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iSXblue/SXBlue II GNSS Series Technical Reference Manual

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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. The iSXBlue/SXBLue II GNSS Series features raw measurement output and delivers
excellent phase measurement quality for mono-frequency post-processing and RTK applications. It also
offers independent Bluetooth, USB and serial communication ports.

This document is meant to assist a customer in becoming familiar with the iSXBlue/SXBLue II GNSS
receiver functionality and system operation, but also with GPS / SBAS / OmniSTAR

®

/ RTK concepts.

The chapters that follow provide detailed information on the receivers, including the hardware and
software interface, in addition to various descriptions of technologies and features that they support.

iSXBlue/SXBlue II GNSS Series

Model

iSXBlue II GNSS

SXBlue II GNSS

GPS

●

●

GLONASS

●

●

SBAS

●

●

OmniSTAR

®

X

X

iOS Compatible

●

X

External Differential

●

●

RTK Base/Rover Option

●

●

10Hz Output Option

●

●

20Hz Output Option

●

●

Battery Autonomy
(Approximate)

8 hours

8 hours

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10
11
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Summary of Contents for iSXBlue II GNSS Series

Page 1: ...iSXBlue SXBlue II GNSS Series Technical Reference Manual Release Date September 2014 rev 1 ...

Page 2: ...he FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular ...

Page 3: ...use abuse improper installation neglect lightning or other electrical discharge or fresh salt water immersion of Products Repair modification or service of Geneq Products by any party other than a Geneq approved service center shall render this warranty null and void Geneq does not warrant claims asserted after the end of the warranty period Geneq does not warrant or guarantee the precision or acc...

Page 4: ...TALLATION USE QUALITY PERFORMANCE OR ACCURACY OF ANY PRODUCTS Governing Legislation To the greatest extent possible this warranty shall be governed by the laws of the Province of Quebec Canada In the event that any provision hereof is held to be invalid by a court of competent jurisdiction such provision shall be severed from this warranty and the remaining provisions shall remain in full force an...

Page 5: ...8 1 3 2 5 Microsoft Windows with Widcomm s My Bluetooth Places driver 19 1 3 2 6 iOS Apple Bluetooth communication 21 1 3 2 7 Android Bluetooth communication 24 1 3 3 Installing the USB Drivers for Microsoft Windows 25 1 4 In the Field 27 1 4 1 Setting up for Submeter Work 28 1 4 1 1 Using the Nylon Carrying Case 28 1 4 1 2 Using the Softhat 28 1 4 1 3 Rangepole Setup 29 1 4 3 Antenna Phase Center...

Page 6: ...ions 49 3 1 Communicating with the iSXBlue SXBlue II Receiver 49 3 1 1 NMEA 0183 Interface 49 3 1 2 Binary Messages 50 3 1 3 RTCM SC 104 Protocol 50 3 2 Configuring the iSXBlue SXBlue II Receiver 51 3 2 1 Using HyperTerminal 51 3 2 1 1 HyperTerminal Setup 51 3 2 1 2 Sending Individual Commands 53 3 2 1 3 Sending Configuration Files to the Receiver 54 3 2 2 Using SXBlue Config 55 3 2 2 1 Quick Conf...

Page 7: ...JLIMIT 74 5 2 6 JAPP 74 5 2 7 JBAUD 75 5 2 8 JCONN 76 5 2 9 JDIFF 76 5 2 10 JK 77 5 2 11 JPOS 77 5 2 12 JQUERY GUIDE 78 5 2 13 JRESET 78 5 2 14 JSAVE 79 5 2 15 JSHOW 80 5 2 16 JT 81 5 2 17 JBIN 82 5 2 18 JI 82 5 2 19 JBOOT 83 5 2 20 JFORCEAPP 83 5 2 21 JMODE 84 5 2 22 JNMEA GGALLGNSS 84 5 2 23 JNMEA PRECISION 85 5 2 24 JPRN EXCLUDE 85 5 2 25 JRELAY 85 GPS Commands 85 5 2 26 JASC 86 5 2 27 JAGE 87 ...

Page 8: ...1 P 106 5 7 3 JRAD 1 lat lon alt 106 5 7 4 JRAD 2 107 5 7 5 JRAD 3 107 5 7 6 JRAD 9 108 5 8 Local Differential Commands 108 5 8 1 JRTK 1 110 5 8 2 JRTK 1 P 110 5 8 3 JRTK 1 R 110 5 8 4 JRTK 1 lat lon alt 110 5 8 5 JRTK 5 111 5 8 6 JRTK 6 111 5 8 7 JRTK 9 112 5 8 8 JRTK 17 112 5 8 9 JASC DFX 112 5 8 10 JASC CMR 113 5 8 11 JRTK 12 113 5 8 12 JRTK 18 114 5 8 13 JQUERY RTKPROG 114 5 8 14 JQUERY RTKSTA...

Page 9: ...4 130 6 1 6 Bin 95 130 6 1 7 Bin 96 131 6 1 8 Bin 97 132 6 1 9 Bin 98 132 6 1 10 Bin 99 133 7 Frequently Asked Questions 136 7 1 General 136 7 2 Support and Repairs 137 7 3 Troubleshooting 137 7 4 Power Communication and Configuration 140 7 5 GPS Reception and Performance 142 7 6 SBAS Reception and Performance 142 7 7 Auto Dif 143 7 8 External Corrections 143 7 9 Installation 144 8 Troubleshooting...

Page 10: ...enter Precision GNSS Antenna GESXB3GLANT 32 Figure 1 16 iSXBlue SXBlue II GNSS Front Panel 33 Figure 2 1 Sample Extrapolated Ionospheric Grids 40 Figure 2 2 Auto Dif Error Drift 43 Figure 2 3 RS 232 Connector Pin out 47 Figure 3 1 Sample Config File 54 Figure B 1 Serial Interface 149 Figure B 2 RTCM Data Output From Serial Port 150 Figure B 3 RTCM Data Input to Serial Port 151 Figure C 1 WAAS Grou...

Page 11: ...Output Data Messages 117 Table 5 12 GNS Data Message Defined 118 Table 5 13 GGA Data Message Defined 118 Table 5 14 GLL Data Message Defined 119 Table 5 15 GSA Data Message Defined 119 Table 5 16 GST Data Message Defined 120 Table 5 17 GSV Data Message Defined 120 Table 5 18 RMC Data Message Defined 121 Table 5 19 RRE Data Message Defined 121 Table 5 20 VTG Data Message Defined 122 Table 5 21 ZDA ...

Page 12: ...st processing and RTK applications It also offers independent Bluetooth USB and serial communication ports This document is meant to assist a customer in becoming familiar with the iSXBlue SXBLue II GNSS receiver functionality and system operation but also with GPS SBAS OmniSTAR RTK concepts The chapters that follow provide detailed information on the receivers including the hardware and software ...

Page 13: ...ith the use of any up to date handheld tablet computer and software combination One USB 2 0 compliant port and One full duplex Serial Port can be used for configuration or to output receive RTCM corrections and or NMEA messages Internal field replaceable Li Ion battery for full day operation Organization This manual contains the following chapters Chapter 1 Getting Started provides information to ...

Page 14: ... numbers and e mail address for Geneq Customer Service are Telephone number 1 514 354 2511 Toll Free 1 800 463 4363 North America Fax number 1 514 354 6948 E mail address support sxbluegps com Technical Support is available from 8 30 AM to 5 00 PM Eastern Time Monday to Friday To expedite the support process please have the product model and serial number available when contacting Geneq Customer S...

Page 15: ...ormation 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 Warning Warnings inform of situations that may cause harm to you ...

Page 16: ... and technologies 1 1 Unpacking your iSXBlue SXBlue II GNSS Receiver If you find that any of these items listed below are damaged due to shipment please contact the freight carrier immediately for assistance When you unpack your iSXBlue SXBlue II GNSS receiver please ensure that it is complete by comparing the parts received against the packing slip Standard Package Content iSXBlue SXBlue II GNSS ...

Page 17: ... a Class 1 type The iSXBlue SXBlue II GNSS offers three communication options Serial RS 232 USB and Bluetooth In order to use the USB port a driver supplied on CD ROM with the unit downloadable from the www sxbluegps com web site or from Microsoft Updates must be installed on your computer Refer to section 1 3 for instructions on how to install the drivers In order to use the Bluetooth wireless co...

Page 18: ...l 3 Figure 1 3 iSXBlue SXBlue II GNSS Main Components Charger Jack ON OFF Button GPS LED Indicators Battery Gauge Indicator Battery Gauge Button RS 232 Port USB Port GPS Antenna Connector SXBlue II Receiver Battery Pack Battery Thumb Screws x4 Serial Number ...

Page 19: ...e 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 If using a different charger than the supplied charger the following specifications must be followed 2 cell Li Ion charger maximum current of 2A charger plug to fit a 1 7mm positive center pin jack with 5mm OD Charge time with s...

Page 20: ...r 4 screws except for the GPS L Band antenna For better performance the use of the supplied 4 external magnet as opposed to the removable magnetic adapter is suggested for vehicle applications Magnetic mount is optional for the Survey antenna Using different antennae than the ones supplied might degrade the performance of the iSXBlue SXBlue II GNSS Series Shall a different antenna be used a maximu...

Page 21: ...h output rates carrier phase post processing base station and rover configuration for RTK centimeter level accuracies etc 1 3 1 Default Parameters Although specified in the following chapters this section provides tables that detail the default parameters of the iSXBlue SXBlue II GNSS Series as delivered Table 1 1 Default Applications Memory Location SXBlue II GNSS Application 1 MFA RTK Base Rover...

Page 22: ... of 57 600 baud Table 1 4 Default GNSS NMEA Message Output Port NMEA Messages Update Rate Bluetooth GGA GSA GST GSV VTG ZDA 1 Hz Serial GGA GSA GST GSV VTG ZDA 1 Hz USB GGA GSA GST GSV VTG ZDA 1 Hz The iSXBlue SXBlue II GNSS receivers output six 6 standard NMEA messages by default GGA GSA GST GSV VTG and ZDA All ports are fully independent from one another and can be set to input or output differe...

Page 23: ... s using Pocket PC Windows Mobile iPad iPhone or Android operating systems and for regular computers laptop tablet PC s etc with standard Microsoft Windows Apple iOS and Android operating systems Even though the setup procedure will be slightly different for each of them especially for the Bluetooth communication on Apple iOS devices the basics remain the same on Windows or Android The two major s...

Page 24: ...atives or updates on how to connect to an iOS device 1 3 2 1 Windows Mobile 5 0 and 6 x with Microsoft drivers Microsoft Bluetooth drivers for Windows Mobile 5 0 and 6 x are similar with just a few minor differences There is currently a bug in these drivers for non secure connections and it has not yet been addressed by Microsoft Fortunately the iSXBlue SXBlue II GNSS Series offers a passkey to ov...

Page 25: ...lue II GNSS Series Technical Reference Manual 10 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 ...

Page 26: ...ies Technical Reference Manual 11 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 ...

Page 27: ...he 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 View of Window Mobile 6 0 ...

Page 28: ...mple COM 8 It is recommended that you start with the highest available COM port usually COM 9 8 and 7 are free COM 6 is by default used by the Microsoft External GPS virtual COM port settings and can be used but the default settings must be changed for this utility under the Settings menu of the Windows Mobile operating system COM5 is a 50 50 pick choosing a COM port below COM 5 is usually risky a...

Page 29: ...re there is no need to connect manually should this option be available in the Bluetooth utility Tap Ok at the top right corner Windows Mobile 6 0 will eventually show a Cannot Connect window Tap on Ok in this window to bypass the message and finally on Done in the last window 1 3 2 2 Windows Mobile with Socket Communication driver On legacy non Bluetooth enabled PDA s a Compact Flash CF or Secure...

Page 30: ...e assigned to a Serial Port Profile in this example COM4 Tap Ok on the top right corner to close the window From the Bluetooth Icon in the task bar select Advanced Features then Bluetooth Devices Select Tools Device Discovery and hit Next in the Device Discovery Wizard By default the Any Bluetooth device option will be selected Hit Next After the search the iSXBlue SXBlue II receiver will be displ...

Page 31: ...on should now appear with a small red heart and in this example is set as a favourite on COM port 4 An application calling COM 4 will automatically search for this particular iSXblue SXBlue II receiver Click on the X to close the window 1 3 2 3 Windows Mobile with WidComm driver Most legacy iPaq series PDA s from Hewlett Packard HP use drivers from Widcomm Inc Below is a typical Bluetooth configur...

Page 32: ...Close the window by clicking on Ok on the top right corner Again from the Bluetooth icon select Bluetooth Manager In the menu at the bottom of the screen tap New then Connect In the Connection Wizard window that appears select Explore a Bluetooth device then hit Next Tap Next to allow the wizard to search for a Bluetooth device Once found the iSXblue SXBlue II receiver will appear in the Bluetooth...

Page 33: ...eSoleil for Windows is simple and straightforward From the Classic Display s menu select Bluetooth then Search Devices All nearby Bluetooth devices will be shown Double click on the iSXBlue SXBlue II icon BlueSoleil will detect the iSXBlue SXBlue II as a Serial Port Service Right click on the iSXBlue SXBlue II icon and select Connect Bluetooth Serial Port The assigned COM port number will be displ...

Page 34: ...the iSXBlue SXBlue II Click on the Bluetooth Setup Wizard option in the Bluetooth Tasks Select the first option in the list I know the service I want to use then hit Next In the Bluetooth Service Selection window select the Bluetooth Serial Port service then click Next In the Bluetooth Device Selection window from the pull down menu select Show all devices After the search the iSXBlue SXBlue II re...

Page 35: ...gure 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 Click Ok to close the Bluetooth Properties window Hit Finish to complete the configuration If the Start the connection option is checked Bluetooth connection will automatically be activated with the iSXBlue SXBlue II receiver ...

Page 36: ...he Bluetooth tab The Bluetooth switch must be to ON position to recognize any Bluetooth device 3 After a couple of second you will see a device name ex iSXBlue II GNSS XXXXXXXX icon appear with the same serial number of your receiver 4 Click on the iSXBlue II GNSS XXXXXXXX device until it mark connected 5 You may verify the manufacturer setting by following theses instructions Go to Settings Gener...

Page 37: ...iSXblue SXBlue II GNSS Series Technical Reference Manual 22 General About ...

Page 38: ...SS Series Technical Reference Manual 23 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 ...

Page 39: ... to make the GPS receiver s location data available to your apps bypassing the built in GPS The iSXBlue SXBlue II GNSS can be connected to an Android device but you need to use a third party software to do it We use here Bluetooth GPS you can find it in the Playstore Here the pairing protocol 1 Pair the GPS receiver with the Android device 2 Open Bluetooth GPS and select the iSXBlue SXBlue from th...

Page 40: ...s for Microsoft Windows a 32 bit and a 64 bit Make sure the correct version is used with your operating system Once the driver is installed the port number assigned to a specific USB port will be the same every time the iSXBlue SXBlue II is connected to this port The installation software can be found on the supplied CD ROM in the Download section of the http www sxbluegps com web site or will be ...

Page 41: ...ver files will be uncompressed to the specified location and the Installer window will be displayed Click on Next to proceed with the installation Once the installation is completed the window on the left will be displayed and the names of the two driver subsets will be displayed In order to find the COM port number that Windows has assigned to the iSXBlue SXBlue II GNSS the receiver must be conne...

Page 42: ...the Ports COM LPT category The iSXBlue SXBlue II GNSS USB Serial Port will be shown with the COM port number assigned to it 1 4 In the Field This section covers the following topics setting up for submeter work using the nylon carrying case and soft hat setting up the receiver on a range pole using the mounting plate and brackets definition of the LED indicators generic data collection software co...

Page 43: ...1 Using the Nylon Carrying Case The nylon carrying case features a belt loop and can also be used with a belt clip or a shoulder strap The pictures below show how to properly run the antenna cable in the carrying case Note that a small opening on the side allows recharging the battery pack without having to remove the receiver from the case Figure 1 6 Carrying Case 1 4 1 2 Using the Softhat When u...

Page 44: ...h 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 Figure 1 8 Using the Softhat 1 4 1 3 Rangepole Setup This section shows how to mount the iSXBlue SXBlue II on a rangepole using the carrying case and the L shaped bracket ...

Page 45: ...haped 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 ...

Page 46: ... computer Geneq supplies a mounting bracket for the SXPad receiver shown in the picture above The pole clamp has the following description and part number at Seco Pole Bracket Assy 1 1 4 w X Slot and part number is 5198 059 1 4 3 Antenna Phase Center The diagrams below show the phase centers for the various types of antennae supplied with the iSXBlue SXBlue II Series If only one phase center measu...

Page 47: ...iSXblue SXBlue II GNSS Series Technical Reference Manual 32 1 4 3 1 GNSS Precision Antenna all models Figure 1 14 Phase Center Precision GNSS Antenna GESXB3GLANT ...

Page 48: ...fferential correction ex SBAS is lost The Coast technology will maintain submeter accuracy for 30 40 minutes depending on ionospheric conditions For RTK operation under the MFA application it will remain solid for 1 minute after the loss of RTK signal and blink for an extra 2 minutes indicating a float solution after a total of 3 minutes the receiver will switch to the next best available differen...

Page 49: ... years and the current revision differs greatly from the original one When using SBAS the coordinates will be in ITRF 2008 current epoch When using RTK corrections the datum will depend on the reference frame of the local RTK network or if using a base rover configuration the output coordinates will follow the same datum of the base station coordinates Masks and filters are very useful features of...

Page 50: ...rious 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 web site The SXBlue Server features a trial mode with full functionality but with a limitation of one hour p...

Page 51: ...ut only processes SXBlue rovers for which the serial number has been registered Many upgradeable levels are available L1 Lite L1 GPS L1 GNSS L1 L2 GPS L1 L2 GNSS The software processes automatically multiple baselines with automatic search and download of Internet base stations and also supports PPP Precise Point Positioning 1 4 6 8 Geneq iSXBLue View on iOS devices The Geneq iSXBlue View app is a...

Page 52: ...cquisition quality is described as a signal to noise ratio SNR A higher SNR is indicative of better quality signal reception For the GNSS models GLONASS satellites are tracked but used only in the solution when either GPS only see G DIF and Suretrack features in Section 2 5 below or GNSS differential correction is available The receiver can be forced to use GLONASS in non differential mode by sett...

Page 53: ...ibe the general operation and performance monitoring of the SBAS demodulator within the iSXBlue SXBlue II GNSS receiver See Appendix C for more information on SBAS currently available in the world at time of print 2 2 1 Automatic Tracking and Ranging The SBAS demodulator featured within the iSXBlue SXBlue II GNSS will automatically scan and track the SBAS satellite signals At time of print SBAS si...

Page 54: ...ore the SBAS map is downloaded Caution When the map has been downloaded you may observe a position jump due to the potential difference between the GPS ionospheric model and the ionospheric SBAS map To minimize the impact of this issue on your use of the iSXBlue SXBlue II GNSS you may wish to wait up to five minutes before using the receiver or issue the JQUERY GUIDE CR LF message to ask the iSXBl...

Page 55: ...s for performance with the accuracy At this moment the GLONASS system offer a submeter accuracy approximately from 30 to 60 cm The next decade a new generation name as GLONASS K2 will come up to 1 cm accuracy Previously SBAS system did not support GLONASS However new technology employed by the iSXBlue SXBlue II GNSS allows it to use both GPS and GLONASS satellites for high performance The GLONASS ...

Page 56: ...This unique feature of using all satellites in view provides with the advantages of all the extra GLONASS observations required in tough and challenging conditions The SureTrack technology is the same as the G Dif but for carrier phase RTK corrections as opposed to code phase SureTrack feature as for the G Dif only applies to the GNSS models With SureTrack technology the RTK rover makes use of eve...

Page 57: ...fferential like submeter accuracy autonomously When referring to Auto Dif in the remaining of this manual this is the mode of operation that will be implied Auto Dif Rover is a mode where the iSXblue SXBlue II can perform with differential like accuracy for extended periods without the use of a differential service It models the effects of ionosphere troposphere and timing errors for extended peri...

Page 58: ... using Auto Dif during the calibration at the beginning of each hour After the initialization the age correspondingly increases from zero until the next calibration The position excursion from the true position the lines centered on the zero axis are Northing blue and Easting pink with increasing correction age is smooth from position to position but you can see that there is a slow drift to the p...

Page 59: ...on times to achieve the highest possible performance 2 7 Evaluating the iSXBlue SXBlue GNSS II Performance The iSXBlue SXBlue II receiver performance has been evaluated with the objective of determining best case performance in a real world environment Static testing has shown that the iSXBlue SXBlue II achieves a performance better than 60cm 95 of the time when using SBAS signal WAAS EGNOS GAGAN ...

Page 60: ...is available Further there are other performance merits of a GPS engine such as its ability to maintain a lock on GPS and SBAS satellites In this case the same GPS antenna should be shared between the receiver test subjects For the sake of comparing the tracking availability of one receiver to another no accurate truth system is required unless performance testing is also to be analyzed Again an R...

Page 61: ...ology that enables seamless data connections between a wide ranges of devices through short range digital two way radio The iSXBlue SXBlue II is equipped with Bluetooth technology and requires another Bluetooth device with which to communicate a Bluetooth capable PDA for example The Bluetooth wireless module inside the iSXBlue SXBlue II is a power class 1 device supporting version 2 0 of the Bluet...

Page 62: ...the iSXBlue SXBlue II receiver These features can also be activated after purchase but you will need to contact your local reseller 2 8 3 1 One Pulse per Second 1PPS The one pulse per second 1 PPS timing signal is used in applications where devices require time synchronization The 1 PPS signal is 3 3V HCMOS normally low with rising edge synchronization The 1 PPS signal is capable of driving a load...

Page 63: ...mmediately the set of strings it has been configured to output Also it is worth noting that binary message Bin1 has a field reserved for the event marker See chapter 6 for more information 2 8 3 3 5Volt DC Output PWR Some external sensor might require a 5Vdc power source An example can be attaching an RS 232 Bluetooth or Wi Fi dongle to the receiver The iSXBlue SXBlue II will supply up to 100mA to...

Page 64: ... provides data definitions for a variety of navigation and related equipment Such instruments supported include gyrocompasses Loran receivers echo sounders GPS receivers and more NMEA functionality is virtually standard on all GPS equipment available NMEA has an ASCII character format that allows you to read the data via terminal software on the receiving device if possible One second of example N...

Page 65: ...W_aNsmMFM WVLA S amz ilIuPqx _IZhT CpLLrYpdP kOsmMFM kVDHwVGbA P WWuNt_SW_yMsmMnqdrhcC sE ZfC vJmNGAHJVhT CqLRryrdviStW H_GbA P wxu K RTCM has various levels of detail however the highest level is the message RTCM defines numerous messages that contain specific information The iSXBlue SXBlue II receiver supports more advanced methods of differential positioning such as real time kinematic RTK that...

Page 66: ...ut rates Although free utilities like the SXBlue Config are available to configure iSXBlue SXBlue II a terminal emulation software such as HyperTerminal or TeraTerm can be used to send commands query the receiver and view the receiver s output stream These commands are described in Chapter 5 The following items are examples of user configurable features Selecting one of the on board applications S...

Page 67: ...t the receiver s port it might be caused by either one of the following two factors All data messages are turned off To verify type a command like JI or JT and the receiver should send a reply at this point you might not see the characters that were typed but should get a reply anyway local echo of the characters will be turned on below The communication speed of the receiver is not at 9600 bits p...

Page 68: ...s port The opposite port is referred to as the Other port This is valid only between the Bluetooth and Serial Ports In addition the port names can be explicitly used at the end of the command PORTA PORTB or PORTC instead of OTHER or THIS PORTC must be used for the USB port when configuring it from the Serial or the Bluetooth port For example if you are communicating with the iSXBlue SXBlue II Seri...

Page 69: ...o 460800 baud most computers might not support more than 115200 baud on their serial ports 3 2 1 3 Sending Configuration Files to the Receiver If you have many commands to send to the iSXBlue SXBlue II or have multiple units to configure instead of sending them manually to the receiver you can create a configuration text file using any text editor Microsoft Notepad preferably The file contains eac...

Page 70: ...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 tab to send commands manually via the Terminal window and to Log Messages ...

Page 71: ...tes 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 menus are displayed when RTK Base and Rover features are activated on the receiver The Precision and Plot menu are tools to monitor the accuracy of the receiver when testing ...

Page 72: ... become available The ARM processor of the iSXBlue SXBlue II engine supports two simultaneous versions of firmware called Application Only one of them is in operation at any given time These two versions of firmware may have different functionality and user can switch between applications as needed 3 3 1 Available Applications The iSXBlue SXBlue II currently ships with the MFA Multi Function Appli...

Page 73: ...l applications Outputs RTCM corrections and or other proprietary formats when used in base station mode 2 The Auto Dif application is pre installed in the Application 2 memory of the iSXBlue SXBlue II but is not activated and requires a subscription The Auto Dif application offers the following features Autonomous differential submeter correction mode with calibration Standard Base Station mode fo...

Page 74: ...to Dif will be the current active application Type the following command in the MESSAGE window JI The first number in the response is the serial number of the receiver An example of the response is 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 f...

Page 75: ...n a quick understanding of what subscription codes were applied to the receiver There are two commands that provide the date code of the receiver This section provides information on interpreting the JI and JK subscription date codes An example of the JI and JK subscription date codes is listed below The date code is in bold and underlined text JI 12838 1 7 26022003 01 01 1900 01 01 3000 6 8Hx 38 ...

Page 76: ...o yes see JMODE command in Chapter 5 The SureTrack feature see Section 2 5 however will allow the use of the Glonass satellites in the solution after the GPS ambiguities are solved OmniSTAR XP HP G2 for SXBlue III L models only DFX single frequency proprietary RTK RTCM 2 x OmniSTAR VBS SBAS While the iSXBlue SXBlue II always tries to swap to the best source of differential correction available typ...

Page 77: ...ng the date code in the reply of the JI command or in the About menu of the SXBlue Config software 4 2 1 Guideline for Base Station Operation The following steps must be performed in order to set a GNSS receiver as a base station a Install the iSXBlue SXBlue II antenna on a reference point b Set the reference point coordinates in the receiver s memory c Configure the output port of the iSXBlue SXB...

Page 78: ...t away from obstructions If using a radio modem the transmitting antenna should be at least 3 meters away from the iSXBlue SXBlue II antenna Do not set the antenna directly on the ground but at least 75cm above all surface Set the receiver to base mode with the following command JMODE BASE YES and set the satellite elevation mask to 5 or 10 degrees with JMASK 5 or 10 If the coordinates will be ent...

Page 79: ...ut ports to be used and activate only one type of differential correction RTCM ROX or CMR per port For example to output RTCM on the serial port PortB issue the following commands JOFF PORTB followed by JASC RTCM3 1 PORTB Note that if using Automatic referencing mode there will be no output until the 300 second averaging is completed To check the transmission status of the iSXBlue SXBlue II along ...

Page 80: ...tion Below are some general considerations for proper RTK operation along with the configuration commands involved The sub sections below are more specific to RTK networks and local or single baseline corrections The default iSXBlue SXBlue II configuration allows automatic selection of the best differential correction source RTK OmniSTAR SBAS etc and type RTCM3 ROX CMR CMR For some applications in...

Page 81: ...ort or the radio modem serial port Configure the output port with the required NMEA messages using the JASC command By default the following sentences are activated GGA GSA GST GSV VTG and ZDA 4 2 2 1 Using RTK Networks RTK Networks use the NTrip protocol over the Internet and an NTrip client like SXBlue RTN is required to handle the communication between the NTrip caster and the iSXBlue SXBlue II...

Page 82: ...for this process but you should ensure that the iSXBlue SXBlue II maintains acquisition on the satellites available We refer to this process of gathering information for the Auto Dif application as Calibration 4 3 2 Calibration Calibration is the process of zeroing the increasing errors in the Auto Dif modeling process Calibration can be performed either in a relative or absolute sense depending o...

Page 83: ...ch post processing is required Some off the shelf software support the iSXBlue SXBlue 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 messages should be recorded Bin 65 GLONASS Ephemeris Bin 66 GLONAS...

Page 84: ...ill be used for post processing the Add Receiver Config Data is mandatory otherwise it is optional but can useful for further reference When recording raw data as base station filenames can be created automatically on a regular period Select either No Auto Filenames for one file recording or select another option from the pull down Click on Browse to give a filename and a path to the logging Do no...

Page 85: ...ed using only NMEA commands 5 1 NMEA Message Elements NMEA 0183 messages have a common structure consisting of a message header data fields checksum and carriage return line feed message terminator An example NMEA sentence follows XXYYY zzz zzz zzz xx CR LF The components of this generic NMEA message example are displayed in Table 5 1 Table 5 1 NMEA Message Elements Element Description Message hea...

Page 86: ...iding suitable accuracy after the both SBAS and GPS have been acquired up to 5 min JRESET This command is used to reset the configuration of the iSXBlue SXBlue II GNSS JSAVE This command is used to save the configuration of the iSXBlue SXBlue II GNSS JSHOW This command is used to query the iSXBlue SXBlue II GNSS receiver for its configuration JT This command is used to poll the iSXBlue SXBlue II G...

Page 87: ...a is discarded from the Navigation solution This may be beneficial when an aircraft is rapidly banking e g crop duster and hence the GPS signal rapidly transitions its entry into the antenna from area of high antenna gain pattern to that of low antenna gain The format of this command follows JAIR r CR LF Where feature status variable r may be one of the following values r Description 0 or NORM Nor...

Page 88: ... The advantage of this feature when operating in an application where a fixed altitude is acceptable is that the extra satellite s observations can be used to betterment of the latitude longitude and time offset calculations resulting in improved accuracy and integrity Marine markets for example may be well suited for use of this feature This command has the following layout JALT c v GEOID CR LF W...

Page 89: ...h to verify the current JLIMIT threshold the response to the JSHOW command provides this information 5 2 6 JAPP This command allows you to request the iSXBlue SXBlue II GNSS for the currently installed applications and to choose which application to use The iSXBlue SXBlue II GNSS by default comes pre installed with WAAS SBAS in Application Slot 1 and Auto Dif in Application Slot 2 but Auto Dif req...

Page 90: ...lue SXBlue II GNSS to use the first and second application It s best to follow up the sending of these commands with a JAPP query to see which application is 1 or 2 These two commands are best used when upgrading the firmware inside the iSXBlue SXBlue II GNSS as the firmware upgrading utility uses the application number to designate which application to overwrite 5 2 7 JBAUD This command is used t...

Page 91: ... 8 JCONN This command is used to create a virtual circuit between the A and B port if needed This allows you to communicate through the iSXBlue SXBlue II GNSS to the device on the opposite port The virtual circuit command has the following form JCONN p CR LF Where the connection type p may be one of the following p Description AB Specify AB in order to connect the A port Bluetooth to the B port Se...

Page 92: ...erential correction while in the LBAND application 5 2 10 JK This command is used by the iSXBlue SXBlue II GNSS to enable subscribe to the various applications and options such as Auto Dif Local Dif Local RTK Local Base 10Hz and 20Hz output rates 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 J...

Page 93: ... component does not have to be more accurate than approximately a half degree Note This command is not normally required for operation of the SXBlue II GPS 5 2 12 JQUERY GUIDE This command is used to poll the iSXBlue SXBlue II GNSS for its opinion on whether or not it is providing suitable accuracy after the both SBAS and GPS have been acquired up to 5 min This feature takes into consideration the...

Page 94: ...does plus it clears almanacs JRESET BOOT CR LF does everything JRESET ALL does plus the following Clears use of the Real Time clock at startup Clears use of backed up ephemeris and almanacs Re boots the receiver when done When the ALL field is present without the square brackets the almanac is also defaulted Issuing this command with this optional data field is not usually necessary 5 2 14 JSAVE S...

Page 95: ...ent port is set to a baud rate of 9600 when queried from Bluetooth A or Serial B 2 This line indicates that the other port is set to a baud rate of 9600 3 This line indicates that the USB port C is set to a baud rate of 9600 4 This line indicates that GPGGA is output at a rate of 1 Hz from the other port 5 This line indicates that GPVTG is output at a rate of 1 Hz from the other port 6 This line i...

Page 96: ...rees A AIR mode indication 60 Maximum acceptable age of correction data in seconds W Current differential mode W indicates WAAS mode When GP is specified for subset the following is an example response provided JSHOW GP GGA 1 0 This response will provide the JSHOW GP message header followed by each message currently being output through the current port and also the update rate for that message 5 ...

Page 97: ...mation 97 10 2 1 0 or 2 Binary message containing process statistics 98 1 or 0 Binary message containing satellite and almanac information 99 10 2 1 0 or 2 Binary message containing GPS diagnostic information When the PORTy data field is specified without the square brackets and where y is A B or C this command will enact a change on the Bluetooth Serial or USB port The iSXBlue SXBlue II GNSS will...

Page 98: ...nd retune to another satellite without cycling the power of the Eclipse II JBOOT CR LF If MFA is the current application and you send the JBOOT command the response is similar to the following STARTED MFA Ver 1 2Qe If any application other than MFA is the current application and you send the JBOOT command the response is similar to the following 5 2 20 JFORCEAPP Force an application to be used in ...

Page 99: ...ng JMODE MIXED Include satellites that do not have DGPS or SBAS corrections in the solution JMODE NULLNMEA Enable disable output of NULL fields in NMEA 0183 messages when no there is no fix when position is lost JMODE SBASNORTK Disable enable the use of SBAS ranging signals carrier phase in RTK JMODE SBASR Enable disable SBAS ranging or query the current setting JMODE SURETRACK Enable disable Sure...

Page 100: ...or query the current setting Exclude GPS and or GLONASS PRNs JPRN EXCLUDE GPS x x x GLO y y y CR LF where x x x represents the GPS PRNs you want to exclude y y y represents the GLONASS PRNs you want to exclude 5 2 25 JRELAY Send user defined text out of a serial port JRELAY PORTx msg CR LF x destination port where the message MSG will be sent msg message to be sent GPS Commands This section descri...

Page 101: ...articular update rate or off When turning messages on you have the choice of various update rates available depending on what your requirements are This command has the following layout JASC msg r PORTy CR LF Where msg is the name of the data message and r is the message rate as shown in the table below Sending the command without the optional PORTy data field without the square brackets will enac...

Page 102: ...ge timeout variable age may be a value from 6 to 8100 seconds The iSXBlue SXBlue II GNSS will reply with the following response 5 2 28 JOFF This command allows you to turn off all data messages being output through the current or a specific port including any binary messages such as Bin95 and Bin96 etc This command has the following definition JOFF PORTy CR LF When the PORTy data field is specifie...

Page 103: ...ingle command The output rate of each message is limited to 1 Hz however you may choose the set the baud rate of the current or another port at the same time This command has the following definition J4STRING r PORTy CR LF Where r may be one of the following baud rates Baud Rates 4800 9600 19200 38400 57600 When the PORTy data field is specified without the square brackets and where y is A B or C ...

Page 104: ...h to request the status of this message send the following command It will return the word SHORT or LONG as well as the number of seconds used The status of this command is also output in the JSHOW message JSHOW CR LF Note If you are unsure of the best value for this setting it is best to be conservative and leave it at the default setting of LONG 900 seconds 5 2 33 JTAU The JTAU command allows yo...

Page 105: ...stant will increase the level of COG smoothing The following command is used to adjust the COG time constant JTAU COG tc CR LF 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 iSXBlue SXBlue II GNSS If the receiver will be in a highly dynamic environment this value should be set to a lower valu...

Page 106: ...s you to both poll the GPS engine for the SBAS PRN s in memory and change them if desired To poll the receiver for the current SBAS PRN s send the following message JWAASPRN CR LF There are no data fields to specify in this message The receiver will respond with the following message JWAASPRN prn1 prn2 Where prn1 indicates the first PRN number and prn2 indicates the second PRN number The PRN numbe...

Page 107: ...I GNSS antenna to the SBAS satellite referenced to the horizon Az az Azimuth from the iSXBlue SXBlue II GNSS antenna to the SBAS satellite referenced to the horizon To monitor this information for dual SBAS satellites add the ALL variable to the JGEO message as follows JGEO ALL CR LF This will result in an output message similar to the following JGEO Sent 1575 4200 Used 1575 4200 PRN 135 Lon 133 E...

Page 108: ...ollowing command to the receiver JASC RTCM r PORTy CR LF The message status variable r may be one of the following values r Description 0 OFF 1 ON 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 5 4 DGPS Beacon C...

Page 109: ... D CR LF or GPMSK A A CR LF Data Field Description fff f This field is the beacon frequency in kHz 283 5 to 325 and may be left null if the following field is set to automatic A or Database D F This field selects the frequency selection mode either Manual M or Automatic A or Database D mmm This field is the MSK bit rate If the following field is set to Automatic A or Database D this field can be l...

Page 110: ...ersion SN Internal Beacon engine serial number fff f Beacon frequency being searched or tracked in kHz 283 5 to 325 F Frequency mode of the receiver either Manual M or Automatic A or Database D Mmm MSK bit rate being searched or tracked M MSK rate mode of the receiver either Manual M or Automatic A or Database D SS Signal Strength of the received signal Higher the better SNR Signal to Noise Ratio ...

Page 111: ...iles Health 1 not updated 8 undefined 0 7 valid range WER 1 not updated 0 100 valid range Example PCSI ACK 3 2 PCSI 3 2 929 St Jean QC 2960 0 14 0 0 1 1 PCSI 3 2 919 Cardinal ON 3060 0 94 0 0 1 1 PCSI 3 2 927 Lauzon QC 3090 0 123 0 0 1 1 PCSI 3 2 844 Hudson Falls NY 3240 0 136 0 0 1 1 PCSI 3 2 800 Brunswick ME 3160 0 178 0 0 1 1 PCSI 3 2 801 Portsmouth NH 2880 0 188 0 0 1 1 PCSI 3 2 799 Penobscot ...

Page 112: ...llen 2930 20493 2266 1 0 PCSI 3 3 0733 1024 0467 Hjortensudde 3020 21343 2305 1 0 PCSI 3 3 1024 1024 1024 St Vito lo Capo 3065 13899 2317 1 1 5 4 5 PCSI 0 This command queries the SXBlue II B GPS for a list of available proprietary PCSI beacon commands must be entered in Capital letters PCSI 0 CR LF The response is PCSI ACK 0 PCSI Pxxx y yyy Beacon engine firmware version PCSI 0 HELP Msg PCSI 1 St...

Page 113: ... frequency selection mode either Manual M or Automatic A or Database D mmm This field is the MSK bit rate M This field shows the MSK rate selection mode either Manual M or Automatic A or Database D n Period of output of performance status message 0 to 100 seconds CRMSS 5 4 8 GPCRQ MSS CRMSS This standard NMEA query prompts the SXBlue II B GPS for its performance status GPCRQ MSS CR LF Response CRM...

Page 114: ...bsections provide detailed information relating to the use of each command Note Please ensure that you save any changes that you wish to survive beyond the current power up by using the JSAVE command and wait for the Save Completed response 5 5 1 JLBEAM This command displays the current spot beams used by the OmniSTAR built in engine This command has the following layout JLBEAM CR LF The receiver ...

Page 115: ... 1200 9999 JLBEAM 1535 1375 85 2 1200 98 JLBEAM 1535 1375 60 25 1200 98 JLBEAM 1535 1375 142 15 1200 98 JLBEAM 1535 1375 109 2 1200 109 JLBEAM 1535 1375 140 38 1200 109 JLBEAM 1537 4400 23 2 1200 25 JLBEAM 1537 4400 14 59 1200 25 JLBEAM 1537 4400 11 28 1200 25 5 5 2 JLXBEAM This command displays the current spot beams used by the OmniSTAR built in engine This command has the following layout JLBEA...

Page 116: ...he OmniSTAR satellite frequency This command has the following structure JFREQ freq symb CR LF Where freq is the frequency in KHz and symb is the symbol rate 1200 or 2400 baud The receiver will reply with the following response Entering a frequency of zero with no associated symbol rate will place the OmniSTAR engine into automatic mode Entering a valid frequency and symbol rate will manually tune...

Page 117: ...a Field Description Opt Indicates a WET or DRY Subscription Source RTCM Source ID VBS or VRC Type Subscription Type VBS XP HP AccrReduction Not Used StartDate Subscription Start Date EndDate Subscription End Date HourGlass Seconds of metered time ExtensionTime Seconds of extension LinkVector Hexadecimal mask of links SoftwareVersion OmniSTAR Library version Example JOMS DRY ALL VBS 0 01 06 2000 01...

Page 118: ...orrection LBAND Specifying LBAND instructs the SXBlue II L GPS to use OmniSTAR differential correction while in the LBAND application 5 6 Auto Dif Commands in Autonomous Mode This current section provides information related to the NMEA messages accepted by the iSXBlue SXBlue II GNSS optional Auto Dif application The following table provides a brief description of the commands supported by the Aut...

Page 119: ...e following response JRAD 1P OK 5 6 3 JRAD 1 lat lon alt This command is a derivative of the JRAD 1 P command and is used when absolute positioning is desired The JRAD 2 command will need to be issued after this command 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 lat This is the lat...

Page 120: ...ng command if it has tracked enough satellites for a long enough period before you sent the command This period of time can be from 3 to 10 minutes long and is used for modeling errors going forward JRAD 3 OK CR LF 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 Satellit...

Page 121: ...as the following format JRAD 1 CR LF The iSXBlue SXBlue II GNSS will reply with a response similar to the following 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 receiver will respond wi...

Page 122: ...oth latitude and longitude must be entered as decimal degrees The receiver will not accept the command if there are no decimal places 5 7 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 This command has the following format JRAD 2 CR LF The iSXBlue SXBlue II GNSS will reply with the following response ...

Page 123: ...JRAD 2 and is the preferred method This command has the following format JRAD 9 1 1 CR LF The receiver will reply with the following response JRAD 9 OK To disable the base station mode the following command should be sent JRAD 9 0 Note The JASC RTCM 1 PORTy command must be sent to the receiver to start outputting standard RTCM corrections The other receiver rover must be set to use RTCM correction...

Page 124: ...and the other is called Auto Reference that the receiver obtains automatically by averaging JRTK 1 returns the manually entered reference position JRTK 1 OTHER returns the receiver s automatic reference position that the receiver obtains by averaging At startup the receiver will determine which of these two locations it is nearest to within 10 meters and use that location If it is not within 10 me...

Page 125: ... JRTK 1 51 00233513 114 08232345 1050 212 5 8 2 JRTK 1 P This command records the current computed position as the reference with which to compute Base Station corrections This command has the following format JRTK 1 P CR LF The iSXBlue SXBlue II GNSS will reply with the following response JRTK 1P OK 5 8 3 JRTK 1 R This command causes the base station to re average it s location Differential trans...

Page 126: ... II GNSS will use this reference position immediately and reply with the following response JRTK lat lon alt 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 8 5 JRTK 5 This command is used to show or to set the base station transmission status of the iSXBlue SXBlue II GNSS This command has the following f...

Page 127: ...y re save the previous location Basically JRTK 9 saves whatever is being used and this value can be viewed with the JRTK 17 command Generally the JRTK 9 command is not required since the averaged base station location is saved automatically in a 2nd internal memory location Auto Reference that is kept separate from that used by JRTK 1 Manual Reference This 2nd memory location is only overwritten w...

Page 128: ...essages to on or off to provide corrections to the rover JASC CMR r PORTy CR LF The message status variable r may be one of the following values r Description 0 OFF 1 ON When the PORTy data field is specified without the square brackets and where y is A B or C this command will turn CMR data on or off on the Bluetooth Serial or USB port The iSXBlue SXBlue II GNSS will reply with the following resp...

Page 129: ...PROG command JQUERY RTKPROG R F N SS1 SS2 SS3 MASK CC CR LF Message Description R 1 Ready to enter RTK ambiguity fix 0 Not ready to enter RTK ambiguity fix F 1 Receiver running in RTK ambiguity fix mode 0 Receiver not running in RTK ambiguity fix mode N Number of satellites used to fix SS1 summer 1 SS1 must be significantly larger than SS2 and SS3 to enter R 1 mode SS2 summer 2 SS3 summer 3 MASK B...

Page 130: ...E 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 Query the current setting JRTCM3 INCLUDE CR LF 5 8 17 JRTCM3 NULLANT Specify the antenna name as null no name that is transmitted ...

Page 131: ...horizontal position estimate poor for the application 0x8 HDOP high poor satellite geometry 0x10 fewer than 6 L1 satellites used 0x20 poor L1 SNRs 0x40 not in RTK mode 0x80 not in RTK mode or RTK only recently solved 10 sec ago 0x100 RTK solution compromised may fail The status message can be any of the above or any combination of the above For example a status message of 047 indicates the followi...

Page 132: ...w This message follows the following form GPGNS hhmmss ss llll ll s yyyy yy t n qq pp p saaaaa aa M xxxx xx M sss aaaa cc CR LF Message Max Rate Description GPGNS 20 Hz Fix data for single or combined satellite navigation systems GPGGA 20 Hz Global Positioning System Fix Data GPGLL 20 Hz Geographic Position Latitude Longitude GPGSA 1 Hz GNSS Global Navigation Satellite System DOP and Active Satell...

Page 133: ...ata message is broken down into its components This message takes the following form GPGGA hhmmss ss ddmm mmmm s dddmm mmmm s n qq pp p saaaaa aa M xxxx xx M sss a aaa cc CR LF Table 5 13 GGA Data Message Defined Field Description hhmmss ss UTC time in hours minutes seconds of the GPS position ddmm mmmmm Latitude in degrees minutes and decimal minutes s s N or s S for North or South latitude dddmm...

Page 134: ...ta Message The GSA message contains GPS DOP and active satellite information Only satellites used in the position computation are present in this message Null fields are present when data is unavailable due to the number of satellites tracked The table below breaks down the GSA message into its components This message has the following format GPGSA a b cc dd ee ff gg hh ii jj kk mm nn oo p p q q r...

Page 135: ...f semi minor axis of error ellipse meters d d Orientation of semi major axis of error ellipse degrees e e Standard deviation of latitude error meters f f Standard deviation of longitude error meters g g Standard deviation of altitude error meters cc Checksum CR LF Carriage return and line feed 5 9 6 GSV Data Message The GSV message contains GPS satellite information Null fields occur where data is...

Page 136: ...l minutes w S E or s W for East or West longitude z z Ground speed in knots y y Track made good referenced to true north ddmmyy UTC date of position fix in day month year d d Magnetic Variation in degrees v Variation sense v E East v W West cc Checksum CR LF Carriage return and line feed 5 9 8 RRE Data Message The RRE message contains the satellite range residuals and estimated position error The ...

Page 137: ...er ground units u K kilometer h cc Checksum CR LF Carriage return and line feed 5 9 10 ZDA Data Message The ZDA message contains Universal Time information The table below breaks down the ZDA data message into its components This message has the following format GPZDA hhmmss ss dd mm yyyy xx yy cc CR LF Table 5 21 ZDA Data Message Defined Field Description hhmmss ss UTC time in hours minutes secon...

Page 138: ... a couple of seconds old WeekNum The GPS week number FreqMHz The L band frequency in MHz 1475 4200 is used for SBAS DSPLocked 1 if DSPStat 1B or 1F BER BER2 Bit error rate bit error rates are given for both SBAS satellites being tracked AGC L band Signal strength DDS 0 0 for SBAS Doppler 0 for SBAS DSPStat A status bit mask for the DSP tracking of SBAS ARMStat A status bit mask for the ARM GPS sol...

Page 139: ...sage RAIM stands for Receiver Autonomous Integrity Monitoring RAIM is a GPS integrity monitoring scheme that uses redundant ranging signals to detect a satellite malfunction that results in a large range error The iSXBlue SXBlue II GNSS uses RAIM to alert users when errors have exceeded a user specified tolerance RAIM is available for the SBAS applications 5 10 1 JRAIM Command This command allows ...

Page 140: ...cessive faults even though you are actually within the protection radius Again downgrading to a warning prevents excessive faults when the conditions are highly uncertain The philosophy is to only issue a fault if you are relatively certain to within the probability of a false alarm that the protection radius has been exceeded else issue a warning 5 10 2 PSAT GBS Data Message The GBS message is us...

Page 141: ...eader is the ASCII sequence BIN The following table provides the general binary message structure Table 6 1 Binary Message Structure Group Components Type Bytes Value Header Synchronization String BlockID a number which tells the type of binary message DataLength the length of the binary messages 4 byte string Unsigned short Unsigned short 4 2 2 BIN 1 2 80 93 94 95 96 97 98 or 99 52 16 40 56 96 12...

Page 142: ...t 2 0 to 65536 GPSTimeOfWeek GPS tow sec associated with this message Double 8 0 0 to 604800 0 Latitude Latitude in degrees North Double 8 90 0 to 90 0 Longitude Longitude in degrees East Double 8 180 0 to 180 0 Height Altitude above the ellipsoid in meters Float 4 VNorth Velocity north in m s Float 4 VEast Velocity East in m s Float 4 VUp Velocity up in m s Float 4 Positive StdDevResid Standard d...

Page 143: ...long 4 Individual bits represent satellites GPSUtcDiff Whole seconds between UTC and GPS time GPS minus UTC Unsigned short 2 Positive HDOPTimes10 Horizontal Dilution of precision scaled by 10 0 1 units Unsigned short 2 Positive VDOPTimes10 Vertical Dilution of precision scaled by 10 0 1 units Unsigned short 2 Positive WAAS PRN Bitmask SBAS PRN and tracked or used status masks Unsigned short 2 See ...

Page 144: ...eceived first Unsigned long 4 x 8 32 6 1 4 Bin 93 This message has a BlockID of 93 and is 56 bytes excluding the header and epilogue This message contains information relating to the SBAS ephemeris The following table describes the contents of this message in order Table 6 5 Bin 93 Message Group Components Type Bytes Value SV Satellite to which this data belongs Unsigned short 2 Spare Not used at ...

Page 145: ...alue a0 a1 a2 a3 AFCRL alpha parameters Double 8 x 4 32 b0 b1 b2 b3 AFCRL beta parameters Double 8 x 4 32 A0 A1 Coefficients for determining UTC time Double 8 x 2 16 Tot Reference time for A0 and A1 second of GPS week Unsigned long 4 Wnt Current UTC reference week Unsigned short 2 Wnlsf Week number when dtlsf becomes effective Unsigned short 2 Dn Day of week 1 7 when dtlsf becomes effective Unsign...

Page 146: ... has a BlockID of 96 and is 300 bytes excluding the header and epilogue This message contains phase and code data The following table describes the constituents of this message in order Table 6 8 Bin 96 Message Group Components Type Bytes Value Spare1 Not used at this time Unsigned short 2 Future use Week GPS week number Unsigned short 2 TOW Predicted GPS time in seconds Double 8 UICS_TT_SNR_PRN 1...

Page 147: ...U utilization factor Multiply by 450e 06 to get percentage of spare CPU that is available Unsigned long 4 Positive MissedSubFrame The total number of missed sub frames in the navigation message since power on Unsigned short 2 Positive MaxSubFramePnd Max sub frames queued Unsigned short 2 Positive MissedAccum The total number of missed code accumulation measurements in the channel tracking loop Uns...

Page 148: ...ellite Short 2 CountUpdate Number of times the almanac has changed for this satellite since the receiver was turned on Byte 1 Positive Svindex Channel number groups of 8 Byte 1 0 to 7 8 to 15 16 to 23 24 to 31 AlmVFlag Almanac valid flag Byte 1 0 not logged 1 invalid 2 valid 3 has data not yet validated AlmHealth Almanac health from sub frame 4 of the GPS message Byte 1 See ICD GPS 200 Elev Elevat...

Page 149: ... 0 ChannelData 12 structures see below containing tracking data for each of the 12 receiver channels Structure array 12x24 288 See following table ClockErrAtL1 The clock error of the GPS clock oscillator at L1 frequency in Hz Short 2 32768 to 32768 Spare Not used at this time Unsigned short 2 Future use ChannelData Array Group Components Type Bytes Value Channel Channel number Byte 1 0 to 12 SV Sa...

Page 150: ...to 360 degrees URA User range error from sub frame 1 of the GPS message Byte 1 See ICD GPS 200 Spare Not used at this time Byte 1 Future use CliForSNR Code lock indicator for SNR SNR 10 0 4096 CliForSNR Nose_floor where Nose_floor 80000 0 Unsigned short 2 Positive DiffCorr 100 times the differential correction for this channel s pseudorange Short 2 PosResid 10 times the position residual from the ...

Page 151: ... frequently perhaps every 20 minutes This allows for a new initialization when the aircraft lands Provided that the user feels that it s efficient to do so Auto Dif can be successfully used in geographic regions where the only differential services available are subscription based Auto Dif in this application would require an initialization as frequently as the user feels is necessary to maintain ...

Page 152: ...e with our equipment 7 3 Troubleshooting Q What should I do initially if I have a problem with the operation of the iSXBlue SXBlue II GNSS module A Try to isolate the source of the problem Problems are likely to fall within one of the following categories It s important to review each in detail to remove each from being a suspect source of the problem Power communication and configuration GPS rece...

Page 153: ... last iOS device it keep the mac address for a possible next connection This feature is an automatic pairing when both iSXblue and iPad iPhone are turn on for multiple use with the same iOS device It has to be reset to zero for a new connection Go on the Bluetooth setting and click the I icon to forget this device on the serial number you tried already to log on and then turn off the iSXBlue and i...

Page 154: ...e View app has to track a position before starting replacing the values from the core location with the values from the external GPS iSXBlue See examples below Q What should I do if I have data from internal GPS using my Android and a GIS app A The iSXBlue SXblue might paired on Bluetooth using the Bluetooth GPS app as a tool but still receive value from the internal GPS You must enable the Develo...

Page 155: ...he problem Geneq Technical Support is available during normal business hours to help solve the problem You may reach Technical Support at Telephone number 1 514 354 2511 Fax number 1 514 354 6948 E mail address support geneq com Technical Support is available from 8 30 AM to 5 00 PM Eastern Time Monday to Friday 7 4 Power Communication and Configuration Q My iSXBlue SXBlue II GNSS system doesn t a...

Page 156: ...ther devices reference manual to determine if there may be a problem with that equipment Q Am I able to configure the various ports with different baud rates A Yes the Serial USB and Bluetooth ports are independent However the Bluetooth port must be set to 9600 baud for proper operation Q Am I able to have the iSXBlue SXBlue II GNSS output different NMEA messages through the ports A Yes you may ha...

Page 157: ...Ds that give indication of receiver status Q Do I have to be careful when using the iSXBlue SXBlue II GNSS to ensure that it tracks properly A For best performance you have to be careful such that the hemisphere above the iSXBlue SXBlue II GNSS s antenna is unobstructed for satellite tracking The iSXBlue SXBlue II GNSS is tolerable of a certain amount of signal blockage due to the availability of ...

Page 158: ...ion After this the receiver can COAST until the next set of corrections has been received 7 7 Auto Dif Q Why was Auto Dif developed A Once Selective Availability was removed in May of 2000 it opened the door to develop this technology as environmental errors change much more slowly than SA did The purpose of Auto Dif was to market an alternative to users in place of costly subscription based diffe...

Page 159: ...are connected 7 9 Installation Q Does it matter where I mount the iSXBlue SXBlue II GNSS antenna A Yes the main consideration is that it must have an open hemisphere of sky for satellite tracking Additionally the position that it computes is referenced to the center of the antenna It should be placed in the location for which you would like a position Often this is the centerline of a vehicle on a...

Page 160: ...ts Try using a higher baud rate on the RS 232 and USB ports No GPS lock Check integrity of antenna cable Verify antenna s unobstructed view of the sky Verify the lock status of GPS satellites this can often be done on the receiving device or with the use of HyperTerminal running on a PC No SBAS lock Check antenna connections Verify antenna s unobstructed view of the sky If starting the receiver un...

Page 161: ...e solution has not converged to the accuracy specified by the JLIMIT command and will become solid yellow after the solution has converged The JLIMIT sets the threshold for the RMS residual error and this error gives a rough indication of expected user accuracy Note however that it is not a direct measure of accuracy Factors such as constellation geometry must also be taken into account The defaul...

Page 162: ...iSXblue SXBlue II GNSS Series Technical Reference Manual 147 Appendices ...

Page 163: ...t 9 pin D sub USB interface 2 0 Type B connector Bluetooth Class Version Class 1 Version 2 0 Data Port available baud rates 4800 to 57600 Output protocol NMEA 0183 proprietary binary Input protocol NMEA 0183 External correction input protocol RTCM SC 104 Power Specifications Item Specification Battery type Lithium Ion Battery capacity 3 900mAh 7 2V Battery autonomy 10 hours depending on model Powe...

Page 164: ...ode of operating the iSXBlue SXBlue II GNSS To establish communications between the iSXBlue SXBlue II GNSS receiver and your data logging or navigation device in this mode of operation you must Connect Pin 2 transmit TX of the supplied iSXBlue SXBlue II GNSS Serial cable to the receive pin RX of the data logging or navigation device Connect Pin 3 receive RX of the iSXBlue SXBlue II GNSS Serial cab...

Page 165: ...al Port Note For successful communication the baud rate of the iSXBlue SXBlue II GNSS Serial port must be set to match that of the separate GPS receiver Additionally you must interface the iSXBlue SXBlue II GNsS to an RS 232C serial port of the separate GPS receiver Refer to chapter 4 for instructions related to setting the iSXBlue SXBlue II GNsS baud rate using the JBAUD command External Correcti...

Page 166: ...f the external correction source Figure B 3 RTCM Data Input to Serial Port Note For successful communications the baud rate of the iSXBlue SXBlue II GNSS differential port must be set to match that of the external correction source The correction source must support an RS 232 interface level and the baud rates between each device must match Refer to chapter 4 for instructions related to setting th...

Page 167: ...ntal with fixed vertical The GPS receiver calculates its position with respect to the phase center of the GPS antenna The latitude longitude and altitude of the antenna are referenced according to the current version of the World Geodetic System 1984 ellipsoid WGS 84 At the time of print the current WGS 84 version is G1150 and follows the ITRF 2000 datum Inter Terrestrial Reference Frame GPS Servi...

Page 168: ...nverted to an industry standard RINEX format if needed Real Time Kinematic This method uses more sophisticated techniques to resolve the number of wavelengths between the satellite and the user to provide centimeter level positioning or better in real time This technique uses high end receiver hardware antennas and internal operating software to compute accurate position solutions The compromise w...

Page 169: ... DoD This document provides the message and signal structure information required to access GPS Like GPS DGPS data and broadcast standards exist to ensure compatibility between DGPS services and associated hardware and software The Radio Technical Commission for Maritime Services Special Committee 104 has developed the primary DGPS standard associated with conventional DGPS designated RTCM SC 104 ...

Page 170: ...s offset may be as much as one meter for every 100 km 62 miles between the base station and remote receiver The causes of decorrelation are GPS satellite orbit errors significant Ionospheric errors potential to be most significant depending on level of activity Tropospheric errors less significant GPS satellite orbit errors are typically a greater problem with local area differential systems The d...

Page 171: ...erence station is minimized resulting in more consistent system performance throughout all locations within the network Correction Latency The latency of differential corrections to a lesser extent affects the achievable positioning accuracy at the remote receiver since the magnitude of SA was turned to zero in year 2000 Latency is a function of the following The time it takes the base station to ...

Page 172: ...ful completion of a 21 day test on August 24 2000 the Federal Aviation Administration of the United States of America announced that its Wide Area Augmentation System WAAS would be running 24 hours per day seven days per week from then on Testing has shown since that this signal is accurate and reliable Since the date it was commissioned July 10 2003 WAAS has undergone a few changes in its satelli...

Page 173: ... SNAS The iSXBlue SXBlue II GNSS is capable of receiving correction data from all compatible SBAS Warning Use of non commissioned SBAS signals is entirely at your risk and discretion How it Works A SBAS incorporates a modular architecture similar to GPS comprised of a Ground Segment Space Segment and User Segment The Ground Segment includes reference stations processing centers a communication net...

Page 174: ... 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 Figure C 1 WAAS Ground Segment end of 2007 ...

Page 175: ...f the ionosphere will be considerably South of your location since the ionosphere is at an altitude of approximately 60 km There must be sufficient ionospheric map coverage beyond your location in order to have ionospheric correctors for all satellites To enhance the information provided by SBAS the iSXBlue SXBlue II GNSS has a unique ability to extrapolate the ionospheric information beyond the b...

Page 176: ...ovided in Section 2 5 When using SBAS correction data the iSXBlue SXBlue II GNSS is able to provide you with the azimuth and elevation of the SBAS available satellites via a NMEA command to aid in determining their position with respect to the built in antenna See Section 4 4 for more information on the JGEO command Worldwide SBAS Coverage Figure C 3 depicts the current world SBAS coverage This fi...

Page 177: ...s shown in Northern latitudes for both WAAS and EGNOS it may not be usable due to its low elevation angle and the potential for it to be obstructed Ideally testing of the system in the area of its use is recommended to ensure that the signal is sufficiently available Note The SBAS signal coverage may be present in some areas without either sufficient ionospheric map coverage or satellites with val...

Page 178: ...cing Marine Electronic Devices Version 2 1 October 15 NMEA 1995 PO Box 50040 Mobile Alabama 36605 USA Tel 1 205 473 1793 Fax 1 205 473 1669 Radio Technical Commission for Maritime Services RTCM Recommended Standards for Differential NAVSTAR GPS Service Version 2 2 Developed by Special Committee No 104 RTCM 1998 1800 Diagonal Rd Suite 600 Alexandria VA 22314 2840 USA Tel 1 703 684 4481 Fax 1 703 83...

Page 179: ...out office_org headquarters_offices ato service_units techops navservices gnss For realtime WAAS satellite corrections and performance http www nstb tc faa gov index htm To subscribe to the SatNav newsletter notification http www faa gov help subscribe ESA EGNOS Web Site This site contains information relating to past performance real time performance and broadcast schedule of EGNOS ESA main page ...

Page 180: ...er inmar3f5 html same location as EGNOS PRN 124 http www lyngsat com tracker artemis html MSAS PRN 129 http www lyngsat com tracker mtsat1r html MSAS PRN 137 http www lyngsat com tracker mtsat2 html GAGAN PRN 128 http www lyngsat com tracker in4a html same location as Datum Information US National Geodetic Survey FAQ s http www ngs noaa gov faq shtml Online HTDP Reference Frame Transformation tool...

Page 181: ...eference Manual 166 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 ...

Page 182: ...pack 3 Baud Rate 35 124 125 126 Binary 34 37 104 Bit Error Rate WAAS 24 Bluetooth 34 Bluetooth Communication 7 Bluetooth Connectivity 34 C Carrying Case 19 COAST 114 COAST Feature 27 28 Commands 41 Auto Dif 84 87 General 54 GPS 67 Local Differential 89 RAIM 102 SBAS 72 Communication 33 Connectivity 34 124 125 Customer Service xiv D Date Codes 46 Default Application 5 Default GPS NMEA Message Outpu...

Page 183: ...89 M MSAS 133 Multipath 132 N NMEA 0183 33 37 54 95 NMEA 0183 messages 54 O Output Data Messages 95 P Performance 23 118 Post Processing 31 Precision Antenna 4 R Real Time Differential Options 28 RTCM SC 104 37 129 S SBAS 24 114 118 127 132 SBAS Coverage 136 SBAS Performance 24 Selective Availability SA 128 Serial Port 34 SNAS 133 System Overview 1 T Temperature 35 Troubleshooting 115 120 Tune Mod...

Page 184: ... only JASC DFX on base and set rover to JDIFF RTK Rev 1 3 April 2009 EGNOS Inmarsat 4f2 to replace 3f5 on PRN 126 PRN 124 set to broadcast Update Fig C4 and Table C1 of AppC Change link to Lyngsat Tracker for PRN 126 AppD New EGNOS RIMS added change AppC Fig C 2 Add EGNOS user support link Update EGNOS web site AppD http 194 224 177 81 Webportal Egnos Pages Home page Rev 2 0 December 2010 SXBlue I...

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