S2525F8‐RTK Features 
Centimeter‐level accuracy RTK receiver 
GPS L1 + QZSS + SBAS C/A code 
230mW low power consumption 
25mm x 25mm small size 
Designed for demanding environments 
NMEA‐0183 and RTCM 3.x protocol 
Easy to integrate 
Operating temperature ‐40 ~ +85ºC 
RoHS compliant Applications 
Construction, mining 
Machine control & automation 
Unmanned aerial vehicle 
Precision agriculture 
Aerial photography 
Land survey Industry‐Leading Low‐Power Small‐Size RTK OEM Receiver for Mobile Platforms Requiring Centimeter‐Level Accuracy The S2525F8‐RTK offers centimeter‐level accuracy based on carrier phase RTK technique and can be used for a wide range of high‐accuracy positioning applications. Its 25mm x 25mm form factor and 300mW power consumption makes it ideal for mobile precision positioning application requiring low power and small size. The receiver receives RTCM 3.x data from a base station or a base‐station‐capable SkyTraq carrier phase raw measurement receiver to perform carrier phase RTK processing, achieving centimeter level accurate relative positioning. For challenging environments where RTK positioning is not possible, S2525F8‐RTK delivers high accuracy DGNSS and GNSS positioning. The S2525F8‐RTK receiver is based on SkyTraq’s very high‐performance Venus8 GNSS chipset, featuring fast signal acquisition search engine and high‐sensitivity track engine. Search engine performs 16 million time‐frequency hypothesis testing per second, offering industry‐leading signal acquisition performance. The receiver is optimized for applications requiring high precision centimeter‐level accuracy, high‐performance, low power, and lower cost. 1 www.skytraq.com.tw
TECHNICAL SPECIFICATIONS Receiver Type Accuracy Time to First Fix Reacquisition Sensitivity Update Rate GPS L1 + QZSS + SBAS L1 C/A code, 167‐channel Position 2.5m CEP autonomous mode < 1m DGPS mode centimeter‐level RTK mode Velocity 0.1m/sec Time 10ns 1 second hot start under open sky (average) 28 second warm start under open sky (average) 29 second cold start under open sky (average) 60sec ~ 600sec to 1st ambiguity fixed solution at 7Km baseline for example* 1s ‐148dBm cold start, ‐160dBm tracking S2525F8‐RTK model suffix RTK cm‐level accuracy (Hz) Update Rate normal meter‐level accuracy (Hz) Operational Limits Serial Interface Protocol Datum Input Voltage Current Consumption 1 2 / 4 / 5 / 8 / 10 / 20 Altitude < 18,000m or velocity < 515m/s 3.3V LVTTL level NMEA‐0183 V3.01 GPGGA, GPGLL, GPGSA, BDGSA, GPGSV, BDGSV, GPVTG, GPRMC 115200 baud, 8, N, 1 RTCM 3.0, 3.1 57600 baud, 8, N, 1 Default WGS‐84 and user definable 3.3V DC +/‐5% 70mA 25.4mm L x 25.4mm W ‐5 ‐10 1 / 2 / 4 / 5 1 / 2 / 4 / 5 / 8 /10
8 / 10 / 20 20 Dimension Weight: 3g Operating Temperature ‐40oC ~ +85oC Storage Temperature ‐55 oC ~ +100oC Humidity 5% ~ 95% non‐condensing *Note: This time to first RTK fixed solution is dependent on number of satellites available, usable satellite geometry, signal strength, distance from base‐station…etc. May take 1 ~ 20 minutes under open sky within 10Km baseline. 2 www.skytraq.com.tw
KEY FUNCTIONAL PARTS 3 www.skytraq.com.tw
MECHANICAL CHARACTERISTICS PINOUT DESCRIPTION Pin No. 1 2 3 Name VCC33
GND
BOOT_SEL1 Description Digital section power supply, 3.3V DC
Digital ground
No connection for normal use. Pull‐low for loading firmware into empty or
corrupted Flash memory from ROM mode for the baseband chip. UART serial data input, 3.3V LVTTL. One full‐duplex asynchronous serial UART port is implemented. This UART input is normally for sending commands or information to the receiver in SkyTraq binary protocol. In the idle condition, this pin should be driven HIGH. If the driving circuitry is powered independently of S2525F8‐RTK, ensure that this pin is not driven to HIGH when primary power to S2525F8‐RTK is removed, or a 10K‐ohm series resistor can be added to minimize leakage current from application to the powered off module. UART serial data output, 3.3V LVTTL. One full‐duplex asynchronous serial UART port is implemented. This UART output is normally used for sending position, time and velocity information from the receiver in NMEA‐0183 format. When idle, this pin output HIGH. 4 RX1 5 TX1 6 7 TX2 RX2 UART serial data output, 3.3V LVTTL. Currently not used. UART serial data input, 3.3V LVTTL. One full‐duplex asynchronous serial UART port is implemented. This UART input is normally for sending RTCM‐SC104 correction data, or base station SkyTraq raw measurement data to the receiver. In the idle condition, this pin should be driven HIGH. If the driving circuitry is powered independently of S2525F8‐RTK, ensure that this pin is not driven to HIGH when primary power to S2525F8‐RTK is removed, or a 10K‐ohm series resistor can be added to minimize leakage current from application to the powered off module. 8 NC No connection, empty pin
4 www.skytraq.com.tw
GPIO pin, 3.3V LVTTL.
External trigger input for camera shutter synchronization* Position fix status indicator output, active low, 3.3V LVTTL. No position solution: output HIGH DGPS or 3D solution: output LOW 2sec, HIGH 2sec RTK float solution: output INTEGER(ratio / 0.5) + 1 pulses, each pulse LOW for
0.25sec, HIGH for 0.25sec, ending with HIGH for 1sec. When connected to LED +
370‐ohm resistor to 3.3V, the pulse count gives an idea of the RTK ratio value
without needing a notebook. RTK fix solution: output LOW RF ground
No connection, empty pin
RF ground
9 GPIO10 10 STS 11,12 13,14,15 16 RFGND
NC RFGND 17 RFIN 18 19,20 21 RFGND
RFVCC33
VBAT RF ground
RF section power supply, 3.3V DC
Backup supply voltage for internal RTC and backup SRAM, 2.5V ~ 3.6V. VBAT must be applied whenever VCC33 is applied. This pin should be powered continuously to minimize the startup time. If VCC33 and VBAT are both removed, the receiver will be in factory default mode upon power up, all user configuration set is lost. For applications the does not care cold starting every time, this pin can be connect to VCC33. 22 RSTN1 23 TX3 External active‐low reset input to the baseband.
Only needed when power supply rise time is very slow or software controlled reset is desired. UART serial data output, 3.3V LVTTL.
Output carrier phase raw measurement data at 115200 24 NC 25 26 VCC33
NC Digital section power supply, 3.3V DC
No connection, empty pin
27 RSTN2 28 BOOT_SEL2 External active‐low reset input to the RTK processor. Only needed when power supply rise time is very slow or software controlled reset is desired. No connection for normal use. Pull‐low for loading firmware into empty or
corrupted Flash memory from ROM mode for the RTK processor. 29 1PPS One‐pulse‐per‐second (1PPS) time mark output, 3.3V LVTTL. The rising edge synchronized to UTC second when getting 3D position fix. The pulse duration is about 800usec at rate of 1 Hz. 30 GND
Digital ground
RF signal input connects to antenna. 3.2V active antenna bias on RFIN. No connection, empty pin
* Available only for S2525F8‐RTK‐5S and ‐10S, 5Hz and 10Hz RTK version with precision time/position stamp 5 www.skytraq.com.tw
ELECTRICAL SPECIFICATIONS ABSOLUTE MAXIMUM RATINGS Parameter Minimum Maximum Condition Supply Voltage (VCC33) ‐0.5 3.6 Volt Backup Battery Voltage (VBAT) ‐0.5 6.0 Volt Input Pin Voltage ‐0.5 VCC+0.5 Volt Input Power at RFIN +5 dBm Storage Temperature ‐55 +100 degC OPERATING CONDITIONS Parameter Min Typ Max Unit Supply Voltage (VCC33) 3 3.3 3.6 Volt Acquisition Current (exclude active antenna current) 70 mA Tracking Current (exclude active antenna current) 50 mA 2.5 3.6 Volt Backup Current (VCC33 voltage applied) 1.5 mA Backup Current (VCC33 voltage off) 10 uA Output Low Voltage 0.4 Volt Output HIGH Voltage 2.4 Volt Input LOW Voltage 0.8 Volt Input HIGH Voltage 2 Volt Input LOW Current ‐10 10 uA Input HIGH Current ‐10 10 uA 50 Ohm Backup Voltage (VBAT) RF Input Impedance (RFIN) 6 www.skytraq.com.tw
APPLICATION CIRCUIT PRECOMMENDED LAYOUT PAD 7 www.skytraq.com.tw
RECOMMANDED REFLOW PROFILE The reflow profile shown above should not be exceeded, since excessive temperatures or transport times during reflow can damage the module. Cooling temperature fall rate: max 3°C / sec 8 www.skytraq.com.tw
ANTENNA CONSIDERATIONS The S2525F8‐RTK is designed to be used with GPS active antenna. Antenna with gain up to 30dB and noise figure less than 2dB can be used. It is important to select a high‐performance antenna to achieve optimal RTK performance. POWER SUPPLY REQUIREMENT S2525F8‐RTK requires a stable power supply, avoid ripple on VCC33 pin (<50mVpp). Power supply noise can affect the receiver’s sensitivity. Bypass capacitors should be placed close to the module VCC33 pin, with values adjusted depending on the amount and type of noise present on the supply line. BACKUP SUPPLY The purpose of backup supply voltage pin (VBAT) is to keep the SRAM memory and the RTC powered when the module is powered down. This enables the module to have a faster time‐to‐first‐fix when the module is powered on again. The backup current drain is less than 10μA. In normal powered on state, the internal processor access the SRAM and current drain is higher in active mode 1PPS OUTPUT A 1 pulse per second signal (800us HIGH duration) is generated on 1PPS pin when the receiver has 3D position fix using 4 or more satellites. The rising edge of the pulse is aligned with UTC second, with accuracy of about 10nsec. It outputs constant LOW when no position fix is available. LAYOUT GUIDELINES Separate RF and digital circuits into different PCB regions. It is necessary to maintain 50‐ohm impedance throughout the entire RF signal path. Try keeping the RF signal path as short as possible. Do not route the RF signal line near noisy sources such as digital signals, oscillators, switching power supplies, or other RF transmitting circuit. Do not route the RF signal under or over any other components (including S2525F8‐RTK), or other signal traces. Do not route the RF signal path on an inner layer of a multi‐layer PCB to minimize signal loss. Avoid sharp bends for RF signal path. Make two 45‐deg bends or a circular bend instead of a single 90‐degree bend if needed. Avoid vias with RF signal path whenever possible. Every via adds inductive impedance. Vias are acceptable for connecting the RF grounds between different layers. Each of the module’s ground pins should have short trace tying immediately to the ground plane below through a via. The bypass capacitors should be low ESR ceramic types and located directly adjacent to the pin they are for. 9 www.skytraq.com.tw
HANDLING GUIDELINE The S2525F8‐RTK modules are rated MSL4, must be used for SMT reflow mounting within 72 hours after taken out from the vacuumed ESD‐protective moisture barrier bag in factory condition < 30degC / 60% RH. If this floor life time is exceeded, or if the received ESD‐protective moisture barrier bag is not in vacuumed state, then the device need to be pre‐baked before SMT reflow process. Baking is to be done at 85degC for 8 to 12 hours. Once baked, floor life counting begins from 0, and has 72 hours of floor life at factory condition < 30degC / 60% RH. S2525F8‐RTK module is ESD sensitive device and should be handled with care. RTK Usage Guideline Below conditions are required for getting RTK fix solution. If the conditions are not met, S2525F8‐RTK will only have float or DGPS/3D solution behaving like a normal GPS receiver. * Base and rover distance under 10Km * Open sky environment without interference * Signal over 38dB/Hz * 7 or more satellites above 15 degree elevation angle with good satellite geometry or low DOP value; generally more satellites will have faster RTK fix 10 www.skytraq.com.tw
NMEA Output Description The output protocol supports NMEA‐0183 standard. The implemented messages include GGA, GLL, GSA, GSV, VTG, RMC, ZDA and GNS messages. The NMEA message output has the following sentence structure: $aaccc,c–c*hh<CR><LF> The detail of the sentence structure is explained in Table 1. Table 1: The NMEA sentence structure character HEX Description
“$” 24 Start of sentence.
Aaccc Address field. “aa” is the talker identifier. “ccc” identifies the sentence type.
“,” 2C Field delimiter.
C–c Data sentence block.
“*” 2A Checksum delimiter.
Hh Checksum field.
<CR><LF> 0D0A Ending of sentence. (carriage return, line feed)
Table 2: Overview of SkyTraq receiver’s NMEA messages $GPGGA Time, position, and fix related data of the receiver.
$GPGLL Position, time and fix status. $GPGSA Used to represent the ID’s of satellites which are used for position fix. When GPS satellites are used for $BDGSA position fix, $GPGSA sentence is output. When BDS satellites are used for position fix, $BDGSA sentence is output. $GPGSV Satellite information about elevation, azimuth and CNR, $GPGSV is used for GPS satellites, while $BDGSV $BDGSV is used for BDS satellites $GPRMC Time, date, position, course and speed data.
$GPVTG Course and speed relative to the ground.
$GPZDA UTC, day, month and year and time zone.
11 www.skytraq.com.tw
The formats of the supported NMEA messages are described as follows: GGA – Global Positioning System Fix Data Time, position and fix related data for a GPS receiver. Structure: $GPGGA,hhmmss.sss,ddmm.mmmmmmm,a,dddmm.mmmmmmm,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh<CR><LF> 1 2 3 4 5 6 7 8 9 10 11 12 Example: $GPGGA,202434.000,2447.0936188,N,12100.5253729,E,4,22,0.6,96.186,M,19.600,M,,0000*65<CR><LF> Field Name Example Description
1 UTC Time 202434.000 UTC of position in hhmmss.sss format, (000000.000 ~ 235959.999)
2 Latitude 2447.0936188 Latitude in ddmm.mmmmmmm format
Leading zeros transmitted 3 N/S Indicator N
Latitude hemisphere indicator, ‘N’ = North, ‘S’ = South 4 Longitude 12100.5253729 Longitude in dddmm.mmmmmmm format
Leading zeros transmitted 5 E/W Indicator E
Longitude hemisphere indicator, ‘E’ = East, ‘W’ = West 6 GPS quality 4
GPS quality indicator
indicator 0: position fix unavailable 1: valid position fix, SPS mode 2: valid position fix, differential GPS mode 3: GPS PPS Mode, fix valid 4: Real Time Kinematic. System used in RTK mode with fixed integers 5: Float RTK. Satellite system used in RTK mode., floating integers 6: Estimated (dead reckoning) Mode 7 Satellites Used 22 Number of satellites in use, (00 ~ 28)
8 HDOP 0.6 Horizontal dilution of precision, (0.0 ~ 99.9) 9 Altitude 96.186 mean sea level (geoid), (‐9999.9 ~ 17999.9) 10 Geoidal Separation 19.600 Geoidal separation in meters
11 Age pf Differential Age of Differential GPS data
GPS data NULL when DGPS not used 12 DGPS Station ID 0000 Differential reference station ID, 0000 ~ 1023 13 Checksum 65 12 www.skytraq.com.tw
GLL – Latitude/Longitude Latitude and longitude of current position, time, and status. Structure: $GPGLL,ddmm.mmmmmmm,a,dddmm.mmmmmmm,a,hhmmss.sss,A,a*hh<CR><LF> 1 2 3 4 5 6 7 8 Example: $GPGLL,2447.0877990,N,12100.5225238,E,075310.000,A,F*58<CR><LF> Field Name Example Description
1 Latitude 2447.0877990 Latitude in ddmm.mmmmmmm format
Leading zeros transmitted 2 N/S Indicator N Latitude hemisphere indicator
‘N’ = North ‘S’ = South 3 Longitude 12100.5225238 Longitude in dddmm.mmmmmmm format Leading zeros transmitted 4 E/W Indicator E Longitude hemisphere indicator
‘E’ = East ‘W’ = West 5 UTC Time 075310.000 UTC time in hhmmss.sss format (000000.000 ~ 235959.999)
6 Status A Status, ‘A’ = Data valid, ‘V’ = Data not valid 7 Mode Indicator F Mode indicator
‘N’ = Data not valid ‘A’ = Autonomous mode ‘D’ = Differential mode ‘E’ = Estimated (dead reckoning) mode ‘F’ = Float RTK. Satellite system used in RTK mode, floating integers ‘R’ = Real Time Kinematic. System used in RTK mode with fixed integers 8 Checksum 58 13 www.skytraq.com.tw
GSA – GNSS DOP and Active Satellites GPS receiver operating mode, satellites used in the navigation solution reported by the GGA or GNS sentence and DOP values. Structure: $GPGSA,A,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,x.x,x.x,x.x*hh<CR><LF> 1 2 3 3 3 3 3 3 3 3 3 3 3 3 4 5 6 7 Example: $GPGSA,A,3,01,07,08,11,19,27,30,32,193,03,16,09,1.0,0.6,0.8*0A<CR><LF> Field Name Example Description
1 Mode A Mode ‘M’ = Manual, forced to operate in 2D or 3D mode ‘A’ = Automatic, allowed to automatically switch 2D/3D 2 Mode 3 Fix type
1 = Fix not available 2 = 2D 3 = 3D 3 Satellite used 1~12 01,07,08,11,19,2 01 ~ 32 are for GPS; 33 ~ 64 are for WAAS (PRN minus 87); 193 7,30,32,193,03,1 ~ 197 are for QZSS. Maximally 12 satellites are included in each 6,09 GSA sentence. 4 PDOP 1.0 Position dilution of precision (0.0 to 99.9) 5 HDOP 0.6 Horizontal dilution of precision (0.0 to 99.9) 6 VDOP 0.8 Vertical dilution of precision (0.0 to 99.9) 7 Checksum 0A 14 www.skytraq.com.tw
GSV – GNSS Satellites in View Number of satellites (SV) in view, satellite ID numbers, elevation, azimuth, and SNR value. Four satellites maximum per transmission. Structure: $GPGSV,x,x,xx,xx,xx,xxx,xx,…,xx,xx,xxx,xx *hh<CR><LF> 1 2 3 4 5 6 7 4 5 6 7 8 Example: $GPGSV,3,1,12,05,54,069,45,12,44,061,44,21,07,184,46,22,78,289,47*72<CR><LF> $GPGSV,3,2,12,30,65,118,45,09,12,047,37,18,62,157,47,06,08,144,45*7C<CR><LF> $GPGSV,3,3,12,14,39,330,42,01,06,299,38,31,30,256,44,32,36,320,47*7B<CR><LF> Field Name Example Description
1 Number of message 3 Total number of GSV messages to be transmitted (1‐5) 2 Sequence number 1 Sequence number of current GSV message 3 Satellites in view 12 Total number of satellites in view (00 ~ 20) 4 Satellite ID 05 01 ~ 32 are for GPS; 33 ~ 64 are for WAAS (PRN minus 87); 193 ~ 197 are for QZSS. Maximally 4 satellites are included in each GSV sentence. 5 Elevation 54 Satellite elevation in degrees, (00 ~ 90)
6 Azimuth 069 Satellite azimuth angle in degrees, (000 ~ 359 ) 7 SNR 45 C/No in dB (00 ~ 99)
Null when not tracking 8 Checksum 72 15 www.skytraq.com.tw
RMC – Recommended Minimum Specific GNSS Data Time, date, position, course and speed data provided by a GNSS navigation receiver. Structure: $GPRMC,hhmmss.sss,A,dddmm.mmmmmmm,a,dddmm.mmmmmmm,a,x.x,x.x,ddmmyy,,,a*hh<CR><LF> 1 2 3 4 5 6 7 8 9 10 11 Example: $GPRMC,075400.000,A,2447.0862197,N,12100.5222844,E,000.0,000.0,180915,,,R*74<CR><LF> Field Name Example Description
1 UTC time 075400.000 UTC time in hhmmss.sss format (000000.00 ~ 235959.999)
2 Status A Status
‘V’ = Navigation receiver warning ‘A’ = Data Valid 3 Latitude 2447.0862197 Latitude in dddmm.mmmmmmm format Leading zeros transmitted 4 N/S indicator N Latitude hemisphere indicator
‘N’ = North ‘S’ = South 5 Longitude 12100.5222844 Longitude in dddmm.mmmmmmm format Leading zeros transmitted 6 E/W Indicator E Longitude hemisphere indicator
‘E’ = East ‘W’ = West 7 Speed over ground 000.0 Speed over ground in knots (000.0 ~ 999.9) 8 Course over ground 000.0 Course over ground in degrees (000.0 ~ 359.9) 9 UTC Date 180915 UTC date of position fix, ddmmyy format 10 Mode indicator R Mode indicator
‘N’ = Data not valid ‘A’ = Autonomous mode ‘D’ = Differential mode ‘E’ = Estimated (dead reckoning) mode ‘F’ = Float RTK. Satellite system used in RTK mode, floating integers ‘R’ = Real Time Kinematic. System used in RTK mode with fixed integers 11 checksum 74 16 www.skytraq.com.tw
VTG – Course Over Ground and Ground Speed The actual course and speed relative to the ground. Structure: GPVTG,x.x,T,,M,x.x,N,x.x,K,a*hh<CR><LF> 1 2 3 4 5 Example: $GPVTG,000.0,T,,M,000.0,N,000.0,K,R*1E<CR><LF> Field Name Example Description
1 Course 000.0 True course over ground in degrees (000.0 ~ 359.9) 2 Speed 000.0 Speed over ground in knots (000.0 ~ 999.9) 3 Speed 000.0 Speed over ground in kilometers per hour (000.0 ~ 1800.0)
4 Mode R Mode indicator
‘N’ = Data not valid ‘A’ = Autonomous mode ‘D’ = Differential mode ‘E’ = Estimated (dead reckoning) mode ‘F’ = Float RTK. Satellite system used in RTK mode, floating integers ‘R’ = Real Time Kinematic. System used in RTK mode with fixed integers 5 Checksum 1E 17 www.skytraq.com.tw
ZDA – TIME AND DATE UTC, day, month, year and local time zone Structure: $GPZDA,hhmmss.sss,xx,xx,xxxx,xx,xx*hh<CR><LF> 1 2 3 4 5 6 7 Example: $GPZDA,202434.000,25,11,2015,00,00*54<CR><LF> Field Name Example Units
1 UTC time 202434.000 2 UTC Day 25 3 UTC Month 11 4 UTC Year 2015 5 Local zone hour 00 6 Local zone minutes 00 7 Checksum 54 Description
UTC time in hhmmss.ss format (000000.00 ~ 235959.99)
UTC time: day (01 ~ 31)
UTC time: month (01 ~ 12)
UTC time: year (4 digit format)
Local zone hours (00 ~ +/‐ 13)
Local zone minutes (00 ~59)
Checksum
18 www.skytraq.com.tw
GST – GNSS Pseudorange Error Statistics GNSS Pseudorange error statics. Structure: $GPGST,hhmmss.sss,x.xxx,x.xxx,x.xxx,x.x,x.xxx,x.xxx,x.xxx*hh<CR><LF> 1 2 3 4 5 6 7 8 9 Example: $GPGST,080331.600,0.004,0.002,0.002,62.7,0.002,0.002,0.003*5C<CR><LF> Field Name Example Description
1 UTC time 080311.600 UTC time of the GGA or GNS fix associated with this sentence in hhmmss.sss format (000000.000 ~ 235959.999) 2 RMS value of the 0.004 RMS value of the standard deviation of the range inputs to the standard deviation of navigation process. Range inputs include pseudoranges & the range DGNSS corrections. 3 Standard deviation of 0.002 Standard deviation of semi‐major axis of error ellipse in meters
semi‐major axis 4 Standard deviation of 0.002 Standard deviation of semi‐minor axis of error ellipse in meters
semi‐minor axis 5 Orientation of 62.7 Orientation of semi‐major axis of error ellipse in degrees from semi‐major axis true north. 6 Standard deviation of 0.002 Standard deviation of latitude error in meters latitude error 7 Standard deviation of 0.002 Standard deviation of longitude error in meters longitude error 8 Standard deviation of 0.003 Standard deviation of altitude error in meters altitude error 9 checksum 5C 19 www.skytraq.com.tw
STI,005 – Time & Position Stamp Output * An output message, ID 0x005, contains GPIO 10 event‐triggered time & position stamp. The trigger input should be spaced more than 1.5sec apart. Time error less than 100nsec, maximum position error of 0.278mm per km/hr times the moving speed added on top of RTK positioning error. Structure: $PSTI,005,hhmmss.sssssss,xx,xx,xxxx,ddmm.mmmmmmm,a,dddmm.mmmmmmm,a,x.x*hh<CR><LF> 1 2 3 4 5 6 7 8 9 10 11 Example: $PSTI,005,030718.1408380,27,11,2015,2447.0924110,N,12100.5227860,E,103.323*2C<CR><LF> Field Name Example Description
1 ID 005 Proprietary NMEA message identifier
2 UTC time 030718.1408380 Time‐stamp UTC time in hhmmss.sssssss format (000000.0000000 ~ 235959.9999999) 3 UTC Day 27
Time‐stamp UTC time: day (01 ~ 31)
4 UTC Month 11
Time‐stamp UTC time: month (01 ~ 12)
5 UTC Year 2015 Time‐stamp UTC time: year (4 digit format) 6 Latitude 2447.0924110 Latitude in ddmm.mmmmmmm format
Leading zeros transmitted 7 N/S Indicator N
Latitude hemisphere indicator, ‘N’ = North, ‘S’ = South 8 Longitude 12100.5227860 Longitude in dddmm.mmmmmmm format
Leading zeros transmitted 9 E/W Indicator E
Longitude hemisphere indicator, 'E' = East, 'W' = West 10 Altitude 103.323 mean sea level (geoid), (‐9999.999 ~ 17999.999) 11 Checksum 29
Checksum
* Available only for S2525F8‐RTK‐5S and ‐10S, 5Hz and 10Hz RTK version with precision time/position stamp 20 www.skytraq.com.tw
STI,030– Recommended Minimum 3D GNSS Data Time, date, position, course and speed data provided by a GNSS navigation receiver. Structure: $PSTI,030,hhmmss.sss,A,dddmm.mmmmmmm,a,dddmm.mmmmmmm,a,x.x,x.x,x.x,x.x,ddmmyy,a.x.x,x.x*hh<CR><LF> 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Example: $PSTI,030,044606.000,A,2447.0924110,N,12100.5227860,E,103.323,0.00,0.00,0.00,180915,R,1.2,4.2*02<CR><LF> Field Name Example Description
1 UTC time 044606.000 UTC time in hhmmss.sss format (000000.00 ~ 235959.999)
2 Status A Status
‘V’ = Navigation receiver warning ‘A’ = Data Valid 3 Latitude 2447.0924110 Latitude in dddmm.mmmmmmm format Leading zeros transmitted 4 N/S indicator N Latitude hemisphere indicator
‘N’ = North ‘S’ = South 5 Longitude 12100.5227860 Longitude in dddmm.mmmmmmm format Leading zeros transmitted 6 E/W Indicator E Longitude hemisphere indicator
'E' = East 'W' = West 7 Altitude 103.323 mean sea level (geoid), (‐9999.999 ~ 17999.999) 8 East Velocity 0.00 ‘East’ component of ENU velocity (m/s) 9 North Velocity 0.00 ‘North’ component of ENU velocity (m/s) 10 Up Velocity 0.00 ‘Up’ component of ENU velocity (m/s) 11 12 UTC Date Mode indicator 180915 R 13 14 15 RTK Age RTK Ratio Checksum 1.2 4.2 02 UTC date of position fix, ddmmyy format Mode indicator
‘N’ = Data not valid ‘A’ = Autonomous mode ‘D’ = Differential mode ‘E’ = Estimated (dead reckoning) mode ‘M’ = Manual input mode ‘S’ = Simulator mode ‘F’ = Float RTK. Satellite system used in RTK mode, floating integers ‘R’ = Real Time Kinematic. System used in RTK mode with fixed integers Age of differential
AR ratio factor for validation
21 www.skytraq.com.tw
STI,032– RTK Baseline Data Time, date, status and baseline related data provided by a GNSS navigation receiver. Structure: $PSTI,032,hhmmss.sss,ddmmyy,A,R,x.xxx,x.xxx,x.xxx,x.xxx,x.xx,,,,,*hh<CR><LF> Example: $PSTI,032,041457.000,170316,A,R,0.603,‐0.837,‐0.089,1.036,144.22,,,,,*30 Field Name Example Description
1 UTC time 041457.000 UTC time in hhmmss.sss format (000000.000~235959.999)
2 UTC Date 170316 UTC date of position fix, ddmmyy format Status
3 Status A ‘V’ = Void ‘A’ = Active Mode indicator
‘F’ = Float RTK. System used in RTK mode with float ambiguity 4 Mode indicator R ‘R’ = Real Time Kinematic. System used in RTK mode with fixed ambiguity East‐projection of 5 0.603 East‐projection of baseline, meters baseline North‐projection of 6 ‐0.837 North‐projection of baseline, meters baseline Up‐projection of 7 ‐0.089 Up‐projection of baseline, meters baseline 8 Baseline length 1.036 Baseline length, meters 9 Baseline course 144.22 10 Reserve Reserve 11 Reserve Reserve 12 Reserve Reserve 13 Reserve Reserve 14 Reserve Reserve 15 Checksum 30 Baseline course (angle between baseline vector and north direction), degrees 22 www.skytraq.com.tw
ORDERING INFORMATION Model Name S2525F8‐RTK S2525F8‐RTK‐5 S2525F8‐RTK‐5S S2525F8‐RTK‐10 S2525F8‐RTK‐10S Description
GPS/BDS RTK Receiver Module, max 1Hz RTK update rate
GPS/BDS RTK Receiver Module, max 5Hz RTK update rate
GPS/BDS RTK Receiver Module, max 5Hz RTK update rate, with precision time/position stamp function GPS/BDS RTK Receiver Module, max 10Hz RTK update rate
GPS/BDS RTK Receiver Module, max 10Hz RTK update rate, with precision time/position stamp function 23 www.skytraq.com.tw
Revision History Revision 1 2 Date Nov 27, 2015 Dec 7, 2015 3 Dec 17, 2015 4 5 6 7 March 22, 2016 March 25, 2016 October 5, 2016 August 4, 2017 Description Initial release Added S2525F8‐RTK‐5, S2525F8‐RTK‐5S, S2525F8‐RTK‐10 and S2525F8‐RTK‐10S
model description Updated current consumption and RTCM baud rate Updated RTCM baud rate to 57600
Updated RF section VCC and GND pin description Added pin‐10 STS description Added RTK Usage Guideline Added GST error estimate message description
Added PSTI, 032 RTK baseline data message
Updated GGA and GSV message fields related to number of satellites. Updated non‐RTK mode maximum update rate.
The information provided is believed to be accurate and reliable. These materials are provided to customers and may be used for informational purposes only. No responsibility is assumed for errors or omissions in these materials, or for its use. Changes to specification can occur at any time without notice. These materials are provides “as is” without warranty of any kind, either expressed or implied, relating to sale and/or use including liability or warranties relating to fitness for a particular purpose, consequential or incidental damages, merchantability, or infringement of any patent, copyright or other intellectual property right. No warrant on the accuracy or completeness of the information, text, graphics or other items contained within these materials. No liability assumed for any special, indirect, incidental, or consequential damages, including without limitation, lost revenues or lost profits, which may result from the use of these materials. The product is not intended for use in medical, life‐support devices, or applications involving potential risk of death, personal injury, or severe property damage in case of failure of the product. 24 www.skytraq.com.tw
Download PDF
Similar pages