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

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Document ID	3409534
Application ID	B7WIXrBCgUvZ4U7giC7PJA==
Document Description	Users Manual
Short Term Confidential	No
Permanent Confidential	No
Supercede	No
Document Type	User Manual
Display Format	Adobe Acrobat PDF - pdf
Filesize	263.97kB (3299601 bits)
Date Submitted	2017-05-31 00:00:00
Date Available	2017-11-27 00:00:00
Creation Date	2017-05-31 13:05:02
Producing Software	madbuild
Document Lastmod	2017-05-31 11:32:19
Document Title	Trimble R10-2 GNSS Receiver User Guide
Document Author:	Technical Publications, Trimble Inc.

TRIMBLE R10-2
GNSS RECEIVER
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USER GUIDE
Version 1
Revision A
May 2017
Corporate Office
Product Limited Warranty Information
Trimble Inc.
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
935 Stewart Drive
Sunnyvale, California 94085
USA
COCOM limits
Geospatial Division
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.
Trimble Inc.
10368 Westmoor Drive
Westminster, CO 80021
USA
www.trimble.com
Email: trimble_support@trimble.com
Legal Notices
© 2006–2017, Trimble Inc.. All rights reserved.
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.
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Trimble,the Globe & Triangle logo, and OmniSTAR are
trademarks of Trimble Inc.,registered in the United States
and in other countries. CenterPoint, CMR+, Connected
Community, EVEREST, HDGNSS, HYDROpro, Maxwell, RTX,
SurePoint, Trimble Access, TRIMMARK, VRS, and xFill are
trademarks of Trimble Inc.. Microsoft, Internet Explorer,
Silverlight, Windows, and Windows Vista are either registered
trademarks or trademarks of Microsoft Corporation in the
United States and/or other countries. The Bluetooth word
mark and logos are owned by the Bluetooth SIG, Inc. and any
use of such marks by Trimble Inc. is under license. All
othertrademarks are the property of theirrespective owners.
SupportforGalileo is developed under a license of the
European Union and the European Space Agency.
NTP Software Copyright
© David L. Mills 1992-2009. Permission to use, copy, modify,
and distribute this software and its documentation for any
purpose with or without fee is hereby granted, provided that
the above copyright notice appears in all copies and that both
the copyright notice and this permission notice appear in
supporting documentation, and that the name University of
Delaware not be used in advertising or publicity pertaining to
distribution of the software without specific, written prior
permission. The University of Delaware makes no
representations about the suitability this software for any
purpose. It is provided "as is" without express or implied
warranty.
Release Notice
– 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.
This is the May 2017 release (Revision A) of the Trimble R10-2
receiver documentation.
Trimble R10-2 GNSS Receiver User Guide | 2
Canada
Taiwan – Battery Recycling Requirements
This Class B digital apparatus complies with Canadian ICES003.
The product contains a removable Lithium-ion battery.
Taiwanese regulations require that waste batteries are
recycled.
Cet appareil numérique de la classe B est conforme à la
norme NMB-003 du Canada.
廢電池請回收
This apparatus complies with Canadian RSS-GEN, RSS-310,
RSS-210, and RSS-119.
Waste Electrical and Electronic Equipment (WEEE)
Cet appareil est conforme à la norme CNR-GEN, CNR-310,
CNR-210, et CNR-119 du Canada.
Europe
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
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.
For product recycling instructions and more information,
please go to www.trimble.com/ev.shtml.
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Unlicensed radios in products
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.
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.
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.
Trimble R10-2 GNSS Receiver User Guide | 3
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.
Use and care
NOTE – An absence of specific alerts does not mean that there are no safety risks involved.
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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:
DO NOT operate the transmitter when someone is within the following distances of the
antenna:
Bluetooth, Wi-Fi, GSM/UTMS – less than 20 cm (7.9 inches)
410-470 MHz UHF radio – less than 47 cm (18.5 inches)
Trimble R10-2 GNSS Receiver User Guide | 4
Safety Information
DO NOT operate the transmitter unless all RF connectors are secure and any open
connectors are properly terminated.
DO NOT operate the equipment near electrical blasting caps or in an explosive
atmosphere.
All equipment must be properly grounded according to Trimble installation
instructions for safe operation.
All 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:
Always maintain a minimum separation distance of 24 cm (9.5 inches) between
yourself and the radiating antenna.
Do not co-locate the antenna with any other transmitting device.
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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.
Trimble R10-2 GNSS Receiver User Guide | 5
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:
DO NOT operate the transmitter when someone is within 20 cm (7.9 inches) of the
antenna.
All equipment should be serviced only by a qualified technician.
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Installing antennas
CAUTION – For your own safety, and in terms of the RF exposure requirements of
the FCC, always observe these precautions:
Always maintain a minimum separation distance of 24 cm (9.5 inches) between
yourself and the radiating antenna.
Do 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:
450 MHz radio – 0 dBi and 5 dBi whip antennas
Trimble R10-2 GNSS Receiver User Guide | 6
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 radiomodem frequency bands. To comply with those requirements, Trimble may have modified
your equipment to be granted type approval.
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Unauthorized modification of the units voids the type approval, the warranty, and the
operational license of the equipment.
Trimble R10-2 GNSS Receiver User Guide | 7
Contents
Safety Information
Use and care
Exposure to radio frequency radiation
For license-free 900 MHz radio
For internal wireless radio transmitters
Exposure to radio frequency radiation from cellular wireless transmitters
For UMTS radio
Installing antennas
Type approval
1 Getting Started
12
Features
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Parts of the receiver
13
The Trimble R10 GNSS receiver
13
14
Front panel
14
Lower housing
15
Receiver ports
16
Batteries
17
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
Battery safety
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
Trimble R10-2 GNSS Receiver User Guide | 8
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
41
Fixed height tripod setup
42
Tripod and tribrach setup
43
Using an external radio with the receiver
44
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Using a remote radio antenna with the receiver
Outputting corrections using a TDL450/HPB450 radio-modem
44
46
Rover operation guidelines
47
Surepoint (integrated tilt sensor)
49
Calibrating the integrated tilt sensor
49
3 Rover Setup and Operation
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
Configuring the receiver using the Web Interface
54
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
Trimble R10-2 GNSS Receiver User Guide | 9
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
63
Deleting files in the receiver
64
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4 The WinFlash Utility
Transferring files directly from the receiver
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
Login authentication
82
7 Specifications
Specifications
83
84
Trimble R10-2 GNSS Receiver User Guide | 10
Contents
Measurements
84
Positioning performance
84
Hardware
86
Antenna phase center offsets
89
Pinout information
90
91
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Glossary
Trimble R10-2 GNSS Receiver User Guide | 11
1
Getting Started
The Trimble R10 GNSS receiver
Features
Parts of the receiver
Batteries
Inserting the battery and SIM card
Accessories
Button and LED operations
LED flash patterns
Connecting to an office computer
Connecting to a USB flash memory stick
Configuring a PC USB port as a virtual serial port
Logging data
Default receiver settings
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Trimble R10-2 GNSS Receiver User Guide | 12
1 Getting Started
The Trimble R10 GNSS receiver
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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:
Small, 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)
The 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
440-channel, Trimble 360 receiver, fully future-proof signal tracking of current GNSS
systems:
GPS: L1C/A, L1C, L2C, L2E, L5
GLONASS: L1C/A, L1P, L2C/A, L2P, L3
Trimble R10-2 GNSS Receiver User Guide | 13
1 Getting Started
SBAS: L1C/A, L5
Galileo: E1, E5a, E5B
BeiDou: B1, B2
Measure points sooner, faster and in harsh environments with HD-GNSS™
Increased productivity and measurement traceability with Surepoint™ auto-tilt
compensation technology
Capable of tracking the CenterPoint™ RTX® correction service using satellite delivery
Reduced downtime due to loss of radio signal with Trimble xFill™ service
Capable of tracking all OmniSTAR® signals
Internal, removable, smart Lithium-ion battery provides up to 5+ hrs GNSS rover
operation per battery
Performs all site measurement and stakeout operations within the operating range of
the radio
Bluetooth wireless technology for cable free, no hassle, base or rover operation
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Simple keypad with on/off key and LED indicators for power, radio, Wi-Fi, and satellite
tracking
20 Hz update rate
Full base/rover interoperability
Operates within a VRS™ network for conventional base station-free rover capability
Fully integrated 3.5G UMTS cellular modem
Integrated receive and transmit radio
Capable 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.
Trimble R10-2 GNSS Receiver User Guide | 14
1 Getting Started
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
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The lower housing contains the two communication and power ports, one TNC radio
antenna connector, and the Quick Release Socket.
Trimble R10-2 GNSS Receiver User Guide | 15
1 Getting Started
❶ SMA Connection: UHF/VHF antenna
❷ Quick Release socket
Receiver ports
Name Connections
Port 1 Device, computer, external radio, power in, power out
Port 2 Device, computer, USB flash memory stick, power in
Icon
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❹ Lemo Port 2: USB connection
❸ Lemo Port 1: Serial connection
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
Trimble R10-2 GNSS Receiver User Guide | 16
1 Getting Started
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
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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:
Do 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.
Do not expose the battery to fire, high temperature, or direct sunlight.
Do not immerse the battery in water.
Do not use or store the battery inside a vehicle during hot weather.
Do not drop or puncture the battery.
Do not open the battery or short-circuit its contacts.
Trimble R10-2 GNSS Receiver User Guide | 17
1 Getting Started
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:
If the battery leaks, avoid contact with the battery fluid.
If battery fluid gets into your eyes, immediately rinse your eyes with clean water and
seek medical attention. Do not rub your eyes!
If 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
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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.
Trimble R10-2 GNSS Receiver User Guide | 18
1 Getting Started
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:
Do not charge or use the battery if it appears to be damaged or leaking.
Charge 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.
Discontinue charging a battery that gives off extreme heat or a burning odor.
Use the battery only in Trimble equipment that is specified to use it.
Use the battery only for its intended use and according to the instructions in the
product documentation.
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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:
Charger dual-battery slot (P/N 53018010)
Power supply for charger (P/N 55001403, Japan: P/N 78650)
Cable Kit-AC for power supply (P/N 55001402; Japan: P/N 78656)
Charger battery slot insert (P/N 89843-00)
Trimble R10-2 GNSS Receiver User Guide | 19
1 Getting Started
Chargeable batteries
The charge can charge the following types of batteries:
Lithium-ion Rechargeable Battery (Smart Battery), 3.7 Ah, 7.4 V, (P/N 76767, P/N 8984000)
Lithium-ion Rechargeable Battery, 2.6 Ah, 7.4 V, P/N 92600 (remove battery slot inserts
to charge this type of battery)
Lithium-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.
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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
Trimble R10-2 GNSS Receiver User Guide | 20
1 Getting Started
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
charger.
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CAUTION – Ensure that nothing obstructs the vents in the back and bottom of the
The battery is supplied partially charged. Charge the battery completely before using it for
the first time.
To charge the battery, use only a charger that Trimble recommends for charging the
Lithium-ion battery.
If the equipment has been stored for longer than three months, charge the battery
before using the receiver.
The charger operates between 0 °C (32 °F) and 40 °C (104 °F). Charging a battery at
temperatures in the range of 0 °C (32 °F) to 5 °C (41 °F) will take longer than charging at
room temperature.
To charge the battery:
1. Ensure that the vents in the back and bottom of the charger are unobstructed.
2. Place the charger on a hard, flat and level surface, to ensure that there is airflow under
the charger.
3. To apply power to the charger, use the AC to DC converter or 12 V vehicle adapter. The
charger scans the slots for a battery.
4. Place the battery in any of the slots. The red light turns off (can take up to 5s). For an
explanation of the LED, see LED Status Indicator below.
5. Charging takes approximately 3 hours per battery at room temperature. If several
Trimble R10-2 GNSS Receiver User Guide | 21
1 Getting Started
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:
Red
Green
Status
On
Off
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No battery detected (no battery present or
battery defect)
Battery detected (charging not started yet)
Off
Blinking
Off
Off
- Conditioning not required
- Conditioning required
- Over/under temperature (charge is
inhibited)
Off
Blinking
One flash every
2.5 seconds
Off
Blinking
Blinking
Conditioning in progress
On
Blinking
Conditioning done (battery fully charged)
On
On
- Conditioning not required
- Conditioning required
Off
Blinking
On
On
Power supply over/under voltage
Off
One flash every
2.5 seconds
- Conditioning not required
- Conditioning required
Charging in progress
Battery fully charged
Trimble R10-2 GNSS Receiver User Guide | 22
1 Getting Started
Troubleshooting
Issue
Solution
Battery is not detected (Red The battery is not properly inserted. Reinsert battery
LED does not turn off)
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.
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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.
Trimble R10-2 GNSS Receiver User Guide | 23
1 Getting Started
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.
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Insert the SIM card with the contacts facing upward, as indicated by the SIM card icon next
to the SIM card slot.
To eject the SIM card, slightly push it in to trigger the spring-loaded release mechanism.
TIP – The SIM card is provided by your cellular network service provider.
Trimble R10-2 GNSS Receiver User Guide | 24
1 Getting Started
Accessories
Attaching the quick release adapter
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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 Bottom of antenna mount
❷ Bottom of quick release
❸ 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.
Trimble R10-2 GNSS Receiver User Guide | 25
1 Getting Started
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:
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To measure the height of the base station extension with measurement lever, measure the
slant height from the control point on the ground to the height measurement point on the
lever. Enter the slant height into the field software (or web interface) and then select the
Lever of R10 extension measurement method. The field software (or web interface)
automatically calculates the antenna height from the slant height. The base station
extension with measurement lever should be used when setting up a base station or static
session on an extension leg tripod with tribrach.
The illustration below shows the Trimble R10 GNSS receiver with base station extension
with measurement lever (P/N 89846-00):
The Base Station Extension with Measurement Lever is available as a standalone accessory
(P/N 89846-00) or within the Base Kit or Post processed (PP) Kit.
NOTE – Measuring to the measurement lever is not required when using a fixed height tripod. If the
base station extension with measurement lever is used with a fixed height tripod, the height of the
Trimble R10-2 GNSS Receiver User Guide | 26
1 Getting Started
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):
PP Kit (P/N 89862-00):
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Base Kit (P/N 89861-00):
NOTE – Measuring to the measurement lever is not required when using a fixed height tripod. If the
base station extension with measurement lever is used with a fixed height tripod, the height of the
extension pole (0.15 m (0.49 ft)) should be added to the height of the fixed height tripod and the
measurement method “bottom of quick release” used.
Trimble R10-2 GNSS Receiver User Guide | 27
1 Getting Started
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:
means that the LED...
Very slow flash
is off and on equally with a 1.5 second cycle.
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Slow flash
The term...
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.
Trimble R10-2 GNSS Receiver User Guide | 28
1 Getting Started
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.
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
Hold for
application 30
files and
seconds
data
logging
files
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.
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Clear the
Hold for
ephemeris 15
file and
seconds
reset the
receiver to
the factory
defaults
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
On
Tracking fewer than 4 SVs
Fast flash
Tracking more than 4 SVs
Slow flash
Trimble R10-2 GNSS Receiver User Guide | 29
1 Getting Started
Radio LED
Radio
mode
Radio LED
Amber
Description
No
Off
receive
or
transmit
Radio slow
flash
See the table at the top of this topic.
Transmit 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.
This LED also flashes when using the Wi-Fi only for
transmitting corrections
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Receive
Wi-Fi LED
Receiver mode
Off
Wi-Fi off
Wi-Fi LED Amber
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
Trimble R10-2 GNSS Receiver User Guide | 30
1 Getting Started
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.
Power
button
Radio LED
Satellite Data
LED
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
Flashes off when N/A
transmitting
N/A
N/A
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Transmitting correction messages N/A
Receiver mode
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
N/A
N/A
N/A
Solid
N/A
Transferring data to flash memory N/A
stick
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
On
Receiving valid data packets
Logging data internally
N/A
Trimble R10-2 GNSS Receiver User Guide | 31
1 Getting Started
Receiver mode
Power
button
Receiver in monitor mode (loading ON
firmware from WinFlash)
Radio LED
Satellite Data
LED
LED
Wi-Fi
LED
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.
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The following figure shows how to connect to the computer for serial data transfer:
①
USB cable (P/N 89852-00 or 80751)
②
Serial cable (P/N 89851-00 or P/N 59046)
Trimble R10-2 GNSS Receiver User Guide | 32
1 Getting Started
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.
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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.
Trimble R10-2 GNSS Receiver User Guide | 33
1 Getting Started
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.
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NOTE – If you have installed the Trimble WinFlash utility (www.trimble.com/support) on your
computer, then another way to install the virtual serial port for the USB interface is to run the
USB Installer program, which is located in C:\Program Files\Common Files\Trimble\USBDriver.
1. The simplest way to install the virtual serial port for the USB interface to the receiver is
to go to the Trimble Support website (www.trimble.com/support) and search for the
Trimble R10 GNSS receiver. In the Downloads section, download the file called
Windows7 USB Installer to your computer.
This file contains a Support Note and installation program.
2. Run the installation program. It will load the virtual serial port for the USB interface on
your computer.
NOTE – If you have installed the Trimble WinFlash utility on your computer, then another way
to install the virtual serial port for the USB interface is to run the USB Installer program, which is
located in C:\Program Files\Common Files\Trimble\USBDriver.
If this process does not work for your computer, or if you have a different Windows
operating system on your computer, then follow the procedure below.
Windows Vista and Windows 7 operating system
1. Go to the Trimble Support website (www.trimble.com/support) and search for the
receiver you have. In the Support Notes section, download the file called R10 GNSS
Interface to a Virtual COM port on a Computer to your computer.
2. Open the file and place the trmbUsb.inf file in a temporary folder on your computer.
Trimble R10-2 GNSS Receiver User Guide | 34
1 Getting Started
3. On the computer, select Control Panel / Device Manager.
4. Click on the name of the computer and then from the Action menu, select Add Legacy
Driver.
5. A wizard prompts you to locate the TrimbleUsb.inf file. Locate the file and then follow
the prompts in the wizard to continue.
NOTE – If you are running an application such as WinFlash software on the computer and you
physically disconnect the USB cable from the computer and then reconnect it, it does not always reestablish 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
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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
Trimble R10-2 GNSS Receiver User Guide | 35
1 Getting Started
Function
Settings
Factory default
General Controls
Elevation mask
10°
PDOP mask
25
RTK positioning
mode
Low Latency
Motion
Kinematic
Baud rate
38,400
Format
8-None-1
Flow control
None
Serial Port 1
Serial Port 2
USB
Input Setup
Station
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Streamed Output
All ports Off
NMEA/ASCII (all supported
messages)
Any
All types Off
Offset=00
RT17/Binary
Latitude
0°
Longitude
0°
Altitude
0.00 m HAE
Type
Trimble R10 GNSS receiver,
Internal
Reference Position
All ports Off
Antenna
Height (true vertical) 0.00 m
Group
All
Measurement
method
Antenna Phase Center
Trimble R10-2 GNSS Receiver User Guide | 36
2
Base Station Operation
Base station operation guidelines
Common ways to set up a base station
Outputting corrections using a TDL450/HPB450 radio-modem
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Trimble R10-2 GNSS Receiver User Guide | 37
2 Base Station Operation
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.
Base station components
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.
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The base station has the following components:
GNSS receiver
GNSS antenna
Height extension pole with measurement level
Base station radio and antenna
Power source
GNSS receiver and GNSS antenna
The base station GNSS receiver can be one of following types:
An 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.
A 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:
a geodetic antenna with large ground plane, to eliminate multipath (the major
source of GNSS errors) at the base station
Trimble R10-2 GNSS Receiver User Guide | 38
2 Base Station Operation
a 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:
Place 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.
Place 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.
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Place 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.
Choose 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.
Make 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:
AC power
12 V vehicle battery
Trimble custom external battery pack
Generator power
Trimble R10-2 GNSS Receiver User Guide | 39
2 Base Station Operation
Solar 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.
Do not locate a GNSS receiver, GNSS antenna, or radio antenna within 400 meters
(about 1,300 feet) of:
a powerful radar, television, or cellular communications tower
another transmitter
another 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.
Do 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:
Gasoline engines (spark plugs)
Televisions and computer monitors
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Low-power transmitters, such as those in cell phones and two-way radios, do not
interfere with receiver operations
Alternators and generators
Electric motors
Equipment with DC-to-AC converters
Fluorescent lights
Switching power supplies
Place 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.
If you place the receiver in a lock box on the jobsite to protect the receiver from theft or
from the weather, shield the lock box from direct sunlight and provide ventilation for
the receiver through an inlet and extractor fan. A receiver that has a broadcast radio
generates significant heat. Do not allow the temperature in the box to exceed 50 °C
Trimble R10-2 GNSS Receiver User Guide | 40
2 Base Station Operation
(122 °F).
If working in a cold climate, you may need to provide heat to the receiver. Do not
operate the receiver below –40 °C (–40 °F)
Trimble 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).
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Trimble 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.
Trimble 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.
Trimble R10-2 GNSS Receiver User Guide | 41
2 Base Station Operation
1. Mount the quick release adapter onto the height extension pole with measurement
lever.
2. Screw the height extension pole with measurement lever into the tribrach. Attach the
GNSS receiver to the quick release adapter.
3. Level and plumb the GNSS receiver over the control point.
4. Measure the height of the base station GNSS antenna by measuring the slant height
from the control point to the measurement lever. Select the “Lever of R10 extension” as
the measurement method when starting the base station. Trimble Access calculates
the height to the Antenna Phase Center (APC) automatically.
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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
Trimble R10-2 GNSS Receiver User Guide | 42
2 Base Station Operation
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.
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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.
❶
Base extension with height measurement lever
❷
Standard 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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2 Base Station Operation
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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 radiomodem
The TDL450/HPB450 radio comes with a 5-pin Lemo to 7-pin Lemo connector with a
power connection lead:
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2 Base Station Operation
1. Connect the 7-pin Lemo connector to the serial port (Port 1) on the receiver.
2. Connect the 5-pin Lemo connector to the TDL450/HPB450 radio.
3. Connect the DC power lead to an external power source.
4. Turn on the TDL450/HPB450 radio.
To configure the system, do one of the following:
Use 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.
Use 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).
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Configuration software accompanies the TDL450/HPB450 radio if you need to change the
serial connection baud rate.
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3
Rover Setup and Operation
Rover operation guidelines
Surepoint (integrated tilt sensor)
Integrated cellular modem
Connecting the receiver to external devices
Configuring the receiver
Transferring files directly from the receiver
Deleting files in the receiver
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3 Rover Setup and Operation
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:
an integrated radio
an integrated cellular modem
an integrated Wi-Fi module
a cellular modem in the controller
an integrated GNSS antenna (L-Band)
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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:
Place 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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3 Rover Setup and Operation
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.
GNSS 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.
To 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.
To 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.
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Loss of the satellite signals will result in a loss of centimeter
position precision.
If 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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3 Rover Setup and Operation
Surepoint (integrated tilt sensor)
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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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3 Rover Setup and Operation
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.
In the Instrument screen:
The eBubble options screen
appears.
3.
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Tap eBubble options.
2.
You are now ready to perform the
calibration.
Tap Calib.
4.
NOTE – An electronic bubble is
displayed to indicate if you are holding
the instrument level.
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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3 Rover Setup and Operation
5.
A message asks you to confirm that
the instrument is level and braced
against any movement.
A progress bar indicates that
calibration is in progress.
7.
Once calibration is complete, the
Sensor calibration screen
reappears.
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6.
Tap Start.
Next you will perform the
magnetometer calibration.
8.
Tap the Calibrate button next to
the Magnetometer calibration status
field.
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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3 Rover Setup and Operation
10.
degrees. Repeat.
Once calibration is complete, the
Sensor calibration screen reappears.
Next you will perform the
magnetometer alignment.
13.
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.
Once calibration is complete, the
Sensor calibration screen reappears.
The full tilt calibration is complete.
Tap Accept to return to the eBubble
options screen.
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12.
11.
Tap the Calibrate button next to
the Magnetometer alignment status
field.
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.
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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3 Rover Setup and Operation
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:
a Trimble controller running Trimble Access software
an external radio-modem
Connecting to a Trimble controller running Trimble Access software
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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.
Use cable
P/N...
Use cable connector...
and connect
the cable to
the...
computer serial port
89853-00 or
59044
7-pin serial
Lemo
DB-9
Receiver
Computer
To connect a Trimble R10
GNSS receiver to a...
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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3 Rover Setup and Operation
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:
410 MHz – 470 MHz (Transmit/Receive)
900 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:
Trimble TDL450
Trimble SNB900
Legacy radios such as the Trimble PDL450 radio, Trimble HPB450 radio-modem, and
TRIMMARK™ 3 radio
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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.
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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:
Wi-Fi mode: access point
Wi-Fi SSID: Receiver serial number
Wi-Fi Encryption: Off
Wi-Fi IP Address: 192.168.142.1
Receiver Login: admin
Receiver Password: password
Web interface menus
Use the web interface to configure the receiver settings.
English (en)
Chinese (zh)
Dutch (nl)
Finnish (fi)
French (fr)
German (de)
Italian (it)
Japanese (ja)
Norwegian (n)
Polish (pl)
Portuguese (pt)
Russian (ru)
Spanish (es)
Swedish (sv)
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The web interface is available in the following languages:
Use the Receiver Configuration / Default Language setting to select the default language
for your use.
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3 Rover Setup and Operation
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:
Google Chrome
Mozilla Firefox
Microsoft Internet Explorer for Windows operating systems
Opera
Apple 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:
Opera Mobile for Android-based units
Apple Safari
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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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3 Rover Setup and Operation
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.
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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:
TSC3 controller
Trimble Tablet
Trimble Slate controller
Other 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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3 Rover Setup and Operation
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.
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Network Configuration menu
To obtain a CenterPoint RTX subscription or contact support, go to
http://www.trimble.com/positioning-services/order-now.aspx.
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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3 Rover Setup and Operation
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.
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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:
File storage
General controls
Serial port baud rate/format
Reference position
Logging rate
SV enable/disable
Output message
Antenna
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3 Rover Setup and Operation
Device control
Static/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
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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:
Logging rate
Position rate
Elevation 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.
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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:
it gives you a permanent copy of the settings you have sent to a receiver, for audit
purposes or for your own reference.
you can use the same file to configure multiple receivers identically.
you 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.
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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.
Lemo (Port 1) to traditional serial port and the Trimble Business Center.
Lemo (Port 2) to USB PC connection (Trimble R10 GNSS receiver appears as a Trimble
data external drive).
Lemo (Port 2) to USB field data cable (transfer to USB flash memory stick and then plug
flash memory stick into PC).
Connect 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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Deleting files in the receiver
You can delete files stored in the receiver at any time. Do one of the following:
Use the web interface (Data Logging menu).
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Press
for 30 seconds after the receiver is turned on. (When you use this method, all
data is deleted.)
Trimble R10-2 GNSS Receiver User Guide | 64
4
The WinFlash Utility
The WinFlash utility
Upgrading the receiver firmware
Adding frequencies for the 450 MHz internal radio using the WinFlash utility
Configuring the internal transceiver
The WinFlash utility
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The WinFlash utility communicates with Trimble products to perform various functions
including:
installing software, firmware, and option upgrades
running diagnostics (for example, retrieving configuration information)
configuring radios
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.
Trimble R10-2 GNSS Receiver User Guide | 65
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
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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.
Trimble R10-2 GNSS Receiver User Guide | 66
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.
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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)
Off. The carrier detect mode is off. The unit will ignore other transmissions on your
frequency and continue to transmit data.
NOTE – It may be illegal in your country of use to set channel sharing to off. You may be
subject to penalties or fines based upon the specific licensing requirements of your country
of use. Please consult your radio license documentation or licensing agency for operational
guidelines.
Trimble R10-2 GNSS Receiver User Guide | 67
4 The WinFlash Utility
Avoid 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.
Avoid 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.
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Updating the frequency list
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.
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.
Trimble R10-2 GNSS Receiver User Guide | 68
5
Troubleshooting
Troubleshooting receiver issues
Troubleshooting LED conditions
Troubleshooting base station setup and static measurement problems
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Trimble R10-2 GNSS Receiver User Guide | 69
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:
Check the charge on the internal batteries and replace if required
Ensure battery contacts are clean.
Faulty external
power cable.
Do the following:
Check that the Lemo connection is seated properly.
Check for broken or bent pins in the connector.
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External power is
not properly
connected.
Do the following:
Try a different cable.
Check 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 Delete old files. Press the Power button for 30 seconds.
internal memory.
The receiver is not responding
Possible cause
Solution
The receiver
Turn off the receiver and then turn it back on again. For more
Trimble R10-2 GNSS Receiver User Guide | 70
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.
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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
Solution
Possible cause
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
Trimble R10-2 GNSS Receiver User Guide | 71
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.
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Incorrect port settings
If the radio is receiving data (the Radio LED is flashing) and
between the rover external the receiver is not receiving data, check the port settings of
radio and receiver.
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 Use Trimble Access software to connect to the
and external radio are incorrect.
radio through the receiver. If no connection is
NOTE – The Trimble R10 GNSS receiver made, connect directly to the radio and change the
port settings. Try to connect through the receiver
has the option for an integrated Tx
again to ensure that they are communicating.
radio that allows it to be used without
an external radio at the base and rover NOTE – Trimble Access software does not support direct
location. The receiver can also be
connection to the external radio; it only allows
connected to an external high power
configuration through the receiver.
radio in certain countries.
Faulty cable between receiver and
external radio.
Do one of the following:
Try a different cable
Examine the ports for missing pins
Use a multimeter to check the pins
Trimble R10-2 GNSS Receiver User Guide | 72
6
Output Messages
NMEA-0183 messages: Overview
NMEA-0183 messages: Common message elements
GSOF Messages: Overview
GSOF messages: General Serial Output Format
GSOF messages: Reading binary values (Motorola format)
Login authentication
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This section provides information about two types of messages: General Serial Output
Format (GSOF) messages and National Marine Electronics Association (NMEA) messages.
Trimble R10-2 GNSS Receiver User Guide | 73
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 NMEA0183 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.
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
GSA
GST
GRS
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Message
GRS range residuals
GPS DOP and active satellites
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
Trimble R10-2 GNSS Receiver User Guide | 74
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
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
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RMC
To enable or disable the output of individual NMEA messages, do one of the following:
Create an application file in the Configuration Toolbox software that contains NMEA
output settings and then send the file to the receiver.
Add NMEA outputs in the Serial outputs tab of the GPS Configurator software and
then apply the settings.
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:
a message ID consisting of $GP followed by the message type. For example, the
message ID of the GGA message is $GPGGA.
a comma.
a number of fields, depending on the message type, separated by commas.
an asterisk.
a checksum value.
The following example shows a simple message with a message ID ($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
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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:
dd or ddd is degrees
mm.mmmm is minutes and decimal fractions of minutes
Direction
Direction (north, south, east, or west) is represented by a single
character: N , S , E , or W.
Time
Time values are presented in Universal Time Coordinated (UTC) and
are represented as hhmmss.ss, where:
hh is hours, from 00 through 23
mm is minutes
ss.ss is seconds with variable length decimal-fraction of seconds
Trimble R10-2 GNSS Receiver User Guide | 76
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:
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
Detail SV Info
DOP Info
Lat, Long, Ht
Earth-Centered, Earth-Fixed Delta position
GPS SV Detailed info
PDOP info
Latitude, longitude, height
Local zone north, east, and height - projection/calibration
based
Local ENU
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Delta ECEF
Message
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
SV
Multiple Page All SV Detailed Info
For information on how to output GSOF messages, see Configuring the receiver, page 54.
Trimble R10-2 GNSS Receiver User Guide | 77
6 Output Messages
GSOF messages: General Serial Output Format
Report packet 40h structure (GENOUT)
Byte
Item
Type
Value
Meaning
STX
Char
02h
Start transmission
STATUS
Char
See
Receiver status code
Receiver
status
code
PACKET TYPE
Char
40h
Report Packet 40h (GENOUT)
LENGTH
Char
00h–
FAh
Data byte count
TRANSMISSION Char
NUMBER
PAGE INDEX
Char
00h–FFh Index of current packet page.
MAX PAGE
INDEX
Char
00h–FFh Maximum index of last packet in one group
of records.
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Unique number assigned to a group of
record packet pages. Prevents page
mismatches when multiple sets of record
packets exist in output stream.
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 CHECKSUM
+4
Length ETX
+5
–
–
(Status + type + length + data bytes)
modulo 256
03h
End transmission
Trimble R10-2 GNSS Receiver User Guide | 78
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
Description
number
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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Bit 0
Trimble R10-2 GNSS Receiver User Guide | 79
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:
# of bits Range of values (Signed)
Unsigned
Char
-128 to 127
0 to 255
Short
16
-32768 to 32767
0 to 65535
Long
32
–2147483648 to 2147483647 0 to 4294967295
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Type
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 =  1. x 2( - 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
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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 floatingpoint number is precise to 15 decimal digits.
0 000 0000 0000 0000 0000 ... 0000 0000 0000 = 0.0
Trimble R10-2 GNSS Receiver User Guide | 81
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
Login authentication
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.
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If utilities such as the WinFlash utility or the Configuration ToolBox software do not work
with the receivers running firmware version 3.30 or later, go to the Trimble website and
then download the latest versions of these utilities. If your own application software no
longer communicates with the receiver, contact Trimble Support for information about
how to use the receiver in these cases.
Trimble R10-2 GNSS Receiver User Guide | 82
7
Specifications
Specifications
Antenna phase center offsets
Pinout information
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Trimble R10-2 GNSS Receiver User Guide | 83
7 Specifications
Specifications
Measurements
Advanced Trimble Maxwell™ 6 Custom Survey GNSS chips with 440 channels
Satellite signals tracked simultaneously:
GLONASS: L1C/A, L1P, L2C/A, L2P, L3
SBAS: L1C/A, L5 (For SBAS satellites that support L5)
Galileo: E1, E5a, E5B
Beidou: B1, B2
OmniSTAR HP, XP, G2, VBS positioning
Trimble CenterPoint RTX
QZSS, WAAS, MSAS, EGNOS, GAGAN
GPS: L1C/A, L1C, L2C, L2E, L5
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Very low noise GNSS carrier phase measurements with <1 mm precision in a 1 Hz
bandwidth
Signal-to-noise ratios reported in dB-Hz
Proven Trimble low elevation tracking technology
Positioning 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.
Trimble R10-2 GNSS Receiver User Guide | 84
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
Vertical
+/-15 mm + 1 ppm RMS
Network RTK
Horizontal
+/-8 mm + 0.5 ppm RMS
+/-15 mm + 0.5 ppm RMS
Vertical
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Horizontal +/-8 mm + 1 ppm RMS
Single Baseline <30 km
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
Trimble R10-2 GNSS Receiver User Guide | 85
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
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Weight
11.9 cm x 13.6 cm (4.6 in x 5.4 in)
Dimensions
(diameter x height)
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
-40 ⁰C to +65 ⁰C (-40 ⁰F to +149 ⁰F)
Operating
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
Trimble R10-2 GNSS Receiver User Guide | 86
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
5.1 Watts in RTK rover mode with internal radio
consumption
Operating times on internal battery:
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
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450 MHz receive only option
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
Type
Ultra compact Trimble Zephyr technology
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
Trimble R10-2 GNSS Receiver User Guide | 87
7 Specifications
Communications and data storage
Serial – 3-wire serial (7-pin Lemo)
USB – Supports data download and high speed communications
Radio 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.
Cellular – 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, Quadband EGSM 850/900/1800/1900 MHz, GSM CSD, 3GPP LTE
Bluetooth – Fully integrated, fully sealed 2.4 GHz communications port
NOTE – Bluetooth type approvals are country-specific.
External communication devices for corrections supported on: Serial, USB, Ethernet,
and Bluetooth ports
Wi-Fi – 802.11 b,g, access point and client mode, WEP64/WEP128 encryption
ra
Data 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
CMR, CMR+, CMRx, RTCM 2.1, RTCM 2.2, RTCM 2.3, RTCM 3.0, RTCM 3.1 Input and
Output
24 NMEA outputs, GSOF, RT17 and RT27 outputs
Trimble R10-2 GNSS Receiver User Guide | 88
D
ra
Antenna phase center offsets
Trimble R10-2 GNSS Receiver User Guide | 89
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.
ra
Port 2 is a 7-pin 0-shell Lemo connector that allows for USB 2.0 communications and
external power input.
Trimble R10-2 GNSS Receiver User Guide | 90
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.
ra
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.
base station
The orbit information is a subset of the
ephemeris/ephemerides data.
BeiDou
The BeiDou Navigation Satellite System (also known as BDS ) is
a Chinese satellite navigation system.
The first BeiDou system (known as BeiDou-1), consists of four
satellites and has limited coverage and applications. It has
been offering navigation services mainly for customers in
China and from neighboring regions since 2000.
The second generation of the system (known as BeiDou-2)
consists of satellites in a combination of geostationary, inclined
geosynchronous, and medium earth orbit configurations. It
became operational with coverage of China in December 2011.
However, the complete Interface Control Document (which
specifies the satellite messages) was not released until
Trimble R10-2 GNSS Receiver User Guide | 91
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.
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.
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.
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.
CMR/CMR+
ra
cellular modems
broadcast server
CMRx
A real-time message format developed by Trimble for
transmitting more satellite corrections resulting from more
satellite signals, more constellations, and more satellites. Its
compactness means more repeaters can be used on a site.
covariance
A statistical measure of the variance of two random variables
that are observed or measured in the same mean time period.
This measure is equal to the product of the deviations of
corresponding values of the two variables from their
respective means.
datum
Also called geodetic datum. A mathematical model designed to
best fit the geoid, defined by the relationship between an
ellipsoid and, a point on the topographic surface, established
Trimble R10-2 GNSS Receiver User Guide | 92
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 (NAD27) or 1983 (NAD-83).
All GPS coordinates are based on the WGS-84 datum surface.
Withdrawal of all electrical energy to the end-point voltage
before the cell or battery is recharged.
DGPS
See real-time differential GPS.
ra
deep discharge
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
Differential correction can be done in real-time, or after the
data is collected by postprocessing.
differential GPS
See real-time differential GPS.
DOP
Dilution of Precision. A measure of the quality of GNSS
positions, based on the geometry of the satellites used to
compute the positions. When satellites are widely spaced
relative to each other, the DOP value is lower, and position
precision is greater. When satellites are close together in the
sky, the DOP is higher and GNSS positions may contain a
greater level of error.
PDOP (Position DOP) indicates the three-dimensional
geometry of the satellites. Other DOP values include HDOP
(Horizontal DOP) and VDOP (Vertical DOP), which indicate the
precision of horizontal measurements (latitude and longitude)
and vertical measurements respectively. PDOP is related to
Trimble R10-2 GNSS Receiver User Guide | 93
Glossary
HDOP and VDOP as follows: PDOP² = HDOP² + VDOP².
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.
EHT
ra
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.
ellipsoid
dual-frequency GPS
Height above ellipsoid.
ephemeris/ephemerides A list of predicted (accurate) positions or locations of satellites
as a function of time. A set of numerical parameters that can
be used to determine a satellite’s position. Available as
broadcast ephemeris or as postprocessed precise ephemeris.
epoch
The measurement interval of a GNSS receiver. The epoch
varies according to the measurement type: for real-time
measurement it is set at one second; for postprocessed
measurement it can be set to a rate of between one second
and one minute. For example, if data is measured every 15
seconds, loading data using 30-second epochs means loading
every alternate measurement.
feature
A feature is a physical object or event that has a location in the
Trimble R10-2 GNSS Receiver User Guide | 94
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.
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
GSOF
ra
firmware
Global Navigation Satellite System.
General Serial Output Format. A Trimble proprietary message
format.
Horizontal Dilution of Precision. HDOP is a DOP value that
indicates the precision of horizontal measurements. Other
DOP values include VDOP (vertical DOP) and PDOP (Position
DOP).
HDOP
Using a maximum HDOP is ideal for situations where vertical
precision is not particularly important, and your position yield
would be decreased by the vertical component of the PDOP
(for example, if you are collecting data under canopy).
height
The vertical distance above the Ellipsoid. The classic Ellipsoid
used in GPS is WGS-84.
IBSS
Internet Base Station Service. This Trimble service makes the
setup of an Internet-capable receiver as simple as possible.
The base station can be connected to the Internet (cable or
wirelessly). To access the distribution server, the user enters a
password into the receiver. To use the server, the user must
have a Trimble Connected Community site license.
Trimble R10-2 GNSS Receiver User Guide | 95
Glossary
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.
ra
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.
multipath
L1
NMEA
National Marine Electronics Association. NMEA 0183 defines
the standard for interfacing marine electronic navigational
devices. This standard defines a number of 'strings' referred to
as NMEA strings that contain navigational details such as
positions. Most Trimble GNSS receivers can output positions
as NMEA strings.
NTrip Protocol
Networked Transport of RTCM via Internet Protocol (NTrip) is
an application-level protocol that supports streaming Global
Navigation Satellite System (GNSS) data over the Internet.
NTrip is a generic, stateless protocol based on the Hypertext
Transfer Protocol (HTTP). The HTTP objects are extended to
GNSS data streams.
Trimble R10-2 GNSS Receiver User Guide | 96
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.
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.
ra
NTripClient
The NTripServer - NTripCaster communication extends HTTP
by additional message formats and status codes.
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 sourcetable.
NTripSource
OmniSTAR
The OmniSTAR HP/XP service allows the use of new generation
dual-frequency receivers with the OmniSTAR service. The
HP/XP service does not rely on local reference stations for its
signal, but utilizes a global satellite monitoring network.
Additionally, while most current dual-frequency GNSS systems
are accurate to within a meter or so, OmniSTAR with XP is
accurate in 3D to better than 30 cm.
Orthometric elevation
The Orthometric Elevation is the height above the geoid (often
termed the height above the 'Mean Sea Level').
PDOP
Position Dilution of Precision. PDOP is a DOP value that
Trimble R10-2 GNSS Receiver User Guide | 97
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.
ra
real-time differential GPS Also known as real-time differential correction or DGPS. Real-time
differential GPS is the process of correcting GPS data as you
collect it. Corrections are calculated at a base station and then
sent to the receiver through a radio link. As the rover receives
the position it applies the corrections to give you a very
accurate position in the field.
Most real-time differential correction methods apply
corrections to code phase positions.
While DGPS is a generic term, its common interpretation is that
it entails the use of single-frequency code phase data sent
from a GNSS base station to a rover GNSS receiver to provide
submeter position precision. The rover receiver can be at a
long range (greater than 100 kms (62 miles)) from the base
station.
rover
A rover is any mobile GNSS receiver that is used to collect or
update data in the field, typically at an unknown location.
Roving mode
Roving mode applies to the use of a rover receiver to collect
data, stakeout, or control machinery in real time using RTK
techniques.
RTCM
Radio Technical Commission for Maritime Services. A
commission established to define a differential data link for the
real-time differential correction of roving GNSS receivers.
Trimble R10-2 GNSS Receiver User Guide | 98
Glossary
There are three versions of RTCM correction messages. All
Trimble GNSS receivers use Version 2 protocol for singlefrequency 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.
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
SNR
ra
RTK
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.
See signal-to-noise ratio.
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:
Source-table
data STReams (record type STR)
CASters (record type CAS)
NETworks of data streams (record type NET)
All NTripClients must be able to decode record type STR.
Decoding types CAS and NET is an optional feature. All data
fields in the source-table records are separated using the
semicolon character.
triple frequency GPS
A type of receiver that uses three carrier phase measurements
(L1, L2, and L5).
UTC
Universal Time Coordinated. A time standard based on local
Trimble R10-2 GNSS Receiver User Guide | 99
Glossary
solar mean time at the Greenwich meridian.
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 singlebase, 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.
ra
xFill
To start using VRS corrections, the rover sends its position to
the VRS server. The VRS server uses the base station data to
model systematic errors (such as ionospheric noise) at the
rover position. It then sends RTCM correction messages back
to the rover.
WAAS
Wide Area Augmentation System. WAAS was established by
the Federal Aviation Administration (FAA) for flight and
approach navigation for civil aviation. WAAS improves the
accuracy and availability of the basic GNSS signals over its
coverage area, which includes the continental United States
and outlying parts of Canada and Mexico.
The WAAS system provides correction data for visible satellites.
Corrections are computed from ground station observations
and then uploaded to two geostationary satellites. This data is
then broadcast on the L1 frequency, and is tracked using a
channel on the GNSS receiver, exactly like a GNSS satellite.
Use WAAS when other correction sources are unavailable, to
obtain greater accuracy than autonomous positions. For
more information on WAAS, refer to the FAA website at
Trimble R10-2 GNSS Receiver User Guide | 100
Glossary
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.
ra
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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