C-Nav2050 NaviGator/Rover Setup Quick Guide

This document will help guide users on how to set up the C-Nav2050 GPS Sensor as a Rover
using the STARUTIL MS-Windows application.

Additional instructions are appended to connect the C-Nav2050 GPS Sensor to the C-NaviGator
control and Display unit.

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

I. Receiver Setup

Connect the GPS Coaxial Cable to the Tri-Band GPS antenna and to the TNC RF connector on
the C-Nav2050 GPS Sensor front panel.

Setup the C-Nav2050 Tri-Band GPS antenna in a location where it has a line of sight of the sky.

Connect a D.C. power source (12V nominal) to the C-Nav2050 power cable and plug the Lemo
power connector into the power socket on the C-Nav2050 GPS Sensor front panel.

Press and hold the Power On/Off switch, on the front panel, to turn the C-Nav2050 GPS Sensor
On. The front panel LED’s will light/flash when this is successful.

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 C-Nav2050 NaviGator/Rover Setup Quick Guide

II. Establish Communication

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

a. Connect the communication cable to PC’s COM Port to C-Nav2050 GPS

Sensor’s COM 2 (Port B) – Lemo to DB9 cable.
b. Execute STARUTIL software.
c. From the STARUTIL Toolbar, click telephone button to configure COM Ports
shown in Figure 1.

Figure 1
d. The PC Port Configuration window will come up as shown in Figure 2.

Figure 2
The Device name is your PC’s COM Port used to communicate with C-Nav2050 GPS
Sensor. The Baud rate of 19200 is default setting, and you can change as desired or
leave as is and check the Auto Baud option.

Chose OK button and the STARUTIL application will connect (and search) for
communications with the C-Nav2050 GPS receiver/sensor.

Once a successful RS-232 serial communication link has been attained, messages will
start to scroll through the STARUTIL Messages Window. Communication has been
established with the C-Nav2050 GPS sensor.

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 C-Nav2050 NaviGator/Rover Setup Quick Guide

Figure 3.
III. Check Tracking Status

a. From the STARUTIL root, select View, 86 – Channel Status. (Clicking the
button will yield the same result). The Tracking Status screen will appear as seen
in Figure 4 below. This screen will show the values of each satellite being
tracked, and gives a solid indication of whether the chosen environment for the C-
Nav2050 GPS receiver is suitable. The following conditions should be met in
order to have accurate position estimate functionality:
1. A minimum of 5 satellites are being tracked in state 255 (dual frequency).
2. The five satellites in dual frequency (state 255) are above the mask angle.
3. The satellites have a good geometry (as depicted by DOP values).
4. Signal-to-noise values are within reason, as shown in the CA and P2 columns.
5.
NOTE: Typical values are shown in Figure 4 below. Notice the higher signal-to-noise values
for the higher elevation satellites.

Figure 4.

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 C-Nav2050 NaviGator/Rover Setup Quick Guide

IV. Rover / Tracking & Navigation Setup

a. From the STARUTIL Toolbar, click Rover button as shown in Figure 5.

Figure 5.
b. Rover / Tracking & Navigation Setup window will come up as shown in Figure 6.

Figure 6.

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 C-Nav2050 NaviGator/Rover Setup Quick Guide

a. Navigation Mode or Correction Format

• Select the proper Use button for which correction types that are required
to be used by the C-Nav2050 GPS receiver.
b. Navigation
i. Select Elevation Mask Angle. Default = 7 (degrees)
ii. Select Navigation rate. Default = 1 Hz
iii. Type in Site ID of the Base Station to be used for RTK or DGPS
corrections – if applicable. Default = 0 (ie; accept any correction station)
c. Unit Port Configuration
i. Select Unit Port Configuration Button and a Unit Port Configuration
window will come up as shown in Figure 7. Please select which Logical
Ports user wants to receive and send messages and choose OK. For
example:
• If user has chosen RTCM (DGPS) as Message Format for input, select
Logical Ports RTCM to use the other auxiliary (Port-A), which is the
COM1 RS-232 interface of the C-Nav2050 GPS Sensor.
• To output NMEA telegram messages, select Logical Ports NMEA to use
the other auxiliary (Port-A), which is the COM1 RS-232, interface of the
C-Nav2050 GPS Sensor.

Figure 7.

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

Rover sensor.
e. Then click on Retrieve button to verify that information has been saved in non-
volatile RAM.
f. Then press the Cancel button to exit screen.

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 C-Nav2050 NaviGator/Rover Setup Quick Guide

V. View B1- Solution

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

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

Figure 8.
b) Select (by right clicking with the mouse in the display) the ‘compact binary’ 2050
messages as shown in Figure 8 above
c) Click Apply button to configure the C-Nav2050 GPS receiver as a Navigation / Rover
sensor.
d) Then press the OK button to exit screen.

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 C-Nav2050 NaviGator/Rover Setup Quick Guide

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

Figure 9.
This will bring up the following Solution Display window as shown in Figure 10.

Figure 10.

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 C-Nav2050 NaviGator/Rover Setup Quick Guide

VI. Output of NMEA Telegram Messages

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

a) From the STARUTIL Menu, click Receiver | Messages | NMEA output to obtain the
following screen dialog as shown in Figure 11.

Figure 11.

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

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 C-Nav2050 NaviGator/Rover Setup Quick Guide

VII. Connecting the C-NaviGator Unit

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

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

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

RTCM (or RTK) Input

2050 NMEA or RTCM Output

Additional
NMEA
Output

C-Navigator

Figure 12.

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 C-Nav2050 NaviGator/Rover Setup Quick Guide

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

C-
Update
00:0
c) In a few seconds, the “Rethink GPS” sign-on screen is displayed as shown above,
allowing the option to Update the internal program or begin normal operation. If no
action from the operator is detected, C-NaviGator will automatically launch the program.
This may take several seconds.
d) C-NaviGator automatically recalls the last settings saved and displays the Position
Information screen (default). System operating modes and status indicators are seen on
the left under GPS Quality. To the right is the “Active Port” switch, the “Active Port”
Indicator, and the general “Alarm” Indicator. F4 is the front panel hot switch that
provides a means to quickly switch to different input sources for monitoring.
e) Press the RIGHT arrow on the C-NaviGator front panel to scan through the various view
screens. Alternatively, press MENU, select “View” with the RIGHT Arrow, and then the
DOWN arrow, followed by ENTER, to select the view screen.
f) Pull down menus (upper left of the screen) allow operator access to C-NaviGator
configuration, display options, parameter settings, support documentation, etc. Menus
are selected by pressing the white MENU button on the front panel and using the
RIGHT/LEFT arrows to navigate through the selections. UP/DOWN buttons select items
within menus and ENTER activates the screen.

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Load Defaults:

The user can quickly revert the C-

NaviGator to all factory settings as a Load Defaults
starting point for a new configuration.
When “Load Defaults” is selected and
ENTER pressed, the user is required to
configure the system using the Settings
menu options.

Load Settings:

Similar to “Load Defaults” – “Load

Settings” recalls the last configuration
saved by the operator and installs these Load Settings
when the ENTER button is pressed.

Save Settings:

To store C-NaviGator’s current

configuration, select “Save Settings” and
press ENTER. These settings can be
recalled with the “Load Settings” Save Settings
command.

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 C-Nav2050 NaviGator/Rover Setup Quick Guide

Reset Unit:

Similar to the Restart command on the

PC, “Reset Unit” causes C-NaviGator to
restart the internal program.

Reset Unit

The operator is asked to confirm the “Reset Unit” command. Use the
UP/DOWN buttons to select ”Yes” or “No”.

Position Info: (Default)

This is the default screen for C-NaviGator.

“Position Info” displays horizontal
position (in Latitude/Longitude), Height Position Info
Above Ellipsoid (HAE), Speed Over
Ground (SOG), and Course Over Ground
(COG).

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Satellite Info:

This screen provides the operator with

information relative to the constellation
configuration and the signal strengths
received from each visable satellite. Satellite Info
Relative locations of the GPS satellites to
the GPS receiver are plotted based on
azimuth and elevation information
provided by the GPS receiver.

Each visible satellite is represented in

the plot by a circle with the satellite
ID number inside. All satellites used
to compute the PVT solution are
identified as green circles. Circles
turn red if data from the satellite
becomes too noisy or obstructed. The
graphic center point reference
represents a point directly overhead
and the grid lines from the center of
the graph inversely indicate satellite
elevation.

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Error Ellipse:

The error ellipse graphically represents

the sum of the horizontal error
uncertainty in the system.

Error Ellipse

Graphics on the “Error Ellipse” screen

show the one-sigma error estimate of
the PVT solution accuracy (in meters)
based on the DOP and residual
analysis.

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 C-Nav2050 NaviGator/Rover Setup Quick Guide

Scatter Plot:

This screen displays a history of the

positions received from the GPS receiver.
The reference Latitude and Longitude
shown indicates real-time position.

Scatter Plot

New positions are computed and

presented on the scatter plot with error
displacements shown referenced to
the operator’s RANGE setting. This
distance is the error between the
current position and the reference
position.

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Fixes:

Position fixes are logged into the C-

NaviGator memory when the front panel
“FIX” button is pressed.

Fixes

The “Edit” function softkey allows the

user to name the Fix.

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Alarms:

Several alarm conditions are logged and

displayed on this screen.

Alarms

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 C-Nav2050 NaviGator/Rover Setup Quick Guide

General:

Three major system settings are accessed

through this screen. These include:
General
• Selection of the port used to
connect to the GPS receiver
• Offset for timezone correction
• The units of distance and speed

Set Time zone Offset

The offset from UTC time is set here by
adjusting the hour and minute values.
As before, use the UP/DOWN and
ENTER buttons, followed by F1 to
effect the change.

Units
Distance and speed units used for the C-
Older Version
NaviGator displays are selected in this
section of the screen.

-- NOTE: F1 (Apply) must be pressed to complete parameter changes --

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Display:

Brightness of the C-NaviGator LCD screen

is controlled through settings on this
screen. It can be adjusted for optimum
viewing depending on the time of day and Display
physical location of the unit. To increase
visability in areas of high ambient light, it
may be necessary to set the display
brightness to the Day Mode (100%). Slider
bars are used to set both Day and Night
brightness levels.

The Night Mode Brightnes setting dims the

display backlight and changes the colors
for night use. This is necessary for
installatiions on the bridge of a vessel
where bright lights interfere with the
helmsman’s view.

Auto Mode Settings

The operator can program the C-NaviGator
to automatically switch from Day to Night
display modes. To change these times, use
the UP/DOWN/ENTER buttons to move
the cursor to the setting block and choose
from the values listed.

-- NOTE: F1 (Apply) must be pressed to complete parameter changes –

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 C-Nav2050 NaviGator/Rover Setup Quick Guide

GPS Quality Alerts:

As shown in this screen capture, alarms

and status states are identified by the color
of the parameter indicator on the left side
of the screen. A red color indicates that the
data or status of the parameter is out of the
acceptable range selected by the user. GPS Quality Alerts
Similarly, any yellow color indicates that
the value being displayed is in a range that
it borderline or requires attention. A green
indicator signifies that the value or status
of the parameter is within the acceptable
limits.

The yellow warning color is evident

whenever the value or state of the
parameter is between the Warning
(Yellow) and Alert (Red) limits set by
the operator. In the following example,
a PDOP of 7.0 invokes the Warning
indicator because it falls between the
setting limits of 6.0 and 8.0. Similarly,
the VDOP value of 6.0 has reached the
maximum yellow warning limit.

To change the settings, press the UP or DOWN arrow buttons and select the item to be changed
by pressing the ENTER. These buttons are again used to pick from a list of values and the
keypad to enter the range values. When all selections and values are correct, press the F1
(Apply) button to install these changes.

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 C-Nav2050 NaviGator/Rover Setup Quick Guide

Ports:

This screen allows the operator to assign

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

NOTE: For C-Nav2500, it is recommended set the port to: C-Nav 2050 / 19200 / 8 / None / 1

All C-NaviGator active ports are listed

below “Ports” in the “Settings” menu.
In the example above, Ports 1-4 are set
to “C-Nav 2050”, “C-NAV 2000”,
“NMEA Input”, and “Output”
respectively. Additional device status,
setting, and control information are
available for each port when selected.

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C-Nav 2050:

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

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

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

NMEA Output Control:

The contents and output rates for the
C-Nav 2050 data processing output
strings are selected and adjusted on
this screen. Sentence components for
the output conditions are also set.

RTCM Output Control:

The RTCM (Radio Technical Commission for Maritime Services) standard SC-104
corrections are implemented here along with data output settings.

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

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

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