SP90m GNSS Receiver User Guide
Legal Notices Canada ©2017 Trimble Inc. All rights reserved. The digital apparatus does not exceed the Class B limits for radio noise emissions from digital apparatus as set out in the radio interference regulations of the Canadian Department of Communications. All product and brand names mentioned in this publication are trademarks of their respective holders. SP90m User Guide, Rev. A, June 2017. Limited Warranty Terms and Conditions Product Limited Warranty.
Rechargeable Lithium-ion Batteries This receiver uses one rechargeable Lithium-ion battery. WARNING - Do not damage the rechargeable Lithium-ion batteries. A damaged battery can cause an explosion or fire, and can result in personal injury and/or property damage. To prevent injury or damage: • Do not use or charge the batteries if they appear to be damaged. Signs of damage include, but are not limited to, discoloration, warping, and leaking battery fluid.
Your Comments Your feedback about the supporting documentation helps us improve it with each revision. Email your comments to documentation_feedback@spectraprecision.com. UHF Radios Regulations and Safety. The receiver may be fitted with an internal radio as an option. It can also be connected to an external UHF radio. Regulations regarding the use of Ultra High Frequency (UHF) radio-modems vary greatly from country to country.
Table of Contents Introduction to SP90m.........................................................................1 First Steps ..........................................................................................2 Unpacking ............................................................................2 Basic Setup ..........................................................................2 Default Configuration .............................................................2 Customizing Receiver Operation ..
Using an External Battery .....................................................25 Receiver User Interface .................................................................... 26 Welcome Screen..................................................................26 Using the Front Panel Controls..............................................26 General Status ....................................................................27 Radio ................................................................................
Dual-Relative RTK ...............................................................72 Programming Data Outputs.................................................................74 Rover Output Messages ........................................................74 Base Data Messages ............................................................75 Raw Data Recording.............................................................76 Available NMEA Messages....................................................77 Appendices...
GBS: GNSS Satellite Fault Detection ...............................101 GGA: GNSS Position Message .........................................102 GGK: GNSS Position Message .........................................102 GGKX: GNSS Position Message .......................................103 GLL: Geographic Position - Latitude/Longitude..................104 GMP: GNSS Map Projection Fix Data ...............................105 GNS: GNSS Fix Data ......................................................
Introduction to SP90m The Spectra Precision SP90m is a powerful, highly versatile, ultra-rugged, and reliable GNSS positioning solution for a wide variety of real-time and post-processing applications. It also comes with a variety of integrated communications options, such as Bluetooth, WiFi, UHF radio, cellular modem, and two MSS L-band channels to receive Trimble RTX correction services.
First Steps Unpacking In its basic version, the SP90m is delivered with a transport bag, a Li-Ion battery, a dual-battery charger with battery inserts, an AC/DC power supply, a Bluetooth/WiFi antenna and accessories (see details in System Components Overview on page 4). Additionally, a choice of GNSS antenna and coaxial cable should have been made, as well as that of a country-specific power cord.
• • • • • • Customizing Receiver Operation Screen orientation: Normal Screen timeout: 10 minutes Buzzer: ON Automatic receiver power-on and power-off: Disabled ATL Recording: OFF Access to Web Server: Protected. The default login is "admin" and the default password is "password". These may be changed using the Security tab in the Web Server. • If you wish to change the configuration, you need to: – Run the Web Server: see Getting Started With the Web Server on page 45.
System Components Overview This section provides an overview of the different key items composing the SP90m. Depending on your purchase and based on the type of survey you wish to perform, you may only have some of the listed items. Please refer to the packing list for an accurate description of the equipment that has been delivered to you. NOTICE: Spectra Precision reserves the right to make changes to the items listed below without prior notice.
ordered separately as spare parts; Use the part numbers mentioned in the table below when ordering.) Item Part Number Spectra Precision Transport Bag 206490-ASH Li-Ion battery,7.4 V DC, 3700 mAh 76767 Dual Battery Charger (does not include AC/DC power supply and cable) 53018010SPN Picture AC/DC Power Supply, 65 W,19 V, 3.43 A, 100240 V AC, Class VI (used either to power the 107000 receiver or the battery charger) (power cord not provided; see section below) SAE-to-DC adapter cable, 0.
For part numbers not including a UHF radio (SP90M-10100, SP90M-101-00-20 and SP90M-101-00-50), the following item is added to the standard accessories. Item Part Number 7P Lemo-to-SAE power cable, 0.6 m Picture 95715 For part numbers including a UHF radio (SP90M-101-60, SP90M-101-60-20 and SP90M-101-60-50), the following items are added to the standard accessories. Item Country-Specific Power Cord Power/Data cable, 1.
GNSS Antenna and Antenna Cables The Spectra Precision offer in terms of GNSS antennas and coaxial cables that may be used with the SP90m is summarized in the table below. Item Part Number Picture Spectra Precision SPGA Rover (can be 135000-00 used either as a rover or base antenna) Pre-Installed Firmware Options Coaxial, TNC/TNC, right angle, 1.6 m 58957-02-SPN Coaxial, TNC/TNC, right angle, 10 m 58957-10-SPN The list of pre-installed firmware options is given below.
Upgradable Firmware Options These firmware options can be purchased separately to upgrade the receiver. ID 8 Designation Part Number Fast Output (50 Hz) 113329-01 c Embedded NTRIP Caster 113329-02 @1 Worldwide use (disables pre-installed Geofencing) 113329-03 Visit Trimble RTX In order to use the Trimble RTX service Centerwebsite to purchase Point RTX, a subscription is required.. The result of the purchase will be a code that you a subscription.
Equipment Description Front Panel [1] [8] [2] [6] [7] [5] [3] [4] [8] • [1]: External Bluetooth/WiFi antenna. A coaxial female connector (reverse SMA type) allowing you to connect a Bluetooth or WiFi antenna for wireless communication with a field terminal or any other device. • [2]: Power button. To turn on the receiver, press the Power button for about two seconds until the power LED [3] turns solid green, then release the button.
• [5]: Power LED. Possible states: State Meaning SP90m is off and no external power source is Off connected to the DC power input (but the internal battery may be present). SP90m is on (initializing or steady state), being powered from an external power source. If the internal battery is present. Battery Solid green charging from the external source will take place if needed (see battery icon on General Status screen). SP90m is on (initializing or steady state), Solid green, but with 0.
http://www.spectraprecision.com/eng/sp90m.html#.WUkG_NxLep0 USB driver for 64-bit OS: SpectraPrecisionUSBSerialSetup_x64.exe file USB driver for 32-bit OS: SpectraPrecisionUSBSerialSetup_x86.exe file Double-click on the downloaded file to install the driver. • [7]: Escape button. See Display Screens on page 15. • [8]: Bumpers (x2). Rear Panel [10] [11] [12] [9] [8] [13] [14] [15] [16] [17] [8] • [8]: Bumpers (x2). • [9]: GNSS input #1.
• • • • (the transmitter is not transmitting until there are enough GNSS satellites received). [13]: DC Power input and serial port A (RS232). A Fischer, seven-contact, female connector allowing the SP90m to be powered from either the provided AC adapter (connect the cable extension between SP90m and the end of the AC adapter output cable), or an external 9- to 36-V DC power source through cable P/N 730477 (cf. base setup using an external radio transmitter). [14]: Ethernet connector.
SIM Card The SIM card slot is located under the battery. Open the battery compartment (see page 13) and then insert the SIM card as shown below. Gently push the card to the right until you hear a click. To extract the SIM card, gently push it a bit further in. This releases it from the slot. Just let go before extracting the SIM card from the battery compartment. Battery Model & Battery Compartment The battery used is a Lithium-Ion 7.4-V DC - 3700 mAh rechargeable battery.
Conversely, the battery will be charged by the external power source when needed. Indications are provided to report battery charging when this happens (see page 9). NOTE: If you are using a SIM card, you must insert it before inserting the battery. (See page 13). Buzzer Port Pinouts The internal buzzer will sound whenever an error is detected. The buzzer will sound six times and then stop. The error icon will however continue to blink.
Power In, Serial Port A On rear panel. A 7-C Connector, Type: Souriau JBXHC0G07FPE360J2C (LEMO). Pin 1 2 3 4 5 6 7 Signal Name GND-A PWR TXD RTS CTS +Power in RXD Description External Power Ground External Power Input (9-36 V DC) Port A RS232 TXD Port A RS232 RTS Port A RS232 CTS Port A RS232 RXD NOTE: All signals are electrically isolated from the chassis ground and power source. Serial Port B On rear panel. A switchable RS232/RS422 serial port + external event input.
Port B can be switched to RS232 or RS422 using the $PASHS,MDP command. RS232 inputs/outputs are typically ± 10 Volt asymmetrical signals with respect to ground. RS422 inputs/outputs are 0/+5 Volt symmetrical signals (differential lines). NOTE: All signals are electrically isolated from the chassis ground and power source. Serial Port F On rear panel. A standard RS232 serial port + CAN bus + 1PPS output A 9-C connector of the type Harting DB9M 9cts 09-67-5097658, fitted with a sealing cap.
Ethernet Port On rear panel. An 8-pin RJ45 waterproof connector (MRJR-5380), fitted with sealing cap. Pin 1 2 3 4 5 6 7 8 Signal Name TX+ TXRX+ NC NC RXNC NC NOTE: All signals are electrically isolated from the chassis ground and power source.
Installation Instructions Receiver NOTE: Depending on how you install the receiver, you may need to change the orientation of the displayed data on the front panel screen. This is possible using one of the options in the Display Settings menu (see page 35). Tripod Mount In land surveying applications, for example when used as a roaming base mounted on a tripod, the SP90m can be secured on one of the legs of the tripod using the lug ([A]) fastened on its bottom side (see illustration below).
100-mm square. In the receiver case, the four tapped holes are designed as follows: M4 x 0.7 - 7 mm. When tightening M4 screws, the recommended torque is 2.6 N.m (23 lfb.in). Note that this is a VESA1-compliant mounting scheme. Bumper Mount This type of installation is also suitable for machine guidance or marine applications. In this setup, the receiver is secured from its bottom side, using the holes (dia. 4.5 mm) located in the lower part of the four blue bumpers (see illustration below).
Heading Accuracy (°) 1 0.1 0.01 0.001 0.1 1 10 100 1000 Baseline Length (m) This chart deserves a few more comments and explanations: • Accuracy has a linear relationship to baseline length. However a too long baseline length can result in differential multipath between antennas and introduction of vehicle flexing into the heading solution. These two factors are detrimental to heading accuracy. In addition, the longer the baseline length, the longer the calibration sequence.
how you should calculate the elevation offset between the two antennas after measuring the elevation deviation and the baseline length. The sign of the elevation offset is also provided on the diagram below (elevation offset negative if the secondary antenna is lower than the primary antenna and vice versa).
Azimuth Offset, Antenna Setup & Resulting Heading Consider the following four setups before installing your antennas. A vessel is shown in the examples but this could be any other type of vehicle. Depending on the type of measurements you wish the receiver to perform (heading + roll or heading + pitch) and the installation possibilities offered in the vehicle, you will choose the most appropriate setup and set the azimuth offset accordingly.
Powering the SP90m External DC Source vs. Internal Battery The SP90m may be powered from either its internal battery or an external DC source. The internal battery will be charged if necessary when the receiver is powered from an external DC source. Power Mode You may set the receiver to behave in a very specific way when applying or removing the external DC source. Below are the options you may use and the resulting behavior.
Charging the Battery The battery comes with four LEDs indicating the current battery charge status. Push the button by the LEDs to check the battery charge status. All lit LEDs means the battery is fully charged. If none of them lights up when pushing the button, then the battery is exhausted and needs recharging. The battery may be charged in two different ways: • Leave the battery within the receiver’s battery compartment and charge it from the external DC source you are using to power the receiver.
On the charger, beside each slot are two LED indicators (red and green) to display the battery status.
Receiver User Interface The diagram below summarizes all the receiver parameters that you can display or edit from the receiver front panel. It also shows which keys to use to scroll through the different screens. ID GNSS Position (Position 2) (Heading) Welcome Memory Status: OK • Delete all G-files • Delete all files • Format (USB key status) Site Name Record OK Base Mode Antenna: OK - Antenna name - Antenna height Ref. Position: OK - Position type - Ref.
• : When a function is displayed, use the vertical (up and down) arrow keys to scroll through the possible options, if any. Where Settings is displayed and after selecting it, use the vertical arrow keys to make a selection within a choice of possible parameters. Vertical arrows are also used when you are requested to enter numerical values, such as repeater delay or static IP address. In this case, use vertical arrows to set a value for each digit.
Area NOTE: In the second column, the slash symbol (“/”) is used between icons to indicate that these icons occupy the area successively at the indicated displaying rate. Icon or Data Reported Meaning Anti-theft or/and startup protection active (solid icon). [1] [2] [3] [4] [5] Receiver running after entering startup protection password. Startup protection still active and will require same password at next power up. One or more alarms set (blinking icon).
Icon or Data Reported Area Meaning The receiver is powered from the AC/DC power supply, not from its battery. The battery is being charged from the external DC source (first icon is animated to show charging). [8] [7], (8] Modem: (Blank) Modem turned off. Modem turned on: • Blinking: Not initialized yet • Static: Initialized and ready for a connection The vertical bars indicate the signal strength at the modem antenna input. The higher the number of bars the better.
Use the down-arrow key to view the following pages of information: 1. Receiver identification screen. From top to bottom (see screen example): – SN: Receiver serial number – FW: Installed firmware version – WD: Receiver warranty date (YYYY-MM-DD). – BT: Receiver Bluetooth name. If the name does not entirely fit on the screen, it will automatically and slowly be scrolled from right to left. 2.
4. Position solution 2: Position of second antenna, if any second antenna connected to the receiver. Same information is provided as above for first position solution. When two position solutions are computed, there is a figure displayed in the top-left corner of the screen allowing you to know which position is assigned to which antenna: – : Indicates position solution for primary antenna (input #1). – : Indicates position solution for secondary antenna (input #2). 5.
(Rover) (Base) • Fourth line (see examples on the left): – For a rover, current reception sensitivity (low, medium or high), followed by “FEC” (Forward Error Correction) and “SCR” (Scrambling) if these two functions are enabled, followed by the type of modulation used and “REP” if the radio is used as a repeater. – For a base, radiated power (500 mW, 1 W or 2 W), followed by “FEC” (Forward Error Correction) and “SCR” (Scrambling) if these two functions are enabled, followed by the type of modulation used.
• Repeater number (Base/1 repeater, Base/2 repeaters, Repeater one, Repeater two) • Repeater delay (in ms). Still from the Radio screen, pressing any of the vertical keys will display a message (Connect Internal Radio to ADLCONF?) prompting you to connect the internal radio to a configuration utility program (ADLCONF). If you press OK, a new message will be displayed asking you to confirm this. If you press OK again, the internal radio will be made accessible directly from port A on the receiver rear panel.
receiver. “Manual” means you turn it on or off manually from the GSM screen. • PIN code: Press OK to enter the edit mode. CAUTION: You won’t be able to turn on the GSM modem until you have entered the correct PIN code. • Antenna Mode: Press OK to choose the antenna used by the GSM modem: This can be the built-in antenna (Internal) or an external antenna connected to the rear panel (see [11] on Rear Panel on page 11).
In Access Point mode, the receiver’s WiFi module may be used by nearby, external, WiFi-enabled equipment (a smart phone for example) as a WiFi hotspot. In AP and Client mode, the WiFi device may be used simultaneously as a client or an access point. NOTE: When it is powered on from the dedicated display screen (see above), the WiFi device is automatically set as a WiFi Access Point. IMPORTANT: The receiver’s default WiFi key is the receiver’s serial number.
Pressing the down-arrow button will allow you to set the following parameters: 1. Unit: Choose the distance unit (meters, US Survey Feet, International Feet). 2. Screen Orientation: Choose the orientation of the data displayed on the screen (Normal or Upside down). 3. Screen timeout: Choose the time in minutes during which the screen will stay lit after you leave the control panel inactive. It will go blank after this delay. You will then need to press any key to turn it back on.
3. 4. 5. 6. All parameters are reset to defaults except for ephemeris, almanac, position and time data. SBAS ephemeris data are however cleared. Then default_config.cmd is run if present. ”RESET IN PROGRESS” is displayed throughout the sequence (which may take a few minutes). At the end of the sequence, hold the escape button depressed for a few seconds to return to the General Status screen Upgrade firmware?: Allows you to upgrade the firmware of your receiver.
Base Mode Base Mode {Status: OFF or ON} {Moving or Static} See flowchart and explanations below. OK OK Base Mode >OFF ON OK OK Antenna {Antenna model} {Height value,V or S} Antenna Name {Current setting} OK OK Antenna Height {Current setting} OK Ref. Position {Coordinates if “Static”, otherwise just “Moving”report ed} Position Type {Current Setting} Ref.
“Last” as the reference position. See Ref Position below for more details). IMPORTANT: Using the receiver front panel, you can only configure a “Static” base, not a “Moving” one. Defining a moving base can only be done using the Web Server. However, after a receiver reset, if you set the base mode to ON from the receiver front panel, then the base will operate by default as a moving base. The Base Mode screen being displayed, press the OK button to enter the edit mode.
“L1 Phase center”, SPT for “Survey Point” or ARP for “Antenna Reference Point”). Press OK to edit these parameters. The following is displayed: – Position Type: Press OK again to choose the vertical reference. As explained, this may be the antenna phase center (L1 phase center), the antenna phase center point projected to the ground (Survey point) or the base plane of the antenna (Antenna ref. point).
• Set the data format then press OK. Record When you access the Record screen, the following information is displayed: • Status: ON or OFF • Storage medium: Memory or USB key The Record screen being displayed, press the OK button to enter the edit mode. From there, you can choose to start a Static or Stop & Go data recording. See flowchart below. (See details in the lower left corner) 2 1 OK In progress Please wait.
Power Off Screen When you hold down the Power button for a few seconds, the Spectra Precision logo will appear on the screen. After a few seconds, the message “Powering off...” will follow, indicating that the receiver is being turned off. If the anti-theft protection is still enabled when you attempt to turn off the receiver, a message will ask you to confirm this action. If you confirm (by pressing OK), the receiver executes the power off sequence as described above.
Using a USB Key To Copy Files Whenever you connect a USB key to the receiver via cable P/N107535, the following screen is displayed: This screen is displayed for a few seconds. If you press OK while this screen is still displayed, all the G-files and log files stored in the receiver will be copied (or overwritten) to the root folder on the USB key. Otherwise the copy operation will be skipped and the receiver will come back to the General Status screen.
The screen will read successively: {Spectra Precision logo} USB Upload Upgrading Firmware Step 1/5 Upgrading Firmware Step 2/5 Upgrading Firmware Step 3/5 Upgrading Firmware Step 4/5 Upgrading Firmware Step 5/5 Upgrading Firmware Complete {Booting: Spectra Precision logo} {Regular receiver startup to General Status screen} Let the receiver proceed with the upgrade. Do not turn off the receiver while the upgrade is in progress.
Getting Started With the Web Server Introduction to the Web Server Description and Function The Web Server is a receiver-embedded, HTML-based firmware application, designed to enable the receiver owner (the “administrator”) to monitor and control the SP90m GNSS receiver through a TCP/IP connection.
profiles for some other authorized users using $PASH proprietary commands. Remember that registered users have exactly the same rights as the administrator, including managing users through $PASH commands. 2. Enabled with Anonymous Access: Anyone who has been given the IP address or host name of the receiver has direct access to the Web Server (no log-in required). Only receiver monitoring is allowed in this case. An anonymous user CANNOT change the receiver configuration.
• Then you should indicate how the WiFi device will be power-controlled and whether it will operate as a WiFi client, as WiFi access point or both. Follow the steps below: – The previous screen being still displayed, press OK. – Select Settings: – Press OK again. – Choose a power mode for the WiFi device: press OK, select either Manual or Automatic (see explanations on page 34 before making a choice) and then press OK. – Press any of the vertical keys and then press OK.
Using the WiFi Device as Access Point Use the receiver’s WiFi device as access point if: • You want to access the Web Server from any WiFi-capable device such as a computer or a mobile device (i.e. smart phone). • You are located within WiFi range of the SP90m. WiFi Access Point WiFi Client Using the WiFi Device as Client Use the receiver’s WiFi device as client if: • You want to access the Web Server from a remote location where you can easily connect to the Internet.
Using the WiFi Device as both Access Point and Client Use the receiver’s WiFi device as both access point and client if: • You want to access the Web Server from your computer or smart phone. • The SP90m is configured to receive or transmit corrections over the Internet via WiFi. • You are located within WiFi range of the SP90m.
Setting Up the Ethernet Device • If the Ethernet device has been turned off, you first need to turn it back on: – On the receiver front panel, press one of the horizontal keys until you see the Ethernet screen. – Press OK. – Select ON: – Press OK again. After a few seconds the screen displays “Ethernet ON”. • Then you should indicate whether the receiver will be assigned a static IP address (DHCP off) or a dynamic IP address (DHCP on). If you don’t know which option to use, ask your local IT expert.
TCP/IP Connection Within a Local Network In this use case, the receiver and the computer are connected to the same local area network (LAN) and may even be in the same room. Here the communication will not take place through the public Internet, but simply within the local network. The connection diagram typically is the following.
TCP/IP Connection Through the Public Internet In this use case, the receiver and computer are connected to different local networks. Here the communication will necessarily take place through the public Internet. The connection diagram typically is as follows.
Introduction to Multi-Operating Mode The SP90m is a multi-application GNSS receiver, making it possible to use different operating modes simultaneously. The limitation to that feature is very simple to understand: The maximum number of baselines the SP90m can calculate simultaneously is 3. The capability for the SP90m to support several operating modes simultaneously is simply derived from that statement.
Using SP90m With a Single Antenna The reader is supposed to know how to run the Web Server (see Getting Started With the Web Server on page 45) and how to use the receiver user interface (see Receiver User Interface on page 26) before reading this section. Remember, when using the Web Server, at any time you can access context-sensitive help by pressing this key: Specifying the Model of Antenna Used When using one single GNSS antenna connected to SP90m, only GNSS input #1 can be used.
operate the receiver as a rover, the receiver will assume this antenna model is still used in the rover configuration. Raw Data Recording GNSS Raw Data Acquisition 1 On the receiver’s General Status screen, the following icons will appear in succession at a rate of 1 second when the receiver is actually collecting raw data: Using the Web Server Using the Web Server to launch data recording is particularly suitable for remote-controlled, static raw data collection. • Go to Receiver > Memory.
receiver front panel may be used to save the raw data file once created. • Press one of the horizontal keys until you see the “Record OFF” screen. • Press OK. • Choose the option that suits your requirements in terms of data collection type (Static or Stop & Go) and storage location used to save the file (Mem or USB), then press OK. This starts the data recording. Refer to Record on page 41 to learn more about the workflow used.
RTK or DGPS Rover XYZ or Lat-Lon-Height Position One set of corrections via: • Internet (Ethernet, cellular modem, or WiFi), or • UHF Radio 1 On the receiver’s General Status screen, the receiver will display “FIXED” (with short “FLOAT” transition time) or “DGPS” when computing a position respectively in RTK or DGPS mode. The computed position is displayed after pressing .
– If corrections are received over the Internet, go to Receiver > Network to set the device used (this may be Ethernet, Modem or WiFi; more information about how to set up theses devices can be found in the relevant context-sensitive Help). Then go to Receiver > I/Os to start data reception in NTRIP or Direct IP mode. Hot Standby RTK Rover Hot Standby RTK is similar to RTK except that two or three independent sets of corrections are received instead of one.
selection), limit the level of position accuracy to less than what the receiver can actually achieve in this case. Typically you will choose RTK Position to match with the selected operating mode. • Select the model of dynamics that suits the movement pattern of your rover best. • Click Configure. • Set the device used by the receiver to acquire the two sets of corrections: – If corrections are received via radio, go to Receiver > Radio to enter all radio parameters.
To configure the receiver in RTX, use the Web Server as follows: • Go to Receiver > Position > Rover Setup. • Choose the channel through which RTX corrections enter the receiver by setting Corrections Source accordingly: – If you choose Automatic, the receiver will find by itself which channel to use (L-Band or NTRIP). – If you choose L-Band, the receiver will expect RTX corrections to come from a satellite. – If you choose NTRIP, the receiver will expect RTX corrections to come from the Internet.
RTK + Relative RTK Rover Reminder: Relative RTK refers to the ability of the SP90m to compute and deliver the three components of the vector connecting a mobile base to this receiver. The components of the vector are provided with centimeter accuracy, just as is the position of the SP90m, as computed in RTK using corrections received from a static base.
• Select how the two sets of corrections are being transmitted to the receiver by setting Input Mode accordingly. If you choose Automatic, the receiver will find by itself which of its ports are used to acquire the two sets of corrections. If you choose Manual, you need to specify these two ports.
Hot Standby RTK+ Relative RTK This mode is similar to RTK+Relative RTK (see page 61) except that the RTK position is a “Hot Standby RTK” one (see also page 58). The combination of these two modes may be summarized as shown in the diagram below.
• Select how the three sets of corrections are being transmitted to the receiver by setting Input Mode accordingly. If you choose Automatic, the receiver will find by itself which of its ports are used to acquire the three sets of corrections. If you choose Manual, you need to specify these three ports.
Relative RTK Rover Reminder: Relative RTK refers to the ability for the SP90m to compute and deliver the three components of the vector connecting it to a mobile base. The components of the vector are provided with centimeter accuracy. One of the typical applications of Relative RTK is the constant monitoring of the position of a vessel relative to that of another vessel or to the jib of a crane on a quay.
aware the position computed in Relative RTK, in terms of accuracy, is an SBAS Differential position at best. • Select the model of dynamics that suits the movement pattern of your rover best. • Click Configure. • Set the device used by the receiver to acquire the two sets of corrections: – If corrections are received via radio, go to Receiver > Radio to enter all the radio parameters. You may use the internal radio or an external radio.
• • • • – Type in the three geographical coordinates (Latitude, Longitude, Height) of the base, as well as the position on the antenna (Reference Position) for which these coordinates are given. – Or click on the Get Current Position button to make the currently computed position the new base position. In this case, it is assumed that the receiver actually calculates a position at the time you click the button.
Using SP90m With Two Antennas The reader is supposed to know how to run the Web Server (see Getting Started With the Web Server on page 45), and how to use the receiver user interface (see Receiver User Interface on page 26) before reading this section. Remember, when using the Web Server, at any time you can access context-sensitive help by pressing this key: Specifying the Models of Antennas Used When using SP90m with two GNSS antennas, both GNSS input #1 and GNSS input #2 are used.
primary antenna. By default, if you leave the base mode to operate the receiver as a rover, the receiver will assume this antenna model is still used as the primary antenna. You cannot choose an antenna model for the secondary antenna using the front panel. This operation needs to be done within the Web Server. SP90m Delivering Heading Measurements The receiver will measure the heading angle of the vector connecting the secondary antenna to the primary antenna.
– If it is assumed to be strictly fixed (the two antennas are mounted on a unique, rigid support), select Fixed. With this option, you may set the receiver to autocalibrate the heading computation. In this case keep the Auto-Calibration option enabled. Or you may prefer to disable this option, in which case you will have to type in the exact length of the baseline, in meters (in the Vector Length field). – If you think it may slightly vary over time (due to support deformation, presence of wind, etc.
Press one of the vertical keys to see the computed position for the primary antenna (marked ) and the secondary antenna (marked ). When corrections are received and used, is displayed on the General Status screen together with the age of corrections (see General Status on page 27). To configure the receiver as a Dual RTK rover, use the Web Server as follows: • Go to Receiver > Position > Rover Setup. • Set Processing Mode to Dual RTK.
Dual-Relative RTK 3-D Components of Vector 3-D Vector Corrections from moving base to compute 3D-vector One or two sets of corrections from moving base via: • Internet (Ethernet, cellular modem, or WiFi), or • UHF Radio 3-D Components of Vector 2 1 Corrections from moving base to compute 3D-vector or 3-D Vect To configure the receiver as a Dual Relative RTK rover, use the Web Server as follows: • Go to Receiver > Position > Rover Setup. • Set Processing Mode to Dual Relative RTK.
Typically you will choose RTK Position to match to the selected operating mode. • Select the model of dynamics that suits the movement pattern of your rover best. • Click Configure. • Set the device used by the receiver to acquire corrections: – If corrections are received via radio, go to Receiver > Radio to enter all radio parameters. You may use the internal radio or an external radio.
Programming Data Outputs The reader is supposed to know how to run the Web Server (see Getting Started With the Web Server on page 45) before reading this section. Remember, when using the Web Server, at any time you can access context-sensitive help by pressing this key: • Go to Receiver > I/Os > Input Setup and Output Messages.
• Two GNSS antennas used: Output Heading Dual RTK* Dual Relative RTK* NMEA Message HDT VCT HPR GGA VCR * When the same types of NMEA messages are output on the same port for the two GNSS antennas, special markers are inserted into the flow of messages so that the recipient device can recognize which messages are coming from which antenna. For example the output of GGA messages will look like this: $PASHD,#1,123456.00,ABCD,BEG*cc $GPGGA,… $PASHD,#1,123456.00,ABCD,END*cc $PASHD,#2,123456.
Raw Data Recording A default raw data output exists, which you should not modify unless you have specific needs. This output is made available on port M, which, at user’s choice, stands for either the receiver’s internal memory or a USB device (USB key or hard disk). Port M is the port used to save the collected raw data as a G-file.
Available NMEA Messages See details in Appendix.
Appendices Specifications GNSS Engine • 480 GNSS tracking channels: – GPS L1 C/A, L1P (Y), L2P (Y), L2C, L5, L1C – GLONASS L1 C/A, L1P, L2 C/A, L2P, L3, L1/L2 CDMA – GALILEO E1, E5a, E5b – – – – BeiDou B1, B2, B3 (1) QZSS L1 C/A, L1 SAIF, L1C, L2C, L5 IRNSS L5 SBAS L1 C/A, L5 • Two MSS L-band tracking channels • Two GNSS antenna inputs Features • Patented Z-tracking to track encrypted GPS P(Y) signal • Patented Strobe™ Correlator for reduced GNSS multipath • Patented Z-Blade technology for optimal GNSS
• RTK base and rovers modes, post-processing mode • Moving base – RTK with Static & Moving Base corrections supported – Multi-dynamic mode (static/moving Base and Rover functions simultaneously) – RTK against a moving base for relative positioning – Adaptive velocity filter to meet specific dynamic applications • Heading and Roll/Pitch – Accurate and fast heading using dual-frequency, multi-GNSS algorithms – RTK or Trimble RTX and heading processing simultaneously – Heading engine with optional baseline len
• Maximum Operating Limits (9) – Velocity: 515 m/sec – Altitude: 18,000 m Precise Positioning Performance Real-Time Accuracy (RMS) (10) (11) • Real-Time DGPS Position: – Horizontal: 25 cm (0.82 ft) + 1 ppm – Vertical: 50 cm (1.64 ft) + 1 ppm • Real-Time Kinematic Position (RTK): – Horizontal: 8 mm (0.026 ft) + 1 ppm – Vertical: 15 mm (0.049 ft) + 1 ppm • Network RTK (12): – Horizontal: 8 mm (0.026 ft) + 0.5 ppm – Vertical: 15 mm (0.049 ft) + 0.
Real-Time Performance (10) (11) • Instant-RTK® Initialization: – Typically 2-second initialization for baselines < 20 km – Up to 99.9% reliability • RTK initialization range: – > 40 km Post-Processing Accuracy (RMS) (10) (11) Static, Rapid Static: • Horizontal: 3 mm (0.009 ft) + 0.5 ppm • Vertical: 5 mm (0.016 ft) + 0.5 ppm High-Precision Static (18): • Horizontal: 3 mm (0.009 ft) + 0.1 ppm • Vertical: 3.5 mm (0.011 ft) + 0.4 ppm Post-Processed Kinematic: • Horizontal: 8 mm (0.026 ft) + 0.
User and I/O Interface • User Interface: – Graphical OLED display with 6 keys and 1 LED – WEB UI (accessible via WiFi or Ethernet) for easy configuration, operation, status and data transfer • I/O interface: – 1 x USB OTG – Bluetooth v4.0 + EDR/LE, Bluetooth v2.1 + EDR – WiFi (802.11 b/g/n) – 3.
Environmental Characteristics • Operating temperature +149°F) (21) : -40° to +65°C (22) (-40° to • Storage temperature (23): -40° to +95°C (-40° to +203°F) • Humidity: Damp Heat 100% humidity, + 40°C (+104°F); IEC 60945:2002 • IP67 (waterproof and dustproof): IEC 60529 • Drop: 1m drop on concrete • Shock: MIL STD 810F (fig. 516.5-10) (01/2000). Sawtooth (40g / 11ms) • Vibrations: MIL-STD 810F (fig. 514.
(19) A Recording Interval of 0.05 is based on a 20 Hz output. The default changes to 0.02 if the optional 50 Hz output firmware option is installed. (20) Embedded NTRIP Caster is available as firmware option. (21) Depends on whether the internal battery is used or not: - With internal battery being charged: +45°C (+113°F) max. - With internal battery being discharged: +60°C (+140°F) - Without internal battery (external power supply): +65°C (+149°F) under conditions of installation.
1PPS Output This output delivers a periodic signal that is a multiple or submultiple of 1 second of GPS time, with or without offset. Using the 1PPS output is a standard feature of the receiver (no firmware option needed). The 1PPS output is available on port F, pin 9. You can set the properties of the 1PPS signal using the $PASHS,PPS command. These properties are: • Period: a multiple (1 to 60) or submultiple (0.1 to 1 in 0.1-second increments) of 1 second of GPS time.
Event Marker Input This input is used to time-tag external events. When an external event is detected on this input, the corresponding GPS time for this event is output as a $PASHR,TTT message on any port. The time tag provided in the message represents the exact GPS time of the event to within 1 μsecond. A single message is output for each new event. Using the event marker input is a standard feature of the receiver (no firmware option needed). The event marker input is located on port B, pin 7.
Upgrading the Receiver Firmware SP Loader Software Utility This can be done in different ways: • Using the Web Server. Go to Receiver > Configuration > Firmware Upgrade. • USB key + OLED display (see page 36). • USB key + key combination at receiver startup (see page 43). • Using the SP Loader software utility (see below). Use Spectra Precision SP Loader software to: 1. Upgrade the receiver firmware 2.
4. To upgrade receiver firmware, install a new firmware option or validate a CenterPoint RTX subscription, see sub-sections below. Upgrading Receiver Firmware You are not allowed to upgrade a receiver if antitheft or/and start up protection is active or if the receiver is operated with an in-progress or expired validity period. Firmware upgrades will be downloadable from the Spectra Precision website in the form of compressed “.tar” files. The name of the “.
now installed (version and date displayed in the SP Loader main window). 8. Click Close again, then Exit to quit SP Loader. Installing a Firmware Option Before you start this procedure, make sure you have received an email from Spectra Precision containing the POPN (Proof Of Purchase Number) corresponding to the firmware option you have purchased. NOTE : Your computer needs an Internet connection to install a firmware option using a POPN.
Activating a CenterPoint RTX Subscription After you have purchased a CenterPoint RTX subscription, Trimble Positioning Services will email you an activation code. Use the same procedure as the one used to install a firmware option (see page 89; the available RTX subscriptions are listed as firmware options). The only difference is that no POPN is provided for this procedure.
SP File Manager Software Utility SP File Manager allows you to copy “log” files and G-files directly from the receiver’s internal memory to the desired folder on your office computer. Additionally you can delete any G-file or “log” file from the receiver’s internal memory. G-files are GNSS raw data files in proprietary format (ATOM). “Log” files are editable text files listing all the operations performed by the receiver in one day.
[1]: SP File Manager toolbar. This toolbar consists of the following items: • Port and baud rate scroll-down lists: Let you choose which serial port is used on computer side for the connection with the receiver (baud rate only makes sense when an RS232 serial line is used). Use 115200 Bd to communicate with SP90m. • Connect / Refresh button: Connect allows you to activate the connection between the computer and the receiver via the chosen serial line.
Establishing a Connection with the Receiver • Set up the USB connection between the computer and receiver. • Turn on the receiver. • Launch SP File Manager on your computer. This opens the SP File Manager window. • Select the right COM port (see also the Note in Getting Started With SP Loader on page 87) and then click on the Connect button. As a result, the pane on the right-hand side of the window lists the two or three folders that can be seen on the receiver.
UHF Networking This feature allows a rover to receive corrections from up to three different bases broadcasting separately their corrections via radio, on the same frequency channel, but at different times so the rover can receive these corrections properly. UHF networking can be implemented in SP90m provided you use Survey Pro as the field software. UHF networking may be used in two different modes: • Manual: The rover operator chooses which of the bases to work with.
NMEA Messages ALR: Alarms $PASHR,ALR,d1,d2,c3,s4,d5,s6*cc Parameter Description d1 Alarm code d2 Alarm sub-code Stream ID reporting the alarm (if relevant, otherwise blank field): • A, B, F: Serial port • U: USB serial port • C, H, T: Bluetooth port c3 • D: Internal radio • E: CSD modem • P, Q: TCP/IP client stream • I, J: TCP/IP client server • M: G-file s4 d5 s6 *cc Alarm category Alarm level: • 0: Low • 1: Medium • 2: High Description Checksum Range 0-255 0-255 A-F, H-J, M, P, Q, U BLUETOOTH, INPUT
ARR: Vector & Accuracy $PASHR,ARR,d0,d1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,d13,d14,d15,d16*cc Parameter Description Range d0 Vector number 1, 2, 3 Vector mode: • 0: Invalid baseline • 1: Differential • 2: RTK float 0-3, 5 • 3: RTK fixed d1 • 5: Other (dead reckoning, bad accuracy, difference between standalone positions). Messages with d1=5 may further be masked if users only want proven vector estimates. Number of SVs used in baseline computation (L1 por0-99 d2 tion) 000000.00m3 UTC time (hhmmss.
ATT: True Heading This message delivers either pitch OR roll angles, not both at the same time, depending on how the antennas are installed. $PASHR,ATT,f1,f2,f3,f4,f5,f6,d7*cc Parameter f1 f2 f3 f4 f5 f6 Description Week time in seconds. True heading angle in degrees. Pitch angle in degrees. Roll angle in degrees. Carrier measurement RMS error, in meters. Baseline RMS error, in meters. Integer ambiguity is “Fixed” or “Float”: • 0: Fixed • >0: Float Checksum d7 *cc Range 000000.00-604799.99 000.00-359.
BTS: Bluetooth Status $PASHR,BTS,C,d1,s2,s3,d4,H,d5,s6,s7,d8,T,d9,s10,s11,d12*cc Parameter C,d1 s2 s3 d4 H,d5 s6 s7 d8 T,d9 s10 s11 d12 *cc Description Port C: • 0: Not connected • 1: A device is connected Device name connected to port C Device address connected to port C(xx:xx:xx:xx:xx:xx) Bluetooth link quality for the port C connection Port H: • 0: Not connected • 1: A device is connected Device name connected to port H Device address connected to port H (xx:xx:xx:xx:xx:xx) Bluetooth link quality for th
CPA: Received Antenna Height $PASHR,CPA,f1,f2,f3,m4,f5*cc Parameter Description Antenna height, in meters. This field remains empty f1 as long as no antenna height has been received. f2 Antenna radius, in meters f3 Vertical offset, in meters m4 Horizontal azimuth, in degrees, minutes (dddmm.mm) f5 Horizontal distance, in meters f2, f3, m4, f5 Not applicable, all empty fields *cc Checksum Range 0-99.999 0-9.9999 0-99.999 0-35959.99 0-99.
DDS: Differential Decoder Status $PASHR,DDS,d1,m2,d3,c4,s5,c6,d7,d8,d9,d10,d11,f12,f13,d14,n(d15, f16,f17)*cc Parameter d1 m2 d3 c4 s5 d6 d7 d8 d9 d10 d11 f12 f13 d14 100 Description Differential decoder number. “1” corresponds to first decoder, etc. An empty field means the decoder used is not known.
DTM: Datum Reference $GPDTM,s1,,f2,c3,f4,c5,f6,s7*cc Parameter s1 f2 c3 f4 c5 f6 s7 *cc Description Local datum code: • W84: WGS84 used as local datum • 999: Local datum computed using the parameters provided by the RTCM3.1 data stream. Latitude offset, in meters Direction of latitude Longitude offset, in meters Direction of longitude Altitude offset, in meters Reference datum code Checksum Range W84, 999 0-59.999999 N, S 0-59.999999 E, W ±0-99.
GGA: GNSS Position Message $GPGGA,m1,m2,c3,m4,c5,d6,d7,f8,f9,M,f10,M,f11,d12*cc Parameter Description m1 Current UTC time of position (hhmmss.ss) m2 Latitude of position (ddmm.mmmmmm) c3 Direction of latitude m4 Longitude of position (dddmm.
GGKX: GNSS Position Message $PTNL,GGKx,m1,m2,m3,c4,m5,c6,d7,d8,f9,f10,M,d11,f12,f13,f14,f15*cc Parameter Description m1 Current UTC time of position (hhmmss.ss) m2 UTC date of position (mmddyy) m3 Latitude of position (ddmm.mmmmmm) c4 Direction of latitude m5 Longitude of position (dddmm.
GLL: Geographic Position - Latitude/Longitude $GPGLL,m1,c2,m3,c4,m5,c6,c7*cc Parameter m1 Latitude of position (ddmm.mmmmmm) c2 Direction of latitude m3 Longitude of position (dddmm.mmmmmm) c4 Direction of longitude m5 Current UTC time of position (hhmmss.ss) c6 c7 *cc 104 Description Status • A: Data valid • V: Data not valid Mode indicator: • A: Autonomous mode • D: Differential mode • N: Data not valid • E: Estimated (dead reckoning) mode Checksum Range 0-90 0-59.999999 N, S 0-180 0-59.
GMP: GNSS Map Projection Fix Data $--GMP,m1,s2,s3,f4,f5,s6,d7,f8,f9,f10,f11,d12*cc Parameter “$--GMP” Header m1 s2 s3 f4 f5 s6 d7 f8 f9 f10 f11 d12 *cc Description Range $GPGMP: Only GPS satellites are used. $GPGMP, $GLGMP: Only GLONASS satellites are used. $GLGMP, $GNGMP: Several constellations (GPS, $GNGMP SBAS, GLONASS) are used. 000000.00Current UTC time of position (hhmmss.ss) 235959.
GNS: GNSS Fix Data $--GNS,m1,m2,c3,m4,c5,s6,d7,f8,f9,f10,f11,d12*cc Parameter m1 m2 c3 m4 c5 s6 d7 f8 f9 f10 f11 d12 *cc 106 Description Current UTC time of position (hhmmss.ss) Latitude of position (ddmm.mmmmmm) Direction of latitude Longitude of position (dddmm.mmmmmm) Direction of longitude Mode indicator (1 character by constellation): • N: No fix • A: Autonomous position • D: Differential • R: RTK Fixed • F: RTK Float Number of GNSS satellites being used in the position computation.
GRS: GNSS Range Residuals $--GRS,m1,d2,n(f3)*cc Parameter “$--GRS” Header Description $GPGRS: Only GPS satellites are used. $GLGRS: Only GLONASS satellites are used. $GNGRS: Several constellations (GPS, SBAS, GLONASS) are used. $GBGRS: Only BeiDou satellites are used. $GNGRS: Several constellations are used (GPS, SBAS, GLONASS, QZSS, BeiDou) Range $GPGRS $GLGRS $GBGRS $GNGRS 000000.00235959.99 Always “1” m1 Current UTC time of GGA position (hhmmss.
GST: GNSS Pseudo-range Error Statistics $--GST,m1,f2,f3,f4,f5,f6,f7,f8*cc Parameter “$--GST” Header m1 Description $GPGST: Only GPS satellites are used. $GLGST: Only GLONASS satellites are used. $GNGST: Several constellations (GPS, SBAS, GLONASS, BEIDOU) are used.
HDT: True Heading $GPHDT,f1,T*cc Parameter f1,T *cc Description Last computed heading value, in degrees “T” for “True”. Checksum Range 0-359.99 *00-*FF HPR: True Heading This message delivers either pitch OR roll angles, not both at the same time, depending on how the antennas are installed. $PASHR,HPR,m1,f2,f3,f4,f5,f6,d7,d8,d9,f10*cc Parameter m1 f2 f3 f4 f5 f6 d7 d8 d9 f10 *cc Description Range 000000.00UTC time of attitude data (hhmmss.ss). 235959.99 True heading angle in degrees. 000.00-359.
LTN: Latency $PASHR,LTN,d1*cc Parameter Description d1 Latency in milliseconds. *cc Optional checksum Range *00-*FF MDM: Modem State and Parameter $PASHR,MDM,c1,d2,s3,PWR=s4,PIN=s5,PTC=d6,CBS=d7,APN=s8,LGN=s 9,PWD=s10,PHN=s11,ADL=c12,RNO=d13,MOD=s14,NET=d15,ANT=s16*cc Parameter c1 d2 s3 PWR=s4 PIN=s5 PTC=d6 CBS=d7 APN=s8 LGN=s9 PWD=s10 PHN=s11 ADL=c12 RNO=d13 MOD=s14 NET=d15 ANT=S16 *cc 110 Description Modem port Modem baud rate Modem state. “NONE” means that MODEM option [Z] is not valid.
POS: Position $PASHR,POS,d1,d2,m3,m4,c5,m6,c7,f8,f9,f10,f11,f12,f13,f14,f15,f16,d17*cc Parameter d1 d2 m3 m4 c5 m6 c7 f8 f9 f10 f11 f12 f13 f14 f15 f16 d17 *cc Description Range Flag describing position solution type: • 0: Autonomous position • 1: RTCM code differential (or SBAS/BDS differential) • 2: RTK float (or RTX) • 3: RTK fixed (or RTX) 0-3, 5, 9-10, • 5: Estimated (dead-reckoning) mode 12-13, 22-23 • 9: SBAS differential • 10: BeiDou Differential • 12: RTK float • 13: RTK fixed • 22: RTK Float Di
PTT: PPS Time Tag $PASHR,PTT,d1,m2*cc Parameter d1 m2 *cc Description Range Day of week: • 1: Sunday 1-7 • 7: Saturday GPS time tag in hours, minutes, seconds 0-23:59:59.
RCS: Recording Status ?????????????????????????? $PASHR,RCS,c1,d2,s3,d4,f5,f6,f7,d8,d9)*cc Parameter c1 d2 s3 d4 f5 d6 s7 *cc Description Recording status: • Y: Data recording in progress; receiver will keep on recording data after a power cycle. • N: No data recording in progress; after a power cycle, no recording will start either. • S: No data recording in progress, but receiver will start recording data after a power cycle.
RMC: Recommended Minimum Specific GNSS Data $GPRMC,m1,c2,m3,c4,m5,c6,f7,f8,d9,f10,c11,c12*cc Parameter Description m1 Current UTC time of position (hhmmss.ss) c2 Status • A: Data valid • V: m3 Latitude of position (ddmm.mmmmmm) c4 Direction of latitude m5 Longitude of position (dddmm.
SGA: GALILEO Satellites Status (E1,E5a,E5b) $PASHR,SGA,d1,n(d2,d3,d4,f5,,f7,c8,c9)*cc Parameter d1 d2 d3 d4 f5 f6 f7 c8 c9 *cc Description Number of visible satellites SV PRN number SV azimuth in degrees SV elevation angle in degrees SV E1 signal/noise in dB.Hz SV E5b signal/noise in dB.Hz SV E5a signal/noise in dB.Hz Satellite usage status Satellite correcting status Checksum Range 0-36 1-36 0-359 0-90 0.0-60.0 0.0-60.0 0.0-60.
SGP: GPS Satellites Status $PASHR,SGP,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc Parameter d1 d2 d3 d4 f5 f6 f7 c8 c9 *cc Description Number of visible satellites SV PRN number SV azimuth in degrees SV elevation angle in degrees SV L1 signal/noise in dB.Hz SV L2 signal/noise in dB.Hz SV L5 signal/noise in dB.Hz Satellite usage status Satellite correcting status below) Checksum Range 0-63 1-63 0-359 0-90 0.0-60.0 0.0-60.0 0.0-60.
SQZ: QZSS Satellites Status $PASHR,SQZ,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc Parameter d1 d2 d3 d4 f5 f6 f7 c8 c9 *cc Description Number of visible satellites SV PRN number SV azimuth in degrees SV elevation angle in degrees SV L1 signal/noise in dB.Hz SV L2 signal/noise in dB.Hz SV L5 signal/noise in dB.Hz Satellite usage status Satellite correcting status Checksum Range 0-5 1-5 0-359 0-90 0.0-60.0 0.0-60.0 0.0-60.
THS: True Heading and Status $PASHR,TEM,f1,c2*cc Parameter Description f1 Last computed heading value, in degrees (true). Solution status: • A: Autonomous • E: Estimated (dead reckoning) c2 • M: Manual input • S: Simulator • V: Data not valid (including standby) *cc Checksum Range 000.00-359.99 A, E, M, S, V *00-*FF TTT: Event Marker $PASHR,TTT,d1,m2*cc Parameter d1 m2 *cc 118 Description Range Day of week: • 1: Sunday 1-7 • 7: Saturday GPS time tag in hours, minutes, seconds 0-23:59:59.
VCR: Vector and Accuracy $PASHR,VCR,d0,c1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,d13,c14*cc Parameter d0 c1 d2 m3 f4 f5 f6 f7 f8 f9 f10 f11 f12 d13 c14 *cc Description Baseline number (see $PASHS,BRV) Baseline mode: • 0: Invalid baseline • 1: Differential • 2: RTK float • 3: RTK fixed • 5: Other Number of SVs used in baseline computation (L1 portion) UTC time (hhmmss.
VCT: Vector and Accuracy $PASHR,VCT,c1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,d13,d14,d15,d16,d17*cc Parameter d2 Description Baseline mode: • 0: Invalid baseline • 1: Differential • 2: RTK float • 3: RTK fixed • 5: Other Number of SVs used in position computation m3 UTC time (hhmmss.
VEL: Velocity $PASHR,VEL,f1,m2,f3,f4,f5,f6,f7,f8,d9*cc Parameter f1 m2 f3 f4 f5 f6 f7 f8 d9 *cc Description Range Reserved 1 Current UTC time of velocity fix (hhmmss.
Index Symbols "LOC" 30 "W84" 30 Numerics 1PPS 85 A Access point (WiFi) 48 Accessories 4 ADSL modem 52 Anonymous mode 46 Antenna (Bluetooth/WiFi) 9 Antenna (GNSS) 7 Antenna (GSM, external) 11 Antenna (UHF radio) 11 ATL 3 AUTO 28 Auto-calibration 70 Automatic power-on/off 23 Automatic receiver power-on/off 3 Azimuth offset 21 B Ethernet 35, 49 Ethernet port 12 Event marker 86 Event marker input 86 Expiration date 90 External event 86 F Factory settings 2 FEC 32 Firmware upgrade 88 Firmware upgrades 8 FIX
OLED 9 One-antenna configuration 54 Options (firmware, pre-installed) 7 USB key 43 USB port 10 P VESA 19 Virtual antenna 67 Pinouts 14, 15, 17 POPN 8 Position Solution screen 30 Power button 9 Power cord 6 Power mode 23 Power Off screen 42 PPS 85 Public IP address 52 R Radio screen 31 Raw data recording 55, 76 Raw Data Recording Information 28 Receiver Information screen 30 Repeater 32 Resetting the receiver 86 RTK-1, RTK-2 71 RTX 59 S S DGPS 28 SCR 32 Scroll button 9 SD Card, Bluetooth, USB informati
SP90m GNSS Receiver User Guide Contact Information: AMERICAS EUROPE, MIDDLE EAST AND AFRICA ASIA-PACIFIC 10368 Westmoor Drive Westminster, CO 80021, USA Rue Thomas Edison ZAC de la Fleuriaye - CS 60433 44474 Carquefou (Nantes), France 80 Marine Parade Road #22-06, Parkway Parade Singapore 449269, Singapore +33 (0)2 28 09 38 00 Phone +65-6348-2212 Phone +1-720-587-4700 Phone 888-477-7516 (Toll Free in USA) www.spectraprecision.com ©2017, Trimble Inc. All rights reserved.
