Spectra Precision SP90m User Manual

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Power-Off Screen Hold down the Power button for a few seconds. The Spectra

Precision logo will appear on the screen.

After a few seconds, the message “Powering off...” will follow, indicating that the receiver is being turned off.

If the anti-theft protection is still enabled when you ask for receiver power-off, a message will ask you to confirm your request.

If you wish to keep using the anti-theft protection, press OK and then the receiver will complete the power-off sequence as described above.

If you want to remove the anti-theft protection before turning off the receiver, press Escape, go back to Advanced Settings to remove the anti-theft protection (see page 37). Then you can turn off the receiver as explained above.

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Using a USB Key

To Copy Files Whenever you connect a USB key to the receiver via cable

P/N107535, the following screen is displayed:

This screen is displayed for a few seconds. If you press OK while this screen is still displayed, all the G-files and log files stored in the receiver will be copied to the root folder on the USB key (or will overwrite the files with same name). Otherwise the copy operation will be skipped and the receiver will come back to the General Status screen. The screen looks like this while the files are being copied.

To Upgrade the

Firmware

195

The same will happen if you power on the receiver with a USB key already connected to the receiver.

When a new firmware upgrade is available, it is easy to install the new firmware using a USB key.

• Use your computer to copy the installation file (a *.tar file) to the root directory of the USB key.

• The receiver being turned off, connect the USB key to the receiver through cable P/N 107535 (provided).

• Press the OK button and the Power button simultaneously for a few seconds. This starts the upgrade.

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The screen will read successively:

{Spectra Precision logo} USB Upload Upgrading Firmware Step 1/5 Upgrading Firmware Step 2/5 Upgrading Firmware Step 3/5 Upgrading Firmware Step 4/5 Upgrading Firmware Step 5/5 Upgrading Firmware Complete {Booting: Spectra Precision logo} {Regular receiver startup to General Status scree n}

Let the receiver proceed with the upgrade. Do not turn off the receiver while the upgrade is in progress.

NOTE: If there is no USB key connected or the key does not contain any firmware upgrade file, then the process will abort after a few seconds.

Because data has to be decompressed on the USB key during an upgrade, the USB key must be unlocked, with at least 100 MBytes of free memory, before starting the upgrade. The upgrade will fail if there is not enough free space on the key.

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Getting Started With the Web Server

Introduction to the

Web Server

Description and Function

The Web Server is a receiver-embedded, HTML-based firmware application, designed to enable the receiver owner (the “administrator”) to monitor and control the SP90m GNSS receiver through a TCP/IP connection.

Running the Web Server for the First Time

As the receiver owner, after establishing a TCP/IP connection between your computer and the receiver (via its Ethernet port or via WiFi; see page 52 and page 47), do the following:

• Run a web browser on your computer.

• Type the IP address (or host name) of the receiver in the web browser, then press the Enter key (see page 51).

This will launch the Web Server in the receiver, which in turn will open a web page in the web browser.

Depending on how the Web Server has been configured, you may be asked to log in. The first time you launch the Web Server, use the default connection profile (the “administrator profile”) to log in. This profile is the following:

– Username: admin – Password: password You can customize the administrator profile by changing

the username and password. The Web Server will let you do this from its Security page (see on-line Help file attached to this page).

Security

The receiver owner may restrict the access to the Web Server by implementing one of the three possible security levels described below, sorted from the highest to the lowest security level:

1. Enabled: On launching the Web Server, the user is requested to log in by entering a username and password.

After having logged in, the user has full control over the receiver (operation monitoring, access to configuration).

As the administrator, you may decide to share the administrator profile (username and password) with other trustworthy users. You may also create new connection profiles for some other authorized users using $PASH commands.

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Remember that registered users have exactly the same rights as the administrator, including managing users through $PASH commands.

2. Enabled with Anonymous Access: Anyone who has been

given the IP address or host name of the receiver has direct access to the Web Server (no log-in required). Only receiver monitoring is allowed in this case. An anonymous user CANNOT change the receiver configuration.

After the Web Server has been launched with this level of security, the administrator, or any other authorized user, can log in on the Security page (see on-line Help attached to this web page).

3. Disabled: No security is implemented with this option.

Anyone who has been given the IP address or host name of the receiver has direct access to the Web Server, both for monitoring the receiver or changing its configuration.

With this low protection level, the receiver owner will be well-advised to keep the receiver IP address or host name

as confidential as possible.

WiFi-Based TCP/IP

Connection

Setting Up the WiFi Device

• If the WiFi device has been turned off, it first needs to be turned back on:

– On the receiver front panel, press one of the horizontal

keys until you see the WiFi screen.

–Press OK. – Select ON:

–Press OK again. After a few seconds the screen

displays “WiFi ... ON”.

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• Then you should indicate how the WiFi device will be

power-controlled and whether it will operate as a WiFi client, as WiFi access point or both. Follow the steps below:

– The previous screen being still displayed, press OK. – Select Settings:

–Press OK again. – Choose a power mode for the WiFi device: press OK,

select either Manual or Automatic (see explanations on

page 35 before making a choice) and then press OK. – Press any of the vertical keys and then press OK. – Choose an operating mode for the WiFi device: select

either Client, Access Point or AP and Client, depending on

the use case (see the next three sections below) and

then press OK. – On your laptop or smart phone, start searching for WiFi

devices. When your SP90m receiver has been found,

select it and then enter the WiFi key (by default the

receiver serial number) to allow a WiFi connection with

the receiver.

– Back on receiver side, press to go back to the WiFi

“root” screen. If you have selected Access Point or AP

and Client, you will be able to read the IP address of the

WiFi access point in the lower line. Type in this IP

address (fixed, static address: 192.168.130.1) in your

computer or smart phone’s web browser to launch the

receiver’s Web Server.

When a WiFi connection is active, one or two of the

following icons appear on the General Status screen:

The first one indicates that the WiFi device is used as

an access point and the second one as a client.

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Using the WiFi Device as Access Point

WiFi

Access Point WiFi

Client

Public Internet

Ethernet cable

Hub or Switch

Local Network

Gateway

or ADSL

Modem

WiFi

Local

Network

WiFi

Client

Remote User

Use the receiver’s WiFi device as access point in the following cases:

• You want to access the Web Server from any WiFi-capable device such as a computer or a mobile device (e.g. smart phone).

• You are located within WiFi range of the SP90m.

Using the WiFi Device as Client

Use the receiver’s WiFi device as client in the following cases:

• You want a remote access to the Web Server and Internet is easily accessible from the location where you are.

• The SP90m is operated in a location where only a local WiFi network is available.

To select a WiFi network, you have to run the Web Server:

• Go to Receiver> Network> WiFi

• Unless already done, turn on the WiFi device, select the client mode and click Configure.

• Scan for WiFi networks, select one and then connect to it. The WiFi screen on the receiver should look as shown.

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Using the WiFi Device as both Access Point and Client

Use the receiver’s WiFi device as both access point and client in the following cases:

• You want to access the Web Server from your computer or

smart phone.

• The SP90m is configured to receive or transmit

corrections over the Internet via WiFi.

• You are located within WiFi range of the SP90m.

Web Server

WiFi

Client

In this use case, the Web Server will be run from the smart phone via the receiver’s WiFi device used as access point, whereas corrections will be routed over the Internet using the receiver’s WiFi device as client.

WiFi

Access Point

WiFi

Client

Data

WiFi

Local

Network

Public Internet

Ethernet-Based

TCP/IP Connection

In this use case, you will have to use a standard Ethernet cable (fitted with an RJ45 connector at either end) to connect the receiver to the local network.

To make this connection successful, you may have to take advice from your IT expert, depending on the local IP network environment. You should inform this person of the following before proceeding:

• The SP90m is not fitted –and cannot be fitted– with a

firewall. If a firewall is needed in your local network, it should be installed on a device other than the SP90m.

• HTTP port #80 is used by default in the receiver to access

the Web Server.

The choice of using the DHCP mode or not within the local network is also the decision and responsibility of the IT expert.

Typically, there are two possible cases of TCP/IP connection:

• TCP/IP connection within a local network.

• TCP/IP connection through the public Internet. These are detailed in the sections below. NOTE: It is assumed that the reader knows how to send

$PASH commands to the receiver.

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Setting Up the Ethernet Device

• If the Ethernet device has been turned off, you first need to turn it back on:

– On the receiver front panel, press one of the horizontal

keys until you see the Ethernet screen.

–Press OK. – Select ON:

–Press OK again. After a few seconds the screen

displays “Ethernet ON”.

• Then you should indicate whether the receiver will be assigned a static IP address (DHCP off) or a dynamic IP address (DHCP on). If you don’t know which option to use, ask your local IT expert. Follow the steps below:

– The previous screen being still displayed, press OK. – Select Settings:

–Press OK again. – Choose the desired option and then press OK. – If you chose DHCP Mode: ON, there is nothing else to be

done. If you chose DHCP Mode: OFF, press one of the vertical

arrows to access the Static Address screen. Press OK and then enter successively each of the figures making up the static IP address. Press OK when you are done.

When the IP connection is active, the icon below appears on the General Status screen:

NOTE: If you activate DHCP and there is no DHCP server in your network responding to the request, a static IP address (of the type 169.254.1.x) will be automatically assigned to the receiver (and displayed on the Ethernet screen). This is the IP address you should choose to connect to.

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TCP/IP Connection Within a Local Network

Local Network

Ethernet cable

Hub or Switch

Gateway or

ADSL Modem

Public Internet

Ethernet port

SP90m

Local User

In this use case, the receiver and the computer are connected to the same local area network (LAN) and may even be in the same room. Here the communication will not take place through the public Internet, but simply within the local network.

The connection diagram typically is the following.

The valid receiver IP address is the one shown in the lower line on the Ethernet screen.

Example indicating the IP address to use with DHCP On:

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TCP/IP Connection Through the Public Internet

Public Internet

Ethernet cable

Hub or

Switch

Public IP address

Local Network

Ethernet cable

Hub or Switch

Gateway

or ADSL Modem

Gateway

or ADSL Modem

Ethernet port

SP90m

Remote User

In this use case, the receiver and computer are connected to different local networks. Here the communication will necessarily take place through the public Internet.

The connection diagram typically is as follows.

In this configuration, the IT expert should take all the necessary steps for the receiver owner to be able to access the SP90m through the public IP address of the local network. In

this case, the IP address shown on the receiver display screen is NOT the one to be entered in the web browser.

It is therefore the responsibility of the IT expert to provide the appropriate connection information:

<IP address:port number> or host name

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Introduction to

Multi-Operating

Mode

The SP90m is a multi-application GNSS receiver, making it possible to use different operating modes simultaneously.

The limitation to that feature is very simple to understand:

The maximum number of baselines the SP90m can calculate simultaneously is 3. The capability for the SP90m to support

several operating modes simultaneously is simply derived from that statement.

NOTE: Working in a Trimble RTX mode does not “consume” a baseline, which means that the above statement would be more accurate if we said, “The maximum number of baselines the SP90m can calculate simultaneously is 3 + RTX”.

The consequences of this rule are as follows:

• In single-antenna configuration:

– In Hot Standby RTK, you can configure the receiver to

use up to three independent correction sources (= three baselines), thus making it possible to have up to two different backup position solutions available in case the first source of position solution fails.

– In Hot Standby RTK + Relative RTK, you can only set

two independent correction sources (= two baselines), to have a backup position solution available in case the first source of position solution fails. The third baseline is dedicated to the Relative RTK mode.

• In a two-antenna configuration, the heading mode may be

combined with all of the existing rover modes: – Autonomous –RTK – Hot Standby RTK – RTK + Relative RTK – Only Relative RTK –Dual RTK – Dual Relative RTK However, in Hot Standby RTK, there can only be two

independent sets of corrections used (not three because one baseline is dedicated to computing heading).

Besides, the rover and moving base modes can be run simultaneously. To make this work, you should first configure the receiver as a rover, then as a moving base (and not the other way round). That way, while base corrections will be generated and delivered via your programmed output messages, the receiver will continue to compute RTK positions for its own location provided the required external corrections continue to enter the receiver.

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Using SP90m With a Single Antenna

The reader is supposed to know how to run the Web Server (see Getting Started With the Web Server on page 46) and how to use the receiver user interface (see Receiver User Interface on page 26) before reading this section.

Remember, when using the Web Server, at any time you can access context-sensitive help by pressing this key:

Specifying the

Model of Antenna

Used

When using one single GNSS antenna connected to SP90m, only GNSS input #1 can be used. GNSS input #2 must not be used in a single GNSS antenna setup.

The setting described below is required prior to configuring the receiver in any of the operating modes described in the following sections.

Use the Web Server to specify the model of antenna connected to GNSS input #1:

• Go to Receiver > Position > Sensors/Antennas Setup.

• Set Multi-Sensor Mode to Single Antenna.

• Choose the point on the antenna for which you want the SP90m to compute the position (L1 phase center, ARP or ground mark).

• Describe the model and height of antenna used as the primary antenna:

– Manufacturer – Antenna name and its RINEX name. – Method used to measure the antenna height (i.e.

choice of the point on the antenna from which the height measurement is performed).

– Value of measured distance according to the chosen

antenna height measurement method.

NOTE: Entering the height makes sense if you want to get the position of the ground mark or if you enter the ground mark coordinates as a base’s reference position.

• Keep the secondary antenna defined as UNKNOWN.

•Press Configure. The antenna model is now set.

NOTE: When configuring a static base from the receiver front panel, you will be able to select the model of antenna used (for the primary antenna). By default, if you leave the base mode to operate the receiver as a rover, the receiver will assume this antenna model is still used in the rover configuration

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Raw Data

GNSS Raw Data

Acquisition

Recording

On the receiver’s General Status screen, the following icons will appear in succession at a rate of 1 second when the receiver is actually collecting raw data:

Using the Web Server

Using the Web Server to launch data recording is particularly suitable for remote-controlled, static raw data collection.

• Go to Receiver > Memory.

• Enable Data Recording.

• Enter a site name for the location occupied by the

receiver.

• Choose the memory where to save the raw data file.

• Choose a recording interval in Hz. Additionally, you may

ask the receiver to record the “TTT” message resulting from the advent of any incoming external event and/or the “PTT” message providing the time-tagging of the PPS signal.

• Click Configure. The receiver starts recording the default

messages programmed on port M (as listed after Data

type). To change the content of this message, refer to Raw Data Recording on page 77).

In the right part of the Memory tab screen, at the bottom of the list of files stored in the selected memory, you can now see – shown in red – the name of the file being created.

Working from the Receiver Front Panel

Working from the receiver front panel to launch data recording allows a rover operator to choose between “Static” or “Stop & Go” data collection. A USB key connected to the receiver front panel may be used to save the raw data file once created.

• Press one of the horizontal keys until you see the “Record

OFF” screen.

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Autonomous or

SDGPS (SBAS)

Rover

•Press OK.

• Choose the option that suits your requirements in terms of data collection type (Static or Stop & Go), the storage location (Mem or USB) used to save the file, then press OK.

This starts the data recording. Refer to Raw Data Recording on page 42 to learn more about the workflow used.

XYZ or

Lat-Lon-Height

Position

On the receiver’s General Status screen, the receiver will display “AUTO” or “SDGPS” when computing a position respectively in autonomous or SDGPS mode. The computed position is diplayed after pressing .

Use the Web Server to configure the receiver:

• Go to Receiver > Position > Rover Setup

• Set Processing Mode to Autonomous

• Additionally, in the Other Settings section, you may change the primary GNSS system used (GPS is the default selection), limit the level of position accuracy to SBAS Differential Position or Standalone Position.

• Select the model of dynamics that suits the movement pattern of your rover best.

• Click Configure. The receiver starts operating in autonomous mode. If SBAS satellites are received, the receiver will be able to deliver positions with SBAS Differential accuracy (provided SBAS is enabled; see Receiver > Satellites).

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RTK or DGPS Rover

XYZ or

Lat-Lon-Height

Position

One set of corrections via:

• Internet (Ethernet, cellular modem, or WiFi), or

• UHF Radio

On the receiver’s General Status screen, the receiver will display “FIXED” (with short “FLOAT” transition time) or “DGPS” when computing a position respectively in RTK or DGPS mode. The computed position is displayed after pressing .

When corrections are received and used, is displayed on the General Status screen together with the age of corrections (see General Status on page 28).

To configure the receiver as a DGPS or RTK rover, use the Web Server as follows:

• Go to Receiver > Position > Rover Setup.

• Set Processing Mode to RTK.

• Select how the corrections are being transmitted to the

receiver by setting Input Mode accordingly. If you choose Automatic, the receiver will find by itself which of its ports is used to acquire corrections. If you choose Manual, you need to specify this port.

• Additionally, in the Other Settings section, you may change

the primary GNSS system used (GPS is the default selection), limit the level of position accuracy to less than what the receiver can actually achieve in this case. Typically you will choose RTK Position or (RTCM) Differential Position to match with the selected operating mode (respectively RTK or DGPS).

• Select the model of dynamics that suits the movement

pattern of your rover best.

• Click Configure.

• Set the device used by the receiver to acquire corrections:

– If corrections are received via radio, go to Receiver >

Radio to enter all radio parameters. You may use the internal radio or an external radio.

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– If corrections are received over the Internet, go to

XYZ or

Lat-Lon-Height

Position

Two independent sets of corrections via:

• Internet (Ethernet, cellular modem, or WiFi), or

• UHF Radio

Receiver > Network to set the device used (this may be Ethernet, Modem or WiFi; more information about how to set up theses devices can be found in the relevant context-sensitive Help). Then go to Receiver > I/Os to

start data reception in NTRIP or Direct IP mode.

Hot Standby RTK

Rover

Hot Standby RTK is similar to RTK except that two or three independent sets of corrections are received instead of one. The receiver will choose the best of the two or three sets of corrections in order to improve position availability and accuracy.

On the receiver’s General Status screen, the receiver will display “FIXED” (with short “FLOAT” transition time) when computing a position in Hot Standby RTK mode. The computed position is diplayed after pressing .

When at least one set of corrections is received and used, is displayed on the General Status screen together with the age of corrections (see General Status on page 28). The displayed age of corrections is always that of the corrections actually used in the position computation.

To configure the receiver as a Hot Standby RTK rover, use the Web Server as follows:

• Go to Receiver > Position > Rover Setup.

• Set Processing Mode to Hot Standby RTK.

• Select how the two (or three) sets of corrections are being transmitted to the receiver by setting Input Mode accordingly. If you choose Automatic, the receiver will find by itself which of its ports are used to acquire the sets of corrections. If you choose Manual, you need to specify each of the ports used.

• Additionally, in the Other Settings section, you may change the primary GNSS system used (GPS is the default

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Trimble RTX Rover

X-Y-Z or

Lat-Lon-Height

Position

Trimble RTX service

via IP or satellite

selection), limit the level of position accuracy to less than what the receiver can actually achieve in this case. Typically you will choose RTK Position to match with the selected operating mode.

• Select the model of dynamics that suits the movement

pattern of your rover best.

• Click Configure.

• Set the device used by the receiver to acquire the two sets

of corrections: – If corrections are received via radio, go to Receiver >

Radio to enter all radio parameters. You may use the internal radio or an external radio.

– If corrections are received over the Internet, go to

Using a Trimble RTX service in the SP90m requires that you first buy a subscription to this service. On the other hand, the receiver is ready to operate in Trimble RTX mode (dedicated firmware option has been pre-installed at the factory) provided an L-band capable GNSS antenna is used.

On the receiver’s General Status screen, the receiver will display “RTX” when computing a position using a Trimble RTX service. The computed position is displayed after pressing .

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To configure the receiver in RTX, use the Web Server as follows:

• Go to Receiver > Position > Rover Setup.

• Choose the channel through which RTX corrections enter the receiver by setting Corrections Source accordingly:

– If you choose Automatic, the receiver will find by itself

which channel to use (L-Band or NTRIP).

– If you choose L-Band, the receiver will expect RTX

corrections to come from a satellite.

– If you choose NTRIP, the receiver will expect RTX

corrections to come from the Internet.

NOTE: RTX corrections will come from the Internet only after you have taken all the steps to implement an active IP connection, either via GSM, WiFi or Ethernet. The connection to the remote RTX service will then be automatic.

• Set Engine Mode to ON.

• Select the datum and plate in which to deliver the coordinates of the computed position:

– If you select OFF, the position will be expressed in the

ITRF2014 current epoch datum.

– If you select ON, choose a datum and a tectonic plate.

• Additionally, in the Other Settings section, you may change the primary GNSS system used (GPS is the default selection), limit the level of position accuracy to less than what the receiver can actually achieve in this case. Typically you will choose PPP Position to match with RTX.

• Select the model of dynamics that suits the movement pattern of your rover best.

• Click Configure.

WARNING: The way you set Processing Mode is very important here. If for example it is set to RTK and every step has been taken to have RTK corrections available (see page 58), then the receiver will automatically choose between RTX and RTK depending on which of these two modes is providing the best position solution. You will be able to know which mode is currently used by taking a look at the receiver’s General Status screen.

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RTK + Relative

RTK Rover

Reminder: Relative RTK refers to the ability of the SP90m to compute and deliver the three components of the vector connecting a mobile base to this receiver. The components of the vector are provided with centimeter accuracy, just as is the position of the SP90m, as computed in RTK using corrections received from a static base.

One of the typical applications of Relative RTK is the constant monitoring of the position of a vessel relative to that of another vessel or to the jib of a crane used on a quay.

Two independent sets of corrections via:

• Internet (Ethernet, cellular modem, or WiFi), or

• UHF Radio

Corrections from static base to compute RTK position

Corrections from moving base to compute 3D-vector

3-D Vector

XYZ or

Lat-Lon-Height

Position

3-D Components

of Vector

RTK

Position

On the receiver’s General Status screen, the receiver will display “FIXED” (with short “FLOAT” transition time) when computing a position in RTK mode. The computed RTK position is diplayed after pressing . A new press on this button will display the components of the vector.

When at least one set of corrections is received and used, is displayed on the General Status screen together with the age of corrections (see General Status on page 28).

To configure the receiver in RTK+Relative RTK, use the Web Server as follows:

• Go to Receiver > Position > Rover Setup.

• Set Processing Mode to RTK + Relative RTK.

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• Select how the two sets of corrections are being transmitted to the receiver by setting Input Mode accordingly.

If you choose Automatic, the receiver will find by itself which of its ports are used to acquire the two sets of corrections.

If you choose Manual, you need to specify these two ports. The “BRV” line defines the port routing the corrections from a moving base allowing vector computation whereas the “RTK” line defines the port routing the corrections from a static base allowing position computation.

• Select the model of dynamics that suits the movement pattern of your rover best.

• Click Configure.

• Set the device used by the receiver to acquire the two sets of corrections:

– If corrections are received via radio, go to Receiver >

Radio to enter all radio parameters. You may use the internal radio or an external radio.

– If corrections are received over the Internet, go to

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Hot Standby RTK+

XYZ or

Lat-Lon-Height

Position

3-D Components

of Vector

Hot Standby RTK

Position

3-D Vector

Three independent sets of corrections via:

• Internet (Ethernet, cellular modem, or WiFi), or

• UHF Radio

Two sets of corrections from static base to compute RTK position

Corrections from moving base to compute 3D-vector

Relative RTK

This mode is similar to RTK+Relative RTK (see page 62) except that the RTK position is a “Hot Standby RTK” one (see also page 59). The combination of these two modes may be summarized as shown in the diagram below.

On the receiver’s General Status screen, the receiver will display “FIXED” (with short “FLOAT” transition time) when computing a position in Hot Standby RTK mode. The displayed age of corrections is always that of the corrections actually used in the position computation. The computed position is diplayed after pressing .

The components of the vector are visible in the Web Server (in Receiver > Position > Vectors tab on the right) or by programming an NMEA VCR or VCT message on one of the receiver ports (see Web Server’s I/Os tab).

When at least one set of corrections is received and used, is displayed on the General Status screen together with the age of corrections (see General Status on page 28).

To configure the receiver in Hot Standby RTK + Relative RTK, use the Web Server as follows:

• Make sure the Heading mode is off.

• Go to Receiver > Position > Rover Setup.

• Set Processing Mode to Hot Standby RTK + Relative RTK.

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• Select how the three sets of corrections are being transmitted to the receiver by setting Input Mode accordingly.

If you choose Automatic, the receiver will find by itself which of its ports are used to acquire the three sets of corrections.

If you choose Manual, you need to specify these three ports. The “BRV” line defines the port routing the corrections from a moving base allowing vector computation, whereas the “Standby RTK” lines define the ports routing the corrections (from one or two static bases), allowing position computation.

• Select the model of dynamics that suits the movement pattern of your rover best.

• Click Configure.

• Set the device used by the receiver to acquire the three sets of corrections:

– If corrections are received via radio, go to Receiver >

Radio to enter all radio parameters. You may use the internal radio or an external radio.

– If corrections are received over the Internet, go to

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Relative RTK Rover Reminder: Relative RTK refers to the ability for the SP90m to

3-D Components

of Vector

3-D Vector

One set of corrections from moving base via:

• Internet (Ethernet, cellular modem, or WiFi), or

• UHF Radio

Corrections from moving base to compute 3D-vector

compute and deliver the three components of the vector connecting it to a mobile base. The components of the vector are provided with centimeter accuracy.

One of the typical applications of Relative RTK is the constant monitoring of the position of a vessel relative to that of another vessel or to the jib of a crane on a quay.

On the receiver’s General Status screen, the receiver will display “AUTO” or “SDGPS” when computing a position in standalone or SBAS mode. The computed position is displayed after pressing .

When corrections are received and used, is displayed on the General Status screen together with the age of corrections (see General Status on page 28).

To configure the receiver in Relative RTK, use the Web Server as follows:

• Go to Receiver > Position > Rover Setup.

• Set Processing Mode to Only Relative RTK.

• Select how the corrections are being transmitted to the

receiver by setting Input Mode accordingly. If you choose Automatic, the receiver will find by itself which of its ports are used to acquire the corrections. If you choose Manual, you need to specify the port.

• Additionally, in the Other Settings section, you may change

the primary GNSS system used (GPS is the default selection) or change the Output Position Type field. Be

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Static or Moving

Base

aware the position computed in Relative RTK, in terms of accuracy, is an SBAS Differential position at best.

• Select the model of dynamics that suits the movement pattern of your rover best.

• Click Configure.

• Set the device used by the receiver to acquire the two sets of corrections:

– If corrections are received via radio, go to Receiver >

Radio to enter all the radio parameters. You may use the internal radio or an external radio.

– If corrections are received over the Internet, go to

Base corrections delivered via:

• Internet (Ethernet, cellular modem, or WiFi), or

• UHF Radio

Using the Web Server

To configure the receiver as a base, use the Web Server as follows:

• Go to Receiver > Position > Base Setup.

•Use the Station ID. field to enter the identification number. Remember, the station ID should comply with the type of correction data format it generates. As a reminder, this is the list of authorized numbers in relation to the format used:

– RTCM 2.3: 0-1023 – CMR/CMR+: 0-31 – ATOM & RTCM3.x: 0-4095

• Select whether the base is stationary (Static) or in motion (Moving).

If you choose Static, you need to specify the exact location of the base. You can do this in two different ways:

Page 26

– Type in the three geographical coordinates (Latitude,

Longitude, Height) of the base, as well as the position

on the antenna (Reference Position) for which these coordinates are given.

– Or click on the Get Current Position button to make the

currently computed position the new base position. In this case, it is assumed that the receiver actually calculates a position at the time you click the button.

As a result, the above three coordinates fields above are overwritten with the current computed position, and the Reference Position field is automatically set to “L1 Phase Center”.

NOTE: The antenna height was entered when specifying the number of antennas used (see page 55).

• Additionally, in the Other Settings section, you may change

the primary GNSS system used (GPS is the default selection).

• Click Configure.

• Set the device used by the receiver to send out its

corrections: – If corrections are broadcast via radio, go to Receiver >

Radio to enter all radio parameters. You may use the internal radio or an external radio.

– If corrections are broadcast over the Internet, go to

Receiver > Network to set the device used (this may be Ethernet, Modem or WiFi; more information about how to set up theses devices can be found in the relevant context-sensitive Help).

• You still have to set which corrections the base will

generate. This is detailed in Base Data Messages on page 76.

NOTE: You may also set a base to use a virtual antenna. This is required when a rover using the corrections from this base has no information on the model of GNSS antenna used at the base. In this case a virtual antenna can be used (ADVNULLANTENNA or GPPNULLANTENNA). If you don’t need a virtual antenna, just keep the Manufacturer field set to OFF.

Working from the Receiver Front Panel

The receiver user interface offers an alternative to the Web Server to set up a static base. Please follow the detailed procedure described in Base Mode on page 39).

Page 27

Using SP90m With Two Antennas

The reader is supposed to know how to run the Web Server (see Getting Started With the Web Server on page 46), and how to use the receiver user interface (see Receiver User Interface on page 26) before reading this section.

Remember, when using the Web Server, at any time you can access context-sensitive help by pressing this key:

Specifying the

Models of

Antennas Used

When using SP90m with two GNSS antennas, both GNSS input #1 and GNSS input #2 are used.

The setting described below is required prior to configuring the receiver in any of the operating modes described in the sections that follow.

Use the Web Server to specify the models of antennas connected to input #1 and input #2:

• Go to Receiver > Position > Sensors/Antennas Setup.

• Set Multi-Sensor Mode to Two Antennas or Two Antennas (L1 only on input#2) depending on the reception capability of the model of antenna you connect to input #2.

• Choose the point on the antenna for which you want the SP90m to compute the position (L1 phase center, ARP or ground mark).

• For each of the two antennas (primary and secondary antennas), describe the model and height of antenna used:

– Manufacturer – Antenna name and its RINEX name – Method used to measure the antenna height (i.e.

choice of the point on the antenna from which the height measurement is performed)

– Value of measured height according to the chosen

antenna measurement method.

NOTE 1: Entering the height only makes sense if you want to get the position of the ground mark.

NOTE 2: Antenna heights are not required when computing heading.

•Press Configure. The two antenna models are now set.

NOTE: When configuring a static base from the front panel, you will be able to select the antenna model used for the

Page 28

primary antenna. By default, if you leave the base mode to operate the receiver as a rover, the receiver will assume this antenna model is still used as the primary antenna. You cannot choose an antenna model for the secondary antenna using the front panel. This operation needs to be done within the Web Server.

SP90m Delivering

Heading

Measurements

The receiver will measure the heading angle of the vector connecting the secondary antenna to the primary antenna.

Heading

Baseline Vector

On the receiver’s General Status screen, the receiver will display “AUTO” or “SDGPS” indicating that the position for the primary antenna is either computed in autonomous or SDGPS mode respectively.

Press one of the vertical keys to see the computed position for the primary antenna (marked ) and the heading screen. No position is computed for the secondary antenna (marked ).

Use the Web Server to configure the receiver:

• Go to Receiver > Position > Heading Setup

• Set Mode to Heading. This automatically sets Input to

Internal.

•Use the Length Type field to choose the way you want the

receiver to specify the baseline, i.e. the distance between the primary and secondary antennas:

Page 29

– If it is assumed to be strictly fixed (the two antennas

XYZ or

Lat-Lon-Height

Position

of primary

antenna

XYZ or

Lat-Lon-Height

Position

of secondary

antenna

One or two sets of corrections via:

• Internet (Ethernet, cellular modem, or WiFi) or

• UHF Radio

are mounted on a unique, rigid support), select Fixed. With this option, you may set the receiver to autocalibrate the heading computation. In this case keep the Auto-Calibration option enabled. Or you may prefer to disable this option, in which case you will have to type in the exact length of the baseline, in meters (in the Vector Length field).

– If you think it may slightly vary over time (due to

support deformation, presence of wind, etc.), select Changing (Flex). If you choose this option, no autocalibration is required.

• Enter the possible two offsets in relation to your antenna installation (see GNSS Antennas Setup for Heading Measurements on page 19) as well as the maximum expected vertical angle (Max. Baseline Elevation) the baseline may present compared to the horizontal, and the permitted tolerance on the baseline length (Baseline Tolerance).

• Click Configure. The receiver starts operating in heading mode.

Dual-RTK Rover The SP90m may be configured to provide two RTK positions,

one per antenna. These results can subsequently be used to compute the heading angle resulting from the orientation of the two antennas, while providing an accurate position for each of these two antennas.

On the receiver’s General Status screen, the receiver will display “FIXED” (with short “FLOAT” transition time) when computing a position in RTK DGPS mode for the primary antenna.

Page 30

Press one of the vertical keys to see the computed position for the primary antenna (marked ) and the secondary antenna (marked ).

When corrections are received and used, is displayed on the General Status screen together with the age of corrections (see General Status on page 28).

To configure the receiver as a Dual RTK rover, use the Web Server as follows:

• Go to Receiver > Position > Rover Setup.

• Set Processing Mode to Dual RTK.

• Select how the corrections are being transmitted to the

receiver by setting Input Mode accordingly. If you choose Automatic, the receiver will find by itself

which of its ports are used to acquire corrections. If you choose Manual, you need to specify each of the two

ports. The “RTK-1” line will define the port routing the corrections allowing the receiver to compute the position of the primary antenna, whereas the “RTK-2” line will define the port routing the corrections allowing the receiver to compute the position of the secondary antenna.

NOTE: The same set of corrections, hence the same port, can be used for both antennas.

• Additionally, in the Other Settings section, you may change

• Select the model of dynamics that suits the movement

pattern of your rover best.

• Click Configure.

• Set the device used by the receiver to acquire corrections:

– If corrections are received via radio, go to Receiver >

Radio to enter all radio parameters. You may use the internal radio or an external radio.

– If corrections are received over the Internet, go to

start data reception in NTRIP or Direct IP mode.

Page 31

Dual-Relative RTK

3-D Components

of Vector

3-D Components

of Vector

3-D Vector

One or two sets of corrections from moving base via:

• Internet (Ethernet, cellular modem, or WiFi), or

• UHF Radio

Corrections from moving base to compute 3D-vector

3-D Vector

Corrections from moving base to compute 3D-vector

To configure the receiver as a Dual Relative RTK rover, use the Web Server as follows:

• Go to Receiver > Position > Rover Setup.

• Set Processing Mode to Dual Relative RTK.

• Select how the corrections are being transmitted to the receiver by setting Input Mode accordingly.

If you choose Automatic, the receiver will find by itself which of its ports are used to acquire corrections.

If you choose Manual, you need to specify each of the two ports and possibly the base antenna for which these corrections are computed and delivered (select N/A for a single-antenna base). The “BRV-1” line will define the port routing the corrections from a moving base allowing the receiver to compute the vector to the primary antenna, whereas the “BRV-2” line will define the port routing the corrections from a moving base allowing the receiver to compute the vector to the secondary antenna.

NOTE: The same set of corrections from the same moving base, hence the same port, can be used for both antennas.

Page 32

Typically you will choose RTK Position to match to the selected operating mode.

• Select the model of dynamics that suits the movement

pattern of your rover best.

• Click Configure.

• Set the device used by the receiver to acquire corrections:

– If corrections are received via radio, go to Receiver >

Radio to enter all radio parameters. You may use the internal radio or an external radio.

– If corrections are received over the Internet, go to

Receiver > Network to set the device used (this may be Ethernet, Modem or WiFi; more information about how to set up theses devices can be found in the relevant

context-sensitive Help).

Page 33

Programming Data Outputs

The reader is supposed to know how to run the Web Server (see Getting Started With the Web Server on page 46) before reading this section.

Remember, when using the Web Server, at any time you can access context-sensitive help by pressing this key:

• Go to Receiver > I/Os > Input Setup and Output Messages. In the right-hand part of the Web Server window, all

receiver ports are listed, and for each of them, you can read the message or messages currently programmed to be output on this port at the specified data rate(s).

• To add or modify a message on a port, click on the line corresponding to that port. This updates the left-hand part of the window from which you can add or modify as many messages as you wish.

You may need to re-select the matching category in the upper field to access the desired message. For example if NMEA and ATOM messages are programmed on a given port, re-select ATOM in the upper field to access the definition of the ATOM messages. Same applies to NMEA messages.

For any further question about how to handle messages, please refer to the on-line Help.

Rover Output

Messages

You will typically use a rover to generate NMEA messages to deliver its results (see complete list on page 78). Note that part of these results are also visible on the receiver front panel and in the right-hand section of the Web Server window.

You will typically use the receiver to output the following NMEA messages:

• One GNSS antenna used:

Output NMEA Message

Position (Autonomous, SDGPS, RTK, Hot Standby RTK or RTX)

Relative RTK VCR

GGA

Page 34

• Two GNSS antennas used:

Output NMEA Message

HDT

Heading

Dual RTK* GGA Dual Relative RTK* VCR

VCT HPR

* When the same types of NMEA messages are output on the same port for the two GNSS antennas, special markers are inserted into the flow of messages so that the recipient device can recognize which messages are coming from which antenna.

For example the output of GGA messages will look like this:

$PASHD,#1,123456.00,ABCD,BEG*cc<cr><lf>

$GPGGA,…

$PASHD,#1,123456.00,ABCD,END*cc<cr><lf> $PASHD,#2,123456.00,ABCD,BEG*cc<cr><lf>

$GPGGA,…

$PASHD,#2,123456.00,ABCD,END*cc<cr><lf>

Base Data Messages

Each NMEA message is inserted between a beginning (BEG) and end (END) marker (shown in bold characters in the example above). The marker header indicates for which antenna the NMEA message that immediately follows refers to. For example, a GGA message inserted between two “$PASHD,#1,..” lines means the message is about the primary antenna. Same for VCR.

You will typically use a base to generate ATOM RNX messages. RTCM and CMR/CMR+ are also possible options.

Program this output on port D if you are using the internal radio to broadcast these messages. Use port A, B or F if you are using an external radio connected to either of these serial ports.

Program this output on an IP port if your base is broadcasting its messages over the Internet:

• To an external NTRIP caster

• To the embedded NTRIP caster (see Web Server Online

Help file)

• To an external IP server (receiver in client mode)

• To port I (8888) or J (8889) (receiver in server mode) with

different modes (single or multiple connections).

Page 35

Raw Data

Recording

A default raw data output exists, which you should not modify unless you have specific needs. This output is made available on port M, which, at user’s choice, stands for either the receiver’s internal memory or a USB device (USB key or hard disk). Port M is the port used to save the collected raw data as a G-file.

This output consists of the following ATOM messages:

• PVT: Positioning results

• ATR: Attributes (antenna parameters, receiver description)

• NAV: Satellite navigation information

• DAT: Raw navigation data

• RNX-0: Receiver observations

• OCC: Site occupation information

G-files can be processed in SPSO (Spectra Precision Office Software) or by the RINEX converter utility.

When two antennas are used, note that by default, only PVT, ATR and RNX-0 are recorded for the secondary antenna.

Page 36

Available NMEA

Messages

See details in Appendix.

Name Description

ALR Alarms ARA True heading ARR Vector & Accuracy ATT True heading AVR Time, yaw, tilt BTS Bluetooth sta tus CAP Received base antenna CPA Received antenna height CPO Received base position DDM Differential decoder message DDS Differential decoder status DTM Datum Reference GBS GNSS Satellite Fault Detection GGA GNSS position message GGK GNSS position message GGKX GNSS position message GLL Geographic position - Latitude/Longitude GMP GNSS Map Projection Fix Data GNS GNSS Fix Data GRS GNSS Range Residuals GSA GNSS DOP and Active Satellites GST GNSS Pseudo-range Error Statistics GSV GNSS Satellites in View HDT True heading HPR True heading LTN Latency MDM Modem state and parameter POS Position PTT PPS time tag PWR Power status RCS Recording status RMC Recommended Minimum Specific GNSS Data SBD BEIDOU Satellites Status SGA GALILEO Satellites Status (E1,E5a,E5b) SGO GALILEO Satellites Status (E1,E5a,E5b,E6) SGL GLONASS Satellites Status SGP GPS Satellites Status SIR IRNSS Satellites Status SLB L-Band Satellites Status SQZ QZSS Satellites Status SSB SBAS Satellites Status TEM Receiver temperature THS True heading and status TTT Event marker VCR Vector and accuracy VCT Vector and accuracy VEL 3D velocity and velocity accuracy VTG Course Over Ground and Ground Speed ZDA Date and time

Page 37

Appendices

Specifications GNSS Engine

• 480 GNSS tracking channels:

• Two MSS L-band tracking channels

• Two GNSS antenna inputs

Features

• Patented Z-tracking to track encrypted GPS P(Y) signal

• Patented Strobe™ Correlator for reduced GNSS multi-

• Patented Z-Blade technology for optimal GNSS

– GPS L1 C/A, L1P (Y), L2P (Y), L2C, L5, L1C – GLONASS L1 C/A, L1P, L2 C/A, L2P, L3, L1/L2 CDMA – GALILEO E1, E5a, E5b

– BeiDou B1, B2, B3 – QZSS L1 C/A, L1 SAIF, L1C, L2C, L5 –IRNSS L5 – SBAS L1 C/A, L5

path

performance: – Highest quality of raw data (availability/reliability) to

meet reference station applications

– Full utilization of signals from all seven GNSS systems

(GPS, GLONASS, BeiDou, Galileo, QZSS, IRNSS, and SBAS)

– Enhanced GNSS-centric algorithm: fully-independent

GNSS signal tracking and optimal data processing, including GPS-only, GLONASS-only or BeiDou-only

solution (autonomous to full RTK) – Fast and stable RTK solution – Fast Search engine for quick acquisition and re-

acquisition of GNSS signals

(1)

(2)

• Patented SBAS ranging for using SBAS code & carrier observations and orbits in RTK processing

• Position in local datums and projections with RTCM-3 transformation data

• Support for Trimble RTX™ real-time correction services

• Trimble RTX™ PPP engine

• Hot Standby RTK Algorithms

• Flying RTK Algorithms

Page 38

• RTK base and rovers modes, post-processing mode

• Moving base

– RTK with Static & Moving Base corrections supported – Multi-dynamic mode (static/moving Base and Rover

functions simultaneously) – RTK against a moving base for relative positioning – Adaptive velocity filter to meet specific dynamic

applications

• Heading and Roll/Pitch – Accurate and fast heading using dual-frequency,

multi-GNSS algorithms

– RTK or Trimble RTX and heading processing

simultaneously

– Heading engine with optional baseline length self-

calibration

– Adaptive velocity filter to meet specific dynamic

applications

• Up to 50 Hz real-time raw data (code & carrier and position, velocity, and heading output)

• Reference Inputs/Outputs: RTCM 3.2

2.3/2.1, CMR/CMR+, CMRx

(5)

, ATOM

(3)

(4)

, RTCM 3.1/3.0/

(6)

• Supported RTK networks: VRS, FKP, MAC

• NTRIP protocol

• Navigation outputs: NMEA-0183, ATOM

• PPS output

• Event marker input

• UHF networking

• One-push Ashtech Trouble Log (ATL)

GNSS Sensor Performance

• Time to First Fix (TTFF): – Cold start: < 60 seconds – Warm Start: < 45 seconds – Hot Start: < 11 seconds – Signal re-acquisition: < 2 seconds

• Position accuracy (HRMS), SBAS: < 50 cm (1.64 ft)

• Update rate: Up to 50 Hz

• Latency: < 10 ms

(8)

• Velocity Accuracy: 0.02 m.sec HRMS

(3)

(7)

Page 39

• Maximum Operating Limits

(9)

– Velocity: 515 m/sec – Altitude: 18,000 m

Precise Positioning Performance

Real-Time Accuracy (RMS)

• Real-Time DGPS Position: – Horizontal: 25 cm (0.82 ft) + 1 ppm – Vertical: 50 cm (1.64 ft) + 1 ppm

• Real-Time Kinematic Position (RTK): – Horizontal: 8 mm (0.026 ft) + 1 ppm – Vertical: 15 mm (0.049 ft) + 1 ppm

(12)

• Network RTK

: – Horizontal: 8 mm (0.026 ft) + 0.5 ppm – Vertical: 15 mm (0.049 ft) + 0.5 ppm

(10) (11)

Trimble RTX™ (Satellite and Cellular/Internet (IP))

(13) (14)

• CenterPoint® RTX – Horizontal (HRMS): < 4 cm – Initialization: < 30 min. (typical) – Operating range (inland): Nearly worldwide

• CenterPoint RTX Fast – Horizontal (HRMS): < 4 cm – Initialization: < 5 min. (typical) – Operating range (inland): In select regions

Heading

(15) (16) (17)

• Accuracy (RMS): 0.2° per 1 m of baseline length

• Initialization time: < 10 sec typical

• Baseline length: < 100 m

Flying RTK

• 5 cm (0.165 ft) + 1 ppm (steady state) horizontal for baselines up to 1000 km

Page 40

Real-Time Performance

(10) (11)

• Instant-RTK® Initialization:

– Typically 2-second initialization for baselines < 20 km – Up to 99.9% reliability

• RTK initialization range:

–> 40 km

Post-Processing Accuracy (RMS)

(10) (11)

Static, Rapid Static:

• Horizontal: 3 mm (0.009 ft) + 0.5 ppm

• Vertical: 5 mm (0.016 ft) + 0.5 ppm

High-Precision Static

(18)

• Horizontal: 3 mm (0.009 ft) + 0.1 ppm

• Vertical: 3.5 mm (0.011 ft) + 0.4 ppm

Post-Processed Kinematic:

• Horizontal: 8 mm (0.026 ft) + 0.5 ppm

• Vertical: 20 mm (0.065 ft) + 1.0 ppm

Data Logging Characteristics

• Recording Interval: 0.02

(19)

-999 seconds

Memory

• 8 GB internal memory

• Memory is expandable through external USB sticks or

hard drives

• Over four years of 15 sec. raw GNSS Data from 14

satellites (logged to internal 8GB Nand Flash)

Embedded Web Server

• Password-protected Web Server

• Full receiver monitoring and configuration

• FTP push function

• Embedded FTP server and NTRIP caster

• NTRIP Server and instant real-time multi-data streaming

over Ethernet

• DHCP or manual configuration (static IP address)

• DynDNS® technology support

(20)

Page 41

User and I/O Interface

• User Interface: – Graphical OLED display with 6 keys and 1 LED – WEB UI (accessible via WiFi or Ethernet) for easy

configuration, operation, status and data transfer

• I/O interface: –1 x USB OTG – Bluetooth v4.0 + EDR/LE, Bluetooth v2.1 + EDR – WiFi (802.11 b/g/n) – 3.5G quad-band GSM (850/900/1800/1900 MHz) /

penta-band UMTS module (800/850/900/1900/2100 MHz)

– 1 x Ethernet, RJ45 (Full-Duplex, auto-negotiate 10

Base-TX / 100 Base-TX)

– 1 x Lemo, RS232 (radio connection and external

power) – 1 x DB9, RS232 (PPS output and CAN bus) – 1 x DB9, RS422/232 (Event marker input) – 2 x TNC, GNSS antenna input – 1 x TNC, UHF radio antenna connector – 1 x SMA, GSM antenna connector – 1 x SMA, Bluetooth/WiFi antenna –PPS output – Event marker input – Galvanic Insulation (Except USB) – Ready for CAN bus (NMEA 2000 compatible)

Physical and Electrical Characteristics

• Size: 16.5 x 20.6 x 6.5 cm (6.5 x 8.1 x 2.6 in)

• Weight: GNSS receiver: 1.66 kg (3.66 lb) without UHF /

1.70 kg (3.75 lb) with UHF

• Battery life: – 4 hrs (RTK Base, GNSS On, UHF Tx On), 12.8 W

average power consumption

– 6 hrs (RTK Rover, GNSS On, UHF Rx On), 5.9 W

average power consumption

• Li-ion battery, 27.8 Wh (7.4 V x 3.7 Ah). Acts as a UPS in case of a power source outage

• 9-36 V DC input (EN2282, ISO7637-2)

• External DC power limits feature

Page 42

Environmental Characteristics

• Operating temperature

(21)

: -40° to +65°C

+149°F)

(23)

• Storage temperature

: -40° to +95°C (-40° to +203°F)

• Humidity: Damp Heat 100% humidity, + 40°C (+104°F);

IEC 60945:2002

• IP67 (waterproof and dustproof): IEC 60529

• Drop: 1m drop on concrete

• Shock: MIL STD 810F (fig. 516.5-10) (01/2000).

Sawtooth (40g / 11ms)

• Vibrations: MIL-STD 810F (fig. 514.5C-17) (01/2000)

(1) Product is designed to fully support BeiDou B3 signals as soon as the officially published signal Interface Control Documentation (ICD) becomes available. (2) All available GNSS signals are processed equally and combined without preference to any particular constellation for optimal performance in harsh environment. (3) 50 Hz output is available as firmware option (20 Hz output is a standard feature). At 50 Hz, a limited set of messages can be generated simultaneously through a single port. (4) RTCM-3.2 Multiple Signal Messaging (MSM) guarantees compatibility with 3rd party for each GNSS data. (5) A Trimble proprietary format. (6) ATOM: Open Ashtech format. (7) VRMS for Autonomous/SBAS positions are usually twice as h igh as HRMS. (8) Heading latency is usually twice as high. (9) As required by the U.S. Department of C ommerce to comply with export licensing restrictions. (10) Accuracy and TTFF specifications may be affe cted by atmospheric conditions, signal multipath and satellite geometry. (11) Performance values assume minimum of five satellites, following the procedures recommended in the user guide. High multipath areas, high PDOP values and periods of severe atmospheric conditions may degrade performance. (12) Network RTK PPM values are referenced to the closest physical base station. (13) Requires L1/L2 GPS+GLONASS at a minimum. (14) Accuracy and TTFF specifications may be affe cted by atmospheric conditions, signal multipath, satellite geometry and L-band service availability. Trimble RTX correction services are only available on land. (15) Accuracy and TTFF specifications may be affe cted by atmospheric conditions, signal multipath, satellite geometry and corrections availabilit y and quality (16) L1/L2 data required. (17) Figures of pitch accuracy are twice as high. (18) Depending on baselines, precise ephemeris and long occ upations up to 24 hrs may be required to achieve the high precision static specif ications.

(22)

(-40° to

Page 43

(19) A Recording Interval of 0.05 is based on a 20 Hz output. The default changes to 0.02 if the optional 50 Hz output firmware option is installed. (20) Embedded NTRIP Caster is available as firmware option. (21) Depends on whether the internal battery is used or not:

- With internal battery being charged: +45°C (+113°F) max.

- With internal battery being discharged: +60°C (+140°F)

- Without internal battery (external power supply): +65°C (+149°F) under conditions of installation. At very high temperature, the UHF module should not be used in transmitter mode. With the UHF transmitter on radiating 2W of RF power, the operating temperature is limited to +55°C (+131°F). (22) At this temperature, hand protection may be needed to safely hand le the system’s lower aluminum housing (as per EN60945). (23) Without battery. Battery can be stored up to +70°C (+158°F).

NOTE: All performance values are given assuming a minimum of five satellites are used, and following the procedures recommended in the user guide. High multipath areas, high PDOP values and periods of severe atmospheric conditions may degrade performance.

Page 44

1PPS Output This output delivers a periodic signal that is a multiple or

1PPS with Offset= 0

GPS time

1PPS with Offset= - x.x sec

1PPS with Offset= + x.x sec

submultiple of 1 second of GPS time, with or without offset. Using the 1PPS output is a standard feature of the receiver

(no firmware option needed). The 1PPS output is available on port F, pin 9. You can set the properties of the 1PPS signal using the

$PASHS,PPS command. These properties are:

• Period: a multiple (1 to 60) or submultiple (0.1 to 1 in

0.1-second increments) of 1 second of GPS time.

• Offset: Amount of time in seconds before (+) or after (-) a

full second of GPS time.

• Active edge, i.e. the edge (falling or rising) synchronized

with GPS time. (On the diagram above, the rising edge is set to be the active edge)

You can read the current properties of the 1PPS output using the $PASHR,PPS command.

The signal specifications for the 1PPS output are as follows:

• Signal level: 0-5 V

• Pulse duration: 1 ms

• Jitter: < 100 ns

• Slope transient time: < 20 ns

You can also output the exact GPS time of the active edge of the 1PPS output signal using the $PASHR,PTT command. The receiver will respond to this command right after the next 1PPS signal is issued, taking into account the chosen offset.

Page 45

Event Marker Input This input is used to time-tag external events. When an

external event is detected on this input, the corresponding GPS time for this event is output as a $PASHR,TTT message on any port. The time tag provided in the message represents the exact GPS time of the event to within 1 μsecond. A single message is output for each new event.

Using the event marker input is a standard feature of the receiver (no firmware option needed).

The event marker input is located on port B, pin 7. You can choose whether it will be the rising or falling edge of

the event marker signal that will trigger the time tagging of the event. This choice can be done using the $PASHS,PHE command.

The signal specifications of the event marker input are as follows:

• Signal level: ± 10 V

• Permitted transient time on active edge: < 20 ns

Resetting the

Receiver

With the SP90m turned off, press the two horizontal arrow keys (right and left) AND the Power button simultaneously for a few seconds until the power LED turns green.

This starts the receiver. The screen first displays the logo, then Reset mode is displayed for a while. At the end of this sequence, all receiver factory settings are restored.

The following parameters, functions and devices are not impacted by the reset sequence:

• Last ephemeris data saved in the receiver (except for SBAS data)

• Last almanac data saved in the receiver

• Last position and time computed by the receiver

• Anti-theft status and parameters

• Startup protection status and parameters

• Ethernet device power status (will remain ON if it was ON before, or OFF if it was OFF) as opposed to all other devices (WiFi, Modem, Bluetooth)

• All settings (PIN code, APN, login, password, etc.) relevant to modem, Bluetooth, WiFi, Ethernet, Web Server

• SMS phone list, email address list and settings

• Automatic power-on and power-off settings

• Receiver validity period.

Page 46

Upgrading the

Receiver Firmware

This can be done in different ways:

• Using the Web Server. Go to Receiver > Configuration >

Firmware Upgrade.

• USB key + OLED display (see page 37).

• USB key + key combination at receiver startup (see

page 44).

•Using the SP Loader software utility (see below).

SP Loader

Software Utility

Use Spectra Precision SP Loader software to:

1. Upgrade the receiver firmware

2. Install new firmware options based on the use of a POPN

delivered to you following the purchase of one of these options.

3. Validate CenterPoint RTX subscription.

4. Read the warranty expiration date of a GNSS receiver.

Installing SP Loader

SP Loader can be downloaded from:

http://www.spectraprecision.com/eng/sp90m.html#.WUjSUdxLdhE

(Click on the Support tab to access the download link.)

The install file is an executable file. Simply double-click on this file to start installation. Follow the instructions on the screen to complete the installation.

Getting Started With SP Loader

SP Loader will use either a serial (RS232), Bluetooth or USB connection to communicate with the receiver. USB is recommended.

1. Connect your computer to the SP90m using a USB

connection.

2. Run SP Loader on your computer.

3. Select the computer’s port ID used to communicate with

the receiver. This port ID should correspond to the computer’s USB port.

NOTE: An easy way to identify which port ID on your computer is the USB port is to run SP Loader first without the USB connection and read the list of available ports in SP Loader. After restoring the USB connection with the receiver, check that list again. An extra port ID will then be listed, being the one assigned to the USB port. Select that port. (You don’t need to define a baud rate for a USB port.)

Page 47

You are not allowed to

upgrade a receiver if anti-

theft or/and start up protection is active or if the receiver is operated with an

in-progress or expired

validity period.

4. To upgrade receiver firmware, install a new firmware option or validate a CenterPoint RTX subscription, see sub-sections below.

Upgrading Receiver Firmware

Firmware upgrades will be downloadable from the Spectra Precision website in the form of compressed “.tar” files. The name of the “.tar” file, as well as the step-by step upgrade procedure will be given in the accompanying Release Note.

Completing a firmware upgrade procedure will take up to 10 minutes. For this reason, it must be run with the receiver powered from either a properly charged internal battery or using an external power source.

Unless otherwise specified in the Release Note attached to the upgrade package, follow the instructions below to complete the upgrade of your receiver:

1. Follow the first three steps described in Getting Started With SP Loader on page 88.

2. Click Upgrade. Wait until SP Loader has detected the receiver.

3. Browse your computer in search of the upgrade file.

4. Select the file and click Open. SP Loader then provides information on the currently installed firmware, the new firmware as well as the current state of the battery (if the internal battery is used).

This should tell you if you can run the upgrade with the battery, or rather use a fresh one or an external power supply.

5. When you are ready, click on the Update button.

6. Let the receiver proceed with the upgrade (a status window is displayed showing a progress bar). Ensure the receiver is not turned off while installation is in progress.

7. After successful completion of the upgrade, click Close to close the status window. Check that the new firmware is

Page 48

now installed (version and date displayed in the SP Loader main window).

8. Click Close again, then Exit to quit SP Loader.

Installing a Firmware Option

Before you start this procedure, make sure you have received an email from Spectra Precision containing the POPN (Proof Of Purchase Number) corresponding to the firmware option you have purchased.

NOTE : Your computer needs an Internet connection to install a firmware option using a POPN.

With the POPN now in your possession, do the following to install a new firmware option:

• Follow the first three steps described in Getting Started

With SP Loader on page 88.

• Click Option. Wait until SP Loader has detected the

receiver. SP Loader then displays the serial number of your receiver

and prompts you to enter the POPN. (There is an alternate method to activate a firmware

option, which is to enter the option key (provided by Spectra Precision) corresponding to the desired firmware option, and to specify that option in the nearby field.)

• Enter the POPN and then click on Update. Let the receiver

proceed with the installation of the firmware option (a status window is displayed showing a progress bar).

Ensure the receiver is not turned off while installation is in progress.

• After successful completion of the installation, click Close

to close the status window.

• Click Close again, then Exit to quit SP Loader.

Page 49

Activating a CenterPoint RTX Subscription

After you have purchased a CenterPoint RTX subscription, Trimble Positioning Services will email you an activation code.

Use the same procedure as the one used to install a firmware option (see page 90; the available RTX subscriptions are listed as firmware options). The only difference is that no POPN is provided for this procedure. Just enter the code provided by Trimble Positioning Services and specify the type of subscription you purchased before you click Update.

Reading Receiver Warranty Expiration Date

SP Loader can be used to query the Spectra Precision database for the warranty expiration date of your GNSS receiver. (After a receiver warranty has expired, remember receiver firmware upgrades are no longer free of charge.)

You don’t need to have your receiver connected to SP Loader to read its warranty expiration date. Just enter its type and serial number and SP Loader will return this information to you, provided there is an active Internet connection on your computer, and your receiver is known to the database.

•Run SP Loader on your computer.

• Click on Warranty

• Select the type of your receiver and enter its serial number

• Click on Compute. SP Loader returns the warranty expiration date in a field underneath the Compute button.

Additionally, SP Loader generates a proprietary command that you can run in your receiver if you want to be sure your receiver has the correct warranty expiration date in memory. Carefully write down this command

Use Terminal Window in Survey Pro, or GPS Utility > Send Command in FAST Survey to apply this command to the receiver.

NOTE: When upgrading the receiver firmware using a computer with an Internet connection, be aware SP Loader will at the same time automatically check the warranty expiration date of your receiver. SP Loader will ask you if it can update this date if it is found wrong.

Page 50

SP File Manager

[2]

[1]

[3]

[4]

Software Utility

SP File Manager allows you to copy “log” files and G-files directly from the receiver’s internal memory to the desired folder on your office computer.

Additionally you can delete any G-file or “log” file from the receiver’s internal memory.

G-files are GNSS raw data files in proprietary format (ATOM). “Log” files are editable text files listing all the operations performed by the receiver in one day.

SP File Manager is available from the Spectra Precision website as an executable file (SPFileManagerSetup.exe) through the link below:

http://www.spectraprecision.com/eng/sp90m.html#.WUjSUdxLdhE

(Click on the Support tab to access the download link.)

Installing SP File Manager

SP File Manager is very easy to install:

• Download the executable file from the Spectra Precision

website (use above link).

• Double-click on the file to complete the installation.

Connecting SP90m to your Computer

SP File Manager will use either a serial (RS232), Bluetooth or USB connection to communicate with the receiver. USB is recommended.

Getting Started With SP File Manager

Double-click on . The SP File Manager window which then appears is detailed below.

Page 51

[1]: SP File Manager toolbar. This toolbar consists of the following items:

• Port and baud rate scroll-down lists: Let you choose which serial port is used on computer side for the connection with the receiver (baud rate only makes sense when an RS232 serial line is used). Use 115200 Bd to communicate with SP90m.

• Connect / Refresh button: Connect allows you to activate the connection between the computer and the receiver via the chosen serial line.

When the connection is established, the button is changed into Refresh, which allows you to update the content of the two SP File Manager panes ([2] and [3] described below)

• Disconnect button: Allows you to deactivate the connection currently established between the computer and the receiver.

• Copy button: Copies the file(s) selected in pane [3] to pane [2]. In pane [2], you have to open the folder where to copy to before clicking on the Copy button.

NOTE: Copied files have different creation dates and times compared to those of their respective original files. The new dates and times are those corresponding to when the files were copied.

• Delete button: Deletes the files currently selected in pane

[2] or [3].

[2]: Pane showing the content of the currently open folder on

computer side. [3]: Pane showing the content of the currently open folder on

receiver side. The receiver’s root folder contains two to three sub-folders:

• Internal memory: Lists all G-files recorded by the receiver in its internal memory

• Log files: Contains log files (one per day). Each log file lists all the actions performed by the receiver in one day.

• USB key, if one is currently connected to the receiver.

To open a folder, double-click on it. To go back to the parent folder, click on . [4]: Pane showing copy/delete operations in progress, and all

those completed since the connection with the receiver was established. This pane is cleared at the beginning of each new working session of SP File Manager.

Page 52

Establishing a Connection with the Receiver

• Set up the USB connection between the computer and

receiver.

• Turn on the receiver.

• Launch SP File Manager on your computer. This opens the

SP File Manager window.

• Select the right COM port (see also the Note in Getting

Started With SP Loader on page 88) and then click on the Connect button.

As a result, the pane on the right-hand side of the window lists the two or three folders that can be seen on the receiver.

Copying Files to the Office Computer

• In the right-hand side of the window, double-click on the

sub-folder containing the files you want to copy to the computer.

(If needed, click on to go back to the parent folder and open another sub-folder.)

• In the left-hand side of the window, browse your computer

to the folder where to copy the files (recipient folder).

• In the right-hand side of the window, highlight the file(s)

you want to copy.

• Click on the Copy button. Files are then copied, as

requested. The lower part of the screen provides reports information on the copy operations in progress.

Deleting Files from the Receiver

• In the right-hand side of the window, double-click on the

sub-folder containing the files you want to delete from the receiver.

(If needed, click on to go back to the parent folder and open another sub-folder.)

• Still in the right-hand side of the window, highlight the

file(s) you want to delete.

• Click on the Delete button. Files are then deleted. The

lower part of the screen provides reports information on the delete operations in progress.

Page 53

UHF Networking This feature allows a rover to receive corrections from up to

Base 1 Base 2

three different bases broadcasting separately their corrections via radio, on the same frequency channel, but at different times so the rover can receive these corrections properly.

UHF networking can be implemented in SP90m provided you use Survey Pro as the field software.

UHF networking may be used in two different modes:

• Manual: The rover operator chooses which of the bases to work with. The bases will all be within range so the operator can change the base used at all times (see diagram below).

Typically, the manual mode is used when redundancy is required in terms of corrections availability within a working area. On the diagram below, the darker area represents the area where the rover can operate from any of the two bases.

• Automatic: The rover will automatically switch to the base within range that provides the best quality of corrections. Typically the automatic mode is used when you need to extend the UHF radio coverage.

Base 1 Base 2

Base 3

Implementing UHF networking on rover side consists of:

1. Activating this mode.

2. Choosing between automatic or manual selection of the base used. In Survey Pro, this setting is accessible from the GNSS Status function after you have started a survey.

Selecting the manual mode means specifying the ID of the base you would like to work with.

Page 54

NMEA Messages ALR: Alarms

$PASHR,ALR,d1,d2,c3,s4,d5,s6*cc

Parameter Description Range

d1 Alarm code 0-255 d2 Alarm sub-code 0-255

Stream ID reporting the alarm (if relevant, otherwise blank field):

• A, B, F: Serial port

• U: USB serial port

s4 Alarm category

s6 Description *cc Checksum *00-*FF

• C, H, T: Bluetooth port

• D: Internal ra dio

• E: CSD modem

• P, Q: TCP/IP client stream

• I, J: TCP/IP client server

• M: G-file

Alarm level:

• 0: Low

• 1: Medium

•2: High

A-F, H-J, M, P, Q, U

BLUETOOTH, INPUT, MEMORY MODEM, NETWORK, OTHER, POWER, PVT, RADIO, WIFI

0-2

ARA: True Heading

This message delivers either pitch- OR roll-related data (speed, accuracy), not both at the same time, depending on how the antennas are installed.

$PASHR,ARA,f1,m2,f3,f4,f5,f6,f7,f8,f9*cc

Parameter Description Range

f1 “0” when message content is valid m2

f3 Heading speed, in degrees/sec

f4 Pitch speed, in degrees/sec

f5 Roll speed, in degrees/sec f6 Heading RMS accuracy, in degrees

f7 Pitch RMS accuracy, in degrees f8 Roll RMS accuracy, in degrees f9 (Empty) *cc Checksum *00-*FF

Current UTC time of attitude fix (hhmmss.ss)

000000.00-235959.99 “-”: Turn bow left

“+”: Turn bow right “-”: Downwards

“+”: Upwards “-”: To port (left)

“+”: To starboard (right)

Page 55

ARR: Vector & Accuracy

$PASHR,ARR,d0,d1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,d13,d14,d15,d16*cc

Parameter Description Range

d0 Vector number 1, 2, 3

Vector mode:

• 0: Invalid baseline

• 1: Differentia l

• 2: RTK float

m3 UTC time (hhmmss.ss)

f6 f7 1st coordinate of standard deviation 99.999

f8 2nd coordinate of standard deviation 99.999 f9 3rd coordinate of standard deviation 99.999 f10 1st/2nd coordinate correlation ±99.999999 f11 1st/3rd coordinate correlation ±99.999999 f12 2nd/3rd coordinate correlation ±99.999999

c13 Reference data ID

d14

d15

d16

*cc Checksum *00-*FF

• 3: RTK fixed

• 5: Other (dead reckoning, bad accuracy, difference between standalone positions). Messages with d1=5 may further be masked if users only want proven vector estimates.

Number of SVs used in baseline computation (L1 portion)

Delta antenna position, ECEF 1st coordinate (in meters)

Delta antenna position, ECEF 2nd coordinate (in meters)

Delta antenna position, ECEF 3rd coordinate (in meters)

Vector coordinate frame ID:

• 0: XYZ

Vector operation:

• 0: Fixed mode (vector length is constrained)

• 1: Calibration (vector length is being calibrated)

• 2: Flex mode

Clock assumption:

• 0: Clock is assumed to be different for the “head” and “tail” of the vector (see Comments below)

• 1: Clock is assumed to be the same for the “head” and “tail” of the vector (see Comments below)

0-3, 5

0-99

000000.00-

235959.99 ±99999.999

±99999.999

±9999.999

1, 2, port letter

0-2

Page 56

ATT: True Heading

This message delivers either pitch OR roll angles, not both at the same time, depending on how the antennas are installed.

$PASHR,ATT,f1,f2,f3,f4,f5,f6,d7*cc

Parameter Description Range

f1 Week time in seconds. 000000.00-604799.99 f2 True heading angle in degrees. 000.00-359.99999 f3 Pitch angle in degrees. ±90.00000 f4 Roll angle in degrees. ±90.00000

f6 Baseline RMS error, in meters.

*cc Checksum *00-*FF

Carrier measurement RMS error, in meters.

Integer ambiguity is “Fixed” or “Float”:

•0: Fixed

• >0: Float

Full range of real variables

0, >0

AVR: Time, Yaw, Tilt

$PTNL,AVR,m1,f2,Yaw,f3,Tilt,,,f4,s5,f6,d7*cc

Parameter Description Range

m1 Current UTC time of vector fix (hhmmss.ss) f2,Yaw Yaw angle, in degrees.

f3,Tilt Tilt angle, in degrees. f4 Range, in meters

GNSS quality indicator:

• 0: Fix not available or invalid

f6 PDOP 0-9.9 d7 Number of satellites used in solution *cc Checksum *00-*FF

• 1: Autonomous GPS fix.

• 2: Differential carrier phase solution RTK (float)

• 3: Differential carrier phase solution RTK (fixed)

• 4: Differential code-based solution

000000.00-

235959.99

0-4

Page 57

BTS: Bluetooth Status

$PASHR,BTS,C,d1,s2,s3,d4,H,d5,s6,s7,d8,T,d9,s10,s11,d12*cc

Parameter Description Range

Port C:

C,d1

s2 Device name connected to port C 64 char. max. s3 d4 Bluetooth link quality fo r the port C connection 0-100

H,d5

s6 Device name connected to port H 64 char. max. s7 d8 Bluetooth link quality fo r the port H connection 0-100

T,d9

s10 Device name connected to port T 64 char. max. s11 d12 Bluetooth link quality for t he port T connection 0-100

*cc Checksum *00-*FF

• 0: Not connected

• 1: A device is connected

Device address connected to port C(xx:xx:xx:xx:xx:xx)

Port H:

• 0: Not connected

• 1: A device is connected

Device address connected to port H (xx:xx:xx:xx:xx:xx)

Port T:

• 0: Not connected

• 1: A device is connected

Device address connected to port T (xx:xx:xx:xx:xx:xx)

0, 1

17 char.

0, 1

17 char.

0, 1

17 char.

CAP: Received Base Antenna

$PASHR,CAP,s1,f2,f3,f4,f5,f6,f7*cc

Parameter Description

s1 Antenna name, “NONE” if no name received for the base antenna. f2 L 1 Nort h o ffs et, in mm f3 L1 East offset, in mm f4 L1 Up offset, in mm f5 L 2 Nort h o ffs et, in mm f6 L2 East offset, in mm f7 L2 Up offset, in mm *cc Checksum

Page 58

CPA: Received Antenna Height

$PASHR,CPA,f1,f2,f3,m4,f5*cc

Parameter Description Range

f1 f2 Antenna radius, in meters 0-9.9999

f3 Vertical offset, in meters 0-99.999 m4 Horizontal azimuth, in degrees, minutes (dddmm.mm) 0-35959.99 f5 Horizontal distance, in meters 0-99.999 f2, f3, m4, f5 Not applicable, all empty fields *cc Checksum *00-*FF

Antenna height, in meters. This field remains empty as long as no antenna height has been received.

0-99.999

CPO: Received Base Position

$PASHR,CPO,m1,c2,m3,c4,f5*cc

Parameter Description Range

m1 c2 North (N) or South (S) N, S m3 c4 West (W) or East (E) W, E

f5 Height in meters ±99999.999 *cc Checksum *00-*FF

Latitude in degrees and minutes with 7 decimal places (ddmm.mmmmmmm)

Longitude in degrees, minutes with 7 decimal places (dddmm.mmmmmmm)

0-90

0-180

DDM: Differential Decoder Message

$PASHR,DDM,c1,s2,s3,d4,s5,f6,f7,s8*cc

Parameter Description Range

c1 Port recei ving corr ec ti ons A-E, I, P, Q, Z s2 Message transport RT2, RT3, CMR, CMX or ATM

s3 Message number/identifier d4 Counter of decoded messages 0-9999

s5 Base ID f6 f7 Age of corrections, in seconds

s8 Attribute 60 characters max. *cc Checksum *00-*FF

Time tag, in seconds, as read from the decoded message

e.g. 1004 for RT3, RNX for ATM, etc.

100

Page 59

DDS: Differential Decoder Status

$PASHR,DDS,d1,m2,d3,c4,s5,c6,d7,d8,d9,d10,d11,f12,f13,d14,n(d15, f16,f17)*cc

Parameter Description Range

Differential decoder number.

m2 GNSS (output) time tag 000000.00-235959.99 d3

d9 d10 Standard of latency, in milliseconds 0-16383

d11 Mean latency, in milliseconds 0-16383 f12 Mean epoch interval, in seconds 0.00-3600 f13 Min. epoch interval, in seconds 0.00-3600

d14

d15 Message type

f16 Interval of last message, in seconds 0.000-1023.000 f17 Age of last message, in seconds 0.000-1023.000 *cc Checksum

“1” corresponds to first decoder, etc. An empty field means the decoder used is not known.

Number of decoded messages since last stream change

ID of port from which corrections are received

Protocol detected (empty means “no data”)

Time window, in seconds:

• “0” if not defined or just initialized

• “200” means equal to or greater than 200

Percentage of estimated overall data link quality/availability. Empty if not defined.

Percentage of deselected information. Empty if not defined.

CRC percentage. Empty if not defined.

Number (n) of different messages detected since last stream change

1-4

0-127

A-E, I, P, Q, Z RT2, RT3, CMR, ATM,

CMX

0-200

0-100

0-63 RT2: 1-63

RT3: 1001-4094 CMR: 0(obs), 1(loc), 2(desc), 3(glo), 12(cmr+), 20 (glo encrypted) ATM: 0-15 CMX: no message reported

101

Page 60

DTM: Datum Reference

$GPDTM,s1,,f2,c3,f4,c5,f6,s7*cc

Parameter Description Range

Local datum code:

• W84: WGS84 used as local datum

f2 Latitude offset, in meters 0-59.999999 c3 Direction of latitude N, S f4 Longitude offset, in meters 0-59.999999 c5 Direction of longitude E, W f6 Altitude offset, in meters ±0-99.999 s7 Reference datum code W84 *cc Checksum *00-*FF

• 999: Local datum computed using the parameters provided by the RTCM3.1 data stream.

W84, 999

GBS: GNSS Satellite Fault Detection

$--GBS,m1,f2,f3,f4,d5,f6,f7,f8,h9,h10*cc

Parameter Description Range

d5 ID number of most likely failed satellite

f7 f8 Standard deviation of bias estimate 0.0-99.9

h9 GNSS system ID 0-F h10 GNSS signal ID 0-F *cc Checksum *00-*FF

UTC time of the GGA or GNS fix associated with this message (hhmmss.ss)

Expected error in latitude, in meters, due to bias, with noise= 0

Expected error in longitude, in meters, due to bias, with noise= 0

Expected error in altitude, in meters, due to bias, with noise= 0

Probability of missed detection for most likely failed satellite

Estimate of bias, in meters, on most likely failed satellite

000000.00-235959.99

0.0-99.9

0.0-99.9 1-32 for GPS

33-64 for SBAS 65-96 for GLONASS 97-128 for Galileo 129-160 for BeiDou 193-202 for QZSS

0.00-1.00

0.0-99.9

102

Page 61

GGA: GNSS Position Message

$GPGGA,m1,m2,c3,m4,c5,d6,d7,f8,f9,M,f10,M,f11,d12*cc

Parameter Description Range

m1 Current UTC time of position (hhmmss.ss)

m2 Latitude of position (ddmm.mmmmmm) c3 Direction of latitude N, S m4 Longitude of position (dddmm.mmmmmm) c5 Direction of longitude E,W

Position type:

• 0: Position not available or invalid

• 1: Autonomous position

d7 f8 HDOP 0-99.9 f9,M f10,M Geoidal separation in meters. “M” for meters. ± 999.999,M

f11 Age of differential corrections, in seconds 0-600999 d12 Base station ID 0-4095 *cc Checksum *00-*FF

• 2: RTCM Differential (or SBAS Differential)

•3: Not used

•4: RTK fixed

•5: RTK float

• 6: Estimated (dead reckoning) mode Number of GNSS Satellites being used in the

position computation

Altitude, in meters, above mean seal level. “M” for meters

000000.00-

235959.99 0-90

0-59.999999

0-180 0-59.999999

0-6

3-26

± 99999.999,M

GGK: GNSS Position Message

See Trimble documentation.

103

Page 62

GGKX: GNSS Position Message

$PTNL,GGKx,m1,m2,m3,c4,m5,c6,d7,d8,f9,f10,M,d11,f12,f13,f14,f15*cc

Parameter Description Range

m1 Current UTC time of position (hhmmss.ss) m2 UTC date of position (mmddyy) 010101-123199 m3 Latitude of position (ddmm.mmmmmm) c4 Direction of latitude N, S m5 Longitude of position (dddmm.mmmmmm) c6 Direction of longitude E,W

Position type:

• 0: Position not available or invalid

• 1: Autonomous GPS fix

• 2: RTK float solution or RTK location status

• 3: RTK fix solution

• 4: Differential, code phase only solution

• 5: SBAS solution

• 6: 3D network solution for RTK float or RTK

d8 f9 PDOP 0-99.9

f10,M

d11 Number of extension fields to follow. f12 Sigma East 0.000-999.999 f13 Sigma North 0.000-999.999 f14 Sigma Up 0.000-999.999 f15 Propagation age *cc Checksum *00-*FF

location

• 7: RTK fixed 3D network solution

• 8: 2D network solution for RTK float or RTK location

• 9: RTK fixed 2D network solution

• 10: OmniSTAR HP/XP solution

• 11: OmniSTAR VBS solution

• 12: RTK location

• 13: Beacon DGPS

• 14: RTK Global

Number of GNSS Satellites being used in the position computation

Ellipsoid height of fix (antenna height above ellipsoid. “M” for meters.

000000.00-

235959.99

0-90 0-59.999999

0-180 0-59.999999

0-14

3-26

± 99999.999,M

104

Page 63

GLL: Geographic Position - Latitude/Longitude

$GPGLL,m1,c2,m3,c4,m5,c6,c7*cc

Parameter Description Range

m1 Latitude of position (ddmm.mmmmmm) c2 Direction of latitude N, S m3 Longitude of position (dddmm.mmmmmm) c4 Direction of longitude E,W m5 Current UTC time of position (hhmmss.ss)

Status

*cc Checksum *00-*FF

• A: Data valid

• V: Data not valid Mode indicator:

• A: Autonomous mode

• D: Differential mode

• N: Data not valid

• E: Estimated (dead reckoning) mode

0-90 0-59.999999

0-180 0-59.999999

000000.00-

235959.99

A, V

A, D, N, E

105

Page 64

GMP: GNSS Map Projection Fix Data

$--GMP,m1,s2,s3,f4,f5,s6,d7,f8,f9,f10,f11,d12*cc

Parameter Description Range

$GPGMP: Only GPS satellites are used. “$--GMP” Header

m1 Current UTC time of position (hhmmss.ss)

d7 f8 HDOP 0-99.9 f9 f10 Geoidal separation in meters. ± 999.999,M

f11 Age of differential corrections, in seconds 0-999.9 d12 Base station ID 0-4095 *cc Checksum *00-*FF

$GLGMP: Only GLONASS satellites are used.

$GNGMP: Several constellations (GPS,

SBAS, GLONASS) are used.

Map projection identification:

• LOC: Local coordinate system

• Empty if no local coordinate system

Map zone

(empty)

X (Northern) component of grid (or local) coor-

dinate, in meters

Y (Eastern) component of grid (or local) coor-

dinate, in meters

Mode indicator:

• N: No fix

• A: Autonomous

• D: Differential

•R: Fixed RTK

• F: Float RTK

Number of GNSS Satellites being used in the

position computation

Altitude above mean seal level, or local alti-

tude, in meters.

$GPGMP, $GLGMP, $GNGMP

000000.00-

235959.99

LOC

±999999999.999

N, A, D, R, F

3-26

± 99999.999,M

106

Page 65

GNS: GNSS Fix Data

$--GNS,m1,m2,c3,m4,c5,s6,d7,f8,f9,f10,f11,d12*cc

Parameter Description Range

m2 c3 Direction of latitude N, S m4 c5 Direction of longitude E, W

d7 f8 HDOP 0-99.9

f9 Altitude above mean sea level. ±99999.999 f10 Geoidal separation, in meters ±999.999 f11 Age of differential corrections, in s 0-999 d12 Base station ID (RTCM only) 0-4095 *cc Checksum

Current UTC time of position (hhmmss.ss)

Latitude of position (ddmm.mmmmmm)

Longitude of position (dddmm.mmmmmm)

Mode indicator (1 character by constellation):

• N: No fix

• A: Autonomous position

• D: Differential

•R: RTK Fixed

•F: RTK Float Number of GNSS satellites being

used in the position computation.

000000.00-235959.99 0-90

0-59.999999

0-180 0-59.999999

N, A, D, R, F

3-26

107

Page 66

GRS: GNSS Range Residuals

$--GRS,m1,d2,n(f3)*cc

Parameter Description Range

$GPGRS: Only GPS satellites are used. $GLGRS: Only GLONASS satellites are used.

“$--GRS” Header

m1 Current UTC time of GGA position (hhmmss.ss) d2 Mode used to compute range residuals Always “1”

*cc Checksum *00-*FF

$GNGRS: Several constellations (GPS, SBAS, GLONASS) are used. $GBGRS: Only BeiDou satellites are used. $GNGRS: Several constellations are used (GPS, SBAS, GLONASS, QZSS, BeiDou)

Range residual for satellite used in position computation (repeated “n” times, where n is the number of satellites used in position computation). Residual s are listed in the same order as the satellites in the GSA message so that each residual prov ided can eas ily be associated with the right satellite.

$GPGRS $GLGRS $GBGRS $GNGRS

000000.00-

235959.99

±999.999

GSA: GNSS DOP and Active Satellites

$--GSA,c1,d2,d3,d4,d5,d6,d7,d8,d9,d10,d11,d12,d13,d14,f15,f16,f17*cc

Parameter Description Range

$GPGSA: Only GPS satellites are used. “$--GSA”

Header

d3-d14

f15 PDOP 0-9.9 f16 HDOP 0-9.9 f17 VDOP 0-9.9 *cc Checksum *00-*FF

$GLGSA: Only GLONASS sats are used.

$GBGSA: Only BEIDOU sats are used

$GNGSA: Several constellations (GPS,

SBAS, GLONASS, BEIDOU) are used.

Output mode:

• M: Manual

• A: Automatic

Position indicator:

• 1: No position available

• 2: 2D position

• 3: 3D position

Satellites used in the position solution

(blank fields for unused channels)

$GPGSA, $GLGSA, $GBGSA, $GNGSA

M, A

1-3

GPS: 1-32 GLONASS: 65-96 SBAS: 1-44 GALILEO: 1-30 QZSS: 1-5 BEIDOU: 1-35 IRNSS: 1-7

108

Page 67

GST: GNSS Pseudo-range Error Statistics

$--GST,m1,f2,f3,f4,f5,f6,f7,f8*cc

Parameter Description Range

$GPGST: Only GPS satellites are used. “$--GST” Header

m1 Current UTC time of position (hhmmss.ss)

f5 f6 Standard deviation of latitude error, in meters 0.000-999.999

f7 Standard deviation of longitude error, in meters 0.000-999.999 f8 Standard deviation of altitude error, in meters 0.000-999.999 *cc Checksum *00-*FF

$GLGST: Only GLONASS satellites are used.

$GNGST: Several constellations (GPS, SBAS,

GLONASS, BEIDOU) are used.

RMS value of standard deviation of range inputs

(DGNSS corrections included), in meters

Standard deviation of semi-major axis of error

ellipse, in meters

Standard deviation of semi-minor axis of error

ellipse, in meters

Orientation of semi-major axis of error ellipse, in

degrees from true North

$GPGST, $GLGST, $GNGST

000000.00-

235959.99

0.000-999.999

0 to 180

GSV: GNSS Satellites in View

$--GSV,d1,d2,d3,n(d4,d5,d6,f7),h8*cc

Parameter Description Range

$GPGSV: GPS satellites.

$GLGSV: GLONASS satellites

$GAGSV: GALILEO satellites “$--GSV” Header

d1 Total number of messages 1-4 d2 Message number 1-4 d3 Total number of satellites in view 0-16

d4 Satellite PRN

d5 Elevation in degrees 0-90 d6 Azimuth in degrees 0-359 f7 SNR in dB.Hz 30.0-60.0 h8 Signal ID 0-F *cc Checksum *00-*FF

$GSGSV: SBAS satellites (including

QZSS L1 SAIF)

$GQGSV: QZSS satellites

$GBGSV: BeiDou satellites

$GIGSV: IRNSS satellites

$GPGSV, $GLGSV $GAGSV $GSGSV $GQGSV $GBGSV $GIGSV

GPS: 1-32 GLONASS: 65-96 SBAS: 1-44 GALILEO: 1-30 QZSS: 1-5 BEIDOU: 1-35 IRNSS: 1-7

109

Page 68

HDT: True Heading

$GPHDT,f1,T*cc

Parameter Description Range

f1,T *cc Checksum *00-*FF

Last computed heading value, in degrees “T” for “True”.

0-359.99

HPR: True Heading

This message delivers either pitch OR roll angles, not both at the same time, depending on how the antennas are installed.

$PASHR,HPR,m1,f2,f3,f4,f5,f6,d7,d8,d9,f10*cc

Parameter Description Range

m1 UTC time of attitude data (hhmmss.ss). f2 True heading angle in degrees. 000.00-359.99999

f3 Pitch angle in degrees. ±90.00000 f4 Roll angle in degrees. ±90.00000

f5 Carrier measurement RMS error, in meters.

Baseline RMS error, in meters. (=0 if baseline is not constrained)

Integer ambiguity:

•0: Fixed

• >0: Float Attitude/heading mode status:

• 0: Operation with fixed baseline length

• 1: Calibration in progress

• 2: Flex (flexible) baseline mode ON Character string of the type “y.xxx” defined

as follows:

• “y” refers to the antenna setup: y=0: no length constraint is applied y=1: heading mode (one vector) y=2: attitude mode (2 vectors) y=3: attitude mode with 3 or more vectors

• Each “x” (0 to 9) represents the number of Double Differences (DD) used in the corresponding baseline. If this number is greater tha n 9, then “9” is reported. If there are only 2 vectors, the last x is “0”

000000.00-

235959.99

Full range of real variables

0, >0

0, 1, 2

y.xxx

110

Double differences refer to the very last integer second time-tagged epoch.

PDOP corresponding to vector V12, as com-

f10

*cc Checksum *00-*FF

puted for the very last integer second (timetagged epoch). Empty if PDOP unknown.

Page 69

LTN: Latency

$PASHR,LTN,d1*cc

Parameter Description Range

d1 Latency in milliseconds. *cc Optional checksum *00-*FF

MDM: Modem State and Parameter

$PASHR,MDM,c1,d2,s3,PWR=s4,PIN=s5,PTC=d6,CBS=d7,APN=s8,LGN=s 9,PWD=s10,PHN=s11,ADL=c12,RNO=d13,MOD=s14,NET=d15,ANT=s16*cc

Parameter Description Range

c1 Modem port E d2 Modem baud rate 9

Modem state.

PWR=s4

PIN=s5 PIN code 4-8 digits

PTC=d6

CBS=d7

APN=s8 Access Point Name (GPRS) 32 char. max. LGN=s9 Login (GPRS) 32 char. max. PWD=s10 Password (GPRS) 32 char. max. PHN=s11 Phone number (CSD) 20 digits max. ADL=c12 Auto-dial mode Y, N RNO=d13 Maximum number of re-dials (CSD) 0-15 MOD=s14 Modem model (empty if unknown) Centurion PHS8

NET=d15

ANT=S16

*cc Checksum *00-*FF

“NONE” means that MODEM option [Z] is not valid.

Power mode:

• AUT: Automatic

• MAN: Manual

Protocol:

•0: CSD

•1: GPRS Not used

CSD mode:

• 0: V.32 9600 bauds

• 1: V.110 9600 bauds ISDN

2G/3G selection mode:

• 0: Automatic (2G or 3G)

• Forced to operate in 2G GSM antenna used:

• INT: Internal

• EXT: External

OFF, ON, INIT, DIALING, ONLINE, NONE

AUT, MAN

0-1

INT, EXT

111

Page 70

POS: Position

$PASHR,POS,d1,d2,m3,m4,c5,m6,c7,f8,f9,f10,f11,f12,f13,f14,f15,f16,d17*cc

Parameter Description Range

Flag describing position solution type:

• 0: Autonomous position

• 1: RTCM code differential (or SBAS/BDS differential)

• 2: RTK float (or RTX)

• 3: RTK fixed (or RTX)

d2 Count of satellites used in position computation 0-26 m3 Current UTC time of position (hhmmss.ss)

m4 Latitude of position (ddmm.mmmmmm)

c5 North (N) or South (S) N, S

m6 Longitude of position (dddmm.mmmmmm)

c7 East (E) or West (W) E, W f8 Altitude above the WGS84 ellipsoid ±9999.000 f9 Age of differential corrections (seconds) 0-999.9 f10 True Track/Course Over Ground, in degrees 0.0-359.9 f11 Speed Over Ground, in knots 0.0-999.999 f12 Vertical velocity in m/s ±999.999 f13 PDOP 0-99.9 f14 HDOP 0-99.9 f15 VDOP 0-99.9 f16 TDOP 0-99.9 d17 Base station ID 0-4095 *cc Checksum *00-*FF

• 5: Estimated (dead-reckoning) mode

• 9: SBAS differential

• 10: BeiDou Differential

• 12: RTK float

• 13: RTK fixed

• 22: RTK Float Dithered

• 23: RTK Fixed, Dithered

0-3, 5, 9-10, 12-13, 22-23

000000.00-

235959.99 0-90°

00-59.999999 minutes

0-180° 00--59.999999 minutes

112

Page 71

PTT: PPS Time Tag

$PASHR,PTT,d1,m2*cc

Parameter Description Range

Day of week:

m2 GPS time tag in hours, minutes, seconds 0-23:59:59.9999999 *cc Checksum *00-*FF

• 1: Sunday

• 7: Saturday

1-7

PWR: Power Status

$PASHR,PWR,d1,[f2],[f3],[d4],[d5],[f6],[d7],[d8],d9[,d10]*cc

Parameter Description Range

Power source:

f2 Output voltage of battery (internal), in volts 0.0-12.0 f3 Empty d4 Percentage of remaining battery energy 0-100 d5 Empty f6 DC input voltage from external power, in volts 0.0-30.0

d8 Empty d9 Internal temperature, in degrees C d10 Battery temperature, in degrees C *cc Checksum *00-*FF

• 0: Internal ba ttery

• 1: External ba tte ry

• 2: External DC source

Battery charging status:

• 0: Charging

• 1: Discharging

• 2: Fully charged

• 3: Fully discharged

0-2

0-3

113

Page 72

RCS: Recording Status

??????????????????????????

$PASHR,RCS,c1,d2,s3,d4,f5,f6,f7,d8,d9)*cc

Parameter Description Range

Recording status:

• Y: Data recording in progress; receiv er wi ll kee p on recording data after a power cycle.

• N: No data recording in progress; after a power

d2 s3 Data filename 255 char. max.

d4 Recording rate, in seconds: 0.05-960

s7 Occupation name 255 char. max. *cc Checksum *00-*FF

cycle, no recording will start either.

• S: No data recording in progress, but receiver will start recording data after a power cycle.

• R: Data recording in progr ess , but receiver will stop recording data after a power cycle.

Memory where data file is recorded:

• 0: Internal memory

Occupation type:

•0: Static

• 1: Quasi-static

• 2: Dynamic

Occupation state:

• 0: In progress

• 1: No occupation

Y, N, S, R

0-2

0-1

114

Page 73

RMC: Recommended Minimum Specific GNSS Data

$GPRMC,m1,c2,m3,c4,m5,c6,f7,f8,d9,f10,c11,c12*cc

Parameter Description Range

m1 Current UTC time of position (hhmmss.ss)

Status

m3 Latitude of position (ddmm.mmmmmm) c4 Direction of latitude N, S m5 Longitude of position (dddmm.mmmmmm) c6 Direction of longitude E,W

f7 Speed Over Ground, in knots 000.0-999.9 f8 Course Over Ground, in degrees (true) 000.0-359.9 d9 Date (ddmmyy) 010100-311299 f10 Magnetic variation, in degrees 0.00-99.9 c11 Direction of variation E, W

c12

*cc Checksum *00-*FF

• A: Data valid

•V:

Mode indicator:

• A: Autonomous mode

• D: Differential mode

• N: Data not valid

000000.00-

235959.99

A, V

0-90 0-59.999999

0-180 0-59.999999

A, D, N

SBD: BEIDOU Satellites Status

$PASHR,SBD,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc

Parameter Description Range

d1 Number of visible satellites 0-37 d2 Satellite PRN number 1-37 d3 Satellite azimuth, in degrees 0-359 d4 Satellite elevation, in degrees 0-90 f5 Satellite B1 signal/noise in dB.Hz 0.0-60.0 f6 Satellite B2 signal/noise in dB.Hz 0.0-60.0 f7 Satellite B3 signal/noise in dB.Hz 0.0-60.0 c8 Satellite usage status c9 Satellite correcting status *cc Checksum *00-*FF

115

Page 74

SGA: GALILEO Satellites Status (E1,E5a,E5b)

$PASHR,SGA,d1,n(d2,d3,d4,f5,,f7,c8,c9)*cc

Parameter Description Range

d1 Number of visible satellites 0-36 d2 SV PRN number 1-36 d3 SV azimuth in degrees 0-359 d4 SV elevation angle in degrees 0-90 f5 SV E1 signal/noise in dB.Hz 0.0-60.0 f6 SV E5b signal/noise in dB.Hz 0.0-60.0 f7 SV E5a signal/noise in dB.Hz 0.0-60.0 c8 Satellite usage status c9 Satellite correcting status *cc Checksum *00-*FF

SGL: GLONASS Satellites Status

$PASHR,SGL,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc

Parameter Description Range

d1 Number of visible satellites 0-24 d2 SV PRN number 1-24 d3 SV azimuth in degrees 0-359 d4 SV elevation angle in degrees 0-90 f5 SV L1 signal/noise in dB.Hz 0.0-60.0 f6 SV L2 signal/noise in dB.Hz 0.0-60.0 f7 SV L3 signal/noise in dB.Hz 0.0-60.0 c8 Satellite usage status c9 Satellite correcting status *cc Checksum *00-*FF

116

SGO: GALILEO Satellites Status (E1,E5a,E5b,E6)

$PASHR,SGO,d1,n(d2,d3,d4,f5,f6,f7,f8,f9,c10,c11)*cc

Parameter Description Range

d1 Number of visible satellites 0-36 d2 SV PRN number 1-36 d3 SV azimuth in degrees 0-359 d4 SV elevation angle in degrees 0-90 f5 SV E1 signal/noise in dB.Hz 0.0-60.0 f6 SV E5b signal/noise in dB.Hz 0.0-60.0 f7 SV E5a signal/noise in dB.Hz 0.0-60.0 f8 SV E6 signal/noise in dB.Hz 0.0-60.0 f9 Empty c10 Satellite usage status c11 Satellite correcting status *cc Checksum *00-*FF

Page 75

SGP: GPS Satellites Status

$PASHR,SGP,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc

Parameter Description Range

d1 Number of visible satellites 0-63 d2 SV PRN number 1-63 d3 SV azimuth in degrees 0-359 d4 SV elevation angle in degrees 0-90 f5 SV L1 signal/noise in dB.Hz 0.0-60.0 f6 SV L2 signal/noise in dB.Hz 0.0-60.0 f7 SV L5 signal/noise in dB.Hz 0.0-60.0 c8 Satellite usage status c9 Satellite correcting status below) *cc Checksum *00-*FF

SIR: IRNSS Satellites Status

$PASHR,SIR,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc

Parameter Description Range

d1 Number of visible satellites 0-7 d2 SV PRN number 1-7 d3 SV azimuth in degrees 0-359 d4 SV elevation angle in degrees 0-90 f5 Empty f6 Empty f7 SV L5 signal/noise in dB.Hz 0.0-60.0 c8 Satellite usage status c9 Satellite correcting status below) *cc Checksum *00-*FF

SLB: L-Band Satellites Status

$PASHR,SLB,d1,n(d2,d3,d4,d5,f6)*cc

Parameter Description Range

d1 Number of visible satellites 0-11 d2 L-Band satellite number 01-07, 08-11 d3 Continuous tracking interval, in seconds d4 SV azimuth angle, in degrees 0-359 d5 SV elevation angle, in degrees 0-90 f6 SV signal/noise in dB.Hz 0.0-60.0 *cc Checksum *00-*FF

117

Page 76

SQZ: QZSS Satellites Status

$PASHR,SQZ,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc

Parameter Description Range

d1 Number of visible satellites 0-5 d2 SV PRN number 1-5 d3 SV azimuth in degrees 0-359 d4 SV elevation angle in degrees 0-90 f5 SV L1 signal/noise in dB.Hz 0.0-60.0 f6 SV L2 signal/noise in dB.Hz 0.0-60.0 f7 SV L5 signal/noise in dB.Hz 0.0-60.0 c8 Satellite usage status c9 Satellite correcting status *cc Checksum *00-*FF

SSB: SBAS Satellites Status

$PASHR,SSB,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc

Parameter Description Range

d1 Number of visible satellites 1-44 d2 SV PRN number 1-39, 40-44 d3 SV azimuth in degrees 0-359 d4 SV elevation angle in degrees 0-90 f5 SV L1 signal/noise in dB.Hz 0.0-60.0 f6 Empty field f7 SV L5 signal/noise in dB.Hz 0.0-60.0 c8 Satellite usage status c9 Satellite correcting status *cc Checksum *00-*FF

118

TEM: Receiver Temperature

$PASHR,TEM,s1*cc

Parameter Description Range

d1 Receiver internal temperature , in thous and ths of degrees *cc Checksum *00-*FF

Page 77

THS: True Heading and Status

$PASHR,TEM,f1,c2*cc

Parameter Description Range

f1 Last computed heading value, in degrees (true). 000.00-359.99

Solution status:

• A: Autonomous

*cc Checksum *00-*FF

• E: Estimated (dead reckoning)

• M: Manual input

• S: Simulator

• V: Data not valid (including standby)

A, E, M, S, V

TTT: Event Marker

$PASHR,TTT,d1,m2*cc

Parameter Description Range

Day of week:

m2 GPS time tag in hours, minutes, seconds 0-23:59:59.9999999 *cc Optional checksum *00-*FF

• 1: Sunday

• 7: Saturday

1-7

119

Page 78

VCR: Vector and Accuracy

$PASHR,VCR,d0,c1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,d13,c14*cc

Parameter Description Range

d0 Baseline number (see $PASHS,BRV) 1, 2, 3

Baseline mode:

• 0: Invalid baseline

d2 m3 UTC time (hhmmss.ss) 000000.00-235959.99 f4

f6 f7 Standard deviation, first coordinate 99.999

f8 Standard deviation, second coordinate 99.999 f9 Standard deviation, third coordinate 99.999 f10 Correlation (half) ±9.999999 f11 Correlation (one third) ±9.999999 f12 Correlation (two third) ±9.999999 d13 Base station ID (same as GGA) 0-4095

c14 *cc Checksum *00-*FF

• 1: Differential

•2: RTK float

•3: RTK fixed

•5: Other Number of SVs used in baseline compu-

tation (L1 portion)

First coordinate of delta antenna position, ECEF, in meters

Second coordinate of delta antenna position, ECEF, in meters

Third coordinate of delta antenna position, ECEF, in meters

Baseline coordinate frame ID:

• 0: XYZ

0-3, 5

0-99

±99999.999

±9999.999

120

Page 79

VCT: Vector and Accuracy

$PASHR,VCT,c1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,d13,d14,d15,d16,d17*cc

Parameter Description Range

Baseline mode:

• 0: Invalid baseline

d2 Number of SVs used in position computation 3-26 m3 UTC time (hhmmss.ss)

f6 f7 Standard deviation X coordinate (latitude) 99.999

f8 Standard deviation Y coordinate (longitude) 99.999 f9 Standard deviation Z coordinate (height) 99.999 f10 Correlation XY ±9.999999 f11 Correlation XZ ±9.999999 f12 Correlation YZ ±9.999999 d13 Base station ID (same as in GGA) 0-4095

d14 d15 Baseline number 1-3

d16

d17

*cc Checksum *00-*FF

• 1: Differentia l

• 2: RTK float

• 3: RTK fixed

• 5: Other

Delta antenna position, ECEF X coordinate (in meters)

Delta antenna position, ECEF Y coordinate (in meters)

Delta antenna position, ECEF Z coordinate (in meters)

Baseline coordinate frame ID:

• 0: XYZ

VRS:

• 0: Physical

•1: Virtual

• Empty: Not known Static mode assumption:

•0: Static

•1: Moving

• Empty: Not known

0-3, 5

000000.00-

235959.99 ±99999.999

±99999.999

±9999.999

Empty, 0, 1

121

Page 80

VEL: Velocity

$PASHR,VEL,f1,m2,f3,f4,f5,f6,f7,f8,d9*cc

Parameter Description Range

f1 Reserved 1 m2 Current UTC time of velocity fix (hhmmss.ss) f3 Easting velocity, in m/s f4 Northing velocity, in m/s f5 Vertical velocity, in m/s f6 Easting velocity RMS error, in mm/s f7 Northing velocity RMS error, in mm/s f8 Vertical velocity RMS error, in mm/s

d9 *cc Checksum *00-*FF

Applied effective velocity smoothing interval, in ms (empty if unknown)

VTG: Course Over Ground and Ground Speed

$GPVTG,f1,T,f2,M,f3,N,f4,K,c5*cc

Parameter Description Range

f1,T

f2,M

f3,N

f4,K

*cc Checksum *00-*FF

COG (with respect to True North) T for “True” North: COG orientation

COG (with respect to Magnetic North) M for “Magnetic” North: COG orientation

SOG (Speed Over Ground) N for “knots”: SOG unit

SOG (Speed Over Ground) K for “km/hr”: SOG unit

Mode indicator:

• A: Autonomous mode

• D: Differential mode

• N: Data not valid

000.00-359.99

000.00-999.999

000.00-999-999

A, D, N

122

ZDA: Date & Time

$GPZDA,ZDA,m1,d2,d3,d4,d5,d6*cc

Parameter Description Range

m1 UTC time (hhmmss.ss) d2 Current day 01-31

d3 Current month 01-12 d4 Current year 0000-9999 d5 Local zone offset from UTC time (hour) -13 to +13 d6 Local zone offset from UTC time (minutes) 00-59 *cc Checksum *00-*FF

000000.00-

235959.99

Page 81

123

Page 82

Index

Symbols

"LOC" 31 "W84" 31

Numerics

1PPS 86

Access point (WiFi) 49 Accessories 4 ADSL modem 53 Anonymous mode 47 Antenna (Bluetooth/WiFi) 9 Antenna (GNSS) 7 Antenna (GSM, external) 11 Antenna (UHF radio) 11 ATL 3 AUTO 28 Auto-calibration 71 Automatic power-on/off 23 Automatic receiver power-on/off 3 Azimuth offset 21

Backup battery 13 BASE 28 Base data 76 Battery 24 Battery (external) 25 Battery Information 29 Battery model 13 Bottom mount 18, 19 BRV 63 BRV-1, BRV-2 73 Buzzer 14

Cellular antenna 11 Charger 25 Client (WiFi) 49 Coaxial cables 7 Combining operating Modes 54

Data Link Information 28 Default configuration 2 DGPS 28 Direct IP 34 Direction keys 26 Display screen 9

Earth connection 12 Electric isolation (optical) 12 Elevation offset 20 Escape button 27

Ethernet 36, 50 Ethernet port 12 Event marker 87 Event marker input 87 Expiration date 91 External event 87

Factory settings 2 FEC 33 Firmware upgrade 89 Firmware upgrades 8 FIXED 28 Flex 71 FLOAT 28 Fuse 25

Gateway 52, 53 General Status screen 28 Geoid model 103, 106 GNSS input #1 11 GSM antenna 11

Heading 70 Host name 34 Hub 52, 53

Icons on General Status screen 28 Install firmware option 90 Instant RTK 82 Insulation (electric) 12 IP address on receiver identification screen

LAN 52, 53 LED (power) 10 LOC 31 Local settings 50 Lug 18

Memory Information 29 Modem Information 29 Modem screen 34 Mount point 34 Moving base 67

NMEA messages 78, 96 NTRIP 34

OK button 27

Page 83

OLED 9 One-antenna configuration 55 Options (firmware, pre-installed) 7

Pinouts 14, 15, 17 POPN 8 Position Solution screen 31 Power button 9 Power cord 6 Power mode 23 Power Off screen 43 PPS 86 Public IP address 53

Radio screen 32 Raw data recording 56, 77 Raw Data Recording Information 29 Receiver Information screen 31 Repeater 33 Resetting the receiver 87 RTK-1, RTK-2 72 RTX 60

S DGPS 28 SCR 33 Scroll button 9 SD Card, Bluetooth, USB information 30 Security 46 Semi-major axis 109 Semi-minor axis 109 Serial ports 12 SIM card 13 SMA 11 SP File Manager 92 SP File Manager (copy files) 94 SP File Manager (delete files) 94 SP Loader 88 Survey Pro 3 Switch 52, 53

Trimble RTX subscription 91 Tripod mount 18 Two-antenna configuration 69

UHF input 11 UHF networking 95 Upgrade procedure (firmware) 89 Upgrade receiver fimware 89 Upgrading firmware 44 USB (OTG) 10 USB driver 10

USB key 44 USB port 10

VESA 19 Virtual antenna 68

W84 31 Warranty (end of) 91 Web browser 46 Welcome screen 26 WiFi 35, 47 WiFi Information 29 WiFi key 36 Workflow (User Interface) 26

Page 84

User Guide

SP90m GNSS Receiver

Contact Information:

AMERICAS

10368 Westmoor Drive Westminster, CO 80021, USA

+1-720-587-4700 Phone 888-477-7516 (Toll Free in USA)

EUROPE, MIDDLE EAST AND AFRICA

Rue Thomas Edison ZAC de la Fleuriaye - CS 60433 44474 Carquefou (Nantes), France

+33 (0)2 28 09 38 00 Phone

ASIA-PACIFIC

80 Marine Parade Road #22-06, Parkway Parade Singapore 449269, Singapore

+65-6348-2212 Phone

www.spectraprecision.com

©2017, Trimble Inc. All rights reserved. Spectra Precision and the Spectra Precision logo are trademarks of Trimble Inc. or its subsidiaries. All other trademarks are the property of their respective owners. (2017/09)

Spectra Precision SP90m User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual