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Trimble Outdoors SPSX51 GPS Receiver User Manual

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1. AWUN POLE SHELL DE9P Serial 2 DE9S Serial 3 BNC RJ45 plug USB A plug M DC Jack SPSx51 Modular GPS Receivers User Guide Glossary 1PPS almanac AutoBase base station BINEX broadcast server carrier carrier frequency carrier phase cellular modems CMR CMR 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 rove
2. 12 The checksum data always begins with SPSx51 Modular GPS Receivers User Guide 125 A 126 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 example 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 0 Fix not available or invalid 1 Autonomous GPS fix 2 Differential SBAS or OmniSTAR VBS 4 RTK Fixed 5
3. Y A shortcut for this connection with this icon and name gt 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 Configure To change the properties of this connection click Configure v Start the connection O Create a 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 Es x SPS550 4626K99991 None COM1 C Secure Connection Ensure that the Secure Connection check box is cleared and then tap OK Tap Finish The new Bluetooth connection appears in My Bluetooth places SPSx51 Modular GPS Receivers User Guide 7 81 7 Configuring the Receiver Settings 10 Double click this icon to connect My Bluetooth Places File Edit View Bluetooth Favorites Tools Help Qe O P Du ior Em gt C Program Files WIDCOMM Bluetooth Software My Bluetooth Places v Go SPS550 4626K99991 None 0 Bluetooth Setup Wizard SPS550 4626K99991 None eS View My Bluetooth services Hom View devices in range 2 view or modify configuration Other Places
4. gt Trimble rrimble Logo pe z LE J i ito mm Receiver Status Satellites Data Logging Receiver Configuration VO Configuration Bluetooth Radio OmniSTAR Network Configuration Security Firmware me Data Logging Configuration Select Observable Rate Select Position Rate Smooth Pseudorange Smooth Phase Logging Continuous Logging Continuous Logging Rate Auto Delete Cancel 15 Sec 5Min OOn G OI OOn Of OOn Off Oon Off 0 Y Hour 0 Min OOn Of SPS851 SN 4626K99991 SPSx51 Modular GPS Receivers User Guide 89 7 Configuring the Receiver Settings Receiver Configuration menu Use the Receiver Configuration menu to configure such settings as elevation mask and PDOP mask the antenna type and height the reference station position and the reference station name and code This figure shows an example of the screen that appears when you select Receiver Configuration Summary SPS851 90 gt Trimble je LE n RB E m Receiver Status Satellites Data Logging Receiver Configuration Sum uo Configuration Bluetooth Radio OmniSTAR Network Configuration Security Firmware Help SN 4626K99991 Receiver Configuration Elevation Mask PDOP Mask Horizontal Precision Vertical Precision Clock Steering Everest Multipath Mitigation Antenna ID Antenna Type Antenna Height RTK Mode Motion CMR
5. 3 Desktop 19 My Computer C Bluetooth Exchange Folder my Network Places QS 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 Eile Q sax amp pe Address Network Connections Edit View Favorites Tools Create a new connection Change Windows Firewall settings 2 The New Connection wizard starts Complete the wizard using the following settings Set up an advanced connection Connect directly to another computer 82 SPSx51 Modular GPS Receivers User Guide Configuring the Receiver Settings 7 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 neti ist Y C Communic atio jns cable between tw SPSx51 Modular GPS Receivers User Guide 83 7 Configuring the Receiver Settings 4 Select the correct COM port from the list and then tap Next The following dialog appears Connect COM5 User name Pass
6. 4 OY UY qe DON I0 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 SPSx51 Modular GPS Receivers User Guide 127 A NMEA 0183 Output PTNL PJK 128 Local Coordinate Position Output An example of the PTNL PJK message string is shown below Table A 9 describes the message fields Table A 9 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 Message ID PTNL PJK UTC of position fix Date Northing in meters Direction of Northing will always be N North Easting in meters Direction of Easting will always be E East N Nj U B 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 09 mI ON MY de INS 8 Number of satellites in fix 9 DOP of fix 10 Ellipsoidal height of fix 11 M ellips
7. SPSx51 Modular GPS 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 number 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
8. The receiver finds a base station position that corresponds to the current position CAUTION If there are two or more base positions within a 50 meter radius of your current position the receiver will make the most recently used base position file active SPSx51 Modular GPS Receivers User Guide 101 8 Automatically Setting up a Mobile Base Station Using AutoBase Technology N 6 The antenna type antenna height and measurement method used in the previous setup of this base station are applied CAUTION If the antenna height is different to the previous setup then you must enter the corrected height for the antenna using the keypad and display before starting measurements Failure to achieve the correct antenna height position for the antenna results in errors in heights in subsequent measurements 7 The receiver begins sending RTK CMR messages 8 The RTK corrections begin streaming on the radio or Lemo port in the application file Scenario Four Repeat visit to a site with AutoBase Warning turned on The following actions occur when you repeat a base station setup on a point and the AutoBase Warning is turned on 1 The receiver is powered on 2 The receiver begins tracking satellites 3 The receiver determines the current position 4 The receiver reviews the base station positions stored in the receiver 5 The receiver finds a base station position that corresponds to the current position CAUTION If
9. 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 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 counter reaches 0 release the Power button If the reset method above does not work use t
10. GPZDA 172809 12 07 1996 00 00 45 Table A 15 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 o U B 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 134 SPSx51 Modular GPS Receivers User Guide GSOF Messages In this appendix Supported message types General Serial Output Format Reading binary values GSOF message definitions APPENDIX This appendix provides information on the General Serial Output Format GSOF messages GSOF messages are a Trimble proprietary format and can be used to send information such as position and status to a third party device For information on how to output GSOF messages see Chapter 6 Configuring the Receiver Using the Keypad and Display and Chapter 7 Configuring the Receiver Settings SPSx51 Modular GPS Receivers User Guide 135 136 B GSOF Messages Supported message types This table summarizes the GSOF messages that are supported by the receiver and shows the page that contains detailed information about each message Message Description Page TIME Pos
11. CAN CAN DC Power In 10 5 28 V DC RS 232 Serial data in N DO wu Bb WN 174 SPSx51 Modular GPS Receivers User Guide Receiver Connector Pinout Information 1 Modem multi function port Pin 1 is top left Pin 10 is middle left Pin 19 is bottom left Pin 9 is top right Pin 18 is middle right Pin 26 is bottom right Pin Usage ON DUM A WU N gt N NN NN NN a gt a a a a a a a a ONU A UN SF O DO WON DWM A WU N o RS 232 Modem port data terminal ready DTR RS 232 Modem port clear to send CTS RS 232 Modem port Data Set Ready DSR RS 232 Modem port Data Carrier Detect DCD RS 232 Modem port Ring Indicator RI GND RS 232 Modem port 2 Transmit Data TX RS 232 Modem port 2 Receive Data RX USB Ethernet Ground ET_GND RJ45 Pin 4 RS 232 Modem port Ready to Send TX RS 232 Modem port Transmit Data TX Ethernet Ground GND RJ45 Pin 5 Ethernet Ground GND RJ45 Pin 8 USB ID Ethernet Receive Data RD RJ45 Pin 6 Ethernet Transmit Data RD RJ45 Pin 2 USB USB Power 1PPS RS 232 Modem Port Receive Data RX Ethernet Ground GND RJ45 Pin 7 GND DC Power In 9 28 V DC Ethernet Receive Data RD RJ45 Pin 3 Ethernet Transmit Data TD RJ45 Pin 1 SPSx51 Modular GPS Receivers User Guide 175 Receiver Connector Pinout Information 1PPS and ASCII time tag 176 The SPSx51 receiver can output a 1 pulse per second 1PPS time strobe and an associated time
12. SPS751 Basic base or SPS751 Basic rover to the SPS751 Max The upgrade changes all standard options to SPS751 Max capability and includes the radio option upgrade e The SPS551 SPS551H and SPS651 can be upgraded with GLONASS and or L2C e The SPS851 can be upgraded with GLONASS and or L5 e TheSPSx51 with 450 MH UHF internal radios can be upgraded to 2 W transmission power if it is legally allowed in its country of use e The SPS751 Max and SPS851 can be upgraded to allow internal data logging When you purchase the receiver upgrade your Trimble dealer will provide you with a set of codes to change the receiver configuration See also Appendix F Upgrading the Receiver Firmware SPSx51 Modular GPS Receivers User Guide 115 10 Specifications 116 SPSx51 Modular GPS Receivers User Guide APPENDIX NMEA 0183 Output In this appendix This appendix describes the formats of the subset of NMEA 0183 messages that are available B 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 SPSx51 Modular GPS Receivers User Guide 117 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
13. Tx Rx or Tx Rx 12 5 KHz or 25 KHz spacing available 0 5 W 2 0 W 2 0 W upgrade available only in certain countries USA CAN 10 New Zealand Australia 20 Australia 30 1 0 W 30 dBm Supported for direct dial and Internet based VRS correction streams Cellular phone or GSM GPRS modem inside a TSC2 controller 1 Hz 2 Hz 5 Hz 10 Hz and 20 Hz positioning varies by receiver model CMR CMR RTCM 2 0 select RTCM 2 1 RTCM 2 1 2 3 RTCM 3 CMR CMR RTCM 2 0 select RTCM 2 1 RTCM 2 1 2 3 NMEA GSOF 1PPS Time Tags Bluetooth type approvals are country specific For more information contact your local Trimble office or representative SPSx51 Modular GPS Receivers User Guide 113 10 Specifications GPS satellite signal tracking This table shows the GPS satellite signal tracking capability for each receiver in the SPSx51 Modular GPS receiver family GPS signal type Class SPS551 SPS551H SPS651 SPS751 SPS751 SPS751 SPS851 Basic base Basic rover Max GPS signals L1 L2 Y Y Y Y Y Y Y L2C Optional Optional Optional Y Y Y L5 x x x x x x Optional GLONASS signals L1 L2 Optional Optional Optional x x x Optional GPS SBAS corrections WAAS Y Y Y Y Y Y Y EGNOS Y Y Y Y Y Y Y MSAS Y Y Y Y Y Y Y OmniSTAR XP Y x Y Y Y Y Y corrections HP Y x V Y Y Y VBS Y x Y Y Y Y Y Integrated radio options Except for the SPS551H all the receiver configurations are available with or without internal
14. on the Radio end of the T Bar Connect the antennas to the receiver using the appropriate cables The receiver uses its own integrated battery or an external 12 V battery through the 12 V crocodile clips cable that are provided with the receiver If you choose to use AC power remember that the heat generated by the charging process and the radio transmitter increases the need for good ventilation around the receiver In such scenarios an SPSx81 Smart GPS antenna is also often used Simply mount the SPSx81 on the T Bar and optionally connect to an external battery or radio unit Advantages Use of a T Bar setup ensures that the base station is set up with exactly the same position and height every day This helps eliminate the errors typically associated with daily tripod setup For example wrong antenna height base not set up over the point base set up in the wrong location SPSx51 Modular GPS Receivers User Guide 45 5 Setting up the Receiver Figure 5 2 System set up on a T bar showing an external radio antenna to gain longer range Setting up a mobile base station Tripod and fixed height tripod If you are repeatedly moving between jobsites or if you are visiting a jobsite for the first time before a T Bar or similar setup can be established Trimble recommends that you use either a tripod and tribrach setup or a fixed height tripod The fixed height tripod is quicker and easier to set up over a control point It allows you t
15. 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 140 SPSx51 Modular GPS Receivers User Guide GSOF Messages B ECEF This message describes the ECEF position It contains the following data e 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 Bytes 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 Delta Z Double Meters ECEF Z axis delta between rover and base station positions NEU DELTA This
16. 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 lt sign gt 1 lt fraction field gt x 2 lt exponent field gt bias SPSx51 Modular GPS Receivers User Guide 137 B GSOF Messages Sign bit field The sign bit field is the most significant bit of the floating point number The sign bit is O for positive numbers and 1 for negative numbers Fraction field The fraction field contains the fractional part of a normalized number Normalized numbers are greater than or equal to 1 and less than 2 Since all normalized numbers are of the form 1 XXXXXXXX the 1 becomes implicit and is not stored in memory The bits in the fraction field are the bits to the right of the binary point and they represent negative powers of 2 For example 0 011 binary 2 2 2 3 0 25 0 125 0 375 Exponent field The exponent field contains a biased exponent that is a constant bias is subtracted from the number in the exponent field to yield the actual exponent The bias makes negative exponents possible If both the exponent field and the fraction field are zero the floating point number is zero NaN A NaN Not a Number is a special value which is used when the result of an operation is undefined Fo
17. E E REG CE EULCERT RR E EOOP ITA RC SUD ERR EF 158 Real Time Data and Services lt lt lt lt lt lt 159 RT17 Streamed Data service 2e 160 Using the keypad and display to configure RT17 outputs oooooo o o 160 Using the web interface to configure RT17 outputs o o o ooooooooo oo 160 SPSx51 Modular GPS Receivers User Guide Contents Login authentication us duy ac d acceda vaccae e eee PE Ga Ed eng 160 Upgrading the Receiver Firmware lt lt lt 161 The WinFlash utility 4 duse re b bea ea REX eee Rd x RE d 162 Installing the WinFlash utility ses io dcc bee aca oed oe e ee ae 3 ARA 162 Upgrading the receiver firmware leer 162 Forcing the receiver into Monitor mode 1 llle 163 Troubleshooting 2 26 309 9 3 809 3 9 amp 09 OS ES e 165 R ceiVer ISSUES IEEE 166 Drawings i o ko a OSS See a eS ee eS 169 Back VIE Warapa see a a a daa 170 SIde VIEW cw A wha dle o eo ee eds e dew en da e deta da 170 liso nsu os ba A naan ae eae ob eee ee 171 Receiver Connector Pinout Information 173 lemo connector 4 iae dabo ea y Yo hu ra ADR SS oe eruca de qae Peg aisi te 174 Modem multi function port eee hh re 175 IPPS and ASCH time tag na a eae eee EEG dp ec ERIS CE be EU de 176 ASClItime tag sk eet Rey yx Ses a Reale Bg A Oe e UR GPS 177 26 Pin D sub connector wiring chart P N 60789 00 llle 178 ONY OR E RR ORG habe Se we K
18. Firmware version 1 3 1 17Jan2005 VO Configuration Radio state OK Bluetooth Radio mode Receive Radio country code Rest of World Data Logging Radio STS 450 MHz Radio Parameters OmniSTAR Frequency range MHz 450 000 470 000 Channel spacing kHz 25 0 Current channel MHz 460 00000 v Wireless mode TT450s 4800 bps y Network Configuration Security SPSx51 Modular GPS Receivers User Guide 93 7 Configuring the Receiver Settings OmniSTAR menu All receivers except the SPS551H can receive OmniSTAR corrections By default OmniSTAR tracking is turned on in the receiver To receive OmniSTAR corrections you must set the receiver to track OmniSTAR satellites and it must have a valid OmniSTAR subscription To purchase a subscription for your receiver contact OmniSTAR at 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 gt Trimble SPS851 SN 4626K99991 aye Em me i o 2 OmniSTAR Summary Receiver Status SV name Auto OCSAT Satellites Frequency MHz 1535 1850 _ Data Logging Bit Rate Hz 1200 Billie Lu Setting Auto 110 Configuration Mode Tracking Bluetooth SNR Eb No 39 Radio Total messages 1208 OmniSTAR Bad me
19. GPS antenna mounting bracket and short interconnecting cable e RoHS compliant e Tracks up to 24 GPS satellites e Can be upgraded to receive GLONASS signals e Pulse per second 1PPS output The receiver is ideal for projects that require the precise heading of a vessel or structure SPS651 features The receiver provides the following features e Integrated GPS receiver and radio e Precise Vertical measurement when in Location RTK mode Location RTK precision of 10 cm horizontal and 2 cm vertical SPSx51 Modular GPS Receivers User Guide 17 2 18 Features and Functions Not upgradable to full RTK SPS751 or SPS851 Optional 450 or 900 MHz internal radio 72 channel L1 C A Code L1 L2 Full Cycle Carrier Upgradable to L2C and GLONASS L1 L2 Full Cycle Carrier OmniSTAR XP HP VBS service capable 4 channel WAAS Wide Area Augmentation System EGNOS European Geo Stationary Navigation System and MSAS Satellite Based Augmentation SBAS compatible Long life integrated battery typically provides 12 hours as a rover with internal radio Configuration and monitoring interface through the following methods Webinterface Networked or peer to peer Ethernet Integrated display and keyboard Trimble SCS900 Site Controller Software Tablet Edition Integrated Bluetooth wireless technology for cable free configuration and operation with a laptop or controller Attached or external radio antenna for rover opera
20. Guide It applies to version 3 60 of the receiver firmware Product Limited Warranty Information For applicable product Limited Warranty information please refer to the Limited Warranty Card included with this Trimble product or consult your local Trimble authorized dealer Notices Class B Statement Notice to Users This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to Part 15 ofthe 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 ofthe following measures Reorient or relocate the receiving antenna Increase the separation between the equipment and the receiver Connect the equipment into an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help Changes and modifications not expressly approved by the m
21. Hz 1 000 Hz 6 dB octave Receiver will operate normally to 40 C Internal batteries are rated to 20 C 110 SPSx51 Modular GPS Receivers User Guide Specifications 10 Performance specifications Feature Specification Measurements Code differential GPS positioning Horizontal accuracy Vertical accuracy SBAS WAAS EGNOS MSAS Horizontal accuracy Vertical accuracy OmniSTAR positioning VBS service accuracy XP service accuracy HP service accuracy Location RTK positioning Horizontal accuracy Vertical accuracy RTK positioning Horizontal accuracy Vertical accuracy Heading accuracy with additional SPS551 SPS551H SPS751 or SPS851 Initialization time Regular RTK operation with base station RTK operation with Scalable GPS infrastructure Initialization reliability Advanced Trimble Maxwell 5 Custom GPS chip e High precision multiple correlator for L1 L2 pseudo range measurements e Unfiltered unsmoothed pseudo range measurements for low noise low multipath error low time domain correclation and high dynamic response Very low noise carrier phase measurements with 1 mm precision in a 1 Hz bandwidth L1 L2 signal to noise ratios reported in dB Hz e Proven Trimble low elevation tracking technology e Trimble EVEREST multipath signal rejection e 72 channel L1 C A Code L1 L2 Full Cycle Carrier Upgradable to L2C and GLONASS L1 L2 Full Cycle Carrier See page 114 e 72 chann
22. Input Filter Reference Latitude Reference Longitude Reference Height RTCM 2 x ID RTCM 3 x ID CMR ID Station Name Ethernet IP System Name DNS Resolved Name Serial Number Firmware Version Firmware Date SPSx51 Modular GPS Receivers User Guide 10 7 0 30 m 0 30 m Disabled Enabled 185 Zephyr Geo Mdl 2 0 000 m Low Latency Kinematic Disabled 0 0 00 00000 N 0 0 00 00000 E 0 000 m 0 0 0 CREF0001 10 3 16 117 99991 NONE 4626K99991 017 2007 10 15 Configuring the Receiver Settings 7 1 0 Configuration menu Use the O Configuration menu to set up all outputs of the receiver The receiver can output CMR RTCM NMEA GSOF or BINEX messages These messages can be output on TCP IP UDP serial Bluetooth or radio ports This figure shows an example of the screen that appears when you select I O Configuration Port Summary Trimble SPS851 SN 4626K99991 To I O Configuration Receiver Status Satellites Data Logging Receiver Configuration WO Configuration Port Configuration Bluetooth Radio Serial Lemo 38 4K 8N1 OmniSTAR Serial Modem 1 38 4K 3N1 Network Configuration Serial Modem 2 38 4K 8N1 Security Firmware Help SPSx51 Modular GPS Receivers User Guide 91 7 Configuring the Receiver Settings Bluetooth menu Use the Bluetooth menu to configure the receiver to connect to other devices that use Bluetooth wireless technolo
23. OmniSTAR XP OmniSTAR HP Float RTK or Location RTK 11 The checksum data always begins with SPSx51 Modular GPS Receivers User Guide PTNL GGK NMEA 0183 Output A Time Position Position Type DOP An example of the PTNL GGK message string is shown below Table A 8 describes the message fields PTNL GGK 453049 0 0 3728 455440850 N 12215 253291068 W 3 9 2 0 EHT35 742 4 M Table A 8 PTNL GGK message fields Field Meaning 0 1 Talker ID PTNL Message ID GGK 2 UTC time of position fix in hhmmmss ss format Hours must be two numbers so may be padded for example 7 is shown as 07 UTC date of position fix in ddmmyy format Day must be two numbers so may be padded for example 8 is shown as 08 Latitude in degrees and decimal minutes dddmm mmmmmmm Direction of latitude N North S South Longitude in degrees and decimal minutes dddmm mmmmmmm Should contain three digits of ddd Direction of longitude E East W West 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 0
24. RMC Position Velocity and Time 131 ROT Rate of turn 132 VTG Actual track made good and speed over ground 133 ZDA UTC day month and year and local time zone offset 134 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 You cannot use the GPS Configuration software to load application files to the SPSx51 Modular GPS receivers e For SPSx51 Modular GPS receivers set up the NMEA output using the keypad and display or a web browser 118 SPSx51 Modular GPS 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 ofthe GGA message is GPGGA e acomma 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 rep
25. 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 earth s surface The ellipsoid is defined by the lengths of the minor and major axes The earth s minor axis is the polar axis and the major axis is the equatorial axis 180 SPSx51 Modular GPS 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 using 30 second epochs means loading
26. The Broadcast setting is the IP address that is used to broadcast to all devices on the subnet This is usually the highest address usually 255 in the subnet 76 SPSx51 Modular GPS Receivers User Guide Configuring the Receiver Settings 7 Configuring the receiver using a web browser The receiver can be configured using the keypad and display Trimble SCS900 Site Controller software or a web browser This section describes how to set up the receiver using a web browser Supported browsers Mozilla Firefox version 1 07 or later version 1 50 or later is recommended for Windows Macintosh and Linux operating systems Microsoft Internet Explorer version 6 00 or later for Windows operating systems Connecting to the receiver using a web browser 1 Enter the IP address of your receiver into the address bar of the web browser as shown Trimble Mozilla Firefox Eie Edit View Go Bookmarks Tools Help a amp C A Ca o M E 2 mep jj160 254 1 0 If security is enabled on the receiver the web browser prompts you to enter a username and password Prompt 04 9 Enter username and password For Trimble at 68 166 186 39 28001 User Name admin Password Adol The default login values for the receiver are User Name admin Password password If you cannot connect to the receiver the password for the admin account may have been changed or a different account may be in use Contact your re
27. The value is applied to the raw heading value before it is output in the NMEA HDT message or displayed on the front panel of the receiver This value is used when the two antennas are not mounted parallel to the vessel axis Minimum Heading Solution Enter the minimum requirement for the GPS solution that will provide the heading value The default of RTK Fixed provides the highest precision but in conditions of extreme multipath or obstruction an RTK Fixed solution may not be continuously available In such conditions select RTK Float if a lower precision is acceptable To set up the Moving Base unit 1l From the Home screen press Y twice The Mode screen appears 2 Select Moving Base mode and then press Interfacing using the NMEA protocol The SPS551H GPS receiver can output messages such as NMEA HDT for heading and NMEA GGA for position The SPS551H always reports the solution status of the moving baseline solution that is being used to compute the heading However if the external computer must know the exact quality of the position you can use the NMEA output from the base receiver The base receiver reports the solution status of the position for example Fixed Integer Floating or DGPS Heading output The heading output from an SPSx51 receiver that is in Heading mode is the True North Azimuth from the Heading antenna this is the unit that receives moving base corrections to the Moving Base antenna this is the unit th
28. These signals help you to get positions at the worst times ofthe day and in the worst GPS locations but do not guarantee that you will To get a fixed position solution with centimeter accuracy initialize the rover receiver For initialization to take place the receiver must track at least five satellites that the base station is also tracking In a dual satellite constellation operation for example GPS and GLONASS the receiver must track at least six satellites To maintain a fixed position solution the rover must continuously track at least four satellites that the base station is also tracking In a dual satellite constellation operation for example GPS and GLONASS the receiver must track at least five satellites The radio link between the base and rover receivers must also be maintained Loss of the satellite signals or loss of the radio link results in a loss of centimeter position accuracy From Fixed the receiver changes to Float or Autonomous mode InFloat mode the rover has connection to the base station through a radio but has not yet initialized InAutonomous mode the rover has lost radio contact with the base station receiver and is working by itself with the available GPS signals SPSx51 Modular GPS Receivers User Guide 37 4 38 Setup Guidelines On a vehicle or marine vessel place the GPS antenna in a location as free from shock and vibration as possible For the modular GPS receivers a single m
29. To verify the IP address select the up button from the keypad when the Home screen is displayed The Ethernet IP address appears The screen shown is of a receiver that has failed to get an IP address If your network installation requires the receiver to be configured with a static IP address you can configure the Ethernet settings using the web server or the WinFlash utility The web server can be used only when the receiver is connected to a network and has a valid Ethernet configuration When DHCP fails the receiver uses a private IP Use the WinFlash utility to configure the Ethernet settings of a receiver that is to be connected to a network that requires static IP addresses 1 Contact the network administrator for the correct settings for the receiver 2 Connect the receiver to a computer running the WinFlash utility using the serial cable provided with the receiver 3 Turn on the receiver 4 On the computer start the WinFlash utility SPSx51 Modular GPS Receivers User Guide Configuring the Receiver Settings 7 5 From the Device Configuration screen select the Trimble SPSx51 Receiver From the PC serial port list select the appropriate PC serial port Click Next YvinFlash v1 160 Device Configuration The devices which WinFlash can communicate with WinFlash are listed below Select a device and PC serial port to use and press Next to continue Device Configuration Device type Trimble SPSX51 Re
30. accept the change Press again The Base Latitude screen appears See next Setting the reference latitude longitude and height of the base station In the Base Latitude screen jn 2 The base was set up with a Here position so press The Base Longitude screen is used to change the reference longitude of the base station The base was set up with a Here position so press E The Point Height screen is used to change the reference height of the base station The base was set up with a Here position so press E Use d Type screen to select the type of antenna used with the receiver Press E When the antenna name begins to flash the receiver is in Edit mode and you can select an antenna Press to scroll through the antenna models Once the correct antenna name appears press to accept the change Press again The Measured To screen appears See next Measuring and changing the antenna height In the Measured To screen 1 sO e E Bi Press E When the antenna measurement method begins to flash the receiver is in Edit mode and you can select an antenna measurement method Press W to scroll through the o methods Once the correct measurement method appears press V to accept the change Press Use the Antenna Height screen to change the height of the antenna Press When the first character of the antenna height begins to flash the receiver is in Edit mode and you can change the antenna heigh
31. available 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 77 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 SPSx51 Modular GPS Receivers User Guide 161 F 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 Fromthe main menu select
32. connector on the SPS851 adaptor To configure the system do one of the following Use the SCS900 Site Controller software to connect to the receiver either by cable or Bluetooth wireless technology Start the base station and then configure RTK messages to be transmitted through an external radio The SCS900 software will locate the TRIMMARK 3 radio and then allow you to set the radio channel Then use the front panel of the receiver to select Radio and Lemo R L or R M to turn on the internal 900 MHz radio transmissions Use the web interface to access the SPS851 setup Select O Configuration Port Configuration Select the Serial 1 Lemo option and select corrections to be sent on the Lemo port at those baud rate settings If using 9 pin D sub then use the Modem port While in the Port Configuration menu also set the internal radio to transmit corrections Use the front panel ofthe receiver to set up the Lemo port and to select the radio on which to output the data shown as R L or R M on the receiver display SPSx51 Modular GPS Receivers User Guide 157 D Transmitting Corrections Scenario 3 Outputting corrections from a SNB900 radio to an HPB450 or TRIMMARK 3 radio Output corrections from the Trimble SNB900 radio through the Lemo port to an HPB450 or TRIMMARK 3 radio This is especially useful when using a Smart GPS antenna such as the Trimble SPS881 and the construction site requires dual frequencies 450 MHz and 900 M
33. defaults m Data Logging option CHAPTER All settings are stored in application files The default application file Default cfg is stored permanently in the receiver and contains the factory default settings Whenever the receiver is reset to its factory defaults the current settings stored in the current application file Current cfg are reset to the values in the default application file SPSx51 Modular GPS Receivers User Guide 105 9 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 10 PDOP mask 7 RTK positioning mode Low Latency Motion Kinematic Lemo Port Baud rate 38 400 Format 8 None 1 Flow control None Modem Port Baud rate 38 400 Format 8 None 1 Flow control None Input Setup Station Any NMEA ASCII all supported messages All ports Off Streamed output All types Off Offset 00 RT17 Binary All ports Off Reference position Latitude 0 Longitude 0 Altitude 0 00 m HAE Height above ellipsoid Antenna Type Zephyr Geodetic Model 2 Height true vertical Measurement method 0 00 m Bottom of antenna mount Resetting the receiver to factory defaults To reset the receiver to its factory defaults press VZ for 35 seconds Data Logging option By default the Data Logging option is turned off in SPS GPS receivers If
34. including a rod receiver bracket and controller bracket e vehicle mounting equipment including a suction cup and ball joint extension arm controller bracket magnetic antenna mount and necessary cables e backpack equipment including backpack and antenna mounting rod marine vessel mounting equipment including receiver bracket cables antenna and radio antenna brackets 48 SPSx51 Modular GPS Receivers User Guide Setting up the Receiver 5 Setting up the rover receiver on a jobsite vehicle AN CAUTION This following rover setup is suited only to offroad jobsite vehicle use Do not use this method on a vehicle that is driven at speed or in traffic 1 Mount the GPS antenna for the receiver on the roof of the vehicle Use a single magnetic mount or a 5 8 x11 thread bolt attached to the roof bars Run the GPS antenna cable for the receiver into the vehicle either through a rubber grommet in the roof or through the passenger door window which needs to be left slightly open during operation 2 Place and secure the GPS receiver in a convenient location in the vehicle The GPS receiver can be controlled through the controller connected using Bluetooth wireless technology If the receiver is not connected to vehicle power then the receiver needs to be accessed only to turn it on at the start of each measurement session It may be more convenient if the SPSx51 is placed in a location where the vehicle operator can see the k
35. mains power failure When the GPS receiver is connected to a power source greater than 15 V the integrated battery is continuously charged from the connected power source This helps to ensure that the battery stays charged SPSx51 only Do not locate a GPS receiver GPS antenna or radio antenna within 400 meters about 1 300 feet of apowerfulradar television or cellular communications tower another transmitter another GPS antenna SPSx51 Modular GPS Receivers User Guide 33 4 34 Setup Guidelines Cell phone towers can interfere with the base station radio broadcast and can stop corrections from reaching the rover receiver High power signals from a nearby radio or radar transmitter can overwhelm the receiver circuits This does not harm the receiver but can prevent the receiver electronics from functioning correctly Low power transmitters such as those in cell phones and two way radios do not interfere with receiver operations Do not set up the base station directly beneath or close to overhead power lines or electrical generation facilities The electromagnetic fields associated with these utilities can interfere with GPS receiver operation Other sources of electromagnetic interference include Gasoline engines spark plugs Televisions and computer monitors Alternators and generators Electric motors Equipment with DC to AC converters Fluorescent lights Switching power supplies Pla
36. must purchase the optional upgrade Base station Unrestricted operational range for rovers and grade control systems Base station and rover operation in a single receiver Integrated transmit receive radio 5 Hz 10 Hz or 20 Hz measurement update rate 10 Hz maximum in Heading mode Base station free rover capability within a VRS network Base station free rover capability using OmniSTAR services SPSx51 Modular GPS Receivers User Guide Features and Functions 2 e Operates as an SBAS rover when coverage is available This receiver is ideal for contractors who operate mid to large size projects with machine control Use and care This product is designed to withstand the rough treatment and tough environment that typically occurs in construction applications However the receiver is a high precision electronic instrument and should be treated with reasonable care AN CAUTION Operating or storing the receiver outside the specified temperature range can damage it For more information see Chapter 10 Specifications COCOM limits The U S Department of Commerce requires that all exportable GPS products contain performance limitations so that they cannot be used in a manner that could threaten the security of the United States The following limitations are implemented on this product e Immediate access to satellite measurements and navigation results is disabled when the receiver velocity is computed to be greater than 1
37. port The format of a time tag is UTC yy mm dd hh mm ss ab Where UTC is fixed text yy mm dd is the year month and date hh mm ss is the hour on a 24 hour clock minute and second The time is in UTC not GPS a is an integer number representing the position fix type 1 time only 2 1D amp time 3 currently unused 4 2D amp time 5 3D amp time b is the number of GPS satellites being tracked Each time tag is terminated by a carriage return line feed sequence A typical printout looks like UTC 02 12 21 20 21 16 56 UTC 02 12 21 20 21 17 56 UTC 02 12 21 20 21 18 56 Note If the receiver is not tracking satellites the time tag is based on the receiver clock In this case a and b are represented by The time readings from the receiver clock are less accurate than time readings determined from the satellite signals SPSx51 Modular GPS Receivers User Guide 177 178 Receiver Connector Pinout Information 26 Pin D sub connector wiring chart P N 60789 00 DCD RX2 TX2 DTR GND DSR RTS CTS RI TX3 RX3 1 PPS TX TX RX GND GND RX GND GND 5 V DC Data Data ID PWR GND N ON UN UuUD N p N o 26 17 25 10 13 16 22 14 19 18 24 23 RJ45 plug USB A plug BNC plug WO Ul U N 00 10U1 SUN CTR COND SHELL 0 Y du pb UN
38. radios with 450 MHz or 900 MHz frequency ranges The SPS551H is not available with a radio This table shows the radio options available for each receiver in the SPSx51 Modular GPS receiver family Radio option SPS551 SPS551H SPS651 SPS751 SPS751 SPS751 SPS851 Basic base Basicrover Max No radio Y Y Y Y Y Y Y 450 MHz Transmit Y x Y Y x Y Y 450 MHz Receive Y x Y x Y 4 4 900 MHz Transmit Y x Y x Y v 900 MHz Receive Y x Y x Y 4 4 External 450 MHz Transmit Optional x Optional Optional Optional Optional Optional External 900 MHz Transmit Optional x Optional Optional Optional Optional Optional 114 SPSx51 Modular GPS Receivers User Guide Specifications 10 Variable configuration options This table lists the default options for each receiver in the SPSx51 Modular GPS receiver family Configuration SPS551 SPS551H SPS651 SPS751 SPS751 SPS751 SPS851 option Basic Basic Max base rover Rover options Precise horizontal Y Y Y Precise vertical Y 2 Y 4 Y Precise heading vector Y Y Y ES Y Y Location RTK Y Y RTCM DGPS Y Y Y Y Y RTK range limit 2 4 km 2 4 km None None Base options Static RTK Y Y Y Moving Base Y Y Y E Y RTCM DGPS Y Y Y Y Y General options Data logging Optional Optional VRS support Location Location Y Y Max data rate 10 Hz 10 Hz 10 Hz 2 Hz 2 Hz 10 Hz 20 Hz Upgrading the receiver You can upgrade the following receivers e
39. receive frequencies to the default list of frequencies To install the WinFlash utility see Installing the WinFlash utility page 162 You can also use the web interface to add and manage receive 450 MHz frequencies If you have a receiver with the transmit option Trimble must specify and configure the FCC approved transmit broadcast frequencies at the factory You cannot configure these yourself If extra Transmit frequencies are obtained once you have your receiver then contact your local Trimble authorized dealer to have the extra frequencies added The dealer will provide you with a Set file which you can transfer to the receiver using the WinFlash utility SPSx51 Modular GPS Receivers User Guide 151 C Adding Internal Radio Frequencies Adding receive frequencies for the 450 MHz internal radio 152 1 Start the WinFlash utility The Device Configuration screen appears 2 From the Device type list select the appropriate receiver 3 From the PC serial port field select the serial COM port on the computer that the receiver is connected to 4 Click Next The Operation Selection dialog appears The Operations list shows all of the supported operations for the selected device A description of the selected operation is shown in the Description field 5 Select Configure Radio Internal Transceiver Configuration Settings and then click m AN ou have connected to an nternal Radio DK Next The Internal f Wirele
40. 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 SPSx51 Modular GPS Receivers User Guide 123 124 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 SPSx51 Modular GPS Receivers User Guide PTNL AVR 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 A 6 Field AVR message fields Meaning A NMEA 0183 Output 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 B wj N O 10 GPS quality indicator Fix not available or invalid Autonomous GPS fix Differential carrier phase solution RTK Float Differential carrier phase solution RTK Fix Differential code based solution DGPS PDOP m ANS 11 Number of satellites used in solution
41. station for the first time on a new point and the AutoBase Warning is turned off 1 The receiver is powered on 2 The receiver begins tracking satellites 3 The receiver determines the current position 4 The receiver reviews the previous base station positions stored in the receiver 5 The receiver does not find any base station that corresponds to the current position D The receiver creates a new base station location for the current location 7 The receiver sets the antenna height to 0 The antenna height is measured to the bottom of the antenna mounting CAUTION On each reoccupation of the point you must ensure that the receiver antenna is set up in exactly the same location and at exactly the same height Trimble also recommends that you use a T bar or Fixed height tripod so that the position is easy to re establish Failure to achieve the same height position for the antenna results in errors in heights in subsequent measurements SPSx51 Modular GPS Receivers User Guide Automatically Setting up a Mobile Base Station Using AutoBase Technology 8 Where you set up each time with potentially different antenna heights Trimble recommends that on the first setup after AutoBase has completed its process that you edit the antenna height using the receiver keypad and display The updated antenna height changes the AutoBase setup so that on subsequent setups when you again change the antenna height you will get correct h
42. 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 I 1 The leading edge is positive rising from 0 V to 5 V Positive slope pulse 5V OV Seconds HA A Time tag output here Time tag applies here Figure 1 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 1PPS 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 1PPS Ethernet male plug for connection to receiver e USB plug e DC jack for supplying power to the receiver SPSx51 Modular GPS Receivers User Guide Receiver Connector Pinout Information 1 ASCII time tag Each time tagis output about 0 5 second before the corresponding pulse Time tags are in ASCII format on a user selected serial
43. the Trimble SNB900 radio modem has an internal battery and does not require external power Configure the external radio separately using either the configuration program for the external radio or the radio display and keypad To configure the receiver for RTK operation follow the base setup procedure to set the following parameters Set the base station coordinates e Enable the RTCM or CMR corrections stream on the selected serial port Common ways to set up a base station You can set up a base station in different ways depending on the application coverage area degree of permanence versus mobility and available infrastructure Before you set up a base station please read Chapter 4 Setup Guidelines Setting up a base station for permanent or semi permanent installation For construction applications where machine and site positioning operations using GPS will be carried out over a long time weeks months or years ensure that you choose the base station location carefully A semi permanent or permanent base station helps to eliminate the types of error that can result from repeated daily setups and ensures that you always use the GPS antenna at the exact original location The requirement for a permanent base station setup increases as more receivers that use the base station as a source of corrections increases the cost of any base station downtime SPSx51 Modular GPS Receivers User Guide 43 5 44 Setting up
44. those shown below which must be achieved before measurements can be accepted When outside of these tolerances the SCS900 Site Controller software warns you through on screen messages or indications and the non automatic acceptance of recorded positions To set operational tolerances go to the Settings menu in the SCS900 Site Controller software Change Elevation Mask DGPS Status Lower Precision E Cancel Changing the elevation mask generally will not improve receiver s performance Enter new value Degrees OK H E Close Sats Used 9 Position Float Precision Horz 0 038 m Vert 0 030 m L Use GLONASS Example 1 From the Sky Plot screen press Example 2 Use the Sky Plot screen to Ctrl M to open this screen and change the angle set if the receiver will track GLONASS satellites below which the receiver will not track satellites 72 SPSx51 Modular GPS Receivers User Guide Configuring the Receiver Settings 7 Configuring the receiver to log data for postprocessing The receivers do not come equipped with the Data Logging option The receivers can have this added either at the time of purchase or at a later date as an option With the Data Logging option enabled the receiver has available memory that facilitates the collection of GPS observations over a period of time and that can be used with GPS postprocessing software such as the Trimble Geomatics Office for the computation of
45. to accept the change Press again When the Home screen appears the system setup is complete SPSx51 Modular GPS Receivers User Guide Configuring the Receiver Using the Keypad and Display 6 Turning off AutoBase technology You can turn off AutoBase technology using either the receiver s keypad and display or the web interface see Receiver Configuration menu page 90 When AutoBase technology is off you can establish a new base station position in the receiver using the Edit Current or New Base Here menus This does not automatically generate a new application file but changes the settings in the current application file When the receiver is turned on again the most recent settings are always used To turn off AutoBase technology using the receiver 1 Inthe Home screen press 25 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 Y to accept the change Press again You start to scroll through options in the System Setup menu Keep pressing Y until Autobase appears Press C The setting On flashes Press until it displays Off Press to accept the change 9 Press again The Active Appfile screen appears Oo Qv gi gm 9 Note If AutoBase is turned on the AutoBase Warning screen appears To change the application file Press C to display START Appfile e Press to show SAVE Appfile e Press Y to show DE
46. warning Set position precisions To access the system settings L aS oo c 10 11 12 13 14 In the Home screen press 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 Y to accept the change Press again Use the Display Language screen if necessary to change the language Choose English Finnish French German Italian Spanish or Swedish Press Y 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 Use the Port Settings screen if necessary to change the port Press to accept the change Press VZ 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 Y to accept the change and then press again to move to the next screen If you are using an SPSx51 RTK base station the Autobase warning screen appears See Chapter 8 Automatically Setting up a Mobile Base Station Using AutoBase Technology Press Y
47. you choose to log data using a GPS receiver you must enable the option and acquire suitable GPS postprocessing software such as the Trimble Geomatics Office software For more 106 SPSx51 Mod information please contact your Trimble dealer Postprocessed GPS data is typically used for control network measurement applications and precise monitoring GPS measurement data is collected over a period of time at a static point or points and then postprocessed to accurately compute baseline information ular GPS Receivers User Guide Default Settings 9 Logging data after a power loss If power is unexpectedly lost while the receiver is logging data once power is restored the receiver tries to return to the state it was in immediately before the power loss The receiver does not reset itself to default settings If the receiver was logging data when power was lost data logging is resumed when power is provided SPSx51 Modular GPS Receivers User Guide 107 9 Default Settings 108 SPSx51 Modular GPS Receivers User Guide Specifications In this chapter General specifications Physical specifications Performance specifications Electrical specifications Communication specifications GPS satellite signal tracking Integrated radio options Variable configuration options CHAPTER This chapter details the specifications for the receiver Specifications are subject to change without notice SPSx51 Modular GPS Receivers U
48. 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 SPSx51 Modular GPS Receivers User Guide 23 2 Features and Functions 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 62 Display The receiver 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 24 SPSx51 Modular GPS Receivers User Guide Rear connectors Features and Functions 2 o C pool Connector type Description TNC Connect to the GPS antenna 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 Vent plug AN VENT DO NOT REMOVE External venting plug for pressure equalization High Density DB26 la o Ethernet connectivity to a 10 100 Base T network through an RJ45 jack on a multiport adaptor P N 57167 Slave USB communications through the USB type B connector on the multiport adaptor P N 57167 Host USB communicat
49. 0A Help zip and then unzip the file to your PC Last Modified October 23 2007 SPSx51 Modular GPS Receivers User Guide CHAPTER Automatically Setting up a Mobile Base Station Using AutoBase Technology In this chapter m AutoBase Warning m Working with AutoBase technology m Scenario One First visit to a site with AutoBase Warning turned off m Scenario Two First visit to a site with AutoBase Warning turned on W Scenario Three Repeat visit to a site with AutoBase Warning turned off W Scenario Four Repeat visit to a site with AutoBase Warning turned on m The AutoBase process The AutoBase technology is a feature of the Trimble receivers that enables you to reduce daily setup time for mobile base stations and to reduce the likelihood of using incorrect base station coordinates during setup The AutoBase feature allows you to set up a receiver as a base station receiver and save you time so you do not need to reconfigure the receiver at the start of each day It also allows you to set up the base station on a new site without needing to configure the settings in the receiver Even if you have used the AutoBase feature in other Trimble receivers Trimble recommends that you read this chapter carefully because new functions in this feature provide greater benefit to you Note For information about turning AutoBase off using the receiver see Chapter 6 Configuring the Receiver Using the Keypad
50. 11 1111 1111 1111 1111 1111 1111 NaN GSOF message definitions When GSOF output is enabled the following messages can be generated SPSx51 Modular GPS Receivers User Guide 139 B GSOF Messages TIME This message describes position time information It contains the following data GPS time in milliseconds of GPS week GPS week number Number of satellites used Initialization counter Table B 3 Time Type 1 record 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 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 e 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
51. 149 xF operating temperature range 9 5 V to 28 V DC input power range with over voltage protection Capable of rover operation within a VRS Virtual Reference Station network Moving baseline and heading capability when combined with an appropriate SPSx51 SPSx50 or SPS551H receiver RoHS compliant SPSx51 Modular GPS Receivers User Guide Features and Functions 2 e Can be upgraded to receive GLONASS signals Note When the receiver is upgraded to GLONASS the GA510 rover GPS antenna should be replaced with the Zephyr Model 2 antenna e Pulse per second 1PPS output SPS551 Receiver optional features e Internal 450 MHz 3 frequency bands radio with transmit and receive capability e Internal 900 MHz radio with transmit and receive capability SPS551H features The SPS551H receiver is an add on receiver which provides Precise GPS heading capability when combined with another SPSx51 Modular GPS receiver excluding the SPS751 Basic base and or another SPS551H receiver The SPS551H cannot be used alone The SPS551H receiver provides the following features e Low cost Precise GPS Heading add on GPS receiver for the Trimble SPS551 SPS751 or SPS851 receivers e Connection to another GPS receiver through Bluetooth wireless technology or a serial port e 10 Hz heading update rate in NMEA 0183 and Trimble binary formats e Configuration and heading on a two line display e Includes a GA510 rover or Zephyr Model 2 rover
52. 3 16 1 91 ONS Address 10 3 0 124 Help DNS Domain _ap tnmblecorp net Hostname trim4626K99991 MTU 1500 Firmware SPSx51 Modular GPS Receivers User Guide 95 7 Configuring the Receiver Settings Security menu Use the Security menu to configure the login accounts for all users who will be permitted to configure the receiver using a web browser Each account consists of a username password and permissions Administrators can use this feature to limit access to other users Security can be disabled for a receiver However Trimble discourages this as it makes the receiver susceptible to unauthorized configuration changes This figure shows an example of the screen that appears when you select Security Configuration gt Trimble SPS851 SN 4626K99991 Security Configuration Recelver Status Satellites mmm Security Enable Data Logging Y Receiver Configuration WO Configuration Bluetooth pem OmniSTAR Network Configuration Security Add User Summ Usemame Password Firmware Verify Password Help Edit User File Download File Delete Recelver Config NTripCaster a D sera a 8 s er Passwo 96 SPSx51 Modular GPS Receivers User Guide Configuring the Receiver Settings 7 Firmware menu Use the Firmware menu to verify the current firmware and load new firmware to the receiver You can upgrade firmware across a network or from a re
53. EES ER oe KEW a AAA 179 SPSx51 Modular GPS Receivers User Guide 11 Contents 12 SPSx51 Modular GPS Receivers User Guide Introduction Welcome to the SPSx51 Modular GPS Receivers User Guide This manual describes how to set up and use the Trimble SPSx51 Modular GPS receivers About the SPSx51 receivers The SPSx51 Modular GPS receiver family comprises the following receivers e SPS551 e SPS551H e SPS651 e SPS751 Basic base e PS751 Basic rover e SPS751 Max e SPS851 SPS551 GPS receiver The Trimble SPS551 is a dual frequency Location GPS receiver which provides up to decimeter accuracy depending on the augmentation used The SPS551 provides decimeter precision when used in Location RTK mode with RTK corrections through the internal radio or Internet The SPS551 can operate as a DGPS reference station or as a DGPS rover receiver and can use Satellite Based Augmentation Systems SBAS The receiver can also function as a rover receiver that uses OmniSTAR XP HP or VBS CHAPTER correction services The SPS551 is ideal for mobile applications on marine vessels and site vehicles where Real Time Kinematic RTK accuracy is not needed The SPS551 can be used with the SPS551H GPS receiver to provide both position and precise heading solutions for marine applications The SPS551 can be upgraded to use GLONASS signals and to use GPS L2C signals SPS551H GPS receiver The Trimble SPS551H is an add on receiver
54. GPS receiver GPS antenna power supply and receive radio into a single compact unit A Smart GPS antenna can be rapidly set up on a pole vehicle or backpack This makes it easy to carry when you are measuring around the jobsite e A Modular GPS receiver such as the SPSx51 incorporates the GPS receiver receive radio and power supply into a single unit The GPS antenna and optionally the receive radio antenna is separate from the receiver When you use a modular GPS receiver as a rover you can use optimized components placed in the best locations for your application For example A small lightweight rover antenna can be mounted on a pole or backpack placed in a high inaccessible location on a marine vessel mast or cabin or placed on a site vehicle roof or truck bed Arubber duck radio antenna or an external radio antenna can be mounted on a vehicle or vessel roof to provide maximum coverage A Modular GPS receiver can be placed in a location that is both easily accessible and safe from theft and the weather The antennas can be placed high on a vehicle or vessel roof clear of obstructions and able to deliver maximum performance 1 OmniSTAR is available only with the SPSx51 Modular GPS receivers 36 SPSx51 Modular GPS Receivers User Guide Setup Guidelines 4 Rover receiver setup guidelines For good rover operation observe the following setup guidelines Place the GPS antenna in a location that has a clear li
55. Hz to be broadcast Solution To configure the system 1 Use a cable to connect the SNB900 radio modem Lemo Port to the SPS881 Smart GPS antenna 2 Use the SCS900 software to output the corrections to the external SNB900 radio modem 3 Connect the HPB450 or TRIMMARK 3 radio to the Modem port of the SNB900 radio modem 4 Fromthe front panel of the SNB900 radio modem set output to both Radio and Lemo 158 SPSx51 Modular GPS Receivers User Guide APPENDIX Real Time Data and Services In this appendix m RT17 Streamed Data service B Login authentication The real time Binary Output option also known as RT17 messages or raw data is available as an optional upgrade The RT17 Streamed Data service is available only with the SPS751 Max and the SPS851 GPS receivers By default the Binary Output option is not enabled in the GPS receivers The option must be enabled before RT17 messages can be streamed from the receiver To enable the option please contact your local Trimble dealer SPSx51 Modular GPS Receivers User Guide 159 Real Time Data and Services RT17 Streamed Data service An RT17 service provides GPS observations ephemerides and other information as defined for that service When a client connects to the service all data flow is from the receiver to the client Using the keypad and display to configure RT17 outputs You can configure RT17 output during the base and rover setup using the key
56. 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 UN ST SG AC 10 11 Rev 3 Amend 1 Li lon Battery UN ST SG AC 10 27 Add 2 Li lon Battery RoHS compliant excludes receivers with an internal 900 MHz radio WEEE compliant If your receiver has the 2 0 W upgrade you will experience lesser battery performance compared to the 0 5 W solution 112 SPSx51 Modular GPS Receivers User Guide Specifications 10 Communication specifications Feature Specification Communications Port 1 7 pin OS Lemo Port 2 26 pin D sub 1PPS 1 Pulse per second USB On the Go Ethernet Bluetooth Integrated radios optional Channel spacing 450 MHz 450 MHz transmitter radio power output Frequency approvals 900 MHz 900 MHz transmitter radio power output External GSM GPRS cellular phone support Receiver position update rate Correction data input Correction data output Data outputs 3 wire RS 232 CAN Full RS 232 through multi port adaptor 3 wire RS 232 Through adaptor cable Through mutli port adaptor Through mutli port adaptor Fully integrated fully sealed 2 4 GHz Bluetooth module Fully integrated fully sealed internal 450 MHz UHF Tx Rx or Tx Rx Fully integrated fully sealed internal 900 MHz
57. LETE Appfile e Press Y to show START Appfile SPSx51 Modular GPS Receivers User Guide 69 6 Configuring the Receiver Using the Keypad and Display Managing application files You can use the front panel to manage application files in the receiver You can see which application file the receiver is currently using and then choose to make changes to it and save it load a different application file or delete an application file To manage the application files use the System Setup menu see Figure 6 1 You can only manage application files when the AutoBase feature is turned off To save an application file configure all the settings you need through the front panel and then save the file When you save the file the receiver provides a default filename which you can change based on the currently set mode For example If the receiver is set to the following mode The suggested application filename is Base BASEO1 Heading HDG01 Moving Base MBO1 Rover ROVO1 Note If you start an application file that is saved with AutoBase turned on in the file then it turns on AutoBase in the receiver even if it was off before the file was loaded Is AutoBase off The following message appears on the System Setup menu Follow the usual AutoBase process Active Appfile current app filename Do you want to do further Appfile handling Press to complete Press side arrow START appfile will flash
58. N For your own safety and in terms of the RF exposure requirements of the FCC always observe these precautions Always maintain a minimum separation distance of 20 cm 7 8 inches between yourself and the radiating antenna Do not co locate the antenna with any other transmitting device 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 axe 0 dBi 3 dBi and 5 dBi whip antennas To reduce potential radio interference to other users the antenna type and its gain should be so chosen so that the equivalent isotropically radiated power e i r p is not more than that permitted for successful communication 1 900 MHz radios are not used in Europe 4 SPSx51 Modular GPS Receivers User Guide Safety Information Battery safety A WARNING Do not damage the rechargeable Lithium ion battery A damaged battery can cause an explosion or fire and can result in personal injury and or property damage To prevent injury or damage Do not use or charge the battery if it appears to be damaged Signs of damage include but are not limited to discoloration warping and leaking battery fluid Do not expose the
59. O CO NI aJ uU B W N O The checksum data always begins with SPSx51 Modular GPS Receivers User Guide 131 A NMEA 0183 Output 132 ROT Rate and Direction of Turn The ROT string is shown below and Table A 13 describes the message fields GPROT 35 6 A 4E Table A 13 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 SPSx51 Modular GPS Receivers User Guide VTG NMEA 0183 Output Track Made Good and Speed Over Ground An example of the VTG message string is shown below and Table A 14 describes the message fields GPVTG T M 0 00 N 0 00 K 4E Table A 14 VTG message fields A Field Meaning Message ID GPVTG Track made good degrees true T track made good is relative to true north Track made good degrees magnetic M track made good is relative to magnetic north Speed in knots N speed is measured in knots Speed over ground in kilometers hour kph K speed over ground is measured in kph WO CO NI aJ ui B W N O The checksum data always begins with SPSx51 Modular GPS Receivers User Guide 133 A NMEA 0183 Output ZDA UTC Day Month And Year and Local Time Zone Offset An example of the ZDA message string is shown below and Table A 15 describes the message fields
60. PS Receivers User Guide 111 10 Specifications Electrical specifications Feature Specification Power Internal Integrated internal battery 7 4 V 7800 mA hr Lithium ion Internal battery operates as a UPS in the event of external power source failure Internal battery will charge from external power source when input voltage is gt 15 V Integrated charging circuitry External Power input on Lemo 7 pin 0 shell is optimized for lead acid batteries with Power consumption Base station operation times on internal battery External radio 450 MHz 0 5 W systems 900 MHz 1 0 W systems Rover operation time on internal battery 450 MHz 2 0 W systems 900 MHz 1 0 W systems Regulatory approvals a cut off threshold of 10 5 V Power input on the 26 pin D sub connector is optimized for Trimble Lithium ion battery input P N 49400 with a cut off threshold of 9 5 V Power source supply Internal External is hot swap capable in the event of power source removal or cut off 9 5 V to 28 V DC external power input with over voltage protection Receiver will automatically turn on when connected to external power 6 W in rover mode with internal receive radio 8 W in base mode with internal transmit radio 14 hours varies with temperature 10 hours varies with temperature 9 hours varies with temperature 12 hours varies with temperature 12 hours varies with temperature FCC Part 15 Subpart B Class B Device and Subpart C Part 90
61. PSx51 Modular GPS Receivers User Guide Drawings In this appendix m Back view m Side view m Bottom view APPENDIX The drawings in this appendix show the dimensions of the receiver Refer to these drawings if you need to build mounting brackets and housings for the receiver The dimensions shown in these drawings are inches with millimeters shown in brackets SPSx51 Modular GPS Receivers User Guide 169 H Drawings Back view Side view 8 905 226 19 170 SPSx51 Modular GPS Receivers User Guide Drawings H Bottom view 8 125 206 38 1 100 27 94 SPSx51 Modular GPS Receivers User Guide 171 H Drawings 172 SPSx51 Modular GPS Receivers User Guide APPENDIX Receiver Connector Pinout Information In this appendix Lemo connector Modem multi function port 1PPS and ASCII time tag ASCII time tag 26 Pin D sub connector wiring chart P N 60789 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 two connectors e azero shell 7 pin Lemo connector e a high density 26 pin D sub connector SPSx51 Modular GPS Receivers User Guide 173 Receiver Connector Pinout Information Lemo connector The lemo connector is a 7 pin 0 shell Lemo connector Pin Usage RS 232 Signal GND GND RS 232 TX data out
62. S 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 SPSx51 Modular GPS Receivers User Guide 181 Glossary OmniSTAR PDOP postprocessing real time differential GPS rover Roving mode RTCM RTK
63. S551 features The receiver provides the following features Integrated GPS receiver and radio Location RTK capable Location RTK precision of 10 cm horizontal and 10 cm vertical Not upgradable to full RTK SPS751 or SPS851 Optional 450 or 900 MHz internal radio 72 channel L1 C A Code L1 L2 Full Cycle Carrier Upgradable to L2C and GLONASS L1 L2 Full Cycle Carrier OmniSTAR XP HP VBS service capable 4 channel WAAS Wide Area Augmentation System EGNOS European Geo Stationary Navigation System and MSAS Satellite Based Augmentation SBAS compatible Long life integrated battery typically provides 12 hours as a rover with internal radio Configuration and monitoring interface through the following methods Webinterface Networked or peer to peer Ethernet Integrated display and keyboard Trimble SCS900 Site Controller Software Tablet Edition Integrated Bluetooth wireless technology for cable free configuration and operation with a laptop or controller Attached or external radio antenna for rover operation Small lightweight design 1 65 kg 3 64 lbs receiver only including the battery 4 kg 8 82 Ibs complete system weight rover including controller and rod Vehicle and marine vessel mounting options for Supervisor and Dredging applications Easy to use menu system for rapid configuration and status checking Rugged weatherproof construction with an IP67 environmental rating 40 xC to 65 xC 40 xF to
64. 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 DGPS is a generic term its common interpretatio
65. SPSx51 Modular GPS Receivers User Guide Setting up the Receiver 5 15 Insert the first bolt Attach the flat washer the spring washer and finally the nut and then tighten firmly Secure all eight bolts in this way 16 Attach one connector from the Marine Heading cable P N 57169 10 to the 26 pin connector on the rear of the SPS551H GPS receiver Attach the other connector from the cable to the 26 pin connector on the rear of the SPSx51 receiver The cable can be connected either way around The cable connects the two GPS receivers so that the Heading solution is available The DC power lead on the cable supplies power to both receivers in the stack The two DB9 female connectors on the cable access serial port 2 on each receiver SPSx51 Modular GPS Receivers User Guide 57 5 Setting up the Receiver Installing the receiver Select a location at which all of the following conditions are met e 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 e 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 Ideally mount the two antennas as far apart as possible and at about the same heig
66. SVs 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 The PRN number of each satellite e Flags indicating satellite status e Elevation above horizon in degrees e Azimuth from True North in degrees 144 SPSx51 Modular GPS 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 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 o
67. Scroll through START SAVE DELETE Press Oto make decision system setup Scroll through application files in the receiver Make decision by pressing Display shows the active application file Press to complete Note The after the current app filename signifies it is the application file currently in use by the receiver Figure 6 1 Application file handling through the front panel of the receiver 70 SPSx51 Modular GPS Receivers User Guide CHAPTER Configuring the Receiver Settings In this chapter Using the SCS900 Site Controller software to configure the base station the rover and the radios Configuring the receiver to log data for postprocessing Configuring the receiver to use specific settings when it is turned on m Configuring Ethernet settings m Configuring the receiver using a web browser You can configure the SPS GPS receiver family in a variety of ways This chapter describes the different configuration methods and explains when and why each method is used The SCS900 Site Controller software is likely to be your main tool to set up and operate the receiver on a daily basis All necessary field configurations are handled through the SCS900 software running on a TSC2 or Trimble CU controller For more information refer to the Trimble SCS900 Site Controller Software Office Guide The external software detailed in this chapter is primarily used to update the rece
68. TCU 6 pin Hirose TCU 53004007 Lemo SPSx51 6 pin Hirose TCU 53002007 DB9 SPSx51 TSCe 1 Lemo TSCe 31288 xx Lemo SPSx51 ACU 4 pin Hirose ACU 44147 Lemo SPSx51 This cable is available in different lengths The xx indicates the length of the cable in meters External radio modems The most common data link for Real Time Kinematic RTK operation is a radio The receiver is available with the following internal radios e 410 430 MHz Tx Rx Rx only or Tx only e 430 450 MHz Tx Rx Rx only or Tx only e 450 470 MHz Tx Rx Rx only or Tx only e 900 MHz Tx Rx Rx only or Tx only SPSx51 Modular GPS Receivers User Guide Setting up the Receiver 5 Note Tx indicates that the radio transmits corrections Rx indicates that the receiver receives corrections Ix Rx indicates that the radio both transmits and receives corrections If the receiver does not have an internal transmit radio or you want to connect to higher power or to a secondary external transmit radio or cellular modem use the 26 pin port the Lemo port or Bluetooth wireless technology The receiver supports the following Trimble base radios e SiteNet 450 e TRIMMARK 3 TRIMTALK 450 e Trimble SNB900 e Trimble PDL450 e Trimble HPB450 The receiver also supports third party transparent radios and third party cellular modems When used with an SPSx51 GPS receiver most external radios require an external power source Only
69. Tar glo kpo ate Wd e Tun of T ile Mam gaten Liria mido it Mo Un bed tilat Patra ard Trade ria Cnet an Ah et mounds ey EVEREST Masel Sapte and Zaphar Dun uhr ane adempta o Tama Ranae Limited A other Pale mato we Pha peepety si Pahi Hopes mrar Tip You can also get the PPP address from the front panel of the receiver by pressing from the Home screen SPSx51 Modular GPS Receivers User Guide 85 7 Configuring the Receiver Settings Menus Once you are logged in the home page appears see Figure 7 1 Serial number of receiver Model name of receiver gt Trimble SPS851 SN 4626K99991 Trimble SPS Receiver Data Logging Receiver Configuration Copyright 2006 2007 Trimble Hasan Limited ll rights reserved Trimble and he Globe amp Triangle logo are tadamase of Trimble EE Navigation Limited registered in the United States Patent and Tiademak Office a sount es EVEREST Maxwell Zeptoyr and Zephyr Geodetic are trademase of Tei nasa Navigation Limited All Seir EIER ave pee property of their respective owners Bi Lecalintranet Figure 7 1 SPS GPS receiver Home page Changing the settings Use the webpage to configure the receiver settings The web interface shows the configuration menus on the left of the browser window and the settings on the right Each configuration menu contains related submenus to configure the receiver and monitor receiver performance Note The configur
70. USER GUIDE Trimble SPSx51 Modular GPS Receivers Trimble USER GUIDE Trimble SPSx51 Modular GPS Receivers Version 3 60 Revision A January 2008 Trimble 9f 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 2007 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 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 January 2008 release Revision A of the SPSx51 Modular GPS Receivers User
71. a logging is enabled on your receiver check your original purchase order or the receiver configuration using the web interface Wait until the receiver display shows that more than four satellites are being tracked Press for 35 seconds Turn off the receiver and then turn it back on again Press for 35 seconds 166 SPSx51 Modular GPS Receivers User Guide Troubleshooting G Issue Possible cause Solution The base station receiver is not broadcasting Rover receiver is not receiving radio Port settings between reference receiver and radio are incorrect Corrections are routed to a port rather than to the internal radio modem A rubber duck antenna is connected directly to the radio antenna port on the receiver or an external high gain antenna is connected through a cable to the radio antenna port on the receiver You are using AutoBase and the AutoBase Warning function is enabled Faulty cable between receiver and radio No power to radio The base station receiver is not broadcasting 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 Using the SCS900 Site Controller software connect to the reference radio through the receiver If no connection is made connect directly to the radio and change the port settings Tr
72. agnetic mount is normally sufficient to hold the antenna in a suitable location whereas for the larger smart antenna a triple magnetic mount is normally recommended Good alternatives include a 5 8 thread bolt in a suitable location on the roof bars or a door mounted pole bracket To mount the modular GPS receiver on a pole use two pole mounting brackets and a second tripod clip P N 571 204 300 See Figure 4 1 Figure 4 1 Rod mount for a modular GPS receiver To mount the modular GPS receiver on a marine vessel use the receiver bracket P N 56830 00 For marine moving base and heading applications use the receiver bracket to mount two receivers together Make sure that the rover receiver does not lose power An SPSx51 is typically powered by its internal battery You cannot change the battery but the charge typically lasts for longer than a working day If you do not use the rover receiver very often ensure that it is charged at least every three months For vehicle operation or marine vessel operation Trimble recommends that you use an external power source so that the internal battery can be saved for times when the receiver is being used off the vehicle or vessel SPSx51 Modular GPS Receivers User Guide Setup Guidelines 4 e Do not locate the receiver or antenna within 400 meters about 1 300 ft of powerful radar television cellular communications tower or other transmitters or GPS antennas Low power transmitters such
73. and Display SPSx51 Modular GPS Receivers User Guide 99 8 Automatically Setting up a Mobile Base Station Using AutoBase Technology AutoBase Warning The AutoBase Warning when enabled prevents the receiver from creating a new base station position and begin operating as an RTK base station when no previous base station position exists that corresponds to the current position of the receiver When the AutoBase Warning is on the receiver will not begin transmitting RTK corrections from a base position latitude longitude and height that is not a part of the GPS site calibration When the AutoBase Warning is off the receiver begins transmitting RTK corrections from a new base position You need only turn on the receiver the first time on a point and you do not need to manually configure the base station settings By default the receivers have the AutoBase Warning turned on The receiver uses the AutoBase Warning setting to control how the receiver performs when different criteria are met You can turn the AutoBase Warning on or off using the keypad and display For more information see Configuring system settings page 68 Working with AutoBase technology 100 This section contains some example scenarios In each section there is a step by step process that explains what you will experience in each scenerio Scenario One First visit to a site with AutoBase Warning turned off The following actions occur when you set up the base
74. and radio 450 or 900 MHz radio L1 L2 L2C GPS receiver OmniSTAR XP HP VBS service capable WAAS Wide Area Augmentation System EGNOS European Geo Stationary Navigation System and MSAS Satellite Based Augmentation SBAS compatible Long life integrated battery typically provides 10 hours operation as a base station with internal transmit receive radio or 13 hours as a rover Configuration and monitoring interface through the following methods Web interface Networked or peer to peer Ethernet Integrated display and keyboard Trimble SCS900 Site Controller software Integrated Bluetooth wireless technology for cable free configuration and operation with a controller Choice of external GPS antenna for base station or rover operation Attached or external radio antenna for rover or high gain base station radio operation SPSx51 Modular GPS Receivers User Guide 19 2 Features and Functions Small lightweight design 1 65 kg 3 64 lbs receiver only including the battery 4 kg 8 82 Ibs complete system weight rover including controller and rod Permanent semi permanent and mobile quick setup base station capability Backpack belt rod truck and marine vessel mounting options for rover applications Capable of all site measurement and stakeout operations within 2 4 km 1 5 m SPS751 Basic and typically 5 km 3 1 m SPS751 Max Easy to use menu system for rapid configuration and status checking AutoBase
75. anufacturer 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 la norme CNR GEN CNR 310 CNR 210 et CNR 119 du Canada 2 SPSx51 Modular GPS Receivers User Guide Europe This product the SPSx51 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 Australia and New Zealand Taiwan Battery Recycling Requi
76. 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 e Do not use the rover receiver directly beneath or close to overhead power lines or electrical generation facilities The electromagnetic fields associated with these utilities can interfere with GPS receiver operation Other sources of electromagnetic interference include gasoline engines spark plugs televisions and computer monitors alternators and generators electric motors equipment with DC to AC converters fluorescent lights switching power supplies e Trimble recommends that wherever possible all GPS receiver equipment is protected from rain or water Although the receivers are designed to withstand all wet weather conditions keeping the receivers dry prolongs the life of the equipment and reduces the effects of corrosion on ports and connectors If the equipment gets wet use a clean dry cloth to dry the equipment and then leave the equipment open to the air to dry Do notlock wet equipment in a transport case for prolonged periods Wherever possible avoid exposing the GPS receiver to corrosive liquids and salt water e Ifyou are using the rover receiver in open spaces Trimble recommends that y
77. at outputs the moving base corrections Heading output information is available in the following places e Receiver display Data outputs GSOF Attitude see Attitude page 146 NMEA HDT see HDT page 124 NMEA AVR see PTNL AVR page 125 SPSx51 Modular GPS Receivers User Guide 59 5 Setting up the Receiver 60 SPSx51 Modular GPS Receivers User Guide CHAPTER Configuring the Receiver Using the Keypad and Display In this chapter The receiver features a keypad and display see Keypad and display page 24 so that you can configure the receiver without using a controller Power button operations or computer Button functions Home screen Status screens Configuring the receiver as a base receiver m Configuring the receiver as a rover receiver W Configuring system settings m Managing application files SPSx51 Modular GPS Receivers User Guide 61 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 the cursor between multiple fields on a screen or makes changes to an editable field
78. ata to arrive It provides positions slightly more accurate than the Low Latency mode however it increases latency and has a maximum update rate of 1 Hz Trimble recommends that you use the Low Latency mode 7 Press to accept the change 8 Press again The Antenna Type screen appears See next Selecting the antenna In the 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 used with the receiver 2 Press to scroll through the antenna models 3 Once the correct antenna name appears press to accept the change 4 Press again The NMEA screen appears See next Outputting corrections In the NMEA screen set up outputs from the receiver l Press to accept the default of no NMEA messages 2 Use the GSOF screen to set up GSOF outputs from the receiver Press Y to accept the default of no GSOF messages 3 Use the RT17 screen to set up RT17 outputs from the receiver Press to accept the default of no RT17 messages The Home screen appears and the base setup is complete SPSx51 Modular GPS Receivers User Guide 67 6 68 Configuring the Receiver Using the Keypad and Display Configuring system settings You can use the keypad and display of the receiver to configure the following settings Display language Display and input units Baud rate parity data bits and stop bits for serial ports Display power saver AutoBase
79. ation menus available vary based on the version of the receiver A summary of each configuration menu is provided here For more detailed information about each of the receiver settings select the Help menu The Help is available whenever your computer is connected to the Internet It is also available anytime from the Trimble website www trimble com EC ReceiverHelp v3 60 en To display the web interface in another language click the corresponding country flag The web interface is available in the following languages English en Italian it Chinese zh Japanese ja Finnish fi Russian ru French fr Spanish es German de Swedish sv 86 SPSx51 Modular GPS Receivers User Guide Configuring the Receiver Settings 7 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 Trimble SPS851 io Receiver Status n Vector Satellites Data Logging Receiver Configuration VO Configuration Bluetooth Radio OmniSTAR Network Configuration l Security Firmware SN 4626K99991 Trimble SPS Receiver Copyright 2006 2007 Trimble Navigation Limited All righ
80. battery to fire high temperature or direct sunlight Do not immerse the battery in water Do not use or store the battery inside a vehicle during hot weather Do not drop or puncture the battery Do not open the battery or short circuit its contacts WARNING Avoid contact with the rechargeable Lithium ion battery if it appears to be leaking Battery fluid is corrosive and contact with it can result in personal injury and or property damage To prevent injury or damage If the battery leaks avoid contact with the battery fluid If battery fluid gets into your eyes immediately rinse your eyes with clean water and seek medical attention Do not rub your eyes If battery fluid gets onto your skin or clothing immediately use clean water to wash off the battery fluid WARNING Charge and use the rechargeable Lithium ion battery only in strict accordance with the instructions Charging or using the battery in unauthorized equipment can cause an explosion or fire and can result in personal injury and or equipment damage To prevent injury or damage Do not charge or use the battery if it appears to be damaged or leaking Charge the Lithium ion battery only in a Trimble product that is specified to charge it Be sure to follow all instructions that are provided with the battery charger Discontinue charging a battery that gives off extreme heat or a burning odor Use the battery only in Trimble equipme
81. ble is damaged The GPS antenna is not in clear line of sight to the sky The message PC The WinFlash utility is in Loader in use Control appears on the front panel The WinFlash utility was started then the data cable was disconnected No apparent reason The message Internet software Remote Monitor active appears on the front panel 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 e 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 Complete the WinFlash task and then exit the utility Plug the data cable back in and then restart the receiver e Ifthe 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 168 S
82. c ae Ae ee ee 106 Resetting the receiver to factory defaults ooo ee ee 106 Data Logging Option s s uuu cec wA deck dee E aa asy ae ene de VAL a oleae A acd 106 Logging data after a power loss 2 eee 107 Specifications ECCE EKKO Ee HERS OS ORS w A 109 Generalspecifications eee 110 Physical specifications cias ea ee CREE E gre dore EU oed du MORE RUE et 110 Performance specifications cere 111 Electrical specifications uoa x A aore a ate A GR LA da a det Ala e a a ged 112 Communication specifications ssaa 113 GPS satellite signal tracking onnaa aaa 114 Integrated radio Options s cesa a RAE d e Re ee ee ee T ae a a 114 Variable configuration options cele 115 Upgradingthereceiver oea ridea eee 115 SPSx51 Modular GPS Receivers User Guide 9 Contents A 10 NMEA 0183 Output oso ooo o m eee eee AS 117 NMEA 0183 message overview sehr 118 Common message elements eee ee 119 Message Valles corri oe ERR BEA ee eS oA T oe De RR DR eg Dna 119 NMEA 08888868 25 hoe Redraw SBOE xev aude a P EP SE xe Sd e 119 GSUP Messages acd opa RE CR Eco dde dr Ce ECE SCA A 0E Rod dh d 135 Supported message types ees 136 General Serial Output Format eer 136 Reading binary values cele 137 INTEGER data typeS o e de cs a Re a a aia ae D Reals p denda 137 GSOF message definitions aoaaa aa 139 TIME e a a a a E a e pe oye e A 140 IERM amp evi IS b
83. c 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 120 SPSx51 Modular GPS 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 automatic 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 SPSx51 Modular GPS Receivers User Guide 121 A NMEA 0183 Output GST 122 Position Error Statistics An example of the GST message string is shown belo
84. ce the GPS receivers in a protected and secure location If the base station is in the center of a jobsite where heavy machinery is operating place flags around the base station to warn operators of its existence If you place the SPSx51 Modular GPS receiver in a lock box on the jobsite to protect the receiver from theft or from the weather shield the lock box from direct sunlight and provide ventilation for the receiver through an inlet and extractor fan A receiver that has a broadcast radio generates significant heat Do not allow the temperature in the box to exceed 50 C 122 F If working in a cold climate you may need to provide heat to the receiver Do not operate the receiver below 40 C 40 F Trimble recommends that wherever possible you keep GPS receiver equipment dry The receivers are designed to withstand wet weather but keeping them dry prolongs their life and reduces the effects of corrosion on ports and connectors If the equipment gets wet use a clean dry cloth to dry the equipment and then leave the equipment open to the air to dry Do not lock wet equipment in a transport case for prolonged periods Avoid exposing the GPS receiver to corrosive liquids and salt water wherever possible SPSx51 Modular GPS Receivers User Guide Setup Guidelines 4 e Trimble recommends that you install lightning protection equipment at permanent base station locations Equipment should include a gas capsule lightning protector i
85. ceiver 6 From the Operation Selection screen select Configure ethernet settings and then click Next ration Selection The operations supported by the Trimble SPSX50 WinFlash Receiver are listed below Select an operation to perform and press Next to continue Operations e system name Configure ethernet settings Configure radio settings Load GPS software Load internal radio software I Indate receiver antinns Description Configure the ethernet settings Trimble coca ee SPSx51 Modular GPS Receivers User Guide 75 7 Configuring the Receiver Settings 7 From the Settings Review screen click Finish WinFlast Connect the SPS gt 50 to COM1 of the PC using the WinFlash DB8 cable Review the settings below and press Finish to start the Configure ethernet settings r Current Settings Device configuration Trimble SPSX50 Receiver connected to COM1 Operation to perform Configure ethernet settings Trimble Cancel Help Once the WinFlash utility connects to the receiver the Ethernet Configuration dialog appears 8 Enter the network settings in the Ethernet Configuration dialog Click OK Ethernet Configuration Ethernet settings IP Setup Static IP address y IP Address 192 168 1 10 Netmask 255 Broadcast 182 168 Gateway 192 DNS Address 132 HTTP settings Server Port eo
86. ceiver administrator for the appropriate login information SPSx51 Modular GPS Receivers User Guide 77 7 Configuring the Receiver Settings Connecting to the receiver using a web browser and Bluetooth wireless technology This section describes how to access the web interface on a SPSx51 Modular GPS receiver that has firmware version 3 32 or later installed using Bluetooth wireless technology on an office computer that has Service Pack 2 of the Windows XP operating system Professional Edition installed 1 On the office computer open the Control Panel Open Bluetooth Configuration and go to the Client Applications tab The following dialog appears Bluetooth Configuration General Accessibility Discovery Local Services Client Applications Hardware Specify how this computer will access services on other SEE EA Double click an application name to set its security and edit its properties Application Name Secure Connection COM Port Bluetooth Serial Port6 Not Required Bluetooth Serial Port5 Not Required Bluetooth Serial Port 7 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 Bein 2 Add at least one Bluetooth Serial port To do this click Add COM port and then follo
87. ceiver and then tighten the rod bracket onto the rod The receiver is held in place between the two brackets 5 Insert the controller into the controller bracket as shown opposite 6 Use the 5 8 thread to attach the GPS antenna to the top of the rod 7 Use the GPS antenna cable to connect GPS antenna to the receiver B 50 SPSx51 Modular GPS Receivers User Guide Setting up the Receiver 5 Setting up a rover receiver on a belt or in a backpack If you prefer to work free of the weight of the receiver on a pole you can mount the rover receiver on a belt SPSx51 only or carry it in on a backpack all receivers When you wear the receiver on a belt ensure that the display is always visible so that you can easily check the status of the receiver If you carry the receiver in a backpack use an external radio antenna mount to allow for optimal radio signal reception If you use a low gain antenna mounted directly on the receiver in a backpack it may affect the radio signal reception and reduce the likelihood of obtaining an RTK Fixed solution Setting up a pair of GPS receivers to provide heading The SPS551H receiver is permanently in Heading mode and when combined with a suitable Trimble receiver provides GPS heading Other SPSx51 GPS receivers can also be paired for heading output if they can operate in Heading mode see Configuring the receiver pair page 58 The SPS551H is a dual frequency GPS receiver with a dual
88. ces 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 Wy muuu Gateway J Printer Human Interface Device Qj Imaging E Bluetooth Camera Y Bluetooth Serial Port7 Y Bluetooth Serial Port5 Y 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 uuu AA DUD uiuppcu Dra J uuu 123455432 de SPS550 TrmblACU2 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 80 SPSx51 Modular GPS Receivers User Guide 8 9 Configuring the Receiver Settings The following dialog appears Bluetooth Setup Wizard Completion Page Completing Bluetooth Setup Wizard SPS550 4626K99991 None COM1
89. control networks and baselines Note Version 2 30 and later of the SCS900 software supports the recording of raw GPS data in the SPS receivers when the Data Logging option is installed in the receiver For information on how to initiate recording in the SPS receivers from SCS900 refer to the SCS900 Precision GPS User Guide Configuring the receiver to use specific settings when it is turned on The power up application file Power_up cfg is used to set the receiver to a specific configuration any time the unit is powered up In this file you can specify that the receiver is reset to defaults before the power up settings are applied This ensures that restarting the receiver always resets it to factory defaults prior to applying the power up application file Alternatively you can specify that the power up settings are applied immediately after the current application file s settings have been applied Restarting the receiver results in aconfiguration that uses your default settings for the options you define in the power up file but the current settings for all other options By default there is no power_up application file on the receiver To use a power up application file you must create and save a power_up application file in the GPS Configurator software If you save this file to disk the file is called power_up cfg The extension cfg is used by convention to identify application files on the office computer When you tra
90. cribes 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 11 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 Jj aJ U B 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 network solution RTK Float 2D network solution 9 RTK Fixed 2D network solution 10 OmniSTAR HP XP solution 11 OmniSTAR VBS solution 0 SE OY HY Ro WN IO 10 Number of satellites used in solution 11 PDOP 12 The checksum data always begins with SPSx51 Modular GPS Receivers User Guide NMEA 0183 Output A RMC Position Velocity and Time The RMC string is shown below and Table A 12 describes the message fields GPRMC 123519 A 4807 038 N 01131 000 E 022 4 084 4 230394 003 1 W 6A Table A 12 GPRMC message fields Field Meaning Message ID GPRMC UTC of position fix Status A active or V void Latitude Longitude Speed over the ground in knots Track angle in degrees True Date Magnetic variation in degrees W
91. current settings ofthe receiver The status screens provide the following information Position solution and precisions CMR and RTCM IDs Base name and code Latitude longitude and height Antenna height Horizontal and vertical precision Receiver firmware version Receiver serial number Receiver IP address To access these screens from the Home screen press W or O SPSx51 Modular GPS Receivers User Guide 63 6 64 Configuring the Receiver Using the Keypad and Display Configuring the receiver as a base receiver To set up the SPSx51 as a base receiver use AutoBase technology the Trimble SCS900 Site Controller software the receiver keypad or an external computer The AutoBase feature automatically configures the receiver settings for you The receiver obtains a position and outputs RTK corrections on the internal radio if available or on the LEMO port See Chapter 8 Automatically Setting up a Mobile Base Station Using AutoBase Technology The receiver is configured step by step to ensure that all appropriate settings are configured To move between steps in the configuration process press Configuring the receiver 1 In the Home screen press Use the Operation Mode screen to configure system settings mode settings or to view the SV satellite status Mode Settings is the default setting Press Use the Mode screen to select whether the receiver will operate as a base or rover Base is
92. devices use selected data collected or computed by the GPS receiver All messages conform to the NMEA 0183 version 3 01 format All begin with and end with a carriage return and a line feed Data fields follow comma delimiters and are variable in length Null fields still follow comma delimiters but contain no information An asterisk delimiter and checksum value follow the last field of data contained in an NMEA 0183 message The checksum is the 8 bit exclusive of all characters in the message including the commas between fields but not including the and asterisk delimiters The hexadecimal result is converted to two ASCII characters 0 9 A F The most significant character appears first The following table summarizes the set of NMEA messages supported by the receiver and shows the page that contains detailed information about each message Message Function Page GGA Time position and fix related data 120 GSA GPS DOP and active satellites 121 GST Position error statistics 122 GSV Number of SVs in view PRN elevation azimuth and SNR 123 HDT Heading from True North 124 PTNL AVR Time yaw tilt range mode PDOP and number of SVs for 125 Moving Baseline RTK PTNL BPQ Base station position and position quality indicator 126 PTNL GGK Time position position type and DOP values 127 PTNL PJK Local coordinate position output 128 PTNL VGK Time locator vector type and DOP values 129 PTNL VHD Heading Information 130
93. dor Use the battery only in Trimble equipment that is specified to use it Use the battery only for its intended use and according to the instructions in the product documentation When the internal temperature of the receiver is greater than 50 C 122 F or less than 5 C 41 F the internal battery charger stops charging and the receiver s display shows Charger Disabled Temp Limited However the receiver will still draw its power from the external DC source extending the operating time in the field When the external DC voltage is less than 15 V DC an X is displayed across the battery status icon on the front panel display which indicates that the internal charger is off Storing the Lithium ion battery If you must store a Lithium ion battery for long periods make sure that it is fully charged before it is stored and that you charge it at least once every three months while it is stored Do not allow a battery that is in storage to discharge to below 5 V A battery that reaches deep discharge level 5 V or less cannot be recharged and must be replaced To protect a battery that is in use from deep discharge the receiver switches power sources or stops drawing power when the battery pack discharges to 5 9 V All batteries discharge over time when not in use and they discharge faster in colder temperatures Do not store the receiver at temperatures outside the range 40 C to 70 C 40 F to 158 F SPSx51 Mo
94. dular GPS Receivers User Guide 29 3 Batteries and Power Using the Lithium ion battery as a Universal Power Supply UPS The receiver has an internal Lithium ion battery The internal battery will only charge from an external power source that delivers more than 15 volts for example an AC power adaptor The receiver is supplied with a mains power supply unit that recharges the battery inside the receiver when it is connected through the adaptor to the modem port or the Lemo port When you use the receiver on large projects from a permanent or semi permanent base station location in a site trailer Trimble recommends that you use this power supply at all times to keep the internal battery charged This provides an uninterrupted power supply and will keep the site operational for more than 10 hours after a power failure Keep all batteries on continuous charge when not in use You can keep batteries on charge indefinitely without damage to the receiver or to the batteries Removing the rechargeable Lithium ion battery The internal Lithium ion battery should be removed only at an authorized Trimble Service Center If the battery is removed at an unauthorized service center the remaining warranty on the product will be void 30 SPSx51 Modular GPS Receivers User Guide Setup Guidelines In this chapter W Base station operation guidelines B Rover operation guidelines CHAPTER GPS Real Time Kinematic RTK operation provides c
95. e eaa e A pe dd debe A hw 140 ECEE yona Sate ated etna Ast ai ace RC RR CE UL A CREER aie aoa sac wat oral a a 141 ECER DELTAS axes du ae Reg aes Pe ee RBS Mud ores p ek pd s 141 NEU DELTA i ng dba abate a as ee he algun dae abe a dete fens 141 VELOCITY Y c aeter te oes Be arene y Duce wohl oe aie he RR e 142 PDOP 5 oues koe eS ak wwe SO Se o he cgo we e Paru ee Ge lud do 143 SIGMA iie A utd Du dete equi oon dae des sane ss x ud eager Bets 143 SV Brel 4 aeuo eR ead awe pied do ce wk Madea a whe Sa er dos 144 SV Detail sin a yn eos Cem CR e e REC n e Re Bo da Y e a 144 ju cg T PULS 145 Batt MBI e s exped Sew XT EGYAE 4 deUUd Kx ER E wy dd eed des 146 nnl ECCE 146 BASE POSITION AND QUALITY INDICATOR o oooooooooo ooo nn 147 UL DEC c r 148 Adding Internal Radio Frequencies 151 Adding receive frequencies for the 450 MHz internal radio lesen 152 Setting UHF reception radio frequencies using the web interface ooo 153 Transmitting Corrections llle 155 Scenario 1 Outputting corrections using an HPB450 radio modem 156 SOLO s uer perdo ek coe y ex bs a dex hg ade ae RE YS EX 156 Scenario 2 Outputting corrections using a TRIMMARK 3 radio lese 157 SONION ir a A id UR 157 Scenario 3 Outputting corrections from a SNB900 radio to an HPB450 or TRIMMARK 3TAd O i bcd ai dia aote dre Gib ERR awed Oe ee chon 158 SOMO aa E
96. eceiver gt Please wait 8 Click OK The Software Upgrade window appears again and states that the operation was completed successfully 9 To select another operation click Menu to quit click Exit If you click Exit the system prompts you to confirm 10 Click OK Forcing the receiver into Monitor mode If the receiver will not go into Monitor mode to load new firmware complete the following steps 1 2 3 4 5 Turn off the receiver Press and hold while turning on the receiver Continue to hold the amp 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 SPSx51 Modular GPS Receivers User Guide 163 F Upgrading the Receiver Firmware 164 SPSx51 Modular GPS Receivers User Guide APPENDIX Troubleshooting In this appendix Use this appendix to identify and solve common ae problems that may occur with the receiver m Receiver issues Please read this section before you contact Technical Support SPSx51 Modular GPS Receivers User Guide 165 G Troubleshooting Receiver issues This section describes some possible receiver issues possible causes and how to solve them Issue Possible cause Solution The receiver does External power is too not turn on low Internal power is too low External power is not properly connected Fault
97. eight information during measurement At the first setup Trimble recommends that you change the AutoBase setup and antenna height before you carry out a site calibration The receiver begins generating RTK CMR corrections The RTK corrections begin streaming over the internal radio If there is no internal radio the receiver defaults to streaming the corrections on the Lemo port Scenario Two First visit to a site with AutoBase Warning turned on The following actions occur when you set up the base station for the first time on a point and the AutoBase Warning is turned on l A 2 po po 9 The receiver is powered on The receiver begins tracking satellites The receiver determines the current position The receiver reviews the base positions stored in the receiver The receiver does not find any base station that corresponds to the current position The receiver displays a warning that AutoBase has failed No RTK corrections are streamed until the base station is set up using the keypad and display or an SCS900 controller Scenario Three Repeat visit to a site with AutoBase Warning turned off The following actions occur when you repeat a base station setup on a point and the AutoBase Warning is turned off l a fF Ww m The receiver is powered on The receiver begins tracking satellites The receiver determines the current position The receiver reviews the base station positions stored in the receiver
98. el L1 C A Code L1 L2 L2C Full Cycle Carrier SPS751 SPS851 Upgradable to GLONASS L1 L2 Full Cycle Carrier and L5 See page 114 SPS851 e 4 channel SBAS WAAS EGNOS and MSAS corrections 0 25 m 1 ppm RMS 0 8 ft 1 ppm RMS 0 50 m 1 ppm RMS x 1 6 ft 1 ppm RMS Typically lt 1 m 3 3 ft Typically lt 5 m 16 4 ft Horizontal lt 1 m 3 3 ft Horizontal 0 2 m 0 66 ft Vertical 0 3 m 1 0 ft Horizontal 0 1 m 0 33 ft Vertical 0 15 m 0 5 ft 0 07 m 1 ppm RMS 0 23 ft 1 ppm RMS 0 07 m 1 ppm RMS 0 23 ft 1 ppm RMS SPS551 0 02 m 1 ppm RMS 0 07 ft 1 ppm RMS SPS651 10 mm 1 ppm RMS 0 032 ft 1 ppm RMS SPS751 SPS851 20 mm 1 ppm RMS 0 065 ft 1 ppm RMS SPS751 SPS851 0 05 RMS 10 m antenna separation Does not require shore based corrections for heading solution Single Multi base minimum 10 sec 0 5 times baseline length in km lt 30 km Typically lt 30 seconds anywhere within coverage area SPS751 Max and SPS851 only Typically gt 99 9 1 Accuracy and reliability may be subject to anomalies such as multipath obstructions satellite geometry and atmospheric conditions Always follow recommended practices 2 Depends on WAAS EGNOS and MSAS system performance 3 May be affected by atmospheric conditions signal multipath and satellite geometry Initialization reliability is continuously monitored to ensure highest quality SPSx51 Modular G
99. endo vba ed eee a P he dU EU RU PW V RR EUR e qe 28 Charging the Lithium ion battery eee 29 Storing the Lithium ionbattery leen 29 Using the Lithium ion battery as a Universal Power Supply UPS lessen 30 Removing the rechargeable Lithium ion battery llle 30 Setup Guidelines uiua eR ROEE RUR RO OR AA 31 Base station operation guidelines eee 32 Base station components eee es 32 Base station setup guidelines llle 33 Permanent installation antenna cabling for the SPSx51 Modular GPS receiver 35 Rover operation guidelines lees 35 Rover receiver components ke PRAGA GORE ess DR RR REG ee 36 Rover receiver setup guidelines 2 2 eee 37 Setting up the Receiver cece we eee Row 41 Connecting the receiver to external devices eee 42 Trimble controller with SCS900 Site Controller software leeren 42 External Tadio MOdems 42 Common ways to set up a base station lle 43 Setting up a base station for permanent or semi permanent installation 43 Setting up a base station for daily site use T Bar 2 2 2 00 0000 eee eee 45 Setting up a mobile base station Tripod and fixed height tripod 46 Common ways to set up a rover receiver eene 48 Setting up the rover receiver on a jobsite vehicle o o ooooooo ooo 49 Setting up theroverreceiveronarod ooo ooo o
100. entimeter level accuracy by eliminating errors that are present in the GPS system For all RTK operations you require both a base station and a rover receiver This chapter introduces the concepts of base station and rover operation provides information to help you identify good setup locations describes best practices for setting up the equipment and outlines the precautions that you need to take to protect the equipment Note This chapter provides setup information for all the receivers in the SPS GPS receiver family SPSx51 Modular GPS Receivers User Guide 31 4 Setup Guidelines Base station operation guidelines A base station consists of a receiver that is placed at a known and fixed position The receiver tracks the same satellites that are being tracked by the rover receiver at the same time that the rover is tracking them Errors in the GPS system are monitored at the fixed and known base station and a series of position corrections are computed The messages are sent through a radio link to the rover receiver where they are used to correct the real time positions ofthe rover Base station components The base station has the following components GPS receiver GPS antenna Base station radio Power supply GPS receiver and GPS antenna The base station GPS receiver can be one of following types A Smart GPS antenna such as the SPSx81 which incorporates a GPS receiver GPS antenna power supply and radio
101. 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 The third L band carrier used by GP
102. exo e X eL Gee VOR Ra xL o n HOD ARN GR ee ae Bw 14 2 Features and Functions l l 15 SPS55Ieatutes xxx a sucer mex Ide ec eee RO Se e Ca ee fac e e d a 16 SPS551 Receiver optional features lee 17 SPSBBIH features anand Webs bb eX RO RREd bbe ha bee E de ee edo des 17 SPS651 T6atutes oA ue edo RR BR RR RO eo ee a teo ee d 17 SPS651 Receiver optional features llle 19 SPS751featutes x 4 1 eue BR pack aca em o PRU IR nu Je CP e Dcos ode zh a Ed da ak 19 SPS751 standard features 22s 19 SPS75L Basi ii unice wee MR ee araea st eh der Mea al ec Sr bee e wl 20 SPS751 MAaX 9 dre E Baek Aa Se ewe lg ea ee ER KR RI ee a ent 21 SPSS5I features 5 parra ae doa Sea Be ea LAL Lee Pa bade tee eS 21 Base SLALOM sastre eee a eee hoe Alea gente Alena evan al caia amp 22 ROVER pitt edna nese Shite Ge ados ana od a Gach ow ee eee oe ah Ge 22 MSC arid CALC os 2 lao ded cnt do tice dedi ti delete tents aah ae aye dte pales mde fite dd 23 COCOM limits 4 a uude wa oh rr eR RR A De we a Me de A ao 23 Keypad and display si ido d em woe 3 e E EG FORE Y e RR Y Py dr ue 24 Rear connectorS aa oo Ea a RUNE RO a ae UU SC Ros eios wes e PUR Re 25 3 Batteries and Power 2 eee ee 27 External power are crepes a ea E ped 28 Battery sSaletys c iacta Mh eda do osi aod ota ae a bed a dh OM a ahd ow d ente i 28 SPSx51 Modular GPS Receivers User Guide 7 Contents 8 Battery performatic 4 v
103. eypad and display to monitor receiver status and to configure settings as required Most receiver capability can be controlled using the SCS900 Site Controller software 3 Attach the suction cup to the front windscreen dashboard or other convenient location in the vehicle making sure that it does not obstruct the driver s view 4 Attach the RAM extension arm to the suction cup and the controller bracket to the RAM extension arm 5 Lock the controller into the controller bracket and then adjust the bracket until the controller is in the most convenient location Make sure that the controller does not restrict visibility through the front windscreen during vehicle use 6 Lock the brackets so that the controller is held securely If required connect either the GPS receiver or the controller to an in vehicle power supply as needed SPSx51 Modular GPS Receivers User Guide 49 5 Setting up the Receiver bil i Figure 5 5 Configuring an SPSx51 from the cab A Zephyr Model 2 antenna is mounted on the roof Setting up the rover receiver on a rod For rod based operation mount the SPSx51 Modular GPS receiver as follows 1 Mount the two rod brackets on the rod 2 Tighten the top bracket making sure that it is at a convenient height for the receiver 3 Place the receiver in the slot in the rod bracket and secure with the tripod clip 4 Move the lower rod bracket down until it is over the second tripod clip on the re
104. f L1 signal multiplied by 4 SNRLI2 Char dB 4 X Signalto noise ratio of L2 signal multiplied by 4 Includes all tracked satellites all satellites used in the position solution and all satellites in view THe SNR L1 and SNR L2 items are set to zero for satellites that are not tracked on the current frequency UTC This message describes current time information It contains the following data GPS time in milliseconds of GPS week GPS week number GPS to UTC time offset in seconds Table B 13 UTC Type 16 record 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 89 UTCoffset Short seconds GPStoUTCtimeoffsett 10 Flags Char See Table B 19 Flag bits indicating validity of Time and UTC offsets SPSx51 Modular GPS Receivers User Guide 145 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 OAh Bytes in record 2 3 Battery capacity Unsigned s
105. frequency antenna but it does not operate as a stand alone DGPS receiver To compute a true north heading and to be capable of positioning the receiver requires an output message from another SPSx51 receiver To determine the precise vector between two moving objects pair the SPS551H Heading add on with any one of the following receivers e SPS551 SPS751 Max e SPS851 Connect the antenna on the SPS551H to the other receiver to determine the precise GPS heading between the two antennas The SPS551H GPS receiver show the heading on the two line display and outputs the heading data in NMEA or binary format Tip To create a single compact GPS position and heading unit use the mounting frame provided to stack the SPS551H GPS receiver on top of the other GPS receiver See below Use the Marine Heading Cable P N 57169 10 provided SPSx51 Modular GPS Receivers User Guide 51 5 52 Setting up the Receiver The Moving Baseline RTK positioning technique In most RTK applications the reference receiver remains stationary at a known location and the rover receiver can move However Moving Baseline RTK is an RTK positioning technique in which both reference and rover receivers can move about Moving Baseline RTK is useful for GPS applications that require vessel orientation Antenna Antenna Figure 5 6 Vessel heading from Moving Baseline RTK With Moving Baseline RTK the reference receiver broadcasts Compact Measu
106. gy These devices can be used to configure the receiver and generate or receive corrections The following Trimble devices can be connected to an SPSx51 receiver using Bluetooth wireless technology e TSC2 controller e TCU controller e TSCe controller e ACU controller e 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 SPS851 Bluetooth Info Receiver Status ql o _u _m_m Module Info Infineon LM FW version 7 50 BB FW version 055b Satellites Stack Version 121 12 20 Data Logging Local Name SPS851 4626K99991 99991 GEE eae Bluetooth MAC Address 00803727 1046 UO Configuration B Discoverable True Bluetooth Radio OmniSTAR Network Configuration 1 Security Firmware Help 92 SPSx51 Modular GPS Receivers User Guide Configuring the Receiver Settings 7 Radio menu Use the Radio menu to configure the internal radio of the receiver if applicable The receivers are available with 410 430 MHz 430 450 MHz 450 470 MHz or 900 MHz radios The SPS551H receiver does not have an internal radio This figure shows an example of the screen that appears when you select Radio Trimble jano ja p LE J Th gt oe Radio Configuration Receiver Status Satellites Hardware type Internal 450 MHz transceiver Hardware ID 50 t Hardware version 2 CCE
107. he 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 the units voids the Type approval the warranty and the operational license of the equipment Exposure to radio frequency radiation For 450 MHz radio Safety Exposure to RF energy is an important safety consideration The FCC has adopted a safety standard for human exposure to radio frequency electromagnetic energy emitted by FCC regulated equipment as a result of its actions in General Docket 79 144 on March 13 1986 Proper use of this radio modem results in exposure below government limits The following precautions are recommended e DO NOT operate the transmitter when someone is within 20 cm 7 8 inches of the antenna e DO NOT operate the transmitter unless all RF connectors are secure and any open connectors are properly terminated e DO NOT operate the equipment near electrical blasting caps or in an explosive atmosphere SPSx51 Modular GPS Rece
108. his method to force the receiver to turn off When the Power LED goes off release the Power button SPSx51 Modular GPS Receivers User Guide Home screen The Home screen is the main screen displayed on the receiver If the receiver is displaying another screen and is left idle for 60 seconds you are returned to the Home screen It shows the following information Configuring the Receiver Using the Keypad and Display 6 Number of satellites being tracked When the receiver is in Base mode the Home screen displays the number of satellites in view that is all satellites above the elevation mask This is the number of satellites that the base station is sending data for When the receiver is in Rover Heading or Moving Base mode the Home screen displays the number of satellites used to calculate the position If the receiver is set to use SBAS or OmniSTAR corrections the Home screen displays the number of satellites that corrections have been received for If the receiver is computing an autonomous solution the Home screen displays all satellites in view that is all satellites above the elevation mask XX Tip You can also view these details using the Web browser select Receiver Status Position Status screens Internal battery power remaining Current mode configuration Internal radio activity Internal radio channel or network The receiver has several view only status screens that allow you to review the
109. hort 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 True 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 146 SPSx51 Modular GPS Receivers User Guide GSOF Messages B BASE POSITION AND QUALITY INDICATOR This message describes the base station position and
110. ht on the structure Mount the antennas fore and aft along the vessel centerline or on a line that is at a known orientation to the centerline For best results rotate each antenna so that all antennas in the array point in the same direction Always mount an antenna at a location that ensures a good view of the sky Follow these guidelines to select the antenna location e Choose an area with a clear view of the sky The antenna must be above any metallic objects e Donot mount the antenna close to stays electrical cables metal masts or other antennas e 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 Configuring the receiver pair One ofthe receivers must be nominated as a Heading unit The other receiver is nominated as a Moving Base unit For this configuration to work you must use the Marine Heading cable P N 57169 10 To set up the Heading unit 1 From the Home screen press Y twice The Mode screen appears 58 SPSx51 Modular GPS Receivers User Guide Setting up the Receiver 5 2 Select Heading mode The receiver display shows two extra settings for heading Heading Adjustment Enter a positive value in decimal degrees
111. ime 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 Geostationary Navigation Overlay
112. into a single compact unit A Smart GPS antenna can be rapidly set up on a tripod fixed height tripod or T Bar anywhere that is convenient on the jobsite A Modular GPS receiver such as the SPSx51 which incorporates a GPS receiver power supply and radio in a single unit The GPS antenna and optionally the base station radio antenna is separate from the receiver Because the GPS antenna is separate you can use the following optimized components ageodetic antenna with large ground plane to eliminate multipath the major source of GPS errors at the base station ahigh gain or directional radio antenna to increase broadcast range and to provide maximum coverage You can also place a modular GPS receiver in an easily accessible and secure location safe from theft and the weather while the antennas are placed high on a tower or building clear of obstructions and able to deliver maximum performance You can use either type of receiver in a permanent semi permanent or daily quick setup configuration If semi permanent or permanent operation is required however the modular receiver delivers significant advantages 32 SPSx51 Modular GPS Receivers User Guide Setup Guidelines 4 Base station setup guidelines For good performance observe the following base station setup guidelines Place the GPS receiver in a location on the jobsite where equal range in all directions provides full coverage of the site This is more imp
113. ions through the USB type A connector on the 26 pin to Hirose adaptor P N 56653 10 and Hirose to USB type A cable P N 73841001 Primary power from a Trimble AC DC power supply P N 62546 using the multiport adaptor P N 57167 Power input from an SPS700 total station battery cradle system using the adaptor P N 56653 10 Full 9 wire RS 232 serial communications using the 26 9 pin multiport adaptor P N 57168 or a 26 pin serial communications cable e 1PPS 2 x RS 232 input DC USB Ethernet cable P N 60789 00 5 Lemo 7 pin O shell 3 wire RS 232 serial communications using a 7 pin 0 shell Lemo cable Secondary power from a Trimble battery P N 32364 00 or 32365 00 or a 12 V battery using the Fused Lemo Power Cable P N 46125 20 CAN Figure 2 2 Rear view of the receiver SPSx51 Modular GPS Receivers User Guide 25 2 Features and Functions 26 SPSx51 Modular GPS Receivers User Guide CHAPTER Batteries and Power In this chapter External power Battery safety Battery performance Charging the Lithium ion battery Storing the Lithium ion battery Using the Lithium ion battery as a Universal Power Supply UPS Removing the rechargeable Lithium ion battery The GPS receiver uses an internal rechargeable Lithium ion battery which can be replaced only at an Authorized Trimble Service Center The receiver can also be powered by an external power source that is connected to the Lemo o
114. irements without using repeaters Figure 5 1 SPSx51 receiver permanent installation SPSx51 Modular GPS Receivers User Guide Setting up the Receiver 5 Setting up a base station for daily site use T Bar For construction applications where a daily setup and takedown of equipment is required for security reasons Trimble recommends that you use a T Bar setup The T Bar consists of a post mounted in concrete so it cannot move which has a solid metal T Bar mounted to it to provide lateral and vertical separation between the GPS antenna and radio antenna The T piece of the T Bar has a vertical rod at each end Each end terminates in a 5 8 X11 thread to which the antennas can be mounted Trimble recommends that one end is clearly marked GPS and the other end is clearly marked Radio so that at each daily setup the GPS and radio antennas are mounted at the same location Switching antennas by mistake introduces a position error in all resulting measurements You can buy the parts you need to make a T Bar from any reputable hardware store Make certain that the T Bar cannot rotate after construction Rotation of the T Bar can introduce a position error into all subsequent measurements On the upright post mount either a bracket to which the GPS receiver can be mounted or a well ventilated lockbox in which the GPS receiver itself can be secured Each day mount the GPS antenna on the GPS end of the T Bar and the radio antenna
115. ition time 140 LLH Latitude longitude height 140 ECEF Earth Centered Earth Fixed position 141 ECEF DELTA Earth Centered Earth Fixed Delta position 141 NEU DELTA Tangent Plane Delta 141 Velocity Velocity data 142 PDOP PDOP info 143 SIGMA Position Sigma info 143 SV Brief SV Brief info 144 SV Detail SV Detailed info 144 UTC Current UTC time 145 BATT MEM Receiver battery and memory status 146 ATTITUDE Attitude info 146 BASE POSITION AND Base station position and its quality 147 QUALITY INDICATOR General Serial Output Format Table B 1 Report packet 40h structure GENOUT Byte Item 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 MAX PAGE INDEX CHAR OOh 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
116. 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 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 NIN SPSx51 Modular GPS Receivers User Guide 147 B GSOF Messages 148 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 po
117. iver firmware and to configure upgrades or radio channels SPSx51 Modular GPS Receivers User Guide 71 7 Configuring the Receiver Settings Using the SCS900 Site Controller software to configure the base station the rover and the radios As part of a total system solution for construction applications the SPS GPS receivers are operated by a TSCe ACU TCU or TSC2 controller running the SCS900 Site Controller software The SCS900 Site Controller software provides the tools to configure and start the GPS receiver in the modes used by the SCS900 system RTK Base Station RTK Rover DGPS Rover OmniSTAR rover SBAS Rover using WAAS EGNOS MSAS Wizards help you through the process and where possible assign suitable default operational parameters to the system This eliminates the need for an operator to know how to configure the receiver with the right settings The SCS900 Site Controller software manages the radio whether internal or external e all cellular communications components such as modems and cell phones theuse ofthe Bluetooth wireless technology The software also scans communication ports on the receiver to identify connected devices If the software cannot automatically identify the connected component for example a GPS antenna it offers options often with graphics to help you manually select the correct component The SCS900 Site Controller software allows you to set operational tolerances and settings such as
118. iver on top To assemble the receivers using the mounting frame that is provided 1 Invert the SPSx51 GPS receiver and then remove the rubber endcaps 2 Prepare the flat black plate and the four Posi screws These are part of the mounting frame 3 Position the black plate on the SPSx51 GPS receiver 54 SPSx51 Modular GPS Receivers User Guide Setting up the Receiver 5 4 Use the four Posi screws to secure the plate to the receiver Secure two screws at each end The black plate is now attached to the bottom of the receiver Replace the rubber endcaps 5 6 Invert the receiver again This returns the receiver to its normal orientation 7 Set aside the receiver 8 Invert the SPS551H receiver and then remove the rubber endcaps EN 9 Position the black cradle on the SPS551H GPS receiver The black cradle is part of the mounting frame 10 Use the four Posi screws to attach the black cradle to the receiver The black cradle is now attached to the bottom ofthe SPS551H SPSx51 Modular GPS Receivers User Guide 55 5 Setting up the Receiver 11 Replace the rubber endcaps 12 Place the black cradle on the black base plate This places the SPS551H GPS receiver on top ofthe SPSx51 GPS receiver Q 13 Make sure that the display is facing in the same direction on both receivers 14 Prepare the eight nuts spring washers and flat washers 56
119. ivers User Guide 3 Safety Information 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 license free 900 MHz radio N CAUTION For your own safety and in terms of the RF exposure requirements of the FCC always observe the precautions listed here e DO NOT operate the transmitter when someone is within 20 cm 7 8 inches of the antenna e Donotco locate the antenna with any other transmitting device For Bluetooth radio The radiated output power of the internal Bluetooth wireless radio is far below the FCC radio frequency exposure limits Nevertheless the wireless radio shall be used in such a manner that the Trimble receiver is 20 cm or further from the human body The internal wireless radio operates within guidelines found in radio frequency safety standards and recommendations which reflect the consensus of the scientific community Trimble therefore believes that the internal wireless radio is safe for use by consumers The level of energy emitted is far less than the electromagnetic energy emitted by wireless devices such as mobile phones However the use of wireless radios may be restricted in some situations or environments such as on aircraft If you are unsure of restrictions you are encouraged to ask for authorization before turning on the wireless radio Installing antennas N CAUTIO
120. 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 NEU Delta 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 SPSx51 Modular GPS Receivers User Guide 141 B GSOF Messages Table B 7 NEU Delta Type 7 record Field Item Type Value Meaning 2 9 Delta east Double meters East component of vector from base station to rover projected onto a plane tangent to the WGS 84 ellipsoid at the base station 10 17 Delta north 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 Velocit
121. mon use scenarios This chapter also describes the procedure for setting up a pair of receivers for heading and moving base marine construction applications Note This chapter provides setup information for all the receivers in the SPS GPS receiver family SPSx51 Modular GPS Receivers User Guide 41 5 42 Setting up the Receiver Connecting the receiver to external devices You can connect an SPSx51 Modular GPS receiver to the following devices e aTrimble controller running Trimble SCS900 Site Controller software an external radio modem e HYDROpro software Trimble controller with SCS900 Site Controller software You can operate an SPS GPS receiver with any Trimble controller for example a TSC2 or Trimble CU controller that is running the SCS900 software Typically the receiver and the controller operate from their own individual power sources The receiver and controller can communicate through Bluetooth wireless technology and can be connected without a cable However ifa cable is required Table 5 1 shows how to connect the cables for each combination of SPS GPS receiver and Trimble controller Table 5 1 Connecting to a Trimble controller running the SCS900 Site Controller software To connect a Use cable part number Use this cable connector and connect the cable to SPSx51 Modular GPS receiver to a TSC2 DB9 TSC2 59046 Lemo SPSx51 DB9 TSC2 59043 DB9 SPSx51
122. mote 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 gt Trimble SPS851 SN 4626K99991 Install New Firmware Receiver Status Firmware Warranty Date 2009 03 01 Satellites Active Firmware Version 017 Active Firmware Date 2007 10 15 Data Logging Active Firmware Checksum fc11b32f Receiver Configuration IO Configuration Bluetooth EN Browse l Bluetooth RES Network Configuration Security Status Idle Firmware LF Uparade cheek Heip SPSx51 Modular GPS Receivers User Guide 97 7 98 Configuring the Receiver Settings 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 60 en For languages other than English replace en with the appropriate two letter country code see page 86 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 they were when the CD was published This figure shows an example of the screen
123. n vehicles and marine vessels SPS851 GPS receiver The Trimble SPS851 is a triple frequency GPS plus GLONASS receiver with the ability to receive OmniSTAR corrections The SPS851 can operate as a base station or rover The receiver can be configured using the keypad and display web browser or Trimble SCS900 Site Controller software The SPS851 makes it easy to set up a mobile base station or a permanent base station for continuous operation The SPS851 is also an ideal mobile receiver for semi permanent mounting on vehicles and marine vessels 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 any changes to the manuals They are provided as a pdf file on the Trimble SPS GPS Receiver CD or you can download them from the Trimble website www trimble com support shtml 14 SPSx51 Modular GPS Receivers User Guide 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 If you have a problem and cannot find the information you need in the product documentation contact your local dealer Alternatively go to the Support area of the Trimble website www trimble com support shtml Select the product you need information on Produc
124. n 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 protocolis 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 geostationary satellites SNR The signal streng
125. n the GPS and radio antenna feed line and appropriate safety grounding A static dissipater near the antennas can reduce the likelihood of a direct lightning strike Also protect any communications and power lines at building entry points For more information contact your local Trimble dealer or go to the Huber and Suhner website www hubersuhnerinc com e Trimble recommends that you use surge protection equipment on all permanently installed equipment Permanent installation antenna cabling for the SPSx51 Modular GPS receiver Many permanent base station installations have unique cabling requirements Depending on the available infrastructure you may need to mount the antenna a considerable distance from the receiver The SPSx51 can withstand a loss of 12 dB between the GPS antenna and the receiver The degree of loss in a coaxial cable depends on the frequency of the signal passing through it Table 4 1 lists some common cable types and the maximum length you can use before an inline amplifier for GPS frequencies is required Table 4 1 Maximum cable lengths Cable type Maximum length for use without an inline amplifier RG 214 30 m 100 ft LMR 400 70 m 230 ft LMR 500 85 m 280 ft LMR 600 106 m 350 ft Heliax LDF4 50 165 m 540 ft Heliax LDF4 5 40 225 m 740 ft Rover operation guidelines The second part ofthe RTK GPS system is the rover receiver The rover receiver is mounted on a pole vehicle ma
126. nario 2 Outputting corrections using a TRIMMARK 3 radio B Scenario 3 Outputting corrections from a SNB900 radio to an HPB450 or TRIMMARK 3 radio SPSx51 Modular GPS Receivers User Guide 155 D Transmitting Corrections Scenario 1 Outputting corrections using an HPB450 radio modem A Construction base station such as the SPS851 has an internal 900 MHz radio and you want to also transmit corrections on a Trimble HPB450 radio modem connected to the SPS851 receiver Solution The HPB450 radio comes with a 5 pin Lemo to 7 pin Lemo connector with a power connection lead 1 Connect the 7 pin Lemo connector to the connector on the receiver 2 Connect the 5 pin Lemo connector to the HPB450 radio 3 Connect the DC power lead to an external power source 4 Turnonthe HPB450 radio If the HPB450 radio has the 5 pin Lemo connector to 9 pin D sub connector cable 1 Connect the 9 pin D connector to the 26 pin to 9 pin D sub adaptor on the receiver 2 Connect the 5 pin Lemo connector to the HPB450 radio 3 Connect the DC power lead to an external power source 4 Turnonthe HPB450 radio To configure the system do one of the following e Use the Trimble SCS900 Site Controller software to connect to the receiver Set up the base station with the external radio The SCS900 software will locate the HPB450 radio and then allow you to set the radio channel Then use the front panel of the receiver to select Radio and Lemo R L to then tu
127. ncies 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 SPS851 SN 4626K99991 Configuration Details Data Logging Receiver Configuration Hardware type Internal 450 MHz transcerver a Frequency range MHz 450 000 470 000 agi E Bluetooth Max number of channels 20 Current number used 6 Frequency Frequency Management A aan ih Add channel _ MHz ignc Firmware 3 Make a note ofthe 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 ofthe Khz shown in the Tuning step field 4 Selectthe Add Channel option and then enter the new channel frequency 5 Click OK To delete a channel frequency 1 Select the Delete channel option 2 Selecta channel to delete from the list that appears You cannot add or delete Transmit channels using the web interface SPSx51 Modular GPS Receivers User Guide 153 C Adding Internal Radio Frequencies 154 SPSx51 Modular GPS Receivers User Guide APPENDIX Transmitting Corrections In this chapter This chapter details how to transmit corrections over a construction site through 900 MHz and 450 MHz radios from the same base station Three scenarios and the solutions to each are explained B Scenario 1 Outputting corrections using an HPB450 radio modem W Sce
128. nctions Choice of external GPS antenna for base station or rover operation Attached or external radio antenna for rover or high gain base station operation Small lightweight design 1 65 kg 3 64 lbs receiver only including the battery 4 kg 8 82 lbs complete system weight rover including controller and rod Permanent semi permanent and mobile quick setup base station capability Backpack belt rod truck and marine vessel mounting options for rover applications Capable of all site measurement and stakeout operations within radio or cellular coverage Easy to use menu system for rapid configuration and status checking AutoBase technology for rapid and automated repeated daily base station setups Can broadcast corrections through multiple radio links from one base station for example through an internal 450 MHz radio and an external 900 MHz radio or over the Internet Rugged weatherproof construction with an IP67 environmental rating 40 C to 65 C 40 F to 149 F operating temperature range 9 5 V to 28 V DC input power range with over voltage protection Capable of rover operation within a VRS Virtual Reference Station network Moving baseline and heading capability when any SPSx51 receiver excluding the SPS551H or SPS751 Basic receiver is combined with any SPSx51 or SPS551H Add on receiver RoHS compliant 1 Pulse per second 1PPS output Note To receive GPS L5 or GLONASS signals in the SPS851 you
129. ne of sight to the sky in all directions Do not place the antenna near vertical obstructions such as buildings deep cuttings site vehicles towers or tree canopy GPS rovers and the base station receive the same satellite signals from the same satellites The system needs five common satellites to provide RTK positioning Place the GPS and radio antennas as high as possible to minimize multipath from the surrounding area The receiver must have a clear line of sight to the sky at all times during operation GPS satellites are constantly moving Because you cannot measure at a specific location now does not mean that you will not be able to measure there later when satellite coverage at the location improves Use GPS planning software to identify the daily best and worst satellite coverage times for your location and then choose measurement times that coincide with optimal GPS performance This is especially important when operating in the worst GPS locations The Trimble Planning software is on the Trimble SPS GPS Receiver CD included with the receiver You can also download the Trimble Planning software from the Trimble website www trimble com planningsoftware ts asp The SPS851 SPS751 can track the GPS L2C modernization signal Additionally the SPS851 can optionally track the GPS L5 modernization signal and some receivers can also track the GLONASS satellite constellation for more information see GPS satellite signal tracking page 114
130. nsfer this file to the receiver the file is saved on the receiver as power_up and becomes the new power up file SPSx51 Modular GPS Receivers User Guide 73 7 74 Configuring the Receiver Settings Configuring Ethernet settings The receiver has an Ethernet port so that the receiver can connect to an Ethernet network You can use the Ethernet network to access configure and monitor the receiver No serial cable connection to the receiver is necessary The receiver requires the following Ethernet settings IP setup Static or DHCP e IP address e Netmask e Broadcast e Gateway e DNS address HTTP port The default setting for the HTTP port is 80 The HTTP port is not assigned by the network HTTP port 80 is the standard port for web servers This allows you to connect to the receiver by entering only the IP address of the receiver in a web browser If the receiver is set up to use a port other than 80 you will need to enter the IP address followed by the port number in a web browser Example of connecting to the receiver using port 80 http 169 254 1 0 Example of connecting to the receiver using port 4000 http 169 254 1 0 4000 The default setting of the receiver is to use DHCP Using DHCP enables the receiver to automatically obtain the IP address Netmask Broadcast Gateway and DNS address from the network When a receiver is connected to a network using DHCP the network assigns an IP address to the receiver
131. 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 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 ofthe 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 Fromthe Available Software list select the latest version and then click Next 162 SPSx51 Modular GPS Receivers User Guide Upgrading the Receiver Firmware F The Settings Review window appears This screen prompts you to connect the receiver suggests a connection method and then lists the receiver configuration and selected operation 7 Ifall is correct click Finish Based on the selections shown above the Software Upgrade window appears and shows the status of the operation for example Establishing communication with lt your r
132. nt that is specified to use it Use the battery only for its intended use and according to the instructions in the product documentation SPSx51 Modular GPS Receivers User Guide 5 Safety Information 6 SPSx51 Modular GPS Receivers User Guide Contents Safety Information ee 3 Regulations and Safety ooooo o rh 3 Iype approval 24e Pa pO Re Duk o a A OR as 3 Exposure to radio frequency radiation 22e 3 For 450 MAZ TAO uentum De A A Ro et Dc ce RR CARO dee s DR t deca Dc 3 For license free 900 MHz radio 1 lees 4 For Bluetooth radios dy ds e dh ue de ee Gs ad ae 4 Installing antennas us oe rd kgs EUR UR Se Ma a e OR Ro COH P SAS pe e 4 Battery salety x inca a Ae ratos ck ode aou e Wat A ul Aera ee CENE bt ace ot HOUR Wk ee as 5 1 MONON ua ood ab ROO 68 2546 Edw Stak dO qd d xd 13 About the SPSx51 recer ccssar edene en e Bk E T RUE RR 13 SPS55IGPSa4ecelVer du woe oe REOR Wo SOR GR E AXE ON RU a e OS EH Ue ue 13 SPS591H GPS reCelVer u ego eub Re een rp do eg REO OPUS UR PCIE Rte 13 SPS651 Location GPS receiver with precise vertical accuracy ooo o 13 SPS75D GPS TeCelIVer i ques RR uox douce rade aas CC i ERR de Cb daa ant ER a 14 SPS851 GPS receiver ircre aaea me na ki nooo 14 Related information 12534929 40059 9 93 a B dd EE eae eae ds 14 Technical Support sande es ky ye Sia eee a Gee e e os ry CE Le teg we ge eg 14 Your comments ofc we Se Bae b
133. o 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 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 SPSx51 Modular GPS Receivers User Guide 149 B 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 150 SPSx51 Modular GPS Receivers User Guide APPENDIX Adding Internal Radio Frequencies In this appendix m Adding receive frequencies for the 450 MHz internal radio Ifyou have the optional internal 450 MHz radio in your GPS receiver use the WinFlash utility to add the relevant
134. o re establish the antenna height exactly so that the receiver can be set up faster without using the SCS900 software or without needing to enter a revised antenna height in the receiver front panel Take great care to ensure that the GPS antenna is set up accurately over the control point and that the GPS antenna height is measured accurately in the right way vertical or slope height to the right location on the antenna base of antenna or to a specified location on the antenna When you start the rover receiver it is extremely important to check in at one or more known locations to check for possible position or height errors Checking in at a known location is good practice and can avoid costly errors caused by a bad setup Typically the tripod and fixed height tripod methods do not give significant height clearance above the ground and can reduce the range of operation caused by radio limitations Tripod and tribrach setup In the tripod setup the tripod is located over the control point and the tribrach and tribrach adaptor is mounted on the tripod and centered over the point 46 SPSx51 Modular GPS Receivers User Guide oO ge x Setting up the Receiver 5 Mount the GPS antenna on the tribrach adaptor Clip the GPS receiver to the tripod Connect the GPS antenna to the receiver using the appropriate cable If necessary connect the GPS receiver to an external 12 V power supply Use the crocodile clip cable or the Trimble cu
135. oidal 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 SPSx51 Modular GPS Receivers User Guide PTNL VGK NMEA 0183 Output A Vector Information An example of the PTNL VGK message string is shown below Table A 10 describes the message fields PTNL VGK 160159 00 010997 0000 161 00009 985 0000 002 3 07 1 4 M 0B Table A 10 PTNL VGK message fields Field Meaning Message ID PTNL VGK UTC of vector in hhmmss ss format Date in mmddyy format East component of vector in meters North component of vector in meters Up component of vector in meters ou B 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 00 54 CO Oh de UU NS 2 Number of satellites if fix solution DOP of fix M Vector components are in meters The checksum data always begins with SPSx51 Modular GPS Receivers User Guide 129 A NMEA 0183 Output PTNL VHD Heading Information 130 An example ofthe PTNL VHD message string is shown below Table A 11 des
136. onfigured step by step to ensure that all appropriate o are configured To move between steps in the configuration process press E Configuring the receiver L In the Home screen press Use the Operation Mode screen to configure system settings mode settings or to view the SV satellite status Mode Settings is the default setting Press Use the Mode screen to select whether the receiver will operate as a base or rover Press When the mode begins to flash the receiver is in Edit mode and you can change this setting Press to change to Rover Press Y to accept the change Press Y again to move to the Elevation mask and RTK mode screen See next SPSx51 Modular GPS Receivers User Guide Configuring the Receiver Using the Keypad and Display 6 Changing the elevation mask and RTK mode 1 Press XZ When the value for the current elevation mask begins to flash the receiver is in Edit mode and you can change the setting 2 Press NZ 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 V2 to accept the change 4 Press O 5 Inthe Mode field press E When the current mode begins to flash the receiver is in Edit mode and you can change this setting 6 Press to change the desired RTK mode of the receiver The Mode setting is either RTK Sync or Low Latency RTK Sync waits for the corresponding base d
137. ontinental 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 SPSx51 Modular GPS Receivers User Guide 183 Glossary 184 SPSx51 Modular GPS Receivers User Guide NORTH AMERICA Trimble Construction Division 5475 Kellenburger Road Dayton Ohio 45424 USA 800 538 7800 Toll Free 1 937 245 5600 Phone 1 937 233 9004 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 Australia PTY Limited Level 1 120 Wickham Street Fortitude Valley QLD 4006 AUSTRALIA 61 7 3216 0044 Phone 61 7 3216 0088 Fax gt Trimble www trimble com
138. oo 50 Setting up a rover receiver on a belt orinabackpack o o o ooooooo o 51 Setting up a pair of GPS receivers to provide heading o o oooooooooo momo 51 The Moving Baseline RTK positioning technique o oooooooo ooo 52 Mounting a pair of GPS receivers 0 eee 53 Assemblingthereceivers lee 54 Installing therecejVer spss ss cia iu mn a a a a RR rh Un e ER ht 58 Mountingtheantennas lees 58 Configuring the receiver pair leere 58 Interfacing using the NMEA protocol leen 59 Heading oUtpul ud sec x eas we orsi eo e a A SDa a a ee ee 59 Configuring the Receiver Using the Keypad and Display 61 Button funetlolS 4 o 1d due ul doe dese o wis eo dee du e RUE Y fe ota UR d 62 Power button operations si oces lee ere 62 Home sree s s a scare ea e cae WERE Y x ee Pe e e e ic Dec c e RC a 63 Status SCIENS u e Ha UR e Doe RR NUR RU AG UR RUNE OR Rc a AS Y RR a 63 Configuring the receiver as a base receiver eee 64 Configuring the receiver vs a dp a 64 Configuring the receiver as a rover receiver 2e 66 SPSx51 Modular GPS Receivers User Guide 10 Contents Configuring th receiver ash ee p a ee ee kd 66 Configuring system settings eh re 68 Turning off AutoBase technology 2l 69 Managing application Gles ise nS a pee RE a op RR RE RR TEGO 70 Configuring the Receiver Settings lt lt lt 0 lt 0 0 00 00 0 71 Using the SCS900 Si
139. orldwide 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 SPSx51 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 or through an external data communications radio Regulations regarding the use of the 450 MHz radio modems vary greatly from country to country In some countries the unit can be used without obtaining an end user license Other countries require end user licensing For licensing information consult your local Trimble dealer Bluetooth and 900 MHz radio modems operate in license free bands Before operating an SPSx51 Modular GPS receiver determine if authorization or a license to operate the unit is required in your country It is the responsibility of the end user to obtain an operator s permit or license for the receiver for t
140. ortant on larger jobsites where the broadcast range of the base station radio may limit the operations of the GPS system Place the GPS antenna in a location that has a clear line of sight to the sky in all directions Do not place the GPS antenna near vertical obstructions such as buildings deep cuttings site vehicles towers or tree canopy Place the GPS and radio antennas as high as practical This minimizes multipath from the surrounding area and enables the radio to broadcast to the maximum distance Note The GPS antenna must have a clear line of sight to the sky at all times during operation Choose the most appropriate radio antenna for the size and footprint of the site The higher the gain on the antenna the longer the range If there is more focus on the transmission signal there is a reduced coverage area A 3 db or 5 db gain antenna provides a mix of good range and reasonable directional coverage Make sure that the GPS receiver does not lose power The GPS receiver has an integrated battery which has to be charged To operate continuously for more than a day without loss of power at the base station provide external power Sources of external power include AC power 12V caror truck battery Trimble custom external battery pack Generator power Solar panel When you use an external power supply the integrated battery provides a backup power supply enabling you to maintain continuous operation through a
141. other Trimble receivers CMR is a more efficient alternative to RTCM 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 ofthe deviations of corresponding values of the two variables from their respective means SPSx51 Modular GPS Receivers User Guide 179 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 is recharged See real t
142. ou stop work during electrical storms where the risk of lightning strike is high e Where cables are involved Trimble recommends that you use cable ties to secure the cables to the rod or other equipment to avoid inadvertent snagging while moving about the jobsite Be careful not to kink twist or unnecessarily extend cables and avoid trapping them in vehicle doors or windows Damage to cables can reduce the performance of GPS equipment Internal radio setup for rover operations The internal radio of the SPS GPS receiver is delivered with the transmit Tx radio frequencies preprogrammed into the receiver To add receive Rx radio frequencies to 450 MHz radios use the WinFlash utility or web interface see Appendix C Adding UHF Internal Radio Frequencies Network channels can be selected for the 900 MHz radios SPSx51 Modular GPS Receivers User Guide 39 4 Setup Guidelines Once the radio frequencies are configured use the controller or receiver to select channel frequencies during base station or rover setup operations 40 SPSx51 Modular GPS Receivers User Guide CHAPTER Setting up the Receiver In this chapter B Connecting the receiver to external devices m Common ways to set up a base station m Common ways to set up a rover receiver W Setting up a pair of GPS receivers to provide heading This chapter provides guidelines for setting up the receiver as a base station or as a rover receiver in a range of com
143. pad and display See Outputting corrections page 67 Using the web interface to configure RT17 outputs You can configure RT17 output using the O Configuration menu of the web interface of the receiver Configure the stream to allow multiple client connections on a single port or restrict the stream to a single client connection To allow only authorized connections on the port protect the output stream by requiring a password See I O Configuration menu page 91 Login authentication 160 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 SPSx51 Modular GPS Receivers User Guide APPENDIX Upgrading the Receiver Firmware In this appendix m The WinFlash utility W Upgrading the receiver firmware m Forcing the receiver into Monitor mode The GPS receiver is supplied with the latest version of the receiver firmware already installed Ifa later version of the firmware becomes
144. r modem port The operational time provided by the internal battery depends on the type of measurement and operating conditions Typically the internal battery provides 10 hours operation as a base station and 12 hours as a rover during measurement operations using the internal radio Note All battery operation tests are carried out with new fully charged batteries at room temperature and full receiver configuration operational Older batteries at temperatures significantly higher or lower than room temperature will have a reduced performance Receivers operating with reduced configuration will have a higher performance SPSx51 Modular GPS Receivers User Guide 27 3 28 Batteries and Power External power The GPS receiver uses an external power source in preference to its internal batteries If the receiver is not connected to an external power source or if the external power supply fails the internal batteries are used While carrying out static measurements for postprocessed computations using the internal memory if no external power is supplied and the internal battery is drained the receiver shuts down No data is lost and when power is restored the receiver restarts in the same status as it was when power was lost It is possible to turn off the internal battery using the web interface In this case when external power is switched off there is a limited time 30 seconds before the unit turns off Battery
145. r 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 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 ofthe 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 ofthe 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
146. r 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 ofthe 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 0000 0000 0000 0000 0000 1 0 1 011 1111 1 011 0000 0000 0000 0000 0000 1 375 1111 1111 1 111 1111 1111 1111 1111 1111 2 NaN 138 SPSx51 Modular GPS 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 10 999 to 1 8 x 105 The floating point number is precise to 15 decimal digits 63 62 52 51 0 S Exp 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 11
147. rement Record CMR data while the rover receiver performs a synchronized baseline solution at 10 Hz The resultant baseline solution has centimeter level accuracy To increase the accuracy of the absolute location of the two antennas the Moving Reference receiver can use differential corrections from a static source such as a shore based reference station SPSx51 Modular GPS Receivers User Guide Setting up the Receiver 5 Mounting a pair of GPS receivers To obtain a position and heading solution you need to connect two receivers to make one compact unit A mounting bracket and interconnecting cable is supplied with the SPS551H receiver Set up the receivers antennas and cables as shown in Figure 5 7 Dual frequency rover antenna Dual frequency rover antenna Antenna cable P N 58957 05 Marine heading SPS551H cable P N 57169 10 Serial Port 2 SPS551H SPSx51 Mounting bracket Serial Port 2 P N 56830 00 SPSx51 Figure 5 7 Installation setup for the SPS551H with another SPSx51 for position and heading SPSx51 Modular GPS Receivers User Guide 53 5 Setting up the Receiver Assembling the receivers Figure 5 8 shows an SPS551 and an SPS551H set up to provide a Heading solution To assemble the receivers you need a Phillips head 1 screwdriver and a 1 4 socket set or wrench spanner SPS551H GPS receiver SPS551 GPS receiver Figure 5 8 Completed assembly with the SPS551H GPS rece
148. rements The product contains a removable Lithium ion battery Taiwanese regulations require that waste batteries are recycled 558 e Notice to Our European Union Customers Directive 1999 5 EC Hereby Trimble Navigation declares that the SPSx50 and SPSx51 GPS receivers are in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC 53 Restriction of Use of Certain Hazardous Substances in Electrical and Electronic Equipment RoHS The following statement only applies to the SPSx51 Modular GPS receiver no internal radio model and 450 MHz internal radio models only This Trimble product complies in all material respects with DIRECTIVE 2002 95 EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 27 January 2003 on the restriction of the use of certain hazardous substances in electrical and electronic equipment RoHS Directive and Amendment 2005 618 EC filed under C 2005 3143 with exemptions for lead in solder pursuant to Paragraph 7 of the Annex to the RoHS Directive applied 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 W
149. resented 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 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 SPSx51 Modular GPS Receivers User Guide 119 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 Field 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 orthometri
150. rine vessel or in a backpack and is moved between the points that require measurement or stakeout The rover receiver is connected to a base station or to a source of RTK corrections such as a virtual SPSx51 Modular GPS Receivers User Guide 35 4 Setup Guidelines reference station system The connection is provided by an integrated radio a cellular modem in the controller or through an external cellular phone that is connected to the receiver either by Bluetooth wireless technology or by means of a cable The correction stream for some other positioning solutions such as SBAS WAAS EGNOS MSAS and the OmniSTAR service is broadcast through geostationary satellites and detected by the GPS antenna itself No integrated radio or base station is required Rover receiver components The rover receiver has the following components e GPS receiver e GPS antenna e Optional integrated radio receiver and antenna for RTK operations e Optional items for the different mounting options see below In most rover applications the receiver operates entirely from its own integrated battery unit On a vehicle or on a marine vessel however an external power supply can be used Use an external power supply if one is provided The internal battery then acts as a uninterruptible power supply covering any external power failures Choose a rover receiver according to the needs of the job e A Smart GPS antenna such as the SPSx81 incorporates the
151. rn on the internal 900 MHz radio transmissions If using the 9 pin D sub connector select Radio and Modem Port RM e Use the web interface to access the SPS851 setup Select O Configuration Port Configuration Select the Serial 1 Lemo option and select corrections to be sent on the Lemo port at those baud rate settings the HPB450 serial interface is shipped with the default rates 38400 8 N 1 While in the Port Configuration menu also set the internal radio to transmit corrections e Use the front panel ofthe receiver to set up the Lemo port and to select the radio on which to output the data shown as R L or R M on the receiver display Configuration software accompanies the HPB450 radio if you need to change the serial connection baud rate 156 SPSx51 Modular GPS Receivers User Guide Transmitting Corrections D Scenario 2 Outputting corrections using a TRIMMARK 3 radio A Construction base station such as the SPS851 has an internal 900 MHz radio and you want to transmit corrections on a Trimble TRIMMARK 3 radio connected to the SPS851 receiver Solution The TRIMMARK 3 radio comes with both a 7 pin Lemo to 7 pin Lemo cable and a 7 pin Lemo to 9 pin D sub cable To connect the TRIMMARK 3 radio to the SPS851 receiver do one of the following Use the 7 pin Lemo SPS851 to 7 pin Lemo TRIMMARK 3 cable Use the Lemo to Lemo cable Use the 7 pin Lemo to 9 pin D sub cable and then connect to the Modem port 9 pin D sub
152. s receiver is ideal for contractors new to GPS as a starter system or for operating multiple small projects SPS751 Max RTK base station and rover operation in a single receiver Integrated receive transmit radio 5 Hz or 10 Hz measurement update rate Unrestricted rover operation range from a base station Operates within a Trimble VRS network for base station free rover capability Moving baseline and heading capability when any SPSx51 receiver excluding the SPS551H or SPS751 Basic receiver is combined with any SPSx51 or SPS551H add on receiver SPS851 features The SPS851 receiver provides the following features Integrated GPS receiver and radio 450 or 900 MHz radio 72 channel L1 L2 L2C L5 GPS plus L1 L2 GLONASS receiver OmniSTAR XP HP VBS service capable 4 channel WAAS Wide Area Augmentation System EGNOS European Geo Stationary Navigation System and MSAS Satellite Based Augmentation SBAS compatible Long life integrated battery typically provides 9 hours operation as a base station or 12 hours as a rover with internal transmit receive radio Configuration and monitoring interface through the following methods Webinterface Networked or peer to peer Ethernet Integrated display and keyboard Trimble SCS900 Site Controller software Integrated Bluetooth wireless technology for cable free configuration and operation with a controller SPSx51 Modular GPS Receivers User Guide 21 2 22 Features and Fu
153. safety N The receiver is powered by a rechargable internal Lithium ion battery Charge and use the battery only in strict accordance with the instructions below WARNING Do not damage the rechargeable Lithium ion battery A damaged battery can cause an explosion or fire and can result in personal injury and or property damage To prevent injury or damage Do not use or charge the battery if it appears to be damaged Signs of damage include but are not limited to discoloration warping and leaking battery fluid Do not expose the battery to fire high temperature or direct sunlight Do not immerse the battery in water Do not use or store the battery inside a vehicle during hot weather Do not drop or puncture the battery Do not open the battery or short circuit its contacts WARNING Avoid contact with the rechargeable Lithium ion battery if it appears to be leaking Battery fluid is corrosive and contact with it can result in personal injury and or property damage To prevent injury or damage If the battery leaks avoid contact with the battery fluid If battery fluid gets into your eyes immediately rinse your eyes with clean water and seek medical attention Do not rub your eyes If battery fluid gets onto your skin or clothing immediately use clean water to wash off the battery fluid Battery performance To optimize battery performance and extend battery life e Fully charge all new bat
154. ser Guide 109 10 Specifications General specifications Feature Specification Keyboard and display Receiver type Antenna type L1 L2 L2C GPS operations GLONASS operations Base station OmniSTAR operations VFD display 16 characters by 2 rows On Off key for one button startup using AutoBase technology Escape and Enter key for menu navigation 4 arrow keys up down left right for option scrolls and data entry Modular GPS receiver Zephyr Model 2 GA510 Zephyr Model 2 Zephyr Geodetic Model 2 GA510 Zephyr Model 2 Also supports legacy Trimble antennas Z Choke ring Zephyr Zephyr Geodetic Micro Centered Physical specifications Feature Dimensions L x W x H Weight Temperature Operating Storage Humidity Waterproof Shock and vibration Shock non operating Shock operating Vibration Specification 24 cm 9 4 in x 12 cm 4 7 in x 5 cm 1 9 in including connectors 1 65 kg 3 64 lbs receiver with internal battery and radio 1 55 kg 3 42 lbs receiver with internal battery and no radio 40 C to 65 C 40 F to 149 F 40 C to 80 C 40 F to 176 F MIL STD 810F Method 507 4 IP67 for submersion to depth of 1 m 3 30 ft Tested and meets the following environmental standards Designed to survive a 1 m 3 3 ft pole drop onto a hard surface to 75g 6 ms To 40 g 10 ms saw tooth Tested to Trimble ATV profile 4 5 grms 10 Hz 300 Hz 0 04 g Hz 300
155. sition 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 position 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 Reserved set to zero SPSx51 Modular GPS 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 zer
156. ss Format Transceiver Configuration Current Channel Ch 2 469 0125 MHz E Cancel dialog appears Radio Info aoe Wireless Mode TRIMTALK 4505 at 9600 bps v 6 Inthe Wireless Format Note Wireless mode must be common Update Freq radios i group select the among all radios in your network ES appropriate channel and Radio Settings Print Mode i wireless mode The idi cS Wireless mode must be Base Transmit Base with One Repeater the same for all radios in Base with Two Repeaters k Repeater ne your network Repeater Two Auto Select Base Rover 7 Inthe Specify Frequency field enter the frequenc q y Channel Frequency you want to add Specify Frequency 8 Click Add The new 469 01250 MHz frequency appears in the Selected Frequencies Selected Frequencies list Channel Frequency Remove 459 83125 Note The programmed 469 01250 Remove All frequencies must conform to the pide Move Up channel spacing and minimum 458 65000 e tuning requirements for the radio To view this information click Radio Info You can select 12 5 kHz or 25 kHz channel spacing All radios in your network must use the same channel spacing 9 Once you have configured all the frequencies that you require click OK The WinFlash utility updates the receiver radio frequencies and then restarts the receiver SPSx51 Modular GPS Receivers User Guide Adding Internal Radio Frequencies C Setting UHF reception radio freque
157. ssages o Total unique word bits 77376 Bad unique word bits 33 Network Configuration Security Firmware Help E jevescretiparent losdDataFreme arilsvGenera html 94 SPSx51 Modular GPS Receivers User Guide Configuring the Receiver Settings 7 Network Configuration menu Use the Network Configuration menu to configure Ethernet settings email alerts PPP connection HTTP port FTP port and VFD port settings of the receiver For information on the Ethernet settings see Configuring Ethernet settings page 74 The VFD port allows you to use the SPSx51 Remote Control application to view and navigate the receiver through a mock display and keypad interface To allow the SPSx51 Remote Control to connect to the receiver you need to enable the VFD port To do this select Network Configuration VED This figure shows an example ofthe screen that appears when you select Network Configuration Ethernet Trimble SPS851 e Ethernet Configuration Receiver Status Satellites Stored settings Data Logging IP Setup DHCP w IP Address VO Configuration Netmask Bluetooth Broadcast Radio Gateway OmniSTAR ONS Address DNS Domain Network Configuration Summar Hostname trim4626K99991 MTU 1500 ox Receiver Configuration Current settings IP Setup DHCP IP Address 10 3 16 117 Netmask 255 255 252 0 Security Broadcast 10 3 19 255 Gateway 10
158. stom power pack SPSx51 with a low gain rubber SPSx51 with an external SPSx81 with an internal 450 MHz duck antenna high gain antenna Tx radio Figure 5 3 Tripod and tribrach setup Fixed height tripod setup A fixed height tripod setup is similar to a tripod setup but is simplified by the central leg ofthe tripod that is placed directly on the control point If the centralleg is leveled accurately the fixed height tripod is quick and easy to set up and provides an accurate way to measure the true antenna height L 2 3 Set up the tripod over the control point Attach the GPS antenna to the head of the tripod If using an external high gain radio antenna mount the radio antenna to the radio antenna bracket that is attached to the head of the tripod beneath the GPS antenna See Figure 5 4 Hook the receiver to the center leg ofthe tripod using the tripod clip SPSx51 Modular GPS Receivers User Guide 47 5 Setting up the Receiver Radio antenna bracket SPSx51 with a low gain rubber SPSx51 with an external SPSx81 with an internal 450 MHz T duck antenna high gain radio antenna radio on a fixed height tripod Figure 5 4 Fixed height tripod setup Common ways to set up a rover receiver You can set up a rover receiver in different ways depending on the application The components that make up a rover receiver are e GPS receiver e GPS antenna e controller computer e rod mounting equipment
159. t Press or W to change the value of the character Press XZ to move the cursor to the next character Repeat Step 5 through Step 6 to enter the height ofthe antenna Press Y to accept the change Press again The Output screen appears See next SPSx51 Modular GPS Receivers User Guide 65 6 66 Configuring the Receiver Using the Keypad and Display Outputting corrections In the Output screen eo cr oY OV d opo geo n 11 Press XZ to enter Edit mode for the port Press Dor to change which port will be used to output corrections Press Y to accept the change Press to move the cursor to the Format field Press to enter Edit mode for the format Press or W to change which correction message will be output on the port Press Y to accept the change Press again Use the VMEA screen to set up NMEA outputs from the receiver Press to accept the default of no NMEA messages Use the GSOF screen to set up GSOF outputs from the receiver Press V to accept the default of no GSOF messages Use the RT17 screen to set up RT17 outputs from the receiver This screen only appears if you have the real time Binary Output option installed Press to accept the default of no RT17 messages The Home screen appears and the base setup is complete Configuring the receiver as a rover receiver You can use the Trimble SCS900 Site Controller software or the receiver keypad to set up the SPSx51 as a rover receiver The receiver is c
160. t 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 SPS551 features SPS551H features SPS651 features SPS751 features SPS851 features Use and care COCOM limits Keypad and display Rear connectors Trimble SPSx51 Modular GPS receivers are ideal for the following infrastructure development site development and marine construction applications e Mobile base station for RTK or DGPS applications e Permanent base station RTK or DGPS applications not available in the SPS551H e RTK rover on rod backpack site vehicle or marine vessel e Site and marine location applications using Location GPS augmentation including OmniSTAR Location RTK SBAS and DGPS RTCM You can use the receivers with the Trimble SCS900 Site Controller software These receivers all feature a keypad and display so you can configure the receiver without using a controller or computer All the receivers can record GPS data to the internal memory and transfer the data over a serial or Ethernet connection SPSx51 Modular GPS Receivers User Guide 15 2 16 Features and Functions SP
161. te Controller software to configure the base station the rover and pr ta re Ae sa e phn tes ede de e n AE Ga are agar ana ae se ds 72 Configuring the receiver to log data for postprocessing lees 73 Configuring the receiver to use specific settings when it isturnedon 73 Configuring Ethernet settings 1 hn 74 Configuring the receiver using a web browser leen 77 Supported browsers 0 ee hr 77 Connecting to the receiver usingawebbrowser llle 77 Connecting to the receiver using a web browser and Bluetooth wireless technology 78 Creating a new connection eee hn 82 METUS i iden cere e ate ange eek ata dove die dvds EN 86 Changing the settings sa eheu ke e oe qoo a oa lee 86 Automatically Setting up a Mobile Base Station Using AutoBase Lu Aper 99 Autobase WarnllE 1a ny ph heme Deh Od be Ron te Dio e Re KORR decere Apne Pec 100 Working with AutoBase technology leere 100 Scenario One First visit to a site with AutoBase Warning turned off 100 Scenario Two First visit to a site with AutoBase Warning turnedon 101 Scenario Three Repeat visit to a site with AutoBase Warning turned off 101 Scenario Four Repeat visit to a site with AutoBase Warning turned on 102 The AutoBase processo irasara pe dee eee Ge ba HER EAS SEG red A bee 103 Default Settings ccc wee eee m nee ee A 105 Default receiver Settings ad ose ok o er hh ps ok eod h
162. technology for rapid and automated repeated daily base station setups Can broadcast corrections through multiple radio links from one base station for example through an internal 450 MHz radio and an external 900 MHz radio CAN Controller Area Network support Rugged weatherproof construction with an IP67 environmental rating 40 C to 65 C 40 F to 149 F operating temperature range 9 5 V to 28 V DC input power range with over voltage protection RoHS compliant Tracks up to 24 GPS satellites and 4 SBAS satellites Can receive GPS L2C signals 1 Pulse per second 1PPS output SPS751 Basic Base station only or rover only operation SPS751 Basic base Entry level low cost RTK base station Unrestricted operational range for rovers and grade control systems Integrated transmit only radio Easily upgraded to the SPS751 Max if the SPS751 Basic base receiver is already fitted with an internal UHF radio the upgrade includes the ability for the SPS751 Max to receive signals SPS751 Basic rover Entry level low cost RTK rover receiver 2 Hz measurement update rate 2 4 km 1 5 mile operational range from the base station 20 SPSx51 Modular GPS Receivers User Guide Features and Functions 2 Integrated receive only radio Easily upgraded to the SPS751 Max if the SPS751 Basic rover receiver is already fitted with an internal UHF radio the upgrade includes the ability for the SPS751 Max to transmit signals Thi
163. teries before use e Batteries perform best when they are not used at extreme temperatures The receiver is designed to operate at 40 C to 65 C 40 F to 149 F However operation at temperatures of less than 0 C 32 F can cause a rapid drop in battery life SPSx51 Modular GPS Receivers User Guide Batteries and Power 3 e The Lithium ion batteries are rated to operate from 20 C to 60 C 4 F to 140 F e Do not allow a battery that is in storage to discharge to below 5 V Charging the Lithium ion battery The rechargeable Lithium ion battery is supplied partially charged Charge the battery completely before using it for the first time If the battery has been stored for longer than three months charge it before use The internal battery charges fully in 8 hours when connected to a suitable power source N WARNING Charge and use the rechargeable Lithium ion battery only in strict accordance with the instructions Charging or using the battery in unauthorized equipment can cause an explosion or fire and can result in personal injury and or equipment damage To prevent injury or damage Do not charge or use the battery if it appears to be damaged or leaking Charge the Lithium ion battery only with a Trimble product that is specified to charge it Be sure to follow all instructions that are provided with the battery charger Discontinue charging a battery that gives off extreme heat or a burning o
164. th of a satellite is a measure ofthe information content of the signal relative to the signal s noise The typical SNR of a satellite at 30 elevation is between 47 and 50 dBHz 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 182 SPSx51 Modular GPS 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 GPS signals over its coverage area which includes the c
165. that can be combined with the SPS551 SPS751 Max or SPS851 Extreme to provide a precise heading capability using Trimble moving base technology The SPS551H is also available with GLONASS to provide a robust heading solution in a hostile environment SPS651 Location GPS receiver with precise vertical accuracy The SPS651 is a Location GPS receiver with precise vertical and decimeter horizontal positioning The receiver is part ofthe vehicle mounted Trimble Site Supervisor System and used with the SCS900 Site Controller Software Tablet Edition it is designed to provide site supervisors with cost effective real time positioning information The SPS651 can operate in all Location GPS modes including SBAS DGPS OmniSTAR VBS HP XP services and Location RTK mode It can be upgraded to use GLONASS signals and to use GPS L2C signals SPSx51 Modular GPS Receivers User Guide 13 1 Introduction SPS751 GPS receiver The Trimble SPS751 is a dual frequency GPS receiver with the ability to receive OmniSTAR corrections The receiver is available in the following configurations SPS751 Basic base SPS751 Basic rover e SPS751 Max The SPS751 can be configured using the keypad and display a web browser or the Trimble SCS900 Site Controller software The SPS751 makes it easy to set up a mobile base station or a permanent base station for continuous operation The SPS751 is also an ideal mobile receiver for semi permanent mounting o
166. that appears when you select Help gt Trimble Receiver Status Satellites Data Logging Receiver Configuration VO Configuration Bluetooth OmniSTAR Network Configuration Security Firmware Help Help E cation Identity Options Activity Position Vector racking Table Tracking Graph G f Di SBAS Enable Disable Predicted Elevation Predicted Constellation Ground Track Data Logging T Configuration ETP Push ETP Push Log Receiver Configuration Summar Mocke SPS851 SN 4626K99991 Trimble Construction SPSx51 Modular GPS Receiver Help Welcome to the Help for the Trimble Construction SPSx51 Modular GPS receivers The information in this Help explains the receiver configurabons available in the web interface of the receiver and provides information on all available Settings in these receivers To verify what options are available in your recelver please refer to the manual that accompanies your receiver How to use the help To view the Help do one of the following Ona settings page click the button The help topic will explain the seltings 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 len frame of the browser Download the latest complete online Help to use while offline To do this from the bottom of the Help Contents select Download SPSx51 36
167. the Receiver On the largest jobsites and on those that remain operational for the longest time a permanent or semi permanent installation is a popular solution A modular GPS receiver is typically used as the base station located in a site office or trailer where it is easy to access to check or configure and where it is secure from theft and the weather The GPS and radio antennas are normally mounted on a permanent structure on the roof of the building where they are high and clear from obstructions and where the radio antenna can provide the maximum range of operation Trimble recommends that you use the Trimble Zephyr Geodetic Model 2 GPS antenna This antenna has a large ground plane that reduces multipath providing the best GPS performance at the base location The antennas are connected to the receiver by high quality RF cables The receiver is connected to a permanent power supply mains or generator power The internal battery of the receiver is always being charged and acts as an uninterruptible power supply if there is a power failure In some cases the receiver may also be connected by an Ethernet cable to the Internet so that it can be monitored and configured from a remote location and can warn an administrator by email or text message if there is a change to the configuration or status In these situations the receiver can transmit GPS RTK corrections to a remote radio or receiver over the Internet for rebroadcast requ
168. the default setting Press Use the Base Station screen to select whether the receiver is going to use a Here position or if the current coordinates in the receiver will be changed Press When Edit Current begins to flash the receiver is in Edit mode and you can change the current setting Press The setting changes to New Base Here Press Y to accept the change Press again The Base Name screen appears See next Changing the name and description of the base station In the Base Name screen is Press When the first character of the base name begins to flash the receiver is in Edit mode and you can change the current setting Press or W to change the value of the character Press to move the cursor to the next character Repeat Step 2 through Step 3 to S the name of the base station The name can be up to 16 characters Press to accept the change Press V again Use the Base Code screen to change the code description for the base station Press When the first character of the base code begins to flash the receiver is in Edit mode and you can change the current setting Press or W to change the value of the character SPSx51 Modular GPS Receivers User Guide 10 11 Configuring the Receiver Using the Keypad and Display 6 Press to move the cursor to the next character Repeat Step 7 through Step 8 to enter the code of the base station The code can be up to 16 characters Press Y to
169. there are two or more base positions within a 50 meter radius of your current position the receiver will make the most recently created base position file active 6 Sincea base station position is found the AutoBase warning does not appear 7 The receiver loads the previous base information 8 Theantenna type antenna height and measurement method used in the previous setup of this base station are applied CAUTION If the antenna height is different from the previous setup then you must enter the corrected height for the antenna using the keypad and display before starting measurements Failure to achieve the correct antenna height position for the antenna results in errors in heights in subsequent measurements 9 The receiver begins generating RTK CMR corrections 10 The RTK corrections begin streaming on the radio or port defined in the previous setup of this base station Note AutoBase recalls base station positions that are stored in the receiver If the receiver has been previously set up on a control point but the stored base station position is not found in the receiver it is possible that the information may have accidently been deleted In this case use the display and keypad or the SCS900 system to manually set up the base 102 SPSx51 Modular GPS Receivers User Guide Automatically Setting up a Mobile Base Station Using AutoBase Technology 8 station Make sure that you use the same base station latitude longi
170. tion Small lightweight design 1 65 kg 3 64 Ibs receiver only including the battery 4 kg 8 82 Ibs complete system weight rover including controller and rod Vehicle and marine vessel mounting options for Supervisor and Dredging applications Easy to use menu system for rapid configuration and status checking Rugged weatherproof construction with an IP67 environmental rating 40 C to 65 C 40 F to 149 F operating temperature range 9 5 V to 28 V DC input power range with over voltage protection Capable of rover operation within a VRS Virtual Reference Station network Moving baseline and heading capability when combined with an appropriate SPSx51 SPSx50 or SPS551H receiver RoHS compliant SPSx51 Modular GPS Receivers User Guide Features and Functions 2 SPS651 Receiver optional features Internal 450 MHz 3 frequency bands radio with receive capability Internal 900 MHz radio with transmit and receive capability Can be upgraded to receive GLONASS signals Can be upgraded to receive L2C signals Note When the receiver is upgraded to GLONASS the GA510 rover GPS antenna should be replaced with the Zephyr Model 2 antenna This receiver is ideal for site supervisors on construction and roading projects or marine dredging SPS751 features The SPS751 receiver provides the following standard features For features specific to each model see below SPS751 standard features Integrated GPS receiver
171. tions 6 9 Sigma east Float Meters 10 13 Sigma north Float Meters 14 17 Covar east north Float number Covariance east north dimensionless SPSx51 Modular GPS Receivers User Guide 143 B 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 North 34 37 Unit variance Float Valid only for over determined solutions Unit variance should approach 1 0 value A value of less than 1 0 indicates that apriori variances are too pessimistic 30 39 Number of epochs short count Number of measurement epochs used to compute the position Could be greater than 1 for positions subjected to static constraint Always 1 for kinematic SV Brief This message provides brief satellite information It contains the following data Number of satellites tracked The PRN number of each satellite 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
172. ts reserved Trimble and the Glebe amp Triangle logo are tademats of Trimble Navigation Limited registered in the United States Patent and Trademak Office and other counties EVEREST Maxwell Zephyr and Zephyr Geodetic are trademate of Teimble Navigation Limited All other tademade are the property of thelr respective owners SPSx51 Modular GPS Receivers User Guide 87 7 Configuring the Receiver Settings Satellites menu Use the Satellites menu to view satellite tracking details and enable disable GPS GLONASS and SBAS WAAS EGNOS and MSAS satellites Note To configure the receiver for OmniSTAR use the OmniSTAR menu See page 94 This figure shows an example ofthe screen that appears when you select Satellite Tracking Sky Plot Trimble SPS851 rr i uo Connguraion CCT mds Network Configuration ww Firmware 2007 10 22T20 55 15Z UTC 88 SPSx51 Modular GPS Receivers User Guide Data Logging menu Configuring the Receiver Settings 7 Use the Data Logging menu to set up the receiver to log static GPS data This menu is available only if the receiver has the Data Logging option enabled You can also configure settings such as observable rate position rate continuous logging continuous logging rate and whether to auto delete old files if memory is low This figure shows an example of the screen that appears when you select Data Logging Configuration
173. tude and height as in the previous setup otherwise you will experience position or height errors in all subsequent measurements Trimble recommends that after any new base station setup or at the start of each measurement session you measure a known point to verify that position and height errors are within tolerance This is good practice and it takes just a few seconds to eliminate potentially gross errors typically associated with repeated daily base station setups The AutoBase process Power On Receiver Auto Base Auto Base Receiver turned on turned off looks for application files Status last application file used Do before application power off files exist Is AutoBase Warning On or Off Any application file that corresponds with the On current position Display No AutoBase Create new Warning ee ile Is there more than one acceptable application Save new application file with Auto base name Make most recently created application active Make new Auto application file active application file active Figure 8 1 Autobase process flowchart SPSx51 Modular GPS Receivers User Guide 103 8 Automatically Setting up a Mobile Base Station Using AutoBase Technology 104 SPSx51 Modular GPS Receivers User Guide Default Settings In this chapter W Default receiver settings m Resetting the receiver to factory
174. w 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 o l Ni aJ UI BY Ww The checksum data always begins with SPSx51 Modular GPS 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 example of the GSV message string is shown below Table A 4 describes the message fields GPGSVA4 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
175. w the steps through the wizard Name the COM port appropriately and clear the Secure Connection check box 78 SPSx51 Modular GPS Receivers User Guide Configuring the Receiver Settings 7 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 Q OB Pt gu C Program Files WIDCOMM Bluetooth Software My Bluetooth Places 0 Bluetooth Setup Wizard e View My Bluetooth services p View devices in range e View or modify configuration 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 O want to find a specific Bluetooth device and configure how this computer will use its services want to configure the Bluetooth services that this computer will provide to remote devices want to change the name and or device type that this computer displays to other Bluetooth devices SPSx51 Modular GPS Receivers User Guide 79 7 Configuring the Receiver Settings The following dialog appears Bluetooth Service Selection Services provided by remote devi
176. word 999999 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 SPSx51 receiver are Username admin Password password 6 Thenew Direct connection appears in the Network Connections folder If that status shows as Connected you can continue to the web interface Network Connections File Edit View Favorites Tools Advanced Help o Back 2 yo Search le Folders EEN Address 43 Network Connections Type Status Network Tasks Create a new connection Change Windows Firewall Direct Connected 84 SPSx51 Modular GPS Receivers User Guide x Configuring the Receiver Settings 7 7 Right click on the connection and select Status COM5 Status Value hs Device Name Communications cable between tw Device Type modem Server type PPP Transports TCP IP Compression none PPP multilink framing Off Server IP address 32 168 100 140 Client IP address 32 168 100 141 8 The Details tab shows the Server IP address Use this IP to connect to the receiving using the web interface Fe Edt Vew Fwodes Took ep Q 2120 ey 960 925035 SPS850 SN 9999K00059 Trimble SPS Receiver Firmware He d Copy eg bt 2000 GOCI T vrbe Man gate Landing AR iji roce mod Tv le dtd the iude amp
177. y flags Char See Table B 20 Velocity status flags 3 6 Speed Float Meters per second Horizontal speed 7 10 Heading Float Radians True north heading in the WGS 84 datum 11 14 Vertical velocity Float Meters per second Vertical velocity 142 SPSx51 Modular GPS Receivers User Guide GSOF Messages B PDOP This message describes the PDOP information It contains the following data PDOP HDOP e VDOP 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 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 Error Ellipse Semi major axis in meters e Error Ellipse Semi minor axis in meters e Orientation of Semi major axis in degrees from True North e Unit variance e 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 posi
178. y power cable Receiver does not Insufficient memory log data Data Logging option is disabled The receiver is tracking fewer than four satellites The internal memory needs to be reformatted The receiver is not Receiver needs a soft responding reset Receiver needs a full reset 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 pinouts with a multimeter to ensure internal wiring is intact Delete old files Do one of the following e Press for 35 seconds e Use the delete and purge functions in the Data Logging menu of the web interface Order the Data Logging option from your local Trimble dealer By default data logging is disabled on all SPS GPS receivers To see if dat
179. y to connect through the receiver again to ensure that they are communicating Check that corrections are routed correctly using the receiver keypad and display Check that the connections are made correctly and to the right connectors Ensure that the connectors are seated tightly and that there are no signs of damage to the cable If you set up on a new point on a site that has not been occupied previously the AutoBase Warning will prohibit the base station from broadcasting Try a different cable Examine the ports for missing pins Use a multimeter to check pinouts If the radio has its own power supply check the charge and connections See the issue The base station receiver is not broadcasting above 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 SPSx51 Modular GPS Receivers User Guide 167 Troubleshooting Issue Possible cause Solution The receiver isnot The GPS antenna is receiving satellite connected to the wrong signals antenna connector The GPS antenna cable is loose The ca

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