Trimble BD990, BD992-INS, BX992, BD992 User Manual
BD990/BD992/BD992-INS/BX992
GNSS and Inertial Receiver Modules
USER GUIDE
Version 5.32
Revision F
June 2018
BD990 BD992/BD992_INS
BX992
Corporate Office
Trimble Inc.
Integrated Technologies
510 DeGuigne Drive
Sunnyvale, CA 94085
USA
www.trimble.com/gnss-inertial
Email: GNSSOEMSupport@trimble.com
Legal Notices
© 2006–2018, Trimble Inc. All rights reserved.
Trimble and the Globe & Triangle logo are trademarks of
Trimble Inc., registered in the United States and in other
countries. CMR+, EVEREST, Maxwell, and Zephyr are
trademarks of Trimble Inc.
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/BD940/BD970/BD982/BX9
35/BX982).
Release Notice
This is the June 2018 release (Revision F) of the BD99x Series
and BX992 GNSS Receiver Module User Guide. It applies to
version 5.32 of the receiver firmware.
BD99x Series and BX992 GNSS Receiver ModuleUser Guide | 2
Contents
Contents 3
1 Introduction 9
About the BD990 GNSS receiver 10
About the BD992 GNSS receiver 11
About the BD992-INS GNSS receiver 12
About the BX992 receiver 13
About the Trimble Maxwell 7 technology 14
Flexible interfacing 14
Typical applications 14
Features 16
Technical specifications 16
Communication 17
Default settings 18
BD990 and BD992 flavors 20
BD992-INS and BD992 flavors 21
Receiver hardware and accessories 22
Evaluation kit 22
Upgrade options 23
Compatible antennas 24
Technical support 25
2 Specifications 26
Positioning specifications 27
BD990/BD992 27
Performance specifications 28
BD990 and BD992 28
BD992-INS and BX992 29
Physical and electrical characteristics 31
Environmental specifications 32
Communication specifications 32
Receiver pinout information 33
BD990/BD992/BD992-INS 44-pinout connector 33
BX992 connectors 35
Mechanical specifications 37
Key dimensions on the BD990/BD992/BD992-INS 37
Key dimensions on the BX992 39
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Contents
Power input 39
3 Installation 40
Unpacking and inspecting the shipment 41
Shipment carton contents 41
Reporting shipping problems 41
Installation guidelines 42
Considering environmental conditions 42
Sources of electrical interference 42
Mounting the antennas 42
Connecting the antenna cable 43
4 Evaluation Board 44
BD990/BD992/BD992-INS evaluation board layout 45
LED functionality and operation 46
BD992-INS IMU LED 47
5 GNSS and RTKBasics 48
Autonomous GNSS 49
SBAS 49
DGPS/DGNSS 50
RTK 50
Carrier phase initialization 50
Update rate and latency 51
Data link 51
Moving baseline RTK positioning 52
Critical factors affecting RTK accuracy 53
Base station receiver type 53
Base station coordinate accuracy 53
Number of visible satellites 53
Elevation mask 54
Environmental factors 54
Operating range 55
Antenna Phase Centers 55
6 Quick Setup Guides 59
Configuring the receiver as a base station 60
Configuring the receiver as a rover 67
Configuring the receiver as a moving base 73
Setting up input/output on Ethernet ports 79
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Contents
Using the AEh command to get the Ethernet configuration 80
Using the AEh command to get the virtual IP ports 81
Using the AEh command to get details on or set a virtual IP port 82
7 Receiver Web Interface 83
Web interface menus 84
Supported languages 84
Supported browsers 84
Log in 86
Log in 87
Receiver Status menu 89
Receiver Status – Activity 89
Position and Position Graph 90
Vector page 94
Google Map and Google Earth 95
Identity 97
Receiver Options 99
Satellites menu 102
Satellites – General Information 102
Satellites – Tracking (Table) 103
Constellation tabs 107
SBAS Satellite Enable/Disable 109
Satellite Almanacs 111
Predicted Satellite Elevation Angle 112
Predicted Number of Satellites 113
Current Satellite Constellation 114
Satellite Ground Track 115
Rise/Set (Table) 116
Rise/Set (Graph) 117
Satellite Data 118
Receiver Configuration menu 119
Receiver Configuration – Summary 119
Receiver Configuration – Antenna 120
Receiver Configuration – Reference Station 122
Tracking 125
Receiver Configuration – Correction Controls 126
Receiver Configuration – Position 129
Receiver Configuration – General 132
Receiver Configuration – Application Files 136
Receiver Configuration – Reset 139
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Contents
Receiver Configuration – Default Language 140
I/O Configuration menu 141
I/O Configuration – Port Summary 141
I/O Configuration – Port Configuration 144
MSS Corrections menu 155
MSS – Summary 155
MSS Configuration 156
RTX or OmniSTAR – MSS Subscription 159
Network Configuration menu 161
Network Configuration – Summary 161
Network Configuration – Ethernet Configuration 163
Network Configuration – DNS Configuration 165
Network Configuration – Routing Table 167
Network Configuration – E-Mail Client 168
Network Configuration – E-Mail Alerts 169
Network Configuration – HTTP 170
Network Configuration – Proxy 171
NTP Configuration 172
DDNS Configuration 173
Zero Configuration / Universal Plug and Play 175
Security menu 178
Security Summary 178
Security Configuration 179
Change Password 179
Firmware menu 180
Install new firmware 180
Check for Firmware Upgrades 182
8 Configuring the Receiver 183
Configuring Ethernet settings 184
Resetting your user name and password 185
Configuring BD990 for attitude and inertial applications 186
Attitude measurement using single antenna modules 186
Configuring BD992/BD992-INS and BX992 receivers 190
Attitude measurement using Trimble OEM dual-antenna systems 190
Moving base RTK without external base station corrections 193
Moving base RTK with external base station corrections (chained RTK) 194
Dual-antenna inertial setup for an automotive application 195
Configuring the receiver using the binary interface 201
Accessing the web interface of the receiver via RNDIS 201
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Contents
Step 1: The Hardware Setup 201
Step 2: The USB Driver Installation 201
Step 3: The Network Settings Setup 202
Step 4: Launch the Browsers 202
Step 5: Troubleshooting Tips 202
Output Messages 204
NMEA-0183 messages: Overview 205
NMEA-0183 messages: Common message elements 207
NMEAMessage values 207
NMEA-0183 message: ADV 208
NMEA-0183 message: DTM 210
NMEA-0183 message: GBS 211
NMEA-0183 message: GNS 213
NMEA-0183 message: GGA 216
NMEA-0183 message: GSA 219
NMEA-0183 message: GST 220
NMEA-0183 message: GSV 221
NMEA-0183 message: HDT 223
NMEA-0183 message: LLQ 224
NMEA-0183 message: PTNL,AVR 225
NMEA-0183 message: PTNL,BPQ 226
NMEA-0183 message: PTNL,DG 228
NMEA-0183 message: PTNL,GGK 229
NMEA-0183 message: PTNL,PJK 231
NMEA-0183 message: PTNL,VGK 233
NMEA-0183 message: PTNL,VHD 235
NMEA-0183 message: RMC 237
NMEA-0183 message: ROT 238
NMEA-0183 message: VTG 239
NMEA-0183 message: ZDA 240
GSOF Messages: Overview 241
GSOF messages: General Serial Output Format 243
GSOF messages: Reading binary values (Motorola format) 245
GSOF message: Attitude 247
GSOF message: Base Position and Quality 249
GSOF message: Battery/Memory Info 250
GSOF message: Brief SVInfo 251
GSOF message: All SV Detail 252
GSOF message: Clock Info 256
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Contents
GSOF message: UTC 257
GSOF message: ECEF DELTA 258
GSOF message: DOP 259
GSOF message: LLH 260
GSOF message: Position SIGMA 261
GSOF message: Position TIME 263
GSOF message: TPlane ENU 264
GSOF message: Velocity 265
GSOF message: L-Band Status Information 266
A Establishing a PPP Connection under Windows 7 269
B Troubleshooting Receiver Issues 287
C Correction Transmission Troubleshooting 289
BD9xx base station setup 290
Checking correction reception at the rover 290
Using the CSGTestSuite to check transmission of corrections 292
Understanding the CSGTestSuite displays 294
Connecting with the CSGTestSuite software 295
CSGTestSuite display of CMR and Ag Scrambled CMR 296
CSGTestSuite display of CMR+ and Ag Scrambled CMR+ 297
CSGTestSuite display of sCMRx 298
CSGTestSuite display of RTCM version 3 299
SNB900 Front Panel Display Setup 300
Turn on the base receiver 300
Set the base protocol to CMR 301
Set the Base mode 301
Set the Base network 302
Enable the Base Turbo Mode 302
Base connected to BD9XX RS-232 transmitting CMR protocol 303
Turn on the rover 303
Set the Rover protocol to CMR 303
Set the Rover Mode 304
Set the rover network 304
Enable the Rover Turbo mode 305
Rover receiving the CMR protocol 305
Glossary 306
BD99x Series and BX992 GNSS Receiver ModuleUser Guide | 8
Introduction
About the BD990 GNSS receiver
About the BD992 GNSS receiver
About the BD992-INS GNSS receiver
About the BX992 receiver
About the Trimble Maxwell 7 technology
Flexible interfacing
Typical applications
Features
1
Default settings
Typical applications
BD990 and BD992 flavors
BD992-INS and BD992 flavors
Receiver hardware and accessories
Upgrade options
Technical support
This manual describes how to set up, configure, and use the Trimble® BD992, BD992-INS,
and BX992 GNSS receiver module. The receiver uses advanced navigation architecture to
achieve real-time centimeter accuracies with minimal latencies.
BD99x Series and BX992 GNSS Receiver ModuleUser Guide | 9
1 Introduction
About the BD990 GNSS receiver
The Trimble BD990 receiver is part of a family of receivers that support advanced
functionality. In the same mechanical footprint and pin-out as the Trimble BD970, industry
professionals trust Trimble embedded positioning technologies as the core of their
precision applications. Moving the industry forward, the Trimble BD990 redefines highperformance positioning.
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.
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1 Introduction
About the BD992 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.
BD99x Series and BX992 GNSS Receiver ModuleUser Guide | 11
1 Introduction
About the BD992-INS GNSS receiver
The Trimble® BD992-INS receiver contains a powerful multi-constellation, multi-frequency
GNSS receiver with on-board integrated inertial sensors. Taking advantage of Trimble’s
expertize in both GNSS and Inertial technology the BD992-INS receiver has been designed
for applications requiring continuous centimeter accuracy in a compact package. By
integrating inertial sensors on the same module, robust high accuracy positions are
produced in all environments. A simple intuitive web interface and interface protocol
allows a variety of dynamic models to be supported.
The GNSS components are fully shielded.
This design ensures that the high quality
signals are protected from the sources of
EMI on the host platform.
The BD992-INS supports both the triple
frequency for the GPS and GLONASS
constellations, and the dual frequency from
BeiDou and Galileo. As the number of
satellites in the constellations grows, the
BD992-INS is ready to take advantage of the
additional signals. This delivers the quickest
and most reliable RTK initializations for 1 to 2
centimeter positioning. For applications that do not require centimeter accuracy, the
BD992-INS integrated GNSS-Inertial engine delivers high accuracy GNSS/DGNSS positions
in the most challenging environments such as urban canyons.
Different configurations are available. These include everything from a DGPS L1 unit
through to a four-constellation triple-frequency RTK unit. Choose the configuration that
suits your requirements. All features are password-upgradeable, allowing functionality to
be upgraded as your requirements change.
The receiver also supports Fault Detection and Exclusion (FDE) and Receiver, and
Autonomous Integrity Monitoring (RAIM) for safety-critical applications.
Key features include:
l High update rate position and orientation solutions
l Continuous positioning in GNSS denied environments
l Lever arm calculation from antenna to navigation point of interest
l Robust Moving Baseline RTK for precision landing on moving platforms
l Single antenna heading not influenced by magnetic field variations
BD99x Series and BX992 GNSS Receiver ModuleUser Guide | 12
1 Introduction
About the BX992 receiver
The BX992 receiver enclosure allows OEM, a system integrator or end users to rapidly
integrate high accuracy GNSS into their applications. The BX992 is ideal as a base station, a
moving base, a rover or for applications that require precise heading in addition to
accurate positions.
The receiver provides reliable operation in
all environments, and a positioning interface
to an office computer, external processing
device, or control system. You can control
the receiver through a serial or Ethernet
port using binary interface commands or
web interface.
BD99x Series and BX992 GNSS Receiver ModuleUser Guide | 13
1 Introduction
About the Trimble Maxwell 7 technology
The Trimble BD990/BD992 GNSS products and the INS variant supports triple-frequency
for the GPS, GLONASS, BeiDou and Galileo constellations. As the number of satellites in the
constellations grows the receiver is ready to take advantage of the additional signals. This
delivers the quickest and most reliable RTK initializations for centimeter positioning. With
the latest Trimble Maxwell™ 7 Technology, the receivers provide:
l 336 tracking channels
l Trimble EVEREST™ Plus multipath mitigation
l Advanced RF Spectrum Monitoring and Analysis
l Proven low-elevation tracking technology
With the option of utilizing OmniSTAR or RTX services, the GNSS receivers delivers varying
levels of performance down to centimeter level without the use of a base station.
Flexible interfacing
The BD990 and BD992 GNSS products are designed for easy integration and rugged
dependability. Customers benefit from the Ethernet connectivity available on the board,
allowing high speed data transfer and configuration via standard web browsers. USB and
RS-232 are also supported. Just like other Trimble embedded technologies; easy to use
software commands simplify integration and reduce development times.
Different configurations of the module are available. These include everything from a DGPS
L1 unit all the way to a four-constellation triple-frequency RTK unit. All features are
password-upgradeable, allowing functionality to be upgraded as your requirements
change.
Typical applications
The receiver can be used in a multitude of applications that require robust high precision
positioning. The receiver can be used within systems being developed for:
l Precision agriculture
l Autonomous vehicles
l Unmanned aircrafts
l Field robotics
l Machine guidance and control
l Timing
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1 Introduction
l Construction
l GNSS heading and attitude measurements for marine equipment
The receiver can be set up and installed as:
l an on-board GNSS rover in SBAS DGPS mode.
l an on-board GNSS rover connected to an external communication device (radio,
GPRS, CDMA) and used in DGPS, Flying RTK or RTK mode.
l a low-cost solution for vector determination applications.
l a relative positioning combined with an absolute RTK position (machine guidance and
control).
l a relative movement monitoring, heave compensation, wing deformation, and so forth.
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1 Introduction
Features
The following features are applicable to these receivers.
Technical specifications
l Trimble Maxwell™ 7 technology
l On-board Advanced MEMS inertial sensors (applicable to BD992-INS and BX992 only)
l 336 tracking channels
l GPS: L1 C/A, L2E, L2C, L5
l BeiDou: B1, B2
l GLONASS: L1 and L2 C/A, L3 CDMA13
l Galileo2: E1, E5A, E5B, E5AltBOC
l IRNSS L5
l QZSS: L1 C/A, L1 SAIF, L2C, L5, LEX
l SBAS: L1 C/A, L5
l MSS L-Band: OmniSTAR, Trimble RTX
l High precision multiple correlator for GNSS pseudorange measurements
l Trimble EVEREST™ Plus multipath mitigation
l Advanced RF Spectrum Monitoring and Analysis
l Unfiltered, unsmoothed pseudorange measurement 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 Proven Trimble low elevation tracking technology
l Reference outputs/inputs: CMR, CMR+™, sCMRx, RTCM 2.1, 2.2, 2.3, 2.4, 3.0, 3.112, 3.2.
NOTE – The functionality to input or output any of these corrections depends on the installed
options.
NOTE – Different manufacturers may have established different packet structures for their
correction messages. Thus, the receiver may not receive corrections from another
manufacturer's receiver, and another manufacturer's receiver may not be able to receive
corrections from the receiver.
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1 Introduction
l Navigation outputs:
l ASCII: NMEA-0183: GBS; GGA; GLL; GNS; GRS; GSA; GST; GSV; HDT; LLQ; AVR; GDP;
DTM; BPQ; GGK; PJK; PJT; VGK; VHD; RMC; ROT; VTG; ZDA.
l Binary: Trimble GSOF, NMEA 2000
NOTE – Galileo support is developed under a license of the European Union and the European
Space Agency.
NOTE – There is no public GLONASS L3 CDMA ICD. The current capability in the receivers is
based on publicly available information. As such, Trimble cannot guarantee that these receivers
will be fully compatible.
l 1 pulse-per-second (1PPS) output
l Event Marker Input support
l Supports Fault Detection and Exclusion (FDE), Receiver Autonomous Integrity
Monitoring (RAIM)
Communication
l 1 USB 2.0 device port
l 1 LAN Ethernet port
l All functions are performed through a single IP address simultaneously—including
web interface access and raw data streaming
l Network protocols supported:
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 through PPP
l RDNIS support
l 2 x RS-232 ports (baud rates up to 460,800)
l 1 x CAN port
l Control Software: HTML web browser, Internet Explorer, Firefox, Safari, Opera, Google
Chrome
BD99x Series and BX992 GNSS Receiver ModuleUser Guide | 17
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
Event Ports Disabled
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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.
l Use the Configuration Toolbox utility and from the Communications menu, select
Reset Receiver. Select both the Erase Battery-Backed RAM and Erase File System
options.
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1 Introduction
BD990 and BD992 flavors
All the flavors are configured to output at 20 Hz. 50 Hz or 100 HZ are available as an
upgrade.
RTK
BD9 90 BD992 Heading MSS GPS GLONASS Galileo Beidou L1 L2 L5 Base Rover
100990-01 1100992-01 1
100990-02 2100992-02 2
100990-03 3100992-03 3
100990-04 4100992-04 4
100990-05 5100992-05 5
100990-06 6100992-06 6
100990-07 4100992-07 4
100990-08 41009902-08 4
100990-22 2
100990-23 3
100990-24 4
100990-25 5
1
Unconfigured
2
Autonomous/SBAS
3
DGPS
4
RTK 1 cm
5
30 cm limit
6
10 cm limit
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1 Introduction
BD992-INS and BD992 flavors
All the flavors are configured to output at 20 Hz. 50 Hz or 100 HZ are available as an
upgrade.
RTK
BD9 90 BD99 2 Heading MSS GP S GLONASS Galileo Beidou L1 L2 L5 Base Rover
100990-01 1100992-01 1
100990-02 2100992-02 2
100990-03 3100992-03 3
100990-04 4100992-04 4
100990-05 5100992-05 5
100990-06 6100992-06 6
100990-07 4100992-07 4
100990-08 41009902-08 4
100990-22 2
100990-23 3
100990-24 4
100990-25 5
1
Unconfigured
2
Autonomous/SBAS
3
DGPS
4
RTK 1 cm
5
30 cm limit
6
10 cm limit
BD99x Series and BX992 GNSS Receiver ModuleUser Guide | 21
1 Introduction
Receiver hardware and accessories
The following support hardware and accessories can be ordered for the BD990, BD992,
and BD992-INS:
Part number Description
112076-00 Trimble BD99x Evaluation Kit (receiver not included)
105679-00-B Trimble BD99x Interface board
A02503 18 V Power Supply, 3 Ah
A02584 CBL ASSY TNC-MMCX
The following support hardware and accessories can be ordered for the BX992:
Part number Description
A02503 18 V Power Supply, 3 Ah
57168-INT DB26 to DB9, Ethernet and Power adapter
77070-00-INT Cable DB26 to Power, 1PPS, DB9F, DB9M, USB, RJ45M
Evaluation kit
For system integrators/evaluators, Trimble offers an evaluation kit for the BD990, BD992,
and BD992-INS receivers. This kit comes with a specially designed board that can mate with
the receiver. Once mated, the evaluation board provides the integrator or tester with a
platform to gain an in-depth understanding of the receiver. It also allows for development
of custom applications that can effectively implement the precision GNSS information that
the receiver is capable of outputting. The evaluation board gives access to the following;
l Power connector
l Four serial ports through 2 × DB9 and 2 × USB Type-B connectors
l Ethernet through 1 × RJ45 connector
l Three USB ports through 2 × Type-A and 1 × Type-B receptacles
l Three LEDs to indicate satellite tracking, receipt of corrections and power
For more information, see Evaluation Board, page 44.
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1 Introduction
Upgrade options
The following support hardware and accessories apply to all the receivers.
Part number Description
106781-01 Trimble BD990 Configuration Field Upgrade 1
106782 50 Hz Output Rate Field Upgrade
106783 100 Hz Output Rate Field Upgrade (applicable only to BD992-INS and
BX992)
106784 GLONASS Field Upgrade
106785 Galileo Field Upgrade
106786 BeiDou Field Upgrade
For details about ordering these upgrades for your receiver, please email
GNSSOEMSales@trimble.com. Your regional sales manager would be happy to assist you
in upgrading your receiver with the options of your choice.
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1 Introduction
Compatible antennas
It is always recommended that a Trimble tested and compatible Trimble antenna is used
with the receivers. You may use other antennas but ensure that these antennas support
the correct frequencies enabled on the receiver. Furthermore, be aware of the minimum
LNA gain on the receivers is 31 dB.
The following list shows a list of recommended antennas and their part numbers.
P/N Description
105000-50-INT Zephyr™ Model 3, L1/L2/L5 Rover
115000-50-INT Zephyr Model 3 L1/L3/L5 Base
C02817 L1/L2 Aviation Antenna (TSO Certified)
C02992 Trimble AV59 L1/L2/L5/G1/G2/L-Band Aviation Antenna (Not TSO
Certified)
C03167 Trimble LV59 L1/L2/L5/G1/G2/ L-Band Antenna (Not TSO Certified)
5/8 Mount
105728 Trimble AV39 L1/L2/L5/G1/G2/ L-Band Aviation Antenna Antenna
(TSO Certified/US sales)
105728-10 Trimble AV39 L1/L2/L5/G1/G2/ L-Band Aviation Antenna Antenna
(TSO Certified/Non US sales)
112735 Trimble AV28 L1/L2/L5 L-band Aviation Antenna
83553 Trimble AV33 L1/G1 Aviation Antenna
86362 Trimble AV34 L1/L2/G1/G2 Aviation Antenna
99038-00-INT Trimble AG25 L1/L2/L5/G1/G2/ L-Band Antenna
99810-30-INT Trimble GA810 GNSS L-Band Antenna
44830-00-INT Trimble GA830 GNSS L-Band Antenna
BD99x Series and BX992 GNSS Receiver ModuleUser Guide | 24
The following cables and accessories may be purchased with the antenna:
P/N Description
58957-05-INT 5 m TNC-TNC Antenna Cable
A02500 10 m TNC-TNC Antenna Cable 1
92296-10-INT 10 m TNC-TNC LMR400 Antenna Cable
A02501 30 m TNC-TNC Antenna Cable
A02584 CBL ASSY TNC-MMCX
F00922 Zephyr Mounting Bracket
84902 AV33/34 Antenna Bracket
86693 Mag mount with 5/8" x 11 bolt
1 Introduction
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.
BD99x Series and BX992 GNSS Receiver ModuleUser Guide | 25
Specifications
Positioning specifications
Performance specifications
Physical and electrical characteristics
Environmental specifications
Receiver pinout information
Mechanical specifications
Power input
Communication specifications
2
This chapter details the specifications for the receiver.
Specifications are subject to change without notice.
BD99x Series and BX992 GNSS Receiver ModuleUser Guide | 26
2 Specifications
Positioning specifications
NOTE – The following specifications are provided at 1 sigma level when using a Trimble Zephyr 2
antenna. These specifications may be affected by atmospheric conditions, signal multipath, and
satellite geometry. Initialization reliability is continuously monitored to ensure highest quality.
BD990/BD992
Feature Specification
Initialization time Typically <8 seconds
Initialization accuracy >99.9%
Mode Accuracy Latency (at max. output
rate)
Single Baseline
RTK (<30 km)
0.008 m + 1 ppm
horizontal
<20 ms 50 Hz
0.015 m + 1 ppm vertical
DGPS 0.25 m + 1 ppm
horizontal
<20 ms 50 Hz
0.5 m + 1 ppm vertical
1
SBAS
0.5 m horizontal
<20 ms 50 Hz
0.85 m vertical
Autonomous 1.00 m horizontal
<20 ms 50 Hz
1.5 m vertical
Maximum
Rate
1
GPS only and depends on SBAS system performance. FAA WAAS accuracy specifications are <5m
3DRMS.
BD99x Series and BX992 GNSS Receiver ModuleUser Guide | 27
2 Specifications
Performance specifications
NOTE – The Time to First Fix specifications are typical observed values. A cold start is when the
receiver has no previous satellite (ephemerides/almanac) or position (approximate position or time)
information. A warm start is when the ephemerides and last used position is known.
BD990 and BD992
Feature Specification
Time to First Fix (TFF) Cold Start <45 seconds
Warm Start <30 seconds
Signal Re-acquisition <2 seconds
Velocity Accuracy
1
Horizontal 0.007 m/sec
Vertical 0.020 m/sec
Maximum Operating Limits
2
Velocity 515 m/sec
Altitude 18,000 m
Acceleration 11 g
RTK initialization time Typically <8 seconds
RTK initialization reliability >99%
Position latency <20 ms
Maximum position/attitude update rate 50 Hz
1
1 sigma level when using a Trimble Zephyr 2 antenna. These specifications may be affected by
atmospheric conditions, signal multipath, and satellite geometry. Initialization reliability is
continuously monitored to ensure highest quality.
2
As required by the US Department of Commerce to comply with export licensing restrictions.
BD99x Series and BX992 GNSS Receiver ModuleUser Guide | 28
BD992-INS and BX992
Feature Specification
Initialization time Typically <8 seconds
Initialization accuracy >99.9%
2 Specifications
Mode Accuracy Latency (at max. output
rate)
Single Baseline RTK
(<30 km)
0.008 m + 1 ppm
horizontal
<20 ms 50 Hz
0.15 m + 1 ppm vertical
DGPS 0.25 m + 1 ppm
horizontal
0.5 m + 1 ppm vertical
<20 ms 50 Hz
0.5° True Heading
1
SBAS
0.5 m horizontal
<20 ms 50 Hz
0.85 m vertical
Autonomous 1.00 m horizontal
<20 ms 50 Hz
1.50 m vertical
INS-Autonomous 1.00 m horizontal
<20 ms 50 Hz
1.50 m vertical
Maximum
rate
roll/pitch 0.1°
Heading 2 m Baseline 0.09°
INS-SBAS
0.50 m horizontal
<20 ms 50 Hz
0.85 m vertical
roll/pitch 0.1°
Heading 2 m Baseline 0.09°
1
As required by the US Department of Commerce to comply with export licensing restrictions.
BD99x Series and BX992 GNSS Receiver ModuleUser Guide | 29
Feature Specification
INS-DGNSS 0.40 m horizontal
<20 ms 50 Hz
0.60 m vertical
roll/pitch 0.1°
Heading 2 m Baseline 0.09°
2 Specifications
INS-RTK
0.05 m horizontal
<20 ms 50 Hz
0.03 m vertical
roll/pitch 0.1°
Heading 2 m Baseline 0.09°
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