NavCom RT-3010 User Manual Rev.F

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NavCom Technology, Inc.

20780 Madrona Avenue
Torrance, California 90503 USA

Tel: [phone]
Fax: [phone]

[e-mail]
www.navcomtech.com

P/N: 9

310004-3001

RT-3010 User Guide – Rev. F

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RT-3010 User Guide – Rev. F

Table of Contents

List of Figures..........................................................iv

List of Tables ............................................................v

Notices ...........................................................vi

Copyright....................................................................vi

Trademarks ................................................................ vi

FCC Notice................................................................ vii

User Notice................................................................ vii

Limited Warranty .......................................................viii

StarFire™ Licensing...................................................ix

USG FAR.................................................................... ix

Global Positioning System .........................................ix

Revision History.......................................................xi

Use of this Document.............................................xii

Related Documents....................................................... xii

StarUtil User Guide.................................................... xii

Technical Reference Manual.....................................xiii

RINEXUtil User Guide...............................................xiii

Integrators Toolkit......................................................xiii

NavCom Release Notes............................................xiii

Related Standards........................................................ xiv

ICD-GPS-200 ........................................................... xiv

RTCM-SC-104.......................................................... xiv

CMR, CMR+.............................................................xiv

NMEA-0183.............................................................. xiv

Publicly-Operated SBAS Signals ............................. xiv

Chapter 1 Introduction .....................................17

System Overview...........................................................17

GPS Sensor System .................................................17

Accuracy....................................................................18

Features ....................................................................18

Output Data Rate.......................................................18

NCT Binary Proprietary Data.....................................19

NMEA-0183 Data ......................................................19

Antennae........................................................................20

Standard....................................................................20

Spread Spectrum Radio Antenna..............................21

Controller .......................................................................21

Applications...............................................................23

Unique Features............................................................23

i

RT-3010 User Guide – Rev. F

Chapter 2 Interfacing........................................ 25

Electrical Power.........................................................25

Communication Ports................................................27

Indicator Panel...............................................................30

Chapter 3 Installation....................................... 35

Battery Charging............................................................35

Battery Charger LEDs...............................................35

Battery Charging .......................................................36

Battery Installation.....................................................37

Battery Removal........................................................37

Battery Testing ..........................................................37

GPS Sensor...................................................................38

Block Diagrams .........................................................41

Communication Port Connectivity.............................42

Basics of RTK Surveying...............................................44

Chapter 4 Configuration .................................. 47

Factory Default Settings ................................................48

Message Descriptions...............................................50

3rd Party Controller Configuration Settings................51

Chapter 5 Safety Instructions.......................... 53

Transport...................................................................53

RF Exposure Compliance .........................................53

Maintenance..............................................................53

External Power Source..............................................54

Battery Packs ............................................................54

Safety First ................................................................58

A GPS Module Specifications.............................61

Features ....................................................................61

Time-To-First-Fix.......................................................62

Dynamics...................................................................63

Measurement Performance.......................................63

User programmable output rates ..............................64

Data Latency .............................................................64

Built-in Radio Performance .......................................64

Connector Assignments............................................65

Input/Output Data Messages.....................................65

LED Display Functions (Default)...............................65

Satellite Based Augmentation System Signals.........66

Physical and Environmental......................................66

Battery Packs ............................................................67

Battery Charger Kit....................................................67

ii

RT-3010 User Guide – Rev. F

B Antenna Specifications ....................................69

Radiation Pattern.......................................................70

Glossary ..........................................................73

iii

RT-3010 User Guide – Rev. F

List of Figures

Figure 1: RT-3010 Supplied Equipment..................22

Figure 2: Optional DC Power Cable........................26

Figure 3: RT-3010 Viewed From Bottom.................28

Figure 4: NavCom Serial Cable...............................29

Figure 5: RT-3010 Indicator Panel .......................... 30

Figure 6: Battery Locking Clips................................37

Figure 7: RT-3010 Dimensions................................ 39

Figure 8: RT-3010 Block Diagram........................... 41

Figure 9: Radio Port Configuration, StarUtil............42

Figure 10: Communication Port Connections..........44

Figure 11: RTK setup – Good Line of Sight.............46

Figure 12: RTK Setup – Poor Line of Sight.............46

Figure 13: StarUtil NMEA Message List.................. 48

Figure 14: StarUtil Rover Navigation Setup............. 49

Figure 15: Radiation Pattern....................................70

Figure 16: DTE to DCE RS-232 Pin Assignments... 76

iv

RT-3010 User Guide – Rev. F

List of Tables

Table 1: Supplied Equipment...................................22

Table 2: External Power Cable Pin-Out...................25

Table 3: Optional DC Cable Pin Assignments.........26

Table 4: Serial Cable Pin-Outs ................................28

Table 5: Battery Status Indication............................31

Table 6: Link LED Indication (Default Rover Mode).32

Table 7: Base Station Indication..............................32

Table 8: GPS Light Indication..................................33

Table 9: Battery Charger LEDs................................35

Table 10: Factory Setup Proprietary Msgs COM 2..50

Table 11: Integrated Antenna ..................................69

Table 12: SSR Antenna...........................................71

v

RT-3010 User Guide – Rev. F

Notices

RT-3010 GPS Products User Guide
P/N 96-310004-3001
Revision F
May 2008

Serial Number:

Date Delivered:

Purchased From:

Copyright

© 2008 by NavCom Technology, Inc.
All rights reserved. No part of this work or the

computer program(s) described herein may be
reproduced, stored, or transmitted by any means,
without the expressed written consent of the copyright
holders. Translation in any language is prohibited
without the expressed written consent of the copyright
holders.

Trademarks

‘find your way’, ‘NavCom Globe’ and ‘NAVCOM
TECHNOLOGY’ logos are trademarks of NavCom
Technology, Inc. StarFire™ is a registered trademark
of Deere & Company. All other product and brand
names are trademarks or registered trademarks of
their respective holders.

vi

RT-3010 User Guide – Rev. F

FCC Notice

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.

The GPS sensor has been tested in accordance with
FCC regulations for electromagnetic interference.
This does not guarantee non-interference with other
equipment. Additionally, the GPS sensor may be
adversely affected by nearby sources of
electromagnetic radiation.

The Global Positioning System is under the control of
the United States Air Force. Operation of the GPS
satellites may be changed at any time and without
warning.

User Notice

NavCom Technology, Inc. shall not be responsible for
any inaccuracies, errors, or omissions in information
contained herein, including, but not limited to,
information obtained from third party sources, such as
publications of other companies, the press, or
competitive data organizations.

This publication is made available on an “as is” basis
and NavCom Technology, Inc. specifically disclaims
all associated warranties, whether express or implied.
In no event will NavCom Technology, Inc. be liable for
direct, indirect, special, incidental, or consequential
damages in connection with the use of or reliance on
the material contained in this publication, even if
advised of the possibility of such damages. NavCom
Technology, Inc. reserves the right to make

vii

RT-3010 User Guide – Rev. F

improvements or changes to this publication and the
products and services herein described at any time,
without notice or obligation.

Limited Warranty

NavCom Technology, Inc., warrants that its products
will be free from defects in workmanship at the time of
delivery. Under this limited warranty, parts found to
be defective or defects in workmanship will be
repaired or replaced at the discretion of NavCom
Technology, Inc., at no cost to the Buyer, provided
that the Buyer returns the defective product to
NavCom Technology, Inc. in the original supplied
packaging and pays all transportation charges,
duties, and taxes associated with the return of the
product. Parts replaced during the warranty period
do not extend the period of the basic limited warranty.

This provision does not extend to any NavCom
Technology, Inc. products, which have been
subjected to misuse, accident or improper installation,
maintenance or application, nor does it extend to
products repaired or altered outside the NavCom
Technology, Inc. production facility unless authorized
in writing by NavCom Technology, Inc.

This provision is expressly accepted by the buyer in
lieu of any or all other agreements, statements or
representations, expressed or implied, in fact or in
law, including the implied warranties of
merchantability and fitness for a particular purpose
and of all duties or liabilities of NavCom Technology,
Inc. To the buyer arising out of the use of the goods,
and no agreement or understanding varying or
extending the same will be binding upon NavCom
Technology, Inc. unless in writing, signed by a duly­authorized officer of NavCom Technology, Inc.

This limited warranty period is one (1) year from date
of purchase.

viii

RT-3010 User Guide – Rev. F

StarFire™ Licensing

The StarFire™ signal requires a subscription that
must be purchased in order to access the service.
Licenses are non-transferable, and are subject to the
terms of the StarFire™ Signal License agreement.
For further details on the StarFire™ Signal Network,
its capabilities, terms and conditions visit

www.navcomtech.com
[e-mail]

or send an email inquiry to

USG FAR

Technical Data Declaration (Jan 1997)
The Contractor, NavCom Technology, Inc., hereby

declares that, to the best of its knowledge and belief,
the technical data delivered herewith under
Government contract (and subcontracts, if
appropriate) are complete, accurate, and comply with
the requirements of the contract concerning such
technical data

Global Positioning System

Selective availability (S/A code) was disabled on 02
May 2000 at 04:05 UTC. The United States
government has stated that present GPS users use
the available signals at their own risk. The US
Government may at any time end or change
operation of these satellites without warning.

The U.S. Department of Commerce Limits
Requirements state that all exportable GPS products
contain performance limitations so that they cannot
be used to threaten the security of the United States.

Access to satellite measurements and navigation
results will be limited from display and recordable
output when predetermined values of velocity and
altitude are exceeded. These threshold values are far

ix

RT-3010 User Guide – Rev. F

in excess of the normal and expected operational
parameters of the RT-3010 GPS Sensor.

x

Revision History

Rev F (Mar 2008)

RT-3010 User Guide – Rev. F

Format change
Added Revision History
In supplied equipment table,

added P/N for battery
charger kit, updated P/N’s
for batteries

Revised supplied equipment

photo to show coiled instead
of straight serial cable

Replaced old art work of

RT-3010 dimensions with

new art work
Added RT-3010 block diagram
Added specs for battery packs

and battery charger kit
Added specs for antennae
Added specs for UltraRTK™

xi

RT-3010 User Guide – Rev. F

Use of this Document

This User Guide is intended to be used by someone
familiar with the concepts of GPS and satellite
surveying equipment.

 Note indicates additional information

to make better use of the product.

This symbol means Reader Be

Careful. Indicates a caution, care,
and/or safety situation. The user might
do something that could result in
equipment damage or loss of data.

This symbol means Danger. You are in

a situation that could cause bodily
injury. Before you work on any
equipment, be aware of the hazards
involved with electrical and RF circuitry
and be familiar with standard practices
for preventing accidents.

Revisions to this User Guide can be obtained in a
digital format from

http://www.navcomtech.com/Support/

Related Documents

StarUtil User Guide P/N 96-310008-3001

Describes the operation and use of NavCom’s
Windows based control program (included on CD)

xii

RT-3010 User Guide – Rev. F

Technical Reference Manual P/N 96-3120001-3001

Describes the control and output data message
formats utilized by this instrument (for customer
programming purposes; included on CD)

RINEXUtil User Guide P/N 96-310021-2101

Describes the conversion program used no NavCom
proprietary output data message formats to RINEX
ver 2.10 observation and navigation files (for
customer programming purposes; included on CD)

Integrators Toolkit P/N 97-310020-3001

Provides additional instruction and tools for
developing control programs for this instrument (not
included in the packaging material; contact

http://www.navcomtech.com/Support/

for a copy).

NavCom Release Notes

Describes software updates for NavCom products.
Current and archived Release Notes are available on
the NavCom web site:

http://www.navcomtech.com/Support/DownloadCenter.cfm
?category=releasenotes.

NavCom Customer Support provides software
updates described in the Release Notes. Submit a
request for software updates via the Request Support
web page.

xiii

RT-3010 User Guide – Rev. F

Related Standards

ICD-GPS-200

NAVSTAR GPS Space Segment / Navigation User
Interfaces Standard. ARINC Research Corporation;
2250 E. Imperial Highway; El Segundo, California
90245

RTCM-SC-104

Recommended Standards For Differential GNSS
Service. Radio Technical Commission For Maritime
Services; 1800 N. Kent St, Suite 1060; Arlington,
Virginia 22209

CMR, CMR+

Compact Measurement Record; Trimble Navigation
Limited; 935 Stewart Drive; Sunnyvale, CA 94085

NMEA-0183

National Marine Electronics Association Standard For
Interfacing Marine Electronic Devices. NMEA
National Office; 7 Riggs Avenue; Severna Park,
Maryland 21146

Publicly-Operated SBAS Signals

RTCA/DO-229D

The Radio Technical Commission for Aeronautics
(RTCA) develops consensus-based
recommendations regarding communications,
navigation, surveillance, and air traffic management
(CNS/ATM) system issues.

RTCA. 1828 L Street, NW, Suite 805, Washington,
DC 20036.

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RT-3010 User Guide – Rev. F

These organizations implement the RTCA/DO-229D
standard set by RTCA:

WAAS (Wide Area Augmentation System)

U.S. Department of Transportation. Federal Aviation
Administration. 800 Independence Ave, SW,
Washington, DC 20591

EGNOS (European Geostationary Navigation Overlay Service)

European Space Agency. 8, 10 rue Mario-Nikis, F­75738 Paris Cedex 15, France.

MSAS (MTSAT Satellite-based Augmentation System)

Japan Civil Aviation Bureau. Ministry of Transport.
Kasumigaseki 2-1-3, Chiyoda-ku, Tokyo 100, Japan.

GAGAN (GPS Aided Geo Augmented Navigation)

Indian Space Research Organization. Antariksh
Bhavan, New Bel Road, Bangalore - 560 094, India.

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RT-3010 User Guide – Rev. F

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RT-3010 User Guide – Rev. F

1

Chapter 1 ..............................Introduction

System Overview

GPS Sensor System

The RT-3010 GPS sensor
delivers unmatched
accuracy to the precise
positioning community. This
unique receiver is designed to integrate easily in
RTK, field data verification, topographical surveys,
and a wide variety of surveying applications. The
system resolves ambiguities at startup or on satell
reacquisition typically within 2 seconds.

The RT-3010 has a built-in spread spectrum radio
(SSR). The receiver may be configured as a tripod
mounted RTK base station or RTK rover. It is capable
of NCT RTK/UltraRTK™

1

, RTCM (code and phase),

and CMR/CMR+ DGPS operating methods.

to

ite

The RT-3010 integrated sensor consists of:
9 All-in-one housing incorporates compact GPS

antenna and built-in spread spectrum radio
(SSR)

9 24-channel, dual-frequency, precision GPS

receiver

9 2 separate SBAS channels, RTCA/DO-229D

compliant (WAAS/EGNOS/MSAS/GAGAN)

Refer to Table 1, later in this chapter, for the
complete list of supplied equipment.

Requires NCT-2100D Engine

1-17

RT-3010 User Guide – Rev. F

1

Accuracy

When WAAS, EGNOS, MSAS, or GAGAN
(RTCA/DO-229D compliant) SBAS correction signals
are used, the system provides <50cm position
accuracy.

 System accuracy with WAAS,

EGNOS, MSAS, or GAGAN signals is
subject to the quality and update rate
of these publicly-operated signals.
Refer to Related Standards\Publicly-
Operated SBAS Signals for contact
information regarding the
organizations that implement the
RTCA/DO-229D standard.

The system provides instant <0.5cm position
accuracy when

1

UltraRTK™ correction signals are
used (base-line, <40km, 0.5cm +1ppm). UltraRTK™
requires GPS software version 4.2 or higher.

The system provides instant <1cm position accuracy
when RTK correction signals are used (base-line,
<10km, 1cm +1ppm).

 After RTK correction signals are

received, it takes approximately one
minute to enter RTK mode.

Features
Output Data Rate

The RT-3010 can output proprietary raw data at
programmable rates from <
rates up to 50Hz

2

and Position Velocity Time (PVT)

data at programmable rates from <

Requires NCT-2100D Engine

2

Separate Software Option Required

1Hz to predetermined

1Hz to

1-18

RT-3010 User Guide – Rev. F

1

predetermined rates up to 25Hz1 through two 115kbps
RS-232 serial ports with less than 20ms latency.
<

1cm horizontal and <2cm vertical accuracy are
maintained as each output is independently calculated
based on an actual GPS position measurement, as
opposed to an extrapolation/interpolation between
1Hz measurements.

NCT Binary Proprietary Data

The sensor can output proprietary raw data
containing information including (but not limited to):

9 Satellite Ephemeris (0x81)
9 Satellite Almanac (0x44)
9 Raw Pseudorange Measurements (0xB0)
9 Position, Height, & Time (0xB1)
9 Velocity & Heading (0xB1)
9 Signal to Noise (0x86)
9 Channel Status (0x86)
9 Correction Data (mirror data; 0xEC)
9 Measurement Quality (0xB1 and 0xB5)

These data can be integrated in real-time positioning
applications or post-processed against any number of
software applications designed to handle NCT or
RINEX raw data. A Technical Reference Manual is
available on NavCom’s web site, which describes the
attributes of each of the input/output records (see
Related Documents in the fore-matter).

NMEA-0183 Data

The RT-3010 is capable of outputting several
standard NMEA-0183 data strings (see Related
Standards in the fore-matter) and one proprietary

Separate Software Option Required

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RT-3010 User Guide – Rev. F

data sting. Each data is headed with GP. The
proprietary data sting is denoted with a $PNCT
header.

Standard:

9 ALM – GPS Almanac Data
9 GGA – GPS Fix Data
9 GLL – Geographic Position – Lat / Lon
9 GSA – GNSS DOP & Active Satellites
9 GST – GNSS Pseudorange Error Statistics
9 GSV – GNSS Satellites In View
9 RMC – Recommended Min. Specific GNSS Data
9 VTG – Course Over Ground & Ground Speed
9 ZDA – Time & Date

Proprietary (header $PNCT):

9 SET – Solid Earth Tide

Described in the Technical Reference Manual (see
Related Documents in the fore-matter)

Antennae

Standard

The RT-3010 all-in-one housing incorporates our
compact GPS antenna with excellent tracking
performance and a stable phase center for GPS L1
and L2. The integrated antenna tracks all GPS and
WAAS/EGNOS/MSAS/GAGAN signals. This antenna
is listed in the NGS NOAA GPS Antenna Calibration
tables, as NAVRT3010S. The robust housing
assembly features a standard 5/8” BSW thread for
mounting directly to a surveyor’s pole, tripod, or mast

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RT-3010 User Guide – Rev. F

and is certified to 70,000 feet (see Specifications for
restrictions).

 Although rated to 70K feet, this antenna is not

designed for aircraft installations. Contact

[e-mail]

Spread Spectrum Radio Antenna

The RT-3010, configured as a reference station or
rover, communicates via the integrated 2-way,

2.4GHz Spread Spectrum Radio (SSR). The SSR
was designed specifically for GPS RTK. It has built-in
interference rejection to prevent extraneous radio
signals from interfering with the reception or
transmission of the correction data. This antenna has
a black polyurethane finish and a female TNC
connector.

Controller

for aircraft solutions.

The RT-3010 GPS sensor is designed for use with an
external controller solution connected via one of two
serial COM ports.

This may be accomplished using a PC, Tablet PC or
Personal Digital Assistant (PDA) and a software
program which implements the rich control language
defined for NavCom GPS products. Refer to the
user’s guide of your controller solution for further
information. NavCom lists several application
software solutions on our website:

http://www.navcomtech.com/Support/ApplicationSoftware.cfm

In addition, NavCom provides a Windows™ based
software utility, called StarUtil, with the receiver.

The StarUtil User Guide, P/N 96-310008-3001, is
available on-line at

http://www.navcomtech.com/Support/DownloadCenter.cfm?categ
ory=manuals.

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RT-3010 User Guide – Rev. F

Included Items

Figure 1: RT-3010 Supplied Equipment

Table 1: Supplied Equipment

RT-3010 GPS Pole Mounted Sensor

1

(P/N 92-310053-3001)
LEMO 7-Pin to DB9S Data Cable, Coiled 6 ft

2

(P/N 94-310090-3003)
Battery Charger Kit

(P/N 92-310092-3001)
Kit Includes:

3

4-Bay Battery Charger w/ Cable (P/N 92-310046-3001)

4

Charger Power Supply (P/N 82-02003-5001)

Two Lithium-Ion Battery Packs, 10.8 VDC, 4.4 Ah

5

(P/N 59-020102-3001 or P/N 59-020104-3002 each)
CD-Rom containing User Guides, brochures, software

6

utilities, and technical papers.
(P/N 96-310006-3001)

SSR 2.4GHz Radio Antenna

7

(P/N 82-001000-0003)
RT-3010 User’s Guide {Not Shown}

8

(P/N 96-310004-3001 Hard Copy)
Ruggedized Travel Case {Not Shown}

9

(P/N 79-100100-0001)

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RT-3010 User Guide – Rev. F

Applications

The RT-3010 GPS sensor meets the needs of a large
number of applications including, but not limited to:

9 High-Order Control Survey
9 Construction Stakeout
9 Boundary Survey
9 Topographical Survey
9 Machine Control

NavCom lists several application software solutions
on our website:

http://www.navcomtech.com/Support/ApplicationSoft
ware.cfm

Unique Features

The RT-3010 GPS sensor has many unique features:

 NCT RTK/UltraRTK™

The RTK/UltraRTK™ algorithm developed by
NavCom provides fast initialization and the NCT ultra
compact binary data format for RTK/UltraRTK™
ensures robust data throughput on the built-in spread
spectrum radio.

 Positioning Flexibility

The RT-3010 is capable of using WAAS, EGNOS,
MSAS, GAGAN (RTCA/DO-229D compliant) code
corrections via two internal Satellite Based
Augmentation System (SBAS) channels. The
RT-3010 automatically configures to use the most
suitable correction source available and changes as
the survey dictates (this feature can be overridden).

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RT-3010 User Guide – Rev. F

 Data Sampling

GPS L1 and L2 raw measurement data is up to 5Hz
in the standard configuration. An optional upgrade
allows 10, 25, and 50Hz raw measurement data via
either of the two serial ports.

The PVT (Position, Velocity, & Time) data is output at
up to 5 Hz in the standard configuration. An optional
upgrade allows 10 and 25Hz position updates for
highly dynamic applications.

 GPS Performance

The RT-3010 utilizes NavCom’s NCT-2100 GPS
engine, which incorporates several patented
innovations. The engine’s industry leading receiver
sensitivity provides more than 50% signal to noise
ratio advantage over competing technologies. This
results in improved real time positioning, proven
through independent tests, when facing various
multipath environments.

 Rugged Design

Units have been tested to conform to MIL-STD-810F
for low pressure, solar radiation, rain, humidity, salt­fog, sand, and dust.

The rugged design of the RT-3010 system
components provides protection against the harsh
environments common to areas such as construction
sites.

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RT-3010 User Guide – Rev. F

Chapter 2 .................................Interfacing

This chapter details the RT-3010 GPS sensor
connectors, LED display, appropriate sources of
electrical power, and how to interface the
communication ports.

Electrical Power

A 4-pin LEMO female connector provides electrical
power to the RT-3010. It is located below the
indicator panel labeled DC PWR. Pin assignments
are given in Table 2; see Figure 2 for pin location on
the connector.

Table 2: External Power Cable Pin-Out

Pin Description

1
2
3
4

Pins 1 and 2 connect to same internal point in the
RT-3010. Likewise, pins 3 and 4 connect to the same
internal point.

Return

Power Input 10 to 30 VDC; 5W

 Power cable longer than 5m (15ft) must make

full use of all four power pins.

P/N 82-020002-5001 is an optional universal AC/DC
12V, 2A power adapter.

P/N 94-310060-3010 is an optional 10ft (3m)
unterminated power cable fitted with a LEMO plug
type (Mfr. P/N FGG.1K.304.CLAC50Z), with red strain
relief. The wiring color code and pin assignments are
labeled on the cable assembly and provided in
Table 3 below.

2-25