Related Manuals for Geneq iSXBlue II GNSS Series
Summary of Contents for Geneq iSXBlue II GNSS Series
- Page 1 iSXBlue/SXBlue II GNSS Series Technical Reference Manual Release Date: September 2014 (rev 1)
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Page 2: Copyright Notice
Copyright Notice Copyright 2012 Geneq inc. All rights reserved. No part of this manual may be stored in a retrieval system, transmitted, or reproduced by any means, including, but not limited to photocopy, photograph, digitizing, or otherwise, without the prior written permission from Geneq inc. - Page 3 The end purchaser’s exclusive remedy under this warranty shall be limited to the repair or replacement, at the option of Geneq, of any defective Products or components thereof. The end user shall notify Geneq or a Geneq approved service center immediately of any claimed defect. Repairs shall be made through a Geneq approved service center only.
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Page 4: Limitation Of Liability
Obtaining Warranty Service In order to obtain warranty service, the end purchaser must bring the Product to a Geneq approved dealer, along with the end purchaser’s proof of purchase. For any questions regarding warranty service or to obtain information regarding the location of any of Geneq’s dealers, contact Geneq at the following address: Geneq inc. -
Page 5: Table Of Contents
1.4.6.6 RINEX Converter ........................36 1.4.6.7 Geneq EZSurv ........................36 1.4.6.8 Geneq iSXBLue View on iOS devices .................. 36 1.4.6.9 Bluetooth GPS Utility on Android devices................36 Features and Performance ............................37 GPS ..................................37 iSXblue/SXBlue II GNSS Series Technical Reference Manual... - Page 6 2.1.1 Satellite Tracking ..........................37 2.1.2 Positioning Accuracy ...........................37 2.1.3 Update Rates ............................38 SBAS ..................................38 2.2.1 Automatic Tracking and Ranging ......................38 2.2.2 SBAS Performance ..........................38 GLONASS ................................40 2.3.1 Satellite tracking ...........................40 2.3.2 GLONASS Performance ........................40 COAST™, G-Dif™ and SureTrack™ Technologies .....................41 Real-Time Differential Options ..........................41 2.5.1 The “MFA”...
- Page 7 Auto-Dif (Autonomous and Base Station Modes) ....................67 4.3.1 Start-up ..............................67 4.3.2 Calibration ............................67 4.3.3 Auto-Dif Performance ..........................67 Recording Raw data and converting to RINEX ......................68 4.4.1 Using SXBlue Config to Log Raw Data ....................68 4.4.2 Converting to RINEX Format ......................69 Complete NMEA Interface ............................70 NMEA Message Elements .............................70 General Commands ..............................70...
- Page 8 5.4.3 $PCSI,3,2 .............................96 5.4.4 $PCSI,3,3 .............................96 5.4.5 $PCSI,0 ..............................97 5.4.6 $PCSI,8,NITRAM ..........................97 5.4.7 $GPCRQ,MSK ($CRMSK) .........................98 5.4.8 $GPCRQ,MSS ($CRMSS) ........................98 OmniSTAR Commands (SXBlue II-L GPS) ......................99 5.5.1 $JLBEAM ............................99 5.5.2 $JLXBEAM ............................100 5.5.3 $JFREQ ..............................101 5.5.4 $JOMS ...............................102 5.5.5 $JHP ..............................102 Auto-Dif Commands in Autonomous Mode ......................103 5.6.1 $JRAD,1 .............................103 5.6.2 $JRAD,1,P ............................104...
- Page 9 5.9.8 RRE Data Message..........................121 5.9.9 VTG Data Message ..........................122 5.9.10 ZDA Data Message ..........................122 5.9.11 GRS Data Message..........................122 5.9.12 RD1 Data Message ..........................123 5.10 RAIM Command and Message ..........................124 5.10.1 $JRAIM Command ..........................124 5.10.2 $PSAT,GBS Data Message ........................125 Binary Data ..................................126 Binary Message Structure.............................126 6.1.1 Bin 1 ..............................127 6.1.2 Bin 2 ..............................128...
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Page 10: List Of Figures
List of Figures Figure 1-2 Package Contents ..............................1 Figure 1-3 iSXBlue/SXBlue II GNSS Main Components ....................3 Figure 1-4 Battery contacts ..............................4 Figure 1-5 Precision and Survey Antennae........................... 5 Figure 1-6 Carrying Case ..............................28 Figure 1-7 Removing the Magnet Adaptor ..........................29 Figure 1-8 Using the Softhat ..............................29 Figure 1-10 Using the L-Shaped Bracket ..........................30 Figure 1-11 Mounting on a Rangepole ..........................31... - Page 11 List of Tables Table 1-1 Default Applications .............................. 6 Table 1-2 Default Port Settings .............................. 7 Table 1-2 Default Port Settings .............................. 7 Table 1-3 Default GNSS NMEA Message Output ........................ 7 Table 1-4 Default Parameters ..............................7 Table 1-5 LED Indicators Definitions ..........................33 Table 2-1 Differential and Global Options ..........................42 Table 2-2 Horizontal Accuracy Probability Statistics ......................44 Table 2-3 Horizontal Accuracy Statistic Conversions ......................45...
- Page 12 Preface Welcome to the iSXBlue/SXBLue II GNSS Series Manual and congratulations on purchasing this high- performance receiver. The iSXBlue/SXBLue II GNSS Series provides a high level of performance, delivering either sub-meter positioning using the built-in SBAS demodulator, submeter positioning using RTK, at up to a 20Hz optional output.
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Page 13: Organization
Some notable features of the iSXBlue/ II GNSS Series are: • Tracks L1, GPS and GLONASS (GNSS models only) • L5 ready • 3 channels dedicated to SBAS tracking • Sub-meter (2dRMS) horizontal accuracy with SBAS • Raw measurement output (via documented binary messages) or RINEX converter •... -
Page 14: Customer Service
In the event that your equipment requires service, we recommend that you contact your dealer directly. However, if this is not possible, you must contact Geneq Customer Service to obtain a Return Merchandise form before returning any product to Geneq. If you are returning a product for repair, you must also provide a fault description. -
Page 15: Notes, Cautions, And Warnings
Notes, Cautions, and Warnings Notes, Cautions, and Warnings stress important information regarding the installation, configuration, and operation of the iSXBlue/SXBLue II GNSS receiver. Note - Notes outline important information of a general nature. Cautions - Cautions inform of possible sources of difficulty or situations that may cause damage to the product. -
Page 16: Getting Started
1. Getting Started The purpose of this chapter is to help you get your iSXBlue/SXBlue II GNSS receiver running quickly. This chapter is not intended to replace the balance of this reference manual and it assumes that you have a reasonable amount of knowledge with installation and operation of GNSS navigation systems. -
Page 17: Getting Familiar With Your Isxblue/Sxblue Ii Gnss
Note - If, for some reason, you find a discrepancy between your packing slip and the contents of your shipment, please contact immediately the authorized reseller with whom you have placed your order. 1.2 Getting Familiar with your iSXBlue/SXBlue II GNSS The iSXBlue/SXBlue II GNSS is composed of three main parts: The receiver with user interface (LED’s, Communication ports, Antenna connector) The battery pack with Battery Fuel Gauge... -
Page 18: Figure 1-3 Isxblue/Sxblue Ii Gnss Main Components
SXBlue II Receiver Charger Jack Battery Pack Serial Number RS-232 Port ON/OFF Button USB Port GPS LED Indicators GPS Antenna Battery Gauge Connector Battery Gauge Button Indicator Battery Thumb Screws (x4) Figure 1-3 iSXBlue/SXBlue II GNSS Main Components iSXblue/SXBlue II GNSS Series Technical Reference Manual... -
Page 19: Battery Pack
NiMH or NiCad batteries; therefore it is not necessary to discharge the pack before recharging it. Only the Geneq-supplied Li-Ion battery charger must be used with the iSXBlue/SXBlue II GNSS battery. Using any other type of charger might result in explosion and injuries. The iSXBlue/SXBlue II GNSS battery pack specification is: 2s2p, 7.2V, 3,900mAh Li-Ion. -
Page 20: Precision And Survey Antennae
1.2.3 Precision and Survey Antennae The Precision GPS (SXBlue II GPS), GPS/L-Band (SXBlue II-L GPS), GNSS (iSXBlue/SXBlue) and Survey Antennae (all models) supplied with the SXBlue II Series have been designed to provide reliable, stable and consistent sub-meter and centimeter positioning. All antenna models are capable of providing reliable cm-level accuracy, but for surveying work, permanent base station, RTK rover used in long baselines (more than 20km), RTK Network with VRS corrections, the use of the Survey antenna is highly recommended and might increase performance during the phase ambiguity resolution process. -
Page 21: Default Parameters
The iSXBlue/SXBlue II GNSS is one component of a modular system that normally includes two other parts: a computer and a data collection software. A modular approach has huge advantages: Allows the use of any PDA, Tablet, PC, iPad/iPhone, laptop or computer technology to suit the application Allows the use of any off-the-shelf software Allows for keeping up-to-date with the very fast evolving computer/software technology... -
Page 22: Table 1-2 Default Port Settings
Table 1-2 Default Port Settings SXBlue II GNSS Port Baud Rate Data Bits Parity Stop Bit Interface Level Bluetooth None Serial Port Profile (SPP) Serial 19200 None RS-232C 19200 None Serial Port Emulation Table 1-3 Default Port Settings iSXBlue II GNSS Port Baud Rate Data Bits... -
Page 23: Configuring Bluetooth Communication
source, the output will remain submeter for the next 30-40 minutes. See chapter 2 for more information. For RTK operation, the receiver will maintain a fixed solution for 60 seconds after losing the RTK source; then it will “float” for an extra 2 minutes and finally will default to the next available source of differential correction available (L-Band, SBAS, None, etc). -
Page 24: Windows Mobile 5.0 And 6.X With Microsoft Drivers
Also please note that Apple iOS devices DO NOT support standard Serial Port Profile (SPP) commonly used by all GPS receivers but only support iAP profile. Please contact Geneq for alternatives (or updates) on how to connect to an iOS device. - Page 25 View of Window Mobile 6.5 From the desktop, tap the Bluetooth Icon and select “Menu/Bluetooth Settings”. In the “Devices” tab, tap “Add new device…”. View of Window Mobile 6.0 iSXblue/SXBlue II GNSS Series Technical Reference Manual...
- Page 26 View of Window Mobile 6.5 Once the iSXBlue/SXBlue II has been found, select it then tap “Next”. The driver will ask for a “Passcode”; at this point enter 12345678 and hit “Next”. View of Window Mobile 6.0 iSXblue/SXBlue II GNSS Series Technical Reference Manual...
- Page 27 View of Window Mobile 6.5 With some older versions of the Microsoft or Broadcom drivers, you might get a message saying: “SXBlue II GPS … wants to connect…”, select “Yes”. For Windows Mobile 6.x you should click on the Advanced button at the bottom right and check the “Serial Port” option and the SXBlue II GPS will be added to the list of discovered devices.
- Page 28 View of Window Mobile 6.5 The next step is to assign a COM port number to the newly discovered iSXblue/SXBlue II device. Tap the “Com Ports” tab then select “New Outgoing Port”. Select the iSXBlue/SXBlue II receiver in the list and hit “Next”.
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Page 29: Windows Mobile With Socket Communication Driver
View of Window Mobile 6.5 Your iSXBlue/SXBlue II receiver will be shown in the list along with its assigned COM port number. This is the port number that should be selected in your data collection software settings; The Bluetooth connection will be activated automatically by your software, therefore there is no need to connect manually should this option be available in the Bluetooth utility. - Page 30 Tap on the Bluetooth icon in the task bar, on the lower right portion of the screen. In the popup menu, select “Advanced Features”, then “My Bluetooth Device”. Make sure “Use Authentication” is unchecked and click on the “COM Ports” tab. Check the “Bluetooth COM Port” profile and a COM port number will be assigned to a Serial Port Profile (in this example: COM4).
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Page 31: Windows Mobile With Widcomm Driver
The last step is to set the iSXBlue/SXBlue II receiver as a favourite device for the serial Com port. In the bottom menu, select “Tools”, “My Favorites…”. Select “Use the favorite selected above” and in the pull- down menu for “My favorite COM port device:”, select the iSxblue/SXBlue II receiver. Tap on “Ok” on the top right corner to close the window. - Page 32 checked. Some driver versions will show “Inbound” and “Outbound” COM ports. Since the software on the PDA will be initiating the Bluetooth communication with the iSXblue/SXBlue II receiver, the “Outbound COM Port” is the port number that should be specified in the software. Close the window by clicking on “Ok”...
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Page 33: Microsoft Windows With Ivt Corporation's Bluesoleil Driver
The iSXBlue/SXBlue II shortcut will be created and, in this example, will be available as COM 8. 1.3.2.4 Microsoft Windows with IVT Corporation’s BlueSoleil driver The configuration of IVT’s BlueSoleil for Windows is simple and straightforward. From the Classic Display’s menu, select “Bluetooth”... -
Page 34: Microsoft Windows With Widcomm's My Bluetooth Places Driver
1.3.2.5 Microsoft Windows with Widcomm’s My Bluetooth Places driver This (legacy) driver allows multiple ways to setup a Bluetooth device. The wizard will be used to detect the iSXBlue/SXBlue II. Click on the “Bluetooth Setup Wizard” option in the “Bluetooth Tasks”. - Page 35 Click on the iSXBlue/SXBlue II icon, then on “Next”. In the “Bluetooth Setup Wizard Completion Page”, click on the “Configure Button and uncheck the “Secure Connection” option. The COM port number that is assigned to the iSXBlue/SXBlue II will be shown (in this example: COM8).
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Page 36: Ios Apple Bluetooth Communication
1.3.2.6 iOS Apple Bluetooth communication iPhone/iPad app using location services will receive data from an external GPS receiver following the Bluetooth module protocol. Make sure to connect an antenna to the iSXBlue II GNSS before a first connection. Any app using location services has to track a position before receiving data from the core location with new values of the iSXBlue II GNSS. - Page 37 General About iSXblue/SXBlue II GNSS Series Technical Reference Manual...
- Page 38 GNSS Receiver 6. The baud rate is set at 115200 baud rate from the Bluetooth port. The iSXBlue is working properly when streaming data are generated to the terminal on iSXBlue View app. iSXblue/SXBlue II GNSS Series Technical Reference Manual...
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Page 39: Android Bluetooth Communication
1.3.2.7 Android Bluetooth communication Android application using location data from an external GPS receiver need to follow the Bluetooth protocol for a pairing. Make sure your Android devices has developer settings. Recent Android operating systems don't have developer settings available by default, and the location of those settings is in different places on different operating system. -
Page 40: Installing The Usb Drivers For Microsoft Windows
1.3.3 Installing the USB Drivers for Microsoft Windows Drivers for the iSXBlue/SXBlue II Series are available for multiple operating systems: Microsoft Windows 98, ME, 2000, 32-bit and 64-bit Server/XP/Vista/Windows 7. Other drivers are also available for Windows Mobile, Linux. There are two versions of the USB drivers for Microsoft Windows: a 32-bit and a 64-bit. Make sure the correct version is used with your operating system. - Page 41 In the “iSXBlue/SXBlue II GNSS – USB Driver Setup”, the default location for the driver installation will be “C:\Program Files\Geneq\SXBlueIIGPS USB Drivers”. Click on “Install”. The driver files will be uncompressed to the specified location and the Installer window will be displayed. Click on “Next” to proceed with the installation.
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Page 42: In The Field
In Windows, go to “Start”, “Settings” and “Control Panel”. Double click on “System” to open the “System Properties” window. Select the “Hardware” tab then click on the “Device Manager” button. Scroll down to and expand the “Ports (COM & LPT)” category. The iSXBlue/SXBlue II GNSS – USB Serial Port will be shown with the COM port number assigned to it. -
Page 43: Setting Up For Submeter Work
1.4.1 Setting up for Submeter Work For applications requiring only submeter positioning, a softhat for the Precision Antenna is provided when you order the Standard Package. The supplied antenna mounting plate can also be used in a backpack or survey rangepole setup. Proper installation of the receiver and cable in the carrying case is shown in the subsection below. -
Page 44: Rangepole Setup
Figure 1-7 Removing the Magnet Adaptor Insert the Precision Antenna in the pouch on top of the softhat, close the flap while allowing the antenna SMA connector to pass through the hole and attach the cable by tightening the SMA connector all the way. -
Page 45: Figure 1-10 Using The L-Shaped Bracket
Figure 1-10 Using the L-Shaped Bracket Separate the two parts of the L-Shaped Bracket by removing the two outer screws in the back. Slide the “U” shaped part of the bracket through the belt-loop of the nylon carrying case. Place the cover back (with the two inner screws facing inside) and tighten the two outer screws. iSXblue/SXBlue II GNSS Series Technical Reference Manual... -
Page 46: Antenna Phase Center
The Pole clamp supplied with the iSXBlue/SXBlue II packages is manufactured by Seco and provides with a mechanism to accommodate a holding bracket for PDA or computer. Geneq supplies a mounting bracket for the SXPad receiver (shown in the picture above). -
Page 47: Gnss Precision Antenna (All Models)
1.4.3.1 GNSS Precision Antenna (all models) Figure 1-14 Phase Center – Precision GNSS Antenna (GESXB3GLANT)) iSXblue/SXBlue II GNSS Series Technical Reference Manual... -
Page 48: Definition Of The Led Indicators
1.4.4 Definition of the LED Indicators The iSXBlue/SXBLue II features diagnostic LEDs that provide a quick indication of the receiver’s status. These LEDs are visible on the front panel display and provide the following information: Table 1-5 LED Indicators Definitions Color Function Power –... -
Page 49: Gis Field Data Collection And Datum Considerations
1.4.5 GIS Field Data Collection and Datum Considerations For optimal performance and results of field data collection, proper configuration of the field software and some common GPS guidelines are essential when using the iSXBlue/SXBlue II GNSS. This section only lists some important points to be aware of before going to the field but Chapter 3, Advanced Operations, will cover the required receiver configurations in detail. -
Page 50: Available Software And Utilities
II receiver family. Throughout this manual, various menus of some of the utilities are presented to help configure and monitor the receivers for specific applications. All software and utilities are free (with the exception of the SXBlue Server and the Geneq EZSurv post- processing software) and can be downloaded from the www.sxbluegps.com... -
Page 51: Sxblue Mirror
Point Positioning). 1.4.6.8 Geneq iSXBLue View on iOS devices The Geneq iSXBlue View app. is a free utility to display the data from the iSXBlue device. Show comparison of GIS data with internal and external GPS and possibility to send configuration command through the terminal. -
Page 52: Features And Performance
2. Features and Performance This chapter provides an introduction to some of the iSXBlue/SXBlue II Series high-level features. The remaining chapters provide more detailed information on the workings of the product. As mentioned in the previous chapter, if you are new to GPS, SBAS, DGPS, RTK corrections, we recommend that you consult Appendix C for further information on these services and technologies. -
Page 53: Update Rates
SBAS or other code-phase differential correction services for up to about 40 minutes, depending on the amount of tolerable performance drift. Section 2.5 provides with a description of the Coast technology. The estimated positioning precision is accessible through the use of NMEA 0183 command responses as described in Chapter 4 (The GST NMEA data message). - Page 54 The BER number indicates the number of unsuccessfully decoded symbols in a moving window of 2048 symbols. Due to the use of forward error correction algorithms, one symbol is composed of two bits. The BER value for both SBAS receiver channels is available in the RD1 NMEA data message described in detail in chapter 4.
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Page 55: Glonass
Figure 2-1 Sample Extrapolated Ionospheric Grids 2.3 GLONASS The following section describe the benefits of navigation satellites system GLONASS within the iSXBlue/SXBlue II GNSS receiver. 2.3.1 Satellite tracking The iSXBlue/SXBlue II automatically searches for GPS and GNSS satellites when GLONASS is included. -
Page 56: Coast™, G-Dif™ And Suretrack™ Technologies
2.4 COAST , G-Dif and SureTrack Technologies ™ ™ ™ The iSXBlue/SXBlue II is packed with features that make it unique on the market. Coast and G-Dif technologies affect positively the submeter performance of the receiver, whereas SureTrack is related to the RTK performance. -
Page 57: The "Mfa" Application
Auto-Dif (in autonomous mode or RTCM 2.x Base station mode) • (The SBASRTKB and RTK applications are available only upon request) 2.5.1 The “MFA” Application The SXBlue II family comes standard with the Multi-Function Application (MFA) installed which includes all the features of both the SBASRTKB and RTK applications. The iSXBlue/SXBlue II GNSS come standard with the RTK Base and RTK Rover options pre-activated. -
Page 58: Figure 2-2 Auto-Dif Error Drift
It’s up to you for how long you would like Auto-Dif to function before performing another calibration. We recommend that you test this operating mode to determine the level of performance that’s acceptable to you. Please contact Geneq for more information on this feature. iSXblue/SXBlue II GNSS Series Technical Reference Manual... -
Page 59: Post Processing
EZSurv should be used. A RINEX translator is available; however, RINEX has no facility to store station information. Please contact Geneq if you wish to use this utility. Off-the-shelf software is available for collecting and post- processing iSXBlue/SXBlue II raw data. -
Page 60: Table 2-3 Horizontal Accuracy Statistic Conversions
Table 2-3 Horizontal Accuracy Statistic Conversions 2drms 0.83 0.48 0.59 2drms 0.42 0.83 For example, if Product A after test results in an accuracy of 90 cm 95% (R95) and you want to compare this to Product B that has a sub-meter horizontal rms specification, select the value from where the ‘R95’ row and the ‘rms’... -
Page 61: Communication
If you require assistance in developing a test setup or procedure for evaluating the iSXBlue/SXBlue II, please contact Geneq. 2.8 Communication The iSXBlue/SXBlue II features three (3) independent communication ports and any of these can be used to receive data or send configuration commands to the receiver. -
Page 62: Event Marker, 1 Pulse Per Second And 5Vdc Power
#5 - GND #3 - RX #2 - TX Figure 2-3 RS-232 Connector Pin-out Table 2-4 Serial Port Pin-out, RS-232C Interface Level iSXBlue/SXBlue II GNSS Signal Description NMEA 0183, binary, and RTCM (output) NMEA 0183, binary, and RTCM (input) Signal Ground 1PPS* One Pulse Per Second (Output) Event Marker (Input) -
Page 63: Event Marker Input (Em)
2.8.3.2 Event Marker Input (EM) Depending on your application, you may have the need to force a GPS solution at a particular instance, not synchronized with GPS time. Such an application could be to compute the location of a perspective center of a camera being used for a photogrammetric application, where the aircraft moves with considerable speed and an interpolation between two GPS epochs could be unreliable. -
Page 64: Advanced Operations
3. Advanced Operations This chapter introduces the general operational features of the iSXBlue/SXBlue II and configuration procedures. 3.1 Communicating with the iSXBlue/SXBlue II Receiver The iSXBlue/SXBlue II features three communication ports that may be configured independently from each other (Bluetooth, Serial and USB). The ports may be configured for any mixture of NMEA 0183, binary, and RTCM SC-104 data. -
Page 65: Binary Messages
3.1.2 Binary Messages Both binary and NMEA 0183 data messages may be output from the iSXBlue/SXBlue II simultaneously. Binary messages have a proprietary definition and would likely require custom software support if you wish to use them. Binary messages are inherently more efficient than NMEA 0183 and would be used when you require maximum communication efficiency. -
Page 66: Configuring The Isxblue/Sxblue Ii Receiver
SBAS (WAAS, EGNOS, MSAS, GAGAN) use a different correction format called RTCA. When using SBAS (and $JMODE,BASE is set to “NO”, see chapter 5) The RTCM SC-104 data output by the iSXBlue/SXBlue II is converted from the RTCA SC-159 data broadcast by the SBAS networks. Appendix D - Resources contains the contact information should you wish to purchase a copy of the RTCM SC-104 specification. - Page 67 In the “Connect To” window, select the communication port that will be used with the receiver (COM5 in this example). In the next “COMx Properties”, enter the following parameters: 9600 bits per seconds, 8 Data bits, Parity None, 1 Stop bit, Flow control None. Click on OK and the communication with the iSXBlue/SXBlue II should start immediately.
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Page 68: Sending Individual Commands
The last step is to configure the ASCII protocol. Disconnect the communication with the iSXBlue/SXBlue II and click on the Properties icon . Select the “Settings” tab and click on the “ASCII Setup…” button. Activate both the “Send line…” and the “Echo typed…” options. The line delay controls the rate at which the lines of a configuration file are sent to the... -
Page 69: Sending Configuration Files To The Receiver
When sending commands to the receiver while messages are already activated, you will not see clearly what you are typing in HyperTerminal. The reply of the receiver will also be mixed with the NMEA messages that are being received. You might open a “log” text file if you want to monitor the responses of the receiver. -
Page 70: Using Sxblue Config
3.2.2 Using SXBlue Config SXBlue Config is a free utility to monitor and configure your iSXBlue/SXBlue II receiver. It can be used in two modes: “Quick Config” and “Advanced”. 3.2.2.1 Quick Config Mode Quick Config is mainly used to configure the output and baud rate of the communication ports, the basic parameters of the receiver (“RX Config”... -
Page 71: Advanced Mode
3.2.2.2 Advanced Mode The Advanced mode offers the same functionality as the Quick Config but adds “Position”, “Satellites” and “SBAS” menus to view detailed positioning and satellite tracking information. When connected to an SXBlue III-L, the L-Band menus are shown to monitor and configure the frequency tuning. “Base” and “RTK”... -
Page 72: Firmware Architecture
Note that the Advanced mode activates many binary messages on the communication port (that are turned off when exiting the software) and requires a connection at a higher baud rate than 19200. A baud rate of 57600 or 115200 is suggested for proper operation. 3.3 Firmware Architecture The software that runs the iSXBlue/SXBlue II is often referred to as firmware since it operates at a low level. -
Page 73: Activating An Application Or Option
Standard Base Station mode for RTCM 2.0 differential correction output • The Auto-Dif activation can be purchased at any time from Geneq inc. or through an authorized reseller. The necessary firmware update with installation tool and the subscription code will be provided. - Page 74 $>JI,810133,1,3,09031998,01/06/1998,12/31/2018,3.5,31 where, the serial number is 810133. Write down that serial number and provide it to Geneq with your request for an Auto-Dif subscription code. Type the following command in the MESSAGE window after receiving the subscription code...
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Page 75: Interpreting Subscription Date Codes
The Application in bold indicates the active one (in this example: Application 1). The subscription code can be sent from the “Terminal” window using the $JK command above. To change application, select “File”, “Exit”, then click on “Swap Receiver Apps”. This will reboot the receiver to the “other”... -
Page 76: Differential Correction Operations
4. Differential Correction Operations This section provides basic configuration steps for various modes of differential corrections. 4.1 Automatic Differential of the MFA Application 4.1.1 Principle of Operation The Multi-Function Application is the software (firmware) that operates the iSXBlue/SXBlue II receivers. The MFA automatically detects various sources and types of differential correction and uses the best one available in the following order of priority: RTK of the following formats (ROX, RTCM3, CMR/CMR+) on any of the communication ports. -
Page 77: Datum Considerations
4.1.2 Datum Considerations The iSXBlue/SXBlue II output coordinates always follow the datum of the differential correction source. If using local RTK, the output coordinates will be in the same datum as the base station coordinates. If the receiver has an active OmniSTAR subscription and RTK is lost, the iSXBlue/SXBlue III will switch its differential source to OmniSTAR and the datum will change to ITRF 2008 (epoch 2010). -
Page 78: Base Station Configuration
If any of these memory coordinates are within 10 meters of the current fix, the closest • one will be used automatically as reference point and the iSXBlue/SXBlue will start computing differential corrections. • If there are no coordinates saved in memory or if the differences between the current position and the memory coordinates are greater than 10 meters then the receiver will automatically average a 300 second position and use it as Reference Point to compute the differential corrections. -
Page 79: Sxblue Config Base Menu
If broadcasting corrections in RTCM 3 format, the following default messages should be • included: $JRTCM3,INCLUDE,1004,1005,1008,1012. • A base station Broadcast ID ranging from 0 to 4095 (except for CMR format 0 to 31) can also be assigned to the receiver. This ID will be shown in the DSID (Differential Station ID) field of the GGA sentence on the rover. -
Page 80: Guideline For Rtk Rover Operation
4.2.2 Guideline for RTK Rover Operation RTK operations involve the use of carrier phase, therefore, the rover must be in clear, unobstructed view of the sky. Also the performance of RTK will be affected by the baseline length (distance between base and rover, less than 20km is preferred) or the receiver’s location within an RTK network and the quality of the constellation (number of satellites available above the antenna). -
Page 81: Using Rtk Networks
To prevent multipath and for faster ambiguity resolution, set the elevation mask to at least 10 • degrees using $JMASK,10. Using an elevation mask higher than 15 degrees has minimal impact on multipath rejection. • Give preference to a field software that monitors the DGPS status (RTK fixed/float, DGPS), age of differential correction, and RMS values. -
Page 82: Auto-Dif (Autonomous And Base Station Modes)
When debugging for communication issues, we recommend testing with a wired condition • between base and rover, prior to using a third party wireless connection. A null-modem cable should be used to connect the two iSXBlue/SXBlue II serial ports. 4.3 Auto-Dif (Autonomous and Base Station Modes) Operation of the iSXBlue/SXBlue II unit with the Auto-Dif application requires sending of NMEA messages. -
Page 83: Recording Raw Data And Converting To Rinex
II binary format and take care of the logging during the data collection session. Geneq EZSurv software also allows post-processing of the collected data. Shall a in-house software requires logging the iSXBlue/SXBlue II raw data, the following binary... -
Page 84: Converting To Rinex Format
RINEX utility available in the Download section of the www.sxbluegps.com web page must be installed in its default directory. If Geneq EZSurv will be used for post-processing, the “Add Receiver Config Data” is mandatory, otherwise it is optional but can useful for further reference. -
Page 85: Complete Nmea Interface
The above interface will be displayed and allows to edit all information contained in the header along with some output configuration parameters. Click on any of the line to activate the entry line. Once done, select either RINEX2 or RINEX3 format and click on the “Process Rinex” button. 5. -
Page 86: Jasc,D1
Table 5-2 General Commands Message Description $JASC,Dx Command to turn on diagnostic information. This is a command to place the receiver into ‘AIR’ mode where the receiver will respond better to $JAIR the high dynamics associated with airborne applications. $JASC,VIRTUAL This command is used to output RTCM data fed into the other port, through the current port. -
Page 87: Jair
5.2.2 $JAIR This command allows you to place the iSXBlue/SXBlue II GNSS into AIR mode HIGH, where the receiver is optimized for the high dynamic environment associated with airborne platforms. JAIR defaults to normal (NORM) and this setting is recommended for most applications. The AUTO option allows the receiver to decide when to turn JAIR on HIGH. -
Page 88: Jalt
configure the iSXBlue/SXBlue II GNSS to output RTCM data on the current port from data input on another port, issue the following command: $JASC,VIRTUAL,r<CR><LF> To configure the iSXBlue/SXBlue II GNSS to output RTCM data on a specific port from RTCM data input on another port, issue the following command: $JASC,VIRTUAL,r,PORTy<CR><LF>... -
Page 89: Jlimit
WAAS (SBAS) in Application Slot 1 and Auto-Dif in Application Slot 2, but Auto-Dif requires a subscription that must be purchased from Geneq or an authorized reseller. To poll the receiver for the current applications, send the following message: $JAPP<CR><LF>... -
Page 90: Jbaud
it indicates that WAAS (SBAS) is in application slot 1, Auto-Dif is in application slot 2, and that WAAS in application slot 1 is currently being used. To change from the current application to the other application, when two applications are present, issue the following command: $JAPP,OTHER<CR><LF>... -
Page 91: Jconn
‘y‘ is A, B or C), a baud rate change will occur for the specified port. Note that the Bluetooth port (PORTA) only supports 57600 baud (9600 baud for serial number below 0808A100) and can only be modified by Geneq. The iSXBlue/SXBlue II GNSS will reply with the following response: $>... -
Page 92: Jpos
This command will have the following format: $JK,x…<CR><LF> Where ‘x…’ is the subscription key provided by Geneq and is 10 characters in length. If you send the $JK command without a subscription key as follows, it will return the date code of the subscription. -
Page 93: Jquery, Guide
powering it for the first time in Europe after it has been tested in Canada). This will allow it to begin the acquisition process for the closest SBAS spot beams. This will save some time with acquisition of the SBAS service, however, use of this message is typically not required due to the quick overall startup time of the iSXBlue/SXBlue II GNSS receiver. -
Page 94: Jsave
Configuration (Command) Setting Elevation Mask ($JMASK) Residual Limit ($JLIMIT) Altitude Aiding ($JALT) None Age of Differential ($JAGE) 45 minutes Air Mode ($JAIR) Auto Differential Type ($JDIFF) Default for Application NMEA Precision ($JNP) 5 decimals COG Smoothing ($JTAU,COG) None Speed Smoothing ($JTAU,SPEED) None The board-level defaults are different than the factory default settings. -
Page 95: Jshow
No data fields are required. The receiver will indicate that the configuration is being saved and will notify you when the save is complete. 5.2.15 $JSHOW This command is used to poll the iSXBlue/SXBlue II GNSS for its current operating. This command has the following structure: $JSHOW[,subset] <CR><LF>... - Page 96 When issuing this command with the optional ‘,subset’ data field (without the square brackets), a one-line response is provided. The subset field may be either CONF or GP. When CONF is specified for ‘subset’, the following response is provided: $>JSHOW,CONF,N,0.0,10.0,5,A,60W This response is summarized in the following table: Message Component Description...
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Page 97: Jbin
5.2.17 $JBIN This command allows you to request the output of the various binary messages, but most notably, the Bin95 and Bin96 messages. These latter two messages contain all information required for post- processing. Refer to chapter 5 for the binary format. This message has the following structure: $JBIN,msg,r[,PORTy]<CR><LF>... -
Page 98: Jboot
01/01/1900 This field is the subscription begin date This field is the subscription expiration date and also acts as subscription 1/01/3003 code enumerator (See 4.2.10, $JK command) This field is the application software (or firmware) version number This field is a place holder 5.2.19 $JBOOT Power down the Eclipse engine and then power it back up. -
Page 99: Jmode
5.2.21 $JMODE The JMODE command is used to control various GPS tracking parameters. $JMODE<CR><LF> Command Description JMODE Query receiver for status of JMODE settings JMODE,BASE Enable/disable base mode functionality or query the current setting JMODE,FIXLOC Set the receiver to not re-average (or re-average) its position or query the current setting JMODE,FOREST Enable/disable high gain functionality (for tracking under canopy) or query the current setting JMODE,GLOFIX... -
Page 100: Jnmea, Precision
5.2.23 $JNMEA, PRECISION Specify or query the number of decimal places to output in the GPGGA, GPGLL, and GPGNS messages or query the current setting Specify the number of decimal places $JNMEA,PRECISION,x<CR><LF> where 'x' specifies the number of decimal places from 1 to 8 5.2.24 $JPRN, EXCLUDE Exclude GPS and/or GLONASS satellites from being used in the positioning solution or query the current setting... -
Page 101: Jasc
Table 5-3 GPS Commands Message Description $JASC This command is used to configure the NMEA message output of the GPS engine $JAGE This command is used to configure the maximum age of DGPS corrections $JOFF This command is used to turn off all data output by the GPS engine $JMASK This command allows you to modify the cut-off angle for tracking of GPS satellites $JNP... -
Page 102: Jage
The iSXBlue/SXBlue II GNSS will reply with the following response: $> 5.2.27 $JAGE This command allows you to choose the maximum allowable age for correction data. The default setting for the iSXBlue/SXBlue II GNSS is 3600 seconds for forestry applications; however, you may change this value as you feel appropriate. -
Page 103: Jnp
$JMASK,e<CR><LF> Where the elevation mask cut-off angle, ‘e’, may be a value from 0 to 60 degrees. The iSXBlue/SXBlue II GNSS will reply with the following response: $> 5.2.30 $JNP This command allows the user to specify the number of decimal places output in the GGA and GLL messages. -
Page 104: Jtau
You may find a slight improvement in positioning performance using either the short or long smoothing interval, depending on your multipath environment. The default for this command is 900 seconds (15 minutes) or LONG. To change the smoothing interval to 300 seconds (5 minutes), or SHORT, use the following command: $JSMOOTH,SHORT<CR><LF>... -
Page 105: Sbas Commands
Where “tc” is the new time constant that falls within the range of 0.0 to 200.0 seconds. The setting of this value depends upon the expected dynamics of the receiver. If the receiver will be in a highly dynamic environment, this value should be set to a lower value, since the filtering window would be shorter, resulting in a more responsive measurement. -
Page 106: Jwaasprn
Table 5-4 SBAS Commands Message Description $JWAASPRN This message is used to reconfigure the WAAS and WAAS compatible PRN numbers (for use with other Space Based Augmentation Systems (SBAS) like EGNOS, MSAS, GAGAN) $JGEO This command is used to poll the WAAS demodulator for information relating to your current location and WAAS satellites $JRD1 This command is used to poll the iSXBlue/SXBlue II GNSS for SBAS diagnostic information... -
Page 107: Jgeo
$> 5.3.2 $JGEO This message is used to display information related to the current frequency of SBAS, and its location in relation to the iSXBlue/SXBlue II GNSS antenna. To query the iSXBlue/SXBlue II GNSS for the currently used SBAS satellite information, use the following query: $JGEO<CR><LF>... -
Page 108: Jasc,Rtcm
The receiver will respond with the following data message: $> This message may be turned off by setting the update rate to zero as follows: $JASC,D1,0<CR><LF> 5.3.4 $JASC,RTCM This command allows you to configure the iSXBlue/SXBlue II GNSS to output RTCM corrections from SBAS through either of the iSXBlue/SXBlue II GNSS ports. -
Page 109: Gpmsk
Table 5-5 DGPS Beacon Commands Message Description Type Command to tune beacon receiver and turn on diagnostic information Proprietary $GPMSK These commands are used to get beacon status information from channel #0 and Proprietary $PCSI,1 channel #1 $PCSI,2 Command to list the 10 closest stations Proprietary $PCSI,3,2 Command to display the contents of the internal station database... -
Page 110: Pcsi,1 And $Pcsi,2
5.4.2 $PCSI,1 and $PCSI,2 This command is used to obtain beacon status data from channel 0 or channel 1 of the internal beacon demodulator. The resulting $PCSI,CS0 or $PCSI,CS1 message will be returned to the same port from which the command was sent and at the desired rate. It has the following format: $PCSI,1,n<CR><LF>... -
Page 111: Pcsi,3,2
5.4.3 $PCSI,3,2 This command displays the ten closest stations. It has the following format: $PCSI,3,2<CR><LF> ($PCSI in Capital letters) Response: $PCSI,3,2,StationID,Name,Freq,Status,Time,Date,Distance,Health,WER Data Field Description StationID Beacon Station ID Name Station Name Freq Beacon Station Frequency (no decimal point, ex 296.0 kHz displayed as 2960) Status 0 (operational), 1 (undefined), 2 (no information), 3 (do not use) Time... -
Page 112: Pcsi,0
Data Field Description IDref1 Reference Station ID #1 IDref2 Reference Station ID #2 StationID Station ID Name Station Name Freq Beacon Station Frequency (no decimal point, ex 296.0 kHz displayed as 2960) Scaled by 364 (positive value indicates North and “-“ indicates South) Scaled by 182 (positive value indicates East and “-“... -
Page 113: Gpcrq,Msk ($Crmsk)
$PCSI,8,NITRAM,W: Enable weak signal tracking (WER of 50%) $PCSI,8,NITRAM,Q: Enable Legacy Q value output in place of WER 5.4.7 $GPCRQ,MSK ($CRMSK) This standard NMEA query prompts the SXBlue II-B GPS for its operational status. It has the following format: $GPCRQ,MSK<CR><LF> Response: $CRMSK,fff.f,F,mmm,M,n*CS Data Field... -
Page 114: Omnistar Commands (Sxblue Ii-L Gps)
5.5 OmniSTAR Commands (SXBlue II-L GPS) This section details the commands accepted by the SXBlue II-L GPS to configure and monitor the OmniSTAR functionality of the receiver. Table 4-5 provides a brief description of the commands supported by the OmniSTAR built-in sensor for its configuration and control. Table 5-6 OmniSTAR Commands Message Description... -
Page 115: Jlxbeam
Data Field Description freq Frequency (MHz) of the spot beam long Longitude of the center of the spot beam (in degrees) Latitude of the center of the spot beam (in degrees) baud Baud rate at which this spot beam is modulated satlong Satellites longitude (in degrees) Example:... -
Page 116: Jfreq
$>JLBEAMEX $> Beam:22,1535125000,600,-26,40,2,41,0,9999,* $> Beam:21,1535157500,600,65,30,31,18,-21,9999,* $> Beam:13,1535185000,1200,136,-25,23,28,-40,160,* $> Beam:13,1535185000,1200,172,-40,13,26,-26,160,* $> Beam:24,1557835000,1200,-100,50,6,28,0,9999,* $> Beam:24,1557835000,1200,-101,66,12,6,0,9999,* $> Beam:25,1557845000,1200,-74,52,12,30,-30,9999,* $> Beam:26,1557855000,1200,-122,45,11,30,25,9999,* $> Beam:8,1535137500,1200,-85,2,30,20,-5,-98,* $> Beam:8,1535137500,1200,-60,-25,34,36,-20,-98,* $> Beam:8,1535137500,1200,-142,15,20,35,45,-98,* $> Beam:4,1535137500,1200,109,2,14,19,-27,109,* $> Beam:4,1535137500,1200,140,38,27,51,-56,109,* $> Beam:7,1537440000,1200,23,-2,29,49,50,25,* $> Beam:7,1537440000,1200,14,59,41,23,34,25,* $> Beam:7,1537440000,1200,11,28,17,24,0,25,* 5.5.3 $JFREQ This message allows the SXBlue II-L GPS to be either manually or automatically tuned to the OmniSTAR satellite frequency. -
Page 117: Joms
5.5.4 $JOMS This command requests the raw OmniSTAR subscription information and has the following form: $JOMS The receiver will respond with the following message: $>JOMS,Opt,Source,Type,AccrReduction,StartDate,EndDate,HourGlass,ExtentionTime,LinkVector,Soft wareVersion Data Field Description Indicates a WET or DRY Subscription Source RTCM Source ID, VBS, or VRC Type Subscription Type (VBS, XP, HP) AccrReduction... -
Page 118: Auto-Dif Commands In Autonomous Mode
Command Description OTHER Specifying OTHER instructs the iSXBlue/SXBlue II GNSS to use external corrections input through the opposite port from which you are communicating (valid for Port A and B) PORTy Specifying PORTy (where y is A, B or C) instructs the SXBlue II GPS to use external corrections input through the specified port (A = Bluetooth, B = RS-232, C = USB) THIS THIS instructs the receiver to use external correction input through the same port from which you are... -
Page 119: Jrad,1,P
$>JRAD,1,51.00233513,-114.08232345,1050.212 Upon startup of the iSXBlue/SXBlue II GNSS with the Auto-Dif application running (as opposed to the SBAS application), no reference position will be present in memory. If you attempt to query for the reference position, the iSXBlue/SXBlue II GNSS will respond with the following message: $>JRAD,1,FAILED,Present Location Not Stable 5.6.2 $JRAD,1,P This command records the current position as the reference with which to compute Auto-Dif corrections. -
Page 120: Jrad,2
Note - Both latitude and longitude must be entered as decimal degrees. The receiver will not accept the command if there are no decimal places. 5.6.4 $JRAD,2 This command is used to force the receiver to use the new reference point. This command is normally used following a $JRAD,1 type command. -
Page 121: Jrad,1
Table 5-8 Auto-Dif Commands for Base Station Operation Message Description $JRAD,1 This command is used to display the current reference position $JRAD,1,P Store present position as reference $JRAD,1,lat,lon,alt Store entered position as reference $RAD,2 Use reference position as base $JRAD,3 Use current position as base $JRAD,9 Initialize Base Station feature... -
Page 122: Jrad,2
This command has the following layout: $JRAD,1,lat,lon,alt<CR><LF> Where the data fields in this command are described in the following table. Data Field Description This is the latitude of the reference point in degrees decimal degrees. This is the longitude of the reference point in degrees decimal degrees. This is the ellipsoidal height of the reference point in m. -
Page 123: Jrad,9
If the Auto-Dif algorithms do not find that there has been sufficient data collected, the iSXBlue/SXBlue II GNSS will send the following response: $>JRAD,3,FAILED,Not Enough Stable Satellite Tracks If you receive the failure message after a few minutes of operation, try again shortly until the ‘OK’ acknowledgement message is sent. -
Page 124: Table 5-10 Local Differential Commands
This section provides information related to the NMEA messages accepted by the iSXBlue/SXBlue II GNSS optional Local Differential applications. The following table provides a brief description of these commands. Table 5-10 Local Differential Commands Message Modes used Description $JRTK,1 Base This command is used to display the stored Manual-reference position $JRTK,1,Other... -
Page 125: Jrtk,1
The threshold for this logic determining that it is near to a saved location is 10 meters (three dimensional Lat, Lon, Height), using the receiver's estimated location. Ellipsoidal Height must be used and not Mean Sea Level. 5.8.1 $JRTK,1 This command is used to display the manual-reference position currently stored in the receiver’s internal memory. -
Page 126: Jrtk,5
$JRTK,1,lat,lon,alt<CR><LF> Where the data fields in this command are described in the following table. Data Field Description This is the latitude of the reference point in degrees decimal degrees. This is the longitude of the reference point in degrees decimal degrees. This is the ellipsoidal height of the reference point in m. -
Page 127: Jrtk,9
where, TimeToGo: Seconds left until ready to transmit RTK • ReadyTransmit: Non zero when configured to transmit and ready to transmit RTK on at least one • communication port. It is a BitMask of the transmitting port, with bit 0 = port A (Bluetooth), bit 1 = port B (Serial) and bit 2 = port C (USB). -
Page 128: Jasc,Cmr
$JASC,DFX,r[,PORTy]<CR><LF> The message status variable ‘r’ may be one of the following values: Description When the ‘,PORTy’ data field is specified (without the square brackets and where ‘y’ is A, B or C), this command will turn RTCM data on or off on the Bluetooth, Serial or USB port. The iSXBlue/SXBlue II GNSS will reply with the following response: $>... -
Page 129: Jrtk,18
$>JRTK,12,0 for Local-Dif mode, otherwise response is $>JRTK,12,1 if RTK is enabled. 5.8.12 $JRTK,18 This command is used on the rover and displays the distance to the base station. This command has the following format: $JRTK,18<CR><LF> and the receiver replies with a response similar to the following: $>JRTK,18,distance (m) 5.8.13 $JQUERY,RTKPROG Perform a one-time query of RTK fix progress information. -
Page 130: Jrtcm3,Exclude
$>JQUERY,RTKSTAT,MODE,TYP,AGE,SUBOPT,DIST,SYS,NUM,SNR,RSF,BSF,HAG,AC CSTAT,SNT 5.8.15 $JRTCM3,EXCLUDE Specify RTCM3 message types to not be transmitted (excluded) by base station Specify RTCM3 message to not be transmitted: $JRTCM3,EXCLUDE[,1004][,1005][,1006][,1007][,1008][,1012][,1033]<CR><LF> Query the current setting: $JRTCM3,EXCLUDE<CR><LF> 5.8.16 $JRTCM3,INCLUDE Specify RTCM3 message types to be transmitted by base station Specify RTCM3 message to be transmitted: $JRTCM3,INCLUDE[,1004][,1005][,1006][,1007][,1008][,1012][,1033]<CR><LF>... -
Page 131: Jrtcm3,Antname
Message Description MODE 1 = Ready to enter RTK ambiguity fix 0 = Not ready to enter RTK ambiguity fix 1 = Receiver running in RTK ambiguity fix mode 0 = Receiver not running in RTK ambiguity fix mode Number of satellites used to fix summer-1 SS1 must be significantly larger than SS2 and SS3 to enter R=1 mode SUBOPT DIST... -
Page 132: Output Data Messages
where name must be an antenna name from the following list: http://www.ngs.noaa.gov/ANTCAL/LoadFile?file=ngs08.003 Query the current setting: $JRTCM3,ANTNAME<CR><LF> 5.9 Output Data Messages The following subsections describe the NMEA data messages listed in the Table below in detail. Table 5-11 Output Data Messages Message Max Rate Description... -
Page 133: Gga Data Message
Table 5-12 GNS Data Message Defined Field Description hhmmss.ss UTC time in hours, minutes, seconds of the GNSS position llll.ll Latitude s = N or s = S, for North or South latitude yyyy.yy Longitude s =E or s = W, for East or West longitude Mode Indicator Number of satellites used in position computation pp.p... -
Page 134: Gll Data Message
5.9.3 GLL Data Message The GLL message contains Latitude and Longitude. In the table below, the GLL data message is broken down into its components. This message has the following format: $GPGLL,ddmm.mmmm,s,dddmm.mmmm,s,hhmmss.ss,s*cc<CR><LF> Table 5-14 GLL Data Message Defined Field Description ddmm.mmmmm Latitude in degrees, minutes, and decimal minutes s = N or s = S, for North or South latitude... -
Page 135: Gst Data Message
5.9.5 GST Data Message The GST message contains Global Navigation Satellite System (GNSS) pseudorange error statistics. The table below breaks down the GST message into its components. This message has the following format: $GPGST,hhmmss.ss,a.a,b.b,c.c,d.d,e.e,f.f,g.g *cc<CR><LF> Table 5-16 GST Data Message Defined Field Description Hhmmss.ss... -
Page 136: Rmc Data Message
5.9.7 RMC Data Message The RMC message contains recommended minimum specific GPS data. The table below breaks down the RMC data message into its components. This message has the following format: $GPRMC,hhmmss.ss,a,ddmm.mmm,n,dddmm.mmm,w,z.z,y.y,ddmmyy,d.d,v *cc<CR><LF> Table 5-18 RMC Data Message Defined Field Description hhmmss.ss UTC time in hours, minutes, seconds of the GPS position... -
Page 137: Vtg Data Message
5.9.9 VTG Data Message The VTG message contains velocity and course information. The table below breaks down the VTG data message into its components. This message has the following format: $GPVTG,ttt,c,ttt,c,ggg.gg,u,ggg,gg,u*cc<CR><LF> Table 5-20 VTG Data Message Defined Field Description True course over ground, ttt = 000 to 359, in degrees True course over ground indicator, c = T always Magnetic course over ground, ttt = 000 to 359, in degrees Magnetic course over ground Indicator, always c = M... -
Page 138: Rd1 Data Message
Table 5-22 GRS Data Message Defined Field Description Hhmmss.ss UTC time of the GGA or GNS fix associated with this sentence Mode 0: residuals were used to calculate the position given in the matching GGA or GNS sentence Mode 1: residuals were recomputed after the GGA or GNS position was computed Range residuals, in meters, for satellites used in the navigation solution. -
Page 139: Raim Command And Message
ARM Status Field Description GPS lock DGPS valid data The ARM processor has lock DGPS solution DGPS solution is good Not used Not used An example of the NavCondition is presented in the following table for the 179889A value. NavCondition Field Description The number of satellites with lock and carrier phase... -
Page 140: Psat,Gbs Data Message
probFALSE Maximum allowed probability that there is a false alarm (That the position error is reported outside the of the HPR, but it is really within the HPR). The acceptable range for this value is from 0.001% to 50%. The default is 1%. The purpose of the probability of false alarm (probFALSE) is to help make a decision as to whether to declare a fault or warning in an uncertain situation. -
Page 141: Binary Data
6. Binary Data The iSXBlue/SXBlue II GNSS supports a selection of binary data messages that provide improved communication port efficiency. See Section 4.2 for information on using the $JBIN command to turn on binary messages. 6.1 Binary Message Structure The Binary messages supported by the iSXBlue/SXBlue II GNSS are in an Intel Little Endian format for direct read in a PC environment. -
Page 142: Bin 80
6.1.1 Bin 1 This message has a BlockID of 1 and is 52 bytes excluding the header and epilogue. It consists of GPS position and velocity data. It is the only binary message that can be output at a rate of 20 Hz. The following table describes the content of this message. -
Page 143: Bin 93
6.1.2 Bin 2 This message has a BlockID of 2 and is 16 bytes excluding the header and epilogue. This message contains various quantities that are related to the GPS solution. The following table describes the details of this message in order. Table 6-3 Bin 2 Message Group Components... -
Page 144: Bin 94
6.1.3 Bin 80 This message has a BlockID of 80 and is 40 bytes excluding the header and epilogue. This message contains the SBAS message. The following table describes the constituents of this message in order. Table 6-4 Bin 80 Message Group Components Type... -
Page 145: Bin 97
Bit 0 = 0.004 m/s Long ZGDot Bit 0 = 0.0000125 m/s2 Long XGDotDot Bit 0 = 0.0000125 m/s2 Long YGDotDot Bit 0 = 0.0000625 m/s2 Long ZGDotDot Bit 0 = 2**-31 s Unsigned short Bit0 = 2**-40 s/s Unsigned short Gf0Dot 6.1.5 Bin 94 This message has a BlockID of 94 and is 96 bytes excluding the header and epilogue. -
Page 146: Bin 96
Table 6-7 Bin 95 Message Group Components Type Bytes Value The satellite to which this data Unsigned short belongs Not used at this time Unsigned short Future use Spare1 Time at which this arrived (LSB = Unsigned long SecOfWeek SF1words[10] Unparsed SF 1 message Unsigned long 4 x 10 = 40... -
Page 147: Table 6-9 Bin 97 Message
• Bits 16-23: Phase Track Time in units of 1/10 second, range = 0 to 25.5 seconds (see next word) • Bits 24-31: Cycle Slip Counter (Increments by 1 every cycle slip with natural rollover after 255) UlDoppler_FL • Bit 0: 1 if Valid Phase, 0 otherwise •... -
Page 148: Bin 99
Table 6-10 Bin 98 Message Group Components Type Bytes Value Almanac-derived-data, 8 satellites Structure 8 x 8 =64 See the following AlmanData at a time array table Last almanac processed Byte 0 to 31 LastAlman Flag that is set when ionosphere Byte 0 = not logged IonoUTCVFlag... -
Page 149: Table 6-11 Bin 99 Message
Table 6-11 Bin 99 Message Group Components Type Bytes Value Navigation mode data (lower 3 Byte Lower 3 bits take on NavMode2 bits hold the GPS mode, upper bit the values set if differential is available). 0 = time not valid 1 = no fix 2 = 2D fix 3 = 3D fix... - Page 150 EphmHealth Satellite health from sub frame 1 Byte See ICD-GPS-200 of the GPS message Almanac valid flag Byte AlmVFlag 0 = not logged 1 = invalid 2 = valid 3 = has data (not yet validated) Almanac health from sub frame 4 Byte See ICD-GPS-200 AlmHealth...
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Page 151: Frequently Asked Questions
7. Frequently Asked Questions 7.1 General Q – Are the SBAS services reliable for differential operation? A – Yes, these services have proven themselves for some time now and have shown excellent results. As WAAS (North and Central America), EGNOS (Europe) and MSAS (Japan) are operational, they can be used as sole means of navigation. -
Page 152: Support And Repairs
A - We recommend that you contact your dealer first. With their experience with this and other products from Geneq, they’re likely to help you isolate a problem. If the issue is beyond the capability or experience of your dealer, either they or you can contact a Technical Service Representative from Geneq. - Page 153 Normally when this issue happening, it could take up to 3 times for a successful pairing. Q - What should I do if I have a Bluetooth pairing request on the iPad/iPhone using iSXBlue II GNSS? A –Each time the iSXBlue make a connection with the last iOS device, it keep the mac address for a possible next connection.
- Page 154 Q - What should I do if I have a Bluetooth connection with the iSXBlue View app without streaming Data? A –The iSXBlue might paired on Bluetooth but when launching the ISXBlue View app there is no reception of NMEA message. Make sure to connect an antenna to the iSXBlue before you do any connection because the iSXBlue View app has to track a position before starting replacing the values from the core location with the values from the external GPS (iSXBlue).
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Page 155: Power, Communication, And Configuration
They may be able to provide some in-person assistance too. If this either isn’t viable or does not solve the problem, Geneq Technical Support is available during normal business hours to help solve the problem. You may reach Technical Support at:... - Page 156 2. Ensure that you have adequate battery charge. 3. Check the documentation of the receiving device, if using RS-232, to ensure that the transmit line from the iSXBlue/SXBlue II GNSS is connected to the receive line of the other device. Also ensure that the signal grounds are connected.
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Page 157: Gps Reception And Performance
A - We use two different software applications at Geneq for this application: • PocketMAX - Available from Geneq. This application is a very useful tool for graphically viewing tracking performance, positioning accuracy, and more on a Pocket PC. -
Page 158: Auto-Dif
Q - How do I know if the iSXBlue/SXBlue II GNSS is offering a differentially corrected position? A – The “DGPS” LED is the primary indicator that the receiver is outputting differentially corrected positions. The iSXBlue/SXBlue II GNSS outputs the GGA message as the main positioning data message. -
Page 159: Installation
Q - Can I use a vehicle’s power system to operate the iSXBlue/SXBlue II GNSS system? A – Yes, a cigarette lighter plug is available from your dealer or Geneq. This adapter recharges the integrated Li-Ion battery pack. It is important to use only the charger supplied by Geneq (see section 1.2.2 for more information on the battery pack). -
Page 160: Troubleshooting
8. Troubleshooting 8.1 Troubleshooting Checklist Use the following checklist to troubleshoot anomalous iSXBlue/SXBlue II GNSS system operation. The following table provides a problem symptom, followed by a list of possible solutions. Table 8-1 Troubleshooting Symptom Possible Solution Receiver fails to power Recharge battery pack and try again after 15 minutes of charge •... -
Page 161: Table 8-2 Led Functions
Table 8-2 LED Functions Power LED: (Red) This LED should be on (solid) once power is applied to the receiver. This is the only LED that is not under GPS computer control. Once the battery voltage reaches a certain threshold, this LED will start blinking (roughly 15-20 minutes prior to auto shutdown). - Page 162 Appendices iSXblue/SXBlue II GNSS Series Technical Reference Manual...
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Page 163: Appendix A - Specifications
Appendix A - Specifications This appendix provides the operational, mechanical, electrical, physical, and environmental specifications of the iSXBlue/SXBlue II GNSS receiver. Table A-1 iSXBlue/SXBlue II GNSS Receiver Specifications Internal GPS Engine Operational Specifications Item Specification Frequency 1.575 GHz GPS + SBAS Channels 10 + 2 parallel tracking DGPS Beacon (SXBlue II-B GPS) OmniSTAR (SXBlue II-L GPS) -
Page 164: Appendix B - Interface
Appendix B - Interface This appendix provides information on interfacing the main aspects of your iSXBlue/SXBlue II GNSS. The main purpose of the iSXBlue/SXBlue II GNSS is to provide differentially corrected position and related information to a data logging or navigation device in the standard NMEA format. In addition to the iSXBlue/SXBlue II GNSS operating as a positioning sensor, you may also have a use for the correction data received by the internal SBAS demodulator. -
Page 165: Figure B-2 Rtcm Data Output From Serial Port
RTCM Data Output To output (only) RTCM correction data from the internal SBAS correction source from the Serial, USB or Bluetooth ports of the iSXBlue/SXBlue II GNSS, use the following procedure: • Turn off all NMEA and binary messages using the $JOFF<CR><LF> command •... -
Page 166: Figure B-3 Rtcm Data Input To Serial Port
correction source, you must: • Connect Pin-3-receive (RX) of the serial cable to transmit pin (TX) of the external correction source • Connect Pin-5-Common Ground of the serial cable to the signal return or common ground of the external correction source RX RTCM Figure B-3 RTCM Data Input to Serial Port Note - For successful communications, the baud rate of the iSXBlue/SXBlue II GNSS differential... -
Page 167: Appendix C - Introduction To Gps And Dgps Services
Appendix C - Introduction to GPS and DGPS Services This chapter provides a brief overview of GPS, differential GPS, Space Based Augmentation Systems (SBAS) such as WAAS / EGNOS / MSAS / GAGAN. The United States Department of Defense (DoD) operates a reliable, 24 hour a day, all weather Global Positioning System (GPS). -
Page 168: Differential Gps
II GNSS also has a documented binary raw measurement protocol. A RINEX translator is available from Geneq in the event that this may be useful, in addition to some C code snippets to aid in integrating the binary format itself into your own application. -
Page 169: How It Works
How it Works Conventional DGPS involves setting up a reference GPS receiver at a point of known coordinates. This receiver makes distance measurements, in real-time, to each of the GPS satellites. The measured ranges include the errors present in the system. The base station receiver calculates what the true range, without errors, knowing its coordinates and those of each satellite. - Page 170 later in the office using sophisticated processing software tools. There are a small variety of methodologies available to the operator, such as static, rapid static, kinematic, etc. Describing in detail the various post processing techniques is beyond the scope of this document, however, generally, post processing is more complicated from a procedural perspective and requires more skill to successfully operate than real-time systems.
- Page 171 layer. This charged activity affects the GPS signals that penetrate this layer, affecting the measured ranges. The difficulty in removing the effect of the ionosphere is that it varies from day to day, and even hour to hour due to the sun’s 11-year solar cycle and the rotation of the earth, respectively. During the summer of 2001, the sun’s solar cycle reached an 11-year high and going forward we saw a general cooling trend of the ionosphere over the few years that followed, thus with reduced ionospheric activity.
- Page 172 GPS Signal Multipath Satellite signals received by the GPS receiver by a reflection from an object can decrease positioning accuracy. These multipath signals increase the measured range to a satellite as the signal takes a longer route to the GPS antenna. Certain precautions will minimize GPS antenna sensitivity to these reflected signals.
- Page 173 augmentation information meets safety and performance requirements. Since those tests had been accomplished successfully, MSAS for aviation use was commissioned on September 27, 2007. In India, the Indian Space Research Organisation and Airports Authority of India have successfully completed the final system acceptance test of the GPS Aided GEO Augmented Navigation system (GAGAN) as announced on November 20, 2007 by Raytheon Company.
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Page 174: Figure C-1 Waas Ground Segment (End Of 2007)
Figures C-1 and C2 show the ground segments of the WAAS and EGNOS systems, respectively. In 2007, a total of 13 monitoring stations have been added to the existing WAAS network, increasing the ionospheric coverage for this SBAS constellation. The location is shown in red in Figure C1: 4 in Alaska, 4 in Canada and 5 in Mexico. -
Page 175: Figure C-2 Egnos Ground Segment (End Of 2007)
Figure C-2 EGNOS Ground Segment (2010) Provided that a GPS satellite is available to the SBAS reference station network for tracking purposes, orbit and timing error corrections will be available for that satellite. Ionospheric corrections for that satellite are only available if the signal passes through the ionospheric map provided by SBAS (ex. the WAAS ionospheric map covers the entire Central and North American region). -
Page 176: Figure C-3 Worldwide Sbas Coverage
Reception Since SBAS broadcast in the L-band, the signal requires a line of sight in the same manner as GPS to maintain signal acquisition. Let’s select WAAS for an example. Currently, two communication satellites are transmitting WAAS data for public use. Due to their location, these satellites may appear lower on the horizon, depending on your geographic position on land. -
Page 177: Table C-1 Worldwide Sbas Constellation (End Of 2007)
Table C-1 Worldwide SBAS Constellation (December 2012) SBAS NMEA Satellite Name Longitude Constellation Number Number WAAS Inmarsat 4F3 98.0° W WASS Galaxy XV 133.0 W WAAS Anik F1R (Telesat) 107.3° W EGNOS Inmarsat 3F2 (AOR-E) 15.5° W EGNOS ESA (Artemis)* 21.5°... -
Page 178: Appendix D - Resources
Please note that the process of estimating ionospheric corrections beyond the SBAS broadcast map would not be as good as having an extended SBAS map in the first place. This difference may lead to minor accuracy degradation. As an example, Figures C-5 depicts the broadcast WAAS and EGNOS ionospheric map extent and the extrapolated version. - Page 179 Geneq Web Site This following address is the iSXBlue/SXBlue II GNSS Web site which provides detailed information on the various receivers manufactured by Geneq: www.sxbluegps.com GPS General Resources NAVSTAR GPS Joint Program Office: http://www.losangeles.af.mil/library/factsheets/factsheet.asp?id=5311 US Coast Guard Navigation Center: http://www.navcen.uscg.gov FAA WAAS Web Site This site offers general information on the WAAS service provided by the U.S.
- Page 180 http://www.iala-aism.org/ OmniSTAR Web Site http:www.omnistar.com Finding Satellite Elevations The following web page allows computing elevations of satellites above horizon from any location in the world: http://www.lyngsat.com/ (Java in browser should be enabled) WAAS PRN 133: http://www.lyngsat.com/tracker/galaxy19.html (same location as...) WAAS PRN 135: http://www.lyngsat.com/tracker/galaxy12.html (same location as...) WAAS PRN 138:...
- Page 181 GIM International: http://www.gim-international.com/ POB Magazine: http://www.pobonline.com/ Direction Magazine: http://www.directionsmag.com/ GeoWorld: http://www.geoplace.com Geoconnexion International Magazine: http://www.geoconnexion.com/ iSXblue/SXBlue II GNSS Series Technical Reference Manual...
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Page 182: Index
Index Bluetooth Communication, 7 Bluetooth Connectivity, 34 $GPGGA, 95, 96 $GPGLL, 96 $GPGSA, 97 $GPGST, 97 Carrying Case, 19 $GPGSV, 98 COAST, 114 $GPRMC, 98 COAST Feature, 27, 28 $GPRRE, 99 Commands, 41 $GPVTG, 99 Auto-Dif, 84, 87 $GPZDA, 100 General, 54 $J4STRING, 70 GPS, 67... - Page 183 Humidity, 35 Performance, 23, 118 HyperTerminal, 39 Post Processing, 31 Precision Antenna, 4 ICD-GPS-200, 129 Installation Real-Time Differential Options, 28 Connecting to External Devices, 34 RTCM SC-104, 37, 129 Environmental Considerations, 35 Placement, 33 Interface, 33, 124 Ionospheric Map, 138 SBAS, 24, 114, 118, 127, 132 SBAS Coverage, 136 SBAS Performance, 24...
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Page 184: Revision History
Revision history: Rev 1.1 March 2008 Updated SBAS information in Appendix C Rev 1.2 November 2008 Section 4.6 updated with proper Auto-Dif command sets Updated GAGAN information in Appendix C New default Baud rate for Bluetooth now set to 57600 (sec 1.3.1, 1.4.3.1, 4.2.7, 4.3.6, 6.4) Update datum info SBAS to use updated ITRF2000 (sec 1.4.3.1) Update RTK commands.
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