Trimble 5855590 900 MHz GPS and FHSS Transceiver User Manual 3

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Document Description	User Manual 3
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Document Type	User Manual
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Filesize	97.76kB (1221976 bits)
Date Submitted	2007-04-08 00:00:00
Date Available	2007-04-08 00:00:00
Creation Date	0000-00-00 00:00:00
Producing Software	Avision AVCapture
Document Lastmod	0000-00-00 00:00:00
Document Title	User Manual 3
Document Creator	Avision AVCapture

10 Specifications
General spec cations
Feature
Keyboard and display
Receiver type
Antenna type
Base station
Rover
Specification
VFD display 16 characters by 2 rows
OnlOff key for one button startup using AutoBase technology
Escape and Enter key for menu navigation
4 arrow keys (up. down, left, right) for option scrolls and data entry
Modular GPS receiver
Zephyr Geodetic Model 2
Zephyr Model 2
Also supports legacy antennas Zephyr, Zephyr Geodetic, Micro»Centeredm,
Choke ring, Rugged Micro-Centered.
Physical speci ications
Feature Specification
Dimensions (LxWxH) 24 cm (9.4 in) x 12 cm (4.7 in) x 5 cm (LB 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
Temperature‘
Operating -4o -c to +65 °c (40 ‘F to +149 'F)
Storage —40 'C to +50 'C (-40 'F to +176 ’F)
Humidity 100"/a, condensing
Waterproof IP67 for submersion to depth oi 1 m (3.25 ft)
Shock and vibration
Shock, non operating
Shock, operating
Vibration
Measurements
Code differential GPS
positioning?
Horizontal accuracy
Vertical accuracy
WAASIEGNOS, and MSAS
Horizontal accuracy3
Vertical accuracyZ
Tested and meets the following environmental standards:
Designed to survive a 2 m (6.6 ft) pole drop onto concrete
MIL-STD»510F, Fig.5‘|4.5C-17
To 40 G, 10 msec, saw-tooth
MlL—STD—SIOF, FlG.514.5C-17
- Advanced Trimble Maxwell“ Custom cps chip
- L2C Civil signal and L5 signal for GPS modernization (SPSBSO Extreme only)
0 Very low noise L1, L2, and L5 carrier phase measurements with <1 mm
precision in 31 Hz bandwidth
0 Proven Trimble low elevation tracking technology
- 72 Channels L1 0A Code, LZC, LSC, L1IL2IL5 FuII Cycle Carrier, GLONASS
LVLZ (LZC, L5 and GLONASS L11L2 tracking capability available only in the
SPSBSO Extreme only)
' WAASIEGNOS. and MSAS
t(0.25 m + 1 ppm) RMS, 1: (9.84 in +1 ppm) RMS
440.50 m +1 ppm) RMS, 2 (19,68 in + 1 ppm) RMS
Typically <1 m (3.28 ft)
Typically <5 m (15,40 h)
98 SPSxSO Modular GPS Receiver User Guide
Specifications 1 0
Feature Specific-non
OmniSTAR Positioning
XP Service Accuracy Horizontal 20 cm (7t87 in), Vertical 30 cm (11.80 in)
HP Service Ac(uracy Horizontal W cm (3.93 in), Vertical 15 cm (5.90 in)
Real Time Kinematic (RTK)
positioning
Horizontal e(1o mm + l ppm) RMS, 2 (0.38 in +1 ppm) RMS
Vertical x(20 mm + 1 ppm) RMS, 3 (0.75 in +1 ppm) RMS
Initialization time
Regular RTK operation Single/Multi-base minimum 10 sec 4» 0.5 times baseline length in km, <3O km
with base station
RTK operation with do seconds typical anywhere within coverage area
Scalable GPS
infrastructure
Initialization reliability“ Typicaily >99,9%
l Reteiver will operate normally to —40 ‘C. Bluetoath module and internal batteries are rated to —20 ‘C
1 Accuracy and reliability may be subject to anomalies such as multipath, obstructions, satellite geometry, and
atmospheric conditions, Always follow recommended practices.
3 Depends on wAAS/EGNDS, and MSAS system performance.
‘ May be affected by atmospheric conditions, signal multipath, and satellite geometry. initialization reliability is
continuously monitored to ensure highest quality
SFSxSO Modular GPS Receiver User Guide 99
10
Specifications
Electrical specifications
Feature Specification
Power
Internal Integrated internal battery 7,4V, 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
External Power input on Lemo 7POS is optimized for lead acid batteries with a cut
Power consumption
Base station operation times on
internal battery
Rover operation time on
internal battery
450 MHZ
900 MHZ
Base station operation times on
internal battery
450 MHZ
900 MHz
Certification
off threshold of "LS V
Power input on the 26—pin DSub connector is optimixed for Trimble
Lithium-ion battery input (PIN 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 cutoff
9 V to 30 V DC external power input with over-voltage protection
Receiver will auto power on when connected to external power oi 15 V or
greater
<6 W, in RTK rover mode with internal receive radio
<8 W in RTK Base mode with internal transmit radio
Typically 8—10 hours based on transmitter power, types of messages
transmitted, and temperature
12 hours; varies with temperature
12 hours; varies with temperature
10 hours: varies with temperature
10 hours; varies with temperature
Part 15.247 and Part 90 FCC certifications
Class 8 Device FCC Part 15 and ICES-003 certifications
RSS-310, RSS—Zlo and RSS-119 Industry Canada certifications
ACMA AS/NZS 4295 approval
CE mark compliance
C-tick mark compliance
UN ST/SG/ACJOJ 1/Rev. 3, Amend. 1 (Li-Ion Battery)
UN STISG/AC. 10/27/Add. 2 (Li-Ion Battery)
WEEE
100
SPSXSO Modular GPS Receiver User Guide
Specifications 1 n
Communication specifications
Feature
Communications
Port 1 (7-pin os Lemo)
Port 2 (D5ub ZG-pin)
B I uetooth
Integrated radios
Channel spacing (450 MHz)
Frequency approvals (900 MHz)
450 MHx transmitter radio power output
900 MHz transmitter radio power output
External GSM/GPRS, cellular phone support
Receiver position update rate
Data Input and Output
Outputs
Spodfimlon
3-wire RS-ZSZ CAN
Full RS»132 (via multi-pon adaptor)
3-wire RS-132
USB (On the Go)
Ethernet
Fully integrated, fully sealed 2.4 GHZ Bluetooth‘
Fully integrated, fully sealed internal 450 MH1, Tx, Rx, or
Tx/Rx
Fully integrated, fully sealed internal 900 MHz, Tx, Rx, or
TxIRx
12.5 KHz or 25 KHz spacing available
USA (40), Australia (-30), New Zealand (-20)
0.5 WI 2.0 W (2 watt upgrade only available in certain
countries)
LOW
Supported for direct dial and lnternet-based VRS correction
streams
Cellular phone or GSMIGPRS modem inside TSCZ controller
1 Hz, 2 H1, 5 Hz, 10 Hz, and 20 Hz positioning (varies by
receiver model)
CMR, CMR+, RTCM 2.0, RTCM 2.1, RTCM 2.3, RTCM 3.0
NMEA, 65°F, and RT17
‘ Bluetooth type approvals are country specific. Contact your local Trimble office or representative for more
information.
SPSxSO Modular GPS Receiver User Guide 101
10 Specifications
GPS satellite signal tracking
This table shows the GPS satellite signal tracking capability for each receiver in the
SPSx50 Modular GPS receiver family,
GPSsignlltype Class SPSSSII SPSSSOH SPS750 SPS150 SPS150 SPSGSD
Hall: has. Elsi: rover Max Extreme
GPS signals L1IL2 / / ‘/ ‘/ / /
L2C x x x x /
L5 x x x x /
GLONASS signals L1/L2 x x x x x ‘/
GPS SEAS WAAS I J I I ‘/ I
(ONECTIOHS
EGNOS J I / »/ i/ I
MSAS \/ i/ i/ J I /
OmniSl’AR XP / x J I J /
COTVECUOHS
HP \/ x I I i/ \/
Integrated radio options
Except for the SPSSSOH, all the receiver configurations are available with or without
internal radios wifli 450 MHz or 900 MHz frequency ranges. The SPSSSOH is not
available with a radio, This table shows the radio options available for each receiver
type in the SPSxSO Modular GPS receiver family.
Radlo option SPSSSO SPSSSOH 58750 SP5750 SP5750 SPSBSG
Baal: base Basic rover Max Extnme
No radio / ,/ ,/ ‘/ / ,/
450 MHz Transmit / x I x v/ I
450 MHZ Receive / x K f v/ \/
900 MHz Transmit / x J x I I
900 MHZ Receive / x x / l/ I
External 450 MHz Transmit Optional x Optional Optional Optional Optional
External 900 MHz Transmit Optional x Optional Optional Optional Optional
|02 smso Modular GPS Receiver User Guide
Specifications 1 0
Variable configuration options
This table lists the default options for each receiver type in the SPSxSO Modular GPS
receiver family.
Radlo optlorl SPSSSO SPSSSOH SPS750 SPS750 SPS750 $5850
uni: hale Baal: rover Max Extreme
CMR inputs (Rover) J \ /2 x I r/ /
CMR outputs (Base) /3 x / x J /
RTCM inputs (Rover) J x x v/ t/ /
RTCM outputs (DGPS Base) x x x I /
Moving Base 1 J x x / /
(Position/Heading)
lo Hz measurements \/ l x x v/ ./
20 Hz measurements x x x x x I
Data logging (postprocessed) x x Optional Optional Optional Optional
VRS capable / Location is J x / I
GPS
Internet/IF enabled I t/ t/ t/ t/ I
RTK range limit None 2.4 km None 2A km None None
(1.5 miles) (15 miles)
‘Float solution only.
ZMoving base cm; only.
3Moving base CMR output only.
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 Appendix E, Upgrading me Receiver Firmware.
The SPSSSO and SPS750 Max receivers cannot be upgraded further.
SPSxSO ModularGPS Receiver User Guide 103
lo Spedficaflons
104 SPSXSO Moduiar GPS Receiver User Guide
APPENDIX
NMEA-0183 Output
ln this appendix: This appendix describes the formats of the
subset oiNMEA-0183 messages that are available
' NM EA'0183 message overview for output by the receivers. For a copy ofthe
I Common message elements NMEA-0183 Standard. go to the National Marine
Electronics Association website at
I NMEA messages
www.nmea.orgl
SPSxSO Modular GPS Receiver User Guide 105
A NMEA-0183 Output
NMEA-0183 message overview
106
When NMEAvOlSS output is enabled, a subset ofNMEA-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-UlBS 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 that contains detailed information about each message
Message Function Page
ADV Position and Satellite information for RTK network operations 105
GGA Time, position, and fix related data 109
GSA GPS DOP and active satellites 110
GST Position error statistics 111
GS\/ Number of SVs in view, PRN, elevation, azimuth, and SNR 112
HDT Heading from True North 113
PTNL,A\/R Time, yaw, tilt, range, mode, PDOP, and number of SVs for 114
Moving Baseline RTK
PTNL,GGK Time, position, position type and DQP values 115
PTNL,PJK Local coordinate position output 116
PTNL,VGK Time, locator vector, type and DOP values 117
PTNL,VHD Heading Information 115
RMC Position, Velocity, and Time 119
ROT Rate of turn 120
VTG Actual track made good and speed over ground 121
ZDA UTC day, month, and year, and local time zone offset 122
To enable or disable the output of individual NMEA messages. do one of the following:
- 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 application files to the SPSXSO Modular GPS receivers)
- For SPSxSO Modular GPS receivers. set up the NMEA output using the keypad
and display or a web browser.
SPSXSD Modular GPS Receiver User Guide
NMEA-0183 Output A
Common message elements
Each message contains:
0 a message ID consisting of$GP followed by the message type. For example, the
message ID of the GSA 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.l72814.0.3723,46587704,N,12202.26957864,W2‘6.1.2.18i893.M,-
25.669,M.2.0,0031‘4F
Message values
NMEA messages that the receiver generates contains the following values,
Latitude and longitude
Latitude is represented as ddmmmmmm and longitude is represented as
dddmmmmmm. where:
- dd or ddd is degrees
0 mmmmmm is minutes and decimal fractions of minutes
Direction
Direction (north, scum, easL 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 through 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.
SPSxSO Modular GPS Receiver User Guide 107
A NMEA-0183 Oulpui
ADV
Position and Satellite information for ll‘I'K network operations
An example of the ADV message string is shown below Table A1 and Table A2
describe the message fields. The messages alternate between subtype 110 and 120A
$I’GPPADV, 1 10.39.823113582.-10540783845516144125’1M
Table A.‘l ADV subtype 110 message fields
Field Meaning
0 message ID SPPGPADV
1 Message sub-type 110
2 Latitude
3 Longitude
4 Ellipsoid height
6 Elevation of second satellite, in degrees, 90' maximum
7 Azimuth of second satellite, degrees from True North, 000' through 359'
8 The (hecksum data, always begins with "
Table A1
$PGPPADVl202176816851292066317447.28.52.38.276.8122,4226.198.96‘5D
ADV subtype 120 message fields
Field
Meaning
message ID SPPGPADV
Message sub-type 120
mummbwmdo
First SV PRN number
Elevation of first satellite, in degrees, 90" maximum
Aximuth of first satellite, degrees from True North, 000' through 359'
Second SV PRN number
Elevation of seeond satellite, in degrees. 90' maximum
Azimuth of second satellite, degrees from True North, 000' through 359'
The checksum data, always begins with *
SPSX50 Modular GPS Receiver User Guide
NMEA-D‘l 83 Output A
GGA Time, Position, and Fix Related Data
An example of the GGA message string is shown below, Table A3 describes the
message fields.
$GPGGA,1728140372346587704.N.12202.26957864,VV.
2.6.1.2,18.893,M,-25.669.M,2,0,0031‘4F
Table A3 GGA message fields
Field Meaning
0 message ID sGPGGA
1 UTC of position fix
2 Latitude
3 Direction of latitude:
N: North
5: South
4 Longitude
5 Direction of longitude:
E: East
W: West
6 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
7 Number of SVs in use, range from 00 through 12
B HDOP
9 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 l or Type 9A Null field when DGPS is
not used.
14 Reference station lD, ranging from 0000 through 1023. A null field when any
reference station ID is selected and no corrections are received.
15 The checksum data, always begins with '
SPSxSO Modular GPS Receiver User Guide 109
A NMEAA0183 Oulput
GSA GPS 00? and active satellites
An example of the GSA message string is shown below. Table A4 describes the
message fields.
$GPGSA.<1>.<2>.<3),<3>,..,,<3>,<3>,<3>.<4>.<5>.<6>*<7>
Table AA GSA message fields
Field Manning
0 message ID $GPGSA
1 Mode 1, M = manual, A = automatic
2 Mode 2, Fix type, 1 = not available, 2 = ID, 3 = 3D
3 PRN number, 01 through 32, of satellite used in solution, up to 12 transmitted
4 PDoP-Position dilution of precision, 0.5 through 99.9
5 HDOP-Horizontal dilution of precision, 0.5 through 99.9
5 VDOP-Vertical dilution of precision, 0.5 through 99.9
7 The checksum data, always begins with *
110 SPSxSO Modular GPS Receiver User Guide
NMEA-0l53 Output A
GST Position Error Statistics
An example of the GST message string is shown below, Table A5 describes the
message fields.
$GPGST.1728l4.0,0.006,002313020273.6,0.023,0.020.0r031’6A
Table A.5 GST message fields
Field Meaning
0 message ID 56PGST
1 UTC of position fix
2 EMS 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 I 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
tomsrmmhw
The (hecksum data, always begins with *
SPSXSO Modular GPS Receiver User Guide 111
A NMEA-Ol 33 Output
GSV Satellite Information
The GSV message string identifies the number of SVs in View. the PRN numbers.
elevations, azimuths, and SNR Values. An example ofthe GSV message string is shown
below. Table A.6 describes the message fields.
$GPGSV,4,1.110202213,,03,-3,000,,11,00,121,.14.13,172,05*67
Table A.6 GSV message fields
Field Malnlng
0 message ID SGPGSV
1 Total number of messages of this type in this cycle
2 Message number
3 Total number of SVs visible
4 SV PRN number
5 Elevation, in degrees, 90“ maximum
6 Azimuth, degrees from True North, 000' through 359'
7 SNR, 00—99 dB (null when not tracking)
8711 Information about second SV, same format as fields 4 through 7
1245 Information about third SV, same format as fields 4through 7
1649 Information about fourth SV, same format as fields 4 through 7
20 The chetksum data, always begins with “
11 Z 5P5X50 Modular GPS Receiver User Guide
NMEA-01B3 Output A
HDT Heading from True North
The HDT string is shown below. and Table A7 describes the message fields.
$GPHDT,123.456,T"00
Table A7 Heading from true north fields
Finld Meaning
0 message ID SGPHDT
1 Heading in degrees
2 T: Indicates heading relative to True Novth
3 The checksum data, always begins with "
SPSXSO Modular GPS Receiver User Guide 113
A NMEA-0183 Output
PTNL,AVR
Time, Vaw, Tilt, Range for Moving Baseline RTK
The PTNL,AVR message string is shown below, and Table A8 describes the message
fields.
$PTNLAVR11 8 1059.6.+149,4688.Yaw,+040 134,Tilt.,,60.191.325.6‘00
Table A8 AVR message fields
Field Meaning
message ID SPTNL,AVR
UTC of vector fix
Yaw angle in degrees
Yaw
Tllt angle in degrees
Reserved
Reserved
Range in meters
5 Tilt
9 GPS quality indicator:
0. Fix not available or invalid
1: Autonomous GPS fix
2: Differential carrier phase solution RTK (Float)
31 Differential carrier phase solution RTK (Fix)
4: Differential code-based solution, DGPS
10 PDOP
11 Number of satellites used in solution
12 The checksum data, always begins with "
114 SPSxSO Modular GPS Receiver User Guide
NMEA-0183 Output A
PTNL,GGK
Time, Position, Position Type, DO?
An example of the PTNL,GGK message string is shown below. Table A9 describes the
message fields.
$PTNL.GGK,172814.00.071296.3723.46587704.N,12202.26957864.VV,3,06,1.7.EHT—
6.777.M‘48
Table A.9 PTNL,GGK message fields
Fleld Manning
0 message lD SPTNLGGA
UTC of position fix
Date
Latitude
“MIN—n
Direction of latitude:
N: North
S: South
5 Longitude
Direction of Longitude:
E: East
W: West
7 GPS Quality inditator:
0: Fix not available or invalid
Autonomous GPS fix
Differential, floating carrier phase integer-based solution, RTK(fioat)
Differential, fixed carrier phase integer-based solution, RTKlfixed)
Differential, code phase only solution (DGPS). Also, OmniSTAR XP/HP
converging
SEAS solution - WAAS, EGNOS
RTK Float SD in a VRSINetwork. Also OmniSTAR XP/HP converged
RTK Fixed 3D in a VRSINetwork
RTK Float 2D in a VRSINetwork
8 Number of satellites in fix
9 DOP of fix
10 Ellipsoidal height of fix
11 M: ellipsoidal height is measured in meters
kwwf
FFHE‘E'.‘
12 The checksum data, always begins with "
Nate — The PTNL.GGK message is longer than the NMEA-0183 standard of 80 characters,
SPSXSO Modular GPS Receiver User Guide 11 5
A NMEA-0183 Output
PTNL.” K
Local Coordinate Position Output
An example of the PTNLJ’JK message string is shown below. Table A.10 describes the
message fields.
$PTNL,PJK,0 107 17.00,081796,+732646.511.N,+ 173 1051.09 1,E.1.05.2.7.EHT-
284345,M‘7C
Table A.10 PTNL,PJK message fields
Flold Meaning
message ID SPTNLPJK
UTC of position fix
Date
Northing, in meters
Easting. in meters
Direction of Easting will always be E (East)
‘I
4 Direction of Northing will always be N (North)
GPS Quality indicator:
0: Fix not available or invalid
Autonomous GPS fix
Differential, floating carrier phase integer-based solution, RTK(roat)
Differential, fixed carrier phase integer-based solution, RTK(fixed)
Differential, code phase only solution (DGPSL Also, OmniSTAR XPIHP
converging
SEAS solution - WAAS, EGNOS
RTK Float 3D in a VRSINetwork. Also OmniSTAR XPIHP converged
RTK Fixed 3D in a VRS/Network
8: RTK Float 2D in a VRS/Network
kwfir:
HE‘S?
8 Number of satellites in fix
9 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 PTNLJ’IK message is longer than the NMEA—0183 standard of80 characters.
1 I6 SPSXSO Modular GPS Receiver User Guide
NMEA-Ol 33 Output A
PTNLNGK
Vector Information
An example ofthe PTNL.VGK message string is shown below. Table A411 describes the
message fields.
$1’TNL.VGK,160159400.010997.-0000.161.00009.985,-00004002.3,07,1.4.M‘OB
Table A.11 PTNL,VGK message fields
Field Meaning
0 message ID 5PTNL,VGK
1 UTC of vector in hhmmssrss format
2 Date in mmddyy format
3 East component of vector, in meters
4 North component of vector, in meters
5 Up component of vector, in meters
6 GPS Quality indicator:
Fix not available or invalid
Autonomous GPS fix
Differential, floating carrier phase integer- -based solution, RTK(iIoat)
Differential, fixed carrier phase integer-based solution, RTK(fixed)
Differential, (ode phase only solution (DGPSL Also, OmniSTAR XPIHP
converging
SEAS solution — WAAS, EGNOS
RTK Float 3D in a VRS/Networkr Also OmniSTAR XP/HP converged
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
kWh”???
h‘fi'l’.‘
10 The checksum data, always begins with "
SPSxSO Modular GPS Receiver User Guide 117
A NMEA-Ola! Output
PTNLNHD
Heading Information
An example of the PTNLNHD message string is shown below Table AJ2 describes the
message fields.
$PTNL,VHD.030556.00.093098. 187.7 13.42. 1 38,-76.929,-
5.015040330006.3,07.2.4.M‘22
Table Al12 PTNL.VHD message fields
Fleld Manning
message lD SFTNLVHD
UT: of position in hhmmsslss format
Date in mmddyy format
Azimuth
AAzimuth/A'I'lme
Vertical Angle
AVertical/A'I'ime
Range
ARange/A'l'i me
mmflmmwa—o
GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential, floating carrier phase integer-based solution, RTK(iloat)
3: Differential. fixed carrier phase integer-based solution, RTKUixed)
: Differential, code phase only solution (DGPS). Also. OmniSTAR XPIHP
converging
SBAS solution — WAAS, EGNOS
RTK Float 3D in a VRSINetwork. Also OmniSTAR XPIHP converged
RTK Fixed 3D in a VRSINetwork
8: RTK Float 2D in a VRS/Network
10 Number of satellites used in solution
H PDOP
12 The checksum data. always begins with *
H9???
118 sPSxSO Modular GPS Receiver User Guide
NMEAm 83 Output A
RMC
Position, Velocity, and Time
The RMC string is shown below.
$GPRMC.123519,A.4807.038.N.01131000.E,02244,084.4.230394.003A1,W‘6A
Table A.13
GPRMC message fields
and Table AJ3 describes the message fields
Field
Munlng
message ID SGPRMC
UTC of position fix
Status A=active or V=void
Latitude
Longitude
mmflmmwa—no
Speed over the ground in knots
Track angle in degrees (True)
Date
Magnetic variation in degrees
The checksum data, always begins with ’
SPSXSO Modular GPS Receiver User Guide 11 9
A NMEA-0183 Output
RO'I' Rate and Direction of Turn
The ROT string is shown below. and Table A.14 describes the message fieldsi
$GPROT.35.6,A‘4E
Table A.|4 ROT message fields
Field Mnnlng
0 message ID SGPROT
1 Rate of turn, degrees/minutes, ‘—" indicates how turns to port
2 A: Vaiid data
V: Invalid data
3 The checksum data, aiways begins with "
120 SPSXSO Modular GPS Receiver User Guide
NMEA-0193 Output A
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 A15 describes the
message fields,
$GPVTG..T.,M.0l00.N,0.00.K"4E
Table A.l5 VTG message fields
Field Manning
message m SGPVTG
Track made good (degrees true)
T: track made good is relative io (rue 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 ki|ometerslhour (kph)
K: speed over ground is measured in kph
The che(k5um data, always begins with "
wmummwa—no
SPSXSO Modular GPS Receiver User Guide 1 2!
A NMEA-OISS Output
ZDA UTC Day, Month, And Year, and Local Time Zone Offset
An example of the ZDA message string is shown below. Table A.16 describes the
message fields.
$GPZDA.172809,12.07.1996.00,00*45
Table A46 ZDA message fields
Field Meamng
message ID SGPZDA
UTC
Day, ranging between or and 31
Month, ranging between 01 and 12
Yea r
Local time zone offset from GMT. ranging from 00 through HS hours
Local time zone offset from GMT, ranging from 00 through 59 minutes
ummwa-ac
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 GMTA
122 SPSXSO Modular GPS Receiver User Guide
GSOF Messages
In this appendix:
I Supported message types
I GSOF message definitions
APPENDIX
This appendix provides information on the
General Serial Output Format (GSOF) messages
that the SPS GPS receivers support. GSOF
messages 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 output GSOF
messages from the SPSx50 Modular GPS receiver,
refer to Chapter 6. Configuring the SPSx50 Using
the Keypad and Display and Chapter 7.
Configuring die Receiver Settings in the SPSx50
Modular GPS Receiver User Guide.
SPSx50 Modulav GPS Receiver User Guide 123
B GSOF Messages
Supported message types
This table summarizes the GSOF messages that are supported by the receiver, and
shows the page that contains detailed information about each message.
Message Besalptlon Page
TIME Position time in
LLH Latitude, longitude, height l25
ECEF Earth-Centered, Earth-Fixed position |25
ECEF DELTA Earth-Centered, Earth-Fixed Delta position 126
NEU DELTA Tangent Plane Delta 126
Velotity Velocity data 127
PDOP PDOP info 127
SIGMA Position Sigma info 127
SV Brief SV Brief info 128
SV Detail SV Detailed info 129
UTC Current UTC time (30
BA'I'I’lMEM Receiver battery and memory status |30
ATTITUDE Attitude info 131
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 8.1 Time (Type 1 record)
Field Item 1ype Value Moanlng
0 Output record type Char 01h Position time output record
1 Record length Char OAh 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
8 Number of SVs used Char ooh-och Number of satellites used to determine the
position (0-l2)
9 Position flags 1 Char See Table 5.14 Reports first set of position attribute flag
values
124 59560 Modular GPS Receiver User Guide
GSOF Messages B
Table 8.1 Time (Type 1 record)
Field Item 1ype Value Moanlng
lo Position flags 2 Char See Table 3415 Reports second set of position attribute flag
values
11 Initialized number Char ooh-FFh Increments with each initialization (modulo
255)
LLH
This message describes latitude. longitude. and height It contains the following data:
- WGS-84 latitude and longitude, in radians
- WGS-84 heighL in meters
Table 5.2 Latitude, longitude, height (Type 2 record)
Fleld Item Type Value Meaning
0 Output record type Char 02h Latitude, longitude, and height output record
l Record length Char 18h Bytes in record
2—9 Latitude Double Radian; Latitude from WGS-BA datum
10—17 Longitude Double Radians Longitude from WGS-84 datum
13—25 Height Double Meters Height from WGSvSA datum
ECEF
This message describes the ECEF position It contains the following data:
- Earth-Centered, Earth-Fixed X, Y, Z coordinates, in meters
Table 33 ECEF position (Type 3 record)
Field Item ‘Iype Value Meaning
0 Output record type Char 03h Earth-Centered, Earth-Fixed (ECEF) position output
record
1 Record length Char Iah Bytes in record
2—9 X Double Meters WGS-M ECEF X-axis coordinate
10—17 Y Double Meters was-34 ECEF V-axis coordinate
18—25 Z Double Meters WGS-84 ECEF Z-axis coordinate
SPSxSO Modular GPS Receiver User Guide 1 15
B GSOF Messages
ECEF DELTA
This message describes the ECEF Delta position It contains the following data:
- Earth-Centered. Earth»Fixed X. Y, Z deltas between the rover and base position.
in meters
Table 3.4 ECEF Delta (Type 6 record)
Field Item lype Value Meal-lug
0 Output record type Char 05h Earth-Centered, Earth-Fixed (ECEF) Delta output record
1 Record length Char 15h Bytes in record
2—9 Delta X Double Meters ECEF X—axis delta between rover and base station
positions
10—17 Delta V Double Meters ECEF Y—axis delta between rover and base station
positions
15—25 Delta 2 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:
0 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,
Nate — These records are only output y’a valid DGPS/RTK solution is computed,
Table 85 NEU Delta (Type 7 record)
Field Item typo Value Meaning
0 Output record type Char 05h Tangent Plane Delta output record
1 Record length Char 18h Bytes in record
24 Delta east Double meters East component of vector from base station to rover,
projected onto a plane tangent to the WES-84 ellipsoid
at the base station
10—17 Delta north Double meters North component of tangent plane vector
18425 Delta up Double meters Difference between ellipsoidal height of tangent plane
at base station and a parallel plane passing through
rover point
126 SPSxSO Modular GPS Receiver User Guide
GSOF Messages B
Velocity
This message provides velocity informah’on. It contains the following data:
- Horizontal velocity. in meters per second
- Vertical velocity, in meters per second
0 Heading, in radians. referenced to WGS~84 True North
Table 8.6 Velocity (Type 8 record)
Field Item Type Value Mnnlng
0 Output record type Char 08h Velocity data output record
1 Record length Char DDh Bytes in record
2 Velocity flags Char See Table 5.17 Velocity status flags
3—6 Speed Float Meters per second Horizontal speed
7—10 Heading Float Radian; True north heading in the WGS-84 datum
l1—14 Vertical velocity Float Meters per second Vertical velocity
PDOP
This message describes the PDOP information It contains the following data:
- PDOP
- HDOP
- V'DOP
- TDOP
Table BJ PDOP (Type 9 record)
Field Item 1ype Value Men-thug
0 Output record type Char 09h PDOP information output record
1 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—l7 TDOP Float Tlme 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
SPSxSO Modular GPS Receiver User Guide 127
B GSOF Messages
o Covariance east-north
- Error Ellipse Semi-major axis, in meters
- Error Ellipse Semi»minor axis. in meters '
- Orientation ofSerni»major axis in degrees from True North
- Unit variance
- Number of epochs
Table 13.8 Sigma (Type 12 record)
Fleld Item Npe Value Meaning
0 Output record type Char och Position sigma information output record
1 Record length Char 26h Bytes in record
2—5 Position RMS Float Root means square of position error calculated
for overdetermined positions
6—9 Sigma east Float Meters
10—13 Sigma north Float Meters
14—17 Covar. east-north Float number Covariance east-north (dimensionless)
16—21 Sigma up Float Meters
22—25 Semi-major axis Float Meters Semi-major axis of error ellipse
26729 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 Valid only for over-determined solutions. Unit
variance should approach 1.0 value, A value of
less than 1,0 indicates that apriori variances are
too pessimistic
30—39 Number of epochs short count Number of measurement epochs used to
compute the position, Could be greater than i
for positions subjected to static constraint.
Always | for kinematic.
SV Brief
This message provides brief satellite information. It contains the following data:
- Number of satellites tracked
o The PRN number of each satellite
- Flags indicating satellite status
Table 3.9 SV brief (Type 13 record)
Field Item Type Value Meaning
0 Output record type Char ODh Brief satellite information output record
1 Record length Char Bytes in record
2 Number of SVs Char ooh-18h Number of satellites included in recordr
‘I 28 SPSXSO Modular GPS Receiver User Guide
GSOF Messages B
Table 5.9 SV brief (Type 13 record)
Field Item 1ype Value Meanlng
The following bytes are repeated for Number of SVs
PRN Char Olh-Zoh Pseudorandom number of satellites (1-32)
SV Flagsi Char See Table E18 First set of satellite status bits
SV Flagsz Char See Table 8.19 Second set of satellite status bits
‘lncludes 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
0 Elevation above horizon, in degrees
- Azimuth from True North, in degrees
- Signal»to-noise ratio (SNR) (3le signal
- Signal-to—noise ratio (SNR) of L2 signal
Table 8.10 SV detail (Type 14 record)
Field Item lype Value Meaning
0 Output record Char OEh Detailed satellite information output record
type
Record length Char 1 + Bx(number of SVs) Bytes in record
2—9 Number of SVs Char Ooh-lBh Number of satellites included in record1
The following bytes are repeated for Number of SVs
PRN Char 0lh—20h Pseudorandom number of satellites (1—32)
Flagsi Char See Table Bria First set of satellite status bits
FIagsZ Char See Table 8419 Second set of satellite status bits
Elevation Char Degrees Angle of satellite above the horizon
Azimuth Short Degrees Azimuth of satellite from True North
SNR L1 Char dB * 4 Signal-to-noise ratio of L1 signal (multiplied
by 4)2
SNR L2 Char dB ' 4 Zigzsazl-to-noise ratio of L2 signal (multiplied
‘lndudes all tracked satellites, all satellites used in the position solution, and all satellites in View.
2Tile sNR L1 and SNR L2 items are set to zero lor satellites that are not tracked on the current frequency,
SPSxSO Modular GPS Receiver User Guide 129
GSOF Messages
130
UTC
This message describes current time information. It contains the following data:
0 GPS time. in milliseconds ol'GPS week
0 GPS week number
- GPS to UTC time offset. in seconds
Table 5.11 UTC (Type is record)
Field Itiem 1ype Value Mnnlng
0 Output record type Char ion
1 Record length Char 09h Bytes in record
2—5 GPS millisecond of Long msecs Time when packet is sent from the receiver. in GPS
week milliseconds of week
6—7 GPS week number Short number Week number since start of GPS time
3-9 UTC offset Short seconds GPS to UTC time offset
lo Flags Char See Table BJS Flag bits indicating validity of Time and UTC offsets
Batthem
This message provides information relating to the receiver battery and memory. it
contains the following data:
- Remaining battery power
0 Remaining memory
Table 5.12 Bait/Mem (Type 37 record)
Fleld item 1ype Value Munlng
0 Output record type Char 25h
1 Record length Char OAh Bytes in record
2—3 Battery capacity Unsigned short percentage Remaining battery capacity in percentage
4—1! Remaining memory Double hours Estimated remaining data logging time in
SPSxSO Modular GPS Receiver User Guide
hours
GSOF Messages B
Attitude
This message provides attitude information relating to the vector between the Heading
antenna and the Moving Base antennae It contains the following data:
0 Tilt or vertical angle. in radians. from the Heading antenna to the Moving Base
antenna relative to a horizontal plane through the Heading antenna
0 Heading or yaw. in radians, relative to True North
0 Range or slope distance between the Heading antenna and the Moving Base
antenna
Table “3 Attitude (Type 27 record)
Field Item 1ype Value Meaning
0 Output record type Char 15h Attitude information
1 Record length Char ZAh Bytes in record
2—5 GPS time Long msecs GPS time in milliseconds of GPS week
6 Flags Char See Table 8420 Flag bits indicating validity of attitude components
7 Number of SVs used Char Ooh-OCh Number of satellites used to calculate attitude
8 Calculation mode Char See Table 3.21 Positioning mode
9 Reserved Reserved
10—17 Tilt Double radians Tilt relative to horizontal plane
13-25 Yaw Double radians Rotation about the vertical axis relative to True
North
16—33 Reserved Reserved
34-41 Range Double meters Distance between antennas
42-43 PDOP Short 0.1 Position Dilution of Precision
5P5x50 Modular GPS Receiver User Guide 131
B GSOF Messages
Flags
Table 8.14 Position flags 1: bit values
on winning
0 New position
0: No. 11Ves.
1 Clock fix calculated for current position
0: ND. 1:Yes.
2 Horizontal coordinates calculated this position
0: N0. |: Yes.
3 Height calculated this position
0: No. 1: Yes.
4 Weighted position
0: NO. I: Yes.
5 Overdetermined position
0: No. 1: Yes.
6 Ionosphere-free position
0: No. I: Yes.
7 Position uses filtered L1 pseudoranges
0: No. 1:Yes.
Table 8.15 Position flags 2: bit values
alt Meaning
0 Differential position
0: No. 1: Yes.
1 Differential position method
0: RTCM (Code)
1: RTK, OmniSTAR HP (Phase)
2 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)
3 OmniSTAR HP
0: Not active
1: OmniSTAR HP differential solution
4 Position determined with static as a constant
0: No. 1: Yes.
5 Position is network RTK solution
0: No. 1:Yes.
6—7 Reserved (set to zero)
13 2 SPSXSO Modular GPS Receiver User Guide
GSOF Messages B
Table 3.16 Flags: Bit values
an Meaning
0 Time information (week and millisecond of week) validity
0: Not valid
1: Valid
1 UTC offset validity
0: Not Valid
11 Valid
Table Bt17 Velocity flags: Bit values
mt Moanlng
0 Velocity data validity
0: Not valid
1: Valid
1 Velocity computation
0: Computed from doppler
1: Computed from consecutive measurements
2—7 Reserved (set to zero)
Table 8.18 SV flags: 1 bit values
an Meaning
0 Satellite Above Horizon
0: No. 1: Yes.
| Satellite Currently Assigned to a Channel (trying to track)
0: No. 1:Yes.
2 Satellite Currently Tracked on L1 Frequency
0: No. 1: Yes.
3 Satellite Currently Tracked on L2 Frequency
0: NO. 1: Yes.
4 Satellite Reported at Base on L1 Frequency
0: No. 1:Yes.
5 Satellite Reported at Base on L2 Frequency
0: No. 1: Yes.
6 Satellite Used in Position
0: No. 1: Yes,
7 Satellite Used in Current RTK Process (Search, Propagate, Fix Solution)
0: No. I: Yes.
Table 1319 sv flags: 2 bit value
Bit Meaning
0 Satellite Tracking P-Code on LI Band
0: No, 1: Yes:
1 Satellite Tracking P-Code on L2 Band
0: NO. 1: Yes.
2—7 Reserved. Set to zero.
SPSxSO Modular GPS Receiver User Guide 133
I! GSOF Messages
Table 8.20 Attitude flags
en Meanlng
0 Calibrated
0: No. 1: Yes.
1 Tllt Va|id
0: No. 1: Yes.
2 Yaw valid
0: No. 1: Yes.
3 Reserved
Range valid
O: NO. I: Yes.
5—7 Reserved
Data collector report structure
Table B.2l Attitude calculation flags
Bit Meaning
0 0: No position
i: Autonomous position
2: RTK/Float position
3: RTKIFix position
4: DGPS position
Table 8.22 Report packet 40h structure
Byte Item Np. Value Meaning
0 STX CHAR 02h Start transmission.
1 STATUS CHAR See Tab|e 5.23 Receiver status code.
2 PACKET TYPE CHAR 40h Report Packet 40h.
3 LENGTH CHAR OOh—FAh Data byte count.
4 TRANSMISSION CHAR Unique number assigned to a group of
NUMBER record packet pages. Prevents page
mismatches when multiple sets of
record packets exist in output stream.
PAGE INDEX CHAR OOthFh Index of current packet page.
MAX PAGE INDEX CHAR OOh—FFh
Table 8.23 Receiver Status code
Maximum index of last packet in one
group of records.
Byte Message Deseriptlon
number
Bit 0 l Reserved
Bit 1 1 Low battery
Bit 2—7 0—53 Reserved
134 SPSX50 Modular GPS Receiver User Guide
APPENDIX
Adding Internal Radio Frequencies
In this appendix: If you have installed the optional internal
_ _ . 450 MHz radio in your GPS receiver, use the
- Add'"9 recewe frequencles for WinFlash utility to add the relevant receive
the 450 MHZ internal radio frequencies to the default list of frequencies. To
install the WinFlash utility. see Installing the
WinFlash utility. page 140.
If you have also purchased the transmit option
(SPSXSO and SPSxSO only). Trimble must specify
and configure the (F CC»approved) transmit
broadcast frequencies at the factory You cannot
configure these yourself.
SPSxSO Modular GPS Receiver User Guide 135
C Adding lniemal Radio Frequencies
Adding receive frequencies for the 450 MHz internal radio
1. Start the WinFlash utility. The Device Configuration screen appearsr
From the Device We 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- Selectconfiemefladio W
and then click Next. The rum h as |
grzfaenty “we?!“ Fragment 450.»- mm mu
1 0g appears, x mm rm
6. In the Wireless Format 1 gummy-not 145102st v ‘ —-——~
group. select the ; HMModr Mmmmmmm , ___.;
appropriate channel and ’ N” wmm Mbemnm
wireless model The l m a! lad-n ‘n you mt
Wireless mode must be imU—M'Fm:
the same for all radios in l SMEW
your network
7. In the Spam/Frequency 1
field, enter the frequency l
you want to add.
8. Click Add. The new
frequency appears in the
Selected Frequencies list.
MHz
Nate — The programmed
frequencies must conform to the
channel spacing and minimum
tuning requirements for the l
radio. To View this information,
click Radio Info. You can select 125 kHz or 25 kHz channel spacing All radius in your
network must use the same channel spacing
9. Once you have configured all the frequencies that you require, click OK.
The WinFlash uu'lity updates the receiver radio frequencies and then restarts
die receiver.
136 SPSxSD Modular GPS Receiver User Guide
APPENDIX
_____.___—-—
Real-Time Data and Services
In this appendix: The RT17 Streamed Data service is available only
with the SPSBSO Extreme GPS receivers. It is
required on any GPS receiver that will be
incorporated into a Trimble Virtual Reference
Station (VRS) network.
I RTl7 Streamed Data service
By default. the Binary Output option is not
enabled in the GPS receivers. The option must be
enabled before RT17 messages can be streamed
from the receiver. To enable the option, please
contact you local Trimble dealerr
SPSXSO ModularGPS Receiver User Guide 137
138
Real-Time Data and Services
RT17 Streamed Data sewice
An RT17 service provides GPS observations, ephemerides' 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
Using the keypad and display to configure R117 outputs
You can configure RT17 output during the base and rover setup using the keypad and
display. See Outputting corrections. page 65.
Using the web interface to configure RT17 outputs
You can configure RT17 output using the 1/0 Configuration menu of the web interface
of the receiver. Configure the stream to allow multiple client connections on a single
port, or restrict the stream to a single client connection. To allow only authorized
connections on the port, protect the output stream by requiring a password. See I/O
Configuration menu, Page 79
SPSXSO Modular GPS Receiver User Guide
APPENDIX
Upgrading the Receiver Firmware
In this appendix:
l The WinFlash utility
I Upgrading the receiver firmware
I Forcing the receiver into Monitor
mode
The GPS receiver is supplied with the latest
version of the receiver firmware already installed.
[fa later version of the firmware becomes
available, use die WinFlash utility to upgrade the
firmware on your receiver
You can also upgrade the SPSx50 receiver
through the web interface See Configuring the
SPSxSO receiver using a web browser. page 72.
Firmware updates are available to download
from the Trimble website. Go to
wwwtrimblecom / Support / select the link to
the receiver that you need updates for and then
click Downloads.
SPSxSO Modular GPS Receiver UserGuide |39
Upgrading the Receiver Firmware
The WinFIash utility
The WinFIash utility 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 WinFIash utility.
Nate - The WinFIash utility runs on Microsoft Windows 95, 98. Windows NT“, 2000, Me.
or XP operating systems.
Installing the WinFIash utility
You can install the WinFIash utility from the Trimble SPS GPS Receiver CD, or from the
Trimble website.
To install the WinFIash utility from the CD:
l. Insert the disk into the CD drive on your computer:
2. From the main menu select Install individual software packages.
3, Select Install MnFlash.
4. Follow the on-screen instructions.
The WinFIash utility guides you through the firmware upgrade process, as described
below. For more information, refer to the lA/"lnFlash Help.
Upgrading the receiver firmware
140
1. Start fire WinFlash utility. 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. From the Available Sofiware list. select the latest version and then click Next.
SPSXSO Modular GPS Receiver User Guide
Upgrading the Receiver Firmware E
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 Soflware Upgrade window appears and
shows the status of the operation (for example. Establishing communication
with . Please wait).
8. Click OK,
The Sofiware 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.
Forcing the receiver into Monitor mode
If the receiver will not go into Monitor mode to load new firmware. complete the
following steps:
1.
3.
Turn off the receiver.
Press and hold @ while turning on the receiver.
Continue to hold the @ button as the display shows the countdown timer.
Once the display shows Remote Monitor Active:1, release the @ button.
The receiver is forced into Monitor mode and you can load the new firmware.
SPSXSO Modular GPS Receiver User Guide 141
E Upgrading the Receiver Firmware
uz SPSxSU Muduiar GPS Receiver User Guide
APPENDIX
___.____.__——-
Troubleshooting
In this appendix: Use this appendix to identify and solve common
. _ problems that may occur with the receiver,
l Recewer |ssues
Please read this section before you contact
Technical Support.
SPSxSO Modular GPS Receiver User Guide 143
F Troubleshooting
Receiver issues
This section describes some possible receiver issues, possible causes. and how to solve
them.
Issue Possible cause Solutlon
The receiver does External power is too Check the charge on the external battery and, if applicable,
not turn on. low. check the fuse.
Internal power is too
low.
External power is not
properly connected.
Faulty power cable.
Receiver does not Insufficient memory.
log data.
Data Logging option is
disabled
The receiver is tracking
fewer than four
satellites,
The internal memory
needs to be reformatted
The receiver is not Receiver needs a soft
responding. reset.
Receiver needs a full
reset.
in SPSxSD Modular GPS Receiver User Guide
Check the charge on the internal battery.
Check that the Lemo connector or ZG-pin adaptor is seated
correctly, and that the cable is secured to the receivert
Check for broken or bent pins in the connectori
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 SPSxSO receiver are optimized for use with
different types of battery. The ZG-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 a wrong port, it is likely that it will cut off earlier than
normal.
Check pinouts with a multimeter to ensure internal wiring is
intact.
Delete old files. Do one of the following:
' Press (1?) for 35 seconds.
- Use the delete and purge functions in the Data Logging
menu (see above) of the web interface.
Order the Data Logging option from your local Trimble
dealer. By default, Data logging is disabled on all SP5 GPS
receivers. To see if data logging is enabled on your receiver.
check your original purchase order or the receiver
configuration using the web interface.
Wait until the receiver display shows that more than four
satellites are being tracked.
Press @ for 35 seconds.
Turn off the receiver and then turn it back on again.
Press ® for 35 seconds
Troubleshooting F
The base station
receiver is not
broadcasting.
Rover receiver is
not receiving
radio.
Posslhle cause
Port settings between
reference receiver and
radio are incorrect.
Corrections are routed
to a port rather than to
the internal radio
modem.
A rubber duck antenna is
connected directly to the
radio antenna port on
the receiver. or an
external high—gain
antenna is connected via
(able to the radio
antenna port on the
receiver.
You are using AutoBase
and the AutoBase
Warning function is
enabled.
Faulty cable between
receiver and radio.
No power to radio.
The base station receiver
is not broadcasting.
Incorrect over air baud
rates between reference
and rover.
Incorrect port settings
between roving external
radio and receiver.
The radio antenna cable
and GPS antenna cable
are mixed up.
Solutlon
Using the SC5900 Site Controller 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.
Check that corrections are routed correctly using the receiver
keypad and display,
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.
If you set up on a new point on a site that has not been
occupied previously, the AutoBase Warning will prohibit the
base station from broadcasting.
Try a different cable.
Examine the ports for missing pins.
Use a multimeter to check pinouts.
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.
See the issue,The base station receiver is not broadcasting,
above.
Connect to the rover receiver radio, and make sure that it has
the same setting as the reference receiver.
The SCSSDO software automatically configures the over-the»
air baud rate to 9600.
If the radio is receiving data and the receiver is not getting
radio communications, use the scssoo software to check that
the port settings are correct.
Make sure that the external radio antenna cable is connected
between the TNC connector marked RADIO and the radio
antenna.
SPSxSO Modular GPS Receiver user Guide 145
F Troubleshooting
Issue Possible uun solutlon
The receiver is not The GPS antenna is Make sure that the GPS antenna cable is tightly seated in the
receiving satellite connected to the wrong GPS antenna connection on the receiver and not connected
signals antenna connector. to the wrong I radio antenna connector.
The GPS antenna cable is Make sure that the GPS antenna cable is tightly seated in the
loose. GPS antenna connection on the GPS antenna.
The cable is damaged. Check the (able for any signs of damage. A damaged cable
(an inhibit signal detection from the antenna at the receiver.
The GPS antenna is not - Make sure that the GPS antenna is located with a clear
in clear line of sight to view of the sky.
the Sky» - Restart the receiver as a last resort (turn off and then turn
it on again).
MS SPSxSO Modular GPS Receiver User Guide
Glossary
almanac
AutoBase
base station
BINEX
broadcast sewer
carrier
carrier frequency
carrier phase
cellular modems
CMR
CMR+
covariance
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 technology 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 iobsites.
Also called reference station. A base station in construction. is a receiver placed at a
known point on a jobsite that tracks the same satellites as an RTK rover. and provides
a real—time differential correction message stream through radio to the rover, to obtain
centimeter level positions on a continuous real-time basis. A base station can also be a
part of a virtual reference station network, or a location at which GPS obserwtions are
collected over a period oftime, for subsequent postprocessing to obtain the most
accurate position for the location.
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,
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.
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.
The frequency of the unmodulated fundamental output of a radio transmitter. The GPS
Ll carrier frequency is 157542 MHz
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.
A wireless adaptor that connects a laptop computer to a cellular phone 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.
Compact Measurement Record. A realAtime message format developed by Trimble for
broadcasting corrections to other Trimble receivers. CMR is a more efficient
alternative to RTCM,
The mean value.
SPSxSO Modular GPS Receiver User Guide 1 41
Glossary
datum
deep discharge
DGPS
differential
correction
differential GPS
DOP
dual-frequency GPS
EGNOS
elevation mask
ellipsoid
emphemeris /
ephemerides
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 in 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
(NAB-27) or 1983 (NAB-83).
All GPS coordinates are based on the WES—84 datum surface.
Withdrawal of all electrical energy to the end-point voltage before the cell or battery is
recharged,
See real-time differential GPS.
Differential correction is the process of correcting GPS data collected on a rover with
data collected simultaneously at a base station. Because the base station 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 realtime. or alter the data has been collected by
postprocessing.
See real-time differential GPS.
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 BOP value is lower, and position accuracy is greater. When
satellites are close together in the sky, the DOI’ is higher and GPS positions may
contain a greater level of error.
PDOP (Position DOP) indicates the three-dimensional geometry of the satellites. Other
DOI’ 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 V'DOP as follows:
I’DOP2 = HDOPI + V'DOPz
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.
European Geostationary Navigation Overlay Service. A satellite-based augmentation
system (SEAS) that provides a [recto-air differential correction service for GPS,
EGNOS is the European equivalent of WAAS, which is available in the United States.
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.
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.
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.
1 48 SPSXSO Modular GPS Receiver User Guide
Glossary
epoch
feature
firmware
GLONASS
GNSS
GSOF
HDOP
L1
L2
L5
Moving Base
MSAS
multipath
NMEA
OmniSTAR
The measurement interval of a GPS receiver. The epoch varies according to the
measurement type: for real-time measurement it is set at one second: for
postprocessed measurement it can be set to a rate of between one second and one
minute. For example. if data is measured every 15 seconds, loading data using
30-second epochs means loading every alternate measurement.
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, or boundaries/ areas.
The program inside the receiver that controls receiver operations and hardware.
Global Orbiting Navigation Satellite System. GLONASS is a Soviet spaceAbased
navigation system comparable to the American GPS system. The operational system
consists of 21 operational and 3 non»operational satellites in 3 orbit planes.
Global Navigation Satellite System.
General Serial Output Format. A Trimble proprietary message format
Horizontal Dilution of Precision, 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).
The primary vaand carrier used by GPS satellites to transmit satellite data.
The secondary L-band carrier used by GPS satellites to transmit satellite data
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 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.
MTSAT Satellite-Based Augmentation System. A satellite-based augmentation system
(SEAS) 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.
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 off stmctures near the antenna.
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
The OmniSTAR HP/XP service allows the use of new generation dual-frequency
receivers with the OmniSTAR service. The HP/XI’ service does not rely on local
reference stations for its signal, but utilizes 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.
SPSXSO Modular GPS Receiver User Guide 149
Glossary
PDOP
postprocessing
real-time differential
GPS
rover
Roving mode
RTCM
RTK
SBAS
signal-to-noise ratio
skyplot
SNR
triple frequency GPS
UTC
Position Dilution of Precision. 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.
Postprocessing is the processing of satellite data after it has been collected, in order to
eliminate error: This involves using computer software to compare data from the rover
with data collected at the base station,
Also known as real-time dimererwial correction orDGPS. Real-time differential GPS is the
process of correcting GPS data as you collect it. Corrections are calculated at a base
station and then sent to the receiver through 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 that it entails the use of
single-frequency code phase data sent from a GPS base station to a rover GPS receiver
to provide sub-meter position accuracy The rover receiver can be at a long range
(gxeater than 100 kms (62 miles)) from the base station
A rover is any mobile GPS receiver that is used to collect or update data in the field,
typically at an unknown location.
Roving mode applies to the use of a rover receiver to collect data. stakeout, or control
earthmoving machinery in real time using RTK techniques.
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 Ti-imble Gl’S
receivers use Version 2 protocol for single-frequency DGPS type corrections. Carrier
phase corrections are available on Version 2. or on the newer Version 3 RTCM protocol.
which is available on certain ”nimble dual-frequency receivers. The Version 3 RTCM
protocol is more compact but is not as widely supported as Version 2.
real-time kinematic. A real»time differential GPS method that uses carrier phase
measurements for greater accuracy.
Satellite-Based Augmentation System. SEAS is based on differential GPS. but applies to
wide area (WAAS/EGNOS and MSAS) networks of reference stations. Corrections and
additional information are broadcast via geostationary satellites
SNR. The signal strength of a satellite is a measure of the information content of the
signal. relative to the signals noise. The typical SNR of a satellite at 30° elevation is
between 47 and 50 dBl-lz. The quality of a GPS position is degraded if the SNR ofone or
more satellites in the constellation falls below 39.
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.
See signal-to‘noise ratio,
A type of receiver that uses three carrier phase measurements (L1. L2. and L5)
Universal Time Coordinated. A time standard based on local solar mean time at the
Greenwich meridian.
1 50 SPSxSO Modular GPS Receiver User Guide
WAAS
WGS-84
Glossary
Virtual Reference Station. A VRS system consists of GPS hardware, soitware, and
communication links. It uses data from a network of base stations to provrde
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 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 mejapanese equivalent of
WAAS.
World Geodetic System 1984. Since January 1987, WGS-84 has superseded WGS-72 as
the datum used by GPS.
The WGS»S4 datum is based on the ellipsoid of the same name.
SPSxSO Modular GPS Receiver User Guide 1 51
Glossary
1 52 SPSxSO Modular GPS Receiver User Guide

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