Leica iCON aps 200 User Manual Download Page 74

Page: 74 / 84

Field

Description

$--RMC

Header including talker ID

hhmmss.ss

UTC time of position fix

Status

A = Data valid

V = Navigation instrument warning

llll.ll

Latitude (WGS 1984)

Hemisphere, North or South

yyyyy.yy

Longitude (WGS 1984)

East or West

x.x

Speed over ground in knots

x.x

Course over ground in degrees

xxxxxx

Date: ddmmyy

x.x

Magnetic variation in degrees

East or West

*hh

Mode Indicator

A = Autonomous mode

D = Differential mode

N = Data not valid

<CR>

Carriage Return

<LF>

Line Feed

For NMEA v4.0 and v4.1:

Standard Talker ID = GPS only and GNSS

$GNRMC,154706.00,A,4724.5288205,N,00937.0842621,E,0.01,144.09,14111

4,0.00,E,A*10

A.15

VTG - Course Over Ground and Ground Speed

$--VTG,x.x,T,x.x,M,x.x,N,x.x,K,a*hh<CR><LF>

Field

Description

$--VTG

Header including talker ID

x.x

Course over ground in degrees true north, 0.0 to 359.9

Fixed text T for true north

x.x

Course over ground in degrees magnetic North, 0.0 to 359.9

Fixed text M for magnetic North

x.x

Speed over ground in knots

Fixed text N for knots

x.x

Speed over ground in km/h

Fixed text K for km/h

Mode Indicator

Description of fields

Examples

Syntax

Description of fields

NMEA Message Formats

Summary of Contents for iCON aps 200

Page 1: ...Leica iCON aps 200 User Manual Version 3 1 English ...

Page 2: ...to the Leica iCON aps 200 instrument and the Leica CGA100 antenna Name Description Format Leica iCON aps 200 Quick Guide Provides an overview of the product together with technical data and safety directions Inten ded as a quick reference field guide ü ü Leica iCON aps 200 User Manual All instructions required in order to operate the product to a basic level are contained in the User Manual Provid...

Page 3: ...ase you want to refer to previous support requests myLearning Welcome to the home of Leica Geosystems online learning There are numerous online courses avail able to all customers with products that have valid CCPs Customer Care Packages myTrustedServices Add your subscriptions and manage users for Leica Geosystems Trusted Services the secure software services that assist you to optimise your work...

Page 4: ...t Setup 27 3 6 Dual GNSS Positioning and Heading 27 4 Setups with Accessories 29 4 1 Dual GNSS Setup with Internal Radio Modem 29 5 Using the Web Interface 30 6 Care and Transport 42 6 1 Transport 42 6 2 Storage 42 6 3 Cleaning and Drying 42 7 Technical Data 43 7 1 Technical Data iCON aps 200 43 7 1 1 Tracking Characteristics 43 7 1 2 Accuracy 43 7 1 3 General Technical Data of the Product 44 7 2 ...

Page 5: ...nd GDOP 71 A 13 LLQ Leica Local Position and Quality 72 A 14 RMC Recommended Minimum Specific GNSS Data 73 A 15 VTG Course Over Ground and Ground Speed 74 A 16 XDR Transducer Measurements 75 A 17 ZDA Time and Date 75 A 18 PJK Local Coordinate Position Output 76 Appendix B ORP Orientation and Position 78 Appendix C Glossary 81 C 1 NTRIP 81 C 2 WGS84 82 Table of Contents 5 ...

Page 6: ...fying levels of hazards and risks related to personal injury and property damage For your safety it is important to read and fully understand the following table with the different signal words and their definitions Supple mentary safety information symbols may be placed within a warning message as well as supplementary text Type Description DANGER Indicates an imminently hazardous situation which...

Page 7: ...g of third parties Controlling of machines moving objects or similar monitoring application without additional control and safety installations WARNING Altered function and safety of the machine Unauthorised modification of building and constructions machines by mount ing or installing the product may alter the function and safety of the machine Precautions Follow the instructions of the machine m...

Page 8: ... permit The internal and external radio modems have been designed to operate on frequency ranges and output power ranges the exact use of which differs from one region and or country to another WARNING Unqualified installation on building or construction machinery This may result in personal and material damage Precautions Only an appropriately trained and qualified specialist may install this pro...

Page 9: ...xcavations or traffic Precautions The person responsible for the product must make all users fully aware of the existing dangers WARNING Inadequate securing of the working site This can lead to dangerous situations for example in traffic on building sites and at industrial installations Precautions Always ensure that the working site is adequately secured Adhere to the regulations governing safety...

Page 10: ...ecialist To prevent damages due to indirect lightning strikes voltage spikes cables for example for antenna power source or modem should be protected with appropriate protection elements like a lightning arrester These installations must be carried out by an authorised specialist If there is a risk of a thunderstorm or if the equipment is to remain unused and unattended for a long period protect y...

Page 11: ... drop or immerse batteries into fluids WARNING Incorrect fastening of the external antenna Incorrect fastening of the external antenna to vehicles or transporters poses the risk of the equipment being broken by mechanical influence vibration or airstream This may result in accident and physical injury Precautions Attach the external antenna professionally The external antenna must be secured addit...

Page 12: ...user e g driver The user has to be able to take emergency measures for example an emergency stop WARNING Improper disposal If the product is improperly disposed of the following can happen If polymer parts are burnt poisonous gases are produced which may impair health If batteries are damaged or are heated strongly they can explode and cause poisoning burning corrosion or environmental contaminati...

Page 13: ...th accessories from other manufacturers For example field computers personal computers or other electronic equipment non standard cables or external batteries This may cause disturbances in other equipment Precautions Use only the equipment and accessories recommended by Leica Geosys tems When combined with the product other accessories must meet the strict requirements stipulated by the guideline...

Page 14: ... pacemakers or hearing aids and aircrafts Electromagnetic fields can also affect humans and animals Precautions Although the product meets the strict regulations and standards which are in force in this respect Leica Geosystems cannot completely exclude the possibility that other equipment can be disturbed or that humans or animals can be affected Do not operate the product with radio or digital c...

Page 15: ...a CA48 g CGA100 robust multi fre quency GNSS antenna 2 x h iCA202 Instrument i CA16 Antenna cable 10 m 2 x Component Description iCA202 Instrument To calculate two positions from the com puted ranges to all visible GNSS Global Navigation Satellite System satellites For correction data transfer radios modems are used CGA100 GNSS Antenna To receive the signals from the GNSS satel lites This Antenna ...

Page 16: ...a tions Can be used near the sea Protection caps on connectors LEDs for status information Versatile connectivity including CAN Serial RS232 Ethernet Bluetooth and WiFi USB host port for data transfer and firmware upgrade Integrated high speed LTE 4G WCDMA 3G Integrated radio Support of external devices via serial port Robust compact aluminium housing CGA100 antennas are equipped with several spec...

Page 17: ...instrument the printed iCON aps 200 Quick Guide and the USB documentation card A hard top container comprising all items for a Dual GNSS configuration 2 2 1 iCON aps 200 Dual GNSS Container 0023685_001 b a a c a CGA100 Robust multi fre quency GNSS antenna 2 x b CA16 Antenna cable 10 m 2 x c Modem antenna CA48 Description iCON aps 200 con tainer upper shell Description of the System 17 ...

Page 18: ... mount d GAT32 Bluetooth antenna e USB adapter f Manuals USB documenta tion card g USB flash drive for MCP80 h USB flash drive i MCP80 2 3 Instrument Components Top view 0019948_001 d b c a a Position LED b Internet status LED c Power LED d Mounting holes iCON aps 200 con tainer lower shell iCA202 components 18 Description of the System ...

Page 19: ...AN3 M12 A code Female 5 pin connector CAN3 PWROUT CAN port Power Output Power Input Voltage Maximum 2A limit shared with CAN2 M12 A code Female 5 pin connector ETH1 Independent 10 100 Ethernet Port M12 D code Female 4 pin connector ETH2 Independent 10 100 Ethernet Port M12 D code Female 4 pin connector Serial Port 2x Serial Port with RS232 level on an M12 A coded 8 pin connector USB0 USB 2 0 480 M...

Page 20: ...005691_001 a b c a Whitworth thread 5 8 b Antenna reference plane c TNC female connector CGA100 components 20 Description of the System ...

Page 21: ...tion 3 2 Installing a SIM Card 0020459_002 1b 1a 2 6 7a 7b 100 Ncm 2 Ensure the instrument is placed in its fixed position or place it onto a stable surface 1 Loosen the screws of the SIM card cover with the supplied hex key 2 Remove the SIM card cover and press the clip next to the SIM card tray to eject it Pull out the SIM card tray 3 Orientate the SIM card as illustrated and place it onto the S...

Page 22: ...r FAT32 format To import data from a USB Memory device to the iCON aps 200 appropriate folders must be created on the USB device and the files placed in the correct folder Folder Files to be placed CoordinateSystems Cordinate system files User User files System Antenna and or System Configuration files 3 4 Installation on a Machine In general all installation works must be done by a dedicated inst...

Page 23: ...er inside a compartment just behind the cabin or in the machine cabin itself If the machine has no space inside a weather proof compartment or cabin the instrument is to be installed only on components that have no direct connec tion to the machine tool and or are positioned separately from the tool or at locations that lie in the safe area of the mechanically moving components Further the instrum...

Page 24: ...grounds of the machine are isolated in service or welding operations Different DC and RF noise may exist at different points in the machine which is out of the control of Leica Geosystems Such noise may have a negative effect on the satellite tracking performance of the iCON aps 200 For this reason it is best that all external antennas connected to the iCON aps 200 including the GNSS antenna s rad...

Page 25: ... be placed with a distance of at least 20 cm to another antenna 005942_001 Ensure that the cables between iCON aps 200 and CGA100 antenna in particular are installed to prevent them from becoming bent and stretched It is recommended to use strain relief brackets Route the cable as directly as possible and avoid crossing cables Be sure not to tie the cables into hot hydraulic hoses Installation of ...

Page 26: ... reading the vertical offset the vertical phase centre offset For most operations pre configured standard settings in the instrument can be used They automatically take the vertical phase centre offsets into account The antenna accepts vertical height readings to the Antenna Reference Plane ARP These are handled automatically in the standard antenna records The antenna calibrations to determine th...

Page 27: ... the secondary GNSS antenna This means that precise heading output is available even when the instrument is not receiving corrections from a base station The antenna connected to port ANT1 is the primary GNSS antenna while the one on port ANT2 is the secondary heading GNSS antenna For best results it is recommended to mount the two GNSS antennas accord ing to following guidelines separated as far ...

Page 28: ...e following picture illustrates that interrelationship N 005946_001 a b c e e d f a North b GNSS Antenna 1 c GNSS Antenna 2 d Heading 135 e Heading Adjustment 90 f Heading output 45 Heading information is available on the web interface Heading output is available in following message formats Leica ORP NMEA HDT NMEA VTG NMEA XDR Refer to the Web Interface User Guide for further information For info...

Page 29: ... a Machine PC b CAN cable c Junction box d CAN cable e Y cable CAN splitter f Radio antenna CA12 CA13 CA43 with CA22 magnetic radio antenna mount g MTC1408 Carry Case h Modem antenna CA48 i iCA202 Instrument j CA16 Antenna cable 10 m 2 x k CGA100 Robust triple fre quency GNSS antenna 2 x All necessary installation works must be carried out by a dedicated installation specialist Please contact the ...

Page 30: ...the Network Connections page double click on Bluetooth Net work Connection Finally right click on the sensor that you have just added and select Connect using Access Point from the context menu 6 Open a browser on your computer and enter the URL http www icasetup leica geosystems com User name is leica as password enter the serial number of the sensor 7 Start configuring the iCA202 using the Web I...

Page 31: ...on Yellow warning Red error When pressed the icon will re direct you to the status information page See also System Info The Home page is a pure status information page You will find detailed information on Position Tracking Status of the connected antennas Status of the RTK link Status of the communication devices ConX and Analytics services Category Description Sensor position Position quality a...

Page 32: ...tus of communication devices Status of ConX and Analytics services The Configuration page allows for configuring device settings such as Tracking settings Activation of a coordinate system Rover antennae settings Bluetooth CAN and PPS Network settings for the Internet connection via WiFi Ethernet or Cellular modem NMEA System language Sensor Configuration 32 Using the Web Interface ...

Page 33: ...e or disable Active Primary Antenna Switch This feature allows for the receiver to switch automatically between Antenna 1 and Antenna 2 as primary antenna when obstructions prevent Antenna 1 from normal opera tion Enter the Cutoff Angle to be applied for satellites near the horizon and a Height Offset if required Select the required coordin ate system from the drop down list Select the antennas th...

Page 34: ...ps 200 The PPS output source is a 0 V to 5 0 V signal referenced to Vin negative Internet connection can be established via Cell Modem Ethernet or WiFi depending on the chosen device Each of the devices can be configured Make sure that a connection is possible and the respective antenna is connected to the receiver It is possible to configure WiFi as Hotspot where the internet connec tion is share...

Page 35: ...r For CQ Control choose between Position only Position height or Height only When CQ Control is active the CQ Limit must be defined Antenna Transpose allows for streaming Antenna 1 and Antenna 2 posi tions on seperate outputs NMEA Output 1 and NMEA Output 2 Once an NMEA link is configured each NMEA message can be set to stream at the desired Rate Refer to NMEA Message Formats for more details on N...

Page 36: ...requency Frequency Mode must be active The required Bandwidth can be selected from the drop down list Band width is dependent on the currently selected frequency FEC Forward Error Correction allows for safeguarding data integrity in determent of data throughput This feature requires a match on both Base and Rover and availability is dependent on the selected transmission Pro tocol The screenshot s...

Page 37: ...up on the ConX server Select Track Enabled if you want the sensor position to be sent to ConX at regular intervals The Track Interval can be selected from the drop down list Available Projects can be selected from the drop down list Select a project from the list if you wish to use a differ ent project Select which data shall be synchronised to or from ConX You can upload System Configuration file...

Page 38: ...th From the drop down list select the uploaded file and click Upgrade to start the firmware upgrade process If a USB flash drive containing firmware files is connected to the sensor you can directly select the upgrade file from the drop down list Individual licenses can be added to the sensor as well as authorisation codes for the ME1 and ME2 Measure ment Engines 1 and 2 The current status of all ...

Page 39: ... the USB flash drive coordinate systems must be stored in the folder Coordin ateSystems all other files in the System folder To delete files from the sensor select a file from the drop down list and click Delete Or Click Delete All to delete all User Files all SSH Public Keys or all Coordinate Systems stored in the internal memory on the sensor The System Info page shows read only information on t...

Page 40: ...r Under Status you can find detailed information on errors and warnings In case there is an issue the light bulb icon in the Status information bar turns yellow or red See also Web Inter face Frame The Support page allows for log files handling service ports and resetting single components Support 40 Using the Web Interface ...

Page 41: ... min of LB2 logging are usually sufficient Log file size grows rapidly over time when LB2 is enabled Allows for configuring the Service Ports and resetting the Secure Shell SSH pass word Select MC Mode Override to pause CAN communication with the machine temporarily for troubleshooting MC Mode Override is always disabled while booting the instrument Allows for resetting single system components Sh...

Page 42: ...ny 6 2 Storage Respect the temperature limits when storing the equipment particularly in summer if the equipment is inside a vehicle Refer to 7 Technical Data for information about temperature limits 6 3 Cleaning and Drying Use only a clean soft lint free cloth for cleaning If necessary moisten the cloth with water or pure alcohol Do not use other liquids these may attack the polymer components 00...

Page 43: ...e Carrier phase and code measurements on L1 L2 and L5 GPS are fully inde pendent with AS on or off Up to 60 satellites simultaneously on two frequencies 7 1 2 Accuracy Accuracy is dependent upon various factors including the number of satellites tracked constellation geometry observation time ephemeris accuracy iono spheric disturbance multipath and resolved ambiguities The following accuracies gi...

Page 44: ... sockets 0020471_001 68 8 mm 226 mm 161 6 mm 226 mm Length mm Width mm Thickness mm 226 161 6 68 8 Type Weight kg lbs iCA202 2 2 4 85 including internal LTE modem The modem is integrated Power consumption iCA202 Dual GNSS NTRIP Rover radio excluded 11 0 W typically 24 V 475 mA External supply voltage Nominal 24 V DC voltage range 9 V to 32 V DC supplied by 9 V to 32 V DC power supply machine or ve...

Page 45: ...ponding information for optional internal radios refer to their specifications Galileo AltBOC covers bandwidth of Galileo E5a and E5b Type iCON aps 200 Peak 5 0 V Pulse length 1 ms Positive Negative Edge Selectable on web interface Connector Serial Port M12 Typical PPS pulse accuracy 50 ns 120 ns 3s Temperature Type Operating temperature C Storage temperature C Instrument 40 to 65 40 to 85 Protect...

Page 46: ...cted for use based upon the application The table gives a description and the intended use of the antenna Type Description Use CGA100 GPS GLONASS Galileo BeiDou SmartRack antenna with built in ground plane Machine Control RTK Rover and Network RTK applica tions Type CGA100 Height 60 mm Diameter 165 mm TNC female 5 8 Whitworth 0 4 kg Type CGA100 Voltage 3 8 V to 18 V DC Current 35 mA typical Freque...

Page 47: ... CGA100 IP68 IP69K Dust tight Protected against water jets Waterproof to 1 m temporary immersion Humidity Type Protection CGA100 IEC60068 2 30 98 r H 25 C 93 r H 55 C The effects of condensation are to be effectively counterac ted by periodically drying out the antenna Type CGA100 Vibration IEC 60068 2 6 5 500 Hz 15 g 15 mm MIL STD 810G Fig 514 6E 1 Category 24 20 2000 Hz 7 7 grms Shock IEC 60068 ...

Page 48: ...S232 RxD In 5 TX2 RS232 TxD Out 6 PPS Out 7 RX2 RS232 RxD In 8 GND ground Power out Type CAN M12 5 pin Pin Name Function Direction 1 Vcan Input power bus supply Supply power in 2 CANH CAN high Bus 3 Vcan Ground Supply power return 4 CANL CAN low Bus 5 CAN ON CAN ON Bidirectional Type CAN M12 5 pin Pin Function Signal Direction 1 POWEROUT Batt AUX power out 2 CANH Bus 3 POWEROUT_GND ground Batt AUX...

Page 49: ...ng the wrong antenna to the wrong connector may cause damage to the antennas In order to minimise the chance of con necting the incorrect external antenna the four TNC connectors are colour coded Cables with corresponding colours are available The colour coding is as follows 0020463_002 a b e c d f g a Brown Bluetooth b Purple WiFi c Yellow Modem 1 d Green Modem 2 e White Radio f Blue GNSS Antenna...

Page 50: ...on Connector Frequency band MHz CA12 Radio TR489 TNC CA22 Magnetic antenna mount 406 440 CA13 Radio TR489 TNC CA22 Magnetic antenna mount 430 480 CA43 Radio TR489 TNC CA22 Magnetic antenna mount 690 960 1710 2700 CA46 LTE diversity modem antenna TNC 698 960 1710 2170 2300 2700 Type Frequency band MHz Bluetooth 2402 2480 Radio 403 473 TR489 902 928 TR489 WiFi 2400 EM7565 Type Frequency band MHz WCD...

Page 51: ...879 9 Band 19 Tx 830 845 Rx 875 890 LTE Band 1 Tx 1920 1980 Rx 2110 2170 Band 2 Tx 1850 1910 Rx 1930 1990 Band 3 Tx 1710 1785 Rx 1805 1880 Band 4 Tx 1710 1755 Rx 2110 2155 Band 5 Tx 824 849 Rx 869 894 Band 7 Tx 2500 2570 Rx 2620 2690 Band 8 Tx 880 915 Rx 925 960 Band 9 Tx 1749 9 1784 9 Rx 1844 9 1879 9 Band 12 Tx 699 716 Rx 729 746 Band 13 Tx 777 787 Rx 746 756 Technical Data 51 ...

Page 52: ...2315 Rx 2350 2360 Band 32 Tx n a Rx 1452 1496 Band 41 2496 2690 TDD Band 42 3400 3600 TDD Band 43 3600 3800 TDD Band 46 Tx n a Rx 5150 5925 TDD Band 48 3550 3700 TDD Band 66 Tx 1710 1780 Rx 2110 2200 Type Output power mW Bluetooth 3 0 UMTS Band 1 2 4 5 6 8 9 19 200 LTE Band 1 2 3 4 5 8 9 12 13 18 19 20 26 28 66 200 Band 7 41 42 43 48 160 WiFi according to country specific regulations Output power ...

Page 53: ...EU declaration of conformity is avail able at the following Internet address http www leica geosys tems com ce FCC ID RFD ICA20X FCC Part 15 22 24 27 and 90 This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 This device may not cause harmful interference and 2 This device must accept any interference received including interference that may ca...

Page 54: ...tion rate SAR for uncontrolled environment general public exposure limits specific in ANSI IEEE C95 1 1992 and had been tested in accordance with the measurement procedures specified in IEEE Std 1528 2003 CAN ICES 003 Class B NMB 003 Class B IC ID 3177A ICA20X Canada Compliance Statement This device contains licence exempt transmitter s receiver s that com ply with Innovation Science and Economic ...

Page 55: ...11 5 MHz GLONASS L2 1246 4375 1254 3 MHz GLONASS L3 1207 14 MHz Galileo E1 1575 42 MHz Galileo E5a 1176 45 MHz Galileo E5b 1207 14 MHz Galileo E6 1278 75 MHz Galileo AltBOC 1191 795 MHz BeiDou B1 1561 098 MHz BeiDou B2 1207 14 MHz BeiDou B3 1268 52 MHz Receive only Hereby Leica Geosystems AG declares that the product s is are in compliance with the essential requirements and other relev ant provis...

Page 56: ...a particu lar installation If this equipment does cause harmful interference to radio or television recep tion which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures Reorient or relocate the receiving antenna Increase the separation between the equipment and the receiver Connect the equipment in...

Page 57: ...s distrib utor You must not install or use the software unless you have read and accepted the terms and conditions of the Leica Geosystems Software Licence Agree ment Installation or use of the software or any part thereof is deemed to be an acceptance of all the terms and conditions of such Licence Agreement If you do not agree to all or some of the terms of such Licence Agreement you must not do...

Page 58: ...When enabling CQ Control the coordinate quality is being checked If the coordinate quality of the position and or the height component exceeds the defined limit no NMEA messages are output A 2 Symbols Used for Describing the NMEA Formats NMEA messages consist of various fields The fields are Header Special format fields Numeric value fields Information fields Null fields Certain symbols are used a...

Page 59: ...ude Degreesminutes decimal 00937 046785 Three fixed digits of degrees two fixed digits of minutes and a vari able number of digits for decimal fraction of minutes Leading zeros are always included for degrees and minutes to maintain fixed length eeeeee eee Grid East ing At the most six fixed digits for metres and three fixed digits for decimal fractions of metres 195233 507 nnnnnn nnn Grid Northin...

Page 60: ... list of valid characters are the following that are used to indicate other field types A a c x hh hhmmss ss llll ll yyyyy yy Symbol Field Description Example x x Variable numbers Integer or floating numeric field 73 10 73 1 073 1 73 Optional leading and trail ing zeros Decimal point and associated decimal fraction are optional if full resolution is not required hh_ Fixed HEX field Fixed length HE...

Page 61: ...biguities not fixed 3 Valid fix for GNSS Precise Positioning Service mode for example WAAS 4 Real time position ambiguities fixed xx Number of satellites in use For GNGGA messages The combined GPS GLONASS Galileo and BeiDou satellites used in the position x x HDOP x x Altitude of position marker above below mean sea level in metres If no orthometric height is available the local ellips oidal heigh...

Page 62: ... a Hemisphere North or South yyyyy yy Longitude WGS 1984 a East or West x Position quality indicator 0 Fix not available or invalid 1 No real time position navigation fix 2 Real time position ambiguities not fixed 3 Real time position ambiguities fixed 5 Real time position float xx Number of satellites in use For GNGGK messages The combined GPS GLONASS Galileo and BeiDou satellites used in the pos...

Page 63: ...osition quality indicator 0 Fix not available or invalid 1 No real time position navigation fix 2 Real time position ambiguities not fixed 3 Real time position ambiguities fixed 5 Real time position float xx Number of satellites in use For GNGGQ messages The combined GPS GLONASS Galileo and BeiDou satellites used in the position x x Coordinate quality in metres x x Altitude of position marker abov...

Page 64: ...rd Talker ID GNSS GNGGQ 144224 00 111414 4724 5293821 N 00937 0835717 E 1 22 3 673 3 66 944 M 12 When more than one GNSS is active only GNGGQ is output A 6 GLL Geographic Position Latitude Longitude GLL llll ll a yyyyy yy a hhmmss ss A a hh CR LF Field Description GLL Header including talker ID llll ll Latitude WGS 1984 a Hemisphere North or South yyyyy yy Longitude WGS 1984 a East or West hhmmss ...

Page 65: ... First character is for GPS Second character is for GLONASS Third character is for Galileo Fourth character is for BeiDou N Satellite system not used in position fix or fix not valid P Precise for example no deliberate degradation such as SA A Autonomous navigation fix no real time fix D Differential real time position ambiguities not fixed R Real time kinematic ambiguities fixed F Float real time...

Page 66: ...ve only GNGNS is output For NMEA v4 1 Standard Talker ID GPS only GPGNS 150219 00 4724 5290237 N 00937 0837225 E A 10 0 8 366 329 100 143 V 4FGNSS Standard Talker ID GNSS GNGNS 145339 00 4724 5292786 N 00937 0838968 E AANA 22 0 5 367 334 100 143 V 19 When more than one GNSS is active only GNGNS is output A 8 GSA GNSS DOP and Active Satellites GSA a x xx xx xx xx xx xx xx xx xx xx xx xx x x x x x x...

Page 67: ...o 99 GLONASS satellites For NMEA v4 1 also Galileo 1 to 36 Galileo satellites 37 to 64 Galileo SBAS 65 to 99 Undefined BeiDou 1 to 37 BeiDou satellites 38 to 64 BeiDou SBAS 65 to 99 Undefined x x PDOP x x HDOP x x VDOP h For NMEA v4 1 GNSS System ID 1 GPS 2 GLONASS 3 Galileo 4 BeiDou hh Checksum CR Carriage Return LF Line Feed For NMEA v4 0 Standard Talker ID GPS only GPGSA A 3 01 04 06 09 11 17 2...

Page 68: ...f the satellites used in the solution GPS 1 to 32 GPS satellites 33 to 64 SBAS satellites 65 to 99 Undefined GLONASS 1 to 32 Undefined 33 to 64 SBAS satellites 65 to 99 GLONASS satellites Galileo 1 to 36 Galileo satellites 37 to 64 Galileo SBAS 65 to 99 Undefined BeiDou 1 to 37 BeiDou satellites 38 to 64 BeiDou SBAS 65 to 99 Undefined xx Elevation in degrees 90 maximum empty when not tracking xxx ...

Page 69: ... information can require the transmission of multiple messages spe cified by the total number of messages and the message number The fields for the PRN Slot number Elevation Azimuth and SNR form one set A variable number of these sets are allowed up to a maximum of four sets per message For NMEA v4 0 Standard Talker ID GPS only GPGSV 3 1 09 01 31 151 45 06 37 307 47 09 47 222 49 10 14 279 44 7D GP...

Page 70: ...9 32 24 086 41 0 50 GLGSV 3 1 09 65 25 272 46 71 36 060 47 72 68 333 49 73 31 073 45 0 73 GLGSV 3 2 09 74 18 126 47 80 15 021 38 86 11 190 45 87 48 238 50 0 71 GLGSV 3 3 09 88 38 312 46 0 49 GBGSV 1 1 04 05 18 123 38 07 23 044 40 10 35 067 45 11 28 224 46 0 7E A 10 GST Position Error Statistics GST hhmmss ss x xxx x xxx x xxx xxx x x xxx x xxx x xxx hh Field Description GST Message ID varies depen...

Page 71: ...tion LLK Header including talker ID hhmmss ss UTC time of position mmddyy UTC date eeeeee eee Grid Easting in metres M Units of grid Easting as fixed text M nnnnnn nnn Grid Northing in metres M Units of grid Northing as fixed text M x Position quality 0 Fix not available or invalid 1 No real time position navigation fix 2 Real time position ambiguities not fixed 3 Real time position ambiguities fi...

Page 72: ... 42 GBLLK 153819 00 111414 04 4C For NMEA v4 1 Standard Talker ID GPS only GPLLK 153254 00 111414 546628 909 M 5250781 888 M 1 09 1 8 366 582 M 15 Standard Talker ID GNSS GNLLK 153504 00 111414 546629 055 M 5250782 977 M 1 20 1 3 367 607 M 05 When more than one GNSS is active only GNLLK is output A 13 LLQ Leica Local Position and Quality LLQ hhmmss ss mmddyy eeeeee eee M nnnnnn nnn M x xx x x x x ...

Page 73: ...Checksum CR Carriage Return LF Line Feed For NMEA v4 0 Standard Talker ID GPS only GPLLQ 154324 00 111414 546629 232 M 5250781 577 M 1 09 3 876 366 54 9 M 05 Standard Talker ID GNSS GNLLQ 154119 00 111414 546629 181 M 5250782 747 M 1 20 3 890 367 39 3 M 1D GPLLQ 154119 00 111414 09 44 GLLLQ 154119 00 111414 07 56 GBLLQ 154119 00 111414 04 58 For NMEA v4 1 Standard Talker ID GPS only GPLLQ 154324 0...

Page 74: ...ed For NMEA v4 0 and v4 1 Standard Talker ID GPS only and GNSS GNRMC 154706 00 A 4724 5288205 N 00937 0842621 E 0 01 144 09 14111 4 0 00 E A 10 A 15 VTG Course Over Ground and Ground Speed VTG x x T x x M x x N x x K a hh CR LF Field Description VTG Header including talker ID x x Course over ground in degrees true north 0 0 to 359 9 T Fixed text T for true north x x Course over ground in degrees m...

Page 75: ...cluding talker ID A Transducer type angular displacement x x Pitch Measurement data D Units of measure is Degrees PITCH Transducer 1 ID PITCH A Transducer type angular displacement x x Yaw Measurement data D Units of measure is Degrees YAW Transducer 2 ID YAW hh Checksum CR Carriage Return LF Line Feed Standard Talker ID GPXDR A 0 071 D PITCH A 228 132 D YAW 5E A 17 ZDA Time and Date ZDA hhmmss ss...

Page 76: ...ndard Talker ID GPS only and GNSS GPZDA 155404 05 14 11 2014 01 00 61 A 18 PJK Local Coordinate Position Output PTNL PJK hhmmss ss mmddyy nnnnnn nnn N eeeeee ee E xx xx x x HTxx xxx M hh The PTNL PJK message is longer than the NMEA 0183 standard of 80 characters Field Description PTNL PJK Message ID PTNL PJK hhmmss ss UTC of position fix mmddyy Date nnnnnn nnn Northing in metres N Direction of Nor...

Page 77: ...a Phase Center GHT If a user defined geoid model or an inclined plane is loaded into the receiver the NMEA PJK string always reports the orthometric height EHT If the latitude longitude of the receiver is outside the user defined geoid model bounds the height is shown as ellipsoidal height M M height is measured in metres hh Checksum data always begins with If the receiver does not have a coordina...

Page 78: ...Antenna 0 not computed yet and 4 not used hhmmss ss UTC time ddmmyy UTC date xx Latency4 milliseconds xx xx Quality Latitude Northing metres xx xx Quality Longitude Easting metres xx xx Quality Height metres xx xx GDOP Value for first Antenna x Number of Satellites used in Computa tion GPS x Number of Satellites used in Computa tion GG If Coordinate System 0 Geodetic the following block is present...

Page 79: ...ker5 metres If Coordinate System 1 Grid the following block is present xxxx xxxx Grid Northing metres xxxx xxxx Grid Easting metres xxxx xxxx Altitude of position marker metres x Height type6 The following block is only available if Control Type 3 hhmmss ss UTC time ddmmyy UTC date xx Latency4 milliseconds xxxx xxxx Orientation Angle7 degrees 0 0 to 359 9 xx xx Quality of calculated Orientation de...

Page 80: ...e byte sent out the instrument port 5 Ellipsoidal height is forced for Geodetic coordinates Orthometric height is forced for Grid coordinates 6 Height 0 Ellipsoidal height 1 Orthometric height 7 Orientation is available for Local Grid and WGS84 Example PLEIR ORP 3 1 2 084709 25 310713 50 0 006 0 005 0 016 1 847 5 7 525078 1 241 546672 161 371 528 1 254 084709 25 310713 100 0 005 0 004 0 012 525078...

Page 81: ...Client NTRiPServer Ntrip and its role in the Internet The Ntrip Caster is an Internet server handling various data streams to and from the Ntrip Servers and Ntrip Clients checks the requests from Ntrip Clients and Ntrip Servers to see if they are registered to receive or provide real time corrections decides whether there is streaming data to be sent or to be received The Ntrip Client receives dat...

Page 82: ...website of the Ntrip Caster adminis tration centre The Ntrip Source generates data streams This setup could be base sending out real time corrections Ntrip consists of three system components Ntrip Clients Ntrip Servers Ntrip Caster C 2 WGS84 WGS 84 is the global geocentric datum to which all GNSS positioning informa tion is referred to Ntrip Source Ntrip system compon ents WGS 84 82 Glossary ...

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Page 84: ...Leica Geosystems AG Heinrich Wild Strasse 9435 Heerbrugg Switzerland www leica geosystems com 915805 3 1 0en Original text Published in Switzerland 2022 Leica Geosystems AG ...

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