Trimble 90912 GNSS Receiver User Manual Trimble R10 2 GNSS Receiver User Guide

Trimble Navigation Ltd GNSS Receiver Trimble R10 2 GNSS Receiver User Guide

Users Manual

DraftVersion 1Revision AMay 2017TRIMBLE R10-2GNSS RECEIVERUSER GUIDE
DraftCorporate OfficeTrimble Inc.935 Stewart DriveSunnyvale, California 94085USAGeospatial DivisionTrimble Inc.10368 Westmoor DriveWestminster, CO 80021USAwww.trimble.comEmail: trimble_support@trimble.comLegal Notices© 2006–2017, Trimble Inc.. All rights reserved.Trimble,the Globe & Triangle logo, and OmniSTAR are trademarks of Trimble Inc.,registered in the United States and in other countries. CenterPoint, CMR+, Connected Community, EVEREST, HDGNSS, HYDROpro, Maxwell, RTX, SurePoint, Trimble Access, TRIMMARK, VRS, and xFill are trademarks of Trimble Inc.. Microsoft, Internet Explorer, Silverlight, Windows, and Windows Vista are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. The Bluetooth word mark and logos are owned by the Bluetooth SIG, Inc. and any use of such marks by Trimble Inc. is under license. All othertrademarks are the property of theirrespective owners. SupportforGalileo is developed under a license of the European Union and the European Space Agency.NTP Software Copyright© David L. Mills 1992-2009. Permission to use, copy, modify, and distribute this software and its documentation for any purpose with or without fee is hereby granted, provided that the above copyright notice appears in all copies and that both the copyright notice and this permission notice appear in supporting documentation, and that the name University of Delaware not be used in advertising or publicity pertaining to distribution of the software without specific, written prior permission. The University of Delaware makes no representations about the suitability this software for any purpose. It is provided "as is" without express or implied warranty.Release NoticeThis is the May 2017 release (Revision A) of the Trimble R10-2 receiver documentation.Product Limited Warranty InformationFor applicable product Limited Warranty information, please refer to the Limited Warranty Card included with this Trimble product, or consult your local Trimble authorized dealerCOCOM limitsThe U.S. Department of Commerce requires that all exportable GPS products contain performance limitations so that they cannot be used in a manner that could threaten the security of the United States. The following limitations are implemented on this product:– Immediate access to satellite measurements and navigation results is disabled when the receiver velocity is computed to be greater than 1,000 knots, or its altitude is computed to be above 18,000 meters. The receiver GPS subsystem resets until the COCOM situation clears. As a result, all logging and stream configurations stop until the GPS subsystem is cleared.NoticesClass B Statement – Notice to Users. This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC rules and Part 90. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communication. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:– Reorient or relocate the receiving antenna.– Increase the separation between the equipment and the receiver.– Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.– Consult the dealer or an experienced radio/TV technician for help.Changes and modifications not expressly approved by the manufacturer or registrant of this equipment can void your authority to operate this equipment under Federal Communications Commission rules.Trimble R10-2 GNSS Receiver User Guide | 2
DraftCanadaThis Class B digital apparatus complies with Canadian ICES-003.Cet appareil numérique de la classe B est conforme à la norme NMB-003 du Canada.This apparatus complies with Canadian RSS-GEN, RSS-310, RSS-210, and RSS-119.Cet appareil est conforme à la norme CNR-GEN, CNR-310, CNR-210, et CNR-119 du Canada.EuropeThe products covered by this guide may be operated in all EU member countries (BE, BG, CZ, DK, DE, EE, IE, EL, ES, FR, HR, IT, CY, LV, LT, LU, HU, MT, NL, AT, PL, PT, RO, SI, SK, FI, SE, UK), Norway and Switzerland. Products been tested and found to comply with the requirements for a Class B device pursuant to European Council Directive 89/336/EEC on EMC, thereby satisfying the requirements for CE Marking and sale within the European Economic Area (EEA). Contains a Bluetooth radio module. These requirements are designed to provide reasonable protection against harmful interference when the equipment is operated in a residential or commercial environment. The 450 MHZ (PMR) bands and 2.4 GHz are non-harmonized throughout Europe.CE Declaration of ConformityHereby, Trimble Inc., declares that the GPS receivers are in compliance with the essential requirements and other relevant provisions of Directive 1999/5/EC.Australia and New ZealandThis product conforms with the regulatory requirements of the Australian Communications and Media Authority (ACMA) EMC framework, thus satisfying the requirements for RCM marking and sale within Australia and New Zealand.Restriction of Use of Certain Hazardous Substances in Electrical and Electronic Equipment (RoHS)Trimble products in this guide comply in all material respects with DIRECTIVE 2002/95/EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 27 January 2003 on the restriction of the use of certain hazardous substances in electrical and electronic equipment (RoHS Directive) and Amendment 2005/618/EC filed under C(2005) 3143, with exemptions for lead in solder pursuant to Paragraph 7 of the Annex to the RoHS Directive applied.Taiwan – Battery Recycling RequirementsThe product contains a removable Lithium-ion battery. Taiwanese regulations require that waste batteries are recycled.廢電池請回收Waste Electrical and Electronic Equipment (WEEE)For product recycling instructions and more information, please go to www.trimble.com/ev.shtml. Recycling in Europe: To recycle Trimble WEEE (Waste Electrical and Electronic Equipment, products that run on electrical power.), Call +31 497 53 24 30, and ask for the “WEEE Associate”. Or, mail a request for recycling instructions to:Trimble Europe BVc/o Menlo Worldwide LogisticsMeerheide 455521 DZ Eersel, NLUnlicensed radios in productsThis device complies with part 15 of the FCC Rules.Operation is subject to the following two conditions:(1) This device may not cause harmful interference, and(2) This device must accept any interference received, including interference that may cause undesired operation.Trimble R10-2 GNSS Receiver User Guide | 3
DraftSafety InformationBefore you use your Trimble product, make sure that you have read and understood all safety requirements.WARNING – This alert warns of a potential hazard which, if not avoided, could result in severe injury or even death.CAUTION – This alert warns of a potential hazard or unsafe practice that could result in minor injury or property damage or irretrievable data loss.NOTE – An absence of specific alerts does not mean that there are no safety risks involved.Use and careThis product is designed to withstand the rough treatment and tough environment that typically occurs in construction applications. However, the receiver is a high-precision electronic instrument and should be treated with reasonable care.CAUTION – Operating or storing the receiver outside the specified temperature range can damage it.Exposure to radio frequency radiationFor 450 MHz radioSafety. Exposure to RF energy is an important safety consideration. The FCC has adopted a safety standard for human exposure to radio frequency electromagnetic energy emitted by FCC regulated equipment as a result of its actions in General Docket 79-144 on March 13, 1986.Proper use of this radio modem results in exposure below government limits. The following precautions are recommended:lDO NOT operate the transmitter when someone is within the following distances of the antenna:lBluetooth, Wi-Fi, GSM/UTMS – less than 20 cm (7.9 inches)l410-470 MHz UHF radio – less than 47 cm (18.5 inches)Trimble R10-2 GNSS Receiver User Guide | 4
DraftSafety InformationlDO NOT operate the transmitter unless all RF connectors are secure and any open connectors are properly terminated.lDO NOT operate the equipment near electrical blasting caps or in an explosive atmosphere.lAll equipment must be properly grounded according to Trimble installation instructions for safe operation.lAll equipment should be serviced only by a qualified technician.For license-free 900 MHz radioCAUTION – For your own safety, and in terms of the RF exposure requirements of the FCC, always observe these precautions:lAlways maintain a minimum separation distance of 24 cm (9.5 inches) between yourself and the radiating antenna.lDo not co-locate the antenna with any other transmitting device.NOTE – 900 MHz radios are not used in Europe. For internal wireless radio transmittersThe radiated output power of the internal Bluetooth wireless radio and the Wi-Fi radio included in some Trimble receivers is far below the FCC radio frequency exposure limits. Nevertheless, the wireless radio(s) shall be used in such a manner that the Trimble receiver is 20 cm or further from the human body. The internal wireless radio(s) operate within guidelines found in radio frequency safety standards and recommendations, which reflect the consensus of the scientific community. Trimble therefore believes that the internal wireless radio(s) are safe for use by consumers. The level of energy emitted is far less than the electromagnetic energy emitted by wireless devices such as mobile phones. However, the use of wireless radios may be restricted in some situations or environments, such as on aircraft. If you are unsure of restrictions, you are encouraged to ask for authorization before turning on the wireless radio.Exposure to radio frequency radiation from cellular wireless transmittersTrimble receivers equipped with wireless cellular modem radios have been designed and manufactured to meet safety requirements for limiting exposure to radio waves. When used in accordance with the instructions set forth in this manual, the equipment has been independently verified to not exceed the emission limits for safe exposure to radio frequency (RF) energy as specified by the Federal Communications Commission of the U.S. Trimble R10-2 GNSS Receiver User Guide | 5
DraftSafety InformationGovernment in 47 CFR §2.1093. These limits are part of comprehensive guidelines and establish permitted levels of RF energy for the general population. The guidelines are based on standards that were developed by independent scientific organization through periodic and thorough evaluation of scientific studies. The standards include a substantial safety margin designed to assure the safety of all persons, regardless of age and health.For UMTS radioSafety. Exposure to RF energy is an important safety consideration. The FCC has adopted a safety standard for human exposure to radio frequency electromagnetic energy emitted by FCC regulated equipment as a result of its actions in General Docket 79-144 on March 13, 1986.Proper use of this radio modem results in exposure below government limits. The following precautions are recommended:lDO NOT operate the transmitter when someone is within 20 cm (7.9 inches) of the antenna.lAll equipment should be serviced only by a qualified technician.Installing antennasCAUTION – For your own safety, and in terms of the RF exposure requirements of the FCC, always observe these precautions:lAlways maintain a minimum separation distance of 24 cm (9.5 inches) between yourself and the radiating antenna.lDo not co-locate the antenna with any other transmitting device.WARNING – The GNSS antenna and its cabling should be installed in accordance with all national and local electrical codes, regulations, and practices. The antenna and cabling should be installed where they will not become energized as a result of falling nearby power lines, nor be mounted where they are subjected to over-voltage transients, particularly lightning. Such installations require additional protective means that are detailed in national and local electrical codes.Trimble receiver internal radios have been designed to operate with the antennas listed below. Antennas not included in this list are strictly prohibited for use with this device. The required antenna impedance is 50 ohms.Trimble-approved antennas that can be used (country dependent) are:l450 MHz radio – 0dBi and 5 dBi whip antennasTrimble R10-2 GNSS Receiver User Guide | 6
DraftSafety InformationTo reduce potential radio interference to other users, the antenna type and its gain should be so chosen so that the equivalent isotropically radiated power (e.i.r.p.) is not more than that permitted for successful communication.Type approvalType approval, or acceptance, covers technical parameters of the equipment related to emissions that can cause interference. Type approval is granted to the manufacturer of the transmission equipment, independent from the operation or licensing of the units. Some countries have unique technical requirements for operation in particular radio-modem frequency bands. To comply with those requirements, Trimble may have modified your equipment to be granted type approval.Unauthorized modification of the units voids the type approval, the warranty, and the operational license of the equipment.Trimble R10-2 GNSS Receiver User Guide | 7
DraftContents  Safety Information 4Use and care 4Exposure to radio frequency radiation 4For license-free 900 MHz radio 5For internal wireless radio transmitters 5Exposure to radio frequency radiation from cellular wireless transmitters 5For UMTS radio 6Installing antennas 6Type approval 71 Getting Started 12The Trimble R10 GNSS receiver 13Features 13Parts of the receiver 14Front panel 14Lower housing 15Receiver ports 16Batteries 17Battery safety 17Connecting the receiver to a vehicle battery 18Wet locations 18Charging the Lithium-ion battery 18Battery charger 19Storing the Lithium-ion battery 23Disposing of the rechargeable Lithium-ion battery 23Inserting the battery and SIM card 24Accessories 25Attaching the quick release adapter 25Height measurement methods 25Base station extension with measurement lever 26Button and LED operations 28Power button 28Satellite LED 29Radio LED 30Wi-Fi LED 30Data logging/downloading LED 30LED flash patterns 31Trimble R10-2 GNSS Receiver User Guide | 8
DraftContentsConnecting to an office computer 32Connecting to a USB flash memory stick 33Configuring a PC USB port as a virtual serial port 33Windows 8 operating system 34Windows Vista and Windows 7 operating system 34Logging data 35Logging data after a power loss 35Default receiver settings 352 Base Station Operation 37Base station operation guidelines 38Base station components 38Base station setup guidelines 39Common ways to set up a base station 41Tripod and tribrach setup 41Fixed height tripod setup 42Using a remote radio antenna with the receiver 43Using an external radio with the receiver 44Outputting corrections using a TDL450/HPB450 radio-modem 443 Rover Setup and Operation 46Rover operation guidelines 47Surepoint (integrated tilt sensor) 49Calibrating the integrated tilt sensor 49Integrated cellular modem 52Connecting the receiver to external devices 53Connecting to a Trimble controller running Trimble Access software 53Internal radio-modems 54External radio-modems 54Configuring the receiver 54Configuring the receiver using the Web Interface 54Receiver Status menu 57Satellites menu 57Web Services menu 57Data Logging menu 58I/O Configuration menu 58Bluetooth menu 58Beacon menu 58Trimble R10-2 GNSS Receiver User Guide | 9
DraftContentsRadio menu 58GSM/GPRS modem menu 59OmniSTAR menu 59Network Configuration menu 59Wi-Fi 59Security menu 59Firmware menu 59Help menu 60Configuring the receiver in real time 60Configuring the receiver using application files 60Configuring the receiver to use specific settings when it is turned on 63Transferring files directly from the receiver 63Deleting files in the receiver 644 The WinFlash Utility 65The WinFlash utility 65Upgrading the receiver firmware 66Adding frequencies for the 450 MHz internal radio using the WinFlash utility 66Configuring the internal transceiver 67Updating the frequency list 685 Troubleshooting 69Troubleshooting receiver issues 70Troubleshooting LED conditions 71Troubleshooting base station setup and static measurement problems 716 Output Messages 73NMEA-0183 messages: Overview 74NMEA-0183 messages: Common message elements 76Message values 76GSOF Messages: Overview 77GSOF messages: General Serial Output Format 78GSOF messages: Reading binary values (Motorola format) 80Login authentication 827 Specifications 83Specifications 84Trimble R10-2 GNSS Receiver User Guide | 10
DraftContentsMeasurements 84Positioning performance 84Hardware 86Antenna phase center offsets 89Pinout information 90Glossary 91Trimble R10-2 GNSS Receiver User Guide | 11
DraftGetting StartedlThe Trimble R10 GNSS receiverlFeatureslParts of the receiverlBatterieslInserting the battery and SIM cardlAccessorieslButton and LED operationslLED flash patternslConnecting to an office computerlConnecting to a USB flash memory sticklConfiguring a PC USB port as a virtual serial portlLogging datalDefault receiver settings1Trimble R10-2 GNSS Receiver User Guide | 12
Draft1 Getting StartedThe Trimble R10 GNSS receiverThe Trimble R10 GNSS receiver incorporates a GNSS antenna, receiver, internal radio, and battery in a rugged light-weight unit that is ideally suited as an all-on-the-pole RTK rover or quick setup/rapid mobilization base station. LEDs enable you to monitor satellite tracking, radio reception, data logging status, Wi-Fi status, and power. Bluetooth wireless technology provides cable-free communications between the receiver and controller.You can use the receiver as part of an RTK GNSS system with the Trimble Access™ software. The receiver can optionally record GNSS data to the receiver’s internal memory and download to a computer or USB flash memory stick.The receiver has no front panel controls for changing settings. To configure the receiver, use the web interface which is available by connecting to the receiver’s Wi-Fi via a PC or a smartphone. FeaturesThe Trimble R10 GNSS receiver has the following features:lSmall, lightweight design – 1.12 kg (2.49 lb) (integrated radio, GNSS receiver, GNSS antenna and battery); 3.57 kg (7.86 lb) complete system weight (rover including TSC3 controller and rod)lThe quick setup, high mobility base or rover receiver, is ideal for any size jobsite as a rover and for working on multiple jobsites on a daily or weekly basisl440-channel, Trimble 360 receiver, fully future-proof signal tracking of current GNSS systems:lGPS: L1C/A, L1C, L2C, L2E, L5lGLONASS: L1C/A, L1P, L2C/A, L2P, L3Trimble R10-2 GNSS Receiver User Guide | 13
Draft1 Getting StartedlSBAS: L1C/A, L5lGalileo: E1, E5a, E5BlBeiDou: B1, B2lMeasure points sooner, faster and in harsh environments with HD-GNSS™lIncreased productivity and measurement traceability with Surepoint™ auto-tilt compensation technologylCapable of tracking the CenterPoint™ RTX® correction service using satellite deliverylReduced downtime due to loss of radio signal with Trimble xFill™ servicelCapable of tracking all OmniSTAR® signalslPerforms all site measurement and stakeout operations within the operating range of the radiolInternal, removable, smart Lithium-ion battery provides up to 5+ hrs GNSS rover operation per batterylBluetooth wireless technology for cable free, no hassle, base or rover operationlSimple keypad with on/off key and LED indicators for power, radio, Wi-Fi, and satellite trackingl20 Hz update ratelFull base/rover interoperabilitylOperates within a VRS™ network for conventional base station-free rover capabilitylFully integrated 3.5G UMTS cellular modemlIntegrated receive and transmit radiolCapable of tracking all SBAS systemsParts of the receiverAll operating controls are located on the front panel. Serial ports and connectors are located on the bottom of the unit.Front panelThe following figure shows a front view of the receiver. The front panel contains the four indicator LEDs and the Power button with LED.Trimble R10-2 GNSS Receiver User Guide | 14
Draft1 Getting StartedThe Power button controls the receiver’s power on or off functions.The indicator LEDs show the status of data logging/downloading, power, satellite tracking, Bluetooth/Wi-Fi, and radio transmit/receive.For more information, see Button and LED operations, page 28.Lower housingThe lower housing contains the two communication and power ports, one TNC radio antenna connector, and the Quick Release Socket.Trimble R10-2 GNSS Receiver User Guide | 15
Draft1 Getting Started❶SMA Connection: UHF/VHF antenna❷Quick Release socket❸Lemo Port 1: Serial connection❹Lemo Port 2: USB connectionReceiver portsIcon Name ConnectionsPort 1 Device, computer, external radio, power in, power outPort 2 Device, computer, USB flash memory stick, power inRADIO Radio communications antennaPort 1 is a 7-pin 0-shell Lemo connector that supports RS-232 communications and external power input. Port 1 has no power outputs.Port 2 is a 7-pin 0-shell Lemo connector that allows for USB 2.0 communications and external power input. For more information, see Default receiver settings, page 35.The SMA port connector is for connecting a radio antenna to the receiver internal radio. A whip “rubber duck” antenna is supplied with the system for units with internal UHF or VHF MHz radios. This connector is not used if you are using an external UHF/VHF radio. For longer range operation (to Trimble R10-2 GNSS Receiver User Guide | 16
Draft1 Getting Startedprovide higher gain and to raise the antenna higher above the ground), you can use a cable to connect an external radio antenna to the SMA port. For more information, refer to the "Connecting the receiver to external devices" topic in the Web Help.BatteriesThe receiver has one rechargeable Lithium-ion battery, which can be removed for charging. You can also connect the receiver to an external power source through Port 1 or Port 2.During measurement operations, the internal battery typically provides about 5.5 hours of power if using the internal Rx (receive) radio and about 4.5 hours operating as a base station using the internal 450 MHz Tx (transmit at 0.5 watt) radio. These times vary according to the type of measurement and the operating conditions.Battery safetyCharge and use the battery only in strict accordance with the instructions provided.WARNING – Do not damage the rechargeable Lithium-ion battery. A damaged battery can cause an explosion or fire, and can result in personal injury and/or property damage.To prevent injury or damage:lDo not use or charge the battery if it appears to be damaged. Signs of damage include, but are not limited to, discoloration, warping, and leaking battery fluid.lDo not expose the battery to fire, high temperature, or direct sunlight.lDo not immerse the battery in water.lDo not use or store the battery inside a vehicle during hot weather.lDo not drop or puncture the battery.lDo not open the battery or short-circuit its contacts.Trimble R10-2 GNSS Receiver User Guide | 17
Draft1 Getting StartedWARNING – Avoid contact with the rechargeable Lithium-ion battery if it appears to be leaking. Battery fluid is corrosive, and contact with it can result in personal injury and/or property damage.To prevent injury or damage:lIf the battery leaks, avoid contact with the battery fluid.lIf battery fluid gets into your eyes, immediately rinse your eyes with clean water and seek medical attention. Do not rub your eyes!lIf battery fluid gets onto your skin or clothing, immediately use clean water to wash off the battery fluid.Connecting the receiver to a vehicle batteryWARNING – Use caution when connecting battery cable's clip leads to a vehicle battery. Do not allow any metal object or jewelry to connect (short) the battery's positive (+) terminal to either the negative (-) terminal or the metal of the vehicle connected to the battery. This could result in high current, arcing, and high temperatures, exposing the user to possible injury.WARNING – When connecting an external battery, such as a vehicle battery, to the receiver, be sure to use the Trimble cable with proper over-current protection intended for this purpose, to avoid a safety hazard to the user or damage to the product.Wet locationsWARNING – This product is not intended to be used outdoors or in a wet location when it is powered by the external power supply. The connection is not waterproof and could be subject to electrical shorting.WARNING – The external power adapter and its associated power cord and plug are not intended to be installed outdoors, or in a wet location.Charging the Lithium-ion batteryThe rechargeable Lithium-ion battery is supplied partially charged. Charge the battery completely before using it for the first time. Charging takes approximately 3 hours per battery at room temperature. If the battery has been stored for longer than three months, charge it before use.Trimble R10-2 GNSS Receiver User Guide | 18
Draft1 Getting StartedWARNING – Charge and use the rechargeable Lithium-ion battery only in strict accordance with the instructions. Charging or using the battery in unauthorized equipment can cause an explosion or fire, and can result in personal injury and/or equipment damage. To prevent injury or damage:lDo not charge or use the battery if it appears to be damaged or leaking.lCharge the Lithium-ion batteries only in a Trimble battery charger, such as the dual battery charger P/N 61116-00 (black) or P/N 53018010 (grey), or the five-battery system charger P/N (yellow/grey) or another charger specified for this battery. Be sure to follow all instructions that are provided with the battery charger.lDiscontinue charging a battery that gives off extreme heat or a burning odor.lUse the battery only in Trimble equipment that is specified to use it.lUse the battery only for its intended use and according to the instructions in the product documentation.To charge the battery, first remove the battery from the receiver, and then place it in the battery charger, which is connected to AC power.Battery chargerThe charger can charge three types of Lithium-ion batteries. It can be powered by AC power or vehicle battery. The Charger Kit Dual Slot consists of:lCharger dual-battery slot (P/N 53018010) lPower supply for charger (P/N 55001403, Japan: P/N 78650)lCable Kit-AC for power supply (P/N 55001402; Japan: P/N 78656)lCharger battery slot insert (P/N 89843-00)Trimble R10-2 GNSS Receiver User Guide | 19
Draft1 Getting StartedChargeable batteriesThe charge can charge the following types of batteries:lLithium-ion Rechargeable Battery (Smart Battery), 3.7 Ah, 7.4 V, (P/N 76767, P/N 89840-00)lLithium-ion Rechargeable Battery, 2.6 Ah, 7.4 V, P/N 92600 (remove battery slot inserts to charge this type of battery)lLithium-ion Rechargeable Battery, 4,4 Ah, 11.1.V, P/N 49400 (remove battery slot inserts to charge this type of battery)Charger slotsThe charger has two slots. Each slot can charge either type of battery. When charging the smart battery, you must place the inserts into the battery slot before inserting the battery. Batteries are charged sequentially. Beside each slot are two LED indicators (red and green) to indicate the battery status.Power supplyThe charger can be powered by AC power (using the power supply for the charger) or by car voltage using a 12V vehicle adapter for dual battery charger (P/N 89844-00, not included with receiver kit).AC power supply is an external adapter, usable worldwide. Different cords with appropriate plugs for different countries are supplied with adapter.Vehicle powerThe charger can be powered by vehicle voltage of nominal 12 V. It can withstand voltages of a vehicle voltage of nominal 24 V (maximum 32 V). So if the user connects the vehicle cable by mistake to a 24 V socket in a vehicle the charger does not start charging but latches in fault condition and flashes all green LEDs. The power must be removed to reset the fault condition.Technical dataPower Supply Receiver ConnectionAC Input Voltage 100 to 240 V AC +/-10%AC Frequency 50 to 60 HzDC Output Voltage 19 VDC Output current charger Approx. 3.5 ATrimble R10-2 GNSS Receiver User Guide | 20
Draft1 Getting StartedPower Supply Receiver ConnectionDC Power Input Voltage operation 10 V to 21 VUnit switches off if voltage is out of rangeDC Power Input Voltage limits 8 V to 32 VAbsolute maximum input voltage 32 VOver voltage 21 V to 32 VWorking voltage 10 V to 21 VUnder voltage charging <10 VSum of charge time for all batteries 5 to 6 hoursCharger in first hour >60 %Charging the batteryCAUTION – Ensure that nothing obstructs the vents in the back and bottom of the charger.The battery is supplied partially charged. Charge the battery completely before using it for the first time.lTo charge the battery, use only a charger that Trimble recommends for charging the Lithium-ion battery.lIf the equipment has been stored for longer than three months, charge the battery before using the receiver.The charger operates between 0 °C (32 °F) and 40 °C (104 °F). Charging a battery at temperatures in the range of 0 °C (32 °F) to 5 °C (41 °F) will take longer than charging at room temperature.To charge the battery:1. Ensure that the vents in the back and bottom of the charger are unobstructed.2. Place the charger on a hard, flat and level surface, to ensure that there is airflow under the charger.3. To apply power to the charger, use the AC to DC converter or 12 V vehicle adapter. The charger scans the slots for a battery.4. Place the battery in any of the slots. The red light turns off (can take up to 5s). For an explanation of the LED, see LED Status Indicator below.5. Charging takes approximately 3 hours per battery at room temperature. If several Trimble R10-2 GNSS Receiver User Guide | 21
Draft1 Getting Startedbatteries are charging in the battery charger, the batteries will be charged sequentially, from left to right.Leave a deeply discharged or shorted battery overnight in the charger to attempt to revive the battery. A shorted battery is typically revived as soon as the slot is scanned. If the red LED turns off, the battery is revived. If the red LED stays on, the battery is no longer functional and needs to be replaced.LED status indicatorBeside each slot are two LED indicators (Red and Green) to display the battery status:Status Red GreenNo battery detected (no battery present or battery defect)On OffBattery detected (charging not started yet)- Conditioning not required - Conditioning requiredOffBlinkingOffOffCharging in progress- Conditioning not required - Conditioning required - Over/under temperature (charge is inhibited)OffBlinkingOne flash every 2.5 secondsOffBlinkingBlinkingConditioning in progress On BlinkingConditioning done (battery fully charged) On OnBattery fully charged- Conditioning not required- Conditioning requiredOffBlinkingOnOnPower supply over/under voltage Off One flash every 2.5 secondsTrimble R10-2 GNSS Receiver User Guide | 22
Draft1 Getting StartedTroubleshootingIssue SolutionBattery is not detected (Red LED does not turn off)The battery is not properly inserted. Reinsert battery into battery charger slot.Battery contacts contaminated.Clean the battery (for example, by inserting and removing the battery several times) or replace the battery.Deeply discharged. Leave the battery overnight in the charger to attempt to revive the battery.Battery defective. Replace the battery.Storing the Lithium-ion batteryDo not store batteries in the receiver or in the external charger unless power is applied.Keep all batteries on continuous charge when not in use. You can keep batteries on charge indefinitely without damage to the batteries.Disposing of the rechargeable Lithium-ion batteryDischarge a Lithium-ion battery before disposing of it. Dispose of batteries in an environmentally sensitive manner, and adhere to any local and national regulations concerning battery disposal or recycling.Trimble R10-2 GNSS Receiver User Guide | 23
Draft1 Getting StartedInserting the battery and SIM cardAlign the arrows and on the battery and battery compartment and then insert the battery as indicated in the images below.To remove the battery, slide the battery bail to the left.NOTE – The gasket on the inside of the battery door should be clean of any dirt or dust to ensure proper sealing of the battery compartment.Insert the SIM card with the contacts facing upward, as indicated by the SIM card icon next to the SIM card slot.To eject the SIM card, slightly push it in to trigger the spring-loaded release mechanism.TIP – The SIM card is provided by your cellular network service provider.Trimble R10-2 GNSS Receiver User Guide | 24
Draft1 Getting StartedAccessoriesAttaching the quick release adapterPush down the spring-loaded button of the quick release adapter and then align the white dots on the bottom of the receiver and the quick release adapter. Slide in the quick release adapter and then release the button.Height measurement methodsThe following antenna height measurement methods are available in the field/office software and web interface:❶❷❸Bottom of antenna mountBottom of quick releaseLever of R10 extensionNOTE – For information on using the Trimble R10 receiver with the Trimble V10 Imaging Rover, refer to the Trimble V10 User Guide.Trimble R10-2 GNSS Receiver User Guide | 25
Draft1 Getting StartedBase station extension with measurement leverThe Trimble R10 GNSS receiver uses a base station extension pole that increases the height of the receiver to allow clearance for the 450 MHz internal radio antenna and also allows for easy and accurate measurement of the base station antenna height. The extension pole includes a height measurement lever with a defined measurement point:To measure the height of the base station extension with measurement lever, measure the slant height from the control point on the ground to the height measurement point on the lever. Enter the slant height into the field software (or web interface) and then select the Lever of R10 extension measurement method. The field software (or web interface) automatically calculates the antenna height from the slant height. The base station extension with measurement lever should be used when setting up a base station or static session on an extension leg tripod with tribrach.The illustration below shows the Trimble R10 GNSS receiver with base station extension with measurement lever (P/N89846-00):The Base Station Extension with Measurement Lever is available as a standalone accessory (P/N89846-00) or within the Base Kit or Post processed (PP) Kit.NOTE – Measuring to the measurement lever is not required when using a fixed height tripod. If the base station extension with measurement lever is used with a fixed height tripod, the height of the Trimble R10-2 GNSS Receiver User Guide | 26
Draft1 Getting Startedextension pole (0.15 m (0.49 ft)) should be added to the height of the fixed height tripod and the measurement method “bottom of quick release” used.Base Extension with Measurement Lever (P/N 89846-00): Base Kit (P/N 89861-00): PP Kit (P/N 89862-00):NOTE – Measuring to the measurement lever is not required when using a fixed height tripod. If the base station extension with measurement lever is used with a fixed height tripod, the height of the extension pole (0.15 m (0.49 ft)) should be added to the height of the fixed height tripod and the measurement method “bottom of quick release” used.Trimble R10-2 GNSS Receiver User Guide | 27
Draft1 Getting StartedButton and LED operationsThe LEDs on the front panel indicate various operating conditions. Generally, a lit or slowly flashing LED indicates normal operation, a LED that is flashing quickly indicates a condition that may require attention, and an unlit LED indicates that no operation is occurring. The following table defines each possible LED state:The term... means that the LED...Very slow flash is off and on equally with a 1.5 second cycle.Slow flash alternates on/off every ½ second.Radio slow flash is off longer than it is on when the receiver is receiving corrections. The receiver repeats this cycle typically once per second.is on more than off when the receiver is transmitting corrections. The receiver repeats this cycle typically once per second.Medium flash is off and on equally more than once per second.Fast flash alternates rapidly on/off every 1/10 of a second.On is lit steady.Off is unlit. Power buttonAction Power buttonDescriptionTurn on the receiverPress (see the note All four LEDs light up and remain lit for 3 seconds. Then all LEDs go off and then the power LED immediately comes back on.Trimble R10-2 GNSS Receiver User Guide | 28
Draft1 Getting StartedAction Power buttonDescriptionbelow)Turn off the receiverHold for 2 seconds and then releaseWhen holding down the Power button; the battery LED remains on. The Satellite LED turns constant and then turns off after 2 seconds.After releasing the power button, the battery LED stays lit for about 5 seconds and then all LEDs go blank.Clear the ephemeris file and reset the receiver to the factory defaultsHold for 15 secondsThe Radio, Wi-Fi, and Satellite LEDs turn off after 2 seconds. The battery LED remains on. After 15 seconds, the Satellite LED comes on to indicate that it is time to release the Power button. Upon restart, the Wi-Fi will also turn on in Access Point mode.Delete application files and data logging filesHold for 30 secondsThe Radio, Wi-Fi, and Satellite LEDs turn off after 2 seconds. After 15 seconds, the Satellite LED comes on and stays on for 15 seconds, then turns off to indicate that it is time to release the Power button. The receiver then restarts. NOTE – The term “press” means to press the button and release it immediately. The term “hold” means to press the button and hold it down for the given time. Satellite LEDReceiver mode Satellite LED AmberNo satellites tracked OffOnTracking fewer than 4 SVs Fast flashTracking more than 4 SVs Slow flashTrimble R10-2 GNSS Receiver User Guide | 29
Draft1 Getting Started Radio LEDRadio modeRadio LED AmberDescriptionNo receive or transmitOff Receive Radio slow flashSee the table at the top of this topic. This LED also flashes when using the Wi-Fi only for receiving corrections.Transmit Radio slow flashSee the table at the top of this topic.This LED also flashes when using the Wi-Fi only for transmitting corrections Wi-Fi LEDReceiver mode Wi-Fi LED AmberWi-Fi off OffWi-Fi is access point (base mode/sending corrections) Medium flashWi-Fi is client (and not connected to an access point) OffWi-Fi as client (rover mode receiving corrections) Very slow flash Data logging/downloading LEDReceiver mode Data LED AmberData logging off OffData logging on OnDownloading to USB flash memory stick Slow flashFull USB flash memory stick detected Fast flashTrimble R10-2 GNSS Receiver User Guide | 30
Draft1 Getting StartedReceiver mode Data LED AmberDownload to USB flash memory stick completeVery slow flashLED flash patternsThe following table details the possible flash patterns to indicate various states of receiver operation.Receiver mode Power buttonRadio LED Satellite LEDData LEDWi-Fi LEDReceiver OFF OFF OFF OFF OFF OFFReceiver ON, healthy power ON N/A N/A N/A N/ALow power Fast flashN/A N/A N/A N/ATransmitting correction messages N/A Flashes off when transmittingN/A N/A N/AReceiving valid data packets N/A Slow flash N/A N/A N/ATracking fewer than 4 SVs ON N/A Fast flashN/A N/ATracking more than 4 SVs ON N/A Slow flashN/A N/ALogging data internally N/A N/A N/A Solid N/ATransferring data to flash memory stickN/A N/A N/A Slow flashN/AAll data transferred to flash memory stickN/A N/A N/A Very slow flashN/AFlash memory stick full N/A N/A N/A Fast flashN/AWi-Fi configured as an access point N/A N/A N/A N/A Slow flashWi-Fi configured as a client N/A N/A N/A N/A OnTrimble R10-2 GNSS Receiver User Guide | 31
Draft1 Getting StartedReceiver mode Power buttonRadio LED Satellite LEDData LEDWi-Fi LEDReceiver in monitor mode (loading firmware from WinFlash)ON Slow flash Solid OFF OFFNOTE – If a column shows “N/A”, that specific LED may or may not be on, but it is not relevant to that particular mode.Connecting to an office computerThe receiver can communicate with the office computer using a serial connection by either using a serial cable (P/N 89851-00 or P/N 59046), or by using the USB cable (P/N 89852-00 or P/N 80751) and then Configuring a PC USB port as a virtual serial port, page 33. Before you connect to the office computer, ensure that the receiver battery is fully charged.The following figure shows how to connect to the computer for serial data transfer:①USB cable (P/N 89852-00 or 80751)②Serial cable (P/N 89851-00 or P/N 59046)Trimble R10-2 GNSS Receiver User Guide | 32
Draft1 Getting StartedConnecting to a USB flash memory stickThe receiver can download logged data directly to a USB flash memory stick using the supplied USB field data cable (P/N 80799 or 89850-00). After the cable is connected to the receiver’s port 2 (USB) and the flash memory stick attached, the receiver will download all logged files to the flash memory stick.NOTE – The USB field data cable is used to download logged (existing) data files from the receiver memory to the flash memory stick. The USB field data cable cannot be used to log data files directly to the flash memory stick.The following figure shows a flash memory stick connected to the receiver using the USB download cable:Configuring a PC USB port as a virtual serial portIt is possible to use the USB interface from a Trimble R10 GNSS receiver with a software application that requires a serial port.For example, the Trimble WinFlash utility can be run on a computer that has no physical serial port by connecting the USB cable between the computer and the receiver.Trimble R10-2 GNSS Receiver User Guide | 33
Draft1 Getting StartedWindows 8 operating system1. The simplest way to install the virtual serial port for the USB interface to the receiver is to go to the Trimble Support website (http://www.trimble.com/Support/Support_AZ.aspx) and search for the GNSS receiver you have. In the Technical Support / Downloads section, download the file called Windows7 USB Installer to your computer.Note - There is no Windows8 USB Installer file; the Windows7 USB Installer file works for Windows 8.This file contains a Support Note and installation program. 2. Run the installation program. It will load the virtual serial port for the USB interface on your computer.NOTE – With Windows 8, the USB ports are often version 3.0. With Windows 8 there is a conflict with the implementation of USB version 3.0. To workaround this, go to the computer's BIOS settings when you start up the computer and then turn off the support for USB 3.0.NOTE – If you have installed the Trimble WinFlash utility (www.trimble.com/support) on your computer, then another way to install the virtual serial port for the USB interface is to run the USB Installer program, which is located in C:\Program Files\Common Files\Trimble\USBDriver.1. The simplest way to install the virtual serial port for the USB interface to the receiver is to go to the Trimble Support website (www.trimble.com/support) and search for the Trimble R10 GNSS receiver. In the Downloads section, download the file called Windows7 USB Installer to your computer.This file contains a Support Note and installation program. 2. Run the installation program. It will load the virtual serial port for the USB interface on your computer.NOTE – If you have installed the Trimble WinFlash utility on your computer, then another way to install the virtual serial port for the USB interface is to run the USB Installer program, which is located in C:\Program Files\Common Files\Trimble\USBDriver.If this process does not work for your computer, or if you have a different Windows operating system on your computer, then follow the procedure below.Windows Vista and Windows 7 operating system1. Go to the Trimble Support website (www.trimble.com/support) and search for the receiver you have. In the Support Notes section, download the file called R10 GNSS Interface to a Virtual COM port on a Computer to your computer.2. Open the file and place the trmbUsb.inf file in a temporary folder on your computer.Trimble R10-2 GNSS Receiver User Guide | 34
Draft1 Getting Started3. On the computer, select Control Panel / Device Manager.4. Click on the name of the computer and then from the Action menu, select Add Legacy Driver.5. A wizard prompts you to locate the TrimbleUsb.inf file. Locate the file and then follow the prompts in the wizard to continue.NOTE – If you are running an application such as WinFlash software on the computer and you physically disconnect the USB cable from the computer and then reconnect it, it does not always re-establish the connection. This is because opening the serial port from the application locks the device handle and when the USB device is disconnected, the application does not close the serial port and the device handle is still locked. On reconnecting, the USB cable is unable to get the device handle since it is locked. You must close the application before the reconnect to the port will work. This limitation is due to the behavior of the Microsoft USB serial driver.Logging dataData logging involves the collection of GNSS measurement data over a period of time at a static point or points, and subsequent postprocessing of the information to accurately compute baseline information. Data logging using receivers requires access to suitable GNSS postprocessing software such as the Trimble Business Center software.Postprocessed GNSS data is typically used for control network measurement applications and precise monitoring. GNSS 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 lossIf power is unexpectedly lost while the receiver is logging data, the receiver tries 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, it resumes logging data when power is restored.Default receiver settingsThese settings are defined in the default application file.Function Settings Factory defaultSV Enable - All SVs enabledTrimble R10-2 GNSS Receiver User Guide | 35
Draft1 Getting StartedFunction Settings Factory defaultGeneral Controls Elevation mask 10°PDOP mask 25RTK positioning modeLow LatencyMotion KinematicSerial Port 1 Baud rate 38,400Format 8-None-1Flow control NoneSerial Port 2 USB Input Setup Station AnyNMEA/ASCII (all supported messages) All ports OffStreamed Output All types OffOffset=00RT17/Binary All ports OffReference Position Latitude 0°Longitude 0°Altitude 0.00 m HAEAntenna Type Trimble R10 GNSS receiver, InternalHeight (true vertical) 0.00 mGroup AllMeasurement methodAntenna Phase CenterTrimble R10-2 GNSS Receiver User Guide | 36
DraftBase Station OperationlBase station operation guidelineslCommon ways to set up a base stationlOutputting corrections using a TDL450/HPB450 radio-modem2Trimble R10-2 GNSS Receiver User Guide | 37
Draft2 Base Station OperationBase station operation guidelinesThis topic introduces the concept of base station operation, provides information to help you identify good setup locations, describes best practices for setting up the equipment, and outlines the precautions that you need to take to protect the equipment.Real-Time Kinematic (RTK) operation provides centimeter-level precision by eliminating errors that are present in the GNSS system. For all RTK operations, you require both a rover receiver and a source of corrections from a base station or network of base stations.A base station consists of a receiver that is placed at a known (and fixed) position. The receiver tracks the same satellites that are being tracked by the rover receiver, at the same time that the rover is tracking them. Errors in the GNSS system are monitored at the fixed (and known) base station, and a series of position corrections are computed. The messages are sent through a radio link to the rover receiver, where they are used to correct the real time positions of the rover.Base station componentsThe base station has the following components:lGNSS receiverlGNSS antennalHeight extension pole with measurement levellBase station radio and antennalPower sourceGNSS receiver and GNSS antennaThe base station GNSS receiver can be one of following types:lAn integrated receiver that incorporates a GNSS receiver, GNSS antenna, power source, and radio into a single compact unit. An integrated GNSS antenna can be rapidly set up on a tripod, fixed height tripod, or T-Bar anywhere that is convenient on the jobsite.lA modular receiver that incorporates a GNSS receiver and separate GNSS antenna. The GNSS antenna (and, optionally, the base station radio antenna) is separate from the receiver. Because the GNSS antenna is separate, you can use the following optimized components:na geodetic antenna with large ground plane, to eliminate multipath (the major source of GNSS errors) at the base stationTrimble R10-2 GNSS Receiver User Guide | 38
Draft2 Base Station Operationna high-gain or directional radio antenna, to increase broadcast range and to provide maximum coverageYou can place a modular receiver in an easily accessible and secure location, safe from theft and the weather, while the antennas are placed high on a tower or building, clear of obstructions and able to deliver maximum performance.You can use either type of receiver in a permanent, semi-permanent, or daily quick setup configuration. If semi-permanent or permanent operation is required, however, the modular receiver delivers significant advantages.Base station setup guidelinesFor good performance, observe the following base station setup guidelines:lPlace the GNSS receiver in a location on the jobsite where equal range in all directions provides full coverage of the site. This is more important on larger jobsites, where the broadcast range of the base station radio may limit the operations of the system.lPlace the GNSS antenna in a location that has a clear line of sight to the sky in all directions. Do not place the antenna near vertical obstructions such as buildings, deep cuttings, site vehicles, towers, or tree canopy.lPlace the GNSS and radio antennas as high as practical. This minimizes multipath from the surrounding area, and enables the radio to broadcast to the maximum distance.NOTE – The GNSS antenna must have a clear line of sight to the sky at all times during operation.lChoose the most appropriate radio antenna for the size and footprint of the site. The higher the gain on the antenna, the longer the range. If there is more focus on the transmission signal, there is a reduced coverage area. A 5 db gain antenna provides a mix of good range and reasonable directional coverage.NOTE – A 5 db gain antenna with remote mount and cable is available as an accessory for the internal radio.lMake sure that the GNSS receiver does not lose power. To operate continuously for more than a few hours without loss of power at the base station, provide external power. Sources of external power include:nAC powern12 V vehicle batterynTrimble custom external battery packnGenerator powerTrimble R10-2 GNSS Receiver User Guide | 39
Draft2 Base Station OperationnSolar panelWhen you use an external power supply, the integrated battery provides a backup power supply, enabling you to maintain continuous operation through a mains power failure.lDo not locate a GNSS receiver, GNSS antenna, or radio antenna within 400 meters (about 1,300 feet) of:na powerful radar, television, or cellular communications towernanother transmitternanother GNSS antennaCell phone towers can interfere with the base station radio broadcast and can stop corrections from reaching the rover receiver. High-power signals from a nearby radio or radar transmitter can overwhelm the receiver circuits. This does not harm the receiver, but can prevent the receiver electronics from functioning correctly.Low-power transmitters, such as those in cell phones and two-way radios, do not interfere with receiver operationslDo not set up the base station directly beneath or close to overhead power lines or electrical generation facilities. The electromagnetic fields associated with these utilities can interfere with GNSS receiver operation. Other sources of electromagnetic interference include:nGasoline engines (spark plugs)nTelevisions and computer monitorsnAlternators and generatorsnElectric motorsnEquipment with DC-to-AC convertersnFluorescent lightsnSwitching power supplieslPlace the GNSS receivers in a protected and secure location. If the base station is in the center of a jobsite where heavy machinery is operating, place flags around the base station to warn operators of its existence.lIf you place the receiver in a lock box on the jobsite to protect the receiver from theft or from the weather, shield the lock box from direct sunlight and provide ventilation for the receiver through an inlet and extractor fan. A receiver that has a broadcast radio generates significant heat. Do not allow the temperature in the box to exceed 50 °C Trimble R10-2 GNSS Receiver User Guide | 40
Draft2 Base Station Operation(122 °F).If working in a cold climate, you may need to provide heat to the receiver. Do not operate the receiver below –40 °C (–40 °F)lTrimble recommends that, wherever possible, you keep GNSS receiver equipment dry. The receivers are designed to withstand wet weather, but keeping them dry prolongs their life and reduces the effects of corrosion on ports and connectors. If the equipment gets wet, use a clean dry cloth to dry the equipment and then leave the equipment open to the air to dry. Do not lock wet equipment in a transport case for prolonged periods. Avoid exposing the receiver to corrosive liquids and salt water wherever possible.lTrimble recommends that you install lightning protection equipment at permanent base station locations. Equipment should include a gas capsule lightning protector in the GNSS and radio antenna feed line and appropriate safety grounding. A static dissipater near the antennas can reduce the likelihood of a direct lightning strike. Also protect any communications and power lines at building entry points. For more information, contact your local Trimble dealer, or go to the Huber and Suhner website (www.hubersuhnerinc.com).lTrimble recommends that you use surge protection equipment on all permanently installed equipment.Common ways to set up a base stationTrimble recommends that you use a tripod and tribrach setup or a fixed height tripod. The fixed height tripod is quicker and easier to set up over a control point.Take great care to ensure that the GNSS antenna is set up accurately over the control point, and that the GNSS antenna height is measured accurately, in the right way (vertical or slope height) to the right location on the antenna (base of antenna or to a specified location on the antenna) or height extension pole with height measurement lever (P/N 89846-00) or Base Station Kit (P/N 89861-00). When you start the rover receiver, it is important to check in, at one or more known locations, to check for possible position or height errors. Checking in at a known location is good practice and can avoid costly errors caused by a bad setup.Tripod and tribrach setupIn the tripod setup, the tripod is located over the control point, and the tribrach, tribrach adaptor, and height extension pole with measurement lever is mounted on the tripod and centered over the point.Trimble R10-2 GNSS Receiver User Guide | 41
Draft2 Base Station Operation1. Mount the quick release adapter onto the height extension pole with measurement lever.2. Screw the height extension pole with measurement lever into the tribrach. Attach the GNSS receiver to the quick release adapter.3. Level and plumb the GNSS receiver over the control point.4. Measure the height of the base station GNSS antenna by measuring the slant height from the control point to the measurement lever. Select the “Lever of R10 extension” as the measurement method when starting the base station. Trimble Access calculates the height to the Antenna Phase Center (APC) automatically.5. If required, connect the GNSS receiver to an external 12 V power supply. Use the external battery cable set (P/N 89864-00) or the Trimble customer 6 Ah power pack.Receiver tripod and tribrach setup with an internal 450 MHz Tx radio (Measuring Slant Height)Fixed height tripod setupA fixed height tripod setup is similar to a tripod setup, but is simplified by the central leg of the tripod, which is placed directly on the control point. If the central leg is leveled accurately, the fixed height tripod is quick and easy to set up, and provides an accurate way to measure the true antenna height.1. Screw the quick release adapter onto the tripod head or extension pole used to increase the height of the receiver above the tripod head.2. Attach the GNSS receiver to the quick release adapter.3. Plumb and level the tripod over the control point.4. Determine the height of the base station GNSS antenna by adding the fixed height of the tripod from the control point to the tripod head to the height of any extension pole Trimble R10-2 GNSS Receiver User Guide | 42
Draft2 Base Station Operationused to increase the height of the receiver. Select the “Bottom of Quick Release” as the measurement method when starting the base station. Trimble Access calculates the height to the Antenna Phase Center (APC) automatically.5. If required, connect the GNSS receiver to an external 12 V power supply. Use the crocodile clip cable or the Trimble custom power pack.❶Base extension with height measurement lever❷Standard 20 cm extension poleReceiver with an internal 450 MHz Transmit radio on a fixed height tripodNOTE – Measuring to the measurement lever is not required when using a fixed height tripod. If the base station extension with measurement lever is used with a fixed height tripod, the height of the extension pole (0.15m (0.49ft)) should be added to the height of the fixed height tripod and the measurement method “bottom of quick release” used.Using a remote radio antenna with the receiverA remote radio antenna can be used with the Trimble R10 GNSS receiver’s internal 450 MHz radio. The remote antenna allows the use of a high gain antenna (country dependent) and the ability to increase the height of the radio antenna for a larger coverage area. The remote antenna cable and mount, along with the high gain antenna, is available as an accessory for the receiver (P/N 89856-00-6x Radio frequency dependent).Typically, the tripod and fixed height tripod methods do not give significant height clearance above the ground, and can reduce the range of operation caused by radio limitations.Trimble R10-2 GNSS Receiver User Guide | 43
Draft2 Base Station OperationConnecting remote radio antenna cable to the receiverReceiver with a remote radio antennaUsing an external radio with the receiverAn external radio can be used with the Trimble R10 GNSS receiver. Using a high powered UHF radio will increase the radio coverage area. The external radio data cable is connected to Port 1 (Serial) on the receiver.Outputting corrections using a TDL450/HPB450 radio-modemThe TDL450/HPB450 radio comes with a 5-pin Lemo to 7-pin Lemo connector with a power connection lead:Trimble R10-2 GNSS Receiver User Guide | 44
Draft2 Base Station Operation1. Connect the 7-pin Lemo connector to the serial port (Port 1) on the receiver.2. Connect the 5-pin Lemo connector to the TDL450/HPB450 radio.3. Connect the DC power lead to an external power source.4. Turn on the TDL450/HPB450 radio.To configure the system, do one of the following:lUse the Trimble Access software to connect to the receiver. Set up the base station with the external radio. The Trimble Access software will locate the TDL450/HPB450 radio and then allow you to set the radio channel. lUse the web interface to configure the settings. Select I/O Configuration / Port Configuration. Select the Serial 1 / Lemo option and select corrections to be sent on the Lemo port at those baud rate settings (the TDL450/HPB450 serial interface is shipped with the default rates 38400 8/N/1).Configuration software accompanies the TDL450/HPB450 radio if you need to change the serial connection baud rate.Trimble R10-2 GNSS Receiver User Guide | 45
DraftRover Setup and OperationlRover operation guidelineslSurepoint (integrated tilt sensor)lIntegrated cellular modemlConnecting the receiver to external deviceslConfiguring the receiverlTransferring files directly from the receiverlDeleting files in the receiver3Trimble R10-2 GNSS Receiver User Guide | 46
Draft3 Rover Setup and OperationRover operation guidelinesReal-Time Kinematic (RTK) operation provides centimeter-level precision by eliminating errors that are present in the GNSS system. For all RTK operations, you require both a rover receiver and a source of corrections from a base station or network of base stations.This topic introduces the concept of rover operation, provides information to help you identify good setup locations, describes best practices for setting up the equipment, and outlines the precautions that you need to take to protect the equipment.The second part of the RTK GNSS system is the rover receiver. The rover receiver is moved between the points that require measurement or stakeout. The rover receiver is connected to a base station or to a source of RTK corrections such as a VRS system or the Trimble CenterPoint RTX correction service. The connection is provided by:lan integrated radiolan integrated cellular modemlan integrated Wi-Fi modulela cellular modem in the controllerlan integrated GNSS antenna (L-Band)In most rover applications, the receiver operates entirely from its own integrated battery unit. However, you can use an external power supply if one is provided. The internal battery then acts as an uninterruptible power supply, covering any external power failures.For good rover operation, observe the following setup guidelines:lPlace the GNSS antenna in a location that has a clear line of sight to the sky in all directions. Do not place the antenna near vertical obstructions such as buildings, deep cuttings, site vehicles, towers, or tree canopy. GNSS rovers and the base station receive the same satellite signals from the same satellites. The system needs five common satellites to provide RTK positioning. WARNING – The GNSS antenna and its cabling should be installed in accordance with all national and local electrical codes, regulations, and practices. The antenna and cabling should be installed where they will not become energized as a result of falling nearby power lines, nor be mounted where they are subjected to over-voltage transients, particularly lightning. Such installations require additional protective means that are detailed in national and local electrical codes.Trimble R10-2 GNSS Receiver User Guide | 47
Draft3 Rover Setup and OperationWARNING – Take care not to touch overhead power lines with the Trimble R10 GNSS receiver or the range pole when moving the equipment into position. Touching overhead power lines may cause electrocution, leading to serious injury.lGNSS satellites are constantly moving. Because you cannot measure at a specific location now does not mean that you will not be able to measure there later, when satellite coverage at the location improves. Use GNSS planning software to identify the daily best and worst satellite coverage times for your location and then choose measurement times that coincide with optimal GNSS performance. This is especially important when operating in the worst GNSS locations. You can download the Trimble Planning software from the Trimble website (ww2.trimble.com/planningsoftware_ts.asp). You can also use Trimble GNSS Planning Online at www.trimble.com/GNSSPlanningOnline/#/Settings. To use online GNSS planning, may need to first install the Microsoft Silverlight® add-on for your Internet browser.lTo get a fixed position solution with centimeter precision, initialize the RTK rover receiver. For initialization to take place, the receiver must track at least five satellites that the base station is also tracking. In a dual-satellite constellation operation, for example, GPS and GLONASS, the receiver must track at least six satellites.lTo continue to survey at centimeter precisions, the rover must continuously track at least four satellites that the base station is also tracking. The radio link between the base and rover receivers must also be maintained.lLoss of the satellite signals will result in a loss of centimeter position precision.lIf the radio link is lost, xFill takes over, which allows for centimeter precisions.CAUTION – The Trimble R10 GNSS receiver is not suited to on-vehicle operation where it will be subject to heavy vibration, that is, operation in rough ungraded terrain. Use in these conditions can damage the receiver.Trimble R10-2 GNSS Receiver User Guide | 48
Draft3 Rover Setup and OperationSurepoint (integrated tilt sensor)The receiver comes with the Surepoint™ technology, which allows the use of full-tilt compensation and an eBubble (electronic bubble). Surepoint’s full-tilt compensation allows the collection of points even when the R10 receiver is tilted up to 15 degrees off plumb. When the terrain or structures around the point do not allow full plumbing of the R10 receiver, the integrated tilt sensor will compensate for the tilt of the range pole. The point is collected using a point type of compensated point to initiate the tilt compensation.The eBubble is displayed within the Trimble Access software. The eBubble is displayed in a separate window for use during any aspect of your survey. To use the full-tilt compensation and the eBubble correctly, the TSC3 or Trimble Tablet must be aligned correctly in relationship to the receiver. When the receiver is placed on a range pole, the controller or tablet must be placed on the right or left side of the receiver with the screen of the controller or tablet in the same axis as the receiver front panel:Calibrating the integrated tilt sensorIt is very important to ensure the integrated tilt sensor is correctly calibrated in the same way that mechanical bubbles are calibrated on your range poles and tribrachs. When calibrating the integrated tilt sensor you must use a range pole with bi-pod or a tripod with Trimble R10-2 GNSS Receiver User Guide | 49
Draft3 Rover Setup and Operationtribrach that have been well calibrated. The quality of the integrated tilt sensor calibration is directly related to the quality of the mechanic bubble and its calibration.The integrated tilt sensor calibration is performed within the Trimble Access software. To calibrate the integrated tilt sensor, place the receiver on a stable range pole or tripod with tribrach. Level the receiver using the mechanical bubble on the range pole or tribrach. Turn on the receiver and TSC3 or Trimble Tablet. Run Trimble Access, then:1. In the General Survey menu:Tap Instrument.2. In the Instrument screen:Tap eBubble options.3. The eBubble options screen appears.You are now ready to perform the calibration.Tap Calib.NOTE – An electronic bubble is displayed to indicate if you are holding the instrument level.4. The Sensor calibration screen appears.First the tilt calibration is performed.Tap the Calibrate button next to the Tilt calibration status field.Trimble R10-2 GNSS Receiver User Guide | 50
Draft3 Rover Setup and Operation5. A message asks you to confirm that the instrument is level and braced against any movement. Tap Start.6. A progress bar indicates that calibration is in progress.7. Once calibration is complete, the Sensor calibration screen reappears.Next you will perform the magnetometer calibration.Tap the Calibrate button next to the Magnetometer calibration status field. 8. A message and graphic is displayed describing the magnetometer calibration procedure. Observe the visual graphic of the receiver, and then perform the calibration as shown.Tap Start.9. As you rotate the receiver through the 12 orientations, the progress bar will progress. If the bar is not progressing or progressing slowly, you may not be rotating the receiver correctly. Rotate the receiver in the vertical one complete rotation, then rotate the receiver in the horizontal a few Trimble R10-2 GNSS Receiver User Guide | 51
Draft3 Rover Setup and Operationdegrees. Repeat.10. Once calibration is complete, the Sensor calibration screen reappears. Next you will perform the magnetometer alignment.Tap the Calibrate button next to the Magnetometer alignment status field.11. A message and graphic is displayed describing the magnetometer alignment procedure. Observe the visual graphic of the receiver, and then perform the alignment as shown. Tap Start. 12. As you rotate the receiver 360 degrees in the horizontal, the progress bar will progress. If the bar is not progressing or progressing slowly, you may be rotating the receiver too quickly. Rotate the receiver at the same speed as the graphic shows.13. Once calibration is complete, the Sensor calibration screen reappears. The full tilt calibration is complete. Tap Accept to return to the eBubble options screen. Integrated cellular modemInstead of the internal radio, you can use the integrated cellular modem as your data communications link. This will allow you to connect to VRS networks in your area. See your local Trimble representative for more information on VRS networks.Using the integrated cellular modem requires a SIM card from your local cellular service provider. The SIM card is inserted into the SIM card slot in the battery compartment of the Trimble R10-2 GNSS Receiver User Guide | 52
Draft3 Rover Setup and Operationreceiver. For more information about setting up your SIM card and cellular service in the receiver, please see your local Trimble representative.For more information on using a cellular modem as a data link, refer to the Trimble Access Help.Connecting the receiver to external devicesYou can connect the receiver to the following devices:la Trimble controller running Trimble Access softwarelan external radio-modem Connecting to a Trimble controller running Trimble Access softwareYou can operate a Trimble R10 GNSS receiver with any Trimble controller, for example, a TSC3 or a Trimble Tablet. Typically, the receiver and the controller operate from their own individual power sources. The receiver and controller can communicate through Bluetooth wireless technology and can be connected without a cable. However, if a cable is required, the following table lists the cables available for the receiver.To connect a Trimble R10 GNSSreceiver to a...Use cable P/N...Use cable con-nector...and connect the cable to the...computer serial port 89853-00 or 590447-pin serial LemoDB-9ReceiverComputercomputer USB port 89852-00 or 807517-pin USB LemoUSBReceiverComputerTSC3 or Trimble Tablet 89851-00 or 59046DB-9Serial LemoTSCReceiverUSB flash memory stick 89850-00 or 807997-pin USB LemoUSB flash driveReceiverFlash driveTDL450 66656 7-pin serial Lemo5-pin LemoReceiverTDL450Trimble R10-2 GNSS Receiver User Guide | 53
Draft3 Rover Setup and OperationInternal radio-modems The most common data link for Real-Time Kinematic (RTK) operation is a radio. The receiver is available with the following internal radios:l410 MHz – 470 MHz (Transmit/Receive)l900 MHz (Tx/Rx)External radio-modemsIf the receiver does not have an internal transmit radio, or you want to connect to a higher powered external transmit radio or cellular modem, use the Lemo serial port.The Trimble R10 GNSS receiver supports the following Trimble base radios:lTrimble TDL450lTrimble SNB900lLegacy radios such as the Trimble PDL450 radio, Trimble HPB450 radio-modem, and TRIMMARK™ 3 radioThe receiver also supports third-party transparent radios and third-party cellular modems.To use an external radio with the receiver, you need an external power source for the radio—except for the SNB900 radio, which contains an internal battery. To configure the radio modem separately, use the external radio’s configuration program, or the display and keypad.Configuring the receiverYou can configure the receiver in a number of ways. These topics describe the different configuration methods, and explain when and why each method is used.Trimble Access Help is likely to be your main tool to set up and operate the receiver on a daily basis. All required field configurations are handled through the Trimble Access software running on a Trimble Tablet, TSC3, or Trimble CU controller. For more information, refer to the Trimble Access Help.Configuring the receiver using the Web InterfaceThe receiver has a Wi-Fi port so that the receiver can connect directly to a PC or smartphone (access point mode) or to a wireless network (client mode). You can use Wi-Fi to access, configure, and monitor the receiver. No cable connection to the receiver is required.Trimble R10-2 GNSS Receiver User Guide | 54
Draft3 Rover Setup and OperationConnecting via Wi-Fi (access point)The receiver is set to access point by default. In access point mode, you can connect directly to the receiver from a PC or smartphone.1. Using the Wi-Fi connection application on your PC or smartphone, find the access point SSID for the receiver. Turn on the Trimble R10 GNSS receiver and wait for the words "Trimble GNSS" and last four digits of the receiver serial number to appear in your Wi-Fi connection application. For example, Trimble GNSS xxxx (where xxxx represents the last four digits of the receiver serial number.2. Connect to the receiver. By default, all encryption is turned off in the receiver.3. Open your web browser and then type the receiver IP address into the URL field. By default the IP address of the receiver is http://192.168.142.1.4. If security is enabled on the receiver, the web browser prompts you to enter a username and password. By default, the login is admin and the password is password.5. The receiver web interface is displayed and the receiver is ready for real-time configuration.The web page on the smartphone mini-browser opens with a select number of menus. To view the Full (Classic) menu, use the Show Classic Web GUI link in the heading area. To return to the mini-browser, the Wi-Fi connection or receiver must be reset (that is, turned on or off).For more information, search for the topic "Web Interface Menus" in the Trimble R10 GNSSReceiver WebHelp.Trimble R10-2 GNSS Receiver User Guide | 55
Draft3 Rover Setup and OperationDefault Wi-Fi connection settingsOut of the box, the receiver is configured to default settings for Wi-Fi connections. You can change any of these settings as required. The default settings are:lWi-Fi mode: access pointlWi-Fi SSID: Receiver serial numberlWi-Fi Encryption: OfflWi-Fi IP Address: 192.168.142.1lReceiver Login: adminlReceiver Password: passwordWeb interface menusUse the web interface to configure the receiver settings.The web interface is available in the following languages:lEnglish (en)lChinese (zh)lDutch (nl)lFinnish (fi)lFrench (fr)lGerman (de)lItalian (it)lJapanese (ja)lNorwegian (n)lPolish (pl)lPortuguese (pt)lRussian (ru)lSpanish (es)lSwedish (sv)Use the Receiver Configuration / Default Language setting to select the default language for your use.Trimble R10-2 GNSS Receiver User Guide | 56
Draft3 Rover Setup and OperationThe web interface shows the configuration menus on the left of the browser window, and the settings on the right. Each configuration menu contains related submenus to configure the receiver and monitor receiver performance.Supported browsersFor PCs and laptops, current versions of these HTML browsers are supported:lGoogle ChromelMozilla Firefox lMicrosoft Internet Explorer for Windows operating systemslOperalApple SafariTo access the web interface on a Trimble R10 GNSS receiver using a PDA or a smartphone with the Wi-Fi link to the Trimble R10 GNSS receiver, Trimble recommends:lOpera Mobile for Android-based unitslApple SafariMenu overviewThe following configuration menus are available.Receiver Status menuThe 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.Satellites menuUse the Satellites menu to view satellite tracking details and enable/disable GPS, GLONASS, and SBAS satellites.NOTE – To configure the receiver for OmniSTAR, use the OmniSTAR menu.Web Services menuUse the Web Services menu to plan satellite availability and performance, along with Ionospheric Maps of your location. All functions are web-based and require an Internet connection.Trimble R10-2 GNSS Receiver User Guide | 57
Draft3 Rover Setup and OperationData Logging menuUse the Data Logging menu to set up the receiver to log static GNSS data. 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.Receiver Configuration menuUse the Receiver Configuration menu to configure such settings as elevation mask and PDOP mask, the reference station position, and the reference station name and code.I/O Configuration menuUse the I/O Configuration menu to set up all outputs of the receiver. Depending on the receiver's specification it may output CMR, RTCM, RTCM-REPEAT, RT17/RT27, NMEA, or GSOF messages on a variety of ports including TCP/IP, NTRIP, UDP, serial or Bluetooth ports.Bluetooth menuUse the Bluetooth menu to configure the receiver to connect to other 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 receiver using Bluetooth wireless technology:lTSC3 controllerlTrimble TabletlTrimble Slate controllerlOther Bluetooth-enabled devicesBeacon menuUse the Beacon menu to configure the internal dual-channel MSK Beacon receiver. When enabled and locked to a Beacon signal in the 283.5 KHz to 325.0 KHz range, the receiver will decode DGPS RTCM messages and provide a sub-meter position solution.Radio menuThe Trimble R10 receiver can include an internal radio. Either UHF or VHF models are available for purchase.Use the Radio menu to configure the internal UHF radio of the receiver, if applicable. The receivers are available with 410 MHz to 430 MHz radios. Trimble R10-2 GNSS Receiver User Guide | 58
Draft3 Rover Setup and OperationUse the Radio menu to configure the internal VHF radio of the receiver.If the receiver does not have an internal radio installed, the Radio menu is not available.GSM/GPRS modem menuUse the GSM/GPRS modem menu to check the status and configure the internal UMTS modem. It includes information about the inserted SIM card.OmniSTAR menuThe receiver can receive OmniSTAR corrections.To receive CenterPoint RTX corrections, you must enable the receiver to track the RTX satellites and it must have a valid CenterPoint RTX subscription.To obtain a subscription or contact support, go to www.omnistar.com/servicemap.html.To obtain a CenterPoint RTX subscription or contact support, go to http://www.trimble.com/positioning-services/order-now.aspx.Network Configuration menuUse the Network Configuration menu to configure Ethernet settings, email alerts, PPP connection, HTTP port, and FTP port settings of the receiver. Wi-FiUse the Wi-Fi menu to configure the Wi-Fi access mode and access point, so that using a Wi-Fi enabled device such as a smartphone, you can access the web interface of a Trimble R10 GNSS receiver.Security menuUse the Security menu to configure the login accounts for all users who will be permitted to configure the receiver using a web browser. Each account consists of a username, password, and permissions. Administrators can use this feature to limit access to other users. Security can be disabled for a receiver. However, Trimble discourages this as it makes the receiver susceptible to unauthorized configuration changes.Firmware menuUse the Firmware menu to verify the current firmware and load new firmware to the receiver. You can upgrade firmware across a network or from a remote location without having to connect to the receiver with a serial cable.Trimble R10-2 GNSS Receiver User Guide | 59
Draft3 Rover Setup and OperationHelp menuTo access the Help, your computer must be connected to the Internet. If you do not have access to the Internet, there is also a copy of the receiver Help files on the support area of the Trimble website (www.trimble.com/support.shtml).Configuring the receiver in real timeYou can configure the receiver in real time using the web interface on your PC via Wi-Fi, Bluetooth (PPP), USB (PPP) or Serial (PPP). A new feature available on the Trimble R10 GNSSreceiver is the mini-browser, easily accessed using a smartphone with Wi-Fi. The new mini-browser makes a select group of Web GUI menus available, with the option of showing the full set of Web GUI menus. When you apply the changes you have made to the settings in the web interface, the receiver settings change immediately.NOTE – Instructions for connecting to the Trimble R10 GNSSreceiver via PPP (Point-to-Point Protocol) are found on the Trimble website under the Trimble R10 GNSSreceiver support notes.Any changes that you apply to the receiver are reflected in the current application file, which is always present in the receiver. Configuring the receiver using application filesAn application file contains information for configuring a receiver. To configure a receiver using an application file, you need to create the application file, transfer it to the receiver and then apply the file’s settings. The GPS Configurator software does this automatically when you work with configuration files.OverviewAn application file is organized into records. Each record stores configuration information for a particular area of receiver operation. Application files can include the following records:lFile storagelGeneral controlslSerial port baud rate/formatlReference positionlLogging ratelSV enable/disablelOutput messagelAntennaTrimble R10-2 GNSS Receiver User Guide | 60
Draft3 Rover Setup and OperationlDevice controllStatic/KinematicAn application file does not have to contain all of these records. When you apply an application file, any option that is not included in the records in the file remains at its current setting. For example, if you apply an application file that only specifies the elevation mask to use, all other settings remain as they were before the application file was applied.You can store up to 11 different application files in the receiver. You can apply an application file’s settings at the time it is transferred to the receiver, or at any time afterwards.Special application filesThe receiver has three special application files, which control important aspects of the receiver’s configuration.Default application fileThe default application file (Default.cfg) contains the original receiver configuration, and cannot be changed. This file configures the receiver after it is reset. To reset the receiver, see Button and LED operations, page 28Although you cannot change or delete the default application file, you can use a power up application file to override any or all of the default settings.Current application fileThe current application file (Current.cfg) reflects the current receiver configuration. When you change the receiver’s configuration, either in real time or by applying an application file, the current file changes to match the new configuration.You cannot delete the current file or change it directly, but every change to the receiver’s current configuration is applied to the current file as well.When you switch off the receiver and then turn it on again, all the settings from the current application file are applied, so you do not lose any changes that you have made. The only exceptions are the following logging parameters:lLogging ratelPosition ratelElevation maskThese parameters are always reset to the factory default values when the receiver is switched off.Trimble R10-2 GNSS Receiver User Guide | 61
Draft3 Rover Setup and OperationPower Up application fileThe power up application file (Power_up.cfg) is used to set the receiver to a specific configuration any time the unit is powered up.In this file, you can specify that the receiver is reset to defaults before the power up settings are applied. This ensures that restarting the receiver always resets it to factory defaults before applying the power up application file.Alternatively, you can specify that the power up settings are applied immediately after the current application file’s settings have been applied. Restarting the receiver results in a configuration that uses your default settings for the options you define in the power up file, but the current settings for all other options.By default, there is no power_up application file on the receiver. To use a power up application file, you must create and save a power_up application file in the GPS Configurator software. If you save this file to disk, the file is called power_up.cfg. The extension .cfg is used, by convention, to identify application files on the office computer. When you transfer this file to the receiver, the file is saved on the receiver as power_up, and becomes the new power up file.Applying application filesAn application file’s settings do not affect the receiver’s configuration until you apply the application file. You can do this at the same time that you save the file. Alternatively, you can save the file on the computer or on the receiver, then open it later and apply its settings.Storing application filesYou can store application files that you create in the GPS Configurator software on the receiver and on the computer. For example, each file can represent a different user sharing the same receiver, or a particular mode of operation. Saving application files on your computer as well as in your receiver is optional, but it is useful because:lit gives you a permanent copy of the settings you have sent to a receiver, for audit purposes or for your own reference.lyou can use the same file to configure multiple receivers identically.lyou can use an existing application file as a template to create other application files with similar settings.Naming application filesThe application filename in the office computer and in the receiver are always the same. This makes it easier to recognize and keep track of your application files.Trimble R10-2 GNSS Receiver User Guide | 62
Draft3 Rover Setup and OperationWhen you change the name of the application file in the receiver, this changes the application filename on your computer. When you transfer an application file from the receiver and save it to the computer, the system renames the file to match the internal receiver file. However, if you use Windows Explorer, for example, to change the .cfg filename on the computer, this does not change the internal receiver filename. This means that the GNSS receiver will not recognize the change to the filename on the computer.Configuring the receiver to use specific settings when it is turned onThe power up application file (Power_up.cfg) is used to set the receiver to a specific configuration any time the unit is turned on.In this file, you can select to reset the receiver to defaults before the power up settings are applied. This ensures that when you restart the receiver, it always resets to factory defaults before applying the power up application file.Alternatively, you can specify that the power up settings are applied immediately after the current application file’s settings have been applied. Restarting the receiver results in a configuration that uses your default settings for the options you define in the power up file, but the current settings for all other options.By default, there is no power_up application file on the receiver. To use a power up application file, you must create and save a power_up application file in the GPS Configurator software. If you save this file to disk, the file is called power_up.cfg. The extension .cfg is used, by convention, to identify application files on the office computer. When you transfer this file to the receiver, the file is saved on the receiver as power_up, and becomes the new power up file.Transferring files directly from the receiverData is stored in the internal flash memory. To transfer files between the receiver and an office computer, use one of the following methods.lLemo (Port 1) to traditional serial port and the Trimble Business Center.lLemo (Port 2) to USB PC connection (Trimble R10 GNSS receiver appears as a Trimble data external drive).lLemo (Port 2) to USB field data cable (transfer to USB flash memory stick and then plug flash memory stick into PC).lConnect via Wi-Fi to the receiver's Web UI, then use the Datalogging menu to navigate to the receiver's file directory. Select the files to download to a directory on your PC, and the file format you want to download the data in (for example, RINEX). Trimble R10-2 GNSS Receiver User Guide | 63
Draft3 Rover Setup and OperationDeleting files in the receiverYou can delete files stored in the receiver at any time. Do one of the following:lPress for 30 seconds after the receiver is turned on. (When you use this method, all data is deleted.)lUse the web interface (Data Logging menu).Trimble R10-2 GNSS Receiver User Guide | 64
DraftThe WinFlash UtilitylThe WinFlash utilitylUpgrading the receiver firmwarelAdding frequencies for the 450 MHz internal radio using the WinFlash utilitylConfiguring the internal transceiverThe WinFlash utilityThe WinFlash utility communicates with Trimble products to perform various functions including:linstalling software, firmware, and option upgradeslrunning diagnostics (for example, retrieving configuration information)lconfiguring radiosNOTE – The WinFlash utility runs on Windows 2000, XP, Windows Vista®, and Windows 7 operating systems.Installing the WinFlash utilityYou can download and install the WinFlash utility from the Trimble website by downloading the latest receiver firmware. The latest firmware is available in the Support area under R10 Downloads.NOTE – If your computer or laptop only has USB ports, then you must set up a virtual serial port. See Configuring a PC USB port as a virtual serial port, page 33.To install the WinFlash utility from the web:1. Click the link for the latest firmware.2. When prompted, select Run to install WinFlash.4Trimble R10-2 GNSS Receiver User Guide | 65
Draft4 The WinFlash UtilityThe Winflash Installation Setup application appears.3. Follow the on-screen instructions.NOTE – The WinFlash utility guides you through the firmware upgrade process. For more information, refer to the WinFlash Help.Upgrading the receiver firmwareYou can use Wi-Fi to upgrade the firmware for your receiver using the web browser. Whenever Trimble releases new firmware your receiver will check and display the new firmware version number in the web browser. You can then decide to install the newer firmware from the web browser.Adding frequencies for the 450 MHz internal radio using the WinFlash utilityIf your receiver has the optional internal radio installed, you can use the WinFlash utility to add receiving frequencies to the default list. You can also use the web interface to add and manage receiver 450 MHz frequencies.If you purchase a transmit upgrade (after initial purchase), the broadcast frequencies must be programmed using a .set file obtained from a Trimble service provider.1. Start the WinFlash utility. The Device Configuration screen appears.2. From the Device type list, select the receiver.3. From the PC serial port field, select the serial (COM) port or USB 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 Configure Radio and then click Next.The Frequency Selection dialog appears. 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 Specify Frequency field, enter the frequency you require.8. Click Add. The new frequency appears in the Selected Frequencies list. Trimble R10-2 GNSS Receiver User Guide | 66
Draft4 The WinFlash UtilityNOTE – 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. When you have configured all the frequencies you require, click OK.The WinFlash utility 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.Configuring the internal transceiverUse the WinFlash utility Internal Transceiver Configuration dialog to configure the internal transceiver.TIP – To view a list of all radio information, including the current configuration, click Radio Info.1. In the Internal Transceiver Configuration dialog, select the current channel. This determines the radio operating frequency.2. Select the wireless mode, which determines the over-the-air communications parameters.To reduce battery consumption on your base receiver, set the wireless mode as high as possible. For example, 9600 bps (bits per second) consumes half the power of 4800 bps for the same data format and time of operation.NOTE – All radios in the network must be configured with the same wireless setting.3. Select the appropriate operating mode, depending on how you intend to use the receiver. For example, select "Base with No Repeaters".4. For base modes only, select one of the following channel-sharing configurations: (this is not available for rover modes)lOff. The carrier detect mode is off. The unit will ignore other transmissions on your frequency and continue to transmit data.NOTE – It may be illegal in your country of use to set channel sharing to off. You may be subject to penalties or fines based upon the specific licensing requirements of your country of use. Please consult your radio license documentation or licensing agency for operational guidelines.Trimble R10-2 GNSS Receiver User Guide | 67
Draft4 The WinFlash UtilitylAvoid Weak Signals. The carrier detect mode is on. The radio will cease transmitting if it detects another radio transmission on its frequency. It will resume transmission when the channel is free of radio traffic.lAvoid Strong Signals. The carrier detect mode is on, but the radio will stop transmitting only when there is a strong signal present (receive level greater than 90 dBm).5. If you are operating in base mode, select the Enable Station ID check box and then enter your call sign in the Call Sign field. This FCC requirement is for U.S. licensed users. It sets your radio to transmit your call sign in Morse code every 15 minutes. 6. To update the configuration, click OK.In the Status dialog that appears, select an option to return to the main menu or to exit the WinFlash utility. TIP – You can print or save the radio configuration information for future reference. If required, you can fax or email the file to Trimble Support to aid in troubleshooting radio issues.Updating the frequency listYou can program the internal transceiver modem with a list of up to 20 frequencies, which are stored in non-volatile memory. This list is pre-configured based on the frequencies that you requested when you ordered the unit. Government regulations stipulate that only manufacturers or authorized dealers can create this frequency list and that all frequencies programmed into a unit must comply with the host country regulations. If you need to add, delete, or replace frequencies, contact your Trimble dealer, and provide the radio modem serial number and an updated list of the frequencies you require. Once you receive the frequency file, you can upgrade the radio using the WinFlash utility.Trimble R10-2 GNSS Receiver User Guide | 68
DraftTroubleshootinglTroubleshooting receiver issueslTroubleshooting LED conditionslTroubleshooting base station setup and static measurement problems5Trimble R10-2 GNSS Receiver User Guide | 69
Draft5 TroubleshootingTroubleshooting receiver issuesThis section describes some possible receiver issues, possible causes, and how to solve them. Please read this section before you contact Technical Support.The receiver does not turn onPossible cause SolutionExternal power is too low.Check the charge on the external power supply, and check the fuse if applicable. If required, replace the battery.Internal power is too low.Do the following:lCheck the charge on the internal batteries and replace if requiredlEnsure battery contacts are clean.External power is not properly connected.Do the following:lCheck that the Lemo connection is seated properly.lCheck for broken or bent pins in the connector.Faulty external power cable.Do the following:lTry a different cable.lCheck pinouts with multimeter to ensure internal wiring is intact.The receiver is not tracking any satellitesPossible cause SolutionThe GNSS antenna does not have clear line of sight to the sky.Ensure that the antenna has a clear line of sight.The receiver does not log dataPossible cause SolutionInsufficient memory in the internal memory.Delete old files. Press the Power button for 30 seconds.The receiver is not responding Possible cause SolutionThe receiver Turn off the receiver and then turn it back on again. For more Trimble R10-2 GNSS Receiver User Guide | 70
Draft5 TroubleshootingPossible cause Solutionneeds a soft reset.information, see Button and LED operations, page 28The receiver needs a full reset.Press the Power button for 30 seconds. For more information, see Button and LED operations, page 28.Troubleshooting LED conditionsThe receiver has a simple display panel with LEDs to indicate the current status of the receiver. If you need more detailed information about what the receiver is doing, use a Trimble controller or access all configuration settings by connecting the receiver to your smart phone or laptop computer via Configuring the receiver using the Web Interface, page 54.This section describes how the LED lights are used on the receiver to indicate current status. An LED that is flashing quickly indicates a condition that may require attention, and an unlit LED indicates that no operation is occurring. This section describes some LED conditions, possible causes, and how to solve them.The SV Tracking LED is lit solidly and the Logging/Memory LED is flashing slowlyPossible cause SolutionThe SV Tracking LED is not flashingPossible cause SolutionThe receiver is tracking fewer than four satellites.Wait until the SV Tracking LED is flashing slowly.Troubleshooting base station setup and static measurement problemsThis section describes some possible station setup and static measurement issues, possible causes, and how to solve them.Trimble recommends that you use the Trimble Access software to restart or configure base and rover receivers. The Trimble Access software sets up all radio and receiver Trimble R10-2 GNSS Receiver User Guide | 71
Draft5 Troubleshootingoperating parameters, and is the most likely route to a successful problem resolution once you have checked all connections, cables, and batteries.The roving receiver is not receiving radio from the base stationPossible cause SolutionThe base station is not broadcasting.See "Base station is not broadcasting" below.Incorrect over air baud rates between base station and rover.Connect to the roving receiver's radio and make sure that it has the same setting as the base station receiver.Mismatched channel or network number selection.Match the base station and rover radio channels/network number and try again.Incorrect port settings between the rover external radio and receiver.If the radio is receiving data (the Radio LED is flashing) and the receiver is not receiving data, check the port settings of the receiver and radio using the Trimble Access software; match the settings and try again.The base station is not broadcastingPossible cause SolutionPort settings between base receiver and external radio are incorrect.NOTE – The Trimble R10 GNSS receiver has the option for an integrated Tx radio that allows it to be used without an external radio at the base and rover location. The receiver can also be connected to an external high power radio in certain countries.Use Trimble Access software to connect to the 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.NOTE – Trimble Access software does not support direct connection to the external radio; it only allows configuration through the receiver.Faulty cable between receiver and external radio.Do one of the following:lTry a different cablelExamine the ports for missing pinslUse a multimeter to check the pinsTrimble R10-2 GNSS Receiver User Guide | 72
DraftOutput MessageslNMEA-0183 messages: OverviewlNMEA-0183 messages: Common message elementslGSOF Messages: OverviewlGSOF messages: General Serial Output FormatlGSOF messages: Reading binary values (Motorola format)lLogin authenticationThis section provides information about two types of messages: General Serial Output Format (GSOF) messages and National Marine Electronics Association (NMEA) messages.6Trimble R10-2 GNSS Receiver User Guide | 73
Draft6 Output MessagesNMEA-0183 messages: OverviewWhen 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 GNSS 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.Message FunctionDTM Datum reference informationGBS GNSS satellite fault detection (RAIM support)GGA Time, position, and fix related dataGLL Position data: position fix, time of position fix, and statusGNS GNS Fix dataGRS GRS range residualsGSA GPS DOP and active satellitesGST Position error statisticsGSV Number of SVs in view, PRN, elevation, azimuth, and SNRHDT Heading from True NorthLLQ Leica local position and qualityPFUGDP A proprietary message containing information about the type of positioning system, position, number of satellites and position statisticsPTNL,AVR Time, yaw, tilt, range, mode, PDOP, and number of SVs for Moving Baseline RTKTrimble R10-2 GNSS Receiver User Guide | 74
Draft6 Output MessagesMessage FunctionPTNL,BPQ Base station position and position quality indicatorPTNL,DG L-band corrections and beacon signal strength and related informationPTNL,GGK Time, position, position type, and DOP valuesPTNL,PJK Time, position, position type, and DOP valuesPTNL,PJT Projection typePTNL,VGK Time, locator vector, type, and DOP valuesPTNL,VHD Heading InformationRMC Position, Velocity, and TimeROT Rate of turnVTG Actual track made good and speed over groundZDA UTC day, month, and year, and local time zone offsetTo enable or disable the output of individual NMEA messages, do one of the following:lCreate an application file in the Configuration Toolbox software that contains NMEA output settings and then send the file to the receiver.lAdd NMEA outputs in the Serial outputs tab of the GPS Configurator software and then apply the settings. For a copy of the NMEA-0183 Standard, go to the National Marine Electronics Association website at www.nmea.org.Trimble R10-2 GNSS Receiver User Guide | 75
Draft6 Output MessagesNMEA-0183 messages: Common message elementsEach message contains:la message ID consisting of $GP followed by the message type. For example, the message ID of the GGA message is $GPGGA.la comma.la number of fields, depending on the message type, separated by commas.lan asterisk.la checksum value.The following example shows a simple message with a message ID ($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*4FMessage valuesNMEA messages that the receiver generates contains the following values:Value DescriptionLatitude and LongitudeLatitude is represented as ddmm.mmmm and longitude is represented as dddmm.mmmm, where: ldd or ddd is degrees lmm.mmmm is minutes and decimal fractions of minutesDirection 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.ss, where: lhh is hours, from 00 through 23 lmm is minutes lss.ss is seconds with variable length decimal-fraction of secondsTrimble R10-2 GNSS Receiver User Guide | 76
Draft6 Output MessagesGSOF Messages: OverviewThese topics provide information on the General Serial Output Format (GSOF) messages. GSOF messages are a Trimble proprietary format and can be used to send information such as position and status to a third-party device.This table summarizes the GSOF messages that the receiver supports. When GSOF output is enabled, the following messages can be generated: Message FunctionAttitude Info Attitude infoBase Position and QualityBase station position and its qualityBattery/Memory Info Receiver battery and memory statusBrief SV Info GPS SV Brief infoCurrent Time UTC Current UTC timeDelta ECEF Earth-Centered, Earth-Fixed Delta positionDetail SV Info GPS SV Detailed infoDOP Info PDOP infoLat, Long, Ht Latitude, longitude, heightLocal ENU Local zone north, east, and height - projection/calibration basedLocal LLH Local datum positionPosition Sigma Position sigma infoPosition Time Position timeTPlane ENU Tangent Plane DeltaVelocity Velocity dataECEF Position ECEF PositionMultiple Page Detail All SVMultiple Page All SV Detailed InfoFor information on how to output GSOF messages, see Configuring the receiver, page 54.Trimble R10-2 GNSS Receiver User Guide | 77
Draft6 Output MessagesGSOF messages: General Serial Output FormatReport packet 40h structure (GENOUT)Byte Item Type Value Meaning0 STX Char 02h Start transmission1 STATUS Char See Receiver status codeReceiver status code2 PACKET TYPE Char 40h Report Packet 40h (GENOUT)3 LENGTH Char 00h–FAhData byte count4 TRANSMISSION NUMBERChar Unique number assigned to a group of record packet pages. Prevents page mismatches when multiple sets of record packets exist in output stream.5 PAGE INDEX Char 00h–FFh Index of current packet page.6 MAX PAGE INDEXChar 00h–FFh Maximum index of last packet in one group of records.One or more GSOF messagesOutput record typeChar 01h For example, Time (Type 1 Record)Record length Char 0Ah Bytes in recordVarious fields depending on Output record type.There can be various records in one GENOUT packet. There could be multiple GENOUT packets per epoch. Records may be split over two consecutive packets.Length + 4CHECKSUM – – (Status + type + length + data bytes) modulo 256Length + 5ETX 03h End transmissionTrimble R10-2 GNSS Receiver User Guide | 78
Draft6 Output MessagesEach message begins with a 4-byte header, followed by the bytes of data in each packet. The packet ends with a 2-byte trailer. Byte 3 is set to 0 (00h) when the packet contains no data. Most data is transmitted between the receiver and remote device in binary format.Receiver Status codeByte numberDescriptionBit 0 ReservedBit 1 If set, low battery at the base stationBit 2 ReservedBit 3 If set, receiver's kinematic state is currently set to 'Roving', otherwise 'static'Bit 4–7 ReservedTrimble R10-2 GNSS Receiver User Guide | 79
Draft6 Output MessagesGSOF messages: Reading binary values (Motorola format)The receivers store numbers in Motorola format. The byte order of these numbers is the opposite of what personal computers (Intel format) expect. To supply or interpret binary numbers (8-byte DOUBLES, 4-byte LONGS, and 2-byte INTEGERS), the byte order of these values must be reversed. This section contains a detailed description of the Motorola format.INTEGER data typesThe INTEGER data types (CHAR, SHORT, and LONG) can be signed or unsigned. By default, they are unsigned. All integer data types use two’s complement representation. The following table lists the integer data types:Type # of bits Range of values (Signed) UnsignedChar 8 -128 to 127 0 to 255Short 16 -32768 to 32767 0 to 65535Long 32 –2147483648 to 2147483647 0 to 4294967295FLOATING-POINT data typesFloating-point data types are stored in the IEEE SINGLE and DOUBLE precision formats. Both formats have a sign bit field, an exponent field, and a fraction field. The fields represent floating-point numbers in the following manner:Floating-Point Number = <sign> 1.<fraction field> x 2(<exponent field> - bias)Sign bit fieldThe sign bit field is the most significant bit of the floating-point number. The sign bit is 0 for positive numbers and 1 for negative numbers.Fraction fieldThe fraction field contains the fractional part of a normalized number. Normalized numbers are greater than or equal to 1 and less than 2. Since all normalized numbers are of the form 1.XXXXXXXX, the 1 becomes implicit and is not stored in memory. The bits in the fraction field are the bits to the right of the binary point, and they represent negative powers of 2.For example:0.011 (binary) = 2-2 + 2-3 = 0.25 + 0.125 = 0.375Trimble R10-2 GNSS Receiver User Guide | 80
Draft6 Output MessagesExponent fieldThe exponent field contains a biased exponent; that is, a constant bias is subtracted from the number in the exponent field to yield the actual exponent. (The bias makes negative exponents possible.)If both the exponent field and the fraction field are zero, the floating-point number is zero.NaNA NaN (Not a Number) is a special value that is used when the result of an operation is undefined. For example, adding positive infinity to negative infinity results in a NaN.FLOAT data typeThe FLOAT data type is stored in the IEEE single-precision format which is 32 bits long. The most significant bit is the sign bit, the next 8 most significant bits are the exponent field, and the remaining 23 bits are the fraction field. The bias of the exponent is 127. The range of single-precision format values is from 1.18 x 10–38 to 3.4 x 1038. The floating-point number is precise to 6 decimal digits.0 000 0000 0 000 0000 0000 0000 0000 0000 = 0.00 011 1111 1 000 0000 0000 0000 0000 0000 = 1.01 011 1111 1 011 0000 0000 0000 0000 0000 = -1.3751 111 1111 1 111 1111 1111 1111 1111 1111 = NaNDOUBLEThe DOUBLE data type is stored in the IEEE double-precision format which is 64 bits long. The most significant bit is the sign bit, the next 11 most significant bits are the exponent field, and the remaining 52 bits are the fractional field. The bias of the exponent is 1023. The range of single precision format values is from 2.23 × 10–308 to 1.8 × 10308. The floating-point number is precise to 15 decimal digits.0 000 0000 0000 0000 0000 ... 0000 0000 0000 = 0.0Trimble R10-2 GNSS Receiver User Guide | 81
Draft6 Output Messages0 011 1111 1111 0000 0000 ... 0000 0000 0000 = 1.01 011 1111 1110 0110 0000 ... 0000 0000 0000 = -0.68751 111 1111 1111 1111 1111 ... 1111 1111 1111 = NaNLogin authenticationIf you interface to the receivers using binary commands over serial communications, you may need login authentication. This is added to receiver models that run firmware version 3.30 or later.If utilities such as the WinFlash utility or the Configuration ToolBox software do not work with the receivers running firmware version 3.30 or later, go to the Trimble website and then download the latest versions of these utilities. If your own application software no longer communicates with the receiver, contact Trimble Support for information about how to use the receiver in these cases.Trimble R10-2 GNSS Receiver User Guide | 82
DraftSpecificationslSpecificationslAntenna phase center offsetslPinout information7Trimble R10-2 GNSS Receiver User Guide | 83
Draft7 SpecificationsSpecificationsMeasurementslAdvanced Trimble Maxwell™ 6 Custom Survey GNSS chips with 440 channelslSatellite signals tracked simultaneously:lGPS: L1C/A, L1C, L2C, L2E, L5lGLONASS: L1C/A, L1P, L2C/A, L2P, L3lSBAS: L1C/A, L5 (For SBAS satellites that support L5)lGalileo: E1, E5a, E5BlBeidou: B1, B2lOmniSTAR HP, XP, G2, VBS positioninglTrimble CenterPoint RTXlQZSS, WAAS, MSAS, EGNOS, GAGANlVery low noise GNSS carrier phase measurements with <1 mm precision in a 1 Hz bandwidthlSignal-to-noise ratios reported in dB-HzlProven Trimble low elevation tracking technologylPositioning Rates: 1 Hz, 2 Hz, 5 Hz, 10 Hz, and 20 HzPositioning performanceNOTE – Precision and reliability may be subject to anomalies due to multipath, obstructions, satellite geometry, and atmospheric conditions. The specifications stated recommend the use of stable mounts in an open sky view, EMI and multipath clean environment, optimal GNSS constellation configurations, along with the use of survey practices that are generally accepted for performing the highest-order surveys for the applicable application including occupation times appropriate for baseline length. Baselines longer than 30 km require precise ephemeris and occupations up to 24 hours may be required to achieve the high precision static specification.Code differential GNSS positioningHorizontal +/-0.25 m + 1 ppm RMSVertical +/-0.25 m + 1 ppm RMSSBAS differential typically <5 m 3DRMSNOTE – SBAS differential performance depends on WAAS/EGNOS system performance.Trimble R10-2 GNSS Receiver User Guide | 84
Draft7 SpecificationsStatic GNSS surveyingHigh Precision StaticHorizontal +/-3 mm + 0.1 ppm RMSVertical +/-3.5 mm + 0.4 ppm RMSStatic and Fast StaticHorizontal +/-3 mm + 0.5 ppm RMSVertical +/-5 mm + 0.5 ppm RMSReal Time Kinematic surveyingSingle Baseline <30 kmHorizontal +/-8 mm + 1 ppm RMSVertical +/-15 mm + 1 ppm RMSNetwork RTKHorizontal +/-8 mm + 0.5 ppm RMSVertical +/-15 mm + 0.5 ppm RMS RTK start-up time for specified precisions 2 to 8 secondsNOTE – Network RTK PPM values are referenced to the closest physical base station. RTK precision times may be affected by atmospheric conditions, signal multipath, obstructions and satellite geometry. Positioning reliability is continuously monitored to ensure highest quality.Trimble CenterPoint RTXHorizontal 4 cmVertical 9 cm RTX convergence time for specified precisions 30 minutes or lessRTX QuickStart convergence time for specified precisions 5 minutes or lessTrimble R10-2 GNSS Receiver User Guide | 85
Draft7 SpecificationsTrimble xFillHorizontal RTK + 10 mm/minute RMSVertical RTK + 20 mm/minute RMSNOTE – Precisions are dependent on GNSS satellite availability. xFill positioning without an RTX subscription ends after 5 minutes of radio downtime. xFill positioning with an RTX subscription will continue beyond 5 minutes providing RTX has converged, with typical precisions not exceeding 6 cm horizontal, 14 cm vertical. xFill is not available in all regions, check with your local sales representative for more information. RTK refers to the last reported precision before the correction source was lost and xFill started.HardwarePhysicalDimensions (diameter x height)11.9 cm x 13.6 cm (4.6 in x 5.4 in)Weight 1.12 kg (2.49 lb) with internal battery, internal radio with UHF antenna3.57 kg (7.86 lb) items above plus range pole, controller & bracketTemperature Operating-40 ⁰C to +65 ⁰C (-40 ⁰F to +149 ⁰F)Storage -40 ⁰C to +75 ⁰C (-40 ⁰F to +167 ⁰F)NOTE – Receiver will operate normally to –40 °C, internal batteries are rated to –20 °C.Humidity 100%, condensingIngress protection IP67 dustproof, protected from temporary immersion to depth of 1 m (3.28 ft)Shock and vibration Tested and meets the following environmental standards:Shock Non-operating: Designed to survive a 2 m (6.6 ft) pole drop onto concrete. Operating: to 40 G, 10 msec, sawtoothVibration MIL-STD-810F, FIG.514.5C-1Trimble R10-2 GNSS Receiver User Guide | 86
Draft7 SpecificationsElectricalVoltage 11 to 24 V DC external power input with over-voltage protection on Port 1 and Port 2 (7-pin Lemo)Battery Rechargeable, removable 7.4 V, 3.7 Ah Lithium-Ion smart battery with LED status indicatorsPower consumption5.1 Watts in RTK rover mode with internal radio Operating times on internal battery: 450 MHz receive only option 5.5 hours 450 MHz receive/transmit option (0.5 watts)4.5 hours 450 MHz receive/transmit option (2.0 watts)3.7 hours Cellular receive option 5 hoursNOTE – Operating times vary with temperature and wireless data rate. When using a receiver and internal radio in transmit mode, Trimble recommends using an external 6 Ah or higher battery.GNSS antennaUltra compact Trimble Zephyr technologyType Dual 4 Point FeedPolarization Right-hand circularAxial Ratio 2 dB at zenithLow Noise Amplifier advanced multi-stage tuned for all GNSSIntegrated level sensorAccuracy +/- 0.01⁰ horizontal axisResolution 0.014⁰Range +/- 20⁰ from horizontalMaximum Update Rate 50 HzTrimble R10-2 GNSS Receiver User Guide | 87
Draft7 SpecificationsCommunications and data storagelSerial – 3-wire serial (7-pin Lemo)lUSB – Supports data download and high speed communicationslRadio modem – Integrated, sealed, 450 MHz wide band receiver/transmitter with Frequency Range of 410 – 470MHz, Transmit power of 2 Watts maximum, Range: 3-5 km typical /10 km optimal. Varies with terrain and operating conditions.lCellular – Integrated, 3.5G modem, HSDPA 7.2 Mbps (Download), GPRS multi-slot class 12, EDGE multi-slot class 12, UMTS/HSDPA (WCDMA/FDD) 850/1900/2100MHz, Quad-band EGSM 850/900/1800/1900 MHz, GSM CSD, 3GPP LTElBluetooth – Fully integrated, fully sealed 2.4 GHz communications portNOTE – Bluetooth type approvals are country-specific.lWi-Fi – 802.11 b,g, access point and client mode, WEP64/WEP128 encryptionlExternal communication devices for corrections supported on: Serial, USB, Ethernet, and Bluetooth portslData storage – 4 GB internal memory: over three years of raw observables (approx.. 1.4 MB / Day), based on recording every 15 seconds from an average of 14 satelliteslCMR, CMR+, CMRx, RTCM 2.1, RTCM 2.2, RTCM 2.3, RTCM 3.0, RTCM 3.1 Input and Outputl24 NMEA outputs, GSOF, RT17 and RT27 outputsTrimble R10-2 GNSS Receiver User Guide | 88
DraftAntenna phase center offsetsTrimble R10-2 GNSS Receiver User Guide | 89
DraftPinout informationPort 1 is a 7-pin 0-shell Lemo connector that supports RS-232 communications and external power input. Port 1 has no power outputs.Port 2 is a 7-pin 0-shell Lemo connector that allows for USB 2.0 communications and external power input.Trimble R10-2 GNSS Receiver User Guide | 90
DraftGlossary1PPS Pulse-per-second. Used in hardware timing. A pulse is generated in conjunction with a time stamp. This defines the instant when the time stamp is applicable.almanac A file that contains orbit information on all the satellites, clock corrections, and atmospheric delay parameters. The almanac is transmitted by a GNSS satellite to a GNSS receiver, where it facilitates rapid acquisition of GNSS signals when you start collecting data, or when you have lost track of satellites and are trying to regain GNSS signals.The orbit information is a subset of the ephemeris/ephemerides data.base station Also called reference station. In construction, a base station 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 GNSS observations are collected over a period of time, for subsequent postprocessing to obtain the most accurate position for the location.BeiDou The BeiDou Navigation Satellite System (also known as BDS ) is a Chinese satellite navigation system.The first BeiDou system (known as BeiDou-1), consists of four satellites and has limited coverage and applications. It has been offering navigation services mainly for customers in China and from neighboring regions since 2000.The second generation of the system (known as BeiDou-2) consists of satellites in a combination of geostationary, inclined geosynchronous, and medium earth orbit configurations. It became operational with coverage of China in December 2011. However, the complete Interface Control Document (which specifies the satellite messages) was not released until Trimble R10-2 GNSS Receiver User Guide | 91
DraftGlossaryDecember 2012. BeiDou-2 is a regional navigation service which offers services to customers in the Asia-Pacific region. A third generation of the BeiDou system is planned, which will expand coverage globally. This generation is currently scheduled to be completed by 2020.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 Is the cumulative phase count of the GPS or GLONASS carrier signal at a given time.cellular modems A wireless adapter 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.CMR/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.CMRx A real-time message format developed by Trimble for transmitting more satellite corrections resulting from more satellite signals, more constellations, and more satellites. Its compactness means more repeaters can be used on a site.covariance A statistical measure of the variance of two random variables that are observed or measured in the same mean time period. This measure is equal to the product of the deviations of corresponding values of the two variables from their respective means.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 Trimble R10-2 GNSS Receiver User Guide | 92
DraftGlossaryas 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 (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 GNSS 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 real-time, or after the data is collected by postprocessing.differential GPS See real-time differential GPS.DOP Dilution of Precision. A measure of the quality of GNSS 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 precision is greater. When satellites are close together in the sky, the DOP is higher and GNSS 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 precision of horizontal measurements (latitude and longitude) and vertical measurements respectively. PDOP is related to Trimble R10-2 GNSS Receiver User Guide | 93
DraftGlossaryHDOP 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 GNSS. EGNOS is the European equivalent of WAAS, which is available in the United States.elevation The vertical distance from a geoid such as EGM96 to the antenna phase center. The geoid is sometimes referred to as Mean Sea Level. elevation mask The angle below which the receiver will not track satellites. Normally set to 10 degrees to avoid interference problems caused by buildings and trees, atmospheric issues, and multipath errors.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.EHT Height above ellipsoid.ephemeris/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 GNSS 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.feature A feature is a physical object or event that has a location in the Trimble R10-2 GNSS Receiver User Guide | 94
DraftGlossaryreal 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/break lines, or boundaries/areas.firmware The program inside the receiver that controls receiver operations and hardware.Galileo Galileo is a GNSS system built by the European Union and the European Space Agency. It is complimentary to GPS and GLONASS.geoid The geoid is the equipotential surface that would coincide with the mean ocean surface of the Earth. For a small site this can be approximated as an inclined plane above the Ellipsoid.GHT Height above geoid.GLONASS Global Orbiting Navigation Satellite System. GLONASS is a Soviet space-based navigation system comparable to the American GPS system. The operational system consists of 21 operational and 3 non-operational satellites in 3 orbit planes.GNSS Global Navigation Satellite System.GSOF General Serial Output Format. A Trimble proprietary message format.HDOP Horizontal Dilution of Precision. HDOP is a DOP value that indicates the precision 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).height The vertical distance above the Ellipsoid. The classic Ellipsoid used in GPS is WGS-84. IBSS Internet Base Station Service. This Trimble service makes the setup of an Internet-capable receiver as simple as possible. The base station can be connected to the Internet (cable or wirelessly). To access the distribution server, the user enters a password into the receiver. To use the server, the user must have a Trimble Connected Community site license.Trimble R10-2 GNSS Receiver User Guide | 95
DraftGlossaryL1 The primary L-band carrier used by GPS and GLONASS satellites to transmit satellite data.L2 The secondary L-band carrier used by GPS and GLONASS satellites to transmit satellite data.L2C A modernized code that allows significantly better ability to track the L2 frequency.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.Mountpoint Every single NTripSource needs a unique mountpoint on an NTripCaster. Before transmitting GNSS data to the NTripCaster, the NTripServer sends an assignment of the mountpoint.MSAS MTSAT Satellite-Based Augmentation System. A Satellite-Based Augmentation System (SBAS) that provides a free-to-air differential correction service for GNSS. MSAS is the Japanese equivalent of WAAS, which is available in the United States.multipath Interference, similar to ghosts on an analog television screen that occurs when GNSS 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 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 GNSS receivers can output positions as NMEA strings.NTrip Protocol Networked Transport of RTCM via Internet Protocol (NTrip) is an application-level protocol that supports streaming Global Navigation Satellite System (GNSS) data over the Internet. NTrip is a generic, stateless protocol based on the Hypertext Transfer Protocol (HTTP). The HTTP objects are extended to GNSS data streams.Trimble R10-2 GNSS Receiver User Guide | 96
DraftGlossaryNTripCaster The NTripCaster is basically an HTTP server supporting a subset of HTTP request/response messages and adjusted to low-bandwidth streaming data. The NTripCaster accepts request messages on a single port from either the NTripServer or the NTripClient. Depending on these messages, the NTripCaster decides whether there is streaming data to receive or to send.Trimble NTripCaster integrates the NTripServer and the NTripCaster. This port is used only to accept requests from NTripClients.NTripClient An NTripClient will be accepted by and receive data from an NTripCaster, if the NTripClient sends the correct request message (TCP/UDP connection to the specified NTripCaster IP and listening port).NTripServer The NTripServer is used to transfer GNSS data of an NTripSource to the NTripCaster. An NTripServer in its simplest setup is a computer program running on a PC that sends correction data of an NTripSource (for example, as received through the serial communication port from a GNSS receiver) to the NTripCaster.The NTripServer - NTripCaster communication extends HTTP by additional message formats and status codes.NTripSource The NTripSources provide continuous GNSS data (for example, RTCM-104 corrections) as streaming data. A single source represents GNSS data referring to a specific location. Source description parameters are compiled in the source-table.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 utilizes a global satellite monitoring network. Additionally, while most current dual-frequency GNSS systems are accurate to within a meter or so, OmniSTAR with XP is accurate in 3D to better than 30 cm.Orthometric elevation The Orthometric Elevation is the height above the geoid (often termed the height above the 'Mean Sea Level').PDOP Position Dilution of Precision. PDOP is a DOP value that Trimble R10-2 GNSS Receiver User Guide | 97
DraftGlossaryindicates the precision 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.POE Power Over Ethernet. Provides DC power to the receiver using an Ethernet cable.postprocessing Postprocessing is the processing of satellite data after it is collected, in order to eliminate error. This involves using computer software to compare data from the rover with data collected at the base station.QZSS Quasi-Zenith Satellite System. A Japanese regional GNSS, eventually consisting of three geosynchronous satellites over Japan.real-time differential GPS Also known as real-time differential correction or DGPS. 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.While DGPS is a generic term, its common interpretation is that it entails the use of single-frequency code phase data sent from a GNSS base station to a rover GNSS receiver to provide submeter position precision. The rover receiver can be at a long range (greater than 100 kms (62 miles)) from the base station.rover A rover is any mobile GNSS receiver that is used to collect or update 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 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 GNSS receivers. Trimble R10-2 GNSS Receiver User Guide | 98
DraftGlossaryThere are three versions of RTCM correction messages. All Trimble GNSS 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 Trimble dual-frequency receivers. The Version 3 RTCM protocol is more compact but is not as widely supported as Version 2.RTK Real-time kinematic. A real-time differential GPS method that uses carrier phase measurements for greater precision.SBAS Satellite-Based Augmentation System. SBAS is based on differential GPS, but applies to wide area (WAAS/EGNOS/MSAS) networks of reference stations. Corrections and additional information are broadcast using 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 47 and 50 dB-Hz.skyplot The satellite skyplot confirms reception of a differentially corrected GNSS signal and displays the number of satellites tracked by the GNSS receiver, as well as their relative positions.SNR See signal-to-noise ratio.Source-table The NTripCaster maintains a source-table containing information on available NTripSources, networks of NTripSources, and NTripCasters, to be sent to an NTripClient on request. Source-table records are dedicated to one of the following:ldata STReams (record type STR)lCASters (record type CAS)lNETworks of data streams (record type NET)All NTripClients must be able to decode record type STR. Decoding types CAS and NET is an optional feature. All data fields in the source-table records are separated using the semicolon character.triple frequency GPS A type of receiver that uses three carrier phase measurements (L1, L2, and L5).UTC Universal Time Coordinated. A time standard based on local Trimble R10-2 GNSS Receiver User Guide | 99
DraftGlossarysolar mean time at the Greenwich meridian.xFill Trimble xFill™ is a new service that extends RTK positioning for several minutes when the RTK correction stream is temporarily unavailable. The Trimble xFill service improves field productivity by reducing downtime waiting to re-establish RTK corrections in black spots. It can even expand productivity by allowing short excursions into valleys and other locations where continuous correction messages were not previously possible. Proprietary Trimble xFill corrections are broadcast by satellite and are generally available on construction sites globally where the GNSS constellations are also visible. It applies to any positioning task being performed with a single-base, Trimble Internet Base Station Service (IBSS), or VRS™ RTK correction source.VRS Virtual Reference Station. A VRS system consists of GNSS 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.WAAS 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 GNSS 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 GNSS receiver, exactly like a GNSS 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 Trimble R10-2 GNSS Receiver User Guide | 100
DraftGlossaryhttp://gps.faa.gov.The EGNOS service is the European equivalent and MSAS is the Japanese equivalent of WAAS.WGS-84 World Geodetic System 1984. Since January 1987, WGS-84 has superseded WGS-72 as the datum used by GPS.The WGS-84 datum is based on the ellipsoid of the same name.Trimble R10-2 GNSS Receiver User Guide | 101

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