GPS Dead Reckoning Firmware A1029`s
Contents
1. sentence e g PTYCDL 20040705 07 21 25 A 3 05 4805 8418 N01 132 2431 E 630 49 85 72 1 PTYCDL Vendor and message identifier 2 20040705 Date yyyymmdd 3 07 21 25 UTC time hh mm ss 4 A Fix valid or V for invalid or no fix 5 13 Fix mode 3D 1 Fix not available 2 2D 6 05 Number of satellites in use min 00 max 12 7 4805 8418 Latitude 48deg 05 8418min 8 N North or S for south 9 01132 2431 Longitude 011deg 32 2431 min 10 E East or W for west 11 630 Altitude above below mean sea level geoid in meters 11 49 Speed in kilometers hour 12 85 Course over ground degrees true 0 north 13 72 Checksum Table 10 PTYCDL data set when logging Page 32 of 35 User s Manual V3 0 04 07 GPS Dead Reckoning b DESEN Tyco Electronics A1029 s and A1030 A 6 Specific Features 6 1 Dead Reckoning Kit Tyco Electronics Dead Reckoning GPS firmware is available with 3 targets For the GPS modules A1029 A A1029 B A1029 C and A1029 D HW version 03 and higher for the A1030 A and for the TYCO Electronics Dead Reckoning Kit DR1030 A including a module The Dead Reckoning Kit DR1030 A features the standard module A1030 A including Dead Reckoning firmware For details please refer to the according document 6 2 Firmware Update and Upgrades Tyco Electronics GPS firmware is stored in the flash memory of the A1029 A1030 A1035 C an2. Tyco Electronics GPS Dead Reckoning Firmware A1029 s amp A1030 A A description of the Dead Reckoning firmware provided on Tyco Electronics GPS modules A1029 s and A1030 A User s Manual Version 3 0 Software Revision 201 01 amp 202 xx Tyco Electronics This page was intentionally left blank Revision History Tyco Electronics Revision History Rev Date Description 1 0 103 02 05 First version beta release of firmware 1 1 04 29 05 Release 1 2 06 06 05 Corrected output format description after first cold start 2 0 12 12 05 Complete review of manual added description of new features in 201 xx release towards DR Data Logging and SBAS 2 1 08 22 06 VTG amp RMC updated mode indicator included 2 2 12 27 06 Added some useful information merged A1029 s and A1030 3 0 04 01 07 Minor changes new design mm dd yy V3 0 04 07 User s Manual Page 3 of 35 Disclaimer geng Electronics Disclaimer THIS DOCUMENT CONTAINS PROPRIETARY INFORMATION OF TYCO ELEC TRONICS CORPORATION POWER SYSTEMS TYCO ELECTRONICS IT MAY NOT BE COPIED OR TRANSMITTED BY ANY MEANS PASSED TO OTHERS OR STORED IN ANY RETRIEVAL SYSTEM OR MEDIA WITHOUT PRIOR CONSENT OF TYCO ELECTRONICS OR ITS AUTHORIZED AGENTS THE INFORMATION IN THIS DOCUMENT IS TO THE BEST OF OUR KNOWLEDGE ENTIRELY CORRECT HOWEVER TYCO ELECTRONICS CAN NEITHER ACCEPT LIABILITY FOR ANY INACCURA
3. GPS Dead Reckoning Firmware A1029 s and A1030 A E vco Electronics The receiver will start searching for this satellite In case of success and when the download of correctional data was done and is used for correcting the position the GGA message will show this by changing the fix quality from 1 to 2 e g GPGGA 105354 000 4804 2665 N 01139 0630 E 2 10 0 8 0547 8 M 47 5 M 68 In addition the SBAS satellite will be added to the GSV information In this message the satellite number is calculated by deducting 87 from the real satellite PRN minimum number is therefore 124 87 37 So an SBAS satellite can be recognized by a number higher than 32 e g GPGSV 3 3 10 30 63 87 00 37 33 166 43 71 1 GPGSV Vendor and message identifier 2 3 Total numbers of messages 3 3 13 Number of current message 3 4 10 Satellites in view 10 5 30 Satellite number of normal GPS satellite 6 63 Elevation in degrees of GPS satellite 7 87 Azimuth in degrees to true of GPS satellite 8 00 SNR in GB of GPS satellite 9 37 Satellite number 37 87 124 10 133 Elevation in degrees of SBAS satellite 11 166 Azimuth in degrees to true of SBAS satellite 12 44 SNR in dB of SBAS satellite E E empty fields 20 70 Checksum Table 8 GPGSV example and description with SBAS satellite The same satellite is visible in the G
4. 4 03 ID of 17 satellite used for fix 5 120 ID of 2 satellite used for fix 6 114 ID of 3 satellite used for fix 7 131 ID of 4 satellite used for fix 8 lt empty gt ID of 5 satellite used for fix 9 lt empty gt ID of 6 satellite used for fix 10 lt empty gt ID of 7 satellite used for fix 11 lt empty gt ID of 8 satellite used for fix 12 lt empty gt ID of 9 satellite used for fix 13 lt empty gt ID of 10 satellite used for fix 14 lt empty gt ID of 11 satellite used for fix 15 lt empty gt ID of 12 satellite used for fix 16 3 7 PDOP in meters 17 2 5 HDOP in meters 18 2 8 VDOP in meters 19 3D Checksum Table 4 GSA example and description V3 0 04 07 User s Manual Page 19 of 35 E vco Electronics 4 2 5 GSV GPS Satellites in View GPS Dead Reckoning Firmware A1029 s and A1030 A e g GPGSV 1 1 04 03 27 159 45 14 43 095 48 20 17 231 40 31 60 190 42 7F 1 GPGSV Vendor and message identifier 2 1 Total numbers of messages 3 1 Number of current message 4 104 Satellites in view 5 03 Satellite number 6 27 Elevation in degrees 7 159 Azimuth in degrees to true 8 45 SNR in dB 9 14 Satellite number 10 43 Elevation in degrees 11 095 Azimuth in degrees to true 12 48 SNR in dB 13 20 Satellite number 14 17 Elevation in degrees 15 231 Azimuth in degr
5. readable ASCII characters the output will be replaced by V3 0 04 07 User s Manual Page 23 of 35 GPS Dead Reckoning Firmware A1029 s and A1030 A geng Electronics 5 7 Dead Reckoning Support In order to improve the Dead Reckoning performance especially after startup the following commands are supported e PTYCDRSAVE Store the actual Kalman data You will need this command only if there is no back up battery supplied for your A1030 A or if you are using an A1029 module With no back up battery it is utterly important for the performance after start up to issue this command right before power is switched off As a result the current calibration and Kalman state data will be stored into flash memory After restart these data are immediately available and as a consequence all Dead Reckoning calculations are very precise from the beginning If this command was not issued before switching off the power or in case the vehicle was moved and the Dead Reckoning unit was switched off and is switched on later on only e g transport of car by train or ferry Send the following commands in this order to the system SPTYCDRERASE erases calibration data in FLASH SPTYCSRERASE erases calibration data in SRAM Note This will require a new calibration Page 24 of 35 User s Manual V3 0 04 07 GPS Dead Reckoning b DESEN Tyco Electronics A1029 s and A1030 A 5 8 Additional Useful Information 5 8 1 Pu
6. used for the transmission of the information are identified by a unique PRN Pseudo Random Noise number a satellite ID This is the PRN ID information for WAAS Wide Area Augmentation System EGNOS European Geostationary Navigation Overlay System and MSAS MTSAT Multifunctional Transport Satellite System Space based Augmentation System The following PRNs have been allocated to the WAAS system region USA Canada and Mexico PRN 122 Inmarsat 3F4 AOR W 54 0 W PRN 134 Inmarsat 3F3 POR 178 02 E The following PRNs have been allocated to the EGNOS system region Europe Africa and Venezuela PRN 120 Inmarsat 3F2 AOR E 15 52 W PRN 124 Artemis 21 52 E PRN 126 Inmarsat 3F5 IOR W 25 02 E PRN 131 Inmarsat 3F1 IOR E 64 02 E The following PRNs have been allocated to the MSAS system region Japan Australia and Hawaii PRN 129 MTSAT 1 140 0 E PRN 137 MTSAT 2 to be launched yet replacement of MTSAT 1 5 9 1 Enabling SBAS support By default SBAS support is switched off To switch on SBAS support one needs to issue the following command to the receiver e PTYCSBAS 1 In recognition of the command the receiver will respond with one message e PTYCSBAS ON 30 The default satellite that will be used then is the EGNOS satellite with PRN 120 To select a different SBAS satellite the command needs to be issued again with the satellite PRN e g e PTYCSBAS 120 V3 0 04 07 User s Manual Page 27 of 35
7. CIES OR THE CONSEQUENCES THEREOF NOR FOR ANY LIABILITY ARISING FROM THE USE OR APPLICATION OF ANY CIRCUIT PRODUCT OR EXAMPLE SHOWN IN THE DOCUMENT THE PRODUCT HARD AND SOFTWARE DESCRIBED IN THIS DOCUMEN TATION IS NOT AUTHORIZED FOR USE IN LIFE SUPPORT DEVICES OR SYSTEMS WITHOUT THE EXPRESS WRITTEN APPROVAL OF TYCO ELECTRONICS THIS DOCUMENT MAY PROVIDE LINKS TO OTHER WORLD WIDE WEB SITES OR RESOURCES BECAUSE TYCO ELECTRONICS HAS NO CONTROL OVER SUCH SITES AND RESOURCES TYCO ELECTRONICS SHALL NOT BE RESPONSIBLE FOR THE AVAILABILITY OF SUCH EXTERNAL SITES OR RESOURCES AND DOES NOT ENDORSE AND IS NOT RESPONSIBLE OR LIABLE FOR ANY CONTENT ADVERTISING PRODUCTS OR OTHER MATERIALS ON OR AVAILABLE FROM SUCH SITES OR RESOURCES TYCO ELECTRONICS SHALL NOT BE RESPONSIBLE OR LIABLE DIRECTLY OR INDIRECTLY FOR ANY DAMAGE OR LOSS CAUSED OR ALLEGED TO BE CAUSED BY OR IN CONNECTION WITH USE OF OR RELIANCE ON ANY SUCH CONTENT GOODS OR SERVICES AVAILABLE ON OR THROUGH ANY SUCH SITE OR RESOURCE TYCO ELECTRONICS RESERVES THE RIGHT TO CHANGE MODIFY OR IMPROVE THIS DOCUMENT OR THE PRODUCT DESCRIBED HEREIN AS SEEN FIT BY TYCO ELECTRONICS WITHOUT FURTHER NOTICE Page 4 of 35 User s Manual V3 0 04 07 Table of Contents Table of Contents TUES TO hess EE EEEEEEEEEEE 7 1 1 Required Signals cicsitccsitcenduiitenniinastinns dustbin ad wekidinaydneiduenitinanidiesitinandyanductidenndintaitneudunddenes 7 1 2 E e ua EN 7 1 3 Seral Port
8. Config ratiON E 8 1 4 LOCK PU CGI EE 8 1 5 Saving a Configuration ccccccccccccccccccececeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeess 8 2 Version INfOKMAN ON Geseit 9 RER En CT D 10 3 1 Defined Starting EDEegesgemggeerestegtegen ge ee eEeieeeEgEeeE bed 12 3 2 Saving the Current Stat Sxiccccostidsteditassasaddeludediieloiebineludebiieladiiieladebiielaeniiebieedees 14 4 Standard NMEA SentencesS cccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeseeeeeeeseeseeseeeeeeeeees 15 4 1 MURIEL EE 15 4 2 Supported NMEA Sentences ANNE 15 4 2 1 GGA Global Positioning System Fix Data 16 4 2 2 VTG Course Over Ground and Ground Speed A 17 4 2 3 RMC Recommended Minimum Specific GPS Data 18 4 2 4 GSA GPS DOP and Active Satellites 000 ccccccecceeeesssssrsseeeeeeesssssseeeeeseeeentsssaes 19 4 2 5 GSV GPS Satellites in View 20 5 Proprietary Sentences aisisscinsciiinnsiarsancssatiaaanianussarsaneniaiaaniarcisteusiuemeaiadusdans 21 Sai gh iets Te 21 5 2 Saving a Configuration EE 21 5 3 NMEA Sentence Handling E 21 5 4 Baud rate Set up een mee een mn ne annette eee ee 22 5 5 le ET Dee e EE 22 5 6 Version IORI AMON RE 23 5 7 Dead Reckoning Gupport ENNEN 24 5 8 Additional Useful Information ees eeEEEEEE EES 25 5 8 1 Pure GPS Position PGP NEE 25 5 8 2 Odometer and Gyro Me un BEE 25 5 9 Support of SBAS A1030 A Only sssscsssescetoseessecccocgocecreidteseacdnoegeceeennntesceccbenedennes 27 5 9 1 Enabling SBAS Sup BOM i
9. GGA Global Positioning System Fix Data and 4 2 3 RMC Recommended Minimum Specific GPS Data respectively A valid GPS fix is indicated by the LOCK signal LED on the Dead Reckoning demonstration kit as well d The module will try to make a fast calibration for the odometer scale which varies from vehicle to vehicle To do this the module needs to have a fix and has to move with a minimum speed of 15km h 10 mph for 5 seconds e Do 4 right turns and 4 left turns after that 90 in order to have the gyro calibrated 3 2 Saving the Current Status The module will continuously calibrate and update its internal status On the A1030 these data are stored SRAM If the module is supported by a back up battery data will be stored and can be reused for the next start If you work with an A1029 or if there is no back up battery for the A1030 A the following command needs to be issued to the unit e PTYCDRSAVE Store the actual Kalman data in flash Note It is utterly important to send this command prior to a power off otherwise the state and therefore all calibration data will be lost and the module has to start from scratch with a new power on Page 14 of 35 User s Manual V3 0 04 07 GPS Dead Reckoning Firmware A1029 s and A1030 A Teo Electronics 4 Standard NMEA Sentences 4 1 Introduction The National Marine Electronics Association created a uniform interface standard for digital data exchange between different m
10. SA message Page 28 of 35 User s Manual V3 0 04 07 GPS Dead Reckoning b DESEN Tyco Electronics A1029 s and A1030 A 5 9 2 SBAS Satellite Message In addition information on the satellite in use can be displayed in an SBAS satellite message Switching the message on or off follows the syntax of other NMEA sentences e PTYCSBASSAT 1 switch SBAS satellite message on e PTYCSBASSAT 0 switch SBAS satellite message off e PTYCSBASSAT toggle message The SBAS satellite message follows this format e g PTYCSBASSAT 1 124 33 166 41 45 e g EGNOS satellite with PRN 124 1 PTYCSBASSAT Proprietary sentence of Tyco Electronics for SBAS satellites 2 1 SBAS in use 0 not in use 3 124 PRN of satellite in use 4 133 Elevation in degrees 5 166 Azimuth in degrees 6 41 SNR in dB 7 145 Checksum Table 9 PTYCSBASSAT example and description In order to store your configuration use of SBAS and choice of satellite issue the command e PTYCSUPWR V3 0 04 07 User s Manual Page 29 of 35 GPS Dead Reckoning Firmware A1029 s and A1030 A geng Electronics 5 10 Data Logging Mode A1030 A only TYCO Electronics GPS firmware offers the possibility to put the GPS receivers into two data logging modes In these modes two sets of data are written into a reserved area of the flash memory for later use As the application software is also stored in the f
11. a logging Page 30 of 35 User s Manual V3 0 04 07 GPS Dead Reckoning b DESEN Tyco Electronics A1029 s and A1030 A 5 10 2 Data Logging depending on distance between fixes The GPS module checks the distance between the current and the last position every second Whenever the specified distance has been exceeded the current position is logged It should be clear that a reasonable value for the distance depends on the speed of the movement of the receiver and its antenna Syntax to activate this mode switching ON S PTYCDL 5 x e xis the optional distance in meter between the fixes e Acceptable values are from 10 to 1000 e Default distance is 10 meter and is used whenever the distance is not specified explicitly e E g PTYCDL 5 will switch ON with a distance of 10 meter e E g PTYCDL 5 50 will switch ON with a distance of 50 meter Syntax to deactivate this mode switching OFF PTYCDL O Syntax to output the logged data to the UART SPTYCDL 2 e This command will automatically deactivate data logging Syntax to erase the data in the flash PTYCDL 3 e The logged data in the flash need to be erased explicitly there is no automatic erase by the module V3 0 04 07 User s Manual Page 31 of 35 GPS Dead Reckoning Firmware A1029 s and A1030 A E vco Electronics 5 10 3 Data Set for Data Logging The logged data is a set of GPS data that is mainly derived from the RMC NMEA
12. arine electronic products back in the early nineteen eighties e NMEA information is transmitted from a vendor in sentences with a maximum length of 80 characters e The general format is lt vendor gt lt message gt lt parameters gt lt checksum gt lt CR gt lt LF gt e The combination of lt vendor gt lt message gt is called address field e The vendor code for the Global Positioning System is GP e In this document NMEA sentences refer to the NMEA 0183 Standard For details see http www nmea org http www nmea org pub index html For an introduction into GPS NMEA sentences see http nome mira net gnb gps nmea html 4 2 Supported NMEA Sentences The Tyco Electronics GPS firmware currently supports 5 NMEA sentences e GPGGA default ON e GPVTG default OFF e GPRMC default ON e GPGSA default ON e GPGSV default ON The sentences that are switched on are transmitted with an update rate of about 1 s The following paragraphs give an overview of NMEA messages with example strings and short explanation V3 0 04 07 User s Manual Page 15 of 35 E vco Electronics GPS Dead Reckoning Firmware A1029 s and A1030 A 4 2 1 GGA Global Positioning System Fix Data e g GPGGA 152145 000 4805 8193 N 01132 2317 E 1 04 2 5 607 75 M 47 6 M 67 1 GPGGA Vendor and message identifier 2 152145 000 Universal t
13. ctively A high level means that there s a valid GPS position fix 1 5 Saving a Configuration In order to save a special configuration it is necessary to issue the command e PTYCSUPWR Set UP WRite The command needs no parameters Without issuing this command the configuration will fall back to the default configuration or the last configuration saved respectively Page 8 of 35 User s Manual V3 0 04 07 GPS Dead Reckoning b DESEN Tyco Electronics A1029 s and A1030 A 2 Version Information After reset the module will transmit version information in the following format PTYCVER TYCO Electronics 202 01 11 47 18 May 10 2006 PSTMVER 0S20_02 06 01 Aug 26 2005 15 23 19 PSTMVER GPSLIB_ 04 23 04 ARM Oct 20 2005 14 31 04 PSTMVER SBASLIB_01 06 00 Feb 14 2006 16 10 57 PTYCVER Bootloader Version 3 00 Ur Ur Ur Ur MN This header contains information on different parts of the firmware running on the module SPTYCVER TYCO Electronics 202 01 Tyco firmware release SPSTMVER 0S20_02 06 01 OS20 underlying operation system release SPSTMVER GPSLIB_04 23 04 ARM GPS library release SPSTMVER SBASLIB_01 06 00 SBAS library release SPTYCVER Bootloader Version 3 00 Boot loader version information In case of any questions on the firmware please provide this information to Tyco Electronics along with information printed
14. d usually does not require any changes Anyhow in case of updates or upgrades the A1029 A1030 A1035 C provide a user friendly method with their integrated boot loader This boot loader allows an easy update of the GPS firmware using the serial I O port For this process a counter part on a PC or an according application in an embedded system is required The procedure of updating the GPS application using Tyco Electronics flashing tool GPS Flash Tool or the integrated boot loader are described in the manual T E Flash Update The tool is either available through your local distributor or by sending a request to gps tycoelectronics com V3 0 04 07 User s Manual Page 33 of 35 GPS Dead Reckoning Firmware A1029 s and A1030 A geng Electronics 7 Contact 7 1 Contact This manual was created with due diligence We hope that it will be helpful to the user to get the most out of the GPS module Anyway inputs about errors or mistakable verbalizations and comments or proposals to TYCO Electronics Power Systems in Munich Germany for further improvements are highly appreciated Tyco Electronics Power Systems Finsinger Feld 1 85521 Ottobrunn Germany Tel 49 89 6089 838 Fax 49 89 6089 835 gps tycoelectronics com www tycoelectronics com gps Further contact addresses Info gos tycoelectronics com support gos tycoelectronics com sales gos tycoelectronics com 7 2 Related Documents Man
15. ds applications where usually GPS with a high enough quality and accuracy is available and where sometimes situations with GPS outage has to be overcome Here one can expect roughly the following performance e Max 5km distance driven 3 to 5 deviation e Max 5 minutes driven 3 to 5 deviation V3 0 04 07 User s Manual Page 7 of 35 GPS Dead Reckoning Firmware A1029 s and A1030 A geng Electronics 1 3 Serial Port Configuration The firmware supports the bi directional serial interface of Tyco Electronics GPS module It is implemented by use of the full duplex UART Universal Asynchronous Receiver Transmitter interface of the GPS processor e For the communication with the UART the use of a kind of terminal program or another appropriate method is necessary e UART communication is always on port 0 pin TxO and Rx0 of the module respectively on the first serial USB port of the DR1030 A demonstration kit e The default configuration of this serial port is 57600 baud 8 data bits no parity 1 stop bit no flow control This interface is bi directional i e on the one side the output of the GPS modules NMEA sentences etc is sent to the UART interface on the other side the UART interface can be used to send commands to Tyco Electronics GPS modules 1 4 LOCK Pin Control The firmware controls the level of the LOCK pin see also Tyco Electronics GPS Receiver A1029 or T E GPS Receiver A1030 respe
16. ecksum Table 2 VTG example and description V3 0 04 07 User s Manual Page 17 of 35 E vco Electronics 4 2 3 RMC Recommended Minimum Specific GPS Data GPS Dead Reckoning Firmware A1029 s and A1030 A e g GPRMC 092516 000 A 4805 8021 N 01132 2243 E 1 9 183 8 270302 0 0 W A 7B 1 GPRMC Vendor and message identifier 2 092516 000 Universal time coordinated 09h 25m 16 000s 3 JA Fix valid or V for invalid or no fix 4 4805 8021 Latitude 48deg 05 8021 min 5 IN North or S for south 6 01132 2243 Longitude 011deg 32 2243min 7 JE East or W for west 8 1 9 Speed over ground in knots 9 183 8 Track made good degrees true 0 north 10 270302 Date ddmmyy 11 0 0 Magnetic variation degrees 12 W West or E for east 13 A Autonomous mode D ditferential E estimated dead reckoning M manual input S simulator N data not valid 14 7B Page 18 of 35 Table 3 RMC example and description User s Manual V3 0 04 07 GPS Dead Reckoning b DESEN Tyco Electronics A1029 s and A1030 A 4 2 4 GSA GPS DOP and Active Satellites e g GPGSA A 3 03 20 14 31 3 7 2 5 2 8 3D 1 GPGSA Vendor and message identifier 2 A Selection mode always A Automatic 3 13 3D fix 1 no fix available 2 2D fix
17. ees to true 16 40 SNR in dB 17 131 Satellite number 18 60 Elevation in degrees 19 190 Azimuth in degrees to true 20 42 SNR in dB 21 7F Checksum Page 20 of 35 Table 5 GSV example and description User s Manual V3 0 04 07 GPS Dead Reckoning b DESEN Tyco Electronics A1029 s and A1030 A 5 Proprietary Sentences 5 1 Introduction Device manufacturer define extensions of the standard NMEA protocol or sentences thereof e The general format is lt vendor gt lt message gt lt parameters gt lt CR gt lt LF gt Note that a checksum is NOT required e The combination of lt vendor gt lt message gt is called address field e The general format of the address field vendor message identifier is P lt manufacturer code gt lt message code gt with P for proprietary e Inthe following TYC is used as manufacturer code for Tyco Electronics This is approved by the NMEA 5 2 Saving a Configuration In order to save a configuration the command e PTYCSUPWR needs to be issued This will result in writing the current configuration to non volatile memory After reset the GPS modules will use the very same configuration as valid right before the last PTYCSUPWR command 5 3 NMEA Sentence Handling The following commands handle the configuration of NMEA outputs e PTYCNMEAOFF Switch off complete NMEA output e PTYCNMEAON Switch on NMEA output using latest configurati
18. er s Manual V3 0 04 07 GPS Dead Reckoning b DESEN Tyco Electronics A1029 s and A1030 A Version Information in the mail along with your contact details company name and address your name and phone number 2 Design your own system based on the information provided in the manuals and based on the experiences you made during your evaluation process of the Dead Reckoning demonstration kit Tyco Electronics offers to check your design For this you can use the following link support gos tycoelectronics com Subject Dead Reckoning Design Verification Include the information on your design schematics as PDF in the mail along with your contact details company name and address your name and phone number V3 0 04 07 User s Manual Page 11 of 35 GPS Dead Reckoning Firmware A1029 s and A1030 A geng Electronics 3 1 Defined Starting Point The following steps need to be taken only once They will assure that after installation the system will start correctly with the internal settings tuned to the environment sensors already After these steps have been performed the module will continue an automatic calibration while valid and good enough GPS positions are available On the A1030 the current status that is the status of the internal Kalman filter is stored in the SRAM of the module which needs to be backed by a battery If this is not possible a special command should be issued to the module before each po
19. ime coordinated 15h 21m 45 000s 3 4805 8193 Latitude 48deg 05 8193min 4 N North or S for south 5 01132 2317 Longitude 011deg 32 231 7min 6 E East or W for west GPS fix valid or 0 for fix not available 2 for a differential fix and 6 for 7 1 Sa e ene a position calculated using sensor signals a DR situation 8 04 Four satellites in use min 00 max 12 9 2 5 Horizontal dilution of precision 10 607 75 Antenna altitude above below mean sea level geoid 11 M Unit of antenna altitude meters 12 47 6 Geoidal separation 13 M Unit of geoidal separation meters 14 lt empty gt Age of differential GPS data null field when DGPS is not used 15 lt empty gt Differential reference station ID null field wnen DGPS is not used 16 67 Checksum Page 16 of 35 Table 1 GGA example and description User s Manual V3 0 04 07 GPS Dead Reckoning b DESEN Tyco Electronics A1029 s and A1030 A 4 2 2 VTG Course Over Ground and Ground Speed e g GPVTG 169 3 T M 0 3 N 0 5 K A 6B 1 GPVTG Vendor and message identifier 2 169 3 Track degrees 0 north 3 T True 4 lt empty gt Track degrees not supported 5 M Magnetic not supported 6 10 3 Speed knots 7 N Knots 8 0 5 Speed kilometers per hour 9 K Kilometers per hour 10 A Autonomous mode D differential E estimated dead reckoning 11 6B Ch
20. indicator during the last Dead Reckoning state calculation with according time stamps V3 0 04 07 User s Manual Page 25 of 35 GPS Dead Reckoning Firmware A1029 s and A1030 A E vco Electronics Switching the message on or off follows the syntax of other NMEA sentences e PTYCODOGYRO 1 switch PGP message on e PTYODOGYRO 0 switch PGP message off e PTYCODOGYRO toggle message The ODOGYRO message follows this format e g PTYCODOGYRO 1658 780585 1020639387 0 1652 780593 1020689398 0 PTYCODO pe 1 GYRO Vendor and message identifier 2 1658 Gyro voltage mV 3 780585 Odometer count 4 1020639387 Internal CPU time of this sample 5 0 Reverse indicator 0 forward 1 reverse Sar SS 5n 1 0 Reverse indicator 0 forward 1 reverse 5n 2 3B Checksum Table 7 PTYCODOGYRO example and description Note There is a maximum of 10 sets of samples in each message As the frequency for sampling is 20Hz there is a maximum of two ODOGYRO messages Page 26 of 35 User s Manual V3 0 04 07 GPS Dead Reckoning b DESEN Tyco Electronics A1029 s and A1030 A 5 9 Support of SBAS A1030 A only Starting with firmware version 202 xx the A1030 A support Satellite Based Augmentation Systems SBAS systems Three systems around the world transmit signals that can be interpreted by the receiver As normal GPS satellites the geostationary satellites that are
21. lash the area for data logging is limited Approximate values are e 16k logs for the 4Mbit flash version The data logging works incrementally l e if there is already logged data in the reserved memory area the new data will be appended as long as there is memory space available When the reserved memory space is full data logging will be stopped automatically The 2 modes differ in the criterion for logging the data e Mode 1 logs after a fixed period of time e g every second e Mode 2 logs when a specified distance between the current position and the last logged position was exceeded e g 10m To control this mode special UART commands are provided 5 10 1 Data Logging at a Fixed Period Syntax to activate this mode switching ON S PTYCDL 1 x e xis the optional period in seconds e Acceptable values are from 1 to 3600 e The default period is 1 second and is used whenever the period is not specified explicitly e E g PTYCDL 1 will switch ON with a period of 1 second e E g PTYCDL 1 5 will switch ON with a period of 5 second Syntax to deactivate this mode switching OFF PTYCDL 0O Syntax to output the logged data to the UART SPTYCDL 2 e This command will automatically deactivate data logging Syntax to erase the data in the flash PTYCDL 3 e The logged data in the flash need to be erased explicitly there is no automatic erase by the module e This command will automatically deactivate dat
22. on e PTYCDEF Return to default NMEA configuration and switch on NMEA output e PTYC NMEA Sentence Toggle according NMEA sentence e PTYC NMEA Sentence 0 Switch output of according NMEA sentence OFF e PTYC NMEA Sentence 1 Switch output of according NMEA sentence ON The standard NMEA sentence can be GGA GSA GSV RMC or VTG For example e PTYCGSYV 1 will switch on GSV sentence output V3 0 04 07 User s Manual Page 21 of 35 GPS Dead Reckoning Firmware A1029 s and A1030 A geng Electronics 5 4 Baud rate Set up The A1029 and A1030 A modules allow for setting up the baud rate of serial port 0 The following baud rates are allowed 4800 9600 19200 38400 57600 baud The following command will change the baud rate configuration but has no immediate effect e PTYCBRATE nn change internal baud rate configuration where nn is one of the above specified baud rates In order to store this configuration issue the command e PTYCSUPWR And finally reset the module Don t forget to change the baud rate on your host processor For example to set a baud rate of 19200 baud use the following sequence e PTYCBRATE 19200 e PTYCSUPWR e Reset the module either by a hardware reset or the command PTYCRESET and adapt your baud rate 5 5 Start up support In order to improve the TTFF Time To First Fix it is recommended to support the RTC with a back up battery when no system power is available If
23. on the label of the module You can read out this information after resetting the module by hardware or by issuing the according command PTYCRESET or by requesting the information via command PTYCHEAD After the version information you will see the first default NMEA if you did not change the settings so far GPGGA 235951 038 0000 0000 N 00000 0000 E 6 00 99 0 0082 0 M 18 0 M 5A GPRMC 235951 038 V 0000 0000 N 00000 0000 E 0 0 0 0 130399 0 0 W E 07 GPGSA A 1 5555551 399 0 99 0 99 0 00 The NMEA sentences are explain in detail later on V3 0 04 07 User s Manual Page 9 of 35 GPS Dead Reckoning Firmware A1029 s and A1030 A geng Electronics 3 Getting Started Please read carefully Before starting you should familiarize yourself with the A1029 or A1030 A manuals and the related Dead Reckoning demonstration kit In order to design your own system with Dead Reckoning capability the following steps are recommended 1 Test the Dead Reckoning demonstration kit DR1030A and evaluate the results The design of the kit was done in a way that the A1030 A along with the firmware is providing optimum performance Please make sure that the demonstration kit holds the latest firmware If you are in doubt please contact Tyco Electronics using the following link support gos tycoelectronics com Subject Dead Reckoning Kit Version Information Include the version information as stated in chapter 2 Page 10 of 35 Us
24. re GPS Position PGP It is possible to have access to the GPS only position calculated internally In order to do this the proprietary NMEA sentences PGP needs to be switched on This sentence will show the position information calculated on GPS only in a similar manner an RMC sentence is showing this information for the Dead Reckoning calculation Compared to RMC the information is reduced to the essentials Switching the message on or off follows the syntax of other NMEA sentences e PTYCPGP 1 switch PGP message on e PTYCPGP 0 switch PGP message off e PTYCPGP toggle message The PGP message follows this format e g PTYCPGP 271206 130655 295 A 4804 2694 N 01139 0614 E 0 1 0 0 12 1 PTYCPGP Vendor and message identifier 2 270302 Date ddmmyy 3 130655 295 Universal time coordinated 13h 06m 55 295s 4 4804 2694 Latitude 48deg 04 2694min 5 IN North or S for south 6 01139 0614 Longitude 011deg 39 0614min 7 JE East or W for west 8 0 1 Speed over ground in knots 9 10 0 Track made good degrees true 0 north 10 7B Checksum Table 6 PTYCPGP example and description 5 8 2 Odometer and Gyro Information Sometimes it might be useful to take a closer look at the odometer and gyro data used for internal calculation In order to do this an additional message will show the gyro voltage the odometer count and the state of the reverse
25. s accepted only if the number of digits before and after the decimal point is correct For the latitude 4 digits before and 3 digits after the decimal point are required for the longitude 5 digits before and again 3 digits after respectively In case a receiver is moved over a long distance without power travel in airplanes or stored for a longer time and the new position is unknown or it is not possible to set a new time date and position it is useful to clear these data either before switching off the receiver or immediately after a first power on This can be done with the following command e PTYCPARAMCL The command will clear date time and last stored position 5 6 Version Information A special command is implemented in order to return the version of ST GPS library and the version of the current release of Tyco Electronics GPS firmware e PTYCHEAD Return version information once The version information will be returned in the following format SPTYCVER TYCO Electronics 202 01 11 47 18 May 10 2006 SPSTMVER 0S20_02 06 01 Aug 26 2005 15 23 19 SPSTMVER GPSLIB_04 23 04 ARM Oct 20 2005 14 31 04 SPSTMVER SBASLIB_01 06 00 Feb 14 2006 16 10 57 SPTYCVER Bootloader Version 3 00 This new header shows more information on the integrated software comprising the version of the underlying operating system and the version of the library supporting SBAS systems For non
26. this is not possible or if the GPS receiver is moved over a long distance without being aware of this e g in a plane the next start up can be supported by providing a rough date time and if the receiver moved position information The date time provided should be exact to a few minutes while for the position information a very rough estimation will help already Tests did show positive results even with uncertainties of 1 000km The command for setting date and time has the following format e PTYCINITDATIM dd mm yyyy hh mm ss where dd is the day mm the month yyyy the year hh the hour mm the minute and ss the second For example to set the date to June 25 2004 and the time to 1 05 p m the command will look like this e PTYCINITDATIM 25 06 2004 13 05 00 To set the position the following syntax is valid e PTYCINITPOS xxxx xxx N S yyyyy yyy E W zzz z Page 22 of 35 User s Manual V3 0 04 07 GPS Dead Reckoning b DESEN Tyco Electronics A1029 s and A1030 A where xxxx xxx stands for the latitude in degrees minutes and fractions of minutes N S for either north or south yyyyy yyy for the longitude in degrees minutes and fractions of minutes E W for either east or west and zzz z for the altitude For example to set the position 48 4 250 north and 11 32 330 east with an altitude of 620m the command would look like this e PTYCINITPOS 4804 250 N 01132 330 E 620 0 Please note that the position i
27. ual T E GPS Receivers A1029 TYCO Manual T E GPS Receiver A1030 A TYCO Manual T E GPS Dead Reckoning Kit DR1030 A TYCO Manual T E GPS Boot loader TYCO Page 34 of 35 User s Manual V3 0 04 07 Lists of Tables Ca and Figures Tyco Electronics 8 List of Tables Table 1 GGA example and description ceeeeeceeeeneeeeeeeeeeeeeeeeeneeeeeeeeeeeeeeeneeaaees 16 Table 2 VTG example and description cceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaaees 17 Table 3 RMC example and description 18 Table 4 GSA example and description cceeeeeeeeeceee cece ee eeeeeeeeaaeeeeeeeeeeeteeeeeaaees 19 Table 5 GSV example and description EE 20 Table 6 PTYCPGP example and description 25 Table 7 PTYCODOGYRO example and description 26 Table 8 GPGSV example and description with SBAS satellite eeeeeeeeees 28 Table 9 PTYCSBASSAT example and description 29 Table 10 PTYCDL data set when Jogging 32 V3 0 04 07 User s Manual Page 35 of 35
28. ug iegteteegeegeEeee gedoe deeg ee EENEG 27 5 9 2 SBAS Satellite Message sais cccicnsscdseeassiweents eenctentneedeneiavancecnansysiecenioadiauecevantecnmtdintaunnae 29 5 10 Data Logging Mode A1030 A Only cceeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneeeeeeeess 30 5 10 1 Data Logging at a Fixed POriod EE 30 5 10 2 Data Logging depending on distance between fxves 31 5 10 3 Data Set for Data LOG iG icc tisasicccceestoracasconcsiancetatnntsducetcnvataeietexiacaenertersidinbaaemetauntee 32 G Specific E sicssdvacssiadussssdnciancndscssessdudvandadacnsadsdsssanendtanandadedsaiasinsesaaudacwausndaane 33 6 1 Dead Reckoning FM sa seta ccicccicaschitstasicecewebiaeraaelaoatioetcenumeneuanteontnceceunnnanssansuonmoetuay 33 6 2 Firmware Update and Upoorades nenene 33 MOON e Saati tics tee tise ne isa dh tei ee a se ie de emcee aiiai 34 V3 0 04 07 User s Manual Page 5 of 35 Tyco Electronics Table of Contents E vco Electronics 7 1 COMtACE ETEEN EEE EEEE EEE EATE EEE 34 7 2 Related Documents 34 33s ES ae a ETC 35 Page 6 of 35 User s Manual V3 0 04 07 GPS Dead Reckoning b DESEN Tyco Electronics A1029 s and A1030 A 1 Introduction This document contains a detailed description of Tyco Electronics Dead Reckoning firmware running on the GPS receiver modules A1029 and A1030 A and therefore also in the Dead Reckoning demonstration kit DR1030 A The purpose of this paper is to allow the user an easy start with the mod
29. ule and its firmware It helps to explain the behavior of the module especially during start up It explains the need and prerequisites for calibration of the sensors and describes the behavior of the NMEA interface This comprises the outputs coming from this interface and a summary of the commands that can be issued to this interface All of this will allow an easy and full adjustment and control of the module The Dead Reckoning firmware holds the following main functional packages e GPS position calculation e Dead Reckoning use of sensor signals e SBAS Satellite Based Augmentation System support or standard differential GPS DGPS A1030 A only e Data logging capability A1030 A only 1 1 Required Signals In order to allow the module to work correctly it is necessary to connect the following signals e Analog output of a gyro e Odometer signal e Reverse gear signal More details on the characteristics of the gyro and on how to connect the signals are outlined in the according receiver manuals 1 2 Performance The module and its firmware work on a combination of GPS data and sensor information In principle the module uses GPS data whenever available with a certain quality In situations with GPS outage it keep son calculating a position based on the data given by the sensors Whenever GPS is available with high enough quality GPS position changes are used to calibrate the sensors The system is targeted towar
30. wer down situation Also for the A1029 s this special command is absolutely necessary In order to set the module with its firmware to a defined starting point please follow this sequence 1 Before installation in a vehicle or as firsts steps after installation a Make sure the system either the Tyco Dead Reckoning demonstration kit or your own system design is installed correctly antenna connected with view to the sky gyro in a horizontal position odometer signals connected b Apply power to the system c Wait for the version information to be transmitted as described in chapter 2 Page 12 of 35 User s Manual V3 0 04 07 GPS Dead Reckoning b DESEN Tyco Electronics A1029 s and A1030 A Version Information d Send the following commands in this order to the system SPTYCDRERASE erases calibration data in FLASH SPTYCSRERASE erases calibration data in SRAM 2 After installation a Make sure the system either the Tyco Dead Reckoning demonstration kit or your own system design is installed correctly antenna connected with view to the sky gyro in a horizontal position odometer signals connected b Apply power to the system c Wait for a valid fix You can recognize a valid fix by looking to the GGA or RMC data Please refer to the according descriptions in chapter 4 2 1 V3 0 04 07 User s Manual Page 13 of 35 GPS Dead Reckoning Firmware A1029 s and A1030 A a Electronics
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