User Manual for unicorecomm models including: UB4B0M All Frequency Compact High Precision Board, UB4B0M, All Frequency Compact High Precision Board, High Precision Board, Precision Board
UB4B0M User Manual 2 1.1 Key Features Supporting BDS B1I/B2I/B3I/B1C/B2a, GPS L1/L2/L5, GLONASS L1/L2, Galileo E1/E5a/E5b, etc. Millimeter-level carrier-phase observation data
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DocumentDocumentINSTALLATION AND OPERATION USER MANUAL WWW.UNICORECOMM.COM UB4B0M GPS/ BDS/ GLON ASS/ Galileo All- constellation All- frequency Compact High Precision Board Copyright© 2009- 2021, Unicore Communications, Inc. Data subject to change without notice. Revision History Version Ver. 2.0 R3.0 R3.1 R3.2 R3.3 R3.4 R3.5 R4 R4.1 Revision History Release Add the related description to clarify the VCC restrictions and LED indicators Update Copyright time Update technical specification Remove description of Inertial device Modify the dimensions in the mechanical drawing Update IO electrical values and BDS frequencies Remove the description on the MEMS device and add RF input power consumption of antennas Modify the note of EVENT in Table 2-2 Date Jun. 2019 Aug. 2019 Apr. 2020 Jun. 2020 Jul. 2020 Aug. 2020 Oct. 2020 Apr. 2021 July 2021 Disclaimer This manual provides information about the products of Unicore Communications, Inc. This document does not transfer the patent, trademark, copyright of the company or any third party, or any right or permission under it by implication, estoppel or otherwise. Except as stated in the sales terms and conditions of the products, the company shall not assume any other responsibilities. Furthermore, Unicore Communications, Inc. makes no warranty, express or implied, for the sale and/or use of its products, including the suitability of a particular purpose and marketability of products, or liability for infringement of any patent, copyright or other intellectual property rights. If the connection or operation is not in accordance with the manual, the company is not liable. Unicore Communications, Inc. may make changes to product specifications and product descriptions at any time without prior notice. The company's products may contain certain design defects or errors, which will be included in the corrigendum once found, and may therefore result in differences between the products' actual specifications and the published ones. Updated corrigendum is available upon request. Before placing an order, please contact our company or local distributors for the latest specifications. * Unicore Communications, Unicorecomm, NebulasII and its logo have been applied i UB4B0M User Manual for trademark registration by Unicore Communications, Inc. Other names and brands are the property of their respective owners. © Copyright 2009-2021 Unicore Communications, Inc. All rights reserved. ii Foreword The User Manual offers you information in hardware features, installation and use, and performance indicators of UNICORECOMM UB4B0M. Note: This manual is a generic version. Please refer to the corresponding chapter of the manual according to the configuration of the purchased product for more information concerning the usage requirement of CORS, RTK and Heading. Target Readers The User Manual is targeted for the technicians with certain knowledge about GNSS Receiver but not for the general readers. iii CONTENTS 1. OVERVIEW .........................................1 1.1 KEY FEATURES ........................................................................................................................ 2 1.2 TECHNICAL INDEX .................................................................................................................... 2 1.3 BOARD OVERVIEW...................................................................................................................3 2. HARDWARE COMPOSITION .......................... 4 2.1 MECHANICAL DIMENSION ........................................................................................................ 4 2.2 INTERFACE AND PIN DEFINITION.............................................................................................. 5 2.3 PIN FUNCTION..........................................................................................................................6 2.4 ELECTRICAL SPECIFICATION....................................................................................................6 2.5 OPERATIONAL CONDITIONS ..................................................................................................... 7 2.6 PHYSICAL CHARACTERISTICS..................................................................................................7 3. HARDWARE INTEGRATION GUIDE .................... 7 3.1 DESIGN NOTES ........................................................................................................................ 7 3.2 NOTES FOR PIN ....................................................................................................................... 9 3.3 ANTENNA ................................................................................................................................. 9 4. CONNECTION AND SETTING ........................ 10 4.1 ELECTROSTATIC PROTECTION...............................................................................................10 4.2 INSTALLATION GUIDE ............................................................................................................. 10 4.3 POWER ON .............................................................................................................................13 4.4 SETTING AND OUTPUT ........................................................................................................... 13 5. LED INDICATORS .................................. 15 6. COMMON COMMANDS SETUP ...................... 16 6.1 BASE STATION SETTING ........................................................................................................ 17 6.2 ROVER STATION SETTING ..................................................................................................... 18 6.3 MOBILE BASE STATION SETTING...........................................................................................18 7. FIRMWARE UPDATE................................19 8. PACKAGING ....................................... 21 i 1. Overview UB4B0M is a new generation compact RTK board based on NebulasII high performance and high accuracy GNSS SoC. It supports signals including BDS B1I/B2I/B3I/B1C/B2a, GPS L1/L2/L5, GLONASS L1/L2 and Galileo E1/E5a/E5b. UB4B0M features classic small size, supports chip-level multi-path mitigation, and delivers millimeter-level carrier phase observations and centimeter-level RTK positioning. UB4B0M is particularly suitable for surveying and mapping, high-precision positioning and navigation application. UB4B0M adopts UNICORECOMM's new generation all-system multi-core high-precision SoC - NebulasII. The chip is based on the mature core technology of Nebulas baseband chip, supports 432 channels, and integrates a 600MHz ARM processor and a special high-speed floating-point processor, yielding stronger satellite navigation signal process ability. Making full use of the high-performance data sharing ability and the super simplified real-time operation system, UB4B0M optimizes the multi-dimensional RTK matrix pipeline computing, which considerably enhances the RTK process ability and realizes the multi-system multi-frequency RTK calculating (more than 32 satellites). The newly designed tri-band RTK engine of UB4B0M can process observation data from multiple frequencies of BDS, GPS, GLONASS and Galileo, which can significantly improve the RTK initialization speed, measurement accuracy and reliability in harsh signal environment like urban areas and shade of trees, and realize long-baseline centimeter-level RTK positioning. Figure 1-1 UB4B0M All-constellation All-frequency Compact High Precision Board 1 UB4B0M User Manual 1.1 Key Features Supporting BDS B1I/B2I/B3I/B1C/B2a, GPS L1/L2/L5, GLONASS L1/L2, Galileo E1/E5a/E5b, etc. Millimeter-level carrier-phase observation data Centimeter-level high-precision RTK positioning Hardware size compatible with the mainstream GNSS OEM boards on the market NebulasII-based new generation multi-system multi-frequency high-performance SoC Supporting single-system independent positioning and multi-system integrated positioning as well as BDS/GPS/GLONASS/Galileo independent PVT output Supporting advanced multi-path mitigation Supporting 3 serial ports and 1 1PPS 1.2 Technical Index Table 1-1: Performance Channels 432 channels, based on NebulasII BDS B1I/B2I/B3I/B1C*/B2a* GPS L1/L2/L5 Frequency GLONASS L1/L2 Galileo E1/E5a/E5b QZSS L1/L2/L5 Single Point Horizontal: 1.5 m Positioning (RMS) Vertical: 2.5 m DGPS (RMS) Horizontal: 0.4 m Vertical: 0.8 m RTK (RMS) Horizontal: 1 cm + 1 ppm Vertical: 1.5 cm+1 ppm Observation Accuracy (RMS) BDS GPS GLONASS Galileo B1/L1 C/A/E1 Code 10 cm 10 cm 10 cm 10 cm B1/L1/E1 Carrier Phase 1mm 1 mm 1 mm 1 mm Cold Start Re-acquisition RTK Initialization Time Initialization Reliability Differential Data Data Format Data Update Rate Positioning Update Rate Time Accuracy (RMS) Velocity Accuracy (RMS) < 25 s < 1 s < 5 s (Typical) > 99.9% RTCM 3.0/3.2/3.3 NMEA-0183 Unicore 20 Hz 20 Hz 20 ns 0.03 m/s 2 B2/L2P(Y)/L2C/E5b Code 10 cm 10 cm 10 cm 10 cm B2/L2P(Y)/L2C/E5b Carrier Phase 1 mm 1 mm 1 mm 1 mm B3/L5/E5a Code 10 cm 10 cm 10 cm B3/L5/E5a Carrier Phase 1 mm 1 mm 1 mm Note: The part marked with * is optional Power Consumption 1.3 Board Overview 1.8W (Typical) RF Input ANT1_PWR SAW Filter TCXO RF Front End Nebulas-II GPS BDS GLO GAL QZSS SBAS Interface UART PPS Event Figure 1-2 UB4B0M Structure Diagram 1. RF Part The receiver gets filtered and enhanced GNSS signal from the antenna via a coaxial cable. The RF part converts RF input signal into IF signal, and converts IF analog signal into digital signal which NebulasII (UC4C0) digital processing requires. 2. NebulasII SoC (UC4C0) The UB4B0M incorporates the processing from the NebulasII SoC--UNICORECOMM's new generation high precision GNSS SoC with 55 nm low power design, which supports 432 channels and is equipped with a built-in UNICORECOMM's new generation baseband engine. The chip integrates a 600 MHz ARM processor and a special high-speed floating-point processor as well as a special anti-interference unit. A single NebulasII SoC can complete high-precision baseband processing and RTK positioning and heading calculation. 3 UB4B0M User Manual 3. 1PPS UB4B0M provides 1 PPS signal with adjustable pulse width and polarity. 4. Event UB4B0M provides 1 Event Mark Input signal with adjustable pulse width and polarity. 2. Hardware Composition 2.1 Mechanical Dimension Table 2-1 Mechanical Dimension Parameter Value (mm) Length 71.1 Width 45.7 Height (PCB 1.6 RF Connector 6.00 Shield 1.9 Pin Distance 5.6 Tolerance -0.2 mm, +0.5 mm ±0.2 mm ±10% ±0.2 mm ±0.2 mm ±0.2 mm 4 Figure 2-1 Mechanical Structure Drawing 2.2 Interface and Pin Definition Apart from the antenna RF interface, UB4B0M provides the following 20 Pin SAMTEC dual-row pins. The pin distance: 2.0 mm; pin length: 4.0 mm; base thickness: 1.5 mm. Figure 2-2 Pinout 5 UB4B0M User Manual 2.3 Pin Function Table 2-2 Pin Definition No Signal 1 RSV 2 3.3V 3 Reserved 4 RXD3 Type PWR I 5 RESETIN I 6 Reserved O 7 EVENT I 8 RSV 9 TXD3 O 10 GND PWR 11 TXD1 O 12 RXD1 I 13 GND PWR 14 TXD2 O 15 RXD2 I 16 GND PWR 17 PV O 18 GND 19 PPS 20 RSV PWR O Description Reserved Power input Reserved COM3 Receive data Reset-input Reserved Event input Reserved COM3 Send data DGND&GND COM1 Send data COM1 Receive data DGND&GND COM2 Send data COM2 Receive data DGND&GND Position validity indication DGND&GND Time mark output Reserved Note Reserved 3.3 V~5 V+5%/-3% Reserved LVTTL Level Low level effective, duration >5 ms Reserved Reserved LVTTL Level LVTTL Level LVTTL Level LVTTL Level LVTTL Level High level effective If LED indicators are needed, please connect this pin to the positive pole of the LED diode. LVTTL Level Reserved 2.4 Electrical Specification Table 2-3 Absolute Maximum Rating Parameter VCC Input Pin Voltage VCC Maximum Ripple Input Pin Voltage (all the other pins in addition to the mentioned ones) RF Input Power Consumption of Antenna Maximum Bearable ESD Stress Level Symbol Vcc Vin Vrpp Vin ANT_IN input power VESD (HBM) Minimum -0.3 -0.3 0 Maximum Unit 5.5 V 3.6 V 50 mV -0.3 3.6 V +15 dBm ±2000 V 6 2.5 Operational Conditions Table 2-4 Operational Conditions Parameter Symbol VCC Vcc Power-on Impulse Iccp Current* Input Pin Low Level Vin_low_1 Input Pin High Level Vin_high_1 Output Pin Low Level Vout_low Output Pin High Level Vout_high Optimum Input Gain Gant Power Consumption P Minimum 3.2 -0.3 2.4 0 2.85 20 Typical Maximum Unit 3.3 5.0 V 10 A 0.9 V 3.6 V 0.45 V 3.3 V 36 dB 1.8 1.9 W Condition Vcc=3.3 V Iout=4 mA Iout=4 mA Note: Since the product has capacitors inside, inrush current will occur during power-on. Evaluate in the actual environment in order to check the effect of the supply voltage drop due to the inrush current. 2.6 Physical Characteristics Table 2-5 Physical Characteristics Size Weight Temperature Humidity I/O Interface Antenna Interface Vibration Shock 46 ×71 ×13 mm 28 g Operating Temperature: -40+85 Storage Temperature: -55+95 95% non-condensation 2×10 Pin 1×MCX GJB150.16-2009, MIL-STD-810 GJB150.18-2009, MIL-STD-810 3. Hardware Integration Guide 3.1 Design Notes For the normal operation of UB4B0M, the following signals need to be connected correctly: The module's VCC should be monotonic when powered on, the initial level should be lower than 0.4V, and the undershoot and ringing should be guaranteed 7 UB4B0M User Manual to be within 5% VCC Use VCC pin to provide reliable power source and earth all GND pin of the board MMCX interface provides 4.6±0.2 V feed, and notice 50 impedance matching for the circuit. When no antenna is connected to the port of antenna in the module, which means there is no load, use a multimeter to test and the voltage supply is DC 4.8 V ~ 5.4 V. When the RF port of the module is connected with the antenna and the working current is 30~100 mA at normal temperature, the antenna feed is DC 4.6 V ± 0.2 V. Make sure the output of serial port 1. Users need to use this serial port to receive the positioning data and to update the software In order to acquire satisfactory performance, the following points should also be particularly noticed: Power supply: Satisfactory performance cannot be achieved without a stable and low-ripple power source. The peak value of the ripple voltage should not exceed 50mVpp. In addition to adopting LDO to guarantee uninterruptible power supply, the following points should also be taken into consideration: Widen power supply wires or use split copper pour surface to transmit current Try to place LDO close to the board Power supply wires should not pass through any high power and high inductance devices such as magnetic coils UART interface ensures that the corresponding signal and baud rate of the main device are consistent with those of UB4B0M. Antenna wires should be as short and smooth as possible; avoid sharp angle and pay attention to impedance matching. Avoid wiring right beneath UB4B0M. Keep the board away as far as possible from any high temperature airflow. 8 3.2 Notes for Pin Table 3-1 Notes for Pin Pin I/O VCC Power source Power Supply MCX Power source UART GND Power source TXD1 O RXD1 I TXD2 O RXD2 I TXD3 O RXD3 I Description Power supply Antenna power supply Ground Send from Serial Port 1 Receive by Serial Port 1 Send from Serial Port 2 Receive by Serial Port 2 Send from Serial Port 3 Receive by Serial Port 3 Note Stable, uninterruptible, and low-ripple power; the peak value of ripple voltage should not exceed 50mVpp. Active antennas supply power at a corresponding voltage. When no antenna is connected to the port of antenna in the module, which means there is no load, use a multimeter to test and the voltage supply is DC4.8 V ~ 5.4 V. When the RF port of the module is connected with the antenna and the working current is 30~100 mA at normal temperature, the antenna feed is DC4.6 V ± 0.2 V. Ground all GND signals of the board, preferably with a larger area of copper pour. Output by Serial Port 1; leave vacant if not necessary. Input by Serial Port 1; leave vacant if not necessary. Output by Serial Port 2; leave vacant if not necessary. Input by Serial Port 2; leave vacant if not necessary. Output by Serial Port 3; leave vacant if not necessary. Input by Serial Port 3; leave vacant if not necessary. 3.3 Antenna Antenna input MCX interface of UB4B0M provides an antenna feed of 4.6±0.2 V. When no antenna is connected to the port of antenna in the module, which means there is no load, use a multimeter to test and the voltage supply is DC4.8 V ~ 5.4 V. When the RF port of the module is connected with the antenna and the working current is 30~100 mA at normal temperature, the antenna feed is DC4.6 V ± 0.2 V. When adopting active antennas, pay attention to the 50 impedance matching for the antennas. 9 UB4B0M User Manual Figure 3-1 UB4B0M Antenna Connection Diagram 4. Connection and Setting 4.1 Electrostatic Protection Many components on UB4B0M are vulnerable to electrostatic damage, which will then affect IC circuits and other components. Please take the following electrostatic protection measures before opening the anti-static blister box: Electrostatic discharge (ESD) may damage components. Please operate the board on the anti-static work table and at the same time wear an anti-static wristband and use conductive foam pads. If no anti-static bench is available, please wear an anti-static wristband and connect it to the metal part of the machine for anti-static protection. When plugging or unplugging the board, please do not touch the components on the board directly. After taking out the board, please check the components carefully for obvious loose or damage. 4.2 Installation Guide UB4B0M is delivered in the form of board, allowing users to assemble it flexibly according to application scenarios and market needs. The following figure shows a typical UB4B0M installation method using a set of evaluation kit (EVK). Users can also, in the same way, use other receiver casings to install. 10 Figure 4-1 UB4B0M Installation Diagram To ensure efficient installation, please prepare the following tools before installing the board: UB4B0M board and EVK User manual Command manual UPrecise display and control software Qualified antennas MCX antennas and connecting cables Desktop or laptop (Win7 and above) with serial ports, installed relevant serial driver and UPrecise software Step 1. For the UB4B0M EVK users, align UB4B0M positioning holes and pins with EVK. Note: If the EVK connector hole is 24-pin, connect the middle 24 pins of the board with the connector). EVK provides power supply and standard communication interface to the board to communicate with peripheral devices (such as PC, CAN and USB devices, etc.) Step 2. Select a GNSS antenna with appropriate gain, and set it in a stable and open area. Connect the antenna with the board through coaxial radio frequency cable. When the antenna is installed, the MCX antenna interface on UB4B0M corresponds to the antenna signal interface. 11 UB4B0M User Manual Figure 4-2 UB4B0M Connecting to Antenna RF Wires Note: The RF connector on the board is MMCX; please select the appropriate cable according to the packaging. The input signal gain of the antenna connector should be within 25 to 36dB. Plug and unplug the MCX RF head vertically and the time of this operation is limited. Improper plugging or unplugging will lead to damage to the RF head or MCX male connector head. Step 3. Connect the PC to EVK through serial ports. Step 4. Connect a 12V adapter to the EVK power source, and switch on to power UB4B0M. 12 Figure 4-3 UB4B0M Power on EVK Step 5. Start the UPRECISE control software on PC and connect to the receiver through the software. Step 6. Operate the receiver via UPRECISE and record the relevant data. 4.3 Power on The supply voltage of UB4B0M is 3.3 V, and the supply terminal voltage of EVK is 12 V. After powered on, the receiver starts up and can quickly establish communication. 4.4 Setting and Output The satellite display and control software UPRECISE provides a graphical interface so that users can set up the receiver conveniently and be aware of the receiver status and required information rapidly. UPrecise possesses the following basic functions: Connecting the receiver and configuring the baud rate, etc. Displaying the preliminary position of satellite, PRN, and Signal/Noise Ratio in the graphical window (Constellation View) The trajectory window displaying the present and historical points, as well as the 13 UB4B0M User Manual position velocity and time (Trajectory View) Graphic interface for data logging and sending commands to the receiver (Logging Control View) Console window for sending commands to the receiver (Console View) Sending commands to the receiver Displaying the track point Upgrading the firmware TTFF test Figure 4-4 UPrecise Interface 4.4.1 Operation Steps Step 1. Follow 4.2 Installation Guide to connect the power source, antenna to the board, and turn on the EVK switch Step 2. Click file - > connect the serial port, and set the baud rate; the default baud rate of UB4B0M is 115200bps Figure 4-5 Connect the Serial Port 14 Step 3. Click the receiver settings button to configure the NMEA message output. It is recommended to configure GPGGA, GPGSV, and other messages. Figure 4-6 NMEA Data Output Step 4. Click the receiver settings button, configure the NMEA message output, and click send. It is recommended to configure GPGGA, GPGSV, and other messages. Step 5. In the data session window, click "Send all Message" to complete all the NMEA message output (update rate 1Hz). Right click in the data session window to adjust: output log font size, stop / resume log output, or clear log content, etc. Step 6. Use various views of UPrecise to configure or input commands as required. 5. LED Indicators Three LED indicators are installed on UB4B0M board to indicate the basic working status of the board, which includes: No Color 1 Red 2 3 Green 4 5 Yellow 6 Status On Off On Off On Off Instruction Power on Power off PV indicator, RTK FIX is enabled PV indicator, RTK FIX is disabled Single point positioning is enabled Single point positioning is disabled Remark 15 UB4B0M User Manual 6. Common Commands Setup UB4B0M supports simplified ASCII format. Simplified ASCII format without checksum bits makes it easier for users to enter commands. All commands consist of a command header and configuration parameters (if the parameter part is empty, the command has only one header), and the header field contains the command name or message header. UB4B0M is simple and easy to use, and the common commands are shown in the following table: Table 6-1 Common Commands Command Description freset Restore factory settings version Query version number config Query the serial port status of receiver mask BDS Mask (disable) tracking of Beidou satellite system. BDS, GPS, GLONASS and Galileo can be disabled separately. unmask BDS Unmask (enable) tracking of Beidou satellite system. BDS, GPS, GLONASS and Galileo can be enabled separately. By default, all satellite systems are tracked. config com1 115200 Set com1 baud rate as 115200 Com1, com2 and com3 can be set respectively as any one of 9600, 19200, 38400, 57600, 115200, 230400, and 460800 unlog Disable all output of the current serial port saveconfig Save settings mode base time 60 1.5 2.5 The reference point coordinates are automatically generated 60 seconds after positioning or when the horizontal accuracy is better than 1.5m or the elevation accuracy is better than 2.5 m. After power off and restart, the new reference point coordinates will be calculated and generated again. mode base lat Lon height Manually set the reference point coordinates as: lat, lon, height (the coordinates do not change after the power off and restart) e.g. lat=40.07898324818, lon=116.23660197714, height=60.4265 Note: The longitude and latitude coordinates can be obtained through the bestpos command. If it is the southern latitude, lat value is negative; if it is the western longitude, lon value is negative. mode base Set as base station mode movingbase Set as moving base station mode rover Rover mode by default (The command can switch the receiver from the base station mode to rover station mode) 16 Command Description rtcm1033 comx 10 The base station mode is set as COMX, ICOMX, NCOMX to rtcm1006 comx 10 send a differential message. COMX can be appointed as rtcm1074 comx 1 anyone of COM1, COM2, and COM3; rtcm1124 comx 1 rtcm1084 comx 1 rtcm1094 comx 1 NMEA0183 Output Statement gpgga comx 1 Set the output frequency of GGA message as 1 Hz Message type and update rate can be set flexibly: 1, 0.5, 0.2 and 0.1 correspond to output frequency 1Hz, 2Hz, 5Hz and 10Hz respectively; different types include GGA, RMC, ZDA, VTG, NTR gphdt comx 1 Output the course information of current time HDT Course types include: HDT, TRA 6.1 Base Station Setting RTK base station (fixed base station) is to install the receiver antenna at a fixed position and it will not move during the whole process. At the same time, the precise coordinates of the known measuring station and the received satellite information are directly or after being processed sent to the receiver of the rover station (pending position) in real time. The rover station receives the satellite observations as well as information from the base station to conduct the RTK positioning calculation and realize centimeter-level or millimeter-level positioning. Table 6-2 Base Station Mode shows the commands entered the receiver when precise coordinates are known. Table 6-2 Base Station Mode No Command 1 mode base 40.078983248 116.23660197760.42 2 rtcm1006 com2 10 3 rtcm1033 com2 10 4 rtcm1074 com2 1 5 rtcm1124 com2 1 6 rtcm1084 com2 1 7 rtcm1094 com2 1 Specification Set as base station, longitude, latitude, and elevation RTK base station antenna reference point coordinates (including antenna height) Receiver and antenna specification GPS differential message BDS differential message GLO differential message Galileo differential message 17 UB4B0M User Manual No Command 8 saveconfig Specification Save settings Self-optimizing setting base station refers that there is no precise coordinate at the point where the base station is set up. The receiver can be set to self-position within a certain period at the installation point to get the average value, which can be set as the coordinates of the base station. Commands are shown in Table 6-3: Self-optimizing Setting Base Station. Table 6-3: Self-optimizing Setting Base Station No Command Specification 1 mode base time 60 1.5 2.5 The receiver conducts independent positioning for 60s, or when the standard deviation of horizontal positioning <=1.5m and the standard deviation of elevation positioning <=2.5m, the average value of horizontal positioning and the average value of elevation positioning are taken as the coordinate value of the base station. 2 rtcm1006 com2 10 RTK base station antenna reference point coordinates (including antenna height) 3 rtcm1033 com2 10 Receiver and antenna specification 4 rtcm1074 com2 1 GPS differential message 5 rtcm1124 com2 1 BDS differential message 6 rtcm1084 com2 1 GLO differential message 7 rtcm1094 com2 1 Galileo differential message 8 saveconfig Save settings 6.2 Rover Station Setting RTK rover station (mobile station) receives the differential correction information of the base station in real time, and at the same time, it receives the satellite signal for RTK positioning calculation, realizing RTK high-precision positioning. The receiver can adaptively identify the ports and formats of RTCM data input. Common commands of the RTK rover station are: MODE ROVER GNGGA 1 SAVECONFIG 6.3 Mobile Base Station Setting The mobile base station is different from the RTK base station, which is a fixed station with known and precise coordinates. The mobile base station is in a state of motion, and at the same time, the received satellite information is directly or after being processed sent to 18 the receiver (pending point) of the rover station in real time. The receiver receives the satellite observation value and the information of the mobile base station for relative positioning to determine the location of the rover station relative to the mobile base station. Common commands for configuring mobile base stations are shown in Table 6-4: Mobile Base Station Mode. Table 6-4 Mobile Base Station Mode No Command 1 mode movingbase 2 rtcm1006 com2 1 3 rtcm1033 com2 1 4 rtcm1074 com2 1 5 rtcm1124 com2 1 6 rtcm1084 com2 1 7 rtcm1094 com2 1 8 saveconfig Specification Set as mobile base station Mobile base station antenna reference point coordinates (including antenna height) Receiver and antenna specification GPS differential message BDS differential message GLO differential message Galileo differential message Save settings 7. Firmware Update The firmware of UB4B0M is updated using UPrecise software. In the UPrecise interface, click as follows: "Advanced" -> "Firmware Update". Figure 7-1 Update Interface Click "Select Path", select the file location of UB4B0M PKG and then click "START" (Ignore the software reset option). 19 UB4B0M User Manual Figure 7-2 Update Steps Wait for the progress bar to complete 100%, and the upgrade time will be counted (usually less than 5 minutes). Figure 7-3 Update Steps When using a serial port to upgrade, please use serial port 1 of the board. 20 8. Packaging UB4B0M boards are packed in cartons, 100 UB4B0M boards per carton. Table 8-1 Packaging Project Description 1 10 boxes per carton 2 10 anti-static packages per box 3 1 UB4B0M per package 21 Unicore Communications, Inc. 7 F3, No.7, Fengxian East Road, Haidian, Beijing, P.R.China, 100094 www.unicorecomm.com Phone: 86-10-69939800 Fax: 86-10-69939888 info@unicorecomm.com www.unicorecomm.com