability accepts SC104 differential corrections via RS232 port fully automatic operating modes; no user intervention required WAAS accuracy <3 meters 2dRMS 1-Hz data rate 50-foot (15 meters) data/power cable Page 6 2201 INSTALLATION MANUAL, Revision B SECTION ONE Introduction · · · · · operating temperature -30° C to +75° C (standard) 9 to 36 VDC (12V and 24V system) 2.4 watts typical at 12V 1" x 14 (threads per inch) standard thread mast mounting screws and washers for deck mounting waterproof, fully sealed unit For the complete listing of the 2201's specifications, see Appendix A at the back of this manual. 2201 operating modes The 2201 has seven automatic operating modes: · · · · · · · Self-test Initialization Acquisition Navigation (includes three sub-modes: Differential 3-D, Differential 2-D, and 3-D Nav) WAAS/beacon differential Dead-reckoning Fault The 2201 automatically switches between modes, and reports through its host port the current operating and navigation modes. The seven operating modes are described in detail below. Self-test mode The 2201 enters self-test mode upon a host's request, using an NMEA or binary message, via the GPS primary port. This test requires no more than 15 seconds. When the self-test is completed, the 2201 reports the test results on its host port through another NMEA or binary message, and then either proceeds to initialization mode if the test was passed or to fault mode if a problem was detected. Initialization mode The 2201 enters initialization mode automatically when power is applied or after completion of the self-test mode. While in initialization mode, the 2201 retrieves satellite orbital data (ephemeris or almanac) stored in its EEPROM memory. Integrity checking is performed on all data retrieved from the EEPROM to ensure accuracy. After initialization, the 2201 enters acquisition mode. 2201 INSTALLATION MANUAL, Revision B Page 7 SECTION ONE Introduction Acquisition mode The 2201 enters acquisition mode whenever sufficient real-time satellite data is available to produce an initial navigation solution. Acquisition mode can be entered from initialization, navigation or dead-reckoning mode. The 2201 exits either to navigation mode when satellites have been acquired or to fault mode if a problem is detected. After each satellite in view is acquired, the 2201 collects new ephemeris data by decoding the satellite downlink data message. When a sufficient number of satellites are being tracked, position, velocity and time are computed, and the 2201 enters navigation mode. If the 2201 can't acquire signals normally due to an absence of valid almanac data, it initiates a "Search the Sky" acquisition, attempting to acquire any and all satellites in the GPS constellation. After a satellite has been acquired, ephemeris data is decoded from the satellite's down-link message. In "Search the Sky," the Time-To-First-Fix (TTFF) is typically less than two minutes. After a sufficient number of satellites have been acquired, the 2201 enters navigation mode. For TTFF details, see Table 1, "2201 and 2201/NMEA technical specifications," on page 31. Navigation mode The 2201 operates in navigation mode whenever sufficient satellite information and measurement data are available to produce a GPS fix. Navigation mode is entered from either acquisition or dead-reckoning mode, and exits to dead-reckoning or fault mode. Navigation mode has three sub-modes (the 2201 automatically chooses the highest-performance sub-mode available for the satellite data currently being received, and reports the current navigation sub-mode to its host port): · · · differential 3-D differential 2-D 3-D nav Differential 3-D mode The 2201 operates in differential 3-D mode when it receives data from at least four satellites with adequate geometry and differential corrections, from either WAAS satellites or radiobeacons, via SC104 data supplied on the AUX INPUT port. This is the navigation mode with the highest performance. Page 8 2201 INSTALLATION MANUAL, Revision B SECTION ONE Introduction Differential 2-D mode The 2201 operates in differential 2-D mode when it receives data from only three satellites with adequate geometry and WAAS or external radiobeacon differential corrections. This is the navigation mode with the highest performance when differential 3-D mode can't be used. 3-D Nav mode The 2201 operates in 3-D nav mode when it receives data from at least four satellites with adequate geometry, but no differential corrections. This is the preferred navigation mode when sufficient WAAS or external radiobeacon differential corrections aren't available. WAAS/beacon differential mode The 941/951/952 has four options for setting the binary 2201's WAAS and radiobeacon differential operations: · auto (the default setting) - for automatically using WAAS, but the 2201 will revert to beacon differential if WAAS becomes unavailable and external beacon corrections are applied through the port. WAAS - forces WAAS only radiobeacon - forces beacon differential only disabled - turns off differential corrections · · · After connecting the 941/951/952 with the 2201, to select one of these options, see "SECTION FOUR Using WAAS with Northstar's 941/951/952" beginning on page 25. For information on using the 2201 with external SC104 data, contact the Northstar Service Department. Dead-reckoning mode The 2201 enters dead-reckoning mode when navigation mode can't be maintained. The speed and direction are assumed constant, based on the last-known data, to allow the 2201 to provide an estimated position. Fault mode The 2201 enters fault mode if it determines that the its outputs are affected by one or more critical system faults. This mode supersedes all others and remains active until the next power-down/power-up cycle. Fault mode can be entered from any other mode (except initialization) whenever an unrecoverable fault is detected. Fault mode prevents inaccurate data from being transmitted. 2201 INSTALLATION MANUAL, Revision B Page 9 SECTION ONE Introduction Page 10 2201 INSTALLATION MANUAL, Revision B SECTION TWO Installing the 2201 This section explains how to install the 2201 or 2201/NMEA, including the recommended installation steps, mounting locations, and mounting methods. Before installing the 2201 CAUTION! Do not open the 2201. There are no serviceable parts inside. Unauthorized tampering with the unit will automatically void the warranty. As shipped, the 2201 is ready to install and operate. The 2201 is fully automatic; during normal operation, you won't need to see it, touch it, or send commands to it: 1. Check the shipping carton for any damage, and immediately report any damage to the carrier. Save all packing material in case you have to return the 2201 to the factory for repair or evaluation. 2201 INSTALLATION MANUAL, Revision B Page 11 SECTION TWO Installing the 2201 2. 3. Unpack the carton, and compare its contents with those on the packing list and what you ordered. The shipping carton contains the following parts: · · · · · Northstar 2201 or 2201/NMEA 3 mounting screws (10-32 UNF) and washers for deck mounting 50-foot data/power cable with waterproof 7-pin connector (Northstar part number 2201-CA) DB9 connector kit (for 2201/NMEA only) Northstar 2201 and 2201/NMEA Installation Manual (GM2201, Rev. A) 3 mounting screws and 3 washers, (supplied for deck mounting) Northstar 2201 or 2201/ NMEA WAAS Pod 50-foot 2201-CA data/power cable with connector DB9 connector (for 2201/NMEA units) Figure 1: Northstar 2201 and 2201/NMEA components 4. After inspecting the components, review all the installation requirements, including: · · the physical requirements (spacing, location with regard to other equipment, etc.) the electrical and electronic requirements (interference between other pieces of equipment, antennas, power requirements, etc.) 5. 6. 7. 8. Preview/survey the vessel's layout and existing equipment. Select the desired mounting location; for details, see "Choosing a mounting location" on page 13. Fabricate the appropriate wiring; for details, see "Using the 2201-CA cable" on page 17. Connect the 2201 to the desired instrument and to power: For the 2201 binary, see "Connecting the 2201 Page 12 2201 INSTALLATION MANUAL, Revision B SECTION TWO Installing the 2201 (binary)" on page 19; for the 2201/NMEA, see "Connecting the 2201/NMEA" on page 22. 9. Turn on the 941/951/952 or other instrument and check for the presence of WAAS signals. 10. If you experience any operating problems, see "Troubleshooting installation problems" on page 30. Choosing a mounting location Before any drilling or cutting takes place, carefully choose a mounting location for the 2201 that meets the following criteria: · Mount the 2201 low on the vessel because rolling of the vessel can degrade speed-over-ground (SOG) and course-over-ground (COG) readings Install the 2201 below the radiation plane of any INMARSAT or radar antennas, and away from any other high-power transmitting antennas. Locate the 2201 where it has an adequate view of the sky. Mount the 2201 high enough to provide an unobstructed view of the sky in all directions, and minimize or eliminate any objects that block the 2201's view of the sky. (The 2201 uses satellites down to zero degrees elevation or to the horizon. If it isn't possible to obtain a completely clear view of the horizon, a partial blockage is acceptable in most cases.) On sailboats, mount the 2201 low on the vessel, since side-to-side motion caused by the vessel's rolling may degrade SOG and COG readings. Ensure that the 2201 has sufficient mounting clearance to easily connect the cable. · · · · 2201 INSTALLATION MANUAL, Revision B Page 13 SECTION TWO Installing the 2201 INSTALLATION SUMMARY DO . . . · · · Plan the installation carefully, following the guidelines above Mount the 2201 low, but away from objects that may obstruct satellite signals Coil any extra 2201-CA cable away from the 2201 DON'T . . . · · · · Block the 2201's view of any part of the sky Run the data cable near radio transmitters, transmitter antenna cables, or other antennas Pinch the data cable or make sharp bends Run cables where they may interfere with any controls Mounting the 2201 There are two ways to mount the 2201: · · using a mast mount onto a flat surface mount NOTE: For certain installations, an optional magnetic mount adapter is available (Northstar part number AM110). Using a standard mast mount Using the 1"x 14 industry-standard UNS thread mounting, install the base of the 2201 onto a standard antenna mast. Do not overtighten or you may damage the housing! Use a tie-wrap or equivalent near the 2201 to hold the weight of the cable so the connector isn't stressed by the cable's weight. Page 14 2201 INSTALLATION MANUAL, Revision B SECTION TWO Installing the 2201 4.50" (114mm) Figure 2: 2201 mounting position for standard mast-mount 3.79" (96mm) 2201 INSTALLATION MANUAL, Revision B Page 15 SECTION TWO Installing the 2201 Mounting on a flat surface You can mount the 2201 on a deck or any other flat surface. Using the three screws and washers provided, mount the 2201 on the flat surface with three holes on a 1.75-inch diameter circle (see Figure 3 below). Ensure that the 2201 has enough mounting clearance to easily connect the cable. For example, mount it at the edge of the deck, or drill a small hole in the deck or other surface to allow the cable to pass through. 1.00-14UNS-2B X 1.00 deep 3X .190-32UNF-2B X .48 deep. Mounting holes equally spaced around a 1.75-inch diameter circle. Connector receptacle with 7 male contacts. Switchcraft EN3P7MP or equivalent Mating: EN3C7FC or equivalent Figure 3: 2201 mounting configuration for a flat surface (as shown from underneath) Page 16 2201 INSTALLATION MANUAL, Revision B SECTION THREE Interfacing the 2201 This section explains the following interfacing topics: · · · · · using the 2201-CA cable connecting the 2201 to a Northstar 941, 951, or 952 (which must be running software version 3.18 or higher) connecting the 2201 to power (using either remote power on or ship's power) connecting the 2201/NMEA to a compatible device connecting the 2201/NMEA to power Using the 2201-CA cable All connections to the 2201 are made through Northstar's 2201-CA data/power cable that ships with the 2201. One end of this cable is terminated with a 7-pin connector that plugs right into the 2201's 7-pin connector. The other end has stripped and tinned leads, to be used to either connect the binary 2201 to a Northstar 941/951/952 (the leads are used for the data interface connections to Northstar's WA215 cable, and to power), or to connect the 2201/NMEA to a compatible device (the leads are used for the data interface connections to the DB9 connector, and to power). For an illustration of the 2201-CA cable, including the pin numbers and signals for the 7-pin connector, see Figure 4 on page 18. 2201 INSTALLATION MANUAL, Revision B Page 17 SECTION THREE Interfacing the 2201 Figure 4: Connections for the Northstar 2201-CA cable Page 18 2201 INSTALLATION MANUAL, Revision B BLACK SECTION THREE Interfacing the 2201 Connecting the 2201 (binary) Connecting to the Northstar 941/951/952 This section explains how to connect the 2201 (binary) to the Northstar 941, 951, or 952, and connect the 2201 to power. The 2201 is interfaced with the Northstar 941/951/952 by connecting the 2201-CA interface cable to Northstar's WA215 interface cable. Northstar supplies the WA215 cable with each 941/951/952 for connecting to autopilots, plotters, and other navigation equipment. This cable may already be connected to the 941/951/952, but if not, find the cable or call your Northstar dealer to order one. To connect the 2201 to the 941/951/952: 1. 2. Route the WA215 and 2201-CA cables to a protected area suitable for electrical connections. Plug one end of the WA215 cable connector into the 18-pin I/O connector, labelled "J2" at the back of the 941/ 951/952. Connect the stripped end of the WA215 cable to the stripped end of the 2201-CA cable. For details about the interface connections, see Table 2, "Northstar 2201 (binary) connections," on page 20. 3. 2201 INSTALLATION MANUAL, Revision B Page 19 SECTION THREE Interfacing the 2201 Table 2: Northstar 2201 (binary) connections 2201-CA DATA/POWER CABLE Pin # (pod) 1 Blue Wire color (function) RS232 RX1 (Main receive port) RS232 RX2 (Aux receive port) RS232 TX1 (Main transmit port) Signal gnd Wire connections Function WA215 I/O CABLE Wire color Pin # (941, 951, or 952) 18 <-----------> Connect Not connecteda RS232 TX Red 2 Orange 3 Green <----------> Connect <----------> Connect <----------> Connect <----------> Connect RS232 RX Green 16 4 Brown Ground Honkb Groundc Tan 17 Remote power- on 5 Black Ship's power control Pink 14 Tan 17 6 White Power gnd (system gnd) Power in (9-36 VDC) Connect to ship's ground Connect to ship's power 7 Red a. This is the pin for SC104 beacon differential input. b. If the existing installation doesn't use the honk output, connect the pink wire to black and use pin number 14 to remotely turn on the 2201 whenever the 941/951/952's power is turned on. c. If the existing installation already uses the honk output, ground the remote-on wire (black) to always turn on the 2201 whenever ship's power is turned on. Use the tan wire and pin number 17. Connecting to power To connect the 2201 to power: 1. Splice or terminate the 2201-CA's cable ends to power. There are two possible wiring options for power-on: · · using the 941/951/952's remote power-on feature using the ship's power control Page 20 2201 INSTALLATION MANUAL, Revision B SECTION THREE Interfacing the 2201 NOTE: If the 2201's power isn't turned off by one of these methods, the 2201 will continuously draw up to 0.2 A from the ship's battery. Using remote power on This option will automatically power-on or power-off the 2201 as soon as the Northstar 941/951/952's power is turned on or off: 1. If the existing 941/951/952 installation has a WA215 cable connected to the 18-pin I/O connector, check the availability of the honk output by looking for the pink wire at the stripped end of the WA215 cable. If the pink wire isn't used for honk output, you can use it to remotely power-on the 2201: Connect the pink wire to the 2201-CA cable's black wire. For details about the power connections, see Table 2, "Northstar 2201 (binary) connections," on page 20. After you connect remote power-on to the honk output, you must now set the HONK OUTPUT option in the Northstar 941/951/952 to the REMOTE PWR setting. If you do not set this option in the 941/951/952, the 2201 will not power-on. For step-by-step instructions, see "Setting the 2201 options" on page 26. 2. 3. Using ship's power control This option will automatically power-on or power-off the 2201 as soon as ship's power is turned on or off: 1. If the existing 941/951/952 installation has a WA215 cable connected to the 18-pin I/O connector, check the availability of the honk output by looking for the pink wire at the stripped end of the WA215 cable. If the pink wire is already used for honk output, you can use ship's power to power-on the 2201: Connect the 2201-CA cable's remote-on control wire (black) to ground so that the 2201 will always turn on whenever ship's power is applied. For details about the power connections, see Table 2, "Northstar 2201 (binary) connections," on page 20. If desired, you can add a separate breaker or switch from ship's power to the 2201. This option lets you separately power-on the 2201, after ship's power has been applied. 2. 3. 2201 INSTALLATION MANUAL, Revision B Page 21 SECTION THREE Interfacing the 2201 Connecting the 2201/NMEA Connecting to a compatible device This section explains how to connect the 2201/NMEA to a NMEA 0183-compatible device, and connect the 2201/NMEA to power. The 2201/NMEA is interfaced with NMEA-compatible equipment, such as plotters, autopilots, and PC laptops by attaching the supplied DB9 connector to the stripped end of the 2201-CA data/power cable. (Alternatively, you can use a direct connection or a junction box, depending on the requirements of the installation.) To connect the 2201/NMEA to a compatible device: 1. 2. 3. Plug the 7-pin connector of the 2201-CA cable into the 7-pin connector of the 2201. Route the stripped end of the cable to either a protected junction area or the NMEA device to be connected. Connect the stripped end of the cable to the desired device using the DB9 connector (or other connection method as needed). For these interface connections, see Table 3, "Northstar 2201/NMEA connections," on page 23. Connecting to power To connect the 2201/NMEA to power: 1. Splice or terminate the stripped ends of the 2201-CA cable to the desired power source. For these power connections, see Table 3, "Northstar 2201/NMEA connections," on page 23. Power to the 2201/NMEA should include a 1-2 amp circuit breaker or other switch so the 2201/NMEA can be turned off when not in use (it will draw up to 0.2 A from a ship's battery if left on). If the 2201 is connected to its own power source, use a 1-2 amp circuit breaker. The 2201 can also be connected to the same circuit breaker as the 941/951/952, or to another switched source. 2. Page 22 2201 INSTALLATION MANUAL, Revision B Table 3: Northstar 2201/NMEA connections 2201-CA DATA/POWER CABLE Pin # (2201 side) Wire color Function Wire connections DB9a Pin # (compatible equipment side/IBM PC) 3 1 blue RS232 RX1 (Main receive port) RS232 RX2 (Aux receive port) RS232 TX1 (Main transmit port) signal gnd <-----------> connect not connectedb 2 orange not connected 3 green <----------> connect <----------> connect <----------> connect 2 4 brown 5 5 black remote poweron (power control) ground or switch ground 6 white power gnd (system gnd) power in (9-36 VDC) connect to ship's ground connect to ship's power 7 red power supply (9-36 VDC) a. Suggested wiring method using the supplied DB9 connector. The DB9 can be substituted with another connector. b. This is the pin for SC104 beacon differential input. 2201 INSTALLATION MANUAL, Revision B Page 23 SECTION THREE Interfacing the 2201 Page 24 2201 INSTALLATION MANUAL, Revision B SECTION FOUR Using WAAS with Northstar's 941/951/952 This section explains all of the 941/951/952's WAAS features, which are used in conjunction with Northstar's 2201 binary WAAS pod, including: · · · · WAAS and AUTO options for differential operations Remote power-on of the 2201 WAAS or W designator on several screens Hexagonal WAAS satellite indicators on the GPS SATS screen. NOTE: For external WAAS capability, the 941/951/952 must be operating with software version 3.18 or higher. Dealers should contact the Northstar Sales Department to obtain an Upgrade CD and a PC loader cable, if necessary (Northstar part number 1100-LC). End users should contact their local Northstar dealer for upgrading. 2201 INSTALLATION MANUAL, Revision B Page 25 SECTION FOUR Using WAAS with Northstar's 941/951/952 WAAS and auto differential options Northstar 941, 951, and 952 units running software version 3.18 or higher has a new option for differential operations (on the RECEIVER OPTIONS screen). The former DGPS OPERATION field is now called DIFFERENTIAL OPERATIONS. This field formerly supplied two options, "ON" and "OFF," but now provides four options to accommodate WAAS capability: · · DISABLED - to use no differential corrections (similar to the former "OFF") RADIOBEACON - to use radiobeacon differential signals (similar to the former "ON") if the unit has an internal beacon receiver or is connected to an external one. WAAS - to use WAAS differential corrections AUTO - to use WAAS differential corrections preferentially; that is, the 941/951/952 will automatically switch to to radiobeacon differential corrections if WAAS becomes unavailable or is less accurate and if the 941/951/952 contains an internal beacon receiver or is connected to an external one. · · Setting the 2201 options Software version 3.18 or higher also features a remote power-on option that automatically powers on the 2201--after you've properly connected it to the 941/951/952. NOTE: If you want to stop using the 2201 for external WAAS, return the HONK OUTPUT and RS232 SETUP fields to their previous settings (not REMOTE PWR and EXTERN GPS, respectively). To set the 941/951/952 to communicate with the 2201, including the remote power-on: 1. Press the 941/951/952's STAR key to display the ALARMS & BACKLIGHT screen. Press the CURSOR PAD to highlight the HONK OUTPUT field, then press the EDIT ALARM menu key. 2. Press the CURSOR PAD to select REMOTE PWR, then press the ENTER key. 3. Press the STAR key to display the USER CUSTOMIZATION screen, then press the PORT SETUP OPTIONS menu key to display the PORT SETUP OPTIONS screen. Page 26 2201 INSTALLATION MANUAL, Revision B SECTION FOUR Using WAAS with Northstar's 941/951/952 4. Highlight the RS232 SETUP option, then press the EDIT menu key. Select EXTERN GPS, then press the ENTER key. 5. Highlight the BAUD RATE option, then press the EDIT menu key. Select 9600, then press the ENTER key. 6. Press the STAR key to display the RECEIVER OPTIONS screen. Press the CURSOR PAD to highlight the DIFFERENTIAL OPERATIONS field, then select WAAS (or AUTO) and press the ENTER key. 7. If the 941/951/952 displays the message COMM FAIL, press the PWR key to turn the unit off, then turn it back on again. Reviewing the WAAS features Screens indicating WAAS mode When the 941/951/952 is receiving WAAS signals, the indicators WAAS or W will appear in the upper right-hand corner of certain screens, indicating that WAAS signals are being received and that the information on those screens relates to WAAS. These screens include: · · · · · · · · CHART screen (PLOT screen, if a 941) GPS POSITION screen NEW WAYPT screen EDIT WAYPT screen QUICK WAYPT screen STEERING screen 3D STEER screen PHANTOM LORAN screen NOTE: If the 941/951/952 is receiving its differential corrections from a beacon receiver--not the 2201--the indicators in the upper right-hand corner will be DGPS or D. Viewing WAAS satellite status On the GPS SATS screen (see Figure 5 on page 28), circles indicate the GPS satellites, and hexagons have now been added to indicate the WAAS satellites. 2201 INSTALLATION MANUAL, Revision B Page 27 SECTION FOUR Using WAAS with Northstar's 941/951/952 GPS satellite number WAAS satellite number Figure 5: GPS SATS screen Note that the WAAS satellite numbers on the GPS SATS screen don't match the pseudo random number (PRN) assigned by the U.S. government to identify the actual satellites. For example, the AOR (Atlantic Operating Region) satellite is "PRN 122," but the 941/951/952 displays it as "35." The satellite numbers that the 941/951/952 displays are just an extension of the normal GPS constellation, which has 32 satellites. The 941/951/952 continues this numerical sequence by using the number 33 for the first WAAS satellite, which corresponds to PRN 120 (the lowest WAAS PRN assigned). See Table 4 below for the 941/951/952 satellite equivalents for the PRN's. Table 4: PRN satellite equivalents PRN ON GPS SATS SCREEN PRN ON GPS SATS SCREEN 120 33 121 34 122 35 123 36 124 37 125 38 126 39 127 40 128 41 129 42 130 43 131 44 132 45 133 46 134 47 135 48 136 49 137 50 138 51 Page 28 2201 INSTALLATION MANUAL, Revision B SECTION FIVE Troubleshooting 2201 operations The 2201 won't require a checkout if installed and connected according to the instructions. For troubleshooting information, see Table 5, "Troubleshooting 2201 and 2201/NMEA installation problems," on page 30. NOTE: If you follow the troubleshooting steps in this section and still have difficulties, please refer the problem to the Northstar Service Department. For contact information, see "Getting technical support" on page 3. Installation test checklist · If you're having difficulty obtaining WAAS satellites, you can reset the satellite-elevation degrees the 941/951/952 is currently using. These settings are on the 941/951/952 RECEIVER OPTIONS screen. You may want to review the 2201's operating modes; see "2201 operating modes" on page 7. If you've interfaced the 2201 with a 941/951/952, check its GPS SATS screen for further details. · · 2201 INSTALLATION MANUAL, Revision B Page 29 SECTION FIVE Troubleshooting 2201 operations Troubleshooting installation problems Typical problems you may encounter during or after installing the 2201 are outlined in Table 5 below. Table 5: Troubleshooting 2201 and 2201/NMEA installation problems If . . . Satellite signals are often lost, or the 2201 and 2201/NMEA works while you're travelling in one direction, but not the opposite one. Then . . . The 2201 or 2201/NMEA may be partially shaded by metallic objects around it. Reposition or raise the 2201 or 2201/NMEA away from the object for a better satellite view. Signals may be lost when the 2201 or 2201/NMEA is under a bridge or trees or when shielded by buildings. The 2201 or 2201/NMEA doesn't output any data. Check the antenna connections and the wiring connections, the fuse, and the power source. For the 2201/NMEA, you can use Windows' Hyper Terminal window to view and monitor NMEA data output sentences. The standard baud rate is 4800. If there still isn't any data output, call the Northstar Service Department (for contact information, see Table 1 on page 4). If the 2201 is connected with the 941, 951, or 952, and the following error message appears on the display: COMM FAIL Check the antenna and wiring connections, and the fuse. Check the 2201's primary power: 9 - 36 volts at pin 7, ground at pin 6. Check the 2201's remote-on: The black wire, pin 5, must be grounded or else connected to the honk output. If used, the honk function on the 941/951/952 must be set to REMOTE PWR on the ALARMS & BACKLIGHT screen). Review the 2201 setup options in the 941/951/952; see "Setting the 2201 options" on page 26. Press the PWR key to turn the 941/951/952 off, then turn it back on again. TOO FEW SATS Check for obstructions to the GPS' view of the sky. The almanac may not be complete; allow up to 30 minutes for full initial acquisition. Page 30 2201 INSTALLATION MANUAL, Revision B APPENDIX A Technical specifications This appendix lists the 2201 and 2201/NMEA technical specifications. Table 1: 2201 and 2201/NMEA technical specifications General characteristics L1 frequency Coarse acquisition Sensitivity 1,575.42 MHz C/A code (1.023 MHz chip rate), code and carrier phase tracking -135 dBm (antenna input level) Performance characteristics Velocity Acceleration Position accuracy 1852 km/h (514 m/s) max 4 Gs (39.2 m/s2) Jerk: 2 m/s3 <3 m 2dRMS 2201 INSTALLATION MANUAL, Revision B Page 31 APPENDIX A Technical specifications Table 1: 2201 and 2201/NMEA technical specifications (continued) Time-To-First-Fix (TTFF) Hot start: 20 seconds typical, with current almanac Warm start: 45 seconds typical, with current almanac Cold start: 2 minutes typical, with no almanac Re-acquisition time <1 second typical to re-acquire (5-second obscuration) 3 seconds typical to re-acquire (60-minute obscuration) Channel allocation 10 GPS channels plus two WAAS satellites Interface characteristics Prime power 9 to 36 VDC (12V and 24V System). 2.4 watts typical at at 12V Reverse polarity protected and Load Dump protected Serial communications RS-232 asynchronous data port Main port IN/OUT plus AUX INPUT 19,200 baud standard (both ports user-selectable from 300 to 19,200 baud) Default baud rate = 9600 Input messages Output messages Auxiliary (RTCM SC104) messages 1, 3, 9 NMEA (2201/NMEA) GGA, GSA, GSV, RMC, VTG, ZDA, GLL, plus proprietary binary status messages (2201) Physical characteristics Dimensions Weight Mounting Cable (normal installation) Connectors for RS-232 4.5" (114mm) diameter x 3.79" (96mm) high 1.2 lb. maximum excluding cable (0.55 kg) 1-14 UNS threads x 1" deep and/or 3 x 10-32 UNF screws 22 Ga conductors foil-shielded cable, environmentally sealed (50' cable supplied) 2201: weathertight Switchcraft 7-pin male EN3P7MP or equivalent Mating with Switchcraft EN3C7FC or equivalent Environmental characteristics Operating temperature Storage temperature Humidity Waterproof Shock Vibration -30 to +75°C (standard) -55 to +90°C SAE J1455/4.2 Procedure I/II Fully sealed unit. Meets MIL-STD 810E method 512.3 (equivalent to 6-foot, 30-minutes submersion) MIL-STD 810E Method 506.4, Procedure I, IV MIL-STD 810E Method 514.4 Category 8 Page 32