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1. 4 2 24 Message 0x8A Query GPS ephemerides Message length 1 1 u_int GPS SV system number 1 32 4 2 25 Message 0x4B Query GLONASS ephemerides Message length 1 1 u int GLONASS SV system number 1 24 4 2 26 Message 0x8C Query PPS parameters Message length 1 1 u_int Any value R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 2 27 Message 0x8D Query enable disable status of the SV in position fix Message length 1 Code of SV number e GPS 0 SV 1 1 SV 2 31 SV 32 e GLONASS 32 SV 1 33 SV 2 55 SV 24 1 u int 4 2 28 Message 0x8E Query enabled NMEA messages Message length 1 u int Any value 4 2 29 Message 0x8F Query enabled binary messages Message length 1 u int Any value 4 2 30 Message 0xC 1 Request FW version Message length 1 u int Any value R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 2 31 Message 0xC 2 Restart receiver Message length 1 Restart and restore default settings code e bit 0 clear ephemerides in NVSRAM command 0 clear ephemerides 1 has no effect e bit 1 clear almanacs in NVSRAM command 0 clear almanac 1 u int 1 has no effect e bit 2 restore default FW settings command 0 has no effect receiver is operating with current FW settings
2. Messages Logging binary data w 1 2853E 0 OMEGADOT 8 1032E 9 afO 2 1744E 4 afl 7 2760E 12 t_oa 405504 stSv 0000 a 9 10 35 message 0x88 GPS 29 M 2 7886E 0 e 3 2396E 3 A 5 1536E 3 OMEGA 0 2 7967E 0 dI0 1 7898E 2 w 1 287ZE 0 OMEGADOT 7 8060E 9 af0 4 8637E 5 afl 3 6380E 12 t oa 405504 stSv 0000 9 10 41 message 0x88 GPS 7 M 2 5297E 0 e 2 9840E 3 A 5 1536E 3 OMEGA 0 1 3661E 0 dI0 2 5670E 2 w 2 9027E 0 OMEGADOT 7 8289E 9 af0 1 3351E 5 afl 0 0000E 0 t_oa 405504 stSv 0000 9 11 05 message 0x88 GPS 30 M 1 2451E 0 e 1 1815E 2 A 5 1536E 3 OMEGA 0 2 3700E 0 dI0 1 0414E 2 w 1 4404E 0 OMEGADOT 7 9Z03E 9 af0 1 6880E 4 afl 3 6380E 12 t oa 405504 stSv 0000 lt Fig 10 Displaying the almanac data transmitted by the receiver To load almanac please select Settings Set GPS almanac Fig 11 R amp D Center Geostar navigation 2010 12 20 29 www geostar navigation com Settings Queries Commands Language Help Set initial parameters Set serial ports parameters Set operation mode Set navigation task solution parameters Set output data rate Assign data protocol to communication port Set GPS almanac Set GLONASS almanac Set GPS ephemerides Set GLONASS ephemerides Set PPS parameters Enablejdisable SY in position fix Enable disable NMEA messages Enable disable binary messages Fig 11 Selection of Set GPS almanac This operation will open a
3. lt lt N Ed N 1 I E7 18 co A CI amp i N TE tja E e 8 za A amp pa y N 9 3 GG N ia ei e Lo P y y V N N 30 p T 35 5 37 7 pet ij Fig 4 Recommended footprint Guidelines on PCB layout 1 Antenna input should be routed to pad 3 ising microstrip lines with impedance as close as possible to 50 Ohm Pads 1 2 4u 5 should be connected to PCB ground with shortest lines Other signal lines should be moved away from antenna input as far as possible Avoid routing signal lines beneath receiver board R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 3 4 Summary of Receiver Operation After receiver is switched on it starts to operate and output navigation data automatically On default Port 40 outputs binary data and Port 1 NMEA data During operation receiver periodically outputs following hardware telemetry bits in binary message 0x21 Receiver status word antenna status bit 22 lock of frequency synthesizer bit 23 receiver identifier bit 27 Receiver FW version and serial number can be read out in binary message OxC1 by sending relevant query in binary protocol Position fix data PVT is available on both data protocols Receiver generates both protocols simultaneously Binary output gives the user extended navigation information while NMEA provides seven standard messages Receiver control as well as FW
4. 0x83 0x84 0x85 Reserved 0x86 0x87 Reserved 0x88 0x89 Ox8A 0x8B Ox8C 0x8D Ox8E Ox8F Ox90 0XBF Reserved Commands OxCO Change operation mode OxC1 OxC2 OxC3 0xC 4 0xCF Reserved 0xD0 Erase Flash sector 0xD1 Write data to Flash 0xD2 Store Serial Number 0xD3 0xFF Reserved Notes 1 N A to the the user For NMEA data protocol the receiver generates seven standard output messages d VA d e A A and five proprietary messages S Data format complies with NMEA 0183 v3 01 standard except talker ID see remark below Each NMEA message can be disabled by setting relevant mask in binary protocol input message On default j E a messages are enabled and S i disabled By using R amp D Center Geostar navigation 2010 12 20 www geostar navigation com input message Ox4E the talker ID can be set either as NMEA 0183 v3 01 standard specifies GP GN or GL depending on GNSS system used or always GP Even if talker ID is selected always GP NMEA messages data format and structure are kept complying with 0183 v3 01 standard Since RS232 channel has limited data throughput there are limitations of NMEA messages available at receiver output The Table 5 specifies available NMEA messages and their output rate as a function of baud rate being set Table 5 NMEA messages output rate versus RS232 baud rate pe Loe ee e se e fe bit s 4800 Onceals Onceals Onceals Oncea20s Once
5. 1 Port 1 Baud rate bit s 0 4800 1 9600 2 u int 2 19200 3 38400 4 57600 5 115200 Number of stop bits 3 u int 0 1 1 2 Parity bit 0 no 1 even 2 odd 3 always 0 4 always 1 4 u_int 4 1 13 Message 0x42 Response to Set receiver operation mode Length 3 Response to input message 0x42 2D fix 1 u int 0 disabled 1 enabled Satellite system 0 combined 1 GPS only _ 2 GLONASS only Coordinates hold mode 3 u_int 0 no 1 yes R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 1 14 Message 0x43 Response to Set navigation task solution parameters Length 5 Response to input message 0x43 1 u int GDOP mask Resolution 16 1 2 u int degree Elevation angle mask 3 u int s DR duration Resolution 1s range 1 5s DR mode 4 u int 0 disabled 1 enabled Dynamic filter 5 u int 0 disabled 1 enabled 4 1 15 Message 0x44 Response to Set output data rate Length 1 Response to input message 0x44 Output data rate 1 u int 0 5Hz 1 1Hz 4 1 16 Message 0x46 Response to Assign data protocol to communication port Length 1 Response to input message 0x46 Assignment between data protocol and communication port 1 u_int 0 Port 0 outputs binary data Port 1 NMEA data 1 Port 0 outputs NMEA data Port 1 binary data R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4
6. 8 Nsat Rate 1 or 5 times per second in accordance with receiver output data rate R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 1 2 double s Time elapsed since UTC 00h 00min 00s January 17 2008 3 int Reserved p a The number of SVs for which measurements are transmitted int _ NSat _ 5 12 structure Measurements data for 1 SV 13 20 structure Measurements data for 2 SV 348 NSat th 448 NSat structure Measurements data for NSat SV Structure of measurements data structure 1 int Channel identifier see below 2 16 short rad Elevation angle resolution 0 00 trad MSBs 2 16 LSBs short rad Azimuth resolution 0 001rad 3 4 double m Pseudorange 5 6 double m s Pseudorange rate 7 8 double rad Carter phase L Notes 1 N A in GeoS 1M Channel identifier 31 16 16 MSBs of Channel status word see below 15 11 Channel number 0 23 GLONASS carrier frequency number range 7 12 complement code GPS Gold code number PRN No minus 1 range 0 31 SV system number 4 0 GLONASS 1 24 GPS 1 32 Code 0 is for system number 32 10 5 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Channel status word 15 0 Debug data Noise level indicator 00 normal 10 below threshold 11 above thresho
7. Real Time Kinematic System used in RTK mode with fixed integers 5 Float RTK Satellite system used in RTK mode floating integers 6 Estimated dead reckoning Mode 7 Manual Input Mode 8 Simulator Mode The GPS Quality Indicator field shall not be a null field 2 Time in seconds since last SC104 Type 1 or 9 update null field when DGPS is not used 3 Geoidal Separation the difference between the WGS 84 earth ellipsoid surface and mean sea level R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 5 2 GLL Geographic Position Latitude Longitude Latitude and Longitude of vessel position time of position fix and status S GLL 1l11 11 a yyyyy yy a hhmmss ss A a hh CR LF L Mode Indicator Status T Data valid UTC of position V Data not valid Longitude E W Latitude N S Notes 1 Positioning system Mode Indicator A Autonomous mode D Differential mode E Estimated dead reckoning mode M Manual input mode S Simulator mode N Data not valid 2 The positioning system Mode Indicator field supplements the positioning system Status field the Status field shall be set to V Invalid for all values of Indicator mode except for A Autonomous and D Differential The positioning system Mode Indicator and Status fields shall not be null fields 5 3 GSA GNSS DOP and Active Satellites GNSS receiver operating mode satellites used in the navigation so
8. position course and speed data provided by a GNSS navigation receiver RMC hhmmss ss A UI lLa yyyyy yy a x x X X XXXXXX X x a a hh lt CR gt lt LF gt L Mode Indicator Magnetic variation degrees E w D ate ddmmyy Course Over Ground degrees True Speed over ground knots Longitude E W Latitude N S Status SE A Data valid V Navigation receiver warning UTC of position fix Notes 1 Easterly variation E subtracts from True course Westerly variation W adds to True course 2 Positioning system Mode Indicator A Autonomous mode D Differential mode E Estimated dead reckoning mode M Manual input mode S Simulator mode N Data not valid R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 3 The positioning system Mode Indicator field supplements the positioning system Status field the Status field shall be set to V Invalid for all values of Indicator mode except for A Autonomous and D Differential The positioning system Mode Indicator and Status fields shall not be null fields 5 6 VTG Course Over Ground and Ground Speed The actual course and speed relative to the ground VTG x x T x x M x x N x x K a hh lt CR gt lt LF gt L Mode Indicator Speed over ground km hr Speed over ground knots Course over ground degrees Magnetic Course over ground degrees True Notes 1 Positioning system Mode Indicator A Autonomous mode D Differential m
9. 0000 9 13 13 message Ox48 GPS 32 M 1 8016E 0 e 1 3235E 2 A 5 1537E 3 OMEGA 0 6 4324E 1 dI0 2 0439E 2 w 1 1341E 0 OMEGADOT 7 9546E 9 af0 2 1553E 4 afl 3 6380E 12 t_oa 405504 stSv 0000 KI Fig 14 Displaying almanac download in Messages bookmark R amp D Center Geostar navigation 2010 12 20 31 www geostar navigation com 3 5 4 How to Store FW Settings to Flash The example provided below describes how to change receiver FW settings and store them to the receiver s Flash memory This particular example describes changing output data rate from 5Hz to 1Hz however the approach is applicable to any FW setting Please select Settings Set output data rate in menu In aux panel Fig 15 select 1Hz then press OK Wr TD An Output data rate 1 Hz Fig 15 Output data rate panel Upper sub window in Messages bookmark will display acknowledgement message Fig 16 9 15 08 message 0x84 output data rate 1 Hz KSI Fig 16 1Hz output data rate acknovvledgement message To store this setting please select Commands Store parameters to Flash in menu Fig 17 Commands Language Help Query FW version Restart receiver Update Fyt Store parameters to Flash Fig 17 Selecting command Store parameters to Flash If parameters have been stored to Flash successfully then following acknowledgement message will appear Fig 18 9 16 05 me
10. 1 17 Message 0x48 Response to Set GPS almanac Length 20 Response to input message 0x48 1 2 double Sei Mean Anomaly at Reference Time Mo 3 4 double Eccentricity e 5 6 double mi Square Boot of the Semi Major Axis VA 7 8 EE semi Longitude of Ascending Node of Orbit Plane at VVeekly Epoch i Oude circles OMEGAo 9 10 double semi Inclination Angle at Reference Time io circles semi e 11 12 double peer Argument of Perigee w 13 14 double Baa Rate of Right Ascension OMEGADOT 15 16 double s Polinomial coefficient aso 17 18 double sis Polinomial coefficient ar 19 int Reference Time Almanac bits 21 0 toa and Number of Week Gi S WN to which the toais referenced bits 31 22 SE short SV health SE u short PRN number PRN No 4 1 18 Message 0x49 Response to Set GLONASS almanac Length 18 Response to input message 0x49 double Eccentricity en orbital e 3 4 double SE Rate of change of Draconian period of n SV T 9 5 6 double aa Argument of perigee of n SV s orbital Correction to the mean value of Draconian period of the n SV period ATI Time of the first ascending node passage of n SV within N day tin 7 8 double 9 10 double s R amp D Center Geostar navigation 2010 12 20 46 www geostar navigation com Longitude of the first ascending node of n SV orbit in PZ 90 semi 11 12 double circles within N day 44 13 14 double a Correction to the
11. 90 at the instant ty Xn to 11 12 double km s SV velocity on Y axis in PZ 90 at the instant t Ya tell R amp D Center Geostar navigation 2010 12 20 48 www geostar navigation com 13 14 double km s SV velocity on Z axis in PZ 90 at the instant ti Z0 to 15 16 double km s SV acceleration on X axis in PZ 90 at the instant t X to 17 18 double km s SV acceleration on Y axis in PZ 90 at the instant t Ya to 19 20 double km s SV acceleration on Z axis in PZ 90 at the instant t Zn to Relative deviation of predicted carrier frequency value of SV eles couble from nominal value yn tb 23 24 double s Correction to SV time relative to GLONASS time 1 t 25 26 double s GLONASS time scale correction to UTC SU time to 27 28 double s Correction of GPS time relative to GLONASS teps 29 16 3 MSBs double day Age of ephemerides Ep EG double day Age of time correction and frequency deviation data EN Ha int Parameter of predicted SV user range accuracy Fr 30 16 i Sum of four year period and day number within the four year LSBs i ay period expressed in days 1461 N N 1 31 16 Calendar day number within the four year period beginning MSBs shon day since the leap year N 31 16 A LSBs short SV system number n SV health flag N bit 0 from string 2 of ephemerides bit 1 1 from string 3 of ephemerides N bit 2 1 from string 5 of ephemerides 32 16 R R N
12. Coarse Acquisition DLL Delay Locked Loop DOP Dilution Of Precision DR Dead Reckoning ECEF Earth Centered Earth Fixed FW Firmware ID Identifier LSB Least Significant Bit LNA Low Noise Amplifier MSB Most Significant Bit N A Not Available NVSRAM None Volatile Static Random Access Memory PC Personal Computer PCB Printed Circuit Board PLL Phase Locked Loop PVT Position Velocity Time RTC Real Time Clock SIN Serial Number SNR Signal to Noise Ratio SV Space Vehicle SVV Software TTFF Time To First Fix UTC Universal Time Coordinated R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 2 Description 2 1 Introduction GeoS 1M is the combined GPS GLONASS OEM receiver board Its architecture includes 24 parallel tracking channels and hardware search accelerator engine that provide advanced technical specifications at small form factor and low power consumption GeoS 1M generates position fix data as well as extended set of auxiliary and raw measurement data using proprietary binary and standard NMEA protocols with output data rate up to 5Hz In addition to PVT GeoS 1 outputs one pulse per second signal for precise timing synchronization Communication ports are two RS232 ports GeoS 1M features real all in vievv operation high accuracy high sensitivity and advanced TTFF in autonomous mode GeoS 1M operates with L1 C A code signals of both GPS and GLONASS satelli
13. Set PPS parameters seere 4 2 13 Message Ox4D Enable disable SV in position fix R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 2 14 Message Ox4E Enable disable NMEA messages 57 4 2 15 Message Ox4F Enable disable binary messages sssesssesesssssressressrrsrrssrrsronsronsrensresresrrenrrenresnresrn 57 4 2 16 Message 0x80 Query initial parameters rasnnrrrrnnnnnnnnnnrrrnennnnnnnnnrnnnrnsnnnnnnnrnnnsernnnnnnnrnnrssssnnsnnnrnnnssssnnnnn 57 4 2 17 Message 0x81 Query serial ports parameters sssesssesssrresssssserrirtssseerirersssrererensssnsrerensssssrererenssenrnre 57 4 2 18 Message 0x82 Query receiver operation mode 58 4 2 19 Message 0x83 Query navigation task solution parameters aaa 58 4 2 20 Message 0x84 Query output data rate a anen eee eseve nene nee eee ee ee ee ene dere teve pene detektor eee eee 58 4 2 21 Message 0x86 Query data protocol assignment to communication port sene neneve case vese 58 4 2 22 Message 0x88 Query GPS almanac aa 58 4 2 23 Message 0x89 Query GLONASS alma Nn AC aaa ohauaaanaan aaa ana nanen eee ase vene nenen eee teve penne nete ee ee penne ete kete vene ete 59 4 2 24 Message Ox8A Query GPS epnbhemeridez nanana 59 4 2 25 Message Ox4B Query GLONASS ephemerides a 59 4 2 26 Message 40x80 Query PPS paramet Sesyen akan GA GAL kte dre IG GA 59 4 2 27 Message Ox8D Query enable disable status of th
14. content is identical to that of message Ox4C 4 1 36 Message 0x8D Response to Query enable disable status of the SV in position fix Length 2 Response to input message Ox8D Data content is identical to that of message Ox4D 4 1 37 Message O0x8E Response to Query enabled NMEA mesaages Length 1 Response to input message Ox8E Data content is identical to that of message Ox4E 4 1 38 Message O0x8F Response to Query enabled binary messages Length 2 Response to input message Ox8F Data content is identical to that of message Ox4F 4 1 39 Message 0xC 1 Response to Request FW version command Length 1 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Response to input message OxC1 u Short FW version high word 1 16LSBs u short FW version low word FW version date 2 P bits 4 0 day uin bits 8 5 month bits 23 9 year 3 u int Receiver status vvord bits 30 and 31 4 1 7 Receiver SIN 4 u int high byte alphabetical code 3 low bytes numerical code 4 1 40 Message 0xC 2 Response to Restart receiver command Length 1 Response to input message OxC2 Restart and restore default settings code e bit 0 indicator that ephemerides in NVSRAM cleared 0 ephemerides cleared 1 ephemerides not cleared e bit 1 indicator that almanacs in NVSRAM are cleared 0 almanacs cleared 1 almanacs not cleared e bit 2 rest
15. coordinates hold mode Messages GLL RMC VTG contain Mode Indicator field that could be set to e A in normal autonomous mode e E in DR mode R amp D Center Geostar navigation 2010 12 20 www geostar navigation com e M in coordinates hold mode Messages GLL and RMC contain field Status that could be set to e A data valid if Mode Indicator field has been set to A e V data not valid if Mode Indicator field has been set to E M or N The receiver utilizes two navigation task parameters as follows DOP mask and elevation angle mask input message 0x43 If DOP that has been calculated is more than DOP mask the PVT output is disabled SVs which elevation angle is more than relevant mask are not included in navigation solution In addition any SV can be excluded from navigation task solution by using dedicated binary message Ox4D After power off on recycling disabled SVs are restored i e allowed to be used in position fix calculation 3 4 4 Almanacs Actual GPS GLONASS almanac is loaded to the receiver s Flash memory during manufacturing During operation the receiver collects new almanacs and periodically stores them to internal Flash memory The almanacs can be downloaded to the receiver manually by using binary messages 0x48 for GPS and 0x49 for GLONASS While downloaded the almanacs are buffered in receiver memory and the command OxC3 or SAVEFL
16. released to store them in Flash 3 4 3 Modes of Operation The receiver can operate on different satellite constellations including GPS only GLONASS only GPS GLONASS default which could be set by input message 0x42 Output data rat could be 1Hz either GHz set by input message 0x44 The receiver operates in 3D default or 2D modes The receiver enters 2D mode if the number of satellites is not enough for 3D solution if this allowed in message 0x42 If enabled the receiver can extrapolate coordinates if signals were lost and the number of SV is not enough to solve navigation solution in normal way This mode is called Dead Reckoning DR duration is programmable within 1 5 seconds range Programming DR is performed via binary input message 0x43 The receiver can operate in coordinates hold mode which could be set by message 0x42 In this mode the receiver utilizes XYZ ECEF coordinates entered as initializing data in message Ox40 and calculates time clock offset and clock drift in order to generate accurate 1PPS output This mode can be used particularly for timing applications Note that in this mode the 1PPS accuracy will directly depend on initial XYZ coordinates accuracy There is GPS Quality indicator field in GGA message which could take following values e O if fix not available or invalid e 1 if fix valid e 6 if the receiver operates in DR mode e 7 if the receiver operates in
17. string of sub frame Resolution 1 200s 3 u int Data bits 85 54 4 u int Data bits 53 22 5 u int Data bits 21 1 21 MSBs 11 LSBs are 0 6 u_int Result of Hamming code check s0 if no errors found 7 u_int String number 1 75 8 u_int Time mark code 4 1 5 Message 0x13 ECEF coordinates Length 32 Rate 1 or 5 times per second in accordance with receiver output data rate 1 2 double m User X coordinate WGS 84 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 3 4 double m User Y coordinate WGS 84 5 6 double m User Z coordinate WGS 84 7 8 double m Clock shift relative to GPS time scale 9 10 double m s User velocity on X axis V WGS 84 11 12 double m s User velocity on Y axis Vy WGS 84 13 14 double m s User velocity on Z axis Vz VVGS 84 15 16 double m s Clock drift 17 18 double PDOP component on X axis 19 20 double PDOP component on Y axis 21 22 double PDOP component on Z axis 23 24 double TDOP 25 26 double m Clock shift relative to GLONASS time scale 27 28 double m Position accuracy estimate 29 30 double s GPS time 31 32 double s GLONASS time 4 1 6 Message 0x20 Geographic coordinates Length 34 Rate 1 or 5 times per second in accordance with receiver output data rate double Time elapsed since UTC 00h 00min 00s January 1 2008 3 4 double rad Latitude 5 6 double rad Longitude 7 8 double m Height above ellipsoid 9 10 double m Difference betwee
18. the Cosine Harmonic Correction Term to the Orbit 25 26 double m Radius Cre R amp D Center Geostar navigation 2010 12 20 47 www geostar navigation com Amplitude of the Sine Harmonic Correction Term to the Orbit 27 28 double m Radius Cx 29 30 den d Amplitude of the Cosine Harmonic Correction Term to the GER a Angle of Inclination Cic Amplitude of the Sine Harmonic Correction Term to the Angle 31 32 double rad ee of Inclination Cis 33 int s Reference Time Ephemerides toc 34 int s Clock data reference time to 35 16 MSBs short Code on L2 35 16 LSBs short week Week No 36 16 MSBs short SV accuracy 36 16 LSBs short IODC 37 38 double s Tap 39 40 double s s Polinomial coefficient ap 41 42 double s s Polinomial coefficient ay 43 44 double s Polinomial coefficient aso 45 16 MSBs short SV health 45 16 LSBs short PRN number PRN No 4 1 20 Message 0x4B Response to Set GLONASS ephemerides Length 32 Response to input message xOx4 By Receiver time at the moment of ephemeris reception code 0 is UTC 00h 00min 00s January 1 2008 Index of a time interval within current day according to S int Minute UTC SU 03 hours 00 min ty 3 4 double km SV X coordinate in PZ 90 at the instant tp Xn to 5 6 double km SV Y coordinate in PZ 90 at the instant ts Yn tp 7 8 double km SV Z coordinate in PZ 90 at the instant t Zn tp 9 10 double km s SV velocity on X axis in PZ
19. the sentence It indicates that the following two alphanumeric characters show the HEX value of the Checksum 6 hh Checksum Field The absolute value calculated by exclusive OR ing the 8 data bits no start bits or stop bits of each character in the Sentence between but excluding and The hexadecimal value of the most significant and least significant 4 bits of the result are converted to two ASCII characters 0 9 A F upper case for transmission The most significant character is transmitted first The Checksum field is required in all transmitted sentences Example SGPGSV 5 5 17 77 71 048 53 43 7 lt CR gt lt LF gt Terminates Sentence R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 51 GGA Global Positioning System Fix Data Time position and fix related data for a GPS receiver Differential reference station ID 0000 1023 Age of Differential GPS data Geoidal separation meters Altitude re mean sea level geoid meters Horizontal dilution of precision GGA hhmmss ss II lLa yyyyy yy a x xx x X X xX M x x M x x xxxx hh lt CR gt lt LF gt L Number of satellites in use 00 12 may be different from the number in view GPS Quality indicator Longitude E W Latitude N S UTC of position Notes 1 GPS Quality Indicator 0 Fix not available or invalid 1 GPS SPS Mode fix valid 2 Differential GPS SPS Mode fix valid 3 GPS PPS Mode fix valid 4
20. 1 restore default settings Combination of bits 0 and 1 causes different receiver restart modes code 0 initiates hot start code 1 warm start code 3 cold start 4 2 32 Message 0xC 3 Store parameters to Flash Message length 1 1 u_int Any value R amp D Center Geostar navigation 2010 12 20 61 www geostar navigation com 5 Appendix B NMEA Data Description The following provides a summary explanation of the NMEA approved parametric sentence structure Saaccc c c hh lt CR gt lt LF gt L 757 Start of Sentence 2 aaccc Address Field Alphanumeric characters identifying type of TALKER and Sentence Formatter The first two characters identify the TALKER The last three are the Sentence Formatter mnemonic code identifying the data type and the string format of the successive fields Mnemonics will be used as far as possible to facilitate readouts by users Ja r Field delimiter Starts each field except address and checksum fields If it is followed by a null field it is all that remains to indicate no data in a field 4 ec Data Sentence block Follows address field and is a series of data fields containing all of the data to be transmitted Data field sequence is fixed and identified by 3rd and subsequent characters of the address field the Sentence Formatter Data fields may be of variable length and are preceded by delimiters 5 ra Checksum Delimiter Follows last data field of
21. 5 Notes 1 Signal level gt 130dBm HDOP lt 2 VDOP lt 3 2 Signal level gt 130dBm 3 Signal level gt 125dBm R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 2 4 Inputs outputs Input output signals are available at PCB edge pads 1 27 listed in Table 2 Table 2 10 pads list ET ane Function 1 GND Ground 2 GND Ground 3 Input ANT Antenna input 4 GND Ground 5 GND Ground 6 GND Ground 7 GND Ground 8 GND Ground 9 GND Ground 10 Input 3 3V Main power 3 3V 11 Input ON OFF Receiver on off control 12 Input RXO Receive data RS232 Port 0 13 Output TX0 Transmit data RS 232 Port 0 14 Input RX1 Receive data RS232 Port 1 15 Output TX1 Transmit data RS 232 Port 1 16 Output 1PPS 1 Pulse Per Second output 17 Input VBAT External backup power 18 GND Ground 19 RESET Do not connect 20 GND Ground 21 3 3V Do not connect 22 GND Ground 23 TDI Do not connect 24 TCLK Do not connect 25 TDO Do not connect 26 TMS Do not connect 27 GND Ground R amp D Center Geostar navigation 2010 12 20 www geostar navigation com IO signals description 3 3V Main supply voltage VDD 3 3V Operating range 3 0 3 6V ANT Antenna input The receiver provides antenna DC bias voltage VDD to this pad VBAT External backup voltage Operating range 2 0 3 6V ON OFF Receiver on off control Logic O switches receiver off logic 1 switches receiver on Connect to VDD if n
22. 9 0xD Reserved OxE Debug data OxF Reserved 0x10 0x11 0x12 0x13 0x14 0x1F Reserved 0x20 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 0x21 0x22 0x23 0x3D Reserved Ox3E Ox3F Responses to settings 0x40 0x41 0x42 0x43 0x44 0x45 Reserved 0x46 0x47 Reserved 0x48 0x49 Ox4A 0x4B Ox4C 0x4D Ox4E Ox4F 0x50 0x7F Reserved Responses to queries 0x80 0x81 0x82 0x83 0x84 0x85 Reserved 0x86 0x87 Reserved 0x88 0x89 Ox8A 0x8B Ox8C 0x8D Ox8E R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Ox8F 0x90 0xBF Reserved Responses to commands OxCO Response to Change operation mode command OxC1 OxC2 OxC3 0xC4 0XCF Reserved OxDO Response to Erase Flash sector command OxD1 Response to Write data to Flash command OxD2 Response to Store Serial Number command OxD3 OXF F Reserved Notes 1 NJA to the the user Input messages are summarized in Table 4 P 2 3 4 Messages 0x00 0x3F reserved Messages 0x40 0x7F settings Messages 0x80 0xBF queries Messages OxCO 0xFF commands Table 4 The list of input binary messages Packet ID Message packet Settings 0x40 0x41 0x42 0x43 0x44 0x45 Reserved 0x46 0x47 Reserved 0x48 0x49 Ox4A 0x4B Ox4C R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 0x4D Ox4E Ox4F Ox50 0X7F Reserved Queries 0x80 0x81 0x82
23. Demo main window displaying NMEA data Refer to GeoSDemo User Manual for detailed guidelines on using the program 3 5 3 How to Get or Load Almanacs The procedures below describe how to get satellite almanacs from the receiver and how to load 13 02 2010 11 06 06 them to the receiver the example presents GPS similar approach is applicable to GLONASS R amp D Center Geostar navigation 2010 12 20 www geostar navigation com To get almanac please select Queries Query GPS almanac Fig 9 The relevant request will vasre Commands Language Help Query initial parameters Query serial ports parameters Query receiver operation mode Query navigation task solution parameters Query output data rate Query data protocol assignment to communication port Query GPS almanac Query GLONASS almanac Query GPS ephemerides Query GLONASS ephemerides Query PPS parameters Query enable disable status of the SV in position Fix Query enable disable status of all SVs in position Fix Query enabled NMEA messages Query enabled binary messages be sent to the receiver Fig 9 Selection of Query GPS almanac As a response the receiver will send back the almanac data Transmitting almanacs are displaying in the upper sub window of Messages bookmark Fig 10 The program will save almanac automatically in program root directory to Geostar Navigation Ltd GeoSDemo data gps folder Messages DE
24. GEOSTAR IG AT Q NM GeoS 1M User Manual Rev 1 1 R amp D Center GeoStar navigation Ltd Moscow 2010 Table of Contents T Abbreviations j EE 8 ANA ul Le EE 9 ut D T 9 OS e I 9 2 3 SpecificationS La aaaaaaaanannanananunnanananunnanananuananananuananananmunanananunnan 10 EE BIO UC 1 7A POW CM iu eene r N d r n n EEN v ad di et 12 2 6 1 Pulse Per Second One Second Time Mark uu rev avon ene nera nu nenen t KERR maana 12 2 7 Communication POF S k sye ush a EE 13 KI RIOUTIOONNET DIE CN 13 2 9 Data Protocols Supported nnnm 13 2 10 FW SEKONGS AA 18 ENNEN 19 KOTE 20 3 1 Typical COnnec ON sssrinin aaa 20 3 2 ONOFF COMMON i ar Genta vat a ev s vd N 20 3 3 Recommended PCB Footprint aaa 21 3 4 Summary of Receiver Operation nnaxanacscesicsresreseen re nere re neteFeREREFERSREPEESTE RES EESERETE ERE TE ERE KERR RENERE RER KRENKE 22 341 Colds Warm HOt EE 23 3 4 2 Serial ee Te le TEE 23 3 43 Mod s ot Operation iii sk id d kaa dd ht a GR Dana AG GG NG deres ndan nare dat 24 BAA ALMANACS ecte dt i pi v 25 3 5 Using Connection Board and GeoS Demo 8 Demo SW uw aaaanannanananananananunnamaanan 25 3 51 So I AA 25 3 5 2 Receiver Evaluation Using SSS WIG EE 26 3 5 3 How to Get or Load Almanacs aaa 28 3 5 4 How to Store FW Settings to Flash aa ua aaa aaa aaa 32 SE ON TT Le E 33 4 Appendix A Binary Protocol Description nrrrnvesrntesvennesternenrernenternen enst vvensr varenr ent
25. If 3 3V power is OK relevant LED indicator 3 3V will light The Connection Board has embedded backup battery CR1220 connected to S1 switch Move S1 slider to On for applying the battery power to the receiver move the slider to Off for disconnecting the battery 1PPS signal is available at X6 RF connector SMA female The LED indicators Tx0 Rx0 and Tx1 Rx1 show the lines activity of Port 0 and Port 1 respectively The Connection Board outline dimensions in mm are shown in Fig 26 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Fig 26 Outline dimensions of GeoS 1 Connection Board O R amp D Center Geostar navigation 2010 12 20
26. NR dBHz Parameter Value Longitude 37943 7351 E 1a 2 55 4 49 4 DN sa 2 jure 11 05 10 09 58 17 0 Altitude m 190 2 5 1 loo 0 0 Will 53 0 GPS time 9 58 32 HDOP 0 657 25 Eo 20745 1 36 5 GLNtime 12 58 17 YDOP 0 868 32 9 3 139 Il 46 1 2846064 246 Velocity m s 0 005 si 0 0 48 5 2201983 898 Heading 172 17 0 347 MI 49 0 5248674 579 23 8 309 54 1 0 001 SY tracked 2 GER Se 6 9 S II veel 0 001 SV in fix 15 GPS 9 GIN 6 0 007 0 3 25 ll 51 6 GPS GLN shift m 136 064 49 0 Clock drift m s 30 638 56 7 SVtracked 22 45 4 S in fix 15 52 1 GDOP 1 194 7 PDOP 1 088 TDOP 0 490 Latitude 55 44 Longitude 37 43 ll E Altitude m 190 2 Il E HDOP 0 657 Il ce YDOP lo 868 TI e velocity m s 0 005 HI E Heading 172 II lt 0 Time since start s Jase 2 Ke S ssw not in view SEK Teams ETT 11 05 2010 13 58 14 BIN COM2 115200 NMEA Disconnect Fig 7 GeoSDemo main window displaying binary data R amp D Center Geostar navigation 2010 12 20 27 www geostar navigation com Status bar shows e COM number and baud rate on binary data BIN COM2 115200 COM number and baud rate on NMEA data NMEA Disconnect e Frequency synthesizer telemetry bit Synth green if OK Antenna telemetry bit Ant green if OK Receiver i
27. S im LE nd c s shal rind ndi cds cence ech cates cake SH q n GIGIL dhe EEE Message Ox3E Receiver power up message Lul Lu aa aaa naaa aaaaaaaaaa aa ANAN ANAN ANAN ANAN ANAN ANAN ANAN NANANA ANAKAN Negative acknowledge aa Response to Set initial parameters a Response to Set serial ports parameters Response to Set receiver operation mode Response to Set navigation task solution parameters uuaaaaanaaaaaaaa ann aaa sene ne nnee eee eseve enen 45 Response to Set output data rate a 45 Response to Assign data protocol to communication port Response to Set GPS almanac aaa 46 Response to Set GLONASS almanac aaa 46 Response to Set GPS ephemerides ecet eee ee nene eee ee ee vene eee eee 47 Response to Set GLONASS ephemerides aauuaaaaanaa aaa aaa nanen ena a enen nenen eee e even nene eee eee teen 48 Response to Set PPS parameters EE 49 Response to Enable disable SV in position fix aaa 50 Response to Enable disable NMEA messages rrrrnrrrnnvrrrnrennnrrnrnrrnnnvnrrnrensnverrnrensnvsesnree 50 Response to Enable disable binary messages aaa 51 Response to Query initial parameters Response to Query serial ports parameters Response to Query receiver operation mode 52 Response to Query navigation task solution parameters a 52 Response to Query output data rate aa 52 Response to Query data protocol assignment to communication port 52 Response to Query GPS al
28. ain Fig 21 File failed message If the error occurred while downloading then the program will generate the following message Fig 22 FW update Failure found Turn off the receiver and click OK Fig 22 Downloading fail message If update has been finished successfully then following message will appear Fig 23 FW update Firmware update successfully completed Turn off the receiver and click OK Fig 23 Update complete message Switch off the receiver and click OK to quit the program Further receiver evaluation can be done in regular manner O R amp D Center Geostar navigation 2010 12 20 www geostar navigation com a Appendix A Binary Protocol Description 4 1 Qutput Messages 4 1 1 Message Format P 8 S 8 G 8 G 8 lt ncmd 16 gt lt ndat 16 gt lt dat1 32 datN 325 lt cs 32 gt e PSGG message preamble 32 bits e lt ncmd gt message number 16 bits e lt ndat gt the number of 32 bit words in data fields 16 bits e datt dat datN gt data fields 32 bit words the number of words is defined by lt ndat gt parameter e lt cs gt check sum 32 bits calculated as exclusive OR of all data fields Table 7 presents description of data types Table 7 Data types Type Length 32 bit words The receiver output messages are listed in Table 3 4 1 2 Message 0x10 Raw measurements Length the number of 32 bit words 4
29. als Onceals Onceals 9600 Onceals Onceals Onceals Onceal0s Onceals Onceals Onceals 19200 Onceals Onceals Onceals Oncea5s Onceals Onceals Onceals 38400 Onceals Onceals Onceals Onceals Onceals Onceals Onceals 57600 A EJA tdata A t dat As output As output s outpu s output data As output data BEER s output data As output data 115200 data rate rate rate rate ate Oncea 1s Example if baud rate 4800bit s is set then GGA RMC GSA GLL and ZDA messages will be output once a 1 second GSV message will be output once a 20 seconds 2 10 FW Settings The receiver s FW has a number of settings Table 6 that can be programmed over binary protocol Default values are programmed during receiver manufacturing To restore default settings binary message 0xC2 is used Table 6 FW settings HET Seting i Value on default 1 Mode GPS only GLONASS only GLONASS GPS GLONASS GPS 2 2D enabled 3 Coordinates hold no 4 Dead reckoning DR enabled 5 DR duration 5s 6 Dynamic filtering on R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 2 11 Mechanical Data The receiver is the PCB assembly with components mounted on single sides and covered by shielding case The board dimensions mm 35 5 length 33 2 width 3 8 height Outline drawing is depicted in Fig 1 7x2 14 3 8 18 9x2 EE LESSER LEI a LES ES 1 A 2 Fig 1 Outline dravving dimensions in mm R amp D Cen
30. and time as vvell as almanacs and ephemeris data are available thus the receiver takes less time in this kind of start The user can restart receiver in different start modes as follovvs e By using binary input message OxC2 sending O causes hot start 1 warm start 3 cold start e By using NMEA message SAVEEL To accelerate signals acquisition the receiver can be provided with initializing data including UTC ECEF XYZ coordinates clock drift and GPS GLONASS time shift The data should be entered via binary input message 0x40 3 4 2 Serial Ports Settings On default Port 0 outputs binary protocol data and Port 1 NMEA This assignment can be changed by two ways e In binary protocol using 0x46 message e In NMEA protocol using SWPROT message Note that switching data protocols does not lead to receiver restart Both RS232 ports have following parameters on default 115200bit s baud rate 2 stop bits no parity Using 0x41 binary message those parameters could be changed After sending 0x41 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com message new RS232 ports parameters will take effect after receiver program restart OxC2 binary message or CSTART WSTART HSTART NMEA messages either recycling power Since new RS232 ports parameters which set by Ox41 message are buffered in NVSRAM OxC3 binary message or SAVEFL NMEA message should be
31. bit 4 1 from string 7 of almanac MSBs bit 5 1 from string 9 of almanac bit 6 from string 11 of almanac bit 7 1 from string 13 of almanac bit 8 1 from string 15 of almanac bit 9 inverse Ce of almanac Flags bits 1 0 flag P1 bits 3 2 flag Bn 32 16 bit 4 flag P2 LSBs short bit 5 flag P3 bits 7 6 flag P bit 8 flag P4 bits 11 9 reserved bits 13 12 flag M 4 1 21 Message 0x4C Response to Set PPS parameters Length 5 R amp D Center Geostar navigation 2010 12 20 49 www geostar navigation com Response to input message xOxA Cr PPS output 1 u int 0 disabled 1 enabled PPS polarity 2 u int 0 positive 1 negative PPS synchronization time scale 0 GPS 3 u int 1 UTC 2 GLONASS 3 UTC SU PPS duration code Resolution 1 19 200 000s Value range 0 01 2ms PPS shift code Resolution 1 614 400 000s Value range 1ms 4 u_int 5 u_int 4 1 22 Message 0x4D Response to Enable disable SV in position fix Length 2 Response to input message Ox4D Code of SV number 1 u int e GPS 0 SV 1 1 SV 2 31 SV 32 e GLONASS 32 SV 1 33 SV 2 55 SV 24 SV status 2 u_int 0 SV disabled for use in position fix 1 SV enabled for use in position fix 4 1 23 Message 0x4E Response to Enable disable NMEA messages Length 2 Response to input message Ox4E NMEA messages masks 0 message disa
32. bled 1 u_int 1 message enabled bit 0 GGA mask bit 1 GSA mask R amp D Center Geostar navigation 2010 12 20 www geostar navigation com bit 2 GSV mask bit 3 RMC mask bit 4 VTG mask bit 5 GLL mask bit 6 ZDA mask NMEA talker ID select 2 u int 0 always GP 1 according to 0183 v3 01 standard GP GN or GL 4 1 24 Message 0x4F Response to Enable disable binary messages Length 2 Response to input message Ox4F Automatically generated binary messages masks 0 message disabled 1 message enabled bit 0 message 0x00 mask uant bit 1 message 0x01 mask bit 2 message 0x02 mask bit 31 message 0x1F mask 2 uint Mask of the receiver channels transmitted debug data message 0x04 Notes 1 Debug data is not available to user and bits 15 0 in word 1 and word 2 are 0 4 1 25 Message 0x80 Response to Query initial parameters Length 12 Response to input message 0x80 Data content is identical to that of message 0x40 Note that word 1 in this message is current receiver time 4 1 26 Message 0x81 Response to Query serial ports parameters Length 4 Response to input message 0x81 Data content is identical to that of message 0x41 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 1 27 Message 0x82 Response to Query receiver operation mode Length 3 Response to input message 0
33. ction of Set GPS almanac ulanan rere sere EEEENEEEEEEEE TERE TE ane SETE ERE FESE PERESETESHREFELEHE ERE adna TRESHE annen teren 30 Fig 12 GPS almanac EL ieni aanianaaaaai nanain ai adaaianiaamaNanaaia au arasiaai aninda adaa iari taiiadi 30 Fig 13 Selection of GPS almanac file n nermrnvesvrnvesvenvesvernenterneneernent evnt venrrennr vare EREER ENKE ENKEN ENKEN ENKEN 31 Fig 14 Displaying almanac download in Messages bookmark nsnmnsrernvnnvneareesnersnrnsssnessersnnseranennsesersnnnnrsanessensnnsersanennsessensennnn 31 Fig 15 Output data rate Panel eur vnr nes enste n EE REKERREERR EE EEN REA RENERE 32 Fig 16 1Hz output data rate acknowledgement message eu vc ransusresren verore vanen nesen FEEF EEN t r rene 32 Fig 17 Selecting command Store parameters to FlaSh m nmsvvnemrnnvsnnesrersersnrnneseeseersersnrsanensenseersnsanrssnessensnnsersanesssessensnnnersannnnennn 32 Fig 18 Parameters successfully stored acknowledgement message ur rn rsrruoro sere rere re varens rete rere ne en t r tere re er s tereni 32 Fig 19 Browsing the FW file to be downloaded Lui aaaaaaanaaaaananananannanananaunanamanananananuanananan 33 Fig 20 FW update progressing ua aaaananaananananunnamaamanaananananuanananunuanananan 33 Fig 21 File failed message iiss nananana anan Aaminin 34 Fig 22 Downloading fail MESSAGE mrnnnerntvvrrr rates enten ene RENERE 34 I 34 Fig 24 GeoS 1 Connection Board top UU 69 Fig 25 Receiver and Connection Boar
34. d and sent to the receiver it is buffered in NVSRAM and taken into effect so the receiver will operate with those settings After removing main power from the receiver actual settings keep retained in NVSRAM and will be used at next receiver power up In case of backup power failure the settings loaded in backup memory are rejected and taken from Flash If settings in Flash are invalid then default settings see relevant column in Table 6 will take effect The current actual settings can be saved in Flash memory by using dedicated binary input message OxC3 or NMEA message SAVEFL R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Sending OxC3 or SAVEFL message saves to Flash both actual FW settings and satellite almanacs Saving FW settings and almanacs takes approximately 1 2 seconds The receiver can be configured with default settings by releasing the input message OxC2 After releasing this message default settings will take effect and become actual 3 4 1 Cold Warm Hot Start Depending on availability of approximate position and time almanacs and ephemeris data after applying povver receiver begins to operate in cold vvarm or hot start Cold start assumes no valid position time and almanacs data is available Thus cold start takes more time VVarm start assumes the approximate position and time and valid almanacs are available For hot start it is supposed that position
35. d assembly ua see e rere n rere dnr EEN TREE TE ann RER PRES tret re Ebert tere 70 Fig 26 Outline dimensions of GeoS 1 Connection Board Juana nanannanananaunanananunanamanuna 71 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Revision History Updates Note Rev 1 1 2010 12 20 1 Description of new NMEA messages added to sections 2 9 3 4 1 3 4 2 3 4 4 2 Sections 5 9 5 10 5 11 5 12 added Rev 1 0 2010 09 21 1 Table 5 updated R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Scope This document is intended for the users of combined GPS GLONASS OEM board GeoS 1M The document contains general description of the receiver specifications outline drawings and guidelines of using the receiver itself and in conjunction with additional evaluation tools The document contains three chapters and three Appendixes as follows e Chapter 1 list of the abbreviations used in the document e Chapter 2 technical description of the receiver specifications interfaces power antenna requirements etc e Chapter 3 how to use the receiver e Appendix A binary protocol description e Appendix B description of NMEA messages e Appendix C GeoS 1M Connection Board summary R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 1 Abbreviations The list of abbreviations used in the document C A
36. d off e Attach AC DC adaptor and computer COM ports to Connection Board e Attach GPS GLONASS antenna to the receiver board R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Turn the power on LED 3 3V will light up LED indicators Tx0 and Tx1 will blink according to the receiver output data rate LED Rx0 will blink only during sending data to the receiver from PC LED Rx1 will not light at all Run GeoSDemo After language selection choose the way of connection If the receiver is connected to the computer for the first time choose Detect COM ports automatically Fig 6 How to connect Detect COM ports automatically O Set COM ports manually O Reading from file Fig 6 Choosing the way of connection For further connections choose Use last COM ports configuration provided that the computer COM ports have been kept the same as previously used GeoSDemo communicates with the receiver on both binary and NMEA protocols Fig 7 shows the view of main window when working with binary data Main window headline presents FW version and data FW v1 0_2010 02 27 and receiver serial number N A not available as well GeoSDemo v1 3 FW v1 0_2010 02 27 S N N A File Communication Readingfromfile Settings Queries Commands Language Help UTC 11 05 10 09 58 17 0 Channels Charts Messages Map Latitude 55244 7037 N SY No Track In fix El az S
37. dentifier SMD for GeoS 1M e Date time If communication with the receiver is accomplished via NMEA protocol only binary data is not available then GeoSDemo displays NMEA data as shown in Fig 8 Because NMEA protocol carries less data than binary one therefore some fields of GeoSDemo windows will be empty GeoSDemo v1 3 Palin Ceasb Urene vs pafina YcTaH0BKH UTC Llinpora Aonrota BbICoTa M HDOP YDOP CKOpocCTb m c Kypc KA B Cne gt KeHnn KA B peweHnun z SSW KA HE BHAHbI BIN Her AaHHbIX 13 02 10 08 06 11 0 55 8100833 N 37 5328167 E 188 1 Pal Zh 0 010 137 15 G gg 8 GPS 5 GLN 3 ws Asbik Momoup Kananbi Avarpammbi CoobweHua Kapta 2 NOKA Caen Pew YM las C W abry Napametp 3Hayenve 3 6 8 14 15 16 18 19 21 22 24 HANGA EE EE EE EE E E NUH va e ENE ET TA 58 65 7 1 22 14 65 37 44 60 16 67 14 1 50 11 1 34 33 269 249 341 163 43 216 93 300 95 187 91 189 ali 39 48 30 293 315 143 UTC Bpema GPS Bpema GLN X M K 2M Nat m c Ve m c z m c Caer GPS GLN m Ckop yxo4a WB m c KA B cnexxeHnn KA B pewennn GDOP PDOP TDOP Uiapora Aonrota BbicotTa M HDOP YDOP Ckopoctb m c Kypc Bpema pabotbi 13 02 10 08 06 11 0 15 8 3 0 55 8100833 N 37 5328167 E 188 1 GA SH 0 010 137 NMEA COM16 USB 115200 Fig 8 GeoS
38. e SV in position fix 60 4 2 28 Message Ox8E Query enabled NMEA messages 60 4 2 29 Message Ox8F Query enabled binary messages cccsssscccceesesssseeeeeesesessuseeeeceseeseaseeeeeesessesasseeeeeees 60 4 2 30 Message OxC1 Request FW version ccccccsssssssssseceseseceseeeseeeeseceeeeeeeeeeeeeeeseeeaeaeaeeeseaeeaaasaaeaeaaeaeaaeaaanaaea 60 4 2 31 Message KOXE2n RESLAF TECGIVET 1 2 ses oreve danez dere ANG Nman ADA dE LG aa 61 4 2 32 Message OxC3 Store parameters to Hlach penne ee eee eee eee ner eee ee ee eee n eee eee 61 5 Appendix B NMEA Data Description n nmvsvernvesenresvertesrternesternenterresv evnt aa PER SRE ERE KESHEE nen 62 5 1 GGA Global Positioning System Fix Data m nmmnmesvesvesvervesrernenrernesvernr verst rntesnentennennenrennenennennen rennene navnene nen 63 5 2 GLL Geographic Position Latitude Longitude nun nmvvemivvvevevrvermvvrvvesversvrrervennvenversernertavensvesvevertnrene vennene annens 64 5 3 GSA GNSS DOP and UTC OI 64 5 4 GSV GNSS Satellites in VIEW nescacac see venes re rare veren e nescence TE enn 65 5 5 RMC Recommended Minimum Specific GNSS Data 66 5 6 VTG Course Over Ground and Ground Speed un aaaanaananananaananananuanananunnamamanan 67 5 7 ZDA Time EE 67 5 8 SWPROT Switch to Binary Protocol ssssssssssssssscsssscsscsscsscsseeecssceesesssescsseocsoceacsaceacesceaeeeceseeeceaceesesseesesseesesateaceateaceateaseaceasenss 68 5 9 SAVEFL Save Parameters to Flash in
39. e length 2 Data content is identical to that of output message Ox4D 4 2 14 Message 0x4E Enable disable NMEA messages Message length 2 Data content is identical to that of output message Ox4E 4 2 15 Message 0x4F Enable disable binary messages Message length 2 Data content is identical to that of output message Ox4F 4 2 16 Message 0x80 Query initial parameters Message length 1 1 u int Any value 4 2 17 Message 0x81 Query serial ports parameters Message length 1 Port number parameters of which are requested 1 u_int 0 Port 0 1 Port 1 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 2 18 Message 0x82 Query receiver operation mode Message length 1 1 u int Any value 4 2 19 Message 0x83 Query navigation task solution parameters Message length 1 u int Any value 4 2 20 Message 0x84 Query output data rate Message length 1 u int Any value 4 2 21 Message 0x86 Query data protocol assignment to communication port Message length 1 u int Any value 4 2 22 Message 0x88 Query GPS almanac Message length 1 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 1 u int GPS SV system number 1 32 4 2 23 Message 0x89 Query GLONASS almanac Message length 1 1 u_int GLONASS SV system number 1 24
40. emrnvesvenvesvestesternenternenerresverntovensrrntern anaana dana Spanon naan KERR ERE 68 Ehel UE Cl 68 5 11 WSTART Warm Start EEN 68 5 12 AS TART Hot Sa T E 68 6 Appendix C GeoS 1M Connection Board Summary wuss seein TRESHE SETE ERE TELE REP TE SHTE THE t re ber tt r r n ent 69 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com List of Figures Fig 1 Outline drawing dimensions in MM rnmevnsvesvesvesvervesr evner erre navnene EE EEE ERR 19 Fig 2 Typical connection diagram usunne vnesnvesrerre vnr RER RRSRE EKERN ERRE KARENE RENERE RER 20 Fig 3 ON OFF control M NG verst avesk ENER ERKEKENKENE EKERN RENERE ERR RRE ERE ENENENENEN ENER 20 Fig 4 Recommended fo Op in LE 21 Fig 5 Evaluation vd TE 26 Fig 6 Choosing the way Of CONNECUON mnsnernnrsnnrsnesnvesnerse raneren vesen RER KREKAR ERR nn 27 Fig 7 GeoSDemo 6 main window displaying binary data s sssssssssssssssnnnnnnnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnonnnannnnnnnnnnnnnnnnnnnnnonananannnnnnnnn ananman 21 Fig 8 GeoSDemo 6 main window displaying NMEA data meemesvervesversvvvrsvrsvesvrnvesvesveneesveneersensersenersssseesesvesernsesnessesvessesserseseersrsererns 28 Fig 9 Selection of Query GPS almanac ua aaananaunanananananunanananamaaunamanuumanamannanananan 29 Fig 10 Displaying the almanac data transmitted by the receiver rer me renronre sere rere re rene oer tre r re nt beret r tere te ren en s tereni 29 Fig 11 Sele
41. en ende REE NERE 35 4 1 Output ET ET 35 t Message Formati maa a sh m ni Uh da dhi da ah r dh e Ga dh ah n Ui dr ah e Ga sd vk er des v re 35 4 1 2 Message 0x10 Raw measuremen te llana 35 4 1 3 Message 0x11 GPS sub frame data 37 4 1 4 Message 0x12 GLONASS sub frame data 38 4 1 5 Message 0x13 ECEF coordinates vas aa mm indore GAGA ANAK INA Ad 38 4 1 6 Message 0x20 Geographic coordinates naaa 39 4 1 7 Message 0x21 Current receiver telemetr aa 40 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 1 8 4 1 9 4 1 10 4 1 11 4 1 12 4 1 13 4 1 14 4 1 15 4 1 16 4 1 17 4 1 18 4 1 19 4 1 20 4 1 21 4 1 22 4 1 23 4 1 24 4 1 25 4 1 26 4 1 27 4 1 28 4 1 29 4 1 30 4 1 31 4 1 32 4 1 33 4 1 34 4 1 35 4 1 36 4 1 37 4 1 38 4 1 39 4 1 40 4 1 41 Message Ox3F Message 0x40 Message 0x41 Message 0x42 Message 0x43 Message 0x44 Message 0x46 Message 0x48 Message 0x49 Message Ox4A Message Ox4B Message 0x40 Message Ox4D Message Ox4E Message Ox4F Message 0x80 Message 0x81 Message 0x82 Message 0x83 Message 0x84 Message 0x86 Message 0x88 Message 0x89 Message Ox8A Message Ox8B Message Ox8C Message Ox8D Message Ox8E Message Ox8F Message OxC1 Message OxC2 Message OxC3 Message 0x223 SV
42. inimum value 1 The second field identifies the order of this sentence sentence number minimum value 1 For efficiency it is recommended that null fields be used in the additional sentences when the data is unchanged from the first sentence R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 2 A variable number of Satellite ID Elevation Azimuth SNR sets are allowed up to a maximum of four sets per sentence Null fields are not required for unused sets when less than four sets are transmitted 3 Satellite ID numbers To avoid possible confusion caused by repetition of satellite ID numbers when using multiple satellite systems the following convention has been adopted a GPS satellites are identified by their PRN numbers which range from 1 to 32 b The numbers 33 64 are reserved for WAAS satellites The WAAS system PRN numbers are 120 138 The offset from NMEA WAAS SV ID to WAAS PRN number is 87 A WAAS PRN number of 120 minus 87 yields the SV ID of 33 The addition of 87 to the SV ID yields the WAAS PRN number c The numbers 65 96 are reserved for GLONASS satellites GLONASS satellites are identified by 64 satellite slot number The slot numbers are 1 through 24 for the full constellation of 24 satellites this gives a range of 65 through 88 The numbers 89 through 96 are available if slot numbers above 24 are allocated to on orbit spares 55 RMC Recommended Minimum Specific GNSS Data Time date
43. ld Signal power detect 18 0 no 1 yes PLL and DLL lock detect 19 0 unlocked 1 locked Frame synchronization flag 20 0 no sync 1 sync achieved Time extracted from navigation data 21 0 not available 1 available Navigation data frame valid flag 22 0 not valid 1 valid Bit synchronization flag 23 0 no sync 1 sync achieved Signal level estimate 00 strong 25 24 01 more than normal 10 less than normal 11 weak Ephemerides extracted from navigation data 26 0 no 1 yes Using SV in fix 27 0 no 1 yes 28 Reserved 17 16 29 Reserved Satellite system 30 0 GLONASS 1 GPS 31 Reserved 4 1 3 Message Ox11 GPS sub frame data Length 12 Rate once per 6 seconds transmitted by the channel that tracks GPS SV O R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 1 u int Channel identifier 4 1 2 GPS sub frame arrival time time since OOh 00min 00s of 2 u int s current day corresponded to reception of the first string of sub frame Resolution 1 200s Word 1 30 LSBs 8 uni If Hamming code is OK then relevant bits are 0 4 u_int Word 2 12 u_int Word 10 MSBs 4 1 4 Message 0x12 GLONASS sub frame data Length 8 Rate once per 2 seconds transmitted by the channel which tracks GLONASS SV 1 u_int Channel identifier 4 1 2 GLONASS sub frame arrival time time since 00h 00min 00s of 2 u_int s current day corresponded to reception of the first
44. lution reported by the GGA or GNS sentence and DOP values If only GPS GLONASS etc is used for the reported position solution the talker ID is GP GL etc and the DOP values pertain to the individual system If GPS GLONASS etc are combined to obtain the reported position solution multiple GSA sentences are produced one with the GPS satellites another with the GLONASS satellites etc Each of these GSA sentences shall have talker ID GN to indicate that the satellites are used in a combined solution and each shall have the PDOP HDOP and VDOP for the combined satellites used in the position S GSA a X XX XX XX XX XX XX XX XX XX XX XX XX X i x x x x hh lt CR gt lt LF gt L VDOP HDOP Bi ID numbers of aor used in solution Mode 1 Fix not available 2 2D 3 Mode M Manual forced to hen in 3 or 3D mode A Automatic allowed to automatically switch 2D 3D O R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Notes Satellite ID numbers To avoid possible confusion caused by repetition of satellite ID numbers when using multiple satellite systems the following convention has been adopted a GPS satellites are identified by their PRN numbers which range from 1 to 32 b The numbers 33 64 are reserved for WAAS satellites The WAAS system PRN numbers are 120 138 The offset from NMEA WAAS SV ID to WAAS PRN number is 87 A WAAS PRN number of 120 minus 87 yields the SV ID of 33 The additio
45. manac aa 52 Response to Query GLONASS almanac aaa 52 Response to Query GPS ephemerides a 53 Response to Query GLONASS ephemerides 0a 53 Response to Query PPS parameters ula aaaaa aaa nene nene nene nene nene nene nene nene ee nene aa 53 Response to Query enable disable status of the SV in position fi 53 Response to Query enabled NMEA mesaages cccccessseseeeeessssssseeeeeeesssssseeeeeeeeseeeees 53 Response to Query enabled binary messages 53 Response to Request FW Version COM Man Qa aaa nana nana nana anes neve nene ee eee eee enen enen ee eee enen 53 Response to Restart receiver Commande 54 Response to Store parameters to Flash commande 54 4 2 Input CTT DT 4 21 Message Formati add pd dbe EERE 55 4 2 2 Message 0x40 Set initial parameters a 55 4 2 3 Message 0x41 Set serial ports parameters aaa 55 4 2 4 Message 0x42 Set receiver operation mode 55 4 2 5 Message 0x43 Set navigation task solution parameters aa auuaaananaaaaaaaaannn a 4 2 6 Message 0x44 Set output data rate uaanaaaaaaaaaaaaannnne nese eee nene eee eee eee nenen eee eee ee penne e eee eee eper eee eee eee 4 2 7 Message 0x46 Assign data protocol to communication port 4 2 8 Message 0x48 Set GPS almanac rrnrrrrrnrsonnnnnnrrrnnnsnnnsnnnnrrnnrssnnnnnnnnsnn 4 2 9 Message 0x49 Set GLONASS almanac 4 2 10 Message Ox4A Set GPS ephemerides aa 4 2 11 Message Ox4B Set GLONASS epbemerides 4 2 12 Message Ox4C
46. mean value of inclination of n SV AN 15 16 double s Coarse value of n SV time correction to GLONASS time tn 17 16 EP d Calendar day number within the four year period beginning MSBs u 810 ay since the leap year N 17 16 A LSBs u_short SV system number n 18 16 Kon Carrier frequency number of RF signal transmitted by n SV MSBs Se Ho 18 16 kort Unhealthy flag C bit 15 type of GLONASS SV M bits 0 LSBs u Sho and 1 4 1 19 Message 0x4A Response to Set GPS ephemerides Length 45 Response to input message Ox4A Receiver time at the moment of ephemeris reception code 0 L i is UTC 00h 00min 00s January 1 2008 2 int IODE semi 3 4 double circles Mean Anomaly Mo semi e 5 6 double se Mean Motion Difference From Computed Value An 7 8 double Eccentricity e 9 10 double m Square Root of the Semi Major Axis VA 41 12 doubl semi Longitude of Ascending Node of Orbit Plane at Weekly Epoch i OUDIE circles OMEGA semi tar a i 13 14 double icles Inclination Angle at Reference Time 10 semi 2 15 16 double circles Argument of Perigee w semi 17 18 double circles s Rate of Right Ascension OMEGADOT semi inati 19 20 double circles s Rate of Inclination Angle IDOT Amplitude of the Cosine Harmonic Correction Term to the SE ER rad Argument of Latitude Cuc 93 24 doubl d Amplitude of the Sine Harmonic Correction Term to the AE a Argument of Latitude Cus Amplitude of
47. n of 87 to the SV ID yields the WAAS PRN number c The numbers 65 96 are reserved for GLONASS satellites GLONASS satellites are identified by 64 satellite slot number The slot numbers are 1 through 24 for the full constellation of 24 satellites this gives a range of 65 through 88 The numbers 89 through 96 are available if slot numbers above 24 are allocated to on orbit spares 5 4 GSV GNSS Satellites in View Number of satellites SV in view satellite ID numbers elevation azimuth and SNR value Four satellites maximum per transmission Total number of sentences being transmitted and the number of the sentence being transmitted are indicated in the first two fields If multiple GPS GLONASS etc satellites are in view use separate GSV sentences with talker ID GP to show the GPS satellites in view and talker GL to show the GLONASS satellites in view etc The GN identifier shall not be used with this sentence S GSV AALIK IEI KK ER KX XXX XK hh lt CR gt lt LF gt LL bgy 24 34 sy SNR C No 00 99 dB Hz null when not tracking Azimuth degrees True 000 to 359 Elevation degrees 90 maximum Satellite ID number Total number of satellites in view Sentence number 1 to 9 Total number of sentences 1 to 9 Notes 1 Satellite information may require the transmission of multiple sentences all containing identical field formats when sending a complete message The first field specifies the total number of sentences m
48. n the earth ellipsoid and geoid 11 int Number of SVs in fix 12 int Reserved 13 14 double GDOP O R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 15 16 double PDOP 17 18 double TDOP 19 20 double HDOP 21 22 double VDOP 23 24 double mis Smoothed clock drift 25 26 double m Smoothed clock shift relative to GPS time scale 27 28 double m Smoothed clock shift relative to GLONASS time scale Position fix valid flag 29 int 0 fix valid otherwise fix not valid 30 int Reserved 31 32 double m s Speed over ground 33 34 double rad Course 4 1 7 Message 0x21 Current receiver telemetry Length 3 Rate once per second 1 u_int Receiver status word see below 2 u_int s Receiver time since last restart 3 16 u short Number of SVs tracked MSBs 3 16 LSBs u short Number of SVs in fix Receiver status word here and herein 0 Reserved 1 Reserved Position fix availability flag 2 0 no fix 1 fix available 2D fix indicator 3 0 3D 1 2D R amp D Center Geostar navigation 2010 12 20 40 www geostar navigation com 13 12 14 15 16 17 18 19 20 21 22 23 24 25 26 Reserved Indicator of use of combined constellation in position fix 0 no 1 yes Reserved Reserved Almanacs available 0 no 1 yes Reserved PPS valid flag 0 PPS not valid not available or out of control 1 PPS valid Indicat
49. nt 2mA max 2 7 Communication Ports The receiver has two communication RS232 ports Port 0 and Port 1 The parameters of both RS232 ports are programmable as follows e Baud rate bit s 4800 9600 19200 38400 57600 115200 e Stop bits 1 or 2 e Parity no parity even odd always 0 always 1 These parameters are programmable via binary protocol input message Ox41 Default settings for both ports baud rate 115200 2 stop bits no parity RS232 signal level LVTTL TxO Tx1 outputs high low load current 2mA max 2 8 Active Antenna Requirements The receiver shall be used with active antenna with 10 35dB exceeding gain Exceeding gain is defined as antenna LNA gain minus RF cable losses Cable losses depend on its length and type The receiver provides antenna power at antenna input pad 3 Antenna supply voltage is VDD main supply voltage Maximum antenna supply current is 100mA To protect from antenna overcurrent the receiver has internal current limiting scheme based on resettable fuse In case of antenna is shorted this scheme will limit the current to 150 300mA The receiver will recover normal operation when the cause of overloading is removed 2 9 Data Protocols Supported The receiver supports two data protocols binary Appendix A and NMEA Appendix B Both protocols are handled simultaneously Each protocol is assigned to specific receiver communication port On default Port 0 handles bina
50. ode E Estimated dead reckoning mode M Manual input mode S Simulator mode N Data not valid The positioning system Mode Indicator shall not be a null field 5 7 LDA Time amp Date UTC day month year and local time zone ZDA hhmmss ss XX XX XXXX XX xx hh lt CR gt lt LF gt Local zone minutes 00 to 59 Local zone hours 00 to 13 hrs Year Month 01 to 12 S UTC Day 01 to 31 UTC Notes 1 Local time zone is the magnitude of hours plus the magnitude of minutes added with the sign of local zone hours to local time to obtain UTC Local zone is generally negative for East longitudes with local exceptions near the International Date Line R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 5 8 SWPROT Switch to Binary Protocol The command switches the receiver port working with binary data to NMEA Format SGPSGG SWPROT 75 5 9 SAVEFL Save Parameters to Flash The command initiates saving FW settings and satellites almanacs to receiver s Flash Format SGPSGG SAVEFL 63 5 10 CSTART Cold Start The command initiates receiver s cold start Format SGPSGG CSTART 6B 5 11 WSTART Warm Start The command initiates receiver s warm start Format SGPSGGMWSTART 7F 5 12 HSTART Hot Start The command initiates receiver s hot start Format SGPSGG HSTART 60 O R amp D Center Geostar navigation 2010 12 20 www geostar navigation com e Appendi
51. or that DR is enabled by solution 0 no 1 yes Satellite constellation 0 combined 1 GPS only 2 GLONASS only 2D fix enable bit 0 disabled 1 enabled Coordinates hold mode 0 no 1 yes Indicator that DR is enabled by the user 0 disabled 1 enabled Reserved Dynamic filter enable bit 0 disabled 1 enabled Reserved Output data rate indicator 0 5Hz 1 1Hz Reserved Antenna power telemetry bit 0 failed 1 OK Frequency synthesizer telemetry bit 0 failed 1 OK DR position fix indicator 0 no 1 yes Reserved Use of dynamic filter indicator 0 no filtering R amp D Center Geostar navigation 2010 12 20 41 www geostar navigation com 1 filter used Receiver identifier 27 0 GeoS 1 1 GeoS 1M Receiver operation mode 0 normal 29 28 1 test 2 FW update 30 Reserved 31 Reserved 4 1 8 Message 0x22 SVs in view Length 1 3 NSat Rate once per second int The number of SVs for which the data is transmitted NSat 2 4 structure Data for 15 SV in view 1 3 NSat th 443 NSat structure Data for Nsat SV in view Data for SV in view structure Channel identifier 4 1 2 2 16 E MSBs short rad Elevation angle resolution 0 001rad 2 16 LSBs short rad Azimuth resolution 0 001rad 3 16 MSBS short dbHz SNR resolution 0 1dBHz Number of receiver channel 0 23 that trackes given SV 3 16 LSBs short Code OxFFFF is t
52. ore default FW settings indicator 0 receiver is operating with current FW settings 1 receiver is operating with default FW settings Combination of bits 0 and 1 indicate different restart modes the receiver operates in code 0 indicates hot start code 1 warm start code 3 cold start 1 u_int 4 1 41 Message OxC3 Response to Store parameters to Flash command Length 1 Response to input message OxC3 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Store parameters to Flash indicator 1 u int 0 parameters have been stored successfully 1 parameters have not been stored 4 2 Input Messages 4 2 1 Message Format P 8 S 8 G 8 G 8 lt ncmd 16 gt lt ndat 16 gt lt dat1 32 datN 32 gt lt cs 32 gt e PSGG message preamble 32 bits e lt ncmd gt message number 16 bits e lt ndat gt the number of 32 bit words in data fields 16 bits e datt dat2 datN gt data fields 32 bit words the number of words is defined by lt ndat gt parameter e lt cs gt check sum 32 bits calculated as exclusive OR of all data fields The receiver output messages are listed in Table 4 4 2 2 Message 0x40 Set initial parameters Length 12 Data content is identical to that of output message 0x40 4 2 3 Message 0x41 Set serial ports parameters Message length 4 Data content is identical to that of output message 0
53. ot used RxO Rx1 Receive data of Port 0 and 1 respectively Signal level LVTTL TxO Tx1 Transmit data of Port 0 and 1 respectively Signal level LVTTL 1PPS 1PPS output Signal level LVTTL Output high low load current 2mA max IO pads 19 21 23 24 25 26 are used for debugging and should be left open 2 5 Power The receiver requires regulated 3 3V 10 supply voltage with maximum 50mV p p amplitude ripple the voltage is applied to pad 10 ON OFF signal pad 11 is used for switching receiver on and off logic 1 2 4 VDD turns receiver on logic 0 0 0 4V turns receiver off If not used connect to VDD External backup battery is connected to pad 17 Operating range is 2 0 3 6V typical supply current is 10uA 26 1 Pulse Per Second One Second Time Mark The receiver outputs one second time mark 1PPS pad 16 with parameters programmable via binary protocol input message Ox4C as follows e 1PPS enabled 1PPS disabled e Synchronization time scale GPS GLONASS UTC USNO UTC SU e Polarity positive negative When chosen positive 1PPS rising edge low to high transition is synchronized to selected time scale when chosen negative 1PPS falling edge high to low transition is synchronized to selected time scale O R amp D Center Geostar navigation 2010 12 20 www geostar navigation com e Duration 10us 2ms e Shift within t1ms range Signal level LVTTL Output high low load curre
54. ransmitted if SV is notin track 4 1 9 Message 0x3E Receiver power up message Length 3 Rate once in 2 seconds after receiver power up R amp D Center Geostar navigation 2010 12 20 42 www geostar navigation com NVSRAM integrity check results the number of blocks with uint failed data If no failed data found then code 0 is transmitted 2 uint Code of UTC read out from NVSRAM Transmitted code 0 e means failure 3 u_int Code of UTC read out from RTC 4 1 10 Message 0x3F Negative acknowledge Length 2 1 u_int ID of the message which caused error Error cause 1 incorrect check sum 2 u_int 2 incorrect number of data words 3 incorrect message ID 4 incorrect parameter value 4 1 11 Message 0x40 Response to Set initial parameters Length 12 Response to input message 0x40 Time elapsed since UTC 00h 00min 00s January 1 2008 1 l tini Resolution 1s 2 int s Local time shift relative to UTC 3 4 double m User X coordinate WGS 84 5 6 double m User Y coordinate WGS 84 7 8 double m User Z coordinate WGS 84 9 int Code of clock drift Resolution 0 1m s 10 int Reserved 11 12 double m GLONASS GPS time shift R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 1 12 Message 0x41 Response to Set serial ports parameters Length 4 Response to input message 0x41 Port number 1 u_int 0 Port 0
55. ry protocol and Port 1 NMEA Assignment between data protocol and the port number can be changed by using specific binary input command input message 0x46 following which Port 0 will output NMEA data and Port 0 binary R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Output binary protocol gives the user extended navigation raw measurements almanacs and ephemerides data The input entries provide control and setting capabilities The input data comprise commands queries and settings In addition binary protocol supports receiver s FW update The output binary messages packets are divided into following groups 1 Messages 0x00 0x3F automatically generated 2 Messages 0x40 0x7F responses to settings 3 Messages 0x80 0xBF responses to queries 4 Messages OxCO 0xFF responses to commands The messages 0x0 0xF are debug data that not avaialble to the user Messages 0x00 0x1F are masked e g can be disabled by using appropriate mask input message On default all automatically generated masked messages are disabled no output Messages 0x20 0x3F are unmasked e g cannot be disabled Output messages are summarized in Table 3 Table 3 The list of output binary messages Packet ID Message packet Automatically generated messages 0x0 Reserved 0x1 Debug data 0x2 Debug data 0x3 Debug data 0x4 Debug data 0x5 Reserved 0x6 Debug data 0x7 Debug data 0x8 Debug data 0x
56. should be released for saving them into Flash memory In addition the current almanacs stored in the receiver can be read out from the receiver by sending binary requests 0x88 for GPS and 0x89 for GLONASS Note that commands OxC3 and SAVEFL activate storing to Flash both FW settings and satellites almanacs 3 5 Using Connection Board and GeoSDemo Demo SW 3 5 1 Getting Started The receiver evaluation kit includes Connection Board and GeoSDemo demonstaration SW Connection Board provides hardware connection of the receiver to external equipment power supply computer and antenna Refer to Appendix C for brief Connection Board description R amp D Center Geostar navigation 2010 12 20 www geostar navigation com The AC DC adapter used as a source of DC supply voltage should meet following specifications 5 30V DC output voltage and 100mA minimum load current Two serial cables DB9 male DB9 female are used for serial port connections Fig 5 depicts evaluation kit connections Fig 5 Evaluation kit connections Connection Board should be configured as follows e Set Vin slider to the direction of X2 connector e Set Battery slider to On Demo SW GeoSDemo should be installed on PC Refer to GeoSDemo User Manual for detailed guidelines on the program operation 3 5 2 Receiver Evaluation Using GeoSDemo Please make following connections make sure the receiver power is switche
57. ssage OxC3 Storing parameters done lt Fig 18 Parameters successfully stored acknowledgement message R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 3 5 5 FW Update GeoSDemo SW is capable to handle receiver FW update via receiver s communication port which is working on binary protocol Attach the receiver to Connection Board apply power and switch the receiver on Run GeoSDemo and establish communication with the receiver In menu Commands select Update FW and browse the file to be downloaded in aux panel Fig 19 The file should have extension bin Look in G Geo5Demo O 3 e Gr Fe My Recent Documents Desktop B psgg 1 123b bin lt r My Documents I My Computer mn a My Network File name Jpsga 11 23b bin v VA Places Files of type Bin files bin DI Cancel Fig 19 Browsing the FW file to be downloaded If the file to be loaded is correct then the program will start downloading as shown in Fig 20 FW update Please wait firmware update is in progress 17 96 Fig 20 FW update progressing If the file that has been chosen is incorrect or failed then the program vvill generate the follovving message Fig 21 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com FW update The file is corrupted and cannot be downloaded Choose other file and try ag
58. te constellations 2 2 Delivery Kit The delivery kit includes following items 1 GeoS 1M OEM receiver board 2 GeoS 1M Connection Board by request 3 Demo PC SW GeoSDemo can be downloaded from http geostar navigation com 4 GeoSDemo User Manual can be downloaded from http geostar navigation com 5 GeoS 1M User Manual can be downloaded from http geostar navigation com 6 GPS GLONASS antenna by request O R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 2 3 Specifications The receiver specifications are summarized in Table 1 Table 1 Receiver specifications aT a Number of channels Position accuracy rms m 2 horizontal 3 1 altitude 5 Velocity accuracy rms m s lt 0 05 1 4 Time accuracy 30 ns lt 150 TTFF s average Cold start lt 36 5 Warm start lt 29 2 Hot start lt 4 Reacquisition lt 1 6 Acquisition sensitivity dBm cold start 140 Tracking sensitivity dBm 150 8 Output data rate Hz lor5 Dynamics 9 acceleration 3g 3 Jerk lt lg s 10 Maximum velocity m s 515 11 Maximum altitude m 18000 12 Interfaces Dual RS232 t IPRS 13 level LVTTL duration us 10 2000 14 Supply voltage V 50356 15 Backup voltage V 2036 Supply current 3 3V mA typical 16 acquisition 115 tracking 110 17 Backup current uA typical 10 18 Size length x width x height mm 35 5x33 2x3 8 19 Weight g lt 10 20 Operating temperature C 40 8
59. ter Geostar navigation 2010 12 20 www geostar navigation com 3 Operation 3 1 Typical Connection Typical connection diagram is shown in Fig 2 Backup battery Antenna input GeoS 1M receiver board Fig 2 Typical connection diagram Main supply voltage VDD is applied to pad 10 ON OFF pad 11 is used for power on off control External backup battery voltage is applied to pad 17 3 2 ON OFF Control For proper receiver power on ON OFF signal should go high after main supply voltage VDD reaches low operating limit of 3 0V Fig 3 VDDminz3 0V VDD 7 GND ON OFF L 50oms min j Fig 3 ONJOFF control timing Further power on off control if VDD keeps stable and applied to the receiver could be done using ON OFF pin as follows R amp D Center Geostar navigation 2010 12 20 www geostar navigation com e High to lovv transition switches the receiver off immediately e Low to high transition should be asserted with delay at least 500ms relatively to high to low transition If not used ON OFF should be connected with VDD 3 3 Recommended PCB Footprint Recommended footprint is shown in Fig 4 All dimensions are in mm 16 2 7 14 4 2
60. update is accomplished via binary protocol After start until no valid position fix available the receiver outputs null GGA GSV GSA messages If after successive position fix the signals and position fix as well are lost the receiver transmits in NMEA messages last valid coordinates Then the GPS quality indicator bit field in GGA message is filled with O fix not available or invalid After applying power to the receiver 1PPS signal is not generated until PVT is available and valid During this controlling 1PPS parameters via binary protocol is disabled has no effect Once position fix calculated is valid 1PPS becomes accurate and synchronous with selected time scale If signals lost then 1PPS keeps being at receiver output but its accuracy will directly depend on receiver clock drift There is a 1PPS status data 1PPS valid or invalid to distinguish whether 1PPS is under control or not refer to output message 0x21 bit 10 of Receiver status word Note that the receiver FW doesn t account RF antenna cable propagation delay Thus antenna and cable sub system will add extra delay in 1PPS output This delay can be compensated by entering 1PPS offset in relevant message in binary protocol input message Ox4C By using this message user can also set different 1PPS parameters Receiver FW features several programmable settings listed in Table 6 Those setting are programmable via binary protocol Once settings data is release
61. ux panel GPS almanac Fig 12 where the almanac file location should be chosen It is assumed that the almanac has been already received by the receiver and saved by GeoSDemo program GPS almanac File E WORK GeoSDemo data gps gr G Fig 12 GPS almanac panel Fig 13 illustrates selection of almanac file in Geostar Navigation Ltd GeoSDemo data gps folder R amp D Center Geostar navigation 2010 12 20 EI www geostar navigation com Browse 2 xi Look in G data D Q 2 Gr Fe gin My Recent Documents Desktop My Documents KI DI Mu Computer men File name D Open Places Files of type GPS almanac files alm DI Cancel Fig 13 Selection of GPS almanac file After file selection press OK in GPS almanac panel GPS almanac will be dowloaded to the receiver The process of downloading will be displayed in the upper sub window in Messages bookmark Fig 14 Messages ClLogging binary data ws 1 2872E 0 OMEGADOT 7 7946E 9 afO 4 7684E 5 afl 0 0000E 0 t_oa 405504 stSv 0000 a 9 13 13 message 0x48 GPS 30 M 1 2451E 0 e 1 1815E 2 A 5 1536E 3 OMEGA 0 2 3700E 0 dI0 1 0414E 2 w 1 4404E 0 OMEGADOT 7 9089E 9 af0 1 6785E 4 afl 0 0000E 0 t oa 405504 stSv 0000 9 13 13 message Ox48 GPS 31 M 2 730ZE 0 e 6 9880E 3 A 5 1537E 3 OMEGA 0 1 3644E 0 dI0 3 1021E 2 w 1 1376E 0 OMEGADOT 7 7603E 9 af0 6 3896E 5 afl 0 0000E 0 t oa 405504 stSv
62. x C GeoS 1M Connection Board Summary The GeoS 1M Connection Board is the auxiliary hardware which function is to connect GeoS 1M receiver board to external environment for demonstrating receiver functionality Top view of Connection Board is shown in Fig 24 O S O o USB EZ 5 D wg X1 R TxO GeoS lM de RSFA Rxo e 1PPS V R61 QTx1 c5 j S CH eh 7 p2 D2 3 3V E ane P2 vsh C5 Er v2 d Cep vl 3 ca 5 3 V Battery off On Fig 24 GeoS 1 Connection Board top view Port 1 The main functions of Connection Board are To generate receiver main supply voltage 3 3V from unregulated 5 30V DC input To provide external backup power to the receiver For serial RS232 ports to convert LVTTL levels to from levels complying with EIA 232 To provide connections to external antenna Ant connector MMCX female and computer COM ports Port 0 and Port 1 connectors To provide 1PPS output at SMA connector To indicate status of 3 3V and activity on serial port lines The receiver board is soldered to Connection Board as shown in Fig 25 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Fig 25 Receiver and Connection Board assembly Unregulated supply voltage 5 30V is applied to X2 power jack S2 switch Vin selects the input voltage to be either 5 30V or USB 5 0V To set 5 30V S2 slider shall be directed to X2
63. x41 4 2 4 Message 0x42 Set receiver operation mode Message length 3 Data content is identical to that of output message 0x42 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 2 5 Message 0x43 Set navigation task solution parameters Message length 5 Data content is identical to that of output message 0x43 4 2 6 Message 0x44 Set output data rate Message length 1 Data content is identical to that of output message 0x44 4 2 7 Message 0x46 Assign data protocol to communication port Message length 1 Data content is identical to that of output message 0x46 4 2 8 Message 0x48 Set GPS almanac Message length 20 Data content is identical to that of output message 0x48 4 2 9 Message 0x49 Set GLONASS almanac Message length 18 Data content is identical to that of output message 0x49 4 2 10 Message 0x4A Set GPS ephemerides Message length 45 Data content is identical to that of output message Ox4A 4 2 11 Message 0x4B Set GLONASS ephemerides Message length 32 Data content is identical to that of output message Ox4B R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 2 12 Message Ox4C Set PPS parameters Message length 5 Data content is identical to that of output message 0x40 4 2 13 Message 0x4D Enable disable SV in position fix Messag
64. x82 Data content is identical to that of message 0x42 4 1 28 Message 0x83 Response to Query navigation task solution parameters Length 5 Response to input message 0x83 Data content is identical to that of message 0x43 4 1 29 Message 0x84 Response to Query output data rate Length 1 Response to input message 0x84 Data content is identical to that of message 0x44 4 1 30 Message 0x86 Response to Query data protocol assignment to communication port Length 1 Response to input message 0x86 Data content is identical to that of message 0x46 4 1 31 Message 0x88 Response to Query GPS almanac Length 20 Response to input message 0x88 Data content is identical to that of message 0x48 4 1 32 Message 0x89 Response to Query GLONASS almanac Length 18 Response to input message 0x89 Data content is identical to that of message 0x49 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 1 33 Message 0x8A Response to Query GPS ephemerides Length 45 Response to input message Ox8A Data content is identical to that of message Ox4A 4 1 34 Message 0x8B Response to Query GLONASS ephemerides Length 32 Response to input message Ox8B Data content is identical to that of message OX4B 4 1 35 Message 0x8C Response to Query PPS parameters Length 5 Response to input message Ox8C Data

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