User Manual

Version V1.0-20200909

User Manual
For Tersus GNSS Center

©2020 Tersus GNSS Inc. All rights reserved.

Sales & Technical Support:

sales@tersus-gnss.com & support@tersus-gnss.com
More details, please visit www.tersus-gnss.com
 User Manual for Tersus GNSS Center v1.0

Revision History

Version Revision Date Change Summary

1.0 20200909 Initial release

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Table of Content

Revision History....................................................................................................................... 1

Table of Content.......................................................................................................................2

List of Figures........................................................................................................................... 4

List of Tables............................................................................................................................ 6

1. Introduction................................................................................................................ 7

1.1 Overview.............................................................................................................7

1.2 Features............................................................................................................. 7

1.3 System Requirements......................................................................................8

2. Functions....................................................................................................................9

2.1 Config window................................................................................................... 9

2.1.1 Connection..............................................................................................................9

2.1.2 Working mode...................................................................................................... 11

2.1.3 Save option...........................................................................................................17

2.2 Interface and functions...................................................................................18

2.2.1 Menu bar.......................................................................................................... 18

2.2.2 Tool bar............................................................................................................ 19

2.2.3 Skyplot view.....................................................................................................25

2.2.4 Signal strength view....................................................................................... 26

2.2.5 Map view.......................................................................................................... 27

2.2.6 Console window..............................................................................................28

2.2.7 Command window.......................................................................................... 29

2.2.8 Trajectory view................................................................................................ 29

2.2.9 PVT views........................................................................................................ 30

2.2.10 Status bar................................................................................................. 30

2.3 Tools................................................................................................................. 32

2.3.1 Tersus Download.................................................................................................32

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2.3.2 Tersus GeoPix..................................................................................................... 33

2.3.3 Tersus Rinex Converter......................................................................................34

2.3.4 Tersus Update......................................................................................................34

3. General operations.................................................................................................36

3.1 Connect to a BX RTK board......................................................................... 36

3.2 Configure RTK board with commands........................................................ 37

3.3 Data logging.....................................................................................................39

3.4 Convert Raw Data into Rinex....................................................................... 41

4. Terminology.............................................................................................................43

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List of Figures

Figure 1.1 Tersus GNSS Center main interface............................................. 7

Figure 2.1 Connection config – serial connection........................................10
Figure 2.2 Device manager............................................................................. 10
Figure 2.3 Connection config – demo file......................................................11
Figure 2.4 Base mode configuration.............................................................. 12
Figure 2.5 Options for RTCM2........................................................................12
Figure 2.6 Options for RTCM3........................................................................13
Figure 2.7 Options for CMR............................................................................ 13
Figure 2.8 Output options................................................................................ 14
Figure 2.9 Change to rover mode.................................................................. 14
Figure 2.10 Configure COM1 for rover mode...............................................15
Figure 2.11 Configure COM2 for rover mode............................................... 15
Figure 2.12 Configure USB for rover mode.................................................. 16
Figure 2.13 Configure FILE for rover mode.................................................. 16
Figure 2.14 Save option config....................................................................... 17
Figure 2.15 Tersus GNSS Center main interface........................................ 18
Figure 2.16 Set environment preferences.....................................................20
Figure 2.17 Position summary........................................................................ 20
Figure 2.18 Auto base station list................................................................... 21
Figure 2.19 Fixed position for base station...................................................22
Figure 2.20 Data recording status.................................................................. 22
Figure 2.21 Tersus Rinex Converter.............................................................. 23
Figure 2.22 Position averaging for base stations.........................................23
Figure 2.23 Tersus download.......................................................................... 24
Figure 2.24 Update firmware...........................................................................24
Figure 2.25 GeoPix main interface.................................................................25
Figure 2.26 Skyplot view..................................................................................26
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Figure 2.27 Signal strength view.................................................................... 27

Figure 2.28 Google map.................................................................................. 27
Figure 2.29 Baidu map.....................................................................................27
Figure 2.30 Text console window................................................................... 28
Figure 2.31 Track info window........................................................................ 28
Figure 2.32 Log window...................................................................................28
Figure 2.33 Command window....................................................................... 29
Figure 2.34 Trajectory view............................................................................. 29
Figure 2.35 Heading info..................................................................................30
Figure 2.36 Velocity info...................................................................................30
Figure 2.37 Altitude info................................................................................... 30
Figure 2.38 UTC time....................................................................................... 30
Figure 2.39 Indicators.......................................................................................30
Figure 2.40 Connection status........................................................................ 31
Figure 2.41 Tersus download.......................................................................... 32
Figure 2.42 GeoPix main interface.................................................................33
Figure 2.43 Tersus Rinex Converter.............................................................. 34
Figure 2.44 Update firmware...........................................................................35
Figure 3.1 Connection configuration.............................................................. 36
Figure 3.2 Command prompt and text console............................................ 37
Figure 3.3 Save Received Data option..........................................................39
Figure 3.4 Choosing saved data location......................................................40
Figure 3.5 Converting data.............................................................................. 42

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List of Tables

Table 1 System Requirements for Tersus GNSS Center.............................. 8

Table 2 Indicators description..........................................................................31
Table 3 Common used RTCM messages..................................................... 38

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 User Manual for Tersus GNSS Center v1.0

1. Introduction

This user manual introduces how to use Tersus GNSS Center software.

1.1 Overview

The Tersus GNSS Center is configuration tool for Tersus GNSS products. This
software integrates configuration, monitoring, data logging, firmware upgrade
and other useful tools. With Tersus GNSS Center, you can communicate over
the on-board serial ports, key in commands to configure the board, upgrade
firmware, store data, playback data, convert data to RINEX format, display
rover’s trajectory in Google / Baidu map, calculate the average position of the
base station, view status of the board and positioning results.

Figure 1.1 Tersus GNSS Center main interface

1.2 Features

Tersus GNSS Center has following features:

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 Communicate over the on-board serial ports

 Key in commands to configure the board
 Upgrade firmware
 Store data, playback data
 Convert data to RINEX format
 Display the rover’s trajectory in Google / Baidu map
 Calculate the average position of the base station
 View status of the board and positioning results

1.3 System Requirements

Tersus GNSS Center is to run on a wide range of different computer

configurations. The systems requirements are listed as below:

Table 1 System Requirements for Tersus GNSS Center

Operating System Microsoft Windows 7, 8, 10 (32-bit and 64-bit)

Hardware Minimum Recommended

Processor Intel Core i3 Intel Core i5

RAM 4GB 8GB

Hard disk 10GB 1TB

Graphics card Direct X9 compatible Direct X9 compatible 2GB

integrated graphics discrete graphics

Internet Connection Ability to originate both http and https (SSL) connections

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2. Functions

This chapter describes the detailed operations of Tersus GNSS Center

Before using Tersus GNSS Center software, ensure one BX board or one
receiver of David series GNSS Receiver is powered up and connected to the
computer via serial port. The physical connection refers to corresponding user
manual which can be downloaded from Tersus website
https://tersus-gnss.com/document.

2.1 Config window

When launching Tersus GNSS Center, the config window pops up
automatically. This window can also be found in the menu bar Tools -> Config.

2.1.1 Connection

Under the connection tab, there are two options:

1) Serial
If choosing Serial as connection type, choose the right port when a Tersus
GNSS board or receiver is connected to computer via serial port. The baud
rate is 115200 bps by default. It is not recommended to change baud rate.
The serial port can be found in the windows device manager.

The ’Save Received Data’ function is turned on by default. It can be turned

off manually.

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Figure 2.1 Connection config – serial connection

Figure 2.2 Device manager

2) Demo file
If choosing demo file as connection type, click the file path and choose the
demo file, selecting loop can play the demo repeatedly, then click [OK] to
start playing demo file. The demo file can be .dat format files.

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Figure 2.3 Connection config – demo file

2.1.2 Working mode

There are three working mode to choose: command console working mode,
base station config mode, and rover station mode.
1) Command console working mode
This mode is the major mode that is introduced in this user manual.

2) Base station config mode

If choosing base station config mode, it pops out below config window.
Configuring parameters for base station by selecting in drop-down options
is another method which is different from command configuration.

You can fill in the coordinates of the base station or tick Posave on to
enable auto base station.

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Figure 2.4 Base mode configuration

For differential GNSS message output, you can configure RTCM2, RTCM3
or CMR message for the current communication port. Click [Detail] to
configure corresponding message types.

Figure 2.5 Options for RTCM2

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Figure 2.6 Options for RTCM3

Figure 2.7 Options for CMR

For data recording mode, you can choose auto or manual, click [Detail] to
configure corresponding output options.

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Figure 2.8 Output options

You can also set antenna height under Others. Click [Config&Save] to finish
the base mode configuration.

3) Rover station mode

If choosing rover station mode, it will pops out a notice to confirm this
action.

Figure 2.9 Change to rover mode

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In the rover mode configuration interface, you can configure rover’s output
from COM1/COM2/USB/File.

Figure 2.10 Configure COM1 for rover mode

Figure 2.11 Configure COM2 for rover mode

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Figure 2.12 Configure USB for rover mode

Figure 2.13 Configure FILE for rover mode

After setting all required parameters, click [Config&Save] to finish the rover
mode configuration.
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2.1.3 Save option

Under the save option tab, the output directory can be set, the data format
options can be checked according to different requirement. The log option
is .log by default.

Figure 2.14 Save option config

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2.2 Interface and functions

The main interface of Tersus GNSS Center is shown as below.

1. Menu bar 2. Tool bar

5. Map view

3. Skyplot 8. Trajectory
9. PVT
views
6. Console window

7. Command window
4. Signal
strength 10. Status bar

Figure 2.15 Tersus GNSS Center main interface

2.2.1 Menu bar

The menu bar includes below options:

1) Action
Under the action tab, it has three options: play, stop and quit.

2) View
Under the view tab, it has three options: windows, status bar and skin. For
windows, you can check which window to display. For status bar, you can
check to display status bar or not display this bar at the bottom. For skin,
you can choose from seven skin types for this software.

3) Map
Under the map tab, it has two options: Google map and Baidu map.

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4) Tools
Under the tools tab, it has three categories:
a. Config, References, and Restore Layout;
b. Show position summary, auto base station list, pin output, and erase
Trajectory;
c. Data recording, RINEX converter, Position averaging, Download File,
Update Firmware, and GeoPix. These are useful tools for different
applications.

5) Help
Under the help tab, it shows the Tersus GNSS Center version.

2.2.2 Tool bar

The tool bar shows different tools in icons.

Play: play demo file like a video, or enable the serial port connection.

Stop: stop playing demo file, or disable the serial port connection.

Config: configure connection and save option, details refer to section 2.1.

Environment preferences: set environment preferences as shown below.

You can switch google map URL, set Baidu map option, set map option with
GCJ-02, set satellite color, set trajectory view display colors, set limit for
tracing point clear interval, set limit for output session interval, and set text
console clear interval.

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Figure 2.16 Set environment preferences

Restart the app to restore: restore to the default display after restart.

Position summary: shows the summary of position parameters including

status, differential angel, satellite numbers, HDOP, ground speed, ellipsoidal
height, longitude, latitude, UTC time, date and quality indicator.

Figure 2.17 Position summary

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Google map: click it to display in google map.

Baidu map: click it to display in baidu map.

Base network for posave: it pops out the Auto Base Station List window
to set PosAve on or off and show the base station position network as below.

Figure 2.18 Auto base station list

If a base is setup with command POSAVE, according to its original definition,

after a power cycle, the fixed position may be different even if the receiver is
installed at the same point. Auto base station list function is for the users who
need the base to keep the same fixed position after a power cycle.

Fill the valid position range, check PosAve On, and click [Modify]. It is
recommended that valid position range is >20m. After the specific time (in the
example, 0.01 hour is 36 seconds), the base is fixed with the 36 seconds
averaging position. Click [Refresh], the fixed position is displayed as below.

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Figure 2.19 Fixed position for base station

After a power cycle, if the base is moved less than 20m away from the last
position, it would fix with the same position. In the above example, latitude
keeps 31.19042830, longitude keeps 121.59319162 and ellipsoid height keeps
37.4168.

Pin output: pause the message output in text console window.

Clear the trac point both in trajectory and map: click it to clear the track
point both in trajectory and map.

Data recording: view data recording status shown as below. This function
is only available after configuring raw data storage command. Only when
turning on the raw data recording, it will show the data recording status.

Figure 2.20 Data recording status

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Convert to RINEX 3.02: click this icon to view below setting window.

Figure 2.21 Tersus Rinex Converter

Position averaging for base stations: set input and output parameters for
position averaging.

Figure 2.22 Position averaging for base stations

Download SD/EMMC file: download data files from internal storage of the
receiver to the computer.
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Figure 2.23 Tersus download

Update firmware: upgrade firmware using serial port.

Figure 2.24 Update firmware

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GeoPix: launch GeoPix software to process GNSS observations.

Figure 2.25 GeoPix main interface

About version: view Tersus GNSS Center version.

2.2.3 Skyplot view

The Skyplot view displays the number of GNSS systems (GPS / GLONASS /
Beidou / Galileo / QZSS) being tracked by the board or receiver and their
elevation / azimuth angle. The different GNSS constellations are distinguished
with different colors, which can be configured in Tools - ﹥ Preference. The
satellite PRN are marked in the figure with capitalized character ‘G’, ’R’, ‘B’, ‘E’,
‘J’ referring GPS, GLONASS, Beidou, Galileo and QZSS constellation
respectively. The figure is expressed in polar coordinate system with its
direction refers to the azimuth angle and radius refers to its zenith distance
(90-elevation angle in degree). Please note the view works only when GPGSV
message is logged.

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Figure 2.26 Skyplot view

2.2.4 Signal strength view

The Signal strength view shows the signal noise ratio of different frequencies
of corresponding GNSS systems (GPS/GLONASS/Beidou/Galileo/QZSS). The
horizontal axes represent the number and the PRN. The vertical axes
represent the carrier to noise ratio (C/N0) in dB/Hz. Note: the receiver is
capable of tracking multiple frequency signals for some constellation, check
the box at the bottom left corner to present the C/N0 of different frequency
signals. Please note the view works only when GPGSV message is logged.

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Figure 2.27 Signal strength view

2.2.5 Map view

The map view can be chosen from flat map or satellite map. The map source
can be selected from Google map or Baidu map.
Note: In Mainland China it only supports Baidu map, needs proxy network to
access Google map.

Figure 2.28 Google map Figure 2.29 Baidu map

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2.2.6 Console window

The console window has three tabs: Text Console, Track Info and Log.
 The Text console window provides a way for users to communicate directly
with the board. Commands can be sent to the board using this window and
all ASCII-format messages are displayed. When binary format data is
received, the Text console window will show a summary of the binary data,
including message type and data length. If the unrecognizable characters
are received, they will be considered as error log and shown in Log view.

Figure 2.30 Text console window

 The track info window provides the coordinates at a frequency of 1Hz.

Figure 2.31 Track info window

 The log window lists output messages of ASCII or abbreviated ASCII

format.

Figure 2.32 Log window

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2.2.7 Command window

The command window is to input/type commands. Press Enter to send the

commands to the boards or receivers. Press Ctrl + Up/Down to get history
commands.

Figure 2.33 Command window

2.2.8 Trajectory view

The Trajectory view provides real-time graphic plotting of the current horizontal
position (longitude and latitude). Different solution status are presented in
different colors, which are defined as:
 SIN (Single point positioning solution)
 DIF (DGPS solution)
 FLT (RTK float solution)
 FIX (RTK fixed solution)
 OT (others solution status , e.g. Dead Reckoning or invalid solution)
You can turn on certain type of solution status via tool bar. Please note the
view works only when GPGGA message is logged.

Figure 2.34 Trajectory view

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2.2.9 PVT views

The PVT views display the detailed PVT information including heading,
position, velocity and time (UTC). Please notice that the unit of velocity is km/h
and that of attitude is meter. The time system is UTC time and the time shows
in the figure may be different from your local time. Please note these views
work only when GPGGA, GPRMC and GPVTG message is logged.

Figure 2.35 Heading info Figure 2.36 Velocity info

Figure 2.37 Altitude info Figure 2.38 UTC time

2.2.10 Status bar

Tersus GNSS Center indicates the working status of the board or receiver with
a group of indicators and connection status on the status bar at the bottom of
the main interface.

Figure 2.39 Indicators

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Table 2 Indicators description

Indicator Status Description
Comm Red Tersus GNSS Center is not connected to the board
Green Tersus GNSS Center is well connected to the board
GPS Red No GNSS signal is received
Green GNSS signal is received
Base Red No data from base station is received
Green Data from base station is received
RTK Red No RTK solution received
Yellow RTK Float solution
Green RTK Fix solution
WiFi Red Onboard Wifi is not connected
Green Onboard Wifi is connected

Figure 2.40 Connection status

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2.3 Tools
Besides Tersus GNSS Center, there are other four tools integrated into the
Tersus Tool Suite software package: Tersus Download, Tersus GeoPix, Tersus
Rinex Converter and Tersus Update.

2.3.1 Tersus Download

Tersus Download is to download data files from internal storage of the receiver

to the computer. You can click the icon in the tool bar or click Tools ->

DownloadFile or double-click the desktop shortcut to launch the

software.

Figure 2.41 Tersus download

Make sure the receiver is connected to the computer through the serial port,
click [Refresh] to view the files in the internal storage of the receiver, click
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[Select] to choose download path, and click [Download] to download files to

the designated folder of the computer.

2.3.2 Tersus GeoPix

Tersus GeoPix is a software for processing GNSS observation data collected

by UAVs and ground base stations, and tagging EXIF coordinate information of

EVENT moment photos. You can click the icon in the tool bar or click

Tools -> GeoPix or double-click the desktop shortcut to launch the

software.

Figure 2.42 GeoPix main interface

The detailed usage of GeoPix refers to the User Manual for UAV PPK Solution
which is available on www.tersus-gnss.com/product/uav-ppk-solution.

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2.3.3 Tersus Rinex Converter

Tersus Rinex Converter is a tool to convert the logged binary observation data

into RINEX3.02 or RINEX2.10 format. You can click the icon in the tool
bar or click Tools -> RINEX Converter or double-click the desktop shortcut

to launch the software.

Figure 2.43 Tersus Rinex Converter

The detailed usage of Tersus Rinex Converter refers to section 3.4 Convert
Raw Data into Rinex.

2.3.4 Tersus Update

Tersus Update is a tool to upgrade firmware for Tersus GNSS products via

serial ports. You can click the icon in the tool bar or click Tools -> GeoPix
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or double-click the desktop shortcut to launch the software.

Figure 2.44 Update firmware

Select the upgrade file, select port and baud rate, and click [Next]. After the
firmware is upgraded successfully, it will prompt a windows indicating
successful update. Click [OK] and [Finish] buttons to close the firmware
upgrade windows, the receiver will reset automatically.

Take BX306 board for example, download the latest firmware file from Tersus
official website, and put it in the designated folder of your computer. Launch
the Tersus Update software, select the firmware file (.bin format), port, baud
rate as 115200 and click [Next] for the firmware update. Details refer to section
3.2 in User Manual for BX Series GNSS Receiver.

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3. General operations

This chapter describes generation operations of Tersus GNSS Center

software.

3.1 Connect to a BX RTK board

Before connecting the board with Tersus GNSS Center, please make sure the
board is powered up and physically connected to the computer via its serial
ports. The detailed to establish a physical connection between the board and
PC can be found in the User Manual for BX series board or David series
receiver. (Available at www.tersus-gnss.com/document). The following steps
show how to do connect the Tersus GNSS Center software to the board:
1) Launch Tersus GNSS Center, the Config dialog pops up automatically. The
dialog can also be found in menu bar Tools -> Config.
2) Choose Serial as Connection type and choose the correct port. The baud
rate of the board is 115200 by default and changing baud rate is not
recommended. The serial port can be found in your windows device
manager.

Figure 3.1 Connection configuration

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3) Click [OK] to establish the connection. If the connection is established, the

COMM indicator on the status bar will turn to green.

3.2 Configure RTK board with commands

Before starting field work, configure the RTK board or receiver with the Tersus
GNSS Center software.
The board or receiver can be configured with commands which you can key in
via the Text Console window of Tersus GNSS Center.

Figure 3.2 Command prompt and text console

3.2.1 Configure the board into base station mode

Commands for base station mode:
fix position 31.1874808 121.58111234 41.4618
log com2 rtcm1074 ontime 1
log com2 rtcm1084 ontime 1
log com2 rtcm1124 ontime 1
log com2 rtcm1005 ontime 10
saveconfig

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These commands fix the coordinate of the base station and configure RTCM
message to be transmitted. The coordinates are expressed in degree/meter.
After each command is sent, the board will automatically acknowledge a ‘>OK’,
which means the configuration takes effect. If no acknowledge is received,
please refer to ‘trouble shooting’ section in the user guide or contact Tersus
Technical Support. If the base station coordinate is unknown, you can get it by
averaging the point position solution for a while.
Table 3 Common used RTCM messages

Message type Message Name

1074 Full GPS Pseudoranges and PhaseRanges plus CNR
1084 Full GLONASS Pseudoranges and PhaseRanges plus CNR
1124 Full BeiDou Pseudoranges and PhaseRanges plus CNR
1033 Receiver and Antenna Descriptors
1005 or 1006 Station Description

3.2.2 Configure the board into rover mode

Commands for rover mode:
fix none
interfacemode com2 automatic automatic on
log com1 GPGGA ontime 1
saveconfig
The rover can automatically recognize the RTCM message and compute RTK
solution, so what you need is to make sure the rover position is not fixed, the
serial port is in correct mode and it output RTK solution as normal.

After configuration, you can see that the board outputs empty NMEA
sentences as the GNSS antenna are not connected to the board.

Details of commands and logs could be found in Log&Command Reference for

Tersus BX GNSS OEM boards. (Available at
www.tersus-gnss.com/document).
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3.3 Data logging

Tersus GNSS Center allows user logging the raw observation, ephemeris or
RTK solution to PC. The procedure of data logging is as follows:
1) Configure the board output according to your requirement with Tersus
GNSS Center. (Details of commands and logs could be found in
Log&Command Reference for Tersus BX GNSS OEM boards, available at
www.tersus-gnss.com/document).
2) Make sure the Save Received Data option in Config window is turned on.
Then go to Save Option tab to configure the save directory and log
information. Tersus GNSS Center allows to save NMEA data only, binary
data only and save all received data. The error messages, e.g. corrupted
NMEA sentences, unrecognizable characters will be saved in log file for
error diagnosis.

Figure 3.3 Save Received Data option

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Figure 3.4 Choosing saved data location

3) When Tersus GNSS Center is configured well, it will log received data
once the serial connection is established. Tersus GNSS Center will create
a sub-directory in the output directory named with the date (in yyyymmdd
format) and save the data of each connection with a single file named with
the starting time (hhmmss.trs or hhmmss.nmea).

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3.4 Convert Raw Data into Rinex

The receiver independent exchange format (RINEX) is commonly used in post
GNSS data processing missions. Tersus GNSS Center allows user to convert
the logged binary observation data into RINEX3.02 or RINEX2.10 format. Here
is guidance for the conversion:
1) Select Tools -> RINEX Converter to initiate the Tersus RINEX Converter.
2) Click [Open] to select the logged binary observation file. An alternative way
is drag the file onto the text box. The output RINEX file will be stored in the
same directory as the binary file. You can also change it by click [Save as].
Please note that the output RINEX file name is the same as the binary file
as well by default.
3) Choose the source format according to your board/receiver type. It also
supports converting RTCM3.2 messages into RINEX as well, but an
approximate UTC time of start logging need to be provided.
4) A Station Name should be extracted from the source file before the
conversion. If the Time Interval option is ticked, the converter also allows
to downsampling the observation data.
5) Click Process and the RINEX files will be found in the folder of Save Path.
There are four kinds of RINEX files, including:
 .yyo file – observation file
 .yyn file – GPS ephemeris file
 .yyg file – GLONASS ephemeris file
 .yyc file – Beidou ephemeris file
 .yyl file – Galileo ephemeris file
 .yyp file – All ephemeris file
Note: *yy in file extension is two digits of year.

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Figure 3.5 Converting data

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4. Terminology

BDS BeiDou Navigation Satellite System

CMR Compact Measurement Record

eMMC Embedded Multi Media Card

GLONASS GLObal NAvigation Satellite System

GNSS Global Navigation Satellite System

GPS Global Positioning System

PC Personal Computer

PPK Post-Processing Kinematic

PPS Pulse Per Second

RINEX Receiver Independent Exchange format

RMS Root Mean Squares

RTK Real-Time Kinematic

RTCM Radio Technical Commission for Maritime Services

USB Universal Serial BUS

UTC Universal Time Coordinated

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Proprietary Notice
All Information in this document is subject to change without notice and does
not reflect the commitment on Tersus GNSS Inc. No part of this manual may be
reproduced or transmitted by all means without authorization of Tersus GNSS
Inc. The software described in this document must be used in terms of the
agreement. Any modification without permission from Tersus GNSS Inc. is not
allowed.
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