Leica iCON aps 200 User Manual
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Leica iCON aps 200 User Manual

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Leica iCON aps 200
User Manual
Version 3.1
English

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Summary of Contents for Leica iCON aps 200

  • Page 1 Leica iCON aps 200 User Manual Version 3.1 English...
  • Page 2 Bluetooth® is a registered trademark of Bluetooth SIG, Inc. • All other trademarks are the property of their respective owners. Validity of this This manual applies to the Leica iCON aps 200 instrument and the Leica manual CGA100 antenna. Available documenta-...
  • Page 3 Description myProducts Add all products that you and your company own and explore your world of Leica Geosystems: View detailed information on your products and update your products with the latest software and keep up- to-date with the latest documentation.

  • Page 4: Table Of Contents

    System Components 2.1.1 General Information 2.1.2 Power Concept Unpacking the Container 2.2.1 iCON aps 200 Dual GNSS Container Instrument Components Using iCON aps 200 Power Supply Installing a SIM Card Using USB Memory Devices Installation on a Machine Antenna Heights 3.5.1...
  • Page 5 GSV - GNSS Satellites in View A.10 GST - Position Error Statistics A.11 HDT - Heading, True A.12 LLK - Leica Local Position and GDOP A.13 LLQ - Leica Local Position and Quality A.14 RMC - Recommended Minimum Specific GNSS Data A.15 VTG - Course Over Ground and Ground Speed A.16...

  • Page 6: Safety Directions

    Safety Directions General Introduction Description The following directions enable the person responsible for the product, and the person who actually uses the equipment, to anticipate and avoid opera- tional hazards. The person responsible for the product must ensure that all users understand these directions and adhere to them.

  • Page 7: Definition Of Use

    • Use of products with recognisable damage or defects • Use with accessories from other manufacturers without the prior explicit • approval of Leica Geosystems Inadequate safeguards at the working site. • Deliberate dazzling of third parties • Controlling of machines, moving objects or similar monitoring application •...

  • Page 8: Responsibilities

    To be familiar with local regulations relating to safety and accident pre- • vention To stop operating the system and inform Leica Geosystems immediately if • the product and the application become unsafe To ensure that the national laws, regulations and conditions for the oper- •...
  • Page 9 DANGER Risk of electrocution Because of the risk of electrocution, it is dangerous to use poles, levelling staffs and extensions in the vicinity of electrical installations such as power cables or electrical railways. Precautions: ▶ Keep at a safe distance from electrical installations. If it is essential to work in this environment, first contact the safety authorities responsible for the electrical installations and follow their instructions.
  • Page 10 WARNING Lightning strike If the product is used with accessories, for example masts, staffs, poles, you may increase the risk of being struck by lightning. Precautions: ▶ Do not use the product in a thunderstorm. DANGER Risk of being struck by lightning If the product is used with accessories, for example on masts, staffs, poles, you may increase the risk of being struck by lightning.
  • Page 11 Air terminal arrangement, plan view Antenna Support structure Air terminal GS_039 Grounding the instrument/antenna Antenna Lightning conductor array Antenna/instrument connec- tion Metallic mast Connection to earth GS_040 WARNING Exposure of batteries to high mechanical stress, high ambient temper- atures or immersion into fluids This can cause leakage, fire or explosion of the batteries.
  • Page 12 Dispose of the product appropriately in accordance with the national regulations in force in your country. Always prevent access to the product by unauthorised personnel. Product-specific treatment and waste management information can be received from your Leica Geosystems distributor. Safety Directions...

  • Page 13: Electromagnetic Compatibility (Emc)

    Although the product meets the strict regulations and standards which are in force in this respect, Leica Geosystems cannot completely exclude the possib- ility that the function of the product may be disturbed in such an electromag- netic environment.
  • Page 14 Precautions: ▶ Although the product meets the strict regulations and standards which are in force in this respect, Leica Geosystems cannot completely exclude the possibility that other equipment can be disturbed or that humans or animals can be affected. ▶...

  • Page 15: Description Of The System

    Description of the System System Components 2.1.1 General Information Description The Leica iCON aps 200 instrument and the Leica CGA100 GNSS antenna together with dedicated accessories offers you highest productivity and flexib- ility. An example configuration is shown below. Main components,...

  • Page 16: Power Concept

    Robust, compact plastic housing • 2.1.2 Power Concept General Use the accessories recommended by Leica Geosystems to ensure the correct functionality of the instrument. Power options Power for the instrument is to be supplied externally. External power can be supplied by: 9 V to 32 V DC power supply (machine or vehicle) via a converter cable •...

  • Page 17: Unpacking The Container

    Available delivery packages: Delivery box: when a single iCON aps 200 instrument was ordered. • Includes the instrument, the printed iCON aps 200 Quick Guide and the USB documentation card. A hard-top container comprising all items for a Dual GNSS configuration.

  • Page 18: Instrument Components

    200 con- tainer lower shell 0023683_001 Hex key 2.5 mm USB adapter iCON aps 200 instrument Manuals & USB documenta- Radio antenna CA12/CA13/ tion card CA43 with CA22 magnetic USB flash drive for MCP80 radio antenna mount USB flash drive...
  • Page 19 Front view: CAN1/Power in CAN2/Power out CAN3/Power out External Bluetooth antenna port External WiFi antenna port External modem antenna port 1 External modem antenna port 2 Secondary external GNSS 0019949_002 antenna port Primary external GNSS antenna port External radio antenna port, only iCA202 with radio Serial port USB port...
  • Page 20 CGA100 components Whitworth thread, 5/8" Antenna reference plane TNC female connector 005691_001 Description of the System...

  • Page 21: Using Icon Aps 200

    9 V to 36 V DC power supply (machine or vehicle) via a converter cable • only supplied by Leica Geosystems. The iCON aps 200 instrument is powered via the CAN1 port. • ☞ For permanent operations use Uninterruptible Power Supply units as a back- up in a main power failure.

  • Page 22: Using Usb Memory Devices

    USB Memory devices must be formatted in the FAT or FAT32 format. ☞ using USB Memory devices To import data from a USB Memory device to the iCON aps 200 appropriate folders must be created on the USB device and the files placed in the correct folder. Folder...
  • Page 23 Installation location The iCON aps 200 instrument should preferably be installed either inside a compartment just behind the cabin or in the machine cabin itself. If the machine has no space inside a weather proof compartment or cabin, the...
  • Page 24 In an ideal installation, with isolated antennas, the connection of the ☞ grounding pin on the rear panel of the iCON aps 200 to the machine should not be required. It is extremely important to disconnect all cables from the ☞...
  • Page 25 External antenna needs to be placed with a distance of at least 20 cm to • another antenna. 005942_001 Cable installation Ensure that the cables between iCON aps 200 and CGA100 antenna • in particular are installed to prevent them from becoming bent and stretched. It is recommended to use strain relief brackets.

  • Page 26: Antenna Heights

    Mast setup. The dimensions of the mast must be determined. 3.5.2 The Antenna Reference Plane, ARP Description The Antenna Reference Plane: Is where the instrument heights are measured to. • Is where the phase centre variations refer to. • Varies for different instruments. • Using iCON aps 200...

  • Page 27: Measuring The Antenna Height For A Mast Setup

    Heading Adjustment. The Heading Adjustment field offers the opportunity to enter an angle correc- tion in order for the heading to be calculated in the exact direction of the machine. Using iCON aps 200...
  • Page 28 • Refer to the Web Interface User Guide for further information. Configuration For information about Sensor configuration, please, refer to the following doc- uments on myWorld: MC1 User Manual • iCA202 Web interface User Guide • Using iCON aps 200...

  • Page 29: Setups With Accessories

    Setups with Accessories In the following chapter an example configuration is shown, covering a com- ☞ mon use case. Further configurations are possible. Please contact the local selling unit or dealer for information regarding special use cases. Dual GNSS Setup, with Internal Radio/Modem Dual GNSS setup with internal radio/modem 0020467_003...

  • Page 30: Using The Web Interface

    Connect using > Access Point from the context menu. Open a browser on your computer and enter the URL: http://www.icasetup.leica-geosystems.com User name is "leica", as password enter the serial number of the sensor. Start configuring the iCA202 using the Web Interface.
  • Page 31 Item Description Satellites Number of satellites currently used/tracked by the receiver. Shows the solution type. Internet Indicates whether a connection is established on the sensor or not. WiFi/Cell/Radio Indicates the signal strength for each configured link. Indicates receiver operational status. Green: normal operation Yellow: warning Red: error...
  • Page 32 Category Description Currently configured • interface for real-time kinematic correction data status Data corrections • Automatically detec- • ted reference antenna/ receiver Base details • Status of communication devices Status of ConX and Analytics services Sensor Configuration The Configuration page allows for configuring device settings such as: Tracking settings •...
  • Page 33 Category Description GPS is always enabled. Addi- tional satellite systems and frequencies can be selected depending on the loaded licenses. Activate or de-activate SmartLink Fill. SmartLink Fill is a correction service delivered via Satellite to bridge outages of RTK cor- rections up to 10 minutes.
  • Page 34 PPS output is possible using the serial port on the iCON aps 200. The PPS output source is a 0 V to +5.0 V signal referenced to Vin negative.
  • Page 35 Category Description To transmit data using the NMEA standard protocol, the instrument must be con- figured accordingly. ☞ Install the appro- priate position rate licences to access all output rates. Two NMEA interfaces can be active in parallel correspond- ing to Output 1 and Out- put 2.
  • Page 36 Category Description From the drop-down list select the Interface for the RTK data link. Available options are: Internal Radio, External Radio, NTRIP or TCP. Reference Receiver and Reference Antenna allow for manual selection from a drop-down list, if required. ☞ If you select NTRIP as data link, the Network must be set accord- ingly.
  • Page 37 ☞ Click the About button to get detailed information on the scope and implications of using iCON Analytics. You can set up and configure a connection to Leica ConX here. Click Pair to establish the connection and use the given Pair Code to proceed with the setup on the ConX server.
  • Page 38 Utilities The Utilities page allows for firmware updates, adding license keys and uploading antenna lists from the connected device or from a USB flash drive on the sensor. No internet connection required on the sensor. ☞ Category Description The current firmware ver- sion is shown.
  • Page 39 Category Description You can as well import or export files via USB flash drive. Attach the USB flash drive to the sensor. See also: Using USB Memory Devices From the drop-down lists select the files you want to upload to or download from the sensor and click Import/ Export.
  • Page 40 Category Description Under Hardware you can visualise additional informa- tion about the hardware components inside the sensor. Under Status you can find detailed information on errors and warnings. In case there is an issue the light bulb icon in the Status information bar turns yellow or red.
  • Page 41 Category Description Click the Export Logs To USB button to export log files inlcuding information on all modules running on the sensor. ☞ A USB flash drive must be connected. See also: Using USB Memory Devices In order to include LB2 data in the log files, enable LB2 Logging. ☞...

  • Page 42: Care And Transport

    Shipping When transporting the product by rail, air or sea, always use the complete original Leica Geosystems packaging, container and cardboard box, or its equi- valent, to protect against shock and vibration. Shipping, transport of When transporting or shipping batteries, the person responsible for the...

  • Page 43: Technical Data

    The following accuracies, given as root mean square, are based on measure- ments processed using Leica Infinity and on real-time measurements. The use of multiple GNSS systems can increase accuracy by up to 30% relative to GPS only.

  • Page 44: General Technical Data Of The Product

    ), voltage range 9 V to 32 V DC, supplied by: 9 V to 32 V DC power supply (machine or • vehicle) via a converter cable supplied by Leica Geosystems Electrical data Type iCON aps 200 Voltage Nominal 24 V Technical Data...
  • Page 45 Type iCON aps 200 Current iCA202: 11.0 W typically, 24 V @ 475 mA Frequency GPS L1 1575.42 MHz GPS L2 1227.60 MHz GPS L5 1176.45 MHz GLONASS L1 1602.5625 MHz - 1611.5 MHz GLONASS L2 1246.4375 MHz - 1254.3 MHz Galileo E1 1575.42 MHz...

  • Page 46: Antennas Technical Data

    Type Protection The effects of condensation are to be effectively counterac- ted by periodically drying out the instrument. Vibration/Shock Type iCON aps 200 CGA100 Vibration IEC 60068-2-6: IEC 60068-2-6: 5–500 Hz, 5-500 Hz, 5 g, ±15 mm, 15 g, ±15 mm 10 cycles MIL-STD-810G: Fig.514.6E-1:...
  • Page 47 MIL-STD-810G: Fig.514.6E-1: Category 24 (20–2000 Hz, 7.7 grms) Shock IEC 60068-2-27 (special): 60 g, 6 ms IEC 60068-2-27: 100 g, 2 ms Cable length Separation distance from to antenna Optional cable instrument ... lengths [m] iCON aps 200 CGA100 2.8, 5, 10 Technical Data...

  • Page 48: Pin Assignments And Sockets

    Modification or adaption on base of the pin assignments and socket descrip- required tions need expert knowledge. Changes or modifications not expressly approved by Leica Geosystems for compliance could void the user's authority to operate the equipment. USB M8 connector...
  • Page 49 CAN3 Type: CAN M12 5-pin Function/Signal Direction POWEROUT AUX power out CANH POWEROUT_GND (ground) AUX power return CANL 0020774_001 Ethernet 1/Ethernet 2 Type: M12 4 Pin Name Function Direction Transmit data + Out + Receive data + In + Transmit data - Out - Receive data - In -...

  • Page 50: Conformity Declarations

    Conformity Declarations 7.4.1 iCON aps 200 Labelling iCON aps Manufactured 20YY/MM Leica Geosystems AG Made in Switzerland CH-9435 Heerbrugg FCC ID: XXXXXXXX IC: XXXXXXXX MIC ID: Contains trasmitter module: FCC ID: XXXXXXXX R XXXXX IC: XXXXXXXX XXXXX T XXXXX FCC ID: XXXXXXXX...
  • Page 51 Type Frequency band [MHz] Band 4 Tx: 1710 - 1755 Rx: 2110 - 2155 Band 5 Tx: 824 - 849 Rx: 869 - 894 Band 6 Tx: 830 - 840 Rx: 875 - 885 Band 8 Tx: 880 - 915 Rx: 925 - 960 Band 9 Tx: 1749.9 - 1784.9...
  • Page 52 Type Frequency band [MHz] Band 18 Tx: 815 - 830 Rx: 860 - 875 Band 19 Tx: 830 - 845 Rx: 875 - 890 Band 20 Tx: 832 - 862 Rx: 791 - 821 Band 26 Tx: 814 - 849 Rx: 859 - 894 Band 28 Tx: 703 - 748...
  • Page 53 1.6 W/Kg, 1-gram Canada Hereby, Leica Geosystems AG declares that the radio equipment type iCON aps 200 is in compliance with Directive 2014/53/EU and other applicable European Directives. The full text of the EU declaration of conformity is avail- able at the following Internet address: http://www.leica-geosys-...
  • Page 54 Consult the dealer or an experienced radio/TV technician for help. • Changes or modifications not expressly approved by Leica Geosystems for compliance could void the user's authority to operate the equipment. Exposure to radio fre- The wireless device is a radio transmitter and receiver.

  • Page 55: Cga100

    1268.52 MHz Output power Receive only Hereby, Leica Geosystems AG declares that the product/s is/are in compliance with the essential requirements and other relev- ant provisions of the applicable European Directives. The full text of the EU declaration of conformity is available at the following Internet address: http://www.leica-geosystems.com/ce.
  • Page 56 Consult the dealer or an experienced radio/TV technician for help. • Changes or modifications not expressly approved by Leica Geosystems for compliance could void the user's authority to operate the equipment. Canada CAN ICES-003 Class B/NMB-003 Class B...

  • Page 57: Software Licence Agreement/Warranty

    Property Rights, Limitation of Liability, Exclusion of other Assurances, Govern- ing Law and Place of Jurisdiction. Please make sure, that at any time you fully comply with the terms and conditions of the Leica Geosystems Software Licence Agreement. Such agreement is provided together with all products and can also be referred to and downloaded at the Leica Geosystems home page at Hexagon −...

  • Page 58: Overview

    Appendix A NMEA Message Formats Overview Description National Marine Electronics Association is a standard for interfacing marine electronic devices. This chapter describes all NMEA-0183 messages which can be output by the instrument. Access NMEA can be configured via the web interface. For further informa- ☞...
  • Page 59 Symbol Field Description Example ccc = alphanumeric charac- • ters identifying the data type and string format of the successive fields. Usu- ally the name of the mes- sage. Special format fields Symbol Field Description Example Status A = Yes, Data Valid, Warn- •...
  • Page 60 Symbol Field Description Example Leading zeros are always • included for hours, minutes and seconds to maintain fixed length. mmddyy Date Monthdayyear - two fixed 093003 • digits of month, two fixed digits of day, two fixed digits of year. Leading zeros always •...

  • Page 61: Gga - Global Positioning System Fix Data

    Null fields Symbol Field Description Example No symbol Informa- Null fields do not contain any tion information. unavailable for output ☞ Fields are always separated by a comma. Before the Checksum field there is never a comma. ☞ When information for a field is not available, the position in the data string is empty.

  • Page 62: Ggk - Real-Time Position With Dop

    Field Description Checksum <CR> Carriage Return <LF> Line Feed Examples For NMEA v4.0 and v4.1: Standard Talker ID = GPS only $GPGGA,141909.00,4724.5294609,N,00937.0836236,E,1,09,1.0,366.745,M,1 00.144,M,,*52 Standard Talker ID = GNSS $GNGGA,142309.00,4724.5296834,N,00937.0832766,E,1,16,0.7,366.740,M,1 00.144,M,,*4E GGK - Real-Time Position with DOP Syntax $--GGK,hhmmss.ss,mmddyy,llll.ll,a,yyyyy.yy,a,x,xx,x.x,EHTx.x,M*hh<CR><LF> Description of fields Field Description $--GGK...

  • Page 63: Ggq - Real-Time Position With Cq

    Field Description <LF> Line Feed Examples For NMEA v4.0 and v4.1: Standard Talker ID = GPS only $GPGGK,142804.00,111414,4724.5292267,N,00937.0832394,E,1,09,2.3,EHT4 66.919,M*46 Standard Talker ID = GNSS $GNGGK,142629.00,111414,4724.5295910,N,00937.0831490,E,1,16,1.6,EHT 467.089,M*5C GGQ - Real-Time Position with CQ Syntax $--GGQ,hhmmss.ss,mmddyy,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M*hh<CR><LF> Description of fields Field Description $--GGQ Header including talker ID hhmmss.ss UTC time of position...

  • Page 64: Gll - Geographic Position Latitude/Longitude

    Examples For NMEA v4.0: Standard Talker ID = GPS only $GPGGQ,144419.00,111414,4724.5290370,N,00937.0833037,E,1,10,3.894,3 66.261,M*01 Standard Talker ID = GNSS $GNGGQ,144054.00,111414,4724.5294512,N,00937.0834677,E,1,21,3.679,3 66.584,M*12 $GPGGQ,144054.00,111414,,,,,,10,,,*45 $GLGGQ,144054.00,111414,,,,,,07,,,*5F $GBGGQ,144054.00,111414,,,,,,04,,,*51 For NMEA v4.1: Standard Talker ID = GPS only $GPGGQ,144339.00,111414,4724.5290715,N,00937.0833826,E,1,10,4.060,3 66.339,M*03 Standard Talker ID = GNSS $GNGGQ,144224.00,111414,4724.5293821,N,00937.0835717,E,1,22,3.673,3 66.944,M*12 When more than one GNSS is active only $GNGGQ is output.

  • Page 65: Gns - Gnss Fix Data

    ☞ The Mode indicator field supplements the Status field. The Status field is set to A for the Mode indicators A and D. The Status field is set to V for the Mode indicator N. Examples For NMEA v4.0 and v4.1: Standard Talker ID = GPS only $GPGLL,4724.5289712,N,00937.0834834,E,144659.00,A,A*68 Standard Talker ID = GNSS...

  • Page 66: Gsa - Gnss Dop And Active Satellites

    Field Description xxxx Differential base station ID, 0000 to 1023 For NMEA v4.1. Navigation Status Indicator S = Safe C = Caution U = Unstable V = Navigation status not valid Checksum <CR> Carriage Return <LF> Line Feed Examples For NMEA v4.0: Standard Talker ID = GPS only $GPGNS,150254.00,4724.5290110,N,00937.0837286,E,A,10,0.8,366.282,100.
  • Page 67 Field Description 3 = 3D PRN numbers of the satellites used in the solution. For NMEA v4.0: This field is repeated 12 times. For NMEA v4.1: This field is repeated 16 times. ☞ A new GSA message is sent for each GNSS con- stellation tracked.

  • Page 68: Gsv - Gnss Satellites In View

    For NMEA v4.1: Standard Talker ID = GPS only $GPGSA,A,3,01,04,06,09,11,17,20,23,31,,,,,,,,1.5,0.8,1.3,1*2C Standard Talker ID = GNSS $GNGSA,A,3,01,04,06,09,11,17,20,23,31,,,,,,,,1.1,0.5,1.0,1*38 $GNGSA,A,3,65,71,72,73,74,80,86,87,88,,,,,,,,1.1,0.5,1.0,2*38 $GNGSA,A,3,05,07,10,11,,,,,,,,,,,,,1.1,0.5,1.0,4*33 GSV - GNSS Satellites in View Syntax $--GSV,x,x,xx,xx,xx,xxx,xx,..,h*hh<CR><LF> Description of fields Field Description $--GSV Header including talker ID Total number of messages, 1 to 9 Message number, 1 to 9 Number of theoretically visible satellites according to the current almanac.
  • Page 69 Field Description L2 P(Y) L2C-M L2C-L L5-I L5-Q Reserved GLONASS All signals G1 C/A G1 P G2 C/A GLONASS (M) G2 P Reserved Galileo All signals E5a+b E6-A E6-BC L1-A L1-BC Reserved BeiDou All signals Reserved Checksum <CR> Carriage Return <LF>...

  • Page 70: Gst - Position Error Statistics

    Standard Talker ID = GNSS $GPGSV,3,1,09,01,34,150,47,06,34,308,47,09,44,220,48,10,11,277,43*7B $GPGSV,3,2,09,17,31,248,49,20,71,076,48,23,76,192,50,31,19,042,42*7A $GPGSV,3,3,09,32,25,085,40,,,,,,,,,,,,*4F $GLGSV,3,1,09,65,24,271,45,71,37,059,47,72,67,329,49,73,31,074,45*66 $GLGSV,3,2,09,74,17,127,44,80,15,022,41,86,12,190,44,87,49,239,48*66 $GLGSV,3,3,09,88,38,314,46,,,,,,,,,,,,*53 $GBGSV,1,1,04,05,18,123,38,07,23,044,39,10,35,068,45,11,29,224,45*61 For NMEA v4.1: Standard Talker ID = GPS only $GPGSV,3,1,09,01,31,151,46,06,36,307,47,09,46,222,49,10,13,278,44,0*64 $GPGSV,3,2,09,17,29,246,48,20,69,080,49,23,79,189,51,31,18,040,42,0*66 $GPGSV,3,3,09,32,23,087,42,,,,,,,,,,,,,0*55 Standard Talker ID = GNSS $GPGSV,3,1,09,01,32,151,46,06,35,308,47,09,45,221,49,10,12,278,42,0*6C $GPGSV,3,2,09,17,30,247,47,20,70,078,49,23,77,191,51,31,19,041,41,0*6B $GPGSV,3,3,09,32,24,086,41,,,,,,,,,,,,,0*50 $GLGSV,3,1,09,65,25,272,46,71,36,060,47,72,68,333,49,73,31,073,45,0*73 $GLGSV,3,2,09,74,18,126,47,80,15,021,38,86,11,190,45,87,48,238,50,0*71 $GLGSV,3,3,09,88,38,312,46,,,,,,,,,,,,,0*49 $GBGSV,1,1,04,05,18,123,38,07,23,044,40,10,35,067,45,11,28,224,46,0*7E A.10 GST - Position Error Statistics Syntax $--GST,hhmmss.ss,x.xxx,x.xxx,x.xxx,xxx.x,x.xxx,x.xxx,x.xxx*hh Description of fields...

  • Page 71: Hdt - Heading, True

    Fixed text T for true north Checksum <CR> Carriage Return <LF> Line Feed Examples Standard Talker ID $GNHDT,11.4,T, 00*4B A.12 LLK - Leica Local Position and GDOP Syntax $--LLK,hhmmss.ss,mmddyy,eeeeee.eee,M,nnnnnn.nnn,M,x,xx,x.x,x.x,M*hh <CR><LF> Description of fields Field Description $--LLK Header including talker ID hhmmss.ss...

  • Page 72: Llq - Leica Local Position And Quality

    $GPLLK,153254.00,111414,546628.909,M,5250781.888,M,1,09,1.8,366.582, M*15 Standard Talker ID = GNSS $GNLLK,153504.00,111414,546629.055,M,5250782.977,M,1,20,1.3,367.607, M*05 When more than one GNSS is active only $GNLLK is output. ☞ A.13 LLQ - Leica Local Position and Quality Syntax $--LLQ,hhmmss.ss,mmddyy,eeeeee.eee,M,nnnnnn.nnn,M,x,xx,x.x,x.x,M*hh <CR><LF> Description of fields Field Description $--LLQ Header including talker ID hhmmss.ss...

  • Page 73: Rmc - Recommended Minimum Specific Gnss Data

    Field Description Position quality 0 = Fix not available or invalid 1 = No real-time position, navigation fix 2 = Real-time position, ambiguities not fixed 3 = Real-time position, ambiguities fixed 5 = Real-time position, float Number of satellites in use. For $GNLLQ messages: The com- bined GPS, GLONASS, Galileo and BeiDou satellites used in the position.

  • Page 74: Vtg - Course Over Ground And Ground Speed

    Description of fields Field Description $--RMC Header including talker ID hhmmss.ss UTC time of position fix Status A = Data valid V = Navigation instrument warning llll.ll Latitude (WGS 1984) Hemisphere, North or South yyyyy.yy Longitude (WGS 1984) East or West Speed over ground in knots Course over ground in degrees xxxxxx...

  • Page 75: Xdr - Transducer Measurements

    Field Description A = Autonomous mode D = Differential mode N = Data not valid Checksum <CR> Carriage Return <LF> Line Feed Examples For NMEA v4.0 and v4.1: Standard Talker ID = GPS only $GPVTG,152.3924,T,152.3924,M,0.018,N,0.034,K,A*2D Standard Talker ID = GNSS $GNVTG,188.6002,T,188.6002,M,0.009,N,0.016,K,A*33 A.16 XDR –...

  • Page 76: Pjk - Local Coordinate Position Output

    Field Description UTC day, 01 to 31 UTC month, 01 to 12 xxxx UTC year Local zone description in hours, 00 to ±13 Local zone description in minutes, 00 to +59 Checksum <CR> Carriage Return <LF> Line Feed ☞ This message is given high priority and is output as soon as it is created. Latency is therefore reduced to a minimum.
  • Page 77 Field Description GPS quality indicator 0 = Fix not available or invalid 1 = Autonomous GPS fix 2 = RTK float solution 3 = RTK fix solution 4 = Differential, code phase only solution (DGPS) 5 = SBAS solution 6 = RTK Float 3D network solution 7 = RTK Fixed 3D network solution 8 = RTK Float 2D network solution 9 = RTK Fixed 2D network solution...

  • Page 78: Orp - Orientation And Position

    Appendix B ORP – Orientation and Position Description This proprietary Leica message provides the current Position and Quality in either Geodetic or Grid coordinates for one or two antennas plus the resulting orientation. Access NMEA can be configured via the web interface. For further informa- ☞...
  • Page 79 Message Format Description type Position Status Flag - 2nd antenna If Position Status Flag - 2nd Antenna != "0" (not computed yet) and != 4 (not used) hhmmss.ss, UTC time ddmmyy, UTC date Latency [milliseconds] xx.xx, Quality Latitude/Northing [metres] xx.xx, Quality Longitude/Easting [metres] xx.xx, Quality Height [metres]...
  • Page 80 Position Status 0: Computed Position not yet available 1: Differential code Position 2: Differential phase Position 3: Non-differential Position 4: xRTK Latency given is defined as the difference in time between the UTC of the measurements used in the computation and the UTC of the first Message byte sent out the instrument port.

  • Page 81: Glossary

    Appendix C Glossary NTRIP Ntrip Networked Transport of RTCM via Internet Protocol is a protocol streaming real-time corrections over the Internet. • is a generic protocol based on the Hypertext Transfer Protocol HTTP/1.1. • is used to send differential correction data or other kinds of stream- •...

  • Page 82: Wgs84

    Before sending real-time corrections to the Ntrip Caster for the first time, a registration form must be completed. This form is available from the Ntrip Caster administration centre. Refer to the website of the Ntrip Caster adminis- tration centre. Ntrip Source The Ntrip Source generates data streams.
  • Page 84 915805-3.1.0en Original text Published in Switzerland, © 2022 Leica Geosystems AG Leica Geosystems AG Heinrich-Wild-Strasse 9435 Heerbrugg Switzerland www.leica-geosystems.com...

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