麦哲伦 GPS导航设备-A12 B12 AC12说明书.pdf

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Chapter 1. General Information

Overview

Functional Description

Technical Specifications

Performance Specifications

Hardware Description

Physical Configuration

Power/Input/Output Connections

Interfaces to External Equipment

Power Requirements

Upgrades and Updates

Environmental Limitations

Antenna

Radio Interference

Chapter 2. Getting Started

General

Quick Start

Connection Procedures

Board

Serial Data Communication

Communication Port Setup

RTS/CTS Considerations

Data Output

Initial Operating Instructions

Chapter 3. Operation

System Setup

Message Format

Input Messages

Output Messages

Serial Port Configuration

Antenna Connection

Satellite Search Algorithm

Parameter Settings and Status

Saving New Parameter Settings

Position Modes

Altitude Hold Definition

Antenna Position Setting

NMEA Outputs

Differential Operation

General

SBAS Operation

Sources of Error

RTCM Messages

RTCM 104 Format, Version 2.2

Pulse Generation (1 PPS)

Magnetic Variation and Geoid Models

Chapter 4. A12/AC12 Sensor & Development Kit

Overview

Mounting the A12 Sensor

Configuring the Kit for Operation

Step 1 - Inventory the Equipment

Step 2 - Load the Evaluate software into the computer

Step 3 - Prepare The Equipment for Operation

Power and Signal Connections

Step 4 - Position the GPS Antenna

Step 5 - Power On the Equipment

Step 6 - Using Evaluate Software

Chapter 5. B12 Board and Sensor

Overview

B12 Board

Physical Configuration

Interface Connector and Power Requirements

Serial Interface and Signal Levels

Environmental Specifications and Dimensions

Dimensions and mounting Configuration

B12 Sensor

Specifications

Chapter 6. Command/Response Formats

Overview

Receiver Commands and Responses

Set Commands

Query Commands

ALM: Upload Almanac Data

ALT: Set Ellipsoidal Height of Antenna

DRC: Reset Receiver Automatically Every x Days

DTM: Select Datum to Use

FIX: Altitude Position Fix Mode

FHS: Fast Hot Start Mode

FUM: Fix UTM Zone

FZN: Select Fixed UTM Zone

HDP: Set HDOP Mask

INI: Receiver Initialization

LTZ: Set Local Timezone

PAR: Receiver Parameter Query

PEM: Set Position Elevation Mask Angle

PDP: Set PDOP Mask for Position Computation

PMD: Set Navigation Position Mode

POS: Set Antenna Position

PPO: Point Positioning

PPS: 1PPS On/Off

PRT: Serial Port Baud Rate Query

RID: Receiver ID Query

RST: Reset Receiver

SAV: Save User Parameters

SMI: Code Measurement Smoothing

SNM: S/N Mask for Satellite Signal Use

SPD: Set Serial Port Speed

UDD: Set User-Defined Datum Parameters

UID: Unit Identification

USE: Set Satellites to Use

WAS: Wide-Area Augmentation

ZDA: Upload Initial Real-time Clock Value

NMEA Data Message Commands & Responses

Set Commands

Query Commands

ALL: Disable All NMEA Messages

ALM: Almanac Message

CRT: Cartesian Coordinates Message

GGA: GPS Position Message

GLL: Latitude/Longitude Message

GSA: DOP and Active Satellite Messages

MSG: Base Station Message

GSV: Satellites in View Message

PER: Set NMEA Send Interval

POS: Position Message

RMC: Recommended Minimum Course

RRE: Satellite Range Residuals and Position Error

SAT: Satellite Status Query

UKO: UKOOA Message

VTG: Velocity/Course Message

XMG: Exception Messages

ZDA: Time and Date

RTCM Commands and Responses

Set Commands

Query Commands

RTC: RTCM Status Query

AUT: Set Auto Differential Mode

MAX: Set RTCM Differential Data Age

OFF: Disable RTCM

REM: Enable Remote RTCM

Chapter 7. AC12 Board and Sensor

Overview

PBN: Raw Position Data in PBN Messages

MCA: MCA Message On/Off

SNV: SNV Message On/Off

Chapter 8. Reference

Search Strategy & Position Algorithms

Satellite Selection

False Position Condition

Search Strategy

Position Modes

3D Mode

2D Mode

Missile Technology Control Regime (MTCR)

Other Operational Characteristics

Conversions

Self Test

Watchdog Timer

System Parameter Settings

Long-Term Operation

Datum Support

Detailed Performance Characteristics

Accuracy

TTFF (Time To First Fix)

Reacquisition Times

9. Troubleshooting

TTL-to-RS-232 Conversion

Port Setup

RTS/CTS

Factory Defaults

Saving Parameters

Logging Data

Using Third-Party Software

Appendix A. Global Product Support

Solutions for Common Problems

Corporate Web Page

Repair Centers

Appendix B. Supported Datums

Glossary

Index

A12™, B12™ & AC12™ REFERENCE MANUAL www.thalesgroup.com/navigation

A12 Board B12 Board A12 Sensor B12 Sensor Part Number: 630871, Revision D No part of this publication or the computer programs described in it may be repro- duced, translated, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical photocopying, recording, or otherwise, without prior written permission of Thales Navigation, Inc. Your rights with regard to this publication and the computer programs are subject to the restrictions and limitations imposed by the copyright laws of the United States of America (“U.S.A.”) and/or the jurisdiction in which you are located. For information on translations and distribution outside the U.S.A. please contact Thales Navigation. © 2005 Thales Navigation. All rights reserved. A12, B12, and AC12 are trademarks of Thales Navigation. All other product and brand names are trademarks of their respec- tive holders. This product is CE certified. NOTE: The CE certification was obtained with the product powered from the AC/DC converter supplied. The test temperatures did not exceed 30°C, as described in the AC/DC converter specification. II

A12book.book Page III Tuesday, December 6, 2005 3:41 PM Acronyms Used In This Manual 2-D 3-D ACK ASCII BIT C/A CEP CMOS COG DB-9 DGPS E EGNOS ESD GPS HDOP I/O ID L/C LNA M MSAS MTCR N NAK NMEA OEM Two-dimensional Three-dimensional Acknowledge American Standard Code for Information Interchange Built-in Test Coarse/Acquisition Circular Error of Probability Complementary Metal-Oxide Semiconductor Course Over Ground Type of connector Differential GPS East European Geostationary Navigation Overlay System Electrostatic Discharge Global Positioning System Horizontal Dilution of Precision Input/Output Identification Inductance/Capacitance Low-Noise Amplifier Meter Japanese Multi-function Transport System Missile Technology Control Regime North Not acknowledged National Marine Electronics Association Original Equipment Manufacturer P/N PC PDOP PPS PRN RF RHCP RTCM S S/A SBAS SMA SMB SMT SNR SOG SPS SV TDOP TTFF TTL UTC VDC VDOP W WAAS WGS Part Number Personal Computer Position Dilution of Precision Pulse Per Second Pseudo-random Number Radio Frequency Right-Hand Circular Polarization Radio Technical Commission for Maritime Services South Selective Availability Satellite-Based Augmentation System Type of connector Type of connector Type of connector Signal-to-Noise Ratio Speed Over Ground Standard Positioning Service Space Vehicle (Satellite) Time Dilution of Precision Time To First Fix Transistor-Transistor Logic Universal Time Coordinated Volts Direct Current Vertical Dilution of Precision West Wide Area Augmentation System World Geodetic System III

A12book.book Page IV Tuesday, December 6, 2005 3:41 PM DISCLAIMER OF WARRANTIES AND LIMITATION OF LIABILITY LICENSOR AND ITS THIRD-PARTY SUPPLIERS MAKE NO WARRANTIES OR REPRESENTA- TIONS, EXPRESS OR IMPLIED, REGARDING THE PROGRAM, MEDIA, DOCUMENTATION, RESULTS OR ACCURACY OF DATA AND HEREBY EXPRESSLY DISCLAIM ANY WARRAN- TIES OF MERCHANTIBILITY AND FITNESS FOR A PARTICULAR PURPOSE AND NON- FRINGEMENT. LICENSOR AND ITS THIRD PARTY SUPPLIERS DO NOT WARRANT THE PROGRAM WILL MEET YOU REQUIREMENTS OR THAT ITS OPERATION WILL BE UNINTER- RUPTED OR ERROR-FREE. LICENSOR, its third-party suppliers, or anyone involved in the creation or delivery of the Program or Documentation to you shall have no liability to you or any third-party for special, incidental, indirect or consequential damages (including, but not limited to, loss of profits or savings, downtime, damage to or replacement of equipment or property, or recovery or replacement of programs or data) arising from claims based in warranty, contract, tort (including negligence), strict liability, or otherwise even if LICENSOR and its third-party have been advised of the possibility of such claim or damages. The liabil- ity of LICENSOR and its third-party suppliers for direct damages shall not exceed the actual amount paid for the program license. Some States do not allow the exclusion of limitation of implied warranties or liability for incidental or consequential damages, so the above limitations or exclusions may not apply to you. MANUAL DISCLAIMER THIS MANUAL IS PROVIDED “AS IS”; THALES NAVIGATION MAKES NO WARRANTIES TO ANY PERSON OR ENTITY WITH RESPECT TO THE SUBJECT MATTER OR USE OF INFORMA- TION CONTAINED HEREIN OR ANY DERIVATIVES THEREOF OR ANY SERVICES OR LICENSES. THALES NAVIGATION DISCLAIMS ALL IMPLIED WARRANTIES, INCLUDING, WITHOUT LIMITATION, WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PAR- TICULAR PURPOSE AND NONINFRINGEMENT. FURTHER, THALES NAVIGATION DOES NOT WARRANT, GUARANTEE, OR MAKE ANY REPRESENTATIONS REGARDING THE USE, OR THE RESULTS OF THE USE, OF THIS MANUAL IN TERMS OF CORRECTNESS, ACCURACY, RELIABILITY, OR OTHERWISE. THIS PUBLICATION AND FEATURES DESCRIBED HEREIN ARE SUBJECT TO CHANGE WITHOUT NOTICE. U.S. GOVERNMENT RESTRICTED RIGHTS The Program and Documentation are provided with RESTRICTIVE RIGHTS. Use, duplication, or dis- closure by the Government is subject to restrictions as set forth in subdivision (c)(1)(ii) of the Rights in Technical Data and Computer Software clause at DFARS 252.227-7013 or subdivision 9(c)(1) and (2) of the Commercial Computer Software - Restricted Rights 48 CFR 52.227.19, as applicable. Should you have any questions concerning the License Agreement or the Limited Warranties and Limita- tion of Liability, please contact THALES NAVIGATION in writing at the following address: 471 El Camino Real, Santa Clara, CA 95050-4300 IV

A12book.book Page i Tuesday, December 6, 2005 3:41 PM Contents Chapter 1 General Information ...................................................1 Overview............................................................................................................ 1 Functional Description ....................................................................................... 2 Technical Specifications .................................................................................... 3 Performance Specifications ............................................................................... 3 Hardware Description ........................................................................................ 4 Physical Configuration .....................................................................................4 Power/Input/Output Connections....................................................................... 7 Interfaces to External Equipment.....................................................................7 Power Requirements ......................................................................................... 8 Upgrades and Updates...................................................................................... 8 Environmental Limitations.................................................................................. 8 Antenna.............................................................................................................. 9 Radio Interference ........................................................................................... 10 Chapter 2 Getting Started .........................................................11 General ............................................................................................................ 11 Quick Start ....................................................................................................... 11 Connection Procedures ................................................................................... 11 Board .............................................................................................................11 Serial Data Communication ............................................................................. 14 Communication Port Setup............................................................................14 RTS/CTS Considerations...............................................................................15 Data Output....................................................................................................16 Initial Operating Instructions ............................................................................ 16 Chapter 3 Operation ..................................................................17 System Setup................................................................................................... 17 Message Format............................................................................................17 Input Messages..............................................................................................17 Output Messages...........................................................................................18 Serial Port Configuration.................................................................................. 18 Antenna Connection ........................................................................................ 19 Satellite Search Algorithm................................................................................ 19 Parameter Settings and Status........................................................................ 20 Saving New Parameter Settings....................................................................23 Position Modes ..............................................................................................23 Altitude Hold Definition...................................................................................23 R e l i a n c e F u n d a m e n t a l s i

A12book.book Page ii Tuesday, December 6, 2005 3:41 PM Antenna Position Setting ...............................................................................23 NMEA Outputs...............................................................................................23 Differential Operation....................................................................................... 24 General.......................................................................................................... 24 SBAS Operation ............................................................................................24 Sources of Error ............................................................................................25 RTCM Messages...........................................................................................25 RTCM 104 Format, Version 2.2.....................................................................26 Pulse Generation (1 PPS) ............................................................................... 27 Magnetic Variation and Geoid Models............................................................. 28 Chapter 4 A12/AC12 Sensor & Development Kit .................... 29 Overview.......................................................................................................... 29 Mounting the A12 Sensor ................................................................................ 30 Configuring the Kit for Operation ..................................................................... 32 Step 1 - Inventory the Equipment ..................................................................32 Step 2 - Load the Evaluate software into the computer.................................33 Step 3 - Prepare The Equipment for Operation............................................. 33 Power and Signal Connections ....................................................................... 36 Step 4 - Position the GPS Antenna ...............................................................37 Step 5 - Power On the Equipment.................................................................38 Step 6 - Using Evaluate Software..................................................................40 Chapter 5 B12 Board and Sensor ............................................. 41 Overview.......................................................................................................... 41 B12 Board......................................................................................................41 Physical Configuration............................................................................... 41 Interface Connector and Power Requirements ......................................... 42 Serial Interface and Signal Levels ............................................................. 43 Environmental Specifications and Dimensions.......................................... 43 Dimensions and mounting Configuration................................................... 43 B12 Sensor.................................................................................................... 45 Specifications ............................................................................................ 45 Chapter 6 Command/Response Formats ................................ 47 Overview.......................................................................................................... 47 Receiver Commands and Responses ............................................................. 49 Set Commands..............................................................................................49 Query Commands .........................................................................................50 ii

A12book.book Page iii Tuesday, December 6, 2005 3:41 PM ALM: Upload Almanac Data .......................................................................... 52 ALT: Set Ellipsoidal Height of Antenna.......................................................... 53 DRC: Reset Receiver Automatically Every x Days........................................54 DTM: Select Datum to Use............................................................................54 FIX: Altitude Position Fix Mode .....................................................................55 FHS: Fast Hot Start Mode ............................................................................. 56 FUM: Fix UTM Zone ...................................................................................... 56 FZN: Select Fixed UTM Zone........................................................................57 HDP: Set HDOP Mask................................................................................... 57 INI: Receiver Initialization ..............................................................................58 LTZ: Set Local Timezone ..............................................................................59 PAR: Receiver Parameter Query ..................................................................59 PEM: Set Position Elevation Mask Angle ...................................................... 61 PDP: Set PDOP Mask for Position Computation...........................................61 PMD: Set Navigation Position Mode ............................................................. 62 POS: Set Antenna Position ...........................................................................62 PPO: Point Positioning ..................................................................................63 PPS: 1PPS On/Off.........................................................................................64 PRT: Serial Port Baud Rate Query................................................................ 65 RID: Receiver ID Query.................................................................................66 RST: Reset Receiver.....................................................................................66 SAV: Save User Parameters ......................................................................... 67 SMI: Code Measurement Smoothing ............................................................67 SNM: S/N Mask for Satellite Signal Use........................................................68 SPD: Set Serial Port Speed...........................................................................69 UDD: Set User-Defined Datum Parameters ..................................................69 UID: Unit Identification................................................................................... 71 USE: Set Satellites to Use............................................................................. 71 WAS: Wide-Area Augmentation ....................................................................72 ZDA: Upload Initial Real-time Clock Value ....................................................72 NMEA Data Message Commands & Responses ............................................ 73 Set Commands..............................................................................................73 Query Commands .........................................................................................74 ALL: Disable All NMEA Messages ................................................................ 76 ALM: Almanac Message................................................................................ 76 CRT: Cartesian Coordinates Message......................................................... 78 GGA: GPS Position Message........................................................................80 GLL: Latitude/Longitude Message.................................................................82 GSA: DOP and Active Satellite Messages ....................................................84 iii

A12book.book Page iv Tuesday, December 6, 2005 3:41 PM MSG: Base Station Message ........................................................................87 GSV: Satellites in View Message ..................................................................89 PER: Set NMEA Send Interval ...................................................................... 91 POS: Position Message.................................................................................91 RMC: Recommended Minimum Course........................................................94 RRE: Satellite Range Residuals and Position Error ...................................... 96 SAT: Satellite Status Query...........................................................................99 UKO: UKOOA Message .............................................................................. 101 VTG: Velocity/Course Message ..................................................................105 XMG: Exception Messages .........................................................................107 ZDA: Time and Date.................................................................................... 108 RTCM Commands and Responses............................................................... 111 Set Commands............................................................................................111 Query Commands .......................................................................................111 RTC: RTCM Status Query........................................................................... 112 AUT: Set Auto Differential Mode ................................................................. 114 MAX: Set RTCM Differential Data Age........................................................ 114 OFF: Disable RTCM .................................................................................... 114 REM: Enable Remote RTCM ......................................................................115 Chapter 7 AC12 Board and Sensor ........................................ 117 Overview........................................................................................................ 117 PBN: Raw Position Data in PBN Messages ................................................118 MCA: MCA Message On/Off ....................................................................... 120 SNV: SNV Message On/Off.........................................................................123 Chapter 8 Reference ................................................................ 125 Search Strategy & Position Algorithms.......................................................... 125 Satellite Selection ........................................................................................ 125 False Position Condition.............................................................................. 125 Search Strategy........................................................................................... 126 Position Modes ............................................................................................126 3D Mode .................................................................................................. 126 2D Mode .................................................................................................. 126 Missile Technology Control Regime (MTCR) .............................................. 127 Other Operational Characteristics ................................................................. 127 Conversions................................................................................................. 127 Self Test ......................................................................................................127 Watchdog Timer ..........................................................................................127 iv

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