TERSUS BX316, BX316R User Manual

User Manual

www.tersus-gnss.com

Aug, 2016

Sales & Technical Support:

[e-mail] & [e-mail]
More details, please visit www.tersus-gnss.com

User Manual
For BX316/BX316R Receivers

©2017 Tersus GNSS Inc. All rights reserved.

User Manual

Version V1.0-20171106

]

TERSUS-GNSS I

Proprietary Notice

All Information in this document is subject to change without notice and does not reflect the

commitment on Tersus GNSS. No part of this manual may be reproduced or transmitted by all

means without authorization of Tersus GNSS. The software described in this document must be

used in terms of the agreement. Any reverse software engineer or modification without permission

from Tersus GNSS is not allowed.

]

TERSUS-GNSS II

Table of Content

1. Introduction ........................................................................................................................ 1

1.1 Overview of BX316 receiver............................................................................................ 1

1.2 Features of BX316 receiver .............................................................................................. 1

1.3 System Overview ............................................................................................................. 2

1.4 Connectors and Indicator Locations ................................................................................. 2

2. The Receiver installation ................................................................................................... 4

2.1 Antenna installation .......................................................................................................... 4

2.2 SD card operation ............................................................................................................. 5

2.3 Heading output ................................................................................................................. 6

2.4 Reset button

1

.................................................................................................................... 7

3. Specifications ..................................................................................................................... 8

3.1 Performance Specification ............................................................................................... 8

3.2 Electronic Characteristics ................................................................................................. 8

3.2.1. Absolute Maximum Ratings .................................................................................... 8

3.2.2. Operation Ratings .................................................................................................... 9

3.3 Physical Specification .................................................................................................... 10

3.3.1 Physical Specification for BX316 board .................................................................... 10

3.3.2 Cables for BX316 receiver ......................................................................................... 11

3.3.3 Cable uninstallation .................................................................................................... 14

4. Configure Example .......................................................................................................... 16

5. Trouble Shooting ............................................................................................................. 17

6. Terminology..................................................................................................................... 18

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TERSUS-GNSS III

List of Figures

Figure 1 Outlook of BX316 receiver ................................................................................................ 1

Figure 2 BX316 board block diagram ............................................................................................... 2

Figure 3 Connectors .......................................................................................................................... 3

Figure 4 Recommended GNSS Antennas for Precis-BX316 ............................................................ 5

Figure 5 BX316 receiver dimension ............................................................................................... 11

Figure 6 Power cable ....................................................................................................................... 11

Figure 7 Universal comm cable ...................................................................................................... 12

Figure 8 Serial level transfer cable .................................................................................................. 14

Figure 9 USB cable ......................................................................................................................... 14

Figure 10 Installation successfully .................................................................................................. 15

Figure 11 Uninstallation of the cable .............................................................................................. 15

]

TERSUS-GNSS IV

List of Tables

Table 1 LED definition...................................................................................................................... 3

Table 2 Default Serial port parameter of Precis-BX316 COM1 and COM2 ..................................... 4

Table 3 Performance specification of Precis-BX316 ........................................................................ 8

Table 4 Description of Absolute Maximum Ratings for BX316 board ............................................. 8

Table 5 Description of Operation Ratings for BX316 board ............................................................. 9

Table 6 Physical Specification of Precis-BX316 board .................................................................. 10

]

TERSUS-GNSS 1

1. Introduction

Precis-BX316 and Precis-BX316R share the same hardware, the only difference between them is

that BX316R doesn’t support real time RTK solution output, which is controlled by license. All

contents in this manual are valid for both receivers unless there is a specific note, so only BX316

is given, just keep in mind that it’s valid for BX316R, too.

1.1 Overview of BX316 receiver

Both BX316 and BX316R are supporting dual antennas. BX316 can output the heading angle

between the primary antenna and the secondary one. After receiving RTK corrections from a base,

BX316 board can output real time RTK solution of the primary antenna, while BX316R can only

support single positioning. Both receivers can provide GNSS (Global Navigation Satellites System)

raw measurements from the two antennas.

Figure 1 Outlook of BX316 receiver

1.2 Features of BX316 receiver

■ Support GPS L1/L2, GLONASS L1/L2, and BDS B1/B2 from primary antenna;

■ Support GPS L1+GLONASS G2 or GPS L1+BDS B2 from secondary antenna;

■ BX316 supports heading and RTK positioning; BX316R supports single positioning;

■ BX316 support RTK corrections receiving/transmitting, BX316R support RTK

corrections transmitting.

■ Support RTCM 2.x/3.x/CMR/CMR+ correction formats.

■ Support up to 20Hz raw measurements output.

]

TERSUS-GNSS 2

■ Support 2 COMs (RS-232 or LVTTL level) and a USB port

■ Support Ethernet port1;

■ Support event mark input and PPS (Pulse Per Second accuracy timing) output;

■ Powered by 5~12V for board;

■ Onboard 6DOF IMU, support integrated navigation system (INS).

Note 1: This port is related with FW version.

1.3 System Overview

Precis-BX316 receiver diagram is presented as following:

Figure 2 BX316 board block diagram

RF module: Receives GNSS signals from the primary and the secondary antennas, sends to

baseband module as IF signal after filtering and low noise amplifying.
Baseband: Demodulates GNSS IF signals into navigation message.

MPU: A microprocessor for PVT calculation, differential position processing, and data transfer

to/from peripheral ports.
IMU: An on-board 6 axis IMU can provide motion tracking information under obstacles
environment where GNSS signal is lost.

I/O interfaces: Includes two serial ports, a USB, an Ethernet port, event mark and power supply

etc.

1.4 Connectors and Indicator Locations

The following connectors are provided by the receiver:
 Two SMA connectors, which are used for RF signals input from the antennas and power

output to the LNA in the active antennas. P-Ant is for the primary antenna; S-Ant is for the
secondary antenna. If only one antenna is installed, connect it to P-Ant and S-Ant is left float.

 Four LEDs to show the status of the receiver. See Table 1 LED definition for the definition.
 Universal comm-port1, a specific 40-pin connector is used to communication between the

RF module

GNSS

De-modulator

MPU

I/O

P-Ant

IMU

S-Ant

]

TERSUS-GNSS 3

receiver and a computer or a controller. Two serial ports, a USB, two CAN ports, an event

input, a PPS output and an Ethernet are included in this connector. See Figure 7 for more

detail.

 Power connector for power input, see Figure 6 for detail about the power cable.
 Data log button1, press to log the data to the SD card.
 SD card slot, max 32G Micro SD card is supported.
 Reset button

1

. Reset the receiver if this button is pressed. The function is the same as input

‘RESET’ command to the receiver, see Log and Command reference manual for more about

this command.

Figure 3 Connectors

Note 1 These buttons are related to FW version, please contact Tersus support before you use them.

Table 1 LED definition

LED

Description

Pwr & Log

Will ON after the receiver is power on, and flash during data collection

GPS

Will flash at the same frequency as the measurements output.

Base

Reserved

RTK

Reserved

]

TERSUS-GNSS 4

2. The Receiver installation

The GNSS signals from GNSS antenna is necessary for BX316 to work. Two SMA connectors are

for the antenna signals. If only one antenna is installed, connect it to P-Ant and leave S-Ant float.

COM1/2 ports are used for configure commands input and corrections/solution output. The level

of COM1/2 is LVTTL, if RS-232 is required, a level transfer cable is provided, see section 3.3.2.

Default parameters of COM1/2 are given in 错误!未找到引用源。, which can be changed with
COM command; refer to Log & Command Reference document for detail about this command.

Table 2 Default Serial port parameter of Precis-BX316 COM1 and COM2

Serial port parameter

Default value

Baud rate

115200

Byte Size

8 bits

Parity

None

Stop Bits

1bit

Flow Control

None

2.1 Antenna installation

Precis-BX316 provides two SMA male connectors for connecting to GNSS antennas. Both active

and passive GNSS antennas are supported. For active antenna, BX316 board can provide 5V, up to

100mA current to the LNA in the antenna. Two recommended antennas are shown in Figure 4

Recommended GNSS Antennas for Precis-BX316. For more about the antennas, visit our
accessories website at https://www.tersus-gnss.com/collections/gnss-accessories.

]

TERSUS-GNSS 5

Figure 4 Recommended GNSS Antennas for Precis-BX316

The installation location for an antenna is supposed to have good view of sky and far away from

any high-power transmitter.

The two serial ports and the USB port on a Precis-BX316 can be used to communicate with it. The

USB port is mapping to a serial port in the computer. Any serial tools on a computer can be used

to communicate with the receiver, it’s recommended to communicate it with graphical tool Tersus

GNSS Center, the link is here.

2.2 SD card operation

BX316 is supporting on-board Micro-SD card, which make it easy for customer to save data for
post processing.

Before the SD card is plugged, please ensure:

 The max. size of the SD card is 32GB.
 The SD card is formatted, and the file system is FAT32 or NTFS

The SD card can be inserted to the slot when the receiver is power on. Place the SD card into the

slot, and plug it gently toward the bottom of the slot until you feel a click. After the data collection

is finished, press the card gently toward the bottom of the slot until it’s unplugged.

Note: Please ensure the data collection is finished before the SD card is unplugged, otherwise, the

files on the SD card may be corrupted, or even the SD card can be damaged.

Data collection:

Data collection is divided into manual and auto.

]

TERSUS-GNSS 6

 If you want to save the loggings automatically after the board is power on, please follow:

1) Input all the loggings to be saved, for example, input ‘log file gpgga ontime 1’, ‘log file

rangeb ontime 1’

2) Input ‘logfile auto’

3) Input ‘saveconfig’

4) Power cycle the board and file saving will start.

5) Input ‘logfile close’ when file saving is completed.

The last step above is recommended although it’s not mandatory. If power is off during the file
saving, up to 4K data will be lost.

 If you want to save the loggings manually after the board is power on, please follow:

1) Input all the loggings to be saved, for example, input ‘log file gpgga ontime 1’, ‘log file

rangeb ontime 1’

2) Input ‘saveconfig’

3) Input ‘logfile open’ when you want to start file saving.

4) Input ‘logfile close’ when file saving is completed.

If no file name is input, a name related to the board operating time will be given.

2.3 Heading output

The BX316 can output real time heading angle between the true north and the vector from the

primary to the secondary antenna. If the two antennas are installed parallel to the velocity

direction, then pitch and heading angles will be output.

]

TERSUS-GNSS 7

To output the heading, BX316 must be configured to dual antenna mode, the command is:

ANTENNAMODE DUALGPSBDS or
ANTENNAMODE DUALGPSGLO

After that, you can output pitch and heading angles with:
LOG HEADING ONTIME 1

2.4 Reset button

1

The BX316 can be reset by press the reset button on the right panel, this action works as input ‘RESET’
command to the receiver, refer to Tersus Log&Command Reference document for more about this
command.

Note 1: This section is not finalized; please contact Tersus support for the latest information about the
operation.

]

TERSUS-GNSS 8

3. Specifications

The detailed performance and physical specification of Precis-BX316 is introduced in this chapter.

3.1 Performance Specification

The performance of BX316 board is listed in Table 3.

Table 3 Performance specification of Precis-BX316

Feature

Specification

Channel Number

192

Supported Signals by P-Ant

GPS L1/L2/+GLONASS G1/G2+BDS B1/B2

Supported Signals by S-Ant

GPS L1+GLONASS G2 or GPS L1+BDS B2

Standard Positioning Accuracy

Horizontal (RMS)

1.5m

Vertical (RMS)

3.0m

Observations Accuracy

C/A Code (zenith direction)

10cm

P Code (zenith direction)

10cm

Carrier Phase (zenith direction)

1mm

Time to First Fix (TTFF)

Cold start

<50s

Warm start

<10s

Initialization

<10s (typically)

Initialization reliability

>99.9%

Timing Accuracy (RMS)

20ns

Velocity Accuracy (RMS)

0.05m/s

Max. Update Rate

20Hz

3.2 Electronic Characteristics

3.2.1. Absolute Maximum Ratings

Table 4 Description of Absolute Maximum Ratings for BX316 board

]

TERSUS-GNSS 9

Note: Stressing the device beyond the “Absolute Maximum Ratings” may cause permanent

damage. These are stress ratings only. The product is not protected against overvoltage or reversed

voltages. If necessary, voltage spikes exceeding the power supply voltage specification, given in

table above, must be limited to values within the specified boundaries by using appropriate

protection diodes.

3.2.2. Operation Ratings

Table 5 Description of Operation Ratings for BX316 board

Parameter

Symbol

Condition

Min

Typ

Max

Unit

Power Supply Voltage

VCC

5

12

V

Power (typical)

P 3.5

W

Digital IO Pin Low

level input voltage

RXD_UART

0 0

0.66

V

Digital IO Pin High

level input voltage

Digital EVENT input

voltage

Digital PPS output

voltage

TXD_UART

V

IL

V

IH

V

OL

V

OH

2.3

2.0

2.3

3.3

0.8

0.55

V

V
V
V
V

Output Power voltage

Vout

3.135

3.3

3.465

V

Output Power current

Iout 200

mA

Antenna bias current

I_ANT

100

mA

RF Input Level

Prf

-122 -85

dBm

Parameter

Symbol

Condition

Min

Max

Unit

Power Supply Voltage

Vin 5

12

V

Input pin applied DC Voltage

RXD_UART

3.6 V Vin

3.6 V

DC current through any digital
input pin

Ipin

10

mA

Input power at RF_IN

Prfin

Source

impedance =

50 Ω,

continuous

wave

13

dBm

Antenna bias voltage

V_ANT

6 V Antenna bias current

I_ANT

100

mA

Storage temperature

Tstg

-40

85

°C

]

TERSUS-GNSS 10

Operation

temperature

Topt

-40 85 °C

Note: All specifications are at an ambient temperature of 25°C. Extreme operating temperatures

can significantly impact specification values. Applications operating near the temperature limits

should be tested to ensure the specification.

3.3 Physical Specification

3.3.1 Physical Specification for BX316 board

Table 6 Physical Specification of Precis-BX316 board

Feature

Specification

Power

5~12VDC

Power Consumption

3.5W (Typical)

Active Antenna Input Impedance

50Ω

Max. Antenna Bias Current Draw

100mA

GNSS input sensitivity

-85 dBm ~ -122 dBm

Size

120×57×24 mm

3

Weight

200g

1

Temperature

-40℃～+85℃

Humidity

95% non-condensing

Vibration

TBD

Shock

TBD

Note: 1 Total weight of the receiver, the power cable and the universal comm cable.

]

TERSUS-GNSS 11

Figure 5 BX316 receiver dimension

3.3.2 Cables for BX316 receiver

Power cable

Tersus provides a power cable as the accessory of the BX316 receiver. The other end is an USB

male type-A connector, which can be inserted into the USB port in a computer.

Figure 6 Power cable

Universal comm cable

A specific cable assembly is used to connect to the universal comm port. The 40-pin connector at
one end of the cable is Mouser’s DF50S-40DS-1V or equivalent, the connectors at the other end
includes:
Mouser’s 798-DF1EA-8EP-2.5C 1pcs
Mouser’s 798-DF1EA-6EP-2.5C 2pcs
Mouser’s 798-DF1EA-5EP-2.5C 1pcw
Mouser’s 798-DF1EA-4EP-2.5C 2pcs
Mouser’s 798-DF1EA-2EP-2.5C 3pcs

]

TERSUS-GNSS 12

Figure 7 Universal comm cable

40Pin

Connector

Signal

Name

Ethernet

COM1

COM2

USB

CAN1

CAN2

Event1

Event2

PPS

1 - 2 TD1+

1 3 EVENT2

1 4 TD1-

2 5 GND

2 6 LED0

6 7 RD1+

4

]

TERSUS-GNSS 13

8

LED1

7 9 RD1-

5

10

GND

8

11

GND

3

12

GND

2

13 -

14

EVENT1

1

15

GND

2

16

PPS 1 17

GND

6

18

COM1_RXD

3

19

SDA

5

20

COM1_TXD

2

21

SCL

4

22

GND

6

23

COM2_RXD

3

24

3.3V

1

25

COM2_TXD

2

26

3.3V

1

27

3.3V

1

28

CANH1_TXD

2

29 -

30

CANH1_RXD

3

31

OTG_5V

1

32

GND

4

33

USB_DM

2

34

3.3V

1

35

USB_DP

3

36

CANH2_TXD

2

37

USB_ID

4

38

CANH2_RXD

3

39

GND

5

40

GND

4

Serial level transer cable

1

]

TERSUS-GNSS 14

This cable is used to transfer the serial level from LVTTL to RS-232.

Figure 8 Serial level transfer cable

USB cable

1

This cable is used to connect the USB port in the 40-pin cable to a computer’s USB type-A port.
The USB cable will be mapped to a serial port after inserted. When the USB port is used, the band
rate in the mapping serial port does not work and can be neglected.

Figure 9 USB cable

Note: 1 Only the power cable and the universal comm cable are in the standard delivery package,
please contact Tersus sales if you need the serial level transfer cable or/and the USB cable.

3.3.3 Cable uninstallation

The 40-pin universal cable is self-locking, and the connection will be reliable after the
cable is installed. The following gives how to uninstall the cable from the receiver.

After installed, the cable is like this:

]

TERSUS-GNSS 15

Figure 10 Installation successfully

Insert the gap with a flathead screwdriver, then pull out the cable.

Figure 11 Uninstallation of the cable

]

TERSUS-GNSS 16

4. Configure Example

 RTK Configure for BX316

Base mode: (COM1 is connected)

FIX POSITION 31.000302123 114.289244543 26.130; (input the base’s position or input

command POSAVE ON 0.02 to fix
the base with 72 seconds of

averaging position.)
ECUTOFF 10 (optional)
INTERFACEMODE COM2 AUTO AUTO ON (optional)
LOG COM2 RTCM1074 ONTIME 1
LOG COM2 RTCM1084 ONTIME 1
LOG COM2 RTCM1124 ONTIME 1
LOG COM2 RTCM1005 ONTIME 10
SAVECONFIG (optional)

Rover mode: (COM1 is connected)

FIX NONE (optional)

INTERFACEMODE COM2 AUTO AUTO ON (optional)

LOG HEADING ONTIME 1
LOG GPGGA ONTIME 1 (optional)
SAVECONF (optional)

 Post-processing Configure for BX316R

For both the base and the rover modes:

LOG GPGGA ONTIME 1
LOG RANGEB ONTIME 1
LOG GPSEPHEMB ONTIME 30
LOG BDSEPHEMERISB ONTIME 30
LOG GLOEPHEMERISB ONTIME 30

SAVECONF (optional)

]

TERSUS-GNSS 17

5. Trouble Shooting

5.1 Why my configuration lost after the board is power off?

You need execute ‘saveconfig’ command to save your configuration to the

non-volatile memory before power off; otherwise, your configuration will lost as long
as it is powered off.

5.2 Why I can receive NMEA data from the board, but I cannot configure it?

It depends on the serial tool you are using. The board can only recognize the

command end up with ‘\r\n’ (carriage and line feed) and these two characteristics

need to be added automatically by the serial tools, which is often referred as ‘new line

mode’. In order to avoid this case, we recommend you configure the board with

Tersus GNSS Center, which can be downloaded from our website.

]

TERSUS-GNSS 18

6. Terminology

ASCII

American Standard Code for Information Interchange

CMR

Compact Measurement Record

DC

Direct Current

ESD

Electro Static Discharge

ECEF

Earth Center Earth Fixed

GLONASS

GLObal NAvigation Satellite System

GNSS

Global Navigation Satellite System

GPS

Global Positioning System

IF

Intermediate Frequency

IMU

Inertial Measurement Unit

IO

Input/Output

LED

Light Emitting Diode

LNA

Low Noise Amplifier

MPU

Micro Processing Unit

NMEA

National Marine Electronics Association

PC

Personal Computer

PPS

Pulse Per Second

RF

Radio Frequency

RINEX

Receiver Independent Exchange format

RMS

Root Mean Squares

RTK

Real-Time Kinematic

RTCM

Radio Technical Commission for Maritime Services

SMA

Sub-Miniature-A interface

TTFF

Time to First Fix

TTL

Transistor-Transistor Logic level

UART

Universal Asynchronous Receiver/Transmitter

USB

Universal Serial BUS

WGS84

Word Geodetic System 1984