Home

Trimble BD960 GNSS Receiver Module User Guide

1. Receiver Configuration VO Configuration OmniSTAR Network Configuration SN 4541A61039 2007 12 20T23 51 14Z UTC 3 BD960 GNSS Receiver Module User Guide Now Party Goudy 48 F y Fri 20 F 0 sot 30 F PS Configuring the BD960 Receiver Using a Web Browser 6 Receiver Configuration menu Use the Receiver Configuration menu to configure such settings as elevation mask and PDOP mask the antenna type and height the reference station position and the reference station name and code This figure shows an example of the screen that appears when you select Receiver Configuration Summary Trimble GNSS 2007 12 20T23 54 11Z Mozilla Firefox eles Ele Edit View History Bookmarks Tools Help E E BD po oos O O oo E 1 I aa Trimble BD960 SN 4541A61039 jas MN H U a i o m Receiver Configuration CT eked at wy PDOP Mask 7 ROR LM Clock steering Ronen Everest multipath Mitigation Enabled Antenna ID 0 Antenna Type Unknown ID 0 d Settings Antenna Height 0 000 m 1 1PPS On Off Disabled _ Event 1 On Off Disabled 3 Event1 Slope Positive vo comguraton PO Lov Latency E pan CMR Input Filter Disabled Reference Latitude 0 0 00 00000 N CET Reference Longitude 0 0 00 00000 E Firmware Reference Height 0 000 m 0 y RTCM 2 x ID RTCM 3 x ID 0 CMR ID o Station Name CREFO001 Ethernet IP
2. Trimble BD960 SN 4541A61039 Ii o Ethernet Configuration Receiver Status Receiver Contiguration pe acoress Netmask Broadcast Gateva 5 ry DNS Address Ethernet DNS Domain z l I Hostname trimBORADO0009 i 3 MTU 1500 pe Current settings Firmware gt seo DHCP Netmask 255 255 254 0 Broadcast 10 1 95 255 Gateway 10 1 94 1 DNS Address 10 1 80 24 DNS Domain am trimblecorp net Hostname trimBORA000009 MTU 1500 O Now Partiy Cloudy 48 F Fri 29 F lt a Sat 30 F BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using a Web Browser 6 Security menu Use the Security menu to configure the login accounts for all users who will be permitted to configure the receiver using a web browser Each account consists of a username password and permissions Administrators can use this feature to limit access to other users Security can be disabled for a receiver However Trimble discourages this as it makes the receiver susceptible to unauthorized configuration changes This figure shows an example of the screen that appears when you select Security Configuration Trimble GNSS 2007 12 21T00 02 11Z Mozilla Firefox DER File Edit View History Bookmarks Tools Help lt gt D gt SO A Dema Trimble BD960 SN 4541A61039
3. BD960 GNSS Receiver Module User Guide 37 6 Configuring the BD960 Receiver Using a Web Browser 6 From the Settings Review screen click Finish WinFlash Settings Review Connect the BD950 BD960 to COM1 of the PC using WinFlash the DBS cable Review the settings below and press Finish to start the Configure ethemet settings Ethernet settings IP Setup DHCP X IP Address Netmask Broadcast Gateway DNS Address HTTP settings Server Port feo 0 7 Ifyour network installation requires the receiver to be configured with a static IP address you can select a Static IP address and enter the settings given by your network administrator 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 38 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using a Web Browser 6 Configuring the receiver using a web browser This section describes how to set up the receiver using a web browser Supported browsers Mozilla Firefox version 1 07 or later version 2 00 or later is recommended for Windows Macintosh and Linux operating systems Internet Explorer internet browser version 7 00 or later for Windows operating systems To connect to the receiver using a web browser L Enter the IP address of the receiver into the address bar of t
4. Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status 2 PACKET TYPE CHAR 55h Report Packet 55h 3 LENGTH CHAR See Table 7 1 page 53 Data byte count 4 DATA TYPE CHAR 01h Ephemeris report INDICATOR 5 SV PRN CHAR 00h 20h Pseudorandom number of satellite 1 32 or 0 when data is for all satellites 6 7 EPH WEEK SHORT GPS ICD 200 Ephemeris Week Number ot OT 8 9 IODC SHORT GPS ICD 200 10 RESERVED CHAR GPS ICD 2001 Reserved set to zero 11 IODE CHAR GPS ICD 2001 Issue of Data Ephemeris 12 15 TOW LONG GPS ICD 2001 Time of week 16 19 TOC LONG GPS ICD 2001 20 23 TOE LONG GPS ICD 2001 24 31 TGD DOUBLE GPS ICD 2001 32 39 AF2 DOUBLE GPS ICD 2001 40 47 AF1 DOUBLE GPS ICD 2001 48 55 AFO DOUBLE GPS ICD 2001 110 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Table 7 44Report Packet 55h ephemeris report structure continued Byte Item Type Value Meaning 56 63 CRS DOUBLE GPS ICD 2001 64 71 DELTA N DOUBLE GPS ICD 200 72 79 M SUB 0 DOUBLE GPS ICD 200 80 87 CUC DOUBLE GPS ICD 200 88 95 ECCENTRICITY DOUBLE GPSICD 2007 96 103 CUS DOUBLE GPS ICD 200 104 111 SQRT A DOUBLE GPS ICD 200 112 119 CIC DOUBLE GPS ICD 2001 120 127 OMEGA SUB 0 DOUBLE GPS ICD 200 128 135 CIS DOUBLE GPS ICD 2001 136 143 SUB 0 DOUBLE GPS I
5. DOP of fix M Vector components are in meters The checksum data always begins with BD960 GNSS Receiver Module User Guide 147 A NMEA 0183 Output PTNL VHD Heading Information 148 An example of the PTNL VHD message string is shown below Table A 12 describes the message fields PTNL VHD 030556 00 093098 187 718 22 138 76 929 5 015 0 033 0 006 3 07 2 4 M 22 Table A 12 PTNL VHD message fields Field Meaning Message ID PTNL VHD UTC of position in hhmmss ss format Date in mmddyy format Azimuth AAzimuth ATime Vertical Angle AVertical ATime Range ARange ATime WO CY NI Aj U BB W N O GPS Quality indicator Fix not available or invalid Autonomous GPS fix RTK float solution RTK fix solution Differential code phase only solution DGPS SBAS solution WAAS EGNOS MSAS RTK Float 3D network solution RTK Fixed 3D network solution RTK Float 2D network solution 9 RTK Fixed 2D network solution 10 OmniSTAR HP XP solution 11 OmniSTAR VBS solution O MAA NAO 10 Number of satellites used in solution 11 PDOP 12 The checksum data always begins with BD960 GNSS Receiver Module User Guide NMEA 0183 Output A RMC Position Velocity and Time The RMC string is shown below and Table A 13 describes the message fields GPRMC 123519 A 4807 038 N 01131 000 E 022 4 084 4 230394 00
6. Receiver Status Identity Q System Name None Serial Number 4541A61039 Ethernet MAC Address 00 60 35 06 D6 CA Ethernet IP 10 1 94 63 DNS Resolved Name NONE Firmware Version 0 26 Receiver Configuration Firmware Date 2007 12 20 Monitor Version 0 75 VO Configuration OmniSTAR Copyright 2008 2008 Trimble Navi Network Configuration Triangle logo are trademars of Trimb Trademark Office and other countries EVEREST Maxwell Zephyr and Zephyr Geodetic are trademarks Seam cf Trimble Navigation Limited AII othar ademas are tne property of their respective owens n Limited All rights reserved Trimble and the Globe amp wvigation Limited registered in the United States Patent and Firmware BD960 GNSS Receiver Module User Guide 41 42 6 Configuring the BD960 Receiver Using a Web Browser Satellites menu Use the Satellites menu to view satellite tracking details and enable disable GPS GLONASS and SBAS WAAS EGNOS MSAS satellites Note To configure the receiver for OmniSTAR use the OmniSTAR menu See page 45 This figure shows an example of the screen that appears when you select Satellite Tracking Sky Plot Trimble GNSS 2007 12 20T23 51 21Z Mozilla Firefox Ele Edit View History Bookmarks Toos Help E gt E BP ropes Trimble z W mm Ii o m55 Satellites Skyplot Receiver status f ESTO
7. e MAX PAGE INDEX is the index of the last page in the chapter e RECORD LENGTH is the length of data in the record excluding type and size Page Numbering The Page Index and Max Page Index fields are 0 based so for example the first transmission of a 2 page set will be 0 1 PAGE MAX PAGE and the 2nd last page will be 1 1 The total number of pages is MAX PAGE INDEX 1 GSOF record types Table 7 42 GSOF record types Record number Description Page 1 POSITION TIME 82 2 LAT LONG HEIGHT 84 80 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Table 7 42 GSOF record types Record number Description Page 3 ECEF POSITION 85 4 LOCAL DATUM POSITION 86 5 LOCAL ZONE POSITION 87 6 ECEF DELTA 88 7 TANGENT PLANE DELTA 89 8 VELOCITY DATA 90 9 PDOP INFO 91 10 CLOCK INFO 92 11 POSITION VCV INFO 93 12 POSITION SIGMA INFO 94 13 SV BRIEF INFO 95 14 SV DETAILED INFO 96 15 RECEIVER SERIAL NUMBER 98 16 CURRENT TIME 99 26 POSITION TIME UTC 100 27 ATTITUDE INFO 102 33 ALL SV BRIEF INFO 104 34 ALL SV DETAILED INFO 105 35 RECEIVED BASE INFO 107 41 BASE POSITION AND QUALITY INDICATOR 108 BD960 GNSS Receiver Module User Guide 81 7 82 Configuring the BD960 Receiver Using Binary Interface Commands GSOF 1 GSOF 1 01h POSITION TIME Packet Flow Receiver 1 byte OUTPUT RECORD TYPE 1 1 byt
8. Byte value Meaning Dec Hex 0 00h Reserved 1 01h Reserved 2 02h 1 PPS Pulse per second output 3 03h Reserved 4 04h Reserved 5 05h Reserved 6 06h Reserved 7 07h Reserved Table 7 301 PPS CONTROL byte values Byte value Meaning Dec Hex 0 00h 1 PPS output is off 1 01h 1 PPS output is on Table 7 31STATIC KINEMATIC MODE byte values Byte value Meaning Dec Hex 0 00h Kinematic 1 01h Static 2 255 02h FFh Reserved 72 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Table 7 320utput message record type Record Number Description 1 POSITION TIME 2 LAT LONG HEIGHT 3 ECEF POSITION 4 LOCAL DATUM POSITION 5 LOCAL ZONE POSITION 6 ECEF DELTA 7 TANGENT PLANE DELTA 8 VELOCITY DATA 9 PDOP INFO 10 CLOCK INFO 11 POSITION VCV INFO 12 POSITION SIGMA INFO 13 SV BRIEF INFO 14 SV DETAILED INFO 15 RECEIVER SERIAL NUMBER 16 CURRENT TIME 26 POSITION TIME UTC 27 ATTITUDE INFO 41 BASE POSITION AND QUALITY INDICATOR 33 ALL SV BRIEF INFO 34 ALL SV DETAILED INFO 35 RECEIVED BASE INFO 65h GETAPPFILE Application file request A specific application file can be downloaded from the receiver by sending the Command Packet 65h If the request is valid a copy of the application file is downloaded to the remote device in Report Packet 64h Packet Flow Receiver Remote
9. ES a bom Security Configuration oQ Receiver Status Satellites Security Receiver Configuration 1 O Configuration OmniSTAR ae Lupa Network Configuration security pide Username Password B Verify Password Jser File Download File Delete Receiver Config NTripCaster ait us mj o daj O Now Partly Cloudy 48 F y Fri 29 F lt a Sat 30 F EN BD960 GNSS Receiver Module User Guide 47 6 Configuring the BD960 Receiver Using a Web Browser Firmware menu Use the Firmware menu to verify the current firmware and load new firmware to the receiver You can upgrade firmware across a network or from a remote location without having to connect to the receiver with a serial cable This figure shows an example of the screen that appears when you select Firmware Trimble GNSS 2007 12 21T00 03 27Z Mozilla Firefox File Edit View History Bookmarks Tools Help E D S GB BD le no s 2 Trimble BD960 SN 4541A61039 ES ES Ti Ii e Install New Firmware O Firmware Warranty Date 2009 05 01 Active Firmware Version 0 26 Receiver Configuration Active Firmware Date 2007 12 20 VO Configuration Active Firmware Checksum b4e56042 OmniSTAR Conse Network Configuration ia CI Status idle 48 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Us
10. y yx iJdsiJJy Where OUTPUT RECORD TYPE 14 RECORD LENGTH is the length of this sub record NUMBER OF SVS is the number of tracked satellites reported in this record PRN is the PRN number of the satellite which the following information refers to SV FLAGS indicate conditions relating to satellites Defined values are bit 0 SET Above horizon bit 1 SET Currently assigned to a channel trying to track bit 2 SET Currently tracked on L1 frequency bit 3 SET Currently tracked on L2 frequency bit 4SET Reported at Base on L1 frequency bit 5 SET Reported at Base on L2 frequency bit 6 SET Used in Position bit 7 SET Used in current RTK process search propagate fix solution SV FLAGS2 indicate conditions relating to satellites Defined values are bit 0 SET Tracking P Code on L1 bit 1 SET Tracking P Code on L2 bit 2 SET Tracking CS on L2 bits 3 7 RESERVED ELEVATION is the angle of the satellite above the horizon in degrees BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 AZIMUTH is the azimuth of the satellite form true north in degrees SNR L1 is the signal to noise ratio of the L1 signal multiplied by 4 0 for SVs not tracked on this frequency SNR L2 is the signal to noise ratio of the L2 signal multiplied by 4 0 for SVs not tracked on this frequency BD960 GNSS Receiver Module User Guide 97 98 7 Confi
11. 10 1 94 63 System Name None DNS Resolved Name NONE Serial Number 4541A61039 Firmware Version 0 26 Firmware Date 2007 12 20 O Now Partly Cloudy 48 F Fri 29 F lt a Sat 30 F BD960 GNSS Receiver Module User Guide 43 6 Configuring the BD960 Receiver Using a Web Browser 1 0 Configuration menu Use the O Configuration menu to set up all outputs of the receiver The receiver can output CMR RTCM NMEA GSOF RT17 or BINEX messages These messages can be output on TCP TP UDP or serial ports This figure shows an example of the screen that appears when you select 7 0 Configuration Port Summary Trimble GNSS 2007 12 20T23 55 082 Mozilla Firefox Ele Edit View History Bookmarks Tools Help E D E is QP o o lA Dr Trimble 4 gt SN 4541A61039 1 0 Configuration Receiver Status Satellites Receiver Configuration VO Configuration OmniSTAR Network Configuration Serial COM1 38 4K 8N1 Serial COM2 38 4K 8N1 Serial COM3 38 4K 8N1 E Security Firmware Help 19 Now Party Goudy 48 F a Fri 29 F Sat 30 F es 44 BD960 GNSS Receiver Module User Guide Trimble GNSS 2007 12 20123 56 40Z Mozilla Firefox DER Edt Vew History Bookmarks Tools Help AA OmniSTAR Configuration HP XP Library Status Last Known Position Mode Auto Mode Active Latitude Deg 39 53 52 59380
12. 14 NMEA_PJK 15 NMEA_PJT 16 NMEA_VGK BD960 GNSS Receiver Module User Guide 67 7 Configuring the BD960 Receiver Using Binary Interface Commands Table 7 230UTPUT MESSAGE TYPE byte values continued Byte value Meaning 17 NMEA_VHD 18 NMEA_GSV 19 NMEA_TSN 20 NMEA_TSS 21 NMEA_PRC 22 NMEA_REF 23 NMEA_GGK_SYNC 24 31939 VehPos 25 J1939 Time 26 31939 VehSpd 27 J1939_ImpPos 28 31939 ImpSpd 29 NMEA_AVR 30 Reserved 31 NMEA_HDT 32 NMEA_ROT 33 NMEA_ADV 34 NMEA_PIO 35 NMEA_BETA 36 Reserved 37 NMEA_VRSGGA 38 NMEA_GSA 39 Binex 40 NMEA_RMC 41 NMEA_BPQ 42 Reserved 43 Reserved 44 NMEA_GLL 45 NMEA_GRS 46 Reserved 47 NMEA_LDG 68 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Table 7 24FREQUENCY byte values Byte value Meaning Dec Hex 0 00h Off 1 01h 10 Hz 2 02h 5 Hz 3 03h 1 Hz 4 04h 2 seconds 5 05h 5 seconds 6 06h 10 seconds 7 07h 30 seconds 8 08h 60 seconds 9 09h 5 minutes 10 0Ah 10 minutes 11 OBh 2 Hz 12 OCh 15 seconds 13 ODh 20 Hz 15 OFh 50 Hz 255 FFh Once only immediately Certain message output types may not support gt 1 Hz output Table 7 25CMR MESSAGE TYPE byte values Byte value Meaning Dec Hex 0 00h Standard CMR CMR 7M 1 01h High speed CMR 5 or 10 Hz 2 02h Compatible with Trimble 4000 rec
13. 17 N 48 M 24 N J 12 Concise Format LENGTH 17 N 27 M 13 N 3 where e Nis the number of satellites e Mis the number of satellites with L2 data e Jis either 1 if REAL TIME DATA is ON or 0 if REAL TIME DATA is OFF Expanded record format Table 7 48 shows the structure of Report Packet 57h when Expanded Record format is enabled with Command Packet 56h Table 7 48Report Packet 57h structure expanded format Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status 2 PACKET TYPE CHAR 57h RAWDATA 3 LENGTH CHAR See Table 7 1 page 53 Data byte count 4 RECORD TYPE CHAR See Table 7 50 page 118 Raw data record type 5 PAGING INFO CHAR See Table 7 51 page 118 b7 b4 is the current page number b3 b0 is the total pages in this epoch 1 of 3 2 of 3 3 of 3 6 REPLY CHAR 00h FFh Roll over counter which is incremented with every report but remains constant across pages within one report This value should be checked on the second and subsequent pages to ensure that report pages are not mismatched with those from another report 7 FLAGS CHAR See Table 7 52 page 118 Bit 0 must be set to 0 to enable Expanded Record format Begin Expanded Format Record Header 17 bytes 8 15 RECEIVE TIME DOUBLE msecs Receive time within the current GPS week common to code and phase data 16 23 CLOCK OFFSET DOUBLE msecs Clock offset value
14. 8 double LOCAL ZONE NORTH gt 8 double LOCAL ZONE EAST gt 8 double LOCAL DATUM HEIGHT gt Where OUTPUT RECORD TYPE 5 RECORD LENGTH is the length of this sub record LOCAL DATUM IDENTIFIER is an ASCII string that identifies the coordinate datum LOCAL ZONE IDENTIFIER is an ASCII string that identifies the coordinate zone LOCAL ZONE NORTH is the local zone north coordinate meters LOCAL ZONE EAST is the local zone east coordinate meters LOCAL DATUM HEIGHT is the height in the local datum meters BD960 GNSS Receiver Module User Guide 7 87 7 88 Configuring the BD960 Receiver Using Binary Interface Commands GSOF 6 GSOF 6 06h ECEF DELTA Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE 6 1 byte RECORD LENGTH 8 double DELTA X 8 double DELTA Y 8 double DELTA Z bt 4 Where OUTPUT RECORD TYPE 6 RECORD LENGTH is the length of this sub record DELTA X is the ECEF X axis delta between the rover and base positions rover base in meters DELTA Y is the ECEF Y axis delta between the rover and base positions rover base in meters DELTA Z is the ECEF Z axis delta between the rover and base positions rover base in meters BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 GSOF 7 GSOF 7 07h TANGENT PLANE DELTA Packet Flow Receiver Connected computer 1 byte
15. A value of 0 0 indicates that clock offset is not known 24 OF SVS IN CHAR Number of SV data blocks included in record RECORD BD960 GNSS Receiver Module User Guide 115 7 Configuring the BD960 Receiver Using Binary Interface Commands Table 7 48Report Packet 57h structure expanded format continued Byte Item Type Value Meaning Begin data for first satellite in constellation repeated for up to n SVs Begin Real Time Survey Data 48 bytes n SV PRN CHAR 01h 20h Pseudorandom number of satellite 1 32 FLAGS1 CHAR See Table 7 53 page 119 First set of status flags FLAGS2 CHAR See Table 7 54 page 119 Second set of status flags FLAG STATUS CHAR See Table 7 55 page 120 Determines whether the bit values for FLAGS1 and FLAGS2 are valid ELEVATION ANGLE SHORT degrees Satellite elevation angle negative or positive value AZIMUTH SHORT degrees Satellite azimuth Begin L1 Data L1 SNR DOUBLE dB Measure of satellite signal strength FULL L1 C A CODE DOUBLE meters Full L1 C A code or P code pseudorange see PSEUDORANGE bit O of FLAGS2 L1 CONTINUOUS DOUBLE L1 cycles L1 Continuous Phase Range Rate sign PHASE convention When pseudorange is increasing the phase is decreasing and the Doppler is negative L1 DOPPLER DOUBLE Hz L1 Doppler RESERVED DOUBLE 0 0 Reserved Begin L2 Data available if bit O of FLAGS1 is set to 1 24 bytes n L2 SNR D
16. CO N om uw BY Ww The checksum data always begins with BD960 GNSS Receiver Module User Guide 141 A NMEA 0183 Output GSV Satellite Information The GSV message string identifies the number of SVs in view the PRN numbers elevations azimuths and SNR values An example of the GSV message string is shown below Table A 6 describes the message fields GPGSVA4 1 13 02 02 213 03 3 000 11 00 121 14 13 172 05 67 Table A 6 GSV message fields Field Meaning 0 Message ID GPGSV 1 Total number of messages of this type in this cycle 2 Message number 3 Total number of SVs visible 4 SV PRN number 5 Elevation in degrees 90 maximum 6 Azimuth degrees from True North 000 through 359 7 SNR 00 99 dB null when not tracking 8 11 Information about second SV same format as fields 4 through 7 12 15 Information about third SV same format as fields 4 through 7 16 19 Information about fourth SV same format as fields 4 through 7 20 The checksum data always begins with 142 BD960 GNSS Receiver Module User Guide NMEA 0183 Output A HDT Heading from True North The HDT string is shown below and Table A 7 describes the message fields GPHDT 123 456 T 00 Table A 7 Heading from true north fields Field Meaning 0 Message ID GPHDT 1 Heading in degrees 2 T Indicates heading relative to True North 3 The checksum data always begins with BD960 G
17. Fix not available or invalid Autonomous GPS fix RTK float solution RTK fix solution Differential code phase only solution DGPS SBAS solution WAAS EGNOS MSAS RTK Float 3D Network solution RTK Fixed 3D Network solution RTK Float 2D in a Network solution 9 RTK Fixed 2D Network solution 10 OmniSTAR HP XP solution 11 OmniSTAR VBS solution Cnet Oy E E WN eS 2 8 Number of satellites in fix 9 DOP of fix 10 Ellipsoidal height of fix 11 M ellipsoidal height is measured in meters 12 The checksum data always begins with Note The PTNL GGK message is longer than the NMEA 0183 standard of 80 characters BD960 GNSS Receiver Module User Guide 145 A 146 NMEA 0183 Output PTNL PJK Local Coordinate Position Output An example of the PTNL PJK message string is shown below Table A 10 describes the message fields Table A 10 PTNL PJK 010717 00 081796 732646 511 N 1731051 091 E 1 05 2 7 EHT 28 345 M 7C PTNL PJK message fields Field Meaning Message ID PTNL PJK UTC of position fix Date Northing in meters Direction of Northing will always be N North Easting in meters Direction of Easting will always be E East N OD wm A W N O 8 GPS Quality indicator Fix not available or invalid Autonomous GPS fix RTK float solution RTK fix solution Differential code phase only solution DGPS SBAS solution WAAS EGNOS MSAS RTK Float
18. aaa 15 BD960 connections sd erties ee aa EA ER a 16 Routing and connecting the antenna cable onasan araua 17 LED functionality and operation soassa aaa 17 4 Positioning ModeS lt lt lt lt lt oo 19 a LAA A 20 Carrier phase initialization o oooooooo eee 20 Update rateand latency ic sonetoa i dace kbs WL A a oe ee De we bec 20 Data likes rin bee ey be die Gee eat oe wo ect 21 Moving Baseline RTK positioning 1 2 eee 21 Critical factors affecting RTK accuracy 1 2 ee ee eee 22 Base station receiver type ro soriana eres Isar ENEE ee 22 Base station coordinate accuracy 1 2 eee ee eee 22 Number of visible satellites 1 ee ee 22 Elevation Mask ea yuca sr Bb aah Mates GPa ke We ee oe DE 23 Environmental factors seso ioia einem ee banais eee 23 Operating ranges s edia eo ir a a HG oe Ee a 24 DGPS tipet pisne t p ine Kp e OE won R EE a a a ER GMA earn Saeed 24 SBAS aoea oaa ri ws deie di ae a a a a lO ea aa aaae we sneak we yh R Aa li ER a gla anr i 24 OMISTAB sarana eiee Dra whale tte oie obs ae A Sue foster et a A e beens E 25 5 Configuring the BD960 Receiver Using Trimble Software Utilities 27 Configuration Toolbox software sasaaa sasaaa 28 Creating and editing application files annaua aaa 28 Trimble MS Controller software 2 2 auaa 30 Simulated LCD display aoaaa 30 BD960 GNSS Receiver Module User Guide 3 SOLES ed aro eae be et
19. and the settings on the right Each configuration menu contains related submenus to configure the receiver and to monitor receiver performance Note The configuration menus available vary based on the version of the receiver A summary of each configuration menu is provided here For more detailed information about each of the receiver settings select the Help menu The Help is available whenever your computer is connected to the Internet It is also available at any time from the Trimble website www trimble com OEM_ReceiverHelp V3 60 en To display the web interface in another language click the corresponding country flag The web interface is available in the following languages English en Italian it Chinese zh Japanese ja Finnish fi Russian ru French fr Spanish es German de Swedish sv 40 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using a Web Browser 6 Receiver Status menu The Receiver Status menu provides a quick link to review the receiver s available options current firmware version IP address temperature runtime satellites tracked current outputs available memory position information and more This figure shows an example of the screen that appears when you select Receiver Status Identity Trimble GNSS 2007 12 20123 48 362 Mozilla Firefox Ele Edit View History Bookmarks Tools OS H Trimble SN 4541A61039 m Ii o mm
20. covariance datum deep discharge DGPS Pulse per second Used in hardware timing A pulse is generated in conjunction with a time stamp This defines the instant when the time stamp is applicable A file that contains orbit information on all the satellites clock corrections and atmospheric delay parameters The almanac is transmitted by a GPS satellite to a GPS receiver where it facilitates rapid acquisition of GPS signals when you start collecting data or when you have lost track of satellites and are trying to regain GPS signals The orbit information is a subset ofthe emphemeris ephemerides data Also called reference station A base station in construction is a receiver placed at a known point on ajob site 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 A radio wave having at least one characteristic such as frequency amplitude or phase that can be varied from a known reference value by modulation The frequency ofthe unmodulated fundamental output of a radio transmitter The GPS L1 carrier frequency is 1575 42 MHz Is the cumu
21. geometry changes during the day but repeats from day to day A minimum of four satellites are required to estimate user location and time If more than four satellites are tracked then an overdetermined solution is performed and the solution reliability can be measured The more satellites the greater the solution quality and integrity The Position Dilution Of Precision PDOP provides a measure of the prevailing satellite geometry Low PDOP values in the range of 4 0 or less indicate good satellite geometry whereas a PDOP greater than 7 0 indicates that satellite geometry is weak BD960 GNSS Receiver Module User Guide Positioning Modes 4 Even though only four satellites are needed to form a three dimensional position fix RTK initialization demands that at least five common satellites must be tracked at base and rover sites Furthermore L1 and L2 carrier phase data must be tracked on the five common satellites for successful RTK initialization Once initialization has been gained a minimum of four continuously tracked satellites must be maintained to produce an RTK solution Elevation mask The elevation mask stops the BD960 receiver from using satellites that are low on the horizon Atmospheric errors and signal multipath are largest for low elevation satellites Rather than attempting to use all satellites in view the BD960 receiver uses a default elevation mask of 10 degrees By using a lower elevation mask system performance
22. 53 Checksum value 128 ETX CHAR 03h End transmission T For detailed information refer to the U S Government document GPS ICD 200 BD960 GNSS Receiver Module User Guide 113 7 Configuring the BD960 Receiver Using Binary Interface Commands 57h RAWDATA Position or real time survey data report Report Packet 57h is sent in response to one of the following requests e Command Packet 56h Real Time Survey Data streaming is enabled in the application file with Command Packet 64h e A simulated front panel command Packet Flow Receiver Remote Command Packet 56h or RT Survey Data Request or Front Panel Command Report Packet 57h or NAK gt A NAK is returned if the Real Time Survey Data option RT17 is not installed and the application file is configured to stream real time survey data Report Packet 57h can contain one of the following types of raw data depending on options selected in Command Packet 56h e Expanded Format DAT Record Type 17 style data raw satellite measurements e Concise Format DAT Record Type 17 style data raw satellites measurements e Position data DAT Record Type 11 The Expanded and Concise records can also include Enhanced record data including Real Time Flags and IODE information if these options are enabled in the application file For more information see Report Packet 56h GETRAW Position or real time survey data request page 59 Packet paging and measurement coun
23. BASE HEIGHT y y yiJsdd Where OUTPUT RECORD TYPE 35 RECORD LENGTH is the length of this sub record FLAGS specifies a few attributes about the BASE and ONLY the base since there are status flags about RTK in other messages Defined values Bits 0 2 specify a version number for this message Bit 3ifSET specifies that the base info given is valid Bits 4 7 are currently RESERVED BASE NAME is the short base name received from the base In the case of the base being RTCM with no base name the field is set to all Os BASE ID is the ID of the base being used This field is big endian so the first byte will always be set to 0 if the base is a CMR base BASE LATITUDE is the WGS 84 latitude of the base in radians BASE LONGITUDE is the WGS 84 longitude of the base in radians BASE HEIGHT is the WGS 84 height of the base in meters BD960 GNSS Receiver Module User Guide 107 7 108 Configuring the BD960 Receiver Using Binary Interface Commands GSOF 41 GSOF 41 29h BASE POSITION AND QUALITY INDICATOR Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE 41 1 byte RECORD LENGTH 4 long GPS TIME ms 2 int GPS WEEK NUMBER 8 double LATITUDE 8 double LONGITUDE 8 double HEIGHT 1 byte QUALITY INDICATOR y y bJiJdsdyJ Where OUTPUT RECORD TYPE 41 RECORD LENGTH is the length of this sub record GPS TIME is in milliseconds ofthe GP
24. CREATION is created 00 59 GENERAL CONTROLS RECORD The GENERAL CONTROLS RECORD sets general GPS operating parameters for the receiver including the elevation mask measurement rate PDOP Position Dilution of Precision mask and the positioning mode 0 RECORD TYPE CHAR 01h General controls record 1 RECORD LENGTH CHAR 08h Number of bytes in record excluding bytes 0 and 1 2 ELEVATION MASK CHAR 00h 5Ah Elevation mask in degrees 0 90 3 MEASUREMENT RATE CHAR See Table 7 16 page 66 Frequency rate at which the receiver generates measurements 4 PDOP MASK CHAR 00h FFh Position Dilution of Precision mask 0 255 RESERVED CHAR 00h Reserved set to zero 6 RESERVED CHAR 00h Reserved set to zero RTK POSITIONING CHAR See Table 7 20 page 67 Sets the RTK positioning mode MODE 8 POSITIONING CHAR See Table 7 17 page 66 Controls use of DGPS and RTK solutions SOLUTION SELECTION 62 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Table 7 12Command packet 64h structure continued Byte Item Type Value Meaning 9 RESERVED CHAR 00h Reserved set to zero SERIAL PORT BAUD FORMAT RECORD The SERIAL PORT BAUD RATE FORMAT RECORD is used to set the communication parameters for the serial ports Individual serial ports are identified within the record by the SERIAL PORT INDEX number 0 RECORD TYP
25. Configurator software that contains NMEA output settings and then send the file to the receiver e Add NMEA outputs in the Serial outputs tab of the GPS Configurator software and then apply the settings You cannot use the GPS Configuration software to load application files to the SPSx50 Modular GPS receivers e For SPSx50 and SPSx51 Modular GPS receivers set up the NMEA output using the keypad and display or a web browser BD960 GNSS Receiver Module User Guide NMEA 0183 Output A 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 Message values NMEA messages that the receiver generates contains the following values Latitude and longitude Latitude is represented as ddmm mmmm and longitude is represented as dddmm mmmm where e ddor ddd is degrees e mmmmmm is minutes and decimal fractions of minutes Direction Direction north south east or west is represented by a single character N S E or W Time Time values are presented in Universal Time Coordinated UTC and are repr
26. N A HP XP Satellite Link ID 110 Engine HP Longitude Deg 105 6 45 75369 W Receiver Configuration HP XP Satellite Link Name Auto Subscription Starts At 1980 01 06 Height m 1665 205 Wo Configuration VBS Satellite Link ID 110 Subscription Expires At 2008 01 12 Sigma E m 0 036 RS VBS Satellite Link Name Auto Subscribed Engine HP Sigma N m 0 028 Frequency MHz 1551 4890 Horizontal Precision m 0 30 Sigma U m 0 055 Bit Rate Hz 1200 Vertical Precision m 0 30 Receiver Motion Kinematic Datum Offset L Band Beam Status OmniSTAR Motion Kinematic Latitude Deg 0 0 0 00000 N Mode Full Tracking HP XP Seed with Last Known Pos No Longitude Deg 0 0 0 00000 E enra conmgunton Satellite Link ID 1 Seed with Fixed RTK Pos No Height m 0 000 security Satellite Link Name Msvc_ Seed Quality Valid OmniSTAR VBS Sigma E m 0 000 Mera Frequency MHz 1534 7410 Sigma N m 0 000 ee Bit Rate Hz 1200 VBS Library Status Sigma U m 0 000 psa Eb No dB 52 VBS Library Not Active CINO dBHz 39 1 Subscription Starts At 1980 01 06 NMEA Encryption Subscription Expires At 2006 10 31 Expired Mode Disabled Configuring the BD960 Receiver Using a Web Browser 6 OmniSTAR menu The BD960 receiver can receive OmniSTAR corrections By default OmniSTAR tracking is turned on in the receiver To receive OmniSTAR corrections you must set the receiver to track OmniSTAR satellites The receiver must have a valid
27. Packet Flow Receiver 1 byte OUTPUT RECORD TYPE gt 34 1 byte RECORD LENGTH 1 byte NUMBER OF SVS Repeated for number of SVs 1 byte PRN 1 byte SV SYSTEM 1 byte SV FLAGS1 1 byte SV FLAGS2 1 signed byte ELEVATION 2 short AZIMUTH 1 byte SNR L1 4 1 byte SNR L2 4 1 byte SNR L5 4 OR G1P SNR OR Galileo SNR Where OUTPUT RECORD TYPE 34 RECORD LENGTH is the length of this sub record Connected computer y y tli li tits NUMBER OF SVS is the number of tracked satellites reported in this record PRN is the PRN number of the satellite which the following flags refer to This will be the ACTUAL PRN number given by the SV not ranged due to SV system due to the next field SV SYSTEM is the system that the SV belongs to 0 GPS 1 SBAS 2 GLONASS 3 9 RESERVED 10 OMNISTAR 11 255 RESERVED SV FLAGS is a bitmap field having the following values bit O Set Above horizon bit 1 Set Currently assigned to a channel trying to track bit 2 Set Currently tracked on L1 G1 frequency bit 3 Set Currently tracked on L2 G2 frequency BD960 GNSS Receiver Module User Guide 105 7 106 Configuring the BD960 Receiver Using Binary Interface Commands bit 4 Set Reported at base on L1 G1 frequency bit 5 Set Reported at base on L2 G2 frequency bit 6 Set Used in current position bit 7 Set Used in the current RTK solution SV FLAGS2 is a bitmap variable having the
28. 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 atmospheric issues and multipath errors An ellipsoid is the three dimensional shape that is used as the basis for mathematically modeling the earth s surface The ellipsoid is defined by the lengths of the minor and major axes The earth s minor axis is the polar axis and the major axis is the equatorial axis A list of predicted accurate positions or locations of satellites as a function of time A set of numerical parameters that can be used to determine a satellites position Available as broadcast ephemeris or as postprocessed precise ephemeris The measurement interval of a GPS receiver The epoch var
29. automatically obtain the IP address Netmask Broadcast Gateway and DNS address from the network When a receiver is connected to a network using DHCP the network assigns an IP address to the receiver To verify the IP address of the receiver use the WinFlash software utility 1 Connect the receiver to a computer running the WinFlash utility using the serial cable provided with the receiver 2 Turn on the receiver 3 On the computer start the WinFlash utility BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using a Web Browser 6 From the Device Configuration screen select BD950 960 receiver From the PC serial port list select the appropriate PC serial port Click Next WinFlash v1 190 Device Configuration The devices which Winflash can communicate with WinFlash are listed below Select a device and PC serial port to use and press Next to continue r Device Configuration Device type BD950 960 Receiver Trimble SPSxEx Receiver PC seta pot com E ne gt Carcel Hee From the Operation Selection screen select Configure ethernet settings and then click Next BD950 v3 33b2 Supervisor Operation Selection The operations supported by the BD950 960 WinFlash Receiver are listed below Select an operation to perform and press Next to continue Make Paeewnrd to eet confiairatinme ae the ethemet settings 2 gt Trimble a o ome
30. following values bit 0 Set Tracking P Code on L1 G1 bit 1 Set Tracking P Code on L2 IF GPS SV bit 2 Set Tracking CS on L2 bit 3 Set Tracking L5 Signal Bits 4 7 are reserved If GLONASS SV bit 2 Set Glonass SV is M SV bit 3 Set Glonass SV is K SV Bits 4 7 are reserved ELSE Bits 2 7 are reserved ELEVATION is the angle of the satellite above the horizon in degrees AZIMUTH is the azimuth of the satellite form true north in degrees SNR L1 is the signal to noise ratio of the L1 signal multiplied by 4 0 for SVs not tracked on this frequency SNR L2 is the signal to noise ratio of the L2 signal multiplied by 4 0 for SVs not tracked on this frequency IF GPS SNR L5 is the signal to noise ratio of the L5 signal multiplied by 4 0 for SVs not tracked on this frequency IF GLONASS GIP SNR is the signal to noise ratio of the G1P signal multiplied by 4 0 for SVs not tracked on this frequency IF Galileo El SNR or E5A SNR or E5B SNR or E5AItBOC SNR ELSE This last byte is RESERVED BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 GSOF 35 GSOF 35 23h RECEIVED BASE INFO Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE gt 35 1 byte RECORD LENGTH 1 Byte FLAGS and VERSION OF MESSAGE 8 chars BASE NAME 2 bytes BASE ID 8 double BASE LATITUDE 8 double BASE LONGITUDE 8 double
31. for precise dynamic applications Designed for reliable operation in all environments the BD960 receiver provides a positioning interface to an office computer external processing device or control system The receiver can be controlled through a serial or Ethernet port using binary interface commands or web interface You can configure the BD960 receiver as an autonomous base station sometimes called a reference station or as a rover receiver sometimes called a mobile receiver Streamed outputs from the receiver provide detailed information including the time position quality assurance figure of merit numbers and the number of tracked satellites The receiver also outputs a one pulse per second 1 PPS strobe signal which lets remote devices precisely synchronize time information The web browser interface includes help screens to assist you to quickly find the information you need Technical Support If you have a problem and cannot find the information you need in the product documentation contact your local dealer Alternatively go to the Support area of the Trimble website www trimble com support shtml and then select the product that you need information on Product updates documentation and any support issues are available for download If you need to contact Trimble technical support go to www trimble com global services BD960 GNSS Receiver Module User Guide CHAPTER 2 Features and Functions In th
32. 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 Check that the input voltage is within limits The base station Port settings between receiver is not reference receiver and broadcasting radio are incorrect Check the settings on the radio and the receiver Faulty cable between receiver and radio Try a different cable Examine the ports for missing pins Use a multimeter to check pinouts No power to radio If the radio has its own power supply check the charge and connections Examine the ports for missing pins Use a multimeter to check pinouts Rover receiver is The base station receiver not receiving is not broadcasting radio Incorrect over air baud rates between reference and rover 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 Incorrect port settings between roving external radio and receiver If the radio is receiving data and the receiver is not getting radio communications check that the port settings are correct The receiver isnot The GPS antenna cable is receiving satellite loose signals The cable is damaged Make sure that the GPS antenna cable is tightl
33. may be degraded If you are using an OmniSTAR satellite for differential corrections the receiver starts using this satellite at eight degrees of elevation Environmental factors Environmental factors that impact GPS measurement quality include e lonospheric activity e Tropospheric activity e Signal obstructions e Multipath e Radio interference High ionospheric activity can cause rapid changes in the GPS signal delay even between receivers a few kilometers apart Equatorial and polar regions of the earth can be affected by ionospheric activity Periods of high solar activity can therefore have a significant effect on RTK initialization times and RTK availability The region of the atmosphere up to about 50 km is called the troposphere The troposphere causes a delay in the GPS signals that varies with height above sea level prevailing weather conditions and satellite elevation angle The BD960 receiver includes a tropospheric model that attempts to reduce the impact of the tropospheric error If possible try to locate the base station at approximately the same elevation as the rover Signal obstructions limit the number of visible satellites and can also induce signal multipath Flat metallic objects located near the antenna can cause signal reflection before reception at the GPS antenna For phase measurements and RTK positioning multipath errors are about 1 to 5 cm Multipath errors tend to average out when the roving antenna is m
34. meters Vertical height of antenna in meters 10 11 ANTENNA TYPE SHORT See Table 7 28 page 71 Defines the type of antenna connected to the receiver 12 RESERVED CHAR 00h Reserved set to zero 13 RESERVED CHAR 00h Reserved set to zero 64 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Table 7 12Command packet 64h structure continued Byte Item Type Value Meaning DEVICE CONTROL RECORD The DEVICE CONTROL RECORD contains configuration parameters for controlling some external devices and the operation of some receiver options The number of bytes contained in the record and the length of the record are determined by the DEVICE TYPE entry The table subheadings identify different devices 0 RECORD TYPE CHAR 09h Device Control record 1 RECORD LENGTH CHAR 02h or ODh Number of bytes in record excluding bytes 0 and 1 2 DEVICE TYPE CHAR See Table 7 29 page 72 Type of device For 1 PPS Output Only 3 1 PPS CONTROL CHAR See Table 7 30 page 72 Enables or disables 1 PPS output byte 2 is set to 2 STATIC KINEMATIC RECORD The bytes value in the STATIC KINEMATIC RECORD determine whether the receiver is operating in Static or Kinematic mode 0 RECORD TYPE CHAR 0Ah Static Kinematic record 1 RECORD LENGTH CHAR 01h Number of bytes in record excluding bytes 0 and 1 2 STATIC KINEMATIC CHAR See Table 7 31 page 72 Configures receiver for s
35. more information visit www omnistar com BD960 GNSS Receiver Module User Guide 25 4 Positioning Modes 26 BD960 GNSS Receiver Module User Guide CHAPTER gt Configuring the BD960 Receiver Using Trimble Software Utilities In this chapter m Configuration Toolbox software m Trimble MS Controller software BD960 GNSS Receiver Module User Guide 27 5 28 Configuring the BD960 Receiver Using Trimble Software Utilities Configuration Toolbox software The Configuration Toolbox software is a Windows application that provides a graphical user interface to help you configure selected Trimble GPS receivers The Configuration Toolbox software lets you e create and edit application files e transfer application files to and from the receiver e manage application files stored in the receiver Creating and editing application files You can create an application file and transfer it to the receiver in several different ways The general workflow includes the following steps 1 Create and save the application file in the Configuration Toolbox software 2 Connect the receiver to the computer and apply power 3 Open the desired application file in the Configuration Toolbox software 4 Transfer this application file to the receiver 5 Check that the receiver is using the transferred application file To create and save an application file to the receiver 1 To start the Configuration Toolbox software and then click 38
36. packet Table 7 40 lists a summary of the report packets Table 7 40Report Packet summary ID Hex Name Function Page 07h 07h RSERIAL Receiver and antenna 07h RSERIAL Receiver and antenna 78 information report information report 40h 40h GENOUT General output record 40h GENOUT General output record reports 79 reports 55h 55h RETSVDATA Satellite information 55h RETSVDATA Satellite information 108 reports reports 57h 57h RAWDATA Position or real time 57h RAWDATA Position or real time survey 114 survey data report data report 64h 64h APPFILE Application file record 64h APPFILE Application file record 123 report command 67h 67h RETAFDIR Directory listing report 67h RETAFDIR Directory listing report 123 6Eh 6Eh BREAKRET Break sequence return 6Eh BREAKRET Break sequence return 125 82h 82h SCRDUMP Screen dump 82h SCRDUMP Screen dump request 128 07h RSERIAL Receiver and antenna information report Report Packet 07h is sent in response to the Command Packet 06h The report returns the receiver and antenna serial number antenna type software processor versions and the number of receiver channels Packet Flow Receiver Remote Command Packet 06h Report Packet 07h gt 78 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Table 7 41 describes the packet structure For more information see 06h GE
37. record that must be used in parsing values Begin Position Record Record 11 78 nSVs 2 bytes 8 15 LATITUDE DOUBLE Latitude in semi circles 16 23 LONGITUDE DOUBLE Longitude in semi circles 24 31 ALTITUDE DOUBLE meters Altitude 32 39 CLOCK OFFSET DOUBLE meters Clock offset 40 47 FREQUENCY OFFSET DOUBLE Hz Frequency offset from 1536 1 023 MHz 48 55 PDOP DOUBLE PDOP dimensionless 56 63 LATITUDERATE DOUBLE radianspersecond _ itatituderate gt gt BD960 GNSS Receiver Module User Guide 121 7 Configuring the BD960 Receiver Using Binary Interface Commands Table 7 56Position record record type 11 structure continued Byte Item Type Value Meaning 64 71 LONGITUDE RATE DOUBLE radians per second Longitude rate 72 79 ALTITUDE RATE DOUBLE meters per second Altitude rate 80 83 GPS MSEC OF WEEK LONG msecs Position time tag 84 POSITION FLAGS CHAR See Table 7 57 page 122 Position status flags 85 OF SVS CHAR 00h 0Ch Number of satellites used to compute position solution 0 12 The next 2 bytes are repeated for each satellite used to compute position CHANNEL CHAR Channel used to acquire satellite measurement Zero is reported for RTK solutions PRN CHAR 01 20h PRN number of satellite 1 32 CHECKSUM SHORT See Table 7 1 page 53 Checksum value ETX CHAR 03h End transmission Table 7 57POSITION FLAGS bit values Bit Meaning 0 2 Position flag and po
38. slip since last record 17 write 0 Off 1 On 2 L2 Cycle slip since last record 17 write 0 Off 1 On 3 L1 Phase Lock Point redundant for diagnostics 0 Off 1 On 4 L1 Phase valid lock point valid 0 Off 1 On 5 L2 Pseudorange reset squared L2 phase 0 Off always for the receiver 1 On 6 L1 Data Valid non zero but bytes always present also see bit 4 reset only L2 data loaded also see FLAG STATUS in Table 7 55 page 120 0 Off 1 On 7 New Position Computed during this Receiver Cycle 0 Off 1 On Table 7 54FLAGS2 bit values Bit Meaning 0 L1 Tracking Mode 0 C A code 1 P code 1 L2 Tracking Mode 0 C A code or encrypted P code 1 P code 2 L2 Tracking Encryption Code 0 Off 1 On BD960 GNSS Receiver Module User Guide 119 7 Configuring the BD960 Receiver Using Binary Interface Commands Table 7 54FLAGS2 bit values continued Bit Meaning 3 Filtered L1 Band Pseudorange Corrections 0 Off 1 On 4 7 Reserved bits set to zero Table 7 55FLAG STATUS bit values Bit Meaning 0 Validity of FLAGS1 and FLAGS2 Bit Values 0 Bit 6 of FLAGS1 and bit 0 7 of FLAGS2 are undefined 1 Bit 6 of FLAGS1 and bit 0 7 of FLAGS2 are valid always set for RAWDATA 2 7 Reserved bits set to zero 120 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Position record Record Type 1
39. start Then select Programs Trimble Configuration Toolbox Configuration Toolbox 2 Select File New Any Receiver 3 Specify the receiver settings for specific information refer to the Configuration Toolbox documentation BD960 GNSS Receiver Module User Guide 4 Configuring the BD960 Receiver Using Trimble Software Utilities 5 Select File Save As to save the application file Configuration File x Contents File 1 of 1 Created 07 26 2000 m d y 15 35 For 5700 Receiver r Settings should be v Applied immediately Y Stored in receiver a ETE ce C As auto power up file Available Reset to defaults before applying Transmit Save Close Help To transfer the application file to the receiver ak 2 3 4 Connect a data cable to any port on the BD960 receiver Connect the other end of the data cable to a serial COM port on the computer Select File Open to open the desired application file With the file open and the Configuration File dialog open select Communications Transmit File A message appears stating that the application file has been successfully transferred Ifan error occurs select Communications Transmit File again This overrides any incompatibility in baud rates and enables successful communication To check whether the transfer was successful close the Configuration File dialog and then select Communications Get File A list
40. tieira reuta ede e ETEA 130 4 BD960 GNSS Receiver Module User Guide Specifications 55 rr ESHER a EES AAA 131 Physical specifications 0h ss Ke See GDA a eee ud ee ee 132 Performance specifications 2 0 ee eee 132 Electrical specifications 2 es c pia Ba eae eee we eee OR as Oe ARR AES 133 Communication specifications 2 ee eee 133 NMEA 0183 Output o coi hearted ead ewe Saeed dws 135 NMEA 0183 message Overview 6 ee 136 Common message elements 1 0 ee eee 137 Message Values aaia atc os A a 137 NMEA Messages ooe doi ek AA ed ee Oa LALLA ee a gk ie da ee ga ame a ee 137 Upgrading the Receiver Firmware lt lt lt lt 153 The WinFlash Utility osa cia a a a Ree Sb ae 154 Installing the WinFlash utility o o o o ooooooooooor ooo 154 Upgrading the receiver firmware o oooooooo ooo 154 Troubleshooting lt lt lt lt 157 R ceiy r ISSUES vacia ca a e Bee Boe De Le ER A e de 158 Drawings gt aaa AAA BHR ES 159 PLAN VICW oos ir o ala a dt di Ae he Go edad heen aoe da de 160 Edge VIEWS Pura da oe oe Bs E Be wha Pa Ghee wh Ba he ae Sead 161 Receiver Connector Pinout Information 163 S4 pin Header aiit ees eee eae od Ae ea ae eho obo ee Mba a E 164 1PPS and ASCH time tag ecc ce pho ce Maes Meee oe LS ee ee Sa ees 166 ASCH UME LAS ya Be he a A Oe i SMe ke SOG MAE a ola oo 167 MOI ca EE AICA AAA ee ee 169 BD960 GNSS
41. to give you a very accurate position in the field Most real time differential correction methods apply corrections to code phase positions While DGPS is a generic term its common interpretation is that it entails the use of single frequency code phase data sent from a GPS base station to a rover GPS receiver to provide sub meter position accuracy The rover receiver can be at a long range greater than 100 kms 62 miles from the base station A rover is any mobile GPS receiver that is used to collect or update data in the field typically at an unknown location Radio Technical Commission for Maritime Services A commission established to define a differential data link for the real time differential correction of roving GPS receivers There are three versions of RTCM correction messages All Trimble GPS receivers use Version 2 protocol for single frequency DGPS type corrections Carrier phase corrections are available on Version 2 or on the newer Version 3 RTCM protocol which is available on certain Trimble dual frequency receivers The Version 3 RTCM protocol is more compact but is not as widely supported as Version 2 real time kinematic A real time differential GPS method that uses carrier phase measurements for greater accuracy Satellite Based Augmentation System SBAS is based on differential GPS but applies to wide area WAAS EGNOS and MSAS networks of reference stations Corrections and additional information are broadcast v
42. to negative infinity results in a NaN BD960 GNSS Receiver Module User Guide 55 7 Configuring the BD960 Receiver Using Binary Interface Commands FLOAT data type The FLOAT data type is stored in the IEEE single precision format which is 32 bits long The most significant bit is the sign bit the next 8 most significant bits are the exponent field and the remaining 23 bits are the fraction field The bias of the exponent is 127 The range of single precision format values is from 1 18 x 10 to 3 4 x 10 The floating point number is precise to 6 decimal digits 31 30 23 22 0 S Exp Bias Fraction 0 000 0000 0 000 0000 0000 0000 0000 0000 0 0 o 011 1111 1 000 0000 0000 0000 0000 0000 1 0 1 011 1111 1 011 0000 0000 0000 0000 0000 1 375 1 111 1111 1 111 1111 1111 1111 1111 1111 NaN DOUBLE The DOUBLE data type is stored in the IEEE double precision format which is 64 bits long The most significant bit is the sign bit the next 11 most significant bits are the exponent field and the remaining 52 bits are the fractional field The bias of the exponent is 1023 The range of single precision format values is from 2 23 x 107 to 18 x 10 8 The floating point number is precise to 15 decimal digits 63 62 52 51 0 S Exp Bias Fraction 0 000 0000 0000 0000 0000 0000 0000 0000 0 0 o 011 1111 1111 0000 0000 0000 0000 0000 1 0 1 011 1111 1110 0110 0000 0000 0000 0000 0 687
43. 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 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 BD960 GNSS Receiver Module User Guide 171 Glossary real time differential GPS rover RTCM RTK SBAS signal to noise ratio skyplot SNR triple frequency GPS UTC 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
44. 1 Table 7 56 shows the structure of Report Packet 57h when the Position Record is enabled with Command Packet 56h Position Record Length 78 N 2 where Nis the number of satellites Table 7 56Position record record type 11 structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status 2 PACKET TYPE CHAR 57h RAWDATA 3 LENGTH CHAR See Table 7 1 page 53 Data byte count 4 RECORD TYPE CHAR See Table 7 50 page 118 Raw data record type 5 PAGE COUNTER CHAR This byte is split into Indicates how many pages there are for two sections of 4 bits this epoch and what this page number allowing for 15 pages is e g 1 of 3 2 of 3 3 of 3 Bits 0 3 Page total Bits 4 7 Current Page number For example 0x23 indicates page 2 of 3 6 REPLY NUMBER CHAR 00h FFh Roll over counter which is incremented with every report but remains constant across pages within one report This value should be checked on the second and subsequent pages to ensure that report pages are not mismatched with those from another report 7 Record Interpretation Char Real Time Survey Data RECORD INTERPRETATION FLAGS Flags e Bit 0 Set Concise format e Bit 1 SetEnhanced Record with real time flags and IODE information e Bits 2 7 Reserved Position Data Event Mark MET3 WAAS and all other record types Not Defined indicates special attributes of the
45. 3 0 Data outputs 1PPS NMEA Binary GSOF ASCII Time Tags Event Marker Input support BD960 GNSS Receiver Module User Guide 133 9 Specifications 134 BD960 GNSS Receiver Module User Guide APPENDIX NMEA 0183 Output In this appendix This appendix describes the formats of the subset of NMEA 0183 messages that are available for output by the receivers For a copy of the m Common message elements NMEA 0183 Standard go to the National Marine Electronics Association website at www nmea org m NMEA 0183 message overview m NMEA messages To enable NMEA messages see the configuration methods described in e Chapter 5 Configuring the BD960 Receiver Using Trimble Software Utilities e Chapter 6 Configuring the BD960 Receiver Using a Web Browser e Chapter 7 Configuring the BD960 Receiver Using Binary Interface Commands BD960 GNSS Receiver Module User Guide 135 A NMEA 0183 Output 136 NMEA 0183 message overview When NMEA 0183 output is enabled a subset of NMEA 0183 messages can be output to external instruments and equipment connected to the receiver serial ports These NMEA 0183 messages let external devices use selected data collected or computed by the GPS receiver All messages conform to the NMEA 0183 version 3 01 format All begin with and end with a carriage return and a line feed Data fields follow comma delimiters and are variable in length Null fields still follow comma delimiters
46. 3 1 W 6A Table A 13 GPRMC message fields Field Meaning 0 Message ID GPRMC 1 UTC of position fix 2 Status A active or V void 3 Latitude 4 Longitude 5 Speed over the ground in knots 6 Track angle in degrees True 7 Date 8 Magnetic variation in degrees 9 The checksum data always begins with BD960 GNSS Receiver Module User Guide 149 A NMEA 0183 Output 150 ROT Rate and Direction of Turn The ROT string is shown below and Table A 14 describes the message fields GPROT 35 6 A 4E Table A 14 ROT message fields Field Meaning 0 Message ID GPROT 1 Rate of turn degrees minutes indicates bow turns to port 2 A Valid data V Invalid data 3 The checksum data always begins with BD960 GNSS Receiver Module User Guide VTG NMEA 0183 Output A Track Made Good and Speed Over Ground An example of the VTG message string is shown below Table A 15 describes the message fields GPVTG T M 0 00 N 0 00 K 4E Table A 15 VTG message fields Field Meaning 0 Message ID GPVTG 1 Track made good degrees true 2 T track made good is relative to true north 3 Track made good degrees magnetic 4 M track made good is relative to magnetic north 5 Speed in knots 6 N speed is measured in knots 7 Speed over ground in kilometers hour kph 8 K speed over ground is measured in kph 9 The checksum data always begins with BD960 GNSS Receiver Module User Guide 151 A NMEA 0183 Outp
47. 32 Serial Interface Specification provides command packets for configuring the BD960 receiver for operation and report packets for retrieving position and status information from the receiver Data Collector Format packets are similar to the data collector format packets which evolved with the Trimble Series 4000 receivers The set of Data Collector Format command and report packets implemented on the receiver are simplified with a more flexible method for scheduling the output of data For a detailed explanation of the streamed data output format see 40h GENOUT General output record reports page 79 The receiver is configured for operation using application files Application files include fields for setting all receiver parameters and functions The default application file for the receiver includes the factory default values Multiple application files can be transferred to the receiver for selection with command packets Application files for specific applications can be developed on one receiver and downloaded to a computer for transfer to other BD960 receivers For a general description of application files see To send application files to the receiver use the Trimble Configuration Toolbox software or create the application files with a custom software program page 60 For information about the structure of application files see 64h APPFILE Application file record command page 60 Communications format Supported data rates ar
48. 3D network solution RTK Fixed 3D network solution RTK Float 2D network solution 9 RTK Fixed 2D network solution 10 OmniSTAR HP XP solution 11 OmniSTAR VBS solution CoS U WN SS 2 Number of satellites in fix 9 DOP of fix 10 Ellipsoidal height of fix 11 M ellipsoidal height is measured in meters 12 The checksum data always begins with Note The PTNL P K message is longer than the NMEA 0183 standard of 80 characters BD960 GNSS Receiver Module User Guide PTNL VGK NMEA 0183 Output A Vector Information An example of the PTNL VGK message string is shown below Table A 11 describes the message fields PTNL VGK 160159 00 010997 0000 161 00009 985 0000 002 3 07 1 4 M 0B Table A 11 PTNL VGK message fields Field Meaning Message ID PTNL VGK UTC of vector in hhmmss ss format Date in mmddyy format East component of vector in meters North component of vector in meters HO uy A W N O Up component of vector in meters GPS Quality indicator Fix not available or invalid Autonomous GPS fix RTK float solution RTK fix solution Differential code phase only solution DGPS SBAS solution WAAS EGNOS MSAS RTK Float 3D network solution RTK Fixed 3D network solution RTK Float 2D network solution 9 RTK Fixed 2D network solution 10 OmniSTAR HP XP solution 11 OmniSTAR VBS solution NIT Nee 2 Number of satellites if fix solution
49. 5 1 111 1111 1111 1111 1111 1111 1111 1111 NaN Data Collector Format Command Packets Data Collector Format command packets are sent from the remote device to the receiver to execute receiver commands or to request data reports The receiver acknowledges all command packets It does this by sending a corresponding report packet or by acknowledging the completion of an action The following sections provide details for each command and report packet Table 7 4 provides a summary of the command packets Table 7 4 Command Packet summary ID Command Packet Action Page 06h GETSERIAL Receiver and antenna 06h GETSERIAL Receiver and antenna information 60 information request request 56 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Table 7 4 Command Packet summary continued ID Command Packet Action Page 54h GETSVDATA Satellite information 54h GETSVDATA Satellite information request 58 request 56h GETRAW Position or real time survey 56h GETRAW Position or real time survey data 59 data request request 64h APPFILE Application file record 64h APPFILE Application file record command 60 command 65h GETAPPFILE Application file request 65h GETAPPFILE Application file request 73 66h GETAFDIR Application file directory 66h GETAFDIR Application file directory listing 74 listing request request 68h DELAPPFILE
50. CD 200 144 151 CRC DOUBLE GPS ICD 2001 152 159 OMEGA DOUBLE GPS ICD 200 160 167 OMEGA DOT DOUBLE GPS ICD 200 168 175 DOT DOUBLE GPS ICD 200 176 179 FLAGS LONG See Table 7 45 page 111 Shows status of Ephemeris Flags 180 CHECKSUM CHAR SeeTable7 1 page53 Checksum value 181 ETX CHAR 03h End transmission For detailed information refer to the U S Government document GPS ICD 200 Table 7 45Ephemeris flags Bit s Description Location 0 Data flag for L2 P code Sub 1 word 4 bit 1 1 2 Codes on L2 channel Sub 1 word 3 bits 11 12 3 Antispooffla Sub1 5 HOW bit1I9 Y code on from ephemeris 4 9 SV health from ephemeris Sub 1 word 3 bits 17 22 10 Fit interval flag Sub 2 word 10 bit 17 11 14 URA User Range Accuracy C C S s Su 1 word 3 its 13 16 15 URA may be worse than indicated Block l Sub 1 5 HOW bit 18 Momentum Dump flag 16 18 SV Configuration SV is Block or Block II Sub 4 page 25 word and bit depends on SV 19 Anti spoof flag Y codeon Sub 4 page 25 word and bit depends on SV ALMANAC report The ALMANAC report is sent when Command Packet 54h is used to request the Almanac for one satellite or all satellites The Command Packet 54h DATA SWITCH byte byte 4 is set to zero 2 when requesting the report Data follows the format specified by GPS ICD 200 BD960 GNSS Receiver Module User Guide 111 7 Configuring the BD960 Receiver Using Bin
51. Checksum value 9 03h ETX CHAR 03h End transmission Table 7 9 TYPE RAW DATA values Byte value Meaning Dec Hex 0 00h Real Time Survey Data Record Record Type 17 1 01h Position Record Record Type 11 Table 7 10FLAGS bit values Bit Meaning 0 Raw Data Format 0 Expanded DAT Record Type 17 format 1 Concise DAT Record Type 17 format Enhanced Record with real time flags and IODE information 0 Disabled record data not enhanced 1 Enabled record data is enhanced Reserved set to zero BD960 GNSS Receiver Module User Guide 59 7 Configuring the BD960 Receiver Using Binary Interface Commands 64h APPFILE Application file record command To send application files to the receiver use the Trimble Configuration Toolbox software or create the application files with a custom software program Application files contain a collection of individual records that fully prescribe the operation of the receiver Application files are transferred using the standard Data Collector Format packet format Each application file can be tailored to meet the requirements of separate and unique applications Up to 10 application files can be stored within the receiver for activation at a later date The two important application files in the receiver are explained in Table 7 11 Table 7 11Important application files and their functions Name Function DEFAULT Permanently stored applicatio
52. Command Packet 65h 7 Report Packet 64h or NAK gt The receiver can store multiple application files including a default application file containing the factory default parameter settings in the Application File directory Each application file is assigned a number to give the file a unique identity within the directory The application file containing the factory default values is assigned a System File Index code of zero 0 BD960 GNSS Receiver Module User Guide 73 7 Configuring the BD960 Receiver Using Binary Interface Commands Table 7 33 shows the packet structure For more information see 64h APPFILE Application file record report page 123 Table 7 33Command Packet 65h structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status indicator 2 PACKET TYPE CHAR 65h Command Packet 65h 3 LENGTH CHAR See Table 7 1 page 53 Data byte count 4 5 SYSTEM FILE SHORT 0 n Unique number ID code assigned to each INDEX of the application files stored in the Application File directory CHECKSUM CHAR See Table 7 1 page 53 Checksum value ETX CHAR 03h End transmission 66h GETAFDIR Application file directory listing request Command Packet 66h is used to request a directory listing of the application files stored in receiver memory The receiver responds by sending the directory listing in Report Packet 67h Packe
53. D 40 g operating 75 g survival 34 pin header Samtec FTSH 117 01 L DV K A P TR mating connectors are a ribbon cable Samtec FFSD and a receptacle Samtec FLE for a board to board connection MMCX receptacle Huber Suhner 82MMCX 50 0 1 111 mating connectors are MMCX plug Suhner 11MMCX 50 2 1C or right angle plug Suhner 16MMCX 50 2 1C or 16MMCX 50 2 10 Performance specifications Feature Specification Measurements Code differential GPS positioning 3D SBAS WAAS EGNOS MSAS Horizontal accuracy Vertical accuracy OmniSTAR positioning VBS service accuracy XP service accuracy HP service accuracy e Advanced Trimble Maxwell Custom Survey GNSS 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 Very low receiver noise GNSS carrier phase measurements with lt 1 mm precision in a 1 Hz bandwidth Signal to Noise ratios reported in dB Hz 72 Channels GPS L1 C A Code L2C L1 L2 L51 Full Cycle Carrier GLONASS L1 C A Code L1 P Code L2 C A2 L2 P Code 4 additional channels for SBAS WAAS EGNOS MSAS support L Band OmniSTAR VBS HP and XP Typically lt 1 m Typically lt 1 m Typically lt 5 m Horizontal lt 1 m Horizontal 20 cm Vertical 30 cm Horizontal 10 cm Vertical 15 cm 132 BD960 GNSS Receiver Module Use
54. Delete application file 68h DELAPPFILE Delete application file data 75 data command command 6Dh ACTAPPFILE Activate application file 6Dh ACTAPPFILE Activate application file 75 81h KEYSIM Key simulator 81h KEYSIM Key simulator 76 82h SCRDUMP Screen dump request 82h SCRDUMP Screen dump request 77 06h GETSERIAL Receiver and antenna information request Command Packet 06h requests receiver and antenna information The receiver responds by sending the data in the Report Packet 07h Packet flow Receiver Remote e Command Packet 06h Report Packet 07h gt Table 7 5 describes the packet structure Table 7 5 Command packet 06h structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status code 2 PACKET TYPE CHAR 06h Command Packet 06h 3 LENGTH CHAR 00h Data byte count 4 CHECKSUM CHAR See Table 7 1 page 53 Checksum value 5 ETX CHAR 03h End transmission BD960 GNSS Receiver Module User Guide 57 7 Configuring the BD960 Receiver Using Binary Interface Commands 54h GETSVDATA Satellite information request Command Packet 54h requests satellite information The request may be for an array of flags showing the availability of satellite information such as an ephemeris or almanac In addition satellites may be enabled or disabled with this command packet Table 7 6 shows the packet structure For additional i
55. E CHAR 02h Serial Port Baud Rate Format Record 1 RECORD LENGTH CHAR 04h Number of bytes in the record excluding bytes 0 and 1 2 SERIAL PORT INDEX CHAR 00h 03h The number of the serial port to configure BAUD RATE CHAR See Table 7 18 page 66 Data transmission rate 4 PARITY CHAR See Table 7 19 page 66 Sets the parity of data transmitted through the port The eight data bits and one stop bit are always used regardless of the parity selection 5 FLOW CONTROL CHAR See Table 7 21 page 67 Flow control REFERENCE BASE NODE RECORD The REFERENCE NODE RECORD is an optional record for providing LLA Latitude Longitude Altitude coordinates for base station nodes 0 RECORD TYPE CHAR 03h Reference Node Record 1 RECORD LENGTH CHAR 25h Data bytes in the record excluding bytes 0 and 1 2 FLAG CHAR 00h Reserved set to zero 3 NODE INDEX CHAR 00h Reserved set to zero 4 11 NAME CHAR ASCII text Eight character reference node description 12 19 REFERENCE LATITUDE DOUBLE radians Latitude of reference node 1 2 20 27 REFERENCE DOUBLE radians Longitude of reference node 2 LONGITUDE 28 35 REFERENCE ALTITUDE DOUBLE meters Altitude of reference node 9999 999 lt h lt 9999 999 36 37 STATION ID SHORT 0000h 03FFh Reference Node Station ID for RTCM output 38 RTK STATION CHAR 00h 1Fh Reference Station ID for RTK output SV ENABLE DISABLE RECORD The SV ENABLE DISABLE RECORD is used to enable or
56. ELS 156 SIMULTANEOUS CHAR How many satellites can be tracked at CHANNELS once 157 161 Reserved N A N A N A 162 CHECKSUM CHAR See Table 7 1 page 53 Checksum value 163 ETX CHAR 03h End transmission 40h GENOUT General output record reports When scheduled Report Packet 40h is continuously output at the FREQUENCY specified by the current application file The GENOUT report contains multiple sub records as scheduled by the application file subtype 10 GSOF BD960 GNSS Receiver Module User Guide 79 7 Configuring the BD960 Receiver Using Binary Interface Commands For information about controlling the record types included in Report Packet 40h see command packet 64h Appfile Packet Flow Receiver 02h STX h STATUS 40h TYPE h LENGTH 1 byte TRANSMISSION NUMBER 1 byte PAGE INDEX 1 byte MAX PAGE INDEX Various record types 1 byte OUTPUT RECORD TYPE 1 byte RECORD LENGTH Various fields dependant on RECORD TYPE There can be multiple records in one GENOUT packet There could be multiple GENOUT packets per epoch Records may be split over two consecutive packets h CHECKSUM gt 03h ETX gt y iiiJJJ 4 4 y Connected computer Where e TRANSMISSION NUMBER is a unique number assigned to a chapter of pages indicating that the pages are from the same group e PAGEINDEXis the page number of this page in a sequence chapter of pages and is zero based
57. FLAGS2 CHAR See Table 7 54 page 119 Second set of satellite status flags ELEVATION ANGLE CHAR degrees Satellite elevation angle negative or positive AZIMUTH SHORT degrees Azimuth of satellite Begin L1 Data L1 SNR CHAR dB 4 Measure of satellite signal strength The value needs to be divided by 4 FULL L1 C A CODE DOUBLE meters Full L1 C A code or P code pseudorange see PSEUDORANGE bit 0 of FLAGS2 L1 CONTINUOUS DOUBLE L1 cycles L1 continuous phase Range Rate sign PHASE convention When pseudorange is increasing the phase is decreasing and the Doppler is negative L1 DOPPLER FLOAT Hz L1 Doppler BD960 GNSS Receiver Module User Guide 117 7 Configuring the BD960 Receiver Using Binary Interface Commands Table 7 49Report Packet 57h structure concise format continued Byte Item Type Value Meaning Begin L2 Data if bit 0 of FLAGS1 set to 1 73 bytes n L2 SNR CHAR dB 4 Measure of satellite signal strength The value needs to be divided by 4 L2 CONTINUOUS DOUBLE L2 cycles L2 continuous phase is in L2 cycles if bit 5 of PHASE FLAGS1 1 L2 P CODE L1 C A FLOAT meters Valid if bit 5 of FLAGS1 is set to 1 CODE P RANGE 1 L2 encrypted See bit 1 and bit 2 of FLAGS2 2 P code See bit 0 of FLAGS2 Begin Enhanced Record if bit 1 of the FLAGS byte is set to 1 3 bytes n IODE CHAR 00h FFh Issue of Data Ephemeris L1 SLIP COUNTER CHAR OOh FFh Roll over counter is incremented f
58. HAPTER The BD960 receiver is designed for high precision navigation and location The receiver uses Real Time Kinematic RTK techniques to achieve centimeter level positioning accuracy This chapter provides background information on terminology and describes the capabilities and limitations of the BD960 receiver BD960 GNSS Receiver Module User Guide 19 4 20 Positioning Modes What is RTK Real Time Kinematic RTK positioning is positioning that is based on at least two GPS receivers a base receiver and one or more rover receivers The base receiver takes measurements from satellites in view and then broadcasts them together with its location to the rover receiver s The rover receiver also collects measurements to the satellites in view and processes them with the base station data The rover then estimates its location relative to the base Typically base and rover receivers take measurements at regular 1 second epochs events in time and produce position solutions at the same rate The key to achieving centimeter level positioning accuracy with RTK is the use of the GPS carrier phase signals Carrier phase measurements are like precise tape measures from the base and rover antennas to the satellites In the BD960 receiver carrier phase measurements are made with millimeter precision Although carrier phase measurements are highly precise they contain an unknown bias termed the integer cycle ambiguity or carrier phase a
59. Hz Blinking at 1 Hz Blinking at 1 Hz Blinking at 1 Hz Blinking at 1 Hz High frequency blinking burst every 5 seconds Blinking at 1 Hz Blinking at 1 Hz 5 seconds followed by high frequency blinking burst High frequency blinking burst every 5 seconds Off On continuous The receiver is tracking satellites on the vector secondary antenna only The position antenna is not tracking The receiver is tracking satellites on the position primary antenna only the vector antenna is not tracking and receiving incoming RTK corrections The receiver is tracking satellites on both the position primary and vector secondary antennas and receiving incoming RTK corrections The receiver is tracking satellites on the vector secondary antenna only the position antenna not tracking and receiving RTK corrections The receiver is receiving incoming RTK corrections but not tracking satellites on either antenna The receiver is in Boot Monitor Mode Contact technical support T High frequency rapid flash blinking indicates less than five satellites tracked 2 Only available in receivers running firmware version 4 40 or later BD960 GNSS Receiver Module User Guide Positioning Modes In this chapter What is RTK Carrier phase initialization Update rate and latency Data link Moving Baseline RTK positioning Critical factors affecting RTK accuracy DGPS SBAS E OmniSTAR C
60. IGMA INFO Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE 12 1 byte RECORD LENGTH 4 float POSITION RMS 4 float SIGMA EAST 4 float SIGMA NORTH 4 float COVAR EAST NORTH 4 float SIGMA UP 4 float SEMI MAJOR AXIS 4 float SEMI MINOR AXIS 4 float ORIENTATION 4 float UNIT VARIANCE 2 short NUMBER EPOCHS y bt tb tb builds Where e OUTPUT RECORD TYPE 12 e RECORD LENGTH is the length of this sub record e RANGE RESIDUAL RMS is the square root of the sum of the squares of the range residuals divided by the number of degrees of freedom in the solution SIGMA EAST NORTH UP are in meters e COVARIANCE EAST NORTH is dimensionless e SEMI MAJOR MINOR AXES of the error ellipse is in meters e ORIENTATION ofthe semi major axis is in degrees from clockwise from True North e UNIT VARIANCE is valid only for over determined solutions It should tend towards 1 0 A value less than 1 0 indicates that the apriori variances were too pessimistic e NUMBER OF EPOCHS indicates the number of measurements used to compute the position It may be greater than 1 for positions subjected to a STATIC constraint BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 GSOF 13 GSOF 13 0Dh SV BRIEF INFO Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE gt 13 1 byte RECORD LENGTH gt 1 b
61. ITOR INPUT hold low at boot up to boot into Monitor mode Otherwise leave unconnected 4 Ethernet Receive Data INPUT Ethernet Receive Minus 5 LED 1 Tracking SV 6 Ethernet Receive Data INPUT Ethernet Receive Plus 7 LED 2 Receiving Corrections 8 Ethernet Transmit Data OUTPUT Ethernet Transmit Minus 9 LED 3 Power 10 Ethernet Transmit Data OUTPUT Ethernet Transmit Plus 11 GND POWER GROUND 12 PPS OUTPUT Pulse per second 3 3V TTL level 13 EVENT INPUT Event Markers 14 GND POWER GROUND 15 RS 232 PORT1 TX OUTPUT Port 1 Serial port Transmit 16 RS 232 PORT1 RX INPUT Port 1 Serial port Receive 17 GND POWER GROUND 18 RS 232 PORT3 TX OUTPUT Port 3 Serial port Transmit 19 RS 232 PORT3 RX INPUT Port 3 Serial port Receive 20 RS 232 PORT3 CTS INPUT Port 3 Serial port Clear to send 164 BD960 GNSS Receiver Module User Guide Receiver Connector Pinout Information E Pin Usage Comment 21 RS 232 PORT3 RTS OUTPUT Port 3 Serial port Ring to Send 22 GND POWER GROUND 23 RS 232 PORT2 TX OUTPUT Port 2 Serial port Transmit 24 RS 232 PORT2 RX INPUT Port 2 Serial port Receive 25 RS 232 PORT2 CTS INPUT Port 2 Serial port Clear to send 26 RS 232 PORT2 RTS OUTPUT Port 2 Serial port Ring to Send 27 ON_SWITCH INPUT ON_SWITCH When auto_on is enabled NOT _USED When auto_on is disabled connect to ground to power unit on No connect Float to turn on Use open drain or op
62. NSS Receiver Module User Guide 143 A NMEA 0183 Output PTNL AVR 144 Time Yaw Tilt Range for Moving Baseline RTK The PTNL AVR message string is shown below and Table A 8 describes the message fields PTNL AVR 181059 6 149 4688 Yaw 0 0134 Tilt 60 191 3 2 5 6 00 Table A 8 AVR message fields Field Meaning Message ID PTNL AVR UTC of vector fix Yaw angle in degrees Yaw Tilt angle in degrees Tilt Reserved Reserved Range in meters WO CO NI wD U A W N O GPS quality indicator O Fix not available or invalid 1 Autonomous GPS fix 2 Differential carrier phase solution RTK Float 3 Differential carrier phase solution RTK Fix 4 Differential code based solution DGPS 10 PDOP 11 Number of satellites used in solution 12 The checksum data always begins with BD960 GNSS Receiver Module User Guide NMEA 0183 Output A PTNL GGK Time Position Position Type DOP An example of the PTNL GGK message string is shown below Table A 9 describes the message fields PTNL GGK 172814 00 071296 3723 46587704 N 12202 26957864 W 3 06 1 7 EHT 6 777 M 48 Table A 9 PTNL GGK message fields Field Meaning 0 Message ID PTNL GGA UTC of position fix Date 1 2 3 Latitude 4 Direction of latitude N North S South Longitude 6 Direction of Longitude E East W West 7 GPS Quality indicator
63. OUBLE qB Measure of satellite signal strength L2 CONTINUOUS DOUBLE L2 cycles L2 Continuous Phase is in L2 cycles if bit 5 of PHASE FLAGS1 1 L2 P CODE L1 DOUBLE meters L2 P Code or L2 Encrypted Code see bit 1 and C A CODE bit 2 of FLAGS2 L1 C A Code or P code see P RANGE bit 0 of FLAGS2 pseudorange valid only if bit 5 of FLAGS1 1 Begin Enhanced Record if bit 1 of the FLAGS byte set to 1 12 bytes n IODE CHAR 00h FFh Issue of Data Ephemeris L1 SLIP COUNTER CHAR 00h FFh Roll over counter is incremented for each occurrence of detected cycle slips on L1 carrier phase L2 SLIP COUNTER CHAR 00h FFh Roll over counter is incremented for each occurrence of detected cycle slips on the L2 carrier phase The counter always increments when L2 changes from C A code to Encrypted code and vice versa RESERVED CHAR Reserved set to zero L2 DOPPLER DOUBLE Hz L2 Doppler Repeat previous bytes for remaining satellites in constellation CHECKSUM SHORT See Table 7 1 page 53 Checksum value ETX CHAR 03h End transmission To be compatible with Trimble software this data must be stripped off before record 17 is stored in a DAT file 116 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Concise record format Table 7 49 shows the structure of Report Packet 57h when Concise Record format is enabled with Command Packet 56h Table 7 49Re
64. OUTPUT RECORD TYPE 7 1 byte RECORD LENGTH 8 double DELTA EAST 8 double DELTA NORTH 8 double DELTA UP bt 4 Where OUTPUT RECORD TYPE 7 RECORD LENGTH is the length of this sub record DELTA EAST is the east component of a vector from the base to the rover projected onto a plane tangent to the WGS 84 ellipsoid at the base Units meters DELTA NORTH is the north component of the tangent plane vector DELTA UP is the difference between the ellipsoidal height of the tangent plane at the base and a plane parallel to this passing through the rover point BD960 GNSS Receiver Module User Guide 89 7 90 Configuring the BD960 Receiver Using Binary Interface Commands GSOF 8 GSOF 8 08h VELOCITY DATA Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE 8 1 byte RECORD LENGTH 1 byte VELOCITY FLAGS 4 float VELOCITY 4 float HEADING 4 float VERTICAL VELOCITY E Where OUTPUT RECORD TYPE 8 RECORD LENGTH is the length of this sub record VELOCITY FLAGS indicate attributes of the velocity information Defined values are _ bit 0 SET Velocity data valid RESET Velocity data not valid bit 1 SET Velocity computed from consecutive measurements RESET Velocity computed from Doppler bits 2 7 RESERVED VELOCITY is the horizontal velocity in meters per second HEADING is the WGS 84 referenced true north heading in radians VERTICAL VELOCITY is the
65. OmniSTAR subscription To purchase a subscription for your receiver contact OmniSTAR at www OmniSTAR com North amp South America 1 888 883 8476 or 1 713 785 5850 Europe amp Northern Africa India Pakistan 31 70 317 0900 Australia amp Asia 61 8 9322 5295 Southern Africa 27 21 552 0535 To receive an OmniSTAR activation the receiver must be switched on have a clear view to the south and should be tracking an OmniSTAR satellite This figure shows an example of the screen that appears when you select OmniSTAR Status a EP hetp 20 1 94 63 SN 4541A61039 OmniSTAR Status Note Ifthe library has no subscription activating it will have no effect 2007 12 20T23 56 37Z UTC Now Party Goudy 48 F Ly Fri 29 F A Sat 30 F Ips BD960 GNSS Receiver Module User Guide 45 6 Configuring the BD960 Receiver Using a Web Browser 46 Internet Configuration menu Use the Internet Configuration menu to configure Ethernet settings email alerts PPP connection HTTP port FTP port and VFD port settings of the receiver For information on the Ethernet settings see Configuring Ethernet settings page 36 This figure shows an example of the screen that appears when you select Network Configuration Ethernet Trimble GNSS 2007 12 21T00 00 367 Mozilla Firefox Ele Edit View History Bookmarks Tools Help E gt SS a e mormona E z _ _3 F
66. Receiver Module User Guide 5 6 BD960 GNSS Receiver Module User Guide Introduction m About the BD960 receiver m Related information m Technical Support CHAPTER The BD960 GNSS Receiver Module User Guide describes how to set up and use the Trimble BD960 GNSS receiver module The BD960 receiver uses advanced navigation architecture to achieve real time centimeter accuracies with minimal latencies Even if you have used other Global Positioning System GPS 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 GPS visit the Trimble website www trimble com for an interactive look at Trimble and GPS BD960 GNSS Receiver Module User Guide 7 1 8 Introduction Related About the BD960 receiver The BD960 receiver is used for a wide range of precise positioning and navigation applications These uses include unmanned vehicles and port and terminal equipment automation and any other application requiring reliable centimeter level guidance at a high update rate and low latency The BD960 receiver offers centimeter level accuracy based on RTK solutions and submeter accuracy code phase solutions Automatic initialization and switching between positioning modes allow for the best position solutions possible Low latency lt 20 msec and high update rates up to 20 Hz give the response time and accuracy required
67. S week GPS WEEK NUMBER is the week count since January 1980 LATITUDE is the base WGS 84 latitude in radians LONGITUDE is the base WGS 84 longitude in radians HEIGHT is the base WGS 84 height in meters QUALITY INDICATOR shows the quality of the base position 0 Fix not available or invalid 1 Autonomous 2 Differential SBAS or OmniSTAR VBS 4 RTK Fixed 5 OmniSTAR XP OmniSTAR HP RTK Float or RTK Location 55h RETSVDATA Satellite information reports Report Packet 55h is sent in response to Command Packet 54h The report includes either the ephemeris or almanac information for a specific satellite or ION UTC data the Enabled Disabled state and Heed Ignore Health state of all satellites or the condition of satellite status flags for one satellite or all satellites Packet Flow Receiver Remote e Command Packet 54h Report Packet 55h gt BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Only the satellite information requested by Command Packet 54h is sent in the report packet As a result several forms of the Report Packet 55h can be requested Table 7 43 through Table 7 47 describe the structure of the report packets Returns a NAK ifthe GETSVDATA request meets one of the following criteria e SV PRN is out of range 1 32 except for SV flags e Data Switch is out of range e Data is not available for the requested SV SV FLAGS re
68. TH is the length of this sub record X is the earth centered earth fixed X axis WGS 84 coordinate of the position in meters Y is the earth centered earth fixed Y axis WGS 84 coordinate of the position in meters Z is the earth centered earth fixed Z axis WGS 84 coordinate of the position in meters BD960 GNSS Receiver Module User Guide 85 7 86 Configuring the BD960 Receiver Using Binary Interface Commands GSOF 4 GSOF 4 04h LOCAL DATUM POSITION Back to 40h GENOUT Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE 4 1 byte RECORD LENGTH 8 char LOCAL DATUM ID 8 double LOCAL DATUM ECEF LATITUDE 8 double LOCAL DATUM LONGITUDE 8 double LOCAL DATUM HEIGHT gt 1 byte OUTPUT RECORD TYPE 4 gt y Where OUTPUT RECORD TYPE 4 RECORD LENGTH is the length of this sub record LOCAL DATUM IDENTIFIER is an ASCII string that identifies the coordinate datum LOCAL DATUM LATITUDE is the latitude in the local datum radians LOCAL DATUM LONGITUDE is the longitude in the local datum radians LOCAL DATUM HEIGHT is the height in the local datum meters BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands GSOF 5 GSOF 5 05h LOCAL ZONE POSITION Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE 5 gt 1 byte RECORD LENGTH gt 8 char LOCAL DATUM ID gt 8 char LOCAL ZONE ID gt
69. TK float or code phase DGPS Uncorrected position is Autonomous if bit 0 is 0 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 bit 3 SET HP Omnistar differential solution RESET HP Omnistar not active bit 4 SET Position determined with STATIC as a constraint bit 5 SET Position is Network RTK solution bits 6 7 RESERVED INITIALIZATION NUMBER is a rollover counter to indicate when re initializations have taken place BD960 GNSS Receiver Module User Guide 101 7 Configuring the BD960 Receiver Using Binary Interface Commands GSOF 27 GSOF 27 1Bh ATTITUDE INFO 27 Receiver 1 byte OUTPUT RECORD TYPE gt 1 byte RECORD LENGTH 4 unsigned long GPS TIME 1 byte FLAGS 1 byte NUMBER OF SVS 1 byte CALCULATION MODE 1 byte RESERVED 8 double PITCH 8 double YAW 8 double ROLL 8 double MASTER SLAVE RANGE 2 word PDOP Record length 42 up to and including PDOP does not include type and length bytes 4 float PITCH VARIANCE 4 float YAW VARIANCE 4 float ROLL VARIANCE 4 float MASTER SLAVE RANGE VARIANCE Record length 70 up to and including Master Slave Range Variance Packet Flow Connected computer bt tb bb buts Where OUTPUT RECORD TYPE 27 RECORD LENGTH is the length of this sub record GPS TIME is time of position in milliseconds of GPS week FLAGS indicate the following bit 0 C
70. TSERIAL Receiver and antenna information request page 57 Table 7 41Report Packet 07h structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status code 2 PACKET TYPE CHAR h Report Packet 07h 3 LENGTH CHAR 2Dh Data byte count 4 11 RECEIVER SERIAL CHAR ASCII text Receiver serial number 12 19 RECEIVER TYPE CHARs BD960 Receiver model designation padded with three spaces 20 24 NAV PROCESS CHARs ASCII text Version number of NAV Processor VERSION software 25 29 SIG PROCESS CHARs ASCII text Not applicable VERSION 00000 30 34 BOOT ROM CHARs ASCII text Not applicable VERSION 00000 35 42 ANTENNA SERIAL CHARS ASCII text Not used 8 spaces 43 44 ANTENNA TYPE CHAR ASCII text Not used 2 spaces 45 46 CHANNELS CHAR 12h There are 18 receiver channels 47 48 CHANNELS L1 CHAR 09h Nine 9 L1 receiver channels 49 58 LONG SERIAL CHARValue ASCII text 10 spaces This is the serial number that should be NUMBER used for newer receivers like the BD960 59 89 LOCAL LONG ANT CHAR ASCII text 31 spaces Not Applicable SERIAL 90 120 BASE LONG ANT CHAR ASCII text 31 spaces Not Applicable SERIAL 121 151 BASE NGS ANT CHAR ASCII text 31 spaces Not Applicable DESCRIPTOR 152 153 HUSABLE CHAR Maximum usable channels with the CHANNELS current option set 154 155 HPHYSICAL CHAR Number of hardware channels CHANN
71. The receiver cannot process the request The receiver STATUS byte The status byte contains important indicators that usually require immediate attention by the remote device The receiver never makes a request of the remote device Each bit of the status byte identifies a particular problem More than one problem may be indicated by the status byte Table 7 2 lists the status byte codes Table 7 2 Status byte codes Bit Bit value Meaning Bit 0 1 Reserved Bit 1 1 Low battery Bit 2 7 0 63 Reserved Reading binary values The receiver stores numbers in Motorola format The byte order of these numbers is the opposite of what personal computers expect Intel format To supply or interpret binary numbers 8 byte DOUBLES 4 byte LONGS and 2 byte INTEGERS the byte order of these values must be reversed A detailed description of the Motorola format used to store numbers in the receiver is provided in the following sections BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 INTEGER data types The INTEGER data types CHAR SHORT and LONG can be signed or unsigned They are unsigned by default All integer data types use twos complement representation Table 7 3 lists the integer data types Table 7 3 Integer data types Type of bits Range of values Signed Unsigned CHAR 8 128 to 127 0 to 255 SHORT 16 32768 to 32767 0 to 65535 LONG 32 2147483648 t
72. US CHAR See Table 7 2 page 54 Receiver status code 2 PACKET TYPE CHAR 67h Report Packet 67h 3 LENGTH CHAR See Table 7 1 page 53 Data byte count BD960 GNSS Receiver Module User Guide 123 7 Configuring the BD960 Receiver Using Binary Interface Commands Table 7 58Report packet 67h structure continued Byte Item Type Value Meaning 4 TX BLOCK CHAR 00h FFh Unique number assigned to every IDENTIFIER application file transfer PAGE INDEX CHAR 00h FFh Page index assigned to packet page 6 MAXIMUM PAGE CHAR 00h FFh Page index assigned to the last packet INDEX page Begin Directory List 7 APP FILES 00h n Number of application files in directory TThe Date Time fields should all be relative to UTC First Application File Directory Record The following record block bytes 8 23 is repeated for every application file stored in directory At least one application file exists SYSTEM FILE INDEX number 0 the Default Application File The receiver can store at least 10 user defined application file records 8 SYSTEM FILE CHAR See Table 7 59 page Record number assigned to the file INDEX 124 9 16 APP FILE NAME CHARs ASCII text Name of application file 8 ASCII characters 17 CREATION YEAR CHAR 00h FFh Year when file is created Based on the years since 1900 1900 00 18 CREATION CHAR 01h 0Ch Month of the year when file is created MONTH 1 12 19 CREATION DAY CHAR 01h 1Fh Day of t
73. USER GUIDE Trimble BD960 GNSS Receiver Module Trimble USER GUIDE Trimble BD960 GNSS Receiver Module Version 4 40 ey Trimble Corporate Office Trimble Navigation Limited 935 Stewart Drive Sunnyvale CA 94085 USA www trimble com Email trimble_support trimble com Legal Notices 2006 2011 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 Zephyr and Zephyr Geodetic are trademarks of Trimble Navigation Limited Microsoft Internet Explorer Windows and Windows NT are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries All other trademarks are the property of their respective owners Release Notice This is the May 2011 release Revision A of the BD960 GNSS Receiver Module User Guide It applies to version 4 40 of the receiver firmware 2 BD960 GNSS Receiver Module User Guide Restriction of Use of Certain Hazardous Substances in Electrical and Electronic Equipment RoHS This Trimble product complies in all material respects with DIRECTIVE 2002 95 EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 27 January 2003 on the restriction of the use of certain hazardous substances in electrical and electronic equipment RoHS Directive and Amendment 2005 618 EC filed under C 2005 3143 with exe
74. Y CODE FLAGS LONG 32 flag bits Flags show satellites with Anti Spoofing turned on when set to one TBit 0 PRN 1 BD960 GNSS Receiver Module User Guide 109 7 Configuring the BD960 Receiver Using Binary Interface Commands Table 7 43Report Packet 55h SV flags report structure continued Byte Item Type Value Meaning 34 37 P CODEONL1 LONG 32 flag bits Flags show satellites which are tracking P code FLAGS on the L1 Flags are not set for satellites not tracked on L1 38 41 RESERVED LONG 32 flag bits Reserved set to zero 42 45 RESERVED LONG 32 flag bits Reserved set to zero 46 49 RESERVED LONG 32 flag bits Reserved set to zero 50 53 RESERVED LONG 32 flag bits Reserved set to zero 54 CHECKSUM CHAR See Table 7 1 page 53 Checksum value 55 ETX CHAR 03h End transmission TBit O PRN 1 EPHEMERIS report The EPHEMERIS report is sent when Command Packet 54h is used to request the Ephemeris for one satellite or all satellites The GETSVDATA DATA SWITCH byte byte 4 is set to one 1 to request the report Table 7 44 describes the packet structure The Ephemeris data follows the standard defined by GPS ICD 200 except for CUC CUS CIS and CIC These values need to be multiplied by n to become the units specified in the GPS ICD 200 document The Ephemeris Flags are described in Table 7 45 Table 7 44Report Packet 55h ephemeris report structure
75. a entry fields are usually displayed when you configure receiver operating parameters or when you enable receiver functions and options Carousels Whenever square brackets appear around an item on the display you can click the key to change the value to one of a set of options The square brackets indicate a carousel data entry field Click to page through more screen lines Because the simulated receiver display has only four lines there are times when additional information needs to be accessed For example if you select the menu four softkeys become active and the double left arrow symbol appears in the top left corner ofthe screen The double left arrow is the visual cue that selecting allows you to page through more screen information Entering data in fields Carousels let you select from a limited set of options For example to choose a port number you use carousels and Next Some data fields involve alphanumeric entry through the keyboard Click to accept the data field and move the cursor to the next input item To accept all of the selections on the display click Enter at the last data field All of the data selections are ignored if you click while in a data entry screen Click to move back up the menu structure after selections are entered and saved Use the lt and gt keys on the left and right of the display respectively to move between data entry fields without changing their values BD960 GNSS Rece
76. able 7 60Report packet 6eh structure continued Byte Item Type Value Meaning COMM CHARs comma delimited ASCII Comma delimited ASCII string indicating the PROTOCOL string communication protocols supported on serial portm serial number and Ethernet IP address For more information see COMM page 127 SERIAL Receiver serial number NOT SET ETHIP Receiver Ethernet IP address in XXX XXX XXX XXX format or 0 0 0 0 if not found CHECKSUM CHAR See Table 7 1 page 53 Checksum value ETX CHAR 03h End transmission Identity message format The following example shows the structure of an Identity Message lt STX gt lt 0 gt lt 0x6E gt lt 93 gt PRODUCT BD960 PORT 1 38400 38400 8 1 N F VERSION 4 30 4 14 10 COMM DCOL NMEA lt CHECKSUM gt lt ETX gt Note The previous example shows the strings on separate lines for clarity but the actual message is one continuous string of characters Detailed information about the four parameter strings is described in the following sections PRODUCT For the receiver the PRODUCT string is always set to BD960 The string always begins with the word PRODUCT followed by a comma followed by the word BD960 and terminated with a semicolon as in the following example PRODUCT BD960 PORT The PORT parameter is a comma delimited string of ASCII characters describing the current input baud rate output baud rate data bits stop bits parity and the break sequence status ack
77. alibrated bit 1 Pitch Valid bit 2 Yaw Valid bit 3 Roll Valid bit 4 Scalar Valid bit 5 Bit 7 Reserved bit 5 Diagnostic Valid 102 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 bit 6 Slave Static bit 7 Error Stats valid NUMBER OF SVS CALCULATION MODE is one of the following values 0 None Autonomous 2 RTK Float 3 RTK Fix 4 DGPS RESERVED is currently unused PITCH is the forward dive climb angle radians YAW is the horizontal turn left or right radians ROLL is the side to side roll angle radians MASTER SLAVE RANGE is the distance between master and slave antennas in meters PDOP is the current position PDOP in tenths Subsequent elements are not implemented in firmware versions prior to GNSS version 4 20 The error stats valid flag is also set when these elements are implemented PITCH VARIANCE is the expected variance of error of the pitch estimate radians 2 YAW VARIANCE is the expected variance of error of the yaw estimate radians 2 ROLL VARIANCE is the expected variance of error of the roll estimate radians 2 PITCH YAW COVARIANCE is the expected covariance of errors of the pitch and yaw estimates radians 2 PITCH ROLL COVARIANCE is the expected covariance of errors of the pitch and roll estimates radians 2 YAW ROLL COVARIANCE is the expected covariance of errors of the yaw and roll estima
78. and 1 The number of bytes is dependent on the number of output specific flags 2 OUTPUT MESSAGE CHAR See Table 7 23 page 67 Type of message or packet TYPE PORT INDEX CHAR 00h 03h Serial port index number 4 FREQUENCY CHAR See Table 7 24 page 69 Frequency of message transmissions 5 OFFSET CHAR 00h FFh Integer second offset 0 255 seconds from scheduled output rate Only valid when frequency is lt 1 Hz or gt 1 second Note The remaining bytes depend on the output message type Byte 2 One or two flag bytes can be sent but two are always stored in the receiver OUTPUT MESSAGE RECORD TYPE 10 GSOF 6 GSOF SUBMESSAGE CHARs See Table 7 32 page 73 GSOF message number TYPE 7 OFFSET CHAR 0 255 Integer second offset from scheduled frequency OUTPUT MESSAGE RECORD TYPE 2 RTK CMR 6 CMR MESSAGE TYPE CHAR See Table 7 25 page 69 CMR message types FLAGS OUTPUT MESSAGE RECORD TYPE 3 RTCM 6 RTCM FLAGS CHAR See Table 7 27 page 70 Bit settings for RTCM output flags OUTPUT MESSAGE RECORD TYPE 4 RT17 6 REAL TIME 17 CHAR See Table 7 26 page 70 RT17 Real Time 17 flags MESSAGE FLAGS ANTENNA RECORD The ANTENNA RECORD identifies the Antenna Type and the true vertical height of antenna above the ground mark 0 RECORD TYPE CHAR 08h Reference Node record 1 RECORD LENGTH CHAR OCh Number of bytes in record excluding bytes 0 and 1 2 9 ANTENNA HEIGHT DOUBLE
79. and the seven mounting holes See Chapter D Drawings Considering environmental conditions Install the BD960 receiver in a location situated in a dry environment Avoid exposure to extreme environmental conditions This includes e Water or excessive moisture e Excessive heat greater than 75 C 167 F e Excessive cold less than 40 C 38 F e Corrosive fluids and gases Avoiding these conditions improves the BD960 receiver s performance and long term product reliability Mounting the antennas Choosing the correct location for the antenna is critical to the installation Poor or incorrect placement of the antenna can influence accuracy and reliability and may result in damage during normal operation Follow these guidelines to select the antenna location e Ifthe application is mobile place the antenna on a flat surface along the centerline ofthe vehicle e Choose an area with clear view to the sky above metallic objects e Avoid areas with high vibration excessive heat electrical interference and strong magnetic fields Avoid mounting the antenna close to stays electrical cables metal masts and other antennas BD960 GNSS Receiver Module User Guide 15 3 Installation Avoid mounting the antenna near transmitting antennas radar arrays or satellite communication equipment Sources of electrical interference Avoid the following sources of electrical and magnetic noise e gasoline engines
80. ary Interface Commands Table 7 46 describes the packet structure Table 7 46Command Packet 55h almanac report structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status 2 PACKET TYPE CHAR 55h Report Packet 55h 3 LENGTH CHAR See Table 7 1 page 53 Data byte count 4 DATA TYPE CHAR 02h Almanac data INDICATOR 5 SV PRN CHAR 00h 20h Pseudorandom number of satellite 1 32 or 0 when data is for all satellites 6 9 ALM DECODE LONG Full GPS seconds from the start of GPS TIME time 10 11 AWN SHORT GPS ICD 2001 12 15 TOA LONG GPS ICD 2001 16 23 SQRTA DOUBLE GPS ICD 2001 24 31 ECCENT DOUBLE GPS ICD 2001 32 39 ISUBO DOUBLE GPS ICD 200 40 47 OMEGADOT DOUBLE GPS ICD 2001 48 55 OMEGSUBO DOUBLE GPS ICD 200 56 63 OMEGA DOUBLE GPS ICD 2001 64 71 MSUBO DOUBLE GPS ICD 2001 72 ALM HEALTH CHAR GPS ICD 2001 73 CHECKSUM CHAR See Table 7 1 page 53 Checksum value 74 ETX CHAR 03h End transmission 1 For detailed information refer to the U S Government document GPS ICD 200 112 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands RETSVDATA UTC ION report 7 The UTC ION report is sent when Command Packet 54h is used to request the UTC Universal Time Coordinated and Ionospheric data The Command Packet 54h DATA SWITCH byte byte 4 is set to three 3 when r
81. ble A 4 describes the message fields Table A 4 Field 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 GSA message fields Meaning 0 Message ID GPGSA 1 Mode 1 M manual A automatic Mode 2 Fix type 1 not available 2 2D 3 3D PRN number 01 through 32 of satellite used in solution up to 12 transmitted PDOP Position dilution of precision 0 5 through 99 9 HDOP Horizontal dilution of precision 0 5 through 99 9 VDOP Vertical dilution of precision 0 5 through 99 9 N OD wy A W N The checksum data always begins with BD960 GNSS Receiver Module User Guide GST NMEA 0183 Output A Position Error Statistics An example of the GST message string is shown below Table A 5 describes the message fields GPGST 172814 0 0 006 0 023 0 020 273 6 0 023 0 020 0 031 6A Table A 5 GST message fields Field Meaning 0 Message ID GPGST 1 UTC of position fix 2 RMS value of the pseudorange residuals includes carrier phase residuals during periods of RTK float and RTK fixed processing Error ellipse semi major axis 1 sigma error in meters Error ellipse semi minor axis 1 sigma error in meters Error ellipse orientation degrees from true north Latitude 1 sigma error in meters Longitude 1 sigma error in meters Height 1 sigma error in meters WO
82. 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 138 GGA Time position and fix related data 139 GSA GPS DOP and active satellites 140 GST Position error statistics 141 GSV Number of SVs in view PRN elevation azimuth and SNR 142 HDT Heading from True North 143 PTNL AVR Time yaw tilt range mode PDOP and number of SVs for 144 Moving Baseline RTK PTNL GGK Time position position type and DOP values 145 PTNL PJK Local coordinate position output 146 PTNL VGK Time locator vector type and DOP values 147 PTNL VHD Heading Information 148 RMC Position Velocity and Time 149 ROT Rate of turn 150 VTG Actual track made good and speed over ground 151 ZDA UTC day month and year and local time zone offset 152 To enable or disable the output of individual NMEA messages do one of the following e Create an application file in the GPS
83. cepts changes data fields Click on the last data field to accept all changes Returns the screen to the previous menu level without changing the data fields Indicates a carousel data field used to select from a limited options list Indicates that additional screen lines are accessible Click Next Indicates a softkey menu option Moves the cursor between fields on the simulated screen Selects from carousel data fields or alphanumeric and numeric data 32 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Trimble Software Utilities 5 Types of field Three types of field appear on the simulated LCD display e Display only fields e Data entry fields e Carousels Most fields include two parts a field description and a reserved area for entering or selecting data Display only fields Display only fields can appear on any screen Some screens are composed entirely of display only fields For example the Satinfo screens show satellite status and tracking information A cursor is not displayed when a screen is composed entirely of display only fields If screens contain combinations of data entry carousels and display only fields you cannot move the cursor into display only fields Data entry fields Data entry fields accept numeric or alphanumeric input from the keypad For example the fields for entering latitude longitude and height information accept numeric input from the keypad Dat
84. ch meter of cable adds a delay of about 2 nsec to satellite signals and a corresponding delay in the 1PPS pulse 166 BD960 GNSS Receiver Module User Guide Receiver Connector Pinout Information E ASCII time tag Each time tag is output about 0 5 second before the corresponding pulse Time tags are in ASCII format on a user selected serial port The format of a time tag is UTC yy mm dd hh mm ss ab Where UTC is fixed text yy mm dd is the year month and date hh mm ss is the hour on a 24 hour clock minute and second The time is in UTC not GPS ais an integer number representing the position fix type 1 time only 2 1D amp time 3 currently unused 4 2D amp time 5 3D amp time bis number of GPS satellites being tracked Each time tag is terminated by a carriage return line feed sequence A typical printout looks like UTC 02 12 21 20 21 16 56 UTC 02 12 21 20 21 17 56 UTC 02 12 21 20 21 18 56 Note If the receiver is not tracking satellites the time tag is based on the receiver clock In this case a and b are represented by The time readings from the receiver clock are less accurate than time readings determined from the satellite signals BD960 GNSS Receiver Module User Guide 167 E Receiver Connector Pinout Information 168 BD960 GNSS Receiver Module User Guide Glossary 1PPS almanac base station carrier carrier frequency carrier phase cellular modems CMR CMR
85. cket Flow Receiver 1 byte OUTPUT RECORD TYPE 26 1 byte RECORD LENGTH 4 long MILLISECONDS OF WEEK 2 short GPS WEEK NUMBER 1 byte NUMBER OF SVS USED 1 byte POSITION FLAGS 1 1 byte POSITION FLAGS 2 1 byte INITIALIZATION NUMBER Connected computer y ttt ltt d Where OUTPUT RECORD TYPE 26 RECORD LENGTH is the length of this sub record MILLISECONDS OF WEEK is the GPS time since the start of the GPS week GPS WEEK NUMBER is the week count since January 1980 NUMBER OF SVS USED is the number of satellites used to determine the position POSITION FLAGS 1 reports position attributes and is defined as follows bit O SET New Position bit 1 SET Clock fix calculated this position bit 2 SET Horizontal coordinates calculated this position bit 3 SET Height calculated this position bit 4 reserved Always SET was Weighted position bit 5 SET Least squares position bit 6 reserved Always CLEAR was Iono free position bit 7 SET Position uses Filtered L1 pseudoranges POSITION FLAGS 2 reports position attributes and is defined as follows bit O SET Position is a differential solution RESET Position is autonomous or WAAS solution bit 1 SET Differential position is phase RTK or HP Omnistar RESET Differential position is code bit 2 SET Differential position is fixed integer phase position RTK Uncorrected position is WAAS if bit 0 is 0 RESET Differential position is R
86. d Packet 81h structure Byte Item Type Value Meaning oo SX CHAR 0h Starttransmission gt ssts S 1 STATUS CHAR See Table 7 2 page 54 Receiver status code 2 PACKET TYPE CHAR 81h Command Packet 81h 3 LENGTH CHAR 01h Data byte count 4 KEY ID CHAR See Table 7 38 page 76 Key scan code ID 5 CHECKSUM CHAR SeeTable7 1 page53 Checksum values 6 ETX CHAR 03h End transmission Table 7 38Key ID codes Scan Code Receiver Key ASCII Character 7Fh lt del gt ODh lt carriage return gt 41h Softkey Choice 1 lt A gt 42h Softkey Choice 2 lt B gt 43h Softkey Choice 3 lt C gt 4n Sky Choice De 1Dh E oS 30h 0 lt 0 gt E 32h 2 lt 2 gt BBB 34h 4 lt 4 gt 35h 5 lt 5 gt 76 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Table 7 38Key ID codes continued Scan Code Receiver Key ASCII Character 36h 6 lt 6 gt 37h 7 lt 7 gt 38h 8 lt 8 gt 39h 9 lt 9 gt 4Ch STATUS lt L gt 4Ah SESSION lt J gt 4Bh SAT INFO lt K gt 4Fh LOG DATA lt O gt 4Dh CONTROL lt M gt 50h ALPHA lt P gt 4Eh MODIFY lt N gt 1Bh POWER 82h SCRDUMP Screen dump request Command Packet 82h has two forms a command packet and report packet Both packets are assigned the same hexadecimal code 82h Packet Flow Receiver Remote Command Packet 82h Report Packet 82h gt Command Packet 82h reque
87. d packet and report packet Both packets are assigned the same hexadecimal code 82h For more information see 82h SCRDUMP Screen dump request page 77 Packet Flow Receiver Remote Command Packet 82h Report Packet 82h gt Report Packet 82h is sent in response to Command Packet 82h The receiver generates an ASCII representation a dump of a BD960 display screen and sends the dump to the remote device in Report Packet 82h Table 7 62 shows the packet structure Table 7 62Report packet 82h structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status code 2 PACKET TYPE CHAR 82h Report Packet 82h 3 LENGTH CHAR Ath Data byte count 4 163 ASCII DATA CHARs ASCII data 164 CURSOR POSITION CHAR Position of the cursor 165 CHECKSUM CHAR See Table 7 1 page 53 Checksum value 166 ETX CHAR 03h End transmission 128 BD960 GNSS Receiver Module User Guide Default Settings In this chapter m Default receiver settings CHAPTER All settings are stored in application files The default application file Default cfg is stored permanently in the receiver and contains the factory default settings Whenever the receiver is reset to its factory defaults the current settings stored in the current application file Current cfg are reset to the values in the default application file BD960 GNSS Receiver Module User Guide 129 8 Default Settings Default receiver settings These s
88. described by the menu option on the first line of the display the second softkey performs the action associated with the menu option on the second screen line and so on When a menu option is not displayed on a screen for a specific screen line the associated softkey performs no action In the sample screen below one menu option the lt HERE gt softkey is displayed The menu action associated with a softkey can be executed immediately or the action can display another screen that might include additional menu options In the sample screen above press lt HERE gt to enter the current position as the coordinates for a base station Throughout this manual softkey options are shown enclosed within angle brackets and in bold type Simulated keypad Use the simulated keypad to enter alphanumeric and numeric data and to select predefined values for data entry fields Key Symbol Description 9 The numeric keys let you enter numeric data 2 e The alphabetic keys become active when a field can accept alphabetic data wW l entering data or choosing options from carousel fields 2 G The side arrow keys let you move the cursor to data entry fields before v The up and down arrow keys let you select options from carousel fields Alternatively you can select alphabetic and numeric data where appropriate Next Pages through multiple screen lines softkey optio
89. disable a selection of the 32 GPS satellites By default the receiver is configured to use all satellites which are in good health This record is useful for enabling satellites which are not in good health Once enabled the health condition of the satellite s is ignored and the GPS signal transmissions from the satellite s are considered when computing position solutions 0 RECORD TYPE CHAR 06h SV Enable Disable Record 1 RECORD LENGTH CHAR 20h Number of bytes in record excluding bytes 0 and 1 2 33 SV ENABLE DISABLE CHARs See Table 7 22 page 67 Array of Enable Disable flags for the 32 STATES SVs The first byte sets the required Enable Disable status of SV1 the second sets the status of SV2 etc BD960 GNSS Receiver Module User Guide 63 7 Configuring the BD960 Receiver Using Binary Interface Commands Table 7 12Command packet 64h structure continued Byte Item Type Value Meaning OUTPUT MESSAGE RECORD The OUTPUT MESSAGE RECORD selects the outputs for a specified serial port the frequency of message transmissions the integer second offset from the scheduled output rate and output specific flags Bytes 0 through 5 are included in all records regardless of the output message type The remaining bytes in the record byte 6 are dependent on the output message type 0 RECORD TYPE CHAR 07h Output Message Record 1 RECORD LENGTH CHAR 04h 05h or 06h Number of bytes in the record excluding bytes 0
90. e 2400 4800 9600 19200 38400 and 57600 baud and 115 kbaud Any of these data rates can be used however only 4800 baud or higher should be used For example a 20 Hz GGK string output requires the baud rate to be set to at least 19200 Only an 8 bit word format is supported with Odd Even or No parity and 1 stop bit The default communications format for the receiver is 38400 baud 8 data bits no parity and 1 stop bit Changes to the serial format parameter settings for all serial ports are stored in EEPROM Electrically Erasable Read Only Memory and remain in effect across power cycles until you change the parameter settings Testing the communications link To determine whether the receiver can accept RS 232 commands the protocol request ENQ 05h is used The response is either ACK 06h or NAK 15h ENQ ACK NAK correspond to Are you ready I am ready and I am not ready This quick 1 byte test can be sent by the remote device before any other command to make sure that the RS 232 line is clear and operational BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Communication errors The receiver normally responds to a RS 232 Serial Interface Specification command packet within 500 milliseconds If the receiver does not respond to the request or command the external device can send numerous 0 characters 250 to cancel any partially received message bef
91. e RECORD LENGTH 4 long GPS TIME ms 2 int GPS WEEK NUMBER 1 byte NUMBER OF SVS USED 1 byte POSITION FLAGS 1 1 byte POSITION FLAGS 2 1 byte INITIALIZATION NUMBER Connected computer yA kykl Where OUTPUT RECORD TYPE 1 RECORD LENGTH is the length of this sub record GPS TIME is in milliseconds ofthe GPS week GPS WEEK NUMBER is the week count since January 1980 NUMBER OF SVS USED is the number of satellites used to determine the position POSITION FLAGS 1 reports position attributes and is defined as follows bit O SET New Position bit 1 SET Clock fix calculated this position bit 2 SET Horizontal coordinates calculated this position bit 3 SET Height calculated this position bit 4 reserved Always SET was Weighted position bit 5 SET Least squares position bit 6 reserved Always CLEAR was Iono free position bit 7 SET Position uses Filtered L1 pseudoranges POSITION FLAGS 2 reports position attributes and is defined as follows bit O SET Position is a differential solution RESET Position is autonomous or WAAS solution bit 1 SET Differential position is phase including RTK float fixed or location HP or XP Omnistar VBS is not derived from phase RESET Differential position is code BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 bit 2 SET Differential position is fixed integer phase position RTK fixed U
92. e Description field 5 Select Load GPS software and then click Next The GPS Software Selection window appears This screen prompts you to select the software that you want to install on the receiver 6 From the Available Software list select the latest version and then click Next The Settings Review window appears This screen prompts you to connect the receiver suggests a connection method and then lists the receiver configuration and selected operation 7 Ifallis 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 8 Click OK 154 BD960 GNSS Receiver Module User Guide Upgrading the Receiver Firmware B The Software Upgrade window appears again and states that the operation was completed successfully 9 To select another operation click Menu to quit click Exit If you click Exit the system prompts you to confirm 10 Click OK BD960 GNSS Receiver Module User Guide 155 B Upgrading the Receiver Firmware 156 BD960 GNSS Receiver Module User Guide APPENDIX Troubleshooting In this appendix Use this appendix to identify and solve common ee problems that may occur with the receiver m Receiver issues Please read this section before you contact Technical Support BD960 GNSS Receiver Module User Guide 157 C Troubleshooting Receiver
93. e SV Flags are being requested 58 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 56h GETRAW Position or real time survey data request Command Packet 56h requests raw satellite data in DAT Record 17 format or Concise format The request may specify if Real Time attribute information is required The receiver responds by sending the data in Report Packet 57h Alternatively the packet can be used to request receiver position information in DAT record 11 format Table 7 8 describes the packet structure For additional information see 57h RAWDATA Position or real time survey data report page 114 Packet Flow Receiver 7 Report Packet 57h or NAK gt Command Packet 56h Remote Note The reply to this command packet is usually a Report Packet 57h A NAK is returned if the Real Time Survey Data Option RT17 is not installed on the receiver Table 7 8 Command packet 56h structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status code 2 PACKET TYPE CHAR 56h Command Packet 56h 3 LENGTH CHAR 03h Data byte count 4 TYPE RAW DATA CHAR See Table 7 9 page 59 Identifies the requested type of raw data 5 FLAGS CHAR See Table 7 10 page 59 Flag bits for requesting raw data 6 RESERVED CHAR 00h Reserved set to zero 7 8 CHECKSUM SHORT See Table 7 1 page 53
94. e various types of data are displayed in fields Three types of fields are displayed on the simulated screens Display only fields data entry fields and carousels For more information about fields see Working with screens and fields page 32 The simulated LCD display can display four lines of data at once When more than four lines of data is available for display double left arrows appear in the upper left corner of the display To display another four lines of data click the key Some screens appear solely for the purpose of viewing status information For instance the Satinfo screens show satellite tracking and status information Data entry screens appear when you need to configure the receiver operation BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Trimble Software Utilities 5 Many status and data entry fields include menu options for displaying additional screens and these screens can contain menus for displaying more screens Menu options appear on the right side of the screen enclosed within angle brackets Softkeys The four softkeys perform different functions depending on the menu options displayed on the right side of the simulated display Menu options also called softkey options appear on the screen enclosed within left and right angle brackets lt gt One softkey is provided for each of the four lines on the simulated LCD display The first top softkey performs the action
95. eceiver status code see Table 7 2 2 PACKET TYPE Hexadecimal code assigned to the packet 3 LENGTH Single byte of data bytes limits data to 255 bytes Begin packet data 4 to length DATA BYTES Data bytes Begin packet trailer Length 4 CHECKSUM status type length data bytes modulo 256 Length 5 ETX 03h End transmission BD960 GNSS Receiver Module User Guide 53 7 54 Configuring the BD960 Receiver Using Binary Interface Commands Data Collector Format packet functions A WARNING Virtually no range checking is performed by the receiver on the values supplied by the remote device The remote device must adhere to the exact ranges specified within this document Failure to do so can result in a receiver crash and or loss of data The functions of Data Collector Format command and report packets can be divided into the following categories e Information requests command packets and replies report packets e Control functions command packets and RS 232 acknowledgments ACK or NAK e Application file management Requests for information such as the Command Packet 4Ah GETOPT can be sent at any time The expected reply Report Packet 4Bh RETOPT is always sent Some control functions may result in an RS 232 acknowledgment of NAK 15h if one of the following conditions exists e The request is not supported invalid by the receiver for example a required option may not be installed on the receiver e
96. eivers BD960 GNSS Receiver Module User Guide 69 7 Configuring the BD960 Receiver Using Binary Interface Commands Table 7 26REAL TIME 17 MESSAGE bit values Bit Meaning 7 msb Reserved set to zero 6 Reserved set to zero 5 Reserved set to zero 4 Position Only 0 Disabled 1 Enabled Streamed Position 0 Disabled 1 Enabled Streamed Ephemeris 0 Disabled 1 Enabled RT Real Time Enhancements 0 Disabled 1 Enabled Isb Compact Format 0 Disabled 1 Enabled Table 7 27RTCM Flag bit values Bit Meaning Invalid value Output RTK RTCM packets Type 18 8 19 Output DGPS RTCM packets Type 1 Output RTK and DGPS RTCM packets Types 1 18 and 19 B w N O Output Type 9 Groups of 3 Bit 3 Use RTCM version 2 2 0 Off 1 On Multiple message bit turned on in Types 18 and 19 Bit 4 Use RTCM version 2 3 0 Off 1 On Output Types 23 amp 24 5 7 Invalid values If Flags are invalid the record is not applied However the Appfile may be accepted 70 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Table 7 28ANTENNA TYPE byte values Byte value Meaning Dec Hex 0 00h Unknown External 1 01h 4000ST Internal 2 02h 40005T Kinematic Ext 3 03h Compact Do
97. en collector output to control the line 28 Factory Use Do not connect 29 DC Power In POWER Positive Power PIN 5 28 VDC 30 DC Power In POWER Positive Power PIN 5 28 VDC 31 DC Power In POWER Positive Power PIN 5 28 VDC 32 DC Power In POWER Positive Power PIN 5 28 VDC 33 GND POWER GROUND 34 GND POWER GROUND 3 3VTTL output pre biased with a 100 Ohm resistor current limited to 5 mA Connect directly to the anode of an LED as long as your forward voltage is in the 2 0 2 8 V range Application requiring brighter LEDs requiring more than 5mA should be buffered BD960 GNSS Receiver Module User Guide 165 E Receiver Connector Pinout Information 1PPS and ASCII time tag The BD960 receiver can output a 1 pulse per second 1PPS time strobe and an associated time tag message The time tags are output on a user selected port The leading edge of the pulse coincides with the beginning of each UTC second The pulse is driven between nominal levels of 0 0 V and 3 3 V see Figure E 1 The leading edge is positive rising from 0 V to 3 3 V Positive slope pulse OV Seconds RR A f Time tag output here Time tag applies here Figure E 1 Time tag relation to 1PPS wave form The pulse is about 8 microseconds wide with rise and fall times of about 100 nsec Resolution is approximately 40 nsec but the following external factor limits accuracy to approximately 1 microsecond e Antenna cable length Ea
98. equesting the report Data follows the standard defined within GPS ICD 200 except that some parameters are expanded A NAK is returned if Command Packet 54h DATA SWITCH values is out of range Table 7 47 describes the packet structure Table 7 47RETSVDATA UTC ION packet structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status 2 PACKET TYPE CHAR 55h Report Packet 55h 3 LENGTH CHAR See Table 7 1 page 53 Data byte count 4 DATA TYPE CHAR 03h UTC ION Report INDICATOR 5 SV PRN CHAR 00h Data for all satellites For detailed information refer to the U S Government document GPS ICD 200 Begin UTC Data 6 13 ALPHA 0 DOUBLE GPS ICD 2001 14 21 ALPHA 1 DOUBLE GPS ICD 200 22 29 ALPHA 2 DOUBLE GPS ICD 200 30 37 ALPHA 3 DOUBLE GPS ICD 200 38 45 BETA 0 DOUBLE GPS ICD 200 46 53 BETA 1 DOUBLE GPS ICD 2001 54 61 BETA 2 DOUBLE GPS ICD 2001 62 69 BETA 3 DOUBLE GPS ICD 200 Begin lonospheric Data 70 77 ASUBO DOUBLE GPSICD 200 78 85 ASUB1 DOUBLE GPS ICD 200 86 93 TSUBOT DOUBLE GPS ICD 200 94 101 DELTATLS DOUBLE GPS ICD 200 102 109 DELTATLSF DOUBLE GPS ICD 2001 110 117 IONTIME DOUBLE GPS ICD 2001 178 WNSUBT CHAR PS LODO 2 ttt 119 WNSUBLSF CHAR GPS ICD 200 120 DN CHAR GPS ICD 200 121 126 RESERVED CHARs GPS ICD 200 Reserved set to zero 127 CHECKSUM CHAR See Table 7 1 page
99. es see Report Packet 64h APPFILE Application file record command page 60 The Application File Record Report format is identical to the format used for Command Packet 64h For more information see Packet paging page 61 67h RETAFDIR Directory listing report Report Packet 67h sends a listing of the application files in the application file directory The report is requested with Command Packet 66h For more information see 66h GETAFDIR Application file directory listing request page 74 Packet Flow Receiver Remote Command Packet 66h Report Packet 67h gt Report Packet 67h can exceed the maximum data byte limit 248 bytes of data for RS 232 Serial Interface Specification packets depending on the number of application files stored in memory Each application file directory entry occupies 16 bytes Report Packet 67h is divided into subpackets called pages when the data byte limit is exceeded The PAGE INDEX and MAXIMUM PAGE INDEX bytes are used to account for the pages included in the report 0 of 2 1 of 2 2 of 2 The TX BLOCK IDENTIFIER uses a roll over counter to assign a transaction number to the report packet pages The TX BLOCK IDENTIFIER INDEX number is useful for preventing data mismatches when stream synchronization is lost Table 7 58 describes the packet structure Table 7 58Report packet 67h structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STAT
100. esented as hhmmss cc where e hhis hours from 00 through 23 mm is minutes e ssis seconds ccis hundredths of seconds NMEA messages When NMEA 0183 output is enabled the following messages can be generated BD960 GNSS Receiver Module User Guide 137 A NMEA 0183 Output ADV Position and Satellite information for RTK network operations 138 An example of the ADV message string is shown below Table A 1 and Table A 2 describe the message fields The messages alternate between subtype 110 and 120 PGPPADV 110 39 88113582 105 07838455 1614 125 1M Table A 1 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 Table A 2 ADV subtype 120 message 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 check
101. ettings are defined in the default application file 130 Function Factory default SV Enable All SVs enabled General Controls Elevation mask 10 PDOP mask 7 RTK positioning mode Low Latency Motion Kinematic Ports Baud rate 38 400 Format 8 None 1 Flow control None Input Setup Station Any NMEA ASCII all All ports Off supported messages Streamed output All types Off Offset 00 RT17 Binary All ports Off Reference position Latitude 0 Longitude 0 Altitude 0 00 m HAE Height above ellipsoid Antenna Type Unknown Height true vertical 0 00 m Measurement method Antenna Phase Center 1 PPS Disabled BD960 GNSS Receiver Module User Guide CHAPTER Specifications In this chapter This chapter details the specifications for the eens receiver Physical specifications Specifications are subject to change without Performance specifications notice a a m Electrical specifications a Communication specifications BD960 GNSS Receiver Module User Guide 131 9 Specifications Physical specifications Feature Specification Dimensions L x W x H Temperature Operating Storage Vibration Mechanical shock 1 0 Connector Antenna Connector 100 mm x 106 7 mm x 12 7 mm 40 C to 75 C 40 F to 167 F 55 C to 85 C 40 F to 176 F MIL810F tailored Random 6 2 gRMS operating Random 8 gRMS survival MIL810
102. g Dec Hex 0 00h 9600 baud default 1 01h 2400 baud 2 02h 4800 baud 3 03h 9600 baud 4 04h 19 2K baud 5 05h 38 4K baud 6 06h 57 6K baud 7 07h 115 2K baud 8 08h 300 baud 9 09h 600 baud 10 0Ah 1200 baud 11 OBh 230 000 baud 12 OCh 460 000 baud Table 7 19PARITY byte values Byte value Meaning Dec Hex 0 00h No Parity 10 bit format 1 01h Odd Parity 11 bit format 2 02h Even Parity 11 bit format 66 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Table 7 20RTK POSITIONING MODE byte values Byte value Meaning Dec Hex 0 00h Synchronous positioning 1 01h Low Latency positioning Table 7 21FLOW CONTROL byte values Byte value Meaning Dec Hex 0 00h None 1 01h CTS Table 7 225V ENABLE DISABLE STATES flag values Byte value Meaning Dec Hex 0 00h Heed health default 1 01h Disable the satellite 2 02h Enable the satellite regardless of whether the satellite is in good or bad health Table 7 230UTPUT MESSAGE TYPE byte values Byte value Meaning OxFF Turn off all outputs on all ports Frequency must also be Off for this to work 0 Turn off all outputs on the given port only Frequency must be Off for this to work 1 Not used 2 CMR Output 3 RTCM Output 4 RT17 Output 5 Not used 6 NMEA_GGA 7 NMEA_GGK 8 NMEA_ZDA 9 Reserved 10 GSOF 11 1PPS 12 NMEA_VTG 13 NMEA_GST
103. guring the BD960 Receiver Using Binary Interface Commands GSOF 15 GSOF 15 OFh RECEIVER SERIAL NUMBER Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE gt 15 1 byte RECORD LENGTH gt 4 long SERIAL NUMBER gt Where e OUTPUT RECORD TYPE 15 RECORD LENGTH is the length of this sub record RECEIVER SERIAL NUMBER is the full serial number of the receiver BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 GSOF 16 GSOF 16 10h CURRENT TIME Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE gt 16 1 byte RECORD LENGTH gt 4 long GPS MILLISEC OF WEEK gt 2 short GPS WEEK NUMBER 2 short UTC OFFSET 1 byte FLAGS Where e OUTPUT RECORD TYPE 16 e RECORD LENGTH is the length of this sub record e GPS MILLISECONDS OF WEEK is the time that the message was sent from the receiver e GPS WEEK NUMBER is the full week number since start of GPS time e UTC OFFSET is the current GPS to UTC time offset in integer seconds e FLAGS indicate the validity of the time and UTC offset parameters Defined values are bit 0 SET Time information week and milliseconds of week valid bit 1 SET UTC Offset is valid BD960 GNSS Receiver Module User Guide 99 7 100 Configuring the BD960 Receiver Using Binary Interface Commands GSOF 26 GSOF 26 1Ah POSITION TIME UTC Pa
104. he month when file is created 1 31 20 CREATION HOUR CHAR 00h 17h Hour when file is created 0 23 21 CREATION CHAR 00h 3Bh Minutes of hour when file is created MINUTES 0 59 22 23 APP FILE SIZE SHORT bytes Size of file Begin Second Application File Record Entry End with Last Application File Record Entry Length 4 CHECKSUM CHAR See Table 7 1 page 53 Checksum value Length 5 ETX CHAR 03h End transmission TThe Date Time fields should all be relative to UTC Table 7 595 YSTEM FILE INDEX values Byte Value Meaning Dec Hex 0 00h Application file record number of the default application file which contains factory default values 1 n 01h nh Application file record number 124 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 6Eh BREAKRET Break sequence return Command Packet 6Eh returns the receivers current serial port communication parameters receiver version numbers and dates and communication protocol settings when the remote device sends a 250 millisecond minimum duration break sequence Packet Flow Receiver amp Report Packet 6Eh gt Remote Break sequence Sending a break sequence To initiate a break sequence return the following events need to occur 1 The remote device sends a break sequence with a minimum duration of 250 milliseconds to the receiver For example pressing Ctr Breax fr
105. he web browser as shown Trimble Mozilla Firefox Eile Edit View Go Bookmarks Tools Help lt a E fe A Ea D m 2 http 169 254 1 0 If security is enabled on the receiver the web browser prompts you to enter a username and password RS 9 Enter username and password for Trimble at 68 166 186 39 28001 User Name admin Password ERROK The default login values for the receiver are User Name admin Password password If you cannot connect to the receiver the password for the admin account may have been changed or a different account may currently be in use Contact your receiver administrator for the appropriate login information BD960 GNSS Receiver Module User Guide 39 6 Configuring the BD960 Receiver Using a Web Browser Once you are logged in the welcome web page appears see Figure 6 1 Serial number of receiver Model name of receiver Trimble GNSS 2007 12 20123 45 572 Mozilla Firefox A SN 4541461039 Available S la ng uages 7 ia i Trimble GNSS OEM Receiver Receiver Status Satellites Receiver Configuration VO Configuration 6 gt lt Network Configuration ees b gt amp D nom Party Sumy SF Py Fear RD SF ES Figure 6 1 SPS GPS receiver Home webpage Changing the settings Use the webpage to configure the receiver settings The web interface shows the configuration menus on the left of the browser window
106. ia 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 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 A type of receiver that uses three carrier phase measurements L1 L2 and L5 Universal Time Coordinated A time standard based on local solar mean time at the Greenwich meridian 172 BD960 GNSS Receiver Module User Guide WAAS WGS 84 Glossary 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 informatio
107. ication file Table 7 12Command packet 64h structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR 00h Receiver status code 2 PACKET TYPE CHAR 64h Command Packet 64h 3 LENGTH CHAR 00h Data byte count 4 TX BLOCK IDENTIFIER CHAR 00h FFh A Transmission Block Identifier ranging between 0 255 that must remain the same for all pages of an application file transfer 5 PAGE INDEX CHAR 00h FFh Index number 0 255 assigned to the current page 6 MAXIMUM PAGE CHAR 00h FFh Index number 0 255 assigned to the last INDEX page of the packet FILE CONTROL INFORMATION BLOCK The FILE INFORMATION CONTROL BLOCK must be sent in the first page of the report containing the application file The second page and consecutive pages must not include a FILE CONTROL INFORMATION BLOCK 7 APPLICATION FILE CHAR 03h Always 3 for this version of the SPECIFICATION specification VERSION 8 DEVICE TYPE CHAR See Table 7 13 page 65 Unique identifier for every receiver device type that supports the application file interface 9 START APPLICATION CHAR See Table 7 14 page 65 Determines whether the application file is FILE FLAG activated immediately after records are sent to receiver 10 FACTORY SETTINGS CHAR See Table 7 15 page 65 Determines whether the receiver is reset FLAG to factory default settings before activating the records in the application file BD960 GNSS Receiver Modu
108. ies 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 BD960 GNSS Receiver Module User Guide GSOF HDOP L1 L2 L2C L5 Moving Base MSAS multipath NMEA OmniSTAR PDOP Glossary General Serial Output Format A Trimble proprietary message format Horizontal Dilution of Precision HDOP is a DOP value that indicates the accuracy of horizontal measurements Other DOP values include VDOP vertical DOP and PDOP Position DOP Using a maximum HDOP is ideal for situations where vertical precision is not particularly important and your pos
109. ing a Web Browser 6 Help Menu The Help menu provides information on each of the receiver settings available in a web browser Selecting the Help menu opens new windows Select the section of the Help that you want to view The Help files are stored on the Trimble Internet site www trimble com OEM_ReceiverHelp V3 60 en and are updated between firmware releases Note For languages other than English replace en with the appropriate two letter country code see page 40 To access the Help your computer must be connected to the Internet If you do not have access to the Internet there is also a copy of the receiver Help files on the Trimble SPS GPS Receiver CD This copy shows the Help files as they were when the CD was published This figure shows an example of the screen that appears when you select Help Trimble BD960 SN 4541A61039 Trimble GNSS OEM Receiver Help Receiver Status Welcome to the Help for the Trimble BD960 GNSS receiver Satellites The information in this Help explains the receiver configurations available in the web interface of the receiver and provides information on all Receiver Configuration aes available settings in these receivers To verity what options are available in your receiver please refer to the manual that accompanies your receiver VO Configuration OmniSTAR How to use the help Network Configuration To view the Help do one of the following Security F On a settings page click the b
110. is chapter BD960 receiver features Use and care Radio and radar signals E E E m COCOM limits BD960 GNSS Receiver Module User Guide 9 2 Features and Functions BD960 receiver features The BD960 receiver provides the following features 72 channel L1 L2 L2C L5 GPS plus L1 L2 GLONASS receiver OmniSTAR XP HP VBS service capable WAAS Wide Area Augmentation System EGNOS European Geo Stationary Navigation System and MSAS MTSAT Satellite Based Augmentation System Satellite Based Augmentation SBAS compatible Configuration and monitoring through the following methods Web interface Networked or peer to peer Ethernet Binary interface commands Choice of external GPS antenna for base station or rover operation 40 C to 67 C 40 F to 149 F operating temperature range 4 9 V to 28 V DC input power range with over voltage protection Moving baseline capability 5 Hz 10 Hz or 20 Hz measurement update rate RoHS compliant 1 pulse per second 1PPS output Event marker input support Compact Euro card form factor LED support Use and care AN CAUTION Operating or storing the receiver outside the specified temperature range can damage it For more information see Chapter 9 Specifications Always mount the BD960 receiver in a suitable casing Radio and radar signals High power signals from a nearby radio or radar transmitter can overwhelm the BD960 receiver circuits This does not harm the inst
111. ished The number of RTK position fixes generated per second defines the update rate Update rate is quoted in Hertz Hz For the BD960 receiver the maximum update rate is 20 Hz BD960 GNSS Receiver Module User Guide Positioning Modes 4 Solution latency refers to the lag in time between when the position was valid and when it was displayed For precise navigation it is important to have prompt position estimates not values from 2 seconds ago Solution latency is particularly important when guiding a moving vehicle For example a vehicle traveling at 25 km h moves approximately 7 m s Thus to navigate to within 1 m the solution latency must be less than 1 7 0 14 seconds For the BD960 receiver the latency is less than 0 02 seconds Data link The base to rover data link serves an essential role in an RTK system The data link must transfer the base receiver carrier phase code measurements plus the location and description of the base station to the rover The BD960 receiver supports two data transmission standards for RTK positioning the Compact Measurement Record CMR format and the RTCM RTK messages The CMR format was designed by Trimble and is supported across all Trimble RTK products N CAUTION Mixing RTK systems from different manufacturers usually results in degraded performance Factors to consider when choosing a data link include e Throughput capacity e Range e Duty cycle e Error checking correction e Po
112. ition or real time survey data request o o o o oooo o 59 64h APPFILE Application file record command 0008 60 65h GETAPPFILE Application file r qu st 4 0 4 44 4 05ua984 54044046 494 73 66h GETAFDIR Application file directory listing request 74 68h DELAPPFILE Delete application file data command 75 6Dh ACTAPPFILE Activate application file 2 2 0 eee eee 75 81h KEYSIM Key simulator 04 edd dob Gok ho ee DS eee A aun he oe 76 82h SCRDUMP Screen dump request cc 044 40e 00ers be bbe eee ene ne 77 Data Collector Format Report Packets 2 0 ee ee 78 Report Packet summary ce eee oi Bae a Se ae Oa ee ea 78 07h RSERIAL Receiver and antenna information report 78 40h GENOUT General output record reports 00 eee eee ee eee 79 GSOF record type ee s sesa taa eea e enn MANAG Sao eR ae he ae De A 80 55h RETSVDATA Satellite information reports 00 02 e eee eee eee 108 57h RAWDATA Position or real time survey data report 000005 114 64h APPFILE Application file record report o ooooooooo ooo 123 67h RETAFDIR Directory listing report 444650080050 b4 oa ee eee er 123 65h BREAKRET Break sequence return Jina esd 4 a ace ew A Le we 125 82h SCRDUMP Screen dump 1 0 0 ooo 128 8 Default Settings cera 129 Default receiver settings 4 32 5464p de enir
113. ition yield would be decreased by the vertical component of the PDOP for example if you are collecting data under canopy The primary L band carrier used by GPS and GLONASS satellites to transmit satellite data The secondary L band carrier used by GPS and GLONASS satellites to transmit satellite data A modernized code that allows significantly better ability to track the L2 frequency The third L band carrier used by GPS satellites to transmit satellite data L5 will provide a higher power level than the other carriers As a result acquiring and tracking weak signals will be easier Moving Base is an RTK positioning technique in which both reference and rover receivers are mobile Corrections are sent from a base receiver to a rover receiver and the resultant baseline vector has centimeter level accuracy MTSAT Satellite Based Augmentation System A satellite based augmentation system SBAS that provides a free to air differential correction service for GPS MSAS is the Japanese equivalent of WAAS which is available in the United States Interference similar to ghosts on an analog television screen that occurs when GPS signals arrive at an antenna having traversed different paths The signal traversing the longer path yields a larger pseudorange estimate and increases the error Multiple paths can arise from reflections off the ground or off structures near the antenna National Marine Electronics Association NMEA
114. iver Module User Guide 33 5 Configuring the BD960 Receiver Using Trimble Software Utilities 34 BD960 GNSS Receiver Module User Guide CHAPTER 6 Configuring the BD960 Receiver Using a Web Browser In this chapter m Configuring Ethernet settings m Configuring the receiver using a web browser BD960 GNSS Receiver Module User Guide 35 6 36 Configuring the BD960 Receiver Using a Web Browser Configuring Ethernet settings The receiver has an Ethernet port so that the receiver can connect to an Ethernet network You can use the Ethernet network to access configure and monitor the receiver No serial cable connection to the receiver is necessary The receiver requires the following Ethernet settings e IP setup Static or DHCP e IP address e Netmask e Broadcast e Gateway e DNS address e HTTP port The default setting for the HTTP port is 80 The HTTP port is not assigned by the network HTTP port 80 is the standard port for web servers This allows you to connect to the receiver by entering only the IP address of the receiver in a web browser If the receiver is set up to use a port other than 80 you will need to enter the IP address followed by the port number in a web browser Example of connecting to the receiver using port 80 http 169 254 1 0 Example of connecting to the receiver using port 4000 http 169 254 1 0 4000 The default setting of the receiver is to use DHCP which enables the receiver to
115. lative phase count ofthe GPS or GLONASS carrier signal at a given time A wireless adaptor that connects a laptop computer to a cellular phone system for data transfer Cellular modems which contain their own antennas plug into a PC Card slot or into the USB port of the computer and are available for a variety of wireless data services such as GPRS Compact Measurement Record A real time message format developed by Trimble for broadcasting corrections to other Trimble receivers CMR is a more efficient alternative to RTCM A statistical measure of the variance of two random variables that are observed or measured in the same mean time period This measure is equal to the product of the deviations of corresponding values of the two variables from their respective means Also called geodetic datum A mathematical model designed to best fit the geoid defined by the relationship between an ellipsoid and a point on the topographic surface established as the origin of the datum World geodetic datums are typically defined by the size and shape of an ellipsoid and the relationship between the center of the ellipsoid and the center of the earth Because the earth is not a perfect ellipsoid any single datum will provide a better model in some locations than in others Therefore various datums have been established to suit particular regions For example maps in Europe are often based on the European datum of 1950 ED 50 Maps in the United Sta
116. le User Guide 61 7 Configuring the BD960 Receiver Using Binary Interface Commands Table 7 12Command packet 64h structure continued Byte Item Type Value Meaning Insert Appfile Records here See Below Length CHECKSUM CHAR See Table 7 1 page 533 Checksum value 4 Length ETX CHAR 03h End transmission 5 APPLICATION FILE RECORDS The records listed below for example FILE STORAGE RECORD GENERAL CONTROLS RECORD are subtypes of the FILE CONTROL INFORMATION BLOCK FILE STORAGE RECORD The FILE STORAGE RECORD indicates the application file creation date and time and provides identification information required to store the file in memory When included in the application file this record must be the first record within the file 0 RECORD TYPE CHAR 00h File Storage Record 1 RECORD LENGTH CHAR ODh Number of bytes in record excluding bytes 0 and 1 2 9 APPLICATION FILE CHARs ASCII text Eight character name for the application NAME A Z a Z file _ underscore 10 YEAR OF CREATION CHAR 00h FFh Year when application file is created ranging from 00 255 1900 00 11 MONTH OF CHAR 01h 0Ch Month when application file is created CREATION 01 12 12 DAY OF CREATION CHAR 00h 1Fh Day of the month when application file is created 00 31 13 HOUR OF CREATION CHAR 00h 17h Hour of the day when application file is created 00 23 14 MINUTES OF CHAR 00h 3Bh Minutes of the hour when application file
117. mbiguity The BD960 rover has to resolve or initialize the carrier phase ambiguities at power up and every time that the satellite signals are interrupted Carrier phase initialization The BD960 receiver can automatically initialize the carrier phase ambiguities as long as at least five common satellites are being tracked at base and rover sites Automatic initialization is sometimes termed On The Fly OTF or On The Move to reflect that no restriction is placed on the motion of the rover receiver throughout the initialization process The BD960 receiver uses L1 and L2 carrier phase measurements plus precise code range measurements to the satellites to automatically initialize the ambiguities The initialization process takes approximately 10 seconds As long as at least four common satellites are continuously tracked after a successful initialization the ambiguity initialization process does not have to be repeated Tip Initialization time depends on baseline length multipath and prevailing atmospheric errors To minimize the initialization time keep reflective objects away from the antennas and make sure that baseline lengths and differences in elevation between the base and rover sites are as small as possible Update rate and latency The number of position fixes delivered by an RTK system per second also defines how closely the trajectory of the rover can be represented and the ease with which position navigation can be accompl
118. me 4 04h 4000ST L1 Geodetic 5 05h 40005ST L1 L2 Geodetic 6 06h 40005LD L1 L2 Square 7 07h 40005X Helical 8 08h 40005X Micro Square 9 09h 40005L Micro Round 10 0Ah 40005E Attachable 11 OBh 40005SE Kinematic L1 L2 12 OCh Compact L1 L2 with Groundplane 13 0Dh Compact L1 L2 14 OEh Compact Dome with Init 15 OFh L1 L2 Kinematic with Init 16 10h Compact L1 L2 with Init 17 11h Compact L1 with Init 18 12h Compact L1 with Groundplane 19 13h Compact L1 20 14h Permanent L1 L2 21 15h 4600LS Internal 22 16h 4000SLD L1 L2 Round 23 17h Dorne Margolin Model T 24 18h Ashtech L1 L2 Geodetic L 25 19h Ashtech Dorne Margolin 26 1Ah Leica SR299 External 27 1Bh Trimble Choke Ring 28 1Ch Dorne Margolin Model R 29 1Dh Ashtech Geodetic L1 L2 P 30 1Eh Integrated GPS Beacon 31 1Fh Mobile GPS Antenna 32 20h GeoExplorer Internal 33 21h Topcon Turbo SII 34 22h Compact L1 L2 with Groundplane with Dome 35 23h Permanent L1 L2 with Dome 36 24h Leica SR299 SR399 External Antenna 37 25h Dorne Margolin Model B BD960 GNSS Receiver Module User Guide 71 7 Configuring the BD960 Receiver Using Binary Interface Commands Table 7 28ANTENNA TYPE byte values continued Byte value Meaning Dec Hex 38 26h 4800 Internal 39 27h Micro Centered 40 28h Micro Centered with Groundplane 47 29h Rugged Micro Centered with 13 inch Groundplane 85 55 Zephyr KZ 86 56 Zephyr Geodetic GZ Table 7 29DEVICE TYPE byte values
119. mptions for lead in solder pursuant to Paragraph 7 of the Annex to the RoHS Directive applied Waste Electrical and Electronic Equipment WEEE For product recycling instructions and more information please go to www trimble com ev shtml Recycling in Europe To recycle Trimble WEEE Waste Electrical and Electronic Equipment products that run on electrical power Call 31 497 53 24 30 and ask for the WEEE Associate Or mail a request for recycling instructions to Trimble Europe BV c o Menlo Worldwide Logistics Meerheide 45 5521 DZ Eersel NL Contents 1 INTOdUCION cobb ceed SOC O ES PS HE POM A 7 About the BDO6O receiver ses a a ra Up e 8 Related information e 2 05 dn miot Oo oe RE A ee es 8 T chnical Supporty sata 020 ad ah bowed ede o kde ae eb be eee eb Ae es 8 2 Features and Functions 2 0 ec 9 BD960 receiver features ocio 2 Ode Wee VEG Oo RES 10 Usand Care i usos 4 ack aie Wasabi hack ds a abd Dok nde ele ed tied eee de eck 10 Radio and radar signals ii A a oe WE eee Ae eS 10 COCOM limits e rs ee VS oa Va ee Oe A Ea Rae ea RES 11 3 WiStalMlaDoON sicario we OAT 13 RECEIVE SCD soe 6 hw a ai Gay tado E T 14 Installing the BD960 receiver o o o oooooo ooo r eee 14 Unpacking and inspecting the shipment 0 0 0 0 e eee eee 14 Supported antenas a hud a RE ERS Obs eG ea Re 15 Installation guidelines 1 aada a aoue e a aai eee 15 Mounting the antennas 2
120. mware from the Web browser Firmware updates are available to download from the Trimble website Go to www trimble com support shtml and select the link to the receiver that you need updates for and then click Downloads BD960 GNSS Receiver Module User Guide 153 B Upgrading the Receiver Firmware The WinFlash utility The WinFlash utility communicates with Trimble products to perform various functions including e installing software firmware and option upgrades e running diagnostics for example retrieving configuration information e configuring radios For more information online help is also available when using the WinFlash utility Note The WinFlash utility runs on Windows 95 98 Windows NT 2000 Me or XP operating systems Installing the WinFlash utility You can install the WinFlash utility from the Trimble website The WinFlash utility guides you through the firmware upgrade process as described below For more information refer to the WinFlash Help Upgrading the receiver firmware 1 Start the WinFlash utility The Device Configuration screen appears 2 From the Device type list select your receiver 3 From the PC serial port field select the serial COM port on the computer that the receiver is connected to 4 Click Next The Operation Selection screen appears The Operations list shows all of the supported operations for the selected device A description of the selected operation is shown in th
121. n file containing the receiver s factory default settings This application file is used when the receiver is reset to the factory default settings CURRENT Holds the current settings of the receiver Individual records within an existing application file can be updated using the software tools included with the receiver For example the OUTPUT MESSAGES record in an application file can be updated without affecting the parameter settings in other application file records Application files can be started immediately and or the files can be stored for later use Once applications files are transferred into memory command packets can be used to manage the files Command packets are available for transferring selecting and deleting application files If any part of the application record data is invalid then the receiver ignores the entire record The receiver reads a record using the embedded length Any extraneous data is ignored This allows for backward compatibility when the record length is increased to add new functions If you are concerned about application files producing the same results on future receivers make sure that the application records do not contain extraneous data Command Packet 64h is sent to create replace or report on an application file The command packet requests the application file by System File Index Packet Flow Receiver Remote ro Command Packet 64h ACK gt For detailed informati
122. n 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 BD960 GNSS Receiver Module User Guide 173 Glossary 174 BD960 GNSS Receiver Module User Guide AMERICAS amp ASIA PACIFIC TRIMBLE NAVIGATION LIMITED Integrated Technologies 510 DeGuigne Drive Sunnyvale CA 94085 USA 1 408 481 8090 Phone 1 408 481 8984 Fax EUROPE amp MIDDLE EAST TRIMBLE NAVIGATION LIMITED Integrated Technologies HAL Trade Center Bevelandseweg 150 703 AX Heerhugowaard NETHERLANDS 31 725 724 408 Phone 31 725 348 288 Fax RUSSIA TRIMBLE NAVIGATION LIMITED Integrated Technologies Tel 7 495 5041081 RUSSIA Email rusales pc trimble com CHINA TRIMBLE NAVIGATION LIMITED Integrated Technologies 311 Fute M Road 3 F Wai Gaoqiao Free Trade Zone Pudong Shanghai 200131 CHINA Email chinasales pc trimble com Trimble www trimble com
123. n the cable Secure the coil with a tie wrap and tuck it in a safe place On Off switch The I O board contains an On Off switch When the receiver is shipped from the factory this switch is disabled To enable this feature you must upgrade the software option contact your sales representative LED functionality and operation The BD960 receiver comes with three LEDs to indicate satellite tracking RTK receptions and power The initial power up sequence for a receiver lights all the three LEDs for about three seconds followed by a brief duration where all three LEDs are off Thereafter use the following table to confirm tracking of satellite signals or for basic troubleshooting Power LED RTK LED SV Tracking LED Status On continuous Off Off The receiver is turned on but not tracking satellites On continuous Off Blinking at 1 Hz 5 The receiver is tracking satellites on seconds followed by high both position primary and vector frequency blinking burst secondary antennas but not receiving RTK corrections On continuous Off Blinking at 1 Hz The receiver is tracking satellites on the position primary antenna only The vector antenna is not tracking BD960 GNSS Receiver Module User Guide 17 3 18 Installation Power LED RTK LED SV Tracking LED Status On continuous Off On continuous On continuous On continuous On continuous On continuous Blinking at 1
124. ncorrected position is WAAS if bit 0 is 0 RESET Differential position is RTK float RTK location or code phase DGPS Uncorrected position is Autonomous if bit 0 is 0 bit 3 SET OmniSTAR differential solution including HP XP and VBS RESET Not OmniSTAR solution bit 4 SET Position determined with STATIC as a constraint bit 5 SET Position is Network RTK solution bit 6 SET RTK Location bit 7 SET Beacon DGPS INITIALIZATION NUMBER is a rollover counter to indicate when re initializations have taken place BD960 GNSS Receiver Module User Guide 83 7 84 Configuring the BD960 Receiver Using Binary Interface Commands GSOF 2 GSOF 2 02h LAT LONG HEIGHT Packet Flow Receiver 1 byte OUTPUT RECORD TYPE 2 1 byte RECORD LENGTH 8 double LATITUDE 8 double LONGITUDE 8 double HEIGHT dedd Connected computer Where e OUTPUT RECORD TYPE 2 e RECORD LENGTH is the length of this sub record e LATITUDE is the WGS 84 latitude in radians e LONGITUDE is the WGS 84 longitude in radians e HEIGHT is the WGS 84 height in meters BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 GSOF 3 GSOF 3 03h ECEF POSITION Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE 3 gt 1 byte RECORD LENGTH gt 8 double X 8 double Y 8 double Z Ll Where OUTPUT RECORD TYPE 3 RECORD LENG
125. nformation see Data Collector Format packet structure page 53 Packet Flow Receiver Remote Command Packet 54h 7 Report Packet 55h or NAK gt Note The normal reply to Command Packet 54h is usually Report Packet 55h However a NAK is returned if the SV PRN is out of range except for SV FLAGS if the DATA SWITCH parameter is out of range or if the requested data is not available for the designated SV Table 7 6 Command packet 54h structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR 00h Receiver status code 2 PACKET TYPE CHAR 54h Command Packet 54h 3 LENGTH CHAR 03h Data byte count 4 DATA SWITCH CHAR See Table 7 7 page 58 Selects type of satellite information downloaded from receiver or determines whether a satellite is enabled or disabled 5 SV PRN CHAR 01h 20h Pseudorandom number 1 32 of satellite ignored if SV Flags or ION UTC is requested RESERVED CHAR 00h Reserved set to zero CHECKSUM CHAR See Table 7 2 page 54 Checksum value 8 ETX CHAR 03h End transmission Table 7 7 DATA SWITCH byte values Byte value Meaning Dec Hex 0 00h SV Flags indicating Tracking Ephemeris and Almanac Enable Disable state 1 01h Ephemeris 2 02h Almanac 3 03h ION UTC data 4 04h Disable Satellite 5 05h Enable Satellite The Enable and Disable Satellite data switch values always result in the transmission of a RETSVDATA message as if th
126. nowledgment The syntax of the comma delimited string is shown below PORT input baud rate output baud rate data bits stop bits parity boolean acknowledgement The string always begins with the word PORT and the end of the string is always terminated with a semicolon character Commas are used to delimit the other fields within the string 126 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 The input and output protocols can be 2400 4800 9600 19200 38400 57600 or 115k baud The number of data bits is always set to 8 and the number of stop bits is always set to 1 The parity can be O Odd E Even or N None The string always identifies the current communication parameters defined for the port The final field in the string contains the boolean T or F code used to acknowledge the break sequence A value of T True indicates that the communication parameters for the port are going to be set to 9600 8 N 1 for at least 5 seconds A value of F False indicates that the receiver outputs the identity strings at 9600 8 N 1 and returns to the current port settings A sample string is shown below PORT 38400 38400 8 1 N F VERSION The VERSION parameter is a comma delimited string of ASCII characters with the BD960 firmware and hardware version numbers and release dates The end of the string is terminated with a semicolon The syntax of the comma delimited ASCII string i
127. ns or predefined field options BD960 GNSS Receiver Module User Guide 31 5 Configuring the BD960 Receiver Using Trimble Software Utilities Key Symbol Description Accepts change entered into data fields Click from the last data field to accept all changes entered in all fields Returns to the previous screen without saving the changes made in any data fields Function keys The six function keys display screens with options for showing status information and additional screens for controlling BD960 receiver functions and options Key Shows Status The Status screen with options for displaying factory configuration information and receiver systems information Satinto The Satinfo screen with options for displaying satellite tracking and status information AppFile The AppFile screen with options for displaying the application files directory storing the current parameter settings as an application file and options for warm booting the receiver Control The Control screen with options for configuring the receiver setup parameters LogData Not applicable Working with screens and fields A summary of the keypad and display operations for the BD960 receiver with the MS Controller software appears below Key Symbol 0 lt gt lt and gt A and v Description Pages through multiple screen lines softkey options or carousel data entry fields Ac
128. o 2147483647 0 to 4294967295 FLOATING POINT data types Floating point data types are stored in the IEEE SINGLE and DOUBLE precision formats Both formats have a sign bit field an exponent field and a fraction field The fields represent floating point numbers in the following manner Floating Point Number lt sign gt 1 lt fraction field gt x 2 lt exponent field gt bias e Sign bit field The sign bit field is the most significant bit of the floating point number The sign bit is 0 for positive numbers and 1 for negative numbers Fraction field The fraction field contains the fractional part of a normalized number Normalized numbers are greater than or equal to 1 and less than 2 Since all normalized numbers are of the form 1 XXXXXXXX the 1 becomes implicit and is not stored in memory The bits in the fraction field are the bits to the right of the binary point and they represent negative powers of 2 For example 0 011 binary 2 2 2 3 0 25 0 125 0 375 Exponent field The exponent field contains a biased exponent that is a constant bias is subtracted from the number in the exponent field to yield the actual exponent The bias makes negative exponents possible If both the exponent field and the fraction field are zero the floating point number is zero NaN A NaN Not a Number is a special value that is used when the result of an operation is undefined For example adding positive infinity
129. ode bit 3 7 RESERVED e CLOCK OFFSET is the current clock offset in milliseconds e FREQUENCY OFFSET is the offset of the local oscillator from the nominal GPS L1 frequency in parts per million 92 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 GSOF 11 GSOF 11 OBh POSITION VCV INFO Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE 11 1 byte RECORD LENGTH 4 float POSITION RMS 4 float VCV xx 4 float VCV xy 4 float VCV xz 4 float VCV yy 4 float VCV yz 4 float VCV zz 4 float UNIT VARIANCE 2 short NUMBER OF EPOCHS y blot ddt Where e OUTPUT RECORD TYPE 11 e RECORD LENGTH is the length of this sub record e RANGE RESIDUAL RMS is the square root of the sum of the squares of the range residuals divided by the number of degrees of freedom in the solution e VCVxx VCVzz is the variance covariance matrix This contains the positional components of the inverted normal matrix of the position solution in a ECEF WGS 84 reference UNIT VARIANCE is the unit variance of the position solution NUMBER OF EPOCHS indicates the number of measurements used to compute the position It may be greater than 1 for positions subjected to a STATIC constraint BD960 GNSS Receiver Module User Guide 93 7 94 Configuring the BD960 Receiver Using Binary Interface Commands GSOF 12 GSOF 12 0Ch POSITION S
130. of all application files in the BD960 receiver appears Ifyou selected Apply Immediately in the application file the Current application file will contain the settings in the new file To apply a different file select the file you require from the list and then repeat this procedure BD960 GNSS Receiver Module User Guide 29 5 30 Configuring the BD960 Receiver Using Trimble Software Utilities Trimble MS Controller software The Trimble MS Controller software that is supplied with the BD960 receiver serves as a virtual keypad and display screen for the receiver To use the MS Controller software you need to connect one of the receiver s I O ports to one of the serial ports on an IBM compatible office computer The software runs under the Windows operating system and manages the communications link between the computer and the BD960 receiver The simulated keypad and display for the MS Controller software are shown below Simulated LCD display lx File Device Connect Help Softkeys LULL Funcion Tsu J convo Looper appt Sa Ces ne Ive IL IDI a aera kom1 Ja Wied Now 28 11 13 14 2001 Simulated LCD display The simulated LCD display shows data about the current position or survey operation the satellites tracked by the receiver the internal status of the receiver and a variety of other information The data shown on the simulated LCD display is called a screen and th
131. of the art tracking scheme to collect satellite measurements Optimal RTK performance is achieved when using BD960 receivers at base and rover sites The BD960 receiver is compatible with all other Trimble RTK capable systems Base station coordinate accuracy The base station coordinates should be known to within 10 m in the WGS 84 datum for optimal system operation Incorrect or inaccurate base station coordinates degrade the rover position solution It is estimated that every 10 m of error in the base station coordinates introduces one part per million error in the baseline vector This means that if the base station coordinates have a height error of 50 m and the baseline vector is 10 km then the error in the rover location is approximately 5 cm One second of latitude represents approximately 31 m on the earth surface therefore a latitude error of 0 3 seconds equals a 10 m error on the earth s surface If the baseline vector is 10 km then the error in the rover location is approximately 1 cm Number of visible satellites A GNSS position fix is similar to a distance resection Satellite geometry directly impacts on the quality of the position solution estimated by the BD960 receiver The Global Positioning System is designed so that at least five satellites are above the local horizon at all times For many times throughout the day as many as eight or more satellites might be above the horizon Because the satellites are orbiting satellite
132. om an office computer is equivalent to sending a break sequence 2 The receiver detects the break signal and responds by setting the communication parameters for the serial port to 9600 baud 8 data bits no parity and 1 stop bit 3 The receiver outputs an Identity Message through the serial port to the remote device see Table 7 60 Table 7 60 describes the structure of Report Packet 6Eh Table 7 60Report packet 6eh structure string Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status indicator 2 PACKET TYPE CHAR 6Eh Report Packet 6Eh 3 LENGTH CHAR See Table 7 1 page 53 Data byte count PRODUCT CHARs comma delimited ASCII Comma delimited ASCII string indicating the string receiver product family name For more information see PRODUCT page 126 PORT SETTING CHARs comma delimited ASCII Comma delimited ASCII string indicating the string serial port settings and the break sequence acknowledgment code For more information see PORT page 126 PORT STATUS CHARs FIX ADJ FIX Port settings cannot be changed ADJ Port settings can be changed VERSION CHARs comma delimited ASCII Comma delimited ASCII string indicating the software version number and version release date For more information see VERSION page 127 BD960 GNSS Receiver Module User Guide 125 7 Configuring the BD960 Receiver Using Binary Interface Commands T
133. on about BD960 Application Files and for guidelines about using application files to control remote devices see Report Packet 64h APPFILE Application file record report page 123 60 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Packet paging Since an application file contains a maximum of 2048 bytes all records are optional of data and exceeds the byte limit for RS 232 Serial Interface Specification packets Command Packet 64h is divided into several subpackets called pages The PAGE INDEX byte byte 5 identifies the packet page number and the MAXIMUM PAGE INDEX byte byte 6 indicates the maximum number of pages in the report The first and subsequent pages are filled with a maximum of 248 bytes consisting of 3 bytes of page information and 245 bytes of application file data The application file data is split wherever the 245 byte boundary falls Therefore the remote device sending the Command Packet pages must construct the application file using the 248 byte pages before sending the file to the receiver To prevent data mismatches each report packet is assigned a Transmission Block Identifier byte 4 which gives the report pages a unique identity in the data stream The software on the remote device can identify the pages associated with the report and reassemble the application file using bytes 4 6 Table 7 12 shows the structure of the report packet containing the appl
134. or each occurrence of detected cycle slips on L1 carrier phase L2 SLIP COUNTER CHAR 00h FFh Roll over counter is incremented for each occurrence of detected cycle slips on the L2 carrier phase The counter always increments when L2 changes from C A code to Encrypted code and vice versa Repeat previous bytes for remaining satellites in constellation CHECKSUM SHORT See Table 7 1 page 53 Checksum value ETX CHAR 03h End transmission To be compatible with Trimble software this data must be stripped off before record 17 is stored in a DAT file Table 7 50RECORD TYPE byte values Byte Value Meaning Dec Hex 0 00h Real Time Survey Data 1 01h Position Data Table 7 51PAGE INFO bit values Bit Value Meaning 0 3 Total page count 4 7 Current page number Table 7 52FLAGS bit values Bit Meaning Real Time Survey Data 0 Raw Data Format 0 Expanded DAT Record Type 17 format 1 Concise DAT Record Type 17 format 118 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Table 7 52FLAGS bit values continued Bit Meaning 1 Enhanced Record with real time flags and IODE information 0 Disabled record data is not enhanced 1 Enabled record data is enhanced 2 7 Reserved set to zero Table 7 53FLAGS1 bit values Bit Meaning 0 L2 Data Loaded and Phase Valid also see bit 6 0 Off 1 On 1 L1 Cycle
135. ore resending the previous message Data Collector Format packets Command packets are sent from the remote device to the BD960 receiver when requesting data sending commands or when managing application files The BD960 receiver acknowledges every command packet sent by the remote device It does this by sending an associated report packet or by acknowledging the transaction with an ACK 06h or NAK 15h from the receiver Note The return of a NAK sometimes means that the receiver cannot fulfill the request That is the requested command is not supported Packets are processed by the receiver on a first in first out FIFO basis External devices can send multiple packets without waiting for a response from each packet The external device is responsible for matching expected responses with the actual response sent by the receiver Each message begins with a 4 byte header followed by the bytes of data in the packet and the packet ends with a 2 byte trailer Byte 3 is set to 0 00h when the packet contains no data Most data is transmitted between the receiver and remote device in binary format Data Collector Format packet structure Every command and report packet regardless ofits source and except for protocol sequences has the same format as shown in Table 7 1 Table 7 1 Data Collector Format packet structure Byte Message Description Begin packet header 0 STX 02h Start transmission 1 STATUS R
136. oving while a static base station may experience very slowly changing biases If possible locate the base station in a clear environment with an open view of the sky If possible use an antenna with a ground plane to help minimize multipath BD960 GNSS Receiver Module User Guide 23 4 24 Positioning Modes The BD960 receiver provides good radio interference rejection However a radio or radar emission directed at the GPS antenna can cause serious degradation in signal quality or complete loss of signal tracking Do not locate the base station in an area where radio transmission interference can become a problem Operating range DGPS SBAS Operating range refers to the maximum separation between base and rover sites Often the characteristics of the data link determine the RTK operating range The initialization performance of the BD960 receiver is optimized for an operating range up to 20 km Degraded initialization time and reliability are likely to result if RTK is attempted beyond the 20 km operating range specification The receiver supports output and input of differential GPS DGPS corrections in the RTCM SC 104 format This allows position accuracies of less than 1 meter to be achieved using the L1 frequencies of GPS and GLONASS The receiver supports SBAS satellite based augmentation systems that conform to RTCA DO 229C such as WAAS The reciever can use the WAAS Wide Area Augmentation System set up by the Federal A
137. port The SV FLAGS report is sent when Command Packet 54h is used to request the status of the SV Flags for one satellite or all satellites The Command Packet 54h DATA SWITCH byte byte 4 is set to zero 0 when requesting the report Table 7 43 describes the packet structure Table 7 43Report Packet 55h SV flags report structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status 2 PACKET TYPE CHAR 55h Report Packet 55h 3 LENGTH CHAR See Table 7 1 page 53 Data byte count 4 DATA TYPE CHAR 00h SV FLAGS Report INDICATOR 5 SV PRN CHAR 00h 20h Pseudorandom number of satellite 1 32 or zero when requesting flag status of all satellites 6 9 EPHEMERIS LONG 32 flag bits For all 32 satellites the flags show availability FLAGS of Ephemeris data when set to one 10 13 ALMANAC LONG 32 flag bits For all 32 satellites the flags show availability FLAGS of Almanac data when set to one 14 17 SVS DISABLED LONG 32 flag bits Flags show Enabled or Disabled status of all FLAGS satellites When set to one satellite is disabled 18 21 SVS LONG 32 flag bits Flags show the health of satellites When set to UNHEALTHY one satellite is currently unhealthy FLAGS 22 25 TRACKING L1 LONG 32 flag bits Flags show satellites tracked on L1 when set to FLAGS one 26 29 TRACKING L2 LONG 32 flag bits Flags show satellites tracked on L2 when set to FLAGS one 30 33
138. port Packet 57h structure concise format Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status 2 PACKET TYPE CHAR 57h RAWDATA 3 LENGTH CHAR See Table 7 1 page 53 Data byte count 4 RECORD TYPE CHAR See Table 7 50 page 118 Raw data record type 5 PAGING INFO CHAR See Table 7 51 page 118 b7 b4 is the current page number b3 b0 is the total pages in this epoch 1 of 3 2 of 3 3 of 3 6 REPLY CHAR 00h FFh Roll over counter is incremented with every report but remains constant across pages within one report This value should be checked on second and subsequent pages to avoid mismatching report pages with those of another report 7 FLAGS CHAR See Table 7 52 page 118 Bit O must be set to 1 to enable Concise Record format Begin Concise Record Header 17 bytes 8 15 RECEIVE TIME DOUBLE 16 23 CLOCK OFFSET DOUBLE 24 OF SVS IN RECORD CHAR msecs msecs blocks Receive time within current GPS week common to code and phase data Clock offset value A value of 0 0 indicates that clock offset is not known Number of SV data blocks included in record Begin data for first satellite in constellation repeated for up to n SVs Begin Real Time Survey Data 27 bytes n SV PRN CHAR 01h 20h Satellite pseudorandom number 1 32 FLAGS1 CHAR See Table 7 53 page 119 First set of satellite status flags
139. r Guide Specifications 9 Feature Specification RTK positioning Horizontal accuracy 8 mm 1 ppm RMS Vertical accuracy 15 mm 1 ppm RMS Initialization time Typically 10 seconds Initialization reliability Typically gt 99 9 Accuracy and reliability may be subject to anomalies such as multipath obstructions satellite geometry and atmospheric conditions Always follow recommended practices RTK accuracy values are measured at 1 sigma level when using Zephyr Model 2 antennas 2 Depends on WAAS EGNOS and MSAS system performance 3 May be affected by atmospheric conditions signal multipath and satellite geometry Initialization reliability is continuously monitored to ensure highest quality Electrical specifications Feature Specification Power 4 9 V to 28 V DC external power input with over voltage protection Power consumption Typically 2 1 W at 5 V DC L1 L2 GPS Communication specifications Feature Specification Communications 1 LAN port e Supports links to 10BaseT 100BaseT networks e All functions are performed through a single IP address simultaneously including web interace access and data streaming 3 x RS232 ports Baud rates up to 115 200 Receiver position update 1 Hz 2 Hz 5 Hz 10 Hz and 20 Hz positioning rate Correction data input CMR CMR RTCM 2 0 select RTCM 2 1 RTCM 2 1 2 3 RTCM 3 0 Correction data output CMR CMR RTCM 2 0 DGPS select RTCM 2 1 RTCM 2 1 2 3 RTCM
140. re a Saeed a he is dedos Goa 31 Simulated keypad se o Be ETA Gy eee PR a ee eae eG o 31 PUM CHOON Keys A ee Kota eee ee eS 32 Working with screens and fields o o o o ooooooooooor o mo 32 Entering data in fields s siop bye acie i adha a ie e a aa ee eee 33 6 Configuring the BD960 Receiver Using a Web Browser 35 Configuring Ethernet settings o scosse eea a a ee Ran A eee RORE E 36 Configuring the receiver using a web browser 1 0 ee eee 39 Supported browsers la ee RA SA ROE as pe E 39 Changing the settings sca asai e ee ee ee ee 40 7 Configuring the BD960 Receiver Using Binary Interface Commands 51 RS 232 Serial Interface Specification 2 ee ee 52 Communications orMat oooooooooo ee ees 52 Testing the communicationslidk o o o o oooooomoroo o ooo 52 Communication errors 53 Data Collector Format packets 1 0 0 eee eee 53 Data Collector Format packet structure 0 0 0 0 e ee eee eee ee 53 Data Collector Format packet functions o o o oooo moore 54 Thereceiver STATUS byte cisco rara ed on Re Maa whe keene A 54 Reading binary val s wio banaca si a a a a a eee eee 54 INTEGER data Pesas a Le cae a wae Pewee een AA De ROR ee A 55 Data Collector Format Command Packets 1 2 ee es 56 06h GETSERIAL Receiver and antenna information request 57 54h GETSVDATA Satellite information request 2 2 0 0 00 eee eee 58 56h GETRAW Pos
141. rument but it can prevent the receiver electronics from functioning correctly Avoid using the receiver within 400 m of 10 BD960 GNSS Receiver Module User Guide Features and Functions 2 powerful radar television or other transmitters Low power transmitters such as those used in portable phones and walkie talkies normally do not interfere with the operation of the receivers COCOM limits The U S Department of Commerce requires that all exportable GPS products contain performance limitations so that they cannot be used in a manner that could threaten the security of the United States The following limitations are implemented on this product Immediate access to satellite measurements and navigation results is disabled when the receiver velocity is computed to be greater than 1 000 knots or its altitude is computed to be above 18 000 meters The receiver GPS subsystem resets until the COCOM situation clears As a result all logging and stream configurations stop until the GPS subsystem is cleared BD960 GNSS Receiver Module User Guide 11 2 Features and Functions 12 BD960 GNSS Receiver Module User Guide CHAPTER Installation In this chapter The Trimble BD960 receiver delivers the highest performance capabilities of a GNSS receiver in a compact Eurocard form factor This chapter m Installing the BD960 receiver describes how to install and operate the BD960 receiver m Receiver setup m LED functionality and opera
142. s shown below VERSION software version number version date hardware version version date The string always begins with the word VERSION followed by the software version number and date and two commas The slash character is used to separate the month day and year in date fields The string is always terminated with a semicolon character The following example shows a sample string VERSION 2 21 11 21 98 COMM The COMM parameter is a comma delimited string of communication protocols supported on the connected serial port The string has the following syntax COMM first protocol last protocol The string always begins with the word COMM and a comma followed by the comma delimited list of protocols The string is terminated with a semicolon character Table 7 61 identifies the ASCII codes assigned to the various protocols supported by the receiver Table 7 61COMM Protocol Meaning DCOL Data Collector Format NMEA Outputs a subset of NMEA 0183 messages RTCM Radio Technical Commission for Maritime Services protocol specification RTCM SC 104 For example the comma delimited ASCII string for the connected serial port which supports DCOL and RTCM is shown below COMM DCOL RTCM BD960 GNSS Receiver Module User Guide 127 7 Configuring the BD960 Receiver Using Binary Interface Commands 82h SCRDUMP Screen dump Command Packet 82h has two forms a comman
143. sition type definition 0 0 D position fix clock only solution 1 SVs if of SVs used is non zero 1 1 D position fix height only with fixed latitude longitude 2 SVs 2 2 D position fix fixed height and clock 2 SVs 3 2 D position fix fixed height 3 SVs 4 3 D solution 4 SVs 5 3D Solution 4 SVs Wide Area Network RTK 3 RTK Solution if set position is fixed RTK else float RTK 0 Floating integer ambiguity 1 Fixed integer ambiguity 4 DGPS Differential Corrections 0 No DGPS corrections are used in position computation 1 DGPS corrections are used to compute position Reserved set to zero 6 RTK Solution if set position is from RTK including Location RTK 0 False 1 True 7 Position Derived While Static RTK only 0 False 1 True Bit combinations e Bit 4 and 6 are set if the solution type is SBAS e Bit 5 and 4 are set if the solution type is OmniSTAR HP XP 122 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 64h APPFILE Application file record report Report Packet 64h is sent to the remote device when Command Packet 65h is sent to request a specific application file Command Packet 65h requests the application file by System File Index Packet Flow Receiver Remote E Command Packet 65h Report Packet 64h gt For more information about BD960 Application Files and guidelines for using application files to control remote devic
144. spark plugs e television and computer monitors e alternators and generators e electric motors e propeller shafts e equipment with DC to AC converters e fluorescent lights e switching power supplies BD960 connections An evaluation kit is available for testing the BD960 receiver This includes an I O board which enables easy access to DB9 ports the Ethernet port and the power supply as shown in Figure 3 2 Zephyr antenna BD950 or BD960 receiver Port 2 Power Figure 3 2 Typical I O board setup The computer connection provides a means to set up and configure the receiver 16 BD960 GNSS Receiver Module User Guide Installation 3 Routing and connecting the antenna cable 1 Mount the antenna and then route the antenna cable from the GPS antenna to the BD960 receiver see Figure 3 1 Avoid the following hazards when routing the antenna cable Sharp ends or kinks in the cable Hot surfaces such as exhaust manifolds or stacks Rotating or reciprocating equipment Sharp or abrasive surfaces Door and window jams Corrosive fluids or gases 2 Connect the cable to the receiver Use tie wraps to secure the cable at several points along the route For example to provide strain relief for the antenna cable connection use a tie wrap to secure the cable near the base of the antenna Note When securing the cable start at the antenna and work towards the BD960 receiver 3 Coil any slack i
145. sts an ASCII representation of a BD960 simulated display screen In response Report Packet 82h sends the data used that is used to display the screen to the remote device in ASCII format Table 7 39 shows the command packet structure For more information see 82h SCRDUMP Screen dump page 128 Table 7 39Command packet 82h structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status code 2 PACKET TYPE CHAR 82h Command Packet 82h 3 LENGTH CHAR Oh Data bytes count 4 CHECKSUM CHAR See Table 7 1 page 533 Checksum value 5 ETX CHAR 03h End transmission BD960 GNSS Receiver Module User Guide 77 7 Configuring the BD960 Receiver Using Binary Interface Commands Data Collector Format Report Packets Data Collector Format report packets are usually sent in response to a command packet The prime exception is Report Packet 40h GSOF which streams a selection of data reports to the remote device at intervals defined in the current application file Report packets are generated immediately after the request is received The receiver always responds to requests for reports even in cases where a report cannot be transmitted for some reason or the transmission of a report is not necessary In these cases the receiver sends an ACK or NAK to acknowledge the request Report Packet summary The following sections provide details for each command and report
146. sum data always begins with BD960 GNSS Receiver Module User Guide GGA NMEA 0183 Output A Time Position and Fix Related Data An example of the GGA message string is shown below Table A 3 describes the message fields Note The following data string exceeds the NMEA standard length GPGGA 172814 0 3723 46587704 N 12202 26957864 W 2 6 1 2 18 893 M 25 669 M 2 0 0031 4F Table A 3 GGA message fields Field Meaning 0 Message ID GPGGA 1 UTC of position fix 2 Latitude 3 Direction of latitude N North S South 4 Longitude Direction of longitude E East W West 6 GPS Quality indicator O Fix not valid 1 GPS fix 2 Differential GPS fix 4 Real Time Kinematic fixed integers 5 Real Time Kinematic float integers 7 Number of SVs in use range from 00 through 12 8 HDOP 9 Orthometric height MSL reference 10 M unit of measure for orthometric height is meters 11 Geoid separation 12 M geoid separation is measured in meters 13 Age of differential GPS data record Type 1 or Type 9 Null field when DGPS is not used 14 Reference station ID ranging from 0000 through 1023 A null field when any reference station ID is selected and no corrections are received 15 The checksum data always begins with BD960 GNSS Receiver Module User Guide 139 A 140 NMEA 0183 Output GSA GPS DOP and active satellites An example of the GSA message string is shown below Ta
147. t 6Dh is used to activate one of the application files stored in the Application File directory The application file with the specified System File Index is activated Packet Flow Receiver Remote E Command Packet 6Dh ACK or NAK gt Each application file is assigned a System File Index The application file containing the factory default values is assigned a System File Index of zero 0 allowing this command to be used to reset the receiver to the factory default conditions Table 7 36 describes the packet structure Table 7 36Command Packet 6dh structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status indicator 2 PACKET TYPE CHAR 6Dh Command Packet 6Dh 3 LENGTH CHAR 01h Data byte count BD960 GNSS Receiver Module User Guide 75 7 Configuring the BD960 Receiver Using Binary Interface Commands Table 7 36Command Packet 6dh structure continued Byte Item Type Value Meaning 4 5 SYSTEM FILE SHORT 0 n Unique number assigned to each of the INDEX application files stored in the Application File directory CHECKSUM CHAR See Table 7 1 page 53 Checksum ETX CHAR 03h End transmission 81h KEYSIM Key simulator Command Packet 81h simulates any front panel key press Packet Flow Receiver Remote e Command Packet 81h ACK gt Table 7 37Comman
148. t Flow Receiver Remote lt Command Packet 66h Report Packet 67h gt Table 7 34 describes the packet structure For more information see 67h RETAFDIR Directory listing report page 123 Table 7 34Command Packet 66h structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status code 2 PACKET TYPE CHAR 66h Command Packet 66h 3 LENGTH CHAR Oh Data byte count 4 CHECKSUM CHAR See Table 7 1 page 533 Checksum value 5 ETX CHAR 03h End transmission 74 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 68h DELAPPFILE Delete application file data command Command Packet 68h deletes the data for a specified application file The application file is selected by specifying the System File Index assigned to the file Packet Flow Receiver Remote lt Command Packet 68h ACK or NAK gt Table 7 35Command Packet 68h structure Byte Item Type Value Meaning 0 STX CHAR 02h Start transmission 1 STATUS CHAR See Table 7 2 page 54 Receiver status indicator 2 PACKET TYPE CHAR 68h Command Packet 68h 3 LENGTH CHAR 01h Data byte count 4 5 SYSTEM FILE SHORT 0 n Unique number assigned to each of the INDEX application files stored in the Application File directory CHECKSUM CHAR See Table 7 1 page 53 Checksum ETX CHAR 03h End transmission 6Dh ACTAPPFILE Activate application file Command Packe
149. tatic or kinematic MODE operation Table 7 13DEVICE TYPE byte values Byte value Meaning Dec Hex 0 00h All Devices 2 5 02h 05h Reserved 66 42h BD960 receiver Table 7 14START APPLICATION FILE FLAG byte values Byte value Meaning Dec Hex 0 00h Do not apply the application file parameter settings to the active set of parameters when the transfer is complete 1 01h Apply application file records immediately Table 7 15FACTORY SETTINGS byte values Byte value Meaning Dec Hex 0 00h Alter receiver parameters only as specified in the application file Leave unspecified settings alone 1 01h Set all controls to factory settings prior to applying the application file BD960 GNSS Receiver Module User Guide 65 7 Configuring the BD960 Receiver Using Binary Interface Commands Table 7 16MEASUREMENT RATE byte values Byte value Meaning Dec Hex 0 00h 1 Hz 1 01h 5 Hz 2 02h 10 Hz Table 7 17POSTITIONING SOLUTION SELECTION values Byte value Meaning Dec Hex 0 00 Use best available solution 1 01 Produce DGPS and Autonomous solutions 2 02 Produce DGPS RTK Float and Autonomous solutions On the fly RTK initialization is disabled therefore no RTK Fix solutions are generated 3 03 Produce RTK Fix DGPS and Autonomous solutions no RTK Float solutions Table 7 18BAUD RATE byte values Byte value Meanin
150. tes radians 2 MASTER SLAVE RANGE VARIANCE is the expected variance of error of the master slave range estimate in meters 2 BD960 GNSS Receiver Module User Guide 103 7 104 Configuring the BD960 Receiver Using Binary Interface Commands GSOF 33 GSOF 33 21h ALL SV BRIEF INFO Packet Flow Receiver 1 byte OUTPUT RECORD TYPE gt 33 1 byte RECORD LENGTH 1 byte NUMBER OF SVs Repeated for number of SVs 1 byte PRN 1 byte SV System 1 byte SV FLAGS1 1 byte SV FLAGS2 Connected computer y y tid 4 Where OUTPUT RECORD TYPE 33 RECORD LENGTH is the length of this sub record NUMBER OF SVS is the number of tracked satellites reported in this record PRN is the PRN number of the satellite which the following flags refer to This will be the ACTUAL PRN number given by the SV not ranged due to SV system due to the next field SV System is the system that the SV belongs to 0 GPS 1 SBAS 2 GLONASS 3 GALILEO 4 255 RESERVED SV FLAGS indicate conditions relating to satellites bit O set Above horizon bit 1 set Currently assigned to a channel trying to track bit 2 set Currently tracked on L1 G1 frequency bit 3 7 RESERVED SV FLAGS2 indicate conditions relating to satellites bits 0 7 RESERVED BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 GSOF 34 GSOF 34 22h ALL SV DETAILED INFO
151. tes 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 BD960 GNSS Receiver Module User Guide 169 Glossary differential correction differential GPS DOP dual frequency GPS EGNOS elevation mask ellipsoid emphemeris ephemerides epoch feature firmware GLONASS GNSS 170 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 See real time differential GPS Dilution of Precision A measure of the quality of GPS positions based on the geometry of the satellites used to compute the positions When satellites are widely spaced relative to each other the DOP value is lower and position accuracy is greater When satellites are close together in the sky the DOP is higher and GPS positions may contain a greater level of error PDOP Position DOP indicates the three dimensional geometry of the satellites Other DOP values include HDOP Horizontal DOP and
152. ting The Raw satellite data responses follow either the Expanded or the Concise format and usually exceed the byte limit for RS 232 Serial Interface Specification packets To overcome the packet size limitation the data is included in several subpackets called pages The PAGE INDEX byte Byte 4 identifies the packet page index and the maximum page index included for the measurement epoch 0 of 2 1 of 2 2 of 2 The first and subsequent packet pages are filled with a maximum of 248 bytes consisting of 4 bytes of page and flag information and 244 bytes of raw satellite data The raw satellite data is split wherever the 244 byte boundary falls regardless of internal variable boundaries Therefore the external device receiving the multiple pages must reconstruct the raw satellite record using the 244 byte pages before parsing the data This format is maintained for the position record even though it never extends beyond 244 bytes 1 This record only contains raw measurement information from the GPS satellites For raw infor mation from additional constellations GLONASS and so on contact Trimble technical support See Technical Support page 8 114 BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 Determining the LENGTH byte of records The total length of the Raw Satellite Data ignoring the protocol framing and the paging bytes may be computed as follows Expanded Format LENGTH
153. tion BD960 GNSS Receiver Module User Guide 13 3 Installation Receiver setup Figure 3 1 shows the setup for a BD960 receiver GNSS antenna Figure 3 1 BD960 receiver on Eurocard PC board Installing the BD960 receiver Trimble recommends that you read this section before installing the BD960 receiver Unpacking and inspecting the shipment Visually inspect the shipping cartons for any signs of damage or mishandling before unpacking the receiver Immediately report any damage to the shipping carrier Shipment carton contents The shipment will include one or more cartons This depends on the number of optional accessories ordered Open the shipping cartons and make sure that all of the components indicated on the bill of lading are present 14 BD960 GNSS Receiver Module User Guide Installation 3 Reporting shipping problems Report any problems discovered after you unpack the shipping cartons to both Trimble Customer Support and the shipping carrier Supported antennas The BD960 receiver tracks six different GNSS frequencies The Zephyr Model 2 antenna supports all these frequencies Other antennas may be used However ensure that the antenna you choose supports the frequencies you need to track and operates at either 3 3 or 7 1 volts with a greater than 40 dB signal at the board antenna port Installation guidelines The BD960 receiver is designed to be standoff mounted Use the appropriate hardware
154. ut ZDA UTC Day Month And Year and Local Time Zone Offset An example ofthe ZDA message string is shown below Table A 16 describes the message fields GPZDA 172809 12 07 1996 00 00 45 Table A 16 ZDA message fields Field Meaning Message ID GPZDA UTC Day ranging between 01 and 31 Month ranging between 01 and 12 Year Local time zone offset from GMT ranging from 00 through 13 hours Local time zone offset from GMT ranging from 00 through 59 minutes N oO my Bl W N O The checksum data always begins with Fields 5 and 6 together yield the total offset For example if field 5 is 5 and field 6 is 15 local time is 5 hours and 15 minutes earlier than GMT 152 BD960 GNSS Receiver Module User Guide APPENDIX Upgrading the Receiver Firmware In this appendix m The WinFlash utility m Upgrading the receiver firmware The GPS receiver is supplied with the latest version of the receiver firmware already installed If a later version of the firmware becomes available use the WinFlash utility to upgrade the firmware on your receiver You can also upgrade the receiver through the web interface see Configuring the receiver using a web browser page 39 If your receiver has access to the Internet then whenever Trimble releases new firmware your receiver will check and display the new firmware version number in the Web browser You can then decide to install the newer fir
155. utton The help topic will explain the settings for that page oe m Click the Help menu link on the left of he screen The Help Contents page will appear To view a topic simply select the link in the Programmatic Interface Disable left frame of the browser GLN Enable m Download the latest complete online Help to use while offline To do this from the bottom of the Help Contents select Help A Download_BD960_3604_Help21p and then unzip the file to your PC Disable Predicted Elevation Last Modified December 21 2007 Predided Antenna Advanced Settings Fi Reset E Default Language VO Configuration Port Summary X BD960 GNSS Receiver Module User Guide 49 6 Configuring the BD960 Receiver Using a Web Browser 50 BD960 GNSS Receiver Module User Guide CHAPTER 7 Configuring the BD960 Receiver Using Binary Interface Commands In this chapter This chapter documents the Data Collector Format packets that are used to configure the m RS 232 Serial Interface receiver settings and outputs Specification m Data Collector Format Command Packets m Data Collector Format Report Packets BD960 GNSS Receiver Module User Guide 51 7 52 Configuring the BD960 Receiver Using Binary Interface Commands RS 232 Serial Interface Specification The RS 232 Serial Interface Specification enables a remote computing device to communicate with a BD960 receiver over an RS 232 connection using Data Collector Format packets The RS 2
156. velocity in the vertical direction in meters per second BD960 GNSS Receiver Module User Guide Configuring the BD960 Receiver Using Binary Interface Commands 7 GSOF 9 GSOF 9 09h PDOP INFO Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE 9 1 byte RECORD LENGTH 4 float PDOP 4 float HDOP 4 float VDOP 4 float TDOP bli ilid Where OUTPUT RECORD TYPE 9 RECORD LENGTH is the length of this sub record PDOP is the positional dilution of precision HDOP is the horizontal dilution of precision VDOP is the vertical dilution of precision TDOP is the time dilution of precision Note When an RTK system is placed in the Static measuring mode these values become Relative DOP values and as such tend to diminish with elapsed time spend static BD960 GNSS Receiver Module User Guide 91 7 Configuring the BD960 Receiver Using Binary Interface Commands GSOF 10 GSOF 10 0Ah CLOCK INFO Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE 10 1 byte RECORD LENGTH 1 byte CLOCK FLAGS 8 double CLOCK OFFSET 8 double FREQUENCY OFFSET y bb Where e OUTPUT RECORD TYPE 10 e RECORD LENGTH is the length of this sub record e CLOCK FLAGS indicates information relation of the clock fix process Defined values are bit 0 SET Clock offset is valid bit 1 SET Frequency offset is valid bit 2 SET Receiver is in anywhere fix m
157. viation Administration FAA WAAS was established for flight and approach navigation for civil aviation WAAS improves the accuracy integrity and availability of the basic GPS signals over its coverage area which includes the continental United States and outlying parts of Canada and Mexico SBAS can be used in surveying applications to improve single point positioning when starting a reference station or when the RTK radio link is down SBAS corrections should be used to obtain greater accuracy than autonomous positioning not as an alternative to RTK positioning The SBAS 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 BD960 receiver exactly like a GPS satellite For more information on WAAS refer to the FAA home page at http gps faa gov BD960 GNSS Receiver Module User Guide Positioning Modes 4 OmniSTAR OmniSTAR is a wide area differential GPS service using satellite broadcast techniques For the sub meter service data from many widely spaced reference stations is used in a proprietary multi site solution over most land areas worldwide The high accuracy HP solution uses more sophisticated data from these reference sites and XP uses satellite orbit and clock correction data which is independent of reference site location For
158. wer consumption The data link must support at least 4800 baud and preferably 9600 baud throughput Your Trimble representative see Technical Support page 8 can assist with questions regarding data link options Moving Baseline RTK positioning In most RTK applications the reference receiver remains stationary at a known location and the rover receiver can move However Moving Baseline RTK is an RTK positioning technique in which both reference and rover receivers can move Moving Baseline RTK is useful for GPS applications that require vessel orientation The reference receiver broadcasts CMR data every epoch while the rover receiver performs a synchronized baseline solution at 10 Hz The resulting baseline solution has centimeter level accuracy To increase the accuracy of the absolute location of the two antennas the Moving Reference receiver can use differential corrections from a static source such as a shore based reference station BD960 GNSS Receiver Module User Guide 21 4 22 Positioning Modes Critical factors affecting RTK accuracy The following sections present system limitations and potential problems that could be encountered during RTK operation Base station receiver type A CAUTION Trimble recommends that you always use a Trimble base station with a BD960 rover Using a non Trimble base receiver can result in suboptimal initialization reliability and RTK performance The BD960 receiver uses a state
159. y seated in the GPS antenna connection on the GPS antenna Check the cable for any signs of damage A damaged cable can inhibit signal detection from the antenna at the receiver The GPS antenna is not in clear line of sight to the sky Make sure that the GPS antenna is located with a clear view of the sky Restart the receiver as a last resort turn off and then turn it on again 158 BD960 GNSS Receiver Module User Guide Drawings In this appendix m Plan view m Edge view APPENDIX The drawings in this appendix show the dimensions of the receiver Refer to these drawings if you need to build mounting brackets and housings for the receiver BD960 GNSS Receiver Module User Guide 159 D Drawings Plan view 160 BD960 GNSS Receiver Module User Guide tl 5 100 0 mm e n LESTLIET i eae Pe Drawings D Edge view BD960 GNSS Receiver Module User Guide 161 D Drawings 162 BD960 GNSS Receiver Module User Guide APPENDIX Receiver Connector Pinout Information In this appendix The receiver has one connector a 34 pin header 1 m 34 pin header Un m 1PPS and ASCII time tag m ASCII time tag BD960 GNSS Receiver Module User Guide 163 E Receiver Connector Pinout Information 34 pin header The 34 pin header J1 has the following pinout Pin Usage Comment 1 GND POWER GROUND 2 GND POWER GROUND 3 BOOT_MON
160. yte NUMBER OF SVS gt repeated for number of svs 1 byte PRN gt 1 byte SV FLAGS1 gt 1 byte SV FLAGS2 gt Where OUTPUT RECORD TYPE 13 RECORD LENGTH is the length of this sub record NUMBER OF SVS is the number of tracked satellites reported in this record PRN is the PRN number of the satellite which the following flags refer to SV FLAGS indicate conditions relating to satellites Defined values are bit 0 SET Above horizon bit 1 SET Currently assigned to a channel trying to track bit 2 SET Currently tracked on L1 frequency bit 3 SET Currently tracked on L2 frequency bit 4 SET Reported at Base on L1 frequency bit 5 SET Reported at Base on L2 frequency bit 6 SET Used in Position bit 7 SET Used in current RTK process search propagate fix solution SV FLAGS2 indicate conditions relating to satellites Defined values are bit 0 SET Tracking P Code on L1 bit 1 SET Tracking P Code on L2 bit 2 SET Tracking CS on L2 bits 3 7 RESERVED BD960 GNSS Receiver Module User Guide 95 7 96 Configuring the BD960 Receiver Using Binary Interface Commands GSOF 14 GSOF 14 0Eh SV DETAILED INFO Packet Flow Receiver Connected computer 1 byte OUTPUT RECORD TYPE gt 14 1 byte RECORD LENGTH 1 byte NUMBER OF SVS repeated for number of svs 1 byte PRN 1 byte SV FLAGS1 1 byte SV FLAGS2 1 signed byte ELEVATION 2 short AZIMUTH 1 byte SNR L1 4 1 byte SNR L2 4 y

Trimble BD960 GNSS Receiver Module User Guide

Contents

Download Pdf Manuals

Related Search

Related Contents