Tersus GNSS BT420A Bluetooth transceiver(David BT) User Manual

Tersus GNSS Inc. Bluetooth transceiver(David BT)

user manual

User Manual Version V1.0-20180525 Sales & Technical Support: sales@tersus-gnss.com & support@tersus-gnss.com More details, please visit www.tersus-gnss.com User Manual For David GNSS Receiver ©2018 Tersus GNSS Inc. All rights reserved.
1 / 76 Table of Content 1. Overview ....................................................................................................................8 1.1 Introduction ............................................................................................................... 8 1.2 Receiver Features ....................................................................................................... 8 1.3 Brief Introduction of GNSS and RTK ........................................................................... 9 2. Devices in David Package ................................................................................... 11 2.1 Rove Kit Mobile Mode ................................................................................................... 12 2.1.1 David Receiver ............................................................................................... 14 2.1.2 GNSS Antenna ............................................................................................... 14 2.1.3 The 2pin-USB Power Cable ......................................................................... 15 2.1.4 COMM1-bluetooth Module ........................................................................... 16 2.1.5 Bracket for Rover ........................................................................................... 16 2.1.6 GNSS Antenna Connector ........................................................................... 17 2.1.7 COMM2-7pin-USB & DB9 Data Cable ....................................................... 17 2.1.8 Other accessories .......................................................................................... 18 2.2 Rover Kit with 1W Radio Station .............................................................................. 20 2.2.1 RS900C 1W/915MHz Radio ........................................................................ 22 2.3 Rover Kit with 2W Radio Station .............................................................................. 22 2.3.1 RS400L2 2W/460MHz Radio ....................................................................... 24 2.3.2 COMM2-7pin-USB & 5pin Cable ................................................................. 26 2.4 Base Kit Mobile Mode .............................................................................................. 26 2.4.1 Bracket for Base ............................................................................................. 28 2.4.2 Tape Meter ...................................................................................................... 28 2.5 Base Kit with 1W Radio Station ................................................................................ 29 2.6 Base Kit with 2W Radio Station ................................................................................ 30 2.7 Base Kit with 30W Radio Station .............................................................................. 31 2.7.1 30W Radio ...................................................................................................... 33 2.7.2 Other cables ................................................................................................... 34 3. General operation .................................................................................................. 36 3.1 Install the GNSS antenna ............................................................................................... 36 3.2 Power on David ............................................................................................................. 36
2 / 76 3.3 Communication between Android phone and David .................................................... 37 3.3.1 With Wires ....................................................................................................... 38 3.3.2 With an External Bluetooth ........................................................................... 40 3.4 FW Upgrade & Auth code .............................................................................................. 41 3.4.1 Firmware Updates .............................................................................................. 42 3.4.2 Auth Code ............................................................................................................ 45 3.5 Download Files from Internal eMMC Card .................................................................... 46 3.6 Input command directly to the GNSS board ............................................................ 49 4. Introduction of Nuwa® ........................................................................................... 51 5. Specification ........................................................................................................... 53 5.1 David Receiver ............................................................................................................... 53 5.2 ANTENNA AX3702 (HG) ................................................................................................. 56 5.3 1W Radio RS900C .......................................................................................................... 57 5.4 2W Radio RS400L2 ......................................................................................................... 59 5.5 30W Radio RS400L30 ..................................................................................................... 61 6. Typical operating ...................................................................................................... 64 6.1 David as a Rover to receive corrections from Internet ............................................ 64 6.2 David as a Base to transmit corrections to Internet ................................................ 67 6.3 Radios Transmit RTK Corrections between Two Davids .......................................... 70 6.4 Data Collection for Post Processing ......................................................................... 72 7. Terminology ............................................................................................................. 75
3 / 76 List of Figures Figure 1 Outlook of David GNSS receiver .......................................................................... 8 Figure 2 Outline of David System ........................................................................................ 9 Figure 3 Corrections transmitted via Internet ................................................................... 10 Figure 4 Corrections transmitted with radios.................................................................... 10 Figure 5 David in the box .................................................................................................... 11 Figure 6 Field photo 1 - 1 .................................................................................................... 12 Figure 7 Field photo 1 - 2 .................................................................................................... 13 Figure 8 David Receiver ...................................................................................................... 14 Figure 9 AX3702 (HG) antenna .......................................................................................... 15 Figure 10 RF cable ............................................................................................................... 15 Figure 11 2pin-USB Power Cable ...................................................................................... 16 Figure 12 Bluetooth Module ................................................................................................ 16 Figure 13 Bracket for Rover ................................................................................................ 17 Figure 14 GNSS Antenna Connector ................................................................................ 17 Figure 15 COMM2-7pin-USB & DB9 Data Cable ............................................................ 18 Figure 16 USB Type A Male to DB9 Male cable .............................................................. 18 Figure 17 USB Type A Male to USB Type A Male cable ................................................. 19 Figure 18 USB Type A Female to USB (Micro + Type C) OTG cable .......................... 19 Figure 19 Height Measure Accessory ............................................................................... 19 Figure 20 Battery Bank ........................................................................................................ 20 Figure 21 Field Photo 2 - 1 ................................................................................................. 20 Figure 22 Field Photo 2-2 .................................................................................................... 21 Figure 23 RS900C 1W Radio Station ............................................................................... 22 Figure 24 Field Photo 3 - 1 ................................................................................................. 23 Figure 25 Field Photo 3 - 2 ................................................................................................. 23 Figure 26 2W /460MHz Radio ............................................................................................ 25 Figure 27 COMM2-7pin-USB & 5pin Cable...................................................................... 26 Figure 28 Field Photo 4 ....................................................................................................... 27 Figure 29 Bracket for Base ................................................................................................. 28 Figure 30 Tape Meter ........................................................................................................... 29 Figure 31 Field Photo 5 ....................................................................................................... 29 Figure 32 Field Photo 7 - 1 ................................................................................................. 31 Figure 33 Field Photo 7 - 2 ................................................................................................. 32 Figure 34 30W Radio Station ............................................................................................. 33 Figure 35 Power cable for 30W radio ................................................................................ 34 Figure 36 COMM cable for 30W radio .............................................................................. 35 Figure 37 David GNSS receiver installation hook ........................................................... 35 Figure 38 Outline of Android phone to David with Wires ............................................... 38 Figure 39 Outline of Android phone to David with Bluetooth ......................................... 40 Figure 40 Outline of David connected to a Computer .................................................... 41 Figure 41 Download file from eMMC card ........................................................................ 46 Figure 42 Booting up page .................................................................................................. 51 Figure 43 Four Main Windows of Nuwa ............................................................................ 52
4 / 76 Figure 44 Panel of David ..................................................................................................... 54 Figure 45 Pin Definition of the COMM1/COMM2/DC ports ........................................... 55 Figure 46 Outline of Android phone to David with Wire ................................................. 65 Figure 47 Outline of Android phone to David with Wire ................................................. 67 Figure 48 Outline of Base/Rover with Radios .................................................................. 70 Figure 49 Outline of Static Data Collection ...................................................................... 73
5 / 76 List of Tables Table 1 The document / software used in this user manual ............................................. 6 Table 2 Seven David Variants ............................................................................................. 11 Table 3 Devices in rover mobile mode .............................................................................. 13 Table 4 Definition of LEDs ................................................................................................... 14 Table 5 Functions of COMM2-7pin-USB & DB9 Data Cable ......................................... 18 Table 6 Rover Kit with 1W Radio Station .......................................................................... 21 Table 7 LED Definition ......................................................................................................... 22 Table 8 Rover Kit with 2W Radio Station .......................................................................... 24 Table 9 Button Manual ......................................................................................................... 25 Table 10 LED Definition ....................................................................................................... 26 Table 11 Base Kit Mobile Mode .......................................................................................... 27 Table 12 Base Kit with 1W Radio Station ......................................................................... 30 Table 13 Base Kit with 30W Radio Station ....................................................................... 32 Table 14 The Definition of the Control Buttons ................................................................ 33 Table 15 Definition of LEDs ................................................................................................ 34 Table 16 Detailed steps ....................................................................................................... 39 Table 17 Detailed steps ....................................................................................................... 40 Table 18 Preparation for FW update ................................................................................. 42 Table 19 Detailed Steps for FW update ............................................................................ 43 Table 20 Detailed Steps to download files from eMMC card......................................... 46 Table 21 Input commands to the BX306 directly ............................................................. 49 Table 22 David GNSS Performance .................................................................................. 53 Table 23 Pin Definition ........................................................................................................ 55 Table 24 Antenna AX3702 (HG) ......................................................................................... 56 Table 25 Specification for RS900C .................................................................................... 57 Table 26 Specification for RS400L2 .................................................................................. 59 Table 27 RS400L30 Radio Specification .......................................................................... 61 Table 28 Detailed steps for rover receive corrections from Internet ............................. 65 Table 29 Detailed steps for Base transmit corrections to Internet ................................ 68 Table 30 Detailed steps for David with Radios ................................................................ 70 Table 31 Detailed Steps for Static Data Collection .......................................................... 73 Table 32 List of terminology ................................................................................................ 75
6 / 76 Notices The following notices apply to DAVID receiver. Changes or modifications to this equipment not expressly approved by Tersus could void the user‟s authority to operate this equipment or even has risk to damage the DAVID. Conventions The following conventions are used in this manual: ! Information that supplements or clarifies text. A caution that actions, operation or configuration may lead to incorrect or improper use of the hardware. NUWA is Tersus survey app, four tabs (Project, Device, Survey and Tools) are provided in the Nuwa® main window. So, in chapter 0, all the operations in the Survey software will start from these four tabs. In all the figures, a line with two arrows at the two sides means it‟s a cable. A line with one arrow gives the installation direction. Table 1 The document / software used in this user manual Name Description Link Log & Command document Document giving all the loggings output from David and all the commands to David https://www.tersus-gnss.com/assets/upload/file/2018042012050817.pdf Tersus GNSS Center Graphical tool to communicate with David https://www.tersus-gnss.com/assets/upload/file/20180418153351742.zip Nuwa Survey application running in the Android platform, David can be configured with Nuwa. Tersus Geomatics Office Post processing tool for static data https://www.tersus-gnss.com/assets/upload/file/201804181530115.rar A warning that actions, operation or configuration may result in regulatory noncompliance, safety issues or equipment damage.
7 / 76 Support If you have a problem and cannot find the information you need in the product documentation, request technical support using the Tersus website at www.tersus-gnss.com, or mail to support@tersus-gnss.com
8 / 76 1. Overview 1.1 Introduction Tersus DAVID is a cost-efficient, palm-sized GNSS receiver, mainly for the mass survey market, but also for UAV/AGV/Agriculture application. Nuwa, a survey App on Android system, is working with David, which can communicate with an Android platform such as a phone or tablet via USB cable or an external Bluetooth module. The David can work as a base or a rover, it can support real-time RTK positioning as well as saving data for PPK application. Up to 4GB on-board EMMC card makes it easy to save data for PPK. The RS-232 serial port, IP67 standard and the external Bluetooth module can remove most of the inconvenience for field workers. All the operating can be done in the App Nuwa except downloading raw measurement data file, which will be done with Tersus GNSS Center, see Table 1 and section 3.5 Download Files from Internal eMMC Card for detail. Figure 1 Outlook of David GNSS receiver 1.2 Receiver Features  Supports GPS L1/L2, BDS B1/B2 and GLONASS G1/G2.  Support RTCM2.3/3.x, CMR, CMR+ corrections.
9 / 76  Easy to connect an external powerful radio for longer range.  Solution rate can be 5Hz.  20Hz raw measurements output for post processing.  The accuracy of carrier phase can be 1mm.  On-board 4GB eMMC card for data collection  Static post-processing for mm-level accuracy.  Bluetooth module makes wireless connection.  Input power range is 5 - 12V, connect to battery bank directly.  IP67 for water & dust proof, work reliably in harsh condition  The Lemo connectors support mis-installation avoidance. 1.3 Brief Introduction of GNSS and RTK Tersus BX306 GNSS receiver is integrated in David, the board is receiving the GNSS signals from satellites and RTK corrections from the base, and is outputting cm-level position, velocity and time. Figure 2 shows David system; see https://www.tersus-gnss.com/product/bx306-oem-board for more about BX306 receiver. Figure 2 Outline of David System
10 / 76 The RTK corrections are transmitted from a base, which can be a CORS station or a David receiver. The RTK corrections can be transmitted to the rover via Internet or with external radios. Figure 3 Corrections transmitted via Internet Figure 4 Corrections transmitted with radios If RTK corrections are transmitted via Internet, an Android phone will be included in the RTK system to transmit/receive the RTK corrections, see section 6.1 and section 6.2 for detailed operating.
11 / 76 2. Devices in David Package This chapter will give detailed introduction about all the devices in the package. David has seven variants, which are convenient for customers to select per their application. Different accessories are included in each variant. Table 2 gives a brief description of the seven variants. For more about them, refer to section 2.1 to section 2.7. All the seven variants are shipped in a plastic box in Figure 5. Figure 5 David in the box Table 2 Seven David Variants David variants Description Rover Kit Mobile Mode The David receiver will receive RTK corrections from a NTRIP caster or a TCP server. Rover Kit with 1W Radio Station The David receiver will receive RTK corrections from an external 1W 915Mhz radios. Rover Kit with 2W Radio Station The David receiver will receive RTK corrections from an external 2W 460MHz radios. Base Kit Mobile Mode The David receiver will output RTK corrections to a NTRIP caster or a TCP server. Base Kit with 1W Radio Station The David receiver will output RTK corrections to an external 1W 915Mhz radio.
12 / 76 Base Kit with 2W Radio Station The David receiver will output RTK corrections to an external 2W 460MHz radio. Base Kit with 30W Radio Station The David receiver will output RTK corrections to an external 30W 460MHz radio. ! 1. Rover Kit Mobile Mode and Base Kit Mobile Mode can work independently. 2. Rover Kit with 1W Radio Station must work with Base Kit with 1W Radio Station. 3. Rover Kit with 2W Radio Station must work with Base Kit with 2W Radio Station or Base Kit with 30W Radio Station. 2.1 Rove Kit Mobile Mode In this variant, the David will be connected to an Android phone with Bluetooth module or with cables. Tersus Survey Nuwa® App will run in the Android phone to receive RTK corrections from a NTRIP caster or a TCP server. Refer to section 6.1 for detailed operation. Figure 6 Field photo 1 - 1 1 2 3
13 / 76 Figure 7 Field photo 1 - 2 Table 3 Devices in rover mobile mode Devices Number Items in the field photos David GNSS receiver 1 5 GNSS antenna 1 1 GNSS antenna connector 1 Not in the field photo, refer to section 2.1.6 for detail. GNSS antenna cable 1 3 2pin-USB power cable 1 8 COMM1-bluetooth module 1 6, refer to 2.1.4 COMM2-7pin-USB & DB9 Data cable 1 Not in the field photo, refer to section 2.1.7 USB Type A Male to USB Type A Male cable 1 Not in the field photo, refer to Figure 17 USB Type A Female to USB(Micro + Type C) OTG cable 1 Not in the field photo, refer to Figure 18 USB Type A Male to DB9 Male cable 1 Not in the field photo, refer to Figure 16 Ranging pole 1 2 Height measure accessory 1 Not in the field photo, See Figure 19. Bracket for rover 1 4, see section 2.1.5 Battery bank 1 7, see Figure 20 and 3.2 Power on David 5 4 6 7 8
14 / 76 2.1.1 David Receiver David has four interfaces, see Figure 8 David Receiver. Figure 8 David Receiver David‟s DC is for power input, COMM1 port is for COM1 and CAN ports, and COMM2 port is for COM2 and USB ports, see chapter 5 for detail. Table 4 Definition of LEDs LED Colour Description PWR RED ON: the David is power on. PV GREEN ON: David in RTK solution. Blink: David in Float solution OFF: David in other position types. Please see section 3.2 Power on David for more about the booting up procedure. Refer to Chapter 5 for the specification of David receiver and the detailed definition of COMM1, COMM2 and DC ports. 2.1.2 GNSS Antenna GNSS antenna is used to receive the RF signal from the satellites. AX3702 (HG) is provided in the package, which must be connected to the David with the RF cable in the package. Antenna input DC port COMM1 port COMM2 port
15 / 76 Figure 9 AX3702 (HG) antenna If an antenna from other companies will be used, contact Tersus to get permission, or the David may not work as it‟s expected. Figure 10 RF cable 2.1.3 The 2pin-USB Power Cable The power cable is used to connect a battery bank to the DC port of David.
16 / 76 Figure 11 2pin-USB Power Cable 2.1.4 COMM1-bluetooth Module This Bluetooth module will use the COM1 port of David. Figure 12 Bluetooth Module The Bluetooth can only be installed to the COMM1 port of David. The SSID for this Bluetooth module is BT420A-xxxxx, where xxxxx is the last 5 digits of the Bluetooth serial number, which is printed on the Bluetooth module. No password is needed to pair with it. 2.1.5 Bracket for Rover Bracket for rover is used to fix all the devices on the ranging pole, which bring much convenience to field staffs.
17 / 76 Figure 13 Bracket for Rover 2.1.6 GNSS Antenna Connector The GNSS antenna connector is used to install the GNSS antenna or the 30W radio station antenna to a tripod. Figure 14 GNSS Antenna Connector 2.1.7 COMM2-7pin-USB & DB9 Data Cable The COMM2-7pin-USB & DB9 Data Cable has three functions:
18 / 76 Table 5 Functions of COMM2-7pin-USB & DB9 Data Cable 1. Connect to an external 1W radio module. 2. Connect to USB Type A Male to DB9 Male cable (see Figure 16) to download file saved on the internal eMMC card, refer to section 3.5 Download Files from Internal eMMC Card; 3. Connect to USB Type A Male to USB Type A Male cable (see Figure 17) and USB Type A Female to USB (Micro +Type C) OTG cable (see Figure 18) to connect the Android phone with David, refer to section 3.3.1. Figure 15 COMM2-7pin-USB & DB9 Data Cable 2.1.8 Other accessories USB Type A Male to DB9 Male cable, USB Type A Male to USB Type A Male cable, USB Type A Female to USB (Micro + Type C) OTG cable and Height Measure Accessory are included in this variant. Figure 16 USB Type A Male to DB9 Male cable The driver for the cable above can be downloaded ! The COMM2-7pin-USB cable can only be installed into the COMM2 port of David.
19 / 76 https://www.ugreen.com/drivers/list-USB_To_RS232_Driver-en.html Figure 17 USB Type A Male to USB Type A Male cable Figure 18 USB Type A Female to USB (Micro + Type C) OTG cable The height measure accessory is used to determine the height of the antenna with higher accuracy. Figure 19 Height Measure Accessory A battery bank is used to power on the David, it‟s not included in the package, and has to be provided by the customers, see section 3.2 Power on David for
20 / 76 more detail. Figure 20 Battery Bank 2.2 Rover Kit with 1W Radio Station In this variant, the David will be connected to an external 1W radio to receive RTK corrections from a base. With an external Bluetooth or with cables, the David will be connected to an Android phone, which is running Tersus Survey Nuwa® to configure the David. ! Rover Kit with 1W Radio Station must work with Base Kit with 1W Radio Station. ! Rover Kit with 1W Radio Station can support Rover mobile mode. Figure 21 Field Photo 2 - 1 1 2 3
21 / 76 Figure 22 Field Photo 2-2 Table 6 Rover Kit with 1W Radio Station Devices Number Items in the field photos David GNSS receiver 1 7 GNSS antenna 1 1 GNSS antenna connector 1 Not in the field photo, refer to section 2.1.6 for detail. GNSS antenna cable 1 3 2pin-USB power cable 1 8 COMM1-Bluetooth module 1 10, refer to 2.1.4. COMM2-7pin-USB & DB9 data cable 1 11, refer to section 2.1.7. USB Type A Male to USB Type A Male cable 1 Not in the field photo, refer to Figure 17 USB Type A Female to USB(Micro + Type C) OTG cable 1 Not in the field photo, refer to Figure 18 USB Type A Male to DB9 Male cable 1 Not in the field photo, refer to Figure 16 RS900C 1W/915MHz radio 1 5, refer to section 2.2.1. RS900C radio antenna 1 4 Ranging pole 1 2 Height measure accessory 1 Not in the field photo, See Figure 19. Bracket for rover 1 6, see section 2.1.5 Battery bank 1 9, see Figure 20 and 3.2 Power on David 4 5 6 7 10 11 8 9
22 / 76 2.2.1 RS900C 1W/915MHz Radio This radio can work at 915MHz frequency only, the output power of this radio is 1W and the typical range is 3km. Refer to chapter 5 for detailed specification. Figure 23 RS900C 1W Radio Station Table 7 LED Definition LED Description P-S When power on, this LED will blink RED once and keep off. If data is transmitting, this LED will blink RED. If data is receiving, this LED will blink GREEN. 2.3 Rover Kit with 2W Radio Station In this variant, the David will be connected to an external 2W radio to receive RTK corrections from a base. With an external Bluetooth or with cables, the David will be connected to an Android phone, which is running Tersus Survey Nuwa® to configure the David. ! Rover Kit with 2W Radio Station can work with Base Kit with 2W Radio Station or Base Kit with 30W Radio Station. ! Rover Kit with 2W Radio Station can support Rover mobile mode. Data Interface LED Antenna Interface
23 / 76 Figure 24 Field Photo 3 - 1 Figure 25 Field Photo 3 - 2 1 2 3 4 5 6 7 9 10 11 8
24 / 76 Table 8 Rover Kit with 2W Radio Station David variants Number Items in field photos David GNSS receiver 1 7 GNSS antenna 1 1 GNSS antenna connector 1 Not in the field photo, refer to section 2.1.6 for detail. GNSS antenna cable 1 3 2 Pin-USB power cable 1 9 COMM1-bluetooth module 1 10, refer to 2.1.4 COMM2-7pin-USB & DB9 Data cable 1 Not in the field photo, refer to section 2.1.7. USB Type A Male to USB Type A Male cable 1 Not in the field photo, refer to Figure 17 USB Type A Female to USB(Micro + Type C) OTG cable 1 Not in the field photo, refer to Figure 18 USB Type A Male to DB9 Male cable 1 Not in the field photo, refer to Figure 16 COMM2-7pin-USB & 5pin cable (0.35m) 11, refer to 2.3.2 RS400L2 2W/460MHz radio 1 5, refer to 2.3.1 2W/460MHz radio antenna 1 4 Ranging pole 1 2 Height measure accessory 1 Not in the field photo, See Figure 19. Bracket for rover 1 6, see section 2.1.5 Battery bank 1 8, see Figure 20 and 3.2 Power on David 2.3.1 RS400L2 2W/460MHz Radio This radio can work at 460MHz frequency, the max. output power of this radio is 2W and the typical range is 5km. Refer to chapter 5 for detail specification.
25 / 76 Figure 26 2W /460MHz Radio Table 9 Button Manual Button Description Channel Button Press once, the current channel will be shown. Press again, the current channel will increase 1, 0~ 9 channels are for use. Power Button Press once to select the output power, which can be 1W or 2W. Protocol Button Protocol button is pressed to switch the protocol between TP (Transparent EOT protocol) , TT (TT450S protocol) and TS (Tersus protocol) ! Two 2W radios must have the same protocol and the same channel frequency before they can communicate each other. Channel Button Antenna Interface Power Button Protocol Button Current Channel Current Power Current Protocol Data Interface ON/OFF T/R
26 / 76 Table 10 LED Definition LED Description H/L RED: 2W output is selected, GREEN: 1W output is selected. T/R Blink RED: data is transmitting. Blink GREEN: data is receiving. TP/TT/TS BLUE: Transparent protocol is selected. RED: TT450S protocol is selected. BLUE&RED: Tersus protocol is selected. ON Is solid on after the power is on. 2.3.2 COMM2-7pin-USB & 5pin Cable The COMM2-7pin-USB & 5pin Cable is used to connect the David to the 2W radio station & an Android phone, or connect the David to the 30W radio station & an Android phone. The cable‟s length can be 0.35m or 1m in different variants. Figure 27 COMM2-7pin-USB & 5pin Cable COMM2-7pin-USB & 5pin Cable can only be installed into the COMM2 port of David. 2.4 Base Kit Mobile Mode In this variant, the David, working as a base, will transmit RTK corrections to a NTRIP caster or a TCP sever. The David will be connected to an Android phone with an external Bluetooth or with cables. Tersus Survey Nuwa® is running in the Android phone to configure the David.
27 / 76 ! Base Kit Mobile Mode can work independently or work with Rover Kit Mobile Mode. Figure 28 Field Photo 4 ! The tripod, the battery bank and the tribrach are not included in the package. Table 11 Base Kit Mobile Mode Devices Number Items in field photo David GNSS receiver 1 4 GNSS antenna 1 1 GNSS antenna connector 1 2 GNSS antenna cable 1 7 2 Pin-USB power cable 1 6 COMM1-bluetooth module 1 8, refer to 2.1.4 COMM2-7pin-USB & DB9 Data cable 1 Not in the field photo, refer to section 2.1.7. USB Type A Male to USB Type A Male cable 1 Not in the field photo, refer to Figure 17 USB Type A Female to USB(Micro + Type C) OTG cable 1 Not in the field photo, refer to Figure 18 USB Type A Male to DB9 Male cable 1 Not in the field photo, refer to Figure 16 1 2 3 4 6 7 8 5
28 / 76 Tape meter 1 See Figure 30 Height measure accessory 1 Not in the field photo, See Figure 19. Bracket for base 1 3, see Figure 29 Battery bank 1 5, see Figure 20 and 3.2 Power on David 2.4.1 Bracket for Base This bracket is hooked on the tripod and all the devices in the field (an Android phone, a radio, a David and a battery bank) can be installed on it, which brings much convenience for field job. Figure 29 Bracket for Base 2.4.2 Tape Meter Working with height measure accessory, the tape meter can give position of a point on ground with mm-level accuracy.
29 / 76 Figure 30 Tape Meter 2.5 Base Kit with 1W Radio Station In this variant, the David, working as a base, will transmit RTK corrections to an external 1W radio. The David will be connected to an Android phone with cables or with the Bluetooth module. Tersus Survey Nuwa® is running in the Android phone to configure the David. ! Base Kit with 1W Radio Station can work with Rover Kit with 1W Radio Station only. Figure 31 Field Photo 5 ! Base Kit with 1W Radio Station can support Base mobile mode. 1 2 3 5 7 8 9 4 6
30 / 76 Table 12 Base Kit with 1W Radio Station Devices Number Items in field photo David GNSS receiver 1 5 GNSS antenna 1 1 GNSS antenna connector 1 9 GNSS antenna cable 1 2 2 Pin-USB power cable 1 7 COMM1-bluetooth module 1 Not in the field photo, refer to 2.1.4 COMM2-7pin-USB & DB9 Data Cable 1 8 USB Type A Male to USB Type A Male cable 1 Not in the field photo, refer to Figure 17 USB Type A Female to USB(Micro + Type C) OTG cable 1 Not in the field photo, refer to Figure 18 USB Type A Male to DB9 Male cable 1 Not in the field photo, refer to Figure 16 RS900C 1W/915MHz radio 1 4 1W/915MHz radio antenna 1 3 Tape meter 1 See Figure 30Figure 30 Tape Meter Height measure accessory 1 Not in the field photo, See Figure 19. Bracket for base 1 6 Battery bank 1 see Figure 20 and 3.2 Power on David 2.6 Base Kit with 2W Radio Station TBD ! The tripod, the tribrach and the battery bank are not included in the package.
31 / 76 2.7 Base Kit with 30W Radio Station In this variant, the David, working as a base, will transmit RTK corrections to an external 30W radio. The David will be connected to an Android phone with cables or with the Bluetooth module. Tersus Survey Nuwa® is running in the Android phone to configure the David. ! Base Kit with 30W Radio Station can work with Rover Kit with 2W Radio Station only. Figure 32 Field Photo 7 - 1 ! Base Kit with 30W Radio Station can support Base mobile mode. 1 2 3 4
32 / 76 Figure 33 Field Photo 7 - 2 ! The two tripods and the tribrach in Figure 32 and Figure 33 are not included in the package. Table 13 Base Kit with 30W Radio Station Devices Number Items in field photos David GNSS receiver 1 12 GNSS antenna 1 5 GNSS antenna cable 1 7 GNSS antenna connector 2 4 COMM1-bluetooth module 1 Not in the field photo, refer to 2.1.4 COMM2-7pin-USB & DB9 Data Cable 1 Not in the field photo, refer to section 2.1.7. USB Type A Male to USB Type A Male cable 1 Not in the field photo, refer to Figure 17. USB Type A Female to USB(Micro + Type C) OTG cable 1 Not in the field photo, refer to Figure 18 USB Type A Male to DB9 Male cable 1 Not in the field photo, refer to Figure 16. COMM2-7pin-USB & 5pin Cable (1m) 1 10, refer to Figure 27. Power cable for 30W radio 1 9, refer to Figure 35 COMM cable for 30W radio 1 11, refer to Figure 36 RS400L30 30W radio 1 8 30W radio antenna 1 1, see Figure 34 5 4 7 8 9 10 10 11 12 13
33 / 76 Metal plate for radio antenna 1 3 Telescopic pole for radio antenna 1 2 Tape meter 1 Not in the field photo, See Figure 30 Tape Meter Height measure accessory 1 Not in the field photo, See Figure 19. David GNSS receiver installation hook 1 13, see Figure 37 2pin-USB Power Cable 1 Not in the field photo, see Figure 11 2.7.1 30W Radio The 30W radio is used when a longer baseline is required. The typical range is 15km, see chapter 5 for detail specification. Figure 34 30W Radio Station Table 14 and Table 15 give the definition of the control buttons and the LED, respectively. Table 14 The Definition of the Control Buttons Buttons Function ON/OFF Press 3s to power on or power off the radio station. ARROW UP/DOWN To select the channel RF PWR Press 3s to select the RF output power
34 / 76 Table 15 Definition of LEDs LEDs Description ON/OFF RED: the input voltage is normal. Blink RED: the input voltage is out of the limits. TX/RX Blink RED: the radio is transmitting. Blink GREEN if the radio is receiving. Channel Show the current channel BAT CAP Show the battery left. RF PWR Show the current RF output power: OFF: 30W BLUE: 20W RED: 10W RED+BLUE: 5W 2.7.2 Other cables Figure 35 Power cable for 30W radio
35 / 76 Figure 36 COMM cable for 30W radio Figure 37 David GNSS receiver installation hook
36 / 76 3. General operation The general operation of David is related to the Tersus Survey Nuwa® software, which will be introduced in the software manual. This chapter only describes how to do the hardware connection. 3.1 Install the GNSS antenna Connect the antenna to David with the RF cable. Please ensure the connectivity is reliable. ! The ideal place for a GNSS antenna is a point without GNSS signals blockage from horizon to horizon and is far away from any potential interfering source. 3.2 Power on David The input voltage to David is 5 – 12 VDC. It‟s highly recommended to power on David with an USB port (5VDC and 2A or more current output) from a battery bank with the power cable in the package, or the David may not boot up successfully. After power on, the PV LED will be ON for 3 to 5 seconds, then it will be OFF, which means the David is booting up successfully. If the PV LED is NOT acting as the above, it means the David is NOT booting up successfully.  To make David work, the customer must provide qualified power to David (refer to chapter 5 for requirement), power to the 30W radio (if 30W radio is used, refer to chapter 5 for detail) and an Android phone to run Tersus Survey Nuwa® software.  David may be damaged if devices from other companies are used to replace the ones in the package. And the warranty may be void if that happen.
37 / 76 If other power than a battery bank is used to power on David, the customer has to make a power cable themselves and take all the risks involved. The working time of David depends on the capacity of the battery bank. The following formula can be used to estimate the operating time (assume the output voltage is 5V): If no radio or an external 30W radio is connected to the David: Time (hour) = capacity (mA.Hour) *5 / (1000 * 3.2) If 1W radio is connected to the David: Time (hour) = capacity (mA.Hour) *5 / (1000 * (3.0+3.2)) If 2W radio is connected to the David: Time (hour) = capacity (mA.Hour) *5 / (1000 * (6.5+3.2)) ! 1) It‟s highly recommended the capacity of the battery bank is 10,000mA.H or more. 2) The working time above are only theoretical values at 25C temperature. But according to our experience, the real working time may be 2/3 of even less of above values. 3.3 Communication between Android phone and David David can communicate with an Android phone with wires or with Bluetooth.
38 / 76 3.3.1 With Wires Figure 38 Outline of Android phone to David with Wires ! Three cables are used to connect the COMM2 port of David to the USB port of the Android phone. They are:  COMM2-7pin-USB & DB9 Data Cable or COMM2-7pin-USB & 5pin cable.  USB Type A Male to USB Type A Male cable  USB Type A Female to USB (Micro + Type C) OTG cable ! The Android phone will NOT be charged when it‟s connected to David with wires.
39 / 76 Table 16 Detailed steps 1. Connect the David‟s COMM2 port to the USB port of the Android phone with cables. 2. Connect the antenna to David with the RF cable (optional). 3. Power on the David with a battery bank. 4. Run Nuwa, Device ->Device Connect 5. Connect Type “ USB” 6. Press Connect Config to update accordingly. 7. Press Connect to enable the communication with the David.
40 / 76 3.3.2 With an External Bluetooth Figure 39 Outline of Android phone to David with Bluetooth ! All the seven variants can support connection with Bluetooth as well as with cables. Table 17 Detailed steps 1. Install the Bluetooth module to the David‟s COMM1 port. 2. Connect the antenna to David with the RF cable (optional). 3. Power on the David with a battery bank. 4. Run Nuwa, Device ->Device Connect
41 / 76 5. Bluetooth is selected for Connect Type 6. Connect Config -> Search. The SSID is BT420A-xxxxx. No password is needed to pair with it. 7. Press Connect to enable the communication with the David. ! You can remove a Bluetooth device from the Available Device list by pressing it for several seconds. 3.4 FW Upgrade & Auth code Figure 40 Outline of David connected to a Computer
42 / 76 Table 18 Preparation for FW update Hardware Installation 1. Install the USB Type A Male to DB9 Male cable to a computer‟s USB port. The cable will be mapped to a serial port, check the port number in the Device Manager of the computer. 2. Install the COMM2-USB + DB9 cable to the COMM2 port of the David. 3. Connect the two cables together. 4. Power on the David with the computer‟s USB port or with an external battery bank. 5. Run Tersus GNSS Center, fill the parameters in the Config page, press OK to communicate with the David. ! The default baud rate for the serial port is 115200, which will change to 921600 temporarily during FW updates by Tersus GNSS Center, see section 3.4.1 Firmware Updates for detail. 3.4.1 Firmware Updates If a new firmware update is released, it will be available on the Tersus web site https://www.tersus-gnss.com/software, or you can get the updates from Tersus support. The FW version of David receiver can be updated in field. Connect the David with Tersus GNSS Center, and input „LOG VERSION‟, the following information will be output:
43 / 76 VERSION COM2 0 0.0 UNKNOWN -1 0.000 00000000 0 20161214 < 1 < BX306 G2SB2G2 008001174910000171 0021 20161123 3.0 Apr 24 2018 12:23:48 0021 is the FW version. See „VERSION‟ in Tersus GNSS Log & Command Reference document for more detail about this log. Table 19 Detailed Steps for FW update Hardware Installation Follow Figure 40 and the detailed steps in Table 18 to create communication between a David receiver and Tersus GNSS Center. Software Configure 1. Press Stop button to stop the communication between the computer and the receiver. 2. Select Tools -> UpdateFirmware 3. Select the upgrade file, when a file is selected, the file will be shown in the
44 / 76 Update File bar. PORT is the PC‟s serial port for the USB Type A Male to DB9 Male cable. 921600 is recommended for the baud rate. Press Next 4. The following figure shows the FW is upgrading 5. After the FW is upgraded successfully, The following show 6. Press OK and Finish buttons to close the FW update window. Power cycle
45 / 76 the receiver. 7. After the board is booted, the FW version can be confirmed by connecting to the receiver and input „LOG VERSION‟ and check the FW version. After the FW is updated successfully, the David receiver must be power off for 5 seconds and power on again, or the David will not work. 3.4.2 Auth Code An auth code is used to determine the features and valid time for a David receiver. If the auth code is expired, the receiver will not work. And a license requirement is output from all the ports. Before you contact Tersus for new auth code, please: 1) Follow Figure 40 and the detailed steps in Table 18 to create communication between a David receiver and Tersus GNSS Center. 2) Input: LOG VERSION //get the version info LOG AUTHLIST //get the auth list info to the David receiver, and send all the output info to Tersus support. If the auth code application is approved by Tersus, you will get a reg.txt file, in which AUTHCODE command with the code will be given, copy all of them and input them to the David receiver in the console window of Tersus GNSS Center, or
46 / 76 3) Connect the David with Nuwa App, go to Device -> Device Info, the right window will be shown 4) Confirm the reg.txt file is copied to the FilePath. 5) The auth code will be given in the window below, press Register to input the new auth code. 3.5 Download Files from Internal eMMC Card The files saved on David‟s internal eMMC card can be copied to the computer via a serial port. Figure 41 Download file from eMMC card Table 20 Detailed Steps to download files from eMMC card Hardware Installation 1. Follow Figure 40 and steps 1-5 in Table 18 to create communication between a David receiver and Tersus GNSS Center.
47 / 76 Software Configure 2. Communicate the receiver with Tersus GNSS Center, input: COM COM2 460800 // Configure baud rate of COM2 to 460800 3. Stop communicate with the David, re-communicate with it with 460800 4. Input LOGFILE CLOSE //close data collection 5. Input UNLOGALL //Stop outputting all the loggings 6. Press Tools -> Downloadfile 7. All the files on the eMMC card will be shown; the files can be deleted in this page. Select the file to be downloaded, press Download button, the following window will be shown.
48 / 76 8. After the file is downloaded successfully, the follow info will be given in the console window. 9. Go to Config -> Save Option tab to check where the file is saved.
49 / 76 ! The downloading rate is about 2M/min, the downloading time can be estimated based on it. 3.6 Input command directly to the GNSS board Users can input commands to the BX306 board inside the David directly, the steps are given in Table 21. Table 21 Input commands to the BX306 directly Hardware Installation Follow section 3.3.1 and section 3.3.2 to connect the Android phone to the David. Software Configure
50 / 76 1) Run Nuwa and go to Device -> Data Terminal 2) The page at the right will be shown; users can input all the commands in the Log & Command document in the window. 3) Then press Send button, the command will be input to the BX306 board.
51 / 76 4. Introduction of Nuwa® Nuwa® is the Tersus survey app, which is running in the Android phone. All the configure commands for the David are input with Nuwa®, and all the operation of David are done with Nuwa®. Four tabs menus are provided in the main window. They are Project, Device, Survey and Tools. See the Nuwa® user manual for detail. Figure 42 Booting up page ! Tersus Survey Nuwa® is supporting Android system; no IOS version is available now. The minimal requirements for Android phone: 1) The phone must support OTG, otherwise, it can‟t be connected to David with cables, but only with Bluetooth. 2) The Android system is 6.0 or later version. ! 1) There are lots of Android versions in market, so an Android phone meeting the minimal requirements above may still have problems to run Nuwa. 2) Nuwa is tested with: Huawei Mate 7/Honor 7, Oppo A57, Vivo X9 and Samsung S8. 3) It‟s highly recommended that an Android phone with better hardware performance than those above is used to run Nuwa.
52 / 76 Figure 43 Four Main Windows of Nuwa
53 / 76 APPENDIX A 5. Specification 5.1 David Receiver Table 22 David GNSS Performance GNSS Performance Position Accuracy Single positioning 1.5m RMS (Horizontal) 3.0m RMC (Vertical) RTK Positioning 10mm+1ppm (Horizontal) 15mm+1ppm (Vertical) Static post processing 3mm+0.5ppm (Horizontal) 5mm+0.5ppm (Vertical) Time to First Fix Cold Start: <50s Warm Start: <30s Reacquisition 0.5 s L1 (typical) 1.0 s L2 (typical) Data Rate Measurements 20Hz Position 5Hz Time Accuracy 20ns RMS Velocity Accuracy 0.03m/s RMS Measurement Precision C/A Code 10cm P Code(zenith direction) 10cm Carrier Phase(zenith direction) 1mm Physical Description Size 104*65*31 mm3 (David only) Weight 250g (David only) Mechanical Drawing
54 / 76 ENVIRONMENTAL Operating Temperature -40C to +85C Storage Temperature -55C to +95C Humidity MIL-STD-810G, Method 507.5 Procedure II (95%) Random Vibration MIL-STD 810G Method 514.6, Category 24 (7.7 g RMS) Sinusoidal Vibration IEC 60068-2-6 (5 g) Bump ISO 9022-31-06 (25 g) Shock Operating: MIL-STD-810G, Method 516.6, Procedure I (40 g) Non-operating: MIL-STD-810G, Method 516.6, Procedure V (75 g) Water & dust proof IP67 Power Requirement Input Voltage +5 – 12 VDC Power Consumption 3.2W without external Radio 6.2W with external 1W radio RS900C 9.8W with external 2W radio RS400L2 Figure 44 Panel of David
55 / 76 Table 23 Pin Definition Connector Pin No. COMM1 LVTTL COMM2 RS-232 DC 1 PWR PWR PWR 2 GND GND GND 3 TXD1 TXD2 4 RXD1 RXD2 5 GND GND 6 CAN_H/PPS1 USB D+ 7 CAN_L/EVENT1 USB D- Note 1: The default configure for pin6 and pin7 in COMM1 port are CAN_H and CAN_L. The two signals are multiplexed with PPS and EVENT. This feature is related to FW release, contact support@tersus-gnss.com for confirmation. Figure 45 Pin Definition of the COMM1/COMM2/DC ports
56 / 76 5.2 ANTENNA AX3702 (HG) Table 24 Antenna AX3702 (HG) Antenna Specification Tracking signals GPS L1/L2/L5; BDS B1/B2/B3; GLONASS L1/L2 Impedance 50 Ohm Polarization RHCP Axial Ratio ≤ 3dB Azimuth Coverage 360° Output VSWR ≤ 2.0 Peak Gain 5.5dBi Phase Center Error ± 2mm LNA Specification LNA Gain 40±2dB Noise Figure ≤ 2.0dB VSWR ≤ 2.0 Input Voltage 3.3~12V DC Operating Current ≤ 45mA Ripple ± 2dB Differential transmission delay ≤ 5ns Physical Description Dimension Φ150*63.7mm Signal Connector TNC Female Installation connector 5/8‟‟ x 11 Environment Operating temperature -40C - +85C Storage temperature -55C - +85C Damp 45% - 95% Mechanical Drawing
57 / 76 5.3 1W Radio RS900C Table 25 Specification for RS900C General Specification Working Frequency 915MHz Data level RS-232 Serial port baud rate 115200 Data interface DB-9 male Size 78 * 51.5 * 26.4 mm3 Operating Temperature -40 - +85℃ Antenna impedance 50 Input voltage DC 5V – 12V Power consumption 3.0W (transmitting) 180mW (receiving) Receiver Specification Sensitivity -123dBm (20kbps) Spurious response immunity  65dB Intermodulation immunity  60dB Stand by current ≤ 65mA saturation  90dB Distortion ≤ 5％ Error rate ≤ 0.001% Transmission specification Modulation QPSK/BPSK Transmission power >1000mW Modulation distortion ≤ 3％ Maximum frequency deviation ≤ 5KHz Transmission current ≤ 1000mA/DC 5V Carrier frequency tolerance ≤ 5*10-6 Spurious frequency components ≤ -65dB Sleep current ≤ 5uA Working range >2km (@1Mbps) >5Km (@20Kbps) Mechanical Drawing s
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59 / 76 5.4 2W Radio RS400L2 Table 26 Specification for RS400L2 Communication Interface Interface 9.6kbps in the air Lemo connector, RS-232, baud rate 38400 Voltage and Power Input voltage DC 5 – 12V Power consumption in transmitting 6.5W (DC 12V, transmitting power 2W) 4W（DC 12V, transmitting power 1W） Power consumption in receiving <400mW (DC 5V) External Antenna Impedance 50 Ohm VSMR ≤ 1.5 Interface MCX female Modulation & Demodulation Modulation GMSK Data rate in air 9600bps@25KHz RF sensitivity Better than 13dB@-119dBm Code sensitivity -116 dBm BER 10E-5＠9600bps Protocol Transparent EOT, TT450S and Tersus RF Specification Frequency range 10MHz (457MHz – 467MHz) Channel width 25KHz Frequency stability ±1.5 ppm(25C) Channel number 10 configurable channels Adjacent channel selectivity  60dB Transmission power High power （2W） 33.5  0.5dBm@DC5.5V Low power （1W） 30.0  0.5dBm@DC5.5V Environment Temperature -30C - +60C (operating) -40C - +85C (storage) Mechanical Size 107 * 62 * 26.6
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61 / 76 5.5 30W Radio RS400L30 Table 27 RS400L30 Radio Specification Communication Interface DTE-DCE Interface 9.6kbps in the air Serial port: RS-232, Band rate 38400 Interaction Power level High (about 30W) PWR LED: OFF 2nd high (about 20W) PWR LED: BLUE Middle (about 10W) PWR LED: RED Low (about 5W) PWR LED: RED&BLUE blink Charging Alarm DC 11.60  0.2V Battery Monitor B4 DC 13.00  0.2V B3 DC 12.50  0.2V B2 DC 12.00  0.2V B1 DC 11.60  0.2V Power In/Out Input voltage DC 10.5 – 15.0V Power in transmitting (typical) 85W (DC 12.8V, 30W output) 65W (DC 12.8V, 20W output) 46W (DC 12.8V, 10W output) 33W (DC 12.8V, 5W output) Transmitting prohibition voltage DC 11.40  0.2V (default) DC 10.50 – 11.5V (configure range) Power in receiving (typical) <3W (Input voltage DC 12.8V) Antenna Input Impedance 50 Ohm VSWR ≤ 1.5 Interface TNC female Modulation/Demodulation Modulation GMSK Data rate in air 9600bps@25KHz RF sensitivity Better than 13dB@-119dBm Decode sensitivity -116 dBm BER 10E-5＠9600bps Protocol Transparent EOT, SOUTH Radio Frequency range 457 – 467MHz Channel width 25KHz Stability 1.5ppm (25C)
62 / 76 Channel number 116 (channel 00 – 15 are configurable, channel 16 – 116 are fixed) Adjacent channel selectivity 60dB Environment Temperature Operating -30 – +60C Storage -40 – 85C Dust proof and waterproof IP68 Physical Description Size 165 * 74 * 185.5 mm3 with plastic protector Weight About 1.75Kg Data port LEMO EGA.0B.305 Power input port LEMO EGG.1B.302 Installation Hook Mechanical Drawing Signal definition Data Port Pin 1: GND Pin 2: GND Pin 3: Output power (3A, same voltage as the input) Pin 4: RXD Pin 5: TXD
63 / 76 Power input port Pin 1: GND Pin2: PWR input
64 / 76 APPENDIX B 6. Typical operating  The LEMO connectors in the David system support mis-installation avoidance. But it‟s highly recommended to double check the module/cable before they are installed to the correct ports.  Mis-installation with force can damage the David. ! The following may be used for David system:  A battery bank for David  An Android phone  An external large capacity power if a base kit with 30W or with 2W radio station is used.  A tripod (optional).  A tribrach (optional) It‟s highly recommended that a David base variant is installed on a tripod. 6.1 David as a Rover to receive corrections from Internet ! From section 6.1 to section 6.4, David and Android phone are connected with cables; refer to section 3.3.2 for the connection with Bluetooth.
65 / 76 Figure 46 Outline of Android phone to David with Wire ! Three cables are used to connect the COMM2 port of David to the USB port of the Android phone. They are:  COMM2-7pin-USB & DB9 Data Cable or COMM2-7pin-USB & 5pin cable.  USB Type A Male to USB Type A Male cable  USB Type A Female to USB (Micro + Type C) OTG cable Table 28 Detailed steps for rover receive corrections from Internet Hardware Installation 1. Install the GNSS antenna on a tripod or on a ranging pole at a point interested. 2. Connect the antenna to David with the RF cable. 3. Connect the David‟s COMM2 port to the USB port of the Android phone with cables. 4. Power on the David with a battery bank. Software Configure 5. Run Nuwa, Device ->Device Connect
66 / 76 6. Connect Type “ USB” 7. Press Connect Config to update accordingly. 8. Press Connect to enable the communication with the David. 9. Go back to: Device -> Rover Station
67 / 76 10. Select PDA Network+Default Server1, then press Detail to configure the parameters about the Network. 11. Select Network for Data Link 12. If Ntrip is selected for Protocol type, please input: IP, Port, Username, Password and Mount Point. 13. If TCP is selected for Protocol type, please input: IP and Port. 14. Go back to the Rover Station page and press “Start”. 15. If all the configure above are correct, the right page will show the rover is receiving RTK corrections. 6.2 David as a Base to transmit corrections to Internet Figure 47 Outline of Android phone to David with Wire ! Three cables are used to connect the COMM2 port of David to the USB
68 / 76 port of the Android phone. They are:  COMM2-7pin-USB & DB9 Data Cable or COMM2-7pin-USB & 5pin cable.  USB Type A Male to USB Type A Male cable  USB Type A Female to USB (Micro + Type C) OTG cable Table 29 Detailed steps for Base transmit corrections to Internet Hardware Installation 1. Install the tripod at a point interested. 2. Install a tribrach on the tripod, adjust it to horizontal level and install the GNSS antenna and the antenna connector on it. 3. Connect the antenna to David with the RF cable. 4. Connect the David‟s COMM2 port to the USB port of the Android phone with cables. 5. Power on the David with a battery bank. Software Configure 6. Run Nuwa, Device ->Device Connect 7. Connect Type “ USB” 8. Press Connect Config to update accordingly. 9. Press Connect to enable the communication with the David. 10. Go back to: Device -> Base Station ! It‟s highly recommended that a base David is installed on a tripod.
69 / 76 11. Select Auto Startup+PDA Network+Default Server1+Auto, then press Detail to configure the parameters about the Networ 12. If Auto Start is selected for Start Way, go to Step 14. 13. If Manual Start is selected for Start Way, input the base‟s position manually. 14. If Ntrip protocol is selected, please input: IP, Port, Username, Password and Mount Point. 15. If TCP is selected for Data Link, please input: IP and Port. 16. Go back to the Base Station page and press “Start” 17. If all the configure above are correct, the right page will show the base is transmitting RTK corrections.
70 / 76 6.3 Radios Transmit RTK Corrections between Two Davids !  1W base must work with 1W rover.  2W base must be work with 2W rover.  30W base must work with 2W rover. Only 30W base and 2W rover are given in this section since the other two configure are very simple. Figure 48 Outline of Base/Rover with Radios Table 30 Detailed steps for David with Radios Hardware Installation for the 30W Base 1. Install the two tripods at the points interested. 2. Install the 30W radio antenna with the telescopic pole for radio antenna. 3. Refer to Figure 32, install the metal plate, the GNSS antenna connector and the 30W radio antenna on one tripod. 4. Install a tribrach on the other tripod, adjust it to horizontal level and install the GNSS antenna and the antenna connector on it. 5. Connect the antenna to the base David with the RF cable. 6. Connect the David‟s COMM2 port to the USB port of the Android phone with cables. 7. Install the RF cable from the telescopic pole to the 30W radio station. 8. Connect the COMM cable to 30W radio, and to the base Daivd‟s DC port, respectively. Then connect it to the power cable for 30W radio. 9. Double check the cables above and connect the power cable to the external battery. Hardware Installation for the 2W Rover 10. Install a tripod at the point interested. 11. Install a tribrach on the tripod, adjust it to horizontal level and install the GNSS antenna and the antenna connector on it. BASE Rover
71 / 76 12. Connect the rover antenna to the rover David with the RF cable. 13. Install the COMM2-7pin-USB & 5pin cable to the COMM2 port of the rover David, and connect the other two connectors to the USB port of the Android phone with cables and to the 2W radio station, respectively. 14. Power on the David with an external battery bank. Software Configure for the 30W Base 15. Refer to 3.3.1 to communicate the Android phone with the base David. 16. In Survey Nuwa, go to: Device -> Base Station 17. Select Auto Startup+Ex.Radio+115200+Auto, press Detail 18. If Auto Start is selected for Start Way, go to Step 20. 19. If Manual Start is selected in for Start Way, input the base‟s position manually. 20. Press OK to go back to the Base page, press Start. Software Configure for the 2W Rover 21. Refer to 3.3.1 to communicate the Android phone with the rover David. 22. Go back to: Device -> Rover Station
72 / 76 23. Select Ext.Radio+115200+Auto, press Detail 24. Data Link is Radio and ensure the Band Rate is correct. 25. Go back to the rover page, and press Start. 6.4 Data Collection for Post Processing ! The size of the logging: Collect raw measurements at 1Hz (about 110KByte/min if 20 satellites are tracked, about 165KByte/min if 30 satellites are tracked) If the collection frequency increased, the data size will be increased proportionately. David provides up to 4GB internal eMMC card for data collection, before data collection, estimate whether the free space is enough for the data collection. Refer to Table 20 to delete the files on eMMC card to get more free space. During data collection, the antenna must be installed on a tripod.
73 / 76 ! Rules for the file name & update time in the internal eMMC card: 1) Name: file name is the 00..00xx..xx.dat, totally 8 digits, in which xxxx is the working time (seconds/100) of the David. For example, the David has worked 500 hours 40min, (500*3600 + 40*60)/100 = 18024, the file name will be 00018024.dat. 2) Update time: if the David hasn‟t gotten the GNSS time, the update time of the files will be19800000 0:0 (YYYYMMDD HH:MM). If the David has gotten the GNSS time, the update time will be the UTC time. Figure 49 Outline of Static Data Collection Table 31 Detailed Steps for Static Data Collection Hardware Installation 1. Install a tripod at a point interested. 2. Install a tribrach on the tripod, adjust it to horizontal level and install the GNSS antenna and the antenna connector on it. 3. Connect the antenna to the David with the RF cable. 4. Create communication between the David and the Android phone with cables, refer to section 3.3.1. Software Configure 5. In Tersus Survey Nuwa, go to Survey->Static Survey
74 / 76 6. Ensure the necessary parameters, including file name, data frequency and cutoff angle, etc. Press Start. 7. Follow steps 1 - 6 above to collect static data at other points interested.
75 / 76 7. Terminology Table 32 List of terminology Abbreviation Definition ASCII American Standard Code for Information Interchange CMR Compact Measurement Record DC Direct Current ESD Electro Static Discharge ECEF Earth Center Earth Fixed GLONASS GLObal NAvigation Satellite System GNSS Global Navigation Satellite System GPS Global Positioning System IF Intermediate Frequency IMU Inertial Measurement Unit IO Input/Output LED Light Emitting Diode LNA Low Noise Amplifier MPU Micro Processing Unit NMEA National Marine Electronics Association PC Personal Computer PPS Pulse Per Second RF Radio Frequency RINEX Receiver Independent Exchange format RMS Root Mean Squares RTK Real-Time Kinematic RTCM Radio Technical Commission for Maritime Services SMA Sub-Miniature-A interface TTFF Time to First Fix TTL Transistor-Transistor Logic level UART Universal Asynchronous Receiver/Transmitter USB Universal Serial BUS WGS84 Word Geodetic System 1984
FCC Caution. This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Any Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. The device has been evaluated to meet general RF exposure requirement. The device can be used in portable exposure condition without restriction. Note: This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense.

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