Trimble AG-372 GNSS User Giude

User Guide

Trimble® AG-372 GNSS Receiver

Version 1.00
Revision A
June 2012
Part Number 56110-01-ENG

*56110-01-ENG*

F

Contact Information

Trimble Navigation Limited
Agriculture Business Area
9290 Bond Street, Suite 102
Overland Park, KS 66214
USA

[phone] Phone

[e-mail]
www.trimble.com

Legal Notices

© 2012, Trimble Navigation Limited. All rights reserved.
Trimble, the Globe & Triangle logo, and AgGPS are trademarks of

Trimble Navigation Limited, registered in the United States and other
countries. Autopilot, CenterPoint, EVEREST, and RTX are trademarks of
Trimble Navigation Limited.

Microsoft and ActiveSync 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 June 2012 release (Revision A) of the Trimble AG-372 GNSS
Receiver User Guide, part number 56110-01-ENG. It applies to version

1.00 of the AG-372 receiver.
The following limited warranties give you specific legal rights. You may

have others, which vary from state/jurisdiction to state/jurisdiction.

Hardware Limited Warranty

Trimble Navigation Limited warrants that this hardware product (the
“Product”) will perform substantially in accordance with published
specifications and be substantially free of defects in material and
workmanship for a period of one (1) year starting from the date of
delivery. The warranty set forth in this paragraph shall not apply to
software products.

Software License, Limited Warranty

This Trimble software product, whether provided as a stand-alone
computer software product, built into hardware circuitry as firmware,
embedded in flash memory, or stored on magnetic or other media,
(the “Software”) is licensed and not sold, and its use is governed by the
terms of the relevant End User License Agreement (“EULA”) included
with the Software. In the absence of a separate EULA included with the
Software providing different limited warranty terms, exclusions and
limitations, the following terms and conditions shall apply. Trimble
warrants that this Trimble Software product will substantially conform
to Trimble’s applicable published specifications for the Software for a
period of ninety (90) days, starting from the date of delivery.

Warranty Remedies

Trimble's sole liability and your exclusive remedy under the warranties
set forth above shall be, at Trimble’s option, to repair or replace any
Product or Software that fails to conform to such warranty
(“Nonconforming Product”) or refund the purchase price paid by you
for any such Nonconforming Product, upon your return of any
Nonconforming Product to Trimble in accordance with Trimble’s
standard return material authorization procedures.

Warranty Exclusions and Disclaimer

These warranties shall be applied only in the event and to the extent
that (i) the Products and Software are properly and correctly installed,
configured, interfaced, maintained, stored, and operated in
accordance with Trimble's relevant operator's manual and
specifications, and; (ii) the Products and Software are not modified or
misused. The preceding warranties 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 or Software with
hardware or software products, information, data, systems, interfaces
or devices not made, supplied or specified by Trimble; (ii) the
operation of the Product or Software under any specification other
than, or in addition to, Trimble's standard specifications for its
products; (iii) the unauthorized, installation, modification, or use of the
Product or Software; (iv) damage caused by accident, lightning or
other electrical discharge, fresh or salt water immersion or spray; or (v)
normal wear and tear on consumable parts (e.g., batteries). Trimble
does not warrant or guarantee the results obtained through the use of
the Product.

THE WARRANTIES ABOVE STATE TRIMBLE'S ENTIRE LIABILITY, AND YOUR
EXCLUSIVE REMEDIES, RELATING TO PERFORMANCE OF THE PRODUCTS AND
SOFTWARE. EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN, THE
PRODUCTS, SOFTWARE, AND ACCOMPANYING DOCUMENTATION AND
MATERIALS ARE PROVIDED “AS-IS” AND WITHOUT EXPRESS OR IMPLIED
WARRANTY OF ANY KIND BY EITHER TRIMBLE NAVIGATION LIMITED 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 CONNECTION WITH, ANY PRODUCTS OR
SOFTWARE. SOME STATES AND JURISDICTIONS DO NOT ALLOW LIMITATIONS
ON DURATION OR THE EXCLUSION OF AN IMPLIED WARRANTY, SO THE ABOVE
LIMITATION MAY NOT APPLY TO YOU. TRIMBLE NAVIGATION LIMITED IS NOT
RESPONSI BLE FOR THE OPERATION OR FAILURE OF OPERATION OF GNSS
SATELLITES OR THE AVAILABILITY OF GNSS SATELLITE SIGNALS.

Limitation of Liability

TRIMBLE’S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL BE
LIMITED TO THE AMOUNT PAID BY YOU FOR THE PRODUCT OR SOFTWARE
LICENSE. TO THE MAXIMUM EXTENT P ERMITTED BY APPLICABLE LAW, IN NO
EVENT SHALL TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY INDIRECT,
SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES WHATSOEVER UNDER
ANY CIRCUMSTANCE OR LEGAL THEORY RELATING IN ANY WAY TO THE
PRODUCTS, SOFTWARE AND ACCOMPANYING DOCUMENTATION AND
MATERIALS, (INCLUDING, WITHOUT LIMITATION, DAMAGES FOR LOSS OF
BUSINESS PROFITS, BUSINESS INTERRUPTION, LOSS OF BUSINESS
INFORMATION, OR ANY OTHER PECUNIARY LOSS), REGARDLESS WHETHER
TRIMBLE HAS BEEN ADVISED OF THE POSSIBILITY OF ANY SUCH LOSS AND
REGARDLESS OF THE COURSE OF DEALING WHICH DEVELOPS OR HAS
DEVELOPED BETWEEN YOU AND TRIMBLE. BECAUSE SOME STATES AND
JURISDICTIONS DO NOT ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY
FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES, THE ABOVE LIMITATION
MAY NOT APPLY TO YOU.

NOTE: THE ABOVE LIMITED WARRANTY PROVISIONS MAY NOT APPLY TO
PRODUCTS OR SOFTWARE PURCHASED IN THE EUROPEAN UNION. PLEASE
CONTACT YOUR TRIMBLE DEALER FOR APPLICABLE WARRANTY
INFORMATION.

2 Trimble AG-372 GNSS Receiver User Guide

Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Related information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Technical assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Standard features of the Trimble AG-372 GNSS receiver . . . . . . . . . . . . . . . . . . . . . 8

Receiver connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Receiver input/output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Position output format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

LED indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

GNSS positioning methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

RTK GNSS positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

CenterPoint RTX positioning (RTX). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Differential GNSS positioning (DGNSS) . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Autonomous GNSS positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Sources of error in GNSS positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Coordinate systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3 Installing the AG-372 GNSS Receiver . . . . . . . . . . . . . . . . . . . . . . . . . .17

System components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Optional extras . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Mounting the receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Choosing a location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Environmental conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Electrical interference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Connecting to an external device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Connectors and pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Port A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Port B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Radar output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4 Installing the AG-715 Integrated Radio . . . . . . . . . . . . . . . . . . . . . . . . .25

Required tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Installation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

5 Configuring the Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

Navigation map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

AgRemote Home screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Configuring Differential GNSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

OmniSTAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

WAAS/EGNOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Configuring the Trimble AG-372 GNSS receiver to operate in CenterPoint RTX mode . . . . 35

Configuring the receiver for RTX (std-sat). . . . . . . . . . . . . . . . . . . . . . . . . 35

Trimble AG-372 GNSS Receiver User Guide 3

Contents

Configuring the receiver for RTX (std-cell) . . . . . . . . . . . . . . . . . . . . . . . . 36

Configuring the Trimble AG-372 GNSS receiver to operate in VRS mode . . . . . . . . . . . 38

Configuring the Trimble AG-372 GNSS receiver to operate in RTK mode . . . . . . . . . . . 40

Configuring the communication ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Configuring input/output communication . . . . . . . . . . . . . . . . . . . . . . . . 41

Changing the frequency settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Required equipment / software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Configuring the radio frequency, protocol, and radio link in the AgRemote utility . . 43

6 Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47

Global Navigation Satellite System (GNSS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Interference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

GNSS receiver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

AgRemote utility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

FlashLoader 200 upgrade utility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

A Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55

Physical characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

GNSS channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

L-band satellite differential correction receiver . . . . . . . . . . . . . . . . . . . . . . . . . 58

Receiver default settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

B Third-Party Interface Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . .59

Third-party software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Third-party hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

4 Trimble AG-372 GNSS Receiver User Guide

CHAPTER

1

Introduction 1

In this chapter:

 Warnings

 Related information

 Technical assistance

The Trimble AG-372 GNSS Receiver User Guide:

• Describes how to install and configure the

Trimble

• Provides guidelines for connecting the

receiver to an external device.

• Provides guidelines for using the

AgRemote utility to view and configure
the receiver correction sources and other
operating parameters.

Even if you have used another Global Navigation
Satellite System (GNSS) product before, Trimble
recommends that you spend some time reading
this manual to learn about the special features
of this product.

If you are not familiar with GNSS, go to the
Trimble website at
interactive look at Trimble and GNSS.

®

AG-372 GNSS receiver.

www.trimble.com for an

Trimble AG-372 GNSS Receiver User Guide 5

1 Introduction

Warnings

Always follow the instructions that accompany a warning.

C

C

WARNING – Indicates a potential hazard or unsafe practice that could result in injury or

property damage.

WARNING – For continued protection against the risk of fire, the power source (lead) to

the model AG-372 receiver should be provided with a 10 A (maximum) fuse.

Related information

Release notes describe new features, provide information that is not included in the
manuals, and identify changes to the manuals. You can download release notes from the
Trimble website.

Technical assistance

If you have a problem and cannot find the information you need in the product
documentation, contact your local Trimble Reseller

6 Trimble AG-372 GNSS Receiver User Guide

CHAPTER

2

Overview 2

In this chapter:

 Standard features of the Trimble AG-372

GNSS receiver

 Receiver connections

 Receiver input/output

 LED indicator

 GNSS positioning methods

 Sources of error in GNSS positioning

This chapter describes the Trimble AG-372 GNSS
receiver and gives an overview of GNSS, DGNSS,
and related information.

When used with a Real-Time Kinematic (RTK)
base station, the Trimble AG-372 GNSS receiver
provides RTK positioning for high-accuracy,
centimeter-level applications. For physical
specifications, see

Appendix A, Specifications.

Trimble AG-372 GNSS Receiver User Guide 7

2 Overview

Standard features of the Trimble AG-372 GNSS receiver

A standard Trimble AG-372 GNSS receiver provides the following features:

• 220 GNSS tracking channels, which can track up to 44 satellites

• GLONASS tracking ability

• Submeter differential accuracy (RMS), assuming at least five satellites and a PDOP of

less than four

• Combined GNSS/DGNSS receiver and antenna

• AgRemote utility with four-button keypad to configure and view system properties.

You can download this utility from the Trimble website at

• LED status indicator

• The receiver outputs a 1 PPS (pulse per second) strobe signal on both ports. This signal

enables an external instrument to synchronize its internal time with a time derived
from the very accurate GNSS system time.

• Radar output

• WAAS and EGNOS differential correction compatibility

• EVEREST

™

multipath rejection technology

www.trimble.com.

• OmniSTAR HP, G2, XP, and VBS positioning compatibility

• Trimble CenterPoint

• Two ports that support both CAN 2.0B and RS-232:

™

RTX™ capability

CAN

– J1939 and NMEA 2000 messages

Note – The Trimble AG-372 GNSS receiver is ISO 11783 compliant. It supports some ISO
11783 messages.

RS-232

– NMEA-0183 output: GGA, GLL, GRS, GST, GSA, GSV, MSS, RMC, VTG, ZDA, XTE

(the default NMEA messages are GGA, GSA, VTG, and RMC)

Note – PTNLDG, PTNLEV, PTNLGGK, PTNLID, and PTNLSM are Trimble proprietary NMEA
output messages.

– RTCM SC-104 output

– Trimble Standard Interface Protocol (TSIP) input and output

8 Trimble AG-372 GNSS Receiver User Guide

Receiver connections

LED indicator

Port A Port B

The following figure shows the connector ports and the LED indicator on the AG-372 GNSS
receiver:

The two connectors (Port A and Port B) can do the following:

• Accept power

• Accept TSIP, RTCM, ASCII, and (if enabled) CMR inputs

Overview 2

• Output RTCM, TSIP, and NMEA messages

• Output 1 PPS signals

• Provide support for the J1939 (CAN) serial bus

For more information about the inputs, outputs, and LED indicators, see the information in
the rest of this section.

Receiver input/output

The Trimble AG-372 GNSS receiver data/power cable (P/N 50166) connects to a receiver
connector port to supply power. It also enables the following data exchanges:

• TSIP, RTCM, and ASCII input from an external device

The receiver is able to receive ASCII data from an external device, convert this data
into an NMEA message, and export the message to another device. TSIP command
packets configure and monitor GNSS and DGNSS parameters. The receiver is also able
to accept RTCM data from an external device, such as a radio.

• CMR input from an external device

If the receiver is to be used in RTK mode, set the port that is connected to the radio to
the RtkLnk protocol, see

RTK mode, page 40. This protocol enables the receiver to receive CMR messages.

Configuring the Trimble AG-372 GNSS receiver to operate in

• TSIP and NMEA output to an external device

– When you are using an external or integrated radio, the receiver can also receive

DGNSS corrections.

Trimble AG-372 GNSS Receiver User Guide 9

2 Overview

– TSIP is input/output when communicating with AgRemote.

– NMEA is output when the receiver is exporting GNSS position information to an

external device, such as a yield monitor, or to a mapping software program.

For more information on the National Marine Electronics Association (NMEA) and
Radio Technical Commission for Maritime Services (RTCM) communication standard
for GNSS receivers, go to the following websites:

– www.nmea.org

– www.rtcm.org

On the Trimble website (www.trimble.com), refer to the document called NMEA-0183
Messages Guide for AgGPS Receivers.

• 1 PPS output

To synchronize timing between external instruments and the internal clock in the
receiver, the connection port outputs a strobe signal at 1

PPS (pulse per second). To
output this signal, the receiver must be tracking satellites and computing GNSS
positions.

• J1939 (CAN) bus

Both connection ports on the receiver support the J1939 Controller Area Network
(CAN) bus protocol. This protocol standardizes the way multiple microprocessor-based
electronic control units (ECUs) communicate with each other over the same pair of
wires. It is used in off-highway machines, such as those used in agriculture,
construction, and forestry.

For more information, go to the Society of Automotive Engineers (SAE) International
website at

• ISO 11783 messages

www.sae.org/servlets/index.

Both CAN ports support some ISO 11783 messages.

Position output format

The Trimble AG-372 GNSS receiver outputs positions in Degrees, Minutes, and Decimal
Minutes (DDD°MM.m'). This is the NMEA standard format and is commonly used
worldwide for data transfer between electronic equipment.

10 Trimble AG-372 GNSS Receiver User Guide

Overview 2

LED indicator

The Trimble AG-372 GNSS receiver has an LED light that shows the status of the receiver.
The following tables describe the light sequences for each positioning method.

Note – Fast LED flash is approximately 3 flashes per second. Slow LED flash is approximately
1 flash per second.

Table 2.1 LED sequences with Satellite Differential GNSS or autonomous positioning

LED color LED flash Status

Off Off No power

Green Solid Normal operation: computing DGNSS positions

Green Slow No DGNSS corrections: computing DGNSS positions using old corrections

Green Fast No DGNSS corrections approaching DGNSS age limit: computing DGNSS positions

Yell ow Solid DGNSS corrections being received but DGNSS positions not yet being computed:

Yell ow Slow No DGNSS corrections: computing autonomous GNSS positions

using old corrections

computing autonomous GNSS positions

Yell ow Fast Not enough GNSS signals: not tracking enough satellites to compute position

Note – WAAS/EGNOS and OmniSTAR VBS use the Satellite Differential GNSS positioning
method.

Table 2.2 LED sequences with RTK positioning

LED color LED flash Status

Off Off No power

Green Solid Normal operation: computing fixed RTK positions

Green Slow Receiving CMR corrections but not initialized: computing float RTK positions

Green Fast No CMR corrections: computing RTK position using old corrections

Yell ow Solid Receiving CMR corrections but unable to calculate RTK position: computing DGNSS

(if WAAS/EGNOS is unavailable) or autonomous position

Yell ow Slow No CMR corrections: computing DGNSS or autonomous position

Yell ow Fast Not receiving CMR corrections: not computing positions

Table 2.3 LED sequences with OmniSTAR HP positioning

LED color LED flash Status

Off

Green

Green

Off No power

Solid Normal operation: computing converged OmniSTAR HP positions

Slow Receiving OmniSTAR HP corrections, but only able to compute unconverged

position

Trimble AG-372 GNSS Receiver User Guide 11

2 Overview

Table 2.3 LED sequences with OmniSTAR HP positioning (continued)

LED color LED flash Status

Green

Yellow

Yellow

Yellow

Fast Receiving OmniSTAR HP corrections, but an HP error occurred

Solid Receiving OmniSTAR HP corrections but unable to calculate a position: computing

DGNSS or autonomous solution

Slow No OmniSTAR HP corrections: computing DGNSS or autonomous position

Fast Not tracking OmniSTAR HP corrections: no positions

GNSS positioning methods

GNSS positioning systems are used in different ways to provide different levels of accuracy.
Accuracy is measured in absolute terms, that is, you know exactly where you are in a fixed
reference frame.

Table 2.4 summarizes the GNSS positioning methods. The values shown are 2 sigma.

Table 2.4 Absolute accuracy of GNSS positioning methods

GNSS positioning method Corrections used Approximate absolute accuracy

Real-Time Kinematic (RTK) GNSS Trimble CMR corrections

broadcast by a local base
station

CenterPoint RTX technology CenterPoint RTX 4 cm (1.5 inch)

Satellite Differential GNSS OmniSTAR VBS 78 cm (30.7 inch)

Satellite Differential GNSS WAAS/EGNOS 95 cm (37.4 inch)

OmniSTAR HP Differential GNSS OmniSTAR HP 10 cm (3.9 inch) after the signal has fully

1

Convergence time can vary, depending on the environment. Time to the first fix (submeter accuracy) is

typically <30 seconds; time to the first high accuracy fix (<10 cm accuracy) is typically <30 minutes.

2.5 cm (1 inch) + 2 ppm horizontal
accuracy,

3.7 cm (1.5 inch) + 2 ppm vertical
accuracy

converged

1

For more information about each positioning method, see below.

RTK GNSS positioning

The Trimble AG-372 GNSS receiver uses the RTK positioning method to achieve centimeter­level accuracy. To use the RTK method, you must first set up a base station. The base station
uses a radio link to broadcast RTK corrections to one or more rover receivers. The Trimble
AG-372 GNSS receiver is a rover receiver, so another compatible receiver, such as a Trimble
AgGPS 442, AgGPS 542, AgGPS RTK Base 450, or AgGPS RTK Base 900 receiver, must be
used as the base station.

12 Trimble AG-372 GNSS Receiver User Guide

The rover receiver uses RTK corrections from the base station to calculate its position to
centimeter-level accuracy. As part of this process, the rover receiver must calculate an
initialization. This takes a few seconds. While the receiver is initializing, an RTK Float
solution is generated. Once initialized, an RTK Fixed solution is generated. It is the RTK Fixed
solution that provides centimeter-level accuracy.

The parts per million (ppm) error is dependent on the distance (baseline length) between
the base and rover receiver. For example, if the distance is 10 km, a 2 ppm error equals 20
mm.

For more information about RTK positioning, go to the Trimble website at

www.trimble.com/GNSS/

CenterPoint RTX positioning (RTX)

Trimble CenterPoint RTX is a GPS and GLONASS-enabled correction service built on
patent-pending Trimble RTX technology. This breakthrough technology provides
high-accuracy GNSS positioning without the use of traditional reference station-based
differential RTK infrastructure.

CenterPoint RTX corrections are provided on as subscription basis.

Overview 2

For more information about the CenterPoint RTX correction service, see

http://www.trimble.com/agriculture/CorrectionServices/

For more information on activating a CenterPoint RTX subscription, see Configuring the

Trimble AG-372 GNSS receiver to operate in CenterPoint RTX mode, page 35.

Differential GNSS positioning (DGNSS)

For differential positioning, the Trimble AG-372 GNSS receiver uses corrections from
WAAS/EGNOS satellites or from OmniSTAR HP, XP, G2, or VBS satellites.

These differential systems use special algorithms to provide differential corrections that
allow the rover receiver to calculate its position more accurately. Not all corrections
services support the use of GLONASS satellites in their solution.

Free corrections

WAAS corrections are free in North America and EGNOS corrections are free in Europe. For
more information about WAAS, go to the Federal Aviation Administration website at

http://www.faa.gov/about/office_org/headquarters_offices/ato/service_units/techops/na
vservices/gnss/waas/

For more information about EGNOS, go to the European Space Agency website at

http://www.esa.int/esaNA/egnos.html.

Trimble AG-372 GNSS Receiver User Guide 13

2 Overview

Subscription-based corrections

The Trimble AG-372 GNSS receiver can use OmniSTAR™ HP, XP, G2, or VBS differential
corrections.

OmniSTAR corrections are provided on a subscription basis.

For more information about OmniSTAR, go to the OmniSTAR website at

www.omnistar.com. For information about activating an OmniSTAR subscription, see
OmniSTAR, page 34.

Autonomous GNSS positioning

Autonomous GNSS positioning uses no corrections. The rover receiver calculates its
position using only the GNSS signals it receives. This method does not have high absolute
accuracy, but the relative accuracy is comparable to the other methods.

Sources of error in GNSS positioning

The GNSS positioning method influences the accuracy of the GNSS position that is output
by the Trimble AG-372 GNSS receiver. The factors described in Table 2.5 also affect GNSS
accuracy.

Table 2.5 Factors that influence the accuracy of GNSS positions

Condition Optimum

value

Atmospheric
effects

Number of
satellites used

Maximum PDOP < 4 Position Dilution of Precision (PDOP) is a unitless, computed measurement

> 5 To calculate a 3D position (latitude and longitude, altitude, and time), four

Description

GNSS signals are degraded as they travel through the ionosphere. The error
introduced is in the range of 10 meters.

The error is removed by using a differential or RTK positioning method.

or more satellites must be visible. To calculate a 2D position (latitude and
longitude, and time), three or more satellites must be visible. For RTK
positioning, five satellites are needed for initialization. Once initialized, four
or more satellites provide RTK positions. The number of visible satellites
constantly changes and is typically in the range 5 through 9. The receiver
can track up to 44 satellites simultaneously.

Note – To see when the maximum number of GNSS satellites are available,
use the Trimble Planning software and a current ephemeris (satellite
history) file. Both files are available free from the Trimble website at

www.trimble.com.

of the geometry of satellites above the current location of the receiver. A
low PDOP means that the positioning of satellites in the sky is good, and
therefore good positional accuracy is obtained.

14 Trimble AG-372 GNSS Receiver User Guide

Table 2.5 Factors that influence the accuracy of GNSS positions (continued)

Overview 2

Condition Optimum

Description

value

Signal-to-noise
ratio

Signal-to-noise ratio (SNR) is a measure of the signal strength against
electrical background noise. A high SNR gives better accuracy.

SNR can be degraded by other electronic equipment operating nearby,
including transmitters, cell phones, or data modems. It may also be
degraded by solar flares and changing atmospheric conditions.

Minimum elevation > 10° Satellites that are low on the horizon typically produce weak and noisy

signals and are more difficult for the receiver to track. Satellites below the
minimum elevation angle are not tracked.

Multipath
environment

Low Multipath errors are caused when GNSS signals are reflected off nearby

objects and reach the receiver by two or more different paths. The receiver
incorporates the EVEREST multipath rejection option.

RTCM-compatible
corrections

RTK Base station
coordinate
accuracy

These corrections are broadcast from an

Ag

GPS 442, AgGPS 542, or

equivalent reference station.

For RTK positioning, it is important to know the base station coordinates
accurately. Any error in the position of the base station affects the position
of the rover; every 10 m of error in a base station coordinate can introduce
up to 1 ppm scale error on every measured baseline. For example, an error
of 10 m in the base station position produces an error of 10 mm over a
10 km baseline to the rover.

For more information about how to make sure the position of your base
station is accurate, refer to the manual for your base station receiver.

Multiple RTK base
stations

If you are using several base stations to provide RTK corrections to a large
site area, all base stations must be coordinated relative to one another. If
they are not, the absolute positions at the rover will be in error. For more
information about how to use several base stations to cover your site,
contact your local Trimble Reseller.

Trimble AG-372 GNSS Receiver User Guide 15

2 Overview

Coordinate systems

Geographic data obtained from different sources must be referenced to the same datum,
ellipsoid, and coordinate format. Different formats provide different coordinate values for
any geographic location. In North America, the datums NAD-27 and NAD-83 are commonly
used in Agricultural mapping applications.

The Trimble AG-372 GNSS receiver outputs position coordinates in several datums and
ellipsoids depending on the GNSS positioning method being used. See Table 2.6.

Table 2.6 DGNSS coordinate systems

GNSS positioning method Datum Ellipsoid

None – Autonomous mode WGS-84

OmniSTAR VBS North American Beams NAD-83

OmniSTAR VBS Rest of World Beams ITRF 2005

OmniSTAR HP, XP, and G2 ITRF 2005 ITRF 2005

WAAS Beams WGS-84 WGS-84

RTK WGS-84 WGS-84

1

2

3

WGS-84

GRS-80

ITRF 2005

RTX ITRF 2005 ITRF 2005

1

World Geodetic System (WGS) 1984. Datum and ellipsoid.

2

North American Datum (NAD) 1983. Equivalent to WGS-84 in North America.

3

International Terrestrial Reference Frame (ITRF). Contact the DGNSS provider for details.

For more information, go to the National Geodetic Survey website at

www.ngs.noaa.gov/faq.shtml#WhatDatum.

16 Trimble AG-372 GNSS Receiver User Guide

CHAPTER

3

Installing the AG-372 GNSS Receiver 3

In this chapter:

 System components

 Mounting the receiver

 Connecting to an external device

 Connectors and pinouts

 Radar output

This chapter describes how to check the
equipment that you have received, set up the
AG-372 receiver, and connect the receiver to
another device.

Trimble AG-372 GNSS Receiver User Guide 17

3 Installing the AG-372 GNSS Receiver

System components

Check that you have received all components for the system that you purchased. If any
containers or components are damaged, immediately notify the shipping carrier. The
following components ar included:

Quantity Description

1 Trimble AG-372 GNSS receiver (P/N 56000-01)

1 System level cable (P/N 50165 or 50166)

1 Mounting plate assembly (P/N 51312-00)

1 Port B plug (P/N 51062)

1 Trimble AG-372 GNSS Receiver User Guide

(this manual, P/N 56100-00-ENG)

Optional extras

You may also have ordered one of the following receiver options:

• Passcode, AG-372 upgrade: DGPS to OmniSTAR XP/HP (P/N 87855)

• Passcode, AG-372 upgrade: OmniSTAR XP/HP to RTK (P/N 87858)

Mounting the receiver

C

WARNING – For continued protection against the risk of fire, the power source (lead) to

the model Trimble AG-372 GNSS receiver should be provided with a 10 A (maximum) fuse.

Secure the Trimble AG-372 GNSS receiver directly to the mounting plate assembly
(P/N 51312-00) and insert three bolts through the holes that are in the housing and in the
mounting plate assembly. Torque the bolts to 75–80 inch pounds.

Choosing a location

When choosing a location, consider the following:

Mount the receiver:

• On a flat surface along the centerline of the vehicle

• In any convenient location that is within 5.5 meters (18 ft) of the port on the external

instrument; if necessary, use the optional extension cable to connect the receiver and
external device

Note – If you are using a Trimble Autopilot™ system, please refer to the installation
instructions that are provided with the Autopilot system.

• At the highest point on the vehicle, with no metal surfaces blocking the receiver’s view

of the sky

18 Trimble AG-372 GNSS Receiver User Guide

Installing the AG-372 GNSS Receiver 3

• In such a way that it is not damaged when you drive the machine into a shed or

storage area

Do not mount the receiver:

• Close to stays, electrical cables, metal masts, CB radio antennas, cellular phone

antennas, air-conditioning units (machine cab blower fan), or machine accessory lights

• Near transmitting antennas, radar arrays, or satellite communication equipment

• Near areas that experience high vibration, excessive heat, electrical interference, and

strong magnetic fields

Note – A metal combine grain tank extension can block satellites.

Environmental conditions

Although the receiver has a waterproof housing, you should install it in a dry location. To
improve the performance and long-term reliability of the receiver, avoid exposure to
extreme environmental conditions, including:

• Water

• Excessive heat (> 70 °C or 158 °F)

• Excessive cold (< –30 °C or –22 °F)

• High vibration

• Corrosive fluids and gases

Electrical interference

As far as possible, when you install the receiver, you should avoid placing it near sources of
electrical and magnetic noise, such as:

• Gasoline engines (spark plugs)

• Computer monitor screens

• Alternators, generators, or magnetos

• Electric motors (blower fans)

• Equipment with DC-to-AC converters

• Switching power supplies

• Radio speakers

• High-voltage power lines

• CB radio antennas

• Cellular phone antennas

• Machine accessory lights

Trimble AG-372 GNSS Receiver User Guide 19

3 Installing the AG-372 GNSS Receiver

Trimble AG-372 GNSS receiver

DB9

cable (P/N 50166)

Ground –ve

Power +ve

Deutsch 12-pin

LED indicator

Port A Port B

System level

To external
device

Connecting to an external device

After installing the receiver and connecting the appropriate cabling, you can connect the
receiver to various external devices. For example:

To connect the receiver to ... use cable ...

an Autopilot system P/N 50165 (this cable has no DB9 connector)

a Field computer P/N 50166

a Yield monitor P/N 50166

To convert the Trimble AG-372 GNSS receiver to a Trimble 12-pin Conxall cable, use the
adapter cable (P/N 50581).

Plug the ... into ...

Deutsch 12-pin connector Port A on the back of the receiver

straight DB9-pin connector the external device

power connectors a power supply

Note – Do not bend the cable at the Deutsch connector.

The following figure shows how to connect the receiver to an external device using the
system level cable (P/N 50166):

20 Trimble AG-372 GNSS Receiver User Guide

Installing the AG-372 GNSS Receiver 3

When routing the cable from the receiver to the external device, avoid:

• Sharp objects

• Kinks in the cable

• Hot surfaces (exhaust manifolds or stacks)

• Rotating or moving machinery parts

• Sharp or abrasive surfaces

• Door and window jams

• Corrosive fluids or gases

Note – Do not bend the cable at the Deutsch connector. When you secure the cable, use the
supplied P-Clip. The P-Clip provides additional support to the connectors and reduces the
risk of damage.

When the cable is safely routed and connected to the receiver, use tie-wraps to secure it at
several points, particularly near the base of the receiver, to prevent straining the
connection. Coil any slack cable, secure it with a tie-wrap, and tuck it into a safe place.

The external device may have to be configured to work with the receiver. The configuration
tools for the external device should be provided with the device. For more information
about configuring the receiver, see Chapter 5, Configuring the Receiver. For information
about connecting a particular external device, refer to the manual for that device or
contact your local Trimble Reseller.

Note – Use a connector plug (P/N 51062) to cover Port B when that port is not in use. For
example, cover Port

B when you are using the receiver in a non-RTK mode.

Trimble AG-372 GNSS Receiver User Guide 21

3 Installing the AG-372 GNSS Receiver

213456

789101112

Connectors and pinouts

Use the following pinout information if you need to wire a cable for use with the
Trimble AG-372 GNSS receiver:

Port A

Port A on the receiver has a 12-pin Deutsch DTM connector. For cables, use the mating
connector, Deutsch part number DTM06-12SA.

Viewed from outside the receiver, the Port A connector is on the left. It is the port that is
typically used to connect to an Autopilot system.

Pin Name/Function Comments

1CAN A High I/O

2 Port 1 RS232 Tx OUT When held to ground during power up, puts unit into

Monitor mode

3 Port 1 RS232 Rx IN

4PPS OUT

5 Signal GND Used for RS232 and other signals. Should not be connected

to
V– (battery negative)

6Port 1 RTS OUT

7 Radar OUT / Alarm OUT

8Port 1 CTS IN

9Event IN

10 V+ IN

11 V- IN

12 CAN A Low I/O

22 Trimble AG-372 GNSS Receiver User Guide

Installing the AG-372 GNSS Receiver 3

Port B

This port has the same connector as Port A, see above. Viewed from outside the receiver,
the Port B connector is on the right. It is the port that is typically used to connect to the
Joey radio.

Pin Name/Function Comments

1CAN B High I/O

2 Port 2 RS232 Tx OUT

3 Port 2 RS232 Rx IN

4 PPS OUT

5 Signal GND Used for RS232 and other signals. Should not

be connected to V– (battery negative)

6Port 2 RTS OUT or Port 3 RS232 Tx OUT

7Radar OUT / Alarm OUT

8Port 2 CTS IN or Port 3 RS232 Rx IN

9Event IN

10 V+ IN / OUT Maximum output current = 1.25 A

11 V– IN / OUT Maximum output current = 1.25 A

12 CAN B Low I/O

Radar output

On the Trimble AG-372 GNSS receiver, Pin 7 on both Port A and Port B can be used as Event
Out, Alarm out, and Radar out. This pin can supply 5 V at 45 mA and sink up to 200 mA; the
switching frequency of the circuit can be up to 10 KHz.

The receiver can output simulated radar pulses at a pre-defined speed pulse output rate
that is useful to replace the radar/true ground speed sensor for speed on the vehicle or to
send speed to any other agricultural device that requires speed pulses, for example, a yield
monitor or variable rate controller.

Please contact your local reseller for cabling options.

Trimble AG-372 GNSS Receiver User Guide 23

3 Installing the AG-372 GNSS Receiver

24 Trimble AG-372 GNSS Receiver User Guide

CHAPTER

4

Installing the AG-715 Integrated Radio 4

In this chapter:

 Required tools

 Installation procedure

This chapter describes how to install the AG-715
integrated radio.

Trimble AG-372 GNSS Receiver User Guide 25

4 Installing the AG-715 Integrated Radio

Required tools

#1 (preferred) or #2 Phillips screwdriver.

Installation procedure

1. Remove the blanking plate and set it aside:

2. Place the integrated radio inside the AG-372 receiver. Ensure that the circuit board is
aligned with the slot in the vertical wall of the receiver:

26 Trimble AG-372 GNSS Receiver User Guide

Installing the AG-715 Integrated Radio 4

Insert these
crews first

3. Slide the integrated radio back so that it is flush with the vertical wall of the receiver:

4. Use a #1 or #2 Phillips screwdriver and the supplied screws to install the integrated
radio. First insert and tighten the two screws on the horizontal wall and then insert the
remaining screws:

Trimble AG-372 GNSS Receiver User Guide 27

4 Installing the AG-715 Integrated Radio

5. Install the supplied antenna cable.

Note – The housing can accommodate a cable diameter of up to ¼".

6. Route the cable through the cable channel and then insert the cable cover:

28 Trimble AG-372 GNSS Receiver User Guide

Installing the AG-715 Integrated Radio 4

The following image shows the unit once the cable has been routed through the
channel:

Trimble AG-372 GNSS Receiver User Guide 29

4 Installing the AG-715 Integrated Radio

30 Trimble AG-372 GNSS Receiver User Guide

CHAPTER

5

Configuring the Receiver 5

In this chapter:

 Navigation map

 AgRemote Home screen

 Configuring Differential GNSS

 Configuring the Trimble AG-372 GNSS

receiver to operate in CenterPoint RTX
mode

 Configuring the Trimble AG-372 GNSS

receiver to operate in RTK mode

 Configuring the communication ports

 Changing the frequency settings

Use either the Autopilot interface or the Trimble
AgRemote utility to change configuration
settings in the Trimble AG-372 GNSS receiver.
You will need to configure the receiver if you
connect to a third-party device:

• If a Trimble Autopilot system is configured

to use a Trimble AG-372 GNSS receiver,
and the port on the receiver is set to
8-N-1 38.4 K, the Autopilot system
automatically configures the receiver.

• The AgRemote utility is available from

www.trimble.com. This chapter describes

how to use the utility to perform some
common configurations.

Note – CenterPoint RTX, OmniSTAR HP, XP, G2,
and VBS are subscriber services that must be
activated. For more information, see

page 34.

OmniSTAR,

Trimble AG-372 GNSS Receiver User Guide 31

5 Configuring the Receiver

Home Status

Display

Options

Configuration

GPS

Status

Basr Stn

Info

Basr Stn

POS

Exit

Age of

DGPS/Sync

CMR

Statistics

RTK*

DGPS Data

Source

DGPS

Status

Lat/Long

Altitude

Speed

Heading

Channel

Status 1-12

DOPs

Exit

Vector to

Base

Radio

Product

Install

Passcode

Exit

Update

Receiver

SecureRTK

Status

Clear

Memory

Units

Language

Lock

Display

User

Level

Diag

Restore

Diag

Level

Radio

firmware

version

Receiver

Options

System

Temp

System

Voltages

Receiver

Status

UTS Date

GPS Week

UTC

Time/Day

Serial

Number

Firmware

Version

OmniStar

Unique ID

Hardware

Revision

Rec

Config

Monitor /

AppCore

HP/XP

Pos

Exit

Exit

CAN

Status

ChA TPCAN

conns

J1939 Addr

Claim

ChB TPCAN

conns

GPS Diags

Exit

HP/XP

Converge

T0X Logging

Iono Removal

Exit

Position

Rate

GPS

Config

GPS Position

Mode

GPS Mode

System

Masks

GPS SV Ctrl

PDOP

Settings

PV Filter

CC Filter

Satellite

Frequency

Dynamic

Mode

Satellite

Baud

DGPS

Config

Backup

Source

DGPS

Source

DGPS

Mode

WAAS/EGNOS

T2 Remap

DGPS Corr.

Age

SBAS

Sats

EZ Sat

Radio

Mode

Measurement

Mode

RTK DOP

Mask

RTK*

Config

RTK Vel

Type

RTK Prop

Mode

RTK

Position

RTK Base

Stn ID

RTK GLN

Mode

RTK

Delivery

Radio

Frequency

NMEA

Quality

HP/XP

Debug

Exit

Port A

Config

Port A Out

RTS/CTS

Port A

In/Out

NMEA 1

Messages

NMEA 3

Messages

NMEA 2

Messages

NMEA/TSIP

Output Rate

1 Hz NMEA

HP/XP

Init Mode

HP/XP

Autoseed

NMEA 2000

Msg Rate

Self CFG

Address

TPCAN

Protos

CAN A

Config

CAN

Address

CAN

Messages

NMEA 2000

Messages 1

CAN Msg

Rate

NMEA 2000

Messages 2

NMEA 2000

Messages 3

Exit

Incident

Code

Radar

Scaling

Radar

SPA

Runtime

SPA Status

Screen

SecureRTK

Keys

Int CoastTime

Exit

NMEA

Quality

Exit

Port B

Config

Port B Out

RTS/CTS

Port B

In/Out

NMEA 1

Messages

NMEA 3

Messages

NMEA 2

Messages

NMEA/TSIP

Output Rate

1 Hz NMEA

NMEA

Quality

Exit

Port C

Config

Port C Out

RTS/CTS

Port C

In/Out

NMEA 1

Messages

NMEA 3

Messages

NMEA 2

Messages

NMEA/TSIP

Output Rate

1 Hz NMEA

NMEA

Quality

Exit

Port D

Config

Port D

In/Out

NMEA 1

Messages

NMEA 3

Messages

NMEA 2

Messages

NMEA/TSIP

Output Rate

1 Hz NMEA

NMEA 2000

Msg Rate

Self CFG

Address

TPCAN

Protos

CAN B

Config

CAN

Address

CAN

Messages

NMEA 2000

Messages 1

CAN Msg

Rate

NMEA 2000

Messages 2

NMEA 2000

Messages 3

Exit

AG-372 Firmware Version 1.XX Navigation Map (with Radio Attached)

* RTK Status screens and RTK Config

screeens available only when RTK

option is enabled.

© 2005-2012, Trimble Navigation Limited. All rights reserved. Trimble, the Globe & Triangle logo and AgGPS

are trademarks of Trimble Navigation Limited, registered in the United States and in other countries. All other

trademarks are the property of their respective owners. PN 022503-968 (02/12)

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Navigation map

32 Trimble AG-372 GNSS Receiver User Guide

AgRemote Home screen

D/3D í07 DOP03
WAAS 122 ÷ø04

Correction type

DGNSS satellite name or ID

Signal-to-Noise ratio
of DGNSS satellite

Current PDOP value

Position type

Number of GNSS satellites being tracked

GNSS indicators

Correction
indicators

The following figure shows the AgRemote Home screen when WAAS corrections are being
received:

For more information about these fields and how they change as you change GNSS mode,
refer to the document called AgRemote Software on the Trimble website
(www.trimble.com) or contact your local Trimble Reseller.

Configuring the Receiver 5

Configuring Differential GNSS

For the receiver to output GNSS position coordinates of submeter accuracy, you must first
select a differential signal from one of the following sources:

• WAAS/EGNOS – free service, limited availability

The Wide Area Augmentation System (WAAS) augments GNSS with additional signals
for increasing the reliability, integrity, accuracy, and availability of GNSS in the United
States. The European Geostationary Navigation Overlay System (EGNOS) is the
European equivalent of WAAS.

• OmniSTAR – paid subscription, available worldwide

You can use this paid service as an alternative to WAAS/EGNOS. It provides over-the­air DGNSS activation.

For more information, see Differential GNSS positioning (DGNSS), page 13.

Trimble AG-372 GNSS Receiver User Guide 33

5 Configuring the Receiver

OmniSTAR

The Trimble AG-372 GNSS receiver can use OmniSTAR corrections. To do this, you need to
configure the receiver and purchase an OmniSTAR™ subscription.

Note – To track the OmniSTAR satellite, the receiver must be outside with a clear view of the
sky, turned on, and configured to receive OmniSTAR VBS or HP corrections.

To use the AgRemote utility to activate an OmniSTAR subscription:

1. Connect the Trimble AG-372 GNSS receiver to the computer. Turn on the receiver and
start the AgRemote utility. For instructions on how to use AgRemote, refer to the
AgRemote documentation.

2. In AgRemote, select Configuration / DGPS Config.

3. Set the Source Select field to one of the following:

– OmniSTAR HP

– OmniSTAR G2

– OmniSTAR XP

– OmniSTAR VBS

4. Set the EZ Sat: Omni* field to the area you are operating in. For example, if you are
working in California, select N. America West.

5. Press [4] then [5] to complete the procedure.

6. Obtain an OmniSTAR licence from OmniSTAR. All licenses are activated over the air.
Contact OmniSTAR on
1-888-883-8476 (USA or Canada) and provide the following details:

– your billing information

– serial number and/or OmniSTAR ID

– satellite beam name

OmniSTAR will activate the receiver. Activation can take 5–30 minutes.

WAAS/EGNOS

WAAS is a free satellite-based DGNSS service that is available only in North America;
EGNOS is a free satellite-based DGNSS service that is available only in Europe.

To use the WAAS/EGNOS DGNSS signal, you must first configure the receiver.

1. Connect the Trimble AG-372 GNSS receiver to the computer. Turn on the receiver and
start the AgRemote utility.

2. In AgRemote, select Configuration / DGPS Config.

3. Set the Source Select field to WAAS.

4. Press [>] then [^] to complete the procedure.

34 Trimble AG-372 GNSS Receiver User Guide

Configuring the Receiver 5

RTX standard converging

RTX standard converged

To enable WAAS reception in the field:

1. Take the receiver outside. Make sure that it has a clear southeast and southwest view
of the sky.

2. Turn on the receiver. WAAS activation can take two or more minutes. Once activation
succeeds, the Home screen displays

D/3D:

Configuring the Trimble AG-372 GNSS receiver to operate in CenterPoint RTX mode

Configuring the receiver for RTX (std-sat)

1. Ensure that the receiver is unlocked to either the OmniSTAR accuracy level or to the
RTK accuracy level.

2. Acquire an RTX passcode from OmniSTAR.

3. Enter the passcode under Install Passcode.

4. Use the arrow keys to select DGPS config / DGPS Source / Set to RTK.

5. Use the arrow keys to select RTK config / Delivery / set to RTX.

Trimble AG-372 GNSS Receiver User Guide 35

5 Configuring the Receiver

Configuring the receiver for RTX (std-cell)

1. From the AgRemote home screen, press [v] until you reach Update Receiver and then
enter the RTK passcode.

2. From the home screen, press [v] until you reach Install Passcode and then enter the RTX
passcode. Once you have entered the passcode, turn off and then turn on the receiver:

3. When the receiver reboots, press [<] until you reach Configuration, press [v] once and
then press

[>] once to reach DGPS Config.

4. Press [v] once to reach Source Select and then press [>].

36 Trimble AG-372 GNSS Receiver User Guide

Configuring the Receiver 5

While converging

Converged

5. Once the cursor is flashing, press [^] or [v] to change the source to RTK and then press
the Enter key:

6. Press [ESC] to return to DGPS Config and then press [>] to go to RTK Config.

7. Press [v] to go to Delivery.

8. Change the delivery to RTX Standard Cell:

You should see the following when converging:

Trimble AG-372 GNSS Receiver User Guide 37

5 Configuring the Receiver

Configuring the Trimble AG-372 GNSS receiver to operate in VRS mode

1. Navigate to DGPS Config and then press [>] to go to RTK Config.

2. Press [v] to go to Delivery.

3. Change the delivery to VRS Radio and then turn off and then turn on the receiver.

4. When the receiver reboots, press [<] until you reach the RTK Config menu and then
press

[v] to reach GPRS settings.

5. Make sure that the correct Initialization String, GPRS User Name, and Password (if
required) are entered and then turn off and then turn on the receiver.

6. Press [v] once to reach Source Select and then press [>].

7. Once you have turned on the receiver, navigate to the RTK Configuration menu and
then press

[v] to reach Delivery.

8. Change the delivery to VRS.

38 Trimble AG-372 GNSS Receiver User Guide

Configuring the Receiver 5

9. Enter appropriate information for the following items. The screen shots show example
values only—make sure that the values are correct for your data connection supplier.

10. In the RTK Config menu press the down arrow until you reach GPRS settings. Make
sure that the correct Initialization String, GPRS User Name, and Password (if required)
are entered.

Trimble AG-372 GNSS Receiver User Guide 39

5 Configuring the Receiver

Configuring the Trimble AG-372 GNSS receiver to operate in RTK mode

Use the AgRemote utility to configure the Trimble AG-372 GNSS receiver for operation in
RTK mode. To configure the receiver:

1. Connect the Trimble AG-372 GNSS receiver to the computer. Turn on the receiver and
start the AgRemote utility.

2. In AgRemote, select Configuration / DGPS Config.

3. Set the Source Select field to RTK.

4. Press [>] then [^] to complete this part of the procedure.

5. For RTK operation, connect the radio to a port. Change the port input settings for that
port to RtkLnk. See

AgRemote utility, page 43.

Configuring the radio frequency, protocol, and radio link in the

Configuring the communication ports

If the Trimble AG-372 GNSS receiver is to be connected to an external device, configure
Ports A and B so that the proper data type is input to and output from the receiver.

To configure Port A:

1. Connect the Trimble AG-372 GNSS receiver to the computer. Turn on the receiver and
start the AgRemote utility.

2. In AgRemote, select Configuration / Port A Config.

3. Use the menu commands to configure the communication ports. Ensure that the
receiver outputs the correct GNSS position data type for the hardware device or
software program that is connected to the receiver.

To configure Port B:

• Repeat the above steps but in Step 2 select Configuration / Port B Config.

40 Trimble AG-372 GNSS Receiver User Guide

Configuring the Receiver 5

Configuring input/output communication

The port input and output settings appear in the first screen. In the following figure, the
port is set to accept TSIP inputs at a baud rate of 115,000 with a parity of 8-Odd-1. The
outputs are TSIP, also at a baud rate of 115,000.

Configure the Port Input/Output communication settings for communicating with the
Autopilot, other external hardware devices, and software programs. Tabl e 5 . 1 describes
the input settings.

Table 5.1 Port input settings

Setting Description

None Inputs nothing to the receiver.

TEXTB The receiver can accept ASCII data from an external device, such as a chlorophyll meter, on Port

A, merge it with NMEA GNSS data, and output the combined data on Port B. The incoming data
must be limited to 66 ASCII characters and terminated by a carriage return and line feed (hex
characters 0x0D 0x0A). The NMEA string outputs as $PTNLAG001,<up to 66 ASCII characters>*<2
digit checksum><CR><LF>. For the receiver to output the combined NMEA string, NMEA must be
selected as the output protocol on Port B.

TEXTA See the description for the TEXTB setting (above). TEXTA input outputs text on Port A. The default

port settings are 8-N-1 TSIP 38.4 K. These may vary by product.

RTCM The receiver can accept RTCM data from an external DGNSS device, such as an external radio.

TSIP The receiver can accept or output TSIP data packets from the port when using the optional

AgRemote program or using the AgGPS 170 Field Computer.

RtkLnk The receiver can accept real-time corrections (CMR data) from an external device such as a

Tri mbl e radi o.

The default port settings are:

Port A Port B

Baud rate In TSIP 38,400 TSIP 38,400

Out TSIP 38,400 TSIP 38,400

Data bits 88

Parity None None

Stop bits 11

Trimble AG-372 GNSS Receiver User Guide 41

5 Configuring the Receiver

Note – The AgRemote utility, when connected to a Trimble AG-372 GNSS receiver receiver,
automatically resets the receiver port communication settings to 8-O-1 TSIP 115
enables optimal communication with an office computer. If the receiver is to work with an
Autopilot system, however, the receiver port communication settings must be 8-N-1 TSIP

38.4

K. To work with some other devices and software programs, the receiver port
communication settings must be 8-N-1 NMEA 4800. If AgRemote has changed the settings,
you will need to change them back manually.

When using a Trimble SNB 900 radio, make sure that the communication settings are
correct in the receiver.

The default settings to use with the SNB 900 radio are:

Setting Description

Baud rate 38,400

Data bits 8

Parity None

Stop bits 1

Changing the input or output port settings

K. This

1. From the Port A Config screen, press [v] until the Port-A Input/Output screen appears.

2. Ensure that the receiver is configured for RTK:

– Input: RTKL NK 38.4K, 8N1

– Output: RTKL NK 38.4 K

3. Press [<] to activate the cursor.

4. Press [v] or [^] to change the value.

5. Press [<].

6. Repeat Step 3 through Step 4 until you have set all the required values.

7. Press [>] to save all the changes.

8. Press [>] to move to the next screen.

NMEA settings

Three screens (NMEA1, NMEA2, and NMEA3) show what NMEA messages are output from
the port. Message types shown in upper case are being output; message types shown in
lower case are not.

For more information about NMEA message types, refer to the document called NMEA-
0183 Messages Guide for AgGPS Receivers on the Trimble website (www.trimble.com).

Port output rate

This setting can be used to vary the NMEA and TSIP output rate. A setting of 1 outputs one
position each second.

42 Trimble AG-372 GNSS Receiver User Guide

Configuring the Receiver 5

ASAP equals the rate selected on the Filter and Position Rate screen under the GNSS Config
menu. A setting of ASAP outputs positions five or ten times every second. The default
(factory) setting is 1 Hz.

Changing the frequency settings

Required equipment / software

• TNC-TNC antenna cable

• 450 MHz antenna

• 450 MHz base station transmitter

• Power / data cable (P/N 50166)

• AgRemote utility, version 3.04 or later

Configuring the radio frequency, protocol, and radio link in the AgRemote utility

1. Ensure that the 450 MHz AG-715 integrated radio is correctly installed to the AG-372

GNSS receiver.

2. Use the power/data cable to connect the AG-372 GNSS receiver to the computer.

Note – The receiver is connected to the computer, not to the radio. The radio uses the
AG-372 connection to communicate with the computer.

3. Once connected, run the AgRemote utility:

Note – To return to the home screen at any time, press [ESC].

Trimble AG-372 GNSS Receiver User Guide 43

5 Configuring the Receiver

4. Press [>] until you reach Configuration, press [v] as required to reach DGPS Config and

then press

5. Press [v] until you reach Radio Freq and then press [>] until the cursor blinks:

[>] until RTK Config shows on the screen:

6. Press [^] to cycle through the frequencies until New Freq appears:

7. Press [>] to change the frequency—when the cursor blinks:

– Press [^] to enter the first three digits (whole number) of the frequency.

– Press [>] to move the cursor to the right to enter the decimal number of the

frequency.

– Press the enter button to enter the frequency.

44 Trimble AG-372 GNSS Receiver User Guide

Configuring the Receiver 5

Note – Press [>] and [^] / [v] to select the new frequency. Once you see the frequency that you
programmed press the enter button again to activate it

:

8. To show the radio mode, press [v] once:

9. Press [>] to activate the cursor and then press [^] or [v] to select the appropriate Protocol

and Link Rate.

10. Once selected, press the enter button to activate the mode you selected.

11. Press [ESC] to return to the home screen.

Note – To set the radio for a 25 k bandwidth, select any protocol at 9600 bps. To set the
radio for a 12.5 k bandwidth, select any protocol at 4800 bps.

Trimble AG-372 GNSS Receiver User Guide 45

5 Configuring the Receiver

46 Trimble AG-372 GNSS Receiver User Guide

CHAPTER

6

Troubleshooting 6

In this chapter:

 Global Navigation Satellite System (GNSS)

 Interference

 GNSS receiver

 AgRemote utility

 FlashLoader 200 upgrade utility

This chapter describes some problems that can
arise and explains how to solve them. It includes
a series of flowcharts to help with
troubleshooting.

Note – As you work through this chapter, you
may need to view the receiver status or change
values in some fields. For information on how to
do this, refer to the document called
NMEA-0183 Messages Guide for AgGPS
Receivers. This document is on the Trimble
website (

www.trimble.com)

Trimble AG-372 GNSS Receiver User Guide 47

6 Troubleshooting

Global Navigation Satellite System (GNSS)

Problem Possible solution

Poor accuracy

The accuracy of GNSS positions is poor
because the receiver is picking up poor
quality signals from the satellites.

The receiver always calculates the most
accurate position it can, given the current
GNSS satellite differential operating
conditions.

GNSS signals are reflecting off nearby trees
and/or metal buildings and horizontal
surfaces.

Intermittent loss of lock on satellite

The receiver loses the satellite signal from
time to time.

Intermittent DGNSS signal

The correction signal strength can drop to
unusable levels. Causes include tree
canopy cover between the receiver and
the differential satellite, radar sets, and
microwave transmitters.

Change some or all of the following GNSS settings:

• Minimum elevation – Increase the setting
(the default is 8°).

• Minimum Signal Strength – Increase the System Mask
AMU setting (the default is 3).

• Maximum PDOP – Decrease the setting
(the default is 13).

• GNSS Mode – Change to Manual 3D
(the default is Auto 2D/3D).

• DGNSS Mode – Change to DGNSS
(the default is DGNSS Auto/On/Off).

To reduce multipath noise, mount the GNSS receiver so that it
has a clear view of the sky. The receiver must be away from
trees and large metal objects.

Make sure that the receiver is mounted on the highest point
of the vehicle and is clear of metal surfaces.

Check Maximum PDOP and Minimum Signal Strength settings
(see

Poor accuracy, above).

Move the receiver away from the tree cover and/or from
sources of electromagnetic interference.

48 Trimble AG-372 GNSS Receiver User Guide

Problem Possible solution

Tracking but not receiving a
differential signal

The receiver is tracking satellites and
tracking an OmniSTAR satellite beam, but
is not receiving DGNSS signals. The Home
screen indicates how many satellites are
being tracked, and whether a differential
source is being tracked.

You s e e:
h-3D for HP not converged
H-3D for HP converged
r-3D for RTK float
R-3D for RTK fixed
D-3D for DGNSS

HP and RTK also give an indication of
positional accuracy on the Home screen
(AgRemote).

Check that your DGNSS service subscription is still current and
enabled.

For OmniSTAR service:

1. Use the AgRemote utility to navigate to one of the
following screens, depending on what you are using:

•the Omni HP Info screen

•the Omni VBS Info screen.

2. Press  until Stop Date appears.

If the message Access Unknown appears, contact OmniSTAR
to reactivate your subscription. For more information, see

OmniSTAR, page 34.

The receiver must be switched on and configured to track the
correct satellite coverage beam before it can be reactivated.

The receiver automatically tracks the correct beam based on
receiver geographic location. If the receiver is manually
changed, automatic tracking is deactivated until you perform
a hard reset or firmware flash.

When a satellite subscription is activated, the Home screen
displays D/3D.

No GNSS position output from the
receiver after connecting to AgRemote

When the receiver is connected to the
AgRemote utility, AgRemote automatically
resets the port communication settings on
the receiver to 8-O-1 TSIP 115

K for both

Connect AgRemote. Then reset the port communication
settings to NMEA output. For more information, see

Configuring the communication ports, page 40.

input and output. This enables optimal
communication with an office computer.

If the receiver is to work with an Autopilot
system, however, the receiver port
communication settings must be 8-N-1
TSIP 38.4

K. To work with some other
devices and software programs, the
receiver port communication settings
must be
8-N-1 NMEA 4800. If AgRemote has
changed the settings, you will need to
change them back manually.

Long time to initialize

In RTK mode, longer baselines require
longer initialization times. (The baseline is
the distance between the base receiver

Wait for the receiver to initialize or consider repositioning the
base receiver to shorten the baseline. Make sure the rover is
in a clear area.

and the rover receivers.)

Troubleshooting 6

Trimble AG-372 GNSS Receiver User Guide 49

6 Troubleshooting

Problem Possible solution

Loss of initialization

In RTK mode initialization can be lost when
the rover receiver is close to trees or
buildings and the number of satellites falls
below four. Additionally, initialization may
be lost if the receiver has not been
tracking RTK corrections for some time.
For more information, see the next item.

Move away from trees and obstructions to initialize. Once
initialized, approach the obstructed area again. If the
obstructions are severe, GNSS positioning may not work in
that area.

Because the GNSS satellites move, there may be times of the
day when you are working in an area with obstructions. For
more information, see the Trimble Planning software on the
Trimble website (

www.trimble.com).

Not tracking RTK corrections

The radio link is down or intermittent. • Ensure that the line-of-sight between the base and rover

receivers is not obstructed.

• Ensure that the rover receiver is within range of the radio.

• Ensure that the radio power supply is on.

50 Trimble AG-372 GNSS Receiver User Guide

Interference

Problem Possible solution

Strong magnetic fields

Strong magnetic fields have no effect on
GNSS or satellite DGNSS signals.

However, some computers and other
electric equipment radiate
electromagnetic energy that can interfere
with a GNSS receiver.

FM 2-way radios

Transmitting FM 2-way radios can
interfere with OmniSTAR, WAAS, and GNSS
signal reception.

Engine noise

An unshielded ignition system can cause
enough noise to block reception of a
differential signal.

An alternator can cause noise that
interferes with a differential signal.

If you suspect interference from a local magnetic field, move
the receiver away from, or turn off, the suspect electronics
while observing the number of satellites being tracked on the
receiver or the signal-to-noise ratio (SNR) of the satellite. If
the SNR goes up when the electronics are turned off, there
may be interference from the local electronics.

Make sure that there is at least 1 m (3 ft) between the FM 2­way radio antenna and the receiver.

Use resistor spark plug wires on the vehicle ignition system.

Use bypass capacitors, commonly available in automotive
stores for cleaning up interference to CB and other radios. If
the problem persists, shield engine components with
aluminum foil.

Relocate the antenna on the machine.
Determine the optimal antenna location by watching the SNR

value on the AgRemote Home screen.

Note – Before replacing engine parts in an attempt to solve
this problem, make sure that the problem is not caused by a
computer or power source near the receiver. Some computers
and their power sources cause noise that disrupts GNSS and
satellite DGNSS signals.

Troubleshooting 6

GNSS receiver

Problem Possible solution

Mounting location

The receiver is not picking up a clear
signal.

Cables

One of the cables seems faulty.

Mount the receiver on the centerline of the vehicle, away
from any sources of interference and with a clear view of the
sky (see

Use an ohmmeter to check the cable. The resistance of a good
cable between connector pins at each end of the cable is zero.

If the cable is sound, but the problem persists, try exchanging
the cable with one that you know is working.

If the cable is defective, contact your local Trimble Reseller for
an RMA number (if the Trimble product is still under
warranty), or to purchase a replacement cable.

Choosing a location, page 18).

Trimble AG-372 GNSS Receiver User Guide 51

6 Troubleshooting

Problem Possible solution

Real-time clock battery

A Lithium-ion battery in the receiver
powers the internal real-time clock and so
enables the receiver to get a first fix faster.
The battery has a life of 7.5 years. When
the battery fails, the internal clock cannot
keep accurate time and the receiver may
take longer to output GNSS positions.

Factory defaults

You need to restore the receiver factory
defaults.

Please contact your local Trimble Reseller to get the batteries
replaced. You cannot replace the battery yourself.

To restore receiver factory default settings:

1. Connect the receiver to a computer. Turn on the receiver.

2. Run the AgRemote utility.

3. Navigate to the Clear BB RAM screen.

4. Press  until Ye s appears.

5. Press 4.
The factory default settings are restored. The DGNSS service

subscription is not lost.

AgRemote utility

Problem Possible solution

AgRemote cannot communicate with the
receiver. All you see is a blank screen.

1. Make sure that:

• the receiver is connected to a 12–32 V DC power
source

• all cable connections between the receiver and the
computer are secure

• you are using the correct COM port

2. Turn off the receiver then turn it on again.

3. Select File / Connect.

52 Trimble AG-372 GNSS Receiver User Guide

FlashLoader 200 upgrade utility

Problem Possible solution

The FlashLoader 200 upgrade utility
cannot detect the receiver or download
the firmware.

Make sure that:

• Other programs, such as AgRemote and Microsoft®
ActiveSync® technology, are not using the COM port that
the computer is using.

• The receiver is connected to a 12–32 V DC power source.

• All cables are connected correctly between the device
and the computer.

• The receiver is connected to the correct computer COM
port. To do this:

1. From the FlashLoader 200 menu, select Settings.

2. Select the check box for a serial link.

3. At Port, select Auto. Click OK.

4. Select the Upload firmware to receiver check box.

5. Navigate to where the firmware file is saved and select
the file. Click

6. From the Auto Port Select dialog, select Use receiver on
port and then click

Once you have checked this, turn off the receiver then turn it
on again. Try again to connect the FlashLoader 200 utility.

Troubleshooting 6

Proceed.

OK.

Trimble AG-372 GNSS Receiver User Guide 53

6 Troubleshooting

54 Trimble AG-372 GNSS Receiver User Guide

APPENDIX

A

Specifications A

In this appendix:

 Physical characteristics

 GNSS channels

 L-band satellite differential correction

receiver

 Receiver default settings

This appendix lists the specifications of the
Trimble AG-372 GNSS receiver and its settings.

Trimble AG-372 GNSS Receiver User Guide 55

A Specifications

Physical characteristics

The following table lists the physical characteristics of the Trimble AG-372 combined
GNSS/DGNSS receiver and antenna:

Item Description

Size 300 mm (11.7 in) wide x 309 mm (12.05 in) deep x 70 mm (2.73 in) high

Weight 1.9 kg

Power Nominal 350 mA at 12 V DC

Operating temperature –30 °C to +70 °C (–22 °F to +158 °F)

Storage temperature –40 °C to +85 °C (–40 °F to +185 °F)

Humidity Complies with Mil 810E Method 507.3 Procedure III Aggravated Cyclic Humidity.

Ten 24 hour cycles of constant 95% RH, with cycling temperature and dwells
+30 °C (+86 °F) and +60 °C (140 °F). Unit sealed to +/- 5 PSID

Casing Low-profile UV-resistant plastic. Dust-proof, waterproof, shock resistant, with

recessed protected connectors.

Connectors 12-pin Deutsch connectors

Ports Two connection ports, both of which support RS-232 and CAN

Mounting Three holes for 10 mm (0.39 in) bolts

Compliance FCC Part 15 Class A, C-Tick, E-mark,

CE-mark

GNSS channels

The following table lists the performance characteristics of GNSS channels:

Item Description

General 220-channel, parallel tracking L1 1571.42 MHz and L2 1227.60 MHz. C/A code

and carrier phase filtered measurement.

Update rate 1, 5, 10 Hz

RTK speed accuracy 0.16 kph (0.10 mph)

RTK position accuracy Horizontal 2.5 cm (0.98 in) + 2 ppm, 2 sigma, and vertical 3.7 cm (1.46 in) +

2 ppm, 2 sigma, if all of the following criteria are met:

• At least 5 satellites

•PDOP <4

• CMR corrections

• Standard format broadcast from an AgGPS 442, AgGPS 542, or equivalent
reference station

56 Trimble AG-372 GNSS Receiver User Guide

Specifications A

Item Description

RTX position accuracy Horizontal 4 cm 2 sigma (no ppm for RTX mode) and vertical 6 cm 2 sigma

RTX standard achieves full accuracy within 1 hour with satellite or cellular
modem correction delivery.

RTX fast achieves full accuracy within 1 min with satellite correction delivery, if:

• There are at least 5 satellites

•HDOP <4

Differential speed

0.16 kph (0.1 mph)

accuracy

Differential position
accuracy

Less than 1 m (3.28 ft) horizontal if all of the following criteria are met:

• At least 5 satellites

•PDOP <4

• RTCM SC-104 corrections

• Standard format broadcast from an AgGPS 442, AgGPS 542, or equivalent
reference station

OmniSTAR HP speed

0.16 kph (0.1 mph)

accuracy

OmniSTAR HP position
accuracy

10 cm (3.94 in) after convergence, 2 sigma, if all the following criteria are met:

• At least 5 satellites

•PDOP <4

• OmniSTAR HP corrections

Convergence time can vary, depending on the environment. Time to the first fix
(submeter accuracy) is typically <30 seconds; time to the first useable fix (<10 cm
accuracy) is typically <30 minutes.

Time to first fix <30 seconds, typical

Multipath mitigation EVEREST technology

Satellite differential

OmniSTAR, WAAS, and EGNOS

compatibility

NMEA messages GGA 1 1

1

, GLL, GSA1, GST, GSV, GST, MSS, PTNLDG, PTNL PJK, PTNL PJT, PTNL

VGK, PTNL VHD, PTNLEV, PTNLID, PTNLSM, RMC1, VGK, VTG1, XTE, ZDA

1

By default, the receiver is configured to output GCA, GSA, RMC, and VTG messages at a 1 Hz (1 position per second) update rate.

Trimble AG-372 GNSS Receiver User Guide 57

A Specifications

L-band satellite differential correction receiver

The following table lists the characteristics of the L-band satellite differential correction
receiver with OmniSTAR support:

Item Description

-5

Bit error rate 10

Acquisition and reacquisition time <5 seconds, typical

Frequency band 1525–1559 MHz

Channel spacing 0.5 kHz

for Eb/N of >5.5 dB

Receiver default settings

The following table lists the receiver default settings:

Item Description

DGNSS source WAAS/EGNOS

GNSS support GPS/GLONASS

Dynamics Land

SNR mask 24 dB

Elevation mask 5°

PDOP mask 30

Position rate 10 Hz

DGNSS mode Auto On/Off

DGNSS correction timeout 250 seconds

58 Trimble AG-372 GNSS Receiver User Guide

APPENDIX

B

Third-Party Interface Requirements B

In this appendix:

 Third-party software

 Third-party hardware

This appendix describes the interface
requirements for third-party software and
hardware.

Trimble AG-372 GNSS Receiver User Guide 59

B Third-Party Interface Requirements

Third-party software

The following table lists the interface requirements for connecting a receiver to third-party
software.

Use cable P/N 50166, or cable P/N 30945 with cable P/N 50581, when connecting to the
third-party software products listed.

Software Company Protocol NMEA messages Baud Other Pos

rate

AgView GIS Solutions NMEA VTG, GLL 4800 8-N-1 1 Hz

FarmGNSS Red Hen NMEA GGA, GSA, VTG 4800 8-N-1 1 Hz

Field Rover SST Dev Group NMEA GGA, GSA, GSV, VTG 4800 8-N-1 1 Hz

FieldLink DOS Agris NMEA GGA, GSA, VTG 4800 or

9600

FieldLink
Windows

Field Worker
Pro

HGIS Starpal NMEA GGA, RMC 4800 or

Instant Survey Agrilogic (Case-IH) NMEA GGA, GSA, RMC 4800 8-N-1 1 Hz

Pocket Survey Agrilogic (Case-IH) NMEA GGA, GSA, RMC 4800 8-N-1 1 Hz

Sitemate Farmworks NMEA GGA, VTG 4800 8-N-1 1 Hz

Agris NMEA GGA, GSA, VTG 4800 or

9600

Field Worker NMEA GGA, GLL, RMC, VTG 4800 or

9600

9600

8-N-1 1 Hz

8-N-1 1 Hz

8-N-1 1 Hz

8-N-1 1 Hz

60 Trimble AG-372 GNSS Receiver User Guide

Third-party hardware

The following table lists the interface requirements for connecting a receiver to third-party
hardware.

Third-Party Interface Requirements B

Hardware Company Protocol NMEA

messages

Baud Other Pos

rate

Cable P/N

AMS Raven NMEA GGA, VTG 9600 8-N-1 1 Hz

Ag Navigator Springhill RTCM 9600 8-N-1 10 Hz

Aim Navigator Case Tyler NMEA GGA 19200 8-N-1 5 Hz

Contour Position Inc. NMEA GGA 19200 8-N-1 5 Hz

Marker RDS or Position Inc. NMEA GGA 19200 8-N-1 5 Hz

50166, or
30945 plus
50581

Falcon Ag Chem NMEA GGA, VTG 4800 8-N-1 1 Hz

Falcon w/

Ag Chem NMEA GGA, VTG 19200 8-N-1 10 Hz
Falcon Track
LBAR

Swath Smart or
RGL 500 (LB-5
for Raven)

LB-3, LB-4, and
LB-5

YM2000 Yield
Monitor

PF3000 Yield
Monitor

1

1

PF3000Pro
Monitor
without
internal GNSS

AFS Yield
Monitor

AFS Yield
Monitor

Raven, Starlink

manufactured

NMEA GGA, VTG or

RMC

19200 8-N-1 10 Hz

50166, or
30945 plus

Starlink NMEA GGA, VTG or

19200 8-N-1 10 Hz

50581

RMC

Ag Leader NMEA GGA, VTG 4800 8-N-1 1 Hz 39903 plus

50581

Ag Leader NMEA GGA, VTG 4800 8-N-1 1 Hz 39903 plus

50581

Ag Leader NMEA GGA, VTG 4800 8-N-1 1 Hz 39903 plus

50581

2

Case-IH

(Ag Leader YM2000)

Case-IH YMIU (yield

monitor interface

NMEA GGA, VTG 4800 8-N-1 1 Hz 32609 plus

50581

NMEA GGA, VTG 4800 8-N-1 1 Hz 32609 plus

50581
unit) manufactured by
Ag Leader for Case-IH

GreenStar Yield
Monitor

3

New Holland
Yield Monitor

VCD (Vision
Display
Controller)

John Deere NMEA GGA, GSA,

RMC

New Holland (Ag

NMEA GGA, VTG 4800 8-N-1 1 Hz 39903 plus

Leader PF3000)

Rockwell NMEA GGA, GLL,

VTG, ZDA

4800 8-N-1 1 Hz 34189 plus

50581

50581

4800 8-N-1 1 Hz 50166, or

30945 plus

50581

Swath XL Midtech NMEA GGA 19200 8-N-1 5 Hz 50166, or

30945 plus

50581

Trimble AG-372 GNSS Receiver User Guide 61

B Third-Party Interface Requirements

Hardware Company Protocol NMEA

messages

Caterpillar

Claus NMEA GGA 4800

Cebis Yield
Monitor

AGCO FieIdStar
Yield Monitor

1

P/N 39903 replaced old Ag Leader cable P/N 30660.

2

Connect to Aux port.

3

Older GreenStars with version 5.3P mapping processor software require 9600 baud. Older GreenStars with version 5.3R

mapping processor software require 4800 baud.

4

AGCO unit requires a null modem RS-232 connection. Ag Leader cable P/N 39903 is wired correctly for connection.

AGCO NMEA GGA, VTG,

4

GSV, GSA

Baud Other Pos

Cable P/N

rate

8-N-1 1 Hz 50166, or
or
9600

30945 plus
50581

4800 8-N-1 1 Hz 39903 plus

50581

62 Trimble AG-372 GNSS Receiver User Guide