Vector Sensor Reference Manual 98
To determine what the current heading compensation angle is, send the following message to the
Vector Sensor.
$JATT,HBIAS<CR><LF>
6.8.16 $JATT,PBIAS
You may adjust the pitch / roll output from the Vector Sensor in order to calibrate the
measurement if the Antenna Array is not installed in a horizontal plane. The following NMEA
message allows to you to calibrate the pitch / roll reading from the Vector Sensor.
$JATT,PBIAS,x<CR><LF>
Where x is a bias that will be added to the Vector Sensor’s pitch / roll measure, in degrees. The
acceptable range for the heading bias is -15.0° to 15.0°. The default value of this feature is 0.0°.
To determine what the current pitch compensation angle is, send the following message to the
Vector Sensor.
$JATT,PBIAS<CR><LF>
Note - The pitch / roll bias is added after the negation of the pitch / roll measurement
(if so invoked with the $JATT,NEGTILT command).
6.8.17 $JATT,NEGTILT
When the secondary GPS antenna is below the primary GPS antenna, the angle from the horizon
at the primary GPS antenna to the secondary GPS antenna is considered negative.
Depending on your convention for positive and negative pitch / roll, you may wish to change the
sign (either positive or negative) of the pitch / roll. To do this, issue the following command.
$JATT,NEGTILT,YES<CR><LF>
To return the sign of the pitch / roll measurement to its original value, issue the following
command.
$JATT,NEGTILT,NO<CR><LF>
To query the Vector Sensor for the current state of this feature, issue the following command.
$JATT,NEGTILT<CR><LF>
6.8.18 $JATT,ROLL
If you wish to get the roll measurement, you will need to install the Antenna Array perpendicular
to the vessel’s axis, and send the following command to the Vector Sensor.
$JATT,ROLL,YES<CR><LF>
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