User manual NORTHSTAR 8700 - REFERENCE GUIDE

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 Hardware and software requirements . . . . . . . . . . . . . . . . 12.2.2 Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.2.3 About data files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.2.4 About scrolling data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12.2.5 About the monitor message line . . . . . . . . . . . . . . . . . . . . 12.3 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 63 63 64 64 64 64 64 65 65 65 65 Section 13 - Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Section 14 - Abbreviations and initialisms . . . . . . . 69 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Tables -- 8700 parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Table 2 -- 8800 parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Table 3 -- 8801 parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Table 4 -- 8900 parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Table 5 -- 8901 parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Table 6 -- I/O ports. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Table 7 -- Standard configurations. . . . . . . . . . . . . . . . . . . . 30 Table 8 -- Configuration 7 . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Table 9 -- Configuration 6 . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Table 10 -- Configuration 5 . . . . . . . . . . . . . . . . . . . . . . . . . 32 Table 11 -- Configuration 4 . . . . . . . . . . . . . . . . . . . . . . . . . 32 Table 12 -- Configuration 3 . . . . . . . . . . . . . . . . . . . . . . . . . 32 Table 13 -- Hardware pin numbers/signal levels . . . . . . . . . 33 Table 14 -- 8700 connector pinouts/config. 3 . . . . . . . . . . . 37 Table 15 -- 8800 power/interface connector pins/config. 5 . 38 Table 16 -- 8900 standard connector pinouts/config. 7 . . . . 39 Table 17 -- 8900 alternate connector pinouts/config. 6 . . . . 40 Table 18 -- 8900 alternate connector pinouts/config. 4 . . . . 41 Table 19 -- Command parameters . . . . . . . . . . . . . . . . . . . . 44 Table 20 -- Command parameter examples . . . . . . . . . . . . . 44 Table 21 -- Approved sentence structure . . . . . . . . . . . . . . . 45 Table 22 -- NMEA field definitions. . . . . . . . . . . . . . . . . . . 45 Table 23 -- Primary port input sentences . . . . . . . . . . . . . . . 47 Table 24 -- Character/baud rate . . . . . . . . . . . . . . . . . . . . . . 47 Table 25 -- Initialization command . . . . . . . . . . . . . . . . . . . 48 Table 26 -- Example B sentence contents . . . . . . . . . . . . . . 48 Table 27 -- Output-configuration message identifiers . . . . . 49 Table 28 -- Set output configuration command . . . . . . . . . . 50 Table 29 -- Switch to reprogramming mode command . . . . 50 Table 30 -- NVM command. . . . . . . . . . . . . . . . . . . . . . . . . 50 Table 31 -- Character/element . . . . . . . . . . . . . . . . . . . . . . . 51 Table 32 -- Radio-beacon command message . . . . . . . . . . . 51 Table 33 -- Primary-port output sentences. . . . . . . . . . . . . . 52 Table 34 -- Navigation status sentence . . . . . . . . . . . . . . . . 53 Table 35 -- Self-test sentence. . . . . . . . . . . . . . . . . . . . . . . . 54 Table 36 -- Radio-beacon proprietary sentence . . . . . . . . . . 54 Table 1 -- GPS-fix data sentence . . . . . . . . . . . . . . . . . . . . Table 38 -- Example N sentence . . . . . . . . . . . . . . . . . . . . . Table 39 -- Geographic position sentence . . . . . . . . . . . . . . Table 40 -- GPS DOP and active satellite sentence . . . . . . . Table 41 -- GPS-satellites-in-view sentence . . . . . . . . . . . . Table 42 -- MSS radio-beacon signal status sentence . . . . . Table 43 -- Recommended-minimum-specific sentence . . . Table 44 -- Track made good/ground-speed sentence . . . . . Table 45 -- UTC time, data, and local time-zone sentence . Table 37 55 56 56 57 57 58 59 59 60 Figures 8700/8800 series/8900 series dimensions . . . . . . . 4 Figure 2 - 8700 ALLSTAR engine operating modes . . . . . . 12 Figure 3 - Radio-beacon coverage map . . . . . . . . . . . . . . . . 15 Figure 4 - Northstar AN145 antenna . . . . . . . . . . . . . . . . . . 23 Figure 5 - Northstar AN150 antenna . . . . . . . . . . . . . . . . . . 24 Figure 6 - AN190 combination antenna . . . . . . . . . . . . . . . . 25 Figure 7 - Northstar AN195 H-Field antenna . . . . . . . . . . . . 26 Figure 8 - Northstar 8410 ACU . . . . . . . . . . . . . . . . . . . . . . 27 Figure 9 - 8X00 ALLSTAR engine monitor screen . . . . . . . 63 Figure 1 - Section 1 - About this manual Section 1 - About this manual To use this manual effectively, please read this entire two-page section first. This document doesn't contain basic installation information. If you're looking for instructions about mounting the sensors and antennas, connecting the cables, or other details on interfacing the Northstar sensors to other Northstar receivers, please refer to the corresponding Northstar Installation Manual. 1.1 Scope of this manual 1.1.1 Audience The Northstar Sensors Technical Reference Manual is intended for readers with a good technical knowledge of the components of GPS consumer navigational instruments. This audience includes engineers and other technical product-development persons in original equipment manufacturer (OEM) environments; experienced dealers of marine, land-based, or other navigational equipment; and small start-up companies, all looking for ways to interface their products with Northstar sensors. This manual presents this technical information in a logical, easy-to-use format; each section is organized for access to specific information. In this way, you can go directly to the source of that information without sifting through unnecessary levels to find what you need. The manual covers the following products: · · · 1.1.2 Contents Northstar 8700 GPS Position Sensor Northstar 8800 Series Beacon Sensors Northstar 8900 Series GPS/DGPS Position Sensors Additional high-level information about antennas, pinouts and configurations, NMEA protocol, beacon binary protocol, RS-422 and RS-232 interfaces, and the 8X00 ALLSTAR Engine Monitor Program is all contained within this manual. In fact, if you own this Northstar Sensors Technical Reference Manual, you should have received a copy of the Northstar 8X00 ALLSTAR Engine Monitor Program. (If you didn't receive this program, call the Northstar sales department and order Northstar Part Number GS8900, shipped on a 3-½ inch diskette at no charge.) This document supersedes the Northstar Installation and Operation Manual (Northstar Part Number GM8900, Revision G). 1.1.3 Conventions The conventions listed below are used throughout the manual to consistently refer to certain information, as follows: NOTE and CAUTION are the headings for text boxes containing important reader information. Be sure to read the information in these note and caution boxes. NMEA command is the bold typeface used when the text refers to a command given to, or output by, the sensors; NMEA command is the typeface (without bold) used when a table refers to a command given to, or output by, the sensors. 05/01/97 REV H PAGE 1 Section 1 - About this manual 1.1.4 Glossary and acronyms This manual contains two separate sections to clarify technical terms, abbreviations, acronyms, and initialisms. Each new term is defined when it first appears; however, a term once defined is not redefined each time it appears. Consequently, you may want to refer to the back of this manual if you find a term you don't understand. Make sure you fill out the owner's registration card included with the sensor and return it to Northstar Technologies. We must have your complete mailing address (not just a company name) so we can send you any future product information. In case of an operating problem with a Northstar sensor, you may contact your dealer or return the sensor to the Northstar factory for diagnosis and repair. Be as complete and accurate as possible when you describe an operating problem. If you need immediate assistance, feel free to call Northstar service at (508) 897-7251. Each sensor is covered by a two-year limited warranty, which, in summary, states that if a sensor is returned to the factory by the owner 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 sensor has been properly installed and hasn't been abused. The only cost to the owner will be the one-way shipping charges that might be imposed by the dealer. Shipments to Northstar Technologies should be made to the following address: Northstar Technologies, 30 Sudbury Road, Acton, MA 01720 If you have special overnight or two-day shipping requirements (UPS or Federal Express), please call the Northstar factory for turnaround time and freight costs before shipping your sensor. Refer to the Limited Warranty Policy at the beginning of this manual for further details on warranty and service policies and procedures. 1.1.5 Registration card 1.1.6 Service and repair PAGE 2 05/01/97 REV H Section 2 - Introduction Section 2 - Introduction 2.1 Overview Northstar's family of position sensors, comprised of models 8700, the 8800 series, and the 8900 series, features self-contained, 12-channel GPS modules with two-channel, automatic, medium-frequency radio-beacon receivers, packaged in rugged "black box" aluminum enclosures. These high-performance units provide reliable GPS and/or DGPS positioning for the following applications: · · · · · · · Custom OEM systems requiring superior, "all-in-view" GPS performance Automatic vehicle location (AVL) and monitoring systems, including railroads, highways, emergency, public transportation, and trucking Mobile ground information systems (GIS) data acquisition, including asset management and mapping Precision agriculture, including yield mapping, yield monitoring, and sampling Forestry, including aerial spraying, planting, and forest mapping Surveying/mapping, including aerial, highway, and legal surveys; utility mapping Marine navigation 2.1.1 Northstar 8700 The Northstar 8700 is a 12-parallel-channel, DGPS-ready, fast-acquisition GPS receiver that continuously tracks all available satellites. The 8700 accepts DGPS corrections from any source of Radio Technical Commission for Maritime Services (RTCM) SC-104 data. See Section 4, "GPS Receivers," for complete information about the Northstar 8700. The Northstar 8800 series (comprised of either the 8800 or the 8801, an 8800 bundled for agricultural applications) is a two-channel, auto-tuning, Minimum Shift Keying (MSK) radio-beacon receiver, also known as a beacon demodulator, or BDM, which supplies fully automatic differential corrections for an external DGPS-ready receiver. While the 8800 series' Channel 1 processes real-time corrections, Channel 2 automatically searches for alternates. The 8800 series works worldwide with beacons that conform to the SC-104 specification. See Section 5, "Beacon Receivers" for complete information about the Northstar 8800 series. 2.1.2 Northstar 8800 series 2.1.3 Northstar 8900 series Northstar combines the 8700 and the 8800 to form the Northstar 8900 series of sensors, which provide optimum performance in self-contained, fully automatic DGPS units. See Section 6, "GPS/Beacon Combination Receivers" for complete information about the Northstar 8900 series. 05/01/97 REV H PAGE 3 Section 2 - Introduction 2.1.4 Sensor dimensions The sensors share common dimensions as outlined below. · · · · Height = 2.0 inches Width = 4.6 inches Depth = 8.9 inches Weight < 2 pounds (All dimensions in inches) FIGURE 1 - 8700/8800 series/8900 series dimensions 2.1.5 Power Each sensor is easy to use: Just connect the antenna and supply the power. CAUTION! Before you apply power to the system, double-check all wiring. A small, but significant number of units sustain damage because of incorrectly wired connections. This damage isn't covered under warranty. Be sure you don't apply primary voltage directly to any of the signal input/output wires of the GPS sensor; this may vaporize circuit-board conductors within the sensor. Status indicator light NOTE: The information below only applies to the Northstar 8800 series and 8900 series sensors; NOT to the Northstar 8700 sensor. PAGE 4 05/01/97 REV H Section 2 - Introduction The status indicator light illuminates when the unit's power is turned on. When you first turn power on, the light turns green for just a few seconds. The light then turns red, and stays red as long as the sensor is searching for a beacon. Once the sensor has locked onto a beacon, the light will then turn green. Another function of the status indicator light is flashing red/green. The light will only flash red/green if the beacon antenna (not GPS) is open or shorted. Check your antenna or antenna wiring to determine the problem, if you see the flashing red/green light. Once the problem has been fixed, the light will turn red for as long as several minutes, while the sensor searches for a beacon. The light will return to green once it has locked onto a beacon. The status indicator light in the 8800 and 8900 sensors refers to beacon status, not GPS status. 2.1.6 Interfacing You can interface Northstar position sensors to a wide variety of external devices, such as navigators, computers, yield monitors, and so on. These external devices, or host systems, receive and process the data from the sensor, and in some applications, may control the sensor. Each sensor has two, full-duplex serial I/O ports that may be connected to a host system in a variety of ways and for different applications. The function of each I/O port is determined by a Programmed Array Logic (PAL) chip that acts as a matrix switch, which can configure the I/O port to several configurations. All three sensors use identical I/O hardware and circuitry, configured for specific applications by jumper options controlling the PAL chip. Any one of the eight standard configurations (see Section 8, "Input/Output Configurations" for a complete list of standard configurations) is selectable from combinations of three jumper pins located on the 25-pin data/power connector. The standard, recommended configuration for each sensor described in this manual is further described in its corresponding Northstar Installation Manual. Custom configurations also may be available for large quantities of sensors as special orders. 05/01/97 REV H PAGE 5 Section 2 - Introduction PAGE 6 05/01/97 REV H Section 3 - Packaging Section 3 - Packaging 3.1 Housing The sensor is housed in a rugged aluminum enclosure with a mounting flange. NOTE: The housing isn't completely waterproof, so keep the sensor away from direct contact with water spray or splash. The sensor enclosure includes keyhole slots, located at the rear of the sensors, which aid in installations of limited access. You can mount the sensors either horizontally or vertically; see Figure 1 in Section 2, "Introduction," for case and mounting dimensions. Northstar ships each sensor system with the following parts; check with Northstar if these parts aren't included with your sensor. 3.2 Northstar 8700 parts Table 1: 8700 parts Part # 8700­A 8700­PK KS130 KS131 KS133 GM630 Description 8700 GPS position sensor 8700 parts kit, consisting of: 25-pin female DB­25 connector DB­25 shielded junction shell DB-25 short screw lock for KS131 Northstar 8700 GPS Sensor Installation Manual 3.3 Northstar 8800 series parts Table 2: 8800 parts Part # 8800­A 8900­PK KS130 KS131 KS133 8410 Description 8800 beacon sensor 8900 series parts kit, consisting of: 25-pin female DB-25 connector DB­25 shielded junction shell DB-25 short screw lock for KS131 Optional DGPS antenna coupling unit (ACU) used with four-foot whip antenna 05/01/97 REV H PAGE 7 Section 3 - Packaging WC100 AN195 GM635 DGPS antenna connecting cable (RG-58U coaxial, 25 feet). Standard with 8410 Optional H-field DGPS-only antenna with 20 feet of RG-59U coaxial cable Northstar 8800 and 8801 Beacon Receivers Installation Manual Table 3: 8801 parts Part # 8800­A 8801-CA AN195 GM635 Description 8800 beacon sensor Interface cable with nine-pin I/O connector and power leads H-field DGPS-only antenna with 20 feet of RG-59U coaxial cable Northstar 8800 and 8801 Beacon Receivers Installation Manual 3.4 Northstar 8900 series parts Table 4: 8900 parts Part # 8900­A 8900­PK KS130 KS131 KS133 8410 WC100 Description 8900 integrated GPS/DGPS position sensor 8900 parts kit, consisting of: 25-pin female DB-25 connector DB­25 shielded junction shell Short screw lock for KS131 Optional DGPS antenna coupling unit (not used with combo antenna). DGPS antenna connecting cable (RG-58U coaxial, 25 feet). Not used with combo antenna. Standard with 8410. Optional GPS antenna (includes 25 feet of RG-59U cable) Optional GPS active antenna (includes 50 feet of RG-59U cable) Optional GPS/DGPS combo antenna with external splitter. Includes 50 feet of RG-59U cable. Optional H-field DGPS-only antenna. Includes 20 feet of RG-59U cable. AN145 AN150 AN190 AN195 PAGE 8 05/01/97 REV H Section 3 - Packaging GM640 8902-CA Northstar 8900 DGPS Sensor Installation Manual Optional interfacing cable for connecting to Northstar 800 series GPS-ready Lorans (only supplied with units for connection to 800-GPS or 800X-GPS, if specified at time of order. Table 5: 8901 parts Part # 8901-A AN200 GM-625 8901-CA 8903-CA Description 8901 integrated GPS/DGPS position sensor with internal splitter Combination antenna with 20 feet of RG-59U coaxial cable Northstar 8901/8901AL Ag DGPS Sensors Field Installation Manual Optional interfacing cable for agricultural applications Optional interfacing cable for AgLeader applications (included with Northstar 8901AL sensor) 05/01/97 REV H PAGE 9 Section 3 - Packaging PAGE 10 05/01/97 REV H Section 4 - GPS receivers Section 4 - GPS receivers 4.1 Northstar 8700 The Northstar 8700 GPS position sensor decodes satellite radio signals, and provides three-dimensional position, velocity, time, and other status information at a maximum rate of once per second. Each of the 12 parallel channels continuously tracks a GPS satellite signal. To support faster acquisition of GPS signals, the sensor makes provisions for external initialization of data. Further, the sensor can use externally-provided differential corrections to reduce inherent GPS inaccuracies; WGS-84 (World Geodetic System) is used as its reference datum. 4.1.1 Features · · · · · 12-channel correlator for "all-in-view" reception External antenna Code and carrier tracking of L1 GPS frequency (1,574.42 MHz) for increased accuracy Very fast signal reacquisition after signal obscuration Two serial input/output data ports: One to transmit navigation data, another for differential data input or other needs. Either one can be used for maintenance (reprogramming mode). 4.1.2 Technical specifications Power requirements · · · · 10 to 40 VDC 6 watts power consumption 0°C to +55°C temperature range of operation Internal, two-amp fuse Electrical requirements The 8700's power supply is protected against reverse-polarity power inputs, and features a remote turn-on ability. The 8700 turns on whenever power is applied to pin 25, ground to pin 13, and remote-on pin 12 is connected to a source of +5 to +40 VDC. Dynamics · · · Velocity: 1800 km/h Acceleration: 4 g Jerk: 2 m/sec3 Position accuracy · · · 3 m horizontal, with DGPS, 95 percent confidence 30 m horizontal, without Selective Availability (SA) imposed, 95 percent confidence 100 m horizontal, with SA imposed, 95 percent confidence 05/01/97 REV H PAGE 11 Section 4 - GPS receivers Acquisition time · 60 seconds typical Time-To-First-Fix (TTFF) with current almanac Reacquisition time · · < 1 second typical to re-acquire (5-second obscuration) < 3 seconds typical to re-acquire (60-second obscuration) Sensitivity · -124 to -130 dBm (antenna input level) Coarse acquisition · C/A code (1.023 MHz chip rate -- code and carrier phase tracking) Environment · · Operating temperature: Zero to 55° C Relative humidity: 95 percent (non-condensing) 4.1.3 Operating modes The 8700 automatically switches between six operating modes: · · · · · · Self-test Initialization Acquisition Navigation (includes four sub-modes: differential 3-D, differential 2-D, 3-D nav, and 2-D altitude-hold) Dead reckoning Fault FIGURE 2 - 8700 ALLSTAR engine operating modes The six modes are described in detail below. PAGE 12 05/01/97 REV H Section 4 - GPS receivers Self-test Upon request from an external source via the GPS primary port, using either RS-232 or RS-422, the 8700 enters self-test mode. This test requires no more than 15 seconds. Upon completion, the 8700 reports the test results on its primary port through an NMEA message that's displayed on the host PC, if available. Then, the 8700 proceeds either to initialization mode if it passes the test, or to fault mode if it detects a problem. Initialization When either power is applied or the self-test mode is complete, the 8700 enters initialization mode. While in this mode, the 8700 retrieves satellite-orbit data stored in its EEPROM memory. To ensure accuracy, the 8700 performs integrity checks on all data retrieved from the EEPROM. After initialization, the sensor enters acquisition mode. Acquisition mode Whenever sufficient real-time satellite data is available to produce an initial navigation solution, the 8700 enters acquisition mode. Acquisition mode can be entered from initialization, navigation, or dead-reckoning modes (see below for separate descriptions of navigation and dead-reckoning modes). The 8700 uses almanac data (stored in EEPROM memory) that describes the satellite orbits, which helps quickly acquire signals from the GPS satellites. After each satellite in view is acquired, the 8700 collects its ephemeris data by decoding the satellite down-link data message. When enough satellites are being tracked, the unit computes position, velocity, and time, then enters navigation mode. If valid almanac data is absent, and the 8700 can't acquire signals normally, it initiates a "search the sky" acquisition, attempting to acquire all satellites in the GPS constellation. In search the sky, the TTFF typically is less than five minutes. After it acquires each satellite, ephemeris data is decoded from the satellite down-link message. When enough satellites are being tracked, the 8700 enters navigation mode--although it exits to fault mode if it detects a problem. Navigation mode The 8700 enters navigation mode whenever sufficient satellite information and measurement data is available to produce a GPS fix. The unit enters navigation mode from acquisition or dead-reckoning modes, and exits to dead-reckoning or fault mode. Navigation mode consists of four sub-modes. The 8700 automatically chooses the highest-performance sub-mode available for the satellite data that it currently receives. On its primary port, it reports the current navigation sub-mode: · 3-D Differential This navigation mode has the highest performance. The 8700 operates in this mode when it receives data from at least four satellites with adequate geometry and differential corrections. Differential SC-104 corrections can be taken in the auxiliary data port using either RS-232 or RS-422. 05/01/97 REV H PAGE 13 Section 4 - GPS receivers · 2-D Differential When 3-D differential mode can't be used, this is the highest-performance navigation mode. The 8700 operates in this mode when it receives data from only three satellites with adequate geometry and differential corrections. SC-104 differential corrections can be taken in on the auxiliary data port using either RS-232 or RS-422. · 3-D Nav When sufficient differential corrections aren't available, this is the preferred navigation mode. The 8700 operates in this mode when it receives data from at least four satellites with adequate geometry, but no differential corrections. · Altitude-Hold (2-D Nav) This is the least-preferred navigation mode. If satellite measurements are insufficient to produce a 3-D navigation solution, but sufficient when altitude information is available, the 8700 operates in this mode, where the altitude is assumed constant. Dead-reckoning mode The 8700 enters dead-reckoning mode when it can't remain in navigation mode. The speed and direction of the vehicle are assumed constant to allow the 8700 to provide an estimated position. Fault mode The 8700 enters fault mode from any mode--except initialization--when and if the 8700 determines that one or more critical system faults are affecting its outputs. Fault mode supersedes all others, and remains active until the next power-down/power-up cycle. PAGE 14 05/01/97 REV H Section 5 - Beacon receivers Section 5 - Beacon receivers 5.1 Northstar 8800 series The Northstar 8800 series DGPS beacon sensor system receives corrections broadcast by land-based marine radio beacons situated along most of the U.S. coastline and inland waterways (see Figure 3 below). GPS receivers can use these corrections to improve their GPS accuracy to 10 meters or better, with three-meter accuracy 95 percent of the time commonly available. The 8800 can significantly enhance the accuracy and performance of all differential-capable GPS receivers that support the standard RTCM SC-104 DGPS corrections format. DGPS corrections remove the errors caused by atmospheric variations and Selective Availability, or SA. SA is the intentional degradation of satellite signals by the U.S. Department of Defense. WA MT OR ID WY NV UT CA AZ CO NE KS OK TX Approximate limit of 75µV signal strength Additional probable coverage area for 20µV sensitivity IA IL MO AR LA MS AL IN SD ND MN WI NY MI PA OH WV N J VT ME NH MA CT KY TN VA NC NM SC GA FL FIGURE 3 - Radio-beacon coverage map NOTE: Figure 3 is current as of 03/01/97. For the absolute latest in radio-beacon coverage information, please visit the Northstar web site at http://www.northstarcmc.com. Then, follow the "What's new" link, click on "Interesting web links," and select the USCG Navigation Center. 5.1.1 About the Northstar 8801 The 8800 and 8801 sensors are functionally identical; the only difference is their configuration. The 8800 can be used with either the Northstar 8410 ACU or the Northstar AN195 H-field antenna, and is intended primarily for marine applications. The 8801 is a bundled system intended PAGE 15 05/01/97 REV H Section 5 - Beacon receivers primarily for agricultural and other land-based applications. It includes the AN195 H-field antenna and the Northstar 8801-CA cable assembly, which provides a standard nine-pin connector to interface the 8800 to a personal computer or other equipment designed to receive differential corrections. Because the two units are functionally identical, this section uses the common term 8800 to refer to both models. 5.1.2 Features · · · · Two channels Automatic evaluation of available radio-beacon signals Automatic selection of best stations Superior channel performance and impulse blanking techniques Wiring diagrams on connecting the 8800 to Northstar GPS receivers are provided in the Northstar 8800 and 8801 Beacon Receivers Installation Manual (Northstar Part Number GM635); these receivers include the Northstar 806, 806X, and Europa GPS navigators; and the Northstar 8000, 8100, 8300, 8700, and 9300 DGPS sensors used with the Northstar 800 and 9000 series navigators. For other receivers, use the Northstar diagrams as a guide, and consult the interfacing diagrams supplied with your receiver. You can use the 8800 with any brand of GPS receiver that supports the standard RTCM SC-104 DGPS corrections format. NOTE: Some Northstar units may require a software upgrade for use with the 8800. 5.1.3 Technical specifications Power requirements · · · · 10 to 40 VDC input voltage 5 watts power consumption Remote turn-on ability 2-amp input fuse Signal processing · · · · · · · Two channels 283.5 - 325.0 kHz frequency range < 2 Hz tuning resolution Minimum signal strength: < 5 µV/m @ 100 bps > 100 dB dynamic range > 50 dB at 1 kHz adjacent channel rejection Acquisition time: Five seconds, manual command; 15 seconds, automatic warm start; 15 minutes, automatic cold start (only at first turn on after installation--time varies, depending on local beacon frequencies) Predictive variable-length noise blanker · PAGE 16 05/01/97 REV H Section 5 - Beacon receivers · Signal detection: acquisition via frequency-locked loop (FLL); tracking via phase-locked loop (PLL) Data processing · · · Minimum shift keying (MSK) demodulation Data decoding: parallel-matched digital filters MSK bit rates: 25, 50, 100, 200 (automatically selected) Data ports · · · Control input port: RS-232-C and RS-422 or NMEA 0183; 9600 or 4800 baud (jumper-selectable) DGPS correction output port: RTCM SC-104 Version 2.1; 6 of 8 RS-232-C and RS-422; 9600 or 4800 baud (jumper-selectable) Monitor/control port: Bi-directional RS-232-C or RS-422 at 9600 baud Environment · · Operating temperature: Zero to 55° C Relative humidity: 95 percent (non-condensing) Electrical requirements The 8800's power supply is protected against reverse-polarity power inputs, and features a remote turn-on ability. The 8800 turns on whenever power is applied to pin 25, ground to pin 13, and remote turn-on pin 12 is connected to a source of 5 to 40 VDC. 5.1.4 Operating modes The 8800 runs in two operating modes: · · Automatic Manual Automatic mode At power-up, the 8800 enters automatic mode, requiring no further supervision from the host GPS receiver. The 8800 operates automatically by using two independent channels: Channel 1 tracks the best beacon signal available (the signal 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 kHz to 325 kHz), locating and measuring received DGPS beacon signals. The 8800 then stores this information as a DGPS beacon "directory" in battery-powered memory. If the signal that's received and monitored by Channel 1 degrades for any reason, the 8800 selects a better frequency from its beacon "memory." This function lets the 8800 automatically switch to the best beacon signal before affecting your GPS accuracy. Automatic mode can be used for all applications except specialized ones, and is the only mode supported by most commercially-available GPS receivers. 05/01/97 REV H PAGE 17 Section 5 - Beacon receivers Manual mode At any time, the host device can override automatic station selection by issuing tuning commands on the serial interface. In manual mode, the 8800 will output DGPS corrections from the selected station, restoring automatic mode either the next time the unit is powered on or when the controlling device specifies a station frequency of zero. PAGE 18 05/01/97 REV H Section 6 - GPS/beacon combination receivers Section 6 - GPS/beacon combination receivers 6.1 Northstar 8900 series The Northstar 8900 GPS/DGPS position sensor system has a unique combination of performance and operational features, including 12-channel GPS with fully automatic, dual-channel beacon performance for the ultimate in position accuracy. The 8900 sensor combines the Northstar 8700 GPS sensor and the Northstar 8800 differential sensor to create a product ideal for applications requiring a high level of position accuracy, such as vehicle tracking, yield monitoring, field mapping, and other specialized OEM applications. The 8900's advanced DGPS system provides greater accuracy than GPS alone by accepting differential signal corrections from strategically-located transmitters, or beacons. DGPS corrections remove the errors caused by atmospheric variations and Selective Availability, or SA. SA is the intentional degradation of satellite signals by the U.S. Department of Defense. Once set up and configured to your application's requirements, the 8900 sensor needs only minimal supervision. By virtually eliminating any attention needed to operate the unit, you can devote more time to other aspects of your work. To add worldwide positioning capability, you can easily interface the 8900 to other sources of differential corrections using the SC-104 corrections format. For further information, see Section 8, "Input/Output Configurations." See Section 4, "GPS Receivers," and Section 5, "Beacon Receivers," for a description of the operation of the 8900's GPS receiver and beacon receiver, respectively. 6.1.1 About the Northstar 8901 The 8900 and 8901 sensors are functionally identical; the only difference is their configuration. Like the 8900, the 8901 is a 12-channel GPS with dual-channel, automatic differential. The 8900 can use either two separate antennas (GPS and beacon receiver), or a combo antenna and external signal splitter; however, the 8901 is configured to operate only with the Northstar AN200 combination antenna (a Northstar AN190 antenna with a 20-foot cable). Accordingly, the 8901 features a convenient internal splitter for quick connection. The 8901 is primarily used for precision agricultural applications, including soil sampling, field mapping, and yield monitoring. Because the two units are functionally identical, this section uses the common term 8900 to refer to both models. 6.1.2 Features · · · · · 12-channel, high-performance GPS precision and dependability Two-channel, fully automatic DGPS beacon receiver for accuracy as good as three meters 95 percent of the time Speed measurements accurate to about 0.1 m.p.h. Course-over-ground (COG) measurements to about 0.5° accuracy Accurate, worldwide position data in any weather, 24 hours a day 05/01/97 REV H PAGE 19 Section 6 - GPS/beacon combination receivers · · · Fast signal acquisition Fast-reacting, accurate speed and course Remote turn-on ability 6.1.3 Technical specifications Power requirements · · · · 10 to 40 VDC 8 watts power consumption Internal 2-amp fuse Remote turn-on ability Electrical requirements The 8900's power supply is protected against reverse-polarity power inputs, and features a remote turn-on ability. The 8900 turns on whenever power is applied to pin 25, ground to pin 13, and remote turn-on pin 12 is connected to a source of 5 to 40 VDC. Signal processing · · · · · · · Two channels 283.5 - 325.0 kHz frequency range < 2 Hz tuning resolution Minimum signal strength: < 5 µV/m @ 100 bps > 100 dB dynamic range > 50 dB at 1 kHz adjacent channel rejection Acquisition time: Five seconds, manual command; 15 seconds, automatic warm start; 15 minutes, automatic cold start (only at first turn on after installation--time varies depending on local beacon frequencies) Predictive variable-length noise blanker Signal detection: acquisition via frequency-locked loop (FLL); tracking via phase-locked loop (PLL) · · Data processing · · · Minimum shift keying (MSK) demodulation Data decoding: parallel-matched digital filters MSK bitrates: 25, 50, 100, 200 (automatically selected) Data ports · · · Control input port: RS-232-C and RS-422 or NMEA 0183; 9600 or 4800 baud (jumper-selectable) DGPS correction output port: RTCM SC-104 Version 2.1; 6 of 8 RS-232-C and RS-422 9600 or 4800 baud (jumper-selectable) Monitor/control port: Bi-directional RS-232-C or RS-422 at 9600 baud PAGE 20 05/01/97 REV H Section 6 - GPS/beacon combination receivers Environment · · Operating temperature: Zero to 55° C Relative humidity: 95 percent (non-condensing) 05/01/97 REV H PAGE 21 Section 6 - GPS/beacon combination receivers PAGE 22 05/01/97 REV H Section 7 - Antennas Section 7 - Antennas 7.1 Overview Northstar offers a variety of antenna options to suit any application. The Northstar sensors' standard antenna system consists of the following: · · · antenna antenna coupling unit (ACU) that provides impedance-matching circuitry for the antenna, and serves as a mounting base coaxial cable connecting the ACU to the sensor Antennas are sold separately from the sensors, since customers' needs vary as to antenna reception, cable length, and so on; however, the 8801 and 8901 are the two exceptions to this rule. The 8801 is shipped with the Northstar AN195 H-field antenna, and the 8901 is shipped with the Northstar AN200 GPS/DGPS antenna. See Section 3, "Packaging," to determine which antennas are appropriate for your particular sensor. 7.2 GPS antenna (AN145) 7.2.1 Description 7.2.2 Dimensions 3.00 The Northstar AN145 is a passive GPS antenna that's shipped with 25 feet of RG-59U coaxial cable. .91 A N T EN N A O -RING A D AP TE R 1.82 CAPTIVE SCREW FIGURE 4 - Northstar AN145 antenna 7.2.3 Cables The AN145 antenna doesn't operate properly with an antenna cable over 25 feet. If you require an antenna cable over 25 feet, contact Northstar about substituting the AN150 antenna. For land-based applications, mount the AN145 near the top of the vehicle, where a clear and unobstructed view of the horizon is available in all directions. PAGE 23 7.2.4 Mounting location 05/01/97 REV H Section 7 - Antennas For marine applications, mount the AN145 low on the vessel to avoid extra motion from pitching and rolling. Be sure to install the AN145 lower than high-power transmitting antennas, such as radar or satcom. 7.3 GPS antenna (AN150) 7.3.1 Description The Northstar AN150 is similar to the AN145; however, it contains an active preamplifier that can drive up to 100 feet of RG-59U coaxial cable. It's shipped with 50 feet of RG-59U coaxial cable for connecting the antenna to the sensor. 7.3.2 Dimensions 3.00 .91 A N T EN N A O -RING A D AP TE R 1.82 CAPTIVE SCREW FIGURE 5 - Northstar AN150 antenna 7.3.3 Gain 7.3.4 Cables 7.3.5 Mounting location 12 dB The length of coaxial cable must be a minimum of 20 feet of RG-59U coaxial, but not more than 100 feet. For land-based applications, mount the AN150 near the top of the vehicle, where a clear and unobstructed view of the horizon is available in all directions. For marine applications, mount the AN150 low on the vessel to avoid extra motion from pitching and rolling. Be sure to install the AN150 lower than high-power transmitting antennas, such as radar or satcom. 7.4 GPS/DGPS combination antenna (AN190/AN200) 7.4.1 Description Northstar combines the AN195 antenna and the AN150 antenna to form a single-unit GPS/DGPS combination antenna: the AN190. This "combo" antenna provides an easier, more attractive installation, and, in many cases, its loop antenna improves the noise rejection of DGPS signals for 05/01/97 REV H PAGE 24 Section 7 - Antennas better performance. The AN190 is shipped with 50 feet of coaxial cable and an external splitter. The AN200 is an AN190 with 20 feet of RG-59U coaxial cable. The AN200 is shipped as standard equipment with the Northstar 8901 sensor). 7.4.2 Dimensions 7.00 2.5 TNC 3.5 FIGURE 6 - AN190 combination antenna 7.4.3 Gain 7.4.4 Cables 12 dB The length of coaxial cable to the combo antenna must be a minimum of 20 feet, but not more than 100 feet. Coil up any unused length of cable; do not cut it to less than 20 feet! Be sure that all cable connectors are securely fastened, and that the cable itself isn't subject to any tight bends. For land-based applications, mount the AN190 near the top of the vehicle, where a clear and unobstructed view of the horizon is available in all directions. For marine applications, mount the AN190 low on the vessel to avoid extra motion from pitching and rolling. Be sure to install the AN190 lower than high-power transmitting antennas, such as radar or satcom. 7.4.5 Mounting location 7.5 DGPS-only H-field antenna (AN195) 7.5.1 Description The Northstar AN195 H-Field antenna is a low-profile, high-performance DGPS antenna that can be used in place of the 8410 four-foot whip antenna; its small size is ideal for applications that require minimal overhead clearances. The AN195 is housed in the same waterproof body as the AN190 "combo" antenna, but contains only the circuitry for receiving differential GPS corrections. 7.5.2 Dimensions 05/01/97 REV H PAGE 25 Section 7 - Antennas 7.00 2.5 TNC 3.5 FIGURE 7 - Northstar AN195 H-Field antenna 7.5.3 Cable length The length of the RG-58U coaxial cable must be a minimum of 20 feet, but not more than 300 feet. Coil up any unused length of cable; do not cut it to less than 20 feet! Be sure that all cable connectors are securely fastened, and that the cable itself isn't subject to any tight bends. Although the H-field antenna is generally less susceptible to impulse noise than the whip antenna (see below), the H-Field antenna's location remains critical in achieving optimum performance. 7.5.4 Mounting location 7.6 Whip antenna (8410 ACU) 7.6.1 Description The Northstar 8410 Antenna Coupling Unit (ACU) consists of two polycarbonate pieces, a base and an upper unit, which is threaded to accept a standard four-foot fiberglass whip antenna. NOTE: The actual four-foot whip antenna is NOT included with the Northstar 8410 ACU antenna system. 7.6.2 Dimensions The 8410 dimensions are listed below. Height = 11 inches Diameter = 2.6 inches Weight = 1.5 pounds PAGE 26 05/01/97 REV H Section 7 - Antennas 48" antenna 5.5" ACU 11" ACU 5.5 " ACU base FIGURE 8 - Northstar 8410 ACU 7.6.3 Cable length The 8410 uses a 25-foot length of RG-58U coaxial cable to carry DGPS signals to the receiver and DC power to the ACU amplifier. More cable may be added if the DC voltage drop across the cable doesn't exceed 0.5 volts. In normal installations, cable length up to 300 feet is acceptable. To accurately receive and effectively use differential corrections under a wide variety of weather conditions, proper installation of your Northstar 8410 DGPS antenna is of utmost importance. You must mount the whip antenna as high as conveniently possible--but not at the highest point--and as far as possible from other antennas. If you have several possible antenna locations, evaluate each one by operating the receiver with the antenna temporarily mounted in each location: The location providing the lowest Sferics count (atmospheric impulse noise generated by thunderstorms and other weather conditions) and highest Signal-to-Noise Ratio (SNR) is the best location. Sferics and SNRs are best measured using the monitor port and a portable computer or ASCII terminal. Remember: The antenna is a vital link between the DGPS receiver and the outside world. Aesthetics and easy access should be secondary to providing strong and reliable signals to the receiver. Much like a loran antenna, you minimize the effects of P-static if you mount the 8410 DGPS antenna so that it isn't the highest metallic object on the vessel. (The highest metal object acts much like a lightning rod, attracting tiny static dis- 7.6.4 Mounting location 05/01/97 REV H PAGE 27 Section 7 - Antennas charges in the atmosphere. If the beacon receiver antenna is the highest object, these discharges can totally override the beacon signals and cause poor operation in bad weather.) The optimal antenna location is high and clear for fair-weather operation, but below the top of a metal mast or other antenna for best foul-weather operation. On sailing vessels, the antenna might be mounted on top of a low mast, or on the stern rail, if no other suitable location is available. PAGE 28 05/01/97 REV H Section 8 - Input/output configurations Section 8 - Input/output configurations The Northstar 8700, 8800 series, and 8900 series sensors contain either a GPS sensor, a BDM receiver, or both. Each sensor has two full-duplex serial ports that you can interconnect with each other and/or external devices in various ways as required for your 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, only one receiver input for a particular port should be connected. To allow for various installation requirements, the sensor contains a programmable matrix switch that can connect any GPS or BDM receiver signal to any sensor's I/O port. Five program configurations are available with the standard product; one of these is selected by grounding appropriate pins on the sensor's 25-pin data/power connector. The wiring diagram for each sensor model shows the required configuration of these pins. For other specialized applications requiring different configurations, contact Northstar to determine the cost and feasibility of customized programming. 8.1 I/O ports The signal levels of the available I/O ports are shown below. Table 6: I/O ports Pin # 7 21 10 15, 3 1, 14 6 20 9 5, 18 16, 4 I/O port RS-232 receiver 1 input RS-232 receiver 2 input RS-232 receiver 3 input 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 RS-422 transmitter 1 output (A/B) RS-422 transmitter 2 output (A/B) 8.2 Sensor signals The available sensor signals are listed below. · · · GPS primary output GPS auxiliary output BDM SC-104 output PAGE 29 05/01/97 REV H Section 8 - Input/output configurations · · · · · · · BDM monitor output GPS time mark output GPS primary input GPS auxiliary input BDM control input BDM monitor input Echo port These signals may be internally connected to the sensor's I/O ports in various ways. The most common configurations are programmed into Northstar's standard sensors. Custom configurations may be available in OEM quantities. 8.3 Standard configurations Pins 11, 23, and 24 on the 25-pin data/power connectors let you select a configuration (each pin is pulled up internally and should be either left unconnected or connected to ground). The eight standard configurations are shown in Table 7 below, which lists one to three standard configurations recommended for each sensor type (these configurations relate to Northstar PAL Version 2.6. If problems occur, contact Northstar customer service for assistance): Table 7: Standard configurations Sensor 8900 with internal BDM feeding GPS receiver 8900 with external SC-104 input feeding GPS receiver 8800 (BDM only) 8900 with time mark output 8700 (GPS only) Not used Not used Factory test Configuration # 7 6 5 4 3 2 1 0 Configuration pin #24 Open Open Open Open GND GND GND GND Configuration pin #11 Open Open GND GND Open Open GND GND Configuration pin #23 Open GND Open GND Open GND Open GND The port connections of each of these standard configurations are detailed throughout Section 8.4. 8.4 Configuration details Configurations 7 and 6 are used with the 8900, which contains both a GPS sensor and a BDM receiver. In configuration 7, the SC-104 output from the BDM receiver passes directly to the auxiliary input of the GPS PAGE 30 05/01/97 REV H Section 8 - Input/output configurations sensor (for pinouts, see Table 16 on page 39). Configuration 6 is similar, except that the GPS sensor takes the SC-104 corrections from port 2, either RS-232 or RS-422 (for pinouts, see Table 17 on page 40). NOTE: You can easily switch between internal BDM and external SC-104 operation simply by opening or grounding pin 23 on the connector. Table 8: Configuration 7 Pin # 6 20 9 5,18 16,4 7 or 15 & 3 21 or 1 & 14 10 I/O port RS-232 output 1 RS-232 output 2 RS-232 output 3 RS-422 output 1 RS-422 output 2 RS-232 input 1 or RS-422 input 1 RS-232 input 2 or RS-422 input 2 RS-232 input 3 Sensor signal GPS primary output BDM SC-104 output BDM monitor output GPS primary output Echo of RS-232 input 1 or RS-422 input 1 GPS primary input BDM control input BDM monitor input Table 9: Configuration 6 Pin # 6 20 9 5,18 16,4 7 or 15 & 3 21 or 1 & 14 10 I/O port RS-232 output 1 RS-232 output 2 RS-232 output 3 RS-422 output 1 RS-422 output 2 RS-232 input 1 or RS-422 input 1 RS-232 input 2 or RS-422 input 2 RS-232 input 3 Sensor signal GPS primary output BDM SC-104 output BDM monitor output GPS primary output Echo of RS-232 input 1 or RS-422 input 1 GPS primary input GPS auxiliary input BDM monitor input Configuration 5 (for pinouts, see Table 15 on page 38) is used with the Northstar 8800, which only contains a BDM. Inputs and outputs from both BDM ports are available in RS-232 and RS-422 signal levels. 05/01/97 REV H PAGE 31 Section 8 - Input/output configurations Table 10: Configuration 5 Pin # 6 20 9 5,18 16,4 7 or 15 & 3 or 10 21 or 1 & 14 I/O ports RS-232 output 1 RS-232 output 2 RS-232 output 3 RS-422 output 1 RS-422 output 2 RS-232 input 2 or RS-422 input 2 or RS-232 input 3 RS-232 input 1 or RS-422 input 1 Sensor signal BDM monitor output BDM SC-104 output BDM SC-104 output Echo of RS-232 input 2 or RS-422 input 2 BDM SC-104 output BDM control input BDM monitor input Table 11: Configuration 4 Pin # 6 20 9 5,18 16,4 7 21 or 1 & 14 15 & 3 I/O port RS-232 output 1 RS-232 output 2 RS-232 output 3 RS-422 output 1 RS-422 output 2 RS-232 input 1 RS-232 input 2 or RS-422 input 2 RS-422 input 1 Sensor signal GPS primary output Time mark output GPS auxiliary output BDM monitor output BDM SC104 output GPS primary input BDM control input BDM monitor input Configuration 3 (for pinouts, see Table 14 on page 37) is used with the Northstar 8700, which contains only a GPS sensor. Inputs and outputs from both GPS ports are available in RS-232 and RS-422. Table 12: Configuration 3 Pin # 6 20 9 5,18 16,4 7 or 15 & 3 PAGE 32 I/O ports RS-232 output 1 RS-232 output 2 RS-232 output 3 RS-422 output 1 RS-422 output 2 RS-232 input 1 or RS-422 input 1 Sensor signal GPS primary output Time mark output GPS auxiliary output GPS primary output Echo of RS-232 input 1 or RS-422 input 1 GPS primary input 05/01/97 REV H Section 8 - Input/output configurations 21 or 1 & 14 or 10 RS-232 input 2 or RS-422 input 2 or RS-232 input 3 GPS auxiliary input 8.5 Connector pin assignments Table 13 below contains the hardware port numbers and signal levels available on all the sensor's connector pins. Specific signal assignments for standard 8700, 8800, and 8900 configurations are found in Section 9, "Connector Pinouts." Table 13: Hardware pin numbers/signal levels Pin # 1 2 3 4 5 6 7 8 9 10 11 12 13 Signal level RS-422 input 2A Ground RS-422 input 1B RS-422 output 2B RS-422 output 1A RS-232 output 1 RS-232 input 1 Ground RS-232 output 3 RS-232 input 3 Configuration pin B Remote ON (­) DC power input (Ground) Pin # 14 15 16 17 18 19 20 21 22 23 24 25 -- Signal level RS-422 input 2B RS-422 input 1A RS-422 output 2A Ground RS-422 output 1B Ground RS-232 output 2 RS-232 input 2 Not Used Configuration pin A Configuration pin C (+) DC power input -- 8.6 Input and output signals 8.6.1 RTCM SC-104 output The SC-104 port supplies differential corrections. The port characteristics are listed below. · · · · Signal type: RS-232 or RS-422 Data format: RTCM SC-104 Baud rate: 4800 or default of 9600 (8 bits, no parity, 1 stop bit) Jumper-selectable. NOTE: There is some lack of industry-standard labeling of RS-422 pin pairs listed as A and B or as + and ­. If the interface doesn't work, try swapping the polarity of the pairs. 05/01/97 REV H PAGE 33 Section 8 - Input/output configurations 8.6.2 BDM control input The BDM control input accepts tuning commands in either NMEA 0183 format messages or Magnavox MX-50R-compatible binary control commands. For details, see Section 10.1.1, "NMEA 0183 format control messages" on page 43. The port characteristics are listed below.