Training and Presentation

Field Training

Contents

Brief overview of GNSS Overview of the Terralite constellation Terralite constellation Hardware Firmware Versions Software Overview Trouble shooting

Brief overview of GNSS

– Overview of GPS– Ranges– Timing– Timing Errors– Geometry– Atmospheric Conditions– RTK– Satellite constellations

Overview of GPS

Global Positioning System (GPS) Trimble Tutorial on GPS

(http://www.trimble.com/gps/howgps.shtml)

A minimum of 4 satellites are required to provide a unique solution

Ranges

We do know the Velocity of the Satellites signals

To get the time travelled we need to synchronize the clock in our receiver on the ground with the clocks in the Satellites.

Thus satellite positioning is based on clocks!

Timing

To get perfect synchronisation we can use an additional satellite signal.

Thus we need a minimum of five satellites for the initial position solution.

Timing Errors

Despite having perfect synchronisation there are still some errors that affect the accuracy.

Geometry

Poor Geometry Good Geometry

Atmospheric Conditions

Relatively close locations have similar atmospheric conditions

RTK

Corrections for the Satellite are sent to the GNSS Receivers

Satellite constellations

GPS - US system Glonass - Russian system Galileo - European Union system Compass - Chinese system QZSS - Japanese system

Terralite constellation Overview

Terralite constellation

Augmentation

The Matrix above shows the minimum number of signals required for a solution

Manual 602-0077-02-A Page 41

Terralite constellation designs

There are three Constellation designs

Basic Standard Network

Manual 602-0077-02-A Page 10

Basic Constellation

Manual 602-0077-02-A Page 61

Standard Constellation

Manual 602-0077-02-A Page 63

Network Constellation

Manual 602-0077-02-A Page 65

Hardware

IX100G

Reference Station/Integrity Monitor (Base Station)

Provides a corrections

to enable High Precision

positionsManual 602-0077-02-A Page 25

TX100

XPS transmitter

Provides XPS signals which are used by the Reference station and the Receivers for High Precision positioning.

Manual 602-0077-02-A Page 23

MX100G

GNSS + XPS enabled receivers

Provides High Precision positions for machine control

Manual 602-0266-01-A Page 20

AX100G

Antenna capable of receiving GNSS and XPS Signals

Manual 602-0266-01-A Page 22

Connectors

RED – XPS Orange – Power Yellow – GPS

DO NOT CROSS CABLES

Red to Red Orange to Orange Yellow to Yellow

Front Panel (MX & IX)

RX - indicates the radio modem is receiving data over its radio link. TX - indicates that the internal computer is transmitting to the radio modem. NSV - blinks indicating the total number of satellites and Terralites tracked. FIX - The Base station will never be in FIX ATT - is not used on the IX100 Receiver. BOK - indicates the currently received IX100 Reference Station/Integrity

Monitor state of health PPS - indicates when PPS signal is valid PWR - indicates that the power is on

Firmware Versions

Firmware 3.1

Capabilities

Baseline software runs on new hardware: MX100G, IX100G

GLONASS (with Reference)

Supports up to 8 Terralites

Firmware 3.2

Capabilities

Baseline software runs on new hardware: MX100G, IX100G

GLONASS (with Reference) Supports up to 8 Terralites Split Reference Multi Pit XPS

Software Overview

Home Screen – MX100G

Home Screen – IX100G

Manual 602-0077-02-A Page 83

Home Screen – TX100

Manual 602-0077-02-A Page 123

Diagnostics Menu

MX100G, IX100G and TX100 Signal View Boot Log Event Log Sensor Log CPU Uptime RTK Uptime MX100G and IX100G Terralite Survey Status IX100G RTK Subscriber List

Signal View – Position (MX100G)

The Signal View screen provides more in depth information on the health of the unit.The PositionCoordinates portion shows:Latitude of the unit in decimal degrees.Longitude of the unit in decimal degrees.Height of the unit - Ellipsoidal HeightPositioning Mode – Hybrid fine, Hybrid course, GPS fixed, GPS float, AutonomousRTK Age (Sec) -The amount of time in Seconds since the last Correction was receivedPDOP – the geometry of the of the signal sources.

Signal View – Terralites (MX100G)

SLT is the slot number observed. Each Terralite has a unique slot number.XPS SS is the signal strength of the XPS signal, a value of more than 102 is required.XPS AG is the Auto Gain, a value of more than 100 is required. REF SS/AG is the signal strength and Auto Gain being observed by the reference station.The Sky plot shows you the position of Terralites (Green) and satellites (Blue) with respect to the unit you are logged onto.Bold numbers in the SLT column are used in the position solution.

Signal View – Satellites (MX100G)

L1 Greater than 10 L2 Greater than 5

Bold Numbers are Signals being used

Signal View – Receiver Status (MX100G, IX100G)

MXG’s and IXG’s operate at 10-14 vdc but can accept inputs of 10 – 34 vdc

RCORate ± 3.0

Operating Temperature -20º C to +60º C

Signal View – Position (TX100)

The Signal View screen provides more in depth information on the health of the unit.The Position Coordinates portion shows:Latitude of the unit in decimal degrees.Longitude of the unit in decimal degrees.Height of the unit - Ellipsoidal HeightPositioning Mode – GPS fixed, GPS float, AutonomousRTK Age (Sec) -The amount of time in Seconds since the last Correction was receivedPDOP – the geometry of the of the signal sources.

Signal View – Terralites (TX100)

Terralites do not track Terralites SS values should be greater than 102 AG values should be greater than 100

Manual 602-0077-02-A Page 126

Signal View – Satellites (TX100)

L1 Greater than 10

L2 Greater than 5

Bold Numbers are

Signals being used

Manual 602-0077-02-A Page 128

Signal View – Receiver Status (TX100)

TX100 operate at 10-34 vdc but can accept inputs of 10 – 34 vdc

RCORate of 299.7 ± 3 are good

Signal View – Position (IX100)

The Signal View screen provides more in depth information on the health of the unit.The Position Coordinates portion shows:Latitude of the unit in decimal degrees.Longitude of the unit in decimal degrees.Height of the unit - Ellipsoidal HeightPositioning Mode –will always be AutonomousPDOP – the geometry of the of the signal sources.

Manual 602-0077-02-A Page 85

Signal View – Terralites (IX100)

Terralites do not track Terralites SS values should be greater than 102 AG values should be greater than 100

Manual 602-0077-02-A Page 85

Signal View – Satellites (IX100)

L1 Greater than 10

L2 Greater than 5

Bold Numbers are

Signals being used

Manual 602-0077-02-A Page 87

Signal View – Receiver Status (IX100G)

The RCORate should be within ± 3.0

Manual 602-0077-02-A Page 87

Boot Log

Shows status of current boot.Six stages in the boot sequenceShould show UP AND RUNNING

If any of the stages failure contact your Trimble representative.

Manual 602-0077-02-A Page 89, 128

Event Log

Manual 602-0077-02-A Page 90, 130

CPU Uptime

CPU Uptime shows the amount of time the unit has been operational.

Manual 602-0077-02-A Page 92, 132

RTK Uptime

RTK Uptime shows how long RTK has been working

It also shows the modes and percentages

for this session. Manual 602-0077-02-A Page 93, 134

Sensor Log

The Temperature and VoltageAre recorded in a single file.

Logs are written daily and different months can be selected by using the drop down menu

Manual 602-0077-02-A Page 91, 131

Terralite Survey Status

Terralites need to have been

Surveyed in order to be used.

Manual 602-0077-02-A Page 94

TL Network Select

Manual 602-0077-02-A Page 95

RTK Packet StatsIndicates when the last packet was received and the source of the Packet

Packet Throughput shows the Source of the Packets, The total number of packets received and the throughput percentage.

Packet Latency Count shows the number and Source as well as destination of packets. It also shows the amount of time between receiving packets.

Manual 602-0077-02-A Page 136

RTK Subscribers List (IX)

The subscription list only applies when using subscription mode for Differential Correction.

It shows the IP address and the Subscription Time

Manual 602-0266-01-A Page 96

Configuration Menu MX100, IX100 and TX100 Config File IP Address Diff Correction XPS Network ID Network Select XPS Aided Search Data Logging Elevation Mask PDOP Mask Site & Machine IX100 only Reference Position

Configuration File

The configuration file contains the current settings.

Manual 602-0266-01-A Page 99, 140

Configuration uploading

Save Button Will allow you to save the current configuration file from the unit to your computer.

Upload Button Browse to the location of the configuration file you wish to load onto the unit with the browse button. Then press the Upload button to send it.

Revert to Factory defaults Press this button if you wish to set the unit back to factory defaults. Remember this will rest ALL of the values. You will most likely need to change your IP settings after reverting the configuration.

Network IP Address

The network communications setting will be provided by the sites IT department.

For IP based communications you will need an IP Address, Subnet Mask and Default Gateway

Manual 602-0266-01-A Page 102, 142

Transmitter Slot (TX only)

Each Terralite has a unique slot number. The transmitter slot needs to be enabled in

order to transmit XPS signals.

Manual 602-0266-01-A Page 149

FCC License (TX only)

In side United States you will enter the FCC license number here

Outside the US this setting is not required

Manual 602-0266-01-A Page 150

Differential Correction

Sets the source of the RTK corrections.

Supported modes are Subscription, Multicast and Unicast

Multiple XPS networks are also supported.

Manual 602-0266-01-A Page 143, 145

Differential Correction - IX

Sets the method for sending RTK corrections Manual 602-0266-01-A Page 103

Position Output

The position output is used to interface with the vendors software. This information is supplied by the vendor

Manual 602-0266-01-A Page 105

Position Output (Submit Changes) (MX ) Select Restart RTK for the changes to take

effect

XPS Network ID (MX, TX and IX)

This option is to select the XPS Network that the unit will participate in. If the wrong option is selected the unit will not be able to function in the appropriate network.

Manual 602-0266-01-A Page 104, 147

Network Select

The Network Select Parameters are for multiple XPS network sites

Manual 602-0266-01-A Page 98

XPS Aided Search

The XPS Aided Search is used for multiple XPS network sites

Data Logging (MX, TX and IX)

Recording the NMEA string is useful for diagnostics by Trimble Engineers

Manual 602-0266-01-A Page 108,154

Elevation Mask (MX, TX and IX)

The elevation mask is the cut off angle for satellites. Any Satellite lower than the mask will not be used.

Manual 602-0266-01-A Page 108, 154

PDOP Mask (MX, TX and IX)

Position Dilution of Precision. The lower the value the better. A large PDOP will mean a lesser solution. Setting the PDOP mask rejects solutions above that value.

Manual 602-0266-01-A Page 109, 155

Reference Position (IX Only)

The surveyed position of the base is very important. Ensure you enter the correct coordinates and verify

this via a survey.

Manual 602-0266-01-A Page 110

Site and Machine ( MX,TX, IX)

Used to Identify the unit when you have logged in.

Manual 602-0266-01-A Page 111, 156

Firmware

Firmware (MX, TX and IX)

This screen is for uploading firmware via the IP network.

Manual 602-0266-01-A Page 113, 158

Firmware File Location

Clicking the browse button brings up the navigation window. This is used to locate the firmware file to upgrade.

Firmware Uploading Status

Uploading NVT_bunble-r3_2.nvt… Please wait

Firmware Installation Status

Bundle uploaded successfully. Fri Aug 12 04:05:53 2011 File uploaded successfully: nvt_bundle-r3_2.nvt (3499130 bytes)

Installing… Please wait

Firmware Installation Success

The installation completed successfully and a reboot is required.

Firmware Installation Reboot

After clicking the reboot button this screen appears. A count down is performed. When the counter reaches zero the unit will have rebooted

Firmware Revert Option

Should a user need to revert to a previous version of firmware this can be done by clicking on the Revert and Reboot button. Revert is not available on brand new units.

Firmware Revert Confirmation

A warning message is displayed to ensure that you do want to revert to the previous firmware. Cancelling will result in the continued use of current firmware version

Utilities

Reboot Me

After clicking the reboot button this screen appears. A count down is performed. When the counter reaches zero the unit will have rebooted.

Manual 602-0077-02-A Page 115, 160

User Login Password

The User Login Password screen is used to change the user password.

Enter the new password and then Retype it to confirm it.

Manual 602-0266-01-A Page 115, 161

User Login Password Completion

Ping Network Host

The Ping Network Host allows the user to send icmp packets to another host. This will check on the network between the two units.

Manual 602-0266-01-A Page 116, 162

Ping Network Host Results

Below is the information from the ping test

Network Test

This is a an automatic ping net work host test

Manual 602-0266-01-A Page 117, 163

Network Test confirmation

Confirmation of the parameters set.

Network Test – Event Log Output

If no response is received then an event is recorded in the event log.

NMEA Ping File

Manual 602-0266-01-A Page 104, 164

USB Dive Utilities

Firmware Load USB Drive Preparation The Install bundle needs to be in the root

directory as does the USB script

USB Firmware LoadTurn off receiverPlug in the Trimble USB adapter cable (201-0260-01) to the cable end labeled USB2.Insert the prepared USB drive to the adapter cable.Turn on the receiver. The following process should be given at least two minutes to complete

0:30-The LED on the USB drive will blink for the first time 0:40-You will hear three beeps to indicate the upgrade process has started 1:40-You will hear the “Shave-and-a-Haircut” sequence indicating programming

has completed.Turn off the receiverUNPLUG the USB drive and adapter cableTurn on the receiver. The following process should be allowed at least four minutes to complete

1:15-You will hear one series of fast beeps indicating the atmel device is being programmed.

2:05-You will hear two series of fast beeps indicating the FPGA is being programmed.

3:20-You will hear the “Shave-and-a-Haircut” sequence indicating programming has completed.

The unit should be up and operating correctly at this stage.

USB Reset IP Address Preparation

The default IP folder need to be in the root folder of the USB drive.

The USB Script needs to be in the root folder of the USB drive.

The default IP Address is 192.168.117.220

USB Default IP Process

Turn off receiver Plug in the Trimble USB adapter cable in to the cable end labeled USB2. Insert the prepared USB drive to the adapter cable. Turn on the receiver. The following process should be given at least

two minutes to complete 0:30-The LED on the UBS drive will blink for the first time 0:40-You will hear three beeps to indicate the upgrade process

has started 1:00-You will hear the “Shave-and-a-Haircut” sequence

indicating programming has completed. Turn off the receiver UNPLUG the USB drive and adapter cable Turn on the receiver. The unit should be up and operating correctly at

this stage.

Troubleshooting

Autonomous Mode

Insufficient Signals Quality Signals Network communications

Float Mode

Insufficient signals Quality of Signals PDOP Network Communications

Connecting mode

Poor communications Not connected to an AX100G Insufficient signals Rtk stopped Configuration

Not Using Terralites

The antennas are above or similar height to the Terralites.

Quality of signal at Receiver Quality of Signal at XPS Reference Station Radio Communications Numbers of Terralites Geometry

Trouble Shooting with Signal View

Signal view can be used to determine if problems are caused by.

Insufficient Signals Quality of Signals PDOP Poor communications

Insufficient Signals

To few Terralites

To few Satellites if not

Using Terralites

Quality of Signals

Weak XPS signals

Weak and missing

L2 Signals

PDOP

High PDOP values Will result in a low

precision solution.

Network Communications

Communication Checks

Configuration

Signal View setting in the configuration file determines how signal view is viewed. An incorrect setting will result in Connecting mode. The values shown are the default values.

MX100G TX100 IX100G

IP Address IP Address IP Address

Differential Correction Differential Correction Differential Correction

Position Output Slot Number Reference Position

XPS Network XPS Network XPS Network – XPS Base only

Loss of XPS or GPS Signals

Check antenna

Swap all three cables from

receiver1 with receiver2

Problem moves to

other receiver YesNo

Replace the receiver

Next

Page

This procedure is valid for any one or all signals

Cable Swap Test

Do the cable swap from R1 to R2 and R2 to R1

Cable Swap Results 1

After the swap the problem moves to R2

Cable Swap Results 2

The problem stays with R1 and R2 is OK.

Antenna check

No Antenna

working

Replace antenna

Yes

Repair / replace

Cables

One Receiver in Autonomous Mode

Here R1 is in Autonomous Mode while R2 is in Hybrid Fine

No RTK messages and Network connectivity 1

Connect known working

Ethernet cable to

receiver and laptop

Disconnect Ethernet cable from

The switch and connect to laptop

Able to connect

to receiverNoYes

Contact IS department to

check switch and/or radio

Able to

Connect

No

YesReplace Ethernet

cable

Proceed to

next page

No RTK messages and Network connectivity 2

Unable to communicate

with direct connect

Reset the receiver IP

with the USB utility

Communication

restoredYes No

Reconfigure receivers

Network settings

Replace

MX-100 receiver

Both Receivers in Autonomous Mode

Here R1 and R2 are both in Autonomous Mode