Rikaline GPS-24 / 24A GPS Receiver Board User’s Guide Nemerix V1.0 Feb 28, 2005 Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan, R.O.C. Phone: +886-2-2370-4688 Fax: +886-2-2370-4686 E-Mail: info@rikaline.com.tw Web: www.rikaline.com.
GPS-24 / 24A Operating Manual GPS Receiver Board Rikaline 1. Introduction 1.1 Overview The Rikaline GPS-24 / 24A is a GPS receiver board featuring Nemerix low power architecture. This complete enabled GPS receiver board provides high position and speed accuracy performances as well as high sensitivity and tracking capabilities in urban canyon conditions. The solution enables small form factor package.
GPS Receiver Board GPS-24 / 24A Operating Manual Tracking: -152dBm Acquisition: -139dBm 3) Acquisition time: Reacquisition Hot start Warm start Cold start 0.1 sec. (90%) 12 sec. (90%) 38 sec. (90%) 60 sec. (90%) Rikaline 4) Position accuracy: Non DGPS (Differential GPS) Position <7m CEP (90%) with S\A off Velocity 0.1 meters/second. Time 1 microsecond synchronized GPS time DGPS (Differential GPS) Position <1 m, typical Velocity 0.
GPS Receiver Board GPS-24 / 24A Operating Manual Rikaline 2. Operational characteristics 2.1 Initialization As soon as the initial self-test is complete, the GPS-22 begins the process of satellite acquisition and tracking automatically. Under normal circumstances, it takes approximately 120 seconds to achieve a position fix, 42 seconds if ephemeris data is known. After a position fix has been calculated, information about valid position, velocity and time is transmitted over the output channel.
GPS Receiver Board Rikaline GPS-24 / 24A Operating Manual 3. Hardware interface 3.1 Physical Characters 1. Size: 25.9(W) x 25.9(D) x 2.7(H) (mm) 1.02”(W) x 1.02”(D) x 0.11”(H) 2. Weight: 25 g 3.1.1 Details Drawing 3.1.1.1GPS-24 (to be equipped with active antenna only) Pin A1 Pin D1 Pin 1 Pin 1 Pin D1 Pin A1 1// Antenna connector: 1.27 mm pitch, 3 pin board to board 2// Interface connector: 1.27 mm pitch, 10 pin board to board 3// Debug connector: 1.27mm pitch, 6 pin board to board 3.1.1.
Rikaline GPS-24 / 24A Operating Manual GPS Receiver Board 3.2 Pin Definition PIN 1 2 3 4 5 6 7 8 9 10 A1 A2 A3 D1 D2 D3 D4 D5 D6 NAME GPIO(4) NC (MODE) NMEA Tx NMEA Rx NC (WAKE UP) Reset VBAT GND VCC GPIO(0) RF GND RF IN RF GND DSUMUX DSUEN DSUBRE DSUTX DSURX DSUACT TYPE I\O NU I\O I\O NU I I PWR PWR I\O ANT ANT ANT I I I O I O DESCRIPTION GPS Status Reserved, keep float NMEA Serial Data Output NMEA Serial Data Input Reserved, keep float Low Active, keep float if not use *1 Backup Battery Input (1.
GPS Receiver Board Rikaline GPS-24 / 24A Operating Manual Table 3-3 Backup Battery Conditions Parameter RTC(Battery) Power Supply Current Symbol Min Typ Max Units BAT 1.2 1.8 10 2 V µA Table 3-4 DC Characteristics Parameter Input High Level Input Low Level Output High Level Output Low Level Input Leakage Current Symbol Min Max Units Vih Vil Voh Vol Li 2.5 0 2.4 0 2 3.5 0.8 3.4 0.4 2 V V V V µA Specifications subject to change without prior notice Rikaline International Corp.
GPS Receiver Board GPS-24 / 24A Operating Manual Rikaline 4. Software Interface The GPS-24 / 24A interface protocol is based on the National Marine Electronics Association's NMEA 0183 ASCⅡ interface specification, which is defined in NMEA 0183, Version 3.0 and the Radio Technical Commission for Maritime Services (RTCM Recommended Standards For Differential Navstar GPS Service, Version 2.1, RTCM Special Committee No.104). 4.
GPS Receiver Board GPS-24 / 24A Operating Manual Rikaline 5. Ordering Information 5.1 Products Options 5.1.1 GPS Receiver Module GPS-24 Standard with TTL level. GPS-24-A Standard with TTL level, and available to attach patch antenna on top of the board. 5.2 Accessories A-10302-M Active Antenna, 2M, MMCX connector. A-10305-M Active Antenna, 5M, MMCX connector. 6.
GPS Receiver Board Appendix A GPS-24 / 24A Operating Manual Rikaline Software Interface The GPS-24 / 24A interface protocol is based on the National Marine Electronics Association's NMEA 0183 ASCⅡ interface specification, which is defined in NMEA 0183, Version 3.0 and the Radio Technical Commission for Maritime Services (RTCM Recommended Standards For Differential Navstar GPS Service, Version 2.1, RTCM Special Committee No.104). A.
GPS Receiver Board GPS-24 / 24A Operating Manual Rikaline Table 4-4 contains the values for the following example: $GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C Table A-4 GLL Data Format Name Example Message ID $GPGLL Latitude 3723.2475 N/S Indicator N Longitude 12158.3416 E/W Indicator W UTC Position 161229.487 Status A Checksum *2C Units Description GLL protocol header ddmm.mmmm N=north or S=south dddmm.mmmm E=east or W=west hhmmss.
GPS Receiver Board Message Number Satellites in View Satellite ID Elevation Azimuth SNR (C/No) .... Satellite ID Elevation Azimuth SNR (C/No) Checksum GPS-24 / 24A Operating Manual 1 07 07 79 048 42 ....
GPS Receiver Board GPS-24 / 24A Operating Manual Rikaline A.1.7 Time & Date (ZDA) Table A-11 contains the values for the following example: $GPVTG,114523.62,12,04,2001,10,34*6E Table A-11 ZDA Data Format Name Example Message ID $GPZDA Hour, Min, Sec, Sub 114523.62 Sec Day 12 Month 04 Year 2001 Local Zone Hours 10 Local Zone Minutes 34 Checksum *6E Units Description ZDA protocol header Hhmmss.
GPS Receiver Board Appendix B GPS-24 / 24A Operating Manual Rikaline Reference Design Specifications subject to change without prior notice 14 Rikaline International Corp. 10F, 64, Kang-Din Road, Taipei 108, Taiwan Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: info@rikaline.com.tw Web: www.rikaline.com.
GPS Receiver Board Appendix C GPS-24 / 24A Operating Manual Rikaline Developer’s Setting For all $PNMRX messages, it is possible to configure an alternative string to replace the NMRX part, the node always responds to the $PNMRX strings and can be configured to generate and respond to the alternative string. C.1 $PNMRX100, Set serial port mode This message is sent to control the serial communications port parameters. The $PNMRX100 message format is shown below.
GPS-24 / 24A Operating Manual GPS Receiver Board Rikaline C.3 $PNMRX103, NMEA rate control This message is being sent to enable or to disable the output of an NMEA message and to determine its output rate. The sequence of the output sequence is determined by the $PNMRX107 message. The $PNMRX103 message format is shown below. The rate of each message can individually be set. If ‘0’ is used, the output of the message is skipped (according to the message sequence).
Rikaline GPS-24 / 24A Operating Manual GPS Receiver Board C4.5 $PNMRX106, Datum This message defines the conversion model used for mapping the ECEF coordinates into the LLA ones. The default transformation uses WGS84 approximation. The transformation method can be changed into one using a reference Ellipsoid combined with a local datum, to obtain a specific estimation of the local earth geometry.
Rikaline GPS-24 / 24A Operating Manual GPS Receiver Board Mode Int 1 1 Checksum Message terminator *xx (0) 3 2 3 2 0 Disable message 1 Send message now 2 Send message on change 3 Send message now and on change 2 digits. ASCII 13, ASCII 10. Examples: $PNMRX107, 300, 1*xx: Output the almanac stored in NVRAM $PNMRX107, 301, 2*xx: Output Ephemeris will be output on change $PNMRX107, ALL, 2*xx: Output all ZX4120 output messages (300,301,302,303,304) C.
Rikaline GPS-24 / 24A Operating Manual GPS Receiver Board 3 4 5 6 7 Maximum VDOP1 Minimum SNR Minimum Elevation Noise Floor Navigation Mode 11 Unsigned Unsigned Unsigned Unsigned Unsigned 4 2 2 4 1 8 9 2D Mode Altitude1 Navigation Mode 21 Unsigned Boolean 6 1 10 Maximum Altitude Unsigned 6 x10, [0-100] dB/Hz, [20-45] Degrees, [0-90] -, [400-1000] 1 = Auto (hold alt) 2 = 2D Mode 4 = 3D Mode (calc alt) Meters above MSL 0 = Auto 1 = Static Meters.
Field Rikaline GPS-24 / 24A Operating Manual GPS Receiver Board Format Min chars Max chars Message ID Operating Mode $PNMRX112 Into 6 1 8 1 OFF period Checksum Message terminator Into *xx 1 (0) 3 2 2 3 2 Notes PNMRX112 protocol header. 0 = Fully Active 1 = LDCM1 RF off time in seconds [5:10] 2 digits. ASCII 13, ASCII 10. Examples: $PNMRX112, 1, 5*xx: enable low power mode (with 5 seconds off time between 2 fixes) C.
Message terminator Rikaline GPS-24 / 24A Operating Manual GPS Receiver Board 2 ASCII 13, ASCII 10. C.11 $PNMRX301, Ephemeris Data Transfer This message format is used to transfer the ephemeris data between nodes; it uses a packed hexadecimal format to transfer ephemeris data for each of the available SV’s. Since the Ephemeris data is large and can take time to transfer over a slow serial interface, the data is divided into individual messages for each of the SV’s.
Rikaline GPS-24 / 24A Operating Manual GPS Receiver Board PNMRX301 message 3 field list Field Format width Message ID $PNMRX301 8 Satellite Int 2 Vehicle Id Subframe Id Int 1 Cic Hex 4 Omega zero Hex 8 Cis Hex 4 I Zero Hex 4 Crc Hex 4 Perigree Hex 8 Omega dot Hex 6 Iode Hex 2 I dot Hex 4 Checksum *xx (0) 3 Message 2 terminator scale units 2 -31 2 -29 2 -31 2 -5 2 -31 2 -43 2 -29 Radians Semi- circles radians Semi- circles Meters Semi- circles Semi- circles/sec -43 Semi- circles/sec 2 N
Rikaline GPS-24 / 24A Operating Manual GPS Receiver Board C.14 $PNMRX304, GPS Constellation Health Field Format Min chars 8 TBD Max chars Message ID Health Code Health Code Checksum Message terminator $PNMRX304 Char Notes 8 TBD PNMRX110 protocol header. SV health code if ≠0. Char TBD TBD SV health code if ≠0. *xx (0) 3 2 3 2 2 digits. ASCII 13, ASCII 10. C.
zone hours) Time Offset (Local zone minutes) Checksum Message terminator NMRX603 message 2 Field Int (-)2 (-)2 *xx (0) 3 2 3 2 Min chars 8 1 Max chars 8 1 8 8 2 2 (0) 3 2 2 2 3 2 Min chars 8 1 3 3 3 1 1 (0) 3 2 Max chars 8 1 8 8 8 1 8 3 2 Max chars 8 1 1 8 8 8 8 8 8 3 2 Format Message ID Message Nb MaxPDOP MaxHDOP Invalid Sv Min CNO Min Elevation Max TM Max Sv for fix Checksum Message terminator $PNMRX603 Int Float Float Hex Float Float Int Int *xx PNMRX603 message 3 F
