user guide
®
Trimble SPSx51
Modular GPS Receivers
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USER GUIDE
®
Trimble SPSx51 Modular GPS Receivers
Version 3.60
Revision A
January 2008
F
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Corporate Office
Europe
Trimble Navigation Limited
935 Stewart Drive
This product (the SPSx51 Modular GPS receiver) is
intended to be used in all EU member countries, Norway,
and Switzerland.
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 Bluetooth radio module PBA 31308. These requirements
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a residential or
commercial environment. The 450 MHZ (PMR) bands and 2.4 GHz
are non-harmonized throughout Europe.
www.trimble.com
Construction Business Area
Trimble Navigation Limited
Construction Business Area
5475 Kellenburger Road
Dayton, Ohio 45424-1099
USA
800-538-7800 (toll free in USA)
+1-937-245-5600 Phone
+1-937-233-9004 Fax
Australia and New Zealand
This product conforms with the regulatory requirements of
the Australian Communications Authority (ACA) EMC
framework, thus satisfying the requirements for C-Tick
Marking and sale within Australia and New Zealand.
Legal Notices
© 2006–2007, Trimble Navigation Limited. All rights reserved.
Trimble, and the Globe & Triangle logo are trademarks of Trimble
Navigation Limited, registered in the United States Patent and
Trademark Office and in other countries. AutoBase, CMR, CMR+,
HYDROpro, Maxwell, Micro-Centered, TGO, SiteNet, TRIMMARK,
TRIMTALK, TSC2, TSCe, VRS, Zephyr, and Zephyr Geodetic are
trademarks of Trimble Navigation Limited.
The Bluetooth word mark and logos are owned by the Bluetooth
SIG, Inc. and any use of such marks by Trimble Navigation Limited
is under license.
Taiwan – Battery Recycling Requirements
The product contains a removable Lithium-ion battery.
Taiwanese regulations require that waste batteries are
recycled.
廢電池請回收
Notice to Our European Union Customers
Directive 1999/5/EC
Hereby, Trimble Navigation, declares that the SPSx50 and SPSx51
GPS receivers are in compliance with the essential requirements
and other relevant provisions of Directive 1999/5/EC.
Microsoft, Windows, and Windows NT are either registered
trademarks or trademarks of Microsoft Corporation in the United
States and/or other countries.
Restriction of Use of Certain Hazardous Substances
in Electrical and Electronic Equipment (RoHS)
The following statement only applies to the SPSx51 Modular GPS
receiver (no internal radio model and 450 MHz internal radio
models only)
This Trimble product complies 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.
All other trademarks are the property of their respective owners.
Release Notice
This is the January 2008 release (Revision A) of the SPSx51 Modular
GPS Receivers User Guide. It applies to version 3.60 of the receiver
firmware.
Product Limited Warranty Information
For applicable product Limited Warranty information, please refer
to the Limited Warranty Card included with this Trimble product,
or consult your local Trimble authorized dealer.
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 and Part 90. 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.
Waste Electrical and Electronic Equipment (WEEE)
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
– 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.
Declaration of Conformity
We, Trimble Navigation Limited,
– Consult the dealer or an experienced radio/TV technician for
help.
935 Stewart Drive
PO Box 3642
Changes and modifications not expressly approved by the
manufacturer or registrant of this equipment can void your
authority to operate this equipment under Federal
Sunnyvale, CA 94088-3642
United States
Communications Commission rules.
+1-408-481-8000
Canada
This Class B digital apparatus complies with Canadian ICES-003.
Cet appareil numérique de la classe B est conforme à la norme
NMB-003 du Canada.
declare under sole responsibility that the products:
SPSx51 Modular GPS receiver
comply with Part 15 of FCC Rules.
This apparatus complies with Canadian RSS-GEN, RSS-310,
RSS-210, and RSS-119.
Cet appareil est conforme à la norme CNR-GEN, CNR-310,
CNR-210, et CNR-119 du Canada.
Operation is subject to the following two conditions:
(1) this device may not cause harmful interference, and
(2) this device must accept any interference received, including
interference that may cause undesired operation.
2 SPSx51 Modular GPS Receivers User Guide
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Safety Information
Before you use your Trimble® SPS GPS receiver, make sure that you have read and
understood all safety requirements.
Regulations and safety
The receivers contain an internal radio-modem and can send signals through
Bluetooth® wireless technology or through an external data communications radio.
Regulations regarding the use of the 450 MHz radio-modems vary greatly from country
to country. In some countries, the unit can be used without obtaining an end-user
license. Other countries require end-user licensing. For licensing information, consult
your local Trimble dealer. Bluetooth and 900 MHz radio-modems operate in
license-free bands.
Before operating an SPSx51 Modular GPS receiver, determine if authorization or a
license to operate the unit is required in your country. It is the responsibility of the end
user to obtain an operator’s permit or license for the receiver for the location or
country of use.
Type approval
Type approval, or acceptance, covers technical parameters of the equipment related to
emissions that can cause interference. Type approval is granted to the manufacturer of
the transmission equipment, independent from the operation or licensing of the units.
Some countries have unique technical requirements for operation in particular
radio-modem frequency bands. To comply with those requirements, Trimble may have
modified your equipment to be granted Type approval. Unauthorized modification of
the units voids the Type approval, the warranty, and the operational license of the
equipment.
Exposure to radio frequency radiation
For 450 MHz radio
Safety. Exposure to RF energy is an important safety consideration. The FCC has
adopted a safety standard for human exposure to radio frequency electromagnetic
energy emitted by FCC regulated equipment as a result of its actions in General Docket
79-144 on March 13, 1986.
Proper use of this radio modem results in exposure below government limits. The
following precautions are recommended:
•
•
•
DO NOT operate the transmitter when someone is within 20 cm (7.8 inches) of
the antenna.
DO NOT operate the transmitter unless all RF connectors are secure and any
open connectors are properly terminated.
DO NOT operate the equipment near electrical blasting caps or in an explosive
atmosphere.
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Safety Information
•
•
All equipment must be properly grounded according to Trimble installation
instructions for safe operation.
All equipment should be serviced only by a qualified technician.
1
For license-free 900 MHz radio
CAUTION – For your own safety, and in terms of the RF exposure requirements of the
FCC, always observe the precautions listed here.
C
•
•
DO NOT operate the transmitter when someone is within 20 cm (7.8 inches) of
the antenna.
Do not co-locate the antenna with any other transmitting device.
For Bluetooth radio
The radiated output power of the internal Bluetooth wireless radio is far below the
FCC radio frequency exposure limits. Nevertheless, the wireless radio shall be used in
such a manner that the Trimble receiver is 20 cm or further from the human body. The
internal wireless radio operates within guidelines found in radio frequency safety
standards and recommendations, which reflect the consensus of the scientific
community. Trimble therefore believes that the internal wireless radio is safe for use by
consumers. The level of energy emitted is far less than the electromagnetic energy
emitted by wireless devices such as mobile phones. However, the use of wireless radios
may be restricted in some situations or environments, such as on aircraft. If you are
unsure of restrictions, you are encouraged to ask for authorization before turning on
the wireless radio.
Installing antennas
CAUTION – For your own safety, and in terms of the RF exposure requirements of the
FCC, always observe these precautions:
– Always maintain a minimum separation distance of 20 cm (7.8 inches) between yourself
and the radiating antenna.
– Do not co-locate the antenna with any other transmitting device.
C
This device has been designed to operate with the antennas listed below. Antennas not
included in this list are strictly prohibited for use with this device. The required
antenna impedance is 50 ohms.
The antennas that can be used (country dependent) with the 450 MHz radio are 0 dBi
and 5 dBi whip antennas. The antennas that can be used (country dependent) with the
900 MHz radio are 0 dBi, 3 dBi, and 5 dBi whip antennas.
To reduce potential radio interference to other users, the antenna type and its gain
should be so chosen so that the equivalent isotropically radiated power (e.i.r.p.) is not
more than that permitted for successful communication.
1.
900 MHz radios are not used in Europe.
4
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Safety Information
Battery safety
WARNING – Do not damage the rechargeable Lithium-ion battery. A damaged battery
can cause an explosion or fire, and can result in personal injury and/or property damage.
To prevent injury or damage:
C
– Do not use or charge the battery if it appears to be damaged. Signs of damage include,
but are not limited to, discoloration, warping, and leaking battery fluid.
– Do not expose the battery to fire, high temperature, or direct sunlight.
– Do not immerse the battery in water.
– Do not use or store the battery inside a vehicle during hot weather.
– Do not drop or puncture the battery.
– Do not open the battery or short-circuit its contacts.
WARNING – Avoid contact with the rechargeable Lithium-ion battery if it appears to be
leaking. Battery fluid is corrosive, and contact with it can result in personal injury and/or
property damage.
C
C
To prevent injury or damage:
– If the battery leaks, avoid contact with the battery fluid.
– If battery fluid gets into your eyes, immediately rinse your eyes with clean water and
seek medical attention. Do not rub your eyes!
– If battery fluid gets onto your skin or clothing, immediately use clean water to wash off
the battery fluid.
WARNING – Charge and use the rechargeable Lithium-ion battery only in strict
accordance with the instructions. Charging or using the battery in unauthorized
equipment can cause an explosion or fire, and can result in personal injury and/or
equipment damage.
To prevent injury or damage:
– Do not charge or use the battery if it appears to be damaged or leaking.
– Charge the Lithium-ion battery only in a Trimble product that is specified to charge it.
Be sure to follow all instructions that are provided with the battery charger.
– Discontinue charging a battery that gives off extreme heat or a burning odor.
– Use the battery only in Trimble equipment that is specified to use it.
– Use the battery only for its intended use and according to the instructions in the product
documentation.
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Safety Information
6
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Contents
Regulations and safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Type approval . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Exposure to radio frequency radiation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
For 450 MHz radio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
For license-free 900 MHz radio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
For Bluetooth radio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Installing antennas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Battery safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
About the SPSx51 receivers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
SPS551 GPS receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
SPS551H GPS receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
SPS751 GPS receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
SPS851 GPS receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Related information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Technical support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Your comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
SPS551 features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
SPS551 Receiver optional features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
SPS551H features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
SPS651 features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
SPS651 Receiver optional features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
SPS751 features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
SPS751 standard features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
SPS751 Basic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
SPS751 Max . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
SPS851 features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Base station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Rover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Use and care . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
COCOM limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Keypad and display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Rear connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
External power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Battery safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
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Contents
Battery performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Charging the Lithium-ion battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Storing the Lithium-ion battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Using the Lithium-ion battery as a Universal Power Supply (UPS) . . . . . . . . . . . . . . . . . . 30
Removing the rechargeable Lithium-ion battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Base station operation guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Base station components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Base station setup guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Rover operation guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Rover receiver components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Rover receiver setup guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Connecting the receiver to external devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
External radio-modems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Common ways to set up a base station . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Setting up a base station for daily site use: T-Bar . . . . . . . . . . . . . . . . . . . . . . . . . 45
Common ways to set up a rover receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Setting up the rover receiver on a jobsite vehicle . . . . . . . . . . . . . . . . . . . . . . . . . 49
Setting up the rover receiver on a rod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Setting up a rover receiver on a belt or in a backpack . . . . . . . . . . . . . . . . . . . . . . 51
Setting up a pair of GPS receivers to provide heading . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Mounting a pair of GPS receivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Assembling the receivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Installing the receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Mounting the antennas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Configuring the receiver pair . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Interfacing using the NMEA protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Heading output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Button functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Power button operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Home screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Status screens . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Configuring the receiver as a base receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Configuring the receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Configuring the receiver as a rover receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
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Contents
Configuring the receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Configuring system settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Turning off AutoBase technology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Managing application files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
the radios . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Configuring the receiver to log data for postprocessing . . . . . . . . . . . . . . . . . . . . . . . . . 73
Configuring the receiver to use specific settings when it is turned on . . . . . . . . . . . . . . . . 73
Configuring Ethernet settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Configuring the receiver using a web browser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Supported browsers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Creating a new connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Menus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Changing the settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
AutoBase Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100
Working with AutoBase technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100
The AutoBase process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103
Default receiver settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106
Resetting the receiver to factory defaults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106
Data Logging option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106
Logging data after a power loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107
General specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110
Physical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110
Performance specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111
Electrical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112
Communication specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .113
GPS satellite signal tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114
Integrated radio options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114
Variable configuration options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .115
Upgrading the receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .115
SPSx51 Modular GPS Receivers User Guide
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Contents
NMEA-0183 message overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .118
Common message elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119
Message values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119
NMEA messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119
Supported message types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .136
General Serial Output Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .136
Reading binary values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
INTEGER data types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
GSOF message definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .139
TIME . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .140
ECEF DELTA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .141
NEU DELTA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .141
Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .142
SIGMA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .143
SV Brief . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144
SV Detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144
Batt/Mem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .146
Attitude . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .146
Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .148
Adding receive frequencies for the 450 MHz internal radio. . . . . . . . . . . . . . . . . . . . . . .152
Setting UHF reception radio frequencies using the web interface. . . . . . . . . . . . . . . . . . .153
Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .156
Scenario 2: Outputting corrections using a TRIMMARK 3 radio. . . . . . . . . . . . . . . . . . . .157
Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .157
TRIMMARK 3 radio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .158
Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .158
RT17 Streamed Data service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .160
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Contents
Login authentication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .160
The WinFlash utility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .162
Installing the WinFlash utility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .162
Upgrading the receiver firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .162
Forcing the receiver into Monitor mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .163
Receiver issues. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .166
Back view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .170
Side view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .170
Bottom view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171
Lemo connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .174
Modem multi-function port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .175
1PPS and ASCII time tag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .176
ASCII time tag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .177
26-Pin D-sub connector wiring chart (P/N 60789-00) . . . . . . . . . . . . . . . . . . . . . . . . . .178
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Contents
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C H A P T E R
1
correction services. The SPS551 is ideal for
mobile applications on marine vessels and site
vehicles where Real-Time Kinematic (RTK)
accuracy is not needed. The SPS551 can be used
with the SPS551H GPS receiver to provide both
position and precise heading solutions for
marine applications. The SPS551 can be
upgraded to use GLONASS signals and to use
GPS L2C signals.
Introduction
Welcome to the SPSx51 Modular GPS Receivers
User Guide. This manual describes how to set up
and use the Trimble® SPSx51 Modular GPS
receivers.
1
About the SPSx51 receivers
The SPSx51 Modular GPS receiver family
comprises the following receivers:
SPS551H GPS receiver
The Trimble SPS551H is an add-on receiver that
can be combined with the SPS551, SPS751 Max,
or SPS851 Extreme to provide a precise heading
capability using Trimble moving base technology.
•
•
•
•
•
•
•
SPS551
SPS551H
SPS651
The SPS551H is also available with GLONASS to
provide a robust heading solution in a hostile
environment.
SPS751 Basic base
SPS751 Basic rover
SPS751 Max
SPS851
SPS651 Location GPS receiver with
precise vertical accuracy
The SPS651 is a Location GPS receiver with
precise vertical and decimeter horizontal
positioning. The receiver is part of the
vehicle-mounted Trimble Site Supervisor System
and used with the SCS900 Site Controller
Software Tablet Edition it is designed to provide
site supervisors with cost-effective real-time
positioning information.
SPS551 GPS receiver
The Trimble SPS551 is a dual-frequency Location
GPS receiver, which provides up to decimeter
accuracy depending on the augmentation used.
The SPS551 provides decimeter precision when
used in Location RTK mode with RTK
corrections through the internal radio or
The SPS651 can operate in all Location GPS
modes including SBAS, DGPS, OmniSTAR
(VBS/HP/XP services), and Location RTK mode.
It can be upgraded to use GLONASS signals and
to use GPS L2C signals.
Internet. The SPS551 can operate as a DGPS
reference station or as a DGPS rover receiver, and
can use Satellite Based Augmentation Systems
(SBAS). The receiver can also function as a rover
receiver that uses OmniSTAR XP, HP, or VBS
SPSx51 Modular GPS Receivers User Guide 13
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1
Introduction
•
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.html.
SPS751 GPS receiver
The Trimble SPS751 is a dual-frequency GPS
receiver with the ability to receive OmniSTAR
corrections. The receiver is available in the
following configurations:
•
•
•
SPS751 Basic base
SPS751 Basic rover
SPS751 Max
Technical support
If you have a problem and cannot find the
information you need in the product
documentation, contact your local dealer.
Alternatively, go to the Support area of the
Trimble website
(www.trimble.com/support.shtml). Select the
product you need information on. Product
updates, documentation, and any support issues
are available for download.
The SPS751 can be configured using the keypad
and display, a web browser, or the Trimble
SCS900 Site Controller software. The SPS751
makes it easy to set up a mobile base station or a
permanent base station for continuous
operation. The SPS751 is also an ideal mobile
receiver for semi-permanent mounting on
vehicles and marine vessels.
If you need to contact Trimble technical support,
complete the online inquiry form at
www.trimble.com/support_form.asp.
SPS851 GPS receiver
The Trimble SPS851 is a triple-frequency GPS
plus GLONASS receiver with the ability to receive
OmniSTAR corrections. The SPS851 can operate
as a base station or rover. The receiver can be
configured using the keypad and display, web
browser, or Trimble SCS900 Site Controller
software. The SPS851 makes it easy to set up a
mobile base station or a permanent base station
for continuous operation. The SPS851 is also an
ideal mobile receiver for semi-permanent
Your comments
Your feedback about the supporting
revision. Email your comments to
1
mounting on vehicles and marine vessels.
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. They are provided as a .pdf file
on the Trimble SPS GPS Receiver CD or you
can download them from the Trimble
website (www.trimble.com/support.shtml).
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C H A P T E R
2
Features and Functions
2
In this chapter:
Trimble SPSx51 Modular GPS receivers are ideal
for the following infrastructure development, site
development, and marine construction
applications:
•
•
•
•
Mobile base station for RTK or DGPS
applications
Permanent base station RTK or DGPS
applications (not available in the SPS551H)
RTK rover on rod, backpack, site vehicle, or
marine vessel
Site and marine location applications using
Location GPS augmentation including
OmniSTAR, Location RTK, SBAS, and DGPS
RTCM
You can use the receivers with the Trimble
SCS900 Site Controller software.
These receivers all feature a keypad and display
so you can configure the receiver without using a
controller or computer.
All the receivers can record GPS data to the
internal memory, and transfer the data over a
serial or Ethernet connection.
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2
Features and Functions
SPS551 features
The receiver provides the following features:
•
•
Integrated GPS receiver and radio
Location RTK capable – Location RTK precision of 10 cm horizontal and 10 cm
vertical
•
•
•
Not upgradable to full RTK (SPS751 or SPS851)
Optional 450 or 900 MHz internal radio
72-channel L1 C/A Code, L1/L2 Full Cycle Carrier. Upgradable to L2C and
GLONASS L1/L2 Full Cycle Carrier
•
•
OmniSTAR XP/HP/VBS service capable
4-channel WAAS (Wide Area Augmentation System), EGNOS (European
Geo-Stationary Navigation System), and MSAS Satellite Based Augmentation
(SBAS) compatible
•
•
Long-life integrated battery, typically provides 12 hours as a rover with internal
radio
Configuration and monitoring interface through the following methods:
–
–
–
–
Web interface
Networked or peer-to-peer Ethernet
Integrated display and keyboard
Trimble SCS900 Site Controller Software Tablet Edition
•
Integrated Bluetooth wireless technology for cable-free configuration and
operation with a laptop or controller
•
•
Attached or external radio antenna for rover operation
Small, lightweight design – 1.65 kg (3.64 lbs) receiver only, including the battery;
4 kg (8.82 lbs) complete system weight (rover including controller and rod)
•
Vehicle and marine vessel mounting options for Supervisor and Dredging
applications
•
•
•
•
•
•
Easy-to-use menu system for rapid configuration and status checking
Rugged, weatherproof construction with an IP67 environmental rating
–40 ×C to +65 ×C (–40 ×F to +149 ×F) operating temperature range
9.5 V to 28 V DC input power range, with over-voltage protection
Capable of rover operation within a VRS (Virtual Reference Station) network
Moving baseline and heading capability when combined with an appropriate
SPSx51, SPSx50, or SPS551H receiver
•
RoHS compliant
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Features and Functions
2
•
Can be upgraded to receive GLONASS signals.
Note – When the receiver is upgraded to GLONASS, the GA510 rover GPS antenna should
be replaced with the Zephyr™ Model 2 antenna.
•
1 Pulse-per-second (1PPS) output
SPS551 Receiver optional features
•
Internal 450 MHz (3 frequency bands) radio with transmit and receive capability
Internal 900 MHz radio with transmit and receive capability
•
SPS551H features
The SPS551H receiver is an add-on receiver, which provides Precise GPS heading
capability when combined with another SPSx51 Modular GPS receiver (excluding the
SPS751 Basic base and or another SPS551H receiver). The SPS551H cannot be used
alone.
The SPS551H receiver provides the following features:
•
•
Low-cost Precise GPS Heading add-on GPS receiver for the Trimble SPS551,
SPS751, or SPS851 receivers
Connection to another GPS receiver through Bluetooth wireless technology or a
serial port
•
•
•
10 Hz heading update rate in NMEA 0183 and Trimble binary formats
Configuration and heading on a two-line display
Includes a GA510 rover or Zephyr Model 2 rover GPS antenna, mounting
bracket, and short interconnecting cable
•
RoHS compliant
•
•
Tracks up to 24 GPS satellites
Can be upgraded to receive GLONASS signals
•
1 Pulse-per-second (1PPS) output
The receiver is ideal for projects that require the precise heading of a vessel or
structure.
SPS651 features
The receiver provides the following features:
•
•
Integrated GPS receiver and radio
Precise Vertical measurement when in Location RTK mode – Location RTK
precision of 10 cm horizontal and 2 cm vertical
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Features and Functions
•
•
•
Not upgradable to full RTK (SPS751 or SPS851)
Optional 450 or 900 MHz internal radio
72-channel L1 C/A Code, L1/L2 Full Cycle Carrier. Upgradable to L2C and
GLONASS L1/L2 Full Cycle Carrier
•
•
OmniSTAR XP/HP/VBS service capable
4-channel WAAS (Wide Area Augmentation System), EGNOS (European
Geo-Stationary Navigation System), and MSAS Satellite Based Augmentation
(SBAS) compatible
•
•
Long-life integrated battery, typically provides 12 hours as a rover with internal
radio
Configuration and monitoring interface through the following methods:
–
–
–
–
Web interface
Networked or peer-to-peer Ethernet
Integrated display and keyboard
Trimble SCS900 Site Controller Software Tablet Edition
•
Integrated Bluetooth wireless technology for cable-free configuration and
operation with a laptop or controller
•
•
Attached or external radio antenna for rover operation
Small, lightweight design – 1.65 kg (3.64 lbs) receiver only, including the battery;
4 kg (8.82 lbs) complete system weight (rover including controller and rod)
•
Vehicle and marine vessel mounting options for Supervisor and Dredging
applications
•
•
•
•
•
•
Easy-to-use menu system for rapid configuration and status checking
Rugged, weatherproof construction with an IP67 environmental rating
–40 °C to +65 °C (–40 °F to +149 °F) operating temperature range
9.5 V to 28 V DC input power range, with over-voltage protection
Capable of rover operation within a VRS (Virtual Reference Station) network
Moving baseline and heading capability when combined with an appropriate
SPSx51, SPSx50, or SPS551H receiver
•
RoHS compliant
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Features and Functions
2
SPS651 Receiver optional features
•
Internal 450 MHz (3 frequency bands) radio with receive capability
Internal 900 MHz radio with transmit and receive capability
•
•
•
Can be upgraded to receive GLONASS signals
Can be upgraded to receive L2C signals
Note – When the receiver is upgraded to GLONASS, the GA510 rover GPS antenna should
be replaced with the Zephyr™ Model 2 antenna.
This receiver is ideal for site supervisors on construction and roading projects or
marine dredging
SPS751 features
The SPS751 receiver provides the following standard features. For features specific to
each model, see below.
SPS751 standard features
•
•
•
•
•
Integrated GPS receiver and radio
450 or 900 MHz radio
L1/L2/L2C GPS receiver
OmniSTAR XP/HP/VBS service capable
WAAS (Wide Area Augmentation System), EGNOS (European Geo-Stationary
Navigation System), and MSAS Satellite Based Augmentation (SBAS)
compatible
•
•
Long-life integrated battery, typically provides 10 hours operation as a base
station with internal transmit/receive radio, or 13 hours as a rover
Configuration and monitoring interface through the following methods:
–
–
–
–
Web interface
Networked or peer-to-peer Ethernet
Integrated display and keyboard
Trimble SCS900 Site Controller software
•
Integrated Bluetooth wireless technology for cable-free configuration and
operation with a controller
•
•
Choice of external GPS antenna for base station or rover operation
Attached or external radio antenna for rover or high-gain base station radio
operation
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2
Features and Functions
•
Small, lightweight design – 1.65 kg (3.64 lbs) receiver only including the battery;
4 kg (8.82 lbs) complete system weight (rover including controller and rod)
•
•
Permanent/semi-permanent and mobile quick setup base station capability
Backpack, belt, rod, truck, and marine vessel mounting options for rover
applications
•
Capable of all site measurement and stakeout operations within 2.4 km (1.5 m)
(SPS751 Basic) and typically 5 km (3.1 m) (SPS751 Max)
•
•
Easy-to-use menu system for rapid configuration and status checking
AutoBase™ technology for rapid and automated repeated daily base station
setups
•
Can broadcast corrections through multiple radio links from one base station,
for example, through an internal 450 MHz radio and an external 900 MHz radio
•
•
CAN (Controller Area Network) support
Rugged, weatherproof construction with an IP67 environmental rating
•
•
–40 °C to +65 °C (–40 °F to +149 °F) operating temperature range
9.5 V to 28 V DC input power range, with over-voltage protection
•
•
RoHS compliant
Tracks up to 24 GPS satellites and 4 SBAS satellites
•
•
Can receive GPS L2C signals
1 Pulse-per-second (1PPS) output
SPS751 Basic
•
Base station only, or rover only, operation
SPS751 Basic base
•
•
•
•
Entry-level, low-cost RTK base station
Unrestricted operational range for rovers and grade control systems
Integrated transmit-only radio
Easily upgraded to the SPS751 Max (if the SPS751 Basic base receiver is already
fitted with an internal UHF radio, the upgrade includes the ability for the SPS751
Max to receive signals).
SPS751 Basic rover
•
•
•
Entry-level, low cost RTK rover receiver
2 Hz measurement update rate
2.4 km (1.5 mile) operational range from the base station
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Features and Functions
2
•
•
Integrated receive-only radio
Easily upgraded to the SPS751 Max (if the SPS751 Basic rover receiver is already
fitted with an internal UHF radio, the upgrade includes the ability for the SPS751
Max to transmit signals)
This receiver is ideal for contractors new to GPS as a starter system or for operating
multiple small projects.
SPS751 Max
•
RTK base station and rover operation in a single receiver
•
•
•
•
•
Integrated receive/transmit radio
5 Hz or 10 Hz measurement update rate
Unrestricted rover operation range from a base station
Operates within a Trimble VRS network, for base station-free rover capability
Moving baseline and heading capability when any SPSx51 receiver (excluding
the SPS551H or SPS751 Basic receiver) is combined with any SPSx51 or SPS551H
add-on receiver.
SPS851 features
The SPS851 receiver provides the following features:
•
•
•
•
•
Integrated GPS receiver and radio
450 or 900 MHz radio
72-channel L1/L2/L2C/L5 GPS plus L1/L2 GLONASS receiver
OmniSTAR XP/HP/VBS service capable
4-channel WAAS (Wide Area Augmentation System), EGNOS (European
Geo-Stationary Navigation System), and MSAS Satellite Based Augmentation
(SBAS) compatible
•
•
Long-life integrated battery, typically provides 9 hours operation as a base
station or 12 hours as a rover with internal transmit/receive radio
Configuration and monitoring interface through the following methods:
–
–
–
–
Web interface
Networked or peer-to-peer Ethernet
Integrated display and keyboard
Trimble SCS900 Site Controller software
•
Integrated Bluetooth wireless technology for cable-free configuration and
operation with a controller
SPSx51 Modular GPS Receivers User Guide 21
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2
Features and Functions
•
•
•
Choice of external GPS antenna for base station or rover operation
Attached or external radio antenna for rover or high-gain base station operation
Small, lightweight design – 1.65 kg (3.64 lbs) receiver only, including the battery;
4 kg (8.82 lbs) complete system weight (rover including controller and rod)
•
•
Permanent/semi-permanent and mobile quick setup base station capability
Backpack, belt, rod, truck, and marine vessel mounting options for rover
applications
•
Capable of all site measurement and stakeout operations within radio or cellular
coverage
•
•
Easy-to-use menu system for rapid configuration and status checking
AutoBase technology for rapid and automated repeated daily base station
setups
•
Can broadcast corrections through multiple radio links from one base station,
for example, through an internal 450 MHz radio and an external 900 MHz radio
or over the Internet.
•
•
•
•
•
Rugged, weatherproof construction with an IP67 environmental rating
–40 °C to +65 °C (–40 °F to +149 °F) operating temperature range
9.5 V to 28 V DC input power range, with over-voltage protection
Capable of rover operation within a VRS (Virtual Reference Station) network
Moving baseline and heading capability when any SPSx51 receiver (excluding
the SPS551H or SPS751 Basic receiver) is combined with any SPSx51 or SPS551H
Add-on receiver.
•
•
RoHS compliant
1 Pulse-per-second (1PPS) output
Note – To receive GPS L5 or GLONASS signals in the SPS851, you must purchase the
optional upgrade.
Base station
•
Unrestricted operational range for rovers and grade control systems
•
•
Base station and rover operation in a single receiver
Integrated transmit/receive radio
Rover
•
5 Hz, 10 Hz, or 20 Hz measurement update rate (10 Hz maximum in Heading
mode)
•
•
Base station-free rover capability within a VRS network
Base station-free rover capability using OmniSTAR services
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Features and Functions
2
•
Operates as an SBAS rover when coverage is available
This receiver is ideal for contractors who operate mid-to-large size projects with
machine control.
Use and care
This product is designed to withstand the rough treatment and tough environment
that typically occurs in construction applications. However, the receiver is a
high-precision electronic instrument and should be treated with reasonable care.
CAUTION – Operating or storing the receiver outside the specified temperature range can
damage it. For more information, see Chapter 10, Specifications.
C
COCOM limits
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.
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2
Features and Functions
Keypad and display
1
4
2
3
2
Feature
Description
Indicates if the receiver is turned on or off.
1
2
3
Power LED
Buttons
Display
The receiver has a Vacuum Fluorescent Display that allows you to see how the
receiver is operating and view the configuration settings.
4
Bluetooth antenna Location of the Bluetooth antenna.
Figure 2.1
Front view of the receiver
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Features and Functions
2
Rear connectors
1
2
4
5
3
Connector type
Description
1
2
TNC
Connect to the GPS antenna
• TNC (450 MHz Internal
radio)
Connect to the radio antenna
• Reverse polarity TNC
(900 MHz internal radio)
• Not installed, system without
internal radio
3
4
Vent plug
External venting plug for pressure equalization
High Density
DB26
• Ethernet connectivity to a 10/100 Base-T network through an
RJ45 jack on a multiport adaptor (P/N 57167)
• 'Slave' USB communications through the USB type B
connector on the multiport adaptor (P/N 57167)
• 'Host' USB communications through the USB type A
connector on the 26-pin to Hirose adaptor (P/N 56653-10) and
Hirose to USB type A cable (P/N 73841001)
• Primary power from a Trimble AC/DC power supply
(P/N 62546) using the multiport adaptor (P/N 57167)
• Power input from an SPS700 total station battery cradle
system using the adaptor (P/N 56653-10)
• Full 9-wire RS-232 serial communications using the 26-9-pin
multiport adaptor (P/N 57168) or a 26-pin serial
communications cable
• 1PPS, 2 x RS-232 input DC, USB, Ethernet cable (P/N 60789-00)
5
Lemo (7-pin/0-shell)
• 3 wire RS-232 serial communications using a 7-pin/ 0 shell
Lemo cable
• Secondary power from a Trimble battery (P/N 32364-00 or
32365-00) or a 12 V battery using the Fused Lemo Power
Cable (P/N 46125-20)
• CAN
Figure 2.2
Rear view of the receiver
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2
Features and Functions
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C H A P T E R
3
Batteries and Power
3
In this chapter:
The GPS receiver uses an internal rechargeable
Lithium-ion battery, which can be replaced only
at an Authorized Trimble Service Center.
The receiver can also be powered by an external
power source that is connected to the Lemo or
modem port.
The operational time provided by the internal
battery depends on the type of measurement and
operating conditions. Typically, the internal
battery provides 10 hours operation as a base
station and 12 hours as a rover during
measurement operations using the internal
radio.
Note – All battery operation tests are carried out
with new, fully charged batteries at room
temperature and full receiver configuration
operational. Older batteries, at temperatures
significantly higher or lower than room
temperature, will have a reduced performance.
Receivers operating with reduced configuration will
have a higher performance.
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3
Batteries and Power
External power
The GPS receiver uses an external power source in preference to its internal batteries.
If the receiver is not connected to an external power source, or if the external power
supply fails, the internal batteries are used.
While carrying out static measurements for postprocessed computations using the
internal memory, if no external power is supplied and the internal battery is drained,
the receiver shuts down. No data is lost and when power is restored, the receiver
restarts in the same status as it was when power was lost.
It is possible to turn off the internal battery using the web interface. In this case, when
external power is switched off, there is a limited time (30 seconds) before the unit turns
off.
Battery safety
The receiver is powered by a rechargable internal Lithium-ion battery. Charge and use
the battery only in strict accordance with the instructions below.
WARNING – Do not damage the rechargeable Lithium-ion battery. A damaged battery
can cause an explosion or fire, and can result in personal injury and/or property damage.
To prevent injury or damage:
C
– Do not use or charge the battery if it appears to be damaged. Signs of damage include,
but are not limited to, discoloration, warping, and leaking battery fluid.
– Do not expose the battery to fire, high temperature, or direct sunlight.
– Do not immerse the battery in water.
– Do not use or store the battery inside a vehicle during hot weather.
– Do not drop or puncture the battery.
– Do not open the battery or short-circuit its contacts.
WARNING – Avoid contact with the rechargeable Lithium-ion battery if it appears to be
leaking. Battery fluid is corrosive, and contact with it can result in personal injury and/or
property damage.
C
To prevent injury or damage:
– If the battery leaks, avoid contact with the battery fluid.
– If battery fluid gets into your eyes, immediately rinse your eyes with clean water and
seek medical attention. Do not rub your eyes!
– If battery fluid gets onto your skin or clothing, immediately use clean water to wash off
the battery fluid.
Battery performance
To optimize battery performance and extend battery life:
•
•
Fully charge all new batteries before use.
Batteries perform best when they are not used at extreme temperatures. The
receiver is designed to operate at –40 °C to +65 °C (–40 °F to +149 °F). However,
operation at temperatures of less than 0 °C (32 °F) can cause a rapid drop in
battery life.
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Batteries and Power
3
•
•
The Lithium-ion batteries are rated to operate from –20 °C to +60 °C (–4 °F to
+140 °F)
Do not allow a battery that is in storage to discharge to below 5 V.
Charging the Lithium-ion battery
The rechargeable Lithium-ion battery is supplied partially charged. Charge the battery
completely before using it for the first time. If the battery has been stored for longer
than three months, charge it before use.
The internal battery charges fully in 8 hours when connected to a suitable power
source.
WARNING – Charge and use the rechargeable Lithium-ion battery only in strict
accordance with the instructions. Charging or using the battery in unauthorized
equipment can cause an explosion or fire, and can result in personal injury and/or
equipment damage.
C
To prevent injury or damage:
– Do not charge or use the battery if it appears to be damaged or leaking.
– Charge the Lithium-ion battery only with a Trimble product that is specified to charge it.
Be sure to follow all instructions that are provided with the battery charger.
– Discontinue charging a battery that gives off extreme heat or a burning odor.
– Use the battery only in Trimble equipment that is specified to use it.
– Use the battery only for its intended use and according to the instructions in the product
documentation.
When the internal temperature of the receiver is greater than 50 °C (122 °F) or less than
5 °C (41 °F), the internal battery charger stops charging and the receiver’s display
shows Charger Disabled, Temp Limited. However, the receiver will still draw its power
from the external DC source, extending the operating time in the field.
When the external DC voltage is less than 15 V DC, an X is displayed across the battery
status icon on the front panel display, which indicates that the internal charger is off.
Storing the Lithium-ion battery
If you must store a Lithium-ion battery for long periods, make sure that it is fully
charged before it is stored, and that you charge it at least once every three months
while it is stored.
Do not allow a battery that is in storage to discharge to below 5 V. A battery that
reaches deep discharge level (5 V or less) cannot be recharged and must be replaced.
(To protect a battery that is in use from deep discharge, the receiver switches power
sources or stops drawing power when the battery pack discharges to 5.9 V.)
All batteries discharge over time when not in use, and they discharge faster in colder
temperatures. Do not store the receiver at temperatures outside the range –40 °C to
+70 °C (–40 °F to +158 °F).
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3
Batteries and Power
Using the Lithium-ion battery as a Universal Power Supply
(UPS)
The receiver has an internal Lithium-ion battery. The internal battery will only charge
from an external power source that delivers more than 15 volts, for example, an AC
power adaptor. The receiver is supplied with a mains power supply unit that recharges
the battery inside the receiver when it is connected through the adaptor to the modem
port or the Lemo port. When you use the receiver on large projects, from a permanent
or semi-permanent base station location in a site trailer, Trimble recommends that
you use this power supply at all times to keep the internal battery charged. This
provides an uninterrupted power supply and will keep the site operational for more
than 10 hours after a power failure.
Keep all batteries on continuous charge when not in use. You can keep batteries on
charge indefinitely without damage to the receiver or to the batteries.
Removing the rechargeable Lithium-ion battery
The internal Lithium-ion battery should be removed only at an authorized Trimble
Service Center. If the battery is removed at an unauthorized service center, the
remaining warranty on the product will be void.
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C H A P T E R
4
Setup Guidelines
4
In this chapter:
GPS Real-Time Kinematic (RTK) operation
provides centimeter-level accuracy by
eliminating errors that are present in the GPS
system. For all RTK operations, you require both
a base station and a rover receiver.
This chapter introduces the concepts of base
station and rover operation, provides
information to help you identify good setup
locations, describes best practices for setting up
the equipment, and outlines the precautions that
you need to take to protect the equipment.
Note – This chapter provides setup information for
all the receivers in the SPS GPS receiver family.
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4
Setup Guidelines
Base station operation guidelines
A base station consists of a receiver that is placed at a known (and fixed) position. The
receiver tracks the same satellites that are being tracked by the rover receiver, at the
same time that the rover is tracking them. Errors in the GPS system are monitored at
the fixed (and known) base station, and a series of position corrections are computed.
The messages are sent through a radio link to the rover receiver, where they are used to
correct the real time positions of the rover.
Base station components
The base station has the following components:
•
•
•
•
GPS receiver
GPS antenna
Base station radio
Power supply
GPS receiver and GPS antenna
The base station GPS receiver can be one of following types:
•
A Smart GPS antenna, such as the SPSx81, which incorporates a GPS receiver,
GPS antenna, power supply, and radio into a single compact unit. A Smart GPS
antenna can be rapidly set up on a tripod, fixed height tripod, or T-Bar anywhere
that is convenient on the jobsite.
•
A Modular GPS receiver, such as the SPSx51, which incorporates a GPS receiver,
power supply, and radio in a single unit. The GPS antenna (and, optionally, the
base station radio antenna) is separate from the receiver. Because the GPS
antenna is separate, you can use the following optimized components:
–
a geodetic antenna with large ground plane, to eliminate multipath (the
major source of GPS errors) at the base station
–
a high-gain or directional radio antenna, to increase broadcast range and to
provide maximum coverage
You can also place a modular GPS receiver in an easily accessible and secure
location, safe from theft and the weather, while the antennas are placed high on
a tower or building, clear of obstructions and able to deliver maximum
performance.
You can use either type of receiver in a permanent, semi-permanent, or daily quick
setup configuration. If semi-permanent or permanent operation is required, however,
the modular receiver delivers significant advantages.
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Setup Guidelines
4
Base station setup guidelines
For good performance, observe the following base station setup guidelines:
•
Place the GPS receiver in a location on the jobsite where equal range in all
directions provides full coverage of the site. This is more important on larger
jobsites, where the broadcast range of the base station radio may limit the
operations of the GPS system.
•
•
Place the GPS antenna in a location that has a clear line of sight to the sky in all
directions. Do not place the GPS antenna near vertical obstructions such as
buildings, deep cuttings, site vehicles, towers, or tree canopy.
Place the GPS and radio antennas as high as practical. This minimizes
multipath from the surrounding area, and enables the radio to broadcast to the
maximum distance.
Note – The GPS antenna must have a clear line of sight to the sky at all times during
operation.
•
Choose the most appropriate radio antenna for the size and footprint of the site.
The higher the gain on the antenna, the longer the range. If there is more focus
on the transmission signal, there is a reduced coverage area. A 3 db or 5 db gain
antenna provides a mix of good range and reasonable directional coverage.
•
Make sure that the GPS receiver does not lose power. The GPS receiver has an
integrated battery, which has to be charged. To operate continuously for more
than a day without loss of power at the base station, provide external power.
Sources of external power include:
–
–
–
–
–
AC power
12 V car or truck battery
Trimble custom external battery pack
Generator power
Solar panel
When you use an external power supply, the integrated battery provides a
backup power supply, enabling you to maintain continuous operation through a
mains power failure.
When the GPS receiver is connected to a power source greater than 15 V, the
integrated battery is continuously charged from the connected power source.
This helps to ensure that the battery stays charged (SPSx51 only).
•
Do not locate a GPS receiver, GPS antenna, or radio antenna within 400 meters
(about 1,300 feet) of:
–
–
–
a powerful radar, television, or cellular communications tower
another transmitter
another GPS antenna
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4
Setup Guidelines
Cell phone towers can interfere with the base station radio broadcast and can
stop corrections from reaching the rover receiver. High-power signals from a
nearby radio or radar transmitter can overwhelm the receiver circuits. This does
not harm the receiver, but can prevent the receiver electronics from functioning
correctly.
Low-power transmitters, such as those in cell phones and two-way radios, do
not interfere with receiver operations.
•
Do not set up the base station directly beneath or close to overhead power lines
or electrical generation facilities. The electromagnetic fields associated with
these utilities can interfere with GPS receiver operation. Other sources of
electromagnetic interference include:
–
–
–
–
–
–
–
Gasoline engines (spark plugs)
Televisions and computer monitors
Alternators and generators
Electric motors
Equipment with DC-to-AC converters
Fluorescent lights
Switching power supplies
•
•
Place the GPS receivers in a protected and secure location. If the base station is
in the center of a jobsite where heavy machinery is operating, place flags around
the base station to warn operators of its existence.
If you place the SPSx51 Modular GPS receiver in a lock box on the jobsite to
protect the receiver from theft or from the weather, shield the lock box from
direct sunlight and provide ventilation for the receiver through an inlet and
extractor fan. A receiver that has a broadcast radio generates significant heat.
Do not allow the temperature in the box to exceed 50 ºC (122 ºF).
If working in a cold climate, you may need to provide heat to the receiver. Do not
operate the receiver below –40 ºC (–40 ºF).
•
Trimble recommends that, wherever possible, you keep GPS receiver equipment
dry. The receivers are designed to withstand wet weather, but keeping them dry
prolongs their life and reduces the effects of corrosion on ports and connectors.
If the equipment gets wet, use a clean dry cloth to dry the equipment and then
leave the equipment open to the air to dry. Do not lock wet equipment in a
transport case for prolonged periods. Avoid exposing the GPS receiver to
corrosive liquids and salt water wherever possible.
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Setup Guidelines
4
•
Trimble recommends that you install lightning protection equipment at
permanent base station locations. Equipment should include a gas capsule
lightning protector in the GPS and radio antenna feed line and appropriate
safety grounding. A static dissipater near the antennas can reduce the likelihood
of a direct lightning strike. Also protect any communications and power lines at
building entry points. For more information, contact your local Trimble dealer,
•
Trimble recommends that you use surge protection equipment on all
permanently installed equipment.
Permanent installation antenna cabling for the SPSx51 Modular GPS
receiver
Many permanent base station installations have unique cabling requirements.
Depending on the available infrastructure, you may need to mount the antenna a
considerable distance from the receiver.
The SPSx51 can withstand a loss of 12 dB between the GPS antenna and the receiver.
The degree of loss in a coaxial cable depends on the frequency of the signal passing
use before an inline amplifier for GPS frequencies is required.
Table 4.1
Maximum cable lengths
Maximum length (for use without an inline amplifier)
Cable type
RG-214
30 m (100 ft)
70 m (230 ft)
85 m (280 ft)
106 m (350 ft)
165 m (540 ft)
225 m (740 ft)
LMR-400
LMR-500
LMR-600
Heliax LDF4/50
Heliax LDF4.5/40
Rover operation guidelines
The second part of the RTK GPS system is the rover receiver.
The rover receiver is mounted on a pole, vehicle, marine vessel, or in a backpack, and is
moved between the points that require measurement or stakeout. The rover receiver is
connected to a base station or to a source of RTK corrections such as a virtual
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4
Setup Guidelines
reference station system. The connection is provided by an integrated radio, a cellular
modem in the controller, or through an external cellular phone that is connected to
the receiver either by Bluetooth wireless technology or by means of a cable.
The correction stream for some other positioning solutions, such as SBAS
(WAAS/EGNOS/MSAS) and the OmniSTAR service1, is broadcast through
geostationary satellites, and detected by the GPS antenna itself. No integrated radio or
base station is required.
Rover receiver components
The rover receiver has the following components:
•
•
•
•
GPS receiver
GPS antenna
Optional integrated radio receiver and antenna for RTK operations
Optional items for the different mounting options (see below)
In most rover applications, the receiver operates entirely from its own integrated
battery unit. On a vehicle or on a marine vessel, however, an external power supply can
be used. Use an external power supply if one is provided. The internal battery then acts
as a uninterruptible power supply, covering any external power failures.
Choose a rover receiver according to the needs of the job:
•
A Smart GPS antenna, such as the SPSx81, incorporates the GPS receiver, GPS
antenna, power supply, and receive radio into a single compact unit. A Smart
GPS antenna can be rapidly set up on a pole, vehicle, or backpack. This makes it
easy to carry when you are measuring around the jobsite.
•
A Modular GPS receiver, such as the SPSx51, incorporates the GPS receiver,
receive radio, and power supply into a single unit. The GPS antenna and,
optionally, the receive radio antenna, is separate from the receiver. When you
use a modular GPS receiver as a rover, you can use optimized components
placed in the best locations for your application. For example:
–
A small, lightweight rover antenna can be mounted on a pole or backpack;
placed in a high, inaccessible location on a marine vessel mast or cabin; or
placed on a site vehicle roof or truck bed.
–
A rubber duck radio antenna, or an external radio antenna, can be
mounted on a vehicle or vessel roof to provide maximum coverage.
A Modular GPS receiver can be placed in a location that is both easily accessible
and safe from theft and the weather. The antennas can be placed high on a
vehicle or vessel roof, clear of obstructions and able to deliver maximum
performance.
1.
OmniSTAR is available only with the SPSx51 Modular GPS receivers.
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Setup Guidelines
4
Rover receiver setup guidelines
For good rover operation, observe the following setup guidelines:
•
Place the GPS antenna in a location that has a clear line of sight to the sky in all
directions. Do not place the antenna near vertical obstructions such as
buildings, deep cuttings, site vehicles, towers, or tree canopy. GPS rovers and the
base station receive the same satellite signals from the same satellites. The
system needs five common satellites to provide RTK positioning.
•
•
Place the GPS and radio antennas as high as possible to minimize multipath
from the surrounding area. The receiver must have a clear line of sight to the sky
at all times during operation.
GPS satellites are constantly moving. Because you cannot measure at a specific
location now does not mean that you will not be able to measure there later,
when satellite coverage at the location improves. Use GPS planning software to
identify the daily best and worst satellite coverage times for your location and
then choose measurement times that coincide with optimal GPS performance.
This is especially important when operating in the worst GPS locations. The
Trimble Planning software is on the Trimble SPS GPS Receiver CD included with
the receiver. You can also download the Trimble Planning software from the
•
The SPS851/SPS751 can track the GPS L2C modernization signal. Additionally,
the SPS851 can optionally track the GPS L5 modernization signal and some
receivers can also track the GLONASS satellite constellation ( for more
to get positions at the worst times of the day and in the worst GPS locations, but
do not guarantee that you will.
•
•
•
To get a fixed position solution with centimeter accuracy, initialize the rover
receiver. For initialization to take place, the receiver must track at least five
satellites that the base station is also tracking. In a dual-satellite constellation
operation, for example, GPS and GLONASS, the receiver must track at least six
satellites.
To maintain a fixed position solution, the rover must continuously track at least
four satellites that the base station is also tracking. In a dual-satellite
constellation operation, for example, GPS and GLONASS, the receiver must
track at least five satellites.The radio link between the base and rover receivers
must also be maintained.
Loss of the satellite signals or loss of the radio link results in a loss of centimeter
position accuracy. From Fixed, the receiver changes to Float or Autonomous
mode:
–
In Float mode, the rover has connection to the base station through a radio,
but has not yet initialized.
–
In Autonomous mode, the rover has lost radio contact with the base
station receiver, and is working by itself with the available GPS signals.
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4
Setup Guidelines
•
•
On a vehicle or marine vessel, place the GPS antenna in a location as free from
shock and vibration as possible. For the modular GPS receivers, a single
magnetic mount is normally sufficient to hold the antenna in a suitable
location, whereas for the larger smart antenna, a triple magnetic mount is
normally recommended. Good alternatives include a 5/8" thread bolt in a
suitable location on the roof bars, or a door-mounted pole bracket.
To mount the modular GPS receiver on a pole, use two pole mounting brackets
Figure 4.1
Rod mount for a modular GPS receiver
To mount the modular GPS receiver on a marine vessel, use the receiver bracket
(P/N 56830-00). For marine moving base and heading applications, use the
receiver bracket to mount two receivers together.
•
Make sure that the rover receiver does not lose power. An SPSx51 is typically
powered by its internal battery. You cannot change the battery, but the charge
typically lasts for longer than a working day. If you do not use the rover receiver
very often, ensure that it is charged at least every three months. For vehicle
operation or marine vessel operation, Trimble recommends that you use an
external power source so that the internal battery can be saved for times when
the receiver is being used off the vehicle or vessel.
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Setup Guidelines
4
•
Do not locate the receiver or antenna within 400 meters (about 1,300 ft) of
powerful radar, television, cellular communications tower, or other transmitters
or GPS antennas. Low-power transmitters, such as those in cellular phones and
two-way radios, normally do not interfere with receiver operations. Cellular
communication towers can interfere with the radio and can interfere with GPS
signals entering the receiver. This does not harm the receiver, but it can prevent
the receiver electronics from functioning correctly.
•
Do not use the rover receiver directly beneath or close to overhead power lines
or electrical generation facilities. The electromagnetic fields associated with
these utilities can interfere with GPS receiver operation. Other sources of
electromagnetic interference include:
–
–
–
–
–
–
–
gasoline engines (spark plugs)
televisions and computer monitors
alternators and generators
electric motors
equipment with DC-to-AC converters
fluorescent lights
switching power supplies
•
Trimble recommends that, wherever possible, all GPS receiver equipment is
protected from rain or water. Although, the receivers are designed to withstand
all wet weather conditions, keeping the receivers dry prolongs the life of the
equipment and reduces the effects of corrosion on ports and connectors. If the
equipment gets wet, use a clean dry cloth to dry the equipment and then leave
the equipment open to the air to dry. Do not lock wet equipment in a transport
case for prolonged periods. Wherever possible, avoid exposing the GPS receiver
to corrosive liquids and salt water.
•
•
If you are using the rover receiver in open spaces, Trimble recommends that you
stop work during electrical storms where the risk of lightning strike is high.
Where cables are involved, Trimble recommends that you use cable ties to
secure the cables to the rod or other equipment to avoid inadvertent snagging
while moving about the jobsite. Be careful not to kink, twist, or unnecessarily
extend cables, and avoid trapping them in vehicle doors or windows. Damage to
cables can reduce the performance of GPS equipment.
Internal radio setup for rover operations
The internal radio of the SPS GPS receiver is delivered with the transmit (Tx) radio
frequencies preprogrammed into the receiver. To add receive (Rx) radio frequencies to
450 MHz radios, use the WinFlash utility or web interface (see Appendix C, Adding
UHF Internal Radio Frequencies). Network channels can be selected for the 900 MHz
radios.
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4
Setup Guidelines
Once the radio frequencies are configured, use the controller or receiver to select
channel frequencies during base station or rover setup operations.
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C H A P T E R
5
Setting up the Receiver
5
In this chapter:
This chapter provides guidelines for setting up
the receiver as a base station, or as a rover
receiver in a range of common use scenarios.
This chapter also describes the procedure for
setting up a pair of receivers for heading and
moving base marine construction applications.
Note – This chapter provides setup information for
all the receivers in the SPS GPS receiver family.
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5
Setting up the Receiver
Connecting the receiver to external devices
You can connect an SPSx51 Modular GPS receiver to the following devices:
•
•
•
a Trimble controller running Trimble SCS900 Site Controller software
an external radio-modem
HYDROpro software
Trimble controller with SCS900 Site Controller software
You can operate an SPS GPS receiver with any Trimble controller, for example, a TSC2®
or Trimble CU controller, that is running the SCS900 software. Typically, the receiver
and the controller operate from their own individual power sources. The receiver and
controller can communicate through Bluetooth wireless technology and can be
connect the cables for each combination of SPS GPS receiver and Trimble controller.
Table 5.1 Connecting to a Trimble controller running the SCS900 Site Controller software
To connect a
Use cable part number … Use this cable connector … and connect the cable to …
SPSx51 Modular GPS receiver to a …
TSC2
DB9
TSC2
59046
Lemo
SPSx51
TSC2
DB9
59043
DB9
SPSx51
TCU
TCU
6-pin Hirose
Lemo
53004007
SPSx51
TCU
6-pin Hirose
DB9
53002007
SPSx51
TSCe
TSCe™
1
Lemo
31288-xx
Lemo
SPSx51
ACU
ACU
4-pin Hirose
Lemo
44147
SPSx51
1This cable is available in different lengths. The -xx indicates the length of the cable, in meters.
External radio-modems
The most common data link for Real-Time Kinematic (RTK) operation is a radio. The
receiver is available with the following internal radios:
•
•
•
•
410–430 MHz (Tx/Rx, Rx only, or Tx only)
430–450 MHz (Tx/Rx, Rx only, or Tx only)
450–470 MHz (Tx/Rx, Rx only, or Tx only)
900 MHz (Tx/Rx, Rx only, or Tx only)
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Note – “Tx” indicates that the radio transmits corrections. “Rx” indicates that the receiver
receives corrections. “Tx/Rx” indicates that the radio both transmits and receives
corrections.
If the receiver does not have an internal transmit radio, or you want to connect to
higher power or to a secondary external transmit radio or cellular modem, use the
26-pin port, the Lemo port, or Bluetooth wireless technology.
The receiver supports the following Trimble base radios:
•
•
•
•
•
•
SiteNet™ 450
TRIMMARK™
TRIMTALK™ 450
Trimble SNB900
Trimble PDL450
Trimble HPB450
3
The receiver also supports third-party transparent radios and third-party cellular
modems.
When used with an SPSx51 GPS receiver, most external radios require an external
power source. Only the Trimble SNB900 radio-modem has an internal battery and does
not require external power.
Configure the external radio separately, using either the configuration program for the
external radio or the radio display and keypad.
To configure the receiver for RTK operation, follow the base setup procedure to set the
following parameters:
•
•
Set the base station coordinates
Enable the RTCM or CMR+™ corrections stream on the selected serial port.
Common ways to set up a base station
You can set up a base station in different ways depending on the application, coverage
area, degree of permanence versus mobility, and available infrastructure. Before you set
Setting up a base station for permanent or semi-permanent installation
For construction applications, where machine and site positioning operations using
GPS will be carried out over a long time (weeks, months, or years), ensure that you
choose the base station location carefully.
A semi-permanent or permanent base station helps to eliminate the types of error that
can result from repeated daily setups, and ensures that you always use the GPS
antenna at the exact original location. The requirement for a permanent base station
setup increases as more receivers that use the base station as a source of corrections,
increases the cost of any base station downtime.
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On the largest jobsites, and on those that remain operational for the longest time, a
permanent or semi-permanent installation is a popular solution. A modular GPS
receiver is typically used as the base station, located in a site office or trailer where it is
easy to access (to check or configure), and where it is secure from theft and the
weather. The GPS and radio antennas are normally mounted on a permanent structure
on the roof of the building, where they are high and clear from obstructions and where
the radio antenna can provide the maximum range of operation.
Trimble recommends that you use the Trimble Zephyr Geodetic™ Model 2 GPS
antenna. This antenna has a large ground plane that reduces multipath, providing the
best GPS performance at the base location. The antennas are connected to the receiver
by high quality RF cables.
The receiver is connected to a permanent power supply (mains or generator power).
The internal battery of the receiver is always being charged, and acts as an
uninterruptible power supply if there is a power failure. In some cases, the receiver may
also be connected by an Ethernet cable to the Internet, so that it can be monitored and
configured from a remote location, and can warn an administrator by email or text
message if there is a change to the configuration or status. In these situations, the
receiver can transmit GPS RTK corrections to a remote radio or receiver over the
Internet, for rebroadcast requirements, without using repeaters.
Figure 5.1
SPSx51 receiver permanent installation
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Setting up a base station for daily site use: T-Bar
For construction applications where a daily setup and takedown of equipment is
required for security reasons, Trimble recommends that you use a T-Bar setup.
The T-Bar consists of a post mounted in concrete (so it cannot move), which has a
solid metal T-Bar mounted to it to provide lateral and vertical separation between the
GPS antenna and radio antenna. The T piece of the T-Bar has a vertical rod at each
end. Each end terminates in a 5/8"×11 thread to which the antennas can be mounted.
Trimble recommends that one end is clearly marked GPS and the other end is clearly
marked Radio so that at each daily setup, the GPS and radio antennas are mounted at
the same location. Switching antennas by mistake introduces a position error in all
resulting measurements. You can buy the parts you need to make a T-Bar from any
reputable hardware store. Make certain that the T-Bar cannot rotate after
construction. Rotation of the T-Bar can introduce a position error into all subsequent
measurements.
On the upright post, mount either a bracket (to which the GPS receiver can be
mounted), or a well-ventilated lockbox (in which the GPS receiver itself can be
secured).
Each day, mount the GPS antenna on the GPS end of the T-Bar and the radio antenna
on the Radio end of the T-Bar. Connect the antennas to the receiver using the
appropriate cables.The receiver uses its own integrated battery, or an external 12 V
battery through the 12 V crocodile clips cable that are provided with the receiver. If you
choose to use AC power, remember that the heat generated by the charging process
and the radio transmitter increases the need for good ventilation around the receiver.
In such scenarios, an SPSx81 Smart GPS antenna is also often used. Simply mount the
SPSx81 on the T-Bar, and optionally connect to an external battery or radio unit.
Advantages
Use of a T-Bar setup ensures that the base station is set up with exactly the same
position and height every day. This helps eliminate the errors typically associated with
daily tripod setup. For example, wrong antenna height, base not set up over the point,
base set up in the wrong location.
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Setting up the Receiver
Radio
GPS
Figure 5.2
System set up on a T-bar showing an external radio antenna to gain longer
range
Setting up a mobile base station: Tripod and fixed height tripod
If you are repeatedly moving between jobsites, or if you are visiting a jobsite for the first
time before a T-Bar or similar setup can be established, Trimble recommends that you
use either a tripod and tribrach setup, or a fixed height tripod.
The fixed height tripod is quicker and easier to set up over a control point. It allows you
to re-establish the antenna height exactly so that the receiver can be set up faster
without using the SCS900 software or without needing to enter a revised antenna
height in the receiver front panel. Take great care to ensure that the GPS antenna is set
up accurately over the control point, and that the GPS antenna height is measured
accurately, in the right way (vertical or slope height) to the right location on the
antenna (base of antenna or to a specified location on the antenna). When you start
the rover receiver, it is extremely important to check in, at one or more known
locations, to check for possible position or height errors. Checking in at a known
location is good practice and can avoid costly errors caused by a bad setup.
Typically, the tripod and fixed height tripod methods do not give significant height
clearance above the ground, and can reduce the range of operation caused by radio
limitations.
Tripod and tribrach setup
In the tripod setup, the tripod is located over the control point, and the tribrach and
tribrach adaptor is mounted on the tripod and centered over the point.
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1. Mount the GPS antenna on the tribrach adaptor.
2. Clip the GPS receiver to the tripod.
3. Connect the GPS antenna to the receiver using the appropriate cable.
4. If necessary, connect the GPS receiver to an external 12 V power supply. Use the
crocodile clip cable or the Trimble custom power pack.
SPSx51 with a low-gain “rubber
duck” antenna
SPSx51 with an external
high-gain antenna
SPSx81 with an internal 450 MHz
Tx radio
Figure 5.3
Tripod and tribrach setup
Fixed height tripod setup
A fixed height tripod setup is similar to a tripod setup, but is simplified by the central
leg of the tripod, that is placed directly on the control point. If the central leg is leveled
accurately, the fixed height tripod is quick and easy to set up, and provides an accurate
way to measure the true antenna height.
1. Set up the tripod over the control point.
2. Attach the GPS antenna to the head of the tripod.
3. If using an external high-gain radio antenna, mount the radio antenna to the
radio antenna bracket that is attached to the head of the tripod (beneath the
4. Hook the receiver to the center leg of the tripod, using the tripod clip.
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Setting up the Receiver
Radio antenna bracket
SPSx51 with a low-gain “rubber
duck” antenna
SPSx51 with an external
high-gain radio antenna
SPSx81 with an internal 450 MHz Tx
radio on a fixed height tripod
Figure 5.4
Fixed height tripod setup
Common ways to set up a rover receiver
You can set up a rover receiver in different ways depending on the application. The
components that make up a rover receiver are:
•
•
•
•
GPS receiver
GPS antenna
controller/computer
rod mounting equipment, including a rod, receiver bracket, and controller
bracket
•
vehicle mounting equipment, including a suction cup and ball joint, extension
arm, controller bracket, magnetic antenna mount, and necessary cables.
•
•
backpack equipment, including backpack and antenna-mounting rod
marine vessel mounting equipment, including receiver bracket, cables, antenna,
and radio antenna brackets
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Setting up the rover receiver on a jobsite vehicle
CAUTION – This following rover setup is suited only to offroad (jobsite) vehicle use. Do
not use this method on a vehicle that is driven at speed or in traffic.
C
1. Mount the GPS antenna for the receiver on the roof of the vehicle. Use a single
magnetic mount or a 5/8"×11 thread bolt attached to the roof bars. Run the GPS
antenna cable for the receiver into the vehicle either through a rubber grommet
in the roof, or through the passenger door window, which needs to be left
slightly open during operation.
2. Place and secure the GPS receiver in a convenient location in the vehicle.
The GPS receiver can be controlled through the controller connected using
Bluetooth wireless technology.
If the receiver is not connected to vehicle power, then the receiver needs to be
accessed only to turn it on at the start of each measurement session. It may be
more convenient if the SPSx51 is placed in a location where the vehicle operator
can see the keypad and display, to monitor receiver status and to configure
settings as required. Most receiver capability can be controlled using the SCS900
Site Controller software.
3. Attach the suction cup to the front windscreen, dashboard, or other convenient
location in the vehicle, making sure that it does not obstruct the driver’s view.
4. Attach the RAM extension arm to the suction cup, and the controller bracket to
the RAM extension arm.
5. Lock the controller into the controller bracket and then adjust the bracket until
the controller is in the most convenient location. Make sure that the controller
does not restrict visibility through the front windscreen during vehicle use.
6. Lock the brackets so that the controller is held securely. If required, connect
either the GPS receiver or the controller to an in-vehicle power supply as
needed.
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Setting up the Receiver
Figure 5.5
Configuring an SPSx51 from the cab. A Zephyr Model 2 antenna is mounted
on the roof.
Setting up the rover receiver on a rod
For rod-based operation, mount the SPSx51 Modular
GPS receiver as follows:
1. Mount the two rod brackets on the rod.
2. Tighten the top bracket, making sure that it is at
a convenient height for the receiver.
3. Place the receiver in the slot in the rod bracket,
and secure with the tripod clip.
4. Move the lower rod bracket down until it is over
the second tripod clip on the receiver and then
tighten the rod bracket onto the rod. The
receiver is held in place between the two
brackets.
5. Insert the controller into the controller bracket
as shown opposite.
6. Use the 5/8" thread to attach the GPS antenna to
the top of the rod.
7. Use the GPS antenna cable to connect GPS
antenna to the receiver.
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Setting up a rover receiver on a belt or in a backpack
If you prefer to work free of the weight of the receiver on a pole, you can mount the
rover receiver on a belt (SPSx51 only) or carry it in/on a backpack (all receivers). When
you wear the receiver on a belt, ensure that the display is always visible so that you can
easily check the status of the receiver. If you carry the receiver in a backpack, use an
external radio antenna mount to allow for optimal radio signal reception. If you use a
low-gain antenna mounted directly on the receiver in a backpack, it may affect the
radio signal reception and reduce the likelihood of obtaining an RTK Fixed solution.
Setting up a pair of GPS receivers to provide heading
The SPS551H receiver is permanently in Heading mode and, when combined with a
suitable Trimble receiver, provides GPS heading. Other SPSx51 GPS receivers can also
be paired for heading output if they can operate in Heading mode (see Configuring the
The SPS551H is a dual-frequency GPS receiver with a dual-frequency antenna, but it
does not operate as a stand-alone DGPS receiver. To compute a true north heading and
to be capable of positioning, the receiver requires an output message from another
SPSx51 receiver. To determine the precise vector between two moving objects, pair the
SPS551H Heading add-on with any one of the following receivers:
•
•
•
SPS551
SPS751 Max
SPS851
Connect the antenna on the SPS551H to the other receiver to determine the precise
GPS heading between the two antennas. The SPS551H GPS receiver show the heading
on the two-line display, and outputs the heading data in NMEA or binary format.
Tip – To create a single, compact GPS position and heading unit, use the mounting frame
provided to stack the SPS551H GPS receiver on top of the other GPS receiver. See below.
Use the Marine Heading Cable (P/N 57169-10) provided.
B
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Setting up the Receiver
The Moving Baseline RTK positioning technique
In most RTK applications, the reference receiver remains stationary at a known
location and the rover receiver can move. However, Moving Baseline RTK is an RTK
positioning technique in which both reference and rover receivers can move about.
Moving Baseline RTK is useful for GPS applications that require vessel orientation.
Antenna
Antenna
Figure 5.6
Vessel heading from Moving Baseline RTK
With Moving Baseline RTK, the reference receiver broadcasts Compact Measurement
Record (CMR) data, while the rover receiver performs a synchronized baseline solution
at 10 Hz. The resultant baseline solution has centimeter-level accuracy. To increase the
accuracy of the absolute location of the two antennas, the Moving Reference receiver
can use differential corrections from a static source, such as a shore-based reference
station.
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Mounting a pair of GPS receivers
To obtain a position and heading solution, you need to connect two receivers to make
one compact unit. A mounting bracket and interconnecting cable is supplied with the
Dual-frequency rover antenna
Dual-frequency rover antenna
Antenna cable
P/N 58957-05
SPS551H
Marine heading
cable (P/N 57169-10)
Serial Port 2
SPS551H
SPSx51
Serial Port 2
SPSx51
Mounting bracket
(P/N 56830-00)
DC power
Figure 5.7
Installation setup for the SPS551H with another SPSx51 for position and heading
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Setting up the Receiver
Assembling the receivers
Figure 5.8 shows an SPS551 and an SPS551H set up to provide a Heading solution. To
assemble the receivers, you need a Phillips head #1 screwdriver and a 1/4" socket set or
wrench (spanner).
SPS551H GPS receiver
SPS551 GPS receiver
Figure 5.8
Completed assembly with the SPS551H GPS receiver on top
To assemble the receivers using the mounting frame that is provided:
1. Invert the SPSx51 GPS receiver and then remove the rubber endcaps.
2. Prepare the flat black plate and the four Posi screws. (These are part of the
mounting frame.)
3. Position the black plate on the SPSx51 GPS receiver.
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4. Use the four Posi screws to secure the plate to the receiver. (Secure two screws
at each end.) The black plate is now attached to the bottom of the receiver.
5. Replace the rubber endcaps.
6. Invert the receiver again. This returns the receiver to its normal orientation.
7. Set aside the receiver.
8. Invert the SPS551H receiver and then remove the rubber endcaps.
9. Position the black cradle on the SPS551H GPS receiver. (The black cradle is part
of the mounting frame.)
10. Use the four Posi screws to attach the black cradle to the receiver. The black
cradle is now attached to the bottom of the SPS551H.
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Setting up the Receiver
11. Replace the rubber endcaps.
12. Place the black cradle on the black base plate. This places the SPS551H GPS
receiver on top of the SPSx51 GPS receiver.
13. Make sure that the display is facing in the same direction on both receivers.
14. Prepare the eight nuts, spring washers, and flat washers.
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15. Insert the first bolt. Attach the flat washer, the spring washer, and finally the nut
and then tighten firmly. Secure all eight bolts in this way.
16. Attach one connector from the Marine Heading cable (P/N 57169-10) to the
26-pin connector on the rear of the SPS551H GPS receiver. Attach the other
connector from the cable to the 26-pin connector on the rear of the SPSx51
receiver. The cable can be connected either way around.
The cable connects the two GPS receivers so that the Heading solution is
available. The DC power lead on the cable supplies power to both receivers in
the stack. The two DB9 female connectors on the cable access serial port 2 on
each receiver.
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Installing the receiver
Select a location at which all of the following conditions are met:
•
•
the receiver is not exposed to temperature extremes
the receiver is not exposed to moisture extremes (such as rain, snow, water
blasters, or wash systems)
•
•
the receiver is protected from mechanical damage
you can connect and disconnect cables without placing undue stress on them
Mounting the antennas
You must install each antenna at the correct location. Poor or incorrect placement can
influence accuracy and reliability.
Ideally, mount the two antennas as far apart as possible and at about the same height
on the structure. Mount the antennas fore and aft along the vessel centerline or on a
line that is at a known orientation to the centerline. For best results, rotate each
antenna so that all antennas in the array point in the same direction. Always mount an
antenna at a location that ensures a good view of the sky.
Follow these guidelines to select the antenna location:
•
•
•
•
Choose an area with a clear view of the sky. The antenna must be above any
metallic objects.
Do not mount the antenna close to stays, electrical cables, metal masts, or other
antennas.
Do not mount the antenna near a transmitting antenna, a radar array, or near
satellite communication equipment.
Avoid areas with high vibration, excessive heat, electrical interference, and
strong magnetic fields.
Use a 5/8"×11" stainless steel bolt to mount each of the antennas. There is a threaded
bolt hole in the base of the antenna.
Configuring the receiver pair
One of the receivers must be nominated as a Heading unit. The other receiver is
nominated as a Moving Base unit. For this configuration to work, you must use the
Marine Heading cable (P/N 57169-10).
To set up the Heading unit:
1. From the Home screen, press L twice. The Mode screen appears.
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5
2. Select Heading mode. The receiver display shows two extra settings for heading:
–
Heading Adjustment. Enter a positive value in decimal degrees. The value is
applied to the raw heading value before it is output in the NMEA HDT
message or displayed on the front panel of the receiver. This value is used
when the two antennas are not mounted parallel to the vessel axis.
–
Minimum Heading Solution. Enter the minimum requirement for the GPS
solution that will provide the heading value. The default of RTK Fixed
provides the highest precision, but in conditions of extreme multipath or
obstruction, an RTK Fixed solution may not be continuously available. In
such conditions, select RTK Float if a lower precision is acceptable.
To set up the Moving Base unit:
1. From the Home screen, press L twice. The Mode screen appears.
2. Select Moving Base mode, and then press L
.
Interfacing using the NMEA protocol
The SPS551H GPS receiver can output messages such as NMEA HDT for heading, and
NMEA GGA for position. The SPS551H always reports the solution status of the
moving baseline solution that is being used to compute the heading. However, if the
external computer must know the exact quality of the position, you can use the NMEA
output from the base receiver. The base receiver reports the solution status of the
position, for example, Fixed Integer, Floating, or DGPS.
Heading output
The heading output from an SPSx51 receiver that is in Heading mode is the True North
Azimuth from the Heading antenna (this is the unit that receives moving base
corrections) to the Moving Base antenna (this is the unit that outputs the moving base
corrections). Heading output information is available in the following places:
•
•
Receiver display
Data outputs:
–
–
–
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C H A P T E R
6
Configuring the Receiver Using the
Keypad and Display
6
In this chapter:
The receiver features a keypad and display (see
Keypad and display, page 24) so that you can
configure the receiver without using a controller
or computer.
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Configuring the Receiver Using the Keypad and Display
Button functions
Use the buttons on the front panel to turn the receiver on and off and to check or
change the receiver settings.
Button Name
Function
Power
Turns the receiver on and off. See the next section.
E
Escape
Returns to the previous screen or cancels changes being made on a
screen.
F
L
Enter
Advances to the next screen or accepts changes made on a screen.
Up
Moves the cursor between multiple fields on a screen or makes changes
to an editable field.
J
Down
Moves the cursor between multiple fields on a screen or makes changes
to an editable field.
K
I
G
Left
Moves the cursor between characters in a field that can be changed.
Right
Moves the cursor between characters in a field that can be changed.
Press this button to enter Edit mode.
Power button operations
Press the Power button
to return to the Home screen, or hold down
to turn the receiver on and off. In addition, you can tap
E
E
to perform the following operations:
E
To …
Hold the
button for …
Notes
E
turn off the receiver
two seconds
The display shows a countdown timer. When the display goes
blank, release the Power button.
clear the almanac,
ephemeris, and SV
information
15 seconds
The display show a countdown timer. When the display goes
blank, continue to hold the Power button. The display shows a
countdown time to clear the almanac and ephemeris. When
the counter reaches 0, release the Power button.
reset the receiver to its 35 seconds
factory defaults and
the default application
file
The display show a countdown timer. When the display goes
blank, continue to hold the Power button. The display show a
countdown to clear the almanac and ephemeris. When the
counter reaches 0, continue to hold the Power button. The
display indicates a countdown to resetting the receiver. When
the counter reaches 0, release the Power button.
force the receiver to
power down
at least 60
seconds
If the reset method above does not work, use this method to
force the receiver to turn off. When the Power LED goes off,
release the Power button.
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Configuring the Receiver Using the Keypad and Display
6
Home screen
The Home screen is the main screen displayed on the receiver. If the receiver is
displaying another screen and is left idle for 60 seconds, you are returned to the Home
screen. It shows the following information:
•
Number of satellites being tracked:
–
When the receiver is in Base mode, the Home screen displays the number
of satellites in view, that is, all satellites above the elevation mask. This is
the number of satellites that the base station is sending data for.
–
–
When the receiver is in Rover, Heading, or Moving Base mode, the Home
screen displays the number of satellites used to calculate the position.
If the receiver is set to use SBAS or OmniSTAR corrections, the Home
screen displays the number of satellites that corrections have been received
for.
–
If the receiver is computing an autonomous solution, the Home screen
displays all satellites in view, that is, all satellites above the elevation mask.
Tip – You can also view these details using the Web browser (select Receiver Status /
Position).
B
•
•
•
•
Internal battery power remaining
Current mode configuration
Internal radio activity
Internal radio channel or network
Status screens
The receiver has several view-only status screens that allow you to review the current
settings of the receiver. The status screens provide the following information:
•
•
•
•
•
•
•
•
•
Position solution and precisions
CMR and RTCM IDs
Base name and code
Latitude, longitude, and height
Antenna height
Horizontal and vertical precision
Receiver firmware version
Receiver serial number
Receiver IP address
To access these screens from the Home screen, press J or K
.
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Configuring the Receiver Using the Keypad and Display
Configuring the receiver as a base receiver
To set up the SPSx51 as a base receiver, use AutoBase technology, the Trimble SCS900
Site Controller software, the receiver keypad, or an external computer.
The AutoBase feature automatically configures the receiver settings for you. The
receiver obtains a position and outputs RTK corrections on the internal radio (if
available) or on the LEMO port. See Chapter 8, Automatically Setting up a Mobile Base
The receiver is configured step-by-step to ensure that all appropriate settings are
configured. To move between steps in the configuration process, press L .
Configuring the receiver
1. In the Home screen, press L . Use the Operation Mode screen to configure
system settings, mode settings, or to view the SV (satellite) status. Mode Settings
is the default setting.
2. Press L . Use the Mode screen to select whether the receiver will operate as a
base or rover. Base is the default setting.
3. Press L . Use the Base Station screen to select whether the receiver is going to
use a “Here” position or if the current coordinates in the receiver will be
changed.
4. Press G . When Edit Current begins to flash, the receiver is in Edit mode and
you can change the current setting.
5. Press K . The setting changes to New Base (Here).
6. Press L to accept the change.
7. Press L again. The Base Name screen appears. See next.
Changing the name and description of the base station
In the Base Name screen:
1. Press G . When the first character of the base name begins to flash, the receiver
is in Edit mode and you can change the current setting.
2. Press J or K to change the value of the character.
3. Press G to move the cursor to the next character.
can be up to 16 characters. Press L to accept the change.
5. Press L again. Use the Base Code screen to change the code (description) for
the base station.
6. Press G . When the first character of the base code begins to flash, the receiver
is in Edit mode and you can change the current setting.
7. Press J or K to change the value of the character.
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Configuring the Receiver Using the Keypad and Display
6
8. Press G to move the cursor to the next character.
be up to 16 characters.
10. Press L to accept the change.
11. Press L again. The Base Latitude screen appears. See next.
Setting the reference latitude, longitude, and height of the base station
In the Base Latitude screen:
1. The base was set up with a “Here” position, so press
.
L
2. The Base Longitude screen is used to change the reference longitude of the base
station. The base was set up with a “Here” position, so press
.
L
3. The Point Height screen is used to change the reference height of the base
station. The base was set up with a “Here” position, so press
.
L
4. Use the Antenna Type screen to select the type of antenna used with the receiver.
Press G . When the antenna name begins to flash, the receiver is in Edit mode
and you can select an antenna.
5. Press K to scroll through the antenna models.
6. Once the correct antenna name appears, press L to accept the change.
7. Press L again. The Measured To screen appears. See next.
Measuring and changing the antenna height
In the Measured To screen:
1. Press G . When the antenna measurement method begins to flash, the receiver
is in Edit mode and you can select an antenna measurement method.
2. Press K to scroll through the measurement methods. Once the correct
measurement method appears, press L to accept the change.
3. Press L .
4. Use the Antenna Height screen to change the height of the antenna. Press L .
When the first character of the antenna height begins to flash, the receiver is in
Edit mode and you can change the antenna height.
5. Press J or K to change the value of the character.
6. Press G to move the cursor to the next character.
8. Press L to accept the change.
9. Press L again. The Output screen appears. See next.
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Configuring the Receiver Using the Keypad and Display
Outputting corrections
In the Output screen:
1. Press G to enter Edit mode for the port.
2. Press J or K to change which port will be used to output corrections.
3. Press L to accept the change.
4. Press K to move the cursor to the Format field.
5. Press G to enter Edit mode for the format.
6. Press J or K to change which correction message will be output on the port.
7. Press L to accept the change.
8. Press L again.
9. Use the NMEA screen to set up NMEA outputs from the receiver. Press L to
accept the default of no NMEA messages.
10. Use the GSOF screen to set up GSOF outputs from the receiver. Press L to
accept the default of no GSOF messages.
11. Use the RT17 screen to set up RT17 outputs from the receiver. This screen only
appears if you have the real-time Binary Output option installed. Press L to
accept the default of no RT17 messages.
The Home screen appears and the base setup is complete.
Configuring the receiver as a rover receiver
You can use the Trimble SCS900 Site Controller software or the receiver keypad to set
up the SPSx51 as a rover receiver.
The receiver is configured step-by-step to ensure that all appropriate settings are
configured. To move between steps in the configuration process, press L .
Configuring the receiver
1. In the Home screen, press L . Use the Operation Mode screen to configure
system settings, mode settings, or to view the SV (satellite) status. Mode Settings
is the default setting.
2. Press L . Use the Mode screen to select whether the receiver will operate as a
base or rover.
3. Press G . When the mode begins to flash, the receiver is in Edit mode and you
can change this setting.
4. Press K to change to Rover.
5. Press L to accept the change.
6. Press L again to move to the Elevation mask and RTK mode screen. See next.
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6
Changing the elevation mask and RTK mode
1. Press G. When the value for the current elevation mask begins to flash, the
receiver is in Edit mode and you can change the setting.
2. Press K to change the elevation mask to the required value.
Note – Trimble recommends that you do not set the elevation mask to a value lower than
10 degrees.
3. Press L to accept the change.
4. Press K .
5. In the Mode field, press G . When the current mode begins to flash, the receiver
is in Edit mode and you can change this setting.
6. Press K to change the desired RTK mode of the receiver.
The Mode setting is either RTK Sync or Low Latency. RTK Sync waits for the
corresponding base data to arrive. It provides positions slightly more accurate
than the Low Latency mode, however it increases latency and has a maximum
update rate of 1 Hz. Trimble recommends that you use the Low Latency mode.
7. Press L to accept the change.
8. Press L again. The Antenna Type screen appears. See next.
Selecting the antenna
In the Antenna Type screen:
1. Press G . When the antenna name begins to flash, the receiver is in Edit mode
and you can select the type of antenna that is to be used with the receiver.
2. Press K to scroll through the antenna models.
3. Once the correct antenna name appears, press L to accept the change.
4. Press L again. The NMEA screen appears. See next.
Outputting corrections
In the NMEA screen, set up outputs from the receiver:
1. Press L to accept the default of no NMEA messages.
2. Use the GSOF screen to set up GSOF outputs from the receiver. Press L to
accept the default of no GSOF messages.
3. Use the RT17 screen to set up RT17 outputs from the receiver. Press L to
accept the default of no RT17 messages. The Home screen appears, and the base
setup is complete.
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Configuring the Receiver Using the Keypad and Display
Configuring system settings
You can use the keypad and display of the receiver to configure the following settings:
Display language
Display and input units
•
•
•
•
•
•
Baud rate, parity, data bits, and stop bits for serial ports
Display power saver
AutoBase warning
Set position precisions
To access the system settings:
1. In the Home screen, press L . Use the Operation Mode screen to configure
system settings or mode settings, and to view the SV (satellite) status. Mode
Settings is the default setting.
2. Press G . When the operation mode begins to flash, the receiver is in Edit mode
and you can change this setting.
3. Press K to change to System Setup.
4. Press L to accept the change.
5. Press L again.
6. Use the Display Language screen, if necessary, to change the language. Choose
English, Finnish, French, German, Italian, Spanish, or Swedish. Press L to
accept the change.
7. Press L again. Use the Display and Input Units screen, if necessary, to change
the units to Meters or US Feet.
8. Press L to accept the change.
9. Press L again. Use the Port Settings screen, if necessary, to change the port.
10. Press L to accept the change.
11. Press L again. Use the Screen Pwr Savr screen to choose On, Off, or Auto. If you
use the Auto setting, the screen turns off after 60 seconds of inactivity. The
Power LED remains lit so that you can tell if the receiver is on or off. If an error
message appears, the screen comes back on. Press L to accept the change and
then press
again to move to the next screen.
L
12. If you are using an SPSx51 RTK base station, the Autobase warning screen
13. Press L to accept the change.
14. Press L again. When the Home screen appears, the system setup is complete.
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6
Turning off AutoBase technology
You can turn off AutoBase technology using either the receiver’s keypad and display or
When AutoBase technology is off, you can establish a new base station position in the
receiver using the Edit Current or New Base (Here) menus. This does not automatically
generate a new application file, but changes the settings in the current application file.
When the receiver is turned on again, the most recent settings are always used.
To turn off AutoBase technology using the receiver:
1. In the Home screen, press L .
2. Press G . When the operation mode begins to flash, the receiver is in Edit mode
and you can change this setting.
3. Press K to change to System Setup.
4. Press L to accept the change.
5. Press L again. You start to scroll through options in the System Setup menu.
6. Keep pressing L until Autobase appears.
7. Press G . The setting On flashes.
8. Press K until it displays Off. Press L to accept the change.
9. Press L again. The Active Appfile screen appears.
Note – If AutoBase is turned on, the AutoBase Warning screen appears.
To change the application file:
•
•
•
•
Press G to display START Appfile.
Press K to show SAVE Appfile.
Press K to show DELETE Appfile.
Press K to show START Appfile.
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Configuring the Receiver Using the Keypad and Display
Managing application files
You can use the front panel to manage application files in the receiver. You can see
which application file the receiver is currently using and then choose to make changes
to it and save it, load a different application file, or delete an application file.
only manage application files when the AutoBase feature is turned off.
To save an application file, configure all the settings you need through the front panel
and then save the file. When you save the file, the receiver provides a default filename,
which you can change, based on the currently set mode. For example:
If the receiver is set to the following mode: The suggested application filename is:
Base
BASE01
HDG01
MB01
Heading
Moving Base
Rover
ROV01
Note – If you start an application file that is saved with AutoBase turned on in the file,
then it turns on AutoBase in the receiver, even if it was off before the file was loaded.
No
Yes
Is AutoBase off?
The following message
Follow the usual
AutoBase process.
appears on the System
Setup menu.
Active Appfile
No
Yes
<current app filename> *
Do you want to do further
Appfile handling?
Press side arrow. START
appfile will flash. Scroll
through START, SAVE, DELETE.
Press
system setup.
to complete
L
Press
to make decision.
L
Scroll through application
files in the receiver. Make
decision by pressing
.
L
Display shows the active
application file. Press
to complete.
L
Note – The '*' after the <current app filename> signifies it is the application file currently in use by the receiver.
Figure 6.1
Application file handling through the front panel of the receiver
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C H A P T E R
7
Configuring the Receiver Settings
7
In this chapter:
You can configure the SPS GPS receiver family in
a variety of ways. This chapter describes the
different configuration methods, and explains
when and why each method is used.
The SCS900 Site Controller software is likely to be
your main tool to set up and operate the receiver
on a daily basis. All necessary field configurations
are handled through the SCS900 software
running on a TSC2 or Trimble CU controller. For
more information, refer to the Trimble SCS900
Site Controller Software Office Guide.
The external software detailed in this chapter is
primarily used to update the receiver firmware
and to configure upgrades or radio channels.
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Using the SCS900 Site Controller software to configure the
base station, the rover, and the radios
As part of a total system solution for construction applications, the SPS GPS receivers
are operated by a TSCe, ACU, TCU, or TSC2 controller running the SCS900 Site
Controller software. The SCS900 Site Controller software provides the tools to
configure and start the GPS receiver in the modes used by the SCS900 system: RTK
Base Station, RTK Rover, DGPS Rover, OmniSTAR rover, SBAS Rover (using
WAAS/EGNOS/MSAS). Wizards help you through the process and, where possible,
assign suitable default operational parameters to the system. This eliminates the need
for an operator to know how to configure the receiver with the right settings.
The SCS900 Site Controller software manages:
•
•
•
the radio, whether internal or external
all cellular communications components, such as modems and cell phones
the use of the Bluetooth wireless technology
The software also scans communication ports on the receiver to identify connected
devices. If the software cannot automatically identify the connected component, for
example, a GPS antenna, it offers options (often with graphics) to help you manually
select the correct component.
The SCS900 Site Controller software allows you to set operational tolerances and
settings (such as those shown below), which must be achieved before measurements
can be accepted. When outside of these tolerances, the SCS900 Site Controller
software warns you through on-screen messages or indications, and the
non-automatic acceptance of recorded positions. To set operational tolerances, go to
the Settings menu in the SCS900 Site Controller software.
Example 1: From the Sky Plot screen, press
Ctrl+M to open this screen and change the angle
below which the receiver will not track satellites
Example 2: Use the Sky Plot screen to
set if the receiver will track GLONASS satellites
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7
Configuring the receiver to log data for postprocessing
The receivers do not come equipped with the Data Logging option. The receivers can
have this added either at the time of purchase, or at a later date as an option. With the
Data Logging option enabled, the receiver has available memory that facilitates the
collection of GPS observations over a period of time, and that can be used with GPS
postprocessing software such as the Trimble Geomatics Office™ for the computation
of control networks and baselines.
Note – Version 2.30 and later of the SCS900 software supports the recording of raw GPS
data in the SPS receivers when the Data Logging option is installed in the receiver. For
information on how to initiate recording in the SPS receivers from SCS900, refer to the
SCS900 Precision GPS User Guide.
Configuring the receiver to use specific settings when it is
turned on
The power up application file (Power_up.cfg) is used to set the receiver to a specific
configuration any time the unit is powered up.
In this file, you can specify that the receiver is reset to defaults before the power up
settings are applied. This ensures that restarting the receiver always resets it to factory
defaults prior to applying the power up application file.
Alternatively, you can specify that the power up settings are applied immediately after
the current application file’s settings have been applied. Restarting the receiver results
in a configuration that uses your default settings for the options you define in the
power up file, but the current settings for all other options.
By default, there is no power_up application file on the receiver. To use a power up
application file, you must create and save a power_up application file in the GPS
Configurator software. If you save this file to disk, the file is called power_up.cfg. The
extension .cfg is used, by convention, to identify application files on the office
computer. When you transfer this file to the receiver, the file is saved on the receiver as
power_up, and becomes the new power up file.
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Configuring the Receiver Settings
Configuring Ethernet settings
The receiver has an Ethernet port so that the receiver can connect to an Ethernet
network. You can use the Ethernet network to access, configure, and monitor the
receiver. No serial cable connection to the receiver is necessary.
The receiver requires the following Ethernet settings:
•
•
•
•
•
•
•
IP setup: Static or DHCP
IP address
Netmask
Broadcast
Gateway
DNS address
HTTP port
The default setting for the HTTP port is 80. The HTTP port is not assigned by the
network. HTTP port 80 is the standard port for web servers. This allows you to connect
to the receiver by entering only the IP address of the receiver in a web browser. If the
receiver is set up to use a port other than 80, you will need to enter the IP address
followed by the port number in a web browser.
Example of connecting to the receiver using port 80: http://169.254.1.0
Example of connecting to the receiver using port 4000: http://169.254.1.0:4000
The default setting of the receiver is to use DHCP. Using DHCP enables the receiver to
automatically obtain the IP address, Netmask, Broadcast, Gateway, and DNS address
from the network.
When a receiver is connected to a network
using DHCP, the network assigns an IP address
to the receiver. To verify the IP address, select
the up button from the keypad when the Home
screen is displayed. The Ethernet IP address
appears. The screen shown is of a receiver that has failed to get an IP address.
If your network installation requires the receiver to be configured with a static IP
address, you can configure the Ethernet settings using the web server or the WinFlash
utility. The web server can be used only when the receiver is connected to a network
and has a valid Ethernet configuration. When DHCP fails, the receiver uses a private IP.
Use the WinFlash utility to configure the Ethernet settings of a receiver that is to be
connected to a network that requires static IP addresses:
1. Contact the network administrator for the correct settings for the receiver.
2. Connect the receiver to a computer running the WinFlash utility using the serial
cable provided with the receiver.
3. Turn on the receiver.
4. On the computer, start the WinFlash utility.
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7
5. From the Device Configuration screen, select the Trimble SPSx51 Receiver. From
the PC serial port list, select the appropriate PC serial port. Click Next:
6. From the Operation Selection screen, select Configure ethernet settings, and then
click Next:
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7. From the Settings Review screen, click Finish:
Once the WinFlash utility connects to the receiver, the Ethernet Configuration
dialog appears.
8. Enter the network settings in the Ethernet Configuration dialog. Click OK:
The Broadcast setting is the IP address that is used to broadcast to all devices on
the subnet. This is usually the highest address (usually 255) in the subnet.
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Configuring the receiver using a web browser
The receiver can be configured using the keypad and display, Trimble SCS900 Site
Controller software, or a web browser. This section describes how to set up the receiver
using a web browser.
Supported browsers
•
Mozilla Firefox version 1.07 or later (version 1.50 or later is recommended for
Windows, Macintosh, and Linux operating systems)
•
Microsoft Internet Explorer® version 6.00 or later for Windows operating
systems
Connecting to the receiver using a web browser:
1. Enter the IP address of your receiver into the address bar of the web browser as
shown:
2. If security is enabled on the receiver, the web browser prompts you to enter a
username and password:
The default login values for the receiver are:
–
–
User Name: admin
Password: password
If you cannot connect to the receiver, the password for the admin account may
have been changed, or a different account may be in use. Contact your receiver
administrator for the appropriate login information.
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Configuring the Receiver Settings
Connecting to the receiver using a web browser and Bluetooth wireless
technology
This section describes how to access the web interface on a SPSx51 Modular GPS
receiver that has firmware version 3.32 or later installed, using Bluetooth wireless
technology on an office computer that has Service Pack 2 of the Windows XP
operating system (Professional Edition) installed.
1. On the office computer, open the Control Panel. Open Bluetooth Configuration
and go to the Client Applications tab. The following dialog appears:
2. Add at least one Bluetooth Serial port. To do this, click Add COM port and then
follow the steps through the wizard. Name the COM port appropriately and
clear the Secure Connection check box.
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3. Start the Bluetooth Setup wizard (click Start / All Programs / My Bluetooth Places):
4. The Bluetooth Setup wizard starts. Use the settings shown below and then click
Next:
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Configuring the Receiver Settings
The following dialog appears:
5. Select the Bluetooth serial port you created and then click Next. The following
dialog appears:
6. In the Search criteria list, change the search to Show all devices and then select
the modular GPS receiver that you want to connect to. Click Next.
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The following dialog appears:
7. Click Configure to select the COM port on your office computer. Think of
Bluetooth as a cable replacement and this as the serial port on your office
computer into which the Bluetooth ‘cable’ will be connected. The following
dialog appears:
8. Ensure that the Secure Connection check box is cleared and then tap OK.
9. Tap Finish. The new Bluetooth connection appears in My Bluetooth places.
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Configuring the Receiver Settings
10. Double-click this icon to connect:
Creating a new connection
1. From your Windows Control Panel, open Network Connections and then click
Create a new connection:
2. The New Connection wizard starts. Complete the wizard using the following
settings:
–
–
Set up an advanced connection
Connect directly to another computer
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–
Guest
3. Give the connection a name which relates to the COM port being used on the
office computer. This is like a cable connection between two computers only the
cable is being replaced by a Bluetooth wireless connection. Tap Next. The
following dialog appears:
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Configuring the Receiver Settings
4. Select the correct COM port from the list and then tap Next. The following
dialog appears:
5. Enter the user name and password and then click Connect.
The defaults for the SPSx51 receiver are:
Username: admin
Password: password
6. The new Direct connection appears in the Network Connections folder. If that
status shows as Connected, you can continue to the web interface.
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7. Right-click on the connection and select Status:
8. The Details tab shows the Server IP address. Use this IP to connect to the
receiving using the web interface.
Tip – You can also get the PPP address from the front panel of the receiver by pressing
from the Home screen.
J
B
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Menus
Serial number of receiver
Model name of receiver
Available
languages
Menus
Figure 7.1
SPS GPS receiver Home page
Changing the settings
Use the webpage to configure the receiver settings. The web interface shows the
configuration menus on the left of the browser window, and the settings on the right.
Each configuration menu contains related submenus to configure the receiver and
monitor receiver performance.
Note – The configuration menus available vary based on the version of the receiver.
A summary of each configuration menu is provided here. For more detailed
information about each of the receiver settings, select the Help menu. The Help is
available whenever your computer is connected to the Internet. It is also available
To display the web interface in another language, click the corresponding country flag.
The web interface is available in the following languages:
•
•
•
•
•
English (en)
Chinese (zh)
Finnish ( fi)
French (fr)
German (de)
•
•
•
•
•
Italian (it)
Japanese (ja)
Russian (ru)
Spanish (es)
Swedish (sv)
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Receiver Status menu
The Receiver Status menu provides a quick link to review the receiver’s available
options, current firmware version, IP address, temperature, runtime, satellites tracked,
current outputs, available memory, position information, and more.
This figure shows an example of the screen that appears when you select Receiver
Status / Identity.
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Configuring the Receiver Settings
Satellites menu
Use the Satellites menu to view satellite tracking details and enable/disable GPS,
GLONASS, and SBAS (WAAS/EGNOS and MSAS) satellites.
This figure shows an example of the screen that appears when you select Satellite /
Tracking (Sky Plot).
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Data Logging menu
Use the Data Logging menu to set up the receiver to log static GPS data. This menu is
available only if the receiver has the Data Logging option enabled. You can also
configure settings such as observable rate, position rate, continuous logging,
continuous logging rate, and whether to auto delete old files if memory is low.
This figure shows an example of the screen that appears when you select Data Logging
/ Configuration.
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Configuring the Receiver Settings
Receiver Configuration menu
Use the Receiver Configuration menu to configure such settings as elevation mask and
PDOP mask, the antenna type and height, the reference station position, and the
reference station name and code.
This figure shows an example of the screen that appears when you select Receiver
Configuration / Summary.
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Configuring the Receiver Settings
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I/O Configuration menu
Use the I/O Configuration menu to set up all outputs of the receiver. The receiver can
output CMR, RTCM, NMEA, GSOF, or BINEX messages. These messages can be output
on TCP/IP, UDP, serial, Bluetooth, or radio ports.
This figure shows an example of the screen that appears when you select
I/O Configuration / Port Summary.
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Configuring the Receiver Settings
Bluetooth menu
Use the Bluetooth menu to configure the receiver to connect to other devices that use
Bluetooth wireless technology. These devices can be used to configure the receiver, and
generate or receive corrections. The following Trimble devices can be connected to an
SPSx51 receiver using Bluetooth wireless technology:
•
•
•
•
•
•
TSC2 controller
TCU controller
TSCe controller
ACU controller
SNB900 radio-modem
Other Bluetooth-enabled SPS GPS receivers
This figure shows an example of the screen that appears when you select Bluetooth /
Info.
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Radio menu
Use the Radio menu to configure the internal radio of the receiver, if applicable. The
receivers are available with 410–430 MHz, 430–450 MHz, 450–470 MHz, or 900 MHz
radios. The SPS551H receiver does not have an internal radio.
This figure shows an example of the screen that appears when you select Radio.
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OmniSTAR menu
All receivers, except the SPS551H, can receive OmniSTAR corrections. By default,
OmniSTAR tracking is turned on in the receiver. To receive OmniSTAR corrections, you
must set the receiver to track OmniSTAR satellites and it must have a valid OmniSTAR
subscription. To purchase a subscription for your receiver, contact OmniSTAR at:
North & South America, 1-888-883-8476 or 1-713-785-5850
Europe & Northern Africa, 31-70-317-0900
Australia & Asia, 61-8-9322 5295
Southern Africa, 27 21 552 0535
This figure shows an example of the screen that appears when you select OmniSTAR /
Summary.
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Configuring the Receiver Settings
7
Network Configuration menu
Use the Network Configuration menu to configure Ethernet settings, email alerts, PPP
connection, HTTP port, FTP port, and VFD port settings of the receiver. For
The VFD port allows you to use the SPSx51 Remote Control application to view and
navigate the receiver through a mock display and keypad interface. To allow the
SPSx51 Remote Control to connect to the receiver, you need to enable the VFD port. To
do this, select Network Configuration / VFD.
This figure shows an example of the screen that appears when you select Network
Configuration / Ethernet.
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Configuring the Receiver Settings
Security menu
Use the Security menu to configure the login accounts for all users who will be
permitted to configure the receiver using a web browser. Each account consists of a
username, password, and permissions. Administrators can use this feature to limit
access to other users. Security can be disabled for a receiver. However, Trimble
discourages this as it makes the receiver susceptible to unauthorized configuration
changes.
This figure shows an example of the screen that appears when you select Security /
Configuration.
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Configuring the Receiver Settings
7
Firmware menu
Use the Firmware menu to verify the current firmware and load new firmware to the
receiver. You can upgrade firmware across a network or from a remote location
without having to connect to the receiver with a serial cable.
This figure shows an example of the screen that appears when you select Firmware.
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Configuring the Receiver Settings
Help Menu
The Help menu provides information on each of the receiver settings available in a web
between firmware releases.
To access the Help, your computer must be connected to the Internet. If you do not
have access to the Internet, there is also a copy of the receiver Help files on the Trimble
SPS GPS Receiver CD. (This copy shows the Help files as they were when the CD was
published.)
This figure shows an example of the screen that appears when you select Help.
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C H A P T E R
8
Automatically Setting up a Mobile Base
Station Using AutoBase Technology
8
In this chapter:
The AutoBase technology is a feature of the
Trimble receivers that enables you to reduce
daily setup time for mobile base stations and to
reduce the likelihood of using incorrect base
station coordinates during setup.
The AutoBase feature allows you to set up a
receiver as a base station receiver and save you
time so you do not need to reconfigure the
receiver at the start of each day. It also allows you
to set up the base station on a new site without
needing to configure the settings in the receiver.
Even if you have used the AutoBase
feature in other Trimble receivers, Trimble
recommends that you read this chapter carefully
because new functions in this feature provide
greater benefit to you.
Note – For information about turning AutoBase off
using the receiver, see Chapter 6, Configuring the
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Automatically Setting up a Mobile Base Station Using AutoBase Technology
AutoBase Warning
The AutoBase Warning, when enabled, prevents the receiver from creating a new base
station position and begin operating as an RTK base station when no previous base
station position exists that corresponds to the current position of the receiver.
When the AutoBase Warning is on, the receiver will not begin transmitting RTK
corrections from a base position (latitude, longitude, and height) that is not a part of
the GPS site calibration. When the AutoBase Warning is off, the receiver begins
transmitting RTK corrections from a new base position. You need only turn on the
receiver the first time on a point, and you do not need to manually configure the base
station settings.
By default, the receivers have the AutoBase Warning turned on. The receiver uses the
AutoBase Warning setting to control how the receiver performs when different criteria
are met. You can turn the AutoBase Warning on or off using the keypad and display. For
Working with AutoBase technology
This section contains some example scenarios. In each section, there is a step-by-step
process that explains what you will experience in each scenerio.
Scenario One: First visit to a site with AutoBase Warning turned off
The following actions occur when you set up the base station for the first time on a
new point and the AutoBase Warning is turned off:
1. The receiver is powered on.
2. The receiver begins tracking satellites.
3. The receiver determines the current position.
4. The receiver reviews the previous base station positions stored in the receiver.
5. The receiver does not find any base station that corresponds to the current
position.
6. The receiver creates a new base station location for the current location.
7. The receiver sets the antenna height to 0. The antenna height is measured to the
bottom of the antenna mounting.
CAUTION – On each reoccupation of the point, you must ensure that the receiver
antenna is set up in exactly the same location and at exactly the same height. Trimble also
recommends that you use a T-bar or Fixed height tripod so that the position is easy to
re-establish. Failure to achieve the same height position for the antenna results in errors
in heights in subsequent measurements.
C
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Automatically Setting up a Mobile Base Station Using AutoBase Technology
8
Where you set up each time with potentially different antenna heights, Trimble
recommends that on the first setup after AutoBase has completed its process,
that you edit the antenna height (using the receiver keypad and display). The
updated antenna height changes the AutoBase setup, so that on subsequent
setups, when you again change the antenna height, you will get correct height
information during measurement. At the first setup, Trimble recommends that
you change the AutoBase setup and antenna height before you carry out a site
calibration.
8. The receiver begins generating RTK CMR+ corrections.
9. The RTK corrections begin streaming over the internal radio. If there is no
internal radio, the receiver defaults to streaming the corrections on the Lemo
port.
Scenario Two: First visit to a site with AutoBase Warning turned on
The following actions occur when you set up the base station for the first time on a
point, and the AutoBase Warning is turned on:
1. The receiver is powered on.
2. The receiver begins tracking satellites.
3. The receiver determines the current position.
4. The receiver reviews the base positions stored in the receiver.
5. The receiver does not find any base station that corresponds to the current
position.
6. The receiver displays a warning that AutoBase has failed.
7. No RTK corrections are streamed until the base station is set up using the
keypad and display or an SCS900 controller.
Scenario Three: Repeat visit to a site with AutoBase Warning turned off
The following actions occur when you repeat a base station setup on a point, and the
AutoBase Warning is turned off:
1. The receiver is powered on.
2. The receiver begins tracking satellites.
3. The receiver determines the current position.
4. The receiver reviews the base station positions stored in the receiver.
5. The receiver finds a base station position that corresponds to the current
position.
CAUTION – If there are two or more base positions within a 50 meter radius of your
current position, the receiver will make the most recently used base position file active.
C
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8
Automatically Setting up a Mobile Base Station Using AutoBase Technology
6. The antenna type, antenna height and measurement method used in the
previous setup of this base station are applied.
CAUTION – If the antenna height is different to the previous setup, then you must enter
the corrected height for the antenna (using the keypad and display) before starting
measurements. Failure to achieve the correct antenna height position for the antenna
results in errors in heights in subsequent measurements.
C
7. The receiver begins sending RTK CMR+ messages.
8. The RTK corrections begin streaming on the radio or Lemo port in the
application file.
Scenario Four: Repeat visit to a site with AutoBase Warning turned on
The following actions occur when you repeat a base station setup on a point, and the
AutoBase Warning is turned on:
1. The receiver is powered on.
2. The receiver begins tracking satellites.
3. The receiver determines the current position.
4. The receiver reviews the base station positions stored in the receiver.
5. The receiver finds a base station position that corresponds to the current
position.
CAUTION – If there are two or more base positions within a 50 meter radius of your
current position, the receiver will make the most recently created base position file active.
C
6. Since a base station position is found, the AutoBase warning does not appear.
7. The receiver loads the previous base information.
8. The antenna type, antenna height, and measurement method used in the
previous setup of this base station are applied.
CAUTION – If the antenna height is different from the previous setup, then you must
enter the corrected height for the antenna (using the keypad and display) before starting
measurements. Failure to achieve the correct antenna height position for the antenna
results in errors in heights in subsequent measurements.
C
9. The receiver begins generating RTK CMR+ corrections.
10. The RTK corrections begin streaming on the radio or port defined in the
previous setup of this base station.
Note – AutoBase recalls base station positions that are stored in the receiver. If the receiver
has been previously set up on a control point but the stored base station position is not
found in the receiver, it is possible that the information may have accidently been deleted.
In this case, use the display and keypad or the SCS900 system to manually set up the base
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Automatically Setting up a Mobile Base Station Using AutoBase Technology
8
station. Make sure that you use the same base station latitude, longitude, and height as in
the previous setup otherwise you will experience position or height errors in all subsequent
measurements.
Trimble recommends that after any new base station setup, or at the start of each
measurement session, you measure a known point to verify that position and height errors
are within tolerance. This is good practice and it takes just a few seconds to eliminate
potentially gross errors typically associated with repeated daily base station setups.
The AutoBase process
Power On
Receiver
Auto Base
turned on
Auto Base
turned off
Receiver
looks for
application
files
Status last
application
file used
before
Do
application
files exist?
power off.
No
Yes
Is
AutoBase
Warning
On or Off?
Any
application
file that
corresponds
with the
current
position?
On
Off
Display
AutoBase
Warning
No
Yes
Create new
application
file
Is there more
than one
acceptable
application
file?
Save new
application
file with
“Auto” base
name
Yes
No
Make most
recently
created
application
active
Make
Make new
“Auto”
application
file active
corresponding
application
file active
Figure 8.1
Autobase process flowchart
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Automatically Setting up a Mobile Base Station Using AutoBase Technology
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C H A P T E R
9
Default Settings
9
In this chapter:
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.
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9
Default Settings
Default receiver settings
These settings are defined in the default application file.
Function
Factory default
All SVs enabled
10°
SV Enable
General Controls:
Elevation mask
PDOP mask
RTK positioning mode
Motion
7
Low Latency
Kinematic
38,400
Lemo Port:
Baud rate
Format
8-None-1
None
Flow control
Baud rate
Modem Port:
38,400
Format
8-None-1
None
Flow control
Station
Input Setup:
Any
NMEA/ASCII (all supported messages)
Streamed output
All ports Off
All types Off
Offset = 00
RT17/Binary
All ports Off
Reference position: Latitude
Longitude
0°
0°
Altitude
0.00 m HAE (Height above ellipsoid)
Zephyr Geodetic Model 2
0.00 m
Antenna:
Type
Height (true vertical)
Measurement method
Bottom of antenna mount
Resetting the receiver to factory defaults
To reset the receiver to its factory defaults, press E for 35 seconds.
Data Logging option
By default, the Data Logging option is turned off in SPS GPS receivers. If you choose to
log data using a GPS receiver, you must enable the option and acquire suitable GPS
postprocessing software, such as the Trimble Geomatics Office software. For more
information, please contact your Trimble dealer.
Postprocessed GPS data is typically used for control network measurement
applications and precise monitoring. GPS measurement data is collected over a period
of time at a static point or points and then postprocessed to accurately compute
baseline information.
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Default Settings
9
Logging data after a power loss
If power is unexpectedly lost while the receiver is logging data, once power is restored,
the receiver tries to return to the state it was in immediately before the power loss. The
receiver does not reset itself to default settings.
If the receiver was logging data when power was lost, data logging is resumed when
power is provided.
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Default Settings
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10 Specifications
General specifications
Feature
Specification
Keyboard and display
VFD display 16 characters by 2 rows
On/Off key for one button startup using AutoBase technology
Escape and Enter key for menu navigation
4 arrow keys (up, down, left, right) for option scrolls and data entry
Modular GPS receiver
Receiver type
Antenna type
L1/L2/L2C GPS
operations
Zephyr Model 2, GA510
GLONASS operations
Base station
Zephyr Model 2
Zephyr Geodetic Model 2
GA510, Zephyr Model 2
OmniSTAR operations
Also supports legacy Trimble antennas Z+ Choke ring, Zephyr, Zephyr Geodetic,
™
Micro-Centered
.
Physical specifications
Feature
Specification
Dimensions (L x W x H)
Weight
24 cm (9.4 in) x 12 cm (4.7 in) x 5 cm (1.9 in) including connectors
1.65 kg (3.64 lbs) receiver with internal battery and radio
1.55 kg (3.42 lbs) receiver with internal battery and no radio
1
Temperature
Operating
Storage
–40 °C to +65 °C (–40 °F to +149 °F)
–40 °C to +80 °C (–40 °F to +176 °F)
Humidity
MIL-STD 810F, Method 507.4
Waterproof
IP67 for submersion to depth of 1 m (3.30 ft)
Tested and meets the following environmental standards:
Shock and vibration
Shock, non operating
Designed to survive a 1 m (3.3 ft) pole drop onto a hard surface
to 75 g, 6 ms
Shock, operating
Vibration
To 40 g, 10 ms, saw-tooth
Tested to Trimble ATV profile (4.5 g
):
RMS
2
10 Hz – 300 Hz: 0.04 g /Hz
300 Hz – 1,000 Hz; -6 dB/octave
1 Receiver will operate normally to –40 °C. Internal batteries are rated to –20 °C.
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Specifications 10
Performance specifications
Feature
Specification
™
Measurements
•
•
•
Advanced Trimble Maxwell 5 Custom GPS chip
High-precision multiple correlator for L1/L2 pseudo-range measurements
Unfiltered, unsmoothed pseudo-range measurements for low-noise, low
multipath error, low-time domain correclation, and high-dynamic response
•
Very low noise carrier phase measurements with <1 mm precision in a 1 Hz
bandwidth
•
•
•
•
L1/L2 signal-to-noise ratios reported in dB-Hz
Proven Trimble low-elevation tracking technology
™
Trimble EVEREST multipath signal rejection
72-channel L1 C/A Code, L1/L2 Full Cycle Carrier. Upgradable to L2C and
•
•
72-channel L1 C/A Code, L1/L2/L2C Full Cycle Carrier (SPS751/SPS851).
(SPS851)
4-channel SBAS (WAAS, EGNOS, and MSAS corrections)
Code differential GPS
1
positioning
Horizontal accuracy
Vertical accuracy
(0.25 m + 1 ppm) RMS, (0.8 ft + 1 ppm) RMS
(0.50 m + 1 ppm) RMS, (1.6 ft + 1 ppm) RMS
SBAS (WAAS/EGNOS/MSAS)
2
Horizontal accuracy
Typically <1 m (3.3 ft)
Typically <5 m (16.4 ft)
2
Vertical accuracy
OmniSTAR positioning
VBS service accuracy
XP service accuracy
HP service accuracy
Location RTK positioning
Horizontal accuracy
Vertical accuracy
Horizontal <1 m (3.3 ft)
Horizontal 0.2 m (0.66 ft), Vertical 0.3 m (1.0 ft)
Horizontal 0.1 m (0.33 ft), Vertical 0.15 m (0.5 ft)
(0.07 m + 1 ppm) RMS, (0.23 ft +1 ppm) RMS
(0.07 m + 1 ppm) RMS, (0.23 ft +1 ppm) RMS (SPS551)
(0.02 m + 1 ppm) RMS, (0.07 ft +1 ppm) RMS (SPS651)
RTK positioning
Horizontal accuracy
Vertical accuracy
(10 mm + 1 ppm) RMS, (0.032 ft +1 ppm) RMS (SPS751/SPS851)
(20 mm + 1 ppm) RMS, (0.065 ft +1 ppm) RMS (SPS751/SPS851)
0.05° RMS (10 m antenna separation)
Heading accuracy with
additional SPS551, SPS551H,
SPS751, or SPS851
Does not require shore-based corrections for heading solution
Initialization time
Regular RTK operation Single/Multi-base minimum 10 sec + 0.5 times baseline length in km, <30 km
with base station
RTK operation with
Scalable GPS
Typically, <30 seconds anywhere within coverage area (SPS751 Max and SPS851
only).
infrastructure
3
Initialization reliability
Typically >99.9%
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.
3 May be affected by atmospheric conditions, signal multipath, and satellite geometry. Initialization reliability is
continuously monitored to ensure highest quality.
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10 Specifications
Electrical specifications
Feature
Specification
Power
Internal
Integrated internal battery 7.4 V, 7800 mA-hr, Lithium-ion
Internal battery operates as a UPS in the event of external power source
failure
Internal battery will charge from external power source when input
voltage is >15 V
Integrated charging circuitry
Power input on Lemo 7-pin 0-shell is optimized for lead acid batteries with
a cut-off threshold of 10.5 V
External
Power input on the 26-pin D-sub connector is optimized for Trimble
Lithium-ion battery input (P/N 49400) with a cut-off threshold of 9.5 V
Power source supply (Internal/External) is hot-swap capable in the event of
power source removal or cut off
9.5 V to 28 V DC external power input with over-voltage protection
Receiver will automatically turn on when connected to external power
6 W, in rover mode with internal receive radio
Power consumption
8 W in base mode with internal transmit radio
Base station operation times on
internal battery
External radio
14 hours; varies with temperature
10 hours; varies with temperature
9 hours; varies with temperature
1
450 MHz 0.5 W systems
900 MHz 1.0 W systems
Rover operation time on
internal battery
450 MHz 2.0 W systems
900 MHz 1.0 W systems
Regulatory approvals
12 hours; varies with temperature
12 hours; varies with temperature
FCC: Part 15 Subpart B (Class B Device) and Subpart C, Part 90
Industry Canada: ICES-003 (Class B Device), RSS-210, RSS-Gen, RSS-310,
RSS-119
R&TTE Directive: EN 301 489-1/-5/-17, EN 300 440, EN 300 328, EN 300 113,
EN 60950, EN 50371
ACMA: AS/NZS 4295 approval
CE mark compliance
C-tick mark compliance
UN ST/SG/AC.10.11/Rev. 3, Amend. 1 (Li-Ion Battery)
UN ST/SG/AC. 10/27/Add. 2 (Li-Ion Battery)
RoHS compliant (excludes receivers with an internal 900 MHz radio)
WEEE compliant
1If your receiver has the 2.0 W upgrade, you will experience lesser battery performance compared to the 0.5 W
solution.
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Specifications 10
Communication specifications
Feature
Specification
Communications
Port 1 (7-pin 0S Lemo)
Port 2 (26-pin D-sub)
3-wire RS-232/CAN
Full RS-232 (through multi-port adaptor)
3-wire RS-232
1PPS (1 Pulse per second)
USB (On the Go)
Through adaptor cable
Through mutli-port adaptor
Through mutli-port adaptor
Ethernet
1
Bluetooth
Fully-integrated, fully-sealed 2.4 GHz Bluetooth module
Integrated radios (optional)
Fully-integrated, fully-sealed internal 450 MHz (UHF), Tx, Rx,
or Tx/Rx
Fully-integrated, fully-sealed internal 900 MHz, Tx, Rx, or
Tx/Rx
Channel spacing (450 MHz)
12.5 KHz or 25 KHz spacing available
450 MHz transmitter radio power output 0.5 W / 2.0 W (2.0 W upgrade available only in certain
countries)
Frequency approvals (900 MHz)
USA/CAN (-10), New Zealand/Australia (-20), Australia (-30)
900 MHz transmitter radio power output 1.0 W (30 dBm)
External GSM/GPRS, cellular phone support
Supported for direct dial and Internet-based VRS correction
streams
Cellular phone or GSM/GPRS modem inside a TSC2 controller
Receiver position update rate
Correction data input
1 Hz, 2 Hz, 5 Hz, 10 Hz, and 20 Hz positioning (varies by
receiver model)
CMR, CMR+, RTCM 2.0 (select RTCM 2.1), RTCM 2.1–2.3,
RTCM 3.
Correction data output
Data outputs
CMR, CMR+, RTCM 2.0 (select RTCM 2.1), RTCM 2.1–2.3.
NMEA, GSOF, 1PPS Time Tags
1 Bluetooth type approvals are country specific. For more information, contact your local Trimble office or
representative.
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10 Specifications
GPS satellite signal tracking
This table shows the GPS satellite signal tracking capability for each receiver in the
SPSx51 Modular GPS receiver family.
GPS signal type
Class
SPS551 SPS551H SPS651
SPS751
Basic base Basic rover
SPS751
SPS751 SPS851
Max
GPS signals
L1/L2
L2C
9
9
9
9
9
8
9
9
8
9
9
8
9
Optional Optional Optional
9
Optional
L5
8
8
8
GLONASS signals
L1/L2
WAAS
EGNOS
MSAS
XP
Optional Optional Optional
8
8
8
Optional
GPS SBAS corrections
9
9
9
9
9
9
9
9
9
8
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
9
OmniSTAR
corrections
HP
8
VBS
8
Integrated radio options
Except for the SPS551H, all the receiver configurations are available with or without
internal radios with 450 MHz or 900 MHz frequency ranges. The SPS551H is not
available with a radio.
This table shows the radio options available for each receiver in the SPSx51 Modular
GPS receiver family.
Radio option
SPS551 SPS551H SPS651
SPS751
Basic base Basic rover
SPS751
SPS751 SPS851
Max
No radio
9
9
9
9
9
9
8
8
8
8
8
8
9
9
9
9
9
8
9
9
9
9
9
9
9
9
9
9
9
450 MHz Transmit
450 MHz Receive
900 MHz Transmit
900 MHz Receive
8
9
8
9
8
9
9
External 450 MHz Transmit Optional
External 900 MHz Transmit Optional
Optional Optional
Optional Optional
Optional
Optional
Optional Optional
Optional Optional
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Specifications 10
Variable configuration options
This table lists the default options for each receiver in the SPSx51 Modular GPS
receiver family.
Configuration
option
SPS551 SPS551H SPS651 SPS751 SPS751 SPS751 SPS851
Basic
base
Basic
rover
Max
Rover options
Precise horizontal
Precise vertical
Precise heading/vector
Location RTK
–
–
–
–
–
–
–
–
–
–
9
9
9
9
9
–
9
9
9
9
–
9
9
9
9
–
9
–
9
9
–
–
–
9
–
–
RTCM DGPS
9
9
RTK range limit
Base options
Static RTK
2.4 km
2.4 km
None
None
–
–
9
–
–
9
–
–
–
–
9
9
9
9
9
9
Moving Base
9
9
9
9
RTCM DGPS
9
General options
Data logging
–
–
–
–
–
–
–
–
Optional Optional
VRS support
Location
10 Hz
Location
10 Hz
9
9
Max data rate
10 Hz
2 Hz
2 Hz
10 Hz
20 Hz
Upgrading the receiver
You can upgrade the following receivers:
•
SPS751 Basic base or SPS751 Basic rover to the SPS751 Max.
The upgrade changes all standard options to SPS751 Max capability, and
includes the radio option upgrade.
•
•
•
The SPS551, SPS551H, and SPS651 can be upgraded with GLONASS and/or L2C.
The SPS851 can be upgraded with GLONASS and/or L5.
The SPSx51 with 450 MH UHF internal radios can be upgraded to 2 W
transmission power if it is legally allowed in its country of use.
•
The SPS751 Max and SPS851 can be upgraded to allow internal data logging.
When you purchase the receiver upgrade, your Trimble dealer will provide you with a
set of codes to change the receiver configuration. See also Appendix F, Upgrading the
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A P P E N D I X
A
NMEA-0183 Output
A
In this appendix:
This appendix describes the formats of the
subset of NMEA-0183 messages that are available
for output by the receivers. For a copy of the
NMEA-0183 Standard, go to the National Marine
Electronics Association website at
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A
NMEA-0183 Output
NMEA-0183 message overview
When NMEA-0183 output is enabled, a subset of NMEA-0183 messages can be output
to external instruments and equipment connected to the receiver serial ports. These
NMEA-0183 messages let external devices use selected data collected or computed by
the GPS receiver.
All messages conform to the NMEA-0183 version 3.01 format. All begin with $ and end
with a carriage return and a line feed. Data fields follow comma (,) delimiters and are
variable in length. Null fields still follow comma (,) delimiters but contain no
information.
An asterisk (*) delimiter and checksum value follow the last field of data contained in
an NMEA-0183 message. The checksum is the 8-bit exclusive of all characters in the
message, including the commas between fields, but not including the $ and asterisk
delimiters. The hexadecimal result is converted to two ASCII characters (0–9, A–F).
The most significant character appears first.
The following table summarizes the set of NMEA messages supported by the receiver,
and shows the page that contains detailed information about each message.
Message
Function
Page
Time, position, and fix related data
GPS DOP and active satellites
Position error statistics
Number of SVs in view, PRN, elevation, azimuth, and SNR
Heading from True North
Time, yaw, tilt, range, mode, PDOP, and number of SVs for
Moving Baseline RTK
PTNL, BPQ
RMC
Base station position and position quality indicator
Time, position, position type and DOP values
Local coordinate position output
Time, locator vector, type and DOP values
Heading Information
Position, Velocity, and Time
Rate of turn
VTG
Actual track made good and speed over ground
UTC day, month, and year, and local time zone offset
To enable or disable the output of individual NMEA messages, do one of the following:
•
Create an application file in the GPS Configurator software that contains NMEA
output settings and then send the file to the receiver.
•
Add NMEA outputs in the Serial outputs tab of the GPS Configurator software
and then apply the settings. (You cannot use the GPS Configuration software to
load application files to the SPSx51 Modular GPS receivers.)
•
For SPSx51 Modular GPS receivers, set up the NMEA output using the keypad
and display or a web browser.
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NMEA-0183 Output
A
Common message elements
Each message contains:
•
a message ID consisting of $GP followed by the message type. For example, the
message ID of the GGA message is $GPGGA.
•
•
•
•
a comma
a number of fields, depending on the message type, separated by commas
an asterisk
a checksum value
Below is an example of a simple message with a message ID ($GPGGA), followed by 13
fields and a checksum value:
$GPGGA,172814.0,3723.46587704,N,12202.26957864,W,2,6,1.2,18.893,M,-
25.669,M,2.0,0031*4F
Message values
NMEA messages that the receiver generates contains the following values.
Latitude and longitude
Latitude is represented as ddmm.mmmm and longitude is represented as
dddmm.mmmm, where:
•
•
dd or ddd is degrees
mm.mmmm is minutes and decimal fractions of minutes
Direction
Direction (north, south, east, or west) is represented by a single character: N, S, E, or W.
Time
Time values are presented in Universal Time Coordinated (UTC) and are represented
as hhmmss.cc, where:
•
•
•
•
hh is hours, from 00 through 23
mm is minutes
ss is seconds
cc is hundredths of seconds
NMEA messages
When NMEA-0183 output is enabled, the following messages can be generated.
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A
NMEA-0183 Output
GGA
Time, Position, and Fix Related Data
message fields.
Note – The following data string exceeds the NMEA standard length.
$GPGGA,172814.0,3723.46587704,N,12202.26957864,W,
2,6,1.2,18.893,M,-25.669,M,2.0,0031*4F
Table A.1
GGA message fields
Field
Meaning
0
1
2
3
Message ID $GPGGA
UTC of position fix
Latitude
Direction of latitude:
N: North
S: South
4
5
Longitude
Direction of longitude:
E: East
W: West
6
GPS Quality indicator:
0: Fix not valid
1: GPS fix
2: Differential GPS fix, OmniSTAR VBS
4: Real-Time Kinematic, fixed integers
5: Real-Time Kinematic, float integers, OmniSTAR XP/HP or Location RTK
7
Number of SVs in use, range from 00 through 12
HDOP
8
9
Orthometric height (MSL reference)
M: unit of measure for orthometric height is meters
Geoid separation
10
11
12
13
M: geoid separation is measured in meters
Age of differential GPS data record, Type 1 or Type 9. Null field when DGPS is
not used.
14
Reference station ID, ranging from 0000 through 1023. A null field when any
reference station ID is selected and no corrections are received .
1
15
The checksum data, always begins with *
1When using OmniSTAR services, ID=100 for OmniSTAR VBS, ID=1000 for OmniSTAR HP, and ID=1008
for OmniSTAR XP.
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NMEA-0183 Output
A
GSA
GPS DOP and active satellites
message fields.
$GPGSA,<1>,<2>,<3>,<3>,,,,,<3>,<3>,<3>,<4>,<5>,<6>*<7><CR><LF>
Table A.2
GSA message fields
Field
Meaning
0
1
Message ID $GPGSA
Mode 1, M = manual, A = automatic
2
3
4
5
6
7
Mode 2, Fix type, 1 = not available, 2 = 2D, 3 = 3D
PRN number, 01 through 32, of satellite used in solution, up to 12 transmitted
PDOP-Position dilution of precision, 0.5 through 99.9
HDOP-Horizontal dilution of precision, 0.5 through 99.9
VDOP-Vertical dilution of precision, 0.5 through 99.9
The checksum data, always begins with *
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A
NMEA-0183 Output
GST
Position Error Statistics
message fields.
$GPGST,172814.0,0.006,0.023,0.020,273.6,0.023,0.020,0.031*6A
Table A.3
GST message fields
Field
Meaning
0
1
2
Message ID $GPGST
UTC of position fix
RMS value of the pseudorange residuals; includes carrier phase residuals during
periods of RTK(float) and RTK(fixed) processing
3
4
5
6
7
8
9
Error ellipse semi-major axis 1 sigma error, in meters
Error ellipse semi-minor axis 1 sigma error, in meters
Error ellipse orientation, degrees from true north
Latitude 1 sigma error, in meters
Longitude 1 sigma error, in meters
Height 1 sigma error, in meters
The checksum data, always begins with *
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NMEA-0183 Output
A
GSV
Satellite Information
The GSV message string identifies the number of SVs in view, the PRN numbers,
elevations, azimuths, and SNR values. An example of the GSV message string is shown
$GPGSV,4,1,13,02,02,213,,03,-3,000,,11,00,121,,14,13,172,05*67
Table A.4
GSV message fields
Field
Meaning
0
Message ID $GPGSV
1
Total number of messages of this type in this cycle
Message number
2
3
Total number of SVs visible
4
SV PRN number
5
Elevation, in degrees, 90° maximum
Azimuth, degrees from True North, 000° through 359°
SNR, 00–99 dB (null when not tracking)
Information about second SV, same format as fields 4 through 7
Information about third SV, same format as fields 4 through 7
Information about fourth SV, same format as fields 4 through 7
The checksum data, always begins with *
6
7
8–11
12–15
16–19
20
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A
NMEA-0183 Output
HDT
Heading from True North
$GPHDT,123.456,T*00
Table A.5
Heading from true north fields
Field
Meaning
0
1
2
3
Message ID $GPHDT
Heading in degrees
T: Indicates heading relative to True North
The checksum data, always begins with *
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NMEA-0183 Output
A
PTNL,AVR
Time, Yaw, Tilt, Range for Moving Baseline RTK
fields.
$PTNL,AVR,181059.6,+149.4688,Yaw,+0.0134,Tilt,,,60.191,3,2.5,6*00
Table A.6
AVR message fields
Field
Meaning
0
1
2
3
4
5
6
7
8
9
Message ID $PTNL,AVR
UTC of vector fix
Yaw angle in degrees
Yaw
Tilt angle in degrees
Tilt
Reserved
Reserved
Range in meters
GPS quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential carrier phase solution RTK (Float)
3: Differential carrier phase solution RTK (Fix)
4: Differential code-based solution, DGPS
10
11
12
PDOP
Number of satellites used in solution
The checksum data, always begins with *
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A
NMEA-0183 Output
PTNL,BPQ
Base station position and quality indicator
This message describes the base station position and its quality. It is used when the
moving base antenna position and quality are required on one serial port (along with a
heading message) from a receiver in heading mode, typically the SPS551H.
fields.
$PTNL,BPQ,224445.06,021207,3723.09383914,N,12200.32620132,W,EHT-5.923,
M,5*
Table A.7
BPQ message fields
Field
Meaning
Talker ID
BPQ
0
1
2
UTC time of position fix, in hhmmss.ss format. Hours must be two numbers, so
may be padded, for example, 7 is shown as 07.
3
UTC date of position fix, in ddmmyy format. Day must be two numbers, so may
be padded, for example, 8 is shown as 08.
4
5
Latitude, in degrees and decimal minutes (ddmm.mmmmmmm)
Direction of latitude:
N: North
S: South
6
7
Longitude, in degrees and decimal minutes (dddmm.mmmmmmm). Should
contain 3 digits of ddd.
Direction of longitude:
E: East
W: West
8
Height
Ellipsoidal height of fix (antenna height above ellipsoid). Must start with EHT.
9
M: ellipsoidal height is measured in meters
10
GPS quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential SBAS, or OmniSTAR VBS
4: RTK Fixed
5: OmniSTAR XP, OmniSTAR HP, Float RTK, or Location RTK
11
The checksum data, always begins with *
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NMEA-0183 Output
A
PTNL,GGK
Time, Position, Position Type, DOP
message fields.
$PTNL,GGK,453049.0,0,3728.455440850,N,12215.253291068,W,3,9,2.0,EHT35.742
4,M*
Table A.8
PTNL,GGK message fields
Field
Meaning
0
1
2
Talker ID $PTNL
Message ID GGK
UTC time of position fix, in hhmmmss.ss format. Hours must be two numbers,
so may be padded, for example, 7 is shown as 07.
3
UTC date of position fix, in ddmmyy format. Day must be two numbers, so may
be padded, for example, 8 is shown as 08.
4
5
Latitude, in degrees and decimal minutes (dddmm.mmmmmmm)
Direction of latitude:
N: North
S: South
6
7
Longitude, in degrees and decimal minutes (dddmm.mmmmmmm). Should
contain three digits of ddd.
Direction of longitude:
E: East
W: West
8
GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: RTK float solution
3: RTK fix solution
4: Differential, code phase only solution (DGPS)
5: SBAS solution – WAAS, EGNOS, MSAS
6: RTK float or RTK location 3D Network solution
7: RTK fixed 3D Network solution
8: RTK float or RTK location 2D in a Network solution
9: RTK fixed 2D Network solution
10: OmniSTAR HP/XP solution
11: OmniSTAR VBS solution
12: Location RTK solution
9
Number of satellites in fix
10
11
12
Ellipsoidal height of fix (antenna height above ellipsoid). Must start with EHT.
M: ellipsoidal height is measured in meters
The checksum data, always begins with *
Note – The PTNL,GGK message is longer than the NMEA-0183 standard of 80 characters.
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A
NMEA-0183 Output
PTNL,PJK
Local Coordinate Position Output
message fields.
$PTNL,PJK,010717.00,081796,+732646.511,N,+1731051.091,E,1,05,2.7,EHT-
28.345,M*7C
Table A.9
PTNL,PJK message fields
Field
Meaning
0
1
2
3
4
5
6
7
Message ID $PTNL,PJK
UTC of position fix
Date
Northing, in meters
Direction of Northing will always be N (North)
Easting, in meters
Direction of Easting will always be E (East)
GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: RTK float solution
3: RTK fix solution
4: Differential, code phase only solution (DGPS)
5: SBAS solution – WAAS, EGNOS, MSAS
6: RTK Float 3D network solution
7: RTK Fixed 3D network solution
8: RTK Float 2D network solution
9: RTK Fixed 2D network solution
10: OmniSTAR HP/XP solution
11: OmniSTAR VBS solution
8
Number of satellites in fix
9
DOP of fix
10
11
12
Ellipsoidal height of fix
M: ellipsoidal height is measured in meters
The checksum data, always begins with *
Note – The PTNL,PJK message is longer than the NMEA-0183 standard of 80 characters.
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NMEA-0183 Output
A
PTNL,VGK
Vector Information
message fields.
$PTNL,VGK,160159.00,010997,-0000.161,00009.985,-0000.002,3,07,1,4,M*0B
Table A.10 PTNL,VGK message fields
Field
Meaning
0
1
2
3
4
5
6
Message ID $PTNL,VGK
UTC of vector in hhmmss.ss format
Date in mmddyy format
East component of vector, in meters
North component of vector, in meters
Up component of vector, in meters
GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: RTK float solution
3: RTK fix solution
4: Differential, code phase only solution (DGPS)
5: SBAS solution – WAAS, EGNOS, MSAS
6: RTK Float 3D network solution
7: RTK Fixed 3D network solution
8: RTK Float 2D network solution
9: RTK Fixed 2D network solution
10: OmniSTAR HP/XP solution
11: OmniSTAR VBS solution
7
Number of satellites if fix solution
DOP of fix
8
9
M: Vector components are in meters
The checksum data, always begins with *
10
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A
NMEA-0183 Output
PTNL,VHD
Heading Information
message fields.
$PTNL,VHD,030556.00,093098,187.718,-22.138,-76.929,-
5.015,0.033,0.006,3,07,2.4,M*22
Table A.11 PTNL,VHD message fields
Field
Meaning
0
1
2
3
4
5
6
7
8
9
Message ID $PTNL,VHD
UTC of position in hhmmss.ss format
Date in mmddyy format
Azimuth
ΔAzimuth/ΔTime
Vertical Angle
ΔVertical/ΔTime
Range
ΔRange/ΔTime
GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: RTK float solution
3: RTK fix solution
4: Differential, code phase only solution (DGPS)
5: SBAS solution – WAAS, EGNOS, MSAS
6: RTK Float 3D network solution
7: RTK Fixed 3D network solution
8: RTK Float 2D network solution
9: RTK Fixed 2D network solution
10: OmniSTAR HP/XP solution
11: OmniSTAR VBS solution
10
11
12
Number of satellites used in solution
PDOP
The checksum data, always begins with *
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NMEA-0183 Output
A
RMC
Position, Velocity, and Time
$GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A
Table A.12 GPRMC message fields
Field
Meaning
0
1
2
3
4
5
6
7
8
9
Message ID $GPRMC
UTC of position fix
Status A=active or V=void
Latitude
Longitude
Speed over the ground in knots
Track angle in degrees (True)
Date
Magnetic variation in degrees
The checksum data, always begins with *
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A
NMEA-0183 Output
ROT
Rate and Direction of Turn
$GPROT,35.6,A*4E
Table A.13 ROT message fields
Field
Meaning
0
1
2
Message ID $GPROT
Rate of turn, degrees/minutes, "–" indicates bow turns to port
A: Valid data
V: Invalid data
3
The checksum data, always begins with *
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NMEA-0183 Output
A
VTG
Track Made Good and Speed Over Ground
message fields.
$GPVTG,,T,,M,0.00,N,0.00,K*4E
Table A.14 VTG message fields
Field
Meaning
0
1
2
3
4
5
6
7
8
9
Message ID $GPVTG
Track made good (degrees true)
T: track made good is relative to true north
Track made good (degrees magnetic)
M: track made good is relative to magnetic north
Speed, in knots
N: speed is measured in knots
Speed over ground in kilometers/hour (kph)
K: speed over ground is measured in kph
The checksum data, always begins with *
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A
NMEA-0183 Output
ZDA
UTC Day, Month, And Year, and Local Time Zone Offset
message fields.
$GPZDA,172809,12,07,1996,00,00*45
Table A.15 ZDA message fields
Field
Meaning
0
1
2
3
4
5
6
7
Message ID $GPZDA
UTC
Day, ranging between 01 and 31
Month, ranging between 01 and 12
Year
Local time zone offset from GMT, ranging from 00 through 13 hours
Local time zone offset from GMT, ranging from 00 through 59 minutes
The checksum data, always begins with *
Fields 5 and 6 together yield the total offset. For example, if field 5 is –5 and field 6 is
+15, local time is 5 hours and 15 minutes earlier than GMT.
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A P P E N D I X
B
GSOF Messages
B
In this appendix:
This appendix provides information on the
General Serial Output Format (GSOF) messages.
GSOF messages are a Trimble proprietary format
and can be used to send information such as
position and status to a third-party device.
For information on how to output GSOF
messages, see Chapter 6, Configuring the
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B
GSOF Messages
Supported message types
This table summarizes the GSOF messages that are supported by the receiver, and
shows the page that contains detailed information about each message.
Message
Description
Page
Position time
Latitude, longitude, height
Earth-Centered, Earth-Fixed position
Earth-Centered, Earth-Fixed Delta position
Tangent Plane Delta
Velocity data
PDOP info
Position Sigma info
SV Brief info
SV Detailed info
Current UTC time
BATT/MEM
ATTITUDE
Receiver battery and memory status
Attitude info
Base station position and its quality
General Serial Output Format
Table B.1
Report packet 40h structure (GENOUT)
Byte
Item
Type
Value
Meaning
0
1
2
3
4
STX
CHAR 02h
Start transmission.
STATUS
PACKET TYPE
LENGTH
CHAR 40h
CHAR 00h–FAh
CHAR
Report Packet 40h (GENOUT).
Data byte count.
TRANSMISSION
NUMBER
Unique number assigned to a group
of record packet pages. Prevents
page mismatches when multiple sets
of record packets exist in output
stream.
5
6
PAGE INDEX
CHAR 00h–FFh
Index of current packet page.
MAX PAGE INDEX CHAR 00h–FFh
Maximum index of last packet in one
group of records.
One or more GSOF messages
Output record
type
CHAR 01h
CHAR 0Ah
For example, Time (Type 1 Record).
Bytes in record.
Record length
Various fields depending on Output record type
There can be multiple records in one GENOUT packet. There could be multiple GENOUT
packets per epoch. Records may be split over two consecutive packets.
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GSOF Messages
B
Table B.1
Report packet 40h structure (GENOUT)
Byte
Item
Type
Value
Meaning
Length + 4 CHECKSUM
–
–
–
(Status + type + length + data bytes)
modulo 256
Length + 5 ETX (03h)
–
End transmission
Each message begins with a 4-byte header, followed by the bytes of data in each packet.
The packet ends with a 2-byte trailer. Byte 3 is set to 0 (00h) when the packet contains
no data. Most data is transmitted between the receiver and remote device in binary
format.
Table B.2
Receiver Status code
Byte
Message
Description
number
Bit 0
1
Reserved
Bit 1
1
Low battery
Reserved
Bit 2–7
0–63
Reading binary values
The receivers store numbers in Motorola format. The byte order of these numbers is
the opposite of what personal computers (PCs) expect (Intel format). To supply or
interpret binary numbers (8-byte DOUBLES, 4-byte LONGS, and 2-byte INTEGERS), the
byte order of these values must be reversed. This section contains a detailed
description of the Motorola format.
INTEGER data types
The INTEGER data types (CHAR, SHORT, and LONG) can be signed or unsigned. By
default, they are unsigned. All integer data types use two’s complement representation.
The following table lists the integer data types.
Type
# of bits
Range of values (Signed)
–128 to 127
(Unsigned)
0 to 255
CHAR
SHORT
LONG
8
16
32
–32768 to 32767
0 to 65535
–2147483648 to 2147483647
0 to 4294967295
FLOATING-POINT data types
Floating-point data types are stored in the IEEE SINGLE and DOUBLE precision formats.
Both formats have a sign bit field, an exponent field, and a fraction field. The fields
represent floating-point numbers in the following manner:
Floating-Point Number = <sign> 1.<fraction field> x 2(<exponent field> - bias)
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B
GSOF Messages
•
•
Sign bit field
The sign bit field is the most significant bit of the floating-point number. The
sign bit is 0 for positive numbers and 1 for negative numbers.
Fraction field
The fraction field contains the fractional part of a normalized number.
Normalized numbers are greater than or equal to 1 and less than 2. Since all
normalized numbers are of the form 1.XXXXXXXX, the 1 becomes implicit and
is not stored in memory. The bits in the fraction field are the bits to the right of
the binary point, and they represent negative powers of 2.
For example:
0.011 (binary) = 2-2 + 2-3 = 0.25 + 0.125 = 0.375
Exponent field
•
The exponent field contains a biased exponent; that is, a constant bias is
subtracted from the number in the exponent field to yield the actual exponent.
(The bias makes negative exponents possible.)
If both the exponent field and the fraction field are zero, the floating-point
number is zero.
•
NaN
A NaN (Not a Number) is a special value which is used when the result of an
operation is undefined. For example, adding positive infinity to negative infinity
results in a NaN.
FLOAT data type
The FLOAT data type is stored in the IEEE single-precision format which is 32 bits long.
The most significant bit is the sign bit, the next 8 most significant bits are the exponent
field, and the remaining 23 bits are the fraction field. The bias of the exponent is 127.
The range of single-precision format values is from 1.18 x 10–38 to 3.4 x 1038. The
floating-point number is precise to 6 decimal digits.
31
30
23 22
Fraction
0
S
Exp. + Bias
0 000 0000 0 000 0000 0000 0000 0000 0000 = 0.0
0 011 1111 1 000 0000 0000 0000 0000 0000 = 1.0
1 011 1111 1 011 0000 0000 0000 0000 0000 = -1.375
1 111 1111 1 111 1111 1111 1111 1111 1111 = NaN
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GSOF Messages
B
DOUBLE
The DOUBLE data type is stored in the IEEE double-precision format which is 64 bits
long. The most significant bit is the sign bit, the next 11 most significant bits are the
exponent field, and the remaining 52 bits are the fractional field. The bias of the
exponent is 1023. The range of single precision format values is from 2.23 × 10–308 to
1.8 × 10308. The floating-point number is precise to 15 decimal digits.
63
62
52 51
Fraction
0
S
Exp. + Bias
0 000 0000 0000 0000 0000 ... 0000 0000 0000 = 0.0
0 011 1111 1111 0000 0000 ... 0000 0000 0000 = 1.0
1 011 1111 1110 0110 0000 ... 0000 0000 0000 = -0.6875
1 111 1111 1111 1111 1111 ... 1111 1111 1111 = NaN
GSOF message definitions
When GSOF output is enabled, the following messages can be generated.
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B
GSOF Messages
TIME
This message describes position time information. It contains the following data:
•
•
•
•
GPS time, in milliseconds of GPS week
GPS week number
Number of satellites used
Initialization counter
Table B.3
Time (Type 1 record)
Type
Field Item
Value
01h
Meaning
0
Output record type
Char
Char
Long
Short
Char
Position time output record
Bytes in record
1
Record length
0Ah
2–5
6–7
8
GPS time (ms)
msecs
number
00h-0Ch
GPS time, in milliseconds of GPS week
GPS week count since January 1980
GPS week number
Number of SVs used
Number of satellites used to determine the
position (0-12)
9
Position flags 1
Position flags 2
Initialized number
Char
Char
Char
See Table B.17
See Table B.18
00h-FFh
Reports first set of position attribute flag
values
10
11
Reports second set of position attribute flag
values
Increments with each initialization (modulo
256)
LLH
This message describes latitude, longitude, and height. It contains the following data:
•
•
WGS-84 latitude and longitude, in radians
WGS-84 height, in meters
Table B.4
Latitude, longitude, height (Type 2 record)
Field
0
Item
Type
Value
02h
Meaning
Output record type Char
Latitude, longitude, and height output record
Bytes in record
1
Record length
Latitude
Char
18h
2–9
Double Radians
Double Radians
Double Meters
Latitude from WGS-84 datum
Longitude from WGS-84 datum
Height from WGS-84 datum
10–17 Longitude
18–25 Height
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GSOF Messages
B
ECEF
This message describes the ECEF position. It contains the following data:
Earth-Centered, Earth-Fixed X, Y, Z coordinates, in meters
•
Table B.5
ECEF position (Type 3 record)
Item Type Value
Output record type Char
Field
Meaning
0
03h
Earth-Centered, Earth-Fixed (ECEF) position output
record
1
Record length
Char
18h
Bytes in record
2–9
X
Y
Z
Double Meters
Double Meters
Double Meters
WGS-84 ECEF X-axis coordinate
WGS-84 ECEF Y-axis coordinate
WGS-84 ECEF Z-axis coordinate
10–17
18–25
ECEF DELTA
This message describes the ECEF Delta position. It contains the following data:
Earth-Centered, Earth-Fixed X, Y, Z deltas between the rover and base position,
in meters.
•
Table B.6
ECEF Delta (Type 6 record)
Item Type Value
Output record type Char
Field
0
Meaning
06h
18h
Earth-Centered, Earth-Fixed (ECEF) Delta output record
Bytes in record
1
Record length
Delta X
Char
2–9
Double Meters
Double Meters
Double Meters
ECEF X-axis delta between rover and base station
positions
10–17 Delta Y
18–25 Delta Z
ECEF Y-axis delta between rover and base station
positions
ECEF Z-axis delta between rover and base station
positions
NEU DELTA
This message contains Tangent Plane Delta information. It contains the following
data:
•
North, East, and Up deltas of the vector from the base to the rover (in meters)
projected onto a plane tangent to the WGS-84 ellipsoid at the base receiver.
Note – These records are only output if a valid DGPS/RTK solution is computed.
Table B.7
NEU Delta (Type 7 record)
Field
Item
Output record type Char
Record length Char
Type
Value
07h
Meaning
0
1
Tangent Plane Delta output record
Bytes in record
18h
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B
GSOF Messages
Table B.7
NEU Delta (Type 7 record)
Field
Item
Type
Value
Meaning
2–9
Delta east
Double meters
East component of vector from base station to rover,
projected onto a plane tangent to the WGS-84 ellipsoid
at the base station
10–17 Delta north
18–25 Delta up
Double meters
Double meters
North component of tangent plane vector
Difference between ellipsoidal height of tangent plane
at base station and a parallel plane passing through
rover point
Velocity
This message provides velocity information. It contains the following data:
•
•
•
Horizontal velocity, in meters per second
Vertical velocity, in meters per second
Heading, in radians, referenced to WGS-84 True North
Table B.8
Velocity (Type 8 record)
Field
0
Item
Type
Value
Meaning
Output record type Char
08h
Velocity data output record
Bytes in record
1
Record length
Velocity flags
Speed
Char
Char
Float
Float
Float
0Dh
2
See Table B.20
Meters per second
Radians
Velocity status flags
Horizontal speed
3–6
7–10
Heading
True north heading in the WGS-84 datum
Vertical velocity
11–14 Vertical velocity
Meters per second
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GSOF Messages
B
PDOP
This message describes the PDOP information. It contains the following data:
•
•
•
•
PDOP
HDOP
VDOP
TDOP
Table B.9
PDOP (Type 9 record)
Field
0
Item
Type
Value
09h
Meaning
Output record type Char
PDOP information output record
Bytes in record
1
Record length
PDOP
Char
Float
Float
Float
Float
10h
2–5
6–9
Positional Dilution of Precision
Horizontal Dilution of Precision
Vertical Dilution of Precision
Time Dilution of Precision
HDOP
10–13 VDOP
14–17 TDOP
SIGMA
This message describes the Position Sigma information. It contains the following data:
•
•
•
•
•
•
•
•
•
•
Position RMS
Sigma east, in meters
Sigma north, in meters
Sigma up, in meters
Covariance east-north
Error Ellipse Semi-major axis, in meters
Error Ellipse Semi-minor axis, in meters
Orientation of Semi-major axis in degrees from True North
Unit variance
Number of epochs
Table B.10
Sigma (Type 12 record)
Field
0
Item
Type
Value
0Ch
Meaning
Output record type Char
Position sigma information output record
Bytes in record
1
Record length
Position RMS
Char
Float
26h
2–5
Root means square of position error calculated
for overdetermined positions
6–9
Sigma east
Float
Float
Float
Meters
Meters
number
10–13 Sigma north
14–17 Covar. east-north
Covariance east-north (dimensionless)
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B
GSOF Messages
Table B.10
Sigma (Type 12 record) (continued)
Field
Item
Type
Float
Float
Float
Float
Value
Meaning
18–21 Sigma up
Meters
Meters
Meters
degrees
22–25 Semi-major axis
26–29 Semi-minor axis
30–33 Orientation
Semi-major axis of error ellipse
Semi-minor axis of error ellipse
Orientation of semi-minor axis, clockwise from
True North
34–37 Unit variance
Float
Valid only for over-determined solutions. Unit
variance should approach 1.0 value. A value of
less than 1.0 indicates that apriori variances are
too pessimistic.
30–39 Number of epochs short
count
Number of measurement epochs used to
compute the position. Could be greater than 1
for positions subjected to static constraint.
Always 1 for kinematic.
SV Brief
This message provides brief satellite information. It contains the following data:
•
•
•
Number of satellites tracked
The PRN number of each satellite
Flags indicating satellite status
Table B.11
SV brief (Type 13 record)
Type Value
Field Item
Meaning
0
1
2
Output record type Char
0Dh
Brief satellite information output record
Bytes in record
Record length
Number of SVs
Char
Char
1
00h-18h
Number of satellites included in record
The following bytes are repeated for Number of SVs
PRN
Char
Char
Char
01h-20h
Pseudorandom number of satellites (1-32)
First set of satellite status bits
SV Flags1
SV Flags2
Second set of satellite status bits
1
Includes all tracked satellites, all satellites used in the position solution, and all satellites in view.
SV Detail
This message provides detailed satellite information. It contains the following data:
•
•
•
•
•
Number of satellites tracked
The PRN number of each satellite
Flags indicating satellite status
Elevation above horizon, in degrees
Azimuth from True North, in degrees
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GSOF Messages
B
•
•
Signal-to-noise ratio (SNR) of L1 signal
Signal-to-noise ratio (SNR) of L2 signal
Table B.12
SV detail (Type 14 record)
Field
Item
Type
Value
0Eh
Meaning
Detailed satellite information output record
0
Output record
type
Char
1
Record length
Number of SVs
Char
Char
1 + 8×(number of SVs) Bytes in record
00h-18h Number of satellites included in record
1
2–9
The following bytes are repeated for Number of SVs
PRN
Char
Char
Char
Char
Short
Char
01h-20h
Pseudorandom number of satellites (1–32)
First set of satellite status bits
Flags1
See Table B.21
See Table B.22
Degrees
Flags2
Second set of satellite status bits
Elevation
Azimuth
SNR L1
Angle of satellite above the horizon
Azimuth of satellite from True North
Signal-to-noise ratio of L1 signal (multiplied
Degrees
dB * 4
2
by 4)
SNR L2
Char
dB * 4
Signal-to-noise ratio of L2 signal (multiplied
by 4)
2
1Includes all tracked satellites, all satellites used in the position solution, and all satellites in view.
2THe SNR L1 and SNR L2 items are set to zero for satellites that are not tracked on the current frequency.
UTC
This message describes current time information. It contains the following data:
•
•
•
GPS time, in milliseconds of GPS week
GPS week number
GPS to UTC time offset, in seconds
Table B.13
UTC (Type 16 record)
Item Type Value
Output record type Char
Record length Char
Field
0
Meaning
10h
09h
1
Bytes in record
2–5
GPS millisecond of Long msecs
week
Time when packet is sent from the receiver, in GPS
milliseconds of week
6–7
8–9
10
GPS week number Short number
Week number since start of GPS time
GPS to UTC time offset
UTC offset
Flags
Short seconds
Char
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B
GSOF Messages
Batt/Mem
This message provides information relating to the receiver battery and memory. It
contains the following data:
•
•
Remaining battery power
Remaining memory
Table B.14
Batt/Mem (Type 37 record)
Field
0
Item
Type
Value
25h
Meaning
Output record type Char
1
Record length
Char
0Ah
Bytes in record
2–3
4–11
Battery capacity
Unsigned short percentage
Remaining battery capacity in percentage
Remaining memory Double
hours
Estimated remaining data logging time in
hours
Attitude
This message provides attitude information relating to the vector between the Heading
antenna and the Moving Base antenna. It contains the following data:
•
Tilt or vertical angle, in radians, from the Heading antenna to the Moving Base
antenna relative to a horizontal plane through the Heading antenna
•
•
Heading or yaw, in radians, relative to True North
Range or slope distance between the Heading antenna and the Moving Base
antenna
Table B.15
Attitude (Type 27 record)
Field
Item
Type
Value
1Bh
Meaning
0
Output record type Char
Attitude information
Bytes in record
1
Record length
GPS time
Flags
Char
Long
Char
2Ah
2–5
6
msecs
GPS time in milliseconds of GPS week
00h-0Ch Number of satellites used to calculate attitude
7
Number of SVs used Char
8
Calculation mode
Reserved
Char
Reserved
9
10–17 Tilt
18–25 Yaw
Double radians
Double radians
Tilt relative to horizontal plane
Rotation about the vertical axis relative to True
North
26–33 Reserved
34–41 Range
42–43 PDOP
Reserved
Double meters
Distance between antennas
Position Dilution of Precision
Short
0.1
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GSOF Messages
B
BASE POSITION AND QUALITY INDICATOR
This message describes the base station position and its quality. It is used when the
moving base antenna position and quality are required on one serial port (along with a
heading message) from a receiver in heading mode, typically the SPS551H.
Table B.16
Base position and quality indicator (Type 41 record)
Field Item
Type
Char
Value
01h
Meaning
0
Output record type
Position time output record
Bytes in record
1
Record length
GPS time (ms)
GPS week number
Latitude
Char
0Ah
2–5
6–7
8
Long
Short
Double
msecs
number
Radians
GPS time, in milliseconds of GPS week
GPS week count since January 1980
The WGS-84 latitude, in radians, of the
moving base antenna
9
Longitude
Double
Double
Char
Radians
The WGS-84 longitude, in radians, of the
moving base antenna
10
11
Height
Meters
The WGS-84 height, in meters, of the moving
base antenna
Quality indicator
See Table B.16
The quality of the base station position:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential SBAS or OmniSTAR VBS
4: RTK Fixed
5: OmniSTAR XP, OmniSTAR HP, Float RTK,
or Location RTK
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B
GSOF Messages
Flags
Table B.17
Position flags 1: bit values
Bit
Meaning
0
New position
0: No. 1: Yes.
1
2
3
4
5
6
7
Clock fix calculated for current position
0: No. 1: Yes.
Horizontal coordinates calculated this position
0: No. 1: Yes.
Height calculated this position
0: No. 1: Yes.
Weighted position
0: No. 1: Yes.
Overdetermined position
0: No. 1: Yes.
Ionosphere-free position
0: No. 1: Yes.
Position uses filtered L1 pseudoranges
0: No. 1: Yes.
Table B.18
Position flags 2: bit values
Bit
Meaning
0
Differential position
0: Differential position is an autonomous or a WAAS solution.
1: Position is a differential solution.
1
2
Differential position method
0: Code
1: Phase including RTK, HP or XP OmniSTAR (VBS is not derived from Phase).
Differential position method
0: Code (DGPS) or a float position (RTK). Uncorrected position is Autonomous
(if bit 0 = 0).
1: Position is fixed integer phase position (RTK). Uncorrected position is WAAS
(if bit 0 = 0).
3
OmniSTAR solution
0: Not active
1: OmniSTAR differential solution (including HP, XP, and VBS)
4
5
6
7
Position determined with static as a constraint
0: No. 1: Yes.
Position is network RTK solution
0: No. 1: Yes.
Position is Location RTK
0: No. 1: Yes.
Reserved (set to zero)
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GSOF Messages
B
Table B.19
Flags: Bit values
Bit
Meaning
0
Time information (week and millisecond of week) validity
0: Not valid
1: Valid
1
UTC offset validity
0: Not valid
1: Valid
Table B.20
Velocity flags: Bit values
Bit
Meaning
0
Velocity data validity
0: Not valid
1: Valid
1
Velocity computation
0: Computed from doppler
1: Computed from consecutive measurements
2–7
Reserved (set to zero)
Table B.21
SV flags: 1 bit values
Bit
Meaning
0
Satellite Above Horizon
0: No. 1: Yes.
1
2
3
4
5
6
7
Satellite Currently Assigned to a Channel (trying to track)
0: No. 1: Yes.
Satellite Currently Tracked on L1 Frequency
0: No. 1: Yes.
Satellite Currently Tracked on L2 Frequency
0: No. 1: Yes.
Satellite Reported at Base on L1 Frequency
0: No. 1: Yes.
Satellite Reported at Base on L2 Frequency
0: No. 1: Yes.
Satellite Used in Position
0: No. 1: Yes.
Satellite Used in Current RTK Process (Search, Propagate, Fix Solution)
0: No. 1: Yes.
Table B.22
SV flags: 2 bit value
Bit
Meaning
0
Satellite Tracking P-Code on L1 Band
0: No. 1: Yes.
1
Satellite Tracking P-Code on L2 Band
0: No. 1: Yes.
2–7
Reserved. Set to zero.
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B
GSOF Messages
Table B.23
Attitude flags
Bit
Meaning
0
Calibrated
0: No. 1: Yes.
1
2
Tilt valid
0: No. 1: Yes.
Yaw valid
0: No. 1: Yes.
3
4
Reserved
Range valid
0: No. 1: Yes.
5–7
Reserved
Table B.24
Attitude calculation flags
Bit
Meaning
0
0: No position
1: Autonomous position
2: RTK/Float position
3: RTK/Fix position
4: DGPS position
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A P P E N D I X
C
Adding Internal Radio Frequencies
C
In this appendix:
If you have the optional internal 450 MHz radio
in your GPS receiver, use the WinFlash utility to
add the relevant receive frequencies to the
default list of frequencies. To install the WinFlash
You can also use the web interface to add and
manage receive 450 MHz frequencies.
If you have a receiver with the transmit option,
Trimble must specify and configure the
(FCC-approved) transmit broadcast frequencies
at the factory. You cannot configure these
yourself. If extra Transmit frequencies are
obtained once you have your receiver, then
contact your local Trimble authorized dealer to
have the extra frequencies added. The dealer will
provide you with a Set file, which you can transfer
to the receiver using the WinFlash utility.
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C
Adding Internal Radio Frequencies
Adding receive frequencies for the 450 MHz internal radio
1. Start the WinFlash utility. The Device Configuration screen appears.
2. From the Device type list, select the appropriate receiver.
3. From the PC serial port field, select the serial (COM) port on the computer that
the receiver is connected to.
4. Click Next. The Operation Selection dialog appears. The Operations list shows all
of the supported operations for the selected device. A description of the selected
operation is shown in the Description field.
5. Select Configure Radio
Settings and then click
Next. The Internal
Transceiver Configuration
dialog appears:
6. In the Wireless Format
group, select the
appropriate channel and
wireless mode. The
Wireless mode must be
the same for all radios in
your network.
7. In the Specify Frequency
field, enter the frequency
you want to add.
8. Click Add. The new
frequency appears in the
Selected Frequencies list.
Note – The programmed
frequencies must conform to the
channel spacing and minimum
tuning requirements for the
radio. To view this information,
click Radio Info. You can select
12.5 kHz or 25 kHz channel
spacing. All radios in your network must use the same channel spacing.
9. Once you have configured all the frequencies that you require, click OK.
The WinFlash utility updates the receiver radio frequencies and then restarts
the receiver.
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Adding Internal Radio Frequencies
C
Setting UHF reception radio frequencies using the web
interface
To enter your own Receive (Rx) frequency using the web interface:
1. Select the Radio menu.
2. Select the Frequency Management submenu:
3. Make a note of the details shown in the Frequency range and Tuning step fields.
Any new frequencies must be within the range shown and must also be a
multiple of the Khz shown in the Tuning step field.
4. Select the Add Channel option and then enter the new channel frequency.
5. Click OK.
To delete a channel frequency :
1. Select the Delete channel option.
2. Select a channel to delete from the list that appears.
You cannot add or delete Transmit channels using the web interface.
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C
Adding Internal Radio Frequencies
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A P P E N D I X
D
Transmitting Corrections
D
In this chapter:
This chapter details how to transmit corrections
over a construction site through 900 MHz and
450 MHz radios from the same base station.
Three scenarios and the solutions to each are
explained.
corrections from a SNB900 radio
to an HPB450 or TRIMMARK 3
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D
Transmitting Corrections
Scenario 1: Outputting corrections using an HPB450
radio-modem
A Construction base station such as the SPS851 has an internal 900 MHz radio and you
want to also transmit corrections on a Trimble HPB450 radio-modem connected to the
SPS851 receiver.
Solution
The HPB450 radio comes with a 5-pin Lemo to 7-pin Lemo connector with a power
connection lead:
1. Connect the 7-pin Lemo connector to the connector on the receiver.
2. Connect the 5-pin Lemo connector to the HPB450 radio.
3. Connect the DC power lead to an external power source.
4. Turn on the HPB450 radio.
If the HPB450 radio has the 5-pin Lemo connector to 9-pin D-sub connector cable:
1. Connect the 9-pin D connector to the 26-pin to 9-pin D-sub adaptor on the
receiver.
2. Connect the 5-pin Lemo connector to the HPB450 radio.
3. Connect the DC power lead to an external power source.
4. Turn on the HPB450 radio.
To configure the system, do one of the following:
•
Use the Trimble SCS900 Site Controller software to connect to the receiver. Set
up the base station with the external radio. The SCS900 software will locate the
HPB450 radio and then allow you to set the radio channel. Then, use the front
panel of the receiver to select Radio and Lemo (R+L) to then turn on the internal
900 MHz radio transmissions. If using the 9-pin D-sub connector, select Radio
and Modem Port (R+M).
•
•
Use the web interface to access the SPS851 setup. Select I/O Configuration / Port
Configuration. Select the Serial 1 / Lemo option and select corrections to be sent
on the Lemo port at those baud rate settings (the HPB450 serial interface is
shipped with the default rates 38400 8/N/1). While in the Port Configuration
menu, also set the internal radio to transmit corrections.
Use the front panel of the receiver to set up the Lemo port and to select the radio
on which to output the data (shown as R+L or R+M on the receiver display).
Configuration software accompanies the HPB450 radio if you need to change the serial
connection baud rate.
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Transmitting Corrections
D
Scenario 2: Outputting corrections using a TRIMMARK 3 radio
A Construction base station such as the SPS851 has an internal 900 MHz radio and you
want to transmit corrections on a Trimble TRIMMARK 3 radio connected to the
SPS851 receiver.
Solution
The TRIMMARK 3 radio comes with both a 7-pin Lemo to 7-pin Lemo cable and a
7-pin Lemo to 9-pin D-sub cable.
To connect the TRIMMARK 3 radio to the SPS851 receiver, do one of the following:
•
•
•
Use the 7-pin Lemo (SPS851) to 7-pin Lemo (TRIMMARK 3) cable.
Use the Lemo-to-Lemo cable.
Use the 7-pin Lemo to 9-pin D-sub cable and then connect to the Modem port
(9-pin D-sub connector) on the SPS851 adaptor.
To configure the system, do one of the following:
•
Use the SCS900 Site Controller software to connect to the receiver (either by
cable or Bluetooth wireless technology). Start the base station and then
configure RTK messages to be transmitted through an external radio. The
SCS900 software will locate the TRIMMARK 3 radio and then allow you to set
the radio channel. Then, use the front panel of the receiver to select Radio and
Lemo (R+L) or (R+M) to turn on the internal 900 MHz radio transmissions.
•
•
Use the web interface to access the SPS851 setup. Select I/O Configuration / Port
Configuration. Select the Serial 1 / Lemo option and select corrections to be sent
on the Lemo port at those baud rate settings. If using 9-pin D-sub, then use the
Modem port. While in the Port Configuration menu, also set the internal radio to
transmit corrections.
Use the front panel of the receiver to set up the Lemo port and to select the radio
on which to output the data (shown as R+L or R+M on the receiver display).
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D
Transmitting Corrections
Scenario 3: Outputting corrections from a SNB900 radio to an
HPB450 or TRIMMARK 3 radio
Output corrections from the Trimble SNB900 radio through the Lemo port to an
HPB450 or TRIMMARK 3 radio. This is especially useful when using a Smart GPS
antenna such as the Trimble SPS881 and the construction site requires dual
frequencies (450 MHz and 900 MHz) to be broadcast.
Solution
To configure the system:
1. Use a cable to connect the SNB900 radio-modem (Lemo Port) to the SPS881
Smart GPS antenna.
2. Use the SCS900 software to output the corrections to the external SNB900
radio-modem.
3. Connect the HPB450 or TRIMMARK 3 radio to the Modem port of the SNB900
radio-modem.
4. From the front panel of the SNB900 radio-modem, set output to both Radio and
Lemo.
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A P P E N D I X
E
Real-Time Data and Services
E
In this appendix:
The real-time Binary Output option (also known
as RT17 messages or raw data) is available as an
optional upgrade. The RT17 Streamed Data
service is available only with the SPS751 Max and
the SPS851 GPS receivers.
By default, the Binary Output option is not
enabled in the GPS receivers. The option must be
enabled before RT17 messages can be streamed
from the receiver. To enable the option, please
contact your local Trimble dealer.
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E
Real-Time Data and Services
RT17 Streamed Data service
An RT17 service provides GPS observations, ephemerides, and other information, as
defined for that service. When a “client” connects to the service, all data flow is from
the receiver to the client.
Using the keypad and display to configure RT17 outputs
You can configure RT17 output during the base and rover setup using the keypad and
Using the web interface to configure RT17 outputs
You can configure RT17 output using the I/O Configuration menu of the web interface
of the receiver. Configure the stream to allow multiple client connections on a single
port, or restrict the stream to a single client connection. To allow only authorized
connections on the port, protect the output stream by requiring a password. See I/O
Login authentication
If you interface to the receivers using binary commands over serial communications,
you may need login authentication. This has been added to most receiver models that
run firmware version 3.30 or later.
If your utilities such as the WinFlash utility or the Configuration ToolBox software do
not work with the receivers running firmware version 3.30 or later, go to the Trimble
website and then download the latest versions of these utilities. If your own application
software no longer communicates with the receiver, please contact Trimble Support
for information about how to use the receiver in these cases.
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A P P E N D I X
F
Upgrading the Receiver Firmware
F
In this appendix:
The GPS receiver is supplied with the latest
version of the receiver firmware already installed.
If a later version of the firmware becomes
available, use the WinFlash utility to upgrade the
firmware on your receiver.
Q
Q
Q
You can also upgrade the receiver through the
web interface (see Configuring the receiver using
access to the Internet, then whenever Trimble
releases new firmware your receiver will check
and display the new firmware version number in
the Web browser. You can then decide to install
the newer firmware from the Web browser.
www.trimble.com/support.shtml and select the
link to the receiver that you need updates for and
then click Downloads.
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F
Upgrading the Receiver Firmware
The WinFlash utility
The WinFlash utility communicates with Trimble products to perform various
functions including:
•
•
•
installing software, firmware, and option upgrades
running diagnostics (for example, retrieving configuration information)
configuring radios
For more information, online help is also available when using the WinFlash utility.
Note – The WinFlash utility runs on Microsoft Windows 95, 98, Windows NT®, 2000, Me,
or XP operating systems.
Installing the WinFlash utility
You can install the WinFlash utility from the Trimble SPS GPS Receiver CD, or from the
Trimble website.
To install the WinFlash utility from the CD:
1. Insert the disk into the CD drive on your computer.
2. From the main menu select Install individual software packages.
3. Select Install WinFlash.
4. Follow the on-screen instructions.
The WinFlash utility guides you through the firmware upgrade process, as described
below. For more information, refer to the WinFlash Help.
Upgrading the receiver firmware
1. Start the WinFlash utility. The Device Configuration screen appears.
2. From the Device type list, select your receiver.
3. From the PC serial port field, select the serial (COM) port on the computer that
the receiver is connected to.
4. Click Next.
The Operation Selection screen appears. The Operations list shows all of the
supported operations for the selected device. A description of the selected
operation is shown in the Description field.
5. Select Load GPS software and then click Next.
The GPS Software Selection window appears. This screen prompts you to select
the software that you want to install on the receiver.
6. From the Available Software list, select the latest version and then click Next.
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Upgrading the Receiver Firmware
F
The Settings Review window appears. This screen prompts you to connect the
receiver, suggests a connection method, and then lists the receiver configuration
and selected operation.
7. If all is correct, click Finish.
Based on the selections shown above, the Software Upgrade window appears and
shows the status of the operation (for example, Establishing communication
with <your receiver>. Please wait.).
8. Click OK.
The Software Upgrade window appears again and states that the operation was
completed successfully.
9. To select another operation, click Menu; to quit, click Exit.
If you click Exit, the system prompts you to confirm.
10. Click OK.
Forcing the receiver into Monitor mode
If the receiver will not go into Monitor mode to load new firmware, complete the
following steps:
1. Turn off the receiver.
2. Press and hold F while turning on the receiver.
3. Continue to hold the F button as the display shows the countdown timer.
4. Once the display shows Remote Monitor Active:1, release the F button.
5. The receiver is forced into Monitor mode and you can load the new firmware.
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F
Upgrading the Receiver Firmware
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A P P E N D I X
G
Troubleshooting
G
In this appendix:
Use this appendix to identify and solve common
problems that may occur with the receiver.
Please read this section before you contact
Technical Support.
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G
Troubleshooting
Receiver issues
This section describes some possible receiver issues, possible causes, and how to solve
them.
Issue
Possible cause
Solution
The receiver does External power is too
Check the charge on the external battery and, if applicable,
check the fuse.
not turn on.
low.
Internal power is too
low.
Check the charge on the internal battery.
External power is not
properly connected.
Check that the Lemo connector or 26-pin adaptor is seated
correctly, and that the cable is secured to the receiver.
Check for broken or bent pins in the connector.
Faulty power cable.
Check that you are using the correct cable for the
port/battery.
Check that the correct battery is connected to a particular
port.
The ports on the GPS receiver are optimized for use with
different types of battery. The 26-pin connector is optimized
for Trimble custom external batteries, and the Lemo port is
optimized for external 12 V batteries such as car, motorcycle,
or truck batteries. If the wrong type of battery is connected
to a port, it is likely that it will cut off earlier than normal.
Check pinouts with a multimeter to ensure internal wiring is
intact.
Receiver does not Insufficient memory.
log data.
Delete old files. Do one of the following:
•
•
Press
for 35 seconds.
E
Use the delete and purge functions in the Data Logging
menu of the web interface.
Data Logging option is
disabled.
Order the Data Logging option from your local Trimble
dealer. By default, data logging is disabled on all SPS GPS
receivers. To see if data logging is enabled on your receiver,
check your original purchase order or the receiver
configuration using the web interface.
The receiver is tracking
fewer than four
satellites.
Wait until the receiver display shows that more than four
satellites are being tracked.
The internal memory
needs to be reformatted
Press
for 35 seconds.
Turn off the receiver and then turn it back on again.
Press for 35 seconds.
E
The receiver is not Receiver needs a soft
responding.
reset.
Receiver needs a full
reset.
E
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Troubleshooting
G
Issue
Possible cause
Solution
The base station
receiver is not
broadcasting.
Port settings between
reference receiver and
radio are incorrect.
Using the SCS900 Site Controller software, connect to the
reference radio through the receiver. If no connection is
made, connect directly to the radio and change the port
settings. Try to connect through the receiver again to ensure
that they are communicating.
Corrections are routed
Check that corrections are routed correctly using the receiver
to a port rather than to keypad and display.
the internal radio
modem.
A rubber duck antenna is Check that the connections are made correctly and to the
connected directly to the right connectors. Ensure that the connectors are seated
radio antenna port on
the receiver, or an
external high-gain
antenna is connected
through a cable to the
radio antenna port on
the receiver.
tightly and that there are no signs of damage to the cable.
You are using AutoBase If you set up on a new point on a site that has not been
and the AutoBase
Warning function is
enabled.
occupied previously, the AutoBase Warning will prohibit the
base station from broadcasting.
Faulty cable between
receiver and radio.
Try a different cable.
Examine the ports for missing pins.
Use a multimeter to check pinouts.
No power to radio.
If the radio has its own power supply, check the charge and
connections.
Rover receiver is
not receiving
radio.
is not broadcasting.
above.
Incorrect over air baud
Connect to the rover receiver radio, and make sure that it has
rates between reference the same setting as the reference receiver.
and rover.
The SCS900 software automatically configures the over-the-
air baud rate to 9600.
Incorrect port settings
If the radio is receiving data and the receiver is not getting
between roving external radio communications, use the SCS900 software to check that
radio and receiver. the port settings are correct.
The radio antenna cable Make sure that the external radio antenna cable is connected
and GPS antenna cable
are not correctly
connected.
between the TNC connector marked RADIO and the radio
antenna.
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G
Troubleshooting
Issue
Possible cause
Solution
The receiver is not The GPS antenna is
Make sure that the GPS antenna cable is tightly seated in the
receiving satellite connected to the wrong GPS antenna connection on the receiver and not connected
signals antenna connector. to the wrong/radio antenna connector.
The GPS antenna cable is Make sure that the GPS antenna cable is tightly seated in the
loose.
GPS antenna connection on the GPS antenna.
The cable is damaged.
Check the cable for any signs of damage. A damaged cable
can inhibit signal detection from the antenna at the receiver.
The GPS antenna is not
in clear line of sight to
the sky.
•
Make sure that the GPS antenna is located with a clear
view of the sky.
•
Restart the receiver as a last resort (turn off and then turn
it on again).
The message PC The WinFlash utility is in Complete the WinFlash task and then exit the utility.
Loader in
use.
Control appears
on the front panel
The WinFlash utility was Plug the data cable back in and then restart the receiver.
started then the data
cable was disconnected.
No apparent reason.
•
•
If the WinFlash utility is not in use, turn off the receiver
using the Power key.
If that does not turn it off, apply external DC power and
hold down the Power key for 60 seconds.
The message
Internet software
•
•
•
If possible, turn off the receiver.
Remote Monitor
activeappears on
the front panel
If possible, reload the current firmware.
If the above solutions do not resolve this, leave the
receiver on with no external power, so the internal
battery completely discharges. Then, turn on the receiver.
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A P P E N D I X
H
Drawings
H
In this appendix:
The drawings in this appendix show the
dimensions of the receiver. Refer to these
drawings if you need to build mounting brackets
and housings for the receiver.
The dimensions shown in these drawings are
inches, with millimeters shown in brackets.
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H
Drawings
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A P P E N D I X
I
Receiver Connector Pinout
Information
I
In this appendix:
The receivers have a wide range of interfacing
options. There are a large number adaptors and
cables available from Trimble that provide most
of the common interfacing combinations.
The receiver has two connectors:
•
•
a zero shell 7-pin Lemo connector
a high-density 26-pin D-sub connector
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I
Receiver Connector Pinout Information
Lemo connector
The lemo connector is a 7-pin 0-shell Lemo connector.
7
6
1
5
2
3
4
Pin
1
Usage
RS-232 Signal GND
GND
2
3
RS-232 TX data out
CAN-
4
5
CAN+
6
DC Power In (+) 10.5-28 V DC
RS-232 Serial data in
7
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Receiver Connector Pinout Information
I
Modem multi-function port
Pin 1 is top left
Pin 10 is middle left
Pin 19 is bottom left
Pin 9 is top right
Pin 18 is middle right
Pin 26 is bottom right
Pin
1
Usage
RS-232 Modem port data terminal ready (DTR)
RS-232 Modem port clear to send (CTS)
RS-232 Modem port Data Set Ready (DSR)
RS-232 Modem port Data Carrier Detect (DCD)
RS-232 Modem port Ring Indicator (RI)
GND
2
3
4
5
6
7
RS-232 Modem port 2 Transmit Data (TX)
RS-232 Modem port 2 Receive Data (RX)
USB+
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
Ethernet Ground (ET_GND RJ45 Pin 4)
RS-232 Modem port Ready to Send (TX)
RS-232 Modem port Transmit Data (TX)
Ethernet Ground (GND RJ45 Pin 5)
Ethernet Ground (GND RJ45 Pin 8)
USB ID
Ethernet Receive Data+ (RD-RJ45 Pin 6)
Ethernet Transmit Data+ (RD-RJ45 Pin 2)
USB-
USB Power
1PPS
RS-232 Modem Port Receive Data (RX)
Ethernet Ground (GND RJ45 Pin 7)
GND
DC Power In 9–28 V DC
Ethernet Receive Data+ (RD+, RJ45 Pin 3)
Ethernet Transmit Data+ (TD+, RJ45 Pin 1)
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Receiver Connector Pinout Information
1PPS and ASCII time tag
The SPSx51 receiver can output a 1 pulse-per-second (1PPS) time strobe and an
associated time tag message. The time tags are output on a user-selected port.
The leading edge of the pulse coincides with the beginning of each UTC second. The
edge is positive (rising from 0 V to 5 V).
Positive slope pulse
5 V
0 V
Seconds
Time tag output here
Time tag applies here
Figure I.1
Time tag relation to 1PPS wave form
The pulse is about 8 microseconds wide, with rise and fall times of about 100 nsec.
Resolution is approximately 40 nsec, but the following external factor limits accuracy
to approximately 1 microsecond:
•
Antenna cable length
Each meter of cable adds a delay of about 2 nsec to satellite signals, and a
corresponding delay in the 1PPS pulse.
1PPS is available on pin 20 on the back connector of the receiver. If you have
applications that require 1PPS, Trimble recommends that you use cable P/N 60789-00
because it has the following connectors:
•
•
•
•
•
•
D9 port for modem 1/serial 2.
D9 port for modem 2/serial 3. Pin 9 on this D9 port has 1PPS.
BNC connector for 1PPS.
Ethernet male plug for connection to receiver.
USB plug.
DC jack for supplying power to the receiver.
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Receiver Connector Pinout Information
I
ASCII time tag
Each time tag is output about 0.5 second before the corresponding pulse. Time tags are
in ASCII format on a user-selected serial port. The format of a time tag is:
UTC yy.mm.dd hh:mm:ss ab
Where:
•
•
•
UTC is fixed text.
yy.mm.dd is the year, month, and date.
hh:mm:ss is the hour (on a 24-hour clock), minute, and second. The time is in
UTC, not GPS.
•
a is an integer number representing the position-fix type:
1 = time only
2 = 1D & time
3 = currently unused
4 = 2D & time
5 = 3D & time
•
•
b is the number of GPS satellites being tracked.
Each time tag is terminated by a carriage return, line feed sequence. A typical
printout looks like:
UTC 02.12.21 20:21:16 56
UTC 02.12.21 20:21:17 56
UTC 02.12.21 20:21:18 56
Note – If the receiver is not tracking satellites, the time tag is based on the receiver clock. In
this case, a and b are represented by “??”. The time readings from the receiver clock are less
accurate than time readings determined from the satellite signals.
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I
Receiver Connector Pinout Information
26-Pin D-sub connector wiring chart (P/N 60789-00)
RJ45 plug
USB A plug
DE9-P plug
DE9-S plug
DC jack
BNC plug
DCD
RX2
TX2
DTR
GND
DSR
RTS
CTS
RI
4
21
12
1
6
3
11
2
5
1
2
3
4
5
6
7
8
9
DE9P
(Serial 2)
TX3
RX3
7
8
2
3
5
9
DE9S
(Serial 3)
1 PPS
20
CTR
COND
BNC
SHELL
TX+
TX-
RX+
GND
GND
RX-
GND
GND
26
17
25
10
13
16
22
14
1
2
3
4
5
6
7
8
RJ45 plug
+5 V DC
Data-
Data+
ID
19
18
9
5
1
2
3
4
USB A plug (M)
DC Jack
POLE
SHELL
PWR
GND
24
23
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Glossary
1PPS
Pulse-per-second. Used in hardware timing. A pulse is generated in conjunction with a
time stamp. This defines the instant when the time stamp is applicable.
almanac
A file that contains orbit information on all the satellites, clock corrections, and
atmospheric delay parameters. The almanac is transmitted by a GPS satellite to a GPS
receiver, where it facilitates rapid acquisition of GPS signals when you start collecting
data, or when you have lost track of satellites and are trying to regain GPS signals.
AutoBase
AutoBase technology uses the position of the receiver to automatically select the
correct base station; allowing for one button press operation of a base station. It
shortens setup time associated with repeated daily base station setups at the same
location on jobsites.
base station
Also called reference station. A base station in construction, is a receiver placed at a
known point on a jobsite that tracks the same satellites as an RTK rover, and provides
centimeter level positions on a continuous real-time basis. A base station can also be a
part of a virtual reference station network, or a location at which GPS observations are
collected over a period of time, for subsequent postprocessing to obtain the most
accurate position for the location.
BINEX
BInary EXchange format. BINEX is an operational binary format standard for
encapsulation of all (or most) of the information currently allowed for in a range of
other formats.
broadcast server
carrier
An Internet server that manages authentication and password control for a network of
A radio wave having at least one characteristic (such as frequency, amplitude, or phase)
that can be varied from a known reference value by modulation.
carrier frequency
The frequency of the unmodulated fundamental output of a radio transmitter. The GPS
L1 carrier frequency is 1575.42 MHz.
carrier phase
Is the cumulative phase count of the GPS or GLONASS carrier signal at a given time.
cellular modems
A wireless adaptor that connects a laptop computer to a cellular phone system for data
transfer. Cellular modems, which contain their own antennas, plug into a PC Card slot
or into the USB port of the computer and are available for a variety of wireless data
services such as GPRS.
CMR
Compact Measurement Record. A real-time message format developed by Trimble for
broadcasting corrections to other Trimble receivers. CMR is a more efficient
CMR+
covariance
A statistical measure of the variance of two random variables that are observed or
measured in the same mean time period. This measure is equal to the product of the
deviations of corresponding values of the two variables from their respective means.
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Glossary
datum
Also called geodetic datum. A mathematical model designed to best fit the geoid,
defined by the relationship between an ellipsoid and, a point on the topographic
surface, established as the origin of the datum. World geodetic datums are typically
the ellipsoid and the center of the earth.
Because the earth is not a perfect ellipsoid, any single datum will provide a better
model in some locations than in others. Therefore, various datums have been
established to suit particular regions.
For example, maps in Europe are often based on the European datum of 1950 (ED-50).
Maps in the United States are often based on the North American datum of 1927
(NAD-27) or 1983 (NAD-83).
deep discharge
DGPS
Withdrawal of all electrical energy to the end-point voltage before the cell or battery is
recharged.
differential
correction
location, any errors in data collected at the base station can be measured, and the
necessary corrections applied to the rover data.
Differential correction can be done in real-time, or after the data has been collected by
differential GPS
DOP
Dilution of Precision. A measure of the quality of GPS positions, based on the geometry
of the satellites used to compute the positions. When satellites are widely spaced
relative to each other, the DOP value is lower, and position accuracy is greater. When
satellites are close together in the sky, the DOP is higher and GPS positions may
contain a greater level of error.
indicate the accuracy of horizontal measurements (latitude and longitude) and
vertical measurements respectively. PDOP is related to HDOP and VDOP as follows:
PDOP2 = HDOP2 + VDOP2
dual-frequency receiver can compute more precise position fixes over longer distances
and under more adverse conditions because it compensates for ionospheric delays.
EGNOS
European Geostationary Navigation Overlay Service. A satellite-based augmentation
system (SBAS) that provides a free-to-air differential correction service for GPS.
elevation mask
ellipsoid
The angle below which the receiver will not track satellites. Normally set to 10 degrees
to avoid interference problems caused by buildings and trees, atmospheric issues, and
multipath errors.
An ellipsoid is the three-dimensional shape that is used as the basis for mathematically
modeling the earth’s surface. The ellipsoid is defined by the lengths of the minor and
major axes. The earth’s minor axis is the polar axis and the major axis is the equatorial
axis.
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Glossary
emphemeris /
ephemerides
A list of predicted (accurate) positions or locations of satellites as a function of time. A
set of numerical parameters that can be used to determine a satellite’s position.
Available as broadcast ephemeris or as postprocessed precise ephemeris.
epoch
The measurement interval of a GPS receiver. The epoch varies according to the
measurement type: for real-time measurement it is set at one second; for
postprocessed measurement it can be set to a rate of between one second and one
minute. For example, if data is measured every 15 seconds, loading data using
30-second epochs means loading every alternate measurement.
feature
A feature is a physical object or event that has a location in the real world, which you
want to collect position and/or descriptive information (attributes) about. Features
can be classified as surface or non-surface features, and again as points,
lines/breaklines, or boundaries/areas.
firmware
GLONASS
The program inside the receiver that controls receiver operations and hardware.
Global Orbiting Navigation Satellite System. GLONASS is a Soviet space-based
navigation system comparable to the American GPS system. The operational system
consists of 21 operational and 3 non-operational satellites in 3 orbit planes.
GNSS
GSOF
HDOP
Global Navigation Satellite System.
General Serial Output Format. A Trimble proprietary message format.
horizontal measurements. Other DOP values include VDOP (vertical DOP) and PDOP
(Position DOP).
Using a maximum HDOP is ideal for situations where vertical precision is not
particularly important, and your position yield would be decreased by the vertical
L1
L2
The primary L-band carrier used by GPS and GLONASS satellites to transmit satellite
data.
The secondary L-band carrier used by GPS and GLONASS satellites to transmit
satellite data.
L2C
L5
A modernized code that allows significantly better ability to track the L2 frequency.
The third L-band carrier used by GPS satellites to transmit satellite data. L5 will
provide a higher power level than the other carriers. As a result, acquiring and tracking
weak signals will be easier.
Moving Base
MSAS
Moving Base is an RTK positioning technique in which both reference and rover
receivers are mobile. Corrections are sent from a “base” receiver to a “rover” receiver
and the resultant baseline (vector) has centimeter-level accuracy.
MTSAT Satellite-Based Augmentation System. A satellite-based augmentation system
(SBAS) that provides a free-to-air differential correction service for GPS. MSAS is the
multipath
Interference, similar to ghosts on an analog television screen, that occurs when GPS
signals arrive at an antenna having traversed different paths. The signal traversing the
longer path yields a larger pseudorange estimate and increases the error. Multiple
paths can arise from reflections off the ground or off structures near the antenna.
NMEA
National Marine Electronics Association. NMEA 0183 defines the standard for
interfacing marine electronic navigational devices. This standard defines a number of
'strings' referred to as NMEA strings that contain navigational details such as positions.
Most Trimble GPS receivers can output positions as NMEA strings.
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Glossary
OmniSTAR
The OmniSTAR HP/XP service allows the use of new generation dual-frequency
receivers with the OmniSTAR service. The HP/XP service does not rely on local
reference stations for its signal, but utilizes a global satellite monitoring network.
Additionally, while most current dual-frequency GPS systems are accurate to within a
meter or so, OmniSTAR with XP is accurate in 3D to better than 30 cm.
PDOP
three-dimensional measurements. Other DOP values include VDOP (vertical DOP) and
Using a maximum PDOP value is ideal for situations where both vertical and
horizontal precision are important.
postprocessing
Postprocessing is the processing of satellite data after it has been collected, in order to
eliminate error. This involves using computer software to compare data from the rover
with data collected at the base station.
real-time differential Also known as real-time differential correction or DGPS. Real-time differential GPS is the
GPS
process of correcting GPS data as you collect it. Corrections are calculated at a base
station and then sent to the receiver through a radio link. As the rover receives the
position it applies the corrections to give you a very accurate position in the field.
Most real-time differential correction methods apply corrections to code phase
positions.
While DGPS is a generic term, its common interpretation is that it entails the use of
single-frequency code phase data sent from a GPS base station to a rover GPS receiver
to provide sub-meter position accuracy. The rover receiver can be at a long range
(greater than 100 kms (62 miles)) from the base station.
rover
A rover is any mobile GPS receiver that is used to collect or update data in the field,
typically at an unknown location.
Roving mode
RTCM
Roving mode applies to the use of a rover receiver to collect data, stakeout, or control
Radio Technical Commission for Maritime Services. A commission established to
define a differential data link for the real-time differential correction of roving GPS
receivers. There are three versions of RTCM correction messages. All Trimble GPS
receivers use Version 2 protocol for single-frequency DGPS type corrections. Carrier
phase corrections are available on Version 2, or on the newer Version 3 RTCM protocol,
which is available on certain Trimble dual-frequency receivers. The Version 3 RTCM
protocol is more compact but is not as widely supported as Version 2.
RTK
measurements for greater accuracy.
SBAS
Satellite-Based Augmentation System. SBAS is based on differential GPS, but applies to
additional information are broadcast via geostationary satellites.
signal-to-noise ratio SNR. The signal strength of a satellite is a measure of the information content of the
signal, relative to the signal’s noise. The typical SNR of a satellite at 30° elevation is
between 47 and 50 dBHz.
skyplot
The satellite skyplot confirms reception of a differentially corrected GPS signal and
displays the number of satellites tracked by the GPS receiver, as well as their relative
positions.
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Glossary
SNR
triple frequency GPS A type of receiver that uses three carrier phase measurements (L1, L2, and L5).
UTC
VRS
Universal Time Coordinated. A time standard based on local solar mean time at the
Greenwich meridian.
Virtual Reference Station. A VRS system consists of GPS hardware, software, and
corrections to each rover that are more accurate than corrections from a single base
station.
To start using VRS corrections, the rover sends its position to the VRS server. The VRS
server uses the base station data to model systematic errors (such as ionospheric
WAAS
Wide Area Augmentation System. WAAS was established by the Federal Aviation
Administration (FAA) for flight and approach navigation for civil aviation. WAAS
improves the accuracy and availability of the basic GPS signals over its coverage area,
which includes the continental United States and outlying parts of Canada and
Mexico.
The WAAS system provides correction data for visible satellites. Corrections are
computed from ground station observations and then uploaded to two geostationary
satellites. This data is then broadcast on the L1 frequency, and is tracked using a
channel on the GPS receiver, exactly like a GPS satellite.
Use WAAS when other correction sources are unavailable, to obtain greater accuracy
than autonomous positions. For more information on WAAS, refer to the FAA website
WAAS.
WGS-84
World Geodetic System 1984. Since January 1987, WGS-84 has superseded WGS-72 as
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Glossary
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usA
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