Raytheon STD 21 GPS Operating instructions

Raytheon Anschütz GmbH

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Germany

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3717/110--850.DOC020002 Edition: May 29, 2009

Satellite Compass

STD 21 GPS

Type 110--850

1 Description

2 Operation

3 Installation and setting to work

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STD 21 GPS

Satellite Compass

STD 21 GPS

I

3717/110 --850.DOC020002Edition: Feb. 05, 2007

Please note that all ships of 500 gross tonnage and upwards

according to SOLAS and other international regulations must

be equipped with a gyro compass. The gyro compass must be

operational. For this reason it is not allowed to have a

switched--off gyro compass during voyages.

For the application “GPS Compass in combination with Gyro

compass STD 22” see also respective manuals:

Manual no.: 3646 for Gyro compass STD 22

Manual no.: 3648 for Operating Unit

After an alarm message occurs and the reason for this alarm

is eliminated either automatically or by repair, the displayed heading

has to be checked. In case of an implausible heading value,

the GPS Compass should be switched OFF and ON again.

Satellite Compass

STD 21 GPS

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CONTENTS Page

1 General 1..............................................................

1.1 Satellite Compass Standard 21 GPS (Stand alone system) 2..................

1.2 Principle of CAN bus 3...................................................

1.3 Principle of Operation 4..................................................

1.4 Scope of delivery 6......................................................

1.4.1 Available options 6.......................................................

1.5 Technical Data 7.........................................................

1.5.1 Mechanical Data 7.......................................................

1.5.2 System Data 7..........................................................

1.6.3 Display modes 7........................................................

2 Operation 7............................................................

2.1 Safety Notes 7..........................................................

2.1.1 Setting into operation 8...................................................

2.1.2 Menu Structure 9........................................................

2.2 General adjustments and tests 10...........................................

2.2.1 Adjustment of brightness and contrast 10....................................

2.2.2 Lamp Test 11............................................................

2.3 Displays 12..............................................................

2.3.1 Display “GPS Pos.” (Basic Display) 12.......................................

2.3.2 Display “GPS Hdg.” 13....................................................

2.3.3 Display “GPS Tape“ 14....................................................

2.3.4 Display “GPS ROT” 15....................................................

2.3.5 Display “GPS Angles” 16..................................................

2.3.6 Display “Satellite Status” 17................................................

2.3.7 Display “Satellite Sky Plot” 18..............................................

2.3.8 Panel Set Up 19..........................................................

2.3.9 Service 21...............................................................

3 Installation 25...........................................................

3.1 Safety instructions and mounting recommendations 26........................

3.1.1 General remarks for establishing cable connections 28........................

3.1.2 General information about establishing a common ground connection 31.........

3.2 Installation of Antenna Unit 32..............................................

3.2.1 Comments and recommendations for Antenna Unit location 32.................

3.2.2 Location of Antenna Unit 33................................................

3.2.3 Connecting the antenna cable 37...........................................

STD 21 GPS

Satellite Compass

STD 21 GPS

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3.3 Installation of Processor Unit 39............................................

3.3.1 Mounting recommendations 39.............................................

3.3.2 Connecting the antenna cable to the Processor Unit 43........................

3.3.3 Connecting the supply voltage to the Processor Unit and the Operator Unit 45....

3.3.4 Connecting the CAN bus to the Processor Unit 46............................

3.3.4.1 Check of jumper settings for the CAN bus termination 47.......................

3.3.5 Connecting Heading Receiver to the Processor Unit 48........................

3.3.6 Setting the DIP--switches for the STD 21 GPS at the Processor Unit 49..........

3.4 Installation of Operator Unit 51.............................................

3.4.1 Assembly 51...............................................................

3.4.2 Overview of switches, jumpers and plugs 51.................................

3.4.3 Setting the device address 52................................................

3.4.4 Making the cable connections 54...........................................

3.4.4.1 General information about establishing on--board wiring 54.....................

3.4.4.2 Connections to the plug connections 56.....................................

3.4.4.3 Plugging in the jumpers 57...................................................

3.5 Adjustments after switching ON 59..........................................

3.5.1 Submenu “Software Version” 62............................................

3.5.2 Submenu “Serial Port #3” 63.................................................

3.5.3 Submenu “Serial Port #4” 65.................................................

3.5.4 Submenu “PU Mounting” 67..................................................

3.5.5 Submenu “AU Alignment” 69.................................................

3.6 Troubleshooting 73.........................................................

3.6.1 Alarm Handling 73..........................................................

3.7 Fault/Alarm table 75.........................................................

4 Service 87...............................................................

4.1 Care and Maintenance 87...................................................

4.2 Troubleshooting and Repair 88.............................................

4.3 Replacement of defective parts 91..........................................

4.4 NMEA 0183 Formats 92...................................................

4.4.1 Standard NMEA set with transmitting rate 97.................................

4.4.2 NMEA messages -- conclusions/dependencies 98.............................

Satellite Compass

STD 21 GPS

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Appendix:

Menu Structure Figure A--1

Jumpers, plugs, LED‘s and switches Figure A--2

Processor Unit Dimensional Drawing 114--001.HP005

Antenna Unit Dimensional Drawing 114--002.HP005

Operator Unit Dimensional Drawing 130--613.HP005

AC/DC Converter Dimensional Drawing 121--062.HP005

Processing Unit Cable and Connection Diagram 114--001.HP009

Processing Unit Cable and Connection Diagram (E02) 114--001.HP010

GPS Compass STD.21 Cable and Connection Diagram 110--850.HP008

GPS Compass STD.21 Cable and Connection Diagram (E02) 110--850.HP009

AC/DC Converter Wiring Diagram 121--062.HP008

Parts Catalogue

STD 21 GPS

Satellite Compass

STD 21 GPS

V

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Satellite Compass

STD 21 GPS

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Satellite Compass

STD 21 GPS

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1 General

The Satellite Compass STD 21 GPS uses GPS signals to produce ship‘s heading in-

formation. It can be used as a compass sensor for repeaters, radars, electronic chart

systems, AIS, scanning sonars, autopilots, TV antennas and other commercial heading

receivers.

10--36VDC

Anschütz Course bus

or NMEA 0183

Antenna Unit Type 114--002 with

Connection Box Type 134--116

Processor Unit

Type 114--001

CAN--Bus

Operator Unit

Type 130--613

2x serial output:

12--36VDC

to the Operator Unit

Figure 1: STD 21 GPS --System overview--

Satellite Compass

STD 21 GPS

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1.1 Satellite Compass STD 21 GPS (stand--alone system)

Operator Unit

130--613

CAN bus

STD 21 GPS Satellite Compass

see manual no.:3648

Processor

Unit

114 --001

Antenna Unit

114 --002

2x NMEA Output or

Anschütz Course bus

2 x Status Contacts

System and Heading Fault

CAN bus

24VDC

Satellite Compass

STD 21 GPS

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1.2 General principle of CAN bus

(CAN = Controller Area Network)

259.8

Gyro compass

STD 21 GPS

Operator Unit

Distribution unit

8 x heading

(course bus

or NMEA)

3xstep

1 x rate of turn

1x courseprinter

= terminating resistor

DV Bus

The CAN bus is a multi-master bus allow-

ing the connection of all devices and sys-

tems regardless of their task and function.

This means that any number of devices

can be connected. These devices must

be designed for CAN bus technology.

It is essential that every CAN bus user is

addressable via a unique address. This

address is set within each bus user.

The usable address range is from 01

(16)

to

3F

(16)

(address 00

(16)

is reserved for devel-

opment purposes).

Each bus user can send and receive data

via the CAN bus.

The CAN bus must be terminated at both

ends via an ohmic resistor (125 ohms).

This terminating resistor is activated by

jumpers on the respective printed circuit

board (PCB).

There are 2 redundant bus systems

(CAN1 and CAN2).

The maximum length of a CAN bus

cabling must not be longer than 300

meters!!!

Figure 2: General principle of CAN bus technology

Satellite Compass

STD 21 GPS

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1.3 Principle of Operation

The Raytheon Marine/Anschütz STD 21 GPS compass uses continuous carrier phase

measurements of two GPS antennas aligned to the ship‘s longitudinal axis for relative

positioning. Relative positioning means that state of the art algorithms exploit the carrier

phase measurements and the broadcast satellite ephemeris for precise computation of

the baseline vector pointing from the aft antenna to the fore antenna. Then, the baseline

vector‘s continuously computed north, east, and down coordinates can easily be con-

verted to polar co--ordinates, that is, pitch and heading signals.

In order to bridge over short--term satellite signal looses, e.g. signal blockage or electro-

magnetic interference, the STD 21 GPS--/INS compass incorporates gyros. These hard-

mounted devices measure the ship‘s three--dimensional angular rates for continuous in-

tegration of the ship‘s roll, pitch, and heading angles. The integration is also executed

during GPS satellite signal reception. Thus, the differences between the integrated and

GPS--derived pitch and heading angles may be computed. When combining these angu-

lar differences with a gyro model through an optimal estimation algorithm, the gyros be-

come precisely calibrated, thus allowing a longer and more accurate bridging of satellite

signal outages.

Availability of STD 21

A satellite compass is not an autonomous device as is a gyro compass. Thus, the STD

21 satellite compass does not have the availability of the STD 22 gyro compass.

The reasons for the slightly reduced availability which holds for any satellite compass

are:

" Exploitation of extremely low--power satellite carrier signals,

" Use of statistical methods within the digital signal processing path,

" High sensitivity to multipath and signal blocking effects that adversely affect unin-

terrupted satellite signal reception at the Antenna Unit.

Nevertheless, the STD 21 has a proven -- through long term testing -- availability of

99.9% if installed in accordance with this manual.

Installation of the STD 21

A satellite compass like the STD 21 exploits the carrier phases of GPS satellite signals

when computing the heading angle based on the principle of interferometry.

Satellite Compass

STD 21 GPS

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The GPS L1 carrier has a wavelength of 19 cm which is much smaller than the 100 m

chip length of the modulated C/A (”Clear Access”) pseudo--random noise code used for

GPS satellite positioning. Thus, obstacles of correspondingly small size disturb the

heading determination process. The satellite compass is much more s usceptible to ob-

stacles than a satellite positioning receiver.

Consequently, extreme care is required when installing the STD 21 Antenna Unit. Proper

operation is only effective if the installation requirements detailed in Chapter 3.2 ”In-

stallation of the Antenna Unit” have been met!

1.4 Scope of delivery

For a complete system the following parts are delivered:

-- Operator Unit Type 130--613

-- Antenna Unit Type 114--002 (including mounting kit)

-- Processor Unit Type 114--001

-- Antenna cable between Antenna Unit and Processor Unit TypeNB60--144 (30m)

-- 2 Connection Cables between Processor Unit and Operator Unit

Type NB60--143 (2x6m)

-- Power cable between Processor Unit and Operator Unit Type NB60--146 (6m)

-- Manuals:

Operator Unit Manual No: 3648

for installation and general operating functions

STD 21 GPS Manual No: 3717

for description, operation, installation, maintenance and

trouble shooting

1.4.1 Available options

-- Additional Output Box (for s tep output, 6 steps/degree)

-- Digital and Analog Repeaters

-- Bearing Repeater

-- Multi Display

-- NMEA Booster

-- Power Supply

Satellite Compass

STD 21 GPS

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1.5 Technical Data

1.5.1 Mechanical Data

For mechanical data such as dimensions, weight, or type of enclosure, see the respect -

ive dimensional drawing in this manual.

1.5.2 System Data

Accuracy: 0.5° (RMS)

Min. number of satellites necessary 5

Angular resolution: 0.1°

Interfaces: 2x CAN Bus (CAN 1 and CAN 2)

2x serial (Anschütz Course bus or NMEA 0183)

2 x Status Contacts (System and Heading Fault)

Supply voltage: 10--36 VDC

Operating temperature ranges: Processor Unit: --15°Cto+55°C

Antenna Unit: --25°Cto+55°C

Power consumption (System) appr.15W

1.5.3 Display modes

-- Digital heading

-- Tape repeater (analog heading)

-- Rate of Turn (ROT)

-- Roll and Pitch

-- Satellite position

-- Satellite status

For information only

:

-- SOG (speed over ground) and COG (course over ground)

-- Latitude and Longitude (displayed as WGS ‘84, WGS = World Geodetic System)

-- ROT(50Hzand1Hz)

NMEA messages:

For conclusions and dependencies for NMEA

messages/telegrams see section 4.4.2.

Satellite Compass

STD 21 GPS

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2 Operation

2.1 Safety Notes

Do not disassemble or modify the equipment. Failure to observe the

instruction can cause a fire, electric shock, or equipment failure.

Do not handle the power cable or operate switches with wet hands,

you may suffer an electric shock.

Operate the equipment only at a supply voltage from 12 -- 36 VDC.

Failure to observe this instruction can cause a fire, electric shock, or

equipment failure.

Do not scratch, damage, or modify the power supply and antenna

cables. They may cause a fire or electric shock if they are loaded

with heavy items, heated, pulled, or excessively bent.

Immediately turn the power OFF and disconnect the power cable if

the equipment is generating any smoke or odour, or found

overheating.

Equipment under such conditions can cause a fire or electric shock.

Satellite Compass

STD 21 GPS

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2.1.1 Setting into operation

Caution!

Reduced accuracy may occur in the case of unfavorable satellite

constellation.

Always verify position data against other navigation devices to

confirm.

After switching--ON the system (supply voltage to the Processor Unit and to the

Operator Unit) the Operator Unit starts up with a display which contains a blinking “Self--

Test” followed by blinking “Initialization” and “Acquisition” phases. During these blinking

indications, no heading value will be present.

After finishing this initialization procedure the basic display (see Figure 3) is displayed.

Please note:

After switching ON it will take approx. up to 4 minutes before

one of the below mentioned displays will appear.

After switching ON for the very first time it will take approx.

up to 20 minutes before one of the below mentioned dis-

plays will appear.

Dim

up

Dim

down

GPS

068.7°

HEADING

Select

Menu

GPS

Hdg.

Contrast

Lamp

Test

GPS

Config.

LAT: 054°21.164’ N

LON: 010°08.220’ E

WSG’ 84

Figure 3: Example of a display after it has been set into operation

(STD 21 GPS only -- s tandalone system)

NOTE

Latitude and longitude are for information only!

Satellite Compass

STD 21 GPS

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2.1.2 Menu Structure

Appendix (A -- 1) shows the menu structure within the Operating Unit of a

standalone STD 21 GPS.

Satellite Compass

STD 21 GPS

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2.2 General adjustments and tests

2.2.1 Adjustment of brightness and contrast

Dim

up

Dim

down

GPS

068.7°

HEADING

Select

Menu

GPS

Hdg.

Contrast

Lamp

Test

GPS

Config

.

LAT: 054°21.164’ N

LON: 010°08.220’ E

WSG’ 84

1

2

Figure 4: Controls and Indicators on the Operator Unit

Use the “Dim up” key (Figure 4/1) to make the display and the background illumination

brighter and the “Dim down” key (Figure 4/2) to make it darker.

This setting is retained even after the equipment has been switched off.

To adjust the contrast, press the “Dim up” (Figure 4/1) and “Dim down” (Figure 4/2) keys

simultaneously. The display now changes:

Contr.

up

Contr.

down

GPS

068.7°

HEADING

LAT: 054°21.164’ N

LON: 010°08.220’ E

WSG’ 84

1

2

Esc

3

Figure 5: Adjusting the contrast

Adjust the contrast using the “Contr. Up” (Figure 5/2) and “Contr. Down” (Figure 5/3)

keys.

The display reverts on pressing the “Esc” key (Figure 5/1) or after a time out period of

approximately 4 seconds.

Satellite Compass

STD 21 GPS

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2.2.2 Lamp Test

A Lamp Test during an alarm is not possible

(see also section 3.6.1 “Alarm Handling)

Dim

up

Dim

down

GPS

068.7°

HEADING

GPS

Hdg.

Contrast

Lamp

Test

1

LAT: 054°21.164’ N

LON: 010°08.220’ E

WSG’ 84

GPS

Config.

Select

Menu

Figure 6: Controls and Indicators on the Operator Unit

Press and hold the softkey “Lamp Test” (Figure 6/1) for approx. 3 seconds.

The LED above this soft key lights up, an acoustic alarm occurs (with selected volume,

see section 2.3.8), the brightness increases, and an information “Lamp Test” is displayed

inverse(seeFigure7).

Dim

up

Dim

down

GPS

068.7°

HEADING

GPS

Hdg.

Contrast

Lamp

Test

LAT: 054°21.164’ N

LON: 010°08.220’ E

GPS

Config.

Select

Menu

Lamp Test

Figure 7: Controls and Indicators on the Operator Unit

(During Lamp Test)

Satellite Compass

STD 21 GPS

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2.3 Displays

2.3.1 Display “GPS Pos.” (Basic Display)

This display is shown after finishing the initialization procedure.

This display shows heading in numerical form and position values (latitude and

longitude). The position is for information only.

Dim

up

Dim

down

GPS

068.7°

HEADING

Select

Menu

GPS

Hdg.

Contrast

Lamp

Test

GPS

Config.

LAT: 054°21.164’ N

LON: 010°08.220’ E

WSG’ 84

Figure 8: Display “GPS Pos.” (Basic Display)

Soft Key

Meaning refer to

section

Select

Menu

Select additional menus to:

-- Check CAN Bus addresses

-- Check software version

-- Set volume

see sections

2.3.8 and 2.3.9

GPS

Config.

Select additional displays to evaluate satellite

information or constellation.

Select setup menu for:

-- The Antenna Unit and Processor Unit

installation positions

-- System Configuration

see sections

2.3.6 and 2.3.7

see

section 3.5

GPS

Hdg.

Select the display “GPS Hdg.”

(Heading is displayed in large numbers)

see

section 2.3.2

Dim up Brightness control / Contrast control see

section 2.2.1

Dim down Brightness control / Contrast control see

section 2.2.1

Lamp

Test

Check the lamp, buzzer and brightness see

section 2.2.2

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