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SPSx61 Modular GPS Heading Receivers User Guide

1. BNC plug DCD 4 1 RX2 21 2 TX2 12 3 DTR 1 4 GND 6 5 ree i DSR 3 6 eria RTS 11 7 CTS 2 8 RI 5 9 TX3 7 2 RX3 8 3 DE9S e 5 Serial 3 1 PPS 20 9 CTR COND BNC 4 _SHELL TX 26 1 TX 17 2 RX 25 3 GND 10 4 GND 13 5 RJ45 plug RX 16 6 GND 22 7 GND 14 8 5 V DC 19 1 Data 18 2 USB A plug M Data 9 3 plug m ID 5 e 4 PWR 24 POLE GND 23 SHELL PC Jack SPSx61 Modular GPS Heading Receivers User Guide 123 Receiver Connector Pinout Information 26 Pin D sub connector wiring chart P N 65791 00 This cable has Ethernet two serial ports and DC power 1PPS is on Serial Port 3 124 DCD RX2 TX2 DTR GND DSR RTS CTS RI TX3 RX3 1 PPS TX TX RX GND GND RX GND GND 5 VDC Data Data ID PWR GND NKN ON UWNHWHAHN KF N o i 26 17 25 10 13 16 22 14 19 18 24 23 a OANA UBWN CTR COND SHELL ON aU BWN BWN POLE SHELL TE DE9 P plug DE9 P Serial 2 DE9 S Serial 3 BNC not connected RJ45 plug USB A plug M not connected DC Jack SPSx61 Modular GPS Heading Receivers User Guide Glossary 1PPS almanac AutoBase base station beacon BINEX broadcast server carrier carrier frequency carrier phase cellular
2. VO Configuration h Bluetoot Copyright 2006 2008 T mbie Nawigation Limited All rights reserved Trimble and the Globe amp Beacon Tnangle logo are trademat of Trimble Navigation Limited registered in the United States Patent and o Trademak Office and other countries EVEREST Maseli Zephyr and Zephyr Geodetio are wademats oi Trimble Navigation Limited All other tademada are the property of their respective ovnen OmniSTAR Network Configuration Security Firmware SPSx61 Modular GPS Heading Receivers User Guide 47 6 Configuring the Receiver Using the Web Browser Interface 48 Satellites menu Use the Satellites menu to view satellite tracking details and enable disable GPS and SBAS WAAS EGNOS and MSAS satellites This figure shows an example of the screen that appears when you select Satellite Tracking Sky Plot Trimble SPS461 SN 4840K58796 Receiver Configuration NO Configuration Bluetooth OmniSTAR E 2008 11 28T02 29 45Z UTC Network Configuration SPSx61 Modular GPS Heading Receivers User Guide Configuring the Receiver Using the Web Browser Interface 6 Receiver Configuration menu Use the Receiver Configuration menu to configure such settings as elevation mask and PDOP mask the antenna types and height the heading and attitude adjustments and calibration and management of the stored configurations Appfiles This figure show
3. L 2 Press V to accept the default of no RTCM output Use the NMEA screen to set up NMEA outputs from the receiver Press VY to accept the default NMEA output HDT and GGA on Serial 3 at 1 Hz Use the GSOF screen to set up GSOF outputs from the receiver Press Y to accept the default of no GSOF output and move to the Heading Adjustment screen See next Adding a Heading adjustment In the Heading Adj screen enter an adjustment value to be added to the calculated True Heading Press WZ When the value for the current Heading Adjustment begins to flash the receiver is in Edit mode and you can change the setting Press W to change the Heading Adjustment to the required value Press V to accept the change Press Y to move to the Minimum Heading Solution screen See next 30 SPSx61 Modular GPS Heading Receivers User Guide Configuring the Receiver Using the Keypad and Display 5 Selecting the Minimum Heading Solution In the Min Hdg Soln screen select the minimum RTK solution which will result in a valid heading output l Press When the value for the current Minimum Heading Solution begins to flash the receiver is in Edit mode and you can change the setting 2 Press W to select either RTK Fixed or RTK Float from the list Press to accept the change 4 Press to return to the Home screen Configuring Ethernet settings You can use the keypad and display of the receiver to configure the following settings DHCP
4. SN 4845K59303 Radio Configuration Hardware type Internal 450 MHz receiver l Hardware ID 80 LIL Hardware Version 1 Firmware version 3 0 0 30ct2008 ESTEE Radio state OK PATA EN Radio mode Receive Ja NO Configuration Radio country code Rest of World 450 MHz Radio Parameters M Frequency range MHz 410 000 470 000 Channel spacing kHz 25 0 Current channel MHz 462 12500 v I aa ae VVireless mode TT450s 9600 bps Network Configuration SPSx61 Modular GPS Heading Receivers User Guide 53 6 Configuring the Receiver Using the Web Browser Interface OmniSTAR menu All receivers can receive OmniSTAR corrections By default OmniSTAR tracking is turned off in the receiver To receive OmniSTAR corrections you must enable the receiver to track OmniSTAR satellites and it must have a valid OmniSTAR subscription To purchase a subscription for your receiver contact OmniSTAR at www OmniSTAR com North amp South America 1 888 883 8476 or 1 713 785 5850 Europe amp Northern Africa 31 70 317 0900 Australia amp 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 SPS461 SN 4840K58796 gt Trimble Ss EE o HE um OmniSTAR Summary Signal Source Demodulator 54 Receiver Configuration Bluetooth OmniSTAR Network Configuration
5. Ta 1 0 Configuration Q Receiver Status Satellites Receiver Configuration VO Configuration Port Summary E Port Configuration Bluetooth Beacon OmniSTAR Modem 1 38 4K 8N1 Modem 2 38 4K 8N1 NMEA GGA 1Hz NMEA HOT 1Hz Network Configuration Security Firmware Help Radio SPSx61 Modular GPS Heading Receivers User Guide Configuring the Receiver Using the Web Browser Interface 6 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 SPSx61 receiver using Bluetooth wireless technology e Laptop computer SNB900 radio modem e Other Bluetooth enabled SPS GPS receivers This figure shows an example of the screen that appears when you select Bluetooth Info SN 4840K58796 A L Trimble SPS461 zs E EE o HS Bluetooth Info mm Iz E Receiver Configuration Module Info Infineon UniStone HM v2 3 FAV v8 5 8 Stack Version 12112120 UA Local Name SPS461 4840K58796 Trimble Bluetooth MAC Address 00 80 37 21 16 81 Discoverable True i Biusinotn Pin Code 0000 VWO Configuration Beacon SPSx61 Modular GPS Heading Receivers User Guide 51 6 Configuring the Receiver Using the Web Browser In
6. USER GUIDE Trimble SPSx61 Modular GPS Heading Receivers Trimble USER GUIDE Trimble SPSx61 Modular GPS Heading Receivers Version 3 84 Revision B gt March 2009 Trimble Corporate Office Trimble Navigation Limited 935 Stewart Drive Sunnyvale CA 94085 USA 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 www trimble com E mail trimble_support trimble com Legal Notices 2006 2009 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 in other countries AutoBase CMR CMRx 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 Microsoft Windows and Windows NT are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries All other trademarks are the property of their respective owners Release Notice This is the March 2009 release Revision B of the SPS
7. 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 Press When the operation mode begins to flash the receiver is in Edit mode and you can change this setting Press to change to System Setup Press to accept the change Press again Use the Display Language screen if necessary to change the language Choose English Dutch Finnish French German Italian Norwegian Polish Spanish or Swedish Press to accept the change Press again Use the Display and Input Units screen if necessary to change the units to Meters or US Feet Press to accept the change Press again Usethe ey oe screen to set the horizontal and vertical precision values required Press to accept the change and then press again to move to the next screen Press again Use the Port Settings screen if necessary to change the port Press V to accept the change Press Y 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 VJ to accept the change and then press again to move to the next screen Press V to accept the change Press again The Active Appfile screen appears To change the application file 14 Press to displ
8. 12 5 kHz or 25 kHz spacing available SPSx61 Modular GPS Heading Receivers User Guide Specifications 8 External GSM GPRS cell phone support Internal MSK Beacon receiver Receiver position update rate Correction data input Correction data output Data outputs Notes Supported for direct dial and Internet based correction streams If internal MSK Beacon radio is installed Frequency range 283 5 325 0 kHz Channel spacing 500 Hz MSK bit rate 50 100 and 200 bps Demodulation Minimum shift key MSK 1 Hz 2 Hz 5 Hz 10 Hz and 20 Hz positioning CMR CMR CMRx RTCM 3 RTCM 2 x Moving Base CMR NMEA GSOF 1PPS Time Tags 1 Receiver will operate normally to 40 C 2 Accuracy and reliability may be subject to anomalies such as multipath obstructions satellite geometry and atmospheric conditions Always follow recommended practices 3 Depends on SBAS system performance 4 May be affected by atmospheric conditions signal multipath and satellite geometry Initialization reliability is continuously monitored to ensure highest quality 6 Bluetooth type approvals are country specific For more information contact your local Trimble office or representative Signal tracking This table shows the signal tracking capability for each receiver in the SPSx61 Modular GPS receiver family GPS signal type Class SPS361 SPS461 SPS461 SPS461 SPS461 Precise SPS461 DGPS LocRTK Vertical Pre
9. GPS rover Roving mode RTCM RTK SBAS signal to noise ratio skyplot 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 Position Dilution of Precision PDOP is a DOP value that indicates the accuracy of three dimensional measurements Other DOP values include VDOP vertical DOP and HDOP Horizontal Dilution of Precision Using a maximum PDOP value is ideal for situations where both vertical and horizontal precision are important 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 Also known as real time differential correction or DGPS Real time differential GPS is the 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
10. IP Address Subnet Mask Gateway To access the Ethernet settings dl DOOR w In the Home screen press Press When the operation mode begins to flash the receiver is in Edit mode and you can change this setting Press S7 to change to Ethernet configuration Press Y to accept the change Use the DHCP screen to enable or disable DHCP Press to accept the change Use the P Address screen to enter a static IP address for the SPSx61 Press to accept the change Note When using a static IP address Trimble recommends that you disable the DHCP otherwise the DHCP server will reassign the IP address when the SPSx61 is restarted T Use the Subnet Mask screen to enter the subnet mask required for the network Press V to accept the change Use the Gateway screen to enter the gateway IP address of your network Press to accept the change and return to the Home screen Configuring system settings You can use the keypad and display of the receiver to configure the following settings Display language Display and input units SPSx61 Modular GPS Heading Receivers User Guide 31 5 Configuring the Receiver Using the Keypad and Display Set position precisions Baud rate parity data bits and stop bits for serial ports Display power saver Activate an Appfile stored configuration Enable Power over Ethernet PoE To access the system settings iB 9v Qv um 9 10 11 12 13 In the Home screen press
11. Satellites WO Configuration SV name Auto PORH_ Frequency MHz 1535 0225 Bit Rate Hz 1200 Setting VBS only Mode Tracking Total messages 24 Bad messages 0 Total unique word bits 1600 Bad unique word bits 2 Total Viterbi symbols 203200 Corrected Viterbi symbols 292 SPSx61 Modular GPS Heading Receivers User Guide Configuring the Receiver Using the Web Browser Interface 6 Network Configuration menu Use the Network Configuration menu to configure Ethernet settings email alerts PPP connection HTTP port FTP port Dynamic DNS and VFD port settings of the receiver For information on the Ethernet settings see Ethernet settings page 36 The VFD port allows you to use the SPSx61 Remote Control application to view and navigate the receiver through a mock display and keypad interface To allow the SPSx61 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 Trimble SPS461 SN 4840K58796 aim eee Ethernet Configuration Receiver Status Stored settings IP Setup DHCP Satellites IP Address Receiver Configuration Netmask WO Configuration Broadcast LE Bluetooth Gateway u La ERR Force DNS Address O OmniSTAR DNS Address n ONS Domain p timblecorp ne Network Configuration
12. 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 to 3 4 x 10 The floating point number is precise to 6 decimal digits 31 30 23 22 0 S Exp Bias Fraction 0 000 0000 0 000 0000 0000 0000 0000 0000 0 0 0 011 1111 1 000 000
13. with lt your receiver gt Please wait Click OK The Software Upgrade window appears again and states that the operation was completed successfully 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 il 2 3 4 5 Turn off the receiver Press and hold YY while turning on the receiver Continue to hold the YY button as the display shows the countdown timer Once the display shows Remote Monitor Active 1 release the YY button The receiver is forced into Monitor mode and you can load the new firmware SPSx61 Modular GPS Heading Receivers User Guide 111 E Upgrading the Receiver Firmware 112 SPSx61 Modular GPS Heading Receivers User Guide APPENDIX Troubleshooting In this appendix Use this appendix to identify and solve common problems that may occur with the receiver W Receiver issues Please read this section before you contact Technical Support SPSx61 Modular GPS Heading Receivers User Guide 113 F Troubleshooting Receiver issues This section describes some possible receiver issues possible causes and how to solve them Issue Possible cause Solution 114 The receiver does not turn on The receiver is not responding Rover receiver is no
14. 7 GPS week number Short number GPS week count since January 1980 8 Latitude Double Radians The WGS 84 latitude in radians of the moving base antenna 9 Longitude Double Radians The WGS 84 longitude in radians of the moving base antenna 10 Height Double Meters The WGS 84 height in meters of the moving base antenna 11 Quality indicator Char See Table B 16 The quality of the base station position 0 Fix not available or invalid Autonomous GPS fix Differential SBAS or OmniSTAR VBS RTK Fixed OmniSTAR XP OmniSTAR HP Float RTK or Location RTK Ut duce SPSx61 Modular GPS Heading Receivers User Guide 99 B GSOF Messages Flags Table B 17 Position flags 1 bit values Bit Meaning 0 New position 0 No 1 Yes 1 Clock fix calculated for current position 0 No 1 Yes 2 Horizontal coordinates calculated this position 0 No 1 Yes 3 Height calculated this position 0 No 1 Yes 4 Weighted position 0 No 1 Yes 5 Overdetermined position 0 No 1 Yes 6 lonosphere free position 0 No 1 Yes 7 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 Differential position method 0 Code 1 Phase including RTK HP or XP OmniSTAR VBS is not derived from Phase 2 Differential posit
15. A 6 AVR message fields Field Meaning A Message ID PTNL AVR UTC of vector fix Yaw angle in degrees Yaw Tilt angle in degrees Tilt Reserved Reserved Range in meters WO CO NI aJ ui A wj N O Differential code based solution DGPS 10 GPS quality indicator Fix not available or invalid Autonomous GPS fix Differential carrier phase solution RTK Float Differential carrier phase solution RTK Fix Is UO Tof PDOP 11 Number of satellites used in solution 12 The checksum data always begins with SPSx61 Modular GPS Heading Receivers User Guide 75 A 76 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 The PTNL BPQ message string is shown below and Table A 7 describes the message 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 0 Talker ID 1 BPQ 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 exampl
16. Beacon Tune mode Autopower Position and Vector Type GA530 antenna Height true vertical 0 00 m Measurement method Antenna phase center Resetting the receiver to factory defaults To reset the receiver to its factory defaults press Orr 35 seconds Alternatively in the web interface select Receiver Configuration Reset SPSx61 Modular GPS Heading Receivers User Guide Specifications In this chapter Configuration options General specifications Antenna options Temperature Shock and vibration Measurements Positioning Initialization time Power Regulatory approvals Communications Notes Variable configuration options CHAPTER This chapter details the specifications for the receiver Specifications may vary between each model For further details please refer to the specific datasheet Specifications are subject to change without notice SPSx61 Modular GPS Heading Receivers User Guide 61 8 62 Specifications Configuration options Configuration Option Base and Rover interchangeability Rover position update rate Rover maximum range from base Rover operation within a VRS network Factory options Precise RTK No Rover only 1 Hz 2 Hz 5 Hz 10 Hz 20Hz Unrestricted Typical range 2 5 km 1 2 3 miles without radio repeater Yes General specifications Keyboard and display Dimensions L x W x D Weight VFD display 16 characters by 2 rows On Off key for o
17. Bytes in record 2 5 PDOP Float Positional Dilution of Precision 6 9 HDOP Float Horizontal Dilution of Precision 10 13 VDOP Float Vertical Dilution of Precision 14 17 TDOP Float Time Dilution of Precision SIGMA This message describes the Position Sigma information It contains the following data e Position RMS e Sigma east in meters e Sigma north in meters e Sigma up in meters Covariance east north e Error Ellipse Semi major axis in meters Error Ellipse Semi minor axis in meters e Orientation of Semi major axis in degrees from True North e Unit variance Number of epochs Table B 10 Sigma Type 12 record Field Item Type Value Meaning 0 Output record type Char OCh Position sigma information output record 1 Record length Char 26h Bytes in record 2 5 Position RMS Float Root means square of position error calculated for overdetermined positions 6 9 Sigma east Float Meters 10 13 Sigma north Float Meters 14 17 Covar east north Float number Covariance east north dimensionless SPSx61 Modular GPS Heading Receivers User Guide 95 96 GSOF Messages Table B 10 Sigma Type 12 record continued Field Item Type Value Meaning 18 21 Sigma up Float Meters 22 25 Semi major axis Float Meters Semi major axis of error ellipse 26 29 Semi minor axis Float Meters Semi minor axis of error ellipse 30 33 Orientation Float degrees Orientation of semi minor axis clockwise from True No
18. Fiosineme wim 4840K58796 MTU 1500 Current settings IP Setup DHCP IP Address 10 3 19 88 Netmask 255 255 252 0 Security Broadcast 10 3 19 255 Gateway 10 3 16 1 a Force DNS Address 0 Help DNS Address 10 3 0 124 DNS Domain ap trimblecorp net Hostname trim4840K 58796 MTU 1500 Lease Time 4 Days 23 43 55 SPSx61 Modular GPS Heading Receivers User Guide 55 6 Configuring the Receiver Using the Web Browser Interface 56 Security menu Use the Security me nu 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 gt Trimble Receiver Status Satellites Recelver Configuration NO Configuration Bluetooth Beacon OmniSTAR Network Configuration Security Change Password Firmware Help SPS461 SN 4840K58796 Security Configuration Security Enable v ok Add User Username Password Verify Password SPSx61 Modular GPS Heading Receivers User Guide Configuring the Receiver Using the Web Browser Interface 6 Fi
19. Long msecs GPS time in milliseconds of GPS week 6 7 GPS week number Short number GPS week count since January 1980 8 Number of SVs used Char 00h 0Ch Number of satellites used to determine the position 0 12 9 Position flags 1 Char See Table B 17 Reports first set of position attribute flag values 10 Position flags 2 Char See Table B 18 Reports second set of position attribute flag values 11 Initialized number Char 00h FFh 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 e WGS 84 height in meters Table B 4 Latitude longitude height Type 2 record Field Item Type Value Meaning 0 Output record type Char 02h Latitude longitude and height output record 1 Record length Char 18h Bytes in record 2 9 Latitude Double Radians Latitude from WGS 84 datum 10 17 Longitude Double Radians Longitude from WGS 84 datum 18 25 Height Double Meters Height from WGS 84 datum 92 SPSx61 Modular GPS Heading Receivers User Guide 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 Field Item Type Value Meaning 0 Output record type Char 03h Earth Centered Earth Fixed ECEF position output record 1 Record length Char 18h B
20. 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 Double meters North component of tangent plane vector 18 25 Delta up Double meters 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 e Horizontal velocity in meters per second e Vertical velocity in meters per second Heading in radians referenced to WGS 84 True North Table B 8 Velocity Type 8 record Field Item Type Value Meaning 0 Output record type Char 08h Velocity data output record 1 Record length Char ODh Bytes in record 2 Velocity flags Char See Table B 20 Velocity status flags 3 6 Speed Float Meters per second Horizontal speed 7 10 J Heading Float Radians True north heading in the WGS 84 datum 11 14 Vertical velocity Float Meters per second Vertical velocity SPSx61 Modular GPS Heading Receivers User Guide GSOF Messages B PDOP This message describes the PDOP information It contains the following data e PDOP e HDOP e VDOP e TDOP Table B 9 PDOP Type 9 record Field Item Type Value Meaning 0 Output record type Char 09h PDOP information output record 1 Record length Char 10h
21. corrections transmitted from coastal reference stations in the 283 5 to 325 0 kHz range BInary EXchange format BINEX is an operational binary format standard for GPS GLONASS SBAS research purposes It has been designed to grow and allow encapsulation of all or most of the information currently allowed for in a range of other formats An Internet server that manages authentication and password control for a network of VRS servers and relays VRS corrections from the VRS server that you select 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 The frequency ofthe unmodulated fundamental output of a radio transmitter The GPS L1 carrier frequency is 1575 42 MHz Is the cumulative phase count of the GPS or GLONASS carrier signal at a given time 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 Compact Measurement Record A real time message format developed by Trimble for broadcasting corrections to other Trimble receivers CMR is a more efficient alternative to RTCM A real time message format developed by Trimble for transmitting more statellite corrections resulting from more satellite signals more constel
22. is recharged See real time differential GPS Differential correction is the process of correcting GPS data collected on a rover with data collected simultaneously at a base station Because the base station is on a known 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 postprocessing See real time differential GPS 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 PDOP Position DOP indicates the three dimensional geometry of the satellites Other DOP values include HDOP Horizontal DOP and VDOP Vertical DOP which indicate the accuracy of horizontal measurements latitude and longitude and vertical measurements respectively PDOP is related to HDOP and VDOP as follows PDOP HDOP VDOP A type of receiver that uses both L1 and L2 signals from GPS satellites A dual frequency receiver can compute more precise position fixes over longer distances and under more adverse conditions because it compensates for ionospheric delays European Geo
23. it is powered by the Power over Ethernet POE interface or by the external power supply AN WARNING The external power adapter and its associated power cord and plug are not intended to be installed outdoors or in a wet location Use of Power over Ethernet N WARNING When this product is connected to a Power over Ethernet connection the source of the Ethernet power must meet IEEE 802 11af and its DC output Ethernet power source must be completely isolated from earth ground floating or a shock hazard may exist 4 SPSx61 Modular GPS Heading Receivers User Guide Contents Safety Information 992p 3o 9 RE E Y PE RP EET 3 Regulations and Salety ecem a e rer a rem Rm e A ie Re 3 Type approwWdl es MENG edad ORE RAG en kg eR RUE bh RR a 3 Exposure to radio frequency radiation llle 3 For Bluetooth radi ss is ee REGERE he a koe RE E e e oH 3 Installing antennas resis ede ura py Re cR n e ERR ERG ta ku e e Yo y Pug Fc Rm 4 Mule TC c a we ee a Od ee dal ge dar bara dle 4 Use of Powerover Eth mets ca concede ex cn Un ee Ole dod Oe edd oa ee aa 4 1 Introduction 26446646 oed 9 room x 5 O99 909 9 RP EES 9 AbouttheSPSx6lreceivers 2 22 9 SPS361 GPS Headingreceiver 2s ee er me 9 SPS461 GPS Headingreceiver ooo 9 Related information 4 4 va apo uos dq ace des soe EUR QURE KS DEMON RC e etre add 10 Technical Supports paced n td one dui RU dU Tee aed Ee ar d c e ebd des donem os 10 Xourc
24. modems CMR CMR CMRx covariance 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 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 The orbit information is a subset of the emphemeris ephemerides data 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 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 a real time differential correction message stream through radio to the rover to obtain centimeter level positions on a continuous real time basis A base station can also bea 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 Source of RICM DGPS
25. pinouts with a multimeter to ensure internal wiring is intact Turn off the receiver and then turn it back on again Press for 35 seconds Connect to the rover receiver radio and make sure that it has the same setting as the reference receiver The SCS900 software automatically configures the over the air baud rate to 9600 If the radio is receiving data and the receiver is not getting radio communications use the SCS900 software to check that the port settings are correct Make sure that the external radio antenna cable is connected between the TNC connector marked RADIO and the radio antenna Make sure that the GPS antenna cable is tightly seated in the GPS antenna connection on the receiver and not connected to the wrong radio antenna connector Make sure that the GPS antenna cable is tightly seated in the GPS antenna connection on the GPS antenna Check the cable for any signs of damage A damaged cable can inhibit signal detection from the antenna at the receiver Make sure that the GPS antenna is located with a clear view of the sky e Restart the receiver as a last resort turn off and then turn it on again SPSx61 Modular GPS Heading Receivers User Guide Troubleshooting F Issue Possible cause Solution The message PC Loader in Control appears on the front panel The message Remote Monitor active appears on the front panel The WinFlash utility is in use The WinFlash utility was
26. setting of the receiver is DHCP enabled 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 a network assigned 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 keypad and display see Chapter 5 web browser interface or the WinFlash utility When DHCP fails the receiver uses a private IP SPSx61 Modular GPS Heading Receivers User Guide Configuring the Receiver Using the Web Browser Interface 6 Configuring the receiver using a web browser This section describes how to configure the receiver using the web browser The web browser requires a computer running a web browser The computer must be connected to the receiver in one of the following ways e Peer to peer using Ethernet cross over cable or Bluetooth wireless technology e Through a Local Area Network LAN Through the Internet Supported browsers Google Chrome e Microsoft Internet Explorer version 6 00 or later for Windows operating systems e Mozilla Firefox version 1 07 or later version 1
27. shortcut and then restart this wizard so that can create additional shortcuts To complete this connection click Finish 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 Bluetooth Properties SPS550 4626K99991 None COM1 Ensure that the Secure Connection check box is cleared and then tap OK Tap Finish The new Bluetooth connection appears in My Bluetooth places SPSx61 Modular GPS Heading Receivers User Guide 41 6 Configuring the Receiver Using the Web Browser Interface 10 Double click this icon to connect My Bluetooth Places File Edit View Bluetooth Favorites Tools Help Qa BP search gt Folders Address C Program Files WIDCOMM Bluetooth Software My Bluetooth Places Y SPS550 4626K99991 None 0 Bluetooth Setup Wizard SPS550 4626K99991 None e View My Bluetooth services em View devices in range D view or modify configuration Other Places 3 Desktop 59 My Computer C Bluetooth Exchange Folder my Network Places ES Printers and Faxes Creating a new connection 1 From your Windows Control Panel open Network Connections and then click Create a new connection EX Network Connections File Edit View Favorites Tools Qe gt y ps
28. started then the data cable was disconnected No apparent reason Internet software Complete the WinFlash task and then exit the utility Plug the data cable back in and then restart the receiver e If the WinFlash utility is not in use turn off the receiver using the Power key e If that does not turn it off apply external DC power and hold down the Power key for 60 seconds f possible turn off the receiver e f possible reload the current firmware e 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 SPSx61 Modular GPS Heading Receivers User Guide 115 F Troubleshooting 116 SPSx61 Modular GPS Heading Receivers User Guide APPENDIX Drawings 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 W Side view and housings for the receiver m Back view The dimensions shown in these drawings are inches with millimeters shown in brackets SPSx61 Modular GPS Heading Receivers User Guide 117 G Drawings Back view 2 310 58 68 5 143 130 64 Side view 8 905 226 19 118 SPSx61 Modular GPS Heading Receivers User Guide APPENDIX Receiver Connector Pinout Information In this appendix Modem multi function port 1PPS and ASCII time tag ASCII time tag 2
29. the cursor between multiple fields on a screen or makes changes to an editable field Down Moves the cursor between multiple fields on a screen or makes changes to an editable field O Left Moves the cursor between characters in a field that can be changed e Right Moves the cursor between characters in a field that can be changed Power button operations Press the Power button O to turn the receiver on and off In addition you can tap to return to the Home screen or hold down 0 to perform the following operations To Hold the Notes button for turn off the receiver clear the almanac ephemeris and SV information reset the receiver to its factory defaults and the default application file force the receiver to power down two seconds 15 seconds 35 seconds at least 60 seconds The display shows a countdown timer When the display goes blank release the Power button 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 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 cou
30. the units voids the Type approval the warranty and the operational license of the equipment Exposure to radio frequency radiation DO NOT operate the equipment near electrical blasting caps or in an explosive atmosphere All equipment must be properly grounded according to Trimble installation instructions for safe operation e All equipment should be serviced only by a qualified technician 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 SPSx61 Modular GPS Heading Receivers User Guide 3 Safety Information may be restricted in some situations or environments such as on aircraft Ifyou are unsure of restrictions you are encouraged to ask for authorization before turning on the wireless radio Installing antennas N CAUTION For your own safety and in terms of the RF exposure requirement
31. 0 0000 0000 0000 0000 1 0 1011 1111 1 011 0000 0000 0000 0000 0000 1 375 1 111 1111 1 111 1111 1111 1111 1111 1111 2 NaN SPSx61 Modular GPS Heading Receivers User Guide 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 x 10 99 to 1 8 x 10 The floating point number is precise to 15 decimal digits 63 62 52 51 0 S Exp 4 Bias Fraction 0 000 0000 0000 0000 0000 0000 0000 0000 0 0 0 011 1111 1111 0000 0000 0000 0000 0000 1 0 1011 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 SPSx61 Modular GPS Heading Receivers User Guide 91 B GSOF Messages TIME This message describes position time information It contains the following data e GPS time in milliseconds of GPS week GPS week number Number of satellites used Initialization counter Table B 3 Time Type 1 record Field Item Type Value Meaning 0 Output record type Char 01h Position time output record 1 Record length Char 0Ah Bytes in record 2 5 GPS time ms
32. 3 Output In this appendix This appendix describes the formats of the subset of NMEA 0183 messages that are available m NMEA 0183 message overview for output by the receivers For a copy of the m Common message elements NMEA 0183 Standard go to the National Marine Electronics Association website at m NMEA messages www nmea org SPSx61 Modular GPS Heading Receivers User Guide 67 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 conta
33. 50 or later is recommended for Windows Macintosh and Linux operating systems Connecting to the receiver using a web browser 1 Enter the IP address of your receiver see Ethernet settings page 36 into the address bar of the web browser as shown Trimble Mozilla Firefox Eile Edit View Go Bookmarks Tools Help A a AT Qa c E OO n c3 O NW B rewins 254 1 5 2 If security is enabled on the receiver the web browser prompts you to enter a username and password A 04 Enter username and password for Trimble at 68 166 186 39 28001 User Name admin Password bdi dt a d i a The default login values for the receiver are User Name admin Password password SPSx61 Modular GPS Heading Receivers User Guide 37 6 Configuring the Receiver Using the Web Browser Interface 38 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 Connecting to the receiver using a web browser and Bluetooth wireless technology This section describes how to access the web interface on a SPSx61 Modular GPS receiver that has firmware version 3 84 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 o
34. 6 Pin D sub connector wiring chart P N 60789 00 26 Pin D sub connector wiring chart P N 65791 00 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 one connector e a high density 26 pin D sub connector SPSx61 Modular GPS Heading Receivers User Guide 119 H Receiver Connector Pinout Information Modem multi function port Pin 1 is top left Pin 9 is top right Pin 10 is middle left Pin 18 is middle right Pin 19 is bottom left Pin 26 is bottom right Pin Usage 1 RS 232 Modem port data terminal ready DTR 2 RS 232 Modem port clear to send CTS 3 RS 232 Modem port Data Set Ready DSR 4 RS 232 Modem port Data Carrier Detect DCD 5 RS 232 Modem port Ring Indicator RI 6 GND 7 RS 232 Modem port 2 Transmit Data TX 8 RS 232 Modem port 2 Receive Data RX 9 USB 10 Ethernet Ground ET_GND RJ45 Pin 4 11 RS 232 Modem port Ready to Send TX 12 RS 232 Modem port Transmit Data TX 13 Ethernet Ground GND RJ45 Pin 5 14 Ethernet Ground GND RJ45 Pin 8 15 USB ID 16 Ethernet Receive Data RD RJ45 Pin 6 17 Ethernet Transmit Data TD RJ45 Pin 2 18 USB 19 USB Power 20 1PPS 21 RS 232 Modem Port Receive Data RX 22 Ethernet Ground GND RJ45 Pin 7 23 GND 24 DC Power In 11 V DC to 28 V DC 25 Ethernet Receive Data RD RJ45 Pin 3 26 Ethernet T
35. 61 Modular GPS receiver comply with Part 15 of FCC Rules 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 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 Bluetooth 900 MHz radio modems operate in license free bands Before operating an SPSx61 Modular GPS Heading 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 operators permit or license for the receiver for the location or country of use For FCC regulations see Notices page 2 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
36. 7 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 SPSx61 Modular GPS Heading Receivers User Guide 101 102 GSOF Messages Table B 23 Attitude flags Bit Meaning 0 Calibrated 0 No 1 Yes 1 Tilt valid 0 No 1 Yes 2 Yaw valid 0 No 1 Yes Reserved 4 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 SPSx61 Modular GPS Heading Receivers User Guide APPENDIX Adding UHF Internal Radio Frequencies In this appendix If you have the optional internal 450 MHz receive 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 utility see Installing the WinFlash utility page 110 m Adding receive frequencies for the 450 MHz internal receive radio You can also use the web interface to add and manage receive 450 MHz frequencies SPSx61 Modular GPS Heading Receivers User Guide 103 C Adding UHF Internal Radio Frequencies Adding receive frequencies for the 450 MHz internal receive radio Start the WinFlash utility The Device Con
37. Address 3 Network Connections E Create a new connection Change Windows Firewall settings 2 The New Connection wizard starts Complete the wizard using the following settings Setup an advanced connection Connect directly to another computer 42 SPSx61 Modular GPS Heading Receivers User Guide Configuring the Receiver Using the Web Browser Interface 6 Guest New Connection Wizard Connection Name What is the name of the other computer you are connecting to 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 New Connection Wizard Select a Device This is the device that will be used to make the connection SPSx61 Modular GPS Heading Receivers User Guide 43 6 Configuring the Receiver Using the Web Browser Interface 4 Select the correct COM port from the list and then tap Next The following dialog appears Connect COM5 admin Password 99999 C Save this user name and password for the following users Me only Anyone who uses this computer 5 Enter the user name and password and then click Connect The defaults for the SPSx61 receiver are Username admin Password password 6 Thenew Direct connection appears in the Network Connections folder I
38. Boe le R E 26 SPSx61 Modular GPS Heading Receivers User Guide 5 Contents 6 Power button operations osse e edocein E a res 26 Hom sgr en sered eitada e be Dae GAR a OE E ee bee ae A 27 OLALUS SCLCCIS aok Gabe ee elas GTE e aia EA eke O EE EROR Sake E 28 RadioStatls eea ta ood eee ep e e RA RR A OES p a a a 28 Configuring the receiver as a rover receiver 1 ee ees 29 Configuring the receiver using the keypad oooooooooooomo momo 29 Configuring EthernetsettingS eee 31 Configuring system settings erre 31 Managing application files 1 ee eee 33 Configuring the Receiver Using the Web Browser Interface 35 Ethernet settings i sues eoe terme ios s wee e HOP oe wee a ee dn 36 Configuring the receiver using a webbrowser cee eee ee ees 37 Supported DroWserS sese o a a c m 37 Connecting to the receiver using a Web browser 00000 ooo 37 Connecting to the receiver using a web browser and Bluetooth wireless technology 38 Creating a new connection eee hr 42 MENUS us Go eet nen hate a be Bt hadas b a aps qoas cp tpud hrs 46 Changing the settings ss haacea sees Poe Rr RR Ed E ee EAA ESTERS Ea 46 Default Settings amp 224 ox 8 oS AR A RO Be 59 Defaultreceiversettings s sos ij es eee rh 60 Resetting the receiver to factory defaults noana aaa 60 Specifications isee ue do oD eRe 99x OE aama OS 61 Configuration OpLIOBS 22 i atia eed a tete ede oe P a R
39. 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 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 applies to the use of a rover receiver to collect data stakeout or control earthmoving machinery in real time using RTK techniques 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 real time kinematic A real time differential GPS method that uses carrier phase measurements for greater accuracy Satellite Based Augmentation System SBAS is based on differential GPS but applies to wide area WAAS EGNOS and MSAS networks of reference stations Corrections and additional information are broadcast via ge
40. G e e a ee ae l oe eds 62 General specificati ns 4 1 a Be OR e e eee eas 62 Antenna opon x4 Kawa E XO Y wk wR ae oe ES a ee ae 8 62 Bio wlscin ED CD EDD 62 Shockand vibration sisis ryster a dc cce agere OR y ped n 63 Measurementsics satus dra ete ed Desi eo at goal ack ake aa Vaca RR C e e o DECRE a 63 POSITIONING era Rik ree aye Y RU Rue eU d Ro POOR Pe EPG RO RUE p Ro e Rag 63 Initialization TIME so ew kos ise Ree e RR edem e doe Rue Redon ud e ae 64 PONWGE ids ves ue scele aces stesse aceti ei ea ahmed oh quac oh eure Go ar turpe 64 Regulatory approvals o o 64 COMMUNICATIONS ems or e A Ae ds 64 NOE ceci a ds pa llo e US a it o ee 65 AA Dec ae deca a e a TR SIR RC D Rl ace RUN den toe 65 Variable configuration options lees 66 Upgrading the receiver o acca 9 sor eem Rr erER CRY eee ee 66 NMEA 0183 Output 2 2 2 eee ee 67 NMEA 0183 message Overview o ssa ern 68 Common message elements eere 69 Message Values i us ohne cee a Dea aA SAG RURAL A ae TR 69 SPSx61 Modular GPS Heading Receivers User Guide Contents NMEA messages ares rwr bh bep RE ce doe E PULS SUELE RU Go gs 69 PINGGGK i 04i 6es4g peeked eS A GEREE ANG HEDGES ESE PS Ss eda 78 GSOF MesSaBas chee Lact eee dtc eter cee ented aa eas 87 Supported message types naaa 88 General Serial Output Format aoaaa 88 Reading binary Values s pesa rini eco tere pele hne we ALATR Ge ee Rs we 89 INTEGER data types nde a Ee PE ee ee ee aes 89 G
41. 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 at http gps faa gov The EGNOS service is the European equivalent and MSAS is the Japanese equivalent of WAAS World Geodetic System 1984 Since January 1987 WGS 84 has superseded WGS 72 as the datum used by GPS The WGS 84 datum is based on the ellipsoid of the same name SPSx61 Modular GPS Heading Receivers User Guide 129 Glossary 130 SPSx61 Modular GPS Heading Receivers User Guide NORTH AMERICA Trimble Construction Division 5475 Kellenburger Road Dayton Ohio 45424 USA 800 538 7800 Toll Free 1 937 245 5154 Phone 1 937 233 9441 Fax EUROPE Trimble GmbH Am Prime Parc 11 65479 Raunheim GERMANY 49 6142 2100 0 Phone 49 6142 2100 550 Fax ASIA PACIFIC Trimble Navigation Singapore Pty Limited 80 Marine Parade Road 22 06 Parkway Parade Singapore 449269 SINGAPORE 65 6348 2212 Phone 65 6348 2232 Fax Trimble w
42. NMEA output message for either Serial 2 Modem or Serial 3 Heading output The heading output from an SPSx61 receiver that is in Rover or Moving Base mode is the True North Azimuth from the Vector antenna to the Position antenna Heading output information is available in the following places e Receiver display e Data outputs GSOF Attitude see Attitude page 98 NMEA HDT see HDT page 74 NMEA AVR see PTNL AVR page 75 SPSx61 Modular GPS Heading Receivers User Guide CHAPTER Configuring the Receiver Using the Keypad and Display In this chapter Button functions Power button operations Home screen Status screens Configuring the receiver as a rover receiver Configuring system settings Managing application files The receiver features a keypad and display see Keypad and display page 14 so that you can configure the receiver without using a controller or computer SPSx61 Modular GPS Heading Receivers User Guide 25 5 26 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 Press this button to enter Edit mode Button Name Function Power Turns the receiver on and off See the next section Escape Returns to the previous screen or cancels changes being made on a screen Enter Advances to the next screen or accepts changes made on a screen Up Moves
43. PS Heading Receivers User Guide Configuring the Receiver Using the Keypad and Display 5 Configuring the receiver as a rover receiver You can use a web browser the HYDROpro software or the receiver keypad to set up the SPSx61 as a rover receiver Configuring the receiver using the keypad The receiver is configured step by step to ensure that all appropriate o are configured To move between steps in the configuration process press Y L In the Home screen press Use the Operation Mode screen to set the receiver mode default configure system settings configure the Ethernet settings configure the OmniSTAR settings view the SV satellite status Press Use the Mode screen to select whether the receiver will operate as a Moving Base or Rover Press Z When the mode begins to flash the receiver is in Edit mode and you can change this setting Press to change to Rover Press to accept the change Press again to move to the Beacon mode screen See next Changing the Beacon mode Ll Press When the value for the current Beacon mode begins to flash the receiver is in Edit mode and you can change the setting Press to change the Beacon mode to Auto Power Auto Range or Manual Press VZ to accept the change and move to the Elevation Mask screen See next Changing the elevation mask 1 Press Z When the value for the current elevation mask begins to flash the receiver is in Edit mode and you can
44. Port7 Y Bluetooth Serial Port5 SY Bluetooth Serial Port 5 Select the Bluetooth serial port you created and then click Next The following dialog appears Bluetooth Device Selection Select a device Remote devices must be in Discoverable mode for this computer to find them For assistance in making a remote device discoverable refer to the remote device s documentation cuuu DIT V int DUU uruppcu vias vuuu 123455432 VE SPS550 TmblACU2 Show all devices If the device you are looking for is not in the list verify that the device has power and is operational On some devices you must press the Connect button to make the device discoverable 6 IntheSearch criteria list change the search to Show all devices and then select the modular GPS receiver that you want to connect to Click Next 40 SPSx61 Modular GPS Heading Receivers User Guide Configuring the Receiver Using the Web Browser Interface 6 The following dialog appears Bluetooth Setup Wizard Completion Page Completing Bluetooth Setup Wizard SPS550 4626K99991 None COM1 Y A shortcut for this connection with this icon and name So will be created on the My Bluetooth Places screen of Windows Explorer To change the name of this connection enter the new name in the box above Config To change the properties of this connection click Configure Start the connection O Create a
45. SOF message definitions eere 91 PD ents 92 LEH 323 SSE e Seq aca ud eR DR ERROR CR ee DOIG ESSE E oa 92 ECEE a aca deti dede koh eat acea se Seal oh te c de abide eke rie di ee ae a e ee t E E 93 ECEFELLS quinti oe One eke Bean ipte A god x dee ER 93 TPl neENU i229 mde e e e e uuu ER a Aqu dex VE ade vade 93 VELOC cc dob oak reo doeet do gig baee AK ee deb NDA hoe aod 94 iji vitral ets 95 SIGMA ica ste Ie RS A E A at d ae o CR OE A we 95 SV Brief doe b A A a ans 96 OV Detall raans oa wav eet Oe id de a a de dd ie 96 UTO Pare aay A 97 Baty MOD s rars oriad RSE ee ud ox UPS qx E Pe edu Re ees 98 ALU E s es Ab wists e a ah ets A ae Gon ao wie es Oo Adore We eke Gee ae we ds 98 BASE POSITION AND QUALITY INDICATOR 4 23 kac race REOR ae n 99 WIE PPP T lage ee lada Mater PB deat Sarat ace gas dah an alee eins 100 Adding UHF Internal Radio Frequencies 103 Adding receive frequencies for the 450 MHz internal receive radio o oooo o 104 Setting UHF reception radio frequencies using the web interface oo 105 Real Time Data and Services lt 0 0 oo 107 Login authenticatiol aas uou ae A le PCR AL alee da ade 108 Upgrading the Receiver Firmware lt lt lt 109 The Wink lash tity sur at a A woe ee A e Sag A Re kon DR 110 Installing the WinF
46. 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 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 Japanese equivalent of WAAS which is available in the United States 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 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 SPSx61 Modular GPS Heading Receivers User Guide 127 Glossary OmniSTAR PDOP postprocessing real time differential
47. UTC time offset in seconds Table B 13 UTC Type 16 record Field Item Type Value Meaning 0 Output record type Char 10h 1 Record length Char 09h Bytes in record 2 5 GPS millisecond of Long msecs Time when packet is sent from the receiver in GPS week milliseconds of week 6 7 GPS week number Short number Week number since start of GPS time 8 9 UTC offset Short seconds GPS to UTC time offset 10 Flags Char See Table B 19 Flag bits indicating validity of Time and UTC offsets SPSx61 Modular GPS Heading Receivers User Guide 97 98 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 Item Type Value Meaning 0 Output record type Char 25h 1 Record length Char 0Ah Bytes in record 2 3 Battery capacity Unsigned short percentage Remaining battery capacity in percentage 4 11 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 e 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 Tru
48. Up component of vector in meters Oj my Bj W N O GPS Quality indicator Fix not available or invalid Autonomous GPS fix RTK float solution RTK fix solution Differential code phase only solution DGPS SBAS solution WAAS EGNOS MSAS RTK Float 3D network solution RTK Fixed 3D network solution RTK Float 2D network solution 9 RTK Fixed 2D network solution 10 OmniSTAR HP XP solution 11 OmniSTAR VBS solution 12 Location RTK 13 Beacon DGPS o 4 o m uN Number of satellites if fix solution DOP of fix M Vector components are in meters The checksum data always begins with SPSx61 Modular GPS Heading Receivers User Guide PTNL VHD NMEA 0183 Output A Heading Information An example of the PTNL VHD message string is shown below Table A 12 describes the 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 12 PTNL VHD message fields Field Meaning Message ID PTNL VHD UTC of position in hhmmss ss format Date in mmddyy format Azimuth AAzimuth ATime Vertical Angle AVertical ATime Range ARange ATime WO CO NI aJ U A wj N O GPS Quality indicator Fix not available or invalid Autonomous GPS fix RTK float solution RTK fix solution Differential code phase only solution DGPS SBAS solution WAAS EGNOS MSAS RTK Float 3D network solution RTK Fixed 3D net
49. VENT DO NOT REMOVE External venting plug for pressure equalization Figure 2 2 Rear view of the receiver SPSx61 Modular GPS Heading Receivers User Guide 15 2 Features and Functions 16 SPSx61 Modular GPS Heading Receivers User Guide CHAPTER 3 Batteries and Power In this chapter W External power W Power over Ethernet PoE SPSx61 Modular GPS Heading Receivers User Guide 17 3 18 Batteries and Power External power The receiver is powered by an external power source using the provided cable P N 65791 00 connected to the 26 pin connector Power over Ethernet PoE The receiver is a Power over Ethernet PoE capable device and can be powered using a single Ethernet cable from an IEE802 3af capable network using one of the following cables adaptors e 57168 e 65791 00 AN WARNING This product is not intended to be used outdoors or in a wet location when it is powered by the Power over Ethernet POE interface or by the external power supply The product should only be used in these types of environments when operating on its own internal battery N WARNING When this product is connected to a Power over Ethernet connection the source of the Ethernet power must meet IEEE 802 11af and its DC output Ethernet power source must be completely isolated from earth ground floating or a shock hazard may exist SPSx61 Modular GPS Heading Receivers User Guide CHAPTER Setting up the R
50. ample of the GSV message string is shown below Table A 4 describes the message fields GPGSVA 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 2 Message number 3 Total number of SVs visible 4 SV PRN number 5 Elevation in degrees 90 maximum 6 Azimuth degrees from True North 000 through 359 7 SNR 00 99 dB null when not tracking 8 11 Information about second SV same format as fields 4 through 7 12 15 Information about third SV same format as fields 4 through 7 16 19 Information about fourth SV same format as fields 4 through 7 20 The checksum data always begins with SPSx61 Modular GPS Heading Receivers User Guide 73 A NMEA 0183 Output HDT Heading from True North The HDT string is shown below and Table A 5 describes the message fields GPHDT 123 456 T 00 Table A 5 Heading from true north fields Field Meaning 0 Message ID GPHDT 1 Heading in degrees 2 T Indicates heading relative to True North 3 The checksum data always begins with 74 SPSx61 Modular GPS Heading Receivers User Guide PTNL AVR NMEA 0183 Output Time Yaw Tilt Range for Moving Baseline RTK The PTNL AVR message string is shown below and Table A 6 describes the message fields PTNL AVR 181059 6 149 4688 Yaw 0 0134 Tilt 60 191 3 2 5 6 00 Table
51. ar view of the sky Even if the receiver is not connected to a correction stream and the position mode is Autonomous it will still provide the same high precision GPS Heading The Heading output ofthe SPSx61 is relative to True North GA530 antenna GA530 antenna Antenna cable Antenna cable P N 58957 05 P N 58957 05 SPSx61 receiver Cable P N 65791 00 DE9 plugs for Serial 2 Serial 3 26 pin connector and 1PPS P RJ45 plug for Ethernet Figure 4 1 Installation setup for the SPSx61 for position and heading Installing the receiver Select a location at which all of the following conditions are met the receiver is not exposed to temperature extremes e the receiver is not exposed to moisture extremes such as rain snow water blasters or wash systems e the receiver is protected from mechanical damage youcan 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 SPSx61 Modular GPS Heading Receivers User Guide 23 4 24 Setting up the Receiver 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 t
52. atic 2 Mode 2 Fix type 1 not available 2 2D 3 3D 3 PRN number 01 through 32 of satellite used in solution up to 12 transmitted 4 PDOP Position dilution of precision 0 5 through 99 9 5 HDOP Horizontal dilution of precision 0 5 through 99 9 6 VDOP Vertical dilution of precision 0 5 through 99 9 7 The checksum data always begins with SPSx61 Modular GPS Heading Receivers User Guide 71 A 72 NMEA 0183 Output GST Position Error Statistics An example of the GST message string is shown below Table A 3 describes the message fields Table A 3 GPGST 172814 0 0 006 0 023 0 020 273 6 0 023 0 020 0 031 6A GST message fields Field Meaning 0 Message ID GPGST 1 UTC of position fix RMS value of the pseudorange residuals includes carrier phase residuals during periods of RTK float and RTK fixed processing 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 WO CO NI aJ UI BY WwW The checksum data always begins with SPSx61 Modular GPS Heading Receivers User Guide GSV NMEA 0183 Output A Satellite Information The GSV message string identifies the number of SVs in view the PRN numbers elevations azimuths and SNR values An ex
53. ature a keypad and display so you can configure the receiver without using a controller or computer All the receivers can optionally record GPS data to the internal memory and transfer the data over a serial or Ethernet connection SPSx61 Modular GPS Heading Receivers User Guide 11 2 Features and Functions SPS361 and SPS461 features The receivers provide the following features A flexible modular GPS Heading receiver that delivers precise heading and sub meter horizontal positioning accuracy for marine and OEM applications Ethernet and browser interface provides remote access over the Internet or by cable for data and configuration Use RTCM DGPS corrections over a radio link from a local reference station or over a cellular connection from an Internet based reference station Integrated Bluetooth wireless technology for cable free configuration and operation with a computer or cell phone 72 channel L1 C A Code L1 L2 Full Cycle Carrier GPS receiver OmniSTAR VBS service capability 4 channel WAAS Wide Area Augmentation System EGNOS European Geo Stationary Navigation System and MSAS Satellite Based Augmentation SBAS compatible Configuration and monitoring interface through the following methods Web interface Networked or peer to peer Ethernet Integrated display and keyboard Compact design Easy to use menu system for rapid configuration and status checking Rugged weatherproof construction with an IP67 env
54. ay START Appfile Press to show SAVE Appfile Press V to show DELETE Appfile Press V to show START Appfile Press V to accept the change 32 SPSx61 Modular GPS Heading Receivers User Guide Configuring the Receiver Using the Keypad and Display 5 15 Press Y again Use the Power over Ethernet screen to choose Enable or Disable If connected to an 802 3af capable powered network and if PoE is enabled the SPSx61receiver will be powered through the RJ45 Ethernet cable 16 Press eZ to accept the change and return to the Home screen 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 To manage the application files use the System Setup menu 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 Moving Base MBO1 Rover ROVO1 SPSx61 Modular GPS Heading Receivers User Guide 33 5 Configuring the Receiver Using the Keypad and Display 34 SPSx61 Modular GPS Heading Receivers User Guide CHAPTER 6 Configuring the R
55. change the setting 2 Press W 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 to accept the change and move to the Position Antenna Type screen See next SPSx61 Modular GPS Heading Receivers User Guide 29 5 Configuring the Receiver Using the Keypad and Display Selecting the Position antenna In the Position Antenna Type screen l Press Z 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 attached to RF post 1 on the receiver Press to scroll through the antenna models Once the correct antenna name appears press V to accept the change and move to the Vector Antenna Type screen See next Selecting the Vector antenna In the Vector Antenna Type screen l Press 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 attached to RF port 2 on the receiver Press W to scroll through the antenna models Once the correct antenna name appears press V to accept the change and move to the RTCM Output Port screen See next Selecting the output message types and port In the Port screen set up the RTCM outputs from the receiver Note An SPSx61 receiver can repeat the RTCM input from an internal MSK Beacon radio or OmniSTAR VBS service so it can be used by another rover
56. cise RTK SPS361 GPS Heading receiver The Trimble SPS361 is a dual frequency GPS Heading receiver available with or without an internal MSK Beacon receiver The SPS361 receiver is capable of DGPS positioning accuracies using any of the following differential correction sources e Satellite Based Augmentation Systems SBAS corrections WAAS EGNOS MSAS DGPS RTCM corrections from the internal MSK Beacon receiver CHAPTER DGPS RTCM corrections from an external source RTK corrections from an external source solution is limited to DGPS precision OmniSTAR VBS correction service from an internal demodulator OmniSTAR VBS correction service from an external source The SPS361 receiver can only be used as a rover receiver and it cannot be used as a DGPS RTCM base station or upgraded The SPS361 receiver is shipped as a complete system with GA530 antennas and cables SPS461 GPS Heading receiver The Trimble SPS461 is a dual frequency GPS Heading receiver which provides DGPS accuracy position from SBAS OmniSTAR VBS MSK Beacon or external RTCM DGPS corrections Using a pair of dual frequency antennas the SPS461 GPS Heading receiver computes the precise vector between the two antenna phase centers to provide a heading with the option of either pitch or roll for precise platform vehicle or vessel orientation The SPS461 is available with the following hardware configurations e No internal radio MSK Bea
57. cisionRTK GPS signals L1 Y Y Y Y Y Y L2 x Y Y Y Y Y L2C x Optional Optional Optional v Y GPS SBAS corrections WAAS Y Y Y Y Y Y EGNOS Y Y Y Y Y Y MSAS Y Y Y Y Y Y OmniSTAR corrections XP x Y x Y Y Y HP x Y x Y Y Y VBS Y Y Y Y Y Y Beacon corrections MSK Optional Optional Optional Optional Optional Optional SPSx61 Modular GPS Heading Receivers User Guide 65 8 66 Variable configuration options This table lists the default options for each receiver in the SPSx61 Modular GPS receiver family Configuration option SPS361 SPS461 Rover options Precise horizontal Optional Precise vertical Optional Precise heading vector Y Y Location RTK Optional RTCM DGPS Y v Signal options L2C Optional SBAS Y 4 OmniSTAR VBS Y Y OmniSTAR HP XP Optional Beacon Y Y General options VRS support Y Y Max data rate 20 Hz 20 Hz Upgrading the receiver Only the SPS461 receiver can be upgraded There are four levels of positioning precision available e SPS461 DGPS and OmniSTAR VBS Standard e SPS461 Location RTK and OmniSTAR HP XP Upgrade e SPS461 Location RTK with precise vertical measurement Upgrade e SPS461 Precision RTK Upgrade 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 E Upgrading the Receiver Firmware SPSx61 Modular GPS Heading Receivers User Guide APPENDIX NMEA 018
58. con internal receiver e 450 MHz internal receive only radio combined with MSK Beacon internal receiver SPSx61 Modular GPS Heading Receivers User Guide 9 1 Introduction e 900 MHz internal receive only radio The SPS461 kits do not include the GPS antennas or antenna cables which must be ordered separately The following GPS antennas are supported GA530 GA510 e Zephyr Model 2 e Rugged Zephyr Model 2 All SPSx61 GPS Heading receivers provide the same precise heading capability However you can upgrade the SPS461 receiver to provide different levels of positioning accuracies Location RTK e Location RTK with Precise Vertical Precise RTK Location RTK option The Location RTK option adds the 10 cm Horizontal and Vertical precision capability when using RTK corrections Location RTK with Precise Vertical option The Location RTK with Precise Vertical option adds the 2 cm Vertical precision capability when using RTK corrections This option is ideal for most marine applications that require a cost effective solution with the highest vertical precision possible Precise RTK option The Precise RTK option adds full RTK horizontal and vertical precision 10 SPSx61 Modular GPS Heading Receivers User Guide Related information Sources of related information include the following e Release notes The release notes describe new features ofthe product information not included in the manuals and an
59. d modifications not expressly approved by the manufacturer or registrant of this equipment can void your authority to operate this equipment under Federal Communications Commission rules Canada This Class B digital apparatus complies with Canadian ICES 003 Cet appareil num rique de la classe B est conforme la norme NMB 003 du Canada This apparatus complies with Canadian RSS GEN RSS 310 RSS 210 and RSS 119 Cet appareil est conforme a la norme CNR GEN CNR 310 CNR 210 et CNR 119 du Canada 2 SPSx61 Modular GPS Heading Receivers User Guide Europe This product the SPSx61 Modular GPS receiver is intended to be used in all EU member countries Norway C 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 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 Aus
60. e 8 is shown as 08 4 Latitude in degrees and decimal minutes ddmm mmmmmmm Direction of latitude N North S South 6 Longitude in degrees and decimal minutes dddmm mmmmmmm Should contain 3 digits of ddd 7 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 Fix not available or invalid Autonomous GPS fix Differential SBAS or OmniSTAR VBS RTK Fixed OmniSTAR XP OmniSTAR HP Float RTK or Location RTK E E d 11 The checksum data always begins with SPSx61 Modular GPS Heading Receivers User Guide PTNL DG NMEA 0183 Output A L band corrections and beacon signal strength and related information This message PTNLDG is a Trimble created message It outputs the L band and beacon signal strength and other information The PTNL DG message string is shown below and Table A 8 describes the message fields Table A 8 Example For beacon DG message PTNLDG 44 0 33 0 287 0 100 0 4 1 0 3E For L band DG message PTNLDG 124 0 10 5 1557855 0 1200 2 4 0 3 3C DG message fields Field Meaning Talker ID Signal strength SNR in db Signal frequency in kHz Bit rate 0 1 2 3 4 5 Channel number For a beacon message the system locks only to the primary channel As a result there is not more t
61. e use the WinFlash utility to upgrade the firmware on your receiver You can also upgrade the receiver through the web interface see Configuring the receiver using a web browser page 37 If your receiver has 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 Firmware updates are available to download from the Trimble website Go to www trimble com support shtml and select the link to the receiver that you need updates for and then click Downloads SPSx61 Modular GPS Heading Receivers User Guide 109 E Upgrading the Receiver Firmware The WinFlash utility The WinFlash utility communicates with Trimble products to perform various functions including e installing software firmware and option upgrades e running diagnostics for example retrieving configuration information e 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 selec
62. e North e Range or slope distance between the Heading antenna and the Moving Base antenna Table B 15 Attitude Type 27 record Field Item Type Value Meaning 0 Output record type Char 1Bh Attitude information 1 Record length Char 2Ah Bytes in record 2 5 GPS time Long msecs GPS time in milliseconds of GPS week 6 Flags Char See Table B 23 Flag bits indicating validity of attitude components 7 Number of SVs used Char 00h 0Ch Number of satellites used to calculate attitude 8 Calculation mode Char See Table B 24 Positioning mode 9 Reserved Reserved 10 17 Tilt Double radians Tilt relative to horizontal plane 18 25 Yaw Double radians Rotation about the vertical axis relative to True North 26 33 Reserved Reserved 34 41 Range Double meters Distance between antennas 42 43 PDOP Short 0 1 Position Dilution of Precision SPSx61 Modular GPS Heading Receivers User Guide 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 Value Meaning 0 Output record type Char 01h Position time output record 1 Record length Char 0Ah Bytes in record 2 5 GPS time ms Long msecs GPS time in milliseconds of GPS week 6
63. e screen displays the status of the signal and the frequency of the beacon station e Current Heading Ifthe receiver is not using an internal radio or MSK Beacon radio for corrections the Home screen displays the current heading SPSx61 Modular GPS Heading Receivers User Guide 27 5 28 Configuring the Receiver Using the Keypad and Display Ifthe receiver is using an internal radio the Heading information can be viewed on the fifth status screen 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 or OmniSTAR satellite and link status Base name and code or OmniSTAR mode and subscription Heading and Slope distance Latitude longitude and height Antenna height Receiver model and hardware version Receiver firmware version Receiver serial number Receiver IP address To access these screens from the Home screen press W or O Radio status When a radio is installed either 450 MHz or 900 MHz the following status messages are displayed in the middle of the top line of the Home screen Message Description Recv Busy Sync Rept Sig Ovid Received a frame Frame was blocked Got sync with base station Repeated a frame Got carrier detect Radio bandwidth exceeded data has probably been lost SPSx61 Modular G
64. eceiver In this chapter This chapter provides guidelines for setting up b e the receiver as a rover receiver in a range of W Rover operation guidelines m use scenarios W Setting up the SPSx61 GPS d This chapter also describes the procedure for receivers to provide heading 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 SPSx61 receiver family SPSx61 Modular GPS Heading Receivers User Guide 19 4 Setting up the Receiver Rover operation guidelines The second part of a GPS system is the rover receiver The rover is capable of receiving correction streams from different sources and by different methods to improve the precision of the position calculation The rover receiver is mounted on a vehicle marine vessel or construction machinery and provides position and heading information for the operator The rover receiver may be connected to a base station or to some other source of corrections such as a virtual reference station system SBAS WAAS EGNOS MSAS Beacon or an OmniSTAR service The connection can be provided by e anintegrated radio UHF or MSK Beacon e anexternal cellular phone that is connected to the receiver either by Bluetooth wireless technology or by means of a cable e through satellite reception SBAS or OmniSTAR Rover receiver components The rover receiver has the following c
65. eceiver Using the Web Browser Interface In this chapter You can configure the SPSx61 Heading receiver in a variety of ways W Ethernet settings ne e Receiver keypad and display see Chapter 5 m Configuring the receiver using a web browser e WinFlash utility m Menus e Web Browser interface this chapter HYDROpro software SPSx61 Modular GPS Heading Receivers User Guide 35 6 36 Configuring the Receiver Using the Web Browser Interface 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 TP setup Static or DHCP e IP address e Netmask Submask e Broadcast IP address e Gateway IP address e DNS P 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
66. en 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 receive only radio of the receiver is delivered with no 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 Once the radio frequencies are configured use the controller or receiver to select channel frequencies during rover setup operations SPSx61 Modular GPS Heading Receivers User Guide Setting up the Receiver 4 Setting up the SPSx61 GPS receivers to provide heading The SPSx61 receiver is always configured to provide precise GPS Heading when both GPS antennas are connected and have a cle
67. enna 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 SPSx61 Modular GPS Heading Receivers User Guide 21 4 22 Setting up the Receiver 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 op
68. f that status shows as Connected you can continue to the web interface Network Connections File Edit View Favorites Tools Advanced Help sec 27 JO search gt Folders E Address Network Connections Type Status Network Tasks Create a new connection Change Windows Firewall Direct Connected 44 SPSx61 Modular GPS Heading Receivers User Guide yw a Configuring the Receiver Using the Web Browser Interface 6 Right click on the connection and select Status COM5 Status General Details Property Value s Device Name Communications cable between tw Device Type modem Server type PPP Transports TCP IP Compression none PPP multilink framing Off Server IP address 2 168 100 140 Client IP address 92 168 100 141 8 The Details tab shows the Server IP address Use this IP to connect to the receiving using the web interface Powe Hr Du RO SN 9999K00059 Trimble SPS Receiver o Firmware m Lepus jV L0008 dU Tete rod gaian Lai As geht mar tond vbi hind the AA oe T de Tad gakoa Lirik ug i Mea UV Boa Sidse rk and AN sod Mit meetin EINER Y Moorin Sept ovd Dante Bua tebt om batena el Tarkia Redgate Limited AU stat adores ax tne peapeio vi Pari apodo Poma Mjuxairtrav jure Tip You can also get the PPP address from the front panel of the receiver by pressing from the Home screen SPSx61 Modular GPS Heading Rece
69. figuration screen appears 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 ofthe supported operations for the selected device A description of the selected operation is shown in the Description field 5 Select Configure Radio Frequency Selection Settings and then click Next The Internal You have connected to a SPSx61 Internal OK Transceiver Configuration FieauencyBand 410 0 470 0 MHz Cancel dialog appears sere Former Radio Info Current Channel 6 462 125 MHz y 6 Inthe Wireless Format Save Wireless Mode TRIMTALK 4505 at 9600 bps group select the Print i Note Wireless mode must be common appropriate channel and among ali radios in your network wireless mode The Wireless mode must be the same for all radios in Channel Frequency Specify Frequency 462 12500 ES your network zu E Mr r Selected Freguencies 7 Inthe Specify Frequency Channel Frequency Remove field enter the frequency UE you want to add 440 00000 Remove All 470 00000 8 Click Add The new pee enia Mine Dp frequency appears in the 462 12500 Move Down Selected Frequencies list Note The programmed frequencies must conform to the channel spacing and minimum tuning requirements for the radio To view th
70. ge 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 NI oO wy Bj W N O 8 GPS Quality indicator Fix not available or invalid Autonomous GPS fix RTK float solution RTK fix solution Differential code phase only solution DGPS SBAS solution WAAS EGNOS MSAS RTK Float 3D network solution RTK Fixed 3D network solution RTK Float 2D network solution 9 RTK Fixed 2D network solution 10 OmniSTAR HP XP solution 11 OmniSTAR VBS solution 12 Location RTK 13 Beacon DGPS Number of satellites in fix o 24 Oo umb Ww MO 9 DOP of fix 10 Ellipsoidal height of fix 11 M ellipsoidal height is measured in meters 12 The checksum data always begins with Note The PTNL PJK message is longer than the NMEA 0183 standard of 80 characters SPSx61 Modular GPS Heading Receivers User Guide 79 A 80 NMEA 0183 Output PTNL VGK Vector Information An example of the PTNL VGK message string is shown below Table A 11 describes the message fields PTNL VGK 160159 00 010997 0000 161 00009 985 0000 002 3 07 1 4 M 0B Table A 11 Field PTNL VGK message fields Meaning 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
71. ge 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 N CAUTION Operating or storing the receiver outside the specified temperature range can damage it For more information see Chapter 8 Specifications SPSx61 Modular GPS Heading Receivers User Guide 13 2 Features and Functions COCOM limits The US 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 e 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 Keypad and display Feature Description Power LED Indicates if the receiver is turned on or off Buttons Used to turn on and configure the receiver see Button functions page 26 Display The rece
72. han one beacon message The channel for beacon is 0 so it matches the DSM 232 family of GPS receivers For L band messages the channel number is 2 so it matches the DSM 232 family of GPS receivers Tracking status 0 Channel idle 1 Wideband FFT search 2 Searching for signal 3 Channel has acquired signal 4 Channel has locked onto signal For beacon this means valid RTCM has been received For L band this means good data has been decoded 5 Channel disabled Channel used Output 1 if the RTCM is being used for outputting DGPS position 0 otherwise If the system is not outputting DGPS the output is 0 also Channel tracking performance indicator For beacon this is the word error rate which is in percentage For L band this is the time since the last sync in tenths of seconds ranging from 0 through 255 SPSx61 Modular GPS Heading Receivers User Guide 77 A NMEA 0183 Output PTNL GGK Time Position Position Type DOP An example of the PTNL GGK message string is shown below Table A 9 describes the message fields PTNL GGK 453049 0 0 3728 455440850 N 12215 25329 1068 W 3 9 2 0 EHT35 742 4 M Table A 9 PTNL GGK message fields Field Meaning 0 Talker ID PTNL 1 Message ID GGK 2 UTCtime 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
73. he 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 e Choose an area with a clear view of the sky The antenna must be above any metallic objects Donot mount the antenna close to stays electrical cables metal masts or other antennas Donot mount the antenna near a transmitting antenna a radar array or near satellite communication equipment e Avoid areas with high vibration excessive heat electrical interference and strong magnetic fields Use a 5 8 x11 stainless steel bolt to mount each of the antennas There is a threaded bolt hole in the base of the antenna CAUTION The GPS antenna and its cabling should be installed in accordance with all national and local electrical codes regulations and practices The antenna and cabling should be installed where they will not become energized as a result of falling nearby power lines nor be mounted where they are subjected to overvoltage transients particularly lightning Such installations require additional protective means that are detailed in national and local electrical codes Interfacing using the NMEA protocol The default factory settings enable the NMEA HDT and GGA output on Serial 3 of the SPSx61 receiver An alternative configuration can be configured from the front panel of the receiver by pressing 2 until the NMEA screen appears and then selecting the required
74. his from the bottom of tne Help Contents select Download SPSx51 360A Help zip and then unzip the file to your PC Last Modified January 14 2008 58 SPSx61 Modular GPS Heading Receivers User Guide Default Settings In this chapter W Default receiver settings m Resetting the receiver to factory defaults CHAPTER All settings are stored in application files Appfiles 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 SPSx61 Modular GPS Heading Receivers User Guide 59 7 60 Default Settings Default receiver settings These settings are defined in the default application file Function Factory default SV Enable All SVs enabled General Controls Elevation mask PDOP mask RTK positioning mode 10 7 Low Latency Motion Kinematic Serial 3 Port Baud rate 38 400 Format 8 None 1 Flow control None Serial 2 Modem Baud rate 38 400 Port Format 8 None 1 Flow control None Input Setup Station Any NMEA ASCII all supported messages GGA HDT 1 Hz on Serial 3 port Streamed output All types Off Offset 00 RT17 Binary All ports Off OmniSTAR Internal demodulator Off External OmniSTAR data VBS only
75. ield Meaning 0 Message ID GPGGA 1 UTC of position fix 2 Latitude 3 Direction of latitude N North S South 4 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 8 HDOP 9 Orthometric height MSL reference 10 M unit of measure for orthometric height is meters 11 Geoid separation 12 M geoid separation is measured in meters 13 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 15 The checksum data always begins with When using OmniSTAR services ID 100 for OmniSTAR VBS ID 1000 for OmniSTAR HP and ID 1008 for OmniSTAR XP 70 SPSx61 Modular GPS Heading Receivers User Guide NMEA 0183 Output A GSA GPS DOP and active satellites An example of the GSA message string is shown below Table A 2 describes the message fields GPGSA lt 1 gt lt 2 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 3 gt lt 4 gt lt 5 gt lt 6 gt lt 7 gt lt CR gt lt LF gt Table A 2 GSA message fields Field Meaning 0 Message ID GPGSA 1 Mode 1 M manual A autom
76. ilable whenever your computer is connected to the Internet It is also available anytime from the Trimble website link available in the Help section ofthe web interface To display the web interface in another language click the corresponding country flag The web interface is available in the following languages English en Japanese ja Chinese zh Norwegian n Dutch nl Polish pl Finnish fi Russian ru 46 SPSx61 Modular GPS Heading Receivers User Guide Configuring the Receiver Using the Web Browser Interface 6 French fr Spanish es German de Swedish sv Italian it 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 SPS461 SN 4840K58796 gt Trimble Receiver Status Identity System Name Trimble Serial Number 4840K68796 Ethernet MAC Address 00 60 35 0A 45 63 Option Ethernet IP 103 1988 DNS Resolved Name NONE Bluetooth MAC Address 00 80 37 21 16 e1 Firmware Version 0 52 Satellites Firmware Date 2008 11 21 Receiver Configuration Monitor Version 3 60 Hardware Version 0 0
77. ing power to the receiver SPSx61 Modular GPS Heading Receivers User Guide 121 Receiver Connector Pinout Information 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 122 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 aisaninteger number representing the position fix type l time only 2 1D amp time 3 currently unused 4 2D amp time 5 3D amp time bis 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 SPSx61 Modular GPS Heading Receivers User Guide Receiver Connector Pinout Information H 26 Pin D sub connector wiring chart P N 60789 00 RJ45 plug USB A plug m DE9 P plug W 3 DE9 S plug _F DC jack
78. ing satellite status e Elevation above horizon in degrees e Azimuth from True North in degrees SPSx61 Modular GPS Heading Receivers User Guide GSOF Messages B e 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 Meaning 0 Output record Char OEh Detailed satellite information output record type Record length Char 1 8x number of SVs Bytes in record 2 9 Number of SVs Char 00h 18h Number of satellites included in record The following bytes are repeated for Number of SVs PRN Char 01h 20h Pseudorandom number of satellites 1 32 Flags1 Char See Table B 21 First set of satellite status bits Flags2 Char See Table B 22 Second set of satellite status bits Elevation Char Degrees Angle of satellite above the horizon Azimuth Short Degrees Azimuth of satellite from True North SNR L1 Char dB 4 Signal to noise ratio of L1 signal multiplied by 4 SNR L2 Char dB 4 signal to noise ratio of L2 signal multiplied by 4 Includes 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
79. ins detailed information about each message Message Function Page GGA Time position and fix related data 70 GSA GPS DOP and active satellites 71 GST Position error statistics 72 GSV Number of SVs in view PRN elevation azimuth and SNR 73 HDT Heading from True North 74 PTNL AVR Time yaw tilt range mode PDOP and number of SVs for 75 Moving Baseline RTK PTNL BPQ Base station position and position quality indicator 76 PTNL DG L band corrections and beacon signal strength and related 77 information PTNL GGK Time position position type and DOP values 78 PTNL PJK Local coordinate position output 79 PTNL VGK Time locator vector type and DOP values 80 PTNL VHD Heading Information 81 RMC Position Velocity and Time 82 ROT Rate of turn 83 VTG Actual track made good and speed over ground 84 ZDA UTC day month and year and local time zone offset 85 To enable or disable the output of individual NMEA messages do one ofthe following e 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 68 SPSx61 Modular GPS Heading Receivers User Guide NMEA 0183 Output A Common message elements Each message contains e amessage ID consisting of GP followed by the message type For example the message ID of the GGA message is GPGGA ac
80. ion method 0 Code DGPS or a float position RTK Uncorrected position is Autonomous if bit O 0 1 Position is fixed integer phase position RTK Uncorrected position is WAAS if bit O 0 3 OmniSTAR solution 0 Not active 1 OmniSTAR differential solution including HP XP and VBS 4 Position determined with static as a constraint 0 No 1 Yes 5 Position is network RTK solution 0 No 1 Yes 6 Position is Location RTK 0 No 1 Yes 7 Position is Beacon DGPS 0 No 1 Yes 100 SPSx61 Modular GPS Heading Receivers User Guide 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 Satellite Currently Assigned to a Channel trying to track 0 No 1 Yes 2 Satellite Currently Tracked on L1 Frequency 0 No 1 Yes 3 Satellite Currently Tracked on L2 Frequency 0 No 1 Yes 4 Satellite Reported at Base on L1 Frequency 0 No 1 Yes 5 Satellite Reported at Base on L2 Frequency 0 No 1 Yes 6 Satellite Used in Position 0 No 1 Yes
81. ironmental rating 40 C to 65 C 40 F to 149 F operating temperature range 11V DC to 28 V DC input power range with over voltage protection Power over Ethernet PoE Capable of rover operation with an Internet based reference station RoHS compliant 1 Pulse per second 1PPS output cable P N 60789 00 required SPS361 receiver optional features Integrated dual channel IALA Beacon capability allows the use of free MSK Beacon correction transmissions without an extra receiver or antenna 12 SPSx61 Modular GPS Heading Receivers User Guide Features and Functions 2 SPS461 receiver optional features The SPS461 is available in the following hardware configurations Integrated dual channel MSK Beacon receiver Internal 450 MHz 410 MHz to 470 MHz band receive only radio with integrated dual channel MSK Beacon receiver Internal 900 MHz receive only radio The following options and upgrades are available for the SPS461 receiver Rover Location RTK includes OmniSTAR XP HP support Location RTK with Precise Vertical PV Precise RTK 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 5 Hz 10 Hz or 20 Hz measurement update rate 20 Hz maximum in Heading mode Base station free rover capability within a VRS network Base station free rover capability using OmniSTAR services Operates as an SBAS rover when covera
82. is 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 104 SPSx61 Modular GPS Heading Receivers User Guide Adding UHF 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 Trimble SPS461 1 cz Radio Frequency Management Configuration Details ESSI Hardware type Internal 450 MHz receiver Van gS ra aod Frequency range MHz 410 000 470 000 Tuning step KHz 6 25 Receiver Configuration Max number of channels 20 vo Configuration Current number used 6 Data Logging Frequency Management Receive onty Channel Management Add channel MHz Delete channel OmniSTAR Network Configuration ox Security 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 optio
83. iver has a Vacuum Fluorescent Display that allows you to see how the receiver is operating and view the configuration settings Bluetooth antenna Location of the Bluetooth antenna Figure 2 1 Front view of the receiver 14 SPSx61 Modular GPS Heading Receivers User Guide Rear connectors Features and Functions 2 Connector type Description e TNC 450 MHz Internal radio Reverse polarity TNC 900 MHz internal radio Not installed system without intern al radio Connect to the radio antenna TNC ES Connect to GPS antenna 1 for position When connected to a GA530 antenna it will provide MSK Beacon signal OmniSTAR correction services are available only on this antenna port ds Connect to GPS antenna 2 for vector and heading When connected to a GA530 antenna it will provide MSK Beacon signal OmniSTAR is not supported on this antenna port DB26 High Density js E lolol Ethernet with PoE connectivity to a 10 100 Base T network through an RJ45 jack on a multiport adaptor P N 57167 or cable P N 65791 00 Primary power from a Trimble AC DC power supply P N 62546 using the multiport adaptor P N 57167 or cable P N 65791 00 Full 9 wire RS 232 serial communications using the 26 9 pin multiport adaptor P N 57168 or a 26 pin serial communications cable P N 65791 00 e 1PPS 2 x RS 232 input DC Ethernet cable P N 65791 00 5 Vent plug ZA
84. ivers User Guide 45 6 Configuring the Receiver Using the Web Browser Interface Menus Available languages Figure 6 1 Once you are logged in the home page appears see Figure 6 1 Serial number of receiver Model name of receiver Ox a Trimble SPS461 Trimble SPS Receiver CE Recelver Status Satellites Receiver Configuration e VO Configuration Bluetooth Qa p Beacon f OmniSTAR Network Configuration b gt Security Firmware 9 Copyright 2008 2000 Trimble Navigation Limited All rights reserved Trimble and the Globe amp Triangle logo are trademasa of Trimble Navigation Limited registered in the United States Patent and Trademas Office and other countries EVEREST Manewell Zephyr and Zephyr Help Geodetic are tademase of Tnmble Navigation Limited Al other trademaso are the property of their respective owners 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 ava
85. lash utility a 110 Upgrading the receiver firmware 1 eee 110 Forcing the receiver into Monitor mode lees 111 Troubleshooting 113 RB c lverisSu88 s a oko do s sod edes gelo OR A dee Pod lobe Red ew oe Pe eR m D unn 114 CO OIL D 6 4 4 ee 666 EESTI 77777071177 117 BICK VIEW inem eti XE A ated dea tret deti Grades 118 Side VIEW i Wee ba La Saw we be BE eee e be oa md nee pA PA ee dci 118 SPSx61 Modular GPS Heading Receivers User Guide 7 Contents Receiver Connector Pinout Information 119 Modem multi function port celer 120 1PPSand ASClltimetal s iis sa sii ad aai koe ck e Ed hoy a ES RR RR P ox ed s 121 ASCI time tag vua steer eee ea RR SGN doe ed RD Ae Sox oat eh rd a le ss 122 26 Pin D sub connector wiring chart P N 60789 00 llle 123 26 Pin D sub connector wiring chart P N65791 00 lees 124 O A 1 717 T1 1 5 1T 125 SPSx61 Modular GPS Heading Receivers User Guide Introduction Welcome to the SPSx61 Modular GPS Heading Receivers User Guide This manual describes how to set up and use the Trimble SPSx61 Modular GPS receivers About the SPSx61 receivers The SPSx61 Modular GPS receiver family comprises the following receivers e SPS361 e SPS461 The SPS461 receiver can be ordered with options or upgraded post sale to the following levels of position accuracy Location RTK e Location RTK with Precise Vertical Pre
86. lations and more satellites Its compactness means more repeaters can be used on a site 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 SPSx61 Modular GPS Heading Receivers User Guide 125 Glossary datum deep discharge DGPS differential correction differential GPS DOP dual frequency GPS EGNOS elevation mask ellipsoid 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 defined by the size and shape of an ellipsoid and the relationship between the center of 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 All GPS coordinates are based on the WGS 84 datum surface Withdrawal of all electrical energy to the end point voltage before the cell or battery
87. m 10 seconds 0 5 times baseline length in km up to 30 km Typically lt 30 seconds anywhere within coverage area gt 99 9 External Power over Ethernet PoE Power consumption Regulatory approvals Power input on the 26 pin D sub connector is optimized for Trimble Lithium ion battery input with a cut off threshold of 9 5 V 11 V DC to 28 V DC external power input with over voltage protection Receiver automatically turns on when connected to external power 44 V DC to 57 V DC IEEE802 3af compliant device 6 0 W in rover mode with internal receive radio 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 amp 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 RoHS compliant WEEE compliant Communications Modem 1 Serial Modem 2 Serial 1PPS 1 Pulse per second Ethernet Bluetooth wireless technology Integrated radios optional Channel spacing 450 MHz 26 pin D sub Serial 2 Full 9 wire RS232 using adaptor cable 26 pin D sub Serial 3 3 wire RS 232 using adaptor cable Available Through a multi port adaptor or cable 65791 00 Fully integrated fully sealed 2 4 GHz Bluetooth module Fully integrated fully sealed internal MSK Beacon and 450 MHz UHF Rx only or Internal 900 MHz Rx only
88. m Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table B 2 Receiver status code 2 PACKET TYPE CHAR 40h Report Packet 40h GENOUT 3 LENGTH CHAR 00h FAh Data byte count 4 TRANSMISSION CHAR Unique number assigned to a group NUMBER of record packet pages Prevents page mismatches when multiple sets of record packets exist in output stream PAGE INDEX CHAR OOh FFh Index of current packet page 6 MAX PAGE INDEX CHAR 00h FFh Maximum index of last packet in one group of records One or more GSOF messages Output record CHAR Oth For example Time Type 1 Record type Record length CHAR OAh Bytes in record 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 SPSx61 Modular GPS Heading Receivers User Guide 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 n
89. may be padded for example 8 is shown as 08 4 Latitude in degrees and decimal minutes dddmm mmmmmmm Direction of latitude N North S South 6 Longitude in degrees and decimal minutes dddmm mmmmmmm Should contain three digits of ddd 7 Direction of longitude E East W West 8 GPS Quality indicator Fix not available or invalid Autonomous GPS fix RTK float solution RTK fix solution Differential code phase only solution DGPS SBAS solution WAAS EGNOS MSAS RTK float or RTK location 3D Network solution RTK fixed 3D Network solution 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 13 Beacon DGPS cleri U ardor 9 Number of satellites in fix 10 Ellipsoidal height of fix antenna height above ellipsoid Must start with EHT 11 M ellipsoidal height is measured in meters 12 The checksum data always begins with Note The PTNL GGK message is longer than the NMEA 0183 standard of 80 characters 78 SPSx61 Modular GPS Heading Receivers User Guide PTNL PJK NMEA 0183 Output A Local Coordinate Position Output An example of the PTNL PJK message string is shown below Table A 10 describes the message fields Table A 10 PTNL PJK 010717 00 081796 732646 511 N 1731051 091 E 1 05 2 7 EHT 28 345 M 7C PTNL PJK message fields Field Meaning Messa
90. n 2 Selecta channel to delete from the list that appears You cannot add or delete Transmit channels using the web interface SPSx61 Modular GPS Heading Receivers User Guide 105 C Adding UHF Internal Radio Frequencies 106 SPSx61 Modular GPS Heading Receivers User Guide APPENDIX D Real Time Data and Services In this appendix W Login authentication SPSx61 Modular GPS Heading Receivers User Guide 107 D Real Time Data and Services 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 108 SPSx61 Modular GPS Heading Receivers User Guide APPENDIX Upgrading the Receiver Firmware In this appendix m The WinFlash utility m Upgrading the receiver firmware m Forcing the receiver into Monitor mode The GPS receiver is supplied with the latest version ofthe receiver firmware already installed If a later version of the firmware becomes availabl
91. nd An example ofthe VTG message string is shown below and Table A 15 describes the message fields GPV TG T M 0 00 N 0 00 K 4E Table A 15 VTG message fields Field Meaning 0 Message ID GPVTG 1 Track made good degrees true 2 T track made good is relative to true north 3 Track made good degrees magnetic 4 M track made good is relative to magnetic north 5 Speed in knots 6 N speed is measured in knots 7 Speed over ground in kilometers hour kph 8 K speed over ground is measured in kph 9 The checksum data always begins with SPSx61 Modular GPS Heading Receivers User Guide NMEA 0183 Output A ZDA UTC Day Month And Year and Local Time Zone Offset An example of the ZDA message string is shown below and Table A 16 describes the message fields GPZDA 172809 12 07 1996 00 00 45 Table A 16 ZDA message fields Field Meaning 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 jou A W N O 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 SPSx61 Modular GPS Heading Receivers User Guide 85 A NMEA 0183 Ou
92. ne button start up Escape and Enter key for menu navigation 4 arrow keys up down left right for option scrolls and data entry 24 cm x 12cm x 5 cm 9 4 in x 4 7 in x 1 9 in including connectors 1 22 kg 2 70 Ib receiver only 1 37 kg 3 00 Ib receiver with internal radio Antenna options GA510 GA530 L1 Beacon DSM 232 Zephyr Model 2 Zephyr Geodetic Model 2 Zephyr Model 2 Rugged Zephyr Zephyr Geodetic Z Plus Micro Centered L1 L2 L2C GPS SBAS and OmniSTAR optimised for OmniSTAR L1 L2 L2C GPS SBAS and OmniSTAR Not supported L1 L2 L2C GPS SBAS and OmniSTAR L1 L2 L2C GPS SBAS and OmniSTAR L1 L2 L2C GPS SBAS and OmniSTAR Refer to Antenna specification Temperature Operating 40 C to 65 C 40 F to 149 F Storage 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 3 ft dustproof SPSx61 Modular GPS Heading Receivers User Guide Specifications 8 Shock and vibration Pole drop Designed to survive a 1 m 3 3 ft pole drop onto a hard surface Shock Non operating To 75g 6 ms Shock Operating To 40 g 10 ms saw tooth Vibration Tested to Trimble ATV profile 4 5 g RMS 10 Hz to 300 Hz 0 04 g Hz 2 300 Hz to 1 000 Hz 6 dB octave Measurements Advanced Trimble Maxwell 5 Custom GPS chip High precision multiple correlator for L1 L2 pseudo range measurements Unfiltered u
93. ng 30 second epochs means loading every alternate measurement 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 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 Global Navigation Satellite System General Serial Output Format A Trimble proprietary message format Horizontal Dilution of Precision HDOP is a DOP value that indicates the accuracy of 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 component of the PDOP for example if you are collecting data under canopy 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 A modernized code that allows significantly better ability to track the L2 frequency
94. nsmoothed pseudo range measurements data for low noise low multipath error low time domain correlation and high dynamic response Very low noise carrier phase measurements with lt 1 mm precision in a 1 Hz bandwidth L1 L2 signal to noise ratios reported in dB Hz Proven Trimble low elevation tracking technology 72 channel L1 C A code L1 L2 L2C Full Cycle Carrier Trimble EVEREST multipath signal rejection 4 channel SBAS WAAS EGNOS MSAS Positioning Code Differential GPS Positioning Horizontal accuracy 0 25 m 1 ppm RMS 0 8 ft 1 ppm RMS Vertical accuracy 0 50 m 1 ppm RMS 1 6 ft 1 ppm RMS SBAS WAAS EGNOS MSAS Positioning Horizontal accuracy Typically 1 m 3 3 ft Vertical accuracy Typically 5 m 16 4 ft OmniSTAR Positioning VBS service accuracy Horizontal 1 m 3 3 ft XP service accuracy Horizontal 0 2 m 0 66 ft Vertical 0 3 m 1 0 ft HP service accuracy Horizontal 0 1 m 0 33 ft Vertical 0 15 m 0 5 ft Real Time Kinematic RTK Positioning Horizontal accuracy 10 mm 1 ppm RMS 0 032 ft 1 ppm RMS Vertical accuracy 20 mm 1 ppm RMS 0 065 ft 1 ppm RMS Precise Heading Heading accuracy 2 m antenna separation 0 09 RMS 10 m antenna separation 0 05 RMS SPSx61 Modular GPS Heading Receivers User Guide 63 8 64 Specifications Initialization time Regular RTK operation with base station RTK operation with Scalable GPS infrastructure Initialization reliability Power Single Multi base Minimu
95. nter reaches 0 release the Power button 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 SPSx61 Modular GPS Heading Receivers User Guide Configuring the Receiver Using the Keypad and Display 5 Home screen The Home screen is the main screen displayed on the receiver If the receiver is displaying a configuration 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 Rover or Moving Base mode the Home screen displays the number of satellites used to calculate the position Ifthe receiver is set to use SBAS or OmniSTAR corrections the Home screen displays the number of satellites that corrections have been received for Ifthe receiver is computing an autonomous solution the Home screen displays all satellites in view that is all satellites above the elevation mask XX Tip You can also view these details using the Web browser select Receiver Status Position e Current mode configuration Rover mode SPS361 Moving Base or Rover mode SPS461 e Internal radio activity Ifthe receiver has an internal radio the Home screen displays the frequency or channel being used and the transmit receive status e Beacon status and frequency If the receiver is using MSK Beacon corrections the Hom
96. oes not guarantee that you will Loss of the satellite signals or loss of the radio link will result in a loss of position accuracy The Position mode will reflect this change and depending on the correction inputs available will show one of the following modes RTK Fixed The rover has been upgraded to Precision RTK and has initialized using a valid RTK correction stream Location RTK The rover has been upgraded to Location RTK and has initialized using a valid RTK correction stream OmniSTAR HP XP The rover has been upgraded to Location RTK has a valid OmniSTAR subscription has locked onto an OmniSTAR satellite beam and is decoding the XP or HP correction service OmniSTAR VBS The rover has a valid OmniSTAR subscription has locked onto an OmniSTAR satellite beam and is decoding the VBS correction service Beacon DGPS The rover is locked onto a Beacon reference station and is receiving valid DGPS RTCM correction messages Type 1 or Type 9 DGPS The rover is decoding DGPS RTCM corrections from an external source SBAS The rover is decoding corrections from an SBAS source Autonomous The rover has no source of corrections and is working by itself with the available GPS signals On a vehicle or marine vessel place the GPS antenna in a location as free from shock and vibration as possible Use either a magnetic mount or a 5 8 thread bolt in a suitable location Do not locate the receiver or ant
97. omfnents 2x a oh d y d RR ER RC A ee ae a 10 2 Features and Functions lt lt lt lt o eee ee ee 11 SPS361 and SPS461l features ci Sa ee eee Re Ee ed 12 SPS361 receiver optional features 2 2 leen 12 SPS461 receiver optional features 2 2 leere 13 ROVER serea kan mada ete Oe a Shea eh sardi eer Pe he Ae des 13 Usc and Care lios acu dee a wet wr ach e GA Hate ea Ub Ma a Aca tUe RU MC aa el 13 COCOM limits 4 0 perra dr x duke RP du OR Ga BR oe we Se and deg 14 Keypad and display oasis mao a 99 ORES ex EEE De eA ad a d eu dura 14 Rear COBHeCLOES 2 2 215 99 hm 10 dee ate ro E dta oa ale eg RC agian ents oes etre D 16 15 3 Batteries and Power 55 ot lt 5 68 17 External DOWEL 9 dcs abate e PAR dera E CUR ae os CR DE RUE le teu a 18 Power over Ethernet POB 18 4 Setting up the Receiver lt lt lt 19 Roveroperationguidelines ee eee 20 Rover receiver components ns 20 Rover receiver setup guidelines nanana aae 20 Setting up the SPSx61 GPS receivers to provide heading ooon aaau 23 Installing the recelver sahsi e eai ioe m eek e ES a O R aa Cr eat a ew n 23 Mounting the antennas s enet ka aa a kanu ee 23 Interfacing using the NMEA protocol leen 24 Heading outputs ita oe Re Ase A ee ae e a Ta we 24 5 Configuring the Receiver Using the Keypad and Display 25 Button functions Leiro ers Oe eee Coe ee A de e
98. omma anumber of fields depending on the message type separated by commas e anasterisk e 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 e ddor ddd is degrees e mmmmmm 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 e hhis hours from 00 through 23 mm is minutes e ssis seconds cc is hundredths of seconds NMEA messages When NMEA 0183 output is enabled the following messages can be generated SPSx61 Modular GPS Heading Receivers User Guide 69 A NMEA 0183 Output GGA Time Position and Fix Related Data An example of the GGA message string is shown below Table A 1 describes the 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 F
99. omponents e GPS receiver e Two GPS antennas L1 L2 Beacon SBAS OmniSTAR e Optional integrated UHF radio receiver for RTK operations e Optional MSK Beacon receiver for DGPS operation Rover receiver setup guidelines For good rover operation observe the following setup guidelines e Place the GPS antennas in locations that have a clear line of sight to the sky in all directions Do not place the antenna near vertical obstructions e Place the two GPS antennas at least 2 meters 6 5 feet apart and at approximately the same height e 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 AN CAUTION The GPS antenna and its cabling should be installed in accordance with all national and local electrical codes regulations and practices The antenna and cabling should be installed where they will not become energized as a result of falling nearby power lines nor be mounted where they are subjected to overvoltage transients particularly lightning Such installations require additional protective means that are detailed in national and local electrical codes 20 SPSx61 Modular GPS Heading Receivers User Guide Setting up the Receiver 4 The SPS461 can optionally track the GPS L2C modernization signal The signal helps you to get positions at the worst times of the day and in the worst GPS locations but d
100. ostationary satellites SNR The signal strength of a satellite is a measure of the information content of the signal relative to the signals noise The typical SNR of a satellite at 30 elevation is between 47 and 50 dBHz 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 128 SPSx61 Modular GPS Heading Receivers User Guide SNR triple frequency GPS UTC VRS WAAS WGS 84 Glossary See signal to noise ratio A type of receiver that uses three carrier phase measurements L1 L2 and L5 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 communication links It uses data from a network of base stations to provide 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 noise at the rover position It then sends RTCM correction messages back to the rover 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
101. pen the Control Panel Open Bluetooth Configuration and go to the Client Applications tab The following dialog appears Bluetooth Configuration General Accessibility Discovery Local Services Client Applications Hardware Specify how this computer will access services on other oie SIS Double click an application name to set its security and edit its properties Application Name Secure Connection COM Port Bluetooth Serial Port Not Required Bluetooth Serial Port5 Not Required Bluetooth Serial Port Not Required Imaging Not Required Human Interface Device Not Required Printer Not Required Audio Gateway Not Required Headset Not Required PIM Synchronization Required Fax Required File Transfer Required PIM Item Transfer Required Dial up Networking Not Required Network Access Required 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 SPSx61 Modular GPS Heading Receivers User Guide Configuring the Receiver Using the Web Browser Interface 6 3 Start the Bluetooth Setup wizard click Start All Programs My Bluetooth Places C Program Files WIDCOMM Bluetooth Software My Bluetooth Places File Edit View Bluetooth Favorites Tools Help Qo O 9 Poma rmm E C Program Files WIDCOMM Bluetooth Software My Bluetooth Places Bluetooth Tasks 0 Blue
102. ransmit Data TD RJ45 Pin 1 120 SPSx61 Modular GPS Heading Receivers User Guide Receiver Connector Pinout Information H 1PPS and ASCII time tag The SPSx61 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 pulse is driven between nominal levels of 0 0 V and 5 0 V see Figure H 1 The leading edge is positive rising from 0 V to 5 V Positive slope pulse 5V 0v Seconds HA A Time tag output here Time tag applies here Figure H 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 e 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 IPPS Trimble recommends that you use cable P N 60789 00 because it has the following connectors e D9 port for modem 1 serial 2 e D9 port for modem 2 serial 3 Pin 9 on this D9 port has 1PPS e BNC connector for IPPS e Ethernet male plug for connection to receiver e USB plug e DC jack for supply
103. rmware 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 SPS461 SN 4840K58796 Firmware Warranty Date 2010 04 01 R Stat race lira Active Firmware Version 0 52 Satellites Active Firmware Date 2008 11 21 Receiver Configuration Active Firmware Checksum b89e33b0 O Configuration Bluetooth S tron Beacon OmniSTAR Status Idle Network Configuration Security Firmware SPSx61 Modular GPS Heading Receivers User Guide 57 6 Configuring the Receiver Using the Web Browser Interface Help Menu The Help menu provides information on each of the receiver settings available in a web browser Selecting the Help menu opens new windows Select the section of the Help that you want to view The Help files are stored on the Trimble Internet site www trimble com EC ReceiverHelp v3 80 en For languages other than English replace en with the appropriate two letter country code see page 46 and are updated 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 the
104. rth 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 e Flags indicating satellite status Table B 11 SV brief Type 13 record Field Item Type Value Meaning 0 Output record type Char ODh Brief satellite information output record 1 Record length Char Bytes in record 2 Number of SVs Char 00h 18h Number of satellites included in record The following bytes are repeated for Number of Ss si sstst i lt 3 O i lt i lt S SCSw w PRN Char 01h 20h Pseudorandom number of satellites 1 32 SV Flags1 Char See Table B 21 First set of satellite status bits SV Flags2 Char See Table B 22 Second set of satellite status bits 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 e The PRN number of each satellite Flags indicat
105. s an example of the screen that appears when you select Receiver Configuration Summary Trimble SPS461 SN 4840K58796 Receiver Configuration Recelver Status Elevation Mask 10 EE AL LLLIS lli PDOP Mask 7 mL Horizontal Precision 0 30 m Receiver Configuration Vertical Precision 0 30 m Summary i Loo Clock Steering Disabled Everest Multipath Mitigation Enabled Antenna ID 250 Antenna Type GA530 Antenna Height 0 000 m 1PPS On Off Enabled RTK Mode Low Latency Motion Kinematic D_i CMR input Filter Disabled WO Configuration Reference Latitude 43 32 41 50326 S Bluetooth Reference Longitude 172 35 29 10121 E a Reference Height 37 330 m CMR ID 0 LLLI MEME Station Name CREFO001 Network Configuration Ethernet IP 10 3 19 88 Security System Name Trimble SS DNS Resolved Name NONE Serial Number 4840K58796 Lisp Firmware Version 052 Firmware Date 2008 11 21 SPSx61 Modular GPS Heading Receivers User Guide 49 6 Configuring the Receiver Using the Web Browser Interface 50 1 0 Configuration menu Use the 7 0 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 NTRIP UDP serial Bluetooth or radio ports This figure shows an example of the screen that appears when you select 1 O Configuration Port Summary Trimble SPS461 SN 4840K58796
106. s 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 CAUTION The GPS antenna and its cabling should be installed in accordance with all national and local electrical codes regulations and practices The antenna and cabling should be installed where they will not become energized as a result of falling nearby power lines nor be mounted where they are subjected to overvoltage transients particularly lightning Such installations require additional protective means that are detailed in national and local electrical codes 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 Wet locations N WARNING This product is not intended to be used outdoors or in a wet location when
107. stationary Navigation Overlay Service A satellite based augmentation system SBAS that provides a free to air differential correction service for GPS EGNOS is the European equivalent of WAAS which is available in the United States 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 earths surface The ellipsoid is defined by the lengths of the minor and major axes The earths minor axis is the polar axis and the major axis is the equatorial axis 126 SPSx61 Modular GPS Heading Receivers User Guide emphemeris ephemerides epoch feature firmware GLONASS GNSS GSOF HDOP L1 L2 L2C L5 Moving Base MSAS multipath NMEA Glossary 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 satellites position Available as broadcast ephemeris or as postprocessed precise ephemeris 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 usi
108. t nstall 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 110 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 ofthe 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 SPSx61 Modular GPS Heading Receivers User Guide Upgrading the Receiver Firmware E 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 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
109. t receiving radio The receiver is not receiving satellite signals External power is too low Internal power is too low External power is not properly connected Faulty power cable Receiver needs a soft reset Receiver needs a full reset Incorrect over air baud rates between reference and rover Incorrect port settings between roving external radio and receiver The radio antenna cable and GPS antenna cable are not correctly connected The GPS antenna is connected to the wrong antenna connector The GPS antenna cable is loose The cable is damaged The GPS antenna is not in clear line of sight to the sky Check the charge on the external battery and if applicable check the fuse Check the charge on the internal battery 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 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
110. terface 52 Beacon menu Use the Beacon menu to configure the internal dual channel MSK Beacon receiver When enabled and locked to a Beacon signal in the 283 5 KHz to 325 0 KHz range the receiver will decode DGPS RTCM messages and provide a sub meter position solution This figure shows an example of the screen that appears when you select Beacon Trimble SPS461 SN 4840K58796 s fi T e m Beacon Information mm O Tune Mode Configuration Receiver Status Tune Mode Manual Satellites Primary Channel Status Recelver Configuration Frequency KHz 318 0 Status Searchin oe UENO Age of Correction sec me Bluetooth Time since last correction sec 495 Beacon SNR dB 4 atio Input Level dB uV m 2 Station ID 713 Station Name Mallacoota Vic OmniSTAR Distance to Reference Station m 1953860 Network Configuration MSK rate bps 200 Word Error Rate 6 100 Security RTCM message throughput 0 Firmware AGC gain in dB 0 48 48 2008 11 28T02 57 512 UTC SPSx61 Modular GPS Heading Receivers User Guide Configuring the Receiver Using the Web Browser Interface 6 Radio menu Use the Radio menu to configure the internal radio of the receiver if applicable The receivers are available with 410 470 MHz or 900 MHz radios The SPS361 receiver does not have an internal radio This figure shows an example of the screen that appears when you select Radio Trimble SPS461
111. tooth Setup Wizard ke view My Bluetooth services gt View devices in range gt view or modify configuration Other Places 3 Desktop S My Computer CQ Bluetooth Exchange Folder my Network Places Ea Printers and Faxes 4 The Bluetooth Setup wizard starts Use the settings shown below and then click Next Bluetooth Setup Welcome to the Bluetooth Setup Wizard This Wizard will help you set up your Bluetooth environment What would you like to do know the service want to use and want to find a Bluetooth device that provides that service want to find a specific Bluetooth device and configure how this computer will use its services I want to configure the Bluetooth services that this computer will provide to remote devices I want to change the name and or device type that this computer displays to other Bluetooth devices SPSx61 Modular GPS Heading Receivers User Guide 39 6 Configuring the Receiver Using the Web Browser Interface The following dialog appears Bluetooth Service Selection Services provided by remote devices The services listed below may be provided by nearby Bluetooth devices Select a service from the list to see a description of that service Click Next to search for devices that offer the selected service Click a service to select it yy uu Gateway Printer Human Interface Device E2 Imaging 33 Bluetooth Camera Y Bluetooth Serial
112. tput 86 SPSx61 Modular GPS Heading Receivers User Guide APPENDIX GSOF Messages In this appendix This appendix provides information on the General Serial Output Format GSOF messages GSOF messages are a Trimble proprietary format General Serial Output Format and can be used to send information such as position and status to a third party device Supported message types a B m Reading binary values For information on how to output GSOF messages see Chapter 5 Configuring the Receiver Using the Keypad and Display GSOF message definitions SPSx61 Modular GPS Heading Receivers User Guide 87 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 TIME Position time 92 LLH Latitude longitude height 92 ECEF Earth Centered Earth Fixed position 93 ECEF DELTA Earth Centered Earth Fixed Delta position 93 TPlane ENU Tangent Plane Delta 93 Velocity Velocity data 94 PDOP PDOP info 95 SIGMA Position Sigma info 95 SV Brief SV Brief info 96 SV Detail SV Detailed info 96 UTC Current UTC time 97 BATT MEM Receiver battery and memory status 98 ATTITUDE Attitude info 98 BASE POSITION AND Base station position and its quality 99 QUALITY INDICATOR General Serial Output Format Table B 1 Report packet 40h structure GENOUT Byte Ite
113. tralia and New Zealand Notice to Our European Union Customers Directive 1999 5 EC Hereby Trimble Navigation declares that the SPSx61 Modular GPS receivers are in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC Restriction of Use of Certain Hazardous Substances in Electrical and Electronic Equipment RoHS 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 Waste Electrical and Electronic Equipment WEEE For product recycling instructions and more information please go to www trimble com ev shtml 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 Declaration of Conformity We Trimble Navigation Limited 935 Stewart Drive PO Box 3642 Sunnyvale CA 94088 3642 United States 1 408 481 8000 declare under sole responsibility that the products SPSx
114. umber Bit O 1 Reserved Bit 1 1 Low battery Bit 2 7 0 63 Reserved 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 twos complement representation The following table lists the integer data types Type of bits Range of values Signed Unsigned CHAR 8 128 to 127 0 to 255 SHORT 16 32768 to 32767 0 to 65535 LONG 32 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 SPSx61 Modular GPS Heading Receivers User Guide 89 90 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
115. work solution RTK Float 2D network solution 9 RTK Fixed 2D network solution 10 OmniSTAR HP XP solution 11 OmniSTAR VBS solution 12 Location RTK 13 Beacon DGPS PO dg co pud os ee 10 Number of satellites used in solution 11 PDOP 12 The checksum data always begins with SPSx61 Modular GPS Heading Receivers User Guide 81 A 82 NMEA 0183 Output RMC Position Velocity and Time The RMC string is shown below and Table A 13 describes the message fields GPRMC 123519 A 4807 038 N 01131 000 E 022 4 084 4 230394 003 1 W 6A Table A 13 GPRMC message fields Field Meaning 0 Message ID GPRMC 1 UTC of position fix 2 Status A active or V void 3 Latitude 4 Longitude 5 Speed over the ground in knots 6 Track angle in degrees True 7 Date 8 Magnetic variation in degrees 9 The checksum data always begins with SPSx61 Modular GPS Heading Receivers User Guide NMEA 0183 Output A ROT Rate and Direction of Turn The ROT string is shown below and Table A 14 describes the message fields GPROT 35 6 A 4E Table A 14 ROT message fields Field Meaning 0 Message ID GPROT 1 Rate of turn degrees minutes indicates bow turns to port 2 A Valid data V Invalid data 3 The checksum data always begins with SPSx61 Modular GPS Heading Receivers User Guide 83 A 84 NMEA 0183 Output VTG Track Made Good and Speed Over Grou
116. ww trimble com
117. x61 Modular GPS Heading Receivers User Guide It applies to version 3 84 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 Increase the separation between the equipment and the receiver Connect the equipment into an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help Changes an
118. y changes to the manuals They can be downloaded from the Trimble website www trimble com support shtml e 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 Technical support Ifyou have a problem and cannot find the information you need in the product documentation contact your local dealer Alternatively go to the Support area ofthe 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 If you need to contact Trimble technical support complete the online inquiry form at www trimble com support form asp Your comments Your feedback about the supporting documentation helps us to improve it with each revision Email your comments to ReaderFeedback trimble com CHAPTER Features and Functions In this chapter SPS361 and SPS461 features SPS461 receiver optional features Use and care COCOM limits Keypad and display Rear connectors Trimble SPSx61 Modular GPS receivers are ideal for the following site development and marine construction applications RTK rover on site vehicle or marine vessel e Site and marine rover applications using Location GPS augmentation including OmniSTAR Location RTK SBAS Beacon and DGPS RTCM These receivers all fe
119. y were when the CD was published This figure shows an example of the screen that appears when you select Help e Trimble IO Receiver Status Satellites ES Data Logging Receiver Configuration VO Configuration OmniSTAR Network Configuration Security Firmware Help Help Tracking Table Tracking Graph PS GLN Enable Disable SBAS Enable Disable atoli Predicted Elevation Predicted Constellation Data Logging Summary Dala Files Counters Confiquration ETE Push Log Receiver Configuration Summary Masks Reference Station Advanced Semnas SPS851 SN 9999K00025 Trimble Construction SPSx51 Modular GPS Receiver Help Welcome to the Help for the Trimble Construction SPSx51 Modular GPS receivers The informabon in this Help explains tne receiver configurations available in the web interface of the receiver and provides information on all available settings in these receivers To verify what options are avallable in your receiver please refer to the manual that accompanies your receiver How to use the help To view the Help do one of the following a On a settings page click the button The help topie wiil explain the settings for that page Click the Help menu link on the left of the screen The Help Contents page will appear To view a topic simply select the link in the left frame of the browser Download the latest complete online Help to use while offline To do t
120. ytes in record 2 9 X Double Meters WGS 84 ECEF X axis coordinate 10 17 Y Double Meters WGS 84 ECEF Y axis coordinate 18 25 Z Double Meters WGS 84 ECEF Z axis coordinate ECEF DELTA This message describes the ECEF Delta position It contains the following data e Earth Centered Earth Fixed X Y Z deltas between the rover and base position in meters Table B 6 ECEF Delta Type 6 record Field Item Type Value Meaning 0 Output record type Char 06h Earth Centered Earth Fixed ECEF Delta output record 1 Record length Char 18h Bytes in record 2 9 Delta X Double Meters ECEF X axis delta between rover and base station positions 10 17 Delta Y Double Meters ECEF Y axis delta between rover and base station positions 18 25 DeltaZ Double Meters ECEF Z axis delta between rover and base station positions TPlane ENU This message contains Tangent Plane Delta information It contains the following data e 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 TPlane ENU Type 7 record Field Item Type Value Meaning 0 Output record type Char 07h Tangent Plane Delta output record 1 Record length Char 18h Bytes in record SPSx61 Modular GPS Heading Receivers User Guide 93 94 GSOF Messages Table B 7 TPlane ENU

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