TERSUS Precis-BX305 Manuel utilisateur

User Manual

Precis-BX305

Precise GNSS RTK board

www.tersus-gnss.com

Aug, 2016

]

TERSUS-GNSS I

Proprietary Notice

All Information in this document is subject to change without notice and does not reflect the

commitment on Tersus GNSS. No part of this manual may be reproduced or transmitted by all

means without authorization of Tersus GNSS. The software described in this document must be

used in terms of the agreement. Any reverse software engineer or modification without permission

from Tersus GNSS is not allowed.

Revision History

Date

Major change

Version

2015-10-29

Initialization

1.0

2016-02-01

Revision

2.0

2016-07-21

Revision

3.0

2016-08-29

Revision

4.0

]

TERSUS-GNSS II

Table of Content

1. Introduction...........................................................................................................................1

1.1. Overview......................................................................................................................1

1.2. Receiver Features.........................................................................................................1

1.3. System overview..........................................................................................................2

1.4. Electronic Characteristics.............................................................................................3

1.4.1. Absolute Maximum Ratings ....................................................................................3

1.4.2. Operation Ratings ....................................................................................................4

1.4.3. Port Description (Precis-BX305 V1.1 & V2.0) .......................................................5

1.4.3.1. Micro_USB Power Supply Port...............................................................................8

1.4.3.2. COM1/COM2 Port...................................................................................................8

1.4.3.3. LED Indicator ........................................................................................................10

1.4.3.4. SMA1 Port.............................................................................................................10

1.4.3.5. SMA2 Port.............................................................................................................10

1.4.3.6. USB Port................................................................................................................11

1.5. Accessories and connection .......................................................................................11

1.5.1. UART_To_USB Converter Module.......................................................................11

1.5.2. Data Logger Module and Cable.............................................................................12

1.5.3. Pixhawk Cable .......................................................................................................13

1.5.4. Radio Module and Cable........................................................................................14

1.5.5. Bluetooth Module and Cable .................................................................................15

2. Setting up the Receiver .......................................................................................................17

2.1. Connect to Computer .................................................................................................17

2.2. Connect to Antenna....................................................................................................18

2.3. Connect to Base Station .............................................................................................19

2.3.1. Connect to Base Station with UHF radio module..................................................20

2.3.2. Connect to CORS with external Bluetooth module and mobile phone..................22

2.4. Integration with Autopilots.........................................................................................25

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TERSUS-GNSS III

2.5. Set up Base Station.....................................................................................................27

2.5.1. Obtain the coordinate of the base station...............................................................27

2.5.2. Antenna installation ...............................................................................................28

2.5.3. Observation environment.......................................................................................28

2.6. Log Data to SD Card..................................................................................................28

2.6.1. Hardware and software required............................................................................29

2.6.2. Configuring raw observation output ......................................................................29

2.6.3. Connect to data logger ...........................................................................................30

2.6.4. Export logged data and format conversion ............................................................31

2.7. Installation and Operation Guideline .........................................................................31

2.7.1. ESD protection.......................................................................................................31

2.7.2. Avoid signal inference............................................................................................32

3. Commands description........................................................................................................33

3.1. Overview of Command System .................................................................................33

3.2. Serial Port Control Commands ..................................................................................33

3.2.1. Configuring serial port baud rate (COM)...............................................................33

3.2.2. Configuring serial port mode (INTERFACEMODE) ............................................34

3.2.3. Display current serial port configuration (LOG COMCONFIG)...........................34

3.3. Satellite Control Commands ......................................................................................35

3.3.1. Controlling satellite system (SYSCONTROL)......................................................35

3.3.2. Set elevation mask (ECUTOFF) ............................................................................35

3.4. Station Coordinate Control Commands .....................................................................35

3.4.1. Fix base station coordinate (FIX POSITION)........................................................36

3.4.2. Cancelling fixed coordinate (FIX NONE).............................................................36

3.4.3. Choose undulation (UNDULATION)....................................................................36

3.5. Output Control Commands ........................................................................................37

3.5.1. NMEA talker configuration (NMEATALKER) .....................................................37

3.5.2. Configuring NMEA output (LOG NMEA)............................................................37

3.5.3. Configuring raw observation output (LOG RANGECMPB).................................37

3.5.4. Configuring GPS ephemeris output (LOG GPSEPHEMB)...................................38

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TERSUS-GNSS IV

3.5.5. Configuring GLONASS ephemeris output (LOG GLOEPHEMRISB).................38

3.5.6. Configuring Beidou Ephemeris output (LOG BD2EPHEMB)..............................38

3.5.7. Configuring RTCM2 output (LOG RTCM)...........................................................39

3.5.8. Configuring RTCM 3 output (LOG RTCM3)........................................................39

3.6. Version Information Commands (LOG VERSION) ..................................................40

3.7. Configuration Management Commands ....................................................................40

3.7.1. Saving configurations (SAVECONFIG)................................................................40

3.7.2. Reset to factory mode (FRESET) ..........................................................................41

3.7.3. Check logged message types..................................................................................41

3.8. Configuring PPS output .............................................................................................42

3.9. Output Cancellation Commands ................................................................................42

3.9.1. Cancelling particular output (UNLOG) .................................................................42

3.9.2. Cancelling all output (UNLOGALL).....................................................................43

4. Specifications......................................................................................................................44

4.1. Performance Specification .........................................................................................44

4.2. Physical Specification ................................................................................................45

5. Output Format.....................................................................................................................46

5.1. NMEA Sentences.......................................................................................................46

5.1.1. General sentence format.........................................................................................46

5.1.2. GGA sentence ........................................................................................................46

5.1.3. RMC sentence........................................................................................................47

5.1.4. VTG sentence.........................................................................................................48

5.1.5. GSA sentence.........................................................................................................48

5.1.6. GSV sentence.........................................................................................................49

5.2. RTCM Messages........................................................................................................49

5.2.1. RTCM 2 messages .................................................................................................49

5.2.2. RTCM 3 messages .................................................................................................50

6. RTK Configure Example.....................................................................................................52

7. Trouble Shooting.................................................................................................................53

8. Terminology........................................................................................................................54

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TERSUS-GNSS V

]

TERSUS-GNSS VI

List of Figures

Figure 1 Outlook of Precis-BX305 Board.........................................................................................1

Figure 2 System block diagram.........................................................................................................2

Figure 3 Port Description of Precis-BX305......................................................................................5

Figure 4 Identify Precis-BX305 V1.1 & V2.0 and Pin Definitions ..................................................6

Figure 5 Identify Precis-BX305 V1.1 & V2.0 by Printed Labels.....................................................7

Figure 6 Schematic of Internal Micro_USB Connector....................................................................8

Figure 7 Back Panel View of Precis-BX305 Board..........................................................................8

Figure 8 Labels of Precis-BX305 V1.1 & V2.0 UART_To_USB Converter Cables......................11

Figure 9 Connection between Precis-BX305 and UART_to_USB Converter................................12

Figure 10 Labels of Precis-BX305 V1.1 & V2.0 Data logger Cables.............................................12

Figure 11 Connection between Precis-BX305 and UART_to_Data Logger...................................13

Figure 12 Labels of Precis-BX305 V1.1 & V2.0 Pixhawk Cables .................................................13

Figure 13 Connection between Pixhawk and Precis-BX305 ..........................................................14

Figure 14 Labels of Precis-BX305 V1.1 & V2.0 Radio Cables......................................................14

Figure 15 Connection between Pixhawk and Precis-BX305 ..........................................................15

Figure 16 Labels of BX305 V1.1 & V2.0 Bluetooth Cables...........................................................15

Figure 17 Connection between Bluetooth module and Precis-BX305............................................16

Figure 18 Demonstration of wired connection to computer............................................................17

Figure 19 Demonstration of Precis board in Window device manager...........................................18

Figure 20 Recommended GNSSAntenna for Precis-BX305..........................................................19

Figure 21 Three ways to connect to the base station data stream: wired connection (upper), UHF

connection (middle) ........................................................................................................................19

Figure 22 Overview of Tersus GNSS RTK Systems.......................................................................20

Figure 23 Establish Serial Connection with Tersus GNSS Center..................................................21

Figure 24 Text Console Window of Tersus GNSS Center ..............................................................22

Figure 25 Demonstration of connecting Precis BX305 to CORS Network....................................23

Figure 26 Demonstration of connecting Bluetooth module, mobile phone, Precis-BX305 and

supply supplier................................................................................................................................24

Figure 27 Example of NTRIP Settings............................................................................................25

Figure 28 Demonstration of Connection Status..............................................................................25

Figure 29 Demonstration of Integration with Pixhawk autopilot....................................................26

Figure 30 Precis-BX305 board is recognized by Pixhawk and Mission Planner............................27

Figure 31 Demonstration of antenna height measurement..............................................................28

Figure 32 External data logger........................................................................................................29

Figure 33 Enter commands for logging raw observation and broadcasting ephemeris data...........30

Figure 34 Connection of Precis-BX305, external data logger and power supplier.........................31

]

TERSUS-GNSS VII

List of Tables

Table 1 Description of Absolute Maximum Ratings.........................................................................3

Table 2 Description of Operation Ratings.........................................................................................4

Table 3 Description of Precis-BX305 Electronic Interfaces .............................................................7

Table 4 Pin list of Precis-BX305 V1.1 COM1 and COM2 Port........................................................8

Table 5 Pin definition of Precis-BX305 V1.1 COM1 and COM2 Port.............................................9

Table 6 Pin list of Precis-BX305 V2.0 COM1 and COM2 Port........................................................9

Table 7 Pin list of Precis-BX305 V2.0 COM1 and COM2 Port......................................................10

Table 8 Definition of LED indicators..............................................................................................10

Table 9 PPS signal Description.......................................................................................................11

Table 10 Default Serial port parameter of Precis-BX305 COM1 and COM2.................................18

Table 11 Pin definition of Pixhawk GPS port (from left to right)...................................................26

Table 12 Configuring serial port baud rate command.....................................................................33

Table 13 Change serial port mode...................................................................................................34

Table 14 Serial port mode...............................................................................................................34

Table 15 Display current serial port configuration..........................................................................34

Table 16 enable/disable satellite system..........................................................................................35

Table 17 Set elevation mask............................................................................................................35

Table 18 Fix the coordinate of the base station...............................................................................36

Table 19 Cancel the fixed coordinate..............................................................................................36

Table 20 Sets ellipsoid-geoid separation.........................................................................................36

Table 21 change the NMEAtalker during NMEA output...............................................................37

Table 22 log nmea message.............................................................................................................37

Table 23 Log compressed binary version of observation data........................................................38

Table 24 Configuring GPS ephemeris output..................................................................................38

Table 25 Configuring GLONASS ephemeris output ......................................................................38

Table 26 Configuring Beidou Ephemeris output.............................................................................39

Table 27 log observations in RTCM2.X format..............................................................................39

Table 28 log observations in RTCM3 information..........................................................................39

Table 29 Display version information.............................................................................................40

Table 30 Save current configuration ...............................................................................................41

Table 31 reset to factory mode........................................................................................................41

Table 32 Check logged message types............................................................................................41

Table 33 Check logged message types............................................................................................42

Table 34 Cancel a particular output.................................................................................................42

Table 35 Cancell all output .............................................................................................................43

Table 36 Performance specification of Precis-BX305 ....................................................................44

Table 37 Physical Specification of Precis-BX305 ..........................................................................45

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TERSUS-GNSS VIII

Table 38 Collection of supported RTCM2 message........................................................................50

Table 39 Collection of supported RTCM3.2 message types ...........................................................50

]

TERSUS-GNSS 1

1. Introduction

1.1. Overview

The Precis-BX305 board provides millimeter level carrier phase observation as well as centimeter

level RTK positioning accuracy. It also supports chip level multi path mitigation, RTK positioning

and instant heading technology, especially suitable for high accuracy navigation and positioning

used in moving objects like cars, unmanned aerial vehicles(UAV) etc. it also applies for the control

of agriculture machinery, engineering machinery and port machinery, as well as displacement

measurement and GIS etc.

Figure 1 Outlook of Precis-BX305 Board

1.2. Receiver Features

■Support GPS L1/L2, GLONASS L1, and Beidou B1/B3;

■Support single satellite system positioning and multi-system positioning;

■Support sub-meter RTD positioning and centimeter level RTK positioning;

■Support log raw observations.

■Support 2 UART(COM)s and 1 PPS(Pulse Per Second accuracy timing); High reliability

and stability even in harsh environment;

■Update rate up to 20Hz;

■Powered by +5V micro USB power supply;

■Onboard 6DOF IMU, support integrated navigation system (INS).

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