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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

Rikaline

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

6

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

8

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

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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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