Trimble Outdoors AgGPS 332 User Manual

USER GUIDE

AgGPS® 332 GPS Receiver

Trimble Navigation Limited	Trimble Navigation Limited	Trimble Navigation Limited
Agriculture Business Area	Corporate Headquarters	Agriculture Business Area
7401 Church Ranch Blvd	935 Stewart Drive	Water Management Division
Westminster, CO 80021	Sunnyvale, CA 94085,	5475 Kellenburger Road
USA	USA	Dayton, Ohio, 45424-1099
[phone] Phone	[phone] Phone	USA
		[phone] Phone

www.trimble.com

USER GUIDE

AgGPS® 332 GPS Receiver

Version 1.00

Revision A

Part number 56370-00-ENG September 2005

Corporate Office

Trimble Navigation Limited 645 North Mary Avenue PO Box 3642

Sunnyvale, CA 94085 USA www.trimble.com

Legal Notices

© 2005, Trimble Navigation Limited. All rights reserved.Trimble, the Globe & Triangle logo, AgGPS, AutoPilot, and EZ-Guide are trademarks of Trimble Navigation Limited registered in the US Patent and Trademark Office and in other countries. EZ-Steer, Zephyr is a trademark of Trimble Navigation Limited.

Recon is a trademark of Tripod Data Systems Inc., a wholly owned subsidiary of Trimble Navigation Limited. Microsoft, Windows, 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 September 2005 release (Revision A) of the AgGPS 332 GPS Receiver User Guide, part number 56370-00-ENG. It applies to version 1.00 of the AgGPS 332 GPS receiver.

Limited Warranty Terms and Conditions Product Limited Warranty

Subject to the terms and conditions set forth herein, Trimble Navigation Limited (“Trimble”) warrants that for a period of

(1) year from date of purchase this Trimble product (the “Product”) will substantially conform to Trimble's publicly available specifications for the Product and that the hardware and any storage media components of the Product will be substantially free from defects in materials and workmanship.

Product Software

Product software, whether built into hardware circuitry as firmware, provided as a standalone computer software product, embedded in flash memory, or stored on magnetic or other media, is licensed and not sold. If accompanied by a separate end user license agreement, use of any such software will be subject to the terms of such end user license agreement (including any differing limited warranty terms, exclusions and limitations), which shall control over the terms and conditions set forth in this limited warranty).

Software Updates

During the limited warranty period you will be entitled to receive such Fix Updates and Minor Updates to the Product software that Trimble releases and makes commercially available and for which it does not charge separately, subject to the procedures for delivery to purchasers of Trimble products generally. If you have purchased the Product from an authorized Trimble distributor rather than from Trimble directly, Trimble may, at its option, forward the software Fix Update or Minor Update to the Trimble distributor for final distribution to you. 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 updates shall not serve to extend the limited warranty period.

For purposes of this warranty the following definitions shall apply: (1) “Fix Update” means an error correction or other update created to fix a previous software version that does not substantially conform to its published 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 significant new feature and 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 at its option will repair OR replace the nonconforming Product, OR refund the purchase price paid by you for the Product, upon your return of the Product to Trimble in accordance with Trimble's standard return material authorization procedures.

How to Obtain Warranty Service

To obtain warranty service for the Product, please contact your Trimble dealer. Alternatively, you may contact Trimble to request warranty service at [phone] (24 hours a day) or e-mail your request to [e-mail]. Please be prepared to provide:

–your name, address, and telephone numbers

–proof of purchase

–this Trimble warranty card

–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 and Disclaimer

This Product limited warranty shall only apply in the event and to the extent that (i) 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; (ii) 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; or exposure to environmental conditions for which the Product is not intended; 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. NOTICE REGARDING PRODUCTS EQUIPPED WITH GPS TECHNOLOGY: TRIMBLE IS NOT RESPONSIBLE FOR THE OPERATION OR FAILURE OF OPERATION OF GPS SATELLITES OR THE AVAILABILITY OF GPS SATELLITE SIGNALS.

THE FOREGOING LIMITED WARRANTY TERMS STATE TRIMBLE'S ENTIRE LIABILITY, AND YOUR EXCLUSIVE REMEDIES, RELATING TO PERFORMANCE OF 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.

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.

Limitation of Liability

TRIMBLE'S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL BE LIMITED TO THE AMOUNT PAID BY YOU FOR THE PRODUCT. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, IN NO EVENT SHALL TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY INDIRECT, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGE WHATSOEVER UNDER ANY CIRCUMSTANCE OR LEGAL THEORY RELATING IN ANYWAY TO THE 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 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.

PLEASE NOTE: THE ABOVE TRIMBLE LIMITED WARRANTY PROVISIONS WILL NOT APPLY TO PRODUCTS PURCHASED IN THOSE JURISDICTIONS, SUCH AS COUNTRIES OF THE EUROPEAN ECONOMIC COMMUNITY, IN WHICH PRODUCT WARRANTIES ARE OBTAINED FROM THE LOCAL DISTRIBUTOR. IN SUCH CASE, PLEASE CONTACT YOUR TRIMBLE DEALER FOR APPLICABLE WARRANTY INFORMATION.

Registration

To receive information regarding updates and new products, please contact your local dealer or visit the Trimble website at lwww.trimble.com/register. Upon registration you may select the newsletter, upgrade or new product information you desire.

Notices

Class B Statement – Notice to Users. This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC rules. These

limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communication. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:

–Reorient or relocate the receiving antenna.

–Increase the separation between the equipment and the receiver.

–Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.

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

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

Canada

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

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

Europe

This product has been tested and found to comply with the requirements for a Class B device pursuant to European Council Directive 89/336/EEC on EMC,

thereby satisfying the requirements for CE Marking and sale within the European Economic Area (EEA). Contains Infineon radio module ROK 104001. These requirements are designed to provide reasonable protection against harmful interference when the equipment is operated in a residential or commercial environment.

Taiwan – Battery Recycling Requirements

The product contains a removable Lithium-ion battery. Taiwanese regulations require that waste batteries are recycled.

Notice to Our European Union Customers

For product recycling instructions and more information, please go to www.trimble.com/environment/summary.html. Recycling in Europe: To recycle Trimble WEEE

(Waste Electrical and Electronic Equipment, products that run on electrical power.), Call [phone], 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

Contents

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

Welcome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

About the Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

Related Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

Technical Assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

Your Comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

2Overview . . . . . . . . . . . . . . . . . . . . . . . . . 3

	Introduction . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . . . . . . . . . .4
	Standard Features . . . . . . . . . . . . .	. . . . . . . . . . . . . . . . . . . . .5
	Receiver Connections . . . . . . . . . . . . . . .	. . . . . . . . . . . . . . . . . . . . .6
	Receiver Input/Output. . . . . . . . . . . . . . .	. . . . . . . . . . . . . . . . . . . . .7
	GPS Positioning Methods . . . . . . . . . . . . .	. . . . . . . . . . . . . . . . . . . . .9
	RTK GPS positioning . . . . . . . . . . .	. . . . . . . . . . . . . . . . . . . . .9
	Differential GPS positioning (DGPS). .	. . . . . . . . . . . . . . . . . . . . 10
	Autonomous GPS positioning . . . . . .	. . . . . . . . . . . . . . . . . . . . 11
	Sources of Error in GPS Positioning . .	. . . . . . . . . . . . . . . . . . . . 12
	Coordinate systems . . . . . . . . . . . .	. . . . . . . . . . . . . . . . . . . . 14
	Satellite DGPS mode status indicators	. . . . . . . . . . . . . . . . . . . . 15
	Receiver input / output . . . . . . . . . .	. . . . . . . . . . . . . . . . . . . . 16
	DGPS accuracy . . . . . . . . . . . . . . .	. . . . . . . . . . . . . . . . . . . . 16
	Receiving Beacon DGPS . . . . . . . . .	. . . . . . . . . . . . . . . . . . . . 17
3	Connecting the Receiver . . .	. . . . . . . . . . . . 19
	Introduction . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . . . . . . . . . 20
	System Components . . . . . . . . . . . . . . . .	. . . . . . . . . . . . . . . . . . . . 20

AgGPS 332 GPS Receiver User Guide v

Contents
	Optional components . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 20
	Mounting the Receiver. . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 21
	Choosing a location . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 21
	Environmental conditions . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 22
	Electrical interference . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 22
	Connecting to an External Device . . . . . . . . . . . . . . .	. . . . . . . . . . . . 23
	System Components . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 25
	The receiver . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 25
	The antenna . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 26
	Routing and Connecting the Antenna Cable . . . . . . . . .	. . . . . . . . . . . . 26
	Connecting to the EZ-Guide Plus System . . . . . . . . . . .	. . . . . . . . . . . . 29
	Connecting to the EZ-Steer Assisted Steering System . . .	. . . . . . . . . . . . 30
	Connecting to a Laptop Computer . . . . . . . . . . . . . . .	. . . . . . . . . . . . 31
	Connecting to a Windows Handheld Computer . . . . . .	. . . . . . . . . . . . 32
4	Getting Started . . . . . . . . . . . . .	. . . . . . . 33
	Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 34
	Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 34
	Navigating the Menus and Screens . . . . . . . . . . . . . . .	. . . . . . . . . . . . 35
	Menu System Fields . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 37
	Display-only fields . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 37
	Multiple-choice fields . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 37
	Text fields. . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 38
	The Home Screen . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 39
	Satellite DGPS mode. . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 39
	Satellite and SBAS DGPS mode . . . . . . . . . . . . .	. . . . . . . . . . . . 40
	Beacon DGPS mode . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 43
	Updating the Firmware . . . . . . . . . . . . . . . . . . . . . .	. . . . . . . . . . . . 44

5Configuring the Receiver . . . . . . . . . . . . . . . 45

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

Home Screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Configuring Differential GPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

vi AgGPS 332 GPS Receiver User Guide

Contents

OmniSTAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 WAAS/EGNOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Configuring the AgGPS Receiver to Operate in Beacon Mode . . . . . . . . . . 49 Configuring the AgGPS Receiver to Operate in RTK Mode . . . . . . . . . . . . 50 Configuring the Communication Ports . . . . . . . . . . . . . . . . . . . . . . . . 50 Configuring input/output communication. . . . . . . . . . . . . . . . . . 51 Display Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Installing Passcodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 FlashLoader200 utility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

6Troubleshooting . . . . . . . . . . . . . . . . . . . . 59

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Problems with GPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Interference Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Problems with the GPS Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 Problems with the FlashLoader200 Utility . . . . . . . . . . . . . . . . . . . . . . 65

ACables and Connectors . . . . . . . . . . . . . . . . 67

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Port A and Port B Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Standard Power/Data Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

BSpecifications . . . . . . . . . . . . . . . . . . . . . 71

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	72
AgGPS 332 Receiver Physical Characteristics . . . . . . . . . . . . . . . . . . . .	72
GPS Channels Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	72
L-Band Satellite Differential Correction Receiver with OmniSTAR Support . 74
Receiver Default Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	74
DGPS Antenna. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	75
Dual-Frequency Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	75
Beacon Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	75

AgGPS 332 GPS Receiver User Guide vii

Contents

CNMEA-0183 Messages . . . . . . . . . . . . . . . . . 77

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 78
NMEA-0183 Message Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 78
Symbols and delimiters . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 79
Checksum values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 80
Field formats. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 80
Null fields. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 80
Talker ID codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 80
Latitude and longitude values . . . . . . . . . . . . . . . . . . . . . . . . .	. 81
Time values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 81
Reading NMEA string format . . . . . . . . . . . . . . . . . . . . . . . . .	. 81
NMEA Message Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 82
GGA (GPS Fix Data) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 84
GLL (Position Data) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 85
GRS (GPS Range Residuals). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 86
GSA (GPS DOP and Active Satellites) . . . . . . . . . . . . . . . . . . . . . . . .	. 87
GST (GPS PRN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 88
GSV (GPS Satellites in View) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 89
MSS (Beacon Receiver Signal Status). . . . . . . . . . . . . . . . . . . . . . . . .	. 90
RMC (Recommended Minimum Specific GPS Data) . . . . . . . . . . . . . . .	. 91
VTG (Course Over Ground and Ground Speed) . . . . . . . . . . . . . . . . . .	. 93
XTE (Cross-Track Error) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 94
ZDA (Time and Date) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. 95
PTNLEV Proprietary (Event Marker). . . . . . . . . . . . . . . . . . . . . . . . .	. 96
PTNLID Proprietary (Trimble Receiver ID) . . . . . . . . . . . . . . . . . . . . .	. 97
PTNLDG Proprietary (Trimble DGPS Receiver Status) . . . . . . . . . . . . .	. 98
PTNL,GGK (Time, Position, Position Type, and DOP) . . . . . . . . . . . . . .	100
PTNLSM Proprietary (RTCM Special) . . . . . . . . . . . . . . . . . . . . . . . .	101

DThird-Party Interface Requirements . . . . . . . . 103

Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

Index . . . . . . . . . . . . . . . . . . . . . . . . . 109

viii AgGPS 332 GPS Receiver User Guide

C H A P T E R

1

Introduction

In this chapter:

QWelcome

QAbout the Product

QRelated Information

QTechnical Assistance

QYour Comments

AgGPS 332 GPS Receiver User Guide 1

1Introduction

Welcome

This manual describes how to install and configure the Trimble® AgGPS® 332 receiver.

Even if you have used other Global Positioning System (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 GPS, visit the Trimble website (www.trimble.com) for an interactive look at Trimble and GPS.

About the Product

The AgGPS 332 receiver is an innovative GPS receiver that provides “the ultimate choice” for Agricultural GPS positioning. Scalable accuracy levels allow the option of SBAS (Satellite Based Augmentation System), Beacon, OmniSTAR-VBS/XP/HP, and RTK (Real-Time Kinematic). The AgGPS 332 can provide the level of accuracy needed for any operation.

Related Information

Sources of related information include the following:

•Release notes – the release notes describe new features of the product, information not included in the manuals, and any changes to the manuals.

•Trimble training courses – Consider a training course to help you use your GPS system to its fullest potential. For more information, go to the Trimble website at www.trimble.com/training.shtml.

Technical Assistance

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

Your Comments

Your feedback about the supporting documentation helps us to improve it with each revision. E-mail your comments to [e-mail].

2AgGPS 332 GPS Receiver User Guide

A P P E N D I X

2

Overview

In this chapter:

QIntroduction

QReceiver Connections

QReceiver Input/Output

QGPS Positioning Methods

AgGPS 332 GPS Receiver User Guide 3

2Overview

Introduction

This chapter describes the AgGPS 332 receiver and gives an overview of GPS, DGPS, and related information.

The AgGPS 332 receiver combines high-performance GPS reception with a DGPS-capable receiver in a lightweight, durable housing. The AgGPS 332 receiver also contains the ultimate choice in technology enabling WAAS/EGNOS, OmniSTAR, or Coast Guard Beacon Tower real-time differential capabilities. When used with a Real-Time Kinematic (RTK) base station,

the AgGPS 332 receiver provides RTK positioning for high-accuracy, centimeter-level applications. For physical specifications, see Appendix B, Specifications..

You can use the receiver with a variety of farming equipment, including:

•AgGPS EZ-Guide® Plus lightbar guidance system

•AgGPS EZ-Steer™ assisted steering system

•AgGPS Autopilot™ automated steering system

•yield monitors

•variable-rate planters

•spray application controllers

•portable field computers for field mapping and soil sampling

•any device that requires a GPS input

4AgGPS 332 GPS Receiver User Guide

Overview 2

Standard Features

A standard AgGPS 332 receiver provides the following features:

•10 Hz (10 positions per second) output rate

•12 GPS (C/A-code, L1and L2) tracking channels, code carrier channels

•Submeter differential accuracy (RMS), assuming at least five

satellites and a PDOP (Position Dilution of Precision) of less than four1 (when used with SBAS correction)

•LED display

•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 GPS system time.

•WAAS differential correction2

•Beacon differential correction2

•OmniSTAR VBS correction compatibility

•RTK positioning compatibility

•EVEREST™ multipath rejection technology

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

–CAN:

J1939 and NMEA 2000 messages

Note – The AgGPS 332 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.

1.When used with SBAS correction.

2.Where available.

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2Overview

Receiver Connections

Figure 2.1 shows the connector ports on the AgGPS 332 receiver.

Figure 2.1 AgGPS 332 receiver connector ports

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

•accept power

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

•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 LCD display, see the information in the rest of this section.

6AgGPS 332 GPS Receiver User Guide

Overview 2

Receiver Input/Output

The AgGPS 332 receiver data/power cable (P/N 30945) 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 GPS and DGPS 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. This protocol enables the receiver to receive CMR messages.

•TSIP and NMEA output to an external device

When you are using an external radio, the receiver can also receive DGPS corrections.

NMEA is output when the receiver is exporting GPS 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 GPS 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.

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2Overview

•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 GPS 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 www.sae.org/servlets/index.

•ISO 11783 messages

Both CAN ports support some ISO 11783 messages.

Position output format

The AgGPS 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.

8AgGPS 332 GPS Receiver User Guide

Overview 2

GPS Positioning Methods

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

Table 2.1 summarizes the GPS positioning methods. Imperial units in this table are rounded to two decimal places. The values shown are 2 sigma.

Table 2.1	Absolute accuracy of GPS positioning method
GPS positioning		Corrections used	Approximate absolute accuracy
method
Real-Time Kinematic		Trimble CMR	2.5 cm (0.98 in) + 2 ppm horizontal accuracy,
(RTK) GPS		corrections broadcast	3.7 cm (1.46 in) + 2 ppm vertical accuracy
		by a local base station
OmniSTAR HP		OmniSTAR HP	10 cm (3.94 in) after the signal has fully
Differential GPS			converged1
OmniSTAR XP			20 cm (7.87 in) after the signal has fully
Differential GPS			Differential GPS converged
Satellite Differential GPS		OmniSTAR VBS	78 cm (30.71 in)
Radio Beacon		Coast Guard radio	.4 inch through 12 inch
		beacon towers	(10 cm through 30 cm) RMS 15 min
Satellite Differential GPS		WAAS/EGNOS	95 cm (37.40 in)

1Convergence 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.

For more information about each positioning method, see below.

RTK GPS positioning

The AgGPS 332 receiver uses the RTK positioning method to achieve centimeter-level 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 AgGPS 332 receiver is a rover receiver, so another compatible receiver, such as a Trimble MS750™ or AgGPS 214 GPS receiver, must be used as the base station.

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2Overview

A transmitter in the base station sends the corrections through a radio link to the rover radio, which sends the corrections to the AgGPS 332 receiver. 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/gps/.

Differential GPS positioning (DGPS)

For differential positioning, the AgGPS 332 receiver uses corrections from SBAS (WAAS/EGNOS)/OmniSTAR satellites and Radio Beacons.

These differential systems use special algorithms to provide differential corrections that allow the rover receiver to calculate its position more accurately.

Free corrections

WAAS/EGNOS corrections are free in North America and Europe.

For more information about WAAS, go to the Federal Aviation Administration website at http://gps.faa.gov/Programs/WAAS/waas.htm.

For more information about EGNOS, go to the European Space Agency website at www.esa.int/export/esaSA/GGG63950NDC_navigation_0.html.

Radio Beacon corrections are available free worldwide. For more information about the Coast Guard Beacon, go to www.navcen.uscg.gov/Default.htm.

10 AgGPS 332 GPS Receiver User Guide

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Subscription-based corrections

The AgGPS 332 receiver uses OmniSTAR XP/HP or OmniSTAR VBS differential corrections in the same way that it uses WAAS/EGNOS corrections but are provided on a subscription basis.

The corrections that are produced by OmniSTAR XP/HP algorithms are more accurate than the corrections that are produced by OmniSTAR VBS algorithms. The accuracy of the positions reported using OmniSTAR HP/XP increases with the time that has elapsed since the instrument was turned on. This process is called convergence. Convergence to where the error is estimated to be below 30 cm (approximate 12 inches) typically takes around 20 minutes. Factors that influence the time to convergence include the environment, the geographical location and for OmniSTAR HP, the distance to the closest OmniSTAR corrections base station. OmniSTAR is continually improving this service. OmniSTAR XP is not dependent on distance to base station

For more information about OmniSTAR, go to the OmniSTAR website at www.omnistar.com. Alternatively, call 888 883 8476 (USA or Canada). For information about activating an OmniSTAR subscription, go to the OmniSTAR website (www.omnistar.com) or call 888-883-8476 (USA or Canada).

Autonomous GPS positioning

Autonomous GPS positioning uses no corrections. The rover receiver calculates its position using only the GPS signals it receives. This method does not have high absolute accuracy, but the relative accuracy can be comparable depending on geographic location and overall environment.

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2Overview

Sources of Error in GPS Positioning

The GPS positioning method influences the accuracy of the GPS position that is output by the AgGPS 332 receiver. The factors described in Table 2.2 also affect GPS accuracy.

Table 2.2	Factors that influence the accuracy of GPS positions
Condition		Optimum	Description
		value
Atmospheric			GPS signals are degraded as they travel through the
effects			ionosphere. The error introduced is in the range of 10 meters.
			The error is removed by using a differential or RTK positioning
			method.
Number of		> 5	To calculate a 3D position (latitude and longitude, altitude,
satellites used			and time), four 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 AgGPS receiver can track up to 12 satellites simultaneously.
			Note – To see when the maximum number of GPS 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.
Maximum PDOP		< 4	Position Dilution of Precision (PDOP) is a unitless, computed
			measurement 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.
Signal-to-noise		> 6	Signal-to-noise ratio (SNR) is a measure of the signal strength
ratio			against electrical background noise. A high SNR gives better
			accuracy.
			Normal values are:

•	GPS	6
•	WAAS	3+
•	Beacon	12+
•	OmniSTAR XP/HP/VBS	6+

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Overview 2

Table 2.2 Factors that influence the accuracy of GPS positions (continued)

Condition	Optimum	Description
	value
Minimum	> 10	Satellites that are low on the horizon typically produce weak
elevation		and noisy signals and are more difficult for the receiver to
		track. Satellites below the minimum elevation angle are not
		tracked.
Multipath	Low	Multipath errors are caused when GPS signals are reflected off
environment		nearby objects and reach the receiver by two or more different
		paths. The receiver incorporates the EVEREST multipath
		rejection option.
RTCM-compatible		These corrections are broadcast from a Trimble 4000RSi, or
corrections		equivalent reference station.
RTK base station		For RTK positioning, it is important to know the base station
coordinate		coordinates accurately. Any error in the position of the base
accuracy		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		If you are using several base stations to provide RTK
base stations		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.

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2Overview

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 AgGPS 332 receiver outputs position coordinates in several datums and ellipsoids depending on the GPS positioning method being used. See Table 2.3.

Table 2.3 DGPS coordinate systems

GPS positioning method	Datum	Ellipsoid
None – Autonomous mode	WGS-84 1	WGS-84
OmniSTAR VBS North American Beams	NAD-83 2	GRS-80
OmniSTAR VBS Rest of World Beams	ITRF 3	GRS-80
OmniSTAR HP	ITRF 2000	ITRF 2000
WAAS Beams	WGS-84	WGS-84
Beacon	NAD-83	NAD-83
OmniSTAR XP	ITRF 2000	ITRF 2000
RTK	WGS-84	WGS-84

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 DGPS provider for details.

For more information, go to the National Geodetic Survey website at www.ngs.noaa.gov/faq.shtml#WhatDatum.

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Satellite DGPS mode status indicators

When the receiver is in Satellite mode, the second line of the Home screen displays the status indicators shown in Figure 2.2.

S 1556.2550 ÷ø10

Signal-to-noise ratio of

DGPS signal, see Table 2.5.

Frequency for tracked DGPS satellite. Available frequencies vary according to your location and DGPS service provider.

Receiver is using Satellite DGPS corrections.

Figure 2.2 Satellite DGPS mode status indicators

Table 2.4 shows the possible satellite differential mode indicators.

Table 2.4 Satellite differential mode status indicators

Indicator	Description
S ####.### S/N ##	Operating in Satellite Differential mode.
S SRCH ###.##	Searching for Satellite Differential signal.
S TRCK ####.##	Tracking satellite without acquiring signal lock.

Table 2.5 explains the signal-to-noise ratio values for both Satellite and WAAS/EGNOS DGPS modes.

Table 2.5	Signal-to-noise values
Value	Description
Below 4	Unusable
4–8	Fair
>8	Excellent

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2Overview

Receiver input / output

The receiver is able to output RTCM in base station mode. When you are using an external radio, it can also receive DGPS corrections. NMEA is output when the receiver is exporting GPS position information to an external device, such as a yield monitor or to a mapping software program.

DGPS accuracy

Submeter accuracy from the AgGPS 332 receiver utilizing differential correction is best achieved under the conditions described in Table 2.6.

Table 2.6	DGPS accuracy
Condition	Optimum	Description
	Value
		To calculate a 3D position (latitude and longitude, altitude, and
		time), four or more satellites must be visible.
		To calculate a 2D position (latitude and longitude, and time),
		three or more satellites must be visible.
		The number of visible satellites constantly changes and is
		typically in the range 5–9. Ag
		to 12 satellites simultaneously.
		Note – To see when the maximum number of GPS satellites
		are available, use the Quickplan utility and a current
		ephemeris (satellite history) file. Both files are available free
		from: www.trimble.com/support_trl.asp?Nav=Collection-3627.
Maximum PDOP < 4		Position Dilution of Precision (PDOP) is a unitless, computed
		measurement of the geometry of satellites above the
		receiver’s current location.
		Note – In some agricultural applications that do not require
		high accuracy, a maximum PDOP of 12 or more can be used.
	> 6	Signal-to-Noise ratio (SNR) is a measure of the satellite signal
		strength against electrical background noise. A high SNR
		gives better accuracy.
Minimum	> 7.5	Satellite that are low on the horizon typically produce weak
Elevation		and noisy signals and are more difficult for the receiver to
		track. Satellites below the minimum elevation angle are not
		tracked.

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Table 2.6 DGPS accuracy (continued)

Multipath	Low	Multipath errors are caused when GPS signals are reflected
environment		off nearby objects and reach the receiver by two or more
		different paths. The receiver incorporates the EVEREST
		multipath reduction option.
RTCM-		These corrections are broadcast from a Trimble 4000RSi™ or
compatible		equivalent reference station.
corrections

Receiving Beacon DGPS

To obtain free radiobeacon differential signals, the AgGPS 332 receiver uses dual-channel, fully-automatic beacon receiver electronics and tracks broadcasts that conform to the IALA (International Association of Lighthouse Authorities) Standard. When you use beacon DGPS, the receiver selects the closest of the 10 most powerful radiobeacons in the vicinity. You can configure the receiver to search for particular station frequencies, or use the EZ beacon feature to select local beacons.

The receiver continuously monitors the integrity of the data received from the differential radiobeacons. If it finds unacceptable errors in the data stream, the receiver automatically switches to a different radiobeacon, if one is available.

Radiobeacon signal reception is generally not affected by:

•hilly or mountainous terrain

•tree canopy

•location of the receiver inside a canyon (the signal reception depends on the proximity of the receiver to the transmitter)

Radiobeacon signal reception is affected to varying degrees, by:

•natural “noise”, such as lightning

•human-made “noise”, such as alternators, electric fan motors, radio speakers, and high voltage power lines

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2Overview

•Sky wave interference with ground wave

During darkness, when the beacon tower is more than 240– 480 kilometers (150–300 miles) from the receiver, the sky wave beacon signal may be reflected off the ionosphere. This causes interference with the ground wave beacon signal. Self-jamming at night may be a problem with stronger beacon stations.

•Geographic de-correlation

This phenomenon causes radiobeacon signal accuracy to decrease as the distance between the beacon tower and the base station increases. Ionospheric conditions can affect accuracy by as much as 1 meter (3 feet) for every 100 km (60 miles).

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C H A P T E R

3

Connecting the Receiver

QIntroduction

QSystem Components

QMounting the Receiver

QConnecting to an External Device

QSystem Components

QRouting and Connecting the Antenna Cable

QConnecting to the EZ-Guide Plus System

QConnecting to the EZ-Steer Assisted Steering System

QConnecting to a Laptop Computer

QConnecting to a Windows Handheld Computer

AgGPS 332 GPS Receiver User Guide 19

3Connecting the Receiver

Introduction

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

System Components

Check that you have received all components for the AgGPS system that you have purchased. If any containers or components are damaged, immediately notify the shipping carrier. Table 3.1 and Table 3.2 lists the components.

Table 3.1	AgGPS 332 receiver (P/N 55580-xx)
Quantity	Description
1	AgGPS 332 DGPS receiver (P/N 55580)
1	Power Data Cable (P/N 30945)
1	AgGPS 332 GPS Receiver User Guide
	(this manual, P/N 56370-00-ENG)
1	Warranty Activation Card (P/N 25110-00)
1	OmniSTAR Activation Card (P/N 33965)
1	Antenna (P/N 33580-00 or P/N 56981)

Optional components

You may also have ordered the following item:

Table 3.2	Receiver option
Quantity	Description
1	RTK capability (P/N 51264)
1	OmniSTAR XP/HP upgrade (P/N 55951)

For ordering and pricing details, contact your local Trimble Reseller.

20 AgGPS 332 GPS Receiver User Guide