K9 Manual

K9 Manual

Manual Revision

Revision Revision
Description
Date Level

Feb.2014 1 K9 Manual1.0

Hi-Target Surveying Instrument Co., Ltd.

All Rights Reserved
I
 Content

Content

Chapter One Advantages of K9......................................................1

1. GNSS positioning and orientation functions.............................2
2. The data collection..................................................................... 2
3. Ultra-long-distance RTK working technology.......................... 2
4. Without measuring the baseline length......................................2
Chapter Two K9 Technical Parameters............................................ 3
1 .Signal tracking........................................................................... 4
2. Module technology.................................................................... 4
3.Up to 50 Hz raw measurement and positioning output..............4
4. Difference Format Support........................................................ 5
5. Navigation output format support..............................................5
6. Built-in communication............................................................. 5
7. Beacon working range............................................................... 5
8 .Custom module of choose to buy.............................................. 5
9. Positioning precision..................................................................6
10. Directional precision................................................................6
11. port............................................................................................6
12. Electrical Physical Characteristics...........................................7
13. Environmental Characteristics.................................................7
Chapter Three K9 Basic Component................................................8
1.Dual-frequency high-gain antenna............................................. 9
2. PW-25.........................................................................................9
3. GC-3......................................................................................... 10
4.The RF - 35, 460 m difference antenna.................................... 10

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 K9 Manual

Chapter Four K9 hardware panel and operation............................ 12

1. Front panel............................................................................... 13
2. K9 split RTK system panel control and instructions...............13
3.Function keys instructions........................................................ 14
4. Led Status Instructions.............................................................15
5.Switch machine instructions..................................................... 15
6. Back panel of receiver............................................................. 16
7. K9 bottom and side show.........................................................16
Chapter Five Connect ocean measurement software..................... 17
Chapter Six Connect and test K9 with software............................ 18
1. Connecting instruments........................................................... 18
2. Setting the software of K9 receiver......................................... 19
1) Connecting the motherboard..............................................19
2) Setting Serial Port and Baud Rate of K9........................... 19
3) Information of Satellite Interface...................................... 20
4) Receiver Initialization........................................................21
5) SBAS differential positioning settings.............................. 22
6) Radio difference settings (only use for radio version)...... 23
7)K9 receiver output formats................................................. 25
8) K9 beacon difference setting (Only use for beacon version)26

III
 Content
CHAPTER

1
Chapter One Advantages of K9

 GNSS positioning and orientation functions

 The data collection
 Ultra-long-distance RTK working technology
 Without measuring the baseline length

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 Advantage of K9

1. GNSS positioning and orientation functions

K9 adopts OEM board of Trimble company which is a international
famous brand, high positioning accuracy, receiving signal stability.

2. The data collection

K9 can all-weather real-time record data. The original observation
data file management using U disk storage technology, plug and play,
drag-and-drop download directly, not need software support.

3. Ultra-long-distance RTK working technology

K9 has ultra-long-range RTK operation technology, breaking the
traditional RTK working distance, play a higher economic efficiency.

4. Without measuring the baseline length

K9 need not measuring directional baseline length, also the
positioning and directional antenna need not in the same horizontal
position. Break through the traditional baseline length must be
known, and at the same level, reduce the operation difficulty.

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 K9 Basic Component

CHAPTER

2
Chapter Two K9 Technical Parameters
 Signal tracking
 Module technology
 Up to 50 Hz raw measurement and positioning
output
 Difference Format Support
 Navigation output format support
 Built-in communication
 Beacon working range
 Custom module of choose to buy
 Positioning precision
 Directional precision
 port
 Electrical Physical Characteristics
 Environmental Characteristics

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 Advantage of K9

1 .Signal tracking
GPS signal: 220 channels
GPS: Synchronous L1 C / A, L2E, L2C, L5
GLONASS: Synchronous L1 C/A、L1 P、L2 C/A(Only GLONASS
M) and L2 P
SBAS (optional): WAAS, MSAS, EGNOS
GALILEO: (Upgrade Reserved)

2. Module technology
 Trimble Maxwell 6 advanced custom measurement GNSS
technology.
 For high precision multiple correlator of global navigation
satellite systems pseudorange measurements.
 Very low noise GNSS carrier phase measurements, the
precision of the 1 Hz bandwidth is less than 1 mm,
applications mature Trimble low elevation tracking
technology.
 Initialization time is usually less than 10 seconds.
 Initialization reliability is more than 99.9%.

3.Up to 50 Hz raw measurement and positioning

output
1 Hz, 2 Hz, 5 Hz, 10 Hz, 20Hz and 50 Hz positioning outputs
(default 1Hz)

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 K9 Technical Parameter

4. Difference Format Support

CMR、CMR+、RTCM 2.1、2.2、 2.3、3.0、3.1

5. Navigation output format support

ASCII：NMEA-0183 GSV、AVR、RMC、HDT、VGK、VHD、
ROT、GGK、GGA、GSA、ZDA、VTG、GST、PJT、PJK、BPQ、
GGL、GRS、GBS ；And the binary: Trimble GSOF。

6. Built-in communication
 Built-in GM - 46 v receive radio/or beacon receiving
module
 Radio frequency band 450MHz ~ 470MHz, 100 channels
can be flexibly switched
 Radio wireless transmission rate up to 19.2Kbps
 Beacon receiving frequency range: 283.5 KHz to 325 KHz.

7. Beacon working range

On the sea: 500KM

On land: 200M

8 .Custom module of choose to buy

GPRS module(optional)
CDMA/3G network communication module(optional)

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 Advantage of K9

9. Positioning precision
Static: Flat ±2.5mm+1ppm
Elevation ±5mm+1ppm
RTK: Flat ±0.8cm+1ppm
Elevation ±1.5cm+1ppm
RTD: ±0.45 m(The RMS error)

10. Directional precision

2 m baseline: single, SBAS: 0.20°
Beacon(RTD): 0.150°
RTK： 0.090°
10m baseline: single, SBAS: 0.15°
Beacon(RTD): 0.1°
RTK：0.05°

11. port
2 RS - 232 serial port
2 external DC power input port (multiplexed)
1 Bluetooth wireless communication port
1 USB port(multiplexed)

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 K9 Technical Parameter

12. Electrical Physical Characteristics

RAM: 64MB
Host power consumption: 2.5W
The input voltage: DC 7-36V
Volume: 22.5cm×13.8cm×7cm
Weight: 1.0Kg

13. Environmental Characteristics

Waterproof/Dustproof: IP65
Working temperature: -40℃～65℃
Storage Temperature: -55℃～85℃

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 Advantage of K9

CHAPTER

3
Chapter Three K9 Basic Component
 Dual-frequency high-gain antenna
 PW-25
 GC-3
 The RF - 35, 460 m difference antenna

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 K9 Basic Component

1.Dual-frequency high-gain antenna

Figure 4-1

Used to receive satellite signals, tips:

◇ When installation it is as far as possible above the fence at the
top of the cockpit two meters or more.
◇ Installation position as far as possible away from
electromagnetic interference, such as marine HF telephone,
high-frequency radar.
◇ At the interface of the antenna and the cable do waterproof
protection.

2. PW-25

Figure 4-2

Mainly used for K9 host power supply.

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 Advantage of K9

3. GC-3

Figure 4-3

For the host and computer connection to transmit data. Can also be
the power supply, and data communications, but also to customize
communication cable.

4.The RF - 35, 460 m difference antenna

Used to transmit differential data which pass over from the station to
the mobile station. Tips:
◇ Differential antenna must be mounted on high as possible.

◇ Differential antenna as far as possible away from the satellite

receiving antenna at least 5 meters.

◇ Difference antenna is 200 meters away from disturbance

sources, such as communications towers, power lines, etc.

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 K9 Basic Component

Figure 4-4

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 Advantage of K9

CHAPTER

4
Chapter Four K9 hardware panel and
operation

 Front panel
 K9 split RTK system panel control and
instructions
 Function keys instructions
 Led Status Instructions
 Switch machine instructions
 Back panel of receiver
 K9 bottom and side show

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 K9 hardware panel and operation

1. Front panel

Status led
Function button
Power button

Satellite led
Power led

Power Port

Figure 4-5

2. K9 split RTK system panel control and instructions

Figure 4-1 work mode: ● on ○ off
Status led
Satellite led
Mode (green led of the
(green led)
dual-color led)
Base ● ○

Rover ○ ●

Static ● ●

Figure 4-2 Data link

Status led
Satellite led
Data link (green led of
(green led)
dual-color led)

Internal UHF ● ○
Internal GSM ○ ●

External ● ●

Figure 4-3 Radio Channel

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 Advantage of K9

Status led Data led

Power led Satellite led (green led of (red led of
Channel
(red led) (green led) dual-color dual-color
led) led)
0 ○ ○ ○ ○
1 ● ○ ○ ○
2 ○ ● ○ ○
3 ● ● ○ ○
4 ○ ○ ● ○
5 ● ○ ● ○
6 ○ ● ● ○
7 ● ● ● ○
8 ○ ○ ○ ●
9 ● ○ ○ ●
A ○ ● ○ ●
B ● ● ○ ●
C ○ ○ ● ●
D ● ○ ● ●
E ○ ● ● ●
F ● ● ● ●

3.Function keys instructions

◇ Double-click the F (the clicking interval should be between
0.2 to 1 second), enter the "works" Settings; there are "base",
"rover" and “static" three work modes selection.
◇ Long press F is more than 3 seconds to enter "data link
Settings”. There are "UHF", "GSM", “and External" three
data link mode optional.
◇ For rover in internal UHF, press the F key to enter the "UHF
radio channels" setting. There are 0 ~ 9, A ~ F of 16 channels
is optional. A specific channel has to be set with design
software. Connection with Hand book settings can refer to
V30 (not supported beacon settings).

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 K9 hardware panel and operation

4. Led Status Instructions

Power led (red):
Always on: In normal power pressure, power supply>11V
Slow flash: Low power-pressure, power supply≤11V
Fast flash: Power status hints: once or four times of one min
Satellite led (green):
Slow flash: Loss satellites and try re-track
Always on: More than 4 satellites tracked successfully
Status led (green and red led):
Green led: (Status led)
For rover in internal UHF, the led hints the radio station signal
strength
For base in external UHF mode, the led is off.
For other states, the led is off
Red led: (data led)
Data link send and receive data indicate (the rover station hints
receives only, the base station hints emission only), a static
collection instructions.

5.Switch machine instructions

Figure 4-4 Switch machine instructions

Boot Press power button 1S All leds on

Shutdown Long press power button 3S All leds off

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 Advantage of K9

6. Back panel of receiver

Differential antenna port

GPS Directional port

Data communication port

Figure 4-6

7. K9 bottom and side show

GPSPositi Figure 4-7

oning port
Instrument hook
Fixed screw holes

Figure 4-
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 K9 hardware panel and operation

CHAPTER

5
Chapter Five Connect ocean measurement
software
Referencing K5 to set the software, without setting baseline
length, adaptive baseline length.

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 Connect and test K9 with software

CHAPTER

6
Chapter Six Connect and test K9 with
software
1. Connecting instruments

◇ Connect GPS positioning and directional antenna:

As using Trimble ’ s motherboard, K9 must use more than 40 db

high-gain antenna, the standard AT-2300-h external antenna is 43 db
high-gain antenna. The distance of two antennas must not less than 2
meters and it's better to make sure the height difference is not greater
than 1 meters. The instrument can calculate the antenna distance
automatically, without manual measuring.
◇ Connecting the radio or beacon antenna:

The difference source antenna interface of K9 of radio and K9 of

beacon are the TNC interfaces in the same location. K9 of radio
externally connects radio antenna and K9 of beacon externally
connects beacon antenna.
◇ Power source , connecting lines of the serial ports

The small five core interface is the interface of power supply, using
the PW-25 small five core power lines to the supply power. The
large eight core interface is the interface of serial data, using GC-3 Y
type data cable for communications. K9 also has a built-in bluetooth
receiver, which can be connected to the handset via bluetooth (GC-3
Y type data cable cannot be inserted into the instrument).

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 K9 Manual

2. Setting the software of K9 receiver

1) Connecting the motherboard

There are two methods to connect the motherboard of K9 after open

the software (The software can be downloaded from the
Hi-Target's web site).

Method1: Click "Settings" menu , then choose “Connect GPS”,

after that you will enter into a interface where you can set serial
ports and choose motherboards(As shown in figure 4-9).

Figure 4-9

Method2:Click icon , you can enter into a interface where you

can set serial ports and choose motherboards.

2) Setting Serial Port and Baud Rate of K9

Choose "Trimble" motherboard, choosing serial ports according to

the serial ports’ number of your own computer connected. Baud
rate must be same to the motherboard baud rate; the serial port baud
rate is 19200 by default. If don't know the current baud rate of serial
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 Connect and test K9 with software

port, you can check the “forced to change the baud rate”. Change the
baud rate of serial port as setting baud rate (As shown in figure
4-10).

Figure 4-10

3) Information of Satellite Interface

After open configuration of motherboard board and the port is

configured correctly ， if the receiver positioning, software main
interface will display the information of location and course，as well
as the detailed information of each satellite that searched (As
shown in figure 4-11).

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 K9 Manual

Figure 4-11

4) Receiver Initialization

If the K9 receiver connects the software for the first time, you’d
better initialize the receiver. Methods: Firstly enter the "mobile
station Settings ". Click on mobile station icon of the software.
Or click “Settings”——>“Setting mobile station”. Then click
“Initialize the receiver” . Waiting for about 20
seconds until the initialization is complete (As shown in figure
4-12).

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 Connect and test K9 with software

Figure 4-12

5) SBAS differential positioning settings

K9 defaults to SBAS difference model, the state of single point

locating.

Firstly enter the interface of “Setting mobile station”. Click the

toolbar “mobile station Settings” option, or click the drop-down
menu of “Settings” - > “Settings mobile station”. So we can enter
the settings interface of mobile station. Then the differential mode
choose “SBAS model”, click OK to go. Set the K9 receiver
difference model. The default option for “SBAS mode”, that is, there
is no difference, single point positioning. (As shown in figure 4-13)

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 K9 Manual

Figure 4-13

6) Radio difference settings (only use for radio version)

Firstly, after configuration the base station, and make sure the
parameters setting set correctly, then begin to send the difference
information. Secondly, enter the interface of “mobile station
Settings” according to the above methods. Set the differential mode
of K9 as “Radio difference”, channel setting should be consistent
with the one of base station .Set the format of the output at “output
format setting”(As shown in figure 4-17 in detail “output format
settings”). Then click "ok", set successfully. (As shown in figure
4-14).

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 Connect and test K9 with software

Figure 4-14

If data link is disconnected when carries on the RTK surveying, K9

will display “single point positioning” after half a minute. And when
data link connect again, the signal light red, green intermittent flash
alternately. The RTK positioning will be displayed in the interface of
satellite information. (As shown in figure 4-15).

Figure 4-15

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 K9 Manual

7)K9 receiver output formats

Setting methods: Firstly enter the interface of “Mobile station

settings” , and then click the "advanced" button turn into the "output
format Settings" interface(As shown in figure 4-16).

Figure 4-16

After entering the interface of NMEA output formats Settings, first

click the "closed all output" stop all data output, preventing other
outputting or already output formats impacting the Settings. Then
check the format of required data, if there is no data format of
needed, we can input the after three of head data in the “Specify
data”, such as RMC (capital). Then click o "Send" to request the
format of the data set. Finally close the format setting interface. Set
up successfully (As shown in figure 4-17).

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 Connect and test K9 with software

Figure 4-17

8) K9 beacon difference setting (Only use for beacon

version)

First enter the interface of" mobile station Settings ", click" Settings
". Turn into the interface of beacon difference setting (As shown in
figure 4-18).

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 K9 Manual
Figure 4-18

After entering beacon Settings' interface, "beacon mode" is

divided into 3, automatic, manual and stations.
Automatic: Searching the beacon difference information of
stations nearby that have strong signals automatically, perform
difference calculating in motherboard (Recommended).
Manual: Set up a fixed frequency and speed, perform
difference calculating According to the rate of frequency set and the
corresponding rate of stations of speed searching.
Stations: The motherboard track information of the beacon
difference of the station and calculate the difference.
After choosing setting parameters of three models,
(Automatic does not need to set parameters, manual needs to set
frequency and rate ,station needs to set beacon station), click
“Settings”, complete set. Then close the interface.

Notes ： There we had better choose "automatic",because the nearest

station is “642”stations, if choose other stations, it may not receive
the beacon differential signal , cause for "single point
positioning" all the time (no beacon difference). (As shown in
figure 4-19).

Figure 4-19

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