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Tri-M Systems FV-25 User's Manual

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1. Header ID Data Length Data Checksum OxB5 0x62 0x06 Ox11 0 None CK ACK B CFG RXM 0x06 0x11 It s an I O message It s used to set get RXM configuration Header ID Data Length Data Checksum OxB5 0x62 0x06 Ox11 2 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 Ul GPS sensitivity mode 0 Normal 1 Fast acquisition 2 High sensitivity gt 2 Reserved 1 Ul Power mode 0 Continuous tracking mode FixNow mode power saving mode gt 1 Reserved 94 CFG ANT 0x06 0x13 It s a poll request It s used to poll antenna control settings The module responds the same message defined below Header ID Data Length Data Checksum OxB5 0x62 0x06 0x13 0 None CK ACK B CFG ANT 0x06 0x13 It s an I O message It s used to set get antenna control settings Header ID Data Length Data Checksum OxB5 0x62 0x06 0x13 4 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U2 Antenna flag mask Bit 0 enable 2 U2 Antenna pin configuration 0 Continuous tracking mode mode gt 1 Reserved FixNow mode power saving 95 CFG FXN 0x06 0x0E It s a poll request It s used to poll power saving FixNow mode configuration The module responds the same message defined below Header ID Data Length Data Checksum O
2. Header ID Data Length Data Checksum OxB5 0x62 0x01 0x12 36 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 14 North velocity cm s In the NED frame 8 14 East velocity cm s In the NED frame 12 14 Down velocity cm s In the NED frame 16 U4 Speed cm s 3D 20 U4 Ground speed cm s 2D 24 14 Heading degrees 2D Scaling 1E 05 28 U4 Speed accuracy cm s 32 U4 Course Heading accuracy Scaling 1E 05 degrees 120 NAV TIMEGPS 0x01 0x20 It periodically polls the information about GPS time Header ID Data Length Data Checksum OxB5 0x62 0x01 0x20 16 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 14 Remainder of rounded GPS time 500000 500000 of week relative to GPS millisecond time of week ns 8 D GPS week 10 I1 Leap seconds s GPS UTC 11 Ul Flags 0x01 valid time of week 0x02 valid week number 0x04 valid UTC 12 U4 Time accuracy ns 121 NAV TIMEUTC 0x01 0x21 It periodically polls the information about UTC time Header ID Data Length Data Checksum OxB5 0x62 0x01 0x21 20 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 U4 Time accuracy ns 8 I4 Nanoseconds of second UTC 500000000 50000
3. Header ID Data Length Data Checksum OxB5 0x62 0x01 0x02 28 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 14 Longitude degrees In the local geodetic frame Scaling 1E 07 8 14 Latitude degrees In the local geodetic frame Scaling 1E 07 12 I4 Height above ellipsoid mm In the local geodetic frame 16 I4 Height above mean see level mm 20 U4 Horizontal accuracy mm 24 U4 Vertical accuracy mm 114 NAV POSUTM 0x01 0x08 It periodically polls the receiver s position in the UTM frame Header ID Data Length Data Checksum OxB5 0x62 0x01 0x08 18 See below CK_ACK_B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 I4 Easting component cm In the UTM frame 8 I4 Northing component cm In the UTM frame 12 14 Altitude cm In the UTM frame 16 Il UTM zone number 17 Il Hemisphere sector 0 north south NOTE 1 Doesnt output zone characters i e northing element of a zone description 2 Doesn t support the irregularities of UTM grids in the areas of North Pole and Scandinavian 115 NAV DOP 0x01 0x04 It periodically polls the values of DOPs Header ID Data Length Data Checksum OxB5 0x62 0x01 0x04 18 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U
4. Figure 5 2 Front panel of the evaluation kit Figure 5 3 shows the back panel of the evaluation kit It includes from left to right the Antenna Input Comm Port 1 1PPS Output and Power Input The Antenna Input is a SMA female connecter which is for 3 0 V or 5 0 V active antenna depending on the jump position J16 The Comm Port 1 outputs NMEA messages at the baud rate of 19200 bps as the default setting The 1PPS Output which is a BNC female output port is used to output a time pulse per second For the Power Input of the kit it accepts the input voltage in the range of 8 40 V Figure 5 3 Back panel of the evaluation kit 36 Both Comm ports are the bi directional ports i e the ports also accepts user software commands For receiving RTCM message either port can be used to accept the data through software command 37 Chapter 6 Antennas To get the maximum performance from the module in addition to the own properties of the module one of the important factors is how to select fitted antennas for the module because the quality of the received signals is determined as soon as the signals enter the RF section and can not be improved much by the subsequent filters and amplifiers The character of the GPS signal is right hand circular polarized RHCP So for obtaining good GPS signals without losing too much it s better to use the RHCP antennas Otherwise for example using a simple linear polarized antenna to
5. 16 I4 User time function delay ns 86 CFG NAV 0x06 0x03 It s a poll request Poll engine settings for navigation The module will respond the same message defined below I O message Header ID Data Length Data Checksum OxB5 0x62 0x06 0x03 0 None CK ACK B CFG NAV 0x06 0x03 It s an I O message Poll and set engine settings for navigation Header ID Data Length Data Checksum OxB5 0x62 0x06 0x03 28 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 Ul Kinematic model 1 stationary 2 pedestrian 3 automotive 4 sea 5 airborne with acceleration Ig 6 airborne with acceleration lt 2g 7 airborne with acceleration lt 4g 8 255 reserved 1 U1 Minimum number of SVs for l 16 navigation 2 U1 Maximum number of SVs for l 16 navigation 3 Ul C NO conditional lower limit This condition will be applied if and only if enough satellites say 5 are being tracked and above this limit 4 Ul C NO absolute lower limit A satellite with C NO below this limit is not used in the navigation solution 5 Ul Minimum elevation for SVs 87 used in the navigation solution 6 Ul DGPS timetag rounding 1 enable 0 disable 7 U1 Timeout for differential correction data s 8 U1 Timeout for pseudorange correct
6. 113 114 115 116 117 118 119 120 121 122 123 Caribbean N American 1927 NAS N Central America N American 1927 Cuba NAS T 152 0 178 0 N American 1927 Greenland Hayes NAS U 114 0 195 0 Peninsula N American 1927 NAS L 12 0 130 0 190 0 Mexico N American 1983 Alaska excluding NAR A Aleutian Islands N American 1983 NAR E Aleutian Islands N American 1983 NAR B Canada N American 1983 NAR C Mean Solution CONUS N American 1983 NAR H Hawaii N American 1983 Mexico amp Central NAR D America Bogota Observatory 125 0 194 0 a ON ON n N Colombia 307 0 304 0 318 0 Campo Inchauspe 1969 148 0 136 0 Argentina N Chua Astro Paraguay 134 0 229 0 29 0 Corrego Alegre Brazil 206 0 Prov S American 1956 Mean Solution Bol Col PRP M 288 0 175 0 376 0 Ecu Guy Per amp Ven Prov S American 1956 PRP A 270 0 188 0 388 0 N e 148 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 Bolivia Prov S American 1956 Northern Chile near 19S Prov S American 1956 Southern Chile near 43S Prov S American 1956 Colombia Prov S American 1956 Ecuador Prov S American 1956 Guyana Prov S American 1956 Peru Prov S American 1956 Venezuela Prov South Chi
7. Checksum OxB5 0x62 0x02 0x30 0 None CK ACK B RXM ALM 0x02 0x30 It s an input request for polling almanac data of one specific SV The receiver responds with a RXM ALM message defined below Header ID Data Length Data Checksum OxB5 0x62 0x02 0x30 1 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U1 PRN number 1 32 RXM ALM 0x02 0x30 It s an output message that carries almanac data of one specific SV Header ID Data Length Data Checksum OxB5 0x62 0x02 0x30 40 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 PRN number 1 32 1 U4 GPS week number 2 U4 WORDO 6 U4 WORDI 10 U4 WORD2 14 U4 WORD3 18 U4 WORD4 22 U4 WORDS5 26 U4 WORD6 30 U4 WORD7 NOTE 1 If the value of week number is 0 the almanac data in WORDs 0 7 are 131 not valid 2 WORDO WORD contain the data following the Hand Over Word HOW in the navigation message The data are from the sub frame 4 of Pages 1 24 and the sub frame 5 of Pages 2 10 More information about almanac data structure is referred to ICD GPS 200 3 WORDO WORD7 don t include the data of the parity bits Hence Bits 0 23 is used to locate the 24 bits of the data and Bits 24 31 are the sign extension of the data 132 RXM EPH 0x02 0x31 It s an
8. N Gunung Segara PN Rum e Kalimantan Indonesia al P n HEN 333 0 222 0 114 0 Indian Pakistan IND P 283 0 682 0 231 0 Pulkovo 1942 Russia 130 0 95 0 Tananarive Observatory TAN 189 0 242 0 1925 Madagascar Yacare Uruguay 155 0 171 0 BLG50 49 0 158 0 Reseau National Belge RNB72 104 0 80 0 75 0 1972 Belgium NTF Nouvelle Triangulation de la 168 0 France Netherlands 1921 NL21 719 0 47 0 640 0 Netherlands ED87 91 7 CH95 674 374 15 056 405 346 N e 2 pt 91 0 20 37 0 20 80 0 Lommel Datum 1950 Belgium amp Luxembourg N t3 N Z sl 320 0 European Datum 1987 IAG RETrig 117 7 N Subcommision Swiss Datum 1903 LV95 154 Ellipsoids Index Name Semi Major Axis m 1 Flattening 23 WGS 72 6378135 000 298 26 155 Rotation and Scale Table Rot X Rot Y Rot Z Scale Index Name seconds seconds seconds 0 MEER 40 0000 40 0000 40 0000 0 000 European Datum 1987 IAG RETrig 2 0 1338 0 0625 0 0470 0 045 Subcommision 156 Appendix B BBR CLT CNO COG CTM DGPS DOP DR ECEF EDOP EGNOS EKF GDOP GNSS HDOP HOW LNA MSAS NDOP NMEA PDOP PRN PVT RINEX RTC RTCM SBAS SNR SOG SPS TDOP TOW TTFF VDOP UTM WAAS Acronyms Battery Backed up RAM Carrier Lock Time Carrier to Noise Ratio Course Over Ground Continuous Tracking Mode Differential GPS Dilution
9. 120 0 20 amp Channel Islands European 1950 England Wales Scotland EUR K 86 0 120 0 20 amp Ireland European 1950 Greece EUR B 130 0 European 1950 Iran EUR H 117 0 132 0 164 0 EUR I 103 0 120 0 European 1950 Malta EUR L 107 0 149 0 a European 1950 Norway EUR C 87 0 95 0 120 0 20 amp Finland European 1950 Portugal EUR D 84 0 107 0 120 0 amp Spain European 1950 Tunisia EUR T 112 0 77 0 145 0 20 145 e 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 European 1979 Mean Solution AU EN NL EUS 86 0 98 0 119 0 20 N E S CH Hjorsey 1955 Iceland HJO Ireland 1965 IR Ordnance Survey of GB 1936 Mean E IoM S ShI W 86 0 506 0 122 0 611 0 375 0 111 0 431 0 371 0 112 0 434 0 371 0 111 0 434 0 384 0 111 0 425 0 370 0 108 0 434 0 1936 Wales Rome 1940 Sardinia MOD 225 0 65 0 Island S 42 Pulkovo 1942 SPK 28 0 121 0 77 0 Hungary S JTSK Czechoslavakia CCD 589 0 480 0 prior to 1 Jan 1993 Cape Canaveral Mean Solution Florida amp CAC 2 0 151 0 181 0 Bahamas N American 1927 160 0 176 0 Mean Solution CONUS 159 0 175 0 161 0 179 0 N American 1927 NAS D 5 0 135 0 172 0 20 N OGB M Ordnance Survey of GB
10. 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 ARC 1950 Zambia ARF F 147 0 74 0 283 0 7 ARC 1950 Zimbabwe ARF G 142 0 960 293 0 ARC 1960 Mean ARS 160 0 302 0 7 Kenya Tanzania Ayabelle Lighthouse PHA 79 0 129 0 145 0 7 Djibouti Cape South Africa 136 0 108 0 292 0 Carthage Tunisia Dabola Guinea s peor Liberia 1964 Massawa Eritrea 639 0 405 0 Bthiopia Merchich Morocco afafa 146 0 47 0 M Poraloko Gabon CRI 130 0 42 0 North Sahara 1959 NSD 186 0 93 0 310 0 Algeria Old Egyptian 1907 OEG 130 0 110 0 13 0 Egypt Point 58 Mean Solution PTB 106 0 129 0 165 0 Burkina Faso amp Niger Pointe Noire 1948 PTN 148 0 51 0 291 0 Congo Schwarzeck Namibia 616 0 251 0 Voirol 1960 Algeria 206 0 219 0 AIN A 150 0 250 0 AIN B 143 0 236 0 7 0 431 0 124 0 364 0 88 0 3 8 j N N o i Ain El Abd 1970 Saudi Arabia N 143 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 Djakarta Batavia BAT 377 0 681 0 50 0 2 HKD 156 0 271 0 189 0 20 Hu Tzu Shan Taiwan 637 0 549 0 203 0 Sumatra Indonesia Indian Bangladesh IND B 282 0 726 0 254 0 Indian India amp Nepal IND I 295 0 736 0 257 0 11 Ind
11. n 96 U4 Sub frame 1 WORD3 244n 96 U4 Sub frame 1 WORD4 284n 96 U4 Sub frame 1 WORD5 76 324n 96 U4 Sub frame 1 WORD6 364 n 96 U4 Sub frame 1 WORD7 40 n 96 U4 Sub frame 2 WORDO 444 n 96 U4 Sub frame 2 WORDI 48 n 96 U4 Sub frame 2 WORD2 524n 96 U4 Sub frame 2 WORD3 564n 96 U4 Sub frame 2 WORD4 60 n 96 U4 Sub frame 2 WORD5 64 n 96 U4 Sub frame 2 WORD6 684n 96 U4 Sub frame 2 WORD7 724n 96 U4 Sub frame 3 WORDO 76 n 96 U4 Sub frame 3 WORDI 80 n 96 U4 Sub frame 3 WORD2 844n 96 U4 Sub frame 3 WORD3 884n 96 U4 Sub frame 3 WORD4 924 n 96 U4 Sub frame 3 WORD5 96 n 96 U4 Sub frame 3 WORD6 100 n 96 U4 Sub frame 3 WORD7 NOTE 1 Sub frame 1 WORDO Sub frame 3 WORD7 contain the data following the Hand Over Word HOW in the navigation message The data are from the sub frame 1 to sub frame 3 More information about ephemeris data structure is referred to ICD GPS 200 2 Sub frame 1 WORDO sub frame 3 WORD7 don t include the data of the parity bits Hence Bits 0 23 is used to locate the 24 bits of the data and Bits 24 31 are the sign extension of the data TI UBX Class CFG This class is used to configure the GPS module and output the current configuration of the GPS module The module will respond the ACK ACK message if the request is proceeded correctly and ACK NAK message if the request is fail
12. 1100 45000 10 U2 Nominal gyro zero point output 2000 3000 mV 12 Ul Nominal gyro sensitivity 20 40 mV deg s 13 Ul Maximum allowable RMS For zero velocity temperature threshold mV compensation 1 10 Scaling 0 1 14 U2 The time interval for saving Minimum 9 temperature table to flash s 100 UBX Class IN F Basically the INF class is an output class It outputs strings with a printf style call INF ERROR 0x04 0x00 It outputs an ASCII string to indicate error message Header ID Data Length Data Checksum OxB5 0x62 0x04 0x00 N 1 See below CK ACK B Data Offset bytes Format Descriptions Notes The following data will be repeated N times variable length 0 N 1 Ul ASCII character 101 INF WARNING 0x04 0x01 It outputs an ASCII string to indicate warning message Header ID Data Length Data Checksum OxB5 0x62 0x04 0x01 N 1 See below CK ACK B Data Offset bytes Format Descriptions Notes The following data will be repeated N times variable length O N 1 U1 ASCII character 102 INF NOTICE 0x04 0x02 It outputs an ASCII string to transmit informational contents Header ID Data Length Data Checksum OxB5 0x62 0x04 0x02 N 1 See below CK ACK B Data Offset bytes Format Descriptions Notes The following data will be repeated N times variable le
13. 1936 England OGB A Ordnance Survey of GB 1936 England Isle of Man amp Wales OGB B Ordnance Survey of GB 1936 Scotland amp Shetland Isles OGB C Ordnance Survey of GB OGB D 2 p NAS C N American 1927 Western US NAS B N American 1927 Eastern US NAS A 146 96 97 98 99 100 101 102 103 104 105 106 107 Alaska excluding Aleutian Islands N American 1927 Aleutian Islands East of 180W N American 1927 Aleutian Islands West of 180W N American 1927 Bahamas excluding San Salvador Island N American 1927 San Salvador Island N American 1927 Canada Mean Solution including Newfoundland N American 1927 Alberta amp British Columbia N American 1927 Eastern Canada Newfoundland New Brunswick Nova Scotia amp Quebec N American 1927 Manitoba amp Ontario N American 1927 Northwest Territories amp Saskatchewan N American 1927 Yukon N American 1927 Canal Zone N American 1927 NAS G NAS H NAS I NAS J NAS O NAS P n m e o B o p 22 0 D am I t xN e o e o 147 152 0 204 0 154 0 140 0 158 0 162 0 160 0 157 0 159 0 139 0 125 0 142 0 149 0 105 0 178 0 165 0 187 0 188 0 190 0 184 0 188 0 181 0 201 0 183 0 108 109 110 111 112
14. Bits Descriptions 0 I O port assignments protocols and baud rates referred to UBX CFG PRT 1 Message configuration referred to UBX CFG MSG and UBX CFG NMEA 2 INF message configuration referred to UBX CFG INF 3 Navigation configuration referred to UBX CFG DAT UBX CFG NAV UBX CFG RATE UBX CFG TM and UBX CFG TP 4 Receiver manager RXM configuration referred to UBX CFG RXM and UBX CFG SBAS 5 Power saving mode configuration referred to UBX CFG FXN 6 9 EKF receiver dead reckoning 10 Model specific settings for receiver e g 84 UBX CFG ANT 11 Reserved 12 15 Reserved for user applications 16 31 Reserved 85 CFG TP 0x06 0x07 It s a poll request Poll time pulse information The module will respond the same message defined below I O message Header ID Data Length Data Checksum OxB5 0x62 0x06 0x07 0 None CK ACK B CFG TP 0x06 0x07 It s an I O message Poll and set time pulse information Header ID Data Length Data Checksum OxB5 0x62 0x06 0x07 20 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 Time interval for time pulse us 4 U4 Length of time pulse us 8 Il Status of time pulse gt 0 positive 0 off 0 negative 9 Ul Reference time 0 UTC time 0 GPS time 10 U2 Reserved 12 I2 Delay due to antenna cable ns 14 2 RF group delay ns
15. Message number 1 9 gsv3 Total number of satellites in view gsv4 PRN number gsv5 Elevation degrees 90 maximum gsv6 Azimuth degrees 0 360 gsv7 SNR C No 0 99 dB Hz null when not tracking hh Checksum hex number 2 character lt CR gt lt LF gt End of message The message can carry at most four gsv4 gsv5 gsv6 gsv7 sets of observable satellites For a less than four set case the message only transmits available sets and the rest of them will not be output i e the message doesn t transmit empty fields 48 RMC Recommended Minimum Specific GNSS Data This message transmits the necessary navigation data such as time position speed course and so on GPRMC rmcl rmc2 rmc3 rmcd rmc5 rmc6 rmc7 rmc8 rmc9 rmc10 rmc11 rmc 12 hh lt CR gt lt LF gt Parameters Descriptions Notes rmcl UTC time as position is fixed hhmmss ss hh hour mm minute ss ss second rmc2 Status of position fix A data valid which includes the scenarios of 2D 3D and DR V navigation receiver warning rmc3 Latitude ddmm mmmmm dd degree mm mmmmm minute 0 90 rmc4 Latitude sector N North S South rmc5 Longitude dddmm mmmmm ddd degree mm mmmmm minute 0 180 rmc6 Longitude sector dddmm mmmmm ddd degree mm mmmmm minute 0 180 rmc7 Speed over ground SOG knots rmc8 Course over ground COG Refere
16. N e N IDN 24 0 15 0 5 0 fa o Indonesia 152 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 Johnston Island 1961 JOH 189 0 79 0 202 0 N Johnston Island Kusaie Astro 1951 Caroline Islands Fed KUS 647 0 1777 0 1124 0 States of Micronesia 133 0 51 0 Midway Astro 1961 MID 912 0 58 0 1227 0 Midway Islands Old Hawaiian Mean OHA M 61 0 285 0 181 0 Solution OHA B 45 0 172 0 OHA C 65 0 190 0 Pitcairn Astro 1967 PIT 185 0 165 0 Pitcairn Island Santo Dos 1965 SAE 170 0 42 0 Espirito Santo Island Viti Levu 1916 Viti MVS 51 0 391 0 36 0 Levu Island Fiji Islands Wake Eniwetok 1960 ENW 102 0 52 0 38 0 Marshall Islands Wake Island Astro 1952 WAK 276 0 57 0 149 0 Wake Atoll Bukit Rimpah Bangka and Belitung Islands BUR 384 0 664 0 48 0 Indonesia N c Luzon Philippines LUZ A excluding Mindanao Island Luzon Mindanao Island LUZ B Philippines IN N N N N N Qo B oO oo Camp Area Astro Camp McMurdo Area CAZ 104 0 129 0 239 0 N 153 202 203 204 205 206 207 208 209 210 211 212 213 214 215 Antarctica European 1950 Iraq Israel Jordan Kuwait Lebanon Saudi Arabia amp 141 0 Syria EUR S 103 0 106 0 E 403 0 684 0
17. N 8 U2 Reserved 44N 8 Ul Information message enabled Bit mask INF class at I O target O Referred to INF class such as USART 0 INF ERROR and INF WARNING 5 N 8 Ul Information message enabled Same as above INF class at I O target 1 USART 1 6 N 8 Ul Information message enabled Same as above INF class at I O target 2 USART 2 T N 8 Ul Information message enabled Same as above INF class reserved at I O target 3 92 CFG RST 0x06 0x04 It s an input message It s used to reset receiver or clear backup data structure Header ID Data Length Data Checksum OxB5 0x62 0x06 0x04 4 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U2 Clear backup data in BBR 0x0001 ephemeris 0x0002 almanac 0x0004 health 0x0008 Klobuchar 0x0010 position 0x0020 clock drift 0x0040 oscillation parameter 0x0080 UTC correction parameters 0x0100 RTC 0x0000 hot start 0x0001 warm start OxFFFF cold start Ul Reset 0x00 hardware reset watchdog 0x01 controlled software reset 0x02 controlled software reset GPS only 0x08 controlled GPS stop 0x09 controlled GPS start Ul Reserved 93 CFG RXM 0x06 0x11 It s a poll request It s used to poll RXM configuration The module responds the same message defined below
18. OP ES Ure Hen aps 4 8 DGPS WAAS EGNOS amp RTCM eese 4 9 Receiver Autonomous Integrity Monitoring RAIM 4 10 Time Pulse CEPPS ei er educta derek DS ere vens Chapter 5 Evaluation Kit 2 eee rece rere ete nero eea Chapter Milite Tm 6 1 Passive Antennas esce vie Uere cte EU ERE e e Er Da gr Og 62 Active Antennas ius ps Ra Pi REINO ERN ORAN ERR INE Dea 6 3 Active Antenna Supervisor Short Circuit Protection Chapter 7 Available NMEA and UBX Messages TA INMEACPEGUOCOL J ees etre eser de yo vat taie predi oru noun oes 7 1 1 Standard NMEA Messages ccceceeeee cence ee 7 1 2 Proprietary NMEA Messages dee eie eser ERRARE AER 303 1 2 UB X Binary PEOUWCOl resene vec evevkv taxe exe yes eso unes yx EY RRERES Yes voe aves 7 21 Dat F rmate DU prp DD Te cR 7 2 2 Classification of UBX Messages eese 7 2 3 Responses to the Users Inputs cseeseeee Jd UX MESSAGES eto ope aene seio be EISE EORR REESE nego pes Chapter 8 Troubleshooting eee eee eee e eere nnn n Appendix A Geodetic ID Coordinate Datum Appendix B Acronynis i cscs esee k raro uses ero ER Pre oie tere aos R ele r lCeS 2 1iicsedo corre RxievA E AE RE REFSRRUREGRUE SENSE PAEDRENG RUFEN UA List of Figures Figure 2 1 FV 25 Pin definitions Top View ccceeeeeeeeeeeee ene ene
19. OxB5 0x62 0x05 0x01 2 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 Ul Class ID for the desired acknowledged message 1 Ul Message ID for the desired acknowledged message 67 ACK NAK 0x05 0x00 Message not acknowledged not acknowledged message Header ID Data Length Data Checksum OxB5 0x62 0x05 0x00 2 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 Ul Class ID for the desired not acknowledged message 1 Ul Message ID for the desired 68 UBX Class AID This class is used to support AGPS function or send aiding data such as time position almanac and ephemeris to the GPS receiver AID REQ 0x0B 0x00 It s a virtual request to poll all GPS aiding data AID DATA The character of AID REQ is determined by CFG MSG If AID REQ is set as the output message and the internal stored data i e time position almanac and ephemeris don t allow the receiver to execute a hot start the receiver will request to poll all the aiding data after startup Header ID Data Length Data Checksum OxB5 0x62 0x0B 0x00 0 None CK ACK B 69 AID DATA 0x0B 0x10 It s a request to poll all the GPS initial aiding data This message will activate the sending of AID INI AID HUI AID EPH and AID ALM as it is received by the module Header ID Data Length Data Checksum OxB5 0x62 OxOB 0x10 0 Non
20. Poll GPS health UTC and Ionosphere data Header ID Data Length Data Checksum OxB5 0x62 OxOB 0x02 0 None CK ACK B AID HUI 0x0B 0x02 It s an I O message It transmits GPS health UTC and Ionosphere Klobuchar parameters data Header ID Data Length Data Checksum OxB5 0x62 OxOB 0x02 72 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 Health bit mask Every bit represents the health of a GPS satellite 1 32 1 health 0 not health 4 R8 UTC parameter A1 12 R8 UTC parameter AO 20 I4 UTC reference time of week 24 D UTC reference week number 26 D UTC time difference because of leap seconds before event occurs 28 D UTC week number when the next leap second event occurs 30 D UTC day of week when the next leap second event occurs 32 D UTC time difference because of leap seconds after event occurs 34 D UTC spare to ensure the sentence structure is a multiply of 4 bytes 36 R4 Alpha0 Klobuchar parameters 40 R4 Alphal Klobuchar parameters 44 R4 Alpha2 Klobuchar parameters 72 48 R4 Alpha3 Klobuchar parameters 52 R4 Beta Klobuchar parameters 56 R4 Betal Klobuchar parameters 60 R4 Beta2 Klobuchar parameters 64 R4 Beta3 Klobuchar parameters 68 U4 Flag3 0x1 valid health bit mask fields 0x2 valid UCT parameter fields 0x4
21. Thomas 1955 Nevis St Kitts Leeward FOT 7 0 215 0 225 0 Islands Graciosa Base SW 1948 Faial Graciosa Pico Sao GRA 104 0 167 0 38 0 Jorge Terceira Islands Azores ISTS 061 Astro 1968 N 22 20 20 2 W en o 2 N N ISG 794 0 119 0 298 0 N South Georgia Islands 150 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 L C 5 Astro 1961 Cayman Brac Island Montserrat Island Astro 1958 Montserrat Leeward Islands Naparima BWI Trinidad amp Tobago Observatorio Meteorologico 1939 Corvo and Flores Islands Azores Pico De Las Nieves Canary Islands Porto Santo 1936 Porto Santo and Madeira Islands Puerto Rico Puerto Rico amp Virgin Islands Qornog South Greenland Sao Braz Soa Miguel Santa Maria Islands Azores Sapper Hill 1943 East Falkland Island Selvagem Grande 1938 Salvage Islands Tristan Astro 1968 Tristan du Cunha Anna Astro 1965 Cocos Islands Gandajika Base 1970 Republic of Maldives ISTS 073 Astro 1969 LCF ASM NAP FLO PLN POS PUR QUO SAO SAP SGM TDC ANO GAA IST 42 0 174 0 10 0 425 0 307 0 499 0 11 0 164 0 203 0 355 0 289 0 632 0 491 0 133 0 208 0 151 124 0 359 0 375 0 169 0 92 0 249
22. configurations from the module without the aid of Sanav_Demo The following information only describes the needed operations for our purposes 3 1 Connection Settings To activate the application HyperTerminal click Start Programs Accessories Communications HyperTerminal under Windows Figure 3 1 depicts the default window of HyperTerminal As usual before implementing the communication users have to set the comm port number port setting i e baud rate data bits parity stop bits and flow control and so on The connection communication setting can be done by clicking File Properties or the first shortcut button from right The resulting window is shown in Figure 3 2 But before a user sets any connection settings HyperTerminal has to be in the mode of disconnection which can be activated by clicking the fourth shortcut button from right The status connected disconnected can be seen at the lower right corner of the window The Configure button in Figure 3 2 functions as port settings such as baud rate data bits parity stop bits and flow control Figure 3 1 HyperTerminal application NOTE The connection settings can not be implemented while HyperTerminal is in 26 the mode of connection 4 i 1 dt 41 a nj Figure 3 2 Connection settings After setting all the necessary data click the connection button which is the fifth shortcut button from right If the set
23. ddmmyy dd day mm month yy year p04x3 UTC time of week seconds p04x4 GPS week number p04x5 Reserved p04x6 Receiver clock bias nanoseconds p04x7 Receiver clock drift nanoseconds second p04x8 Time pulse granularity nanoseconds hh Checksum hex number 2 character lt CR gt lt LF gt End of message 59 GPQ Poll Message Input message Poll a standard NMEA message xxGPQ gpq1 hh lt CR gt lt LF gt Parameters Descriptions Notes xxGPQ NMEA message header xx talker device identifier gpql NMEA message ids String format GGA GLL GRS GSA GST GSV RMC TXT VTG and ZDA hh Checksum hex number 2 character lt CR gt lt LF gt End of message 60 PUBX Poll a PUBX Message Input message Poll the proprietary PUBX messages PUBX p1 hh lt CR gt lt LF gt Parameters Descriptions Notes pl Proprietary message ids xx 00 01 03 and 04 hh Checksum hex number 2 character CR LF End of message 61 PUBX 40 Set NMEA Message Output Rate Input message PUBX 40 p40x1 p40x2 p40x3 p40x4 p40x5 hh lt CR gt lt LF gt Parameters Descriptions Notes p40x1 NMEA message ids String format GGA GLL GRS GSA GST GSV RMC TXT VTG and ZDA p40x2 Number of cycles USART 0 output rate 0 disabled 1 enabled p40x3 Number of cycles USART 1 output rate p40x4 Number of cycles US
24. input request for polling ephemeris data The receiver responds with all available RXM EPH messages defined below Header ID Data Length Data Checksum OxB5 0x62 0x02 0x31 0 None CK ACK B RXM EPH 0x02 0x31 It s an input request for polling ephemeris data of one specific SV The receiver responds with a RXM EPH message defined below Header ID Data Length Data Checksum OxB5 0x62 0x02 0x31 1 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 Ul PRN number 1 32 RXM EPH 0x02 0x31 It s an output message that carries almanac data of one specific SV Header ID Data Length Data Checksum OxB5 0x62 0x02 0x31 8 n 96 See below CK_ACK_B Data Offset bytes Format Descriptions Notes 0 U4 PRN number The following data are for this specific satellite 4 U4 Hand Over Word HOW of the 0 invalid ephemeris data first sub frame The following data will be repeated n times n number of valid ephemerides 8 n 96 U4 Sub frame 1 WORDO 12 n 96 U4 Sub frame 1 WORDI 16 n 96 U4 Sub frame 1 WROD2 20 n 96 U4 Sub frame 1 WORD3 244n 96 U4 Sub frame 1 WORD4 284n 96 U4 Sub frame 1 WORD5 32 n 96 U4 Sub frame 1 WORD6 133 364n 96 U4 Sub frame 1 WORD7 40 n 96 U4 Sub frame 2 WORDO 444 n 96 U4 Sub frame 2 WORDI 48
25. knots vig6 Unit of speed N nautical miles per hour vtg7 Speed over ground km hr vtg8 Unit of speed K kilometers per hour vtg9 Navigation mode indicator A Autonomous mode fix D Differential mode fix E DR fix N not valid hh Checksum hex number 2 character lt CR gt lt LF gt End of message 51 ZDA Time amp Date This message transmits UTC time and date and local time zone GPZDA zdal1 zda2 zda3 zda4 zda5 zda6 hh lt CR gt lt LF gt Parameters Descriptions Notes zdal UTC time hhmmss ss hh hour mm minute ss ss second zda2 UTC day 01 31 zda3 UTC month 01 12 zda4 UTC year xxxx 4 digits zda5 Local zone hours Not supported default 00 zda6 Local zone minutes Not supported default 00 hh Checksum hex number 2 character lt CR gt lt LF gt End of message 52 7 1 2 Proprietary NMEA Messages The non standard NMEA messages is proposed by u blox The proprietary non standard NMEA messages are grouped into two categories Proprietary NMEA PUBX PUBX 00 Latitude Longitude Position Data PUBX 01 UTM Position Data PUBX 03 Satellite Status PUBX 04 Time of Day and Clock Information PUBX 40 Set NMEA Message Update Rate PUBX 41 Set Protocols and Baudrate Queries GPQ Polls a Standard NMEA Message PUBX Polls a PUBX Message 53 PUBX 00 Latitude Longitude Position Data Ou
26. oc aep aiai a FITTTETHER GU mic xii Figure 2 9 Show all MS window 2 2 5 Available NMEA Messages The output of NMEA messages can be selected through Interval under the User Setting window as shown in Figure 2 10 There are two ways to show this sub window Windows User Setting or the shortcut button The available NMEA messages for FV 25 are GGA GLL GRS GSA GSV GST RMC TXT VTG and ZDA The default output NMEA messages include the above all except TXT message As shown in Figure 2 10 the number behind each message is the update rate of the sentence Since the default values of the update rates for all messages are zeros clicking the OK button without changing the default values the module will stop outputting NMEA messages If a user wants the module to output for example RMC message at the rate of 1 Hz change the current number to 01 or 1 Figure 2 10 Available NMEA messages NOTE The output NMEA messages will be discarded or not transmitted if the values of the baud rate is not sufficient to transmit the desired messages Also the discarded part won t be output in the next epoch NOTE The maximum update rate is 4 Hz 2 2 6 GPS Satellite Information Figure 2 11 shows the observable GPS satellite information which includes SV PRN numbers the corresponding values for elevation azimuth and SNR and indication for utilization of satellite information in the calculation of the rec
27. of Precision Dead Reckoning Earth Centered Earth Fixed Easting Dilution of Precision the European Geostationary Navigation Overlay Service Extended Kalman filter Geometric Dilution of Precision Global Navigation Satellite System Horizontal Dilution of Precision Hand Over Word Low Noise Amplifier MTSAT Based Augmentation System Northing Dilution of Precision the National Marine Electronics Association Positional Dilution of Precision Pseudorandom Noise Position Velocity Time Receiver Independent Exchange Format Real Time Clock the Radio Technical Commission for Maritime Services Satellite Based Augmentation Systems Signal to Noise Ratio Speed Over Ground Standard Positioning Service Time Dilution of Precision Time of Week Time To First Fix Vertical Dilution of Precision Universal Transverse Mercator Wide Area Augmentation System 157 References 1 ANTARIS Chipset System Integration Manual for San Jose Navigation Doc No GPS G3 DK 03014 2 ANTARIS Protocol Specifications Doc No GPS G3 X 03002 3 NMEA 0183 Standard For Interfacing Marine Electronic Devices Version 2 30 March 1 1998 158
28. please refer to the documentation ICD GPS 200 For SBAS satellites the first 7 words WORDO WORD6 contain 224 bits of data for the 250 bit message block The rest of 26 bit data are contained in Bits 25 0 of WORD7 where Bit 25 is last bit of the data For more information about SBAS please refer to RTCA DO 229C MOPS 129 RXM SVSI 0x02 0x20 It periodically polls the information of SV status Header ID Data Length Data Checksum OxB5 0x62 0x02 0x20 8 N 6 See below CK_ACK_B Data Offset bytes Format Descriptions Notes 0 14 GPS time of week ms 4 2 GPS week number 6 U1 Number of observable satellites 7 U1 Number of satellite data following The following data will be repeated N times number of satellites 8 N 6 Ul PRN number 9 N 6 Ul Flags 0x01 health SV 0x02 ephemeris valid 0x04 almanac valid 104 N 6 I2 Azimuth degrees 124 N 6 I1 Elevation degrees 134N 6 Ul Age of almanac ALM and Bits 0 3 age of ALM in days ephemeris EPH offset by 4 Bits 4 7 age of EPH in hours offset by 4 i e the reference time may be in the future age of alm Age amp Ox0f 4 age of eph Age amp Oxf0 gt gt 4 4 130 RXM ALM 0x02 0x30 It s an input request for polling almanac data The receiver responds with all available 32 RXM ALM messages defined below Header ID Data Length Data
29. shortcut button 20 Figure 2 12 Receiver Information NOTE Data displayed in the sub windows Figures 2 7 2 9 2 11 and 2 12 depend on the user selected output NMEA messages i e if for example the module doesn t output GSV message the associated information such as elevation azimuth SNR etc will not be displayed in the corresponding sub windows 2 2 8 Tracking View Clicking Windows Tracking View the global position differences relative to the first position fix will be depicted as shown in Figure 2 13 The corresponding unit is meter or kilometer which is indicated in the upper right corner of the sub window In Figure 2 13 there are two available functions that change the scale of the concentric circles zoom in and zoom out The scale ranges from 10 m to 500 km 21 ra a LET Bk co fer Eee pad Th 4 4 FU A ose oT Figure 2 13 Tracking View 2 2 9 User Setting Clicking Windows User Setting or the shortcut button the User Setting window is activated as shown in Figure 2 14 Click gt to move among the tags 2 2 9 Position This function sets the initial latitude and longitude as shown in Figure 2 14 For the initial values of latitude and longitude users can select the degree first column from left and the integral part of minute second column from the scroll down windows and input the fractional part of minute 0 9999 in the last thi
30. valid Klobuchar parameter fields 73 AID ALM 0x0B 0x30 It s a poll request when data length is equal to 0 Poll all available aiding almanac data Header ID Data Length Data Checksum OxB5 0x62 OxOB 0x30 0 None CK ACK B AID ALM 0x0B 0x30 It s also a poll request Poll a specific aiding almanac data Header ID Data Length Data Checksum OxB5 0x62 OxOB 0x30 1 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 Ul PRN number This will request the desired almanac data for the specific GPS satellite AID ALM 0x0B 0x30 It s an I O message Poll aiding almanac data Header ID Data Length Data Checksum OxB5 0x62 Ox0B 0x30 40 See below CK_ACK_B Data Offset bytes Format Descriptions Notes 0 U4 PRN number The following data are for this specific satellite 4 U4 Issue date of Almanac GPS week number If this value is equal to 0 the following Words 0 7 don t contain the valid data 8 U4 Almanac WORDO 12 U4 Almanac WORD 1 16 U4 Almanac WORD2 20 U4 Almanac WORD3 24 U4 Almanac WORD4 74 28 U4 Almanac WORD5 32 U4 Almanac WORD6 36 U4 Almanac WORD7 NOTE 1 WORDO WORD contain the data following the Hand Over Word HOW in the navigation message The data are from the sub fram
31. 0 72 0 138 0 141 0 21 0 321 0 435 0 147 0 365 0 165 0 81 0 127 0 314 0 101 0 189 0 n 2 72 0 609 0 435 0 50 0 229 0 N N N N e N N N N N N N 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 Diego Garcia Kerguelen Island 1949 KEG 145 0 187 0 103 0 Kerguelen Island Mahe 1971 Mahe Island 41 0 220 0 134 0 7 94 0 948 0 1262 0 20 115 0 118 0 426 0 20 Reunion Mascarene UE Islands H American Samoa 1962 AMA American Samoa Islands Astro Beacon E 1945 ATF 145 0 75 0 272 0 20 Iwo Jima Astro Tern Island Frig TRN 2 114 0 116 0 333 0 1961 Tern Island Astronomical Station ASQ 124 0 234 0 25 0 1952 Marcus Island Bellevue IGN Efate IBE 127 0 769 0 472 0 and Erromango Islands Canton Astro 1966 298 0 304 0 375 0 Chatham Island Astro 1971 Chatham Island CHI 175 0 38 0 113 0 New Zeland DOS 1968 Gizo Island GIZ 230 0 199 0 752 0 New Georgia Islands Easter Island 1967 EAS 211 0 147 0 111 0 Easter Island Geodetic Datum 1949 GEO 84 0 22 0 209 0 GUA 100 0 248 0 259 0 GUX 1 Astro DOB 252 0 209 0 751 0 Guadalcanal Island Indonesian 1974 N a gt o L2 Phoenix Islands N N e 20 N e
32. 0000 12 U2 Year UTC 1999 2099 14 Ul Month UTC 15 Ul Day UTC 16 Ul Hour UTC 0 23 17 Ul Minute UTC 0 59 18 U1 Second UTC 0 59 19 Ul Flags 0x01 valid time of week 0x02 valid week number 0x04 valid UTC 122 NAV CLOCK 0x01 0x22 It periodically polls receiver clock information Header ID Data Length Data Checksum OxB5 0x62 0x01 0x22 20 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 14 Clock bias ns 8 14 Clock drift ns s 12 U4 Time accuracy ns 16 U4 Frequency accuracy ps s 123 NAV SVINF O 0x01 0x30 It periodically polls the information about UTC time Header ID Data Length Data Checksum OxB5 0x62 0x01 0x30 8 N 12 See below CK_ACK_B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 U1 Number of channels 1 16 5 Ul Reserved 6 U2 Reserved The following data will be repeated N times number of channels 8 N 12 Ul Channel number 0 15 9 N 12 Ul PRN number SV ID 10 N 12 Ul Flags for the above specified SV Bit mask 0x01 used for navigation 0x02 differential correction data available 0x04 ephemeris or almanac available 0x08 ephemeris available 0x10 unhealth status shall not be used 0x20 0x40 0x80 reserved 114 N 12 Il Signal quality indicator fo
33. 2 It s a poll request It s used to poll EKF configuration The module responds the same message defined below Header ID Data Length Data Checksum OxB5 0x62 0x06 0x12 0 None CK ACK B CFG EKF 0x06 0x12 It s an I O message It s used to set get EKF configuration Header ID Data Length Data Checksum OxB5 0x62 0x06 0x12 16 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U1 EKF status 1 disabled 0 enabled 1 U1 Flags Bit 0 reserved always 0 Bit 1 clear temperature compensation table Bit 2 clear stored calibration Bit 3 reserved always 0 Bit 4 set nominal tacho pulses as defined in Field Nominal pulses per kilometer Bit 5 set nominal gyro values as defined in Fields Nominal gyro zero point output and Nominal gyro sensitivity Bit 6 set temperature table configuration as defined in Fields allowable RMS threshold and The time Maximum interval for saving temperature table to flash Bit 7 set direction pin and gyro sense meaning as defined in Field Inverse flags 99 2 Ul Reserved 3 Ul Inverse_flags Bit 0 invert meaning of direction pin 0 High Forwards 1 High Backwards Bit 1 invert meaning of gyro rotation sense 0 clockwise positive 1 counterclockwise positive 4 U4 Reserved Always 0 8 U2 Nominal pulses per kilometer
34. 2 29 2 Tumge amnd day ioo a E 2 2 93 Localtime FONG xc pedera pes SUN RENE epei eikeen 2 2 0d Restless E EAR ERES RR IU SRI V E n SA eee VIDA VSEPIG V t EE 222 Wilet Wales y scans couse EEE O 2 20 1 Geodet ID 2 vscsevewksso xt eM vente E EEE SNE ES Chapter 3 Alternative Start eeeeeeee eee eene 3 1 CONNMECHON Sem sodes ai o rud pM e Cra s ie pads 52 Sayin the Data o dise seveo eoar ere HEN NE ER S paee Ea EE E PER E Meses 3 3 Setting Configuration or Polling Information from Module Chapter 4 Navigation iue aes eose s erae eto gere pese A ener RUE 4 1 Operating MOGBS Cie eo eere eraut ve Eno dun eR ev EPRMER C rSn eau 4 1 1 Continuous Tracking Mode CTM seus 4 1 2 FixNOW Mode EXN ats RERO ERIS AD Start Up Modes etes Other En EPA fa S OE PRU S WIPE AGPS M X X A Sensi VILY reer SEVERE NU ERR E YR SEE stc resa Se eset SE 4 5 Navigation Data si see IS SER Ra o SENA FUE INSNURURIAPEERUNEMENS 4 5 1 Position Format uoo ovo ERAS RIO Do REID MEI 2 5 2 DUME oes ice ERI MER RUE EM vereda 45 3 pale Ale 22 die pO POR TINI ea PEE LEER d ASA Kinematie Mode iios eio ee pase E Hood a rhv ane DUE e EE pa 4 6 Navigation for Less Than 4 Observable Satellites 2 6 1 2D Navigation accu caciexc eene radere raten rad dde R EUR 46 2 Dead RecRoOBLIS ioo SER Rr TNR ea UE E NEN 4 7 Almanac NavVIBatloD o cveseveecseres esso wee never eoe Ox ee NR Ves E
35. 4 GPS time of week ms 4 U2 GDOP Geometric DOP 6 U2 PDOP Positional DOP 8 U2 TDOP Time DOP 10 U2 VDOP Vertical DOP 12 U2 HDOP Horizontal DOP 14 U2 NDOP Northing DOP 16 U2 EDOP Easting DOP NOTE All have Scaling 0 01 116 NAV STATUS 0x01 0x03 It periodically polls navigation status Header ID Data Length Data Checksum OxB5 0x62 0x01 0x03 16 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 Ul Navigation modes 0x00 no fix 0x01 dead reckoning 0x02 2D fix 0x03 3D fix 0x04 GPS dead reckoning 0x05 OxFF reserved 3 U1 Flags 0x01 GPS fix ok under DOP and accuracy masks 0x02 DGPS used 0x04 week number valid 0x08 time of week valid the rest of them reserved 6 U1 Differential status Bits 1 0 DGPS input status 00 none 01 PR PRR correction 10 PR PRR CP correction 11 high accuracy PR PRR CP correction the rest of bits reserved 7 U1 Reserved 8 U4 Time to first fix TTFF Millisecond time tag 12 U4 Millisecond since startup reset 117 NAV SOL 0x01 0x06 It periodically polls the information about navigation solution Header ID Data Length Data Checksum OxB5 0x62 0x01 0x06 22 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 GPS t
36. 8 Mbit flash memory Since the low noise amplifier LNA ATRO0610 is built in the RF section the passive and active antennas are the available options for the module The Baseband IC ATR0620 mainly includes a CPU ARM7 SRAM ROM Battery Backed up RAM BBR and Real Time Clock RTC To keep running of BBR and RTC after power off a backed up battery which has voltage in the range of 1 95 V to 3 6 V is needed Since BBR is used to store the updated position ephemeris and almanac data the module can implement all the start up modes with the back up battery Besides the above updated data can be saved to BBR configuration data which are available at startup can be also saved to BBR In addition the 8 Mbit flash memory is the other location to save configuration setting permanently without the support of the backed up battery Using high performance of software and firmware from u blox the module provides spectacular performance on navigation under static and dynamic conditions in multipath trended areas such as urban skyscrapers and canyons remarkable ATR 0600 ATR 0610 ATR 0620 are manufactured by Atmel corporation 8 sensitivity for weak signals without sacrificing accuracy AGPS function DGPS function which is supported by RTCM WAAS and EGNOS and flexibility for system integrations Because of 8192 frequency search bins at the same time it accelerates the start up times of the module In addition to the above ex
37. ART 2 output rate p40x5 Reserved Always 0 hh Checksum hex number 2 character lt CR gt lt LF gt End of message 62 PUBX 41 Set Protocols and Baudrate Input message PUBX 41 p41x1 p41x2 p41x3 p41x4 p41x5 hh lt CR gt lt LF gt Parameters Descriptions Notes p41xl USART id 0 1 Or 2 p41xl Input protocol mask 0 UBX 1 NMEA 2 RTCM 12 15 USERO USER3 p41xl Output protocol mask 0 UBX 1 NMEA 2 RAW 12 15 USERO USER3 p4lxl Baudrate bps p41xl Autobauding 0 disabled enabled hh Checksum hex number 2 character CR LF End of message The Autobauding function will adjust the baud rate of the serial port automatically based on the detected conditions such as multiple break and framing error conditions NOTE If the comm port of your host PC experiences errors frequently please disable the Autobauding function 63 7 2 UBX Binary Protocol To obtain the maximum performance from GPS chips which mainly consists of FV 25 u blox proposed a proprietary binary protocol The binary protocol can set and poll all the available actions and messages from the module Using asynchronous RS232 ports the module communicates with a host platform in terms of the alternative UBX protocol to carry GPS data The noticeable features for the UBX protocol are 1 8 bits binary data 2 low overhead checksum algorithm 3 2 stage mes
38. Configuration input port setting DOP mask etc INF Informative 0x04 Printf Style messages Error Warning Notice MON Monitor OxOA Monitor the stack usage CPU load task status etc NAV JNavigation 0x01 Navigation information PVT DOP Course RXM _ Receiver Manager 0x02 Receiver manager messages Pseudorange Channel status TIM Timing 0x0D Time pulse data 1 PPS UPD Update 0x09 Firmware update messages Table 7 2 UBX message classes 7 2 3 Responses to the Users Inputs Basically there are two kinds of module s responses for the users requests Acknowledgement and Polling Mechanism When users send the Class CFG messages to the module the module will reply the Acknowledgement or Not Acknowledgement message based on whether the desired message is implemented correctly or not For the Polling Mechanism the messages that can be output also can be polled In this particular protocol the output and polling requests use the same message The difference between both is that for the polling purpose the message doesn t contain the DATA i e the value of the DATA LENGTH is 0 NOTE The default settings for output the binary messages from the module are on the comm port 2 with the baud rate 57600 bps 66 7 2 4 UBX Messages UBX Class ACK This class is used for responding a CFG message ACK ACK 0x05 0x01 Message acknowledged Header ID Data Length Data Checksum
39. DAERETA Figure 5 1 Main box of the evaluation kit esee Figure 5 2 Front panel of the evaluation Kit esee Figure 5 3 Back panel of the evaluation Kit eee Figure 7 1 UBX protocol str cture ere Er e ee de ere List of Tables Table 1 1 Specification of PV 25 2 20 0 sccisiss esas dices es niaebieveee nea Table 2 1 Description of pin definition for FV 25 ccc cece eee ee eens Table 4 1 Conditions for Start Up modes eese Table 4 2 Available sensitivity Modes cece eee e eee ne ence eee eee eee Table 7 1 The types of data eiie ene e n e RE RR n deve Table 7 2 UBX message class s imane ux voe v eaten E xSu meo EV eU Table 5 T broubleshoOlie ose ate x EE TuS Ye XR SRA AERE RUE SAT E ERNYE MUR ECERANE Preface The objective of The FV 25 User s Guide is to help users to understand the properties of FV 25 thoroughly and therefore obtain the maximum performance from the module easily This document describes and provides the useful information the FV 25 module which includes the functions of pins on the module configuration setting utility and evaluation kit It will help users understand the capability of the module and therefore successfully integrate the FV 25 into users GPS systems Each chapter is one of the pieces for the module and carries its own purpose The following summary for each chapter and appendix shall help a user to navigate the
40. G RXM message NOTE This module has a built in LNA If an active antenna with gain exceeded 25 31 dB is used the High Sensitivity mode is not recommended 4 5 Navigation Data 4 5 1 Position Format The navigation data can be output in the format of local geodetic frame latitude longitude and altitude ECEF Earth Centered Earth Fixed frame or Universal Transverse Mercator UTM frame To poll the navigation information from the module send the request UBX CFG NAV For FV 25 the default position settings are expressed in the format of local geodetic frame which can be retrieved from message UBX NAV POSLLH and ECEF frame which can be retrieved from message UBX NAV POSECEF The position expressed in UTM frame can be obtained from PUBX 01 under proprietary NMEA protocol The PUBX 01 is not a standard output for FV 25 and can be polled by sending PUBX sid cs lt CR gt lt LF gt NOTE The descriptions of the standard and proprietary NMEA messages are described in Chapter 7 4 5 2 Datums The position expressed in WGS 84 format default can be transferred to the user s preferable format based on more than 200 standard datums referred to Appendix A or a user defined datum which is activated by sending the UBX CFG DAT message 4 5 3 Update Rate The module supports the update rates up to 4 Hz This function is activated by sending the UBX CFG RATE message The default update rate is 1 Hz
41. MUST leave open if VIN 1 is used Ground Ground Serial port 2 leave open if not used T O O Serial port I leave open if notused o a Backup input voltage 1 95 3 3V DC connect to ground if not used Time pulse leave open if not used Serial port 2 leave open if not used Serial port 1 leave open if not used 0 Note Voltage input 5 12V DC MUST leave open if VIN 2 is used Antenna bias voltage input DC 1 8 8 0V connect to ground Voltage input 5 12V DC MUST leave open if ViN 2 is used if not used Voltage input 3 3 V DC MUST leave open if VIN 1 is used Backup voltage input 1 95 3 3V DC connect to ground if not used GPS status leave open if not used I O Reset active low leave open if not used Time pulse leave open if not used i Reserve I External interrupt pin default internal pull up leave open if not used Li nz o __seatp2teave pentane Tx1 o Sei or 1 eve openiton ed Reserve Table 2 1 Description of pin definition for FV 25 Note Only either VIN 1 or VIN 2 can be used for voltage input while VIN 2 is the pin for DC 3 3V and Vin 1 is for DC 5 12V 2 2 Sanav_Demo Sanav_Demo is required to run on a PC with at least 4 MB RAM and Windows 98 that has at least one available serial comm port from 1 to 24 2 2 1 Port Number amp Baud Rate When users implement Sanav Demo the first window appeared on the screen is the setting of comm port number
42. NOTE The update rate has effects on power consumption and position accuracy 4 5 4 Kinematic Mode The module enables users to select the corresponding kinematic mode such as static case and different dynamic scenarios for a vehicular carrier This function is implemented by sending the UBX CFG NAV message 4 6 Navigation for Less Than 4 Observable Satellites 4 6 1 2D Navigation When number of observable satellites is 3 the navigation algorithm of the module allows position estimate but with the assumption of constant altitude 1 e the module enters 2D navigation If the 2D position fix is the first position fix since power on the 32 initial assumed value of the altitude is 500 m If the 2D position fix occurs after the 3D position fix number of observable satellites drops from at least 4 to 3 the value of the altitude will keep the last known value of the altitude from the previous 3D position fix 4 6 2 Dead Reckoning As the module loses the tracks for all observable GPS signals because of for example an external blockage the navigation algorithm implements the Dead Reckoning strategy The strategy assumes the same velocity and direction as the last known values of velocity and direction i e the constant velocity and direction during the event Under the assumption the positions are predicted extrapolated but with indication NoFix until the Dead Reckoning timeout is reached The value of the timeout is set by
43. NT has to be connected to GND Table 1 1 Specification of FV 25 Chapter 2 Start 2 1 Pin Definitions and Reference Layout Figure 2 1 shows the pin definitions of FV 25 Table 2 1 describes the corresponding definitions for pins Note that only either use Vin 1 DC 5 12V or Vin 2 DC 3 3V for voltage input Also if the Pins 1 10 are used please leave Pins a n being opened There are two comm ports to input output the useful information i e receiver s and satellites data for the users The default setting for comm either Pins 5 and 10 or Pins and m is to input output the information in the ASCII format which is NMEA with the default baud rate 4800 bps and the default setting for comm 2 either Pins 4 and 9 or Pins j and k is to input output the information in the binary format which is UBX proprietary messages with the default baud rate 4800 bps The protocols for NMEA and UBX sentences will be introduced in Chapter 7 AII the serial ports are operated at the level of 1 8 V 1 Vant 6 Vin 1 5 12 2 Vin 2 3 3v 7 Veak 3 Ground 8 1 PPS 4 RX2 9 TX2 5 TX1 10 RX1 Figure 2 1 FV 25 Pin definitions Top View a Vin 5 12V b VANT C ViN 2 3 3v d Vgak e Status f Ground g Reset h 1 PPS i Reserved j TX2 k RX2 I RX1 m TX1 n Reserved Pin Definitions Note Antenna bias voltage input DC 1 8 8 0V connect to ground if not used Voltage input 3 3V DC
44. REQ If there is no data available from a near base station the module is back to its normal start up modes 4 4 Sensitivity There are three modes available for the module which are Normal Fast Acquisition and High Sensitivity Table 4 2 lists their associated definitions Sensitivity Modes Properties Notes Normal Default setting Fast Acquisition Normal sensitivity 3 dB When the C N ratio of the strongest GPS signal is greater than 48 dB this mode can be used High Sensitivity Normal sensitivity 3 dB When the C N ratio of the strongest GPS signal is less than 45 dB this mode can be used Table 4 2 Available sensitivity modes When the module tracks the weak GPS signals the High Sensitivity mode is preferable as compared with the case for tracking strong GPS signals in which the Fast Acquisition is preferable Different modes correspond to different TTFF times under different start up modes i e it s a trade off between sensitivity and TTFF time Usually the TTFF relationships among three modes are TTFFg amp lt TTFF oma lt TTFFhigh where TTFF TTFF for Fast Acquisition Normal or High Sensitivity mode Users are recommended to use the default setting Normal mode due to the unknown and variable operating condition that the module is surrounded The sensitivity setting is activated by sending the request the UBX CF
45. Tri M Systems Inc Unit 100 1407 Kebet way Port Coquitlam BC V3C 6L3 Canada www tri m com Phone 604 945 9565 Fax 604 945 9566 info tri m com FV 25 USER S GUIDE This document features the specification of FV 25 and describes the details on using the evaluation kit to evaluate the performance of FV 25 and select the desired functions It intends to help users to obtain the maximum performance from FV 25 in users integrating GPS systems Version 1 0 Date January 2005 Contents Prelat sesoses sce scnccoiocwek cts cacendecede suet eceusracsenaueiewstonss Chapter 1 Introduction 1 ec ecce deer eee erret LL UP POR Sms reca ty podio SEE vee NERO EYE E ARERE TR RE ERU E dde p ybi dust Chapter 2 Star by ooo ro ire Eee pin sionist sosina 2 1 Pin Definitions and Reference Layout sssssss 22 SaNa V DEMO eserse iS Eo EXER ROLE Was ECTS ND Eee 2 2 1 Port Number amp Baud Rate urs erede ropa UE Es 2 2 2 Comm Port Connection and Disconnection 22 3 Constellation Map coe top teo tu aera eo E lode ga 2 2 4 Message View for NMEA Messages sees 2 2 5 Available NMEA Messages see 2 2 6 GPS Satellite Information eese 22 T Receiver InfottiallOn s 2i oor rer concede NA Tabu aT ARE 2 2 8 TRACKING Viewer sonerien wet v ata d cu Tu R EEE E ek 22 9 User SCIES eo T o Aa Ive hana EDUARD v RE dep i 2 2 9 1 PositiOB ios o a E E aE EE
46. address 4 U4 Flags 0 download 1 download ACK 2 download NACK The following data will be repeated N times depending on the length of data 8 N 1 Ul Data NOTE A block of data may be downloaded to memory by implementing several UPD DOWNL messages The starting addresses are increased for the following UPD DOWNL messages based on the already transmitted bytes 138 UPD UPLOAD 0x09 0x02 It is an I O message It is used to upload data from memory Header ID Data Length Data Checksum OxB5 0x62 0x09 0x02 12 N 1 See below CK_ACK_B Data Offset bytes Format Descriptions Notes 0 U4 Upload starting address 4 U4 Data size 8 U4 Flags 0 upload 1 upload ACK 2 upload NACK The following data will be repeated N times depending on the length of data 12 N 1 Ul Data NOTE A block of data may be uploaded from memory by implementing several UPD UPLOAD messages The starting addresses are increased for the following UPD UPLOAD messages based on the already received bytes 139 Chapter 8 Troubleshooting The following table lists questions problems that you might encounter for operating the module and possible suggested resolutions for the questions problems If you have further questions problems that cannot be contact us resolved in this table please feel free to Questions Problems Suggestions 1 Nothing is output from the
47. and the corresponding value of baud rate as shown in Figure 2 3 To open or close the Setting window click the selection File Port or RA the short cut button V9 Figure 2 3 Setting of comm port number and the value of baud rate For selecting the comm port number pull the scroll down window for the Comm port item and there are twenty four comm port number available i e coml com24 as shown in Figure 2 4 Users can scroll down the desired window to choose the corresponding comm port number that connects between the module and the host PC 14 alia Fiia Aiai jii Aiia i F L i 129 LJ Figure 2 4 Setting of comm port number For setting the value of baud rate pull the scroll down window for the Baud rate item and the desired window shows that the available range of baud rate is from 2400 bps to 115200 bps as shown in Figure 2 5 The users select the right one that will communicate the module with the host PC LII n i x ER Wate pep diao Figure 2 5 Setting of the value of baud rate 2 2 2 Comm Port Connection and Disconnection After the setting is completed click the Connect button to make the connection between the GPS receiver module and host PC If the setting is correct the subsequent window will be the one shown in Figure 2 6 i e the navigation data from the module are displayed in the corresponding sub windows If the setting values are not correct or the con
48. ange ppm 0 0 50 0 90 CFG INF 0 x06 0x02 It s a poll request It s used to identify the output protocol Header ID Data Length Data Checksum OxB5 0x62 0x06 0x02 1 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 Ul Protocol ID 0 UBX protocol 1 NMEA protocol 2 RTCM protocol used for input only 3 RAW protocol 4 11 reserved 12 User0 defined protocol 13 Userl defined protocol 14 User2 defined protocol 15 User3 defined protocol 16 255 reserved CFG INF 0x06 0x02 It s an I O message It s used to set get message configuration As an input message several message configurations can be put into as one input sentence But as an output message the sentence only transmits one message configuration Header ID Data Length Data Checksum OxB5 0x62 0x06 0x02 N 8 See below CK ACK B Data Offset bytes Format Descriptions Notes The following data will be repeated N times number of comm ports 0 N 8 Ul Protocol ID 0 UBX protocol 1 NMEA protocol 2 RTCM protocol used for input only 3 RAW protocol 4 11 reserved 12 User0 defined protocol 91 13 Userl defined protocol 14 User2 defined protocol 15 User3 defined protocol 16 255 reserved 14 N 8 Ul Reserved 24
49. at Descriptions Notes 0 U4 Status indicating which tasks Bit mask have run 4 U4 Status indicating which tasks Bit mask are scheduled to run 8 U4 Status indicating which tasks Bit mask are overrun 12 U4 Status indicating which task IDs Bit mask have a registered task function 16 U2 Number of bytes used for system stack bytes 18 U2 Stack size in bytes 20 U2 CPU idle time in the scale of 1 1000 22 U1 Number of fully used slots in the last 100 23 Ul Number of partly used slots in the last 100 107 MON IO 0x0A 0x02 It periodically polls the I O status Header ID Data Length Data Checksum OxB5 0x62 OxOA 0x02 80 See below CK ACK B Data Offset bytes Format Descriptions Notes The following data will be repeated four times N 4 0 N 20 U4 Number of bytes which are received bytes 44N 20 U4 Number of bytes which are sent bytes 8 N 20 U2 Number of 100 ms slots which have overrun errors 10 N 20 U2 Number of 100 ms slots which have framing errors 12 N 20 U2 Number of 100 ms slots which have overrun errors 144 N 20 U2 Number of 100 ms slots which have break conditions 16 N 20 Ul Flag Indicating that receiver is busy 17 N 20 Ul Flag Indicating that transmitter is busy 18 N 20 U2 Reserved 108 MON MAGPP 0x0A 0x06 It periodically polls message parse and process status Header ID D
50. ata Length Data Checksum OxB5 0x62 Ox0A 0x06 144 See below CK_ACK_B Data Offset bytes Format Descriptions Notes 0 U2 16 Number of successful parsed message for each protocol on Target 0 32 U2 16 Number of successful parsed message for each protocol on Target 1 64 U2 16 Number of successful parsed message for each protocol on Target 2 96 U2 16 Number of successful parsed message for each protocol on Target 3 128 U4 4 Number of skipped bytes for each target 109 MON RXBUF 0x0A 0x07 It periodically polls the status of receiver buffer Header ID Data Length Checksum OxB5 0x62 OxOA 0x07 16 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U2 4 Number of pending bytes in receiver buffer on each target bytes 8 U1 4 Maximum usage receiver buffer for the last system monitoring period of each target 12 U1 4 Maximum current usage receiver buffer for each target 110 MON TXBUF 0x0A 0x08 It periodically polls the status of transmitter buffer Header ID Data Length Data Checksum OxB5 0x62 Ox0A 0x08 20 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U2 4 Number of pending bytes in receiver buffer on each target bytes 8 U1 4 Maximum usage receiver buffer for the last system monitoring period of each target 12 U1 4 Maximum current usage receiver buffer f
51. away from the possible noise sources for example the module and peripheral circuits and the active antenna will have good performance if it is located far from the noise sources This will ease the circuit design and the received signals is less sensitive to jamming But the active antenna will increase the power consumption of the whole system typically in the range of 5 mA to 20 mA It is recommended to use an active antenna if the cable length between module and antenna exceeds 10 cm The same advice also goes for users without much experience on the RF design For FV 25 the active antenna gain should not exceeds 25 dB because an saturation overload condition might occur for high gain gt 25 dB cases NOTE It s better not to disconnect antenna during the operation of the module The calculation of the reference floor noise is based on the actual condition after the power is turned on Hence the reacquisition time may be prolonged after re connecting the antenna to the module NOTE To verify the reacquisition time users can use a physical object to block the antenna from receiving the signal until the module loses the lock of the satellites and then take the object away from the antenna 39 6 3 Active Antenna Supervisor Short Circuit Protection This is a built in function that is monitored by the BaseBand processor If an abnormal current occurs and is detected the voltage supply at pin VANT from the external or in
52. cellent advantages FV 25 has the capabilities to perform low power consumption due to the advanced hardware components and implement power saving function owing to versatile firmware The properties are very suitable for battery operated products In addition our module has the size of only 25 4 mm x 25 4 mm This feature allows the module more executable and achievable in the system integration especially for the size mattered products like handheld devices Because of using advance technology in package the module is highly integratable with other components and can be automatically assembled and proceeded in a standard pick and place equipment and reflow soldering in high volume Therefore the cost of module can be reduced 1 1 Supports For FV 25 we will provide a evaluation kit as an optional The evaluation kit helps the users to perform the estimation of the module which includes the start up times reacquisition time setting of NMEA sentences baud rate setting etc All those functions and evaluations are supported by Sanav_Demo which accompanies with the kit and is developed by San Jose Navigation Inc Of course for the customers without purchasing the kit a reference layout for peripheral connections and Sanav_Demo are available The details of the reference layout and Sanav_Demo will be described in Chapter 2 For the evaluation kit its introduction is depicted in Chapter 5 The other available tool for evaluate the module
53. der ID Data Length Data Checksum OxB5 0x62 0x02 0x10 8 N 24 See below CK_ACK_B Data Offset bytes Format Descriptions Notes 0 14 GPS time of week ms Receiver time 4 D GPS week number Receiver time 6 Ul Number of satellites following 7 Ul Reserved The following data will be repeated N times number of satellites 8 N 24 R8 Carrier phase measurement L1 frequency cycles CP 164 N 24 R8 Pseudorange measurement m PR 244 N 24 R4 Doppler measurement Hz DO 284 N 24 Ul PRN number 294 N 24 Il Measurement quality indicator gt 4 PR DO gt 5 PR DO CP lt 6 likely loss of carrier lock in the previous interval 30 N 24 I1 CNO dBHz Carrier to noise ratio 314 N 24 Ul Indicator for loss of lock RINEX definition 128 RXM SFRB 0x02 0x11 It periodically outputs the data in the subframe of navigation message Header ID Data Length Data Checksum OxB5 0x62 0x02 Ox11 42 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 Ul Channel number 1 U1 PRN number 2 14 WORDO 6 I4 WORDI 10 I4 WORD2 14 I4 WORD3 18 I4 WORD4 22 14 WORDS 26 I4 WORD6 30 I4 WORD7 34 I4 WORDS 38 I4 WORD9 NOTE For GPS satellites each word contains the parity checked subframe data in 24 bits Bits 23 0 and the rest of 8 bits in each word are undefined The higher order bits receive data first For more information about GPS navigation message
54. e PUBX 41 message The module supports RTCM Correction Type Messages 1 2 3 and 9 For more information about 33 RTCM protocol please refer to the web site http www rtcm org The DGPS parameters can be changed in the UBX CFG NAV message like DGPS Timetag Rounding Do not change them under no specific reasons because the default values are based on real tests with DGPS function NOTE The correction data from the RTCM messages can be monitored by the UBX NAV DGPS message which doesn t provide the supervision on WAAS and EGNOS 4 9 Receiver Autonomous Integrity Monitoring RAIM The purpose of RAIM is to monitor the received GPS signals and ensure the message data from satellites which are valid for estimating navigation solution With five observable GPS satellites a bad satellite could be detected if existed For the case with at least six observable satellites an existed bad satellite could be detected and neglected in the estimation of navigation solution The default setting for RAIM is on and can be controlled by three parameters Range Check Doppler Check and Delta Check all enabled in the UBX CFG NAV message It is recommended that RAIM function is always on 4 10 Time Pulse 1 PPS Pin 14 Time Pulse will output the default setting 1 PPS if it is connected For the Time Pulse settings and information refer to the UBX CFG TP and UBX TIM TP messages 34 Chapter 5 Evaluation Kit The evaluation k
55. e 4 of Pages 1 24 and the sub frame 5 of Pages 2 10 More information about almanac data structure is referred to ICD GPS 200 2 WORDO WORD7 don t include the data of the parity bits Hence Bits 0 23 is used to locate the 24 bits of the data and Bits 24 31 are the sign extension of the data 75 AID EPH 0x0B 0x31 It s a poll request when data length is equal to 0 Poll all available aiding ephemeris data Header ID Data Length Data Checksum OxB5 0x62 OxOB 0x31 0 None CK ACK B AID EPH 0x0B 0x31 It s also a poll request Poll a specific aiding ephemeris data Header ID Data Length Data Checksum OxB5 0x62 OxOB 0x31 1 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 Ul PRN number This will request the desired almanac data for the specific GPS satellite AID EPH 0x0B 0x31 It s an I O message Poll aiding almanac data Header ID Data Length Data Checksum OxB5 0x62 OxOB 0x31 8 n 96 See below CK_ACK_B Data Offset bytes Format Descriptions Notes 0 U4 PRN number The following data are for this specific satellite 4 U4 Hand Over Word HOW of the 0 invalid ephemeris data first sub frame The following data will be repeated n times n number of valid ephemerides 8 n 96 U4 Sub frame 1 WORDO 12 n 96 U4 Sub frame 1 WORDI 16 n 96 U4 Sub frame 1 WROD2 20
56. e CK ACK B 70 AID INI 0x0B 0x01 It s a poll request when data length is equal to 0 Poll GPS initial aiding data Header ID Data Length Data Checksum OxB5 0x62 OxOB 0x01 0 None CK ACK B AID INI 0x0B 0x01 This is an I O message It contains the information of position and time As an output message the value of the clock drift is always 0 and assigned invalid Header ID Data Length Data Checksum OxB5 0x62 OxOB 0x01 48 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 14 X coordinate in the ECEF frame cm 4 14 Y coordinate in the ECEF frame cm 8 14 Z coordinate in the ECEF frame cm 12 U4 Position accuracy cm Standard deviation 16 U2 Time mark configuration 0x01 enable time mark 0x02 falling edge Pin used for time mark 0x00 Extint 0 0x10 Extint 1 0x20 Extint 2 18 U2 GPS week number 20 U4 GPS time of week ms 24 14 Subms part of GPS time ns 28 U4 Millisecond part of time accuracy ms 32 U4 Nanosecond part of time accuracy ns 36 14 Clock drift ns s 40 U4 Clock drift accuracy ns s 44 U4 Flags 0x1 valid position fields 0x2 valid time fields 0x4 valid clock drift fields 0x8 accurate time is input by with time pulse 71 AID HUI 0x0B 0x02 It s a poll request when data length is equal to 0
57. ed CFG PRT 0x06 0x00 It s a poll request Poll the current configuration for a specific comm port Header ID Data Length Data Checksum OxB5 0x62 0x06 0x00 1 See below CK_ACK_B Data Offset bytes Format Descriptions Notes 0 U1 Port number CFG PRT 0x06 0x00 It s an I O message As an input message the port configurations for several ports can be put together into one input sentence As an output message the message only transmits the configuration from one specific comm port Header ID Data Length Data Checksum OxB5 0x62 0x06 0x00 N 20 See below CK_ACK_B Data Offset bytes Format Descriptions Notes The following data will be repeated N times number of comm ports 0 N 20 U1 Port number 1 N 20 U1 Reserved 24 N 20 U2 Reserved 4 N 20 U4 USART mode Bit mask Bit 7 6 character length 00 5 bits 01 6 bits 10 7 bits 11 8 bits Bit 11 9 parity 000 even 001 odd 10X no X1X reserved Bit 13 12 00 1 stop bit 01 1 5 stop bit 78 10 2 stop bit 11 reserved Bit 16 0 LSB first bit order 1 MSB first bit order Bit 19 0 16x oversampling 1 8x oversampling 8 N 20 U4 Baud rate bps 12 N 20 U2 Input protocol for a single port Multi protocols can be selected for a single port Bit mask 0x0001 UBX protoco
58. eees Figure 2 2 A reference layout for FV 25 lesser Figure 2 3 Setting of comm port number and the value of baud rate Figure 2 4 Setting of comm port NUMbeT scssseesssesrrrrreererrerssrrereree Figure 2 5 Setting of the value of baud rate os lt 2 eerte Figure 2 6 Window after correct setting eese Figure 2 7 Constellation Map of GPS satellites cce Figure 2 8 Window for showing NMEA messages eee Figure 2 9 Show all MS WIDIOW 2 325002 teo eg emo e RE eEE PE Cd CE ea D emu vi Figure 2 10 Available NMEA messages ssss ees Figure 2 11 GPS satellite InFOHBDatloli sis cere cereis ev teer Ne Saa pO pe EeERRPYSE Figure 2 12 Receiver Informiatloti occ sv E E EE RR os ahd teal Figure 2 15 Tracking Views oue ries ope naa Een Rata UP eee uae Eipure 2 14 Initial poSIHOD eie eod eere xp re retro TEO RE E deua pt est ce Desh Figure 2 15 Initial UTC time and day sis ssec etre o We vem Ele DIR Ergure 2 16 Local time ZOHe esce idea Ie o EEE ney cease en Ligure 2 17 Restatkaecti o eee UE ee b esM ETENEE TET EEEa Figure 2 18 DGPS mestiere reae cR usc vut eee Figure 2 19 Setting of coordinate datulti 2 o reto Pp e e eseesdentuesaeess Figure 3 1 HyperTerminal application cesse Figure 3 2 Connection settings 2s sees es rota dore oe save ev ser pP SA d eI RE RRESA Figure 3 3 Correct connection Settngsis iei eoe der oer REEL HREREATE
59. eiver s position For a satellite not used in the calculation of the receiver s position the satellite will be marked by x in the corresponding row of Used in Position and gray color in the SNR diagram This sub window can be activated by two ways Windows Channel Signal Level View or the shortcut button 19 aiii Dhf pisis Ee iiih ES la Dhani 1 2 E 3 T 1 I E TEE m m x DO im i i z Tirai ria J T i i E 4 x T iE Aroma re ZI i Xm H4 dmm 1 ded i hi Fiat x 4 4 4 i 8 d PTT a d j n Figure 2 11 GPS satellite information 2 2 7 Receiver Information Figure 2 12 describes the receiver information They are UTC Date day month year UTC Time hour minute second Lat latitude xxyy yyyy xx degree yy yyyy minute southern hemisphere Lon longitude xxxyy yyyy X xxx degree yy yyyy minute western hemisphere Alt altitude meter SVs Used All number of satellites used for position calculation number of the observable satellites Mode 2D or 3D position PDOP Position Dilution Of Precision geometry among the receiver and GPS satellites Speed module s speed knot True Course module s moving direction with respect to North clockwise degree Datum type of coordinate frame default WGS 84 GPS Quality SPS or PPS mode position fixed or not The sub window is activated by two ways clicking Windows Measured Navigation Message View or the
60. ellites As the observable satellites are acquired time and almanac data are updated if needed and the corresponding ephemeredes are downloaded and decoded As soon as the module are tracking at least three GPS satellites the position is calculated and updated and the module is in the navigation mode For the hot start mode based on the available time position almanac and ephemeris data the channels up to 12 are assigned with observable satellites and the rest of them are assigned to unobservable satellites The module enters the navigation mode almost instantly after power on The time and position will be updated if needed as the satellites are acquired But the almanac and ephemeris data will not be updated since they are already the newest information NOTE To implement the warm and hot starts a backed up battery is needed to run the RTC The updated position ephemeris and almanac can be retrieved from BBR or Flash memory 4 3 Aiding AGPS The module can implement Assisted GPS AGPS function which will accept external input information such as time position almanac and ephemeris This will improve the performance of the module on Time To First Fix TTFF How much this 30 will improve on TTFF depends on the accuracy of position and time from a near base station service center as well as hardware synchronization The AGPS function of the module is activated by sending u blox binary protocol UBX AID
61. er vector that contains the data in the calculating range i e from CLASS ID to DATA N number of bytes that contains the desired data The two checksums have to be masked with OxFF after the operations in the loop if large sized integer values are executed 7 2 1 Data Format Table 7 1 describes the types of data that are used in the module On the basis of IEEE754 single double precision the floating point values are defined Acronym Date Type Size Range Resolution Note bytes Ul Unsigned Char 1 O 255 1 Il Signed Char 1 128 127 1 28 complement U2 Unsigned Short 0 65535 1 D Signed Short 32768 32767 1 2 s complement U4 Unsigned Long 4 0 4294967295 I4 Signed Long 4 2147483648 il 2 s 2147483647 complement R4 IEEE754 Single 4 1 2 77 2 77 value 2 Precision 65 R8 IEEE754 Double 8 1 2 2 Value 2 3 Precision CH ASCH ISO 8859 1 Encoding Table 7 1 The types of data 7 2 2 Classification of UBX Messages The u blox proprietary messages are classified into 9 groups Based on a specific topic each group contains the associated information They are summarized in Table VT Class ID Class Name Class No Hex Comment ACK Acknowledgement 0x05 Respond to the input request Ack Nack AID _ Aiding OxOB AGPS or other similar functions CFG Configuration 0x06
62. erence on the incoming GPS signals from the module and the peripheral electronic circuits even worse the interference will cause signal jamming Therefore more careful considerations on the layout of RF section should be taken This selection is only suitable for those who are familiar with the RF design 38 For using passive antennas the pin VANT DC bias voltage on the module is connected to ground and the antenna is directly connected to the GPS signal input pin ANT Sometimes a passive matching connection is required to match the electrical circuit to 50 Ohms impedance 6 2 Active Antennas For FV 25 the active antenna is integrated with a Low Noise Amplifier LNA which is a built in component part in the RF section Through pin ANT the module obtains the incoming signal from the antenna The power supply for the active antenna is from pin VANT and in general the supply voltage is transmitted by the coaxial RF cable The supply voltage in pin VANT is supported by either source One is from the external power supply and the other is from the output pin Vgr connected with VANT which is the power supply from the module for RF section The voltage requirements for the antenna and the pins on the module have to be specified The use of the active antennas will decrease the bad effects which result from the cable loss and hardware noises on the received GPS signals Therefore the placement of the active antenna can be
63. eters Descriptions Notes grsl UTC time from the GGA hh minute hhmmss ss mm SS SS second hour grs2 Mode to indicate the way to calculate the range residuals 0 calculate the range residuals while the GGA position is estimated 1 recalculate the range residuals after the GGA position is estimated Always in Mode 1 grs3 12 Range residuals for satellites used in position calculation There will be 12 available fields for residuals If number of than 12 the remaining fields will be left as empty satellites is less fields If number of satellites is greater than 12 only the values of the first 12 satellites will be output 999 9 999 9 bh Checksum hex number 2 character lt CR gt lt LF gt End of message 45 GSA GNSS DOP and Active Satellites Receiver operating mode the values of DOPs and PRN numbers for satellites used in the GGA position solution GPGSA gsal gsa2 gsa3 12 gsa4 gsa5 gsa6 hh CR LF Parameters Descriptions Notes gsal gsa2 Mode for position fix fix not available 2 2D 3 3D gsa3 12 IPRN numbers for satellites used in the xx position solution There will be 12 available fields for PRN numbers If number of satellites is less than 12 the remaining fields will be left as empty fields If number of satellites is greater than 12 only the values of the first 12 sate
64. fferential GPS SPS 6 Estimated position DR gga7 Number of SVs used in position xx 00 12 estimation ggas HDOP xx x 00 0 99 9 gga9 Altitude above mean sea level geoid ggal0 Unit for Altitude M meter ggall Geoidal separation ggal2 Unit for geoidal separation M meter ggal3 Age of differential corrections unit second null when DGPS is not used ggal4 Reference station ID DGPS xxxx 0000 1023 hh Checksum hex number 2 character lt CR gt lt LF gt End of message 43 GLL Geographic Position Latitude Longitude Navigation data and status GPGLL gll1 9112 2113 9114 g115 9116 g I7 hh CR LF Parameters Descriptions Notes gill Latitude ddmm mmmmm dd degree mm mmmmm minute 0 90 gll2 Latitude sector N North S South gll3 Longitude dddmm mmmmm ddd degree mm mmmmm minute 0 180 gll4 Longitude sector E East W West gll5 UTC time as position is fixed hhmmss ss hh hour mm minute ss ss second gll6 Status for position fix A Valid V Invalid gll7 Navigation mode indicator A Autonomous mode fix D Differential mode fix E DR fix N not valid hh Checksum hex number 2 character lt CR gt lt LF gt End of message 44 GRS GNSS Range Residual This message is used to monitor and support RAIM GPGRS grsl grs2 grs3 12 hh CR LF Param
65. ian 1954 Thailand INF A 217 0 823 0 299 0 Indian 1960 Vietnam ING A 198 0 881 0 317 0 near 16N ING B 182 0 915 0 344 0 Island Vietnam Indian 1975 Thailand INH A 209 0 818 0 290 0 Indian 1960 Con Son 19 Indonesian 1974 IDN 5 0 Kandawala Sri Lanka KAN 787 0 Kertau 1948 West KEA 11 0 851 0 5 0 13 NAH A 247 0 148 0 369 0 7 NAH B 249 0 156 0 381 0 7 Timbalai 1948 Brunei amp East Malaysia Sarawak TIL 679 0 669 0 48 0 10 amp Sabah TOY M 148 0 507 0 685 0 Tokyo Japan TOY A 148 0 507 0 685 0 Malaysia amp Singapore Nahrwan Masirah Island Oman Nahrwan United Arab Emirates Tokyo Mean Solution Japan Okinawa amp South Korea 144 e 62 63 64 65 66 67 70 71 72 73 74 75 76 77 78 79 Tokyo Okinawa TOY C 158 0 507 0 676 0 Tokyo South Korea TOY B 146 0 507 0 687 0 x Australian Geodetic 1966 AUA 133 0 48 0 148 0 3 Australia amp Tasmania Australian Geodetic 1984 134 0 48 0 149 0 3 Australia amp Tasmania European 1950 Mean AU B DK FN E G EUR M 87 0 98 0 121 0 20 GR I LUX NL N P E e bi B European 1950 Cyprus EUR E 104 0 101 0 140 0 E European 1950 Egypt EUR F 130 0 117 0 151 0 om European 1950 England Wales Scotland EUR G 86 0
66. ime of week ms 4 14 Remainder of rounded GPS time 500000 500000 of week relative to GPS millisecond time of week ns 8 D GPS week 10 Ul Navigation mode 0x00 no fix 0x01 dead reckoning 0x02 2D fix 0x03 3D fix 0x04 GPS dead reckoning 0x05 OxFF reserved 11 Ul Flags 0x01 GPS fix ok under DOP and accuracy masks 0x02 DGPS used 0x04 week number valid 0x08 time of week valid the rest of them reserved 12 14 X coordinate cm In the ECEF frame 16 14 Y coordinate cm In the ECEF frame 20 14 Z coordinate cm In the ECEF frame 24 U4 3D position accuracy cm 28 I4 X velocity cm s In the ECEF frame 32 I4 Y velocity cm s In the ECEF frame 36 I4 Z velocity cm s In the ECEF frame 40 U4 Speed accuracy cm s 44 U2 PDOP Scaling 0 01 46 Ul Reserved 47 Ul Number of SVs used in the navigation solution 48 U4 Reserved 118 NAV VELECEF 0x01 0x11 It periodically polls velocity solution in the ECEF frame Header ID Data Length Data Checksum OxB5 0x62 0x01 Ox11 20 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 14 X velocity cm s In the ECEF frame 8 14 Y velocity cm s In the ECEF frame 12 I4 Z velocity cm s In the ECEF frame 16 U4 Speed accuracy cm s 119 NAV VELNED 0x01 0x12 It periodically polls velocity solution in the NED frame
67. ion data s 9 U1 Timeout for carrier phase correction data s 10 U2 Carrier Lock Time CLT conditional lower limit ms 12 U2 CLT absolute lower limit ms 14 U1 Epochs for DR 15 U1 Navigation options Bit mask 0x01 enable pseudorange check 0x02 enable Doppler check 0x04 enable Delta range check 0x08 enable ALM EPH consistency check 0x10 enable almanac navigation 0x20 reserved 0x40 reserved 0x80 reserved 16 U2 PDOP mask Scaling 0 1 18 U2 TDOP mask Scaling 0 1 20 U2 Position accuracy mask m 22 U2 Time accuracy mask m 24 U2 Frequency accuracy mask m s Scaling 0 1 26 U1 Static threshold cm s 0 disable 27 U1 Reserved 88 CFG DAT 0x06 0x06 It s a poll request Poll datum setting The module will respond the same message defined below I O message Header ID Data Length Data Checksum OxB5 0x62 0x06 0x06 0 None CK ACK B CFG DAT 0x06 0x06 It s an input message Set the standard datum Header ID Data Length Data Checksum OxB5 0x62 0x06 0x06 2 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U2 Datum number Referred to Appendix A CFG DAT 0x06 0x06 It s an input message Set user defined datum Header ID Data Length Data Checksum OxB5 0x62 0x06 0x06 44 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 R8 Semi maj
68. ion or external interrupt is to utilize the internal RTC which is used for a timeout setting For enabling or disabling the FXN send the request by using the UBX CFG RXM message For the detail configuration of this mode refer to the UBX CFG FXN message NOTE The descriptions of the UBX proprietary messages are referred to Chapter 7 NOTE To implement the current configuration in the next time the current one has be saved in the Battery Backed RAM BBR which is powered by a backed up battery 1 95V 3 6V or the Flash memory 4 2 Start Up Modes Table 4 1 shows the differences among cold start warm start and hot start modes 29 Wired Cold Start Table 4 1 Conditions for Start Up modes For the cold start mode the module assigns all the available SVs to 16 channels in a defaulted order As a satellite is acquired GPS time associated ephemeris and almanac data which will take 12 5 minutes to download the data for all the available satellites are being downloaded and decoded and the module s status is then transferred to tracking start Once number of tracking satellites with valid ephemeredes are greater than and equal to 3 the module s position is calculated and output i e the module starts to navigate For the warm start mode based on the available time from RTC position and almanac data the channels up to 12 are assigned with observable satellites and the rest of them are assigned to unobservable sat
69. is Window s HyperTerminal For utilizing this tool and at the same time understanding the capability of the module the commands and messages for polling data or setting configuration are described in Chapters 4 and 7 Specification Performance Characteristics Receiver Type Position Accuracy w o aid DGPS WaAAS EGNOS RTCM AGPS Support Start up Time Hot start Warm start Cold start Reacquisition Time Acceleration Update Rate Timing Accuracy Sensitivity Acquisition Tracking Power Input Voltage Backup Voltage Power Consumption Acquisition Tracking Sleep mode I O Protocols Serial Ports 1 PPS Raw Measurements Environment Operating Temperature Storage Temperature Mechanical Information L1 frequency C A code 16 Channels 3 3 m CEP 2 6m Yes 3s 35s 4ls 1s 4g up to 4 Hz 50 ns RMS 140 dBm 149 dBm 5 0 12 0 V DC 1 95 3 3V DC 101 mA 3 V 84 mA 3V 20 mA 93V NMEA UBX binary RTCM Two RS232s 3 3 V 1 8V Pseudorange and Carrier Phase 40 C 85 C 40 C 125 C Dimension 37 1mm x 25 6 mm Thickness 3 9 mm Weight 9 5 g include an SMA jack and 5 cm RG 316 Antenna Type External Active or Passive Antenna Input Voltage V ant 1 8V 8VDC Input Power limit Active 17 dBm Gain Active up to 25 dB Supervision Build in short circuit detection External open circuit detection Note For using the passive antenna Pin VA
70. ists the available NMEA and u blox proprietary UBX messages for the module Chapter 8 Troubleshooting This chapter provides good helps when the module isn t running properly Appendix A Geodetic ID Coordinate Datum Appendix B Acronyms In addition to the above brief description for each chapter you also can find useful definitions for GPS terminologies in the Appendix B as well as the lists of figures page and tables page Please read this user s guide carefully and thoroughly before proceeding the operations of the module If you experience questions and problems about FV 25 and the evaluation kit please refer to the Troubleshooting section first If further helps are needed please feel free and go to our information service on the homepage www sanav com We are glad to answer and resolve your questions and problems Technical Support Address OF No 105 Shi Cheng Road Pan Chiao City Taipei Hsien Taiwan R O C Phone 886 2 2687 9500 Fax 886 2 2687 8893 E mail Address sanav sanav com When you send a request to us please prepare the following information that may help us to resolve your problem as soon as possible 1 Serial No of Product 2 Type of antenna that is connected to the module 3 Operating System OS of your host PC 4 Simple description of your integrated system may also included peripheral connections and devices Describing the way you operate your system nn Descrip
71. it is an optional accessory while purchasing the module It will provide an easy way to estimate the performance of our module The users can also follow the reference circuit design in Chapter 2 to test the performance of the module In this chapter all the information about the evaluation kit which includes the output ports buttons and LED lights is described As long as the procedure is correct and complete the module will output the desired messages at the desired port and activate the desired functions through the desired port All of those functions can be achieved by using software commands The settings and commands are described in Chapters 2 and 7 As shown in Figure 5 1 the appearance of the evaluation kit is depicted The whole kit should include in addition to the main box itself a12 V adapter an active antenna with SMA male connector two RS232 cables mw ps Figure 5 1 Main box of the evaluation kit Figure 5 2 shows the front panel of the evaluation kit It includes from left to right Power Switch Comm Port 2 Boot button LED function lights and Reset button The default output protocol for Comm Port 2 is UBX binary messages with baud rate 57600 bps The Boot button is for read write purpose to the flash memory The definitions for LED lights are indicated in the figure The Reset button can be used to 35 re start up the GPS module in the either Continuous Tracking Mode or FixNow mode
72. l 0x0002 NMEA protocol 0x0004 RTCM protocol 0x1000 User0 defined protocol 0x2000 Userl defined protocol 0x4000 User2 defined protocol 0x8000 User3 defined protocol The rest of bits are reserved 144 N 20 U2 Output protocol for a single port Multi protocols can be selected for a single port Bit mask 0x0001 UBX protocol 0x0002 NMEA protocol 0x0008 RAW protocol 0x1000 User0 defined protocol 0x2000 Userl defined protocol 0x4000 User2 defined protocol 0x8000 User3 defined protocol The rest of bits are reserved 16 N 20 U2 Flags Bit mask Bit 0 if set the Autobauding is enabled Bits 1 15 are reserved 18 N 20 U2 Reserved 79 CFG MSG 0x06 0x01 It s a poll request Poll a message configuration Header ID Data Length Data Checksum OxB5 0x62 0x06 0x01 2 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 Ul Class ID 1 Ul Message ID CFG MSG 0x06 0x01 It s an I O message As an input message the message rate configurations for several targets can be put together into one input sentence As an output message the message only transmits one message rate configuration from one target Header ID Data Length Data Checksum OxB5 0x62 0x06 0x01 N 6 See below CK ACK B Data Offset bytes Fo
73. lean 1963 South American 1969 Mean Solution Arg Bol Bra Chi Col Ecu Guy Par Per Tri amp Tob Ven South American 1969 Argentina South American 1969 Bolivia South American 1969 Brazil South American 1969 Chile South American 1969 Colombia South American 1969 Ecuador excluding SAN M 270 0 305 0 282 0 278 0 298 0 279 0 295 0 16 0 57 0 62 0 61 0 75 0 44 0 48 0 149 183 0 243 0 196 0 3 0 390 0 442 0 371 0 367 0 369 0 379 0 371 0 93 0 41 0 37 0 48 0 41 0 N e N 2 N 0 e o 2 N N N N NX N 22 2 N 2 N 22 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 Galapagos Islands South American 1969 N Baltra Galapagos Islands South American 1969 N N Guyana South American 1969 N N Paraguay South American 1969 N Peru South American 1969 45 0 12 0 Trinidad amp Tobago South American 1969 45 0 33 0 Venezuela Zanderij Suriname 265 0 120 0 358 0 Antigua Island Astro 1943 Antigua Leeward AIA 270 0 13 0 62 0 Islands Ascension Island 1958 205 0 107 0 53 0 320 0 550 0 494 0 Bermuda 1957 BER 73 0 213 0 296 0 Bermuda Islands Deception Island DID 260 0 12 0 147 0 Antarctica Fort
74. led 0 SBAS disabled Bit 1 SBAS testbed 1 use data anyhow 0 ignore data when in test mode SBAS Msg 0 Bits 2 7 reserved Ul SBAS usage Bit mask Bit 0 use ranges for navigation solution Bit 1 use differential correction Bit 2 use integrity information Ul Maximum number of channels for searching SBAS satellites 0 3 U1 Reserved U4 SBAS PRN numbers in searching channels All bits are set to 0 auto scan searching all available PRNs Bit 0 PRN 120 Bit 1 PRN 121 Bit 18 PRN 138 Bits 19 31 reserved set to 0 97 CFG TM 0x06 0x10 It s a poll request It s used to poll time mark configuration Header ID Data Length Data Checksum OxB5 0x62 0x06 0x10 0 None CK ACK B CFG TM 0x06 0x10 It s an I O message It s used to set get time mark configuration Header ID Data Length Data Checksum OxB5 0x62 0x06 0x10 12 See below CK_ACK_B Data Offset bytes Format Descriptions Notes 0 U4 Time mark input source EXTINT 0 31 EXTINT 1 30 EXTINT 2 29 4 U4 Rate of time mark task ms 8 U4 Flags for time mark task Bit mask Bit 0 0 time mark disabled 1 time mark enabled Bit 1 0 time mark on rising edge 1 time mark on falling edge Bit 2 0 based on GPS time 1 based on UTC time 98 CFG EKF 0x06 0x1
75. llites will be output gsa4 PDOP 0 99 9 gsa5 HDOP 0 99 9 gsa6 VDOP 0 99 9 hh Checksum hex number 2 character lt CR gt lt LF gt End of message 46 GST GNSS Pseudorange Error Statistics This message is used to monitor and support RAIM GPGST gst1 gst2 gst3 gst4 est5 gst6 gst7 gst8 hh lt CR gt lt LF gt Parameters Descriptions Notes gstl UTC time from the GGA hhmmss ss hh hour mm minute ss s second gst2 RMS value of the standard deviation of the range gst3 Standard deviation of semi major axis of Not supported empty field error ellipse meters gst4 Standard deviation of semi minor axis of Not supported empty field error ellipse meters gst5 Orientation of semi major axis of error Not supported empty field ellipse gst6 Standard deviation of latitude error meters gst7 Standard deviation of longitude error meters gst8 Standard deviation of altitude error meters hh Checksum hex number 2 character lt CR gt lt LF gt End of message 47 GSV GNSS Satellites in View This message indicates the observable satellites information such as PRN numbers elevation azimuth SNR and number of satellites in view GPGSV gsv1 gsv2 gsv3 gsv4 gsv5 gsv6 gsv7 n hh lt CR gt lt LF gt Parameters Descriptions Notes gsvl Total number of messages 1 9 gsv2
76. llowing interpretation for GPQ The port settings can be performed by sending the PUBX 41 message ASCII format or UBX CFG PRT message Binary format The following will summarize the available NMEA messages More information about the NMEA messages refers to NMEA 0183 Standard For Interfacing Marine Electronic Devices Version 2 30 March 1 1998 NOTE In the NMEA messages the position fix is valid only if the following conditions are satisfied 1 at least three satellites observable i e 2D or 3D 2 for the 3D case the position accuracy should be less than the setting value of the Position Accuracy Mask 3 The PDOP value is constrained by the setting value of 41 the PDOP Accuracy Mask 42 GGA GPS Fix Data Position fix related data such as position time number of satellites in use etc GPGGA gg2a1 gga2 gga3 gga4 gga5 gga6 gga7 gga8 gg29 ggalO ggall ggal2 gga 13 gga14 hh lt CR gt lt LF gt Parameters Descriptions Notes ggal UTC time as position is fixed hhmmss ss hh hour mm minute ss ss second gga2 Latitude ddmm mmmmm dd degree mm mmmmm minute 0 90 gga3 Latitude sector N North S South gga4 Longitude dddmm mmmmm dd degree mm mmmmnm minute 0 180 gga5 Longitude sector E East W West gga6 GPS quality indicator 0 No fixed or invalid position SPS Position available 2 Di
77. module after 1 power on O Check the port settings such as baud rate comm port number etc Check the cable connection between the module and running host platform whether the cable is firmly connected or not 2 The performance of the module is not as good as one expects 9 The observability of the antenna is not good Move the antenna to open space or remove the blockages Check the antenna matching problem For the active antennas the antenna gain cannot exceed 25 dB 3 The module doesn t output the desired 1 messages O Check the module whether the desired messages are activated or not Check the port setting whether the baud rate is sufficient or not 4 Comm port numbers are not shown in the list All the available comm ports for a computer are listed in the table If you can not select the desired one make sure the comm port is not used by other application 5 The variation of position is l Check the observability of the antenna significant Make sure the antenna has an open space view 2 Check the constellation of the observable GPS satellites 1e the values of DOPs Usually the higher the values of DOPs the worse the position accuracy 140 6 The estimated positions have steadily expressed about a few meters or up to a few hundred meters off the reference Make sure the estimated position and reference position are exp
78. n 96 U4 Sub frame 2 WORD2 524n 96 U4 Sub frame 2 WORD3 564n 96 U4 Sub frame 2 WORD4 60 n 96 U4 Sub frame 2 WORD5 644n 96 U4 Sub frame 2 WORD6 684n 96 U4 Sub frame 2 WORD7 724n 96 U4 Sub frame 3 WORDO 764 n 96 U4 Sub frame 3 WORD1 80 n 96 U4 Sub frame 3 WORD2 84 n 96 U4 Sub frame 3 WORD3 884n 96 U4 Sub frame 3 WORD4 92 n 96 U4 Sub frame 3 WORD5 96 n 96 U4 Sub frame 3 WORD6 100 n 96 U4 Sub frame 3 WORD7 NOTE 1 Sub frame 1 WORDO Sub frame 3 WORD7 contain the data following the Hand Over Word HOW in the navigation message The data are from the sub frame 1 to sub frame 3 More information about ephemeris data structure is referred to ICD GPS 200 2 Sub frame 1 WORDO sub frame 3 WORD7 don t include the data of the parity bits Hence Bits 0 23 is used to locate the 24 bits of the data and Bits 24 31 are the sign extension of the data 134 RXM POSREQ 0x02 0x40 It s an input message for requesting a position fix in the FixNow mode power saving mode Header ID Data Length Data Checksum OxB5 0x62 0x02 0x40 0 None CK ACK B 135 UBX Class TIM This class transmits the information of time pulse and time mark TIM TM 0x0D 0x02 It periodically polls the time mark data Header ID Data Length Data Checksum OxB5 0x62 OxOD 0x02 28 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 Coun
79. nced to true north degrees rmc9 UTC Date ddmmyy dd day mm month yy year rmc10 Magnetic variation degrees Not supported rmcli Direction of magnetic variation Not supported rmc12 Navigation mode indicator A Autonomous mode fix D Differential mode fix E DR fix N not valid hh Checksum hex number 2 character lt CR gt lt LF gt End of message 49 TXT Text Transmission The message is used to transmit short text messages Transmitting a longer message needs multi TXT messages GPTXT txt1 txt2 txt3 txt4 hh lt CR gt lt LF gt Parameters Descriptions Notes txtl Total number of messages 01 99 txt2 Message number 01 99 txt3 Text identifier 00 error 01 warning 02 notice 07 user txt4 Text ASCII format hh Checksum hex number 2 character lt CR gt lt LF gt End of message 50 VTG Course Over Ground and Ground Speed This message transmits the speed and course relative to ground GPVTG vtgl vtg2 vtg3 vtg4 vtg5 vtg6 vtg7 vtg8 vtg9 hh CR LF Parameters Descriptions Notes vtgl Course over ground degrees Referenced to true north 000 00 359 99 vtg2 Indicator of course reference T true north vtg3 Course over ground degrees Referenced to magnetic north 000 00 359 99 vtg4 Indicator of course reference M magnetic north vtg5 Speed over ground
80. nection hasn t established yet Sanav_Demo will prompt a warning sentence Comm port couldn t be open please check the device When a new port setting is required make sure Sanav Demo is disconnected from the module before sending the request i e click the Disconnect button in the Setting window as Sanav Demo is in the connected mode Otherwise if users send a new setting to the module during the connected mode there will be no response for the request A al Ol Fifen a Bb MI JE lt gt te A amc IEEE ee i immi Liai Ji ni a ee Cinar oa or R EB rt o wnn et She himt Ue E 1 1E i7 ig Fi a E EE FX aT N A m d 4 fh b A ur XE m om acl Lx L venari iE Hi W QU a q5ED S Gr OXEO D a D un gt dE n HEB o4 4b db o 4i 4 x oD u dd Li m NC r Lesin Pinki x n D 0 D O amp n mn ae Ee SSS EE E l cem mni ne UTC Dum SARA on wrote aici x Lat piim EE EE ET 24 AE ETE AE 21 E T al Len zk GPRS 213 22 D5 DTE Oe AB mmm GPC 172744 A 24D XT H 1270225 BOE OL TOES hae ACE ee A Made ne Poor ine oan Imi Figure 2 6 Window after correct setting 2 2 3 Constellation Map There are two ways to show the constellation of GPS satellites as shown in Figure 2 7 Click the selection Windows Map View or the short cut button If the module is acquiring a GPS satellite the corresponding satellite mark in the Map View is re
81. ngth 0 N 1 Ul ASCII character 103 INF TEST 0x04 0x03 It outputs an ASCII string to indicate test message Header ID Data Length Data Checksum OxB5 0x62 0x04 0x03 N 1 See below CK ACK B Data Offset bytes Format Descriptions Notes The following data will be repeated N times variable length 0 N 1 Ul ASCII character 104 INF DEBUG 0x04 0x04 It outputs an ASCII string to indicate debug message Header ID Data Length Data Checksum OxB5 0x62 0x04 0x04 N 1 See below CK ACK B Data Offset bytes Format Descriptions Notes The following data will be repeated N times variable length O N 1 U1 ASCII character 105 INF USER 0x04 0x07 It outputs an ASCII string to indicate user output message Header ID Data Length Data Checksum OxB5 0x62 0x04 0x07 N 1 See below CK ACK B Data Offset bytes Format Descriptions Notes The following data will be repeated N times variable length 0 N 1 Ul ASCII character 106 UBX Class MON This message is used to transmit GPS receiver status such as CPU status I O status etc MON SCHD 0x0A 0x01 It periodically polls the status of system scheduler Header ID Data Length Data Checksum OxB5 0x62 OxOA 0x01 24 See below CK ACK B Data Offset bytes Form
82. or axis m 6 300 000 0 6 500 000 0 8 R8 1 0 flattening 0 0 500 0 16 R4 Offset from the origin X axis 5000 0 5000 0 m 20 R4 Offset from the origin Y axis 5000 0 5000 0 m 24 R4 Offset from the origin Z axis 5000 0 5000 0 m 28 R4 Rotation about X axis milli arc 20 0 20 0 seconds 32 R4 Rotation about Y axis milli arc 20 0 20 0 seconds 36 R4 Rotation about Z axis milli arc 20 0 20 0 89 seconds 40 R4 Scale change ppm 0 0 50 0 CFG DAT 0x06 0x06 It s an output message Poll the current datum If the datum number is 1 the module is using the user defined datum and only the value for semi major axis is valid and the rest of them are not valid Header ID Data Length Data Checksum OxB5 0x62 0x06 0x06 52 See below CK_ACK_B Data Offset bytes Format Descriptions Notes 0 U2 Datum number 2 CH 6 Datum name ASCII format 8 R8 Semi major axis m 6 300 000 0 6 500 000 0 16 R8 1 0 flattening 0 0 500 0 24 R4 Offset from the origin X axis 5000 0 5000 0 m 28 R4 Offset from the origin Y axis 5000 0 5000 0 m 32 R4 Offset from the origin Z axis 5000 0 5000 0 m 36 R4 Rotation about X axis milli arc 20 0 20 0 seconds 40 R4 Rotation about Y axis milli arc 20 0 20 0 seconds 44 R4 Rotation about Z axis milli arc 20 0 20 0 seconds 48 R4 Scale ch
83. or each target 16 Ul Maximum usage receiver buffer for the last system monitoring period of all targets 17 Ul Maximum current usage receiver buffer for all targets 18 Ul Error flags Bit mask Bits 0 3 buffer limit of corresponding target Bits 4 6 reserved Bit 7 allocation error Tx buffer full 19 Ul Reserved 111 MON VER 0x0A 0x04 It is used to poll the hardware software version Header ID Data Length Data Checksum OxB5 0x62 Ox0A 0x04 40 N 30 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 CH 30 Software version 30 CH 10 Hardware version The following data will be repeated N times 40 N 30 CH 30 Extension package version 112 UBX Class NAV The messages in this class transmit navigation data status flags and accuracy information NAV POSECEF 0x01 0x01 It periodically polls the receiver s position in the ECEF frame Header ID Data Length Data Checksum OxB5 0x62 0x01 0x01 20 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 14 X coordinate cm In the ECEF frame 8 14 Y coordinate cm In the ECEF frame 12 14 Z coordinate cm In the ECEF frame 16 U4 Position accuracy cm 113 NAV POSLLH 0x01 0x02 It periodically polls the receiver s position in the local geodetic frame
84. presented by gray color and on the other hand if the module is continuously tracking a GPS satellite the representing color is red as shown in Figure 2 6 Figure 2 7 Constellation Map of GPS satellites 2 2 4 Message View for NMEA Messages Figure 2 8 is the window for showing the desired user selected output NMEA messages There are two ways to show the Message View window Click the item Windows Terminal View or the shortcut button The default window for Message View is only showing the output NMEA messages at current epoch one epoch like the one shown in Figure 2 6 Figure 2 8 Window for showing NMEA messages Clicking the Show all MS button the NMEA messages will be displayed 17 accumulatively within the sub window until the sub window is filled up i e the Message View window contains NMEA messages from several epochs as shown in Figure 2 9 and the oldest data will be squeezed out in the top of the sub window while the new data will be displayed in the bottom of the sub window After clicking the Show all MS button the Message View window shows two available buttons Current MS and Save The Current MS button functions as showing the available NMEA messages of the current epoch i e back to the original setting as shown in Figure 2 6 The Save button saves the output NMEA messages in a user defined file Bi O PIE 4E e nn in SA
85. r 23 m peren B PIE 4t Fe A Bn Vemm m Lum Lot Tau Comm esi bolas iim e ites NE Figure 2 16 Local time zone 2 2 9 4 Restart This function sets the initial start up mode such as cold start warm start and hot start for the module as shown in Figure 2 17 alli adigi sd Limal Dui ume Mpiri ix dnd lesdczs 13 e Figure 2 17 Restart NOTE For implementing the hot and warm starts the module need a backed up battery to run RTC and support BBR which is used to save updated position ephemeris and almanac data 24 2 2 9 5 DGPS This function activates the differential GPS functions of the module such as RTCM and WAAS EGNOS or only GPS function without aids as shown in Figure 2 18 4 4m A RS immi Tow Tum Assia DD eee Damji ot m umm P BOS ah TEM WE TOR ee pee Figure 2 18 DGPS 2 2 9 6 Interval Referred to Section 2 2 5 2 2 9 7 Geodetic ID m nd nd This function sets coordinate datum that users prefer as shown in Figure 2 19 A list of datum ID is summarized in the Appendix A anre Ec anis Beto Flees Eee ged Ih 4 lt Dm in A a oc Figure 2 19 Setting of coordinate datum 25 Chapter 3 Alternative Start This chapter introduces an alternative utility HyperTerminal from Windows to display the NMEA information And Using the utility users can send a request to poll the desired NMEA information or implement other
86. r the 0 idle above specified SV 1 2 searching 3 signal detected but unused 4 code lock 5 6 code and carrier locks 7 code and carrier locks receiving navigation message data 50 bps 124 N 12 U1 CNO dBHz Carrier to noise ratio 13 N 12 Il Elevation degrees Integer value 144 N 12 D Azimuth degrees Integer value 164 N 12 14 Pseudo range residual cm 124 NAV DGPS 0x01 0x31 It periodically polls DGPS correction data that are used in the navigation solution Header ID Data Length Data Checksum OxB5 0x62 0x01 0x31 16 N 12 See below CK_ACK_B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 14 Age of newest correction data ms 8 D DGPS reference station ID 10 2 Health status for DGPS station 12 U1 Number of channels correction data is following 13 U1 DGPS data type 00 none 01 PR PRR correction 10 PR PRR CP correction 11 high accuracy PR PRR CP correction 14 U2 Reserved The following data will be repeated N times number of channels 16 N 12 Ul PRN number SV ID 17 N 12 Ul Flags Bit mask 0x01 0x08 channel number 0x10 DGPS used 0x20 0x80 reserved 18 N 12 U2 Age of the latest correction data ms 20 N 12 R4 Pseudo range correction m 244 N 12 R4 Pseudo range rate correction m s 125 NAV SBAS 0x01 0x32 It periodically polls the stat
87. rd column CICI O and Cad s 4 Duo A ao E abu sd Pome Eire iuri Doi md ln n Pl i 00 A m pos unti xg Ex Wah les i iere Exe m Ee Pe rem E oz Figure 2 14 Initial position 22 The output position will be updated as the position is fixed 2 2 9 2 Time and day This function sets the initial UTC date and time as shown in Figure 2 15 The format for UTC date is YYYY year MM month DD day and the format for UTC time is hh hour mm minute ss second If a setting value is less than 10 the empty part the left digit of the setting value is filled by 0 for instance 01 LOCO NENNEN PES 4 gt Fe A sm oT Dll E Pies Tere crei Toe ond fee Dome Rented Di 3 e F0 AmtBaa Re UTC Dus UTE Tine Es Ue SS SST Figure 2 15 Initial UTC time and day The initial UTC time and date will be updated as GPS satellites are acquired 2 2 9 3 Local time zone This function sets the time difference between the local and Greenwich UTC reference as shown in Figure 2 16 The first column from left is local zone hour ranged from 13 to 13 i e East West of Greenwich and its corresponding format is hh i e the left digit might be filled by 0 if the value is less than 10 The second column is local zone minute ranged from 00 to 59 and its corresponding format is mm which has the same format as the one for local zone hou
88. receive GPS signals the received GPS signals will lose at least 3 dB in SNR In addition the size of an antenna also affects the received signal energy or SNR Usually the smaller the size of the antenna the lower overall gain pattern of the antenna In other words the smaller size of the antenna will result in the lower SNR of the received GPS signals As more and more new antenna products emphasize on the size issue because of more and more GPS related portable devices appeared there is no way to avoid this problem low SNR even with the aid of an amplifier after the antenna Therefore for retrieving the most information a large size antennas are preferable and even for special applications e g surveying a special mechanism structure design is desirable such as choke ring antenna which is used for mitigating multipath effect As a result an antenna with large size high power consumption and high cost is produced for high precision applications Furthermore for high precision applications with millimeter accuracy in position it is important to have stable phase centers L1 L2 that are exactly known 6 1 Passive Antennas Utilizing passive antennas in users applications more attention is needed in the layout of the RF section Usually the passive antenna is placed next to a module as close as possible because of dB loss and no power amplification However the proximity of antenna to electronic parts will induce the interf
89. ressed in the same coordinate frame The default datum of the module is WGS 84 position 7 The estimated position has a few kilometer away from the reference position The navigation module may execute almanac 8 The module doesn t perform well in TTFFs of warm start and hot start A back up battery is needed to support the running of RTC and Battery backed up RAM BBR The ephemeris and almanac can be retrieved update position from BBR or flash memory 9 The module doesn t perform the last configuration settings Save the configuration settings to BBR which supported or flash memory needs a backed up battery Table 8 1 Troubleshooting 141 Appendix A Geodetic ID Coordinate Datum Rotation Ellipsoid and Scale Index Name Acronym DX m DY m DZ m Index See ee below below World Geodetic System 0 WGS 84 0 World Geodetic System 1 WGS 72 4 5 23 1 72 Earth 90 GLONASS 2 ETH 90 4 0 0 Coordinate system Adindan Mean Solution 3 ADI M 166 0 15 0 204 0 7 0 Ethiopia amp Sudan 4 Adindan Burkina Faso ADI E 118 0 218 0 0 5 Adindan Cameroon ADI F 134 0 210 0 0 6 Adindan Ethiopia ADILA 165 0 206 0 0 ARC 1950 Mean Botswana Lesotho 11 Malawi Swaziland ARF M 143 0 294 0 7 0 Zaire Zambia Zimbabwe 17 ARC 1950 Zaire ARF E 169 0 19 0 278 0 7 0 142 18 19 20 21 22
90. rmat Descriptions Notes The following data will be repeated N times number of targets if needed 0 N 6 Ul Class ID 14 N 6 Ul Message ID 2 N 6 Ul Message rate on I O Target 0 3 N 6 Ul Message rate on I O Target 1 44 N 6 Ul Message rate on I O Target 2 5 N 6 Ul Message rate on I O Target 3 CFG MSG 0x06 0x01 It s an input message Set message rate configuration for the current target Header ID Data Length Data Checksum OxB5 0x62 0x06 0x01 3 See below CK ACK B 80 Data Offset bytes Format Descriptions Notes 0 Ul Class ID 1 Ul Message ID 2 Ul Message rate on the current target 81 CFG NMEA 0x06 0x17 It s a poll request Poll the NMEA protocol configuration Header ID Data Length Data Checksum OxB5 0x62 0x06 0x17 0 None CK ACK B CFG NMEA 0x06 0x17 It s an input message Set the desired NMEA protocol Header ID Data Length Data Checksum OxB5 0x62 0x06 Ox17 4 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 Ul Filtering Disable or not Bit 0 position filtering Bit 1 masked position filtering Bit 2 time filtering Bit 3 date filtering 1 Ul NMEA version 0x23 version 2 3 Only version 2 3 is supported 2 U1 2 Reserved 82 CFG RATE 0x06 0x08 It s a poll request Poll the curren
91. sage identifier i e Class ID Message ID Figure 7 1 depicts the sentence structure for the UBX protocol The UBX messages always begin with OxB5 0x62 hex number The selection of a CLASS ID and MESSAGE ID which are described in the end of this section depends on the user s need and it will also define the content of DATA and its corresponding length i e the value of DATA LENGTH For those multi byte values the rule of little Endian is adopted for transmitting the values It is noticeable that the DATA LENGTH is the value to indicate the length that only contains the subsequent input output DATA and doesn t include the checksum bytes SYNC MESSAGE CHECKSUM CHAR DATA DATA SYNC ID CK B 42 LENGTH Little Endian CHAR CLASS CHECKSUM 1 ID Little Endian CK_A 1 BYTE 1 BYTE 2 BYTES 1 BYTE OxB5 1 BYTE 1 BYTE VARIED depends 1 BYTE 0x62 on the size of content of the CLASS MESSAGE ID indicates the following length for data which doesn t include the 2 bytes for checksum Figure 7 1 UBX protocol structure 64 For the calculation of the checksum u blox utilizes the low overhead checksum algorithm which is the TCP standard RFC 1145 The calculation of the checksum covers the range from the CLASS ID byte included to DATA bytes included It can be described as CK_A 0 CK_B 0 for i 0 i lt N i CK A buffer i CK B CK A where CK_A and CK_B 8 bit unsigned integers buff
92. t navigation measurement rate setting The module will respond the same message defined below I O message Header ID Data Length Data Checksum OxB5 0x62 0x06 0x08 0 None CK ACK B CFG RATE 0x06 0x08 It s an I O message It polls or sets the navigation measurement rate Header ID Data Length Data Checksum OxB5 0x62 0x06 0x08 6 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U2 Measurement rate ms 2 U2 Navigation rate cycles Number of measurement cycles 4 U2 Alignment to reference time 0 UTC time 0 GPS time NOTE Navigation Update Rate 1 s 1000 NavigationRate MeausrementRate ms 83 CFG CFG 0x06 0x09 It s a command message The message will clear save and load configurations The command consists of the three masks clear save and load in each individual bit Header ID Data Length Data Checksum OxB5 0x62 0x06 0x09 12 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 Clear configurations Load factory defaults to active settings See below for bit definitions 4 U4 Save configurations Save the active settings to non volatile memory See below for bit definitions 8 U4 Load configurations Load configurations from non volatile memory to active settings See below for bit definitions Bit Definitions
93. ter difference since last polled time 4 U4 Time difference since last polled time ms 8 U4 Sub millisecond part of time difference ms 2 32 12 U4 Quantization ms 2 32 16 U4 GPS time of week ms Time pulse 20 U4 Sub millisecond part of GPS time of week ms 2 32 24 U2 GPS week number Time pulse 26 U1 Flags Bit 0 0 GPS time base 1 UTC time base Bit 1 0 UTC not available 1 UTC available Bit 2 0 time not available 1 time available 27 U1 Reserved 136 TIM TP 0x0D 0x01 It periodically polls the time pulse data Header ID Data Length Data Checksum OxB5 0x62 OxOD 0x01 16 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week time pulse ms 4 U4 Sub millisecond part of GPS time of week ms 2 32 8 I4 Quantization error of time pulse ps 12 U2 GPS week number Time pulse 14 U1 Flags Bit 0 0 GPS time base 1 UTC time base Bit 1 0 UTC not available 1 UTC available 15 Ul Reserved 137 UBX Class UPD This class is used to update the firmware UPD DOWNL 0x09 0x01 It is an I O message It is used to download data to memory Header ID Data Length Data Checksum OxB5 0x62 0x09 0x01 8 N 1 See below CK_ACK_B Data Offset bytes Format Descriptions Notes 0 U4 Download starting
94. ternal power supply will be turned off by the BaseBand processor The way to reset the operation of the module is to have a hardware reset of the module such as turning off and then on the module or pressing the reset button NOTE Without the short circuit protection the large current will cause the damage on the module permanently 40 Chapter 7 Available NMEA and UBX Messages 7 1 NMEA Protocol The NMEA protocol expresses the data in the format of ASCII This is a standard format for GPS applications The module FV 25 outputs two types of NMEA messages One is the standard NMEA messages that are widely accepted by plotters and GPS related devices and the other is u blox proprietary NMEA messages 7 1 1 Standard NMEA Messages The module can output 10 standard NMEA messages which are GGA Global Positioning System Fix Data GLL Geographic Position Latitude Longitude GRS GNSS Range Residuals GSA GNSS DOP and Active Satellites GST GNSS Pseudorange Error Statistics GSV GNSS Satellites in View RMC Recommended Minimum Specific GNSS Data TXT Test Transmission VTG Course Over Ground and Ground Speed ZDA Time amp Date The default output messages include all messages except the TXT message Those messages are output at comm port 1 at the rate of 19200 bps default setting The request for outputting user selected standard NMEA messages is the xxGPQ message referred to the fo
95. the UBX CFG NAV message 4 7 Almanac Navigation With Almanac Navigation enabled based on valid almanac the position can be estimated without valid ephemeris data This is a possible scenario that the position is fixed while ephemeris data have not been downloaded completely Therefore the TTFF times are much faster for Almanac Navigation than normal navigation using ephemeredes to estimate position However the deviation of position can be up to a few kilometers However this event might be particularly useful when users or carriers need position desperately such as emergency and security systems but ephemeris position is not available The activation of Almanac Navigation is implemented by the UBX CFG NAV message By controlling the position accuracy use parameters in the UBX CFG NAV message such as PDOP Mask and Position Accuracy Mask to filter out the outsiders 4 8 DGPS WAAS EGNOS amp RTCM The module utilizes the correction data from WAAS EGNOS or RTCM to obtain better position accuracy Use the UBX CFG SBAS message the functions for enabling WAAS or EGNOS tracking can be activated For activation of RTCM the users need an extra antenna micro controller set which has ability to receive and retrieve correction data from the signal transmitted from the near service station connected to one of the comm ports of the module The corresponding comm port needs correct setting which is set by th
96. ting is correct the HyperTerminal window will show desired output NMEA messages as shown in Figure 3 3 and if not the window will show random characters or nothing at all euseuceues oe Pore BF d sueesesduousevesouentee a Tonnan Li gees FEEFEE mmEIImEI EER FT PUTUTS DUCTU TH i P Td Ds EST Ds PUn DE I Tie Pohl a ae ad A Ll zu Fa EEEE AEE LL LIS ponnn peee SiSEEEER Bry CT Ee ade aeani deena tate Sa ae Pe Pecan Pe PSE a Pum ns PO belated hee heard eater ha igi ennennennedncanecaccnge diit ERAN SIR Mh nhir frrrrrrrrrfrffTffrrrrfrrr z8zzsczsccEOcELc zzssz2zz ZEEZZCEZZCEEZEEZEEZDEZDEZ S De QUI ES DE De Ea De Dos De oz Eh DN ES De s EbhxebseEEeEEREEE E EE E ELI UE PLE EL Ek hace hn ee ee Rd S TS ESETRTS PAPETA Pa DU T Ds DT Ps DET P DT TA PT ZEmczmczmczmEccEZCIrIzEC am s s sa s is IEEELLERLE ARRAN eGR eR AS FES es Pe as Os i se is Baa Bs pijzcznrnscnzi2izcicnznni Figure 3 3 Correct connection settings 3 2 Saving the Data The subsequent window For saving the output data click Transfer Capture Text 27 will ask users to input the file name and folder 3 3 Setting Configuration or Polling Information from Module For setting or polling the desired information click Transfer Send Text File button to send a txt file which contains command sentences to activate the module The file is created by users before click the bu
97. tion of failure by text figure or both 7 Contact information such as name address phone number and e mail address UBX u blox proprietary protocol Chapter 1 Introduction In this chapter the main goal of FV 25 will be described and then the features of the FV 25 module will be specified in order that a user can make correct decision about module selection before proceeding further development Understanding thoroughly the pro and con of FV 25 will clear the compatibility of the module with a user s system At the same time let the users make the best performance out the module The main goal of FV 25 is to be used as a part of integrated system which can be a simple PVT Position Velocity Time system for instance G mouse or complex wireless systems such as a system with GSM function a system with Blue Tooth function and a system with GPRS function The module FV 25 can be the best candidate for users systems as the users systems need the careful consideration on the performance power consumption and or size of the module Table 1 1 summarizes the specification of FV 25 It is noticeable that in addition to excellent start up times and position accuracy the updated rate can be up to 4 Hz and the raw measurements i e pseudoranges and carrier phases can be output in the format of UBX binary message FV 25 mainly consists of ATRO600 RF front end IC ATR0610 LNA IC and ATR0620 Baseband IC as well as
98. tput message This message transmits navigation data defined in the local geodetic frame PUBX 00 p00x1 p00x2 p00x3 p00x4 p00x5 p00x6 p00x7 p00x8 p00x9 p00x10 p0 0x11 p00x12 p00x13 p00x14 p00x15 p00x16 p00x17 p00x18 p00x19 hh lt CR gt lt LF gt Parameters Descriptions Notes p00x1 UTC time hhmmss ss hh hour mm minute ss ss second p00x2 Latitude ddmm mmmmm dd degree mm mmmmm minute 0 90 p00x3 Latitude sector N North S South p00x4 Longitude dddmm mmmmm ddd degree mm mmmmm minute 0 180 p00x5 Longitude sector E East W West p00x6 Altitude above ellipsoid meters p00x7 Navigation mode NF not fix DR dead reckoning solution G2 2D G3 3D D2 differential 2D D3 differential 3D p00x8 Position accuracy in the horizontal 0 9999 direction meters p00x9 Position accuracy in the vertical 0 9999 direction meters p00x10 Speed over ground km hr 999 99 999 99 p00x11 Course over ground degrees 000 00 359 99 p00x12 Velocity in the vertical direction 999 99 999 99 positive up m s p00x13 Age of DGPS corrections 000 00 999 99 empty field for seconds not available p00x14 HDOP 00 0 99 9 p00x15 VDOP 00 0 99 9 p00x16 GDOP 00 0 99 9 p00x17 Number of GPS satellites used in 54 the position calculation p00x18 Number of GLONASS 6satellites Al
99. tton and the formats for the command sentences are referred to Chapter 7 28 Chapter 4 Navigation 4 1 Operating Modes 4 1 1 Continuous Tracking Mode CTM CTM is the default setting of the module While the CTM is on the module tracks GPS signals and estimates position continuously i e satellite acquisition reacquisition and tracking are the states in the CTM This is the standard operating mode for the general GPS receivers Therefore this mode is not designed for saving power but for obtaining maximum accuracy in position In other words the module with the CTM on usually operates in the Full Power State and the corresponding operating current which depends on the activities of CPU load I Os and peripheral hardware may fluctuate significantly 4 1 2 FixNOW Mode FXN This is a power saving mode which will shut down the module automatically if no GPS signals are detectable For further saving power consumption the FXN allows users to set the module into Sleep State This mode is especially important for power concerned products such as handheld devices During this mode the navigation data is computed as required or at the predefined intervals This navigation data can be done by using the UBX RXM POSREQ or Pin 6 Extint 0 to wake up the module and then calculate a Position Velocity Time PVT solution during the off time of FixNOW Mode The other way to wake up the module without using serial port communicat
100. umber of GPS satellites used in the position calculation pOlx18 Number of GLONASS satellites Always 0 56 used in the position calculation pOlx19 Dead reckoning used 0 No 1 Yes hh Checksum hex number 2 character lt CR gt lt LF gt End of message 57 PUBX 03 Satellite Status Output message PUBX 03 p03x1 p03x2 p03x3 p03x4 p03x5 p03x6 p03x7 n hh lt CR gt lt LF gt Parameters Descriptions Notes p03x1 Number of GPS satellites tracked p03x2 PRN number 01 32 p03x3 Satellite status not used U used e available for navigation but no ephemeris p03x4 Azimuth degrees 000 359 p03x5 Elevation degrees 00 90 p03x6 SNR dB Hz 00 55 p03x7 Carrier lock time seconds 0 255 0 code lock only 255 lock time at least 255 seconds hh Checksum hex number 2 character lt CR gt lt LF gt End of message The message will repeatedly output the format p03x2 p03x3 p03x4 p03x5 p03x6 p03x7 n times which is equal to the value in p03x1 field 58 PUBX 04 Time of Day and Clock Information Output message This message transmits UTC time week number and clock offset PUBX 04 p04x1 p04x2 p04x3 p04x4 p04x5 p04x6 p04x7 p04x8 hh lt CR gt lt LF gt Parameters Descriptions Notes p04x1 UTC time hhmmss ss hh hour mm minute ss ss second p04x2 UTC date
101. us of SBAS Header ID Data Length Data Checksum OxB5 0x62 0x01 0x32 124N 12 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 Ul PRN number for SBAS e g WAAS EGNOS 3 Ul SBAS mode 0 disabled enabled integrity 2 enabled test mode 6 Il SBAS type 1 unknown 0 WAAS EGNOS 2 MSAS 16 GPS 7 Ul SBAS services Bit 0 ranging Bit 1 corrections Bit 2 integrity Bit 3 test mode 8 Ul Number of SV data following 9 U1 3 Reserved The following data will be repeated N times number of SVs 124 N 12 Ul PRN number SV ID 134 N 12 Ul Flags 144 N 12 Ul Monitoring status 154 N 12 Ul SBAS type 1 unknown 0 WAAS EGNOS 2 MSAS 16 GPS 16 N 12 Ul SBAS services Bit 0 ranging Bit 1 corrections Bit 2 integrity Bit 3 test mode 126 17 N 12 U1 Reserved 184 N 12 I2 Pseudo range correction cm 20 N 12 D Reserved 224 N 12 I2 Ionosphere correction cm 127 UBX Class RXM This class transmits the status of receiver manager and received raw data e g pseudorange and carrier phase measurements ephemeris and almanac data RXM RAW 0x02 0x10 It periodically outputs raw measurement data It defines all the necessary data for a RINEX file Hea
102. user s guide as easily and quickly as possible Chapter 1 Introduction This chapter describes the main goal features and available supports for the FV 25 module Chapter 2 Start This chapter depicts the definitions of pins on the module and gives an example reference layout of peripheral connections around the module The utility Sanav Demo exe is used to display satellite and receiver information and set configuration for FV 25 All the information about Sanav_Demo exe is introduced step by step Chapter 3 Alternative Start This chapter suggests an alternative utility HyperTerminal for users to show satellite and receiver information in terms of NMEA sentences Also HyperTerminal can be used to save data in the host platform and set configuration to the module Only the basic operations for desired actions display save and configuration setting are introduced Chapter 4 Navigation This chapter describes all the information of GPS navigation data available from the module and related issues such as cold start warm start hot start DGPS and so on It also shows corresponding configuration settings for the issues in this chapter Chapter 5 Evaluation Kit This chapter depicts the physical mechanism and functions of evaluation kit for FV 25 Chapter 6 Antennas This chapter describes the pro and con for using passive and active antennas with the module Chapter 7 Available NMEA and UBX Messages This chapter l
103. ways 0 used in the position calculation p00x19 Dead reckoning used 0 No 1 Yes hh Checksum hex number 2 character lt CR gt lt LF gt End of message 55 PUBX 01 UTM Position Data Output message This message transmits navigation data defined in the Universal Transverse Mercator UTM frame PUBX 01 p01x1 p01x2 p01x3 p01x4 p01x5 p01x6 p01x7 p01x8 p01x9 p01x10 p0 1x11 p01x12 p01x13 p01x14 p01x15 p01x16 p01x17 p01x18 p01x19 hh lt CR gt lt LF gt Parameters Descriptions Notes polxl UTC time hhmmss ss hh hour mm minute ss ss second p01x2 UTM Easting meters p01x3 Longitude sector E East W West p01x4 UTM Northing meters p01x5 Hemisphere N North S South p01x6 Altitude above ellipsoid meters p01x7 Navigation mode NF not fix DR dead reckoning solution G2 2D G3 3D D2 differential 2D D3 differential 3D p01x8 Position accuracy in the horizontal 0 9999 direction meters p01x9 Position accuracy in the vertical 0 9999 direction meters pOlx10 Speed over ground km hr 999 99 999 99 pOlx1l Course over ground degrees 000 00 359 99 pOlx12 Velocity in the vertical direction 999 99 999 99 positive up m s pOlx13 Age of DGPS corrections 000 00 999 99 empty field for seconds not available p0lx14 HDOP 00 0 99 9 p lx15 VDOP 00 0 99 9 pO lx16 GDOP 00 0 99 9 pOlx17 N
104. xB5 0x62 0x06 OxOE 0 None CK ACK B CFG FXN 0x06 OxOE It s a command message It s used to configure the FixNow mode It is enabled by the CFG RXM message Header ID Data Length Data Checksum OxB5 0x62 0x06 OxOE 36 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 U4 FixNow mode configuration Bit mask 0x02 set Sleep state Ox04 reserved never set this bit 0x08 absolute alignment on off time 0x10 use on off time the rest of bits not set 4 U4 Last fix timeout ms 8 U4 Sleep time ms After a last fix timeout 12 U4 Last reset timeout ms 16 U4 Sleep time ms After a last reset timeout 20 U4 On time ms Start with first fix 24 U4 Sleep time ms After a normal on time may vary because of data download 28 U4 Reserved 32 U4 Base TOW ms TO which On time and corresponding Sleep time are aligned if ABSOLUTE_ALIGN is set 96 CFG SBAS 0x06 0x16 It s a command message It s used to configure SBAS systems such as WAAS EGNOS and MSAS More information about SBAS services is referred to document RTCA DO 229C www rtca org Header ID Data Length Data Checksum OxB5 0x62 0x06 0x16 8 See below CK ACK B Data Offset bytes Format Descriptions Notes 0 Ul SBAS mode Bit mask Bit 0 1 SBAS enab

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