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TRIMBLE R8
Trimble R6
Model 4 GNSS Receiver
Trimble R4
Model 3 GNSS Receiver
Version 4.80
Revision A
April 2013
Corporate office Canada
Trimble Navigation Limited This digital apparatus does not exceed the Class B limits for radio
Engineering and Construction group noise emissions from digital apparatus as set out in the radio
5475 Kellenburger Road interference regulations of the Canadian Department of
Dayton, Ohio 45424-1099 Communications. This Category II radiocommunication device
USA complies with Industry Canada Standard RSS-310.
800-538-7800 (toll free in USA) Le prsent appareil numrique nmet pas de bruits
+1-937-245-5600 Phone radiolectriques dpassant les limites applicables aux appareils
+1-937-233-9004 Fax numriques de Classe B prescrites dans le rglement sur le
www.trimble.com brouillage radiolectrique dict par le Ministre des
Communications du Canada. Ce dispositif de radiocommunication
Legal notices de catgorie II respecte la norme CNR-310 dIndustrie Canada.
2004-2013, Trimble Navigation Limited. Trimble, the Globe &
Triangle logo, BlueCap, GPS Total Station, Recon, and TSC2 are Europe
trademarks of Trimble Navigation Limited, registered in the United This product has been tested and found to comply
States and in other countries. Access, CMR+, Digital Fieldbook, with the essential requirements for a Class B
Maxwell, Trimble Geomatics Office, Trimble Survey Controller, device pursuant to European Council Directive
TRIMMARK, TRIMTALK, and TSCe are trademarks of Trimble 1999/5/EC on R&TTE on EMC, thereby satisfying the requirements
Navigation Limited. The Bluetooth word mark and logos are for CE Marking and sale within the European Economic Area (EEA).
owned by the Bluetooth SIG, Inc. and any use of such marks by These requirements are designed to provide reasonable
Trimble Navigation Limited is under license. Microsoft, Windows, protection against harmful interference when the equipment is
and Windows NT are either registered trademarks or trademarks operated in a residential or commercial environment. The 450
of Microsoft Corporation in the United States and/or other MHz band is not harmonised across the European Community.
countries. All other trademarks are the property of their
respective owners. Australia and New Zealand
This product conforms with the regulatory
Release notice requirements of the Australian Communications
This is the April 2013 release (Revision A) of the TrimbleR8Model and Media Authority (ACMA) EMC framework,
4,R6Model4,andR4Model3GNSSReceiversUserGuide.It thus satisfying the requirements for C-Tick
applies to version 4.80 of these Trimble receivers. Marking, A-Tick Marking and sale within Australia and New
Zealand.
Product Limited Warranty Information
For applicable product Limited Warranty information, please refer Taiwan Battery Recycling Requirements
to the Limited Warranty Card included with this Trimble product, The product contains a removable Lithium-ion battery.
or consult your local Trimble authorized distribution partner. Taiwanese regulations require that waste batteries are
recycled.
Product Extended Limited Warranty Information
For applicable product Extended Limited Warranty information,
please refer to the Limited Warranty Card included with this Notice to Our European Union Customers
Trimble product, or consult your Trimble authorized distribution For product recycling instructions and more information, please
partner. go to www.trimble.com/ev.shtml.
Recycling in Europe: To recycle Trimble WEEE (Waste
Notices Electrical and Electronic Equipment, products that run on
Class B Statement Notice to Users. This equipment has been electrical power.), Call +31 497 53 24 30, and ask for the
tested and found to comply with the limits for a Class B digital "WEEE Associate". Or, mail a request for recycling
device, pursuant to Part 15 of the FCC rules. These limits are instructions to:
designed to provide reasonable protection against harmful Trimble Europe BV
interference in a residential installation. This equipment c/o Menlo Worldwide Logistics
generates, uses, and can radiate radio frequency energy and, if not Meerheide 45
installed and used in accordance with the instructions, may cause 5521 DZ Eersel, NL
harmful interference to radio communication. However, there is
no guarantee that interference will not occur in a particular FCC Declaration of Conformity
installation. If this equipment does cause harmful interference to
radio or television reception, which can be determined by turning
the equipment off and on, the user is encouraged to try to correct We, Trimble Navigation Limited,
the interference by one or more of the following measures:
Reorient or relocate the receiving antenna. 935 Stewart Drive
Increase the separation between the equipment and the receiver. PO Box 3642
Connect the equipment into an outlet on a circuit different from Sunnyvale, CA 94088-3642
that to which the receiver is connected. United States
Consult the distribution partner or an experienced radio/TV
technician for help. +1-408-481-8000
Changes and modifications not expressly approved by the
manufacturer or registrant of this equipment can void your declare under sole responsibility that the products:
authority to operate this equipment under Federal Trimble R8 Model 4 GNSS Receiver,
Communications Commission rules. Trimble R6 Model 4 GNSS Receiver,
and Trimble R4 Model 3 GNSS Receiver
comply with Part 15 of FCC Rules.
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C WARNING A Warning alerts you to a likely risk of serious injury to your person and/or
damage to the equipment. A warning identifies the nature of the risk and the extent of
possible injury and/or damage. It also describes how to protect yourself and/or the equipment
from this risk. Warnings that appear in the text are repeated at the front of the manual.
C CAUTION A Caution alerts you to a possible risk of damage to the equipment and/or loss of
data. A Caution describes how to protect the equipment and/or data from this risk.
Type approval
Type approval, or acceptance, covers technical parameters of the equipment related to emissions
that can cause interference. Type approval is granted to the manufacturer of the transmission
equipment, independent from the operation or licensing of the units. Some countries have unique
technical requirements for operation in particular radio-modem frequency bands. To comply with
those requirements, Trimble may have modified your equipment to be granted Type approval.
Unauthorized modification of the units voids the Type approval, the warranty, and the operational
license of the equipment.
TRIMBLE R8 GNSS, AND R6, R4, AND 5800 MODEL 3 GPS RECEIVERS USER GUIDE 4
Safety Information
Note TheoptionalGSMradiocannotlegallybeoperatedinBrazil.
TRIMBLE R8 GNSS, AND R6, R4, AND 5800 MODEL 3 GPS RECEIVERS USER GUIDE 5
Safety Information
Installing antennas
C CAUTION For your own safety, and in terms of the RF Exposure requirements of the FCC,
always observe these precautions:
- Always maintain a minimum separation distance of 20 cm (7.8 inches) between yourself and
the radiating antenna.
- Do not collocate (place within 20cm) the radio antenna with any other transmitting device.
This device has been designed to operate with the antennas listed below.
UHF Antennas not included in this list, or that have a gain greater than 5 dBi, are strictly prohibited
for use with this device. The required antenna impedance is 50 ..
The antennas that can be used (country dependent) with the 450 MHz radio are 0 dBi and 5 dBi whip
antennas.
The antenna that can be used with the GSM radio is the 0 dBi whip antenna.
To reduce potential radio interference to other users, the antenna type and its gain should be so
chosen that the equivalent isotropically radiated power (e.i.r.p.) is not more than that permitted for
successful communication.
TRIMBLE R8 GNSS, AND R6, R4, AND 5800 MODEL 3 GPS RECEIVERS USER GUIDE 6
Safety Information
C WARNING Do not damage the rechargeable Lithium-ion battery. A damaged battery can
cause an explosion or fire, and can result in personal injury and/or property damage.
To prevent injury or damage:
Do not use or charge the battery if it appears to be damaged. Signs of damage include, but
are not limited to, discoloration, warping, and leaking battery fluid.
Do not expose the battery to fire, high temperature, or direct sunlight.
Do not immerse the battery in water.
Do not use or store the battery inside a vehicle during hot weather.
Do not drop or puncture the battery.
Do not open the battery or short-circuit its contacts.
C WARNING Charge and use the rechargeable Lithium-ion battery only in strict accordance
with the instructions. Charging or using the battery in unauthorized equipment can cause an
explosion or fire, and can result in personal injury and/or equipment damage.
To prevent injury or damage:
Do not charge or use the battery if it appears to be damaged or leaking.
Charge the Lithium-ion battery only in a Trimble product that is specified to charge it. Be
sure to follow all instructions that are provided with the battery charger.
Discontinue charging a battery that gives off extreme heat or a burning odor.
Use the battery only in Trimble equipment that is specified to use it.
Use the battery only for its intended use and according to the instructions in the product
documentation.
Other Warnings
C WARNING Operating or storing the receiver outside the specified temperature range can
damage it. For more information, see Physical specifications, page 42.
TRIMBLE R8 GNSS, AND R6, R4, AND 5800 MODEL 3 GPS RECEIVERS USER GUIDE 7
Contents
Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Warnings and Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Regulations and safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Type approval . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Operation near other radio equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Exposure to radio frequency radiation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
For 450 MHz radio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
For GSM radio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
For Bluetooth radio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Installing antennas. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Rechargeable Lithium-ion batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Other Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Related information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
Technical assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Use and care . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
COCOM limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
4 General Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Front panel controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
Button functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
LED behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
LED flash patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
Starting and stopping the receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
Logging data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
Logging internally . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
Logging to a Trimble controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
Resetting to defaults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26
5 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Configuring the receiver in real time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
Configuring the receiver using application files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
Application files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
Special application files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
Applying application files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
Storing application files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
Naming application files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
6 Software Utilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
The GPS Configurator software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Installing the GPS Configurator software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
The WinFlash Utility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Installing the WinFlash utility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Upgrading firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Adding frequencies for the 450 MHz internal radio. . . . . . . . . . . . . . . . . . . . . . . . . . . .36
Configuring the internal transceiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
7 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Physical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Positioning specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
8 Default Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Default settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
Resetting to factory defaults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
Default behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Power up settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
A NMEA-0183 Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
NMEA-0183 outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
Common message elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
Message values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
NMEA messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
B RTCM Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Generated messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
Message scheduling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
C Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
LED conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
Receiver issues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .73
Related information
An electronic copy of this manual is available in portable document format (PDF) at
www.trimble.com. Use Adobe Reader to view the contents of this file.
Other sources of related information are:
Release notes the release notes describe new features of the product, information not included
in the manual, and any changes to the manual. They are provided as a PDF at www.trimble.com.
Use Adobe Reader to view the contents of the release notes.
Registration register your receiver to automatically receive e-mail notifications of receiver
firmware upgrades and new functionality. To register, go to www.trimble.com.
Contact your local Trimble distribution partner for more information about the support
agreement contracts for software and firmware, and an extended warranty program for
hardware.
Trimble training courses consider a training course to help you use your GNSS system to its
fullest potential. For more information, visit the Trimble website at
www.trimble.com/training.html.
Technical assistance
If you have a problem and cannot find the information you need in the product documentation,
contactyourlocaldistributionpartner. Alternatively, request technical support using the Trimble
website at (www.trimble.com/support.html).
The receiver incorporates a GNSS antenna, receiver, internal radio with a transmit option or an
internal GSM module, and a battery in a rugged light-weight unit that is ideally suited as an all-on-
the-pole RTK rover. Three LEDs allow you to monitor the satellite tracking, radio reception, data
logging status, and power. Bluetooth wireless technology provides cable-free communications
between receiver and controller.
The circuitry in the Trimble R8 Model 4 GNSS receiver provides up to 440 channels for satellite
tracking, and supports logging raw GNSS observables to the internal receiver memory or to a
handheld controller for postprocessed applications.
The Trimble R6 Model 4 GNSS receiver provides 220 channels for satellite tracking, and supports
logging raw GNSS observables to the internal receiver memory or to a handheld controller for
postprocessed applications.
The Trimble R4 Model 3 GNSS receiver provides 220 channels for satellite tracking, and supports
logging raw GNSS observables to the internal receiver memory or to a handheld controller for
postprocessed applications.
The receiver is available as a standalone rover, base station, or as part of the GNSS Total Station
system, offering maximum versatility in the system configuration to meet your specific requirements.
Features
The receivers provide the following features:
Future-proof Trimble 360 technology (Trimble R8 Model 4), which includes advanced Trimble
Maxwell 6 Custom Survey GNSS chips with 440 channels and allows the receiver to track the
following:
GPS: L1 C/A, L1C, L2C, L2E, L5
GLONASS: L1 C/A, L1P, L2 C/A, L2P, L3
Galileo: E1, E5A, E5B
BeiDou (COMPASS): B1, B2
SBAS: QZSS, WAAS, EGNOS, GAGAN
Trimble R-track technology (Trimble R6 Model 4), which includes an advanced Trimble Maxwell 6
Custom Survey GNSS chip with 220 channels and allows the receiver to track the following:
GPS: L1 C/A, L1C, L2C, L2E, L5
GLONASS: L1 C/A, L1P, L2 C/A, L2P, L3 (optional)
Galileo: E1, E5A, E5B (optional)
BeiDou (COMPASS): B1, B2 (optional)
SBAS: QZSS, WAAS, EGNOS, GAGAN
Trimble R-track technology (Trimble R4 Model 3), which includes an advanced Trimble Maxwell 6
Custom Survey GNSS chip with 220 channels and allows the receiver to track the following:
GPS: L1 C/A, L1C, L2C, L2E
GLONASS: L1 C/A, L1P, L2 C/A, L2P, L3 (optional)
Galileo: E1, E5A, E5B (optional)
BeiDou (COMPASS): B1, B2 (optional)
SBAS: QZSS, WAAS, EGNOS, GAGAN
Centimeter-accuracy, real-time positioning with RTK/OTF data, up to 20 Hz position updates (R8
Model 4) or up to 10 Hz (R6 Model 4 and R4 Model 3)
Submeter-accuracy, real-time positioning using pseudorange corrections
Automatic OTF (on-the-fly) initialization while moving
Single Lithium-ion rechargeable battery
Cable-free Bluetooth communications with Trimble controllers
Two RS-232 serial ports for:
Trimble Format (CMR, CMR+ and CMRx) input and output
RTCM SC-104 input and output (RTCM 2.1, 2.3, 3.0, 3.1)
23 NMEA outputs
GSOF, RT17, and RT27 outputs
Supports BINEX and smoothed carrier
C WARNING Operating or storing the receiver outside the specified temperature range can
damage it. For more information, see Chapter 7, Specifications.
High-power signals from a nearby radio or radar transmitter can overwhelm the receiver circuits.
This does not harm the instrument, but it can prevent the receiver electronics from functioning
correctly. Avoid using the receiver within 400 meters of powerful radar, television, or other
transmitters. Low-power transmitters such as those used in cellphones and two-way radios normally
do not interfere with receiver operations.
For more information, contact your local Trimble distributor.
COCOM limits
The U.S. Department of Commerce requires that all exportable GPS products contain performance
limitations so that they cannot be used in a manner that could threaten the security of the United
States. The following limitations are implemented on the receiver.
Immediate access to satellite measurements and navigation results is disabled when the receivers
velocity is computed to be greater than 1000 knots, or its altitude is computed to be above 18,000
meters. The receiver continuously resets until the COCOM situation is cleared.
Front panel
The following figure shows the receiver front panel, which contains the three indicator light emitting
diodes (LEDs), and the Power button.
Lower housing
The following figure shows the receiver lower housing, which contains the two serial ports, one TNC
radio antenna or GSM antenna connector (depending on the internal communication module
ordered), the removable battery compartment and the 5/8-11 threaded insert.
Radio
antenna
connection
Port 2
Port 1
Each port or connector on the receiver is marked with an icon to indicate its main function as shown
below.
Port 1 is a 7-pin 0-shell Lemo connector that supports RS-232 comms and external power input. Port
1 has no power outputs.
Port 2 is a DB-9 male connector that allows for full 9-pin RS-232 comms. Port 2 does not support
power in or out. For more information, see Chapter 8, Default Settings and Chapter 9, Cables and
Connectors.
The TNC connector is for connecting a radio antenna to the receiver internal radio. A whip rubber
duck antenna is supplied with the system for units with internal UHF radios. This connector is not
used if you are using an external UHF radio or GSM.
Setup guidelines
Consider the following guidelines when setting up the receiver.
C CAUTION To satisfy the RF Exposure requirements of the FCC, you must maintain a minimum
separation distance of 20 cm (approximately 8 in.) between yourself and the radiating UHF or
GSM antenna for this device.
For mobile operation, the maximum gain of the UHF or GSM antenna must not exceed 0 dBi.
Environmental conditions
Although the receiver has a waterproof housing, take reasonable care to protect the unit. Avoid
exposure to extreme environmental conditions, including:
Water
Heat greater than 65 C (149 F)
Cold less than 40 C (40 F)
Corrosive fluids and gases
Fluorescent lights
Switching power supplies
General guidelines
C WARNING These receivers use a rechargeable Lithium-ion battery. To avoid personal injury
or equipment damage, make sure that you read and understand the Safety Information on
page 4 at the front of this manual.
The following guidelines apply whenever you set up the receiver for operation:
When plugging in a Lemo cable, make sure that the red dots on the receiver port and the cable
connector line up. Do not use force to plug cables in, as this may damage the connector pins.
When disconnecting a Lemo cable, grasp the cable by the sliding collar or lanyard and then pull
the cable connector straight out of the port. Do not twist the connector or pull on the cable itself.
To securely connect a TNC cable, align the cable connector with the receiver receptacle and then
thread the cable connector onto the receptacle until it is snug.
To insert the internal battery, place the battery in the battery compartment, ensuring that the
contact points are in the correct position to align with the contacts in the receiver. Slide the
battery and compartment as a unit upward into the receiver until the battery compartment
latches are locked into position.
Pole-mounted setup
The following figure shows the pole-mounted setup for the receiver. To mount the receiver on a
range pole:
1. Thread the receiver onto the range pole.
2. Attach the controller bracket to the pole.
3. Insert the controller into the bracket.
Note WhenusingaTrimbleTSC3,TrimbleTSC2,TrimbleTCU,TrimbleTabletRuggedPC,orTrimble
Slatecontroller,nocablingisrequired,asshownbelow.
Trimble receiver
Trimble controller
Radios
Radios are the most common data link for Real-Time Kinematic (RTK) surveying. The receiver is
available with an optional internal radio in the 450 MHz UHF band, or with an internal GSM module.
You can also connect an external radio to either receiver port, whether or not the internal radio is
installed.
The receiver supports the following Trimble base radios with the internal 450 MHz radio:
Trimble TDL 450L
Trimble HPB450
Trimble PDL450
Receiver internal 450 MHz transmitter
TRIMMARK 3 radio
SiteNet 450 radio
Front panel controls All the controls that you need for general
receiver operation are on the front panel.
Button functions
For more information about other receiver
LED behavior
panels, see Parts of the receiver, page 16.
Starting and stopping the receiver
Logging data
Resetting to defaults
Batteries and power
Power button
Power/Data status
Radio LEDs
SV Tracking
Button functions
The receiver has only one button, the Power button. Press the Power button to turn on or turn off
the receiver, and to perform other functions, as described below.
C CAUTION Do not hold down the Power button for more than 30 seconds. After 30 seconds,
any application files stored in the receiver are deleted.
To Power button
turn on the receiver Press
turn off the receiver Hold for 2 seconds
delete the ephemeris file Hold for 15 seconds
reset the receiver to factory defaults Hold for 15 seconds
delete application files Hold for 30 seconds
Note Thetermpressmeanstopressthebuttonandreleaseitimmediately.Thetermhold
meanstopressthebuttonandholditdownforthegiventime.
LED behavior
The three LEDs on the front panel of the receiver 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.
Note IfacolumnshowsN/A,thatspecificLEDmayormaynotbeon,butitisnotrelevanttothat
particularmode.
Logging data
You can log data internally or to a Trimble controller.
Logging internally
The receiver logs raw data on internal memory.
You can then use the Trimble Data Transfer utility or Trimble Business Center software to transfer
logged data files to the office computer.
Note IfyouusetheDataTransferutilitytodownloadtheinternally-loggedfiles,aDAT(*.dat)fileis
automaticallycreatedafterthedownload.DATfilesdonotcontainGLONASSdata.IfyouhaveTrimble
BusinessCentersoftware,theT0x(T01orT02)filethatisstoredonthereceivercanbedirectly
downloaded.TheT0xfilescontainanycollectedGLONASSdata.TrimbleBusinessCentersoftwarecan
processGLONASSdata,ifyoupurchasedthatoption.
C CAUTION The receiver allows for a maximum of 200 files on the internal memory. The
filenames must be in 8.3 format, otherwise, files copied to the internal memory may cause
data corruption or loss of data when logging.
Data is logged using the current logging settings configured in the receiver. Data files logged
internally are named automatically.
To begin internal logging, you must use a Trimble controller, or the GPS Configurator software. The
receiver does not have a continuously running internal clock when it is turned off, so you can conduct
timed survey sessions only if the receiver is turned on and connected to a power source.
When the internal memory is full, the receiver stops logging data, and the Power LED stops flashing
and remains on continuously. Existing data files are not overwritten. You can use the Auto-delete
option to override this action and automatically delete the oldest files when the receiver memory is
full. However, you should use this option with caution because it can result in loss of data.
Approximate storage requirements for different logging rates are shown below. The values shown
are for a one-hour logging session with six satellites visible.
Resetting to defaults
To reset the receiver to its factory default settings, hold down the Power button for at least 15
seconds.
For more information, see Default settings, page 46.
The receiver can be powered by its internal battery or by an external power source connected to Port
1.
If an external power source is connected to Port 1, it is used in preference to the internal battery.
When there is no external power source connected, or if the external power supply fails, the internal
battery is used.
The receiver is supplied with two rechargeable Lithium-ion batteries, and a dual battery charger.
Charge the Lithium-ion batteries only in a Trimble battery charger, such as the dual battery charger
P/N 61116-00 (black) or P/N 53018010 (grey), or the five-battery system charger P/N 49499-00
(yellow/grey) or another charger specified for this battery. The two batteries charge sequentially and
take approximately four hours each to fully charge.
C WARNING Charge and use the rechargeable Lithium-ion battery only in strict accordance
with the instructions. Charging or using the battery in unauthorized equipment can cause an
explosion or fire, and can result in personal injury and/or equipment damage.
To prevent injury or damage:
Do not charge or use the battery if it appears to be damaged or leaking.
Charge the Lithium-ion batteries only in a Trimble battery charger, such as the dual battery
charger P/N 61116-00 (black) or P/N 53018010 (grey), or the five-battery system charger P/N
49499-00 (yellow/grey) or another charger specified for this battery. Be sure to follow all
instructions that are provided with the battery charger.
Discontinue charging a battery that gives off extreme heat or a burning odor.
Use the battery only in Trimble equipment that is specified to use it.
Use the battery only for its intended use and according to the instructions in the product
documentation.
To protect the battery from deep discharge (5 V or less), the receiver is designed to switch batteries
or cease drawing power when the battery pack discharges to 5.9 V.
A battery that has reached the deep discharge level cannot be recharged and must be replaced. The
following recommendations provide optimal performance and extend the life of your batteries:
Fully charge all new batteries prior to use.
Do not allow the batteries to discharge below 5 V.
Keep all batteries on continuous charge when not in use. Batteries may be kept on charge
indefinitely without damage to the receiver or batteries.
Do not store batteries in the receiver or external charger unless power is applied.
If you must store the batteries, fully charge them before storing and then recharge them at least
every three months.
Power output
The receiver does not supply power from either of its two ports.
Firmware
A receivers firmware is the program inside the receiver that controls receiver operations and
hardware. You can upgrade the firmware for the receiver using the WinFlash utility which can be
downloaded from www.trimble.com.
For more information, see The WinFlash Utility, page 35.
C CAUTION Downgrading the firmware deletes all application files on the receiver.
Configuring the receiver in real time The receiver has no controls to change settings.
To configure the receiver, use external software
Configuring the receiver using application
such as GPS Configurator, WinFlash, Trimble
files
Access, or Trimble Survey Controller.
Application files
To configure the receiver, do one of the
following:
Configure the receiver in real time.
Apply the settings in an application file.
This chapter provides a brief overview of each
of these methods and describes the contents
and use of application files.
Application files
An application file is organized into records. Each record stores configuration information for a
particular area of receiver operation. Application files can include the following records:
File Storage
General Controls
Serial Port Baud/Format
Reference Position
Logging Rate
SV Enable/Disable
Output Message
Antenna
Device Control
Static/Kinematic
Input Message
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 ten different application files in the receiver. You can apply an application files
settings at the time it is transferred to the receiver, or at any time afterwards.
You cannot delete the current file or change it directly, but every change to the receivers current
configuration is applied to the current file as well.
When you switch off the receiver then turn it on again, all the settings from the current application
file are applied, so you do not lose any changes that you have made. The only exceptions are the
following logging parameters:
Logging rate
Position rate
Elevation mask
These parameters are always reset to the factory default values whenever the receiver is switched
off.
you can use an existing application file as a template to create other application files with similar
settings.
The GPS Configurator software This chapter describes the software utilities that
you can use with the receiver.
The WinFlash Utility
Upgrading firmware
Your receiver is supplied with the latest version of receiver firmware installed. If a later version
becomes available, upgrade the firmware installed on your receiver.
The WinFlash utility guides you through the firmware upgrade process. The steps required are
described below. For more information, refer to the WinFlashHelp.
To upgrade the receiver firmware:
1. Start the WinFlash utility. The DeviceConfiguration screen appears.
2. From the Devicetype list, select TrimbleR8/R6/R4.
3. From the PCserialport field, select the serial (COM) port on the computer that the receiver is
connected to.
4. Click Next.
The OperationSelection screen appears. The Operations list shows all of the supported
operations for the selected device. A description of the selected operation is shown in the
Description field.
5. Select GPS software upgrade and click Next.
The GPSSoftwareSelection window appears. This screen prompts you to select the software that
you want to install on the receiver.
6. Select the latest version from the AvailableSoftware list and then click Next.
The SettingsReview window appears. This screen prompts you to connect the receiver, suggests
a connection method and then lists the receiver configuration and selected operation.
6. In the WirelessFormat group, select the appropriate channel and wireless mode. The Wireless
Mode must be the same for all radios in your network.
7. In the SpecifyFrequency field, enter the frequency you require.
8. Click Add. The new frequency appears in the SelectedFrequencies list.
Note Thefrequenciesthatyouprogrammustconformtothechannelspacingandminimumtuning
requirementsfortheradio.Toviewthisinformation,clickRadio Info.Youmayselecteither12.5or25
kHzchannelspacing.Allradiosinyournetworkmustusethesamechannelspacing.
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.
Note Youcanonlyconfigurereceivefrequencies.TheFCCapprovedtransmitfrequenciesmustbe
specifiedandconfiguredbytheTrimbledistributionpartner.
B Tip To view a list of all radio information, including the current configuration, click Radio Info.
1. Select the CurrentChannel, which determines the radio operating frequency.
2. Select the WirelessMode, which determines the over-the-air communications parameters. The
following example shows a rover setup:
To reduce battery consumption on your base receiver, set the wireless mode as high as possible.
For example, 9600 bits per second (bps) consumes half the power of 4800 bps for the same data
format and time of operation.
Note Allradiosinthenetworkmustbeconfiguredwiththesamewireless setting.
3. Select the appropriate operating mode, depending on how you intend to use the receiver, for
example, BasewithNoRepeaters:
4. Select one of the following channel sharing configurations (base modes only; not available for
rover):
Off. The carrier detect mode is off. The unit will ignore other transmissions on your frequency
and continue to transmit data.
Note ItmaybeillegalinyourcountryofusetosetchannelsharingtoOff.Youmaybe
subjecttopenaltiesorfinesbaseduponthespecificlicensingrequirementsforyourcountry
ofuse.Pleaseconsultyourradiolicensedocumentationorlicensingagencyforoperational
guidelines.
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. If you are operating in Base mode, select the EnableStationID check box and then enter your call
sign in the CallSign field. This FCC requirement is for U.S. licensed users. It sets your radio to
transmit your call sign in Morse code every 15 minutes.
6. To update the configuration, click OK.
In the Status dialog that appears, select an option to return to the main menu or to exit the
WinFlash utility.
B Tip You can print or save the radio configuration information for future reference. If required,
you can fax or email the file to Trimble Support to aid in troubleshooting radio problems.
Physical specifications
Feature Specification
Size 19.0 cm (7.5") wide x 10.4 cm (4.1") deep including connectors
Weight: with internal battery, radio, and 1.52 kg (3.35 lbs)
standard antenna
Operating times on internal 2.6 Ah 450 MHZ receive only - 5 hours
battery (varies with temperature) 450 MHz receive/transmit: 2.5 hours (varies with wireless data
rate)
GSM: 4.7 hours
Power input 1128 V DC with over-voltage protection on port 1 (7-pin lemo)
a
Operating temperature 40 C to +65 C (40 F to +149 F)
Storage temperature 40 C to +75 C (40 F to +167 F)
Humidity 100% condensing, unit fully sealed
Casing Water/dustproof IP67 dustproof, protected from temporary
immersion to depth of 1 m (3.28 ft)
aReceiver will operate normally to 40 C. Internal batteries are rated to 20 C. GSM module is rated to -30C.
Positioning specifications
Feature Specification
Positioning performancea
Code differential GNSS positioning
Horizontal 0.25 m + 1ppm RMS
Vertical 0.50 m + 1ppm RMS
b
SBAS differential positioning accuracy typically <5 m 3DRMS
a
Static GNSS surveying
High-precision static
Horizontal 3 mm + 0.1 ppm RMS
Vertical 3.5 mm + 0.4 ppm RMS
Static and FastStatic
Horizontal 3 mm + 0.5 ppm RMS
Vertical 5 mm + 0.5 ppm RMS
Kinematic surveyinga
Postprocessed Kinematic (PPK) GNSS surveying
Horizontal 8 mm + 1 ppm RMS
Vertical 15 mm + 1 ppm RMS
Real-Time Kinematic Surveying
Single Baseline < 30 km
Horizontal 8 mm + 1 ppm RMS
Feature Specification
Vertical 15 mm + 1 ppm RMS
c
Network RTK
Horizontal 8 mm + 0.5 ppm RMS
Vertical 15 mm + 0.5 ppm RMS
d
Initialization time typically < 8 seconds
Initialization reliabilityd typically > 99.9%
a Precision and reliability may be subject to anomalies due to multipath, obstructions, satellite geometry, and atmospheric conditions. The specifications stated recommend the use
of stable mounts in an open sky view., EMI and multipath clean environment, optimal GNSS constellation configurations, along with the use of survey practices that are generally
accepted for performing the highest-order surveys for the applicable application including occupation time appropriate for baseline length. Baselines longer than 30 km require pre-
cise emphemeris and occupations up to 24 hours may be required to achieve the high precision static specification.
b Depends on SBAS system performance.
c Network RTK PPM values are referenced to the closest physical reference station.
d May be affected by the atmospheric conditions, signal multipath, obstructions, and satellite geometry. Initialization reliability is continuously monitored to ensure highest quality.
Technical specifications
Feature Specification
Tracking:
Trimble R8 Model 4 Advanced Trimble Maxwell 6 Custom Survey GNSS chips with 440 channels.
GNSS receiver Satellites simultaneously tracked:
Trimble R6 Model 4 Advanced Trimble Maxwell 6 Custom Survey GNSS chip with 220 channels.
GNSS receiver Satellites simultaneously tracked:
Feature Specification
Signal processing Advanced Trimble Maxwell 6 Custom Survey GNSS chip
Very low-noise GNSS carrier phase measurements with <1 mm precision in a 1 Hz
bandwidth
Multipath suppression
Start-up Cold start: < 60 seconds from power on
Warm start: < 30 seconds with recent ephemeris
Initialization Automatic while moving or static
Initialization timea Typically < 8 seconds
b
Initialization reliability Typically >99.9%
Communications Two RS-232 serial ports (Port 1, Port 2)
Baud Rates up to 115,200 bps
RTS/CTS flow control negotiation supported on port 2
Bluetooth communications through Trimble controller with Bluetooth support
Configuration Through user-definable application files or GPS Configurator
Output formats NMEA-0183: AVR; BPQ; DP; DTM; GBS; GGA; GGK; GLL; GNS; GRS; GSA; GST; GSV;
HDT; LLQ; PJK; PJT; RMC, ROT; VGK; VHD; VTG; ZDA
GSOF (Trimble Binary Streamed Output)
RT17 and RT27 outputs, BINEX and smoothed carrier
a May be affected by atmospheric conditions, signal multipath, obstructions and satellite geometry.
b May be affected by atmospheric conditions, signal multipath, and satellite geometry. Initialization reliability is continuously monitored to ensure highest quality.
Default settings
These settings are defined in the default application file.
Default behavior
The factory defaults specified above are applied whenever you start the receiver. If a power up file is
present in the receiver, its settings are applied immediately after the default settings, so you can use
a power up file to define your own set of defaults.
When you turn the receiver on and then logging settings are and logging
it is the first time that the receiver has the factory defaults does not begin automatically
been used
you have reset the receiver to its the factory defaults, or those in does not begin automatically
factory defaults the power up filea
you have performed a full reset the factory defaults, because does not begin automatically
resetting deletes any power up
file
a
A factory default setting is used only if the setting is not defined in the power up file.
Power up settings
When you turn off the receiver, any changes that you have made to logging settings are lost and
these settings are returned to the factory defaults. Other settings remain as defined in the current
file. The next time you turn on the receiver, the receiver checks for a power up file and, if one is
present, applies the settings in this file.
When you use the Power button to then logging settings are and all other settings are
turn off and then turn on the
receiver and
you changed the receiver settings by the factory defaults the last settings used
applying an application file
you changed the receiver settings the factory defaults the last settings used
using configuration software
there is a power up application file in the factory defaults, or those in the last settings used, or
the receiver the power up filea those in the power up file
aA factory default setting is used only if the setting is not defined in the power up file.
Port 1 and 2 connectors This chapter describes the pinouts for the
receiver standard and optional cables. This
Power/serial data cables
information can be used to prepare special
cables for connecting the receiver to devices
and instruments not supported by the standard
and optional cables.
Port 2 Port 1
1
2
BARCODE S/N LABEL
1 7 6
5
2
Port 1
3 4
Pins 9 8 7 6
Pins 5 4 3 2 1
Port 2
This data cable may be used for firmware upgrades and other computer functions with the receiver.
Power must be supplied to the receiver through Port 1, or from the internal battery.
Note Thispinoutinformationalsoappliestothepower/serialdatacable,whichisoptionalforuse
withthereceiver.ThiscablecanbeusedforfirmwareupgradesthroughPort1,whilealsosupplying
externalpower.
The table below assumes that the cable is attached to the connector labeled Port 1:
NMEA-0183 outputs
When NMEA-0183 output is enabled, a subset of NMEA-0183 messages can be output to external
instruments and equipment connected to the Trimble receiver serial ports. These NMEA-0183
messages let external devices use selected data collected or computed by the receiver.
All messages conform to the NMEA-0183 version 3.01 format. All begin with $ and end with a
carriage return and a line feed. Data fields follow comma (,) delimiters and are variable in length. Null
fields still follow comma (,) delimiters but contain no information.
An asterisk (*) delimiter and checksum value follow the last field of data contained in an NMEA-0183
message. The checksum is the 8-bit exclusive OR of all characters in the message, including the
commas between fields, but not including the $ and asterisk delimiters. The hexadecimal result is
converted to two ASCII characters (09, AF). The most significant character appears first.
The following table summarizes the set of NMEA messages supported by the receiver, and shows the
page where detailed information about each message can be found.
To enable or disable the output of individual NMEA messages, do one of the following:
Create an application file in the GPS Configurator software that contains NMEA output settings
and then send the file to the receiver.
Add NMEA outputs in the Serialoutputs tab of the GPS Configurator software and then apply the
settings.
A checksum value
Below is an example of a simple message with a message ID ($GPGGA), followed by 13 fields and a
checksum value:
$GPGGA,172814.0,3723.46587704,N,12202.26957864,W,2,6,1.2,18.893,M,-25.669,M,2.0,0031*4F
Message values
The following values can be found in NMEA messages that the receiver generates.
Direction
Direction (north, south, east, or west) is represented by a single character: N, S, E, or W.
Time
Time values are presented in Universal Time Coordinated (UTC) and are represented as hhmmss.ss,
where:
hh is hours, from 00 to 23
mm is minutes
ss is seconds
ss is hundredths of seconds
NMEA messages
When NMEA-0183 output is enabled, the following messages can be generated.
Field Meaning
1 UTC of vector fix
2 Yaw angle in degrees
3 Yaw
4 Tilt angle in degrees
Field Meaning
5 Tilt
6 Reserved
7 Reserved
8 Range in meters
9 Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential carrier phase solution RTK (Float)
3: Differential carrier phase solution RTK (Fix)
4: Differential code-based solution, DGPS
10 PDOP
11 Number of satellites used in solution
Field Meaning
1 BPQ identifier
2 Time the base CMR message is received (hhmmss.ss)
3 Date the base CMR message is received (mmddyy)
4 Latitude, in degrees and decimal minutes (ddmm.mmmmmmmm)
5 N/S indicator for latitude
6 Longitude, in degrees and decimal minutes (dddmm.mmmmmmmm)
7 E/W indicator for longitude
8 Antenna height above MSL
9 Indicates meters
10 Quality indicator:
0: Fix not valid
1: GPS fix
2: Differential GPS fix
4: Real Time Kinematic, fixed integers
5: Real Time Kinematic, float integers
Field Meaning
1 Two-character code for GPS (GP), GLONASS (GL) or GNSS (GN) data
2 UTC time (hhmmss.ss)
3-4 Latitude, in degrees and decimal minutes (ddmm.mmmmm) and Latitude sign (N/S)
5-6 Longitude, in degrees and decimal minutes (dddmm.mmmmm) and Longitude sign (E/W)
7 Total number of satellites (GPS + GLONASS)
8 DPVOA (UK00A) quality indicatora
9 DGNSS mode indicator (as NMEA standard for $__GNS)
10 Error ellipse standard deviation semi-major axis, in meters (aa.a)
11 Error ellipse standard deviation semi-minor axis, in meters (bb.b)
12 Direction of the error ellipse, in degrees
13 RMS value of the standard deviation of the range inputs to the navigation processb
a This quality indicator is defined in "Guidelines on the use of DGPS in as a positioning reference in DP Control Systems" IMCA M141, dated Oct 1997 www.imca-
int.com/publications/marine/imca.html.
b This is the same as the definition in the GST message in the"NMEA 183 Standard For Interfacing Marine Electronic Devices"from version 2.20, dated January 1 1997
www.nmea.org/0183.htm.
The resulting message is shorter than the maximum defined message length of 82 characters, even
with mm level resolution in Latitude/Longitude.
Field Meaning
1 Local datum code (CCC):
W84 WGS84
W72 WGS72
S85 SGS85
P90 PE90
999 User defined
IHO datum code
2 Local datum subdivision code (x)
3 Latitude offset, in minutes (x.x)
4 N/S (x)
5 Longitude offset, in minutes (x.x)
6 E/W (x)
7 Altitude offset, in meters (x.x)
8 Reference datum code (CCC):
W84 WGS84
W72 WGS72
S85 SGS85
P90 PE90
Field Meaning
1 UTC time of position (hhmmss.ss)
2 Expected error in Latitude due to pseudorange bias, in meters
3 Expected error in Longitude due to pseudorange bias, in meters
4 Expected error in altitude due to pseudorange bias, in meters
5 ID number of most likely failed satellite
6 Probability of missed detection of most likely failed satellite
Field Meaning
7 Estimate of bias, in meters, on the most likely failed satellite
8 Standard deviation of bias estimate
9 System ID
10 Signal ID
Field Meaning
1 UTC of position fix (hhmmss.ss)
2 Latitude
3 Direction of latitude:
N:North
S:South
4 Longitude
5 Direction of longitude:
E:East
W:West
6 GPS Quality indicator:
0:Fix not valid
1:GPS fix
2:Differential GPS fix
4:Real Time Kinematic, fixed integers
5:Real Time Kinematic, float integers
7 Number of SVs in use, range from 00 to 12
8 HDOP
9 Orthometric height (MSL reference)
10 M: unit of measure for height is meters
11 Geoid separation
12 M:geoid separation is measured in meters
13 Age of differential GPS data record, Type 1 or Type 9. Null field when DGPS is
not used.
14 Reference station ID, ranging from 0000 to 1023. A null field when any
reference station ID is selected and no corrections are received.
Field Meaning
1 UTC of position fix (hhmmss.ss)
2 Date
3 Latitude
4 Direction of latitude:
N: North
S: South
5 Longitude
6 Direction of Longitude:
E: East
W: West
7 GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential, floating carrier phase integer-based solution, RTK(float)
3: Differential, fixed carrier phase integer-based solution, RTK(fixed)
4: Differential, code phase only solution (DGPS)
8 Number of satellites in fix
9 DOP of fix
10 Ellipsoidal height of fix
11 M: Ellipsoidal height is measured in meters
Note TheGGKmessageislongerthantheNMEA-0183standardof80characters.
GLL Position data: position fix, time of position fix, and status
An example GLL message and a description of the message fields are provided below.
$GPGLL,3953.88008971,N,10506.75318910,W,034138.00,A,D*7A
Field Meaning
1 Latitude in dd mm,mmmm format
2 North/South
3 Longitude in dd mm,mmmm format
4 East/West
5 UTC of position in hhmmss.ss format
6 Status indicator:
A: Data valid
V: Data not valid
This value is set to V (Data not valid) for all Mode Indicator values except A
(Autonomous) and D (Differential)
7 Mode indicator:
A: Autonomous mode
D: Differential mode
E: Estimated (dead reckoning) mode
M: Manual input mode
S: Simulator mode
N: Data not valid
Field Meaning
1 UTC time of position (hhmmss.ss)
2 Latitude, in degrees and decimal minutes (ddmm.mmmmm)
3 North/South indicator for latitude
4 Longitude, in degrees and decimal minutes (dddmm.mmmmm)
5 East/West indicator for longitude
6 Mode indicator:
Variable character field with one character for each supported constellation.
First character is for GPS
Second character is for GLONASS
Subsequent characters will be added for new constellation
Each character will be one of the following:
N = No fix. Satellite system not used in position fix, or fix not valid
A = Autonomous. Satellite system used in non-differential mode in position fix
D = Differential (including all OmniSTAR services). Satellite system used in differential mode in
position fix
P = Precise. Satellite system used in precision mode. Precision mode is defined as: no deliberate
degradation (such as Selective Availability) and higher resolution code (P-code) is used to
compute position fix
R = Real Time Kinematic. Satellite system used in RTK mode with fixed integers
F = Float RTK. Satellite system used in real time kinematic mode with floating integers
E = Estimated (dead reckoning) Mode
M = Manual Input Mode
S = Simulator Mode
7 Total number of satellites to use
8 HDOP calculated using all the satellites used in computing the solution
9 Antenna height above MSL
10 Geoidal separation in meters
11 Age of differential data
12 Differential reference station ID
13 Navigational status indicator
Field Meaning
1 UTC time of position fix (hhmmss.ss)
2 Mode:
0: Residuals used to calculate position given in the matching GGA line
1: Residuals recomputed after the GGA position was computed
3-14 Range residuals for satellites used in the navigation solution, in meters
Field Meaning
1 Mode 1, M = manual, A = automatic
2 Mode 2, Fix type, 1 = not available, 2 = 2D, 3 = 3D
3 PRN number, 01 to 32, of satellite used in solution, up to 12 transmitted
4 PDOP-Position dilution of precision, 0.5 to 99.9
5 HDOP-Horizontal dilution of precision, 0.5 to 99.9
6 VDOP-Vertical dilution of precision, 0.5 to 99.9
7 Checksum
Field Meaning
1 UTC of position fix (hhmmss.ss)
2 RMS value of the pseudorange residuals (includes carrier phase residuals
during periods of RTK(float) and RTK(fixed) processing)
3 Error ellipse semi-major axis 1 sigma error, in meters
4 Error ellipse semi-minor axis 1 sigma error, in meters
5 Error ellipse orientation, degrees from true north
6 Latitude 1 sigma error, in meters
7 Longitude 1 sigma error, in meters
8 Height 1 sigma error, in meters
Field Meaning
1 Total number of messages of this type in this cycle
2 Message number
3 Total number of SVs visible
4 SV PRN number
5 Elevation, in degrees, 90 maximum
6 Azimuth, degrees from True North, 000 to 359
7 SNR, 0099 dB (null when not tracking)
811 Information about second SV, same format as fields 47
1215 Information about third SV, same format as fields 47
1619 Information about fourth SV, same format as fields 47
Field Meaning
1 Heading in degrees
2 T: Indicates heading relative to True North
Field Meaning
1 UTC time of position (hhmmss.ss)
2 UTC date of position (ddmmyy)
3 Grid easting, in meters
4 Meters, fixed text
5 Grid northing, in meters
6 Meters, fixed text
7 GPS Quality:
0: Invalid
1: GPS fix
2: DGPS fix
3: RTK fix
8 Number of satellites used in computation
9 Position quality, in meters
10 Height above/below MSL, in meters
11 Meters, fixed text
Field Meaning
1 UTC of position fix (hhmmss.ss)
2 Date
3 Northing, in meters
4 Direction of Northing will always be N (North)
5 Easting, in meters
6 Direction of Easting will always be E (East)
7 GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential, floating carrier phase integer-based solution, RTK (float)
3: Differential, fixed carrier integer-based solution, RTK (fixed)
4: Differential, code phase only solution (DGPS)
8 Number of satellites in fix
9 DOP of fix
10 Ellipsoidal height of fix
11 M: Ellipsoidal height is measured in meters
Note ThePJKmessageislongerthantheNMEA-0183standardof80characters.
Field Meaning
1 Coordinate system name (can include multiple words)
2 Projection name (can include multiple coordinates)
Field Meaning
1 UTC of position fix
2 Status A=active or V=void
3 Latitude (ddmm.mmm)
4 Direction of latitude:
N: North
S: South
5 Longitude (dddmm.mmm)
6 Direction of longitude:
E: East
W: West
7 Speed over the ground in knots
8 Track angle in degrees (True)
9 Date (ddmmyy)
10 Magnetic variation
11 The checksum data, always begins with *
Field Meaning
1 Rate of turn, degrees/minutes, "" indicates bow turns to port
2 A:Valid data
V:Invalid data
Field Meaning
1 UTC of vector in hhmmss.ss format
2 Date in mmddyy format
3 East component of vector, in meters
4 North component of vector, in meters
5 Up component of vector, in meters
6 GPS quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential carrier phase solution RTK(float)
3: Differential carrier phase solution RTK(fix)
4: Differential code-based solution, DGPS
7 Number of satellites in fix solution
8 DOP of fix
9 M: Vector components are in meters
Field Meaning
1 UTC of position, in hhmmss.ss,ddmmyy format
2 Date in mmddyy format
3 Azimuth
4 Azimuth/Time
5 Vertical Angle
6 Vertical/Time
7 Range
8 Range/Time
9 Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential carrier phase solution RTK(float)
3: Differential carrier phase solution RTK(fix)
4: Differential code-based solution, DGPS
10 Number of satellites used in solution
11 PDOP
Field Meaning
1 Track made good (degrees true)
2 T: track made good is relative to true north
ZDA UTC day, month, year, and local time zone offset
An example ZDA message and a description of the message fields are provided below.
$GPZDA,172809,12,07,1996,00,00*45
Field Meaning
1 UTC
2 Day, ranging between 01 and 31
3 Month, ranging between 01 and 12
4 Year
5 Local time zone offset from GMT, ranging from 00 to 13 hours
6 Local time zone offset from GMT, ranging from 00 to 59 minutes
Fields 5 and 6 together yield the total offset. For example, if field 5 is 5 and field 6 is +15, local time
is 5 hours and 15 minutes earlier than GMT.
Generated messages
Message scheduling
Generated messages
Messages that are generated when you select a specific RTCM version are as follows. These messages
are in the same order as they appear in the GPS Configurator software. For the details of the
contents of individual messages, refer to the RTCM documentation.
Selection Message
Version 2 1 3 22 59
USCG 9-3 3 9-3
RTCM/RTK 2.2+2.3 1 3 18 19 22 23 24 59
RTK Only 2.2+2.3 3 18 19 22 23 24 59
RTCM/RTK 2.3 1 18 19 23 24
RTK Only 2.3 18 19 22
RTCM/RTK 2.2 1 3 18 19 22 59
RTK Only 2.2 3 18 19 22 59
RTCM/RTK 2.1 1 3 18 19 22 59
RTK Only 2.1 3 18 19 22 59
RTCM/RTK 3.x 1004 1006 1008 1012 1013 1033
Message scheduling
The frequency at which messages are generated when they are enabled in a base receiver is as
follows.
Type Frequency
1 Every second
3 The 10th second after the first measurement, then every 10 seconds after
that
9-3 Every second
18 Every second
19 Every second
22 The 5th second after the first measurement, then every 10 seconds after that
23 The 4th second after the first measurement, then every 10 seconds after that
24 The 4th second after the first measurement, then every 10 seconds after that
59-sub, 13 The 5th second after the first measurement, then every 10 seconds after that
1004 Every second
1006 Every 10 seconds, offset by 2 seconds
1008 Every 10 seconds, offset by 1 second
1012 Every second
1013 Every 10 seconds, offset by 3 seconds
1033 Every 10 seconds
LED conditions
Receiver issues
LED conditions
An 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 describes some LED conditions, possible
causes, and how to solve them.
Receiver issues
The following table describes some possible receiver issues, possible causes, and how to solve them.