Trimble Acutime 360 User Manual

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User Guide

Acutime™360

Multi-GNSS Smart Antenna

For use wi

Acutime™360 multi-GNSS smart antenna (P/N 106406

Acutime™360 Starter Kit (P/N 106222

th:

-XX)

Firmware Version 1.03 and above

Version D2 April 2018 Part Number 107467-00

Legal Notices

Corporate Office

Trimble, Inc. Component Technologies 935 Stewart Drive Sunnyvale, CA 94085 U.S.A. 1-800-767-4822 (toll-free in the USA)

www.trimble.com

Email: tsgsupport@trimble.com

Trimble and the Globe & Triangle logo are trademarks of Trimble, Inc., registered in the United States and in other countries. Bullet and Acutime are trademarks of Trimble, Inc..

Microsoft, Windows, and Windows Vista are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.

All other trademarks are the property of their respective owners.

Release Notice

This is the Revision C of the Acutime™360 multi- antenna User Guide, part number 107467-00-.

LIMITED WARRANTY TERMS AND CON DITIONS

Product Limited Warranty

Subject to the following terms and conditions, Trimble, Inc. (“Trimble”) warrants that for a period of one (1) year from date of purchase this Trimble product (the “Product”) will substantially conform to Trimble's publicly available specifications for the Product and that the hardware and any storage media components of the Product will be substantially free from defects in materials and workmanship.

Product Software

Product software, whether built into hardware circuitry as firmware, provided as a standalone computer software product, embedded in flash memory, or stored on magnetic or media,

is licensed solely for use with or as an integral part of the Product and is not sold. If accompanied by a separate end user license agreement (“EULA”), use of any such software will be subject to the terms of such end user license agreement (including any differing limited warranty terms, exclusions, and limitations), which shall control over the terms and conditions set forth in this limited warranty.

Software Updates

During the limited warranty period you will be entitled to receive such updates to the Product software that Trimble releases and makes commercially available and for which it does not charge separately, subject to the procedures for delivery to purchasers of Trimble products generally. If you have purchased the Product from an authorized Trimble dealer rather than from Trimble directly, Trimble may, at its option, forward the software Fix to the Trimble dealer for final distribution to you. Minor Updates, Major Upgrades, new products, or substantially new software releases, as this update process and limited warranty. Receipt of software updates limited warranty period.

For purposes of this warranty the following definitions shall apply: (1) “Fix(es)” means an error correction or other update created to fix a previous software version that does not substantially conform to its Trimble specifications; (2) “Minor Update” occurs when enhancements are made to current features in a software program; and (3) “Major Upgrade” occurs when significant new features are added to software, or when a new product containing new features replaces the further

identified by Trimble, are expressly excluded from

or other

GNSS smart

other

enhancements shall not serve to extend the

development of a current product line. Trimble reserves the right to determine, in its sole discretion, what constitutes a Fix, Minor Update, or Major Upgrade.

Warranty Remedies

If the Trimble Product fails during the warranty period for reasons covered by this limited warranty and you notify Trimble of such failure during the warranty period, Trimble will repair OR replace the nonconforming Product with new, equivalent to new, or reconditioned parts or Product, OR refund the Product purchase

price paid by you, at Trimble’s option, upon your return of the Product in accordance with Trimble's product return procedures then in effect.

How to Obtain Warranty Service

To obtain warranty service for the Product, please contact your local Trimble representative or distributor. Alternatively, you may contact Trimble to request warranty service by sending an email

tsgsupport@trimble.com,

– your name, address, and telephone numbers – proof of purchase – a copy of this Trimble warranty – a description of the nonconforming Product including the model

number

– an explanation of the problem

including the following information:

The customer service representative may need additional information from you depending on the nature of the problem.

Warranty Exclusions and Disclaimer

This Product limited warranty shall only apply in the event and to the extent that (a) the Product is properly and correctly installed, configured, interfaced, maintained, stored, and operated in accordance with Trimble's applicable operator's manual and specifications, and; (b) the Product is not modified or Product limited warranty shall not apply to, and Trimble shall not be responsible for, defects or performance problems resulting from (i) the combination or utilization of the Product with hardware or software products, information, data, systems, interfaces, or devices not made, supplied, or specified by Trimble; (ii) the operation of the Product under any specification other than, or in addition to, Trimble's standard specifications for its products; (iii) the the Product; (iv) damage caused by: accident, lightning or other electrical discharge, fresh or salt water immersion or of Product specifications); or exposure to environmental conditions for which the Product is not intended; (v) normal wear and tear on consumable parts (e.g., batteries); or (vi) cosmetic damage. Trimble does not warrant or guarantee the results obtained through the use of the Product, or that software

unauthorized installation, modification,

misused. This

or use of

spray

(outside

components will operate error free.

NOTICE REGARDING PRODUCTS EQUIPPED WITH TECHNOLOGY CAPABLE OF TRACKING SATELLITE SIGNALS FROM SATELLITE BASED AUGMENTATION SYSTEMS (SBAS) (WAAS/EGNOS, AND MSAS), OMNISTAR, GPS, MODERNI ZED GPS OR GLONASS SATELLITES, OR FROM IALA BEACON SOURCES: TRIMBLE IS NOT RESPONSI BLE FOR THE OPERATION OR FAILURE OF OPERATION OF ANY SATELLITE BASED POSITIONING SYSTEM OR THE AVAILABILITY OF ANY SATELLITE BASED POSITIONING SIGNALS.

THE FOREGOING LIMITED WARRANTY TERMS STATE TRIMBLE’S ENTIRE LIABILITY, AND YOUR EXCLUSIVE REMEDIES, RELATING TO THE TRIMBLE PRODUCT. EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN, THE PRODUCT, AND ACCOMPANYING DOCUMENTATION AND MATERIALS ARE PROVIDED “AS-IS” AND WITHOUT EXPRESS OR IMPLIED WARRANTY OF ANY KIND, BY EITHER TRIMBLE OR ANYONE WHO HAS BEEN INVOLVED IN ITS CREATION, PRODUCTION, INSTALLATION, OR DISTRIBUTION, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE, TITLE, AND NONINFRINGEMENT. THE STATED EXPRESS WARRANTIES ARE IN LIEU OF ALL OBLIGATIONS OR LIABILITIES ON THE PART OF TRIMBLE ARISING OUT OF, OR IN CONNECTIO N WITH, ANY PRODUCT. BECAUSE SOME STATES AND JURISDICTIONS DO NOT ALLOW LIMITATIONS ON DURATION OR THE EXCLUSION OF AN IMPLIED WARRANTY, THE ABOVE LIMITATION MAY NOT APPLY OR FULLY APPLY TO YOU.

ACUTIME™360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 3

Limitation of Liability

TRIMBLE'S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL BE LIMITED TO THE AMOUNT PAID BY YOU FOR THE PRODUCT. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, IN NO EVENT SHALL TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGE WHATSOEVER UNDER ANY CIRCUMSTANCE OR LEGAL THEORY RELATING IN ANYWAY TO THE P RODUCTS, SOFTWARE AND ACCOMPANYING DOCUMENTATION AND MATERIALS LIMITATION, DAMAGES FOR LOSS OF BUSIN ESS PROFITS, BUSINESS INTERRUPTION, LOSS OF DATA, OR ANY OTHER PECUNIARY LOSS), REGARDLESS OF WHETHER TRIMBLE HAS BEEN ADVISED OF THE POSSIBILITY OF ANY SUCH LOSS AND REGARDLESS OF THE COURSE OF DEALING WHICH DEVELOPS OR HAS DEVELOP ED BETWEEN YOU AND TRIMBLE. BECAUSE SOME STATES AND JURISDICTIONS DO NOT ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR INCID ENTAL DAMAGES, THE ABOVE LIMITATION MAY NOT APPLY OR FULLY APPLY TO YOU.

PLEASE NOTE: THE ABOVE TRIMBLE LIMITED WARRANTY PROVISIONS WILL NOT APPLY TO PRODUCTS PURCHASED IN THOSE JURISDICTIONS

(INCLUDING, WITHOUT

(E.G., MEMBER STATES OF THE EUROPEAN ECONOMIC AREA) IN

WHICH PRODUCT WARRANTIES ARE THE RESPONSIBILITY OF THE LOCAL TRIMBLE AUTHORIZED DEALER FROM WHOM THE PRODUCTS ARE ACQUIRED. IN SUCH A CASE, PLEASE CONTACT YOUR LOCAL TRIMBLE AUTHORIZED DEALER FOR APPLICABLE WARRANTY INFORMATION

Official Language

THE OFFICIAL LANGUAGE OF THESE TERMS AND CONDITIONS IS ENGLISH. IN THE EVENT OF A CONFLICT BETWEEN ENGLISH AND OTHER LANGUAGE VERSIONS, THE ENGLISH LANGUAGE SHALL CONTROL.

Notices

Class B Statement – Notice to Users. This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This generates, not installed and used in accordance with the instructions, may cause harmful interference to radio communication. However, there particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of

uses, and can radiate radio frequency energy and, if

is no

guarantee that interference will not occur in a

equipment

the following measures:

– Reorient or relocate the receiving antenna.

– Increase the separation between the equipment and the receiver.

– Connect the equipment into an outlet on a circuit different from

Europe

This product has been tested and found to comply requirements for a Class B device pursuant to European Council Directive 89/336/EEC on EMC, thereby satisfying the requirements for CE Marking and sale within the European Economic Area (EEA). These requirements are designed to provide reasonable protection against harmful interference when the equipment is operated in a residential or commercial environment.

with the

Notice to Our European Union Customers

For product recycling instructions and more information, please go to www.trimble.com/ev.shtml.

Recycling in Europe: To recycle Trimble WEEE (Waste Electrical and Electronic Equipment, products that run on electrical power.), Call +31 497 53 24 30, and ask for the "WEEE Associate". Or, mail a request for recycling instructions to:

Trimble Europe BV

c/o Menlo Worldwide Logistics

Meerheide 45

5521 DZ Eersel, NL

Declaration of Conformity

We, Trimble, Inc.,

935 Stewart Drive Sunnyvale, CA 94085-3913 United States +1-408-481-8000

declare under sole responsibility that the product: Acutime™360 multi-GNSS Smart Antenna Starter Kit complies with Part 15B of FCC Rules.

Operation is subject to the following two device may not cause harmful interference, and (2) this device must accept any interference received, interference that may cause undesired operation.

conditions: (1)

including

this

that to which the receiver is conn

– Consult the dealer or an experienced radio/TV technician for help.

ecte

Changes and modifications not expressly approved by the manufacturer or registrant of this equipment can void your authority to operate this equipment under Federal Communications Commission rules.

Canada

This digital apparatus does not exceed the Class B limits for radio noise emissions from digital apparatus as set out in the radio interference regulations of the Canadian Department of Communications, ICES-003.

Le présent appareil numérique n’émet pas de bruits radioélectriques dépassant les limites applicables aux appareils numériques de Classe B prescrites dans le règlement sur le brouillage radioélectrique édicté par le Ministère des Communications du Canada, ICES-003.

ACUTIME™360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 4

Safety Information

Warnings and Cautions

An absence of specific alerts does not mean that there are no safety risks involved. Always follow the instructions that accompany a Warning or Caution. The information they provide is intended to minimize the risk of personal injury and/or damage to the equipment. In particular, observe safety instructions that are presented in the following formats:

WARNING – A Warning alerts you to a likely risk of serious injury to your person and/or damage to the

equipment.

CAUTION – A Caution alerts you to a possible risk of damage to the equipment and/or loss of data.

Operation and storage

WARNING – Operating or storing the Acutime™360 multi-GNSS smart antenna outside the specified temperature

range can damage it. For more information, see the product specifications on the data sheet.

Routing any cable

CAUTION – Be careful not to damage the cable. Take care to avoid sharp bends or kinks in the cable, hot surfaces

(for example, exhaust manifolds or stacks), rotating or reciprocating equipment, sharp or abrasive surfaces, door and window jambs, and corrosive fluids or gases.

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 5

Contents

Safety Information ........................................................................................................................................ 5

Warnings and Cautions ............................................................................................................................. 5

Operation and storage .............................................................................................................................. 5

Routing any cable ...................................................................................................................................... 5

Introduction ................................................................................................................................................ 13

Features of the Acutime™360 multi-GNSS smart antenna ..................................................................... 14

Hardware features .............................................................................................................................. 14

Interface protocols .............................................................................................................................. 14

Standard timing software features ..................................................................................................... 15

Operation ................................................................................................................................................ 15

Starter kit ................................................................................................................................................ 16

Use and care ............................................................................................................................................ 16

Related information ................................................................................................................................ 16

Technical

Setting up the Acutime™360 ...................................................................................................................... 17

System requirements .............................................................................................................................. 18

Hardware ............................................................................................................................................ 18

Computer ............................................................................................................................................ 18

System software.................................................................................................................................. 18

Installing and using the software ............................................................................................................ 18

Trimble VTS software .............................................................................................................................. 19

Data fields ............................................................................................................................................... 20

TSIP ...................................................................................................................................................... 20

NMEA-0813 ......................................................................................................................................... 20

Acutime™360 starter kit ......................................................................................................................... 21

Universal Interface Module (UIM) .......................................................................................................... 22

assistance

............................................................................................................................... 16

Power converter (AC/DC)........................................................................................................................ 23

Setting up the starter kit ......................................................................................................................... 23

Starter kit components ........................................................................................................................... 24

Hardware integration .................................................................................................................................. 25

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 6

Acutime™360 multi-GNSS smart antenna .......................................................................................... 26

Performance Specifications ................................................................................................................ 26

Environmental specifications .............................................................................................................. 27

Physical characteristics ....................................................................................................................... 27

Interface cables ................................................................................................................................... 27

Power requirements ........................................................................................................................... 28

Serial port interfaces ........................................................................................................................... 28

Pulse-Per-Second (PPS) ....................................................................................................................... 29

Timing pulse connections ................................................................................................................... 29

Serial ports .......................................................................................................................................... 29

Port B................................................................................................................................................... 29

Port A .................................................................................................................................................. 30

Event Input .......................................................................................................................................... 30

System Operation ....................................................................................................................................... 31

Operation ................................................................................................................................................ 32

Start-up ............................................................................................................................................... 32

Port B configuration ............................................................................................................................ 33

Port A configuration ............................................................................................................................ 33

Operating modes ................................................................................................................................ 35

PPS output options ............................................................................................................................. 36

Serial data communication ..................................................................................................................... 36

GNSS timing ............................................................................................................................................ 37

GNSS Constellation Configuration .......................................................................................................... 38

Timing operation ................................................................................................................................. 38

Customizing operations .......................................................................................................................... 39

Configuration parameters ................................................................................................................... 41

Port A and B Configuration ................................................................................................................. 41

PPS Configuration ............................................................................................................................... 42

Position information ........................................................................................................................... 42

Self-survey configuration .................................................................................................................... 42

NMEA 0183 protocol and data output options ...................................................................................... 43

Trimble Standard Interface Protocol .......................................................................................................... 45

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 7

Introduction ............................................................................................................................................ 46

Interface scope .................................................................................................................................... 46

Packet structure ...................................................................................................................................... 46

Physical interface characteristics ............................................................................................................ 47

Nomenclature ..................................................................................................................................... 47

Protocol capabilities ............................................................................................................................ 47

Primary port features – port B ............................................................................................................ 48

Secondary port features – port A ....................................................................................................... 48

Event Input .......................................................................................................................................... 48

Packets output at startup ....................................................................................................................... 48

Receiver warm-start ................................................................................................................................ 49

Default background packets (Port B) ...................................................................................................... 49

Default automatic position and velocity reports .................................................................................... 49

Automatic primary and supplemental timing reports ............................................................................ 50

Low-latency timing packets ................................................................................................................ 50

Satellite data packets .......................................................................................................................... 51

Customizing receiver operations ............................................................................................................ 52

Customizing receiver output for the application ................................................................................ 52

Customizing receiver operation .......................................................................................................... 52

Command Packets: User to Acutime™360 ............................................................................................. 53

Report packets: Acutime™360 to User ................................................................................................... 54

Packet descriptions ................................................................................................................................. 55

Command Packet 0x1C-01: Firmware Version ................................................................................... 56

Report Packet 0x1C-81: Firmware component version information .................................................. 56

Command Packet 0x1C-03: Hardware component version information ............................................ 56

Report Packet 0x1C-83: Hardware component version information ................................................. 57

Command Packet 0x1E: Initiate Cold or Factory Reset ....................................................................... 57

Command Packet 0x1F: Request Software Version ............................................................................ 57

Command Packet 0x21: Current Time Request .................................................................................. 58

Command Packet 0x23: Initial Position (XYZ Cartesian ECEF) Command ........................................... 58

Command Packet 0x24: Request GNSS Satellite Selection ................................................................. 58

Command Packet 0x26: Health Request ............................................................................................. 58

Command Packet 0x27: Request Signal Levels ................................................................................... 58

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 8

Command Packet 0x2B: Initial Position (Latitude, Longitude, Altitude) ............................................. 58

Command Packet 0x2F: UTC Parameters Request ............................................................................. 59

Command packet 0x30: Set UTC Date and Time for future roll over date ......................................... 59

Command Packet 0x31: Accurate Initial Position (XYZ Cartesian ECEF) Command ........................... 60

Command Packet 0x32: Accurate Initial Position (Latitude, Longitude, Altitude) ............................. 60

Command Packet 0x35: Set or Request I/O Options .......................................................................... 61

Command Packet 0x37: Request Status and Values of Last Position ................................................. 62

Command Packet 0x38: Request/Load Satellite System Data ............................................................ 62

Command Packet 0x39: Satellite Attribute Database Command ....................................................... 63

Command Packet 0x3A: Request last raw Measurement .................................................................. 64

Command Packet 0x3B: Satellite Ephemeris Status Request (for GPS only) ...................................... 65

Command Packet 0x3C: Request Current Satellite Tracking Status ................................................... 65

Command Packet 0x7A: Set or Request NMEA Interval and Message Mask ..................................... 65

Report Packet 0x31: Accurate Initial Position (XYZ Cartesian ECEF) ................................................... 66

Report Packet 0x32: Accurate Initial Position (Latitude, Longitude, Altitude) ................................... 66

Report Packet 0x41: GPS Time Report ................................................................................................ 67

Report Packet 0x42: Single-precision Position Fix .............................................................................. 67

Report Packet 0x43 Velocity Fix, XYZ ECEF ......................................................................................... 67

Report Packet 0x45: Software Version Information ........................................................................... 68

Report Packet 0x46: Health of Receiver Report ................................................................................. 68

Report Packet 0x47: Signal Level for All Satellites Tracked ................................................................ 69

Report Packet 0x4A: Single Precision LLA Position Fix ........................................................................ 70

Report Packet 0x4B: Machine/Code ID and Additional Status Report ............................................... 71

Report Packet 0x4F: UTC Parameters Report ..................................................................................... 71

Report Packet 0x54: Bias and Bias Rate Report .................................................................................. 72

Report Packet 0x55 I/O Options ......................................................................................................... 72

Report Packet 0x56: Velocity Fix, East-North-Up (ENU) ..................................................................... 72

Report Packet 0x57: Information about Last Computed Fix ............................................................... 73

Report Packet 0x58: Satellite System Data/Acknowledge from Receiver .......................................... 73

Report Packet 0x59: Satellite Attributes Database Report ................................................................. 77

Report Packet 0x5A: Raw Data Measurement Data ........................................................................... 77

Report Packet 0x5B: Satellite Ephemeris Status Report (GPS only) ................................................... 79

Report Packet 0x5D: Satellite Tracking Status .................................................................................... 79

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 9

Report Packet 0x6C: All-in-View Satellite Selection ............................................................................ 81

Report Packet 0x7B: Set NMEA Message Output ............................................................................... 81

Report Packet 0x83: Double Precision XYZ ......................................................................................... 81

Report Packet 0x84: Double Precision LLA Position Fix and Bias Information ................................... 82

Command Packet 0xBB: Set Receiver Configuration .......................................................................... 83

Report Packet 0xBB Data Format ........................................................................................................ 83

Command Packet 0xBC: Set Port Configuration ................................................................................. 84

TSIP Superpackets ................................................................................................................................... 86

Command packet 0x8E-02 Request UTC Information ........................................................................ 86

Command Packet 0x8E-0B: Request or Configure Superpacket Output ............................................ 86

Command Packet 0x8E-20: Request Last Fix with Extra Information ................................................. 86

Command Packet 0x8E-26: Write Receiver Configuration to Non-volatile Memory (Flash) .............. 87

Command Packet 0x8E-41: Request Manufacturing Parameters....................................................... 87

Command Packet 0x8E-42: Stored Production Parameters ............................................................... 87

Command Packet 0x8E-4A: Set PPS Characteristics ........................................................................... 87

Command Packet 0x8E-4D: Automatic Packet Output Mask ............................................................. 88

Command Packet 0x8E-4E: Set PPS output option ............................................................................. 88

Command Packet 0x8E-4F: Set PPS Width .......................................................................................... 89

Command Packet 0x8E-A2: UTC/GNSS Timing ................................................................................... 89

Command Packet 0x8E-A5: Packet Broadcast Mask........................................................................... 90

Command Packet 0x8E-A6: Self-Survey Command ............................................................................ 91

Command Packet 0x8E-A9: Self-Survey Parameters .......................................................................... 92

Command Packet 0x8E-AB: Request Primary Timing Packet .............................................................. 92

Command Packet 0x8E-AC: Request Supplemental Timing Packet .................................................... 93

Command Packet 0x8E-AD: Request or Configure Superpacket Output ............................................ 95

Report packet 0x8F-02: UTC Information ........................................................................................... 95

Report Packet 0x8F-0B: Comprehensive Time .................................................................................... 95

Report Packet 0x8F-20: Last Fix with Extra Information (binary fixed point) ..................................... 97

Report Packet 0x8F-26: Save Receiver Configuration to Non-volatile Storage Memory ................... 98

Report Packet 0x8F-41: Stored Manufacturing Operating Parameters .............................................. 98

Report Packet 0x8F-42: Stored Production Parameters ..................................................................... 98

Report Packet 0x8F-4A: Set PPS Characteristics ................................................................................. 99

Report Packet 0x8F-4D: Automatic Packet Output Mask ................................................................... 99

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 10

Report Packet 0x8F-4E: PPS Output .................................................................................................. 100

Report Packet 0x8F-4F: PPS Width ................................................................................................... 100

Report Packet 0x8F-A2: UTC/GPS Timing ......................................................................................... 100

Report Packet 0x8F-A5: Packet Broadcast Mask .............................................................................. 101

Report Packet 0x8F-A6: Self-Survey Command ................................................................................ 101

Report Packet 0x8F-A9: Self-Survey Parameters .............................................................................. 101

Report Packet 0x8F-AB: Primary Timing Packet ............................................................................... 102

Report Packet 0x8F-AC: Supplemental Timing Packet ...................................................................... 103

Report Packet 0x8F-AD: Primary UTC Time ...................................................................................... 107

Unused or miscellaneous packets ......................................................................................................... 109

Report Packet 0x13: Unparsable Packet ........................................................................................... 109

Report Packet 0x13: Data Format ..................................................................................................... 109

NMEA 0183 Protocol ................................................................................................................................. 111

Introduction .......................................................................................................................................... 112

NMEA 0183 communication interface .................................................................................................. 112

NMEA 0183 message structure ............................................................................................................ 112

Field definitions ..................................................................................................................................... 113

NMEA 0183 message options ............................................................................................................... 115

NMEA 0183 message formats ............................................................................................................... 116

GGA-GPS Fix Data .............................................................................................................................. 116

GLL - Geographic Position - Latitude/Longitude ............................................................................... 116

GSA - GPS DOP and Active Satellites ................................................................................................. 117

GSV - GPS Satellites in View .............................................................................................................. 117

RMC - Recommended Minimum Specific GPS/Transit Data ............................................................. 118

VTG - Track Made Good and Ground Speed ..................................................................................... 118

ZDA - Time & Date ............................................................................................................................. 119

AH - Almanac Health ......................................................................................................................... 119

AL - Almanac Page ............................................................................................................................. 120

AS - Almanac Status .......................................................................................................................... 121

CR - Configure Receiver ..................................................................................................................... 122

EM - Enter Monitor Mode ................................................................................................................. 122

EP - Ephemeris .................................................................................................................................. 123

IO - Ionosphere ................................................................................................................................. 125

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 11

KG - Set Initial Position ...................................................................................................................... 125

NM - Automatic Message Output ..................................................................................................... 126

PS - PPS Configuration ....................................................................................................................... 127

PT - Serial Port Configuration ............................................................................................................ 128

RT - Reset .......................................................................................................................................... 128

TF - Receiver Status and Position Fix ................................................................................................ 129

UT - UTC ............................................................................................................................................ 130

VR - Version ....................................................................................................................................... 130

ZD – Extended Time and Date ........................................................................................................... 132

Exception behavior ............................................................................................................................... 133

Interruption of GNSS signal ............................................................................................................... 133

Acutime 360 GPS only variant ................................................................................................................... 135

Introduction .......................................................................................................................................... 136

Default communication interface ......................................................................................................... 136

PPS pulse width ..................................................................................................................................... 136

Default constellations ........................................................................................................................... 137

Default messages .................................................................................................................................. 137

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 12

C H A P T E R

Introduction

In this

chapter:

Features of the Acutime™360

multi-GNSS smart antenna

Operation

Starter Kit

Use and care

Technical assistance

The Acutime™360 multi-GNSS smart antenna User Guide describes how to install,

setup and use the Trimble® Acutime™360 multi-

GNSS smart

receiver (“Acutime™360”)

The Acutime™360 integrates the latest multi-GNSS technology into a rugged, selfcontained antenna unit that provides optimal GNSS timing performance, in all weather conditions, with continuous operation, long- term reliability, ease of operation, and simple installation.

The Acutime™360 provides an accurate one pulse-per-second (PPS) output to synchronize and time broadband wireless, cellular base stations, Time Difference of Arrival (TDOA) applications, and many other Supervisory and Data Acquisition (SCADA) applications.

antenna and timing

For more information on

http

://www.t

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 13

rimble.c

GPS, go

om/g

ps/ind

ex.shtml

Features of the Acutime™360 multi-GNSS smart antenna

Hardware features

The Acutime™360 contains the following in a sealed, weatherproof housing:

 An active patch multi-GNSS antenna with a proprietary pre-amp design and integrated band-

pass filtering providing excellent performance against jamming signals.

 A connector that supports both the power and data interface connection.  Two user-configurable RS-422 I/O communication ports.

The Acutime™360 operates with a 5 to 36 VDC power supply with protection against reverse polarity. Internal circuitry reduces the power to operate the receiver at 3.3 VDC.

When power is applied, the Acutime™360 initializes by itself, acquires satellite signals, and begins a self-survey, which culminates in a transition from the Positioning Mode to an Over-determined Clock Mode.)

Interface protocols

You can select the protocol for the Acutime™360. There are two options:

• Trimble Standard Interface Protocol (TSIP) is a binary packet protocol that allows the system

designer maximum configuration control over the GNSS receiver for optimum performance in

timing applications. TSIP supports multiple commands and their associated response packets

for use in configuring the Acutime™360 receiver to meet your requirements. See Appendix A,

Trimble Standard Interface Protocol.

• NMEA 0183 (National Marine Electronics Association) is an industry standard protocol

common to marine applications. It provides direct compatibility with other NMEA- capable

devices such as chart plotters and radar. The Acutime™360 supports the ZDA NMEA message

for GNSS timing. You can select other NMEA messages and output rates as required. See

Appendix B, NMEA 0183.

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 14

Standard timing software features

• Automatic self-survey

• Over-determined (OD) Clock Mode

• Single-satellite Timing Mode

• Timing Superpackets

• Timing Receiver Autonomous Integrity Monitoring (T-RAIM)

• Position integrity (P-RAIM). When the receiver detects a position difference greater than 100

meters from its stored position, it will restart the self-survey.

• Cable delay compensation

Operation

When the Acutime™360 is turned on, it runs a self-survey process and then switches into the Over- determined Clock Mode. In this mode, the reference position from the self-survey is retained in memory and the receiver solves only for clock error and clock bias. This mode also provides for T-RAIM, which allows the receiver to remove a satellite that provides incorrect information from the timing solution. If a receiver is moved more than

100 meters from its surveyed location, a new self-survey ensures position integrity by automatically initiating and correcting the reference location.

The first time that the Acutime™360 is turned on, it searches for satellites from a cold start with no almanac, time, ephemeris, or stored position. The Acutime™360 begins to compute position and time solutions within the first 46 seconds, but it must track satellites continuously for approximately 15 minutes to download a complete almanac and ephemeris. Do not interrupt the initialization process.

The Acutime™360 generates a 1 PPS output, synchronized to GPS or Coordinated Universal Time (UTC) or GLONASS time within 15 ns (one sigma). This level of accuracy is obtained using an Over-determined Clock solution and T-RAIM. The 1 PPS output and data signals conform to the RS-422 standard and support very long cable runs. The Acutime™360 outputs a comprehensive time packet after each 1 PPS on a dedicated serial port, it can accept an external event input, and report time stamps in response to an event signal.

Note – The delay inherent in the cable from the antenna to the receiver can be overcome by determining the length of the cable and then entering the offset based on information from the cable manufacturer about the specific cable type.

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 15

Starter kit

The Acutime™360 Starter Kit contains all the components required for a high-performance, cost- effective reference time source that uses GPS technology to precisely synchronize computers, servers and Internet applications for evaluation and engineering purposes. It is quick and easy to install.

Use and care

The Acutime™360 is a high-precision electronic instrument and should be treated with reasonable care.

CAUTION

to the unit by the user voids the warranty.

– There are no user-serviceable parts inside the Acutime™360 and any modification

Related information

An electronic copy of this manual is available in portable document format (PDF). Use Adobe Reader to view the file.

Contact your local sales representative or Trimble Support for more information about the support agreement contracts for software and firmware

Technical

you have a problem and cannot find the information you need in the documentation, contact

tsgsupport@trimble.com.

assistance

the Trimble Technical Assistance Center at

product

800-767-4822

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 16

C H A P T E R

Setting up the Acutime™360

In this

chapter:

System requirements

Installing and using the software

Acutime™360 starter kit

Setting up the starter kit

Starter kit components

Trimble recommends that you install the Trimble VTS software before setting up the Acutime™360, as this will enable you to monitor the acquisition of satellites once you start up the multi-GNSS antenna.

A starter kit is available for testing, evaluation, and engineering purposes. This section describes the components of the starter kit, and how to set it up.

The hardware integration is described in Chapter 3, Hardware integration

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 17

System requirements

Hardware

• For evaluation or engineering purposes:

o The Trimble Acutime™360 multi-GNSS smart antenna starter kit, see later in this

chapter.

• For permanent installation:

o Trimble Acutime™360 multi-GNSS smart antenna o Interface cable with DB-25 connector o Universal Interface Module

Computer

• An office computer running a version of the Microsoft® Windows® operating system

(Windows XP or later)

System software

• Trimble VTS software. This is used to monitor the Acutime™360’s performance and to

assist system integrators in developing a software interface for the smart antenna. The

software is compatible with the Windows® operating systems. See Trimble VTS

software.

• Trimble Standard Interface Protocol (TSIP). This consists of command packets and report

packets. See Appendix A Trimble Standard Interface Protocol.

• NMEA-0183. See Appendix B NMEA 0183.

Installing and using the software

All software programs for the Acutime™360 starter kit are available online from the Trimble

website at http://www.trimble.com/Timing/Acutime-360.aspx. These programs enable you to

monitor the Acutime™360 and change its settings.

Tip – Install and set up the monitor program before turning on the Acutime™360—this allows

you to watch the timing process, from start up to fully functioning.

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 18

Trimble VTS software

CAUTION – Use only the Trimble VTS software with this product. Previous software versions

may not be compatible

To install the Trimble VTS software from the website:

1. Go to http://www.trimble.com/timing/acutime-360.aspx and then select Support for

TGS /Installation Files.

2. Select and then download Trimble VTS.exe to the computer’s hard drive.

3. To run the application, double-click the file. The Trimble VTS screen appears.

4. To specify the communications port and protocol for your office computer, right-click in

the bottom right of the Trimble VTS screen and then select the required COM port and

settings.

5. Connect the Acutime™360 antenna to the Universal Interface Module using the

provided antenna interface cable. Connect the 12-pin connector to the antenna, and the

DB-25 connector to the Universal Interface Module.

6. Connect one end of the USB cable to the USB port of the universal interface module.

7. Connect the other end of the cable to the USB port of your computer.

8. Turn on the DC power source or plug in the AC/DC converter and then turn on the

power.

The Tx and Rx in the lower left of the status bar indicate the following:

– If the Tx blinks, the computer is transmitting commands to the receiver. – If the Rx blinks, the computer is receiving reports from the receiver.

9. The Acutime™360 automatically begins its self-survey. When this is complete and the

receiver achieves a position fix, the following information appears:

– position – time – satellites tracked – GPS receiver status

Note – The receiver sends a health report every few seconds, even if satellites are not being

tracked.

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 19

Data fields

If the Trimble VTS software displays a question mark (?) in a data field, the receiver has not

reported a status for this field. If the question mark stays in place, the Acutime™360 may not be

communicating with the computer. Check the interface cable connections and verify the serial

port selection and settings.

If the communication fails, call the Trimble Technical Assistance Center (TAC) at

1 (800) 767-4822.

TSIP

The Trimble Standard Interface Protocol (TSIP) consists of command packets and report

packets, see Appendix A Trimble Standard Interface Protocol.

The TSIP is installed by factory default.

NMEA-0813

To convert to the NMEA protocol, please refer to and use the Trimble VTS software for serial

port protocol, Input/Output, message type output, and baud rate configuration

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 20

Universal Interface Module

(RS-422 to USB converter)

Acutime™360 Multi-GNSS Smart Antenna

Power converter (24VDC to AC)

Power pin adapters

100 feet of interface cable with DB-25 connector

USB Cable

Acutime™360 starter kit

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 21

Universal Interface Module (UIM)

The UIM that is included with the starter kit makes it easy to evaluate and develop software when it is connected to the Acutime™360. It has a Type 2 USB interface to the Acutime™360 that is compatible with most computers.

• Network power (5 to 36 VDC) is supplied through the power connector on the front of

the module.

• The USB connector and interface cable allows for easy connection to a PC USB port.

Note – The Acutime™360 requires power separate from the USB.

• The motherboard has a switching power supply, which converts the prime voltage input

to the 24 V that is required to power the receiver over most available cable lengths.

• Connect the output device to the 1 PPS connector on the rear of the unit.

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 22

Power converter (AC/DC)

The AC/DC power converter provides an alternative power source for the interface unit and enables you to run the module from network power.

It converts 110 or 220 VAC to a regulated +24 VDC that is compatible with the UIM. The AC/DC power converter output cable is terminated with a standard DC power connector that is compatible with the power connector on the metal enclosure.

Setting up the starter kit

1. Mount the Acutime™360 on a 1" OD marine pipe or 3/4” ID pipe, with 14 threads per

inch.

2. Connect the antenna cable to the Acutime™360. Allow for the cable to maintain a "drip-

loop" to prevent water intrusion and to allow for flex on the antenna to cable

connector.

3. Place the Acutime™360 so that it has the fullest possible view of the sky to ensure that

the maximum number of satellites is available.

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 23

Product

Part Number

Acutime™360 multi-GNSS timing module (Default: GPS & GLO)

106406-00

100’ Acutime™360 cable

60155 (included in Starter kit)

Acutime™360 Universal Interface Module

Available with SK only

AC/DC power supply module

Available with SK only

Interface cable (USB/USB)

Available with SK only

4. Use the DB-25 connector to connect the antenna cable to the rear of the UIM.

CAUTION – Be careful not to damage the cable. Take care to avoid sharp bends or kinks in the cable, hot surfaces (for example, exhaust manifolds or stacks), rotating or reciprocating equipment, sharp or abrasive surfaces, door and window jambs, routing near high EMI / EMF (Electro-Magnetic Induction / Field) transformers or equipment, and corrosive fluids or gases.

5. When using the TSIP protocol, connect one end of the USB interface cable to the USB

port of the interface unit. Connect the other end of the cable to USB port on a

computer.

Note – The receiver supports the TSIP or NMEA protocols. Dual ports support either the input/output of TSIP messages or the output of NMEA messages.

6. To connect the power connector to the UIM, do one of the following: – Use the DC power cable. Connect the terminated end of the power cable to the

power connector on the UIM. Connect the red lead to DC positive voltage (+12 VDC

to +24 VDC) and the black power lead to DC ground. The yellow wire is not used.

– Use the AC/DC power converter. Connect the output cable of the converter to the

power connector on the UIM. Use the appropriate 3-pin power adapters to connect

the converter to mains power (110 VAC or 220 VAC).

7. Switch on the DC power source or turn on the mains power.

To integrate the multi-GNSS smart antenna, into your system, see Chapter 3, Hardware integration.

Starter kit components

The Acutime™360 is available as part of the starter kit, or as an individual item. The starter kit includes all the components necessary to quickly test and integrate the receiver.

Note – Part numbers are subject to change. Confirm part numbers with your Trimble representative when placing your order.

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 24

C H A P T E R

Hardware integration

In this

chapter:

Acutime™360 multi-GNSS smart

antenna

Interface cables

Power requirements

The setup procedures for the Acutime™360 multi-GNSS Smart antenna are described in Chapter 2, Setting up and Running the Acutime™360.

This chapter describes the hardware components, to assist you when you integrate the Acutime™360 into a system.

To integrate the Acutime™360 multi-GNSS Smart antenna into your system you must:

• Connect to a standard serial interface port on the host system

• Design a circuit to read the electrical 1PPS

• Develop a software interface

The setup procedures for the Acutime™360 multi-GNSS Smart antenna starter kit are described in chapter 2.

ACUTIME-360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 25

12-pin connector

Bottom View

Side View

Acutime™360 multi-GNSS smart antenna

Performance Specifications

General GPS, GLONASS, BeiDou frequencies, continuous tracking

receiver, static Over-determined Clock Mode

Update rate 1Hz

Event Update rate 5Hz / Second (max)

Accuracy horizontal position <6 meters (50%)

<9 meters (90%)

Accuracy altitude position <7 meters (50%)

<10 meters (90%)

Velocity 0.06 m/sec

Time to first fix No stored position: <46 s (50%), <50 s (90%)

Stationary with stored position (for example, recovery after a power outage): <14 s (50%), <18 s (90%)

Reacquisition after 60s signal loss <2 s (90%)

Dynamics Velocity: 500 m/s maximum

Acceleration: 4 g (39.2 m/sec2) Jerk: 20 m/s3

PPS output Physical interface: RS-422

Width: 10 milliseconds (default); user programmable from 1 millisecond to 500 milliseconds On-time edge: Rising edge on time (default); user programmable rising or falling resolution :<32 nanoseconds Accuracy: UTC 15 nanoseconds (static), UTC 90 nanoseconds

(dynamic, TDOP ≤ 3)

ACUTIME™360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 26

External event capture Interface: RS-422

Resolution: <500ns

Minimum pulse width 1 0 milliseconds, rising edge-on-edge

Reporting mechanism TSIP packet

Environmental specifications

Operating temperature -40°C to +85°C (-40°F to 185°F)

Storage temperature -55 °C to +105 °C (-67°F to 221°F)

Vibration 0.008 g2/Hz 5Hz to 20Hz

0.05 g2/Hz 20Hz to 100Hz

-3 dB/octave 100Hz to 900Hz

Operating humidity 95% RH, non-condensing at 60°C (140°F) EMC

EMC CE, FCC Class B

Ingress protection IP 67

Physical characteristics

Power consumption 50mA @ 12V

0.6W (typical), < 1W maximum

Dimensions 95mm (depth) x 72.5mm (height) (3.74" x 2.85")

Connector 12-pin round, waterproof

Weight 154g (5.4oz)

Mounting 1” - 14” straight thread or 3/4” pipe thread

Interface cables

The Acutime interface cable is twisted-pair technology, 22 American Wire Gauge (AWG), 6 pair/12 conductors, shielded, and protected with a PVC-U/V outer sheath.

Acutime™360 interface cables are available in the following standard lengths:

• 15m (50 feet)

• 30m (100 feet)

• 60m (200 feet)

• 120m (400 feet)

For custom-length cables of up to 550m (1800feet), contact Trimble.

ACUTIME™360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 27

Acutime™360 Connector

Wire Color

Function

DB-25 Interface

Protocol

Pin 1

Red

DC Power

Pin 1

+5VDC to +36VDC

Pin 2

Violet

Port B: Receive -

Pin 25

TSIP RS-422

Pin 3

Orange

Port B: Receive +

Pin 13

TSIP RS-422

Pin 4

Brown

Port B: Transmit -

Pin 11

TSIP RS-422

Pin 5

Yellow

Port B: Transmit +

Pin 23

TSIP RS-422

Pin 6

White

Port A: Receive -

Pin 24

Event Input

Pin 7

Gray

Port A: Receive +

Pin 12

Event Input

Pin 8

Green

Port A: Transmit -

Pin 10

NMEA / TSIP RS-422

Pin 9

Black

DC Ground

Pin 7

Ground

Pin 10

Blue

Port A: Transmit +

Pin 22

NMEA / TSIP RS-422

Pin 11

Orange w/ white stripe

1 PPS Transmit +

Pin 21

RS-422

Pin 12

Black w/ white stripe

1PPS Transmit -

Pin 9

RS-422

All cables are terminated on the antenna end.

For a list of part numbers, see http://www.trimble.com/timing/acutime-360.aspx.

Power requirements

The Acutime™360 multi-GNSS receiver is designed for static timing applications and requires a nominal +12VDC to +24VDC input (a range of +5VDC to +36VDC is possible). You can apply power to the Universal Interface Monitor using one of two options: the DC power cable, or the AC/DC power converter.

Tip – Some voltage drop will occur over the cable run. If feed voltage is limited to +5VDC, the cable length is limited to 30 feet. When the cable is 100 feet or longer, the feed voltage must be at least +12VDC. Trimble recommends +24VDC for most runs.

The red wire (Acutime™360 pin 1) and the black wire (Acutime™360 pin 9) on the interface cable support power and ground connections, respectively. The Acutime™360 features a linear power supply, which supports +5 to +36 VDC. The Acutime™360 is protected against reverse polarity and brief over voltage conditions, however, extended over-voltage conditions may cause permanent damage.

Power consumption of the Acutime™360 is less than 80mA at 12 VDC.

Serial port interfaces

The pin-out descriptions and color codes for the standard un-terminated cables and DB-25 interface cable are as follows:

ACUTIME™360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 28

Pulse-Per-Second (PPS)

The Acutime™360 provides a 10ms wide, RS-422, Pulse-Per-Second (PPS) on antenna connector pins 11 and 12. The pulse is sent once per second and the leading edge of the pulse is synchronized to UTC, GPS, or GNSS time.

The pulse shape is affected by the distributed capacitance of the attached cabling and input circuit. The pulse's trailing edge should not be used for timing applications. An accurate timing pulse is available only when the Acutime™360 is operating in the static

Over-determined Clock Mode with a timing accuracy of <15 nanoseconds (one sigma) to UTC, GPS, or GNSS time.

The PPS output can be programmed to provide an even-second output using TSIP packet 0x8F4E.

Timing pulse connections

The Acutime™360 outputs a timing pulse for timing and synchronization applications. The timing pulse is generated using an RS-422 line driver circuit (connector pins 11 and 12). The leading edge of the PPS output pulse is synchronized to UTC. The width of the pulse's leading edge is 20 nanoseconds or less. The exact width and shape of the pulse depends upon the distributed capacitance of the interface cable.

Serial ports

The Acutime™360 has two RS-422 communication ports. The functions of these ports (B and A) are described below.

Port B

Port B is the primary serial port for the Acutime™360. Using this port, you can:

• Send commands and receive command responses.

• Query for and receive satellite data (for example, ephemeris, tracking information, and

signal levels).

• Receive timing packets that are synchronized with the PPS output.

• Enable TSIP timing packets 0x8F-AB and 0x8F-AC (which output automatically after the

self-survey has been completed) or 0x8F-AD using command packet 0x8E-A5.

• Configure Port B to transmit NMEA packets.

The Acutime™360 automatically sends a range of satellite data packets on Port B. You may not need these data packets—to disable them, use command packet 0x8E-A5. This ensures that

ACUTIME™360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 29

only the timing packets are sent. You can also choose to receive the timing packets on Port A, and use Port B to only send commands and receive satellite data.

Port A

Port A serves as a dedicated transmit port for timing packets and is also used by default to receive external event inputs..

The user can select NMEA output on port A, with TSIP in / TSIP out on port B.

Event Input

The Acutime™360 accepts an external event input in the shape of an RS-422 pulse. The external event pulse input is supported on Port A (pins 6 and 7). The Acutime™360 transmits a TSIP time packet (0x8F-0B or 0x8F-AD) in response to the event input. The TSIP packet increments the event count field for each event received. The event time stamp is generated within 500ns of its arrival at the Acutime™360 interface connector.

Note: The event capture feature is design for low frequency events 1PPS or longer.

ACUTIME™360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 30

C H A P T E R

System Operation

In this

chapter:

Start-up

Timing receiver performance

Communicating with receiver

Serial data communication

GNSS timing

Customizing operations

The Acutime™360 receives the amplified GNSS signals through the antenna feed line connector and passes them to the RF downconverter. A highly stable crystal reference oscillator is used by the down-converter to produce the signals used by the digital signal processor (DSP). The DSP tracks the GNSS signals and extracts the carrier code information as well as the navigation data at 50 bits per second.

Operation of the tracking channels is controlled by the navigation processor. The software tracking channels track the highest twelve satellites above the horizon. The navigation processor then uses the optimum satellite combination to compute a position. The navigation processor also manages the ephemeris and almanac data for all of the satellites, and performs the data I/O.

ACUTIME-360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 31

Operation

Start-up

On startup the receiver automatically runs a self-survey process and then provides an overdetermined timing solution.

The first time that the Acutime™360 is turned on, it begins searching for satellites from a cold start with no almanac, time, ephemeris, or stored position. The receiver starts computing position and time solutions within the first 46 seconds, but the receiver must continuously track satellites for approximately 15 minutes to download a complete almanac and ephemeris. Do not interrupt the initialization process.

During the satellite acquisition phase, the Acutime™360 outputs periodic TSIP messages on Port B. These status messages confirm that the receiver is working.

Note – the Acutime™360 has no provision for external backup power and always begins operation from a cold start unless a warm start is forced by uploading almanac data and time.

Timing receiver performance

The receiver and patch antenna contained in the Acutime™360 are in a single board format. The board has been adapted for timing applications where reliability, performance, and ease of integration are required.

The receiver features Trimble's improved signal processing code, a high-gain RF section, and RS422 line drivers to deliver a differentially driven 1 PPS output for timing and synchronization applications.

Timing applications are assumed to be static. The specialized timing software used within the Acutime™360 configures the unit into an automatic self-survey mode at start up. The receiver will average position fixes for a specified time (one per second) and at the end of this period, this reference location is used to solve for time. The receiver goes into an Over- determined Clock Mode and no longer solves for position but only for clock error and clock bias using all of the available satellites. This procedure will provide an accuracy of less than 15 ns (one sigma) to GPS, UTC, or GNSS time for the 1 PPS output.

To change the default port parameters and NMEA settings, issue the appropriate TSIP command and then store the settings in the receiver's non-volatile (flash) memory. The settings are retained when mains power is removed, without the need for battery backup. The factory default setting for Port B, the primary I/O port, is bi-directional TSIP at 115,200 baud, 8 data bits, odd parity, and 1 stop bit.

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 32

Parameter

Factory Default

Input baud rate

115,200

Output baud rate

115,200

Parity

Odd

Data bits

Stop bits

Input protocol

TSIP input

Output protocol

TSIP output

Note – When customizing port assignments or characteristics, confirm that your changes do not affect your ability to communicate with the receiver.

Communicating with the receiver

Communication with the receiver is through an RS-422 compatible serial port. The port characteristics can be modified to accommodate your application requirements. Port parameters are stored in flash memory, which does not require back-up power. The default port characteristics are:

Note – The Acutime™360 also supports the NMEA message protocol.

Port B configuration

The factory default protocol on Port B is TSIP in and out at 115,200-odd-8-1.

The serial port can be changed and stored in flash memory. The receiver protocol can be reconfigured using TSIP command packet 0xBC, Timing Receiver, Trimble VTS software, or a userwritten serial interface program.

C-source code examples for TSIP commands are also provided in Appendix A Trimble Standard Interface Protocol. When used as software design templates, this source code can significantly speed up code development.

The protocol settings and options are stored in Random Access Memory (RAM). They can be saved into the flash memory using command packet 0x8E-26.

Port A configuration

Port A is a dedicated port for outputting comprehensive timing packets. Messages are output after the PPS and after external events. The factory default setting is TSIP, output only, at 115,200-8-odd-1.

The host system receives both the PPS and the time packet identifying each pulse. Use packet 0x8E-A5 to determine which Timing Superpacket to output on this port.

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 33

Mask Setting

Notes

Elevation

10°

SV elevation above horizon

AMU 4 Signal strength

DOP 8 Self-survey only

Note – The Acutime™360 generates a packet in response to the external event input. The event count field in packet 0x8F-0B (or 0x8F-AD) increments for each event received. This field resets after a power cycle and rolls over at 65535. The event age messages are interleaved with the PPS messages. The PPS tags are distinguished by a zero (0) in the event count field. The Acutime™360 accepts external events up to a 5 Hz rate. Use packet 0x8E-A5 to configure this port to output the 0x8F-0B (or 0x8F-AD) packet in response to external events.

Automatic operation

When the Acutime™360 has acquired and locked onto a set of satellites that pass the mask criteria listed below, and has obtained a valid ephemeris for each tracked satellite, it performs a self-survey. After a number of position fixes (configurable), the self-survey is complete. At that time, the Acutime™360 automatically switches to a time-only mode (Over-determined Clock mode).

Satellite masks

The Acutime™360 continuously tracks and uses up to 32 satellites in an over-determined clock solution. The satellites must pass the mask criteria to be included in the solution.

The following table lists the default satellite masks used by the Acutime™360. These masks serve as the screening criteria for satellites used in fix computations and ensure that solutions meet a minimum level of accuracy. The satellite masks can be adjusted using the TSIP protocol described in Appendix A, Trimble Standard Interface Protocol

Elevation mask

Generally, signals from low-elevation satellites are of poorer quality than signals from higher elevation satellites. These signals travel farther through the ionospheric and tropospheric layers and undergo distortion due to these atmospheric conditions

SNR mask

Low SNR values can result from low-elevation satellites, partially obscured signals (for example, dense foliage), or multi-reflected signals (multipath).

Multi-reflected signals, also known as multipath, can degrade the position and timing solution. Multipath is most commonly found in urban environments with many tall buildings and a preponderance of mirrored glass. Multi-reflected signals tend to be weak (low SNR value), since each reflection diminishes the signal.

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 34

If the Acutime™360 antenna has a clear view of the sky (outdoor antenna placement), an SNR mask of 35 is recommended for optimal results. However, for indoor use or operation with an obscured view of the sky, the mask must be low enough to allow valid weak signals to be used. For indoor operation, an SNR mask of 4 AMU is recommended.

PDOP mask

Position Dilution of Precision (PDOP) is a measure of the error caused by the geometric relationship of the satellites used in the position solution. Satellite sets that are tightly clustered or aligned in the sky have a high PDOP and contribute to lower position accuracy. For most applications, a PDOP mask of 8 offers a satisfactory trade-off between accuracy and GPS coverage.

Note – PDOP is applicable only during self-survey or whenever the receiver is performing position fixes.

Operating modes

The Acutime™360 operates in one of the following: Main modes:

• Self-survey mode (position fix operating mode)

• Over-determined Clock mode

After establishing a reference position in Self-Survey mode, the Acutime™360 automatically switches to Over-determined (OD) Clock mode

Self-survey mode

At power-on, the Acutime™360 performs a self-survey by averaging 2000 position fixes. The number of position fixes until survey completion is configurable using the 8E-A9 command.

The default mode during self-survey is 2D/3D Automatic, where the receiver must obtain a 3-D solution. The very first fix in 2D/3D Automatic mode must include 5 satellites or more. After a successful first fix only 4 satellites are required. If fewer than the required number of satellites are visible, the Acutime 360™ suspends the self-survey. 3-D mode may not be achieved when the receiver is subjected to frequent obscuration or when the geometry is poor due to an incomplete constellation.

Over-determined Clock mode

Over-determined Clock Mode is used only in stationary timing applications. This is the default mode for the Acutime™360 once a surveyed (or user input) position is determined. After the receiver self-surveys its static reference position, it automatically switches to Over-determined Clock Mode and determines the clock solution. The timing solution is qualified by a Time-

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 35

Receiver Autonomous Integrity Monitoring algorithm, which automatically detects and rejects faulty satellites from the solution.

Using the default Anti Jamming setting, a minimum of two satellites is required for a fix in Overdetermined Clock mode. When you power-up the receiver, or after a long fix outages (longer than nine minutes), three satellites are required for the first fix.

In this mode, the Acutime™360 does not navigate or update positions and velocities, but maintains the PPS output, solving only for the receiver clock error (bias) and error rate (bias rate). If the Anti Jamming setting is disabled, only one satellite is required for a fix. To set Anti Jamming, see Command Packet 0xBB: Set Receiver Configuration.

PPS output options

The PPS (Pulse Per Second) output is the primary timing output generated by the Acutime™360 and is provided through an RS-422 differential driver. Although an RS-422 differential receiver provides the best noise immunity, you can use only one side of the differential signal for singleended applications.

To program the characteristics of the PPS, use the following TSIP packets:

 To set an accuracy criterion for the generation of the PPS signal, based on the number of

usable satellites, use packet 0x8E-4E.

The accuracy of the pulse-per-second output depends to some degree on the number of

satellites used in the solution. In some systems it is preferable to have the PPS generated only when it meets the highest levels of accuracy and to leave it off if these accuracy levels are not met.

 To set the width of the PPS from 10ms to 500 ms, use packet 0x8E-4F

Serial data communication

The Acutime™360 outputs TSIP Superpackets or NMEA messages.

On start-up, the Acutime™360 outputs TSIP packets 0x8F-AB, 0x8F-AC, and PPS. To enable or disable timing packets and automatic output packets, use packet 0x8E-A5.

The factory default port setting is 115,200-odd-8-1 (in/out). To change the serial port setting and store it in flash memory, use the appropriate TSIP command. The port can also be configured to transmit timing packets, using packet 0x8E-A5.

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GNSS timing

For many timing applications, such as time/frequency standards, site synchronization systems, and wireless voice and data networks, the Acutime™360 can be used to steer a local reference oscillator. The steering algorithm combines the short-term stability of the oscillator with the long-term stability of the GNSS PPS. An accurate GNSS PPS allows the use of cost-effective crystal oscillators, which have less stability than expensive, high- quality oscillators, such as Oven Controlled Crystal Oscillators (OCXO).

The GNSS system consists of several GPS, GLONASS, BeiDou, Galileo and other regional constellation orbiting satellites. Unlike most telecommunications satellites, GNSS satellites are not geostationary1, so satellites in view are constantly changing. Each GNSS satellite contains four highly-stable atomic clocks, which are continuously monitored and corrected by the GPS control segment. Consequently, the GPS constellation can be considered a set of 24 orbiting "clocks" with worldwide 24-hour coverage.

Note: - 1There are geo-stationary satellites for GNSS augmentation and regional coverage.

A Trimble multi-GNSS receiver uses the signals from the GPS satellites to correct its internal clock, which is not as stable or accurate as the GPS atomic clocks. The Acutime™360 outputs a highly accurate timing pulse (PPS) generated by its internal clock, which is constantly corrected using the GPS or GNSS clocks. This timing pulse is synchronized to GPS/UTC/GLONASS time within 15 ns (one sigma) after the survey is complete.

Note: - GLONASS time is supported when the unit is operating in GLONASS only mode.

In addition to serving as highly-accurate stand-alone time sources, GNSS timing receivers are used to synchronize distant clocks in communication or data networks. This is possible because all GNSS satellites are corrected to a common master clock. Therefore, the relative clock error is the same, regardless of which satellites are used. For synchronization applications requiring a common clock, GNSS is the ideal solution.

An accurate reference position is critical. A position error of 100 meters corresponds to a time error of approximately 333 ns.

The GNSS receiver's clocking rate and software affect PPS accuracy. The Acutime™360 has a clocking rate of 26 MHz, which enables a steering resolution of 40 ns (±20 ns). Using both the rising edge and falling edge of the pulse enables a steering resolution of ±20 ns. Using software algorithms such as an Over-determined Clock solution, the Acutime™360 mitigates the effects of clock error to achieve a PPS accuracy within 15 ns (one sigma) to GPS//UTC after the survey is complete..

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GPS

Galileo

GLONASS

BeiDou

QZSS

X X X X X X X X X X

X X X

GNSS Constellation Configuration

The Acutime™360 can be configured to use either just one GNSS system, such as GPS, GLONASS, BeiDou, or Galileo, or a combination of these systems (see table below). The receiver can use any combination of GNSS systems except where GLONASS and BeiDou are enabled simultaneously. The receiver will automatically clear the BeiDou option when both constellations (BeiDou & GLONASS) are enabled.

The table below shows the possible constellation options you can select

If a single constellation is chosen then the PPS and Time alignment will be set automatically to

the same constellation.

Timing operation

The Acutime™360 automatically outputs a PPS and time tag. With an accurate reference position, the receiver automatically switches to an over-determined clock mode, activates its TRAIM algorithm and outputs precise PPS. Using a simple voting scheme based on pseudorange residuals, the Acutime™360 integrity algorithm automatically removes the worst satellite with the highest residual from the solution set if that satellite's residual is above a certain threshold.

In addition to TRAIM, Acutime™360 implements position integrity checking on startup, in case the receiver has been moved to a new location. When the receiver power up with a surveyed (or user input) position in memory, it will compare fixes computed from the GNSS satellites to the surveyed position. If it finds that the surveyed position is off by more than 100 meters horizontally or vertically in the first 60 consecutive GNSS fixes, it will delete the surveyed

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position from memory (including non-volatile storage) and restart the self-survey provided the self-survey is enabled, and the "position save flag" is set to 1 using the 0x8E-A9 command.

The Acutime™360's default configuration provides optimal timing accuracy. The only item under user or host control that can affect the receiver's absolute PPS accuracy is the delay introduced by the antenna cable. For long cable runs, this delay can be significant (1.8 ns per foot). TSIP packet 8Ex4A sets the cable delay parameter, which is stored in non-volatile memory. For the best absolute PPS accuracy, adjust the cable delay to match the installed cable length (check with your cable manufacturer for the delay for a specific cable type). Generally, the cable delay is about 1.8 nanoseconds per foot of cable. To compensate for the cable delay, use a negative offset to advance the PPS output.

Note – GPS time differs from UTC (Universal Coordinated Time) by a small, sub- microsecond offset and an integer-second offset. The small offset is the steering offset between the GPS DoD clock ensemble and the UTC (NIST) clock ensemble. The large offset is the cumulative number of leap seconds since 1 January 1980, which, on 30 June.2015 was increased from 16 to 17 seconds. Historically, the offset increases by one second approximately every 18—24 months, usually just before midnight on 30 June or 31 December. System designers should note whether the output time is UTC or GPS time.

Customizing operations

The Acutime™360 provides a number of user configurable parameters that allow you to customize the operation of the unit. These parameters are stored in non-volatile memory (Flash) to be retained during loss of power and through resets. At reset or power-up, the receiver configures itself based on the parameters stored in Flash. You can change the values of these parameters to achieve the desired operations using a variety of TSIP packets. The Acutime™360 configures itself based on the new parameter immediately, but the new parameter value is not automatically saved to Flash. You must direct the receiver to save the parameters to Flash.

To change the parameter values stored in Flash memory, send packet 0x8E-26 to direct the Acutime™360 to save the current parameter values to the Flash. To save or delete the stored position, use command packet 0x8E-A6. You can also direct the receiver to set the parameter values to their factory default settings (and to erase the stored position) with packet 0x1E.

In brief, to customize the Acutime™360 multi-GNSS smart antenna operations for your application:

• Configure the receiver using TSIP command packets until the desired operation is

achieved.

• Use TSIP packet 0x8E-26 to save the settings in nonvolatile memory (Flash).

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• If the position was not automatically saved during the self-survey or if it was manually

entered, the position can be saved to flash memory using TSIP packet 8E-A6.

The new settings will control receiver operations whenever it is reset or power cycled

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Parameter

Factory Default

Operating dimension

4 (Full Position 3D)

Dynamic code

1 (land)

Elevation mask

0.175 radians (10°)

Signal level mask

4.0 AMU

PDOP mask

8.0

PDOP switch

6.0

Foliage mode

0 (never)

Have reference altitude flag

False

Reference altitude (meters)

0.0

Parameter

Factory Default

Datum index

WGS 84 Ellipsoid

Position

0x12

Velocity

0x02

Time

0x01

Auxiliary

0x02

Superpackets output mask (byte 1)

0x32

Superpackets output mask (byte 2)

0x21

Auto TSIP output mask

0xFFFFFFFC0

Parameter

Factory Default

Input baud rate

115,200

Output baud rate

115,200

Parity

Odd

Data bits

Stop bits

Input protocol

TSIP input

Output protocol

TSIP output

Configuration parameters

The following tables list the user configurable parameters. Each table lists the parameter name, its factory default value, and the TSIP packet that sets or reads the parameter value (typically, one TSIP packet sets or reads several related parameters).

Configuration parameters

Port A and B Configuration

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Parameter

Factory Default

PPS enabled switch

Enabled

PPS timebase

UTC

Polarity

True

PPS offset

0.0 seconds

PPS width

10e

-3

seconds

PPS driver switch

3 ( at least 1SV)

Parameter

Factory Default

XYZ coordinates

Such that LLA coordinates are all zeros

Have position flag

False

Parameter

Factory Default

Survey enable flag

True

Survey length

2000

Survey save flag

False

Survey operating dimension

Full Position 3D

PPS Configuration

Position information

Self-survey configuration

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NMEA 0183 protocol and data output options

The National Marine Electronics Association (NMEA) protocol is an industry standard data protocol, which was developed for the marine industry. Trimble has chosen to adhere stringently to the NMEA 0183 data specification as published by the NMEA. The Acutime™360 multi-GNSS smart antenna also adheres to the NMEA 0183, Version 3.0 specification.

NMEA data is output in standard ASCII sentence formats. Message identifiers signify what data is contained in each sentence. Commas within the NMEA sentence separate data fields. In the Acutime™360 GNSS receiver, NMEA is an output-only protocol.

The receiver is shipped from the factory with the TSIP protocol configured on Port A and B. Port A can be reconfigured for NMEA output through Port B using TSIP command packet 0xBC, in conjunction with the Trimble VTS software, or a user-written serial-interface program.

The NMEA output messages selection and message output rate can be set using TSIP command packet 0x7A. The default setting is to output the ZDA message at a 1-second interval, when the receiver output protocol is configured to NMEA, using packet 0xBC.

To use NMEA permanently, use TSIP command 0x8E-26 to store the protocol configuration (0xBC) and NMEA message output setting (0x7A) in the flash memory.

The industry standard port characteristics for NMEA are:

 Baud rate: 115.2 kbps  Data bits: 8  Parity: None  Stop bits:1  No flow control

Any standard serial communications program, such as Windows HyperTerminal or PROCOMM, can be used to view the NMEA output messages.

TSIP is a binary protocol; it outputs raw binary serial data that cannot be read when using the Windows HyperTerminal or PROCOMM applications.

CAUTION – When you use the TSIP protocol to change port assignments or settings, confirm that your changes do not affect the ability to communicate with the receiver. For example, that you have not inadvertently selected PC COM port settings that do not match the receiver settings, or changed the output protocol to TSIP if you are not using the Trimble VTS software

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ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 44

A P P E N D I X

Trimble Standard Interface Protocol

In this

chapter:

Introduction

Physical interface characteristics

Packets output at startup

Receiver warm-start

Default background packets (Port B)

Packet structure

Packet descriptions

TSIP Superpackets

The Trimble Standard Interface Protocol (TSIP) provides commands that the system designer can use to configure a GNSS receiver for optimum performance in a variety of applications, and to customize the configuration of a GNSS module to meet the requirements of a specific application.

TSIP is a simple bidirectional, binary packet protocol used in a wide variety of Trimble GNSS receivers. TSIP offers a broad range of command packets and report packets that provide the GNSS user with maximum control over the Acutime™360 receiver.

This appendix describes how to use the powerful TSIP features, enhance overall system performance, and reduce the total development time. The reference tables help you determine which packets apply to your application. For those applications requiring customization, see Customizing receiver operations, for a detailed description of the key setup parameters. Application guidelines are provided for each TSIP command packet.

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 45

Introduction

TSIP is a powerful and compact interface protocol which has been designed to allow the system developer a great deal of flexibility in interfacing to a Trimble product. Many TSIP data packets are common to all products which use TSIP. An example would be a single precision position output packet. Other packets may be unique to a product. Custom packets are only used in the products for which they have been created.

Interface scope

The Acutime™360 GNSS smart antenna has one configurable serial I/O communication port, which is a bi-directional control and data port utilizing a Trimble Standard Interface Protocol (TSIP). The data I/O port characteristics and other options are user programmable and stored in non-volatile memory (Flash memory).

The TSIP protocol is based on the transmission of packets of information between the user equipment and the GPS receiver. Each packet includes an identification code (1 byte, representing 2 hexadecimal digits) that identifies the meaning and format of the data that follows. Each packet begins and ends with control characters.

Packet structure

TSIP packet structure is the same for both commands and reports. The packet format is:

Where:

<DLE> is the byte 0x10

<ETX> is the byte 0x03

<id> is a packet identifier byte, which can have any value excepting

<ETX> and

<DLE> The bytes in the data string can have any value. To prevent confusion with

the frame sequences <DLE> <id> and <DLE> <ETX>, every <DLE> byte in the data string is preceded by an extra <DLE> byte ('stuffing'). These extra <DLE> bytes must be added ('stuffed') before sending a packet and removed after receiving the packet.

Note – A simple <DLE> <ETX> sequence does not necessarily signify the end of the packet, as these can be bytes in the middle of a data string. The end of a packet is <ETX> preceded by an odd number of <DLE> bytes.

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Data type

Description

An 8- bit unsigned number (0 to 255)

An 8-bit signed number (-128 to 127)

U16

A 16-bit unsigned number (0 to 65,535)

S16

An 16-bit signed number (-32,768 to 32,767)

U32

A 32-bit unsigned number (0 to 4,294,967,295)

S32

A 32-bit signed number (-2,147,483,648 to 2,147,483,647

Single - Float (4 bytes) (3.4x10-38 to 1.7x1038) (24 bit precision)

Double - Float (8 bytes) (1.7x10-308 to 3.4x10308) (53 bit precision)

Function

Label

Internal

TSIP

Port B

Port 0

Timing

Port A

Port 1

Multiple-byte numbers (integer, float, and double) follow the ANSI / IEEE Std. 754 IEEE Standard for binary Floating-Point Arithmetic. They are sent most-significant byte first. You must switch the byte order on Intel-based machines.

The data types used in the Acutime™360 TSIP are as follows:

Note – Default settings are 115,200-8-odd-1

Physical interface characteristics

The Acutime™360 uses high-quality serial I/O components to drive the available serial transmit and receive channels.

The Acutime™360 is available in an RS-422 configuration. This section explains the capabilities of each receiver.

Nomenclature

As with previous Multi-GNSS Smart antennas by Trimble, including the Acutis™, Acutime™, and Palisade™ products, the Acutime™360 ports are referenced as "A" and "B", and conform to

standards established by the Palisade product line.

Protocol capabilities

The I/O ports of the Acutime™360 are highly configurable. Port settings are stored in flash memory, and are retained after power failures.

For systems with minimal bandwidth for processing serial data streams, the receivers can be configured as silent devices, which generate I/O only when polled. The Acutime™360 receiver

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 47

Superpacket

Length

Description

0x8F-0B

Comprehensive time with LLA position

0x8F-AD

Primary UTC time with leap information

Output ID

Description

Notes

0x46

Receiver health

0x4B

Machine code / status

0x45

Software version

0x83

Double precision XYZ position

If single precision is selected, packet 0x42 is output

0x84

Double precision LLA position

If single precision is selected, packet 0x4A is output

can be configured to output various automatic report packets and protocols to satisfy demanding real-time update requirements of complex monitoring systems.

Primary port features – port B

The Acutime™360 features a primary bi-directional port, which is factory configured for TSIP input and output.

Secondary port features – port A

The Acutime™360 has a bi-directional, programmable secondary port that is designated as the Timing port.

Event Input

The Acutime™360 features an event input, which can capture and report time stamps with the same precision as the PPS signal.

The receivers can output the event reports on any available TSIP port

Packets output at startup

The following messages are output by the receiver at startup. After completing its self- survey, the receiver automatically outputs a series of packets that indicate the initial operating condition of the receiver. Messages are output in the following order. Upon output of packet 0x84, the sequence is complete and the receiver is ready to accept commands.

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Output ID

Description

0x2B/23

Initial position (LLA/ECEF)

0x38 (type 2)

GPS almanac (for each SV)

0x38 (type 3)

GPS almanac health

0x38 (type 4)

Ionosphere page

0x38 (type 5)

UTC correction

0x38 (type 6)

GPS ephemeris

0x38 (type 7)

GLONASS almanac

0x38 (type 8)

GLONASS ephemeris

Output ID

Description

Notes

0x41

GPS time

Output approximately every 1.6 minutes if the receiver's GNSS clock is set and the receiver is not outputting positions.

Output approximately every 2.5 minutes if the receiver is doing position fixes.

0x46

Receiver health

Output every second, if the receiver is not doing fixes.

Output approximately every 30 seconds if the receiver is doing position fixes.

Whenever any bit in the health message changes, receiver health is automatically output.

0x6C

Mode packet

Output approximately every 30 seconds or when a constellation change occurs.

Output ID

Description

0x42

Single precision XYZ position

0x83

Double precision XYZ position

0x4A

Single precision LLA position

Receiver warm-start

Once the Acutime™360 has completed its internal initialization and has output packet 0x84 (see Packets output at startup), you can send the following commands to restart it

Default background packets (Port B)

Note – The background packets listed in this table are automatically output. Background packets can be turned off. See also Command Packet 0x8E-4D: Automatic Packet Output Mask.

Note – The packet 0x4B is always sent with report packet 0x46.

Default automatic position and velocity reports

The Acutime™360 automatically outputs position and velocity reports at set intervals. Report intervals are controlled by packet 0x35.

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0x84

Double precision LLA position

0x43

Velocity fix (XYZ ECEF)

0x54

Bias and bias rate1

0x56

Velocity fix (ENU)

LLT Packet ID

Description

Request packet ID

0x8F-AB

Primary Timing

0x8E-AB

0x8F-AC

Supplemental Timing

0x8E-AC

0x8E-AD

Primary UTC

0x8E-AD

0x8F-0B

Comprehensive Time & Position

0x8E-0B

When the receiver is in the Manual or Over-determined Clock Mode, it outputs packet 0x54 to provide

the computed clock-only solution.

Automatic primary and supplemental timing reports

Timing Packets 0x8F-AB and 0x8F-AC are automatically output at 1 Hz when enabled by packet 0x8E-A5. These packets are part of the low-latency packet series 0x8F-AB/AC/AD/OB.

Low-latency timing packets

The Acutime™360 features a sequence of high-priority Timing Superpackets, which are output within a bounded period of time after the PPS.

The Superpackets that meet the LLTP criteria are shown below. Output of each packet can be turned on/off by using the mask in packet 0x8E-A5, but the output order cannot be changed.

The packets may also be requested; please refer to the specific packet documentation for details

The receiver will output all other TSIP packets after the transmission of LLT packet sequence is complete.

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Input ID

Description

Output ID

0x20

Request almanac

0x40

0x27

Request signal levels

0x47

0x28

Request GPS system message

0x48

0x29

Request almanac health page

0x49

0x2F

Request UTC parameters

0x4F

0x38

Request/load satellite system data

0x58

0x39

Set/request satellite disable or ignore health

0x59

0x3A

Request last raw measurement

0x5A

0x3B

Request satellite ephemeris status

0x5B

0x3C

Request tracking status

0x5D

Satellite data packets

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Input ID

Description

Output ID

0x23

Set Initial position (XYZ Cartesian ECEF)

0x24

Request receiver position fix mode

0x6C

0x26

Request receiver health

0x46 and 0x4B

0x27

Request satellite signal levels

0x47

0x2B

Set Initial position (LLA)

0x35

Set input/output options

0x55

0x7A

Set/request NMEA interval and message mask

0x7B

0xBB

Set/request receiver configuration

0xBB

0xBC

Set/request port configuration

0xBC

0x8E-4A

Set/request PPS characteristics

0x8F-4A

0x8E-A5

Set/request packet broadcast mask

0x8F-A5

0x8E-A6

Issue self-survey command

0x8F-A6

Input ID

Description

Output ID

0x1E

Clear memory reset

0x2D

Request oscillator offset

0x4D

0x39

Satellite disable or ignore health

0x592

0xBB

Set receiver configuration parameters

0xBB

0x8E-4A

Set PPS characteristics

0x8F-4A

0x8E-4E

Set PPS output option

0x8F-4E

0x8E-4F

Set PPS Width (Acutime™360 only)

0x8F-4F

0x8E-20

Set Fixed Point Superpacket Output

0x8F-20

Customizing receiver operations

Customizing receiver output for the application

Note – Output is determined by packet 0x35 settings (see Command Packet 0x35: I/O Option Flags Command).

Customizing receiver operation

Output is determined by packet 35 settings. For packets 0x1E see Packets output at startup to

determine which packets are output at power-up.

Not all modes of packet 0x39 cause a reply (see the description for packet 0x39).

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Input ID

Packet Description

Output ID

0x1C-01

firmware version

0x1C-81

0x1C-03

hardware component information

0x1C-83

0x1E

initiate cold reset or factory reset

0x1F

software version

0x45

0x21

Current GPS time

0x41

0x23

Set initial position (XYZ Cartesian ECEF)

0x24

request GPS satellite selection

0x6C

0x26

Receiver health

0x46, 0x4B

0x27

request signal levels

0x47

0x2B

Set approximate initial position (LLA)

0x2F

UTC parameters

0x4F

0x30

Set UTC Date and Time for future roll over date

0x31

Accurate initial position (XYZ Cartesian ECEF)

0x31

0x32

set accurate initial position (LLA)

0x32

0x35

set/request I/O options

0x55

0x37

status and values of last position and velocity

0x57 3

0x38

load or request satellite system data

0x58

0x39

Satellite enable/disable and health heed/ignore

0x59 4

0x3A

request last raw measurement

0x5A

0x3B

Satellite ephemeris status

0x5B

0x3C

request current satellite tracking status

0x5D

0x7A

NMEA Set/Request

0x7B

0xBB

set receiver configuration

0xBB

0xBC

set port configuration

0xBC

0x8E-02

Request UTC information

0x8F-02

0x8E-0B

Request or configure superpacket output

0x8F-0B/0x8F-A5

0x8E-20

Last fix (fixed point)

0x8F-20

0x8E-26

save configuration

0x8E-41

request manufacturing parameters

0x8F-41

0x8E-42

request production parameters

0x8F-42

0x8E-4A

set PPS characteristics

0x8F-4A

0x8E-4D

Packet Output Mask

0x8F-4D

Command Packets: User to Acutime™360

The table below summarizes the packets that can be input by the user. The table includes the input packet ID, a short description of each packet, and the associated output packet.

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Input ID

Packet Description

Output ID

0x8E-4E

PPS output option

0x8F-4E

0x8E-4F

Set PPS width

0x8F-4F

0x8E-A2

UTC/GPS timing

0x8F-A2

0x8E-A5

packet broadcast mask

0x8F-A5

0x8E-A6

self-survey commands

0x8F-A6

0x8E-A9

self-survey parameters

0x8F-A9

0x8E-AB

Set/request primary timing packet

0x8F-AB

0x8E-AC

Set/request supplemental timing packet

0x8F-AC

0x8E-AD

0x8F-AD output configuration

0x8F-A5 / 0x8F-AD

Output ID

Packet Description

Input ID

0x13

unparsable packet

error

0x1C-81

firmware version

0x1C-01

0x1C-83

hardware component information

0x1C-03

0x31

Accurate initial position (XYZ Cartesian ECEF)

0x31

0x32

Set accurate initial position (LLA)

0x32

0x41

GPS time

0x21

0x42

single precision XYZ ECEF position fix

0x35

0x43

velocity fix (XYZ ECEF)

0x37, auto

0x45

software version

0x1E,0x1F, power up

0x46

Health of receiver

0x26

0x47

signal level for all satellites

0x27

0x4A

single precision LLA position

0x37, auto

0x4B

Machine code/status

0x26

0x4F

UTC parameters

0x2F

0x54

One-satellite bias and bias rate

0x54

Output is determined by packet 0x35 settings. See Packets output at startup, page 44 to determine

which messages are output at power-up.

Entering 1SV mode initiates automatic output of packet 0x54.

Output is determined by packet 0x35 settings.

Not all packet 0x39 operations have a response. See packet 0x39 description

Report packets: Acutime™360 to User

The table below summarizes the packets output by the Acutime™360. The table includes the output packet ID, a short description of each packet, and the associated input packet. In some cases, the response packets depend on user-selected options.

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Output ID

Packet Description

Input ID

0x55

I/O options

0x35

0x56

velocity fix (ENU)

0x37, auto

0x57

status and values of last position and velocity

0x37

0x58

GPS system data acknowledge

0x38

0x59

Satellite enable/disable and health heed/ignore

0x39

0x5A

last raw measurement

0x3A

0x5B

Satellite ephemeris status

0x3B

0x5D

current satellite tracking status

0x3C

0x6C

All-in-view satellite selection

0x24

0x7B

NMEA message output

0x7A

0x83

double precision XYZ

0x37, auto

0x84

double precision LLA

0x37, auto

0xBB

receiver configuration

0xBB

0xBC

port configuration

0xBC

0x8F-02

UTC information

0x8E-02

0x8F-0B

Comprehensive time

Auto / Event

0x8F-20

Last fix with extra information (fixed point)

0x8E-20

0x8F-26

save configuration

0x8E-26

0x8F-41

stored manufacturing parameters

0x8E-41

0x8F-42

stored production parameters

0x8E-42

0x8F-4A

set PPS characteristics

0x8E-4A

0x8F-4D

Automatic packet output mask

0x8E-4D

0x8F-4E

PPS output option

0x8E-4E

0x8F-4F

Set PPS width

0x8E-4F

0x8F-A2

UTC/GPS timing

0x8E-A2

0x8F-A5

packet broadcast mask

0x8E-A5

0x8F-A6

self-survey commands

0x8E-A6

0x8F-A9

self-survey parameters

0x8E-A9

0x8F-AB

primary timing packet

auto

0x8F-AC

supplemental timing packet

Auto

0x8F-AD

UTC event time

Auto / Event

Packet descriptions

Command packets are sent from an external device, such as a computer or terminal, to the receiver when requesting report packets, setting receiver parameters, or performing receiver command operations such as resetting the receiver. Many command packets have a

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 55

Byte

Item

Type

Value

Meaning

Packet ID

0x1C

Packet ID 0x1C

Sub-code

0x01

Sub-code 0x01 for software component version information request

Byte

Item

Type

Value

Meaning

Packet ID

0x1C

Packet ID 0x1C

Sub-code

0x81

Sub-code 0x81 for software component version information report

Reserved

Any

Reserved

Major version

Any

Firmware major version

Minor version

Any

Firmware minor version

Build number

Any

Firmware build number

Month

1-12

Firmware build month

Day

1-31

Firmware build day

8…9

Year

U16

Any

Firmware build year

Length of first module name

Any

The length of the product name (L1) 11… (10+L1)

Product name

String

Product name in ASCII

corresponding report packet, which is sent to the external device in response to the command packet. Some commands perform discrete operations and have no matching report packet

Command Packet 0x1C-01: Firmware Version

The command packet 0x1C: 01 may be issued to obtain the firmware version. The product name is Acutime™360. The packet format is defined in the following table:

Report Packet 0x1C-81: Firmware component version information

Command Packet 0x1C-03: Hardware component version information

• The command packet 0x1C: 03 may be issued to obtain the hardware component

version information.

• The report packet is of variable length, depending on the length of the hardware ID.

• The serial number, build date fields, and the hardware ID are programmed into the

Acutime™360 at production.

• The hardware code for the Acutime™360 is 3032.

• ID for Acutime™360 is Acutime™360.

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Byte

Item

Type

Value

Meaning

Packet ID

0x1C

Packet ID 0x1C

Sub-code

0x03

Sub-code 0x03 for hardware component version information request

Byte

Item

Type

Value

Meaning

Packet ID

0x1C

Packet ID 0x1C

Sub-code

0x83

Sub-code 0x83 for hardware component version information report

2 – 5

Serial number

U32

Any

Board serial number

Build day

1-31

Day of the board's build date

Build month

1-12

Month of the board's build date

8…9

Build year

U16

Any

Year of the board's build date

Build hour

0-23

Hour of the board's build date

11…12

Hardware code

U16

0xBD8

Hardware code associated with Hardware ID

Length of HW ID

Any

The length of the Hardware ID (L)

14... (13+L)

Hardware ID

String

Hardware ID string in ASCII

Byte

Item

Type

Value

Response

Reset

’K’ (0x4B)

Cold reset

’F’ (0x46)

Factory reset

’N’ (0x4E)

Clear navigation data and cold reset

The packet format is defined in the following table:

Report Packet 0x1C-83: Hardware component version information

Command Packet 0x1E: Initiate Cold or Factory Reset

This packet commands the Acutime™360 to perform either a cold reset, or a factory reset:

• A cold reset will clear the GNSS data (almanac, ephemeris, etc.) stored in RAM and is

equivalent to a power cycle.

• A factory reset will additionally restore the factory defaults of all configuration

parameters stored in flash memory.

Note – The factory reset command will delete the stored position and cause self-survey to restart.

Command Packet 0x1F: Request Software Version

This packet requests information about the version of software in the Acutime™360. This packet contains no data. The Acutime™360 returns packet 0x45.

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Byte

Item

Type

Units

0-3 X Single

Meters

4-7 Y Single

Meters

8-11

Single

Meters

Command Packet 0x21: Current Time Request

This packet requests current GNSS time. This packet contains no data. The Acutime™360 returns packet 0x41.

Command Packet 0x23: Initial Position (XYZ Cartesian ECEF) Command

This packet provides the GNSS receiver with an approximate initial position in XYZ coordinates. This packet is useful if you have moved more than about 100 meters since the previous fix.

Note – The GNSS receiver can initialize without any data from the user; this packet merely reduces the time required for initialization.

This packet is ignored if the receiver is already calculating positions.

The origin is the earth’s center. The X-axis points toward the intersection of the equator and the Greenwich meridian, the Y-axis points toward the intersection of the equator and the 90° meridian, and the Z-axis points toward the North Pole. The cold-start default LLA (not XYZ) position is 0, 0, 0.

Command Packet 0x24: Request GNSS Satellite Selection

This packet requests a list of satellites used for the current position/time fix. This packet contains no data. The Acutime™360 returns packet 0x6C.

Command Packet 0x26: Health Request

This packet requests health and status information from the Acutime™360. This packet contains no data. The Acutime™360 returns packets 0x46 and 0x4B.

Command Packet 0x27: Request Signal Levels

This packet requests signal levels for all satellites currently being tracked. This packet contains no data. The Acutime™360 returns packet 0x47.

Command Packet 0x2B: Initial Position (Latitude, Longitude, Altitude)

This packet is used for A-GPS (GPS only) to set an approximate initial WGS-84 position (Latitude, Longitude, and Altitude coordinates) for the receiver. This packet is useful if the user has moved

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Command Packet 0x2B Data Format (Double Precision)

Byte

Item

Type

Units

Description

Packet ID

UINT8

0x2B

1-8

Latitude

DOUBLE

Radians

+ for north, - for south

9-16

Longitude

DOUBLE

Radians

+ for east, - for west

17-24

Altitude

DOUBLE

Meters

25-28

Horizontal Uncertainty

SINGLE

meters

Default:30K Range: 0 ~ 3000Km

29-32

Vertical Uncertainty

SINGLE

meters

Default:500 Range: 0 ~ 500m

Command Packet 0x2B Data Format (Single Precision)

Byte

Item

Type

Units

Description

Packet ID

UINT8

0x2B

1-4

Latitude

SINGLE

Radians

+ for north, - for south

5-8

Longitude

SINGLE

Radians

+ for east, - for west

9-12

Altitude

SINGLE

Meters

13-16

Horizontal Uncertainty

SINGLE

meters

Default: 30000

17-20

Vertical Uncertainty

SINGLE

meters

Default: 500

Byte

Item

Type

Description

Packet ID

1-2

Year

U16

Four Digits of the year

UTC:Month

1-12

UTC:Day of Month

1-31

more than about 1,000Km since the previous fix. The GNSS receiver returns report packet 0x2B, which indicates if the position was accepted by the receiver.

Note – The GNSS receiver can initialize itself without any data from the user; this packet merely reduces the time required for initialization.

This packet is ignored if the receiver is already calculating positions. The data format is shown in the table below.

Command Packet 0x2F: UTC Parameters Request

This packet requests the current UTC-GPS time offset (leap seconds). The packet has no data. The receiver returns packet 0x4F.

Command packet 0x30: Set UTC Date and Time for future roll over date

This packet changes the Base week, to extend out the last valid WNRO number which would normally be based on the firmware build date.

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UTC:Hour

0-23

UTC:Min

0-59

UTC:Sec

0-59

Command Packet 0x31 Data Format (Single Precision)

Byte

Item

Type

Units

Description

Packet ID

UINT8

0x31

1-4

X-axis

SINGLE

Meters

4-8

Y-axis

SINGLE

Meters

9-12

Z-axis

SINGLE

Meters

Command Packet 0x31 Data Format (Double Precision)

Byte

Item

Type

Units

Description

Packet ID

UINT8

0x31

1-8

X-axis

DOUBLE

Meters

9-16

Y-axis

DOUBLE

Meters

17-24

Z-axis

DOUBLE

Meters

NOTE: Do not use a date earlier than the current firmware date.

Command Packet 0x31: Accurate Initial Position (XYZ Cartesian ECEF) Command

This packet is identical in content to packet 0x23; it provides an initial position to the Acutime™360 in XYZ coordinates. However, the GNSS receiver assumes the position provided in this packet to be accurate. This packet is used for satellite acquisition aiding in systems where another source of position is available and in time transfer (one-satellite mode) applications. For acquisition aiding, the position provided by the user to the Acutime™ 360 in this packet should be accurate to a few kilometers. For high-accuracy time transfer, position should be accurate to a few meters. T-RAIM flags come on if this position is not accurate enough.

Entering an accurate position sets the self-survey completion state to 100%. The Acutime™360 returns report packet 0x31, which indicates if the position was accepted by the receiver. The uploaded position is not stored in flash memory unless it is stored with command packet 0x8E-

26. The input position is reported by packet 0x8F-AC.

Command Packet 0x32: Accurate Initial Position (Latitude, Longitude, Altitude)

This packet provides an accurate initial position to the Acutime™360 in latitude, longitude, and altitude coordinates. Either the single precision or the double precision version of this packet may be used, however, we recommend using the double precision version for greatest accuracy. The Acutime™360 returns report packet 0x32, which indicates if the position was

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Byte

Item

Type

Units

0-3

Latitude

Single

Radians, north

4-7

Longitude

Single

Radians, east

8-11

Altitude

Single

Meters

Byte

Item

Type

Units

0-7

Latitude

Double

Radians, north

8-15

Longitude

Double

Radians, east

16-23

Altitude

Double

Meters

accepted by the receiver. The GNSS receiver uses this position for performing time-only fixes. If a survey is in progress when this command is issued, the survey is aborted, and this position data is used immediately. The coordinates entered must be in the WGS-84 datum. The Acutime™360 will automatically switch to the over-determined timing mode. Note that this position is not automatically saved to flash memory. If you want to save this position, first set the position, wait at least 2 seconds and then use packet 8E-A6 to save the position.

Note – When converting from degrees to radians use the following value for PI:

3.1415926535898

Single precision data format

Double precision data format

Command Packet 0x35: Set or Request I/O Options

This packet requests the current I/O option states and allows the I/O option states to be set as desired.

To request the option states without changing them, the user sends this packet with no data bytes. To change any option states, the user includes 4 data bytes with the values. The I/O options, their default states, and the byte values for all possible states are shown below. These options can be set into non-volatile memory (flash ROM) with the 0x8E-26 command. The Acutime™360 returns packet 0x55.

These abbreviations apply to the following table: ALT (Altitude) ECEF (Earth-centered, Earth-fixed) XYZ (Cartesian coordinates) LLA (latitude, longitude, altitude) HAE (height above ellipsoid) WGS-84 (Earth model (ellipsoid)) MSL geoid (Earth (mean sea level) mode) UTC (coordinated universal time)

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Byte

Data Type

Bit

Value

Meaning

Associated Packet

Packet ID

0x35

Position

0 0 ECEF off

0x42 or 0x83

1 ECEF on

1 0

LLA off

0x4A or 0x84

1 LLA on

2 0

HAE (datum)

0x4A or 0x84

1 MSL geoid (Note 1)

3 0

reserved

4 0

single-precision position

0x42 / 4A 0x83 / 84

1 double-precision position

5-7 reserved

2 velocity

0 0 ECEF off

0x43

1 ECEF on

1 0

ENU off

0x56

1 ENU on

2-7 reserved

3 timing

0 0 Reserved

0x42, 0x43, 0x4A, 0x83,

1 Now use 0x8E-A2

0x84, 0x56,

Reserved

0-7 reserved

Note – When using the MSL altitude output, the current datum must be set to WGS-84.

Command Packet 0x37: Request Status and Values of Last Position

This packet requests information regarding the last position fix (normally used when the GNSS receiver is not automatically outputting fixes). The Acutime™360 returns the position/velocity auto packets specified in the 0x35 message as well as message 0x57. This packet contains no data.

Command Packet 0x38: Request/Load Satellite System Data

This packet is used for A-GPS (GPS only). This packet requests current satellite data (almanac, ephemeris, and so on) or permits loading initialization data from an external source (for example, by extracting initialization data from an operating GNSS receiver unit through a data logger or computer and then using that data to initialize a second GNSS receiver unit). The Acutime™360 returns packet 0x58.

Note – The Acutime™360 can initialize itself without any data from the user; it merely requires more time.

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Byte

Item

Type

Value

Meaning

Packet ID

0x38

Operation

U8 1 Request data from GPS receiver

2 Load data into GPS receiver

Type of data

U8 2 Almanac

3 Health page, T_oa, WN_oa

4 Ionosphere

5 UTC

6 Ephemeris

Sat PRN#

Data that is not satellite - ID specific

1-32

Satellite PRN number

Length (n)

U8 Number of bytes of data to be loaded

5 to n+3

Data

U8 Satellite data

Byte

Item

Type

Value

Description

Operation

BYTE

Enable for selection (default)

2 Disable for selection

Request enable or disable status on byte 1 selection

4 Heed health on satellite

5 Ignore health on satellite

6 Request heed or ignore health on byte 1 selection

SV Type

BYTE

All SVs 1

GPS

2 GLONASS

To request data without loading data, use only bytes 0 through 2; to load data, use all bytes. Before loading data, observe the caution notice below. The data formats are located in Report Packet 0x58.

WARNING – Loading all satellite data at once sends a lot of bytes to the unit, which could overwhelm the unit’s serial receive buffer. Always wait for the acknowledge packet before sending the next data block.

Command Packet 0x39: Satellite Attribute Database Command

Normally, the GNSS receiver selects only healthy satellites (based on transmitted values in the ephemeris and almanac) that satisfy all mask values for use in the position solution. This packet allows you to override the internal logic and force the receiver to either unconditionally disable a particular satellite or to ignore a bad health flag. The GNSS receiver returns packet 0x59 for operation modes 3 and 6 only.

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3 BeiDou 4

Galileo 5

QZSS

6 SBAS

SVID

BYTE

If byte 1 value:

0 then 0

All SVs 1 then 1-32

GPS 2 then 65-96

GLONASS 3 then 201-237

BeiDou 4 then 97-133

Galileo 5 then 193-195

QZSS

6 then 33-54

SBAS

Byte

Item

Type

Value

Description

Packet ID

UINT8

0x3A

Satellite PRN

UINT8

All SVs in current tracking list

Convert values

1-32

GPS

to Hexadecimal

65-96

GLONASS

97-133

Galileo

183,192,193,200

QZSS

201-237

BeiDou

NOTE: Send a WARM start command (0x1E 0x0E) after setting new values.

Command Packet 0x3A: Request last raw Measurement

This packet requests the most recent raw measurement data for one specified satellite. The

Acutime™360 returns packet 0x5A if data is available.

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Byte

Item

Type

Value

Meaning

Satellite #

BYTE

All satellites for which ephemeris data is available

1-32

Required satellite

Byte

Item

Type

Value

Description

Packet ID

UINT8

0x3C

Satellite PRN

UINT8

All SVs in current tracking list

Convert values

1-32

GPS

to Hexadecimal

65-96

GLONASS

97-133

Galileo

193,194,195

QZSS

201-237

BeiDou

Byte

Bit

Item

Type

Value

Meaning

0 Packet ID

0x7A

1 Subcode

U8 0

2 Interval

1-225

Fix interval in seconds

3 Reserved

U8 0 4

Reserved

U8 0 5 0

RMC

Bit 0 Off 1 On 1-7

Reserved

Bit 0 6 0

GGA

Bit 0 Off

On 1

GGL

Bit 0 Off

Command Packet 0x3B: Satellite Ephemeris Status Request (for GPS only)

This packet requests the current status of satellite ephemeris data. The Acutime™360 returns packet 0x5B, if data is available.

Command Packet 0x3C: Request Current Satellite Tracking Status

This packet requests the current satellite tracking status. The GNSS receiver returns packet 0x5D if data is available.

Command Packet 0x7A: Set or Request NMEA Interval and Message Mask

The NMEA message determines whether or not a given NMEA message will be output. If the bit for a message is set, the message will be sent every "interval" seconds. To determine the NMEA interval and message mask, use the values shown below. While fixes are being generated the output order is: ZDA, GGA, GLL, VTG, GSA, GSV, RMC.

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Byte

Bit

Item

Type

Value

Meaning

On 2

VTG

Bit 0 Off 1 On 3

GSV

Bit 0 Off 1 On 4

GSA

Bit 0 Off 1 On 5

ZDA

Bit 0 Off 1 On 6-7

Reserved

Bit 0

Byte

Item

Type

Value

Description

Status

U8 0 Position accepted

1 Position not accepted

Reserved

U8 0 Reserved

Byte

Item

Type

Value

Description

Status

U8 0 Position accepted

1 Position not accepted

Reserved

U8 0 Reserved

Report Packet 0x31: Accurate Initial Position (XYZ Cartesian ECEF)

This packet is sent in response to command packet 0x31. The packet indicates if the receiver accepted the accurate initial position.

Report Packet 0x32: Accurate Initial Position (Latitude, Longitude, Altitude)

This packet is sent in response to command packet 0x32. The packet indicates if the receiver accepted the accurate initial position.

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Byte

Item Type Units

0-3 GNSS time of week

Single

Seconds

4-5

GNSS week number

Integer

Weeks

6-9

UTC offset

Single

seconds

Byte

Item

Type

Value/Units

Packet ID

0x42

1-4

Single

meters

5-8 Y Single

meters

9-12

Single

meters

13-16

Time of fix

Single

seconds

Byte

Item

Type

Units

Packet ID

0x43

1-4

X velocity

Single

meters/second

5-8

Y velocity

Single

meters/second

9-12

Z velocity

Single

meters/second

13-16

bias rate

Single

meters/second

17-20

time-of-fix

Single

Seconds

Report Packet 0x41: GPS Time Report

Legacy packet, use 0x8F-AB or 0x8F-AC instead.

This packet provides the current GNSS time of week and the week number. The GNSS receiver sends this packet in response to packet 0x21.

Report Packet 0x42: Single-precision Position Fix

This packet provides current GNSS position fix in XYZ ECEF coordinates. If the I/O "position" option is set to "XYZ ECEF" and the I/O "Precision-of-Position output" is set to single-precision, then the GNSS receiver sends this packet each time a fix is computed and at start-up. The data format is shown below.

The time-of-fix is in GNSS time or UTC as selected by the I/O "timing" option in command packet 0x35. Packet 0x83 provides a double-precision version of this information.

Report Packet 0x43 Velocity Fix, XYZ ECEF

This packet provides current GNSS velocity fix in XYZ ECEF coordinates. If the I/O "velocity" option (packet 0x35) is set to "XYZ ECEF", then the GNSS receiver sends this packet each time a fix is computed or in response to packet 0x37. The data format is shown below. The time-of-fix is in GPS, GLONASS or UTC as selected by the I/O "timing" option.

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Byte

Item

Type

Value

Description

Packet ID

UINT8

0x45

Application Layer of the firmware

UNIT8

Major version number of application

UNIT8

Minor version number of application

UNIT8

Month

UNIT8

Day 5 UNIT8

Year number minus 2000

GNSS Core Layer of the firmware

UNIT8

Major revision number of GNSS core

UNIT8

Minor revision number of GNSS core

UNIT8

Month

UNIT8

Day

UNIT8

Year number minus 2000

Byte Item

Type Value

Meaning

0 Status code

Byte

00 hex

Doing position fixes

01 hex

Do not have GPS time yet

03 hex

PDOP is too high

08 hex

No usable satellites

09 hex

Only 1 usable satellite

0A hex

Only 2 usable satellites

0B hex

Only 3 usable satellites

0C hex

The chosen satellite is unusable

BB hex

Have GPS time fix (OD mode)

Error codes

Byte

See Report Packet 0x46

Report Packet 0x45: Software Version Information

This packet provides information about the version of software in the Acutime™360. The GNSS receiver sends this packet after power-on and in response to packet 0x1F.

Note – Bytes 0 through 4 are part of the application layer of the firmware, while bytes 5 through 9 are part of the GNSS core layer of the firmware.

Report Packet 0x46: Health of Receiver Report

This packet provides information about the satellite tracking status and the operational health of the receiver. The receiver sends this packet after power-on or software-initiated resets, in response to packet 0x26, during an update cycle, when a new satellite selection is attempted, and when the receiver detects a change in its health. Packet 0x4B is always sent with this packet. The data format is shown below:

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Error code bit position

Meaning if bit value = 1

0 (LSB)

Unused, always returned as ‘1’

Unused

Antenna feed line fault (open or short)

Antenna is shorted

Unused

7 (MSB)

unused

Byte

Item

Type

Packet ID

count

U8 2 satellite number 1

3-6

signal level 1

Single

satellite number 2

8-11

signal level 2

Single

(etc.)

The error codes in Byte 1 of packet 0x46 are encoded into individual bits within the byte. The bit positions and their meanings are shown below:

Report Packet 0x47: Signal Level for All Satellites Tracked

This packet provides received signal levels for all satellites currently being tracked or on which tracking is being attempted (i.e., above the elevation mask and healthy according to the almanac). The receiver sends this packet only in response to packet 0x27. The data format is shown below. Up to 14 satellite number/signal level pairs may be sent, indicated by the count field. Signal level is normally positive. If it is zero then that satellite has not yet been acquired. The absolute value of signal level field is the last known signal level of that satellite.

Note – The signal level provided in this packet is a linear measure of the signal strength after correlation or de-spreading. Units are in dB-Hz.

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Byte

Item

Type

Units

0-3

latitude

Single

radians: + for north, - for south

4-7

longitude

Single

radians: + for east, - for west

8-11

altitude

Single

meters

12-15

clock Bias

Single

meters (always relative to GPS)

16-19

time of fix

Single

seconds

Report Packet 0x4A: Single Precision LLA Position Fix

The packet provides current GNSS position fix in LLA (latitude, longitude, and altitude) coordinates. If the I/O position option is set to "LLA" and the I/O precision of position output is set to single precision, then the receiver sends this packet each time a fix is computed. The data format is shown below:

The LLA conversion is done according to the datum selected; the default is WGS-84. Altitude is referred to the datum or the MSL Geoid, depending on which I/O LLA altitude option is selected with packet 0x35. The time of fix is in GPS, GLONASS time or UTC, depending on which I/O timing option is selected.

CAUTION – When converting from radians to degrees, significant and readily visible errors will

be introduced by use of an insufficiently precise approximation for the constant π (pi). The value of a constant π as specified in ICDGPS-200 is 3.1415926535898.

CAUTION – The MSL option is only valid with the WGS-84 datum. Do not use other datums.

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Byte

Item

Type

Meaning

0 Machine ID

BYTE

Status 1

BYTE

See below for the Status 1 codes

Status 2

BYTE

Superpackets are supported

Status 1 Bit Position

Meaning if bit value = 1

0 (LSB)

Not used

The Almanac stored in the receiver is not complete & current

4-7

Not used

Byte

Value

Type

0-7 A0

Double

8-11

Single

12-13

ΔTLS

Integer

14-17

TOT

Single

18-19

WNT

Integer

20-21

LSF

Integer

22-23

Integer

24-25

ΔT

LSF

Integer

Report Packet 0x4B: Machine/Code ID and Additional Status Report

The Acutime™360 transmits this packet in response to packet 0x26 and following a change in state. This packet identifies the receiver and may present error messages. Packet 0x46 is always sent with this packet. The machine ID can be used by equipment communicating with the receiver to determine the type of receiver to which the equipment is connected. Then the interpretation and use of packets can be adjusted accordingly.

The status codes are encoded into individual bits within the bytes:

Report Packet 0x4F: UTC Parameters Report

This packet is sent in response to command packet 0x2F and contains 26 bytes. It reports the UTC information broadcast by the GPS system. For details on the meanings of the following parameters, consult ICD-200, Sections 20.3.3.5.2.4, 20.3.3.5.1.8, and Table 20-IX.

On the simplest level, to get UTC time from GPS time, subtract ΔTLS seconds. The other information contained in this packet indicates when the next leap second is scheduled to occur.

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Byte

Item

Type

Units

0-3 Bias

Single

Meters

4-7

Bias rate

Single

Meters/second

8-11

Time of fix

Single

seconds

Byte

Item

Type

Units

Packet ID

0x56

1-4

East Velocity

Single

m/s; + for east, - for west

5-8

North Velocity

Single

m/s; + for north, - for south

9-12

up velocity

Single

m/s; + for up, - for down

13-16

clock bias rate

Single

m/s

17-20

time-of-fix

Single

seconds

Report Packet 0x54: Bias and Bias Rate Report

The receiver sends this packet to provide the computed clock-only solution when the receiver is in the manual or automatic Over-determined Clock Mode or Time Only (1-SV) Mode.

The bias is the offset of the receiver internal time clock from GPS time. Bias is expressed as meters of apparent range from the satellites, and corrects the 1 PPS output. Bias rate is the frequency error of the receiver internal oscillator. It is expressed as apparent range rate. Timeof-fix is in GPS or UTC time as selected by the I/O “timing” option in packet 0x35.

CAUTION – For accurate interpretation of the propagation delay, the precise constant for the speed of light must be used. The ICD-200 value for the speed of light is 299,792,458 m/s.

Report Packet 0x55 I/O Options

This packet provides the current I/O option states in response to packet 0x35 request. The data format is the same as for packet.

Report Packet 0x56: Velocity Fix, East-North-Up (ENU)

If East-North-Up (ENU) coordinates have been selected for the I/O "velocity" option, the receiver sends this packet under the following conditions:

• Each time that a fix is computed

• In response to packet 0x37 (last known fix) The data format is shown below.

Note – The time-of-fix is in GPS or UTC time as selected by the I/O "timing" option.

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 72

Byte

Item

Type

Value

Meaning

Packet ID

0x57

source of info

U8 0 Old fix

1 New fix

Tracking mode

U8 0 No previous fix

1 Time only -SV

2 Not used

3 2D 4

3D 5

over-determined clock

6 Not used

3-6

time of last fix

Single

seconds GPS time

7-8

week of last fix

U16

weeks

Byte

Item

Type

Value

Definition

Packet ID

0x58

Operation

U8 2 Data out

3 No data on SV

Type of data

U8 1 Not used

2 Almanac

3 Health page, T_oa, WN_oa

4 Ionosphere

5 UTC

6 GPS Ephemeris

Sat PRN #

U8 0 Data that is not satellite ID-specific

1 to 32

Satellite PRN number

Report Packet 0x57: Information about Last Computed Fix

This packet provides information concerning the time and origin of the previous position fix. The receiver sends this packet, among others, in response to packet 0x37. The data format is shown below.

Report Packet 0x58: Satellite System Data/Acknowledge from Receiver

This packet provides GPS data (almanac, ephemeris, and so on). The receiver sends this packet in response to Packet 0x38 (acknowledging the loading of data). The data format is shown below.

Data Format

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Byte

Item

Type

Value

Definition

Length (n)

U8 Byte count

5 to n+4

Data

nBytes

Byte

Item

Type

Definition / ICD-GPS-200

t_oa_raw

Sec 20.3.3.5.1.2

SV_HEALTH

Sec 20.3.3.5.1.2

7-10

Single

Sec 20.3.3.5.1.2

11-14

t_oa

Single

Sec 20.3.3.5.1.2

15-18

i_o

Single

Sec 20.3.3.5.1.2

19-22

OMEGADOT

Single

Sec 20.3.3.5.1.2

23-26

sqrt_A

Single

Sec 20.3.3.5.1.2

27-30

OMEGA_0

Single

Sec 20.3.3.5.1.2

31-34

OMEGA

Single

Sec 20.3.3.5.1.2

35-38

M_0

Single

Sec 20.3.3.5.1.2

39-42

a_f0

Single

Sec 20.3.3.5.1.2

43-46

a_f1

Single

Sec 20.3.3.5.1.2

47-50

Axis

Single

Sec 20.3.3.5.1.2

51-54

Single

Sec 20.3.3.5.1.2

55-58

OMEGA_n

Single

Sec 20.3.3.5.1.2

59-62

ODOT_n

Single

Sec 20.3.3.5.1.2

63-66

t_zs

U16

Sec 20.3.3.5.1.2, see Note 2.

67-68

weeknum

U16

Sec 20.3.3.5.1.2

69-70

WN_oa

U16

Sec 20.3.3.5.1.2

Byte

Item

Type

Definition / ICD-GPS-200

week number for health

Sec 20.3.3.5.1.3

6-37

SV health

Sec 20.3.3.5.1.3

t_oa for health

Sec 20.3.3.5.1.3

current t_oa

units = seconds/2048

40-41

current week #

U16

Almanac parameters

Note – All angles are in radians. If data is not available, t_zc is set to -1.0.

Satellite health

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 74

Byte

Item

Type

Definition / ICD-GPS-200

5-12

not used

13-16

α0

Single

Sec 20.3.3.5.1.9

17-20

α1

Single

Sec 20.3.3.5.1.9

21-24

α2

Single

Sec 20.3.3.5.1.9

25-28

α3

Single

Sec 20.3.3.5.1.9

29-32

β0

Single

Sec 20.3.3.5.1.9

33-36

β1

Single

Sec 20.3.3.5.1.9

37-40

β2

Single

Sec 20.3.3.5.1.9

41-44

β3

Single

Sec 20.3.3.5.1.9

Byte

Item

Type

Meaning

5-17

not used

18-25

Double

Sec 20.3.3.5.1.8

26-29

ΔtLS

Single

S16

Sec 20.3.3.5.1.8

30-31

tot

Single

Sec 20.3.3.5.1.8

32-35

WNt

U16

Sec 20.3.3.5.1.8

36-37

WNLSF

U16

Sec 20.3.3.5.1.8

38-39

U16

Sec 20.3.3.5.1.8

40-41

ΔtLSf

S16

Sec 20.3.3.5.1.8

Byte

Item

Type

Meaning

SV number

SV PRN number

6-9

t_ephem

Single

time of collection (note, if data is missing or invalid, t_ephem will be negative)

10-11

week number

U16

GPS week number 0 thru 1023

codeL2

Sec 20.3.3.3, Table 20-I

L2Pdata

Sec 20.3.3.3, Table 20-I

SV accuracy raw

Sec 20.3.3.3, Table 20-I

SV health

Sec 20.3.3.3, Table 20-I

16-17

IODC

U16

Sec 20.3.3.3, Table 20-I

Ionosphere parameters

UTC parameters

Ephemeris data

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Byte

Item

Type

Meaning

18-21

tGD

Single

Sec 20.3.3.3, Table 20-I

22-25

toc

Single

Sec 20.3.3.3, Table 20-I

26-29

af2

Single

Sec 20.3.3.3, Table 20-I

30-33

af1

Single

Sec 20.3.3.3, Table 20-I

34-37

afo

Single

Sec 20.3.3.3, Table 20-I

38-41

SV accuracy

Single

Sec 20.3.3.3, Table 20-I

IODE

Sec 20.3.3.4

fit_interval

Sec 20.3.3.4

44-47

Crs

Single

Sec 20.3.3.4

48-51

Δn

Single

Sec 20.3.3.4

52-59

Double

Sec 20.3.3.4

60-63

Cuc

Single

Sec 20.3.3.4, radians

64-71

Double

Sec 20.3.3.4

72-75

CUS

Single

Sec 20.3.3.4, radians

76-83

sqrt(A)

Double

Sec 20.3.3.4

84-87

toe

Single

Sec 20.3.3.4

88-91

Cic

Single

Sec 20.3.3.4

92-99

OMEGA_0

Double

Sec 20.3.3.4

100-103

Cis

Single

Sec 20.3.3.4

104-111

Double

Sec 20.3.3.4

112-115

Crc

Single

Sec 20.3.3.4

116-123

OMEGA

Double

Sec 20.3.3.4

124-127

OMEGADOT

Single

Sec 20.3.3.4

128-131

IDOT

Single

Sec 20.3.3.4

132-139

Axis

Double

= (sqrt_A)2

140-147

Double

derived from delta_n

148-155

r1me2

Double

= sqrt (1.0-e2)

156-163

OMEGA_n

Double

derived from OMEGA_0, OMEGADOT

163-171

ODOT_n

Double

derived from OMEGADOT

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Byte

Item

Type

Value

Description

Operation

BYTE

Request enable or disable status on byte 1 selection

6 Request heed or ignore health on byte 1 selection

SV Type

BYTE

1 then 1-32

GPS

2 then 65-96

GLONASS 3 then 201-237

BeiDou 4 then 97-133

Galileo 5 then 193-195

QZSS

6 then 33-54

SBAS

2~38

SVID

BYTE

1 byte per SV (depends on byte 0 value)

0 Enable SV selection or head SV health

1 Disable SV selection or ignore SV health

Byte

Item

Type

Units

Packet ID

0x5A

SV PRN number

Single

2-5

Sample length

single

milliseconds

6-9

Signal level

single

dB-Hz

10-13

Code phase

single

1/16th chip

14-17

Doppler

single

Hertz @ L1

18-25

time of measurement

double

seconds

Report Packet 0x59: Satellite Attributes Database Report

This packet is returned in response to packet 0x39 if operation mode 3 or 6 is used with packet 0x39. Normally the GNSS receiver selects only healthy satellites (based on transmitted values in the ephemeris and almanac) that satisfy all mask values, for use in the position solution. Packet 0x59 indicates whether or not each satellite is allowed to be selected for use in the position solution, and whether each satellite’s health is to be heeded or ignored.

Note – When viewing the satellite disabled list, the satellites are not numbered but are in numerical order. The disabled satellites are signified by a 1 and enabled satellites are signified by a 0.

Report Packet 0x5A: Raw Data Measurement Data

Packet 0x5A provides raw GNSS measurement data. If the packet 0x35 auxiliary option byte bit 1 is set, this packet is sent automatically as measurements are taken.

Note – The sample length is the number of milliseconds over which the sample was averaged.

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Note – The code phase value is the average delay over the sample interval of the received C/A code, and is measured with respect to the receiver's millisecond timing reference.

Signal level

The Signal Level (byte 6) is a linear approximation of C/N0 which is stated in antenna amplitude measurement units (AMUs), a Trimble devised unit. The C/N0 is affected by five basic parameters:

• signal strength from the GPS satellite

• receiver/antenna gain

• pre-amplifier noise figure

• receiver noise bandwidth

• accumulator sample rate and statistics

Codephase

The codephase (byte 10) value is the average delay over the sample interval of the received C/A code and is measured with respect to the receiver's millisecond timing reference. Thus, it includes all receiver, satellite, and propagation biases and errors. It is expressed in 1/16th of a C/A code chip.

Doppler

The Doppler (byte 14) value is apparent carrier frequency offset averaged over the sample interval. It is measured with respect to the nominal GPS L1 frequency of 1575.42 MHz, referenced to the receiver's internal oscillator. Thus, it includes all receiver and satellite clock frequency errors. It is expressed in Hertz at the L1 carrier.

Time of measurement

The time of measurement (Byte 18) is the center of the sample interval adjusted by adding the receiver-supplied codephase (modulo mS) to a user-determined integer number of mS between receiver and satellite.

The receiver codephase resolution is 1/16th of a C/A code chip. This corresponds to:

1/16 × C/A code chip ≈ 977.517ns/16 ≈ 61.0948 ns

≈ 61.0948 × speed of light, m/s

≈ 18.3158 meters

The integer millisecond portion of the pseudo-range must then be derived by utilizing the approximate receiver and satellite positions. Rough receiver position (within a few hundred

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 78

Byte

Item

Type

Units

Packet ID

0x5B

Satellite PRN number

Byte

2-5

Time of Collection

Single

seconds

Health

Byte

IODE

Byte

8-11

toe

Single

seconds

Fit Interval Flag

Byte

13-16

SV Accuracy (URA)

Single

meters

Byte

Bit

Item

Type

Value

Meaning

0 Packet ID

0x5D

1 SV PRN number

U8 2

channel number

UINT8

Channel number minus1

3 acquisition flag

UNIT8

never acquired

acquired

re-opened search

kilometers) must be known; the satellite position can be found in its almanac/ephemeris data. Each mS integer corresponds to:

C/A code epoch × speed of light = 1 ms × speed of light m/s

≈ 300 km (approximate)

≈ 299.792458 km (precise)

The satellite time-of-transmission for a measurement can be reconstructed using the code phase, the time of measurement, and the user-determined integer number of milliseconds.

Report Packet 0x5B: Satellite Ephemeris Status Report (GPS only)

This packet is sent in response to packet 0x3B and optionally, when a new ephemeris (based on IODE) is received. It contains information on the status of the ephemeris in the receiver for a given satellite.

The satellite PRN number is in the range 1–32. Time of Collection is the GPS time when this ephemeris data was collected from the satellite. Health is the 6-bit ephemeris health. IODE, toe, and Fit Interval Flag are as described in ICD-GPS-200. SV Accuracy (URA) is converted to meters from the 4-bit code as described in ICD-GPS-200.

Report Packet 0x5D: Satellite Tracking Status

The receiver sends this packet in response to command packet 0x3C.

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Byte

Bit

Item

Type

Value

Meaning

SV used in Position or Time calculation

UNIT8

0 1 Not used Used

5-8 signal level

SINGLE

dB-Hz

9-12

time of last measurement

SINGLE

seconds

GPS TOW 13-16

elevation angle

SINGLE

radians

17-20

azimuth angle

SINGLE

radians

21 old measurement flag

U8 0 Flag not set

measurement is old

22 integer msec flag

UINT8

0 1 2 3 4

Don’t know msec Known from subframe Verified by bit crossing verified by good fix Suspect msec error

23 bad data flag

UINT8

0 1 2

Flag not set Bad parity Bad ephemeris health

24 data collection flag

UINT8

0 >0

Flag not set Collection in progress

25 Used flags

Bit field

Bit 0 Bit 1 Bit 2-7

Satellite used in timing fix Satellite used in position fix reserved

26 SV Type

UINT8

0 1 2 3 4 5 6 7

GPS GLONASS BeiDou Galileo Reserved QZSS Reserved Reserved

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Byte

Bit

Item

Type

Value

Meaning

0 Packet ID

0x6C

0-2

fix dimension

bit field

2D fix

3D fix

OD clock fix

3 fix mode

bit field

auto

manual

2-5 PDOP

Single

PDOP

6-9 HDOP

Single

HDOP

10-13

VDOP

Single

VDOP

14-17

TDOP

Single

TDOP

18 No. of SV in fix

U8 Count

19-n

SV PRN

1-224

PRN

Byte

Item

Type

Units

Packet ID

0x83

1-8 X Double

meters

9-16

Double

meters

17-24

Double

meters

Report Packet 0x6C: All-in-View Satellite Selection

This packet provides a list of satellites used for position or time only fixes by the GNSS receiver. The packet also provides the PDOP, HDOP, and VDOP of that set and provides the current mode (automatic or manual, 3-D or 2-D, over-determined, clock, etc.). This packet has variable length equal to 17+nsvs where "nsvs" is the number of satellites used in the solution.

The GNSS receiver sends this packet in response to packet 0x24 when the selection list is updated. If enabled with packet 8E-A5, the receiver will send this packet whenever the selection is updated. The data format is shown below.

Report Packet 0x7B: Set NMEA Message Output

This packet is sent in response to command packet 7A and has the same data format as packet 7A.

Report Packet 0x83: Double Precision XYZ

This packet provides current GNSS position fix in XYZ ECEF coordinates. If the I/O "position" option is set to "XYZ ECEF" and the I/O double position option is selected, the receiver sends this packet each time a fix is computed. The data format is shown below.

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25-32

clock bias

Double

meters

33-36

time-of-fix

Single

seconds

Byte

Item

Type

Units

Packet ID

0x84

1-8

latitude

Double

radians; + for north, - for south

9-16

longitude

Double

radians; + for east, - for west

17-24

altitude

Double

meters

25-32

clock bias

Double

meters

33-36

time-of-fix

Single

seconds

Note – The time-of-fix is in GPS, GLONASS time or UTC, as selected by the I/O "timing" option. Packet 0x42 provides a single-precision version of this information.

Report Packet 0x84: Double Precision LLA Position Fix and Bias Information

This packet provides current GNSS position fix in LLA coordinates. If the I/O "position" option is set to "LLA" and the double position option is selected (see packet 0x35), the receiver sends this packet each time a fix is computed.

Note – The time-of-fix is in GPS, GLONASS time or UTC time as selected by the I/O "timing" option.

CAUTION – When converting from radians to degrees, significant and readily visible errors will be introduced by use of an insufficiently precise approximation for the constant p (PI). The value of the constant PI as specified in ICDGPS-200 is 3.1415926535898.

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Byte

Item

Type

Value

Meaning

Default

Packet ID

0xBB

Subpacket ID

0x00

Query mode

Byte

Item

Type

Value

Meaning

Default

Packet ID

0xBB

Subpacket ID

0x00

Receiver configuration block

2 Receiver mode

U8 0 Automatic

#0 1

Time only (1SV)

Horizontal (2D)

Full Position (3D)

Reserved

Over Determined Clock

3 reserved

U8 N/A

4 reserved

U8 N/A

5 reserved

U8 N/A

6-9

Elevation Mask

Single

0-π/2

Lowest satellite elevation for fixes

0 degrees

only when the receiver is operating in

the Over Determined Clock mode.

10-13

AMU Mask

Single

0-55

Min. signal level for fixes. Used when receiver is operating in OD mode.

4.0 14-17

PDOP Mask

Single

Maximum PDOP for fixes

18-21

PDOP Switch

Single

Unused, value ignored

reserved

U8 N/A

Anti-jamming

U8 0 Disabled

mode

1 Enabled

24-25

reserved

U8 N/A

Command Packet 0xBB: Set Receiver Configuration

In query mode, packet 0xBB is sent with a single data byte and returns report packet 0xBB in the format shown below:

Data Format (Query Only)

TSIP packet 0xBB is used to set GNSS Processing options. The table below lists the individual fields within the 0xBB packet.

Report Packet 0xBB Data Format

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Byte

Item

Type

Value

Meaning

Default

Measurement rate

U8 0 1 Hertz

1Hz 27

Position Fix rate

U8 0 1 Hertz

1Hz

Constellation

Bit 0 GPS

See note

1 GLONASS

Reserved

BeiDou

Galileo

QZSS

6 Reserved

7 Reserved

29-40

reserved

U8 N/A

Byte

Item

Type

Value

Meaning

Packet ID

0xBC

Port Number

U8 0 Port A (standard)

1 Port B

Current Port

Note – Byte 27 is used for constellation setting. For GPS only mode 1st bit position is set to 1 (0001), for GLONASS only mode 2nd bit position is set to 1 (eg. 0010) and for GPS & GLONASS mode both 1st and 2nd bits are set to 1 (0011).

Note: The only limitation on satellite selection is that both GLONASS and BeiDou cannot be enabled at the same time. If they are both enabled then the unit will disable BeiDou and use GLONASS only

CAUTION – The operation of the Acutime™360 can be affected adversely if incorrect data is entered in the fields associated with packet 0xBB. Know what you are doing.

Note – When sending packet 0xBB, fields that are specified as "do not alter" or if you do not want to alter a specific field, send a value of 0xFF for U8 types and a value of - 1.0 for floating point types. The Acutime™360 will ignore these values.

Command Packet 0xBC: Set Port Configuration

TSIP packet 0xBC is used to set and query the port characteristics. In query mode, packet 0xBC is sent with a single data byte and returns report packet 0xBC:

Note – The input and output baud rates must be the same.

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Byte

Item

Type

Value

Meaning

Packet ID

0xBC

Port to Change

U8 0 Port A (standard)

1 Port B

0xFF

Current port

Input Baud Rate

U8 6 4800 bps

7 9600 bps

8 19200 bps

9 38400 bps

57600 bps

115200 bps

Output Baud Rate

As above

# Data Bits

U8 2 7 bits

3 8 bits

Parity

U8 0 None

1 Odd

2 Even

# Stop Bits

U8 0 1 bit

1 2 bits

Flow Control

U8 0 none

Input Protocols

U8 2 TSIP

4 NMEA

Output Protocols

U8 2 TSIP

4 NMEA

Reserved

U8 0

Field data format

The table below lists the individual fields within the packet 0xBC when used in the set mode and when read in the query mode:

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Byte

Item

Type

Value

Description

Packet ID

UINT8

Subpacket ID

UINT8

Type of data

UINT8

GPS

BeiDou

Galileo

Byte

Item

Type

Units

Packet ID

0x8E

Sub-packet ID

BYTE

0x20

Mark for Auto-

BYTE

0 = do not auto-report

1 = auto-report

TSIP Superpackets

Several packets have been added to the core TSIP protocol to provide additional capability for the receivers. In packets 0x8E and their 0x8F responses, the first data byte is a subcode which indicates the superpacket type. For example, in packet 0x8E-A6, A6 is the subcode that indicates the superpacket type. Therefore the ID code for these packets is 2 bytes long followed by the data.

Command packet 0x8E-02 Request UTC Information

This packet allows the user to query UTC Information. The module responds to a query with packet 0x8F-02

Command Packet 0x8E-0B: Request or Configure Superpacket Output

The 0x8E-0B packet is identical in function to the 0x8E-AD packet. If the 0x8E-0B byte sequence is sent with no data, the receiver will return a 0x8F-0B packet on Port B. The time reported by the 0x8F-0B packet on Port B is always the beginning of the current second.

Command Packet 0x8E-20: Request Last Fix with Extra Information

This packet requests packet 0x8F-20 or marks it for automatic output. If only the first byte (20) is sent, a 0x8F-20 report containing the last available fix will be sent immediately. If two bytes are sent, the packet is marked / unmarked for auto report according to the value of the second byte.

Note – Auto-report requires that Superpacket output is enabled. See Command Packet 0x35: I/O Option Flags Command. This packet must also be enabled with packet 0x8E-A5.

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Byte

Item

Type

Value

Meaning

Packet ID

0x8E

Subcode

0x4A

Always

PPS driver switch

U8 0 off 1

on 3 Reserved

U8 Reserved

PPS polarity

U8 0 positive

1 negative

5-12

PPS offset or cable delay

Double

seconds

13-16

Reserved

Command Packet 0x8E-26: Write Receiver Configuration to Non-volatile Memory (Flash)

This command packet causes the current configuration settings to be written to non- volatile storage. This packet contains only a single byte: the sub-packet ID. Upon receiving the command, the receiver will write the configuration and send a report packet 0x8F-26 when the operation is completed. It typically takes about 1 second to write the user configuration.

CAUTION – If the user application needs to power down the receiver after issuing this command, it must wait until 0x8F-26 report packet is received.

Command Packet 0x8E-41: Request Manufacturing Parameters

This packet is used to request the manufacturing parameters stored in nonvolatile memory. Send this packet with no data bytes (don't forget the subcode) to request packet 0x8F-41.

Command Packet 0x8E-42: Stored Production Parameters

This packet is used to request the production parameters stored in nonvolatile memory. Send this packet with no data bytes (don't forget the subcode) to request packet 0x8F-42.

Command Packet 0x8E-4A: Set PPS Characteristics

This packet allows the user to query (by sending the packet with no data bytes) or set the Acutime™360 PPS characteristics. The Acutime™360 responds to a query or set command with packet 8F-4A.

Note – Negative offset values advance the PPS, and are normally used to compensate for cable delay.

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Bit

Output packet

Default A2K

When output

Meaning

0 (LSB)

0x40

After Decode

Almanac data collected from satellite.

0x58, 0x5B

After Decode

Ephemeris data collected from satellite.

0x4F

After Decode

UTC data collected from satellite.

0x58

After Decode

Ionospheric data collected from satellite.

0x48

After Decode

GPS Message.

0x49

After Decode

Almanac health page collected from satellite.

Reserved

1 Reserved

Reserved

1 Reserved

0x41

New Fix

Partial and full fix complete and packet output timer has expired.

Reserved

1 Reserved

Reserved

1 Reserved

6D, 46, 4B,

Constellation

New satellite selection

12-29

Reserved

1 Reserved

42, 43, 4A, 54, 56, 83, 84, 8F-20

New Fix Update

Kinetic and Timing information. Output must be enabled using I/O options

5A 1 New Fix

Raw Measurement Data Output must be enabled using I/O options

Command Packet 0x8E-4D: Automatic Packet Output Mask

This packet is used to disable automatic output of packets on Port B.

• To request the current mask, send this packet with no data bytes except the subcode

byte. The receiver returns packet 0x8F-4D.

• To set the automatic packet output mask , send this packet with 4 data bytes. This mask

only disables automatic packet output. Packets generated in response to TSIP set or query commands will always be output by the receiver.

Command Packet 0x8E-4E: Set PPS output option

This command packet sets the PPS driver switch to one of the values listed in Table A-52. The current driver switch value can be requested by sending the packet with no data bytes except the subcode byte. The response packet is 0x8F-4E.

Driver switch values 3 and 4 only make sense in Over-determined Timing mode. In any position fix mode the effective choices are always on or during fixes which you get if you set the driver switch to 3 or 4.

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Byte

Item

Type

Value

Meaning

Packet ID

0x8E

Subpacket ID

0x4E

1 PPS driver switch

PPS is always on. PPS is generated every second

PPS is output when at least one satellite is tracking. PPS is generated every second

PPS is output when at least three satellites are tracking. PPS is generated every second

130

PPS is always on. PPS is generated every even second PPS is output when at least one satellite is tracking. PPS is generated every even second

131

PPS is output when at least three satellites are tracking

132

PPS is generated every even second

Byte

Item

Type

Value

Meaning

Packet ID

0x8E

Subcode

0x4F

2-9

PPS width

U16

seconds

Byte

Item

Type

Bit

Value

Description

Packet ID

UINT8

0x8E

1 Subpacket ID

UINT8

0xA2

Subpacket ID

Time Flag

Bit Field

GPS time (Default)

UTC or GNSS time

1 0 GPS PPS (Default)

The Acutime™360 can also be configured to generate an Even Second pulse in place of the PPS pulse by setting the value as shown in the table below.

Command Packet 0x8E-4F: Set PPS Width

This command packet sets the PPS width to a value in the range of 10 milliseconds to 500 milliseconds. The receiver returns packet 0x8F-4F. The current PPS width can be requested by sending this packet with no data bytes except the subpacket byte.

Command Packet 0x8E-A2: UTC/GNSS Timing

Command packet 8E-A2 sets the UTC/GNSS timing mode (time and date fields) in packet 0x8FAB, and the temporal location of the Acutime™360 output PPS. Send packet 8E-A2 with no data to request the current settings. The Acutime™360 replies with response packet 8F-A2.

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Byte

Item

Type

Bit

Value

Description

UTC or GNSS PPS

2 - Reserved

3 - Reserved

4-5

UTC (USNO) time

GLONASS time

BeiDou time

Galileo time

6-7

UTC (USNO) PPS

GLONASS PPS

BeiDou PPS

Galileo PPS

Byte

Item

Type

Bit

Value

Description

Subpacket ID

UINT8

0xA5

Subpacket ID

1-2

Mask 0

Bit Field

0 1 8F-20 on Port B

1 0

Reserved

2 0

Reserved

3 0

Reserved

4 0

Reserved

5 1

Enable auto TSIP outputs

0x8F-AB

6 0

0x8F-AB Primary timing packet output

0x8F-AC

7 0

0x8F-AC Supplemental timing packet output

0x8F-0B

8 0

Synchronous 0x8F-0B (1Hz) on Port A

0x8F-0B

9 1

Event output of 0x8F-0B on Port A

0x8F-0B

10 0 Event output of 0x8F-0B on Port B

0x8F-0B

11 0 Synchronous 0x8F-0B (1Hz) on Port B

Command Packet 0x8E-A5: Packet Broadcast Mask

Use command packet 8E-A5 to set the packet broadcast masks or to request the current mask settings. The Acutime™360 replies to requests with response packet 8F-A5. The broadcast mask is bitwise encoded to allow the user to turn on and off the broadcast of certain packets. For those broadcast packets that have multiple format, the Acutime™360 will broadcast only one of the formats. If more than one of the formats is masked on for broadcast, then the format with the greatest precision of content masked on will be sent and the rest will not. For each bit in the mask that is used, the coding is as follows:

0: Turn off broadcast of this packet 1: Turn on broadcast of this packet

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Byte

Item

Type

Bit

Value

Description

0x8F-AD

12 1 Synchronous 0x8F-AD (1Hz) on Port A

0x8F-AD

13 1 Event output of 0x8F-AD on Port A

0x8F-AD

14 Event output of 0x8F-AD on Port B

0x8F-AD

15 Synchronous 0x8F-AD (1Hz) on Port B

3-4

Mask 2

Bit Field

Reserved

Byte

Item

Type

Value

Meaning

Packet ID

0x8E

Subpacket ID

0xA6

2 Self-survey command

U8 0 Restart self-survey

1 Save position to Flash

2 Delete position from Flash

Command Packet 0x8E-A6: Self-Survey Command

Use command packet 8E-A6 to issue a self-survey command, to save the current position in flash or to delete the position saved in flash. The GNSS receiver returns report packet 0x8F-A6, which indicates the result of the requested operation.

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Byte

Item

Type

Value

Description

Subcode

UINT8

0xA9

Self-Survey Enable

UINT8

Disabled

Enabled

Position Save Flag

UINT8

Don't save position

Save self-surveyed position at the end of the survey

3-6

Self-Survey Length

UINT32

see above

Number of fixes

7-10

Horizontal Uncertainty

Float

>0<=100

Horizontal position uncertainty. Default: 100

11-14

Vertical Uncertainty

Float

>0<=100

Vertical position uncertainty. Default: 100

Command Packet 0x8E-A9: Self-Survey Parameters

Use command packet 8E-A9 to set the self-survey parameters or to request the current settings. The Resolution SMT 360 replies to requests with response packet 8F-A9.

Data fields

 Self-Survey Enable: Use this field to enabled or disabled the self-survey mechanism.

0: Disable the self-survey mechanism

1: Enable the self-survey mechanism

 Position Save Flag: Use this field to tell the self-survey mechanism to automatically save

(or to not save) the self-surveyed position at the end of the self-survey procedure.

0: Don't automatically save the surveyed position when the self-survey is complete 1: Automatically save the surveyed position when the self-survey is complete.

 Self-Survey Length: Use this field to specify the number of position fixes that are to be

averaged together to form the self-surveyed position used for clock-only fixes.

Limits: 1 to (232 - 1) fixes

 Uncertainty threshold. An index from 1 to 100. The smaller the number the higher

degree of certainty of the self-survey fix will be used to fix the position of the unit for OD mode. Depending on the constellation and position of the satellites a small index number can lead to survey times of many hours as the unit may only qualify a small rate of fixes to complete the designated survey length (default 2000).

Command Packet 0x8E-AB: Request Primary Timing Packet

Use this command packet to request the Primary Timing packet 0x8F-AB. By default, the

Acutime™360 automatically sends packet 0x8F-AB once per second so it is not necessary to

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Byte

Item

Type

Value

Description

Packet ID

0x8E

Subpacket ID

0xAB

2 Request Type

U8 0 Send 0x8F-AB immediately

1 Send 0x8F-AB on-time next second

2 Send 0x8F-AB and 0x8F-AC on-time next second

Type

Description

The most current primary timing values will be sent in packet 0x8F-AB immediately

The response is not sent immediately. Instead packet 0x8F-AB is sent after the next PPS output. This is the same time that the packet would be automatically sent if enabled

Same as type 1 except that both 0x8F-AB and 0x8F-AC are sent after the next PPS output

Byte

Item

Type

Value

Description

Packet ID

0x8E

Subpacket ID

0xAC

2 Request Type

U8 0 Send 0x8F-AC immediately

1 Send 0x8F-AC on-time next second

2 Send 0x8F-AB and 0x8F-AC on-time next second

Type

Description

The most current primary timing values will be sent in packet 0x8F-AC immediately

The response is not sent immediately. Instead packet 0x8F-AC is sent after the next PPS output. This is the same time that the packet would be automatically sent if enabled

Same as type 1 except that both 0x8F-AB and 0x8F-AC are sent after the next PPS output

request it. To receive 0x8F-AB information by request only, use packet0x8E-A5 to disable the automatic output.

The Request Type item determines how the Acutime™360 will reply to this command:

Command Packet 0x8E-AC: Request Supplemental Timing Packet

Use command packet 0x8E-AC to request the Supplemental Timing packet 0x8F-AC. By default, the Acutime™360 automatically sends packet 0x8F-AC once per second so it is not necessary to request it. To receive 0x8F-AC information by request only, use packet 0x8E-A5 to disable the automatic output.

The Request Type item determines how the Acutime™360 will reply to this command:

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Byte

Item

Type

Value

Default

Meaning

Subcode

Byte

Required

Superpacket ID

Flag

Byte

0 3 Disable packet output on port A

Output packet on port A only at PPS

Output packet on port A only at event input

Output at both event input and PPS

Byte

Item

Type

Value

GPS

BeiDou

Galileo

Packet ID

UINT8

8F 1

Subpacket ID

UINT8

Constellation

UINT8

1 2

3-10

A_0

Double

11-14

A_1

Single

21-22

WN_t

UINT16

NA/0 23-24

WN_LSF

UINT16

NA/0

25-26

UINT16

27-18

Delta_t_LSF

SINT16

Command Packet 0x8E-AD: Request or Configure Superpacket Output

If the 0x8E-AD byte sequence is sent with no data, the receiver generates an 0x8F-AD packet on port B. The time reported by the 0x8F-AD packet on port B is always the beginning of the current second.

Output of the 0x8F-AD Primary UTC timing packet on Port A is configured by sending a 3- byte message 0x8E-AD n, where n ranges from 0 to 3, as defined below. The receiver returns the 0x8F-A5 Superpacket Output Mask.

Report packet 0x8F-02: UTC Information

This packet is sent in response to 0x8E-02.

Report Packet 0x8F-0B: Comprehensive Time

The output of the packet is synchronized with the PPS. Report packet 0x8F-0B provides easy identification of each timing pulse and contains all the information required for most timing and synchronization applications. Output of this packet can be disabled and configured using the 0x8E-A5 packet on Port B. If output of the 0x8F-AD packet is also enabled, the 0x8F-0B packet will always be output after the 0x8F-AD packet.

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Byte

Item

Type

Units

Packet ID

Subpacket ID

Subcode 0x0B

2-3

Event Count

INTEGER

Zero for PPS.

4-11

UTC/GPS TOW

DOUBLE

UTC/GPS time of week (seconds)

Date

BYTE

Date of PPS or event

Month

BYTE

Month of PPS or event

14-15

Year

INTEGER

Year of PPS or event

Receiver Mode

BYTE

Receiver operating dimensions

0: Horizontal (2D)

1: Full Position (3D)

2: Single Satellite (OD)

3: Automatic (2D/3D)

4: N/A

5: Clock hold (2D)

6: OD clock mode (default)

17-18

UTC Offset

INTEGER

UTC offset value (seconds)

19-26

Reserved

DOUBLE

Reserved

27-34

Reserved

DOUBLE

Reserved

35-38

Reserved

SINGLE

Reserved

39-42

Reserved

SINGLE

Reserved

43-50

Latitude

DOUBLE

Latitude in radians

51-58

Longitude

DOUBLE

Longitude in radians

59-66

Altitude

DOUBLE

Altitude according to current datum, meters

67-74

Satellite ID

8 BYTES

Identification numbers of tracking and usable satellites

Bytes 67 through 74 identify the tracking and usable satellites. A tracked satellite is distinguished from a usable satellite by a negative sign (−) appended to its PRN number.

In this Superpacket, time is referenced to UTC to correspond to the default PPS timebase. To configure the receiver to output time relative to GPS, the PPS must be characterized accordingly. Command packet 0x8E-4A enables the PPS to be re-defined at run-time and stores the new settings in flash memory.

Note – Leap seconds cannot be predicted in advance using only the 0x8F-0B packet. A leap second can be identified by observing that the date does not increment once 86400 seconds have elapsed in the current day. The date rollover is delayed for the duration of the leap second, and the day/month/year count reported does not increment to the next day until the beginning

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Byte

Item

Type

Meaning

Subpacket ID

Byte

ID for this subpacket (always 0x20)

Key Byte

Byte

N/A

2-3

east velocity

Integer

Units 0.005m/s or 0.020m/s (see Byte 24). Overflow =0x8000

4-5

north velocity

Integer

Units 0.005m/s or 0.020m/s (see Byte 24). Overflow =0x8000

6-7

up velocity

Integer

Units 0.005m/s or 0.020m/s (see Byte 24). Overflow = 0x8000

8-11

Time of Week

Unsigned long

GPS Time in milliseconds

12-15

Latitude

Long integer

Latitude, units = 2^31 semicircle, according to current datum. Range = -2^30 to 2^32

16-19

Longitude

Unsigned long

Longitude east of meridian, units = 2^31 semicircle, according to current datum. Range = 0 to 2^32

20-23

Altitude

Long integer

Altitude above ellipsoid, mm, according current datum.

Velocity scaling

When bit 0 is set to 1, velocities in bytes 2-7 have been scaled by 4

Reserved

Datum

Datum index + 1

Fix Type

Byte

Type of fix. This is a set of flags.

0 (LSB) 0: Fix was available

1: No fix available

1 0: Fix is autonomous

1: N/A

2 0: 3D fix

1: 2D fix

3 0: 2D fix used last-circulated altitude

1: 2D fix used entered altitude

4 0: Unfiltered

1: Position or altitude filter on

5-7 Unused (always 0)

Num SVs

Byte

Number of SV used for fix. Zero if no fix was available.

UTC Offset

Byte

Number of leap seconds between UTC time and GPS time.

30-31

Week

INTEGER

GPS time of fix (weeks)

of the second following the leap event. Decoding of the 0x8F-AD packet provides complete leap status information.

The UTC offset is incremented at the beginning of the first second following the leap second.

Report Packet 0x8F-20: Last Fix with Extra Information (binary fixed point)

This packet provides information about the time and origin of the previous position fix. This is the last-calculated fix; it could be quite old. The receiver sends this packet in response to Packet 0x8E-20; it also can replace automatic reporting of position and velocity packets. Automatic output of 0x8F-20 must also be enabled by setting bit 5 of byte 0 in command packet 0x0x35 and bit 0 of bytes 1-2 in command packet 0x8E-A5

ACUTIME™ 360 MULTI-GNSS SMART ANTENNA USER GUIDE P a g e | 97

32115

Fix SVs

Fix SVs Repeated groups of 2 bytes, one for each satellite. The bytes are 0 if group N/A.

Byte 0: PRNX

Byte

Satellite number and IODC-IODE. PRN = lower six bits of PRNX

Byte 1: IODE

Byte

IODC = (PRNX/64)x256 + IODE

116123

Iono Param

8 Bytes The broadcast ionospheric parameters

Byte

Item

Type

Value

Description

Sub-code

0x26

Packet sub-code

1-4

Status

U32

successfully stored receiver

1 failed to store receiver configuration

Byte

Item

Type

Units

Packet ID

0x8F

Subpacket ID

0x41

2-3

board serial number prefix

S16 4-7

Board serial number

U32

8 Year of build

U8 9

Month of build

U8 10

Day of build

U8 11

Hour of build

U8 12-15

Reserved

Single

16-17

Reserved

U16

Byte

Item

Type

Units

Packet ID

0x8F

Subpacket ID

0x42

Production options prefix

Production number extension

Report Packet 0x8F-26: Save Receiver Configuration to Non-volatile Storage Memory

This packet is sent in response to command packet 0x8E-26. The packet indicates whether the receiver configuration has been successfully saved to non-volatile memory.

Report Packet 0x8F-41: Stored Manufacturing Operating Parameters

This packet is sent in response to a command 0x8E-41.

Report Packet 0x8F-42: Stored Production Parameters

This packet is sent in response to 0x8E-42.

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4-5

Case serial number prefix

U16

6-9

Case serial number

U32

10-13

Production number

U32

14-15

Reserved

U16

16-17

Machine identification number

U16

18-19

Reserved

U16

Byte

Item

Type

Units

Packet ID

0x8F

Subpacket ID

BYTE

0x42

PPS Driver Switch

BYTE

0: Off

1: On

Time Base

BYTE

0: GPS

1: UTC (default)

PPS Polarity

BYTE

0: Positive (default)

1: Negative

5-12

PPS Offset or Cable Delay

DOUBLE

seconds

13-16

Reserved

Byte

Item

Type

Meaning

Packet ID

0x8F

Subpacket ID

BYTE

ID for this sub-packet is always 0x4D

2-5

Bit Mask

ULONG

Bits in the mask enable output packets

Report Packet 0x8F-4A: Set PPS Characteristics

This is sent in response to a query by packet 0x8E-4A. See the corresponding command packet for information about the data format.

Report Packet 0x8F-4D: Automatic Packet Output Mask

This packet provides information on the automatic packets that may be output by the receiver. This packet is sent in response to 0x8E-4D query, or is set

• A “0” in the bit position means that automatic output of the associated packets is

disabled/

• A “1” in the bit positions means that the associated packets can be automatically

output.

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Bit

Output packet

When output

Meaning

0 (LSB)

0x40

After Decode

Almanac data collected from satellite

0x58, 0x5B

After Decode

Ephemeris data collected from satellite

0x4F

After Decode

UTC data collected from satellite

0x58

After Decode

Ionospheric data collected from satellite

0x48

After Decode

GPS Message

0x49

Almanac health page collected from satellite

Reserved

0x41

New Fix

Partial & full fix complete and packet output timer has expired

Reserved

0x6C

Constellation change

New satellite selection 12

Reserved

13-29

Reserved

4A, 8F-20, 42, 43, 54, 56, 83, 84

New fix update

Dynamic and timing information. Output must be enabled with I/O option

311

0x5A

New Fix

Output must be selected with I/O options

The meaning and packets output by each set bit is as follows:

A 1 in the bit mask indicates that output for the associated packets is ON; a 0 indicates that the

output is turned OFF

Report Packet 0x8F-4E: PPS Output

This report packet is output after the command packet 8E-4E has been executed. See the corresponding command packet for information about the data format.

Report Packet 0x8F-4F: PPS Width

This report packet is output after the command packet 0x8E-4F has been executed. See Report Packet 0x8F-4A: PPS Characteristics.

Report Packet 0x8F-A2: UTC/GPS Timing

This packet is sent in response to command packet 0x8E-A2. See the corresponding command packet for information about the data format.

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Trimble Acutime 360 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Information

Warnings and Cautions

Operation and storage

Routing any cable

Introduction

Features of the Acutime™360 multi-GNSS smart antenna

Hardware features

Interface protocols

Standard timing software features

Operation

Starter kit

Use and care

Related information

Setting up the Acutime™360

System requirements

Hardware

Computer

System software

Installing and using the software

Trimble VTS software

Data fields

TSIP

NMEA-0813

Acutime™360 starter kit

Universal Interface Module (UIM)

Power converter (AC/DC)

Setting up the starter kit

Starter kit components

Hardware integration

Acutime™360 multi-GNSS smart antenna

Performance Specifications

Environmental specifications

Physical characteristics

Interface cables

Power requirements

Serial port interfaces

Pulse-Per-Second (PPS)

Timing pulse connections

Serial ports

Port B

Port A

Event Input

System Operation

Operation

Start-up

Port B configuration

Port A configuration

Satellite masks

Elevation mask

SNR mask

PDOP mask

Operating modes

Self-survey mode

Over-determined Clock mode

PPS output options

Serial data communication

GNSS timing

GNSS Constellation Configuration

Timing operation

Customizing operations

Configuration parameters

Configuration parameters

Port A and B Configuration

PPS Configuration

Position information

Self-survey configuration

NMEA 0183 protocol and data output options

Trimble Standard Interface Protocol

Introduction

Interface scope

Packet structure

Physical interface characteristics

Nomenclature

Protocol capabilities

Primary port features – port B

Secondary port features – port A