GPSReceiver

Copyright @ 1994 VETUSden Duden n.v.SchiedamHolland

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rIlf1}r1[JD~ Global Positioning System Receiver

OPERATING INSTRUCTIONSIntroduction

The global positioningsystem comprises a con-stellation of 24 satellites, 21 operational andthree reserves, which orbit the globe twice aday at a height of 20183 kilometres.This provi-des for a satellite visibilityat any point on aEarth of five to eleven satellites depending onthe time of day and your position on the Earthssurface and the requirement that the satellitesshould be in a position of at least 10 degreeselevation above the horizon.The abilityto deri-ve positional data from this satellite network isbased on radio frequency signals being recei-ved from at least three orbitting transmittersand an interpretation of the signal transit timevariations between these satellite transmissions.

The timing of these signals can be slightly de-graded by variation in the ionospheric and tro-pospheric conditions at anyone time. In additi-on the American Dept. of Defence has imple-mented a process of signal degradation kwowna selective availability to all commercial usersthis has the effect of limiting the positional per-formance to within 100 metres but even this isonly available for 95 per cent of the time.The Vetus GPS receiver maximises the signalpick up capability by tracking up to eight satelli-tes at anyone time and minimises individialspurious signal variations by the use of modernelectronic averaging techniques.

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Features

Large character, direct driven LCD disply gi-ving maximum contrast and legibility, wideviewing angle and high temperature protecti-on. Orange even backplane illumination.

Rapid information processing within one se-cond.

All operational features accessed by a singleknob.

Three way waypoint entry giving very highspeeds of operation.

Immediate Man Overboard facility.

99 Waypoint library. 20 route Plan capacity.

Full Differential update capability.

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fIll1111mfB1Global Positioning System Receiver

Terminology

WAYPOINTSometimes abbreviated to Point, PN"f,WPT orPT:This represents a position on a chart thatcan be defined as a turning or arrivalpoint on aroute plan. It is described in nautical terms indregrees and minutes (to three decimal places)of latitude and longtitude. e.g. 50'56.085 Northand 01'30.269 West.

PLANA combination of waypoints selected in a parti-cular order which together describe a voyagefrom A to B.

PPNA Plan Position Number which sets any way-point number into any plan number in a se-quential position Le. PLAN 10 Plan positionnumber 3 waypoint number 17.Thus in plan 10Waypoint number 17 is the third waypoint to besailed to in route plan no.10

MOBMan Overboard. In such an emergency pressingthe MOBbutton on the control box willimmedi-ately override any other operation and it willthen log the lat Ion position automaticallyanddisplay the required bearing etc. to return tothat point.

LatitudeLines of latitude are horizontal lines drawnaround the globe defining the angle from theearths magnetic centre to the surface in de-grees and minutes of a degree. One minute oflatitude equals one nautical mile. Zero degreesrubns around the equator, measurements there-fore are in degrees north or degrees south ofthat line.

LongtitudeLinesof longtitude are vertical lines dividingtheearths surface into degrees and minutes of adegree measured from the centre of the globe.Zero degrees longtitude passes through Green-wich in London and is called the GreenwichMeridian.Lines either side of this are thereforereferredto as degrees East or degrees West.

GMTGreenwich Mean Time is the internationallyac-cepted reference point for all time measure-ments, tidal predictions etc.

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XTECross TrackError is a distance in nautical milesmeasured at a right angle to the defined courseof the boat, it therefore represents the total dis-tance offcourse at any point in time.

ETAEstimatedTime of Arrivalat the last waypoint inyourvoyage plan.

CTWCourse to Waypointis the course required to bemade by the boat in order to reach the nextwaypoint.

DTWDistanceToWaypointis the distance in nauticalmilesto the next waypoint in a straight line.

COGCourse Over the Ground is the course the boatis making over the ground as opposed to thecourse the boat might be making through thewater due to tidal &wind effects.

SOGSpeed Over the Ground is the speed in knotsthat the boat is making over the ground as op-posed to the speed being made through thewater. Le. If the boat is heading into a tide of 3knots at a logged speed through the water of10 knots the boat's speed over the groundwould only be 7 knots.

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r11mr1mf&JGlobal Positioning System Receiver

Operating Mode

PoweronPower is fed to the unit via an external switch,there is no on-off switch on the control panel.Immediately the unit is energised the displaywill show the version number of the equipmentabnd then the message PLEASE HOLd. Thismessage will be retained until the unit has inter-cepted signals from various satellites and hasselected up to eight which give satisfactory re-ception values. This comples procedure maytake some two minutes to complete. When thesystem is satisfied that all is well a display ofcurrent position in lat Ion will be presented, andthe appropriate LED lamps will be illuminated.You may now start operations.

KNOB

This is the major control for all operating para-meters and should be used to select any of thefour main function groupings. A clockwise rota-tion of the knob will sequentially select theseareas and the appropriate lamp will be illumina-ted. Reverse rotation will reverse the sequence.

WPT ButtonThe WayPoinT button is used to access detailsof the Plan and Waypoint target currently beingapproached. When pressed and held it will dis-play the current plan no. the position reached inthe plan and the next waypoint number. If youcontinue to hold down this button it will verifythe entered position of the next waypoint in latIon. A momentary press of the button can beused to cancel any alarms.

NXT Button

The NeXT button is used to skip a current way-point in a plan if it is no longer desired to ap-proach or pass this point. It can also be used tocancel an MOB operation.

ENT ButtonThe ENTry is not used in the operation mode.

MOB Button

The Man OverBoard button when pressed im-mediately overrides any other existing functionand enters into memory the lat & Ion position atthe time the button was pressed, the displaywill instantly go to the CTW/DTW window andshow the course and distance back to the pointat which the button was activated. To indicateemergency operation the display will flash with

alternate information and bars. To exit press theNXT button. NOTE WELL, the position to whichyou are directed will be the position over theground at which the emergency occurred, it fol-lows therefore that the allowance will need tobe made for tidal an wind effects which will ha-

ve moved the person in the water downtidefrom that position.

Last Known PositionIf for any reason signal reception is lost, possi-ble by inadvertently switching off the systemetc. it is possible to display the last recordedposition. One full rotation anticlockwise of thecontrol knob will create full display in lat Ion ofthis LAST KNOWN POSITION.

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rIlrnGmmGlobal Positioning System Receiver

Program Mode

GeneralTo enter into program mode rotate the controlknob clockwise one full revolution, the knobmay then be used to access in sequence thevarious entry points thus:

Plan ModeWaypoint ModeCurrent PositionPlotterXTEAlarmTrueor MagneticDateCancel Memory

Data Entry

Use ENT button to start numbers flashing readyfor adjustment.

Use KNOBto adjust flashing numbers.

Use ENTbutton to enter adjusted numbers intomemory,numbers willthen stop flashing.

Use NXTbutton when multiple entries are de-manded, this will allow access to each set ofnumbers in sequence, when all adjustments ha-ve been made use ENTbutton to enter data in-to memory.

Remember, only flashing numbers can be ad-justed.

If required it is possible to clear ALLdata fromthe computers memory. Power down, holddown the NXTbutton whilst power up.NOTE WELL, THIS OPERATION WILL CANCELALL PREVIOUS PLANS, WAYPOINTS, ALARMSETTINGS ETC. AND SHOULD NOT BE DONEWITHOUT GOOD REASON.

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Programming

Waypoint modeThe first operation is to establish a library ofwaypoints in the computers memory. Turn theknob through one full clockwise revolutionandthen continue until the words 'THISPOS'. aredisplayed. If the boat is at its normal mooringthis display mode can be used to ease the en-try for waypointno. 01 which should always beused for the starting point of the voyage. Pres-sing the ENTbutton willcause the numbers inthe display to flash adjust if required to read 01by use of the knob and press ENTbutton againto enter the position in lat Ion automatically.For subsequent waypoint entries use knob toselect the EDITwindowand using the ENTandNXTbuttons together with the knob enter thelat Ion numbers sequentially not forgetting theN.E.S.W.LED lamps. To complete each entrypress the ENTbutton.

IMPORTANTIt cannot be stressed too strongly that sinceyour safety depends on the accuracy of this po-sitional data you should double check everysingle number in your entry also the position ofthe N.S.E.W.indicator lights BEFOREyou enterthe data into your computers memory by theoperation of the ENTbutton. The method of latIon verificationof all numbers already establis-hed in a plan is to enter the plan using the theENTbutton, press WPT button and hold, notethe reading, press NXT until it bleeps, pressWPT again to note next waypoint reading andso on until you reach the last waypoint in theplan, ifyou are not happy with any reading thenenter EDITand change the particular waypointentry, when you are happy with all the entriesuse the knob to change to another plan numberand then return to the plan you have examined,this last action is important as it will re-esta-blish all waypoints in the plan into the originalsequence. Youare then able to enter the planas and when you are ready to sail.

Plan ModeThis mode enables you to produce variousRoute Plans for sailing in your own local waterswhich can become part of your waypoint libra-ry, in addition specific plans can be created orindividualvoyages as and when required. Sincea route plan is simply a series of waypoints lin-ked together it followsthat the method of routeplan production is to establish the first waypoint

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rnrnr1[J[]fl1Global Positioning System Receiver

as your current starting position as outlinedabove and to call it Plan Position Number 01,subsequently you can add the other waypointsyou need to pass on route from your waypointlibraryin sequence thus the plan position num-bers willthen progress through a maximum ofsixteen in anyone plan. Should it be necessaryto have more than this number of waypointsthen enter them into another plan etc. etc. Toproceed use knob to select PLANmode andusing ENT button, NXTbutton and KNOBen-ter your route plan number, the plan positionnumber and the waypoint number for each sta-ge, if you followthe normal procedure of way-point entry all plan position numbers willbe se-quential Le. 1, 2, 3, 4, 5, etc. In this way it ispossible to speed up the entry procedure bysimply pressing the NXTbutton twice betweeneach waypoint entry and the pressing ENT atthe end to enter the entire planned program.Keep a written record of your plan numbersand route descriptions in your ships log for rea-dy reference.A very easy to use system for establishingway-points and route plans is to use a YEOMANty-pe plotter.This item of equipment allowsyou tomove a puck across a chart and simplypress abutton wherever and whenever a waypoint po-sition is required all the rest is automatic. Touse this system of data entry select the displayof PLOTand proceed followingthe instructionscontained in the YeomanPlotter product.Yetanother possibility is to sail the course ma-nually and to enter the required positions asyou pass them. To do this find the displayTHISPOSITIONin the programmode sequenceanpressthe ENTbutton to flash the digits reques-ting a waypoint number, enter the number qourequire for the position you are about to passand press ENTbutton again as you pass, ifyoudo this for each point in turn, includingyourar-rivalpoint you willhave established a completeroute plan which you can subsequently sail au-tomatically.This method is of particular interestto fisherman in order to return precisly to aknownfishingground location.The total numbers of plans permitted is twenty,representing ten forward mode plans and ten inreverse.

Cross Track Error AlarmThis allows you to set a distance in nautical mi-les measured at a right angle to your route plancourse. This distance would then represent themaximum permitted error in your track and if

exceeded would cause the alarm to be energi-sed. Toset select ERRORwindow,flash the di-gits with the ENTbutton, use the KNOBto en-ter the distance off and press ENTagain to en-ter.

True or MagneticBearings may be displayed in either TRUE orMAGNETICmodes. This choice should be ma-de in the knowledge that the unit carries itsown World MagneticCard using a grid systemwhilstthis is O.K.for most purposes, maximumaccuracy willalways result from using the TRUEnomenclature.To change select the CSE window press set,use the knob and press set again.

DateThe date display may be changed to showDAY-MONTH-YEAR or MONTH-DAY-YEAR.To set, rotate knob a further one full turnclockwise,press ENTbutton, use knob to ad-just and press ENTagain to enter. Reverse onefullknob turn to resume in program mode.

Current PositionAs previouslyexplained this mode is used toenter a current position into a route plan.

PlotterThis mode is used to enter waypoint positionsinto a route plan via the use of a proprietrychart plotter.

To return to OPERATINGMODE rotate the knobone full turn anticlockwise.

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rnmr1mmGlobal Positioning System Receiver

Operation

To start sailing with your GPS ensure that satel-lite reception is established and that full lat Ionpositional data is being displayed. Enter pro-gram mode by one full clockwise knob rotation,select the PLAN window and using the ENTbutton followed by the knob select your planroute number for your voyage, enter this intothe computer by pressing the ENT buttonagain. Return to operational mode via one fullanticlockwise rotation of the knob and selectthe CTW DTW window, start sailing and youwill now be able to monitor your progress, thedisplay giving you bearing to next waypoint dis-tance to next waypoint your course being sailedand your boat speed over the ground.When you approach the the first waypointwithin a distance of 0.05 nautical miles analarm will sound and the display will alternatewith the message: - CLOSE TO POINT (10). Ifthis happens to be a buoy make sure that youdon't hit it! The program will then automaticallyswitch to the next waypoint in the route plan.The alarm for waypoint close approach is de-signed to last for a period of two minutes, longenough to clear the hazard, but may be cancel-led at anytime by pressing the WPT button on-ce.In the event that you pass a waypoint at a dis-tance greater than 0.05 nautical miles then im-mediately you pass abeam of the waypointwhilst following the directed route course re-gardless of distance off, the alarm will soundand the display will alternate between PASSEDPOINT (10) at (0.83) nautical miles and the nextwaypoint detail, again the alarm will continuefor two minutes but may be cancelled by pres-sing the WPT button once.When you arrive at the last waypoint in the planthe XTE window will display the word FINISHand the precise time of arrival.If after arriving you wish to return to the startingpoint of the voyage simply enter the next plannumber which will have the same number asthe last plan plan but will be suffixed with 'r' in-dicating that you wish to cover the same plan-ned route but in reverse, there is no require-ment for any further entries. Should you wish toabort a plan part way through, due to adverseweather etc. move to progam mode, find thedisplay and enter your home base waypointnumber as the next waypoint in the existingplan, the CTW DTW window will then immedia-tely give you the course for home, in this way

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all displays will be meaningfull. If you think it islikely that this requirement will be frequent re-serve a plan number with no waypoints enteredand use this unique plan to cancel others. Inthis way you can enter single target waypointswithout interfering with other established plans,it being easy to cancel or modify a single way-point detail using the EDIT window facility, alt-hough it must be remembered that single way-point operation will not create a meaningfull ofCross Track Error since no line between twowaypoints will have been established.

Notes:1 If the ETA window displays d--:--, it me-

ans that the estimated time of arrival is grea-ter than 99 days, probably because the boatis stationary and making no progress.

2 A display of PLEASE HOLD indicates that asatellite grouping giving good reception ofpositional signals has not yet been achieved.Should this regularly exceed a time of tenminutes please check your antenna cablingfor damage or your antenna connection fortension.

3 G.M.1: is derived from the satellites atomicclock and is therefore an extremely accuratetimepiece. To achieve this level of accuracydemands a settling down period of some tenminutes after which it can be used an extre-mely accurate time source. In order to refe-rence this level of accuracy the G.M.T. win-dow light emiting diode lamp is extinguishedduring the 59th second of each minute andre-illuminated with 20 microseconds of thenext exact minute. This function may beused for highly accurate interval timing forother navigational requirements.

4 An XTE display '1 POINT ONLY' means thatthe current plan has only one position ente-red. A display of 'NO POINT ON PLAN' me-ans that the chosen plan has no waypointsentered, in both cases cross track error can-not exist. A display of '---' means that thefirst point on the plan has not been reached.(The first point in the plan was not used as astarting point.)

5 The estimated time of arrival is updated eve-ry time the remaining plan distance is redu-ced by one nautical mile. XTE also displaysa steering indicator which shows the directi-

[J]{]J11J][]~ Global Positioning System Receiver

on to steer in order to bring the boat backon to course. 11when on course, s when offcourse to port and h when off course tostartboard. For the first mile of the vayageETAis loosely calculated on boat speed butis then based on distance travelled in orderto maximisereading accuracy.

6 It should be noted that if only LAT LON po-sitional information is required simplyswitch on the power, no knob or button ope-rations whatsoever are required.

7 Position in Latitude and longtitude is refe-renced to the internationalWGS-84 satellitedatum.

8 Lines between waypoints are based on Gre-at Circlecalculations.

9 The day in the estimated time of arrival is gi-ven as d1, d2, d3, etc., day one (d1) is todayd2 is tomorrow etc.

10 All bearings or courses are shown suffixedby It' for TRUE of a degree sign for MAGNE-TIC.

11 Distance to waypoint figures are autorangingand display up to three decimal places. Fordistances greater than 999 nautical miles afourth digit is used e.g. 1234. The longestdistance on earth is between the poleswhich equals 10800 nautical miles. In theunlikelyevent that the two waypoints shouldbe more than 9999 nautical miles apart thefirst two digits which would always be 10willbe shoen as a letter 'E' thus 10234 wouldbecome E234.

12 If a voyage is started before the GPS unithas been switched on or before the unit hasestablished a fix,the unit when activated willdisplay all information necessary to returnyou to your start point since this waypointwill be the first entry in your chosen routeplan! To correct this situtation simply pressthe NEXTbutton and hold down until thebleeper sounds, this will cancel waypointone and put you automatically on to way-point two which will be your next targetpoint in your established route plan. In theunlikelyevent that two waypoints have beenpassed before switched on it is stillnecessa-ry to press and hold the NEXTbutton ONCE

to correct the situation.

13 Allbutton have audible reinforcement whencontact has been been made. A larger exter-nal buzzer is available as an optional extraand can be installed if required, this will beenergised as a single repeating bleep whena waypoint is approached or passed and asa double repeating bleep whenever thecross track error alarm is activated.

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[1]mr1[Jf]~ Global Positioning System Receiver

Use of GPS system for automa-tic operation of autopilot AP2S

The new GPS system in the Vetus range of pro-ducts has been designed to couple to the VetusAP2S type autopilot. The wiring interconnectionrequirement is fully detailed in the wiring dia-gram supplied with the GPS unit.When the two items are installed together anyroute plan entered into the library of the GPSunit can be called upon to steer the boat auto-matically along the programmed waypoint rou-te. To action this it is only necessary to enterthe selected route plan into the GPS instrumentand press the GPS button on the autopilot, theGPS will then takeover the control of the pilotand steer the boat to the course displayed inthe COURSE TO WAYPOINT window of theGPS.

Notes1 The course displayed in the window of the

autopilot may differ from the course to way-point displayed in the GPS window, this isbecause the GPS has within it a magneticmap of the world and it is this which is usedto establish the magnetic course to waypointinformation which is being transmitted toyour pilot via the NMEA interlink. If your en-try of variation into your auto-pilots memoryis correct for the area in which you are sai-ling, the two readings should not be too dis-similar. (Has your chart being updated re-cently?)

2 The accuracy of the course steered will belimited to the positional accuracy defined bythe GPS system and due to the degradationfactor induced by 'Selective Availability' thecourse may on odd occasions stray slightlyfrom a straight line but this will not noticea-ble affect the homing onto the the next way-point and should always prove to be consi-derably more accurate than a course steeredmanually.

3 It should be understood that although thedirectional information dictated to the pilotfrom the GPS is a continually updated posi-tional message there is a delay of some se-conds between each update, for this reasonthe pilot steers its course from its own flux-gate compass reference, it is the course itshould follow which is generated in and

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transmitted by the GPS system.

4 Since the pilot is being asked to steer theboat towards a specific point which may it-self be an object in the water KEEP ALOOKOUT as it is quite conceivable that acollision could easily happen. Your own esti-mation of the position of the object as ente-red by you in the waypoint library of theGPS may not be accurate to within the 0.05nautical mile (93.5 metres approx.) limits ofthe GPS waypoint arrival alarms, it may notalarm therefore until you have (hopefully)passed the object! We repeat KEEP A VERYGOOD LOOKOUT:

5 Should it at anytime be necessary to use themini-wheel steering facility on the pilot totake avoiding action all course corrections toget back on track will be automatic once theGPS button on the autopilot has been re-activated.

6 When installed side by side on the dash thetwo units can display similar parameters e.g.CROSS TRACK ERROR and COURSE ER-ROR for instance. In order to avoid confusi-on it is well to remember that the GPS crosstrack error is in nautical miles representingdistance off defined track, measured at rightangles to the track. Whereas the course er-ror displayed by the autopilot is in degrees,being a measure of the angle of the shipshead away from the desired course.

[J]mrlmm Global Positioning System Receiver

INSTALLATION

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AntennaThis item should be mounted on top of thecoachrpof of the vessel NOT on top of a mast.The:a",enna's abilityto pick up signals fromthe

< sate11itesis negativelyaffectedby accelaration.High installation would induce accelaration ef-fects due to pitch and rollingmovements. Tofitunscrew the mounting plate and attach with thescrews provided. Drilla 12 mm hole through thecoachroof for the passage of the cable whichshould then be plugged into the antenna andtensioned, screw the antenna into position ontothe mounting flange. The cable should then befed to the meter position avoiding any tightbends. Iffixingclips are required use plastic ty-pes slightlyoversize to prevent crushing the ca-ble in anyway.

MeterFor flushmount units use the template provided

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PARTS DESCRIPTION

1: DISPLAY /CONTROLUNIT2: REPEATER3: ANTENNA4: BATTERY5: LIGHT SWITCH6: FUSE 500 mAMP7: ON/OFF SWITCH8: FUSE 1AMP.9: BUZZER

10:AUTOPILDi11:PLOTTER

WIRINGCOLOR CODE

1: YELLOW (NMEA A)2: VIOLET (NMEA B)3: BLACK (NMEA OUT)4: BLUE (NEGATIVE / NMEA GROUND)5: BROWN (POSITIVE)6: RED ( DISPLAYLIGHTS)7: GREEN (DGPS)8: WHITE (BUZZER)

and form a cutout in the mounting panel to re-ceive the meter unit. Usingthe side clamps pro-vided secure the unit into the panel making su-re that the edge seal is correctly positioned, donot overtension the grub screws. Note that theside clamps are offset to each other to allowother similarmeters to be mounted side by si-de. Plug in the antenna cable and feed the po-wer cable to the junction block which itselfshould be mounted in a dry position. Wire inaccordance withthe wiringdiagram provided.

Top Mount TypeFit the bracket using the two self tappingscrews provided (slots to the rear). Pass themeter unit through the bracket aperture and in-stall the two securing clamps into the case slotseither side. Une up the frame holes with thegrub screws and tension, do not overtighten.Fitcables and wire as for flushmountversion.

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