USER GUIDE

Trimble® BD982 GNSS

Receiver Module
 USER GUIDE

Trimble BD982 GNSS Receiver Module

®

Version 4.30

F
Revision B
April 2011
Corporate Office How to Obtain Warranty Service
Trimble Navigation Limited To obtain warranty service for the Product, please contact your
935 Stewart Drive local Trimble authorized dealer. Alternatively, you may contact
Sunnyvale, CA 94085 Trimble to request warranty service at +1-408-481-6940 (24 hours a
USA day) or e-mail your request to trimble_support@trimble.com.
www.trimble.com Please be prepared to provide:
E-mail: trimble_support@trimble.com – your name, address, and telephone numbers
– proof of purchase
Legal Notices
– a copy of this Trimble warranty
© 2011, Trimble Navigation Limited. All rights reserved. – a description of the nonconforming Product including the model
Trimble and the Globe & Triangle logo are trademarks of Trimble number
Navigation Limited, registered in the United States and in other – an explanation of the problem
countries. CMR+, Maxwell, Zephyr, and Zephyr Geodetic are
The customer service representative may need additional
trademarks of Trimble Navigation Limited. information from you depending on the nature of the problem.
Microsoft, Internet Explorer, Windows, and Windows NT are either
registered trademarks or trademarks of Microsoft Corporation in Warranty Exclusions and Disclaimer
the United States and/or other countries. This Product limited warranty shall only apply in the event and to
All other trademarks are the property of their respective owners. the extent that (a) the Product is properly and correctly installed,
configured, interfaced, maintained, stored, and operated in
Release Notice
accordance with Trimble's applicable operator's manual and
This is the April 2011 release (Revision B) of the BD982 GNSS specifications, and; (b) the Product is not modified or misused. This
Receiver Module User Guide. It applies to version 4.30 of the receiver Product limited warranty shall not apply to, and Trimble shall not
firmware. be responsible for, defects or performance problems resulting from
LIMITED WARRANTY TERMS AND CONDITIONS (i) the combination or utilization of the Product with hardware or
software products, information, data, systems, interfaces, or devices
Product Limited Warranty not made, supplied, or specified by Trimble; (ii) the operation of the
Subject to the following terms and conditions, Trimble Navigation Product under any specification other than, or in addition to,
Limited (“Trimble”) warrants that for a period of one (1) year from Trimble's standard specifications for its products; (iii) the
date of purchase this Trimble product (the “Product”) will unauthorized installation, modification, or use of the Product; (iv)
substantially conform to Trimble's publicly available specifications damage caused by: accident, lightning or other electrical discharge,
for the Product and that the hardware and any storage media fresh or salt water immersion or spray (outside of Product
components of the Product will be substantially free from defects in specifications); or exposure to environmental conditions for which
materials and workmanship. the Product is not intended; (v) normal wear and tear on
consumable parts (e.g., batteries); or (vi) cosmetic damage. Trimble
Product Software does not warrant or guarantee the results obtained through the use
Product software, whether built into hardware circuitry as of the Product, or that software components will operate error free.
firmware, provided as a standalone computer software product, NOTICE REGARDING PRODUCTS EQUIPPED WITH TECHNOLOGY
embedded in flash memory, or stored on magnetic or other media, CAPABLE OF TRACKING SATELLITE SIGNALS FROM SATELLITE BASED
is licensed solely for use with or as an integral part of the Product AUGMENTATION SYSTEMS (SBAS) (WAAS/EGNOS, AND MSAS),
and is not sold. If accompanied by a separate end user license OMNISTAR, GPS, MODERNIZED GPS OR GLONASS SATELLITES, OR
agreement (“EULA”), use of any such software will be subject to the FROM IALA BEACON SOURCES: TRIMBLE IS NOT RESPONSIBLE FOR
terms of such end user license agreement (including any differing THE OPERATION OR FAILURE OF OPERATION OF ANY SATELLITE
limited warranty terms, exclusions, and limitations), which shall BASED POSITIONING SYSTEM OR THE AVAILABILITY OF ANY
control over the terms and conditions set forth in this limited SATELLITE BASED POSITIONING SIGNALS.
warranty. THE FOREGOING LIMITED WARRANTY TERMS STATE TRIMBLE’S
Software Fixes ENTIRE LIABILITY, AND YOUR EXCLUSIVE REMEDIES, RELATING TO
THE TRIMBLE PRODUCT. EXCEPT AS OTHERWISE EXPRESSLY
During the limited warranty period you will be entitled to receive PROVIDED HEREIN , THE PRODUCT, AND ACCOMPANYING
such Fixes to the Product software that Trimble releases and makes DOCUMENTATION AND MATERIALS ARE PROVIDED “AS-IS” AND
commercially available and for which it does not charge separately, WITHOUT EXPRESS OR IMPLIED WARRANTY OF ANY KIND, BY
subject to the procedures for delivery to purchasers of Trimble EITHER TRIMBLE OR ANYONE WHO HAS BEEN INVOLVED IN ITS
products generally. If you have purchased the Product from an CREATION, PRODUCTION, INSTALLATION , OR DISTRIBUTION,
authorized Trimble dealer rather than from Trimble directly, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
Trimble may, at its option, forward the software Fix to the Trimble MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE,
dealer for final distribution to you. Minor Updates, Major Upgrades, TITLE, AND NONINFRINGEMENT. THE STATED EXPRESS
new products, or substantially new software releases, as identified WARRANTIES ARE IN LIEU OF ALL OBLIGATIONS OR LIABILITIES ON
by Trimble, are expressly excluded from this update process and THE PART OF TRIMBLE ARISING OUT OF, OR IN CONNECTION WITH,
limited warranty. Receipt of software Fixes or other enhancements ANY PRODUCT. BECAUSE SOME STATES AND JURISDICTIONS DO NOT
shall not serve to extend the limited warranty period. ALLOW LIMITATIONS ON DURATION OR THE EXCLUSION OF AN
For purposes of this warranty the following definitions shall apply: IMPLIED WARRANTY, THE ABOVE LIMITATION MAY NOT APPLY OR
(1) “Fix(es)” means an error correction or other update created to fix FULLY APPLY TO YOU.
a previous software version that does not substantially conform to
its Trimble specifications; (2) “Minor Update” occurs when Limitation of Liability
enhancements are made to current features in a software program; TRIMBLE'S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL
and (3) “Major Upgrade” occurs when significant new features are BE LIMITED TO THE AMOUNT PAID BY YOU FOR THE PRODUCT. TO
added to software, or when a new product containing new features THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW, IN NO
replaces the further development of a current product line. Trimble EVENT SHALL TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY
reserves the right to determine, in its sole discretion, what INDIRECT, SPECIAL, INCIDENTAL , OR CONSEQUENTIAL DAMAGE
constitutes a Fix, Minor Update, or Major Upgrade. WHATSOEVER UNDER ANY CIRCUMSTANCE OR LEGAL THEORY
Warranty Remedies RELATING IN ANYWAY TO THE PRODUCTS, SOFTWARE AND
ACCOMPANYING DOCUMENTATION AND MATERIALS, (INCLUDING,
If the Trimble Product fails during the warranty period for reasons WITHOUT LIMITATION, DAMAGES FOR LOSS OF BUSINESS PROFITS,
covered by this limited warranty and you notify Trimble of such BUSINESS INTERRUPTION, LOSS OF DATA, OR ANY OTHER
failure during the warranty period, Trimble will repair OR replace PECUNIARY LOSS), REGARDLESS OF WHETHER TRIMBLE HAS BEEN
the nonconforming Product with new, equivalent to new, or ADVISED OF THE POSSIBILITY OF ANY SUCH LOSS AND REGARDLESS
reconditioned parts or Product, OR refund the Product purchase OF THE COURSE OF DEALING WHICH DEVELOPS OR HAS
price paid by you, at Trimble’s option, upon your return of the DEVELOPED BETWEEN YOU AND TRIMBLE. BECAUSE SOME STATES
Product in accordance with Trimble's product return procedures AND JURISDICTIONS DO NOT ALLOW THE EXCLUSION OR
then in effect.

2 BD982 GNSS Receiver Module User Guide

LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL
DAMAGES, THE ABOVE LIMITATION MAY NOT APPLY OR FULLY
APPLY TO YOU.
PLEASE NOTE: THE ABOVE TRIMBLE LIMITED WARRANTY PROVISIONS
WILL NOT APPLY TO PRODUCTS PURCHASED IN THOSE
JURISDICTIONS (E.G., MEMBER STATES OF THE EUROPEAN ECONOMIC
AREA) IN WHICH PRODUCT WARRANTIES ARE THE RESPONSIBILITY
OF THE LOCAL TRIMBLE AUTHORIZED DEALER FROM WHOM THE
PRODUCTS ARE ACQUIRED . IN SUCH A CASE, PLEASE CONTACT YOUR
LOCAL TRIMBLE AUTHORIZED DEALER FOR APPLICABLE WARRANTY
INFORMATION.
Official Language
THE OFFICIAL LANGUAGE OF THESE TERMS AND CONDITIONS IS
ENGLISH. IN THE EVENT OF A CONFLICT BETWEEN ENGLISH AND
OTHER LANGUAGE VERSIONS, THE ENGLISH LANGUAGE SHALL
CONTROL.
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NOTICE TO OUR EUROPEAN UNION CUSTOMERS
For product recycling instructions and more information, please go to
www.trimble.com/ev.shtml.
Recycling in Europe: To recycle Trimble WEEE (Waste
Electrical and Electronic Equipment, products that run on
electrical power.), Call +31 497 53 24 30, and ask for the "WEEE
Associate". Or, mail a request for recycling instructions to:
Trimble Europe BV
c/o Menlo Worldwide Logistics
Meerheide 45
5521 DZ Eersel, NL

BD982 GNSS Receiver Module User Guide 3

4 BD982 GNSS Receiver Module User Guide
Contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
About the BD982 GNSS receiver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Technical Support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2 Features and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
BD982 features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Use and care . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Radio and radar signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
COCOM limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Setting up the receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Installing the receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Unpacking and inspecting the shipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Supported antennas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Installation guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Mounting the antennas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
BD982 interface board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Routing and connecting the antenna cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
LED functionality and operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4 Positioning Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
What is RTK?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Carrier phase initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Update rate and latency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Data link. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Moving Baseline RTK positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
BD982 Moving Base RTK without external base station corrections. . . . . . . . . . . . . 24
BD982 Moving Base RTK with external base station corrections (Chained RTK) . . . . . 25
Critical factors affecting RTK accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Base station receiver type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Base station coordinate accuracy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Number of visible satellites. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Elevation mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Environmental factors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Operating range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
DGPS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
SBAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5 Configuring the BD982 Receiver Using Trimble Software Utilities . . . . . 29
Configuration Toolbox software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Creating and editing application files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Trimble MS Controller or Winpan software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Simulated LCD display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Softkeys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

BD982 GNSS Receiver Module User Guide 5

Contents

Simulated keypad. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Function keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Working with screens and fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Entering data in fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6 Configuring the BD982 Receiver Using a Web Browser . . . . . . . . . . . 37
Configuring Ethernet settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Configuring the receiver using a web browser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Supported browsers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Changing the settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
OmniSTAR menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Establishing a PPP connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Resetting your username and password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
7 Configuring the BD982 Receiver Using Binary Interface Commands . . . . 63
RS-232 Serial Interface Specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Communications format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Testing the communications link. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Communication errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Data Collector Format packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Data Collector Format packet structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Data Collector Format packet functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
The receiver STATUS byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Reading binary values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
INTEGER data types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Data Collector Format Command Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
06h, GETSERIAL (Receiver and antenna information request) . . . . . . . . . . . . . . . . 71
54h, GETSVDATA (Satellite information request) . . . . . . . . . . . . . . . . . . . . . . . . 72
56h, GETRAW (Position or real-time survey data request) . . . . . . . . . . . . . . . . . . . 73
64h, APPFILE (Application file record command) . . . . . . . . . . . . . . . . . . . . . . . . 74
65h, GETAPPFILE (Application file request) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
66h, GETAFDIR (Application file directory listing request). . . . . . . . . . . . . . . . . . . 89
68h, DELAPPFILE (Delete application file data command) . . . . . . . . . . . . . . . . . . 90
6Dh, ACTAPPFILE (Activate application file) . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
81h, KEYSIM (Key simulator) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
82h, SCRDUMP (Screen dump request). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Data Collector Format Report Packets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Report Packet summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
07h, RSERIAL (Receiver and antenna information report) . . . . . . . . . . . . . . . . . . . 96
40h, GENOUT (General output record reports) . . . . . . . . . . . . . . . . . . . . . . . . . . 98
GSOF record types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
55h, RETSVDATA (Satellite information reports). . . . . . . . . . . . . . . . . . . . . . . . .127
57h, RAWDATA (Position or real-time survey data report). . . . . . . . . . . . . . . . . . .132
64h, APPFILE (Application file record report) . . . . . . . . . . . . . . . . . . . . . . . . . . .141
67h, RETAFDIR (Directory listing report). . . . . . . . . . . . . . . . . . . . . . . . . . . . . .142
6Eh, BREAKRET (Break sequence return) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144
82h, SCRDUMP (Screen dump) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .147

6 BD982 GNSS Receiver Module User Guide

 Contents

8 Default Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

Default receiver settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .150
9 Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Physical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152
Performance specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152
Electrical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .153
Communication specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .153
A NMEA-0183 Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
NMEA-0183 message overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .156
Common message elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .157
Message values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .157
NMEA messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .157
B Upgrading the Receiver Firmware . . . . . . . . . . . . . . . . . . . . . . 179
The WinFlash utility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .180
Installing the WinFlash utility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .180
Upgrading the receiver firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .181
C Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Receiver issues. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184
D Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Plan view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .186
Edge view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .187
E Electrical Systems Integration . . . . . . . . . . . . . . . . . . . . . . . . 189
Connector pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .190
40-pin header . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .190
1PPS and ASCII time tag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193
ASCII time tag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194
Power input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
Antenna power output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
LED control lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .196
Power switch and reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .196
Event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197
Serial port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197
CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .198
USB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199
USB OTG reference design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199
USB Host-only reference design. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .200
USB device-only reference design. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .201
Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .202
Ethernet reference design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .202
Ethernet routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .203
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

BD982 GNSS Receiver Module User Guide 7

Contents

8 BD982 GNSS Receiver Module User Guide

 CHAPTER

1
Introduction 1

Welcome to the BD982 GNSS Receiver Module Designed for reliable operation in all
User Guide. This manual describes how to set up environments, the BD982 receiver provides a
and use the Trimble® BD982 GNSS receiver positioning interface to an office computer,
module. The BD982 receiver uses advanced external processing device, or control system.
navigation architecture to achieve real-time The receiver can be controlled through a serial,
centimeter accuracies with minimal latencies. ethernet, USB, or CAN port using binary interface
commands or the web interface.
Even if you have used other Global Positioning
System (GPS) products before, Trimble You can configure the receiver as an autonomous
recommends that you spend some time reading base station (sometimes called a reference
this manual to learn about the special features of station) or as a rover receiver (sometimes called a
this product. If you are not familiar with GPS, mobile receiver). Streamed outputs from the
visit the Trimble website (www.trimble.com) for receiver provide detailed information, including
an interactive look at Trimble and GPS. the time, position, heading, quality assurance
( figure of merit) numbers, and the number of
tracked satellites. The receiver also outputs a one
About the BD982 GNSS pulse per second (1 PPS) strobe signal which lets
receiver remote devices precisely synchronize time.
The BD982 receiver is used for a wide range of
precise positioning and navigation applications. Technical Support
These uses include unmanned vehicles and port
If you have a problem and cannot find the
and terminal equipment automation, and any
information you need in the product
other application requiring reliable,
documentation, contact your local dealer.
centimeter-level position and heading guidance
at a high update rate and low latency. Firmware and software updates are available at:
www.pacificcrest.com/support.php?page=updates.
The BD982 receiver offers centimeter-level
accuracy based on RTK solutions and submeter Documentation updates are available at:
accuracy code-phase solutions. www.pacificcrest.com/
resources.php?page=doc_library.
Automatic initialization and switching between
positioning modes allow for the best position
solutions possible. Low latency (< 20 msec) and
high update rates give the response time and
accuracy required for precise dynamic
applications.

BD982 GNSS Receiver Module User Guide 9

1 Introduction

10 BD982 GNSS Receiver Module User Guide

 CHAPTER

2
Features and Functions 2

In this chapter:

 BD982 features
 Use and care
 Radio and radar signals
 COCOM limits

BD982 GNSS Receiver Module User Guide 11

2 Features and Functions

BD982 features
The BD982 receiver provides the following features:
• Position antenna based a on 220-channel Trimble Maxwell™ 6 chip:
– GPS: Simultaneous L1 C/A, L2E, L2C, L5
– GLONASS: Simultaneous L1 C/A, L1 P, L2 C/A L2 P
– SBAS: Simultaneous L1 C/A, L5
– GIOVE-A: Simultaneous L1 BOC, E5A, E5B, E5AltBOC 1
– GIOVE-B: Simultaneous L1 CBOC, E5A, E5B, E5AltBOC 1
– GALILEO: Disabled 2
• Vector antenna based on a second 220-channel Maxwell 6 chip:
– GPS: Simultaneous L1 C/A, L2E, L2C
– GLONASS: Simultaneous L1 C/A, L1 P, L2 C/A, L2 P
• Advanced Trimble Maxwell 6 Custom Survey GNSS Technology
• Very low noise GNSS carrier phase measurements with <1 mm precision in a 1
Hz bandwidth
• Proven Trimble low elevation tracking technology
• 1 USB port
• 1 CAN port
• 1 LAN Ethernet port:
– Supports links to 10BaseT/100BaseT networks
– All functions are performed through a single IP address simultaneously—
including web interface access and raw data streaming
• Network Protocols supported:
– HTTP (web GUI)
– NTP Server
– NMEA, GSOF, CMR, and so on over TCP/IP or UDP
– NTripCaster, NTripServer, NTripClient
– mDNS/UPnP Service discovery
– Dynamic DNS
1. Galileo GIOVE-A and GIOVE-B test satellite support uses information that is unrestricted in the public domain and is
intended for signal evaluation and test purposes.
2.
The hardware is compliant with Galileo OS SIS ICD, Draft 1, February 2008. Commercial sale of Galileo technology
requires Trimble to acquire a Commercial license from the EU. At the time of writing, there is no process for obtaining a
license. Therefore, to comply with the ICD Copyright/IPR terms, all Galileo firmware and hardware functionality is
disabled. Depending on the terms of the license, an upgrade to full Galileo (L1 CBOC, E5A, E5B, E5AltBOC) may be
offered. This will require an additional fee.

12 BD982 GNSS Receiver Module User Guide

 Features and Functions 2

– Email alerts
– Network link to Google Earth
– Support for external modems through PPP
• 4 × RS-232 ports
• 1 Hz, 2 Hz, 5 Hz, 10 Hz, 20, and 50 Hz positioning and heading outputs
(depending on the installed option)
• Up to 50 Hz raw measurement and position outputs
• Reference outputs: CMR, CMR+™, RTCM 2.1, 2.2, 2.3, 3.0, 3.1
• Navigation outputs:
– ASCII: NMEA-0183: GBS; GGA; GGL; GRS; GSA; GST; GSV; HDT;
PTNL,AVR; PTNL,BPQ; PTNL,GGK; PTNL,PJK; PTNL,PJT, PTNL,VGK;
PTNL,VHD; RMC; ROT; VTG; ZDA.
– Binary: Trimble GSOF.
• Control software. Web browser:
– Internet Explorer® internet browser 7.0 or later
– Mozilla Firefox 3.5 or later
– Safari 4.0
– Opera 9
– Google Chrome
• 1 Pulse Per Second Output
• Event Marker Input Support
• LED drive support

Use and care

C CAUTION – Operating or storing the receiver outside the specified temperature range can
damage it. For more information, see Chapter 9, Specifications.

Always mount the receiver in a suitable casing.

Radio and radar signals

High-power signals from a nearby radio or radar transmitter can overwhelm the
receiver circuits. This does not harm the instrument, but it can prevent the receiver
electronics from functioning correctly. Avoid using the receiver within 400 m of

BD982 GNSS Receiver Module User Guide 13

2 Features and Functions

powerful radar, television, or other transmitters. Low-power transmitters such as those

used in portable phones and walkie-talkies normally do not interfere with the
operation of the receivers.

COCOM limits
The U.S. Department of Commerce requires that all exportable GPS products contain
performance limitations so that they cannot be used in a manner that could threaten
the security of the United States. The following limitations are implemented on this
product:
• Immediate access to satellite measurements and navigation results is disabled
when the receiver velocity is computed to be greater than 1,000 knots, or its
altitude is computed to be above 18,000 meters. The receiver GPS subsystem
resets until the COCOM situation clears.

14 BD982 GNSS Receiver Module User Guide

 CHAPTER

3
Installation 3

In this chapter: The Trimble BD982 receiver delivers the highest

performance capabilities of a GNSS receiver in a
 Setting up the receiver compact form factor. This chapter describes how
 Installing the receiver to set up and install the receiver.
 LED functionality and operation

BD982 GNSS Receiver Module User Guide 15

3 Installation

Setting up the receiver

GNSS antennas

BD982 GNSS receiver

MMCX connector

Installing the receiver

Trimble recommends that you read this section before installing the BD982 receiver.

Unpacking and inspecting the shipment

Visually inspect the shipping cartons for any signs of damage or mishandling before
unpacking the receiver. Immediately report any damage to the shipping carrier.

Shipment carton contents

The shipment will include one or more cartons. This depends on the number of
optional accessories ordered. Open the shipping cartons and make sure that all of the
components indicated on the bill of lading are present.

Reporting shipping problems

Report any problems discovered after you unpack the shipping cartons to both
Trimble Customer Support and the shipping carrier.

Supported antennas
The receiver tracks multiple GNSS frequencies: The Trimble Zephyr™ II antenna
supports these frequencies.
Other antennas may be used. However, ensure that the antenna you choose supports
the frequencies you need to track and operates at 5 V with a greater than 39 dB signal
gain.

16 BD982 GNSS Receiver Module User Guide

 Installation 3

Installation guidelines
The receiver is designed to be standoff mounted. You must use the appropriate
hardware and all six mounting holes. Otherwise, you violate the receiver hardware
warranty. See Plan view, page 186.

Considering environmental conditions

Install the receiver in a location situated in a dry environment. Avoid exposure to
extreme environmental conditions. This includes:
• Water or excessive moisture
• Excessive heat greater than 75 °C (167 °F)
• Excessive cold less than –40 °C (–38 °F)
• Corrosive fluids and gases
Avoiding these conditions improves the receiver’s performance and long-term product
reliability.

Mounting the antennas

Choosing the correct location for the antenna is critical to the installation. Poor or
incorrect placement of the antenna can influence accuracy and reliability and may
result in damage during normal operation. Follow these guidelines to select the
antenna location:
• If the application is mobile, place the antenna on a flat surface along the
centerline of the vehicle.
• Choose an area with clear view to the sky above metallic objects.
• Avoid areas with high vibration, excessive heat, electrical interference, and
strong magnetic fields.
• Avoid mounting the antenna close to stays, electrical cables, metal masts, and
other antennas.
• Avoid mounting the antenna near transmitting antennas, radar arrays, or
satellite communication equipment.

Sources of electrical interference

Avoid the following sources of electrical and magnetic noise:
• gasoline engines (spark plugs)
• television and computer monitors
• alternators and generators
• electric motors
• propeller shafts

BD982 GNSS Receiver Module User Guide 17

3 Installation

• equipment with DC-to-AC converters

• fluorescent lights
• switching power supplies

BD982 interface board

An evaluation kit is available for testing the BD982 receiver. This includes an I/O board
that gives access to the following:
• Power input connector
• Power ON/OFF switch
• Four serial ports through DB9 connectors
• Ethernet through a RJ45 connector
Note – There are separate Ethernet jacks for the BD970 and BD982 boards.
• USB port through USB Type A and B receptacles
• CAN port through a DB9 connector
• Two event input pins
• 1PPS output on BNC connector
• CAN / Serial port 3 switch
Note – To switch between serial port 3 and CAN, you must configure the receiver using the
web interface or binary commands. If you do not set an option bit to make CAN the
default, the receiver defaults to serial.
• Three LEDs to indicate satellite tracking, receipt of corrections, and power.
The following figure shows a typical I/O board setup:

Zephyr antennas

BD982 receiver

I/O board

The computer connection provides a means to set up and configure the receiver.

18 BD982 GNSS Receiver Module User Guide

 Installation 3

Included with the BD982 I/O board is a small plastic bag that contains four standoffs.
Screw these into the I/O board to coincide with the four corner holes of the receiver
when seated on the J3 connector.

Routing and connecting the antenna cable

After mounting the antenna, route the antenna cable from the GPS antenna to the
receiver (see the figure on page 16). Avoid the following hazards when routing the
antenna cable:
• Sharp ends or kinks in the cable
• Hot surfaces (such as exhaust manifolds or stacks)
• Rotating or reciprocating equipment
• Sharp or abrasive surfaces
• Door and window jams
• Corrosive fluids or gases
After routing the cable, connect it to the receiver. Use tie-wraps to secure the cable at
several points along the route. For example, to provide strain relief for the antenna
cable connection use a tie-wrap to secure the cable near the base of the antenna.
Note – When securing the cable, start at the antenna and work towards the receiver.
When the cable is secured, coil any slack. Secure the coil with a tie-wrap and tuck it in
a safe place.

LED functionality and operation

The BD982 evaluation interface board comes with three LEDs to indicate satellite
tracking, RTK receptions, and power. The initial boot-up sequence for a receiver lights
all the three LEDs for about three seconds followed by a brief duration where all three
LEDs are off. Thereafter, use the following table to confirm tracking of satellite signals
or for basic troubleshooting:

Power LED RTK LED SV Tracking LED Status

On (continuous) Off Off The receiver is turned on, but not
tracking satellites.
On (continuous) Off Blinking at 1 Hz1 (5 The receiver is tracking satellites on
seconds) followed by high both position (primary) and vector
frequency blinking burst2 (secondary) antennas, but not
receiving RTK corrections.
On (continuous) Off Blinking at 1 Hz1 The receiver is tracking satellites on
the position (primary) antenna only.
The vector antenna is not tracking.

BD982 GNSS Receiver Module User Guide 19

3 Installation

Power LED RTK LED SV Tracking LED Status

On (continuous) Off High frequency blinking The receiver is tracking satellites on
burst every 5 seconds2 the vector (secondary) antenna only.
The position antenna is not
tracking.
On (continuous) Blinking Blinking at 1 Hz1 The receiver is tracking satellites on
at 1 Hz the position (primary) antenna only
(the vector antenna is not tracking)
and receiving incoming RTK
corrections.
On (continuous) Blinking Blinking at 1 Hz1 (5 The receiver is tracking satellites on
at 1 Hz seconds) followed by high both the position (primary) and
frequency blinking burst2 vector (secondary) antennas and
receiving incoming RTK corrections.
On (continuous) Blinking High frequency blinking The receiver is tracking satellites on
at 1 Hz burst every 5 seconds2 the vector (secondary) antenna only
(the position antenna not tracking),
and receiving RTK corrections.
On (continuous) Blinking Off The receiver is receiving incoming
at 1 Hz RTK corrections, but not tracking
satellites on either antenna.
On (continuous) Blinking On (continuous) The receiver is in Boot Monitor
at 1 Hz Mode. Contact technical support.
1 High frequency rapid flash (blinking) indicates less than five satellites tracked.
2 Only available in receivers running firmware version 4.40 or later.

20 BD982 GNSS Receiver Module User Guide

 CHAPTER

4
Positioning Modes 4

In this chapter: The BD982 receiver is designed for high-precision

navigation and location. The receiver uses
 What is RTK? Real-Time Kinematic (RTK) techniques to
 Carrier phase initialization achieve centimeter-level positioning and heading
accuracy. The following section provides
 Update rate and latency
background information on terminology and
 Data link describes the capabilities and limitations of the
 Moving Baseline RTK positioning receiver.
 Critical factors affecting RTK
accuracy
 DGPS
 SBAS

BD982 GNSS Receiver Module User Guide 21

4 Positioning Modes

What is RTK?
Real-Time Kinematic (RTK) positioning is positioning that is based on at least two GPS
receivers—a base receiver and one or more rover receivers. The base receiver takes
measurements from satellites in view and then broadcasts them, together with its
location, to the rover receiver(s). The rover receiver also collects measurements to the
satellites in view and processes them with the base station data. The rover then
estimates its location relative to the base.
The key to achieving centimeter-level positioning accuracy with RTK is the use of the
GPS carrier phase signals. Carrier phase measurements are like precise tape measures
from the base and rover antennas to the satellites. In the BD982 receiver, carrier phase
measurements are made with millimeter-precision. Although carrier phase
measurements are highly precise, they contain an unknown bias, termed the integer
cycle ambiguity, or carrier phase ambiguity. The BD982 rover has to resolve, or initialize,
the carrier phase ambiguities at power-up and every time that the satellite signals are
interrupted.

Carrier phase initialization

The receiver can automatically initialize the carrier phase ambiguities as long as at
least five common satellites are being tracked at base and rover sites. Automatic
initialization is sometimes termed On-The-Fly (OTF) or On-The-Move, to reflect that no
restriction is placed on the motion of the rover receiver throughout the initialization
process.
The receiver uses L1 and L2 carrier-phase measurements plus precise code range
measurements to the satellites to automatically initialize the ambiguities. The
initialization process generally takes a few seconds.
As long as at least four common satellites are continuously tracked after a successful
initialization, the ambiguity initialization process does not have to be repeated.

B Tip – Initialization time depends on baseline length, multipath, and prevailing

atmospheric errors. To minimize the initialization time, keep reflective objects away from
the antennas, and make sure that baseline lengths and differences in elevation between
the base and rover sites are as small as possible.

Update rate and latency

The number of position fixes delivered by an RTK system per second also defines how
closely the trajectory of the rover can be represented and the ease with which position
navigation can be accomplished. The number of RTK position fixes generated per
second defines the update rate. Update rate is quoted in Hertz (Hz). For the receiver,
the maximum update rate is 50 Hz.
Solution latency refers to the lag in time between when the position was valid and when
it was displayed. For precise navigation, it is important to have prompt position
estimates, not values from 2 seconds ago. Solution latency is particularly important

22 BD982 GNSS Receiver Module User Guide

 Positioning Modes 4

when guiding a moving vehicle. For example, a vehicle traveling at 25 km/h moves
approximately 7 m/s. Thus, to navigate to within 1 m, the solution latency must be less
than 1/7 (= 0.14) seconds. For the BD982 receiver, the latency is less than 0.02 seconds.

Data link
The base-to-rover data link serves an essential role in an RTK system. The data link
must transfer the base receiver carrier phase, code measurements, plus the location
and description of the base station, to the rover.
The receiver supports two data transmission standards for RTK positioning: the
Compact Measurement Record (CMR) format and the RTCM/RTK messages. The
CMR format was designed by Trimble and is supported across all Trimble RTK
products.

C CAUTION – Mixing RTK systems from different manufacturers usually results in degraded
performance.

Factors to consider when choosing a data link include:

• Throughput capacity
• Range
• Duty cycle
• Error checking/correction
• Power consumption
The data link must support at least 4800 baud, and preferably 9600 baud throughput.
Your Trimble representative (see Technical Support, page 9) can assist with questions
regarding data link options.

Moving Baseline RTK positioning

In most RTK applications, the reference receiver remains stationary at a known
location, and the rover receiver moves. However, Moving Baseline RTK is an RTK
positioning technique in which both reference and rover receivers can move. The
receiver uses the Moving Baseline RTK technique to determine the heading vector
between its two antennas. Internally raw code and carrier measurements from GPS
and GLONASS satellites are processed at a rate up to 50 Hz.
Moving baseline RTK can be used in applications where the relative vector between
two antennas is precisely known to centimeter level, while the absolute position of the
antennas will depend on the accuracy of the positioning service it uses (OmniSTAR,
DGPS, SBAS, or Autonomous). The following schematic shows an example of moving
baseline RTK using the BD982 receiver.

BD982 GNSS Receiver Module User Guide 23

4 Positioning Modes

Ө
Horizontal plane tangent
to Earth’s surface
α Secondary antenna
Φ
β
Base station antenna
External vector
Internal vector

RTK corrections BD982 receiver

Base station receiver

The receiver’s primary (position) antenna acts as a moving base antenna, while the
secondary (vector) antenna acts as a rover antenna for the receiver as it computes the
internal vector between its two antennas.

BD982 Moving Base RTK without external base station corrections

A single BD982 receiver without any external reference station acts as a moving
base/rover combination that precisely computes a vector between its primary
(position) and secondary (vector) antennas. The autonomous absolute position of
both antennas has the accuracy of the installed options (such as autonomous, SBAS,
OmniSTAR, DGPS). Most users are interested in the precise vector between the
antennas, which will be accurate to centimeter level.
The receiver can be configured to output NMEA messages for the position of the
position and vector antennas as follows.

Output messages
• NMEA GGK/GGA – Position of primary antenna (latitude, longitude, and
altitude)
• NMEA AVR (α,β) – Yaw angle (α – same as heading), Tilt (β) in degrees and
range (meters) between the primary and secondary antennas

24 BD982 GNSS Receiver Module User Guide

 Positioning Modes 4

The position of the secondary antenna cannot be directly obtained to solve for its
position (latitude, longitude and height) using an NMEA message. However, using the
NMEA AVR message which gives the range in meters between the two antennas and
the directional angles for the range vector, one can solve for the range projections in
the East-North-Up frame relative to the primary antenna and further use coordinate
transformations to obtain the Lat, Lon and Height of the secondary antenna.

BD982 Moving Base RTK with external base station corrections (Chained
RTK)
A BD982 receiver that is configured to accept RTK corrections (CMR/RTCM) from an
external base station will be computing RTK grade vectors between both its internal
antennas (the receiver’s primary and secondary antennas) as well as between the
antennas of the external base station and the receiver’s primary position antenna.
As seen in the above figure, a two-parameter attitude set can be obtained from the
receiver for both the internal and external vectors. The following NMEA-0183
messages can be used to output the vector attitudes.

Output messages
• NMEA GGK/GGA – Position of primary antenna (latitude, longitude, and
altitude).
• NMEA VGK – Vector between the external base station antenna and the
Primary (position) antenna of the receiver as expressed in the East-North-Up
(ENU) reference frame. If no external base station is being used to send
corrections to the receiver, the vector will be output as 00000.000, 00000.000,
00000.000.
• NMEA HDT (α) – Heading of internal vector relative to True North.
• NMEA AVR (α, β) – Yaw angle (α – same as heading) and Tilt (β) in degrees.
• NMEA VHD (Ө ,Φ) – Azimuth (Ө) and Elevation (Φ) in degrees.
The above configuration can be used for “chained” RTK positioning, which implies that
if the external base station is set up at a fixed and surveyed location, the external and
internal vectors will be accurate to within the given specification (<1 cm horizontally)
and the absolute position of the receiver’s primary and secondary antennas in space
can be determined to an accuracy similar to the external base station position. With
the two vectors known precisely, you can use vector addition with known base station
coordinates to find a rover’s antenna location in space.

BD982 GNSS Receiver Module User Guide 25

4 Positioning Modes

Critical factors affecting RTK accuracy

The following sections present system limitations and potential problems that could
be encountered during RTK operation.

Base station receiver type

C CAUTION – Trimble recommends that you always use a Trimble base station with a BD982
rover. Using a non-Trimble base receiver can result in suboptimal initialization reliability
and RTK performance.

The receiver uses a state-of-the-art tracking scheme to collect satellite measurements.

The receiver is compatible with all other Trimble RTK-capable systems.

Base station coordinate accuracy

The base station coordinates should be known to within 10 m in the WGS-84 datum
for optimal system operation. Incorrect or inaccurate base station coordinates degrade
the rover position solution. It is estimated that every 10 m of error in the base station
coordinates introduces one part per million error in the baseline vector. This means
that if the base station coordinates have a height error of 50 m, and the baseline vector
is 10 km, then the error in the rover location is approximately 5 cm. One second of
latitude represents approximately 31 m on the earth surface; therefore, a latitude error
of 0.3 seconds equals a 10 m error on the earth’s surface. If the baseline vector is 10 km,
then the error in the rover location is approximately 1 cm.

Number of visible satellites

A GNSS position fix is similar to a distance resection. Satellite geometry directly
impacts on the quality of the position solution estimated by the receiver. The Global
Positioning System is designed so that at least 5 satellites are above the local horizon at
all times. For many times throughout the day, as many as 8 or more satellites might be
above the horizon. Because the satellites are orbiting, satellite geometry changes
during the day, but repeats from day-to-day.
A minimum of 4 satellites are required to estimate user location and time. If more than
4 satellites are tracked, then an overdetermined solution is performed and the solution
reliability can be measured. The more satellites, the greater the solution quality and
integrity.
The Position Dilution Of Precision (PDOP) provides a measure of the prevailing
satellite geometry. Low PDOP values, in the range of 4.0 or less, indicate good satellite
geometry, whereas a PDOP greater than 7.0 indicates that satellite geometry is weak.
Even though only 4 satellites are needed to form a three-dimensional position fix, RTK
initialization demands that at least 5 common satellites must be tracked at base and
rover sites. Furthermore, L1 and L2 carrier phase data must be tracked on the 5

26 BD982 GNSS Receiver Module User Guide

 Positioning Modes 4

common satellites for successful RTK initialization. Once initialization has been
gained, a minimum of 4 continuously tracked satellites must be maintained to produce
an RTK solution.

Elevation mask
The elevation mask stops the receiver from using satellites that are low on the horizon.
Atmospheric errors and signal multipath are largest for low elevation satellites. Rather
than attempting to use all satellites in view, the receiver uses a default elevation mask
of 10 degrees. By using a lower elevation mask, system performance may be degraded.

Environmental factors
Environmental factors that impact GPS measurement quality include:
• Ionospheric activity
• Tropospheric activity
• Signal obstructions
• Multipath
• Radio interference
High ionospheric activity can cause rapid changes in the GPS signal delay, even
between receivers a few kilometers apart. Equatorial and polar regions of the earth can
be affected by ionospheric activity. Periods of high solar activity can therefore have a
significant effect on RTK initialization times and RTK availability.
The region of the atmosphere up to about 50 km is called the troposphere. The
troposphere causes a delay in the GPS signals which varies with height above sea level,
prevailing weather conditions, and satellite elevation angle. The receiver includes a
tropospheric model which attempts to reduce the impact of the tropospheric error. If
possible, try to locate the base station at approximately the same elevation as the
rover.
Signal obstructions limit the number of visible satellites and can also induce signal
multipath. Flat metallic objects located near the antenna can cause signal reflection
before reception at the GPS antenna. For phase measurements and RTK positioning,
multipath errors are about 1 to 5 cm. Multipath errors tend to average out when the
roving antenna is moving while a static base station may experience very slowly
changing biases. If possible, locate the base station in a clear environment with an
open view of the sky. If possible use an antenna with a ground plane to help minimize
multipath.
The receiver provides good radio interference rejection. However, a radio or radar
emission directed at the GPS antenna can cause serious degradation in signal quality
or complete loss of signal tracking. Do not locate the base station in an area where
radio transmission interference can become a problem.

BD982 GNSS Receiver Module User Guide 27

4 Positioning Modes

Operating range
Operating range refers to the maximum separation between base and rover sites. Often
the characteristics of the data link determine the RTK operating range. There is no
maximum limit on the baseline length for RTK with the receiver, but accuracy
degrades and initialization time increases with range from the base.

DGPS
The receiver supports output and input of differential GPS (DGPS) corrections in the
RTCM SC-104 format. This allows position accuracies of less than 1 meter to be
achieved using the L1 frequencies of GPS and GLONASS.

SBAS
The receiver supports SBAS (satellite based augmentation systems) that conform to
RTCA/DO-229C, such as WAAS, EGONS, or MSAS. The receiver can use the WAAS
(Wide Area Augmentation System) set up by the Federal Aviation Administration
(FAA). WAAS was established for flight and approach navigation for civil aviation.
WAAS improves the accuracy, integrity, and availability of the basic GPS signals over its
coverage area, which includes the continental United States and outlying parts of
Canada and Mexico.
SBAS can be used in surveying applications to improve single point positioning when
starting a reference station, or when the RTK radio link is down. SBAS corrections
should be used to obtain greater accuracy than autonomous positioning, not as an
alternative to RTK positioning.
The SBAS system provides correction data for visible satellites. Corrections are
computed from ground station observations and then uploaded to two geostationary
satellites. This data is then broadcast on the L1 frequency, and is tracked using a
channel on the BD982 receiver, exactly like a GPS satellite.
For more information on WAAS, refer to the FAA home page at http://gps.faa.gov.

28 BD982 GNSS Receiver Module User Guide

 CHAPTER

5
Configuring the BD982 Receiver
Using Trimble Software Utilities 5

In this chapter: The Trimble software utilities described in this

chapter are available for download from the
 Configuration Toolbox software Support section of the Pacific Crest website,
 Trimble MS Controller or Winpan www.PacificCrest.com.
software
Trimble recommends that you use the receiver
Web interface to configure the receiver and
monitor its status. Not all receiver functions are
supported in the Configuration Toolbox and
MS Controller/Winpan software. The
Configuration Toolbox is the only utility that can
be used to load local datums and coordinate
systems into the receiver.

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5 Configuring the BD982 Receiver Using Trimble Software Utilities

Configuration Toolbox software

The Configuration Toolbox software is a Windows application that provides a
graphical user interface to help you configure selected Trimble GPS receivers.
The Configuration Toolbox software lets you:
• create and edit application files
• transfer application files to and from the receiver
• manage application files stored in the receiver

Creating and editing application files

You can create an application file and transfer it to the receiver in several different
ways. The general workflow includes the following steps:
1. Create and save the application file in the Configuration Toolbox software.
2. Connect the receiver to the computer and apply power.
3. Open the desired application file in the Configuration Toolbox software.
4. Transfer this application file to the receiver.
5. Check that the receiver is using the transferred application file.
To create and save an application file to the receiver:
1. To start the Configuration Toolbox software, click . Then select
Programs / Trimble / Configuration Toolbox / Configuration Toolbox.
2. Select File / New / Any Receiver.
3. Specify the receiver settings ( for more information, refer to the Configuration
Toolbox documentation).

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 Configuring the BD982 Receiver Using Trimble Software Utilities 5

4. Use File / Save As to save the application file.

To transfer the application file to the receiver:

1. Connect a data cable to any port on the receiver.
2. Connect the other end of the data cable to a serial (COM) port on the computer.
3. Select File / Open to open the desired application file.
4. With the file open and the Configuration File dialog open, select
Communications / Transmit File.
A message appears stating that the application file has been successfully
transferred. If an error occurs, select Communications / Transmit File again. This
overrides any incompatibility in baud rates and enables successful
communication.
5. To check whether the transfer was successful, close the Configuration File dialog
and select Communications / Get File.
A list of all application files in the receiver appears. If you selected Apply
Immediately in the application file, the Current application file will contain the
settings in the new file.
6. To apply a different file, select the file you require from the list and then repeat
this procedure.

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5 Configuring the BD982 Receiver Using Trimble Software Utilities

Trimble MS Controller or Winpan software

The Trimble MS Controller orWinpan software serves as a virtual keypad and display
screen for the receiver.
To use the MS Controller or Winpan software, you need to connect one of the receiver’s
I/O ports to one of the serial ports on an personal computer. The software runs under
the Windows operating system and manages the communications link between the
computer and the receiver.
The simulated keypad and display for the MS Controller software are shown below:

Simulated
LCD display

Softkeys

Function
keys

Simulated
keypad

Simulated LCD display

The simulated LCD display shows data about the current position or survey operation,
the satellites tracked by the receiver, the internal status of the receiver, and a variety of
other information.
The data shown on the simulated LCD display is called a screen and the various types
of data are displayed in fields. Three types of fields are displayed on the simulated
screens: Display-only fields, data-entry fields, and carousels. For more information
about fields, see Working with screens and fields, page 34.
The simulated LCD display can display four lines of data at once. When more than four
lines of data is available for display, double left arrows (Õ) appear in the upper left
corner of the display. To display another four lines of data, click the [Next] key.
Some screens appear solely for the purpose of viewing status information. For
instance, the SatInfo screens show satellite tracking and status information.

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Data-entry screens are displayed when you need to configure the operation of the
receiver.
Many status and data-entry fields include menu options for displaying additional
screens and these screens can contain menus for displaying more screens. Menu
options are displayed on the right side of the screen, enclosed within angle brackets.

Softkeys
The four softkeys perform different functions, depending on the menu options
displayed on the right side of the simulated display. Menu options (also called softkey
options) are displayed on the screen enclosed within left and right angle brackets (< > ).
One softkey is provided for each of the four lines on the simulated LCD display: The
first (top) softkey performs the action described by the menu option on the first line of
the display, the second softkey performs the action associated with the menu option
on the second screen line, and so on. When a menu option is not displayed on a screen
for a specific screen line, the associated softkey performs no action.
In the sample screen below, one menu option (the <HERE> softkey) is displayed:

BASE STATION (CONTROL) <HERE>

[CMR]:[OFF ] ANT. HT.:00.000 m
LAT: 00Ó00Ò0.00000" N NAME: 0000
LON:000Ó00Ò00.00000" E HGT:+0000.000 m

The menu action associated with a softkey can be executed immediately, or the action
can display another screen which might include additional menu options. In the
sample screen above, press <HERE> to enter the current position as the coordinates for
a base station.
Throughout this manual, softkey options are shown enclosed within angle brackets
and in bold type.

Simulated keypad
Use the simulated keypad to enter alphanumeric and numeric data, and to select
predefined values for data-entry fields:

Key/Symbol Description
[0] – [9] The numeric keys let you enter numeric data.
[a] – [z] The alphabetic keys become active when a field can accept alphabetic data.
[<] – [>] The side arrow keys let you move the cursor to data-entry fields before
entering data or choosing options from carousel fields.
[^] – [v] The up and down arrow keys let you select options from carousel fields.
Alternatively, you can select alphabetic and numeric data where appropriate.
[Next] Pages through multiple screen lines, softkey options, or predefined field
options.

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5 Configuring the BD982 Receiver Using Trimble Software Utilities

Key/Symbol Description
[Enter] Accepts change entered into data fields. Click [Enter] from the last data field to
accept all changes entered in all fields.
[Clear] Returns to the previous screen without saving the changes made in any data
fields.

Function keys
The six function keys display screens with options for showing status information and
additional screens for controlling receiver functions and options:

Key Shows...
[Status] The Status screen with options for displaying factory configuration
information and receiver systems information.
[SatInfo] The SatInfo screen with options for displaying satellite tracking and status
information.
[AppFile] The AppFile screen with options for displaying the application files directory,
storing the current parameter settings as an application file, and options for
warm booting the receiver.
[Control] The Control screen with options for configuring the receiver setup
parameters.
[LogData] Not applicable.

Working with screens and fields

A summary of the keypad and display operations for the receiver with the
MS Controller/Winpan software appears below.

Key/Symbol Description
[Next] Pages through multiple screen lines, softkey options, or carousel data entry
fields.
[Enter] Accepts / changes data fields. Click [Enter] on the last data field to accept all
changes.
[Clear] Returns the screen to the previous menu level without changing the data
fields.
[] Indicates a carousel data field used to select from a limited options list.
Õ Indicates that additional screen lines are accessible. Click [Next].
<> Indicates a softkey (menu option).
< and > Moves the cursor between fields on the simulated screen.
^ and v Selects from carousel data fields, or alphanumeric and numeric data.

Types of field
Three types of field appear on the simulated LCD display:
• Display-only fields
• Data-entry fields

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 Configuring the BD982 Receiver Using Trimble Software Utilities 5

• Carousels
Most fields include two parts—a field description and a reserved area for entering or
selecting data.

Display-only fields
Display-only fields can appear on any screen. Some screens are composed entirely of
display-only fields. For example, the SatInfo screens show satellite status and tracking
information. A cursor is not displayed when a screen is composed entirely of
display-only fields. If screens contain combinations of data-entry, carousels, and
display-only fields, you cannot move the cursor into display-only fields.

Data-entry fields
Data-entry fields accept numeric or alphanumeric input from the keypad. For
example, the fields for entering latitude, longitude, and height information accept
numeric input from the keypad. Data-entry fields are usually displayed when you
configure receiver operating parameters or when you enable receiver functions and
options.

Carousels
Whenever square brackets [ ] appear around an item on the display, you can click the
[Next] key to change the value to one of a set of options. The square brackets indicate a
carousel data entry field.
Click [Next] to page through more screen lines. Because the simulated BD982 display has
only 4 lines, there are times when additional information needs to be accessed. For
example, if you select the [Control] menu, four softkeys become active and the double left
arrow symbol Õ appears in the top left corner of the screen. The double left arrow is
the visual cue that selecting [Next] allows you to page through more screen information.

Entering data in fields

Carousels let you select from a limited set of options. For example, to choose a port
number, you use carousels and [Next]. Some data fields involve alphanumeric entry
through the keyboard.
Click [Enter] to accept the data field and move the cursor to the next input item. To
accept all of the selections on the display, click [Enter] at the last data field. All of the data
selections are ignored if you click [Clear] while in a data entry screen. Click [Clear] to move
back up the menu structure after selections are entered and saved.
Use the < and > keys, on the left and right of the display respectively, to move between
data entry fields without changing their values.

BD982 GNSS Receiver Module User Guide 35

5 Configuring the BD982 Receiver Using Trimble Software Utilities

36 BD982 GNSS Receiver Module User Guide

 CHAPTER

6
Configuring the BD982 Receiver
Using a Web Browser 6

In this chapter:

 Configuring Ethernet settings

 Configuring the receiver using a
web browser
 Establishing a PPP connection
 Resetting your username and
password

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6 Configuring the BD982 Receiver Using a Web Browser

Configuring Ethernet settings

The receiver has an Ethernet port so that the receiver can connect to an Ethernet
network. You can use the Ethernet network to access, configure, and monitor the
receiver. No serial cable connection to the receiver is necessary.
The receiver requires the following Ethernet settings:
• IP setup: Static or DHCP
• IP address
• Netmask
• Broadcast
• Gateway
• DNS address
• HTTP port
The default setting for the HTTP port is 80. The HTTP port is not assigned by the
network. HTTP port 80 is the standard port for web servers. This allows you to connect
to the receiver by entering only the IP address of the receiver in a web browser. If the
receiver is set up to use a port other than 80, you will need to enter the IP address
followed by the port number in a web browser.
Example of connecting to the receiver using port 80: http://169.254.1.0
Example of connecting to the receiver using port 4000: http://169.254.1.0:4000
The default setting of the receiver is to use DHCP. Using DHCP enables the receiver to
automatically obtain the IP address, Netmask, Broadcast, Gateway, and DNS address
from the network.
When a receiver is connected to a network using DHCP, the network assigns an IP
address to the receiver. To verify the IP address of the receiver, use the WinFlash utility
as follows:
1. Connect the receiver to a computer running the WinFlash utility using the serial
cable provided with the receiver.
2. Turn on the receiver.
3. On the computer, start the WinFlash utility.

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 Configuring the BD982 Receiver Using a Web Browser 6

4. From the Device Configuration screen, select BD950/960/BD970/BD982 receiver.

From the PC serial port list, select the appropriate PC serial port. Click Next:

5. From the Operation Selection screen, select Configure ethernet settings and then
click Next:

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6 Configuring the BD982 Receiver Using a Web Browser

6. From the Settings Review screen, click Finish:

Note the IP Address displayed in the Ethernet Configuration dialog:

7. If your network installation requires the receiver to be configured with a static IP

address, you can select a Static IP address and enter the settings given by your
network administrator. The Broadcast setting is the IP address that is used to
broadcast to all devices on the subnet. This is usually the highest address
(usually 255) in the subnet.

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Configuring the receiver using a web browser

This section describes how to set up the receiver using a web browser.

Supported browsers
• Mozilla Firefox, version 3.5 or later
• Internet Explorer, version 7.00 or later for Windows operating systems
• Safari 4.0
• Opera 9
• Google Chrome
To connect to the receiver using a web browser:
1. Enter the IP address of the receiver into the address bar of the web browser as
shown:

2. If security is enabled on the receiver, the web browser prompts you to enter a
username and password:

The default login values for the receiver are:

– User Name: admin
– Password: password
If you cannot connect to the receiver, the password for the admin account may
have been changed, or a different account may currently be in use. Contact your
receiver administrator for the appropriate login information.

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6 Configuring the BD982 Receiver Using a Web Browser

Once you are logged in, the welcome web page appears:

Receiver serial Receiver model

number name

Available
languages

Menus

Changing the settings

Use the webpage to configure the receiver settings. The web interface shows the
configuration menus on the left of the browser window, and the settings on the right.
Each configuration menu contains related submenus to configure the receiver and to
monitor receiver performance.
Note – The configuration menus available vary based on the version of the receiver.
A summary of each configuration menu is provided here. For more detailed
information about each of the receiver settings, select the Help menu. The Help is
available whenever your computer is connected to the Internet. It is also available at
any time from the Trimble website (www.trimble.com/OEM_ReceiverHelp/V3.60/en/).

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To display the web interface in another language, click the corresponding country flag.
The web interface is available in the following languages:
• English (en) • Italian (it)
• Chinese (zh) • Japanese (ja)
• Finnish ( fi) • Russian (ru)
• French ( fr) • Spanish (es)
• German (de) • Swedish (sv)

Receiver Status menu

The Receiver Status menu provides a quick link to review the receiver’s available
options, current firmware version, IP address, temperature, runtime, satellites tracked,
current outputs, available memory, position information, and more.
This figure shows an example of the screen that appears when you select Receiver
Status / Identity:

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6 Configuring the BD982 Receiver Using a Web Browser

Satellites menu
Use the Satellites menu to view satellite tracking details and enable/disable GPS,
GLONASS, and SBAS (WAAS/EGNOS and MSAS) satellites.
This figure shows an example of the screen that appears when you select Satellite /
Tracking (Sky Plot):

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 Configuring the BD982 Receiver Using a Web Browser 6

Receiver Configuration menu

Use the Receiver Configuration menu to configure such settings as elevation mask and
PDOP mask, the antenna type and height, the reference station position, and the
reference station name and code.
This figure shows an example of the screen that appears when you select Receiver
Configuration / Summary:

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6 Configuring the BD982 Receiver Using a Web Browser

I/O Configuration menu

Use the I/O Configuration menu to set up all outputs of the receiver. The receiver can
output CMR, RTCM, NMEA, GSOF, RT17, or BINEX messages. These messages can be
output on TCP/IP, UDP, or serial ports.
This figure shows an example of the screen that appears when you select
I/O Configuration / Port Summary:

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OmniSTAR menu
The receiver can receive OmniSTAR corrections. By default, OmniSTAR tracking is
turned on. The receiver must have a valid OmniSTAR subscription. To purchase a
subscription for your receiver, contact OmniSTAR at:
www.OmniSTAR.com
North & South America: +1-888-883-8476 or +1-713-785-5850
Europe & Northern Africa, India, Pakistan: +31-70-317-0900
Australia & Asia: +61-8-9322 5295
Southern Africa: +27 21 552 0535
To receive an OmniSTAR activation, the receiver must be switched on, have a clear
view to the south, and should be tracking an OmniSTAR satellite. This figure shows an
example of the screen that appears when you select OmniSTAR / Status:

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6 Configuring the BD982 Receiver Using a Web Browser

Network Configuration menu

Use the Network Configuration menu to configure Ethernet settings, email alerts, PPP
connection, HTTP port, FTP port, and VFD port settings of the receiver. For
information on the Ethernet settings, see Configuring Ethernet settings, page 38.
This figure shows an example of the screen that appears when you select Network
Configuration / Ethernet:

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 Configuring the BD982 Receiver Using a Web Browser 6

Security menu
Use the Security menu to configure the login accounts for all users who will be
permitted to configure the receiver using a web browser. Each account consists of a
username, password, and permissions. Administrators can use this feature to limit
access to other users.
Security can be disabled for a receiver. However, Trimble discourages this as it makes
the receiver susceptible to unauthorized configuration changes.
This figure shows an example of the screen that appears when you select Security /
Configuration:

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6 Configuring the BD982 Receiver Using a Web Browser

Firmware menu
Use the Firmware menu to verify the current firmware and load new firmware to the
receiver. You can upgrade firmware across a network or from a remote location
without having to connect to the receiver with a serial cable.
This figure shows an example of the screen that appears when you select Firmware:

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 Configuring the BD982 Receiver Using a Web Browser 6

Help menu
The Help menu provides information on each of the receiver settings available in a web
browser. Selecting the Help menu opens new windows. Select the section of the Help
that you want to view. The Help files are stored on the Trimble Internet site
(www.trimble.com/OEM_ReceiverHelp/V3.60/en/ or
www.trimble.com/OEM_ReceiverHelp/V4.30/en/).
Note – For languages other than English, replace en with the appropriate two-letter
country code, see page 43
To access the Help, the computer must be connected to the Internet.
This figure shows an example of the screen that appears when you select Help:

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6 Configuring the BD982 Receiver Using a Web Browser

Establishing a PPP connection

This section describes how to establish a PPP connection between a Trimble receiver
(the server) and a computer (the client) that is running the Windows XP operating
system.
1. On the computer, click Start / Control Panel / Network Connections.
2. Click Create a new connection:

3. Click Next:

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4. Select Set up an advanced connection. Click Next:

5. Select Connect directly to another computer. Click Next:

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6 Configuring the BD982 Receiver Using a Web Browser

6. Select Guest. Click Next:

7. Enter a meaningful name such as PPP to Trimble Receiver. Click Next:

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 Configuring the BD982 Receiver Using a Web Browser 6

8. Select Communications cable between two computers (COM1). Click Next:

9. Select My use only. Click Next:

10. Select Add a shortcut to this connection to my desktop. Click Finish:

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6 Configuring the BD982 Receiver Using a Web Browser

11. Click Properties:

12. Click Configure:

13. Make sure that the Maximum speed (bps) is 38400, and that there is no flow
control enabled. Click OK. (Or click Cancel if you did not make changes.)
Note – By default, Trimble receiver serial ports have baud rate: 38400, data bits: 8, parity:
none, stop bits: 1, and flow control: none. If this default was changed on the receiver, this
setting should match it.

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14. In the PPP Trimble Receiver Properties dialog, select the Networking tab:

15. Select Internet Protocol (TCP/IP) and then click Properties:

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6 Configuring the BD982 Receiver Using a Web Browser

16. Click Advanced:

17. Clear the Use default gateway on remote network check box. Click OK one or more
times until the Connect PPP to Trimble Receiver dialog appears:

18. If the serial port has a serial cable connected to the receiver, click Connect. You
do not need to enter a User name or Password.

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On the bottom right of the computer screen, you will see the PPP to Trimble
Receiver network connection icon:

19. Right-click the icon and then select Status:

20. Select the Details tab:

The Server IP address (192.168.100.110) is the address to access the receiver.

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6 Configuring the BD982 Receiver Using a Web Browser

21. Open a Web browser and then enter the Server IP address in the address field:

22. If security is enabled on the board, enter the default User name: admin and
Password: password. Click OK:

The receiver and computer are connected.

Trimble recommends that you run the receiver and the computer at 115 k baud to
speed up screen views.

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Resetting your username and password

1. Open the Trimble Configuration Toolbox utility.
2. From the menu, select Communications and then select Reset Receiver.
3. Select the Erase Battery-backed RAM and Erase File System check boxes.
4. Click OK.
The receiver will reset to the default username (admin) and password (password).

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62 BD982 GNSS Receiver Module User Guide

 CHAPTER

7
Configuring the BD982 Receiver
Using Binary Interface Commands 7

In this chapter: This chapter documents the Data Collector

Format packets that are used to configure the
 RS-232 Serial Interface receiver settings and outputs.
Specification
 Data Collector Format Command
Packets
 Data Collector Format Report
Packets

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7 Configuring the BD982 Receiver Using Binary Interface Commands

RS-232 Serial Interface Specification

The RS-232 Serial Interface Specification enables a remote computing device to
communicate with a BD982 receiver over an RS-232 connection, using Data Collector
Format packets. The RS-232 Serial Interface Specification provides command packets
for configuring the BD982 receiver for operation, and report packets for retrieving
position and status information from the receiver.
Data Collector Format packets are similar to the data collector format packets which
evolved with the Trimble Series 4000 receivers. The set of Data Collector Format
command and report packets implemented on the receiver are simplified with a more
flexible method for scheduling the output of data. For a detailed explanation of the
streamed data output format, see 40h, GENOUT (General output record reports),
page 98.
The receiver is configured for operation using application files. Application files
include fields for setting all receiver parameters and functions. The default application
file for the receiver includes the factory default values. Multiple application files can be
transferred to the receiver for selection with command packets. Application files for
specific applications can be developed on one receiver and downloaded to a computer
for transfer to other BD982 receivers.
For a general description of application files, see To send application files to the
receiver, use the Trimble Configuration Toolbox software or create the application files
with a custom software program., page 74. For information about the structure of
application files, see 64h, APPFILE (Application file record command), page 74.

Communications format
Supported data rates are: 2400, 4800, 9600, 19200, 38400, and 57600 baud and
115 kbaud. Any of these data rates can be used, however only 4800 baud or higher
should be used. For example, a 20 Hz GGK string output requires the baud rate to be
set to at least 19200. Only an 8-bit word format is supported, with Odd, Even, or No
parity, and 1 stop bit. The default communications format for the receiver is
38400 baud, 8 data bits, no parity, and 1 stop bit.
Changes to the serial format parameter settings for all serial ports are stored in
EEPROM (Electrically-Erasable Read-Only Memory) and remain in effect across power
cycles until you change the parameter settings.

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Testing the communications link

To determine whether the receiver can accept RS-232 commands, the protocol request
ENQ (05h) is used. The response is either ACK (06h) or NAK (15h).
ENQ/ACK/NAK correspond to “Are you ready?”, “I am ready”, and “I am not ready”.
This quick 1-byte test can be sent by the remote device before any other command to
make sure that the RS-232 line is clear and operational.

Communication errors
The receiver normally responds to a RS-232 Serial Interface Specification command
packet within 500 milliseconds. If the receiver does not respond to the request or
command, the external device can send numerous \0 characters (250) to cancel any
partially received message before resending the previous message.

Data Collector Format packets

Command packets are sent from the remote device to the BD982 receiver when
requesting data, sending commands, or when managing application files. The BD982
receiver acknowledges every command packet sent by the remote device. It does this
by sending an associated report packet or by acknowledging the transaction with an
ACK (06h) or NAK (15h) from the receiver.
Note – The return of a NAK sometimes means that the receiver cannot fulfill the request.
That is, the requested command is not supported.
Packets are processed by the receiver on a first-in, first-out (FIFO) basis. External
devices can send multiple packets without waiting for a response from each packet.
The external device is responsible for matching expected responses with the actual
response sent by the receiver.
Each message begins with a 4-byte header, followed by the bytes of data in the packet,
and the packet ends with a 2-byte trailer. Byte 3 is set to 0 (00h) when the packet
contains no data. Most data is transmitted between the receiver and remote device in
binary format.

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Data Collector Format packet structure

Every command and report packet, regardless of its source and except for protocol
sequences, has the same format as shown in Table 7.1.
Table 7.1 Data Collector Format packet structure
Byte # Message Description
Begin packet header
0 STX (02h) Start transmission
1 STATUS Receiver status code (see Table 7.2)
2 PACKET TYPE Hexadecimal code assigned to the packet
3 LENGTH Single byte # of data bytes, limits data to 255 bytes
Begin packet data
4 to length DATA BYTES Data bytes
Begin packet trailer
Length + 4 CHECKSUM (status + type + length + data bytes) modulo 256
Length + 5 ETX (03h) End transmission

Data Collector Format packet functions

C WARNING – Virtually no range checking is performed by the receiver on the values

supplied by the remote device. The remote device must adhere to the exact ranges
specified within this document. Failure to do so can result in a receiver crash and/or
loss of data.

The functions of Data Collector Format command and report packets can be divided
into the following categories:
• Information requests (command packets) and replies (report packets)
• Control functions (command packets) and RS-232 acknowledgments (ACK or
NAK)
• Application file management
Requests for information, such as the Command Packet 4Ah (GETOPT), can be sent at
any time. The expected reply (Report Packet 4Bh, RETOPT) is always sent. Some
control functions may result in an RS-232 acknowledgment of NAK (15h) if one of the
following conditions exists:
• The request is not supported (invalid) by the receiver ( for example, a required
option may not be installed on the receiver).
• The receiver cannot process the request.

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The receiver STATUS byte

The status byte contains important indicators that usually require immediate
attention by the remote device. The receiver never makes a request of the remote
device. Each bit of the status byte identifies a particular problem. More than one
problem may be indicated by the status byte. Table 7.2 lists the status byte codes.
Table 7.2 Status byte codes
Bit Bit value Meaning
Bit 0 1 Reserved
Bit 1 1 Low battery
Bit 2–7 0–63 Reserved

Reading binary values

The receiver stores numbers in Motorola format. The byte order of these numbers is
the opposite of what personal computers expect (Intel format). To supply or interpret
binary numbers (8-byte DOUBLES, 4-byte LONGS, and 2-byte INTEGERS), the byte order
of these values must be reversed. A detailed description of the Motorola format used to
store numbers in the receiver is provided in the following sections.

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INTEGER data types

The INTEGER data types (CHAR , SHORT, and LONG) can be signed or unsigned. They
are unsigned by default. All integer data types use two’s complement representation.
Table 7.3 lists the integer data types.
Table 7.3 Integer data types
Type # of bits Range of values (Signed) (Unsigned)
CHAR 8 –128 to 127 0 to 255
SHORT 16 –32768 to 32767 0 to 65535
LONG 32 –2147483648 to 2147483647 0 to 4294967295

FLOATING-POINT data types

Floating-point data types are stored in the IEEE SINGLE and DOUBLE precision formats.
Both formats have a sign bit field, an exponent field, and a fraction field. The fields
represent floating-point numbers in the following manner:
Floating-Point Number = <sign> 1.<fraction field> x 2
(<exponent field> - bias)
• Sign bit field
The sign bit field is the most significant bit of the floating-point number. The
sign bit is 0 for positive numbers and 1 for negative numbers.
• Fraction field
The fraction field contains the fractional part of a normalized number.
Normalized numbers are greater than or equal to 1 and less than 2. Since all
normalized numbers are of the form 1.XXXXXXXX, the 1 becomes implicit and
is not stored in memory. The bits in the fraction field are the bits to the right of
the binary point, and they represent negative powers of 2.
For example:
0.011 (binary) = 2-2 + 2-3 = 0.25 + 0.125 = 0.375
• Exponent field
The exponent field contains a biased exponent; that is, a constant bias is
subtracted from the number in the exponent field to yield the actual exponent.
(The bias makes negative exponents possible.)
If both the exponent field and the fraction field are zero, the floating-point
number is zero.
• NaN
A NaN (Not a Number) is a special value that is used when the result of an
operation is undefined. For example, adding positive infinity to negative infinity
results in a NaN.

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FLOAT data type

The FLOAT data type is stored in the IEEE single-precision format which is 32 bits long.
The most significant bit is the sign bit, the next 8 most significant bits are the exponent
field, and the remaining 23 bits are the fraction field. The bias of the exponent is 127.
The range of single-precision format values is from 1.18 × 10–38 to 3.4 × 1038. The
floating-point number is precise to 6 decimal digits.
31 30 23 22 0

S Exp. + Bias Fraction

0 000 0000 0 000 0000 0000 0000 0000 0000 = 0.0

0 011 1111 1 000 0000 0000 0000 0000 0000 = 1.0
1 011 1111 1 011 0000 0000 0000 0000 0000 = -1.375
1 111 1111 1 111 1111 1111 1111 1111 1111 = NaN

DOUBLE
The DOUBLE data type is stored in the IEEE double-precision format which is 64 bits
long. The most significant bit is the sign bit, the next 11 most significant bits are the
exponent field, and the remaining 52 bits are the fractional field. The bias of the
exponent is 1023. The range of single precision format values is from 2.23 x 10–308 to
1.8 x 10308. The floating-point number is precise to 15 decimal digits.
63 62 52 51 0

S Exp. + Bias Fraction

0 000 0000 0000 0000 0000 ... 0000 0000 0000 = 0.0
0 011 1111 1111 0000 0000 ... 0000 0000 0000 = 1.0
1 011 1111 1110 0110 0000 ... 0000 0000 0000 = -0.6875
1 111 1111 1111 1111 1111 ... 1111 1111 1111 = NaN

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Data Collector Format Command Packets

Data Collector Format command packets are sent from the remote device to the
receiver to execute receiver commands or to request data reports. The receiver
acknowledges all command packets. It does this by sending a corresponding report
packet or by acknowledging the completion of an action.
The following sections provide details for each command and report packet. Table 7.4
provides a summary of the command packets.
Table 7.4 Command Packet summary
ID, Command Packet Action Page
06h, GETSERIAL (Receiver and antenna 06h, GETSERIAL (Receiver and antenna information 74
information request) request)
54h, GETSVDATA (Satellite information 54h, GETSVDATA (Satellite information request) 72
request)
56h, GETRAW (Position or real-time survey 56h, GETRAW (Position or real-time survey data 73
data request) request)
64h, APPFILE (Application file record 64h, APPFILE (Application file record command) 74
command)
65h, GETAPPFILE (Application file request) 65h, GETAPPFILE (Application file request) 88
66h, GETAFDIR (Application file directory 66h, GETAFDIR (Application file directory listing 89
listing request) request)
68h, DELAPPFILE (Delete application file 68h, DELAPPFILE (Delete application file data 90
data command) command)
6Dh, ACTAPPFILE (Activate application file) 6Dh, ACTAPPFILE (Activate application file) 91
81h, KEYSIM (Key simulator) 81h, KEYSIM (Key simulator) 92
82h, SCRDUMP (Screen dump request) 82h, SCRDUMP (Screen dump request) 94

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06h, GETSERIAL (Receiver and antenna information request)

Command Packet 06h requests receiver and antenna information. The receiver
responds by sending the data in the Report Packet 07h:

Packet flow
Receiver Remote
← Command Packet 06h
Report Packet 07h →

Table 7.5 describes the packet structure.

Table 7.5 Command packet 06h structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission
1 STATUS CHAR See Table 7.2, page 67 Receiver status code
2 PACKET TYPE CHAR 06h Command Packet 06h
3 LENGTH CHAR 00h Data byte count
4 CHECKSUM CHAR See Table 7.1, page 66 Checksum value
5 ETX CHAR 03h End transmission

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54h, GETSVDATA (Satellite information request)

Command Packet 54h requests satellite information. The request may be for an array
of flags showing the availability of satellite information such as an ephemeris or
almanac. In addition, satellites may be enabled or disabled with this command packet.
Table 7.6 shows the packet structure. For additional information, see Data Collector
Format packet structure, page 66.

Packet Flow
Receiver Remote
← Command Packet 54h
Report Packet 55h or NAK →

Note – The normal reply to Command Packet 54h is usually Report Packet 55h. However, a
NAK is returned if the SV PRN is out of range (except for SV FLAGS), if the DATA SWITCH
parameter is out of range, or if the requested data is not available for the designated SV.
Table 7.6 Command packet 54h structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission
1 STATUS CHAR 00h Receiver status code
2 PACKET TYPE CHAR 54h Command Packet 54h
3 LENGTH CHAR 03h Data byte count
4 DATA SWITCH CHAR See Table 7.7, page 72 Selects type of satellite information
downloaded from receiver or determines
whether a satellite is enabled or disabled
5 SV PRN # CHAR 01h–20h Pseudorandom number
(1–32) of satellite (ignored if SV Flags or
ION/UTC is requested)
6 RESERVED CHAR 00h Reserved (set to zero)
7 CHECKSUM CHAR See Table 7.2, page 67 Checksum value
8 ETX CHAR 03h End transmission

Table 7.7 DATA SWITCH byte values

Byte value Meaning
Dec Hex
0 00h SV Flags indicating Tracking, Ephemeris and Almanac, Enable/Disable state
1 01h Ephemeris
2 02h Almanac
3 03h ION/UTC data
4 04h Disable Satellite
5 05h Enable Satellite
The Enable and Disable Satellite data switch values always result in the transmission of a RETSVDATA message
as if the SV Flags are being requested.

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56h, GETRAW (Position or real-time survey data request)

Command Packet 56h requests raw satellite data in *.DAT Record 17 format or Concise
format. The request may specify if Real-Time attribute information is required. The
receiver responds by sending the data in Report Packet 57h. Alternatively, the packet
can be used to request receiver position information in *.DAT record 11 format.
Table 7.8 describes the packet structure. For additional information, see 57h,
RAWDATA (Position or real-time survey data report), page 132.

Packet Flow
Receiver Remote
← Command Packet 56h
Report Packet 57h or NAK →

Note – The reply to this command packet is usually a Report Packet 57h. A NAK is returned
if the Real-Time Survey Data Option (RT17) is not installed on the receiver.
Table 7.8 Command packet 56h structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission
1 STATUS CHAR See Table 7.2, page 67 Receiver status code
2 PACKET TYPE CHAR 56h Command Packet 56h
3 LENGTH CHAR 03h Data byte count
4 TYPE RAW DATA CHAR See Table 7.9, page 73 Identifies the requested type of raw data
5 FLAGS CHAR See Table 7.10, page 73 Flag bits for requesting raw data
6 RESERVED CHAR 00h Reserved; set to zero
7–8 CHECKSUM SHORT See Table 7.1, page 66 Checksum value
9 (03h) ETX CHAR 03h End transmission

Table 7.9 TYPE RAW DATA values

Byte value Meaning
Dec Hex
0 00h Real-Time Survey Data Record (Record Type 17)
1 01h Position Record (Record Type 11)

Table 7.10 FLAGS bit values

Bit Meaning
0 Raw Data Format
0: Expanded *.DAT Record Type 17 format
1: Concise *.DAT Record Type 17 format
1 Enhanced Record with real-time flags and IODE information
0: Disabled – record data not enhanced
1: Enabled – record data is enhanced
2–7 Reserved (set to zero)

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64h, APPFILE (Application file record command)

To send application files to the receiver, use the Trimble Configuration Toolbox
software or create the application files with a custom software program.
Application files contain a collection of individual records that fully prescribe the
operation of the receiver. Application files are transferred using the standard Data
Collector Format packet format.
Each application file can be tailored to meet the requirements of separate and unique
applications. Up to 10 application files can be stored within the receiver for activation
at a later date.
The two important application files in the receiver are explained in Table 7.11.
Table 7.11 Important application files and their functions
Name Function
DEFAULT Permanently stored application file containing the receiver’s factory default settings. This
application file is used when the receiver is reset to the factory default settings.
CURRENT Holds the current settings of the receiver.

Individual records within an existing application file can be updated using the software
tools included with the receiver. For example, the OUTPUT MESSAGES record in an
application file can be updated without affecting the parameter settings in other
application file records.
Application files can be started immediately and/or the files can be stored for later use.
Once applications files are transferred into memory, command packets can be used to
manage the files. Command packets are available for transferring, selecting, and
deleting application files.
If any part of the application record data is invalid, then the receiver ignores the entire
record. The receiver reads a record using the embedded length. Any extraneous data is
ignored. This allows for backward compatibility when the record length is increased to
add new functions.
If you are concerned about application files producing the same results on future
receivers, make sure that the application records do not contain extraneous data.
Command Packet 64h is sent to create, replace, or report on an application file. The
command packet requests the application file by System File Index.

Packet Flow
Receiver Remote
← Command Packet 64h
ACK →

For detailed information about BD982 Application Files and for guidelines about using
application files to control remote devices, see Report Packet 64h, APPFILE
(Application file record report), page 141.

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Packet paging
Since an application file contains a maximum of 2048 bytes (all records are optional) of
data and exceeds the byte limit for RS-232 Serial Interface Specification packets,
Command Packet 64h is divided into several subpackets called pages. The PAGE INDEX
byte (byte 5) identifies the packet page number and the MAXIMUM PAGE INDEX byte
(byte 6) indicates the maximum number of pages in the report.
The first and subsequent pages are filled with a maximum of 248 bytes consisting of
3 bytes of page information and 245 bytes of application file data. The application file
data is split wherever the 245 byte boundary falls. Therefore the remote device sending
the Command Packet pages must construct the application file using the 248 byte
pages before sending the file to the receiver.
To prevent data mismatches, each report packet is assigned a Transmission Block
Identifier (byte 4) which gives the report pages a unique identity in the data stream.
The software on the remote device can identify the pages associated with the report
and reassemble the application file using bytes 4–6.
Table 7.12 shows the structure of the report packet containing the application file.
Table 7.12 Command packet 64h structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission.
1 STATUS CHAR 00h Receiver status code.
2 PACKET TYPE CHAR 64h Command Packet 64h.
3 LENGTH CHAR 00h Data byte count.
4 TX BLOCK IDENTIFIER CHAR 00h–FFh A Transmission Block Identifier, ranging
between 0–255, that must remain the
same for all pages of an application file
transfer.
5 PAGE INDEX CHAR 00h–FFh Index number (0–255) assigned to the
current page.
6 MAXIMUM PAGE CHAR 00h–FFh Index number (0–255) assigned to the last
INDEX page of the packet.
FILE CONTROL INFORMATION BLOCK
The FILE INFORMATION CONTROL BLOCK must be sent in the first page of the report containing the application
file. The second page and consecutive pages must not include a FILE CONTROL INFORMATION BLOCK.
7 APPLICATION FILE CHAR 03h Always 3 for this version of the
SPECIFICATION specification.
VERSION
8 DEVICE TYPE CHAR See Table 7.13, page 79 Unique identifier for every receiver/device
type that supports the application file
interface.
9 START APPLICATION CHAR See Table 7.14, page 79 Determines whether the application file is
FILE FLAG activated immediately after records are
sent to receiver.
10 FACTORY SETTINGS CHAR See Table 7.15, page 79 Determines whether the receiver is reset
FLAG to factory default settings before
activating the records in the application
file.

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Table 7.12 Command packet 64h structure (continued)

Byte # Item Type Value Meaning
Insert Appfile Records here. (See Below)
Length CHECKSUM CHAR See Table 7.1, page 66 Checksum value.
+4
Length ETX CHAR 03h End transmission.
+5
APPLICATION FILE RECORDS
The records listed below (for example, FILE STORAGE RECORD, GENERAL CONTROLS RECORD) are subtypes of
the FILE CONTROL INFORMATION BLOCK.
FILE STORAGE RECORD
The FILE STORAGE RECORD indicates the application file creation date and time and provides identification
information required to store the file in memory. When included in the application file, this record must be the
first record within the file.
0 RECORD TYPE CHAR 00h File Storage Record.
1 RECORD LENGTH CHAR 0Dh Number of bytes in record, excluding
bytes 0 and 1.
2–9 APPLICATION FILE CHARs ASCII text Eight-character name for the application
NAME A...Z, a...z, file.
_ (underscore)
10 YEAR OF CREATION CHAR 00h–FFh Year when application file is created,
ranging from 00–255 (1900 = 00).
11 MONTH OF CHAR 01h–0Ch Month when application file is created
CREATION (01–12).
12 DAY OF CREATION CHAR 00h–1Fh Day of the month when application file is
created (00–31).
13 HOUR OF CREATION CHAR 00h–17h Hour of the day when application file is
created (00-23).
14 MINUTES OF CHAR 00h–3Bh Minutes of the hour when application file
CREATION is created (00–59).
GENERAL CONTROLS RECORD
The GENERAL CONTROLS RECORD sets general GPS operating parameters for the receiver, including the
elevation mask, measurement rate, PDOP (Position Dilution of Precision) mask, and the positioning mode.
0 RECORD TYPE CHAR 01h General controls record.
1 RECORD LENGTH CHAR 08h Number of bytes in record, excluding
bytes 0 and 1.
2 ELEVATION MASK CHAR 00h–5Ah Elevation mask in degrees (0–90).
3 MEASUREMENT RATE CHAR See Table 7.16, page 80 Frequency rate at which the receiver
generates measurements.
4 PDOP MASK CHAR 00h–FFh Position Dilution of Precision mask (0–
255).
5 RESERVED CHAR 00h Reserved (set to zero).
6 RESERVED CHAR 00h Reserved (set to zero).
7 RTK POSITIONING CHAR See Table 7.20, page 81 Sets the RTK positioning mode.
MODE
8 POSITIONING CHAR See Table 7.17, page 80 Controls use of DGPS and RTK solutions.
SOLUTION
SELECTION

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Table 7.12 Command packet 64h structure (continued)

Byte # Item Type Value Meaning
9 RESERVED CHAR 00h Reserved (set to zero).
SERIAL PORT BAUD/FORMAT RECORD
The SERIAL PORT BAUD RATE/FORMAT RECORD is used to set the communication parameters for the serial
ports. Individual serial ports are identified within the record by the SERIAL PORT INDEX number.
0 RECORD TYPE CHAR 02h Serial Port Baud Rate/Format Record.
1 RECORD LENGTH CHAR 04h Number of bytes in the record, excluding
bytes 0 and 1.
2 SERIAL PORT INDEX. CHAR 00h–03h The number of the serial port to
configure.
3 BAUD RATE CHAR See Table 7.18, page 80 Data transmission rate.
4 PARITY CHAR See Table 7.19, page 80 Sets the parity of data transmitted
through the port. The eight data bits and
one stop bit are always used, regardless of
the parity selection.
5 FLOW CONTROL CHAR See Table 7.21, page 81 Flow control.
REFERENCE (BASE) NODE RECORD
The REFERENCE NODE RECORD is an optional record for providing LLA (Latitude, Longitude, Altitude)
coordinates for base station nodes.
0 RECORD TYPE CHAR 03h Reference Node Record.
1 RECORD LENGTH CHAR 25h Data bytes in the record, excluding bytes
0 and 1.
2 FLAG CHAR 00h Reserved (set to zero).
3 NODE INDEX CHAR 00h Reserved (set to zero).
4–11 NAME CHAR ASCII text Eight-character reference node
description.
12–19 REFERENCE LATITUDE DOUBLE radians Latitude of reference node, ±π/2.
20–27 REFERENCE DOUBLE radians Longitude of reference node, ± π.
LONGITUDE
28–35 REFERENCE ALTITUDE DOUBLE meters Altitude of reference node,
–9999.999 ≤ h ≤ +9999.999.
36–37 STATION ID SHORT 0000h–03FFh Reference Node Station ID for RTCM
output.
38 RTK STATION CHAR 00h–1Fh Reference Station ID for RTK output.
SV ENABLE/DISABLE RECORD
The SV ENABLE/DISABLE RECORD is used to enable or disable a selection of the 32 GPS satellites. By default, the
receiver is configured to use all satellites which are in good health. This record is useful for enabling satellites
which are not in good health. Once enabled, the health condition of the satellite(s) is ignored, and the GPS
signal transmissions from the satellite(s) are considered when computing position solutions.
0 RECORD TYPE CHAR 06h SV Enable/Disable Record.
1 RECORD LENGTH CHAR 20h Number of bytes in record, excluding
bytes 0 and 1.
2–33 SV ENABLE/DISABLE CHARs See Table 7.22, page 81 Array of Enable/Disable flags for the 32
STATES SVs. The first byte sets the required
Enable/Disable status of SV1, the second
sets the status of SV2, etc.

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Table 7.12 Command packet 64h structure (continued)

Byte # Item Type Value Meaning
OUTPUT MESSAGE RECORD
The OUTPUT MESSAGE RECORD selects the outputs for a specified serial port, the frequency of message
transmissions, the integer second offset from the scheduled output rate, and output specific flags. Bytes 0
through 5 are included in all records, regardless of the output message type. The remaining bytes in the record
(byte 6...) are dependent on the output message type.
0 RECORD TYPE CHAR 07h Output Message Record.
1 RECORD LENGTH CHAR 04h, 05h or 06h Number of bytes in the record, excluding
bytes 0 and 1. The number of bytes is
dependent on the number of output
specific flags.
2 OUTPUT MESSAGE CHAR See Table 7.23, page 81 Type of message or packet.
TYPE
3 PORT INDEX CHAR 00h–03h Serial port index number.
4 FREQUENCY CHAR See Table 7.24, page 83 Frequency of message transmissions.
5 OFFSET CHAR 00h–FFh Integer second offset (0–255 seconds)
from scheduled output rate. (Only valid
when frequency is < 1 Hz or >1 second.)
Note – The remaining bytes depend on the output message type (Byte 2). One or two flag bytes can be sent,
but two are always stored in the receiver.

OUTPUT MESSAGE RECORD TYPE 10 (GSOF)

6 GSOF SUBMESSAGE CHARs See Table 7.32, page 87 GSOF message number.
TYPE
7 OFFSET CHAR 0–255 Integer second offset from scheduled
frequency.

OUTPUT MESSAGE RECORD TYPE 2 (RTK-CMR)

6 CMR MESSAGE TYPE CHAR See Table 7.25, page 83 CMR message types.
FLAGS

OUTPUT MESSAGE RECORD TYPE 3 (RTCM)

6 RTCM FLAGS CHAR See Table 7.27, page 84 Bit settings for RTCM output flags.

OUTPUT MESSAGE RECORD TYPE 4 (RT17)

6 REAL-TIME 17 CHAR See Table 7.26, page 84 RT17 (Real Time 17) flags.
MESSAGE FLAGS
ANTENNA RECORD
The ANTENNA RECORD identifies the Antenna Type and the true vertical height of antenna above the ground
mark.
0 RECORD TYPE CHAR 08h Reference Node record.
1 RECORD LENGTH CHAR 0Ch Number of bytes in record, excluding
bytes 0 and 1.
2–9 ANTENNA HEIGHT DOUBLE meters Vertical height of antenna, in meters.
10–11 ANTENNA TYPE SHORT See Table 7.28, page 85 Defines the type of antenna connected to
the receiver.
12 RESERVED CHAR 00h Reserved (set to zero).
13 RESERVED CHAR 00h Reserved (set to zero).

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Table 7.12 Command packet 64h structure (continued)

Byte # Item Type Value Meaning
DEVICE CONTROL RECORD
The DEVICE CONTROL RECORD contains configuration parameters for controlling some external devices and the
operation of some receiver options. The number of bytes contained in the record and the length of the record
are determined by the DEVICE TYPE entry. The table subheadings identify different devices
0 RECORD TYPE CHAR 09h Device Control record.
1 RECORD LENGTH CHAR 02h or 0Dh Number of bytes in record, excluding
bytes 0 and 1.
2 DEVICE TYPE CHAR See Table 7.29, page 86 Type of device.

For 1 PPS Output Only

3 1 PPS CONTROL CHAR See Table 7.30, page 86 Enables or disables 1 PPS output; byte 2 is
set to 2.

STATIC/KINEMATIC RECORD
The bytes value in the STATIC/KINEMATIC RECORD determine whether the receiver is operating in Static or
Kinematic mode.
0 RECORD TYPE CHAR 0Ah Static/Kinematic record.
1 RECORD LENGTH CHAR 01h Number of bytes in record, excluding
bytes 0 and 1.
2 STATIC/KINEMATIC CHAR See Table 7.31, page 86 Configures receiver for static or kinematic
MODE operation.

Table 7.13 DEVICE TYPE byte values

Byte value Meaning
Dec Hex
0 00h All Devices
2–5 02h–05h Reserved
66 42h BD982 receiver

Table 7.14 START APPLICATION FILE FLAG byte values

Byte value Meaning
Dec Hex
0 00h Do not apply the application file parameter settings to the active set of parameters
when the transfer is complete.
1 01h Apply application file records immediately.

Table 7.15 FACTORY SETTINGS byte values

Byte value Meaning
Dec Hex
0 00h Alter receiver parameters only as specified in the application file. Leave unspecified
settings alone.
1 01h Set all controls to factory settings prior to applying the application file.

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Table 7.16 MEASUREMENT RATE byte values

Byte value Meaning
Dec Hex
0 00h 1 Hz
1 01h 5 Hz
2 02h 10 Hz

Table 7.17 POSTITIONING SOLUTION SELECTION values

Byte value Meaning
Dec Hex
0 00 Use best available solution.
1 01 Produce DGPS and Autonomous solutions.
2 02 Produce DGPS, RTK Float, and Autonomous solutions. On-the-fly RTK initialization is
disabled, therefore no RTK Fix solutions are generated.
3 03 Produce RTK Fix, DGPS, and Autonomous solutions (no RTK Float solutions).

Table 7.18 BAUD RATE byte values

Byte value Meaning
Dec Hex
0 00h 9600 baud (default)
1 01h 2400 baud
2 02h 4800 baud
3 03h 9600 baud
4 04h 19.2K baud
5 05h 38.4K baud
6 06h 57.6K baud
7 07h 115.2K baud
8 08h 300 baud
9 09h 600 baud
10 0Ah 1200 baud
11 0Bh 230,000 baud
12 0Ch 460,000 baud

Table 7.19 PARITY byte values

Byte value Meaning
Dec Hex
0 00h No Parity (10-bit format)
1 01h Odd Parity (11-bit format)
2 02h Even Parity (11-bit format)

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Table 7.20 RTK POSITIONING MODE byte values

Byte value Meaning
Dec Hex
0 00h Synchronous positioning
1 01h Low Latency positioning

Table 7.21 FLOW CONTROL byte values

Byte value Meaning
Dec Hex
0 00h None
1 01h CTS

Table 7.22 SV ENABLE/DISABLE STATES flag values

Byte value Meaning
Dec Hex
0 00h Heed health (default)
1 01h Disable the satellite
2 02h Enable the satellite regardless of whether the satellite is in good or bad health

Table 7.23 OUTPUT MESSAGE TYPE byte values

Byte value Meaning
0xFF Turn off all outputs on all ports. Frequency must also be 'Off' for this to work.
0 Turn off all outputs on the given port only. Frequency must be 'Off' for this to work
1 Not used.
2 CMR Output
3 RTCM Output
4 RT17 Output
5 Not used.
6 NMEA_GGA
7 NMEA_GGK
8 NMEA_ZDA
9 Reserved
10 GSOF
11 1PPS
12 NMEA_VTG
13 NMEA_GST
14 NMEA_PJK
15 NMEA_PJT
16 NMEA_VGK

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Table 7.23 OUTPUT MESSAGE TYPE byte values (continued)

Byte value Meaning
17 NMEA_VHD
18 NMEA_GSV
19 NMEA_TSN
20 NMEA_TSS
21 NMEA_PRC
22 NMEA_REF
23 NMEA_GGK_SYNC
24 J1939_VehPos
25 J1939_Time
26 J1939_VehSpd
27 J1939_ImpPos
28 J1939_ImpSpd
29 NMEA_AVR
30 Reserved
31 NMEA_HDT
32 NMEA_ROT
33 NMEA_ADV
34 NMEA_PIO
35 NMEA_BETA
36 Reserved
37 NMEA_VRSGGA
38 NMEA_GSA
39 Binex
40 NMEA_RMC
41 NMEA_BPQ
42 Reserved
43 Reserved
44 NMEA_GLL
45 NMEA_GRS
46 Reserved
47 NMEA_LDG

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Table 7.24 FREQUENCY byte values

Byte value Meaning
Dec Hex
0 00h Off
1 01h 10 Hz
2 02h 5 Hz
3 03h 1 Hz
4 04h 2 seconds
5 05h 5 seconds
6 06h 10 seconds
7 07h 30 seconds
8 08h 60 seconds
9 09h 5 minutes
10 0Ah 10 minutes
11 0Bh 2 Hz
12 0Ch 15 seconds
13 0Dh 20 Hz
15 0Fh 50 Hz
255 FFh Once only, immediately
Certain message output types may not support >1 Hz output.

Table 7.25 CMR MESSAGE TYPE byte values

Byte value Meaning
Dec Hex
0 00h Standard (CMR, CMR+).
1 01h High speed CMR (5 or 10 Hz).
2 02h Compatible with Trimble 4000 receivers.

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Table 7.26 REAL-TIME 17 MESSAGE bit values

Bit Meaning
7 (msb) Reserved (set to zero)
6 Reserved (set to zero)
5 Reserved (set to zero)
4 Position Only
0: Disabled
1: Enabled
3 Streamed Position
0: Disabled
1: Enabled
2 Streamed Ephemeris
0: Disabled
1: Enabled
1 RT (Real-Time) Enhancements
0: Disabled
1: Enabled
0 (lsb) Compact Format
0: Disabled
1: Enabled

Table 7.27 RTCM Flag bit values

Bit Meaning
0 Invalid value
1 Output RTK RTCM packets (Type 18 & 19)
2 Output DGPS RTCM packets (Type 1)
3 Output RTK and DGPS RTCM packets (Types 1, 18, and 19)
4 Output Type 9 Groups of 3
Bit 3 (Use RTCM version 2.2)
0: Off
1: On
(Multiple message bit turned on in Types 18 and 19)
Bit 4 (Use RTCM version 2.3)
0: Off
1: On
(Output Types 23 & 24)
5–7 Invalid values

If Flags are invalid, the record is not applied. (However, the Appfile may be accepted.)

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Table 7.28 ANTENNA TYPE byte values

Byte value Meaning
Dec Hex
0 00h Unknown External
1 01h 4000ST Internal
2 02h 4000ST Kinematic Ext
3 03h Compact Dome
4 04h 4000ST L1 Geodetic
5 05h 4000SST L1 L2 Geodetic
6 06h 4000SLD L1 L2 Square
7 07h 4000SX Helical
8 08h 4000SX Micro Square
9 09h 4000SL Micro Round
10 0Ah 4000SE Attachable
11 0Bh 4000SSE Kinematic L1 L2
12 0Ch Compact L1 L2 with Groundplane
13 0Dh Compact L1 L2
14 0Eh Compact Dome with Init
15 0Fh L1 L2 Kinematic with Init
16 10h Compact L1 L2 with Init
17 11h Compact L1 with Init
18 12h Compact L1 with Groundplane
19 13h Compact L1
20 14h Permanent L1 L2
21 15h 4600LS Internal
22 16h 4000SLD L1 L2 Round
23 17h Dorne Margolin Model T
24 18h Ashtech L1 L2 Geodetic L
25 19h Ashtech Dorne Margolin
26 1Ah Leica SR299 External
27 1Bh Trimble Choke Ring
28 1Ch Dorne Margolin Model R
29 1Dh Ashtech Geodetic L1 L2 P
30 1Eh Integrated GPS Beacon
31 1Fh Mobile GPS Antenna
32 20h GeoExplorer Internal
33 21h Topcon Turbo SII
34 22h Compact L1 L2 with Groundplane with Dome
35 23h Permanent L1 L2 with Dome
36 24h Leica SR299/SR399 External Antenna
37 25h Dorne Margolin Model B

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Table 7.28 ANTENNA TYPE byte values (continued)

Byte value Meaning
Dec Hex
38 26h 4800 Internal
39 27h Micro Centered
40 28h Micro Centered with Groundplane
47 29h Rugged Micro Centered with 13-inch Groundplane
85 55 Zephyr (KZ)
86 56 Zephyr Geodetic™ (GZ)

Table 7.29 DEVICE TYPE byte values

Byte value Meaning
Dec Hex
0 00h Reserved
1 01h Reserved
2 02h 1 PPS (Pulse per second) output
3 03h Reserved
4 04h Reserved
5 05h Reserved
6 06h Reserved
7 07h Reserved

Table 7.30 1 PPS CONTROL byte values

Byte value Meaning
Dec Hex
0 00h 1 PPS output is off
1 01h 1 PPS output is on

Table 7.31 STATIC/KINEMATIC MODE byte values

Byte value Meaning
Dec Hex
0 00h Kinematic
1 01h Static
2–255 02h–FFh Reserved

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Table 7.32 Output message record type

Record Number Description
1 POSITION TIME
2 LAT, LONG, HEIGHT
3 ECEF POSITION
4 LOCAL DATUM POSITION
5 LOCAL ZONE POSITION
6 ECEF DELTA
7 TANGENT PLANE DELTA
8 VELOCITY DATA
9 PDOP INFO
10 CLOCK INFO
11 POSITION VCV INFO
12 POSITION SIGMA INFO
13 SV BRIEF INFO
14 SV DETAILED INFO
15 RECEIVER SERIAL NUMBER
16 CURRENT TIME
26 POSITION TIME UTC
27 ATTITUDE INFO*+
41 BASE POSITION AND QUALITY INDICATOR
33 ALL SV BRIEF INFO
34 ALL SV DETAILED INFO
35 RECEIVED BASE INFO

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65h, GETAPPFILE (Application file request)

A specific application file can be downloaded from the receiver by sending the
Command Packet 65h. If the request is valid, a copy of the application file is
downloaded to the remote device in Report Packet 64h.

Packet Flow
Receiver Remote
← Command Packet 65h
Report Packet 64h or NAK →

The receiver can store multiple application files (including a default application file,
containing the factory default parameter settings) in the Application File directory.
Each application file is assigned a number to give the file a unique identity within the
directory. The application file containing the factory default values is assigned a
System File Index code of zero (0).
Table 7.33 shows the packet structure. For more information, see 64h, APPFILE
(Application file record report), page 141.
Table 7.33 Command Packet 65h structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission
1 STATUS CHAR See Table 7.2, page 67 Receiver status indicator
2 PACKET TYPE CHAR 65h Command Packet 65h
3 LENGTH CHAR See Table 7.1, page 66 Data byte count
4–5 SYSTEM FILE SHORT 0–n Unique number (ID code) assigned to each
INDEX of the application files stored in the
Application File directory
6 CHECKSUM CHAR See Table 7.1, page 66 Checksum value
7 ETX CHAR 03h End transmission

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66h, GETAFDIR (Application file directory listing request)

Command Packet 66h is used to request a directory listing of the application files
stored in receiver memory. The receiver responds by sending the directory listing in
Report Packet 67h.

Packet Flow
Receiver Remote
← Command Packet 66h
Report Packet 67h →

Table 7.34 describes the packet structure. For more information, see 67h, RETAFDIR
(Directory listing report), page 142.
Table 7.34 Command Packet 66h structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission
1 STATUS CHAR See Table 7.2, page 67 Receiver status code
2 PACKET TYPE CHAR 66h Command Packet 66h
3 LENGTH CHAR 0h Data byte count
4 CHECKSUM CHAR See Table 7.1, page 66 Checksum value
5 ETX CHAR 03h End transmission

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68h, DELAPPFILE (Delete application file data command)

Command Packet 68h deletes the data for a specified application file. The application
file is selected by specifying the System File Index assigned to the file.

Packet Flow
Receiver Remote
← Command Packet 68h
ACK or NAK →

Table 7.35 Command Packet 68h structure

Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission.
1 STATUS CHAR See Table 7.2, page 67 Receiver status indicator.
2 PACKET TYPE CHAR 68h Command Packet 68h.
3 LENGTH CHAR 01h Data byte count.
4–5 SYSTEM FILE SHORT 0–n Unique number assigned to each of the
INDEX application files stored in the Application
File directory.
6 CHECKSUM CHAR See Table 7.1, page 66 Checksum.
7 ETX CHAR 03h End transmission.

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6Dh, ACTAPPFILE (Activate application file)

Command Packet 6Dh is used to activate one of the application files stored in the
Application File directory. The application file with the specified System File Index is
activated.

Packet Flow
Receiver Remote
← Command Packet 6Dh
ACK or NAK →

Each application file is assigned a System File Index. The application file containing
the factory default values is assigned a System File Index of zero (0), allowing this
command to be used to reset the receiver to the factory default conditions. Table 7.36
describes the packet structure.
Table 7.36 Command Packet 6dh structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission
1 STATUS CHAR See Table 7.2, page 67 Receiver status indicator
2 PACKET TYPE CHAR 6Dh Command Packet 6Dh
3 LENGTH CHAR 01h Data byte count
4–5 SYSTEM FILE SHORT 0–n Unique number assigned to each of the
INDEX application files stored in the Application
File directory
6 CHECKSUM CHAR See Table 7.1, page 66 Checksum
7 ETX CHAR 03h End transmission

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81h, KEYSIM (Key simulator)

Command Packet 81h simulates any front panel key press.

Packet Flow
Receiver Remote
← Command Packet 81h
ACK →

Table 7.37 Command Packet 81h structure

Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission
1 STATUS CHAR See Table 7.2, page 67 Receiver status code
2 PACKET TYPE CHAR 81h Command Packet 81h
3 LENGTH CHAR 01h Data byte count
4 KEY ID CHAR See Table 7.38, page 92 Key scan code ID
5 CHECKSUM CHAR See Table 7.1, page 66 Checksum values
6 ETX CHAR 03h End transmission

Table 7.38 Key ID codes

Scan Code Receiver Key ASCII Character
7Fh [CLEAR] [Del] <del>
0Dh [ENTER] [Enter] <carriage return>
41h Softkey Choice 1 <A>
42h Softkey Choice 2 <B>
43h Softkey Choice 3 <C>
44h Softkey Choice 4 <D>
1Dh [<] —
1Ch [>] —
30h [0] <0>
31h [1] <1>
32h [2] <2>
33h [3] <3>
34h [4] <4>
35h [5] <5>
36h [6] <6>
37h [7] <7>
38h [8] <8>
39h [9] <9>
4Ch [STATUS] <L>
4Ah [SESSION] <J>
4Bh [SAT{{INFO] <K>
4Fh [LOG{{DATA] <O>

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Table 7.38 Key ID codes (continued)

Scan Code Receiver Key ASCII Character
4Dh [CONTROL] <M>
50h [ALPHA] <P>
4Eh [MODIFY] <N>
1Bh [POWER] —

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82h, SCRDUMP (Screen dump request)

Command Packet 82h has two forms—a command packet and report packet. Both
packets are assigned the same hexadecimal code (82h).

Packet Flow
Receiver Remote
← Command Packet 82h
Report Packet 82h →

Command Packet 82h requests an ASCII representation of a BD982 simulated display

screen. In response, Report Packet 82h sends the data used that is used to display the
screen to the remote device in ASCII format.
Table 7.39 shows the command packet structure. For more information, see 82h,
SCRDUMP (Screen dump), page 147.
Table 7.39 Command packet 82h structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission
1 STATUS CHAR See Table 7.2, page 67 Receiver status code
2 PACKET TYPE CHAR 82h Command Packet 82h
3 LENGTH CHAR 0h Data bytes count
4 CHECKSUM CHAR See Table 7.1, page 66 Checksum value
5 ETX CHAR 03h End transmission

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Data Collector Format Report Packets

Data Collector Format report packets are usually sent in response to a command
packet. The prime exception is Report Packet 40h (GSOF) which streams a selection of
data reports to the remote device at intervals defined in the current application file.
Report packets are generated immediately after the request is received. The receiver
always responds to requests for reports, even in cases where a report cannot be
transmitted for some reason or the transmission of a report is not necessary. In these
cases, the receiver sends an ACK or NAK to acknowledge the request.

Report Packet summary

The following sections provide details for each command and report packet. Table 7.40
lists a summary of the report packets.
Table 7.40 Report Packet summary
ID (Hex) Name Function Page
07h 07h, RSERIAL (Receiver and antenna 07h, RSERIAL (Receiver and antenna 96
information report) information report)
40h 40h, GENOUT (General output record 40h, GENOUT (General output record reports) 98
reports)
55h 55h, RETSVDATA (Satellite information 55h, RETSVDATA (Satellite information 127
reports) reports)

57h 57h, RAWDATA (Position or real-time 57h, RAWDATA (Position or real-time survey 132
survey data report) data report)
64h 64h, APPFILE (Application file record 64h, APPFILE (Application file record 141
report) command)
67h 67h, RETAFDIR (Directory listing report) 67h, RETAFDIR (Directory listing report) 142
6Eh 6Eh, BREAKRET (Break sequence return) 6Eh, BREAKRET (Break sequence return) 144
82h 82h, SCRDUMP (Screen dump) 82h, SCRDUMP (Screen dump request) 147

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07h, RSERIAL (Receiver and antenna information report)

Report Packet 07h is sent in response to the Command Packet 06h. The report returns
the receiver and antenna serial number, antenna type, software processor versions, and
the number of receiver channels.

Packet Flow
Receiver Remote
← Command Packet 06h
Report Packet 07h →

Table 7.41 describes the packet structure. For more information, see 06h, GETSERIAL
(Receiver and antenna information request), page 71.
Table 7.41 Report Packet 07h structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission.
1 STATUS CHAR See Table 7.2, page 67 Receiver status code.
2 PACKET TYPE CHAR ??h Report Packet 07h.
3 LENGTH CHAR 2Dh Data byte count.
4–11 RECEIVER SERIAL # CHAR ASCII text Receiver serial number.
12–19 RECEIVER TYPE CHARs "BD982" Receiver model designation (padded with
three spaces).
20–24 NAV PROCESS CHARs ASCII text Version number of NAV Processor
VERSION software.
25–29 SIG PROCESS CHARs ASCII text Not applicable.
VERSION (00000)
30–34 BOOT ROM CHARs ASCII text Not applicable.
VERSION (00000)
35–42 ANTENNA SERIAL # CHARs ASCII text Not used.
(8 spaces)
43–44 ANTENNA TYPE CHAR ASCII text Not used.
(2 spaces)
45–46 # CHANNELS CHAR 12h There are 18 receiver channels.
47–48 # CHANNELS L1 CHAR 09h Nine (9) L1 receiver channels.
49 - 58 LONG SERIAL CHARValue ASCII text (10 spaces) This is the serial number that should be
NUMBER used for newer receivers like the BD982.
59 - 89 LOCAL LONG ANT CHAR ASCII text (31 spaces) Not Applicable
SERIAL
90 - 120 BASE LONG ANT CHAR ASCII text (31 spaces) Not Applicable
SERIAL
121 - 151 BASE NGS ANT CHAR ASCII text (31 spaces) Not Applicable
DESCRIPTOR
152-153 # USABLE CHAR Maximum usable channels with the
CHANNELS current option set.
154-155 # PHYSICAL CHAR Number of hardware channels.
CHANNELS

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Table 7.41 Report Packet 07h structure (continued)

Byte # Item Type Value Meaning
156 # SIMULTANEOUS CHAR How many satellites can be tracked at
CHANNELS once.
157-161 Reserved N/A N/A N/A
162 CHECKSUM CHAR See Table 7.1, page 66 Checksum value.
163 ETX CHAR 03h End transmission.

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40h, GENOUT (General output record reports)

When scheduled, Report Packet 40h is continuously output at the FREQUENCY
specified by the current application file. The GENOUT report contains multiple sub-
records as scheduled by the application file (subtype = 10, GSOF).
For information about controlling the record types included in Report Packet 40h, see
command packet 64h Appfile.

Packet Flow
Receiver Connected computer
(02h) STX →
(??h) STATUS →
(40h) TYPE →
(??h) LENGTH →
1 (byte) TRANSMISSION NUMBER →
1 (byte) PAGE INDEX →
1 (byte) MAX PAGE INDEX →
Various record types
1 (byte) OUTPUT RECORD TYPE →
1 (byte) RECORD LENGTH →
Various fields dependant on →
RECORD TYPE.
There can be multiple records
in one GENOUT packet. There
could be multiple GENOUT
packets per epoch. Records
may be split over two
consecutive packets.
(??h) CHECKSUM →
(03h) ETX →

Where:
• TRANSMISSION NUMBER is a unique number assigned to a chapter of pages
indicating that the pages are from the same group.
• PAGE INDEX is the page number of this page in a sequence (chapter) of pages
and is zero based.
• MAX PAGE INDEX is the index of the last page in the chapter.
• RECORD LENGTH is the length of data in the record (excluding type and size).
Page Numbering – The Page Index and Max Page Index fields are 0-based, so for
example the first transmission of a 2-page set will be 0/1 (PAGE/MAX PAGE) and the 2nd
(last) page will be 1/1. The total number of pages is MAX PAGE INDEX + 1.

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GSOF record types

Table 7.42 GSOF record types
Record number Description Page
1 POSITION TIME 100
2 LAT, LONG, HEIGHT 102
3 ECEF POSITION 103
4 LOCAL DATUM POSITION 104
5 LOCAL ZONE POSITION 105
6 ECEF DELTA 106
7 TANGENT PLANE DELTA 107
8 VELOCITY DATA 108
9 PDOP INFO 109
10 CLOCK INFO 110
11 POSITION VCV INFO 111
12 POSITION SIGMA INFO 112
13 SV BRIEF INFO 113
14 SV DETAILED INFO 114
15 RECEIVER SERIAL NUMBER 116
16 CURRENT TIME 117
26 POSITION TIME UTC 118
27 ATTITUDE INFO*+ 120
33 ALL SV BRIEF INFO 122
34 ALL SV DETAILED INFO 123
35 RECEIVED BASE INFO 125
41 BASE POSITION AND QUALITY INDICATOR 126

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GSOF 1: GSOF 1 (01h) POSITION TIME

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = 1 →
1 (byte) RECORD LENGTH →
4 (long) GPS TIME (ms) →
2 (int) GPS WEEK NUMBER →
1 (byte) NUMBER OF SVS USED →
1 (byte) POSITION FLAGS 1 →
1 (byte) POSITION FLAGS 2 →
1 (byte) INITIALIZATION NUMBER →

Where:
• OUTPUT RECORD TYPE = 1.
• RECORD LENGTH is the length of this sub-record.
• GPS TIME is in milliseconds of the GPS week.
• GPS WEEK NUMBER is the week count since January 1980.
• NUMBER OF SVS USED is the number of satellites used to determine the
position.
• POSITION FLAGS 1 reports position attributes and is defined as follows:
– bit 0 SET: New Position
– bit 1 SET: Clock fix calculated this position
– bit 2 SET: Horizontal coordinates calculated this position
– bit 3 SET: Height calculated this position
– bit 4 reserved: Always SET (was "Weighted position")
– bit 5 SET: Least squares position
– bit 6 reserved: Always CLEAR (was "Iono-free position")
– bit 7 SET: Position uses Filtered L1 pseudoranges
• POSITION FLAGS 2 reports position attributes and is defined as follows:
– bit 0 SET: Position is a differential solution. RESET: Position is autonomous
or WAAS solution.
– bit 1 SET: Differential position is phase including RTK ( float, fixed or
location), HP or XP Omnistar (VBS is not derived from phase). RESET:
Differential position is code.

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– bit 2 SET: Differential position is fixed integer phase position (RTK-fixed).

Uncorrected position is WAAS (if bit 0 is 0). RESET: Differential position is
RTK-float, RTK-location or code phase (DGPS), Uncorrected position is
Autonomous (if bit 0 is 0).
– bit 3 SET: OmniSTAR differential solution (including HP, XP, and VBS.)
RESET: Not OmniSTAR solution.
– bit 4 SET: Position determined with STATIC as a constraint.
– bit 5 SET: Position is Network RTK solution.
– bit 6 SET: RTK-Location.
– bit 7 SET: Beacon DGPS.
• INITIALIZATION NUMBER is a rollover counter to indicate when
re-initializations have taken place.

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GSOF 2: GSOF 2 (02h) LAT, LONG, HEIGHT

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = 2 →
1 (byte) RECORD LENGTH →
8 (double) LATITUDE →
8 (double) LONGITUDE →
8 (double) HEIGHT →

Where:
• OUTPUT RECORD TYPE = 2.
• RECORD LENGTH is the length of this sub-record.
• LATITUDE is the WGS-84 latitude in radians.
• LONGITUDE is the WGS-84 longitude in radians.
• HEIGHT is the WGS-84 height in meters.

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GSOF 3: GSOF 3 (03h) ECEF POSITION

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = 3 →
1 (byte) RECORD LENGTH →
8 (double) X →
8 (double) Y →
8 (double) Z →

Where:
• OUTPUT RECORD TYPE = 3.
• RECORD LENGTH is the length of this sub-record.
• X is the earth-centered earth-fixed X axis WGS-84 coordinate of the position in
meters.
• Y is the earth-centered earth-fixed Y axis WGS-84 coordinate of the position in
meters.
• Z is the earth-centered earth-fixed Z axis WGS-84 coordinate of the position in
meters.

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GSOF 4: GSOF 4 (04h) LOCAL DATUM POSITION.

Back to: 40h GENOUT

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = 4 →
1 (byte) RECORD LENGTH →
8 (char) LOCAL DATUM ID →
8 (double) LOCAL DATUM ECEF →
LATITUDE
8 (double) LOCAL DATUM →
LONGITUDE
8 (double) LOCAL DATUM HEIGHT →
1 (byte) OUTPUT RECORD TYPE = 4 →

Where:
• OUTPUT RECORD TYPE = 4.
• RECORD LENGTH is the length of this sub-record.
• LOCAL DATUM IDENTIFIER is an ASCII string that identifies the coordinate
datum.
• LOCAL DATUM LATITUDE is the latitude in the local datum (radians).
• LOCAL DATUM LONGITUDE is the longitude in the local datum (radians).
• LOCAL DATUM HEIGHT is the height in the local datum (meters).

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GSOF 5: GSOF 5 (05h) LOCAL ZONE POSITION

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = 5 →
1 (byte) RECORD LENGTH →
8 (char) LOCAL DATUM ID →
8 (char) LOCAL ZONE ID →
8 (double) LOCAL ZONE NORTH →
8 (double) LOCAL ZONE EAST →
8 (double) LOCAL DATUM HEIGHT →

Where:
• OUTPUT RECORD TYPE = 5.
• RECORD LENGTH is the length of this sub-record.
• LOCAL DATUM IDENTIFIER is an ASCII string that identifies the coordinate
datum.
• LOCAL ZONE IDENTIFIER is an ASCII string that identifies the coordinate
zone.
• LOCAL ZONE NORTH is the local zone north coordinate (meters).
• LOCAL ZONE EAST is the local zone east coordinate (meters).
• LOCAL DATUM HEIGHT is the height in the local datum (meters).

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GSOF 6: GSOF 6 (06h) ECEF DELTA

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = 6 →
1 (byte) RECORD LENGTH →
8 (double) DELTA X →
8 (double) DELTA Y →
8 (double) DELTA Z →

Where:
• OUTPUT RECORD TYPE = 6.
• RECORD LENGTH is the length of this sub-record.
• DELTA X is the ECEF X axis delta between the rover and base positions
(rover - base) in meters.
• DELTA Y is the ECEF Y axis delta between the rover and base positions
(rover - base) in meters.
• DELTA Z is the ECEF Z axis delta between the rover and base positions
(rover - base) in meters.

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GSOF 7: GSOF 7 (07h) TANGENT PLANE DELTA

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = 7 →
1 (byte) RECORD LENGTH →
8 (double) DELTA EAST →
8 (double) DELTA NORTH →
8 (double) DELTA UP →

Where:
• OUTPUT RECORD TYPE = 7.
• RECORD LENGTH is the length of this sub-record.
• DELTA EAST is the east component of a vector from the base to the rover
projected onto a plane tangent to the WGS-84 ellipsoid at the base. Units:
meters.
• DELTA NORTH is the north component of the tangent plane vector.
• DELTA UP is the difference between the ellipsoidal height of the tangent plane
at the base and a plane parallel to this passing through the rover point.

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GSOF 8: GSOF 8 (08h) VELOCITY DATA

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = 8 →
1 (byte) RECORD LENGTH →
1 (byte) VELOCITY FLAGS →
4 (float) VELOCITY →
4 (float) HEADING →
4 (float) VERTICAL VELOCITY →

Where:
• OUTPUT RECORD TYPE = 8.
• RECORD LENGTH is the length of this sub-record.
• VELOCITY FLAGS indicate attributes of the velocity information. Defined
values are:
– bit 0 SET: Velocity data valid. RESET: Velocity data not valid
– bit 1 SET: Velocity computed from consecutive measurements. RESET:
Velocity computed from Doppler
– bits 2-7: RESERVED
• VELOCITY is the horizontal velocity in meters per second.
• HEADING is the WGS-84 referenced true north heading in radians.
• VERTICAL VELOCITY is the velocity in the vertical direction in meters per
second.

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GSOF 9: GSOF 9 (09h) PDOP INFO

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = 9 →
1 (byte) RECORD LENGTH →
4 (float) PDOP →
4 (float) HDOP →
4 (float) VDOP →
4 (float) TDOP →

Where:
• OUTPUT RECORD TYPE = 9.
• RECORD LENGTH is the length of this sub-record.
• PDOP is the positional dilution of precision.
• HDOP is the horizontal dilution of precision.
• VDOP is the vertical dilution of precision.
• TDOP is the time dilution of precision.
Note – When an RTK system is placed in the Static (measuring) mode, these values
become Relative DOP values, and as such tend to diminish with elapsed time spend static.

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GSOF 10: GSOF 10 (0Ah) CLOCK INFO

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = →
10
1 (byte) RECORD LENGTH →
1 (byte) CLOCK FLAGS →
8 (double) CLOCK OFFSET →
8 (double) FREQUENCY OFFSET →

Where:
• OUTPUT RECORD TYPE = 10.
• RECORD LENGTH is the length of this sub-record.
• CLOCK FLAGS indicates information relation of the clock fix process. Defined
values are:
– bit 0 SET: Clock offset is valid
– bit 1 SET: Frequency offset is valid
– bit 2 SET: Receiver is in anywhere fix mode
– bit 3-7: RESERVED
• CLOCK OFFSET is the current clock offset in milliseconds.
• FREQUENCY OFFSET is the offset of the local oscillator from the nominal GPS
L1 frequency in parts per million.

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GSOF 11: GSOF 11 (0Bh) POSITION VCV INFO

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = →
11
1 (byte) RECORD LENGTH →
4 (float) POSITION RMS →
4 (float) VCV xx →
4 (float) VCV xy →
4 (float) VCV xz →
4 (float) VCV yy →
4 (float) VCV yz →
4 (float) VCV zz →
4 (float) UNIT VARIANCE →
2 (short) NUMBER OF EPOCHS →

Where:
• OUTPUT RECORD TYPE = 11.
• RECORD LENGTH is the length of this sub-record.
• RANGE RESIDUAL RMS is the square root of (the sum of the squares of the
range residuals divided by the number of degrees of freedom in the solution).
• VCVxx .. VCVzz is the variance-covariance matrix. This contains the positional
components of the inverted normal matrix of the position solution in a ECEF
WGS-84 reference.
• UNIT VARIANCE is the unit variance of the position solution.
• NUMBER OF EPOCHS indicates the number of measurements used to compute
the position. It may be greater than 1 for positions subjected to a STATIC
constraint.

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GSOF 12: GSOF 12 (0Ch) POSITION SIGMA INFO

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = →
12
1 (byte) RECORD LENGTH →
4 (float) POSITION RMS →
4 (float) SIGMA EAST →
4 (float) SIGMA NORTH →
4 (float) COVAR. EAST-NORTH →
4 (float) SIGMA UP →
4 (float) SEMI MAJOR AXIS →
4 (float) SEMI-MINOR AXIS →
4 (float) ORIENTATION →
4 (float) UNIT VARIANCE →
2 (short) NUMBER EPOCHS →

Where:
• OUTPUT RECORD TYPE = 12.
• RECORD LENGTH is the length of this sub-record.
• RANGE RESIDUAL RMS is the square root of (the sum of the squares of the
range residuals divided by the number of degrees of freedom in the solution).
• SIGMA EAST, NORTH, UP are in meters.
• COVARIANCE EAST-NORTH is dimensionless.
• SEMI-MAJOR/MINOR AXES of the error ellipse is in meters.
• ORIENTATION of the semi-major axis is in degrees from clockwise from True
North.
• UNIT VARIANCE is valid only for over determined solutions. It should tend
towards 1.0. A value less than 1.0 indicates that the apriori variances were too
pessimistic.
• NUMBER OF EPOCHS indicates the number of measurements used to compute
the position. It may be greater than 1 for positions subjected to a STATIC
constraint.

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GSOF 13: GSOF 13 (0Dh) SV BRIEF INFO

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = →
13
1 (byte) RECORD LENGTH →
1 (byte) NUMBER OF SVS →
repeated for number of svs
1 (byte) PRN →
1 (byte) SV FLAGS1 →
1 (byte) SV FLAGS2 →

Where:
• OUTPUT RECORD TYPE = 13.
• RECORD LENGTH is the length of this sub-record.
• NUMBER OF SVS is the number of tracked satellites reported in this record.
• PRN is the PRN number of the satellite which the following flags refer to.
• SV FLAGS1 indicate conditions relating to satellites. Defined values are:
– bit 0 SET: Above horizon
– bit 1 SET: Currently assigned to a channel (trying to track)
– bit 2 SET: Currently tracked on L1 frequency
– bit 3 SET: Currently tracked on L2 frequency
– bit 4 SET: Reported at Base on L1 frequency
– bit 5 SET: Reported at Base on L2 frequency
– bit 6 SET: Used in Position
– bit 7 SET: Used in current RTK process (search, propagate, fix solution)
• SV FLAGS2 indicate conditions relating to satellites. Defined values are:
– bit 0 SET: Tracking P Code on L1
– bit 1 SET: Tracking P Code on L2
– bit 2 SET: Tracking CS on L2
– bits 3-7: RESERVED

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GSOF 14: GSOF 14 (0Eh) SV DETAILED INFO

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = →
14
1 (byte) RECORD LENGTH →
1 (byte) NUMBER OF SVS →
repeated for number of svs
1 (byte) PRN →
1 (byte) SV FLAGS1 →
1 (byte) SV FLAGS2 →
1 (signed byte) ELEVATION →
2 (short) AZIMUTH →
1 (byte) SNR L1*4 →
1 (byte) SNR L2*4 →

Where:
• OUTPUT RECORD TYPE = 14.
• RECORD LENGTH is the length of this sub-record.
• NUMBER OF SVS is the number of tracked satellites reported in this record.
• PRN is the PRN number of the satellite which the following information refers
to.
• SV FLAGS1 indicate conditions relating to satellites. Defined values are:
– bit 0 SET: Above horizon
– bit 1 SET: Currently assigned to a channel (trying to track)
– bit 2 SET: Currently tracked on L1 frequency
– bit 3 SET: Currently tracked on L2 frequency
– bit 4 SET: Reported at Base on L1 frequency
– bit 5 SET: Reported at Base on L2 frequency
– bit 6 SET: Used in Position
– bit 7 SET: Used in current RTK process (search, propagate, fix solution)
• SV FLAGS2 indicate conditions relating to satellites. Defined values are:
– bit 0 SET: Tracking P Code on L1
– bit 1 SET: Tracking P Code on L2
– bit 2 SET: Tracking CS on L2
– bits 3-7: RESERVED
• ELEVATION is the angle of the satellite above the horizon in degrees.

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• AZIMUTH is the azimuth of the satellite form true north in degrees.

• SNR L1 is the signal-to-noise ratio of the L1 signal (multiplied by 4). 0 for SVs not
tracked on this frequency.
• SNR L2 is the signal-to-noise ratio of the L2 signal (multiplied by 4). 0 for SVs not
tracked on this frequency.

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GSOF 15: GSOF 15 (0Fh) RECEIVER SERIAL NUMBER

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = →
15
1 (byte) RECORD LENGTH →
4 (long) SERIAL NUMBER →

Where:
• OUTPUT RECORD TYPE = 15.
• RECORD LENGTH is the length of this sub-record.
• RECEIVER SERIAL NUMBER is the full serial number of the receiver.

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GSOF 16: GSOF 16 (10h) CURRENT TIME

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = →
16
1 (byte) RECORD LENGTH →
4 (long) GPS MILLISEC OF WEEK →
2 (short) GPS WEEK NUMBER
2 (short) UTC OFFSET
1 (byte) FLAGS

Where:
• OUTPUT RECORD TYPE = 16.
• RECORD LENGTH is the length of this sub-record.
• GPS MILLISECONDS OF WEEK is the time that the message was sent from the
receiver.
• GPS WEEK NUMBER is the full week number since start of GPS time.
• UTC OFFSET is the current GPS to UTC time offset in integer seconds.
• FLAGS indicate the validity of the time and UTC offset parameters. Defined
values are:
– bit 0 SET: Time information (week and milliseconds of week) valid
– bit 1 SET: UTC Offset is valid

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GSOF 26: GSOF 26 (1Ah) POSITION TIME UTC

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = →
26
1 (byte) RECORD LENGTH →
4 (long) MILLISECONDS OF WEEK →
2 (short) GPS WEEK NUMBER →
1 (byte) NUMBER OF SVS USED →
1 (byte) POSITION FLAGS 1 →
1 (byte) POSITION FLAGS 2 →
1 (byte) INITIALIZATION NUMBER →

Where:
• OUTPUT RECORD TYPE = 26.
• RECORD LENGTH is the length of this sub-record.
• MILLISECONDS OF WEEK is the GPS time since the start of the GPS week.
• GPS WEEK NUMBER is the week count since January 1980.
• NUMBER OF SVS USED is the number of satellites used to determine the
position.
• POSITION FLAGS 1 reports position attributes and is defined as follows:
– bit 0 SET: New Position
– bit 1 SET: Clock fix calculated this position
– bit 2 SET: Horizontal coordinates calculated this position
– bit 3 SET: Height calculated this position
– bit 4 reserved: Always SET (was "Weighted position")
– bit 5 SET: Least squares position
– bit 6 reserved: Always CLEAR (was "Iono-free position")
– bit 7 SET: Position uses Filtered L1 pseudoranges
• POSITION FLAGS 2 reports position attributes and is defined as follows:
– bit 0 SET: Position is a differential solution. RESET: Position is autonomous
or WAAS solution.
– bit 1 SET: Differential position is phase (RTK, or HP Omnistar). RESET:
Differential position is code.
– bit 2 SET: Differential position is fixed integer phase position (RTK).
Uncorrected position is WAAS (if bit 0 is 0). RESET: Differential position is
RTK-float or code phase (DGPS). Uncorrected position is Autonomous (if
bit 0 is 0).

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– bit 3 SET: HP / Omnistar differential solution. RESET: HP / Omnistar not

active.
– bit 4 SET: Position determined with STATIC as a constraint
– bit 5 SET: Position is Network RTK solution
– bits 6-7: RESERVED
• INITIALIZATION NUMBER is a rollover counter to indicate when
re-initializations have taken place.

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GSOF 27: GSOF 27 (1Bh) ATTITUDE INFO

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = →
27
1 (byte) RECORD LENGTH →
4 (unsigned long) GPS TIME →
1 (byte) FLAGS →
1 (byte) NUMBER OF SVS →
1 (byte) CALCULATION MODE →
1 (byte) RESERVED →
8 (double) PITCH →
8 (double) YAW →
8 (double) ROLL →
8 (double) MASTER-SLAVE RANGE →
2 (word) PDOP →
Record length = 42, up to and
including PDOP (does not
include type and length bytes)
4 (float) PITCH VARIANCE →
4 (float) YAW VARIANCE →
4 (float) ROLL VARIANCE →
4 (float) MASTER-SLAVE RANGE →
VARIANCE
Record length = 70 up to and
including Master Slave Range
Variance

Where:
• OUTPUT RECORD TYPE = 27.
• RECORD LENGTH is the length of this sub-record.
• GPS TIME is time of position in milliseconds of GPS week.
• FLAGS indicate the following:
– bit 0: Calibrated
– bit 1: Pitch Valid
– bit 2: Yaw Valid
– bit 3: Roll Valid
– bit 4: Scalar Valid
– bit 5 - Bit 7: Reserved
– bit 5: Diagnostic Valid

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– bit 6: Slave Static

– bit 7: Error Stats valid
• NUMBER OF SVS.
• CALCULATION MODE is one of the following values:
– 0: None
– 1: Autonomous
– 2: RTK/Float
– 3: RTK/Fix
– 4: DGPS
• RESERVED is currently unused.
• PITCH is the forward dive/climb angle (radians).
• YAW is the horizontal turn (left or right) (radians).
• ROLL is the side-to-side roll angle (radians).
• MASTER-SLAVE RANGE is the distance between master and slave antennas, in
meters.
• PDOP is the current position PDOP in tenths.
Subsequent elements are not implemented in firmware versions prior to GNSS
version 4.20. The error stats valid flag is also set when these elements are
implemented.
• PITCH VARIANCE is the expected variance of error of the pitch estimate
(radians^2).
• YAW VARIANCE is the expected variance of error of the yaw estimate
(radians^2).
• ROLL VARIANCE is the expected variance of error of the roll estimate
(radians^2).
• PITCH-YAW COVARIANCE is the expected covariance of errors of the pitch and
yaw estimates (radians^2).
• PITCH-ROLL COVARIANCE is the expected covariance of errors of the pitch
and roll estimates (radians^2).
• YAW-ROLL COVARIANCE is the expected covariance of errors of the yaw and
roll estimates (radians^2).
• MASTER-SLAVE RANGE VARIANCE is the expected variance of error of the
master-slave range estimate, in meters^2.

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GSOF 33: GSOF 33 (21h) ALL SV BRIEF INFO

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = →
33
1 (byte) RECORD LENGTH →
1 (byte) NUMBER OF SVs →
Repeated for number of SVs
1 (byte) PRN →
1 (byte) SV System →
1 (byte) SV FLAGS1 →
1 (byte) SV FLAGS2 →

Where:
• OUTPUT RECORD TYPE = 33.
• RECORD LENGTH is the length of this sub-record.
• NUMBER OF SVS is the number of tracked satellites reported in this record.
• PRN is the PRN number of the satellite which the following flags refer to. This
will be the ACTUAL PRN number given by the SV (not ranged due to SV system)
due to the next field:
• SV System is the system that the SV belongs to.
– 0 = GPS
– 1 = SBAS
– 2 = GLONASS
– 3 = GALILEO
– 4 - 255: RESERVED
• SV FLAGS1 indicate conditions relating to satellites.
– bit 0 set: Above horizon
– bit 1 set: Currently assigned to a channel (trying to track)
– bit 2 set: Currently tracked on L1/G1 frequency
– bit 3-7: RESERVED
• SV FLAGS2 indicate conditions relating to satellites.
– bits 0-7: RESERVED

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GSOF 34: GSOF 34 (22h) ALL SV DETAILED INFO

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = →
34
1 (byte) RECORD LENGTH →
1 (byte) NUMBER OF SVS →
Repeated for number of SVs
1 (byte) PRN →
1 (byte) SV SYSTEM →
1 (byte) SV FLAGS1 →
1 (byte) SV FLAGS2 →
1 (signed byte) ELEVATION →
2 (short) AZIMUTH →
1 (byte) SNR L1*4 →
1 (byte) SNR L2*4 →
1 (byte) SNR L5*4 OR G1P SNR OR →
Galileo SNR

Where:
• OUTPUT RECORD TYPE = 34.
• RECORD LENGTH is the length of this sub-record.
• NUMBER OF SVS is the number of tracked satellites reported in this record.
• PRN is the PRN number of the satellite which the following flags refer to. This
will be the ACTUAL PRN number given by the SV (not ranged due to SV system)
due to the next field.
• SV SYSTEM is the system that the SV belongs to.
– 0: GPS
– 1: SBAS
– 2: GLONASS
– 3 - 9: RESERVED
– 10: OMNISTAR
– 11 - 255: RESERVED
• SV FLAGS1 is a bitmap field having the following values:
– bit 0 Set: Above horizon
– bit 1 Set: Currently assigned to a channel (trying to track)
– bit 2 Set: Currently tracked on L1/G1 frequency
– bit 3 Set: Currently tracked on L2/G2 frequency

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– bit 4 Set: Reported at base on L1/G1 frequency

– bit 5 Set: Reported at base on L2/G2 frequency
– bit 6 Set: Used in current position
– bit 7 Set: Used in the current RTK solution.
• SV FLAGS2 is a bitmap variable having the following values:
– bit 0 Set: Tracking P-Code on L1/G1
– bit 1 Set: Tracking P-Code on L2
• IF GPS SV:
– bit 2 Set: Tracking CS on L2
– bit 3 Set: Tracking L5 Signal
– Bits 4-7 are reserved
• If GLONASS SV:
– bit 2 Set: Glonass SV is “M” SV
– bit 3 Set: Glonass SV is “K” SV
– Bits 4-7 are reserved
• ELSE
– Bits 2-7 are reserved
• ELEVATION is the angle of the satellite above the horizon in degrees.
• AZIMUTH is the azimuth of the satellite form true north in degrees.
• SNR L1 is the signal-to-noise ratio of the L1 signal (multiplied by 4). 0 for SVs not
tracked on this frequency.
• SNR L2 is the signal-to-noise ratio of the L2 signal (multiplied by 4). 0 for SVs not
tracked on this frequency.
• IF GPS SNR L5 is the signal-to-noise ratio of the L5 signal (multiplied by 4). 0 for
SVs not tracked on this frequency.
• IF GLONASS G1P SNR is the signal-to-noise ratio of the G1P signal (multiplied
by 4). 0 for SVs not tracked on this frequency.
• IF Galileo, E1 SNR or E5A SNR or E5B SNR or E5AltBOC SNR
• ELSE This last byte is RESERVED.

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GSOF 35: GSOF 35 (23h) RECEIVED BASE INFO

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = →
35
1 (byte) RECORD LENGTH →
1 (Byte) FLAGS and VERSION OF →
MESSAGE
8 (chars) BASE NAME →
2 (bytes) BASE ID →
8 (double) BASE LATITUDE →
8 (double) BASE LONGITUDE →
8 (double) BASE HEIGHT →

Where:
• OUTPUT RECORD TYPE = 35.
• RECORD LENGTH is the length of this sub-record.
• FLAGS specifies a few attributes about the BASE (and ONLY the base, since
there are status flags about RTK in other messages). Defined values:
– Bits 0 - 2 specify a “version number” for this message.
– Bit 3 if SET specifies that the base info given is valid.
– Bits 4 - 7 are currently RESERVED.
• BASE NAME is the short base name received from the base. In the case of the
base being RTCM (with no base name), the field is set to all 0s.
• BASE ID is the ID# of the base being used. This field is big-endian, so the first
byte will always be set to 0 if the base is a CMR base.
• BASE LATITUDE is the WGS-84 latitude of the base in radians.
• BASE LONGITUDE is the WGS-84 longitude of the base in radians.
• BASE HEIGHT is the WGS-84 height of the base in meters.

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GSOF 41: GSOF 41 (29h) BASE POSITION AND QUALITY INDICATOR

Packet Flow
Receiver Connected computer
1 (byte) OUTPUT RECORD TYPE = →
41
1 (byte) RECORD LENGTH →
4 (long) GPS TIME (ms) →
2 (int) GPS WEEK NUMBER →
8 (double) LATITUDE →
8 (double) LONGITUDE →
8 (double) HEIGHT →
1 (byte) QUALITY INDICATOR →

Where:
• OUTPUT RECORD TYPE = 41.
• RECORD LENGTH is the length of this sub-record.
• GPS TIME is in milliseconds of the GPS week.
• GPS WEEK NUMBER is the week count since January 1980.
• LATITUDE is the base WGS-84 latitude in radians.
• LONGITUDE is the base WGS-84 longitude in radians.
• HEIGHT is the base WGS-84 height in meters.
• QUALITY INDICATOR shows the quality of the base position:
– 0 - Fix not available or invalid
– 1 - Autonomous
– 2 - Differential, SBAS or OmniSTAR VBS
– 4 - RTK Fixed
– 5 - OmniSTAR XP, OmniSTAR HP, RTK Float, or RTK Location

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55h, RETSVDATA (Satellite information reports)

Report Packet 55h is sent in response to Command Packet 54h. The report includes
either the ephemeris or almanac information for a specific satellite, or ION/UTC data,
the Enabled/Disabled state and Heed/Ignore Health state of all satellites, or the
condition of satellite status flags for one satellite or all satellites.

Packet Flow
Receiver Remote
← Command Packet 54h
Report Packet 55h →

Only the satellite information, requested by Command Packet 54h, is sent in the report
packet. As a result, several forms of the Report Packet 55h can be requested.
Table 7.43 through Table 7.47 describe the structure of the report packets.
Returns a NAK if the GETSVDATA request meets one of the following criteria:
• SV PRN is out of range 1–32 (except for SV flags)
• Data Switch is out of range
• Data is not available for the requested SV

SV FLAGS report
The SV FLAGS report is sent when Command Packet 54h is used to request the status
of the SV Flags for one satellite or all satellites. The Command Packet 54h DATA
SWITCH byte (byte 4) is set to zero (0) when requesting the report. Table 7.43 describes
the packet structure.
Table 7.43 Report Packet 55h SV flags report structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission.
1 STATUS CHAR See Table 7.2, page 67 Receiver status.
2 PACKET TYPE CHAR 55h Report Packet 55h.
3 LENGTH CHAR See Table 7.1, page 66 Data byte count.
4 DATA TYPE CHAR 00h SV FLAGS Report.
INDICATOR
5 SV PRN # CHAR 00h–20h Pseudorandom number of satellite (1–32) or
zero when requesting flag status of all
satellites.
6–9 EPHEMERIS LONG 32 flag bits For all 32 satellites, the flags show availability
FLAGS of Ephemeris data when set to one.1
10–13 ALMANAC LONG 32 flag bits For all 32 satellites, the flags show availability
FLAGS of Almanac data when set to one.1
14–17 SVS DISABLED LONG 32 flag bits Flags show Enabled or Disabled status of all
FLAGS satellites. When set to one, satellite is
disabled.1
1
Bit 0 = PRN 1

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Table 7.43 Report Packet 55h SV flags report structure (continued)

Byte # Item Type Value Meaning
18–21 SVS LONG 32 flag bits Flags show the health of satellites. When set to
UNHEALTHY one, satellite is currently unhealthy.1
FLAGS
22–25 TRACKING L1 LONG 32 flag bits Flags show satellites tracked on L1 when set to
FLAGS one.1
26–29 TRACKING L2 LONG 32 flag bits Flags show satellites tracked on L2 when set to
FLAGS one.1
30–33 Y-CODE FLAGS LONG 32 flag bits Flags show satellites with Anti-Spoofing turned
on when set to one.1
34–37 P-CODE ON L1 LONG 32 flag bits Flags show satellites which are tracking P-code
FLAGS on the L1.
Flags are not set for satellites not tracked on
L1.1
38–41 RESERVED LONG 32 flag bits Reserved (set to zero).
42–45 RESERVED LONG 32 flag bits Reserved (set to zero).
46–49 RESERVED LONG 32 flag bits Reserved (set to zero).
50–53 RESERVED LONG 32 flag bits Reserved (set to zero).
54 CHECKSUM CHAR See Table 7.1, page 66 Checksum value.
55 ETX CHAR 03h End transmission.
1
Bit 0 = PRN 1

EPHEMERIS report
The EPHEMERIS report is sent when Command Packet 54h is used to request the
Ephemeris for one satellite or all satellites. The GETSVDATA DATA SWITCH byte (byte
4) is set to one (1) to request the report. Table 7.44 describes the packet structure.
The Ephemeris data follows the standard defined by GPS ICD-200 except for CUC, CUS,
CIS, and CIC. These values need to be multiplied by π to become the units specified in
the GPS ICD-200 document. The Ephemeris Flags are described in Table 7.45.
Table 7.44 Report Packet 55h ephemeris report structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission.
1 STATUS CHAR See Table 7.2, page 67 Receiver status.
2 PACKET TYPE CHAR 55h Report Packet 55h.
3 LENGTH CHAR See Table 7.1, page 66 Data byte count.
4 DATA TYPE CHAR 01h Ephemeris report.
INDICATOR
5 SV PRN # CHAR 00h–20h Pseudorandom number of satellite
(1–32) or 0 when data is for all
satellites.
6–7 EPH WEEK # SHORT GPS ICD-2001 Ephemeris Week Number.
1
8–9 IODC SHORT GPS ICD-200
10 RESERVED CHAR GPS ICD-2001 Reserved (set to zero).

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Table 7.44 Report Packet 55h ephemeris report structure (continued)

Byte # Item Type Value Meaning
1
11 IODE CHAR GPS ICD-200 Issue of Data Ephemeris.
1
12–15 TOW LONG GPS ICD-200 Time of week.
16–19 TOC LONG GPS ICD-2001
20–23 TOE LONG GPS ICD-2001
24–31 TGD DOUBLE GPS ICD-2001
32–39 AF2 DOUBLE GPS ICD-2001
40–47 AF1 DOUBLE GPS ICD-2001
48–55 AF0 DOUBLE GPS ICD-2001
56–63 CRS DOUBLE GPS ICD-2001
64–71 DELTA N DOUBLE GPS ICD-2001
72–79 M SUB 0 DOUBLE GPS ICD-2001
80–87 CUC DOUBLE GPS ICD-2001
88–95 ECCENTRICITY DOUBLE GPS ICD-2001
96–103 CUS DOUBLE GPS ICD-2001
104–111 SQRT A DOUBLE GPS ICD-2001
112–119 CIC DOUBLE GPS ICD-2001
120–127 OMEGA SUB 0 DOUBLE GPS ICD-2001
128–135 CIS DOUBLE GPS ICD-2001
136–143 I SUB 0 DOUBLE GPS ICD-2001
144–151 CRC DOUBLE GPS ICD-2001
152–159 OMEGA DOUBLE GPS ICD-2001
160–167 OMEGA DOT DOUBLE GPS ICD-2001
168–175 I DOT DOUBLE GPS ICD-2001
176–179 FLAGS LONG See Table 7.45, page 129 Shows status of Ephemeris Flags.
180 CHECKSUM CHAR See Table 7.1, page 66 Checksum value.
181 ETX CHAR 03h End transmission.
1 For
detailed information, refer to the U.S. Government document GPS ICD-200.

Table 7.45 Ephemeris flags

Bit(s) Description Location
0 Data flag for L2 P-code Sub 1, word 4, bit 1
1–2 Codes on L2 channel Sub 1, word 3, bits 11–12
3 Anti-spoof flag: Sub 1–5, HOW, bit 19
Y-code on: from ephemeris
4–9 SV health: from ephemeris Sub 1, word 3, bits 17–22
10 Fit interval flag Sub 2, word 10, bit 17
11–14 URA: User Range Accuracy Sub 1, word 3, bits 13–16
15 URA may be worse than indicated Block I: Sub 1–5, HOW, bit 18
Momentum Dump flag
16–18 SV Configuration: SV is Block I or Block II Sub 4, page 25, word and bit depends on SV.
19 Anti-spoof flag: Y-code on Sub 4, page 25, word and bit depends on SV.

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ALMANAC report
The ALMANAC report is sent when Command Packet 54h is used to request the
Almanac for one satellite or all satellites. The Command Packet 54h DATA SWITCH
byte (byte 4) is set to zero (2) when requesting the report. Data follows the format
specified by GPS ICD-200.
Table 7.46 describes the packet structure.
Table 7.46 Command Packet 55h almanac report structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission.
1 STATUS CHAR See Table 7.2, page 67 Receiver status.
2 PACKET TYPE CHAR 55h Report Packet 55h.
3 LENGTH CHAR See Table 7.1, page 66 Data byte count.
4 DATA TYPE CHAR 02h Almanac data
INDICATOR
5 SV PRN # CHAR 00h–20h Pseudorandom number of satellite (1–32)
or 0 when data is for all satellites.
6–9 ALM DECODE LONG Full GPS seconds from the start of GPS
TIME time.
10–11 AWN SHORT GPS ICD-2001
12–15 TOA LONG GPS ICD-2001
16–23 SQRTA DOUBLE GPS ICD-2001
24–31 ECCENT DOUBLE GPS ICD-2001
32–39 ISUBO DOUBLE GPS ICD-2001
40–47 OMEGADOT DOUBLE GPS ICD-2001
48–55 OMEGSUBO DOUBLE GPS ICD-2001
56–63 OMEGA DOUBLE GPS ICD-2001
64–71 MSUBO DOUBLE GPS ICD-2001
72 ALM HEALTH CHAR GPS ICD-2001
73 CHECKSUM CHAR See Table 7.1, page 66 Checksum value.
74 ETX CHAR 03h End transmission.
1
For detailed information, refer to the U.S. Government document GPS ICD-200.

13 0 BD982 GNSS Receiver Module User Guide

 Configuring the BD982 Receiver Using Binary Interface Commands 7

RETSVDATA UTC/ION report

The UTC/ION report is sent when Command Packet 54h is used to request the UTC
(Universal Time Coordinated) and Ionospheric data. The Command Packet 54h DATA
SWITCH byte (byte 4) is set to three (3) when requesting the report.
Data follows the standard defined within GPS ICD-200 except that some parameters
are expanded. A NAK is returned if Command Packet 54h DATA SWITCH values is out
of range.
Table 7.47 describes the packet structure.
Table 7.47 RETSVDATA UTC/ION packet structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission
1 STATUS CHAR See Table 7.2, page 67 Receiver status
2 PACKET TYPE CHAR 55h Report Packet 55h
3 LENGTH CHAR See Table 7.1, page 66 Data byte count
4 DATA TYPE CHAR 03h UTC/ION Report
INDICATOR
5 SV PRN # CHAR 00h Data for all satellites
1 For
detailed information, refer to the U.S. Government document GPS ICD-200.

Begin UTC Data

6–13 ALPHA 0 DOUBLE GPS ICD-2001
14–21 ALPHA 1 DOUBLE GPS ICD-2001
22–29 ALPHA 2 DOUBLE GPS ICD-2001
30–37 ALPHA 3 DOUBLE GPS ICD-2001
38–45 BETA 0 DOUBLE GPS ICD-2001
46–53 BETA 1 DOUBLE GPS ICD-2001
54–61 BETA 2 DOUBLE GPS ICD-2001
62–69 BETA 3 DOUBLE GPS ICD-2001

Begin Ionospheric Data

70–77 ASUB0 DOUBLE GPS ICD-2001
78–85 ASUB1 DOUBLE GPS ICD-2001
86–93 TSUB0T DOUBLE GPS ICD-2001
94–101 DELTATLS DOUBLE GPS ICD-2001
102–109 DELTATLSF DOUBLE GPS ICD-2001
110–117 IONTIME DOUBLE GPS ICD-2001
118 WNSUBT CHAR GPS ICD-2001
119 WNSUBLSF CHAR GPS ICD-2001
120 DN CHAR GPS ICD-2001
121–126 RESERVED CHARs GPS ICD-2001 Reserved (set to zero)
127 CHECKSUM CHAR See Table 7.1, page 66 Checksum value
128 ETX CHAR 03h End transmission
1 For detailed information, refer to the U.S. Government document GPS ICD-200.

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57h, RAWDATA (Position or real-time survey data report)1

Report Packet 57h is sent in response to one of the following requests:
• Command Packet 56h
• Real-Time Survey Data streaming is enabled in the application file with
Command Packet 64h
• A simulated front panel command

Packet Flow
Receiver Remote
← Command Packet 56h or
RT Survey Data Request or
Front Panel Command
Report Packet 57h or NAK →

A NAK is returned if the Real-Time Survey Data option (RT17) is not installed and the
application file is configured to stream real-time survey data.
Report Packet 57h can contain one of the following types of raw data, depending on
options selected in Command Packet 56h:
• Expanded Format (*.DAT Record Type 17 style data) raw satellite
measurements
• Concise Format (*.DAT Record Type 17 style data) raw satellites measurements
• Position data (*.DAT Record Type 11)
The Expanded and Concise records can also include Enhanced record data, including
Real-Time Flags and IODE information if these options are enabled in the application
file. For more information, see Report Packet 56h, GETRAW (Position or real-time
survey data request), page 73.

Packet paging and measurement counting

The Raw satellite data responses follow either the Expanded or the Concise format and
usually exceed the byte limit for RS-232 Serial Interface Specification packets. To
overcome the packet size limitation, the data is included in several subpackets called
pages. The PAGE INDEX byte (Byte 4) identifies the packet page index and the
maximum page index included for the measurement epoch (0 of 2, 1 of 2, 2 of 2).
The first and subsequent packet pages are filled with a maximum of 248 bytes
consisting of 4 bytes of page and flag information and 244 bytes of raw satellite data.
The raw satellite data is split wherever the 244 byte boundary falls, regardless of
internal variable boundaries. Therefore the external device receiving the multiple
pages must reconstruct the raw satellite record using the 244 byte pages before parsing
the data. This format is maintained for the position record, even though it never
extends beyond 244 bytes.
1.
This record only contains raw measurement information from the GPS satellites. For raw infor-
mation from additional constellations (GLONASS and so on), contact Trimble technical support. See
Technical Support, page 9.

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 Configuring the BD982 Receiver Using Binary Interface Commands 7

Determining the LENGTH byte of records

The total length of the Raw Satellite Data (ignoring the protocol framing and the
paging bytes) may be computed as follows:
Expanded Format: LENGTH = 17 + N*48 + M*24 + N*J*12
Concise Format: LENGTH = 17 + N*27 + M*13 + N*J*3
where:
• N is the number of satellites
• M is the number of satellites with L2 data
• J is either 1 if REAL-TIME DATA is ON, or 0 if REAL-TIME DATA is OFF.

Expanded record format

Table 7.48 shows the structure of Report Packet 57h when Expanded Record format is
enabled with Command Packet 56h.
Table 7.48 Report Packet 57h structure (expanded format)
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission.
1 STATUS CHAR See Table 7.2, page 67 Receiver status.
2 PACKET TYPE CHAR 57h RAWDATA.
3 LENGTH CHAR See Table 7.1, page 66 Data byte count.
4 RECORD TYPE CHAR See Table 7.50, page 136 Raw data record type.
5 PAGING INFO CHAR See Table 7.51, page 136 b7–b4 is the current page number b3–b0 is the
total pages in this epoch (1 of 3, 2 of 3, 3 of 3).
6 REPLY # CHAR 00h–FFh Roll-over counter which is incremented with
every report but remains constant across pages
within one report. This value should be
checked on the second and subsequent pages
to ensure that report pages are not
mismatched with those from another report.
7 FLAGS CHAR See Table 7.52, page 136 Bit 0 must be set to 0 to enable Expanded
Record format.

Begin Expanded Format Record Header (17 bytes)

8–15 RECEIVE TIME DOUBLE msecs Receive time within the current GPS week
(common to code and phase data).
16–23 CLOCK OFFSET DOUBLE msecs Clock offset value. A value of 0.0 indicates that
clock offset is not known.
24 # OF SVS IN CHAR Number of SV data blocks included in record.
RECORD

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7 Configuring the BD982 Receiver Using Binary Interface Commands

Table 7.48 Report Packet 57h structure (expanded format) (continued)

Byte # Item Type Value Meaning

Begin data for first satellite in constellation (repeated for up to n SVs)

Begin Real-Time Survey Data (48 bytes * n)

SV PRN # CHAR 01h–20h Pseudorandom number of satellite (1–32).
FLAGS1 CHAR See Table 7.53, page 137 First set of status flags.
FLAGS2 CHAR See Table 7.54, page 137 Second set of status flags.
FLAG STATUS CHAR See Table 7.55, page 138 Determines whether the bit values for FLAGS1
and FLAGS2 are valid.
ELEVATION ANGLE SHORT degrees Satellite elevation angle (negative or positive
value).
AZIMUTH SHORT degrees Satellite azimuth.

Begin L1 Data
L1 SNR DOUBLE dB Measure of satellite signal strength.
FULL L1 C/A CODE DOUBLE meters Full L1 C/A code or P-code pseudorange (see
PSEUDORANGE bit 0 of FLAGS2).
L1 CONTINUOUS DOUBLE L1 cycles L1 Continuous Phase. Range-Rate sign
PHASE convention: When pseudorange is increasing,
the phase is decreasing and the Doppler is
negative.
L1 DOPPLER DOUBLE Hz L1 Doppler.
RESERVED DOUBLE 0.0 Reserved.

Begin L2 Data (available if bit 0 of FLAGS1 is set to 1) (24 bytes * n)

L2 SNR DOUBLE dB Measure of satellite signal strength
L2 CONTINUOUS DOUBLE L2 cycles L2 Continuous Phase is in L2 cycles if bit 5 of
PHASE FLAGS1 = 1
L2 P-CODE - L1 DOUBLE meters L2 P-Code or L2 Encrypted Code (see bit 1 and
C/A CODE bit 2 of FLAGS2) — L1 C/A-Code or P-code (see
P-RANGE bit 0 of FLAGS2) pseudorange (valid only if bit
5 of FLAGS1 = 1)

Begin Enhanced Record1 if bit 1 of the FLAGS byte set to 1 (12 bytes * n)
IODE CHAR 00h–FFh Issue of Data Ephemeris
L1 SLIP COUNTER CHAR 00h–FFh Roll-over counter is incremented for each
occurrence of detected cycle-slips on L1 carrier
phase
L2 SLIP COUNTER CHAR 00h–FFh Roll-over counter is incremented for each
occurrence of detected cycle-slips on the L2
carrier phase. The counter always increments
when L2 changes from C/A code to Encrypted
code and vice versa.
RESERVED CHAR — Reserved (set to zero)
L2 DOPPLER DOUBLE Hz L2 Doppler
Repeat previous bytes for remaining satellites in constellation
CHECKSUM SHORT See Table 7.1, page 66 Checksum value
ETX CHAR 03h End transmission
1To be compatible with Trimble software, this data must be stripped off before record 17 is stored in a *.DAT file.

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Concise record format

Table 7.49 shows the structure of Report Packet 57h when Concise Record format is
enabled with Command Packet 56h.
Table 7.49 Report Packet 57h structure (concise format)
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission
1 STATUS CHAR See Table 7.2, page 67 Receiver status
2 PACKET TYPE CHAR 57h RAWDATA
3 LENGTH CHAR See Table 7.1, page 66 Data byte count
4 RECORD TYPE CHAR See Table 7.50, page 136 Raw data record type
5 PAGING INFO CHAR See Table 7.51, page 136 b7–b4 is the current page number. b3–b0 is
the total pages in this epoch (1 of 3, 2 of 3, 3
of 3).
6 REPLY # CHAR 00h–FFh Roll-over counter is incremented with every
report but remains constant across pages
within one report. This value should be
checked on second and subsequent pages to
avoid mismatching report pages with those of
another report.
7 FLAGS CHAR See Table 7.52, page 136 Bit 0 must be set to 1 to enable Concise Record
format

Begin Concise Record Header (17 bytes)

8–15 RECEIVE TIME DOUBLE msecs Receive time within current GPS week
(common to code and phase data)
16–23 CLOCK OFFSET DOUBLE msecs Clock offset value. A value of 0.0 indicates
that clock offset is not known.
24 # OF SVS IN RECORD CHAR blocks Number of SV data blocks included in record
Begin data for first satellite in constellation (repeated for up to n SVs)

Begin Real-Time Survey Data (27 bytes * n)

SV PRN # CHAR 01h–20h Satellite pseudorandom number (1–32)
FLAGS1 CHAR See Table 7.53, page 137 First set of satellite status flags
FLAGS2 CHAR See Table 7.54, page 137 Second set of satellite status flags
ELEVATION ANGLE CHAR degrees Satellite elevation angle (negative or
positive).
AZIMUTH SHORT degrees Azimuth of satellite

Begin L1 Data
L1 SNR CHAR dB * 4 Measure of satellite signal strength. The value
needs to be divided by 4.
FULL L1 C/A CODE DOUBLE meters Full L1 C/A code or P-code pseudorange (see
PSEUDORANGE bit 0 of FLAGS2)
L1 CONTINUOUS DOUBLE L1 cycles L1 continuous phase. Range-Rate sign
PHASE convention: When pseudorange is increasing,
the phase is decreasing and the Doppler is
negative.
L1 DOPPLER FLOAT Hz L1 Doppler

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7 Configuring the BD982 Receiver Using Binary Interface Commands

Table 7.49 Report Packet 57h structure (concise format) (continued)

Byte # Item Type Value Meaning

Begin L2 Data if bit 0 of FLAGS1 set to 1 (13 bytes * n)

L2 SNR CHAR dB * 4 Measure of satellite signal strength. The value
needs to be divided by 4.
L2 CONTINUOUS DOUBLE L2 cycles L2 continuous phase is in L2 cycles if bit 5 of
PHASE FLAGS1 = 1.
L2 P-CODE1 - L1 C/A FLOAT meters Valid if bit 5 of FLAGS1 is set to 1.
CODE2 P-RANGE
1
L2 encrypted. See bit 1 and bit 2 of FLAGS2.
2
P-code. See bit 0 of FLAGS2.

Begin Enhanced Record1 if bit 1 of the FLAGS byte is set to 1 (3 bytes * n)

IODE CHAR 00h–FFh Issue of Data Ephemeris.
L1 SLIP COUNTER CHAR 00h–FFh Roll-over counter is incremented for each
occurrence of detected cycle-slips on L1 carrier
phase.
L2 SLIP COUNTER CHAR 00h–FFh Roll-over counter is incremented for each
occurrence of detected cycle-slips on the L2
carrier phase. The counter always increments
when L2 changes from C/A code to Encrypted
code and vice versa.
Repeat previous bytes for remaining satellites in constellation
CHECKSUM SHORT See Table 7.1, page 66 Checksum value
ETX CHAR 03h End transmission
1To
be compatible with Trimble software, this data must be stripped off before record 17 is stored in a *.DAT file.

Table 7.50 RECORD TYPE byte values

Byte Value Meaning
Dec Hex
0 00h Real-Time Survey Data
1 01h Position Data

Table 7.51 PAGE INFO bit values

Bit Value Meaning
0–3 Total page count
4–7 Current page number

Table 7.52 FLAGS bit values

Bit Meaning
Real-Time Survey Data
0 Raw Data Format
0: Expanded *.DAT Record Type 17 format
1: Concise *.DAT Record Type 17 format

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Table 7.52 FLAGS bit values (continued)

Bit Meaning
1 Enhanced Record with real-time flags and IODE information
0: Disabled-record data is not enhanced
1: Enabled-record data is enhanced
2–7 Reserved (set to zero)

Table 7.53 FLAGS1 bit values

Bit Meaning
0 L2 Data Loaded and Phase Valid (also see bit 6)
0: Off
1: On
1 L1 Cycle-slip (since last record 17 write)
0: Off
1: On
2 L2 Cycle-slip (since last record 17 write)
0: Off
1: On
3 L1 Phase Lock Point (redundant, for diagnostics)
0: Off
1: On
4 L1 Phase valid (lock-point valid)
0: Off
1: On
5 L2 Pseudorange (reset = squared - L2 phase)
0: Off (always for the receiver)
1: On
6 L1 Data Valid (non-zero but bytes always present) (also see bit 4), reset = only L2 data loaded (also
see FLAG STATUS in Table 7.55, page 138)
0: Off
1: On
7 New Position Computed during this Receiver Cycle
0: Off
1: On

Table 7.54 FLAGS2 bit values

Bit Meaning
0 L1 Tracking Mode
0: C/A code
1: P-code
1 L2 Tracking Mode
0: C/A code (or encrypted P-code)
1: P-code

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7 Configuring the BD982 Receiver Using Binary Interface Commands

Table 7.54 FLAGS2 bit values (continued)

Bit Meaning
2 L2 Tracking Encryption Code
0: Off
1: On
3 Filtered L1 Band Pseudorange Corrections
0: Off
1: On
4–7 Reserved (bits set to zero)

Table 7.55 FLAG STATUS bit values

Bit Meaning
0 Validity of FLAGS1 and FLAGS2 Bit Values
0: Bit 6 of FLAGS1 and bit 0–7 of FLAGS2 are undefined
1: Bit 6 of FLAGS1 and bit 0–7 of FLAGS2 are valid (always set for RAWDATA)
2–7 Reserved (bits set to zero)

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Position record (Record Type 11)

Table 7.56 shows the structure of Report Packet 57h when the Position Record is
enabled with Command Packet 56h.
Position Record Length = 78 + N * 2
where N is the number of satellites.
Table 7.56 Position record (record type 11) structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission
1 STATUS CHAR See Table 7.2, page 67 Receiver status
2 PACKET TYPE CHAR 57h RAWDATA
3 LENGTH CHAR See Table 7.1, page 66 Data byte count
4 RECORD TYPE CHAR See Table 7.50, page 136 Raw data record type
5 PAGE COUNTER CHAR This byte is split into Indicates how many pages there are for
two sections of 4 bits this epoch and what this page number
allowing for 15 pages. is (e.g., 1 of 3, 2 of 3, 3 of 3).
Bits 0-3 : Page total
Bits 4-7 : Current Page
number
For example, 0x23
indicates page 2 of 3.
6 REPLY NUMBER CHAR 00h–FFh Roll-over counter which is incremented
with every report but remains constant
across pages within one report. This value
should be checked on the second and
subsequent pages to ensure that report
pages are not mismatched with those
from another report.
7 Record Interpretation Char Real-Time Survey Data: RECORD INTERPRETATION FLAGS
Flags • Bit 0: Set indicates special attributes of the
Concise format record that must be used in parsing
• Bit 1: SetEnhanced values.
Record with
real-time flags and
IODE information
• Bits 2-7: Reserved
Position Data, Event
Mark, MET3, WAAS,
and all other record
types: Not Defined

Begin Position Record (Record 11) (78 + (nSVs * 2) bytes)

8–15 LATITUDE DOUBLE Latitude in semi-circles
16–23 LONGITUDE DOUBLE Longitude in semi-circles
24–31 ALTITUDE DOUBLE meters Altitude
32–39 CLOCK OFFSET DOUBLE meters Clock offset
40–47 FREQUENCY OFFSET DOUBLE Hz Frequency offset from 1536*1.023 MHz
48–55 PDOP DOUBLE PDOP (dimensionless)
56–63 LATITUDE RATE DOUBLE radians per second Latitude rate

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7 Configuring the BD982 Receiver Using Binary Interface Commands

Table 7.56 Position record (record type 11) structure (continued)

Byte # Item Type Value Meaning
64–71 LONGITUDE RATE DOUBLE radians per second Longitude rate
72–79 ALTITUDE RATE DOUBLE meters per second Altitude rate
80–83 GPS MSEC OF WEEK LONG msecs Position time tag
84 POSITION FLAGS CHAR See Table 7.57, page 140 Position status flags
85 # OF SVS CHAR 00h–0Ch Number of satellites used to compute
position solution
(0–12)
The next 2 bytes are repeated for each satellite used to compute position
CHANNEL # CHAR Channel used to acquire satellite
measurement. Zero is reported for RTK
solutions.
PRN # CHAR 01–20h PRN number of satellite
(1–32)
CHECKSUM SHORT See Table 7.1, page 66 Checksum value
ETX CHAR 03h End transmission

Table 7.57 POSITION FLAGS bit values

Bit Meaning
0–2 Position flag and position type definition
0: 0-D position fix (clock-only solution) (1+ SVs) (if # of SVs used is non-zero)
1: 1-D position fix (height only with fixed latitude/longitude) (2+ SVs)
2: 2-D position fix (fixed height and clock) (2+ SVs)
3: 2-D position fix (fixed height) (3+ SVs)
4: 3-D solution (4+ SVs)
5: 3D Solution (4+ SVs) Wide Area/Network RTK
3 RTK Solution: if set, position is fixed RTK, else float RTK
0: Floating integer ambiguity
1: Fixed integer ambiguity
4 DGPS Differential Corrections
0: No DGPS corrections are used in position computation
1: DGPS corrections are used to compute position
5 Reserved (set to zero)
6 RTK Solution: if set, position is from RTK (including Location RTK)
0: False
1: True
7 Position Derived While Static (RTK only)
0: False
1: True
Bit combinations
• Bit 4 and 6 are set if the solution type is SBAS
• Bit 5 and 4 are set if the solution type is OmniSTAR HP/XP

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 Configuring the BD982 Receiver Using Binary Interface Commands 7

64h, APPFILE (Application file record report)

Report Packet 64h is sent to the remote device when Command Packet 65h is sent to
request a specific application file. Command Packet 65h requests the application file by
System File Index.

Packet Flow
Receiver Remote
← Command Packet 65h
Report Packet 64h →

For more information about BD982 Application Files and guidelines for using
application files to control remote devices, see Report Packet 64h, APPFILE
(Application file record command), page 74.
The Application File Record Report format is identical to the format used for
Command Packet 64h. For more information, see Packet paging, page 75.

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7 Configuring the BD982 Receiver Using Binary Interface Commands

67h, RETAFDIR (Directory listing report)

Report Packet 67h sends a listing of the application files in the application file
directory. The report is requested with Command Packet 66h. For more information,
see 66h, GETAFDIR (Application file directory listing request), page 89.

Packet Flow
Receiver Remote
← Command Packet 66h
Report Packet 67h →

Report Packet 67h can exceed the maximum data byte limit (248 bytes of data) for RS-
232 Serial Interface Specification packets, depending on the number of application files
stored in memory. Each application file directory entry occupies 16 bytes. Report
Packet 67h is divided into subpackets called pages when the data byte limit is
exceeded. The PAGE INDEX and MAXIMUM PAGE INDEX bytes are used to account for
the pages included in the report (0 of 2, 1 of 2, 2 of 2).
The TX BLOCK IDENTIFIER uses a roll-over counter to assign a transaction number to
the report packet pages. The TX BLOCK IDENTIFIER INDEX number is useful for
preventing data mismatches when stream synchronization is lost.
Table 7.58 describes the packet structure.
Table 7.58 Report packet 67h structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission.
1 STATUS CHAR See Table 7.2, page 67 Receiver status code.
2 PACKET TYPE CHAR 67h Report Packet 67h.
3 LENGTH CHAR See Table 7.1, page 66 Data byte count.
4 TX BLOCK CHAR 00h–FFh Unique number assigned to every
IDENTIFIER application file transfer.
5 PAGE INDEX CHAR 00h–FFh Page index assigned to packet page.
6 MAXIMUM PAGE CHAR 00h–FFh Page index assigned to the last packet
INDEX page.
Begin Directory List
7 # APP FILES 00h–n Number of application files in directory.
1 The Date/Time fields should all be relative to UTC.
First Application File Directory Record
The following record block (bytes 8–23) is repeated for every application file stored in directory. At least one
application file exists (SYSTEM FILE INDEX number 0, the Default Application File). The receiver can store at
least 10 user-defined application file records.
8 SYSTEM FILE CHAR See Table 7.59, page Record number assigned to the file.
INDEX 143
9–16 APP FILE NAME CHARs ASCII text Name of application file (8 ASCII
characters).
17 CREATION YEAR1 CHAR 00h–FFh Year when file is created. Based on the
years since 1900 (1900 = 00).

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Table 7.58 Report packet 67h structure (continued)

Byte # Item Type Value Meaning
18 CREATION CHAR 01h–0Ch Month of the year when file is created
MONTH1 (1–12).
19 CREATION DAY1 CHAR 01h–1Fh Day of the month when file is created
(1–31).
20 CREATION HOUR1 CHAR 00h–17h Hour when file is created (0–23).
21 CREATION CHAR 00h–3Bh Minutes of hour when file is created
MINUTES1 (0–59).
22–23 APP FILE SIZE SHORT bytes Size of file.
Begin Second Application File Record Entry
.
.
.
End with Last Application File Record Entry
Length +4 CHECKSUM CHAR See Table 7.1, page 66 Checksum value.
Length +5 ETX CHAR 03h End transmission.
1
The Date/Time fields should all be relative to UTC.

Table 7.59 SYSTEM FILE INDEX values

Byte Value Meaning
Dec Hex
0 00h Application file record number of the default application file which contains factory
default values.
1–n 01h–nh Application file record number.

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7 Configuring the BD982 Receiver Using Binary Interface Commands

6Eh, BREAKRET (Break sequence return)

Command Packet 6Eh returns the receivers current serial port communication
parameters, receiver version numbers and dates, and communication protocol settings
when the remote device sends a 250 millisecond (minimum duration) break sequence.

Packet Flow
Receiver Remote
← Break sequence
Report Packet 6Eh →

Sending a break sequence

To initiate a break sequence return, the following events need to occur:
1. The remote device sends a break sequence with a minimum duration of 250
milliseconds to the receiver. For example, pressing [Ctrl]+[Break] from an office
computer is equivalent to sending a break sequence.
2. The receiver detects the break signal and responds by setting the
communication parameters for the serial port to 9600 baud, 8 data bits, no
parity, and 1 stop bit.
3. The receiver outputs an Identity Message through the serial port to the remote
device (see Table 7.60).
Table 7.60 describes the structure of Report Packet 6Eh.
Table 7.60 Report packet 6eh structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission.
1 STATUS CHAR See Table 7.2, page 67 Receiver status indicator.
2 PACKET TYPE CHAR 6Eh Report Packet 6Eh.
3 LENGTH CHAR See Table 7.1, page 66 Data byte count.
PRODUCT CHARs comma delimited ASCII Comma-delimited ASCII string indicating the
string receiver product family name. For more
information, see PRODUCT, page 145.
PORT SETTING CHARs comma delimited ASCII Comma-delimited ASCII string indicating the
string serial port settings and the break sequence
acknowledgment code. For more information,
see PORT, page 145.
PORT STATUS CHARs ‘FIX’ / ‘ADJ’ FIX: Port settings cannot be changed.
ADJ: Port settings can be changed.
VERSION CHARs comma delimited ASCII Comma-delimited ASCII string indicating the
string software version number and version release
date. For more information, see VERSION,
page 146.

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Table 7.60 Report packet 6eh structure (continued)

Byte # Item Type Value Meaning
COMM CHARs comma delimited ASCII Comma-delimited ASCII string indicating the
PROTOCOL string communication protocols supported on serial
portm serial number, and Ethernet IP address.
For more information, see COMM, page 146.
SERIAL: Receiver serial number
NOT SET’ETHIP: Receiver Ethernet IP address in
xxx.xxx.xxx.xxx format or 0.0.0.0 if not found.
CHECKSUM CHAR See Table 7.1, page 66 Checksum value.
ETX CHAR 03h End transmission.

Identity message format

The following example shows the structure of an Identity Message:
<STX><0><0x6E><93>
PRODUCT,BD982;
PORT,1,38400,38400,8,1,N,F;
VERSION,4.30, 4/14/10,,;
COMM,DCOL,NMEA;
<CHECKSUM><ETX>
Note – The previous example shows the strings on separate lines for clarity, but the actual
message is one continuous string of characters.
Detailed information about the four parameter strings is described in the following
sections.

PRODUCT
For the receiver, the PRODUCT string is always set to BD982. The string always begins
with the word PRODUCT, followed by a comma, followed by the word BD982, and
terminated with a semicolon as in the following example:
PRODUCT,BD982;

PORT
The PORT parameter is a comma-delimited string of ASCII characters describing the
current input baud rate, output baud rate, data bits, stop bits, parity, and the break
sequence status acknowledgment. The syntax of the comma delimited string is shown
below:
PORT,input baud rate,output baud rate,data bits,stop bits, parity,boolean
acknowledgement;
The string always begins with the word PORT, and the end of the string is always
terminated with a semicolon character. Commas are used to delimit the other fields
within the string.

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7 Configuring the BD982 Receiver Using Binary Interface Commands

The input and output protocols can be 2400, 4800, 9600, 19200, 38400, 57600, or 115k
baud. The number of data bits is always set to 8, and the number of stop bits is always
set to 1. The parity can be O (Odd), E (Even), or N (None). The string always identifies
the current communication parameters defined for the port.
The final field in the string contains the boolean (T or F) code used to acknowledge the
break sequence. A value of T (True) indicates that the communication parameters for
the port are going to be set to 9600,8,N,1 for at least 5 seconds. A value of F (False)
indicates that the receiver outputs the identity strings at 9600,8,N,1 and returns to the
current port settings.
A sample string is shown below:
PORT,38400,38400,8,1,N,F;

VERSION
The VERSION parameter is a comma-delimited string of ASCII characters with the
BD982 firmware and hardware version numbers and release dates. The end of the
string is terminated with a semicolon. The syntax of the comma-delimited ASCII string
is shown below:
VERSION,software version number,version date,hardware version,version date;
The string always begins with the word VERSION, followed by the software version
number and date and two commas ( , ). The slash character ( / ) is used to separate the
month, day, and year in date fields. The string is always terminated with a semicolon
character. The following example shows a sample string:
VERSION,2.21,11/21/98,,;

COMM
The COMM parameter is a comma-delimited string of communication protocols
supported on the connected serial port. The string has the following syntax:
COMM,first protocol,...last protocol;
The string always begins with the word COMM and a comma, followed by the
comma-delimited list of protocols. The string is terminated with a semicolon
character. Table 7.61 identifies the ASCII codes assigned to the various protocols
supported by the receiver.
Table 7.61 COMM
Protocol Meaning
DCOL Data Collector Format
NMEA Outputs a subset of NMEA-0183 messages
RTCM Radio Technical Commission for Maritime Services protocol specification RTCM SC-104

For example, the comma-delimited ASCII string for the connected serial port which
supports DCOL and RTCM is shown below:
COMM,DCOL,RTCM;

14 6 BD982 GNSS Receiver Module User Guide

 Configuring the BD982 Receiver Using Binary Interface Commands 7

82h, SCRDUMP (Screen dump)

Command Packet 82h has two forms—a command packet and report packet. Both
packets are assigned the same hexadecimal code (82h). For more information, see 82h,
SCRDUMP (Screen dump request), page 94.

Packet Flow
Receiver Remote
← Command Packet 82h
Report Packet 82h →

Report Packet 82h is sent in response to Command Packet 82h. The receiver generates
an ASCII representation (a dump) of a BD982 display screen, and sends the dump to
the remote device in Report Packet 82h. Table 7.62 shows the packet structure.
Table 7.62 Report packet 82h structure
Byte # Item Type Value Meaning
0 STX CHAR 02h Start transmission
1 STATUS CHAR See Table 7.2, page 67 Receiver status code
2 PACKET TYPE CHAR 82h Report Packet 82h
3 LENGTH CHAR A1h Data byte count
4–163 ASCII DATA CHARs ASCII data
164 CURSOR POSITION CHAR Position of the cursor
165 CHECKSUM CHAR See Table 7.1, page 66 Checksum value
166 ETX CHAR 03h End transmission

BD982 GNSS Receiver Module User Guide 147

7 Configuring the BD982 Receiver Using Binary Interface Commands

14 8 BD982 GNSS Receiver Module User Guide

 CHAPTER

8
Default Settings 8

In this chapter: All settings are stored in application files. The

default application file, Default.cfg, is stored
 Default receiver settings permanently in the receiver, and contains the
factory default settings. Whenever the receiver is
reset to its factory defaults, the current settings
(stored in the current application file,
Current.cfg) are reset to the values in the default
application file.

BD982 GNSS Receiver Module User Guide 149

8 Default Settings

Default receiver settings

These settings are defined in the default application file.

Function Factory default

SV Enable All SVs enabled
General Controls: Elevation mask 10°
PDOP mask 99
RTK positioning mode Low Latency
Motion Kinematic
Ports: Baud rate 38,400
Format 8-None-1
Flow control None
Input Setup: Station Any
NMEA/ASCII (all All ports Off
supported messages)
Streamed output All types Off
Offset = 00
RT17/Binary All ports Off
Reference position: Latitude 0°
Longitude 0°
Altitude 0.00 m HAE (Height above ellipsoid)
Antenna: Type Unknown
Height (true vertical) 0.00 m
Measurement method Antenna Phase Center
1 PPS Disabled

1 50 BD982 GNSS Receiver Module User Guide

 CHAPTER

9
Specifications 9

In this chapter: This chapter details the specifications for the

receiver.
 Physical specifications
Specifications are subject to change without
 Performance specifications notice.
 Electrical specifications
 Communication specifications

BD982 GNSS Receiver Module User Guide 151

9 Specifications

Physical specifications
Feature Specification
Dimensions (L x W x H) 100 mm x 84.9 mm x 11.6 mm

Temperature
Operating –40 °C to +75 °C (–40 °F to +167 °F)
Storage –55 °C to +85 °C (–40 °F to +176 °F)
Vibration MIL810F, tailored
Random 6.2 gRMS operating
Random 8 gRMS survival
Mechanical shock MIL810D
±40 g operating
±75 g survival
I/O Connector 40-pin header (Samtec TMM-120-03-L-D)
Antenna Connector 2 × MMCX receptacle (Huber-Suhner 82MMCX-50-0-1/111); mating connectors are
MMCX plug (Suhner 11MMCX-50-2-1C) or right-angle plug (Suhner
16MMCX-50-2-1C, or 16MMCX-50-2-10)

Performance specifications
Feature Specification
Measurements • Position antenna based on a 220-channel Maxwell 6 chip:
– GPS: Simultaneous L1 C/A, L2E, L2C, L5
– GLONASS: Simultaneous L1 C/A, L1 P, L2 C/A (GLONASS M Only), L2 P
– SBAS: Simultaneous L1 C/A, L5
– GIOVE-A: Simultaneous L1 BOC, E5A, E5B, E5AltBOC Footnotes: 1
– GIOVE-B: Simultaneous L1 CBOC, E5A, E5B, E5AltBOC Footnotes: 1
– GALILEO: Disabled Footnotes: 2
• Vector antenna based on a second 220-channel Maxwell 6 chip:
– GPS: Simultaneous L1 C/A, L2E, L2C
– GLONASS: Simultaneous L1 C/A, L1 P, L2 C/A, L2 P
• Advanced Trimble Maxwell 6 Custom Survey GNSS Technology
• High precision multiple correlator for GNSS pseudorange measurements
• Unfiltered, unsmoothed pseudorange measurements data for low noise, low
multipath error, low time domain correlation and high dynamic response
• Very low noise GNSS carrier phase measurements with <1 mm precision in a
1 Hz bandwidth
• Signal-to-Noise ratios reported in dB-Hz
• Proven Trimble low elevation tracking technology
Code differential GPS 0.25 m + 1 ppm Horizontal
positioning accuracy 0.50 m + 1 ppm Vertical
Footnotes: 3
SBAS (WAAS/EGNOS/MSAS) <5 m 3DRMS
accuracy Footnotes: 4

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 Specifications 9

Feature Specification
RTK positioning accuracy
Horizontal accuracy ±(8 mm + 1 ppm) RMS
Vertical accuracy ±(15 mm + 1 ppm) RMS
Heading accuracy 2 m baseline <0.09º
10 m baseline <0.05º
Initialization time Typically, less than 10 seconds
Initialization reliability Typically >99.9%
Footnotes: 5
Footnotes:
1. Galileo GIoVE-A and GIoVE-B test satellite support uses information that is unrestricted in the public
domain and is intended for signal evaluation and test purposes.
2. The hardware is compliant with Galileo OS SIS ICD, Draft 1, February 2008. Commercial sale of Galileo
technology requires Trimble to acquire a Commercial license from the EU. At the time of writing, there is no
process for obtaining a license. Therefore, to comply with the ICD Copyright/IPR terms, all Galileo firmware
and hardware functionality is disabled. Depending on the terms of the license, an upgrade to full Galileo
(L1 CBOC, E5A, E5B, E5AltBOC) may be offered. This will require an additional fee.
3. Accuracy and reliability may be subject to anomalies such as multipath, obstructions, satellite geometry, and
atmospheric conditions. Always follow recommended practices.
4. Depends on WAAS, EGNOS, and MSAS system performance.
5. May be affected by atmospheric conditions, signal multipath, and satellite geometry. Initialization reliability
is continuously monitored to ensure highest quality.

Electrical specifications
Feature Specification
Power 3.3 V DC +5%/-3%
Power consumption Typically, 2.1 W (L1/L2 GPS)
Typically, 2.3 W (L1/L2 GPS and G1/G2 GLONASS)

Communication specifications
Feature Specification
Communications
1 LAN port • Supports links to 10BaseT/100BaseT networks.
• All functions are performed through a single IP address simultaneously—
including web interface access and data streaming.
4 x RS-232 ports Baud rates up to 115,200.
1 USB port
Receiver position update 1 Hz, 2 Hz, 5 Hz, 10 Hz, 20 Hz, and 50 Hz positioning
rate
Correction data input CMR, CMR+™, RTCM 2.0 (select RTCM 2.1), RTCM 2.1–2.3, RTCM 3.0, 3.1.
Correction data output CMR, CMR+, RTCM 2.0 DGPS (select RTCM 2.1), RTCM 2.1–2.3, RTCM 3.0, 3.1.
Data outputs 1PPS, NMEA, Binary GSOF, ASCII Time Tags.
Event Marker Input
support

BD982 GNSS Receiver Module User Guide 153

9 Specifications

1 54 BD982 GNSS Receiver Module User Guide

 APPENDIX

A
NMEA-0183 Output A

In this appendix: This appendix describes the formats of the

subset of NMEA-0183 messages that are available
 NMEA-0183 message overview for output by the receivers. For a copy of the
 Common message elements NMEA-0183 Standard, go to the National Marine
Electronics Association website at
 NMEA messages
www.nmea.org.
To enable NMEA messages, see the configuration
methods described in:
• Chapter 5, Configuring the BD982 Receiver
Using Trimble Software Utilities
• Chapter 6, Configuring the BD982 Receiver
Using a Web Browser
• Chapter 7, Configuring the BD982 Receiver
Using Binary Interface Commands

BD982 GNSS Receiver Module User Guide 155

A NMEA-0183 Output

NMEA-0183 message overview

When NMEA-0183 output is enabled, a subset of NMEA-0183 messages can be output
to external instruments and equipment connected to the receiver serial ports. These
NMEA-0183 messages let external devices use selected data collected or computed by
the GPS receiver.
All messages partially conform to the NMEA-0183 version 3.01 format. All begin with $
and end with a carriage return and a line feed. Data fields follow comma (,) delimiters
and are variable in length. Null fields still follow comma (,) delimiters but contain no
information.
An asterisk (*) delimiter and checksum value follow the last field of data contained in
an NMEA-0183 message. The checksum is the 8-bit exclusive of all characters in the
message, including the commas between fields, but not including the $ and asterisk
delimiters. The hexadecimal result is converted to two ASCII characters (0–9, A–F).
The most significant character appears first.
The following table summarizes the set of NMEA messages supported by the receiver,
and shows the page that contains detailed information about each message.
Message Function Page
ADV Position and Satellite information for RTK network operations 158
GBS GNSS Satellite Fault Detection 159
GGA Time, position, and fix related data 161
GLL Position data 162
GRS GPS Range Residuals 163
GSA GPS DOP and active satellites 164
GST Position error statistics 165
GSV Number of SVs in view, PRN, elevation, azimuth, and SNR 166
HDT Heading from True North 167
PTNL,AVR Time, yaw, tilt, range, mode, PDOP, and number of SVs for 168
Moving Baseline RTK
PTNL,BPQ Base station position and position quality indicator 169
PTNL,GGK Time, position, position type and DOP values 170
PTNK,PJT Projection type 171
PTNL,PJK Local coordinate position output 172
PTNL,VGK Time, locator vector, type and DOP values 173
PTNL,VHD Heading Information 174
RMC Position, Velocity, and Time 175
ROT Rate of turn 176
VTG Actual track made good and speed over ground 177
ZDA UTC day, month, and year, and local time zone offset 178

1 56 BD982 GNSS Receiver Module User Guide

 NMEA-0183 Output A

Common message elements

Each message contains:
• a message ID consisting of $GP followed by the message type. For example, the
message ID of the GGA message is $GPGGA.
• a comma
• a number of fields, depending on the message type, separated by commas
• an asterisk
• a checksum value
Below is an example of a simple message with a message ID ($GPGGA), followed by 13
fields and a checksum value:
$GPGGA,172814.0,3723.46587704,N,12202.26957864,W,2,6,1.2,18.893,M,-
25.669,M,2.0,0031*4F

Message values
NMEA messages that the receiver generates contains the following values.

Latitude and longitude

Latitude is represented as ddmm.mmmm and longitude is represented as
dddmm.mmmm, where:
• dd or ddd is degrees
• mm.mmmm is minutes and decimal fractions of minutes

Direction
Direction (north, south, east, or west) is represented by a single character: N, S, E, or W.

Time
Time values are presented in Universal Time Coordinated (UTC) and are represented
as hhmmss.cc, where:
• hh is hours, from 00 through 23
• mm is minutes
• ss is seconds
• cc is hundredths of seconds

NMEA messages
When NMEA-0183 output is enabled, the following messages can be generated.

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A NMEA-0183 Output

ADV Position and Satellite information for RTK network operations

An example of the ADV message string is shown below. Table A.1 and Table A.2
describe the message fields. The messages alternate between subtype 110 and 120.
$PGPPADV,110,39.88113582,-105.07838455,1614.125*1M
Table A.1 ADV subtype 110 message fields
Field Meaning
0 Message ID $PPGPADV
1 Message sub-type 110
2 Latitude
3 Longitude
4 Ellipsoid height
6 Elevation of second satellite, in degrees, 90° maximum
7 Azimuth of second satellite, degrees from True North, 000° through 359°
8 The checksum data, always begins with *

$PGPPADV,120,21,76.82,68.51,29,20.66,317.47,28,52.38,276.81,22,42.26,198.96*5D
Table A.2 ADV subtype 120 message fields
Field Meaning
0 Message ID $PPGPADV
1 Message sub-type 120
2 First SV PRN number
3 Elevation of first satellite, in degrees, 90° maximum
4 Azimuth of first satellite, degrees from True North, 000° through 359°
5 Second SV PRN number
6 Elevation of second satellite, in degrees, 90° maximum
7 Azimuth of second satellite, degrees from True North, 000° through 359°
8 The checksum data, always begins with *

1 58 BD982 GNSS Receiver Module User Guide

 NMEA-0183 Output A

GBS GNSS satellite fault detection

The GBS message supports the Receiver Autonomous Integrity Monitoring (RAIM).
Given that a GNSS receiver tracks enough satellites to perform integrity checks of the
positioning quality of the position solution, a message is needed to report the output of
this process to other systems to advise the system user. With RAIM in the GNSS
receiver, the receiver can isolate faults to individual satellites, and omit them from its
position and velocity calculations. In addition, the GNSS receiver can still track the
satellite, and easily judge when it is back within tolerance. This message reports this
RAIM information.
To perform this integrity function, the GNSS receiver must have at least two
observables in addition to the minimum required for navigation. Normally, these
observables take the form of additional redundant satellites. If only GPS, GLONASS or
so on is used for the reported position solution, the talker ID is GP, GL, or as
appropriate, and the errors pertain to the individual system. If satellites from multiple
systems are used to obtain the reported position solution, the talker ID is GN and the
errors pertain to the combined solution.
An example of the GBS message string is shown below. Table A.3 describes the
message fields.
$GPGBS,015509.00,-0,031,-0.186,0.219,19,0.000,-0.354,6.972*4D
Table A.3 GBS message fields
Field Meaning
0 Message ID $GBS
1 UTC time of GGA or GNS fix associated with this message
2 Expected error in latitude1
3 Expected error in longitude1
4 Expected error in altitude1
5 ID number2 of most likely failed satellite
6 Probability of missed detection for most likely failed satellite
7 Estimate of bias in meters on most likely failed satellite
8 Standard deviation of bias estimate

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A NMEA-0183 Output

Notes –
1. Expected error, in meters, due to bias, with noise = 0.
2. To avoid possible confusion caused by repetition of satellite ID numbers when using
multiple satellite systems, the following convention applies:

Satellite system ID numbers

GPS PRN numbers (1-32)
WAAS 33-64
GLONASS 65-96
64+satellite slot number: 1-24 = the full GLONASS constellation of
24 satellites. This gives a range of 65 through 88.
88 through 99 are available if slot numbers above 24 are
allocated to on-orbit spares.

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 NMEA-0183 Output A

GGA Time, Position, and Fix Related Data

An example of the GGA message string is shown below. Table A.4 describes the
message fields.
Note – The following data string exceeds the NMEA standard length.
$GPGGA,172814.0,3723.46587704,N,12202.26957864,W,
2,6,1.2,18.893,M,-25.669,M,2.0,0031*4F
Table A.4 GGA message fields
Field Meaning
0 Message ID $GPGGA
1 UTC of position fix
2 Latitude
3 Direction of latitude:
N: North
S: South
4 Longitude
5 Direction of longitude:
E: East
W: West
6 GPS Quality indicator:
0: Fix not valid
1: GPS fix
2: Differential GPS fix
4: Real Time Kinematic, fixed integers
5: Real Time Kinematic, float integers
7 Number of SVs in use, range from 00 through 12
8 HDOP
9 Orthometric height (MSL reference)
10 M: unit of measure for orthometric height is meters
11 Geoid separation
12 M: geoid separation is measured in meters
13 Age of differential GPS data record, Type 1 or Type 9. Null field when DGPS is
not used.
14 Reference station ID, ranging from 0000 through 1023. A null field when any
reference station ID is selected and no corrections are received.
15 The checksum data, always begins with *

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A NMEA-0183 Output

GLL Position data: position fix, time of position fix, and status
An example of the GLL message string is shown below. Table A.21 describes the
message fields.
$GPGSA,A,3,3,6,27,19,9,14,21,22,18,15,,,2.1,1.0,1.8*03
Table A.5 GLL message fields
Field Meaning
0 Message ID $GPGLL
1 Latitude in dd mm,mmmm format (0-7 decimal places)
2 Direction of latitude N: North S: South
3 Longitude in ddd mm,mmmm format (0-7 decimal places)
4 Direction of longitude E: East W: West
5 UTC of position in hhmmss.ss format
6 Fixed text "A" shows that data is valid
7 The checksum data always begins with *

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 NMEA-0183 Output A

GRS GRS range residuals

The GRS message is used to support the Receiver Autonomous Integrity Monitoring
(RAIM).
Note – Because the contents of this NMEA message do not change significantly during a
one-second interval, the receiver outputs this message at a maximum rate of 1 Hz.
An example of the GRS message string is shown below. Table A.21 describes the
message fields.
$GPGRS,220320.0,0,-0.8,-0.2,-0.1, -0.2,0.8,0.6,,,,,,,*55
Table A.6 GRS message fields
Field Meaning
0 Message ID $GPGRS
1 UTC time of GGA position fix
2 Residuals
0: Residuals used to calculate position given in the matching GGA line
1: Residuals recomputed after the GGA position was computed
3-14 Range residuals for satellites used in the navigation solution, in meters

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A NMEA-0183 Output

GSA GPS DOP and active satellites

An example of the GSA message string is shown below. Table A.7 describes the
message fields.
$GPGSA,<1>,<2>,<3>,<3>,,,,,<3>,<3>,<3>,<4>,<5>,<6>*<7><CR><LF>
Table A.7 GSA message fields
Field Meaning
0 Message ID $GPGSA
1 Mode 1, M = manual, A = automatic
2 Mode 2, Fix type, 1 = not available, 2 = 2D, 3 = 3D
3 PRN number, 01 through 32, of satellite used in solution, up to 12 transmitted
4 PDOP-Position dilution of precision, 0.5 through 99.9
5 HDOP-Horizontal dilution of precision, 0.5 through 99.9
6 VDOP-Vertical dilution of precision, 0.5 through 99.9
7 The checksum data, always begins with *

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 NMEA-0183 Output A

GST Position Error Statistics

An example of the GST message string is shown below. Table A.8 describes the
message fields.
$GPGST,172814.0,0.006,0.023,0.020,273.6,0.023,0.020,0.031*6A
Table A.8 GST message fields
Field Meaning
0 Message ID $GPGST
1 UTC of position fix
2 RMS value of the pseudorange residuals; includes carrier phase residuals during
periods of RTK(float) and RTK(fixed) processing
3 Error ellipse semi-major axis 1 sigma error, in meters
4 Error ellipse semi-minor axis 1 sigma error, in meters
5 Error ellipse orientation, degrees from true north
6 Latitude 1 sigma error, in meters
7 Longitude 1 sigma error, in meters
8 Height 1 sigma error, in meters
9 The checksum data, always begins with *

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A NMEA-0183 Output

GSV Satellite Information

The GSV message string identifies the number of SVs in view, the PRN numbers,
elevations, azimuths, and SNR values. An example of the GSV message string is shown
below. Table A.9 describes the message fields.
$GPGSV,4,1,13,02,02,213,,03,-3,000,,11,00,121,,14,13,172,05*67
Table A.9 GSV message fields
Field Meaning
0 Message ID $GPGSV
1 Total number of messages of this type in this cycle
2 Message number
3 Total number of SVs visible
4 SV PRN number
5 Elevation, in degrees, 90° maximum
6 Azimuth, degrees from True North, 000° through 359°
7 SNR, 00–99 dB (null when not tracking)
8–11 Information about second SV, same format as fields 4 through 7
12–15 Information about third SV, same format as fields 4 through 7
16–19 Information about fourth SV, same format as fields 4 through 7
20 The checksum data, always begins with *

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 NMEA-0183 Output A

HDT Heading from True North

The HDT message outputs the heading calculated between the two antennas of the
receiver.
The HDT string is shown below, and Table A.10 describes the message fields.
$GPHDT,123.456,T*00
Table A.10 Heading from true north fields
Field Meaning
0 Message ID $GPHDT
1 Heading in degrees
2 T: Indicates heading relative to True North
3 The checksum data, always begins with *

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A NMEA-0183 Output

PTNL,AVR
Time, Yaw, Tilt, Range for Moving Baseline RTK
The AVR message outputs the attitude vector calculated between the two antennas of
the receiver.
The PTNL,AVR message string is shown below, and Table A.11 describes the message
fields.
$PTNL,AVR,181059.6,+149.4688,Yaw,+0.0134,Tilt,,,60.191,3,2.5,6*00
Table A.11 AVR message fields
Field Meaning
0 Message ID $PTNL,AVR
1 UTC of vector fix
2 Yaw angle in degrees
3 Yaw
4 Tilt angle in degrees
5 Tilt
6 Reserved
7 Reserved
8 Range in meters
9 GPS quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential carrier phase solution RTK (Float)
3: Differential carrier phase solution RTK (Fix)
4: Differential code-based solution, DGPS
10 PDOP
11 Number of satellites used in solution
12 The checksum data, always begins with *

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 NMEA-0183 Output A

PTNL,BPQ
Base station position and quality indicator
This message describes the base station position and its quality. It is used when the
moving base antenna position and quality are required on one serial port (along with a
heading message) from a receiver in heading mode, typically the SPS551H.
The PTNL,BPQ message string is shown below, and Table A.12 describes the message
fields.
$PTNL,BPQ,224445.06,021207,3723.09383914,N,12200.32620132,W,EHT-5.923,
M,5*
Table A.12 BPQ message fields
Field Meaning
0 Talker ID
1 BPQ
2 UTC time of position fix, in hhmmss.ss format. Hours must be two numbers, so
may be padded, for example, 7 is shown as 07.
3 UTC date of position fix, in ddmmyy format. Day must be two numbers, so may
be padded, for example, 8 is shown as 08.
4 Latitude, in degrees and decimal minutes (ddmm.mmmmmmm)
5 Direction of latitude:
N: North
S: South
6 Longitude, in degrees and decimal minutes (dddmm.mmmmmmm). Should
contain 3 digits of ddd.
7 Direction of longitude:
E: East
W: West
8 Height
Ellipsoidal height of fix (antenna height above ellipsoid). Must start with EHT.
9 M: ellipsoidal height is measured in meters
10 GPS quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential SBAS
4: RTK Fixed
5: OmniSTAR XP, OmniSTAR HP, Float RTK, or Location RTK
11 The checksum data, always begins with *

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A NMEA-0183 Output

PTNL,GGK
Time, Position, Position Type, DOP
An example of the PTNL,GGK message string is shown below. Table A.13 describes the
message fields.
$PTNL,GGK,172814.00,071296,3723.46587704,N,12202.26957864,W,3,06,1.7,EHT-
6.777,M*48
Table A.13 PTNL,GGK message fields
Field Meaning
0 Message ID $PTNL,GGA
1 UTC of position fix
2 Date
3 Latitude
4 Direction of latitude:
N: North
S: South
5 Longitude
6 Direction of Longitude:
E: East
W: West
7 GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: RTK float solution
3: RTK fix solution
4: Differential, code phase only solution (DGPS)
5: SBAS solution – WAAS, EGNOS, MSAS
6: RTK Float 3D Network solution
7: RTK Fixed 3D Network solution
8: RTK Float 2D in a Network solution
9: RTK Fixed 2D Network solution
10: OmniSTAR HP/XP solution
11: OmniSTAR VBS solution
8 Number of satellites in fix
9 DOP of fix
10 Ellipsoidal height of fix
11 M: ellipsoidal height is measured in meters
12 The checksum data, always begins with *

Note – The PTNL,GGK message is longer than the NMEA-0183 standard of 80 characters.

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 NMEA-0183 Output A

PTNL,PJT
Projection Type
An example of the PTNL,PJT message string is shown below. Table A.14 describes the
message fields.
$PTNL,PJT,NAD83(Conus),California Zone 4 0404,*51
Table A.14 PTNL,PJT message fields
Field Meaning
0 Message ID $PTNL,PJT
1 Coordinate system name (can include multiple words)
2 Project name (can include multiple words)
3 The checksum data, always begins with *

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A NMEA-0183 Output

PTNL,PJK
Local Coordinate Position Output
An example of the PTNL,PJK message string is shown below. Table A.15 describes the
message fields.
$PTNL,PJK,010717.00,081796,+732646.511,N,+1731051.091,E,1,05,2.7,EHT-
28.345,M*7C
Table A.15 PTNL,PJK message fields
Field Meaning
0 Message ID $PTNL,PJK
1 UTC of position fix
2 Date
3 Northing, in meters
4 Direction of Northing will always be N (North)
5 Easting, in meters
6 Direction of Easting will always be E (East)
7 GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: RTK float solution
3: RTK fix solution
4: Differential, code phase only solution (DGPS)
5: SBAS solution – WAAS, EGNOS, MSAS
6: RTK Float 3D network solution
7: RTK Fixed 3D network solution
8: RTK Float 2D network solution
9: RTK Fixed 2D network solution
10: OmniSTAR HP/XP solution
11: OmniSTAR VBS solution
8 Number of satellites in fix
9 PDOP of fix
10 Ellipsoidal height of fix
11 M: ellipsoidal height is measured in meters
12 The checksum data, always begins with *

Note – The PTNL,PJK message is longer than the NMEA-0183 standard of 80 characters.

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 NMEA-0183 Output A

PTNL,VGK
Vector Information
The VGK message outputs the vector calculated between the external base station and
the position antenna of the receiver.
An example of the PTNL,VGK message string is shown below. Table A.16 describes the
message fields.
$PTNL,VGK,160159.00,010997,-0000.161,00009.985,-0000.002,3,07,1,4,M*0B
Table A.16 PTNL,VGK message fields
Field Meaning
0 Message ID $PTNL,VGK
1 UTC of vector in hhmmss.ss format
2 Date in mmddyy format
3 East component of vector, in meters
4 North component of vector, in meters
5 Up component of vector, in meters
6 GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: RTK float solution
3: RTK fix solution
4: Differential, code phase only solution (DGPS)
5: SBAS solution – WAAS, EGNOS, MSAS
6: RTK Float 3D network solution
7: RTK Fixed 3D network solution
8: RTK Float 2D network solution
9: RTK Fixed 2D network solution
10: OmniSTAR HP/XP solution
11: OmniSTAR VBS solution
7 Number of satellites if fix solution
8 PDOP of fix
9 M: Vector components are in meters
10 The checksum data, always begins with *

BD982 GNSS Receiver Module User Guide 173

A NMEA-0183 Output

PTNL,VHD
Heading information
The VHD message outputs the vector heading calculated between the external base
station and the position antenna of the receiver.
An example of the PTNL,VHD message string is shown below. Table A.17 describes the
message fields.
$GPRMC,202652.00,A,3953.88199731,N,10506.75992590,W,0.021,1.588,140211,9.0
387,E, D*10
Table A.17 PTNL,VHD message fields
Field Meaning
0 Message ID $PTNL,VHD
1 UTC of position in hhmmss.ss format
2 Date in mmddyy format
3 Azimuth
4 ΔAzimuth/ΔTime
5 Vertical Angle
6 ΔVertical/ΔTime
7 Range
8 ΔRange/ΔTime
9 GPS Quality indicator:
0: Fix not available or invalid
1: Autonomous GPS fix
2: RTK float solution
3: RTK fix solution
4: Differential, code phase only solution (DGPS)
5: SBAS solution – WAAS, EGNOS, MSAS
6: RTK Float 3D network solution
7: RTK Fixed 3D network solution
8: RTK Float 2D network solution
9: RTK Fixed 2D network solution
10: OmniSTAR HP/XP solution
11: OmniSTAR VBS solution
10 Number of satellites used in solution
11 PDOP
12 The checksum data, always begins with *

1 74 BD982 GNSS Receiver Module User Guide

 NMEA-0183 Output A

RMC Position, Velocity, and Time

The RMC string is shown below, and Table A.18 describes the message fields.
$GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A
Table A.18 GPRMC message fields
Field Meaning
0 Message ID $GPRMC
1 UTC of position fix
2 Status A=active or V=void
3 Latitude
4 Longitude
5 Speed over the ground in knots
6 Track angle in degrees (True)
7 Date
8 Magnetic variation in degrees
9 The checksum data, always begins with *

BD982 GNSS Receiver Module User Guide 175

A NMEA-0183 Output

ROT Rate and Direction of Turn

The ROT string is shown below, and Table A.19 describes the message fields.
$GPROT,35.6,A*4E
Table A.19 ROT message fields
Field Meaning
0 Message ID $GPROT
1 Rate of turn, degrees/minutes, "–" indicates bow turns to port
2 A: Valid data
V: Invalid data
3 The checksum data, always begins with *

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 NMEA-0183 Output A

VTG Track Made Good and Speed Over Ground

An example of the VTG message string is shown below. Table A.20 describes the
message fields.
$GPVTG,,T,,M,0.00,N,0.00,K*4E
Table A.20 VTG message fields
Field Meaning
0 Message ID $GPVTG
1 Track made good (degrees true)
2 T: track made good is relative to true north
3 Track made good (degrees magnetic)
4 M: track made good is relative to magnetic north
5 Speed, in knots
6 N: speed is measured in knots
7 Speed over ground in kilometers/hour (kph)
8 K: speed over ground is measured in kph
9 The checksum data, always begins with *

BD982 GNSS Receiver Module User Guide 177

A NMEA-0183 Output

ZDA UTC Day, Month, And Year, and Local Time Zone Offset
An example of the ZDA message string is shown below. Table A.21 describes the
message fields.
$GPZDA,172809,12,07,1996,00,00*45
Table A.21 ZDA message fields
Field Meaning
0 Message ID $GPZDA
1 UTC
2 Day, ranging between 01 and 31
3 Month, ranging between 01 and 12
4 Year
5 Local time zone offset from GMT, ranging from 00 through ±13 hours
6 Local time zone offset from GMT, ranging from 00 through 59 minutes
7 The checksum data, always begins with *

Fields 5 and 6 together yield the total offset. For example, if field 5 is –5 and field 6 is
+15, local time is 5 hours and 15 minutes earlier than GMT.

1 78 BD982 GNSS Receiver Module User Guide

 APPENDIX

B
Upgrading the Receiver Firmware B

In this appendix: The GPS receiver is supplied with the latest

version of the receiver firmware already installed.
 The WinFlash utility If a later version of the firmware becomes
 Upgrading the receiver firmware available, use the WinFlash utility to upgrade the
firmware on your receiver.
You can also upgrade the receiver through the
web interface (see Configuring the receiver using
a web browser, page 41). If your receiver has
access to the Internet, then whenever Trimble
releases new firmware your receiver will check
and display the new firmware version number in
the Web browser. You can then decide to install
the newer firmware from the Web browser.
You can download firmware updates from
www.pacificcrest.com/support.php?page=updates.

BD982 GNSS Receiver Module User Guide 17 9

B Upgrading the Receiver Firmware

The WinFlash utility

The WinFlash utility communicates with Trimble products to perform various
functions including:
• installing software, firmware, and option upgrades
• running diagnostics ( for example, retrieving configuration information)
• configuring radios
For more information, online help is also available when using the WinFlash utility.
Note – The WinFlash utility runs on Microsoft Windows 95, 98, Windows NT®, 2000, Me,
or XP operating systems.

Installing the WinFlash utility

You can install the WinFlash utility from the Trimble SPS GPS Receiver CD, or from the
Trimble website.
To install the WinFlash utility from the CD:
1. Insert the disk into the CD drive on your computer.
2. From the main menu select Install individual software packages.
3. Select Install WinFlash.
4. Follow the on-screen instructions.
The WinFlash utility guides you through the firmware upgrade process, as described
below. For more information, refer to the WinFlash Help.

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 Upgrading the Receiver Firmware B

Upgrading the receiver firmware

1. Start the WinFlash utility. The Device Configuration screen appears.
2. From the Device type list, select your receiver.
3. From the PC serial port field, select the serial (COM) port on the computer that
the receiver is connected to.
4. Click Next.
The Operation Selection screen appears. The Operations list shows all of the
supported operations for the selected device. A description of the selected
operation is shown in the Description field.
5. Select Load GPS software and then click Next.
The GPS Software Selection window appears. This screen prompts you to select
the software that you want to install on the receiver.
6. From the Available Software list, select the latest version and then click Next.
The Settings Review window appears. This screen prompts you to connect the
receiver, suggests a connection method, and then lists the receiver configuration
and selected operation.
7. If all is correct, click Finish.
Based on the selections shown above, the Software Upgrade window appears and
shows the status of the operation ( for example, Establishing communication
with <your receiver>. Please wait.).
8. Click OK.
The Software Upgrade window appears again and states that the operation was
completed successfully.
9. To select another operation, click Menu; to quit, click Exit.
If you click Exit, the system prompts you to confirm.
10. Click OK.

BD982 GNSS Receiver Module User Guide 18 1

B Upgrading the Receiver Firmware

1 82 BD982 GNSS Receiver Module User Guide

 APPENDIX

C
Troubleshooting C

In this appendix: Use this appendix to identify and solve common

problems that may occur with the receiver.
 Receiver issues
Please read this section before you contact
Technical Support.

BD982 GNSS Receiver Module User Guide 18 3

C Troubleshooting

Receiver issues
This section describes some possible receiver issues, possible causes, and how to solve
them.

Issue Possible cause Solution

The receiver does External power is too Check that the input voltage is within limits.
not turn on. low.
The base station Port settings between Check the settings on the radio and the receiver.
receiver is not reference receiver and
broadcasting. radio are incorrect.
Faulty cable between Try a different cable.
receiver and radio. Examine the ports for missing pins.
Use a multimeter to check pinouts.
No power to radio. If the radio has its own power supply, check the charge and
connections.
Examine the ports for missing pins.
Use a multimeter to check pinouts.
Rover receiver is The base station receiver See the issue,The base station receiver is not broadcasting.
not receiving is not broadcasting. above.
radio. Incorrect over air baud Connect to the rover receiver radio, and make sure that it has
rates between reference the same setting as the reference receiver.
and rover.
Incorrect port settings If the radio is receiving data and the receiver is not getting radio
between roving external communications, check that the port settings are correct.
radio and receiver.
The receiver is not The GPS antenna cable is Make sure that the GPS antenna cable is tightly seated in the GPS
receiving satellite loose. antenna connection on the GPS antenna.
signals. The cable is damaged. Check the cable for any signs of damage. A damaged cable can
inhibit signal detection from the antenna at the receiver.
The GPS antenna is not Make sure that the GPS antenna is located with a clear view of
in clear line of sight to the sky.
the sky. Restart the receiver as a last resort (turn off and then turn it on
again).
Communication The internal firmware With the receiver in the I/O board, apply power while pressing
to the receiver is may be corrupt. the Boot Monitor button. Reload firmware using the WinFlash
lost and the LEDs utility. See Appendix B, Upgrading the Receiver Firmware.
are not behaving
normally.

1 84 BD982 GNSS Receiver Module User Guide

 APPENDIX

D
Drawings D

In this appendix: The drawings in this appendix show the

dimensions of the receiver. Refer to these
 Plan view drawings if you need to build mounting brackets
 Edge view and housings for the receiver.

BD982 GNSS Receiver Module User Guide 185

D Drawings

Plan view

Secondary (vector)
antenna input

Primary (positiion)
antenna input
Dimensions are shown in millimeters (mm)

1 86 BD982 GNSS Receiver Module User Guide

 Drawings D

Edge view
Dimensions are shown in millimeters (mm)

BD982 GNSS Receiver Module User Guide 187

D Drawings

1 88 BD982 GNSS Receiver Module User Guide

 APPENDIX

E
Electrical Systems Integration E

In this appendix:

 Connector pinouts
 1PPS and ASCII time tag
 ASCII time tag
 Power input
 Antenna power output
 LED control lines
 Power switch and reset
 Event
 Serial port
 CAN
 USB
 Ethernet

BD982 GNSS Receiver Module User Guide 189

E Electrical Systems Integration

Connector pinouts

40-pin header
The 40-pin header (J1) has the following pinouts.

Pin Signal name Description Integration notes

1 GND Ground Digital ground. Ground Digital ground.

2 RTK LED RTK LED. Flashes when an When used to drive an LED, a series resistor with a typical
RTK correction is present. value of 300 Ohms is required. This pin supplies a
This is similar to all BD9xx maximum current of 4 mA. For LEDs with Vf above 2.7 or
products, except for the current excess of 4 mA, an external buffer is required.
requirement for an
external resistor.
3 POWER_OFF Powers the unit on and Drive high with a 3.3 V to turn off, leave floating or
off. ground to keep the unit on. Integrators should not drive
TTL signals when the unit is not powered.
4 PPS (Pulse per Pulse per second. This is 3.3 V TTL level, 4 mA max drive capability. To drive
Second) 50 load to ground, an external buffer is required.
5 VCC Input DC VCC Input DC Card power VCC Input DC Card power (3.3 V only).
Card power (3.3 V only).
6 VCC Input DC VCC Input DC Card power VCC Input DC Card power (3.3 V only).
Card power (3.3 V only).
7 Event2, Event2 – Event input. MUTUALLY EXCLUSIVE and TTL level.
CAN1_Rx and CAN1_Rx – CAN Receive Connect Event2 to a TTL level signal to use as Event.
COM3_Rx line. Connect CAN1_Rx to RX line of a CAN driver to use as
CAN.
COM3_Rx – COM3 Connect COM3_Rx to a transceiver if RS-232 level is
Receive line. required.
8 Event1 Event1 – Input. Event1 (must be 3.3 V TTL level).
9 Power LED POWER Indicator. High When used to drive an LED, a series resistor with a typical
when unit is on, low value of 300 Ohms is required. This pin supplies a
when off. This is similar maximum current of 4 mA. For LEDs with Vf above 2.7 or
to all BD9xx products, current excess of 4 mA, an external buffer is required.
except for the
requirement for an
external resistor. This
allows the user to use this
as a control line.
10 Satellite LED Satellite LED. Rapid flash When used to drive an LED, a series resistor with a typical
indicates <5 satellites. value of 300 Ohms is required. This pin supplies a
Slow flash indicates >5 maximum current of 4mA. For LEDs with Vf above 2.7 or
Satellites. current excess of 4 mA, an external buffer is required.
11 COM2_CTS COM2 Clear to Send – TTL Connect COM2_CTS to a transceiver if RS-232 level is
Level. required.
12 RESET_IN RESET_IN – Ground to Drive low to reset the unit. Otherwise, leave
reset. unconnected.
13 COM2_RTS COM 2 Request to Send. Request to Send for COM 2 connect to a transceiver if
RS-232 level is required.

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 Electrical Systems Integration E

Pin Signal name Description Integration notes

14 COM2_Rx COM 2 Receive Data – Connect COM2_RX to a transceiver if RS-232 level is

TTL Level. required.
15 COM1_CTS COM 1 Clear to Send – –
RS-232 Level.
16 COM2_Tx COM 2 Transmit Data – Connect COM2_TX to a transceiver if RS-232 level is
TTL Level. required.
17 COM1_RTS COM 1 Request to Send –
RS-232 Level.
18 COM1_Rx COM 1 Receive Data – –
RS-232 Level.
19 CAN1_Tx and CAN1_Tx – CAN Transmit MUTUALLY EXCLUSIVE and TTL level.
COM3_Tx line.
COM3_Tx – COM3 Connect CAN1_Tx to TX line of a CAN driver to use as
Transmit line. CAN.
Connect COM3_Tx to a transceiver if RS-232 level is
required.
20 COM1_Tx COM 1 Transmit Data – –
RS-232 Level.
21 USB D (-) USB D (-) Bi-directional USB data for OTG mode (device and host).
USB interface data (-).
22 USB D (+) USB D (+) Bi-directional USB data for OTG mode (device and host).
USB interface data (+).
23 GND Ground Digital Ground. GND Ground Digital Ground.
24 GND Ground Digital Ground. GND Ground Digital Ground.
25 USB ID USB OTG ID. Driving a low level puts unit into USB device mode. High
level or no-connect puts unit in host mode. Pull-up is on
unit and not required for integration.
26 USB Vbus USB Vbus. In USB device operation, Vbus is only used for detection.
In USB Host mode unit supplies power per USB spec
(500 mA at 5 V max).
27 GND Ground Digital Ground. GND Ground Digital Ground.
28 GND Ground Digital Ground. GND Ground Digital Ground.
29 GND Ground Digital Ground. GND Ground Digital Ground.
30 GND Ground Digital Ground. GND Ground Digital Ground.
31 GND Ground Digital Ground. GND Ground Digital Ground.
32 GND Ground Digital Ground. GND Ground Digital Ground.
33 ETH_TD+ Ethernet Transmit. Connect straight to Ethernet connector. Magnetics are
Positive side of on-board unit.
differential pair.
34 ETH_RD+ Ethernet Receive. Positive Connect straight to Ethernet connector. Magnetics are
side of differential pair. on-board unit.
35 ETH_TD- Ethernet Transmit. Connect straight to Ethernet connector. Magnetics are
Negative side of on-board unit.
differential pair.
36 ETH_RD- Ethernet Receive. Connect straight to Ethernet connector. Magnetics are
Negative side of on-board unit.
differential pair.

BD982 GNSS Receiver Module User Guide 191

E Electrical Systems Integration

Pin Signal name Description Integration notes

37 COM4_Rx COM 4 Receive Data – –

RS-232 Level.
38 COM4_Tx COM 4 Transmit Data – –
RS-232 Level.
39 GND Ground Digital Ground. GND Ground Digital Ground.
40 GND Ground Digital Ground. GND Ground Digital Ground.

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 Electrical Systems Integration E

1PPS and ASCII time tag

The receiver can output a 1 pulse-per-second (1PPS) time strobe and an associated
time tag message. The time tags are output on a user-selected port.
The leading edge of the pulse coincides with the beginning of each UTC second. The
pulse is driven between nominal levels of 0.0 V and 3.3 V (see Figure E.1. The leading
edge is positive (rising from 0 V to 3.3 V). The BD982 PPS out is a 3.3 V TTL level with a
maximum source/sink current of 4 mA. If the system requires a voltage level or current
source/sink level beyond these levels, you must have an external buffer. This line has
ESD protection.

Positive slope pulse

3.3 V

0V

Seconds

Time tag output here

Time tag applies here

Figure E.1 Time tag relation to 1PPS wave form

The pulse is about 8 microseconds wide, with rise and fall times of about 100 nsec.
Resolution is approximately 40 nsec, but the following external factor limits accuracy
to approximately ±1 microsecond:
• Antenna cable length
Each meter of cable adds a delay of about 2 nsec to satellite signals, and a
corresponding delay in the 1PPS pulse.

BD982 GNSS Receiver Module User Guide 193

E Electrical Systems Integration

ASCII time tag

Each time tag is output about 0.5 second before the corresponding pulse. Time tags are
in ASCII format on a user-selected serial port. The format of a time tag is:
UTC yy.mm.dd hh:mm:ss ab
Where:
• UTC is fixed text.
• yy.mm.dd is the year, month, and date.
• hh:mm:ss is the hour (on a 24-hour clock), minute, and second. The time is in
UTC, not GPS.
• a is an integer number representing the position-fix type:
1 = time only
2 = 1D & time
3 = currently unused
4 = 2D & time
5 = 3D & time
• b is number of GPS satellites being tracked.
• Each time tag is terminated by a carriage return, line feed sequence. A typical
printout looks like:
UTC 02.12.21 20:21:16 56
UTC 02.12.21 20:21:17 56
UTC 02.12.21 20:21:18 56
Note – If the receiver is not tracking satellites, the time tag is based on the receiver clock. In
this case, a and b are represented by “??”. The time readings from the receiver clock are less
accurate than time readings determined from the satellite signals.

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 Electrical Systems Integration E

Power input
Power Requirement The unit operates at 3.3 V +5%/-3%.
The 3.3 V should be able to supply 2 A of surge current.
Additional Integration Notes –
1) To fully protect against the unit resetting while shorting any antenna
output, Trimble recommends that the 3.3 V input be rated at least 3.5 A.
Power supplies under 3.5 A will lead to the 3.3 V rail drooping, triggering a
reset to the system.
2) Worst case operation requires a 3 A supply. Worst case operation is
defined as: both antennas supplying 5 V at 100 mA, USB supplying 5 V at
250 mA, and actively using all RF bands.
The typical power consumption based on band usage is:
• L1/L2 = 2.08 W
• L1/L2/G1/G2 = 2.24 W
• L1/L2/G1/G2/SBAS = 2.27 W
• L1/L2/G1/G2/SBAS/L5 = 2.54 W
• L1/L2/G1/G2/SBAS/L5/Galileo= 2.79 W
• L1/L2/G1/G2/SBAS/L5/Galileo + Omnistar = 3.10 W
Power Switch Pin 3 is an optional power-off pin. When driven high with 3.3 V, the receiver
is turned off. This unit can be left floating or ground to keep the unit on.
System integrators should not drive TTL signals when the unit is not
powered.
Over-voltage Protection The absolute maximum voltage is 3.6 V.
Under-voltage Protection The absolute minimum voltage is 3.2 V below nominal.
Reverse Voltage Protection The unit is protected down to -3.6 V

Antenna power output

Power output specification The antenna supplies 100mA at 5 V
Short-circuit protection The unit has an over-current / short circuit protection. Short circuits may
cause the unit to reset

BD982 GNSS Receiver Module User Guide 195

E Electrical Systems Integration

LED control lines

Driving LEDs The receiver outputs are 3.3 V TTL level with a maximum source/sink current
of 4mA. An external series resistor must be used to limit the current. The
value of the series resistor in Ohms is determined by:
(3.3-Vf)/(If) > Rs > (3.3 V - Vf)/(.004)
Rs = Series resistor
If = LED forward current, max typical If of the LED should be less than 3mA
Vf = LED forward voltage, max typical Vf of the LED should be less than
2.7V
Most LEDs can be driven directly as shown in the circuit below:

LEDs that do not meet If and Vf specification must be driven with a buffer
to ensure proper voltage level and source/sink current.
Power LED This active-high line indicates that the unit is powered on.
Satellite LED This active-high line indicates that the unit has acquired satellites.
A rapid flash indicates that the unit has less than 5 satellites acquired while
a slow flash indicates greater than 5 satellites acquired. This line will stay on
if the unit is in monitor mode.
RTK Correction A slow flash indicates that the unit is receiving correction. This will also
flash when the unit is in monitor mode.

Power switch and reset

Power Switch The integrator may choose to power on or power off the unit. If a 3.3 V level
signal is applied to pin 3, Power_Off pin, the unit will disconnect VCC. The
system integrator must ensure that other TTL level pins remain unpowered
when Power_Off is asserted. Powering TTL-level pins while the unit is powered
off will cause excessive leakage current to be sinked by the unit.
The integrator may choose to always have the unit powered on. This is
accomplished by leaving the Power_Off pin floating or grounded.
Reset Switch Driving Reset_IN_L, Pin 12, low will cause the unit to reset. The unit will remain
reset at least 140mS after the Reset_In_L is deasserted. The unit remains
powered while in reset.

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 Electrical Systems Integration E

Event
Event 1 Pin 8 is dedicated as an Event_In pin. This is a TTL only input, it is not buffered
or protected for any inputs outside of 0 V to 3.3V. It does have ESD protection.
If the system requires event to handle a voltage outside this range, the system
integrator must condition the signal prior to connecting to the unit.
Event 2 Event 2 is multiplexed with COM3_RX and CAN_RX. The default setting is to
have this line set to COM3_RX. The Event 2 must be enabled in order to use
Event2.
When using the 63494 Development interface board, the user must not
connect anything to Port 3 and the CAN port when using Event 2. The Com3
level selection switch is ignored when Event 2 is selected.
This is a TTL only input, it is not buffered or protected for any inputs outside of
0 V to 3.3 V. It does have ESD protection. If the system requires event to handle
a voltage outside this range, the system integrator must condition the signal
prior to connecting to the unit.

Serial port
Com 1 RS-232 level with Com1 is already at RS-232 level and already has 8 kV contact discharge/15 kV air
flow control gap discharge ESD Protection. This port has RTS/CTS to support hardware flow
control. This is labeled Port 1 on the I/O board.
Com 2 TTL level with flow Com 2 is at 0-3.3 V TTL. This port has RTS/CTS to support hardware flow control.
control If the integrator needs this port to be at RS-232 level, a proper transceiver
powered by the same 3.3 V that powers the receiver needs to be added.
For development using the I/O board, this Com port is already connected to an
RS-232 transceiver. This is labeled Port 2 on the I/O board.
Com 3 TTL level no flow Com 3 is at 0-3.3 V TTL and is multiplexed with CAN. The receive line is also
control multiplexed with Event 2. The integrator must have a BD982 receiver
configured to use the serial port in order to use this port as a serial port.
The functionality cannot be multiplexed in real time. If the integrator needs
this port to be at RS-232 level, a proper transceiver powered by the same 3.3 V
that powers the BD982 receiver needs to be added.
For development using the I/O board, this com port is already connected to an
RS-232 transceiver. This is labeled Port 3 on the I/O board. SW4, labeled BD982
COM3 HW Xciever Selection, must be set to RS-232. There should not be
anything connected to TP5, labeled BD982 Event 2.
Com 4 RS-232 level no flow Com4 is on-board level translated to RS-232 voltages, with 8 kV contact
control discharge/15 kV air gap discharge ESD protection. This is labeled Port 4 on the
I/O board.

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E Electrical Systems Integration

CAN
Com 3 is at 0-3.3 V TTL and is multiplexed with CAN. The receive line is also
multiplexed with Event 2. The integrator must have a BD982 receiver configured to use
the CAN port in order to use this port as a serial port. The functionality cannot be
multiplexed in real time. The integrator must add a CAN transceiver in order to use the
CAN Port.
For development using the I/O board, this com port is already connected to a CAN
transceiver. This is labeled BD982 CAN on the I/O board. SW4, labeled BD982 COM3
HW Xciever Selection, must be set to CAN. There shouldn't be anything connected to
TP5, labeled BD982 Event 2.
The following figure shows a typical implementation with a 3.3 V CAN transceiver. It
also shows a common mode choke as well as ESD protection. A 5 V CAN Transceiver
can be used if proper level translation is added.

3_3V
C2
0.1uF DB9_CONN_M
DB3

10
11
3

5
VCC

9
CAN1_RX 4 4
CAN1_TX RXD CAN+ PIN7
1 TXD CANH 7 8
3
6 CAN- PIN2 CAN+ 7
CANL CAN-
8 Rs 2
5 6
GND

Vref
1
R18 R2
33k U6 120
2

TI SN65HVD232DR
CAN

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 Electrical Systems Integration E

USB
The CPU of the receiver has an integrated PHY that supports both USB 2.0 Device and
Host configuration at low speed, full speed, and high speed. In Host mode, the receiver
supplies 5 V to a USB device, such as a memory stick. In Device mode, the receiver
behaves like an external storage device to a computer.

USB OTG reference design

To be OTG-compliant, the connector must be MICRO AB. An OTG-compliant cable
has A and B ends. When the B-side of the cable is inserted, the ID pin is not connected
( floating) and the receiver enters Device mode through a pull-up resistor. The A-side of
the cable connects the ID pin to ground, which enables Host mode on the receiver.

To reduce EMI, place a USB 2.0 compliant common mode choke on the data lines. To
ensure best EMI performance, locate the choke near the USB MICRO AB connector.
Trimble recommends that you use an L-C-L type EMI filter for the output power.
For product robustness and protection, place ESD protection diodes on both the
USB_VBUS and USB_OTG_ID lines. The receiver has internal high-speed ESD
protection on the USB data lines.
To ensure best USB high-speed performance, carefully consider PCB routing and
placement practices:
• Place components so the trace length is minimized.
• Do not have stubs on data lines more than 0.200".
• Route data lines differentially but as parallel as possible.
• Data lines must be controlled to 90 Ohms differential impedance, and 45 Ohms
single-ended impedance.
• Route over continuous reference plane (either ground or power).
For more detailed information, refer to the Intel High Speed USB Platform Design
Guidelines.

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USB Host-only reference design

For USB host-only support, a type-A connector is required. Since the receiver dos not
support dynamic role switching, the ID pin should be grounded on the receiver. In Host
mode, the receiver supplies nominal 5 V output at 500 mA to the USB device.

For recommendations about EMI, ESD protection, and layout considerations, see USB
OTG reference design, page 199.

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USB device-only reference design

For device-only operation, the USB_OTG_ID pin is left floating. For reference, the
receiver has an internal 10K Ohm pull-up to 3.3 V. In this mode, the
USB_DEVICE_VBUS is used only by receiver to detect if host power is connected.

For recommendations about EMI, ESD protection, and layout considerations, see USB
OTG reference design, page 199.

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Ethernet
The receiver contains the Ethernet MAC, PHY, and magnetics. The PHY layer is based
on the Micrel KSZ8041NLI and is set to default to 100 Mbps, full duplex with
auto-negotiation enabled. The receiver has the correct PHY termination on the
differential signals as well as Bulk capacitance for the magnetics center tap. The
magnetic is implemented using Pulse Engineering HX1188.

Ethernet reference design

• Design using RJ-45 with Integrated Magnetics
Since the magnetics are on-board, the Ethernet interface can be implemented
using only a RJ-45 connector, and termination discretes. See design example
below.

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Ethernet routing
Minimize the distance from the RJ-45 to the receiver main connector to prevent issues
with conducted emissions.
The sample routing below shows a four-layer stack up, with dual-side board
placement. The routing shown ensures that the differential pairs are routed over solid
internal planes.

Figure E.2 Top view

Figure E.3 Bottom view

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2 04 BD982 GNSS Receiver Module User Guide

Glossary
1PPS Pulse-per-second. Used in hardware timing. A pulse is generated in conjunction with a
time stamp. This defines the instant when the time stamp is applicable.
almanac A file that contains orbit information on all the satellites, clock corrections, and
atmospheric delay parameters. The almanac is transmitted by a GPS satellite to a GPS
receiver, where it facilitates rapid acquisition of GPS signals when you start collecting
data, or when you have lost track of satellites and are trying to regain GPS signals.
The orbit information is a subset of the ephemeris / ephemerides data.
base station Also called reference station. A base station in construction, is a receiver placed at a
known point on a job site that tracks the same satellites as an RTK rover, and provides
a real-time differential correction message stream through radio to the rover, to obtain
centimeter level positions on a continuous real-time basis. A base station can also be a
part of a virtual reference station network, or a location at which GPS observations are
collected over a period of time, for subsequent postprocessing to obtain the most
accurate position for the location.
carrier A radio wave having at least one characteristic (such as frequency, amplitude, or phase)
that can be varied from a known reference value by modulation.
carrier frequency The frequency of the unmodulated fundamental output of a radio transmitter. The GPS
L1 carrier frequency is 1575.42 MHz.
carrier phase Is the cumulative phase count of the GPS or GLONASS carrier signal at a given time.
cellular modems A wireless adaptor that connects a laptop computer to a cellular phone system for data
transfer. Cellular modems, which contain their own antennas, plug into a PC Card slot
or into the USB port of the computer and are available for a variety of wireless data
services such as GPRS.
CMR Compact Measurement Record. A real-time message format developed by Trimble for
CMR+ broadcasting corrections to other Trimble receivers. CMR is a more efficient
alternative to RTCM.
covariance A statistical measure of the variance of two random variables that are observed or
measured in the same mean time period. This measure is equal to the product of the
deviations of corresponding values of the two variables from their respective means.
datum Also called geodetic datum. A mathematical model designed to best fit the geoid,
defined by the relationship between an ellipsoid and, a point on the topographic
surface, established as the origin of the datum. World geodetic datums are typically
defined by the size and shape of an ellipsoid and the relationship between the center of
the ellipsoid and the center of the earth.
Because the earth is not a perfect ellipsoid, any single datum will provide a better
model in some locations than in others. Therefore, various datums have been
established to suit particular regions.
For example, maps in Europe are often based on the European datum of 1950 (ED-50).
Maps in the United States are often based on the North American datum of 1927
(NAD-27) or 1983 (NAD-83).
All GPS coordinates are based on the WGS-84 datum surface.
deep discharge Withdrawal of all electrical energy to the end-point voltage before the cell or battery is
recharged.
DGPS See real-time differential GPS.

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Glossary

differential Differential correction is the process of correcting GPS data collected on a rover with
correction data collected simultaneously at a base station. Because the base station is on a known
location, any errors in data collected at the base station can be measured, and the
necessary corrections applied to the rover data.
Differential correction can be done in real-time, or after the data has been collected.
differential GPS See real-time differential GPS.
DOP Dilution of Precision. A measure of the quality of GPS positions, based on the geometry
of the satellites used to compute the positions. When satellites are widely spaced
relative to each other, the DOP value is lower, and position accuracy is greater. When
satellites are close together in the sky, the DOP is higher and GPS positions may
contain a greater level of error.
PDOP (Position DOP) indicates the three-dimensional geometry of the satellites. Other
DOP values include HDOP (Horizontal DOP) and VDOP (Vertical DOP), which
indicate the accuracy of horizontal measurements (latitude and longitude) and
vertical measurements respectively. PDOP is related to HDOP and VDOP as follows:
PDOP2 = HDOP2 + VDOP2.
dual-frequency GPS A type of receiver that uses both L1 and L2 signals from GPS satellites. A
dual-frequency receiver can compute more precise position fixes over longer distances
and under more adverse conditions because it compensates for ionospheric delays.
EGNOS European Geostationary Navigation Overlay Service. A satellite-based augmentation
system (SBAS) that provides a free-to-air differential correction service for GPS.
EGNOS is the European equivalent of WAAS, which is available in the United States.
elevation mask The angle below which the receiver will not track satellites. Normally set to 10 degrees
to avoid interference problems caused by buildings and trees, atmospheric issues, and
multipath errors.
ellipsoid An ellipsoid is the three-dimensional shape that is used as the basis for mathematically
modeling the earth’s surface. The ellipsoid is defined by the lengths of the minor and
major axes. The earth’s minor axis is the polar axis and the major axis is the equatorial
axis.
ephemeris / A list of predicted (accurate) positions or locations of satellites as a function of time. A
ephemerides set of numerical parameters that can be used to determine a satellite’s position.
Available as broadcast ephemeris or as postprocessed precise ephemeris.
epoch The measurement interval of a GPS receiver. The epoch varies according to the
measurement type: for real-time measurement it is set at one second; for
postprocessed measurement it can be set to a rate of between one second and one
minute. For example, if data is measured every 15 seconds, loading data using
30-second epochs means loading every alternate measurement.
feature A feature is a physical object or event that has a location in the real world, which you
want to collect position and/or descriptive information (attributes) about. Features
can be classified as surface or non-surface features, and again as points,
lines/breaklines, or boundaries/areas.
firmware The program inside the receiver that controls receiver operations and hardware.
GLONASS Global Orbiting Navigation Satellite System. GLONASS is a Soviet space-based
navigation system comparable to the American GPS system. The operational system
consists of 21 operational and 3 non-operational satellites in 3 orbit planes.
GNSS Global Navigation Satellite System.

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GSOF General Serial Output Format. A Trimble proprietary message format.

HDOP Horizontal Dilution of Precision. HDOP is a DOP value that indicates the accuracy of
horizontal measurements. Other DOP values include VDOP (vertical DOP) and PDOP
(Position DOP).
Using a maximum HDOP is ideal for situations where vertical precision is not
particularly important, and your position yield would be decreased by the vertical
component of the PDOP ( for example, if you are collecting data under canopy).
L1 The primary L-band carrier used by GPS and GLONASS satellites to transmit satellite
data.
L2 The secondary L-band carrier used by GPS and GLONASS satellites to transmit
satellite data.
L2C A modernized code that allows significantly better ability to track the L2 frequency.
L5 The third L-band carrier used by GPS satellites to transmit satellite data. L5 will
provide a higher power level than the other carriers. As a result, acquiring and tracking
weak signals will be easier.
Moving Base Moving Base is an RTK positioning technique in which both reference and rover
receivers are mobile. Corrections are sent from a “base” receiver to a “rover” receiver
and the resultant baseline (vector) has centimeter-level accuracy.
MSAS MTSAT Satellite-Based Augmentation System. A satellite-based augmentation system
(SBAS) that provides a free-to-air differential correction service for GPS. MSAS is the
Japanese equivalent of WAAS, which is available in the United States.
multipath Interference, similar to ghosts on an analog television screen, that occurs when GPS
signals arrive at an antenna having traversed different paths. The signal traversing the
longer path yields a larger pseudorange estimate and increases the error. Multiple
paths can arise from reflections off the ground or off structures near the antenna.
NMEA National Marine Electronics Association. NMEA 0183 defines the standard for
interfacing marine electronic navigational devices. This standard defines a number of
'strings' referred to as NMEA strings that contain navigational details such as positions.
Most Trimble GPS receivers can output positions as NMEA strings.
PDOP Position Dilution of Precision. PDOP is a DOP value that indicates the accuracy of
three-dimensional measurements. Other DOP values include VDOP (vertical DOP) and
HDOP (Horizontal Dilution of Precision).
Using a maximum PDOP value is ideal for situations where both vertical and
horizontal precision are important.
real-time differential Also known as real-time differential correction or DGPS. Real-time differential GPS is the
GPS process of correcting GPS data as you collect it. Corrections are calculated at a base
station and then sent to the receiver through a radio link. As the rover receives the
position it applies the corrections to give you a very accurate position in the field.
Most real-time differential correction methods apply corrections to code phase
positions.
While DGPS is a generic term, its common interpretation is that it entails the use of
single-frequency code phase data sent from a GPS base station to a rover GPS receiver
to provide sub-meter position accuracy. The rover receiver can be at a long range
(greater than 100 kms (62 miles)) from the base station.
rover A rover is any mobile GPS receiver that is used to collect or update data in the field,
typically at an unknown location.

BD982 GNSS Receiver Module User Guide 2 07

Glossary

RTCM Radio Technical Commission for Maritime Services. A commission established to

define a differential data link for the real-time differential correction of roving GPS
receivers. There are three versions of RTCM correction messages. All Trimble GPS
receivers use Version 2 protocol for single-frequency DGPS type corrections. Carrier
phase corrections are available on Version 2, or on the newer Version 3 RTCM protocol,
which is available on certain Trimble dual-frequency receivers. The Version 3 RTCM
protocol is more compact but is not as widely supported as Version 2.
RTK real-time kinematic. A real-time differential GPS method that uses carrier phase
measurements for greater accuracy.
SBAS Satellite-Based Augmentation System. SBAS is based on differential GPS, but applies to
wide area (WAAS/EGNOS and MSAS) networks of reference stations. Corrections and
additional information are broadcast via geostationary satellites.
signal-to-noise ratio SNR. The signal strength of a satellite is a measure of the information content of the
signal, relative to the signal’s noise. The typical SNR of a satellite at 30° elevation is
between 47 and 50 dBHz.
skyplot The satellite skyplot confirms reception of a differentially corrected GPS signal and
displays the number of satellites tracked by the GPS receiver, as well as their relative
positions.
SNR See signal-to-noise ratio.
triple frequency GPS A type of receiver that uses three carrier phase measurements (L1, L2, and L5).
UTC Universal Time Coordinated. A time standard based on local solar mean time at the
Greenwich meridian.
WAAS Wide Area Augmentation System. WAAS was established by the Federal Aviation
Administration (FAA) for flight and approach navigation for civil aviation. WAAS
improves the accuracy and availability of the basic GPS signals over its coverage area,
which includes the continental United States and outlying parts of Canada and
Mexico.
The WAAS system provides correction data for visible satellites. Corrections are
computed from ground station observations and then uploaded to two geostationary
satellites. This data is then broadcast on the L1 frequency, and is tracked using a
channel on the GPS receiver, exactly like a GPS satellite.
Use WAAS when other correction sources are unavailable, to obtain greater accuracy
than autonomous positions. For more information on WAAS, refer to the FAA website
at http://gps.faa.gov.
The EGNOS service is the European equivalent and MSAS is the Japanese equivalent of
WAAS.
WGS-84 World Geodetic System 1984. Since January 1987, WGS-84 has superseded WGS-72 as
the datum used by GPS.
The WGS-84 datum is based on the ellipsoid of the same name.

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