technology PRODUCT USER MANUAL GPS RECEIVER
Contents
1. The hexadecimal value of the most significant and least significant 4 bits of the result are convertted to two ASCII characters 0 9 A F for transmission The most significant character is transmitted first lt CR gt lt LF gt Hex OD 0A This Manual http www manuallib com file 2459028 B Navigation Initialization ID 101 Parameters required for start This command is used to initialize the module for a warm start by providing current position in X Y Z coordinates clock offset and time This enables the receiver to search for the correct satellite signals at the correct signal parameters Correct initialization parameters will enable the receiver to acquire signals more quickly and thus produce a faster navigational solution When a valid Navigation Initialization command is received the receiver will restart using the input parameters as a basis for satellite selection and acquisition Format PSRE101 lt X gt lt Y gt lt Z gt lt CIKOffset gt lt TimeOfWeek gt lt WeekNo gt lt chnlCount gt lt R esetCfg gt CKSUM lt CR gt lt LF gt lt X gt X coordinate position INT32 lt Y gt Y coordinate position INT32 lt Z gt Z coordinate position INT32 lt ClkOffset gt Clock offset of the receiver in Hz Use O for lt TimeOf Week gt lt WeekNo gt lt chnlCount gt This Manual http www manuallib com file 2459028 last saved value if available If this is unavailable2. TOKYO_MEAN 179 TOKYO_JAPAN 180 TOKYO_KOREA 181 TOKYO_OKINAWA eier JI Facer Esimesweimm on
3. lt LF gt BEEN A End of message termination GSA GNSS DOP and Active Satellites Table B 5 contains the values for the following example GPGSA A 3 07 02 26 27 09 04 15 1 8 1 0 1 5 33 Table B 5 GSA Data Format Message ID GPGSA GSA protocolheader Model a See Table BO Mode po JSeeTabeB 7 Satellite Used 07___ SvonChamell_________ Satellite Used 02 SvonChame2 ose pT Satellite Used SvonChanel 2 PDOP S Position dilution of Precision DDO M0 Horizontal dilution of Precision VDOP 3 Vertical dilution of Precision 33 A AE KCR 1F End of message termination 1 Satellite used in solution Table B 6 Model Manual forced to operate in 2D or 3D mode 2Dautomatic allowed to automatically switch 2D 3D Table B 7 Mode 2 Fix Not Available 2D 2 Gl This Manual http www manuallib com file 2459028 GSV GNSS Satellites in View Table B 8 contains the values for the following example GPGSV 2 1 07 07 79 048 42 02 51 062 43 26 36 256 42 27 27 138 42 71 GPGSV 2 2 07 09 23 313 42 04 19 159 41 15 12 041 42 41 Table B 8 GSV Data Format Name Example a Descrintion Message ID scpcsv GSV protocol header Message Number Rameetto3 Satellites in View loz o o SaelieID Jm Chammeli Raneetto32 79 degrees Channel 1 Maximum90 SNR C No Range 0 to 99 null when not tracking Satel
4. 0 1 lt Parity gt 0 None Odd 1 Even 2 Example Set DGPS Port to be 9600 8 N 1 PSRF102 9600 8 1 0 12 This Manual http www manuallib com file 2459028 D Query Rate Control ID 103 Query standard NMEA message and or set output rate This command is used to control the output of standard NMEA message GGA GLL GSA GSV RMC VTG Using this command message standard NMEA message may be polled once or setup for periodic output Checksums may also be enabled or disabled depending on the needs of the receiving program NMEA message settings are saved in battery backed memory for each entry when the message is accepted Format PSRF103 lt msg gt lt mode gt lt rate gt lt cksumEnable gt CKSUM lt CR gt lt LF gt lt msg gt 0 GGA 1 GLL 2 GSA 3 GSV 4 RMC 5 VTG lt mode gt 0 SetRate 1 Query lt rate gt Output every lt rate gt seconds off 0 max 255 lt cksumEnable gt O disable Checksum 1 Enable checksum for specified message Example 1 Query the GGA message with checksum enabled PSRF103 00 01 00 01 25 Example 2 Enable VTG message for a 1Hz constant output with checksum enabled PSRF103 05 00 01 01 20 Example 3 Disable VTG message PSRF103 05 00 00 01 21 This Manual http www manuallib com file 2459028 E LLA Navigation Initialization ID 104 Parameters required to start using Lat Lon Alt This command is used to initialize the module for a warm start by providing current position in Latitude L
5. 1 UBYTE Example Start using known position and time O PSRF104 37 3875111 121 97232 0 96000 237759 922 12 3 37 F Development Data On Off ID 105 Switch Development Data Messages On Off Use this command to enable development debug information if you are having trouble getting commands accepted Invalid commands will generate debug information that should enable the user to determine the source of the command rejection Common reasons for input command rejection are invalid checksum or parameter out of specified range This setting is not preserved across a module reset Format PSRF105 lt debug gt CKSUM lt CR gt lt LF gt lt debug gt 0 Off 1 On Example Debug On PSRF105 1 3E Example Debug Off PSRF105 0 3F G Select Datum ID 106 Selection of datum to be used for coordinate Transformations GPS receivers perform initial position and velocity calculations using an earth centered earth fixed ECEF coordinate system Results may be converted to an earth model geoid defined by the selected datum The default datum is WGS 84 World Geodetic System 1984 which provides a worldwide common grid system that may be translated into local coordinate systems or map datums Local map datums are a best fit to the local shape of the earth and not valid worldwide Examples Datum select TOKYO MEAN PSRF 106 178 32 This Manual http www manuallib com file 2459028 SPSRF106 PSRF106 protocol header 178 21 WGS84 178
6. a default value of 75000 for GSP1 95000 for GSP 1 LX will be used INT32 GPS Time Of Week UINT32 GPS Week Number UINT16 Week No and Time Of Week calculation from UTC time Number of channels to use 1 12 If your CPU throughput is not high enough you could decrease needed throughput by reducing the number of active channels UBYTE lt ResetCfg gt bit mask 0x01 Data Valid warm hotstarts 1 0x02 clear ephemeris warm start 1 Ox04 clear memory Cold start 1 UBYTE Example Start using known position and time O PSRF101 2686700 4304200 385 1624 96000 497260 921 12 3 7F C Set DGPS Port I1D 102 Set PORT B parameters for DGPS input This command is used to control Serial Port B that is an input only serial port used to receive RTCM differential corrections Differential receivers may output corrections using different communication parameters The default communication parameters for PORT B are 9600 Baud 8data bits 0 stop bits and no parity If a DGPS receiver is used which has different communication parameters use this command to allow the receiver to correctly decode the data When a valid message is received the parameters will be stored in battery backed SRAM and then the receiver will restart using the saved parameters Format PSRF102 lt Baud gt lt DataBits gt lt StopBits gt lt Parity gt CKSUM lt CR gt lt LF gt lt baud gt 1200 2400 4800 9600 19200 38400 lt DataBits gt 8 lt StopBits gt
7. g example GPGGA 161229 487 3723 2475 N 12158 3416 W 1 07 1 0 9 0 M 0000 18 Table B 2 GGA Data Format IMessaseID Joo GGA protocol header UTC Time 161229487 hhmmssssss Latitude hmas ddmummmm N S Indicator N N momhorS sowh Longitude I21583416 jdddmmmmmm E W Indicator W E east or W west Position Fix Indicator ee Table B Satellites Used Range 0 to 12 oP ho Horizontal Dilution of Precision MSL Altitude loo Jongen Units M meters Geoid Separation mem le Units meters a rs A TETERA Diff Ref Station ID 0000 KEE 18 R E gt a SiRF Technology Inc does not support geoid corrections Values are WGS84 ellipsoid heights Table B 3 Position Fix Indicator fo Fix not available or invalid GPS SPS Mode fix valid 12 Differential GPS SPS Mode fix valid GPS PPS Mode fix valid This Manual http www manuallib com file 2459028 GLL Geographic Position Latitude Longitude Table B 4 contains the values for the following example GPGLL 3723 2475 N 12158 3416 W 161229 487 A 2C Table B 4 GLL Data Format Message ID GPGLL GLL protocol header Latitude 372 2475 denen manne N S Indicator 2 n A Nznorth or S south 12158 3416 JW dmmmmn E W Indicator IW T 4 E east or W west UTC Position 161229 487 Al hhmmss sss Suus la _______ Ja datavalidorV datanot valid Geesse ec ________ lt CR gt
8. lite ID 27 Channel 4 Range 1 to 32 Channel 4 Maximum90 Channel 4 True Range 0 to 359 SNR C No Range 0 to 99 null when not tracking 71 R gt lt LF gt Depending on the number of satellites tracked multiple messages of GSV data may be required This Manual http www manuallib com file 2459028 RMC Recommended Minimum Specific GNSS Data Table B 10 contains the values for the following example GPRMC 161229 487 A 3723 2475 N 12158 3416 W 0 13 309 62 120598 10 Table B 10 RMC Data Format MessaseID sGpPRMC RMC protocol header UTC Time 160129487 Junge zs Suus 5 lA a datavalidorV datanotvalid Latitude Jonas ddmummmm INSmdiaor Ju NemothorScsuh O Longitude i21583416 dddmmmmmm W E east or Wzwest Speed Over Ground knots Dae poss j ddmmv Maenetic Variation E A E east or W west Checksum ro lt CR gt lt LF gt SS a End of message termination SiRF Technology Inc does not support magnetic declination All course over ground data are geodetic WGS48 directions This Manual http www manuallib com file 2459028 VTG Course Over Ground and Ground Speed GPVTG 309 62 T M 0 13 N 0 2 K 6E Message iD SsGPVTIG VIG protocol header Course 309 62 Measured heading Reference T True Course A deerees Measured heading Reference Maenetic Speed Jo knots Mea
9. ongitude Altitude coordinates clock offset and time This enables the receiver to search for the correct satellite signals at the correct signal parameters Correct initialization parameters will enable the receiver to acquire signals more quickly and thus will produce a faster navigational soution When a valid LLANavigationlnitialization command is received the receiver will restart using the input parameters as a basis for satellite selection and acquisition Format PSRF104 lt Lat gt lt Lon gt lt Alt gt lt ClkOffset gt lt TimeOfWeek gt lt WeekNo gt lt ChannelCount gt lt ResetCfg gt CKSUM lt CR gt lt LF gt lt Lat gt Latitude position assumed positive north of equator and negative south of equator float possibly signed lt Lon gt Longitude position it is assumed positive east of Greenwich and negative west of Greenwich Float possibly signed lt Alt gt Altitude position float possibly signed lt ClkOffset gt Clock Offset of the receiver in Hz use O for last saved value if available If this is unavailable a default value of 75000 for GSP1 95000 for GSP1 LX will be used INT32 lt TimeOfWeek gt GPS Time Of Week UINT32 lt WeekNo gt GPS Week Number UINT16 lt ChannelCount gt Number of channels to use 1 12 UBYTE This Manual http www manuallib com file 2459028 lt ResetCfg gt bit mask 0x01 Data Valid warm hot starts 1 0x02 clear ephemeris warm start 1 0x04 clear memory Cold start
10. sured horizontal speed nits N K Kilometers per hour 6E lt CR gt lt LE gt dnd of message termination This Manual http www manuallib com file 2459028 NMEA Input Command A Set Serial Port ID 100 Set PORTA parameters and protocol This command message is used to set the protocol SiRF Binary NMEA or USER1 and or the communication parameters baud data bits stop bits parity Generally this command would be used to switch the module back to SiRF Binary protocol mode where a more extensive command message set is available For example to change navigation parameters When a valid message is received the parameters will be stored in battery backed SRAM and then the receiver will restart using the saved parameters Format PSRF100 lt protocol gt lt baud gt lt DataBits gt lt StopBits gt lt Parity gt CKSUM lt CR gt lt LF gt lt protocol gt O SIRF Binary IZNMEA 4 USERI lt baud gt 1200 2400 4800 9600 19200 38400 lt DataBits gt 8 7 Note that SiRF protocol is only valid f8 Data bits lt StopBits gt 0 1 lt Parity gt O None 1 Odd 2 Even Example 1 Switch to SiRF Binary protocol at 9600 8 N 1 PSRF100 0 9600 8 1 0 0C lt CR gt lt LF gt Example 2 Switch to Userl protocol at 38400 8 N 1 PSRF100 4 38400 8 1 0 38 lt CR gt lt LF gt Checksum Field The absolute value calculated by exclusive OR the 8 data bits of each character in the Sentence between but excluding and
11. technology PRODUCT USER MANUAL GPS RECEIVER ENGINE BOA http www manuallib com file 2459028 From ManualLib com ManualLib com collects and classifies the global product instrunction manuals to help users access anytime and anywhere helping users make better use of products Home http www manuallib com Chinese http www shuomingshuku com Mees 7OO0DODODODODO PRODUCT USER MANUAL GPS RECEIVER ENGINE BOARD EM 406A GlobalSat Technology Corporation do00000000 180 160000000 16 No 186 Chien 1 Road 235Chung Ho City Taipei Hsien Taiwan R O C Tel 886 2 8226 3799 Rep Fax 886 2 8226 3899 Web www globalsat com tw E mail service globalsat com tw Features SiRF starlll high performance GPS Chip Set Very high sensitivity Tracking Sensitivity 159 dBm Extremely fast TTFF Time To First Fix at low signal level Support NMEA 0183 data protocol Built in SuperCap to reserve system data for rapid satellite acquisition Built in patch antenna LED indicator for GPS fix or not fix LED OFF Receiver switch off LED ON No fixed Signal searching LED Flashing Position Fixed Specification General Chipset SiRF Starlll Frequency L1 1575 42 MHz C A code 1 023 MHz chip rate Channels 20 channel all in view tracking Sensitivity 159 dBm Accuracy Position 10 meters 2D RMS 5 meters 2D RMS WAAS enabled Velocity 0 1 m s Time lus synchronized to GPS time Datum Default WGS 84 Acquisition Time Reacquisi
12. tion 0 1 sec average Hot start sec average Warm start 38 sec average Cold start 42 sec average Dynamic Conditions Altitude Velocity Acceleration Jerk Power Main power input Power consumption Protocol Electrical level Baud rate Output message Physical Characteristics Dimension Operating temperature 18 000 meters 60 000 feet max 515 meters second 1000 knots max Less than 4g 20m sec 3 4 5V 6 5V DC input 44mA TTL level Output voltage level OV 2 85 V RS 232 level 4 800 bps NMEA 0183 GGA GSA GSV RMC VTG GLL 30mm 30mm 10 5mm 0 2mm 40 C to 85 C Pin Assignment 654321 RX 654321 o A mm l 2 3 4 TX 6 Dimension 0 2mm Pin description VIN DC power input This is the main DC supply for a 4 5V 6 5 DC input power TX This is the main transmits channel for outputting navigation and measurement data to user s navigation software or user written software RX This is the main receive channel for receiving software commands to the engine board from SiRFdemo software or from user written software GND GND provides the ground for the engine board Connect all grounds 1PPS This pin provides one pulse per second output from the engine board that is synchronized to GPS time SOFTWARE COMMAND NMEA Output Command GGA Global Positioning System Fixed Data Table B 2 contains the values for the followin
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