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1. SFTW lt sp gt P N lt sp gt lt sp gt lt 15chars gt lt CR gt lt LF gt SOFTWARE lt sp gt VER lt sp gt lt sp gt lt 11chars gt lt CR gt lt LF gt SOFTWARE lt sp gt REV lt sp gt lt sp gt lt 11chars gt lt CR gt lt LF gt SOFTWARE lt sp gt DATE lt sp gt lt sp gt lt 11chars gt lt CR gt lt LFf gt MODEL lt sp gt lt sp gt lt sp gt lt sp gt lt sp gt lt 15chars gt lt CR gt lt LFf gt HDWR lt sp gt P N lt sp gt lt sp gt lt 15chars gt lt CR gt lt LF gt SERIAL lt sp gt lt sp gt lt sp gt lt sp gt lt 15chars gt lt cr gt lt lf gt MANUFACTUR lt sp gt DATE lt sp gt lt 10chars gt lt CR gt lt LF gt OPTIONS lt sp gt LIST lt sp gt lt sp gt lt sp gt lt sp gt lt 10chars gt lt C gt lt CR gt lt LF gt Where lt sp gt space character lt nnchars gt number of characters in a text string value to be defined upon final software release lt C gt checksum Message length 294 bytes 7 16 Ea status position and general data This command sets the rate that the status position and general data in the response message is output The mode parameter m in the input message instructs the GPS receiver to output the message as either one time polled or at the indicated update rate continuously Once the GPS receiver is set to continuous output the continuous message flow can be stopped by sending a one time output request The GPS receiver will output this message one more time then terminate any f
2. position and time initialisation data or continuous RTC operation with an accurate last known position available from EEPROM In this state position and time data are present and valid but ephemeris data validity has expired 5 3 5 Cold start A cold start acquisition state results when position or time data is unknown either of which results in an invalid satellite visibility list Almanac information available either from EEPROM or from original firmware definition is used to estimate satellite visibility 5 3 Navigation Modes The Pico T GPS receiver is designed to derive accurate timing information when in a fixed position The Pico T supports Two Dimensional 2D and Three Dimensional 3D navigation modes 5 3 1 2D navigation When three GPS satellite signals are available the receiver will enter 2D navigation using a fixed value of altitude determined by the host the last valid stored altitude or an initial altitude of zero In 2D navigation the navigational accuracy is primarily determined by the relationship of the fixed value of altitude to the true altitude of the antenna If the fixed value is correct the specified horizontal accuracies apply Otherwise the horizontal accuracies will degrade as a function of the error in the fixed altitude Note timing signals are not valid until an initial 3D fix is obtained or forced by the user 5 3 2 3D navigation The receiver defaults to 3D navigation whenever
3. SIDE BOTTOM SIDE PCB HEIGHTS See Note Note dependant on connnector option Main PCB assembled heights available 3 5 4 0 5 0 mm P4 P3 All dimensions in mm P2 Pt Figure 3 4 Jupiter Pico GPS receiver board dimensions mm vertical sections do not include protrusions due to I O connector dimensions LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 10 Vbatt voltage 2 5 V min to 3 6 V max Current 1 pA typ at 25 C max 5 pA Table 4 2 Keep alive power 4 1 3 Antenna pre amp voltage Voltage applied to this pin is presented to the centre conductor of the RF connector The receiver does not use this voltage This voltage is limited to a maximum of 12 VDC either polarity with a maximum current of 100 mA The maximum pre amp current must be externally limited to 120 mA There is NO built in over current protection on this line The Pico T firmware supports external digital inputs for open short antenna signals that are used to generate specific messages to the host Note Navman can provide an application note to allow users to utilise the open short antenna detection functionality see also 4 3 1 1 4 2 RF interface RF interface is via a Hirose H FL RF connector 4 2 1 RF input 1575 42 MHz at a level between 115 dBm and 133 dBm into a 50 Q impedance This input may have a DC voltage impressed upon it to supply power
4. cellular base station The most accurate temperature compensation is learned during normal operation when the receiver undergoes temperature changes while tracking GPS satellites Without the learned compensation a generic preset temperature compensation method is used Power up at temperatures outside the range of 20 C to 30 C may exhibit an initial TTFF slightly longer than the TTFF exhibited after the frequency compensation has been learned 5 7 Power management mode While the Pico T supports power management this mode of operation is not recommended for timing applications since it significantly degrades the accuracy of the one PPS pulse 5 8 Re acquisition Re acquisition is typically 2 s after 10 s of signal interruption 5 9 Data latency Position information is supplied once per second with the navigation solution valid at the leading edge of previous time mark pulse 5 10 1PPS timing accuracy The time mark pulse is supplied once per second and has a 25 ns standard deviation around the mean The 1PPS pulse can be advanced or retarded by software command in order to compensate for delays inherent the system and to synchronise with other references 6 0 Software interface The host serial I O port of the receiver s serial data interface supports full duplex communication between the receiver and the host application The Pico T is supplied in two versions one version supports Navman Binary and NMEA 018
5. information posted at www navman com is incorporated by reference Reader response Navman strives to produce quality documentation and welcomes your feedback Please send comments and suggestions to tech pubs navman com For technical questions contact your local Navman sales office or field applications engineer LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 28
6. insertions to UTS several weeks before the event via a special message within the almanac The receiver notes this data and inserts the time correction in the appropriate one second time bin When a leap second is inserted the time of day will show a value of 60 in the seconds field When a leap second is removed the minute hour and date will roll over after 58 seconds 7 12 1 Bj input command Poll current leap second status Bjm lt C gt lt CR gt lt LF gt m mode 0 respond once lt C gt checksum character Message length 8 bytes 7 12 2 Bj response message To the above command Bjm lt C gt lt CR gt lt LF gt m status 0 no leap second pending 1 addition of one second pending 2 subtraction of one second pending lt C gt checksum character Message length 8 bytes LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 22 713 Bo UTC offset status message This message allows the user to request the UTC offset that is currently being used in the time solution The value is reported as the integer number of seconds between UTC and GPS time If the offset is zero the receiver does not currently have the portion of the almanac that contains the UTC parameters This message can be set to output either once polled or any time the UTC offset has been updated or changed from the previous value Defau
7. satellite mask angle e serial data output that includes Navman binary protocol Motorola emulation and selected National Marine Electronics Association NMEA 0183 v2 1 messages LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 1 0 Introduction This specification defines the operation of the Global Positioning Satellite GPS receiver printed circuit board PCB assembly from Navman NZ Ltd OEM division Topics not covered in this specification should not be assumed to be similar for Pico T as for other Navman products Navman s Jupiter Pico T GPS timing module is a single board 12 parallel channel receiver that is intended as a component for an Original Equipment Manufacturer OEM product The receiver continuously tracks all visible satellites providing accurate satellite positioning data The highly integrated digital receiver uses the Zodiac chipset composed of two custom SiRF devices the CX74051 RF Front End and the CX11577 Scorpio Base band Processor BP These two custom chips together with memory devices and a minimum of external components form a complete low power high performance high reliability GPS timing receiver solution for OEMs The Jupiter Pico T decodes and processes signals from all visible GPS satellites These satellites in various orbits around the Earth broadcast Radio Frequency RF ranging codes timing infor
8. specified in the latitude longitude and altitude commands Default values Latitude 0 Equator Longitude 0 Greenwich Meridian Altitude 0 m WGS 84 ellipsoid 7 6 1 As input command Poll current position hold position ASXXXXXXXXXXXXX lt C gt lt CR gt lt LF gt XXXXXXXXXXXXX 13 out of range bytes 7fffffff7ff fffff7fffffff lt C gt checksum character Message length 20 bytes Change current position hold position AsIlllooooaaaat lt C gt lt CR gt lt LF gt II latitude in mas 324000 000 to 324000000 90 to 90 0000 longitude in mas 648 000000 to 648000000 180 to 180 aaaa altitude in cm 100000 to 1800000 t type altitude 0 WGS 84 ellipsoid altitude lt C gt checksum character Message length 20 bytes 7 6 2 As response message To either command AsIlllooooaaaat lt C gt lt CR gt lt LF gt IN latitude in mas 324000000 to 324000000 90 to 90 LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 20 0000 longitude in mas 648 000000 to 648000000 180 to 180 aaaa altitude in cm 100000 to 1800000 t type altitude 0 WGS 84 ellipsoid altitude lt C gt checksum character Message length 20 bytes 7 7 At go to position hold mode The position hold mode enables disables the position hold function The coordinates for the pos
9. 00 700 to 500 500 to 300 300 to 250 Table 7 2 T RAIM alarm settings The T RAIM setup and status message outputs the status of the T RAIM solution when the algorithm is active This message also outputs several values related to the T RAIM solution The 1PPS is synchronised to either UTC or GPS time as specified by the time mode The receiver can make an estimate of the overall accuracy of the time solution The one sigma estimate is computed using the residuals of the least squares time solution This number is a measure of the spread of the observations not an estimate of the absolute time accuracy Finally the time solution of each individual satellite is output Default values T RAIM algorithm off T RAIM alarm limit 1 000 ns 1PPS control mode setting 1 7 17 1 En input command Poll current T RAIM setup and status ENXXxXXXXXXXXXXXXX lt C gt lt CR gt lt LF gt x 15 out of range bytes ff ff ff LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 25 C checksum Message length 22 bytes Change current T RAIM setup Enotaapxxxxxxxxxx lt C gt lt CR gt lt LF gt o output message rate 0 output response message once polled 1 to 255 output response message at indicated number of seconds 1 once per second 2 once every 2 seconds t T RAIM algorithm on off 0 off 1 on a
10. 00000 mmmm not used lt C gt checksum character Message length 15 bytes 7 5 Ag satellite mask angle The GPS receiver will attempt to track satellites for which the elevation angle is greater than the satellite mask angle This parameter allows the user to control the elevation angle that is used for this decision Range 0 to 89 Default value 0 7 5 1 Ag input command Poll current mask angle Agx lt C gt lt CR gt lt LF gt x ff one byte hex ff lt C gt checksum character Message length 8 bytes Change current mask angle Agd lt C gt lt CR gt lt LF gt d degrees 0 to 89 lt C gt checksum character Message length 8 bytes 7 5 2 Ag response message To either command Agd lt C gt lt CR gt lt LF gt d degrees 0 to 89 lt C gt checksum character Message length 8 bytes 7 6 As position hold The user can specify coordinates to increase the timing accuracy This command is used to enter the position to be held Note that this command will only be executed if the position hold mode is disabled The position held is specified in the same units and referenced to the same datum WGS 84 as the initial position coordinates of latitude longitude and altitude to the same resolution The altitude parameter is referenced to the GPS reference ellipsoid Note that all three parameters must be specified The valid ranges of each parameter are the same as those
11. 12 1 If SRAM checksums are valid the communication parameters and initialisation data parameters will be read from SRAM 2 If SRAM checksums are invalid and EEPROM checksums are valid the communication parameters and initialisation data parameters will be read from EEPROM 3 If SRAM checksums are invalid and EEPROM checksums are invalid the factory default values in ROM will be used Note when the ROM defaults select GPIO3 signal is pulled low each power cycle or reset of the receiver will result in a much longer TTFF This is because the receiver will use default initialisation parameters stored in ROM rather than the current initialisation parameters that may be available in SRAM or EEPROM 4 3 1 9 Pin J1 9 antenna open circuit OPEN This pin is used to inform the GPS receiver that there is a open circuit condition on the antenna power feed When this signal is pulled low the receiver changes its antenna error status to open circuit This status then can be checked by the Motorola command Fa 4 3 1 10 Pin J1 10 ground 4 3 1 11 Pin J1 11 Serial Data Output SDO1 4 3 1 12 Pin J1 12 Serial Data Input SDI1 The SDO1 and SDI1 pins together comprise a full duplex asynchronous CMOS level serial link typically connected to a host system Both binary and NMEA initialisation and configuration data messages are transmitted and received across this port For extended range the user must provi
12. 2 d day 1 to 31 yy year 1998 to 2018 Time h hours 0 to 23 m minutes 0 to 59 s seconds 0 to 60 ffff fractional second Position aaaa latitude in mas 324 000000 to 324 000 000 90 to 90 0000 longitude in mas 648 000 000 to 648000000 180 to 180 hhhh ellipsoid height in cm 100 000 to 1800000 mmmm not used Velocity vv velocity in cm s 0 to 51 400 hh heading 0 to 3 599 0 0 to 359 9 true north resolution 0 1 Geometry dd current DOP 0 1 res 0 to 999 0 0 to 99 9 DOP t DOP type msb Bit 7 antenna undercurrent Bit 6 antenna over current Bit 5 automatic survey mode Bits 4 3 2 1 not used Isb Bit 0 set HDOP 2D clear PDOP 3D Satellite visibility and tracking status n number of visible satellites 0 to 12 t number of satellites tracked 0 to 8 For each of the eight receiver channels i satellite ID 0 to 37 m channel tracking mode 0 code search 1 code acquire 2 AGC set 3 preq acquire 4 bit sync detect 5 message sync detect 6 satellite time available 7 ephemeris acquire 8 available for position s carrier to noise density ratio C No 0 to 255 dB Hz d channel status flag each bit represents one of the following msb Bit 7 using for position fix Bit 6 satellite momentum alert flag Bit 5 satellite anti spoof flag set Bit 4 satellite reported unhealthy Bit 3 satelli
13. 2 T RAIM alarm ET ul EEN 25 Table 7 3 Antenna Connection Status cccccessseneeeeeseeeeeeeeeseeeeeeensaeeeeeeeeseseeeeensneeeeeeeneeeseeneees 27 LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice Features e T RAIM position hold and self survey functions required for precision timing applications e very small size of 24 5 x 31 5 x 8 6 mm e 250 mW approx power consumption with 3 3 V input e very low current battery backup input for Real Time Clock RTC and SRAM e power management control e reliable single chip RF containing VCO LNA e 12 parallel satellite tracking channels for fast acquisition and re acquisition e fast Time To First Fix TTFF performance 120 seconds TTFF cold start typical 24 seconds TTFF hot start typical less than 60 seconds warm start with battery back up Less than 2 second re acquisition after blockages for up to 10 seconds e adaptive threshold based signal detection for improved reception of weak signals e automatic altitude hold mode from three dimensional 3D to two dimensional 2D navigation e automatic cold start acquisition process when no initialisation data is entered by the user e operational flexibility and configurability via user commands over the host serial port e position and velocity initialisation data through the host serial port e user selectable satellites e visible
14. 3 v2 1 protocols the other version supports Navman binary NMEA and Motorola equivalent protocols The NMEA protocol provides only position information and does not support the information required in timing applications LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 15 6 1 Navman binary data messages their corresponding message IDs For a complete description of each binary message refer to Table 6 1 and 6 2 describe all of the output and spines document SE g input binary messages for the receiver along with Output message name Message ID Input message name Message ID geodetic position status output geodetic position sier velocity initialisa 1200 channelsummaty user defined datum definition visible satellites map datum select channel corrections satellite elevation mask control channel measurement satellite candidate select best user measurement cold start control ECEF position output solution validity criteria H ID kk er antenna type select ee output user entered altitude input raw almanac SEN application platform control raw ephemeris 7 nav configuration raw UTC iono corrections RAM status raw almanac raw ephemeris timing receiver configuration g 9 raw ionospherics and UTC corrections timing receiver s
15. EREEESEEEEEREEEEEEEEESEEEEEEEERSEEEEEEEESEEEEEH 19 T 2 Ad latitude ET 19 F 2A Ad INPUE COMMANG EE 19 1 2 2 Ad response MOSSAGE EE 19 1 3 M AG lONGUHUGE wisi ccccisssccccccttccceteesescseseeesessecceeecessceesecessensuecesseccteeesssecsneeesscacseescssetasnerssst 19 LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice T 3 1 Ae inputcommand EE 19 3 2 Ae FESPONSE Ee TT 19 TA M AT TUTE 20 TAIAT input command EE 20 I E le EE EEN 20 7 5 Ag Satellite MASK ANGIE eee eeeeeee eee eeeeeen ee eeeneen eee eeseaeeeeeeseeneeeeaaseeneeeennseeneeenes 20 RATAJ INPUL COMM AN na A ET ANR 20 i272 Ad Ree oe r n O T OEEO S 20 T6 As position Kold sssiiceicrecke nikeae ne eNEAN EKERN RAUN EEEE KARRERAN ETE 20 TONAS input command E 20 T6 2 AS E Enrons rnn anan ventas tangiene snactateacduratad dekanateeeecanuetasedhewmadieneniies 20 7 7 At go to position hold MOE cecccceeeeent eee eee eee eeeeeee ee eeeeeen NAREN RA KENANA ANN NAARRA RANAN ANEANNA 21 FLA AU INPUt command WEE 21 TLA AL FESPONSE E Le GEET 21 1 3 MAW time MOG oa oi cece cccecdec td cecccen ceenecceceesdaceeden eNA ONENERA REKEN ESERE ANENE ETARE EREE 21 F821 AW I PUT command EN 21 T82 AW TESPONSE MESSAGE ET 21 TI AY PPS time E 21 TOI Ay INPUL COMMEANG E 21 9 2 JAY PESPONSE NCSSAGC E 21 7 10 Az offset the 1PPS for antenna cable delay or other system advance delay DS TEE Eegereg
16. ME EE 11 4 3 1 Voltage levels CMOS EE 11 5 0 GPS PERFORMANCE E 13 51 G neralinftormati be ee hee EEN 13 5 2 Satellite Acquisition REENEN EEN 14 5 ZA ACQUISITION WEE 14 E ee ET 14 Eege 14 524 Warm Re 14 EE SLAM area E E Ee 14 5 3 NAVIGATION MOGES sesia seirinin EERO ZeeeEegEegeddEE EES dee EERENS ERRENA 14 D9 M2 TNV G TE 14 e ER MAVIGAUON ona a T O 14 E e Ee EE 14 5 2 4 Time Receiver Autonomous Integrity Monitor T RAIM eccceeeeeeeeeeeeetteeeeeeeeteeeeeeeaas 14 E Hee EE Eeeeg 14 5 4 Position accuracy while in GPS NAV MOdeS cceeeeeeeeeeeeeeeeeeeeeneeeeeeeseeneeeeeeneenseeeeeenes 15 5 5 Time to First Fixe TIFE gester eege eege 15 5 6 Temperature Compensation ee 15 5 7 Power management mode ssssssssssnnnssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnmnnn nnna 15 RE ee DEN a ET 15 9 9 Datta late nm CY ees eege 15 DN ARLETTE 15 6 0 Software interface iio ci ceceres ce eretccteisi cece cence taceece ciate teehee ccie 15 6 1 Navman binary data messages ceeecceeceeeeeeeeeeeeeeneeeeeseeeeeeeeeeeeeeeeseceneeeeaseeeeeeeaeeeeneeeennoes 16 6 2 Motorola Binary Data Messages ccccccesseneeeeeeeseeeeeeeseeeeeeeeeeeeneeeeeseceeeeeeaseeeeeeeaaneeneeeeneees 17 6 3 NMEA data Me SSaG S iii cciccicescececi ces cccecee cs sce ccees ca aceneed casencteecceactentecasecetued cesceeteecceseettzecedees 18 TO PAD Tri e aea aia ees iaaa 19 7 1 MOTOROLA 1 0 command let eseEREEESEEEEEREEEEEEEEEREEEEEEE
17. NAVMAN Jupiter Pico T GPS receiver module Data sheet Related products e Development kit TU10 D007 362 Related documents e Product brief LAO10041 e Timing application note LA010105 e Development kit Quick start guide LA010088 e Development kit Guide LA010089 e Designer s guide MNO02000 e Labmon application note LA010103 LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 1 Contents RE 5 1 0 TOG UC GU ass cess ei eee ced eee ne hee cece ease enenetedececeeectnne 6 2 0 SPECIFICATIONS viisina eassa a aana aaaea eaea ea Aaa AESi 8 2 1 ENVIFONME Nal cisccscececied cvececevescanedanstccenecxeeeceneesesecanautewssssencsneedsandcabnedccsecsendsacaeansoddanesecessrnseans 8 PANER PSM Le TE 8 22 SIORAGE EE 8 213 EMIS e 8 3 0 Mechanical E 9 3 1 AMLSMMA COMMO CON inerea REAREN EEES RRENEAN AEAN EEEN RAES 9 3 2 Input Output 1 0 CONMECEON cceeeeeeceeeeeeeeeeeeeeenenseeeeeeeeeeeeeesneeseeeeseeaeseeesseaaeseeesseeseeeeseane 9 3 3 MArKING SCNiAllS Atl Mic veesssccctccecssctec cece sncdeeeeasnanecensssccec dese sapedeesedsneeceessssceceetssapecciesssnceeeets senses 9 40 EL TRIG iaaactecectecssicensan cicna aaae iaaa E onana aaa aaia aaa 9 A RTE 9 AAA PRIMARY DONG E 9 4 1 2 Backup power SRAM RTC cesaria n e nA RA A 9 41 3Antenna pre amp VONAGE EE 11 4 2 RF Lu te TT 11 CRT E 11 4 2 2 Burnout re ee 11 4 2 3 JAMMING PEMMONMANCE TEE 11 S OF COM
18. R gt lt LF gt m mode 0 GPS 1 UTC lt C gt checksum character Message length 8 bytes 7 8 2 Aw response message To either command Awm lt C gt lt CR gt lt LF gt m mode 0 GPS 1 UTC lt C gt checksum character Message length 8 bytes 7 9 Ay 1PPS time offset The GPS receiver outputs a 1PPS with the rising edge aligned with the GPS UTC one second tick mark The 1PPS offset command allows the user to offset the 1PPS time mark in one nanosecond increments This offset can place the 1PPS anywhere within the one second epoch Range 0 to 999999999 ns Default value 0 ns Resolution 1 ns 7 9 1 Ay input command Poll current 1PPS offset Ayxxxx lt C gt lt CR gt lt LF gt xxxx 4 out of range bytes ffffffff lt C gt checksum character Message length 11 bytes Change current 1PPS offset Aytttt lt C gt lt CR gt lt LF gt tttt time offset in ns 0 to 999999 999 lt C gt checksum character Message length 11 bytes 7 9 2 Ay response message To either command Aytttt lt C gt lt CR gt lt LF gt tttt time offset in ns 0 to 999999 999 lt C gt checksum Message length 11 bytes 7 10 Az offset the 1PPS for antenna cable delay or other system advance delay parameters The GPS receiver outputs a 1PPS signal with the rising edge aligned with the GPS UTC one second tick mark The 1PPS cable delay command allows the user to offset the 1PPS time m
19. a T RAIM alarm limit in 100 s of nanoseconds 3 to 65535 p 1PPS control mode 0 1PPS output pulse off 1 1PPS output pulse on all the time 2 pulse only active when tracking at least one satellite 3 pulse only active when T RAIM algorithm confirms solution time error is within the user defined alarm limit XXXXXXXXXX not used lt C gt checksum character Message length 22 bytes 7 17 2 En response message To either command Eanotaapxxxxxxxxxxpysreensffffsffffstfffstftfs ffffsffffsffffsffffC lt CR gt lt LF gt o output message rate 0 to 255 t T RAIM algorithm on off 0 off 1 on aa T RAIM alarm limit in 100 s of nanoseconds 3 to 65535 p 1PPS control mode 0 1PPS output pulse off 1 1PPS output pulse on all the time 2 pulse only active when tracking at least one satellite 3 pulse only active when T RAIM algorithm confirms solution time error is within the user defined alarm limit XXXXXXXXXX not used p pulse status 0 off 1 on y 1PPS pulse sync 0 pulse referenced to UTC 1 pulse referenced to GPS s T RAIM solution status 0 OK solution within alarm limits 1 alarm user specified limits exceeded 2 unknown due to alarm threshold set too low T RAIM turned off insufficient satellites being tracked r T RAIM status 0 detection and isolation possible 1 detection only possible 2 neither possible ee time solution one sigma
20. a response MESSAGE viel eel elt O del eed eae ee ade anes ala eter eee erat 27 7 19 Wb go to Navman binary Protocol cc eeesenccceeeeneeeeeeeeneeeeeeeenseeeseeeeseeeeseeeneeeeeees 27 TAST WO INPUUCOMMANG EE 27 19 2 WD response MESSAGE E 27 LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice Figures Figure 1 1 Jupiter Pico T GPS receiver 0 ceecceceseeeeeeeeeeneeeeeeeeeeeeeeeeeeneeeeeeeseneeseeseseeeneneneeneneats 6 Figure 1 2 Jupiter Pico T GPS receiver cceccceceseeeeeeeeeeeeeseeeeseeeeseeneeeeeeseeeseneeseeseseeeeeeensenenents 6 Figure 1 3 Jupiter Pico T block diagram cccccceeeeereeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseesesseeneneneeeeaeens 7 Figure 2 1 Random vibration Specification ccecseececceseeeeeeeeeeneeeeeeeeeeeeeeeneeeeseeeeeseenseeneseeenees 8 Figure 3 1 Antenna Connector Information ccceeeecceeeeeeeeeeeeneeeeeeeeeeeeeeseseneeseeseseneeeeeeenenenes 9 Figure 3 2 The 20 pin I O connector ccccceseeeeeeeeeneeeeeeeeeeeeeeeneeneeseeeeseneeseeseseeeeseseesenseeeeseanens 9 Figure 3 3 Pico T serial label ie iccccccccscaseceescessetcecesiensecesecsevesaeecerveecerevenseceeeesnneoceevsresseeteeventeerees 9 Figure 3 4 Jupiter Pico GPS receiver board dimensions MIM ceecccceeeeeeeeeeeeeneeeeeeeeeees 10 Tables Table 1 1 Jupiter Pico T module description REENEN EEN KEEN 6 Table 2 1 Environmental Conditions Op
21. able and broadcast TV Phase Q Intermediate Frequency IF sampled data to the BP The BP contains an integral e WANs microprocessor and the required GPS specific signal processing hardware Memory and other external supporting components complete the receiver navigation system The interface between the applications processor and the receiver is through the serial data and timing interface CX74051 CX11577 receiver front end base band processor RF connector signal samples clock signals serial port 1 OEM host interface A D control St 42 channel timing reference GPS correlator and 10 949 MHz base band post select Xtal processor serial port 2 filter Filtering serial SRAM gt EEPROM antenna external feed ROM Le il RTC contains SiRF D Software 32 kHz Xtal regulated DC power lt 3 3 VDC input EMI filtering amp power supply bat backup to SRAM amp RTC Le 3 3 VDC bat backup Figure 1 3 Jupiter Pico T block diagram LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 7 2 0 SPECIFICATIONS 2 1 Environmental 2 1 1 Operating Environmental conditions for Pico T during operation are shown in table 2 1 The Pico T will continue to operate under the following sinusoidal vibrations e 10 mm pp displacement limited from 5 Hz to 17 3 Hz e 6 G from 17 3 Hz to 100 Hz e 1 5 G from 100 Hz to 200 Hz Note
22. accuracy estimate in nanoseconds 0 to 65535 n negative sawtooth time error of next 1PPS pulse in nanoseconds 0 not applicable with Pico T For each of the eight receiver channels s satellite ID 0 to 37 fffff fractional GPS local time estimate of satellite in nanoseconds 0 to 999999999 lt C gt checksum character Message length 69 bytes 7 18 Fa self test The GPS receiver has the ability to perform an extensive self test Functions that are verified include Antenna connection RTC communication and time Temperature sensor RAM ROM Correlator IC SCI communication if RS 232 port is active The output of the self test command is a 16 bit field where each bit of the field represents the go no go condition of the item tested When self test is initiated the next output message may not be in the response The self test may take up to ten seconds to execute Once the self test is complete the acquisition process starts all over as if the receiver were first powered on The date time position almanac and ephemeris information is all retained LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 26 7 18 1 Fa input command Initiate self test Fa lt C gt lt CR gt lt LF gt C checksum Message length 7 bytes 7 18 2 Fa response message To the above command Faxx lt C gt lt CR gt lt LF gt xx
23. and the location of currently visible satellites up to 12 satellites The reference point for the most recent satellite alert is the current position coordinates Default mode polled 7 11 1 Bb input command Request visible satellite status message Bbm lt C gt lt CR gt lt LF gt m mode 0 output message once 1 output message when visibility data changes lt C gt checksum character Message length 8 bytes 7 11 2 Bb response message To the above command Bbniddeaasiddeaasiddeaasiddeaasiddeaasid deaasiddeaasiddeaas iddeaasiddeaasiddeaasiddeaas lt C gt lt CR gt lt LF gt n number of visible satellites 0 to 12 For each visible satellite i satellite ID dd Doppler in Hz 5000 to 5000 e elevation in degrees 0 to 90 aa azimuth in degrees 0 to 359 s satellite health 0 healthy and not removed 1 healthy and removed 2 unhealthy and not removed 3 unhealthy and removed lt C gt checksum character Message length 92 bytes 7 12 Bj leap second pending This command causes the receiver to send a message to the user indicating the status of any pending leap second correction to UTC If a leap second is pending its direction is also indicated This is a polled only output message Leap seconds are occasionally inserted in UTC and can occur on midnight UTC June 30 or midnight UTC December 31 The GPS control segment notifies GPS users of pending leap second
24. ark in one nanosecond increments relative to the measurement epoch LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 21 This parameter commands the GPS receiver to output the 1PPS output pulse earlier in time to compensate for antenna cable delay Up to one millisecond of equivalent antenna cable delay can be removed Zero cable delay is used for a zero length antenna cable This parameter also allows the user to adjust the relative time of the 1PPS to compensate for other system delays Range 0 to 0 000999999 s Default value 0 000 s Resolution 1 ns 7 10 1 Az input command Poll 1PPS cable delay AZxxxx lt C gt lt CR gt lt LF gt xxxx 4 out of range bytes ffffffff lt C gt checksum character Message length 11 bytes Change current 1PPS cable delay Aztttt lt C gt lt CR gt lt LF gt tttt time offset in ns 0 to 999999 lt C gt checksum character Message length 11 bytes 7 10 2 Az response message To either command Aztttt lt C gt lt CR gt lt LF gt tttt time offset in ns 0 to 999999 lt C gt checksum character Message length 11 bytes 7 11 Bb visible satellite status This command requests the results of the most content satellite alert computation The response message gives the summary of the satellite visibility status showing the number of visible satellites the Doppler frequency
25. at least four GPS satellites are being tracked In 3D navigation the receiver computes latitude longitude altitude and time information from satellite measurements 5 2 3 Automatic self survey This is the default position averaging algorithm that automatically determines user position and enters position hold mode after averaging 10000 2D or 3D position fixes Resulting position accuracy in 2D is 20 m 95 and in 3D is 10 m 95 On start up if a set position command is specified by the host this command then terminates position averaging and the user entered position is used for all subsequent timing computations 5 2 4 Time Receiver Autonomous Integrity Monitor T RAIM T RAIM is an algorithm that uses redundant satellite measurements when available to check the integrity of the time solution If an error is detected the satellite causing the error is isolated and removed from the solution if possible This depends on the user defined threshold the number of satellites tracked and the constellation geometry When the receiver is not in position hold mode T RAIM will only be able to detect an error If T RAIM is not available RAIM should be used with TDOP to detect isolate and remove satellites with erroneous time 5 2 5 Datum Supports the default WGS 84 datum LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 14 5 4 Posit
26. ata The Pico T requires a valid 3D position fix for 24 hours duration in order to set the accuracy of the 1PPS pulse After initial acquisition the Pico T can maintain a 1PPS with lock to only one GPS satellite However during any signal interruption the timing of the 1PPS pulse will drift User systems must be able to account for this and adjust their processing accordingly 5 2 2 Re acquistion This is the usual mode of operation of the GPS receiver subject to short signal interruptions from satellite obscuration or jamming In order to prevent downstream circuitry from following the receiver generated 1PPS when it is no longer locked to a GPS satellite the user must either cause the 1PPS pulse to be squelched using T RAIM command options or must read the status messages and respond appropriately Re acquisition search algorithms degrade to a cold start search after the cold start re acquisition interval is reached 5 2 3 Hot start A hot start results from a software reset after a period of continuous navigation or a return from a short idle period i e a few minutes that was preceded by a period of continuous navigation In this state all of the critical data position velocity time and satellite ephemeris is valid to the specified accuracy and available in SRAM Hot start mode requires backup power for SRAM and RTC in the event of primary power loss 5 2 4 Warm start A warm start typically results from user supplied
27. cannot be driven by a voltage higher than PWRIN and cannot be driven high at all when power is removed from the PWRIN pin M_RST has a pull up resistor to PWRIN with a minimum value of 10 k Table 4 5 Interface voltage levels 4 3 1 2 Pin J1 2 unused This is pin is NOT connected 4 3 1 3 Pin J1 3 backup power in Input power pin used for SRAM and RTC keep alive see table 4 2 4 3 1 4 Pin J1 4 primary power in PWRIN Input power pin 4 3 1 5 Pin J1 5 master reset In M_RST This input causes a reset of all hardware including SRAM This signal is capable of being driven directly by an external microprocessor or by external logic without the need for any external pull up or pull down resistors and may be left floating if not used The receiver is reset by pulling the M_RST control signal low to ground The M_ RST signal must be pulled to a CMOS logic high level or left floating coincident with or after the application of prime DC power for the receiver to enter its operate mode The M_RST must be held at ground level for a minimum of one microsecond to assure proper generation of a hardware reset to the receiver This signal can also be used to provide control of the receiver s operating mode without removing prime input power from the receiver When M_RST is pulled to ground the receiver will enter a low power state for as long as the M_RST signal is asserted low In this state the SRAMs are transitioned in
28. changed Range 90 South Pole to 90 North Pole Default value 0 Equator Units milliarcseconds mas 1 3600000 mas 7 2 1 Ad input command Poll current latitude Adxxxx lt C gt lt CR gt lt LF gt xxxx 4 out of range bytes 999999999 lt C gt checksum character Message length 11 bytes Change current latitude Addddd lt C gt lt CR gt lt LF gt dddd latitude in mas 324 000 000 to 324000000 90 to 90 lt C gt checksum character Message length 11 bytes 7 2 2 Ad response message To either command Addddd lt C gt lt CR gt lt LF gt dddd latitude in mas 324 000 000 to 324 000 000 90 to 90 lt C gt checksum character Message length 11 bytes 7 3 Ae longitude Longitude is measured in degrees east or degrees west of the Greenwich Meridian The datum for longitude is WGS 84 This input command sets the initial longitude coordinate only if the GPS receiver is not yet computing a position fix If the GPS receiver is already computing a fix the longitude is not changed Range 180 to 180 Default value 0 Greenwich Meridian Units milliarcseconds mas 1 3600000 mas 7 3 1 Ae input command Poll current longitude Aexxxx lt C gt lt CR gt lt LF gt xxxx 4 out of range bytes 999999999 lt C gt checksum character Message length 11 bytes Change current longitude Aedddd lt C gt lt CR gt l
29. d_byte 0x01 send_byte 0x34 send_byte Ox0D send_byte 0x0A These are the hex values that are required in the sequence shown to convert the receiver to Navman binary protocol When the above command is sent to the receiver the conversion takes place and responds with the following sequence on the serial interface 7 19 2 Wb response message Wb Hex 01 Hex34 Hex0D Hex0A and at that point in time there is approximately 470 milliseconds delay Then the receiver sends an Navman binary 1108 message to indicate that the conversion has occurred For additional messages in Navman binary protocol relating to timing refer to the timing application note Navman document LA010105 LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 27 2004 Navman NZ Ltd All Rights Reserved Information in this document is provided in connection with Navman NZ Ltd Navman products These materials are provided by Navman as a service to its customers and may be used for informational purposes only Navman assumes no responsibility for errors or omissions in these materials Navman may make changes to specifications and product descriptions at any time without notice Navman makes no commitment to update the information and shall have no responsibility whatsoever for conflicts or incompatibilities arising from future changes to its specifications and
30. de any Line Driver Line Receiver LD LR circuitry Port idle is nominally a CMOS logical high 3 3 VDC 4 3 1 13 Pin J1 13 ground 4 3 1 14 Pin J1 14 reserved This signal is reserved and NO electrical connections should be made 4 3 1 15 Pin J1 15 Auxiliary Port Serial Data Input SDI2 The auxiliary port consists of a second half duplex asynchronous serial data interface For extended range the user must provide any LD LR circuitry Port Idle is nominally a CMOS logical high 3 3 VDC 4 3 1 16 Pin J1 16 ground 4 3 1 17 Pin J1 17 ground 4 3 1 18 Pin J1 18 ground 4 3 1 19 Pin J1 19 UTC time mark pulse TMARK The time mark output provides a 1PPS signal When the receiver provides a valid navigation solution the rising edge of each TMARK pulse is synchronised with the UTC one second epochs to within 25 nanoseconds 1 sigma The receiver software produces a Navman binary format and Motorola equivalent format data message containing the UTC time associated with each time mark pulse When the receiver s serial data communication port is set to 9600 bps the UTC time mark pulse output message precedes the TMARK pulse by 400 to 500 ms typically 4 3 1 20 Pin J1 20 10 KHz UTC synchronised clock This is a 10 kHz clock waveform synchronised to the UTC TMARK pulse The output is 10 kHz TTL levels Square wave 5 0 GPS PERFORMANCE 5 1 General information The receiver can operate from either an activ
31. e or passive GPS antenna to receive GPS carrier signals centred at 1575 42 MHz Note observe all voltage precautions when using a passive antenna see section 4 3 1 1 Timing precision requires accurate determination of position As the receiver determines its position by ranging signals from four or more GPS satellites orbiting the Earth its antenna must have good visibility of the sky so that pathways to available satellites are not obscured This is generally not a problem when the antenna is outdoors in the open Therefore to provide greatest timing accuracy an outdoor antenna is recommended If it is necessary to use an indoor antenna it should be positioned in such a way as to have the least obstructed view of the sky The user must perform tests to determine if timing accuracy is adequate with degraded views To establish an initial navigation fix the receiver attempts to use three satellites and a stored altitude which may be zero This initial fix may be inaccurate as stored altitude may be inaccurate An accurate position fix requires a minimum of four satellites in track with Geometric Dilution of Precision GDOP lt 10 LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 13 5 2 Satellite Acquisition 5 2 1 Acquisition The GPS receiver supports four types of satellite signal acquisition depending on the availability of critical d
32. er latitude used to manually enter longitude used to manually enter altitude used to set antenna mask angle command to manually enter posi tion hold position command to go to position hold mode command to select UTC or GPS time formats used for setting 1PPS time offset used to offset the 1PPS signal for antenna cable delays or other sys tem advance delay parameters commands report on visible satel lites and status used to get pending leap second information provides UTC offset status commands the receiver to default parameters command to respond with manu facturer name model serial number information and software revision status position and other general data Note that this data can be set as regular second boundary timed output message sets alarm limits for T RAIM and controls output turns on off of 1PPS and 10 kHz timing signals command to run self test on the receiver s hardware commands the receiver to go to Navman binary protocol Table 7 1 Motorola commands included in the Pico T reciever 7 2 Ad latitude Latitude is measured in degrees north or degrees south of the earth s equator The default datum for latitude is WGS 84 This input command sets the initial latitude coordinate only if the GPS receiver is not yet computing a position fix If the GPS receiver is already computing a fix the latitude is not
33. erating cccccceesseneeeeeeeeeeeeeeeeeeneeeesseceneeeenseeneeeenenes 8 Table 2 2 Environmental conditions StOrage ccceseceeceeseeneeeeeeceneeeeeseeneeeensneeneeeenseeeeeenenes 8 Table 4 1 Operating power for Jupiter Pico Teen 9 Table 4 2 Keep alive PpOWEf iii iccccscinseccsccsetcecesricteesssccccnsecnnescarieessesscanecnateedderuetecsannansecesnecenns snares 11 Table 4 3 Jamming Performance ccccesecseeeesseeeeeeeeeeeeeeeeeeseceeeeeesaeeeeeeesseeeeeeeenseeeeeeeeenseneeeens 11 Table 4 4 Receiver I O pin aASSIQGNMENEKS cseeseeeeeeeeeeeeeeeeeeeeeeeneeeeeeeeeeeeeeeeeeneneeeeeeeeneeeeenenes 11 Table 4 5 Interface voltage levels ccccsecseeeeeseseneeeeeseceeeeeeeseeneeeenaaseeeeeeeseseeeeenseeeneneeneeeseeeeens 12 Table 6 1 Binary output MESSAGES cc eeeseeee eee eeee eee eeeeeeeeeeeeseeeeeeeneneeeeeeeaeeseeeeseeneeeeeeenneeeeeeeens 16 Table 6 1 Binary input messages lt ccc0cscccetseccceccceceesccccteeeeeseatteesesecattesesseastiesaveastueereeseacteess 16 Table 6 3 Motorola binary input and output MESSAGES 2 ceeeeeeeeee eee eeeeeeeeeeeeeeeeeeeeeeeeeeee 17 Table 6 4 NMEA output messages ccceseceeeeeeeeeeeeeeenseeeneeeeeseceeeesasasseeeeenseseeeeeenseseeeeenenseeeeens 18 Table 6 5 NMEA input messages ccccesesseeeeeeeeeeeeeeesneeeeeeeeseceeeeensasceeeeeaaeeeeeeeeeseeeeeeenenseeeeens 18 Table 7 1 Motorola commands included in the Pico T reciever cccsssseeeesseeteeeeeseeeeeeeenes 19 Table 7
34. ge refer to Navman document MNO2000 Message ID Output message name Rockwell proprietary Built In Test BIT results Rockwell proprietary error status GPS fix data GPS DOP and active satellites GPS satellites in view VTG track made good and ground speed recommended minimum specific GPS BME data RID Rockwell proprietary receiver ID Rockwell proprietary Zodiac channel 20H status enabled by default at power up once at power up reset Table 6 4 NMEA output messages Note NMEA message protocol contains no information for timing applications Also due to processing priorities within the receiver the date and time reported in NMEA messages may be advanced or retarded from UTC by up to one second Message ID Input message name Navman proprietary built in test BIT BIT Command Navman proprietary log control Mes sage Navman proprietary receiver Initialisa tion LOG INIT PRO Navman proprietary protocol message LCGPQ_ Navman standard query message Table 6 5 NMEA input messages LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 18 7 0 Appendix A 7 1 MOTOROLA I O command list Table A 1 describes the sub set of Motorola commands included in the Jupiter PICO T GPS receiver Binary command Description used to manually ent
35. ie eege 21 FAOA AZ INPUL COMIMAMNG EE 22 110 2 AZ response MESSI Eora o ee ees ace T ree and tee ante a ever eee el 22 7 11 Bb visible satellite status cccccceeeeenee ee eeeee eee eeeecee eee eeeeeeeeeeeeneeeeeeeaseceneeeneneeneeeenees 22 FAVA BD INPUUCOMMANG MEET 22 1 2 BD responso MESSAGE EE 22 7 12 Bj leap SECON PENANG ceceeeccccceeeeeneeeeeeeeneeeeeeeceeeeeeeseeneeeeeseeeneeeeaeeceeeeensseneeeeenees 22 12 1 B Mpu COMMANG ee ENEE EENEG 22 T122 By FESPONSE MOSSAGC E 22 7 13 Bo UTC offset status message cccececeeeeenee eee eeeee seen eeeeeeeeeeseceeeeeeaseeeeeeeeeneeneeeennees 23 FABA BO INPUT COMMMANG essaie aaa a a AE n E 23 T13 2 BO response Messagen EE 23 7 14 CF default parameters cccccceeseeeccceeeseneeeeeeeeeneeeeeeeeeeeeeeseceeeeeeeseeneeeseaseeneeeenseceeeentns 23 FAA A CE input COMMANG E 23 E CR RESPONSE MESSAGE ial ve niieetnte Wteete ts crete odie tele terete aetna den yt ace eres 23 7 15 Cj receiver ID MESSAGE EE 23 FAA Cy npu COMMANG BEE 23 19 2 Cy FESPONSE MESSAGE EE 23 7 16 Ea status position and general data cccccceesenneeeeeeneeeeeseeeeeeeeeseeeeeeeneneeneeeeneees 23 T161 Ea INPUT COMMANG EE 24 LN Ea TESPONSE MESSAGE TT 24 7 17 En set alarm limits for T RAIM 20 0 cece cece e seen ee eecee eee eeeeeeeeeeeeneeneeesaseceneeeneneeneeeennees 25 TACI En inputcommand EE 25 ZC En response MESSAGE aer 26 TAG O C E E 26 LAGA Fa INPUT COMMANG EE 27 R12 F
36. ion accuracy while in GPS NAV modes Horizontal CEP 2 8 m full accuracy C A code Horizontal 2 dRMS 4 9 m full accuracy C A code Vertical VEP 3 2 m full accuracy C A code 3D SEP 5 0 m full accuracy C A code 5 5 Time to First Fix TTFF TTFF values can be affected by changing the values of maximum Expected Horizontal Position Error EHPE validity maximum Expected Vertical Position Error EVPE validity criterion for the minimum number of satellites used for a solution and use of held altitude Default conditions are 100 m EHPE 150 m EVPE number of satellites is zero and held altitude is enabled 50 Probability Hot start 24 s valid almanac position time and ephemeris Warm start 60 s valid almanac position and time invalid ephemeris Cold start 180 s valid almanac invalid position time and ephemeris Typical mean values continuous 24 hour observation period latitude of 40 degrees Hot start 24 s valid almanac position time and ephemeris Warm start 54 s valid almanac position and time invalid ephemeris Cold start 120 s valid almanac invalid position time and ephemeris Note the values given apply to GPS acquisition only 5 6 Temperature Compensation The Pico T has a predictive and heuristic temperature compensation algorithm allowing it to re acquire satellite signals quickly after a power interruption when the thermal environment is changing for example in an outdoor
37. ition hold must be specified before the position hold mode is enabled the receiver will not use the current position fix coordinates 7 7 1 At input command Poll current position hold mode Atx lt C gt lt CR gt lt LF gt x one out of range byte ff lt C gt checksum character Message length 8 bytes Change current position hold mode Atm lt C gt lt CR gt lt LF gt m mode 0 disabled 1 enabled 2 start automatic self survey lt C gt checksum character Message length 8 bytes 7 7 2 At response message To either command Atm lt C gt lt CR gt lt LF gt m mode 0 disabled 1 enabled 2 automatic self survey in progress lt C gt checksum character Message length 8 bytes 7 8 Aw time mode This command selects the type of time either GPS or UTC to be output in the status position and general information message Ea and to be used as the synchronisation point for the 1PPS timing pulse Note if the receiver does not yet have the UTC parameters portion of the almanac then UTC time will be output as being equal to GPS time The receiver will have UTC parameters after an almanac has been received from the GPS satellites Default value UTC 7 8 1 Aw input command Poll current time mode Awx lt C gt lt CR gt lt LF gt x one out of range byte ff lt C gt checksum character Message length 8 bytes Change current time mode Awm lt C gt lt C
38. lt mode polled 7 13 1 Bo input command Request UTC offset status message Bom lt C gt lt CR gt lt LF gt m mode 0 output UTC offset once 1 output UTC offset every time it is updated lt C gt checksum character Message length 8 bytes 7 13 2 Bo response message To the above command Bou lt C gt lt CR gt lt LF gt u UTC offset in seconds 128 to 127 lt C gt checksum character Message length 8 bytes 7 14 Cf default parameters This command sets all of the GPS receiver parameters to their default values This results in all continuous messages being reset to polled only output and clears the almanac and ephemeris data The time and date stored in the internal real time clock are not changed 7 14 1 Cf input command Set default parameters Cf lt C gt lt CR gt lt LF gt lt C gt checksum character Message length 7 bytes 7 14 2 Cf response message To the above command Cf lt C gt lt CR gt lt LF gt lt C gt checksum character Message length 7 bytes 7 15 QCj receiver ID message This command displays receiver ID 7 15 1 Cj input command Set default parameters Cj lt C gt lt CR gt lt LF gt lt C gt checksum character Message length 7 bytes 7 15 2 Cj response message To the above command Cj lt CR gt lt LF gt COPYRIGHT lt sp gt 1995 2000 lt sp gt NAVMAN lt sp gt lt sp gt lt sp gt INC lt CR gt lt LF gt
39. mation and navigation data messages The received GPS L1 C A signals from the antenna are down converted to base band and digitally processed to obtain a full navigation solution of position velocity and time These solutions can be sent over a serial data link to a host platform The Pico T is optimised for stationary timing applications where synchronisation to UTC or GPS timing is needed with One Pulse Per Second 1PPS accuracy better than 25 ns Included in the receiver is a precise 1PPS timing output T RAIM self survey position hold and other specific features for optimal timing performance Note Pico T can provide position and velocity navigation information However as it is optimised for stationary timing applications its performance under motion dynamics will not be as optimal as other receivers in the Jupiter family The Jupiter Pico T receiver see figures 1 1 and 1 2 is packaged on a miniature printed circuit board with a metallic RF enclosure on one side The 12 channel architecture provides rapid TTFF under all start up conditions While the best TTFF performance is achieved when time of day and current position estimates are provided to the Figure 1 1 Jupiter Pico T GPS receiver top view Figure 1 2 Jupiter Pico T GPS receiver bottom view receiver the flexible signal acquisition system uses all available information to provide a rapid TTFF Acquisition is guaranteed under all initialisation c
40. nary message used to manually enter latitude used to manually enter longitude used to manually enter altitude used to set antenna mask angle command to manually enter position hold position command to go to position hold mode command to select UTC or GPS time formats used for setting 1PPS time offset used to offset the 1PPS signal for antenna cable delays or other system advance delay parameters commands report on visible satellites and status used to get pending leap second information provides UTC offset status commands the receiver to default parameters command to respond with manufacturer name model serial number information and software revision status position and other general data this data can be set as regular second boundary timed output message sets alarm limits for T RAIM and controls output turns on off of 1PPS and 10 kHz timing signals command to run self test on the receiver s hardware commands the receiver to go to Navman binary protocol Table 6 3 Motorola binary input and output messages LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 17 6 3 NMEA data messages Table 6 4 and 6 5 describe all of the output and input NMEA messages for the receiver along with their corresponding message IDs For a complete description of each NMEA messa
41. onditions as long as paths to the satellites are not obscured The receiver supports 2D positioning when fewer than four satellites are available or when required by operating conditions Altitude information required for 2D operation is assumed by the receiver or may be provided by the OEM application Communication with the receiver is established through one of two asynchronous serial I O ports that support full duplex data communication The receiver s serial port provides navigation data and accepts commands from the OEM application in proprietary Navman binary message format NMEA formatted message protocol is also available with software selection PartNo Description TU36 D400 001 3 3 V Pico T RF1 Timing Table 1 1 Jupiter Pico T module description LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 6 Receiver architecture Product applications The functional architecture of the Jupiter Pico T The Jupiter Pico T receiver is intended for specific receiver is shown in Figure 1 3 OEM GPS timing design applications such as e wireless telco net systems The receiver design is based on the SiRF Zodiac chipset the RF1A and the Scorpio Base band e E911 caller location systems Processor BP The RF1A contains all the RF down conversion and amplification circuitry frequency standards and presents the In Phase I and Quadrature lt c
42. output the message one more time then terminate any further message outputs The state of the rate byte is stored in RAM If the GPS receiver was continuously outputting a message when turned off and backup power is applied then it will begin to output this message continuously at the selected output rate again when main power is reapplied If backup power was not applied during the power down the GPS receiver will start up in default polled only mode The other T RAIM control parameters are also stored in RAM so they will be reset to default values if backup power is not applied during the power down The pulse generation can be controlled with the 1PPS control mode byte The pulse can be on all the time off all the time on only when the receiver is tracking at least one satellite or only when the time solution is within the alarm threshold The number of satellites appearing in the table below are the minimum which must be tracked to ensure the detection isolation and removal of faulty satellites is greater than 99 999 which corresponds to less than one missed detection every 10 000 failures Given the infrequency of GPS satellite failures this makes a missed detection virtually impossible Given that lock is maintained on eight satellites the T RAIM alarm can be set as low as 300 ns without compromising performance satellites to satellites to detect isolate Time alarm ns gt 1 000 2 3 1 000 to 7
43. product descriptions No license express or implied by estoppel or otherwise to any intellectual property rights is granted by this document Except as provided in Navman s Terms and Conditions of Sale for such products Navman assumes no liability whatsoever THESE MATERIALS ARE PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EITHER EXPRESSED OR IMPLIED RELATING TO SALE AND OR USE OF NAVMAN PRODUCTS INCLUDING LIABILITY OR WARRANTIES RELATING TO FITNESS FORA PARTICULAR PURPOSE CONSEQUENTIAL OR INCIDENTAL DAMAGES MERCHANTABILITY OR INFRINGEMENT OF ANY PATENT COPYRIGHT OR OTHER INTELLECTUAL PROPERTY RIGHT NAVMAN FURTHER DOES NOT WARRANT THE ACCURACY OR COMPLETENESS OF THE INFORMATION TEXT GRAPHICS OR OTHER ITEMS CONTAINED WITHIN THESE MATERIALS NAVMAN SHALL NOT BE LIABLE FOR ANY SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING WITHOUT LIMITATION LOST REVENUES OR LOST PROFITS WHICH MAY RESULT FROM THE USE OF THESE MATERIALS Navman products are not intended for use in medical lifesaving or life sustaining applications Navman customers using or selling Navman products for use in such applications do so at their own risk and agree to fully indemnify Navman for any damages resulting from such improper use or sale Product names or services listed in this publication are for identification purposes only and may be trademarks of third parties Third party brands and names are the property of their respective owners Additional
44. self test results in two bytes as detailed below msb Bit 15 antenna undercurrent Bit 14 antenna over current Bit 13 RTC comm and time Bit 12 temperature sensor Bit 11 spare Bit 10 RAM Bit 9 ROM Bit 8 10 kHz presence Bit 7 channel 8 correlation test Bit 6 channel 7 correlation test Bit 5 channel 6 correlation test Bit 4 channel 5 correlation test Bit 3 channel 4 correlation test Bit 2 channel 3 correlation test Bit 1 channel 2 correlation test Isb Bit 0 channel 1 correlation test lt C gt checksum character Message length 9 bytes Note each bit is zero for pass and one for failure The antenna undercurrent and over current should be interpreted together as follows Meaning antenna properly con nected antenna shorted open antenna not con nected antenna shorted Table 7 3 Antenna connection status 7 19 Wb go to Navman binary protocol This commands the receiver to go to Navman binary protocol Note that the receiver will always revert to Motorola equivalent protocol upon power cycling or reset When commanded to the Navman binary mode all of the standard Navman messages are supported Below is a sample C code set of instructions of the Wb command to switch the receiver from Legacy to Navman protocol 7 19 1 Wb input command send Wpb message to the receiver send_byte 0x40 send_byte 0x40 send_byte 0x57 send_byte 0x62 sen
45. t LF gt dddd longitude in mas 648000000 to 648000000 180 to 180 lt C gt checksum character Message length 11 bytes 7 3 2 Ae response message To either command Aedddd lt C gt lt CR gt lt LF gt dddd longitude in mas 648000000 to LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 19 648000000 180 to 180 lt C gt checksum character Message length 11 bytes 7 4 Af altitude Altitude is measured with respect to the GPS reference ellipsoid WGS 84 and the units are in metres The input command sets the initial altitude coordinate only if the GPS receiver is not yet computing a position fix If the GPS receiver is already computing a fix then the altitude is not changed Range 1 000 00 to 18000 00 m Default value 0 00 m WGS 84 ellipsoid Resolution 0 01 m 7 4 1 Af input command Poll current altitude APFXxxxx lt C gt lt CR gt lt LF gt Xxxxx 5 out of range bytes 9999999999 lt C gt checksum character Message length 12 bytes Change current altitude Afaaaat lt C gt lt CR gt lt LF gt aaaa altitude in cm 100000 to 1800000 t altitude type 0 WGS 84 ellipsoid altitude lt C gt checksum character Message length 12 bytes 7 4 2 Af response message To either command Afaaaammmm lt C gt lt CR gt lt LF gt aaaa altitude in cm 100000 to 18
46. tary information and specifications subject to change without notice 8 3 0 Mechanical The mechanical dimensions of the Pico T receiver module are shown in figure 3 4 3 1 Antenna connector The RF connector on the Pico T board is an H FL Hirose type see figure 3 1 The mating connector to the Pico board is a Hirose H FL LP female contact The mating connector usually requires a special tool that produces tension perpendicular to the board surface Hirose type H FL LP antenna connector mounted on the corner of the Pico T board Figure 3 1 Antenna Connector Information 3 2 Input Output I O connector The I O connector is a 20 pin header in a 2 x 10 array see figure 3 2 The Hirose part reference is DF12 20DS 81 The mating connector is also available from Hirose part number DF12 3 5 20DP 0 5 V Pin 1 246 8 10 12 14 16 18 20 13579 11 13 15 17 19 Figure 3 2 The 20 pin I O connector 3 3 Marking serialisation The module label see figure 3 3 is placed on the RF shield on the top side of the board L MOTAU IONI UNII WT lt seria no 128 bar code B03104735 TU36 D120 001 lt text serial no lt _ part number www navman com lt Navman website Made in New Zealand lt country of origin s w Ver xx xx lt software version Figure 3 3 Pico T serial label Bar code code 128 for serial number Material paper Serial number the Na
47. tatus output pear 8 aa timing receiver configuration input built in test results perform built in test command global output control parameters Festari commana measurement time mark factory test command UTC time mark pulse output frequency standard input parameters frequency standard parameters in use power management control power management mode e S serial port communication parameters serial port communication parameters in use message protocol control EEPROM update factory calibration input EEPROM status raw DGPS RTCM SC 104 data frequency standard table output data frequency standard table input data flash boot status flash reprogram message error status enabled by defeulatpanerus Table 6 1 Binary input messages once at power up reset Table 6 1 Binary output messages LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 16 6 2 Motorola Binary Data Messages Note while in Motorola emulation mode only eight satellites are reported The Pico T firmware selects the eight satellites that have the highest elevation for use in all messages and commands while in this mode Table 6 3 describes the output and input Motorola Binary messages for the receiver along with their corresponding Commands See appendix A fora complete description of each bi
48. te reported inaccurate Bit 2 spare Bit 1 using for time solution Isb Bit 0 parity error LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 24 End of channel independent data s receiver status flag each bit represents one of the following msb Bit 7 position propagate mode Bit 6 poor geometry DOP gt 12 Bit 5 3D fix Bit 4 2D fix Bit 3 acquiring satellites position hold Bit 2 differential fix Bit 1 insufficient satellites visible lt 3 Isb Bit 0 bad almanac lt C gt checksum character Message length 76 bytes 7 17 En set alarm limits for T RAIM The GPS receiver uses a robust Time Receiver Autonomous Integrity Monitoring T RAIM algorithm to exploit the redundancy of the GPS constellation in order to detect isolate and remove faulty satellites The set alarm limits for T RAIM message allows the user to change the update rate the configuration for the 1PPS output and the T RAIM alarm limit The rate parameter instructs the GPS receiver to either output this message one time polled or output this message at the indicated update rate continuously If the message rate is the same as the 1PPS rate then the message and 1PPS pulse are synchronised Once the GPS receiver is set to continuous output the continuous message flow can be stopped by sending a one time message request The GPS receiver will
49. the 1PPS accuracy specifications are met only under conditions of minimal incidental vibration and not under an environment subject to continuous vibration 2 1 2 Storage Environmental conditions for Pico T during storage are found in table 2 2 2 1 3 EMI EMC The Jupiter PICO T meets the requirements of FCC Part 15 Sub part J Class B for radiated emissions when supplied with a shielded power and signal cable and connected to a passive resonant helical antenna on a 3 m length of RG 316 coaxial cable Temperature 40 C to 85 C rate of change lt 10 C per minute Humidity up to 95 non condensing or a wet bulb temperature of 35 C whichever is less Altitude 300 m to 15000 ms Vibration full performance see figure 2 1 Shock non operating 18 G peak 5 ms duration Maximum vehicle dynamics will track at up to 500 m sec acquisition and navigation but 1PPS accuracy specifications are met only when unit is stationary for more than 24 hours Table 2 1 Environmental conditions operating Temperature 40 C to 85 C Humidity up to 95 non condensing or a wet bulb temperature of 35 C whichever is less Shock in shipping container 10 drops from 75 cm onto concrete floor Table 2 2 Environmental conditions storage Vibration Frequency Hz C301 Figure 2 1 Random vibration specification LA010093B 2004 Navman NZ Ltd All rights reserved Proprie
50. the interface voltage levels 4 3 1 1 Pin J1 1 pre amp voltage Active antenna power input The Pico T accepts a pre amp supply voltage not exceeding 12 V and current not exceeding 120 mA see also 4 1 3 CAUTION exercise care when using passive antennas as some have a DC ground on the coax centre conductor Whatever voltage is supplied pre amplifier operation will short circuit to ground and may cause over current damage to the Pico T Users must verify characteristics of the passive antenna and take necessary precautions either do not supply any voltage to this pin or provide DC isolation within the passive antenna LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 11 Connection Parameter VIH min 0 7 x PWRIN VIH max PWRIN VIL min 0 3 V GPIO2 3 4 VIL max SDIO 0 6 V SDI1 VOH min at OH 4 mA 0 8 X PWRIN V VOH max PWRIN V VOL min OV VOL max at IOH 4 mA 0 2 X PWRIN V VIH min VIH max 2 4 V PWRIN 0 3 V M_RST input VIL min 0 3 V VIL max 0 4 V Note 1 GPIO3 short open and SDIO SDI1 have 100 k pull up resistors to PWRIN These inputs can be driven high without damage when the unit is powered down either by removing the power from the PWRIN connection or by hold ing down the M_RST low Note 2 M_RST
51. to an active antenna as noted above 4 2 2 Burnout protection The receiver shall accept without damage a signal of 10 dBW from 0 to 2 GHz carrier frequency 4 2 3 Jamming performance Table 4 3 presents the jamming performance of the Pico T receiver based upon a 3 dB degradation in C No performance Frequency MHz Jamming signal power dBm 1400 1530 1555 1575 42 1625 42 1425 42 1725 42 Table 4 3 Jamming performance 4 3 I O connector All communications between the host and the receiver are through the I O connector This connector consists of 20 pins which provide the contacts for power ground serial I O 2 channels timing and control Table 4 4 describes the I O pin assignments See previous sections for power and ground requirements PREAMP pre amp power input No Connect unused VBATT PWRIN M_RST back up power input primary power input master reset input active low N C reserved no connect SHORT antenna short input GPIO3 ROM default select O MOINI OD a AJOJN OPEN antenna open input GND ground SDO1 serial data output port 1 SDI1 serial data input port 1 GND ground N C reserved no connect serial data input port 2 ground ground ground 1 PPS time mark output 10 kHz clock output Table 4 4 Receiver I O pin assignments 4 3 1 Voltage levels CMOS Table 4 5 describes
52. to their low power data retention state and the RTC device is maintained When the receiver is placed into this low power state through the use of the M_RST control signal the receiver will continue to draw current from the primary input power PWRIN but at a much reduced level When the M_RST signal is subsequently asserted high or left to float a system reset is generated and the receiver will return to its normal operating mode 4 3 1 6 Pin J1 6 no connect Not used 4 3 1 7 Pin J1 7 antenna short circuit SHORT This pin is used to inform the GPS receiver that there is a short circuit condition on the antenna power feed When this signal is pulled low the receiver changes its antenna error status to short circuit This status then can be checked by the Motorola command Fa 4 3 1 8 Pin J1 8 ROM default select GPIO3 This signal determines whether the message format host port communication settings receiver default message set and initialisation data parameters are obtained from default values stored in ROM or from user configurable settings stored in SRAM EEPROM If this signal is pulled low the ROM based factory default values are used If this signal is left floating or pulled high the system operating parameters are accessed in the following priority LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice
53. urther message outputs The state of the rate byte is stored in RAM If the GPS receiver was continuously out putting this message when turned off and back up power is applied then it will begin to output this message at the selected output rate again when the main power is re applied If back up power is not applied during the power down the GPS receiver will start up in default polled only mode LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 23 The contents of this message are described in the response message section Refer to date time latitude longitude and altitude for more details on these parameters The number of satellites visible is computed using the current date time position almanac and a mask angle of zero degrees representing the horizon The receiver will attempt to track the eight highest satellites in the sky Default mode polled 7 16 1 Ea input command Requests status position and general data message Eam lt C gt lt CR gt lt LF gt m mode 0 output response message once only 1 to 255 automatic output response message interval in seconds lt C gt checksum character Message length 8 bytes 7 16 2 Ea response message To the above command Eamdyyhmsffffaaaaaooooohhhhmmmmvvhh ddtntimsdimsdimsdimsdimsdimsdimsdimsds lt C gt lt CR gt lt LF gt Date m month 1 to 1
54. vman serial number shows the year and month of manufacture as follows e first character is sequential Month from A to L e g A Jan B Feb e next 2 characters is year e g 04 2004 05 2005 e next 6 characters sequential s n Note month codes repeat annually so the serial number code for year and month must be read together in order to determine the manufacturing date of the product 4 0 ELECTRICAL 4 1 Power supply 4 1 1 Primary power The receiver is designed to operate from a single supply voltage meeting the requirements in the tables below Voltage 3 15 to 3 63 VDC Current max 100 mA must not exceed 50 mV peak to peak must not exceed 5 mVpp from DC to 3 GHz Ripple Reflected ripple Table 4 1 Operating power for Jupiter Pico T 4 1 2 Backup power SRAM RTC During powered down conditions the SRAM contents may be maintained and the RTC may be kept operating by supplying power to the backup power pin See table 4 2 for details of backup power LA010093B 2004 Navman NZ Ltd All rights reserved Proprietary information and specifications subject to change without notice 9 Mounting option VERTICAL AXIS MAXIMUMS M2 machine screw with nut or fastening on SECTION AA underside of main board _ Pos 12 PCB 12 Bottom 1 8 SECTION BB L Pa 12 PCB 12 Bottom 2 7 SECTION CC Top 1 3 PCB 12 i re 2 i E en ined All Dimensions in mm ASSEMBLED TOP

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