GETTING STARTED GUIDE

SPS351 MODULAR GPS RECEIVER

Version 4.17
Revision A
September 2010
F
Legal Notice
Corporate Office Notices
Trimble Navigation Limited Class B Statement – Notice to Users. This equipment has been
935 Stewart Drive tested and found to comply with the limits for a Class B digital
Sunnyvale, CA 94085 device, pursuant to Part 15 of the FCC rules and Part 90. These
USA limits are designed to provide reasonable protection against
[Link] harmful interference in a residential installation. This equipment
generates, uses, and can radiate radio frequency energy and, if
Heavy Highway business area
not installed and used in accordance with the instructions, may
Trimble Navigation Limited cause harmful interference to radio communication. However,
Heavy Highway business area there is no guarantee that interference will not occur in a
5475 Kellenburger Road particular installation. If this equipment does cause harmful
Dayton, Ohio 45424-1099 interference to radio or television reception, which can be
USA determined by turning the equipment off and on, the user is
800-538-7800 (toll free in USA) encouraged to try to correct the interference by one or more of
+1-937-245-5600 Phone the following measures:
+1-937-233-9004 Fax
[Link] • Reorient or relocate the receiving antenna.
E-mail: trimble_support@[Link] • Increase the separation between the equipment and the
receiver.
Legal Notices
© 2006–2010, Trimble Navigation Limited. All rights reserved. • Connect the equipment into an outlet on a circuit different
Trimble, the Globe & Triangle logo, and TSC2 are trademarks of from that to which the receiver is connected.
Trimble Navigation Limited, registered in the United States and • Consult the dealer or an experienced radio/TV technician
in other countries. AutoBase, CMR, CMR+, EVEREST, for help.
HYDROpro, Maxwell, Micro-Centered, Trimble Geomatics
Office, SiteNet, TRIMMARK, TRIMTALK, TSCe, VRS, Changes and modifications not expressly approved by the
manufacturer or registrant of this equipment can void your
Zephyr, and Zephyr Geodetic are trademarks of Trimble
Navigation Limited. authority to operate this equipment under Federal
Communications Commission rules.
The Bluetooth word mark and logos are owned by the Bluetooth
SIG, Inc. and any use of such marks by Trimble Navigation Canada
Limited is under license. Microsoft, Windows, and Windows NT This Class B digital apparatus complies with Canadian ICES-
are either registered trademarks or trademarks of Microsoft 003.
Corporation in the United States and/or other [Link] other Cet appareil numérique de la classe B est conforme à la norme
trademarks are the property of their respective owners. NMB-003 du Canada.
NTP Software Copyright This apparatus complies with Canadian RSS-GEN, RSS-310,
© David L. Mills 1992-2009. Permission to use, copy, modify, RSS-210, and RSS-119.
and distribute this software and its documentation for any Cet appareil est conforme à la norme CNR-GEN, CNR-310,
purpose with or without fee is hereby granted, provided that the CNR-210, et CNR-119 du Canada.
above copyright notice appears in all copies and that both the
copyright notice and this permission notice appear in supporting Europe
documentation, and that the name University of Delaware not be The product covered by this guide are intended to
used in advertising or publicity pertaining to distribution of the be used in all EU member countries, Norway, and
software without specific, written prior permission. The Switzerland. Products been tested and found to
University of Delaware makes no representations about the comply with the requirements for a Class B device
suitability this software for any purpose. It is provided "as is" pursuant to European Council Directive 89/336/EEC on EMC,
without express or implied warranty. thereby satisfying the requirements for CE Marking and sale
Product Limited Warranty Information within the European Economic Area (EEA). Contains a
Bluetooth radio module. These requirements are designed to
For applicable product Limited Warranty information, please provide reasonable protection against harmful interference when
refer to the Limited Warranty Card included with this Trimble the equipment is operated in a residential or commercial
product, or consult your local Trimble authorized dealer. environment. The 450 MHZ (PMR) bands and 2.4 GHz are non-
COCOM limits harmonized throughout Europe.
The U.S. Department of Commerce requires that all exportable CE Declaration of Conformity
GPS products contain performance limitations so that they Hereby, Trimble Navigation, declares that the GPS receivers are
cannot be used in a manner that could threaten the security of the in compliance with the essential requirements and other relevant
United States. The following limitations are implemented on this provisions of Directive 1999/5/EC.
product:
Australia and New Zealand
• Immediate access to satellite measurements and This product conforms with the regulatory
navigation results is disabled when the receiver velocity requirements of the Australian Communications and
is computed to be greater than 1,000 knots, or its altitude Media Authority (ACMA) EMC framework, thus
is computed to be above 18,000 meters. The receiver satisfying the requirements for C-Tick Marking and
GPS subsystem resets until the COCOM situation clears. sale within Australia and New Zealand.
As a result, all logging and stream configurations stop
until the GPS subsystem is cleared. Restriction of Use of Certain Hazardous Substances in
Electrical and Electronic Equipment (RoHS)
Trimble products in this guide comply in all material respects
with DIRECTIVE 2002/95/EC OF THE EUROPEAN
PARLIAMENT AND OF THE COUNCIL of 27 January 2003
on the restriction of the use of certain hazardous substances in
electrical and electronic equipment (RoHS Directive) and

2 SPS351 Modular GPS Receiver Getting Started Guide

Amendment 2005/618/EC filed under C(2005) 3143, with FCC Declaration of Conformity
exemptions for lead in solder pursuant to Paragraph 7 of the
Annex to the RoHS Directive applied.
We, Trimble Navigation Limited.
Waste Electrical and Electronic Equipment (WEEE) 935 Stewart Drive
For product recycling instructions and more information, please PO Box 3642
go to [Link]/[Link]. Sunnyvale, CA 94088-3642
Recycling in Europe: To recycle Trimble WEEE United States
(Waste Electrical and Electronic Equipment, +1-408-481-8000
products that run on electrical power.), Call +31 497 Declare under sole responsibility that DoC products comply with
53 24 30, and ask for the “WEEE Associate”. Or, Part 15 of FCC Rules.
mail a request for recycling instructions to: Operation is subject to the following two conditions:
Trimble Europe BV (1) This device may not cause harmful interference, and
c/o Menlo Worldwide Logistics (2) This device must accept any interference received, including
Meerheide 45 interference that may cause undesired operation
5521 DZ Eersel, NL
Unlicensed radios in products
This device complies with part 15 of the FCC Rules.
Operation is subject to the following two conditions:
(1) This device may not cause harmful interference, and
(2) This device must accept any interference received, including
interference that may cause undesired operation.
Licensed radios in products
This device complies with part 15 of the FCC Rules.
Operation is subject to the condition that this device may not
cause harmful interference.

SPS351 Modular GPS Receiver Getting Started Guide 3

Table of Contents
Safety Information ................................................................................................................................................ 5
Use and care .................................................................................................................................................... 5
Regulations and safety ..................................................................................................................................... 5
Type approval .................................................................................................................................................. 5
Exposure to radio frequency radiation............................................................................................................. 5
For Bluetooth radio .................................................................................................................................... 5
For GSM/GPRS radio ................................................................................................................................ 6
Installing antennas ........................................................................................................................................... 6
Battery safety................................................................................................................................................... 6
Introduction ........................................................................................................................................................... 7
Related information ......................................................................................................................................... 7
Technical support ............................................................................................................................................ 7
Your comments ............................................................................................................................................... 7
External Power ...................................................................................................................................................... 8
Supported power cables ................................................................................................................................... 8
Connecting SPS receivers to a vehicle battery ................................................................................................ 8
Front Panel Guide ................................................................................................................................................. 9
Keypad and display ......................................................................................................................................... 9
Button operations ............................................................................................................................................ 9
Power button operations ................................................................................................................................ 10
Home screen .................................................................................................................................................. 10
Configuration screens .................................................................................................................................... 11
Status screens ................................................................................................................................................ 13
Rear Connectors .................................................................................................................................................. 15
Signal Tracking ................................................................................................................................................... 16
Variable Configuration Options .......................................................................................................................... 17
Upgrading the receiver .................................................................................................................................. 17
Managing Application Files ................................................................................................................................ 18
Default Settings ................................................................................................................................................... 19
Resetting the receiver to use default configuration ....................................................................................... 20
Default behavior ............................................................................................................................................ 20
Troubleshooting .................................................................................................................................................. 21
Glossary......................................................................................................................................................... 22

4 SPS351 Modular GPS Receiver Getting Started Guide

Safety Information
Before you use your Trimble product, make sure that you have read and understood all safety
requirements.

Use and care

This product is designed to withstand the rough treatment and tough environment that typically
occurs in construction applications. However, the receiver is a high-precision electronic
instrument and should be treated with reasonable care.

Caution – Operating or storing the receiver outside the specified temperature range can damage it.

Regulations and safety

All SPS receiver models are capable of transmitting data through Bluetooth wireless
technology.
Bluetooth wireless technology operates in license-free bands.
The SNM910 cellular modem contains an internal Quad-Band GSM 850/900/1800/1900MHz
radio modem.
Before operating a Trimble GPS receiver or GSM modem, determine if authorization or a
license to operate the unit is required in your country. It is the responsibility of the end user to
obtain an operator's permit or license for the receiver for the location or country of use.
For FCC regulations, see Legal Notices.

Type approval
Type approval, or acceptance, covers technical parameters of the equipment related to
emissions that can cause interference. Type approval is granted to the manufacturer of the
transmission equipment, independent from the operation or licensing of the units. Some
countries have unique technical requirements for operation in particular radio-modem
frequency bands. To comply with those requirements, Trimble may have modified your
equipment to be granted Type approval.
Unauthorized modification of the units voids the Type approval, the warranty, and the
operational license of the equipment.

Exposure to radio frequency radiation

For Bluetooth radio

The radiated output power of the internal Bluetooth wireless radio is far below the FCC radio
frequency exposure limits. Nevertheless, the wireless radio shall be used in such a manner that
the Trimble receiver is 20 cm or further from the human body. The internal wireless radio
operates within guidelines found in radio frequency safety standards and recommendations,
which reflect the consensus of the scientific community. Trimble therefore believes that the
internal wireless radio is safe for use by consumers. The level of energy emitted is far less than
the electromagnetic energy emitted by wireless devices such as mobile phones. However, the
use of wireless radios may be restricted in some situations or environments, such as on aircraft.
If you are unsure of restrictions, you are encouraged to ask for authorization before turning on
the wireless radio.

SPS351 Modular GPS Receiver Getting Started Guide 5

 For GSM/GPRS radio
Safety. Exposure to RF energy is an important safety consideration. The FCC has adopted a
safety standard for human exposure to radio frequency electromagnetic energy emitted by FCC
regulated equipment as a result of its actions in General Docket 79-144 on March 13, 1986.
Proper use of this radio modem results in exposure below government limits. The following
precautions are recommended:
• DO NOT operate the transmitter when someone is within 28 cm (11 inches) of the
antenna.
• All equipment should be serviced only by a qualified technician.

Installing antennas
Caution – For your own safety, and in terms of the RF exposure requirements of the FCC, always
observe these precautions:
– Always maintain a minimum separation distance of 20 cm (7.8 inches) between yourself and the
radiating antenna.
– Do not co-locate the antenna with any other transmitting device.

Warning – The GPS antenna and its cabling should be installed in accordance with all national and
local electrical codes, regulations, and practices.

The antenna and cabling should be installed where they will not become energized as a result of
falling nearby power lines, nor be mounted where they are subjected to over-voltage transients,
particularly lightning. Such installations require additional protective means that are detailed in
national and local electrical codes.

Battery safety

Connecting SPS receivers to a vehicle battery

WARNING – Use caution when connecting battery cable's clip leads to a vehicle battery. Do not
allow any metal object or jewelry to connect (short) the battery's positive (+) terminal to either the
negative (-) terminal or the metal of the vehicle connected to the battery. This could result in high
current, arcing, and high temperatures, exposing the user to possible injury.

WARNING – When connecting an external battery, such as a vehicle battery, to an SPS receiver, be
sure to use the Trimble cable with proper over-current protection intended for this purpose, to avoid a
safety hazard to the user or damage to the product.

6 SPS351 Modular GPS Receiver Getting Started Guide

Introduction
Trimble SPS351 Modular GPS receivers are ideal for the following marine
construction applications:
• DGPS rover receiver on marine vessel
• Site and marine rover applications using Location GPS augmentation, including
OmniSTAR, Location RTK, SBAS, Beacon, and DGPS RTCM
The receiver has a keypad and display, so you can configure the receiver without
using a controller or computer.
All the receivers can optionally record GPS data to the internal memory, and transfer
the data over a serial or Ethernet connection.

Related information
Sources of related information include the following:
Release notes – The release notes describe new features of the product, information
not included in the manuals, and any changes to the manuals. They can be downloaded
from the Trimble website ([Link]/[Link]).
Trimble training courses – Consider a training course to help you use your GPS
system to its fullest potential. For more information, go to the Trimble website at
[Link]/[Link].

Technical support
If you have a problem and cannot find the information you need in the product
documentation, contact your local dealer. Alternatively, go to the Support area of the
Trimble website ([Link]/[Link]). Select the product you need
information on. Product updates, documentation, and any support issues are available
for download.
If you need to contact Trimble technical support, complete the online inquiry form at
[Link]/support_form.asp.

Your comments
Your feedback about the supporting documentation helps us to improve it with each
revision. Email your comments to ReaderFeedback@[Link].

SPS351 Modular GPS Receiver Getting Started Guide 7

External Power
Sources of external power include:
• AC power
• 12 V car or truck battery
• Trimble custom external battery pack
• Generator power
• Solar panel
Use the supplied Trimble AC power adapter and one of the cables listed below as
‘Power from AC adapter’ when connecting to an AC supply.

Supported power cables

Part SPS Power Power source Other connectors
Number connection connection
46125-20 7-pin Lemo 'Croc' clips Power from 12 V car battery None
56653-10 26-pin Adapter with Hirose Power from SPS700 total None
station battery cradle system
59044 7-pin Lemo Cable with DC plug Power to host devices from Serial
AC adapter
67384 7-pin Lemo Cable with DC plug Power to host devices from Serial to serial for Moving
AC adapter Base applications
57167 26-pin Adapter with DC plug Power from AC adapter USB(B) socket and
Ethernet socket
57168 26-pin Adapter with DC plug Power from AC adapter Serial and Ethernet
socket
60789-00, 26-pin Cable with DC plug Power from AC adapter 2 x Serial, Ethernet plug,
77070-00 USB(A) plug, 1PPS
(BNC)
65791-00, 26-pin Cable with DC plug Power from AC adapter 2 x Serial, Ethernet
78235-00 socket

Connecting SPS receivers to a vehicle battery

WARNING – Use caution when connecting battery cable's clip leads to a vehicle battery. Do not allow any
metal object or jewelry to connect (short) the battery's positive (+) terminal to either the negative (-) terminal
or the metal of the vehicle connected to the battery. This could result in high current, arcing, and high
temperatures, exposing the user to possible injury.

WARNING – When connecting an external battery, such as a vehicle battery, to an SPS receiver, ensure
that you use the Trimble cable with proper over-current protection intended for this purpose, to avoid a
safety hazard to the user or damage to the product.

8 SPS351 Modular GPS Receiver Getting Started Guide

Front Panel Guide
Keypad and display

Feature Description
1 Power button Indicates if the receiver is turned on or off.
2 Buttons Used to turn on and configure the receiver.
3 Display The receiver has a Vacuum Fluorescent Display that enables you to see how the
receiver is operating and view the configuration settings.
4 Bluetooth Location of the Bluetooth antenna.
antenna

Button operations
Use the buttons on the front panel to turn the receiver on and off and to check or
change the receiver settings.
Button Name Function
Power Turns the receiver on and off and performs reset operations.

Escape Returns to the previous screen or cancels changes being made on a screen.

Enter Advances to the next screen or accepts changes made on a screen.

Up Moves the cursor between multiple fields on a screen or makes changes to an

editable field.
Down Moves the cursor between multiple fields on a screen or makes changes to an
editable field.
Left Moves the cursor between characters in a field that can be changed.

Right Moves the cursor between characters in a field that can be changed. Press this
button to enter Edit mode.

SPS351 Modular GPS Receiver Getting Started Guide 9

 Power button operations

Press the Power button to turn the receiver on and off.

In addition, you can tap to return to the Home screen, or hold down to perform
the following operations:
To … Notes
Hold the
button for …
turn off the two seconds The display shows a countdown timer. When the
receiver display goes blank, release the Power button.
clear the almanac, 15 seconds The display shows a countdown timer. When the
ephemeris, and display goes blank, continue to hold the Power button.
SV information The display shows a countdown time to clear the
and use the almanac and ephemeris. When the counter reaches 0,
default application release the Power button.
file
reset the receiver 35 seconds The display shows a countdown timer. When the
to its factory display goes blank, continue to hold the Power button.
defaults and the The display shows a countdown to clear the almanac
default application and ephemeris. When the counter reaches 0, continue
file (all stored to hold the Power button. The display indicates a
memory is countdown to resetting the receiver. When the counter
cleared) reaches 0, release the Power button.
force the receiver at least 60 If the reset method above does not work, use this
to power down seconds method to force the receiver to turn off. When the
Power LED goes off, release the Power button.

Home screen
The Home screen is the main screen displayed on the receiver. It shows the following
information:
• Number of satellites being tracked:

• When the receiver is in Rover mode, the Home screen displays the number of
satellites used to calculate the position.
• If the receiver is computing an autonomous solution, the Home screen displays
all satellites in view, that is, all satellites above the elevation mask.

Tip – To view these details using the web interface, select Receiver Status /
Position.

• MSK Beacon Status

• If the internal Beacon receiver is enabled, the Home screen displays the Status
of the Beacon and the frequency of the MSK Beacon station.
• Current mode configuration

10 SPS351 Modular GPS Receiver Getting Started Guide

 Configuration screens

Use the front panel to do basic receiver configuration. Press to navigate through
the configuration screens and the arrow keys to change the selection.
For the full range of receiver configuration options, connect the receiver to a laptop
using an ethernet cable and then enter the receiver IP address into a web browser to
access the browser interface.

SPS351 Modular GPS Receiver Getting Started Guide 11

12 SPS351 Modular GPS Receiver Getting Started Guide
 Status screens
The receiver has several view-only status screens that allow you to review the current
settings of the receiver. The status screens provide the following information:
• Position solution and precisions
• Beacon, CMR and RTCM IDs or OmniSTAR satellite
• Base ID, link quality and correction latency
• Beacon Signal details
• Base name and code
• Latitude, longitude, and height
• Antenna height
• Receiver model
• Receiver firmware version
• Receiver Hardware version
• Receiver serial number
• Receiver MAC address
• Receiver IP address

To access these screens from the Home screen, press or . For the full range of
receiver status options, connect the receiver to a laptop using an ethernet cable and
then enter the receiver IP address into a web browser to access the browser interface.

SPS351 Modular GPS Receiver Getting Started Guide 13

14 SPS351 Modular GPS Receiver Getting Started Guide
Rear Connectors

Connector type Description

1 TNC Connect to the GPS antenna
2 Not applicable to the SPS351 receiver
3 Vent plug External venting plug for pressure equalization
4 High Density DB26 Ethernet connectivity to a 10/100 Base-T network
through an RJ45 jack on a multiport adaptor (P/N 57167
or P/N 57168)
'Slave' USB communications through the USB type B
connector on the multiport adaptor (P/N 57167)
'Host' USB communications through the connector on
the 26-pin cable (P/N 58339)
Primary power from an external power supply
Full 9-wire RS-232 serial communications using the 26-
9-pin multiport adaptor (P/N 57168) or a 26-pin serial
communications cable
1PPS, 2 x RS-232 input DC, USB, Ethernet plug
(P/N 60789-00 or P/N 77070-00)
2 x RS-232, DC, Ethernet socket (P/N 65791 or
P/N 78235-00)
5 Lemo (7-pin/0-shell) 3 wire RS-232 serial communications using a
7-pin/ 0 shell Lemo cable
Secondary external power input
CAN

SPS351 Modular GPS Receiver Getting Started Guide 15

Signal Tracking
This table shows the signal tracking capability for the SPS351 receiver:
GPS signal type Class SPS351
GPS signals L1

L2

L2C

L5

GLONASS signals L1/L2

Galileo GIOVE

GPS SBAS corrections WAAS

EGNOS

MSAS

OmniSTAR corrections XP

HP

VBS

Beacon corrections MSK

16 SPS351 Modular GPS Receiver Getting Started Guide

Variable Configuration Options
This table lists the default options for the SPS351 receiver:
Configuration option SPS351
Rover options
Precise horizontal 0.30m
Precise vertical 0.30m
Beacon Autopower
Location RTK DGPS only
RTK range limit None
Base options
Static RTK N/A
Moving Base N/A
RTCM DGPS Optional
General options
Data logging Optional
VRS support DGPS only
Max data rate 10 Hz

Upgrading the receiver

The SPS351 can be upgraded to include DGPS reference station capability.
When you purchase the upgrade after you have received the receiver, your Trimble
dealer will provide you with a code to change the receiver configuration.

SPS351 Modular GPS Receiver Getting Started Guide 17

Managing Application Files
You can use the front panel to manage application files in the receiver. You can see
which application file the receiver is currently using and then choose to make changes
to it and save it, load a different application file, or delete an application file.
To manage the application files, use the System Setup menu (see the figure below).
You can only manage application files when the AutoBase feature is turned off.
To save an application file, configure all the settings you need through the front panel
and then save the file. When you save the file, the receiver provides a default
filename, which you can change, based on the currently set mode. For example:
If the receiver is set to the following mode: The suggested application filename is:
Base BASE01
Rover ROV01

Note – If you start an application file that is saved with AutoBase turned on in the file,
then it turns on AutoBase in the receiver, even if it was off before the file was loaded.

Application file handling through the front panel of the receiver

18 SPS351 Modular GPS Receiver Getting Started Guide

Default Settings
All settings are stored in application files. The default application file, [Link], is
stored 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, [Link]) are reset to the values in the default application file.
You cannot modify the default application file. However, you can create a power-up
application file so that the settings in this file can be applied immediately after the
default application file, overriding the factory defaults. For more information, see
Configuring the receiver using application files.
These settings are defined in the default application file.
Function Settings Factory default
SV Enable - All SVs enabled
General Controls Autobase Disabled
Operation Mode Rover
1PPS Enabled
VFD Configuration Enabled
Tracking Controls Elevation Mask 10°
Everest (Multipath mitigation) Enabled
SBAS tracking L1-C/A
Position controls PDOP Mask 99
RTK Mode Low Latency
Motion Kinematic
Horizontal precision 0.30m
Vertical precision 0.30m
Age of corrections (max) 60 sec
Lemo Port Baud rate 38,400
Format 8-None-1
Flow control None
Modem Port Baud rate 38,400
Format 8-None-1
Flow control None
Input Setup Station Any
NMEA/ASCII (all supported messages) All ports Off
Streamed output All Types Off
Offset = 00
RT17/Binary All ports Off
Reference position Latitude 0°
Longitude 0°
Altitude 0.00 m HAE
Antenna Type GA530
Height (true vertical) 0.00 m
Measurement method Antenna phase
center

SPS351 Modular GPS Receiver Getting Started Guide 19

 Resetting the receiver to use default configuration
To reset the receiver to its default settings, do one of the following:

• On the receiver, press for 15 seconds.

• In the Configuration Toolbox software, select the Communications menu and then
click Reset Receiver.
• Using the Browser interface go to the Receiver Configuration menu, Reset tab and
select Use Default Application File.

Default behavior
If a power-up application file is present in the receiver, its settings are applied
immediately after the default settings. This means you can use a power-up file to
define your own set of defaults. The factory defaults are also applied when you
perform a full reset of the receiver because resetting the receiver deletes the power-up
files.
When starting any of the SPS receivers as a base station or rover receiver using the
HYDROpro software, the settings required for those operations are automatically set
and configured in that software. To change the receiver settings for special
applications or for use with third-party software, use the Browser interface or the
Configuration Toolbox software.

20 SPS351 Modular GPS Receiver Getting Started Guide

Troubleshooting
This section describes some possible receiver issues, possible causes, and how to solve
them. Please read this section before you contact Technical Support.
Issue Possible cause Solution
The receiver does not External power is too low. Check the charge on the external
turn on power supply, and check the fuse
if applicable. If required, replace
the battery.
External power is not properly Check that the Lemo connection is
connected. seated properly.
Check for broken or bent pins in
the connector.
Faulty external power cable. Try a different cable.
Check pinouts with multimeter to
ensure internal wiring is intact.
Receiver is not tracking GPS antenna does not have Ensure that the antenna has a
any satellites clear line of sight to the sky. clear line of sight.
The cable between receiver Replace the cable.
and the GPS antenna is
damaged.
Cable connections at receiver Check all cable connections.
or antenna are not tightly
seated, or are connected
incorrectly.
The receiver is not Receiver needs a soft reset. Turn off the receiver and then turn
responding it back on again.
Receiver needs a full reset. Press for 35 seconds.

The SPS Modular The SPS Modular receiver Ask your local dealer to check the
receiver cannot be set may have been purchased as Option Bit settings, else check the
up as a base station a rover receiver rather than setting yourself using the
using the SCS900 with the optional base station WinFlash utility. If required,
software capability. upgrade the receiver.

SPS351 Modular GPS Receiver Getting Started Guide 21

 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.
AutoBase AutoBase technology uses the position of the receiver to automatically select the
correct base station; allowing for one button press operation of a base station. It
shortens setup time associated with repeated daily base station setups at the
same location on jobsites.
base station Also called reference station. In construction, a base station is a receiver placed
at a known point on a jobsite 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.
beacon Source of RTCM DGPS corrections transmitted from coastal reference stations
in the 283.5 to 325.0 kHz range.
BINEX BInary EXchange format. BINEX is an operational binary format standard for
GPS/GLONASS/SBAS research purposes. It is designed to grow and allow
encapsulation of all (or most) of the information currently allowed for in a range
of other formats.
broadcast server An Internet server that manages authentication and password control for a
network of VRS servers, and relays VRS corrections from the VRS server that
you select.
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/CMR+ Compact Measurement Record. A real-time message format developed by
Trimble for broadcasting corrections to other Trimble receivers. CMR is a more
efficient alternative to RTCM.
CMRx A real-time message format developed by Trimble for transmitting more satellite
corrections resulting from more satellite signals, more constellations, and more
satellites. Its compactness means more repeaters can be used on a site.
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

22 SPS351 Modular GPS Receiver Getting Started Guide

 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.
differential correction Differential correction is the process of correcting GPS data collected on a rover
with 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 is collected by
postprocessing.
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.
EHT Height above ellipsoid.
ephemeris/ephemerides A list of predicted (accurate) positions or locations of satellites as a function of
time. A set of numerical parameters that can be used to determine a satellite’s
position. Available as broadcast ephemeris or as postprocessed precise
ephemeris.

SPS351 Modular GPS Receiver Getting Started Guide 23

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.
Galileo Galileo is a GNSS system built by the European Union and the European Space
Agency. It is complimentary to PPS and GLONASS.
GHT Height above geoid.
GIOVE Galileo In-Orbit Validation Element. The name of each satellite for the
European Space Agency to test the Galileo positioning system.
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.
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).
IBSS Internet Base Station Service. This Trimble service makes the setup of an
Internet-capable SPS receiver as simple as possible. The base station can be
connected to the Internet (cable or wirelessly). To access the distribution server,
the user enter a password into the receiver. To use the server, the user must have
a Trimble Connected Community site license.
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.
Location RTK Some applications such as vehicular-mounted site supervisor systems do not
require Precision RTK accuracy. Location RTK is a mode in which, once
initialized, the receiver will operate either in 10 cm horizontal and 10 cm
vertical accuracy, or in 10 cm horizontal and 2 cm vertical accuracy.
Mountpoint Every single NTripSource needs a unique mountpoint on an NTripCaster.
Before transmitting GNSS data to the NTripCaster, the NTripServer sends an
assignment of the mountpoint.

24 SPS351 Modular GPS Receiver Getting Started Guide

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.
NTrip Protocol Networked Transport of RTCM via Internet Protocol (NTrip) is an application-
level protocol that supports streaming Global Navigation Satellite System
(GNSS) data over the Internet. NTrip is a generic, stateless protocol based on the
Hypertext Transfer Protocol (HTTP). The HTTP objects are extended to GNSS
data streams.
NTripCaster The NTripCaster is basically an HTTP server supporting a subset of HTTP
request/response messages and adjusted to low-bandwidth streaming data. The
NTripCaster accepts request messages on a single port from either the
NTripServer or the NTripClient. Depending on these messages, the NTripCaster
decides whether there is streaming data to receive or to send.
Trimble NTripCaster integrates the NTripServer and the NTripCaster. This port
is used only to accept requests from NTripClients.
NTripClient An NTripClient will be accepted by and receive data from an NTripCaster, if the
NTripClient sends the correct request message (TCP/UDP connection to the
specified NTripCaster IP and listening port).
NTripServer The NTripServer is used to transfer GNSS data of an NTripSource to the
NTripCaster. An NTripServer in its simplest setup is a computer program
running on a PC that sends correction data of an NTripSource (for example, as
received through the serial communication port from a GNSS receiver) to the
NTripCaster.
The NTripServer - NTripCaster communication extends HTTP by additional
message formats and status codes.
NTripSource The NTripSources provide continuous GNSS data (for example, RTCM-104
corrections) as streaming data. A single source represents GNSS data referring
to a specific location. Source description parameters are compiled in the source-
table.
OmniSTAR The OmniSTAR HP/XP service allows the use of new generation dual-
frequency receivers with the OmniSTAR service. The HP/XP service does not
rely on local reference stations for its signal, but utilizes a global satellite
monitoring network. Additionally, while most current dual-frequency GPS
systems are accurate to within a meter or so, OmniSTAR with XP is accurate in
3D to better than 30 cm.
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).

SPS351 Modular GPS Receiver Getting Started Guide 25

 Using a maximum PDOP value is ideal for situations where both vertical and
horizontal precision are important.
POE Power Over Ethernet. Provides DC power to the SPS Modular receiver using an
Ethernet cable.
postprocessing Postprocessing is the processing of satellite data after it is collected, in order to
eliminate error. This involves using computer software to compare data from the
rover with data collected at the base station.
real-time differential Also known as real-time differential correction or DGPS. Real-time differential
GPS GPS is the 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.
Roving mode Roving mode applies to the use of a rover receiver to collect data, stakeout, or
control earthmoving machinery in real time using RTK techniques.
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/MSAS) networks of reference stations.
Corrections and additional information are broadcast using 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.
Source-table The NTripCaster maintains a source-table containing information on available
NTripSources, networks of NTripSources, and NTripCasters, to be sent to an
NTripClient on request. Source-table records are dedicated to one of the
following:
• data STReams (record type STR)
• CASters (record type CAS)
• NETworks of data streams (record type NET)
All NTripClients must be able to decode record type STR. Decoding types CAS

26 SPS351 Modular GPS Receiver Getting Started Guide

 and NET is an optional feature. All data fields in the source-table records are
separated using the semicolon character.
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.
VRS Virtual Reference Station. A VRS system consists of GPS hardware, software,
and communication links. It uses data from a network of base stations to provide
corrections to each rover that are more accurate than corrections from a single
base station.
To start using VRS corrections, the rover sends its position to the VRS server.
The VRS server uses the base station data to model systematic errors (such as
ionospheric noise) at the rover position. It then sends RTCM correction
messages back to the rover.
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 [Link]
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.

SPS351 Modular GPS Receiver Getting Started Guide 27