GPS-NX01 Receiver User Guide
Contents
1. Noise floor Kalman Mode i Int Int T N Checksum WE Message terminator lt CR gt lt LF gt 2 ASCII 13 ASCII 10 PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 28 PNMRX603 message 4 chars chars Message ID pa ae protocol header oh E Correction Oe geoid correction Mode Map Datum Reference number of the appropriate map datum to apply x offset in meters x offset in meters in meters Ea T mi O CI ELE mo p fe ostia meters a flatness a i Inverse flatness of reference geode IS SS C ET Checksum 1 xx 3 AA AA ee 2 digits emn a lt LF gt 2 ASCII 13 ASCII 10 terminator Example PNMRX603 xx Display the content of the Settings stored in NVRam PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 292. PNMRX301 mes Sage 2 field list Message ID PNMRX301 PNMRX301 protocol header Satellite Vehicle Id Int Decimal satellite vehicle id from 1 to 32 Subframe Id Ca E TT Subframe number 2 number 2 8 bits lower 8 bits EI matching iodc Meters 16 bit Ey daa SE circles sec Mean anomaly Semi 32 bit signed integer circles 32 bit poutsonesinie did sea a as o a o ooo 2 digits Message terminator lt CR gt lt LF gt 2 ASCII 13 ASCII 10 PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 23 PNMRX301 message 3 field list units local iia bes header BS op a Vehicle Id from 1 to 32 Ge Id m Ass Subframenumber3 number 3 A pe PA FD MAS ee eens _ pa A A eae aii e G DN B em T S H DN Lower 8 bits of a a checksum TT 2 digis Message lt CR gt lt LF gt ASCII 13 ASCII 10 terminator PNMRX302 lonospheric correction Field Message ID PNMRX302 PNMRX301 protocol header Satellite Vehicle Id Int Decimal satellite vehicle id from 1 to 32 2 E 2 Z 2 2 2 2 Checksum HO T 7 Message lt CR gt lt LF gt 2 ASCII 13 ASCII 10 terminator PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 24 PNMRX303 UTC time Message ID PNMRX303 8 PNMRX301 protocol header Satellite Vehicle Id Int Decimal satellite vehicle id aaia oC aia A Alma polyn
3. Ultra Low Power High Sensitivity GPS NX01 Receiver User Guide PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca al 1 Introduction 1 1 Overview The GPS NX01 Smart Receiver is a ultra low power GPS receiver based on the proven technology of the NemeriX NJ1030A chipset The positioning application meets strict needs such as car navigation mapping surveying security agriculture and so on Only a clear view of the sky and a power supply are needed With its ultra low power consumption the smart receiver tracks up to 16 satellites at a time re acquires satellite signals in 1 second average and updates position data every second The GPS NX01 can be used as a general purpose GPS receiver with NMEA 0183 output However its most unique feature is the ability to transfer GPS data time date latitude and longitude to a wide variety of telescopes that understand the Meade LX200 Command Set or Celestron NexStar Communication Protocol 1 2 Features The GPS NX01 provides a host of features that make it easy to use BRBERARARARARAR Fast time to first fix and ultra low power consumption High performance NemeriX chipset tracks up to 16 satellites in parallel Compact design with integrated antenna receiver Rechargeable Lithium cell sustains internal clock and memory recharges during normal operation One full duplex serial port with selectable baud rates and NMEA messages Supports standar
4. LLA navigation initialization This message enables the receiver to be initialized using LLA data to speed up satellite acquisition The first 4 values defining the position if used must be all present in the message Otherwise the whole massage Is considered invalid chars chars Message ID_ PNMAX104 8 8 PNMAX104 protocol header under dev Degrees 100 minutes under dev Indicator Latitude Degrees 100 minutes under dev E W Char 1 1 E east or W west under dev Indicator Altitude Altitude above MSL in meters Clock offset Int Clock offset of GPS receiver This changes the clock bias stored in the settings not the actual clock bias used by the system A cold start is necessary in order to use this value Time of Int Offset from start of week in seconds under week dev r Week Int 1 GPS week number number count terminator If used all five components Lat N S Long E W alt of the LLA position must be provided otherwise the message is declared invalid as a whole Modifying the LLA coordinates triggers a software system reset after successful execution of the message PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 14 PNMRX106 Datum This message defines the conversion model used for mapping the ECEF coordinates into the LLA ones The default transformation uses WGS84 approximation The transformation method can be changed into one using
5. 2 2 3 Fix time to 1ms accuracy V Data invalid 2 digits GPVTG This message transfers Velocity course over ground and ground speed The GPVTG message format is shown below Message D Tan 6 e VTG proio header Char PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 10 GPZDA This message transfers UTC Time and Date Since the latency of preparing and transferring the message is variable and the time does not refer to a particular position fix the seconds precision is reduced to 2 decimal places The GPZGA message format is shown below chars Message ID GPZDA 6 6 ZDA protocol header S mmss UTC time 222 2 2222 00000000 00 to 235959 99 UTC day 22 0710 37 day of month UTE month 07 t0 12 UTC Year 1989 9999 Local zone hours Int Offset of local time zone 13 to 13 Local zone minutes Unsigned Checksum WE gt digits terminator Extensions Specification For all P NMRX messages it is possible to configure an alternative string to replace the NMRX part the node always responds to the PNMRxX strings and can be configured to generate and respond to the alternative string PNMRX100 Set serial port mode This message is sent to control the serial communications port parameters The PNMRX100 message format is shown below Message ID PNMRX100 6 6 PNMRX100 protocol header Protocol Char 1 1 O NMEA mode 1 NemeriX Binary Mode under dev MON
6. Message lt CR gt lt LF gt 2 2 ASCII 13 ASCII 10 terminator Example PNMRX100 0 4800 0 xx sets the UART baud rate to 4800 bps and no parity 2 digits PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sa leststa rg ps c a 11 PNMRX101 Navigation Initialization This message is sent to initialize navigation parameters to speed up initial acquisition time The PNMRX101 message format is shown below chars chars Message ID_ SPNMAX101 6 8 PNMAXIO1 protocolheader Clock offset Int 0 1 Clock offset of GPS receiver in Hz x 100 wrt L1 This changes the clock bias stored in the settings not the actual clock bias used by the system A cold start is necessary in order to use this value MS number count max 16 OE Message lt CR gt lt LF gt 2 2 ASCII 13 ASCII 10 terminator If used all three X Y and Z components of the ECEF position must be provided otherwise the message is declared invalid as a whole Modifying the ECEF coordinates triggers a software system reset after successful execution of the message Examples PNMRX101 8 xx Executes a factory reset PNMRX101 742507 5462738 3196706 xx Sets the receiver position to ECEF and executes a software reset PNMRX101 4 xx Sets the fix procedure mode the cold start This will be valid after each reset until this value is changed PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173
7. _PNMRX110 field list chars a Message ID PNMRX1 1016 PNMRX110 PNMRX110 protocol header header Mask lD sf Int o CO CO PI Ws rs boon Mask identifier see below R Variant New value for mask dependent on the preceding field see below MaskID m TSTST Mask identifier Value Variant 1 New value for mask dependent on the preceding field Checksum fee o p L ooo Message lt CR gt lt LF gt ASCII 13 ASCII 10 terminator PNMRX110 Mask Field interpretation Mask Id mask units E a ma srs oar E si Ll Navigation Mode 1 1 Unsigned 1 Auto hold alt 2 2D Mode 4 3D Mode calc alt 8 2D Mode Altitude hath iol ol Meters above MSL Boolean 0 Auto N M 2 Maximum Atude Unsigned 6 Meters Examples PNMRX110 0 2 0 xx Set the local time to 2 hours O minutes PNMRX110 4 35 xx Set the minimum SNR to 35 PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 18 StarGPS _ PNMRX111 Software reset This message is used to reset the systems If the message is sent without parameters the receiver reboots according to the fix procedure hot warm or cold configured with the PNMRX101 or PNMRX104 messages A second parameter can optionally be used to specify which actions are executed after the reset If the last bit field is set to 1 at each reset until this bit is cleared Field then the actions are repeated permanently Format Min Ma
8. 5 PNMRX107 Messages rate control This message is sent to set the automatic update rate and to configure which messages will be automatically output it is also sent from the node to report which messages are currently configured for automatic transmission The PNMRX107 message format is shown below This message can be used to enable and disable multiple messages by including up to 4 message codes and associated fields in each 6 NMRX107 message The message length is limited to 80 characters in the event that the message length would exceed 80 characters it is divided into 2 messages This message is supported also in a variable length format where only the necessary fields are used Field Format Min Max Notes chars chars Message ID PNMRX107 8 8 T PNMRX107 protocol header Message code Determines which message is being configured 300 PNMRX300 Almanac Data 301 PNMRX301 Ephemeris Data 302 PNMRX302 lonospheric corrections 303 PNMRX303 UTC Time 304 PNMRX304 GPS constellation health ALL Applies to all messages Mode O Disable message 1 Send message now 2 Send message on change 3 Send message now and on change Checksum L ES 2 digits terminator Examples PNMRX107 300 1 xx Output the almanac stored in NVRAM PNMRX107 301 2 xx Output Ephemeris will be output on change PNMRX107 ALL 2 xx Output all output messages 300 301 302 303 304 PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sa
9. E mail sales stargps ca 12 PNMRX103 NMEA rate control This message is sent to enable or pause the output of an NMEA message and to determine its output rate The sequence of the output sequence is determined by the PNMRX107 message The PNMRX103 message format is shown below The rate of each message can individually be set If 0 is used the output of the message is skipped according to the message sequence The message length is limited to 80 characters in the event that the message length would exceed 80 characters it is divided into 2 messages This message is supported also in a variable length format where only the necessary fields are used Field Format Min Max Notes chars chars 1 Message ID PNMRX103 PNMRX103 protocol header 8 amp 8 ES Mask ID 3 3 Mask identifier possibilities are GGA GLL GSA GSV RMC VIG ZDA ALL applies to all messages 2 2 w3 f3 In In 1 Output rate in seconds O paused Mask ID 2 2 Mask identifier EE 2 digits 2 Message lt CR gt lt LF gt 2 ASCII 13 ASCII 10 terminator Examples PNMRX103 GSV 2 GGA 1 ZDA 0 xx GSV is output every 2s GGA every 1s and no ZDA PNMRX103 GSV 2 GGA 1 ZDA 0 xx same as above but using a fixed length message PNMRX103 ALL 2 xx all messages are output every 2s PNMRX103 ALL 0 xx skips all messages t X PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sale ststa rg ps c a 13 PNMRX104
10. Soft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sa les sta rg ps c a 2 2 Hardware Interface The GPS NX01 includes a low noise high gain active antenna in a unique waterproof case Simply connect the PS 2 female connector to one of the optional accessories and link to either your notebook PC PDA telescope or other device For telescope adapter cables refer to www stargps ca cables htm other cables are listed and described below e ry GMOLE A C ES DIN TACK f TO PC or ROTEBOOR TO Pee OTERO PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 3 2 1 GPS NX01 Connector Standard cable 2 meters with female PS 2 connector Pin Assignment of standard PS 2 Din Jack 2 2 GPS DB9 Cable Mini Din Female and PS 2 male connector Cable Length To GPS NX01 1 meter RS 232 to PS 2 45 cm Mini Din Female connector function definition S OOO ao moO aa E z PS 2 composite connector function definition to PC Co 3 RS 232 Tx TTL Rx TTL 6 No ra No 6 N C PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail salestosta rg ps c a 4 2 3 GPS USB Cable PS 2 male connector and A Type USB connector Cable Length USB to PS 2 50 cm A Type USB connector function definition 4 a evoe gt zp 3 USB Driver Installation 3 1 System Requirements Pentium or above and other compatible PC w
11. a reference Ellipsoid combined with a local datum to obtain a specific estimation of the local earth geometry Once the datum has been changed it will be applied to all LLA data including the LLA navigation initialization Data This message enables the receiver to be configured to use map datum from an internal table or datum supplied as part of the message Field Format Min Max Notes chars chars Message ID SPNMRX106 6 8 PNMRX106 protocol header Correction Unsigned 1 1 If 1 apply EGM96 geoid correction warning Mode should be applied only when Map Datum is equal to 216 If O there is no EGM96 geoid correction Map Datum Int 0 1 3 Reference number of the appropriate map datum to apply 0 218 Map datum from internal table 500 User defined Datum 5 X offset in meters 9999 to 9999 1 AA Z offset in meters 9999 to 9999 1 flat 0 1 Inverse flatness of reference geode The value to be used is IFlat 290 1000000 The value must be in the range 6000000 12000000 Majora Semi major axis of reference geode The values to be used is MajorA 6370000 1000 The value must be in the range 6000000 9000000 E T p EC Message lt CR gt lt LF gt ASCII 13 ASCII 10 terminator Examples PNMRX106 0 500 2000 2000 2000 8257224 8137000 00 xx User defined Datum PNMRX106 1 216 xx WGS 84 Datum PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 1
12. ax 1 204 895 4173 E mail sale stosta rg ps c a 5 Appendix Software Specification NMEA Protocol The software is capable of supporting the following NMEA message formats NMEA Message Prefix Format SGPGGACT GPGLL 0 Geographic position Latitude Longitude SGPGSA 3 SGPGSV 3 SGPRMC 1 sarya GPZDA 0 The GPS will operate in telescope mode if all NMEA messages are off this is the default setting In this mode the GPS attempts to determine the telescope protocol Meade or Celestron If no telescope is found after 30 seconds the GPS LED will blink rapidly for 5 seconds and then NMEA output will begin as shown in the above table O none 1 every second 3 every three seconds NMEA Extensions The software is capable of supporting the following NMEA extensions NMEA Message Prefix Direction SPNMAXT00 SPNMAXTO SPNMAXTO3 SPNMAXI04 SPNMRX106 SPNMAXIO7 SPNMAXIO8 SPNMAXTIO SPNMAXTAA SPNMRX112 SPNMAXTIS SPNMAX303 Out PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 6 General NMEA Format The general NMEA format consists of an ASCII string commencing with a character and terminating with a lt CR gt lt LF gt sequence NMEA standard messages commence with GP then a 3 letter message identifier NemeriX specific messages commence with PNMRxX followed by a 3 digit number The message header is followed by a comma delimited list of fields optionally terminated w
13. d NMEA 0183 Meade LX200 and Celestron NexStar communication protocols Automatically detects telescope type Meade Celestron or none Switches to standard NMEA output after 30 seconds if no telescope is detected LED power indicator blinks to indicate receiver status Switches to sleep mode LED off 20 minutes after the telescope accepts GPS data Automatic cold start with no user initialization required 1 3 Specifications The GPS NX01 technical specifications are listed below RR RRRRRRRRRRRRRRRAR Size 47 x 39 x 16 mm 1 9 x 1 5 x 0 6 Weight 70 g 2 5 oz Tracks up to 16 satellites 152 dBm sensitivity Warm start in 38 seconds 50 cold start in 45 seconds 50 Position accuracy 3 meters CEP 50 7m 90 Velocity 0 1 meters second without SA Time 100 nanosecond synchronized to GPS time Altitude 18 000 meters 60 000 feet max Velocity 515 meters second 1000 knots max Acceleration 4 G max Interface RS 232 with 2 m 78 cable PS 2 Female Baud rate 9600 default 4800 19200 38400 NMEA 0183 Version 2 2 ASCII output GPGGA GPGSA GPGSV GPRMC GPVTG GPGLL GPZDA Meade LX200 Command Set Celestron NexStar Communication Protocol requires firmware version 2 3 104 0 or 4 0 Power 3 6 to 5 5 V 35 ma normal or 16 ma sleep mode Backup power 3V rechargeable lithium cell 350 hours Operating temperature 40 to 85 C 40 to 185 F Relative humidity 5 to 90 non condensing Pix
14. ed with other messages to prevent the Ephemeris data blocking higher priority messages such as scheduled PVT information The data for these messages is expressed as signed or unsigned fixed point values which have been scaled from the floating point values used in the position solution The appropriate scaling factors are included in the table The ephemeris data for each satellite is divided into 3 separate messages with sequence numbers to identify them the contents of these frames reflects the contents of the appropriate subframes 1 2 3 transmitted from the SV s When transmitted these messages are generated in ascending order of SV Id and sequence number when being sent to the node these can be sent in any order provided that the 3 messages for any individual satellite are grouped together each message is individually interpreted and after a group of 3 valid messages for an SV the ephemeris for that SV is updated independently The 3 message formats are illustrated in the following tables PNMRX301 message 1 field list Units Message ID PNMRX301 PNMRX301 protocol header Satellite vehicle Id Int 2 Decimal satellite vehicle Id from 1 to 32 ua ODC 10 bit integer sec sec 8 bit signed integer E sec sec 16 bit signed integer Hex x U To Af Message lt CR gt lt LF gt ASCII 13 ASCII 10 terminator RA 1 0 e e e e X PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 22
15. er mode with 5 seconds off time between 2 fixes PNMRX113 GPS Core Activity Control This message is used to disable GPS Core activities data extraction and fix generation on the node The goal of this message is to disable these two functions when they need to be overwritten by external values for test purpose A reset message must be set after the PNMRX113 in order to resume operation For instance if a different almanac needs to be downloaded to the receiver then data extraction must be disabled then the new almanac can be downloaded A reset command will then be used to restore operation with hen new almanac Message ID SLR CA PNMRX113 protocol header Checksum x Jos fs 2 gts Message terminator lt CR gt lt LF gt 2 2 ASCII 13 ASCII 10 Example PNMRX113 xx Stops GPS Core activities PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 20 PNMRX300 Almanac Data Transfer This message format is used to transfer the almanac data between nodes it uses a packed hexadecimal format to transfer almanac data for each of the available SV s Since the Almanac data is large and can take time to transfer over a slow serial interface the data is divided into individual messages for each of the SV s These messages are transmitted sequentially and can be interleaved with other messages to prevent the Almanac data blocking higher priority messages such as scheduled PVT information The da
16. field has been omitted chars chars Message ID GPGSV 6 6 GSA protocol header Number of Int 1 1 Number of messages in the message messages sequence from 1 to 3 Message Int 1 1 Sequence number of this message in number current sequence form 1 to 3 Satellites in view Number of satellites currently in view Satellite ld Satellite vehicle 1 Elevation of satelite in degrees Aamin fm A CA EEES SNR Signal to noise ration in dBHz null if the sv is not in tracking satellite Id nt 2 Satellite vehicle2 vehicle 2 eto H fa etn cos Elevation of satellite in degrees 3 Azimuth of satellite in Azimuth of satellite in degrees CA 1 EL ee to noise ration in dBHz null if the sv is not in tracking Sateliteld in J2 2 Satellite vehicle 3 Elevation of satelite in degrees Azimuth of satelite in degrees SNR Int 0 1 2 Signal to noise ration in dBHz null if the sv is not in tracking Satellite 1d Satellite vehicle 4 Elevation of satelite in degrees ima et T Amat of sta in degrees Signal to noise ration in dBHz null if the sv is not in tracking asm TH p pas ooo Message lt CR gt ASCII 13 ASCII 10 terminator lt LF gt PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 9 GPRMC This message transfers recommended minimum specific GNSS data The GPRMC message format is shown below Message ID GPRMC 6 6 RNC protocol header UTC Time 1 2 2 1 2
17. ith Windows 98 ME 2000 XP Vista 3 2 Installation 1 Download and install the USB driver from http www stargps ca pub pl2303 zip 2 Plug the USB connector into a USB port on the computer 3 After the installation is complete go to lt Device Manager gt and select lt Ports COM amp LPT gt to verify if a virtual COM port lt USB to Serial Port gt was created 4 Connect the GPS NX01 to the GPS USB cable 3 3 Important Notice Verify the COM port to start using your own navigating software 1 Click lt Start gt menu select lt Settings gt then enter lt Control Panel gt 2 After entering lt Control Panel gt select lt System gt 3 Select lt Device Manager gt 4 Find the lt Connect Port gt and check the Virtual COM Port which was created by the USB driver Please note that the Virtual COM Port number might be different from every computer Before using navigating software please confirm the COM Port numbers created by your computer and provided by your navigation software They must be the same Com Port numbers Otherwise the navigating software won t receive the satellite signal for the un matched COM Port setting 4 Warranty The GPS NX01 receiver is warranted to be free from defects in material and functions for one year from the date of purchase Any failure of this product within this period under normal conditions will be replaced at no charge excluding shipping costs PixSoft Inc Tel 1 204 885 4936 F
18. ith a checksum consisting of an asterix and a 2 digit hex value representing the checksum There is no comma preceding the checksum field When present the checksum is calculated as a bytewise exclusive of the characters between the and As an ASCII representation the number of digits in each number will vary depending on the number and precision hence the record length will vary Certain fields may be omitted if they are not used in which case the field position is reserved using commas to ensure correct interpretation of subsequent fields The tables below indicate the maximum and minimum widths of the fields to allow for buffer size allocation GPGGA This message transfers global positioning system fix data The GPGGA message structure is shown below Field Format Notes chars chars Message ID GPGGA 6 6 GGA protocol header UTC Time 2 2 2 3 2 2 2 3 Fix time to 1ms accuracy Latitude Degrees 100 minutes N S Indicator char N north or S south Longitude 3 2 4 Degree 100 minutes 1 1 2 3 1 E W Char 1 E east or W west indicator Position Fix Int 1 0 Fix not available or invalid 1 GPS SPS mode Fix available Satellites 2 Po Number of satellites used to calculate fix Indictor Used HDOP Horizontal Dilution of Precision Altitude above mean seal level MSL Aude Float iT Char o M Stands for meters 1 i d Char Separation Differential Corrections Diff int 4 Refere
19. led Nemerix Message Enabled Uart Settings Uart settings ean Px 0 gt dais Message terminator lt CR gt lt LF gt 2 ASCII 13 ASCII 10 PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 26 PNMRX603 message 1 Message ID PNMRX603 Message Nb Int chars header lonospheric correction a O coefficient 2 lonospheric correction a 1 coefficient 2 lonospheric correction a 2 coefficient 2 lonospheric correction a 3 coefficient 2 lonospheric correction B 0 coefficient 2 lonospheric correction 6 1 coefficient 2 lonospheric correction R 2 coefficient 2 lonospheric correction 6 3 coefficient 1 lonospheric Data Valid If O the data are invalid 1 Number of 20 year blocks 2 Offset of local time zone 13 to 13 lonospheric Data B2 lonospheric Data B3 lonospheric Data Valid Num Blocks Time Offset Local zone hours Time Offset Local zone Int 2 minutes z digits Message terminator lt CR gt lt LF gt 2 ASCII 13 ASCII 10 X X 2 X 2 X 2 X 2 X 2 X 2 X 2 X X r 2 2 0 3 PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sale ststa rg ps c a 27 NMRX603 message 2 Max chars Message D SPNMAX6OS 8 8 T PNMAX600 protocol header Foal O TT in z z os j E lt CR gt lt LF gt 3 J3 2 digits Message terminator ASCII 13 ASCII 10 PNMRX603 message 3 chars pe e T header ee YS _ yy
20. les stargps ca 16 StarGPS PNMRX108 NMEA message sequence This message is used to set the sequence used to output the NMEA messages All messages in the list are set to be output with a default output rate The messages that are not included are disabled Once the sequence is defined individual settings for the messages can be changed by means of the PNMRX103 message This message is supported also in a variable length format where only the necessary fields are used Field Format Min Min chars Max chars chars Notes Ea ID PNMRX108 GT fo PNMRX108 protocol header Mask ID Int Mask identifier possibilities are GGA GLL GSA GSV RMC VTG ZDA Vask T PT Wasi oir OE 2 digis Message terminator lt CR gt lt LF gt ASCII 13 ASCII 10 Example PNMRX108 GGA GLL GSA xx Enables the GGA GLL and GSA in this sequence output every second All other messages are disabled PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 17 PNMRX110 Fix Settings This message is used to set various settings and masks which control how the software will behave in relationship to the satellites in view for example a mask can be set for the minimum satellite elevation minimum SNR etc The message consists of a varying number of fields depending on the number of masks to be set Each mask setting consists if a mask identifier and new value pair The SPNMRX110 message format is shown below
21. nce WI Corrections Checksum 3 0 Message lt CR gt lt LF gt 2 terminator Separation from Geoid can be blank M Stands for meters Age in seconds Blank Null fields when DGPS is not used ASCII 13 ASCII 10 PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 7 GPGLL This message transfers Geographic position Latitude Longitude and time The GPGLL message structure is shown below Message D Tana 6 6 Gl protocol header Ghar Character Status Char 1 1 A Data Valid V Data invalid Mode Indicator UE lt ORS lt LFS ASCII 13 ASCII 10 GPGSA This message transfers DOP and active satellites information The GPGSA message ee is shown below chars a ID GPGSA a ICA GSA protocol header Mode Char M Manual forced to operate in selected mode A Automatic switching between modes Mode 1 Fix not available 2 2D position fix 3 3D position fix Satellites Used SV on channel 1 Satellites Used SV on channel 2 G TT G 31 31 Checksum o EC T OSS PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sale stosta rg ps c a 8 GPGSV This message transfers information about satellites in view The GPGSV message structure is shown below Each record contains the information for up to 4 channels allowing up to 12 satellites in view In the final record of the sequence the unused channel fields are left blank with commas to indicate that a
22. omial Data A1 Hex 2 First order term of the O ig A ch seconds w e Reference time for UTC 2 UTC reference week number mwe 2 e number at which the A 2 Day number B2 Dela t CS Delta time due to leap seconds if leap second is ini the past NumBlocks 2 Number Number of 20 year blocks 20 Number of 20 year blocks blocks 1 IU i offset for current time zone Checksum eS is Message terminator lt CR gt lt LF gt ASCII 13 ASCII 10 PNMRX304 GPS Constellation Health Message D SPNMRXS04 TR T PNMAXTI0 protocol header Checksum 2 digits 2 digits CAT terminator ac lt LF gt IN ASCII 13 ASCII 10 PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 25 StarGPS PNMRX600 Report Software Version By sending the PNMRX600 00 string to the receiver the version of the software is output PNMRX601 Enter ISP mode By sending the PNMRX601 00 string to the receiver the receiver enters ISP mode DO NOT USE THIS COMMAND since it is used to reprogram the GPS PNMRX603 Settings report By sending the PNMRX603 00 string to the receiver the current value of the settings is output The content of settings is split into 4 messages PNMRX603 message 0 chars chars Message ID PNMRX603 S en proca header PNMRX603 protocol header Message Nb rin Message Sequence Message oe 7 times Message Delay Message Delay 7 times NMRX Message Enab
23. ta for these messages is expressed as signed or unsigned fixed point values which have been scaled from the floating point values used in the position solution The appropriate scaling factors are included in the table There is 1 message for each satellite for which data is available When transmitted these messages are generated in ascending order of SV Id when being sent to the node these can be sent in any order each message Is individually interpreted and processed Message ID PNMRX300 PNMRX300 protocol header SV Id Int 2 Decimal Satellite vehicle Id from 1 to 32 ICO Es 16 bit signed int scale Health Bitmap of satellite health Week Number Hex j 16 bit signed int 24 bit signed int 24 bit signed int CAOS Hex 11 bit signed int aft Hex gt 11 bit signed int 2 digits Message lt CR gt lt LF gt 2 ASCII 13 ASCII 10 terminator afo 24 bit unsigned int 24 bit signed int 24 bit signed int PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 21 PNMRX301 Ephemeris Data Transfer This message format is used to transfer the ephemeris data between nodes it uses a packed hexadecimal format to transfer ephemeris data for each of the available SV s Since the Ephemeris data is large and can take time to transfer over a slow serial interface the data is divided into individual messages for each of the SV s These messages are transmitted sequentially and can be interleav
24. x Notes chars chars Message ID PNMRX111 6 8 PNMRX111 protocol header Invalidate parameter Integer OR String DE lt CR gt lt LF gt ASCII 13 ASCII 10 terminator Example PNMRX111 xx Resets the system If integer the bit field have the following meaning the action described is executed if the bit is 1 Field Action O Reload settings from Flash 1 Clear almanac data and don t load if from flash 2 Clear Eohemeris data 3 Clear lonospheric and tropospheric corrections 4 Invalidate stored position 5 Invalidate stored time 6 Copy oscillator offset from Settings 7 Sticky bit 1f 1 the action are repeated at each reset If String the following values are allowed FACTORY See Section 2 1 for definition COLD See Section 2 1 for definition WARM See Section 2 1 for definition HOT See Section 2 1 for definition PixSoft Inc Tel 1 204 885 4936 Fax 1 204 895 4173 E mail sales stargps ca 19 PNMRX112 Power Mode Control This message is used to configure the operating modes of the receiver Low power modes can be activated and configured Low power mode starts to work only after the receiver has a complete and up to date almanac and it can produce the fix Message ID PNMRX112 6 8 PNMRX112 protocol header Operating Mode Int 1 1 0 Fully Active 1 LDCM1 OFF period RF off time in seconds 5 10 DE lt A LFS ASCII 1G ASC 10 Example PNMRX112 1 5 xx enable low pow
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