Rikaline 24A User manual
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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: [email protected] Web: www.rikaline.com.tw
All Right Reserved
GPS Receiver Board GPS-24 / 24A Operating Manual
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. The GPS-24 / 24A delivers major advancements in GPS performances, accuracy, integration, computing power and flexibility. It is designed to simplify the embedded system integration process .
This positioning application meets strict needs such as car navigation, mapping, surveying, agriculture and so on. Only clear view of sky and certain power supply are necessary to the unit. GPS-24 / 24A communicates with other electronic utilities via compatible dual-channel through TTL and saves critical satellite data in built–in memory backup. With low power consumption, the GPS-24 / 24A tracks up to 16 satellites at a time, re-acquires satellite signals in 100 ms and updates position data every second.
1.2 Features
The GPS-24 / 24A provides a host of features that make it easy for integration and use.
1. Position accuracy in < 7m CEP (90%) without SA (horizontal)
2. Ultra low power: 30mW typical -- tracking at 3.3 Volts, full power
3. High sensitivity: to -152 dBm tracking, superior urban canyon performances
4. Small form factor and low cost solution
5. Ready-to-plug solution. Easily integrated into existing systems
6. On-board RAM for GPS navigation data
7. PPS output (User may have different interval setting from 1 second to 1 minute.
8. Differential capability utilizes real-time RTCM corrections producing < 1 meter position accuracy.
9. FLASH based program memory: New setting is stored permanently.
1.3 Application
Navigation
2. Mapping
3. Surveying
4. Agriculture
Laptop,
6. Location Based Services enabled devices receivers
9. Radar detector with GPS function
1.4 Technology specifications
1.4.1 Physical Dimension
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: 21 g
1.4.2 Environmental Characteristics
1) Operating temperature: -40
2) Storage temperature: -55 o o
C to +80
C to +100 o o
C (internal temperature)
C
1.4.3 Electrical Characteristics
1) Input voltage: +3.3 ±5% VDC.
2) HFL antenna connector: Active or patch (3.0V antenna is recommended).
1.4.4 Performance
1) Tracks up to 16 satellites.
2) Update rate: 1 second.
3) Sensitivity:
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
2
GPS Receiver Board GPS-24 / 24A Operating Manual
Rikaline
Tracking: -152dBm
Acquisition: -139dBm
3) Acquisition time:
Reacquisition 0.1 sec. (90%)
Hot start 12 sec. (90%)
Warm start
Cold start
4) Position accuracy:
38 sec. (90%)
60 sec. (90%)
Non DGPS (Differential GPS)
Position
Velocity
Time
<7m CEP (90%) with S\A off
0.1 meters/second.
1 microsecond synchronized GPS time
DGPS (Differential GPS)
Position
Velocity
<1 m, typical
0.05 meters/second, typical
5) Dynamic Conditions:
Altitude
Velocity
10,000 meters(32,800 feet) max
Horisontal 300 Km/Hr
Vertical 36 Km/Hr
Acceleration 2 G, max
Jerk 4 meters/second³, max
6) Time-1PPS Pulse (optional)
Level TTL duration 100ms
Time reference at the pulse positive edge
7) 2.1.10 Recommended External Antenna Specification
Gain
Noise 1.5dB
Current
Operate Voltage
3 ~ 30mA
2.5 ~ 2.8V
1.4.5 Interfaces
1) Dual communication channel through TTL, with user selectable baud rate (4800, 9600-Default, 19200,
38400).
2) NMEA 0183 Version 3.0 ASCII output (GGA, GSV(3), GSA(3), RMC, VTG).
3) Real-time Differential Correction input (RTCM SC-104 message types 1, 2 and 9).
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
3
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.
The GPS-22 utilizes initial data, such as last stored position, date, time and satellite orbital data, to achieve maximum acquisition performance. If significant inaccuracy exists in the initial data, or the orbital data is obsolete, it may take more time to achieve a navigation solution. The FirstGPS™ architecture provides superior performance. However, acquisition performance can be improved as the host system initializes the
GPS-22 in the following situation:
1. Moving further than 1,500 kilometers.
2. Failure of Data storage due to the inactive memory power back up.
2.2 Navigation
After the acquisition process is complete, the GPS-22 sends valid navigation information over output channels. These data include:
1) Latitude/longitude/altitude
2) Velocity
3) Date/time
4) Error
5) Satellite and receiver status
The GPS-22 sets the default of auto-searching for real-time differential corrections in RTCM SC-104 standard format, with the message types 1, 2, or 9. It accomplishes the satellite data to generate a differential (DGPS) solution. The host system, at its option, may also command the GPS-22 to output a position whenever a differential solution is available.
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
4
GPS Receiver Board GPS-24 / 24A Operating Manual
Rikaline
3. Hardware interface
3.1 Physical Characters
1. Size: 25.9(W) x 25.9(D) x 2.7(H) (mm) 2. Weight: 25 g
1.02”(W) x 1.02”(D) x 0.11”(H)
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
3.1.1.1GPS-24A (to be equipped with passive antenna or/and active antenna)
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
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GPS Receiver Board GPS-24 / 24A Operating Manual
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3.2 Pin Definition
DESCRIPTION Remarks
1
2
3
4
GPIO(4)
NC (MODE)
NMEA Tx
NMEA Rx
I \ O GPS Status
NU Reserved, keep float
I \ O NMEA Serial Data Output
I \ O NMEA Serial Data Input
5
6
7
NC (WAKE UP) NU
Reset I
VBAT I
8 GND
9 VCC
10 GPIO(0)
Reserved, keep float
Low Active, keep float if not use *1 Will not effect hot, or cold start
Backup Battery Input (1.2~2V)
PWR +3.0~3.6V DC Power Input
I \ O SW dependent functions
A1
A2
A3
D1
RF GND
RF IN
RF GND
DSUMUX
D2 DSUEN
D3 DSUBRE
D4 DSUTX
D5 DSURX
D6 DSUACT
ANT Antenna ground
ANT Antenna +
ANT Antenna ground
I Serial / DSU select
I DSU break enable
3.3 Operating Modes
3.3.1 GPIO(1) & (4)
It design as spare I\O. You may leave it disconnect of desire.
3.3.2 Reset:
It always requires reset when power-up. Max voltage is 2.0VDC
And will not effect cold start or hot start.
3.3.3 Debug Pins
All pins from D1 to D6 is for development purposes, not for end users except downloading new software.
3.3.4 Developing Kit
Available at part no. GPS-24-SDK
3.4 Other Electrical Specification
Table 3-1 Absolute Maximum Ratings
Power Supply Voltage
Input Pin Voltage
Output Pin Voltage
Reset Pin Voltage
Storage Temperature
Back-up Voltage
VDD
VIN
VOUT
Vreset
TSTG
BAT
-0.3
-0.3
-0.3
-0.3
-40
3.6
3.3
3
2.0
100
2.2
V
V
V
V
°C
V
Table 3-2 Operating Conditions
Power Supply Voltage
Input Pin Voltage
Operating Temperature
Operating Current ZX4120
VCC
VIN
TOPR
ICC
3
2.7
-40
3.3
3
27
3.6
3.3
85
V
V
°C mA
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
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GPS Receiver Board GPS-24 / 24A Operating Manual
Rikaline
Table 3-3 Backup Battery Conditions
RTC(Battery) Power
Supply Current
BAT 1.2 1.8
10
2 V
µA
Table 3-4 DC Characteristics
Input High Level
Input Low Level
Output High Level
Output Low Level
Input Leakage Current
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.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
7
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
ASC Ⅱ 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).
4.1 NMEA Transmitted Messages
The GPS-24 / 24A outputs data in NMEA-0183 format as defined by the National Marine Electronics
Association (NMEA), Standard.
The default communication parameters for NMEA output are 9600 baud, 8 data bits, stop bit, and no parity.
Table 4-1 NMEA-0183 Output Messages
NMEA Record Description
GPGGA Global positioning system fixed data
GPGLL
GPGSA
Geographic position- latitude/longitude
GNSS DOP and active satellites
GPGSV GNSS satellites in view
GPRMC Recommended minimum specific GNSS data
GPVTG
GPZDA
Course over ground and ground speed
Date & Time
Detailed NMEA information is in Appendix A
4.2 RTCM Received Data
The default communication parameters for DGPS Input are 9600 baud, 8 data bits, stop bit, and no parity. Position accuracy of less than 5 meters can be achieved with the GPS-24 / 24A by using Differential
GPS (DGPS) real-time pseudo-range correction data in RTCM SC-104 format, with message types 1, 5, or
9. As using DGPS receiver with different communication parameters, GPS-24 / 24A may decode the data correctly to generate accurate messages and save them in battery-back SRAM for later computing.
4.3 Earth Datums
The GPS-24 / 24A is built in earth datum with WGS84.
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
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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. Warranty
The GPS-24 / 24A series products are warranted to be free from defects in material and functions for one year from the date of purchase. Any failure of this product within this period under normal conditions will be replaced art no charge to the customers.
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
9
GPS Receiver Board GPS-24 / 24A Operating Manual
Rikaline
Appendix A Software Interface
The GPS-24 / 24A interface protocol is based on the National Marine Electronics Association's NMEA 0183
ASC Ⅱ 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.1 NMEA Transmitted Messages
The GPS-24 / 24A outputs data in NMEA-0183 format as defined by the National Marine Electronics
Association (NMEA), Standard.
The default communication parameters for NMEA output are 9600 baud, 8 data bits, stop bit, and no parity.
Table A-1 NMEA-0183 Output Messages
NMEA Record Description
GPGGA Global positioning system fixed data
GPGLL
GPGSA
Geographic position- latitude/longitude
GNSS DOP and active satellites
GPGSV GNSS satellites in view
GPRMC Recommended minimum specific GNSS data
GPVTG
GPZDA
Course over ground and ground speed
Date & Time
A.1.1 Global Positioning System Fix Data (GGA)
$GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18
Table A-2 GGA Data Format
Name
Message ID
Example Units
$GPGGA
Description
GGA protocol header
UTC Time 161229.487
Latitude 3723.2475
N/S Indicator N
Longitude 12158.3416
E/W Indicator W
Position Fix Indicator
Satellites Used
HDOP
1
07
1.0
Hhmmss.sss
Ddmm.mmmm
N=north or S=south dddmm.mmmm
E=east or W=west
See Table 5-3
Range 0 to 12
Horizontal Dilution of Precision
MSL Altitude 9.0 Meters
Meters
Geoid Separation Meters
Meters
Age of Diff. Corr.
<CR> <LF> second Null fields when DGPS is not used
Diff. Ref. Station ID 0000
Checksum *18
End of message termination
Table A-3 Position Fix Indicator
Value Description
0
1
2
3
0 Fix not available or invalid
GPS SPS Mode, fix valid
Differential GPS, SPS Mode, fix valid
GPS PPS Mode, fix valid
A.1.2 Geographic Position with Latitude/Longitude (GLL)
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
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GPS Receiver Board GPS-24 / 24A Operating Manual
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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
Message ID
Latitude
$GPGLL
3723.2475
Description
GLL protocol header ddmm.mmmm
N/S Indicator N N=north or S=south
Longitude 12158.3416 dddmm.mmmm
E/W Indicator
UTC Position
Status
W
161229.487
A
Checksum *2C
<CR> <LF>
E=east or W=west hhmmss.sss
A=data valid or V=data not valid
End of message termination
4.1.3 GNSS DOP and Active Satellites (GSA)
Table A-5 contains the values for the following example:
$GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33
Table A-5 GSA Data Format
Message ID
Mode 1
Mode 2
Satellite Used (1)
Satellite Used (1)
$GPGSA
A
3
07
02
Description
GSA protocol header
See Table 5-6
See Table 5-7
Sv on Channel 1
Sv on Channel 2
Satellite Used
PDOP
HDOP
VDOP
Checksum
<CR> <LF>
(1) Satellite used in solution.
Table A-6 Mode 1
1.8
1.0
1.5
*33
Sv on Channel 12
Position Dilution of Precision
Horizontal Dilution of Precision
Vertical Dilution of Precision
End of message termination
Value Description
M
A
Manual—forced to operate in 2D or 3D mode
2D Automatic—allowed to automatically switch 2D/3D
Table A-7 Mode 2
Value Description
Not
2 2D
3 3D
A.1.4 GNSS Satellites in View (GSV)
Table A-8 contains the values for the following example:
$GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71
$GPGSV,2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41
Table A-8 GSV Data Format
Name Example Units
Message ID $GPGSV
Description
GSV protocol header
Number of Messages 2 Range 1 to 3
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
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GPS Receiver Board GPS-24 / 24A Operating Manual
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Message Number
Satellites in View
Satellite ID
Elevation
Azimuth
1
07
07
79
048
Range 1 to 3
Range 1 to 12
Channel 1 (Range 1 to 32) degrees Channel 1 (Maximum 90) degrees Channel 1 (True, Range 0 to 359)
SNR (C/No) 42 dBHz Range 0 to 99, null when not tracking
.... ....
Satellite ID
Elevation
Azimuth
27
27
138
Channel 4 (Range 1 to 32) degrees Channel 4 (Maximum 90) degrees Channel 4 (True, Range 0 to 359)
SNR (C/No) 42 dBHz Range 0 to 99, null when not tracking
Checksum *71
<CR> <LF> End of message termination
NOTE: Items <4>,<5>,<6> and <7> repeat for each satellite in view to a maximum of four (4) satellites per sentence. Additional satellites in view information must be sent in subsequent sentences. These fields will be null if unused.
A.1.5 Recommended Minimum Specific GNSS Data (RMC)
Table A-9 contains the values for the following example:
$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10
Table A-9 RMC Data Format
Message ID $GPRMC
Description
RMC protocol header
UTC Time
Status
161229.487
A
Latitude 3723.2475
hhmmss.sss
A=data valid or V=data not valid ddmm.mmmm
N/S Indicator N
Longitude 12158.3416
E/W Indicator
Speed Over Ground
Course Over Ground
W
0.13
309.62
Knots
N=north or S=south dddmm.mmmm
E=east or W=west
Degrees True
Date 120598
Magnetic Variation Degrees E=east or W=west
Checksum *10
<CR> <LF> End of message termination
A.1.6 Course Over Ground and Ground Speed (VTG)
Table A-10 contains the values for the following example:
$GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E
Table A-10 VTG Data Format
Message ID $GPVTG
Description
VTG protocol header
Degrees Measured
True
Reference M
Speed 0.13 Knots Measured horizontal speed
Speed
Units
0.2
K
Km/hr Measured horizontal speed
Kilometers per hour
Checksum *6E
<CR> <LF> End of message termination
(1) All “course over ground” data are geodetic WGS84 directions.
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
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GPS Receiver Board GPS-24 / 24A Operating Manual
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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
Units Description
ZDA protocol header
Hour, Min, Sec, Sub
Sec
Day
114523.62
12
Hhmmss.ss
Day in UTC, 01to 12
Month 04
Year 2001
Month in UTC, 01 to 12
Local Zone Hours 10 Local zone hours, +/- 13 hours
Local Zone Minutes 34 L ocal zone minutes, 0 to +59
Checksum *6E
<CR> <LF> End of message termination
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
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GPS Receiver Board GPS-24 / 24A Operating Manual
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Appendix B Reference Design
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
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GPS Receiver Board GPS-24 / 24A Operating Manual
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Appendix C 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.
Field Format Notes chars
Message ID $PNMRX100 6 6 PNMRX100 protocol header.
Protocol Char 1 0 NMEA mode
1 NemeriX Binary Mode (under dev)
Baud Int 4 6 1200 / 2400 / 4800 / 9600 / 19200 / 38400 /
57600.
Checksum *xx
Message terminator <CR> <LF>
(0) 3
2
3
2
1. Odd.
2. Even.
2 digits.
ASCII 13, ASCII 10.
Examples:
$PNMRX100,0,4800,0*xx: sets the UART baud rate to 4800 bps and no parity.
C.2 $PNMRX101, Navigation Initialization
This message is sent to initialize navigation parameters to speed up initial acquisition time. The
$PNMRX101 message format is shown below.
Notes
Message ID
ECEF_X
ECEF_Y
ECEF_Z
Clock offset chars
$PNMRX101 6
Int
Int
Int
Int
(-)7
(-)7
(-)7
(0) 1 chars
8
(-)7
(-)7
(-)7
6
PNMRX101 protocol header.
Signed ECEF x co-ordinate in meters
Signed ECEF y co-ordinate in meters
Signed ECEF z co-ordinate in meters
Clock offset of GPS receiver, in [Hz x 100] wrt L1.
This changes the clock bias stored in the settings not the actual clock bias used by the system. A cold start is necessary, in order to use this value.
Time of week Int
Week number Int
Channel count Int
Checksum *xx
1
1
1
(0) 3
6
4
2
3
Offset from start of week in seconds
GPS week number
Maximum number of TM to be used. Min 12, max 16.
2 digits.
Message terminator
<CR> <LF> 2 2 ASCII 13, ASCII 10.
Note: 1// If used, all three X,Y, and Z components of the ECEF position must be provided, otherwise the message is declared invalid as a whole
2// Modifying the ECEF coordinates triggers a software system reset after successful execution of the message
Examples:
$PNMRX101,,,,,,,,8,*xx: Executes a factory reset
$PNMRX101,-742507,-5462738, 3196706,*xx: Sets the receiver position to ECEF (,) and executes a
$PNMRX101, 4,*xx: software reset
Sets the fix procedure mode the cold start. This will be valid after each reset, until this value is changed.
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
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GPS Receiver Board GPS-24 / 24A Operating Manual
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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). The message length is limited to 80 characters, in the event that the message length would exceed 80 characters it is divided into 2 messages. This message is supported also in a variable length format, where only the necessary fields are used.
Message ID
Mask ID
$PNMRX103
Int
Mask value
Mask ID
Checksum
Int
Int
*xx
Message terminator <CR> <LF> chars
8
3
1
2
1
2
(0) 3 3
2 2 chars
8
3
PNMRX103 protocol header.
Mask identifier: possibilities are
GGA / GLL / GSA / GSV
RMC / VTG / ZDA
ALL (applies to all messages)
Output rate in seconds (0=paused)
Mask identifier.
2 digits.
ASCII 13, ASCII 10.
Examples:
$PNMRX103, GSV, 2,GGA, 1,ZDA, 0*xx: GSV is output every 2s,GGA every 1s and ZDA is skipped.
$PNMRX103, GSV, 2, GGA, 1, ZDA, 0,*xx: same as above, but using a fixed length message
$PNMRX103, ALL, 2*xx: all messages are output every 2s.
$PNMRX103, ALL, 0*xx: skips all messages.
C.4 $PNMRX104, LLA navigation initialization
This message enables the receiver to be initialized using LLA data to speed up satellite acquisition. The first
4 values defining the position (if used) must be all present in the message. Otherwise the whole massage is considered invalid.
Notes chars char
Message ID
Latitude
N/S Indicator
Latitude
$PNMRX104 8
Float 1,2.1 s
8
3,2.4
PNMRX104 protocol header. (Under dev.)
Degrees * 100 + minutes. (Under dev.)
Char
Float
1
1,2.1
1
3,2.4
N=north or S=south. (Under dev.)
Degrees * 100 + minutes. (Under dev.)
E/W Indicator Char
Altitude Int
Clock offset Int
1
(-) 1
1
(0) 1 6
E=east or W=west. (Under dev.)
(-) 6 Altitude above MSL, in meters.
Clock offset of GPS receiver. These changes the clock bias stored in the settings, not the actual clock bias used by the system. A cold start is necessary, in order to use this value.
Time of week Int
Week number Int
Channel count Int
Checksum *xx
Message terminator
1
1
1
<CR> <LF> 2
6
4
2
(0) 3 3
2
Offset from start of week in seconds. (Under dev.)
GPS week number.
Maximum number of TM to be used. Min12, max 16.
2 digits.
ASCII 13, ASCII 10.
Note: 1// If used, all five components (Lat, N/S, Long E/W, alt) of the LLA position must be provided.
Otherwise, the message is declared invalid as a whole
2// Modifying the LLA coordinates triggers a software system reset after successful execution of the message.
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
16
GPS Receiver Board GPS-24 / 24A Operating Manual
Rikaline
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. Once the datum has been changed it will be applied to all LLA data, including the LLA navigation initialization Data. This message enables the receiver to be configured to use map datum from an internal table, or datum supplied as part of the message.
Notes
Message ID
Correction Mode Unsigned chars
$PNMRX106 6
1 chars
8
1
Map Datum Int (0) 1 3
PNMRX106 protocol header.
If 1 apply EGM96 geoids correction (warning: should be applied only when Map Datum is equal to
216). If 0 there is no EGM96 geoids correction.
Reference number of the appropriate map datum to apply.
0-218 Map datum from internal table
500 User defined Datum
(-)1
(-)1
(-)5
(-)1
(-)5
(0) 1 8
Y offset in meters (-9999 to 9999)
Z offset in meters (-9999 to 9999)
Iflat
Majora
Int
Int (0) 1 8
Inverse flatness of reference geode. The value to be used is (IFlat – 290) * 1000000).
The value must be in the range [6000000,
12000000]
Semi major axis of reference geode. The values to be used is (MajorA – 6370000) * 1000).
The value must be in the range [6000000,
9000000]
2 digits.
ASCII 13, ASCII 10.
Checksum
Message terminator
*xx (0) 3 3
<CR> <LF> 2 2
Examples:
$PNMRX106, 0,500, -2000,-2000,-2000, 8257224, 8137000*00*xx: User defined Datum
$PNMRX106, 1, 216,*xx: WGS 84 Datum
C.6 $PNMRX107, Messages rate control
This message is sent to set the automatic update rate, and to configure which messages will be automatically output, it is also sent from the node to report which messages are currently configured for automatic transmission. The $PNMRX107 message format is shown below. This message can be used to enable and disable multiple messages by including up to 4 message codes and associated fields in each
$PNMRX107 message.
The message length is limited to 80 characters, in the event that the message length would exceed 80 characters it is divided into 2 messages. This message is supported also in a variable length format, where only the necessary fields are used.
Notes chars
Message ID $PNMRX107 8
Message code chars
8
Char 3
PNMRX107 protocol header.
301 PNMRX301 Ephemeris Data
302 PNMRX302 lonospheric corrections
303 PNMRX303 UTC Time
304 PNMRX304 GPS constellation health
ALL Applies to all messages
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
17
GPS Receiver Board GPS-24 / 24A Operating Manual
Rikaline
Mode Int 1 0 Disable message
1 Send message now
2 Send message on change
3 Send message now and on change
Checksum
Message terminator
*xx (0) 3 3
<CR> <LF> 2 2
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.7 $PNMRX108, NMEA message sequence
This message is used to set the sequence used to output the NMEA messages. All messages in the list are set to be output with a default output rate. The messages that are not included are disabled. Once the sequence is defined, individual settings for the messages can be changed by means of the $PNMRX103 message. This message is supported also in a variable length format, where only the necessary fields are used.
Notes
Message ID $PNMRX108 6
Mask ID Int chars
3 chars
8
3
Mask ID Int
Checksum *xx
Message terminator
3
<CR> <LF> 2
3
(0) 3 3
2
PNMRX108 protocol header.
Mask identifier: possibilities are
GGA / GLL / GSA / GSV
RMC / VTG / ZDA
Mask Identifier.
2 digits.
ASCII 13, ASCII 10.
Examples:
$PNMRX108, GGA, GLL, and GSA*xx: Enables the GGA, GLL and GSA in this sequence, output
Every second. All other messages are disabled
C.7 $PNMRX110, Fix Settings
This message is used to set various settings and masks which control how the software will behave in relationship to the satellites in view, for example a mask can be set for the minimum satellite elevation, minimum SNR etc. The message consists of a varying number of fields depending on the number of masks to be set. Each mask setting consists if a mask identifier and new value pair. The $PNMRX110 message format is shown below.
PNMRX110 field list
Notes
Message ID chars
$PNMRX110 6 chars
8 PNMRX110 protocol header.
Mask ID
Value
Int
Variant
2
1
2
8
Mask ID
Value
Int
Variant
2
1
2
8
Checksum *xx (0) 3 3
Message terminator <CR> <LF> 2 2
Mask identifier, see below.
New value for mask, dependent on the preceding field, see below.
Mask identifier.
New value for mask, dependent on the preceding field.
2 digits.
ASCII 13, ASCII 10.
PNMRX110 Mask Field interpretation
Mask Id mask format width units
0
1
2
Local Time Zone
PDOP
1
Int: unsigned
Unsigned
Maximum HDOP Unsigned
2:2
4
4
Hours : Minutes x10, [0-100] x10, [0-100]
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
18
GPS Receiver Board GPS-24 / 24A Operating Manual
Rikaline
3 Maximum Unsigned
5
6
7
Minimum Elevation Unsigned
Noise Floor Unsigned
Navigation Mode 1
1
Unsigned
4 x10, [0-100]
4 Minimum Unsigned [20-45]
2
4
1
Degrees, [0-90]
-, [400-1000]
1 = Auto (hold alt)
2 = 2D Mode
9 Navigation Mode 2
1
Boolean
6
1
4 = 3D Mode (calc alt)
Meters above MSL
0 = Auto
1 = Static
10 Maximum 6 Meters.
Examples:
$PNMRX110, 0,-2:0*xx: Set the local time to –2 hours 0 minutes.
$PNMRX110, 4, 35*xx: Set the minimum SNR to 35
C.8 $PNMRX111, Software reset
This message is used to reset the systems. If the message is sent without parameters the receiver reboots according to the fix procedure (hot, warm or cold) configured with the PNMRX101 or PNMRX104 messages.
A second parameter can optionally be used to specify which actions are executed after the reset. If the last bit field is set to ‘1’, then the actions are repeated permanently at each reset, until this bit is cleared.
Notes
Message ID $PNMRX111
Invalidate Integer OR parameter String chars
6
1
chars
8
7
Checksum *xx
Message <CR> <LF> terminator
(0) 3 3
2 2
PNMRX111 protocol header.
If integer, the bit field have the following meaning (the action described is executed if the bit is 1):
Field Action
0 Reload settings from Flash
1 Clear almanac data and don’t load if from flash
2 Clear
3 Clear ionosphere and troposphere
4
5 corrections
Invalidate stored position
Invalidate stored time
6
7
Copy oscillator offset from Settings
Sticky bit –if ‘1’ the action are repeated at each reset
If String, the following values are allowed:
FACTORY See Section 2.1 for definition.
COLD See Section 2.1 for definition.
WARM See Section 2.1 for definition.
HOT See Section 2.1 for definition.
2 digits.
ASCII 13, ASCII 10.
Examples:
$PNMRX111*xx: Resets the system
C.8 $PNMRX112, Power Mode Control
This message is used to configure the operating modes of the receiver. Low power modes can be activated and configured. Low power mode starts to work only after the receiver has a complete and up to date almanac and it can produce the fix.
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
19
GPS Receiver Board GPS-24 / 24A Operating Manual
Rikaline
Notes
Message ID $PNMRX112 6 chars
8 chars
PNMRX112 protocol header.
OFF period
Checksum
Message terminator
Into
*xx
1
(0) 3
2
3
RF off time in seconds [5:10]
2 digits.
2 2 ASCII 10.
Examples:
$PNMRX112, 1, 5*xx: enable low power mode (with 5 seconds off time between 2 fixes)
C.9 $PNMRX113, GPS Core Activity Control
This message is used to disable GPS Core activities (data extraction and fix generation) on the node. The goal of this message is to disable these two functions when they need to be overwritten by external values for test purpose. A reset message must be set after the PNMRX113 in order to resume operation. For instance if a different almanac needs to be downloaded to the receiver then, data extraction must be disabled, then the new almanac can be downloaded. A reset command will then be used to restore operation with hen new almanac.
Notes
Message ID
Checksum
Message terminator
$PNMRX113
*xx
6 chars
8 chars
(0) 3 3
PNMRX113 protocol header.
2 digits.
2 2 ASCII 10.
Examples:
$PNMRX113*xx: Stops GPS Core activities.
C.10 $PNMRX300, Almanac Data Transfer
This message format is used to transfer the almanac data between nodes; it uses a packed hexadecimal format to transfer almanac data for each of the available SV’s. Since the Almanac 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.
These messages are transmitted sequentially and can be interleaved with other messages to prevent the
Almanac data blocking higher priority messages such as scheduled PVT information. The data for these messages is expressed as signed or unsigned fixed point values which have been scaled from the floating point values used in the position solution. The appropriate scaling factors are included in the table. There is
1 message for each satellite for which data is available. When transmitted these messages are generated in ascending order of SV Id, when being sent to the node these can be sent in any order, each message is individually interpreted and processed.
Message ID
SV Id
$PNMRX300 8
Int 2
Health Hex 2
T
δ oa i
Omega dot
Hex
Hex
Hex
2
4
4
6
2
2
-19
-38
-11
Omegazero Hex
Mean anomaly Hex
6 2
2
-23
Perigee Hex 6
-23
6
2
-23
6
2
-20
-68
6
Checksum *xx (0) 3
Notes
PNMRX300 protocol header.
Decimal Satellite vehicle Id from 1 to 32.
16 bit signed int, scale.
Bitmap of satellite health.
Week Number
16 bit signed int.
16 bit signed int.
24 bit unsigned int.
24 bit signed int.
24 bit signed int.
24 bit signed int.
24 bit signed int.
11 bit signed int.
11 bit signed int.
2 digits.
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
20
GPS Receiver Board GPS-24 / 24A Operating Manual
Rikaline
Message terminator
<CR> <LF> 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. These messages are transmitted sequentially and can be interleaved with other messages to prevent the Ephemeris data blocking higher priority messages such as scheduled PVT information. The data for these messages is expressed as signed or unsigned fixed point values which have been scaled from the floating point values used in the position solution. The appropriate scaling factors are included in the table.
The ephemeris data for each satellite is divided into 3 separate messages with sequence numbers to identify them, the contents of these frames reflects the contents of the appropriate subframes 1,2,3 transmitted from the SV’s. When transmitted these messages are generated in ascending order of SV Id and sequence number, when being sent to the node these can be sent in any order, provided that the 3 messages for any individual satellite are grouped together, each message is individually interpreted and after a group of 3 valid messages for an SV the ephemeris for that SV is updated independently. The 3 message formats are illustrated in the following tables
PNMRX301 message 1 field list
Message ID $PNMRX301
Satellite vehicle Id Int
8
2 scale Notes
PNMRX301 protocol header.
Decimal satellite vehicle Id
Subframe Id
Week number
Int
Hex
1
3 Weeks from 1 to 32.
Subframe number 1.
10 bit week number.
Health Hex 2
URA Hex 1
Time Group Delay Hex 2 2
-31
Seconds bits.
IODC Hex 3
Toc Hex 4
2
-31 integer.
2
-43
sec/sec sec/sec
2
8 bit signed integer.
16 bit signed integer.
2
-31
Seconds 22 bit signed integer.
Checksum
Message terminator
*xx
<CR> <LF>
(0) 3
2
2 digits.
ASCII 13, ASCII 10.
PNMRX301 message 2 field list
Message ID $PNMRX301
Satellite Vehicle Id Int
Subframe Id
Iode
Int
Hex
8
2
1
2 units Notes
PNMRX301 protocol header.
Decimal satellite vehicle id from
1 to 32.
Subframe number 2.
8 bits, lower 8 bits of matching iodc.
16 bit signed integer.
Motion difference
(△n)
Mean anomaly
Semi- circles/sec
Hex 8 2
16 bit signed integer.
-31
Semi- circles 32 bit signed integer.
Cuc Hex 4
8
-29
Radians
Cuc Hex 4
Root A Hex 8 2
-19
Radians
16 bit signed integer.
32 bit signed integer.
16 bit signed integer.
32 bit signed integer.
Checksum
Message terminator
*xx (0) 3
16 bit unsigned integer.
2 digits.
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
21
GPS Receiver Board GPS-24 / 24A Operating Manual
Rikaline
PNMRX301 message 3 field list
Message ID
Satellite
Vehicle Id
$PNMRX301
Int
8
2 units Notes
PNMRX301 protocol header.
Decimal satellite vehicle id from 1 to 32.
Subframe Id
Omega zero
Int
Hex
1
8 2
2
Cic Hex 4
Cis Hex 4
I Zero Hex 4 2
-31
-29
-31
Radians
Semi- circles radians
Semi- circles
Iode
I dot
Hex
Hex
2
4
Subframe number 3.
16 bit signed integer.
32 bit signed integer.
16 bit signed integer.
32 bit signed integer.
Crc Hex 4 Meters
Perigree Hex
Omega dot Hex
8 2
6 2
-31
-43
Semi- circles
Semi- circles/sec
16 bit signed integer.
32 bit signed integer.
24 bit signed integer.
2
-43
Lower 8 bits of matching iodc.
Semi- circles/sec 14 bit signed integer.
Checksum
Message terminator
*xx
<CR> <LF>
(0) 3
2
2 digits.
ASCII 13, ASCII 10.
C.12 $PNMRX302, Ionospheric correction
Message ID $PNMRX302
Satellite Vehicle Id Int
α 0
α 1
α 2
α 3
β 0
β 1
β 2
β 3
Checksum
Message terminator
Hex
Hex
Hex
Hex
Hex
Hex
Hex
Hex
*xx
<CR> <LF>
C.13 $PNMRX303,UTC time
8
2
2
2
2
2
2
2
2
2
(0) 3
2 scale Notes
PNMRX301 protocol header.
2
2
2
2
-30
-27
-24
-24
2
2
2
2
11
14
16
16
Decimal satellite vehicle id from 1 to 32.
2 digits.
ASCII 13, ASCII 10.
Field Format scale
Message ID $PNMRX303 8
Satellite
Vehicle Id
Int 8
Data – A0
Data – A1
Delta t LS
Tot
WNt
WNlsf
Hex
Hex
Hex
Hex
Hex
Hex
2
2
2
2
2
2 units Notes
PNMRX301 protocol header.
Decimal satellite vehicle id from 1 to 32.
Constant term of the polynomial
First-order term of the polynomial.
Delta time due to leap seconds.
Reference time for UTC.
UTC reference week number
Week number at which the leap second becomes effective.
DN Hex 2
Delta t LSF Hex 2
NumBlocks Hex
Time Offset Hex
Checksum
Message terminator
2
2
*xx (0) 3
<CR> <LF> 2
Delta time due to leap seconds if leap second is ini the past.
Number of 20 year blocks
Time offset for current time zone
2 digits.
ASCII 13, ASCII 10.
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
22
GPS Receiver Board GPS-24 / 24A Operating Manual
Rikaline
C.14 $PNMRX304, GPS Constellation Health
Notes
Message ID $PNMRX304
Health
Code
Char
Health
Code
Char
Checksum *xx
Message terminator
<CR> <LF> chars
8
TBD
TBD
(0) 3
2
8
TBD
TBD
3
2
PNMRX110 protocol header.
SV health code if ≠0.
SV health code if ≠0.
2 digits.
ASCII 13, ASCII 10.
C.15 $PNMRX600, Report Software Version
By sending the $PNMRX600*00 string to the receiver, the version of the software is output.
C.16 $PNMRX601, Enter ISP mode
By sending the $PNMRX601*00 string to the receiver, the receiver enters ISP mode.
C.17 $PNMRX603, Settings report
By sending the $PNMRX603*00 string to the receiver, the current value of the settings is output. The content of settings is split in 4 messages.
PNMRX603 message 0
Notes chars
8
1
8
1
PNMRX603 protocol header.
0
Message ID $PNMRX603
Message Nb Int
Message
Sequence
(7 times)
Message
Delay
(7 times)
NMRX
Message
Enabled
Hex
Uart Settings Hex
Checksum *xx
Message terminator
<CR> <LF>
8
8
(0) 3
2
8
8
3
2
Nemerix Message Enabled
Uart settings
2 digits.
ASCII 13, ASCII 10.
PNMRX603 message 1
Notes
Message ID
Message Nb
Ionospheric Data A0
Ionospheric Data A1
Ionospheric Data A2
Ionospheric Data A3
Ionospheric Data B0
Ionospheric Data B1
Ionospheric Data B2
Ionospheric Data B3
Hex
Hex
Ionospheric Data Valid Hex
$PNMRX603
Int
Hex
Hex
Hex
Hex
Hex
Hex
Num Blocks
Time Offset (Local
Hex
Int
2
1 chars
8
1
2
2
2
2
2
2
2
1
(-)2
2
1 chars
8
1
2
2
2
2
2
2
2
1
(-)2
PNMRX603 protocol header.
1
Ionospheric correction α0 coefficient.
Ionospheric correction α1 coefficient.
Ionospheric correction α2 coefficient.
Ionospheric correction α3 coefficient.
Ionospheric correction β0 coefficient.
Ionospheric correction β1 coefficient.
Ionospheric correction β2 coefficient.
Ionospheric correction β3 coefficient.
Ionospheric Data Valid. If 0 the data are invalid.
Number of 20 year blocks
Offset of local time zone (-13) to 13
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
23
GPS Receiver Board GPS-24 / 24A Operating Manual
Rikaline zone hours)
Time Offset (Local zone minutes)
Checksum
Message terminator
*xx (0) 3 3
<CR> <LF> 2 2
2 digits.
ASCII 13, ASCII 10.
NMRX603 message 2
Notes
Message ID
Message Nb
$PNMRX603
Int chars
8
1 chars
8
1
MaxPDOP Float
MaxHDOP Float
Invalid Sv Hex 8 8
Min CNO
Min Elevation
Max TM
Max Sv for fix
Checksum
Message terminator
Float
Float
Int
Int
*xx
<CR> <LF>
2
2
(0) 3
2
2
2
3
2
PNMRX603 protocol header.
2
2 digits.
ASCII 13, ASCII 10.
PNMRX603 message 3
Notes
Message ID
Message Nb
Acq threshold 1
Acq threshold 2
Noise floor
Kalman Mode
Default altitude
Checksum
Message terminator
PNMRX603 message 4
$PNMRX603
Int
Int
Int
Int
Hex
Int
*xx
<CR> <LF> chars
8
1
3
3
3
1
1
(0) 3
2 chars
8
1
8
8
8
1
8
3
2
PNMRX603 protocol header.
3
2 digits.
ASCII 13, ASCII 10.
Notes
Message ID
Message Nb
Correction Mode
Map Datum
Dx
Dy
Dz
Inverse flatness
Major axis
Checksum
Message terminator
$PNMRX603
Int
Int
Int
Int
Int
Int
Int
Int
*xx
<CR> <LF> chars
8
1
1
1
1
1
1
1
1
(0) 3
2 chars
8
1
1
8
8
3
2
8
8
8
8
PNMRX603 protocol header.
4
EGM96 geoids correction
Reference number of the appropriate map datum to apply x offset in meters y offset in meters z offset in meters
Inverse flatness of reference geode
Semi major axis of reference geode
2 digits.
ASCII 13, ASCII 10.
Examples:
$PNMRX603*xx: Display the content of the Settings stored in NVRam
Specifications subject to change without prior notice
Rikaline International Corp.
10F, 64, Kang-Din Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]
Web: www.rikaline.com.tw
24
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