Leica Geosystems MX9400N, MX9400R User Manual

WinFrog Device Group: GPS
Device Name/Model: MX9400

Leica Geosystems Inc

23868 Hawthorne Boulevard

Device Manufacturer:

Device Data String(s)
Output to WinFrog:

WinFrog Data String(s)
Output to Device:

WinFrog Data Item(s) and their
RAW record:

DEVICE DESCRIPTION:

There are two different MX 9400 models: the MX9400N and MX9400R. The MX9400N is
designated as a navigator model, whereas the MX9400R is a reference station model.
(Note that the MX9400R can also be used for mobile operations). There is also a MX9401R
model that is the same as the MX9400 except that it is packaged in a weatherproof
housing. All references below will refer to these units simply as the MX9400.

The MX9400 processes both the C/A and P Code measurements to generate three­dimensional positions. The MX9400 can accept standard RTCM SC-104 input to
generate and output a differentially corrected position. The MX9400 can also output
pseudorange, ephemeris, and time and date information, which can be used by
WinFrog’s GPS Calculations extension module to internally calculate a GPS position.

The MX9400 utilizes 4 serial interface ports that communicate via a set of proprietary
sentences in accordance with the NMEA –0183 standard to command and control the
equipment. These 4 ports are combined into a 25 pin “DB” type multi-port interface
connector found at the rear of the unit. A special cable must be used in conjunction with
the multi-port interface. This cable splits the single port into 4 separate connectors, each
representing an individual “port” and providing a specific purpose.
Port 1,2, and 3 are RS-232 ports; Port 4 is a RS-422 port. Port 1 is fixed as the Control
Port. All ports are factory set to 9600 baud, but are configurable to range from 300 to
38,400 baud.

The MX9400’s four ports have the following default configurations:
Port 1: RS232, PC control and data messages, 9600 baud default–Input/Output

This port is used to receive control commands from WinFrog.
Port 2: RS232, Instrumentation/Raw data – Output

Torrence, CA 95050 USA
Tel: [phone]
Fax:[phone]
E-mail: [e-mail]

Configurable: can incl. NMEA and Leica proprietary
A series of $PMVXG type strin gs for unit initialization

and enabling of output options. (See Configuration
Details for more info.)
POSITION 303
TIMEDATE 999

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This port is used to output the raw GPS measurement data (ie Pseudorange and
Ephemeris data) to WinFrog
Port 3: RS232, Differential Corrections (MX41R, MX 51R, &MX52R) – Input only for
MX9400N/ Input and Output for MX9400R
Port 4: RS422, Equipment/ NMEA – Input/Output

There are also 2 additional connections found in the MX9400’s rear panel:

• Time: 1PPS - 8.0 to 9.5 VDC; 250 msec pulse; 25 nsec rise time

• Event Input: Closure

NOTE: These default functions can be modified. WinFrog sends the MX9400 a type 71
message to reconfigure the MX9400’ s por t fu nctions. Depending on the user made
selections (described below), the Instrumentation / Raw Data Port (Port 2) and NMEA
(Port4) data output may be reassigned to Port 1.
This allows WinFrog to receive multiple data messages from a single MX9400 port
(Port1), into a single computer port.

DEVICE CONFIGURATION INSTRUCTIONS

WINFROG I/O DEVICES > EDIT I/O:

Serial
Configurable Parameters

The MX9400 is added to WinFrog from the GPS device group. Configure the Device I/O
Parameters dialog box for the appropriate Baud Rate, Data Bits, Stop Bits, Parity, and
Comm Port. These selections refer only to the WinFrog computer port that is connected
to the MX9400 CDU port (i.e. Port 1 on the MX9400, see below for more on the
MX9400’s ports). Select the OK button to confirm the port configuration.

The Configure MX Serial Ports dialog box now appears, as seen below. This dialog box
allows you to configure the MX9400’s 4 serial ports; defining what data will pass through
which port, the Baud rates for the selected ports, and which items are to be sent
through the selected ports.
Make the required selections (as described below), then click the OK button to send this
data to configure the MX9400.
Note that the MX9400’s 4 ports are all combined into a single standard DB25 type
connector found in the back of the MX9400. A special cable is required to “split” the
single port into 4 separate cables that represent the 4 individual ports.

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Select Serial Ports and Baud Rates:

As mentioned above, each of the MX9400’s serial ports is designated for specific
tasks. The default configuration of WinFrog’s Configure MX Serial Ports dialog box
(as seen above) reconfigures the MX9400’s ports’ duties so that the MX9400 uses
Port 1 for both input of CDU commands and output of Instrumentation/Raw data and
NMEA messages.
This dialog box also allows you to define which Data Items are to be output by the
MX9400. The Items to Send are defined as follows:

Position ($GPGGA):

This is a standard NMEA format type message (containing GPS Latitude /
Longitude/Status data), output through the “Data Logging “ port.

Position ($GPGLL):

This is a standard NMEA format type message (containing GPS Latitude / Longitude
data) output through the “Data Logging “ port.

Speed ($GPVTG):

This is a standard NMEA format type message (containing Track and Speed Over
Ground data), output through the “Data Logging “ port.

Residuals ($GPGRS):

This is a standard NMEA format type message (containing GPS Residual data),
output through the “Data Logging “ port.

Noise ($GPGST):

This is a standard NMEA format type message (cont aining GPS Pseudorange Error
Statistics), output through the “Data Logging “ port.

InView (GPGSV):

This is a standard NMEA format type message (containing GPS Satellite in view
data), output through the “Data Logging “ port.

DOP/Active(GPGSA):

This is a standard NMEA format type message (containing DOP values and which
satellites are used), output through the “Data Logging “ port.

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Type 12 Bin:

This is a Leica proprietary data format conta ining satellite measurement data in a
compressed binary format, output through the Instrumentation / Raw Data port

Alm/Eph:

This refers to the output of GPS Ephemeris and Almanac data in a Leica proprietary
format though the Instrumentation / Raw Data port. The Ephemeris data records
(Leica type 200 proprietary format), are ou tput once an hour for each satellite being
tracked. The Almanac data records (Leica type 100-150 proprietary format), are
output at the request of WinFrog by sending the $PMVXG,074 message).

Time Rec:

This refers to the output of GPS Time recovery data (values computed by the
navigation filter relating to the receiver clock state) through the Instrumentation /
Raw Data port.

If you are using the MX9400 to simply provide a position to WinFrog, you can select
to send only the $GPGGA (preferred) or the $GPGLL item. As defined above, by
default, these NMEA messages are output from the Data Logging port (i.e. port 4). In
order to interface to the MX9400 through just one of its ports, you must reassign this
output to another port - port 1. (Port 1 must be interfaced to WinFrog in order for the
CDU commands to be received, so this is the port of choice). To reassign the output
of NMEA data to Port 1, select the bottom left checkbox.
To further clarify the re-assignment of the MX9400 ports, shown below are several
different configurations of the Configure MX Serial Ports dialog box.
The first configuration shown below retains the MX9400’s default port configuration:
i.e. the Control and data messages (referred to as “BSC” in WinFrog) are made
through port 1, the Instrumentation/Raw Data (“RS/IM”) are output through port 2,
Differential RTCM (RTCM) is input/output through port 3, and Equipment/NMEA
(Data Logging) messages are output through port 4. This configuration would require
you to connect all four of the MX9400’s ports to the WinFrog computer.

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As mentioned previously, in order for WinFrog to communicate with the MX9400
using only one of the MX9400’s four ports, WinFrog reassigns the data output to port
1 of the MX9400, as seen below.

This configuration has assigned PC Control input, Raw data Output, and NMEA
output to port 1. Differential correction data (RTCM) is still assigned to port 3 - this is
to where you would connect the DGPS receiver.
The configuration above has also defin ed the outp ut of NMEA format $GPGGA
positional data, and raw Pseudorange/Ephemeris/Time data required for WinFrog’s
Multi-Ref positioning. This conf iguration is typical of that used in most WinFrog
operations. If you are only using the MX9400’s internally calculated position, you
need only select a Position ($GPGGA or $GPGLL) item.

Once this dialog box is correctly configured, click the OK button. WinFrog sends the
configuration commands to the MX9400, and closes the dialog. To reconfigure any one
of these options, select the MX9400 device in the I/O Devices dialog box, then right
click and select Edit I/O. Click OK to close the standard Edit I/O dialog box, at which
point the Configure MX Serial Ports dialog box appears.

WINFROG I/O DEVICES > CONFIGURE DEVICE:

This device must be configured at the I/O Device window level. In the I/O Devices
window, click the device name to select it, then right-click and select Configure Device.
The MX9400 Configuration dialog box appears, as seen below.

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Position:

A valid initial position should be entered. This provides an initial estimate of receiver
position for Rover operations, and reference station coordinates if the MX9400 is
used as a DGPS reference station. You must select the Update Box for the entered
value to be used.

Antenna Height:

Set the MX9400’s Antenna height calculation mode by selecting the appropriate
radio button. Select one of the 4 different modes of height calculation, as desired:

Calculated – This selection forces the MX9400 to use pseudo-range calculations
to compute the GPS antenna’s Height. In this mode, the MX9400 requires a
minimum of four satellites in order to calculate a valid 3-dimension position.

Fixed – This mode selection fixes the MX9400’s h eight to the ellipsoidal height
value entered in the Ellipsoid Height box. In this mode, the MX9400 is able to
calculate valid positions usin g a minimum of three satellites.

Auto\Last Height – The MX9400 will calculate a valid 3D position if four or more
satellites are available. If only three satellites are available, the height is fixed to
that of the last valid calculated height. In this mode, the MX9400 is able to
calculate valid positions usin g a minimum of three satellites.

Auto\Input Height – The MX9400 will calculate a valid 3D position if four or
more satellites are available. If only three satellites are available , the height is
fixed to the value entered in the Ellipsoid Height box. In this mode, WinFrog is
able to calculate valid positions using a minimum of three sate llites.

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Note: Ensure that the value entered in the Ellipsoid Height dialog box refers to
the WGS 84 ellipsoid, not Mean Sea Level height.

Elev. Cutoff:

Enter the elevation limit value (in degre es above the horizon). If a satellite drops
below this value, it will not be used in the position calculations.

Local Time Offset:

This value will be added to the observed GPS time to offset WinFrog system time.

MX51:

If the Present radio button is selected, WinFrog will accept RTCM 104 data from the
MX 51R/52R Beacon Receivers. You must also define the Frequency and Rate
settings to match the MX51 settings.
The MX 51R/52R are fully compatible with U.S. Coast Guard and IALA DGPS
beacons and operate with any DGPS beacon broadcasting in the 283.5 to 325.0
KHz band.

DGPS (mode):

The MX9400’s DGPS mode is set within this box. There are four different DGPS
modes: Off, Generate, Auto, and On:

Off – The MX9400 will not use differential corrections in its position computations
for that device even if they are available. Instead it will compute only a single
point GPS solution.

Generate – The MX9400 will generate base station corrections based on the
GPS data being received and the position input at the top of the window.

Auto – The MX9400 will automatically use differential corrections in its GPS
position calculations if those corrections are available to the receiver. If no
corrections are available, the MX9400 will compute a single point solution.

On – Th MX9400 will always attempt to use differential corrections. If no
corrections are available, the MX9400 will not compute a position.

The Maximum Age of Corrections must also be defined. If the age of the received
RTCM corrections exceeds the entered value, the corrections are not applied to the
single point position.

If the All box is checked, then RTCM corrections from any received base station will
be used;

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