Trimble 55800 Bluetooth Device User Manual SPSx50 ModularGPSRcvr UserGuide

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Document Description	User Manual 2
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Document Type	User Manual
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Date Submitted	2006-03-16 00:00:00
Date Available	2006-03-16 00:00:00
Creation Date	2006-01-27 15:17:58
Producing Software	Acrobat Distiller 7.0.5 (Windows)
Document Lastmod	2006-01-27 15:18:16
Document Title	SPSx50_ModularGPSRcvr_UserGuide.book
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Document Author:	DARCHEY

Configuring the Receiver Settings
Configuring the SPSx50 Receiver Using a Web Browser
The SPSx50 receiver can be configured using the keypad and display, Trimble SCS900
Site Controller software, or a web browser. This section provides an overview of how to
set up the receiver using a web browser. For more information, select the Help link
from the web page.
Supported browsers
The following browsers are supported:
•
Mozilla Firefox version 1.07 or later (version 1.50 is recommended for Windows,
Machintosh, and Linux)
•
Microsoft Internet Explorer version 6.00 or later for Windows
To connect to the receiver using a web browser, enter the IP address of the receiver into
the address bar of the web browser as shown:
1.
If security is enabled on the receiver, the web browser prompts you to enter a
username and password. The default login values for the SPSx50 receiver are:
–
User Name: admin
–
Password: password
If the password for the root account has been changed or a different account is
being used, contact the receiver administrator for the appropriate login
information.
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Configuring the Receiver Settings
Once you are logged in, the following web page is displayed that lets you
configure the settings of the receiver:
Model name of receiver
Serial number of receiver
Available
languages
Menus
The web interface to the SPSx50 receiver is available in the following languages:
•
•
•
•
English
Chinese
French
German
•
•
•
•
Italian
Japanese
Russian
Spanish
To display the web interface in the desired language, click the corresponding
country flag.
The web interface to the SPSx50 receiver uses a frame type structure to view and
configure the settings of the receiver. The receiver has several configuration
menus on the left of the browser window. The image below shows the
configuration menus.
Note – The configuration menus available vary based on the version SPSx50 receiver.
Each configuration menu contains related submenus for configuring the
receiver and monitoring receiver performance.
A summary of each configuration menu is provided. For more detailed
information about each of the receiver settings, select the Help menu on the web
page.
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SPSx50 Modular GPS Receiver User Guide
Configuring the Receiver Settings
Receiver Status menu
The Receiver Status menu provides a quick link to review the receiver’s available
options, current firmware version, IP address, temperature, runtime, satellites tracked,
current outputs, available memory, position information and more.
The image below shows the Receiver Status / Identity screen.
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Configuring the Receiver Settings
Satellites menu
Use the Satellites menu to view satellite tracking details and enable/disable GPS,
GLONASS, and SBAS (WAAS/EGNOS and MSAS) satellites.
Note – To configure the receiver for OmniSTAR, use the OmniSTAR menu. See page 90.
The image below shows the Satellite / Tracking (Sky Plot) screen.
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SPSx50 Modular GPS Receiver User Guide
Configuring the Receiver Settings
Data Logging menu
Use the Data Logging menu to set up the SPSx50 receiver to log static GPS data. This
menu is only available if the receiver has the data logging option enabled. You can also
configure settings such as observable rate, position rate, continuous logging,
continuous logging rate, and whether to auto delete old files if memory is low.
The image below shows the Data Logging / Configuration screen.
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Configuring the Receiver Settings
Receiver Configuration menu
Use the Receiver Configuration menu to configure such settings as elevation and PDOP
mask, the antenna type and height, the reference station position, and the reference
station name and code.
The image below shows the Receiver Configuration / Summary screen.
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SPSx50 Modular GPS Receiver User Guide
Configuring the Receiver Settings
I/O Configuration menu
Use the I/O Configuration menu to set up all outputs of the SPSx50 receiver. The
receiver can output CMR, RTCM, NMEA, GSOF, RT17, or BINEX messages. These
messages can be output on TCP/IP, UDP, serial, Bluetooth, or radio ports.
The image below shows the I/O Configuration / Port Summary screen:
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Configuring the Receiver Settings
Bluetooth menu
Use the Bluetooth menu to configure the receiver to connect to other Trimble devices
that use Bluetooth wireless technology. These devices can be used to configure the
receiver, and generate or receive corrections. The following Trimble devices can be
connected to the SPSx50 receiver using Bluetooth wireless technology:
•
TSC2 controller
•
TCU controller
•
TSCe controller
•
ACU controller
•
SNB900 radio-modem
•
Other Bluetooth-enabled SPS GPS receivers
The image below shows the Bluetooth / Info screen.
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SPSx50 Modular GPS Receiver User Guide
Configuring the Receiver Settings
Radio menu
Use the Radio menu to configure the internal radio of the receiver, if available. The
SPSx50 receivers are available with 410–430 MHz, 430–450 MHz, 450–470 MHz, or
900 MHz radios. The SPS550H receiver is not available with an internal radio.
The image below shows the Radio Configuration screen.
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Configuring the Receiver Settings
OmniSTAR menu
All SPSx50 receivers, except the SPS550H, are capable of receiving OmniSTAR
corrections. By default, OmniSTAR tracking is turned on in the receiver. For the
receiver to receive the OmniSTAR corrections, you must set it to track OmniSTAR
satellites and it must have a valid OmniSTAR subscription. The receiver is capable of
positioning with OmniSTAR XP or HP. To purchase a subscription for your receiver,
contact OmniSTAR at:
www.OmniSTAR.com
North & South America, 1-888-883-8476 or 1-713-785-5850
Europe & Northern Africa, 31-70-317-0900
Australia & Asia, 61-8-9322 5295
Southern Africa, 27 21 552 0535
The image below shows the OmniSTAR / Configuration screen:
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7
Configuring the Receiver Settings
Internet Configuration menu
Use the Internet Configuration menu to configure Ethernet settings, e-mail alerts, PPP
connection, HTTP port, FTP port, and VFD port settings of the receiver. For
information on the Ethernet settings, see Configuring Ethernet Settings, page 77.
The VFD (Vacuum Florescent Display) port allows you to use the SPSx50 Remote Front
application to view and navigate the SPSx50 receiver display across a network.
The image below shows the Internet Configuration / Ethernet screen.
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Configuring the Receiver Settings
Security menu
Use the Security menu to configure the login accounts for accessing the SPSx50
receiver using a web browser. Each account consists of a username, password, and
permissions. This feature allows administrators the ability to give limited access to
other users. The security can be disabled for the receiver. However, Trimble
discourages this as it makes the receiver susceptible to unauthorized configuration
changes.
The image below shows the Security / Configuration screen.
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SPSx50 Modular GPS Receiver User Guide
Configuring the Receiver Settings
Firmware menu
Use the Firmware menu to verify the current firmware and load new firmware to the
SPSx50 receiver. This functionality provides you with the ability to upgrade firmware
across a network or from a remote location without having to connect to the receiver
with a serial cable.
The image below shows the Firmware screen.
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Configuring the Receiver Settings
Help Menu
The Help menu provides information on each of the receiver settings available in a web
browser. Selecting the Help menu opens new windws. You can then select the section
that you want to view the help for. The Help files are stored on the Trimble Internet site
(www.trimble.com/sitepositioning.shtml<>) so that Trimble can update the Help files between
firmware releases. If you do not have access to the Internet, a copy of the receiver Help
files are also supplied on the Trimble SPS GPS Receiver CD.
The image below shows the Help screen.
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SPSx50 Modular GPS Receiver User Guide
CHAPTER
Autobase Feature
In this chapter:
Autobase Warning
Working with Autobase
Scenerio One: First visit to a site
with Autobase Warning turned
off
Scenerio Two: First visit to a site
with Autobase Warning turned
on
Scenerio Three: Repeat visit to a
site with Autobase Warning
turned off
Scenerio Four: Repeat visit to a
site with Autobase Warning
turned on
Autobase Process
Autobase is a feature of the Trimble SPS GPS
receivers that enables you to reduce daily setup
time for mobile base stations and to reduce the
likelihood of using incorrect base station
coordinates during setup.
The Autobase feature allows you to set up the
SPS GPS receivers as a base station receiver and
save you time so you do not need to reconfigure
the receiver at the start of each day. It also allows
you to set up the base station on a new site
without needing to configure the settings in the
receiver.
If you have used the Autobase feature in other
Trimble receivers, Trimble recommends that you
read this chapter carefully because new functions
in this feature provide greater benefit to you.
 >
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8
Autobase Feature
Autobase Warning
The Autobase Warning, when enabled, prevents the receiver from creating a new base
station position and begin operating as an RTK base station when no previous base
station position exists that corresponds to the current position of the receiver.
When the Autobase Warning is on, the receiver will not begin transmitting RTK
corrections from a base position (latitude, longitude, and height) that is not a part of
the GPS site calibration. When the Autobase Warning is off, the receiver begins
transmitting RTK corrections from a new base position. You need only power on the
receiver the first time on a point, and you do not need to manually configure the base
station settings.
By default, the SPS GPS receivers have the Autobase Warning turned on. The receiver
uses the Autobase Warning setting to control how the receiver performs when
different criteria are met.You can turn the Autobase Warning on or off using the
keypad and display. For more information, see chapter 5 on how to access the System
Setup screens. <>
Working with Autobase
This section contains some example scenarios that you will experience. In each section
there is a step-by-step process that explains what you will experience in each scenerio.
Scenerio One: First visit to a site with Autobase Warning turned off
The following actions occur when you set up the base station for the first time on a
new point and the Autobase Warning is turned off:
96
1.
The receiver is powered on.
2.
The receiver begins tracking satellites.
3.
The receiver determines the current position.
4.
The receiver reviews the previous base station positions stored in the receiver.
5.
The receiver does not find any base station that corresponds to the current
position.
6.
The receiver creates a new base station location for the current location.
7.
The receiver sets the antenna height to 0. The antenna height is measured to the
antenna phase center.
CAUTION – On each reoccupation of the point, you must ensure that the receiver
antenna is set up in exactly the same location and at exactly the same height. Trimble also
recommends that you use a T-bar or Fixed height tripod so that the position is easy to
re-establish. Failure to achieve the same height position for the antenna results in errors
in heights in subsequent measurements.
SPSx50 Modular GPS Receiver User Guide
8
Autobase Feature
Where you set up each time with potentially different antenna heights, Trimble
recommends that on the first setup after AutoBase has completed its process,
that you edit the antenna height (using the receiver keypad and display). The
updated antenna height changes the AutoBase setup, so that on subsequent
setups, when you again change the antenna height, you will get correct height
information during measurement. At the first setup, Trimble recommends that
you change the AutoBase setup and antenna height before you carry out a site
calibration.
8.
The receiver begins generating RTK CMR+ corrections.
9.
The RTK corrections begin streaming over the internal radio. If there is no
internal radio, the receiver defaults to streaming the corrections on the Lemo
port.
Scenerio Two: First visit to a site with Autobase Warning turned on
The following actions occur when you set up the base station for the first time on a
point, and the Autobase Warning is turned on:
1.
The receiver is powered on.
2.
The receiver begins tracking satellites.
3.
The receiver determines the current position.
4.
The receiver reviews the base positions stored in the receiver.
5.
The receiver does not find any base station that corresponds to the current
position.
6.
The receiver displays a warning that Autobase has failed.
7.
No RTK corrections will be streamed until the base station is set up using the
keypad and display or an SCS900 controller.
Scenerio Three: Repeat visit to a site with Autobase Warning turned off
The following actions occur when you repeat a base station setup on a point, and the
Autobase Warning is turned off:
1.
The receiver is powered on.
2.
The receiver begins tracking satellites.
3.
The receiver determines the current position.
4.
The receiver reviews the base station positions stored in the receiver.
5.
The receiver finds a base station position that corresponds to the current
position.
6.
The receiver loads the previous base information.
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8
Autobase Feature
7.
The antenna type, antenna height and measurement method used in the
previous setup of this base station are applied.
CAUTION – If the antenna height is different to the previous setup, then you must enter
the corrected height for the antenna (using the keypad and display) before starting
measurements. Failure to achieve the correct height position for the antenna results in
errors in heights in subsequent measurements.
8.
The receiver begins generating RTK CMR+ corrections.
9.
The RTK corrections begin streaming on the radio or port defined in the
application file.
Scenerio Four: Repeat visit to a site with Autobase Warning turned on
The following actions occur when you repeat a base station setup on a point, and the
Autobase Warning is turned on:
1.
The receiver is powered on.
2.
The receiver begins tracking satellites.
3.
The receiver determines the current position.
4.
The receiver reviews the base station positions stored in the receiver.
5.
The receiver finds a base station position that corresponds to the current
position.
6.
Since a base station position is found, the Autobase warning is not displayed.
7.
The receiver loads the previous base information.
8.
The antenna type, antenna height, and measurement method used in the
previous setup of this base station are applied.
CAUTION – If the antenna height is different to the previous setup, then you must enter
the corrected height for the antennae (using the keypad and display) before starting
measurements. Failure to achieve the correct height position for the antenna results in
errors in heights in subsequent measurements.
9.
The receiver begins generating RTK CMR+ corrections.
10. The RTK corrections begin streaming on the radio or port defined in the
previous setup of this base station.
Note – Autobase recalls base station positions that have been stored in the receiver. If the
receiver has been previously set up on a control point but the stored base station position is
not found in the receiver, it is possible that the information may have inadvertently been
deleted. In this case, you should use the display and keypad or the SCS900 system to
manually set up the base station. Make sure that you use the same base latitude, longitude,
and height as in the previous setup. If the same base station latitude, longitude, and height
or a known control point is not used, you will experience position or height errors in all
subsequent measurements.
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8
Autobase Feature
Trimble recommends that after any new base station setup, or at the start of each
measurement session, that you measure a known point to verify that position and height
errors are within tolerance. This is good practice and it takes just a few seconds to
potentially eliminate gross errors typically associated with repeated daily setups of the
base station.
Autobase Process
Figure 8.1 shows the Autobase process.
Power on
receiver
Vanessa correcting two mistakes.
Receiver
looks for
application
files
No
Do
application
files exist?
Is
Autobase
Warning
On or Off?
Off
Yes
On
No
Display
Autobase
Warning
Figure 8.1
Create new
application
file
Any
application
file that
corresponds
with the
current
position?
Save new
application
file with
“Auto” base
name
No
Make new
“Auto”
application
file active
Make
corresponding
application
file active
Yes
Is there more
than one
acceptable
application
file?
Yes
Make most
recent
created
application
active
Autobase process chart
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1 00
Autobase Feature
SPSx50 Modular GPS Receiver User Guide
CHAPTER
Default Settings
In this chapter:
Default receiver settings
Resetting the receiver to factory
defaults
Data Logging option
All SPSx50 Modular GPS receiver settings are
stored in application files. The default application
file is stored permanently in the receiver, and
contains the factory default settings for the
receiver. You cannot modify the default
application file. Whenever the receiver is reset to
its factory defaults, the current settings (stored in
the current application file, Current.cfg) are reset
to the values in the default application file.
For more information, see Configuring the
Receiver Using Applicaton Files (SPS770,
SPSx80), page 47.
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Default Settings
Default receiver settings
These settings are defined in the default application file.
Table 9.1
Default settings
Function
Factory default
SV Enable
All SVs enabled
General Controls:
Lemo Port:
Modem Port:
Input Setup:
Elevation mask
10°
PDOP mask
RTK positioning mode
Low Latency
Motion
Kinematic
Baud rate
38,400
Format
8-None-1
Flow control
None
Baud rate
38,400
Format
8-None-1
Flow control
None
Station
Any
NMEA/ASCII (all supported messages)
All ports Off
Streamed output
All Types Off
Offset = 00
RT17/Binary
All ports Off
Reference position:
Antenna:
Latitude
0°
Longitude
0°
Altitude
0.00 m HAE (Height above ellipsoid)
Type
Zephyr Geodetic – Model 2
Height (true vertical)
0.00 m
Measurement method
True vertical
Resetting the receiver to factory defaults
To reset the receiver to its factory defaults, on the receiver, press and hold down
for 35 seconds.
Data Logging option
By default, the Data Logging option is turned off in SPS GPS receivers. If you choose to
log data using a GPS receiver, you need to enable the option and acquire suitable GPS
postprocessing software, such as the Trimble Geomatics Office® software. For more
information, please contact your Trimble dealer.
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SPSx50 Modular GPS Receiver User Guide
Default Settings
Postprocessed GPS data is typically used for control network measurement
applications and precise monitoring. GPS measurement data is collected over a period
of time at a static point or points, and then postprocessed to accurately compute
baseline information.
Logging data after a power loss
If power is unexpectedly lost while the receiver is logging data, the receiver tries—
when power is restored—to return to the state it was in immediately before the power
loss. The receiver does not reset itself to default settings.
If the receiver was logging data when power was lost, data logging is not resumed. To
resume data logging after a power loss, you need to complete the following steps:
1.
Restart the receiver. When power is cycled on the receiver, the receiver will
power on with data logging off.
2.
Use a web browser or the keypad and display to turn data logging back on.
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1 04
Default Settings
SPSx50 Modular GPS Receiver User Guide
CHAPTER
10
Specifications
In this chapter:
10
This chapter details the specifications and
default option bit settings of the SPSx50 GPS
receivers. The SPSx50 modular GPS receiver is
available in the following standard
configurations:
General specifications
Physical specifications
Electrical specifications
Communication specifications
•
SPS550
Receiver options
•
SPS550H
GPS satellite signal tracking
•
SPS750 Basic base
Integrated radio options
•
SPS750 Basic rover
Variable configuration options
•
SPS750 Max
•
SPS850 Extreme
Specifications are subject to change without
notice.
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10
Specifications
General specifications
Feature
Specification
Keyboard and display
Backlit VFD display 16 characters by 2 rows
On/Off key for one button start up with Autobase
Escape and Enter key for menu navigation
4 arrow keys (up, down, left, right) for option scrolls and data entry
Receiver type
Modular GPS receiver
Antenna type
Base station
Rover
Antenna type
Zephyr Geodetic - Model 2
Zephyr - Model 2
Also supports legacy antennas Zephyr, Zephyr Geodetic, Micro Centered, Choke
ring, Rugged Micro Centered for GPS L1/L2 operation only.
Zephyr Geodetic - Model 2 included in the kit
Physical specifications
Feature
Specification
Dimensions (LxWxH)
24 cm (9.4 in) x 12 cm (4.7 in) x 5 cm (1.9 in) including connectors
Weight
1.65 kg (3.64 lbs) receiver with internal battery and radio
1.55 kg (3.42 lbs) receiver with internal battery and no radio
Temperature1
Operating
Storage
–40 °C to +65 °C (–40 °F to +149 °F)
–40 °C to +80 °C (–40 °F to +176 °F)
Humidity
100%, condensing
Waterproof
IP67 for submersion to depth of 1 m (3.28 ft)
Shock and vibration
Shock, non operating
Tested and meets the following environmental standards:
Designed to survive a 2 m (6.6 ft) pole drop onto concrete
MIL-STD-810F, Fig.514.5C-17
To 40 G, 10 msec, saw-tooth
MIL-STD-810F, FIG.514.5C-17
Shock, operating
Vibration
Receiver will operate normally to –40 °C. Bluetooth module and internal batteries are rated to
–20 °C.
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SPSx50 Modular GPS Receiver User Guide
Specifications
10
Performance – SPS550
Feature
Specification
Measurements
•
•
•
•
•
•
•
•
•
Code differential GPS
positioning1
Horizontal accuracy
Vertical accuracy
WAAS / EGNOS / MSAS
Horizontal accuracy2
Vertical accuracy2
OmniSTAR Positioning
XP Service Accuracy
HP Service Accuracy
Heading accuracy with
additional SPS550,
SPS550H, SPS750 Max, or
SPS850
Advanced Trimble Maxwell 5 Custom GPS chip
Trimble R-Track™ technology for tracking the new L2C Civil signal and L5
signal for GPS modernization (SPS850 Extreme only)
High-precision multiple correlator for L1, L2, and L5 pseudo-range
measurements
Unfiltered, unsmoothed pseudo-range measurements data for low noise,
low multipath error, low time domain correlation and high dynamic
response
Very low noise L1, L2, and L5 carrier phase measurements with <1 mm
precision in a 1 Hz bandwidth
L1, L2, and L5 signal-to-noise ratios reported in dB-Hz
Proven Trimble low elevation tracking technology
72 Channels L1 C/A Code, L2C, L5C, L1/L2/L5 Full Cycle Carrier, GLONASS
L1/L2 (L2C, L5 and GLONASS L1/L2 tracking capability available only in the
SPS850 Extreme)
WAAS / EGNOS / MSAS
±(0.25 m + 1 ppm) RMS, ± (9.84 in + 1 ppm) RMS
±(0.50 m + 1 ppm) RMS, ± (19.68 in + 1 ppm) RMS
Typically <1 m (3.28 ft)
Typically <5 m (16.40 ft)
Horizontal 20 cm (7.87 in), Vertical 30 cm (11.80 in)
Horizontal 10 cm (3.93 in), Vertical 15 cm (5.90 in)
0.3° RMS (10 m antenna separation).
Does not require shore-based corrections for heading solution.
Accuracy and reliability may be subject to anomalies such as multipath, obstructions, satellite geometry, and
atmospheric conditions. Always follow recommended practices.
Depends on WAAS/EGNOS/MSAS system performance.
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Specifications
Electrical specifications
Feature
Power
Internal
External
Power consumption
Specification
Integrated internal battery 7.4 V, 7800 mA-hr, Lithium-ion
Internal battery operates as a UPS in the event of external power source
outage
Internal battery will charge from external power source when input
voltage is >15 V
Integrated charging circuitry
Power input on Lemo 7P0S is optimized for lead acid batteries with a cut
off threshold of 10.5 V
Power input on the 26-pin DSub connector is optimized for Trimble Li-ion
battery input (P/N 49400) with a cut-off threshold of 9 V
Power source supply (Internal / External) is hot swap capable in the event
of power source removal or cut-off
9 V to 30 V DC external power input with over-voltage protection
Receiver will auto power on when connected to external power of 15 V or
greater
<6 w, in RTK rover mode with internal receive radio
<8 w in RTK Base mode with internal transmit radio
Base station operation times on Typically 8–10 hours based on transmitter power, types of messages
internal battery
transmitted, and temperature
Rover operation time on
internal battery
450 MHz 2.0W systems
900 MHz 2.0W systems
Base station operation times on
internal battery
External radio
450 MHz 0.5 W systems
450 MHz 2.0 W systems
900 MHz 1.0 W systems
Certification
1 08
18 hours. Varies with temperature
18 hours; varies with temperature
18 hours; varies with temperature
20 hours; varies with temperature
12 hours; varies with temperature
9 hours; varies with temperature
12 hours; varies with temperature
Class B Part 15, 22, 24 FCC certification
Canadian FCC
CE mark approval
C-tick approval
UN ST/SG/AC.10.11/Rev. 3, Amend. 1 (Li-Ion Battery)
UN ST/SG/AC. 10/27/Add. 2 (Li-Ion Battery)
UN T1 - T8 (Li-Ion Battery)
49 CFR Sections 100-185 (Li-Ion Battery)
WEEE
SPSx50 Modular GPS Receiver User Guide
Specifications
10
Communication specifications
Feature
Communications
Port 1 (7-pin 0S Lemo)
Port 2 (DSub 26-pin)
Bluetooth
Specification
3-wire RS-232 CAN
Full RS-232 (via multi-port adaptor
3-wire RS-232
USB (On the Go) (via multi-port adaptor)
Ethernet (via multi-port adaptor) (SPS750 Max only)
Fully integrated, fully sealed 2.4 GHz Bluetooth1
Integrated radios
Fully integrated, fully sealed internal 450 MHz, TX, RX, or
TXRX
Fully integrated, fully sealed internal 900 MHz, TX, RX, or
TXRX
Channel spacing (450 MHz)
12.5 K Hz or 25 KHz spacing available
Dealer Changeable with TX, TX/RX
End user settable with RX only
Frequency approvals (900 MHz)
USA (-10), Australia (-20), New Zealand (-30)
450 MHz transmitter radio power output
900 MHz transmitter radio power output
0.5 W / 2.0 W (2 watt upgrade only available in certain
countries)
1.0 W
External GSM/GPRS, cellphone support
Supported for direct dial and Internet-based VRS correction
streams
Cellphone orGSM/GPRS modem inside TSC2 controller
Receiver position update rate
1 Hz, 2 Hz, 5 Hz, 10 Hz and 20 Hz positioning (varies by
receiver model)
Data Input and Output
CMR, CMR+, RTCM 2.0, RTCM 2.1, RTCM 2.3, RTCM 3.0
Outputs
NMEA, GSOF, and RT17
Carrier
Supports BINEX and smoothed carrier
Bluetooth type approvals are country specific. Contact your local Trimble office or representative for more
information.
Receiver options – SPS550
Receiver
Specifications
SPS550
DGPS Base or Rover, Heading Base, Heading Rover
SPS550H
Heading Add-on only (Heading Rover)
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10
Specifications
Receiver options
Receiver
Specifications
Internal Data Logging
option
Provides approx 27Mb of internal memory for static data measurements
GPS satellite signal tracking
This table shows the GPS satellite signal tracking capability for each receiver in the
SPSx50 Modular GPS receiver family.
GPS signal type
Class
SPS550
SPS550H
GPS signals
L1/L2
L2C
L5
GLONASS signals
SPS750
SPS750
Basic base Basic rover
SPS750
Max
SPS850
Extreme
WAAS
EGNOS
MSAS
XP
HP
L1/L2
*****
Geoffrey
to confirm
whether
this is
actually
called
L1/Ls****
GPS SBAS
corrections
OmniSTAR
corrections
OmniSTAR
corrections
Integrated radio options
Except for the SPS550H, all the receiver configurations are available with or without
internal radios with 450 MHz or 900 MHz frequency ranges. The SPS550H is not
available with a radio. This table shows the radio options available for each receiver
type in the SPSx50 Modular GPS receiver family.
Radio option
1 10
SPS550
SPS550H
SPS750
SPS750
SPS750
Basic base Basic rover Max
SPS850
Extreme
No radio
450 MHz Transmit 0.5 W
SPSx50 Modular GPS Receiver User Guide
10
Specifications
Radio option
SPS550
SPS550H
SPS750
SPS750
SPS750
Basic base Basic rover Max
SPS850
Extreme
450 MHz Receive
900 MHz Transmit 1.0 W
900 MHz Receive
External 450 MHz Transmit
Optional
Optional
Optional
Optional
Optional
External 900 MHz Transmit
Optional
Optional
Optional
Optional
Optional
Variable configuration options
This table lists the default options for each receiver type in the SPSx50 Modular GPS
receiver family.
Radio option
SPS550
SPS550H
SPS750
SPS750
SPS750
Basic base Basic rover Max
SPS850
Extreme
CMR inputs (Rover)
CMR outputs (Base)
RTCM inputs (Rover)
RTCM outputs (DGPS Base)
Moving Base
(Position/Heading)
10 Hz measurements
20 Hz measurements
Data logging (postprocessed)
Optional
Optional
Optional
Optional
Optional
8 Location
2.4 km
(1.5 miles)
None
2.4 km
(1.5 miles)
None
None
See <>
9Location
VRS capable
GPS
Internet/IP enabled
RTK range limit
RTK
Upgrading the receiver
You can upgrade the SPS750 Basic base and SPS750 Basic rover to the SPS750 Max at
any time. The upgrade changes all standard options to SPS750 Max capability, and
includes the radio option upgrade, When you purchase the receiver upgrade, your
Trimble dealer will provide you with a set of codes to change the receiver
configuration. See also <>.
The SPS550 and SPS750 Max receivers cannot be upgraded further.
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1 12
Specifications
SPSx50 Modular GPS Receiver User Guide
APPENDIX
NMEA-0183 Output
In this appendix:
NMEA-0183 message overview
Common message elements
NMEA messages
This appendix describes the formats of the
subset of NMEA-0183 messages that are available
for output by the receivers. For a copy of the
NMEA-0183 Standard, go to the National Marine
Electronics Association website at
www.nmea.org.
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NMEA-0183 Output
NMEA-0183 message overview
When NMEA-0183 output is enabled, a subset of NMEA-0183 messages can be output
to external instruments and equipment connected to the receiver serial ports. These
NMEA-0183 messages let external devices use selected data collected or computed by
the GPS receiver.
All messages conform to the NMEA-0183 version 3.01 format. All begin with $ and end
with a carriage return and a line feed. Data fields follow comma (,) delimiters and are
variable in length. Null fields still follow comma (,) delimiters but contain no
information.
An asterisk (*) delimiter and checksum value follow the last field of data contained in
an NMEA-0183 message. The checksum is the 8-bit exclusive of all characters in the
message, including the commas between fields, but not including the $ and asterisk
delimiters. The hexadecimal result is converted to two ASCII characters (0–9, A–F).
The most significant character appears first.
The following table summarizes the set of NMEA messages supported by the receiver,
and shows the page where detailed information about each message can be found.
Message
Function
Page
ADV
Position and Satellite information for RTK network operations 116
GGA
Time, position, and fix related data
117
GSA
GNSS DOP and active satellites
118
GST
Position error statistics
119
GSV
Number of SVs in view, PRN, elevation, azimuth, and SNR
120
HDT
Heading from True North
121
PTNL,AVR
Time, yaw, tilt, range, mode, PDOP, and number of SVs for
Moving Baseline RTK
122
PTNL,GGK
Time, position, position type and DOP values
123
PTNL,GGK_SYNC
Time, synchronized position, position type and DOP values
124
PTNL,PJK
Local coordinate position output
125
PTNL,VGK
Time, locator vector, type and DOP values
126
PTNL,VHD
Heading Information
127
RMC
Position, Velocity, and Time
128
ROT
Rate of turn
129
VTG
Actual track made good and speed over ground
130
ZDA
UTC day, month, and year, and local time zone offset
131
To enable or disable the output of individual NMEA messages, do one of the following:
1 14
•
Create an application file in the GPS Configurator software that contains NMEA
output settings and then send the file to the receiver.
•
Add NMEA outputs in the Serial outputs tab of the GPS Configurator software
and then apply the settings. (You cannot use the GPS Configuration software to
load applications files to the SPSx50 Modular GPS receivers.)
•
For SPSx50 Modular GPS receivers, set up the NMEA output using the keypad
and display or a web browser.
SPSx50 Modular GPS Receiver User Guide
NMEA-0183 Output
Common message elements
Each message contains:
•
A message ID consisting of $GP followed by the message type. For example, the
message ID of the GGA message is $GPGGA.
•
A comma
•
A number of fields, depending on the message type, separated by commas
•
An asterisk
•
A checksum value
Below is an example of a simple message with a message ID ($GPGGA), followed by 13
fields and a checksum value:
$GPGGA,172814.0,3723.46587704,N,12202.26957864,W,2,6,1.2,18.893,M,25.669,M,2.0,0031*4F
Message values
The following values can be found in NMEA messages that the receiver generates.
Latitude and Longitude
Latitude is represented as ddmm.mmmm and longitude is represented as
dddmm.mmmm, where:
•
dd or ddd is degrees
•
mm.mmmm is minutes and decimal fractions of minutes
Direction
Direction (north, south, east, or west) is represented by a single character: N, S, E, or W.
Time
Time values are presented in Universal Time Coordinated (UTC) and are represented
as hhmmss.cc, where:
•
hh is hours, from 00 to 23
•
mm is minutes
•
ss is seconds
•
cc is hundredths of seconds
NMEA messages
When NMEA-0183 output is enabled, the following messages can be generated.
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NMEA-0183 Output
ADV
Position and Satellite information for RTK network operations
An example of the ADV message string is shown below. Table A.3 and Table A.2
describes the message fields. The messages alternate between subtype 110 and 120.
$PGPPADV,110,39.88113582,-105.07838455,1614.125*1M
Table A.1
ADV subtype 110 message fields
Field
Meaning
message ID $PPGPADV
Message sub-type 110
Latitude
Longitude
Ellipsoid height
Elevation of second satellite, in degrees, 90° maximum
Azimuth of second satellite, degrees from True North, 000° to 359°
The checksum data, always begins with *
$PGPPADV,120,21,76.82,68.51,29,20.66,317.47,28,52.38,276.81,22,42.26,198.96*5D
Table A.2
1 16
ADV subtype 120 message fields
Field
Meaning
message ID $PPGPADV
Message sub-type 120
First SV PRN number
Elevation of first satellite, in degrees, 90° maximum
Azimuth of first satellite, degrees from True North, 000° to 359°
Second SV PRN number
Elevation of second satellite, in degrees, 90° maximum
Azimuth of second satellite, degrees from True North, 000° to 359°
The checksum data, always begins with *
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NMEA-0183 Output
GGA
Time, Position, and Fix Related Data
An example of the GGA message string is shown below. Table A.3 describes the
message fields.
$GPGGA,172814.0,3723.46587704,N,12202.26957864,W,
2,6,1.2,18.893,M,-25.669,M,2.0,0031*4F
Table A.3
GGA message fields
Field
Meaning
message ID $GPGGA
UTC of position fix
Latitude
Direction of latitude:
N: North
S: South
Longitude
Direction of longitude:
E: East
W: West
GPS Quality indicator:
0: Fix not valid
1: GPS fix
2: Differential GPS fix
4: Real Time Kinematic, fixed integers
5: Real Time Kinematic, float integers
Number of SVs in use, range from 00 to 12
HDOP
Orthometric height (MSL reference)
10
M: unit of measure for orthometric height is meters
11
Geoid separation
12
M: geoid separation is measured in meters
13
Age of differential GPS data record, Type 1 or Type 9. Null field when DGPS is
not used.
14
Reference station ID, ranging from 0000 to 1023. A null field when any
reference station ID is selected and no corrections are received.
15
The checksum data, always begins with *
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GSA
GNSS DOP and active satellites
An example of the GSA message string is shown below. Table A.4 describes the
message fields.
$GPGSA,<1>,<2>,<3>,<3>,,,,,<3>,<3>,<3>,<4>,<5>,<6>*<7>
Table A.4
1 18
GSA message fields
Field
Meaning
message ID $GPGSA
Mode 1, M = manual, A = automatic
Mode 2, Fix type, 1 = not available, 2 = 2D, 3 = 3D
PRN number, 01 to 32, of satellite used in solution, up to 12 transmitted
PDOP-Position dilution of precision, 0.5 to 99.9
HDOP-Horizontal dilution of precision, 0.5 to 99.9
VDOP-Vertical dilution of precision, 0.5 to 99.9
The checksum data, always begins with *
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NMEA-0183 Output
GST
Position Error Statistics
An example of the GST message string is shown below. Table A.5 describes the
message fields.
$GPGST,172814.0,0.006,0.023,0.020,273.6,0.023,0.020,0.031*6A
Table A.5
GST message fields
Field
Meaning
message ID $GPGST
UTC of position fix
RMS value of the pseudorange residuals (includes carrier phase residuals during
periods of RTK(float) and RTK(fixed) processing)
Error ellipse semi-major axis 1 sigma error, in meters
Error ellipse semi-minor axis 1 sigma error, in meters
Error ellipse orientation, degrees from true north
Latitude 1 sigma error, in meters
Longitude 1 sigma error, in meters
Height 1 sigma error, in meters
The checksum data, always begins with *
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GSV
Satellite Information
The GSV message string identifies the number of SVs in view, the PRN numbers,
elevations, azimuths, and SNR values. An example of the GSV message string is shown
below. Table A.6 describes the message fields.
$GPGSV,4,1,13,02,02,213,,03,-3,000,,11,00,121,,14,13,172,05*67
Table A.6
1 20
GSV message fields
Field
Meaning
message ID $GPGSV
Total number of messages of this type in this cycle
Message number
Total number of SVs visible
SV PRN number
Elevation, in degrees, 90° maximum
Azimuth, degrees from True North, 000° to 359°
SNR, 00–99 dB (null when not tracking)
8–11
Information about second SV, same format as fields 4–7
12–15
Information about third SV, same format as fields 4–7
16–19
Information about fourth SV, same format as fields 4–7
20
The checksum data, always begins with *
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NMEA-0183 Output
HDT
Heading from True North
The HDT string is shown below, and Table A.7 describes the message fields.
$GPHDT,123.456,T*00
Table A.7
Field
Heading from true north fields
Meaning
message ID $GPHDT
Heading in degrees
T: Indicates heading relative to True North
The checksum data, always begins with *
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PTNL,AVR
Time, Yaw, Tilt, Range for Moving Baseline RTK
The PTNL,AVR message string is shown below, and Table A.8 describes the message
fields.
$PTNL,AVR,181059.6,+149.4688,Yaw,+0.0134,Tilt,,,60.191,3,2.5,6*00
Table A.8
AVR message fields
Field
Meaning
message ID $PTNL,AVR
UTC of vector fix
Yaw angle in degrees
Yaw
Tilt angle in degrees
Tilt
Reserved
Reserved
Range in meters
GPS quality indicator:
0:
1:
2:
3:
4:
1 22
Fix not available or invalid
Autonomous GPS fix
Differential carrier phase solution RTK (Float)
Differential carrier phase solution RTK (Fix)
Differential code-based solution, DGPS
10
PDOP
11
Number of satellites used in solution
12
The checksum data, always begins with *
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NMEA-0183 Output
PTNL,GGK
Time, Position, Position Type, DOP
An example of the PTNL,GGK message string is shown below. Table A.9 describes the
message fields.
$PTNL,GGK,172814.00,071296,3723.46587704,N,12202.26957864,W,3,06,1.7,EHT6.777,M*48
Table A.9
PTNL,GGK message fields
Field
Meaning
message ID $PTNL,GGA
UTC of position fix
Date
Latitude
Direction of latitude:
N: North
S: South
Longitude
Direction of Longitude:
E: East
W: West
GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential, floating carrier phase integer-based solution, RTK(float)
3: Differential, fixed carrier phase integer-based solution, RTK(fixed)
4: Differential, code phase only solution (DGPS). Also, OmniSTAR XP/HP
converging
5: SBAS solution – WAAS, EGNOS
6: RTK Float 3D in a VRS/Network. Also OmniSTAR XP/HP converged
7: RTK Fixed 3D in a VRS/Network
8: RTK Float 2D in a VRS/Network
Number of satellites in fix
DOP of fix
10
Ellipsoidal height of fix
11
M: ellipsoidal height is measured in meters
12
The checksum data, always begins with *
Note – The PTNL,GGK message is longer than the NMEA-0183 standard of 80 characters.
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NMEA-0183 Output
PTNL,GGK_SYNC
Time, Synchronized Position, Position Type, DOP
The PTNL,GGK_SYNC message has the same format as the PTNL,GGK message, but
outputs Synchronized 1 Hz positions even in Low Latency mode. An example of the
PTNL,GGK_SYNC message string is shown below. Table A.10 describes the message
fields.
$PTNL,GGK_SYNC,172814.00,071296,3723.46587704,N,12202.26957864,W,3,06,1.
7,EHT-6.777,M*48
Table A.10
PTNL,GGK_SYNC message fields
Field
Meaning
message ID $PTNL,GGK_SYNC
UTC of position fix
Date
Latitude
Direction of latitude:
N: North
S: South
Longitude
Direction of Longitude:
E: East
W: West
GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential, floating carrier phase integer-based solution, RTK(float)
3: Differential, fixed carrier phase integer-based solution, RTK(fixed)
4: Differential, code phase only solution (DGPS). Also, OmniSTAR XP/HP
converging
5: SBAS solution – WAAS, EGNOS
6: RTK Float 3D in a VRS/Network. Also OmniSTAR XP/HP converged
7: RTK Fixed 3D in a VRS/Network
8: RTK Float 2D in a VRS/Network
Number of satellites in fix
DOP of fix
10
Ellipsoidal height of fix
11
M: ellipsoidal height is measured in meters
12
The checksum data, always begins with *
Note – The PTNL,GGK_SYNC message is longer than the NMEA-0183 standard of 80
characters.
1 24
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NMEA-0183 Output
PTNL,PJK Local Coordinate Position Output
An example of the PTNL,PJK message string is shown below. Table A.11 describes the
message fields.
$PTNL,PJK,010717.00,081796,+732646.511,N,+1731051.091,E,1,05,2.7,EHT28.345,M*7C
Table A.11
PTNL,PJK message fields
Field
Meaning
message ID $PTNL,PJK
UTC of position fix
Date
Northing, in meters
Direction of Northing will always be N (North)
Easting, in meters
Direction of Easting will always be E (East)
GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential, floating carrier phase integer-based solution, RTK(float)
3: Differential, fixed carrier phase integer-based solution, RTK(fixed)
4: Differential, code phase only solution (DGPS). Also, OmniSTAR XP/HP
converging
5: SBAS solution – WAAS, EGNOS
6: RTK Float 3D in a VRS/Network. Also OmniSTAR XP/HP converged
7: RTK Fixed 3D in a VRS/Network
8: RTK Float 2D in a VRS/Network
Number of satellites in fix
DOP of fix
10
Ellipsoidal height of fix
11
M: ellipsoidal height is measured in meters
12
The checksum data, always begins with *
Note – The PTNL,PJK message is longer than the NMEA-0183 standard of 80 characters.
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NMEA-0183 Output
PTNL,VGK
Vector Information
An example of the PTNL,VGK message string is shown below. Table A.12 describes the
message fields.
$PTNL,VGK,160159.00,010997,-0000.161,00009.985,-0000.002,3,07,1,4,M*0B
Table A.12
1 26
PTNL,VGK message fields
Field
Meaning
message ID $PTNL,VGK
UTC of vector in hhmmss.ss format
Date in mmddyy format
East component of vector, in meters
North component of vector, in meters
Up component of vector, in meters
GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential, floating carrier phase integer-based solution, RTK(float)
3: Differential, fixed carrier phase integer-based solution, RTK(fixed)
4: Differential, code phase only solution (DGPS). Also, OmniSTAR XP/HP
converging
5: SBAS solution – WAAS, EGNOS
6: RTK Float 3D in a VRS/Network. Also OmniSTAR XP/HP converged
7: RTK Fixed 3D in a VRS/Network
8: RTK Float 2D in a VRS/Network
Number of satellites if fix solution
DOP of fix
M: Vector components are in meters
10
The checksum data, always begins with *
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NMEA-0183 Output
PTNL,VHD
Heading Information
An example of the PTNL,VHD message string is shown below. Table A.13 describes the
message fields.
$PTNL,VHD,030556.00,093098,187.718,-22.138,-76.929,5.015,0.033,0.006,3,07,2.4,M*22
Table A.13
PTNL,VHD message fields
Field
Meaning
message ID $PTNL,VHD
UTC of position in hhmmss.ss format
Date in mmddyy format
Azimuth
ΔAzimuth/ΔTime
Vertical Angle
ΔVertical/ΔTime
Range
ΔRange/ΔTime
GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential, floating carrier phase integer-based solution, RTK(float)
3: Differential, fixed carrier phase integer-based solution, RTK(fixed)
4: Differential, code phase only solution (DGPS). Also, OmniSTAR XP/HP
converging
5: SBAS solution – WAAS, EGNOS
6: RTK Float 3D in a VRS/Network. Also OmniSTAR XP/HP converged
7: RTK Fixed 3D in a VRS/Network
8: RTK Float 2D in a VRS/Network
10
Number of satellites used in solution
11
PDOP
12
The checksum data, always begins with *
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NMEA-0183 Output
RMC
Position, Velocity, and Time
The RMC string is shown below, and Table A.14 describes the message fields.
$GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A
Table A.14
Field
1 28
GPRMC message fields
Meaning
message ID $GPRMC
UTC of position fix
Status A=active or V=void
Latitude
Longitude
Speed over the ground in knots
Track angle in degrees (True)
Date
Magnetic variation in degrees
The checksum data, always begins with *
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NMEA-0183 Output
ROT
Rate and Direction of Turn
The ROT string is shown below, and Table A.15 describes the message fields.
$GPROT,35.6,A*4E
Table A.15
ROT message fields
Field
Meaning
message ID $GPROT
Rate of turn, degrees/minutes, "–" indicates bow turns to port
A:
V:
The checksum data, always begins with *
Valid data
Invalid data
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NMEA-0183 Output
VTG
Over Ground and Speed Over Ground or Track Made Good and Speed Over
Ground
An example of the VTG message string is shown below. Table A.16 describes the
message fields.
$GPVTG,,T,,M,0.00,N,0.00,K*4E
Table A.16
1 30
VTG message fields
Field
Meaning
message ID $GPVTG
Track made good (degrees true)
T: track made good is relative to true north
Track made good (degrees magnetic)
M: track made good is relative to magnetic north
Speed, in knots
N: speed is measured in knots
Speed over ground in kilometers/hour (kph)
K: speed over ground is measured in kph
The checksum data, always begins with *
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ZDA
UTC Day, Month, And Year, and Local Time Zone Offset
An example of the ZDA message string is shown below. Table A.17 describes the
message fields.
$GPZDA,172809,12,07,1996,00,00*45
Table A.17
ZDA message fields
Field
Meaning
message ID $GPZDA
UTC
Day, ranging between 01 and 31
Month, ranging between 01 and 12
Year
Local time zone offset from GMT, ranging from 00 to ±13 hours
Local time zone offset from GMT, ranging from 00 to 59 minutes
The checksum data, always begins with *
Fields 5 and 6 together yield the total offset. For example, if field 5 is –5 and field 6 is
+15, local time is 5 hours and 15 minutes earlier than GMT.
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SPSx50 Modular GPS Receiver User Guide
APPENDIX
GSOF Messages
In this appendix:
Supported message types
GSOF message definitions
This appendix provides information on the
General Serial Output Format (GSOF) messages
that the SPS GPS receivers support. GSOF
message are a Trimble proprietary format and
can be used to send information such as position
and status to a third-party device.
For information on how to set up the SPSx50
Modular GPS receiver to output GSOF, see
Chapter 6, Configuring the SPSx50 Modular GPS
Receiver Using the Keypad and Display and
Chapter , Configuring the SPSx50 Receiver Using
a Web Browser<>.
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B
GSOF Messages
Supported message types
The following table summarizes the GSOF messages supported by the receiver, and
shows the page where detailed information about each message can be found.
Message
Description
Page
TIME
Position Time
134
LLH
Latitude, Longitude, Height
135
ECEF
Earth-Centered, Earth-Fixed Position
135
ECEF DELTA
Earth-Centered, Earth-Fixed Delta Position
136
NEU DELTA
Tangent Plane Delta
136
Velocity
Velocity Data
136
PDOP
PDOP Info
137
SIGMA
Position Sigma Info
137
SV Brief
SV Brief Info
138
SV Detail
SV Detailed Info
139
UTC
Current UTC Time
140
BATT/MEM
Receiver Battery and Memory Status
140
ATTITUDE
Attitude Info
141
GSOF message definitions
When GSOF output is enabled, the following messages can be generated.
TIME
This message describes position time information. It contains the following data:
•
GPS time, in milliseconds of GPS week
•
GPS week number
•
Number of satellites used
•
Initialization counter
Table B.1
1 34
Time (Type 1 record)
Field Item
Type
Value
Meaning
Output record type
Char
01h
Position time output record
Record length
Char
0Ah
Bytes in record
2-5
GPS time (ms)
Long
msecs
GPS time, in milliseconds of GPS week
6-7
GPS week number
Short
number
GPS week count since January 1980
Number of SVs used
Char
00h-0Ch
Number of satellites used to determine
the position (0-12)
Position flags 1
Char
See
Reports first set of position attribute flag
values
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GSOF Messages
Table B.1
Time (Type 1 record)
Field Item
Type
Value
Meaning
10
Position flags 2
Char
See
Reports second set of position attribute
flag values
11
Initialized number
Char
00h-FFh
Increments with each initialization
(modulo 256)
LLH
This message describes latitude, longitude, and height. It contains the following data:
Table B.2
•
WGS-84 latitude and longitude, in radians
•
WGS-84 height, in meters
Latitude, longitude, height (Type 2 record)
Field Item
Type
Value
Meaning
Char
02h
Latitude, longitude, and height output record
18h
Output record type
Record length
Char
2-9
Latitude
Double Radians
Latitude from WGS-84 datum
Bytes in record
10-17 Longitude
Double Radians
Longitude from WGS-84 datum
18-25 Height
Double Meters
Height from WGS-84 datum
ECEF
This message describes the ECEF position. It contains the following data:
•
Table B.3
Earth Centered Earth Fixed X, Y, Z coordinates, in meters
ECEF position (Type 3 record)
Field Item
Type
Value
Meaning
Output record type
Char
03h
Earth-Centered, Earth-Fixed (ECEF) position output
record
Record length
Char
18h
Bytes in record
2-9
Double Meters
WGS-84 ECEF X-axis coordinate
10-17 Y
Double Meters
WGS-84 ECEF Y-axis coordinate
18-25 Z
Double Meters
WGS-84 ECEF Z-axis coordinate
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B
GSOF Messages
ECEF DELTA
This message describes the ECEF Delta position. It contains the following data:
•
Table B.4
Earth Centered Earth Fixed X, Y, Z deltas between the rover and base position,
in meters.
ECEF Delta (Type 6 record)
Field Item
Type
Value
Meaning
Output record type
Char
06h
Earth-Centered, Earth-Fixed (ECEF) Delta output record
Record length
Char
18h
Bytes in record
2-9
Delta X
Double Meters
ECEF X-axis delta between rover and base station
positions
10-17 Delta Y
Double Meters
ECEF Y-axis delta between rover and base station
positions
18-25 Delta Z
Double Meters
ECEF Z-axis delta between rover and base station
positions
NEU DELTA
This message contains Tangent Plane Delta information. It contains the following
data:
•
North, east, and up deltas of the vector from the base to the rover (in meters)
projected onto a plane tangent to the WGS-84 ellipsoid at the base receiver.
Table B.5
NEU Delta (Type 7 record)†
Field Item
Type
Value
Meaning
Output record type
Char
06h
Tangent Plane Delta Output Record
Record length
Char
18h
Bytes in record
2-9
Delta east
Double meters
East component of vector from base
station to rover, projected onto a plane
tangent to the WGS-84 ellipsoid at the
base station
10-17 Delta north
Double meters
North component of tangent plane vector
18-25 Delta up
Double meters
Difference between ellipsoidal height of
tangent plane at base station and a
parallel plane passing through rover point
†
These records are only output if a valid DGPS/RTK solution is computed.
Velocity
This message provides velocity information. It contains the following data:
1 36
•
Horizontal velocity, in meters per second
•
Vertical velocity, in meters per second
SPSx50 Modular GPS Receiver User Guide
GSOF Messages
•
Heading, in radians, referenced to WGS-84 True North
Table B.6
Velocity (Type 8 record)
Field Item
Type
Value
Meaning
Output record type
Char
08h
Velocity data output record
Record length
Char
0Dh
Bytes in record
Velocity flags
Char
See
Velocity status flags
Table B.17
3-6
Speed
Float
Meters per Horizontal speed
second
7-10
Heading
Float
Radians
11-14 Vertical velocity
Float
Meters per Vertical velocity
second
True north heading in the WGS-84 datum
PDOP
This message describes the PDOP information. It contains the following data:
•
PDOP
•
HDOP
•
VDOP
•
TDOP
Table B.7
PDOP (Type 9 record)
Field Item
Type
Value
Meaning
Output record type
Char
09h
PDOP information output record
Record length
Char
10h
Bytes in record
2-5
PDOP
Float
Positional Dilution of Precision
6-9
HDOP
Float
Horizontal Dilution of Precision
10-13 VDOP
Float
Vertical Dilution of Precision
14-17 TDOP
Float
Time Dilution of Precision
SIGMA
This message describes the position sigma information. It contains the following data:
•
Position RMS
•
Sigma east, in meters
•
Sigma north, in meters
•
Sigma up, in meters
•
Covariance east-north
•
Error Ellipse Semi-major axis, in meters
•
Error Ellipse Semi-minor axis, in meters
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B
GSOF Messages
Table B.8
•
Orientation of Semi-major axis in degrees from True North
•
Unit variance
•
Number of epochs
Sigma (Type 12 record)
Field Item
Type
Value
Meaning
Output record type
Char
0Ch
Position sigma information output record
Record length
Char
26h
Bytes in record
2-5
Position RMS
Float
6-9
Sigma east
Root means square of position error calculated for
overdetermined positions
Float
Meters
10-13 Sigma north
Float
Meters
14-17 Covar. east-north
Float
number
18-21 Sigma up
Float
Meters
22-25 Semi-major axis
Float
Meters
Semi-major axis of error ellipse
26-29 Semi-minor axis
Float
Meters
Semi-minor axis of error ellipse
30-33 Orientation
Float
degrees
Orientation of semi-minor axis, clockwise from true
north
34-37 Unit variance
Float
30-39 Number of epochs
short
Covariance east-north (dimensionless)
Valid only for over-determined solutions. Unit variance
should approach 1.o value. A value of less than 1.0
indicates that apriori variances are too pessimistic.
count
Number of measurement epochs used to compute the
position. Could be greater than 1 for positions subjected
to static constraint. Always 1 for kinematic.
SV Brief
This message provides brief satellite information. It contains the following data:
•
Number of satellites tracked
•
The PRN number of each satellite
•
Flags indicating satellite status
Table B.9
SV brief (Type 13 record)
Field Item
Type
Value
Meaning
Output record type
Char
0Dh
Brief satellite information output record
Record length
Char
Number of SVs
Char
Bytes in record
00h-18h
Number of satellites included in record†
The following bytes are repeated for Number of SVs
1 38
PRN
Char
01h-20h
SV Flags1
Char
See
First set of satellite status bits
Table B.18
SPSx50 Modular GPS Receiver User Guide
Pseudorandom number of satellites (1-32)
GSOF Messages
Table B.9
SV brief (Type 13 record)
Field Item
SV Flags2
†
Type
Value
Meaning
Char
See
Second set of satellite status bits
Table B.19
Includes all tracked satellites, all satellites used in the position solution, and all
satellites in view.
SV Detail
This message provides detailed satellite information. It contains the following data:
•
Number of satellites tracked
•
The PRN number of each satellite
•
Flags indicating satellite status
•
Elevation above horizon, in degrees
•
Azimuth from True North, in degrees
•
Signal-to-noise ratio (SNR) of L1 signal
•
Signal-to-noise ratio (SNR) of L2 signal
Table B.10
SV detail (Type 14 record)
Field Item
Type
Value
Meaning
Output record
type
Char
0Eh
Detailed satellite information output
record
Record length
Char
1+
8×(number of
SVs)
Bytes in record
2-9
Number of SVs
Char
00h-18h
Number of satellites included in record†
The following bytes are repeated for Number of SVs
PRN
Char
01h-20h
Pseudorandom number of satellites (1-32)
Flags1
Char
See Table B.18 First set of satellite status bits
Flags2
Char
See Table B.19 Second set of satellite status bits
Elevation
Char
Degrees
Azimuth
Short
Degrees
Azimuth of satellite from true north
SNR L1
Char
dB * 4
Signal-to-noise ratio of L1 signal
(multiplied by 4)††
SNR L2
Char
dB * 4
Signal-to-noise ratio of L2 signal
(multiplied by 4)††
Angle of satellite above the horizon
†
Includes all tracked satellites, all satellites used in the position solution, and all
satellites in view.
††
Set to zero for satellites that are not tracked on the current frequency (L1 or L2
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B
GSOF Messages
UTC
This message describes current time information. It contains the following data:
•
GPS time, in milliseconds of GPS week
•
GPS week number
•
GPS to UTC time offset, in seconds
Table B.11
UTC (Type 16 record)
Field
Item
Type
Output record type Char
Value
Meaning
10h
Record length
Char
09h
Bytes in record
2-5
GPS millisecond of
week
Long
msecs
Time when packet is sent from the
receiver, in GPS milliseconds of week
6-7
GPS week number
Short
number
Week number since start of GPS time
8-9
UTC offset
Short
seconds
GPS-to-UTC time offset
10
Flags
Char
See
Flag bits indicating validity of Time
Table B.16 and UTC offsets
Batt/Mem
This message provides information relating to the receiver battery and memory. It
contains the following data:
•
Remaining battery power
•
Remaining memory
Table B.12
Batt/Mem (Type ??? record)
Field Item
Type
Value
Output record type
Char
25h
Record length
Char
0Ah
2-3
Battery capacity
Unsigned percentage Remaining battery capacity in
short
presentage
4-11
Remaining memory
Double
hours
Meaning
Bytes in record
Estimated remaining data logging time
in hours
Attitude
This message provides attitude information relating to the vector between the moving
base antenna and the heading antenna. It contains the following data:
1 40
•
Tilt or vertical angle, in radians, from the moving base antenna to the heading
antenna relative to a horizontal plane through the moving base antenna
•
Heading or yaw, in radians, relative to True North
SPSx50 Modular GPS Receiver User Guide
GSOF Messages
•
Range or slope distance between the moving base antenna and the heading
antenna
Table B.13
Attitude (Type 27 record)
Field Item
Type
Value
Meaning
Output record type
Char
1Bh
Attitude information
Record length
Char
2Ah
Bytes in record
2-5
GPS time
Long
msecs
GPS time in milliseconds of GPS week
Flags
Char
See
Flag bits indicating validity of attitude
Table B.20 components
Number of SVs used
Char
00h-0Ch
Calculation mode
Char
See
Positioning mode
Table B.21
Reserved
Number of satellites used to calculate
attitude
Reserved
10-17 Tilt
Double radians
Tilt relative to horizontal plane
18-25 Yaw
Double radians
Rotation about the vertical axis relative to
true north
26-33 Reserved
Reserved
34-41 Range
Double meters
Distance between antennas
42-43 PDOP
Short
Position Dilution of Precision
0.1
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B
GSOF Messages
Flags
Table B.14
Bit
Meaning
New position
0: No
1: Yes
Clock fix calculated for current position
0: No
1: Yes
Horizontal coordinates calculated this position
0: No
1: Yes
Height calculated this position
0: No
1: Yes
Weighted position
0: No
1: Yes
Overdetermined position
0: No
1: Yes
Ionosphere-free position
0: No
1: Yes
Position uses filtered L1 pseudoranges
0: No
1: Yes
Table B.15
1 42
Position flags 1: bit values
Position flags 2: bit values
Bit
Meaning
Differential position
0: No
1: Yes
Differential position method
0: RTCM (Code)
1: RTK, OmniSTAR HP (Phase)
Differential position method
0: Differential position is code (RTCM) or a float position (RTK)
1: Differential position is a fixed integer phase position (RTK if Bit-0 = 1, WAAS
if Bit-0=0)
OmniSTAR HP
0: Not active
1: OmniSTAR HP differential solution
SPSx50 Modular GPS Receiver User Guide
GSOF Messages
Table B.15
Position flags 2: bit values
Bit
Meaning
Position determined with static as a constant
0: No
1: Yes
Position is network RTK solution
0: No
1: Yes
6-7
Reserved (set ot zero)
Table B.16
Flags: Bit values
Bit
Meaning
Time information (week and millisecond of week) validity
0: Not valid
1: Valid
UTC offset validity
0: Not valid
1: Valid
Table B.17
Velocity flags: Bit values
Bit
Meaning
Velocity data validity
0: Not valid
1: Valid
Velocity computation
0: Computed from doppler
1: Computed from consecutive measurements
2-7
Reserved (set to zero)
Table B.18
SV flags: 1 bit values
Bit
Meaning
Satellite Above Horizon
0: No
1: Yes
Satellite Currently Assigned to a Channel (trying to track)
0: No
1: Yes
Satellite Currently Tracked on L1 Frequency
0: No
1: Yes
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B
GSOF Messages
Table B.18
Bit
Meaning
Satellite Currently Tracked on L2 Frequency
0: No
1: Yes
Satellite Reported at Base on L1 Frequency
0: No
1: Yes
Satellite Reported at Base on L2 Frequency
0: No
1: Yes
Satellite Used in Position
0: No
1: Yes
Satellite Used in Current RTK Process (Search, Propagate, Fix Solution)
0: No
1: Yes
Table B.19
SV flags: 2 bit value
Bit
Meaning
Satellite Tracking P-Code on L1 Band
0: No
1: Yes
Satellite Tracking P-Code on L2 Band
0: No
1: Yes
2–7
Reserved. Set to zero.
Table B.20
1 44
SV flags: 1 bit values
Attitude flags
Bit
Meaning
Calibrated
0: No
1: Yes
Tilt valid
0: No
1: Yes
Yaw valid
0: No
1: Yes
Reserved
SPSx50 Modular GPS Receiver User Guide
B
Table B.20
Attitude flags
Bit
Meaning
Range valid
0: No
1: Yes
5-7
Reserved
Table B.21
Attitude calculation flags
Bit
Meaning
0: No position
1: Autonomous position
2: RTK/Float position
3: RTK/Fix position
4: DGPS position
Data collector report structure
Table B.22
Byte
Report packet 40h structure
Item
Type
Value
Meaning
STX
CHAR
02h
Start transmission
STATUS
CHAR
See Table B.23
Receiver status code
PACKET TYPE
CHAR
40h
Report Packet 40h
LENGTH
CHAR
00h–FAh
Data byte count
TRANSMISSION
NUMBER
CHAR
PAGE INDEX
CHAR
00h–FFh
Index of current packet page
MAX PAGE INDEX CHAR
00h–FFh
Maximum index of last packet in one group of
records
Table B.23
Unique number assigned to a group record packet
pages. Prevents page mismatches when multiple sets
of record packets exist in output stream
Data collector format report packet structure
Byte
number
Message
Description
Bit 0
Reserved
Bit 1
Low battery
Bit 2–7
0–63
Reserved
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B
1 46
SPSx50 Modular GPS Receiver User Guide
APPENDIX
Adding Internal Radio Frequencies
In this appendix:
Adding receiving frequencies for
the 450 MHz internal radio
If the receiver has the optional internal 450 MHz
radio installed, you must use the WinFlash
software to add receiving frequencies to the
default list. If you purchased the transmit option,
the broadcast frequencies must be programmed
at the factory.
To install the WinFlash software, see <>
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C
Adding Internal Radio Frequencies
Adding receiving frequencies for the 450 MHz internal radio
1.
Start the WinFlash software.
The Device Configuration screen appears.
2.
From the Device type list, select the appropriate receiver.
3.
From the PC serial port field, select the serial (COM) port on the computer that
the receiver is connected to.
4.
Click Next.
The Operation Selection dialog appears. The Operations list shows all of the
supported operations for the selected device. A description of the selected
operation is shown in the Description field.
5.
Select Configure Radio and then click Next.
The Frequency Selection dialog appears:
1 48
6.
In the Wireless Format group, select the appropriate channel and wireless mode.
The Wireless Mode must be the same for all radios in your network.
7.
In the Edit Frequency field, enter the frequency you require.
8.
Click Add. The new frequency appears in the Selected Frequencies list.
SPSx50 Modular GPS Receiver User Guide
Adding Internal Radio Frequencies
Note – The frequencies that you program must conform to the channel spacing and
minimum tuning requirements for the radio. To view this information, click Radio Info.
You may select either 12.5 or 25 kHz channel spacing. All radios in your network must use
the same channel spacing.
9.
Once you configure all the frequencies you require, click OK.
The WinFlash software updates the receiver radio frequencies and then restarts
the receiver.
Note – You can only configure receive frequencies. The FCC approved transmit frequencies
must be specified and configured by Trimble.
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C
1 50
Adding Internal Radio Frequencies
SPSx50 Modular GPS Receiver User Guide
APPENDIX
Real-time Data and Services
In this appendix:
RT17 Streamed Data service
This chapter describes the RT17 Streamed Data
service available with the SPS750 Max and
SPS850 Extreme GPS receivers.
By default, the receivers do not have the Binary
Output option enabled. This option is required to
stream RT17 messages from the receiver. To
enable this option on your receiver, please
contact you local Trimble dealer.
The RT17 streamed data service is required on
any GPS receiver that will be incorporated into a
Trimble Virtual Reference Station (VRS™)
network.
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D
Real-time Data and Services
RT17 Streamed Data service
An RT17 service provides GPS observations, ephemeredes, and other information, as
defined for that service. When a client connects to the service, all data flow is from the
receiver to the client. This data stream is required for reference stations in a Trimble
Virtual Reference Station (VRS) network.
RT17 outputs can be set up using the keypad and display or the web interface for the
receiver.
Using the keypad and display to output RT17
The RT17 output configuration is done during the base and rover setup using the
keypad and display. For more information, see Outputting corrections, page 72.
Using the web interface to output RT17
The RT17 output is set up using the I/O Configuration menu of the web interface of the
receiver. The stream can be configured to allow multiple client connections on a single
port or be restricted to a single client connection. The output stream can be protected
by requiring a password to only allow authorized connections on the port. For more
information, see I/O Configuration menu, page 87.
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SPSx50 Modular GPS Receiver User Guide
APPENDIX
Upgrading the Receiver Firmware
In this appendix:
The WinFlash Software
Upgrading the receiver firmware
Your receiver is supplied with the latest version of
receiver firmware installed. If a later version
becomes available, upgrade the firmware
installed on your receiver using the WinFlash
software.
You can also upgrade the SPSx50 receiver
through the web interface. See Appendix E
<>.
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E
Upgrading the Receiver Firmware
The WinFlash Software
The WinFlash software communicates with Trimble products to perform various
functions including:
•
installing software, firmware, and option upgrades
•
running diagnostics ( for example, retrieving configuration information)
•
configuring radios
For more information, online help is also available when using the WinFlash software.
Note – The WinFlash software runs on Microsoft Windows 95, 98, Windows NT®, 2000,
Me, or XP operating systems.
Installing the WinFlash software
You can install the WinFlash software from the Trimble SPS GPS Receiver CD, or from
the Trimble website.
To install the WinFlash software from the CD:
1.
Insert the disk into the CD drive on your computer.
2.
From the main menu select Install individual software packages.
3.
Select Install WinFlash vX.XX with SPS770/SPS780 drivers and firmware. 
4.
Follow the on-screen instructions.
The WinFlash software guides you through the firmware upgrade process, as described
below. For more information, refer to the WinFlash Help.
Upgrading the receiver firmware
1.
Start the WinFlash software. The Device Configuration screen appears.
2.
From the Device type list, select your receiver.
3.
From the PC serial port field, select the serial (COM) port on the computer that
the receiver is connected to.
4.
Click Next.
The Operation Selection screen appears. The Operations list shows all of the
supported operations for the selected device. A description of the selected
operation is shown in the Description field.
5.
Select Load GPS software and then click Next.
The GPS Software Selection window appears. This screen prompts you to select
the software that you want to install on the receiver.
6.
1 54
From the Available Software list, select the latest version and then click Next.
SPSx50 Modular GPS Receiver User Guide
Upgrading the Receiver Firmware
The Settings Review window appears. This screen prompts you to connect the
receiver, suggests a connection method, and then lists the receiver configuration
and selected operation.
7.
If all is correct, click Finish.
Based on the selections shown above, the Software Upgrade window appears and
shows the status of the operation ( for example, Establishing communication
with . Please wait.).
8.
Click OK.
The Software Upgrade window appears again and states that the operation was
completed successfully.
9.
To select another operation, click Menu; to quit, click Exit.
If you click Exit, the system prompts you to confirm.
10. Click OK.
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E
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Upgrading the Receiver Firmware
SPSx50 Modular GPS Receiver User Guide
APPENDIX
Troubleshooting
In this appendix:
Receiver issues
Use this appendix to identify and solve common
problems that may occur with the receiver.
Please read this section before you contact
technical support.
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F
Troubleshooting
Receiver issues
This section describes some possible receiver issues, possible causes, and how to solve
them.
Issue
Possible cause
Solution
The receiver does not
turn on.
External power is too low.
Check the charge on the external
battery, and check the fuse if
applicable.
Internal power is too low.
Check the charge on the internal
battery.
External power is not properly Check that the Lemo connector or
connected.
26-pin adaptor is seated correctly,
and that the cable is secured to the
receiver.
Check for broken or bent pins in the
connector.
Faulty power cable.
Check that you are using the correct
cable for the port/battery.
Check that the correct battery is
connected to a particular port.
The ports on the SPSx50 receiver are
optimized for use with different
types of battery. The 26-pin
connector is optimized for Trimble
custom external batteries, and the
Lemo port is optimized for external
12 V batteries such as car, motorcycle
or truck batteries.
If the wrong type of battery is
connected to the wrong port, it is
likely that it will cut off earlier than
normal.
Check pinouts with multimeter to
ensure internal wiring is intact.
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Troubleshooting
Issue
Possible cause
Solution
Receiver does not log
data.
Insufficient memory.
Delete old files by holding down
for 30 seconds.
Delete the old files by using the
delete and purge functions available
in the Data Logging menu (see
page 85) of the web interface.
Data Logging option is
disabled.
Order the data logging option from
your local Trimble dealer. Data
logging is disabled as standard on all
SPS GPS receivers. Check your
original purchase order or the
receiver configuration using the web
interface to see if data logging is
enabled on your receiver.
The receiver is tracking fewer
than four satellites.
Wait until the receiver display shows
that more than four satellites are
being tracked.
The internal memory needs to Press
be reformatted
The receiver is not
responding.
for 30 seconds.
Receiver needs soft reset.
Turn off the receiver and then turn it
back on again.
Receiver needs full reset.
Press
for 30 seconds.
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F
Troubleshooting
Issue
Possible cause
Solution
The base station
receiver is not
broadcasting.
Port settings between
reference receiver and radio
are incorrect.
Using the SCS900 software, connect
to the reference radio through the
receiver. If no connection is made,
connect directly to the radio and
change the port settings. Try to
connect through the receiver again
to ensure that they are
communicating.
Corrections are routed to a
port rather than to the
internal radio modem.
Check that corrections are routed
correctly using the receiver keypad
and display.
A rubber duck antenna is
connected directly to the
radio antenna port on the
receiver, or an external
high-gain antenna is
connected via cable to the
radio antenna port on the
receiver.
Check that the connections are made
correctly and to the right connectors.
Ensure that the connectors are
seated tightly, and that there are no
signs of damage to the cable.
The user is utilizing AutoBase
and the Autobase warning
function is enabled.
If the user sets up on a new point on
a site that has not been occupied
previously, the AutoBase warning
will prohibit the base station from
broadcasting
Faulty cable between receiver Try a different cable.
and radio.
Examine the ports for missing pins.
Use a multimeter to check pinouts.
No power to radio.
If the radio has its own power
supply, check the charge and
connections.
If power is routed through the
receiver, ensure that the receiver’s
external power source is charged
and that power output on Port 3 is
enabled.
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SPSx50 Modular GPS Receiver User Guide
Troubleshooting
Issue
Possible cause
Solution
Roving receiver is not
receiving radio.
The base station receiver is
not broadcasting.
See page 160.
Incorrect over air baud rates
Connect to the roving receiver’s
between reference and rover. radio and make sure that it has the
same setting as the reference
receiver.
The SCS900 software automatically
configures the over-the-air baud rate
to 9600.
The receiver is not
receiving satellite
signals
Incorrect port settings
between roving external
radio and receiver.
If the radio is receiving data and the
receiver is not getting radio
communications, use the SCS900
software to check that the port
settings are correct.
The radio antenna cable and
GPS antenna cable are mixed
up.
Make sure that the external radio
antenna cable is connected between
the TNC connector marked RADIO
and the radio antenna.
The GPS antenna is connected Make sure that the GPS antenna
cable is tightly seated to the GPS
to the wrong antenna
antenna connection on the receiver
connector.
and not connected to the wrong /
radio antenna connector.
The GPS antenna cable is
loose.
Make sure that the GPS antenna
cable is tightly seated to the GPS
antenna connection on the GPS
antenna.
The cable is damaged
Check the cable for any signs of
damage - a damaged cable can
inhibit signal detection from the
antenna at the receiver.
The GPS antenna is not in
clear line of sight to the sky.
Make sure that the GPS antenna is
placed in a location with clear line of
sight to the sky
Restart the receiver as a last resort by
powering down and restarting.
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F
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Troubleshooting
SPSx50 Modular GPS Receiver User Guide
Glossary
This section explains some of the terms used in this manual.
almanac
A file that contains orbit information on all the satellites, clock corrections, and
atmospheric delay parameters. The almanac is transmitted by a GPS satellite to a GPS
receiver, where it facilitates rapid acquisition of GPS signals when you start collecting
data, or when you have lost track of satellites and are trying to regain GPS signals.
The orbit information is a subset of the emphemeris / ephemerides data.
AutoBase
AutoBase uses the position of the receiver to automatically select the correct base
station; allowing for one button press operation of a base station. It shortens setup
time associated with repeated daily base station setups at the same location on
jobsites.
base station
Also called reference station.
A base station is a GPS antenna and receiver positioned on a known location
specifically to collect data for differential correction Base data needs to be collected
at the same time as you collect data on a rover unit. A base station can be a permanent
station that collects base data for provision to multiple users, or a rover unit that you
locate on known coordinates for the duration of the datalogging session.
Binary exchange
format
See BINEX.
BINEX
(BInary EXchange format)
BINEX is an operational binary format standard for GPS/GLONASS/SBAS research
purposes. It has been designed to grow and allow encapsulation of all (or most) of the
information currently allowed for in a range of other formats.
broadcast server
An Internet server that manages authentication and password control for a network of
VRS servers, and relays VRS corrections from the VRS server that you select.
carrier
A radio wave having at least one characteristic (such as frequency, amplitude, or phase)
that can be varied from a known reference value by modulation.
carrier frequency
The frequency of the unmodulated fundamental output of a radio transmitter. The GPS
L1 carrier frequency is 1575.42 MHz.
carrier phase
The difference between the carrier signal generated by the internal oscillator of a
receiver and the carrier signal coming in from the satellite.
carrier phase
The time taken for the L1 or L2 carrier signal generated by the satellite to reach the
GPS receiver. Measuring the number of carrier waves between the satellite and receiver
is a very accurate method of calculating the distance between them.
cellular modems
A wireless adapter that connects a laptop computer to a cellular telephone system for
data transfer. Cellular modems, which contain their own antennas, plug into a PC Card
slot or into the USB port of the computer and are available for a variety of wireless data
services such as GPRS.
CMR
(Compact Measurement Record)
A real-time message format developed by Trimble for broadcasting corrections to
other Trimble receivers. CMR is a more efficient alternative to RTCM.
covanance
The mean value.
SPSx50 Modular GPS Receiver User Guide
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Glossary
datum
Also called geodetic datum.
A mathematical model designed to best fit the geoid, defined by the relationship
between an ellipsoid and a point on the topographic surface established as the origin of
the datum. World geodetic datums are typically defined by the size and shape of an
ellipsoid and the relationship between the center of the ellipsoid and the center of the
earth.
Because the earth is not a perfect ellipsoid, any single datum will provide a better
model in some locations than others. Therefore, various datums have been established
to suit particular regions.
For example, maps in Europe are often based on the European datum of 1950 (ED-50).
Maps in the United States are often based on the North American datum of 1927
(NAD-27) or 1983 (NAD-83).
All GPS coordinates are based on the WGS-84 datum surface.
deep discharge
Withdrawal of all electrical energy to the end-point voltage before the cell or battery is
recharged.
DGPS
See real-time differential GPS.
differential
correction
Differential correction is the process of correcting GPS data collected on a rover with
data collected simultaneously at a base station. Because it is on a known location, any
errors in data collected at the base station can be measured, and the necessary
corrections applied to the rover data.
Differential correction can be done in real time, or after the data has been collected by
postprocessing.
differential GPS
See real-time differential GPS.
Dilution of Precision
See DOP.
DOP
(Dilution of Precision)
A measure of the quality of GPS positions, based on the geometry of the satellites used
to compute the positions. When satellites are widely spaced relative to each other, the
DOP value is lower, and position accuracy is greater. When satellites are close together
in the sky, the DOP is higher and GPS positions may contain a greater level of error.
PDOP (Position DOP) indicates the three-dimensional geometry of the satellites.
Other DOP values include HDOP (Horizontal DOP) and VDOP (Vertical DOP), which
indicate the accuracy of horizontal measurements (latitude and longitude) and
vertical measurements respectively. PDOP is related to HDOP and VDOP as follows:
PDOP2 = HDOP2 + VDOP2
dual-frequency GPS
A type of receiver that uses both L1 and L2 signals from GPS satellites. A
dual-frequency receiver can compute more precise position fixes over longer distances
and under more adverse conditions because it compensates for ionospheric delays.
EGNOS
(European Geostationary Navigation Overlay Service)
A satellite-based augmentation system (SBAS) that provides a free-to-air differential
correction service for GPS. EGNOS is the European equivalent of WAAS, which is
available in the United States.
elevation mask
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The angle below which the receiver will not track satellites. Normally set to 10 degrees
to avoid interference problems caused by buildings and trees, and multipath errors.
SPSx50 Modular GPS Receiver User Guide
Glossary
ellipsoid
An ellipsoid is the three-dimensional shape that is used as the basis for mathematically
modeling the earth’s surface. The ellipsoid is defined by the lengths of the minor and
major axes. The earth’s minor axis is the polar axis and the major axis is the equatorial
axis.
emphemeris /
ephemerides
A list of predicted (accurate) positions or locations of satellites as a function of time. A
set of numerical parameters that can be used to determine a satellite’s position.
Available as broadcast ephemeris or as postprocessed precise ephemeris.
epoch
The measurement interval of a GPS receiver. The epoch varies according to the survey
type: for real-time survey measurement it is set at one second; for postprocessed
survey measurement it can be set to a rate of between one second and one minute. For
example, if data measurement is measured every 15 seconds, loading data using
30-second epochs means loading every other measurement.
feature
A feature is a physical object or event that has a location in the real world, which you
want to collect position and/or descriptive information (attributes) about. Features
can be classified as surface or non-surface features, and again as points,
lines/breaklines, boundaries/areas.
firmware
The program inside the receiver that controls receiver operations and hardware.
GLONASS
(Global Orbiting Navigation Satellite System)
GLONASS is a Soviet space-based navigation system comparable to the American GPS
system. The operational system contains 21 satellites in 3 orbital planes, with 3
on-orbit spares.
GNNS
Global Navigation Satellite System
GSOF
General Serial Output Format
HDOP
(Horizontal Dilution of Precision)
Dilution of Precision (DOP) is a measure of the quality of GPS positions, based on the
geometry of the satellites used to compute the positions. When satellites are widely
spaced relative to each other, the DOP value is lower, and position accuracy is greater.
When satellites are close together in the sky, the DOP is higher and GPS positions may
contain a greater level of error.
HDOP is a DOP value that indicates the accuracy of horizontal measurements. Other
DOP values include VDOP (vertical DOP) and PDOP (Position DOP).
Using a maximum HDOP is ideal for situations where vertical precision is not
particularly important, and your position yield would be decreased by the vertical
component of the PDOP ( for example, if you are collecting data under canopy).
Horizontal Dilution
of Precision
See HDOP.
L1
The primary L-band carrier used by GPS satellites to transmit satellite data.
L2
The secondary L-band carrier used by GPS satellites to transmit satellite data.
L5
The third L-band carrier used by GPS satellites to transmit satellite data. L5 will
provide a higher power level than the other carriers. As a result, acquiring and tracking
weak signals will be easier.
Moving Base
Moving Base is an RTK positioning technique in which both reference and rover
receivers are mobile. Corrections are sent from a ‘base’ receiver to a ‘rover’ receiver and
the resultant baseline (vector) has centimeter-level accuracy
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Glossary
(MTSAT Satellite-Based Augmentation System)
MSAS
A satellite-based augmentation system (SBAS) that provides a free-to-air differential
correction service for GPS. MSAS is the Japanese equivalent of WAAS, which is
available in the United States.
MTSAT SatelliteSee MSAS.
Based Augmentation
System
multipath
Interference similar to ghosts on a television screen that occurs when GPS signals
arrive at an antenna having traversed different paths. The signal traversing the longer
path yields a larger pseudorange estimate and increases the error. Multiple paths can
arise from reflections off the ground or structures near the antenna.
NMEA
(National Marine Electronics Association)
NMEA 0183 defines the standard for interfacing marine electronic navigational
devices. This standard defines a number of 'strings' referred to as NMEA strings that
contain navigational details such as positions. Most Trimble GPS receivers can output
positions as NMEA strings.
OmniSTAR
The OmniSTAR HP/XP service allows the use of new generation dual-frequency
receivers with the OmniSTAR service. The HP/XP service does not rely on local
reference stations for its signal, but utilises a global satellite monitoring network.
Additionally, while most current dual-frequency GPS systems are accurate to within a
meter or so, OmniSTAR with XP is accurate in 3D to better than 30 cm.
PDOP
(Position Dilution of Precision)
Dilution of Precision (DOP) is a measure of the quality of GPS positions, based on the
geometry of the satellites used to compute the positions. When satellites are widely
spaced relative to each other, the DOP value is lower, and position accuracy is greater.
When satellites are close together in the sky, the DOP is higher and GPS positions may
contain a greater level of error.
PDOP is a DOP value that indicates the accuracy of three-dimensional measurements.
Other DOP values include VDOP (vertical DOP) and HDOP (Horizontal Dilution of
Precision).
Using a maximum PDOP value is ideal for situations where both vertical and
horizontal precision are important.
Position Dilution of
Precision
See PDOP.
postprocessing
Postprocessing is the processing of satellite data after it has been collected in order to
eliminate error. This involves using PC software to compare data from the rover to data
collected at the base station.
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SPSx50 Modular GPS Receiver User Guide
Glossary
real-time differential Also known as real-time differential correction, DGPS.
GPS
Real-time differential GPS is the process of correcting GPS data as you collect it. This is
achieved by having corrections calculated at a base station sent to the receiver via a
radio link. As the rover receives the position it applies the corrections to give you a very
accurate position in the field.
Most real-time differential correction methods apply corrections to code phase
positions. RTK uses carrier phase measurements.
While DGPS is a generic term its common interpretation is the use of single-frequency
code phase data that is sent from a GPS base station to a rover GPS receiver and the
resultant position accuracy is sub-meter. The rover receiver can be at a long range
(greater than 100 kms) from the base station.
rover
A rover is any mobile GPS receiver collecting or updating data in the field, typically at
an unknown location.
Roving mode
Roving mode applies to the use of a rover receiver to collect data, stakeout, or control
earthmoving machinery in real time using RTK techniques.
RTCM
(Radio Technical Commission for Maritime Services)
A commission established to define a differential data link for the real-time differential
correction of roving GPS receivers. There are three versions of RTCM correction
messages. All Trimble GPS receivers use Version 2 protocol for single-frequency DGPS
type corrections. Carrier phase corrections are available on Version 2, or the newer
Version 3 RTCM protocol, available on certain Trimble dual-frequency receivers. The
Version 3 RTCM protocol is more compact but is not as widely supported as Version 2
today.
RTK
(real-time kinematic)
A real-time differential GPS method that uses carrier phase measurements for
greater accuracy.
SBAS
(Satellite-Based Augmentation System)
SBAS is based on differential GPS, but applied to wide area (WAAS, EGNOS, MSAS).
Networks of reference stations are used and corrections and additional information are
broadcast via geostationary satellites.
signal-to-noise ratio
(SNR)
The signal strength of a satellite is a measure of the information content of the signal,
relative to the signal’s noise. The typical SNR of a satellite at 30° elevation is between
10.0 and 15.0 dBHz. The quality of a GPS position is degraded if the SNR of one or more
satellites in the constellation falls below 4.0.
skyplot
The satellite skyplot confirms reception of a differentially corrected GPS signal and
displays the number of satellites tracked by the GPS receiver, as well as their relative
positions.
SNR
See signal-to-noise ratio.
triple frequency GPS
A type of receiver that uses three carrier phase measurements (L1, L2, and L5).
UTC
Abbreviation for Universal Time Coordinated. A time standard based on local solar
mean time at the Greenwich meridian.
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Glossary
(Virtual Reference Station)
VRS
A VRS system consists of GPS hardware, software, and communication links. It uses
data from a network of base stations to provide corrections to each rover that are
more accurate than corrections from a single base station.
To start using VRS corrections, the rover sends its position to the VRS server. The VRS
server uses the base station data to model systematic errors (such as ionospheric
noise) at the rover position. It then sends RTCM correction messages back to the
rover.
(Wide Area Augmentation System)
WAAS
WAAS was established by the Federal Aviation Administration (FAA) for flight and
approach navigation for civil aviation. WAAS improves the accuracy and availability of
the basic GPS signals over its coverage area, which includes the continental United
States and outlying parts of Canada and Mexico.
The WAAS system provides correction data for visible satellites. Corrections are
computed from ground station observations and then uploaded to two geostationary
satellites. This data is then broadcast on the L1 frequency, and is tracked using a
channel on the GPS receiver, exactly like a GPS satellite.
Use WAAS when other correction sources are unavailable, to obtain greater accuracy
than autonomous positions. For more information on WAAS, refer to the FAA website
at http://gps.faa.gov.
The EGNOS service is the European equivalent and MSAS is the Japanese equivalent
of WAAS.
WGS-84
WGS-84 is an abbreviation for World Geodetic System 1984. WGS-84 has superseded
WGS-72 as the datum used by GPS since January 1987.
The WGS-84 datum is based on the ellipsoid of the same name.
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SPSx50 Modular GPS Receiver User Guide

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