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1. Item of Char Units Format Value Baud Rate 4 n a AAAA 9600 4800 2400 1200 or 0300 of data bits 1 n a B 7or8 of stop bits 1 n a C 1or2 Parity 1 n a D N None O Odd E Even Auxiliary Port 1 n a E 1 Number Reserved 1 n a F 0 Total number of characters is 9 excluding commas This message defines the characteristics for the auxiliary port The auxiliary port must be the RTCM input port on differential ready receivers The default settings of the auxiliary port are 4800 baud 8 data bits parity none and 1 stop bit Example The following command will set the auxiliary port characteristics to 2400 baud 8 data bits 1 stop bit and no parity gt SAP2400 8 1 N 1 0 lt Notes See the inclusion of 0 in the reserved field The AP command applies to receivers with dual serial ports The AP command requires commas between data fields Lassen iQ GPS Receiver 179 C Trimble ASCII Interface Protocol TAIP 180 CP Compact Position Solution Note The first character of latitude or longitude S is or Data String Format AAAAA S BBCCCC S DDDEEEEFG Table C 9 Compact Position Solution Data String Descriptions Item of Char Units Format Value GPS Time of Day 5 Sec AAAAA Latitude 7 Deg S BBCCCC Longitude 8 Deg S DDDEEEE Fix Mode 1 n a F 0 2D GPS 1 3D GPS 2 2D DGPS 3 3D DGPS 6 reserved 8 reserved 9 n
2. Table E 8 RMC Recommended Minimum Specific GPS Transit Data Message Parameters Field Description 1 UTC of Position Fix when UTC offset has been decoded by the receiver 2 Status A Valid V navigation receiver warning 3 4 Latitude N North or S South 5 6 Longitude E East or W West 7 Speed over the ground SOG in knots 8 Track made good in degrees true 9 Date dd mm yy 10 11 Magnetic variation in degrees E East W West 12 Position System Mode Indicator A Autonomous D Differential E Estimated Dead Reckoning M Manual Input S Simulation Mode N Data Not Valid hh Checksum Mandatory for RMC Lassen iQ GPS Receiver 219 E 220 NMEA 0183 VTG Track Made Good and Ground Speed The VTG message conveys the actual track made good COG and the speed relative to the ground SOG SGPVTG x x T x x M x x N x x K i hh lt CR gt lt LF gt Table E 9 VTG Track Made Good and Ground Speed Message Parameters Field Description 1 Track made good in degrees true 2 Track made good in degrees magnetic 3 4 Speed over the ground SOG in knots 5 6 Speed over the ground SOG in kilometer per hour 7 hh Mode Indicator A Autonomous Mode D Differential Mode E Estimated dead reckoning Mode M Manual Input Mode S Simulated Mode N Data Not Valid Checksum Lassen iQ GPS Receiver NMEA 01
3. Byte Item Type Units 0 3 Reference Altitude Single Meters 4 7 Reserved Single 8 Altitude flag UINT8 Lassen iQ GPS Receiver 123 A Trimble Standard Interface Protocol TSIP Report Packet 0x4B Machine Code ID and Additional Status The receiver transmits this packet in response to packets 0x25 and 0x26 and following a change in state In conjunction with Packet 0x46 health of receiver this packet identifies the receiver and may present status messages The machine ID can be used by equipment communicating with the receiver to determine the type of receiver to which the equipment is connected Then the interpretation and use of packets can be adjusted accordingly Table A 31 Report Packet 0x4B Data Formats Byte Item Type Definition 0 Machine ID UINT8 Receiver dependent 1 Status 1 UINT8 See Table A 32 2 Status 2 UINT8 Bit 0 Super packets supported The status codes are encoded into individual bits within the bytes The bit positions and their meanings are listed in the table below Table A 32 Report Packet 0x4B Bit Positions and Descriptions Status 1 Bit Meaning if bit value 1 Positions 0 LSB Not used 1 Real time Clock was not available at power up 2 Not used 3 The almanac stored in the receiver is not complete and current 4 7 Not used 124 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Report Packet 0x4D
4. Message Data Strings Communication Scheme for TAIP GPSSK User s Guide TAIP NMEA 0183 The NMEA 0183 Communication Interface NMEA 0183 Message Format Field Definitions NMEA 0183 Message Options NMEA 0183 Message Formats Exception Behavior Specifications and Mechanical Drawings Lassen iQ GPS Receiver Specifications Ultra Compact Embedded Antenna Compact Magnetic Mount Antenna Compact Unpackaged Antenna Glossary Table of Contents Lassen iQ GPS Receiver Table of Contents Lassen iQ GPS Receiver About this Manual Welcome to System Designer Reference Manual for the Lassen iQ GPS receiver This manual describes how to integrate and operate the Lassen iQ GPS receiver If you are not familiar with GPS visit Trimble s website www trimble com for an interactive look at Trimble and GPS Trimble assumes that you are familiar with Microsoft Windows and know how to use a mouse select options from menus and dialogs make selections from lists and refer to online help Technical Assistance If you have a problem and cannot find the information you need in the product documentation contact the Trimble Technical Assistance Center at 800 767 4822 Your Comments Your feedback about the supporting documentation helps us to improve it with each revision To forward your comments send an e mail to ReaderFeedback trimble co
5. Note PDOP Switch is only used in Auto mode Lassen iQ GPS Receiver Operation and Performance 4 Standard Operating Modes The tracking mode controls the allocation of the receiver s tracking channels and the method used for computing position fixes Fix Modes The Lassen iQ GPS receiver offers three positioning modes 2D Manual 3D Manual and Automatic 2D 3D Automatic 2D 3D is the default mode for the Lassen iQ GPS receiver The positioning mode can be modified in receivers accepting TSIP commands See Appendix A for more information on the TSIP protocol 2D Manual In 2D Manual mode the Lassen iQ GPS receiver will only generate 2 dimensional 2D position solutions latitude and longitude only regardless of the number of visible satellites If the altitude is not entered the receiver uses zero as the default altitude The greater the deviation between the actual and default altitudes the greater the error in the 2D position For TSIP applications enter local altitude in MSL HAE via TSIP packet 2AH see Appendix A 3D Manual In manual 3D mode the Lassen iQ GPS receiver will only generate 3 dimensional 3D position solutions latitude longitude and altitude A 3D solution requires at least four visible satellites which pass the mask criteria If less than four conforming satellites are visible the Lassen iQ GPS receiver will suspend position data outputs Lassen iQ GPS Receiver 63 4 64 Operation and
6. ay 4s dwd Pa40 d L09 HPP pwayring 4544S YWS WYO OS toads 40 Wwe 385 UIHSYM owonuwns 03 49 394 S48 0 PAS sDUayus4a4 UO PODII4YIDSdS T WS YOY T 109 SA ON ASGUIH LLLS40 d1 14 H HOLSSNNO9 44 NYN NIHO NNOO 4 WAS H9 15 44 JapusA Hod uonduosag 481 SYDd 20 0 817 93 350321 wor anpo a Y er BEE aya NOUINOSIQ aga Noa SNOISIA3H ro OG yolpuaplsuog Audzatudouy pap UO ZOBIAON Saul 243 Lassen iQ GPS Receiver F Specifications and Mechanical Drawings 244 Lassen iQ GPS Receiver Glossary This section defines technical terms and abbreviations used in this manual It includes terms from the field of GPS technology 2 D GPS mode 2 dRMS 3 D 2 D 3 D GPS mode almanac ASCII A procedure of determining a 2 D position using signals received from the best or only three available GPS satellites Altitude is assumed to be known and constant A 2 D position solution will only be determined if signals from three or more satellites are available Twice the distance root mean squared The error distance within which 95 of the position solutions will fall Three Dimensional A 3 D position is defined as latitude longitude and altitude Two Dimensional A 2 D position is defined as latitude
7. iQ_ CHAT provides the simplest means to communicate with the receiver using a PC 386 or higher running either the DOS or Windows operating systems Responses are displayed on the computer monitor in text format iQ Monitor a Windows based GUI provides a versatile graphical interface for monitoring TSIP data This application allows the user to view complete receiver operations including data output status and configuration In this application the entry of command packets is replaced by traditional point and click pull down menus C source code routines for i1Q_CHAT are also provided on the CD contained in the Starter Kit When used as software design templates this source code can significantly speed up code development The protocol settings and options are stored in battery backed Random Access Memory BBRAM They can also be saved into the non volatile memory Flash if desired using command Ox8E 26 See to Appendix A for additional information on Flash storage for custom operation Lassen iQ GPS Receiver Software Interface 3 TSIP Data Output Modes TSIP is the default protocol for Port 1 on the Lassen iQ GPS receiver This binary language offers users a wide variety of commands and reports TSIP enables the Lassen iQ GPS receiver to operate in two data output modes both available during operation In Query Mode packet data is returned in response to input query packets In Automatic Mode a selected group of data pack
8. 4 7 Longitude Single Radians east 8 11 Altitude Single Meters Note To initialize with ECEF position use Command Packet 0x23 Command Packet 0x2D Request Oscillator Offset This packet requests the calculated offset of the GPS receiver master oscillator This packet contains no data The GPS receiver returns Packet 0x4D This packet is used mainly for service The permissible oscillator offset varies with the particular GPS receiver unit Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Command Packet 0x2E Set GPS Time This packet provides the approximate GPS time of week and the week number to the GPS receiver The GPS receiver returns Packet Ox4E The data format is shown below The GPS week number reference is Week 0 starting January 6 1980 The seconds count begins at the midnight which begins each Sunday morning This packet is usually not required when the battery back up voltage is applied as the internal clock keeps time to sufficient accuracy This packet is ignored if the receiver has already calculated the time from tracking a GPS satellite Note See report Packet 41 for information on the Extended GPS week number Table A 16 Command Packet 0x2E Data Formats Byte Item Type Units 0 3 GPS time of week Single Seconds 4 5 Extended GPS week INT16 Weeks number Lassen iQ GPS Receiver 107 A Trimble Standard Interface Protocol TSIP 108 Command P
9. Below are the required connections for the Lassen iQ GPS Rx pins when they are not used for communication This is required for firmware release 1 10 and recommended for all subsequent firmware releases Table 2 3 Serial Port Connections for Rx Pins Serial Port Pin Assignment Default Required Connections 1 Pin 3 RxA TSIP IN High VCC via pullup 2 Pin 6 RxB RTCM IN High VCC via pullup Below are the allowable connections for the Lassen iQ GPS Tx pins when the pins are not used for communication This configuration applies to all firmware versions Table 2 4 Serial Port Connections for Tx Pins Serial Port Pin Assignment Default Allowable Connections 1 Pin 1 TxA TSIP OUT Floating or High VCC via pullup 2 Pin 5 TxB NMEA OUT Floating or High VCC via pullup Note Attaching the Tx lines pins I and 5 to VCC and using pullup resistors is not required Use of pullup resistors and attaching to VCC on Rx lines pins 3 and 6 is mandatory for firmware release 1 10 and recommended for subsequent firmware releases if these pints are not otherwise connected to the system s communication ports Lassen iQ GPS Receiver Hardware Integration 2 Below are the failure modes that will be experienced ifthe Lassen iQ GPS pins are not connected as recommended see above Table 2 5 Serial Port Connections for Tx and Rx Pins Pin High VCC
10. Connect the serial port of the sensor to the computer s COMI or COM port The default serial port settings for GPSSK are e 4800 baud e 8 data bits e I stop bit e no parity These default settings match the default settings for the Lassen SK II GPS sensor Consult the Installation and Operator s Manual for the actual default settings and type of serial port on your sensor If the sensor is connected to COM2 start GPSSK by entering the command GPSSK 2 Note A null modem may be required when connecting the sensor to a personal computer The serial port on your computer is a DTE port data terminal equipment designed to connect to a DCE port data communications equipment If your sensor s serial port is DTE you must use a null modem adapter Lassen iQ GPS Receiver APPENDIX NMEA 0183 This appendix provides a brief overview of the NMEA 0183 protocol and describes both the standard and optional messages offered by the Lassen iQ GPS receiver NMEA 0183 is a simple yet comprehensive ASCII protocol which defines both the communication interface and the data format The NMEA 0183 protocol was originally established to allow marine navigation equipment to share information Since it is a well established industry standard NMEA 0183 has also gained popularity for use in applications other than marine electronics The Lassen iQ receiver supports the latest release of NMEA 0183 Version 3 0 July 1 2000 The primary change
11. In order to change the receiver to the Enhanced Sensitivity Mode completely and take effect a soft reset is required To permanently set the Lassen iQ GPS receiver to the Enhanced Sensitivity mode the settings can be saved to flash memory using the TSIP 8Ex26 Command Lassen iQ GPS Receiver 73 4 74 Operation and Performance Setting the Enhanced Sensitivity Mode Following is a typical scenario using the TSIP packets 0x69 and 0x89 1 Request the current sensitivity status from a factory configured Lassen iQ GPS receiver Send Packet 0x69 with no data The Lassen iQ GPS receiver will respond with Packet 0x89 byte 0 0 byte 1 0 Turn on the Enhanced Sensitivity feature Send Packet 0x69 with byte 0 1 The Lassen iQ GPS receiver will respond with Packet 0x89 byte 0 0 byte 1 1 Send Packet 0x25 soft reset The Lassen iQ GPS receiver will respond with Packet 0x45 Software Version Information Send Packet 0x69 with no data The Lassen iQ GPS receiver will respond with Packet 0x89 byte 0 1 byte 1 1 The Lassen iQ GPS receiver is now in Enhanced Sensitivity mode until a cold start command is executed or a power cycle is initiated To Permanently set The Enhanced Sensitivity Mode 1 Execute the 8Ex26 command before the cold start or power cycle is executed The 8Ex26 command sets the enhanced sensitivity configuration into flash memory Lassen iQ GPS Receiver Lassen Operatio
12. Number of Usable SVs is one or more If the GPS UTC offset is available the time will be in UTC If not the time will be in GPS Lassen iQ GPS Receiver VR X1 Trimble ASCII Interface Protocol TAIP C Note 1 GPS UTC Time Offset is the difference between GPS and UTC time standards in seconds The UTC time of Day is only valid if the GPS UTC Offset Valid Flag is indicating valid Note 2 The TM message is not supported under the Set qualifier Version Number Data String Format XXXXXXX VERSION A AA BB BB BB CORE VERSION C CC DD DD DD E Table C 28 Version Number Data String Descriptions Item of Char Units Format Product Name n a n a n a Major version number 4 n a AAA Major release date 8 n a BB BB BB Extended Status The Lassen iQ receiver does not support this message Lassen iQ GPS Receiver 199 C Trimble ASCII Interface Protocol TAIP 200 Communication Scheme for TAIP Communication with the unit takes place in four different ways Message qualifiers are used to differentiate between these Query for Single Sentence The query Q message qualifier is used to query the GPS receiver to respond immediately with a specific message The format is gt QAA ID BBBB CC lt where AA is the requested message identifier Messages supported by this qualifier are AL AP CP ID IP LN PT PV RM ST TM and VR Scheduled Reporting Frequency Interval Th
13. Oscillator Offset This packet provides the current value of the receiver master oscillator offset in Hertz at carrier This packet contains one single precision number The receiver sends this packet in response to Packet 0x2D The permissible offset varies with the receiver unit Report Packet 0x4E Response to Set GPS Time Indicates whether the receiver accepted the time given in a Set GPS time packet the receiver sends this packet in response to Packet Ox2E This packet contains one byte Table A 33 Report Packet 0x4E Data Formats Value Meaning ASCII Y The receiver accepts the time entered via Packet 2E The receiver has not yet received the time from a satellite ASCII N The receiver does not accept the time entered via Packet 2E The receiver has received the time from a satellite and uses that time The receiver disregards the time in Packet Ox 2E Lassen iQ GPS Receiver 125 A Trimble Standard Interface Protocol TSIP Report Packet 0x55 O Options These abbreviations apply to the following table ALT Altitude ECEF Earth centered Earth fixed XYZ Cartesian coordinates LLA latitude longitude altitude HAE height above ellipsoid WGS 84 Earth model ellipsoid MSL geoid Earth mean sea level mode and UTC coordinated universal time Table A 34 Command Packets 0x55 and 0x35 Data Descriptions Byte Bit Item Type Value Def
14. There is a trade off between how frequently a position fix is output versus the absolute accuracy of the fix The user must decide which takes priority and then make the appropriate selections This becomes increasingly important when frequent satellite blockages are expected as in downtown urban canyon environments and heavily foliated areas Following is a description of the key fields in Packet OxBB Set Fix Mode Packet OxBB is used to choose the appropriate position fix mode for your application 2 D 3 D or AUTO The default mode is AUTO 2 D 3 D where the receiver first attempts to obtain a 3 D solution with a PDOP below the DOP switch If this is not possible then the receiver attempts to obtain a 2 D solution with a DOP less than the DOP mask This mode supplies fairly continuous position fixes even when there is frequent obscuration This mode is preferable for most land or air applications where altitude changes are occurring and there is occasional obscuration The highest accuracy fix mode is 3 D manual where altitude is always calculated along with the latitude longitude and time However this requires four satellites with a PDOP below the DOP mask set in Packet BB in order to obtain a position Normally this will provide the most accurate solution Thus if only 3 D solutions are desired then the user should request 3 D manual mode Depending on how the PDOP mask is set this may be restrictive when the receiver i
15. back up the Lassen iQ GPS receiver retains the almanac approximate position and time to aid in satellite acquisition and reduce the time to first fix When an external back up battery is not used the TSIP protocol allows the almanac an initial position and time to be uploaded to the receiver via the serial port to initiate a warm start During a warm start the Lassen iQ GPS receiver identifies the satellites which are expected to be in view given the system almanac the initial position and the approximate time The receiver calculates the elevation and expected Doppler shift for each satellite in this expected set and directs the twelve tracking channels in a parallel search for these satellites The warm start time to first fix when the receiver has been powered down for more than 60 minutes i e the ephemeris data is old is usually less than 45 seconds Hot Start A hot start strategy applies when the Lassen iQ GPS receiver has been powered down for less than 60 minutes and the almanac position ephemeris and time are valid The hot start search strategy is similar to a warm start but since the ephemeris data in memory is considered current and valid the acquisition time is typically less than 20 seconds Lassen iQ GPS Receiver 57 4 58 Operation and Performance Garage Search Strategy During a warm start search the Lassen iQ GPS receiver knows which satellites to search for based on the system almanac th
16. data valid warning flag clear V No data invalid warning flag set Special Format Fields Latitude II I Fixed variable length field Degreesminutes decimal 2 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros always included for degrees and minutes to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Longitude yyyyy yyy Fixed Variable length field Degreesminutes decimal 3 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros always included for degrees and minutes to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Time hhmmss ss Fixed Variable length field hoursminutesseconds decimal 2 fixed digits of minutes 2 fixed digits of seconds and a variable number of digits for decimal fraction of seconds Leading zeros always included for hours minutes and seconds to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required 212 Lassen iQ GPS Receiver Table E 2 NMEA 0183 E Field Type Summary Continued Type Symbol Definition Defined Some fields are specified to contain pre defined constants most often alpha characters
17. longitude and altitude A procedure of determining a 3 D position using signals received from the best or only four available GPS satellites A 3 D position solution will only be determined if signals from four or more satellites are available A reduced precision subset of the ephemeris parameters Used by the receiver to compute the elevation angle azimuth angle and estimated Doppler of the satellites Bach satellite broadcasts the almanac for all the satellites in the system American Standard Code for Information Interchange A standard set of 128 characters symbols and control codes used for computer communications ASCII characters require 7 bits of data to send but are often sent 8 bits at a time with the extra bit being a zero Lassen iQ GPS Receiver 245 Glossary asynchronous communication auto GPS mode azimuth angle bandwidth baud bit bit rate byte C A code A method of sending data in which the bits can be sent at random times Data transmission is not synchronized to a clock With asynchronous transmission each character is transmitted one at a time with a start bit at the beginning and one or more stop bits at the end Any amount of time can elapse before the next character is sent A procedure of automatically determining either a 2 D or 3 D position using signals received from GPS satellites The solution automatically transitions between 2 D and 3 D depending on the number
18. that allows either the speed limit or altitude limit to be exceeded but not both This allows the receiver to be used in high altitude research balloon applications without a special factory configuration Lassen iQ GPS Receiver Operation and Performance 4 Re Acquisition Re acquisition time for a momentary signal blockages is typically under 2 seconds When a satellite signal is momentarily interrupted during normal operation the receiver continues to search for the lost signal at the satellite s last known Doppler frequency If the signal is available again within 15 seconds the receiver will normally re establish track within two seconds If the lost signal is not re acquired within 15 seconds the receiver initiates a broader frequency search The receiver will continue to search for the satellite until it falls below the elevation mask Lassen iQ GPS Receiver 69 4 70 Operation and Performance Lassen iQ GPS Receiver Sensitivity Modes The Lassen iQ GPS receiver features two sensitivity modes Standard Sensitivity default and Enhanced Sensitivity Standard Sensitivity Mode In the Standard Sensitivity mode the receiver acquires GPS satellite signals in Cold Start Warm Start and Hot Start TTFF using 1 ms PDI Pre Detection Integration setting to search the frequency range Considering the fact that the minimum integration time of the GPS signal 1 ms PDI has been applied the receiver is optimized for faster
19. 0 XYZ ECEF output off 1 XYZ ECEF output on 1 LLA Output Bit 0 LLA output off 1 LLA output on 2 LLS ALT Bit 0 HAE See Note Output 1 MSL geoid 3 ALT input Bit 0 HAE See Note 1 MSL geoid 4 Precision of Bit 0 Send single precision packet position 1 Send double precision packet output 5 Super Packet Bit 0 Output no Super Packets Output 1 Output all enabled Super Packets 6 7 Reserved Velocity 1 0 XYZECEF Bit 0 XYZ ECEF output off 1 XYZ ECEF output on 1 ENU Output Bit 0 ENU output off 1 ENU output on 2 7 Reserved Timing 2 0 Time Type Bit 0 GPS Time UTC 1 4 Reserved Lassen iQ GPS Receiver 111 A Trimble Standard Interface Protocol TSIP Table 19 Command Packets 0x35 and 0x55 Data Descriptions Byte Bit Item Type Value Definition 5 6 PPS Mode Bits 00 Always On 01 Fix Based 10 Always Off 11 Reserved 7 Reserved Auxiliary Pseudo Range Measurements 3 0 Raw Bit 0 Raw measurements off Measuring 1 Raw measurements on 1 Raw Filtered Bit 0 Raw PR s in 5A 1 Filtered PR s in 5A 2 Reserved 3 Output dB Hz Bit 0 Output AMUs instead of 1 Output dB Hz AMU 4 7 Reserved Notes In the current version of the Lassen iQ GPS the input and output HAE altitude is in the WGS 84 datum Packet 8E must be used to specify which Super Packet is to be output The Lassen iQ GPS supports automatic output of Ox5A messages for backwards compatibility with older
20. 60mm square ground plane RHCP 90 4 0dB max 10 6 0dB max mounted on the 60mm X 60mm square ground plane 1 575 42 1 023MHz 24 3 dB 425 C 5 C 24 4 dB 40 C to 85 C 1 5dB max 25 C 5 C 2 0dB max 85 C Out of band rejection fo 1 575 42MHz fo 20MHz 7dB min fo 30MHz 12dB min fo 50MHz 20dB min fo 100MHz 30dB min Output Impedance 50Q Output VSWR 232 Lassen iQ GPS Receiver 2 0MAX Specifications and Mechanical Drawings F Overall Specifications Frequency Range 1 575 42 1 023MHz Gain 27 3dBi 25 C 5 C 27 4dBi 40 C TO 85 C mounted on the 60mm x 60mm square ground plane Output Impedance 500 VSWR 2 0 max MTBF 5 13E 6Hr Storage Conditions Store in room condition as listed below Temperature 20 C to 45 C humidity 80 max Data Gain at 3 0V 0 3V f 1575MHz and power consumption at room temperature General Operating Temp 40 C to 85 C Storage Temp 40 C to 100 C Relative Humidity 20 to 95 Input voltage 3 0V 0 3V Power Cons 5 13mA Output connect HFL Cable 0 8D 85mm BLACK Weight 20g TYP Lassen iQ GPS Receiver 233 F Specifications and Mechanical Drawings Ultra Compact Embedded Antenna with HFL Connector Trimble 234 Lassen iQ GPS Receiver Specifications and Mechanical Drawings F Compact Magnetic Mount Antenna Antenna Frequency Range 1 575 42 1 023MHz Gain Polari
21. Lassen iQ GPS Receiver Hardware Integration 2 Connectors Digital IO Power Connector The Lassen iQ GPS module uses a single 8 pin 2x4 male header connector for both power and data I O The power and I O connector J2 is a surface mount micro terminal strip This connector uses 0 09 inch 2 286mm high pins on 0 05 inch 1 27mm spacing The manufacturer of this connector is Samtec part number ASP 69533 01 Note See Appendix F for mechanical drawings and specifications Mating Connectors The customer must supply his own mating connector to the Lassen iQ GPS receiver 8 pin 2x4 connector There are two mating connectors available e Surface Mount Mating Connector A recommended surface mount mating connector is Samtec s part number CLP 104 02 When a surface mount mating connector is chosen the RF connector must be attached to the Lassen iQ GPS module prior to securing the module to the user s PCB The mounting tabs may be used for securing the Lassen iQ GPS module to the PCB when using the surface mount mating scheme Lassen iQ GPS Receiver 21 2 22 Hardware Integration Cable Strip Mating Connector A low profile cable strip mating connector is the second I O mating method A recommended cable strip part is Samtec s part number FFSD 04 XX part The user will need to substitute the following letters and numbers into the part number when ordering this part where the and XX symbols occur for
22. Mechanical Drawings The Lassen iQ GPS receiver is designed for embedded industrial computing or control mobile computing or data collection precision timing and vehicle tracking applications This appendix includes the system specifications and mechanical drawings for the Lassen SQ GPS receiver module and the available GPS antennas F Specifications and Mechanical Drawings Lassen iQ GPS Receiver Specifications 226 Key Features Performance General Update Rate Accuracy Acquisition Lassen iQ GPS Receiver 12 channel simultaneous operation Ultra low power consumption less than 89 mW 27 mA 3 3 V Dual sensitivity modes with automatic switching Aided GPS through TSIP Antenna open and short circuit detection and protection Compact size 26 mm W x 26 mm L x 6 mm H Supports NMEA 0183 TSIP and TAIP protocols DGPS capable Trimble quality at low cost L1 frequency 1575 42 MHz C A code Standard Positioning Service 12 channel continuous tracking receiver TSIP 1 Hz NMEA 1 Hz TAIP 1Hz Horizontal lt 5 meters 50 lt 8 meters 90 Altitude lt 10 meters 50 lt 16 meters 90 Velocity 0 06 m sec PPS static 50 nanoseconds Autonomous Operation in Standard Sensitivity Mode Reacquisition lt 2 sec 90 Hot Start lt 10 sec 50 lt 13 sec 90 Warm Start lt 38 sec 50 lt 42 sec 90 Interface Connectors Serial Port PPS Protocols NMEA
23. Number The Lassen iQ GPS Receiver outputs the Extended GPS Week Number as the absolute number of weeks since the beginning of GPS time or January 6 1980 If the true GPS Week Number is desired ignore the extra MSBs of the Extended GPS Week Number and use only the 10 LSBs bytes 4 and 5 of Packet 0x41 Note After week number 2331 in year 2024 the TSIP week number rolls back to 1308 All dates reported in NMEA and TAIP will be invalid Lassen iQ GPS Receiver 51 3 52 Software Interface Known Anomalies in Firmware Release 1 10 The following are know anomalies found in Lassen iQ FW v1 10 These anomalies will be fixed in all follow on versions Position outages during the Weekend Rollover The receiver would experience satellites being dropped and thus several seconds of position outages during the weekend rollover which happens during Saturday to Sunday at midnight each week This anomaly is found in Lassen iQ GPS receiver firmware version 1 10 and will be fixed in all future firmware releases Position outages during WNRO Week Number Rollover The receiver would experience satellites being dropped and thus several seconds of position outages during the next week number rollover which will happen on April 7 2019 GPS time This problem is caused by the End Of the Week Rollover problem as End Of the Week Rollover occurs during WNRO This anomaly is found in Lassen iQ GPS receiver firmware version 1 10 and will be fi
24. Such a field is indicated in this standard by the presence of one or more valid characters Excluded from the list of allowable characters are the following that are used to indicated field types within this standard A a c hh hhmmss ss MLI x yyyyy yy Numeric Value Fields Variable X X Variable length integer or floating numeric field Optional leading and trailing zeros The decimal point and associated decimal fraction are optional if full resolution is not required example 73 10 73 1 073 1 73 Fixed HEX hh Fixed length HEX numbers only MSB on the left Information Fields Fixed Alpha aa Fixed length field of upper case or lower case alpha characters Fixed number xx Fixed length field of numeric characters Note Spaces are only be used in variable text fields Note 2 Units of measure fields are appropriate characters from the Symbol column see Table E 2 unless a specified unit of measure is indicated Note 3 Fixed length field definitions show the actual number of characters For example a field defined to have a fixed length of 5 HEX characters is represented as hhhhh between delimiters in a sentence definition Lassen iQ GPS Receiver 213 E NMEA 0183 NMEA 0183 Message Options The Lassen iQ GPS receiver can output any or all of the messages listed in Table E 3 In its default configuration as shipped
25. Tool Kit is designed to exercise many of the TSIP packets Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Packet Structure TSIP packet structure is the same for both commands and reports The packet format is lt DLE gt lt id gt lt data string bytes gt lt DLE gt lt ETX gt Where e lt DLE gt is the byte 0x10 e lt ETX gt is the byte 0x03 e lt id gt is a packet identifier byte which can have any value excepting lt ETX gt and lt DLE gt The bytes in the data string can have any value To prevent confusion with the frame sequences lt DLE gt lt ID gt and lt DLE gt lt ETX gt every lt DLE gt byte in the data string is preceded by an extra lt DLE gt byte stuffing These extra lt DLE gt bytes must be added stuffed before sending a packet and removed after receiving the packet Notice that a simple lt DLE gt lt ETX gt sequence does not necessarily signify the end of the packet as these can be bytes in the middle of a data string The end of a packet is lt ETX gt preceded by an odd number of lt DLE gt bytes Multiple byte numbers integer float and double follow the ANSI TEEE Std 754 IEEE Standard for binary Floating Point Arithmetic They are sent most significant byte first This may involve switching the order of the bytes as they are normally stored in Intel based machines Specifically e UINTS8 Byte An 8 bit unsigned integer e U
26. When the message gt DPV0030000505000900 ID 0105 lt is sent to the GPS receiver it specifies that vehicle number 105 GGGG 0105 is to report the Position Velocity message AA PV whenever its current position differs from the previously reported position by at least 500 meters EEEE 0500 but no more often than every 30 seconds BBBB 0030 or less often than every 15 minutes FFFF 0900 seconds The minimum and maximum time out reports are to be issued with a 5 second offset CCCC 0005 from the top of the hour The optional checksum was not used in this example The square brackets shown in the format description above are used to indicate optional data The brackets themselves are never included in the actual TAIP message string Lassen iQ GPS Receiver 175 C Trimble ASCII Interface Protocol TAIP 176 Latitude and Longitude Conversion The TAIP protocol reports latitude as positive north decimal degrees and longitude as positive east decimal degrees using the WGS 84 datum For your application you may wish to convert to degrees minutes and seconds The following example illustrates the conversion of decimal degrees to degrees minutes and seconds Example Given latitude and longitude in decimal degrees Latitude 37 39438 Longitude 122 03846 Convert latitude by multiplying the decimal fraction of degrees by 60 to convert to minutes 0 39438 x 60 23 6628 minutes Retain the integer 23 porti
27. a standard 3 prong connector used on many desktop PCs Figure 1 4 AC DC Power Converter 14 Lassen iQ GPS Receiver StarterKit 1 Hardware Setup The Lassen iQ GPS receiver supports the TSIP and NMEA protocols A single port supports both the input output of TSIP messages and the output of NMEA messages Follow the steps below to setup the Starter Kit interface unit Figure 1 5 illustrates the setup Power Supply Lassen iQ GPS 9 to 32 VDC Starter Kit bs C t DCE omputer DCE GPS Antenna Figure 1 5 Starter Kit Interface Unit Lassen iQ GPS Receiver 15 1 16 Starter Kit 1 For use with the TSIP or TAIP protocols connect one end of the 9 pin serial interface cable to Port 1 or Port 2 to view NMEA data of the receiver module Connect the other end of the cable to COMI or COM2 on a PC If your PC has a 25 pin communication port a 9 pin to 25 pin adapter may be required for this serial interface connection 2 Connect the antenna cable to the interface unit This connection is made by pushing the antenna cable connector onto the MCX connector on the module Place the antenna so that it has a clear view of the sky Note To remove the antenna cable grasp the antenna mating MCX connector and pull from the MCX connector mounted on the interface unit 3 Using either the DC power cable or an AC DC power converter connect to the 3 pin power connector on the interface unit DC Power C
28. after the title page is displayed The function key menu will be displayed on the bottom of the screen GPSSK is structured as a hierarchy of menus The function keys control access to the menus To terminate GPSSK simply back out of the menu structure by pressing F9 until GPSSK prompts you to confirm your desire to exit the program At start up GPSSK will attempt to initialize itself by querying the sensor for some basic information If you wish to abort the sensor initialization process and use GPSSK to replay stored data enter Ctrl X hold down the control key and press x If initialization has been aborted you must restart GPSSK when you wish to communicate with the sensor On line Help Once GPSSK is running on line help is available to assist in performing all the GPSSK operations Help is context sensitive and will display information regarding the current display or menu A brief overview of GPSSK is available in the main menu s help screen There are several command line options available For help with command line options run GPSSK with the HELP argument GPSSK HELP The help available on the GPSSK main menu will explain menu operation and the menu hierarchy Lassen iQ GPS Receiver 207 D GPSSK User s Guide TAIP 208 Connecting the GPS Sensor Consult the Installation and Operator s Manual for information on installation power requirements and cables specific to your Lassen SK II GPS sensor
29. characteristics and system architecture This discussion assumes that you are familiar with the basic theory of the Global Positioning System Before proceeding to the detailed discussion of the satellite acquisition and tracking process please review the GPS satellite message description on the next page The Lassen iQ GPS receiver satellite acquisition and tracking algorithms can achieve a position solution without any initialization The receiver automatically selects and tracks the best combination of satellites to compute position and velocity As satellites move out of view the Lassen iQ GPS receiver automatically acquires new satellites and includes them in the solution set as required Lassen iQ GPS Receiver Operation and Performance 4 GPS Satellite Message Every GPS satellite transmits the Coarse Acquisition C A code and satellite data modulated onto the L1 carrier frequency 1575 42 MHz The satellite data transmitted by each satellite includes a satellite almanac for the entire GPS system its own satellite ephemeris and its own clock correction The satellite data is transmitted in 30 second frames Each frame contains the clock correction and ephemeris for that specific satellite and two pages of the 50 page GPS system almanac The almanac is repeated every 12 5 minutes The ephemeris is repeated every 30 seconds The system almanac contains information about each of the satellites in the constellation ionospheric d
30. dependent on satellite receiver geometry The DOP factor depends on the parameters of the position fix solution Standard terms for the GPS application are GDOP Geometric three position coordinates plus clock offset in the solution PDOP Position three coordinates HDOP Horizontal two horizontal coordinates VDOP Vertical height only TDOP Time clock offset only see dilution of precision The use of Doppler carrier phase measurements to smooth code phase position measurements 248 Lassen iQ GPS Receiver Glossary Doppler shift The apparent change in frequency of a received signal due to the rate of change of the range between the transmitter and receiver earth centered Cartesian coordinate system where the X direction is the earth fixed intersection of the prime meridian Greenwich with the equator The vectors rotate with the earth Z is the direction of the spin axis elevation angle The angle between the line of sight vector and the horizontal plane elevation mask A measure of the minimum elevation angle above the angle horizon above which a GPS satellite must be located before the signals from the satellite will be used to compute a GPS location solution Satellites below the elevation angle are considered unusable The elevation mask angle is used to prevent the GPS receiver from computing position solutions using satellites which are likely to be obscured by buildings or mountains ellipsoid I
31. end of a sentence and is used as the message delimiter 172 Lassen iQ GPS Receiver Trimble ASCII Interface Protocol TAIP Sample PV Message The Position Velocity Solution PV message is one of the more Cc commonly used TAIP messages and most receivers using TAIP are set by default to output the PV message once every 5 seconds The following analysis of a typical PV message is provided to further explain the TAIP message protocol gt RPV15714 3739438 12203846015 12612 ID 1234 7F lt Table C 4 Sample PV Message Fields ID Meaning gt Start of message delimiter R Response qualifier PV PV message identifier 15714 GPS time of day 3739438 Latitude 12203846 Longitude 015 Speed 126 Heading 1 Source of data 2 Age of data ID 1234 Vehicle ID 7F Checksum lt End of message delimiter Note See PV Position Velocity Solution page 191 for more detail on the interpretation of this message Lassen iQ GPS Receiver 173 C Trimble ASCII Interface Protocol TAIP Time and Distance Reporting The D message qualifier allows you to specify a minimum distance traveled as well as aminimum and maximum time interval for the next report Units that are stationed at a fixed location can be programmed to report only when the unit moves off station or after a certain elapsed time since last report but no more often than the specified minimum time interva
32. etc etc etc Up to 12 satellite number signal level pairs may be sent indicated by the count field Signal level is normally positive If it is zero then that satellite has not yet been acquired If it is negative then that satellite is not currently in lock The absolute value of signal level field is the last known signal level of that satellite Note The signal level provided in this packet is a linear measurement ofthe signal strength after correlation or de spreading Units either AMU or dBHz are controlled by Packet 0x35 Lassen iQ GPS Receiver 121 A Trimble Standard Interface Protocol TSIP 122 Report Packet 0x4A 20 Byte Format This packet provides current GPS position fix in LLA latitude longitude and altitude coordinates If the I O Position option is set to LLA and the I O Precision of Position Output is set to single precision all controlled by Packet 35 then the receiver sends this packet each time a fix is computed Command Packet 35 controls position output X YZ or LLA and single or double output precision The data format is shown in below Table A 29 Report Packet 0x4A Data Formats Byte Item Type Units 0 3 Latitude Single radians for north for south 4 7 Longitude Single radians for east for west 8 11 Altitude Single meters HAE or MSL 2 15 Clock Bias Single meters 6 19 Time of Fix Single seconds GPS or UTC The defaul
33. for the 3 3 VDC power specifications Warning The Lassen iQ GPS receiver is ready to accept TSIP commands approximately 2 1 seconds after power up If a command is sent to the receiver within this 2 1 second window the receiver will ignore the command The Lassen iQ GPS receiver will not respond to commands sent within the 2 1 second window and will discard any associated command data Battery Back up The Lassen iQ GPS receiver provides an input for battery back up BBU power to keep the module s RAM memory alive and to power the real time clock when the receiver s prime power is turned off RAM memory is used to store the GPS almanac ephemeris and last position User configuration data including port parameters and receiver processing options can be stored in non volatile Flash which does not require back up power By using battery back up time to first fix in a hot start is reduced to 10 seconds typical Though not required providing BBU power can reduce time to first fix A 3 6 volt lithium battery used for back up power can last up to three years Lassen iQ GPS Receiver 25 2 26 Hardware Integration Warning If battery power is not present the receiver s power can be turned off and then back on to force a system reset and a cold start The receiver should be off for no less than 3 minutes to ensure that the RAM memory does not retain any old data due to the residual voltage from the power supply To avoid waitin
34. from these satellites are more easily obscured by buildings and terrain Constellation switches can cause noticeable jumps in the position output Since worldwide GPS satellite coverage is generally excellent it is not usually necessary to use satellites below a 5 elevation to improve GPS coverage time In some applications like urban environments a higher mask may be warranted to minimize the frequency of constellation switches and the impact of reflected signals SNR Mask Although the Lassen iQ GPS receiver is capable of tracking signals with SNRs as low as 0 the default SNR mask in Standard Sensitivity Mode is set to 2 to eliminate poor quality signals from the fix computation and minimize constellation switching Low SNR values may result from e Low Elevation Satellites e Partially Obscured Signals e g Dense Foliage e Multi Reflected Signals Multi Path The distortion of signals and the frequent constellation switches associated with low elevation satellites were discussed above In mobile applications the attenuation of signals by foliage is typically a temporary condition Since the Lassen iQ GPS receiver can maintain lock on signals with SNRs as low as 0 it offers excellent performance when traveling through heavy foliage Lassen iQ GPS Receiver 61 4 62 Operation and Performance Multi reflected signals also known as Multi path can degrade the position solution Multi path is most commonly found in urban en
35. iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Report Packet 0x42 Single Precision Position Fix XYZ ECEF This packet provides current GPS position fix in XYZ ECEF coordinates If the I O position option is set to XYZ ECEF byte 0 bit 0 Packet 0x35 and the I O Precision of Position Output byte 0 bit 4 Packet 0x35 is set to single precision then the GPS receiver sends this packet each time a fix is computed The data format is shown below Table A 24 Report Packet 0x42 Data Formats Byte Item Type Units 0 3 X Single meters 4 7 Y Single meters 8 11 Z Single meters 12 15 Time of fix Single seconds The time of fix is in GPS time or UTC as selected by the I O timing option Packet 83 provides a double precision version of this information Lassen iQ GPS Receiver 117 A Trimble Standard Interface Protocol TSIP 118 Report Packet 0x43 Velocity Fix XYZ ECEF This packet provides current GPS velocity fix in XYZ ECEF coordinates If the I O velocity option is set to XYZ ECEF byte 1 bit 0 Packet 0x35 then the GPS receiver sends this packet each time a fix is computed The data format is shown below Table A 25 Report Packet 0x43 Data Formats Byte Item Type Units 0 3 X velocity Single meters second 4 7 Y velocity Single meters second 8 11 Z velocity Single meters second 12 15 bias rate Single meters second 16 19 time
36. is shown below Table A 51 Report Packet 0x83 Data Formats Byte Item Type Units 0 7 x Double meters 8 15 Y Double meters 16 23 Z Double meters 24 31 clock bias Double meters 32 35 time of fix Single seconds The time of fix is in GPS time or UTC as selected by the I O timing option Packet 42 provides a single precision version of this information Lassen iQ GPS Receiver 149 A Trimble Standard Interface Protocol TSIP Report Packet 0x84 Double Precision LLA Position Fix and Bias Information This packet provides current GPS position fix in LLA coordinates If the I O Position option is set to LLA and the Precision of Position option is set to Double see Packet 0x35 the receiver sends this packet each time a fix is computed The data format is shown below Table A 52 Report Packet 0x84 Data Formats Byte Item Type Units 0 7 latitude Double radians for north for south 8 15 longitude Double radians for east for west 16 23 altitude Double meters 24 31 clock bias Double meters 32 35 time of fix Single seconds The time of fix is in GPS time or UTC as selected by the I O timing option Warning When converting from radians to degrees significant and readily visible errors will be introduced by use of an insufficiently precise approximation for the constant p PI The value of the constant Pl as specified in ICD GPS 200
37. locked onto a set of satellites which pass the mask criteria listed in this section and has obtained a valid ephemeris for each satellite it will output regular position velocity and time reports according to the protocol selected The default satellite masks observed by the Lassen iQ GPS receiver are listed in Table 1 These masks serve as the screening criteria for satellites used in fix computations and ensure that position solutions meet a minimum level of accuracy The Lassen iQ GPS receiver will only output position course speed and time when a satellite set can be acquired which meets all of the mask criteria The satellite masks can be adjusted in GPS receivers accepting the TSIP protocol See Appendix A for details on key setup parameters Table 4 1 Satellite Mask Settings Mask Setting Elevation 5 SNR 2 PDOP 12 PDOP Switch 6 Lassen iQ GPS Receiver Operation and Performance 4 Elevation Mask Satellites below a 5 elevation are not used in the position solution Although low elevation satellites can contribute to a lower better PDOP the signals from low elevation satellites are poorer quality since they suffer greater tropospheric and ionospheric distortion than the signals from higher elevation satellites These signals travel further through the ionospheric and tropospheric layers In addition low elevation satellites can contribute to frequent constellation switches since the signals
38. long as it is not greater than VCC The minimum power for the pullup is 2 0V Resistor Impact on PCB Power Consumption The pullups do not affect the Lassen iQ GPS power consumption since the resistors will be external to the board The overall power consumption of the user s PCB will increase slightly Assuming 3 3V VCC and 100k pullup resistor the power consumption increase will be 109uW or 33uA per pullup With a Ik pullup resistor the power consumption increase will be 10 9mW or 3 3mA per pullup To reduce the current draw the users can choose higher value pullup resistors in the allowable resistor range of 1K 100K ohms To minimize the overall power consumption of the user s board 100K ohms pullup can be selected To keep BOM items to a minimum the user can choose the highest value resistor used on their board Lassen iQ GPS Receiver Hardware Integration 2 Pulse Per Second PPS The Lassen iQ GPS receiver provides a four microsecond wide CMOS compatible TTL level Pulse Per Second PPS The PPS is a positive pulse available on pin 4 of the power and I O connector The rising edge of the PPS pulse is synchronized with respect to UTC The timing accuracy is 50 nanoseconds when valid position fixes are being reported The rising edge of the pulse is typically less than 20 nanoseconds The distributed impedance of the attached signal line and input circuit can affect the pulse shape and rise time In early PPS mode the
39. marine industry Trimble has chosen to adhere stringently to the NMEA 0183 data specification as published by the NMEA The Lassen iQ GPS receiver also adheres to the NMEA 0183 Version 3 0 specification NMEA data is output in standard ASCII sentence formats Message identifiers are used to signify what data is contained in each sentence Data fields are separated by commas within the NMEA sentence In the Lassen iQ GPS receiver NMEA is an output only protocol The NMEA protocol is described in detail in Appendix E The receiver is shipped from the factory with the TSIP protocol configured on Port 1 and RTCM IN NMEA OUT on Port 2 The Port 2 characteristics conform to the NMEA industry standard e 4800 baud e 8 data bits e No parity e 1 stop bit e No flow control The receiver can be reconfigured using TSIP command packet OxBC in conjunction with iQ CHAT iQ Monitor or a user written serial interface program The NMEA output messages selection and message output rate can be set using TSIP command packet 0x7A The default setting on Port 2 is to output the GGA and VTG messages at a 1 second interval If the NMEA configuration is permanently changed for the application the protocol configuration OxBC and NMEA message output setting Ox7A can be stored in the non volatile memory on board FLASH using TSIP command Ox8E 26 Lassen iQ GPS Receiver Software Interface 3 Custom Port Configuration iQ_CHAT can be used to cu
40. of fix Single seconds The time of fix is in GPS time or UTC as selected by the I O timing option byte 2 bit 0 Packet 0x35 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP Report Packet 0x45 Software Version Information A This packet provides information about the version of software in the Navigation and Signal Processors The GPS receiver sends this packet after power on and in response to Packet 0x1F Table A 26 Report Packet 0x45 Data Formats Byte Item Type 0 Major version number UINT8 1 Minor version number UINT8 2 Month UINT8 3 Day UINT8 4 Year number minus 1900 UINT8 5 Major revision number UINT8 6 Minor revision number UINT8 7 Month UINT8 8 Day UINT8 9 Year number minus 2000 UINT8 The first 5 bytes refer to the Navigation Processor and the second 5 bytes refer to the Signal Processor Lassen iQ GPS Receiver 119 A Trimble Standard Interface Protocol TSIP 120 Report Packet 0x46 Health of Receiver This packet provides information about the satellite tracking status and the operational health of the receiver The receiver sends this packet after power on or software initiated resets in response to Packet 0x26 and every five seconds Packet 0x4B is always sent along with this packet Note If receiver status changes between five second outputs no notification is given until the next cycle Table A 27 Report Packet 0x46 Da
41. of last fix INT16 weeks GPS time Lassen iQ GPS Receiver 129 A Trimble Standard Interface Protocol TSIP Report Packet 0x58 Satellite System Data Acknowledge from Receiver This packet provides GPS data almanac ephemeris etc The receiver sends this packet in response to Packet 0x38 acknowledges the loading of data The data format is shown below Table A 37 Report Packet 0x58 Data Formats Byte Item Type Value Definition 0 Operation UINT8 1 Request data from receiver 2 Load data into receiver 1 Type of data UINT8 2 Almanac 3 Health page T_oa WN_oa 4 lonosphere 5 UTC 6 Ephemeris 2 Sat PRN UINT8 0 Data that is not satellite ID specific 1 32 satellite PRN number 3 Length n UINT8 Number of bytes of data to be loaded 4ton 3 Data Note If data is not available byte 3 is set to 0 and no data is sent The binary almanac health page and UTC data streams are similar to Report Packets 0x40 0x49 and Ox4F respectively but these reports are preferred To get ionosphere or ephemeris this report must be used Note Ephemeris cannot be loaded into Lassen iQ GPS receiver Table A 38 Report Packet 0x58 Almanac Data Byte Item Type Definition ICD GPS 200 4 t_oa_raw UINT8 Sec 20 3 3 5 1 2 5 SV_HEALTH UINT8 Sec 20 3 3 5 1 2 6 9 e Single Sec 20 3 3 5 1 2 10 13 t_oa Single Sec 20 3 3 5 1 2 130 Lassen iQ GPS Rece
42. of satellites available the PDOP of the available satellites and the defined PDOP switch value See PDOP and PDOP constellation switch The angle of the line of site vector projected on the horizontal plane measured clockwise from true North The range of frequencies occupied by a signal Also the information carrying capability of a communication channel or line A measure of the speed of data transmission Baud and bit rate are the same for direct equipment interconnections e g via RS 232 Baud and bit rate are not the same for modulated data links whether wire or radio Binary digit The smallest unit of information into which digital data can be subdivided and which a computer can hold Each bit has only two values e g on off one zero true false The rate at which bits are transmitted over a communication path Normally expressed in bits per second bps A set of contiguous bits that make up a discrete item of information A byte usually consists of a series of 8 bits and represents one character The Coarse Acquisition code This is the civilian code made available by the Department of Defense It is subject to selective availability SA Users can reduce the effects of SA by using differential GPS 246 Lassen iQ GPS Receiver carrier channel chip chip rate configuration data bits datum DCE default setting DGPS DGPS reference station differential capable Glossary The rad
43. packet commands the GPS receiver to perform a software reset This is equivalent to cycling the power The GPS receiver performs a self test as part of the reset operation This packet contains no data Following completion of the reset the receiver will output the start up messages see Table A 4 The GPS receiver sends Packet 0x45 only on power up and reset or on request thus if Packet 0x45 appears unrequested then either the GPS receiver power was cycled or the GPS receiver was reset Command Packet 0x26 Request Health This packet requests health and status information from the GPS receiver This packet contains no data The GPS receiver returns Packet 0x46 and Ox4B Command Packet 0x27 Request Signal Levels This packet requests signal levels for all satellites currently being tracked This packet contains no data The GPS receiver returns Packet 0x47 Command Packet 0x2A Altitude for 2 D Mode Reference Altitude is the altitude used for manual 2 D positions if the altitude flag is set Altitude is in units of HAE WGS 84 or MSL depending on the selected I O options for the position The Altitude Flag determines whether or not the Reference Altitude will be used If set it will be used If cleared altitude hold last 3 D altitude is used 104 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Note With no data byte this packet requests the current values of these altitude parameters In this cas
44. position should be accurate to a few meters Table A 18 Command Packet 0x32 Data Format Byte Item Type Units 0 3 Latitude Single Radians North 4 7 Longitude Single Radians East 8 11 Altitude Single Meters Lassen iQ GPS Receiver 109 A Trimble Standard Interface Protocol TSIP Command Packet 0x35 Set Request I O Options This packet requests the current I O options and allows the I O options to be set To request the options settings without any changes send the packet with no data bytes To change the options settings include four data bytes with the values The I O options their default settings and the byte values for all possible configurations are shown below The Set Request I O options are stored in battery backed memory To store them in non volatile RAM Flash use the Ox8E 26 command The GPS receiver returns Packet 0x55 These abbreviations are used in the following table e ALT Altitude ECEF Earth centered Earth fixed e XYZ Cartesian Coordinates e LLA Latitude Longitude Altitude e HAW Height Above Ellipsoid e WGS 84 Earth Model ellipsoid e MSL Geoid Mean Sea Level e UTC Coordinated Universal Time 110 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Table 19 Command Packets 0x35 and 0x55 Data Descriptions Byte Bit Item Type Value Definition Position 0 0 LSB XYZ ECEF Bit
45. radio navigation signals An electronic device that interprets the GPS radio navigation signals received by a GPS antenna and determines a location solution The GPS processor may also be able to apply and determine differential GPS corrections The combination of a GPS antenna and a GPS processor The length of the second is fixed and is determined by primary atomic frequency standards Leap seconds are not used as they are in UTC Therefore GPS time and UTC differ by a variable whole number of seconds Horizontal Dilution of Precision Handover word The word in the GPS message that contains time synchronization information for the transfer from C A to P code The interface cable allows data to flow between the Lassen SK II GPS and the communication equipment One end of the cable has a 9 pin female RS 232 connector and the other end of this cable has a 9 pin male RS 232 connectors Refers to the unwanted occurrences on communication channels that are a result of natural or man made noises and signals not properly a part of the signals being transmitted or received A measurement of Doppler shift frequency or phase over time Lassen iQ GPS Receiver 251 Glossary IODE jamming Kalman filter masks maximum PDOP NAVSTAR NMEA NMEA 0183 message packet parity Issue Of Data Ephemeris Part of the navigation data It is the issue number of the ephemeris information A new ephemeris is available usu
46. the symbol substitute the letter S for single end or D for double end for the XX symbol substitute the overall length in inches 1 8 inch with a 2 inch minimum Since the signals are CMOS TTL level signals Trimble does not recommend cable lengths of longer than six inches If the cable strip I O connector scheme is used the connector side of the Lassen iQ GPS receiver will be facing up and the mounting tabs will be on the top of the module away from PCB The RF connector is easily accessible using this interfacing methodology Figure 2 2 Cable Strip Mating Connector Lassen iQ GPS Receiver Hardware Integration 2 RF Connector The RF connector mounted on the Lassen iQ GPS receiver is a Hirose connector part number H FL R SMT 10 50 Ohm The mating RF connector is Hirose H FL LP XXX where XXX depends on the cable type Figure 2 3 Lassen iQ GPS Module with Connectors Possible cable manufactures include the following 1 48 mm diameter single shield cable CO 6F FH SB manufactured by Hitachi Cable Ltd UL1979 manufactured by Junkosha Co Ltd 0 8DS PBE manufactured by Sumitomo Electric Industry Co Ltd 1 32 mm diameter cable double shield A12B0733 manufactured by Junkosha Co Ltd 1 47 mm diameter cable single shield CXN2571 manufactured by W L Gore amp Associated Inc Lassen iQ GPS Receiver 23 2 24 Hardware Integration Trimble offers three a
47. the ephemeris and almanac data for all of the satellites and performs the data I O Lassen iQ GPS Receiver 4 Operation and Performance Z07174 pusgsseg a0gesusg 3099 kozernbeg zeou OIN HNPOS ZT NOWAOd sea 209886 01do107N 379 TE asa gt tt Ma EREE THUB9L TE TI SATION 83 Lassen iQ GPS Receiver Lassen iQ GPS receiver Block Diagram Figure 4 7 4 Operation and Performance 84 Lassen iQ GPS Receiver APPENDIX Trimble Standard Interface Protocol TSIP The Trimble Standard Interface Protocol TSIP provides the system designer with over 20 commands that may be used to configure a GPS receiver for optimum performance in a variety of applications TSIP enables the system designer to customize the configuration of aGPS module to meet the requirements of a specific application This appendix provides the information needed to make judicious use of the powerful features TSIP has to offer to greatly enhance overall system performance and to reduce the total development time The provided reference tables will help you determine which packets apply to your application For those applications requiring customization see Customizing Receiver Operations page 89 for a detailed description ofthe key setup parameters Application guidelines are provided for each TSIP Command Packet beginning on page 102 A Trimble Standard Interface Protocol TSIP 86 Interface Scope Th
48. time receiver status and satellite track status It allows the user to exercise some basic TSIP commands iQ_Monitor can also log TSIP report in binary format for later translation B TSIP Tool kit User s Guide 164 DOS Programs and C Source Code iQ_CHAT EXE is a 16 bit DOS based application which interfaces with the Lassen iQ GPS receiver through a serial port It allows the user to exercise TSIP commands configure the Lassen iQ GPS receiver for NMEA or TAIP and may be used to view NMEA or TAIP output iQ_CHAT can log a TSIP report in binary format Source code is provided TSIPPRNT EXE is a 16 bit DOS based application which interprets a binary TSIP data stream such as logged by iQ_CHAT or iQ_Monitor and prints it to a file Source code is provided For further information on the above programs see the README file on the Toolkit disk A 32 bit Windows Application TSIP Reader is available from the FTP web site ftp ftp trimble com pub set embedded bin that interprets binary TSIP data streams Lassen iQ GPS Receiver TSIP Tool kit User s Guide B iQ Monitor iQ Monitor requires Win95 Win98 Win2000 WinXP or WinNT Once the program is started it immediately prompts for the serial port connected to the GPS receiver 2 SQ_Monitor Select Serial Port Figure B 1 iQ_Monitor Serial Port Selection The main window is displayed once the GPS receiver is communicating with the application Fields
49. time clock There are two ways to initiate a soft reset e Cycling main power while keeping the memory and the real time clock alive with back up power e Issuing Command Packet 0x25 A soft reset is the same as a warm or hot start if the information contained in memory and supplied by the real time clock is valid Lassen iQ GPS Receiver Operation and Performance 4 A hard reset is a system restart that results in satellite acquisition search using a default search set Any data contained within RAM memory is discarded and the real time clock is re initialized Even if back up power is supplied the information from memory and the real time clock is not used There are two ways to initiate a soft reset e Issuing the Ox1E command with a value of Ox4B e Cycling power without back up power applied Using this method power must be removed for at least 3 minutes to ensure any residual memory storage is erased If power is cycled rapidly the Ox1E command with a value of Ox4B must then be issued to the receiver 2 5 seconds after power is restored to ensure a hard reset A factory reset is used to restore all the factory default settings into the receiver Any user settings stored in Flash memory will be erased Issuing the Ox1E command with a value of 0x46 will initiate a factory reset Lassen iQ GPS Receiver 59 4 60 Operation and Performance Satellite Mask Settings Once the Lassen iQ GPS receiver has acquired and
50. 0 3 3 4 42 fit interval UINT8 Sec 20 3 3 4 43 46 C_rs Single Sec 20 3 3 4 47 50 delta_n Single Sec 20 3 3 4 51 58 M_O Double Sec 20 3 3 4 59 62 C_uc Single Sec 20 3 3 4 radians 63 70 e Double Sec 20 3 3 4 71 74 C_us Single Sec 20 3 3 4 radians 75 82 sqrt_A Double Sec 20 3 3 4 83 86 t_oe Single Sec 20 3 3 4 87 90 C_ic Single Sec 20 3 3 4 radians 91 98 OMEGA_O Double Sec 20 3 3 4 99 102 C_is Single Sec 20 3 3 4 radians 103 110 i_0 Double Sec 20 3 3 4 111 114 C_rc Single Sec 20 3 3 4 Lassen iQ GPS Receiver 133 A Trimble Standard Interface Protocol TSIP Table A 42 Continued Byte Item Type Definition IDC GPS 200 115 122 omega Double Sec 20 3 3 4 123 126 OMEGADOT Single Sec 20 3 3 4 127 130 IDOT Single Sec 20 3 3 4 131 138 Axis Double sqrt_A 2 139 146 n Double derived from delta_n 147 154 rime2 Double sqrt 1 0 e2 155 162 OMEGA_n Double derived from OMEGA_0 OMEGADOT 163 170 ODOT_n Double derived from OMEGADOT Note All angles are in radians Report Packet 0x5C Satellite Tracking Status This packet provides tracking status data for a specified satellite Some of the information is very implementation dependent and is provided mainly for diagnostic purposes The receiver sends this packet in response to Packet 0x3C The data format is shown below Table A 43 Report Packet 0x5C Data Formats Byte Bit I
51. 0 5 PRN 4 UINT8 1 32 PRN of fourth satellite 6 7 reserved 39 IODE 4 UINT8 IODE of fourth satellite Lassen iQ GPS Receiver 159 A Trimble Standard Interface Protocol TSIP Table A 59 Report Packet 0x8F 20 Data Formats Continued Byte Bit Item Type Value Definition 40 0 5 PRN 5 UINT8 1 32 PRN of fifth satellite 6 7 reserved 41 IODE 5 UINT8 IODE of fifth satellite 42 0 5 PRN 6 UINT8 1 32 PRN of sixth satellite 6 7 reserved 43 IODE 6 UINT8 IODE of sixth satellite 44 0 5 PRN 7 UINT8 1 32 PRN of seventh satellite 6 7 reserved 45 IODE 7 UINT8 IODE of seventh satellite 46 0 5 PRN 8 UINT8 1 32 PRN of eighth satellite 6 7 reserved 47 IODE 8 UINT8 IODE of eighth satellite 48 0 5 PRN 9 UINT8 1 32 PRN of ninth satellite 6 7 reserved 49 IODE 9 UNIT8 IODE of ninth satellite 50 0 5 PRN 10 UINT8 1 32 PRN of tenth satellite 6 7 reserved 51 IODE 10 UNIT8 IODE of tenth satellite 52 0 5 PRN 11 UINT8 1 32 PRN of eleventh satellite 6 7 reserved 53 IODE 11 UNIT8 IODE of eleventh satellite 54 0 5 PRN 12 UINT8 1 32 PRN of twelfth satellite 6 7 reserved 55 IODE 12 UINT8 IODE of twelfth satellite 56 63 lonospheric parameters Note Velocity scale controlled by byte 24 bit 1 Overflow 0x8000 160 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Command Packet 0x8E 26 Non Volatile Memory Storag
52. 1 On 3 7 Reserved 9 Reserved Note The Lassen iQ GPS receiver requires that the input and output baud rates be identical Warning TSIP input or output must have 8 databits byte 3 Lassen iQ GPS Receiver 155 A Trimble Standard Interface Protocol TSIP TSIP Superpackets Several packets have been added to the core TSIP protocol to provide additional capability for OEM receivers In OEM Packets Ox8E and their Ox8F responses the first data byte is a sub code which indicates the superpacket type For example in Packet Ox8E 15 15 is the sub code that indicates the superpacket type Therefore the ID code for OEM packets is 2 bytes long followed by the data Command Packet 8E 4A Set Request Lassen iQ GPS Cable Delay Using this packet you can query and control the Lassen iQ GPS cable delay characteristics The receiver responds to a query or control command with packet 8F 4A The packet contains 16 bytes Table 57 Command Packet 8E 4A Byte Item Type Meaning 0 Sub packet ID BYTE Always 0x4A 1 Reserved 2 Reserved 3 Reserved 4 11 PPS Offset of Cable Delay DOUBLE Seconds default 0 0 12 15 Reserved 156 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Command Packet 0x8E 20 Request Last Fix with Extra Information This packet requests Packet Ox8F 20 or marks it for automatic output If only the first byte 20 is sent an Ox8F 20 re
53. 10 does not support these TAIP messages All TAIP message characters must be in uppercase Lassen iQ GPS Receiver 177 C Trimble ASCII Interface Protocol TAIP 178 AL Altitude Up Velocity y Note The first character of altitude or vertical velocity S is or Data String Format AAAA S BBBBB S CCCDE Table C 7 Altitude Up Velocity Data String Descriptions Item of Char Units Format Value GPS Time of Day 5 Sec AAAAA Altitude 6 Meter S BBBBB Vertical Velocity 4 MPH S CCC Fix Mode 1 n a D 0 2D GPS 1 3D GPS 2 2D DGPS 3 3D DGPS 6 reserved 8 reserved 9 no fix avail Age of Data 1 n a E 2 Fresh lt 10 sec Indicator 1 Old gt 10 sec 0 Not available Total of Characters is 17 Altitude is above mean sea level in WGS 84 The GPS time of day is the time of fix rounded to the nearest second This message contains data obtained from the last 3 dimensional fix and may not be current Note The data in this message is to be considered invalid and should not be used if the Age of Data Indicator is equal to 0 signifying data not available Lassen iQ GPS Receiver Trimble ASCII Interface Protocol TAIP AP Auxiliary Port Characteristics Note The Lassen iQ GPS receiver firmware version 1 10 does not support the AP TAIP message Data String Format AAAA B C D E F Table C 8 Auxiliary Port Characteristics Data String Descriptions
54. 2 En nn 6 Ordering Starter Kit Components 000 004 7 Starter Kit Interface Unit 2 2222 Co nn n nn 8 POWCR He ne A ok ty ee en ee Ae TS EL ae A 13 Hardware Setup 2 0000 eee eee 15 Software Toolkit nn 17 2 Hardware Integration General Description 2 000055 500 20 Gonnectors a et Bee bie ee ee Boe oe he 21 Power Requirements 2 000002 eee eee 25 Serial Interface 2 2 222 Hmmm 27 Serial Port Connections 2 22 2 nn n nn 28 Pulse Per Second PPS 2 2 2 nn nn 31 Mountingi 4 4 5 2 24 2 pce tee ae re el ae ke 32 GPS Antennas 2 2 Han nn nn 33 3 Software Interface SAUD u Me ese ee ee De te 38 Communicating with the Lassen iQ GPS Receiver 39 Port Protocol and Data Output Options 2 2222 nn nn 42 Custom Port Configuration 2 2 22 u mn nn 47 Timing Applications 2 22 En nn nn 51 Known Anomalies in Firmware Release 1 10 52 4 Operation and Performance Introduction 223 4 aS eas ead ale ks era DIS HR ELISE 54 GPS Satellite Message 2 2 2 2 2 0 0000 55 Satellite Acquisition and Time to First Fix 56 Satellite Mask Settings 2 2 2 nun nn 60 Standard Operating Modes 2 2 2 nn nn 63 Lassen iQ GPS Receiver Table of Contents Differential GPS Operating Modes 2 2 2 2 22mm 64 Position ACCuraty 2 2 at en es a A E A 65 Coordinate Systems 2 2 a 66 Perform
55. 5 98 2000 XP platforms iQ_ CHAT runs under the DOS operating system on a 386 or higher processor Following are quick start instructions for using the iQ_Monitor application to monitor the receiver s performance 1 Connect one end of the serial interface cable to Port 1 of the interface unit Connect the other end of the cable to the COM port of your PC Turn on the DC power source or plug in the AC DC converter Insert the CD in the computer s CD ROM drive The iQ Monitor program may be run directly off the CD or it may be copied onto your computer s hard drive To run the program off the CD initiate the iQ _Monitor exe file When the iQ_ Monitor screen appears the TX and RX indicators appear in the lower left corner of the status bar A blinking TX indicates that the PC is transmitting commands to the receiver a blinking RX indicates that the PC is receiving reports from the receiver If either of these indicators stop blinking there is no activity The PC COM port settings appear in the lower right corner of this same status bar After a GPS antenna is connected to the receiver and the receiver has achieved a position fix the transmitted position reports time velocity satellites tracked and GPS receiver status appear on the screen The receiver also sends a health report every few seconds even if satellites are not being tracked Lassen iQ GPS Receiver 17 1 Starter Kit Note If the iQ_Monitor program dis
56. 6 0x4B 0x27 signal levels 0x47 0x2A altitude for 2 D mode 0x4A 94 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Table A 8 User Selected Command Packet Options Continued Input ID Packet Description Output ID 0x2B initial position Lat Lon Alt 0x2D oscillator offset 0x4D 0x2E set GPS time 0x4E 0x31 accurate initial position XYZ Cartesian ECEF 0x32 accurate initial position 0x35 I O options 0x55 0x37 status and values of last position and velocity 0x57 0x38 load or request satellite system data 0x58 0x3C tracking status 0x5C see Note 2 0x69 enhanced sensitivity 0x89 0x70 filter configuration 0x70 0x7A set request NMEA output configuration 0x7B 0xBB set receiver configuration OxBB 0OxBC set port configuration 0xBC Ox8E 20 last fix with extra information fixed point Ox8F 20 Ox8E 26 Store settings in Flash memory Ox8F 26 Note 1 Output is determined by packet 0 x 35 See Table A 4 to determine which messages are output at power up Note 2 No response sent if data is not available Lassen iQ GPS Receiver 95 A Trimble Standard Interface Protocol TSIP Report Packets Sent by the Receiver to the User The table below summarizes the packets output by the receiver The response packets may depend on user selected options see page 82 Table A
57. 83 E ZDA Time amp Date The ZDA message contains UTC the day the month the year and the local time zone SGPZDA hhmmss ss xx XX XXxx hh lt CR gt lt LF gt Table E 10 ZDA Time amp Date Message Parameters Field Description 1 UTC when UTC offset has been decoded by the receiver 2 Day 01 to 31 3 Month 01 to 12 4 Year 5 unused 6 unused hh Checksum Note Fields 5 and 6 are null fields in the Lassen iQ GPS receiver output A GPS receiver cannot independently identify the local time zone offsets Warning If UTC offset is not available time output will be in GPS time until the UTC offset value is collected from the GPS satellites When the offset becomes available the time will jump to UTC time Note The time can be used as a timetag for the IPPS The ZDA message comes out 100 500 msec after the PPS Lassen iQ GPS Receiver 221 E Exception Behavior 222 When no position fix is available some of the data fields in the NMEA messages will be blank A blank field has no characters between the commas There are three general cases when no fix is available at power up without BBRAM cold start at power up with BBRAM warm start and when the GPS signal is temporarily blocked These three cases have different NMEA output behavior in the Lassen iQ GPS receiver This section describes the behavior for the current product The specification for this be
58. 9 User Selected Report Packet Options Output ID Packet Description Input ID 0x41 GPS time 0x21 auto 0x42 single precision XYZ position 0x37 auto 0x43 velocity fix XYZ ECEF 0x37 auto 0x45 software version information Ox1F power up 0x46 health of Receiver 0x26 auto power up 0x47 signal level for all satellites 0x27 0x4A single precision LLA position 0x37 auto 0x4B machine code status 0x26 auto power up 0x4D oscillator offset 0x2D Ox4E response to set GPS time Ox2E 0x55 I O options 0x35 0x56 velocity fix ENU 0x37 auto 0x57 information about last computed fix 0x37 0x58 GPS system data acknowledge 0x38 0x5C satellite tracking status 0x3C 0x6D all in view satellite selection 0x24 auto 0x82 differential position fix mode 0x62 auto 0x83 double precision XYZ auto 0x37 0x84 double precision LLA auto 0x37 0x89 enhanced sensitivity 0x69 Ox8F 20 last fix with extra information fixed point auto 0x37 Ox8E 20 0xBB GPS navigation configuration 0xBB 0OxBC Receiver port configuration OxBC 96 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Key Setup Parameters or Packet BB Selecting the correct operating parameters has significant impact on receiver performance Packet OxBB set receiver configuration controls the key setup parameters The default operating parameters allow the receiver to perform well in almost any environment The user can optimize the receiver to a particul
59. AP CP ID IP LN PT PV RM ST TM and VR Note The Lassen iQ GPS receiver firmware version 1 10 does not support the AP TAIP message The Set Qualifier The set S qualifier enables the user equipment to initialize set up various types of data in the GPS unit The format is gt SAA B ID CCCC DD lt where AA is the two character message identifier and B specifies the data string within the message For the format of B please refer to the message definitions in the previous section Note that all the messages have very specific formats and are length dependent Messages normally supported by the set qualifier are AL AP CP DC DD ID IP LN PT PV and RM The set qualifier may be used with the AL CP LN or PV message to set more precise initial position data into the GPS receiver than can be set with the IP message Note The Lassen iQ GPS receiver firmware version 1 10 does not support the AP TAIP message Lassen iQ GPS Receiver 201 C Trimble ASCII Interface Protocol TAIP 202 Sample Communication Session The following is a sample communication session to illustrate how message qualifiers are used Query the receiver for version number for the TAIP firmware gt QVR lt The receiver responds with a message in the following form gt RVR OEM SQ OEM STTP APP VERSION 1 04 05 23 02 38 lt Note The receiver identified its product name firmware version number core signal processi
60. Almanac 3 Health page T_oa WN_oa 4 lonosphere 5 UTC 6 Ephemeris 2 Sat PRN UINT8 JO Data that is not satellite ID 1 32 specific Satellite PRN number 3 Length n UINT8 Number of bytes of data to be loaded 4ton 3 Data UINT8 Satellite data Warning Proper structure of satellite data is critical to Lassen iQ GPS receiver operation Requesting data is not hazardous Loading data improperly is hazardous Use this packet only with extreme caution The data should not be modified in any way It should only be retrieved and stored for later download 114 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Command Packet 0x3C Request Current Satellite Tracking Status This packet requests the current satellite tracking status The GPS receiver returns Packet 0x5C if data is available Table A 21 Command Packet 0x3C Data Format Byte Item Type Value Definition 0 Satellite UINT8 O All satellites in the current tracking 1 32 set desired satellite Report Packet 0x41 GPS Time This packet provides the current GPS time of week and the week number The GPS receiver sends this packet in response to Packet 0x21 and during an automatic packets update cycle Update cycles occur approximately every 5 seconds The data format is shown below Table A 22 Report Packet 0x41 Data Formats Byte Item Type Units 0 3 GPS time of week Single seconds 4 5 Extende
61. Auto output period for AL sec 0 see period note 6 7 CP output UINT16 10 3599 Auto output period for CP sec 0 period 8 9 ID output UINT16 10 3599 Auto output period for ID sec 0 period 10 11 LN output UINT16 10 3599 Auto output period for LN sec 0 period 12 13 PV output UINT16 10 3599 Auto output period for PV sec 0 period 14 15 ST output UINT16 10 3599 Auto output period for ST sec 0 period 146 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Table 50 TAIP Packet 0 x 7E Byte Bit Item Type Value Definition Default 16 17 TM output UINT 16 0 3599 Auto output period for TM sec 0 period 18 19 VR output UINT 16 0 3599 Auto output period for VR sec 0 period 20 23 Veh ID String See Vehicle ID 0000 TAIP ID Note 0 second period means the corresponding message is not to be output at all Lassen iQ GPS Receiver 147 A Trimble Standard Interface Protocol TSIP 148 Report Packet 0x82 Differential Position Fix Mode This packet provides the differential position fix mode of the receiver This packet contains only one data byte to specify the mode The packet is sent in response to Packet 0x62 and whenever a satellite selection is made and the mode is Auto GPS DGPS modes 2 and 3 The receiver switches automatically between modes 2 and 3 based on the availability of differential corrections for a constellation which me
62. CII interface protocol designed specifically for vehicle tracking applications It is a bi directional protocol using simple ASCII commands with the associated ASCII responses NMEA NMEA 0183 is an industry standard protocol common to marine applications NMEA provides direct compatibility with other NMEA capable devices such as chart plotters radars etc The Lassen iQ GPS receiver supports most NMEA messages for GPS navigation NMEA messages and output rates can be user selected as required DGPS The Lassen iQ GPS receiver can be configured for RTCM SC 104 input which is the GPS industry standard for differential correction data The receive side of Port 2 is factory configured to accept RTCM data Lassen iQ GPS Receiver Ordering Starter Kit Components Starter Kit The Lassen iQ GPS receiver is available in a Starter Kit or as an individual module and associated antenna The Starter Kit PN 51099 00 includes all the components necessary to quickly test and integrate the module e Compact Magnetic Mount Antenna with 5m cable e Ultra Compact Embedded Antenna with 8cm cable e AC DC power supply adapter e DC Power cable 3 wire e RS 232 interface cable DB9M DB9F pin to pin e Cigarette lighter adapter power cable e CD ROM containing software tools and the System Designer Reference Manual Table 1 1 provides ordering information for the Lassen iQ GPS module and the associated antennas and cables Table 1 1 Las
63. Electrical Prime Power Consumption Backup Power Ripple Noise Specifications and Mechanical Drawings F Cold Start lt 50 sec 50 lt 84 sec 90 Cold Start requires no initialization Warm Start implies last position time and almanac are saved by backup power Hot start implies ephemeris also saved Optional COCOM Limits Altitude 18 000 m Velocity 515 m s Either limit may be exceeded but not both T O 8 pin 2x4 2 mm male header micro terminal strip ASP 69553 01 RF Low profile coaxial connector H FL R SMT 10 50 Ohm 2 serial ports transmit receive 3 3 V CMOS compatible TTL level pulse Once per second TSIP TAIP NMEA 0183 v3 0 RTCM SC 104 GGA VTG GLL ZDA GSA GSV and RMC Messages selectable by TSIP command selection stored in flash memory 3 0 VDC to 3 6 VDC 3 3 V typ Less than 89 mW 27 mA 3 3 V 2 5 VDC to 3 6 VDC 3 0V typ Max 60 mV peak to peak from 1 Hz to 1 MHz Antenna Fault Protection Open and short circuit detection and protection Lassen iQ GPS Receiver 227 F Specifications and Mechanical Drawings Environmental Operating Temp Storage Temp Vibration Humidity Physical Enclosure Outside Dim Weight Accessories Module Starter Kit 40 C to 85 C 55 C to 105 C 0 008 g Hz 5 Hz to 20 Hz 0 05 g Hz 20 Hz to 100 Hz 3dB OCTAVE 100 Hz to 900 Hz 5 to 95 R H non condensing 60 C Metal enclosure with solder mou
64. F cable from the module e Use a small flat head screw driver to pry the Lassen iQ GPS receiver module off the motherboard Warning When the Lassen iQ GPS receiver module is removed from the motherboard the double sided tape looses some of it s adhesive quality This adhesive tape may only be re used for laboratory testing The original adhesive tape should not be re used for drive testing the Starter Kit interface unit because the module could loosen and cause short circuit when contacting other motherboard components If drive testing is required use a new piece of double sided adhesive tape to re attach the Lassen iQ GPS receiver module to the motherboard Lassen iQ GPS Receiver StarterKit 1 Receiver Performance The Lassen iQ GPS receiver is a complete 12 channel parallel tracking GPS receiver designed to operate with the L1 frequency Standard Position Service Coarse Acquisition code Using two highly integrated Trimble custom integrated circuits the receiver is designed in a modular format especially suited for embedded applications where small size and extremely low power consumption are required The receiver features Trimble s latest signal processing code a high gain RF section for compatibility with standard 27 dB active gain GPS antennas and a CMOS TTL level pulse per second PPS output for timing applications or for use as a general purpose synchronization signal The Lassen iQ GPS receiver acquires a position f
65. HE ABOVE LIMITATION MAY NOT APPLY TO YOU TRIMBLE NAVIGATION LIMITED IS NOT RESPONSIBLE FOR THE OPERATION OR FAILURE OF OPERATION OF GPS SATELLITES OR THE AVAILABILITY OF GPS SATELLITE SIGNALS Limitation of Liability TRIMBLE S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL BE LIMITED TO THE GREATER OF THE AMOUNT PAID BY YOU FOR THE PRODUCT OR SOFTWARE LICENSE OR U S 25 00 TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW IN NO EVENT SHALL TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY INDIRECT SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES WHATSOEVER UNDER ANY CIRCUMSTANCE OR LEGAL THEORY RELATING IN ANY WAY TO THE PRODUCTS SOFTWARE AND ACCOMPANYING DOCUMENTATION AND MATERIALS INCLUDING WITHOUT LIMITATION DAMAGES FOR LOSS OF BUSINESS PROFITS BUSINESS INTERRUPTION LOSS OF BUSINESS INFORMATION OR ANY OTHER PECUNIARY LOSS REGARDLESS OF WHETHER TRIMBLE HAS BEEN ADVISED OF THE POSSIBILITY OF ANY SUCH LOSS AND REGARDLESS OF THE COURSE OF DEALING WHICH DEVELOPS OR HAS DEVELOPED BETWEEN YOU AND TRIMBLE BECAUSE SOME STATES AND JURISDICTIONS DO NOT ALLOW THE EXCLUSION OR LIMITATION OF LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL DAMAGES THE ABOVE LIMITATION MAY NOT APPLY TO YOU Table of Contents Table of Contents 1 Starter Kit Product Overview 2 00000 eee eee eee 2 Stater KIE en a he sear RA aa doy dao te ae feature dea 3 Receiver Performance 2 2 2 2 22m nn nn 5 Interface Protocols 2 2222 2 2
66. Hz log sweep 3 0G sweep time 15 min 3 axis min speed of 180Km h Cable pulling forceSkgf min Bending test Anti corrosion Weight Visible or electrical damage must not appear when applying up to 5kgf pulling force between cable and antenna as well as between cable and connector After bending test 90 right and left x 1000 cycles no permanent damage found Based on JIS Z 2371 spray 5 salt water 35 C should not rust after 96 hours 115g 15g Lassen iQ GPS Receiver 237 VvOOSSe6E Td 4 T 40 1 us arm awas ion or y GY 0S S926E SNON_ Twos q 86 4 4 Z333d DONWWaY Aaa ON Oma gangsi 325 WS YNNJLNY S49 ON 0390349 8565 8 4 23339 V aya am Soay wo uag 7 Uaget of wug UWE 9 we Wu 9 FONVa3IOL SPALITI SONT NI BW snorsvante ON 1omanoo ASS ASIASI SSPN A 524 S3LON SAISSHCY LNSNVWaad HLIM Wits YaLSIA Wd NO LYW YZATIS HHL NOADIN OS 3d OL 139807 Aa3SN3ANDI M04 VOILIAT3SH NOILOILOYd AN SALLISOd MOVIE 38 OL ONILNTSd 6666 NvU 1000 VO LVHL NO G30NdDsd LINN SHL 40 S3aWON TWNICSO MAAA 9 9661 a VIA d 93d N AON O L90 6 1 HLNOW 3Hl 40 XIAWNN HLNOW 3H1 40 AVG 3L C Z m 2 A XX FAIHM MAMA ZA XX SAOV1I4 SY C3009 SLISIG 8 38 OL Bann WIXI E AH3O00S T dS XOW ADLI3NNDI ron ac NOUdO
67. INT16 Word A 16 bit unsigned integer e INT16 Integer A 16 bit integer e INT32 Long A 32 bit integer e UINT32 ULong A 32 bit unsigned integer e Single Float or 4 byte REAL has a precision of 24 significant bits roughly 6 5 digits e Double 8 byte REAL has a precision of 52 significant bits It is a little better than 15 digits Lassen iQ GPS Receiver 87 A Trimble Standard Interface Protocol TSIP Automatic Output Packets The Lassen iQ GPS receiver receiver is configured to automatically output the following packets For minimal system implementations these output packets provide all of the information required for operation including time position velocity and receiver and satellite status and health Position and velocity are reported using one or more of the packets listed below depending on the selected I O options While there are other packets automatically output the following packets provide the information most commonly used No input packets are required Table A 1 Automatic Output Packets Output Packet ID Description Reporting Interval 0x41 GPS time 5 seconds 0x42 0x83 Ox4A 0x84 position choose packet with I O options 1 second Ox8F 20 0x43 0x56 Ox8F 20 velocity choose packet with I O options 1 second 0x46 health of receiver 5 seconds 0x4B machinecode status includes antenna fault 5 seconds detect 0x6D all in view satellite selection DOP
68. IP applications Lassen iQ GPS Receiver 127 A Trimble Standard Interface Protocol TSIP 128 Report Packet 0x56 Velocity Fix East North Up ENU If East North Up ENU coordinates have been selected for the I O velocity option see Packet 0x35 the receiver sends this packet under the following conditions e Each time that a fix is computed e In response to Packet 0x37 last known fix The data format is shown below Table A 35 Report Packet 0x56 Data Formats Byte Item Type Units 0 3 East Velocity Single m s for east for west 4 7 North Velocity Single m s for north for south 8 11 Up Velocity Single m s for up for down 12 15 Clock Bias Rate Single m s 16 19 Time of Fix Single seconds GPS or UTC The time of fix is in GPS or UTC time as selected by the I O timing option Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Report Packet 0x57 Information About Last Computed Fix This packet provides information concerning the time and origin of the previous position fix The receiver sends this packet among others in response to Packet 0x37 The data format is shown below Table A 36 Report Packet 0x57 Data Formats Byte Item Type Units Byte 0 Value Velocity 0 Source of UINT8 00 temporary no fix information 01 good current fix 1 Mfg diagnostic UINT8 2 5 Time of last fix Single seconds GPS time 6 7 Week
69. Interface Protocol TAIP 204 Lassen iQ GPS Receiver APPENDIX GPSSK User s Guide TAIP The TAIP Tool Kit known as GPSSK is a software package available from Trimble Navigation to assist users of the Trimble ASCH Interface Protocol TAIP GPSSK supports all Trimble receivers that use TAIP GPSSK can be used to setup diagnose and monitor your sensor and provides the following capabilities Program the GPS sensor for automatic message reporting and verify the success of the programming Quickly program Vehicle ID numbers into a fleet of sensors Log the GPSSK session with the GPS sensor to disk and replay the data On screen plotting of GPS positions from the sensor Poll for and view combinations of TAIP messages Set different polling intervals for each message type Conduct an interactive terminal session with the GPS sensor Note The information about GPSSK in this document is presented as a general overview The GPSSK distribution diskette includes a READ ME file that details the most current information about GPSSK functions and on loading and using GPSSK D GPSSK User s Guide TAIP 206 The GPSSK program does not support the TAIP messages DC and DD These messages are used to input differential corrections to the receiver and are defined as special TAIP format versions of RTCM SC 104 Type 1 and Type 2 messages The GPSSK program requires well over 500K RAM It may not run in a DOS window and may req
70. Lassen iQ GPS Receiver System Designer Reference Manual Part Number 54854 00 gt Trimble Revision B Corporate Office Trimble Navigation Limited Components Technologies Division 749 North Mary Avenue Post Office Box 3642 Sunnyvale CA 94088 3642 U S A Phone 1 408 481 8940 1 800 545 7762 Fax 1 408 481 7744 www trimble com Support Offices Trimble Navigation Limited Components Technologies Division 749 North Mary Avenue Post Office Box 3642 Sunnyvale CA 94088 3642 U S A Phone 1 408 481 8940 1 800 545 7762 Fax 1 408 481 7744 Trimble Navigation Europe Limited Trimble House Meridian Office Park Osborn Way Hook Hampshire RG27 9HX England Phone 44 1256 760 150 Fax 44 1 256 760 148 Copyright and Trademarks 2005 Trimble Navigation Limited All rights reserved No part of this manual may be copied reproduced translated or reduced to any electronic medium or machine readable form for any use other than with the Lassen iQ GPS Receiver The Globe amp Triangle logo Trimble Colossus FirstGPS and Lassen are trademarks of Trimble Navigation Limited The Sextant logo with Trimble is a trademark of Trimble Navigation Limited registered in the United States Patent and Trademark Office All other trademarks are the property of their respective owners Release Notice This is the April 2005 release Revision B of the Lassen iQ GPS Receiver System Designer R
71. Low GND Floating Pin 1 Works Board will be Works TxA S101 damaged Pin 3 Works Will never produce a Do not choose this RxA S101 position fix option for firmware release 1 10 Operation cannot be guaranteed Failure mode will never produce a position fix Pin 5 Works Board will be Works TxB S102 damaged Pin 6 Works Do not choose this Do not choose this RxB SI02 option Operation option for firmware cannot be release 1 10 guaranteed Failure Operation cannot be modes may never guaranteed Failure produce a position modes may never fix may output produce a position fix potentially bad fixes may output potentially intermittently bad fixes intermittently Note The table above indicates that the Tx pins 1 and 5 should not be tied to Ground As there are no internal pullups or current limiting resistors tying Tx to Ground will directly pull down the VCC rail through the chip This will pull excessive current stressing the chip beyond specification until it eventually fails Lassen iQ GPS Receiver 29 2 30 Hardware Integration Pullup Resistor A pullup resistor should be added to the board in the range of IK to 100K ohms for connecting the above mentioned pins to VCC One end of the pullup resistor is connected to the iQ pin and the other end is connected to the positive supply voltage VCC Note The pullup resistor does not have to be powered by VCC A separate power source can be used as
72. N Woss 3215 13H OF XIW 81909 ql NOISNAHIG 7W311189 sawv STAID KHaylo sul Inu PUD USaYSOM BAY PINOYUS T wagi UO4D3UU0I 2 S Waz UOF PUSWYDNZZO PeduWiud aq poys UOLDSUUOD puo ayA s dwd OS70 g P109 Ta 20 e el asvajau uoyanpoud y 959809 03A0 ddY ava NOLLIINOSIA AR a No3 SNOISIAJ Y ET SNE DOr Pvayring 44810445 XIW WUN OS OFS adUsuasau UolNoDl4Dads JT WAL 4UO4 I S4 0N L oads 10 Wa 88S LAN S L oads Joy Way 99S YJHSYM L Swoywns OF 40 394 SQA8 0 21929 L ISOUIH LLLS4JA d1 714 H SOLI3NNOD 44 4 L NYN NIHO YIL E 01 7 NNOD XOW HE LS 44 j ALO JopusA Hod uonduoseq way JS SHO Z WO OL joizuaplyuog 3 Auozajudoug azul uogos oN aqwa Lassen iQ GPS Receiver 242 F Specifications and Mechanical Drawings Antenna Transition Cable with SMA HFL Connector SO 686 F114 xe S0 t686p g 13H OF YAS 31993 FUNIL E NLA INS ION DE ON SQ ON eal 328 HEDL TT nl OFT IZ20 SNYH 440d asouIH WOU UUOD YWS O M AAUSSSO 3 qQ0D Payzajdwoy E sow fue Sm Payyo sur Inu puo vay onen ODRA AHD scan Jayson BADLY pinoys T wag AOLI3UUOT 2 S Wa AJOJ puUawyD0 o Padujus aq pinoys oads 40 wel 3S 4OZDSUU0D pur
73. PPS can drive a load up to 5mA without damaging the module The falling edge of the pulse should not be used In it s default mode PPS is always on early PPS and is driven by the Real Time Clock RTC until the receiver acquires GPS time from the satellite and is getting fixes In early PPS mode the PPS is output immediately after main power is applied and continues even if the receiver loses GPS lock The drift of the PPS when the Lassen iQ GPS receiver is not tracking satellites is unspecified and should not be used for synchronization The PPS output modes can be controlled with TSIP packet 0x35 The modes are Always on default Fix Based or Always Off Cable delay compensation is available through the use of TSIP packet Ox8E 4A After a specific mode is selected it can be stored in non volatile memory FLASH using TSIP command Ox8E 26 For more information see Appendix A Note Trimble Navigation has measured better than 50 nanoseconds accuracy on the Lassen iQ GPS receiver PPS signal in static mode For more information on the use of the Lassen iQ GPS module in timing applications contact your Trimble sales representative Lassen iQ GPS Receiver 31 2 32 Hardware Integration Mounting The Lassen iQ GPS PCB is encased in a metal enclosure The enclosure acts as a protective case There are four mounting solder tabs on the bottom of the enclosure When the surface mount mating connector is used the mounting tabs m
74. Performance 2D 3D Automatic The default operating mode for the Lassen iQ GPS receiver is 2D 3D Automatic In this mode the Lassen iQ GPS receiver attempts to generate a 3 dimensional 3D position solution if four or more satellites meeting the mask criteria are visible If only three satellites are visible which meet the mask criteria the Lassen iQ GPS receiver will automatically switch to 2 dimensional 2D mode and will use the last calculated altitude if available or the default altitude in the position solution In 2D 3D Automatic mode the PDOP switch is active Differential GPS Operating Modes The default mode for the Lassen iQ GPS receiver is DGPS Automatic The receiver supports three DGPS Modes On Off and Automatic The mode may be changed by issuing the appropriate TSIP command see Appendix A for details DGPS On When DGPS On is selected the Lassen iQ GPS receiver will only provide differential GPS solutions If the source of the correction data is interrupted or becomes invalid the receiver will suspend output of all position course and speed data When a valid source of correction data is restored the receiver will resume outputting data DGPS Off When DGPS Off is selected the Lassen iQ GPS receiver will not provide differential GPS solutions even if a valid source of correction data is supplied In this mode the receiver will only supply standard GPS position data Lassen iQ GPS Receiver Operation a
75. Q GPS Receiver F Specifications and Mechanical Drawings Compact Unpackaged Antenna The specifications for this antenna are identical to that of the Compact Magnetic Mount Antenna described earlier in this Appendix with two exceptions e The cable length is 11 cm e The connector is a right angle MCX 240 Lassen iQ GPS Receiver F Specifications and Mechanical Drawings Compact Unpackaged Antenna with MCX Connector 1 18 9268 tls 140 JINON TWE UV 15 5926E q Th wo an woe 3715 UNNILNG MOSdNN AEE SKUP m zm3d Y mames DNAT TOE LOW DI i uug uunai DE Mig wait SINHA eur Te RCO mu se marsa sa J7ONv IHOIN XIW 2383d 00 61 3 3873733 AdunIalTaad Maida uw NOLLIBKISEE SNOISIAIH ELIE JAHO An WMOTT auco ugoe FASO U DAH3O SIST HOVE EVI LUTE cele gt du nl WWB O reog 0 10 3NN02 WWE OSes PREO Cuue ote STD eos amt auiQE F639 SEO u Wg 0F9 PE Age T war 600 Axr ruuga BETO f i Luga TPIT 1 twa gE SOEI Ardel 241 Lassen iQ GPS Receiver F Specifications and Mechanical Drawings Antenna Transition Cable with MCX HFL Connector ZAJA AE E 130 T us x2 mvs NIAYA FWS LON 0a y A34 viely q ON omo O
76. SSa Zayas vT eea adad DL 38vI3138 vbe ABU No3 SNOISIAZY wus O9 CWWy 6 OLE CWUG TE 1 Saalaw S VLIAH3O SIST NOVI FIEVI CHUTE 22 S US OFEN ErG Wucorer 0597 06681 WUIS 0FG DS Compact Magnetic Mount antenna with 5 m Cable and MCX Connector F Specifications and Mechanical Drawings Lassen iQ GPS Receiver 238 F Specifications and Mechanical Drawings Compact Magnetic Mount antenna with 5 m Cable and SMA Connector g02S926 II SAW TWIS LON OF CWWp 6 OLE S3LON SAISSHTY LNANVWaSd HLIM Wa A3SLSSA1Od NO LYW XJATIS AHL NOXOIW OS 34 OL 13477 C C3SN3QNO9 M04 WOIL3AT3H NOILIZL08d AN SAILISOd OVE 38 OL NILNIJd E WUST 097 6666 N4U4 1000 l CWWG ZED VO LVHL NO 39ndOdd LINN 3HL 40 SIEHNN TYNICAD MMMA 9 9661 WA Z 930 N ADN O L90 6 1 HLNOW 3H 30 Y3aWnN A HLNOW 3HL 40 Ava Siva XX IJIHA l MAMM Z A XX HE WUG OFB ED EPS SADTIDJ SY C3009 SLIDIG 8 38 OL YSEWNN VINIS fe won JWW YWS AOLOSNNOO sa3lm S Trimble Navigation Limited WOAHAO SaST AOVT 37AVI Proprietary amp Confidential WUTE dele 7 AUUC OFEP 0597 u ait WS 066 T 0507 SEN T3ADKSE E forro WUG 0FS dOadd OL 3SV313 Vsen en NOLIIEISSA A Noa SNOISTSY 239 Lassen i
77. SVs is the number of satellites used in the solution The GPS receiver sends this packet in response to Packet 0x24 The data format is shown below Table A 46 Report Packet 0x6D Data Formats Byte Bit Item Type Value Definition 0 0 2 Dimension UINT8 3 2D 4 3D 0 3 0 Auto 1 Manual 0 4 7 nSVs 1 4 PDOP Single PDOP 5 8 HDOP Single HDOP 9 12 VDOP Single VDOP 13 16 TDOP Single TDOP 16 nSVvs SV PRN UINT8 Note The Lassen iQ GPS receiver sends this packet automatically after a position fix or every second if no position fix occurs Lassen iQ GPS Receiver 139 A Trimble Standard Interface Protocol TSIP Command Packet 0x69 Set Request Enhanced Sensitivity Mode The Lassen iQ GPS receiver is configured at the factory with the Enhanced Sensitivity feature Off There are several ways to turn the Enhanced Sensitivity feature on e The iQ CHAT program found in the iQ Starter Kit e The iQ Monitor program found in the iQ Starter Kit e The TSIP command packet 0x69 receiver responds with packet 0x89 The data format is shown below Table A 47Command Packet 0x69 Data Format Byte Item Type Units Byte 0 Value Velocity 0 Enhanced Byte 0 Off Standard Sensitivity Mode 1 Enhanced 1 Reserved Note A soft reset is required to make the switch to Enhanced Sensitivity effective To permanently set the Lassen iQ GPS receiver to t
78. TSIP applications 112 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Command Packet 0x37 Request Status and Values of Last Position and Velocity This packet requests information regarding the last position fix and is only used when the receiver is not automatically outputting positions The GPS receiver returns Report Packet 0x57 followed by the position velocity packets specified in Command Packet 0x35 Command Packet 0x38 Request Load Satellite System Data This packet requests current satellite data almanac ephemeris etc or permits loading initialization data from an external source for example by extracting initialization data from an operating GPS receiver unit via a data logger or computer and then using that data to initialize a second GPS receiver unit The GPS receiver returns Packet 0x58 Note that the GPS receiver can initialize itself without any data from the user it merely requires more time To request data without loading data use only bytes 0 through 2 to load data use all bytes Before loading data observe the caution notice below The data formats are located in Report Packet 0x58 Lassen iQ GPS Receiver 113 A Trimble Standard Interface Protocol TSIP Table A 20 Command Packet 0x38 Data Formats Byte Item Type Value Definition 0 Operation UINT8 1 Request data from Lassen iQ GPS receiver Load data into Lassen iQ GPS receiver 1 Type of data UINT8 2
79. Vs used Lassen iQ GPS Receiver 185 C Trimble ASCII Interface Protocol TAIP Note At least 2 satellites are required to get the LN Message Position is in degrees minutes and decimal minutes Latitude is positive north longitude is positive east WGS 84 Heading is in degrees from True North increasing eastwardly The GPS time of day is the time of fix rounded to the nearest second Note The data in this message is to be considered invalid and should not be used if the Age of Data Indicator is equal to 0 signifying data not available 186 Lassen iQ GPS Receiver PR Protocol Trimble ASCII Interface Protocol TAIP C The protocol message PR is the method used to control which I O protocols are active on the Lassen iQ receiver port Each protocol can be set to e Off Input only e Output only Both input and output The PR data string format is TAIP xy TSIP xy NMEA xy RTCM xy Table C 14 PR Data String Descriptions Item of Char Units Format Value Port 1 protocol 1 n a x T Both in and out I Input only O Output only F Off N Not available Port 2 protocol 1 n a y T Both in and out I Input only O Output only F Off N Not available Sending the following message will set the receiver to TAIP IN and TAIP OUT on PORT 1 and RTCM IN and NMEA OUT on Port 2 gt SPR TAIP TF TSIP FF NMEA FO RTCM FI lt Lassen iQ GPS Recei
80. able connect the terminated end of the power cable to the power connector on the interface unit Connect the red lead to DC positive voltage 9 to 32 VDC and black power lead to DC ground The yellow wire is not used Switch on the DC power source AC DC Power Converter connect the output cable of the converter to the 3 pin power connector on the interface unit Using the appropriate 3 prong AC power cable not provided connect the converter to an AC wall socket 110 VAC or 220 VAC The AC power cable is not provided in the Starter Kit Warning If the Lassen iQ GPS Starter Kit is powered up and attached to a PC COM port the Windows operating system may recognize the Starter Kit as a new serial device and assign it to the mouse driver This can cause erratic mouse control To disable serial mouse detection at start up add one of the following lines in the BOOT INI file in the root directory NOSERIALMICE detection is disabled on all serial ports or NOSERIALMICE COMx COMy COMz detection is disabled on one or more specified com ports Lassen iQ GPS Receiver StarterKit 1 Software Toolkit The CD provided in the Starter Kit contains the iQ_Monitor the iQ_CHAT and the GPSSK interface programs used to monitor GPS performance and to assist system integrators in developing a software interface for the GPS module These applications are described in detail in Appendix B TSIP User s Guide iQ Monitor runs on the Windows 9
81. able 4 4 Enhanced Sensitivity Mode TTFF Times Standard Sensitivity Mode 50 sec 90 sec Hot Start TBD TBD Warm Start TBD TBD Enabling the Enhanced Sensitivity Mode New TSIP Command The Lassen iQ GPS receiver is configured from the factory with the Enhanced Sensitivity feature turned off A new TSIP Trimble Standard Interface Protocol command and a new set of APIs have been generated for switching between the Standard and the Enhanced Sensitivity Modes You can turn the Enhanced Sensitivity feature on using one of three tools e The iQ CHAT program found in the iQ Starter Kit or e The iQ Monitor program found in the iQ Starter Kit or e The new TSIP Command Packet 0x69 The Lassen iQ GPS receiver will respond with the new TSIP response packet 0x89 A soft reset is required to make the switch effective Following are the details of the command packet 0x69 and report packet 0x89 72 Lassen iQ GPS Receiver Operation and Performance 4 After Reset Table 4 5 Command Packet 0x69 Set Request Enhanced Sensitivity Mode Byte Item Type Value Definition 0 Enhanced Byte 0 Off standard Sensitivity Mode 1 On enhanced 1 Reserved Table 4 6 Report Packet 0x89 Report Enhanced Sensitivity Mode Byte Item Type Value Definition 0 Current Byte 0 Off standard Enhanced 1 On enhanced Sensitivity Mode 1 Enhanced Byte 0 Off standard Sensitivity Mode 1 On enhanced
82. acket 0x31 Accurate Initial Position XYZ Cartesian ECEF This packet is identical in content to Packet 0x23 This packet provides an initial position to the GPS receiver in XYZ coordinates However the GPS receiver assumes the position provided in this packet to be accurate This packet is used for satellite acquisition aiding in systems where another source of position is available For acquisition aiding the position provided by the user to the GPS receiver in this packet should be accurate to a few kilometers For high accuracy time transfer position should be accurate to a few meters Table A 17 Command Packet 0x31 Data Format Lassen iQ GPS Receiver Byte Item Type Units 0 3 X axis Single Meters 4 7 Y axis Single Meters 8 11 Z axis Single Meters Trimble Standard Interface Protocol TSIP A Command Packet 0x32 Accurate Initial Position Latitude Longitude Altitude This packet is identical in content to Packet 0x2B This packet provides the GPS receiver with an accurate initial position in latitude longitude and altitude coordinates However the GPS receiver assumes the position provided in this packet to be accurate This packet is used for satellite acquisition aiding in systems where another source of position is available For acquisition aiding the position provided by the user to the GPS receiver in this packet should be accurate to a few kilometers For high accuracy time transfer
83. acquisition times In the standard mode the default setting for the AMU mask Amplitude Measurement Unit is 2 AMU mask establishes the minimum signal strength that the receiver will use for GPS position velocity and time calculations The standard mode settings are AMU Mask 2 and PDI 1 ms These standard mode settings are the factory recommendations for fastest acquisition and best performance under normal signal conditions Enhanced Sensitivity Mode Enhanced Sensitivity mode enables the receiver to acquire lower strength GPS satellite signals and generate position fixes under poor signal conditions When the Enhanced Mode is enabled the receiver will begin its search for GPS satellite signals using a Ims PDI acquisition If no valid GPS satellite signals are detected after one complete frequency search the receiver will switch to the extended PDI acquisition of 5 ms Using a longer PDI allows the unit to detect lower level signals but does require longer to complete the frequency search Lassen iQ GPS Receiver Operation and Performance 4 In addition to the automatic switch to an extended PDI if needed the Enhanced Sensitivity mode also uses a lower AMU mask When Enhanced Sensitivity mode is enabled the AMU mask is immediately set to the lower value of 1 2 This lower setting allows weaker signals to pass the filters ofthe GPS system and be used for calculating the position The default AMU mask for the Enhanced Sensitiv
84. alid Mode Indicator A Autonomous Mode D Differential Mode E Estimated dead reckoning Mode M Manual Input Mode S Simulated Mode N Data Not Valid hh Checksum Lassen iQ GPS Receiver NMEA 0183 E GSA GPS DOP and Active Satellites The GSA messages indicates the GPS receiver s operating mode and lists the satellites used for navigation and the DOP values of the position solution SGPGSA a X XX XX XX XX XX XX XX XX XX XX XX XX X X X X X X hh lt CR gt lt LF gt Table E 6 GSA GPS DOP and Active Satellites Message Parameters Field Description 1 Mode M Manual A Automatic In manual mode the receiver is forced to operate in either 2D or 3D mode In automatic mode the receiver is allowed to switch between 2D and 3D modes subject to the PDOP and satellite masks 2 Current Mode 1 fix not available 2 2D 3 3D 3 to 14 PRN numbers of the satellites used in the position solution When less than 12 satellites are used the unused fields are null 15 Position dilution of precision PDOP 16 Horizontal dilution of precision HDOP 17 Vertical dilution of precision VDOP hh Checksum Lassen iQ GPS Receiver 217 E 218 NMEA 0183 GSV GPS Satellites in View The GSV message identifies the GPS satellites in view including their PRN number elevation azimuth and SNR value Each message contains data for four satellites Second and
85. ally on the hour Especially important for Differential GPS operation that the IODE change is tracked at both the reference station and mobile stations Interference in either transmitting or receiving signals caused by other radio signals at exactly or approximately the same frequency A numerical method used to track a time varying signal in the presence of noise If the signal can be characterized by some number of parameters that vary slowly with time then Kalman filtering can be used to tell how incoming raw measurements should be processed to best estimate those parameters as a function of time See satellite masks A measure of the maximum Position Dilution of Precision PDOP that is acceptable in order for the GPS processor to determine a location solution see PDOP The name given to the GPS satellites built by Rockwell International which is an acronym formed from NAVigation System with Time And Ranging National Marine Electronics Association An association that defines marine electronic interface standards for the purpose of serving the public interest NMEA 0183 is a standard for interfacing marine electronics navigational devices The standard specifies the message format used to communicate with marine devices components An envelope for data which contains addresses and error checking information as well as the data itself A scheme for detecting certain errors in data transmission Parity defines th
86. ance Characteristics 2 200 68 Lassen iQ GPS Receiver Sensitivity Modes 70 Lassen iQ GPS Receiver Aided GPS Feature 75 GPS Timing 22 8 2 Sat a eh eo ae EN Deal 77 Pulse Per Second PPS 22 2 En nn nn 79 System Architecture 2 22 2 2 mon nn 82 A Trimble Standard Interface Protocol TSIP Interface Scope nn 86 Packet Structure 2 e a rt raaa Gr daa SEA ee 87 Automatic Output Packets oaoa aa a nn 88 Customizing Receiver Operations 89 Automatic Position and Velocity Reports 89 Initialization Packets to Speed Start up 2 nn nn 90 Packets Output at Power Up aoaaa nn 91 Timing Packets 2 0 5 2404 400 Pe 4 4 E a ea ehe 91 Satellite Data Packets o o oa aaa 92 Backwards Compatibility a a a a 92 Recommended TSIP Packets ooa a nn nn 93 Command Packets Sent to the Receiver 94 Report Packets Sent by the Receiver to the User 96 Key Setup Parameters or Packet BB 97 Packet Descriptions 22 0005500 102 TAIP Message Output Packet Ox7E 145 TSIP Superpackets 2 2 2 2 2m nn nn nn 156 B TSIP Tool kit User s Guide IQ_Monitor 2 2 22 2 2 nn nn 165 Lassen iQ GPS Receiver Trimble ASCII Interface Protocol TAIP Message Format Sample PV Message Time and Distance Reporting Latitude and Longitude Conversion
87. and calculates and transmits differential corrections A term used to describe a GPS receiver that is capable of receiving and applying differential GPS corrections Lassen iQ GPS Receiver 247 Glossary differential GPS differential processing differential relative positioning dilution of precision DOP Doppler aiding A procedure of correcting GPS solutions to achieve improved position accuracy Differential GPS provides 2 to 5 meter position accuracy Differential accuracy is obtained by applying corrections determined by the stationary Differential GPS Reference Station to the GPS data collected by the RPU unit on board the vehicle GPS measurements can be differenced between receivers satellites and epochs Although many combinations are possible the present convention for differential processing of GPS phase measurements is to take differences between receivers single difference then between satellites double difference then between measurement epochs triple difference Determination of relative coordinates of two or more receivers which are simultaneously tracking the same satellites Static differential GPS involves determining baseline vectors between pairs of receivers Also see differential GPS A description of the purely geometrical contribution to the uncertainty in a position fix given by the expression DOP SQRT TRACE AA where AA is the design matrix for the instantaneous position solution
88. ar application if the vehicle dynamics and expected level of obscuration are understood If the receiver is then taken out of this environment the specifically tuned receiver may not operate as well as a receiver with the default options The table below lists suggested parameter selections as a function of obscuration and whether accuracy or fix density is important In this table NA indicates that the operating parameter is not applicable DC don t care indicates that the user may choose the operating parameter Table A 10 Setup Parameters in Packet 0xBB Parameter Accuracy Fixes Factory Default Fix mode Man 3D AUTO AUTO Dynamics code Land Land Land Elevation mask 10 5 5 Signal mask 6 0 4 0 2 0 DOP mask 6 0 12 0 12 0 DOP switch NA 8 0 6 0 DGPS correction age 10 Seconds N A 30 Seconds The default values in Table A 10 allow the receiver to operate well under the most varied and demanding conditions A user may choose to change the default parameters if the receiver is only required to perform in a specific or limited environment The user should be warned that when the receiver is exposed to operating conditions which are different from the conditions described by the user setup then the performance may be degraded Lassen iQ GPS Receiver 97 A Trimble Standard Interface Protocol TSIP 98 Initially the user must consider the environment in which the receiver is expected to operate
89. ata and special system messages The GPS system almanac is updated weekly and is typically valid for months The ephemeris contains detailed orbital information for a specific satellite Ephemeris data changes hourly but is valid for up to four hours The GPS control segment updates the system almanac weekly and the ephemeris hourly through three ground based control stations During normal operation the Lassen iQ GPS receiver module updates its ephemeris and almanac as needed The performance of a GPS receiver at power on is determined largely by the availability and accuracy of the satellite ephemeris data and the availability of a GPS system almanac Lassen iQ GPS Receiver 55 4 Operation and Performance Satellite Acquisition and Time to First Fix Cold Start The term cold start describes the performance of a GPS receiver at power on when no navigation data is available cold signifies that the receiver does not have a current almanac satellite ephemeris initial position or time The cold start search algorithm applies to a Lassen iQ GPS receiver which has no memory of its previous session i e is powered on without the memory backup circuit connected to a source of DC power This is the out of the box condition of the GPS module as received from the factory In a cold start condition the receiver automatically selects a set of twelve satellites and dedicates an individual tracking channel to each satellite t
90. ay be used for securing the Lassen iQ GPS module on the user s PCB When the cable strip I O connector scheme is used the connector side of the Lassen iQ GPS module will be faced up and the mounting tabs will be on the top of the module away from PCB The Lassen iQ GPS module can be attached to the integrator platform by many methodologies including solder glue double sided adhesive tape and custom hold down mounts for the module s mounting tabs Note See Appendix F for mechanical drawings and specifications regarding the spacing of the mounting tabs and the dimensions of the enclosure Lassen iQ GPS Receiver Hardware Integration 2 GPS Antennas The antenna receives the GPS satellite signals and passes them to the receiver The GPS signals are spread spectrum signals in the 1575 MHz range and do not penetrate conductive or opaque surfaces Therefore the antenna must be located outdoors with a clear view of the sky The Lassen iQ GPS receiver requires an active antenna The received GPS signals are approximately 130 dBm at the surface of the earth in typical environments Trimble s active antennas include a preamplifier that filters and amplifies the GPS signals before delivery to the receiver Trimble offers three antennas for use with the Lassen iQ GPS receiver described below and in Appendix D 1 The Ultra Compact Embedded GPS Antenna with an HFL connector is ideal for portable and mobile applications This unpackag
91. ble Standard Interface Protocol TSIP Command Packet 0x62 Set Request Differential Position Fix Mode Note This command packet has been replaced by command packet OxBB Although the Lassen iQ GPS retains compatibility with this command it is recommended that you use the OxBB command packet to set the Differential Fix Mode This packet requests the Differential Position Fix Mode of the GPS receiver A single data byte is sent To request report packet 0x82 the data byte is set to OxFF Command Packet 0x65 Set Request Differential Position Fix Mode This packet requests the status of differential corrections for a specific satellite or for all satellites for which data is available This packet contains only one byte specifying the PRN number of the desired satellite or zero to request all available The response is a packet 0x85 for each satellite if data is available If the receiver has not valid data for any satellite no reply will be sent Note TSIP packet 0x65 is not functional in the Lassen iQ GPS firmware release 1 10 138 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Report Packet 0x6D All In View Satellite Selection This packet provides a list of satellites used for position fixes by the GPS receiver The packet also provides the PDOP HDOP and VDOP of that set and provides the current mode automatic or manual 3 D or 2 D This packet has variable length equal to 16 nS Vs where n
92. bytes which are output as five 2 digit hexadecimal values The data format and the meanings of the hex characters are given in the following tables Table C 19 Data String HEX Characters Item of Char Units Format Definition Tracking Status Code 2 n a AA see table below Status Codes Nibble 1 1 n a B see table below Status Codes Nibble 2 1 n a C see table below Machine ID 2 n a DD Status Code Nibble 3 1 n a E not currently used Status Code Nibble 4 1 n a F see table below Reserved 2 n a GG see table below Lassen iQ GPS Receiver 195 C Trimble ASCII Interface Protocol TAIP Table C 20 Tracking Status Code Value AA Meaning 00 Doing position fixes 01 Don t have GPS time yet 02 Not used 03 PDOP is too high 08 No usable satellites 09 Only 1 usable satellite OA Only 2 usable satellites OB Only 3 usable satellites OC Chosen satellite is unusable Table C 21 Error Codes Nibble 1 Value B Meaning 0 No problems reported 2 Antenna feedline open fault 6 Antenna feedline short fault Table C 22 Error Codes Nibble 2 Value C Meaning 0 No problems reported 1 Battery back up failed RAM not available at power up see Note below 196 Lassen iQ GPS Receiver Trimble ASCII Interface Protocol TAIP Table C 23 Machine ID Code Value DD Meaning DD Display
93. c 20 3 3 5 1 9 24 27 alpha_3 Single Sec 20 3 3 5 1 9 28 31 beta_O Single Sec 20 3 3 5 1 9 32 35 beta_1 Single Sec 20 3 3 5 1 9 36 39 beta_2 Single Sec 20 3 3 5 1 9 40 43 beta_3 Single Sec 20 3 3 5 1 9 Table A 41 Byte Item Type Definition IDC GPS 200 4 16 not used 17 24 A0 Double Sec 20 3 3 5 1 8 25 28 A1 Single Sec 20 3 3 5 1 8 29 30 delta t_LS Integer Sec 20 3 3 5 1 8 31 34 t_ot Single Sec 20 3 3 5 1 8 35 36 WNt Integer Sec 20 3 3 5 1 8 37 38 WN_LSF Integer Sec 20 3 3 5 1 8 39 40 DN Integer Sec 20 3 3 5 1 8 41 42 delta_t_LSF Integer Sec 20 3 3 5 1 8 Table A 42 Byte Item Type Definition IDC GPS 200 4 sv_number UINT8 SV PRN number 5 8 t_ephem Single time of collection 9 10 weeknum INT16 Sec 20 3 3 3 Table 20 I Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Table A 42 Continued Byte Item Type Definition IDC GPS 200 11 codeL2 UINT8 Sec 20 3 3 3 Table 20 I 12 L2Pdata UINT8 Sec 20 3 3 3 Table 20 I 13 SVacc_raw UINT8 Sec 20 3 3 3 Table 20 I 14 SV_health UINT8 Sec 20 3 3 3 Table 20 I 15 16 IODC INT16 Sec 20 3 3 3 Table 20 I 17 20 T_GD Single Sec 20 3 3 3 Table 20 I 21 24 t_oc Single Sec 20 3 3 3 Table 20 I 25 28 a_f2 Single Sec 20 3 3 3 Table 20 I 29 32 afl Single Sec 20 3 3 3 Table 20 I 33 36 a_f0 Single Sec 20 3 3 3 Table 20 I 37 40 SVacc Single Sec 20 3 3 3 Table 20 I 41 IODE UINT8 Sec 2
94. cable Figure 1 3 the AC DC power converter Figure 1 4 or the cigarette lighter adapter Red Power Black Ground Yellow Unused Figure 1 3 DC Power Cable The DC power cable is ideal for bench top or automotive testing environments The power cable is terminated at one end with a 3 pin plastic connector which mates with the power connector on the metal enclosure The un terminated end of the cable provides easy connection to aDC power supply Connect the red power lead to a source of DC positive 9 to 32 VDC and connect the black power lead to ground This connection supplies power to both the receiver and the antenna Note To ensure compliance with CE conducted emissions requirements when using the DC power cable the Starter Kit interface unit must be bonded to a ground plane Note The yellow wire of the DC power cable is not used Battery back up power is provided by a factory installed 3 6V lithium battery on the motherboard Lassen iQ GPS Receiver 13 1 Starter Kit The AC DC power converter may be used as an alternate power source for the interface unit The AC DC power converter converts 110 or 220 VAC to aregulated 12 VDC compatible with the interface unit The AC DC power converter output cable is terminated with a 3 pin connector compatible with the power connector on the metal enclosure The AC power cable is not provided in the kit since this cable is country specific The input connector is
95. ccuracy users may use a slightly higher mask of 6 0 8 0 since weaker measurements may be slightly noisier and are often caused by reflected signals which provide erroneous ranges One should also resist the temptation to set the elevation and SNR masks too low The satellite geometry is sometimes improved considerably by selecting low elevation satellites They are however subject to significant signal degradation by the greater ionospheric and tropospheric attenuation that occurs They are also subject to more obscuration by the passing scenery when the receiver is in a moving vehicle The code phase data from those satellites is therefore more difficult to decode and therefore has more noise Note A level of hysteresis in the signal level mask is allowed in the core operating software The hysteresis allows the receiver to continue using satellite signals which fall slightly below the mask and prevents the receiver from incorporating a new signal until the signal level slightly exceeds the mask This feature minimizes constellation changes caused by temporary fluctuations in signal levels Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A DOP Mask and Switch The DOP mask is the maximum DOP limit for any 2 D or 3 D position solution will be made The DOP switch is the level at which the receiver stops attempting a 3 D solution and tries for a 2 D solution when in automatic 2 D 3 D mode The switch level has no e
96. ceiver supports the following TAIP messages Table C 1 Lassen iQ GPS Supported Messages Message Description AL Altitude Up Velocity AP Auxiliary Port Characteristics CP Compact Position Solution DC Differential Corrections ID Identification Number IP Initial Position LN Long Navigation Message PR Protocol PT Port Characteristic PV Position Velocity Solution RM Reporting Mode RT Reset Mode ST Status TM Time Date VR Version Number Note The Lassen iQ GPS firmware version 1 10 does not support the AP and DC TAIP messages 168 Lassen iQ GPS Receiver Message Format Trimble ASCII Interface Protocol TAIP Cc All TAIP communication uses printable uppercase ASCII characters The interface provides the means to configure the output of various sentences in response to queries or on a scheduled basis Each sentence has the following general format ABB C ID DDDD FF lt where Table C 2 Message Formats Message Description gt Start of new message A Message qualifier BB Two character message identifier C Data string DDDD Optional 4 character vehicle ID FF Optional 2 character checksum lt Delimiting character x Signifies that x can occur any number of times x Signifies that x may optionally occur once Start of a New Message The gt character ASCII code 62 decimal is used to specify the star
97. cond Note The data in this message is to be considered invalid and should not be used if the Age of Data Indicator is equal to 0 signifying data not available Lassen iQ GPS Receiver 191 C Trimble ASCII Interface Protocol TAIP 192 RM Reporting Mode Data String Format ID_FLAG A CS_FLAG B EC_FLAG C FR_FLAG D CR_FLAG E Table C 17_ Reporting Mode Data String Descriptions Item of Char Units Format Value ID Flag 1 n a A T True F False CS Flag 1 n a B T True F False EC Flag 1 n a C T True F False FR Flag 1 n a D T True F False CR Flag 1 n a E T True F False ID Flag determines whether the unit is to include the vehicles ID with each report CS Flag determines whether the unit is to include a checksum as part of each message EC Flag when set will cause the unit to echo back all complete and properly formatted set commands with a response qualifier This provides an easy way to verify that the unit did in fact receive the intended data FR Flag indicates whether the unit is to report messages automatically per their individually scheduled frequency When set to false the unit will only respond when queried for a specific message CR Flag when set to True will cause the receiver to append a carriage return and line feed CR LF to the end of each message output This is useful when viewing the unencoded receiver responses o
98. d more than 1 000 miles since its previous fix In either case the receiver can initialize itself appropriately without any data from the user it merely requires more time Note For all the above values the first character S specifies the sign coy or Example The following message will set the initial position to 37 North 122 West altitude 10 meters gt SIP 37 122 0001 lt Lassen iQ GPS Receiver Trimble ASCII Interface Protocol TAIP LN Long Navigation Message Note The first character of latitude longitude altitude or vertical speed S is or on Data String Format AAAAA BBB S CCDDDDDDD S EEEFFFFFFF S GGGGGGHHII I S KKKLMMMNOOPPQOQPPQQ PPQQRRRRRRRRRRXT Table C 13 Long Navigation Message Data String Descriptions Item of Char Units Format Value GPS Time of Day 8 Sec AAAAA BBB Latitude 10 Deg S CC DDDDDDD Longitude 11 Deg S EEE FFFFFFF Altitude above 9 Ft S GGGGGG HH MSL Horizontal speed 4 MPH IIIJ Vertical speed 5 MPH S KKK L Heading 4 Deg MMM N Number of SVs 2 n a OO used SV ID see note 2 n a PP IODE see note 2 n a QQ Reserved 10 n a RRRRRRRRRR Fix Mode 1 n a x 0 2D GPS 1 3D GPS 2 2D DGPS 3 3D DGPS 6 DR 8 Degraded DR 9 No fix avail Age of Data 1 n a T 2 Fresh lt 10 sec indicator 1 Old gt 10 sec 0 Not available Total number of characters is 65 4x number of S
99. d GPS week number INT16 weeks 6 9 GPS UTC offset Single seconds Note UTC time lags behind GPS time by an integer number of seconds UTC GPS time GPS UTC offset Warning GPS week number runs from 0 to 1023 and then cycles back to week 0 week 0 began January 6 1980 The first cycle back to week 0 was on August 22 1999 The extended GPS week number however does not cycle back to 0 For example the week for August 22 1999 1024 the Week for April 1 2002 1160 Lassen iQ GPS Receiver 115 A Trimble Standard Interface Protocol TSIP 116 The seconds count begins with 0 each Sunday morning at midnight GPS time A negative indicated time of week indicates that time is not yet known in that case the packet is sent only on request The following table shows the relationship between the information in Packet 0x41 and the Packet 0x46 status code Table A 23 Packets 0x41 and 0x46 Status Code Relationships Approximate Time Time Source Sign TOW Packet 46 Accuracy Status Code none no time at all 0x01 unknown approximate time from 0x01 real time clock or Packet 2E 20 50 msec clock time from satellite 0x02 Ox0C drift full accuracy time from GPS solution 0x00 Note Before using the GPS time from Packet 0x41 verify that the Packet 0x46 status code is 00 Doing position fixes This will ensure the most accurate GPS time Lassen
100. d in developing applications Note The TSIP TAIP and NMEA protocols are discussed beginning on page 42 of this chapter and in the Appendices of this document Lassen iQ GPS Receiver 39 3 40 Software Interface Port Configuration The Lassen iQ GPS receiver module has two I O ports Table 3 1 provides the default protocols and port configurations for the receiver as delivered from the factory TSIP IN OUT is the default protocol on Port 1 and RTCM IN and NMEA OUT is the default protocol on Port 2 Table 3 1 Default Protocols and Port Configurations Port Input Default Setup Output Default Setup Protocol Language 1 TSIP Baud Rate 9600 TSIP Baud Rate 9600 Data Bits 8 Data Bits 8 Parity Odd Parity Odd Stop Bits 1 Stop Bits 1 No Flow Control No Flow Control 2 RTCM Baud Rate 4800 NMEA Baud Rate 4800 Data Bits 8 Data Bits 8 Parity None Parity None Stop Bits 1 Stop Bits 1 No Flow Control No Flow Control The Lassen iQ GPS Receiver can also be configured to output TAIP messages The Trimble standard port characteristics for TAIP are Baud Rate 4800 e Data Bits 8 e Parity None e Stop Bits 1 No Flow Control Any standard serial communications program such as Windows Hyper Terminal or PROCOMM can be used to view the NMEA or TAIP output messages TSIP is a binary protocol and outputs raw binary serial data that cannot be read when using Windows Terminal or PROCOMM To v
101. d the motherboard for testing outside of the laboratory environment The Lassen iQ GPS receiver is a single module encased in a sturdy metal enclosure The dimensions of the receiver in this enclosure are 26 mm H x 26 mm L x 6 mm H 1 02 W x 1 02 L x 0 24 H A straight in panel mount RF connector J1 supports the GPS antenna connection The center conductor of the coaxial connector also supplies 3 3 VDC for the Low Noise Amplifier of the active antenna An 8 pin 2x4 0 09 inch header J2 supports the two serial interfaces CMOS TTL level the pulse per second PPS signal CMOS TTL level and the input power 3 3 VDC Figure 1 1 illustrates the module in the metal enclosure Lassen iQ GPS Receiver StarterKit 1 Bottom Shield Top Shield Figure 1 1 Lassen iQ GPS receiver Module The interface motherboard includes a 9 to 32 VDC switching power supply which provides regulated 3 3 VDC power to the receiver and contains circuitry which provides two RS 232 interface ports A 3 6V lithium backup battery enables quick hot starts The TTL level PPS is brought directly out to Pin 9 of the Port 2 DB9 connector on the front of the interface unit The Starter Kit includes an AC DC converter for powering the module from an AC wall socket The metal enclosure see Figure 1 2 provides 2 DB9 interface port connectors an antenna connector and a power connector Port 1 and Port 2 are used for serial VO Lassen iQ GPS Rece
102. d to query the port characteristics In query mode Packet OxBC is sent with a single data byte and returns Report Packet OxBC See Table A 4 for information on saving the settings to non volatile memory TSIP Packet OxBC is used to set the communication parameters on Port 1 The table below lists the individual fields within the Packet OxBC and provides query field descriptions The BC command settings are retained in battery backed RAM Table A56 Command Packet 0xBC Port Characteristics Byte Bit Item Type Value Definition 0 Port to Set UINT 8 0 1 OxFF Port 1 Port 2 Current port Input Baud Rate UINT 8 OANDOaARWN Reserved Reserved Reserved 2400 baud 4800 baud 9600 baud 19200 baud 38400 baud Output Baud Rate UINT 8 As above As above Note 1 Data Bits UINT 8 7 bits 8 bits Parity UINT 8 None Odd Even Stop Bits UINT 8 2 O N gt OJON 1 bit 2 bits Flow Control UINT 8 oO 0 none 154 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP Table A 56 Command Packet 0xBC Port Characteristics Continued A Byte Bit Item Type Value Definition 7 0 TAIP Bit 0 Off 1 On 1 TSIP input Bit 0 Off 1 On 2 Reserved 3 Reserved 4 7 Reserved 8 0 TAIP Bit 0 Off 1 On 1 TSIP output Bit 0 Off 1 On 2 NMEA output Bit 0 Off
103. e The 0x8E 26 command is issued with no data to cause the current settings to be saved to non volatile memory The 0x8F 26 report is generated after the values have been saved Table A 60 Command Packet 0x8E 26 Definitions Byte Item Type Value Definition 0 Subcode UINT8 0x26 Save Settings Report Packet 0x8F 26 Non Volatile Memory Status This report will be issued after an Ox8E 26 command Table A 61 Report Packet 0x8F 26 Field Descriptions Byte Item Type Value Definition 0 Subcode UINT8 0x26 Save Settings 1 4 reserved Lassen iQ GPS Receiver 161 A Trimble Standard Interface Protocol TSIP 162 Lassen iQ GPS Receiver APPENDIX TSIP Tool kit User s Guide The GPS Tool Kit program disk includes several TSIP interface programs designed to help developer s evaluate and integrate the GPS module and create GPS applications These programs run on aPC Win95 Win98 Win2000 or WinNT platform They are intended as a base upon which to build application specific software so the source code in ANSIC is included for many of these programs The GPS Tool Kit program disk includes the following programs 32 bit Windows Applications iQ_Monitor is a 32 bit windows application which interfaces with a TSIP speaking receiver through a serial port The program accepts TSIP reports and displays them in a window with fields for position velocity
104. e the GPS receiver returns Packet 4A This packet sets or requests the altitude parameters used for the Manual 2 D mode Reference Altitude and Altitude Flag Packet Ox4A 9 byte format is returned Table A 13 Packet 0x2A Set Reference Altitude Description Byte Item Type Definition 0 3 Altitude Single Reference altitude for 2 D Table A 14 Packet 0x2A Clear Reference Altitude Description Byte Item Type Value Definition 0 Altitude Flag UINT8 0 x FF Clear Altitude flag Note With no data bytes this packet requests the current values of these altitude parameters In this case the GPS receiver returns Packet 4A 9 byte format Lassen iQ GPS Receiver 105 A Trimble Standard Interface Protocol TSIP 106 Command Packet 0x2B Initial Position Latitude Longitude Altitude This packet provides the GPS receiver with an approximate initial position in latitude and longitude coordinates WGS 84 This packet is useful if the user has moved more than about 1 000 miles since the previous fix Note that the GPS receiver can initialize itself without any data from the user this packet merely reduces the time required for initialization This packet is ignored if the receiver is already calculating positions The data format is shown in the table below Table A 15 Command Packet 0x2B Data Format Byte Item Type Units 0 3 Latitude Single Radians north
105. e this packet provides a comprehensive but straightforward means to set up the TAIP output configuration It can also be used to reset the output configuration For example if any of these eight messages was set up as Time Distance mode from the TAIP protocol this packet would reset any such message back to plain periodic output mode or no automatic output mode frequency 0 Lassen iQ GPS Receiver 145 A Trimble Standard Interface Protocol TSIP For customization the settings in this packet can be stored into the Flash by either TSIP packet Ox8E 26 or TAIP command SRTSAVE_CONFIG The flash storage commands store the latest output configuration which may be set up by either this packet or any other commands from the TAIP protocol For example if this packet was executed first from the TSIP protocol and then the Lassen iQ GPS was switched to TAIP protocol and the output settings were changed e g changed to Time Distance mode or vise versa then the latest settings would be stored into the Flash when the flash storage command is used Table 50 TAIP Packet 0 x 7E Byte Bit Item Type Value Definition Default 0 Subcode UINT8 0 Setting the packet 0 1 0 ID Flag Bit 0 1 On Off 0 1 CS Flag Bit 0 1 On Off 1 2 EC Flag Bit 0 1 On Off 1 3 FR Flag Bit 0 1 On Off 1 4 CR Flag Bit 0 1 On Off 0 5 7 Reserved 2 3 TOH UINT16 10 3599 Top of hour offset 0 45 AL output UINT16 10 3599
106. e System Unit is turned off A term used to refer to the distance radio signals can travel before they must be received or repeated due to loss of signal strength the curvature of the earth and the noise introduced because of moisture in the air surrounding the earth s surface The rate of change of range between the satellite and receiver The range to a satellite changes due to satellite and observer motions Range rate is determined by measuring the Doppler shift of the satellite beacon carrier Lassen iQ GPS Receiver 253 Glossary read only memory real time clock relative positioning rise set time ROM RS 232 RTCM satellite masks Memory whose contents can be read but not changed Information is placed into ROM only once The contents of ROM are not erased when the system unit s power is turned off An electronic clock usually battery powered that keeps current time Used by a GPS receiver during a warm or hot start to determine where to search for GPS satellite signals The process of determining the vector distance between two points and the coordinates of one spot relative to another This technique yields GPS positions with greater precision than a single point positioning mode can Refers to the period during which a satellite is visible i e has an elevation angle that is above the elevation mask A satellite is said to rise when its elevation angle exceeds the mask and set when the eleva
107. e Trimble Standard Interface Protocol is used extensively in Trimble receiver designs The protocol was originally created for the Trimble Advanced Navigation Sensor TANS and is colloquially known as the TANS protocol even though the protocol applies to many other devices The Lassen iQ GPS receiver has two serial I O communications ports These are bi directional control and data ports The data I O port characteristics protocol definitions and other options are user programmable and can be stored in non volatile FLASH memory The TSIP protocol is based on the transmission of packets of information between the user equipment and the unit Each packet includes an identification code 1 byte representing 2 hexadecimal digits that identifies the meaning and format of the data that follows Each packet begins and ends with control characters This document describes in detail the format of the transmitted data the packet identification codes and all available information over the output channel to allow the user to choose the data required for his particular application As will be discussed the receiver transmits some of the information position and velocity solutions etc automatically when it is available while other information is transmitted only on request Additional packets may be defined for particular products and these will be covered in the specifications for those products as necessary The iQ_CHAT utility part of the GPS
108. e condition i e even or odd of the number of items in a set e g bits in a byte 252 Lassen iQ GPS Receiver PDOP PDOP constellation switch PRN protocol pseudo range RAM random access memory range range rate Glossary Position Dilution of Precision PDOP is a unitless figure of merit that describes how an uncertainty in pseudo range affects position solutions A value based on PDOP that defines when the GPS receiver processor should switch between 2 D and 3 D GPS modes The PDOP constellation switch is only active when the GPS mode of operation is set to Auto Pseudo random noise Bach GPS satellite generates its own distinctive PRN code which is modulated onto each carrier The PRN code serves as identification of the satellite as a timing signal and as a subcarrier for the navigation data A formal set of rules that describe a method of communication The protocol governs the format and control of inputs and outputs A measure of the range from the GPS antenna to a GPS satellite Pseudo range is obtained by multiplying the speed of light by the apparent transit time of the signal from the GPS satellite Pseudo range differs from actual range because the satellite and user clocks are offset from GPS time and because of propagation delays and other errors Random Access Memory Memory in which information can be referred to in an arbitrary or random order The contents of RAM are lost when th
109. e initial position last known position and the current time In some cases the receiver may not be able to acquire the expected satellite signals e g a vehicle parked in a garage or a vessel in a covered berth Trimble s patented garage search strategy also known as a split search is designed for such situations If the receiver does not acquire the expected set of satellites within 5 minutes of power on some of the twelve tracking channels will continue to search for the expected satellites warm search while the remaining channels are directed in a cold start search This strategy minimizes the time to first fix in cases where the stored almanac position and time are invalid The stored information is flushed from memory if the cold start search proves effective and the warm search fails System Reset The Lassen iQ GPS receiver can be reset with software commands or by cycling power A system reset will cause the receiver to restart and begin the satellite acquisition and tracking process again There are three types of system resets soft reset hard reset and factory reset The TSIP protocol supports all three resets using the Ox1E command Power cycling can be used for either the soft reset or the hard reset A soft reset is a system restart In a soft reset the system will attempt to acquire satellites using the satellite information and last position data stored in RAM and the time information supplied by the real
110. e scheduled reporting frequency interval F message qualifier is used to tell the unit how often and when to report a specific message The format is gt FAABBBBCCCC ID DDDD FF lt where sending this sentence tells the unit to report message specified by the two digit identifier AA at the time interval of BBBB seconds with time epoch at CCCC seconds from top of the hour Specifying time interval of 0000 stops scheduled reporting of the message The default is 0000 time interval for all messages except PV The output frequency for PV at cold start is set at once every five seconds zero seconds from top of the hour Messages supported by this qualifier are AL AP CP ID IP LN PT PV RM ST TM and VR Notes The Lassen iQ GPS receiver firmware version 1 10 does not support the AP TAIP message The data specified by this qualifier is the timing of the message output and may be different from the time tag of the data in the message Lassen iQ GPS Receiver Trimble ASCII Interface Protocol TAIP C The Response to Query or Scheduled Report The response R qualifier carry various types of data between the unit and the user equipment The format is gt RAA B ID CCCC DD lt where AA is the two character message identifier and B specifies the data string within the message For the format of B please refer to the message definitions in the previous section Messages supported by the response qualifier are AL
111. e the Lassen iQ GPS receiver achieves its first fix it is ready to commence output of position velocity and time information This information is output over serial communication channel in either the TSIP or NMEA protocol as determined by the settings of the receiver These protocols are defined in the Appendices To change from one protocol to another see Appendix A TSIP Coordinate Systems TSIP has the widest choice of coordinate systems The output format is chosen by TSIP command 0x35 The output formats include the following LLA position Latitude longitude altitude LLA according to the WGS 84 ellipsoid Altitude can be chosen to be height above ellipsoid HAE or height above mean sea level MSL ENU velocity ENU velocity is the velocity in East North and Up coordinates These coordinates are easily converted to speed and heading ECEF position and velocity ECFF position and velocity is Earth Centered Earth Fixed frame is a Cartesian coordinate frame with its center at the earth s center the z axis through the North Pole and the x axis through longitude 0 degrees latitude 0 degrees Velocity is reported relative to the same axes Lassen iQ GPS Receiver Operation and Performance 4 There are also two time coordinate systems e GPS time GPS time is determined by an ensemble of atomic clocks operated by the Department of Defense DOD e UTC time UTC time is the world standard maintained by a
112. eceiver will always check incoming messages for ID and compare with the vehicle ID set in the receiver s memory If no ID is included in the message the receiver will assume a match and accept the message Ifthe message sent to the receiver does contain a vehicle ID but that ID does not match the ID previously set in the receiver the message will be ignored This process is followed even when the ID_Flag is turned off refer to the message RM Lassen iQ GPS Receiver 183 C Trimble ASCII Interface Protocol TAIP 184 IP Initial Position Data String Format S AA S BBB S CCCC Table C 12 Initial Position Data String Descriptions Item of Char Units Format Initial Latitude 3 Deg S AA Initial Longitude 4 Deg S BBB Initial Altitude 5 10 meters S CCCC Total number of characters is 12 This is a very coarse initial position that can be used to aid the receiver in obtaining its first fix This is particularly useful with a receiver that does not have battery backup enabled In such cases every time the unit is powered up it goes through a complete cold start and it has absolutely no knowledge of where it is Providing this message improves performance by decreasing the time to first fix and enhances the accuracy of the initial two dimensional navigation solutions by providing a reference altitude In case of units with battery backed memory sending this message is only helpful if the unit has move
113. ed antenna is approximately the same size as the module itself and can be easily integrated into mobile applications This antenna is supplied with the Starter Kit see Figure 2 4 2 A Compact Unpackaged Antenna with an MCX connector slightly larger than the ultra compact model see 1 above mates to the Hirose connector on the Lassen iQ GPS module with an optional RF transition cable see Figure 2 5 Lassen iQ GPS Receiver 33 2 Hardware Integration 3 A Compact Magnetic Mount GPS Antenna with a5 m cable and an MCX or SMA connector This antenna provides for a flexible movable installation The MCX or SMA output connector mates to the Hirose connector on the Lassen iQ GPS module with an optional RF transition cable The antenna with the MCX connector is supplied with the Starter Kit see Figure 2 6 The MCX connector on the end of the antenna cable mates to the MCX connector in the front of the Starter Kit interface unit The two screw holes on the bottom of the antenna can be used to mount the antenna to a metal plate The dimensions of these holes are 2 06 mm in diameter and 5mm in depth Warning When magnetic mount or permanent mount GPS antennas are installed on a metal surface for prolonged periods care must be taken to insulate the antennas in order to prevent galvanic corrosion 34 Lassen iQ GPS Receiver Hardware Integration 2 Figure 2 4 Ultra Compact Embedded GPS Antenna Figure 2 5 Compac
114. eference Manual part number 54854 00 The following limited warranties give you specific legal rights You may have others which vary from state jurisdiction to state jurisdiction Waste Electrical and Electronic Equipment WEEE Notice This Trimble product is furnished on an OEM basis By incorporating this Trimble product with your finished goods product s you shall be deemed the producer of all such products under any laws regulations or other statutory scheme providing for the marking collection recycling and or disposal of electrical and electronic equipment collectively WEEE Regulations in any jurisdiction whatsoever such as for example national laws implementing EC Directive 2002 96 on waste electrical and electronic equipment as amended and shall be solely responsible for complying with all such applicable WEEE Regulations Hardware Limited Warranty Trimble warrants that this Trimble hardware product the Product shall be free from defects in materials and workmanship and will substantially conform to Trimble s applicable published specifications for the Product for a period of one 1 year starting from the date of delivery The warranty set forth in this paragraph shall not apply to software firmware products Software and Firmware License Limited Warranty This Trimble software and or firmware product the Software is licensed and not sold Its use is governed by the provision
115. eris to files on your PC 6 Now that you have collected these files you can upload them using the upload features on the initialize pulldown window in iQ Monitor Note The collected ephemeris will be only good for approximately 2 hours Lassen iQ GPS Receiver 75 4 Operation and Performance The TSIP Commands Method 1 Allow the receiver to run long enough to collect almanac Note It takes 12 5 minutes of uninterrupted iQ operation to collect almanac from the satellites 2 Use packet 0 x 26 to request the health of the receiver The response packets 0x46 and Ox4B indicate when the almanac is complete and current 3 Use packet 0x 38 to request the almanac and the ephemeris The receiver responses with packet 0 x 58 4 Use packet 0 x 21 to request time from the receiver The receiver responses with packet Ox 41 and this can be used to set your own off board clock 5 You also need to request position from the receiver This can be done by using packets 0x42 Ox4A 0x83 Or 0x84 To upload this information back to the receiver the following order of the upload commands shall be followed 1 Upload the time using packet 0x2E Wait for upload confirmation report packet 0x41 2 Upload position using packet 0x31 or 0x32 No confirmation report packet available 3 Upload the ephemeris using packet 0x38 Wait for upload confirmation report packet 0x58 4 Upload almanac using packet ox 38 Wait for upload co
116. est Software Versions This packet requests information about the version of software running in the Navigation and Signal Processors This packet contains no data The GPS receiver returns Packet 0x45 Command Packet 0x21 Request Current Time This packet requests current GPS time This packet contains no data The GPS receiver returns Packet 0x41 Command Packet 0x23 Initial Position XYZ Cartesian ECEF This packet provides the GPS receiver with an approximate initial position in XYZ coordinates This packet is useful if the user has moved more than about 1 000 miles since the previous fix Note that the GPS receiver can initialize itself without any data from the user this packet merely reduces the time required for initialization This packet is ignored if the receiver is already calculating positions The data format is shown below Note To initialize using the Latitude Longitude Altitude representation use Command Packet Ox2B Table A 12 Command Packet 0x23 Data Format Byte Item Type Units 0 3 X Single Meters 4 7 Y Single Meters 8 11 Z Single Meters Lassen iQ GPS Receiver 103 A Trimble Standard Interface Protocol TSIP Command Packet 0x24 Request GPS Receiver Position Fix Mode This packet requests current position fix mode of the GPS receiver This packet contains no data The GPS receiver returns Packet Ox6D Command Packet 0x25 Initiate Soft Reset amp Self Test This
117. ets all other masks If such a constellation is not available then the receiver stays in its current automatic mode 2 or 3 and does not do position solutions Valid modes are Mode 0 Differential off Manual GPS The receiver does position solutions without differential corrections even if the differential corrections are available Mode 1 Differential on Manual DGPS The receiver only does position solutions if valid differential correction data are available Mode 2 Differential currently off Auto DGPS The receiver is not receiving differential correction data for all satellites in constellation which meets all other masks and is doing non differential position solutions Mode 3 Differential currently on Auto DGPS The receiver is receiving differential correction data for all satellites in a constellation which meets all other masks and is doing differential position solutions Note The Lassen iQ GPS receiver sends this packet automatically after every position fix except when in Mode 0 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Report Packet 0x83 Double Precision XYZ Position Fix and Bias Information This packet provides current GPS position fix in XYZ ECEF coordinates If the I O Position option is set to XYZ ECEF and the I O Precision of Position option is set to Double see Packet 0x35 the receiver sends this packet each time a fix is computed The data format
118. ets is output continuously at two fixed rates every second and every five seconds The format and ensemble of the automatic output packets is configured using packets 0x35 0x70 and Ox8E 20 see Appendix A for packet details Packet settings are stored in BBRAM They can also be saved in non volatile memory Flash using command packet Ox8E 26 See Appendix A for additional information on Flash storage for custom operation Default TSIP Output Settings Default 0x35 setting byte 0 2 1 2 2 0 3 0 e Position and velocity data precision single precision floating point e Position output option and format byte 0 setting Latitude radian Longitude radian Altitude meters WGS 84 e No super packet output e Velocity output option and format Fast Velocity meters sec for East North Velocity meters sec for North Up Velocity meters sec for Up e Timing GPS Time Output PPS Always ON e Auxiliary Pseudo Range Measurement Raw Measurements OFF Raw Pseudo Ranges OFF Output AMU values Lassen iQ GPS Receiver 43 3 44 Software Interface Default 0x70 setting byte 0 1 1 1 2 1 3 0 Position Velocity Dynamic Filter enabled Position Velocity static Filter enabled Altitude Filter enabled Default Ox8E 20 setting byte 1 1 Ox8F 20 output is included in the super packet for automatic output IF packet 0x35 selects the super packet for automatic output o
119. f data on a single channel one after the other rather than simultaneously A port in which each bit of information is brought in out on a single channel Serial ports are designed for devices that receive data one bit at a time GPS signals with SNRs that do not meet the mask criteria are considered unusable A measure of the relative power levels of a communication signal and noise on a data line SNR is expressed in decibels dB Signal to Noise Ratio The received GPS signal is a wide bandwidth low power signal 160dBW This property results from modulating the L band signal with a PRN code in order to spread the signal energy over a bandwidth which is much greater than the signal information bandwidth This is done to provide the ability to receive all satellites unambiguously and to provide some resistance to noise and multipath Standard Positioning Service Refers to the GPS as available to the authorized user In asynchronous transmission the start bit is appended to the beginning of a character so that the bit sync and character sync can occur at the receiver equipment In asynchronous transmission the stop bit is appended to the end of each character It sets the receiving hardware to a condition where it looks for the start bit of a new character Lassen iQ GPS Receiver 255 Glossary SV synchronous communication TAIP TANS TNL 4000RL TSIP Space Vehicle GPS satellite A method of sending di
120. ffect in either manual mode Raising the DOP mask will generally increase the fix density during obscuration but the fixes with the higher DOP will be less accurate especially with SA present Lowering the mask will improve the average accuracy at the risk of lowering the fix density Lassen iQ GPS Receiver 101 A Trimble Standard Interface Protocol TSIP 102 Packet Descriptions Command Packet 0x1E Clear Battery Backup then Reset This packet commands the GPS receiver to clear all battery back up data and to perform a software reset This packet contains one data byte Table A 11 Command Packet 0x1E Format Byte ltem Type Value Definition 0 Reset UINT 8 0x4B Cold start Erase BBRAM and mode restart 0x46 Factory reset Erase BBRAM and Flash and restart Warning All almanac ephemeris current position mode and communication port setup information is lost when executing the Factory Reset command In normal use this packet should not be sent Warning It is very helpful to keep a fresh copy of the current almanac which is stored in the file GPSALM DAT collected by the iQ CHAT command This allows near instantaneous recuperation by the receiver in case of power loss or clearing of battery backed memory by using the iQ_CHAT command to load it back into the receiver memory Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Command Packet 0x1F Requ
121. from the factory the Lassen iQ GPS receiver outputs two messages GGA and VTG These messages are output at a 1 second interval with the GP talker ID and checksums These messages are output at all times during operation with or without a fix If a different set of messages has been selected using Packet 0x7A and this setting has been stored in Flash memory using Packet Ox8E 26 the default messages are permanently replaced until the receiver is returned to the factory default settings Note The user can configure a custom mix of the messages listed in Table E 3 See Chapter 3 and TSIP command packets OxBC 0x7A and 8E 26 in Appendix A for details on configuring NMEA output Warning If too many messages are specified for output you may need to increase the unit s baud rate Table E 3 Lassen SQ GPS Receiver NMEA Messages Message Description Default GGA GPS fix data Output GLL Geographic position Latitude Longitude GSA GPS DOP and active satellites GSV GPS satellites in view RMC Recommended minimum specific GPS Transit data Default VTG Track made good and ground speed Output ZDA Time amp Date The format for each message in Table E 3 is described in more detail in the next section 214 Lassen iQ GPS Receiver NMEA 0183 E NMEA 0183 Message Formats GGA GPS Fix Data The GGA message includes time position and fix related data for the GPS receiver SGPGGA hhmmss
122. fset has historically increased by 1 second about every 18 months The GPS Control Organization has not added leap seconds on its usual 18 month schedule As a result the offset remains at 13 seconds System designers should plan to read the offset value as a part of the timing interface to obtain UTC The GPS week number is in reference to a base week Week 0 starting January 6 1980 Lassen iQ GPS Receiver Operation and Performance 4 Pulse Per Second PPS The Lassen iQ GPS receiver provides a four microsecond wide CMOS compatible TTL level Pulse Per Second PPS The PPS is a positive pulse available on pin 4 of the Lassen iQ GPS receiver power and I O connector The rising edge of the PPS pulse is synchronized with respect to UTC The timing accuracy is 50 nanoseconds when valid position fixes are being reported The rising edge of the pulse is typically less than 20 nanoseconds The distributed impedance of the attached signal line and input circuit can affect the pulse shape and rise time The PPS can drive a load up to 5mA without damaging the module The falling edge of the pulse should not be used The PPS is always on early PPS and is driven by the Real Time Clock RTC until the receiver acquires GPS time from the satellite and is obtaining fixes The PPS is output immediately after main power is applied and continues even if the receiver loses GPS lock The drift of the PPS when the Lassen iQ GPS receiver is not trackin
123. g satellites is unspecified and should not be used for synchronization PPS Output Mode PPS output mode can be controlled by TSIP command packet 0 x 35 Once a specific mode is selected it can be stored in non volatile memory flash using TSIP command Ox8E 26 The following PPS modes are supported Always Off When the Always Off mode is selected the PPS output remains low at all times Disabling the PPS output has no affect on normal receiver operations and position fixes are calculated as usual This mode can be selected at any time during receiver operation The PPS output is immediately switched off disabled when the TSIP command for this mode is received Lassen iQ GPS Receiver 79 4 80 Operation and Performance Always On default When the PPS output is configured for Always On early PPS it is driven by the Real Time Clock RTC until the receiver acquires GPS time is generating position fixes In this mode the PPS output continues even if the receiver loses GPS tracking The maximum drift ofthe PPS pulse when not tracking satellites could be quite large therefore the PPS output should not be used for precise synchronization when no position fix occurs The PPS can be switched to Always On mode any time during normal operation This mode is the factory default setting Fix Based In this mode the PPS output is turned on only while fixes are taking place If the receiver is not tracking satellites the PPS o
124. g the 3 minutes turn the receiver unit back on immediately and issue TSIP command 0x1E with the value 4B This packet forces a cold start and clears battery backed RAM Note 2 5V is the minimum allowable battery back up voltage When the battery back up power output drops below 2 5V the real time clock may not operate over the specified temperature range This can also significantly extend the time to first fix Trimble does not recommend the use of Super Caps as battery back up Table 2 2 Power Requirements Signal Voltage Current J2 Pin VCC 3 0 to 3 6 27 mA 7 Battery Back up 2 5to3 6 20uA 8 at 3 3 volts 25 C Ground 0 2 Note For proper operation when using battery back up the voltage value of the battery should be 10 less than the value of the VCC Lassen iQ GPS Receiver Hardware Integration 2 Serial Interface As an embedded design the Lassen iQ GPS module provides direct CMOS compatible TTL level serial I O The RX and TX signals on the J2 I O connector are driven directly by the DUART on the Lassen iQ GPS receiver Interfacing these signals directly to a UART in your application circuitry provides direct serial communication without the complication of RS 232 or RS 422 line drivers Note The serial I O signals on J2 are TTL level They are not inverted or driven to RS 232 levels Lassen iQ GPS Receiver 27 2 28 Hardware Integration Serial Port Connections
125. gital data in which the bits come at fixed rather than random times and are synchronized to a clock Trimble ASCII Interface Protocol Designed originally for vehicle tracking applications TAIP uses printable uppercase ASCII characters in 16 message types for easy integration with mobile data modems terminals and personal computers The TAIP protocol is defined in full in Appendix C Trimble Advanced Navigation Sensor Also refers to a Trimble specified interface protocol for digital packet communication to from the GPS receiver Data output includes time tagged position and velocity satellite status dilution of precision factors and diagnostics of GPS receiver operational status Also see TSIP Trimble Navigation Ltd Reference Locator 4000RL Product name for the Differential GPS Reference Station Trimble Standard Interface Protocol A binary hex packet bi directional protocol also known as the TANS protocol Used by a large number of Trimble sensors TSIP is the subset of TANS which is recognized by all Trimble sensors except the 4000 series The TSIP protocol is defined in full in Appendix A 256 Lassen iQ GPS Receiver URA UTC UTC offset Glossary Satellite user range accuracy The URA is sent by the satellite and is computed by the GPS operators It is a statistical indicatory of the contribution of the apparent clock and ephemeris prediction accuracies to the ranging accuracies obtainable with a specific
126. guring the receiver module and as a platform for troubleshooting your design The Starter Kit includes Shielded Lassen iQ GPS module mounted on an interface motherboard in a durable metal enclosure The motherboard accepts 9 32 VDC power and provides regulated 3 3V power to the Lassen iQ GPS receiver The motherboard also contains 3 6V lithium battery that provides back up power to the receiver Circuitry to convert the TTL output to RS 232 enabling the user to connect the RS 232 ports in the Starter Kit to the PC COM port via an RS 232 cable connection Compact Magnetic Mount GPS Antenna with a 5 meter cable Ultra Compact Embedded Antenna with an 8 cm cable 9 pin RS 232 interface cable AC DC power supply adapter input 100 240VAC output 12 VDC DC power cable Cigarette lighter adapter power cable CD containing software tools used to communicate with the receiver the System Designer Reference Manual and C programming source routines to be used as software templates for communicating directly with the receiver Lassen iQ GPS Receiver 3 1 4 Removing the Lassen iQ GPS Module The Lassen iQ GPS module is secured to the motherboard with double sided adhesive tape allowing for easy removal and integration with the user s application The adhesive tape used by Trimble is 3M Scotch part number 4945 Follow these steps to remove the module from the motherboard e Unplug the I O cable and the R
127. havior may change in future products Power up with No BBRAM In this case no previous fix is available in battery backed memory If the output message list and output rate has been customized using TSIP command packet 0x7A and stored in Flash memory then at power up the receiver will output the messages according to the customized setting Otherwise GGA and VTG messages are output every second Before fixes are available the message fields will be empty Power up with BBRAM In this case a previous fix is available in battery backed memory at power up If the output message list and output rate has been customized using TSIP command packet 0x7A and stored in Flash memory then at power up the receiver will output the messages according to the customized setting Otherwise GGA and VTG messages are output every second Before fixes are available the message fields will be empty except for the Time field assuming the back up battery power is present so that time can be tracked continuously by the RTC Real Time Clock Lassen iQ GPS Receiver NMEA 0183 E Interruption of GPS Signal If the GPS signal is interrupted temporarily the NMEA will continue to be output according to the user specified message list and output rate Position and velocity fields will be blank until the next fix but most other fields will be filled Lassen iQ GPS Receiver 223 E NMEA 0183 224 Lassen iQ GPS Receiver APPENDIX Specifications and
128. he Enhanced Sensitivity mode save the setting to flash memory using TSIP command packet 8E 26 140 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Command Packet 0x70 Filter Control Trimble OEM receivers have a number of filters Command 0x70 provides control for these filters It returns Report 0x70 There are three filters associated with 0x70 e Position Velocity PV Filter e Static Filter e Altitude Filter The Position Velocity PV Filter is the main filter and is used to soften the effect of constellation switches on position fixes The filter has virtually no effect on velocity output and there is no lag due to vehicle dynamics There may be a small increase in accuracy however A feature of the PV filter is the Static Filter which engages when the receiver is moving very slowly This feature improves accuracy in the urban environment The static filter should be turned off for the following applications e Slow moving environments such as walking or drifting with the current e When rooftop testing of receivers for moving applications The altitude filter is a simple averaging filter with a time constant of a few seconds It should be left on in marine and land applications To query for the current settings use Command Packet 0x70 with no databytes To input new settings Command Packet 0x70 is sent with four data bytes Lassen iQ GPS Receiver 141 A Trimble Standard Interface P
129. he factory default configuration using command packet Ox1E 1 Type k to invoke the Ox1E command 2 When prompted select the factory default option Table 3 2 iQ_CHAT Command Settings Stored in Flash Memory Command Packet 0x8E 26 TSIP Command ID iQ_CHAT Description TSIP Response ID Keystroke 0x35 O TSIP input output formatting 0x55 Superpacket output on off Position format LLA and or ECEF Precision double or single altitude format MSL or HAE Timetag format GPS or UTC PPS modes SNR format AMU or C No Automatic pseudorange output 0x69 e Enhanced Sensitivity Mode 0x89 Control 0x70 T Position filter controls 0x70 Position filter on off Static filter on off Altitude filter on off 0x7A q NMEA message formats and 0x7B schedule NMEA output messages NMEA output interval Ox7e a TAIP message formats and Ox7F schedules Lassen iQ GPS Receiver 49 3 Software Interface Table 3 2 iQ_CHAT Command Settings Stored in Flash Memory Command Packet 0x8E 26 Continued TSIP Command ID iQ_CHAT Description TSIP Response ID Keystroke 0xBB p GPS configuration parameters 0xBB Operating dimension 2D 3D DGPS mode Dynamics mode Elevation mask SNR mask DOP mask PDOP switch DGPS correction age 0OxBC U Serial port configuration 0xBC Pro
130. hin 50 ns In addition to serving as a highly accurate stand alone time source GPS receivers are used to synchronize distant clocks in communication or data networks This synchronization is possible since all GPS satellite clocks are corrected to a common master clock Therefore the relative clock error is the same regardless of which satellite or satellites are used For timing applications requiring a common clock GPS is the ideal solution Lassen iQ GPS Receiver 77 4 78 Operation and Performance The position and time errors are related by the speed of light Therefore a position error of 100 meters corresponds to a time error of approximately 333 ns The hardware and software implementation affects the GPS receiver s PPS accuracy level The receiver s clocking rate determines the PPS steering resolution The Lassen iQ GPS receiver clocking rate is 12 504 MHz This rate corresponds to a steering resolution of 40 ns Serial Time Output The TSIP TAIP and NMEA protocols include time messages See report packets 41 and 8F 20 in Appendix A for a description of the time reports for the TSIP protocol See the TAIP Appendix for a description of the TM message See the NMEA Appendix for a description of the ZDA message Note GPS time differs from UTC Universal Coordinated Time by a variable integer number of seconds UTC GPS time GPS UTC offset As of January 2005 the GPS UTC offset was 13 seconds The of
131. ides the Lassen iQ GPS with differential corrections from RTCM SC 104 record types 1 and 9 in the TSIP format There is no response to this packet If bit 6 is set the corrections are as in RTCM Type 9 records The data format is shown below Table A 44 Command Packet 0x60 Data Formats Byte Bit Item Type Value Definition 0 1 Modified z count UINT16 10 5999 6 SEC 2 Station health UINT 8 3 0 5 Number of SVs in Bits 0 31 0 5 packet 3 6 Type 9 flag Bit 0 type 1 Type 9 3 7 Version 2 flag Bit 1 must be set 136 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A The next 5 bytes are repeated as a group for each satellite The SV PRN and scale factor contains the SV PRN in the lower 5 bits and the scale factor in the upper 3 bits Range corrections are scaled by 0 02 meters times 2 raised to the scale factor power Range rate corrections are scaled by 0 0002 meters per second times 2 raised to the scale factor power The data format is shown below Table A 45 Command Packet 0x60 Data Formats Byte Bit Item Type Value Definition 4 N 5 0 4 SV PRN 0 31 0 is SV 32 4 N 5 5 7 Scale factor 0 Low scale factor 02m 002 m s 4 High scale factor 32m 032 m s 7 Correction not usable 5 N 5 Number of SVs in Bits RTCM 104 packet 7 N 5 Type 9 flag Bit RTCM 104 8 N 5 Version 2 flag Bit Lassen iQ GPS Receiver 137 A Trim
132. ides the NMEA settings and interval 144 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A TAIP Message Output Packet 0x7E TSIP packet 0x7E is a new command added to Lassen iQ GPS for setting up the output configuration for TAIP messages This packet expands the features similar to what have been provided by packet Ox8E 40 which can be found in some older generation Trimble receiver products The Lassen iQ GPS does not support the Ox8E 40 command The settings provided by the packet can be divided into 4 groups 1 Reporting Flags byte 1 For information on the RM command see Appendix A in the Lassen iQ GPS Receiver System Designer Reference Manual 2 The Top of Hour Offset byte 2 3 This setting applies to all eight messages included in this packet If different values have to be applied to each message individually use the Time Distance feature from TAIP protocol 3 Automatic Output Intervals for the 8 commonly used messages bytes 4 19 4 Device ID bytes 20 23 This packet provides the capability to set the output frequencies for the eight commonly used messages individually This is the same as the F lt message type gt lt output interval gt command in TAIP In contrast to packet 0x8E 40 the settings in this packet are not just for the so called Heartbeat messages meaning the output frequency settings are not only applied when the receiver is not generating a position fix In practic
133. iew the output of the TSIP protocol in text format use the iQ CHAT or the iQ_Monitor program see the CD ROM provided in the Starter Kit Lassen iQ GPS Receiver Software Interface 3 The serial port driver in the iQ CHAT Tool Kit matches the Lassen iQ GPS receiver serial port characteristics The TSIPPRNT program converts binary data logged with the iQ_CHAT program into text that may be printed and displayed Both of these tools are included in the Software Developer s Toolkit Warning When using the TSIP protocol to change port assignments or settings confirm that your changes do not affect the ability to communicate with the receiver e g selecting the PC COM port settings that do not match the receiver s or changing the output protocol to TSIP while not using iQ_CHAT Lassen iQ GPS Receiver 41 3 42 Software Interface Port Protocol and Data Output Options Protocol Configuration and Interface The factory default I O protocol for Port 1 of the Lassen iQ GPS receiver is the Trimble Standard Interface Protocol TSIP for both input and output The settings for Port 1 are 9600 baud 8 odd 1 The factory default protocol for Port 2 is RTCM IN and NMEA OUT The settings for Port 2 are 4800 baud 8 none 1 The receiver protocol can be re configured using TSIP command packet OxBC in conjunction with iQ CHAT iQ Monitor or a user written serial interface program See Appendix A for details on the OxBC command packet
134. in release 3 0 is the addition of the mode indicators in the GLL RMC and VTG messages For those applications requiring output only from the GPS receiver NMEA 0183 is a popular choice since in many cases an NMEA 0183 software application code already exists The Lassen iQ GPS receiver is available with firmware that supports a subset of the NMEA 0183 messages GGA GLL GSA GSV RMC VTC and ZDA E NMEA 0183 For a complete copy of the NMEA 0183 standard contact NMEA National Office PO Box 3435 New Bern NC 28564 3435 U S A Telephone 1 919 638 2626 Fax 1 919 638 4885 The NMEA 0183 Communication Interface NMEA 0183 allows a single source talker to transmit serial data over a single twisted wire pair to one or more receivers listeners The table below lists the standard characteristics of the NMEA 0183 data transmissions Table E 1 NMEA 0183 Standard Characteristics Signal Characteristic NMEA Standard Baud Rate 4800 Data Bits 8 Parity None Disabled Stop Bits 1 210 Lassen iQ GPS Receiver NMEA 0183 E NMEA 0183 Message Format The NMEA 0183 protocol covers a broad array of navigation data This broad array of information is separated into discrete messages which convey a specific set of information The entire protocol encompasses over 50 messages but only a sub set of these messages apply to a GPS receiver like the Lassen iQ GPS receiver The NMEA message structure is desc
135. inition Position 0 0 XYZ ECEF Bit 0 XYZ ECEF output off 1 XYZ ECEF output on 0 1 LLA Output Bit 0 LLA output off 1 LLA output on 0 2 LLA ALT Output Bit 0 HAE WGS 84 datum 1 MSL geoid 0 3 ALT input Bit 0 HAE WGS 84 datum 1 MSL geoid 0 4 Precision of Bit 0 Send single precision packet position output 1 Send double precision packet 0 5 Super Packet Bit 0 Output no Super Packets Output 1 Output all enabled Super Packets 0 6 7 reserved Velocity 1 0 XYZ ECEF Bit 0 XYZ ECEF output off 1 XYZ ECEF output on 1 1 ENU output Bit 0 ENU output off 1 ENU output on 1 2 7 reserved 126 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Table A 34 Command Packets 0x55 and 0x35 Data Descriptions Continued Byte Bit Item Type Value Definition Timing 2 0 Time Type Bit 0 GPS time 1 UTC 2 1 7 reserved Auxiliary Range Measurements 3 0 Raw measuring Bit 0 Raw measurements off 1 Raw measurements on 3 1 Raw Filtered Bit 0 Raw PR s in Ox5A 1 Filtered PR s in Ox5A 3 2 reserved 3 3 Output dB Hz Bit 0 Output dB Hz instead of AMU 1 Output AMU s 3 4 7 reserved Notes See the associated superpacket output described later in this appendix Packet SE must be used to specify which superpacket is to be output Automatic output of Ox5A raw measurement messages is supported in the Lassen iQ GPS receiver for backwards compatibility with older TS
136. io signal on which information is carried The carrier can be sensed to determine the presence of a signal Either a single frequency or a pair of radio frequencies used as a communication path The length of time to transmit either azero oraoneina binary pulse code Number of chips per second e g C A code 1 023 MHz A set of conditions or parameters that define the structure of an item A configuration defines the GPS processing and characteristics of the RS 232 interface ports The term configuration can also define the hardware components that comprise a subsystem or system The bits in a byte of data which carry the actual information Refers to a mathematical model of the earth Many local datums model the earth for a small region e g Tokyo datum Alaska NAD 27 North America Others WGS 84 for example model the whole earth Data Communications Equipment The equipment that provides the functions required to establish maintain and terminate acommunication connection Any equipment that connects to DTE using an RS 232 or CCITT V 24 standard interface A preset or initial value that is assumed to be the preferred or appropriate selection for most situations The Lassen SK II GPS sensor is shipped with factory default configuration settings the settings were determined by Trimble Navigation see differential GPS A device that tracks all GPS satellites in view periodically performs inter channel calibrations
137. is 3 1415926535898 Packets 0x8E and Ox8F Superpacket See page 156 for information on Packets Ox8E and Ox8F 150 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Command Packet 0x89 Set Request Enhanced Sensitivity Mode The Lassen iQ GPS receiver is configured at the factory with the Enhanced Sensitivity feature Off There are several ways to turn the Enhanced Sensitivity feature On e The iQ_CHAT program found in the iQ Starter Kit e The iQ_Monitor program found in the iQ Starter Kit e The TSIP command packet 0x69 receiver responds with packet 0x89 The data format is shown below Table A 53 Command Packet 0x69 Data Format Byte Item Type Units Byte 0 Value Velocity 0 Current Byte 0 Off Standard Enhanced 1 On Enhanced Sensitivity 1 Enhanced Byte 0 Off Standard Sensitivity Mode 1 On Enhanced after reset Note A soft reset is required to make the switch to Enhanced Sensitivity effective To permanently set the Lassen iQ GPS receiver to the Enhanced Sensitivity mode save the setting to flash memory using TSIP command packet 8E 26 Lassen iQ GPS Receiver 151 A Trimble Standard Interface Protocol TSIP Command Packet 0xBB Navigation Configuration In query mode Packet OxBB is sent with a single data byte and returns Report Packet OxBB Note This Command Packet replaces Packets 0x2C 0x62 0x75 and 0x77 Table A 54 Command Pac
138. ite Data Packets The following packets contain a variety of GPS satellite data Table A 6 Satellite Data Packet Data I O Descriptions Input ID Description Output ID 0x27 request signal levels 0x47 0x38 request load satellite system data 0x58 0x3C request tracking status 0x5C Backwards Compatibility TSIP packets implemented in the Lassen iQ GPS receiver are backward compatible with those used in Lassen SK II GPS receiver For information regarding compatibility with other Trimble receivers contact the Trimble Technical Assistance Center Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Recommended TSIP Packets Table A 7 Recommended TSIP Packet Data Function Description Input Output Protocol and port setup set query port configuration OxBC OxBC set query NMEA configuration Ox7A 0x7B set query I O options autoreport and 0x35 0x55 format options Navigation GPS time 0x21 0x41 position amp velocity superpacket Ox8E 20 or Ox8F 20 0x37 or auto double precision LLA Ox37 auto 0x84 double precision XYZ Ox37 auto 0x83 ENU velocity Ox37 auto 0x56 XYZ velocity Ox37 auto 0x43 Satellite and tracking query receiver state health 0x26 0x46 information 0x4B query current satellite selection 0x24 0x6D query signal levels 0x27 0x47 query satellite information azimuth 0x3C 0x5C elevation etc Receive
139. ity is 1 2 The user can change the AMU mask to a different value When this is done the receiver will overwrite the default setting of 1 2 and use the selected AMU The enhanced mode settings for the first frequency sweep are AMU Mask 1 2 and PDI 1 ms If the receiver can not acquire after the first frequency sweep the enhanced mode settings are AMU Mask 1 2 and PDI 5 ms The user will also experience extended startup times Extended Startup Times Due to the extended PDI acquisition in the Enhanced Sensitivity Mode longer TTFF times Time to First Fix is normal In the Enhanced Sensitivity Mode the receiver is optimized for increased sensitivity 6 dB more sensitive than the standard setting at the cost of the longer startup times This means that operating in the higher sensitivity mode is a trade off between the faster start up times of the standard mode versus the higher sensitivity of the Enhanced Sensitivity mode Therefore the user must determine for each particular application which sensitivity mode will provide the best performance The following tables illustrate the comparison between the TTFF times in Standard and Enhanced Sensitivity modes Note that the Enhanced Mode is not applicable for Cold Starts Lassen iQ GPS Receiver 71 4 Operation and Performance Table 4 3 Standard Sensitivity Mode TTFF Times Standard Sensitivity Mode 50 sec 90 sec Hot Start 10 13 Warm Start 38 42 T
140. iver Trimble Standard Interface Protocol TSIP A Table A 38 Report Packet 0x58 Almanac Data 14 17 i_o Single Sec 20 3 3 5 1 2 18 21 OMEGADOT Single Sec 20 3 3 5 1 2 22 25 sqrt_A Single Sec 20 3 3 5 1 2 26 29 OMEGA_0 Single Sec 20 3 3 5 1 2 30 33 omega Single Sec 20 3 3 5 1 2 34 37 MO Single Sec 20 3 3 5 1 2 38 41 a_f0 Single Sec 20 3 3 5 1 2 42 45 afl Single Sec 20 3 3 5 1 2 46 49 Axis Single Sec 20 3 3 5 1 2 50 53 n Single Sec 20 3 3 5 1 2 54 57 OMEGA_n Single Sec 20 3 3 5 1 2 58 61 ODOT_n Single Sec 20 3 3 5 1 2 62 65 t_zc Single Sec 20 3 3 5 1 2 see Note 2 66 67 weeknum INT16 Sec 20 3 3 5 1 2 68 69 wn_oa INT16 Sec 20 3 3 5 1 2 Note 1 All angles are in radians Note 2 If data is not available t_zc is set to 1 0 Table A 39 Report Packet 0x58 Almanac Health Data Byte Item Type Definition ICD GPS 200 4 week for UINT8 Sec 20 3 3 5 1 3 health 5 36 SV_health UINT8 Sec 20 3 3 5 1 3 37 t_oa for health UINT8 Sec 20 3 3 5 1 3 38 current t_oa UINT8 units seconds 2048 39 40 current week INT16 Lassen iQ GPS Receiver 131 A Trimble Standard Interface Protocol TSIP 132 Table A 40 Byte Item Type Definition IDC GPS 200 4 11 not used 12 15 alpha_0O Single Sec 20 3 3 5 1 9 16 19 alpha_1 Single Sec 20 3 3 5 1 9 20 23 alpha_2 Single Se
141. iver 9 1 Starter Kit The mounting plate is secured to the metal enclosure with four screws The eight pin I O header on the receiver module connects to a mating connector on a ribbon cable The ribbon cable is attached to a mating VO connector on the interface motherboard Figure 1 2 illustrates the Starter Kit interface unit Figure 1 2 Starter Kit Interface Unit 10 Lassen iQ GPS Receiver StarterKit 1 Serial Port Interface The Starter Kit interface unit is aDCE Data Communication Equipment device To connect to a host computer or DTE Data Terminal Equipment device use a straight through cable To connect a Differential Radio DCE device to the receiver DCE Device use a cross over cable or null modem cable Table 1 2 Port 1 Pinouts Pin Description NC TX RX NC GND NC NC NC NC olol NI oO oa BR wt m Table 1 3 Port 2 Pinouts Pin Description 1 NC TX RX NC GND NC NC NC PPS Out OO O lN OD a AJ wl ny Lassen iQ GPS Receiver 11 1 12 Starter Kit Pulse Per Second PPS The Lassen iQ GPS receiver provides a four microsecond wide CMOS compatible TTL level Pulse Per Second PPS The PPS is a positive pulse available on pin 9 of the port 2 DB9 connector of the interface unit see Table 1 3 The rising edge of the PPS pulse is synchronized with respect to UTC The timing accurac
142. ix with minimal delay after power cycling The battery back up RAM is used to keep the Real Time clock RTC alive and to store the following e Almanac e Ephemeris e Last position User settings such as port parameters NMEA and TAIP configurations can be stored in the receiver s non volatile Flash memory These settings are retained without application of main power or battery back up power The Lassen iQ GPS receiver has two configurable serial I O communication ports Warning When customizing port assignments or characteristics confirm that your changes do not affect your ability to communicate with the receiver see Chapter 3 Software Interface Lassen iQ GPS Receiver 5 1 6 Starter Kit Interface Protocols The Lassen iQ GPS receiver operates using one of three protocols Trimble Standard Interface Protocol TSIP Trimble ASCH Interface Protocol TAIP or NMEA 0183 Protocol selection and port characteristics are user configurables The factory default settings are e Port 1 TSIP bi directional e Port 2 NMEA 0183 OUT RTCM SC 104 V2 1 IN TSIP TSIP is a powerful binary packet protocol that allows the system designer maximum configuration control over the GPS receiver for optimum performance in any number of applications TSIP supports over 20 commands and their associated response packets for use in configuring the Lassen iQ GPS receiver to meet user requirements TAIP TAIP is the Trimble AS
143. ket 0xBB Query Mode Data Format Byte Item Type Value Definition Default 0 Subcode UINT8 0x00 Query mode TSIP Packet OxBB is used to set GPS Processing options The table below lists the individual fields within the OxBB Packet Table A 55 Command and Report Packet 0xBB Field Descriptions Byte Item Type Value Definition Default 0 Subcode UINT8 0x00 Query mode 0x03 1 Operating UINT8 0 Automatic 2D 3D Automatic Dimension 3 Horizontal 2D 4 Full Position 3D 2 DGPS Mode UINT8 0 DGPS Off DGPS Auto 1 DGPS Only 2or3 DGPS Auto 3 Dynamics Code UINT8 1 Land Land 2 Sea 3 Air 4 Stationary 4 Reserved 5 8 Elevation Mask Single 0 0 1 57 Lowest satellite 0 0873 5 radian elevation for fixes 9 12 AMU Mask Single 0 25 Minimum signal level 2 0 AMU for fixes 13 16 DOP Mask Single 0 2 100 Maximum DOP for 12 0 fixes 152 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP Table A 55 Command and Report Packet 0xBB Field Descriptions Continued A Byte Item Type Value Definition Default 17 20 DOP Switch Single 0 2 100 Selects 2D 3D mode 6 0 21 DGPS Age Limit UINT8 2 90 Maximum time to 30 seconds use a DGPS correction seconds 22 39 Reserved Lassen iQ GPS Receiver 153 A Trimble Standard Interface Protocol TSIP Command Packet 0xBC Protocol Configuration TSIP Packet OxBC is use
144. l The message format used with the D qualifier is shown below gt DAABBBBCCCCEEEEFFFFF ID GGGG HH lt The distance D in the message refers to the radial distance A message would be issued if the receiver has moved farther than a radius of D away from where it was previously reported If the accumulated distance traveled is longer than D but the final location is still within the radius of D e g circling many times around a closed perimeter of radius smaller than D then no message would be issued Table C 5 Time and Distance Reporting Message Format Qualifiers ID Meaning gt Start of message delimiter D Distance message qualifier AA Message to report i e PV means Position Velocity message BBBB Minimum time seconds interval between reports Tinterval CCCC Report epoch number of seconds from top of the hour EEEE Delta distance meters from last reported distance FFFF Maximum time seconds interval between reports Tmax GGGG Optional vehicle identification number user selected HH Optional checksum lt End of message delimiter 174 Lassen iQ GPS Receiver Trimble ASCII Interface Protocol TAIP Note If BBBB 0 then the message output is disabled If FFFF 0 maximum time feature is disabled the unit will only report if current position is greater than or equal to the delta distance specified in EEEE Example
145. lites to be used in a solution output by the receiver Satellites which are near the horizon are typically more difficult to track due to signal attenuation and are also generally less accurate due to higher variability in the ionospheric and tropospheric corruption of the signal When there are no obstructions the receiver can generally track a satellite down to near the horizon However when this mask is set too low the receiver may experience frequent constellation switching due to low elevation satellites being obscured Lassen iQ GPS Receiver 99 A Trimble Standard Interface Protocol TSIP 100 Frequent constellation switching is undesirable because position jumps may be experienced when SA is present and DGPS is not available to remove these effects The benefit of a low elevation mask is that more satellites are available for use in a solution and a better PDOP may be yielded The current mask is set to five degrees and provides a reasonable trade off of the benefits and drawbacks High accuracy users may prefer a mask angle around ten degrees where the ionosphere and troposphere begin to be more predictable Signal Level Mask This mask defines the minimum signal strength for a satellite used in a solution There is some internal hysteresis on this threshold which allows brief excursions below the threshold if lock is maintained and the signal was previously above the mask The factory default mask has been set to 2 AMU High a
146. m Lassen iQ GPS Receiver About this Manual 6 Lassen iQ GPS Receiver CHAPTER Starter Kit Product Overview Starter Kit Receiver Performance Interface Protocols Ordering Starter Kit Components Starter Kit Interface Unit Power Hardware Setup Software Toolkit 1 2 Starter Kit Product Overview The Lassen iQ GPS receiver is a full featured ultra low power receiver on a miniature form factor suitable for a variety of mobile embedded applications The Lassen iQ GPS receiver incorporates Trimble s FirstGPS architecture in the form of two ASICS Colossus RF down converter and IO C33 baseband chip The IO C33 integrates Trimble s IO digital signal processor with the Epson C33 RISC processor real time clock UART and 1Mbit memory Together with the colossus RF this implementation of FirstGPS technology makes possible one of the smallest 26 mm x 26 mm x 6mm and lowest power less than 89 mW GPS modules available The Lassen iQ GPS receiver outputs a complete position velocity and time PVT solution in the NMEA Version 3 0 ASCII protocol the Trimble ASCII Interface Protocol TAIP and the Trimble TSIP binary protocol A Pulse Per Second signal is available for very accurate timing applications Lassen iQ GPS Receiver StarterKit 1 Starter Kit The Starter Kit makes it simple to evaluate the Lassen iQ GPS receiver s exceptional performance The Starter Kit can be used as a platform for confi
147. n ensemble of atomic clocks operated by government organizations around the world UTC time replaced GMT Greenwitch Mean Time as the world standard in 1986 GPS time is steered relative to Universal Coordinated Time UTC GPS does not recognize leap seconds resulting in a situation where GPS time is currently 13 seconds ahead of UTC time Time tags for most output messages can be in either UTC time or GPS time as chosen by TSIP command 0x35 NMEA 0183 The NMEA 0183 protocol only supports LLA format and UTC time Velocity is always described as horizontal speed and heading vertical speed is not output Lassen iQ GPS Receiver 67 4 68 Operation and Performance Performance Characteristics Update Rate The Lassen iQ GPS receiver computes and outputs position solutions once per second on the second NMEA outputs can be scheduled at a slower rate using TSIP command 0x7A see Appendix A TAIP outputs may be controlled with TSIP packet Ox7E Dynamic Limits The dynamic operating limits for the Lassen iQ GPS receiver are listed below These operating limits assume that the GPS module is correctly embedded and that the overall system is designed to operate under the same dynamic conditions Table 4 2 Lassen iQ GPS Receiver Operating Limits Operation Limit Acceleration 4 g 39 2 m s2 Jerk 20 m s Speed 500 m s Altitude 18 000 m Note The Lassen iQ GPS Receiver firmware contains an algorithm
148. n a terminal or a PC Lassen iQ GPS Receiver Trimble ASCII Interface Protocol TAIP The default value at start up for ID flag and the CR flag is false the default for CS EC and FR flags is true Example The following command will turn checksums off and carriage return on gt SRM CS_FLAG F CR_FLAG T lt Note Notice the use of semicolon before the flag name Lassen iQ GPS Receiver 193 C Trimble ASCII Interface Protocol TAIP 194 RT Reset Mode Data String Format Any one of the following data strings can be set Upper case characters are required COLD FACTORY SAVE_CONFIG Table C 18 Reset Mode Data String Descriptions Message Description gt SRT lt Warm Set gt SRTCOLD lt Cold Start gt SRTFACTORY lt Factory Reset gt SRTSAVE_CONFIG lt Save settings to Flash memory The following procedure is used to change the Lassen iQ receiver protocol from TSIP to TAIP 1 Use the TSIP 0x7E command to setup the TAIP output configuration 2 Change the protocol to TAIP using TSIP command OxBC 3 Save the TAIP settings to Flash memory using the TAIP command gt SRTSAVE_CONFIG lt Lassen iQ GPS Receiver ST Status Data String Format AABCDDEFGG Trimble ASCII Interface Protocol TAIP Note This message provides information about the satellite tracking status and the operational health of the receiver This information is contained in five status
149. n and Performance 4 iQ GPS Receiver Aided GPS Feature This feature allows the Lassen iQ GPS receiver to take advantage of the fast startup times of hot start The fast hot startup times can be achieved by uploading almanac ephemeris time and position to the receiver using TSIP packets There are two methodologies to provide this information One is to use the iQ_Monitor program by downloading and uploading the information through the Starter kit The second methodology is for the user to write an application using TSIP commands to download and upload the appropriate information in his own application Warning To ensure proper format ofthe ephemeris file and almanac file a Trimble receiver must be used to gather this data Using almanac files from non Trimble receivers may not be in proper format and thus may not work i e almanac files downloaded from the Internet iQ_ Monitor Method 1 Attach the Lassen iQ GPS receiver starter box to your PC 2 Place the GPS antenna where there is a clear view of sky 3 Allow the starter kit box to run and to calculate fixes 4 On the main screen wait for the almanac indicator to turn green indicating that the receiver has collected almanac Note It takes 12 5 minutes of uninterrupted iQ operation to collect almanac from the satellites 5 Click on the initialized pulldown menu and use the download features on the bottom of the pulldown to download the almanac position time and ephem
150. n geodesy unless otherwise specified amathematical figure formed by revolving an ellipse about its minor axis It is often used interchangeably with spheroid Two quantities define an ellipsoid these are usually given as the length of the semimajor axis a and the flattening f a b a where b is the length of the semiminor axis ephemeris A set of parameters that describe the satellite orbit very accurately It is used by the receiver to compute the position of the satellite This information is broadcast by the satellites epoch Measurement interval or data frequency as in making observations every 15 seconds Loading data using 30 second epochs means loading every other measurement firmware A set of software computer processor instructions that are permanently or semi permanently resident in read only memory Lassen iQ GPS Receiver 249 Glossary frequency GDOP geodetic datum geoid GPD The number of vibrations per second of an audio or radio signal Measured in hertz Hz kilohertz kHz or megahertz MHz GPS frequencies are L1 1575 42 MHz L2 1227 60 MHz Geometric Dilution of Precision GDOP describes how much an uncertainty in pseudo range and time affects the uncertainty in a position solution GDOP depends on where the satellites are relative to the GPS receiver and on GPS clock offsets A mathematical model designed to best fit part or all of the geoid It is defined by an ellipsoid and the
151. nd Performance 4 DGPS Automatic DGPS Automatic is the default operating mode for the Lassen iQ GPS receiver In this mode the receiver will provide differential GPS suitableness when valid correction data is available If a set of differentially correctable satellites cannot be found which meet the satellite mask settings the receiver will transition to output standard GPS solutions The Lassen iQ GPS receiver automatically switches between DGPS and standard GPS based on the availability of valid correction data Differential GPS Operation The Lassen iQ GPS receiver is capable of accepting and decoding RTCM 104 data the industry standard protocol for differential correction data The receiver is configured to accept RTCM SC 104 correction data over Port 2 PIN 6 Alternatively you can use TSIP packet 60 or the TAIP DC message to input differential corrections through the primary serial port PIN 3 Position Accuracy GPS position accuracy is degraded by atmospheric distortion satellite geometry satellite clock errors and receiver clock errors Effective models for atmospheric distortion of satellite signals have been developed to minimize the impact of tropospheric and ionospheric effects The impact of satellite clock errors is minimized by incorporating the clock corrections transmitted by each satellite used in the position solution Lassen iQ GPS Receiver 65 4 66 Operation and Performance Coordinate Systems Onc
152. nfirmation report packet 0x58 Note For details regarding all the mentioned TSIP packets see Appendix A 76 Lassen iQ GPS Receiver Operation and Performance 4 Warning To operate the Lassen iQ GPS receiver under Hot Start conditions the following conditions are required 1 The almanac must be valid Almanac data is generally valid for 4 6 months The Lassen iQ GPS receiver automatically flushes almanac every 8 weeks 2 The ephemeris must be less than 2 hours old 3 The position must be within 100 Km of the current iQ position 4 Time must be within 5 minutes of UTC GPS Timing In many timing applications such as time frequency standards site synchronization systems and event measurement systems GPS receivers are used to discipline local oscillators The GPS constellation consists of 24 orbiting satellites Each GPS satellite contains a highly stable atomic Cesium clock which is continuously monitored and corrected by the GPS control segment Consequently the GPS constellation can be considered a set of 24 orbiting clocks with worldwide 24 hour coverage GPS receivers use the signals from these GPS clocks to correct its internal clock which is not as stable or accurate as the GPS atomic clocks GPS receivers like the Lassen iQ GPS receiver output a highly accurate timing pulse PPS generated by its internal clock which is constantly corrected using the GPS clocks This timing pulse is synchronized to UTC wit
153. ng version number and release dates then included the checksum for the message the default for the CS Flag is TRUE Also notice that the receiver did respond to our query even though we did not send a checksum Query the receiver for its ID number gt QID lt The receiver will respond assuming factory default settings gt RID0000 70 lt Set the ID to match the number for a vehicle in your fleet and then tell the receiver to include the Vehicle ID in its responses gt SID1234 lt gt SRM ID_FLAG T lt The Lassen iQ receiver receiver is set by default to report the PV message once every 5 seconds To schedule the PV message from vehicle 1234 to respond once every 10 seconds starting at 5 seconds after the top of the hour use the following command gt FPV00100005 ID 1234 lt The receiver will check the ID included in the message for a match with its own and then reschedule the PV message At the next scheduled time the receiver will respond with gt RPV15714 3739438 1220384601512612 ID 1234 7F lt Lassen iQ GPS Receiver Trimble ASCII Interface Protocol TAIP C Note The Lassen iQ GPS receiver firmware version 1 10 does not support the AP TAIP message The time given in the message is the time of the last GPS fix 04 21 54 GPS not necessarily the time of the message response If the time of last fix is 10 or more seconds old the age flag will be set to l Lassen iQ GPS Receiver 203 C Trimble ASCII
154. nnectors MCX or SMA mates through the optional RF transition cable to the on module RF connector Lassen iQ GPS Receiver 229 F Specifications and Mechanical Drawings Lassen iQ GPS Receiver s Lassen iQ GPS Receiver 230 Specifications and Mechanical Drawings F Lassen iQ GPS Receiver Starter Kit Motherboard Schematics BEL z H a 3 el 4 l a 3 gt p 3 za 3 lt S f z 8 4 2 Sl pa s Ne F a i A 2 E at se eal eb N Eee eo Pog t ee l ER eL T R E T Zea ag oo gBe Bas ag Fi lace rauf ERUF 73 ToTWUFU zum use ToTWUGAFU zn m MTGE MTO MGO MTOE MTOS Lassen iQ GPS Receiver 231 F Specifications and Mechanical Drawings Ultra Compact Embedded Antenna Antenna Frequency Range 1 575 42 1 023MHz Gain Polarization Axial Ratio LNA Frequency range Gain Noise 90 3 0dBi min 20 4 0dBi min mounted on the 60mm X
155. ntennas for use with the Lassen iQ GPS receiver receiver The Ultra Compact Embedded Antenna which mates directly to the RF connector The Compact Unpackaged Antenna and the Compact Magnetic Mount Antenna which mate through the optional RF transition cable to the module s RF connector For more information on the antennas see page 33 Digital IO Power Connector Pinout The digital IO Power connector pinout information is listed in Table 2 1 Table 2 1 J2 I O Connector Signals Pin number Function Description 1 TXDA Serial Port A transmit 3 3 V TTL CMOS 2 GND Ground Power and Signal 3 RXD A Serial Port A receive 3 3 V TTL CMOS 4 PPS Pulse Per Second 3 3 V TTL CMOS 5 TXDB Serial port B transmit 3 3V TTL CMOS 6 RXDB Serial port B receive 3 3V TTL CMOS 7 Prime Power VCC 3 3 VDC to 0 3 VDC 8 Battery Backup 2 5 VDC to 3 6 VDC Power Lassen iQ GPS Receiver Hardware Integration 2 Power Requirements The Lassen iQ GPS module requires 3 3 VDC 0 3 VDC at 33 mA typical excluding the antenna The on board capacitance is 10 uF An important design consideration for power is the module s internal clock frequency at 12 504 MHz 3 KHz Interference spurs on prime power in this narrow frequency band should be kept to less than ImV The receiver does not require any special power up or down sequencing The receiver power is supplied through pin 7 of the I O connector See Table 2 2
156. nting tabs 26 mm W x 26 mm L x 6 mm H 1 02 x 1 02 x 0 24 Approximately 6 5 grams 0 2 ounces including the shield Lassen iQ module in metal enclosure with solder mounting tabs Includes Lassen iQ module mounted on interface motherboard in a durable metal enclosure AC DC power converter compact magnetic mount GPS antenna ultra compact embedded antenna serial interface cable cigarette lighter adapter software toolkit and manual on CD ROM Antenna Transition Cable MCX 228 Lassen iQ GPS Receiver RF cable for connecting antennas with MCX connector to on module H FL RF connector Cable length is 10 cm Specifications and Mechanical Drawings F Antenna Transition Cable SMA RF cable for connecting antennas with SMA connector to on module H FL RF connector Cable length is 12 9 cm Ultra Compact Embedded Antenna 3 3V active miniature unpackaged antenna Cable length 8cm Dim 22 mm W x 21 mm Lx 8 mm H 0 866 x 0 827 x 0 315 Connector HFL mates directly to on module RF connector Compact Unpackaged Antenna 3 V active micropatch unpackaged antenna Cable length 11cm Dim 34 6 mm W x 29 mm L x 9 mm H 1 362 x 1 141 x 0 354 Connector MCX mates with optional RF transition cable to the on module RF connector Compact Magnetic Mount Antenna MCX or SMA 3 V active micropatch antenna with magnetic mount Cable length 5m Dim 42mm W x 50 5mm L x 13 8mm H 1 65 x 1 99 x 0 55 Co
157. o fix avail Age of Data 1 n a G 2 Fresh lt 10 sec Indicator 1 Old gt 10 sec O Not available Total number of characters is 22 Position is in latitude positive north and longitude positive east WGS 84 The GPS time of day is the time of fix rounded to the nearest second Note The data in this message is to be considered invalid and should not be used if the Age of Data Indicator is equal to O signifying that data is not available Lassen iQ GPS Receiver Trimble ASCII Interface Protocol TAIP C DC Differential Corrections Note The Lassen iQ GPS receiver firmware version 1 10 does not support the DC TAIP message The DC message provides the receiver with differential corrections from Type 1 and Type 9 RTCM 104 records The numerical values are written out in hex format producing a two character hexadecimal number for each data byte Data String Format AAAAABBCC DDEEEEFFGG Table C 10 DC Differential Corrections Data String Descriptions Item of Char Type Units Format Modified Z count 4 Word 6 sec AAAA Station heath 2 Byte NA BB o Number of SVs 2 Byte N A BB The next five bytes 10 characters are repeated for each SV SVPRNan 2 Byte ua Tb scale factor Range correction 4 Word RTCM 104 EEEE Range rate 2 Byte RTCM 104 FF correction IODE 2 Byte N A GG Units and scale factors are defined by RTCM 104 version 2 The SV PRN and
158. o search the Doppler range frequency for each satellite in the set If none of the twelve selected satellites is acquired after a pre determined period of time time out the receiver will select anew search set of twelve satellites and will repeat the process until the first satellite is acquired As satellites are acquired the receiver automatically collects ephemeris and almanac data The Lassen iQ GPS receiver uses the knowledge gained from acquiring a specific satellite to eliminate other satellites those below the horizon from the search set This strategy speeds the acquisition of additional satellites required to achieve the first position fix The cold start search sets are established to ensure that at least three satellites are acquired within the first two time out periods As soon as three satellites are found the receiver will compute an initial position fix The typical time to first fix is less than 2 minutes A complete system almanac is not required to achieve a first position fix However the availability and accuracy of the satellite ephemeris data and the availability of aGPS almanac can substantially shorten the time to first fix 56 Lassen iQ GPS Receiver Operation and Performance 4 Warm Start In a warm start condition the receiver has been powered down for at least one hour but has stored a current almanac an initial position and time in memory When connected to an external back up power source battery
159. oblems resulting from i the combination or utilization of the Product or Software with products information data systems or devices not made supplied or specified by Trimble ii the operation of the Product or Software under any specification other than or in addition to Trimble s standard specifications for its products iii the unauthorized modification or use of the Product or Software iv damage caused by accident lightning or other electrical discharge fresh or salt water immersion or spray or v normal wear and tear on consumable parts e g batteries THE WARRANTIES ABOVE STATE TRIMBLE S ENTIRE LIABILITY AND YOUR EXCLUSIVE REMEDIES RELATING TO PERFORMANCE OF THE PRODUCTS AND SOFTWARE EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN THE PRODUCTS SOFTWARE AND ACCOMPANYING DOCUMENTATION AND MATERIALS ARE PROVIDED AS IS AND WITHOUT EXPRESS OR IMPLIED WARRANTY OF ANY KIND BY EITHER TRIMBLE NAVIGATION LIMITED OR ANYONE WHO HAS BEEN INVOLVED IN ITS CREATION PRODUCTION INSTALLATION OR DISTRIBUTION INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE TITLE AND NONINFRINGEMENT THE STATED EXPRESS WARRANTIES ARE IN LIEU OF ALL OBLIGATIONS OR LIABILITIES ON THE PART OF TRIMBLE ARISING OUT OF OR IN CONNECTION WITH ANY PRODUCTS OR SOFTWARE SOME STATES AND JURISDICTIONS DO NOT ALLOW LIMITATIONS ON DURATION OR THE EXCLUSION OF AN IMPLIED WARRANTY SO T
160. on as the minutes then multiply the decimal fraction by 60 to convert to seconds 0 6628 x 60 39 768 seconds Since the sign of the latitude in this example is positive the result is Latitude N 37 23 39 77 The longitude is converted in the same fashion Longitude W 122 02 18 46 Note At the earth s equator one degree of latitude and longitude represents 68 7 miles therefore 0 00001 degrees represents approximately 3 6 feet or 1 1 meters Each second represents approximately 100 76 ft 30 7 m Lassen iQ GPS Receiver Trimble ASCII Interface Protocol TAIP Message Data Strings The following table lists all the TAIP messages currently defined and comments regarding their application The data string format of each message is described in the following pages Cc Table C 6 Message Data String Descriptions Identifier Message Format Frequency Query Response Set and Distance Report AL Altitude Vertical Velocity X X x X AP Auxiliary Port x x x Characteristic CP Compact Position x x X X Solution DC Differential Corrections X ID Vehicle ID x x x x IP Initial Position X X X X LN Long Navigation X X X Message PR Protocol X X X PT Port Characteristic X X X X PV Position Velocity Solution X X X X RM Reporting Mode X X X X RT Reset X ST Status x x x TM Time Date x x X VR Version Number X X X X Notes The Lassen iQ GPS firmware version 1
161. ored in the receiver s battery backed ram The Lassen iQ receiver family of receivers do not include an internal battery but provide a battery back up input line that may be used to retain memory when main power is removed If you do not use battery back up all port characteristics will reset to either the default settings after power is removed or to the settings previously stored in Flash The PT command uses commas between data fields 190 Lassen iQ GPS Receiver Trimble ASCII Interface Protocol TAIP C PV Position Velocity Solution Note The first character of latitude or longitude S is or Data String Format AAAAA S BBCCCCC S DDDEEEEEFFFGGGHI Table C 16 Position Velocity Solution Data String Descriptions Item of Char Units Format Value GPS Time of Day 5 Sec AAAAA Latitude 8 Deg S BBCCCCC BB degrees CCCC decimal degrees Longitude 8 Deg S DDDEEEEE DDD degrees EEEE decimal degrees Speed 3 MPH FFF Heading 3 Deg GGG Fix Mode 1 n a H 0 2D GPS 1 3D GPS 2 2D DGPS 3 3D DGPS 6 Reserved 8 Reserved 9 No fix avail Age of Data 1 n a l 2 Fresh lt 10 sec Indicator 1 Old gt 10 sec O Not available Total number of characters is 30 Position is in latitude positive north and longitude positive east WGS 84 Heading is in degrees from True North increasing eastwardly The GPS time of day is the time of fix rounded to the nearest se
162. ot be interrupted With a complete almanac and back up power the time to first fix can typically be shortened to less than 42 seconds The receiver will respond to commands almost immediately after power up see Warning below Note See Chapter 4 for further detail on ephemeris data and the GPS almanac Warning The Lassen iQ GPS Receiver is ready to accept TSIP commands approximately 2 1 seconds after power up If a command is sent to the receiver within this 2 1 second window the receiver will ignore the command The Lassen iQ GPS Receiver will not respond to commands sent within the 2 1 second window and will discard any associated command data Lassen iQ GPS Receiver Software Interface 3 Communicating with the Lassen iQ GPS Receiver The Lassen iQ GPS Receiver supports three message protocols TSIP TAIP and NMEA Communication with the module is through two CMOS compatible TTL level serial ports The port characteristics can be modified to accommodate your application requirements Port parameters can be stored in non volatile memory FLASH which does not require backup power Table 3 1 lists the default port characteristics Software Tools The Software Tools provided on the Starter Kit CD ROM include both user friendly Windows and DOS applications to facilitate communication with the receiver via the Trimble Standard Interface Protocol TSIP This CD also includes sample C source code and reusable routines to ai
163. ote 1 4 5 north velocity INT16 0 005 m s or 0 020 m s See Note 1 6 7 up velocity INT16 0 005 m s or 0 020 m s See Note 1 8 11 Time Of Week UINT32 GPS Time in milliseconds 12 15 Latitude INT32 230 to 230 WGS 84 latitude 2 3 semicircle 90 90 16 19 Longitude UINT32 0t0 2 WGS 84 latitude 2 31 semicircle 0 360 20 23 Altitude INT32 Altitude above WGS 84 ellipsoid mm 24 0 Velocity Scaling 0 0 005 m s 1 0 020 m s 1 7 reserved 25 reserved 26 Datum Datum index 1 0 unknown 158 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Table A 59 Report Packet 0x8F 20 Data Formats Continued Byte Bit Item Type Value Definition 27 0 Fix Available Bit 0 Yes 1 No 1 DGPS Bit 0 No Corrected 1 Yes 2 Fix Dimension Bit 0 3D 1 2D 3 Alt Hold Bit 0 Last 3D Altitude 1 User entered altitude 4 Filtered Bit 0 Unfiltered 1 Filtered 5 7 reserved 28 NumSVs UINT8 Number of satellites used for fix Will be zero if no fix avail 29 UTC Offset UINT8 Number of leap seconds between UTC and GPS time 30 31 Week INT16 GPS time of fix weeks 32 0 5 PRN 1 UINT8 1 32 PRN of first satellite 6 7 reserved 33 IODE 1 UINT8 IODE of first satellite 34 0 5 PRN 2 UINT8 1 32 PRN of second satellite 6 7 reserved 35 IODE 2 UINT8 IODE of second satellite 36 0 5 PRN 3 UINT8 1 32 PRN of third satellite 6 7 reserved 37 IODE 3 UINT8 IODE of third satellite 38
164. plays a question mark in a data field the receiver has not reported a status for this field If a remains in the data field the GPS module may not be communicating with the computer Re check the interface cable connections and verify the serial port selection and settings If the communication failure continues after checking all connections and settings please call the Trimble Technical Assistance Center TAC at 1 800 767 4822 18 Lassen iQ GPS Receiver CHAPTER Hardware Integration In this chapter General Description Connectors Power Requirements Serial Interface Pulse Per Second PPS Mounting GPS Antennas 2 20 Hardware Integration General Description Trimble s new Lassen iQ GPS receiver adds complete GPS functionality to mobile products in a postage stamp sized footprint with ultra low power consumption Using Trimble s breakthrough FirstGPS architecture the module delivers complete position velocity and time PVT solutions for use in mobile battery powered applications such as hand held devices PDAs asset tracking devices and navigation applications The Lassen iQ GPS module is packaged in a tiny form factor 26 mm x 26 mm x 6 mm including the metal shield It typically requires only less than 89 mW of power at 3 3 VDC The module includes flash memory for firmware upgrades and storing the user configuration Figure 2 1 Lassen iQ GPS Receiver Board without Shield
165. port containing the last available fix will be sent immediately If two bytes are sent the packet is marked unmarked for auto report according to the value of the second byte as shown in below 0x37 can also be used for requesting Ox8F 20 if the Ox8F 20 is scheduled for auto output Table A 58 Command Packet 0x8E 20 Field Descriptions 35 byte 0 bit 5 Byte Item Type Definition 0 Sub packet id UINT8 0x20 1 Mark for Auto report See Packet UINT8 O do not auto report 1 mark for auto report Note Auto report requires that superpacket output is enabled Refer to Command Packet 35 Lassen iQ GPS Receiver 157 A Trimble Standard Interface Protocol TSIP Report Packet 0x8F 20 Last Fix with Extra Information binary fixed point This packet provides complete information about the current position velocity fix in a compact fixed length 56 byte packet The fields are fixed point with precision matched to the receiver accuracy It can be used for automatic position velocity reports The latest fix can also be requested by Ox8E 20 or 0x37 commands The data format is shown below Table A 59 Report Packet 0x8F 20 Data Formats Byte Bit Item Type Value Definition 0 Sub packet id UINT8 Id for this sub packet always 0x20 1 KeyByte UINT8 Reserved for Trimble DGPS Post processing 2 3 east velocity INT16 0 005 m s or 0 020 m s See N
166. ptions Automatic TSIP Output Packets fixed rate One second interval Ox4A 1 GPS position fix 2 clock bias and time of fix 20 byte format 0x56 velocity fix Ox6D 1 list of satellites used for position fixes 2 PDOP HDOP VDOP 3 fix mode 0x82 DGPS position fix mode Five second interval 0x41 1 GPS time of the week seconds 2 extended GPS week number 3 GPS UTC offset seconds 0x46 health of receiver Ox4B 1 Machine Code ID 2 Real time clock availability status 3 almanac validity status 4 having super packet support status Lassen iQ GPS Receiver Software Interface 3 Packet Output Order After power up or a software reset packet 0x1E seven start up packets are sent only once by the receiver in this order 45 46 4B 4A 56 41 82 Before position fixes are available the 1 second and 5 second interval packets are sent in this order periodically e Every one second for 5 seconds 6D 82 e Every five seconds 41 46 4B When position fixes are available the 1 second and 5 second interval packets are sent in this order periodically e Every one second for 4 seconds 4A 56 6D 82 e Every 5 seconds 4A 56 41 46 4B 6D 82 Lassen iQ GPS Receiver 45 3 46 Software Interface NMEA 0183 Protocol and Data Output Options The National Marine Electronics Association NMEA protocol is an industry standard data protocol which was developed for the
167. r settings query software version Ox1F 0x45 query receiver ID amp error status 0x26 Ox4B 0x46 set query receiver configuration 0xBB 0xBB set altitude for 2D mode Ox2A Ox4A disable PV altitude filters 0x70 0x70 set query positioning mode 2D v 3D OxBB OxBB GPS System query load GPS system data 0x38 0x58 Lassen iQ GPS Receiver 93 A Trimble Standard Interface Protocol TSIP Table A 7 Continued Recommended TSIP Packet Data Function Description Input Output Initialization full reset clear battery backup and or non Ox1E volatile settings soft reset 0x25 set GPS time Ox2E Ox4E set exact LLA 0x32 set approx XYZ 0x23 set approx LLA 0x2B set exact XYZ 0x31 Command Packets Sent to the Receiver The table below summarizes the command packets sent to the receiver The table includes the input Packet ID a short description of each packet and the associated response packet In some cases the response packets depend on user selected options These selections are covered in the packet descriptions beginning on page 102 Table A 8 User Selected Command Packet Options Input ID Packet Description Output ID Ox1E clear battery back up reset See Note 1 Ox1F software version 0x45 0x21 current time 0x41 0x23 initial position XYZ ECEF 0x24 request receiver position fix mode 0x6D 0x25 soft reset amp self test See Note 1 0x26 receiver health 0x4
168. relationship between the ellipsoid and a point on the topographic surface established as the origin of datum This relationship can be defined by six quantities generally but not necessarily the geodetic latitude longitude and the height of the origin the two components of the deflection of the vertical at the origin and the geodetic azimuth of a line from the origin to some other point The GPS uses WGS 84 The actual physical shape of the earth which is hard to describe mathematically because of the local surface irregularities and sea land variations In geodetic terms it is the particular equipotential surface which coincides with mean sea level and which may be imagined to extend through the continents This surface is everywhere perpendicular to the force of gravity GPS with differential corrections applied 250 Lassen iQ GPS Receiver GPS GPS antenna GPS processor GPS receiver GPS time HDOP HOW interface cable serial interference integrated Doppler Glossary Global Positioning System A constellation of 24 radio navigation not communication satellites which transmit signals used by GPS receivers to determine precise location position velocity and time solutions GPS signals are available world wide 24 hours a day in all weather conditions This system also includes 5 monitor ground stations 1 master control ground station and 3 upload ground stations An antenna designed to receive GPS
169. ribed below SIDMSG D1 D2 D3 D4 Dn CS CR LF gr ID MSG 6699 Dn 663699 CS CR LF The signifies the start of a message The talker identification is a two letter mnemonic which describes the source of the navigation information The GP identification signifies a GPS source The message identification is a three letter mnemonic which describes the message content and the number and order of the data fields Commas serve as delimiters for the data fields Each message contains multiple data fields Dn which are delimited by commas The asterisk serves as a checksum delimiter The checksum field contains two ASCII characters which indicate the hexadecimal value of the checksum The carriage return CR and line feed LF combination terminate the message NMEA 0183 messages vary in length but each message is limited to 79 characters or less This length limitation excludes the and the CR LF The data field block including delimiters is limited to 74 characters or less Lassen iQ GPS Receiver 211 E NMEA 0183 Field Definitions Many of the NMEA date fields are of variable length and the user should always use the comma delineators to parse the NMEA message date field Table E 2 specifies the definitions of all field types in the NMEA messages supported by Trimble Table E 2 Field Type Summary Type Symbol Definition Status A Single character field A Yes
170. rotocol TSIP Table A 48 Command Packet 70 Data Formats Byte Item Type Value Definition 0 Position Velocity Filter UINT8 0 Off 1 On 1 Static Filter UINT8 0 Off 1 On 2 Altitude Filter UINT8 0 Off 1 On 3 Reserved UINT8 reserved Report Packet 0x70 This report is sent as a response to Command Packet 0x70 as either a query or a set It contains four bytes as shown in Table A 51 142 Lassen iQ GPS Receiver Command Packet 0x7A Trimble Standard Interface Protocol TSIP A The NMEA message determines whether or not a given NMEA message will be output If the bit for a message is set the message will be sent every interval second Use the values shown below to determine the NMEA interval and message mask While fixes are being generated the output order is ZDA GGA GLL VTG GSA GSV RMC Table A 49 Command Packet 0x7A and Report Packet 0x7B Data Formats Byte Bit lItem Type Value Definition 0 Subcode UINT8 0 1 Interval UINT8 1 255 Fix interval in seconds 2 Reserved UINT8 0 3 Reserved UINT8 0 4 0 RMC Bit 0 Off 1 On 4 1 7 Reserved Bit 0 5 0 GGA Bit 0 Off 1 On 5 1 GLL Bit 0 Off 1 On 5 2 VTG Bit 0 Off 1 On 5 3 GSV Bit 0 Off 1 On 5 4 GSA Bit 0 Off 1 On 5 5 ZDA Bit 0 Off 1 On 5 6 7 Reserved Bit 0 Lassen iQ GPS Receiver 143 A Trimble Standard Interface Protocol TSIP Report Packet 0x7B This packet prov
171. s Fix Mode 1 second 0x82 DGPS position fix mode only in DGPS mode 1 second 88 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Customizing Receiver Operations For information on customizing receiver operations see the following tables on selecting report data Automatic Position and Velocity Reports The receiver automatically outputs position and velocity reports at set intervals Automatic report packets are controlled by Packet 35 Setting the control bits as indicated in the table below allows you to control which position and velocity packets are output Table A 2 Packet 35 Automatic Position and Velocity Reports Control Setting Bits Packet 0x35 Byte 0 Packet 0x35 Byte 1 Report Requested Packet ID Setting Bit 0 Bit 1 Bit 4 Bit 5 Bit 0 Bit 1 0x42 single precision 1 0 XYZ position 0x83 double precision 1 1 XYZ position Ox4A single precision 1 0 LLA position default 0x84 double precision 1 1 LLA position 0x43 velocity fix XYZ 1 ECEF 0x56 velocity fix 1 default ENU Ox8F 20 LLA and ENU 1 Lassen iQ GPS Receiver 89 A Trimble Standard Interface Protocol TSIP Initialization Packets to Speed Start up If you are not supplying the receiver with battery power when main power is off you can still warm start the receiver by sending the following commands after the receiver has completed its internal initialization and has sen
172. s subjected to frequent obscuration or when the geometry is poor due to an incomplete constellation Alternatively if the user only wants a 2 D solution then 2 D manual should be requested In this case the receiver uses either the last altitude obtained in a 3 D fix or the altitude supplied by the user However any error in the assumed altitude will affect the accuracy of the latitude and longitude solution Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A When using the 2 D mode expect fixes with accuracies which are at best as accurate as the supplied altitude If a marine user enters sea level as the altitude then small errors in the horizontal solution will occur when the sea state is rough or there are high tidal variations However these errors may be smaller than the altitude errors induced by SA so 2 D may be preferable for a marine user who does not want to observe unusual altitudes Dynamics Code The feature default is LAND mode where the receiver assumes a moderate dynamic environment In this case the satellite search and re acquisition routines are optimized for vehicle type environments In SEA mode the search and re acquisition routines assume a low acceleration environment and reverts to user entered altitude in 2 D auto In AIR mode the search and re acquisition routines are optimized for high acceleration conditions Elevation Mask This is the minimum elevation angle for satel
173. s of the applicable End User License Agreement EULA if any included with the Software In the absence of a separate EULA included with the Software providing different limited warranty terms exclusions and limitations the following terms and conditions shall apply Trimble warrants that this Trimble Software product will substantially conform to Trimble s applicable published specifications for the Software for a period of ninety 90 days starting from the date of delivery Warranty Remedies Trimble s sole liability and your exclusive remedy under the warranties set forth above shall be at Trimble s option to repair or replace any Product or Software that fails to conform to such warranty Nonconforming Product or refund the purchase price paid by you for any such Nonconforming Product upon your return of any Nonconforming Product to Trimble in accordance with Trimble s standard return material authorization procedures Warranty Exclusions and Disclaimer These warranties shall be applied only in the event and to the extent that i the Products and Software are properly and correctly installed configured interfaced maintained stored and operated in accordance with Trimble s relevant operator s manual and specifications and ii the Products and Software are not modified or misused The preceding warranties shall not apply to and Trimble shall not be responsible for defects or performance pr
174. s the machine ID Table C 24 Error Codes Nibble 3 Value E Meaning Not used Not used Table C 25 Error Codes Nibble 4 Value F Meaning 0 No problems reported 2 RTC not available at power up see Note below 8 Stored almanac not complete and current A RTC not available stored almanac not complete and current Table C 26 Error Codes Reserved Value GG Meaning Not used Reserved Note After the status is detected this bit remains set until the receiver is reset Lassen iQ GPS Receiver 197 C Trimble ASCII Interface Protocol TAIP 198 TM Time Date Data String Format AABBCCDDDEEFFGGGGHHIJJKLLLLL Table C 27 TM Time Data String Descriptions Item of Char Units Format Value Hours 2 Hour AA Minutes 2 Min BB Seconds 5 Sec CC DDD Date Day 2 Day EE Date Month 2 Month FF Date Year 4 Year GGGG GPS UTC Time 2 Sec HH Offset Fix Mode 1 n a f 0 2D GPS 1 3D GPS 2 2D DGPS 3 3D DGPS 6 Reserved 8 Reserved 9 No fix avail Number of 2 n a JJ usable satellites GPS UTC Offset 1 n a K 1 Valid flag 0 Invalid Reserved 5 n a LLLLL Total number of characters is 28 This message outputs the time and date as computed by the GPS receiver The time is most accurate when the unit is doing fixes It is less accurate but still usable when the unit is not doing fixes but the
175. satellite based on historical data Universal Time Coordinated Uniform atomic time system standard that is maintained by the US Naval Observatory UTC defines the local solar mean time at the Greenwich Meridian The difference between local time and UTC Example UTC EST 5 hours Lassen iQ GPS Receiver 257 Glossary 258 Lassen iQ GPS Receiver
176. scale factor contains the SV PRN in the lower 5 bits and the scale factor in the higher 3 bits The scale factor has only three acceptable values 0 Use with low scale factor 4 Use with high scale factor 7 Do not use Range corrections are scaled by 0 02 meters for low scale factor and 0 32 m sec for high scale factor Lassen iQ GPS Receiver 181 C Trimble ASCII Interface Protocol TAIP Notes The DC TAIP message is used to enclose differential corrections within the TAIP format The DC TAIP message used to input corrections requires only one communications channel When the auxiliary port is used to input RTCM 104 corrections it assumes a separate communications channel is available for broadcast and receipt of differential corrections The TAIP Software Toolkit does not support the DD message 182 Lassen iQ GPS Receiver ID Trimble ASCII Interface Protocol TAIP Identification Number Data String Format AAAA Table C 11 Identification Number Data String Descriptions Item of Char Units Format Vehicle ID 4 n a AAAA Total number of characters is 4 This message is used to report or set the vehicle s or receiver s unique four character alpha numeric user assigned ID The default at cold start is 0000 Example The following message will set the vehicle ID to 101 gt SIDO101 lt The following is simply a response to a query for vehicle ID gt RIDO101 lt Note The r
177. sen iQ GPS Receiver Ordering Information 1 Products Lassen iQ GPS receiver Module Part Number 46240 10 46240 20 Lassen iQ GPS receiver Starter Kit 51099 00 Antenna transition cable MCX HFL connector 47274 Antenna transition cable SMA HFL connector 49894 05 Ultra Compact Embedded Antenna 3 3V 8cm cable 45336 00 Compact Unpackaged Antenna 3V 11cm cable MCX connector 39265 51 Compact Magnetic Mount Antenna 3V 5m cable MCX connector 39265 50 Compact Magnetic Mount Antenna 3V 5m cable SMA connector 39265 52 Note Part numbers are subject to change Confirm part numbers with your Trimble representative when placing your order Lassen iQ GPS Receiver 7 1 8 Starter Kit Starter Kit Interface Unit The Starter Kit interface unit consists of a Lassen iQ GPS module attached to an interface motherboard housed in a sturdy metal enclosure This packaging simplifies testing and evaluation of the module by providing two RS 232 serial interfaces which are compatible with most PC communication ports Power 9 32 VDC is supplied through the power connector on the front of the interface unit The motherboard features a switching power supply which converts this voltage input to the 3 3 volts required by the module The two DB9 connectors allow for easy connection to a PC serial port using the serial interface cable provided in the Starter Kit The metal enclosure protects the module an
178. ss 1l111 111 a nnnnn nnn b t uu v v w w M x x M y y zzzz hh lt CR gt lt LF gt Table E 4 GGA GPS Fix Data Message Parameters Field 1 Description UTC of Position when UTC offset has been decoded by the receiver 2 3 Latitude N North or S South 4 5 Longitude E East or W West 6 GPS Quality Indicator 0 No GPS 1 GPS 2 DGPS 7 8 Number of Satellites in Use Horizontal Dilution of Precision HDOP 9 10 Antenna Altitude in Meters M Meters 11 12 Geoidal Separation in Meters M Meters Geoidal separation is the difference between the WGS 84 earth ellipsoid and mean sea level 13 Age of Differential GPS Data Time in seconds since the last Type 1 or 9 Update 14 Differential Reference Station ID 0000 to 1023 hh Checksum Lassen iQ GPS Receiver 215 E 216 NMEA 0183 GLL Geographic Position Latitude Longitude The GLL message contains the latitude and longitude of the present vessel position the time of the position fix and the status SGPGLL 1111 111 a yyyyy yyy a hhmmss ss A i hh lt CR gt lt LF gt Table E 5 GLL Geographic Position Latitude Longitude Message Parameters Field Description 1 2 Latitude N North or S South 3 4 Longitude E East or W West 5 UTC of position when UTC offset has been decoded by the receiver Status A Valid V Inv
179. stomize the Lassen iQ GPS receiver configuration settings and to save a configuration to non volatile memory The most recent port configuration is stored in BBRAM This eliminates the need to repeat setup each time the receiver power is cycled However if the battery backed power is accidentally lost the port configuration automatically resets to either what was saved in the non volatile memory FLASH or to the factory default Tip To ensure continuous operation store all port configuration changes in the non volatile memory Following are step by step instructions for using iQ CHAT to customize Lassen iQ GPS receiver port configuration Customizing the Configuration 1 Insert the CD in the CD ROM drive of your computer 2 Open a DOS window and set the path to the iQ_CHAT location 3 Torun the program type iQ CHAT c1 if attached to PC COMI or type iQ CHAT c2 if attached to PC COM2 4 Power up the receiver Automatic report streams should be scrolling up in the DOS window Assuming that your receiver is set to the default configuration the settings will be 9600 baud 8 odd 1 Note If data is not being output after receiver power up use the I command in iQ_CHAT to reset the COMI COM2 setting in PC not the receiver Tip Entering in the iQ_CHAT window displays all the available commands and their corresponding TSIP packets Lassen iQ GPS Receiver 47 3 Software Interface 5 To re configure
180. stream directly from the serial port To turn data collection on or off use the record pull down menu The recorded binary data stream can be translated into an ASCII file with the program TSIPRNT or TSIPReader 166 Lassen iQ GPS Receiver APPENDIX Trimble ASCII Interface Protocol TAIP Trimble ASCH Interface Protocol TAIP is a Trimble specified digital communication interface based on printable ASCII characters over a serial data link TAIP was designed specifically for vehicle tracking applications but has become common in a number of other applications because of its ease of use TAIP supports both scheduled and polled responses TAIP messages may be scheduled for output at a user specified rate starting on a given epoch from top of the hour For communication robustness the protocol optionally supports checksums on all messages It also provides the user with the option of tagging all messages with the unit s user specified identification number ID This greatly enhances the functional capability of the unit in a network environment Additionally given the printable ASCII format of all communication TAIP is ideal for use with mobile data terminals modems and portable computers Although receivers incorporating this protocol are shipped from the factory with a specific serial port setting the port characteristics are fully programmable through TAIP messages C Trimble ASCII Interface Protocol TAIP The Lassen iQ GPS re
181. t Packet 82 Table A 3 Input Byte Description 0x2B initial position Ox2E initial time 0x38 almanac for each SV 0x38 almanac health 0x38 ionosphere page 0x38 UTC correction 90 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP Packets Output at Power Up The following table lists the messages output by the receiver at power up After completing its self diagnostics the receiver automatically outputs a series of packets which indicate the initial operating condition of the receiver Messages are output as listed in the table below After Packet 82 is output the sequence is complete and the receiver is ready to accept commands Table A 4 Packet Power up Output Messages A Output ID Description Notes 0x45 software version 0x46 receiver health 0x4B machine code status As chosen see Table A 3 default 0 x 4A 0 x 56 position Velocity output As chosen see Table A 3 0x41 82 GPS time DGPS position fix mode Timing Packets If you are using the Lassen iQ GPS receiver as a timing system you may need to implement the following TSIP control commands Table A 5 Timing Packet TSIP Control Commands Input ID Description Output ID 0x21 get the current GPS time 0x41 0x38 05 request UTC parameters 0x58 05 Lassen iQ GPS Receiver 91 A 92 Trimble Standard Interface Protocol TSIP Satell
182. t Unpackaged GPS Antenna Figure 2 6 Compact Magnetic Mount GPS Antenna Lassen iQ GPS Receiver 35 2 Hardware Integration 36 Lassen iQ GPS Receiver CHAPTER Software Interface In this chapter Start up Communicating with the Lassen iQ GPS Receiver m Port Protocol and Data Output Options m Custom Port Configuration When prompted select the factory default option 3 38 Software Interface Start up Lassen iQ GPS receiver module is a complete 12 channel parallel tracking GPS receiver designed to operate with the L1 frequency standard position service Coarse Acquisition code When connected to an external GPS antenna the receiver contains all the circuitry necessary to automatically acquire GPS satellite signals track up to 12 GPS satellites and compute location speed heading and time The receiver will automatically begin to search for and track GPS satellite signals at power up The performance of a GPS receiver at power on is determined largely by the availability and accuracy of the satellite ephemeris data and the availability of aGPS system almanac The first time the receiver is powered up it is searching for satellites from a cold start no almanac While the receiver will begin to compute position solutions within the first two minutes the receiver must continuously track satellites for approximately 15 minutes to download a complete almanac This initialization process should n
183. t altitude conversion is WGS 84 Altitude is referred to the datum ellipsoid or the MSL Geoid depending on which I O LLA altitude option is selected The time of fix is in GPS time or UTC depending on which I O timing option is selected This packet also is sent at start up with a negative time of fix to report the current known position Packet 0x84 provides a double precision version of this information Warning When converting from radians to degrees significant and readily visible errors will be introduced by use of an insufficiently precise approximation for the constant PI The value of the constant Pl as specified in ICD GPS 200 is 3 1415926535898 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Report Packet 0x4A 9 Byte Format Report Packet Ox4A is also sent in response to the setting or requesting of the Reference Altitude Parameters using Command Packet 0x2A These parameters can be used in the Manual 2 D mode Reference Altitude The altitude used for manual 2 D positions if the altitude flag is set Altitude is in units of HAE WGS 84 or MSL depending on the selected I O options set for positioning with Command Packet 35 Altitude Flag A flag that determines whether or not the Reference Altitude will be used If set it will be used If cleared altitude hold last 3 D altitude will be used The data format is shown in the following table Table A 30 Reference Altitude
184. t of a new sentence Lassen iQ GPS Receiver 169 C Trimble ASCII Interface Protocol TAIP Message Qualifier A one character message qualifier is used to describe the action to be taken on the message The following table lists the valid qualifiers Table C 3 Message Format Qualifiers Qualifier Action Q Query for a single sentence sent to GPS receiver R Response to a query or a scheduled report from the receiver Schedule reporting frequency interval in seconds S Enables equipment to be initialized and sets various message types D Specify a minimum distance traveled and a minimum and maximum time interval for the next report Note All TAIP message characters must be in uppercase Message Identifier A unique two character message identifier consisting of alphabetical characters is used to identify type messages For example PR for Protocol or VR for Version Number 170 Lassen iQ GPS Receiver Trimble ASCII Interface Protocol TAIP Data String The format and length of a data string is dictated by the message qualifier and the message identifier The data string may contain any printable ASCII character with the exception of the gt lt and characters Detailed descriptions of each message format are provided in the specific message sections of this Appendix Most messages are length sensitive and unless otherwise specified field separators including spaces are not
185. ta Formats Byte Bit Item Type Value Definition 0 Status code UINT8 0x00 Doing position fixes 0x01 Don t have GPS time yet 0x02 Need initialization O normal 1 shutdown due to RF initialization timeout 0x03 PDOP is too high 0x08 No usable satellites 0x09 Only 1 usable satellite 0x0A Only 2 usable satellites 0x0B Only 3 usable satellites 0x0C The chosen satellite is unusable 1 0 Battery Bit 0 OK backup 1 BBRAM was not available at start up 1 4 Antenna Bit 0 OK feedline 1 Short or open detected fault 1 5 Type of fault Bit 0 Open detected Short detected The error codes in Byte 1 of Packet 0x46 are encoded into individual bits within the byte The bit positions are shown below Note After status is detected it s bit remains set until the receiver is reset Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Report Packet 0x47 Signal Levels for all Satellites This packet provides received signal levels for all satellites currently being tracked or on which tracking is being attempted i e above the elevation mask and healthy according to the almanac The receiver sends this packet only in response to Packet 0x27 The data format is shown below Table A 28 Report Packet 0x47 Data Formats Byte Item Type 0 Count UINT8 1 Satellite number 1 UINT8 2 5 Signal level 1 Single 6 Satellite number 2 UINT8 7 10 Signal level 2 Single
186. tem Type Value Definition 0 Satellite UINT8 number PRN 1 32 number 1 0 2 reserved Bits reserved 1 3 7 Channel Bits 0 11 2 Acquisition UINT8 0 Never acquired flag 1 Acquired 2 Re opened search 134 Lassen iQ GPS Receiver Trimble Standard Interface Protocol TSIP A Table A 43 Report Packet 0x5C Data Formats Continued Byte Bit Item Type Value Definition 3 Ephemeris UINT8 0 Flag not set flag 1 Ephemeris is decoded 3 Ephemeris is decoded and healthy 19 Ephemeris is decoded good and used in the current position fix 51 Ephemeris is decoded good used in the fix and a DGPS correction is available only relevant if DGPS is enabled in the firmware 4 7 Signal level Single Same as in Packet 0x47 8 11 GPS time Single lt 0 No measurements have been taken of last gt 0 Center of the last measurement measurem taken from this satellite ent 12 15 Elevation Singles radians Approximate elevation of this satellite above the horizon Updated about every 15 sec s Used for searching and computing measurement correction factors 16 19 Azimuth Single radians Approximate azimuth from true north to this satellite Updated typically about every 3 to 5 minutes Used for computing measurement correction factors 20 23 reserved UINT8 0 Lassen iQ GPS Receiver 135 A Trimble Standard Interface Protocol TSIP Command Packet 0x60 Type 1 Differential GPS Corrections This packet prov
187. the port settings and protocol type U and respond to the input prompts At the end of this procedure select the option that resets the PC COM port to match the new settings Communication should resume almost immediately Saving the Configuration 1 Before storing the new configuration in FLASH confirm that the receiver has been configured to the desired settings Warning Record the new serial port settings If power is lost this will speed up recovery Alternatively the receiver can always be returned to the default configuration 2 To save the configuration to Flash e Enter to access the command list page for the Ox8E command packet Enter s to send the 0x8E 26 command packet Communication is momentarily suspended while the configuration is being stored in Flash 3 To confirm that the configuration changes have been saved turn off the power supply and the battery back up for a few minutes Then power up the receiver and confirm that the configuration changes have been retained Alternatively you can use Packet 1E to command a cold start Note Command packet Ox8E 26 executes storage of various types of receiver settings in addition to the port and protocol See Table 3 2 for a complete list of the settings that can be stored in FLASH memory 48 Lassen iQ GPS Receiver Software Interface 3 Returning to the Factory Settings At any time the receiver can be returned to t
188. third messages are sent when more than 4 satellites are in view Fields 1 and 2 indicate the total number of messages being sent and the number of each message respectively SGPGSV X X XX XX XX XXX XX XX XX XXX XX XX XX XXX XX XX XX XXX XX hh lt CR gt lt LF gt Table E 7 GSV GPS Satellites in View Message Parameters Field Description 1 Total number of GSV messages Message number 1 to 3 Total number of satellites in view Satellite PRN number O o AJOJN Satellite elevation in degrees 90 Maximum Satellite azimuth in degrees true 000 to 359 7 Satellite SNR C No null when not tracking 8 9 10 11 PRN elevation azimuth and SNR for second satellite 12 13 14 15 PRN elevation azimuth and SNR for third satellite 16 17 18 19 PRN elevation azimuth and SNR for fourth satellite hh Checksum Lassen iQ GPS Receiver NMEA 0183 E RMC Recommended Minimum Specific GPS Transit Data The RMC message contains the time date position course and speed data provided by the GPS navigation receiver A checksum is mandatory for this message and the transmission interval may not exceed 2 seconds All data fields must be provided unless the data is temporarily unavailable Null fields may be used when data is temporarily unavailable SGPRMC hhmmss ss A llll ll a yyyyy yy a X X X X XXXXXX X X a 1 hHh lt CR gt lt LF gt
189. tion drops below the mask Read Only Memory A communication standard for digital data Specifies a number of signal and control lines RS 232 is often associated with a 25 pin connector called a DB 25 Radio Technical Commission for Maritime Services Commission that recommends standards for differential GPS services RTCM Recommended Standards For Differential GPS Service prepared by RTCM Special Committee No 104 RTCM SC 104 defines a communication protocol for sending GPS differential corrections from a differential reference station to remote GPS receivers As satellites approach the horizon their signals can become weak and distorted preventing the receiver from gathering accurate data Satellite masks enable you to establish criteria for using satellite data in a position solution There are three types of satellite masks Elevation SNR and PDOP 254 Lassen iQ GPS Receiver SA SEP serial communication serial port signal to noise level signal to noise ratio SNR spread spectrum SPS start bit stop bit Glossary Selective Availability This is the name of the policy and the implementation scheme by which unauthorized users of GPS will have their accuracy limited to 100 meters 2D RMS horizontal and 156 meters 2D RMS vertical Spherical Error Probability The radius of a sphere such that 50 of the position estimates will fall within the surface of the sphere A system of sending bits o
190. tocol input output Baud data bits parity stop bits 0x8E 20 g Fixed point superfix control Ox8F 20 default on 50 Lassen iQ GPS Receiver Software Interface 3 Timing Applications The Lassen iQ GPS receiver is an excellent source for accurate system timing Two examples of applications requiring accurate time are environmental data acquisition and synchronization of communications networks The timing functions of the receiver are supported by the TSIP protocol and the PPS signal See Report Packet 0x41 or Super Packet Ox8F 20 in Appendix A for a description of the time function reports for TSIP Note GPS time differs from UTC Universal Coordinated Time by a variable integer number of seconds UTC GPS time GPS UTC Offset As of April 2002 the GPS UTC offset was 13 seconds The offset increases by 1 second approximately every 18 months System designers should plan to read the offset value as a part of the timing interface to obtain UTC The GPS week number is in reference to a base week Week 0 starting January 6 1980 The current GPS UTC offset is contained within the almanac transmitted by the GPS system The Lassen iQ GPS Receiver must have a complete almanac before the offset data is valid Note As of January 2005 the GPS Control Organization has not added leap seconds on the usual 18 month schedule As a result the offset has remained at 13 seconds Extended GPS Week
191. uire removal of TSRs The GPSSK Files GPSSK is included on the CD in the Lassen iQ GPS receiver Starter Kit The CD contains the following GPSSK related files e GPSSK EXE The executable GPSSK program e GPSSK HLP The on line context sensitive help file e READ ME Current information about GPSSK e TAIP C Sample source code for encoding and decoding TAIP TAIP C Source File The sample source code for encoding and decoding TAIP messages is provided as a guide for the system integrator who is developing a communications controller that handles TAIP There is no warranty of any kind on this software Use it at your own risk The distribution diskette is not copy protected Before using GPSSK or installing on your hard disk make a working copy and put the original diskette in a safe place During normal use GPSSK will save configuration information to the diskette or current directory Storing the original diskette away will allow you to restore the original configuration should you encounter problems Copy the files GPSSK EXE and GPSSK HLP to a hard disk directory Lassen iQ GPS Receiver GPSSK User s Guide TAIP D GPSSK Start up At the DOS prompt in the directory containing GPSSK enter the command GPSSK When the program is finished loading into memory the GPSSK title page will be displayed The program will then wait for 10 seconds to begin normal execution you may bypass the 10 second wait by pressing any key
192. used Vehicle ID A vehicle identification ID may optionally be used in all the communications with the receiver Each receiver in the fleet may be assigned a four character alpha numeric ID and be forced to output that ID in all messages The default is ID set to 0000 and the ID Flag set to F false The receiver will check all incoming messages for ID If no ID is specified the receiver will accept the message If the ID is included in messages but does not compare with the ID previously set the message will be ignored This applies even when the ID Flag is turned off Checksum The checksum field provides for an optional two digit hex checksum value which is computed as XOR of all characters from the beginning of the sentence up to and including the character If provided the checksum is always the last element of the sentence before the message delimiter The default mode of operation is to include checksum in sentences The use of checksums can help in instances where the communication channel is noisy Lassen iQ GPS Receiver 171 C Trimble ASCII Interface Protocol TAIP Example The following message used to set the vehicle ID flag includes checksum gt SRM ID_FLAG T 6F lt In this example the checksum 6F was generated by XOR ing the ASCII codes for gt and S then XOR ing that result with the ASCII code for R and so forth up to and including the character Message Delimiter The lt character signifies
193. utput is turned off until the signals are required and position fixes are valid again If the receiver is switched from Always On to Fix Mode and the receiver has not yet started generating position fixes the PPS output will turn off until a new fix is obtained Programmable Characteristics Signal Offset Cable Delay Compensation The receiver firmware also enables the user to offset the delay of the PPS pulse with reference to the actual UTC second tick This delay is the result of antenna cable length and propagation delay of the PPS output signal The delay compensation parameter can be set in nano seconds using TSIP super packet Ox8E 4A Note that the current firmware version only allows the update of the PPS offset parameter of the PPS definition packet Ox8E 4A Other parameters are read only The PPS offset selection can be stored in non volatile memory by sending command packet Ox8E 26 to the receiver Lassen iQ GPS Receiver Operation and Performance 4 Note Trimble Navigation has measured better than 50 nanoseconds accuracy of the Lassen iQ GPS receiver PPS signal in static mode For more information on timing applications contact your Trimble sales representative The Lassen iO GPS receiver was designed primarily as a navigation receiver The long term stability ofthe PPS signal has not been tested Therefore Trimble does not recommend use of Lassen iO in timing or synchronization applications where guaranteed stabilit
194. ver 187 C Trimble ASCII Interface Protocol TAIP Notes There are two restrictions to setting protocols RTCM is input only and NMEA is output only If a protocol is not implemented within the application x and or y will have the value N and any set message for that protocol is ignored It is possible to turn off all input processing on a port If this is done neither TAIP nor TSIP can be used to change the active protocols If you do not use battery back up and you do not have the settings saved in FLSAH memory all port characteristics will reset to the default after power is removed 188 Lassen iQ GPS Receiver Trimble ASCII Interface Protocol TAIP PT Port Characteristic This message defines the characteristics for the primary TAIP port Data String Format AAAA B C D Table C 15 Port Characteristic Data String Descriptions Cc Item of Char Units Format Value Baud Rate 4 n a AAAA 2400 4800 9600 19200 38400 of data bits 1 n a B 7 or 8 of stop bits 1 n a 1 or 2 Parity 1 n a D N None O Odd E Even Total number of characters is 10 includes commas Most TAIP using receivers use the following default port characteristics e 4800 baud e 8 data bits e stop bit e No parity Lassen iQ GPS Receiver 189 C Trimble ASCII Interface Protocol TAIP Notes The characteristics set by this message will be st
195. vironments with many tall buildings and a preponderance of mirrored glass which is popular in modern architecture Multi reflected signals tend to be weak low SNR value since each reflection attenuates the signal By setting the SNR mask to 3 or higher the impact of multi reflected signals is minimized DOP Mask Position Dilution of Precision DOP is a measure of the error caused by the geometric relationship of the satellites used in the position solution Satellite sets which are tightly clustered or aligned in the sky willhave a high DOP and will contribute to a lower position accuracy For most applications aDOP mask of 12 offers a satisfactory trade off between accuracy and GPS coverage time With world wide GPS coverage now available the DOP mask can be lowered even further for many applications without sacrificing coverage PDOP Switch The default positioning mode for the Lassen iQ GPS receiver is Automatic In this mode the receiver attempts to generate a 3 dimensional 3D position solution when four or more satellites meeting the mask criteria are visible If such a satellite set cannot be found the receiver will automatically switch to 2 dimensional 2D mode The PDOP switch establishes the trade off between 3D positioning and PDOP With the PDOP Switch set to 6 the receiver will compute a 2D position with a HDOP below 6 rather than a 3D position with aPDOP greater than 6 even when four or more satellites are visible
196. with question marks indicate that information is not yet available Lassen iQ GPS Receiver 165 B TSIP Tool kit User s Guide oix Initialize Configure Logging Window Help Timing LLA Position Satellite Data Time Fri 19 28 58 00 GPS Latitude N 35 16 186432 SV AMU Az Elev ee Fer ea 2 0 63 6 225 Date Jan 21 2005 Longitude w 120 38 59039 13 1 00 OO 00 GPS Week 1306 TOW 502138 00 Altitude 65 7 m HAE 15 oO 00 900 Datum 8 2 190 6 38 4 os ae 13 2 68 1 60 4 East 0 00 m s Status n n mm n E North 0 00 m s Mode 3D 75V a TE Er EEE 30 00 i Up 0 00 m s Health Doing fixes er ten GPS Auto Diff curently off Beene 20 55 DOPs BBRAM not available at start Wa as is 084 PDOP 28 HDOP 1 3 Antenna feed line OK E EEN RTC not available at start 14 0 0 0 0 90 0 VDOP 25 Dur 1 9 Almanac not complete amp current 16 00 0 0 900 Tze Rze Health 26 46 4B Mode 24 6D DGPS 62 82 Off 1 09 COM1 9600 8 0 1 Figure B2 iQ_Monitor Main Window Delta Position iQ_Monitor displays delta position which is the difference between the current position and the initial position The initial position can be reset at anytime by selecting Reset Initial Position File Storage iQ_Monitor provides for file storage of the raw binary TSIP
197. xed in all future firmer releases Extended TTFF times in year 2023 2024 The user would experience extended warm and hot startup times between years 2023 to 2024 This anomaly is found in the Lassen iQ GPS receiver firmware version 1 10 and will be fixed in all future firmware releases Static Filter issue The static filter can be turned and stay on off based on user configuration or by TSIP packet 0x70 However when it is set to off it will be turned on internally after 255 position fixes are generated The query on the status of the static filter would still indicate that it is being turned off even though it has been turned on internally This anomaly is found in Lassen iQ GPS receiver firmware version 1 10 and will be fixed in all future firmer releases TSIP packet 0x65 is not functional in Lassen iQ GPS receiver FW v1 10 It will be fixed in all future firmware releases Lassen iQ GPS Receiver CHAPTER Operation and Performance In this chapter Introduction GPS Satellite Message Satellite Acquisition and Time to First Fix Satellite Mask Settings Standard Operating Modes Position Accuracy Coordinate Systems Performance Characteristics Lassen iQ GPS Receiver Sensitivity Modes Lassen iQ GPS Receiver Aided GPS Feature GPS Timing System Architecture 4 54 Operation and Performance Introduction This chapter describes the Lassen iQ GPS receiver satellite acquisition and tracking processes performance
198. y is 50 nanoseconds when valid position fixes are being reported The rising edge of the pulse is typically less than 20 nanoseconds The distributed impedance of the attached signal line and input circuit can affect the pulse shape and rise time The PPS can drive a load up to 5mA without damaging the module The falling edge of the pulse should not be used The PPS is always on early PPS and is driven by the Real Time Clock RTC until the receiver acquires GPS time from the satellite and generates position fixes The PPS is output immediately after main power is applied and continues even if the receiver loses GPS lock The drift of the PPS when the receiver is not tracking satellites is unspecified and should not be used for synchronization Note Trimble has measured better than 50 nanosecond accuracy on the Lassen iQ GPS receiver s PPS signal in static mode For more information on use of the Lassen iQ GPS receiver in timing applications contact your Trimble sales representative Lassen iQ GPS Receiver Power StarterKit 1 The Lassen iQ GPS receiver receiver is designed for embedded applications and requires a regulated 3 3 VDC input 3 0 to 3 6 VDC The receiver provided in the Starter Kit is installed on a motherboard providing a DC power regulator which converts a 9 to 32 VDC input to the regulated 3 3 VDC required by the receiver Power can be applied to the interface unit using one of three options the DC power
199. y ofthe PPS signal is required Contact your Trimble sales representative for more information about products designed for critical timing applications Lassen iQ GPS Receiver 81 4 82 Operation and Performance System Architecture The Lassen iQ GPS receiver see Figure 4 7 uses twelve processing channels operating on the L1 frequency of 1575 42 MHz and using the coarse acquisition C A code The module uses custom integrated circuitry designed by Trimble to track the GPS satellite signals These ICs also contain support circuitry to the navigation processor An integrated 32 bit microprocessor is used for tracking computing a position and performing the I O operations The Lassen iQ GPS receiver receives the amplified GPS satellite signals through the antenna feed line connector and passes them to the RF down converter A highly stable crystal reference oscillator operating at 12 504 MHz is used by the down converter to produce the signals used by the 12 channel signal processor The12 channel signal processor tracks the GPS satellite signals and extracts the carrier code information as well as the navigation data at 50 bits per second Operation of the tracking channels is controlled by the navigation processor The tracking channels are used to track the highest twelve satellites above the horizon The navigation processor will then use the optimum satellite combination to compute a position The navigation processor also manages
200. zation Axial Ratio LNA Frequency range Gain Noise 90 3 0dBi min 20 4 0dBi min mounted on the 65mm X 65mm square ground plane RHCP 90 4 0dB max 10 6 0dB max mounted on the 65mm X 65mm square ground plane 1 575 42 1 023MHz 28 3 dB 40 C to 85 C 1 5dB max 25 C 5 C 2 2dB max 85 C Out of band rejection fo 1 575 42MHz fo 20MHz 7dB min fo 30MHz 12dB min fo 50MHz 20dB min fo 100MHz 30dB min Output Impedance 50Q Output VSWR 2 0max Lassen iQ GPS Receiver 235 F Specifications and Mechanical Drawings Overall Specifications Frequency Range 1 575 42 1 023MHz Gain 27 3dBi 425 C 5 C 27 4dBi 40 C to 85 C mounted on the 65mm x 65mm square ground plane Output Impedance 50Q VSWR 2 0MAX ESD Antenna surface 15KV Connector pin 8KV MTBF 5 13E 6Hr Storage Conditions Temperature 20 C to 45 C humidity 80 max consumption at room temperature General Operating Temp 40 C to 85 C Storage Temp 40 C to 100 C Relative Humidity 20 to 95 Input voltage 3 0V 0 3V Power Cons 15mA max room temp Output connect MCX plug Cable 1 5DS QEHV Shikoku Cable Co black 5m Weight 20g TYP 236 Lassen iQ GPS Receiver Mechanical Mounting Force of magnet Water proof Shock Vibration Withstand Specifications and Mechanical Drawings F Magnetic mount 3 0kgf min JISD0203 S2 50G vertical axis 30G all axis 10 200

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