GPS Reference Guideline Ver2
Contents
1. 0 cece cece cence eeeeeeeeeeete nee eens 20 5 2 12 Poll GLONASS almanac cece cece eee eeee eee ee tenes 21 5 2 13 Poll GPS pheMeris ed convirtio do tow 21 5 2 14 Poll GLONASS ephemeris cece cece ee eee teen ne ee eae een 21 5 2 15 Poll navigation parameters oocoooccoccnccnncnncnncnnonncnncnnnn eee KR TF50 GPS amp GLONASS User s Manual 5 2 16 Store almanacs EE Genin laz 5 2 17 Store last user position and frequency offset e eee eee 22 3 2 18 DGPS control assis asa teed A A t 23 5 2 19 Exclude SV from navigation solution ecceeeeee eee ee eee 23 5 2 20 Debug data output ON OFF o0oocccccccccnccnncnconccnncnncnnn cn en ene 23 5 2 21 Switch to NMEA protocol Al DETRESSE E A 5 3 1 Firmware version e 20 5 3 2 Raw measurement data ZO 5 3 3 Measured position data ZO 5 3 4 Clock Status NEEN eidel aD 5 3 9 GPS almanac dat tc ON 29 5 3 6 GLONASS almanac data A 5 3 7 GPS ephemeris data 0 5 3 8 GLONASS ephemeris data Eu 5 3 9 Navigation parameters A 5 3 10 Command acknowledgement e A 5 3 11 Command Nacknowledgement ee eee 34 6 NMEA Protocol Specification 0 0 cece cece morro rosso 35 6 1 General sci hes O 6 2 Output Messages ie eviews eM ee Reh a ea NEE 6 2 1 GGA Position dag A 6 2 2 GLL Geographic position Lal on Al 6 2 3 GSA DOP and active satellites e Al 6 2 4 GSV Satellites in View eee2. 0x20 Clock hold mode allowable 0x40 Recent computed altitude must be used for altitude hold mode otherwise Alt_For_Hold 0x80 Reserved 5 2 10 Poll clock status Example FASTC Preamble amp MID ASCII 0x00 00 00 Payload ASCII 0x43 00 FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble Name Bytes Scale Example Units Description MID 1 0x43 ASCII C Reserved 3 0x00 Payload length 3 bytes 5 2 11 Poll GPS Almanac Example FASTA Preamble amp MID ASCID OxFF 00 00 Payload 0x41 FF FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble 20 TF50 GPS amp GLONASS User s Manual Name Bytes Scale Example Units Description MID 1 0x41 ASCI A PRN 1 OxFF GPS satellite PRN number 1 32 OxFF requests all available GPS almanac records Reserved 2 Payload length 3 bytes 5 2 12 Poll GLONASS Almanac Example FASTL Preamble amp MID ASCII 0x20 00 00 payload 0x4C 20 FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble Name Bytes Scale Example Units Description MID 1 0x4C ASCII L PRN 1 0x20 GLONASS satellite number 1 24 OxFF requests all available GLONASS almanac records Reserved 2 0x00 00 Payload length 3 bytes 5 2 13 Poll GPS Ephemeris Example FASTI Preamble amp MID ASCII 0x20 00 00 Payload 0x49 20 FF FF FF FF FF
3. 900 1200 1800 2400 3600 4800 7200 9600 rate Code 0x02 17 0x01 97 0x02 16 0x01 96 0x02 15 0x01 95 0x02 14 0x01 94 Baud 14400 19200 28800 38400 57600 76800 115200 153600 rate Code 0x02 13 0x01 93 0x02 12 0x01 92 0x02 11 0x01 91 0x02 10 0x01 90 Table 3 Bit allocation in the Data format word MSB LSB Transmitter Receiver Reserved P Ss L Reserved P Ss L 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Lis length field number of data bits L 5 S is stop bit field number of stop bits S 1 P is parity field P 000 or 100 or 010 or 110 none P 001 even P 011 odd P 101 always zero P 111 always one 5 2 2 Poll Firmware Version Example FASTV Preamble amp MID ASCII 0x00 00 00 Payload ASCII 0x56 00 FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble Name Bytes Scale Example Units Description MID 1 0x56 ASCII V Reserved 3 0x00 Payload length 3 bytes 15 TF50 GPS amp GLONASS User s Manual 5 2 3 Initialize data Sets approximate user position current time and receiver clock frequency offset Example FAST2 Preamble amp MID ASCII 0x00 10 FB 0D 09 1F 4D 3A 5D 82 62 00 00 27 10 Payload hex 0x53 20 FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble Name Bytes Scale Example Units De
4. Degree 40 to 85 C 6 3 Vibration Hz 20 to 1000 Hz 2 to 12 g 2 MECHANICAL CHARACTERISTICS 2 1 OUTLINE DRAWING The outlines of the receiver are given in figure below 4 holes 3 0mm 45 mm 51 mm ame 65 mm 71 mm 1 5mm TF50 has the following dimensions 71 mm length 51 mm width The height of top side components is 5 mm The height of bottom side components is 4 mm There are 4 mounting holes 3 0 mm in diameter TF50 GPS amp GLONASS User s Manual 2 2 OUTPUT CONNECTOR General top view of output connector JP1 is shown in figure below DIGITAL TF50 PCB The table below contains list of input output signals Pin Type Name Description 1 I ANT_PWR External Antenna Power 2 NC Not Connected 3 I BAT Back Up Battery 4 I VDD 3 3V Power Input 5 I M_RES Manual Reset Input 6 I PRG_FL Programming Control 7 I NC Not Connected 8 NC Not Connected 9 NC Not Connected 10 GND Ground 11 O TX1 Transmit Data Serial Port 1 12 I RX1 Receive Data Serial Port 1 13 GND Ground 14 O TX2 Transmit Data Serial Port 2 15 I RX2 Receiver Data Serial Port 2 16 GND Ground 17 I ETM External Time Mark 18 GND Ground 19 O 1PPS 1PPS Time Mark Output 20 NC Not Connected 10 TF50 GPS amp GLONASS User s Manual ANT_PWR external antenna power supply voltage BAT external back up battery voltage 1 5 3
5. GPS time R offset 4 signed cm Receiver clock offset in centimeters R dot 2 signed 16 m s Receiver clock shift GLONASS 4 signed cm GLONASS system time shift Tshift relative to GPS time Tshift alg 1 Tshift fixing algorithm N 0x4D never fixed Ox7E flexible F 0x46 always fixed nSV 1 Number of SV to compute Tshift Tshift priority 1 Priority against altitude T 0x54 Tshift higher priority A 0x41 altitude higher priority Reserved 1 TDOP 1 8 GPS SVsinfix 1 GLONASS 1 SVs in fix Mode 1 Bitmap See Table 10 Payload length 25 bytes Notes 1 Compute GLONASS system time shift if number of SV in solution is nSV or more and hold it fixed if number of SV is nSV or less 2 If the number of SV in solution is 4 or less this parameter sets priority of GLONASS system time shift fixing against altitude fixing Table 10 Bit allocation in the Mode word Mode Description 0x00 No navigation solution 0x01 1 satellite solution 0x02 2 satellite solution 0x03 3 satellite solution 2D 0x04 gt 4 satellite solution 0x08 Differential solution 0x10 Altitude hold mode 0x20 Clock hold mode 0x40 Recent computed was used for altitude hold mode otherwise Alt_For_Hold 0x80 Reserved 28 5 3 5 GPS Almanac data Response to poll TF50 GPS amp GLONASS User s Manual Example FASTa Preamble a
6. and speed relative to the ground VTG x x T x x M x x N x x K a hh lt CR gt lt LF gt ba Mode Indicator Speed over ground km hr Speed over ground knots Course over ground degrees Magnetic Course over ground degrees True 40 Notes TF50 GPS amp GLONASS User s Manual 1 Positioning system Mode Indicator A Autonomous mode D Differential mode E Estimated dead reckoning mode M Manual input mode S Simulator mode N Data not valid 2 TFSO does not support magnetic variation The x x field is always empty The positioning system Mode Indicator field shall not be a null field 6 3 INPUT MESSAGES NMEA input messages are provided to allow to control TF50 receiver while in NMEA protocol mode TF50 receiver may be put into NMEA mode by sending the TF50 Binary Protocol message Switch to NMEA Protocol If the receiver is in TF50 Binary mode all NMEA messages are ignored Once the receiver is put into NMEA mode the following transport level message may be used to command the receiver Start Sequence Payload Checksum End Sequence PFST lt MID gt Data CS lt CR gt lt LF gt Notes 1 Message Identifier MID consists of three alpha numeric characters 2 Message specific data lt data gt lt data gt lt data gt 3 CS is one byte checksum as defined in the NMEA specification Checksum field must be fill in correctly for each input m
7. as in Almanac data Gn 2 signed 2 dimensionless Frequency offset of the on board frequency standard at tb time moment Dn 2 days Age of ephemeris interval from the moment when ephemeris data was uploaded to tb time moment Reserved 4 Payload length 57 bytes 32 Table 13 Bit allocation in the flags word TF50 GPS amp GLONASS User s Manual MSB LSB Reserved nl n2 n3 1 2 3 4 5 6 7 8 10 1l 12 13 14 15 16 5 3 9 Navigation parameters Response to poll Example FASTp Preamble MID ASCII Payload ASCII Ox Message checksum hex Name Bytes Scale Example Units Description MID 1 0x70 ASCII p Pos Mode 1 bitmap Position fix mode control see Table 14 Alt_For_Hold meters Clock hold 1 seconds Time interval during which the timeout clock bias extrapolation is allowable Hold priorities 1 Priority against altitude and Tshift C 0x43 clock priority A 0x41 altitude priority GLONASS 4 signed cm GLONASS system time shift Tshift divided by speed of light relative to GPS time Tshift alg 1 Tshift fixing algorithm N 0x4D never fixed Ox7E flexible F 0x46 always fixed nSV 1 Number of SV to compute Tshift Tshift priority 1 Priority against altitude T 0x54 Tshift higher priority A 0x41 altitude higher priority Elevation 1 degrees Elevation mask for Navigation mask solution SNR mask 1 SNR mask for Navigation solution PDO
8. eee AN 6 2 5 RMC Recommended minimum specific GNSS data 39 6 2 6 VTG Track made good and ground speed 40 6 3 Input Messages NENNEN NEEN eee ed eee onde ees eee eee Al 6 3 1 XYZ initialization e Al 6 3 2 LLA initialization e AL 6 3 3 DGPS ontrei Ee M aaa oan eS 6 3 4 Rate control 0 0 0 0 cece cece cece eee a AN 0 35 Store POSION ee gebei tp Ee o A4 6 3 6 EE A4 6 3 7 Switch to binary protocol cece sees eee eeeeete ee eee 44 TF50 GPS amp GLONASS User s Manual 1 GENERAL DESCRIPTION 1 1 INTRODUCTION TF50 is a OEM engine board designed for calculation of coordinates velocity vector heading and time using signals of the satellite navigation systems GLONASS Russia and GPS USA Receiver uses two asynchronous serial ports RS 232 to communicate with external equipment The receiver can operate in autonomous and differential modes TF50 generates one second time mark 1PPS signal which is synchronous to the selected time scale Signal structures of GLONASS and GPS navigation systems are similar that allows to design combined receivers with lower extra components in comparison with one system receivers for example GPS only It is known that GPS consists of 24 satellites placed on six orbits in six planes GPS uses CDMA Code Division Multiple Access for different space vehicles SV SV numbers comply with Gold codes numbers The nominal carrier frequency value in L1 fre
9. hh lt CR gt lt LF gt VDOP HDOP PDOP ID numbers of satellites used in solution null for unused fields Mode 1 Fix not available 2 2D 3 3D Mode M Manual forced to operate in 2D or 3D mode A Automatic allowed to automatically switch 2D 3D Notes 1 Satellite ID numbers To avoid possible confusion caused by repetition of satellite ID numbers when using multiple satellite systems the following convention has been adopted a GPS satellites are identified by their PRN numbers which range from 1 to 32 b The WAAS system has reserved numbers 33 64 to identify its satellites c The numbers 65 96 are used for GLONASS satellites GLONASS satellites are identified by 64 satellites slot number The slot number are 1 through 24 for the full GLONASS constellation of 24 satellites this dives a range of 65 through 88 The number 89 through 96 are available if slot number above 24 are allocated to on orbit spares 6 2 4 GSV Satellites In View Number of satellites SV in view satellite ID numbers elevation azimuth and SNR value Four satellites maximum per transmission additional satellite data sent in second or third message Total number of message being transmitted and the number of message being transmitted are indicated in the first two fields If multiple GPS and GLONASS satellites are in view use separate GSV sentences with talker ID GP to show the GPS satellites in view and talker GL to sho
10. receive input messages from the external equipment and can send output messages to the external equipment The input messages are control commands by which the external equipment can set or query various operating parameters The output messages are used to indicate the acceptance or rejection of commands to respond to query commands with requested operating parameters and to output position data and raw measurements periodically The general message structure Preamble Message Payload Checksum Postamble for Identifier input messages MID only Preamble The Preamble is sent in the following order F is first byte T is last byte Message Identifier The possible values of the Message identifier are defined in Sections 5 2 and 5 3 of this Protocol Payload The byte length of the Payload is unambiguously defined by Message Identifier as specified in Sections 5 2 and 5 3 of this Protocol The number of bytes is odd for all messages The payload data may content any 8 bit value Where multi byte values are in the payload data the big endian order is used Note Parameters indicated as signed are two s complement with the sign bit or occupying the MSB Checksum The checksum is transmitted high order byte first followed by the low byte The 13 TF50 GPS amp GLONASS User s Manual checksum is sum of all the 16 bit values formed by MID and payload bytes in big endian order and then only low order 16
11. sec Clock correction af 4 signed 227 seconds Clock correction iode 2 Ephemeris data issue cuc 2 signed 2 radians Harmonic correction term cus 2 signed 2 radians Harmonic correction term cre 2 signed 2 meters Harmonic correction term crs 2 signed 2 meters Harmonic correction term cic 2 signed 2 radians Harmonic correction term cis 2 signed 22 radians Harmonic correction term deltan 2 signed 23 semicycles sec Mean anomaly correction m0 4 signed 2 semicycles Mean anomaly at reference time e 4 E Eccentricity roota 4 192 meters Square root of semi major axis toe 2 E seconds Reference time for ephemeris omega0 4 signed 2 semicycles Longitude of ascending node 10 4 signed 2 semicycles Inclination angle omega 4 signed 2 semicycles Argument of perigee omegadot 4 signed 2 semicycles sec Rate of right ascension idot 2 signed SI semicycles sec Rate of inclination Valid 4 bitmap Data valid flag 0x80 00 00 00 valid otherwise invalid Payload length 77 bytes Table 12 Bit allocation in the preckhealth word MSB LSB Reserved URA Satellite health see ICD GPS 200C see ICD GPS 200C 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 5 3 8 GLONASS Ephemeris data Response to poll Example FASTe Preamble amp MID ASCII payload hex Ox Message checksum hex 31 TF50 GPS am
12. 0 Time difference Velocity Heading Channel status Ephemeris data Almanac data Raw measurement data I 3 4 Data formats Output NMEA 0183 Version 2 30 Baud rate default 4800 Binary Version 4 0x Baud rate default 9600 Differential RTCM SC 104 Version 2 2 Baud rate default 9600 Types TBD 3 5 Prime Power Input voltage 3 3 V 5 Supplied current 200 mA typ Backup voltage 15 3 3V Backup current SOUA O 3 0V LED configuration see OPTION 3 in Section 4 On board rechargeable Li battery see OPTION 1 in Section 4 4 Physical 4 1 Dimensions W x Lx H mm 71x51x12 Weight g lt 50g 4 2 Antenna connector Type MCX optional SMA straight or right angle 4 3 Output connector 20 Pin I O 2 0 mm Straight header optional other directions Debug 14 Pin I O see OPTION 2 in Section 4 5 Antenna 5 1 Antenna type Active antenna passive antenna not recommended 5 2 Requirement see Section 1 3 5 3 Input Power External voltage 5 0 V see OPTION 4 in Section 4 6 Environmental TF50 GPS GLONASS User s Manual 6 1 Operating temp Degree 40 to 85 C 6 2 Storage temp
13. 1 V ASCII Poll F W version command has been received OK Payload length 1 byte 5 3 11 CommandNAcknowledgement Example FAST Preamble amp MID ASCII 0x56 Payload 0x3F 56 Message checksum hex 34 TF50 GPS amp GLONASS User s Manual Name Bytes Scale Example Units Description MID 1 0x3F ASCII Nack ID 1 V ASCII Poll F W version command has been received with an error Payload length 1 byte 6 NMEA PROTOCOL SPECIFICATION 6 1 GENERAL This Protocol defines the requirements for establishing a communication interface between TF50 navigation receiver and external equipment via communication Port 1 in the NMEA 0183 format The NMEA 0183 format is defined by the National Marine Electronics Association NMEA Standard for Interfacing Marine Electronic Devices Version 2 30 March 1 1998 TF50 can receive input messages from the external equipment and can send output messages to the external equipment 6 2 OUTPUT MESSAGES Table 1 contains list of TFSO NMEA output messages Table 15 TF50 NMEA output message Talker Identifier Sentence Position Fix Data Geographic Position GP or GN GLL Latitude Longitude DOP and Active GN GSA A Satellites Satellites In View GP and GN GSV A Q Recommended GP or GN RMC Minimum Specific GNSS Data Track Made Good And GP default or GN Ground Speed 35 TF50 GPS GLONASS User s Manual C
14. 24 0x00 means No data for requested PRN Litera 1 signed Satellite frequency number 7 12 Health 1 Satellite health 0x30 bad 0x31 good Reserved 8 TBD Na 2 days Reference day number Ln 4 signed 2 semicycles Longitude of first ascension node Tin 4 253 seconds Reference time of the first ascending node Di 4 signed 2 semicycles Correction to inclination DT 4 signed 2 s orbit_period Correction to the mean value of Draconian period dTdot 1 signed 2 s orbit_period Rate of change of Draconian period Reserved 5 TBD e 2 970 Eccentricity omega 2 signed 2 semicycles Argument of perigee tn 2 signed 2 8 seconds Satellite time correction Payload length 41 bytes 5 3 7 GPS Ephemeris data Response to poll Example FASTi Preamble amp MID ASCID Payload hex Ox Message checksum hex 30 TF50 GPS amp GLONASS User s Manual Name Bytes Scale Example Units Description MID 1 0x69 ASCII i PRN 1 Satellite PRN number 1 32 0x00 means No data for requested PRN tow 4 seconds Second of GPS week Reserved 2 wn 2 GPS week number prec amp health 2 see Table 12 for bit allocation ted 2 signed 2 seconds Group delay iodc 2 Clock data issue toc 2 21 seconds Clock data reference time af2 2 signed 2 sec sec Clock correction afl 2 signed 2 sec
15. 3V VDD main power supply voltage 3 3V M_RES manual reset signal active low with internal pull up in MAX793 M_RES has pull up current 250uA max Pulse width for this input should be at least 100ns PRG_FL programming flag active low connected with 20kOhm pull up resistor For TF50 it s possible to upload firmware to the FLASH via serial port It s considered that for OK uploading no power host personal computer or communication failures should occur during this procedure If some failures took place and uploading procedure was completed with errors it s necessary to make PRG_FL low and repeat the uploading procedure TX1 TX2 transmit data via serial port 1 and 2 RX1 RX2 receive data via serial por and 2 ETM external time mark TF50 can measure the time of external time mark 1PPS output one second time mark pulse width is about 10 us Its polarity positive or negative can be programmed by control command via serial port Default is positive 3 INTERFACES 3 1 ELECTRICAL SPECIFICATION The receiver has two serial asynchronous ports Port 1 and Port 2 for communication with external equipment Each port has two options the first meets the EIA RS 232 standard electrical specification and the second has TTL logic levels The receiver supports following software selectable serial port parameters 900 115200 bit s baud rate 5 6 7 or 8 bit data length 1 or 2 stop bits even odd or no parity The default s
16. FF FF FF FF FF Message checksum and Postamble Name Bytes Scale Example Units Description MID 1 0x49 ASCII I PRN 1 0x20 GPS satellite PRN number 1 32 OxFF requests all available GPS ephemeris records Reserved 2 0x00 00 Payload length 3 bytes 5 2 14 Poll GLONASS Ephemeris Example FASTE Preamble MID ASCII 0x18 00 00 Payload 0x45 18 FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble 21 TF50 GPS amp GLONASS User s Manual Name Bytes Scale Example Units Description MID 1 0x45 ASCII I PRN 1 0x18 GLONASS satellite number 1 24 OxFF requests all available GLONASS ephemeris records Reserved 2 0x00 Payload length 3 bytes 5 2 15 Poll Navigation parameters Example FASTP Preamble amp MID ASCID 0x00 Payload 0x50 00 FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble Name Bytes Scale Example Units Description MID 1 0x50 ASCII P Reserved E 0x00 Payload length 3 bytes 5 2 16 Store Almanacs Writes the GPS and GLONASS almanacs received in current session into the flash memory Output position and raw measurement data may be suspended for several seconds during the process of writing into the flash memory Example FASTS Preamble amp MID ASCID 0x00 Payload 0x53 00 FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble Name Bytes Sca
17. ID 1 0x72 ASCII r PRN 1 0x21 Satellite PRN number 1 56 For GLONASS satellites this field content is 32 SV slot number The slot number information is derived from GLONASS Almanac When TF50 has ephemeris data for a SV but no almanac the PRN number is set to zero Warning 1 TBD Carrier 1 OxOF GLONASS Carrier Number number 7 12 For GPS satellites OxFF Sat X 4 signed cm Satellite ECEF coordinate X Sat Y 4 signed cm Satellite ECEF coordinate Y Sat Z 4 signed cm Satellite ECEF coordinate Z Channel 1 unsigned char number SNR 1 Signal to noise ratio SigR 1 0 1 meters unsigned char DLL residual SigPhi 1 ve cycles unsigned char PLL residual Phase 6 signed 22 cycles Full pseudo doppler phase Pseudorange 4 gl s Doppler 4 signed 10 Hz Pseudo doppler frequency Status 2 bitmap See Table 8 Payload length 35 bytes Table 8 Bit allocation in the Status word MSB LSB Reserved E u 1 2 3 4 5 6 7 8 9 10 1l 12 13 14 15 16 u if data is used in navigation solution u O otherwise E 1 if ephemeris data is available E 0 otherwise 5 3 3 Measured position data Example FASTx Preamble amp MID ASCII Payload hex Ox Message checksum hex 26 TF50 GPS amp GLONASS User s Manual Name Bytes Scale Example Units Description MID 1 0x78 ASCII x Reserved 1 0x00 RevTime 4 ms Signal receive time in
18. O CHINA SATs 1 3 Channels 16 1 4 Tracking capability Carrier aided tracking 2 Performance 2 1 Autonomous mode PDOP lt 4 2 1 1 Plane CEP GPS 9m GLONASS 8m GPS GLONASS 7m 2Drms TF50 GPS amp GLONASS User s Manual GPS 24 m GLONASS 20m GPS GLONASS 14m 2 1 2 Height CEP GPS 14m GLONASS 13m GPS GLONASS 8m rms GPS 40 m GLONASS 38m GPS GLONASS 25m 2 1 3 Velocity rms GPS GLONASS 0 05 m s 2 1 4 Time rms GPS GLONASS 0 1 us 2 2 Differential mode 2 2 1 Coordinates CEP 3m 2 2 2 Velocity 2Drms 0 1 m s 2 3 Acquisition time TTFF mean Hot start 5 s stored almanac ephemeris time position Warm start 30 s stored almanac time position Cold start 120 s no almanac ephemeris time position Reacquisition ls 2 4 Dynamics Speed max 950 m s Altitude max 18 km Acceleration 6g Jerk 1 g s 2 5 Update rate Hz max 5 Hz 3 Interfaces 3 1 Communication Baud rate 900 115200 EIA RS 232 see OPTION 5 in Section 4 3 2 1 PPS Duration u sec 10 Level TTL Time scale GPS time E GLONASS time z UTC USNO UTC SU Pulse TF50 GPS amp GLONASS User s Manual Positive Negative Programmable 3 3 Output data Datum WGS84 and PZ9
19. P mask 1 2 PDOP mask for Navigation solution HDOP mask 1 93 HDOP mask for Navigation solution Update_rate 10 seconds Output position update rate Ble Reserved TBD Payload length 21 bytes 33 TF50 GPS amp GLONASS User s Manual Notes 1 If the number of SV in solution is 4 or less this parameter sets priority of clock rate fixing against altitude fixing or GLONASS system time shift fixing see also Note 3 2 Compute GLONASS system time shift if number of SV in solution is nSV or more and hold it fixed if number of SV is nSV or less 3 If the number of SV in solution is 4 or less this parameter sets priority of GLONASS system time shift fixing against altitude fixing Table 14 Bit allocation in the Pos Mode word Mode Description 0x00 Only 3D solution allowable 0x01 1 satellite solution allowable 0x02 2 satellite solution allowable 0x03 3 satellite solution 2D allowable 0x04 4 satellite solution 3D allowable 0x08 Reserved 0x10 Altitude hold mode allowable 0x20 Clock hold mode allowable 0x40 Recent computed altitude must be used for altitude hold mode otherwise Alt_For_Hold 0x80 Reserved 5 3 10 Command acknowledgement Example FAST Preamble amp MID ASCII v Payload ASCII 0x2B 56 Message checksum hex Name Bytes Scale Example Units Description MID 1 0x2B ASCII Ack ID
20. TF50 GPS amp GLONASS Embedded Solutions Laipac Technology I nc 105 West Beaver Creek Rd Unit 207 Richmond Hill Ontario L4B 1C6 Canada Tel 905 762 1228 Fax 905 770 6143 763 1737 http www laipac com TF50 GPS amp GLONASS User s Manual Contents 1 General Description 4 ab taggen Ke WEEN 4 1 2 General VIEW 28 mimea idle sid dnd Geese eh beg ds eve Bie 4 1 3 Antenna requirements e A 1 4 Specification ecards aldo 2 Mechanical CharateristicS 9 2 1 Outline ITA WIDE eu we ee Oo oe ee eee leew ee ee 9 2 2 Output COMNEC ON dE ANE ek ea ee ee ee dee ee E teehee es 10 Be MnterfacEs ii ad 11 3 1 Electrical specification e ll 3 2 Data formats e 12 4 TESO Options 2 0 0 ccc ccc ccc ccc eee ce reece coc 12 5 Binary Protocol Specification 0 cece cece reece eee eene 13 SA General air EE 13 5 2 Input Messages NEEN cee ee NEEN a ee eee de eee ew L4 5 2 1 Set main serial port 0 cee eee ee roo o 14 3 2 2 Poll firmware Version deeg AN NEEN ANEREN Wee ewe 15 5 2 3 Initialize data e cs og MEN NEEN EN NNN EEN MIER NEEN ee eee 16 5 2 4 Set GMT egene eevee eo oe eae ee ee L 5 2 5 Set clock frequency offset e LT 5 2 6 Set approximate user position ee eee 17 5 2 7 Set GPS almanac ccccccccescce cee cece cece UI 5 2 8 Set GLONASS almanac assisen eeren cee 18 e Mote Control rr ai a rs O 5 2 10 Poll ClOCK Status css nica arde aci 20 5 2 11 Poll GPS almanac
21. a field is empty the corresponding parameter will not be changed Table 17 Start Mode Hex Description 0x01 Hot Start all data valid 0x02 Warm Start clear ephemeris 0x03 Cold Start 6 3 2 LLA Initialization This command is used to initialize TF50 receiver by providing approximate user position in Latitude Longitude Altitude coordinates clock offset and time Correct initialization parameters enable the receiver to acquire signals quickly Example PFST LLA 55 7 37 6 200 8000 76 223500 3 CS 42 TF50 GPS amp GLONASS User s Manual Name Example Unit Description Start Sequence PFST LLA Lat 55 7 Degrees Latitude range 90 to 90 Lon 37 6 Degrees Longitude range 180 to 180 Alt 200 Meters Altitude Clock offset 8000 Clock Offset of the receiver Week number 76 GPS Week Number Time of week 223500 Seconds GPS Time Of Week Start Mode 3 See Table 18 Checksum lt CR gt lt LF gt End Sequence Note If a data field is empty the corresponding parameter will not be changed Table 18 Start Mode Hex Description 0x01 Hot Start all data valid 0x02 Warm Start clear ephemeris 0x03 Cold Start 6 3 3 DGPS Control This command is used to control the serial port used to send or receive RTCM differential corrections When a valid message is received the parameters are stored in the non volatile memory and then
22. ame Bytes Scale Example Units Description MID 1 0x33 ASCII 3 PRN 1 Satellite PRN number 1 32 Wna 2 Almanac week number Wn 2 Receive time week number Tow 4 seconds Second of GPS week receive time config amp health 2 See Table 5 E 2 K Eccentricity Toa 2 seconds Almanac reference time 10 2 signed 2 semicycles Inclination angle Omegadot 2 signed 2 semicycles sec Rate of right ascension Roota 4 KE meters Square root of semi major axis omega0 4 signed 22 semicycles Longitude of ascending node Omega 4 signed 22 semicycles Argument of perigee m0 4 signed 22 semicycles Mean anomaly at reference time af 2 signed 2 seconds Clock correction afl 2 signed 2 8 sec sec Clock correction Payload length 39 bytes Table 5 Bit allocation in the config health word MSB LSB SV config see Satellite data amp signal health ICD GPS 200C see ICD GPS 200C 1 2 3 4 5 6 T 8 9 10 1l 12 13 14 15 16 5 2 8 Set GLONASS Almanac Set GLONASS almanac data for usage in the current session This command does not write the almanac data into the flash memory The command Store almanacs is used to write the GPS and GLONASS almanacs of current session into the flash memory Example FAST4 Preamble amp MID ASCII Payload hex Ox FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble Name Bytes Scale Example Units Description MID 1 0x34 ASCII 4 SV ID 1 Satell
23. bits are retained as the checksum Postamble The Postamble OxFF FF FF FF FF FF FF FF FF FF is sent with input messages to TF50 receiver Output messages from the receiver have no Postamble 5 2 INPUT MESSAGES Table 1 lists the TF50 binary input messages Table 1 TIO binary input messages MID Hex ASCII Name 0x31 1 Set main serial port 0x56 V Poll firmware version 0x32 2 Initialize data 0x54 T Set GMT 0x46 F Set clock frequency offset 0x58 X Set approximate user position 0x33 3 Set GPS Almanac 0x34 4 Set GLONASS Almanac 0x35 5 Mode control 0x43 C Poll clock status 0x41 A Poll GPS Almanac 0x4C L Poll GLONASS Almanac 0x49 I Poll GPS Ephemeris 0x45 E Poll GLONASS Ephemeris 0x50 P Poll Navigation parameters 0x53 S Store Almanacs 0x55 U Store last user position and frequency offset 0x44 D DGPS control OxSA Z Exclude SV 0x42 B Debug data output ON OFF 0x4D M Switch to NMEA Protocol 5 2 1 Set main serial port Example FAST1 Preamble amp MID ASCII 0x00 01 97 OF OF Payload ASCII 0x41 A6 FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble 14 TF50 GPS GLONASS User s Manual Name Bytes Scale Example Units Description MID 1 0x31 ASCII 1 Reserved 1 0x00 Baud rate 2 0x01 97 coded See Table 2 Data format 2 OxOF OF bitmap See Table 3 Payload length 5 bytes Table 2 Baud rate codes Baud
24. ds Output rate of RMC message RMC Checksum 1 0x00 disable checksum 0x01 enable checksum VTG Talker ID 1 NMEA Talker Identifier P GP L GL N GN 0 OFF VTG rate 1 0 2 seconds Output rate of VTG message VTG Checksum 1 0x00 disable checksum 0x01 enable checksum Payload length 19 bytes 24 TF50 GPS GLONASS User s Manual 5 3 OUTPUT MESSAGES Table 7 lists TFSO binary output messages Table 7 TIO binary output messages MID Hex ASCII Name 0x76 Vv Firmware version 0x72 r Raw measurement data 0x78 D Measured position data 0x63 c Clock status 0x61 a GPS Almanac data 0x6C l GLONASS Almanac data 0x69 1 GPS Ephemeris data 0x65 e GLONASS Ephemeris data 0x70 p Navigation parameters 0x62 b Debug data 0x2B Command acknowledgement Ox3F Command NAcknowledgement 5 3 1 Firmware version Response to poll Example FASTv Preamble amp MID ASCII 1 02 Payload ASCH 0xD7 60 Message checksum hex Name Bytes Scale Example Units Description MID 1 0x76 ASCII v Reserved 1 0x00 F W version 4 1 02 0x31 2E 30 32 Payload length 5 bytes 5 3 2 Raw measurement data Example FASTr Preamble amp MID ASCII Payload hex Ox Message checksum hex 25 TF50 GPS amp GLONASS User s Manual Name Bytes Scale Example Units Description M
25. ed of light relative to GPS time Tshift alg 1 Tshift fixing algorithm N 0x4D never fixed Ox7E flexible F 0x46 always fixed NSV 1 Number of SV to compute Tshift Tshift priority 1 Priority against altitude T 0x54 Tshift higher priority A 0x41 altitude higher priority Elevation 1 degrees Elevation mask for Navigation mask solution SNR mask 1 SNR mask for Navigation solution PDOP mask 1 23 PDOP mask for Navigation solution HDOP mask 1 n HDOP mask for Navigation solution Update_rate 1 0 2 seconds Output position update rate Reserved 6 TBD Payload length 23 bytes 19 TF50 GPS amp GLONASS User s Manual Notes 1 If the number of SV in solution is 4 or less this parameter sets priority of clock rate fixing against altitude fixing or GLONASS system time shift fixing see also Note 3 2 Compute GLONASS system time shift if number of SV in solution is nSV or more and hold it fixed if number of SV is nSV or less 3 If the number of SV in solution is 4 or less this parameter sets priority of GLONASS system time shift fixing against altitude fixing Table 6 Bit allocation in the Pos Mode word Mode Description 0x00 Only 3D solution allowable 0x01 1 satellite solution allowable 0x02 2 satellite solution allowable 0x03 3 satellite solution 2D allowable 0x04 4 satellite solution 3D allowable 0x08 Reserved 0x10 Altitude hold mode allowable
26. erial port configurations parameters are as follows e data length 8 bits 11 TF50 GPS amp GLONASS User s Manual e two stop bits e parity bit not used e Baud rate 9600 binary protocol 3 2 DATA FORMATS The receiver supports the following data protocols e proprietary binary e ASCII NMEA complying with NMEA 0183 v 2 30 e RTCM SC 104 V 2 2 for differential corrections data 4 TF50 OPTIONS TF50 can have following options OPTION 1 In On Board Battery Option 8mAh rechargeable battery is mounted and used as a back up power source when main power is off There is a charger circuit for rechargeable battery consisting of diode and current limiting resistance In External Battery Option no rechargeable battery is used and external battery should be connected to pin 3 of output connector as a back up power source Since TF50 operates under 40 85 C temperature it s necessary to keep in mind about the rechargeable battery more NARROW operating temperature range Besides it the battery capacity can 1 5 times DECREASE under 20 C temperature The average discharge time from 3 0 to 1 5V for the mounted rechargeable battery is about 400 hours more than 16 days Default On Board Battery Option Important notice for the case of external backup battery use Backup current strongly depends on value of backup voltage i e the greater backup voltage the greater current For 3 0V supply voltage current will be about 50 micr
27. essages 4 Each message is terminated using Carriage Return CR and Line Feed LF symbols which is r n which is hex ODOA Table 16 lists TF50 NMEA input messages 41 TF50 GPS amp GLONASS User s Manual Table 16 TO NMEA input messages Message MID Description XYZ Initialization XYZ Approximate user position time etc LLA Initialization LLA Approximate user position time etc DGPS Control DIF Set Port B parameters for DGPS input output Rate Control RAT Set output message rate Store Position STP Store last user position into non volatile memory Store Almanacs STA Store almanacs into non volatile memory Switch to Binary Protocol BIN Switch to TF50 Binary Protocol 6 3 1 XYZ Initialization This command is used to initialize TF50 receiver by providing approximate user position in ECEF coordinates clock offset and time Correct initialization parameters enable the receiver to acquire signals quickly Example PFST XYZ 2845800 2196900 5251000 8000 76 223500 3 CS Name Example Unit Description Start Sequence PFST XYZ ECEF X 2845800 Meters X coordinate ECEF Y 2196900 Meters Y coordinate ECEF Z 5251000 Meters Z coordinate Clock offset 8000 Hz Clock Offset of the receiver Week number 76 GPS Week Number Time of week 223500 Seconds GPS Time Of Week Start Mode 3 See Table 17 Checksum lt CR gt lt LF gt End Sequence Note If a dat
28. f position fix and status GLL IILI a yyyyy yy a hhmmss ss A a hh lt CR gt lt LF gt L Mode Indicator Status p A Data valid UTC of position V Data not valid Longitude E W Latitude N S Notes 1 Positioning system Mode Indicator A Autonomous mode D Differential mode E Estimated dead reckoning mode M Manual input mode S Simulator mode N Data not valid 2 The positioning system Mode Indicator field supplements the positioning system Status field the Status field shall be set to V Invalid for all values of Indicator mode except for A Autonomous and D Differential The positioning system Mode Indicator and Status field shall not be null field 6 2 3 GSA DOP and Active Satellites GNSS receiver operating mode satellites used in the navigation solution reported by the GGA or GNS sentence and DOP values If only GPS or GLONASS is used for the reported position solution the DOP values pertain to the individual system If GPS and GLONASS are combined to obtain the reported position solution multiple GSA messages are produced one with the GPS satellites another with the GLONASS satellites Each of these GSA messages shall have talker ID GN to indicate that the satellites are used in a combined solution and each shall have the PDOP HDOP and VDOP for the combined satellites used in position 37 TF50 GPS GLONASS User s Manual GSA a x XX XX XX XX XX XX XX XX XX XX XX XX X X X X X X
29. ge checksum and Postamble Name Bytes Scale Example Units Description MID 1 0x46 ASCII F Reserved 1 0x00 Freq offset 2 signed 0x00 00 Hertz Estimate frequency offset of the receiver clock relative to GPS carrier range 32767 Hz Freq range 2 0x27 10 Hertz Uncertainty of the clock frequency 10000 Hz Payload length 5 bytes 5 2 6 Set approximate user position Example FASTX Preamble amp MID ASCIT 0x00 10 FB 0D 09 1F 4D payload hex 0x95 51 FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble Name Bytes Scale Example Units Description MID 1 0x58 ASCII X Reserved 1 0x00 ECEF X 2 signed 2 0x10 FB cm Approximate user position ECEF Y 2 signed 2 0x0D 09 cm X 2849 km Y 2187 km ECEF Z 2 signed 2 0x1F4D_ cm Z 5252 km Payload length 7 bytes 5 2 7 Set GPS Almanac Set GPS almanac data for usage in the current session This command does not write the almanac data into the flash memory The command Store almanacs is used to write the GPS and GLONASS almanacs of current session into the flash memory Example FAST3 Preamble amp MID ASCII Payload 0x FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble 17 TF50 GPS A GLONASS User s Manual N
30. gh 24 for the full GLONASS constellation of 24 satellites this dives a range of 65 through 88 The number 89 through 96 are available if slot number above 24 are allocated to on orbit spares Receiver updates satellites in view data one time per minute 6 2 5 RMC Recommended Minimum Specific GNSS Data Time date position course and speed data provided by a GNSS navigation receiver All data fields must be provided null fields used only when data is temporarily unavailable 39 TF50 GPS amp GLONASS User s Manual RMC hhmmss ss A IILI a yyyyy yy a X X X X XXXXXX X x a a hh lt CR gt lt LF gt a Mode Indicator Magnetic variation degrees E W Date ddmmyy Course Over Ground degrees True Speed over ground knots Longitude E W Latitude N S Status A Data valid V Navigation receiver warning UTC of position fix Notes 1 TF50 does not support magnetic variation 2 Positioning system Mode Indicator A Autonomous mode D Differential mode E Estimated dead reckoning mode M Manual input mode S Simulator mode N Data not valid 3 The positioning system Mode Indicator field supplements the positioning system Status field the Status field shall be set to V Invalid for all values of Indicator mode except for A Autonomous and D Differential The positioning system Mode Indicator and Status field shall not be null fields 6 2 6 VTG Track Made Good And Ground Speed The actual course
31. his command is used to store last received almanacs into non volatile memory Example PFST STA ALMANACS CS Name Example Unit Description Start Sequence PFST STA Marker ALMANACS String constant Checksum lt CR gt lt LF gt End Sequence 6 3 7 Switch to Binary Protocol This command is used to control the serial port used to send or receive RTCM differential corrections When a valid message is received the parameters are stored in the non volatile memory and then the receiver restarts using the saved parameters Example PFST BIN 115200 8 1 0 CS 44 TF50 GPS GLONASS User s Manual Name Example Unit Description Start Sequence PFST BIN Baud 115200 Baud rate DataBits 8 8 or 7 StopBits 1 1 or 0 Parity 0 0 None 1 Odd 2 Even Checksum lt CR gt lt LF gt End Sequence 45
32. ite number 1 24 Litera 1 signed Satellite frequency number 7 12 Health 1 Satellite health 0x30 bad 0x31 good Reserved 8 TBD Na 2 days Reference day number Ln 4 signed 2 semicycles Longitude of first ascension node Tin 4 595 seconds Reference time of the first ascending node Di 4 signed 2 semicycles Correction to inclination 18 TF50 GPS amp GLONASS User s Manual DT 4 signed 2 s orbit_period Correction to the mean value of Draconian period Dtdot 1 signed 2 s orbit_period Rate of change of Draconian period Reserved 5 TBD E 2 E Eccentricity Omega 2 signed 2 semicycles Argument of perigee tn 2 signed 2 8 seconds Satellite time correction Payload length 41 bytes 5 2 9 Mode control Example Pasta Preamble amp MID ASCII Payload ASCID 0x FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble Name Bytes Scale Example Units Description MID 1 0x35 ASCII 5 Pos Mode 1 bitmap Position fix mode control see Table 6 Al For Hold 2 meters Clock hold 1 seconds Time interval during which the timeout clock bias extrapolation is allowable Hold priorities 1 Priority against altitude and Tshift C 0x43 clock priority A 0x41 altitude priority GLONASS 4 signed cm GLONASS system time shift Tshift divided by spe
33. le Example Units Description MID 1 0x53 ASCII S Reserved 3 0x00 Payload length 3 bytes 5 2 17 Store last user position and frequency offset Writes the latest user position and frequency offset of the receiver clock estimated in current session into the flash memory Output position and raw measurement data may be suspended for several seconds during the process of writing into the flash memory 22 TF50 GPS amp GLONASS User s Manual Example FASTU Preamble amp MID ASCII 0x00 00 00 Payload 0x55 00 FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble Name Bytes Scale Example Units Description MID 1 0x55 ASCII U Reserved 3 0x00 Payload length 3 bytes 5 2 18 DGPS control TBD 5 2 19 Exclude SV from navigation solution Example FASTZ Preamble amp MID ASCII 0x18 01 00 Payload 0x5B 18 FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble Name Bytes Scale Example Units Description MID 1 OxSA ASCI Z SVID 1 0x18 SV system number GPS SV 1 32 GLONASS SV 33 56 ON OFF 1 0x01 0x01 OFF exclude 0x00 ON restore Reserved 1 0x00 Payload length 3 bytes 5 2 20 Debug data output ON OFF Example FASTB Preamble amp MID ASCII 0x30 00 00 Payload 0x42 30 FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble Name Bytes Scale Example Units Desc
34. millisecond of week of GPS time X position 4 signed cm Antenna ECEF coordinate X Y position 4 signed cm Antenna ECEF coordinate Y Z position 4 signed cm Antenna ECEF coordinate Z R offset 4 signed cm Receiver clock offset in centimeters X dot 2 signed 32 m s Antenna X velocity Y dot 2 signed 32 m s Antenna Y velocity Z dot 2 signed 32 m s Antenna Z velocity R dot 2 signed 16 m s Receiver clock shift DOP 1 8 PDOP if position is obtained in 3D solution and HDOP otherwise GPS SVs in fix 1 GLONASS SVs in fix Mode 1 Bitmap See Table 9 Payload length 33 bytes Table 9 Bit allocation in the Mode word Mode Description 0x00 No navigation solution 0x01 1 satellite solution 0x02 2 satellite solution 0x03 3 satellite solution 2D 0x04 gt 4 satellite solution 0x08 Differential solution 0x10 Altitude hold mode 0x20 Clock hold mode 0x40 Recent computed altitude was used for altitude hold mode otherwise Alt_For_Hold 0x80 Reserved 5 3 4 Clock status Response to poll Example FASTc Preamble amp MID ASCII Payload hex Ox Message checksum hex 27 TF50 GPS GLONASS User s Manual Name Bytes Scale Example Units Description MID 1 0x63 ASCII c Reserved 1 0x00 wn 2 GPS week number RevTime 4 ms Signal receive time in millisecond of week of
35. mp MID ASCII Payload hex Ox Message checksum hex Name Bytes Scale Example Units Description MID 1 0x61 ASCII a PRN 1 Satellite PRN number 1 32 0x00 means No data for requested PRN Wna 2 Almanac week number Wn 2 Receive time week number Tow 4 seconds Second of GPS week receive time config amp health 2 See Table 11 E 2 971 Eccentricity Toa 2 seconds Almanac reference time i0 2 signed 2 semicycles Inclination angle Omegadot 2 signed 2 8 semicycles sec Rate of right ascension Roota 4 95 meters Square root of semi major axis omega0 4 signed 22 semicycles Longitude of ascending node Omega 4 signed 22 semicycles Argument of perigee m0 4 signed 22 semicycles Mean anomaly at reference time af 2 signed 2 seconds Clock correction afl 2 signed 2 8 sec sec Clock correction Payload length 39 bytes Table 11 Bit allocation in the config amp health word MSB LSB SV config see ICD GPS 200C Satellite data amp signal health see ICD GPS 200C 1 2 3 4 5 6 7 8 5 3 6 GLONASS Almanac data Response to poll Example FASTI Preamble amp MID ASCII Payload hex Ox Message checksum hex 29 10 11 12 13 14 15 16 TF50 GPS amp GLONASS User s Manual Name Bytes Scale Example Units Description MID 1 Ox6C ASCII 1 SV ID 1 Satellite number 1
36. ntenna s power supplying circuit has 100 mA current limitations Moreover for current design TF50 must use only active antenna so the connection to passive antennas is prohibited 20 pin two rows 2 0x2 0 mm pin strip header for example 151220 2420TH from 3M is used as a output connector 1 3 ANTENNA REQUIREMENTS Third party vendor active GPS GLONASS antenna for TF50 should meet following requirements 1 3dB Bandwidth 1570 1610 MHz 2 Impedance 50Q 3 Polarization RHCP 4 Gain 20 30 dB 5 Noise Figure 2 0 dB max TF50 GPS GLONASS User s Manual 6 VSWR 1 5 dB 7 Current 100 mA Max 8 Supply Voltage 5V Notes Actually TF50 requires 15 25 dB of additional gain for its proper operation Additional gain less than 15 dB may cause the total receiver noise figure and sensitivity degradation Additional gain more than 25 dB may cause easy non linear suppression of GLONASS or GPS signals by out of band interfering signals Additional gain is defined as antenna LNA minus cable losses Cable losses depend on cable type and its length Generally the greater outer diameter of cable the less loss it will be Ror TFSO External Option If the receiver is expected to use as a GPS only receiver it is possible to use GPS only antennas 1 4 SPECIFICATION 1 General 1 1 Frequency L1 L2 1 2 Supported signals GPS C A GLONASS C A WAAS p EGNOS S GALILE
37. oamperes RTC and SRAM are operable up to 1 5V backup voltage The backup current for this voltage is about several microamperes Validity of data stored in SRAM is guaranteed by verifying data check sum OPTION 2 In Debug Option JP2 connector is mounted onto PCB External ADSP EZ ICE Elite Kit development tool could be connected with JP2 to debug firmware design Default Debug No Option OPTION 3 The aim for LED Option is to indicate different TF50 current modes of operation such as searching tracking or navigation Default LED Option OPTION 4 In Internal 3 3V Option antenna is supplied directly with 3 3V power voltage from TF50 main power input pin 4 in TF50 output connector Otherwise External Option active antenna will be supplied with external voltage that must be connected to ANT_PWR pin 1 of output connector At any case in order not to damage antenna power supply circuit in TF50 permitted antenna current mustn t exceed 100mA Default External Option 12 TF50 GPS amp GLONASS User s Manual OPTION 5 Interface signals TX1 TX2 RX1 RX2 can have TTL levels for RS 232 TTL Option or 6V levels for EIA RS 232 Option Default EIA RS 232 Option 5 BINARY PROTOCOL SPECIFICATION 5 1 GENERAL This Protocol defines the requirements for establishing a communication interface between the TF50 OEM board and external equipment via communication Port 1 TFSO can
38. olumn Type of Table 1 defines type of output data Character A means that output data are generated automatically if appropriate Character Q means that data are available on receiver output in response to correspondent query command 6 2 1 GGA Position Fix Data Time position and fix related data for a GPS receiver Differential reference station ID 0000 1023 YF Age of Differential GPS data This field is not available null Altitude above below ellipsoid meters Horizontal dilution of precision H GGA hhmmss ss lll ILa yyyyy yy a X XX X X X X M x x M x x XXxx hh lt cCRr gt lt LF gt L Number of satellites in use 00 12 may be different from the number in view GPS Quality indicator Longitude E W Latitude N S UTC of position Notes 1 GPS Quality Indicator 0 Fix not available or invalid 1 GPS SPS Mode fix valid 2 Differential GPS SPS Mode fix valid 3 GPS PPS Mode fix valid 4 Real Time Kinematic System used in RTK mode with fixed integers 5 Float RTK Satellite system used in RTK mode floating integers 6 Estimated dead reckoning Mode 7 Manual Input Mode 8 Simulator Mode The GPS Quality Indicator field shall not be a null field 2 Time in seconds since last SC104 Type 1 or 9 update null field when DGPS is not used 36 TF50 GPS GLONASS User s Manual 6 2 2 GLL Geographic Position Lat Lon Latitude and Longitude of vessel position time o
39. p GLONASS User s Manual Name Bytes Scale Example Units Description MID 1 0x65 ASCII e SV ID 1 Satellite number 1 24 0x00 means No data for requested PRN Litera 1 signed Satellite frequency number 7 12 Health 1 Satellite health 0x30 bad 0x31 good Flags 2 bitmap Combined n1 n2 n3 flags in accordance with GLONASS ICD See Table 13 Tb 2 15 min Ephemeris data reference time within the day expressed in GLONASS time scale UTC SU 3 hours X 4 signed 2 kilometers Satellite PZ 90 X coordinate Y 4 signed 2 kilometers Satellite PZ 90 Y coordinate Z 4 signed 2 kilometers Satellite PZ 90 Z coordinate Xdot 4 signed 2 km c Satellite PZ 90 velocity X Ydot 4 signed 2 km c Satellite PZ 90 velocity Y Zdot 4 signed 2 km c Satellite PZ 90 velocity Z Xdotdot 2 signed 2 km c Satellite perturbation acceleration x Ydotdot 2 signed 2 km c Satellite perturbation acceleration y Zdotdot 2 signed 2 km c Satellite perturbation acceleration Zz Tk 4 seconds Start time modulo one day of the 30 second frame in satellite time scale tk from which the ephemeris data is derived tn 4 signed 2 seconds Bias between satellite time scale and GLONASS system time scale at tb time moment Te 4 signed 27 seconds Bias between GLONASS system time scale and UTC 3 hours time scale T The same
40. quency range for all GPS SV is equal to 1575 42 MHz GLONASS provides 24 SV placed on three orbits in three planes GLONASS uses FDMA Frequency Division Multiple Access with uniform code sequence for all SV The nominal values of carrier frequency at L1 frequency range are defined by following expression F 1602 000 MHz k x AF where k frequency position number frequency channel k 7 12 AF 0 5625 MHz frequency step between neighbor frequency positions At present time SV transmitting signals with numbers k 0 12 only are available 0 zero frequency channel signal is used for technical purposes only but not for navigation refer to GLONASS ICD 1 2 GENERAL VIEW TF50 General view is shown in figure below TF50 GPS GLONASS User s Manual JP2 EZ ICE Debug E RF Connector Connector optional 2 e TF50 rev X GPS GLON RCVR JP1 Output Connector LED MODE optional RechargeableLi battery optional The PCB of the receiver has dimensions 71 mm x 51 mm MCX female connector is used for connection to an active antenna Antenna power supply is provided via central wire of coaxial cable Using antennas from third party vendors must be taken carefully because of TF50 a
41. ription MID 1 0x42 ASCII B ON OFF 1 0x30 0x30 OFF 0x31 ON Reserved 2 0x00 00 Payload length 3 bytes 23 TF50 GPS amp GLONASS User s Manual 5 2 21 Switch to NMEA Protocol When a valid message is received the parameters are stored in the non volatile memory and then the receiver restarts using the saved parameters Example FASTM Preamble amp MID ASCII Ox Payload Ox FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble Name Bytes Scale Example Units Description MID 1 0x4D ASCII M Reserved 1 0x00 GGA Talker ID 1 NMEA Talker Identifier P GP L GL N GN 0 OFF GGA rate 1 0 2 seconds Output rate of GGA message GGA Checksum 1 0x00 disable checksum 0x01 enable checksum GLL Talker ID 1 NMEA Talker Identifier P GP L GL N GN 0 OFF GLL rate 1 0 2 seconds Output rate of GLL message GLL Checksum 1 0x00 disable checksum 0x01 enable checksum GSA Talker ID 1 NMEA Talker Identifier P GP L GL N GN 0 OFF GSA rate 1 0 2 seconds Output rate of GSA message GSA Checksum 1 0x00 disable checksum 0x01 enable checksum GSV Talker ID 1 NMEA Talker Identifier P GP L GL N GN 0 OFF GSV rate 1 0 2 seconds Output rate of GSV message GSV Checksum 1 0x00 disable checksum 0x01 enable checksum RMC Talker ID 1 NMEA Talker Identifier P GP L GL N GN 0 OFF RMC rate 1 0 2 secon
42. scription MID 1 0x32 ASCII 2 Reset Config 1 0x00 Bitmap See Table 4 ECEF X 2 signed 2 0x10 FB cm Approximate user position ECEF Y 2 signed 2 Ox0D 09 cm X 2849 km Y 2187 km ECEF Z 2 signed 2 Ox1F 4D cm Z 5252 km GMT 4 0x3A 5D 82 seconds Number of seconds elapsed since 62 the beginning of January 1 1970 Freq Offset 2 signed 0x00 00 Hertz Estimate frequency offset of the receiver clock relative to GPS carrier range 32767 Hz Freq Range 2 0x27 10 Hertz Uncertainty of the clock frequency 10000 Hz Payload length 15 bytes Table 4 Bit allocation in the Reset Config byte Config Description 0x00 Enable warm hot start 0x01 Clear ephemeris set cold start 0x02 Clear ephemeris amp almanac set initial acquisition start 0x03 Oxff TBD 5 2 4 Set GMT Sets Greenwich Mean Time for current moment Example FASTT Preamble amp MID ASCII 0x00 3A 5D 82 62 Payload 0x10 BF FF FF FF FF FF FF FF FF FF FF Message checksum and Postamble Name Bytes Scale Example Units Description MID 1 0x54 ASCII T Reserved 1 0x00 GMT 4 0x3A 5D 82 seconds Number of seconds elapsed since 62 the beginning of January 1 1970 Payload length 5 bytes 16 TF50 GPS GLONASS User s Manual 5 2 5 Set clock frequency offset Example FASTF Preamble amp MID ASCID 0x00 00 00 27 10 Payload ASCII 0x6D 10 FF FF FF FF FF FF FF FF FF FF Messa
43. the receiver restarts using the saved parameters Example PFST DIF IN 9600 8 1 0 CS Name Example Unit Description Start Sequence PFST DIF Input Output IN OUT if the receiver is used as differential correction station IN if the receiver set to operate in differential mode Baud 9600 Baud rate DataBits 8 8 or7 StopBits 1 1 or 0 Parity 0 0 None 1 Odd 2 Even Checksum lt CR gt lt LF gt End Sequence 6 3 4 Rate Control This command is used to control the output of standard NMEA messages Example PFST RAT GN VTG DIS 1000 ECS CS 43 TF50 GPS GLONASS User s Manual Name Example Unit Description Start Sequence PFST RAT Talker GN Talker Identifier GP GL or GN Message VTG Output message Mode DIS ENA enabled DIS disabled QRY query command for GSV only Rate 1000 ms Output rate Will be rounded in the receiver to nearest multiple of 200 ms Checksum enable ECS ECS enable checksum DCS disable checksum Checksum lt CR gt lt LF gt End Sequence 6 3 5 Store Position This command is used to store last computed user position and receiver clock offset into non volatile memory Example PFST STP POSITION CS Name Example Unit Description Start Sequence PFST STP Marker POSITION String constant Checksum lt CR gt lt LF gt End Sequence 6 3 6 Store Almanacs T
44. w the GLONASS satellites in view The GN identifier shall not be used with this sentence 38 TF50 GPS amp GLONASS User s Manual GSV X X XX XX XX XXX MX 0 00 cooconooooooo XX XX XXX xx hh lt CR gt lt LF gt Kall qth SV 2 2 nd _ 3 rd SV 2 SNR C N 00 99 dBHz null when not tracking Azimuth degrees True 000 to 359 Elevation degrees 90 maximum Satellite ID number Total number of satellites in view Message number to 9 Total number of messages Notes 1 Satellite information may require the transmission of multiple messages The first field specifies the total number of messages minimum value 1 The second field identifies the order of these messages messages number minimum value 1 2 A variable number of Satellite ID Elevation Azimuth SNR sets are allowed up to a maximum of four sets per messages Null fields are not required for unused sets when less than four sets are transmitted 3 Satellite ID number To avoid possible confusion caused by repetition of satellite ID numbers when using multiple satellite systems the following convention has been adopted a GPS satellites are identified by their PRN numbers which range from 1 to b The WAAS systems has reserved numbers 33 64 to identify its satellites d The numbers 65 96 are used for GLONASS satellites GLONASS satellites are identified by 64 satellites slot number The slot number are 1 throu
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