Trimble BD970 User Manual
USER GUIDE
Trimble BD970
GNSS Receiver Module
Version 5.11
Revision A
December 2015
1
Corporate Office
Trimble Navigation Limited
Integrated Technologies
510 DeGuigne Drive
Sunnyvale, CA 94085
USA
www.trimble.com/gnss-inertial
Email: GNSSOEMSupport@trimble.com
Legal Notices
© 2006–2015, Trimble Navigation Limited. All rights reserved.
Trimble and the Globe & Triangle logo are trademarks of Trimble
Navigation Limited, registered in the United States and in other
countries. CMR+, EVEREST, Maxwell, and Zephyr are trademarks of
Trimble Navigation Limited.
Microsoft, Internet Explorer, 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.
Support for Galileo is developed under a license of the European Union
and the European Space Agency
(BD910/BD920/BD930/BD935/BD970/BD982/BX935/BX982).
Release Notice
This is the December 2015 release (Revision A) of the BD970 GNSS
Receiver Module User Guide. It applies to version 5.11 of the receiver
firmware.
LIMITED W ARRANTY TERMS AND CONDITIONS
Product Limited Warranty
Subject to the following terms and conditions, Trimble Navigation
Limited (“Trimble”) warrants that for a period of one (1) year from date
of purchase unless otherwise specified, 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 other 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 Fixes
During the limited warranty period you will be entitled to receive such
Fixes 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 identified by Trimble, are
expressly excluded from this update process and limited warranty.
Receipt of software Fixes or other enhancements shall not serve to
extend the 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
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 authorized dealer. Alternatively, you may contact Trimble to
request warranty service by e-mailing your request to
GNSSOEMSupport@trimble.com. Please be prepared to provide:
– 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
The customer service representative may need additional information
from you depending on the nature of the problem.
Warranty Exclusions or 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 misused. This 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 unauthorized installation, modification, or use of the Product; (iv)
damage caused by: accident, lightning or other electrical discharge, fresh
or salt water immersion or spray (outside 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 components will operate error free.
NOTICE REGARDING PRODUCTS EQUIPP ED WITH TECHNOLOGY C APABLE OF
TRACKING SATELLITE SIGNALS FROM SATELLITE BASED AUGMENTATION
SYSTEMS (SBAS) (WAAS/EGNOS, AND MSAS), OMNISTAR, GPS, MODERNIZED
GPS OR GLON ASS SATELLITES, OR FROM IALA B EACON SOURCES: TRIMBLE IS
NOT RESPON SIBLE FOR THE OPERATION OR FAILURE OF OPERATION OF ANY
SATELLITE BASED PO SITIONING SYSTEM OR THE AVAILABILITY OF ANY
SATELLITE BASED PO SITIONING 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 CONNECTION WITH, ANY PRODUCT.
BECAUSE SOME STATE S 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.
Lim itation 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 SHA LL TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY
INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGE WHATSOEV ER UNDER
ANY CIRCUMSTA NCE OR LEGAL THEORY RELATING IN ANYWAY TO THE PRODUCTS,
SOFTWARE AND ACCOMPANYING DOCUMENTATION AND MATERIALS, (INCLUDING,
WITHOUT LIMITATION, DAMAGES FOR LOSS OF BUSINESS PROFITS, BUSINESS
INTERRUPTION, LOSS OF DATA, OR ANY OTHER PECUNIARY LOSS), REGARDLESS OF
WHETHER TRIMBLE HAS BEEN ADVISE D OF THE POSSIBILITY OF ANY SUCH LOSS AND
REGARDLESS OF THE COURSE OF DEALING WHICH DEVELOPS OR HAS DEV ELOPED
BETWEEN YOU AND TRIMBLE. BECAUSE SOME ST ATES AND JURISDICTIONS DO NOT
ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR
INCIDENTAL DAMAGES, THE ABOVE LIMITATION MAY NOT APPLY OR FULLY APPLY TO
YOU.
BD970 GNSS Receiver Module User Guide 2
PLEASE NOTE: THE ABOVE TRIMBLE LIMITED WARRANTY PRO VISIONS W ILL
NOT APPL Y TO P RODUCTS PURCHASED IN THOSE JU RISDICTIONS (E.G.,
MEMBER STATES OF THE EUROPEAN EC ONOMIC AREA) IN WHICH PR ODUCT
WARRANTIES ARE THE RESPONSIBILITY OF THE LOC AL TRIMBLE AUTHORIZED
DEALER FROM WHOM THE PRODUCTS ARE ACQUIRED. IN SUC H A CASE,
PLEASE CONTAC T YOUR LOC AL TRIMBLE AUTHORIZED DEALER FOR
APPL ICABLE WARRAN TY 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.
COCOM limits
This notice applies to the BD910, BD920, BD920-W, BD920-W3G, BD930,
BD930-UHF, BD935-INS, BD960, BD970, BD982, BX960, BX960-2, and
BX982 receivers.
The U.S. Department of Commerce requires that all exportable GPS
products contain performance limitations so that they cannot be used in
a manner that could threaten the security of the United States. The
following limitations are implemented on this product:
– Immediate access to satellite measurements and navigation results is
disabled when the receiver velocity is computed to be greater than
1,000 knots, or its altitude is computed to be above 18,000 meters. The
receiver GPS subsystem resets until the COCOM situation clears. As a
result, all logging and stream configurations stop until the GPS
subsystem is cleared.
Restriction of Use of Certain Hazardous Substances in Electrical
and Electronic Equipment (RoHS)
Trimble products in this guide comply in all material respects with
DIRECTIVE 2002/95/EC OF THE EUROPEAN PARLIAMENT AND OF THE
COUNCIL of 27 January 2003 on the restriction of the use of certain
hazardous substances in electrical and electronic equipment (RoHS
Directive) and Amendment 2005/618/EC filed under C(2005) 3143, with
exemptions for lead in solder pursuant to Paragraph 7 of the Annex to
the RoHS Directive applied.
Waste Electrical and Electronic Equipment (WEEE)
For product recycling instructions and more information,
please go to
www.trimble.com/Corporate/Environmental_
Compliance.aspx.
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
BD970 GNSS Receiver Module User Guide 3
Contents
Contents 4
1 Introduction 5
About the BD970 GNSS receiver 6
BD970 features 7
Default settings 9
Technical support 10
2 Specifications 11
Performance specifications 12
Physical specifications 13
Electrical specifications 13
Environmental specifications 14
Communication specifications 14
Receiver drawings 15
3 Electrical System Integration 16
BD970 receiver pinouts 17
1PPS and ASCII time tag 20
ASCII time tag 21
Power input 22
Antenna power output 22
LED control lines 23
Power switch and reset 24
Event 25
Serial port 26
USB 26
Ethernet 27
CAN 33
4 Installation 34
Unpacking and inspecting the shipment 35
Installation guidelines 35
Interface board evaluation kit 37
Routing and connecting the antenna cable 38
LED functionality and operation 40
5 Troubleshooting Receiver Issues 41
Glossary 43
BD970 GNSS Receiver Module User Guide 4
Introduction
CHAPTER
1
n About the BD970 GNSS receiver
n BD970 features
n Default settings
n Technical support
This manual describes how to set up, configure,
and use the Trimble® BD970 GNSS receiver module.
The BD970 receiver uses advanced navigation
architecture to achieve real-time centimeter
accuracies with minimal latencies.
Even if you have used other GNSS or GPS products
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 or GPS, visit the Trimble website
(www.trimble.com).
BD970 GNSS Receiver Module User Guide 5
1 Introduction
About the BD970 GNSS receiver
This receiver is used for a wide range of precise positioning and navigation applications. These uses
include unmanned vehicles and port and terminal equipment automation, and any other
application requiring reliable, centimeter-level positioning at a high update rate and low latency.
The receiver offers centimeter-level accuracy based on carrier phase RTK and submeter accuracy
code-based solutions.
Automatic initialization and switching between positioning modes allow for the best position
solutions possible. Low latency (less than 20 ms) and high update rates give the response time and
accuracy required for precise dynamic applications.
The receiver can be configured as an autonomous base station (sometimes called a reference
station) or as a rover receiver (sometimes called a mobile receiver). Streamed outputs from the
receiver provide detailed information, including the time, position, heading, quality assurance
(figure of merit) numbers, and the number of tracked satellites. The receiver also outputs a one
pulse-per-second (1 PPS) strobe signal which lets remote devices precisely synchronize time.
Designed for reliable operation in all environments, the receiver provides a positioning interface to
an office computer, external processing device, or control system. The receiver can be controlled
through a serial, ethernet, USB, or CAN port using binary interface commands or the web interface.
BD970 GNSS Receiver Module User Guide 6
1 Introduction
BD970 features
The receiver has the following features:
l 220 Channels:
l l GPS: Simultaneous L1 C/A, L2E, L2C, L5
l GLONASS: Simultaneous L1 C/A, L1 P, L2 C/A (GLONASS M Only), L2 P
l SBAS: Simultaneous L1 C/A, L5
l GALILEO: Simultaneous L1 BOC, E5A, E5B, E5AltBOC
l BeiDou: Simultaneous B1, B2
l QZSS: Simultaneous L1 C/A, L1 SAIF, L2C, L5
l Advanced Trimble Maxwell Custom Survey GNSS Technology
l Very low noise GNSS carrier phase measurements with <1 mm precision in a 1 Hz bandwidth
l Proven Trimble low elevation tracking technology
l 1 USB port
l 1 CAN port
l 1 LAN Ethernet port
l Network Protocols supported
l l HTTP (web interface)
l NTP Server
l NMEA, GSOF, CMR over TCP/IP or UDP
l NTripCaster, NTripServer, NTripClient
l mDNS/UPnP Service discovery
l Dynamic DNS
l Email alerts
l Network link to Google Earth
l Support for external modems via PPP
l 3 x RS232 ports (baud rates up to 460,800)
l 1 Hz, 2 Hz, 5 Hz, 10 Hz, 20 & 50 Hz positioning outputs (depending on the installed option)
l Up to 50 Hz raw measurement and position outputs
l Correction inputs/outputs: CMR, CMR+™, sCMRx, RTCM 2.1, 2.2, 2.3, 2.4, 3.X, 3.2.
Note:
BD970 GNSS Receiver Module User Guide 7
1 Introduction
l l The functionality to input or output any of these corrections depends on the installed
options.
l Different manufacturers may have established different packet structures for their
correction messages. Thus, the BD9xx receivers may not receive corrections from other
manufacturers' receivers, and other manufacturers' receivers may not be able to receive
corrections from BD9xx receivers.
l Navigation outputs:
l l ASCII: NMEA-0183: GBS; GGA; GLL; GNS; GRS; GSA; GST; GSV; HDT; LLQ; PTNL,AVR;
PTNL,BPQ; PFUGDP; DTM; PTNL,GGK; PTNL,PJK; PTNL,PJT; PTNL,VGK; PTNL,VHD; RMC;
ROT; VTG; ZDA
l Binary: Trimble GSOF
l Control Software
l 1 pulse-per-second (1PPS) output
l Event Marker Input support
l LED drive support
BD970 GNSS Receiver Module User Guide 8
1 Introduction
Default settings
All settings are stored in application files. The default application file, Default.cfg, is stored
permanently in the receiver, and contains the factory default settings. Whenever the receiver is
reset to its factory defaults, the current settings (stored in the current application file, Current.cfg)
are reset to the values in the default application file.
These settings are defined in the default application file.
Function Settings Factory default
SV Enable - All SVs enabled
General Controls Elevation mask 10°
PDOP mask 99
RTK positioning mode Low Latency
Motion Kinematic
Ports Baud rate 38,400
Format 8-None-1
Flow control None
Input Setup Station Any
NMEA/ASCII (all supported messages) All ports Off
Streamed Output All types Off
Offset=00
RT17/Binary All ports Off
Reference Position Latitude 0°
Longitude 0°
Altitude 0.00 m HAE
Antenna Type Unknown
Height (true vertical) 0.00 m
Measurement method Antenna Phase Center
1PPS Disabled
BD970 GNSS Receiver Module User Guide 9
1 Introduction
If a factory reset is performed, the above defaults are applied to the receiver. The receiver also
returns to a DHCP mode, and security is enabled (with a default login of admin and the password of
password). To perform a factory reset:
l From the web interface, select Receiver Configuration / Reset and then clear the Clear All
Receiver Settings option.
l Send the Command 58h with a 03h reset value.
Technical support
If you have a problem and cannot find the information you need in the product documentation,
send an email to GNSSOEMSupport@trimble.com.
Documentation, firmware, and software updates are available at:
www.intech.trimble.com/support/oem_gnss/receivers/trimble.
BD970 GNSS Receiver Module User Guide 10
Specifications
CHAPTER
2
n Performance specifications
n Physical specifications
n Electrical specifications
n Environmental specifications
n Communication specifications
n Receiver drawings
This chapter details the specifications for the
receiver.
Specifications are subject to change without notice.
BD970 GNSS Receiver Module User Guide 11
2 Specifications
Performance specifications
Feature Specification
Measurements
l Position antenna based on a 220-channel Maxwell 6 chip:
l l GPS: Simultaneous L1 C/A, L2E, L2C, L5
l GLONASS: Simultaneous L1 C/A, L1 P, L2 C/A (GLONASS M Only),
L2 P
l SBAS: Simultaneous L1 C/A, L5
l GALILEO: Simultaneous L1 BOC, E5A, E5B, E5AltBOC
l BeiDou: Simultaneous B1, B2
l QZSS: Simultaneous L1 C/A, L1 SAIF, L2C, L5
l
Advanced Trimble Maxwell 6 Custom Survey GNSS Technology
l
High precision multiple correlator for GNSS pseudorange
measurements
l
Unfiltered, unsmoothed pseudorange measurements data for low
noise, low multipath error, low time domain correlation and high
dynamic response
l
Very low noise GNSS carrier phase measurements with <1 mm
precision in a 1 Hz bandwidth
l
Signal-to-Noise ratios reported in dB-Hz
l
Proven Trimble low elevation tracking technology
Code differential
3D: Typically, < 1 m
GPS positioning
accuracy1
SBAS accuracy
2
Horizontal: Typically, < 1 m
Vertical: Typically, < 5 m
RTK positioning
accuracy
Horizontal: ±(8 mm + 1 ppm) RMS
Vertical: ±(15 mm + 1 ppm) RMS
(<30 km)
Initialization time Typically, less than 10 seconds
1
Accuracy and reliability may be subject to anomalies such as multipath, obstructions, satellite geometry, and atmospheric conditions. Always follow
recommended practices.
2
Depends on WAAS, EGNOS, and MSAS system performance.
BD970 GNSS Receiver Module User Guide 12
2 Specifications
Feature Specification
Initialization
reliability
1
Typically >99.9%
Physical specifications
Feature Specification
Dimensions (L x W x H) 100 mm x 60 mm x 11.6 mm
Vibration MIL810F, tailored
Random 6.2 gRMS operating
Random 8 gRMS survival
Mechanical shock MIL810D
±40 g operating
±75 g survival
I/O connector 24-pin header + 6-pin header (Samtec TMM-120-03-L-D) (Rated for
1000 cycles)
Antenna connector MMCX receptacle (Huber-Suhner 82MMCX-50-0-1/111) (Rated for
500 cycles);
mating connectors are MMCX plug (Suhner 11MMCX-50-2-1C) or
right-angle plug (Suhner 16MMCX-50-2-1C, or 16MMCX-50-2-10)
Electrical specifications
Feature Specification
Voltage 3.3 V DC +5%/-3%
Power
consumption
Minimum
required
LNA gain
1
May be affected by atmospheric conditions, signal multipath, and satellite geometry. Initialization reliability is continuously monitored to ensure highest
quality.
Typically, 1.45 W (L1/L2 GPS)
Typically, 1.55 W (L1/L2 GPS and G1/G2 GLONASS)
Typically, 2.35 W (L1/L2/L5 GPS, G1/G2 GLONASS, B1/B2 BeiDou, L1/E5 Galileo)
Note –
These values were characterized using v4.84 firmware.
32.5 dB
Note –
a gain of 50 dB. Higher-gain antennas have not been tested.
This receiver is designed to operate with the Zephyr Model 2 antenna which has
BD970 GNSS Receiver Module User Guide 13
2 Specifications
Environmental specifications
Feature Specification
Temperature Operating: -40°C to 75°C (-40°F to 167°F)
Storage: -55°C to 85°C (-67°F to 185°F)
Vibration MIL810F, tailored
Random 6.2 gRMS operating
Random 8 gRMS survival
Mechanical shock MIL810D
+/- 40 g operating
+/- 75 g survival
Operating humidity 5% to 95% R.H. non-condensing, at +60°C (140°F)
Communication specifications
Feature Specification
Communications 1 LAN port
3 x RS-232
ports
1 USB 2.0 port
Receiver position update rate 1 Hz, 2 Hz, 5 Hz, 10 Hz, 20 Hz and 50 Hz positioning
Correction data input CMR, CMR+™, sCMRx, RTCM 2.0–2.4, RTCM 3.X, 3.2
Correction data output CMR, CMR+, sCMRx, RTCM 2.0 DGPS (select RTCM 2.1), RTCM
2.1–2.4, RTCM 3.X, 3.2
Data outputs 1PPS, NMEA, Binary GSOF, ASCII Time Tags
l Supports links to 10BaseT/100BaseT
networks.
l All functions are performed through a single
IP address simultaneously – including web
interface access and data streaming.
Baud rates up to 460,800
BD970 GNSS Receiver Module User Guide 14
2 Specifications
Receiver drawings
The following drawings show the dimensions of the BD970 receiver. Refer to these drawings if you
need to build mounting brackets and housings for the receiver.
Plan view
Edge view
BD970 GNSS Receiver Module User Guide 15
Electrical System Integration
n BD970 receiver pinouts
n 1PPS and ASCII time tag
n ASCII time tag
n Power input
n Antenna power output
CHAPTER
3
n LED control lines
n Power switch and reset
n Event
n Serial port
n USB
n Ethernet
n CAN
BD970 GNSS Receiver Module User Guide 16
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