TRIMBLE R10-2 GNSS RECEIVER D ra f t USER GUIDE Version 1 Revision A May 2017
Corporate Office Product Limited Warranty Information Trimble Inc. For applicable product Limited Warranty information, please refer to the Limited Warranty Card included with this Trimble product, or consult your local Trimble authorized dealer 935 Stewart Drive Sunnyvale, California 94085 USA COCOM limits Geospatial Division The U.S.
Canada Taiwan – Battery Recycling Requirements This Class B digital apparatus complies with Canadian ICES003. The product contains a removable Lithium-ion battery. Taiwanese regulations require that waste batteries are recycled. Cet appareil numérique de la classe B est conforme à la norme NMB-003 du Canada. 廢電池請回收 This apparatus complies with Canadian RSS-GEN, RSS-310, RSS-210, and RSS-119.
Safety Information Before you use your Trimble product, make sure that you have read and understood all safety requirements. WARNING – This alert warns of a potential hazard which, if not avoided, could result in severe injury or even death. CAUTION – This alert warns of a potential hazard or unsafe practice that could result in minor injury or property damage or irretrievable data loss. Use and care t NOTE – An absence of specific alerts does not mean that there are no safety risks involved.
Safety Information l l l l DO NOT operate the transmitter unless all RF connectors are secure and any open connectors are properly terminated. DO NOT operate the equipment near electrical blasting caps or in an explosive atmosphere. All equipment must be properly grounded according to Trimble installation instructions for safe operation. All equipment should be serviced only by a qualified technician.
Safety Information Government in 47 CFR §2.1093. These limits are part of comprehensive guidelines and establish permitted levels of RF energy for the general population. The guidelines are based on standards that were developed by independent scientific organization through periodic and thorough evaluation of scientific studies. The standards include a substantial safety margin designed to assure the safety of all persons, regardless of age and health. For UMTS radio Safety.
Safety Information To reduce potential radio interference to other users, the antenna type and its gain should be so chosen so that the equivalent isotropically radiated power (e.i.r.p.) is not more than that permitted for successful communication. Type approval Type approval, or acceptance, covers technical parameters of the equipment related to emissions that can cause interference.
Contents Safety Information 4 Use and care 4 Exposure to radio frequency radiation 4 For license-free 900 MHz radio 5 For internal wireless radio transmitters 5 Exposure to radio frequency radiation from cellular wireless transmitters 5 For UMTS radio 6 Installing antennas 6 Type approval 7 1 Getting Started 12 Features ra f Parts of the receiver 13 t The Trimble R10 GNSS receiver 13 14 Front panel 14 Lower housing 15 Receiver ports 16 Batteries 17 17 Connecting the receiv
Contents Connecting to an office computer 32 Connecting to a USB flash memory stick 33 Configuring a PC USB port as a virtual serial port 33 Windows 8 operating system 34 Windows Vista and Windows 7 operating system 34 Logging data 35 Logging data after a power loss 35 Default receiver settings 35 2 Base Station Operation 37 Base station operation guidelines 38 Base station components 38 Base station setup guidelines 39 Common ways to set up a base station 41 41 Fixed height tripo
Contents Radio menu 58 GSM/GPRS modem menu 59 OmniSTAR menu 59 Network Configuration menu 59 Wi-Fi 59 Security menu 59 Firmware menu 59 Help menu 60 Configuring the receiver in real time 60 Configuring the receiver using application files 60 Configuring the receiver to use specific settings when it is turned on 63 63 Deleting files in the receiver 64 ra f 4 The WinFlash Utility t Transferring files directly from the receiver 65 The WinFlash utility 65 Upgrading the receiver f
Contents Measurements 84 Positioning performance 84 Hardware 86 Antenna phase center offsets 89 Pinout information 90 91 D ra f t Glossary Trimble R10-2 GNSS Receiver User Guide | 11
1 Getting Started The Trimble R10 GNSS receiver l Features l Parts of the receiver l Batteries l Inserting the battery and SIM card l Accessories l Button and LED operations l LED flash patterns l Connecting to an office computer l Connecting to a USB flash memory stick l Configuring a PC USB port as a virtual serial port l Logging data l Default receiver settings D ra f t l Trimble R10-2 GNSS Receiver User Guide | 12
1 Getting Started The Trimble R10 GNSS receiver ra f t The Trimble R10 GNSS receiver incorporates a GNSS antenna, receiver, internal radio, and battery in a rugged light-weight unit that is ideally suited as an all-on-the-pole RTK rover or quick setup/rapid mobilization base station. LEDs enable you to monitor satellite tracking, radio reception, data logging status, Wi-Fi status, and power. Bluetooth wireless technology provides cable-free communications between the receiver and controller.
1 Getting Started l l l SBAS: L1C/A, L5 l Galileo: E1, E5a, E5B l BeiDou: B1, B2 Measure points sooner, faster and in harsh environments with HD-GNSS™ Increased productivity and measurement traceability with Surepoint™ auto-tilt compensation technology l Capable of tracking the CenterPoint™ RTX® correction service using satellite delivery l Reduced downtime due to loss of radio signal with Trimble xFill™ service l Capable of tracking all OmniSTAR® signals l l Internal, removable, smart Lit
1 Getting Started The Power button controls the receiver’s power on or off functions. The indicator LEDs show the status of data logging/downloading, power, satellite tracking, Bluetooth/Wi-Fi, and radio transmit/receive. For more information, see Button and LED operations, page 28. t Lower housing D ra f The lower housing contains the two communication and power ports, one TNC radio antenna connector, and the Quick Release Socket.
1 Getting Started ❶ SMA Connection: UHF/VHF antenna ❷ Quick Release socket Receiver ports Name Connections Port 1 Device, computer, external radio, power in, power out Port 2 Device, computer, USB flash memory stick, power in D Icon ra f ❹ Lemo Port 2: USB connection t ❸ Lemo Port 1: Serial connection RADIO Radio communications antenna Port 1 is a 7-pin 0-shell Lemo connector that supports RS-232 communications and external power input. Port 1 has no power outputs.
1 Getting Started provide higher gain and to raise the antenna higher above the ground), you can use a cable to connect an external radio antenna to the SMA port. For more information, refer to the "Connecting the receiver to external devices" topic in the Web Help. Batteries The receiver has one rechargeable Lithium-ion battery, which can be removed for charging. You can also connect the receiver to an external power source through Port 1 or Port 2.
1 Getting Started WARNING – Avoid contact with the rechargeable Lithium-ion battery if it appears to be leaking. Battery fluid is corrosive, and contact with it can result in personal injury and/or property damage. To prevent injury or damage: l l l If the battery leaks, avoid contact with the battery fluid. If battery fluid gets into your eyes, immediately rinse your eyes with clean water and seek medical attention.
1 Getting Started WARNING – Charge and use the rechargeable Lithium-ion battery only in strict accordance with the instructions. Charging or using the battery in unauthorized equipment can cause an explosion or fire, and can result in personal injury and/or equipment damage. To prevent injury or damage: l l Do not charge or use the battery if it appears to be damaged or leaking.
1 Getting Started Chargeable batteries The charge can charge the following types of batteries: l l l Lithium-ion Rechargeable Battery (Smart Battery), 3.7 Ah, 7.4 V, (P/N 76767, P/N 8984000) Lithium-ion Rechargeable Battery, 2.6 Ah, 7.4 V, P/N 92600 (remove battery slot inserts to charge this type of battery) Lithium-ion Rechargeable Battery, 4,4 Ah, 11.1.V, P/N 49400 (remove battery slot inserts to charge this type of battery) Charger slots t The charger has two slots.
1 Getting Started Power Supply Receiver Connection DC Power Input Voltage operation 10 V to 21 V Unit switches off if voltage is out of range DC Power Input Voltage limits 8 V to 32 V Absolute maximum input voltage 32 V Over voltage 21 V to 32 V Working voltage 10 V to 21 V Under voltage charging <10 V Sum of charge time for all batteries 5 to 6 hours Charger in first hour >60 % t Charging the battery charger.
1 Getting Started batteries are charging in the battery charger, the batteries will be charged sequentially, from left to right. Leave a deeply discharged or shorted battery overnight in the charger to attempt to revive the battery. A shorted battery is typically revived as soon as the slot is scanned. If the red LED turns off, the battery is revived. If the red LED stays on, the battery is no longer functional and needs to be replaced.
1 Getting Started Troubleshooting Issue Solution Battery is not detected (Red The battery is not properly inserted. Reinsert battery LED does not turn off) into battery charger slot. Battery contacts contaminated. Clean the battery (for example, by inserting and removing the battery several times) or replace the battery. Deeply discharged. Leave the battery overnight in the charger to attempt to revive the battery. Battery defective. Replace the battery.
1 Getting Started Inserting the battery and SIM card Align the arrows and on the battery and battery compartment and then insert the battery as indicated in the images below. To remove the battery, slide the battery bail to the left. t NOTE – The gasket on the inside of the battery door should be clean of any dirt or dust to ensure proper sealing of the battery compartment. ra f Insert the SIM card with the contacts facing upward, as indicated by the SIM card icon next to the SIM card slot.
1 Getting Started Accessories Attaching the quick release adapter ra f t Push down the spring-loaded button of the quick release adapter and then align the white dots on the bottom of the receiver and the quick release adapter. Slide in the quick release adapter and then release the button.
1 Getting Started Base station extension with measurement lever The Trimble R10 GNSS receiver uses a base station extension pole that increases the height of the receiver to allow clearance for the 450 MHz internal radio antenna and also allows for easy and accurate measurement of the base station antenna height.
1 Getting Started extension pole (0.15 m (0.49 ft)) should be added to the height of the fixed height tripod and the measurement method “bottom of quick release” used. Base Extension with Measurement Lever (P/N 89846-00): PP Kit (P/N 89862-00): D ra f t Base Kit (P/N 89861-00): NOTE – Measuring to the measurement lever is not required when using a fixed height tripod. If the base station extension with measurement lever is used with a fixed height tripod, the height of the extension pole (0.15 m (0.
1 Getting Started Button and LED operations The LEDs on the front panel indicate various operating conditions. Generally, a lit or slowly flashing LED indicates normal operation, a LED that is flashing quickly indicates a condition that may require attention, and an unlit LED indicates that no operation is occurring. The following table defines each possible LED state: means that the LED... Very slow flash is off and on equally with a 1.5 second cycle. ra f Slow flash t The term...
1 Getting Started Action Power button Description below) Turn off the receiver Hold for 2 seconds and then release When holding down the Power button; the battery LED remains on. The Satellite LED turns constant and then turns off after 2 seconds. After releasing the power button, the battery LED stays lit for about 5 seconds and then all LEDs go blank. The Radio, Wi-Fi, and Satellite LEDs turn off after 2 seconds. The battery LED remains on.
1 Getting Started Radio LED Radio mode Radio LED Amber Description No Off receive or transmit Radio slow flash See the table at the top of this topic. Transmit Radio slow flash See the table at the top of this topic. This LED also flashes when using the Wi-Fi only for receiving corrections.
1 Getting Started Receiver mode Data LED Amber Download to USB flash memory stick complete Very slow flash LED flash patterns The following table details the possible flash patterns to indicate various states of receiver operation.
1 Getting Started Receiver mode Power button Receiver in monitor mode (loading ON firmware from WinFlash) Radio LED Satellite Data LED LED Wi-Fi LED Slow flash Solid OFF OFF NOTE – If a column shows “N/A”, that specific LED may or may not be on, but it is not relevant to that particular mode.
1 Getting Started Connecting to a USB flash memory stick The receiver can download logged data directly to a USB flash memory stick using the supplied USB field data cable (P/N 80799 or 89850-00). After the cable is connected to the receiver’s port 2 (USB) and the flash memory stick attached, the receiver will download all logged files to the flash memory stick. NOTE – The USB field data cable is used to download logged (existing) data files from the receiver memory to the flash memory stick.
1 Getting Started Windows 8 operating system 1. The simplest way to install the virtual serial port for the USB interface to the receiver is to go to the Trimble Support website (http://www.trimble.com/Support/Support_ AZ.aspx) and search for the GNSS receiver you have. In the Technical Support / Downloads section, download the file called Windows7 USB Installer to your computer. Note - There is no Windows8 USB Installer file; the Windows7 USB Installer file works for Windows 8.
1 Getting Started 3. On the computer, select Control Panel / Device Manager. 4. Click on the name of the computer and then from the Action menu, select Add Legacy Driver. 5. A wizard prompts you to locate the TrimbleUsb.inf file. Locate the file and then follow the prompts in the wizard to continue.
1 Getting Started Function Settings Factory default General Controls Elevation mask 10° PDOP mask 25 RTK positioning mode Low Latency Motion Kinematic Baud rate 38,400 Format 8-None-1 Flow control None Serial Port 1 Serial Port 2 USB Input Setup Station ra f Streamed Output All ports Off t NMEA/ASCII (all supported messages) Any All types Off Offset=00 RT17/Binary Latitude 0° Longitude 0° Altitude 0.
2 Base Station Operation Base station operation guidelines l Common ways to set up a base station l Outputting corrections using a TDL450/HPB450 radio-modem D ra f t l Trimble R10-2 GNSS Receiver User Guide | 37
2 Base Station Operation Base station operation guidelines This topic introduces the concept of base station operation, provides information to help you identify good setup locations, describes best practices for setting up the equipment, and outlines the precautions that you need to take to protect the equipment. Real-Time Kinematic (RTK) operation provides centimeter-level precision by eliminating errors that are present in the GNSS system.
2 Base Station Operation n a high-gain or directional radio antenna, to increase broadcast range and to provide maximum coverage You can place a modular receiver in an easily accessible and secure location, safe from theft and the weather, while the antennas are placed high on a tower or building, clear of obstructions and able to deliver maximum performance. You can use either type of receiver in a permanent, semi-permanent, or daily quick setup configuration.
2 Base Station Operation n Solar panel When you use an external power supply, the integrated battery provides a backup power supply, enabling you to maintain continuous operation through a mains power failure.
2 Base Station Operation (122 °F). If working in a cold climate, you may need to provide heat to the receiver. Do not operate the receiver below –40 °C (–40 °F) l Trimble recommends that you install lightning protection equipment at permanent base station locations. Equipment should include a gas capsule lightning protector in the GNSS and radio antenna feed line and appropriate safety grounding. A static dissipater near the antennas can reduce the likelihood of a direct lightning strike.
2 Base Station Operation 1. Mount the quick release adapter onto the height extension pole with measurement lever. 2. Screw the height extension pole with measurement lever into the tribrach. Attach the GNSS receiver to the quick release adapter. 3. Level and plumb the GNSS receiver over the control point. 4. Measure the height of the base station GNSS antenna by measuring the slant height from the control point to the measurement lever.
2 Base Station Operation used to increase the height of the receiver. Select the “Bottom of Quick Release” as the measurement method when starting the base station. Trimble Access calculates the height to the Antenna Phase Center (APC) automatically. ra f t 5. If required, connect the GNSS receiver to an external 12 V power supply. Use the crocodile clip cable or the Trimble custom power pack.
2 Base Station Operation D ra f t Connecting remote radio antenna cable to the receiver Receiver with a remote radio antenna Using an external radio with the receiver An external radio can be used with the Trimble R10 GNSS receiver. Using a high powered UHF radio will increase the radio coverage area. The external radio data cable is connected to Port 1 (Serial) on the receiver.
2 Base Station Operation 1. Connect the 7-pin Lemo connector to the serial port (Port 1) on the receiver. 2. Connect the 5-pin Lemo connector to the TDL450/HPB450 radio. 3. Connect the DC power lead to an external power source. 4. Turn on the TDL450/HPB450 radio. To configure the system, do one of the following: l l Use the Trimble Access software to connect to the receiver. Set up the base station with the external radio.
3 Rover Setup and Operation Rover operation guidelines l Surepoint (integrated tilt sensor) l Integrated cellular modem l Connecting the receiver to external devices l Configuring the receiver l Transferring files directly from the receiver l Deleting files in the receiver D ra f t l Trimble R10-2 GNSS Receiver User Guide | 46
3 Rover Setup and Operation Rover operation guidelines Real-Time Kinematic (RTK) operation provides centimeter-level precision by eliminating errors that are present in the GNSS system. For all RTK operations, you require both a rover receiver and a source of corrections from a base station or network of base stations.
3 Rover Setup and Operation WARNING – Take care not to touch overhead power lines with the Trimble R10 GNSS receiver or the range pole when moving the equipment into position. Touching overhead power lines may cause electrocution, leading to serious injury. GNSS satellites are constantly moving. Because you cannot measure at a specific location now does not mean that you will not be able to measure there later, when satellite coverage at the location improves.
3 Rover Setup and Operation Surepoint (integrated tilt sensor) D ra f t The receiver comes with the Surepoint™ technology, which allows the use of full-tilt compensation and an eBubble (electronic bubble). Surepoint’s full-tilt compensation allows the collection of points even when the R10 receiver is tilted up to 15 degrees off plumb.
3 Rover Setup and Operation tribrach that have been well calibrated. The quality of the integrated tilt sensor calibration is directly related to the quality of the mechanic bubble and its calibration. The integrated tilt sensor calibration is performed within the Trimble Access software. To calibrate the integrated tilt sensor, place the receiver on a stable range pole or tripod with tribrach. Level the receiver using the mechanical bubble on the range pole or tribrach.
3 Rover Setup and Operation 5. A message asks you to confirm that the instrument is level and braced against any movement. A progress bar indicates that calibration is in progress. 7. Once calibration is complete, the Sensor calibration screen reappears. ra f 6. t Tap Start. Next you will perform the magnetometer calibration. D 8. Tap the Calibrate button next to the Magnetometer calibration status field. A message and graphic is displayed describing the magnetometer calibration procedure.
3 Rover Setup and Operation 10. degrees. Repeat. Once calibration is complete, the Sensor calibration screen reappears. Next you will perform the magnetometer alignment. 13. t As you rotate the receiver 360 degrees in the horizontal, the progress bar will progress. If the bar is not progressing or progressing slowly, you may be rotating the receiver too quickly. Rotate the receiver at the same speed as the graphic shows. Once calibration is complete, the Sensor calibration screen reappears.
3 Rover Setup and Operation receiver. For more information about setting up your SIM card and cellular service in the receiver, please see your local Trimble representative. For more information on using a cellular modem as a data link, refer to the Trimble Access Help.
3 Rover Setup and Operation Internal radio-modems The most common data link for Real-Time Kinematic (RTK) operation is a radio. The receiver is available with the following internal radios: l 410 MHz – 470 MHz (Transmit/Receive) l 900 MHz (Tx/Rx) External radio-modems If the receiver does not have an internal transmit radio, or you want to connect to a higher powered external transmit radio or cellular modem, use the Lemo serial port.
3 Rover Setup and Operation Connecting via Wi-Fi (access point) The receiver is set to access point by default. In access point mode, you can connect directly to the receiver from a PC or smartphone. 1. Using the Wi-Fi connection application on your PC or smartphone, find the access point SSID for the receiver. Turn on the Trimble R10 GNSS receiver and wait for the words "Trimble GNSS" and last four digits of the receiver serial number to appear in your Wi-Fi connection application.
3 Rover Setup and Operation Default Wi-Fi connection settings Out of the box, the receiver is configured to default settings for Wi-Fi connections. You can change any of these settings as required. The default settings are: l Wi-Fi mode: access point l Wi-Fi SSID: Receiver serial number l Wi-Fi Encryption: Off l Wi-Fi IP Address: 192.168.142.1 l Receiver Login: admin l Receiver Password: password Web interface menus t Use the web interface to configure the receiver settings.
3 Rover Setup and Operation The web interface shows the configuration menus on the left of the browser window, and the settings on the right. Each configuration menu contains related submenus to configure the receiver and monitor receiver performance.
3 Rover Setup and Operation Data Logging menu Use the Data Logging menu to set up the receiver to log static GNSS data. You can also configure settings such as observable rate, position rate, continuous logging, continuous logging rate, and whether to auto delete old files if memory is low. Receiver Configuration menu Use the Receiver Configuration menu to configure such settings as elevation mask and PDOP mask, the reference station position, and the reference station name and code.
3 Rover Setup and Operation Use the Radio menu to configure the internal VHF radio of the receiver. If the receiver does not have an internal radio installed, the Radio menu is not available. GSM/GPRS modem menu Use the GSM/GPRS modem menu to check the status and configure the internal UMTS modem. It includes information about the inserted SIM card. OmniSTAR menu The receiver can receive OmniSTAR corrections.
3 Rover Setup and Operation Help menu 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 support area of the Trimble website (www.trimble.com/support.shtml). Configuring the receiver in real time You can configure the receiver in real time using the web interface on your PC via Wi-Fi, Bluetooth (PPP), USB (PPP) or Serial (PPP).
3 Rover Setup and Operation l Device control l Static/Kinematic An application file does not have to contain all of these records. When you apply an application file, any option that is not included in the records in the file remains at its current setting. For example, if you apply an application file that only specifies the elevation mask to use, all other settings remain as they were before the application file was applied. You can store up to 11 different application files in the receiver.
3 Rover Setup and Operation Power Up application file The power up application file (Power_up.cfg) is used to set the receiver to a specific configuration any time the unit is powered up. In this file, you can specify that the receiver is reset to defaults before the power up settings are applied. This ensures that restarting the receiver always resets it to factory defaults before applying the power up application file.
3 Rover Setup and Operation When you change the name of the application file in the receiver, this changes the application filename on your computer. When you transfer an application file from the receiver and save it to the computer, the system renames the file to match the internal receiver file. However, if you use Windows Explorer, for example, to change the .cfg filename on the computer, this does not change the internal receiver filename.
3 Rover Setup and Operation Deleting files in the receiver You can delete files stored in the receiver at any time. Do one of the following: t Use the web interface (Data Logging menu). ra f l Press for 30 seconds after the receiver is turned on. (When you use this method, all data is deleted.
4 The WinFlash Utility The WinFlash utility l Upgrading the receiver firmware l Adding frequencies for the 450 MHz internal radio using the WinFlash utility l Configuring the internal transceiver The WinFlash utility t l ra f The WinFlash utility communicates with Trimble products to perform various functions including: l installing software, firmware, and option upgrades l running diagnostics (for example, retrieving configuration information) l configuring radios D NOTE – The WinFlash ut
4 The WinFlash Utility The Winflash Installation Setup application appears. 3. Follow the on-screen instructions. NOTE – The WinFlash utility guides you through the firmware upgrade process. For more information, refer to the WinFlash Help. Upgrading the receiver firmware You can use Wi-Fi to upgrade the firmware for your receiver using the web browser. Whenever Trimble releases new firmware your receiver will check and display the new firmware version number in the web browser.
4 The WinFlash Utility NOTE – The frequencies that you program must conform to the channel spacing and minimum tuning requirements for the radio. To view this information, click Radio Info. You may select either 12.5 or 25 kHz channel spacing. All radios in your network must use the same channel spacing. 9. When you have configured all the frequencies you require, click OK. The WinFlash utility updates the receiver radio frequencies and then restarts the receiver.
4 The WinFlash Utility l l Avoid Weak Signals. The carrier detect mode is on. The radio will cease transmitting if it detects another radio transmission on its frequency. It will resume transmission when the channel is free of radio traffic. Avoid Strong Signals. The carrier detect mode is on, but the radio will stop transmitting only when there is a strong signal present (receive level greater than 90 dBm). 5.
5 Troubleshooting Troubleshooting receiver issues l Troubleshooting LED conditions l Troubleshooting base station setup and static measurement problems D ra f t l Trimble R10-2 GNSS Receiver User Guide | 69
5 Troubleshooting Troubleshooting receiver issues This section describes some possible receiver issues, possible causes, and how to solve them. Please read this section before you contact Technical Support. The receiver does not turn on Possible cause Solution External power is too low. Check the charge on the external power supply, and check the fuse if applicable. If required, replace the battery. Internal power is too low.
5 Troubleshooting Possible cause Solution needs a soft reset. information, see Button and LED operations, page 28 The receiver needs a full reset. Press the Power button for 30 seconds. For more information, see Button and LED operations, page 28. Troubleshooting LED conditions The receiver has a simple display panel with LEDs to indicate the current status of the receiver.
5 Troubleshooting operating parameters, and is the most likely route to a successful problem resolution once you have checked all connections, cables, and batteries. The roving receiver is not receiving radio from the base station Possible cause Solution The base station is not broadcasting. See "Base station is not broadcasting" below. Incorrect over air baud rates between base station and rover.
6 Output Messages NMEA-0183 messages: Overview l NMEA-0183 messages: Common message elements l GSOF Messages: Overview l GSOF messages: General Serial Output Format l GSOF messages: Reading binary values (Motorola format) l Login authentication t l D ra f This section provides information about two types of messages: General Serial Output Format (GSOF) messages and National Marine Electronics Association (NMEA) messages.
6 Output Messages NMEA-0183 messages: 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 NMEA0183 messages let external devices use selected data collected or computed by the GNSS 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.
6 Output Messages Message Function PTNL,BPQ Base station position and position quality indicator PTNL,DG L-band corrections and beacon signal strength and related information PTNL,GGK Time, position, position type, and DOP values PTNL,PJK Time, position, position type, and DOP values PTNL,PJT Projection type PTNL,VGK Time, locator vector, type, and DOP values PTNL,VHD Heading Information Position, Velocity, and Time ROT Rate of turn VTG Actual track made good and speed over ground ZDA UTC day
6 Output Messages NMEA-0183 messages: Common message elements Each message contains: l a message ID consisting of $GP followed by the message type. For example, the message ID of the GGA message is $GPGGA. l a comma. l a number of fields, depending on the message type, separated by commas. l an asterisk. l a checksum value. The following example shows a simple message with a message ID ($GPGGA), followed by 13 fields and a checksum value: t $GPGGA,172814.0,3723.46587704,N,12202.
6 Output Messages GSOF Messages: Overview These topics provide information on the General Serial Output Format (GSOF) messages. GSOF messages are a Trimble proprietary format and can be used to send information such as position and status to a third-party device. This table summarizes the GSOF messages that the receiver supports.
6 Output Messages GSOF messages: General Serial Output Format Report packet 40h structure (GENOUT) Byte Item Type Value Meaning 0 STX Char 02h Start transmission 1 STATUS Char See Receiver status code Receiver status code 2 PACKET TYPE Char 40h Report Packet 40h (GENOUT) 3 LENGTH Char 00h– FAh Data byte count 4 TRANSMISSION Char NUMBER 5 PAGE INDEX Char 00h–FFh Index of current packet page. 6 MAX PAGE INDEX Char 00h–FFh Maximum index of last packet in one group of records.
6 Output Messages Each message begins with a 4-byte header, followed by the bytes of data in each packet. The packet ends with a 2-byte trailer. Byte 3 is set to 0 (00h) when the packet contains no data. Most data is transmitted between the receiver and remote device in binary format.
6 Output Messages GSOF messages: Reading binary values (Motorola format) The receivers store numbers in Motorola format. The byte order of these numbers is the opposite of what personal computers (Intel format) expect. To supply or interpret binary numbers (8-byte DOUBLES, 4-byte LONGS, and 2-byte INTEGERS), the byte order of these values must be reversed. This section contains a detailed description of the Motorola format.
6 Output Messages 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 to negative infinity results in a NaN.
6 Output Messages 0 011 1111 1111 0000 0000 ... 0000 0000 0000 = 1.0 1 011 1111 1110 0110 0000 ... 0000 0000 0000 = -0.6875 1 111 1111 1111 1111 1111 ... 1111 1111 1111 = NaN Login authentication If you interface to the receivers using binary commands over serial communications, you may need login authentication. This is added to receiver models that run firmware version 3.30 or later.
7 Specifications Specifications l Antenna phase center offsets l Pinout information D ra f t l Trimble R10-2 GNSS Receiver User Guide | 83
7 Specifications Specifications Measurements l Advanced Trimble Maxwell™ 6 Custom Survey GNSS chips with 440 channels l Satellite signals tracked simultaneously: l GLONASS: L1C/A, L1P, L2C/A, L2P, L3 l SBAS: L1C/A, L5 (For SBAS satellites that support L5) l Galileo: E1, E5a, E5B l Beidou: B1, B2 l OmniSTAR HP, XP, G2, VBS positioning l Trimble CenterPoint RTX l QZSS, WAAS, MSAS, EGNOS, GAGAN t GPS: L1C/A, L1C, L2C, L2E, L5 ra f l l Very low noise GNSS carrier phase measurements with
7 Specifications Static GNSS surveying High Precision Static Horizontal +/-3 mm + 0.1 ppm RMS Vertical +/-3.5 mm + 0.4 ppm RMS Static and Fast Static Horizontal +/-3 mm + 0.5 ppm RMS Vertical +/-5 mm + 0.5 ppm RMS Real Time Kinematic surveying Vertical +/-15 mm + 1 ppm RMS Network RTK Horizontal +/-8 mm + 0.5 ppm RMS +/-15 mm + 0.
7 Specifications Trimble xFill Horizontal RTK + 10 mm/minute RMS Vertical RTK + 20 mm/minute RMS NOTE – Precisions are dependent on GNSS satellite availability. xFill positioning without an RTX subscription ends after 5 minutes of radio downtime. xFill positioning with an RTX subscription will continue beyond 5 minutes providing RTX has converged, with typical precisions not exceeding 6 cm horizontal, 14 cm vertical.
7 Specifications Electrical Voltage 11 to 24 V DC external power input with over-voltage protection on Port 1 and Port 2 (7-pin Lemo) Battery Rechargeable, removable 7.4 V, 3.7 Ah Lithium-Ion smart battery with LED status indicators Power 5.1 Watts in RTK rover mode with internal radio consumption Operating times on internal battery: 5.5 hours 450 MHz receive/transmit option (0.5 watts) 4.5 hours 450 MHz receive/transmit option (2.0 watts) 3.
7 Specifications Communications and data storage l Serial – 3-wire serial (7-pin Lemo) l USB – Supports data download and high speed communications l l l Radio modem – Integrated, sealed, 450 MHz wide band receiver/transmitter with Frequency Range of 410 – 470MHz, Transmit power of 2 Watts maximum, Range: 3-5 km typical /10 km optimal. Varies with terrain and operating conditions. Cellular – Integrated, 3.5G modem, HSDPA 7.
D ra f t Antenna phase center offsets Trimble R10-2 GNSS Receiver User Guide | 89
Pinout information Port 1 is a 7-pin 0-shell Lemo connector that supports RS-232 communications and external power input. Port 1 has no power outputs. D ra f t Port 2 is a 7-pin 0-shell Lemo connector that allows for USB 2.0 communications and external power input.
Glossary 1PPS 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. almanac A file that contains orbit information on all the satellites, clock corrections, and atmospheric delay parameters.
Glossary December 2012. BeiDou-2 is a regional navigation service which offers services to customers in the Asia-Pacific region. A third generation of the BeiDou system is planned, which will expand coverage globally. This generation is currently scheduled to be completed by 2020. An Internet server that manages authentication and password control for a network of VRS servers, and relays VRS corrections from the VRS server that you select.
Glossary 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).
Glossary HDOP and VDOP as follows: PDOP² = HDOP² + VDOP². 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. EGNOS European Geostationary Navigation Overlay Service. A Satellite-Based Augmentation System (SBAS) that provides a free-to-air differential correction service for GNSS.
Glossary 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/break lines, or boundaries/areas. The program inside the receiver that controls receiver operations and hardware. Galileo Galileo is a GNSS system built by the European Union and the European Space Agency. It is complimentary to GPS and GLONASS.
Glossary The primary L-band carrier used by GPS and GLONASS satellites to transmit satellite data. L2 The secondary L-band carrier used by GPS and GLONASS satellites to transmit satellite data. L2C A modernized code that allows significantly better ability to track the L2 frequency. L5 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.
Glossary NTripCaster The NTripCaster is basically an HTTP server supporting a subset of HTTP request/response messages and adjusted to low-bandwidth streaming data. The NTripCaster accepts request messages on a single port from either the NTripServer or the NTripClient. Depending on these messages, the NTripCaster decides whether there is streaming data to receive or to send. Trimble NTripCaster integrates the NTripServer and the NTripCaster. This port is used only to accept requests from NTripClients.
Glossary indicates the precision 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. POE Power Over Ethernet. Provides DC power to the receiver using an Ethernet cable. postprocessing Postprocessing is the processing of satellite data after it is collected, in order to eliminate error.
Glossary There are three versions of RTCM correction messages. All Trimble GNSS receivers use Version 2 protocol for singlefrequency 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.
Glossary solar mean time at the Greenwich meridian. Trimble xFill™ is a new service that extends RTK positioning for several minutes when the RTK correction stream is temporarily unavailable. The Trimble xFill service improves field productivity by reducing downtime waiting to re-establish RTK corrections in black spots. It can even expand productivity by allowing short excursions into valleys and other locations where continuous correction messages were not previously possible.
Glossary http://gps.faa.gov. The EGNOS service is the European equivalent and MSAS is the Japanese equivalent of WAAS. WGS-84 World Geodetic System 1984. Since January 1987, WGS-84 has superseded WGS-72 as the datum used by GPS. D ra f t The WGS-84 datum is based on the ellipsoid of the same name.
