CodaOctopus F175 MOTION User manual

Copyright © 2013 Coda Octopus Products Ltd
F175 MOTION Sensor
Trimble SPS361/SPS461 Integration
Version: 1.0.0
/F175
Compact, lightweight, robust and accurate
postion and motion data

F175 MOTION Sensor
Trimble SPS361/SPS461 Integration
This guide gives comprehensive
introductions on how the Trimble SPS361
and SPS461 GPS receivers can be used
with the F175 MOTION Sensor hardware
and MOTION Control software developed
by CodaOctopus.

F175 MOTION Sensor - Trimble SPS361/SPS461 Integration
Copyright © 2013 Coda Octopus Products Ltd
Version: 1.0.0 (08/03/2013)
All rights reserved. No part of this manual, including the products and software described in it, may be
stored in a retrieval system, transmitted, or reproduced by any means, including, but not limited to
photocopy, photograph, digitizing, or otherwise - without the written permission of the publisher.
Coda®, Octopus®, F170™ and F175™ are registered trademarks (Reg. U.S Pat & TM Off) or trademarks of
Coda Octopus Group Inc.
Other products that are referred to in this document may be either trademarks and/or registered
trademarks of the respective owners. The publisher and the author make no claim to these trademarks.
Specifications and information contained in this manual are furnished for informational use only, and
are subject to change at any time without notice, and should not be construed as a commitment by
Coda Octopus Products. Coda Octopus Products assumes no responsibility or liability for any errors or
inaccuracies that may appear in this manual, including the products and software described in it.
While every precaution has been taken in the preparation of this document, the publisher and the
author assume no responsibility for errors or omissions, or for damages resulting from the use of
information contained in this document or from the use of programs and source code that may
accompany it. In no event shall the publisher and the author be liable for any loss of profit or any other
commercial damage caused or alleged to have been caused directly or indirectly by this document.

4
Contents
Copyright © 2013 Coda Octopus Products Ltd F175 MOTIONSensor - Trimble SPS361/SPS461 Integration
Table of Contents
Chapter 1 Introduction 6
................................................................................................................................... 7
1.1 How To Get Support
......................................................................................................................................................... 7
Support Enquiries1.1.1 ......................................................................................................................................................... 7
Return Material Authorization (RMA)1.1.2 ......................................................................................................................................................... 8
Training & Field Support1.1.3
Chapter 2 Connection Details 10
Chapter 3 Configuration 13
Chapter 4 Setup MOTION Control 16
Chapter 5 Checking External GNSS Input 18
Chapter 6 Use of Antenna Splitters 20
Chapter 7 Accuracy Specification 23
Chapter 8 Troubleshooting 25
27
Index

Chapter 1
Introduction

Introduction
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F175 MOTIONSensor - Trimble SPS361/SPS461 Integration
1 Introduction
This manual explains how the Trimble SPS361/SPS461 GPS receivers can be used with the F175
System. The Trimble SPS361 and SPS461are 72-channel dual-frequency DGPS receivers.
TheTrimble SPS361 can achieve an accuracy of 1m over short base-line lengths. The Trimble
SPS461 is a dual antenna system that can also come with RTK as an option and will then
achieve an accuracy of 1cm horizontal.
Tight integration has been performed with the Trimble SPS361/SPS461using the GSOF output
format. The F175 System is optimised to give maximum performance using the Trimble
SPS361/SPS461.
Configuration Option
SPS361
SPS461
Rover options
-
Optional
Precise horizontal
-
Optional
Precise vertical
-
-
Precise heading/vector
Location RTK
-
Optional
RTCM DGPS
Signal options
L2C
-
Optional
SBAS
Marinestar VBS
Marinestar HP/XP
-
Optional
Beacon
If P/N ends in -30 or -40
If P/N ends in -30 or -40
General options
VRS support
Max data rate
20 Hz
20 Hz
NOTE: Hints and tips are sparsed through the user guide to help you speed up a
process of carrying out an action, or to provide reminders. These are formatted like
this.

Introduction
Copyright © 2013 Coda Octopus Products Ltd
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F175 MOTIONSensor - Trimble SPS361/SPS461 Integration
WARNING: It is strongly recommended that the instructions given in warnings should
be followed and important information should be heeded. These are formatted like
this.
1.1 How To Get Support
Our TEAM service and support package offers 24x7 technical support along with quarterly
software upgrades and extended hardware warranty. Contact [e-mail] for
further information.
To contact Technical Support the details are :
Telephone
Americas
+1 888 340 CODA
Worldwide
[phone]
Email
Worldwide
[e-mail]
1.1.1 Support Enquiries
If your system develops a fault that you cannot repair on site, you may contact Technical
Support directly for assistance by email or telephone. Before you do so, please make certain
you have a full description of:
1. The system serial number
2. The version of the software
3. The operating system you running the software on
4. A full description of the fault condition and screen dumps of error messages
5. Your contact phone number
6. Your e-mail address
7. Your company name
1.1.2 Return Material Authorization (RMA)
In the event of equipment return to CodaOctopus for repair, Technical Support will issue an
RMA by email to instruct you on our Repair Terms and Conditions along with full shipping
instructions to help expedite the system.

Introduction
Copyright © 2013 Coda Octopus Products Ltd
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F175 MOTIONSensor - Trimble SPS361/SPS461 Integration
WARNING: No systems will be accepted for repair without a current valid RMA. This
will result in delay in the repair and return of the system.
1.1.3 Training & Field Support
Product training and Field Support is available from CodaOctopus for all equipment supplied
by us. You may discuss your needs directly with CodaOctopus and we will be glad to advise
you on appropriate options to meet your specific requirements.
Contact [e-mail] for training and field support enquiries.

Chapter 2
Connection Details

Connection Details
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F175 MOTIONSensor - Trimble SPS361/SPS461 Integration
2 Connection Details
The F175 System should be connected to the Trimble SPS361/SPS461 using one of the RS232
serial ports. On the F175 System the “External GNSS” connector is used. On the Trimble
SPS361/SPS461 receiver any of the serial ports can be used.
The Trimble SPS361/SPS461 are supplied with a combined power/ethernet/serial cable. The 9-
way connector on this cable is suitable for connecting the Trimble SPS361/SPS461 to a
standard 9-way serial port on a PC. However a RS232 NULL Modem connector is require to
connect the Trimble SPS361/SPS461 to the F175 System.
Power to the GPS receiver and power to the F175 System are wired separately to each
product. A common ground should be used to avoid ground problems.
Figure 1: Connectors on the Trimble SPS361/SPS461
Item
Connector Type
Description
1
(Optio
nal)
TNC (450 MHz
Internal Radio)
Reverse polarity
TNC (900 MHz
internal radio)
Not installed,
system without
internal radio
Connect to the radio antenna.
NOTE: This is an optional extra that is not present on the
default system.
2
TNC
Connection to GNSS antenna 1for position. When connected to
a GA530 antenna, it will provide MSK Beacon signal.
NOTE: Marinestar correction service are only available on
this antenna port.

Connection Details
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F175 MOTIONSensor - Trimble SPS361/SPS461 Integration
Item
Connector Type
Description
3
TNC
Connect to GNSS antenna 2 for vector and heading. When
connected to a GA530 antenna, it will provide MSK Beacon
signal.
NOTE: Marinestar is not supported on this antenna port.
4
High Density DB26
Ethernet with PoE connectivity to a 10/100 Base-T network
through an RJ45 jack on a multiport adaptor or cable
Primary power from a Trimble AC/DC power supply (P/N
51695) using the multiport adaptor or cable
Full 9-wire RS-232 serial communications using the 26-9-pin
multiport adaptor or a 26-pin serial communications cable
1PPS, 2 x RS-232, input DC, Ethernet cable
5
Vent plug
External venting plug for pressure equalization

Chapter 3
Configuration

Configuration
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F175 MOTIONSensor - Trimble SPS361/SPS461 Integration
3 Configuration
In order to use the Trimble SPS361 and SPS461receivers with the F175, they have to be
configured as following. A serial input needs to be configured for the correct baud rate
(38,400) and the correct selection of GSOF messages.
The Trimble systems are configured through a Web Interface, see screen shot below. This and
the table below shows the exact settings that are necessary.
You can connect to the Trimble SPS361/SPS461 Web Interface using your web browser and
type the IP address of the Trimble SPS361/SPS461 into the address bar. The default IP Address
is 169.254.1.0.
Once the web interface is shown go to I/O Configuration in the menu on the right hand side
and configure the device.
Figure 2: Trimble SPS361/SPS461 Web Interface
1. Select the Serial Port on the Trimble you want to connect to the F175 System
2. Select the message type GSOF
3. In Serial Port Setup select Baud: 38,400; Parity: N; Flow Disabled
4. The GSOF message and their frequency are as detailed in the table below:
GSOF Message
Frequency
Position Time
10 Hz
Position Sigma
5 Hz
Current UTC
1 Hz
Lat, Long, Ht
5 Hz
Velocity
10 Hz

Configuration
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F175 MOTIONSensor - Trimble SPS361/SPS461 Integration
GSOF Message
Frequency
DOP Info
1 Hz
5. Click the OK button to save your configuration to the Trimble SPS361/SPS461
WARNING: At this point the settings will only be used until you restart the Trimble
SPS361/SPS461 receiver. Follow the next steps to make them more permanent.
6. In the Web Interface go to Receiver Configuration on the left hand menu and select the
sub-menu Application Files. Here use the Store Current File option to store the current
application file receiver settings to the non-volatile RAM of the receiver. You are prompted
to name the file. We recommend that you use a name that clearly defines what the
application file is to be used for.
7. The next time you restart the Trimble SPS361/SPS461 receiver go to Receiver Configuration
menu and select the sub-menu Application Files. Use the option Start Now and use the
application file you have saved in the step before. Then click OK to start the application file
and use the settings until the next restart.
NOTE: If you want to load a specific application file by default when the Trimble
SPS361/SPS461 is started, please consult the Trimble SPS361/SPS461 manual on how
to configure the receiver to use specific settings when it is turned on.

Chapter 4
Setup MOTION Control

Setup MOTION Control
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F175 MOTIONSensor - Trimble SPS361/SPS461 Integration
4 Setup MOTION Control
Connect the Serial Output you have chosen on the Trimble SPS361/SPS461 to the External
GNSS Port on the F175 System.
Start MOTION Control and click the Ethernet button to connect to the F175 System.
Figure 3: Ethernet Data Source Button in MOTION Control
Once the Connection is established start the MOTION Settings Wizard and setup the GNSS
Selection to Trimble: 361 or Trimble: 461.
Figure 4: MOTION Settings Wizard - GNSS Settings
Complete the remaining steps in the wizard and upload the settings to the F175 System.
NOTE: Antenna Splitters can be used for both internal primary and (if using Trimble
SPS461) secondary antenna. The measurements in the MOTION Settings Wizard
should then relate to the antennas in use. Please also consult the chapter about Use
of Antenna Splitters for further important information.

Chapter 5
Checking External GNSS Input

Checking External GNSS Input
Copyright © 2013 Coda Octopus Products Ltd
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F175 MOTIONSensor - Trimble SPS361/SPS461 Integration
5 Checking External GNSS Input
An error will appear in the MOTION Control Message Log if the External GNSS messages are
not being received.
Diagnostic info can also be found in the Connection Properties Dialog where the number of
packets received from the External GNSS will be reported and the Graphical QC which will
display the number of satellites in view for the External GNSS.
Figure 5: Connection Properties - External GNSS
Figure 6: Graphical QC External Sats

Chapter 6
Use of Antenna Splitters

Use of Antenna Splitters
Copyright © 2013 Coda Octopus Products Ltd
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F175 MOTIONSensor - Trimble SPS361/SPS461 Integration
6 Use of Antenna Splitters
Two antennas are required in order for the F175System to operate correctly. Usually, both
supplied Antcom antennas would be connected to the system. This allows the F175System to
calculate a very accurate heading value. Antcom antennas would be connected to the system.
This allows the F175System to calculate a very accurate heading value.
There may be some scenarios where additional antennas cannot be installed. In this case it is
possible to use active antenna splitters to split the external GNSS feed into both the external
GNSS receiver and the internal F175 receiver.
If an antenna splitter is used then there are a few important points to consider:
The F175 System supplies a 5V output to the antenna with up to 100mA supply. This is
probably enough to power both the antenna and the antenna splitter.
The F175 System receivers can work with both active and passive antennas. Care must
be taken when splitting the antenna signal. Only one junction of the split must pass the
d.c. supply voltage. We recommend that the junction that passes the d.c. supply voltage
should be connected to the external GNSS receiver. The junction that blocks the d.c.
supply voltage should be connected to the F175 System.
If the F175 System is supplying the power to the antenna splitter then both the antenna
and the antenna splitter need to work correctly from a 5V supply.
In dual-antenna configurations both antennas need to be of the same design or the
dual-antenna system will not work. Cable lengths should not be significantly different.
(E.g. 1m on one antenna and 15m on the other is not recommended.)
The F175 System has an extremely sensitive GPS receiver in it. High gain antennas can
sometimes have a signal that is too large for the F175 System. Antenna splitters often
contain some additional gain (to overcome cable and connector losses). Having an
antenna with a Low Noise Amplifier (LNA) gain of more than 40dB is not recommended.
This may be 35dB for the antenna and 5dB for the antenna splitter. Some GNSS
manufacturers’ antennas have a much higher LNA gain. For example the Trimble Zephyr
2 has a LNA gain of 50dB. If you wish to use this antenna in conjunction with the F175
System then you must use an appropriate attenuator. In the case of the Trimble Zephyr
2, an attenuator of 15 or 20 dB would be suitable. In the case of a Trimble GA530
antenna, a 10 dB attenuator is suitable.
CodaOctopus has tried and tested an antenna splitter from GPS Networking in a dual-antenna
configuration and we could not find a reduction in the performance. We recommend the
following antenna splitter models from GPS Neworking Inc,: ALDCBS1x2, ALDCBS1x4,
ALDCBS1x8
WARNING: By default these antenna splitters comes with a 14dB gain. It must be
ordered with a 3dB gain for use with the F175 System otherwise the overall gain is
likely to be too high. This gain cannot be ordered through the web and GPS
Networking must be contacted directly in order to have the 3dB gain.
The following diagram illustrates the antenna connections for the dual antenna Trimble
SPS461 system utilising dual Trimble GA530 antennas: