TRIMBLE EUROPE 110610 GSM/GPRS/UMTS/HSPA Module User Manual SP90MUG

TRIMBLE EUROPE BV GSM/GPRS/UMTS/HSPA Module SP90MUG

Host user manual 2_SP90M_UG_B_Draft2_en-v2.pdf

43Power-Off Screen Hold down the Power button for a few seconds. The Spectra Precision logo will appear on the screen.After a few seconds, the message “Powering off...” will follow, indicating that the receiver is being turned off.If the anti-theft protection is still enabled when you ask for receiver power-off, a message will ask you to confirm your request.If you wish to keep using the anti-theft protection, press OK and then the receiver will complete the power-off sequence as described above.If you want to remove the anti-theft protection before turning off the receiver, press Escape, go back to Advanced Settings to remove the anti-theft protection (see page 37). Then you can turn off the receiver as explained above.
44Using a USB KeyTo Copy Files Whenever you connect a USB key to the receiver via cableP/N107535, the following screen is displayed:This screen is displayed for a few seconds. If you press OK while this screen is still displayed, all the G-files and log files stored in the receiver will be copied to the root folder on the USB key (or will overwrite the files with same name). Otherwise the copy operation will be skipped and the receiver will come back to the General Status screen. The screen looks like this while the files are being copied.The same will happen if you power on the receiver with a USB key already connected to the receiver.To Upgrade theFirmwareWhen a new firmware upgrade is available, it is easy to install the new firmware using a USB key.• Use your computer to copy the installation file (a *.tar file) to the root directory of the USB key.• The receiver being turned off, connect the USB key to the receiver through cable P/N 107535 (provided).• Press the OK button and the Power button simultaneously for a few seconds. This starts the upgrade.195
45The screen will read successively:{Spectra Precision logo}USB UploadUpgrading Firmware Step 1/5Upgrading Firmware Step 2/5Upgrading Firmware Step 3/5Upgrading Firmware Step 4/5Upgrading Firmware Step 5/5Upgrading Firmware Complete{Booting: Spectra Precision logo}{Regular receiver startup to General Status screen}Let the receiver proceed with the upgrade. Do not turn off the receiver while the upgrade is in progress.NOTE: If there is no USB key connected or the key does not contain any firmware upgrade file, then the process will abort after a few seconds.Because data has to be decompressed on the USB key during an upgrade, the USB key must be unlocked, with at least 100 MBytes of free memory, before starting the upgrade. The upgrade will fail if there is not enough free space on the key.
46Getting Started With the Web ServerIntroduction to theWeb ServerDescription and FunctionThe Web Server is a receiver-embedded, HTML-based firmware application, designed to enable the receiver owner (the “administrator”) to monitor and control the SP90m GNSS receiver through a TCP/IP connection. Running the Web Server for the First TimeAs the receiver owner, after establishing a TCP/IP connection between your computer and the receiver (via its Ethernet port or via WiFi; see page 52 and page 47), do the following:• Run a web browser on your computer.• Type the IP address (or host name) of the receiver in the web browser, then press the Enter key (see page 51).This will launch the Web Server in the receiver, which in turn will open a web page in the web browser.Depending on how the Web Server has been configured, you may be asked to log in. The first time you launch the Web Server, use the default connection profile (the “administrator profile”) to log in. This profile is the following:– Username: admin– Password: passwordYou can customize the administrator profile by changing the username and password. The Web Server will let you do this from its Security page (see on-line Help file attached to this page).SecurityThe receiver owner may restrict the access to the Web Server by implementing one of the three possible security levels described below, sorted from the highest to the lowest security level:1. Enabled: On launching the Web Server, the user is requested to log in by entering a username and password.After having logged in, the user has full control over the receiver (operation monitoring, access to configuration).As the administrator, you may decide to share the administrator profile (username and password) with other trustworthy users. You may also create new connection profiles for some other authorized users using $PASH commands.
47Remember that registered users have exactly the same rights as the administrator, including managing users through $PASH commands.2. Enabled with Anonymous Access: Anyone who has been given the IP address or host name of the receiver has direct access to the Web Server (no log-in required). Only receiver monitoring is allowed in this case. An anonymous user CANNOT change the receiver configuration.After the Web Server has been launched with this level of security, the administrator, or any other authorized user, can log in on the Security page (see on-line Help attached to this web page).3. Disabled: No security is implemented with this option. Anyone who has been given the IP address or host name of the receiver has direct access to the Web Server, both for monitoring the receiver or changing its configuration.With this low protection level, the receiver owner will be well-advised to keep the receiver IP address or host name as confidential as possible.WiFi-Based TCP/IPConnectionSetting Up the WiFi Device• If the WiFi device has been turned off, it first needs to be turned back on:– On the receiver front panel, press one of the horizontal keys until you see the WiFi screen.–Press OK.– Select ON:–Press OK again. After a few seconds the screen displays “WiFi ... ON”.
48• Then you should indicate how the WiFi device will be power-controlled and whether it will operate as a WiFi client, as WiFi access point or both. Follow the steps below:– The previous screen being still displayed, press OK.– Select Settings:–Press OK again.– Choose a power mode for the WiFi device: press OK, select either Manual or Automatic (see explanations on page 35 before making a choice) and then press OK.– Press any of the vertical keys and then press OK.– Choose an operating mode for the WiFi device: select either Client, Access Point or AP and Client, depending on the use case (see the next three sections below) and then press OK.– On your laptop or smart phone, start searching for WiFi devices. When your SP90m receiver has been found, select it and then enter the WiFi key (by default the receiver serial number) to allow a WiFi connection with the receiver.– Back on receiver side, press to go back to the WiFi “root” screen. If you have selected Access Point or AP and Client, you will be able to read the IP address of the WiFi access point in the lower line. Type in this IP address (fixed, static address: 192.168.130.1) in your computer or smart phone’s web browser to launch the receiver’s Web Server.When a WiFi connection is active, one or two of the following icons appear on the General Status screen:The first one indicates that the WiFi device is used as an access point and the second one as a client.
49Using the WiFi Device as Access PointUse the receiver’s WiFi device as access point in the following cases: • You want to access the Web Server from any WiFi-capable device such as a computer or a mobile device (e.g. smart phone).• You are located within WiFi range of the SP90m.Using the WiFi Device as ClientUse the receiver’s WiFi device as client in the following cases: • You want a remote access to the Web Server and Internet is easily accessible from the location where you are.• The SP90m is operated in a location where only a local WiFi network is available.To select a WiFi network, you have to run the Web Server:• Go to Receiver> Network> WiFi• Unless already done, turn on the WiFi device, select the client mode and click Configure.• Scan for WiFi networks, select one and then connect to it. The WiFi screen on the receiver should look as shown.WiFiAccess Point WiFiClientPublic InternetEthernet cableHub or SwitchLocal NetworkGateway or ADSL ModemWiFiLocalNetworkWiFiClientRemote User
50Using the WiFi Device as both Access Point and ClientUse the receiver’s WiFi device as both access point and client in the following cases: • You want to access the Web Server from your computer or smart phone.• The SP90m is configured to receive or transmit corrections over the Internet via WiFi.• You are located within WiFi range of the SP90m.In this use case, the Web Server will be run from the smart phone via the receiver’s WiFi device used as access point, whereas corrections will be routed over the Internet using the receiver’s WiFi device as client.Ethernet-BasedTCP/IP ConnectionIn this use case, you will have to use a standard Ethernet cable (fitted with an RJ45 connector at either end) to connect the receiver to the local network.To make this connection successful, you may have to take advice from your IT expert, depending on the local IP network environment. You should inform this person of the following before proceeding:• The SP90m is not fitted –and cannot be fitted– with a firewall. If a firewall is needed in your local network, it should be installed on a device other than the SP90m. • HTTP port #80 is used by default in the receiver to access the Web Server.The choice of using the DHCP mode or not within the local network is also the decision and responsibility of the IT expert.Typically, there are two possible cases of TCP/IP connection:• TCP/IP connection within a local network.• TCP/IP connection through the public Internet.These are detailed in the sections below.NOTE: It is assumed that the reader knows how to send $PASH commands to the receiver.Public InternetWiFiLocalNetworkWiFiClientWiFiAccess PointWiFiClientDataWeb Server
51Setting Up the Ethernet Device• If the Ethernet device has been turned off, you first need to turn it back on:– On the receiver front panel, press one of the horizontal keys until you see the Ethernet screen.–Press OK.– Select ON:–Press OK again. After a few seconds the screen displays “Ethernet ON”.• Then you should indicate whether the receiver will be assigned a static IP address (DHCP off) or a dynamic IP address (DHCP on). If you don’t know which option to use, ask your local IT expert. Follow the steps below:– The previous screen being still displayed, press OK.– Select Settings:–Press OK again.– Choose the desired option and then press OK.– If you chose DHCP Mode: ON, there is nothing else to be done.If you chose DHCP Mode: OFF, press one of the vertical arrows to access the Static Address screen. Press OK and then enter successively each of the figures making up the static IP address. Press OK when you are done. When the IP connection is active, the icon below appears on the General Status screen:NOTE: If you activate DHCP and there is no DHCP server in your network responding to the request, a static IP address (of the type 169.254.1.x) will be automatically assigned to the receiver (and displayed on the Ethernet screen). This is the IP address you should choose to connect to.
52TCP/IP Connection Within a Local NetworkIn this use case, the receiver and the computer are connected to the same local area network (LAN) and may even be in the same room. Here the communication will not take place through the public Internet, but simply within the local network.The connection diagram typically is the following.The valid receiver IP address is the one shown in the lower line on the Ethernet screen.Example indicating the IP address to use with DHCP On:Local NetworkEthernet cableEthernet cable Hub or SwitchGateway or ADSL Modem Public Internet Ethernet portSP90mLocal User
53TCP/IP Connection Through the Public InternetIn this use case, the receiver and computer are connected to different local networks. Here the communication will necessarily take place through the public Internet.The connection diagram typically is as follows.In this configuration, the IT expert should take all the necessary steps for the receiver owner to be able to access the SP90m through the public IP address of the local network. In this case, the IP address shown on the receiver display screen is NOT the one to be entered in the web browser.It is therefore the responsibility of the IT expert to provide the appropriate connection information: <IP address:port number> or host namePublic InternetEthernet cable Hub or SwitchPublic IP addressLocal NetworkLocal NetworkEthernet cableHub or SwitchGateway or ADSL ModemGateway or ADSL ModemEthernet portSP90mRemote User
54Introduction toMulti-OperatingModeThe SP90m is a multi-application GNSS receiver, making it possible to use different operating modes simultaneously.The limitation to that feature is very simple to understand: The maximum number of baselines the SP90m can calculate simultaneously is 3. The capability for the SP90m to support several operating modes simultaneously is simply derived from that statement.NOTE: Working in a Trimble RTX mode does not “consume” a baseline, which means that the above statement would be more accurate if we said, “The maximum number of baselines the SP90m can calculate simultaneously is 3 + RTX”.The consequences of this rule are as follows:• In single-antenna configuration:– In Hot Standby RTK, you can configure the receiver to use up to three independent correction sources (= three baselines), thus making it possible to have up to two different backup position solutions available in case the first source of position solution fails.– In Hot Standby RTK + Relative RTK, you can only set two independent correction sources (= two baselines), to have a backup position solution available in case the first source of position solution fails. The third baseline is dedicated to the Relative RTK mode.• In a two-antenna configuration, the heading mode may be combined with all of the existing rover modes:– Autonomous–RTK– Hot Standby RTK– RTK + Relative RTK– Only Relative RTK–Dual RTK– Dual Relative RTKHowever, in Hot Standby RTK, there can only be two independent sets of corrections used (not three because one baseline is dedicated to computing heading).Besides, the rover and moving base modes can be run simultaneously. To make this work, you should first configure the receiver as a rover, then as a moving base (and not the other way round). That way, while base corrections will be generated and delivered via your programmed output messages, the receiver will continue to compute RTK positions for its own location provided the required external corrections continue to enter the receiver.
55Using SP90m With a Single AntennaThe reader is supposed to know how to run the Web Server (see Getting Started With the Web Server on page 46) and how to use the receiver user interface (see Receiver User Interface on page 26) before reading this section.Remember, when using the Web Server, at any time you can access context-sensitive help by pressing this key:Specifying theModel of AntennaUsedWhen using one single GNSS antenna connected to SP90m, only GNSS input #1 can be used. GNSS input #2 must not be used in a single GNSS antenna setup.The setting described below is required prior to configuring the receiver in any of the operating modes described in the following sections.Use the Web Server to specify the model of antenna connected to GNSS input #1:• Go to Receiver > Position > Sensors/Antennas Setup.• Set Multi-Sensor Mode to Single Antenna. • Choose the point on the antenna for which you want the SP90m to compute the position (L1 phase center, ARP or ground mark).• Describe the model and height of antenna used as the primary antenna:– Manufacturer– Antenna name and its RINEX name.– Method used to measure the antenna height (i.e. choice of the point on the antenna from which the height measurement is performed).– Value of measured distance according to the chosen antenna height measurement method.NOTE: Entering the height makes sense if you want to get the position of the ground mark or if you enter the ground mark coordinates as a base’s reference position.• Keep the secondary antenna defined as UNKNOWN.•Press Configure. The antenna model is now set.NOTE: When configuring a static base from the receiver front panel, you will be able to select the model of antenna used (for the primary antenna). By default, if you leave the base mode to operate the receiver as a rover, the receiver will assume this antenna model is still used in the rover configuration.
56Raw DataRecordingOn the receiver’s General Status screen, the following icons will appear in succession at a rate of 1 second when the receiver is actually collecting raw data:Using the Web ServerUsing the Web Server to launch data recording is particularly suitable for remote-controlled, static raw data collection.• Go to Receiver > Memory.• Enable Data Recording.• Enter a site name for the location occupied by the receiver.• Choose the memory where to save the raw data file.• Choose a recording interval in Hz. Additionally, you may ask the receiver to record the “TTT” message resulting from the advent of any incoming external event and/or the “PTT” message providing the time-tagging of the PPS signal.• Click Configure. The receiver starts recording the default messages programmed on port M (as listed after Data type). To change the content of this message, refer to Raw Data Recording on page 77).In the right part of the Memory tab screen, at the bottom of the list of files stored in the selected memory, you can now see – shown in red – the name of the file being created.Working from the Receiver Front PanelWorking from the receiver front panel to launch data recording allows a rover operator to choose between “Static” or “Stop & Go” data collection. A USB key connected to the receiver front panel may be used to save the raw data file once created.• Press one of the horizontal keys until you see the “Record OFF” screen.1GNSS Raw DataAcquisition
57•Press OK.• Choose the option that suits your requirements in terms of data collection type (Static or Stop & Go), the storage location (Mem or USB) used to save the file, then press OK.This starts the data recording. Refer to Raw Data Recording on page 42 to learn more about the workflow used. Autonomous orSDGPS (SBAS)RoverOn the receiver’s General Status screen, the receiver will display “AUTO” or “SDGPS” when computing a position respectively in autonomous or SDGPS mode. The computed position is diplayed after pressing .Use the Web Server to configure the receiver:• Go to Receiver > Position > Rover Setup• Set Processing Mode to Autonomous• Additionally, in the Other Settings section, you may change the primary GNSS system used (GPS is the default selection), limit the level of position accuracy to SBAS Differential Position or Standalone Position.• Select the model of dynamics that suits the movement pattern of your rover best.• Click Configure. The receiver starts operating in autonomous mode. If SBAS satellites are received, the receiver will be able to deliver positions with SBAS Differential accuracy (provided SBAS is enabled; see Receiver > Satellites).1XYZ orLat-Lon-HeightPosition
58RTK or DGPS RoverOn the receiver’s General Status screen, the receiver will display “FIXED” (with short “FLOAT” transition time) or “DGPS” when computing a position respectively in RTK or DGPS mode. The computed position is displayed after pressing .When corrections are received and used, is displayed on the General Status screen together with the age of corrections (see General Status on page 28).To configure the receiver as a DGPS or RTK rover, use the Web Server as follows:• Go to Receiver > Position > Rover Setup.• Set Processing Mode to RTK.• Select how the corrections are being transmitted to the receiver by setting Input Mode accordingly. If you choose Automatic, the receiver will find by itself which of its ports is used to acquire corrections. If you choose Manual, you need to specify this port.• Additionally, in the Other Settings section, you may change the primary GNSS system used (GPS is the default selection), limit the level of position accuracy to less than what the receiver can actually achieve in this case. Typically you will choose RTK Position or (RTCM) Differential Position to match with the selected operating mode (respectively RTK or DGPS).• Select the model of dynamics that suits the movement pattern of your rover best.• Click Configure.• Set the device used by the receiver to acquire corrections:– If corrections are received via radio, go to Receiver > Radio to enter all radio parameters. You may use the internal radio or an external radio.1XYZ orLat-Lon-HeightPositionOne set of corrections via:• Internet (Ethernet, cellular modem, or WiFi), or• UHF Radio
59– If corrections are received over the Internet, go to Receiver > Network to set the device used (this may be Ethernet, Modem or WiFi; more information about how to set up theses devices can be found in the relevant context-sensitive Help). Then go to Receiver > I/Os to start data reception in NTRIP or Direct IP mode.Hot Standby RTKRoverHot Standby RTK is similar to RTK except that two or three independent sets of corrections are received instead of one. The receiver will choose the best of the two or three sets of corrections in order to improve position availability and accuracy. On the receiver’s General Status screen, the receiver will display “FIXED” (with short “FLOAT” transition time) when computing a position in Hot Standby RTK mode. The computed position is diplayed after pressing .When at least one set of corrections is received and used, is displayed on the General Status screen together with the age of corrections (see General Status on page 28). The displayed age of corrections is always that of the corrections actually used in the position computation. To configure the receiver as a Hot Standby RTK rover, use the Web Server as follows:• Go to Receiver > Position > Rover Setup.• Set Processing Mode to Hot Standby RTK.• Select how the two (or three) sets of corrections are being transmitted to the receiver by setting Input Mode accordingly. If you choose Automatic, the receiver will find by itself which of its ports are used to acquire the sets of corrections. If you choose Manual, you need to specify each of the ports used.• Additionally, in the Other Settings section, you may change the primary GNSS system used (GPS is the default 1XYZ orLat-Lon-HeightPositionTwo independent sets of corrections via:• Internet (Ethernet, cellular modem, or WiFi), or• UHF Radio
60selection), limit the level of position accuracy to less than what the receiver can actually achieve in this case. Typically you will choose RTK Position to match with the selected operating mode.• Select the model of dynamics that suits the movement pattern of your rover best.• Click Configure.• Set the device used by the receiver to acquire the two sets of corrections:– If corrections are received via radio, go to Receiver > Radio to enter all radio parameters. You may use the internal radio or an external radio.– If corrections are received over the Internet, go to Receiver > Network to set the device used (this may be Ethernet, Modem or WiFi; more information about how to set up theses devices can be found in the relevant context-sensitive Help). Then go to Receiver > I/Os to start data reception in NTRIP or Direct IP mode.Trimble RTX RoverUsing a Trimble RTX service in the SP90m requires that you first buy a subscription to this service. On the other hand, the receiver is ready to operate in Trimble RTX mode (dedicated firmware option has been pre-installed at the factory) provided an L-band capable GNSS antenna is used. On the receiver’s General Status screen, the receiver will display “RTX” when computing a position using a Trimble RTX service. The computed position is displayed after pressing .1X-Y-Z orLat-Lon-HeightPositionTrimble RTX servicevia IP or satellite
61To configure the receiver in RTX, use the Web Server as follows:• Go to Receiver > Position > Rover Setup.• Choose the channel through which RTX corrections enter the receiver by setting Corrections Source accordingly:– If you choose Automatic, the receiver will find by itself which channel to use (L-Band or NTRIP).– If you choose L-Band, the receiver will expect RTX corrections to come from a satellite.– If you choose NTRIP, the receiver will expect RTX corrections to come from the Internet.NOTE: RTX corrections will come from the Internet only after you have taken all the steps to implement an active IP connection, either via GSM, WiFi or Ethernet. The connection to the remote RTX service will then be automatic.• Set Engine Mode to ON.• Select the datum and plate in which to deliver the coordinates of the computed position:– If you select OFF, the position will be expressed in the ITRF2014 current epoch datum.– If you select ON, choose a datum and a tectonic plate.• Additionally, in the Other Settings section, you may change the primary GNSS system used (GPS is the default selection), limit the level of position accuracy to less than what the receiver can actually achieve in this case. Typically you will choose PPP Position to match with RTX.• Select the model of dynamics that suits the movement pattern of your rover best.• Click Configure.WARNING: The way you set Processing Mode is very important here. If for example it is set to RTK and every step has been taken to have RTK corrections available (see page 58), then the receiver will automatically choose between RTX and RTK depending on which of these two modes is providing the best position solution. You will be able to know which mode is currently used by taking a look at the receiver’s General Status screen.
62RTK + RelativeRTK RoverReminder: Relative RTK refers to the ability of the SP90m to compute and deliver the three components of the vector connecting a mobile base to this receiver. The components of the vector are provided with centimeter accuracy, just as is the position of the SP90m, as computed in RTK using corrections received from a static base.One of the typical applications of Relative RTK is the constant monitoring of the position of a vessel relative to that of another vessel or to the jib of a crane used on a quay.On the receiver’s General Status screen, the receiver will display “FIXED” (with short “FLOAT” transition time) when computing a position in RTK mode. The computed RTK position is diplayed after pressing . A new press on this button will display the components of the vector.When at least one set of corrections is received and used, is displayed on the General Status screen together with the age of corrections (see General Status on page 28). To configure the receiver in RTK+Relative RTK, use the Web Server as follows:• Go to Receiver > Position > Rover Setup.• Set Processing Mode to RTK + Relative RTK.1XYZ orLat-Lon-HeightPosition+3-D Componentsof VectorRTKPosition3-D VectorTwo independent sets of corrections via:• Internet (Ethernet, cellular modem, or WiFi), or• UHF RadioCorrectionsfrom static baseto computeRTK positionCorrectionsfrom moving baseto compute3D-vector
63• Select how the two sets of corrections are being transmitted to the receiver by setting Input Mode accordingly. If you choose Automatic, the receiver will find by itself which of its ports are used to acquire the two sets of corrections.If you choose Manual, you need to specify these two ports. The “BRV” line defines the port routing the corrections from a moving base allowing vector computation whereas the “RTK” line defines the port routing the corrections from a static base allowing position computation.• Additionally, in the Other Settings section, you may change the primary GNSS system used (GPS is the default selection), limit the level of position accuracy to less than what the receiver can actually achieve in this case. Typically you will choose RTK Position to match with the selected operating mode.• Select the model of dynamics that suits the movement pattern of your rover best.• Click Configure.• Set the device used by the receiver to acquire the two sets of corrections:– If corrections are received via radio, go to Receiver > Radio to enter all radio parameters. You may use the internal radio or an external radio.– If corrections are received over the Internet, go to Receiver > Network to set the device used (this may be Ethernet, Modem or WiFi; more information about how to set up theses devices can be found in the relevant context-sensitive Help). Then go to Receiver > I/Os to start data reception in NTRIP or Direct IP mode.
64Hot Standby RTK+Relative RTKThis mode is similar to RTK+Relative RTK (see page 62) except that the RTK position is a “Hot Standby RTK” one (see also page 59). The combination of these two modes may be summarized as shown in the diagram below.On the receiver’s General Status screen, the receiver will display “FIXED” (with short “FLOAT” transition time) when computing a position in Hot Standby RTK mode. The displayed age of corrections is always that of the corrections actually used in the position computation. The computed position is diplayed after pressing .The components of the vector are visible in the Web Server (in Receiver > Position > Vectors tab on the right) or by programming an NMEA VCR or VCT message on one of the receiver ports (see Web Server’s I/Os tab).When at least one set of corrections is received and used, is displayed on the General Status screen together with the age of corrections (see General Status on page 28). To configure the receiver in Hot Standby RTK + Relative RTK, use the Web Server as follows:• Make sure the Heading mode is off.• Go to Receiver > Position > Rover Setup.• Set Processing Mode to Hot Standby RTK + Relative RTK.1XYZ orLat-Lon-HeightPosition+3-D Componentsof VectorHot Standby RTKPosition3-D VectorThree independent sets of corrections via:• Internet (Ethernet, cellular modem, or WiFi), or• UHF RadioTwo sets of correctionsfrom static baseto computeRTK positionCorrectionsfrom moving baseto compute3D-vector
65• Select how the three sets of corrections are being transmitted to the receiver by setting Input Mode accordingly. If you choose Automatic, the receiver will find by itself which of its ports are used to acquire the three sets of corrections.If you choose Manual, you need to specify these three ports. The “BRV” line defines the port routing the corrections from a moving base allowing vector computation, whereas the “Standby RTK” lines define the ports routing the corrections (from one or two static bases), allowing position computation.• Additionally, in the Other Settings section, you may change the primary GNSS system used (GPS is the default selection), limit the level of position accuracy to less than what the receiver can actually achieve in this case. Typically you will choose RTK Position to match to the selected operating mode.• Select the model of dynamics that suits the movement pattern of your rover best.• Click Configure.• Set the device used by the receiver to acquire the three sets of corrections:– If corrections are received via radio, go to Receiver > Radio to enter all radio parameters. You may use the internal radio or an external radio.– If corrections are received over the Internet, go to Receiver > Network to set the device used (this may be Ethernet, Modem or WiFi; more information about how to set up theses devices can be found in the relevant context-sensitive Help). Then go to Receiver > I/Os to start data reception in NTRIP or Direct IP mode.
66Relative RTK Rover Reminder: Relative RTK refers to the ability for the SP90m to compute and deliver the three components of the vector connecting it to a mobile base. The components of the vector are provided with centimeter accuracy.One of the typical applications of Relative RTK is the constant monitoring of the position of a vessel relative to that of another vessel or to the jib of a crane on a quay.On the receiver’s General Status screen, the receiver will display “AUTO” or “SDGPS” when computing a position in standalone or SBAS mode. The computed position is displayed after pressing .The components of the vector are visible in the Web Server (in Receiver > Position > Vectors tab on the right) or by programming an NMEA VCR or VCT message on one of the receiver ports (see Web Server’s I/Os tab).When corrections are received and used, is displayed on the General Status screen together with the age of corrections (see General Status on page 28). To configure the receiver in Relative RTK, use the Web Server as follows:• Go to Receiver > Position > Rover Setup.• Set Processing Mode to Only Relative RTK.• Select how the corrections are being transmitted to the receiver by setting Input Mode accordingly. If you choose Automatic, the receiver will find by itself which of its ports are used to acquire the corrections. If you choose Manual, you need to specify the port.• Additionally, in the Other Settings section, you may change the primary GNSS system used (GPS is the default selection) or change the Output Position Type field. Be 13-D Componentsof Vector3-D VectorOne set of corrections from moving base via:• Internet (Ethernet, cellular modem, or WiFi), or• UHF RadioCorrectionsfrom moving baseto compute3D-vector
67aware the position computed in Relative RTK, in terms of accuracy, is an SBAS Differential position at best. • Select the model of dynamics that suits the movement pattern of your rover best.• Click Configure.• Set the device used by the receiver to acquire the two sets of corrections:– If corrections are received via radio, go to Receiver > Radio to enter all the radio parameters. You may use the internal radio or an external radio.– If corrections are received over the Internet, go to Receiver > Network to set the device used (this may be Ethernet, Modem or WiFi; more information about how to set up theses devices can be found in the relevant context-sensitive Help). Then go to Receiver > I/Os to start data reception in NTRIP or Direct IP mode.Static or MovingBaseUsing the Web ServerTo configure the receiver as a base, use the Web Server as follows:• Go to Receiver > Position > Base Setup.•Use the Station ID. field to enter the identification number. Remember, the station ID should comply with the type of correction data format it generates. As a reminder, this is the list of authorized numbers in relation to the format used:– RTCM 2.3: 0-1023– CMR/CMR+: 0-31– ATOM & RTCM3.x: 0-4095• Select whether the base is stationary (Static) or in motion (Moving).If you choose Static, you need to specify the exact location of the base. You can do this in two different ways:1Base corrections delivered via:• Internet (Ethernet, cellular modem, or WiFi), or• UHF Radio
68– Type in the three geographical coordinates (Latitude, Longitude, Height) of the base, as well as the position on the antenna (Reference Position) for which these coordinates are given.– Or click on the Get Current Position button to make the currently computed position the new base position. In this case, it is assumed that the receiver actually calculates a position at the time you click the button.As a result, the above three coordinates fields above are overwritten with the current computed position, and the Reference Position field is automatically set to “L1 Phase Center”.NOTE: The antenna height was entered when specifying the number of antennas used (see page 55).• Additionally, in the Other Settings section, you may change the primary GNSS system used (GPS is the default selection).• Click Configure.• Set the device used by the receiver to send out its corrections:– If corrections are broadcast via radio, go to Receiver > Radio to enter all radio parameters. You may use the internal radio or an external radio.– If corrections are broadcast over the Internet, go to Receiver > Network to set the device used (this may be Ethernet, Modem or WiFi; more information about how to set up theses devices can be found in the relevant context-sensitive Help).• You still have to set which corrections the base will generate. This is detailed in Base Data Messages on page 76.NOTE: You may also set a base to use a virtual antenna. This is required when a rover using the corrections from this base has no information on the model of GNSS antenna used at the base. In this case a virtual antenna can be used (ADVNULLANTENNA or GPPNULLANTENNA). If you don’t need a virtual antenna, just keep the Manufacturer field set to OFF.Working from the Receiver Front PanelThe receiver user interface offers an alternative to the Web Server to set up a static base. Please follow the detailed procedure described in Base Mode on page 39).
69Using SP90m With Two AntennasThe reader is supposed to know how to run the Web Server (see Getting Started With the Web Server on page 46), and how to use the receiver user interface (see Receiver User Interface on page 26) before reading this section.Remember, when using the Web Server, at any time you can access context-sensitive help by pressing this key:Specifying theModels ofAntennas UsedWhen using SP90m with two GNSS antennas, both GNSS input #1 and GNSS input #2 are used.The setting described below is required prior to configuring the receiver in any of the operating modes described in the sections that follow.Use the Web Server to specify the models of antennas connected to input #1 and input #2:• Go to Receiver > Position > Sensors/Antennas Setup.• Set Multi-Sensor Mode to Two Antennas or Two Antennas (L1 only on input#2) depending on the reception capability of the model of antenna you connect to input #2. • Choose the point on the antenna for which you want the SP90m to compute the position (L1 phase center, ARP or ground mark).• For each of the two antennas (primary and secondary antennas), describe the model and height of antenna used:– Manufacturer– Antenna name and its RINEX name– Method used to measure the antenna height (i.e. choice of the point on the antenna from which the height measurement is performed)– Value of measured height according to the chosen antenna measurement method.NOTE 1: Entering the height only makes sense if you want to get the position of the ground mark.NOTE 2: Antenna heights are not required when computing heading.•Press Configure. The two antenna models are now set.NOTE: When configuring a static base from the front panel, you will be able to select the antenna model used for the
70primary antenna. By default, if you leave the base mode to operate the receiver as a rover, the receiver will assume this antenna model is still used as the primary antenna. You cannot choose an antenna model for the secondary antenna using the front panel. This operation needs to be done within the Web Server.SP90m DeliveringHeadingMeasurementsThe receiver will measure the heading angle of the vector connecting the secondary antenna to the primary antenna.On the receiver’s General Status screen, the receiver will display “AUTO” or “SDGPS” indicating that the position for the primary antenna is either computed in autonomous or SDGPS mode respectively.Press one of the vertical keys to see the computed position for the primary antenna (marked ) and the heading screen. No position is computed for the secondary antenna (marked ).Use the Web Server to configure the receiver:• Go to Receiver > Position > Heading Setup• Set Mode to Heading. This automatically sets Input to Internal.•Use the Length Type field to choose the way you want the receiver to specify the baseline, i.e. the distance between the primary and secondary antennas:12NHeadingBaseline Vector
71– If it is assumed to be strictly fixed (the two antennas are mounted on a unique, rigid support), select Fixed. With this option, you may set the receiver to auto-calibrate the heading computation. In this case keep the Auto-Calibration option enabled. Or you may prefer to disable this option, in which case you will have to type in the exact length of the baseline, in meters (in the Vector Length field).– If you think it may slightly vary over time (due to support deformation, presence of wind, etc.), select Changing (Flex). If you choose this option, no auto-calibration is required.• Enter the possible two offsets in relation to your antenna installation (see GNSS Antennas Setup for Heading Measurements on page 19) as well as the maximum expected vertical angle (Max. Baseline Elevation) the baseline may present compared to the horizontal, and the permitted tolerance on the baseline length (Baseline Tolerance).• Click Configure. The receiver starts operating in heading mode.Dual-RTK Rover The SP90m may be configured to provide two RTK positions, one per antenna. These results can subsequently be used to compute the heading angle resulting from the orientation of the two antennas, while providing an accurate position for each of these two antennas.On the receiver’s General Status screen, the receiver will display “FIXED” (with short “FLOAT” transition time) when computing a position in RTK DGPS mode for the primary antenna.12XYZ orLat-Lon-HeightPositionof primaryantennaXYZ orLat-Lon-HeightPositionof secondaryantennaOne or two sets of corrections via:• Internet (Ethernet, cellular modem, or WiFi) or• UHF Radio
72Press one of the vertical keys to see the computed position for the primary antenna (marked ) and the secondary antenna (marked ).When corrections are received and used, is displayed on the General Status screen together with the age of corrections (see General Status on page 28).To configure the receiver as a Dual RTK rover, use the Web Server as follows:• Go to Receiver > Position > Rover Setup.• Set Processing Mode to Dual RTK.• Select how the corrections are being transmitted to the receiver by setting Input Mode accordingly.If you choose Automatic, the receiver will find by itself which of its ports are used to acquire corrections.If you choose Manual, you need to specify each of the two ports. The “RTK-1” line will define the port routing the corrections allowing the receiver to compute the position of the primary antenna, whereas the “RTK-2” line will define the port routing the corrections allowing the receiver to compute the position of the secondary antenna.NOTE: The same set of corrections, hence the same port, can be used for both antennas.• Additionally, in the Other Settings section, you may change the primary GNSS system used (GPS is the default selection), limit the level of position accuracy to less than what the receiver can actually achieve in this case. Typically you will choose RTK Position to match to the selected operating mode.• Select the model of dynamics that suits the movement pattern of your rover best.• Click Configure.• Set the device used by the receiver to acquire corrections:– If corrections are received via radio, go to Receiver > Radio to enter all radio parameters. You may use the internal radio or an external radio.– If corrections are received over the Internet, go to Receiver > Network to set the device used (this may be Ethernet, Modem or WiFi; more information about how to set up theses devices can be found in the relevant context-sensitive Help). Then go to Receiver > I/Os to start data reception in NTRIP or Direct IP mode.
73Dual-Relative RTKTo configure the receiver as a Dual Relative RTK rover, use the Web Server as follows:• Go to Receiver > Position > Rover Setup.• Set Processing Mode to Dual Relative RTK.• Select how the corrections are being transmitted to the receiver by setting Input Mode accordingly.If you choose Automatic, the receiver will find by itself which of its ports are used to acquire corrections.If you choose Manual, you need to specify each of the two ports and possibly the base antenna for which these corrections are computed and delivered (select N/A for a single-antenna base). The “BRV-1” line will define the port routing the corrections from a moving base allowing the receiver to compute the vector to the primary antenna, whereas the “BRV-2” line will define the port routing the corrections from a moving base allowing the receiver to compute the vector to the secondary antenna.NOTE: The same set of corrections from the same moving base, hence the same port, can be used for both antennas.• Additionally, in the Other Settings section, you may change the primary GNSS system used (GPS is the default selection), limit the level of position accuracy to less than what the receiver can actually achieve in this case. 13-D Componentsof Vector3-D Componentsof Vector3-D VectorOne or two sets of corrections from moving base via:• Internet (Ethernet, cellular modem, or WiFi), or• UHF RadioCorrectionsfrom moving baseto compute3D-vector3-D VectorCorrectionsfrom moving baseto compute3D-vector2
74Typically you will choose RTK Position to match to the selected operating mode.• Select the model of dynamics that suits the movement pattern of your rover best.• Click Configure.• Set the device used by the receiver to acquire corrections:– If corrections are received via radio, go to Receiver > Radio to enter all radio parameters. You may use the internal radio or an external radio.– If corrections are received over the Internet, go to Receiver > Network to set the device used (this may be Ethernet, Modem or WiFi; more information about how to set up theses devices can be found in the relevant context-sensitive Help).
75Programming Data OutputsThe reader is supposed to know how to run the Web Server (see Getting Started With the Web Server on page 46) before reading this section.Remember, when using the Web Server, at any time you can access context-sensitive help by pressing this key:• Go to Receiver > I/Os > Input Setup and Output Messages.In the right-hand part of the Web Server window, all receiver ports are listed, and for each of them, you can read the message or messages currently programmed to be output on this port at the specified data rate(s). • To add or modify a message on a port, click on the line corresponding to that port. This updates the left-hand part of the window from which you can add or modify as many messages as you wish.You may need to re-select the matching category in the upper field to access the desired message. For example if NMEA and ATOM messages are programmed on a given port, re-select ATOM in the upper field to access the definition of the ATOM messages. Same applies to NMEA messages.For any further question about how to handle messages, please refer to the on-line Help. Rover OutputMessagesYou will typically use a rover to generate NMEA messages to deliver its results (see complete list on page 78). Note that part of these results are also visible on the receiver front panel and in the right-hand section of the Web Server window. You will typically use the receiver to output the following NMEA messages:• One GNSS antenna used:Output NMEA MessagePosition (Autonomous, SDGPS, RTK, Hot Standby RTK or RTX) GGARelative RTK VCR
76• Two GNSS antennas used:* When the same types of NMEA messages are output on the same port for the two GNSS antennas, special markers are inserted into the flow of messages so that the recipient device can recognize which messages are coming from which antenna.For example the output of GGA messages will look like this:$PASHD,#1,123456.00,ABCD,BEG*cc<cr><lf>$GPGGA,…$PASHD,#1,123456.00,ABCD,END*cc<cr><lf>$PASHD,#2,123456.00,ABCD,BEG*cc<cr><lf>$GPGGA,…$PASHD,#2,123456.00,ABCD,END*cc<cr><lf>Each NMEA message is inserted between a beginning (BEG) and end (END) marker (shown in bold characters in the example above). The marker header indicates for which antenna the NMEA message that immediately follows refers to. For example, a GGA message inserted between two “$PASHD,#1,..” lines means the message is about the primary antenna. Same for VCR.Base DataMessagesYou will typically use a base to generate ATOM RNX messages. RTCM and CMR/CMR+ are also possible options.Program this output on port D if you are using the internal radio to broadcast these messages. Use port A, B or F if you are using an external radio connected to either of these serial ports.Program this output on an IP port if your base is broadcasting its messages over the Internet:• To an external NTRIP caster• To the embedded NTRIP caster (see Web Server Online Help file)• To an external IP server (receiver in client mode)• To port I (8888) or J (8889) (receiver in server mode) with different modes (single or multiple connections).Output NMEA MessageHeadingHDTVCTHPRDual RTK* GGADual Relative RTK* VCR
77Raw DataRecordingA default raw data output exists, which you should not modify unless you have specific needs. This output is made available on port M, which, at user’s choice, stands for either the receiver’s internal memory or a USB device (USB key or hard disk). Port M is the port used to save the collected raw data as a G-file.This output consists of the following ATOM messages:• PVT: Positioning results• ATR: Attributes (antenna parameters, receiver description)• NAV: Satellite navigation information• DAT: Raw navigation data• RNX-0: Receiver observations• OCC: Site occupation informationG-files can be processed in SPSO (Spectra Precision Office Software) or by the RINEX converter utility.When two antennas are used, note that by default, only PVT, ATR and RNX-0 are recorded for the secondary antenna.
78Available NMEAMessagesSee details in Appendix.Name DescriptionALR AlarmsARA True headingARR Vector & AccuracyATT True headingAVR Time, yaw, tiltBTS Bluetooth statusCAP Received base antennaCPA Received antenna heightCPO Received base positionDDM Differential decoder messageDDS Differential decoder statusDTM Datum ReferenceGBS GNSS Satellite Fault DetectionGGA GNSS position messageGGK GNSS position messageGGKX GNSS position messageGLL Geographic position - Latitude/LongitudeGMP GNSS Map Projection Fix DataGNS GNSS Fix DataGRS GNSS Range ResidualsGSA GNSS DOP and Active SatellitesGST GNSS Pseudo-range Error StatisticsGSV GNSS Satellites in ViewHDT True headingHPR True headingLTN LatencyMDM Modem state and parameterPOS PositionPTT PPS time tagPWR Power statusRCS Recording statusRMC Recommended Minimum Specific GNSS DataSBD BEIDOU Satellites StatusSGA GALILEO Satellites Status (E1,E5a,E5b)SGO GALILEO Satellites Status (E1,E5a,E5b,E6)SGL GLONASS Satellites StatusSGP GPS Satellites StatusSIR IRNSS Satellites StatusSLB L-Band Satellites StatusSQZ QZSS Satellites StatusSSB SBAS Satellites StatusTEM Receiver temperatureTHS True heading and statusTTT Event markerVCR Vector and accuracyVCT Vector and accuracyVEL 3D velocity and velocity accuracyVTG Course Over Ground and Ground SpeedZDA Date and time
79AppendicesSpecifications GNSS Engine• 480 GNSS tracking channels:– GPS L1 C/A, L1P (Y), L2P (Y), L2C, L5, L1C– GLONASS L1 C/A, L1P, L2 C/A, L2P, L3, L1/L2 CDMA– GALILEO E1, E5a, E5b– BeiDou B1, B2, B3 (1)– QZSS L1 C/A, L1 SAIF, L1C, L2C, L5–IRNSS L5– SBAS L1 C/A, L5• Two MSS L-band tracking channels• Two GNSS antenna inputsFeatures• Patented Z-tracking to track encrypted GPS P(Y) signal• Patented Strobe™ Correlator for reduced GNSS multi-path• Patented Z-Blade technology for optimal GNSS performance:– Highest quality of raw data (availability/reliability) to meet reference station applications– Full utilization of signals from all seven GNSS systems (GPS, GLONASS, BeiDou, Galileo, QZSS, IRNSS, and SBAS)– Enhanced GNSS-centric algorithm: fully-independent GNSS signal tracking and optimal data processing, including GPS-only, GLONASS-only or BeiDou-only solution (autonomous to full RTK) (2)– Fast and stable RTK solution– Fast Search engine for quick acquisition and re-acquisition of GNSS signals• Patented SBAS ranging for using SBAS code & carrier observations and orbits in RTK processing• Position in local datums and projections with RTCM-3 transformation data• Support for Trimble RTX™ real-time correction services• Trimble RTX™ PPP engine• Hot Standby RTK Algorithms• Flying RTK Algorithms
80• RTK base and rovers modes, post-processing mode• Moving base– RTK with Static & Moving Base corrections supported– Multi-dynamic mode (static/moving Base and Rover functions simultaneously)– RTK against a moving base for relative positioning– Adaptive velocity filter to meet specific dynamic applications• Heading and Roll/Pitch– Accurate and fast heading using dual-frequency, multi-GNSS algorithms– RTK or Trimble RTX and heading processing simultaneously– Heading engine with optional baseline length self-calibration– Adaptive velocity filter to meet specific dynamic applications• Up to 50 Hz real-time raw data (code & carrier and position, velocity, and heading output) (3)• Reference Inputs/Outputs: RTCM 3.2 (4), RTCM 3.1/3.0/2.3/2.1, CMR/CMR+, CMRx (5), ATOM (6)• Supported RTK networks: VRS, FKP, MAC• NTRIP protocol• Navigation outputs: NMEA-0183, ATOM• PPS output• Event marker input• UHF networking• One-push Ashtech Trouble Log (ATL)GNSS Sensor Performance• Time to First Fix (TTFF):– Cold start: < 60 seconds– Warm Start: < 45 seconds– Hot Start: < 11 seconds– Signal re-acquisition: < 2 seconds• Position accuracy (HRMS), SBAS: < 50 cm (1.64 ft) (7)• Update rate: Up to 50 Hz (3)• Latency: < 10 ms (8)• Velocity Accuracy: 0.02 m.sec HRMS
81• Maximum Operating Limits (9)– Velocity: 515 m/sec– Altitude: 18,000 mPrecise Positioning PerformanceReal-Time Accuracy (RMS) (10) (11)• Real-Time DGPS Position:– Horizontal: 25 cm (0.82 ft) + 1 ppm– Vertical: 50 cm (1.64 ft) + 1 ppm• Real-Time Kinematic Position (RTK):– Horizontal: 8 mm (0.026 ft) + 1 ppm– Vertical: 15 mm (0.049 ft) + 1 ppm• Network RTK (12):– Horizontal: 8 mm (0.026 ft) + 0.5 ppm– Vertical: 15 mm (0.049 ft) + 0.5 ppmTrimble RTX™ (Satellite and Cellular/Internet (IP)) (13) (14)• CenterPoint® RTX– Horizontal (HRMS): < 4 cm– Initialization: < 30 min. (typical)– Operating range (inland): Nearly worldwide• CenterPoint RTX Fast– Horizontal (HRMS): < 4 cm– Initialization: < 5 min. (typical)– Operating range (inland): In select regionsHeading (15) (16) (17)• Accuracy (RMS): 0.2° per 1 m of baseline length• Initialization time: < 10 sec typical• Baseline length: < 100 mFlying RTK• 5 cm (0.165 ft) + 1 ppm (steady state) horizontal for baselines up to 1000 km
82Real-Time Performance(10) (11)• Instant-RTK® Initialization:– Typically 2-second initialization for baselines < 20 km– Up to 99.9% reliability• RTK initialization range:–> 40 kmPost-Processing Accuracy (RMS)(10) (11)Static, Rapid Static:• Horizontal: 3 mm (0.009 ft) + 0.5 ppm• Vertical: 5 mm (0.016 ft) + 0.5 ppmHigh-Precision Static (18):• Horizontal: 3 mm (0.009 ft) + 0.1 ppm• Vertical: 3.5 mm (0.011 ft) + 0.4 ppmPost-Processed Kinematic:• Horizontal: 8 mm (0.026 ft) + 0.5 ppm• Vertical: 20 mm (0.065 ft) + 1.0 ppmData Logging Characteristics• Recording Interval: 0.02 (19)-999 secondsMemory• 8 GB internal memory• Memory is expandable through external USB sticks or hard drives• Over four years of 15 sec. raw GNSS Data from 14 satellites (logged to internal 8GB Nand Flash)Embedded Web Server• Password-protected Web Server• Full receiver monitoring and configuration• FTP push function• Embedded FTP server and NTRIP caster (20)• NTRIP Server and instant real-time multi-data streaming over Ethernet• DHCP or manual configuration (static IP address)• DynDNS® technology support
83User and I/O Interface• User Interface:– Graphical OLED display with 6 keys and 1 LED– WEB UI (accessible via WiFi or Ethernet) for easy configuration, operation, status and data transfer• I/O interface:–1 x USB OTG– Bluetooth v4.0 + EDR/LE, Bluetooth v2.1 + EDR– WiFi (802.11 b/g/n)– 3.5G quad-band GSM (850/900/1800/1900 MHz) / penta-band UMTS module (800/850/900/1900/2100 MHz)– 1 x Ethernet, RJ45 (Full-Duplex, auto-negotiate 10 Base-TX / 100 Base-TX)– 1 x Lemo, RS232 (radio connection and external power)– 1 x DB9, RS232 (PPS output and CAN bus)– 1 x DB9, RS422/232 (Event marker input)– 2 x TNC, GNSS antenna input– 1 x TNC, UHF radio antenna connector– 1 x SMA, GSM antenna connector– 1 x SMA, Bluetooth/WiFi antenna–PPS output– Event marker input– Galvanic Insulation (Except USB)– Ready for CAN bus (NMEA 2000 compatible)Physical and Electrical Characteristics• Size: 16.5 x 20.6 x 6.5 cm (6.5 x 8.1 x 2.6 in)• Weight: GNSS receiver: 1.66 kg (3.66 lb) without UHF / 1.70 kg (3.75 lb) with UHF• Battery life:– 4 hrs (RTK Base, GNSS On, UHF Tx On), 12.8 W average power consumption– 6 hrs (RTK Rover, GNSS On, UHF Rx On), 5.9 W average power consumption• Li-ion battery, 27.8 Wh (7.4 V x 3.7 Ah). Acts as a UPS in case of a power source outage• 9-36 V DC input (EN2282, ISO7637-2)• External DC power limits feature
84Environmental Characteristics• Operating temperature (21): -40° to +65°C (22) (-40° to +149°F)• Storage temperature (23): -40° to +95°C (-40° to +203°F)• Humidity: Damp Heat 100% humidity, + 40°C (+104°F); IEC 60945:2002• IP67 (waterproof and dustproof): IEC 60529• Drop: 1m drop on concrete• Shock: MIL STD 810F (fig. 516.5-10) (01/2000). Sawtooth (40g / 11ms)• Vibrations: MIL-STD 810F (fig. 514.5C-17) (01/2000)(1) Product is designed to fully support BeiDou B3 signals as soon as the officially published signal Interface Control Documentation (ICD) becomes available.(2) All available GNSS signals are processed equally and combined without preference to any particular constellation for optimal performance in harsh environment.(3) 50 Hz output is available as firmware option (20 Hz output is a standard feature). At 50 Hz, a limited set of messages can be generated simultaneously through a single port.(4) RTCM-3.2 Multiple Signal Messaging (MSM) guarantees compatibility with3rd party for each GNSS data.(5) A Trimble proprietary format.(6) ATOM: Open Ashtech format.(7) VRMS for Autonomous/SBAS positions are usually twice as high as HRMS.(8) Heading latency is usually twice as high.(9) As required by the U.S. Department of Commerce to comply with exportlicensing restrictions.(10) Accuracy and TTFF specifications may be affected by atmosphericconditions, signal multipath and satellite geometry.(11) Performance values assume minimum of five satellites, following theprocedures recommended in the user guide. High multipath areas, highPDOP values and periods of severe atmospheric conditions may degradeperformance.(12) Network RTK PPM values are referenced to the closest physical base station.(13) Requires L1/L2 GPS+GLONASS at a minimum.(14) Accuracy and TTFF specifications may be affected by atmosphericconditions, signal multipath, satellite geometry and L-band serviceavailability. Trimble RTX correction services are only available on land.(15) Accuracy and TTFF specifications may be affected by atmosphericconditions, signal multipath, satellite geometry and corrections availabilityand quality(16) L1/L2 data required.(17) Figures of pitch accuracy are twice as high.(18) Depending on baselines, precise ephemeris and long occupations up to 24 hrs may be required to achieve the high precision static specifications.
85(19) A Recording Interval of 0.05 is based on a 20 Hz output. The defaultchanges to 0.02 if the optional 50 Hz output firmware option is installed.(20) Embedded NTRIP Caster is available as firmware option.(21) Depends on whether the internal battery is used or not: - With internal battery being charged: +45°C (+113°F) max. - With internal battery being discharged: +60°C (+140°F) - Without internal battery (external power supply): +65°C (+149°F) under conditions of installation.At very high temperature, the UHF module should not be used in transmittermode. With the UHF transmitter on radiating 2W of RF power, the operatingtemperature is limited to +55°C (+131°F).(22) At this temperature, hand protection may be needed to safely handle thesystem’s lower aluminum housing (as per EN60945).(23) Without battery. Battery can be stored up to +70°C (+158°F).NOTE: All performance values are given assuming a minimum of fivesatellites are used, and following the procedures recommended in theuser guide. High multipath areas, high PDOP values and periods of severeatmospheric conditions may degrade performance.
861PPS Output This output delivers a periodic signal that is a multiple or submultiple of 1 second of GPS time, with or without offset.Using the 1PPS output is a standard feature of the receiver (no firmware option needed).The 1PPS output is available on port F, pin 9.You can set the properties of the 1PPS signal using the $PASHS,PPS command. These properties are:• Period: a multiple (1 to 60) or submultiple (0.1 to 1 in 0.1-second increments) of 1 second of GPS time.• Offset: Amount of time in seconds before (+) or after (-) a full second of GPS time.• Active edge, i.e. the edge (falling or rising) synchronized with GPS time. (On the diagram above, the rising edge is set to be the active edge)You can read the current properties of the 1PPS output using the $PASHR,PPS command.The signal specifications for the 1PPS output are as follows:• Signal level: 0-5 V• Pulse duration: 1 ms• Jitter: < 100 ns• Slope transient time: < 20 nsYou can also output the exact GPS time of the active edge of the 1PPS output signal using the $PASHR,PTT command. The receiver will respond to this command right after the next 1PPS signal is issued, taking into account the chosen offset. 1PPS withOffset= 0GPS time1PPS withOffset= - x.x sec1PPS withOffset= + x.x sec+_
87Event Marker Input This input is used to time-tag external events. When an external event is detected on this input, the corresponding GPS time for this event is output as a $PASHR,TTT message on any port. The time tag provided in the message represents the exact GPS time of the event to within 1 μsecond. A single message is output for each new event.Using the event marker input is a standard feature of the receiver (no firmware option needed).The event marker input is located on port B, pin 7.You can choose whether it will be the rising or falling edge of the event marker signal that will trigger the time tagging of the event. This choice can be done using the $PASHS,PHE command.The signal specifications of the event marker input are as follows:• Signal level: ± 10 V• Permitted transient time on active edge: < 20 ns Resetting theReceiverWith the SP90m turned off, press the two horizontal arrow keys (right and left) AND the Power button simultaneously for a few seconds until the power LED turns green.This starts the receiver. The screen first displays the logo, then Reset mode is displayed for a while. At the end of this sequence, all receiver factory settings are restored.The following parameters, functions and devices are not impacted by the reset sequence:• Last ephemeris data saved in the receiver (except for SBAS data)• Last almanac data saved in the receiver• Last position and time computed by the receiver• Anti-theft status and parameters• Startup protection status and parameters• Ethernet device power status (will remain ON if it was ON before, or OFF if it was OFF) as opposed to all other devices (WiFi, Modem, Bluetooth)• All settings (PIN code, APN, login, password, etc.) relevant to modem, Bluetooth, WiFi, Ethernet, Web Server• SMS phone list, email address list and settings• Automatic power-on and power-off settings• Receiver validity period.
88Upgrading theReceiver FirmwareThis can be done in different ways:• Using the Web Server. Go to Receiver > Configuration > Firmware Upgrade.• USB key + OLED display (see page 37).• USB key + key combination at receiver startup (see page 44).•Using the SP Loader software utility (see below).SP LoaderSoftware UtilityUse Spectra Precision SP Loader software to:1. Upgrade the receiver firmware2. Install new firmware options based on the use of a POPN delivered to you following the purchase of one of these options.3. Validate CenterPoint RTX subscription.4. Read the warranty expiration date of a GNSS receiver.Installing SP LoaderSP Loader can be downloaded from:http://www.spectraprecision.com/eng/sp90m.html#.WUjSUdxLdhE(Click on the Support tab to access the download link.)The install file is an executable file. Simply double-click on this file to start installation. Follow the instructions on the screen to complete the installation.Getting Started With SP LoaderSP Loader will use either a serial (RS232), Bluetooth or USB connection to communicate with the receiver. USB is recommended.1. Connect your computer to the SP90m using a USB connection.2. Run SP Loader on your computer.3. Select the computer’s port ID used to communicate with the receiver. This port ID should correspond to the computer’s USB port.NOTE: An easy way to identify which port ID on your computer is the USB port is to run SP Loader first without the USB connection and read the list of available ports in SP Loader. After restoring the USB connection with the receiver, check that list again. An extra port ID will then be listed, being the one assigned to the USB port. Select that port. (You don’t need to define a baud rate for a USB port.)
894. To upgrade receiver firmware, install a new firmware option or validate a CenterPoint RTX subscription, see sub-sections below.Upgrading Receiver FirmwareYou are not allowed toupgrade a receiver if anti-theft or/and start upprotection is active or if thereceiver is operated with anin-progress or expiredvalidity period.Firmware upgrades will be downloadable from the Spectra Precision website in the form of compressed “.tar” files. The name of the “.tar” file, as well as the step-by step upgrade procedure will be given in the accompanying Release Note. Completing a firmware upgrade procedure will take up to 10 minutes. For this reason, it must be run with the receiver powered from either a properly charged internal battery or using an external power source.Unless otherwise specified in the Release Note attached to the upgrade package, follow the instructions below to complete the upgrade of your receiver:1. Follow the first three steps described in Getting Started With SP Loader on page 88.2. Click Upgrade. Wait until SP Loader has detected the receiver.3. Browse your computer in search of the upgrade file.4. Select the file and click Open. SP Loader then provides information on the currently installed firmware, the new firmware as well as the current state of the battery (if the internal battery is used).This should tell you if you can run the upgrade with the battery, or rather use a fresh one or an external power supply.5. When you are ready, click on the Update button.6. Let the receiver proceed with the upgrade (a status window is displayed showing a progress bar). Ensure the receiver is not turned off while installation is in progress.7. After successful completion of the upgrade, click Close to close the status window. Check that the new firmware is
90now installed (version and date displayed in the SP Loader main window).8. Click Close again, then Exit to quit SP Loader.Installing a Firmware OptionBefore you start this procedure, make sure you have received an email from Spectra Precision containing the POPN (Proof Of Purchase Number) corresponding to the firmware option you have purchased.NOTE : Your computer needs an Internet connection to install a firmware option using a POPN.With the POPN now in your possession, do the following to install a new firmware option:• Follow the first three steps described in Getting Started With SP Loader on page 88.• Click Option. Wait until SP Loader has detected the receiver.SP Loader then displays the serial number of your receiver and prompts you to enter the POPN.(There is an alternate method to activate a firmware option, which is to enter the option key (provided by Spectra Precision) corresponding to the desired firmware option, and to specify that option in the nearby field.)• Enter the POPN and then click on Update. Let the receiver proceed with the installation of the firmware option (a status window is displayed showing a progress bar). Ensure the receiver is not turned off while installation is in progress.• After successful completion of the installation, click Close to close the status window.• Click Close again, then Exit to quit SP Loader.
91Activating a CenterPoint RTX SubscriptionAfter you have purchased a CenterPoint RTX subscription, Trimble Positioning Services will email you an activation code.Use the same procedure as the one used to install a firmware option (see page 90; the available RTX subscriptions are listed as firmware options). The only difference is that no POPN is provided for this procedure. Just enter the code provided by Trimble Positioning Services and specify the type of subscription you purchased before you click Update.Reading Receiver Warranty Expiration DateSP Loader can be used to query the Spectra Precision database for the warranty expiration date of your GNSS receiver. (After a receiver warranty has expired, remember receiver firmware upgrades are no longer free of charge.)You don’t need to have your receiver connected to SP Loader to read its warranty expiration date. Just enter its type and serial number and SP Loader will return this information to you, provided there is an active Internet connection on your computer, and your receiver is known to the database.•Run SP Loader on your computer.• Click on Warranty• Select the type of your receiver and enter its serial number• Click on Compute. SP Loader returns the warranty expiration date in a field underneath the Compute button.Additionally, SP Loader generates a proprietary command that you can run in your receiver if you want to be sure your receiver has the correct warranty expiration date in memory. Carefully write down this commandUse Terminal Window in Survey Pro, or GPS Utility > Send Command in FAST Survey to apply this command to the receiver.NOTE: When upgrading the receiver firmware using a computer with an Internet connection, be aware SP Loader will at the same time automatically check the warranty expiration date of your receiver. SP Loader will ask you if it can update this date if it is found wrong.
92SP File ManagerSoftware UtilitySP File Manager allows you to copy “log” files and G-files directly from the receiver’s internal memory to the desired folder on your office computer.Additionally you can delete any G-file or “log” file from the receiver’s internal memory.G-files are GNSS raw data files in proprietary format (ATOM). “Log” files are editable text files listing all the operations performed by the receiver in one day.SP File Manager is available from the Spectra Precision website as an executable file (SPFileManagerSetup.exe) through the link below:http://www.spectraprecision.com/eng/sp90m.html#.WUjSUdxLdhE(Click on the Support tab to access the download link.)Installing SP File ManagerSP File Manager is very easy to install:• Download the executable file from the Spectra Precision website (use above link).• Double-click on the file to complete the installation.Connecting SP90m to your ComputerSP File Manager will use either a serial (RS232), Bluetooth or USB connection to communicate with the receiver. USB is recommended.Getting Started With SP File ManagerDouble-click on . The SP File Manager window which then appears is detailed below. [2][1][3][4]
93[1]: SP File Manager toolbar. This toolbar consists of the following items:•Port and baud rate scroll-down lists: Let you choose which serial port is used on computer side for the connection with the receiver (baud rate only makes sense when an RS232 serial line is used). Use 115200 Bd to communicate with SP90m.•Connect / Refresh button: Connect allows you to activate the connection between the computer and the receiver via the chosen serial line.When the connection is established, the button is changed into Refresh, which allows you to update the content of the two SP File Manager panes ([2] and [3] described below)•Disconnect button: Allows you to deactivate the connection currently established between the computer and the receiver.•Copy button: Copies the file(s) selected in pane [3] to pane [2]. In pane [2], you have to open the folder where to copy to before clicking on the Copy button.NOTE: Copied files have different creation dates and times compared to those of their respective original files. The new dates and times are those corresponding to when the files were copied.•Delete button: Deletes the files currently selected in pane [2] or [3].[2]: Pane showing the content of the currently open folder on computer side.[3]: Pane showing the content of the currently open folder on receiver side. The receiver’s root folder contains two to three sub-folders:•Internal memory: Lists all G-files recorded by the receiver in its internal memory•Log files: Contains log files (one per day). Each log file lists all the actions performed by the receiver in one day.•USB key, if one is currently connected to the receiver.To open a folder, double-click on it. To go back to the parent folder, click on .[4]: Pane showing copy/delete operations in progress, and all those completed since the connection with the receiver was established. This pane is cleared at the beginning of each new working session of SP File Manager.
94Establishing a Connection with the Receiver• Set up the USB connection between the computer and receiver.• Turn on the receiver.• Launch SP File Manager on your computer. This opens the SP File Manager window.• Select the right COM port (see also the Note in Getting Started With SP Loader on page 88) and then click on the Connect button.As a result, the pane on the right-hand side of the window lists the two or three folders that can be seen on the receiver.Copying Files to the Office Computer• In the right-hand side of the window, double-click on the sub-folder containing the files you want to copy to the computer.(If needed, click on to go back to the parent folder and open another sub-folder.)• In the left-hand side of the window, browse your computer to the folder where to copy the files (recipient folder).• In the right-hand side of the window, highlight the file(s) you want to copy.• Click on the Copy button. Files are then copied, as requested. The lower part of the screen provides reports information on the copy operations in progress.Deleting Files from the Receiver• In the right-hand side of the window, double-click on the sub-folder containing the files you want to delete from the receiver.(If needed, click on to go back to the parent folder and open another sub-folder.)• Still in the right-hand side of the window, highlight the file(s) you want to delete.• Click on the Delete button. Files are then deleted. The lower part of the screen provides reports information on the delete operations in progress.
95UHF Networking This feature allows a rover to receive corrections from up to three different bases broadcasting separately their corrections via radio, on the same frequency channel, but at different times so the rover can receive these corrections properly.UHF networking can be implemented in SP90m provided you use Survey Pro as the field software.UHF networking may be used in two different modes:• Manual: The rover operator chooses which of the bases to work with. The bases will all be within range so the operator can change the base used at all times (see diagram below).Typically, the manual mode is used when redundancy is required in terms of corrections availability within a working area. On the diagram below, the darker area represents the area where the rover can operate from any of the two bases.• Automatic: The rover will automatically switch to the base within range that provides the best quality of corrections. Typically the automatic mode is used when you need to extend the UHF radio coverage.Implementing UHF networking on rover side consists of:1. Activating this mode.2. Choosing between automatic or manual selection of the base used. In Survey Pro, this setting is accessible from the GNSS Status function after you have started a survey.Selecting the manual mode means specifying the ID of the base you would like to work with.Base 1 Base 2Base 1 Base 2Base 3
96NMEA Messages ALR: Alarms$PASHR,ALR,d1,d2,c3,s4,d5,s6*ccARA: True HeadingThis message delivers either pitch- OR roll-related data (speed, accuracy), not both at the same time, depending on how the antennas are installed.$PASHR,ARA,f1,m2,f3,f4,f5,f6,f7,f8,f9*ccParameter Description Ranged1 Alarm code 0-255d2 Alarm sub-code 0-255c3Stream ID reporting the alarm (if relevant, otherwise blank field):• A, B, F: Serial port• U: USB serial port• C, H, T: Bluetooth port• D: Internal radio• E: CSD modem• P, Q: TCP/IP client stream• I, J: TCP/IP client server• M: G-fileA-F, H-J, M, P, Q, Us4 Alarm categoryBLUETOOTH, INPUT, MEM-ORYMODEM, NETWORK, OTHER, POWER, PVT, RADIO, WIFId5Alarm level:• 0: Low• 1: Medium•2: High0-2s6 Description*cc Checksum *00-*FFParameter Description Rangef1 “0” when message content is validm2 Current UTC time of attitude fix (hhmmss.ss) 000000.00-235959.99f3 Heading speed, in degrees/sec “-”: Turn bow left“+”: Turn bow rightf4 Pitch speed, in degrees/sec “-”: Downwards“+”: Upwardsf5 Roll speed, in degrees/sec “-”: To port (left)“+”: To starboard (right)f6 Heading RMS accuracy, in degreesf7 Pitch RMS accuracy, in degreesf8 Roll RMS accuracy, in degreesf9 (Empty)*cc Checksum *00-*FF
97ARR: Vector & Accuracy$PASHR,ARR,d0,d1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,d13,d14,d15,d16*ccParameter Description Ranged0 Vector number 1, 2, 3d1Vector mode:• 0: Invalid baseline• 1: Differential• 2: RTK float• 3: RTK fixed• 5: Other (dead reckoning, bad accuracy, difference between standalone positions). Messages with d1=5 may further be masked if users only want proven vector estimates.0-3, 5d2 Number of SVs used in baseline computation (L1 por-tion) 0-99m3 UTC time (hhmmss.ss) 000000.00-235959.99f4 Delta antenna position, ECEF 1st coordinate (in meters) ±99999.999f5 Delta antenna position, ECEF 2nd coordinate (in meters) ±99999.999f6 Delta antenna position, ECEF 3rd coordinate (in meters) ±9999.999f7 1st coordinate of standard deviation 99.999f8 2nd coordinate of standard deviation 99.999f9 3rd coordinate of standard deviation 99.999f10 1st/2nd coordinate correlation ±99.999999f11 1st/3rd coordinate correlation ±99.999999f12 2nd/3rd coordinate correlation ±99.999999c13 Reference data ID 1, 2, port let-terd14 Vector coordinate frame ID:• 0: XYZ 0d15Vector operation:• 0: Fixed mode (vector length is constrained)• 1: Calibration (vector length is being calibrated)• 2: Flex mode0-2d16Clock assumption:• 0: Clock is assumed to be different for the “head” and “tail” of the vector (see Comments below)• 1: Clock is assumed to be the same for the “head” and “tail” of the vector (see Comments below)*cc Checksum *00-*FF
98ATT: True HeadingThis message delivers either pitch OR roll angles, not both at the same time, depending on how the antennas are installed.$PASHR,ATT,f1,f2,f3,f4,f5,f6,d7*ccAVR: Time, Yaw, Tilt$PTNL,AVR,m1,f2,Yaw,f3,Tilt,,,f4,s5,f6,d7*ccParameter Description Rangef1 Week time in seconds. 000000.00-604799.99f2 True heading angle in degrees. 000.00-359.99999f3 Pitch angle in degrees. ±90.00000f4 Roll angle in degrees. ±90.00000f5 Carrier measurement RMS error, in meters.Full range of real vari-ablesf6 Baseline RMS error, in meters. Full range of real vari-ablesd7Integer ambiguity is “Fixed” or “Float”:•0: Fixed• >0: Float0, >0*cc Checksum *00-*FFParameter Description Rangem1 Current UTC time of vector fix (hhmmss.ss) 000000.00-235959.99f2,Yaw Yaw angle, in degrees.f3,Tilt Tilt angle, in degrees.f4 Range, in metersd5GNSS quality indicator:• 0: Fix not available or invalid• 1: Autonomous GPS fix.• 2: Differential carrier phase solution RTK (float)• 3: Differential carrier phase solution RTK (fixed)• 4: Differential code-based solution0-4f6 PDOP 0-9.9d7 Number of satellites used in solution*cc Checksum *00-*FF
99BTS: Bluetooth Status$PASHR,BTS,C,d1,s2,s3,d4,H,d5,s6,s7,d8,T,d9,s10,s11,d12*ccCAP: Received Base Antenna$PASHR,CAP,s1,f2,f3,f4,f5,f6,f7*ccParameter Description RangeC,d1Port C:• 0: Not connected• 1: A device is connected0, 1s2 Device name connected to port C 64 char. max.s3 Device address connected to port C(xx:xx:xx:xx:xx:xx) 17 char.d4 Bluetooth link quality for the port C connection 0-100H,d5Port H:• 0: Not connected• 1: A device is connected0, 1s6 Device name connected to port H 64 char. max.s7 Device address connected to port H (xx:xx:xx:xx:xx:xx) 17 char.d8 Bluetooth link quality for the port H connection 0-100T,d9Port T:• 0: Not connected• 1: A device is connected0, 1s10 Device name connected to port T 64 char. max.s11 Device address connected to port T (xx:xx:xx:xx:xx:xx) 17 char.d12 Bluetooth link quality for the port T connection 0-100*cc Checksum *00-*FFParameter Descriptions1 Antenna name, “NONE” if no name received for the base antenna.f2 L1 North offset, in mmf3 L1 East offset, in mm f4 L1 Up offset, in mmf5 L2 North offset, in mmf6 L2 East offset, in mmf7 L2 Up offset, in mm*cc Checksum
100CPA: Received Antenna Height$PASHR,CPA,f1,f2,f3,m4,f5*ccCPO: Received Base Position$PASHR,CPO,m1,c2,m3,c4,f5*ccDDM: Differential Decoder Message$PASHR,DDM,c1,s2,s3,d4,s5,f6,f7,s8*ccParameter Description Rangef1 Antenna height, in meters. This field remains empty as long as no antenna height has been received. 0-99.999f2 Antenna radius, in meters 0-9.9999f3 Vertical offset, in meters 0-99.999m4 Horizontal azimuth, in degrees, minutes (dddmm.mm) 0-35959.99f5 Horizontal distance, in meters 0-99.999f2, f3, m4, f5 Not applicable, all empty fields -*cc Checksum *00-*FFParameter Description Rangem1 Latitude in degrees and minutes with 7 deci-mal places (ddmm.mmmmmmm) 0-90c2 North (N) or South (S) N, Sm3 Longitude in degrees, minutes with 7 decimal places (dddmm.mmmmmmm) 0-180c4 West (W) or East (E) W, Ef5 Height in meters ±99999.999*cc Checksum *00-*FFParameter Description Rangec1 Port receiving corrections A-E, I, P, Q, Zs2 Message transport RT2, RT3, CMR, CMX or ATMs3 Message number/identifier e.g. 1004 for RT3, RNX for ATM, etc.d4 Counter of decoded messages 0-9999s5 Base IDf6 Time tag, in seconds, as read from the decoded messagef7 Age of corrections, in secondss8 Attribute 60 characters max.*cc Checksum *00-*FF
101DDS: Differential Decoder Status$PASHR,DDS,d1,m2,d3,c4,s5,c6,d7,d8,d9,d10,d11,f12,f13,d14,n(d15,f16,f17)*ccParameter Description Ranged1Differential decoder number.“1” corresponds to first decoder, etc.An empty field means the decoder used is not known.1-4m2 GNSS (output) time tag 000000.00-235959.99d3 Number of decoded messages since last stream change 0-127c4 ID of port from which corrections are received A-E, I, P, Q, Zs5 Protocol detected (empty means “no data”)RT2, RT3, CMR, ATM, CMXd6Time window, in seconds:• “0” if not defined or just initialized• “200” means equal to or greater than 2000-200d7Percentage of estimated overall data link quality/availability. Empty if not defined.0-100d8 Percentage of deselected informa-tion. Empty if not defined. 0-100d9 CRC percentage. Empty if not defined. 0-100d10 Standard of latency, in milliseconds 0-16383d11 Mean latency, in milliseconds 0-16383f12 Mean epoch interval, in seconds 0.00-3600f13 Min. epoch interval, in seconds 0.00-3600d14 Number (n) of different messages detected since last stream change 0-63d15 Message typeRT2: 1-63RT3: 1001-4094CMR: 0(obs), 1(loc), 2(desc), 3(glo), 12(cmr+), 20 (glo encrypted)ATM: 0-15CMX: no message reportedf16 Interval of last message, in seconds 0.000-1023.000f17 Age of last message, in seconds 0.000-1023.000*cc Checksum
102DTM: Datum Reference$GPDTM,s1,,f2,c3,f4,c5,f6,s7*ccGBS: GNSS Satellite Fault Detection$--GBS,m1,f2,f3,f4,d5,f6,f7,f8,h9,h10*ccParameter Description Ranges1Local datum code:• W84: WGS84 used as local datum• 999: Local datum computed using the parameters provided by the RTCM3.1 data stream.W84, 999f2 Latitude offset, in meters 0-59.999999c3 Direction of latitude N, Sf4 Longitude offset, in meters 0-59.999999c5 Direction of longitude E, Wf6 Altitude offset, in meters ±0-99.999s7 Reference datum code W84*cc Checksum *00-*FFParameter Description Rangem1 UTC time of the GGA or GNS fix asso-ciated with this message (hhmmss.ss) 000000.00-235959.99f2 Expected error in latitude, in meters, due to bias, with noise= 0 0.0-99.9f3 Expected error in longitude, in meters, due to bias, with noise= 0 0.0-99.9f4 Expected error in altitude, in meters, due to bias, with noise= 0 0.0-99.9d5 ID number of most likely failed satellite1-32 for GPS33-64 for SBAS65-96 for GLONASS97-128 for Galileo129-160 for BeiDou193-202 for QZSSf6 Probability of missed detection for most likely failed satellite 0.00-1.00f7 Estimate of bias, in meters, on most likely failed satellite 0.0-99.9f8 Standard deviation of bias estimate 0.0-99.9h9 GNSS system ID 0-Fh10 GNSS signal ID 0-F*cc Checksum *00-*FF
103GGA: GNSS Position Message$GPGGA,m1,m2,c3,m4,c5,d6,d7,f8,f9,M,f10,M,f11,d12*ccGGK: GNSS Position MessageSee Trimble documentation.Parameter Description Rangem1 Current UTC time of position (hhmmss.ss) 000000.00-235959.99m2 Latitude of position (ddmm.mmmmmm) 0-900-59.999999c3 Direction of latitude N, Sm4 Longitude of position (dddmm.mmmmmm) 0-1800-59.999999c5 Direction of longitude E,Wd6Position type:• 0: Position not available or invalid• 1: Autonomous position• 2: RTCM Differential (or SBAS Differential)•3: Not used•4: RTK fixed•5: RTK float• 6: Estimated (dead reckoning) mode0-6d7 Number of GNSS Satellites being used in the position computation 3-26f8 HDOP 0-99.9f9,M Altitude, in meters, above mean seal level.“M” for meters ± 99999.999,Mf10,M Geoidal separation in meters. “M” for meters. ± 999.999,Mf11 Age of differential corrections, in seconds 0-600999d12 Base station ID 0-4095*cc Checksum *00-*FF
104GGKX: GNSS Position Message$PTNL,GGKx,m1,m2,m3,c4,m5,c6,d7,d8,f9,f10,M,d11,f12,f13,f14,f15*ccParameter Description Rangem1 Current UTC time of position (hhmmss.ss) 000000.00-235959.99m2 UTC date of position (mmddyy) 010101-123199m3 Latitude of position (ddmm.mmmmmm) 0-900-59.999999c4 Direction of latitude N, Sm5 Longitude of position (dddmm.mmmmmm) 0-1800-59.999999c6 Direction of longitude E,Wd7Position type:• 0: Position not available or invalid• 1: Autonomous GPS fix• 2: RTK float solution or RTK location status• 3: RTK fix solution• 4: Differential, code phase only solution• 5: SBAS solution• 6: 3D network solution for RTK float or RTK location• 7: RTK fixed 3D network solution• 8: 2D network solution for RTK float or RTK location• 9: RTK fixed 2D network solution• 10: OmniSTAR HP/XP solution• 11: OmniSTAR VBS solution• 12: RTK location• 13: Beacon DGPS• 14: RTK Global0-14d8 Number of GNSS Satellites being used in the position computation 3-26f9 PDOP 0-99.9f10,MEllipsoid height of fix (antenna height above ellipsoid.“M” for meters.± 99999.999,Md11 Number of extension fields to follow.f12 Sigma East 0.000-999.999f13 Sigma North 0.000-999.999f14 Sigma Up 0.000-999.999f15 Propagation age*cc Checksum *00-*FF
105GLL: Geographic Position - Latitude/Longitude$GPGLL,m1,c2,m3,c4,m5,c6,c7*ccParameter Description Rangem1 Latitude of position (ddmm.mmmmmm) 0-900-59.999999c2 Direction of latitude N, Sm3 Longitude of position (dddmm.mmmmmm) 0-1800-59.999999c4 Direction of longitude E,Wm5 Current UTC time of position (hhmmss.ss) 000000.00-235959.99c6Status• A: Data valid• V: Data not validA, Vc7Mode indicator:• A: Autonomous mode• D: Differential mode• N: Data not valid• E: Estimated (dead reckoning) modeA, D, N, E*cc Checksum *00-*FF
106GMP: GNSS Map Projection Fix Data$--GMP,m1,s2,s3,f4,f5,s6,d7,f8,f9,f10,f11,d12*ccParameter Description Range“$--GMP” Header$GPGMP: Only GPS satellites are used.$GLGMP: Only GLONASS satellites are used.$GNGMP: Several constellations (GPS, SBAS, GLONASS) are used.$GPGMP, $GLGMP, $GNGMPm1 Current UTC time of position (hhmmss.ss) 000000.00-235959.99s2Map projection identification:• LOC: Local coordinate system• Empty if no local coordinate systemLOCs3 Map zone(empty)f4 X (Northern) component of grid (or local) coor-dinate, in meters ±999999999.999f5 Y (Eastern) component of grid (or local) coor-dinate, in meters ±999999999.999s6Mode indicator:• N: No fix• A: Autonomous• D: Differential•R: Fixed RTK• F: Float RTKN, A, D, R, Fd7 Number of GNSS Satellites being used in the position computation 3-26f8 HDOP 0-99.9f9 Altitude above mean seal level, or local alti-tude, in meters. ± 99999.999,Mf10 Geoidal separation in meters. ± 999.999,Mf11 Age of differential corrections, in seconds 0-999.9d12 Base station ID 0-4095*cc Checksum *00-*FF
107GNS: GNSS Fix Data$--GNS,m1,m2,c3,m4,c5,s6,d7,f8,f9,f10,f11,d12*ccParameter Description Rangem1 Current UTC time of position (hhmmss.ss) 000000.00-235959.99m2 Latitude of position (ddmm.mmmmmm)0-900-59.999999c3 Direction of latitude N, Sm4 Longitude of position (dddmm.mmmmmm)0-1800-59.999999c5 Direction of longitude E, Ws6Mode indicator (1 character by con-stellation):• N: No fix• A: Autonomous position• D: Differential•R: RTK Fixed•F: RTK FloatN, A, D, R, Fd7 Number of GNSS satellites being used in the position computation. 3-26f8 HDOP 0-99.9f9 Altitude above mean sea level. ±99999.999f10 Geoidal separation, in meters ±999.999f11 Age of differential corrections, in s 0-999d12 Base station ID (RTCM only) 0-4095*cc Checksum
108GRS: GNSS Range Residuals$--GRS,m1,d2,n(f3)*ccGSA: GNSS DOP and Active Satellites$--GSA,c1,d2,d3,d4,d5,d6,d7,d8,d9,d10,d11,d12,d13,d14,f15,f16,f17*ccParameter Description Range“$--GRS” Header$GPGRS: Only GPS satellites are used.$GLGRS: Only GLONASS satellites are used.$GNGRS: Several constellations (GPS, SBAS, GLONASS) are used.$GBGRS: Only BeiDou satellites are used.$GNGRS: Several constellations are used (GPS, SBAS, GLONASS, QZSS, BeiDou)$GPGRS$GLGRS$GBGRS$GNGRSm1 Current UTC time of GGA position (hhmmss.ss) 000000.00-235959.99d2 Mode used to compute range residuals Always “1”f3Range residual for satellite used in position computa-tion (repeated “n” times, where n is the number of sat-ellites used in position computation). Residuals are listed in the same order as the satellites in the GSA message so that each residual provided can easily be associated with the right satellite.±999.999*cc Checksum *00-*FFParameter Description Range“$--GSA” Header$GPGSA: Only GPS satellites are used.$GLGSA: Only GLONASS sats are used.$GBGSA: Only BEIDOU sats are used$GNGSA: Several constellations (GPS, SBAS, GLONASS, BEIDOU) are used.$GPGSA, $GLGSA, $GBGSA, $GNGSAc1Output mode:• M: Manual• A: AutomaticM, Ad2Position indicator:• 1: No position available• 2: 2D position• 3: 3D position1-3d3-d14 Satellites used in the position solution (blank fields for unused channels)GPS: 1-32GLONASS: 65-96SBAS: 1-44GALILEO: 1-30QZSS: 1-5BEIDOU: 1-35IRNSS: 1-7f15 PDOP 0-9.9f16 HDOP 0-9.9f17 VDOP 0-9.9*cc Checksum *00-*FF
109GST: GNSS Pseudo-range Error Statistics$--GST,m1,f2,f3,f4,f5,f6,f7,f8*ccGSV: GNSS Satellites in View$--GSV,d1,d2,d3,n(d4,d5,d6,f7),h8*ccParameter Description Range“$--GST” Header$GPGST: Only GPS satellites are used.$GLGST: Only GLONASS satellites are used.$GNGST: Several constellations (GPS, SBAS, GLONASS, BEIDOU) are used.$GPGST, $GLGST, $GNGSTm1 Current UTC time of position (hhmmss.ss) 000000.00-235959.99f2 RMS value of standard deviation of range inputs (DGNSS corrections included), in meters 0.000-999.999f3 Standard deviation of semi-major axis of error ellipse, in meters 0.000-999.999f4 Standard deviation of semi-minor axis of error ellipse, in meters 0.000-999.999f5 Orientation of semi-major axis of error ellipse, in degrees from true North 0 to 180f6 Standard deviation of latitude error, in meters 0.000-999.999f7 Standard deviation of longitude error, in meters 0.000-999.999f8 Standard deviation of altitude error, in meters 0.000-999.999*cc Checksum *00-*FFParameter Description Range“$--GSV” Header$GPGSV: GPS satellites.$GLGSV: GLONASS satellites$GAGSV: GALILEO satellites$GSGSV: SBAS satellites (including QZSS L1 SAIF)$GQGSV: QZSS satellites$GBGSV: BeiDou satellites$GIGSV: IRNSS satellites$GPGSV,$GLGSV$GAGSV$GSGSV$GQGSV$GBGSV$GIGSVd1 Total number of messages 1-4d2 Message number 1-4d3 Total number of satellites in view 0-16d4 Satellite PRNGPS: 1-32GLONASS: 65-96SBAS: 1-44GALILEO: 1-30QZSS: 1-5BEIDOU: 1-35IRNSS: 1-7d5 Elevation in degrees 0-90d6 Azimuth in degrees 0-359f7 SNR in dB.Hz 30.0-60.0h8 Signal ID 0-F*cc Checksum *00-*FF
110HDT: True Heading$GPHDT,f1,T*ccHPR: True HeadingThis message delivers either pitch OR roll angles, not both at the same time, depending on how the antennas are installed.$PASHR,HPR,m1,f2,f3,f4,f5,f6,d7,d8,d9,f10*ccParameter Description Rangef1,T Last computed heading value, in degrees“T” for “True”. 0-359.99*cc Checksum *00-*FFParameter Description Rangem1 UTC time of attitude data (hhmmss.ss). 000000.00-235959.99f2 True heading angle in degrees. 000.00-359.99999f3 Pitch angle in degrees. ±90.00000f4 Roll angle in degrees. ±90.00000f5 Carrier measurement RMS error, in meters. Full range of real variablesf6 Baseline RMS error, in meters.(=0 if baseline is not constrained)Full range of real variablesd7Integer ambiguity:•0: Fixed• >0: Float0, >0d8Attitude/heading mode status:• 0: Operation with fixed baseline length• 1: Calibration in progress• 2: Flex (flexible) baseline mode ON0, 1, 2d9Character string of the type “y.xxx” defined as follows: • “y” refers to the antenna setup:y=0: no length constraint is appliedy=1: heading mode (one vector)y=2: attitude mode (2 vectors)y=3: attitude mode with 3 or more vectors• Each “x” (0 to 9) represents the number of Double Differences (DD) used in the corre-sponding baseline.If this number is greater than 9, then “9” is reported.If there are only 2 vectors, the last x is “0”Double differences refer to the very last inte-ger second time-tagged epoch.y.xxxf10PDOP corresponding to vector V12, as com-puted for the very last integer second (time-tagged epoch). Empty if PDOP unknown.*cc Checksum *00-*FF
111LTN: Latency$PASHR,LTN,d1*ccMDM: Modem State and Parameter$PASHR,MDM,c1,d2,s3,PWR=s4,PIN=s5,PTC=d6,CBS=d7,APN=s8,LGN=s9,PWD=s10,PHN=s11,ADL=c12,RNO=d13,MOD=s14,NET=d15,ANT=s16*ccParameter Description Ranged1 Latency in milliseconds.*cc Optional checksum *00-*FFParameter Description Rangec1 Modem port Ed2 Modem baud rate 9s3Modem state.“NONE” means that MODEM option [Z] is not valid.OFF, ON, INIT, DIALING, ONLINE, NONEPWR=s4Power mode:• AUT: Automatic• MAN: ManualAUT, MANPIN=s5 PIN code 4-8 digitsPTC=d6Protocol:•0: CSD•1: GPRS0-1CBS=d7Not usedCSD mode:• 0: V.32 9600 bauds• 1: V.110 9600 bauds ISDN0-1APN=s8 Access Point Name (GPRS) 32 char. max.LGN=s9 Login (GPRS) 32 char. max.PWD=s10 Password (GPRS) 32 char. max.PHN=s11 Phone number (CSD) 20 digits max.ADL=c12 Auto-dial mode Y, NRNO=d13 Maximum number of re-dials (CSD) 0-15MOD=s14 Modem model (empty if unknown) Centurion PHS8NET=d152G/3G selection mode:• 0: Automatic (2G or 3G)• Forced to operate in 2G0-1ANT=S16GSM antenna used:• INT: Internal• EXT: ExternalINT, EXT*cc Checksum *00-*FF
112POS: Position$PASHR,POS,d1,d2,m3,m4,c5,m6,c7,f8,f9,f10,f11,f12,f13,f14,f15,f16,d17*ccParameter Description Ranged1Flag describing position solution type:• 0: Autonomous position• 1: RTCM code differential (or SBAS/BDS differ-ential) • 2: RTK float (or RTX)• 3: RTK fixed (or RTX)• 5: Estimated (dead-reckoning) mode• 9: SBAS differential• 10: BeiDou Differential• 12: RTK float• 13: RTK fixed• 22: RTK Float Dithered• 23: RTK Fixed, Dithered0-3, 5, 9-10, 12-13, 22-23d2 Count of satellites used in position computation 0-26m3 Current UTC time of position (hhmmss.ss) 000000.00-235959.99m4 Latitude of position (ddmm.mmmmmm)0-90°00-59.999999 minutesc5 North (N) or South (S) N, Sm6 Longitude of position (dddmm.mmmmmm)0-180°00--59.999999 minutesc7 East (E) or West (W) E, Wf8 Altitude above the WGS84 ellipsoid ±9999.000f9 Age of differential corrections (seconds) 0-999.9f10 True Track/Course Over Ground, in degrees 0.0-359.9f11 Speed Over Ground, in knots 0.0-999.999f12 Vertical velocity in m/s ±999.999f13 PDOP 0-99.9f14 HDOP 0-99.9f15 VDOP 0-99.9f16 TDOP 0-99.9d17 Base station ID 0-4095*cc Checksum *00-*FF
113PTT: PPS Time Tag$PASHR,PTT,d1,m2*ccPWR: Power Status$PASHR,PWR,d1,[f2],[f3],[d4],[d5],[f6],[d7],[d8],d9[,d10]*ccParameter Description Ranged1Day of week:• 1: Sunday• 7: Saturday1-7m2 GPS time tag in hours, minutes, seconds 0-23:59:59.9999999*cc Checksum *00-*FFParameter Description Ranged1Power source:• 0: Internal battery• 1: External battery• 2: External DC source0-2f2 Output voltage of battery (internal), in volts 0.0-12.0f3 Emptyd4 Percentage of remaining battery energy 0-100d5 Emptyf6 DC input voltage from external power, in volts 0.0-30.0d7Battery charging status:• 0: Charging• 1: Discharging• 2: Fully charged• 3: Fully discharged0-3d8 Emptyd9 Internal temperature, in degrees Cd10 Battery temperature, in degrees C*cc Checksum *00-*FF
114RCS: Recording Status??????????????????????????$PASHR,RCS,c1,d2,s3,d4,f5,f6,f7,d8,d9)*ccParameter Description Rangec1Recording status: • Y: Data recording in progress; receiver will keep on recording data after a power cycle.• N: No data recording in progress; after a power cycle, no recording will start either.• S: No data recording in progress, but receiver will start recording data after a power cycle.• R: Data recording in progress, but receiver will stop recording data after a power cycle.Y, N, S, Rd2 Memory where data file is recorded:• 0: Internal memorys3 Data filename 255 char. max.d4 Recording rate, in seconds: 0.05-960f5Occupation type:•0: Static• 1: Quasi-static• 2: Dynamic0-2d6Occupation state:• 0: In progress• 1: No occupation0-1s7 Occupation name 255 char. max.*cc Checksum *00-*FF
115RMC: Recommended Minimum Specific GNSS Data$GPRMC,m1,c2,m3,c4,m5,c6,f7,f8,d9,f10,c11,c12*ccSBD: BEIDOU Satellites Status$PASHR,SBD,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*ccParameter Description Rangem1 Current UTC time of position (hhmmss.ss) 000000.00-235959.99c2Status• A: Data valid•V: A, Vm3 Latitude of position (ddmm.mmmmmm) 0-900-59.999999c4 Direction of latitude N, Sm5 Longitude of position (dddmm.mmmmmm) 0-1800-59.999999c6 Direction of longitude E,Wf7 Speed Over Ground, in knots 000.0-999.9f8 Course Over Ground, in degrees (true) 000.0-359.9d9 Date (ddmmyy) 010100-311299f10 Magnetic variation, in degrees 0.00-99.9c11 Direction of variation E, Wc12Mode indicator:• A: Autonomous mode• D: Differential mode• N: Data not validA, D, N*cc Checksum *00-*FFParameter Description Ranged1 Number of visible satellites 0-37d2 Satellite PRN number 1-37d3 Satellite azimuth, in degrees 0-359d4 Satellite elevation, in degrees 0-90f5 Satellite B1 signal/noise in dB.Hz 0.0-60.0f6 Satellite B2 signal/noise in dB.Hz 0.0-60.0f7 Satellite B3 signal/noise in dB.Hz 0.0-60.0c8 Satellite usage statusc9 Satellite correcting status*cc Checksum *00-*FF
116SGA: GALILEO Satellites Status (E1,E5a,E5b)$PASHR,SGA,d1,n(d2,d3,d4,f5,,f7,c8,c9)*ccSGL: GLONASS Satellites Status$PASHR,SGL,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*ccSGO: GALILEO Satellites Status (E1,E5a,E5b,E6)$PASHR,SGO,d1,n(d2,d3,d4,f5,f6,f7,f8,f9,c10,c11)*ccParameter Description Ranged1 Number of visible satellites 0-36d2 SV PRN number 1-36d3 SV azimuth in degrees 0-359d4 SV elevation angle in degrees 0-90f5 SV E1 signal/noise in dB.Hz 0.0-60.0f6 SV E5b signal/noise in dB.Hz 0.0-60.0f7 SV E5a signal/noise in dB.Hz 0.0-60.0c8 Satellite usage statusc9 Satellite correcting status*cc Checksum *00-*FFParameter Description Ranged1 Number of visible satellites 0-24d2 SV PRN number 1-24d3 SV azimuth in degrees 0-359d4 SV elevation angle in degrees 0-90f5 SV L1 signal/noise in dB.Hz 0.0-60.0f6 SV L2 signal/noise in dB.Hz 0.0-60.0f7 SV L3 signal/noise in dB.Hz 0.0-60.0c8 Satellite usage statusc9 Satellite correcting status*cc Checksum *00-*FFParameter Description Ranged1 Number of visible satellites 0-36d2 SV PRN number 1-36d3 SV azimuth in degrees 0-359d4 SV elevation angle in degrees 0-90f5 SV E1 signal/noise in dB.Hz 0.0-60.0f6 SV E5b signal/noise in dB.Hz 0.0-60.0f7 SV E5a signal/noise in dB.Hz 0.0-60.0f8 SV E6 signal/noise in dB.Hz 0.0-60.0f9 Emptyc10 Satellite usage statusc11 Satellite correcting status*cc Checksum *00-*FF
117SGP: GPS Satellites Status$PASHR,SGP,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*ccSIR: IRNSS Satellites Status$PASHR,SIR,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*ccSLB: L-Band Satellites Status$PASHR,SLB,d1,n(d2,d3,d4,d5,f6)*ccParameter Description Ranged1 Number of visible satellites 0-63d2 SV PRN number 1-63d3 SV azimuth in degrees 0-359d4 SV elevation angle in degrees 0-90f5 SV L1 signal/noise in dB.Hz 0.0-60.0f6 SV L2 signal/noise in dB.Hz 0.0-60.0f7 SV L5 signal/noise in dB.Hz 0.0-60.0c8 Satellite usage statusc9 Satellite correcting status below)*cc Checksum *00-*FFParameter Description Ranged1 Number of visible satellites 0-7d2 SV PRN number 1-7d3 SV azimuth in degrees 0-359d4 SV elevation angle in degrees 0-90f5 Emptyf6 Emptyf7 SV L5 signal/noise in dB.Hz 0.0-60.0c8 Satellite usage statusc9 Satellite correcting status below)*cc Checksum *00-*FFParameter Description Ranged1 Number of visible satellites 0-11d2 L-Band satellite number 01-07, 08-11d3 Continuous tracking interval, in secondsd4 SV azimuth angle, in degrees 0-359d5 SV elevation angle, in degrees 0-90f6 SV signal/noise in dB.Hz 0.0-60.0*cc Checksum *00-*FF
118SQZ: QZSS Satellites Status$PASHR,SQZ,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*ccSSB: SBAS Satellites Status$PASHR,SSB,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*ccTEM: Receiver Temperature$PASHR,TEM,s1*ccParameter Description Ranged1 Number of visible satellites 0-5d2 SV PRN number 1-5d3 SV azimuth in degrees 0-359d4 SV elevation angle in degrees 0-90f5 SV L1 signal/noise in dB.Hz 0.0-60.0f6 SV L2 signal/noise in dB.Hz 0.0-60.0f7 SV L5 signal/noise in dB.Hz 0.0-60.0c8 Satellite usage statusc9 Satellite correcting status*cc Checksum *00-*FFParameter Description Ranged1 Number of visible satellites 1-44d2 SV PRN number 1-39, 40-44d3 SV azimuth in degrees 0-359d4 SV elevation angle in degrees 0-90f5 SV L1 signal/noise in dB.Hz 0.0-60.0f6 Empty fieldf7 SV L5 signal/noise in dB.Hz 0.0-60.0c8 Satellite usage statusc9 Satellite correcting status*cc Checksum *00-*FFParameter Description Ranged1 Receiver internal temperature, in thousandths of degrees*cc Checksum *00-*FF
119THS: True Heading and Status$PASHR,TEM,f1,c2*ccTTT: Event Marker$PASHR,TTT,d1,m2*ccParameter Description Rangef1 Last computed heading value, in degrees (true). 000.00-359.99c2Solution status:• A: Autonomous• E: Estimated (dead reckoning)• M: Manual input• S: Simulator• V: Data not valid (including standby)A, E, M, S, V*cc Checksum *00-*FFParameter Description Ranged1Day of week:• 1: Sunday• 7: Saturday1-7m2 GPS time tag in hours, minutes, seconds 0-23:59:59.9999999*cc Optional checksum *00-*FF
120VCR: Vector and Accuracy$PASHR,VCR,d0,c1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,d13,c14*ccParameter Description Ranged0 Baseline number (see $PASHS,BRV) 1, 2, 3c1Baseline mode:• 0: Invalid baseline• 1: Differential•2: RTK float•3: RTK fixed•5: Other0-3, 5d2 Number of SVs used in baseline compu-tation (L1 portion) 0-99m3 UTC time (hhmmss.ss) 000000.00-235959.99f4 First coordinate of delta antenna position, ECEF, in meters ±99999.999f5 Second coordinate of delta antenna posi-tion, ECEF, in meters ±99999.999f6 Third coordinate of delta antenna posi-tion, ECEF, in meters ±9999.999f7 Standard deviation, first coordinate 99.999f8 Standard deviation, second coordinate 99.999f9 Standard deviation, third coordinate 99.999f10 Correlation (half) ±9.999999f11 Correlation (one third) ±9.999999f12 Correlation (two third) ±9.999999d13 Base station ID (same as GGA) 0-4095c14 Baseline coordinate frame ID:• 0: XYZ0*cc Checksum *00-*FF
121VCT: Vector and Accuracy$PASHR,VCT,c1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,d13,d14,d15,d16,d17*ccParameter Description Rangec1Baseline mode:• 0: Invalid baseline• 1: Differential• 2: RTK float• 3: RTK fixed• 5: Other0-3, 5d2 Number of SVs used in position computation 3-26m3 UTC time (hhmmss.ss) 000000.00-235959.99f4 Delta antenna position, ECEF X coordinate (in meters) ±99999.999f5 Delta antenna position, ECEF Y coordinate (in meters) ±99999.999f6 Delta antenna position, ECEF Z coordinate (in meters) ±9999.999f7 Standard deviation X coordinate (latitude) 99.999f8 Standard deviation Y coordinate (longitude) 99.999f9 Standard deviation Z coordinate (height) 99.999f10 Correlation XY ±9.999999f11 Correlation XZ ±9.999999f12 Correlation YZ ±9.999999d13 Base station ID (same as in GGA) 0-4095d14 Baseline coordinate frame ID:• 0: XYZ 0d15 Baseline number 1-3d16VRS:• 0: Physical•1: Virtual• Empty: Not knownEmpty, 0, 1d17Static mode assumption:•0: Static•1: Moving• Empty: Not knownEmpty, 0, 1*cc Checksum *00-*FF
122VEL: Velocity$PASHR,VEL,f1,m2,f3,f4,f5,f6,f7,f8,d9*cc VTG: Course Over Ground and Ground Speed$GPVTG,f1,T,f2,M,f3,N,f4,K,c5*ccZDA: Date & Time$GPZDA,ZDA,m1,d2,d3,d4,d5,d6*ccParameter Description Rangef1 Reserved 1m2 Current UTC time of velocity fix (hhmmss.ss)f3 Easting velocity, in m/sf4 Northing velocity, in m/sf5 Vertical velocity, in m/sf6 Easting velocity RMS error, in mm/sf7 Northing velocity RMS error, in mm/sf8 Vertical velocity RMS error, in mm/sd9 Applied effective velocity smoothing interval, in ms (empty if unknown)*cc Checksum *00-*FFParameter Description Rangef1,T COG (with respect to True North)T for “True” North: COG orientation 000.00-359.99f2,M COG (with respect to Magnetic North)M for “Magnetic” North: COG orientation 000.00-359.99f3,N SOG (Speed Over Ground)N for “knots”: SOG unit 000.00-999.999f4,K SOG (Speed Over Ground)K for “km/hr”: SOG unit 000.00-999-999c5Mode indicator:• A: Autonomous mode• D: Differential mode• N: Data not validA, D, N*cc Checksum *00-*FFParameter Description Rangem1 UTC time (hhmmss.ss) 000000.00-235959.99d2 Current day 01-31d3 Current month 01-12d4 Current year 0000-9999d5 Local zone offset from UTC time (hour) -13 to +13d6 Local zone offset from UTC time (minutes) 00-59*cc Checksum *00-*FF
123
IndexSymbols"LOC" 31"W84" 31Numerics1PPS 86AAccess point (WiFi) 49Accessories 4ADSL modem 53Anonymous mode 47Antenna (Bluetooth/WiFi) 9Antenna (GNSS) 7Antenna (GSM, external) 11Antenna (UHF radio) 11ATL 3AUTO 28Auto-calibration 71Automatic power-on/off 23Automatic receiver power-on/off 3Azimuth offset 21BBackup battery 13BASE 28Base data 76Battery 24Battery (external) 25Battery Information 29Battery model 13Bottom mount 18, 19BRV 63BRV-1, BRV-2 73Buzzer 14CCellular antenna 11Charger 25Client (WiFi) 49Coaxial cables 7Combining operating Modes 54DData Link Information 28Default configuration 2DGPS 28Direct IP 34Direction keys 26Display screen 9EEarth connection 12Electric isolation (optical) 12Elevation offset 20Escape button 27Ethernet 36, 50Ethernet port 12Event marker 87Event marker input 87Expiration date 91External event 87FFactory settings 2FEC 33Firmware upgrade 89Firmware upgrades 8FIXED 28Flex 71FLOAT 28Fuse 25GGateway 52, 53General Status screen 28Geoid model 103, 106GNSS input #1 11GSM antenna 11HHeading 70Host name 34Hub 52, 53IIcons on General Status screen 28Install firmware option 90Instant RTK 82Insulation (electric) 12IP address on receiver identification screen 52LLAN 52, 53LED (power) 10LOC 31Local settings 50Lug 18MMemory Information 29Modem Information 29Modem screen 34Mount point 34Moving base 67NNMEA messages 78, 96NTRIP 34OOK button 27
OLED 9One-antenna configuration 55Options (firmware, pre-installed) 7PPinouts 14, 15, 17POPN 8Position Solution screen 31Power button 9Power cord 6Power mode 23Power Off screen 43PPS 86Public IP address 53RRadio screen 32Raw data recording 56, 77Raw Data Recording Information 29Receiver Information screen 31Repeater 33Resetting the receiver 87RTK-1, RTK-2 72RTX 60SS DGPS 28SCR 33Scroll button 9SD Card, Bluetooth, USB information 30Security 46Semi-major axis 109Semi-minor axis 109Serial ports 12SIM card 13SMA 11SP File Manager 92SP File Manager (copy files) 94SP File Manager (delete files) 94SP Loader 88Survey Pro 3Switch 52, 53TTrimble RTX subscription 91Tripod mount 18Two-antenna configuration 69UUHF input 11UHF networking 95Upgrade procedure (firmware) 89Upgrade receiver fimware 89Upgrading firmware 44USB (OTG) 10USB driver 10USB key 44USB port 10VVESA 19Virtual antenna 68WW84 31Warranty (end of) 91Web browser 46Welcome screen 26WiFi 35, 47WiFi Information 29WiFi key 36Workflow (User Interface) 26
User GuideSP90m GNSS ReceiverContact Information: AMERICAS10368 Westmoor DriveWestminster, CO 80021, USA +1-720-587-4700 Phone888-477-7516 (Toll Free in USA)EUROPE, MIDDLE EAST AND AFRICARue Thomas EdisonZAC de la Fleuriaye - CS 6043344474 Carquefou (Nantes), France+33 (0)2 28 09 38 00 Phone ASIA-PACIFIC 80 Marine Parade Road #22-06, Parkway Parade Singapore 449269, Singapore+65-6348-2212 Phonewww.spectraprecision.com©2017, Trimble Inc. All rights reserved. Spectra Precision and the Spectra Precision logo are trademarks of Trimble Inc. or its subsidiaries. All other trademarks are the property of their respective owners. (2017/09)

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