Spectra Precision SP90m User Manual
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Spectra Precision SP90m User Manual

Spectra Precision SP90m User Manual

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SP90m GNSS Receiver
User Guide
From Firmware v3.61

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  • Page 1 SP90m GNSS Receiver User Guide From Firmware v3.61...
  • Page 2 Consult the dealer or an experienced radio/TV technician for help. Notice to Our European Union Customers The SP90m complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device...
  • Page 3 (P/N 53018010-SPN) or the AC/DC power SP90m GNSS receiver supply (P/N 107000) to charge the SP90m complies with Part 15 of FCC Rules. Lithium-ion battery. See instructions in this guide. These two devices are part of the Operation is subject to the following two condi- SP90m standard accessories list.
  • Page 4 DO NOT operate the transmitter unless all RF ertheless, the wireless radios shall be used in such a connectors are secure and any open connectors manner that the Spectra Precision receiver is 30 cm are properly terminated. (11.8”) or further from the human body.
  • Page 5 SP90m User Guide Release Notes, January 2018 The content of this new User Guide reflects the changes and enhancements made to the SP90m compared to the 1st edition of this guide (2017/06). Enhanced and now multilingual user Interface. New features include most notably recording session control and choice of interface lan- guage.

  • Page 7: Table Of Contents

    Table of Contents Introduction to SP90m.................1 First Steps ..................2 Unpacking ................2 Basic Setup ................2 Default Configuration .............2 Customizing Receiver Operation ..........3 System Components Overview.............4 SP90m Packout Kits..............4 Standard Accessories ............4 Country-Specific Power Cord...........6 GNSS Antenna and Antenna Cables ........7 Pre-Installed Firmware Options ..........7 Upgradable Firmware Options ..........8...
  • Page 8 TCP/IP Connection Within a Local Network ......53 TCP/IP Connection Through the Public Internet....54 Introduction to Multi-Operating Mode ........55 Using SP90m With a Single Antenna ..........56 Specifying the Model of Antenna Used ........56 Raw Data Recording ............57 Using the Web Server ............57 Working from the Receiver Front Panel.......57...
  • Page 9 Embedded NTRIP Caster ..............87 Introduction ................87 NTRIP Caster Control & Monitoring ........89 Protecting Mount Points ............91 Embedded FTP Server................92 Communicating with SP90m Using a Mobile Phone......93 Introduction ................93 Commands List ..............94 ANH: Setting Antenna Height ..........95 ANR: Setting Antenna Reduction Mode .........95 ATH: Setting Anti-Theft............96...
  • Page 10 Reading Receiver Warranty Expiration Date.......117 SP File Manager Software Utility ........118 Installing SP File Manager ..........118 Connecting SP90m to your Computer.......118 Getting Started With SP File Manager ......118 Establishing a Connection with the Receiver .....120 Copying Files to the Office Computer .......120 Deleting Files from the Receiver ........120...
  • Page 11 PTT: PPS Time Tag ............139 PWR: Power Status ............139 RCS: Recording Status ...........140 RMC: Recommended Minimum Specific GNSS Data ..141 SBD: BEIDOU Satellites Status ........141 SGA: GALILEO Satellites Status (E1,E5a,E5b)....142 SGL: GLONASS Satellites Status ........142 SGO: GALILEO Satellites Status (E1,E5a,E5b,E6) ....142 SGP: GPS Satellites Status ..........143 SIR: IRNSS Satellites Status...........143 SLB: L-Band Satellites Status .........143...

  • Page 13: Introduction To Sp90M

    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.

  • Page 14: First Steps

    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).

  • Page 15: Customizing Receiver Operation

    – Then choose your operating mode and follow the instructions to make it operational: See Using SP90m With a Single Antenna on page 56 or Using SP90m With Two Antennas on page 70. The current status of the receiver can be seen at all...

  • Page 16: System Components Overview

    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. SP90m...
  • Page 17 Use the part numbers mentioned in the table below when ordering.) Item Part Number Picture Spectra Precision Transport Bag 206490-ASH Li-Ion battery,7.4 V DC, 3700 mAh 76767 Dual Battery Charger (does not include AC/DC 53018010- power supply and cable) AC/DC Power Supply, 65 W,19 V, 3.43 A, 100-...

  • Page 18: Country-Specific Power Cord

    For part numbers not including a UHF radio (SP90M-101- 00, SP90M-101-00-20 and SP90M-101-00-50), the following item is added to the standard accessories. Item Part Number Picture 7P Lemo-to-SAE power cable, 0.6 m 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.

  • Page 19: Gnss Antenna And Antenna Cables

    Coaxial, TNC/TNC, right angle, 1.6 m 58957-02-SPN Coaxial, TNC/TNC, right angle, 10 m 58957-10-SPN Pre-Installed The list of pre-installed firmware options is given below. It applies to all available SP90m packout kits listed on page 4. Firmware Options Designation GPS-SBAS-QZSS GLONASS GALILEO...

  • Page 20: Upgradable Firmware Options

    SP Loader software utility (see page 114) to activate the purchased firmware option. Other Optional Other accessory kits (cables, antennas, radios) may be used with the SP90m. Please contact your distributor for more Accessories information.

  • Page 21: Equipment Description

    Equipment Description Front Panel [6] [7] • [1]: External Bluetooth/WiFi antenna connector. 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 [5] turns solid green, then release the button.
  • Page 22 SP File Manager, (in this case the receiver is seen as a disk) or upgrading firmware/warranty date using SP Loader. The first time you connect the SP90m to a computer through a USB connection, the required driver will automatically be installed on the computer. If however the...

  • Page 23: Rear Panel

    Modem> Modem Antenna) to choose which of the internal or external antenna should be used. The SP90m uses a GSM antenna when it sends or receives RTK or differential corrections via its GSM modem. • [12]: UHF radio connector. A TNC coaxial female connector allowing you to connect a radio whip antenna.
  • Page 24 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 (e.g. base setup using an external radio transmitter).

  • Page 25: Sim Card

    The battery used is a Lithium-Ion 7.4-V DC - 3700 mAh rechargeable battery. It is housed in a compartment accessible from above the SP90m. The battery door can be opened by lifting and then turning the quarter-turn wing nut counter-clockwise.

  • Page 26: Buzzer

    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 The internal buzzer will sound whenever an error is detected.

  • Page 27: Power In, Serial Port A

    Power In, Serial Port A On rear panel. A 7-C Connector. Pin Signal Name Description Ground for serial port (electrically isolated from chassis 1 GND-A ground) Ground for power input (electrically isolated from chassis 2 PWR IN – ground) 3 TXD (Output) Port A RS232 TXD 4 RTS (Output) Port A RS232 RTS 5 CTS (Input) Port A RS232 CTS...

  • Page 28: Serial Port F

    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.

  • Page 29: Ethernet Port

    Ethernet Port On rear panel. An 8-pin RJ45 waterproof connector, fitted with sealing cap. Signal Name NOTE: All signals are electrically isolated from the chassis ground and power source. Physical and Virtual Port IDs Port ID Port Definition External serial port (RS232) External serial port (RS232/RS422) C, H Bluetooth SPP (server)

  • Page 30: Installation Instructions

    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).

  • Page 31: Bumper Mount

    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 VESA -compliant mounting scheme. Bumper Mount This type of installation is also suitable for machine guidance or marine applications.

  • Page 32: Elevation Offset

    Multipath effects from typical environments are depicted by the upper line (red). For a given baseline length, the performance of the SP90m should lie somewhere near the upper line. • A moving vehicle does not experience as many multipath effects as when it is stationary.

  • Page 33: Azimuth Offset

    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). Primary Antenna Elevation Offset (°) Secondary Antenna Elevation Deviation (m)

  • Page 34: Azimuth Offset, Antenna Setup & Resulting Heading

    Azimuth Offset, Antenna Setup & Resulting Heading Consider the following four setups before installing your antennas. This explanation applies to all types of vehicles (ship represented in our example). Depending on the type of measurements you wish the receiver to perform (heading + roll or heading + pitch) and the installation possibilities offered aboard the vehicle, you will choose the most appropriate setup and set the azimuth offset accordingly.

  • Page 35: Powering The Sp90M

    Powering the SP90m External DC Source The SP90m may be powered from either its internal battery or an external DC source. vs. Internal Battery The internal battery will be charged if necessary when the receiver is powered from an external DC source.

  • Page 36: Charging The Internal Battery

    Charging the The battery comes with four LEDs indicating the current battery charge status. Push the button by the LEDs to read Internal Battery 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.

  • Page 37: Using An External Battery

    Blinking Power supply over/under voltage 1 flash / 25 s Using an External When used in the field as a roaming base, the SP90m may be powered from a standard car battery for example, provided Battery you take these precautions: •...

  • Page 38: Receiver User Interface

    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. 2 sec. • Settings of ext. radio, if any •...

  • Page 39: General Status

    • : When a function title 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.
  • Page 40 Icon or Data Area Meaning Reported Anti-theft or/and startup protection active (solid icon). NOTE: In the second Receiver running after entering startup protection column, the slash symbol password. Startup protection still active and will (“/”) is used between icons require same password at next power up. to indicate that these icons occupy the area One or more alarms set (blinking icon).
  • Page 41 Icon or Data Area Meaning Reported The receiver is powered from the AC/DC power sup- ply, not from its battery. The battery is being charged from the external DC [7], (8] source (first icon is animated to show charging). Modem: (Blank) Modem turned off.
  • Page 42 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.

  • Page 43: Radio

    • Second line: Computed value of heading • Third line: Computed value of pitch • Fourth line: Computed value of roll The SP90m can deliver either pitch or roll, not both at the same time. Radio When you access the Radio screen, the following information is displayed: •...
  • Page 44 • Fourth line (see examples on the left): (Rover) – 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”...

  • Page 45: Gsm

    • 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 first display the settings of the external radio, if any, then a message (Connect Internal Radio to ADLCONF?) prompting you to connect the internal radio to a configuration utility program (ADLCONF): •...

  • Page 46: Wifi

    server address, i.e. host name or IP address (in Direct IP). Blank if no active connection. The GSM screen being displayed, press the OK button to enter the edit mode. From there, you can turn on or off the GSM modem. NOTE: Turning on the GSM may take up to 4-5 minutes.

  • Page 47: Ethernet

    The WiFi screen being displayed, press the OK button to enter the edit mode. From there, you can turn on or off the WiFi device. If you highlight the third option (Settings) and press OK, you can edit each of the following parameters. After setting a parameter, press OK to save it and then press the down-arrow button to access the next parameter: •...

  • Page 48: Display Settings

    If it’s OFF, use the following field to define an IP address for the receiver. • Static Address: IP address assigned to the receiver when DHCP is off. This is a static IP address (up to 12 figures in the form xxx.xxx.xxx.xxx). To enter a new IP address, press OK then use the vertical arrow keys to set each digit, and the right-arrow key to move to the next digit.
  • Page 49 3. Upgrade firmware?: Allows you to upgrade the firmware of your receiver. When Spectra Precision releases a new firmware version, copy the corresponding *.tar file to a USB key then connect the key to the receiver via the USB connector on the receiver front panel.
  • Page 50 When this screen is visible, you are prompted to unlock the receiver (“Unlock receiver?” displayed). Just press OK, enter the password and press OK again to make the receiver fully operational. When the startup protection is active, the receiver does not display or/and output its results of position computation.

  • Page 51: Receiver Mode

    Receiver Mode See flowchart and explanations below. Receiver Mode Receiver Mode {Rover or Base} >Rover {Moving or Static} Base Antenna Name Antenna Antenna Name ASH 111661 {Antenna model} {Current setting} Zephyr 3 Base {Height value, V or S} If other antenna Zephyr 3 Rover added, will appear GA830 Marine...
  • Page 52 “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 turn the receiver into a base from the front panel, then the base will operate by default as a moving base.
  • Page 53 “L1 Phase center”, SPT for “Survey Point” or ARP for “Antenna Reference Point”). Press OK to edit these parameters. The following is displayed, one after the other: – 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.

  • Page 54: Raw Data Recording

    • Set the data format then press OK. Raw Data When you access the Record screen, the following information is displayed: Recording • Status: ON or OFF • Storage medium: Memory or USB key The Record screen being displayed, press the OK button to enter the edit mode.
  • Page 55 The Record screen being displayed, press the down-arrow key to access the following parameters: • Memory: Describes the memory used (memory size, amount of free space, number of G-files stored in the memory). If you press OK, you access a new menu from which you can delete files from the memory, or format the memory: –...

  • Page 56: Power-Off Screen

    Power-Off Screen 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 ask for receiver power-off, a message will ask you to confirm your request.

  • Page 57: Using A Usb Key

    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 to the root folder on the USB key (or will overwrite the files with same name).
  • Page 58 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.

  • Page 59: Getting Started With The Web Server

    Web Server 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. Running the Web Server for the First Time As the receiver owner, after establishing a TCP/IP connection between your computer and the receiver (via its Ethernet port or via WiFi;...

  • Page 60: Wifi-Based Tcp/Ip Connection

    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.
  • Page 61 OK. – On your laptop or smart phone, start searching for WiFi devices. When your SP90m receiver has been found, select it and then enter the WiFi key (by default the receiver serial number) to allow a WiFi connection with the receiver.

  • Page 62: Using The Wifi Device As Access Point

    Use the receiver’s WiFi device as client in the following cases: • You want a remote access to the Web Server and Internet is easily accessible from the location where you are. • The SP90m is operated in a location where only a local WiFi network is available. WiFi...

  • Page 63: Using The Wifi Device As Both Access Point And Client

    You should inform this person of the following before proceeding: • The SP90m is not fitted –and cannot be fitted– with a firewall. If a firewall is needed in your local network, it should be installed on a device other than the SP90m.

  • Page 64: Setting Up The Ethernet Device

    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. –...

  • Page 65: Tcp/Ip Connection Within A Local Network

    The connection diagram typically is the following. Local Network Hub or Ethernet cable Switch Ethernet cable Local User SP90m Ethernet port Gateway or ADSL Modem Public Internet The valid receiver IP address is the one shown in the lower line on the Ethernet screen.

  • Page 66: Tcp/Ip Connection Through The Public Internet

    In this configuration, the IT expert should take all the necessary steps for the receiver owner to be able to access the SP90m through the public IP address of the local network. In this case, the IP address shown on the receiver display screen is NOT the one to be entered in the web browser.

  • Page 67: Introduction To Multi-Operating Mode

    The limitation to that feature is very simple to understand: Mode 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.

  • Page 68: Using Sp90M With A Single Antenna

    • Set Multi-Sensor Mode to Single Antenna. • Choose the point on the antenna for which you want the SP90m to compute the position (L1 phase center, ARP or ground mark). • Describe the model and height of antenna used as the primary antenna: –...

  • Page 69: Raw Data Recording

    Raw Data Recording GNSS Raw Data Acquisition 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.

  • Page 70: Autonomous Or Sdgps (Sbas) Rover

    • Press OK. • Choose the option that suits your requirements in terms of data collection type (Static or Stop & Go), the storage location (Mem or USB) used to save the file, then press This starts the data recording. Refer to Raw Data Recording on page 42 to learn more about the workflow used.

  • Page 71: Rtk Or Dgps Rover

    RTK or DGPS Rover XYZ or Lat-Lon-Height Position One set of corrections via: • Internet (Ethernet, cellular modem, or WiFi), or • UHF Radio On the receiver’s General Status screen, the receiver will display “FIXED” (with short “FLOAT” transition time) or “DGPS”...

  • Page 72: Hot Standby Rtk Rover

    – 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).

  • Page 73: Trimble Rtx Rover

    Trimble RTX service via IP or satellite Using a Trimble RTX service in the SP90m requires that you first buy a subscription to this service. On the other hand, the receiver is ready to operate in Trimble RTX mode (dedicated firmware option has been pre-installed at the factory) provided an L-band capable GNSS antenna is used.
  • Page 74 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).

  • Page 75: Rtk + Relative Rtk Rover

    RTK + Relative Reminder: Relative RTK refers to the ability of the SP90m to compute and deliver the three components of the vector RTK Rover 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.
  • Page 76 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. The “BRV” line defines the port routing the corrections from a moving base allowing vector computation whereas the “RTK”...

  • Page 77: Hot Standby Rtk+ Relative Rtk

    Hot Standby RTK+ This mode is similar to RTK+Relative RTK (see page 63) except that the RTK position is now a “Hot Standby RTK” one Relative RTK (see also page 60). The combination of these two modes may be summarized as shown in the diagram below. XYZ or Three independent sets of corrections via: Lat-Lon-Height...
  • Page 78 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. The “BRV” line defines the port routing the corrections from a moving base allowing vector computation, whereas the “Standby RTK”...

  • Page 79: Relative Rtk Rover

    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.

  • Page 80: Static Or Moving Base

    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: –...

  • Page 81: Working From The Receiver Front Panel

    – Type in the three geographical coordinates (Latitude, Longitude, Height) of the base, as well as the location 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.

  • Page 82: Using Sp90M With Two Antennas

    #2. • Choose the point on the antenna for which you want the SP90m to compute the position (L1 phase center, ARP or ground mark). • For each of the two antennas (primary and secondary...

  • Page 83: Sp90M Delivering Heading Measurements

    This operation needs to be done from within the Web Server. SP90m Delivering The receiver will measure the heading angle of the vector connecting the secondary antenna to the primary antenna.

  • Page 84: Dual-Rtk Rover

    • Click Configure. The receiver starts operating in heading mode. Dual-RTK Rover The SP90m may be configured to provide two RTK positions, one per antenna. These results can subsequently be used to compute the heading angle resulting from the orientation of the two antennas, while providing an accurate position for each of these two antennas.
  • Page 85 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: •...

  • Page 86: Dual-Relative Rtk

    Dual-Relative RTK 3-D Components of 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 Corrections from moving base to compute 3D-vector To configure the receiver as a Dual Relative RTK rover, use the...
  • Page 87 • 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.

  • Page 88: Programming Data Outputs

    Programming Data Outputs The reader is supposed to know how to run the Web Server (see Getting Started With the Web Server on page 47) before reading this section. Remember, when using the Web Server, at any time you can access context-sensitive help by pressing this key: •...

  • Page 89: Base Data Messages

    • Two GNSS antennas used: Output NMEA Message Heading Dual RTK* Dual Relative RTK* * 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.

  • Page 90: Raw Data Recording

    • DAT: Raw navigation data • RNX-0: Receiver observations • OCC: Site occupation information G-files can be processed in SPSO (Spectra Precision Office Software) or by the RINEX converter utility. When two antennas are used, note that by default, only PVT,...

  • Page 91: Available Nmea Messages

    Available NMEA See details in Appendix. Messages Name Description Alarms True heading Vector & Accuracy True heading Time, yaw, tilt Bluetooth status Received base antenna Received antenna height Received base position Differential decoder message Differential decoder status Datum Reference GNSS Satellite Fault Detection GNSS position message GNSS position message GGKX...

  • Page 92: Data Recording Sessions

    Data Recording Sessions Sessions are periods of time in a day during which you want automatic raw data recording to take place. Sessions are repeated every day. Creating sessions spanning over 24 hours therefore results in round-the-clock raw data recording. To program sessions, run the Web Server and go to Receiver>...
  • Page 93 For example, a one-hour session will result in a one-hour raw data file. Session Batch #1 8:00 9:00 10:00 11:00 12:00 Session A Session B Session C Session D Raw data files (G-files) covering one hour each Session Batch #2 8:00 9:00 10:00...

  • Page 94: Raw Data Types And Files Collected During Sessions

    receiver will be allowed to start the sessions on the current day, according to the programmed sessions. For example, with Reference Day=33 (Feb 2), if the current day is 30 (Jan 30), the receiver will start the first session only in three days, whereas if the current day is 51 (Feb 20), the receiver will start the programmed sessions on that day.

  • Page 95: Storing G-Files Collected During Sessions

    Storing G-Files G-files are saved either in the receiver’s internal memory or on a USB device, i.e. on the mass storage device connected Collected During to the receiver via its USB port. In both cases, G-files are all Sessions saved to the root directory of the selected storage device. At this stage, special mention should be made of the Ring File Memory.

  • Page 96: Moving Files Originating From Sessions

    Moving Files The collected G-files and converted files may be moved to another location on the receiver. The purpose is to be able to Originating from sort the files according to the date of creation and the site of Sessions data collection.

  • Page 97: Pushing Files Originating From Sessions To A

    End users will then be able to connect to that FTP server for Server downloading the data they need for their applications. External FTP Server IP address or server name SP90m Ethernet (Client) Internet End users Raw Data Files The receiver being the client for this transfer, you need to...

  • Page 98: Recording Raw Data Outside Of Any Sessions

    The backup FTP server will then instantly take over the role of the primary FTP server. At the beginning of each new session, the SP90m checks to see if the primary FTP server is back to work and accessible. If that is the case, files will be pushed back to the primary FTP server (and the backup FTP server will stay idle in the background).

  • Page 99: Embedded Ntrip Caster

    10 users can be connected to any of the other possible mount points. One of the distinguishing features of SP90m is its capacity to accommodate internally two NTRIP servers directly “feeding”...
  • Page 100 NTRIP caster can offer an effective protection of the source of corrections by restricting its access to the sole authorized users. In this application, the SP90m makes use of both its embedded NTRIP caster and an internal NTRIP server (see figure below): •...

  • Page 101: Ntrip Caster Control & Monitoring

    Stream 1 or 2 NTRIP Server NTRIP 1 or 2 Caster Port P or Q (IP Server) (IP client) SP90m (Ethernet Port) Internet NTRIP Clients (Users) (IP clients) NTRIP Caster The Web Server provides an easy way to remote control and monitor the Embedded NTRIP caster.
  • Page 102 • The Mount Points submenu allows you to define each of the possible 10 mount points of the NTRIP caster. Choosing the name of a mount point is important: – It is through that name that NTRIP servers can connect to the NTRIP caster.

  • Page 103: Protecting Mount Points

    caster, of the NTRIP servers (bases) and of the different users. Protecting Mount Protecting mount points may be done in an indirect way, as explained below: Points • Not assigning a mount point to any of the registered users implies that this mount point is accessible to anyone who can make an IP connection to the NTRIP caster.

  • Page 104: Embedded Ftp Server

    Alternatively, as the owner of the receiver, you may have to perform remote maintenance operations in the receiver memory. This connection gives you full read/write control on the specified directory and child directories. Administrator / End users SP90m Ethernet Embedded FTP Server Internet...

  • Page 105: Communicating With Sp90M Using A Mobile Phone

    By default, the SP90m accepts SMS’s from any phone number. Any command you send should be in the form: Command_name[<sp>parameter_1][<sp>parameter_2] [<sp>parameter_3][<sp>parameter_4] (Commands may be typed in using upper- or lower-case characters.) Any response the remote SP90m returns will be in the form: SP90m<sp>{Receiver Serial Number} HH:MM:SS Command_name[<sp>parameter_1][<sp>parameter_2] [<sp>parameter_3][<sp>parameter_4]:<sp>OK...

  • Page 106: Commands List

    REC ON 0.5 Same but you choose the recording rate REC OFF Stops data recording Asks the SP90m to email its last “n” log files to the SEND LOG n ...@... specified email recipient Asks the SP90m to email its operating parameters SEND PAR ...@...

  • Page 107: Anh: Setting Antenna Height

    Command Syntax: ANH<sp>VERT<sp>{vertical measurement} ANH<sp>SLANT<sp>{slant measurement} Example 1: Sending vertical height measurement ANH VERT 2.124 SP90m 5703A00116 11:02:14 ANH VERT 2.124 m: OK Example 2: Sending slant height measurement: ANH SLANT 1.645 SP90m 5703A00116 11:02:14 ANH SLANT 1.645 m: OK...

  • Page 108: Ath: Setting Anti-Theft

    GETID: Reading Send this SMS to query the receiver for its serial number, firmware version and warranty expiration date. (The SP90m Receiver serial number is part of almost every SMS the SP90m sends Identification back in response to a command.) Information...

  • Page 109: Getpos: Reading Computed Position

    GETPOS: Reading Send this SMS to query the receiver for the last computed position. Computed Position Command Syntax: GETPOS Example: GETPOS SP90m 5703A00116 11:11:17 47 17’12.12345”N 001 30’14.54321”W +75.254 m (SPT) Type: FIXED Mode: ROVER Age: 1 s Satellites: 22 Antenna height: 2.000 m (vert)

  • Page 110: Help: Reading The List Of Commands

    HELP: Reading the 1. Send this SMS if you want to be reminded of all the possible commands you may use to control/monitor a List of Commands receiver through SMS’s. Command Syntax and SP90m Response: HELP GETID GETMEM GETPOS GETPOWER...

  • Page 111: Mem: Setting Current Memory

    This may be the internal memory or an external SD card Current Memory connected to the receiver. Command Syntax: MEM<sp>INT MEM<sp>SD Example 1: Choosing the internal memory MEM INT SP90m 5703A00116 11:05:09 MEM INT: OK Example 2: Choosing the external SD card: MEM SD SP90m 5703A00116 11:05:18 MEM SD: OK MODE: Setting Send this SMS to change the receiver’s operating mode: rover...

  • Page 112: Pos: Setting Reference Position

    0 to ±180 (dddmmss.sssss) Height Height in meters 0 to ±9999.9999 Example 1: Sending the coordinates of the reference position POS PC1 471756.29054 -13032.58254 88.225 SP90m 5703A00116 11:20:25 SET BASE POSITION: OK Type: PC1 Latitude: 47 17’56.29054”N Longitude: 001 30’32.58254”W Height: +88.225m...

  • Page 113: Radio: Setting The Radio

    RADIO: Setting the Send this SMS to control the radio attached to the SP90m. Radio Command Syntax: 1) Turning on the internal radio: RADIO<sp>ON 2) Setting the radio channel after turning on the radio: RADIO<sp>CHN<sp>{internal_or_external_radio}<sp>{radio_channel} 3) Turning off the internal radio: RADIO<sp>OFF...

  • Page 114: Rec: Setting The Recording Mode

    REC<sp>ON<sp>{recording_rate} 3) Ending raw data recording: REC<sp>OFF Example 1: Starting raw data recording at 0.1 second: REC ON 0.1 SP90m 5703A00116 11:32:04 REC ON 0.10: OK Example 2: Ending raw data recording: REC OFF SP90m 5703A00116 11:35:19...

  • Page 115: Send Log: Emailing Log Files

    SEND LOG: Send this SMS to ask the remote SP90m to email its last log files to the specified email address. Emailing Log Files Command Syntax: SEND<sp>LOG<sp>{x_last_log_files}<sp>{email_address} Example: Emailing the last 4 log files to the specified email address: SEND LOG 4 rxg217@mmwerx.com...

  • Page 116: Notification E-Mails

    Notification E-mails As the administrator of the SP90m receiver, you may configure your system to be informed via email of possible malfunctions detected by the receiver. This will allow you to quickly respond to the email alert by taking the appropriate maintenance steps.

  • Page 117: Appendices

    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, E6 – BeiDou B1, B2, B3 –...

  • Page 118: Gnss Sensor Performance

    • Hot Standby RTK Algorithms • Flying RTK Algorithms • 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 •...

  • Page 119: Precise Positioning Performance

    • Maximum Operating Limits – Velocity: 515 m/sec – Altitude: 18,000 m Precise Positioning Performance (10) (11) Real-Time Accuracy (RMS) • Real-Time DGPS Position: – Horizontal: 25 cm (0.82 ft) + 1 ppm – Vertical: 50 cm (1.64 ft) + 1 ppm •...

  • Page 120: Real-Time Performance

    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 •...

  • Page 121: User And I/O Interface

    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 –...

  • Page 122: Environmental Characteristics

    Environmental Characteristics (21) (22) • Operating temperature : -40° to +65°C (-40° to +149°F) (23) • Storage temperature : -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 •...
  • Page 123 (18) Depending on baselines, precise ephemeris and long occupations up to 24 hrs may be required to achieve the high precision static specifications. (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.

  • Page 124: 1Pps Output

    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.

  • Page 125: Event Marker Input

    • Signal level: ± 10 V • Permitted transient time on active edge: < 20 ns Resetting the With the SP90m turned off, press the two horizontal arrow keys (right and left) AND the Power button simultaneously for Receiver a few seconds until the power LED turns green.

  • Page 126: Upgrading The Receiver Firmware

    SP Loader will use either a serial (RS232), Bluetooth or USB connection to communicate with the receiver. USB is recommended. 1. Connect your computer to the SP90m using a USB connection. 2. Run SP Loader on your computer. 3. Select the computer’s port ID used to communicate with the receiver.

  • Page 127: Upgrading Receiver Firmware

    4. To upgrade receiver firmware, install a new firmware option or validate a CenterPoint RTX subscription, see sub-sections below. Upgrading Receiver Firmware Firmware upgrades will be downloadable from the Spectra You are not allowed to upgrade a receiver if anti- Precision website in the form of compressed “.tar”...

  • Page 128: Installing A Firmware Option

    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.

  • Page 129: Activating A Centerpoint Rtx Subscription

    Update. Reading Receiver Warranty Expiration Date SP Loader can be used to query the Spectra Precision database for the warranty expiration date of your GNSS receiver. (After a receiver warranty has expired, remember receiver firmware upgrades are no longer free of charge.)

  • Page 130: Sp File Manager Software Utility

    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. SP File Manager is available from the Spectra Precision website as an executable file (SPFileManagerSetup.exe) through the link below: http://www.spectraprecision.com/eng/sp90m.html#.WUjSUdxLdhE...
  • Page 131 (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.

  • Page 132: Establishing A Connection With The Receiver

    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 114) and then click on the Connect button.

  • Page 133: Uhf Networking

    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: •...

  • Page 134: Nmea Messages

    NMEA Messages ALR: Alarms $PASHR,ALR,d1,d2,c3,s4,d5,s6*cc Parameter Description Range Alarm code 0-255 Alarm sub-code 0-255 Stream ID reporting the alarm (if relevant, otherwise blank field): • A, B, F: Serial port • U: USB serial port • C, H, T: Bluetooth port A-F, H-J, M, P, Q, U •...

  • Page 135: Arr: Vector & Accuracy

    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 Vector number 1, 2, 3 Vector mode: • 0: Invalid baseline • 1: Differential • 2: RTK float • 3: RTK fixed 0-3, 5 • 5: Other (dead reckoning, bad accuracy, difference between standalone positions).

  • Page 136: Att: True Heading

    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 Description Range Week time in seconds. 000000.00-604799.99 True heading angle in degrees. 000.00-359.99999 Pitch angle in degrees. ±90.00000 Roll angle in degrees.

  • Page 137: Bts: Bluetooth Status

    BTS: Bluetooth Status $PASHR,BTS,C,d1,s2,s3,d4,H,d5,s6,s7,d8,T,d9,s10,s11,d12*cc Parameter Description Range Port C: C,d1 • 0: Not connected 0, 1 • 1: A device is connected Device name connected to port C 64 char. max. Device address connected to port 17 char. C(xx:xx:xx:xx:xx:xx) Bluetooth link quality for the port C connection 0-100 Port H: H,d5 •...

  • Page 138: Cpa: Height Of Antenna Used At Received Base

    CPA: Height of Antenna Used at Received Base $PASHR,CPA,f1,f2,f3,m4,f5*cc Parameter Description Range Antenna height, in meters. This field remains empty 0-99.999 as long as no antenna height has been received. Antenna radius, in meters 0-9.9999 Vertical offset, in meters 0-99.999 Horizontal azimuth, in degrees, minutes (dddmm.mm) 0-35959.99 Horizontal distance, in meters 0-99.999...

  • Page 139: Dds: Differential Decoder Status

    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 Description Range Differential decoder number. “1” corresponds to first decoder, etc. An empty field means the decoder used is not known. GNSS (output) time tag 000000.00-235959.99 Number of decoded messages since 0-127 last stream change ID of port from which corrections are A-E, I, P, Q, Z received...

  • Page 140: Dtm: Datum Reference

    DTM: Datum Reference $GPDTM,s1,,f2,c3,f4,c5,f6,s7*cc Parameter Description Range Local datum code: • W84: WGS84 used as local datum • 999: Local datum computed using the W84, 999 parameters provided by the RTCM3.1 data stream. Latitude offset, in meters 0-59.999999 Direction of latitude N, S Longitude offset, in meters 0-59.999999...

  • Page 141: Gga: Gnss Position Message

    GGA: GNSS Position Message $GPGGA,m1,m2,c3,m4,c5,d6,d7,f8,f9,M,f10,M,f11,d12*cc Parameter Description Range 000000.00- Current UTC time of position (hhmmss.ss) 235959.99 0-90 Latitude of position (ddmm.mmmmmm) 0-59.999999 Direction of latitude N, S 0-180 Longitude of position (dddmm.mmmmmm) 0-59.999999 Direction of longitude Position type: • 0: Position not available or invalid •...

  • Page 142: Ggkx: Gnss Position Message

    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 Range 000000.00- Current UTC time of position (hhmmss.ss) 235959.99 UTC date of position (mmddyy) 010101-123199 0-90 Latitude of position (ddmm.mmmmmm) 0-59.999999 Direction of latitude N, S 0-180 Longitude of position (dddmm.mmmmmm) 0-59.999999 Direction of longitude Position type: •...

  • Page 143: Gll: Geographic Position - Latitude/Longitude

    GLL: Geographic Position - Latitude/Longitude $GPGLL,m1,c2,m3,c4,m5,c6,c7*cc Parameter Description Range 0-90 Latitude of position (ddmm.mmmmmm) 0-59.999999 Direction of latitude N, S 0-180 Longitude of position (dddmm.mmmmmm) 0-59.999999 Direction of longitude 000000.00- Current UTC time of position (hhmmss.ss) 235959.99 Status • A: Data valid A, V •...

  • Page 144: Gmp: Gnss Map Projection Fix Data

    GMP: GNSS Map Projection Fix Data $--GMP,m1,s2,s3,f4,f5,s6,d7,f8,f9,f10,f11,d12*cc Parameter Description Range $GPGMP: Only GPS satellites are used. $GPGMP, “$--GMP” $GLGMP: Only GLONASS satellites are used. $GLGMP, Header $GNGMP: Several constellations (GPS, $GNGMP SBAS, GLONASS) are used. 000000.00- Current UTC time of position (hhmmss.ss) 235959.99 Map projection identification: •...

  • Page 145: Gns: Gnss Fix Data

    GNS: GNSS Fix Data $--GNS,m1,m2,c3,m4,c5,s6,d7,f8,f9,f10,f11,d12*cc Parameter Description Range Current UTC time of position 000000.00-235959.99 (hhmmss.ss) Latitude of position 0-90 (ddmm.mmmmmm) 0-59.999999 Direction of latitude N, S Longitude of position 0-180 (dddmm.mmmmmm) 0-59.999999 Direction of longitude E, W Mode indicator (1 character by con- stellation): •...

  • Page 146: Grs: Gnss Range Residuals

    GRS: GNSS Range Residuals $--GRS,m1,d2,n(f3)*cc Parameter Description Range $GPGRS: Only GPS satellites are used. $GLGRS: Only GLONASS satellites are used. $GPGRS $GNGRS: Several constellations (GPS, SBAS, “$--GRS” $GLGRS GLONASS) are used. Header $GBGRS $GBGRS: Only BeiDou satellites are used. $GNGRS $GNGRS: Several constellations are used (GPS, SBAS, GLONASS, QZSS, BeiDou) 000000.00-...

  • Page 147: Gst: Gnss Pseudo-Range Error Statistics

    GST: GNSS Pseudo-range Error Statistics $--GST,m1,f2,f3,f4,f5,f6,f7,f8*cc Parameter Description Range $GPGST: Only GPS satellites are used. $GPGST, “$--GST” $GLGST: Only GLONASS satellites are used. $GLGST, Header $GNGST: Several constellations (GPS, SBAS, $GNGST GLONASS, BEIDOU) are used. 000000.00- Current UTC time of position (hhmmss.ss) 235959.99 RMS value of standard deviation of range inputs 0.000-999.999...

  • Page 148: Hdt: True Heading

    HDT: True Heading $GPHDT,f1,T*cc Parameter Description Range Last computed heading value, in degrees f1,T 0-359.99 “T” for “True”. Checksum *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 Description...

  • Page 149: Ltn: Latency

    LTN: Latency $PASHR,LTN,d1*cc Parameter Description Range Latency in milliseconds. Optional checksum *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 Description Range Modem port Modem baud rate Modem state. OFF, ON, INIT, DIALING, “NONE” means that MODEM option ONLINE, NONE [Z] is not valid.

  • Page 150: Pos: Position

    POS: Position $PASHR,POS,d1,d2,m3,m4,c5,m6,c7,f8,f9,f10,f11,f12,f13,f14,f15,f16,d17*cc Parameter Description Range Flag describing position solution type: • 0: Autonomous position • 1: RTCM code differential (or SBAS/BDS differ- ential) • 2: RTK float (or RTX) • 3: RTK fixed (or RTX) • 5: Estimated (dead-reckoning) mode 0-3, 5, 9-10, •...

  • Page 151: Ptt: Pps Time Tag

    PTT: PPS Time Tag $PASHR,PTT,d1,m2*cc Parameter Description Range Day of week: • 1: Sunday • 7: Saturday GPS time tag in hours, minutes, seconds 0-23:59:59.9999999 Checksum *00-*FF PWR: Power Status $PASHR,PWR,d1,[f2],[f3],[d4],[d5],[f6],[d7],[d8],d9[,d10]*cc Parameter Description Range Power source: • 0: Internal battery •...

  • Page 152: Rcs: Recording Status

    RCS: Recording Status $PASHR,RCS,c1,d2,s3,d4,f5,f6,f7,d8,d9)*cc Parameter Description Range 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. Y, N, S, R •...

  • Page 153: Rmc: Recommended Minimum Specific Gnss Data

    RMC: Recommended Minimum Specific GNSS Data $GPRMC,m1,c2,m3,c4,m5,c6,f7,f8,d9,f10,c11,c12*cc Parameter Description Range 000000.00- Current UTC time of position (hhmmss.ss) 235959.99 Status • A: Data valid A, V • V: 0-90 Latitude of position (ddmm.mmmmmm) 0-59.999999 Direction of latitude N, S 0-180 Longitude of position (dddmm.mmmmmm) 0-59.999999 Direction of longitude Speed Over Ground, in knots...

  • Page 154: Sga: Galileo Satellites Status (E1,E5A,E5B)

    SGA: GALILEO Satellites Status (E1,E5a,E5b) $PASHR,SGA,d1,n(d2,d3,d4,f5,,f7,c8,c9)*cc Parameter Description Range Number of visible satellites 0-36 SV PRN number 1-36 SV azimuth in degrees 0-359 SV elevation angle in degrees 0-90 SV E1 signal/noise in dB.Hz 0.0-60.0 SV E5b signal/noise in dB.Hz 0.0-60.0 SV E5a signal/noise in dB.Hz 0.0-60.0...

  • Page 155: Sgp: Gps Satellites Status

    SGP: GPS Satellites Status $PASHR,SGP,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc Parameter Description Range Number of visible satellites 0-63 SV PRN number 1-63 SV azimuth in degrees 0-359 SV elevation angle in degrees 0-90 SV L1 signal/noise in dB.Hz 0.0-60.0 SV L2 signal/noise in dB.Hz 0.0-60.0 SV L5 signal/noise in dB.Hz 0.0-60.0 Satellite usage status...

  • Page 156: Sqz: Qzss Satellites Status

    SQZ: QZSS Satellites Status $PASHR,SQZ,d1,n(d2,d3,d4,f5,f6,f7,c8,c9)*cc Parameter Description Range Number of visible satellites SV PRN number SV azimuth in degrees 0-359 SV elevation angle in degrees 0-90 SV L1 signal/noise in dB.Hz 0.0-60.0 SV L2 signal/noise in dB.Hz 0.0-60.0 SV L5 signal/noise in dB.Hz 0.0-60.0 Satellite usage status Satellite correcting status...

  • Page 157: Ths: True Heading And Status

    THS: True Heading and Status $PASHR,TEM,f1,c2*cc Parameter Description Range Last computed heading value, in degrees (true). 000.00-359.99 Solution status: • A: Autonomous • E: Estimated (dead reckoning) A, E, M, S, V • M: Manual input • S: Simulator • V: Data not valid (including standby) Checksum *00-*FF TTT: Event Marker...

  • Page 158: Vcr: Vector And Accuracy

    VCR: Vector and Accuracy $PASHR,VCR,d0,c1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,d13,c14*cc Parameter Description Range Baseline number (see $PASHS,BRV) 1, 2, 3 Baseline mode: • 0: Invalid baseline • 1: Differential 0-3, 5 • 2: RTK float • 3: RTK fixed • 5: Other Number of SVs used in baseline compu- 0-99 tation (L1 portion) UTC time (hhmmss.ss)

  • Page 159: Vct: Vector And Accuracy

    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 Description Range Baseline mode: • 0: Invalid baseline • 1: Differential 0-3, 5 • 2: RTK float • 3: RTK fixed • 5: Other Number of SVs used in position computation 3-26 000000.00- UTC time (hhmmss.ss) 235959.99 Delta antenna position, ECEF X coordinate (in ±99999.999...

  • Page 160: Vel: Velocity

    VEL: Velocity $PASHR,VEL,f1,m2,f3,f4,f5,f6,f7,f8,d9*cc Parameter Description Range Reserved Current UTC time of velocity fix (hhmmss.ss) Easting velocity, in m/s Northing velocity, in m/s Vertical velocity, in m/s Easting velocity RMS error, in mm/s Northing velocity RMS error, in mm/s Vertical velocity RMS error, in mm/s Applied effective velocity smoothing interval, in ms (empty if unknown) Checksum...
  • Page 161 Index Symbols Default configuration Delete Files After Transfer "LOC" Deleting files from memory "W84" Numerics DGPS Direct IP 1PPS Direction keys Display screen Access point (WiFi) Accessories Earth connection Electric isolation (optical) ADLCONF Elevation offset ADSL modem Email alerts Embedded FTP server Anonymous mode Embedded NTRIP caster Embedded NTRIP caster (current)
  • Page 162 Port Q Hatanaka Position Solution screen Heading Power button HELP Power cord Host name Power mode Power Off screen Icons on General Status screen Primary FTP server Install firmware option Public IP address Instant RTK Insulation (electric) R port IP address on receiver identification screen RADIO Radio screen Raw data recording...
  • Page 163 Storage medium Sub-directory Name Format Survey Pro Switch Trimble RTX subscription Tripod mount Two-antenna configuration UHF input UHF networking Upgrade procedure (firmware) Upgrade receiver fimware Upgrading firmware USB (OTG) USB device USB driver USB key USB port Users (NTRIP caster) VESA Virtual antenna Warranty (end of)
  • Page 164 +65-6348-2212 Phone 888-477-7516 (Toll Free in USA) www.spectraprecision.com ©2017-2018, Trimble Inc. All rights reserved. Spectra Precision and the Spectra Precision logo are trademarks of Trimble Inc. or its subsidiaries. All other trademarks are the property of their respective owners. (2018/01)

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