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S1216 Family GNSS Module
Data Sheet
12.2mmx 16.0mm
GPS
: S1216R8
/ S1216F8
GPS/Beidou
: S1216F8-BD / S1216F8-BD12
GPS/GLONASS : S1216F8-GL / S1216F8-GL12
Revision 0.2
Date June 16, 2013
S1216
High-Performance Low-Cost
167 Channel SMD Global Positioning
Receiver Module
Features
167 Acquisition/Tracking Channels
Support QZSS, WAAS, MSAS, EGNOS, GAGAN
16 million time-frequency hypothesis testing
per sec
-148dBm cold start sensitivity
-165dBm tracking sensitivity
29 second cold start TTFF
3.5 second TTFF with AGPS
1 second hot start
The S1216 family is state-of-the-art global navigation
satellite system receivers capable of using GPS, GPS/Beidou,
or GPS/GLONASS signal under the same footprint. User can
upgrade from GPS navigation system to GPS/Beidou or
GPS/GLONASS dual-satellite navigation systems by choosing
appropriate model type without hardware redesign.
The -BD12 and -GL12 entry level models offer dual-satellite
navigation capability, tracking up to 12 GPS/Beidou or 12
GPS/GLONASS signals combined respectively. Its NMEA
output is the same format as GPS receivers, thus users can
effortlessly upgrade GPS product to GPS/Beidou or
GPS/GLONASS product without needing modification on the
application software.
2.5m CEP accuracy
Multipath detection and suppression
Jamming detection and mitigation
The -BD and -GL standard models tracks up to 24
GPS/Beidou or 24 GPS/GLONASS satellite signals combined
respectively.
7-day extended ephemeris AGPS
Contains LNA, SAW Filter, TCXO, RTC Xtal,
Regulator
Works with active and passive antenna
On board active antenna short protection
On board active antenna detection
Complete receiver in 12.2mm x 16.0mm size
Operating temperature -40 ~ +85ºC
Pb-free RoHS compliant
Applications
Navigation and asset tracking
Timing reference
Dual-satellite navigation receiver module receives greater
number of satellites than available for GPS-only receivers.
The increased satellite number offers superior performance
in challenging urban canyon and multipath environments.
The S1216 module contains SkyTraq Venus 8 positioning
engine inside, featuring high sensitivity for indoor fix, low
power consumption, and fast TTFF. The superior -148dBm
cold start sensitivity allows it to acquire, track, and get
position fix autonomously in difficult weak signal
environment. The receiver’s -165dBm tracking sensitivity
allows continuous position coverage in nearly all application
environments. The high performance signal parameter
search engine is capable of testing 16 million
time-frequency hypotheses per second, offering
industry-leading signal acquisition and TTFF speed.
The S1216 module contains LNA for easy integration with
passive antenna and a SAW filter for increased jamming
immunity. It works with both passive and active antenna;
the self-contained antenna detection and short circuit
protection feature enables lowest integration cost for
system integrators using active antenna.
V
S1216F8-BD
GPS + QZSS + SBAS + Beidou
28
V
V
V
S1216F8-BD12
GPS + QZSS + SBAS + Beidou
14
V
V
S1216F8-GL
GPS + QZSS + SBAS + GLONASS
28
V
S1216F8-GL12
GPS + QZSS + SBAS + GLONASS
14
V
1
1
V
V
V
1
1
1
V
V
V
V
1
1
1
V
V
V
V
1
1
1
V
V
V
V
1
1
1
I2C
40
ROM
V
Support GPS/GLONASS mode
V
Support GPS/Beidou mode
V
1
V
Support GLONASS-only mode
V
40
V
Support Beidou-only mode
14
Support GPS-only mode
GPS + QZSS + SBAS
UART
S1216F8
Max Update Rate
14
Flash (Program Upgradeable)
Self-Aided Ephemeris Estimation
7-day server-based AGPS
GPS + QZSS + SBAS
Antenna Detection
S1216R8
Model Number
Max Tracked Signals
Antenna Short Protection
Product Description
ROM version GPS receiver module, Venus 8 chipset
Flash version GPS receiver module, Venus 8 chipset
Flash version GPS/Beidou receiver module, Venus 8 chipset
Flash version GPS/Beidou receiver module, Venus 8 chipset
Flash version GPS/GLONASS receiver module, Venus 8 chipset
Flash version GPS/GLONASS receiver module, Venus 8 chipset
Satellite
Product Series
S1216R8
S1216F8
S1216F8-BD
S1216F8-BD12
S1216F8-GL
S1216F8-GL12
V
V
V
V
V
V
V
V
TECHNICAL SPECIFICATIONS
Receiver Type
L1 C/A code, 167-channel Venus 8 engine
Receiver Modes
GPS or GPS/Beidou or GPS/GLONASS, depending on model selection
Augmentation System
QZSS, WAAS, EGNOS, MSAS, GAGAN
Accuracy
Position
Velocity
Time
Startup Time
1 / 28 / 29 second hot / warm / cold start under open sky average
Reacquisition
1s
Sensitivity
-148dBm cold-start
-160dBm re-acquisition
-165dBm tracking
Multi-path Mitigation
Advanced multi-path detection and suppression
A-GPS
7-day server-based AGPS (ROM and Flash type)
Self-aided ephemeris estimation (Flash type)
Update Rate
1 / 2 / 4 / 5 / 8 / 10 / 20 / 25 / 40 Hz for GPS (default 1Hz)
1Hz for GPS/Beidou or GPS/GLONASS
Dynamics
4G (39.2m/sec )
Operational Limits
Altitude < 18,000m or velocity < 515m/s, not exceeding both
Serial Interface
3.3V LVTTL level
Protocol
NMEA-0183 V3.01,
Datum
Default WGS-84, User definable
Input Voltage
3.3V DC +/-10%
2.5m CEP
0.1m/sec
10ns
2
SkyTraq binary,
9600 baud, 8, N, 1
Current Consumption
Model Number
S1216R8
S1216F8 S1216F8-BD S1216F8-BD12 S1216F8-GL S1216F8-GL12
Acquisition Current (mA)
33
38
45
45
45
45
Tracking Current (mA)
25
30
40
40
40
40
Dimension
16.0mm L x 12.2mm W
Weight:
1.6g
Operating Temperature
-40 C ~ +85 C
Storage Temperature
-55 ~ +100 C
Humidity
5% ~ 95%
o
o
o
BLOCK DIAGRAM
S1216R8
S1216F8
S1216F8-BD / S1216F8-BD12
S1216F8-GL / S1216F8-GL12
The S1216 is a high performance satellite navigation receiver in a compact surface mount package. It is based on the
SkyTraq Venus 8 positioning technology, providing exceptional signal acquisition performance, and continuous
operation even in dense foliage and urban canyons. The module includes internal SAW filter and high performance
integrated LNA, works with both active and passive antenna. The simple UART serial interface and the standard
NMEA-0183 protocol make usage of S1216 very easy and straightforward.
The S1216 module performs all the necessary system initialization, signal acquisition, signal tracking, data
demodulation, and calculation of navigation solution autonomously.
MECHANICAL CHARACTERISTICS
PINOUT DESCRIPTION
Pin No.
1
Name
BOOT_SEL
Description
No connection for normal use. Pull-low for loading firmware into empty or
corrupted Flash memory from ROM mode by the module maker.
No connection
One-pulse-per-second (1PPS) time mark output, 3V LVTTL. The rising edge
synchronized to UTC second when getting 3D position fix. The pulse duration
is about 4msec at rate of 1 Hz.
No connection
2
3
NC
1PPS
4,5,6,7
NC
8
RSTN
9
NC
10
11
GND
RF_IN
Ground
RF input, connects to antenna. There is 3V DC bias output for powering active
antenna. Active antenna detection and short protection is provided.
12,13
14,15,16,17
GND
NC
Ground
No connection
18
SDA
I2C interface data signal, 3V LVTTL. Currently unused.
19
20
SCL
TXD
I2C interface clock signal, 3V LVTTL. Currently unused.
UART serial data output, 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.
21
RXD
22
V_BCKP
UART serial data input, 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 S1216, ensure that this pin
is not driven to HIGH when primary power to S1216 is removed, or a 10K-ohm
series resistor can be added to minimize leakage current from application to
the powered off module.
Backup supply voltage for internal RTC and backup SRAM, 2.5V ~ 3.6V.
V_BCKP must be applied whenever VCC is applied. This pin should be
powered continuously to minimize the startup time. If VCC and V_BCKP 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 VCC.
23
24
VCC
GND
External active-low reset input. Only needed when power supply rise time is
very slow or software controlled reset is desired.
No connection
Main power supply, 3.0V ~ 3.6V DC
Ground
ELECTRICAL SPECIFICATIONS
ABSOLUTE MAXIMUM RATINGS
Parameter
Minimum
Maximum
Condition
Supply Voltage (VCC)
-0.5
3.6
Volt
Backup Battery Voltage (V_BCKP)
-0.5
3.6
Volt
Input Pin Voltage
-0.5
VCC+0.5
Volt
+5
dBm
+100
degC
Input Power at RF_IN
Storage Temperature
-55
OPERATING CONDITIONS
Parameter
Supply Voltage (VCC)
Acquisition Current (exclude active antenna current)
Min
Typ
Max
Unit
3
3.3
3.6
Volt
S1216R8
33
mA
S1216F8
38
mA
45
mA
S1216R8
25
mA
S1216F8
30
mA
39
mA
S1216F8-BD, S1216F-BD12, S1216F-GL, S1216F-GL12
Tracking Current (exclude active antenna current)
S1216F8-BD, S1216F-BD12, S1216F-GL, S1216F-GL12
Backup Voltage (V_BCKP)
3.6
Volt
Backup Current (VCC voltage applied)
0.5
mA
Backup Current (VCC voltage off)
35
uA
Output Low Voltage
0.4
Volt
Output HIGH Voltage
2.5
2.4
Volt
Input LOW Voltage
0.8
Volt
Input HIGH Voltage
2
Input LOW Current
-10
10
uA
Input HIGH Current
-10
10
uA
RF Input Impedance (RF_IN)
Volt
50
Ohm
APPLICATION CIRCUIT
RECOMMANDED FOOTPRINT
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
ANTENNA CONSIDERATIONS
The S1216 is designed to use with a wide variety of active and passive antennas, but care must be taken during
antenna selection to ensure optimum signal reception performance. There are many choices of antenna
configurations; the best choice is often a tradeoff between size, gain, bandwidth and cost. The best way is to test
multiple antenna solutions in the configuration of the final system to determine which provides the best overall
performance.
Ceramic patch antenna is low-cost and provides good sensitivity. 50-ohm output ceramic patch antenna can be
connected directly to RF input of the module. Usually the antenna and S1216 are mounted on opposite side of the PCB
to reduce possibility of picking up digital noise. To improve signal reception performance, use larger ground plane
under the patch antenna If possible; larger the ground plane, larger the overall antenna gain. The center frequency of
the ceramic patch antenna changes with ground plane size. For optimal GPS/Beidou or GPS/GLONASS or GPS
operation, frequency bandwidth of the antenna needs to cover 1559MHz ~ 1577MHz or 1574MHz ~ 1605MHz or
1574MHz ~ 1577MHz respectively when mounted on the PCB. It is usual to ask the ceramic patch antenna vendor to
select or tune a patch antenna that best matches the customer PCB.
Active antenna is essentially a passive antenna with built-in LNA and a coaxial cable to connect the antenna to the
module. It has the flexibility of being located remotely from the module, but requires antenna power. Active antenna
usually costs more than passive patch antenna, but the performance in low signal environments is usually better.
When using active antenna, an external bias choke inductor is used to provide DC bias for the active antenna. Active
antenna with gain up to 30dB and noise figure less than 1.5dB can be used with S1216.
Chip antenna is often desired for its small size. Matching element of the chip antenna needs to be designed-in
according to the chip antenna datasheet. If application doesn’t have a large ground plane as shown in the datasheet
for the measured performance spec condition, testing will be needed to determine if it can provide acceptable
performance with the smaller sized application PCB.
S1216R8 / S1216F8
Antenna Type
GPS Frequency (MHz)
S1216F8-BD / S1216F8-BD12
Passive
Active
Passive
Active
Passive
Active
1575.42 +/- 2
1575.42 +/- 2
1575.42 +/- 2
1575.42 +/- 2
1575.42 +/- 2
1575.42 +/- 2
1561.098 +/- 3
1561.098 +/- 3
1602 +/- 4
1602 +/- 4
Beidou Frequency (MHz)
GLONASS Frequency (MHz)
VSWR
Polarization
Antenna Gain
LNA Gain
S1216F-GL / S1216F-GL12
< 2 (typical)
< 2 (typical)
< 2 (typical)
< 2 (typical)
< 2 (typical)
< 2 (typical)
RHCP or Linear
RHCP or Linear
RHCP or Linear
RHCP or Linear
RHCP or Linear
RHCP or Linear
> 0dBi
> -2dBi
> 0dBi
> -2dBi
> 0dBi
> -2dBi
20dB (typical)
20dB (typical)
20dB (typical)
Noise Figure
< 1.5dB
< 1.5dB
< 1.5dB
Total Gain
> 18dBi
> 18dBi
> 18dBi
The signal path from antenna to RF input of S1216 is the most critical part of application design. The goal is to provide
optimal 50-ohm match between a 50Ω antenna and the module 50-ohm RF input for maximum power transfer. The
50-ohm grounded coplanar wave guide, consisting of the RF input signal with RF ground on either sides and a RF
ground underneath, is a good choice for efficiency.
For a two-layer FR4 PCB design with 1.6mm thickness, 4.6 dielectric constant, and 1oz copper the RF-input trace
should be 31mil in width, the gap to the adjacent grounds should be 6mil, and each of the RF grounds should be at
least twice the width of the input signal trace (62mil). Freeware program such as AppCAD can be used to calculate
values required for other configurations.
POWER SUPPLY REQUIREMENT
S1216 requires a stable power supply, avoid ripple on VCC pin (<50mVpp). Power supply noise can affect the receiver’s
sensitivity. Bypass capacitors of 10uF and 0.1uF is recommended to be placed close to the module VCC pin; the values
could be adjusted according to the amount and type of noise present on the supply line.
BACKUP SUPPLY
The purpose of backup supply voltage pin (V_BCKP) 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 35μA. 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 (4ms 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 S1216), 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.
HANDLING GUIDELINE
The S1216 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.
S1216 module is ESD sensitive device and should be handled with care.
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:
$aaccc,c--c*hh<CR><LF>
The detail of the sentence structure is explained in Table 1.
Table 1: The NMEA sentence structure
character
HEX
“$”
24
aaccc
“,”
2C
c--c
“*”
2A
hh
<CR><LF>
0D0A
Description
Start of sentence.
Address field. “aa” is the talker identifier. “ccc” identifies the sentence type.
Field delimiter.
Data sentence block.
Checksum delimiter.
Checksum field.
Ending of sentence. (carriage return, line feed)
Table 2: Overview of SkyTraq receiver’s NMEA messages for S1216R8, S1216F8, S1216F8-BD12, S1216F8-GL12
$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.
$GPGSV
Satellite information about elevation, azimuth and CNR
$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.
Table 3: Overview of SkyTraq receiver’s NMEA messages for S1216F8-BD
$GNGGA
Time, position, and fix related data of the receiver.
$GNGLL
Position, time and fix status.
$GNGSA
Used to represent the ID’s of satellites which are used for position fix. When both GPS and Beidou
$GPGSA
satellites are used in position solution, a $GNGSA sentence is used for GPS satellites and another
$BDGSA
$GNGSA sentence is used for Beidou satellites. When only GPS satellites are used for position fix, a
single $GPGSA sentence is output. When only Beidou satellites are used, a single $BDGSA sentence is
output.
$GPGSV
Satellite information about elevation, azimuth and CNR, $GPGSV is used for GPS satellites, while
$BDGSV
$BDGSV is used for Beidou satellites
$GNRMC
Time, date, position, course and speed data.
$GNVTG
Course and speed relative to the ground.
$GNZDA
UTC, day, month and year and time zone.
Table 4: Overview of SkyTraq receiver’s NMEA messages for S1216F8-GL
$GNGGA
Time, position, and fix related data of the receiver.
$GNGLL
Position, time and fix status.
$GNGSA
Used to represent the ID’s of satellites which are used for position fix. When both GPS and GLONASS
$GPGSA
satellites are used in position solution, a $GNGSA sentence is used for GPS satellites and another
$GLGSA
$GNGSA sentence is used for GLONASS satellites. When only GPS satellites are used for position fix, a
single $GPGSA sentence is output. When only GLONASS satellites are used, a single $GLGSA sentence
is output.
$GPGSV
Satellite information about elevation, azimuth and CNR, $GPGSV is used for GPS satellites, while
$GLGSV
$GLGSV is used for GLONASS satellites
$GNRMC
Time, date, position, course and speed data.
$GNVTG
Course and speed relative to the ground.
$GNZDA
UTC, day, month and year and time zone.
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.
Format:
$--GGA,hhmmss.ss,llll.lll,a,yyyyy.yyy,a,x,uu,v.v,w.w,M,x.x,M,,zzzz*hh<CR><LF>
Field
hhmmss.ss
llll.lll
a
yyyyy.yyy
a
x
Name
UTC Time
Latitude
N/S Indicator
Longitude
E/W Indicator
GPS quality indicator
uu
v.v
w.w
x.x
zzzz
Satellites Used
HDOP
Altitude
Geoidal Separation
DGPS Station ID
hh
Checksum
Description
UTC of position in hhmmss.sss format, (000000.000 ~ 235959.999)
Latitude in ddmm.mmmm format. Leading zeros are inserted.
‘N’ = North, ‘S’ = South
Longitude in dddmm.mmmm format. Leading zeros are inserted.
'E' = East, 'W' = West
GPS quality indicator
0: position fix unavailable
1: valid position fix, SPS mode
2: valid position fix, differential GPS mode
Number of satellites in use, (00 ~ 24)
Horizontal dilution of precision, (00.0 ~ 99.9)
Mean sea level altitude (-9999.9 ~ 17999.9) in meter
In meter
Differential reference station ID, 0000 ~ 1023
NULL when DGPS not used
GLL – Geographic Position – Latitude/Longitude
Latitude and longitude of vessel position, time of position fix and status.
Format:
$--GLL,llll.lll,a,yyyyy.yyy,b,hhmmss.sss,A,a*hh<CR><LF>
Field
llll.lll
a
yyyyy.yyy
b
hhmmss.sss
A
hh
Name
Latitude
N/S Indicator
Longitude
E/W Indicator
UTC Time
Status
Checksum
Description
Latitude in ddmm.mmmm format. Leading zeros are inserted.
‘N’ = North, ‘S’ = South
Longitude in dddmm.mmmm format. Leading zeros are inserted.
'E' = East, 'W' = West
UTC of position in hhmmss.sss format, (000000.000 ~ 235959.999)
A= data valid, V= Data not valid
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.
Format:
$--GSA,a,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,u.u,v.v,z.z*hh<CR><LF>
Field
a
Name
Mode
x
Mode
xx’s
Satellite ID
u.u
v.v
z.z
hh
PDOP
HDOP
VDOP
Checksum
Description
Mode
‘M’ = Manual, forced to operate in 2D or 3D mode
‘A’ = Automatic, allowed to automatically switch 2D/3D
Fix type
1 = Fix not available
2 = 2D
3 = 3D
01 ~ 32 are for GPS; 33 ~ 64 are for WAAS (PRN minus 87); 65 ~ 96 are for
GLONASS (64 plus slot numbers); 193 ~ 197 are for QZSS; 01 ~ 37 are for
Beidou (BD PRN). GPS and Beidou satellites are differentiated by the GP
and BD prefix. Maximally 12 satellites are included in each GSA sentence.
Position dilution of precision (00.0 to 99.9)
Horizontal dilution of precision (00.0 to 99.9)
Vertical dilution of precision (00.0 to 99.9)
GSV – GNSS Satellites in View
Number of satellites (SV) in view, satellite ID numbers, elevation, azimuth, and SNR value. Four satellites maximum per
transmission.
Format:
$--GSV,x,u,xx,uu,vv,zzz,ss,uu,vv,zzz,ss,…,uu,vv,zzz,ss*hh<CR><LF>
Field
x
u
xx
uu
Name
Number of message
Sequence number
Satellites in view
Satellite ID
vv
zzz
ss
Elevation
Azimuth
SNR
hh
Checksum
Description
Total number of GSV messages to be transmitted (1-3)
Sequence number of current GSV message
Total number of satellites in view (00 ~ 12)
01 ~ 32 are for GPS; 33 ~ 64 are for WAAS (PRN minus 87); 65 ~ 96 are for
GLONASS (64 plus slot numbers); 193 ~ 197 are for QZSS; 01 ~ 37 are for
Beidou (BD PRN). GPS and Beidou satellites are differentiated by the GP
and BD prefix. Maximally 4 satellites are included in each GSV sentence.
Satellite elevation in degrees, (00 ~ 90)
Satellite azimuth angle in degrees, (000 ~ 359 )
C/No in dB (00 ~ 99)
Null when not tracking
RMC – Recommended Minimum Specific GNSS Data
Time, date, position, course and speed data provided by a GNSS navigation receiver.
Format:
$--RMC,hhmmss.sss,x,llll.lll,a,yyyyy.yyy,a,x.x,u.u,xxxxxx,,,v*hh<CR><LF>
Field
hhmmss.sss
x
Name
UTC time
Status
llll.lll
a
yyyyy.yyy
a
x.x
u.u
xxxxxx
v
Latitude
N/S indicator
Longitude
E/W Indicator
Speed over ground
Course over ground
UTC Date
Mode indicator
hh
checksum
Description
UTC time in hhmmss.sss format (000000.000 ~ 235959.999)
Status
‘V’ = Navigation receiver warning
‘A’ = Data Valid
Latitude in dddmm.mmmm format. Leading zeros are inserted.
‘N’ = North; ‘S’ = South
Longitude in dddmm.mmmm format. Leading zeros are inserted.
'E' = East; 'W' = West
Speed over ground in knots (000.0 ~ 999.9)
Course over ground in degrees (000.0 ~ 359.9)
UTC date of position fix, ddmmyy format
Mode indicator
‘N’ = Data not valid
‘A’ = Autonomous mode
‘D’ = Differential mode
‘E’ = Estimated (dead reckoning) mode
VTG – Course Over Ground and Ground Speed
The actual course and speed relative to the ground.
Format:
$--VTG,x.x,T,y.y,M,u.u,N,v.v,K,m*hh<CR><LF>
Field
x.x
y.y
u.u
v.v
m
Name
Course
Course
Speed
Speed
Mode
hh
Checksum
Description
Course over ground, degrees True (000.0 ~ 359.9)
Course over ground, degrees Magnetic (000.0 ~ 359.9)
Speed over ground in knots (000.0 ~ 999.9)
Speed over ground in kilometers per hour (0000.0 ~ 1800.0)
Mode indicator
‘N’ = not valid
‘A’ = Autonomous mode
‘D’ = Differential mode
‘E’ = Estimated (dead reckoning) mode
ZDA – Time and Date
UTC, day, month, year and local time zone.
Format:
$--ZDA,hhmmss.sss,dd,mm,yyyy,xx,yy*hh<CR><LF>
Field
hhmmss.sss
dd
mm
yyyy
xx
yy
hh
Name
UTC time
UTC day
UTC month
UTC year
Local zone hours
Local zone minutes
Checksum
Description
UTC time in hhmmss.sss format (000000.000 ~ 235959.999)
01 to 31
01 to 12
Four-digit year number
00 to +-13
00 to +59
STI,001 – Active Antenna Status Report
An output message, ID 0x001, contains information of active antenna status. The status indicator is output upon
power-on reset and change of active antenna connection state.
Structure:
$PSTI,001,x*hh<CR><LF>
1
2
3
Example:
$PSTI,001,3*1C<CR><LF>
Field
1
2
Name
001
Antenna Status
Example
001
3
3
Checksum
1C
Description
Proprietary NMEA message identifier
0 : active antenna input short circuit
1 : active antenna input open unconnected
3 : active antenna input connection OK normal
ORDERING INFORMATION
Model Name
S1216R8
S1216F8
S1216F8-BD
S1216F8-BD12
S1216F8-GL
S1216F8-GL12
Description
ROM Version GPS Receiver Module
Flash Version GPS Receiver Module
Flash Version GPS/Beidou Receiver Module
Flash Version GPS/Beidou Receiver Module
Flash Version GPS/GLONASS Receiver Module
Flash Version GPS/GLONASS Receiver Module
Revision History
Revision
0.1
0.2
Date
June 11, 2013
June 16, 2013
Description
Initial release
Updated pin-9,21 description
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.
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