c-nav2050 navigator/rover setup quick guide navigator/rover setup quick guide page 2 of 24 ii....

C-Nav2050 NaviGator/Rover Setup Quick Guide

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This document will help guide users on how to set up the C-Nav2050 GPS Sensor as a Rover using the STARUTIL MS-Windows application. Additional instructions are appended to connect the C-Nav2050 GPS Sensor to the C-NaviGator control and Display unit.

I) Receiver Placement II) Establish Communication III) Check Tracking Status IV) Rover / Tracking & Navigation Setup V) View - B1 – Solution VI) Output of NMEA Telegram Messages VII) Connecting the C-NaviGator Unit

I. Receiver Setup Connect the GPS Coaxial Cable to the Tri-Band GPS antenna and to the TNC RF connector on the C-Nav2050 GPS Sensor front panel. Setup the C-Nav2050 Tri-Band GPS antenna in a location where it has a line of sight of the sky. Connect a D.C. power source (12V nominal) to the C-Nav2050 power cable and plug the Lemo power connector into the power socket on the C-Nav2050 GPS Sensor front panel. Press and hold the Power On/Off switch, on the front panel, to turn the C-Nav2050 GPS Sensor On. The front panel LED’s will light/flash when this is successful.


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II. Establish Communication

Use a ‘PC or computer’ that has been installed with the STARUTIL application software so as to establish communication with the C-Nav2050 GPS Sensor to COM 2 (Port B).

a. Connect the communication cable to PC’s COM Port to C-Nav2050 GPS Sensor’s COM 2 (Port B) – Lemo to DB9 cable.

b. Execute STARUTIL software. c. From the STARUTIL Toolbar, click telephone button to configure COM Ports

shown in Figure 1.

Figure 1

d. The PC Port Configuration window will come up as shown in Figure 2.

Figure 2

The Device name is your PC’s COM Port used to communicate with C-Nav2050 GPS Sensor. The Baud rate of 19200 is default setting, and you can change as desired or leave as is and check the Auto Baud option. Chose OK button and the STARUTIL application will connect (and search) for communications with the C-Nav2050 GPS receiver/sensor. Once a successful RS-232 serial communication link has been attained, messages will start to scroll through the STARUTIL Messages Window. Communication has been established with the C-Nav2050 GPS sensor.


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Figure 3.

III. Check Tracking Status

a. From the STARUTIL root, select View, 86 – Channel Status. (Clicking the button will yield the same result). The Tracking Status screen will appear as seen in Figure 4 below. This screen will show the values of each satellite being tracked, and gives a solid indication of whether the chosen environment for the C-Nav2050 GPS receiver is suitable. The following conditions should be met in order to have accurate position estimate functionality:

1. A minimum of 5 satellites are being tracked in state 255 (dual frequency). 2. The five satellites in dual frequency (state 255) are above the mask angle. 3. The satellites have a good geometry (as depicted by DOP values). 4. Signal-to-noise values are within reason, as shown in the CA and P2 columns. 5.

NOTE: Typical values are shown in Figure 4 below. Notice the higher signal-to-noise values for the higher elevation satellites.

Figure 4.


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IV. Rover / Tracking & Navigation Setup a. From the STARUTIL Toolbar, click Rover button as shown in Figure 5.

Figure 5.

b. Rover / Tracking & Navigation Setup window will come up as shown in Figure 6.

Figure 6.


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a. Navigation Mode or Correction Format

• Select the proper Use button for which correction types that are required to be used by the C-Nav2050 GPS receiver.

b. Navigation i. Select Elevation Mask Angle. Default = 7 (degrees)

ii. Select Navigation rate. Default = 1 Hz iii. Type in Site ID of the Base Station to be used for RTK or DGPS

corrections – if applicable. Default = 0 (ie; accept any correction station) c. Unit Port Configuration

i. Select Unit Port Configuration Button and a Unit Port Configuration window will come up as shown in Figure 7. Please select which Logical Ports user wants to receive and send messages and choose OK. For example:

• If user has chosen RTCM (DGPS) as Message Format for input, select Logical Ports RTCM to use the other auxiliary (Port-A), which is the COM1 RS-232 interface of the C-Nav2050 GPS Sensor.

• To output NMEA telegram messages, select Logical Ports NMEA to use the other auxiliary (Port-A), which is the COM1 RS-232, interface of the C-Nav2050 GPS Sensor.

Figure 7.

d. Click Apply button to configure the C-Nav2050 GPS receiver as a Navigation /

Rover sensor. e. Then click on Retrieve button to verify that information has been saved in non-

volatile RAM. f. Then press the Cancel button to exit screen.


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V. View B1- Solution Now that the C-Nav2050 GPS Receiver has been setup with the required Navigation mode and correction options, you can review the actual GPS navigation solution as follows:-

a) From the STARUTIL Menu, click Receiver | Messages | NCT output to obtain the following screen dialog as shown in Figure 8.

Figure 8.

b) Select (by right clicking with the mouse in the display) the ‘compact binary’ 2050 messages as shown in Figure 8 above

c) Click Apply button to configure the C-Nav2050 GPS receiver as a Navigation / Rover sensor.

d) Then press the OK button to exit screen.


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e) From the STARUTIL Menu, click View – B1 as shown in Figure 9.

Figure 9.

This will bring up the following Solution Display window as shown in Figure 10.

Figure 10.


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VI. Output of NMEA Telegram Messages

Now that the C-Nav2050 GPS Receiver is setup and navigating. To output standard NMEA messages of the actual GPS navigation solution is accomplished as follows:-

a) From the STARUTIL Menu, click Receiver | Messages | NMEA output to obtain the

following screen dialog as shown in Figure 11.

Figure 11.

b) Simply select the required NMEA telegram message that are required to be output from the C-Nav2050 auxiliary RS-232 data port (ie; Port-A or COM1 on the 2050 front panel - as setup previously in this procedure). This is accomplished by using the mouse and right clicking on the display and selecting, changing, or deleting any NMEA messages, and also the same procedure for selection the NMEA message data output rate.


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VII. Connecting the C-NaviGator Unit Now that the C-Nav2050 GPS Receiver has been configured and is running, you can disconnect the computer running the STARUTIL application and connect to the C-NaviGator control and display unit.

Note: The above procedure using the STARUTIL application can be bypassed and the C-Nav2050 GPS Sensor can be connected to the C-NaviGator immediately and thereby setup and configured accordingly. The only reason to use the STARUTIL application is to essentially ensure the C-Nav2050 GPS Sensor is functional and that the COM2 (Control Port – PortA) RS-232 baud rate settings are known (as determined in step II.d and Figure 2 above).

a) Connect the communication cable from the C-Nav2050 GPS Sensor’s COM 2 (Port B) – Lemo to DB9 cable, to the RS-232 COM1 serial port on the back of the C-NaviGator unit.

Figure 12.

2050 NMEA or RTCM Output

RTCM (or RTK) Input

Additional NMEA Output

C-Navigator


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UpdateC-

00:0

b) Apply D.C Power to the C-NaviGator turn on the ON/OF switch (1/0) on the back of the C-NaviGator unit.

c) In a few seconds, the “Rethink GPS” sign-on screen is displayed as shown above, allowing the option to Update the internal program or begin normal operation. If no action from the operator is detected, C-NaviGator will automatically launch the program. This may take several seconds.

d) C-NaviGator automatically recalls the last settings saved and displays the Position Information screen (default). System operating modes and status indicators are seen on the left under GPS Quality. To the right is the “Active Port” switch, the “Active Port” Indicator, and the general “Alarm” Indicator. F4 is the front panel hot switch that provides a means to quickly switch to different input sources for monitoring.

e) Press the RIGHT arrow on the C-NaviGator front panel to scan through the various view screens. Alternatively, press MENU, select “View” with the RIGHT Arrow, and then the DOWN arrow, followed by ENTER, to select the view screen.

f) Pull down menus (upper left of the screen) allow operator access to C-NaviGator configuration, display options, parameter settings, support documentation, etc. Menus are selected by pressing the white MENU button on the front panel and using the RIGHT/LEFT arrows to navigate through the selections. UP/DOWN buttons select items within menus and ENTER activates the screen.


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Load Defaults: The user can quickly revert the C-NaviGator to all factory settings as a starting point for a new configuration. When “Load Defaults” is selected and ENTER pressed, the user is required to configure the system using the Settings menu options. Load Settings: Similar to “Load Defaults” – “Load Settings” recalls the last configuration saved by the operator and installs these when the ENTER button is pressed. Save Settings: To store C-NaviGator’s current configuration, select “Save Settings” and press ENTER. These settings can be recalled with the “Load Settings” command.

Save Settings

Load Settings

Load Defaults


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Reset Unit:

Similar to the Restart command on the PC, “Reset Unit” causes C-NaviGator to restart the internal program. The operator is asked to confirm the “Reset Unit” command. Use the UP/DOWN buttons to select ”Yes” or “No”. Position Info: (Default) This is the default screen for C-NaviGator. “Position Info” displays horizontal position (in Latitude/Longitude), Height Above Ellipsoid (HAE), Speed Over Ground (SOG), and Course Over Ground (COG).

Position Info

Reset Unit


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Satellite Info: This screen provides the operator with information relative to the constellation configuration and the signal strengths received from each visable satellite. Relative locations of the GPS satellites to the GPS receiver are plotted based on azimuth and elevation information provided by the GPS receiver. Each visible satellite is represented in the plot by a circle with the satellite ID number inside. All satellites used to compute the PVT solution are identified as green circles. Circles turn red if data from the satellite becomes too noisy or obstructed. The graphic center point reference represents a point directly overhead and the grid lines from the center of the graph inversely indicate satellite elevation.

Satellite Info


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Error Ellipse: The error ellipse graphically represents the sum of the horizontal error uncertainty in the system. Graphics on the “Error Ellipse” screen show the one-sigma error estimate of the PVT solution accuracy (in meters) based on the DOP and residual analysis.

Error Ellipse


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Scatter Plot: This screen displays a history of the positions received from the GPS receiver. The reference Latitude and Longitude shown indicates real-time position. New positions are computed and presented on the scatter plot with error displacements shown referenced to the operator’s RANGE setting. This distance is the error between the current position and the reference position.

Scatter Plot


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Fixes: Position fixes are logged into the C-NaviGator memory when the front panel “FIX” button is pressed. The “Edit” function softkey allows the user to name the Fix.

Fixes


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Alarms: Several alarm conditions are logged and displayed on this screen.

Alarms


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General: Three major system settings are accessed through this screen. These include:

• Selection of the port used to connect to the GPS receiver

• Offset for timezone correction • The units of distance and speed

Set Time zone Offset The offset from UTC time is set here by adjusting the hour and minute values. As before, use the UP/DOWN and ENTER buttons, followed by F1 to effect the change. Units Distance and speed units used for the C-NaviGator displays are selected in this section of the screen. -- NOTE: F1 (Apply) must be pressed to complete parameter changes --

Older Version

General


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Display: Brightness of the C-NaviGator LCD screen is controlled through settings on this screen. It can be adjusted for optimum viewing depending on the time of day and physical location of the unit. To increase visability in areas of high ambient light, it may be necessary to set the display brightness to the Day Mode (100%). Slider bars are used to set both Day and Night brightness levels. The Night Mode Brightnes setting dims the display backlight and changes the colors for night use. This is necessary for installatiions on the bridge of a vessel where bright lights interfere with the helmsman’s view. Auto Mode Settings The operator can program the C-NaviGator to automatically switch from Day to Night display modes. To change these times, use the UP/DOWN/ENTER buttons to move the cursor to the setting block and choose from the values listed. -- NOTE: F1 (Apply) must be pressed to complete parameter changes –

Display


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GPS Quality Alerts: As shown in this screen capture, alarms and status states are identified by the color of the parameter indicator on the left side of the screen. A red color indicates that the data or status of the parameter is out of the acceptable range selected by the user. Similarly, any yellow color indicates that the value being displayed is in a range that it borderline or requires attention. A green indicator signifies that the value or status of the parameter is within the acceptable limits. The yellow warning color is evident whenever the value or state of the parameter is between the Warning (Yellow) and Alert (Red) limits set by the operator. In the following example, a PDOP of 7.0 invokes the Warning indicator because it falls between the setting limits of 6.0 and 8.0. Similarly, the VDOP value of 6.0 has reached the maximum yellow warning limit. To change the settings, press the UP or DOWN arrow buttons and select the item to be changed by pressing the ENTER. These buttons are again used to pick from a list of values and the keypad to enter the range values. When all selections and values are correct, press the F1 (Apply) button to install these changes.

GPS Quality Alerts


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Ports: This screen allows the operator to assign input devices to the desired ports and to use the C-NaviGator’s UP/DOWN and ENTER buttons on the front panel to select and change the settings. Each port is activated by selecting a device in the “Type” column for each of the four ports used. A list of input/output settings is presented when the cursor is placed on Port Type and ENTER is pressed. Also adjustable are the serial data transfer settings, including Baud Rate (Speed), number of Data Bits, Parity, and the number of Stop Bits are adjusted here to match that of the input device. Always press F1 (Apply) once all changes are made.

NOTE: For C-Nav2500, it is recommended set the port to: C-Nav 2050 / 19200 / 8 / None / 1 All C-NaviGator active ports are listed below “Ports” in the “Settings” menu. In the example above, Ports 1-4 are set to “C-Nav 2050”, “C-NAV 2000”, “NMEA Input”, and “Output” respectively. Additional device status, setting, and control information are available for each port when selected.

Ports


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C-Nav 2050: Receiver Information:

General information regarding the receiver type, output, etc. are displayed when the C-Nav2050 has been assigned to a port and Receiver Information has been selected in the C-Nav2050 sub-menu. Message indicators, (green/white circles), relay status information regarding the strings received.

Solutions Control: Settings for the C-Nav2050 are accessed through this screen. These include: general settings to define acceptable limits, correction signal settings, vertical/3D control, and acceptable correction devices/signals.

Older Version

Older Version


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Port Configuration: C-Nav 2050 port (COM 1 and COM2 on the receiver) communications setup is configured on this screen. Serial data transfer parameters should be set to identical to that of the C-NaviGator (19,200 / 8 / N / 1). Controls and input/output settings for the C-Nav Auxiliary Port as shown,

NMEA Output Control: The contents and output rates for the C-Nav 2050 data processing output strings are selected and adjusted on this screen. Sentence components for the output conditions are also set. RTCM Output Control: The RTCM (Radio Technical Commission for Maritime Services) standard SC-104 corrections are implemented here along with data output settings.


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Software Options: The options available to the user are encoded into and activated by the Options Code. This determines which settings and features are enabled in the system. Status is shown in the upper part of the information window.

Corrections Authorization: The StarFire / C-Nav Global RTG (high deci-meter accuracy) Subscription Service Correction License information is displayed and authorization code entered here.

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