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1. NO 14 Mode GPS only GLONASS only GLONASS GPS 20 Coordinates hold Dead reckoning DR DR duration Dynamic filtering Output data rate RS232 parameters for both ports Assignment of data protocol to communication port GD0P mask Elevation mask 1PPS parameters NMEA messages Automatically generated masked messages 2 12 Mechanical Data GLONASS 4GPS enabled no enabled 55 on 1Hz 115200 2 stop bits no parity Port 0 binary Port 1 NMEA 15 5 Enabled polarity positive sync to GPS duration lms shift Ons GGA GSA GSV RMC enabled VTG GLL ZDA disabled Talker ID disabled The receiver is the PCB assembly with components mounted on both sides and covered by shielding cases The board dimensions mm 46 9 length 34 6 width 10 0 height Four mounting holes have 2 7mm diameter refer to Fig 2 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Fig 2 Outline drawing dimensions in mm R amp D Center lt Geostar navigation gt 2010 12 20 www geostar navigation com Operation 3 1 Typical Connection Typical connection diagram is shown in Fig 3 GPS GLONASS antenna GeoS 1 board 10 1PPS 11 ON OFF 71 13 3 2 5 0V USB 14 4 5 12 L T External battery Fig 3 Typical connection diagram Option D apply VDD to pin 13 a
2. will blink only during sending data to the receiver from PC LED Rx1 will not light at all If the USB enabled receiver is connected to the computer for the first time then following message will appear Fig 6 4 Found New Hardware x GeoS 1 GG receiver Fig 6 Found new hardware message Run GeoSDemo After language selection choose way of connection the receiver is connected to the computer for the first time choose Detect COM ports automatically Fig 7 How connect Detect COM ports automatically Set COM ports manually Use last COM ports configuration O Reading from file Fig 7 Choosing the way of connection For further connections choose Use last COM ports configuration provided that the computer COM ports have been kept the same as previously used GeoSDemo communicates with the receiver on both binary and NMEA protocols Fig 8 shows the view of main window when working with binary data Main window headline presents FW version and data FW v0 999 2010 02 09 and receiver serial number S N as well R amp D Center Geostar navigation 2010 12 20 www geostar navigation com GeoSDemo v1 3 FW v0 999_2010 02 09 S N G 00000002 File Communication Reading from file Settings Queries Commands Language Help UTC 13 02 10 08 02 34 0 Channels Charts Messages Map Latitude 55 8099955 N 5 Track In fix El Az SNR dBHz Parameter value
3. 0x8F 0x90 0xBF Reserved Responses to commands 0 0 Response to Change operation mode command 0 1 0 2 0xC3 0xC4 OxCF Reserved 0 00 Response to Erase Flash sector command 0xD1 Response to Write data to Flash command 0xD2 Response to Store Serial Number command 0xD3 OXF F Reserved Notes 1 N A to the the user Input messages are summarized in Table 5 1 Messages 0 00 reserved 2 Messages 0x40 0x7F settings 3 Messages 0 80 queries 4 Messages commands Table 5 The list of input binary messages Packet ID Message packet Settings 0x40 0x41 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 0x42 0x43 0x44 0x45 Reserved 0x46 0x47 Reserved 0x48 0x49 0 4 0x4B 4 0 4 4 4 0x50 OX7F Reserved Queries 0x80 0x81 0x82 0x83 0x84 0x85 Reserved 0x86 0x87 Reserved 0x88 0x89 0x8A 0x8B 0 8 0x8D 0x8E 0x8F 0x90 0xBF Reserved Commands 0 0 Change operation model 0xC1 0xC2 0xC3 0xC4 0xCF Reserved R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Notes 1 N Ato the the user For NMEA data protocol the receiver generates seven standard output messages GGA GLL GSA GSV RMC VTG ZDA and five proprietary messages SWPROT SAVEFL CSTART WSTART HSTART Data format complies with NMEA 0183 v3 01 standard except talker ID see remark be
4. The list of abbreviations used in the document DLL Delay Locked Loop DOP Dilution Of Precision DR Dead Reckoning ECEF Earth Centered Earth Fixed FW Firmware ID Identifier LSB Least Significant Bit LNA Low Noise Amplifier MSB Most Significant Bit N A Not Available NVSRAM None Volatile Static Random Access Memory PC Personal Computer PCB Printed Circuit Board PLL Phase Locked Loop PVT Position Velocity Time RTC Real Time Clock S N Serial Number SNR Signal to Noise Ratio SV Space Vehicle SW Software UTC Universal Time Coordinated R amp D Center lt Geostar navigation gt 2010 12 20 www geostar navigation com 2 Description 2 1 Introduction 5 1 is the combined GPS GLONASS board Its architecture includes 24 parallel tracking channels and hardware search accelerator engine that provide advanced technical specifications at small form factor and low power consumption 5 1 generates position fix data as well as extended set of auxiliary and raw measurement data using proprietary binary and standard NMEA protocols with output data rate up to 5Hz In addition to PVT GeoS 1 outputs one pulse per second signal for precise timing synchronization Communication ports include USB and RS232 GeoS 1 features rea autonomous mode GeoS 1 operates with L1 C A code signals of both GPS and GLONASS satellite constellations all in view operation high accu
5. 00 strong 25 24 01 more than normal 10 less than normal 11 weak Ephemerides extracted from navigation data 26 0 1 Using fix 27 0 1 28 Reserved 17 16 29 Reserved Satellite system 30 0 GLONASS 1 GPS 31 Reserved 4 1 3 Message lt 0x11 gt GPS sub frame data Length 12 Rate once per 6 seconds transmitted by the channel that tracks GPS SV R amp D Center Geostar navigation 2010 12 20 41 www geostar navigation com 1 int Channel identifier 4 1 2 GPS sub frame arrival time time since 00h 00min 00s of 2 5 current day corresponded to reception of the first string sub frame Resolution 1 2005 Word 1 30 LSBs 8 If Hamming code is OK then relevant bits are 0 4 u int Word 2 12 u int Word 10 MSBs 4 1 4 Message 0x12 GLONASS sub frame data Length 8 Rate once per 2 seconds transmitted by the channel which tracks GLONASS SV 1 u int Channel identifier 4 1 2 GLONASS sub frame arrival time time since 00h 00min 005 of 2 u int S current day corresponded to reception of the first string of sub frame Resolution 1 2005 3 u int Data bits 85 54 4 u int Data bits 53 22 5 u int Data bits 21 1 21 MSBs 11 LSBs are 0 6 u int Result of Hamming code check 0 if no errors found 7 u int String number 1 75 8 u int Time mark code 4 1 5 Message 0x13 ECEF coordinates Length 32 Rate
6. Dynamic filter enable bit 0 disabled 1 enabled Reserved Output data rate indicator 0 5Hz 1 1Hz Reserved Antenna power telemetry bit 0 failed 1 OK Frequency synthesizer telemetry bit 0 failed 1 OK DR position fix indicator 0 no 1 yes Reserved Use of dynamic filter indicator 0 no filtering R amp D Center Geostar navigation 2010 12 20 45 www geostar navigation com 1 filter used Receiver identifier 27 0 GeoS 1 1 GeoS 1M Receiver operation mode 0 normal 1 test 2 FW update Port 0 hardware option 30 0 RS232 1 USB 29 28 31 Reserved 4 1 8 Message 0 22 SVs in view Length 1 3 NSat Rate once per second int The number of SVs for which the data is transmitted NSat 2 4 structure Data for 1 SV in view 1 3 NSat th _ 143 NSat structure Data for Nsat SV in view Data for SV in view structure Channel identifier 4 1 2 2 16 MSBs short rad Elevation angle resolution 0 001rad 2 16 LSBs short rad Azimuth resolution 0 001rad 3 16 MSBs short dbHz SNR resolution 0 1dBHz Number of receiver channel 0 23 that trackes given SV Code OxFFFF is transmitted if SV is not in track 3 16 LSBs short 4 1 9 Message 0x3E Receiver power up message Length 3 Rate once in 2 seconds after receiver power up R amp D Center Geostar navigation 2010 12 20 46 www geostar navigation com NVS
7. Transmit data of Port 0 and 1 respectively Signal level LVTTL TxO is Tx1 not used for Option B 1PPS 1PPS output Signal level LVTTL Output high low load current 2mA max 2 6 Power The receiver requires regulated 3 3 590 supply voltage with maximum 50mV p p amplitude ripple the voltage is applied to pin 13 of IO connector ON OFF signal pin 11 is used for switching receiver on and off logic 1 2 4 VDD turns receiver on logic 0 0 4V turns receiver off If not used connect to VDD Option C USB enabled receiver requires additional 5 590 power to be applied to pin 2 for powering embedded USB controller otherwise USB connection can t be established Typical supply current on 5V is 15mA Option C receiver operates correctly under following conditions e VDD is applied to pin 13 of IO connector 5 0V USB supply voltage is applied to pin 2 of IO connector e Host USB controller should set communication with the receiver s USB controller Option A has built in rechargeable 5mAh backup battery The capacity of the battery is quite enough to provide approximately two weeks of retaining data loaded to the receiver NVSRAM For Option B external backup battery should be connected to pin 14 of IO connector Operating range is 2 0 3 6V typical supply current is 10uA Note that use of built in battery Option A will make the receiver operating temperature range 20 60
8. 4 ini 4 1 13 Message 0x42 Response to Set receiver operation mode Length 3 Response to input message 0x42 2D fix 1 u int 0 disabled 1 enabled Satellite system 0 combined 1 GPS only _ 2 GLONASS only Coordinates hold mode 3 u int 0 no 1 yes 2 u int R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 1 14 Message 0x43 Response to Set navigation task solution parameters Length 5 Response to input message 0x43 1 u int GDOP mask Resolution 1 1 2 u int degree Elevation angle mask 3 u int S DR duration Resolution 1s range 1 5s mode 4 u int 0 disabled _ 1 enabled Dynamic filter 5 u int 0 disabled 1 enabled 4 1 15 Message 0x44 Response to Set output data rate Length 1 Response to input message 0x44 Output data rate 1 u int 0 5Hz 1 1Hz 4 1 16 Message 0x46 Response to Assign data protocol to communication port Length 1 Response to input message 0x46 Assignment between data protocol and communication port 1 u int 0 Port 0 outputs binary data Port 1 NMEA data 1 40 outputs NMEA data Port 1 binary data R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 1 17 Message 0x48 Response to Set GPS almanac Length 20 Response to input message 0x48 double nud Mean Anomaly at Reference Time Mo 3 4 double Eccentricity e 5 6 double
9. Longitude 37 5331435 E UTC 13 02 10 08 02 34 0 Altitude m 199 3 2 4 13 0 210 5 GPS time 8 02 49 2 080 26 oo 10 0 GLN time 11 02 34 2 104 21 46 1 95 1 Xm 2848835 078 velocity m s 0 008 Y m 2188607 443 Heading 94 Zm 5252748 244 22 9 m s 0 002 SV tracked 16 05213 30 7 Yy 5 0 009 SV fix 9 GPS 6 GLN 3 J 494 m s 0 005 42 6 GPS GLN shift m 132 123 IN 38 7 Clock drift m s 206 671 5 tracked 16 SV in fix 9 24 5 GDOP 3 677 41 9 PDOP 26 000 43 4 0 299 23 6 Latitude 55 8099955 I 51 6 Longitude 37 5331435 Altitude m 199 3 40 6 HDOP 2 104 Velocity m s 0 008 Heading Time since start 34478 SV notin view BIN COMIS USB 115200 NMEA COMIG USB 115200 Synth Ant USB 13 02 2010 11 02 28 Fig 8 GeoSDemo main window displaying binary data Status bar shows e COM number and baud rate on binary data BIN COM18 115200 COM number and baud rate on NMEA data NMEA COM16 115200 Frequency synthesizer telemetry bit Synth green if Antenna telemetry bit Ant green if e Receiver hardware option with USB or without USB e Date time If communication with the receiver is accomplished via NMEA protocol binary data is not available then GeoSDemo displays NMEA data as shown in Fig 9 Because NMEA protocol
10. RMC Recommended Minimum Specific GNSS Data Time date position course and speed data provided by a GNSS navigation receiver RMC hhmmss ss A llll l a yyyyy yy a X X X X XXxxxx x x a a hh CR LF Luya Indicator Magnetic variation degrees E W ux 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 Easterly variation E subtracts from True course Westerly variation W adds to True course 2 Positioning system Mode Indicator A Autonomous mode D Differential mode E Estimated dead reckoning mode M Manual input mode S Simulator mode Data not valid R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 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 fields shall not be null fields 5 6 VTG Course Over Ground and Ground Speed The actual course and speed relative to the ground VTG x x T X X MK ii N x x K a hh lt CR gt lt LF gt L Mode Indicator Speed over ground km hr over ground knots Course over ground degrees Magnetic Course over ground degrees True Notes 1 Positioning system Mode Indicator A
11. www geostar navigation com 3 4 5 Possible Problems while Connecting via USB 3 4 5 1 No communication If communication between computer and receiver cannot be set then following failure message will appear Fig 20 Click and the program will automatically try to establish communication again Connection failure No response from receiver Check connection Fig 20 Communication failure message If the message will appear again close the program disconnect receiver from USB and turn its power off In few seconds switch the receiver on connect it to USB run GeoSDemo connect the program to the receiver In case of failure will happen again restart computer 3 4 5 2 Random Cursor Move If after connection to USB port of the computer the mouse cursor moves across computer screen in random fashion this is probably due to the fact that computer operating system recognized USB device incorrectly In this case it s recommended to close the program disconnect the receiver from USB and switch receiver s power off In few seconds switch the receiver on and connect it to USB again In case the failure occurs again restart computer 3 4 6 FW Update GeoSDemo SW is capable to handle receiver FW update via receiver s communication port which is working on binary protocol USB or RS232 Attach the receiver to Connection Board apply power and switch the receiver on Run GeoSDemo and establish communicat
12. 1 Connection Board 74 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Revision History Updates Note Rev 1 3 2010 12 20 1 Description of new NMEA messages added to sections 2 10 3 3 1 3 3 2 3 3 4 2 Sections 5 9 5 10 5 11 5 12 added Rev 1 2 2010 09 21 1 Table 6 updated 1 2 2010 05 06 1 List of Figures added 2 Sections 2 2 2 3 2 4 2 5 2 2 6 2 9 2 10 3 1 3 3 3 4 2 7 1 7 updated 3 Tables 1 2 6 updated 4 Sections 3 2 8 8 added 5 Editor s changes on the text R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Scope This document is intended for the users of combined GPS GGLONASS OEM board Geos 1 The document contains general description of the receiver specifications outline drawings and guidelines of using the receiver itself and in conjunction with additional evaluation tools The document contains three chapters and three Appendixes as follows Chapter 1 list of the abbreviations used in the document Chapter 2 technical description of the receiver specifications interfaces power antenna requirements etc Chapter 3 how to use the receiver Appendix binary protocol description Appendix B description of NMEA messages Appendix C GeoS 1 Connection Board summary R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 1 Abbreviations
13. 1 or 5 times per second in accordance with receiver output data rate 1 2 double m User X coordinate WGS 84 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 3 4 double m User coordinate WGS 84 5 6 double m User Z coordinate WGS 84 7 8 double m Clock shift relative to GPS time scale 9 10 double m s User velocity on X axis V WGS 84 11 12 double m s User velocity on Y axis Vy WGS 84 18 14 double m s User velocity on Z axis Vz WGS 84 15 16 double m s Clock drift 17 18 double PDOP component on X axis 19 20 double PDOP component on Y axis 21 22 double PDOP component on Z axis 23 24 double TDOP 25 26 double m Clock shift relative to GLONASS time scale 27 28 double m Position accuracy estimate 29 30 double S GPS time 31 32 double S GLONASS time 4 1 6 Message 0x20 Geographic coordinates Length 34 Rate 1 or 5 times per second in accordance with receiver output data rate double Time elapsed since UTC 00h 00min 00s January 1 2008 3 4 double rad Latitude 5 6 double rad Longitude 7 8 double m Height above ellipsoid 9 10 double m Difference between the earth ellipsoid and geoid 11 int Number of SVs in fix 12 int Reserved 13 14 double GDOP R amp D Center Geostar navigation 2010 12 20 43 www geostar navigation com 15 16 double PDOP 17 18 double 19 20 double 21 22 double 23 24 double m s Smoothed clock dr
14. 2 7 1 Pulse Per Second One Second Time Mark The receiver outputs one second time mark 1PPS pin 10 with parameters programmable via binary protocol input message Ox4C as follows 1PPS enabled 1PPS disabled R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Synchronization time scale GPS GLONASS UTC USNO UTC SU Polarity positive negative When chosen positive 1PPS rising edge low to high transition 15 synchronized to selected time scale when chosen negative 1PPS falling edge high to low transition is synchronized to selected time scale e Duration 10us 2ms e Shift within 1ms range Signal level LVTTL Output high low load current 2mA max 2 8 Communication Ports The receiver has two communication ports Port 0 and Port 1 Port 1 is always RS232 Port 0 could be used as USB for Option C or RS232 for Option D USB inteface complies with USB2 0 Full Speed 12Mbit s The parameters of both RS232 ports are programmable as follows e Baud rate bit s 4800 9600 19200 38400 57600 115200 Stop bits 10r2 e Parity no parity even odd always 0 always 1 These parameters are programmable via binary protocol input message Ox41 Default settings for both ports baud rate 115200 2 stop bits no parity RS232 signal level LVTTL Tx1 outputs high low load current 2mA max 2 9 Active Antenna Requirements The receiver sha
15. 2010 12 20 www geostar navigation com bit 2 GSV mask bit 3 RMC mask bit 4 VTG mask bit 5 GLL mask bit 6 ZDA mask NMEA talker ID select 2 u int 0 always GP 1 according to 0183 v3 01 standard GP GN or GL 4 1 24 Message 0x4F Response to Enable disable binary messages Length 2 Response to input message Ox4F Automatically generated binary messages masks 0 message disabled 1 message enabled bit 0 message 0x00 mask uant bit 1 message 0x01 mask bit 2 message 0x02 mask bit 31 message 0x1F mask 2 uint Mask of the receiver channels transmitted debug data message 0 04 Notes 1 Debug data is not available to user and bits 15 0 in word 1 and word 2 are 0 4 1 25 Message 0x80 Response to Query initial parameters Length 12 Response to input message 0x80 Data content is identical to that of message 0x40 Note that word 1 in this message is current receiver time 4 1 26 Message 0x81 Response to Query serial ports parameters Length 4 Response to input message 0x81 Data content is identical to that of message 0x41 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 1 27 Message 0x82 Response to Query receiver operation mode Length 3 Response to input message 0x82 Data content is identical to that of message 0x42 4 1 28 Message 0x83 Response to Query
16. GPS almanac File EAWORK GeoSDemo data gps gr Fig 13 GPS almanac panel Fig 14 illustrates selection of almanac file in Geostar Navigation Ltd GeoSDemo data gps folder R amp D Center Geostar navigation 2010 12 20 33 www geostar navigation com 21x Look in data 3 ain My Recent Documents 7 My Documents My Computer iga Filename Places Files of type GPs almanac files alm Cancel Fig 14 Selection of GPS almanac file After file selection press OK in GPS almanac panel GPS almanac will be dowloaded to the receiver The process of downloading will be displayed in the upper sub window in Messages bookmark Fig 15 Messages 69999 binary data w 1 2872E 0 OMEGADOT 7 7946E 9 af0 4 7684E 5 1 0 0000 40 t 0 405504 5587 0000 9 13 13 message 0x48 GPS 30 1 2451 0 e 1 1815E 2 5 1536 3 OMEGA 0 2 3700 0 410 1 0414 2 w 1 4404E 0 OMEGADOT 7 9089E 9 af0 1 6785E 4 afl 0 0000Et0 t oa 405504 stSv 0000 9 13 13 message 0x48 GPS 31 M 2 7302Et0 e 6 9880E 3 5 1537 3 OMEGA 0 1 3644 0 dIO 3 1021E 2 w 1 1376E 0 OMEGADOT 7 7603E 9 af0 6 3896E S afl 0 0000E 0 t oa 405504 stSv 0000 9 13 13 message 0x48 GPS 32 M 1 8016Et0 e 1 3235E 2 5 1537Et3 OMEGA 0 6 4324E 1 410 2 0439 2 w 1 1341Et0 OMEGADOT 7 9546E 9 0 2 1553 4 afl 3
17. SV in position fix 54 Response to Enable disable NMEA messages 54 Response to Enable disable binary messages 55 Response to Query initial parameters 55 Response to Query serial ports parameters 55 Response to Query receiver operation mode 56 Response to Query navigation task solution parameters 56 Response to Query output data rate 56 Response to Query data protocol assignment to communication port 56 Response to Query GPS almanac Response to Query GLONASS almanac Response to Query GPS ephemerides Response to Query GLONASS ephemerides Response to Query PPS parameters 57 Response to Query enable disable status of the SV in position fix 57 Response to Query enabled NMEA mesaages 57 Response to Query enabled binary messages 57 Response to Request FW version command 57 Response to Restart receiver command 58 Response to Store parameters to Flash command 58 4 2
18. To set 5 30V S2 slider shall be directed to X2 If 3 3V power is OK relevant LED indicator 3 3B will light The Connection Board has embedded backup battery CR1220 connected to S1 switch Move S1 slider to On for applying the battery power to the receiver move the slider to Off for disconnecting the battery Note the battery shall be used for Option B only 1PPS signal is available at X6 RF connector SMA female The LED indicators 0 1 Rx1 show the lines activity of Port 0 and Port 1 respectively The Connection Board outline dimensions in mm are shown in Fig 28 4 holes dia 2 8 Fig 28 Outline dimensions of GeoS 1 Connection Board R amp D Center Geostar navigation 2010 12 20
19. binary messages nennen nennen nennen nn 61 4 2 16 Message 0x80 Query initial parameters iris 61 4 2 17 Message 0x81 Query serial ports parameters inserer 61 4 2 18 Message 0x82 Query receiver operation Mode iii 62 4 2 19 Message 0x83 Query navigation task solution parameters 62 4 2 20 Message 0x84 Query output data rate iii 62 4 2 21 Message 0x86 Query data protocol assignment to communication port 62 4 2 22 Message 0x88 Query GPS 62 4 2 23 Message 0x89 Query GLONASS 4 2 24 Message Ox8A Query GPS ephemerides a 4 2 25 Message Ox4B Query GLONASS ephemerides 4 2 26 Message Ox8C Query PPS parameters 4 2 27 Message Ox8D Query enable disable status of the SV in position fix 64 4 2 28 Message Ox8E Query enabled NMEA messages a 64 4 2 29 Message Ox8F Query enabled binary 64 4 2 30 Message OxC1 Request FW Version 64 4 2 31 2 Restart receiver dant ed du done a avale ec 65 4 2 32 Message OxC3 Store p
20. cold warm or hot start Cold start assumes no valid position time and almanacs data is available Thus cold start takes more time Warm start assumes the approximate position and time and valid almanacs are available For hot start it is supposed that position and time as well as almanacs and ephemeris data are available thus the receiver takes less time in this kind of start The user can restart receiver in different start modes as follows By using binary input message 2 sending causes hot start 1 warm start cold start e By using NMEA message SAVEFL R amp D Center Geostar navigation 2010 12 20 24 www geostar navigation com To accelerate signals acquisition the receiver can be provided with initializing data including UTC ECEF XYZ coordinates clock drift and GPS GLONASS time shift The data should be entered via binary input message 0x40 3 3 2 Serial Ports Settings On default Port 0 outputs binary protocol data and Port 1 NMEA This assignment can be changed by two ways e n binary protocol using 0x46 message e n NMEA protocol using SWPROT message Note that switching data protocols does not lead to receiver restart Both RS232 ports have following parameters on default 115200bit s baud rate 2 stop bits no parity Using 0x41 binary message those parameters could be changed After sending 0x41 message new RS232 ports parameters will t
21. g 20 21 Operating temperature 9C 40 85 8 Notes l Signallevel 130dBm HDOP 2 VDOP 3 2 Signallevel 130dBm 3 Signallevel 125dBm 4 Depends on Option C or D 5 Option C USB controller power 6 Option B 7 500mW 3 45V 8 options except A Option A 20 60 2 5 Connectors 2 5 1 RF Connector Antenna connector is MMCX End Launch Jack for instance MMCX J P H ST EM1 SAMTEC 2 5 2 Output lO Connector Output connector is 2 0mm pitch 2x7 pin strip header for instance TMM 107 02 SAMTEC Refer to Table 3 for connector pin assignment R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Fig 1 Output IO connector layout IO signals description 3 3V Main supply voltage VDD 3 3V Operating range 3 15 3 45V USB controller supply voltage Operating range 4 75 5 25V Used for 5V_USB VBAT External backup voltage Operating range 2 0 3 6V Used for Option B ON OFF Receiver on off control Logic switches receiver off logic 1 switches receiver on 10K pull down input Connect to VDD if not used R amp D Center Geostar navigation 2010 12 20 www geostar navigation com USBDM USBDP USB signal lines Used for Option only Receive data of Port and 1 respectively Signal level LVTTL RxO is
22. m Square Root of the Semi Major Axis 78 deubi semi Longitude of Ascending Node of Orbit Plane at Weekly Epoch i 0006 circles OMEGA 9 10 double semi Inclination Angle at Reference Time io circles semi 11 12 double Argument of Perigee w 13 14 double semi Rate of Right Ascension OMEGADOT circles s 15 16 double S Polinomial coefficient 17 18 double S s Polinomial coefficient a 19 int Reference Time Almanac bits 21 0 and Number of Week WN to which the tais referenced bits 31 22 short SV health ES u short PRN number PRN No 4 1 18 Message 0x49 Response to Set GLONASS almanac Length 18 Response to input message 0x49 double Eccentricity e orbital 2 3 4 double Rate of change of Draconian period of n SV T 5 6 double Argument of perigee of n SV o 78 Jauti s orbital Correction to the mean value of Draconian period of the n SV AT Time of the first ascending node passage of n SV within N 9 10 doubl S day t R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Longitude of the first ascending node of n SV orbit in PZ 90 semi 11 12 double circles within N day 2 4 13 14 double as Correction to the mean value of inclination of n SV Ai 15 16 double S Coarse value of n SV time correction to GLONASS time tn 17 16 A d Calendar day number within the four year period beg
23. navigation task solution parameters Length 5 Response to input message 0x83 Data content is identical to that of message 0x43 4 1 29 Message 0x84 Response to Query output data rate Length 1 Response to input message 0x84 Data content is identical to that of message 0x44 4 1 30 Message 0x86 Response to Query data protocol assignment to communication port Length 1 Response to input message 0x86 Data content is identical to that of message 0x46 4 1 31 Message 0x88 Response to Query GPS almanac Length 20 Response to input message 0x88 Data content is identical to that of message 0x48 4 1 32 Message 0x89 Response to Query GLONASS almanac Length 18 Response to input message 0x89 Data content is identical to that of message 0x49 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 1 33 Message Response to Query GPS ephemerides Length 45 Response to input message Ox8A Data content is identical to that of message Ox4A 4 1 34 Message 0x8B Response to Query GLONASS ephemerides Length 32 Response to input message Ox8B Data content is identical to that of message Ox4B 4 1 35 Message 0 8 Response to Query PPS parameters Length 5 Response to input message Data content is identical to that of message Ox4C 4 1 36 Message 0x8D Response to Query e
24. 12 structure Measurements data for 1 SV 13 20 structure Measurements data for 2 SV 348 NSat th 448 NSat structure Measurements data for NSat SV Structure of measurements data structure 1 ini Channel identifier see below 2 16 short rad Elevation angle resolution 0 001 MSBs 2 16 LSBs shori rad Azimuth resolution 0 001rad 3 4 double m Pseudorange 5 6 double m s Pseudorange rate 7 8 double rad Carrier phase Notes 1 N Ain GeoS 1 Channel identifier 31 16 16 MSBs of Channel status word see below 15 11 Channel number 0 23 GLONASS carrier frequency number range 7 12 complement code _ GPS Gold code number No minus 1 range 0 31 SV system number 4 0 GLONASS 1 24 GPS 1 32 Code 0 is for system number 32 10 5 R amp D Center Geostar navigation 2010 12 20 40 www geostar navigation com Channel status word 15 0 Debug data Noise level indicator 00 normal 10 below threshold 11 above threshold Signal power detect 18 0 no 1 yes PLL and DLL lock detect 19 0 unlocked 1 locked Frame synchronization flag 20 0 no sync 1 sync achieved Time extracted from navigation data 21 0 not available 1 available Navigation data frame valid flag 22 0 not valid 1 valid Bit synchronization flag 23 0 no sync 1 sync achieved Signal level estimate
25. 36 3 OMEGA 0 2 7967Et0 410 1 7898 2 w 1 2872kE t0 OMEGADOT 7 8060E 9 af0 4 8637E 5 af1 3 6380E 12 t oa 405504 stSv 0000 9 10 41 message 0x88 GPS 7 M 2 5297E 0 e 2 9840E 3 A 5 1536E 3 OMEGA 0 1 3661 0 910 2 5670 2 w 2 9027E 0 OMEGADOT 7 8289E 9 0 1 3351 5 afl 0 0000E 0 t oa 405504 stSv 0000 9 11 05 message 0x88 GPS 30 1 2451 0 e 1 1815E 2 A 5 1536E 3 OMEGA 0 2 3700 0 dIO 1 0414E 2 w l 4404E 0 OMEGADOT 7 9203E 9 af0 1 6880E 4 afl 3 6380E 12 t oa 405504 stSv 0000 lt Fig 11 Displaying the almanac data transmitted by the receiver To load almanac please select Settings Set GPS almanac Fig 12 R amp D Center Geostar navigation 2010 12 20 32 www geostar navigation com PI Queries Commands Language Help Set initial parameters Set serial ports parameters Set operation mode Set navigation task solution parameters Set output data rate Assign data protocol to communication port Set GPS almanac Set GLONASS almanac Set GPS ephemerides Set GLONASS ephemerides Set PPS parameters Enable disable SV in position Fix Enable disable NMEA messages Enable disable binary messages Fig 12 Selection of Set GPS almanac This operation will open aux panel GPS almanac Fig 13 where the almanac file location should be chosen It is assumed that the almanac has been already received by the receiver and saved by GeoSDemo program
26. 6380E 12 t oa 405504 stSv 0000 Fig 15 Displaying almanac download in Messages bookmark R amp D Center Geostar navigation 2010 12 20 34 www geostar navigation com 3 4 4 How to Store FW Settings to Flash The example provided below describes how to change receiver FW settings and store them to the receiver s Flash memory This particular example describes changing output data rate from 5Hz to 1Hz however the approach is applicable to any FW setting Please select Settings Set output data rate in menu In aux panel Fig 16 select 1Hz then press OK Output data rate M 1Hz Fig 16 Output data rate panel Upper sub window in Messages bookmark will display acknowledgement message Fig 17 9 15 08 message 0x84 output data rate 1 Hz lt Fig 17 1Hz output data rate acknowledgement message To store this setting please select Commands Store parameters to Flash in menu Fig 18 Commands Language Help Query FW version Restart receiver Update FW Store parameters to Flash Fig 18 Selecting command Store parameters to Flash If parameters have been stored to Flash successfully then following acknowledgement message will appear Fig 19 9 16 05 message 3 Storing parameters done Fig 19 Parameters successfully stored acknowledgement message R amp D Center Geostar navigation 2010 12 20
27. Autonomous mode D Differential mode E Estimated dead reckoning mode M Manual input mode S Simulator mode N Data not valid The positioning system Mode Indicator shall not be a null field 5 7 ZDA Time amp Date UTC day month year and local time zone xx hh lt CR gt lt LF gt Local zone minutes 00 to 59 Local zone hours 00 to 13 hrs ear Month 11012 12 UTC Day 01 to 31 UTC Notes 1 Local time zone is the magnitude of hours plus the magnitude of minutes added with the sign of local zone hours to local time to obtain UTC Local zone is generally negative for East longitudes with local exceptions near the International Date Line R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 5 8 S WPROT Switch to Binary Protocol The command switches the receiver port working with binary data to NMEA Format SGPSGG SWPROT 75 5 9 SAVEFL Save Parameters to Flash The command initiates saving FW settings and satellites almanacs to receiver s Flash Format SGPSGG SAVEFL 63 5 10 CSTART Cold Start The command initiates receiver s cold start Format SGPSGG CSTART 6B 5 11 WSTART Warm Start The command initiates receiver s warm start Format SGPSGG WSTART 7F 5 12 HSTART Hot Start The command initiates receiver s hot start Format SGPSGG HSTART 60 R amp D Center Geostar navigation 2010 12 20 www geostar navig
28. Center Geostar navigation 2010 12 20 www geostar navigation com 13 14 double km s SV velocity Z axis in PZ 90 at the instant t Zn 15 16 double km s SV acceleration on X axis in PZ 90 the instant to 17 18 double km s SV acceleration on Y axis in PZ 90 at the instant t Yo 19 20 double km s SV acceleration Z axis in PZ 90 at the instant t 2 Relative deviation of predicted carrier frequency value of SV Bluse couble from nominal value yn tb 23 24 double 5 Correction to SV time relative to GLONASS time 25 26 double S GLONASS time scale correction to UTC SU time 27 28 double S Correction of GPS time relative to GLONASS teps 29 16 a MSBs double day Age of ephemerides E DE double day Age of time correction and frequency deviation data E Parameter predicted SV user range accuracy Fr 30 16 Sum of four year period and day number within the four year LSBs u ay period expressed in days 1461 N4 NA 1 31 16 Calendar day number win the four year period beginning MSBs since the leap year 31 16 A LSBs short SV system number SV health flag bit 0 from string 2 of ephemerides bit 1 from string of ephemerides bit 2 from string 5 of ephemerides 32 16 bit 4 1 from string 7 of almanac MSBs bit 5 from string 9 almanac bit 6 from string 11 of al
29. GOeOSTAR NAVIGATION GeoS 1 User Manual Rev 1 3 R amp D Center GeoStar navigation Ltd Moscow 2010 Table Contents Wc ul ll y y u m au a 8 2 Description ETE RA EUER REO D ER E RR 9 ABIDE u u u yn a awa a Sas aksu kaa 9 2 2 Delivery ERE ET RR 9 2 3 Hardware Options rar rn i it i E A HE E 9 2 4 Specifications sas sirsa ia kana wd enr ark n n Ra ER RR EF AD E a ER TR RR na 10 2 5 Connectors oic estes Hd ene RE ERE VE Pe e ROLE a Xe RE e RO KR 11 2151 RE Connectors cor vere to rav 11 2 5 2 Output IO ooi ren eins eve desi e do en oc eh cog ip oc uiv 11 VAS E M 13 2 7 1 Pulse Per Second One Second Time 13 2 8 Communication Ports eren rennen rennen rennen rere AERE ELA RE ESAE HA EAE HA AE 14 2 9 Active Antenna Requirements nana aa en een ana nana anan nana anan en anan i i i a f f i f NA 14 2 10 Data Protocols Supported err 15 2 11 FW Settings ri i i f 20 2 12 Mechanical Data IILI
30. III ania i on i E ERE RR RR RR RH RR CREER C n WANG NANA 20 3 Operation rer i 22 3 1 Typical CONNECTION s same 22 3 2 ON OFF Control ene nie er rn n necne nrc rur n rac KARANA FER WA Fa FR ER FER FRE ND EAE FR C FE FR REN sa 22 3 3 Summary of Receiver Operation rrr nr rr i i t i E E E NANG 23 3 3 1 Cold Warm Hot Start ot ecce dene b d edt E a c ba d c n 24 3 3 2 Serial Ports SCLIN GS ee Go E AN ig wed desee va x ami eye 25 3 3 3 Modes of Operation co yeu Vua n TRY VERE e EY YVES TAY 25 3 3 4 Almanacs tad eese AN SENG REIR bague 26 3 4 Using Connection Board and GeoSDemo Demo SW nn 27 34 1 Getting Started uu a recorre e o REX FRE UR d GAK a 27 3 4 2 Receiver Evaluation Using GeoSDemo MICE RM ME 28 3 4 8 How to Get or Load 31 3 4 4 How to Store FW Settings to Flash iii 35 3 4 5 Possible Problems while Connecting via USB senes nena nass 36 3 4 5 1 eens 36 3 4 5 2 Randorm C rsor SAARVA S ENERE EEA 36 346 FW Update 36 4 Appendik Protocol Description 4 1 Output Messa
31. Input Messages rennen re s i i i a i i i n D 4 2 1 4 2 2 4 2 3 4 2 4 4 2 5 4 2 6 4 2 7 4 2 8 Message Format oreet 59 Message 0x40 Set initial parameters a 59 Message 0x41 Set serial ports parameters 59 Message 0x42 Set receiver operation Mode iii 59 Message 0x43 Set navigation task solution parameters cccccccssssscceccesssssseeeeeeeesseseuseeeeeeseessssseeeeeeess 60 Message 0x44 Set output data rate 60 Message 0x46 Assign data protocol to communication port 60 Message 0x48 Set GPS 60 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 2 9 Message 0x49 Set GLONASS almanac a 60 4 2 10 Message Ox4A Set GPS ephemerides 60 4 2 11 Message Ox4B Set GLONASS ephemerides 60 4 2 12 Message Ox4C Set PPS 61 4 2 13 Message Ox4D Enable disable SV in position fix sees 61 4 2 14 Message Ox4E Enable disable NMEA messages 61 4 2 15 Message Ox4F Enable disable
32. RAM integrity check results the number of blocks with 1 unt failed data If no failed data found then code 0 is transmitted 2 Code of UTC read out from NVSRAM Transmitted code 0 means failure 3 u ini Code UTC read out from 4 1 10 Message 0x3F Negative acknowledge Length 2 1 ID the message which caused error Error cause 1 incorrect check sum 2 int 2 incorrect number of data words 3 incorrect message ID 4 incorrect parameter value 4 1 11 Message lt 0x40 gt Response to Set initial parameters Length 12 Response to input message 40 Time elapsed since UTC 00h 00min 00s January 1 2008 L iint Resolution 1s 2 int 5 Local time shift relative to UTC 3 4 double m User X coordinate WGS 84 5 6 double m User Y coordinate WGS 84 7 8 double m User Z coordinate WGS 84 9 int Code of clock drift Resolution 0 1m s 10 int Reserved 11 12 double m GLONASS GPS time shift R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 1 12 Message 0x41 Response to Set serial ports parameters Length 4 Response to input message 0x41 Port number 1 u int 0 Port 0 1 Port 1 Baud rate bit s 0 4800 1 9600 2 u int 2 19200 3 38400 4 57600 5 115200 Number of stop bits 3 u int 0 1 1 2 bit 0 1 2 3 always 0 4 1
33. 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 3 Geoidal Separation the difference between the WGS 84 earth ellipsoid surface and mean sea level R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 5 2 GLL Geographic Position Latitude Longitude Latitude and Longitude of vessel position time of position fix and status GLL IILILa yyyyy yy a hhmmss ss A a hh lt CR gt lt LF gt i L Mode Indicator Status Data valid UTC position V Data not valid Longitude E W L atitude 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 fields shall not be null fields 5 3 GSA GNSS DOP and Active Satellites GNSS receiver operating mode satellites used in the naviga
34. The first field specifies the total number of sentences minimum value 1 The second field identifies the order of this sentence sentence number minimum value 1 For efficiency it is recommended that null fields be used in the additional sentences when the data is unchanged from the first sentence R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 2 A variable number of Satellite ID Elevation Azimuth SNR sets are allowed up to a maximum of four sets per sentence Null fields are not required for unused sets when less than four sets are transmitted 3 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 numbers 33 64 are reserved for WAAS satellites The WAAS system PRN numbers are 120 138 The offset from NMEA WAAS SV ID to WAAS PRN number is 87 A WAAS PRN number of 120 minus 87 yields the SV ID of 33 The addition of 87 to the SV ID yields the WAAS PRN number c The numbers 65 96 are reserved for GLONASS satellites GLONASS satellites are identified by 64 satellite slot number The slot numbers are 1 through 24 for the full constellation of 24 satellites this gives a range of 65 through 88 The numbers 89 through 96 are available if slot numbers above 24 are allocated to on orbit spares 55
35. a 42 Message 0x20 Geographic coordinates inner 43 Message 0x21 Current receiver telemetry 44 Message 0X225 WIG Wi natalna nayasa net Kaba pah amaka 46 Receiver power up u a sasawa asna wawa saw ash asas 46 Negative acknowledge iii 47 Response to Set initial parameters Response to Set serial ports parameters 48 Response to Set receiver operation mode 48 Response to Set navigation task solution parameters 49 Response to Set output data rate 49 Response to Assign data protocol to communication 49 Response to Set GPS sense aoa ue vn gu 50 Response to Set GLONASS almanac 50 Response to Set GPS ephemerides 51 Response to Set GLONASS ephemerides 452 Response to Set PPS Parameters 53 Response to Enable disable
36. a delay in 1PPS output This delay can be compensated by entering 1PPS offset in relevant message in binary protocol input message 4 By using this message user can also set different 1PPS parameters Receiver FW features several programmable settings listed in Table 7 Those setting are programmable via binary protocol Once settings data is released and sent to the receiver it is buffered in NVSRAM and taken into effect so the receiver will operate with those settings After removing main power from the receiver actual settings keep retained in NVSRAM and will be used at next receiver power up In case of backup power failure the settings loaded in backup memory are rejected and taken from Flash If settings in Flash are invalid then default settings see relevant column in Table 7 will take effect The current actual settings can be saved in Flash memory by using dedicated binary input message OxC3 or NMEA message SAVEFL Sending OxC3 or SAVEFL message saves to Flash both actual FW settings and satellite almanacs Saving FW settings and almanacs takes approximately 1 2 seconds The receiver can be configured with default settings by releasing the input message OxC2 After releasing this message settings will take effect and become actual 3 3 1 Cold Warm Hot Start Depending on availability of approximate position and time almanacs and ephemeris data after applying power receiver begins to operate in
37. ake effect after receiver program restart 2 message or CSTART WSTART HSTART NMEA messages either recycling power Since new RS232 ports parameters which set by 0x41 message are buffered NVSRAM message or SAVEFL NMEA message should be released to store them in Flash 3 3 3 Modes of Operation The receiver can operate on different satellite constellations including GPS only GLONASS only GPS GLONASS default which could be set by input message 0x42 Output data rat could be 1Hz either 5Hz set by input message 0 44 The receiver operates 3D default 2D modes The receiver enters 2D mode if the number of satellites is not enough for 3D solution if this allowed in message 0x42 If enabled the receiver can extrapolate position calculated if signals were lost and the number of SV is not enough to solve navigation solution in normal way This mode is called Dead Reckoning DR duration is programmable within 1 5s range Programming DR is performed via binary input message 0x43 The receiver can operate in coordinates hold mode which could be set by message 0x42 In this mode the receiver utilizes XYZ ECEF coordinates entered as initializing data in message 0x40 and R amp D Center Geostar navigation 2010 12 20 www geostar navigation com calculates time clock offset and clock drift in order to generate accurate 1PPS output This mode can be used particularl
38. arameters to Flash 65 5 Appendix B NMEA Data Description seen 66 5 1 GGA Global Positioning System Fix Data seen rrr re i i i a 67 5 2 GLL Geographic Position Latitude Longitude nine 68 5 3 GSA GNSS DOP and Active Satellites 68 5 4 GSV GNSS Satellites in VieW msn 69 5 5 RMC Recommended Minimum Specific GNSS Data eem i nn 70 5 6 VTG Course Over Ground and Ground Speed nn 71 5 7 ZDA Time amp Date aa 71 5 8 SWPROT Switch to Binary Protocol 72 5 9 SAVEFL Save Parameters to Flash nn 72 5 10 CSTART Cold Start II Ponti irem 72 5 11 WSTART Warm Start eene eren enr enr ei NANA DEN KEN DAN 72 5 12 HSTART Hot Start rcu enn c Gero a c and cd e a cR n NGANA 72 6 Appendix C GeoS 1 Connection Board Summary nennen ras i i t AN ANAN NANA NANA 73 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Listof Figures Fig 1 Output lO connector layout 12 Fig 2 Outline drawing dimensions in mm rennen rennen nre rennen ree se rst rete eter rere ere e 21 Fig 3 Typical connection diagram ener rrr rere ri i i t i a 46 22 Fig 4 ON OFF control timing NGAYANG nnne rennen nre nre re ee re rare ree r a E E 23 Fig 5 Connection of evaluation kit to external equipment for diffe
39. ation com Appendix C GeoS 1 Connection Board Summary The GeoS 1 Connection Board is the auxiliary hardware which function is to connect GeoS 1 receiver board to external environment for demonstrating receiver functionality Top view of Connection Board is shown in Fig 26 GeoS 1 receiver board V6 c5 A By i lt 7 5 38 GLE f f On C3 c4 b Fy py 5 c 8 1 gt Fig 26 5 1 Connection Board top view The main functions of Connection Board are To generate receiver main supply voltage 3 3V from unregulated 5 30V DC input To provide external backup power to the receiver for Option only For serial RS232 ports to convert LVTTL levels to from levels complying with EIA 232 To provide connections to computer USB and serial RS232 ports To switch input supply voltage between unregulated 5 30V DC input and USB 5 0V power To provide 1PPS output at SMA connector To indicate status of 3 3V and activity on serial port lines The receiver board is attached to X3 connector and fixed with the using four bushes as depicted in Fig 27 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Fig 27 Receiver and Connection Board assembly Unregulated supply voltage 5 30V is applied to X2 power jack S2 switch Vnur selects the input voltage to be either 5 30V or USB 5 0V
40. ault settings Combination of bits 0 and 1 causes different receiver restart modes code 0 initiates hot start code 1 warm start code 3 cold start 4 2 32 Message 0xC3 Store parameters to Flash Message length 1 1 u int Any value R amp D Center Geostar navigation 2010 12 20 65 www geostar navigation com s Appendix B Data Description The following provides a summary explanation of the NMEA approved parametric sentence structure Saaccc c c hh lt CR gt lt LF gt 1 757 Start of 5 2 Address Field Alphanumeric characters identifying type of TALKER and Sentence Formatter The first two characters identify the TALKER The last three are the Sentence Formatter mnemonic code identifying the data type and the string format of the successive fields Mnemonics will be used as far as possible to facilitate readouts by users 2 Field delimiter Starts each field except address and checksum fields If it is followed by a null field it is all that remains to indicate no data in a field 4 c c Data Sentence block Follows address field and is a series of data fields containing all of the data to be transmitted Data field sequence is fixed and identified by 3rd and subsequent characters of the address field the Sentence Formatter Data fields may be of variable length and are preceded by delimiters 5 Checksum Delimiter Follows last data fiel
41. carries less data than binary one therefore some fields of GeoSDemo windows will be empty R amp D Center Geostar navigation 2010 12 20 30 www geostar navigation com GeoSDemo v1 3 Communication Reading from file Settings Language Help UTC 13 02 10 08 03 29 0 Channels Charts Messages Latitude 55 8100333 N S No Track Infix Az dBHz Parameter value Longitude 37 5329333 5 271 UTC 13 02 10 08 03 29 0 Altitude 192 6 6 65 252 GPS time 2 1 8 8 342 GLN time VDOP 271 14 0 163 Xm Velocity m s 0 010 15 23 44 Y m Heading 144 16 15 217 2 18 66 96 Yx m s SV tracked 15 05210 CINE 19 36 Vy m s SV in fix 8 GPS 5 GLN 3 21 45 95 Yz m s 22 59 188 II GPS GLN shift m 24 17 91 ul Clock drift m s 66 II SY tracked 15 13 SV in fix 8 2 GDOP 51 3 0 1l ll TDOP 2 Latitude 55 8100333 N 32 Longitude 37 5329333 E 34 IL Altitude m 192 6 HDOP zu Zi Velocity m s Heading 144 DO 25 Time start 5 E not in view BIN Disconnect NMEA COM16 USB 115200 Synth Ant 13 02 2010 11 03 25 Fig 9 GeoSDemo main window displaying NMEA data Refer to GeoSDemo User Manual for detailed guidelines on using the program 3 4 3 How to Getor Load Almanacs The procedures below describe how to
42. cs and periodically stores them to internal Flash memory The almanacs can be downloaded to the receiver manually by using binary messages 0x48 for GPS and 0x49 for GLONASS While downloaded the almanacs are buffered in receiver memory and the command SAVEFL should be sent for saving them into Flash memory In addition the current almanacs stored in the receiver can be read out from the receiver by sending binary requests 0x88 for GPS and 0x89 for GLONASS R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Note that commands lt 0xC3 gt and SAVEFL activate storing to Flash both FW settings and satellites almanacs 3 4 Using Connection Board and GeoSDemo Demo SW 3 4 1 Getting Started The receiver evaluation kit includes Connection Board and GeoSDemo demonstaration SW Connection Board provides hardware connection of the receiver to external equipment power supply computer Refer to Appendix C for brief Connection Board description The AC DC adapter used as a source of DC supply voltage should meet following specifications 5 30V DC output voltage and 100mA minimum load current Two types of cables are required USB type A USB type B cable for USB connection for USB enabled receiver Option C and DB9 male DB9 female modem cable for serial port connections Fig 5 depicts two types of evaluation kit connections Fig 5 a illustra
43. d of the sentence It indicates that the following two alphanumeric characters show the HEX value of the Checksum 6 hh Checksum Field The absolute value calculated by exclusive OR ing the 8 data bits no start bits or stop bits of each character in the Sentence between but excluding 5 and The hexadecimal value of the most significant and least significant 4 bits of the result are converted to two ASCII characters 0 9 A F upper case for transmission The most significant character is transmitted first The Checksum field is required in all transmitted sentences Example GPGSV 5 5 17 77 71 048 53 43 7 lt CR gt lt LF gt Terminates Sentence R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 51 6 Global Positioning System Fix Data Time position and fix related data for a GPS receiver Differential reference station ID 0000 1023 Age of Differential GPS data Geoidal separation meters Altitude re mean sea level geoid meters Horizontal dilution of precision GGA hhmmss ss llll lLa yyyyy yy a x xx x x x x M x x M x x xxxx hh lt CR gt lt L F 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
44. es Message length 1 1 u int GPS SV system number 1 32 4 2 25 Message 0x4B Query GLONASS ephemerides Message length 1 1 u_int GLONASS SV system number 1 24 4 2 26 Message Query PPS parameters Message length 1 1 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 2 27 Message 0x8D Query enable disable status of the SV in position fix Message length 1 Code of SV number GPS 0 SViH 1 SV 2 31 SV 32 GLONASS 32 SV 1 33 SV 2 55 SV 24 1 u int 4 2 28 Message Ox8E Query enabled NMEA messages Message length 1 value 4 2 29 Message 0x8F Query enabled binary messages Message length 1 value 4 2 30 Message 0 1 Request FW version Message length 1 u_int Any value R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 2 31 Message 0xC 2 Restart receiver Message length 1 Restart and restore default settings code bit 0 clear ephemerides NVSRAM command 0 clear ephemerides 1 has no effect e bit 1 clear almanacs in NVSRAM command 0 clear almanac 1 u int 1 has no effect e 2 restore default FW settings command 0 has no effect receiver is operating with current FW settings 1 restore def
45. essage 4 Enable disable NMEA messages Message length 2 Data content is identical to that of output message Ox4E 4 2 15 Message 0x4F Enable disable binary messages Message length 2 Data content is identical to that of output message Ox4F 4 2 16 Message 0x80 Query initial parameters Message length 1 1 u int Any value 4 2 17 Message 0x81 Query serial ports parameters Message length 1 Port number parameters of which are requested 1 int 0 Port 40 1 1 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 2 18 Message 0 2 Query receiver operation mode Message length 1 1 value 4 2 19 Message 0 83 Query navigation task solution parameters Message length 1 u int Any value 4 2 20 Message 0x84 Query output data rate Message length 1 value 4 2 21 Message 0x86 Query data protocol assignment to communication port Message length 1 value 4 2 22 Message 0x88 Query GPS almanac Message length 1 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 1 GPS system number 1 32 4 2 23 Message 0x89 Query GLONASS almanac Message length 1 1 GLONASS SV system number 1 24 4 2 24 Message 0x8A Query GPS ephemerid
46. essfully completed Turn aff the receiver and click Fig 25 Update complete message Switch off the receiver and click OK to quit the program Further receiver evaluation can be done in regular manner R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 Appendix Binary Protocol Description 4 1 Output Messages 4 1 1 Message Format p 8 5 8 G 8 G 8 ncmd 16 lt ndat 16 gt dat1 32 datN 32 lt cs 32 gt e PSGG message preamble 32 bits e lt ncmd gt message number 16 bits lt gt the number of 32 bit words in data fields 16 bits e lt datl dat2 datN gt data fields 32 bit words the number of words is defined by lt ndat gt parameter e cs check sum 32 bits calculated as exclusive OR of all data fields Table 8 presents description of data types Table 8 Data types Length 32 bit words The receiver output messages are listed in Table 4 4 1 2 Message lt 0x10 gt Raw measurements Length the number of 32 bit words 4 8 Nsat Rate 1 or 5 times per second in accordance with receiver output data rate R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 1 2 double 5 Time elapsed since UTC 00h 00min 00 January 1 2008 3 int Reserved m The number of SVs for which measurements are transmitted int _ NSat 5
47. evant query in binary protocol Position fix data PVT is available on both data protocols Receiver generates both protocols simultaneously Binary output gives the user extended navigation information while NMEA provides seven standard messages Receiver control as well as FW update is accomplished via binary protocol After start until no valid position fix available the receiver outputs null GGA GSV GSA messages If after successive position fix the signals and position fix as well are lost the receiver transmits in NMEA messages last valid coordinates Then the GPS quality indicator bit field in GGA message is filled with O fix not available or invalid After applying power to the receiver 1PPS signal is not generated until PVT is available and valid During this controlling 1PPS parameters via binary protocol is disabled has no effect Once position fix calculated is valid 1PPS becomes accurate and synchronous with selected time scale If signals lost then 1PPS keeps being at receiver output but its accuracy will directly depend on receiver clock drift There is a 1PPS status data 1PPS valid or invalid to distinguish whether 1PPS is under control or not refer to output message 0x21 bit 10 of Receiver status Note that the receiver FW doesn t account RF antenna cable propagation delay Thus antenna and cable sub system will add R amp D Center Geostar navigation 2010 12 20 www geostar navigation com extr
48. ges III T T s E I I B B D E E 8 anaana 41 1 Message Folhlmat eere eerte eterne YE n Seve v PvE QE Yes eee VEN VER SINE We 4 1 2 Message 0x10 Raw 5 39 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 1 3 4 1 4 4 1 5 4 1 6 4 1 7 4 1 8 4 1 9 4 1 10 4 1 11 4 1 12 4 1 13 4 1 14 4 1 15 4 1 16 4 1 17 4 1 18 4 1 19 4 1 20 4 1 21 4 1 22 4 1 23 4 1 24 4 1 25 4 1 26 4 1 27 4 1 28 4 1 29 4 1 30 4 1 31 4 1 32 4 1 33 4 1 34 4 1 35 4 1 36 4 1 37 4 1 38 4 1 39 4 1 40 4 1 41 Message Ox3E Message Ox3F Message 0x40 Message 0x41 Message 0x42 Message 0x43 Message 0x44 Message 0x46 Message 0x48 Message 0x49 Message Ox4A Message Ox4B Message Ox4C Message Ox4D Message Ox4E Message Ox4F Message 0x80 Message 0x81 Message 0x82 Message 0x83 Message 0x84 Message 0x86 Message 0x88 Message 0x89 Message Ox8A Message Ox8B Message Ox8C Message Ox8D Message Message Ox8F Message OxC1 Message 2 Message Message 0x11 GPS sub frame data iii 41 Message 0x12 GLONASS sub frame data iii 42 Message 0x13 ECEF coordinates eee siente ete KENEN VERE Fe RR Ng e Ye aga EEE
49. get satellite almanacs from the receiver and how to load them to the receiver the example presents GPS similar approach is applicable to GLONASS To get almanac please select Queries Query GPS almanac Fig 10 The relevant request will be sent to the receiver R amp D Center Geostar navigation 2010 12 20 31 www geostar navigation com Queries Commands Language Help Querv initial parameters Query serial ports parameters Query receiver operation mode Query navigation task solution parameters Query output data rate Query data protocol assignment to communication port Query GPS almanac Query GLONASS almanac Query GPS ephemerides Query GLONASS ephemerides Query PPS parameters Query enable disable status of the SV in position Fix Query enable disable status of all SVs in position Fix Query enabled messages Query enabled binary messages Fig 10 Selection of Query GPS almanac As a response the receiver will send back the almanac data Transmitting almanacs are displaying in the upper sub window of Messages bookmark Fig 11 The program will save almanac automatically in program root directory to Geostar Navigation Ltd GeoSDemo data gps folder Messages Werk Messages D Logging binary data w 1 2853E 0 OMEGADOT 8 1032E 9 af0 2 1744E 4 1 7 2760 12 t oa 405504 5557 0000 9 10 35 message 0x88 GPS 29 M 2 7886Et0 e 3 2396E 3 5 15
50. ical to that of output message 0x42 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 2 5 Message lt 0x43 gt Set navigation task solution parameters Message length 5 Data content is identical to that of output message 43 4 2 6 Message 0x44 Set output data rate Message length 1 Data content is identical to that of output message 0x44 4 2 7 Message 0x46 Assign data protocol to communication port Message length 1 Data content is identical to that of output message 0x46 4 2 8 Message 0x48 Set GPS almanac Message length 20 Data content is identical to that of output message 0x48 4 2 9 Message 0x49 Set GLONASS almanac Message length 18 Data content is identical to that of output message 0x49 4 2 10 Message 0x4A Set GPS ephemerides Message length 45 Data content is identical to that of output message 4 4 2 11 Message 4 Set GLONASS ephemerides Message length 32 Data content is identical to that of output message Ox4B R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 4 2 12 Message 4 Set PPS parameters Message length 5 Data content is identical to that of output message 4 4 2 13 Message 0 40 Enable disable SV in position fix Message length 2 Data content is identical to that of output message Ox4D 4 2 14 M
51. ift 25 26 double m Smoothed clock shift relative to GPS time scale 27 28 double m Smoothed clock shift relative to GLONASS time scale Position fix valid flag 29 int 0 fix valid otherwise fix not valid 30 int Reserved 31 32 double m s Speed over ground 33 34 double rad Course 4 1 7 Message 0x21 Current receiver telemetry Length 3 Rate once per second 1 u int Receiver status word see below 2 u int S Receiver time since last restart 3 16 u short Number of SVs tracked MSBs 3 16 LSBs short Number SVs fix Receiver status word here and herein 0 Reserved 1 Reserved Position fix availability flag 2 0 no fix 1 fix available 2D fix indicator 3 0 3D 1 20 R amp D Center Geostar navigation 2010 12 20 44 www geostar navigation com 13 12 14 15 16 17 18 19 20 21 22 23 24 25 26 Reserved Indicator of use of combined constellation in position fix 0 no 1 yes Reserved Reserved Almanacs available 0 no 1 yes Reserved PPS valid flag 0 PPS not valid not available or out of control 1 PPS valid Indicator that DR is enabled by solution 0 1 Satellite constellation 0 combined 1 GPS only 2 GLONASS only 2D fix enable bit 0 disabled 1 enabled Coordinates hold mode 0 1 Indicator that DR is enabled by the user 0 disabled 1 enabled Reserved
52. inning MSBs u_sn0 ay since the leap year NA 17 16 A LSBs u short SV system number 18 16 Kon Carrier frequency number of RF signal transmitted by SV MSBs de 18 16 Unhealthy flag bit 15 type GLONASS SV M bits 0 LSBs 1 4 1 19 Message 0x4A Response to Set GPS ephemerides Length 45 Response to input message Ox4A Receiver time at the moment of ephemeris reception code 0 Wi is UTC 00h 00min 00s January 12 2008 2 int IODE semi 3 4 double circles Mean Anomaly Mo semi 5 6 double cicius Mean Motion Difference From Computed Value An 7 8 double Eccentricity e 9 10 double Square Root of the Semi Major Axis VA 11 12 doubl semi Longitude of Ascending Node of Orbit Plane at Weekly Epoch 0006 ides OMEGA semi na 13 14 double Circles Inclination Angle at Reference Time 1 semi 15 16 double Circles Argument of Perigee w semi lt 17 18 double Circles s Rate of Right Ascension OMEGADOT semi nan 19 20 double Circles s Rate of Inclination Angle IDOT Amplitude of the Cosine Harmonic Correction Term to the rad Argument of Latitude Cuc 23 24 4 Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude Cus Amplitude of the Cosine Harmonic Correction Term to the Orbit 25 26 double m Radius Cre R amp D Center Geostar navigation 2010 12 20
53. ion with the receiver In menu Commands select Update FW and browse the file to be downloaded in aux panel Fig 21 The file should have extension bin R amp D Center Geostar navigation 2010 12 20 www geostar navigation com TC 0 Look in 2 Recent Documents Desktop r My Documents lt lt Computer lt My Network File name psaa 11 23b bin M 74 Places s Files of type Bin files bin Fig 21 Browsing the FW file to downloaded If the file to be loaded is correct then the program will start downloading as shown in Fig 22 FW update Please wait firmware update is in progress 17 96 Fig 22 FW update progressing If the file that has been chosen is incorrect or failed then the program will generate the following message Fig 23 FW update The file is corrupted and cannot be downloaded Choose other file and try again Fig 23 File failed message If the error occurred while downloading then the program will generate the following message Fig 24 R amp D Center Geostar navigation 2010 12 20 37 www geostar navigation com FW update Failure found Turn off the receiver and click OK Fig 24 Downloading fail message If update has been finished successfully then following message will appear Fig 25 FW update Firmware update succ
54. ll be used with active antenna with 10 35dB exceeding gain Exceeding gain is defined as antenna LNA gain minus RF cable losses Cable losses depend on its length and type Antenna LNA is fed via central contact of RF connector Antenna power is VDD main supply voltage Maximum antenna supply current is 100mA To protect from antenna overcurrent the receiver has internal current limiting scheme based on resettable fuse In case of antenna is shorted this scheme will limit the current to 150 300mA The receiver will recover normal operation when the cause of overloading is removed R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 2 10 Data Protocols Supported The receiver supports two data protocols binary Appendix A and NMEA Appendix B Both protocols are handled simultaneously Each protocol is assigned to specific receiver communication port On default Port 0 handles binary protocol and Port 1 NMEA Assignment between data protocol and the port number can be changed by using specific binary input command input message 46 following which Port 0 will output NMEA data and Port 0 binary Although USB is a high speed serial interface it doesn t provide simultaneous binary and NMEA data output Output binary protocol gives the user extended navigation raw measurements almanacs and ephemerides data The input entries provide control and setting capabilities The input data c
55. low Each NMEA message can be disabled by setting relevant mask in binary protocol input message 4 On default GGA GSA GSV RMC messages are enabled and GLL VTG ZDA disabled By using input message Ox4E the talker ID can be set either as NMEA 0183 v3 01 standard specifies GP GN or GL depending on GNSS system used or always GP Even if talker ID is selected always GP NMEA messages data format and structure are kept complying with 0183 v3 01 standard Since RS232 channel has limited data throughput there are limitations of NMEA messages available at receiver output The Table 6 specifies available NMEA messages and their output rate as a function of baud rate being set Table 6 NMEA messages output rate versus RS232 baud rate Baud rate bit s Onceals Onceals _ Omeals Onceals Omeals Onceals Example if baud rate 4800bit s set then GSA ZDA messages output once a 1 second 5 message will output once a 20 seconds R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 2 11 FW Settings The receiver s FW has a number of settings Table 7 that can be programmed over binary protocol Default values are programmed during receiver manufacturing To restore default settings binary message is used Table 7 FW settings Value on default UC
56. manac bit 7 from string 13 of almanac bit 8 1 from string 15 of almanac bit 9 inverse Ce of almanac Flags bits 1 0 flag 1 bits 3 2 flag Bn 32 16 bit 4 flag P2 LSBs short bit 5 flag bits 7 6 flag P bit 8 flag P4 bits 11 9 reserved bits 13 12 M 4 1 21 Message 0x4C Response to Set PPS parameters Length 5 R amp D Center Geostar navigation 2010 12 20 53 www geostar navigation com Response to input message 4 PPS output 1 u ini 0 disabled 1 enabled PPS polarity 2 int 0 positive 1 negative PPS synchronization time scale 0 GPS 3 int 1 UTC 2 GLONASS 3 UTC SU PPS duration code Resolution 1 23104000s Value range 0 01 2ms 5 u int PPS shift code Resolution 1 739328000s Value range 1 4 u int 4 1 22 Message Ox4D Response to Enable disable SV in position fix Length 2 Response to input message Ox4D Code of SV number 1 u int e GPS 0 SVA1 1 SV 2 31 SV 32 e GLONASS 32 SV 1 33 SV 2 55 SV 24 SV status 2 u int 0 SV disabled for use in position fix 1 SV enabled for use in position fix 4 1 23 Message Ox4E Response to Enable disable NMEA messages Length 2 Response to input message Ox4E NMEA messages masks 0 message disabled 1 u int 1 message enabled bit 0 GGA mask bit 1 GSA mask R amp D Center Geostar navigation
57. nable disable status of the SV in position fix Length 2 Response to input message Ox8D Data content is identical to that of message Ox4D 4 1 37 Message 0x8E Response to Query enabled NMEA mesaages Length 1 Response to input message Ox8E Data content is identical to that of message Ox4E 4 1 38 Message Response to Query enabled binary messages Length 2 Response to input message Ox8F Data content is identical to that of message Ox4F 4 1 39 Message 0 1 Response to Request FW version command Length 1 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Response to input message OxC1 Tee u short FW version high word 1 16LSBs u short FW version low word FW version date 2 bits 4 0 day un bits 8 5 month bits 23 9 year 3 u int Receiver status word bits 30 and 31 4 1 7 Receiver S N 4 u int high byte alphabetical code 3 low bytes numerical code 4 1 40 Message 0xC2 Response to Restart receiver command Length 1 Response to input message OxC2 Restart and restore default settings code bit 0 indicator that ephemerides in NVSRAM cleared 0 ephemerides cleared 1 ephemerides not cleared e bit 1 indicator that almanacs in NVSRAM are cleared 0 almanacs cleared 1 almanacs not cleared e bit 2 restore default FW settings indicator 0 receiver is operating with current FW settings 1
58. nd apply logic 1 to pin 11 ON OFF Option C apply VDD to pin 13 and additional 5 0V USB power to pin 2 and apply logic 1 to pin 11 ON OFF External battery shown in Fig 3 is required for Option B 3 2 ON OFF Control For proper receiver power on ON OFF signal should go high after main supply voltage VDD reaches low operating limit of 3 15V Fig 4 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 3 15 VDD E GND ON OFF soms min Fig 4 ON OFF control timing Further power on off control if VDD keeps stable and applied to the receiver could be done using ON OFF pin as follows e High to low transition switches the receiver off immediately Low to high transition should be asserted with delay at least 500ms relatively to high to low transition If not used ON OFF should be connected with VDD 3 3 Summary of Receiver Operation After receiver is switched on it starts to operate and output navigation data automatically On default Port 0 outputs binary data and Port 1 NMEA data During operation receiver periodically outputs following hardware telemetry bits in binary message 21 Receiver status word antenna status bit 22 lock of frequency synthesizer bit 23 receiver identifier bit 27 and Port 0 hardware option bit 30 Receiver FW version and serial number can be read out in binary message OxC1 by sending rel
59. omprise commands queries and settings In addition binary protocol supports receiver s FW update The output binary messages packets are divided into following groups 1 Messages 0x00 0x3F automatically generated 2 Messages 0x40 0x7F responses to settings 3 Messages 0x80 0xBF responses to queries 4 Messages 0xC0 0xFF responses to commands The messages 0x0 0xF are debug data that not avaialble to the user Messages 0x00 0x1F are masked e g can be disabled by using appropriate mask input message lt 0x4F gt On default all automatically generated masked messages are disabled no output Messages 0x20 0x3F are unmasked e g cannot be disabled Output messages are summarized in Table 4 Table 4 The list of output binary messages Packet ID Message packet R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 0x7 Debug data 0 8 Debug data 0x9 0xD Reserved Debug data Reserved 0 10 0 11 0 12 0 13 0x14 0x1F Reserved 0x20 0x21 0x22 0x23 0x3D Reserved Ox3E 0x3F Responses to settings 0x40 0 41 0 42 0 43 0 44 0 45 Reserved 0 46 0 47 Reserved 0 48 0 49 Ox4A 0x4B 0x4C 0x4D 4 4 0 50 0 7 Reserved Responses to gueries 0x80 0x81 0x82 0x83 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 0x84 0x85 Reserved 0x86 0x87 Reserved 0x88 0x89 8 0x8B 0x8C 0x8D
60. r D for instance GeoS 1 A C All possible hardware configurations are listed in Table 1 Table 1 The list of possible hardware configurations GeoS 1 A C Built in backup battery USB enabled GeoS 1 B C External backup battery USB enabled GeoS 1 A D Built in backup battery w o USB GeoS 1 B D External backup battery w o USB 24 Specifications The receiver specifications are summarized in Table 2 Table 2 Receiver specifications QE INL MN Number of channels Position accuracy rms m 2 horizontal 3 1 altitude lt Velocity accuracy rms m s lt 0 05 1 30 15 lt 150 5 Cold start 36 5 Warm start 29 2 Hot start 4 Reacquisition 1 6 Acquisition sensitivity dBm cold start 140 7 Tracking sensitivity dBm 150 8 Output data rate Hz 10r5 Dynamics 9 acceleration 3g 3 lt 19 5 10 Maximum velocity m s 515 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com 11 Maximum altitude m 18000 Interfaces 12 DualRS232 4 USB 2 0 Full Speed 12Mbit s t 1PPS 13 level LVTTL duration us 10 2000 14 Supply voltage V 3 15 3 45 15 USB supply voltage V 1755525 5 16 Backup voltage V 2 0 3 6 6 17 Power consumption 3 3V mW typical 450 7 5 current typical 18 2 5 0V 0 15 backup uA 10 19 Size length x width x height mm 46 9x34 6x10 20 Weight
61. racy high sensitivity and advanced TTFF in 22 Delivery Kit The delivery kit includes following items 1 GeoS 1 OEM receiver board 2 GeoS 1 Connection Board by request 3 Demo PC SW GeoSDemo can be downloaded from http geostar navigation com 4 GeoSDemo User Manual can be downloaded from http geostar navigation com 5 GeoS 1 User Manual can be downloaded from http geostar navigation com 6 GPS GLONASS antenna by request 2 3 Hardware Options The receiver is available in following hardware options 1 Option A built in backup battery or Option B external backup battery 2 Option C USB enabled USB RS232 communication ports or Option D w o USB 2xRS232 ports R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Option has built in backup battery Option has no embedded battery and requires external backup voltage to be put to the receiver 10 connector Option C has embedded USB controller transceiver circuit For this option receiver Port 0 is USB and Port 41 is RS232 Note that this option requires additional 5 0V voltage for powering USB circuits Option D has no embedded USB interface For this option both communication Ports O and Port 1 are RS232 and no extra 5 0V power is required The specific hardware configuration of the receiver is defined by the combination of the options indicated above as follows A or B o
62. receiver is operating with default FW settings Combination of bits 0 and 1 indicate different restart modes the receiver operates in code 0 indicates hot start code 1 warm start code 3 cold start 1 u int 4 1 41 Message 0xC3 Response to Store parameters to Flash command Length 1 Response to input message OxC3 R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Store parameters to Flash indicator 1 0 parameters have been stored successfully 1 parameters have not been stored 4 2 Input Messages 4 2 1 Message Format 8 5 8 G 8 G 8 ncmd 16 lt ndat 16 gt dat1 32 datN 32 lt 5 32 gt PSGG message preamble 32 bits ncmd message number 16 bits lt gt the number of 32 bit words in data fields 16 bits e lt dat1 dat2 datN gt data fields 32 bit words the number of words is defined by ndat parameter e cs check sum 32 bits calculated as exclusive OR of all data fields The receiver output messages are listed in Table 5 4 2 2 Message 0x40 Set initial parameters Length 12 Data content is identical to that of output message 0x40 4 2 3 Message 0x41 Set serial ports parameters Message length 4 Data content is identical to that of output message 0x41 4 2 4 Message 0x42 Set receiver operation mode Message length 3 Data content is ident
63. rent hardware options ses 28 Fig 6 Found new hardware Message 29 Fig 7 Choosing the way of connection rar nr iii i a 29 Fig 8 main window displaying binary data 30 Fig 9 GeoSDemo main window displaying NMEA data 31 Fig 10 Selection of Query GPS almanac 32 Fig 11 Displaying the almanac data transmitted by the receiver sens 32 Fig 12 Selection of Set GPS almanaC nent 33 Fig 13 GPS almanac panel enne re i i f 2 24 33 Fig 14 Selection of GPS almanac file 34 Fig 15 Displaying almanac download in Messages bookmark nn 34 Fig 16 Output data rate panel 35 Fig 17 1Hz output data rate acknowledgement message 35 Fig 18 Selecting command Store parameters to Flash nn 35 Fig 19 Parameters successfully stored acknowledgement message ns 35 Fig 20 Communication failure message rare ii i i 36 Fig 21 Browsing the FW file to be downloaded 37 Fig 22 FW update progressing rennen rrr s i i f E E 37 Fig 23 File failed message eene nre rrr re i i i f I 37 Fig 24 Downloading fail message ss 38 Fig 25 Update complete Message 38 Fig 26 GeoS 1 Connection Board top VIEW nn 73 Fig 27 Receiver and Connection Board assembly ns 74 Fig 28 Outline dimensions of GeoS
64. s the SV ID of 33 The addition of 87 to the SV ID yields the WAAS PRN number C The numbers 65 96 are reserved for GLONASS satellites GLONASS satellites are identified by 64 satellite slot number The slot numbers are 1 through 24 for the full constellation of 24 satellites this gives a range of 65 through 88 The numbers 89 through 96 are available if slot numbers above 24 are allocated to on orbit spares 5 4 GSV GNSS Satellites in View Number of satellites SV in view satellite ID numbers elevation azimuth and SNR value Four satellites maximum per transmission Total number of sentences being transmitted and the number of the sentence being transmitted are indicated in the first two fields If multiple GPS GLONASS etc satellites are in view use separate GSV sentences with talker ID GP to show the GPS satellites in view and talker GL to show the GLONASS satellites in view etc The GN identifier shall not be used with this sentence GSV X X XX XX XX XXX XX XX XX XXX XX Nh lt CR gt lt LF gt LLL ML 4 sy 91d 31d SV C No 00 99 dB Hz null when not tracking Azimuth degrees True 000 to 359 Elevation degrees 90 maximum Satellite ID number Total number of satellites in view Sentence number 1 to 9 Total number of sentences 1 to 9 Notes 1 Satellite information may require the transmission of multiple sentences all containing identical field formats when sending a complete message
65. tes hardware connections for USB enabled receiver The receiver is connected to computer s USB port and one COM port receiver s Port 1 Fig 5 b illustrates hardware connections of the receiver without USB The receiver is connected to computer via its two COM ports R amp D Center Geostar navigation 2010 12 20 www geostar navigation com b Fig 5 Connection of evaluation kit to external equipment for different hardware options Connection Board should be configured as follows Set slider the direction of X2 connector e Forreceiver Option A set Battery slider to Off for Option set it to On Demo SW GeoSDemo should be installed on PC Refer to GeoSDemo User Manual for detailed guidelines on the program operation During GeoSDemo installation the USB enabled receiver Option C must not be connected to the computer 3 4 2 Receiver Evaluation Using GeoSDemo Please make following connections make sure the receiver power is switched off Attach AC DC adaptor and computer USB RS232 ports to Connection Board e Attach GPS GLONASS antenna to the receiver board R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Turn the power on LED 3 3B will light up LED indicators Tx1 will blink according to the receiver output data rate for Option For Option C LED Tx1 only will blink LED
66. tion solution reported by the GGA or GNS sentence and DOP values If only GPS GLONASS etc is used for the reported position solution the talker ID is GP GL etc and the DOP values pertain to the individual system If GPS GLONASS etc are combined to obtain the reported position solution multiple GSA sentences are produced one with the GPS satellites another with the GLONASS satellites etc Each of these GSA sentences 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 the position GSA a x XX XX XX XX XX XX XX XX XX XX XX XX X X X X xX Xhh lt CR gt lt LF gt LL VDOP i HDOP PDOP ID numbers of satellites used in solution Mode 1 Fix not available 2 2D 3 3D Mode M Manual forced to operate in 2D or 3D mode A lt Automatic allowed to automatically switch 2D 3D R amp D Center Geostar navigation 2010 12 20 www geostar navigation com Notes 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 numbers which range from 1 to 32 b The numbers 33 64 are reserved for WAAS satellites The WAAS system PRN numbers are 120 138 The offset from NMEA WAAS SV ID to WAAS PRN number is 87 A WAAS PRN number of 120 minus 87 yield
67. www geostar navigation com Amplitude of the Sine Harmonic Correction Term to the Orbit 27 28 double m Radius Cx 29 30 Amplitude of the Cosine Harmonic Correction Term to the ne ia Angle of Inclination Cic Amplitude of the Sine Harmonic Correction Term to the Angle 31 32 double rad unn of Inclination Cis 33 int S Reference Time Ephemerides toe 34 int S Clock data reference time toc 35 16 MSBs short Code on L2 35 16 LSBs short week Week No 36 16 MSBs short SV accuracy 36 16 LSBs short IODC 37 38 double 8 39 40 double s s Polinomial coefficient 41 42 double s s Polinomial coefficient 43 44 double Polinomial coefficient 45 16 MSBs short SV health 45 16 LSBs short PRN number PRN No 4 1 20 Message 0x4B Response to Set GLONASS ephemerides Length 32 Response to input message Ox4B Receiver time at the moment of ephemeris reception code 0 is UTC 00h 00min 00s January 1 2008 Index of a time interval within current day according to int minute UTC SU 03 hours 00 min 3 4 double km SV X coordinate in PZ 90 at the instant tp Xn 5 6 double km SV coordinate PZ 90 at the instant ty Yn 7 8 double km SV Z coordinate PZ 90 at the instant t Zn 9 10 double km s SV velocity on X axis in PZ 90 at the instant t t 11 12 double km s SV velocity on Y axis PZ 90 at the instant t 55 R amp D
68. y for timing applications Note that in this mode the 1PPS accuracy will directly depend on initial XYZ coordinates accuracy There is lt GPS Quality indicator gt field in GGA message which could take following values 0 if fix not available or invalid e 1 if fix valid e 6 if the receiver operates in DR mode e 7 if the receiver operates in coordinates hold mode Messages GLL VTG contain Mode Indicator field that could be set to A in normal autonomous mode in DR mode M in coordinates hold mode Messages GLL and RMC contain field Status that could be set to A data valid if Mode Indicator field has been set to A e data not valid if Mode Indicator field has been set to E M or The receiver utilizes two navigation task parameters as follows DOP mask and elevation angle mask input message 0x43 If DOP that has been calculated is more than DOP mask the PVT output is disabled SVs which elevation angle is more than relevant mask are not included in navigation solution In addition any SV can be excluded from navigation task solution by using dedicated binary message Ox4D After power off on recycling disabled SVs are restored i e allowed to be used in position fix calculation 3 3 4 Almanacs Actual GPS GLONASS almanac is loaded to the receiver s Flash memory during manufacturing During operation the receiver collects new almana

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