User manual NORTHSTAR 2505 - INSTALL GUIDE

2505 Beacon/WAAS Position Sensor Installation Manual Revision A Part Number GM2505 Northstar Technologies 30 Sudbury Road Acton, Massachusetts 01720 800/628-4487 978/897-6600 www.northstarcmc.com Limited warranty policy Northstar Technologies, Inc. warrants the Northstar 2505 to be free from defects in materials 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 List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii List of Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v SECTION ONE Introducing the 2505. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 Who should read this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 Scope of this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 Getting technical support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 Servicing the Northstar 2505 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 Returning a 2505 for service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 Introducing the 2505 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 SECTION TWO Installing and interfacing the 2505 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Before installing the 2505. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installing the 2505 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installing the AN205-P antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Interfacing the 2505 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Troubleshooting the installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11 . . . . . .13 . . . . . .15 . . . . . .17 . . . . . .18 Appendix A Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Appendix B Data characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Input/output ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21 Appendix C NMEA output protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 GPS receiver's NMEA message format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 Input sentences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26 Output sentences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 2505 INSTALLATION MANUAL, Revision A Page i Page ii 2505 INSTALLATION MANUAL, Revision A List of Figures Figure 1: 2505 case and mounting dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 Figure 2: Northstar GPS/DGPS combo antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 2505 INSTALLATION MANUAL, Revision A Page iii Page iv 2505 INSTALLATION MANUAL, Revision A List of Tables Table 1: Contacting Northstar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4 Table 2: 2505 parts list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14 Table 3: Standard connector pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17 Table 4: 2505 alternate connector pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18 Table 5: Sensor signals and I/O ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 Table 6: Standard configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24 Table 7: Connector pin assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26 Table 8: NMEA field definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31 Table 9: Primary port input messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Table 10: NVM elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38 Table 11: Primary port output sentences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40 2505 INSTALLATION MANUAL, Revision A Page v Page vi 2505 INSTALLATION MANUAL, Revision A SECTION ONE Introducing the 2505 The Northstar 2505 Beacon/WAAS Position Sensor Installation Manual describes how to properly mount, interface, and troubleshoot the Northstar 2505 and Northstar AN205-P combination GPS/beacon antenna. Also described are the 2505's configuration options, the physical, mechanical, and electrical characteristics, and the serial protocol used to communicate with a host device. Who should read this manual This manual is intended for installation technicians who are installing, connecting, and troubleshooting the 2505. Scope of this manual In this manual, you'll find information about the following: · · · · the 2505's operating modes mounting the 2505 interfacing the 2505 with a host device installing the GPS/DGPS antenna 2505 INSTALLATION MANUAL, Revision A Page 1 SECTION ONE Introducing the 2505 · · troubleshooting NMEA output protocol Getting technical support 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 Support or Manuals link (from this link you can automatically open manuals online using Adobe's Acrobat Reader. After you've followed the instructions in this manual, if you need additional technical or operations support, or if you 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 Table 1 below. You can also visit Northstar's website for additional service-related information. Please have the 2505'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. If you're looking for an authorized Northstar dealer, or 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) Page 2 2505 INSTALLATION MANUAL, Revision A SECTION ONE Introducing the 2505 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 a 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 products back) service status request form (for products 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 installation technicians. Send your questions, comments, or suggestions about this manual to: manuals@northstarcmc.com Ordering parts To order spare, replacement, or missing parts, call the Northstar Sales Department at 978/897-0770 or 800/628-4487. Servicing the Northstar 2505 The 2505 is repaired only by authorized Northstar dealers or the Northstar factory. Service includes a complete hardware and software check-out. NOTE: For 2505's still under warranty, field repairs are not authorized and will void the warranty! For a 2505 under warranty, shipping charges to the factory are the only cost for factory repair. The repaired 2505 will be returned via prepaid economy ground freight (freight for units returned overseas is chargeable). A 2505 and any accessories returned for warranty repair that are determined to be without fault are subject to a handling charge. 2505 INSTALLATION MANUAL, Revision A Page 3 SECTION ONE Introducing the 2505 Returning a 2505 for service Before returning the 2505 to the Northstar factory, to prevent delays it is critical that you first obtain a Return Materials Authorization (RMA) number from the Northstar Service Department. If you purchased the 2505 through a dealer, to get an RMA number, call the dealer with the 2505 serial number, which is located on the 2505's label. Shipments without a proper RMA number will not be accepted! The 2505 is covered by a two-year hardware-only warranty, which, in summary, states that if the 2505 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 2505, please call Northstar for turnaround time, freight charges, and payment arrangements. The 2505 should be shipped only in a properly designed carton with packing material. Shipments to the Northstar factory should be made to the following address: Northstar Technologies Service Department 30 Sudbury Road Acton, MA 01720 USA Introducing the 2505 Northstar's 2505 Beacon/WAAS Position Sensor comprises a high-performance, fully automatic 12-channel GPS/WAAS receiver, and a two-channel beacon receiver, packaged together into a self-contained ruggedized enclosure. The 2505 provides accurate GPS position data worldwide--in any weather, 24 hours a day--for such applications as soil sampling, yield monitoring, field mapping, vehicle tracking, and so on. Position measurements will be accurate to about 3 meters 95 percent of the time, speed measurements to about 0.1 miles per hour, and course-over-ground (COG) to about 0.5 degrees. In areas where WAAS or beacon differential is available, accuracy will be better than 2 meters. The 2505 is easy to install and configure: Just connect the external antenna and cables for your particular application, and supply the power. The 2505 is fully automatic so you won't Page 4 2505 INSTALLATION MANUAL, Revision A SECTION ONE Introducing the 2505 need to see it, touch it, or send commands to it. By eliminating virtually all of the attention needed to operate the 2505, you can devote more time to other aspects of your work. Understanding differential The 2505 receives differential WAAS corrections from strategically located ground-based transmitters called beacons, as well as from satellites transmitting WAAS differential signals. The 2505's advanced beacon/WAAS engine provides greater accuracy than GPS alone. Beacon differential The Global Positioning System (GPS) uses a system of 24 satellites (with three spares) operating in three orbital planes at about 11,000 miles elevation. Position is determined by measuring the time delay of the 1575-mHz signal from at least three of the satellites, and computing position based on known satellite locations. Beacon differential signal corrections are generated by ground-based reference stations, at precisely surveyed locations, and transmitted to the end user via minimal shift keyed 300-kHz U.S. Coast Guard beacons (ground-based). WAAS differential As with the Coast Guard radiobeacons, the Wide Area Augmentation System (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 (1575 mHz). 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. Standard 2505 features The 2505's standard features include the following: · 12-channel, high-performance GPS engine receiver with integral two-channel WAAS differential reception and position processing 2505 INSTALLATION MANUAL, Revision A Page 5 SECTION ONE Introducing the 2505 · 2-channel, fully automatic beacon differential GPS reception for accuracy better than 2 meters 95 percent of the time user-selectable (via switch) WAAS-only or WAAS with beacon back-up WAAS accuracy better than 2 meters 2dRMS 95 percent of the time fully automatic operating modes; no user intervention required NMEA GGA and VTG messages at 5-Hz data rate internal beacon/GPS antenna splitter · · · · · For a complete list of the 2505's technical specifications, see "Appendix A Technical specifications" on page 19. 2505 operating modes The 2505's GPS engine has seven operating modes: · · · · · · · Self-test Initialization Acquisition Navigation (includes four sub-modes: Differential 3-D, Differential 2-D, 3-D Nav, and Altitude-Hold) WAAS/beacon differential Dead-reckoning Fault The 2505 automatically switches between modes, and reports the current operating and navigation modes through its host port. The nine operating modes are described in detail below. Self-test mode The 2505 enters the self-test mode upon a host's request, using an NMEA message, via the GPS primary port, using either RS-232 or RS-422. This test requires no more than 15 seconds. When the self-test is completed, the 2505 reports the test results on its host port through another NMEA message, and then proceeds either to initialization mode if the test was passed or to fault mode if a problem was detected. Initialization mode The 2505 automatically enters initialization mode when power is applied or after completion of self-test mode. While in initialization mode, the 2505 retrieves satellite orbital data (ephemeris or almanac) stored in its EEPROM memory. Integrity checking is performed on all data retrieved from the Page 6 2505 INSTALLATION MANUAL, Revision A SECTION ONE Introducing the 2505 EEPROM to ensure accuracy. After initialization, the 2505 enters acquisition mode. Acquisition mode The 2505 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 2505 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 2505 collects new ephemeris data by decoding the satellite downlink data message. When a sufficient number of satellites are being tracked, then position, velocity and time are computed, and the 2505 enters navigation mode. If the 2505 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 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 2505 enters navigation mode. For TTFF details, see Table 4, "2505 technical specifications," on page 19. Navigation mode The 2505 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: differential 3-D, differential 2-D, and 3-D nav: · · · differential 3-D differential 2-D 3-D nav The 2505 automatically chooses the highest-performance sub-mode available for the satellite data currently being received, and reports to its host port the current navigation sub-mode. 2505 INSTALLATION MANUAL, Revision A Page 7 SECTION ONE Introducing the 2505 Differential 3-D The 2505 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. This is the navigation mode with the highest performance. Differential 2-D The 2505 operates in differential 2-D mode when it receives data from only three satellites with adequate geometry and differential corrections, from either WAAS satellites or radiobeacons. This is the navigation mode with the highest performance when differential 3-D mode can't be used. 3-D nav The 2505 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 radiobeacon corrections aren't available. WAAS/beacon differential mode While beacon and GPS acquisition is occurring, the 2505's GPS receiver is simultaneously searching for and acquiring the WAAS differential signal from a geostationary satellite that operates in the same frequency band as the GPS satellites. (To avoid conflict, WAAS uses special PRN satellite identification numbers.) Once the WAAS signal has been acquired and settled, and provided that the GPS has entered navigation mode, the 2505 can now enter WAAS or beacon differential mode. WAAS and beacon modes are selected with a switch on the connector panel. The switch functions are as follows: · · In the "WAAS/beacon" position, WAAS will be used, but will revert to beacon if WAAS is lost or unavailable. In the "WAAS only" position, only WAAS differential corrections will be used, if they're available. Dead-reckoning mode The 2505 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 2505 to provide an estimated position. Page 8 2505 INSTALLATION MANUAL, Revision A SECTION ONE Introducing the 2505 Fault mode The 2505 enters fault mode if it determines that 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 protects against the transmission of inaccurate data. Automatic beacon operation The 2505 enters automatic beacon operations at power-up, and requires no further supervision from the host GPS receiver. Automatic operation is achieved by the use of two independent receiver channels: · Channel 1 tracks the best available beacon signal (the one with the lowest data error rate), and sends the demodulated DGPS corrections to the GPS receiver. Channel 2 continuously scans the entire beacon frequency band (283.5 to 325 kHz) locating and measuring received DGPS beacon signals. The 2505 then stores this information as a DGPS beacon "directory" in battery-powered memory. · If the signal received and monitored by Channel 1 degrades for any reason, the 2505 selects a better frequency from its beacon "memory." This lets the 2505 switch to the best beacon signal before your GPS accuracy is affected. Automatic beacon operation can be used for all except the most specialized applications, and is supported by most commercially available GPS receivers. At any time, the host device can override automatic station selection by issuing NMEA tuning commands on the serial interface. In this manual mode, the 2505 will output DGPS corrections from the selected station. Automatic operation will be restored at the next power-down/power-up cycle, or when the host device issues a tune command frequency of "0" (zero). For further details about manual mode, see "Appendix C NMEA output protocol" on page 23. 2505 INSTALLATION MANUAL, Revision A Page 9 SECTION ONE Introducing the 2505 Page 10 2505 INSTALLATION MANUAL, Revision A SECTION TWO Installing and interfacing the 2505 This section explains how to install the 2505, including recommended mounting locations and methods, and how to interface and troubleshoot. Before installing the 2505 As shipped, the 2505 is ready to install and operate. 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 2505 to the factory for repair or evaluation. Unpack the carton, and compare its contents with those on the packing list and what you ordered. Table 2 on page 12 lists the parts contained in the shipping carton. 2. 2505 INSTALLATION MANUAL, Revision A Page 11 SECTION TWO Installing and interfacing the 2505 Table 2: 2505 parts list Part number 2505-A 2505-PK AN205-P Description 2505 position sensor 2505 parts kit GPS/DGPS combination antenna (standard with 2505) GPS antenna connecting cable (RG-59/U coaxial, 20 feet) with one TNC connector and one BNC connector Northstar 2505 Beacon/WAAS Position Sensor Installation Manual, Rev. A 6-foot interfacing cable with DB9 termination WC-245 GM2505 8901-CA (optional) 3. 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.) 4. 5. 6. 7. 8. 9. Preview/survey the desired layout and existing equipment. Select the desired mounting location; see "Choosing the 2505's mounting location" starting on page 13. Install the 2505; see "Mounting the 2505" starting on page 13. Install the antenna; see "Installing the AN205-P antenna" on page 15. Wire the 2505 to power; for details, see "Connecting the 2505 to power" starting on page 14. Interface the 2505 to the desired device; see "Interfacing the 2505" on page 17. If you experience any operating problems, see "Troubleshooting the installation" on page 18. Page 12 2505 INSTALLATION MANUAL, Revision A SECTION TWO Installing and interfacing the 2505 Installing the 2505 Although the 2505 is very straightforward and easy to understand, you must meet several basic requirements to ensure safe and proper operation. CAUTION! Do not open the 2505. There are no serviceable parts inside. Unauthorized tampering will automatically void the warranty. Choosing the 2505's mounting location The 2505 is housed in a rugged aluminum enclosure with a mounting flange, gaskets, and watertight connectors. The 2505 itself is water-resistant, but not waterproof, so mount it where water won't contact it directly or enter it by following power or antenna cables. Use drip loops on all cables! Tie-wrap all cables to keep them secure, and if cables are shortened, lengthened, or re-terminated, seal all wiring splices. Mounting the 2505 You can mount the 2505 horizontally or vertically, using the appropriate mounting holes; see Figure 1 on page 14. Keyhole slots at the rear will help if you're installing the 2505 where access is limited and it may be difficult to start the mounting screws at the obstructed end. Securely tighten all mounting screws to avoid vibration-related problems. 2505 INSTALLATION MANUAL, Revision A Page 13 SECTION TWO Installing and interfacing the 2505 Figure 1: 2505 case and mounting dimensions Connecting the 2505 to power WARNING! Be sure to ground the equipment to prevent electrical shock and mutual interference. Be sure that the power supply's voltage is compatible with the 2505's voltage rating (10 to 40 volts DC). Connecting to the wrong power supply can result in fire or damage to equipment. CAUTION! Before applying power to the 2505, double-check all the wiring. A small, but significant number of units sustain damage due to incorrectly wired connections. Such damage is not covered under warranty. Be sure you don't apply primary voltage directly to any of the 2505's signal input/output wires as this may vaporize circuit board conductors in the 2505. Page 14 2505 INSTALLATION MANUAL, Revision A SECTION TWO Installing and interfacing the 2505 The 2505 requires 10 to 40 volts DC at approximately 10 watts. The power supply is protected against reverse-polarity power inputs. The 2505 has an internal ½-amp fuse. The 2505 can be turned on remotely. If you connect pin 12 to a switched source of +5 to +40 volts DC, the 2505 will turn on whenever that voltage source is applied. Power to the 2505 can be wired in either of two ways: · For permanent power-on in which there's no remote-on output available from the host device, connect pin 12 to pin 25. As long as power is connected to pin 25, the 2505 will remain on. For remote turn-on by the host device, connect pin 12 to any host-switched +5V to +40 volts DC output of the GPS host. In this configuration, the 2505 will turn on or off whenever the host device is turned on or off. · Installing the AN205-P antenna The 2505 operates exclusively with Northstar's AN205-P combination GPS/DGPS antenna. This "combo" antenna provides an easier and more attractive installation than those that use separate GPS and DGPS antennas. In many cases, the loop antenna design also improves noise rejection of beacon signals and provides better performance. For quick and easy connection, the 2505 uses an internal antenna splitter to separate the signal path of the one coaxial cable coming from the AN205-P antenna. 2505 INSTALLATION MANUAL, Revision A Page 15 SECTION TWO Installing and interfacing the 2505 7.00 2.5 Use the locking nut shown to prevent rotation of the antenna or bottoming of the mounting stanchion into the threaded mount portion of the antenna. If done with enough force, either of these may break the antenna. TNC 3.5 Figure 2: Northstar AN205-P antenna dimensions Choosing the antenna's mounting location Mount the antenna near the top of the vehicle, where an unobstructed view of the horizon is available in all directions, but mount it lower than any high-power transmitting antennas, such as radar or satcom. Keep the antenna at least six feet away from objects that can "shade" GPS or differential signals. If position data is intermittent, check that you have the proper cable length, and verify the quality of the antenna location and the quality and proper termination of the connectors. Ensure that the 2505's ground lug terminal is securely connected to vehicle ground. CAUTION! Avoid mounting the antenna near rotating warning beacons or strobe lights, electric motors, and fluorescent lights. These can create RF interference to the differential reception. Wiring the antenna When connecting the antenna to the 2505, you can use the supplied coaxial cable or fabricate your own. In either case, the cable length must be a maximum of 50 feet. (Using a cable longer than 50 feet will require an antenna with a higher gain; contact Northstar for details.) Don't make any tight bends, and fasten the cable along its length to avoid chafing or whipping of any kind. Securely fasten all cable connectors. Page 16 2505 INSTALLATION MANUAL, Revision A SECTION TWO Installing and interfacing the 2505 Interfacing the 2505 Connecting the 2505 to other equipment The 2505 is easily interfaced to other equipment using the NMEA 0183 data format. Table 3 below lists the hardware port numbers and the signal levels available on the connector pins for a normal installation. Pins 6, 7, 8, 12, 13, and 25 (in bold type) are the minimum connections required to operate the 2505. Choose either RS-422 or RS-232 pins as required by the equipment to which you're interfacing. For input/output options, see "Appendix A Technical specifications" on page 19, and for input/output protocols, see "Appendix C NMEA output protocol" on page 23. Table 3: Standard connector pinouts Pin 1 2 3 4 5 6 7 8 9 10 11 12 13 Description BDM control input A (RS-422) Ground GPS primary input B (RS-422) BDM RTCM SC-104 output B (RS-422) GPS primary output A (RS-422) GPS primary output (RS-232) GPS primary input (RS-232) Ground BDM monitor output (RS-232) BDM monitor input (RS-232) Configuration pin B (leave OPEN) 25 if no remote control) (-) DC power input (ground) a Pin 14 15 16 17 18 19 20 21 22 23 24 25 --- Description BDM control input B (RS-422) GPS primary input A (RS-422) BDM RTCM SC-104 output A (RS-422) Ground GPS primary output B (RS-422) Ground BDM RTCM SC-104 output (RS-232) BDM control input (RS-232) Not Used Configuration pin A (leave OPEN) Configuration pin C (leave OPEN) (+) DC power input --- POWER ON control (connect to pin a. Pins 11, 23, and 24 have been left open for future use. 2505 INSTALLATION MANUAL, Revision A Page 17 SECTION TWO Installing and interfacing the 2505 Troubleshooting the installation If you're experiencing operating difficulties, perform the following troubleshooting steps: · · Verify the integrity of the coaxial connections at the 2505 and at the antenna. To improve intermittent signal reception and performance, look for loose connector crimps and unsecured cable connections at the 2505 and at any equipment to which the 2505 is interfaced. Tighten any connections. Ensure that the 2505's ground lug is connected to the vehicle chassis ground. · Page 18 2505 INSTALLATION MANUAL, Revision A Appendix A Technical specifications Table 4: 2505 technical specifications General characteristics L1 frequency Coarse acquisition Sensitivity DGPS software 1,575.42 MHz C/A code (1.023 MHz chip rate), code and carrier phase tracking -135 dBm (antenna input level) Standard and enhanced with WAAS Performance characteristics Velocity Acceleration Position accuracy 1852 km/h (514 m/sec) max 4 Gs (39.2 m/sec2) Jerk: 2 m/sec3 <1 m circular error probability (CEP), DGPS <2 m circular error probability (CEP), WAAS 2505 INSTALLATION MANUAL, Revision A Page 19 Appendix A Technical specifications Table 4: 2505 technical specifications (continued) Time-To-First-Fix (TTFF) Hot start: 20 seconds typical, with current almanac, position, time, and ephemeris Warm start: 45 seconds typical, with current almanac, position, time, and ephemeris Cold start: 2 minutes typical, no almanac, position, and time With WAAS acquisition, add 30 seconds typical (max. 1 minute) Re-acquisition time <1 second typical to re-acquire (5-second obscuration) 3 seconds typical to re-acquire (60-minute obscuration) Channels allocation 10 GPS channels plus two WAAS satellites Interface characteristics Primary power Serial communications 10 to 40 VDC (12V and 24V systems). 10 watts typical Three RS-232 and two RS-422 asynchronous data ports, configurable from 300 to 38,400 baud for GPS outputs, 4800 and 9600 baud for SC-104 differential outputs. NMEA 0182 protocol for GPS (for details, see "Appendix B Data characteristics" on page 21). RTCM SC-104 for beacon differential. NMEA 0182 GGA and VTG at 5-Hz update rate standard on GPS output port; other NMEA outputs available (for details, see "Appendix B Data characteristics" on page 21). RTCM SC-104 on beacon output port. Input messages Output messages Physical characteristics Dimensions Weight 2.0" high x 4.68" wide x 8.9" deep 2 pounds Environmental characteristics Operating temperature Humidity Receiver: 0°C to +50°C. Antenna/preamp: -40°C to +50°C Receiver: 100%. Antenna/preamp: 100% Page 20 2505 INSTALLATION MANUAL, Revision A Appendix B Data characteristics Input/output ports The 2505 contains a GPS receiver and a beacon receiver. Each 2505 has two full-duplex serial ports that may be interconnected with each other, and with external devices in a variety of ways for different applications. Both RS-422 and RS-232 inputs and outputs are provided and have separate pins on the I/O connector. RS-422 and RS-232 outputs may be used simultaneously; however, in general, only one of the two receiver inputs for a particular port should be connected. The available 2505 signals and I/O ports are shown in Table 5 on page 22. 2505 INSTALLATION MANUAL, Revision A Page 21 Appendix B Data characteristics Table 5: 2505 signals and I/O ports I/O ports RS-232 receiver 1 input RS-232 receiver 2 input RS-232 receiver 3 input (optional) RS-422 receiver 1 input (A/B) RS-422 receiver 2 input (A/B) RS-232 transmitter 1 output RS-232 transmitter 2 output RS-232 transmitter 3 output (optional) RS-422 transmitter 1 output (A/B) RS-422 transmitter 2 output (A/B) Pin 7 21 10 15, 3 1, 14 6 20 9 5, 18 16, 4 Page 22 2505 INSTALLATION MANUAL, Revision A Appendix C NMEA output protocol This appendix includes information about the NMEA message format for the GPS receiver, as well as input and output sentences. GPS receiver's NMEA message format This section describes the serial protocol used by the GPS receiver to communicate with a host device. The serial communication runs under the following set-up: Speed: Format: 300 to 38,400 baud (default is 4800 baud 8-bit data, 1 start bit, 1 stop bit, no parity (10 bits/character) Data on the serial port is transmitted in one or more NMEA-approved or proprietary sentences that have the following structure. 2505 INSTALLATION MANUAL, Revision A Page 23 Appendix C NMEA output protocol HEADER CONTENTS OF DATA FIELDS $PMCAG,xxx,xxx,xx,xx,...*CK end of sentence checksum checksum field delimiter data (1st field = message identifier interface ID (G = GPS) originator ID (MCA = Canadian Marconi Company) Special ID P = Proprietary Record sync character The types of fields are defined in Table 6 on page 25. Page 24 2505 INSTALLATION MANUAL, Revision A Appendix C NMEA output protocol Table 6: NMEA field definitions Field type Symbol Definition Special format fields Status A Single character field: A = Yes, Data Valid, Warning Flag Clear V = No, Data Invalid, Warning Flag Set Fixed/Variable length field: Degrees/minutes.decimal - 2 fixed digits of degrees, 2 fixed digits of minutes and a variable number of digits for decimal-fraction of minutes. Leading zeros always included for degrees and minutes to maintain fixed length. The decimal point and associated decimal-fraction are optional if full resolution is not required. Fixed/Variable length field: Degrees/minutes.decimal - 3 fixed digits of degrees, 2 fixed digits of minutes and a variable number of digits for decimal-fraction of minutes. Leading zeros always included for degrees and minutes to maintain fixed length. The decimal point and associated decimal- fraction are optional if full resolution is not required. Fixed/Variable length field: hours/minutes/seconds.decimal - 2 fixed digits of hours, 2 fixed digits of minutes, 2 fixed digits of seconds and a variable number of digits for decimal-fraction of seconds. Leading zeros always included for hours, minutes and seconds to maintain fixed length. The decimal point and associated decimal-fraction are optional if full resolution is not required. Some fields are specified to contain predefined constants, most often alpha characters. Such a field is indicated in this standard by the presence of one or more valid characters. Excluded from the list of allowable characters are the following which are used to indicate field types within this standard: "A", "a", "c", "hh", "hhmmss.ss", "llll.ll", "x", "yyyyy.yy". Numeric Value Fields Variable numbers x.x Variable length integer or floating numeric field. Optional leading and trailing zeros. The decimal point and associated decimal-fraction are optional if full resolution is not required. (example: 73.10 = 73.1 = 073.1 = 73) Fixed length HEX number only, MSB on the left. Latitude llll.ll Longitude yyyyy.yy Time hhmmss.ss Defined field Fixed HEX field Information Fields Variable text Fixed alpha field hh_______ c--c aa_____ Variable length valid character field. Fixed length field of upper-case or lower-case alpha characters. 2505 INSTALLATION MANUAL, Revision A Page 25 Appendix C NMEA output protocol Table 6: NMEA field definitions (continued) Field type Fixed number field Fixed text field Symbol xx_____ cc_____ Definition Fixed length field of numeric characters. Fixed length field of valid characters Notes: 1. Spaces can't be used in variable text field. 2. A negative sign "-" (HEX 2D) is the first character in a Field if the value is negative. The "+" sign is optional if value is positive. The following sections define the valid input and output sentences available on the primary port. Input sentences Table 7 lists all valid input sentence types for the GPS receiver. Detailed descriptions of each sentence are given in the sections that follow. Table 7: Primary port input messages Message identifier 000 001 003 004 005 006 007 MSK Name Configure Primary Port Command Initialization Data Command Initiate Self-test Command Request Output Message Command Set Output Configuration Command Switch to Reprogramming Mode Command Erase Non-Volatile Memory Command Message to Radiobeacon Board Maximum sentence length (characters) 17 77 15 19 67 20 18 27 Page 26 2505 INSTALLATION MANUAL, Revision A Appendix C NMEA output protocol Configure primary port command This message is used to change the primary port mode. Once this command is issued to the GPS receiver, the controller supporting the Monitor mode protocol is activated, then NMEA communications with the GPS receiver can be restored only by using binary message #110. On power-up, with NVM, the primary port stays in the same mode. Without NVM, the default mode is Monitor Mode (CMC Binary). HEADER CONTENTS OF DATA FIELDS $PMCAG,000,x*hh baud rate selection1 Character 0 1 2 3 4 5 6 7 8 Baud rate 19200 300 600 1200 2400 4800 9600 19200 38400 Example: Configure the Primary Port to Monitor Mode at 19200. $PMCAG,000,0*58 2505 INSTALLATION MANUAL, Revision A Page 27 Appendix C NMEA output protocol Initialization data command HEADER This message initializes the GPS receiver with reference UTC date and time, and user position. CONTENTS OF DATA FIELDS $PMCAG,001,xx,xx,xxxx,hhmmss.ss,±xx,xx,±1111.11,a,yyyyy.yy,a,±x.x,c*hh reserved8 altitude7 longitude-E/W6 latitude-N/S5 reserved4 reserved3 time2 date1 1. 2. 3. 4. 5. 6. 7. 8. UTC Date (Day 1...31, Month 1...12, Year 1980...2079 UTC Time (Hour 0...23, Minutes 0...59, Seconds 0...59) Reserved, must be 0 Reserved, must be 00 Latitude - N/S with respect to WGS-84 Longitude - E/W with respect to WGS-84 Altitude in meters above (below) mean sea level; resolution: 0.01 meter Reserved, no character Example: Set reference position sentence. $PMCAG,001,09,07,1995,16,37 ,21,00,00,5301.97,N,00133.48,E,35.35,*6C Date Time Reserved Local zone minutes Latitude Longitude Altitude Reserved 09/07/1995 16:37:21 Must be 00 Must be 00 53° 01.97' North 1° 33.48' East 35.35 m above mean sea level No character Page 28 2505 INSTALLATION MANUAL, Revision A Appendix C NMEA output protocol Initiate self-test command This message will request a complete self-test of the GPS receiver. Results of the self-test will be automatically output (output message 902) on the primary output port at completion of the self-test sequence. HEADER CONTENTS OF DATA FIELDS $PCMG, 003*hh,CR> Example: $PMCAG,003*47 Request output message command HEADER CONTENTS OF DATA FIELDS sentence identifier1 1. Valid sentence identifiers are those listed in the next section (except message ID 901 and 902). $PMCAG,004,ccc*hh Example: Request the approved sentence GPGGA. $PMCAG,004,GGA*2D 2505 INSTALLATION MANUAL, Revision A Page 29 Appendix C NMEA output protocol Set output configuration command This message is used to configure the output of the primary port. It contains the primary port baud rate and the list of message identifiers with their minimum time interval between consecutive transmissions. Message types: 900 GGA GLL GSA GSV RMC VTG ZDA Navigation Status Global Positioning System Fix Data Geographic Position - Latitude/ Longitude GPS DOP and Active Satellites GPS Satellites in View Recommended Minimum Specific GPS Data Track Made Good and Ground Speed UTC Time & Date HEADER CONTENTS OF DATA FIELDS $PMCAG,005,x.x,ccc,xxx,...,ccc,xxxx*hh nth message block2 first message block2 baud rate1 1. Baud rate; valid baud rates: 0.3, 0.6, 1.2, 2.4, 4.8, 9.6, 19.2, 38.4 (in kBd units) 0 = keep the same baud rate (no effect) 1 = save the included list in NVM and overwrite the previous one Message block; each message block includes: ccc = message identifier xxx = time interval between transmissions (1 to 999 seconds) (000 will stop the transmission) 2. Examples: $PMCAG,005,4.8,GGA,010,RMC,001,VTG,001,ZDA,010*48 output messages: GGA and ZDA transmitted every 10 seconds RMC and VTG transmitted every second at 4800 baud $PMCAG,005,1,GLL,001*2A output messages: GGA and ZDA transmitted every 10 seconds GGL, RMC and VTG transmitted every second at 4800 baud GLL saved in NVM Page 30 2505 INSTALLATION MANUAL, Revision A Appendix C NMEA output protocol Switch to reprogramming mode command HEADER CONTENTS OF DATA FIELDS baud rate1 1. Baud rate: valid baud rates: 0.3, 0.6, 1.2, 2.4, 4.8, 9.6, 19.2 or 38.4 (in kBd units). $PMCAG,006,xx.x*hh Example: $PMCAG,006,19.2*7A 2505 INSTALLATION MANUAL, Revision A Page 31 Appendix C NMEA output protocol Erase non-volatile memory command HEADER CONTENTS OF DATA FIELDS element1 1. Element: NVM element to erase as shown in Table 8 below. $PMCAG,007,xxx*hh Table 8: NVM elements Characters 00 01-04 05 06 07-08 09 10 11 12 13 14 15 Element All1 Reserved Almanac Ionospheric data Reserved TCXO parameters UTC parameters Position Time DGPS configuration Default NMEA message list RS-232 configuration1 1. This command will force the 2505 to go into BSC binary mode, at 9600 baud, at the next power-up. Example: $PMCAG,007,15*6B Erases configuration of the primary port and BSC binary message list transmitted by default after each power-up. Page 32 2505 INSTALLATION MANUAL, Revision A Appendix C NMEA output protocol Command message to the radiobeacon HEADER This message is used to configure the set the frequency and bit rate parameters of the radiobeacon and also to set the rate of the output message MSS and $PMCAG,903. CONTENTS OF DATA FIELDS MSK,x.x,a,x.x,a,x.x*hh interval for sending $PCMCAG,903 and MSS message in seconds auto/manual bit rate beacon bit rate (25, 50, 100, 200) bits per second auto/manual frequency A/M radiobeacon frequency, 285.5 to 325.0 kHz 1. Status request: When status data I not to be transmitted, this field is "null." Example: $GPMSK,288.0,A,100,A,004*6b Output messages: MSS and 903 transmitted every 4 seconds. Set the frequency to 288.0 in automatic mode, and bit rate to 100 in automatic mode. 2505 INSTALLATION MANUAL, Revision A Page 33 Appendix C NMEA output protocol Output sentences Table 9 below lists all valid output sentence types for the GPS receiver. Detailed descriptions of each are given in the following sections. Table 9: Primary port output sentences Message identifier 900 901 902 903 GGA GLL GSA GSV MSS RMC VTG ZDA Name Navigation status Data request list overflow Self-test results Radiobeacon proprietary info Global positioning system fix data Graphic position--latitude/longitude GPS DOP and active satellites GPS satellites in view MSS radiobeacon receiver signal status Recommended minimum specific GPS data Track made good and ground speed UTC time and date and local time zone Maximum sentence length (chars) 21 15 39 40 82 51 66 3*70 29 69 37 39 Rate Adjustable N/A On request Adjustable (via MSK) Adjustable Adjustable Adjustable Adjustable Adjustable (via MSK) Adjustable Adjustable Adjustable Page 34 2505 INSTALLATION MANUAL, Revision A Appendix C NMEA output protocol Navigation status This message provides the current navigation mode and GPS fix quality indicator. HEADER CONTENTS OF DATA FIELDS $PMCAG,900,ccc,c*hh GPS fix quality indicator2 navigation mode1 1. Navigation mode: 3DD 3-D 2-DD 2-D D-R INI NCD 3-D fix with differential aiding 3-D fix 2-D fix (constant altitude) with differential aiding 2-D fix (constant altitude) dead-reckoning initialization (from last good fix or external initialization no compound data; fix data is not valid and should be ignored The GPS sensor doesn't have a valid time and/or a valid position (from last good fix or external initialization). 2. GPS fix quality indicator: L = Low (Navigation solution is obtained from fewer than 5 satellite measurements.) H = High (Navigation solution is obtained from at least 5 satellite measurements.) Example: $PMCAG,900,3-D,H*5F Navigation mode: 3-D fix (GPS fix obtained from at least 5 satellites). 2505 INSTALLATION MANUAL, Revision A Page 35 Appendix C NMEA output protocol Data request list overflow This message is returned when more than eight data requests are pending. HEADER CONTENTS OF DATA FIELDS $PMCAG,901*hh Example: $PMCAG,901*4C Page 36 2505 INSTALLATION MANUAL, Revision A Appendix C NMEA output protocol Self-test results message Result of the GPS sensor self-test. This message is automatically output in response to an initiated self-test request (see input message identifier 003). This message can also be requested through input message identifier 004 to retrieve the current status of the sensor without initiating a self-test sequence. HEADER CONTENTS OF DATA FIELDS $PMCAG,902,xxxxxx,xxx,a,aaaa,xx,xx*hh faults identifier number of active faults sensor self-test result1 software revision letter software variation number software part number (root number) 1. Sensor self-test result from the last initiated test (PASS, FAIL) Examples: $PMCAG,902,613913,042,A,PASS,00,63*23 $PMCAG,902,613913,042,A,FAIL,03,49*3B 2505 INSTALLATION MANUAL, Revision A Page 37 Appendix C NMEA output protocol Radiobeacon proprietary information HEADER This message is automatically output in response to an MSK request (see input message identifier MSK). CONTENTS OF DATA FIELDS $PMCAG,903,x.x,aa,x.x,x.x,x.x,x.x,x.x*hh reserved (shall be null) reserved (shall be null) reserved (shall be null) reserved (shall be null) software part number (root number) radiobeacon self-test result1 impulse noise count