Rikaline
CF
GPS-6020
GPS
User’s
Guide
Oct. 06, 2002
High Accuracy --- 3 Meters (50%) or 5 Meters (90%)
Low Power -------- 26mA at 3.3V in Continuous Mode and
With Active Antenna
Attractive Price -- Better Price than ordinary CF GPS
Rikaline Marketing Corp.
5F-1, 125, Roosevelt Rd., Sec. 5, Taipei 116, Taiwan, R.O.C.
Phone: +886-2-2934-5456 Fax: +886-2-2934-4373
E-Mail: info@rikaline.com.tw Web: www.rikaline.com.tw
All Right Reserved
GPS-6020 Operating Manual
Rikaline
TABLE OF CONTENTS
1.
Introduction ………………………………………………………………………………………..
1.1 Overview ……………………………………………………………………………………..
1.2 Features ……………………………………………………………………………………..
1.3 FirstGPSTM Architecture Highlights ………………………………………………….
1.4 Technical Specifications ………………………………………………………………..
3
3
3
3
3
2.
Operational Characteristics ……………………………………………………………….…
2.1 Initialization ………………………………………………………………………………….
2.2 Navigation ………………………………………………………………………………….
5
5
5
3.
Hardware Interface ………………………………………………………………………….……
3.1 Dimension ………………………………………………………………………………….…
3.2 Hardware Interface …..……………………………………………………………….……
3.3 Connector ………………………………………………………………………………….…
3.4 Accessories ………………………………………………………………………………….
6
6
6
6
6
4.
Software Interface …………………………………………………………………………….… 7
4.1 NMEA Transmitted Sentences ……………………………………………………..… 7
4.2 RTCM Received Data ………………………………………………………………….. 10
5.
Ordering Information ………………………………………………………………………..… 11
7.1 Product Options ………………………………………………………………….………… 11
6.
Warranty ……………………………………………………………………………………………… 11
Specifications subject to change without prior notice
Rikaline Marketing Corp.
5F-1, 125, Roosevelt Rd., Sec. 5, Taipei, Taiwan 116 E-mail: info@rikaline.com.tw Web: www.rikaline.com.tw
2
GPS-6020 Operating Manual
Rikaline
1. INTRODUCTION
1.1 Overview
The Rikaline GPS-6020 CF GPS is a total solution GPS Receiver designed for use with PDA, Tablet
PC, Wall plate PC or any portable PCs. features the revolutionary FirstGPS™ architecture. This complete
enabled GPS receiver provides high position and speed accuracy performances as well as high sensitivity and
tracking capabilities in urban canyon conditions. The GPS-6020 delivers major advancements in GPS
performances, accuracy, integration, computing power and flexibility. This positioning application meets strict
needs such as car navigation, mapping, surveying, security, agriculture and so on. Only clear view of sky and
certain power supply are necessary to the unit.
1.2 Features
Facilitating FirstGPSTM core technology.
High sensitivity: to -173 dBW tracking, superior urban canyon performances
High positioning accuracy: < 3m CEP (50%), OR <5M CEP (90%) without SA (horizontal)
Ultra low power: 26mA typical with active antenna -- tracking at 3.3 Volts, full power
A rechargeable battery sustains internal clock and memory and is recharged during normal operation.
Dual communication channels and user selectable baud rates allow maximum interface capability and
flexibility.
7. LED display status: The LED provides users visible positioning status. LED “ON” when power connected
and “BLINKING” when GPS-6020 got positioned. No more extra device needed.
8. Low Cost.
1.
2.
3.
4.
5.
6.
1.3 FirstGPSTM Architecture Highlights
1.3.1 Industry Leading GPS Performance
1.
2.
3.
4.
5.
6.
Builds on high performance FirstGPSTM core
Satellite signal tracking engine to perform GPS acquisition and tracking functions without CPU intervention
High sensitivity: to -143 dBm (-173dBW) tracking, superior urban canyon performances
Position accuracy: < 3m CEP (50%) or < 5m (90%) without SA (horizontal)
Warm Start is under 42 seconds (90%)
Hot Start is under 10 seconds (90%)
1.3.2 Low Power
1. Ultra low power integrated circuit design, optimized RF and DSP architectures
2. Further power saving thanks to 4 different power down mode
1.4 Technology specifications
1.4.1 Physical Dimension
Single construction integrated antenna and receiver.
Size: 85.0(W) x 42.0(D) x 20.6(H) (mm)
3.35"(W) x 1.65"(D) x 0.81"(H).
1.4.2 Environmental Characteristics
1) Operating temperature: -40oC to +85oC(internal temperature).
2) Storage temperature: -55oC to +100oC.
1.4.3 Environmental Characteristics
1) Operating temperature: -40oC to +85oC(internal temperature).
2) Storage temperature: -55oC to +100oC.
1.4.4 Electrical Characteristics
1) Input voltage: +2.6 ~ 5.5 VDC.
2) Backup power: 3V Rechargeable Lithium cell battery, up to 200 hours discharge.
Remark: FirstGPS™ is a trademark from Trimble.
Rikaline Marketing Corp.
Specifications subject to change without prior notice
5F-1, 125, Roosevelt Rd., Sec. 5, Taipei, Taiwan 116 E-mail: info@rikaline.com.tw Web: www.rikaline.com.tw
3
Rikaline
GPS-6020 Operating Manual
1.4.5 Performance
1) Tracks up to 8 satellites.
2) Update rate: 1 second.
3) Acquisition time
Reacquisition
1 sec.,
Hot start
10 sec. (90%)
Warm start
42 sec. (90%)
Cold start
120 sec. (90%)
4) Position accuracy:
NON-DGPS
Position
Velocity
<3 meter (50%) or <5 meter (90%)
0.05 meters/second, typical
DGPS (Differential GPS)
Position
<1 meter, typical
Velocity
0.05 meters/second, typical
5) Dynamic Conditions:
Altitude
Velocity
Acceleration
Jerk
18,000 meters (60,000 feet) max
515 meters / second (1000 knots) max
4 G, max
20
meters/second, max
1.4.6 Important Characters
Receiver
L1, C/A code
Channels
8
Update Rate
1/second down to 1/min
Satellite Reacquisition Time
Hot Start
< 1 second
Warm Start
< 10 seconds (90%)
< 42 seconds (90%)
Cold Start
< 120 seconds (90%)
Tracking Sensitivity
Power Consumption (Full Power)
Voltage Supply
-173 dBW
< 20 mA at 3.3 Volts (Typically: 17 mA)
3.0 – 3.65 Volts
Protocol
NMEA 0183 V2.1
Position Accuracy
3 meters CEP (50%) horizontal, SA off
< 1 meter, DGPS corrected
1.4.7 Interfaces
1) Dual channel RS-232 or TTL compatible level, with user selectable baud rate (2400, 4800-Default, 9600,
19200, 38400, 57600, 115200).
2) NMEA 0183 Version 2.1 ASCII output (GPGGA, GPGLL, GPGSA, GPGSV, GPRMC, GPVTG, GPZDA).
3) Real-time Differential Correction input (RTCM SC-104 message types 1, 5 and 9).
Specifications subject to change without prior notice
Rikaline Marketing Corp.
5F-1, 125, Roosevelt Rd., Sec. 5, Taipei, Taiwan 116 E-mail: info@rikaline.com.tw Web: www.rikaline.com.tw
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GPS-6020 Operating Manual
Rikaline
2. Operational characteristics
2.1 Initialization
As soon as the initial self-test is complete, the GPS-6020 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-6020 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™ feature is to provide fast and
accurate position. However, acquisition performance can be improved when the host system initializes the
GPS-6020 in the following situation:
1) Moving further than 500 kilometers.
2) Failure of data storage due to the inactive internal memory battery.
2.2 Navigation
After the acquisition process is complete, the GPS-6020 sends valid navigation information over output
channels. These data include:
1)
2)
3)
4)
5)
Latitude/longitude/altitude
Velocity
Date/time
Error estimates
Satellite and receiver status
The GPS-6020 sets the default of auto-searching for real-time differential corrections in RTCM SC-104
standard format, with the message types 1, 5, or 9. It accomplishes the satellite data to generate a differential
(DGPS) solution. The host system, at its option, may also command the GPS-6020 to output a position
whenever a differential solution is available.
Specifications subject to change without prior notice
Rikaline Marketing Corp.
5F-1, 125, Roosevelt Rd., Sec. 5, Taipei, Taiwan 116 E-mail: info@rikaline.com.tw Web: www.rikaline.com.tw
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GPS-6020 Operating Manual
Rikaline
3. Hardware interface
3.1 Dimension
Size: 85.0(W) x 42.0(D) x 20.6(H) (mm)
3.35"(W) x 1.65"(D) x 0.81"(H).
3.2 Hardware Interface
The GPS-6020 includes an antenna in a unique style gadget. Simply insert it into the CF slot of a PDA or
other devices or insert it in a PCMCIA adapter.
3.3 Connector
Standard 50 pins CF type I connectors.
Specifications subject to change without prior notice
Rikaline Marketing Corp.
5F-1, 125, Roosevelt Rd., Sec. 5, Taipei, Taiwan 116 E-mail: info@rikaline.com.tw Web: www.rikaline.com.tw
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GPS-6020 Operating Manual
Rikaline
4. Software Interface
The GPS-6020 interface protocol is based on the National Marine Electronics Association's NMEA 0183
ASCⅡ interface specification, which is defined in NMEA 0183, Version 2.2 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-6020 outputs data in NMEA-0183 format as defined by the National Marine Electronics
Association (NMEA), Standard.
The default communication parameters for NMEA output are 4800 baud, 8 data bits, stop bit, and no parity.
Table 4-1 NMEA-0183 Output Messages
NMEA Sentence
Description
GPGGA
Global positioning system fixed data
GPGLL
Geographic position latitude \ longitude
GPGSA
GNSS DOP and active satellites
GPGSV
GNSS satellites in view.
GPRMC
Recommended minimum specific GNSS data
GPVTG
Coruse over ground and ground speed
GPZDA
Date and Time
4.1.1 Global Positioning System Fix Data (GGA)
Table 4-2 contains the values for the following example:
$GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18
Table 4-2 GGA Data Format
Name
Example
Message ID
$GPGGA
UTC Time
161229.487
Latitude
3723.2475
N/S Indicator
N
Longitude
12158.3416
E/W Indicator
W
Position Fix Indicator
1
Satellites Used
07
HDOP
1.0
MSL Altitude
9.0
Units
M
Geoid Separation
Units
M
Age of Diff. Corr.
Diff. Ref. Station ID
0000
Checksum
*18
<CR> <LF>
Units
Meters
Meters
Meters
Meters
second
Description
GGA protocol header
Hhmmss.sss
ddmm.mmmm
N=north or S=south
dddmm.mmmm
E=east or W=west
See Table 4-3
Range 0 to 12
Horizontal Dilution of Precision
Null fields when DGPS is not used
End of message termination
Table 4-3 Position Fix Indicator
Value
Description
0
0 Fix not available or invalid
1
GPS SPS Mode, fix valid
2
Differential GPS, SPS Mode, fix valid
3
GPS PPS Mode, fix valid
Specifications subject to change without prior notice
Rikaline Marketing Corp.
5F-1, 125, Roosevelt Rd., Sec. 5, Taipei, Taiwan 116 E-mail: info@rikaline.com.tw Web: www.rikaline.com.tw
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GPS-6020 Operating Manual
Rikaline
4.1.2 Geographic Position with Latitude/Longitude (GLL)
Table 4-4 contains the values for the following example:
$GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C
Table 4-4 GLL Data Format
Name
Example
Message ID
$GPGLL
Latitude
3723.2475
N/S Indicator
N
Longitude
12158.3416
E/W Indicator
W
UTC Position
161229.487
Status
A
Checksum
*2C
<CR> <LF>
Units
Description
GLL protocol header
ddmm.mmmm
N=north or S=south
dddmm.mmmm
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 4-5 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 4-5 GSA Data Format
Name
Example
Message ID
$GPGSA
Mode 1
A
Mode 2
3
Satellite Used (1)
07
Satellite Used (1)
02
……
Satellite Used
PDOP
1.8
HDOP
1.0
VDOP
1.5
Checksum
*33
<CR> <LF>
(1) Satellite used in solution.
Units
Description
GSA protocol header
See Table 4-6
See Table 4-7
Sv on Channel 1
Sv on Channel 2
….
Sv on Channel 12
Position Dilution of Precision
Horizontal Dilution of Precision
Vertical Dilution of Precision
End of message termination
Table 4-6 Mode 1
Value
Description
M
Manual—forced to operate in 2D or 3D mode
A
2D Automatic—allowed to automatically switch 2D/3D
Table 4-7 Mode 2
Value
Description
1
Fix Not Available
2
2D
3
3D
4.1.4 GNSS Satellites in View (GSV)
Table 4-8 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
Specifications subject to change without prior notice
Rikaline Marketing Corp.
5F-1, 125, Roosevelt Rd., Sec. 5, Taipei, Taiwan 116 E-mail: info@rikaline.com.tw Web: www.rikaline.com.tw
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GPS-6020 Operating Manual
Table 4-8 GSV Data Format
Name
Example
Message ID
$GPGSV
Number of Messages
2
Message Number
1
Satellites in View
07
Satellite ID
07
Elevation
79
Azimuth
048
SNR (C/No)
42
....
....
Satellite ID
27
Elevation
27
Azimuth
138
SNR (C/No)
42
Checksum
*71
<CR> <LF>
Rikaline
Units
Description
GSV protocol header
Range 1 to 3
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)
dBHz Range 0 to 99, null when not tracking
Channel 4 (Range 1 to 32)
degrees Channel 4 (Maximum 90)
degrees Channel 4 (True, Range 0 to 359)
dBHz Range 0 to 99, null when not tracking
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.
4.1.5 Recommended Minimum Specific GNSS Data (RMC)
Table 4-9 contains the values for the following example:
$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10
Table 4-9 RMC Data Format
Name
Example
Units
Description
Message ID
$GPRMC
RMC protocol header
UTC Time
161229.487
hhmmss.sss
Status
A
A=data valid or V=data not valid
Latitude
3723.2475
ddmm.mmmm
N/S Indicator
N
N=north or S=south
Longitude
12158.3416
dddmm.mmmm
E/W Indicator
W
E=east or W=west
Speed Over Ground
0.13
Knots
Course Over Ground
309.62
Degrees True
Date
120598
ddmmyy
Magnetic Variation
Degrees E=east or W=west
Checksum
*10
<CR> <LF>
End of message termination
4.1.6 Course Over Ground and Ground Speed (VTG)
Table 4-10 contains the values for the following example:
$GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E
Table 4-10 VTG Data Format
Name
Example
Message ID
$GPVTG
Course
309.62
Reference
T
Course
Units
Description
VTG protocol header
Degrees Measured heading
True
Degrees Measured heading
Specifications subject to change without prior notice
Rikaline Marketing Corp.
5F-1, 125, Roosevelt Rd., Sec. 5, Taipei, Taiwan 116 E-mail: info@rikaline.com.tw Web: www.rikaline.com.tw
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GPS-6020 Operating Manual
Reference
Speed
Units
Speed
Units
Checksum
<CR> <LF>
M
0.13
N
0.2
K
*6E
Knots
Km/hr
Rikaline
Magnetic (1)
Measured horizontal speed
Knots
Measured horizontal speed
Kilometers per hour
End of message termination
(1) All “course over ground” data are geodetic WGS84 directions.
4.1.7 Time & Date (ZDA)
Table 4-11 contains the values for the following example:
$GPVTG,114523.62,12,04,2001,10,34*6E
Table 4-11 zda Data Format
Name
Example
Message ID
$GPZDA
Hour, Min, Sec, Sub
114523.62
Sec
Day
12
Month
04
Year
2001
Local Zone Hours
10
Local Zone Minutes
34
Checksum
*6E
<CR> <LF>
Units
Description
ZDA protocol header
Hhmmss.ss
Day in UTC, 01to 12
Month in UTC, 01 to 12
Year in UTC
Local zone hours, +/- 13 hours
Local zone minutes, 0 to +59
End of message termination
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-6020 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-6020 may decode the data correctly to generate
accurate messages and save them in battery-back SRAM for later computing.
Specifications subject to change without prior notice 10
Rikaline Marketing Corp.
5F-1, 125, Roosevelt Rd., Sec. 5, Taipei, Taiwan 116 E-mail: info@rikaline.com.tw Web: www.rikaline.com.tw
GPS-6020 Operating Manual
Rikaline
5. Ordering Information
5.1 Product Options
GPS-6020
5.1.2 Color Option
BK Black (Standard)
Other Color: by demand
6. Warranty
The GPS-6020 is 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 at no charge to
the customers.
Specifications subject to change without prior notice 11
Rikaline Marketing Corp.
5F-1, 125, Roosevelt Rd., Sec. 5, Taipei, Taiwan 116 E-mail: info@rikaline.com.tw Web: www.rikaline.com.tw
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