Northstar Technologies 8700 GPS Position Sensor 8800 Series Beacon Sensors 8900 Series GPS/DGPS Position Sensors Technical Reference Manual Revision H May 1, 1997 Part No. GM8900 © 1997 Northstar Technologies a division of CMC Electronics, Inc. Northstar Technologies 30 Sudbury Road Acton, Massachusetts 01720 Sales: 508/897-6600 Service: 508/897-7251 Fax: 508/897-7241 Revision history Date May 1, 1997 Pages ALL Revision H Ordering information To receive additional copies of this publication, order the Northstar Sensors Technical Reference Manual (Part No. GM8900). Limited warranty policy Northstar 8700, 8800 series, and 8900 series sensors Northstar Technologies, a division of CMC Electronics, Inc., warrants its family of 8700, 8800 series, and 8900 series sensors 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. 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 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. The 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 or the unit from a vehicle, inspection, packaging, handling, reinstallation, and the like. Northstar 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. * Certain Northstar control heads are warranty-protected against damage due to water leakage, provided the head has not been tampered with. Table of Contents Section 1 - About this manual . . . . . . . . . . . . . . . . . . . . 1 1.1 Scope of this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.1 Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.2 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.3 Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.4 Glossary and acronyms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.5 Registration card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.1.6 Service and repair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1 1 1 2 2 2 Section 2 - Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.1 Northstar 8700. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.2 Northstar 8800 series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.3 Northstar 8900 series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.4 Sensor dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.5 Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1.6 Interfacing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 3 3 3 4 4 5 Section 3 - Packaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 3.1 Housing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 Northstar 8700 parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3 Northstar 8800 series parts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4 Northstar 8900 series parts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 7 7 8 Section 4 - GPS receivers. . . . . . . . . . . . . . . . . . . . . . . . . 11 4.1 Northstar 8700 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1.1 Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1.2 Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.1.3 Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 11 11 12 Section 5 - Beacon receivers . . . . . . . . . . . . . . . . . . . . . 15 5.1 Northstar 8800 series. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.1 About the Northstar 8801 . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.2 Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.3 Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.1.4 Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 15 16 16 17 Section 6 - GPS/beacon combination receivers . . 19 6.1 Northstar 8900 series. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.1 About the Northstar 8901 . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.2 Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.3 Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 19 19 20 Section 7 - Antennas. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 7.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2 GPS antenna (AN145) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.2 Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.3 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2.4 Mounting location. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3 GPS antenna (AN150) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3.2 Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3.3 Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3.4 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3.5 Mounting location. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4 GPS/DGPS combination antenna (AN190/AN200) . . . . . . . . 7.4.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4.2 Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4.3 Gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4.4 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4.5 Mounting location. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5 DGPS-only H-field antenna (AN195). . . . . . . . . . . . . . . . . . . . 7.5.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5.2 Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5.3 Cable length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.5.4 Mounting location. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.6 Whip antenna (8410 ACU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.6.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.6.2 Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.6.3 Cable length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.6.4 Mounting location. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 23 23 23 23 23 24 24 24 24 24 24 24 24 25 25 25 25 25 25 25 26 26 26 26 26 27 27 Section 8 - Input/output configurations . . . . . . . . . . 29 8.1 I/O ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2 Sensor signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.3 Standard configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.4 Configuration details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.5 Connector pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6 Input and output signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6.1 RTCM SC-104 output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6.2 BDM control input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6.3 BDM monitor input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6.4 BDM monitor output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6.5 GPS auxiliary input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6.6 GPS auxiliary output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6.7 GPS primary input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6.8 GPS primary output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6.9 Remote POWER ON control . . . . . . . . . . . . . . . . . . . . . . . . . 8.6.10 DC power input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6.11 Time mark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 29 30 30 33 33 33 34 34 34 34 34 34 35 35 35 35 Section 9 - Connector pinouts. . . . . . . . . . . . . . . . . . . . 37 9.1 Standard pinouts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1.1 Wiring power control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1.2 8700 connector pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1.3 8800 connector pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1.4 8900 connector pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.1.5 Alternate connector pinouts for the 8900. . . . . . . . . . . . . . 37 37 37 38 39 40 Section 10 - NMEA protocols . . . . . . . . . . . . . . . . . . . . . 43 10.1 Beacon monitor control messages. . . . . . . . . . . . . . . . . . . . . 10.1.1 NMEA 0183 format control messages . . . . . . . . . . . . . . . . 10.2 GPS serial protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.2.1 Input sentences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10.2.2 Output sentences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 43 45 47 52 Section 11 - Beacon receiver binary protocol . . . . . 61 11.1 Beacon receivers (8800 series and 8900 series) . . . . . . . . . 61 11.1.1 Binary control messages . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 11.2 GPS binary protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Section 12 - 8X00 engine monitor program . . . . . . 63 12.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.1.1 BDM data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.1.2 GPS data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.1.3 Satellite data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.1.4 Function key tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.2.1 H ...