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Trimble NetR9 GNSS Reference Receiver User Guide

1. ee I j 1 I t J j j z t j s 1 1 o k ET b v t 1 j a t t I t 1 1 t j j 1 t t j 001 r r r r r r t j y 1 1 1 L 1 1 1 1 1 t 1 0 02 L L L L L L 1 1 1 j 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 04 0 04 0 02 0 01 o 0 01 0 02 0 03 0 04 Delta East m Vector Provides information on the vector between the NetR9 GNSS reference receiver and its RTK reference station Google Earth Enables you to request a Google Earth position marker file for the reference receiver position You can easily import this KMZ file into Google Earth for that software to show the receiver s location on a map or aerial view NetR9 GNSS Reference Receiver User Guide 49 6 Configuring the Receiver Other Than Keypad and Display Satellites menu Use the Satellites menu to view satellite tracking details and enable disable GPS GLONASS Galileo and SBAS WAAS EGNOS MSAS satellites These menus include tabular and graphical displays to provide all required information on satellite tracking status Satellites Tracking SkyPlot GPS Enable Disable GLN Enable Disable SBAS Enable Disable Galileo Enable Disable Satellite Almanacs Predicted Elevation Predicted Constellation Current Constellation Ground Track General Provides an overview of the satellite tracking status Satellit
2. To obtain warranty service for the Product please contact your Trimble dealer Alternatively you may contact Trimble to request warranty service at 1 408 481 6940 24 hours a day or e mail your request to trimble_support trimble com Please be prepared to provide your name address and telephone numbers proof of purchase this Trimble warranty card adescription of the nonconforming Product including the model number an explanation of the problem The customer service representative may need additional information from you depending on the nature of the problem Warranty Exclusions and Disclaimer This Product limited warranty shall only apply in the event and to the extent that i the Product is properly and correctly installed configured interfaced maintained stored and operated in accordance with Trimble s applicable operators manual and specifications and ii the Product is not modified or misused This Product limited warranty shall not apply to and Trimble shall not be responsible for defects or performance problems resulting from i the combination or utilization of the Product with hardware or software products information data systems interfaces or devices not made supplied or specified by Trimble ii the operation ofthe Product under any specification other than or in addition to Trimble s standard specifications for its products iii the unauthorized installation modification o
3. e Port 2 OS 7P Lemo e Port 3 USB e RJ45 Jack e Bluetooth Receiver position update rate Data Input and Output Outputs Specification Full 9 wire RS 232 3 wire RS 232 1PPS output event input DC power input 5 pin Mini B USB operates in Device or Host modes Ethernet PoE Fully integrated fully sealed 2 4 GHz Bluetooth wireless technology Note Bluetooth type approvals are country specific For more information contact your local Trimble office or representative 1 Hz 2 Hz 5 Hz 10 Hz 20 Hz and 50 Hz positioning CMR CMR CMRx RTCM 2 1 2 3 2 3 3 0 3 1 NMEA GSOF RT17 RT27 BINEX 78 NetR9 GNSS Reference Receiver User Guide NMEA 0183 Output In this appendix m NMEA 0183 message overview m Common message elements m NMEA messages APPENDIX This appendix describes the formats of the subset of NMEA 0183 messages that are available for output by the receivers For a copy of the NMEA 0183 Standard go to the National Marine Electronics Association website at www nmea org NetR9 GNSS Reference Receiver User Guide 79 A NMEA 0183 Output NMEA 0183 message overview When NMEA 0183 output is enabled a subset of NMEA 0183 messages can be output to external instruments and equipment connected to the receiver serial ports These NMEA 0183 messages let external devices use selected data collected or computed by the GNSS receiver All messages conform to the NMEA 0183 version 3 01
4. e SMTP Port e From Email Address e Any Alert switches You must enter the email address to which the email is to be sent login and the email password FTP e FTP Server Enable switch e FTP Server Port e FTP Push Controls FTP Server Address Remote Directory at server Path Style Rename setting You must enter the username and password NTP server e External Time Servers e NTP Port e Enable switch NetR9 GNSS Reference Receiver User Guide 71 7 Default Settings and Application Files When you select this The system generated clone file Clone Data Logger Clones all configured Data Logging Sessions from the source receiver Configuration e Session Name e Enable switch e Schedule setting e Duration e Measurement Interval e Smoothing settings e Position Interval e File System setting e Path and Name Style e Pool setting e FTP Email Push switch Clone Ephemeris and Clones all Ephemeris and Almanac data from the source receiver for SV tracking of Almanac expediting target receiver s Data e GPS Satellites SV1 SV32 e SBAS Satellites SV120 SV138 e GLONASS SV1 SV24 e Galileo GIOVE A and GIOVE B e NAV Chan 0 11 e SBAS for correction e WAAS Ephemeris and lono Bands e Position e UTC e Almanac Health 72 NetR9 GNSS Reference Receiver User Guide Default Settings and Application Files 7 When you select this The system generated clone file Clone Miscellaneous Ev
5. 4 Setting Up the Receiver 25 Guidelines sarpar be hoe hehe bse ee AA eG a inerte 26 Environmental conditions 26 Sources of electrical interference 26 Uniterruptable power supply 26 Lightning and surge protection 27 NetR9 GNSS Reference Receiver User Guide 9 Placing the antenind se siy i in ae Meme Nath init Dede des 27 Connecting the receiver to an external device 28 GNSS antennas eiii spas dose ado mien entr ie von aS 28 Dial up modem are 4 pause ae whe Hadi bade he Ratios unie 29 Radio MODEM ssec ee des as eR aie abuse tetes 29 Meteorological or tilt sensor 29 Otherexternal devices css os e io a a 30 Installing the tripod clip ess ca 4 o eg a lee gk 30 5 Configuring the Receiver Keypad and Display 31 Button MUNChONS 4 5 3 4 4486 4 oe A ait Re A piano ORR ES 32 Power button operations 32 lt su Line ce hu nue ns au etes aie dau tente ai 33 STATUS SCT ENS sins 21a ete a de Galen he Ti dentiste 33 Setting up the receiver as a base station 34 Changing the name and description of the base station 34 Setting the reference latitude longitude and height of
6. File uploads use a similar technique usr bin perl w use strict use HTTP Request Common qw POST use LWP UserAgent print OKAY n my fname tmp fina_V401 timg my ua LWP UserAgent gt new my command http fbtc prog Upload FirmwareFile my response ua gt request POST command Content_Type gt form data Content gt firmwareFile gt fname print response gt content Running that program produces OK Failsafe Firmware Installation Started Other techniques You can use other methods to transmit the Programmatic Commands to the target system For example you could write C or C programs to directly open socket connections to the GNSS receiver and then directly transmit the requests over those channels This is moderately advanced programming and the details are beyond the scope of this document 110 NetR9 GNSS Reference Receiver User Guide Programmatic Interface D Programmatic commands Below is a complete list of the Action Object commands accepted by the programmatic interface Click an individual command to go to the specific information on that command e Status commands page 111 e Satellite commands page 111 e Configuration commands page 112 e Input Output commands page 112 e Firmware commands page 113 Status commands All of these commands display some information from the GNSS receiver The information can be a static item s
7. Latitude 1 sigma error in meters Longitude 1 sigma error in meters Height 1 sigma error in meters The checksum data always begins with 84 NetR9 GNSS Reference Receiver User Guide GSV HDT 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 ofthe GSV message string is shown below with a description of the message fields GPGSV4 1 13 02 02 213 03 3 000 11 00 121 14 13 172 05 67 Field Meaning 0 message ID GPGSV 1 Total number of messages of this type in this cycle 2 Message number 3 Total number of SVs visible 4 SV PRN number 5 Elevation in degrees 90 maximum 6 Azimuth degrees from True North 000 through 359 7 SNR 00 99 dB null when not tracking 8 11 Information about second SV same format as fields 4 through 7 12 15 Information about third SV same format as fields 4 through 7 16 19 Information about fourth SV same format as fields 4 through 7 20 The checksum data always begins with Heading from True North The HDT string is shown below with a description of the message fields GPHDT 123 456 T 00 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 NetR9 GNSS Reference Receiver User Guide 85 A NMEA 0183 Output PTNL AVR Time Yaw Tilt Range
8. Use the receiver front panel or the Web user interface to set the reference station coordinates and broadcast ID Meteorological or tilt sensor You can connect an external meteorological or tilt sensor to any of the three available serial ports on the receiver The sensor responds to a request for information The request and the response are time tagged and are entered into the receiver s stored files and streamed observation data Note The sensors serial configuration must include 8 data bits Some sensors default to 7 data bits which is incompatible with the NetR9 GNSS reference receiver Supported sensors include the following e Paroscientific Met3 Met3A Met4 and Met4A e Vaisala PTU300 e Applied Geomechanics D700 and MD900 series Use the 7 0 Configuration Port Configuration menu to enter the serial port settings and control commands for a meteorological or tilt sensor NetR9 GNSS Reference Receiver User Guide 29 4 Setting Up the Receiver Other external devices For all other external devices connect to a suitable communications port and then configure that port for the connected device Installing the tripod clip For campaign operations or temporary base installations you can use a tripod clip instead of the standard mounting base 1 Remove the standard mounting base by unscrewing the four bottom screws that are located beneath the rubber end cap trim 2 Use the two provided screws to attach the tripod c
9. e Current satellite signals tracked simultaneously GPS L1 C A L2C L2E Trimble method for tracking L2P L5 GLONASS L1 C A and unencrypted P code L2 C A1 and unencrypted P code Galileo GIOVE A and GIOVE B SBAS L1 C A L5 supporting WAAS EGNOS and MSAS L Band OmniSTAR VBS HP and XP 76 NetR9 GNSS Reference Receiver User Guide Specifications 8 Feature Specification Code Differential GNSS Positioning e Horizontal 0 25 m 1 ppm RMS e Vertical 0 50 m 1 ppm RMS e WAAS differential Typically lt 5 m 3DRMS positioning Static GNSS Surveying Baseline lt 30 km e Horizontal 3 mm 0 1 ppm RMS e Vertical 4 mm 0 4 ppm RMS Baseline gt 30 km e Horizontal 4 mm 0 ppm RMS e Vertical 9 mm 0 ppm RMS Real Time Kinematic Surveying a Single Baseline lt 30 km e Horizontal 8 mm 1 ppm RMS e Vertical 15 mm 1 ppm RMS Networked RTK e Horizontal 8 mm 0 5 ppm RMS e Vertical 15 mm 0 5 ppm RMS Initialization time Typically lt 10 seconds Initialization reliability Typically gt 99 9 1 The internal battery will operate from 20 C to 50 C 4 F to 122 F The internal battery charger will operate from 0 C to 40 C 32 F to 104 F 2 Accuracy may be subject to degradation by multipath interference obstructions satellite geometry and atmospheric conditions Always follow recommended survey practices 3 Depends on WAAS EGNOS system performance NetR9 limited to 1 000 m RTK baseline length 5
10. Alternatively go to the Support area of the Trimble website www trimble com support shtml and then select the product you need information on Product updates documentation and any support issues are available for download If you need to contact Trimble technical support complete the online inquiry form at www trimble com support_form asp Your comments Your feedback about the supporting documentation helps us to improve it with each revision Email your comments to ReaderFeedback trimble com 14 NetR9 GNSS Reference Receiver User Guide Overview In this chapter Receiver framework Receiver services Receiver features Use and care Electronic interference COCOM limits Keypad and display Rear connectors CHAPTER This chapter introduces the NetR9 GNSS reference receiver the receiver This receiver makes it easy to set up a powerful and reliable Continuously Operating Reference Station CORS or to collect data from temporary field locations The receiver is ideal for the following infrastructure applications e As part of a GNSS Infrastructure network in conjunction with Trimble GNSS Infrastructure software As part ofa permanent reference station with or without supporting software e A temporary field base station to broadcast RTK corrections and collect observations for postprocessing e Asascientific reference station collecting data for atmospheric or seismological studies NetR9 GNSS
11. DC power supply Safety vo cso ee oe PGA ee ee bea daim 7 Wet location safety 2240 45e ncedadedin eho aha Ab ee aber eRe eee dS 7 1 troduction corran rr AA ce 13 Ni 144 5 woke Gb as ede oh ade ho Bae der oe Ge 14 Related information y irese Rae Re oo ade ae paki Sook aed 14 Technical supports 2 8s Pa bes gs ve weed EP baw ee a eee a wes 14 NOU COMMENES 2 tue gag Sadho he GRR AE hh ae ear ado Swe a nee due eel 14 2 DIVINOS ea 6 66546 SN ar AAA CO HSS 15 Receiver framework 2 244588 mergong dde is Rae ue Rakes Oo abri 16 The network appliance concept 16 RECEIVER Services ses iento ete Rance Vin eee GN ae See 17 Receiver features 32 282 48 38 cee evade ee ee ED ES a ee eae GS ane ee ea SE GT YS 17 WS6 anid Care tio qantas ase ah Musee apa hone ae aA ne gaa 18 Electronic interferences Onde Cae haw Rekha ee LO ee AEA mena ad E 19 COCOM IIS i e ai rae i ai Dee re oui maison aoe MES 19 K yp dand display OO eur rai e ia de di manne 19 Rear COMNECtOls sang hee Se Va Geka Ses aaa 20 3 Batteries and Power 21 External OWL sgn p d aie cs de home ds ii Ne eau 22 Battery sale oa sara Rene a ad eme Mees 22 Battery pertormance s ada ann ea Ae a A aca ie gece de ea ea a ke 23 Charging the battery si cos puis a 476 eo he Hae Oe Ree 23 Storing the battery 444844 a REL heeded eee OR ee Ee Sees 23 Removing the battery se Le oe aoe e Woke oe Ge Oe Pk es tous 24
12. In this chapter External power Battery safety Battery performance Charging the battery Storing the battery Removing the battery The NetR9 GNSS reference 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 either ofthe Lemo ports The operational time provided by the internal battery depends on the type of measurement and operating conditions Typically the internal battery provides up to 15 hours operation Note All battery operational tests are carried out with new fully charged batteries at room temperature tracking both GPS and GLONASS satellites while storing and streaming data at 1 Hz Older batteries at temperatures significantly higher or lower than room temperature will have a reduced performance Power consumption increases with an increasing number of actively tracked satellites and with increasing observation and storage rates NetR9 GNSS Reference Receiver User Guide 21 3 22 Batteries and Power External power The receiver uses an external power source in preference to its internal battery Ifthe receiver is not connected to an external power source or if the external power supply fails the internal battery is used The applied external power must offer between 9 5 V DC and 28 V DC and must be able to supply at least 5 W of power The rec
13. Reference Receiver User Guide 15 2 Overview Receiver framework The receiver integrates the latest multi frequency GNSS technology into a specialized processing and communications framework The receiver can operate as a standalone reference station or it can be integrated into a scalable network With an Internet Protocol IP as the primary communications method you can use public domain tools such as a web browser and FTP client to configure the receiver and access logged data files Note All references to the Internet refer to either a Wide Area Network WAN or a Local Area Network LAN connection You can enforce multiple levels of security from a completely open system that allows anonymous access to all features to a secured system that requires a password protected login for configuration changes and or file access Use the network management features to create a base configuration with a variety of operating modes You can then enable those modes as necessary instead of switching the global state of the receiver from one mode to another For example you can configure a number of streaming services with different configurations such as measurement intervals or smoothing controls on different TCP or UDP ports To activate one or more modes open the connection to the specific port This allows multiple clients to access any given streaming service These features and many more shift the model of a GNSS receiver toward t
14. and year and local time zone offset 91 e Report max DQI 2 NMEA GGA string When enabled the Quality Indicator field in the GGA output message will never be greater than 2 Differential GPS Only to be used with legacy systems that do not fully support the NMEA standard e Report max correction age 9 sec in NMEA GGA string When enabled the Age of differential data field in the GGA message will never be greater than 9 sec Only to be used with legacy systems that do not fully support the NMEA standard 80 NetR9 GNSS Reference Receiver User Guide NMEA 0183 Output A e Report extended information in NMEA GGA and RMC strings By default this check box is enabled to provide high precision position data in the NMEA messages You should clear this check box to conform to the NMEA standard message length of 82 characters However if you do the precision of the position and altitude data is reduced by truncating the number of decimal places Common message elements Each message contains e a message ID consisting of GP followed by the message type For example the message ID of the GGA message is GPGGA e acomma e 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 Messag
15. as well No surge protection devices can offer protection unless they are connected to an excellent ground using very low impedance conductors Equipment damage caused by electrical surges occurs in many permanent installations even though surge protection is in place Commonly this is because the grounding system used was designed to protect against AC electrical hazards rather than to dissipate the sudden high current surges caused by lightning Please consult with a lightning protection expert or research the topic when planning permanent installations For more information contact your local Trimble Infrastructure dealer or go to the websites of surge protection and grounding system manufacturers Trimble customers have reported good results when using products from the following manufacturers e Polyphaser www polyphaser com e Huber and Suhner www hubersuhner com Harger www harger com e Hyperlink Technologies www hyperlinktech com Placing the antenna The antenna location will have a significant effect on the quality of your NetR9 receiver s performance In temporary developments it may not always be possible to set up on an ideal location with an excellent sky view However when installing a permanent station be sure to plan the antenna location and mounting system carefully The general requirements for the antenna location and mount are e Clear sky from the zenith to the horizon to a 100 m 328 feet radius in a
16. for Moving Baseline RTK The PTNL AVR message string is shown below with a description of the message fields PTNL AVR 181059 6 149 4688 Yaw 0 0134 Tilt 60 191 3 2 5 6 00 Field Meaning 0 message ID PTNL AVR 1 UTC of vector fix 2 Yaw angle in degrees 3 Yaw 4 Tilt angle in degrees 5 Tilt 6 Reserved 7 Reserved 8 Range in meters 9 GPS quality indicator Fix not available or invalid Autonomous GPS fix Differential carrier phase solution RTK Fix 0 1 2 Differential carrier phase solution RTK Float 3 4 Differential code based solution DGPS 10 PDOP 11 Number of satellites used in solution 12 The checksum data always begins with PTNL GGK Time Position Position Type DOP An example of the PTNL GGK message string is shown below with a description of the message fields PTNL GGK 172814 00 071296 3723 46587704 N 12202 26957864 W 3 06 1 7 EHT 6 777 M 48 Field Meaning 0 message ID PTNL GGA 1 UTC of position fix 2 Date 3 Latitude 4 Direction of latitude N North S South 5 Longitude 86 NetR9 GNSS Reference Receiver User Guide NMEA 0183 Output A Field Meaning 8 9 10 11 12 Direction of Longitude E East W West GPS Quality indicator 0 Fix not available or invalid 1 Autonomous GPS fix 2 Differential floating carrier phase integer based solution RTK float 3 Differential fixed car
17. for the port battery Check that the correct battery is connected to a particular port 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 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 Check the port settings for the receiver by using the front panel or the Web interface Check that the radio ports are correctly set up 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 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 98 NetR9 GNSS Reference Receiver User Guide Troubleshooting C Issue Possible cause Solution The receiver isnot The GNSS antenna cable Make sure that the GNSS antenna c
18. 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 ADV Position and Satellite information for RTK network operations 82 GGA Time position and fix related data 83 GSA GPS DOP and active satellites 84 GST Position error statistics 84 GSV Number of SVs in view PRN elevation azimuth and SNR 85 HDT Heading from True North 85 PTNL AVR Time yaw tilt range mode PDOP and number of SVs for 86 Moving Baseline RTK PTNL GGK Time position position type and DOP values 86 PTNL PJK Local coordinate position output 87 PTNL VGK Time locator vector type and DOP values 88 PTNL VHD Heading Information 89 RMC Position Velocity and Time 89 ROT Rate of turn 90 VTG Actual track made good and speed over ground 90 ZDA UTC day month
19. generators e Electric motors e Equipment with DC to AC converters e Fluorescent lights e Switching power supplies e Arc welding equipment Uniterruptable power supply Trimble recommends that you use an uninterruptible power supply UPS to power the receiver The internal battery can also operate as a UPS for up to 15 hours A UPS protects the equipment from power surges and spikes and keeps the receiver running during short power outages Items operating with the receiver such as an Ethernet switch should also be on a UPS to provide uninterrupted operation For more information contact your local Trimble dealer 26 NetR9 GNSS Reference Receiver User Guide Setting Up the Receiver 4 Lightning and surge protection Trimble recommends that you install lightning protection equipment at permanent sites All connections to the receiver should have surge protection Typically the minimum protection should include a surge protector in the antenna feed line on the Ethernet connection between the receiver and the local area network as well as on the receiver s power supply system If serial devices are attached to the receiver those serial connections should also be provided with surge protection Also protect any communications and power lines at building entry points If you use other antennas such as a radio modem that distributes real time correction messages or a last mile radio install surge protection on those antenna feeds
20. or 3 Lemo connectors the DC voltage must be limited to no more than 28 V DC 0 under both normal and single fault conditions If the recommended input voltage is exceeded the receiver may present an electrical hazard Wet location safety A A gt WARNING This receiver is not intended to be used in a wet location or a location that may become wet when it is powered by the PoE interface or by the external DC power supply Use the receiver in a wet location only when operating it on its own internal battery WARNING The external power adapter and its associated power cord and plug are not intended to be installed outdoors or in a wet location WARNING Do not power the receiver through external power when operating in a wet environment or an environment that may become wet The power input connections must be sheltered NetR9 GNSS Reference Receiver User Guide 7 Safety Information 8 NetR9 GNSS Reference Receiver User Guide Contents Safety Information 5 Regulations and safety 5 Type approval odiada Da ale sa Ald ae Sale ea wala anh de Abad SRO da 5 Exposure to radio frequency radiation 5 For Bluetooth radio s sa iri atin dae Kk des Ged a he doe ee Pe ae 6 Battery satety sce se a ae Sot a eae Os Conte Be ete as 6 Power over Ethernet safety 7
21. the IP address you must restart the receiver for the changes to take effect You can also use the keypad to configure the system setup or to view the satellite SV status using the same process described in this chapter NetR9 GNSS Reference Receiver User Guide 37 5 Configuring the Receiver Keypad and Display Setting up the receiver to log data The receiver supports up to five independent data logging sessions You can use the front panel to configure the Default session parameters but you can only activate the other four sessions from the front panel you must first configure them through the web interface L 2 From the Home screen press The Operation Mode screen appears As reference station setup is the default press repeatedly to move through the menu choices until Logging appears This is where you edit the settings for the Default logging session Do one of the following Press to edit the default session logging rate Press or YV to select the required rate and then press O Press to move to the logging rate field Press to edit the logging rate and the press to select a rate To store the new settings press O Press to move to the next screen Enabling a logging session In the Logging Session screen 1 2 3 Press to change the session to be enabled Press or W to move among the session names When the required session name appears press 3 to enable editing Note If y
22. the base station 35 Measuring and changing the antenna height 35 Outputting corrections 36 Data ICONE Rd nu T Destin oo 36 Outputting observations 36 Setting up the receiver as part of an Ethernet configuration 37 Setting up the receiver to log data 38 Enabling a logging session 38 6 Configuring the Receiver Other Than Keypad and Display 39 Configuring the Ethernet settings 40 Configuring using the WinFlash utility 400 ee ee SoS www a eee 41 Configuring through a web browser 43 Chansing the settings e kessu sa Seb ae a hs OE SEAS e aaa 45 7 Default Settings and Application Files 67 Default receiver Settings s 444 sus sa a e eee eo 68 Resetting the receiver to factory defaults 68 Using application files to duplicate receiver settings 68 8 Specifications oc 6 0 ERS 75 General sei ic eae ae eas A led oo Me ala kk ea ginal a wae don 76 Physical rociera oD aan eB ade GA ak ee dre mec 76 Electrical unicas sae a e ee eae EL aoa te Paes 78 COMMUMICAION Sr ote eaea Bs crs Une ee ue do das Ag Se hee de ey nares vee Wye ees 78 A NMEA 0183 Output san
23. through an external data communications radio Regulations regarding the use of the 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 Before operating a NetR9 GNSS reference receiver determine if authorization or a license to operate the unit is required in your country It is the responsibility of the end user to obtain an operator s permit or license for the receiver for the location or country of use For FCC regulations see Notices see page 3 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 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 b
24. 00 03 19 05 67 88 Discoverable False Pin Code 0000 NetR9 GNSS Reference Receiver User Guide 61 6 Configuring the Receiver Other Than Keypad and Display OmniSTAR menu Use this menu to configure OmniSTAR settings The following figure shows an example of the screen that appears when you select OmniSTAR Summary OmniSTAR Summary Signal Source Demodulator SV name Auto MSVCN Frequency MHz 1557 8350 Bit Rate Hz 1200 Setting Auto Mode Tracking SNR Eb No 8 53 Total messages 5 Bad messages 0 Total unique word bits 384 Bad unique word bits 0 Total Viterbi symbols 48768 Corrected Viterbi symbols 4 Estimated BER 1 81164e 05 VQ ratio 4 23136 Unique words with bit errors 0 Network Configuration menu Use this menu to configure Ethernet settings PPP Routing Table Email Client Email Alerts HTTP HTTPS port Proxy FTP port NTP ports and settings VFD Virtual Front Display and discovery port settings of the receiver The VED port enables you to use the Remote Control application to view the receiver and navigate it through a mock display and keypad interface To enable this function select Network Configuration VED A viewing utility is available on www trimble com The receiver can notify a system administrator by sending alerts about general status changes in the receiver and warning messages about problems to a specified email address This requires the use of an SMTP server To find ou
25. 000 knots or its altitude is computed to be above 18 000 meters The receiver GNSS subsystem resets until the COCOM situation clears As a result all logging and stream configurations stop until the GNSS subsystem is cleared Keypad and display Feature Description Power LED Shows if the power is on or off Buttons Use to turn on and turn off the receiver and to configure it See Button functions page 32 Display This Vacuum Fluorescent display enables you view the receiver operations the configuration settings See Home screen page 33 Blutooth logo Location of the Blutooth antenna NetR9 GNSS Reference Receiver User Guide 19 2 Overview Rear connectors 1 2 3 4 Connetor type Description 1 TNC Connect to the GNSS antenna 2 BNC 10 MHz external frequency input 3 D9 Full 9 wire RS 232 serial port 4 Lemo 7 pin O shell Event input and 1 PPS output using cable P N 36451 02 Port 2 e Power from a Trimble AC DC power supply e 3 wire RS 232 serial communications using a 7 pin 0 shell Lemo cable P N 59044 Vent plug External venting plug for equalizing pressure USB Mini B 5 pin USB e Connect to external USB drive for external data logging e Connect the receiver to a computer to download files from the receiver as an external device to the computer 7 RJ45 jack 10 100 Base T Ethernet communications 20 NetR9 GNSS Reference Receiver User Guide CHAPTER Batteries and Power
26. 03K65235201004141700W T02 12345 Continuous Measurements 0 02 Sec 60 Min Disabled O Positions 0 02 Sec To edit a logging session double click the session name 52 NetR9 GNSS Reference Receiver User Guide Configuring the Receiver Other Than Keypad and Display 6 To create a new session click New Session The Data Logging Configuration screen appears Data Logging Configuration Session Name 1sec Enable Schedule Continuous M Duration 60 Minutes Measurement Interval 1 Sec Smooth Pseudorange O Smooth Phase O Include Doppler O Position Interval 1 Sec Log Received Corrections File System Internal v Path Style SessioniDate v Name Style t MMDDhhmm Suffix B M Pool off Y FTP Push M Convert None FIP T01 T02 files M Email Push M Convert None FTP T01 T02 files A 101 T02 file amp Zipped V3 00 RINEX Observable Ephemeris Email To TO01 T02 file amp Zipped V2 11 RINEX Observable amp Ephemeris Google Earth Lines Google Earth Lines and Points Zipped 43 00 RINEX Observable Ephemeris Zipped V3 00 Hatanaka RINEX Observable amp E Zipped 2 11 RINEX Observable Ephemeris Zipped 2 11 Hatanaka RINEX Observable Ephemeris 143 00 RINEX Observable Ephemeris 143 00 Hatanaka RINEX Observable amp Ephemeris 42 11 RINEX Observable amp Ephemeris 42 11 Hatanak
27. 9 GNSS Reference Receiver User Guide 119 Glossary 120 NetR9 GNSS Reference Receiver User Guide Blank page Inside cover NORTH AMERICA Trimble Engineering amp Construction Group 5475 Kellenburger Road Dayton Ohio 45424 1099 e USA 800 538 7800 Toll Free 1 937 245 5154 Phone 1 937 233 9441 Fax EUROPE Trimble Germany GmbH Am Prime Parc 11 65479 Raunheim e GERMANY 49 6142 2100 0 Phone 49 6142 2100 550 Fax ASIA PACIFIC Trimble Navigation Singapore Pty Limited 80 Marine Parade Road 22 06 Parkway Parade Singapore 449269 e SINGAPORE 65 6348 2212 Phone 65 6348 2232 Fax Trimble www trimble com
28. A active or V void 3 Latitude 4 Longitude 5 Speed over the ground in knots 6 Track angle in degrees True 7 Date 8 Magnetic variation in degrees 9 The checksum data always begins with ROT Rate and Direction of Turn The ROT string is shown below with a description of the message fields GPROT 35 6 A 4E 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 VTG Speed Over Ground or Track Made Good and Speed Over Ground An example of the VTG message string is shown below with a description of the message fields GPVTG T M 0 00 N 0 00 K 4E Field Meaning 0 message ID GPVTG 1 Track made good degrees true 2 T track made good is relative to true north 3 Track made good degrees magnetic 4 M track made good is relative to magnetic north 5 Speed in knots 6 N speed is measured in knots 7 Speed over ground in kilometers hour kph 8 K speed over ground is measured in kph 9 The checksum data always begins with 90 NetR9 GNSS Reference Receiver User Guide NMEA 0183 Output A ZDA UTC Day Month And Year and Local Time Zone Offset An example of the ZDA message string is shown below with a description of the message fields GPZDA 172809 12 07 1996 00 00 45 Field Meaning message ID GPZDA UTC Day ranging between 01 and 31 Month ranging between 01 and 12 Year L
29. C A and L5 supporting WAAS EGNOS and MSAS L Band OmniSTAR VBS HP XP e 8GB on board storage e External USB drive support e Integrated battery provides over 15 hours operation NetR9 GNSS Reference Receiver User Guide 17 2 Overview Integrated display and keypad for system configuration without a controller Integrated Bluetooth wireless technology for cable free configuration and operation Permanent semi permanent and mobile quick setup base station capability Easy to use Web interface menu system for rapid configuration and status checking Ability to operate as a Rover Integrity receiver with Trimble Infrastructure software to allow monitoring of Trimble VRS network performance 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 and configurable power up and power down settings Power over Ethernet PoE support Data files generated in T02 RINEX version 2 11 RINEX version 3 00 BINEX and Google Earth files Tracking and storage rates of up to 50 Hz Eight independent data logging sessions with configurable memory pooling FTP and email push to allow uploading of logged data files to remote sites Email client to alert system users of any issues with the system Ethernet and reference station configuration through the front panel Multiple languages available through
30. Delete Clone File Upload amp install Clone File Allows you to create a named xml file including the receiver configuration items of your choice Application Files Executing Application File Name CURRENT Operation Generate Clone File v Filename NetR9_Clone Clone Security Configuration Also fills user names and encrypted passwords in other records OcClone IP Port and O Streams Configuration Clone Ethernet Boot Configuration Oclone HTTP Configuration Clone Email Alert FTP NTP Server Configuration Clone Data Logger Configuration Clone Ephemeris and Almanac Data Clone Miscellaneous Everything Else Tells the receiver to accept the clone file settings in a particular file Allows you to move a clone file from your browsing computer to the target receiver Allows you to move a clone file from the receiver to your browsing computer Allows you to delete a clone file stored on the receiver Sends a clone file to the target receiver while telling the receiver to accept and apply these settings The following generated Clone file selections are available When you select this generated clone file The system Clone Security Configuration Clone IP Port and I O Streams Configuration Clones all security settings on the source receiver See the Security menu e All system users with Username Password and access settings e Security status Enable Enable with Anonymous Access Disabl
31. Lithium ion battery Charge and use the battery only in strict accordance with the following instructions 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 NetR9 GNSS Reference Receiver User Guide Batteries and Power 3 A 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 batte
32. NG OUT OF OR INCONNECTION WITH ANY PRODUCT SOME STATES AND JURISDICTIONS DO NOT ALLOW LIMITATIONS ON DURATION OR THE EXCLUSION OF AN IMPLIED WARRANTY SO THE ABOVE LIMITATION MAY NOT APPLY TO YOU Limitation of Liability TRIMBLE S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL BE LIMITED TO THE AMOUNT PAID BY YOU FOR THE PRODUCT TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW IN NO EVENT SHALL TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY INDIRECT SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGE WHATSOEVER UNDER ANY CIRCUMSTANCE OR LEGAL THEORY RELATING IN ANYWAY TO THE PRODUCTS SOFTWARE AND ACCOMPANYING DOCUMENTATION AND MATERIALS INCLUDING WITHOUT LIMITATION DAMAGES FOR LOSS OF BUSINESS PROFITS BUSINESS INTERRUPTION LOSS OF DATA OR ANY OTHER PECUNIARY LOSS REGARDLESS OF WHETHER TRIMBLE HAS BEEN ADVISED OF THE POSSIBILITY OF ANY SUCH LOSS AND REGARDLESS OF THE COURSE OF DEALING WHICH DEVELOPS OR HAS DEVELOPED BETWEEN YOU AND TRIMBLE BECAUSE SOME STATES AND JURISDICTIONS DO NOT ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES THE ABOVE LIMITATION MAY NOT APPLY TO YOU PLEASE NOTE THE ABOVE TRIMBLE LIMITED WARRANTY PROVISIONS WILL NOT APPLY TO PRODUCTS PURCHASED IN THOSE JURISDICTIONS SUCH AS COUNTRIES OF THE EUROPEAN ECONOMIC COMMUNITY IN WHICH PRODUCT WARRANTIES ARE OBTAINED FROM THE LOCAL DISTRIBUTOR IN SUCH CASE PLEASE CONTACT YOUR TRIMBLE DEALER FOR APPLICABLE WARRA
33. NTY INFORMATION Registration To receive information regarding updates and new products please contact your local dealer or visit the Trimble website at www trimble com register Upon registration you may select the newsletter upgrade or new product information you desire Notices Class B Statement Notice to Users This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to Part 15 ofthe FCC rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communication However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures Reorient or relocate the receiving antenna Increase the separation between the equipment and the receiver Connect the equipment into an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help Changes and modifications not expressly approved by the m
34. NetR9 GNSS Reference Receiver User Guide Glossary almanac base station BINEX broadcast server carrier carrier frequency carrier phase cellular modems CMR CMR covariance 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 ofthe emphemeris ephemerides data Also called reference station A base station in construction is a receiver placed at a known point on a jobsite that tracks the same satellites as an RTK rover and provides a real time differential correction message stream through radio to the rover to obtain centimeter level positions on a continuous real time basis A base station can also be a part of a virtual reference station network or a location at which GPS observations are collected over a period of time for subsequent postprocessing to obtain the most accurate position for the location Binary EXchange format BINEX is an operational binary format standard for GPS GLONASS SBAS research purposes It has been designed to grow and allow encapsulation of all or most of the information currently allowed for in a range of other formats An Internet server that manages authenti
35. Networked RTK PPM values are referenced to the closest physical base station NetR9 GNSS Reference Receiver User Guide 77 8 Specifications Electrical Feature Specification Power Internal Integrated internal battery 7 4 V 7800 mA hr Lithium ion Internal battery can operate as a UPS in the event of external power source outage Internal battery will charge from external power source when input voltage is gt 12 V or via Power over Ethernet supply External Power input on Lemo 7POS has a user defined cut off threshold of 9 5 V or higher Power over Ethernet Power consumption Reference station operation time on internal battery Regulatory Power source supply Internal External is hot swap capable in the event of power source removal or cut off Power input on Lemo ports is 9 5 V DC to 28 V DC external power input with over voltage protection Receiver will auto power on when connected to external power of a user defined voltage The default value is 15 V Requires a Class 3 Ethernet power supply 3 8 W nominal dependent upon user settings Up to 15 hours RoHS China RoHS FCC Part 15 247 FCC certifications Class B Device FCC Part 15 and ICES 003 compliance RSS 310 and RSS 210 Industry Canada compliance 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 WEEE Communication Feature Communications e Port 1 D9 male
36. R9 GNSS Reference Receiver User Guide 35 5 Configuring the Receiver Keypad and Display In the Antenna Height screen L 2 Press Z to edit the antenna height Press or to select the character to edit and then press or to change it When finished press O Press to move to the next screen Outputting corrections D A AA AA Press to edit the name of the port that will output corrections Press or to select the port 1 2 or 3 When finished press O Press to select the Format field and then press to edit this field Press until the required format choics flashes Press to move to the next screen Data logging In the Logging screen 1 A Ot ce Tg iS Once you configure the output corrections press to set up internal logging on the receiver Press or to select the logging rate Press to accept Press to select files and then press to edit them Press or W to select the appropriate length of time to log data for When finished press O Press to move to the next screen Outputting observations In the RT27 screen L ne w N Once you configure data logging press to set up RT27 message output from the receiver Press or to select the output port Press to accept Press to move the cursor to the output rate then press to edit it Press or to select the rate at which RT27 message will be output 36 NetR9 GNSS Reference Receiver User Guide 6 T Configuring the Receiver K
37. SS Age of Correction GPS 60 Sec GLONASS 50 Sec General Use this screen to Determine whether event signals and an external frequency source will be used Choose to output a one pulse per second signal 1 PPS Disable the use of the internal battery as an uninterruptable power supply Enable Power over Ethernet Configure power on and shutdown voltages Configure VFD settings General Event 1 On Off Disable Event 1 Slope Positive External Frequency Disable No Source Detected Internal Battery UPS Enable M 1PPS On Off Enable w Power Over Ethernet Enable Ethernet Battery Charging Enable Power On Voltage 15 0 Volts Range 10 8V 15 0V Default 15 0V Shutdown Voltage Enable v 10 500 Volts Range 9 5V 15 0V Default 10 5V VFD Configuration Enable VFD Power Saver Auto Y VFD Brightness 25 VFD Rotation Disable NetR9 GNSS Reference Receiver User Guide 59 6 Configuring the Receiver Other Than Keypad and Display e Application Files Use this screen to configure all of the settings that make up an application file to save that file and to select an application file for use Application Files Executing Application File Name CURRENT Operation Start Now v Filename CURRENT v Current Timer Setting Disabled Reset Use this screen to completely or partially reset the receiver Receiver Reset Reboo
38. SerialNumber sn 60350239BF That submits the request using account name admin and password adminpw Binary file downloads with Curl simply require directing the output to a file path Internal name 60350239BF200906181935 T01 curl http NetR9 prog download file amp path path name gt name There is no command line response in this case If an error occurred for instance if the file dod not exist in the GNSS receiver the message ends up in the file 108 NetR9 GNSS Reference Receiver User Guide Programmatic Interface D File upload commands require Curl to format a POST request with a binary attachment Curl implements this with a F option f tmp fina_V401 timg curl http NetR9 prog upload firmwareFile F firmwareFile f That command uploads a new firmware image file to the GNSS receiver and triggers an installation of the new firmware Using Perl Perl is a powerful scripting language The language comes with numerous library packages that allow it to automate many complex tasks It is also available on most operating systems which makes it good for cross platform applications Perl can easily be used to control a GNSS receiver using the Programmatic Interface commands A simple method uses LWP a library for web access in Perl On a Linux system use man LWP for overview documentation This is a powerful and complex package which cannot be documented here Some sample programs show the basic te
39. T Generate Clone File Install Clone File Upload Clone File Download Clone File Delete Clone File Upload amp lnstall Clone File Upload amp Apply Projection and Calibration File DC CAL View Apply Projection and Calibration File Delete Projection and Calibration File The available operations are as follows Operation Description Start Now Enable Timer Disable Timer Delete File Download File Upload File Store Current File Applies the selected application file Determines at what time and date the receiver will automatically power up wake up and at what interval it will automatically power up thereafter Application Files Executing Application File Name CURRENT Operation Enable Timer x Filename CURRENT v Current Timer Setting Disabled UTC Timer Year 2010 Month 1 Day 1 Hourlo Min o Repeat off v Overrides all previously configured power up timer settings Deletes the currently selected application file Allows you to download the currently selected application file to your browsing computer Allows you to store an application file including all current custom settings under a new name Returns the receiver to factory default settings NetR9 GNSS Reference Receiver User Guide 69 7 Default Settings and Application Files Operation Description Generate Clone File Install Clone File Upload Clone File Download Clone File
40. USER GUIDE Trimble NetR9 GNSS Reference Receiver Trimble Blank page Inside cover USER GUIDE Trimble NetR9 GNSS Reference Receiver Version 4 15 Revision A May 2010 Trimble Corporate Office Survey Business Area Trimble Navigation Limited Survey 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 Email trimble_support trimble com Legal Notices O 2010 Trimble Navigation Limited All rights reserved Trimble and the Globe amp Triangle logo are trademarks of Trimble Navigation Limited registered in the United States and in other countries CMR Maxwell NetR9 R Track TRIMMARK VRS 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 Internet Explorer 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 2010 release Revision A of the NetR9 GNSS reference receiver User Guide It applies to version 4 15 of the NetR9 GNSS reference receiver firmware Limited Warranty Terms and Conditions Product Limited Warranty Subject to the te
41. Upgrading the Receiver Firmware The WinFlash utility The WinFlash utility communicates with Trimble products to perform various functions including installing software firmware and option upgrades running diagnostics for example retrieving configuration information configuring radios For more information online help is also available when using the WinFlash utility Note The WinFlash utility runs on Microsoft Windows XP operating systems Installing the WinFlash utility You can download the WinFlash utility from the Trimble website This self extracting executable guides you through the software installation process Upgrading the receiver firmware 1 2 3 Start the WinFlash utility The Device Configuration screen appears From the Device type list select your receiver From the PC serial port field select the serial COM port on the computer that the receiver is connected to and then click Next The Operation Selection screen appears The Operations list shows all of the supported operations for the selected device A description of the selected operation is shown in the Description field 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 From the Available Software list select the latest version and then click Next The Settings Review window appears This screen prompts
42. a RINEX Observable amp Ephemeris BINEX hemeris In this screen you can set all logging parameters and determine whether the session files will be affected by the FTP Push Email Push and any format conversions NetR9 GNSS Reference Receiver User Guide 53 6 Configuring the Receiver Other Than Keypad and Display e Data Files View download graph and or convert the files currently stored on the receiver Top Level Directory Parent Directory E 12345 x E inodop E4 ED 1sec xi 5 2010 x B 24hrG_G ES E 24hrsGPS E B High_HZ ES EZ extPool E ES intPool EJ Filename Created Sie Select All x Delete Selected Files X B Trim106eF T02 2010 04 16T04 00 00 GPS 2 625 MB Trim106dF T02 AS 2010 04 16703 00 01 GPS 9 455 MB O Trim106cF T02 2 2010 04 16702 00 00 GPS 8 704 MB Cl Trim106bF T02 AS 2010 04 16701 00 00 GPS 9 367 MB O To download a file double click the file name or its icon and then follow the standard procedures to complete the download To select a group of files for download select the check box to the right of the required file names before double clicking to start the download To select all files click Select All To delete files select the check box to the right of all files to be deleted and then click Delete Selected Files The following file naming options are available in the receiver Name style Description HHHHIIIX Last four digits of the receiver serial number 3
43. able is tightly seated in the receiving satellite is loose antenna connection on the GNSS antenna signals The cable is damaged Check the cable for any signs of damage A damaged cable can inhibit signal detection from the antenna at the receiver The GNSS antenna is not Make sure that the GNSS antenna is located with a clear view in clear line of sight to of the sky the sky e Restart the receiver as a last resort turn off and then turn it on again NetR9 GNSS Reference Receiver User Guide 99 C Troubleshooting 100 NetR9 GNSS Reference Receiver User Guide APPENDIX Programmatic Interface In this appendix Overview Format of programmatic commands Uploading files Responses to commands Using programmatic commands Using Curl Using Perl Other techniques Programmatic commands This appendix describes the Programmatic Interface which is a method of remotely controlling a Trimble GNSS receiver using easily generated text based commands This interface exists in parallel to the Graphical User Interface GUI that is accessible through the HTTP and HTTPS ports of the receiver The GUI interface uses HTML web pages to provide visual point and click access to all information and controls on the system It is designed to be interactive with the user and is not well suited for automating remote control tasks The Programmatic Interface provides a matching functionality using a more machine friendly method I
44. ad and Display 6 Changing the settings The web interface shows the configuration menus on the left ofthe browser window and the settings on the right Each configuration menu contains related submenus to configure the receiver and to monitor receiver performance This secton describes each configuration menu To view the web interface in another language click the corresponding country flag The following languages are available English Chinese German Russian French Spanish Japanese Dutch Norwegian Polish Swedish Italian Receiver Status menu This menu provides a quick link to review the receivers available options current firmware version IP address temperature runtime satellites tracked current outputs available memory position information and more Receiver Status Google Earth NetR9 GNSS Reference Receiver User Guide 45 6 Configuring the Receiver Other Than Keypad and Display Identity Shows a list of unique receiver items including the Ethernet MAC address and the Bluetooth MAC address It also lists variable items including the current Ethernet IP address and the firmware version Receiver Status Identity System Name Trimble Serial Number 5003K65235 Ethernet MAC Address 00 60 35 0D E2 06 Ethernet IP 10 1 95 100 DNS Resolved Name NONE Bluetooth MAC Address 00 03 19 05 67 88 Firmware Version 0 16 4 15 Firmware Date 2010 03 23 Monitor Version 4 18 Hardware Version 2 2 Sy
45. al 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 satellites to transmit satellite data The secondary L band carrier used by GPS satellites to transmit satellite data The third L band carrier used by GPS satellites to transmit satellite data L5 will provide a higher power level than the other carriers As a result acquiring and tracking weak signals will be easier 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 A type of receiver that uses multiple carrier phase measurements L1 L2 and L5 from different satellite frequencies Interference similar to ghosts on a 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
46. an make Enabled With Many commands can be executed without providing a username and account These Anonymous Access would be primarily show commands that will not alter the configuration of the system The capabilities of the anonymous user can be customized to include file download and file deletion However Programmatic Commands beyond that limited scope are not allowed unless an authorized account name and password are used Note By default HTTP Security is not enabled You must set Enabled or Enabled With Anonymous Access restrictions before accounts and passwords will be required for the Programmatic Interface See sample code later in this document for examples of how you can encode your requests when a Security mode is enabled 102 NetR9 GNSS Reference Receiver User Guide Programmatic Interface D Format of programmatic commands Programmatic commands are formatted as if they were URL CGI requests For example http NETR9 17332 prog enable session amp name HiRate Variable Description http The protocol to use either http or https INETR9 7332 The name or IP address of the GNSS receiver that is the target of the command or 10 1 150 72 prog enable session amp name HiRate Must be preceded by two slashes Indicator to the GNSS receiver web server that this is a programmatic request This triggers the command parser to interpret the command The Verb This is the action reques
47. anufacturer or registrant of this equipment can void your authority to operate this equipment under Federal Communications Commission rules Canada his Class B digital apparatus complies with Canadian ICES 003 T Cet appareil num rique de la classe B est conforme la norme NMB 003 du Canada This apparatus complies with Canadian RSS 310 and RSS 210 Cet appareil est conforme la norme CNR 310 et CNR 210 du Canada Europe This product is intended to be used in all EU member C countries This product has been tested and found to comply with the requirements for a Class B device pursuant to European Council Directive 89 336 EEC on EMC thereby satisfying the requirements for CE Marking and sale within the European Economic Area EEA Contains Infineon radio module PBA 31307 These requirements are designed to provide reasonable protection against harmful interference when the equipment is operated in a residential or commercial environment 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 Requirements ca The product contains a removable Lithium ion battery us Taiwanese regulations require that waste batteries are recycled REAA EA Directive 1999 5 EC Hereby Trimble Navigation declares that
48. ations 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 reference station data to model systematic errors such as ionospheric noise at the rover position It then sends RTCM or CMR 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 continental United States and outlying parts of Canada and Mexico The WAAS system provides correction data for visible satellites Corrections are computed from ground station observations and then uploaded to two geostationary satellites This data is then broadcast on the L1 frequency and is tracked using a channel on the GPS receiver exactly like a GPS satellite Use WAAS when other correction sources are unavailable to obtain greater accuracy than autonomous positions For more information on WAAS refer to the FAA website at http gps faa gov The EGNOS service is the European equivalent and MSAS is the Japanese equivalent of WAAS World Geodetic System 1984 Since January 1987 WGS 84 has superseded WGS 72 as the datum used by GPS The WGS 84 datum is based on the ellipsoid of the same name NetR
49. ayed or parsed as the application requires NetR9 GNSS Reference Receiver User Guide 107 D Programmatic Interface One exception to this process is the case of uploading a file to the GNSS receiver Upload commands use a POST request instead of GET For more information see Uploading files page 104 Using Curl A simple method of testing out Programmatic commands is to manually feed the URLs into Curl a commonly available command line tool Here is a sample Unix session that shows the usage curl http NetR9 Trimble com prog show serialNumber SerialNumber sn 60350239BF curl http NetR9 Trimble com prog show gpstime GpsTime gpsweek 1244 weekseconds 437597 curl http NetR9 Trimble com prog badcommand abc ERROR invalid verb badcommand curl http NetR9 Trimble com prog set elevationmask8mask 10 OK ElevationMask mask 10 curl http NetR9 Trimble com prog show position lt Show Position gt GpsWeek 1244 WeekSeconds 498154 0 Latitude 37 3891271874 deg Longitude 122 0368443968 deg Altitude 4 898 meters lt end of Show Position gt You can assemble multiple Curl commands into a shell script to implement a basic form of remote control If the GNSS receiver has security enabled you need an account name and password to use the programmatic interface commands Curl accepts these in a u command line argument For example curl u admin adminpw http NetR9 trimble com prog show serialNumber
50. cation 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 The time taken for the L1 or L2 carrier signal generated by the satellite to reach the GPS receiver Measuring the number of carrier waves between the satellite and receiver is a very accurate method of calculating the distance between them Awireless adaptor that connects a laptop computer to a cellular phone system for data transfer Cellular modems which contain their own antennas plug into a PC Card slot or into the USB port of the computer and are available for a variety of wireless data services such as GPRS Compact Measurement Record A real time message format developed by Trimble for broadcasting corrections to other Trimble receivers CMR is a more efficient alternative to RICM The mean value NetR9 GNSS Reference Receiver User Guide 115 Glossary datum deep discharge DGPS differential correction differential GPS DOP dual frequency GPS EGNOS elevation mask ellipsoid emphemeris ephemerides 116 Also called geodetic datum mathematical model designed to best fit the geoid defined by the relationship b
51. chniques needed The first shows how to encode basic URL requests usr bin perl w use strict use LWP Simple print get http fbtc prog show systemname print get http fbtc prog show gpstime print get http fbtc prog badCommand abc print get http fbtc prog set elevationMask amp mask 10 print get http fbtc prog show position Running that program produces the following output SystemName name NewName GpsTime gpsweek 1244 weekseconds 498371 ERROR Invalid verb badCommand OK ElevationMask mask 10 lt Show Position gt GpsWeek 1244 WeekSeconds 498373 2 Latitude 37 3891241306 deg Longitude 122 0368464236 deg Altitude 4 078 meters lt end of Show Position gt NetR9 GNSS Reference Receiver User Guide 109 D Programmatic Interface File downloads are more complex than just redirecting a get request to a file mainly because the files can be arbitrarily large A more complex syntax allows Perl to download and put the results directly into a file usr bin perl w use LWP UserAgent my f 60350239BF200906181935 T01 my path Internal my ua LWP UserAgent gt new my req HTTP Request gt new GET gt http NetR9 prog download file amp path path f my res ua gt request req f When this is run the logged file on the GNSS receiver is copied to an identically named file in the local computer No text comes to standard output
52. cription Set GlonassSatControls Show Ephemeris Show Almanac Show GpsHealth Show GpsUtcData Show GpslonoData Reset GnssData Modifies the Enable Disable IgnoreHealth settings for GLONASS satellites Returns ephemeris data for a GNSS Satellite Returns the Almanac data for a GNSS satellite Returns the health status of all GPS satellites Returns the UTC data decoded from GPS satellites Returns the lonospheric Model data decoded from GPS satellites Clears all decoded GNSS Ephemeris and Almanac data Configuration commands These commands show or modify the state of various of system functions Command Description Reset System Show ReferenceFrequency Set ReferenceFrequency Show ElevationMask Set ElevationMask Show PdopMask Set PdopMask Show ClockSteering Set ClockSteering Show MultipathReject Set MultipathReject Show PPS Set PPS Show AntennaTypes Show Antenna Set Antenna Restarts reboots the GNSS Receiver Returns the current source for the 10MHz reference clock Modifies the source for the 10MHz reference clock Returns the current Elevation Mask control setting Modifies the Elevation Mask control setting Returns the current PDOP Mask control setting Modifies the PDOP Mask control setting Returns the current Clock Steering control setting Modifies the Clock Steering control setting Returns the current Multipath Rejection control setting Modifies the Multipath Rejection c
53. cy of the signal passing through it Some common types of cable are shown below Cable type Maximum length for use without an inline amplifier 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 50 225 m 740 ft 28 NetR9 GNSS Reference Receiver User Guide Setting Up the Receiver 4 Dial up modem The receiver can make automated dial out connections to an Internet service provider To set up the receiver to do this select Network Configuration PPP in the Web interface You can set up a streaming service such as RT17 RT27 raw GNSS data CMR or RTCM corrections over a serial port When using a modem on the serial port the modem itself must perform the auto answer function Radio modem You can connect the receiver to an external radio through the Lemo ports or the 9 pin serial port whether or not the Ethernet port is in use Trimble radios are supplied with the required cables to connect to the Lemo ports The receiver supports the following Trimble base radios e TRIMMARK 3 firmware 1 26 or later e Trimble HPB450 e Trimble PDL450 To use an external radio with the receiver you must have an external power source for the radio Use the configuration program for the external radio to configure it separately To configure the receiver for RTK operation do the following 1 Enable the RTCM or CMR RTK corrector stream on the selected serial port 2
54. dance 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 6 NetR9 GNSS Reference Receiver User Guide Safety Information Do not charge or use the battery if it appears to be damaged or leaking Charge the Lithium ion battery only in a Trimble product that is specified to charge it Be sure to follow all instructions that are provided with the battery charger Discontinue charging a battery that gives off extreme heat or a burning odor Use the battery only in Trimble equipment that is specified to use it Use the battery only for its intended use and according to the instructions in the product documentation Power over Ethernet safety A A WARNING When this receiver is connected to a Power over Ethernet PoE connection the source of the Ethernet power must meet IEEE 802 11af The receiver DC output Ethernet power source must be completely isolated from earth ground floating Otherwise a shock hazard may exist WARNING When this reeiver is connected to a PoE connection the DC voltage must be limited to no more than 57 V DC 0 under both normal and single fault conditions If the recommended input voltage is exceeded the receiver may present an electrical hazard DC power supply safety A WARNING When DC voltage is applied to this receiver through connectors 2
55. digit Julian calendar day alphabetic session identifier HHHHHHHHHEY YY YMMDDhhmm Receiver serial number 4 digit year 2 digit month 2 digit day 2 digit hour 2 digit minute of file start SystJJJh 4 character system identifier 3 digit Julian calendar day Single letter hour of day identifier 54 NetR9 GNSS Reference Receiver User Guide Configuring the Receiver Other Than Keypad and Display 6 Name style Description SystJJJhmm 4 character system identifier 3 digit Julian calendar day Single letter hour of day identifier 2 digit minute of the hour of file start YYMMDDhh 2 digit year 2 digit month 2 digit day 2 digit hour of file start YYMMDDhhmm 2 digit year 2 digit month 2 digit day 2 digit hour 2 digit minute of file start SystemYYYYMMDDHHmm System name 4 digit year 2 digit month 2 digit day 2 digit hour Minutes File Protection Use this screen configure the protection of stored data files when an event signal is received This feature allows important data to be protected from the standard memory pool automatic deletion function The idea is that an event input from an external sensor such as a seismic detector will protect data from automatic deletion for a time period before and after the event which ensures that this data is available for later study File Protection Enable O Protect Before Events 60 Minutes Protect After Events 60 Minutes To remove protected data from the system
56. e Motion CMR Input Filter Reference Latitude Reference Longitude Reference Height Vertical Precision RTCM 2 x ID Ethernet IP Firmware Date Antenna ie 99 0 30 m Enabled Enabled 185 Zephyr Geodetic 2 Bottorn of antenna mount 0 000 m Enabled Disabled Positive Undetected Low Latency Static Disabled 39 53 52 83271 N 105 06 45 32679 WY 1665 964 m 0 RTCM 3 x ID CMR ID Station Name 0 0 TRIMBLE 10 1 95 100 System Name DNS Resolved Name Serial Number Firmware Version 2010 03 23 Trimble NONE 5003K65235 0 16 4 15 Use this screen to configure all ofthe items relating to the GNSS antenna You must enter the correct values for all antenna related fields as the choices you make significantly affect the accuracy for logged data and broadcast RTK correctors Antenna Configuration Antenna Type Zephyr Geodetic 2 RINEX Name TRM55971 00 NONE Antenna Serial Number Radome Serial Number 7 Antenna Measurement Method Bottom of antenna mount Y Antenna Height m 0 000 o 2 NetR9 GNSS Reference Receiver User Guide 57 6 Configuring the Receiver Other Than Keypad and Display e Reference Station Use this screen to configure settings such as the station coordinates and the broadcast station identifiers You must enter accurate information in these fields as this data significantly affects the accuracy of logged data
57. e Clones all Input Output stream configurations from the source receiver See the I O Configuration menu e TCP IP Port e NTRIPClient e NTRIPServer e NTRIPCasters e Serial ports e Bluetooth ports If the Maintain configuration when connection dropped switch is set Note The source receiver clone files will not overwrite any ports currently configured on the target receiver 70 NetR9 GNSS Reference Receiver User Guide Default Settings and Application Files 7 When you select this generated clone file The system Clone Ethernet Boot Configuration Clone HTTP Configuration Clone Email Alert FTP NTP Server Configuration Clones all Ethernet settings of the source receiver See the Network Configuration Ethernet menu e IP Setup DHCP Static IP e IP Address e Netmask e Broadcast e Gateway e Force DNS Address switch e DNS Address e DNS Domain Note If the source receiver has a static IP address you may need to edit the static IP address of the target receiver after the clone file is passed to that target Clones all HTTP and HTTPS settings of the source receiver See the Network Configuration HTTP menu e HTTP Enable switch e HTTP Server Port e HTTPS Secure Enable switch e HTTPS Secure Port e Certificate Information Clones all Email Alert controls all FTP FTP Push controls and NTPServer settings Email alerts e Enable switch e Authorization required switch e SMTP Server
58. e distributor for final distribution to you Major Upgrades new products or substantially new software releases as identified by Trimble are expressly excluded from this update process and limited warranty Receipt of software updates shall not serve to extend the limited warranty period For purposes of this warranty the following definitions shall apply 1 Fix Update means an error correction or other update created to fix a previous software version that does not substantially conform to its published specifications 2 Minor Update occurs when enhancements are made to current features in a software program and 3 Major Upgrade occurs when significant new features are added to software or when a new product containing new features replaces the further development of a current product line Trimble reserves the right to determine in its sole discretion what constitutes a significant new feature and Major Upgrade Warranty Remedies If the Trimble Product fails during the warranty period for reasons covered by this Limited Warranty and you notify Trimble of such failure during the warranty period Trimble at its option will repair OR replace the nonconforming Product OR refund the purchase price paid by you for the Product upon your return of the Product to Trimble in accordance with Trimble s standard return material authorization procedures 2 NetR9 GNSS Reference Receiver User Guide How to Obtain Warranty Service
59. e values NMEA messages that the receiver generates contains the following values Latitude and longitude Latitude is represented as ddmm mmmm and longitude is represented as dddmm mmmm where e ddor ddd is degrees e mmmmmm is minutes and decimal fractions of minutes Direction Direction north south east or west is represented by a single character N S E or W Time Time values are presented in Universal Time Coordinated UTC and are represented as hhmmss cc where e hhis hours from 00 through 23 mm is minutes NetR9 GNSS Reference Receiver User Guide 81 A NMEA 0183 Output 82 NMEA messages ADV ss is seconds cc is hundredths of seconds When NMEA 0183 output is enabled the following messages can be generated Position and Satellite information for RTK network operations An example of the ADV message string is shown below with a description of the message fields The messages alternate between subtype 110 and 120 PGPPADV 110 39 88113582 105 07838455 1614 125 1M ADV subtype 110 message fields Field Meaning 0 message ID PPGPADV 1 Message sub type 110 2 Latitude 3 Longitude 4 Ellipsoid height 6 Elevation of second satellite in degrees 90 maximum 7 Azimuth of second satellite degrees from True North 000 through 359 8 The checksum data always begins with PGPPADV 120 21 76 82 68 51 29 20 66 317 47 28 52 38 276 81 22 42 26 198 96 5D ADV subtype 120 m
60. een The receiver always returns to this screen if any other screen is left idle for 60 seconds The Home screen shows e The number of satellites being tracked e The internal battery power remaining e The current operation mode e Ifthe receiver is logging data If logging is enabled the operating mode field shows Logging every three seconds Bluetooth As a power saving feature the front panel goes o a short period of inactivity If the display is not lit and the receiver is on press amp to reactivate the display If required you can disable this power saving feature in the Web interface Status screens To review the receiver s current settings in the status screens press W or W in the Home screen The status screens show the following information e Position solution e CMRandRTCM IDs e Base name and code e Latitude longitude and height e Antenna type e Antenna height and measurement point e Receiver firmware version and date e Receiver serial number e Current IP address Current subnet mask NetR9 GNSS Reference Receiver User Guide 33 5 Configuring the Receiver Keypad and Display Setting up the receiver as a base station Use the keypad to set up the receiver for Ethernet configuration and for real time outputs to operate as a base station also known as a reference station Follow the step by step configuration method to ensure that all appropriate settings are reviewed and set P
61. eiver s internal battery charges only when the external voltage is above 12 V DC Trimble recommends that external supply voltage be above 12 V DC for long term installations This ensures that the internal battery is charged and ready to compensate for power supply disruptions 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 when power is restored the receiver restarts in the same status as it was when power was lost If you prefer not to use the internal battery as an uninterruptable power supply you can disable this feature in the Web user interface For more information see Chapter 6 Configuring the Receiver Other Than Keypad and Display WARNING The external AC power adapter and its associated power cord and plug are not intended to be installed outdoors nor in a wet location Do not power the receiver through external power when operating in a wet environment or an environment that may become wet The power input connections must be sheltered WARNING When you apply DC voltage to this product through the Lemo connector the DC voltage must be limited to 28 V DC 0 under both normal and single fault conditions This product may present an electrical hazard if the recommended input voltage is exceeded Battery safety A The receiver is powered by a rechargeable internal
62. erything Else Position Controls Elevation Mask PDOP Mask RTK Mode Motion Precisions General Controls Event On Off and Slope External Frequency Internal Battery UPS setting 1PPS On Off Power Over Ethernet Enabled Disabled Ethernet Battery Charging setting Shutdown Voltage settings VFD Configuration VFD Power Saver setting Tracking Controls Everest setting Clock Steering setting Signal Enable switches and Options Antenna Settings Antenna Type Measurement Method Antenna Height Reference Station settings Latitude Longitude Height CMR ID RTCM 2 x 3 x ID Station Name Station Code Bluetooth Controls OmniSTAR Configuration External OmniSTAR Data Internal OmniSTAR Demodulator SV Name Seed with RTK setting NAD83 gt ITRF Transformation switch NetR9 GNSS Reference Receiver User Guide 73 7 Default Settings and Application Files 74 NetR9 GNSS Reference Receiver User Guide CHAPTER Specifications In this chapter This chapter describes the specifications for the NetR9 GNSS reference receiver m General f Specifications are subject to change without m Physical Notes m Electrical m Communication NetR9 GNSS Reference Receiver User Guide 75 8 Specifications General Feature Specification Keyboard and display Receiver type Antenna type Vacuum Fluorescent Display VFD 16 characters by 2 rows Escape and En
63. es General Information Satellites Tracked 24 CREST 3 6 9 14 15 18 19 21 22 24 26 27 29 GLONASS 8 4 5 13 14 15 19 20 21 Galileo 1 GIOVE A SBAS 2 135 138 Total Satellites in GPS Constellation 31 Healthy 30 2 0 4 00 oor 10 2 19 tS 160181814920 2122 29 24 26 27 20 29 Unhealthy 1 1 Ignore Health 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 2 Total Satellites in GLONASS Constellation 21 Healthy 21 1234978010 1418 A ik Ute a eh 2021222324 Ignore Health 24 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 Total Satellites in Galileo Constellation 2 Unhealthy 1 GIOVE A Ignore Health 2 GIOVE A GIOVE B 2010 04 14716 08 29Z UTC 50 NetR9 GNSS Reference Receiver User Guide Configuring the Receiver Other Than Keypad and Display 6 e Tracking Skyplot and Graph The following figures are examples ofthe Skyplot and Graph pages Satellites Skyplot 2010 04 14716 21 12Z UTC Satellites Tracking Information L1 C A BOC L1P L2E P or E5 AItBOC __ L2C C A or E5B L5 E5A CINo Vs SV G3 R4 R5 Gb GE G14 R14 R15 G15 G18 R19 G19 R20 G21 R21 G22 G24 G26 G27 G29 51355138 E A 20 922 60 0365 215 269 222 118 245 120 18 13 965 703 Sb 96 76 Un 275 A SEA 290 Order by Elevation Angle You can also e Manually disable satellite tracking e Download the latest broadcast ephemeris e Vi
64. essage fields Field Meaning 0 message ID PPGPADV 1 Message sub type 120 2 First SV PRN number 3 Elevation of first satellite in degrees 90 maximum 4 Azimuth of first satellite degrees from True North 000 through 359 5 Second SV PRN number 6 Elevation of second satellite in degrees 90 maximum 7 Azimuth of second satellite degrees from True North 000 through 359 8 The checksum data always begins with NetR9 GNSS Reference Receiver User Guide NMEA 0183 Output A GGA Time Position and Fix Related Data An example of the GGA message string is shown below with a description of the message fields GPGGA 172814 0 3723 46587704 N 12202 26957864 W 2 6 1 2 18 893 M 25 669 M 2 0 0031 4F Field Meaning WN 10 11 12 13 14 15 message ID GPGGA UTC of position fix Latitude Direction of latitude N North S South Longitude Direction of longitude E East W West GPS Quality indicator Fix not valid GPS fix Differential GPS fix Real Time Kinematic fixed integers Um NS Real Time Kinematic float integers Number of SVs in use range from 00 through 12 HDOP Orthometric height MSL reference M unit of measure for orthometric height is meters Geoid separation M geoid separation is measured in meters Age of differential GPS data record Type 1 or Type 9 Null field when DGPS is not used Reference station ID ranging from 0000 through 1023 A nul
65. et ranfinnrations Description Configure the ethernet settings CALG 6 Ta WinFlash Settings Review Connect the NetR3 NetR5 NetR8 to COM3 of the PC WinFlash using the DB cable Review the settings below and press Finish to start the Configure ethernet settings Current Settings Device configuration Trimble NetR3 NetR5 NetR8 NetR9 R connected to COM3 Operation to perform Configure ethernet settings Trimble NetR9 GNSS Reference Receiver User Guide Configuring the Receiver Other Than Keypad and Display 6 Once the WinFlash utility connects to the receiver the Ethernet Configuration dialog appears Ethernet Configuration Ethemet settings Papo Static IP address IP Adcress Netmask Broadcast Gateway DNS Address HTTP settings Serves Port 8 Enter the network settings and then click OK The Broadcast setting is the IP address that is used to broadcast to all devices on the subnet This is usually the highest address usually 255 in the subnet Configuring through a web browser Supported browsers are e Mozilla Firefox version 3 0 e Microsoft Internet Explorer version 7 0 Note Internet Explorer version 8 0 may not operate correctly if you select the Use Standards Mode option in that browser software NetR9 GNSS Reference Receiver User Guide 43 6 Configuring the Receiver Other Than Keypad and Display To connect
66. etween an ellipsoid and a point on the topographic surface established as the origin ofthe 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 time differential GPS Differential correction is the process of correcting GPS data collected on a rover with data collected simultaneously at a base station Because the base station is on a known location any errors in data collected at the base station can be measured and the necessary corrections applied to the rover data Differential correction can be done in real time or after the data has been collected by postprocessing See real time differential GPS Dilution of Precision A measure of the quality of GPS positions based on the geometry of the satellites used to compute the positions When satellites are widely
67. ew various constellation coverages NetR9 GNSS Reference Receiver User Guide 51 6 Configuring the Receiver Other Than Keypad and Display Data Logging menu Use the Data Logging menu to set up the receiver to log static GNSS data and to view the logging settings You can 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 menu also provides the controls for the FTP push feature Data Logging e Summary Shows the files that are currently being stored including their schedules names whether they are using memory pooling and in which directory they are stored Data Logging Internal 7744GB 3 9186B49 O Format JExternal 119 46MB 115 32 MB 97 DEFAULT Continuous Measurements 0 02 Sec 60 Min Disabled o Positions 0 02 Sec 24hrG_G Continuous Measurements 0 1 Sec 60 Min Disabled O Positions 0 02 Sec extPool Continuous Logging Measurements 0 1 Sec gn Min IInternal Trim104rF T02 Positions 1 Sec Hos et Continuous Measurements 0 1 Sec A Disabled O as 60 Min Positions 1 Sec ieee Continuous Loggin Measurements 1 Sec 60 Min IInternal 1sec 2010 04 14 M Positions 1 Sec 003K65235201004141700B T02 pal Continuous Measurements 0 02 Sec 6 Disabled O Positions 0 02 Sec t High_HZ Continuous Logging Measurements 0 02 Sec BO Min Mnternal High_HZ 2010 04 14 Positions 0 02 Sec 50
68. eypad and Display 5 When finished press O Press to move to the next screen The Home screen appears Base station setup is complete Setting up the receiver as part of an Ethernet configuration 1 Dn e N 10 11 From the Home screen press 25 In the Operation Mode screen that appears select if you want to configure the base station setup Ethernet configuration or system setup or view the SV status As reference station setup is the default press so that the Ref Stn Setup message flashes Press W to select Ethernet configuration Press 3 twice to edit the configuration The DHCP menu appears Press to select the type of IP address to set up Press or W to move through the options You can choose either Enabled the default or Static IP address to program the Ethernet manually When finished press O Press to move to the next screen The IP address appears Press to edit the IP address Press or to select the number to edit and then press or to change When finished press O Note Editing starts from the right 12 13 14 15 Press to move to the next screen The gateway appears Press to edit the default gateway address Press QuO to select the number to edit and then press Dor Dto change When finished press Note Editing starts from the right 16 Press to move to the next screen The Home screen appears Ethernet setup is complete Note If you change
69. files and broadcast RTK correctors Reference Station Reference Latitude 39 53 52 83271 ONOS Reference Longitude 105 16 45 32679 OEOW Reference Height 1665 964 m CMR ID 0 RTCM 2x ID 0 RTCM 3 x ID o Station Name TRIMBLE Station Code TRMB e Tracking Load Current Position Use this screen to determine whether Everest technology and clock steering are used This screen also enables you to select which signals relating to particular satellites are to be stored Tracking o Elevation Mask 0 Everest Enable Clock Steering Enable GPS L2 Legacy M L2 CS and Legacy v GPS L2 CS M CM CL M GPS L5 Y a v SBAS L1 C A M SBAS L5 M GLONASS L1 C A M GLONASS L1 P M GLONASS L2 C A M M GLONASS L2 P M L2 CiA M and P M GALILEO El M GALILEO E5 A M GALILEO E5 B M GALILEO E5 ABOC M 58 NetR9 GNSS Reference Receiver User Guide Configuring the Receiver Other Than Keypad and Display 6 Position Use this screen to configure settings relating to using the receiver as a Rover Integrity Monitor Position PDOP Mask 99 RTK Mode Low Latency Motion Static v CMR Input Filter O RTCM Input Filter O RTCM 2 Type 31 Input GLONASS Datum Pz90 Horizontal Precision 0 30 m Vertical Precision 0 30 m DGN
70. 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 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 NetR9 GNSS Reference Receiver User Guide 117 Glossary PDOP postprocessing real time differential GPS reference station rover Roving mode RTCM RTK SBAS signal to noise ratio skyplot SNR UTC 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 so
71. ftware 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 RTK uses carrier phase measurements While DGPS is a generic term its common interpretation is that it entails the use of single frequency code phase data sent from a GPS base station to a rover GPS receiver to provide sub meter position accuracy The rover receiver can be at a long range greater than 100 kms 62 miles from the base station See 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 c
72. g Perl page 109 and Firmware commands page 113 Responses to commands 104 Programmatic Interface requests trigger a response from the GNSS receiver The response is usually a plain text ASCII document that is returned using the HTTP or HTTPS protocol The response can take one of several forms e Single line data response page 105 e Multi line data response page 105 Single line action response OK page 106 e Asingle line error message page 106 e Binary file response page 107 NetR9 GNSS Reference Receiver User Guide Programmatic Interface D Single line data response These are usually the result of Show commands where the data returned is simple enough to fit on a single text line For example the response to command Show SerialNumber is SerialNumber sn 1234A56789 Single line responses can be arbitrary text but most often they are similar to a Set command format showing an object name with parameters For example Show GpsSatControls returns GpsSatControls enable all disable 5 6 ignoreHealth 7 This string is exactly what you must be append to the Set verb in order to restore the controls to the current state Multi line data response Some responses are too long to be returned in a single line of text In this case the response is spread over multiple lines with leading and trailing lines that frame the data Both framing lines start with lt and end with gt Between the two characters text s
73. he concept of a network appliance The network appliance concept Traditionally a GNSS receiver has one operator That person is the only user of the receiver so they can change settings without affecting other users With the NetR9 GNSS reference receiver an operator can configure a receiver once and then make it available as a network appliance for general use by one or more users or clients This network appliance concept lets you set up the receiver to provide one or more services that one or more users can access through a Local Area Network LAN or a Wide Area Network WAN such as the Internet Once the receiver is set up you need make only minimal changes if any to the receiver configuration When the receiver is operating as a network appliance it provides services to all users attached to the receiver through the network Different streamed services may be configured on different ports for example with differing data rates or smoothing configurations To obtain a service the client has only to connect to a specific port In this way most users do not need to control the receiver Changing global settings such as masks will affect all users of all services However the comprehensive set of controls that have been provided for streamed service and data logging configuration avoids global changes for the majority of applications 16 NetR9 GNSS Reference Receiver User Guide Overview 2 The receiver provides t
74. he following standard configuration and data logging services Use To perform HTTP all manual and automated configuration operations manual operations to manage the logged data file space FTP remote manual and or automated operations to manage the logged data file space Receiver services The receiver can provide one or more streaming or query services over a RS 232 serial port or a TCP TP port e Streaming service Anyone with authorized access can obtain streamed information such as GNSS measurements or RTCM corrections without having to control or issue commands to the receiver The client simply connects to the port that is streaming the required information Normally the port should be set to Output only mode so multiple users can connect to receive correction data e Query service This allows bi directional communications between the receiver and another application All ports act as query ports unless Output only mode is selected When Output only mode is selected it also means the receiver is more secure especially ifit is on the Internet Multiple users can connect simultaneously to a single port as long as it is set to Output only mode Multiple users can connect simultaneously to a single port as long as it is set to Output only mode Receiver features 440 channels GPS Li L2 L2C LS GLONASS L1 C A and unencrypted P code L2 C A and unencrypted P code Galileo GIOVE A and GIOVE B SBAS LI
75. he state of the internal battery With this information it is easy to tell exactly what functions the receiver is performing Receiver Status Activity Satellites Tracked 18 GPS 10 ota Gy 202223 03 1432 GLONASS 5 5 7 8 9 10 Galileo 1 GIOVE B SBAS 2 135 138 Input Output Output TCP IP 5017 RT27 1Hz Output TCP IP 14999 NMEA GGA 5 Sec Output NTRIP Client NMEA GGA 5 Sec Input NTRIP Client CMR Temperature 35 63 Runtime 4 Days 21 08 51 Power Source Ethernet Disk 3908MB 7930MB SO Port2 0 0 00V Ethernet 100 Battery 1 93 7 91V AAA 2010 04 13721 34 17Z UTC NetR9 GNSS Reference Receiver User Guide 47 6 Configuring the Receiver Other Than Keypad and Display Position Shows all relevant information about the receiver s position solution If the receiver is operating as a reference station this information may be of minimal concern However ifthe receiver is acting as a Rover Integrity Monitor this menu provides all the information needed to assess the quality of the receiver s RTK position and therefore the quality of network correctors Receiver Status Position Position Satellites Used 10 Lat 39 53 5283279 N GPS 8 11 14 16 20 23 30 31 32 Lon 105 6 45 32656 VV GLONASS 2 8 10 Hat 1665 972 m Type RTK Fixed Satellites Tracked 17 Datum WGS 84 GPS 9 1 11 14 16 20 23 30 31 32 GLONASS 5 5 7 8 9 10 Position Sol
76. hows which command was used to trigger the response For example the Show Sessions command produces a response like this lt Show Sessions gt Session name CORSA enable yes schedule Continuous Session name CORSB enable no schedule Continuous Session name CORSC enable no schedule Continuous lt end of Show Sessions gt Schematically the multi line format takes the form lt Verb Object Parameters gt Zero or more lines of ASCII data lt end of Verb Object Parameters gt Note A multi line response may have zero lines of data inside the frame There is no way of determining the length of the response other than counting lines until the end of response line is found Any command that can return a multi line response will always do so even if the information could fit in a single line response NetR9 GNSS Reference Receiver User Guide 105 D Programmatic Interface Single line action response OK All command s that use a verb other than Show attempt to initiate an action as well as returning some data The response to these commands indicates two things e Whether the command succeeded e What the results of the action were Successful execution of the command is always shown by a response line that starts with OK This is followed on the same line by descriptive text indicating what action was taken Often the descriptive text takes the form of the response from a corresponding Show command that sh
77. iate edit mode for the current field Power button operations To Hold the power Notes button down for Turn off the receiver 2 seconds Clear the almanac 15 seconds ephemeris and SV information Reset the receiver to 35 seconds its factory defaults and the default application file Force the receiver to At least 60 seconds A turn off The display shows a countdown timer When the display goes blank release the power button The display shows a countdown timer When the display goes blank continue to hold the power button The display shows another countdown timer while clearing the almanac and ephemeris When the counter reaches 0 release the power button The display shows a countdown timer When the display goes blank continue to hold the power button The display shows another countdown timer while clearing the almanac and ephemeris When the counter reaches 0 continue to hold the power button The display shows another countdown timer while resetting the receiver When the counter reaches 0 release the power button CAUTION All data stored in the receiver is lost when the receiver is forced to turn off If the previous methods do not work use this method to force the receiver to turn off When the power LED turns off release the power button 32 NetR9 GNSS Reference Receiver User Guide Configuring the Receiver Keypad and Display 5 Home screen This is the main receiver scr
78. in meters The checksum data always begins with PTNL VHD Heading Information An example of the PTNL VHD message string is shown below with a description of 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 Field Meaning ow AON Du bh uN O 10 11 12 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 GPS Quality indicator O Fix not available or invalid 1 Autonomous GPS fix 2 Differential floating carrier phase integer based solution RTK float 3 Differential fixed carrier phase integer based solution RTK fixed 4 Differential code phase only solution DGPS Also OmniSTAR XP HP converging SBAS solution WAAS EGNOS RTK Float 3D in a VRS Network Also OmniSTAR XP HP converged RTK Fixed 3D in a VRS Network RTK Float 2D in a VRS Network Number of satellites used in solution PDOP The checksum data always begins with o i on RMC Position Velocity and Time The RMC string is shown below with a description of the message fields Field GPRMC 123519 A 4807 038 N 01131 000 E 022 4 084 4 230394 003 1 W 6A Meaning 0 1 message ID GPRMC UTC of position fix NetR9 GNSS Reference Receiver User Guide 89 A NMEA 0183 Output Field Meaning 2 Status
79. l field when any reference station ID is selected and no corrections are received The checksum data always begins with NetR9 GNSS Reference Receiver User Guide 83 A NMEA 0183 Output GSA GST GPS DOP and active satellites An example of the GSA message string is shown below with a description of 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 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 Position Error Statistics An example of the GST message string is shown below with a description of the message fields GPGST 172814 0 0 006 0 023 0 020 273 6 0 023 0 020 0 031 6A Field O ON DU AUW Meaning message ID GPGST UTC of position fix RMS value of the pseudorange residuals includes carrier phase residuals during periods of RTK float and RTK fixed processing 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
80. lip to the two holes located at the bottom of the front panel of the receiver 30 NetR9 GNSS Reference Receiver User Guide CHAPTER Configuring the Receiver Keypad and Display In this chapter Button functions Power button operations Home screen Status screens Setting up the receiver as a base station Setting up the receiver as part of an Ethernet configuration Setting up the receiver to log data The NetR9 GNSS reference receiver features a front panel user interface with a keypad and a two line alphanumeric display see page 19 This interface enables you to configure many ofthe receiver s features without using an external controller or computer NetR9 GNSS Reference Receiver User Guide 31 5 Configuring the Receiver Keypad and Display Button functions Use the buttons on the front panel to turn on or turn off the receiver and to check or change the receiver settings Button Name Function Power Turn on or turn off the receiver To turn off the receiver hold down for two seconds Escape Return to the previous screen or cancel changes you make on a screen Enter Advance to the next screen or accept changes you make on a screen Up Move the cursor between multiple fields on a screen or make changes Down Move the cursor between multiple fields on a screen or make changes Left Move the cursor between characters in an editable field Right Move the cursor between characters in an editable field Init
81. ll directions 360 degrees e Mounted 1 5 m 5 feet above any nearby signal reflectors e Separation of at least 300 m 984 feet from radio signal transmitters e Mount stability that is not influenced by thermal expansion wind loading or soil expansion contraction NetR9 GNSS Reference Receiver User Guide 27 4 Setting Up the Receiver For additional information on this topic research the reference antenna installation guidelines published by the US National Geodetic Survey http www ngs noaa gov PUBS_LIB CORS_guidelines pdf International GNSS Service http igscb jpl nasa gov network guidelines guidelines html Connecting the receiver to an external device You can connect a NetR9 GNSS reference receiver to the following devices GNSS antenna page 28 Dial up modem page 29 Radio modem page 29 Meteorological or tilt sensor page 29 Other external devices page 30 GNSS antenna The receiver provides a TNC type female connector for connecting to an antenna The receiver is intended for use with a Zephyr Geodetic Model 2 antenna or a Trimble GNSS Choke Ring antenna Antenna cabling Many permanent GPS installations have unique cabling requirements Depending on the available infrastructure you may need to mount the antenna a substantial distance from the receiver The receiver can withstand a loss of 12 dB between the antenna and the receiver The degree of loss in a coaxial cable depends on the frequen
82. loat 3D in a VRS Network Also OmniSTAR XP HP converged RTK Fixed 3D in a VRS Network RTK Float 2D in a VRS Network Number of satellites in fix DOP of fix Ellipsoidal height of fix coll Ot M ellipsoidal height is measured in meters The checksum data always begins with Note The PTNL PJK message is longer than the NMEA 0183 standard of 80 characters PTNL VGK Vector Information An example of the PTNL VGK message string is shown below with a description of the message fields Field PTNL VGK 160159 00 010997 0000 161 00009 985 0000 002 3 07 1 4 M 0B Meaning nu pb WN O message ID PTNL VGK UTC of vector in hhmmss ss format Date in mmddyy format East component of vector in meters North component of vector in meters Up component of vector in meters GPS Quality indicator 0 Fix not available or invalid 1 Autonomous GPS fix 2 Differential floating carrier phase integer based solution RTK float 3 Differential fixed carrier phase integer based solution RTK fixed 4 Differential code phase only solution DGPS Also OmniSTAR XP HP converging SBAS solution WAAS EGNOS RTK Float 3D in a VRS Network Also OmniSTAR XP HP converged RTK Fixed 3D in a VRS Network RTK Float 2D in a VRS Network Number of satellites if fix solution DOP of fix Do En 88 NetR9 GNSS Reference Receiver User Guide NMEA 0183 Output A Field Meaning 10 M Vector components are
83. memory you must manually delete it NetR9 GNSS Reference Receiver User Guide 55 6 Configuring the Receiver Other Than Keypad and Display e FTP Push Use this screen to configure the receiver to push stored files to the FTP server of your choice Only files that are configured to use FTP push are transmitted FTP Push Server Address Username anonymous Password Verify Password Remote Directory Path Style Flat y Rename ARRE YMMDDhhmm Transfer mode Passive with fallback to active Y e FTP Push Log Shows the status of all FTP Push operations Receiver Configuration menu Use this menu to configure settings such as elevation mask and PDOP mask the antenna type and height the reference station position and the reference station name and code Receiver Configuration Antenna Reference Station Position General Application Files Default Language 56 NetR9 GNSS Reference Receiver User Guide summary Configuring the Receiver Other Than Keypad and Display 6 Gives an overview of the status of many of the important configuration items Receiver Configuration Elevation Mask PDOP Mask Horizontal Precision 0 30 m Clock Steering Everest Multipath Mitigation Antenna ID Antenna Type Antenna Measurement Method Antenna Height 1PPS On Off Event 1 On Off Event 1 Slope External Frequency Available RTK Mod
84. n a unique receiver configuration With this receiver you can create an application file that includes most of the receiver s unique configuration settings You can then copy that application file onto one or more other NetR9 GNSS reference receivers the target to quickly configure them to match the first receiver the source For settings that are not stored in an application file there are also clone files which enable you to capture all of the settings not included in the application file You can copy the clone file and the application file onto one or more other NetR9 GNSS reference receivers the target to give them the exact configuration as the first receiver the source This is called receiver configuration cloning or cloning Receiver cloning greatly reduces the time required to prepare a large group of receivers for field operations 68 NetR9 GNSS Reference Receiver User Guide Default Settings and Application Files 7 Select Receiver Configuration Application Files to access the required tools to use these features There are two variable fields Filename Enter a unique name for a stored configuration file Operation Select a particular operation from a drop down list Application Files Executing Application File Name CURRENT Operation Start Now Current Tim Enable Timer Disable Timer Delete File Car Download File Upload File Store Current File Start Default Now Filename CURREN
85. ocal time zone offset from GMT ranging from 00 through 13 hours Local time zone offset from GMT ranging from 00 through 59 minutes YO wu pb UN 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 NetR9 GNSS Reference Receiver User Guide 91 A NMEA 0183 Output 92 NetR9 GNSS Reference Receiver User Guide APPENDIX Upgrading the Receiver Firmware In this appendix m The WinFlash utility m Upgrading the receiver firmware m Forcing the receiver into Monitor mode The receiver is supplied with the latest version of the receiver firmware already installed If a later version of the firmware becomes available use the WinFlash utility to upgrade the firmware on your receiver Firmware updates are available for download from the Trimble website Go to www trimble com Support and select the link to the receiver that you need updates for and then click Downloads Running the WinFlash installer installs the appropriate files to your hard drive You can also upgrade the receiver through the web interface The firmware file required to upgrade the receiver through the Web interface is located in C Program Files Trimble WinFlash Firmware The file type required is the format wm_vxxx img where xxx represents the version of firmware NetR9 GNSS Reference Receiver User Guide 93 B
86. ontrol setting Returns the current settings of the Pulse Per Second controls Modifies the settings of the Pulse Per Second controls Returns a list of supported antenna types Clears Returns the current Antenna specifications Modifies the Antenna specifications Input Output commands These sections show how Input Output ports are configured to stream data and so on Command Description Show loPorts Show loPort Set loPort Delete loPort Show RefStation Set RefStation Returns a list of all I O ports and their settings Returns the settings for a single I O port Modifies the controls for an I O port Removes a TCP IP port definition Returns the current Reference Station control settings Modifies the Reference Station control settings NetR9 GNSS Reference Receiver User Guide Programmatic Interface D Command Description PortParameters Port specification parameters StreamParameters Stream specification parameters Firmware commands These commands are associated with updating firmware in the GNSS receiver Command Description Show FirmwareVersion Returns the current running firmware version Show FirmwareWarranty Returns the firmware warranty date set in the receiver Set FirmwareWarranty Sends option code to update firmware warranty date Upload FirmwareFile Loads new firmware file to receiver NetR9 GNSS Reference Receiver User Guide 113 D Programmatic Interface 114
87. or to change it 3 When finished press O 4 Press to move to the next screen 34 NetR9 GNSS Reference Receiver User Guide Configuring the Receiver Keypad and Display 5 Setting the reference latitude longitude and height of the base station In the Base Latitude screen 1 2 3 4 Press to edit the reference latitude of the base station Press or to select the character to edit and then press or to change it When finished press O Press to move to the next screen In the Base Longitude screen L 2 3 4 Press Oto edit the reference longitude of the base station Press or to select the character to edit and then press or to change it When finished press O Press to move to the next screen In the Point Height screen l 2 Press to edit the ellipsoidal height of the base station Press or to select the character to edit and then press or to change it When finished press O Press to move to the next screen Measuring and changing the antenna height In the Antenna Type screen 1 2 3 4 Press Oto select the type of antenna used with the receiver Press or to select an antenna type When finished press Es Press to move to the next screen In the Measure To screen 1 2 3 4 Press to select how the antenna height is measured Press or to select a measurement method When finished press O Press to move to the next screen Net
88. orized service center the remaining warranty on the product will be void 24 NetR9 GNSS Reference Receiver User Guide CHAPTER Setting Up the Receiver In this chapter Guidelines Connecting the receiver to an external device m Installing the tripod clip This chapter describes best practices for setting up the equipment and outlines the precautions that you must take to protect the equipment It also describes how to connect the receiver to external devices The antenna installation guidelines described here are the minimum standards When installing a geodetic antenna to gather precise observation data always follow recommended CORS installation practices to the greatest extent possible NetR9 GNSS Reference Receiver User Guide 25 Setting Up the Receiver Guidelines When you set up the receiver follow these guidelines Environmental conditions The receiver has a waterproof housing but you must take reasonable care to keep the unit dry To improve the performance and long term reliability of the receiver do not expose the receiver to extreme environmental conditions such as e Water e Heat greater than 65 C 149 F e Cold less than 40 C 40 F e Corrosive fluids and gases Sources of electrical interference Do not place the GNSS antenna near the following sources of electrical and magnetic noise e Gasoline engines spark plugs e Televisions and computer monitors e Alternators and
89. orrections Carrier phase corrections are available on Version 2 or on the newer Version 3 RTCM protocol which is available on certain Trimble dual frequency receivers The Version 3 RTCM protocol is more compact but is not as widely supported as Version 2 real time kinematic A real time differential GPS method that uses carrier phase measurements for greater accuracy Satellite Based Augmentation System SBAS is based on differential GPS but applies to wide area WAAS EGNOS and MSAS networks of reference stations Corrections and additional information are broadcast via geostationary satellites SNR The signal strength of a satellite is a measure of the information content of the signal relative to the signal s noise The typical SNR of a satellite at 30 elevation is between 47 and 50 dBHz The quality of a GPS position is degraded ifthe SNR of one or more satellites in the constellation falls below 39 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 See signal to noise ratio Universal Time Coordinated A time standard based on local solar mean time at the Greenwich meridian 118 NetR9 GNSS Reference Receiver User Guide WAAS WGS 84 Glossary Virtual Reference Station A VRS system consists of GNSS hardware software and communication links It uses data from a network of reference st
90. ou have not set up an additional session using the web interface you will only be able to select the Default session Additionally external USB logging is only configurable via the web interface 4 5 6 ll 8 Press to move to the On Off field Press to edit the setting Press to change the setting to the required state When finished press O Press to move to the next screen 38 NetR9 GNSS Reference Receiver User Guide CHAPTER Configuring the Receiver Other Than Keypad and Display In this chapter You can configure the NetR9 GNSS reference receiver to perform a wide variety of functions This chapter describes the configuration m Configuring through a web methods other than the front panel display and browser explains when and why each method is used m Configuring the Ethernet settings The WinFlash utility described in this chapter is used primarily to update the receiver firmware and to configure the Ethernet settings in the receiver NetR9 GNSS Reference Receiver User Guide 39 6 Configuring the Receiver Other Than Keypad and Display Configuring the Ethernet settings The receiver Ethernet port connects to an Ethernet network through which you can access configure and monitor the receiver No serial cable connection to the receiver is necessary The receiver has the following Ethernet settings e IP setup Static or DHCP e IP address Netmask e Broadcast e Gateway e DNS address e HTTP por
91. ows the new state of the object being controlled For example the command Set Pps enable yes slope positive returns OK PPS enable yes slope positive Some commands allow partial parameter lists and then use defaults for the unspecified values In these cases the OK response always shows the complete list of settings that the affected object now has In other cases the descriptive text shows an appropriate description of what action was taken For example Delete loPort port TcpPort5066 OK loPort TcpPort5066 is deleted Reset GnssData OK Clearing GnssData and restarting system A single line error message If the command parser has difficulty understanding or implementing a command it responds with a single line error message that shows why the command was rejected or why it failed to execute For example Show ERROR Invalid command Show Shw System ERROR Invalid verb Shw Show Serial ERROR Unknown command show serial Show SerialNumber SerialNumber sn 60350239BF 106 NetR9 GNSS Reference Receiver User Guide Programmatic Interface D Enable Session name testing ERROR No Session testing exists Set multipathReject enable maybe ERROR Invalid Yes No Argument set multipathreject amp enable maybe Binary file response Some commands return a non ASCII response in the form of an application octet stream binary document This is used only by the Download File command Receiving such a document may
92. quires static IP addresses L 2 Contact the network administrator for the correct settings for the receiver Use the serial cable provided with the receiver to connect the receiver to a computer running the WinFlash utility Turn on the receiver On the computer start the WinFlash utility From the Device Configuration screen a From the Device type list select Trimble NetR3 NetR5 NetR8 NetR9 Receiver b From the PC serial port list select the appropriate serial port WinFlash v1 190 Device Configuration x 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 5700 Receiver 5800 Recei Trimble NetR3 Neth 5 Neth8 h NetRS Receiver Trimble R Receiver a PC serial port Trimble c Click Next NetR9 GNSS Reference Receiver User Guide 41 6 Configuring the Receiver Other Than Keypad and Display 42 6 From the Operation Selection screen select Configure Ethernet settings and then click Next NetR5 v4 21b3 Supervisor Operation Selection The operations supported by the Trimble NetR3 NetR5 NetR8 NetR9 Receiver are listed below Select an operation to perform and press Next to bin ne Operations Change system name Confiqure ethernet settings Load GPS software Load TI firmware Make password to clear serial number Make Passminrd tn s
93. r use of the Product iv damage caused by accident ightning or other electrical discharge fresh or salt water immersion or spray or exposure to environmental conditions for which the Product is not intended or v normal wear and tear on consumable parts e g batteries Trimble does not warrant or guarantee the results obtained through the use of the Product NOTICE REGARDING PRODUCTS EQUIPPED WITH TECHNOLOGY CAPABLE OF TRACKING SATELLITE SIGNALS FROM SATELLITE BASED AUGMENTATION SYSTEMS SBAS WAAS EGNOS AND MSAS OMNISTAR GPS MODERNIZED GPS OR GLONASS SATELLITES OR FROM IALA BEACON SOURCES TRIMBLE IS NOT RESPONSIBLE FOR THE OPERATION OR FAILURE OF OPERATION OF ANY SATELLITE BASED POSITIONING SYSTEM OR THE AVAILABILITY OF ANY SATELLITE BASED POSITIONING SIGNALS THE FOREGOING LIMITED WARRANTY TERMS STATE TRIMBLE S ENTIRE LIABILITY AND YOUR EXCLUSIVE REMEDIES RELATING TO PERFORMANCE OF THE TRIMBLE PRODUCT EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN THE PRODUCT AND ACCOMPANYING DOCUMENTATION AND MATERIALS ARE PROVIDED AS IS AND WITHOUT EXPRESS OR IMPLIED WARRANTY OF ANY KIND BY EITHER TRIMBLE OR ANYONE WHO HAS BEEN INVOLVED IN ITS CREATION PRODUCTION INSTALLATION OR DISTRIBUTION INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE TITLE AND NONINFRINGEMENT THE STATED EXPRESS WARRANTIES ARE IN LIEU OF ALL OBLIGATIONS OR LIABILITIES ON THE PART OF TRIMBLE ARISI
94. require special processing Using programmatic commands In order to use the Programmatic Interface commands the following must be available e AGNSS Receiver on a TCP IP link This could be either an Ethernet connection or a PPP connection over a serial port e Acomputer that can send HTTP requests over the TCP IP link to the GNSS Receiver This is assured if a web browser can communicate using the GNSS Receiver Browser GUl interface e Aprogramming tool that allows sending CGI requests and receives the responses On most Unix Linux systems this can be satisfied with the command line utilities Perl or Curl Programmatic commands have to be encoded as URL or CGI requests which include the following information e The required protocol http or https e The DNS name or IP address of the target system e The Verb Object and Parameters forming the command The URL will be in the form http SystemName prog Verb Object amp param value amp param value If any parameter values have special characters in them such as spaces or ampersands these must be encoded using hex formatting For example each space must be replaced with the sequence 20 Once the URL is determined use the CGI transmission tool to send a GET request that contains the encoded command to the target GNSS receiver The receiver responds by sending back a document in one of the five response types Almost all responses are simple ASCII text which can then be displ
95. ress 45 to move between configuration steps 1 From the Home screen press to move to the next screen The Operation Mode screen appears Use this screen to configure the reference station setup Ethernet configuration system setup or to view the SV satellite status As reference station setup is the default press s to move to the next screen The Base Station screen appears Use this screen to select ifthe receiver is going to use a Here position or if the current coordinates in the receiver will be edited 2 Doone of the following Press to edit the current position Edit Current begins to flash This indicates that you can now edit this setting Press to change to New Base Here Press to accept the change The current coordinates that the receiver is using will be used as the base station coordinates Continue to the next step and then manually enter the coordinates Press again 3 Press to continue to the next screen Changing the name and description of the base station In the Base Name screen 1 Press Oto edit the name of the base station The name can be up to 16 characters 2 Press or to select the character to edit and then press or to change it 3 When finished press 3 to accept the change 4 Press to move to the next screen In the Base Code screen 1 Press to edit the code description of the base station 2 Press or to select the character to edit and then press
96. rier phase integer based solution RTK fixed 4 Differential code phase only solution DGPS Also OmniSTAR XP HP converging SBAS solution WAAS EGNOS RTK Float 3D in a VRS Network Also OmniSTAR XP HP converged RTK Fixed 3D in a VRS Network RTK Float 2D in a VRS Network Number of satellites in fix DOP of fix Ellipsoidal height of fix oo y Gun M ellipsoidal height is measured in meters The checksum data always begins with Note The PTNL GGK message is longer than the NMEA 0183 standard of 80 characters PTNL PJK Local Coordinate Position Output An example of the PTNL PJK message string is shown below with a description of the message fields PTNL PJK 010717 00 081796 732646 511 N 1731051 091 E 1 05 2 7 EHT 28 345 M 7C Field Meaning nu hb uN O 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 NetR9 GNSS Reference Receiver User Guide 87 A NMEA 0183 Output Field Meaning 8 9 10 11 12 GPS Quality indicator 0 Fix not available or invalid 1 Autonomous GPS fix 2 Differential floating carrier phase integer based solution RTK float 3 Differential fixed carrier phase integer based solution RTK fixed 4 Differential code phase only solution DGPS Also OmniSTAR XP HP converging SBAS solution WAAS EGNOS RTK F
97. ries before use e Do not use 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 e Donot allow a battery that is in storage to discharge to below 5 V Charging the battery The rechargeable Lithium ion battery is supplied partially charged Charge the battery completely before using it for the first time Ifthe battery has been stored for longer than three months charge it before use When connected to a suitable power source the internal battery charges fully in 24 hours A 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 within the NetR9 receiver The battery can only be removed by an authorized Trimble Service Center Storing the 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 NetR9 GNSS Reference Receiver User Guide 23 3 Batteries and Power Do not allow a battery that is in s
98. rms and conditions set forth herein Trimble Navigation Limited Trimble warrants that for a period of 1 year from date of purchase this Trimble product the Product will substantially conform to Trimble s publicly available specifications for the Product and that the hardware and any storage media components of the Product will be substantially free from defects in materials and workmanship Product Software Product software whether built into hardware circuitry as firmware provided as a standalone computer software product embedded in flash memory or stored on magnetic or other media is licensed and not sold If accompanied by a separate end user license agreement use of any such software will be subject to the terms of such end user license agreement including any differing limited warranty terms exclusions and limitations which shall control over the terms and conditions set forth in this limited warranty Software Updates During the limited warranty period you will be entitled to receive such Fix Updates and Minor Updates to the Product software that Trimble releases and makes commercially available and for which it does not charge separately subject to the procedures for delivery to purchasers of Trimble products generally If you have purchased the Product from an authorized Trimble distributor rather than from Trimble directly Trimble may at its option forward the software Fix Update or Minor Update to the Trimbl
99. s den Seb ESN RHE ESE BODO OES 79 NMEA 0183 message overview 80 Common message elements 81 10 NetR9 GNSS Reference Receiver User Guide MA 2 pe Gy ud Ad GA a aa BS AN ee ire 81 NMEA Messages sus eb ead dee deeb ee ee Ade Ne bed ede deeb ee ba bas 82 Upgrading the Receiver Firmware 93 The WinFlash utility iss aos e edee di e ee ae 94 Installing the WinFlash utility 94 Upgrading the receiver firmware 94 Forcing the receiver into Monitor mode asasan aaae 95 Troublesho ting riada 97 Receiver ISSUES voces pta e e da ate eek aA E E GN ard R ea Ss 98 Programmatic Interface 101 OVErVICW e sai al does eee AR due ete 102 Format of programmatic commands 103 Uploading files uo ss budget added A die die dura ae dat deu oe 104 Responses to commands er a saisie pate nee ae ee oe 104 Single line data response 24444 da ra de secs mobs nt Ras 105 Multi line data response 105 Single line action response OK 106 A single line error message 106 Binary fl respons s sud Rene dard edit 107 Using programmatic commands 107 Using Curl nn
100. scripting for browser use or for integration into other web capable platforms For more information on supported commands and command structure see Appendix D Programmatic Interface The following figure shows an example of the screen that appears when you select Programmatic Interface Programmatic Interface Send MAutoSubrnit Response Mode Text O XML Configuration 1 Y Firmware s Configuration 2 1 0 Status Commands Show SerialNumber Returns the Serial Number for this GPS Receiver Show UtcTime Returns the current UTC date and time Show GpsTime Returns the current GPS week number and time Show Position Returns the currently measured position and associated values Show Voltages Returns the voltage on all power or battery inputs Show Temperature Returns the internal temperature of the GPS Receiver Show Commands Returns a list of supported commands XML mode only NetR9 GNSS Reference Receiver User Guide 65 6 Configuring the Receiver Other Than Keypad and Display 66 NetR9 GNSS Reference Receiver User Guide CHAPTER Default Settings and Application Files In this chapter m Default receiver settings Most of the receiver settings are stored in application files The default application file Default cfg is stored permanently in the receiver and contains the factory default settings for the NetR9 GNSS reference receiver Whenever the receiver is reset to its factory defaults the c
101. settings but they cannot make changes NetR9 GNSS Reference Receiver User Guide 63 6 Configuring the Receiver Other Than Keypad and Display The following figure shows an example of the screen that appears when you select Security Configuration Security Configuration Security Enabled with Anonymous Access Y File Download File Delete Anonymous User admin O TRMB O update E Rover O O O O update O Rover2 O O O O update O Downloads O O O O Update O Manager Update Add User Username Password VerifyPassword Edit User File Download File Delete Receiver Config NTripCaster MA F O O Firmware menu Use this menu to verify the current firmware and to load new firmware to the receiver You can upgrade firmware across a network or from a remote location without having to connect to the receiver with a serial cable The following figure shows an example of the screen that appears when you select Firmware Install New Firmware Firmware Warranty Date 2011 07 01 Active Firmware Version 0 16 4 15 Active Firmware Date 2010 03 23 Active Firmware Checksum a3de9939 Browse Install New Firmware Status Idle 64 NetR9 GNSS Reference Receiver User Guide Configuring the Receiver Other Than Keypad and Display 6 Programmatic Interface menu Use this menu to show set and command configurations The interface allows simple HTTP
102. 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 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 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 equa
103. ss in par dues teurs Gh gle doh Whe hice mieu 108 Using Perl io ina a in owe eee ae manne Sabu oe ee ae eee 109 Other Techniques s x asp ce ten ob eb aes a bb a hae PA ache ee A ed ts 110 Programmatic commands 111 Status commands 111 Satellite COMMANAS see a E E ER a i RON bd ade en 111 Configuration commands 5 ba eR eG A de pan 112 Input Output commands ss ns seras de a aiment 112 Firmware command ios 428 aa a Ae one dt ab mins 113 A EA 115 NetR9 GNSS Reference Receiver User Guide 11 12 NetR9 GNSS Reference Receiver User Guide Introduction In this chapter About the receiver Related information Technical support Your comments CHAPTER The NetR9 GNSS Reference Receiver User Guide describes how to set up and use the Trimble NetR9 GNSS reference receiver In this manual the receiver refers to the NetR9 GNSS reference receiver unless otherwise stated Even if you have used other Global Navigation Satellite Systems GNSS products before Trimble recommends that you spend some time reading this manual to learn about the special features of this product If you are not familiar with GNSS go to www trimble com for an interactive look at Trimble and GNSS NetR9 GNSS Reference Receiver User Guide 13 1 Introduction About the receiver The NetR9 GNSS reference receiver the receiver is a multiple frequenc
104. stem Name Trimble of Trimble Navigation Limited regis ates Patent and Trademark tries EVEREST Mta demarks of Trimble Office and Navigation Limited Al other trademarks are tl Receiver Options Lists the installed options and limits of the receiver platform In addition this page shows the current firmware warranty date and enables you to upload new codes to the receiver so that you can enter new firmware warranty date codes Receiver Status Options L2 Tracking X L2C X L5 Tracking GLONASS X GIOVE X Galileo Everest X Maximum Observable Rate 50Hz VRS HmES x OmniSTAR HP X CMR Input No Static CMR Input CMR Output X No Static CMR Output CMRXx Input X CMRx Output X RTCM Input RTCM Output X RTK Baseline Length Limit 1 0km NMEA Binary Outputs X Data Logging X Event Markers Bluetooth X Transmit Advanced RTCM Output USB Hard Drive X Programmatic Interface X Enable 1PPS Firmware Warranty Date 2011 07 01 Option Code 46 NetR9 GNSS Reference Receiver User Guide x lt OK KK KOK Configuring the Receiver Other Than Keypad and Display 6 Activity Lists several important items to help you understand how the receiver is being used and its current operating condition Items include the identities of currently tracked satellites files being logged data streams being input and output the receiver s internal temperature how long the receiver has been operational power source voltages and t
105. t The default setting for the HTTP port is 80 This port is not assigned by the network HTTP port 80 is the standard port for web servers and enables you to connect to the receiver by entering only the receiver s IP address in a web browser For example using port 80 http 169 254 1 0 If the receiver is set to use a port other than 80 you must enter the IP address followed by the port number in a web browser For example port 4000 http 169 254 1 0 4000 The default setting of the receiver is to use DHCP This enables the receiver to automatically obtain an IP address Netmask Broadcast Gateway and DNS address from the network When a receiver is connected to a network using DHCP the network assigns the receiver an IP address To verify this address open the Home screen and then press If your network installation requires the receiver to be configured with a static IP address you can configure the Ethernet settings through the front panel seeChapter 5 Configuring the Receiver Keypad and Display through a web server or by using the WinFlash utility To use a web server the receiver must be connected to a network and have a valid Ethernet configuration 40 NetR9 GNSS Reference Receiver User Guide Configuring the Receiver Other Than Keypad and Display 6 Configuring using the WinFlash utility To use the WinFlash utility to configue Ethernet settings for a receiver that is to be connected to a network that re
106. t Receiver Use Default Application File Clear Satellite Data Clear Application Files Clear All Receiver Settings e Default Language Use this screen to select the language that the receiver uses when it starts Default Web Interface Language Ok English OM 4 x O Suomi oll Francais OMA Deutsch OMB taiianc ES On Nederlands Omm Norsk Os Polski OB Pyccruii of Espa ol Om Svenska 60 NetR9 GNSS Reference Receiver User Guide Configuring the Receiver Other Than Keypad and Display 6 1 0 Configuration menu Use the 7 0 Configuration menu to set up all receiver outputs and inputs The receiver can output CMR RTCM NMEA GSOF RT17 RT27 or BINEX messages on TCP IP UDR serial or Bluetooth ports The following figure shows an example of the screen that appears when you select I O Configuration Port Summary 1 0 Configuration You can use the receiver USB port to access the receiver in USB Device mode This enables you to cable your computer to the receiver and then browse the receiver internal memory as an external USB device USB drivers are available from www trimble com e Bluetooth menu Use this menu to configure Bluetooth settings The following figure shows an example of the screen that appears when you select Bluetooth Info Bluetooth Info Module Info Infineon UniStone HAN v2 4 FAN v1 DS Stack Version 1215182 Local Name NetR9 5003K65235 Trimble Bluetooth MAC Address
107. t accepts easily generated text based commands as requests to the GNSS receiver The GNSS receiver responds with simple plain text answers that are easily interpreted by an automatic process NetR9 GNSS Reference Receiver User Guide 101 D Programmatic Interface Overview Programmatic commands are submitted to the GNSS receiver using the same TCP IP channels used by the GUI browser interface They both use the HTTP or HTTPS protocol to submit CGI requests encoded in URLs Response documents are then returned to the remote computer using the same channels The only differences between GUI requests and Programmatic requests are the exact URLs used and the types of responses returned Secure operations using the Programmatic Interface are available in two ways e The interface can be accessed through the HTTPS protocol which encrypts all transactions This prevents anyone from observing the interactions Note that the commands can be accessed over the unencrypted HTTP port as well which is not encrypted e The second level of security is provided by the HTTP Security mechanism All programmatic commands are handled through the web server inside the GNSS Receiver This security has three levels State Access Disabled Any user can execute any programmatic command Enabled A valid user account must be supplied with each Programmatic Interface request The capabilities for that account may limit the types of requests that the user c
108. t how to connect the receiver to the server contact your network administrator 62 NetR9 GNSS Reference Receiver User Guide Configuring the Receiver Other Than Keypad and Display 6 The following figure shows an example of the screen that appears when you select Network Configuration Ethernet Ethernet Configuration Stored settings IP Setup Static IP Y IP Address 10 1 les Netmask 255 255 254 o H Broadcast Gateway ho h ea lf Force DNS Address DNS Address ho 1 80 24 DNS Domain arn trimblecorp net Hostname trim5003K65235 MTU 1500 Change Configuration Renew DHCP Current settings IP Setup Static IP IP Address 10 1 95 100 Netmask 255 255 254 0 Broadcast 10 1 95 255 Gateway 10 1 94 1 Force DNS Address Yes DNS Address 10 1 80 24 DNS Domain am trimblecorp net Hostname trim5003K65235 MTU 1500 Security menu Use this menu to configure the login accounts for all users who will be permitted to configure the receiver through a web browser Each account consists of a username password and permissions Administrators can use this feature to limit access to other users By default security is disabled to make it easier to configure the receiver However Trimble encourages administrators to enable security to avoid unwanted changes If security is enabled with anonymous access it allows users to browse the receiver
109. ted Verbs can be one of e Show e Set e Reset e Enable e Disable e Delete e Download e Upload In this example the Verb is enable This is an Object type on which the action is to be performed Objects can be e Astate or characteristic of the system such as the Serial Number e A function control such as ElevationMask or data logging Session e A file object like a logged data file or a firmware file In this example the Object is a data logging Session A parameter that picks one of several objects or describes characteristics that qualify the command request In this sample the name parameter gives the name of the specific data logging Session that is to be enabled Parameters are usually in the form paramname value Multiple parameters can be given for a single command They all must be separated by an ampersand amp The general command format is http SystemName prog Verb Object amp param value amp param value In most of this document parts of that format are ommitted For clarity commands are shown as Verb Object param value param value As far as is possible Verbs Objects parameter names and parameter values are not case sensitive That is you can use any combination of upper and lower case characters anywhere in the commands The exceptions are items such as SystemName file names session names account names passwords and so on These exceptions are called out in the parame
110. ter descriptions for each command NetR9 GNSS Reference Receiver User Guide 103 D Programmatic Interface Command parameters are in the form paramname value The value is a string of characters usually a number or a single word A few parameter values can contain multiple items concatenated into a single string often with punctuation For example some parameters allow a comma separated list like this Set GpsSatControls disable 5 8 23 In such cases the parameter listing in the command description shows the acceptable formats Some parameters define an arbitrary string of characters that can include spaces ampersands or other punctuation character These characters may cause problems when encoded in URLs It is best to express them as xx values where xx is the hexadecimal equivalent of the ASCII character Common values that need encoding are Hex ASCII 20 Space 25 Percent 26 Ampersand amp 3F QuestionMark Most other characters do not require encoding but if in doubt you can do so Uploading files A small number of commands are used to transfer a file from an external computer into the GNSS receiver These commands all use the verb Upload The process for uploading a file is more complex than a simple URL CGI submission Instead of an http GET request you use a POST request Programming with Upload commands requires special techniques See the following examples in Using Curl page 108 Usin
111. ter key for menu navigation 4 arrow keys up down left right to scroll options and for data entry GNSS reference receiver Zephyr Geodetic Model 2 or Trimble GNSS Choke Ring antenna preferred Other models supported Physical Feature Specification Dimensions 26 5 cm x 13 0 cm x 5 5 cm 10 43 in x 5 12 in x 2 16 in Weight 1 75 kg 3 85 lb Temperature e Operating 40 C to 65 C 40 F to 149 F e Storage 40 C to 80 C 40 F to 176 F Humidity 100 condensing Ingress protection Shock and vibration e Shock non operating e Shock operating e Vibration Tracking Tested to IP67 waterproof for temporary immersion to a depth of 1 m 3 28 ft dustproof Designed to survive a 1 m 3 28 ft drop onto a hard surface Survival to 75 g 6 mS Survival to 25 g 10 msec saw tooth 10 Hz to 300 Hz 0 04 g2 Hz 300 Hz to 1000 Hz 6 dB Octave e Two advanced Trimble Maxwell 6 GNSS chipsets for a total of 440_channels e Trimble EVEREST multipath signal rejection e Trimble R Track technology e High precision multiple correlator for GNSS pseudorange measurements e Unfiltered unsmoothed pseudorange measurements data for low noise low multipath error low time domain correlation and high dynamic response e Very low noise GNSS carrier phase measurements with lt 1 mm precision in a 1 Hz bandwidth e Signal to noise ratios reported in dB Hz e Proven Trimble low elevation tracking technology
112. the NetR9 GNSS Reference receiver is in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC Notice to Our European Union Customers For product recycling instructions and more information please go to www trimble com ev shtml Recycling in Europe To recycle Trimble WEEE Waste Electrical y and Electronic Equipment products that run on electrical power Call 31 497 53 24 30 and ask for the WEEE Associate Or mail a request for recycling instructions to Trimble Europe BV c o Menlo Worldwide Logistics Meerheide 45 5521 DZ Eersel NL Declaration of Conformity We Trimble Navigation Limited 935 Stewart Drive PO Box 3642 Sunnyvale CA 94088 3642 United States 1 408 481 8000 declare under sole responsibility that the product NetR9 complies 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 NetR9 GNSS Reference Receiver User Guide 3 4 NetR9 GNSS Reference Receiver User Guide Safety Information Before you use your Trimble NetR9 GNSS reference receiver make sure that you have read and understood all safety requirements Regulations and safety The receiver contains an internal radio modem for communicating signals through Bluetooth wireless technology or
113. the Web interface and receiver front panel Ntrip Networked Transport of RTCM via Internet Protocol client server caster support Use and care A This receiver can withstand the rough treatment and tough environment that typically occurs in CORS installation However it is a high precision electronic instrument and should be treated with reasonable care CAUTION Operating or storing the receiver outside the specified temperature range can damage it For more information see Chapter 8 Specifications 18 NetR9 GNSS Reference Receiver User Guide Overview 2 Electronic interference High power signals from a nearby radio or radar transmitter can overwhelm the receiver circuits This does not harm the instrument but it can prevent the receiver electronics from functioning correctly Avoid locating the receiver or antenna within 400 meters of powerful radar television or other transmitters or GNSS antennas Low power transmitters such as those in cell phones and two way radios normally do not interfere with receiver operations COCOM limits The U S A Department of Commerce requires that all exportable GNNS products contain performance limitations so that they cannot be used in a manner that could threaten the security of the United States of America On the NetR9 GNSS reference receiver immediate access to satellite measurements and navigation results is disabled when the receiver velocity is computed to be greater than 1
114. tion before you contact Technical Support NetR9 GNSS Reference Receiver User Guide 97 C 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 Faulty power cable Receiver does not Insufficient memory log data 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 The reference Port settings between station receiver is reference receiver and not broadcasting radio are incorrect Faulty cable between receiver and radio No power to radio Rover receiver is The base station receiver not receiving is not broadcasting radio Incorrect over air baud rates between reference and rover Incorrect port settings between roving external radio and receiver The radio antenna cable and GNSS antenna cable are mixed up 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 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
115. to the receiver through a web browser 1 Enter the IP address of the receiver into the address bar of the web browser Trimble Mozilla Firefo file Edit Vew Go Bookmarks Toots Help 80083008 2 If security is enabled on the receiver by default it is disabled the web browser prompts you to enter a username and password e Enter username and password for Trimble at XX x XXX XX User Name admin Password Ac The default login values for the receiver are User Name admin Password password 3 If you cannot connect to the receiver the password for the root account may have been changed or a different account may be being used Contact your receiver administrator for the appropriate login information Once you are logged in the welcome page appears SN 5003K65235 amp Trimble TRIMBLE NetR9 Trimble GNSS Infrastructure Receiver Data Logging Receiver Configuration NO Configuration 0 imed AI rights reserved Thimble and the Globe E Triangle logo are trademarks of Trimble Navigation Limited registered in the United States Patent and Trademark Office and other counties EVEREST Mal Zap and 2 az of Tea Navigation Laed ter trade are De propery of their respective came Bluetooth OmniSTAR Network Configuration Security Firmware Programmatic Interface Help 44 NetR9 GNSS Reference Receiver User Guide Configuring the Receiver Other Than Keyp
116. torage 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 The internal battery will only charge from an external power source that delivers more than 12 V 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 either of the Lemo ports When you use the receiver in a long term installation Trimble recommends that you use this power supply or another that provides at least 12 V DC at all times to keep the internal battery charged This will ensure that the internal battery provides an uninterrupted power supply that will keep the receiver operational for up to 15 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 battery The internal Lithium ion battery may be removed only at an authorized Trimble Service Center If the battery is removed at an unauth
117. torial axis 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 NetR9 GNSS Reference Receiver User Guide epoch feature firmware GLONASS GNSS GSOF HDOP L1 L2 L5 MSAS multi frequency GPS multipath NMEA OmniSTAR Glossary The measurement interval of a GPS receiver The epoch varies according to the measurement type for real time measurement it is set at one second for postprocessed measurement it can be set to a rate of between one second and one minute For example if data is measured every 15 seconds loading data using 30 second epochs means loading every alternate measurement 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 Gener
118. tricted 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 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 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 A 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 A WARNING Charge and use the rechargeable Lithium ion battery only in strict accor
119. uch as a serial number or dynamic such as the current time or receiver position Command Description Show SerialNumber Show UtcTime Show GpsTime Show Position Show Voltages Show Temperature Show Commands Returns the Serial Number of this GNSS receiver Returns the current UTC date and time Returns the current GPS week number and time Returns the currently measured position and associated values Returns the voltages on all power or battery inputs Returns the internal temperature of the GNSS receiver Returns a list of all supported commands Satellite commands These commands are associated with satellite tracking and data Command Description Show TrackingStatus Show Tracking Set Tracking Show GpsSatControls Set GpsSatControls Show SbasSatControls Set SbasSatControls Show GlonassSatControls Returns information on all tracked satellites Returns signal tracking settings Modifies signal tracking settings Returns the Enable Disable IgnoreHealth settings for all GPS satellites values Modifies the Enable Disable IgnoreHealth settings for GPS satellites Returns the Enable Disable IgnoreHealth settings for all SBAS satellites Modifies the Enable Disable IgnoreHealth settings for SBAS satellites Returns the Enable Disable IgnoreHealth settings for all GLONASS satellites NetR9 GNSS Reference Receiver User Guide 111 112 Programmatic Interface Command Des
120. urrent settings stored in the current application file Current cfg are reset to the values in the default application file The NetR9 GNSS reference receiver extends the use of application files to allow simplified receiver setting duplication in multiple receivers This is sometimes referred to as receiver cloning andis very useful when preparing a large group of receivers for a field data collection campaign NetR9 GNSS Reference Receiver User Guide 67 7 Default Settings and Application Files Default receiver settings These settings are defined in the default application file Function Factory default values SV Enable All SVs enabled General controls Elevation mask 0 PDOP mask 99 RTK positioning mode Low latency Motion Static Lemo port Baud rate 38 400 Format 8 None 1 Flow contro None D9 port Baud rate 38 400 Format 8 None 1 Flow contro None Input setup Station Any NMEA ASCII all All ports off supported messages Streamed output All ports off RT17 RT27 Binary All ports off Reference position Latitude 0 Longitude 0 Altitude 0 00HAE Height Above Ellipsoid Antenna Type Zephyr Geodetic Model 2 Height True vertical Measurement method 0 00 m True vertical Resetting the receiver to factory defaults Press for 35 seconds Using application files to duplicate receiver settings The NetR9 GNSS reference receiver allows the extensive use of application files in order to retai
121. ution Detail Galileo 1 GIOVE B Position Dimension 3D SBAS 2 135 138 Position Type Phase Diff Motion Info Static Receiver Clock Augmentation GPS GLN GPS Week 1579 RTK Solution Normal GPS Seconds 251565 RTK Init Fixed Offset 0 00000 msec RTK Mode Low Latency Drift 0 00028 ppm RTK Network Mode Network Age of Corrections 0 3 Sec Multi System Clock Offsets Height Mode Normal Master Clock System GPS GLONASS Offset 376 1 ns GIOVE B Offset 128 9 ns GLONASS Drift 0 115 nsfs GIOVE B Drift 0 013 ns s 48 NetR9 GNSS Reference Receiver User Guide Velocity East 0 00 m s North 0 00 m s Up 0 00 m s 1 Sigma Estimates East North Up Semi Major Axis Semi Minor Axis Orientation ooo o Dilutions of Preci PDOP 1 5 HDCP 0 8 VDOP 1 2 TDOP 0 7 Configuring the Receiver Other Than Keypad and Display 6 Position Graph Graphically shows the receiver s position and fix status These plots show the values of Height East North East North and PDOP SVs The operator can choose from 10 second or high rate updates Position Graph East Nlorih 10 Second Positions New window East North North o 0 001 East o 0 002 m Reference Latitude 39 898009086 Lon 105 112590775 RTK Fixed Network X Current Pos X Ref 0 05 003 002 1 1 1 1 1 E 1 1 1 1 1 1 r 1 1 1 1 1 1 E O OC SS R
122. y FCC regulated equipment as a result ofits actions in General Docket 79 144 on 13 March 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 20 cm 7 8 inches of the antenna e Donot operate the transmitter unless all RF connectors are secure and any open connectors are correctly terminated NetR9 GNSS Reference Receiver User Guide 5 Safety Information e Do not operate the equipment near electrical blasting caps or in an explosive atmosphere All equipment must be correctly grounded according to Trimble installation instructions for safe operation e All equipment should be serviced only by a qualified technician For Bluetooth radio The radiated output power of the internal Bluetooth wireless radio is far below the FCC radio frequency exposure limits Nevertheless the wireless radio shall be used in such a manner that the Trimble receiver is 20 cm 7 9 inch 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 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 res
123. y GNSS receiver It can track all GPS L1 L2 L5 as well as GLONASS L1 L2 signals You can use the front panel of the receiver or an office computer to configure the receiver access files and publish data files to a company Intranet or to the Internet The receiver makes it easy for you to set up a powerful flexible and reliable reference station for continuous operation The receiver serves in all common geodetic reference receiver roles It can be the main component in a Continuously Operating Reference Station CORS streaming data to Trimble GNSS Infrastructure software It can also work well as a campaign receiver prior to permanent deployment The receiver makes an excellent portable RTK base station with its internal battery It also has specialized capabilities that make it an excellent reference receiver for scientific applications Related information Sources of related information include the following e Release notes The release notes describe new features of the product information not included in the manuals and any changes to the manuals They are provided as a PDF file on the Trimble website e Trimble training courses Consider a training course to help you use your GNSS system to its fullest potential For more information go to 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 Infrastructure dealer
124. you to connect the receiver suggests a connection method and then lists the receiver configuration and selected operation 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 receiver gt Please wait Click OK The Software Upgrade window appears again and states that the operation was completed successfully 94 NetR9 GNSS Reference Receiver User Guide 8 9 Upgrading the Receiver Firmware To select another operation click Menu to quit click Exit If you click Exit the system prompts you to confirm 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 L 2 3 4 5 Turn off the receiver Press and hold amp while turning on the receiver Continue to hold the 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 NetR9 GNSS Reference Receiver User Guide 95 B Upgrading the Receiver Firmware 96 NetR9 GNSS Reference Receiver User Guide APPENDIX Troubleshooting In this appendix Use this appendix to identify and solve common o problems that may occur with the receiver m Receiver issues Please read this sec

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