875-0425-10 Vector™ VS1000

GNSS Receiver
User Guide
Revision: A5
October 29, 2020
 Table of Contents

Device Compliance, License and Patents............................................................................ 4

VS1000 Terms and Definitions ............................................................................................ 6
Chapter 1: Introduction .............................................................................................................. 9
Overview ............................................................................................................................. 9
Product Overview ............................................................................................................. 10
Key Features...................................................................................................................... 12
Parts List ............................................................................................................................ 13
Firmware Upgrades........................................................................................................... 14
Using PocketMax to Communicate with the VS1000 ....................................................... 18
Chapter 2: Installing the VS1000............................................................................................... 19
Overview ........................................................................................................................... 19
System Orientation ........................................................................................................... 20
Mounting the Antennas .................................................................................................... 21
A45 Antenna ..................................................................................................................... 22
Routing and Securing the Antenna Cable ......................................................................... 25
Mounting the VS1000 ....................................................................................................... 27
Dimensions........................................................................................................................ 33
Connectors ........................................................................................................................ 34
Connecting the Receiver to External Devices ................................................................... 35
Power Considerations ....................................................................................................... 36
Chapter 3: Operating the VS1000 ............................................................................................. 39
Overview ........................................................................................................................... 39
Powering the Receiver On/Off .......................................................................................... 40
Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi) .......................................... 42
Configuring the VS1000 Using the WebUI (Ethernet) ...................................................... 64
Common Commands and Messages................................................................................. 83
Appendix A: Technical Specifications ....................................................................................... 93
Overview ........................................................................................................................... 93

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 VS1000 Technical Specifications ....................................................................................... 94
Appendix B: Menu Maps......................................................................................................... 100
Overview ......................................................................................................................... 100
VS1000 Menu Map ......................................................................................................... 101
Index................................................................................................................................ 106
End User License Agreement .......................................................................................... 108
Warranty Notice.............................................................................................................. 112

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 Device Compliance, License and Patents

Device Compliance This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions:
This device may not cause harmful interference, and this device must accept any interference received, including
interference that may cause undesired operation.

This product complies with the essential requirements and other relevant provisions of Directive 2014/53/EU. The
declaration of conformity may be consulted at HTTPS://HEMISPHEREGNSS.COM/ABOUT-US/QUALITY-COMMITMENT.

E-Mark Statement: This product is not to be used for driverless/autonomous driving.

Copyright Notice Copyright Hemisphere GNSS, Inc. (2020). All rights reserved.
No part of this manual may be reproduced, transmitted, transcribed, stored in a retrieval system or translated
into any language or computer language, in any form or by any means, electronic, mechanical, magnetic, optical,
chemical, manual or otherwise, without the prior written permission of Hemisphere GNSS.

Trademarks Hemisphere GNSS®, the Hemisphere GNSS logo, TRACERTM, Crescent®, EclipseTM, e-Dif®, L-DifTM, PocketMax4TM,
S320TM, SBX-4TM, VectorTM, XF1TM, and XF2TM are proprietary trademarks of Hemisphere GNSS, Inc. Other
trademarks are the properties of their respective owners.

Patents Hemisphere GNSS products may be covered by one or more of the following patents:

Patents
6111549 6876920 7400956 8000381
6397147 7142956 7429952 8018376
6469663 7162348 7437230 8085196
6501346 7277792 7460942 8102325
6539303 7292185 7689354 8138970
6549091 7292186 7808428 8140223
6711501 7373231 7835832 8174437
6744404 7388539 7885745 8184050
6865465 7400294 7948769 8190337
8214111 8217833 8265826 8271194
8307535 8311696 8334804 RE41358

Australia Patents
2002244539 2002325645
2004320401

Continued on next page

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 Device Compliance, License and Patents, Continued

Notice to Customers Contact your local dealer for technical assistance. To find the authorized dealer near you:

Hemisphere GNSS, Inc

8515 East Anderson Drive
Scottsdale, AZ 85255 USA
Phone: (480) 348-6380
Fax: (480) 270-5070
[email protected]
WWW.HGNSS.COM

Technical Support If you need to contact Hemisphere GNSS Technical Support:

Hemisphere GNSS, Inc.

8515 East Anderson Drive
Scottsdale, AZ 85255 USA
Phone: (480) 348-6380
Fax: (480) 270-5070
SUPPORT.HGNSS.COM

Documentation Hemisphere GNSS is committed to the quality and continuous improvement of our products and services. We
Feedback urge you to provide Hemisphere GNSS with any feedback regarding this guide by opening a support case at the
following website: SUPPORT.HGNSS.COM

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 VS1000 Terms and Definitions

Terms & The following is a list of terms and definitions used in this document.
definitions
Term Definition
1PPS 1 pulse-per-second is a pulse output by the receiver
precisely once per second and is used for hardware
synchronization.
Activation Activation refers to a feature added through a one-time
purchase. For features that require recurring fees, see
Subscription.
Atlas Atlas is a subscription-based service provided by
Hemisphere GNSS.
Base The Base Station is a receiver placed over a familiar point,
Station provides real-time observations, and sends those
observations to nearby RTK rovers via UHF radio or the
internet.
BeiDou BeiDou is a global navigation satellite system deployed and
maintained by China.
BIN Binary message
message
CAN Controller Area Network
COG Course Over Ground – The cardinal direction of travel of
the primary antenna. This differs from heading, which is
the direction of the vector created from the primary to
secondary antenna.
Cold Start Position moved more than 100km during power-off, or
power-off longer than 3 days.
CSEP This is the distance, in meters, that the receiver has
calculated between the primary and secondary antenna.
This value should always be accurate to within 2cm.
dB Decibel. The unit of measurement used to express signal-
to-noise ratio (SNR).
DGNSS Differential GNSS
ESN Electronic Serial Number

Continued on next page

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 VS1000 Terms and Definitions, Continued

Terms &
definitions, Term Definition
continued Firmware Firmware is the software loaded into the receiver that
controls the functionality of the receiver and runs the
GNSS engine.
Galileo Galileo is a global navigation satellite system deployed and
maintained by the European Union and European Space
Agency.
GLONASS Global Orbiting Navigation Satellite System (GLONASS) is a
Global Navigation Satellite System deployed and
maintained by Russia.
GNSS Global Navigation Satellite System (GNSS) is a system that
provides autonomous 3D position (latitude, longitude, and
altitude) and accurate timing globally by using satellites.
Current GNSS providers are: GPS, GLONASS and Galileo.
GPS Global Positioning System (GPS) is a global navigation
satellite system deployed and maintained by the United
States.
Hot Start RF signal loss when the power is on.
LED Light Emitting Diode
MSEP This is the distance, in meters, between the primary and
secondary antenna. This differs from CSEP in that the user
measures this value and inputs it into the receiver.
Multipath Multipath occurs when the GNSS signal reaches the
antenna by two or more paths. This causes incorrect
pseudo-range measurements and leads to less precise
GNSS solutions.
NMEA National Marine Electronics Association (NMEA) is a
marine electronics organization that sets standards for
communication between marine electronics.
NTRIP Networked Transport of RTCM via Internet Protocol – a
protocol for transmitting differential GNSS or RTK over the
internet.
QZSS Quasi-Zenith Satellite System (QZSS) is a regional satellite
navigation system deployed and maintained by Japan.

Continued on next page

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 VS1000 Terms and Definitions, Continued

Terms &
definitions, Term Definition
continued RF Radio Frequency
RMS Root Mean Square
ROX ROX is a Hemisphere GNSS propriety RTK message format
that can be used as an alternative to RTCM3 when both
the base and rover are Hemisphere branded.
RTCM Radio Technical Commission for Maritime Services (RTCM)
is a standard used to define RTK message formats so that
receivers from any manufacturer can be used together.
RTK Real-Time-Kinematic (RTK) is a real-time differential GPS
method that provides better accuracy than differential
corrections.
SBAS Satellite Based Augmentation System (SBAS) is a system
that provides differential corrections over satellite
throughout a wide area or region.
SNR Signal-to-Noise ratio
Warm Start Power loss is less than cold start time or distance.
WAAS Wide Area Augmentation System (WAAS) is a satellite-
based augmentation system (SBAS) that provides free
differential corrections over satellite in parts of North
America.

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 Chapter 1: Introduction
Overview

Introduction This chapter contains the information you need to get started using your
VS1000 Vector receiver.

Contents
Topic See Page
Product Overview 10
Key Features 12
Parts List 13
Firmware Upgrades 14
Using PocketMax to Communicate with the VS1000 18

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 Product Overview

Product Based on Eclipse™ GNSS technology, the VS1000 is designed for marine
overview applications that require precise heading and RTK position performance
from the Vector VS1000 GNSS system.

The VS1000 features a Vector-based receiver and two separate antennas to

achieve heading accuracy ranging from 0.01º to 0.17º RMS (depending on
the antenna separation) and offers robust positioning performance
.

Figure 1-1: VS1000 GNSS Receiver

Note: Throughout the rest of this manual the VS1000 GNSS System is
referred to as the VS1000.

The standard model VS1000 tracks multi-frequency GPS, GLONASS, BeiDou,

Galileo, and QZSS. The VS1000 comes with the ability to add patented
Athena RTK technology and can be upgraded via subscriptions to support
Atlas L-band.

Continued on next page

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 Product Overview, Continued

Athena RTK The VS1000 supports the use of Athena RTK (Real Time Kinematic)
technology. Athena RTK requires the use of two separate receivers: a
stationary base station (primary receiver) that broadcasts corrections over a
wireless link to the rover (secondary receiver). The localized corrections are
processed on the rover to achieve superior accuracy and repeatability.
Performance testing has shown positioning accuracy at the centimeter
level.

Alternatively, RTK corrections can be brought in over a GNSS network

(NTRIP) if one is available in your area.

Athena RTK has the following benefits:

• Improved Initialization time - Performing initializations in less than 15
seconds at better than 99.9% of the time.
• Robustness in difficult operating environments - Extremely high
productivity under the most aggressive of geographic environments.

Atlas L-band Atlas L-band corrections are available worldwide. With Atlas, the
positioning accuracy does not degrade as a function of distance to a base
station, as the data content is not composed of a single base station’s
information, but an entire network’s information.

The VS1000 provides accurate and reliable heading and position

information at high update rates. To accomplish this task, the VS1000 uses
a high performance GNSS receiver and two antennas for GNSS signal
processing.

One antenna is designated as the primary GNSS antenna and the other is
the secondary GNSS antenna.

Positions computed by the VS1000 are referenced to the phase center of

the primary GNSS antenna. Heading data references the vector formed
from the primary GNSS antenna phase center to the secondary GNSS
antenna phase center.

Continued on next page

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 Product Overview, Continued

Atlas L-band, Atlas L-band has the following benefits:

continued • Positioning accuracy - Competitive positioning accuracies down to 2cm
RMS in certain applications.
• Positioning sustainability - Cutting edge position quality maintenance in
the absence of correction signals, using patented technology.
• Scalable service levels - Capable of providing virtually any accuracy,
precision, and repeatability level in the 4 to 50 RMS range.
• Convergence time - Industry-leading convergence times of 10-40 minutes.

Key Features

Key features Key features of the VS1000 include:

• High-precision positioning in Athena RTK, SBAS, and Atlas L-band
• Athena technology improves RTK performance especially with GLONASS,
Galileo, and BeiDou
• Atlas* L-band technology provides highly accurate corrections over the air
• Enhanced connectivity, including Ethernet, USB, CAN, RS-232, and RS-422
• Heave of 30cm RMS (DGNSS), 10cm (RTK)
• Integrated gyro and tilt sensors deliver fast startup times and provides
heading updates during temporary loss of GNSS

(*Requires the purchase of a subscription.)

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 Parts List

VS1000 Parts Table 1-1 provides the description and part number of each part in your kit.
list
Review the parts shipped with your kit. If any parts are damaged, contact
your freight carrier. If any parts are missing, contact your dealer.

Table 1-1: Parts list

Part name Qty Part Number

VS1000 receiver and mounting bracket 1 752-0029-10
Bluetooth/Wi-Fi Antenna 1 150-0056-10
4.6m power/data cable 1 051-0445-10
10m TNC-TNC RF cable 2 052-0004-000#

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 Firmware Upgrades

Overview Periodically, Hemisphere GNSS releases firmware upgrades to improve

performance, fix bugs, or add new features to a product. To update the
firmware on the VS1000 download the latest version of Hemisphere GNSS
RightArm from the following link:

HTTPS://HGNSS.COM/RESOURCES-SUPPORT/SOFTWARE.

RightArm To upgrade your firmware using RightArm, use the following steps:
upgrade
Table 1-2: RightArm Upgrade

Step Action
1 Connect the VS1000 to a computer over serial. Firmware can
be loaded over either serial port. Set the baud rate of the serial
port you are using to 19200.

Launch RightArm.

Click the Connect button or navigate to Receiver -> Connect.

2 Choose the COM port connected to the VS1000 and click OK.

Continued on next page

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 Firmware Upgrades, Continued

RightArm Table 1-2: RightArm Upgrade (continued)

upgrade,
continued Step Action
3 Select a Program Type.

The VS1000 has two firmware applications, allowing two

different versions of GNSS firmware. Hemisphere GNSS
suggests loading the new firmware onto both applications.

After the firmware update is completed, check the current

GNSS firmware.

If the current firmware is not the same as the newly loaded

firmware, the VS1000 could be using the other application. You
can switch applications by sending the following command:

$JAPP,OTHER

Choose the Application and press Select File to select the

firmware file.

Continued on next page

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 Firmware Upgrades, Continued

RightArm Table 1-2: RightArm Upgrade (continued)

upgrade,
continued Step Action
4 Choose the firmware and click Erase and Program.

The Activate Loader checkbox in the Programming View

window is selected. After pressing the Erase and Program
button, this checkbox will de-select, and the Status field
indicates the receiver is in loader mode (ready to receive the
new firmware file).

Note: If the Activate Loader check box remains selected,

power the receiver off and on. When the receiver powers back
on, the Activate Loader box should be de-selected.

Do not to interrupt the power supply to the receiver, and do

not interrupt the communication link between the PC and the
receiver until programming is complete. Failure to do so may
cause the receiver to become inoperable and will require
factory repair.

Continued on next page

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 Firmware Upgrades, Continued

RightArm Table 1-2: RightArm Upgrade (continued)

upgrade,
continued Step Action
5

Note: After completing the firmware update, Hemisphere

GNSS suggests repeating this process for the other application.

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 Using PocketMax to Communicate with the VS1000

PocketMax PocketMax is a free utility program that runs on your Windows PC. Simply
connect your Windows device to the VS1000 via either serial or CAN (PEAK
and Kvaser CAN adapters are supported), and open PocketMax.

The screens within PocketMax allow you to easily interface with the VS1000
to:
• Configure the VS1000 to receive RTK over a serial port, or to use Atlas L-
band as a correction source
• Configure GNSS message output and port settings
• Review heading, pitch, and roll visually
• Help calculate heading offset or heading bias

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 Chapter 2: Installing the VS1000
Overview

Introduction This chapter describes the steps and equipment needed to install the
VS1000.

Contents
Topic See Page
System Orientation 20
Mounting the Antennas 21
A45 Antenna 22
Routing and Securing the Antenna Cable 25
Mounting the VS1000 27
Dimensions 33
Connectors 34
Connecting the Receiver to External Devices 35
Power Considerations 36

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 System Orientation

System When installing the VS1000, if pitch and roll values from the VS1000 are to
orientation be used, consider the orientation of the VS1000 with respect to the
antennas, since GNSS can only provide one axis and the other axis must
come from an inertial sensor.

If gyro-aiding is to be used, consider the orientation of the VS1000 with

respect to the antennas.

Orientation of the VS1000 with respect to the antennas must be configured

while the VS1000 is on a level surface (parallel to the mounting surface),
since this configuration will calibrate the internal sensor and set values to
zero.

It is recommended to apply these settings and verify the surface is level in

the shop (rather than on a vessel) prior to installation.

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 Mounting the Antennas

Parallel The most common installation is to orient the antennas parallel to, and
Antenna along the centerline of, the axis of the vessel with the primary antenna near
orientation the stern and the secondary antenna near the bow. This provides a true
heading, since heading is calculated from the primary to secondary
antenna. If the primary antenna is near the bow and secondary antenna
near the stern, you will need a heading bias of approximately 180°.

In this orientation, you may need to enter a small heading bias in the
VS1000 to calibrate the physical heading to the true heading of the vessel.

Perpendicular You can also install the antennas so they are oriented perpendicular to the
Antenna centerline of the vessel’s axis.
orientation
In this orientation, you will need to enter a heading bias of +90° if the
primary antenna is on the star side of the vessel, and -90° if the primary
antenna is on the port side of the vessel.

Planning the Proper antenna placement is critical to positioning accuracy. For the best
optimal results, orient the antennas so the antennas’ connectors face the same
antenna direction. Place the antennas with a clear view of the horizon, away from
placement other electronics and antennas, and along the vessel’s centerline.

When mounting the primary and secondary antennas, consider the

following:
• The recommended minimum separation is 0.5m.
• The maximum separation is 10.0m if the receiver has a multi-frequency
activation. If the receiver is only activated for single frequency, the
maximum separation is 5.0m.
• The position is calculated from the primary antenna.
• Maintain at least 25cm distance from transmitting radios/antennas, as
they may interfere with GNSS.
• Maintain a clear view of the sky, avoiding metal obstructions at a higher
elevation than the antenna (when possible).

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 A45 Antenna

A45 phase The phase center measurements for the A45 antenna is important when
center using an RTK positioning solution. Figure 2-1 shows the phase center
measurements measurements.

Figure 2-1: Phase center measurements

Continued on next page

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 A45 Antenna, Continued

A45 antenna An arrow on the bottom of the A45 indicates the forward-facing direction
alignment for heading, and the marks on the side of the A45 allow you a “zero” point
for measuring the height of the antenna for the surface on which it is
mounted. The height is relative to the accuracy of the RTK solution. Figure
2-2 shows the A45 arrow and alignment marks.

Figure 2-2: A45 arrow and alignment marks

Continued on next page

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 A45 Antenna, Continued

Alignment The arrows for the two A45 antennas should both be facing the same
when using Two direction (to within 2 degrees). There is no need to align the A45 antennas
A45 antennas with the VS1000. Figure 2-3 shows the A45 alignment.

Figure 2-3: A45 alignment (bottom view)

Alignment There is no need to align the A45 antenna with the VS1000.
when using A45
antenna

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 Routing and Securing the Antenna Cable

Routing and To route and secure the antenna cables, review the following guidelines.
securing the We recommend the following HGNSS antenna cables:
antenna cable • 052-0004-000# 10m TNC-TNC antenna cable
• 052-0005-000# 5m TNC-TNC antenna cable
• 050-0019-001# 30m Low-loss TNC-TNC antenna cable

If you choose to use different cables, each A45 antenna requires a 50 Ω

impedance antenna extension cable, such as RG-58U (up to a maximum of
15 m (49 ft.) in length), for proper operation.

The GNSS receiver inside the VS1000 requires a minimum input gain of 10
dB (and maximum of 40 dB before saturation will occur). The antennas offer
28 dB of gain, so the loss budget to accommodate for cable losses is 18 dB.

Regardless of the cable material and length you choose, ensure the cable
losses are less than 18 dB of attenuation. Due to variances in the antenna
gain and practical attenuation of cable materials and connectors, we
recommend reducing this budget to 15 dB; this budget is present to
overcome the resulting attenuation of an RF cable.

When deciding on an antenna location, consider the amount of cable

required: a longer cable of the same material will result in a higher loss than
a shorter one. If the overall loss of the longer cable exceeds 15 dB, change
the cable material (this normally means a more expensive material that has
a larger diameter and less flexibility).

Continued on next page

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 Routing and Securing the Antenna Cable, Continued

Routing and RF cables are required to meet the minimum qualification presented below
securing the (based on a maximum length of 30m/100ft.):
antenna cable, • Impedance: 50 +/- 2 Ohm
continued
• Attenuation: <15 dB/100 ft @ 1.5GHz
• Resistance: <1.9 Ohm/100 ft
• Insertion Loss: <5 dB @ 1.5GHz
• Min. Bending Radius: 50mm
• Temperature Range
• Operating: -65° to +165° C
Installation: -25°C to +70°C

The VS1000 receiver provides 5 VDC across the antenna ports. Connection
to incompatible devices may damage equipment.

Table 2-1 provides a summary of readily available cable materials with 50 Ω

impedance.

Table 2-1: Cable losses (not including connector losses)

Material Loss at GPS (1.575 GHz)

RG58 0.78 dB/m
RG8 0.36 dB/m
Times Microwave LMR400 0.15 dB/m

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 Mounting the VS1000

Introduction This section provides information on mounting the VS1000 in the optimal
location, orientation considerations, environmental considerations, and
other mounting options.

GNSS satellite When considering where to mount the VS1000, consider the following
reception satellite reception recommendations:
• Ensure cable length is adequate to route into the machine to reach a
breakout box or terminal strip.
• Do not mount the receiver where environmental conditions exceed those
specified in the technical specifications of this document.
• Route cables away from any potential source of mechanical damage. Do
not locate the antenna where environmental conditions exceed those
specified in Appendix A, Technical Specifications of this document.

Environmental Hemisphere Vector GNSS receivers are designed to withstand harsh

considerations environmental conditions; however, adhere to the following limits when
storing and using the VS1000:
• Operating temperature: -40°C to +70°C (-40°F to +158°F)
• Storage temperature: -40°C to +85°C (-40°F to +185°F)
• Humidity: IEC 16750-4:2010 Section 5.6 Humid heat, cyclic test

Mounting The VS1000 allows for two different mounting options: mount with bolts, or
options mount with magnets.

Continued on next page

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 Mounting the VS1000, Continued

Power/Data Before mounting the VS1000, consider the following regarding power/data
cable cable routing:
considerations
Do Do not
Ensure cable reaches appropriate Run cables in areas of excessive
power source. heat.
Keep cable away from corrosive Run cables through a door or
chemicals. window jams.
Connect to a data storage device, Crimp or excessively bend the
computer, or other device that cable.
accepts GNSS data.
Keep cable away from rotating Place tension on the cable.
machinery.
Remove unwanted slack from the
cable at the VS1000 end.
Secure along the cable route using
plastic tie wraps.

Improperly installed cable near machinery can be dangerous.

Connecting the To connect the serial power and data cable:

Serial 1. Align the cable connector key-way with the VS1000 connector key.
Power/Data 2. Push the connector in until it locks. The locking action is firm; you will
cable feel a positive “click” when it has locked.

Do not apply a voltage higher than 36 VDC. This will damage the receiver
and void the warranty. Also, do not attempt to operate the VS1000 with
the fuse bypassed, as this will void the warranty.

Continued on next page

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 Mounting the VS1000, Continued

Mounting If using pitch and roll values from the VS1000, you will need to configure
orientation the orientation of the receiver with respect to the antennas. You will do this
by sending three commands to the receiver:
1. $JATT,ACC90,YES or $JATT,ACC90,NO
2. $JATT,ACC180,YES or $JATT,ACC180,NO
3. $JATT,TILTCAL

When you send $JATT,TILTCAL, the pitch and roll values from the internal
sensor will zero. This should only be sent when the receiver is parallel to
the mounting surface.

If the ACC90 and ACC180 values are not to be configured, then pitch and
roll from the receiver should be ignored, GYROAID should be turned off
($JATT,GYROAID,NO) and TILTAID should be turned off
($JATT,TILTAID,NO).

$JATT,ACC90,NO
$JATT,ACC180,NO

Figure 2-4: Group A

Continued on next page

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 Mounting the VS1000, Continued

Mounting
orientation,
continued

$JATT,ACC90,YES
$JATT,ACC180,NO

Figure 2-5: Group B

Continued on next page

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 Mounting the VS1000, Continued

Mounting
orientation,
continued

$JATT,ACC90,NO
$JATT,ACC180,YES

Figure 2-6: Group C

Continued on next page

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 Mounting the VS1000, Continued

Mounting
orientation,
continued

$JATT,ACC90,YES
$JATT,ACC180,YES

Figure 2-7: Group D

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 Dimensions

VS1000 Figures 2-8 shows the dimensions of the VS1000.

dimensions

Figure 2-8: VS1000 dimensions

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 Connectors

Connectors The VS1000 has seven connectors on the back panel.

Table 2-2: VS1000 connectors

Connector Connector (Label) Type Purpose

1 1PPS BNC Connect the
external GNSS
antenna here.
2 BT/Wi-Fi TNC Connect the
external BT/Wi-Fi
antenna here.
3 CAN (M) Molex 5-pin Use this connector
Ultra-Lock to power the unit
and to
communicate with
the VS1000 over
CANbus.
4 Prim Ant TNC Connect the
Primary GNSS
antenna coaxial
cable here.
5 Ethernet RJ45 Connect the
Ethernet CAT-5
cable here.
6 Comm 12-pin (F) Connect for power,
1PPS, event
marker, and
RS232/RS422
communication.
7 Sec Ant N-Type (F) Connect the
Secondary GNSS
antenna coaxial
cable here.

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 Connecting the Receiver to External Devices

Connect to You can connect the VS1000 to external devices via the CAN and Comm
external devices connectors.

Figure 2-9: VS1000 port connections

The default baud rates, NMEA message types, and update rates for both
ports are listed in “Default Parameters”. If the NMEA data messages you
desire are different from the default values, you can select those messages.
Use the Config Wizard to select your NMEA message types and update rates
per port.

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 Power Considerations

Power Figures 2-10 thru 2-11 show the port pin-outs and Tables 2-3 thru 2-4
considerations provide the pin-out specifications.

Note: The “Pin” column in Tables 2-3 thru 2-4 refers to the pin assignments
located on the VS1000. All pins on the mating connector are mirrored.

Figure 2-10: 5-pin (male) CAN port pin-out

Table 2-3: 5-pin (male) CAN port pin-out

Pin Description
1 Shield
2 Power In
3 Power Ground
4 CAN Hi
5 CAN Lo

Continued on next page

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 Power Considerations, Continued

Power/data
connector

Figure 2-11: 12-pin power/data port pin-out

Power/data Table 2-4: 12-pin power/data port pin-out

connector,
continued Pin Description Color
1 Event marker in / 1PPS out White
2 RS-232 Port B Tx / RS-422 Port B Tx- Brown
3 RS-232 Port B Rx / RS-422 Port B Rx+ Blue
4 RS-422 Port B Tx+ Orange
5 Isolated (Port B) Ground Yellow
6 RS-232 Port A Tx Violet
7 RS-232 Port D Tx* Gray
8 RS-232 Port A Rx Pink
9 RS-422 Port B Rx- Tan
10 12v Power In Red
11 Power/Digital Ground Black
12 RS-232 Port D Rx* Green
* Limited functionality

Continued on next page

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 Power Considerations, Continued

Power/data
connector, Pin 10 (12v Power In) on the 12-pin Power/data connector is directly
continued, connected internally to Pin 2 (Power In) on the 5-pin CAN connector.
continued
Provide power to the VS1000 on only one of these two connectors.

Serial port You may configure Port A or Port B of the GNSS receiver to output any
configuration combination of data.

Port A can have a different configuration from Port B in data message

output, data rates, and the baud rate of the port, and configure the ports
independently based upon your needs.

Note: For successful communications, use the 8-N-1 protocol and set the
baud rate of the VS1000’s serial ports to match that of the devices to which
they are connected. Flow control is not supported.

Baud Rates & When selecting your baud rate and message types, use the following
Message Types formula to calculate the bits/sec for each message and sum the results to
determine the baud rate for your required data throughput.

Message output rate * Message length (bytes) * bits in byte = Bits/second

(1 character = 1 byte, 8 bits = 1 byte, use 10 bits/byte to account for
overhead).

For information on message output rates refer to the Hemisphere GNSS

Technical Reference Manual.

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 Chapter 3: Operating the VS1000
Overview

Introduction Chapter 3 provides the information you need to power and operate your
VS1000 receiver.

Contents
Topic See Page
Powering the Receiver On/Off 40
Configuring the VS1000 Using the WebUI 42
(Bluetooth/Wi-Fi)
Configuring the VS1000 Using the WebUI (Ethernet) 64
Common Commands and Messages 83

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 Powering the Receiver On/Off

Powering the The VS1000 powers on automatically when it receives 8 – 36 VDC. The
receiver on/off “Power” LED on the front panel illuminates green when the receiver has
power.

The VS1000 accepts an input voltage of 8 to 36 VDC via the power cable.
The supplied power should be continuous and clean for best performance.

Do not apply a voltage higher than 36 VDC. The VS1000 is protected from
a reversed power connection. A 3-Amp power fuse is recommended for
the protection of personnel and the system.

Although the VS1000 proceeds through an internal startup sequence when

you apply power, it will be ready to communicate immediately.

Initial startup may take 5 to 15 minutes depending on the location.

Subsequent startups will output a valid position within 1 to 5 minutes
depending on the location and time since the last startup.

To power on the VS1000, connect the ends of the VS1000 power cable to a
clean power source providing 8 to 36 VDC.

Figure 3-1: LED indicators

Continued on next page

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 Powering the Receiver On/Off, Continued

Powering the Table 3.1: LED Indicators

receiver on/off,
continued LED Color(s) & Functions
Power Solid GREEN indicates receiver is powered on
Prim Ant Solid GREEN indicates tracking 4+ satellites
Solid RED indicates no satellites
Sec Ant Solid GREEN indicates tracking 4+ satellites
Solid RED indicates no satellites
Heading Solid GREEN indicates 2D GNSS heading
Solid AMBER indicates 2D sensor heading
Quality Solid GREEN indicates selected corrections fixed
Flashing GREEN indicates DGPS is operational (SBAS, Atlas)
Solid AMBER indicates autonomous
Solid RED indicates no satellites
Atlas Solid GREEN indicates Atlas locked
Solid AMBER indicates Atlas activated but not locked
CAN Solid GREEN indicates CAN enabled
Flashing GREEN (1/sec) indicates CAN in use
Ethernet Solid GREEN indicates Ethernet enabled
Flashing GREEN (1/sec) indicates Ethernet in use
Bluetooth Solid BLUE indicates BT enabled
Flashing BLUE (1/sec) indicates BT in use
Wi-Fi Solid GREEN indicates Wi-Fi enabled
Flashing GREEN (1/sec) indicates Wi-Fi in use

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi)

Overview The VS1000 is equipped with an onboard WebUI.

Note: The VS1000 WebUI supports Chrome and Firefox web browsers.

First, connect the Bluetooth/WiFi antenna to the connector. The receiver

displays as an available Wi-Fi device in your available networks. Connect
your device to the VS1000’s Wi-Fi. The password is hgnss1234.

Open a web browser window and type the following IP address:

192.168.100.1

Status tab The VS1000 Status tab displays Receiver, Position, Heading, Precision,
Solution Status, and L-band/SBAS information.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Status tab tab, Table 3-2: Status fields

continued
Field Description
Time UTC time obtained from satellites; Local time configured
in Settings; Miscellaneous tab
Position Latitude, Longitude, Altitude
Heading Heading, COG, ROT, YAW, pitch, roll, heave, speed, and
the difference between heading and COG
Precision Satellites used in solution, 3D Accuracy, 2D Accuracy,
horizontal dilution of precision
Solution Solution type, correction source, correction signal latency
Status
L-band /SBAS Atlas Frequency, Source, Bit Error Rate, Carrier Lock, DSP
Lock, Frame Sync, Frame Sync 2*

*Note: For a definition of the L-band/SBAS fields refer to VS1000 Terms and
Definitions in this document.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Tracking tab On the Tracking tab, the Sky Plot shows the azimuth, elevation, and SNR
values of all tracked satellites.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Information tab On the Information tab, the Serial Number, Board Type, Board Firmware,
Subscriptions, Devices, RX info, and Port information is displayed.

Activated items are in green.

Device information is listed in the bottom portion of the Information tab.

Click on each tab for information related to Serial, CAN and Network.

Below is the CAN tab:

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Information Below is the Network tab:

tab, continued

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Files tab Use the Files tab to upload files and download log files from the receiver.

To install firmware, use the following steps:

1. Click Browse and choose a file to upload. The uploaded files display.
2. Next to Directory Select, click the dropdown arrow to select from
Uploads (your uploaded files) and Logs (log files).
3. Next to each filename is the filetype (e.g. carrier firmware or GNSS
firmware), size, time of upload, and operation. Click the down arrow
to download the file or Click X to delete the file.
4. Click the downward facing arrow to install the firmware file.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Files tab To confirm the firmware install, review the information in the red-
(continued) highlighted section below.

Note: The filesystem cannot be used when Bluetooth is enabled. If

Bluetooth is enabled, an option will be given to disable Bluetooth.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

System tab The System tab can be used to upgrade GNSS firmware or carrier board
firmware. You can also add subscription codes on this screen.

Use the buttons at the bottom of the screen:

• Format Disk-format the internal storage
• Self Test-run a receiver self-test
• Factory Restore-restore the unit to factory settings
• Reboot-reboot the unit

After Bluetooth is disabled, the filesystem displays. Any log files stored on
the receiver will be available for download.

To upgrade firmware, click Choose File, select the GNSS or carrier board
firmware, and press Upload.

Important: If you have purchased an activation or subscription, use the field

on the System tab to enter the Subscription Code, and click the ‘arrows’
button.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Settings A pop-up dialog box displays prompting for username and password. Type
the UserName admin and the password Hemi3384.

You can configure the following menus using the VS1000 WebUI:
• Heading
• CAN
• Serial
• WLAN
• Logging
• Atlas
• Miscellaneous

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Heading menu The Heading menu displays the various heading settings, which can also be
configured.

Click the box of the desired setting and type the configuration setting
values.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Heading menu, Table 3-3: Heading Configurations

continued
Heading Description
Configuration
Heading Bias Add a bias to the heading value the receiver outputs.
Heading is defined as the direction of the vector
created from the primary to secondary antenna.
Heading is measured using true north.

Range: -180 – +180

Pitch Bias Add a bias to the pitch value the receiver outputs.
If the receiver is in “roll” mode, this will add a bias to
the roll instead.

Range: -15 – +15

Gyro Aiding Gyro Aiding enables the use of the internal gyro sensor
and allows for the continuous output of heading for up
to three minutes during a GNSS outage. Gyro Aiding
improves the reacquisition time when GNSS Heading is
lost because of an obstruction in GNSS signal.
Negative Tilt Change the sign of the pitch/roll measurement.
Tilt Aiding Turn OFF or ON Tilt Aiding. When on, the sensors are
used to reduce the RTK search volume – improving
heading start up and reacquisition times.
Flip Board N/A
Level If the Vector will be operated within +/- 10 degrees of
Operation level, you may use this mode of operation for increased
robustness and faster acquisition times of the heading
solution.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Heading menu, Table 3-3: Heading Configurations (continued)

continued,
continued Heading Configuration Description
Pitch/Roll Mode If the antennas are mounted such that they
model pitch, set to PITCH.

If the antennas are mounted such that they

model roll, set to ROLL.

Note: If your HBIAS is -90 or +90, set this to

ROLL. If your HBIAS is 0 or 180, set this to
PITCH.
Heading TAU Adjust the responsiveness to true heading.

If the machine is large and unable to turn

quickly, increase this value.

For longer baselines (10 m) HTAU should be

between 0.1 and 0.5, since the gyro
introduces noise.

Default value: 0.1s with gyro enabled

Range: 0.0 to 60s
Formula: htau (s) = 40 / max rate of turn (°/s)
with gyro ON htau (s) = 10 / max rate of turn
(°/s) with gyro OFF
Heading Rate TAU Adjust the responsiveness to the rate of
heading change.
If the machine is large and unable to turn
quickly, increase this value.
Default value: 2.0s with gyro enabled
Range: 0.0 to 60s
Formula: hrtau (s) = 10 / max rate of the rate
of turn (°/s2)

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi) Continued

Heading menu, Table 3-3: Heading Configurations (continued)

continued,
continued, Heading Description
continued Configuration
COG TAU The direction the machine is moving.

Adjust the responsiveness to the course over ground

measurement.

If the machine is small and dynamic, leave this value

at 0.0 s to be conservative.

If the machine is large and resistant to motion,

increase this value.

Default value: 0.0s

Range: 0.0 to 60s
Formula: cogtau (s) = 10 / max rate of change of
course (°/sec)
Speed TAU Speed of machine in km/h.
Adjust the responsiveness to speed.

If the machine is small and dynamic, leave this value

at 0.0 s to be conservative.

If the machine is large and resistant to motion,

increase this value.

Default value: 0.0s

Range: 0.0 to 60s
Formula: spdtau (s) = 10 / max acceleration (m/s2)
MSEP The measured distance between the primary and
secondary antenna. Must be accurate to within 2cm.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Heading menu, Table 3-3: Heading Configurations (continued)

continued,
continued, Heading Description
continued, Configuration
continued
CSEP This is the antenna separation calculated by the
receiver. Ensure the CSEP value is within 0.02 of
the MSEP value.

Note: If CSEP value is “0” the receiver is unable to

calculate the separation between the primary
and secondary antennas, and you will not receive
a valid heading.

Note: Default settings can be changed to set the time constants to smooth
heading, Course-over-Ground (COG), and speed measurements.

CAN On the CAN Configuration menu, turn ON/OFF CAN and select the baud
Configuration rate (250 kbps, 500 kbps, or 1000 kbps).
menu

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Serial tab Use the Serial tab to configure the baud rate of each Serial Port (Port A and
Port B) and turn off/on specific NMEA 0183 messages and proprietary
Hemisphere BIN messages.

Configure the Serial Port and click Output.

You can also change Port B from RS-232 to RS-422 and RS-422 to RS-232
reciprocally.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

WLAN menu Use the WLAN menu to configure the WiFi and Bluetooth connections.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Logging menu Use the Logging menu to log data to the internal memory of the VS1000 or
download a previously saved log.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Logging menu, Table 3-4: Logging configuration

continued
Field Description
GPGGA Turn on GGA message logging at 0.2Hz, 1Hz, 10Hz, or
20HZ.

Note: 10Hz and 20Hz are only available with

activations (some kits may come with 10Hz or 20Hz
included).
Position/Velocity Log the position and velocity of the receiver at 0.2Hz,
1Hz, 10Hz, or 20HZ.

Note: 10Hz and 20Hz are only available with

activations (some kits may come with 10Hz or 20Hz
included).
Observations* Log raw GNSS observations at 0.2Hz, 1Hz, 10Hz, or
20HZ.

*This feature is only Note: 10Hz and 20Hz are only available with
available if you have a
“Raw” activation on
activations (some kits may come with 10Hz or 20Hz
the receiver. included).

Heading Heading logs the following messages:

• GPHDT
• GPHDM
• GPHDG
• HPR
• BIN3

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Logging menu, Table 3-4: Logging configuration (continued)

continued
Field Description
Ephemeris* Log raw GNSS ephemeris messages at 0.2Hz, 1Hz,
10Hz, or 20HZ.

*This feature is only Note: 10Hz and 20Hz are only available with
available if you have a
“Raw” activation on
activations (some kits may come with 10Hz or 20Hz
the receiver. included).

Corrections Log the correction messages coming into the receiver.

High Speed High Speed logs diagnostic data.

Note: Selecting that dropdown option forces the

GGA, “corrections” and “ephemeris” options on.

Duration Set the period for which you wish to record data.
File Splitting Automatically closes a file and restarts a new file after
a period of time.

Use file splitting to decrease file sizes or to prevent

the loss of a file resulting in the loss of all data.
Filename Choose a filename.

All filenames automatically have an appended date

and timestamp.

To stop logging, de-select the Enabled button and press Save Settings.

If you power off the receiver without properly closing a log, the log file
will become corrupted.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Atlas menu In the Atlas menu you can manually configure the frequency and
bandwidth of the L-band satellite you wish to track, or simply click the Auto
button and let the receiver track automatically.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued

Atlas menu, If using Atlas (not RTK), datum defaults to ITRF08.

continued
You can change Datum Type to GDA94 or enter custom reference frame
offsets.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Bluetooth/Wi-Fi), Continued
Miscellaneous In the Miscellaneous menu, you can change Orientation, Receiver Working
menu Mode, Device Name, and Signal Switch.

Orientation-selects the position in which the receiver is installed.

Receiver Working Mode-selects between Rover, BaseLink and SmartLink.

Device Name-the name of device that displays at the top of the screen.

Signal Switch-switches between Event Mark and 1PPS on pin 1 of the 12-
pin connector. This does not impact 1PPS output on the back panel 1PPS
BNC connector.

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 Configuring the VS1000 Using the WebUI (Ethernet)

Overview The VS1000 is equipped with an onboard WebUI you can access by using an
Ethernet connection.

To access this Ethernet WebUI, please use the following instructions:

To set up the Ethernet you will need to update the GNSS firmware to
6.0Aa00 or later.

1) Connect the VS1000 to a network switch, and send the following

commands over a serial port:
a. $JETHERNET,MODE,DHCP
b. $JETHERNET,PORTI,xxxx (Where xxxx equals a four-digit
number)
c. $JETHERNET,WEBUI,ON
d. $JSAVE

Re-send the $JETHERNET command over the serial port. The response will
have a dynamic IP address that you can use to connect to the Ethernet port
as well as the Ethernet based WebUI.

Note: The VS1000 WebUI supports Chrome and Firefox web browsers.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Status tab The VS1000 Status tab displays Receiver, Position, Heading, Precision,
Solution Status, and L-band/SBAS information.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Status tab, Table 3-5: Status fields

continued
Field Description
Time UTC time obtained from satellites; Local time
configured in Settings; Miscellaneous tab
Position Latitude, Longitude, Altitude
Heading Heading, COG, ROT, YAW, pitch, roll, heave, speed, and
the difference between heading and COG
Precision Satellites used in solution, 3D Accuracy, 2D Accuracy,
horizontal dilution of precision
Solution Status Solution type, correction source, correction signal
latency
L-band /SBAS Atlas Frequency, Source, Bit Error Rate, Carrier Lock,
DSP Lock, Frame Sync, Frame Sync 2*

*Note: For a definition of the L-band/SBAS fields refer to VS1000 Terms and
Definitions in this document.

Tracking tab On the Tracking tab, the Sky Plot shows the azimuth, elevation, and SNR
values of all tracked satellites.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Serial menu Use the Serial menu to configure the baud rate of each Serial Port (Port A
and Port B) and turn off/on specific NMEA 0183 messages and proprietary
Hemisphere BIN messages.

Configure the Serial Port and click Output.

You can also change Port B from RS-232 to RS-422 and RS-422 to RS-232
reciprocally.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Compass tab The Compass tab contains a compass graphic and displays the Heading and
COG readings.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Compass tab,
continued

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Information tab On the Information tab, you can see the ESN, Board Type, and GNSS
Firmware.

Important: If you have purchased an activation or subscription, go to the

Settings menu item, click Systems, enter the code and click Update.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Information tab On the Settings tab, you can configure the following menus using the
tab VS1000 WebUI:
• Ethernet
• Heading
• Serial
• NTRIP
• USB
• Atlas
• System

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Ethernet menu Use the Ethernet menu to configure the Ethernet connection.

To enable Ethernet, first decide if you wish to allow the receiver to be

assigned an IP address automatically via DHCP, or statically assigned. If you
are unsure, please contact the administrator of the network you wish to
connect it to.

Select either DHCP or Static. If selecting Static, type the appropriate

credentials.

To test if the Ethernet is enabled, send an ICMP ping to the receiver from a
PC on the same network. Note no actual services are enabled on Ethernet
by default, so to make practical use of Ethernet support, you must also
enable a service.

As of the version 6.0.0 firmware, the only services implemented include the
Port I virtual serial port, Port UDP, and NTRIP CLIENT. Additional types of
network services may be implemented in future firmware versions.

For example, it is possible to enable the Port I virtual serial port as a TCP
server. Once a connection to it is made, it will act just like a local serial port
of the receiver. Only one TCP client may be connected to it at a time.

Important Note: Enabling Port I as a TCP server should only be done when
the network the receiver is connected to a trusted network, since it gives
full access to the receiver with no authentication mechanism.

To enable Port I service, use the drop-down menu to turn the Port I and
assign the Port an IP address between 1 and 65535.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Ethernet menu, As an additional note, when the connected to a network, the receiver can
continued be accessed with a hostname of “hgnss########.local” where ######## is
replaced with the receiver’s electronic serial number as is reported by the
$JI command. This can make it easier to connect to a receiver on a local
network assigned an IP address by DHCP, so there is no need to check
which IP address was assigned.

The VS1000 allows configuring a virtual serial port for transmitting

messages via UDP packets. Up to four destination host/port pairs may be
specified, and messages will be sent to all simultaneously. This is for
outgoing data only, and incoming data or commands via UDP are not
accepted.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Heading menu The Heading menu displays the configuration data. Various heading settings
can also be configured.

Click the box of the desired setting and type the configuration setting
values.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Heading menu, Table 3-6: Heading Configurations

continued
Heading Description
Configuration
Heading Bias Add a bias to the heading value the receiver
outputs.

Heading is defined as the direction of the vector

created from the primary to secondary antenna.
Heading is measured using true north.

Range: -180 – +180

Pitch Bias Add a bias to the pitch value the receiver outputs.

If the receiver is in “roll” mode, this will add a bias

to the roll instead.

Range: -15 – +15

Gyro Aiding Gyro aiding enables the use of the internal gyro
sensor and allows for the continuous output of
heading for up to three minutes during a GNSS
outage. Gyro aiding improves the reacquisition
time when GNSS heading is lost because of an
obstruction in GNSS signal.
Negative Tilt Change the sign of the pitch/roll measurement.
Tilt Aiding Turn OFF or ON tilt aiding. When on, the sensors
are used to reduce the RTK search volume –
improving heading start up and reacquisition
times.
Level Operation If the Vector will be operated within +/- 10
degrees of level, you may use this mode of
operation for increased robustness and faster
acquisition times of the heading solution.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Heading menu, Table 3-6: Heading Configurations (continued)

continued,
continued Heading Configuration Description
Pitch/Roll Mode If the antennas are mounted such that they
model pitch, set to PITCH.

If the antennas are mounted such that they

model roll, set to ROLL.

Note: If your HBIAS is -90 or +90, set this to

ROLL. If your HBIAS is 0 or 180, set this to
PITCH.
Heading TAU Adjust the responsiveness to true heading.

If the machine is large and unable to turn

quickly, increase this value.

For longer baselines (10 m) HTAU should be

between 0.1 and 0.5, since the gyro introduces
noise.

Default value: 0.1s with gyro enabled

Range: 0.0 to 60s
Formula: htau (s) = 40 / max rate of turn (°/s)
with gyro ON htau (s) = 10 / max rate of turn
(°/s) with gyro OFF
Heading Rate TAU Adjust the responsiveness to the rate of
heading change.

If the machine is large and unable to turn

quickly, increase this value.

Default value: 2.0s with gyro enabled

Range: 0.0 to 60s
Formula: hrtau (s) = 10 / max rate of the rate
of turn (°/s2)

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Heading menu, Table 3-6: Heading Configurations (continued)

continued,
continued, Heading Configuration Description
continued
COG TAU The direction the machine is moving.

Adjust the responsiveness to the course over

ground measurement.

If the machine is small and dynamic, leave this

value at 0.0s to be conservative.

If the machine is large and resistant to

motion, increase this value.

Default value: 0.0s

Range: 0.0 to 60s
Formula: cogtau (s) = 10 / max rate of change
of course (°/sec)
Speed TAU Speed of machine in km/h.
Adjust the responsiveness to speed.

If the machine is small and dynamic, leave this

value at 0.0 s to be conservative.

If the machine is large and resistant to

motion, increase this value.

Default value: 0.0s

Range: 0.0 to 60s
Formula: spdtau (s) = 10 / max acceleration
(m/s2)
MSEP The measured distance between the primary
and secondary antenna. Must be accurate to
within 2cm.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Heading menu, Table 3-6: Heading Configurations (continued)

continued,
continued, Heading Configuration Description
continued,
CSEP This is the antenna separation calculated by
continued
the receiver. Ensure the CSEP value is within
0.02 of the MSEP value.

Note: If CSEP value is “0” the receiver is

unable to calculate the separation between
the primary and secondary antennas, and you
will not receive a valid heading.
MoveBase If the receiver is capable of multi-frequency
operation, you can turn the setting on to
allow the receiver to calculate the heading
with no MSEP value. If the receiver is not
capable of multi-frequency operation, you
must turn MoveBase off.

Note: Default settings can be changed to set the time constants to smooth
heading, Course-over-Ground (COG), and speed measurements.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Serial menu Use the Serial menu to configure the baud rate of each serial port (Port A
and Port B) and turn off/on specific NMEA 0183 messages and proprietary
Hemisphere messages. You can also configure the message output of Port I
and Port UDP.

You can also switch Port B between RS-232 to RS-422.

Configure the Serial Port and click Output.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued
NTRIP menu The NTRIP menu shows the Status, RX Count, Time, Host, Port, Mount
Point, Username, and Password. Click Connect.

USB menu The USB menu allows you to configure the message output of Port U.

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

Atlas menu In the Atlas menu, you can manually configure the frequency and
bandwidth of the L-band satellite you wish to track, or simply click the Auto
button and let the receiver track automatically.

Atlas Datum
Datum Type: By default, the reference frame that Atlas uses is ITRF08. Use
the drop-down box to select from GDA94 or to add Reference Frame
(custom offsets) to ITRF08.

If you select the option to use Reference Frame, you can either add an XYZ
Cartesian coordinate offset (in meters) or a Geodetic NEZ offset (in meters,
feet, or degrees).

Continued on next page

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 Configuring the VS1000 Using the WebUI (Ethernet), Continued

System menu The System menu displays the current Firmware and Subscription
information. To update Firmware, click Browse. To update Subscription,
enter the new code and click Update.

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 Common Commands and Messages

VS1000 Table 3-7 below provides a brief description of common NMEA commands
Commands & and messages for the VS1000.
messages
Table 3-7: NMEA received messages based on a request

PG No. Description Default Freq (Hz)

(PGN) Update Rate
(msec)
059392 ISO Acknowledgment On Request On Request

Used to acknowledge
the status of certain
requests addressed to a
specific ECU.
059904 ISO Request On Request On Request

Request the
transmission of a
specific PGN, addressed
or broadcast.
060928 ISO Address Claim On Request On Request

Used to identify to other

ECUs the address
claimed by an ECU.

Continued on next page

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 Common Commands and Messages, Continued

VS1000 Table 3-4: NMEA received messages based on a request (continued)

Commands &
messages, PG No. Description Default Freq (Hz)
continued (PGN) Update Rate
(msec)
126996 Product Information On Request On Request

NMEA 2000 database

version supported,
manufacturer’s product
code, NMEA 2000
certification level, Load
Equivalency number,
and other product-
specific information.
126208 Request group function On Request On Request

The Request / Command

/ Acknowledge Group
type of function is
defined by first field.
The message will be a
Request, Command, or
Acknowledge Group
Function.
126464 Receive/Transmit PGNs On Request On Request
group function

The Transmit / Receive

PGN List Group type of
function is defined by
the first field. The
message will be a
Transmit or Receive PGN
List group function.

Continued on next page

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 Common Commands and Messages, Continued

VS1000 Table 3-7: NMEA received messages based on a request (continued)

Commands &
messages, PG No. Description Default Freq (Hz)
continued (PGN) Update Rate
(msec)
129538 GNSS Control Status On Request On Request

GNSS common satellite

receiver parameter
status.
129545 GNSS RAIM Output On Request On Request

Autonomous Integrity
Monitoring (RAIM)
process. The Integrity
field value is based on
the parameters set in
PGN 129546 GNSS RAIM
settings.
129546 GNSS RAIM Settings On Request On Request

Used to report the

control parameters for a
GNSS receiver
Autonomous Integrity
Monitoring (RAIM)
process.
126992 System Time 1000 0

The purpose of this PGN

is twofold: to pro- vide a
regular transmission of
UTC time, date, and to
provide synchronism for
measurement data.

Continued on next page

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 Common Commands and Messages, Continued

VS1000 Table 3-7: NMEA received messages based on a request (continued)

Commands &
messages, PG No. Description Default Freq (Hz)
continued (PGN) Update Rate
(msec)
127250 Vessel Heading 100 20

Heading sensor value

with a flag for True or
Magnetic. If the sensor
value is Magnetic, the
deviation field can be
used to produce a
Magnetic heading, and
the variation field can
be used to correct the
Magnetic heading to
produce a True heading.
127251 Rate of Turn 100 10

Rate of change of the

Heading.
127257 Attitude 1000 20

Provides a single
transmission that
describes the position of
a vessel relative to both
horizontal and vertical
planes. This would
typically be used for
vessel stabilization,
vessel control and on-
board platform
stabilization.

Continued on next page

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 Common Commands and Messages, Continued

VS1000 Table 3-7: NMEA received messages based on a request (continued)

Commands &
messages, PG No. Description Default Update Freq (Hz)
continued (PGN) Rate (msec)
127258 Magnetic Variation 1000 1

Message for
transmitting variation.
The message contains
a sequence number to
allow synchronization
of other messages
such as Heading or
Course over Ground.
The quality of service
and age of service are
provided to enable
recipients to
determine an
appropriate level of
service if multiple
transmissions exist.

Continued on next page

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 Common Commands and Messages, Continued

VS1000 Table 3-7: NMEA received messages based on a request (continued)

Commands &
messages, PG No. Description Default Freq (Hz)
continued (PGN) Update Rate
(msec)
129025 Position, Rapid Update 100 0

Provides latitude and

longitude referenced to
WGS84. Being defined
as single frame
message, as opposed to
other PGNs that
include latitude and
longitude and are
defined as fast or multi-
packet, this PGN lends
itself to being
transmitted more
frequently without
using up excessive
band- width on the bus
for the benefit of
receiving equipment
that may require rapid
position updates.
129026 COG & SOG, Rapid 250 4
Update

Single frame PGN that

provides Course Over
Ground (COG) and
Speed Over Ground
(SOG).

Continued on next page

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 Common Commands and Messages, Continued

VS1000 Table 3-7: NMEA received messages based on a request (continued)

Commands &
messages, PG No. Description Default Update Freq (Hz)
continued (PGN) Rate (msec)
129027 Position Delta, High 100 20
Precision Rapid
Update

The “Position Delta,

High Precision Rapid
Update” Parameter
Group is intended for
applications where
very high precision
and very fast update
rates are needed for
position data. This
PGN can provide delta
position changes
down to 1 mm with a
delta time period
accurate to 5 msec.

Continued on next page

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 Common Commands and Messages, Continued

VS1000 Table 3-7: NMEA received messages based on a request (continued)

Commands &
messages, PG No. Description Default Update Freq (Hz)
continued (PGN) Rate (msec)
129028 Altitude Delta, High 100 20
Precision Rapid
Update

The “Altitude Delta,

High Precision Rapid
Update” Parameter
Group is intended for
applications where
very high precision
and very fast update
rates are needed for
altitude and Course
Over Ground data.
This PGN can provide
delta altitude changes
down to 1 millimeter,
a change in direction
as small as 0.0057°,
and with a delta time
period accurate to 5
msec.
129029 GNSS Position Data 1000 1

Conveys a
comprehensive set of
Global Navigation
Satellite System
(GNSS) parameters,
including position
information.

Continued on next page

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 Common Commands and Messages, Continued

VS1000 Table 3-7: NMEA received messages based on a request (continued)

Commands &
messages, PG No. Description Default Update Freq (Hz)
continued (PGN) Rate (msec)
129033 Time & Date 1000 0

Single transmission
that provides UTC
time, UTC Date, and
Local Offset.
129539 GNSS DOPs 1000 1

Provides a single
transmission
containing GNSS
status and dilution of
precision components
(DOP) that indicate
the contribution of
satellite geometry to
the overall position
error. There are three
DOP parameters
reported: horizontal
(HDOP), vertical
(VDOP), and time
(TDOP).

Continued on next page

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 Common Commands and Messages, Continued

VS1000 Table 3-7: NMEA received messages based on a request (continued)

Commands &
messages, PG No. Description Default Freq (Hz)
continued (PGN) Update Rate
(msec)
129540 GNSS Sats in View 1000 1

GNSS information on
current satellites in view
tagged by sequence ID.
Information includes
PRN, elevation, azimuth,
SNR, defines the
number of satellites;
defines the satellite
number and the
information.
129542 GNSS Pseudo-range 1000 1
Noise Statistics

GNSS pseudo-range
measurement noise
statistics can be
translated in the
position domain in order
to give statistical
measures of the quality
of the position solution.
Intended for use with a
receiver Autonomous
Integrity Monitoring
(RAIM) application.
196552 Receiver Diagnostics and 1000 1
Status Information
This table contains information found in the NMEA 2000® Standard
manual. NMEA 2000 is a registered trademark of the National Marine
Electronics Association.

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 Appendix A: Technical Specifications
Overview

Introduction Appendix A contains the technical specifications for the Vector VS1000.

Contents
Topic See Page
VS1000 Technical Specifications 93

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 VS1000 Technical Specifications

VS1000 Table A-1: GNSS sensor

Technical
specifications Item Specification
Receiver type GPS, GLONASS, BeiDou, Galileo, QZSS, Atlas L-
band, RTK
Signals received GPS L1CA/L1P/L1C/L2P/L2C/L5
GLONASS G1/G2, P1/P2
BeiDou B1/B2/B3
GALILEO E1BC/E5a/E5b
QZSS L1CA/L1C/L2C/L5
Atlas L-band
Channels 1059
GNSS sensitivity -142 dBm
SBAS tracking 3-channel, parallel tracking
Update rate 10 Hz standard, up to 20 Hz optional
Horizontal accuracy
RMS (67%) 2DRMS (95%)
RTK1,2 10 mm + 1 20 mm + 2 ppm
ppm
Atlas H10 (L- 0.04 m 0.08 m
band) 1

SBAS 0.3 m 0.6 m

(WAAS) 1

Autonomous, 1.2 m 2.5 m

no SA1
Heading accuracy1,5 < 0.17˚ RMS @ 0.5 m antenna separation
< 0.09˚ RMS @ 1.0 m antenna separation
< 0.04˚ RMS @ 2.0 m antenna separation
< 0.02˚ RMS @ 5.0 m antenna separation
<0.01˚ RMS @ 10.0 m antenna separation
Pitch/roll accuracy < 1º RMS

Continued on next page

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 VS1000 Technical Specifications, Continued

VS1000 Table A-1: GNSS sensor (continued)

Technical
specifications, Item Specification
continued
Heave accuracy 30 cm (DGNSS), 10 cm (RTK)3
Rate of turn 90º/s maximum
Cold start time < 40 s typical (no almanac, ephemeris, or position)
Warm start time < 20 s typical (almanac)
Hot start time < 5 s (almanac, ephemeris, and position)
Heading fix < 10 s typical (valid position)
Maximum speed 1,850 kph (999 kts)
Maximum altitude 18,288 m (60,000 ft)

Table A-2: L-band sensor

Item Specification
Receiver Type Single Channel
Channels 1525 to 1560 MHz
Sensitivity -140 dBm
Channel Spacing 5.0 kHz
Satellite Selection Manual and Automatic
Reacquisition Time 15 seconds (typical)
Processor DSP for demodulation and protocol decoding
module provides processing for differential
algorithms

Continued on next page

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 VS1000 Technical Specifications, Continued

VS1000 Table A-3: Communication

Technical
specifications, Item Specification
continued
Ports CAN, Ethernet, 12-pin multi-purpose (RS-232, RS-
422, CAN, Event Marker, 1PPS), 1PPS
Baud Rates 4800-230400
Radio Interfaces Bluetooth 2.0 (Class 2), Wi-Fi 2.4 GHz
Data Protocols NMEA 0183, Hemisphere proprietary binary
Correction Protocols Atlas, ROX, RTCM v2.3 (DGNSS), RTCM v3.2, CMR,
CMR+4

Table A-4: Power

Item Specification
Power input voltage 8 to 36 VDC
Power consumption < 6.2 W nominal (GNSS L1/L2 L-band)
< 5.3 W nominal (GNSS L1/L2 RTK)
Reverse polarity Yes
protection
Antenna short Yes
circuit protection
Antenna input 50 Ω
impedance

Continued on next page

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 VS1000 Technical Specifications, Continued

VS1000 Table A-5: Environmental

Technical
specifications, Item Specification
continued
Operating -40°C to +70°C (-40°F to +158°F)
temperature
Storage -40°C to +85°C (-40°F to +185°F)
temperature
Humidity 95%, non-condensing
Enclosure rating IP67
Vibration IEC 60945:2002 Section 8.7
EMC EN 301 489-1 V2.1.1
EN 301 489-5 V2.1.1
EN 301 489-19 V2.1.0
EN 303 413 V1.1.1

Table A-6: Mechanical

Item Specification
Dimensions 23.8 L x 16.5 W x 7.9 H (cm)
9.4 L x 6.5 W x 3.1 H (in)
Weight 1.7 Kg
Status indications Power, primary antenna, secondary antenna,
(LEDs) heading, quality, Atlas, CAN1, CAN2, Ethernet
Power connector CAN, 12-pin ODU metal circular
Data connectors (1) 12-pin ODU metal circular
(1) 8-pin Ethernet
(1) CAN
(1) USB
(1) 1PPS
Antenna connectors (3) TNC

1
Depends on multipath environment, number of satellites in view, satellite geometry, and ionospheric activity
2 Depends also on baseline length
3 Based on a 40 second time count
4 CMR and CMR+ do not cover proprietary messages outside of the typical standard
5 Antenna separation 5m or greater require multi-frequency capability

Continued on next page

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 VS1000 Technical Specifications, Continued

A45 Antenna Tables A -7 through A-11 list the technical specifications of the A45
specifications antenna.

Table A-7: GNSS antenna

Specification Description
GNSS Reception GPS L1/L2/L5
GLONASS G1/G2
BeiDou B1/B2/B3
GALILEO E1/E5
QZSS L1/L2/L5
SBAS
GNSS frequency 1.165 to 1.278 GHz
1.525 to 1.615 GHz
LNA gain 30dB
LNA noise 2.0dB, typical

Table A-8: L-band sensor

Specification Description
L-band frequency 1.525 - 1.585 GHz
L-band LNA gain 30dB

Table A-9: Power

Specification Description
Input voltage 3.3 to 15 VDC
Input current 25 mA, typical

Continued on next page

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 VS1000 Technical Specifications, Continued

A45 Antenna Table A-10: Mechanical

specifications,
continued Specification Description
Enclosure Aluminum base with Lexan™ plastic cap
Dimensions 4.7 H x 15.2 D (cm)
1.8 H x 6.0 D (in)
Weight 0.50 kg (1.1 lbs.)
Mount 5/8” female thread
Connector TNC

Table A-11: Environmental

Specification Description
Storage temperature -40°C to +85°C (-40°F to +185°F)
Operating -40°C to +70°C (-40°F to +158°F)
temperature
Enclosure rating IP69K
Shock and vibration EP 455
Phase Center Less than 2 mm at GPS L1, for elevations above
Variation 15°

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 Appendix B: Menu Maps
Overview

Introduction Appendix B contains the menu maps you need to navigate the WebUI.

Contents
Topic See Page
VS1000 Menu Map 100

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 VS1000 Menu Map

Vector Menu

Continued on next page

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 VS1000 Menu Map, Continued

GNSS Menu

Continued on next page

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 VS1000 Menu Map, Continued

GNSS Menu,
continued

Continued on next page

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 VS1000 Menu Map, Continued

System Setup

Continued on next page

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 VS1000 Menu Map, Continued

System Setup,
continued

875-0425-10 VS1000 GNSS Receiver User Guide Rev A5 Page 105 of 105
Index

1PPS ................................................................................................................. 6
Activate Loader ............................................................................................. 16
Activation......................................................................................................... 6
ANT-S10 ................................................................................. 22, 23, 24, 25, 98
Athena RTK ........................................................................................ 10, 11, 12
Atlas ........................................................................................................... 6, 62
Atlas Datum ................................................................................................... 62
Atlas L-band ................................................................................. 10, 11, 12, 18
Base Station ..................................................................................................... 6
Baud Rates ..................................................................................................... 38
BeiDou ............................................................................................................. 6
Bluetooth ................................................................................................. 42, 49
CAN .................................................................................... 6, 18, 34, 35, 36, 97
course-over-ground ................................................................................. 55, 78
environmental ............................................................................................... 27
Ethernet ......................................................................................................... 72
firmware ...................................................................................... 14, 15, 16, 17
Firmware.............................................................................................. 7, 14, 45
GALILEO ........................................................................................................... 7
GGA .......................................................................................................... 59, 60
GLONASS.......................................................................................................... 7
GPS............................................................................................................... 7, 8
Gyro aiding .............................................................................................. 52, 75
Heading.......................................................... 42, 43, 51, 52, 59, 65, 66, 74, 75
HTAU ........................................................................................................ 53, 76
kit ................................................................................................................... 13
LED Indicators ............................................................................................... 41
Logging............................................................................................... 58, 59, 60
Message Types .............................................................................................. 38
Multipath ......................................................................................................... 7
NMEA ............................................................................................. 7, 56, 67, 79
NMEA commands .......................................................................................... 83
NTRIP ......................................................................................................... 7, 11
PEAK............................................................................................................... 18
phase center ............................................................................................ 11, 22
PocketMax4 ................................................................................................... 18
Position .................................................................................................... 43, 66
Power/Data cable .......................................................................................... 28
Program Type ................................................................................................ 15
Radio ................................................................................................................ 8
RightArm ........................................................................................................ 14
ROX .................................................................................................................. 8
RTCM ............................................................................................................... 8
RTK ............................................................................................. 6, 8, 52, 62, 75
SBAS ................................................................................... 8, 42, 43, 65, 66, 81
Serial Output...................................................................................... 56, 67, 79
Speed ................................................................................................. 54, 60, 77
Status ........................................................................................... 42, 43, 65, 66
Subscription ............................................................................................... 6, 49
UHF .................................................................................................................. 6
WAAS ............................................................................................................... 8
WebUI ................................................................................................ 14, 42, 64
End User License Agreement

End User license IMPORTANT - This is an agreement (the "Agreement") between you, the end purchaser ("Licensee") and
Hemisphere GNSS Inc. ("Hemisphere") which permits Licensee to use the Hemisphere software (the "Software")
agreement that accompanies this Agreement. This Software may be licensed on a standalone basis or may be embedded in a
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In this agreement any product that has Software embedded in it at the time of sale to the Licensee shall be
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human perceivable form;
i. Assign this Agreement or sell or otherwise transfer the Software to any other party
except as part of the sale or transfer of the whole Product.
3. UPDATES. At Hemisphere's discretion Hemisphere may make Updates available to Licensee.
An update ("Update") means any update to the Software that is made available to Licensee
including error corrections, enhancements and other modifications. Licensee may access,
download and install Updates during the Warranty Period only. All Updates that Licensee
downloads, installs or uses shall be deemed to be Software and subject to this Agreement.
Hemisphere reserves the right to modify the Product without any obligation to notify, supply
or install any improvements or alterations to existing Software.
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Continued on next page

End User License Agreement, Continued

End User license 5. BACKUPS AND RECOVERY. Licensee shall back-up all data used, created or stored by the
Software on a regular basis as necessary to enable proper recovery of the data and related
agreement, systems and processes in the event of a malfunction in the Software or any loss or corruption
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8. LIMITED WARRANTY. Hemisphere warrants solely to the Licensee, subject to the exclusions
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of purchase of the Product in which it is embedded (the "Warranty Period"), the Software,
under normal use and maintenance, will conform in all material respects to the
documentation provided with the Software and any media will be free of defects in materials
and workmanship. For any Update, Hemisphere warrants, for 90 days from performance or
delivery, or for the balance of the original Warranty Period, whichever is greater, that the
Update, under normal use and maintenance, will conform in all material respects to the
documentation provided with the Update and any media will be free of defects in materials
and workmanship. Notwithstanding the foregoing, Hemisphere does not warrant that the
Software will meet Licensee's requirements or that its operation will be error free.
9. WARRANTY EXCLUSIONS. The warranty set forth in Section (8) will not apply to any
deficiencies caused by (a) the Product not being used as described in the documentation
supplied to Licensee, (b) the Software having been altered, modified or converted in any way
by anyone other than Hemisphere approved by Hemisphere, (c) any malfunction of Licensee's
equipment or other software, or (d) damage occurring in transit or due to any accident,
abuse, misuse, improper installation, lightning (or other electrical discharge) or neglect other
than that caused by Hemisphere. Hemisphere GNSS does not warrant or guarantee the
precision or accuracy of positions obtained when using the Software (whether standalone or
embedded in a Product). The Product and the Software is not intended and should not be
used as the primary means of navigation or for use in safety of life applications. The potential
positioning and navigation accuracy obtainable with the Software as stated in the Product or
Software documentation serves to provide only an estimate of achievable accuracy based on
specifications provided by the US Department of Defense for GPS positioning and DGPS
service provider performance specifications, where applicable.
10. WARRANTY DISCLAIMER. EXCEPT AS EXPRESSLY SET OUT IN THIS AGREEMENT, HEMISPHERE
MAKES NO REPRESENTATION, WARRANTY OR CONDITION OF ANY KIND TO LICENSEE,
WHETHER VERBAL OR WRITTEN AND HEREBY DISCLAIMS ALL REPRESENTATIONS,
WARRANTIES AND CONDITIONS OF ANY KIND INCLUDING FITNESS FOR A PARTICULAR
PURPOSE, MERCHANTABILITY, ACCURACY, RELIABILITY OR THAT THE USE OF THE SOFTWARE
WILL BE UNINTERRUPTED OR ERROR-FREE AND HEREBY DISCLAIMS ALL REPRESENTATIONS,
WARRANTIES AND CONDITIONS ARISING AS A RESULT OF CUSTOM, USAGE OR TRADE AND
THOSE ARISING UNDER STATUTE.
11. LIMITS ON WARRANTY DISCLAIMER. Some jurisdictions do not allow the exclusion of implied
warranties or conditions, so some of the above exclusions may not apply to Licensee. In that
case, any implied warranties or conditions which would then otherwise arise will be limited in
duration to ninety (90) days from the date of the license of the Software or the purchase of
the Product. The warranties given herein give Licensee specific legal rights and Licensee may
have other rights which may vary from jurisdiction to jurisdiction.
12. CHANGE TO WARRANTY.No employee or agent of Hemisphere is authorized to change the
warranty provided or the limitation or disclaimer of warranty provisions. All such changes will
only be effective if pursuant to a separate agreement signed by senior officers of the
respective parties.

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End User License Agreement, Continued

End User license 13. WARRANTY CLAIM. In the event Licensee has a warranty claim Licensee must first check for
and install all Updates that are made available. The warranty will not otherwise be honored.
agreement, Proof of purchase may be required. Hemisphere does not honor claims asserted after the end
continued of the Warranty Period.
14. LICENSEE REMEDIES. In all cases which involve a failure of the Software to conform in any
material respect to the documentation during the Warranty Period or a breach of a warranty,
Hemisphere's sole obligation and liability, and Licensee's sole and exclusive remedy, is for
Hemisphere, at Hemisphere's option, to (a) repair the Software, (b) replace the Software with
software conforming to the documentation, or (c) if Hemisphere is unable, on a reasonable
commercial basis, to repair the Software or to replace the Software with conforming software
within ninety (90) days, to terminate this Agreement and thereafter Licensee shall cease using
the Software. Hemisphere will also issue a refund for the price paid by Licensee less an
amount on account of amortization, calculated on a straight-line basis over a deemed useful
life of three (3) years.
15. LIMITATION OF LIABILITY. IN NO EVENT WILL HEMISPHERE BE LIABLE TO LICENSEE FOR ANY
INCIDENTAL, CONSEQUENTIAL, SPECIAL OR INDIRECT DAMAGES INCLUDING ARISING IN
RELATION TO ANY LOSS OF DATA, INCOME, REVENUE, GOODWILL OR ANTICIPATED SAVINGS
EVEN IF HEMISPHERE HAS BEEN INFORMED OFTHE POSSIBILITY OF SUCH LOSS OR DAMAGE.
FURTHER, IN NO EVENT WILL HEMISPHERE'S TOTAL CUMULATIVE LIABILITY HEREUNDER,
FROM ALL CAUSES OF ACTION OF ANY KIND, EXCEED THE TOTAL AMOUNT PAID BY LICENSEE
TO HEMISPHERE TO PURCHASE THE PRODUCT. THIS LIMITATION AND EXCLUSION APPLIES
IRRESPECTIVE OF THE CAUSE OF ACTION, INCLUDING BUT NOT LIMITED TO BREACH OF
CONTRACT, NEGLIGENCE, STRICT LIABILITY, TORT, BREACH OF WARRANTY,
MISREPRESENTATION OR ANY OTHER LEGAL THEORY AND WILL SURVIVE A FUNDAMENTAL
BREACH.
16. LIMITS ON LIMITATION OF LIABILITY. Some jurisdictions do not allow for the limitation or
exclusion of liability for incidental or consequential damages, so the above limitation or
exclusion may not apply to Licensee and Licensee may also have other legal rights which may
vary from jurisdiction to jurisdiction.
17. BASIS OF BARGAIN. Licensee agrees and acknowledges that Hemisphere has set its prices and
the parties have entered into this Agreement in reliance on the limited warranties, warranty
disclaimers and limitations of liability set forth herein, that the same reflect an agreed-to
allocation of risk between the parties (including the risk that a remedy may fail of its essential
purpose and cause consequential loss), and that the same forms an essential basis of the
bargain between the parties. Licensee agrees and acknowledges that Hemisphere would not
have been able to sell the Product at the amount charged on an economic basis without such
limitations.
18. PROPRIETARY RIGHTS INDEMNITY. Hemisphere shall indemnify, defend and hold harmless
Licensee from and against any and all actions, claims, demands, proceedings, liabilities, direct
damages, judgments, settlements, fines, penalties, costs and expenses, including royalties
and attorneys' fees and related costs, in connection with or arising out of any actual
infringement of any third party patent, copyright or other intellectual property right by the
Software or by its use, in accordance with this Agreement and documentation, PROVIDED
THAT: (a) Hemisphere has the right to assume full control over any action, claim, demand or
proceeding, (b) Licensee shall promptly notify Hemisphere of any such action, claim, demand,
or proceeding, and (c) Licensee shall give Hemisphere such reasonable assistance and tangible
material as is reasonably available to Licensee for the defense of the action, claim, demand or
proceeding. Licensee shall not settle or compromise any of same for which Hemisphere has
agreed to assume responsibility without Hemisphere's prior written consent. Licensee may, at
its sole cost and expense, retain separate counsel from the counsel utilized or retained by
Hemisphere. 19. INFRINGEMENT. If use of the Software may be enjoined due to a claim of
infringement by a third party then, at its sole discretion and expense, Hemisphere may do one
of the following: (a) negotiate a license or other agreement so that the Product is no longer
subject to such a potential claim, (b) modify the Product so that it becomes non- infringing,
provided such modification can be accomplished without materially affecting the
performance and functionality of the Product,

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End User License Agreement, Continued

End User license (c) replace the Software, or the Product, with non-infringing software, or product, of equal or
better performance and quality, or (d) if none of the foregoing can be done on a commercially
agreement, reasonable basis, terminate this license and Licensee shall stop using the Product and
continued Hemisphere shall refund the price paid by Licensee less an amount on account of
amortization, calculated on a straight-line basis over a deemed useful life of three (3) years.
19. The foregoing sets out the entire liability of Hemisphere and the sole obligations of
Hemisphere to Licensee in respect of any claim that the Software or its use infringes any third
party rights.
20. INDEMNIFICATION. Except in relation to an infringement action, Licensee shall indemnify and
hold Hemisphere harmless from any and all claims, damages, losses, liabilities, costs and
expenses (including reasonable fees of lawyers and other professionals) arising out of or in
connection with Licensee's use of the Product, whether direct or indirect, including without
limiting the foregoing, loss of data, loss of profit or business interruption. TERMINATION.
Licensee may terminate this Agreement at any time without cause. Hemisphere may
terminate this Agreement on 30 days notice to Licensee if Licensee fails to materially comply
with each provision of this Agreement unless such default is cured within the 30 days. Any
such termination by a party shall be in addition to and without prejudice to such rights and
remedies as may be available, including injunction and other equitable remedies. Upon
receipt by Licensee of written notice of termination from Hemisphere or termination by
Licensee, Licensee shall at the end of any notice period (a) cease using the Software; and (b)
return to Hemisphere (or destroy and provide a certificate of a Senior Officer attesting to such
destruction) the Software and all related material and any magnetic or optical media provided
to Licensee. The provisions of Sections 6), 7), 8), 9), 10), 15), 21), 26) and 27) herein shall
survive the expiration or termination of this Agreement for any reason.
21. EXPORT RESTRICTIONS. Licensee agrees that Licensee will comply with all export control
legislation of Canada, the United States, Australia and any other applicable country's laws and
regulations, whether under the Arms Export Control Act, the International Traffic in Arms
Regulations, the Export Administration Regulations, the regulations of the United States
Departments of Commerce, State, and Treasury, or otherwise as well as the export control
legislation of all other countries.
22. PRODUCT COMPONENTS. The Product may contain third party components. Those third
party components may be subject to additional terms and conditions. Licensee is required to
agree to those terms and conditions in order to use the Product.
23. FORCE MAJEURE EVENT. Neither party will have the right to claim damages as a result of the
other's inability to perform or any delay in performance due to unforeseeable circumstances
beyond its reasonable control, such as labor disputes, strikes, lockouts, war, riot, insurrection,
epidemic, Internet virus attack, Internet failure, supplier failure, act of God, or governmental
action not the fault of the non-performing party.
24. FORUM FOR DISPUTES. The parties agree that the courts located in Calgary, Alberta, Canada
and the courts of appeal there from will have exclusive jurisdiction to resolve any disputes
between Licensee and Hemisphere concerning this Agreement or Licensee's use or inability to
use the Software and the parties hereby irrevocably agree to attorn to the jurisdiction of
those courts. Notwithstanding the foregoing, either party may apply to any court of
competent jurisdiction for injunctive relief.
25. APPLICABLE LAW. This Agreement shall be governed by the laws of the Province of Alberta,
Canada, exclusive of any of its choice of law and conflicts of law jurisprudence.
26. CISG. The United Nations Convention on Contracts for the International Sale of Goods will not
apply to this Agreement or any transaction hereunder.
GENERAL. This is the entire agreement between Licensee and Hemisphere relating to the Product and Licensee's
use of the same, and supersedes all prior, collateral or contemporaneous oral or written representations,
warranties or agreements regarding the same. No amendment to or modification of this Agreement will be
binding unless in writing and signed by duly authorized representatives of the parties. Any and all terms and
conditions set out in any correspondence between the parties or set out in a purchase order which are different
from or in addition to the terms and conditions set forth herein, shall have no application and no written notice of
same shall be required. In the event that one or more of the provisions of this Agreement is found to be illegal or
unenforceable, this Agreement shall not be rendered inoperative but the remaining provisions shall continue in
full force and effect.
Warranty Notice

Warranty notice COVERED PRODUCTS: This warranty covers all products manufactured by Hemisphere GNSS and purchased by
the end purchaser (the "Products"), unless otherwise specifically and expressly agreed in writing by Hemisphere
GNSS.
LIMITED WARRANTY: Hemisphere GNSS warrants solely to the end purchaser of the Products, subject to the
exclusions and procedures set forth below, that the Products sold to such end purchaser and its internal
components shall be free, under normal use and maintenance, from defects in materials, and workmanship and
will substantially conform to Hemisphere GNSS's applicable specifications for the Product, for a period of 12
months from delivery of such Product to such end purchaser (the ”Warranty Period”). Repairs and replacement
components for the Products are warranted, subject to the exclusions and procedures set forth below, to be free,
under normal use and maintenance, from defects in material and workmanship, and will substantially conform to
Hemisphere GNSS's applicable specifications for the Product, for 90 days from performance or delivery, or for the
balance of the original Warranty Period, whichever is greater.
EXCLUSION OF ALL OTHER WARRANTIES. The LIMITED WARRANTY shall apply only if the Product is properly and
correctly installed, configured, interfaced, maintained, stored, and operated in accordance with Hemisphere GNSS
relevant User’s Manual and Specifications, AND the Product is not modified or misused. The Product is provided
“AS IS” and the implied warranties of MERCHANTABILITY and FITNESS FOR A PARTICULAR PURPOSE and ALL
OTHER WARRANTIES,
express, implied or arising by statute, by course of dealing or by trade usage, in connection with the design, sale,
installation, service or use of any products or any component thereof, are EXCLUDED from this transaction and
shall not apply to the Product. The LIMITED WARRANTY is IN LIEU OF any other warranty, express or implied,
including but not limited to, any warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE, title,
and non-infringement.
LIMITATION OF REMEDIES. The purchaser’s EXCLUSIVE REMEDY against Hemisphere GNSS shall be, at
Hemisphere GNSS's option, the repair or replacement of any defective Product or components thereof. The
purchaser shall notify Hemisphere GNSS or a Hemisphere GNSS's approved service center immediately of any
defect. Repairs shall be made through a Hemisphere GNSS approved service center only. Repair, modification or
service of Hemisphere GNSS products by any party other than a Hemisphere GNSS approved service center shall
render this warranty null and void. The remedy in this paragraph shall only be applied in the event that the
Product is properly and correctly installed, configured, interfaced, maintained, stored, and operated in
accordance with Hemisphere GNSS's relevant User’s Manual and Specifications, AND the Product is not modified
or misused. NO OTHER REMEDY (INCLUDING, BUT NOT LIMITED TO, SPECIAL, INDIRECT, INCIDENTAL,
CONSEQUENTIAL OR CONTINGENT DAMAGES FOR LOST PROFITS, LOST SALES, INJURY TO PERSON OR PROPERTY,
OR ANY OTHER INCIDENTAL OR CONSEQUENTIAL LOSS) SHALL BE AVAILABLE
TO PURCHASER, even if Hemisphere GNSS has been advised of the possibility of such damages. Without limiting
the foregoing, Hemisphere GNSS shall not be liable for any damages of any kind resulting from installation, use,
quality, performance or accuracy of any Product.
HEMISPHERE IS NOT RESPONSIBLE FOR PURCHASER’S NEGLIGENCE OR UNAUTHORIZED USES OF THE PRODUCT.
IN NO EVENT SHALL Hemisphere GNSS BE IN ANY WAY RESPONSIBLE FOR ANY DAMAGES RESULTING FROM
PURCHASER’S OWN NEGLIGENCE, OR FROM OPERATION OF THE PRODUCT IN ANY WAY OTHER THAN AS
SPECIFIED IN Hemisphere GNSS's RELEVANT USER’S MANUAL AND SPECIFICATIONS. Hemisphere GNSS is NOT
RESPONSIBLE for defects or performance problems resulting from (1) misuse, abuse, improper installation,
neglect of Product; (2) the utilization of the Product with hardware or software products, information, data,
systems, interfaces or devices not made, supplied or specified by Hemisphere GNSS; (3) the operation of the
Product under any specification other than, or in addition to, the specifications set forth in Hemisphere GNSS's
relevant User’s Manual and Specifications; (4) damage caused by accident or natural events, such as lightning (or
other electrical discharge) or fresh/ salt water immersion of Product; (5) damage occurring in transit; (6) normal
wear and tear; or (7) the operation or failure of operation of any satellite-based positioning system or differential
correction service; or the availability or performance of any satellite-based positioning signal or differential
correction signal.
THE PURCHASER IS RESPONSIBLE FOR OPERATING THE VEHICLE SAFELY. The purchaser is solely responsible for
the safe operation of the vehicle used in connection with the Product, and for maintaining proper system control
settings. UNSAFE DRIVING OR SYSTEM CONTROL SETTINGS CAN RESULT IN PROPERTY DAMAGE, INJURY, OR
DEATH.

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Warranty Notice, Continued

Warranty The purchaser is solely responsible for his/her safety and for the safety of others. The purchaser is solely
responsible for maintaining control of the automated steering system at all times. THE PURCHASER IS SOLELY
notice, RESPONSIBLE FOR ENSURING THE PRODUCT IS PROPERLY AND CORRECTLY INSTALLED, CONFIGURED,
continued INTERFACED, MAINTAINED, STORED, AND OPERATED IN ACCORDANCE WITH Hemisphere GNSS's RELEVANT
USER’S MANUAL AND SPECIFICATIONS. Hemisphere GNSS does not warrant or guarantee the positioning and
navigation precision or accuracy obtained when using Products. Products are not intended for primary navigation
or for use in safety of life applications. The potential accuracy of Products as stated in Hemisphere GNSS literature
and/or Product specifications serves to provide only an estimate of achievable accuracy based on performance
specifications provided by the satellite service operator (i.e. US Department of Defense in the case of GPS and
differential correction service provider. Hemisphere GNSS reserves the right to modify Products without any
obligation to notify, supply or install any improvements or alterations to existing Products.
GOVERNING LAW. This agreement and any disputes relating to, concerning or based upon the Product shall be
governed by and interpreted in accordance with the laws of the State of Arizona.
OBTAINING WARRANTY SERVICE. In order to obtain warranty service, the end purchaser must bring the Product
to a Hemisphere GNSS approved service center along with the end purchaser's proof of purchase. Hemisphere
GNSS does not warrant claims asserted after the end of the warranty period. For any questions regarding
warranty service or to obtain information regarding the location of any of Hemisphere GNSS approved service
center, contact Hemisphere GNSS at the following address:

Hemisphere GNSS
8515 E. Anderson Drive Scottsdale, AZ 85255, USA
Phone: +1-480-348-6380
Fax: +1-480-270-5070
[email protected] WWW.HGNSS.COM
 Hemisphere GNSS Inc.
8515 East Anderson Drive
Scottsdale, Arizona, US 85255
Phone: 480-348-6380
Fax: 480-270-5070
[email protected]
WWW.HGNSS.COM