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high position accuracy application example

1. Hiprom Technologies 7 20 2010 1756HP TIME HIGH POSITION ACCURACY APPLICATION EKAMPLE V1 00 01 HIPROM sa d ee SR m tee Hiprom Technologies 7 20 2010 INTRODUCTION The 1756HP TIME module provides accurate time synchronization on a number of interfaces using Global Positioning System GPS The module also has the ability to obtain time from various sources and provide time synchronization on other thus acting as a gateway between different time synchronization methods The module also provides GPS position in XYZ Cartesian ECEF Earth Centered Earth Fixed and LLA latitude longitude and altitude Velocity m s is also provided in XYZ Cartesian ECEF and ENU East North UP This document illustrates an application example of implementing high position accuracy using a pair of Trimble BX960 units Hiprom Technologies 7 20 2010 HARDWARE This system comprises the following hardware components e Hiprom 1756HP TIME module e Trimble BX960 Rover GPS Receiver Antenna e Trimble BX960 Base Station GPS Receiver Antenna e ControlLogix equipment Chassis Controller etc e Ethernet network infrastructure n ener RTK DGPS BASE GPS RTK DGPS RECEIVER RECEIVER Example IP 196 135 145 33 ETHERNET Example IP 196 135 145 31 Example IP 196 135 145 32 c Rho Er m Pul a B ET B m ETHERNET sg M ETHERNET ETHERNET SWITCH E SWITCH lt Nl a ui Li V a
2. Receiver Configuration WO Configuration OmniSTAR Network Configuration Security Firmware eo Position PDOP Mask RTK Mode Low Latency x Motion CMR Input Filter I RTCM Input Filter CI RTCM 2 Type 31 Input GLONASS Datum DGNSS Age of Correction GPS Sec GLONASS 60 Sec 90 Trimble BD960 SN 5008K 16078 se M mm EE o Sm 5m Receiver Status Satellites Receiver Configuration YO Configuration OmniSTAR Network Configuration Security Firmware General Event 1 On Off Disable Event 1 Slope Operation Mode Base v Automatic MBase output 1PPS On Off Semen O Hiprom Technologies 7 20 2010 p Trimble BD960 SN 5008K16078 e a mm LR m E o mm O Configuration Receiver Status Satellites Receiver Configuration IO Configuration Port Summary Port Configuration OmniSTAR PaaS Serial COMI 116K 8N1 EL EN K EM C se COM2 SEAN FEE Firmware Serial COM3 38 4K 8N1 Help BD960 5008K16078 mmm I O Configuration g Receiver Status CPAP 5017 v esor M Satellites Server TCP196 135 145 31 Receiver Configuration IO Configuration O Client Port Summary Output only Allow multiple connections Port Configuration O UDP Mode OmniSTAR Authenticate set password Network Configuration Input Output 3 Security Outpu
3. Yes 14 Position is Location RTK 0 No 1 Yes 15 Position is Beacon DGPS 0 No 1 Yes Figure 4 GPS Mode Interpretation BX960 Only Hiprom Technologies 7 20 2010 APPENDIX A BX960 BASE STATION SETUP Trimble BD960 SN 5008K16078 q Receiver Status Identity 6 DNS Resoved Name NONE Receiver Status Home Identity Firmware Version 414 Monitor Version 355 Hardware Version 01 Receiver Configuration IO Configuration System Name Trimble OmniSTAR Network Configuration Copyright 2006 2010 Trimble Navigation Limited All rights reserved Trimble and the Globe amp i Triangle logo are trademarks of Trimble Navigation Limited registered in the United States Patent and Security Trademark Office and other countries EVEREST Maxwell Zephyr and Zephyr Geodetic are trademarks of Trimble Navigation Limited All other trademarks are the property of their respective owners Satellites Firmware Help f Trimble BD960 SN 5008K 16078 T o zm Receiver Status Options S ALAS L2 Tracking L5 Tracking m GLONASS 24 Channels Maximum Observable Rate OmniSTAR HP CMR Input No Static CMR Input CMR Output No Static CMR Output Force Float Force Float ae With Static T CMRx Input Fr CMRx Output Google Earth Satellites RTCM Input RTCM Output RTCMDGNSS Input RTCM DGNSS Output IP Heading Mo
4. the same network In this example the IP addresses are configured as follows Base Station BX960 Receiver 196 135 145 31 Rover BX960 Receiver 196 135 145 32 1756HP TIME Module 196 135 145 33 Base Station BX960 See Appendix A For a detailed description of the configuration please refer to the Trimble BX960 User manual see www trimble com The basic setup should include the following 1 Install the unit in a suitable position such that the antenna has an unimpeded view of the sky 2 Gonnect to the unit using the Hiprom configured IP address If not previously configured the unit will default to DHCP and will be assigned an address by your network DHCP server 3 Login to the web server using the default security e Username admin e Password password 4 Change the units IP address if required It is strongly recommended that you provide the unit with a fixed IP address that is non DHCP 5 Navigate to Receiver Configuration Antenna and select the correct antenna configuration 6 The unit should now start tracking satellites and resolving its position 7 Navigate to Receiver Configuration Reference Station and select the Load Current Position by pressing the Here button 8 Navigate to I O Configuration Port Configuration and add a new TCP IP port as follows e Type CMR Port 5018 Client Off Output Only On UDP Mode Off Delay 0 ms Hiprom Technologies 7 20 2010 Rover
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6. ID 1 Security Station Name CREF0001 Ethernet IP 196 135 145 31 Firmware System Name Trimble DNS Resolved Name NONE Serial Number 5008K16078 Firmware Version 4 14 Firmware Date 2010 02 08 Help v BD960 SN 5008K 16078 Antenna Configuration Receiver Status Antenna Type Zephyr v Satellites Antenna SerialNumber SOE Antenna Measurement Method Summary Antenna Height m Antenna O Configuration OmniSTAR Network Configuration Security Firmware Help 90 Trimble EL Es Illo es Receiver Status Satellites Receiver Configuration Summary k nte ina Reference Station OmniSTAR Network Configuration Security Firmware Help Reference Statior Tracking Position Hiprom Technologies 7 20 2010 BD960 Reference Station Reference Latitude 26 i 16 90617 ONOS Reference Longitude 28 19 55740 SEOW Reference Height m Load Current Position CMRID 1 RTCM 2x ID RTCM 3x ID Station Name CREFO001 Station Code sid BD960 SN 5008K16078 Elevation Mask 10 Everest M Clock Steering Type Signal Enable ces lesy aa M es ues a Ces GA O o L E GLONASS L2 C A M mowss u I2 C A M orP gt Trimble Hiprom Technologies 7 20 2010 BD960 SN 5008K16078 mis Receiver Status Satellites
7. Satellites Everest Enable v as Receiver Configuration Clock Steering Antenna y Signal Enable r FY Ce ration ses SO amp ows u d amp aows ve 8 mae ai E otoass u P m ama M __ WO Configuration OmniSTAR Network Configuration Security Firmware Help Dm gt BD960 SN 5004K15951 TO a Sie Receiver Status PDOPMask 7 Satellites RTK Mode Motion R CMR Input Filter D RTCM Input Filter D L RTCM 2 Type 31 Input GLONASS Datum DGNSS Age of Correction General i GPS60 Sec a TEST GLONASS 60 Sec me EI IO Configuration OmniSTAR Network Configuration Security Hiprom Technologies 7 20 2010 BD960 SN 5004K 15951 Receiver Status Satellites Client TCP196 135 145 32 Receiver Configuration Connected to remote 196 135 145 31 5018 IO Configuration vl Client Port Summary Port Summary O Output only Port Configuration l O UDP Mode db Remote IP 195 135 145 31 o Network Configuration IP Resolves to 196 135 145 31 chia Input Output Firmware Help Input CMR CMR Delay Trimble BD960 SN 5004K15951 mm mm Wie 252 O Configuration Receiver Status Satellites Receiver Configuration IO Configuration Port Summary Port Configuration OmniSTAR Firmware Serial COMS 38 4K 8N1 Help gt Trimble Re
8. Tracked 11 Activity Datum WGS 84 GPS 6 25 15 26 27 29 1 Sigma Estimates KT GLONASS 5 1 2 17 23 24 East 0 007 m ll aka Ad Position Solution Detail North 0 006 m TT Position Dimension 3D Receiver Clock Up 0 013 m s Position Type Phase Diff GPS Week 1591 Semi Major Axis 0 007 m Motion Info Roving GPS Seconds 482036 Semi Minor Axis 0 006 m Receiver Configuration Augmentation GPS GLN Offset 0 28917 msec Orientation 57 272 o Configuration RTK Solution Normal Drift 0 27630 ppm zu RTK Init Fixed Dilutions of Precision OmniSTAR RTK Mode Low Latency Multi System Clock Offsets PDOP 139 NETTEN TETA RTK Network Mode Single Base Line Master Clock System GPS HDOP 1 1 Security Age of Corrections 0 4 Sec GLONASS Offset 96 0 ns VDOP 1 5 Height Mode Normal GLONASS Drift 0 026 ns s TDOP 1 0 Firmware Help 2010 07 09T13 53 41Z UTC gt Trimble BD960 SN 5004K15951 gt A a bm LL Receiver Configuration C rm Elevation Mask 10 7 imd za PDOP Mask 7 Receiver Status Clock Steering Disabled Everest Multipath Mitigation Enabled Antenna ID 85 Receiver Configuration Antenna Type Zephyr i Antenna Measurement Method Antenna Phase Center Antenna Antenna Height 0 000 m ence Statior 1PPS On Off Disabled Event 1 On Off Disabled sitio Event 1 Slope Positive General RTK Mode Low Latency yplicati Files Motion Kinematic eset CMR Input Filter Disab
9. Unit BX960 See Appendix B For a detailed description of the configuration please refer to the Trimble BX960 User manual see www trimble com The basic setup should include the following 1 2 Install the unit in a suitable position on the mobile unit such that the antenna has an unimpeded view of the sky Connect to the unit using the Hiprom configured IP address If not previously configured the unit will default to DHCP and will be assigned an address by your network DHCP server Login to the web server using the default security e Username admin e Password password Change the units IP address if required It is strongly recommended that you provide the unit with a fixed IP address that is non DHCP Navigate to Receiver Configuration Antenna and select the correct antenna configuration Navigate to I O Configuration Port Configuration and add a new TCP IP port for communication to the 1756HP TIME module as follows e Type GSOF e Port 5017 e Client Off e Output Only On e UDP Mode Off Within I O Configuration Port Configuration add another new TCP IP port as follows e Type CMR e Port 5018 e Client On e Output Only Off e UDP Mode Off e Remote IP IP Address of Base Station 5018 e CMR Input Disabled Hiprom Technologies 7 20 2010 1756HP TIME Module For the detailed configuration please refer to the example RSLogix project TimeModuleExtGPS03 ACD The basic setup s
10. ceiver Status Satellites Receiver Configuration O Configuration Port Summary Port Configuration OmniSTAR Network Configuration Security Firmware Help Receiver Status Satellites Receiver Configuration IO Configuration Port Configuration OmniSTAR Network Configuration Security i Firmware Help HO Configuration Client TCP196 135 145 32 Connected to remote 196 135 145 31 5018 v Client O Output only O UDP Mode Remote IP 196 135 145 31 Hiprom Technologies 7 20 2010 BD960 SN IP Resolves to 196 135 145 31 Input Output Input CMR CMR saei S Delay Umsec I O Configuration rc PAP 5017 v GSOF v Server TCP196 135 145 31 5017 O Client v Output only Allow multiple connections O UDP Mode O Authenticate set password Input Output Output GSOF GSOF Position Time 1Hz v Lat Long Ht Off v Delta XYZ Of v TPlane ENU Oof w DOP Info Off v Position Sigma Off v Detail SV Info Off v Current Time UTC Off v Battery Memory Info Off v LBand Status Info Off v XYZ Position 1Hz w Velocity Off v Brief SV Info Off v Attitude Info Off v Base Position and Quality Off v 5004K15951 D960 5008K16078 i Hiprom Technologies 7 20 2010 HIPROM zm TECHNOLOGIES HIPROM TECHNOLOGIES TEL 27 11 787 4458 FAX 27 11 787 7937 POSTAL P O
11. de Only E RTK di Length NMEA Data Collector Ma Data Collector Lite EE Binary Outputs Data Logging EveniMakes X Advanced RTCM m Firmware Warranty Date 2011 08 01 Receiver Configuration WO Configuration OmniSTAR Network Configuration Security Firmware Help Option Code Hiprom Technologies 7 20 2010 Trimble BD960 SN 5008K16078 su H Nm oo Receiver Status Activity cm Satellites Tracked 12 GLONASS 5 1 2 17 23 24 OmniSTAR 1 EUSAT Input Output Output TCP IP 5017 GSOF Hz Output TCP IP 5018 CMR R ata r Options Activity Po siti DI i ition sr Satellites Temperature 29 09 C Receiver Configuration Runtime 01 05 47 IIO Configuration OmniSTAR 2010 07 09T13 57 46Z UTC Network Configuration Firmware Help gt Trimble BD960 SN 5008K16078 zc Km m O Receiver Status Position G mm m Position Satellites Used 11 Velocity Lat 26 5 16 90341 5 GPS 6 255 19 20 21 24 East 0 01 m s Home Lon 28 D dS SrTAF E GLONASS 5 1 2 17 23 24 North 0 00 m s Identity Hat 1590 765 m Up 0 02 m s Receiver Options Type Autonomous Satellites Tracked 12 Activity Datum WGS 84 GPS 6 200 19200229 1 Sigma Estimates Position GLONASS 5 1 2 17 23 24 East 0 370 m aide letala tls i Position Solution Detail OmniSTAR 1 EUSAT North 0 381 m
12. haa EIA Position Dimension 3D Up 0 839 m E RI pil Position Type Autonomous Receiver Clock Semi Major Axis 0 389 m z ig i Satellites Motion Info N A GPS Week 1591 Semi Minor Axis 0 361 m Receiver Configuration Augmentation GPS GLN GPS Seconds 482298 Orientation 147 482 Offset 0 48736 msec HO Configuration RTK Solution N A RTK Init N A Drift 0 05049 ppm Dilutions of Precision n ee WA PDOP 19 NE eI ETHER RTK Network Mode NA Multi System Clock Offsets HDOP 1 0 Age of Corrections N A Master Clock System GPS VDOP 1 6 Jan Height Mode NOE GLONASS Offset 31 3 ns TDOP 13 Firmware GLONASS Drift 0 019 ns s 2010 07 09T13 58 03Z UTC Hiprom Technologies 7 20 2010 gt Trimble BD960 SN 5008K16078 Receiver Configuration Elevation Mask 10 e 2 PDOP Mask 7 Receiver Status Clock Steering Disabled i Everest Multipath Mitigation Enabled x Antenna ID 85 Receiver Configuration Antenna Type Zephyr Antenna Measurement Method Bottom of antenna mount Antenna Height 0 000 m 1PPS On Off Disabled Event 1 On Off Disabled Event 1 Slope Positive RTK Mode Low Latency Motion Static CMR Input Filter Disabled Reference Latitude 26 05 416 90617 S Reference Longitude 28 00 18 55740 E Reference Height 1590 897 m OmniSTAR RTCM 2 x ID 2 Satellites WO Configuration v RTCM 3 x ID 3 Network Configuration CMR
13. hould include the following 1 Setthe GPS Source 5 External GPS 2 Configure the External Source IP Address of the Rover unit As each byte is displayed as a signed byte in decimal in RSLogix it is easier to enter each octet in hexadecimal format for example 196 135 145 31 would be expressed as Decimal Hex 196 C4 135 87 145 91 3i 1F ETmetco 700 Tieng D INT Time CPTPOupuEnable i Time CNTPOutputEnable Time_C IRIGBO utputE nable Time _C IRIGBLockLostTx Time_C Pre 1 65 uppart Time_C CS 7M astershipE nable Time_C E termalSourceAddress Time_C ExtemalSourceAddress 0 Time_C EstemalSourceAddress 1 Time_C ExternalSourceAddress 2 H T ime C Extemal5ource amp ddress 3 Time C MTFUpdatelnteral H Time C AdyancedlConfig H Time_C Demow eek Number H Time_C Demoweek5econds Figure 2 RSLogix TIME Module Configuration Assembly Hiprom Technologies 7 20 2010 To ensure the system is fully operational the following items should be examined in logic Correct connection to the 1756HP TIME module typical GSV instruction GPSLock bit is ok GPS Antenna is ok Differential GPS is active either normal DGPS or RTK Operating mode bits These bits will depend on the type of GPS correction strategy chosen OP Copv File Source Local2 1 Data 0 Dest Time l CommStatus Lenath 34 Copy File Source Time_OJlRIGY ear Dest Local 2 0 Data 0 Length 32 Copy File Source T
14. ime C ConfigRevMumb er Dest Local Z C Data 0 Get System Value Class Mame Module Instance Mame TimeMaster Attribute Mame FaultCade Dest ModuleError Differential GPS Active GPS Operating Made GPS Operating Mode au Time GPS GPSLock Time liGPZ amp ntennaOck Time I GPS DGPS Time l GPS Made 8 Time _ GPS Mode AID Equal Source amp ModuleError Source B Figure 3 RSLoigx Ladder logic Example Hiprom Technologies 7 20 2010 Bit Description Interpretation 0 New position 0 No 1 Yes Clock fix calculated for current oosition Horizontal coordinates calculated this position 0 No 1 Yes 2 No 1 Yes o 3 Height calculated this position 0 No 1 Yes 4 Weighted position 0 No 1 Yes 0 Differential position is an autonomous or a 8 Differential position WAAS solution 1 Position is a differential solution 0 Code 1 Phase including RTK HP or XP Differential position method OmniSTAR VBS is not derived from Phase 0 Code DGPS or a float position RTK Uncorrected position is Autonomous if bit 0 Differential position method 0 1 Position is fixed integer phase position RTK Uncorrected position is WAAS if bit 0 0 0 Not active 1 OmniSTAR differential solution including HP XP and VBS 11 OmniSTAR solution I neo Sten Position determined with static as a 0 No 1 Yes constraint 1 13 Position is network RTK solution 0 No 1
15. led fault Langua Reference Latitude 26 05 17 17956 S Reference Longitude 28 00 19 81359 E ats Reference Height 1590 609 m OmniSTAR RTCM 2 x ID 2 RTCM 3 x ID 3 Network Configuration CMRID 1 Station Name CREF0001 Ethernet IP 196 135 145 32 Firmware System Name Trimble Hep DNS Resolved Name NONE Serial Number 5004K15951 Firmware Version 4 14 Firmware Date 2010 02 08 Satellites WO Configuration lt Hiprom Technologies 7 20 2010 BD960 SN 5004K 15951 a a s _ Antenna Configuration mm m RI Receiver Status Antenna Type Zephyr v Satellites Antenna Serial Number r Antenna Measurement Method Antenna Phase Center YI BELLI AME Antenna Height m 1 Antenna OmniSTAR Network Configuration Security Firmware Help BD960 SN 5004K 15951 Reference Station Receiver Status Reference Latitude 26 i 17 17956 l ONGS Satellites Reference Longitude 28 Po 19813 9 OEOW Receiver Configuration Reference Height m Load Current Position CMRID M RTCM2xID 2 RTCM3xID 3 Station Name CREFO0D Station Code 0 Configuration OmniSTAR Network Configuration Security Firmware Help Hiprom Technologies 7 20 2010 D960 5004K 15951 Li f E gt Trimble SN E eim ti Trackin M o ZE 9 amp 2 Elevation Mask 10
16. lt O eal X Figure 1 Network Layout Hiprom Technologies 7 20 2010 BASIC OPERATION The system makes use of a GPS correction method known as Differential GPS whereby GPS corrections are calculated at a known point at the base station fiked and transferred to the rover unit mobile These corrections are effectively error corrections for the distances pseudo ranges between the base and each satellite currently being tracked and not simply a position correction The corrections can either be code corrections referred to as DGPS Differential GPS or phase corrections referred to as RTK Real Time Kinematic Typically DGPS can provide sub meter accuracy whilst RTK can provide sub centimeter accuracy Although the configuration is identical and depends on the options purchased with the BX960 this example will focus on the RTK option SOFTWARE The BX960 units have web interfaces and can be easily configured using any internet browser The configuration of the 1756HP TIME module also supports a web interface but is configured primarily using RSLogix5000 The example RSLogix project TimeModuleExtGPS03 ACD is available illustrating the configuration It also contains logic capable of transforming the ECEF Earth Centered Earth Fixed coordinates to a local metric based coordinate system Hiprom Technologies 7 20 2010 CONFIGURATION For the system to operate correctly the three Ethernet devices must be connected on
17. property of their respective owners Network Configuration Security Firmware Help BD960 SN 5004K 15951 Trimble i sim Receiver Status Identity w i ONSResedNome NONE FmweeVeson4M Monitor version 355 Hardware Version OA Receiver Configuration IIO Configuration System Name Trimble OmniSTAR Network Configuration Copyright 2006 2010 Trimble Navigation Limited All rights reserved Trimble and the Globe amp I Triangle logo are trademarks of Trimble Navigation Limited registered in the United States Patent and Security Trademark Office and other countries EVEREST Maxwell Zephyr and Zephyr Geodetic are trademarks of Trimble Navigation Limited All other trademarks are the property of their respective owners q Receiver Status Satellites Firmware Help gt Trimble 1 IO m m Receiver Status Home entity Satellites Receiver Configuration WO Configuration OMRISTAR Network Configuration Security SA dla oO Pi I gt ww JINI elu L LA n b o gt Bi 4 ej Poni i Ti I IL I Mi m A I I tin E 2 t Trimble SEE n Ste mm IE TN Home dentity PO pr ns Cie 110 Position ET Receiver Configuration WO Configuration OmniSTAR Netwo
18. rk Configuration Security Firmware e Hiprom Technologies 7 20 2010 B Receiver Status Options Installed Option Installed Installed Option Option uo 0 QmeWm X dc X e Tracking X ass x Eme X 24Ghemnes X Maximum ObservableRate 20H2 MevingBase X ws x mea X m X NoStaicCWRinput Rome X NoStaticCMROupa ForceFoat Force Float a With Static ic CMRx Input E CMRx Output RTCM Input RTCM Output RTCM DGNSS Input RTCM DGNSS Output XN Heading Mode Only IS RTK si Length NMEA Data Collector aum Data Collector Lite EN Binary Outputs Data Logging EvenMakes X Advanced RTCM m Firmware Warranty Date 2011 08 01 Option Code Receiver Status Activity Satellites Tracked 11 GPS 5 2 515 20 27 29 GLONASS 5 1 2 17 23 24 Input Output Output TCP IP 5017 GSOF Hz Input TCP IP 5020 CMR Temperature 28 79 C Runtime 01 01 09 2010 07 09T 13 53 12Z UTC D960 5004K15951 D960 5004K15951 Hiprom Technologies 7 20 2010 gt Trimble BD960 SN 5004K 15951 Eie Receiver Status Position mi Position Satellites Used 10 Velocity Lat 26 5 17 08886 S GPA Did dd EI dd East 0 01 m s Home Lon 28 0 21 20439 E GLONASS 5 1 2 17 23 24 North 0 01 m s Identit Hat 1602 976 m Up 0 03 m s Receiver Options Type RTK Fixed Satellites
19. t GSOF Firmware Help GSOF Position Time 1Hz Lat Long Ht Off v XYZ Position 1Hz Delta XYZ Off v TPlane ENU Off v Velocity Off v DOP Info Off Position Sigma Off v Brief SV Info Off v Detail SV Info Off v Current Time UTC Off v Attitude Info Off v r Info Off LBand Status Info Off v Base Position and Quality Off v Hiprom Technologies 7 20 2010 BD960 SN 5008K16078 o Receiver Status Satellites Server TCP196 135 145 31 Receiver Configuration yO Configuration Connected to remote 196 135 145 32 1024 Port Summary O Client Port Configuration v Output only Allow multiple connections D UDP Mode OmniSTAR O Authenticate set password Network Configuration Security Input Output Firmware Output CMR Help CMR CMR v Delay Hiprom Technologies 7 20 2010 APPENDIX B BX960 ROVER SETUP gt Trimble BD960 SN 5004K 15951 Trimble GNSS OEM Receiver CORREA Receiver Status Satellites Receiver Configuration WO Configuration OmniSTAR Copyright 2006 2010 Trimble Navigation Limited All rights reserved Trimble and the Globe amp Triangle logo are trademarks of Trimble Navigation Limited registered in the United States Patent and Trademark Office and other countries EVEREST Maxwell Zephyr and Zephyr Geodetic are trademarks of Trimble Navigation Limited All other trademarks are the

high position accuracy application example

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