GPS 16x TECHNICAL SPECIFICATIONS Garmin International, Inc. 1200 E.
© 2008 Garmin Ltd. or its subsidiaries Garmin International, Inc. 1200 East 151st Street, Olathe, Kansas 66062, U.S.A. Tel. 913/397.8200 or 800/800.1020 Fax 913/397.8282 Garmin (Europe) Ltd. Liberty House, Hounsdown Business Park, Southampton, Hampshire, SO40 9RB, U.K. Tel. +44 (0) 870.8501241 (outside the UK) 0808 2380000 (within the UK) Fax +44 (0) 870.8501251 Garmin Corporation No. 68, Jangshu 2nd Road, Shijr, Taipei County, Taiwan Tel. 886/2.2642.9199 Fax 886/2.2642.9099 All rights reserved.
TABLE OF CONTENTS 1 Introduction..............................................................................................................................1 1.1 Caution ............................................................................................................................................................1 1.2 Limited Warranty ............................................................................................................................................2 1.3 Overview .....
.2.10 4.2.11 4.2.12 4.2.13 4.2.14 4.2.15 Estimated Error Information (PGRME) .............................................................................................................. 17 GPS Fix Data Sentence (PGRMF) ...................................................................................................................... 17 Map Datum (PGRMM) .......................................................................................................................................
1 INTRODUCTION 1.1 CAUTION CAUTION The GPS system is operated by the government of the United States, which is solely responsible for its accuracy and maintenance. Although the GPS 16x is a precision electronic NAVigation AID (NAVAID), any NAVAID can be misused or misinterpreted, and therefore become unsafe. Use these products at your own risk. To reduce the risk, carefully review and understand all aspects of these Technical Specifications before using the GPS 16x.
1.2 LIMITED WARRANTY This Garmin product is warranted to be free from defects in materials or workmanship for one year from the date of purchase. Within this period, Garmin will, at its sole option, repair or replace any components that fail in normal use. Such repairs or replacement will be made at no charge to the customer for parts or labor, provided that the customer shall be responsible for any transportation cost.
1.3 OVERVIEW The GPS 16x series products are complete GPS sensors including embedded receiver and antenna, designed for a broad spectrum of Original Equipment Manufacture (OEM) system applications. Based on the proven technology found in other Garmin GPS receivers, the GPS 16x tracks multiple satellites at a time while providing fast time-tofirst-fix, one-second navigation updates, and low power consumption.
1.5 TECHNICAL SPECIFICATIONS Specifications are subject to change without notice. 1.5.1 Physical Characteristics 1.5.1.1 Size 3.58” (91.0 mm) diameter, 1.65” (42 mm) high 1.5.1.2 Weight • GPS 16xLVS only: 6.0 oz (169 g) • GPS 16xHVS only: 6.1 oz (174 g) • GPS 16xLVS with 5-meter cable: 11.3 oz (320 g) • GPS 16xHVS with 5-meter cable: 11.5 oz (325 g) • GPS 16xLVS & 16xHVS cable alone: 5.3 oz (151 g) 1.5.1.
1.5.4 GPS Performance 1.5.4.1 Receiver WAAS Enabled® GPS receiver continuously tracks and uses multiple satellites to compute and update your position. 1.5.4.2 Acquisition Times • Reacquisition: Less than 2 seconds • Hot: Approx. 1 second (all data known) • Warm: Approx. 38 seconds (initial position, time, and almanac known; ephemeris unknown) • Cold: Approx. 45 seconds 1.5.4.3 Sentence Rate 1 second default; NMEA 0183 output interval configurable from 1 to 900 seconds in 1-second increments 1.5.
1.5.5.3 PPS 1 Hz pulse, programmable width, 1 μs accuracy 1.5.5.4 Power Control • Off: Open circuit • On: 190-00228-08 Ground, or pull to low logic level <0.3 volts GPS 16x Technical Specifications Page 6 Rev.
2 GPS 16x WIRING AND PINOUTS 2.1 GPS 16x PINOUT The GPS 16xLVS and GPS 16xHVS sensors utilize an 8-pin RJ-45 plug. The following is a functional description of each wire in the cable assembly. RJ-45 Pin # Wire Color 1 Red 2 Signal Name Description POWER GPS 16xLVS: Regulated +3.3 to +6 Vdc. Typical operating current is 80 mA. An internal 6.67 Vdc transient zener diode and a positive temperature coefficient resistor protect from transients and over-voltages. With voltages greater than 6.
2.2 GPS 16x WIRING DIAGRAMS Figure 1: Computer Serial Port Interconnection Figure 2: PDA Serial Port Interconnection Figure 3: Basic NMEA Device Interconnection 190-00228-08 GPS 16x Technical Specifications Page 8 Rev.
3 MECHANICAL CHARACTERISTICS & MOUNTING 3.1 GPS 16x FLUSH MOUNT 1.65 inches [42 mm] M4 Thread 120 Degrees 3.58 inches [91 mm] 2.44 inches [62 mm] Figure 4: GPS 16x Flush Mount Dimensions 190-00228-08 GPS 16x Technical Specifications Page 9 Rev.
3.2 GPS 16x OPTIONAL MAGNETIC MOUNT Magnetic Mount M4 Flat Head Screws (3 each) Figure 5: Optional GPS 16x Magnetic Mount 190-00228-08 GPS 16x Technical Specifications Page 10 Rev.
4 SOFTWARE INTERFACE The GPS 16x series products interface protocol design on COM1 is based on the National Marine Electronics Association’s NMEA 0183 ASCII interface specification. The COM2 port can receive differential GPS (DGPS) correction data using the Radio Technical Commission for Maritime Services’ RTCM SC-104 standard. These standards are fully defined in NMEA 0183, Version 3.0 (copies may be obtained from NMEA, www.nmea.
4.1.2 Sensor Initialization Information (PGRMI) The $PGRMI sentence provides information used to initialize the GPS sensor’s set position and time used for satellite acquisition. Receipt of this sentence by the GPS sensor causes the software to restart the satellite acquisition process. If there are no errors in the sentence, it will be echoed upon receipt. If an error is detected, the echoed PGRMI sentence will contain the current default values.
4.1.4 Additional Sensor Configuration Information (PGRMC1) The $PGRMC1 sentence provides additional information used to configure the GPS sensor operation. Configuration parameters are stored in non-volatile memory and retained between power cycles. The GPS sensor will echo this sentence upon its receipt if no errors are detected. If an error is detected, the echoed PGRMC1 sentence will contain the current default values. Current default values can also be obtained by sending $PGRMC1E to the GPS sensor.
4.2 TRANSMITTED NMEA 0183 SENTENCES The subsequent paragraphs define the sentences that can be transmitted on COM1 by the GPS sensor. 4.2.1 Sentence Transmission Rate Sentences are transmitted with respect to the user selected baud rate. The GPS sensor will transmit each sentence (except where noted in particular transmitted sentence descriptions) at a periodic rate based on the user selected baud rate and user selected output sentences. The GPS sensor will transmit the selected sentences contiguously.
4.2.2 Transmitted Time The GPS sensor outputs Coordinated Universal Time (UTC) date and time of day in the transmitted sentences. Before the initial position fix, the on-board clock provides the date and time of day. After the initial position fix, the date and time of day are calculated using GPS satellite information and are synchronized with the one-pulse-persecond output.
4.2.5 GPS DOP and Active Satellites (GSA) $GPGSA,<1>,<2>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<4>,<5>,<6>*hh <1> <2> <3> <4> <5> <6> 4.2.6 Mode, M = Manual, A = Automatic Fix type, 1 = Not available, 2 = 2D, 3 = 3D PRN number, 01 to 32, of satellite used in solution, up to 12 transmitted (leading zeros will be transmitted) Position dilution of precision, 0.5 to 99.9 Horizontal dilution of precision, 0.5 to 99.9 Vertical dilution of precision, 0.5 to 99.
4.2.9 Geographic Position (GLL) $GPGLL,<1>,<2>,<3>,<4>,<5>,<6>,<7>*hh <1> <2> <3> <4> <5> <6> <7> Latitude, ddmm.mmmm format (leading zeros will be transmitted) Latitude hemisphere, N or S Longitude, dddmm.mmmm format (leading zeros will be transmitted) Longitude hemisphere, E or W UTC time of position fix, hhmmss format Status, A = Valid position, V = NAV receiver warning Mode indicator (only output if NMEA 0183 version 2.
4.2.14 3D Velocity Information (PGRMV) $PGRMV,<1>,<2>,<3>*hh <1> <2> <3> True east velocity, -514.4 to 514.4 meters/second True north velocity, -514.4 to 514.4 meters/second Up velocity, -999.9 to 999.9 meters/second 4.2.15 DGPS Beacon Information (PGRMB) Note: PGRMB is not supported at this time.
APPENDIX A: EARTH DATUMS The following is a list of the Garmin GPS 16x Earth datum indices and the corresponding earth datum name (including the area of application): 0 ADINDAN - Ethiopia, Mali, Senegal, Sudan 1 AFGOOYE - Somalia 2 AIN EL ABD 1970 - Bahrain Island, Saudi Arabia 3 ANNA 1 ASTRO 1965 - Cocos Island 4 ARC 1950 - Botswana, Lesotho, Malawi, Swaziland, Zaire, Zambia, 5 ARC 1960 - Kenya, Tanzania 6 ASCENSION ISLAND 1958 - Ascension Island 7 ASTRO BEACON E - Iwo Jima Island 8 AUSTRA
36 HONG KONG 1963 - Hong Kong 37 INDIAN - Bangladesh, India, Nepal 38 INDIAN - Thailand, Vietnam 39 IRELAND 1965 - Ireland 40 ISTS O73 ASTRO 1969 - Diego Garcia 41 JOHNSTON ISLAND 1961 - Johnston Island 42 KANDAWALA - Sri Lanka 43 KERGUELEN ISLAND - Kerguelen Island 44 KERTAU 1948 - West Malaysia, Singapore 45 L.C.
75 PICO DE LAS NIEVES - Canary Islands 76 PITCAIRN ASTRO 1967 - Pitcairn Island 77 PUERTO RICO - Puerto Rico, Virgin Islands 78 QATAR NATIONAL - Qatar 79 QORNOQ - South Greenland 80 REUNION - Mascarene Island 81 ROME 1940 - Sardinia Island 82 RT 90 - Sweden 83 PROVISIONAL SOUTH AMERICAN 1956 - Bolivia, Chile, Colombia, Ecuador, Guyana, Peru, Venezuela 84 SOUTH AMERICAN 1969 - Argentina, Bolivia, Brazil, Chile, Colombia, Ecuador, Guyana, Paraguay, Peru, Venezuela, Trinidad and Tobago 85
APPENDIX B: GARMIN BINARY OUTPUT FORMAT Note: The following applies to all software versions of GPS 16xLVS and GPS 16xHVS. Two records are transmitted once per second by the GPS 16x series products. One record contains primarily postprocess information, such as position and velocity information. The second record contains receiver measurement information. The records are sent at a default baud rate of 9600 baud, 8 data bits, and no parity. Records begin with a delimiter byte (10 hex).
alt epe eph epv fix Ellipsoid altitude (meters) Estimated position error (meters) Position error, horizontal (meters) Position error, vertical (meters) 0 = no fix; 1 = no fix; 2 = 2D; 3 = 3D; 4 = 2D differential; 5 = 3D differential; 6 and greater = not defined gps_tow GPS time of week (sec) lat Latitude (radians) lon Longitude (radians) lon_vel Longitude velocity (meters/second) lat_vel Latitude velocity (meters/second) alt_vel Altitude velocity (meters/ second) msl_hght height (mean sea level) (meters) l
Sample C Code DLE and ETX bytes: Sample C code to receive the two records should filter DLE and ETX bytes as described below: typedef enum { DAT, DLE, ETX } rx_state_type; /* Declare and initialize static variables */ static char in_que[ 256 ]; static int in_que_ptr = 0; static rx_state_type rx_state = DAT; . . .
APPENDIX C: EPHEMERIS DATA DOWNLOAD (PROGRAMMING EXAMPLE) Synopsis This section describes, using an example, how to download ephemeris information from a Garmin 15, 16, 17 or 18 family GPS unit with the exception of the GPS 15-W and the GPS 15-F. Garmin Binary Format Review To download the ephemeris data, you must first command the unit to output information in Garmin Binary Format (Garmin mode) instead of the default NMEA output format.
Ephemeris Download Procedure The following is the sequence of events that occurs when downloading ephemeris. Send a packet containing the command that requests ephemeris data (IOP_DOWN_LOAD_EPH).
Next, the unit will send the specified number of packets containing the ephemeris information. An example packet is shown below. Each packet should be acknowledged as before (be sure to modify the ACK packet to indicate what type of packet being acknowledged. For ephemeris data, the ID is 0x35). RX Packet: Ephemeris Data Byte Description Delimiter Ephemeris data ID Number of bytes in data Ephemeris data . . . Checksum calculation Delimiter End of packet Name DLE IOP_SPC_EPH_DATA SIZE DATA . . .
An example function to do the parsing is shown below. Note that the double data types are converted by the function cnvt_ieee_double(). This function merely swaps the upper and lower words of the double. This is necessary on GPS 15, 16, 17 series sensors due to a compatibility issue with the IEEE floating point standard): In this example, the array m_TempArray contains the data portion of the ephemeris packet (with DLE stuffing removed).
Each data member of the ephemeris data structure is indexed into the data array of the ephemeris packet and cast as the appropriate data type.
APPENDIX D: SENSOR CONFIGURATION SOFTWARE The Garmin Sensor Configuration Software (SNSRCFG.exe) configures the GPS sensors based on user-selected parameters. Some application features include the ability to download GPS sensor configuration, maintain different configurations in files, and perform GPS sensor configurations quickly with the use of one function key. This section provides a brief overview of the Sensor Configuration Software.
Menus File Menu The File Menu allows you to open, save, and print sensor configurations. The items in the File Menu work like most Windows-based programs. Comm Menu The Comm (Communication) Menu allows you to set the port number and baud rate, as well as connect to the sensor and disconnect from the sensor. Setup: Opens the Comm Setup window. Select the serial port to which the sensor is connected from the drop-down list.
Get Configuration From GPS (F8): Retrieves the current programming from the sensor. The programming is then displayed in the Main Interface window. Send Configuration To GPS (F9): Sends your updated configuration programming to the sensor. Switch to NMEA Mode (F10): Switches the unit to NMEA Mode. The sensor must be in NMEA Mode when connected to this software. Switch to Garmin Mode (F11): Switches the unit to Garmin Mode.
