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

Power-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.

Using a USB Key

To Copy Files Whenever you connect a USB key to the receiver via cable

P/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 the

Firmware

When 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

The screen will read successively:

{Spectra Precision logo}

USB Upload

Upgrading Firmware Step 1/5

Upgrading Firmware Step 2/5

Upgrading Firmware Step 3/5

Upgrading Firmware Step 4/5

Upgrading Firmware Step 5/5

Upgrading 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.

Getting Started With the Web Server

Introduction to the

Web Server

Description and Function

The 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 Time

As 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: password

You 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).

Security

The 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.

Remember 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/IP

Connection

Setting 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”.

• 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.

Using the WiFi Device as Access Point

Use 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 Client

Use 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.

WiFi

Access Point WiFi

Client

Public Internet

Ethernet cable

Hub or

Switch

Local Network

Gateway

or ADSL

Modem

WiFi

Local

Network

WiFi

Client

Remote User

Using the WiFi Device as both Access Point and Client

Use 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-Based

TCP/IP Connection

In 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 Internet

WiFi

Local

Network

WiFi

Client

WiFi

Access Point

WiFi

Client

Data

Web Server

Setting 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.

TCP/IP Connection Within a Local Network

In 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 Network

Ethernet cable

Hub or

Switch

Gateway or

ADSL Modem

Public Internet

Ethernet port

SP90m

Local User

TCP/IP Connection Through the Public Internet

In 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 name

Public Internet

Ethernet cable Hub or

Switch

Public IP address

Local Network

Ethernet cable

Hub or

Switch

Gateway

or ADSL

Modem

Gateway

or ADSL

Modem

Ethernet port

SP90m

Remote User

Introduction to

Multi-Operating

Mode

The 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 RTK

However, 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.

Using SP90m With a Single Antenna

The 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 the

Model of Antenna

Used

When 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

Raw Data

Recording

On 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 Server

Using 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 Panel

Working 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.

GNSS Raw Data

Acquisition

•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 or

SDGPS (SBAS)

Rover

On 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).

XYZ or

Lat-Lon-Height

Position

RTK or DGPS Rover

On 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.

XYZ or

Lat-Lon-Height

Position

One set of corrections via:

• Internet (Ethernet, cellular modem, or WiFi), or

• UHF 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.

Hot Standby RTK

Rover

Hot 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

XYZ or

Lat-Lon-Height

Position

Two independent sets of corrections via:

• Internet (Ethernet, cellular modem, or WiFi), or

• UHF Radio

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.

Trimble RTX Rover

Using 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 .

X-Y-Z or

Lat-Lon-Height

Position

Trimble RTX service

via IP or satellite

To 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.

RTK + Relative

RTK Rover

Reminder: 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.

XYZ or

Lat-Lon-Height

Position

3-D Components

of Vector

RTK

Position

3-D Vector

Two independent sets of corrections via:

• Internet (Ethernet, cellular modem, or WiFi), or

• UHF Radio

Corrections

from static base

to compute

RTK position

Corrections

from moving base

to compute

3D-vector

• 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.

Hot Standby RTK+

Relative RTK

This 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.

XYZ or

Lat-Lon-Height

Position

3-D Components

of Vector

Hot Standby RTK

Position

3-D Vector

Three independent sets of corrections via:

• Internet (Ethernet, cellular modem, or WiFi), or

• UHF Radio

Two sets of corrections

from static base

to compute

RTK position

Corrections

from moving base

to compute

3D-vector

• 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.

Relative 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

3-D Components

of Vector

3-D Vector

One set of corrections from moving base via:

• Internet (Ethernet, cellular modem, or WiFi), or

• UHF Radio

Corrections

from moving base

to compute

3D-vector

aware 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 Moving

Base

Using the Web Server

To 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:

Base corrections delivered via:

• Internet (Ethernet, cellular modem, or WiFi), or

• UHF Radio

– 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 Panel

The 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).

Using SP90m With Two Antennas

The 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 the

Models of

Antennas Used

When 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

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 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 Delivering

Heading

Measurements

The 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:

Heading

Baseline Vector

– 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.

XYZ or

Lat-Lon-Height

Position

of primary

antenna

XYZ or

Lat-Lon-Height

Position

of secondary

antenna

One or two sets of corrections via:

• Internet (Ethernet, cellular modem, or WiFi) or

• UHF Radio

Press 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.

Dual-Relative RTK

To 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.

3-D Components

of Vector

3-D Components

of Vector

3-D Vector

One or two sets of corrections from moving base via:

• Internet (Ethernet, cellular modem, or WiFi), or

• UHF Radio

Corrections

from moving base

to compute

3D-vector

3-D Vector

Corrections

from moving base

to compute

3D-vector

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).

Programming Data Outputs

The 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 Output

Messages

You 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 Message

Position (Autonomous, SDGPS, RTK,

Hot Standby RTK or RTX) GGA

Relative RTK VCR

• 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 Data

Messages

You 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 Message

Heading

HDT

VCT

HPR

Dual RTK* GGA

Dual Relative RTK* VCR

Raw Data

Recording

A 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 information

G-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.

Available NMEA

Messages

See details in Appendix.

Name Description

ALR Alarms

ARA True heading

ARR Vector & Accuracy

ATT True heading

AVR Time, yaw, tilt

BTS Bluetooth status

CAP Received base antenna

CPA Received antenna height

CPO Received base position

DDM Differential decoder message

DDS Differential decoder status

DTM Datum Reference

GBS GNSS Satellite Fault Detection

GGA GNSS position message

GGK GNSS position message

GGKX GNSS position message

GLL Geographic position - Latitude/Longitude

GMP GNSS Map Projection Fix Data

GNS GNSS Fix Data

GRS GNSS Range Residuals

GSA GNSS DOP and Active Satellites

GST GNSS Pseudo-range Error Statistics

GSV GNSS Satellites in View

HDT True heading

HPR True heading

LTN Latency

MDM Modem state and parameter

POS Position

PTT PPS time tag

PWR Power status

RCS Recording status

RMC Recommended Minimum Specific GNSS Data

SBD BEIDOU Satellites Status

SGA GALILEO Satellites Status (E1,E5a,E5b)

SGO GALILEO Satellites Status (E1,E5a,E5b,E6)

SGL GLONASS Satellites Status

SGP GPS Satellites Status

SIR IRNSS Satellites Status

SLB L-Band Satellites Status

SQZ QZSS Satellites Status

SSB SBAS Satellites Status

TEM Receiver temperature

THS True heading and status

TTT Event marker

VCR Vector and accuracy

VCT Vector and accuracy

VEL 3D velocity and velocity accuracy

VTG Course Over Ground and Ground Speed

ZDA Date and time

Appendices

Specifications 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 inputs

Features

• 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

• 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

• Maximum Operating Limits (9)

– Velocity: 515 m/sec

– Altitude: 18,000 m

Precise Positioning Performance

Real-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 ppm

Trimble 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 regions

Heading (15) (16) (17)

• Accuracy (RMS): 0.2° per 1 m of baseline length

• Initialization time: < 10 sec typical

• Baseline length: < 100 m

Flying RTK

• 5 cm (0.165 ft) + 1 ppm (steady state) horizontal for

baselines up to 1000 km

Real-Time Performance

(10) (11)

• Instant-RTK® Initialization:

– Typically 2-second initialization for baselines < 20 km

– Up to 99.9% reliability

• RTK initialization range:

–> 40 km

Post-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 ppm

High-Precision Static (18):

• Horizontal: 3 mm (0.009 ft) + 0.1 ppm

• Vertical: 3.5 mm (0.011 ft) + 0.4 ppm

Post-Processed Kinematic:

• Horizontal: 8 mm (0.026 ft) + 0.5 ppm

• Vertical: 20 mm (0.065 ft) + 1.0 ppm

Data Logging Characteristics

• Recording Interval: 0.02 (19)-999 seconds

Memory

• 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

User 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

Environmental 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 with

3rd 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 export

licensing restrictions.

(10) Accuracy and TTFF specifications may be affected by atmospheric

conditions, signal multipath and satellite geometry.

(11) Performance values assume minimum of five satellites, following the

procedures recommended in the user guide. High multipath areas, high

PDOP values and periods of severe atmospheric conditions may degrade

performance.

(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 atmospheric

conditions, signal multipath, satellite geometry and L-band service

availability. Trimble RTX correction services are only available on land.

(15) Accuracy and TTFF specifications may be affected by atmospheric

conditions, signal multipath, satellite geometry and corrections availability

and 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.

(19) A Recording Interval of 0.05 is based on a 20 Hz output. The default

changes 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 transmitter

mode. With the UHF transmitter on radiating 2W of RF power, the operating

temperature is limited to +55°C (+131°F).

(22) At this temperature, hand protection may be needed to safely handle the

system’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 five

satellites are used, and following the procedures recommended in the

user guide. High multipath areas, high PDOP values and periods of severe

atmospheric conditions may degrade performance.

1PPS 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 ns

You 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 with

Offset= 0

GPS time

1PPS with

Offset= - x.x sec

1PPS with

Offset= + x.x sec

Event 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 the

Receiver

With 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.

Upgrading the

Receiver Firmware

This 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 Loader

Software Utility

Use Spectra Precision SP Loader software to:

1. Upgrade the receiver firmware

2. 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 Loader

SP 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 Loader

SP 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.)

4. To upgrade receiver firmware, install a new firmware

option or validate a CenterPoint RTX subscription, see

sub-sections below.

Upgrading Receiver Firmware

You are not allowed to

upgrade a receiver if anti-

theft or/and start up

protection is active or if the

receiver is operated with an

in-progress or expired

validity 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

now installed (version and date displayed in the SP Loader

main window).

8. Click Close again, then Exit to quit SP Loader.

Installing a Firmware Option

Before 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.

Activating a CenterPoint RTX Subscription

After 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 Date

SP 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 command

Use 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.

SP File Manager

Software Utility

SP 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 Manager

SP 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 Computer

SP 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 Manager

Double-click on . The SP File Manager window which

then appears is detailed below.

[2]

[1]

[3]

[4]

[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.

Establishing 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.

UHF 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 2

Base 3

NMEA Messages ALR: Alarms

$PASHR,ALR,d1,d2,c3,s4,d5,s6*cc

ARA: True Heading

This 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*cc

Parameter Description Range

d1 Alarm code 0-255

d2 Alarm sub-code 0-255

Stream 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-file

A-F, H-J, M, P, Q, U

s4 Alarm category

BLUETOOTH, INPUT, MEM-

ORY

MODEM, NETWORK, OTHER,

POWER, PVT, RADIO, WIFI

Alarm level:

• 0: Low

• 1: Medium

•2: High

0-2

s6 Description

*cc Checksum *00-*FF

Parameter Description Range

f1 “0” when message content is valid

m2 Current UTC time of attitude fix

(hhmmss.ss) 000000.00-235959.99

f3 Heading speed, in degrees/sec “-”: Turn bow left

“+”: Turn bow right

f4 Pitch speed, in degrees/sec “-”: Downwards

“+”: Upwards

f5 Roll speed, in degrees/sec “-”: To port (left)

“+”: To starboard (right)

f6 Heading RMS accuracy, in degrees

f7 Pitch RMS accuracy, in degrees

f8 Roll RMS accuracy, in degrees

f9 (Empty)

*cc Checksum *00-*FF

ARR: Vector & Accuracy

$PASHR,ARR,d0,d1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,d13,d14,d15,d16*cc

Parameter Description Range

d0 Vector number 1, 2, 3

Vector 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, 5

d2 Number of SVs used in baseline computation (L1 por-

tion) 0-99

m3 UTC time (hhmmss.ss) 000000.00-

235959.99

f4 Delta antenna position, ECEF 1st coordinate (in

meters) ±99999.999

f5 Delta antenna position, ECEF 2nd coordinate (in

meters) ±99999.999

f6 Delta antenna position, ECEF 3rd coordinate (in

meters) ±9999.999

f7 1st coordinate of standard deviation 99.999

f8 2nd coordinate of standard deviation 99.999

f9 3rd coordinate of standard deviation 99.999

f10 1st/2nd coordinate correlation ±99.999999

f11 1st/3rd coordinate correlation ±99.999999

f12 2nd/3rd coordinate correlation ±99.999999

c13 Reference data ID 1, 2, port let-

ter

d14 Vector coordinate frame ID:

• 0: XYZ 0

d15

Vector operation:

• 0: Fixed mode (vector length is constrained)

• 1: Calibration (vector length is being calibrated)

• 2: Flex mode

0-2

d16

Clock 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

ATT: True Heading

This 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*cc

AVR: Time, Yaw, Tilt

$PTNL,AVR,m1,f2,Yaw,f3,Tilt,,,f4,s5,f6,d7*cc

Parameter Description Range

f1 Week time in seconds. 000000.00-604799.99

f2 True heading angle in degrees. 000.00-359.99999

f3 Pitch angle in degrees. ±90.00000

f4 Roll angle in degrees. ±90.00000

f5 Carrier measurement RMS error, in

meters.

Full range of real vari-

ables

f6 Baseline RMS error, in meters. Full range of real vari-

ables

Integer ambiguity is “Fixed” or “Float”:

•0: Fixed

• >0: Float

0, >0

*cc Checksum *00-*FF

Parameter Description Range

m1 Current UTC time of vector fix (hhmmss.ss) 000000.00-

235959.99

f2,Yaw Yaw angle, in degrees.

f3,Tilt Tilt angle, in degrees.

f4 Range, in meters

GNSS 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 solution

0-4

f6 PDOP 0-9.9

d7 Number of satellites used in solution

*cc Checksum *00-*FF

BTS: Bluetooth Status

$PASHR,BTS,C,d1,s2,s3,d4,H,d5,s6,s7,d8,T,d9,s10,s11,d12*cc

CAP: Received Base Antenna

$PASHR,CAP,s1,f2,f3,f4,f5,f6,f7*cc

Parameter Description Range

C,d1

Port C:

• 0: Not connected

• 1: A device is connected

0, 1

s2 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 0-100

H,d5

Port H:

• 0: Not connected

• 1: A device is connected

0, 1

s6 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 0-100

T,d9

Port T:

• 0: Not connected

• 1: A device is connected

0, 1

s10 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-*FF

Parameter Description

s1 Antenna name, “NONE” if no name received for the base antenna.

f2 L1 North offset, in mm

f3 L1 East offset, in mm

f4 L1 Up offset, in mm

f5 L2 North offset, in mm

f6 L2 East offset, in mm

f7 L2 Up offset, in mm

*cc Checksum

100

CPA: Received Antenna Height

$PASHR,CPA,f1,f2,f3,m4,f5*cc

CPO: Received Base Position

$PASHR,CPO,m1,c2,m3,c4,f5*cc

DDM: Differential Decoder Message

$PASHR,DDM,c1,s2,s3,d4,s5,f6,f7,s8*cc

Parameter Description Range

f1 Antenna height, in meters. This field remains empty

as long as no antenna height has been received. 0-99.999

f2 Antenna radius, in meters 0-9.9999

f3 Vertical offset, in meters 0-99.999

m4 Horizontal azimuth, in degrees, minutes (dddmm.mm) 0-35959.99

f5 Horizontal distance, in meters 0-99.999

f2, f3, m4, f5 Not applicable, all empty fields -

*cc Checksum *00-*FF

Parameter Description Range

m1 Latitude in degrees and minutes with 7 deci-

mal places (ddmm.mmmmmmm) 0-90

c2 North (N) or South (S) N, S

m3 Longitude in degrees, minutes with 7 decimal

places (dddmm.mmmmmmm) 0-180

c4 West (W) or East (E) W, E

f5 Height in meters ±99999.999

*cc Checksum *00-*FF

Parameter Description Range

c1 Port receiving corrections A-E, I, P, Q, Z

s2 Message transport RT2, RT3, CMR, CMX or ATM

s3 Message number/identifier e.g. 1004 for RT3, RNX for ATM,

etc.

d4 Counter of decoded messages 0-9999

s5 Base ID

from the decoded message

f7 Age of corrections, in seconds

s8 Attribute 60 characters max.

*cc Checksum *00-*FF

101

DDS: Differential Decoder Status

$PASHR,DDS,d1,m2,d3,c4,s5,c6,d7,d8,d9,d10,d11,f12,f13,d14,n(d15,

f16,f17)*cc

Parameter Description Range

Differential decoder number.

“1” corresponds to first decoder, etc.

An empty field means the decoder

used is not known.

1-4

m2 GNSS (output) time tag 000000.00-235959.99

d3 Number of decoded messages since

last stream change 0-127

c4 ID of port from which corrections are

received A-E, I, P, Q, Z

s5 Protocol detected (empty means “no

data”)

RT2, RT3, CMR, ATM,

CMX

Time window, in seconds:

• “0” if not defined or just initialized

• “200” means equal to or greater

than 200

0-200

Percentage of estimated overall data

link quality/availability. Empty if not

defined.

0-100

d8 Percentage of deselected informa-

tion. Empty if not defined. 0-100

d9 CRC percentage. Empty if not

defined. 0-100

d10 Standard of latency, in milliseconds 0-16383

d11 Mean latency, in milliseconds 0-16383

f12 Mean epoch interval, in seconds 0.00-3600

f13 Min. epoch interval, in seconds 0.00-3600

d14 Number (n) of different messages

detected since last stream change 0-63

d15 Message type

RT2: 1-63

RT3: 1001-4094

CMR: 0(obs), 1(loc),

2(desc), 3(glo), 12(cmr+),

20 (glo encrypted)

ATM: 0-15

CMX: no message reported

f16 Interval of last message, in seconds 0.000-1023.000

f17 Age of last message, in seconds 0.000-1023.000

*cc Checksum

102

DTM: Datum Reference

$GPDTM,s1,,f2,c3,f4,c5,f6,s7*cc

GBS: GNSS Satellite Fault Detection

$--GBS,m1,f2,f3,f4,d5,f6,f7,f8,h9,h10*cc

Parameter Description Range

Local datum code:

• W84: WGS84 used as local datum

• 999: Local datum computed using the

parameters provided by the RTCM3.1

data stream.

W84, 999

f2 Latitude offset, in meters 0-59.999999

c3 Direction of latitude N, S

f4 Longitude offset, in meters 0-59.999999

c5 Direction of longitude E, W

f6 Altitude offset, in meters ±0-99.999

s7 Reference datum code W84

*cc Checksum *00-*FF

Parameter Description Range

m1 UTC time of the GGA or GNS fix asso-

ciated with this message (hhmmss.ss) 000000.00-235959.99

f2 Expected error in latitude, in meters,

due to bias, with noise= 0 0.0-99.9

f3 Expected error in longitude, in meters,

due to bias, with noise= 0 0.0-99.9

f4 Expected error in altitude, in meters,

due to bias, with noise= 0 0.0-99.9

d5 ID number of most likely failed satellite

1-32 for GPS

33-64 for SBAS

65-96 for GLONASS

97-128 for Galileo

129-160 for BeiDou

193-202 for QZSS

f6 Probability of missed detection for

most likely failed satellite 0.00-1.00

f7 Estimate of bias, in meters, on most

likely failed satellite 0.0-99.9

f8 Standard deviation of bias estimate 0.0-99.9

h9 GNSS system ID 0-F

h10 GNSS signal ID 0-F

*cc Checksum *00-*FF

103

GGA: GNSS Position Message

$GPGGA,m1,m2,c3,m4,c5,d6,d7,f8,f9,M,f10,M,f11,d12*cc

GGK: GNSS Position Message

See Trimble documentation.

Parameter Description Range

m1 Current UTC time of position (hhmmss.ss) 000000.00-

235959.99

m2 Latitude of position (ddmm.mmmmmm) 0-90

0-59.999999

c3 Direction of latitude N, S

m4 Longitude of position (dddmm.mmmmmm) 0-180

0-59.999999

c5 Direction of longitude E,W

Position 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) mode

0-6

d7 Number of GNSS Satellites being used in the

position computation 3-26

f8 HDOP 0-99.9

f9,M Altitude, in meters, above mean seal level.

“M” for meters ± 99999.999,M

f10,M Geoidal separation in meters. “M” for meters. ± 999.999,M

f11 Age of differential corrections, in seconds 0-600999

d12 Base station ID 0-4095

*cc Checksum *00-*FF

104

GGKX: GNSS Position Message

$PTNL,GGKx,m1,m2,m3,c4,m5,c6,d7,d8,f9,f10,M,d11,f12,f13,f14,f15*cc

Parameter Description Range

m1 Current UTC time of position (hhmmss.ss) 000000.00-

235959.99

m2 UTC date of position (mmddyy) 010101-123199

m3 Latitude of position (ddmm.mmmmmm) 0-90

0-59.999999

c4 Direction of latitude N, S

m5 Longitude of position (dddmm.mmmmmm) 0-180

0-59.999999

c6 Direction of longitude E,W

Position 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 Global

0-14

d8 Number of GNSS Satellites being used in the

position computation 3-26

f9 PDOP 0-99.9

f10,M

Ellipsoid height of fix (antenna height above

ellipsoid.

“M” for meters.

± 99999.999,M

d11 Number of extension fields to follow.

f12 Sigma East 0.000-999.999

f13 Sigma North 0.000-999.999

f14 Sigma Up 0.000-999.999

f15 Propagation age

*cc Checksum *00-*FF

105

GLL: Geographic Position - Latitude/Longitude

$GPGLL,m1,c2,m3,c4,m5,c6,c7*cc

Parameter Description Range

m1 Latitude of position (ddmm.mmmmmm) 0-90

0-59.999999

c2 Direction of latitude N, S

m3 Longitude of position (dddmm.mmmmmm) 0-180

0-59.999999

c4 Direction of longitude E,W

m5 Current UTC time of position (hhmmss.ss) 000000.00-

235959.99

Status

• A: Data valid

• V: Data not valid

A, V

Mode indicator:

• A: Autonomous mode

• D: Differential mode

• N: Data not valid

• E: Estimated (dead reckoning) mode

A, D, N, E

*cc Checksum *00-*FF

106

GMP: GNSS Map Projection Fix Data

$--GMP,m1,s2,s3,f4,f5,s6,d7,f8,f9,f10,f11,d12*cc

Parameter 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,

$GNGMP

m1 Current UTC time of position (hhmmss.ss) 000000.00-

235959.99

Map projection identification:

• LOC: Local coordinate system

• Empty if no local coordinate system

LOC

s3 Map zone

(empty)

f4 X (Northern) component of grid (or local) coor-

dinate, in meters ±999999999.999

f5 Y (Eastern) component of grid (or local) coor-

dinate, in meters ±999999999.999

Mode indicator:

• N: No fix

• A: Autonomous

• D: Differential

•R: Fixed RTK

• F: Float RTK

N, A, D, R, F

d7 Number of GNSS Satellites being used in the

position computation 3-26

f8 HDOP 0-99.9

f9 Altitude above mean seal level, or local alti-

tude, in meters. ± 99999.999,M

f10 Geoidal separation in meters. ± 999.999,M

f11 Age of differential corrections, in seconds 0-999.9

d12 Base station ID 0-4095

*cc Checksum *00-*FF

107

GNS: GNSS Fix Data

$--GNS,m1,m2,c3,m4,c5,s6,d7,f8,f9,f10,f11,d12*cc

Parameter Description Range

m1 Current UTC time of position

(hhmmss.ss) 000000.00-235959.99

m2 Latitude of position

(ddmm.mmmmmm)

0-90

0-59.999999

c3 Direction of latitude N, S

m4 Longitude of position

(dddmm.mmmmmm)

0-180

0-59.999999

c5 Direction of longitude E, W

Mode indicator (1 character by con-

stellation):

• N: No fix

• A: Autonomous position

• D: Differential

•R: RTK Fixed

•F: RTK Float

N, A, D, R, F

d7 Number of GNSS satellites being

used in the position computation. 3-26

f8 HDOP 0-99.9

f9 Altitude above mean sea level. ±99999.999

f10 Geoidal separation, in meters ±999.999

f11 Age of differential corrections, in s 0-999

d12 Base station ID (RTCM only) 0-4095

*cc Checksum

108

GRS: GNSS Range Residuals

$--GRS,m1,d2,n(f3)*cc

GSA: GNSS DOP and Active Satellites

$--GSA,c1,d2,d3,d4,d5,d6,d7,d8,d9,d10,d11,d12,d13,d14,f15,f16,f17*cc

Parameter 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

$GNGRS

m1 Current UTC time of GGA position (hhmmss.ss) 000000.00-

235959.99

d2 Mode used to compute range residuals Always “1”

Range 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-*FF

Parameter 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, $GNGSA

Output mode:

• M: Manual

• A: Automatic

M, A

Position indicator:

• 1: No position available

• 2: 2D position

• 3: 3D position

1-3

d3-d14 Satellites used in the position solution

(blank fields for unused channels)

GPS: 1-32

GLONASS: 65-96

SBAS: 1-44

GALILEO: 1-30

QZSS: 1-5

BEIDOU: 1-35

IRNSS: 1-7

f15 PDOP 0-9.9

f16 HDOP 0-9.9

f17 VDOP 0-9.9

*cc Checksum *00-*FF

109

GST: GNSS Pseudo-range Error Statistics

$--GST,m1,f2,f3,f4,f5,f6,f7,f8*cc

GSV: GNSS Satellites in View

$--GSV,d1,d2,d3,n(d4,d5,d6,f7),h8*cc

Parameter 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,

$GNGST

m1 Current UTC time of position (hhmmss.ss) 000000.00-

235959.99

f2 RMS value of standard deviation of range inputs

(DGNSS corrections included), in meters 0.000-999.999

f3 Standard deviation of semi-major axis of error

ellipse, in meters 0.000-999.999

f4 Standard deviation of semi-minor axis of error

ellipse, in meters 0.000-999.999

f5 Orientation of semi-major axis of error ellipse, in

degrees from true North 0 to 180

f6 Standard deviation of latitude error, in meters 0.000-999.999

f7 Standard deviation of longitude error, in meters 0.000-999.999

f8 Standard deviation of altitude error, in meters 0.000-999.999

*cc Checksum *00-*FF

Parameter 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

$GIGSV

d1 Total number of messages 1-4

d2 Message number 1-4

d3 Total number of satellites in view 0-16

d4 Satellite PRN

GPS: 1-32

GLONASS: 65-96

SBAS: 1-44

GALILEO: 1-30

QZSS: 1-5

BEIDOU: 1-35

IRNSS: 1-7

d5 Elevation in degrees 0-90

d6 Azimuth in degrees 0-359

f7 SNR in dB.Hz 30.0-60.0

h8 Signal ID 0-F

*cc Checksum *00-*FF

110

HDT: True Heading

$GPHDT,f1,T*cc

HPR: True Heading

This 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*cc

Parameter Description Range

f1,T Last computed heading value, in degrees

“T” for “True”. 0-359.99

*cc Checksum *00-*FF

Parameter Description Range

m1 UTC time of attitude data (hhmmss.ss). 000000.00-

235959.99

f2 True heading angle in degrees. 000.00-359.99999

f3 Pitch angle in degrees. ±90.00000

f4 Roll angle in degrees. ±90.00000

f5 Carrier measurement RMS error, in meters. Full range of real

variables

f6 Baseline RMS error, in meters.

(=0 if baseline is not constrained)

Full range of real

variables

Integer ambiguity:

•0: Fixed

• >0: Float

0, >0

Attitude/heading mode status:

• 0: Operation with fixed baseline length

• 1: Calibration in progress

• 2: Flex (flexible) baseline mode ON

0, 1, 2

Character string of the type “y.xxx” defined

as follows:

• “y” refers to the antenna setup:

y=0: no length constraint is applied

y=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.xxx

f10

PDOP corresponding to vector V12, as com-

puted for the very last integer second (time-

tagged epoch). Empty if PDOP unknown.

*cc Checksum *00-*FF

111

LTN: Latency

$PASHR,LTN,d1*cc

MDM: Modem State and Parameter

$PASHR,MDM,c1,d2,s3,PWR=s4,PIN=s5,PTC=d6,CBS=d7,APN=s8,LGN=s

9,PWD=s10,PHN=s11,ADL=c12,RNO=d13,MOD=s14,NET=d15,ANT=s16*cc

Parameter Description Range

d1 Latency in milliseconds.

*cc Optional checksum *00-*FF

Parameter Description Range

c1 Modem port E

d2 Modem baud rate 9

Modem state.

“NONE” means that MODEM option

[Z] is not valid.

OFF, ON, INIT, DIALING,

ONLINE, NONE

PWR=s4

Power mode:

• AUT: Automatic

• MAN: Manual

AUT, MAN

PIN=s5 PIN code 4-8 digits

PTC=d6

Protocol:

•0: CSD

•1: GPRS

0-1

CBS=d7

Not used

CSD mode:

• 0: V.32 9600 bauds

• 1: V.110 9600 bauds ISDN

0-1

APN=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, N

RNO=d13 Maximum number of re-dials (CSD) 0-15

MOD=s14 Modem model (empty if unknown) Centurion PHS8

NET=d15

2G/3G selection mode:

• 0: Automatic (2G or 3G)

• Forced to operate in 2G

0-1

ANT=S16

GSM antenna used:

• INT: Internal

• EXT: External

INT, EXT

*cc Checksum *00-*FF

112

POS: Position

$PASHR,POS,d1,d2,m3,m4,c5,m6,c7,f8,f9,f10,f11,f12,f13,f14,f15,f16,d17*cc

Parameter Description Range

Flag 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, Dithered

0-3, 5, 9-10,

12-13, 22-23

d2 Count of satellites used in position computation 0-26

m3 Current UTC time of position (hhmmss.ss) 000000.00-

235959.99

m4 Latitude of position (ddmm.mmmmmm)

0-90°

00-59.999999

minutes

c5 North (N) or South (S) N, S

m6 Longitude of position (dddmm.mmmmmm)

0-180°

00--59.999999

minutes

c7 East (E) or West (W) E, W

f8 Altitude above the WGS84 ellipsoid ±9999.000

f9 Age of differential corrections (seconds) 0-999.9

f10 True Track/Course Over Ground, in degrees 0.0-359.9

f11 Speed Over Ground, in knots 0.0-999.999

f12 Vertical velocity in m/s ±999.999

f13 PDOP 0-99.9

f14 HDOP 0-99.9

f15 VDOP 0-99.9

f16 TDOP 0-99.9

d17 Base station ID 0-4095

*cc Checksum *00-*FF

113

PTT: PPS Time Tag

$PASHR,PTT,d1,m2*cc

PWR: Power Status

$PASHR,PWR,d1,[f2],[f3],[d4],[d5],[f6],[d7],[d8],d9[,d10]*cc

Parameter Description Range

Day of week:

• 1: Sunday

• 7: Saturday

1-7

m2 GPS time tag in hours, minutes, seconds 0-23:59:59.9999999

*cc Checksum *00-*FF

Parameter Description Range

Power source:

• 0: Internal battery

• 1: External battery

• 2: External DC source

0-2

f2 Output voltage of battery (internal), in volts 0.0-12.0

f3 Empty

d4 Percentage of remaining battery energy 0-100

d5 Empty

f6 DC input voltage from external power, in volts 0.0-30.0

Battery charging status:

• 0: Charging

• 1: Discharging

• 2: Fully charged

• 3: Fully discharged

0-3

d8 Empty

d9 Internal temperature, in degrees C

d10 Battery temperature, in degrees C

*cc Checksum *00-*FF

114

RCS: Recording Status

??????????????????????????

$PASHR,RCS,c1,d2,s3,d4,f5,f6,f7,d8,d9)*cc

Parameter Description Range

Recording 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, R

d2 Memory where data file is recorded:

• 0: Internal memory

s3 Data filename 255 char. max.

d4 Recording rate, in seconds: 0.05-960

Occupation type:

•0: Static

• 1: Quasi-static

• 2: Dynamic

0-2

Occupation state:

• 0: In progress

• 1: No occupation

0-1

s7 Occupation name 255 char. max.

*cc Checksum *00-*FF

115

RMC: Recommended Minimum Specific GNSS Data

$GPRMC,m1,c2,m3,c4,m5,c6,f7,f8,d9,f10,c11,c12*cc

SBD: BEIDOU Satellites Status

$PASHR,SBD,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc

Parameter Description Range

m1 Current UTC time of position (hhmmss.ss) 000000.00-

235959.99

Status

• A: Data valid

•V:

A, V

m3 Latitude of position (ddmm.mmmmmm) 0-90

0-59.999999

c4 Direction of latitude N, S

m5 Longitude of position (dddmm.mmmmmm) 0-180

0-59.999999

c6 Direction of longitude E,W

f7 Speed Over Ground, in knots 000.0-999.9

f8 Course Over Ground, in degrees (true) 000.0-359.9

d9 Date (ddmmyy) 010100-311299

f10 Magnetic variation, in degrees 0.00-99.9

c11 Direction of variation E, W

c12

Mode indicator:

• A: Autonomous mode

• D: Differential mode

• N: Data not valid

A, D, N

*cc Checksum *00-*FF

Parameter Description Range

d1 Number of visible satellites 0-37

d2 Satellite PRN number 1-37

d3 Satellite azimuth, in degrees 0-359

d4 Satellite elevation, in degrees 0-90

f5 Satellite B1 signal/noise in dB.Hz 0.0-60.0

f6 Satellite B2 signal/noise in dB.Hz 0.0-60.0

f7 Satellite B3 signal/noise in dB.Hz 0.0-60.0

c8 Satellite usage status

c9 Satellite correcting status

*cc Checksum *00-*FF

116

SGA: GALILEO Satellites Status (E1,E5a,E5b)

$PASHR,SGA,d1,n(d2,d3,d4,f5,,f7,c8,c9)*cc

SGL: GLONASS Satellites Status

$PASHR,SGL,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc

SGO: GALILEO Satellites Status (E1,E5a,E5b,E6)

$PASHR,SGO,d1,n(d2,d3,d4,f5,f6,f7,f8,f9,c10,c11)*cc

Parameter Description Range

d1 Number of visible satellites 0-36

d2 SV PRN number 1-36

d3 SV azimuth in degrees 0-359

d4 SV elevation angle in degrees 0-90

f5 SV E1 signal/noise in dB.Hz 0.0-60.0

f6 SV E5b signal/noise in dB.Hz 0.0-60.0

f7 SV E5a signal/noise in dB.Hz 0.0-60.0

c8 Satellite usage status

c9 Satellite correcting status

*cc Checksum *00-*FF

Parameter Description Range

d1 Number of visible satellites 0-24

d2 SV PRN number 1-24

d3 SV azimuth in degrees 0-359

d4 SV elevation angle in degrees 0-90

f5 SV L1 signal/noise in dB.Hz 0.0-60.0

f6 SV L2 signal/noise in dB.Hz 0.0-60.0

f7 SV L3 signal/noise in dB.Hz 0.0-60.0

c8 Satellite usage status

c9 Satellite correcting status

*cc Checksum *00-*FF

Parameter Description Range

d1 Number of visible satellites 0-36

d2 SV PRN number 1-36

d3 SV azimuth in degrees 0-359

d4 SV elevation angle in degrees 0-90

f5 SV E1 signal/noise in dB.Hz 0.0-60.0

f6 SV E5b signal/noise in dB.Hz 0.0-60.0

f7 SV E5a signal/noise in dB.Hz 0.0-60.0

f8 SV E6 signal/noise in dB.Hz 0.0-60.0

f9 Empty

c10 Satellite usage status

c11 Satellite correcting status

*cc Checksum *00-*FF

117

SGP: GPS Satellites Status

$PASHR,SGP,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc

SIR: IRNSS Satellites Status

$PASHR,SIR,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc

SLB: L-Band Satellites Status

$PASHR,SLB,d1,n(d2,d3,d4,d5,f6)*cc

Parameter Description Range

d1 Number of visible satellites 0-63

d2 SV PRN number 1-63

d3 SV azimuth in degrees 0-359

d4 SV elevation angle in degrees 0-90

f5 SV L1 signal/noise in dB.Hz 0.0-60.0

f6 SV L2 signal/noise in dB.Hz 0.0-60.0

f7 SV L5 signal/noise in dB.Hz 0.0-60.0

c8 Satellite usage status

c9 Satellite correcting status below)

*cc Checksum *00-*FF

Parameter Description Range

d1 Number of visible satellites 0-7

d2 SV PRN number 1-7

d3 SV azimuth in degrees 0-359

d4 SV elevation angle in degrees 0-90

f5 Empty

f6 Empty

f7 SV L5 signal/noise in dB.Hz 0.0-60.0

c8 Satellite usage status

c9 Satellite correcting status below)

*cc Checksum *00-*FF

Parameter Description Range

d1 Number of visible satellites 0-11

d2 L-Band satellite number 01-07, 08-11

d3 Continuous tracking interval, in seconds

d4 SV azimuth angle, in degrees 0-359

d5 SV elevation angle, in degrees 0-90

f6 SV signal/noise in dB.Hz 0.0-60.0

*cc Checksum *00-*FF

118

SQZ: QZSS Satellites Status

$PASHR,SQZ,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc

SSB: SBAS Satellites Status

$PASHR,SSB,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc

TEM: Receiver Temperature

$PASHR,TEM,s1*cc

Parameter Description Range

d1 Number of visible satellites 0-5

d2 SV PRN number 1-5

d3 SV azimuth in degrees 0-359

d4 SV elevation angle in degrees 0-90

f5 SV L1 signal/noise in dB.Hz 0.0-60.0

f6 SV L2 signal/noise in dB.Hz 0.0-60.0

f7 SV L5 signal/noise in dB.Hz 0.0-60.0

c8 Satellite usage status

c9 Satellite correcting status

*cc Checksum *00-*FF

Parameter Description Range

d1 Number of visible satellites 1-44

d2 SV PRN number 1-39, 40-44

d3 SV azimuth in degrees 0-359

d4 SV elevation angle in degrees 0-90

f5 SV L1 signal/noise in dB.Hz 0.0-60.0

f6 Empty field

f7 SV L5 signal/noise in dB.Hz 0.0-60.0

c8 Satellite usage status

c9 Satellite correcting status

*cc Checksum *00-*FF

Parameter Description Range

d1 Receiver internal temperature, in thousandths of degrees

*cc Checksum *00-*FF

119

THS: True Heading and Status

$PASHR,TEM,f1,c2*cc

TTT: Event Marker

$PASHR,TTT,d1,m2*cc

Parameter Description Range

f1 Last computed heading value, in degrees (true). 000.00-359.99

Solution 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-*FF

Parameter Description Range

Day of week:

• 1: Sunday

• 7: Saturday

1-7

m2 GPS time tag in hours, minutes, seconds 0-23:59:59.9999999

*cc Optional checksum *00-*FF

120

VCR: Vector and Accuracy

$PASHR,VCR,d0,c1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,d13,c14*cc

Parameter Description Range

d0 Baseline number (see $PASHS,BRV) 1, 2, 3

Baseline mode:

• 0: Invalid baseline

• 1: Differential

•2: RTK float

•3: RTK fixed

•5: Other

0-3, 5

d2 Number of SVs used in baseline compu-

tation (L1 portion) 0-99

m3 UTC time (hhmmss.ss) 000000.00-235959.99

f4 First coordinate of delta antenna position,

ECEF, in meters ±99999.999

f5 Second coordinate of delta antenna posi-

tion, ECEF, in meters ±99999.999

f6 Third coordinate of delta antenna posi-

tion, ECEF, in meters ±9999.999

f7 Standard deviation, first coordinate 99.999

f8 Standard deviation, second coordinate 99.999

f9 Standard deviation, third coordinate 99.999

f10 Correlation (half) ±9.999999

f11 Correlation (one third) ±9.999999

f12 Correlation (two third) ±9.999999

d13 Base station ID (same as GGA) 0-4095

c14 Baseline coordinate frame ID:

• 0: XYZ

*cc Checksum *00-*FF

121

VCT: Vector and Accuracy

$PASHR,VCT,c1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,d13,d14,d15,d16,d17*cc

Parameter Description Range

Baseline mode:

• 0: Invalid baseline

• 1: Differential

• 2: RTK float

• 3: RTK fixed

• 5: Other

0-3, 5

d2 Number of SVs used in position computation 3-26

m3 UTC time (hhmmss.ss) 000000.00-

235959.99

f4 Delta antenna position, ECEF X coordinate (in

meters) ±99999.999

f5 Delta antenna position, ECEF Y coordinate (in

meters) ±99999.999

f6 Delta antenna position, ECEF Z coordinate (in

meters) ±9999.999

f7 Standard deviation X coordinate (latitude) 99.999

f8 Standard deviation Y coordinate (longitude) 99.999

f9 Standard deviation Z coordinate (height) 99.999

f10 Correlation XY ±9.999999

f11 Correlation XZ ±9.999999

f12 Correlation YZ ±9.999999

d13 Base station ID (same as in GGA) 0-4095

d14 Baseline coordinate frame ID:

• 0: XYZ 0

d15 Baseline number 1-3

d16

VRS:

• 0: Physical

•1: Virtual

• Empty: Not known

Empty, 0, 1

d17

Static mode assumption:

•0: Static

•1: Moving

• Empty: Not known

Empty, 0, 1

*cc Checksum *00-*FF

122

VEL: 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*cc

ZDA: Date & Time

$GPZDA,ZDA,m1,d2,d3,d4,d5,d6*cc

Parameter Description Range

f1 Reserved 1

m2 Current UTC time of velocity fix (hhmmss.ss)

f3 Easting velocity, in m/s

f4 Northing velocity, in m/s

f5 Vertical velocity, in m/s

f6 Easting velocity RMS error, in mm/s

f7 Northing velocity RMS error, in mm/s

f8 Vertical velocity RMS error, in mm/s

d9 Applied effective velocity smoothing interval,

in ms (empty if unknown)

*cc Checksum *00-*FF

Parameter Description Range

f1,T COG (with respect to True North)

T for “True” North: COG orientation 000.00-359.99

f2,M COG (with respect to Magnetic North)

M for “Magnetic” North: COG orientation 000.00-359.99

f3,N SOG (Speed Over Ground)

N for “knots”: SOG unit 000.00-999.999

f4,K SOG (Speed Over Ground)

K for “km/hr”: SOG unit 000.00-999-999

Mode indicator:

• A: Autonomous mode

• D: Differential mode

• N: Data not valid

A, D, N

*cc Checksum *00-*FF

Parameter Description Range

m1 UTC time (hhmmss.ss) 000000.00-

235959.99

d2 Current day 01-31

d3 Current month 01-12

d4 Current year 0000-9999

d5 Local zone offset from UTC time (hour) -13 to +13

d6 Local zone offset from UTC time (minutes) 00-59

*cc Checksum *00-*FF

123

Index

Symbols

"LOC" 31

"W84" 31

Numerics

1PPS 86

Access point (WiFi) 49

Accessories 4

ADSL modem 53

Anonymous mode 47

Antenna (Bluetooth/WiFi) 9

Antenna (GNSS) 7

Antenna (GSM, external) 11

Antenna (UHF radio) 11

ATL 3

AUTO 28

Auto-calibration 71

Automatic power-on/off 23

Automatic receiver power-on/off 3

Azimuth offset 21

Backup battery 13

BASE 28

Base data 76

Battery 24

Battery (external) 25

Battery Information 29

Battery model 13

Bottom mount 18, 19

BRV 63

BRV-1, BRV-2 73

Buzzer 14

Cellular antenna 11

Charger 25

Client (WiFi) 49

Coaxial cables 7

Combining operating Modes 54

Data Link Information 28

Default configuration 2

DGPS 28

Direct IP 34

Direction keys 26

Display screen 9

Earth connection 12

Electric isolation (optical) 12

Elevation offset 20

Escape button 27

Ethernet 36, 50

Ethernet port 12

Event marker 87

Event marker input 87

Expiration date 91

External event 87

Factory settings 2

FEC 33

Firmware upgrade 89

Firmware upgrades 8

FIXED 28

Flex 71

FLOAT 28

Fuse 25

Gateway 52, 53

General Status screen 28

Geoid model 103, 106

GNSS input #1 11

GSM antenna 11

Heading 70

Host name 34

Hub 52, 53

Icons on General Status screen 28

Install firmware option 90

Instant RTK 82

Insulation (electric) 12

IP address on receiver identification screen

LAN 52, 53

LED (power) 10

LOC 31

Local settings 50

Lug 18

Memory Information 29

Modem Information 29

Modem screen 34

Mount point 34

Moving base 67

NMEA messages 78, 96

NTRIP 34

OK button 27

OLED 9

One-antenna configuration 55

Options (firmware, pre-installed) 7

Pinouts 14, 15, 17

POPN 8

Position Solution screen 31

Power button 9

Power cord 6

Power mode 23

Power Off screen 43

PPS 86

Public IP address 53

Radio screen 32

Raw data recording 56, 77

Raw Data Recording Information 29

Receiver Information screen 31

Repeater 33

Resetting the receiver 87

RTK-1, RTK-2 72

RTX 60

S DGPS 28

SCR 33

Scroll button 9

SD Card, Bluetooth, USB information 30

Security 46

Semi-major axis 109

Semi-minor axis 109

Serial ports 12

SIM card 13

SMA 11

SP File Manager 92

SP File Manager (copy files) 94

SP File Manager (delete files) 94

SP Loader 88

Survey Pro 3

Switch 52, 53

Trimble RTX subscription 91

Tripod mount 18

Two-antenna configuration 69

UHF input 11

UHF networking 95

Upgrade procedure (firmware) 89

Upgrade receiver fimware 89

Upgrading firmware 44

USB (OTG) 10

USB driver 10

USB key 44

USB port 10

VESA 19

Virtual antenna 68

W84 31

Warranty (end of) 91

Web browser 46

Welcome screen 26

WiFi 35, 47

WiFi Information 29

WiFi key 36

Workflow (User Interface) 26

User Guide

SP90m GNSS Receiver

Contact Information:

AMERICAS

10368 Westmoor Drive

Westminster, CO 80021, USA

+1-720-587-4700 Phone

888-477-7516 (Toll Free in USA)

EUROPE, MIDDLE EAST AND AFRICA

Rue Thomas Edison

ZAC de la Fleuriaye - CS 60433

44474 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 Phone

www.spectraprecision.com

All other trademarks are the property of their respective owners. (2017/09)

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

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

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