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

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90912 User Manual HTML Version

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May 2017

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TRIMBLE R10-2

GNSS RECEIVER

USER GUIDE

Draft

Corporate Office

Trimble Inc.

935 Stewart Drive

Sunnyvale, California 94085

USA

Geospatial Division

Trimble Inc.

10368 Westmoor Drive

Westminster, CO 80021

USA

www.trimble.com

Email: trimble_support@trimble.com

Legal Notices

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

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 Notice

This is the May 2017 release (Revision A) of the Trimble R10-2

receiver documentation.

Product Limited Warranty Information

For applicable product Limited Warranty information, please

refer to the Limited Warranty Card included with this Trimble

product, or consult your local Trimble authorized dealer

COCOM limits

The 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.

Notices

Class 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.

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Canada

This 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.

Europe

The 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 Conformity

Hereby, 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 Zealand

This 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 Requirements

The 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 BV

c/o Menlo Worldwide Logistics

Meerheide 45

5521 DZ Eersel, NL

Unlicensed radios in products

This device complies with part 15 of the FCC Rules.

Operation is subject to the following two conditions:

(1) This device may not cause harmful interference, and

(2) This device must accept any interference received,

including interference that may cause undesired operation.

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Safety Information

Before 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 care

This 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 radiation

For 450 MHz radio

Safety. 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)

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Safety 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 radio

CAUTION – 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 transmitters

The 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

transmitters

Trimble 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.

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Safety Information

Government 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 radio

Safety. 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 antennas

CAUTION – 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 antennas

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Safety Information

To 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 approval

Type 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.

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Contents

 Safety Information 4

Use and care 4

Exposure to radio frequency radiation 4

For license-free 900 MHz radio 5

For internal wireless radio transmitters 5

Exposure to radio frequency radiation from cellular wireless transmitters 5

For UMTS radio 6

Installing antennas 6

Type approval 7

1 Getting Started 12

The Trimble R10 GNSS receiver 13

Features 13

Parts of the receiver 14

Front panel 14

Lower housing 15

Receiver ports 16

Batteries 17

Battery safety 17

Connecting the receiver to a vehicle battery 18

Wet locations 18

Charging the Lithium-ion battery 18

Battery charger 19

Storing the Lithium-ion battery 23

Disposing of the rechargeable Lithium-ion battery 23

Inserting the battery and SIM card 24

Accessories 25

Attaching the quick release adapter 25

Height measurement methods 25

Base station extension with measurement lever 26

Button and LED operations 28

Power button 28

Satellite LED 29

Radio LED 30

Wi-Fi LED 30

Data logging/downloading LED 30

LED flash patterns 31

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Contents

Connecting to an office computer 32

Connecting to a USB flash memory stick 33

Configuring a PC USB port as a virtual serial port 33

Windows 8 operating system 34

Windows Vista and Windows 7 operating system 34

Logging data 35

Logging data after a power loss 35

Default receiver settings 35

2 Base Station Operation 37

Base station operation guidelines 38

Base station components 38

Base station setup guidelines 39

Common ways to set up a base station 41

Tripod and tribrach setup 41

Fixed height tripod setup 42

Using a remote radio antenna with the receiver 43

Using an external radio with the receiver 44

Outputting corrections using a TDL450/HPB450 radio-modem 44

3 Rover Setup and Operation 46

Rover operation guidelines 47

Surepoint (integrated tilt sensor) 49

Calibrating the integrated tilt sensor 49

Integrated cellular modem 52

Connecting the receiver to external devices 53

Connecting to a Trimble controller running Trimble Access software 53

Internal radio-modems 54

External radio-modems 54

Configuring the receiver 54

Configuring the receiver using the Web Interface 54

Receiver Status menu 57

Satellites menu 57

Web Services menu 57

Data Logging menu 58

I/O Configuration menu 58

Bluetooth menu 58

Beacon menu 58

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Contents

Radio menu 58

GSM/GPRS modem menu 59

OmniSTAR menu 59

Network Configuration menu 59

Wi-Fi 59

Security menu 59

Firmware menu 59

Help menu 60

Configuring the receiver in real time 60

Configuring the receiver using application files 60

Configuring the receiver to use specific settings when it is turned on 63

Transferring files directly from the receiver 63

Deleting files in the receiver 64

4 The WinFlash Utility 65

The WinFlash utility 65

Upgrading the receiver firmware 66

Adding frequencies for the 450 MHz internal radio using the WinFlash utility 66

Configuring the internal transceiver 67

Updating the frequency list 68

5 Troubleshooting 69

Troubleshooting receiver issues 70

Troubleshooting LED conditions 71

Troubleshooting base station setup and static measurement problems 71

6 Output Messages 73

NMEA-0183 messages: Overview 74

NMEA-0183 messages: Common message elements 76

Message values 76

GSOF Messages: Overview 77

GSOF messages: General Serial Output Format 78

GSOF messages: Reading binary values (Motorola format) 80

7 Specifications 83

Specifications 84

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Contents

Measurements 84

Positioning performance 84

Hardware 86

Antenna phase center offsets 89

Pinout information 90

Glossary 91

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Getting 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



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The Trimble R10 GNSS receiver

The 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.

Features

The 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, L3

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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 systems

Parts of the receiver

All operating controls are located on the front panel. Serial ports and connectors are

located on the bottom of the unit.

Front panel

The following figure shows a front view of the receiver. The front panel contains the four

indicator LEDs and the Power button with LED.

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The 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 housing

The lower housing contains the two communication and power ports, one TNC radio

antenna connector, and the Quick Release Socket.

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1 Getting Started

❶SMA Connection: UHF/VHF antenna

❷Quick Release socket

❸Lemo Port 1: Serial connection

❹Lemo Port 2: USB connection

Receiver ports

Icon Name Connections

Port 1 Device, computer, external radio, power in, power out

Port 2 Device, computer, USB flash memory stick, power in

RADIO Radio communications antenna

Port 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

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provide 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.

Batteries

The 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 safety

Charge 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.

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WARNING – 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 battery

WARNING – 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 locations

WARNING – 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 battery

The 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.

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WARNING – 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 charger

The 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)

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Chargeable batteries

The 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 slots

The 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 supply

The 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 power

The 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 data

Power Supply Receiver Connection

AC Input Voltage 100 to 240 V AC +/-10%

AC Frequency 50 to 60 Hz

DC Output Voltage 19 V

DC Output current charger Approx. 3.5 A

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Power Supply Receiver Connection

DC Power Input Voltage operation 10 V to 21 V

Unit switches off if voltage is out of range

DC Power Input Voltage limits 8 V to 32 V

Absolute maximum input voltage 32 V

Over voltage 21 V to 32 V

Working voltage 10 V to 21 V

Under voltage charging <10 V

Sum of charge time for all batteries 5 to 6 hours

Charger in first hour >60 %

Charging the battery

CAUTION – 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

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batteries 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 indicator

Beside each slot are two LED indicators (Red and Green) to display the battery status:

Status Red Green

No battery detected (no battery present or

battery defect)

On Off

Battery detected (charging not started yet)

- Conditioning not required

- Conditioning required

Off

Blinking

Off

Charging in progress

- Conditioning not required

- Conditioning required

- Over/under temperature (charge is

inhibited)

Off

Blinking

One flash every

2.5 seconds

Off

Blinking

Conditioning in progress On Blinking

Conditioning done (battery fully charged) On On

Battery fully charged

- Conditioning not required

- Conditioning required

Off

Blinking

Power supply over/under voltage Off One flash every

2.5 seconds

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Troubleshooting

Issue Solution

Battery 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 battery

Do 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 battery

Discharge 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.

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Inserting the battery and SIM card

Align 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.

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Accessories

Attaching the quick release adapter

Push 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 methods

The following antenna height measurement methods are available in the field/office

software and web interface:

❶

❷

❸

Bottom of antenna mount

Bottom of quick release

Lever of R10 extension

NOTE – For information on using the Trimble R10 receiver with the Trimble V10 Imaging Rover,

refer to the Trimble V10 User Guide.

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Base station extension with measurement lever

The 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

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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.

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.

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Button and LED operations

The 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 button

Action Power

button

Description

Turn on

the

receiver

Press

(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.

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Action Power

button

Description

below)

Turn off

the

receiver

Hold for 2

seconds

and then

release

When 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

defaults

Hold for

seconds

The 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

files

Hold for

seconds

The 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 LED

Receiver mode Satellite LED Amber

No satellites tracked Off

Tracking fewer than 4 SVs Fast flash

Tracking more than 4 SVs Slow flash

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Radio LED

Radio

mode

Radio LED

Amber

Description

receive

transmit

Off 

Receive Radio slow

flash

See the table at the top of this topic.

This LED also flashes when using the Wi-Fi only for receiving

corrections.

Transmit Radio slow

flash

See the table at the top of this topic.

This LED also flashes when using the Wi-Fi only for

transmitting corrections

Wi-Fi LED

Receiver mode Wi-Fi LED Amber

Wi-Fi off Off

Wi-Fi is access point (base mode/sending corrections) Medium flash

Wi-Fi is client (and not connected to an access point) Off

Wi-Fi as client (rover mode receiving corrections) Very slow flash

Data logging/downloading LED

Receiver mode Data LED Amber

Data logging off Off

Data logging on On

Downloading to USB flash memory stick Slow flash

Full USB flash memory stick detected Fast flash

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Receiver mode Data LED Amber

Download to USB flash memory stick

complete

Very slow flash

LED flash patterns

The following table details the possible flash patterns to indicate various states of receiver

operation.

Receiver mode Power

button

Radio LED Satellite

LED

Data

LED

Wi-Fi

LED

Receiver OFF OFF OFF OFF OFF OFF

Receiver ON, healthy power ON N/A N/A N/A N/A

Low power Fast

flash

N/A N/A N/A N/A

Transmitting correction messages N/A Flashes off when

transmitting

N/A N/A N/A

Receiving valid data packets N/A Slow flash N/A N/A N/A

Tracking fewer than 4 SVs ON N/A Fast

flash

N/A N/A

Tracking more than 4 SVs ON N/A Slow

flash

N/A N/A

Logging data internally N/A N/A N/A Solid N/A

Transferring data to flash memory

stick

N/A N/A N/A Slow

flash

N/A

All data transferred to flash

memory stick

N/A N/A N/A Very

slow

flash

N/A

Flash memory stick full N/A N/A N/A Fast

flash

N/A

Wi-Fi configured as an access point N/A N/A N/A N/A Slow

flash

Wi-Fi configured as a client N/A N/A N/A N/A On

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Receiver mode Power

button

Radio LED Satellite

LED

Data

LED

Wi-Fi

LED

Receiver in monitor mode (loading

firmware from WinFlash)

ON Slow flash Solid OFF OFF

NOTE – 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 computer

The 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)

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Connecting to a USB flash memory stick

The 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 port

It 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.

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Windows 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.

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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 data

Data 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 loss

If 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 settings

These settings are defined in the default application file.

Function Settings Factory default

SV Enable - All SVs enabled

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Function Settings Factory default

General Controls Elevation mask 10°

PDOP mask 25

RTK positioning

mode

Low Latency

Motion Kinematic

Serial Port 1 Baud rate 38,400

Format 8-None-1

Flow control None

Serial Port 2 USB

Input Setup Station Any

NMEA/ASCII (all supported

messages)

All ports Off

Streamed Output All types Off

Offset=00

RT17/Binary All ports Off

Reference Position Latitude 0°

Longitude 0°

Altitude 0.00 m HAE

Antenna Type Trimble R10 GNSS receiver,

Internal

Height (true vertical) 0.00 m

Group All

Measurement

method

Antenna Phase Center

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Base Station Operation

lBase station operation guidelines

lCommon ways to set up a base station

lOutputting corrections using a TDL450/HPB450 radio-modem



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Base station operation guidelines

This 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 components

The base station has the following components:

lGNSS receiver

lGNSS antenna

lHeight extension pole with measurement level

lBase station radio and antenna

lPower source

GNSS receiver and GNSS antenna

The 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 station

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na high-gain or directional radio antenna, to increase broadcast range and to

provide maximum coverage

You 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 guidelines

For 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 power

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nSolar panel

When 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 antenna

Cell 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

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(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 station

Trimble 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 setup

In 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.

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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 setup

A 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

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used 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 lever

❷Standard 20 cm extension pole

Receiver with an internal 450 MHz Transmit radio on a fixed height tripod

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 (0.15m (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 receiver

A 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.

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Connecting remote radio antenna cable to the receiver

Receiver with a remote radio antenna

Using an external radio with the receiver

An 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-

modem

The TDL450/HPB450 radio comes with a 5-pin Lemo to 7-pin Lemo connector with a

power connection lead:

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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.

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Rover 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



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Rover operation guidelines

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.

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.

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WARNING – 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.

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Surepoint (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 sensor

It 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

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tribrach 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.

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5. 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

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degrees. 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 modem

Instead 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

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receiver. 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 devices

You 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 software

You 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

59044

7-pin serial

Lemo

DB-9

Receiver

Computer

computer USB port 89852-00 or

80751

7-pin USB

Lemo

USB

Receiver

Computer

TSC3 or Trimble Tablet 89851-00 or

59046

DB-9

Serial Lemo

TSC

Receiver

USB flash memory stick 89850-00 or

80799

7-pin USB

Lemo

USB flash drive

Receiver

Flash drive

TDL450 66656 7-pin serial

Lemo

5-pin Lemo

Receiver

TDL450

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Internal 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-modems

If 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 radio

The 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 receiver

You 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 Interface

The 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.

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Connecting 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.

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Default Wi-Fi connection settings

Out 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: password

Web interface menus

Use 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.

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The 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 browsers

For PCs and laptops, current versions of these HTML browsers are supported:

lGoogle Chrome

lMozilla Firefox

lMicrosoft Internet Explorer for Windows operating systems

lOpera

lApple Safari

To 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 Safari

Menu overview

The following configuration menus are available.

Receiver Status menu

The Receiver Status menu provides a quick link to review the receiver’s available options,

current firmware version, IP address, temperature, runtime, satellites tracked, current

outputs, available memory, position information, and more.

Satellites menu

Use 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 menu

Use 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.

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Data Logging menu

Use 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 menu

Use 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 menu

Use 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 menu

Use 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 devices

Beacon menu

Use 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 menu

The 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.

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Use 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 menu

Use the GSM/GPRS modem menu to check the status and configure the internal UMTS

modem. It includes information about the inserted SIM card.

OmniSTAR menu

The 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 menu

Use the Network Configuration menu to configure Ethernet settings, email alerts, PPP

connection, HTTP port, and FTP port settings of the receiver.

Wi-Fi

Use 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 menu

Use 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 menu

Use 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.

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Help menu

To 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 time

You 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 files

An 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.

Overview

An 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

lAntenna

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lDevice control

lStatic/Kinematic

An 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 files

The receiver has three special application files, which control important aspects of the

receiver’s configuration.

Default application file

The 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 28

Although 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 file

The 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 mask

These parameters are always reset to the factory default values when the receiver is

switched off.

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Power Up application file

The 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 files

An 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 files

You 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 files

The 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.

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When 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 on

The 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 receiver

Data 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).

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3 Rover Setup and Operation

Deleting files in the receiver

You 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).

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The 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 utility

The 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 radios

NOTE – The WinFlash utility runs on Windows 2000, XP, Windows Vista®, and Windows 7 operating

systems.

Installing the WinFlash utility

You 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.

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4 The WinFlash Utility

The 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 firmware

You 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 utility

If 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.

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4 The WinFlash Utility

NOTE – The frequencies that you program must conform to the channel spacing and

minimum tuning requirements for the radio. To view this information, click Radio Info. You may

select either 12.5 or 25 kHz channel spacing. All radios in your network must use the same

channel spacing.

9. 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 transceiver

Use 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.

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4 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 list

You 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.

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Troubleshooting

lTroubleshooting receiver issues

lTroubleshooting LED conditions

lTroubleshooting base station setup and static measurement problems



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5 Troubleshooting

Troubleshooting receiver issues

This 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 on

Possible cause Solution

External 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 satellites

Possible cause Solution

The 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 data

Possible cause Solution

Insufficient memory in the

internal memory.

Delete old files. Press the Power button for 30 seconds.

The receiver is not responding

Possible cause Solution

The receiver Turn off the receiver and then turn it back on again. For more

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5 Troubleshooting

Possible cause Solution

needs a soft

reset.

information, see Button and LED operations, page 28

The receiver

needs a full

reset.

Press the Power button for 30 seconds. For more information, see

Button and LED operations, page 28.

Troubleshooting LED conditions

The 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

slowly

Possible cause Solution

The SV Tracking LED is not flashing

Possible cause Solution

The receiver is tracking fewer

than four satellites.

Wait until the SV Tracking LED is flashing slowly.

Troubleshooting base station setup and static

measurement problems

This 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

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5 Troubleshooting

operating 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 station

Possible cause Solution

The 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 broadcasting

Possible cause Solution

Port 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 pins

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Output 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 authentication

This section provides information about two types of messages: General Serial Output

Format (GSOF) messages and National Marine Electronics Association (NMEA) messages.

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6 Output Messages

NMEA-0183 messages: Overview

When NMEA-0183 output is enabled, a subset of NMEA-0183 messages can be output to

external instruments and equipment connected to the receiver serial ports. These NMEA-

0183 messages let external devices use selected data collected or computed by the 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 Function

DTM Datum reference information

GBS GNSS satellite fault detection (RAIM support)

GGA Time, position, and fix related data

GLL Position data: position fix, time of position fix, and status

GNS GNS Fix data

GRS GRS range residuals

GSA GPS DOP and active satellites

GST Position error statistics

GSV Number of SVs in view, PRN, elevation, azimuth, and SNR

HDT Heading from True North

LLQ Leica local position and quality

PFUGDP A proprietary message containing information about the type of positioning

system, position, number of satellites and position statistics

PTNL,AVR Time, yaw, tilt, range, mode, PDOP, and number of SVs for Moving Baseline

RTK

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6 Output Messages

Message Function

PTNL,BPQ Base station position and position quality indicator

PTNL,DG L-band corrections and beacon signal strength and related information

PTNL,GGK Time, position, position type, and DOP values

PTNL,PJK Time, position, position type, and DOP values

PTNL,PJT Projection type

PTNL,VGK Time, locator vector, type, and DOP values

PTNL,VHD Heading Information

RMC Position, Velocity, and Time

ROT Rate of turn

VTG Actual track made good and speed over ground

ZDA UTC day, month, and year, and local time zone offset

To 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.

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6 Output Messages

NMEA-0183 messages: Common message elements

Each 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*4F

Message values

NMEA messages that the receiver generates contains the following values:

Value Description

Latitude and

Longitude

Latitude 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 minutes

Direction Direction (north, south, east, or west) is represented by a single

character: N , S , E , or W.

Time Time values are presented in Universal Time Coordinated (UTC) and

are represented as hhmmss.ss, where:

lhh is hours, from 00 through 23

lmm is minutes

lss.ss is seconds with variable length decimal-fraction of seconds

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6 Output Messages

GSOF Messages: Overview

These 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 Function

Attitude Info Attitude info

Base Position and

Quality

Base station position and its quality

Battery/Memory Info Receiver battery and memory status

Brief SV Info GPS SV Brief info

Current Time UTC Current UTC time

Delta ECEF Earth-Centered, Earth-Fixed Delta position

Detail SV Info GPS SV Detailed info

DOP Info PDOP info

Lat, Long, Ht Latitude, longitude, height

Local ENU Local zone north, east, and height - projection/calibration

based

Local LLH Local datum position

Position Sigma Position sigma info

Position Time Position time

TPlane ENU Tangent Plane Delta

Velocity Velocity data

ECEF Position ECEF Position

Multiple Page Detail All

Multiple Page All SV Detailed Info

For information on how to output GSOF messages, see Configuring the receiver, page 54.

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6 Output Messages

GSOF messages: General Serial Output Format

Report packet 40h structure (GENOUT)

Byte Item Type Value Meaning

0 STX Char 02h Start transmission

1 STATUS Char See

Receiver

status

code

Receiver status code

2 PACKET TYPE Char 40h Report Packet 40h (GENOUT)

3 LENGTH Char 00h–

FAh

Data byte count

4 TRANSMISSION

NUMBER

Char 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

INDEX

Char 00h–FFh Maximum index of last packet in one group

of records.

One or more GSOF messages

Output record

type

Char 01h For example, Time (Type 1 Record)

Record length Char 0Ah Bytes in record

Various 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

+ 4

CHECKSUM – – (Status + type + length + data bytes)

modulo 256

Length

+ 5

ETX 03h End transmission

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6 Output Messages

Each 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 code

Byte

number

Description

Bit 0 Reserved

Bit 1 If set, low battery at the base station

Bit 2 Reserved

Bit 3 If set, receiver's kinematic state is currently set to 'Roving',

otherwise 'static'

Bit 4–7 Reserved

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6 Output Messages

GSOF 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 types

The 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) Unsigned

Char 8 -128 to 127 0 to 255

Short 16 -32768 to 32767 0 to 65535

Long 32 –2147483648 to 2147483647 0 to 4294967295

FLOATING-POINT data types

Floating-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 field

The 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 field

The 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 = 0.375

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6 Output Messages

Exponent field

The 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.

NaN

A 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 type

The 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 = 0.0

0 011 1111 1 000 0000 0000 0000 0000 0000 = 1.0

1 011 1111 1 011 0000 0000 0000 0000 0000 = -1.375

1 111 1111 1 111 1111 1111 1111 1111 1111 = NaN

DOUBLE

The 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 = 0.0

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6 Output Messages

0 011 1111 1111 0000 0000 ... 0000 0000 0000 = 1.0

1 011 1111 1110 0110 0000 ... 0000 0000 0000 = -0.6875

1 111 1111 1111 1111 1111 ... 1111 1111 1111 = NaN

If 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.

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Specifications

lSpecifications

lAntenna phase center offsets

lPinout information



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7 Specifications

Specifications

Measurements

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 Hz

Positioning performance

NOTE – 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 positioning

Horizontal +/-0.25 m + 1 ppm RMS

Vertical +/-0.25 m + 1 ppm RMS

SBAS differential typically <5 m 3DRMS

NOTE – SBAS differential performance depends on WAAS/EGNOS system performance.

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7 Specifications

Static GNSS surveying

High Precision Static

Horizontal +/-3 mm + 0.1 ppm RMS

Vertical +/-3.5 mm + 0.4 ppm RMS

Static and Fast Static

Horizontal +/-3 mm + 0.5 ppm RMS

Vertical +/-5 mm + 0.5 ppm RMS

Real Time Kinematic surveying

Single Baseline <30 km

Horizontal +/-8 mm + 1 ppm RMS

Vertical +/-15 mm + 1 ppm RMS

Network RTK

Horizontal +/-8 mm + 0.5 ppm RMS

Vertical +/-15 mm + 0.5 ppm RMS

 

RTK start-up time for specified precisions 2 to 8 seconds

NOTE – 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 RTX

Horizontal 4 cm

Vertical 9 cm

 

RTX convergence time for specified precisions 30 minutes or less

RTX QuickStart convergence time for specified precisions 5 minutes or less

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7 Specifications

Trimble xFill

Horizontal RTK + 10 mm/minute RMS

Vertical RTK + 20 mm/minute RMS

NOTE – 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.

Hardware

Physical

Dimensions

(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

antenna

3.57 kg (7.86 lb) items above plus range pole, controller & bracket

Temperature 

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%, condensing

Ingress 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, sawtooth

Vibration MIL-STD-810F, FIG.514.5C-1

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7 Specifications

Electrical

Voltage 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 indicators

Power

consumption

5.1 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 antenna

Ultra compact Trimble Zephyr technology

Type Dual 4 Point Feed

Polarization Right-hand circular

Axial Ratio 2 dB at zenith

Low Noise Amplifier advanced multi-stage tuned for all GNSS

Integrated level sensor

Accuracy +/- 0.01⁰ horizontal axis

Resolution 0.014⁰

Range +/- 20⁰ from horizontal

Maximum Update Rate 50 Hz

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7 Specifications

Communications 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 port

NOTE – 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 outputs

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Antenna phase center offsets

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Pinout information

Port 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.

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Glossary

1PPS 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

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Glossary

December 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

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Glossary

as the origin of the datum. World geodetic datums are typically

defined by the size and shape of an ellipsoid and the

relationship between the center of the ellipsoid and the center

of the earth.

Because the earth is not a perfect ellipsoid, any single datum

will provide a better model in some locations than in others.

Therefore, various datums have been established to suit

particular regions.

For example, maps in Europe are often based on the

European datum of 1950 (ED-50). Maps in the United States

are often based on the North American datum of 1927 (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

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Glossary

HDOP and VDOP as follows: PDOP² = HDOP² + VDOP².

dual-frequency GPS A type of receiver that uses both L1 and L2 signals from GPS

satellites. A dual-frequency receiver can compute more

precise position fixes over longer distances and under more

adverse conditions because it compensates for ionospheric

delays.

EGNOS European Geostationary Navigation Overlay Service. A

Satellite-Based Augmentation System (SBAS) that provides a

free-to-air differential correction service for 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

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Glossary

real world, which you want to collect position and/or

descriptive information (attributes) about. Features can be

classified as surface or non-surface features, and again as

points, lines/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.

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Glossary

L1 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.

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Glossary

NTripCaster 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

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Glossary

indicates 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.

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Glossary

There 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

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Glossary

solar 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

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http://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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