GPS Engine Board
Contents
1. HOLUX AS GPS Engine Board Thailand contact NavCom Research Co Ltd 84 280 Asiahometown village Bangkruay Soinoi rd Sainoi district Ampher Sainoi Nontabure 11150 Phone 662 9237628 29 Fax 662 92367629 Email navcom navcoms com TABLE OF CONTENTS 1 Introduction EE E OVERVIEW entrdinena a e eae bea Seen A eed E O BS ee T EEE T E Features 2045 Eed A EA AEA aaa 1 3 Technical Specifications 2 Operational Characteristics 2 0 0 0 cece cette eee eeeteeeeeeeeeeeeeeeeneeees 2 1 nitialiZation gapini nA die tae nud ead ee eb Ge alas 2 2 Le e DEE 3 Hardware Interface oo cc cceccceccccceeeceeeueeeeveveveeseseveeeaveraeeeaneaneeness 3 1 Standard Model o oo ec cece cece cece ee eee ec ee eee eeee seas sees esas eeaeeneeanes 4 Software Interface o o cece ce cece cee ccc eee eecee eee eeeeee sea eesaeeseetaeneaeeans 4 1 NMEA Transmitted Sentences oo ccc ccc c cece eee eeee seca esses eeeee sense eaaee nas 42 RICM Received Data enee EAR NNN EE DOE NO 5 Earth Datums 2 0 0 0 ccccccecceccceecceceaeseueesesesaeeavesseseneseavevaeeaeeeaneeaeeeeeeres 51 Eat Datums nn Pe Ce 5 2 Manufacture Default 6 Ordering Information 6 1 Product Options cece 6 2 Accessories age EE SE i dE Ee e Dee dated ceeds de Ee ERa 6 3 Other reelle CEET 1 1 Overview The HOLUX GM 83 Engine Board is a total solution GPS receiver designed based on SiRF star Il Architecture This positioning applica2. dat 48 Regiona Mean South American 1969 Data48 dat 49 Rome 1940 Italy International Data49 dat 50 Saudi Arabia Ain el Abd 1970 International Data50 dat 51 Singapore Modified Fischer 1960 Data51 dat 52 South Africa Clarke 1880 Data52 dat 53 Kenya Tanzania ARC 1960 Clarke 1880 Data53 dat 54 thailand 1975 Everest 1830 Data54 dat 55 Trinidad Tobago South American 1969 Data55 dat 56 Venezuela Provisional International Data56 dat American 1956 57 Venezuela South American 1969 Data5 dat 58 wGs84 wGS84 Data58 dat 59 Tokyo_Mean Bessel 1841 Data59 dat 60 Tokyo_Japan Bessel 1841 Data60 dat 61 Trokvo Korea Bessel 1841 Data61 dat 62 Tokyo_Okinawa Bessel 1841 Data62 dat 63 Albania S 42 Pulkovo 1942 Krassovsky 1940 Data63 dat 64 Czechoslovakia S 42 Pulkovo Krassovsky 1940 Data64 dat 1942 65 Hungary S 42 Pulkovo 1942 Krassovsky 1940 Data65 dat 66 Kazakhstan S 42 Pulkovo 1942 Krassovsky 1940 Data65 dat 67 Latvia S 42 Pulkovo 1942 Krassovsky 1940 Data67 dat 68 Poland S 42 Pulkovo 1942 Krassovsky 1940 Data68 dat 69 Romania S 42 Pulkovo 1942 Krassovsky 1940 Data69 dat ZU Australia Australian National Data 0 dat 1 Potsdam Bessel 1841 Data 1 dat 5 2 Manufacturing Default Parameter Com A Com B Input Protocol NMEA Binary RTCM SC 104 Output Protocol NMEA Binary None Baud Rate 4800 9600 Parity None None Stop Bits 1 1 Data Bits 8 8 Datum WGS84 Protocol GGA GSA G
3. to GPIO5 The GM 83 interface protocol is based on the National Marine Electronics Association s NMEA 0183 ASC interface specification which is defined in NMEA 0183 Version 2 2 and the Radio Technical Commission for Maritime Services RTCM Recommended Standards For Differential Navstar GPS Service Version 2 1 RTCM Special Committee No 104 4 1 NMEA Transmitted Messages The default communication parameters for NMEA output are 4800 baud 8 data bits stop bit and no parity Table 4 1 NMEA 0183 Output Messages NMEA Record Description GPGGA Global positioning system fixed data GPGLL Geographic position latitude longitude GPGSA GNSS DOP and active satellites GPGSV GNSS satellites in view GPRMC Recommended minimum specific GNSS data GPVTG Course over ground and ground speed GPMSS Radio beacon Signal to noise ratio signal strength frequency etc 4 1 1 Global Positioning System Fix Data GGA Table 4 2 contains the values for the following example GPGGA 161229 487 3723 2475 N 12158 3416 W 1 07 1 0 9 0 M 0000 18 Table 4 2 GGA Data Format Name Example Units Description Message ID GPGGA GGA protocol header UTC Time 161229 487 hhmmss sss Latitude 3723 2475 ddmm mmmm N S Indicator N N north or S south Longitude 12158 3416 dddmm mmmm E W Indicator W E east or W west Position Fix Indicator 1 See Table 5 3 Satellites Used 07 Range 0 to 12 HDOP 1 0 H
4. 9 TIMEMARK 1PPS Time mark output 20 NC No function 1 VCC_5V 5V DC voltage input 2 Dual communication channel TTL levels GM 83 T T1 T2 or RS 232 levels GM 83 A A1 A2 with user selectable baud rates 4800 Default 9600 19200 38400 RXA Main Receive Channel This input is used to receive software commands to the GM 83 from user written software RXB Auxiliary Receive Channel This input is used to receive serial differential GPS data TXA Main Serial Output This output provides navigation data to user written software TXB For user s application not currently used A PBRESEN This pin provides an active low reset input to the GM 83 Activation of this pin will reset and start acquisition process It may be left open if not utilized 4 TIMEMARK This pin provides One Pulse Per Second output from the GM 83 board which is synchronized to GPS time 5 VBAT Battery backup input for powering the RAM and RTC Typical current is 10uA Without an external backup battery the GM 83 will execute a cold start when turning on each time To achieve the faster start up offered by a hot or warm start either a battery backup must be connected A 2 5V and 3 6V power source is required in order to maximize battery lifetime With a lithium cell battery the data retention is 1 000 hours 6 GPIO Functions Several I Os of CPU are connected to the digital interface connector for customer s applications and are labeled as GPIO1
5. Measured heading Reference T True Course degrees Measured heading Reference M Magnetic 1 Speed 0 13 knots Measured horizontal speed Units N Knots Speed 0 2 km hr Measured horizontal speed Units K Kilometers per hour Checksum GE lt CR gt lt LF gt End of message termination 1 SIRF Technology Inc does not support magnetic declination All course over ground data are geodetic WGS84 directions 4 1 6 MSK Receiver Signal MSS Table C 9 contains the values for the following example GPMSS 55 27 318 0 100 66 Table C 9 MSS Data Format Name Example Units Description Message ID GPMSS MSS protocol header Signal Strength 55 dB dB SS of tracked frequency Signal to Noise Ratio 27 dB SNR of tracked frequency Beacon Frequency 318 0 kHz Currently tracked frequency Beacon Bit Rate 100 100 bits per second Note The MSS NMEA message can only be polled or scheduled using the MSK NMEA input message 4 2 RTCM Received Data The default communication parameters for DGPS Input are 9600 baud 8 data bits stop bit and no parity Position accuracy of less than 5 meters can be achieved with the GM 83 by using Differential GPS DGPS real time pseudo range correction data in RTCM SC 104 format with message types 1 2 or 9 As using DGPS receiver with different communication parameters GM 83 may decode the data correctly to generate accurate messages and save them in battery back SRAM f
6. Range 0 to 359 SNR C No 42 dBHz _ Range 0 to 99 null when not tracking Checksum 71 lt CR gt lt LF gt End of message termination 1 Depending on the number of satellites tracked multiple messages of GSV data may be required 4 1 5 Recommended Minimum Specific GNSS Data RMC Table 4 9 contains the values for the following example GPRMC 161229 487 A 3723 2475 N 12158 3416 W 0 13 309 62 120598 10 Table 4 9 RMC Data Format Name Example Units Description Message ID GPRMC RMC protocol header UTC Time 161229 487 hhmmss sss Status A A data valid or V data not valid Latitude 3723 2475 ddmm mmmm N S Indicator N N north or S south Longitude 12158 3416 dddmm mmmm E W Indicator W E east or W west Speed Over Ground 0 13 knots Course Over Ground 309 62 degrees True Date 120598 ddmmyy Magnetic Variation 1 degrees E east or W west Checksum 10 lt CR gt lt LF gt End of message termination 1 SIRF Technology Inc does not support magnetic declination All course over ground data are geodetic WGS84 directions 10 GM 83 User s manual HOLUX 4 1 6 Course Over Ground and Ground Speed VTG Table 4 10 contains the values for the following example GPVTG 309 62 T M 0 13 N 0 2 K 6E Table 4 10 VTG Data Format Name Example Units Description Message ID GPVTG VTG protocol header Course 309 62 degrees
7. SV RMC or by demand 5 2 1 Setting Syntax Datum change syntax gt DOS Sirfprog Fdataxx dat Px Bx Csh1 Px x is com port 1 COM1 2 COM2 Bx Baud rate 4800 9600 19200 or 38400 Example Change Datum to WGS84 Sirfprog Fdata58 dat P1 B4800 Csh1 lt Entry gt After change datum the new datum will keep in SRAM If long time more than 20 days no power supplied to GM 83 user must resend datum to GM 83 when power on 5 2 2 Addition Software SiRFdemo is the Evaluation Receiver configuration and monitoring software provided with the GM 83 This software can be used to monitor real time operation of the GM 83 Receiver log data for analysis upload 13 GM 83 User s manual HOL OX new software to the Receiver and configure the Receiver operation See setup pdf for more information on the use and operation of SiRFdemo software 14
8. al Data22 dat 23 European 1950 Malta International Data23 dat 24 European 1950 Northern International Data24 dat Regional Mean 25 European 1950 Portugal Spain International Data25 dat 26 European 1950 Southern International Data26 dat Regional Mean 2 7 European 1950 Tunisia International Data2 7 dat 28 European 1950 western International Data28 dat Regional mean 29 European 1950 Central International Data29 dat Regional Mean 30 Guyana South American 1969 South American 1969 Data30 dat 31 Hong Kong International Data31 dat 32 Hawaii North American 1983 GRS1980 Data32 dat 33 Hu_Tsu_Shan Taiwan International Data33 dat 34 Indian 1960 Everest 1830 Data34 dat 35 Ireland 1965 Modified Airy Data35 dat 36 Liberia 1964 Clarke 1880 Data36 dat 37 Brunel East Malaysia Everest Sabah amp Sarawak Data37 dat 38 Mexcio central America GRS1980 Data38 dat 39 OMAN Clarke 1880 Data39 dat 40 Pakistan Everest 1830 Data40 dat 41 Perul South American 1969 South American 1969 Data41 dat 12 GM 83 User s manual HOL OX 42 Paraguay south American 1969 South American 1969 Data42 dat 43 Philippines Clarke 1866 Data43 dat 44 Puerto Rico Virgin Islands Clarke 1866 Data44 dat 45 Qatar national International Data45 dat 46 Qornoq Greenland SOUTH International Data46 dat 47 Reunion Mascarene Islands International Data47
9. e Navigation Fleet Management AVL and Location Based Services Auto Pilot Personal Navigation or touring devices Tracking devices systems and Mapping devices application 1 3 Technology Specifications 1 3 1 Physical Dimension 1 PCB Size 40 6 W x 71 1 D x 9 1 H mm The height of pin is excluded 2 Weight 18g 1 3 2 Environmental Characteristics 1 Operating temperature 40 C to 85 C internal temperature 2 Storage temperature 45 C to 100 C 1 3 3 Electrical Characteristics 1 Input voltage 5 0Vdc 10 or 3 3Vdc 10 2 Backup power optional 3V Rechargeable Lithium cell battery up to 1000 hours discharge 3 MCX antenna connector Active or patch 1 3 4 Performance 1 Tracks up to 12 satellites 2 Update rate 1 second 3 Acquisition time Reacquisition 0 1 sec averaged Hot start 8 sec averaged Warm start 38 sec averaged Cold start 45 sec averaged 4 Position accuracy Non DGPS Differential GPS Position 5 25 meter CEP Velocity 0 1 meters second Time 1 microsecond synchronized GPS time DGPS Differential GPS Position 1to5 meters typical Velocity 0 05 meters second typical EGNOS WAAS Position lt 2 2 meters horizontal 95 of time lt 5 meters vertical 95 of time 5 Dynamic Conditions Altitude 18 000 meters 60 000 feet max Velocity 515 meters second 1000 knots max Acceleration 4 G max Jerk 20 meters second max 1 3 5 Interfaces 1 Dual communication cha
10. n Message ID GPGSA GSA protocol header Mode 1 A See Table 5 6 Mode 2 3 See Table 5 7 Satellite Used 1 07 Sv on Channel 1 Satellite Used 1 02 Sv on Channel 2 Satellite Used 1 Sv on Channel 12 PDOP 1 8 Position Dilution of Precision HDOP 1 0 Horizontal Dilution of Precision VDOP 1 5 Vertical Dilution of Precision Checksum 33 lt CR gt lt LF gt End of message termination 1 Satellite used in solution Table 4 6 Mode 1 Value Description M Manual forced to operate in 2D or 3D mode A 2DAutomatic allowed to automatically switch 2D 3D Table 4 7 Mode 2 Value Description 1 Fix Not Available 2 2D GM 83 User s manual 3 3D HOLUX 4 1 4 GNSS Satellites in View GSV Table 4 8 contains the values for the following example GPGSV 2 1 07 07 79 048 42 02 51 062 43 26 36 256 42 27 27 138 42 71 GPGSV 2 2 07 09 23 313 42 04 19 159 41 15 12 041 42 41 Table 4 8 GSV Data Format Name Example Units Description Message ID GPGSV GSV protocol header Number of Messages 2 Range 1 to 3 1 Message Number 1 1 Range 1 to 3 Satellites in View 07 Satellite ID 07 Channel 1 Range 1 to 32 Elevation 79 degrees Channel 1 Maximum 90 Azimuth 048 degrees Channel 1 True Range 0 to 359 SNR C No 42 dBHz_ Range 0 to 99 null when not tracking Satellite ID 27 Channel 4 Range 1 to 32 Elevation 27 degrees Channel 4 Maximum 90 Azimuth 138 degrees Channel 4 True
11. nnel TTL or RS232 levels with user selectable baud rate 4800 Default 9600 19200 38400 2 NMEA 0183 Version 2 2 ASCII output GGA GLL GSV GSA RMC VTG 3 Real time Differential Correction input RTCM SC 104 message types 1 2 and 9 2 1 Initialization As soon as the initial self test is complete the GM 83 begins the process of satellite acquisition and tracking automatically Under normal circumstances it takes approximately 45 seconds to achieve a position fix 38 seconds if ephemeris data is known After a position fix has been calculated information about valid position velocity and time is transmitted over the output channel The GM 83 utilizes initial data such as last stored position date time and satellite orbital data to achieve maximum acquisition performance If significant inaccuracy exists in the initial data or the orbital data is obsolete it may take more time to achieve a navigation solution The GM 83 Auto locate feature is capable of automatically determining a navigation solution without intervention from the host system However acquisition performance can be improved as the host system initializes the GM 83 in the following situation Moving further than 500 kilometers Failure of Data storage due to the inactive internal memory battery 2 2 Navigation After the acquisition process is complete the GM 83 sends valid navigation information over output channels These data include 1 Latit
12. or later computing 11 GM 83 User s manual 5 1 Earth Datums The following is a list of the GM 83 earth datum index and the corresponding earth datum name HOLUX Item Datum Reference Ellipsoid Data name 1 adindan Ethiopia Clarke 1880 Datal dat 2 _ Afgooye Somalia Krassovsky Data2 dat 3 Alaska Conus North American GRS 1980 Data3 dat 1983 4 Argentina South American 1969 Data4 dat 5 Bahrain Ain el ABD 1970 International Data5 dat 6 Bangladesh Everest 1830 Data6 dat 7 Botswana ARC 1950 Clarke 1880 Data 7 dat 8 amp 8 Bolivia South American 1969 Data8 dat 9 Brazil South American 1969 Data9 dat 10 Canada North American 1983 GRS 1980 Datal0 dat 11 colombia Provisional American International Datall dat 1956 12 Colombia South American 1969 Datal2 dat 13 chile South American 1969 Datal3 dat 14 Ecuador South American 1969 Datal4 dat 15 European 1950 Cyprus International Datal5 dat 16 European 1950 Eastern International Datal6 dat Regional Mean 17 European 1950 Egypt International Datal7 dat 18 European 1950 Finland Norway International Datal8 dat 19 European 1950 Greece International Datal9 dat 20 European 1950 Iran International Data20 dat 21 European 1950 Italy International Data21 dat Sardinia 22 European 1950 Italy Sicily Internation
13. orizontal Dilution of Precision MSL Altitude 1 9 0 Meters Units M Meters Geoid Separation 1 Meters Units M Meters Age of Diff Corr second Null fields when DGPS is not used Diff Ref Station ID 0000 Checksum 18 lt CR gt lt LF gt End of message termination 1 SiRF Technology Inc does not support geoid corrections Values are WGS84 ellipsoid heights Table 4 3 Position Fix Indicator Value Description 0 0 Fix not available or invalid 1 GPS SPS Mode fix valid 2 Differential GPS SPS Mode fix valid 3 GPS PPS Mode fix valid 4 1 2 Geographic Position with Latitude Longitude GLL Table 4 4 contains the values for the following example GPGLL 3723 2475 N 12158 3416 W 161229 487 A 2C Table 4 4 GLL Data Format Name Example Units Description Message ID GPGLL GLL protocol header Latitude 3723 2475 ddmm mmmm N S Indicator N N S Indicator N N north or S south Longitude 12158 3416 dddmm mmmm E W Indicator W E east or W west UTC Position 161229 487 hhmmss sss Status A A data valid or V data not valid Checksum 2C lt CR gt lt LF gt End of message termination 4 1 3 GNSS DOP and Active Satellites GSA Table 4 5 contains the values for the following example GPGSA A 3 07 02 26 27 09 04 15 1 8 1 0 1 5 33 Table 4 5 GSA Data Format Name Example Units Descriptio
14. tion meets strict needs such as car navigation mapping surveying agriculture and so on Only clear view of sky and certain power supply are necessary to the unit GM 83 communicates with other electronic utilities via compatible dual channel through RS 232 or TTL and saves critical satellite data by built in memory backup With low power consumption the GM 83 tracks up to 12 satellites at a time re acquires satellite signals in 100 ms and updates position data every second Trickle Power allows the unit operates a fraction of the time and Push to Fix permits user to have a quick position fix even though the receiver usually stays off 1 2 Features The GM 83 provides a host of features that make it easy for integration and use e SiRF Star Il chipset with embedded ARM7TDMI CPU available for customized applications in firmware 12 parallel satellite tracking channels for fast acquisition and reacquisition High speed signal acquisition using 1920 time frequency search channels Built in WAAS EGNOS Demodulator Support U S Coast Guard DGPS beacon signal Low power consumption with Advanced Trickle Power and Push To Fix mode Optional Rechargeable battery for memory and RTC backup and for fast Time to First Fix TTFF Support NMEA0183 v2 2 data protocol and SiRF binary code Enhanced algorithms SnapLock and SnapStart provide superior navigation performance in urban canyon and foliage environments kl For Car Navigation Marin
15. ude longitude altitude 2 Velocity 3 Date time 4 Error estimates 5 Satellite and receiver status 2 3 Manufacturing Default Datum WGS84 Baud Rate 4800 Output GGA GSA GSV RMC or by demand DGPS RTCM SC 104 Type 1 2 9 or WAAS in USA area or EGNOS in European area GM 83 User s manual 3 1 Standard Model GM 83 GM 83 A WI angle MCX connector and standard hole to hole dimension HOLUX G2 69632 i Sa Se d H E LI p gt ol A y 1 Ze IAL 2 3 0 1 J1 connector pin definition Pin Name Description 1 NC No function VCC_5V Regulated 5 0V 5 input power 160mA typical Battery backup input 2 5V to 3 3V 10uA typical 2 3 VBAT 4 NC No function GM 83 User s manual HOL OX Manual reset input ground to reset receiver Leave floating for normal PERESEN operation The nn plus width is 150 ms reset signal i 6 GPIO1 General purpose UO pin 1 7 GPIO2 General purpose I O pin 2 8 GPIO3 General purpose I O pin 3 9 GPIO4 General purpose I O pin 4 10 GND Ground 11 TXA Port A Serial Transmit Data GPS messages 12 RXA Port A Serial Receive Data GPS commands 13 GND Ground 14 TXB Port B Serial Transmit Data 15 RXB Port B Serial Receive Data DGPS messages 16 GND Ground 17 GPIO5 Reserved for re programming flash 18 GND Ground 1
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