ashtech Z-sensor User manual

Z-Sensor & Z-Eurocard
Operation Manual
Ashtech
1170 Kifer Road
Sunnyvale, CA USA 94086
Phone and Fax Numbers
•Main
• Voice: 408-524-1400
• Fax: [phone]
• Sales
• US: 800-922-2401
• International: 408-524-1670
• Fax: [phone]
•Europe
• Voice: 44-993-883-533
• Fax: [phone]
• Support
• US: 800-229-2400
• International: 408-524-1680
• Fax: [phone]
•BBS
• Direct: 408-524-1527
Internet
• [e-mail]
• http://www.ashtech.com

ii Z-Sensor and Z-Eurocard Operation Manual
Copyright Notice
Copyright © 1998 Magellan Corporation. All rights reserved.
No part of this publication or the computer programs described in it may be repro-
duced, translated, stored in a retrieval system, or transmitted in any form or by any
means, electronic, mechanical photocopying, recording, or otherwise, without prior
written permission of Magellan. Your rights with regard to this publication and the
computer programs are subject to the restrictions and limitations imposed by the cop-
yright laws of the United States of America (“U.S.A.”) and/or the jurisdiction in
which you are located.
For information on translations and distribution outside the U.S.A., please contact
Ashtech Inc.
NO PATENT OR COPYRIGHT LIABILITY IS ASSUMED WITH RESPECT TO
THE USE OF INFORMATION CONTAINED HEREIN. WHILE REASONABLE
PRECAUTIONS HAVE BEEN TAKEN IN THE PREPARATION OF THIS PUB-
LICATION, ASHTECH ASSUMES NO RESPONSIBILITY FOR ERRORS OR
OMISSIONS, NOR IS ANY LIABILITY ASSUMED FOR DAMAGES RESULT-
ING FROM THE USE OF THE INFORMATION CONTAINED HEREIN. FUR-
THER, THIS PUBLICATION AND FEATURES DESCRIBED HEREIN ARE
SUBJECT TO CHANGE WITHOUT NOTICE.
Printed in the United States of America.
© Copyright 1998 Magellan
Part Number: 630152-01, Revision B

iii
Trademarks
Z-Eurocard, Z-Sensor, Ashtech, Magellan, and the Ashtech Logo are registered trade-
marks of Magellan. All other product and brand names are trademarks or registered
trademarks of their respective holders.

iv Z-Sensor and Z-Eurocard Operation Manual

Table of Contents v
Reliance Fundamentals
Chapter 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Receiver Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
[B] RTCM Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
[U] RTCM Remote . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
[E] Event Marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
[X] External Frequency Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
[M] Remote Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
[F] Fast Data Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
[T] Point Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
[3] Observables—1, 2, 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
[J] RTK Rover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
[K] RTK Base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Chapter 2. Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Hardware Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Z-Eurocard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
RF Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Mounting Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Heat-Sink Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Z-Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Power/Input/Output Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
RF Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Serial/Power Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
On-Board Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
SSRadio Antenna Connection (Optional) . . . . . . . . . . . . . . . . . . . . . . . . . 22
Radio Interference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Development Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Table of Contents

vi Z-Sensor and Z-Eurocard Operation Manual
Chapter 3. Getting Started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Applying Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Receiver Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Receiver Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Satellite Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Setting Receiver Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Saving Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Data Recording . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Default Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1

List of Figures vii
Reliance Fundamentals
List of Figures
Figure 2.1: Z-Eurocard Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Figure 2.2: Z-Eurocard Interface Connector. . . . . . . . . . . . . . . . . . . . . . . . . . 10
Figure 2.3: 64-Pin Straight Header Option . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 2.4: Interface Connector Pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 2.5: Z-Eurocard Mounted with Heat-Sink. . . . . . . . . . . . . . . . . . . . . . 15
Figure 2.6: Z-Sensor Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Figure 2.7: Z-Sensor Mounting Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . 18
Figure 2.8: DB25 Connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 2.9: Z-Sensor Serial/Power Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Figure 2.10: Z-Sensor Development Kit (A). . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Figure 2.11: Z-Sensor Development Kit (B). . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Figure 2.12: Z-Eurocard Development Kit (A). . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 2.13: Z-Eurocard Development Kit (B). . . . . . . . . . . . . . . . . . . . . . . . . 26

viii Z-Sensor and Z-Eurocard Operation Manual

List of Tables ix
Reliance Fundamentals
List of Tables
Table 1.1: Technical Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Table 1.2: Accuracy as Function of Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Table 1.3: Z-receiver Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Table 2.1: Z-Eurocard Interface Connector. . . . . . . . . . . . . . . . . . . . . . . . . . 12
Table 2.2: SSRadio Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Table 2.3: Z-Sensor Front Panel Description. . . . . . . . . . . . . . . . . . . . . . . . . 16
Table 2.4: Z-Sensor DB25 Connector Pinout . . . . . . . . . . . . . . . . . . . . . . . . 19
Table 2.5: Spread Spectrum Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Table 3.1: Default Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

x Z-Sensor and Z-Eurocard Operation Manual

Introduction 1
Reliance Fundamentals
Introduction
1
Introduction
The Z-Eurocard and Z-Sensor are two different form-factors for the newest generation of
Ashtech Z-12 receiver. The Z-12 receiver tracks all the available signals from GPS
satellites, both C/A and P code, both L1 and L2 frequencies, whether ornot AS (“Anti-
Spoofing” or encryption) is on or off. The benefit of a dual-frequency receiver is that it is
excellent for RTK (Real Time Kinematic) applications, especially on longer baselines.
RTK is typically used where centimeter position accuracy is required in real time.
The Z-Family of receivers includes the Z-Eurocard, Z-Sensor, Z-Surveyor and Z-FX. This
manual covers the Z-Eurocard and Z-Sensor. These two receivers have been built
specifically with real-time industrial applications in mind, such as machine control in
construction, mining and precision agriculture; as well as precision navigation
applications like docking, and dredging. The Z-Eurocard and Z-Sensor are built to
withstand the extremely high vibration requirements in their target application. They also
provide positions at very high updates and low latencies, required in control applications.
The Z-Eurocard is mechanically and electrically compatible with the Ashtech GG24
GPS+GLONASS Eurocard, and the GG-RTK Eurocard. Thus once you have integrated
one of these, you have essentially integrated them all. The same is true of the Z-Sensor,
GG24 Sensor and GG-RTK Sensor.
Throughout this manual, the terms “Z-Eurocard” and “OEM board” are used interchangeably. Because
this manual describes both the Z-Sensor and the Z-Eurocard, the term “Z-receiver” will refer to both
products.
Overview
The Z-receiver processes signals from the GPS satellite constellation. The Z-receiver
provides real-time position, velocity, and time measurements using 36 dedicated separate
and parallel channels, 12 each for Coarse/Acquisition (C/A) code-phase, and carrier-phase
measurement on the L1 (1575 MHz), and Precise (P) code phase and carrier phase
measurement on L1 and L2 (1227 MHz) bands. The Z-receiver receives satellite signals
via an L-band antenna and low-noise amplifier (LNA). The Z-receiver operates stand-
alone, and as a base (reference) station or remote (rover) station providing real-time
differential GPS operation for code and real-time kinematic (RTK) operation for carrier
phase. The unit implements the RTCM SC 104 V2.2 standard for differential and RTK
operation, including the newly defined message types 18, 19, 20, and 21. These features
allow the Z-receiver to achieve centimeter accuracy while being compatible for

2 Z-Sensor and Z-Eurocard Operation Manual
differential and RTK operation with any other receiver that implements the RTCM
standard.
Functional Description
The receiver is activated when power is applied to the power connector, and (in the
case of the Z-Sensor) the power switch is ON. After self test, the receiver initializes
its 12x3 channels and begins searching for all space vehicles (SV) within the field of
view of the antenna.
The Z-receiver can track all Block I and Block II GPS SVs. All 32 PRN numbers as
specified in Navstar GPS Space Segment/Navigation User Interfaces, ICD-GPS-200,
Revision B are coded inside the product. As the Z-receiver acquires (locks onto) each
SV, it notes the time and then collects the ephemeris data about the orbit of that SV,
and almanac data about the orbits of all the SVs in the constellation.
The Z-receiver features 12-parallel channel/12-SV all-in-view operation; each of up
to 12 visible SVs can be assigned to a channel and then continuously tracked. Each
SV broadcasts almanac and ephemeris information every 30 seconds, and the unit
automatically records this information in its non-volatile memory.
The unit has an L1/L2-band radio frequency (RF) port and four RS-232 serial input/
output (I/O) ports. Ports A, B, and C are capable of two-way communication with
external equipment. On the Z-Sensor, port D can only be used with the optional
internal radio. On the Z-Eurocard, port D may be used with an on-board radio or
externally via the DIN64 connector.
The RF circuitry receives satellite data from a GPS antenna and LNA via a coaxial
cable, and can supply +5V to the antenna/LNA by means of that cable. No separate
antenna power cable is required. Typical power consumption is approximately 7.5
watts even when powering an LNA.
The receiver incorporates a red/green LED which lights red to indicate power status
and flashes green to indicate the number of satellites locked.
The Z-receiver collects Coarse Acquisition (C/A) code-phase (pseudo-range) and full
wavelength carrier phase measurement on L1 frequency (1575 MHz), Precise (P)
code phase (pseudo-range) and full wavelength carrier phase on L1 and L2 frequency
(1227 MHz). The Z-receiver permits uninterrupted use even when anti-spoofing (AS)
is turned on. When AS is on, the Z-receiver automatically activates Ashtech’s
patented Z-tracking mode that mitigates the effects of AS. The performance when AS
is on is the same as when AS is off.

Introduction 3
Introduction
Technical Specifications
Table 1.1 lists the technical specifications of the Z-receiver.
Table 1.1: Technical Specifications
Characteristic Specifications
Z-Sensor Z-Eurocard
Tracking 12 channels L1 CA/PL1 and PL2
Size 2.30”H x 6.75”W x 10.31”L 0.6”H x 3.9”W x 6.8”L
Weight 3.75 lb 0.5 lb
Operating temperature -30° to +55°C -30° to +70°C*
Storage temperature -40° to +85°C -40° to +85°C
Humidity 100% 95% non-condensing
Environment Resistant to wind-driven rain and
dust to MIL-STD-810E N/A
Power consumption 7.5 watts
Power input 10—28V 5V ±5%
Interface • Three RS-232 ports via a DB-25
connector (one internal RS-232
port)
• One antenna connector
• Event marker and 1PPS via DB-
25 connector
• Optional radio antenna
connector
• Four RS-232 ports
• One antenna connector
• Event marker
• 1PPS
• Optional radio interface
connector
Measurement Precision
C/A (>10° elevation)
• Pseudo-range (raw/smooth)
• Carrier Phase • 25cm/3.6cm •0.9mm
P-Code AS off (>10° elevation)
• L1 Pseudo-range (raw/smooth)
• L1 Carrier Phase
• L2 Pseudo-range (raw/smooth)
• L2 Carrier Phase
• 15cm/0.9cm
•0.9mm
• 21cm/1.3cm
•0.9mm
* Refer to “Heat-Sink Requirements” on page 14 for heat sinking information.

4 Z-Sensor and Z-Eurocard Operation Manual
Performance Specifications
One of the most important functions of the Z-receiver is providing real-time position
solutions with accuracy ranging from centimeter level to 100 meters. Table 1.2
summarizes the positioning modes and expected accuracy.
All accuracies were computed from multiple trials of live satellite data collected in the San Francisco
Bay area with receivers and survey grade antennas under average multipath conditions.
Receiver Options
Table 1.3 lists the available options. Each option is represented by a letter or number
presented in a certain order. You can verify the installed options by issuing the
following command to the receiver using an external handheld controller or PC, as
described in Z-Family Technical Reference Manual:
•$PASHQ,RID
The command will display the options on an external handheld controller or PC. For
example:
$PASHR,RID,UZ,30,UC00,BUEXMFT3JK,0A13*75
Table 1.2: Accuracy as Function of Mode
Positioning Mode Typical Horizontal Accuracy (2drms), 5
SVs, PDOP<4
Maximum
Update Rate Maximum Operating Range
Autonomous 100 meters with SA on 5 Hz (10 Hz
optional) Anywhere
RTCM code differential 1.0 meters + 10 ppm 5 Hz (10 Hz
optional) Several hundred kilometers (depending
upon datalink)
Static (post-processed) 5mm + 1ppm 5 Hz (10 Hz
optional Several hundred kilometers (depending
upon satellite geometry)
Real-time carrier phase
differential in RTCM-
RTK format or DBEN
format
1.6cm +2ppm 5 Hz (10 Hz
optional <15 kilometers (depending upon datalink)

Introduction 5
Introduction
If the letter or number is displayed in the response message, the option is available. If
the letter/number is not displayed, the option is not available. Table 1.3 lists the
available options.
[B] RTCM Base
The receiver has the ability to be set as an RTCM differential base station and can
output real-time differential corrections when this option is enabled.
The output will be in RTCM-104, Version 2.2 format message types 1,3,6, 16 and 22
as well as RTCM Carrier Differential 18, 19, 20, and 21. For messages 18, 19, 20, and
21, the J option is also required.
[U] RTCM Remote
The real-time differential corrections are available when this option is enabled.
The receiver will decode the RTCM-104, Version 2.2 format message types 1,3,6,9,
16, and 22 as well as types 18, 19, 20 and 21. For messages 18, 19, 20, and 21, the J
option is also required.
[E] Event Marker
The [E] option enables the storage of event times created from a trigger signal. The
receiver measures and records event times with high accuracy (down to one
microsecond). The receiver stores an event time at the rising edge of the trigger signal
(or the falling edge on command) and the time is recorded in the receiver’s PC
memory card and/or output through the TTT NMEA message.
Table 1.3: Z-receiver Options
Option Description
B RTCM differential base
U RTCM differential remote
E Event Marker
X External Frequency
M Remote monitor option
F Fast Data Output
T Point Positioning
1,2,3 Observables
J RTK Rover
K RTK Base Station

6 Z-Sensor and Z-Eurocard Operation Manual
[X] External Frequency Reference
The external frequency option [X] allows you to input an external frequency so the
user can synchronize receiver data to an external clock. When enabled, its installation
disables the internal oscillator and use the external frequency input only. This option
is not available for the Z-Eurocard.
This option is not available for firmware version UC00 or older.
[M] Remote Monitoring
The remote monitoring option allows you to use the REMOTE.EXE to access and
control the receiver via a modem from a remote location.
[F] Fast Data Output
This option enables the receiver to be programmed to output both raw position data
and NMEA messages at user-selectable frequencies up to 10Hz. Without this option,
only frequencies up to 5Hz are available.
[T] Point Positioning
The [T] option allows you to put the receiver into point positioning mode using the
$PASHS,PPO command. Point positioning mode improves the accuracy of an
autonomous position of a static point.
[3] Observables—1, 2, 3
This option determines the observables available in the receiver where:
1—CA code and P-code on L1/L2 (No carrier)
2—CA code and carrier, P-code on L1/L2 (No carrier)
3—CA code and carrier, P-code on L1/L2 and carrier
[J] RTK Rover
The [J] option allows the receiver to act as a rover station that utilizes the carrier
phase differential (both DBEN and RTCM message 18, 19, 20, and 21) data
transmitted from the base to compute differentially corrected positions. This option
requires the observables option to be 3. For RTCM messages type 18, 19, 20, and 21,
the U option is required in addition to the J option.

Introduction 7
Introduction
[K] RTK Base
The [K] option allows the receiver to act as an RTK base station which outputs carrier
phase differential data. This option requires the observables option to be 3. For
RTCM 18/19 or 21/22, the B option is also required.

8 Z-Sensor and Z-Eurocard Operation Manual

Equipment 9
Equipment
2
Equipment
Hardware Description
Z-Eurocard
The Z-Eurocard has four RS-232 serial ports embedded in a 64-pin connector. The RF
circuitry receives satellite data from a GPS antenna and LNA via a coaxial cable, and can
supply power to the antenna/LNA by means of that cable. No separate antenna power is
required. The LNA power consumption is approximately 150 milliwatts (depends on
model and manufacturer).
The board includes a two-color LED; the LED lights red to indicate the power status, and
flashes green to indicate the number of satellites locked. For example, red indicates power
on, and four green flashes indicate four satellites locked.

10 Z-Sensor and Z-Eurocard Operation Manual
An external two-color LED can be connected to the board by connecting the common
cathode to ground, and the anodes connected to the LED-GRN and LED-RED pins.
100-ohm resistors are in series with the output pins.
Figure 2.2 shows the 64-pin DIN male power/input/output interface connector (this
board is also available with a 64-pin straight header).
Figure 2.1: Z-Eurocard Dimensions
Figure 2.2: Z-Eurocard Interface Connector