User Guide: Trimble Netr9 Gnss Reference Receiver
User Guide: Trimble Netr9 Gnss Reference Receiver
User Guide: Trimble Netr9 Gnss Reference Receiver
Version 4.15
Revision A
May 2010 F
Corporate Office How to Obtain Warranty Service
Survey Business Area To obtain warranty service for the Product, please contact your Trimble
Trimble Navigation Limited dealer. Alternatively, you may contact Trimble to request warranty
Survey Business Area service at +1-408-481-6940 (24 hours a day) or e-mail your request to
5475 Kellenburger Road [email protected]. Please be prepared to provide:
Dayton, Ohio 45424-1099 – - your name, address, and telephone numbers
USA – - proof of purchase
800-538-7800 (toll free in USA) – - this Trimble warranty card
+1-937-245-5600 Phone – - a description of the nonconforming Product including the model
+1-937-233-9004 Fax number
www.trimble.com – - an explanation of the problem.
Email: [email protected] The customer service representative may need additional information
from you depending on the nature of the problem.
Legal Notices
© 2010, Trimble Navigation Limited. All rights reserved. Warranty Exclusions and Disclaimer
Trimble and the Globe & Triangle logo are trademarks of Trimble This Product limited warranty shall only apply in the event and to the
Navigation Limited, registered in the United States and in other extent that (i) the Product is properly and correctly installed, configured,
countries. CMR+, Maxwell, NetR9, R-Track, TRIMMARK, VRS, and interfaced, maintained, stored, and operated in accordance with
Zephyr Geodetic are trademarks of Trimble Navigation Limited. Trimble's applicable operator's manual and specifications, and; (ii) the
Product is not modified or misused. This Product limited warranty shall
The Bluetooth word mark and logos are owned by the Bluetooth SIG, not apply to, and Trimble shall not be responsible for defects or
Inc. and any use of such marks by Trimble Navigation Limited is under performance problems resulting from
license.
(i) the combination or utilization of the Product with hardware or
Microsoft, Windows, and Internet Explorer are either registered software products, information, data, systems, interfaces or devices not
trademarks or trademarks of Microsoft Corporation in the United States made, supplied or specified by Trimble; (ii) the operation of the Product
and/or other countries. under any specification other than, or in addition to, Trimble's standard
All other trademarks are the property of their respective owners. specifications for its products; (iii) the unauthorized, installation,
modification, or use of the Product; (iv) damage caused by: accident,
Release Notice lightning or other electrical discharge, fresh or salt water immersion or
This is the January 2010 release (Revision A) of the NetR9 GNSS spray; or exposure to environmental conditions for which the Product is
reference receiver User Guide. It applies to version 4.15 of the NetR9 not intended; or (v) normal wear and tear on consumable parts (e.g.,
GNSS reference receiver firmware. batteries). Trimble does not warrant or guarantee the results obtained
through the use of the Product. NOTICE REGARDING PRODUCTS
Limited Warranty Terms and Conditions EQUIPPED WITH TECHNOLOGY CAPABLE OF TRACKING
SATELLITE SIGNALS FROM SATELLITE BASED AUGMENTATION
Product Limited Warranty SYSTEMS (SBAS) (WAAS/EGNOS, AND MSAS), OMNISTAR, GPS,
Subject to the terms and conditions set forth herein, Trimble Navigation MODERNIZED GPS, OR GLONASS SATELLITES, OR FROM IALA
Limited ("Trimble") warrants that for a period of (1) year from date of BEACON SOURCES: TRIMBLE IS NOT RESPONSIBLE FOR THE
purchase this Trimble product (the "Product") will substantially conform OPERATION OR FAILURE OF OPERATION OF ANY SATELLITE BASED
to Trimble's publicly available specifications for the Product and that the POSITIONING SYSTEM OR THE AVAILABILITY OF ANY SATELLITE
hardware and any storage media components of the Product will be BASED POSITIONING SIGNALS.
substantially free from defects in materials and workmanship. THE FOREGOING LIMITED WARRANTY TERMS STATE TRIMBLE'S
Product Software ENTIRE LIABILITY, AND YOUR EXCLUSIVE REMEDIES, RELATING
TO PERFORMANCE OF THE TRIMBLE PRODUCT. EXCEPT AS
Product software, whether built into hardware circuitry as firmware, OTHERWISE EXPRESSLY PROVIDED HEREIN, THE PRODUCT AND
provided as a standalone computer software product, embedded in flash ACCOMPANYING DOCUMENTATION AND MATERIALS ARE
memory, or stored on magnetic or other media, is licensed and not sold. PROVIDED "AS-IS" AND WITHOUT EXPRESS OR IMPLIED
If accompanied by a separate end user license agreement, use of any WARRANTY OF ANY KIND, BY EITHER TRIMBLE OR ANYONE WHO
such software will be subject to the terms of such end user license HAS BEEN INVOLVED IN ITS CREATION, PRODUCTION,
agreement (including any differing limited warranty terms, exclusions INSTALLATION, OR DISTRIBUTION, INCLUDING, BUT NOT LIMITED
and limitations), which shall control over the terms and conditions set TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
forth in this limited warranty). FITNESS FOR A PARTICULAR PURPOSE, TITLE, AND
Software Updates NONINFRINGEMENT. THE STATED EXPRESS WARRANTIES ARE IN
LIEU OF ALL OBLIGATIONS OR LIABILITIES ON THE PART OF
During the limited warranty period you will be entitled to receive such TRIMBLE ARISING OUT OF, OR IN CONNECTION WITH, ANY
Fix Updates and Minor Updates to the Product software that Trimble PRODUCT.
releases and makes commercially available and for which it does not
charge separately, subject to the procedures for delivery to purchasers of SOME STATES AND JURISDICTIONS DO NOT ALLOW LIMITATIONS
Trimble products generally. If you have purchased the Product from an ON DURATION OR THE EXCLUSION OF AN IMPLIED WARRANTY, SO
authorized Trimble distributor rather than from Trimble directly, THE ABOVE LIMITATION MAY NOT APPLY TO YOU.
Trimble may, at its option, forward the software Fix Update or Minor Limitation of Liability
Update to the Trimble distributor for final distribution to you. Major
Upgrades, new products, or substantially new software releases, as TRIMBLE'S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN
identified by Trimble are expressly excluded from this update process SHALL BE LIMITED TO THE AMOUNT PAID BY YOU FOR THE
and limited warranty. Receipt of software updates shall not serve to PRODUCT. TO THE MAXIMUM EXTENT PERMITTED BY
extend the limited warranty period. APPLICABLE LAW, IN NO EVENT SHALL TRIMBLE OR ITS SUPPLIERS
BE LIABLE FOR ANY INDIRECT, SPECIAL, INCIDENTAL OR
For purposes of this warranty the following definitions shall apply: CONSEQUENTIAL DAMAGE WHATSOEVER UNDER ANY
(1) "Fix Update" means an error correction or other update created to fix CIRCUMSTANCE OR LEGAL THEORY RELATING IN ANYWAY TO THE
a previous software version that does not substantially conform to its PRODUCTS, SOFTWARE AND ACCOMPANYING DOCUMENTATION
published specifications; (2) "Minor Update" occurs when AND MATERIALS, (INCLUDING, WITHOUT LIMITATION, DAMAGES
enhancements are made to current features in a software program; and FOR LOSS OF BUSINESS PROFITS, BUSINESS INTERRUPTION, LOSS
(3) "Major Upgrade" occurs when significant new features are added to OF DATA, OR ANY OTHER PECUNIARY LOSS), REGARDLESS OF
software, or when a new product containing new features replaces the WHETHER TRIMBLE HAS BEEN ADVISED OF THE POSSIBILITY OF
further development of a current product line. Trimble reserves the right ANY SUCH LOSS AND REGARDLESS OF THE COURSE OF DEALING
to determine, in its sole discretion, what constitutes a significant new WHICH DEVELOPS OR HAS DEVELOPED BETWEEN YOU AND
feature and Major Upgrade. TRIMBLE. BECAUSE SOME STATES AND JURISDICTIONS DO NOT
ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR
Warranty Remedies CONSEQUENTIAL OR INCIDENTAL DAMAGES, THE ABOVE
If the Trimble Product fails during the warranty period for reasons LIMITATION MAY NOT APPLY TO YOU.
covered by this Limited Warranty and you notify Trimble of such failure PLEASE NOTE: THE ABOVE TRIMBLE LIMITED WARRANTY
during the warranty period, Trimble at its option will repair OR replace PROVISIONS WILL NOT APPLY TO PRODUCTS PURCHASED IN
the nonconforming Product, OR refund the purchase price paid by you THOSE JURISDICTIONS, SUCH AS COUNTRIES OF THE
for the Product, upon your return of the Product to Trimble in EUROPEAN ECONOMIC COMMUNITY, IN WHICH PRODUCT
accordance with Trimble's standard return material authorization
procedures.
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.
Battery safety
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:
C WARNING – When this receiver is connected to a Power over Ethernet (PoE) connection,
the source of the Ethernet power must meet IEEE 802.11af. The receiver DC output
(Ethernet power source) must be completely isolated from earth ground (floating).
Otherwise, a shock hazard may exist.
C WARNING – When this reeiver is connected to a PoE connection, the DC voltage must be
limited to no more than 57 V DC +0% under both normal and single fault conditions. If
the recommended input voltage is exceeded, the receiver may present an electrical
hazard.
C WARNING – This receiver is not intended to be used in a wet location, or a location that
may become wet, when it is powered by the PoE interface, or by the external DC power
supply. Use the receiver in a wet location only when operating it on its own internal
battery.
C WARNING – The external power adapter and its associated power cord and plug are not
intended to be installed outdoors, or in a wet location.
C WARNING – Do not power the receiver through external power when operating in a wet
environment or an environment that may become wet. The power input connections
must be sheltered.
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
About the receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Related information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Technical support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Your comments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Receiver framework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
The network appliance concept. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Receiver services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Receiver features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Use and care . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Electronic interference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
COCOM limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Keypad and display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Rear connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
8 Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Physical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
A NMEA-0183 Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
NMEA-0183 message overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Common message elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
C Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Receiver issues. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
1
Introduction 1
Related information
Sources of related information include the following:
• Release notes: The release notes describe new features of the product,
information not included in the manuals, and any changes to the manuals. They
are provided as a PDF file on the Trimble website.
• Trimble training courses: Consider a training course to help you use your GNSS
system to its fullest potential.
For more information, go to www.trimble.com/training.html.
Technical support
If you have a problem and cannot find the information you need in the product
documentation, contact your local Infrastructure dealer. Alternatively, go to the
Support area of the Trimble website (www.trimble.com/support.shtml) and then select
the product you need information on. Product updates, documentation, and any
support issues are available for download.
If you need to contact Trimble technical support, complete the online inquiry form at
www.trimble.com/support_form.asp.
Your comments
Your feedback about the supporting documentation helps us to improve it with each
revision. Email your comments to [email protected].
2
Overview 2
Receiver framework
The receiver integrates the latest multi-frequency GNSS technology into a specialized
processing and communications framework. The receiver can operate as a standalone
reference station or it can be integrated into a scalable network.
With an Internet Protocol (IP) as the primary communications method, you can use
public domain tools, such as a web browser and FTP client, to configure the receiver
and access logged data files.
Note – All references to the Internet refer to either a Wide Area Network (WAN) or a Local
Area Network (LAN) connection.
You can enforce multiple levels of security, from a completely open system that allows
anonymous access to all features, to a secured system that requires a password
protected login for configuration changes and/or file access.
Use the network management features to create a base configuration with a variety of
operating modes. You can then enable those modes as necessary instead of switching
the global state of the receiver from one mode to another. For example, you can
configure a number of streaming services with different configurations (such as
measurement intervals or smoothing controls) on different TCP or UDP ports. To
activate one or more modes, open the connection to the specific port. This allows
multiple clients to access any given streaming service.
These features and many more, shift the model of a GNSS receiver toward the concept
of a "network appliance".
The receiver provides the following standard configuration and data logging services:
Use... To perform...
HTTP all manual and automated configuration operations manual operations to
manage the logged data file space
FTP remote manual and/or automated operations to manage the logged data file
space
Receiver services
The receiver can provide one or more streaming or query services over a RS-232 serial
port or a TCP/IP port:
• Streaming service
Anyone with authorized access can obtain streamed information, such as GNSS
measurements or RTCM corrections, without having to control or issue
commands to the receiver. The client simply connects to the port that is
streaming the required information. Normally the port should be set to Output
only mode so multiple users can connect to receive correction data.
• Query service
This allows bi-directional communications between the receiver and another
application. All ports act as query ports unless Output-only mode is selected.
When Output-only mode is selected, it also means the receiver is more secure;
especially if it is on the Internet. Multiple users can connect simultaneously to a
single port as long as it is set to Output-only mode.
Multiple users can connect simultaneously to a single port as long as it is set to Output
only mode.
Receiver features
• 440-channels
– GPS: L1/L2/L2C/L5
– GLONASS: L1 C/A and unencrypted P code, L2 C/A, and unencrypted P
code
– Galileo: GIOVE-A and GIOVE-B
– SBAS: L1C/A and L5 supporting WAAS, EGNOS, and MSAS
– L-Band: OmniSTAR VBS/HP/XP
• 8 GB on-board storage
• External USB drive support
• Integrated battery, provides over 15 hours operation
C CAUTION – Operating or storing the receiver outside the specified temperature range can
damage it. For more information, see Chapter 8, Specifications.
Electronic interference
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 locating the receiver or antenna within 400 meters of powerful radar, television,
or other transmitters or GNSS antennas. Low-power transmitters, such as those in cell
phones and two-way radios, normally do not interfere with receiver operations.
COCOM limits
The U.S.A. Department of Commerce requires that all exportable GNNS products
contain performance limitations so that they cannot be used in a manner that could
threaten the security of the United States of America.
On the NetR9 GNSS reference receiver, immediate access to satellite measurements
and navigation results is disabled when the receiver velocity is computed to be greater
than 1000 knots, or its altitude is computed to be above 18 000 meters. The receiver
GNSS subsystem resets until the COCOM situation clears. As a result, all logging and
stream configurations stop until the GNSS subsystem is cleared.
1
4
2 3 2
Feature Description
1 Power LED Shows if the power is on or off.
2 Buttons Use to turn on and turn off the receiver, and to configure it. See Button functions,
page 32.
3 Display This Vacuum Fluorescent display enables you view the receiver operations the
configuration settings. See Home screen, page 33.
4 Blutooth logo Location of the Blutooth antenna.
Rear connectors
1 2 3 4
5 6 7
3
Batteries and Power 3
External power
The receiver uses an external power source in preference to its internal battery. If the
receiver is not connected to an external power source, or if the external power supply
fails, the internal battery is used.
The applied external power must offer between 9.5 V DC and 28 V DC and must be
able to supply at least 5 W of power. The receiver's internal battery charges only when
the external voltage is above 12 V DC. Trimble recommends that external supply
voltage be above 12 V DC for long-term installations. This ensures that the internal
battery is charged and ready to compensate for power supply disruptions.
While carrying out static measurements for postprocessed computations using the
internal memory, if no external power is supplied and the internal battery is drained,
the receiver shuts down. No data is lost; when power is restored, the receiver restarts in
the same status as it was when power was lost.
If you prefer not to use the internal battery as an uninterruptable power supply, you
can disable this feature in the Web user interface. For more information, see Chapter 6,
Configuring the Receiver: Other Than Keypad and Display.
C WARNING – The external AC power adapter and its associated power cord and plug are
not intended to be installed outdoors, nor in a wet location. Do not power the receiver
through external power when operating in a wet environment or an environment that
may become wet. The power input connections must be sheltered.
C WARNING – When you apply DC voltage to this product through the Lemo connector, the
DC voltage must be limited to 28 V DC +0% under both normal and single fault
conditions. This product may present an electrical hazard if the recommended input
voltage is exceeded
Battery safety
The receiver is powered by a rechargeable internal Lithium-ion battery. Charge and use
the battery only in strict accordance with the following instructions.
Battery performance
To optimize battery performance and extend battery life:
• Fully charge all new batteries before use.
• Do not use at extreme temperatures. The receiver is designed to operate at
-40 °C to +65 °C (-40 °F to +149 °F). However, operation at temperatures of less
than 0 °C (32 °F) can cause a rapid drop in battery life.
• Do not allow a battery that is in storage to discharge to below 5 V.
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 within the NetR9 receiver. The battery can only be
removed by an authorized Trimble Service Center.
4
Setting Up the Receiver 4
Guidelines
When you set up the receiver, follow these guidelines.
Environmental conditions
The receiver has a waterproof housing but you must take reasonable care to keep the
unit dry.
To improve the performance and long-term reliability of the receiver, do not expose the
receiver to extreme environmental conditions, such as:
• Water
• Heat greater than 65 °C (149 °F)
• Cold less than -40 °C (-40 °F)
• Corrosive fluids and gases
For additional information on this topic, research the reference antenna installation
guidelines published by the:
• US National Geodetic Survey
(http://www.ngs.noaa.gov/PUBS_LIB/CORS_guidelines.pdf )
• International GNSS Service
(http://igscb.jpl.nasa.gov/network/guidelines/guidelines.html)
GNSS antenna
The receiver provides a TNC-type female connector for connecting to an antenna. The
receiver is intended for use with a Zephyr Geodetic™ Model 2 antenna or a Trimble
GNSS Choke Ring antenna.
Antenna cabling
Many permanent GPS installations have unique cabling requirements. Depending on
the available infrastructure, you may need to mount the antenna a substantial distance
from the receiver.
The receiver can withstand a loss of 12 dB between the antenna and the receiver. The
degree of loss in a coaxial cable depends on the frequency of the signal passing through
it. Some common types of cable are shown below.
Dial-up modem
The receiver can make automated dial-out connections to an Internet service provider.
To set up the receiver to do this, select Network Configuration/PPP in the Web interface.
You can set up a streaming service, such as RT17/RT27 raw GNSS data, CMR, or RTCM
corrections over a serial port. When using a modem on the serial port, the modem
itself must perform the auto-answer function.
Radio modem
You can connect the receiver to an external radio through the Lemo ports or the 9-pin
serial port, whether or not the Ethernet port is in use. Trimble radios are supplied with
the required cables to connect to the Lemo ports. The receiver supports the following
Trimble base radios:
• TRIMMARK™ 3 ( firmware 1.26 or later)
• Trimble HPB450
• Trimble PDL450
To use an external radio with the receiver, you must have an external power source for
the radio. Use the configuration program for the external radio to configure it
separately.
To configure the receiver for RTK operation, do the following:
1. Enable the RTCM or CMR RTK corrector stream on the selected serial port.
2. Use the receiver front panel or the Web user interface to set the reference station
coordinates and broadcast ID.