深圳市天工测控技术有限公司 SKM66D-Datasheet

Glonass/BD/GPS Module

Datasheet

Name: High-performance Glonass/BD/GPS Solution Module

Model No.: SKM66D

Version: V1.01

Revision History:

V1.01 Initial Release to V1.01 Woody 20150608

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深圳市天工测控技术有限公司 SKM66D-Datasheet

General Description

The SKM66D is a high-performance GNSS all-in-one solution module that features super sensitivity, ultra low power and small form factor. The RF signal is applied to the antenna input of module, and a complete serial data message with position, velocity and time information is presented at the serial interface with NMEA protocol or custom protocol.

It is based on the high performance features of the

MediaTek MT3333 single-chip architecture, Its –165dBm tracking sensitivity extends positioning coverage into place like urban canyons and dense foliage environment where the GNSS was not possible before. It Built-in low-field

Figure 1: SKM66D Top View

Features

construction with very low cross-axis sensitivity is designed to measure both the direction and the magnitude

„ GPS/GLONASS/BD/QZSS reseiver

„ Ultra high sensitivity: -165dBm

Applications

„ LBS (Location Based Service)

„ PND (Portable Navigation Device)

„ Vehicle navigation system

„ Aeromodelling

Pin Assignment

„ Built-in 12 multi-tone active interference canceller

„ Ultra low power consumption

„ Advanced Features: AlwaysLocate; AIC; EPO;EASY

„ SBAS (WAAS,EGNOS,MSAS,GAGAN)

„ Built-in low-field magnetic sensor HMC5883L

„ RoHS compliant (Lead-free)

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Figure 2: SKM66D Pin Package

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深圳市天工测控技术有限公司 SKM66D-Datasheet

Pin Description

Pin No. Pin name I/O

1 SCL

Description

I Serial Clock – I

2

C Master/Slave Clock

3

4

RX0

TX0

I UART Serial Data Input 0

O UART Serial Data Output 0

Remark

Magnetic sensor interface.

GNSS interface

GNSS interface

Magnetic sensor interface. 6 SDA I/O Serial Data – I

2

C Master/Slave Data

Interfaces Configuration

Power Supply

Regulated power for the SKM66D is required. The input voltage Vcc should be 3.3V to 5V range, current is no less than 100mA.

Suitable decoupling must be provided by external decoupling circuitry (10uF and 1uF). It can reduce the

Noise from power supply and increase power stability.

Main power supply Vcc current varies according to the processor load and satellite acquisition. Maximum Vcc peak current is about 40 mA during acquisition.

UART Port

The module supports one full duplex serial channels UART. The serial connections are at 2.85V LVTTL logic levels, if need different voltage levels, use appropriate level shifters. the data format is however fixed: X, N, 8, 1, i.e. X baud rate, no parity, eight data bits and one stop bit, no other data formats are supported, LSB is sent first. The UART is as

NMEA output and PMTK command input.

I

2

C Interface

SKM66D built-in low-field magnetic sensor HMC5883L, Control of this device is carried out via the I

2

C bus. This device will be connected to this bus as a slave device under the control of a master device, such as the processor.

Datasheet can be downloaded at honeywell's web-site: https://aerospace.honeywell.com/en/products/sensors/magnetic-sensing-solutions/3-axis-compass-integrated-circuits

Advanced Software Features

Standby Mode

User can issue software command to make GNSS module go into standby mode that consumes less than 200uA current. GNSS module will be awaked when receiving any byte. The following flow chart is an example to make

GNSS module go into standby mode and then wake up.

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深圳市天工测控技术有限公司 SKM66D-Datasheet

Periodic Mode

When GNSS module is commanded to periodic mode, it will be in operation and standby periodically. Its status of power consumption is as below chart.

AlwaysLocate™

AlwaysLocateTM is an intelligent controller of periodic mode. Depending on the environment and motion conditions,

GNSS module can adaptively adjust working/standby time to achieve balance of positioning accuracy and power consumption. In this mode, the host CPU does not need to control GNSS module until the host CPU needs the GPS position data. The following flow chart is an example to make GNSS module go into AlwaysLocateTm mode and then back to normal operation mode.

AGPS Support for Fast TTFF (EPO™)

The AGPS (EPO™) supply the predicated Extended Prediction Orbit data to speed TTFF ,users can download the

EPO data to GPS engine from the FTP server by internet or wireless network ,the GPS engine will use the EPO data to assist position calculation when the navigation information of satellites are not enough or weak signal zone .

EASY™

The EASY™ is embedded assist system for quick positioning, the GPS engine will calculate and predict automatically the single emperies ( Max. up to 3 days )when power on ,and save the predict information into the memory , GPS engine will use these information for positioning if no enough information from satellites , so the function will be helpful for positioning and TTFF improvement under indoor or urban condition ,the Backup power

(VBACKUP) is necessary .

Embedded Logger function

The Embedded Logger function don’t need host CPU (MCU ) and external flash to handle the operation , GPS Engine will use internal flash (embedded in GPS chipset ) to log the GPS data (Data format : UTC, Latitude , longitude,

Valid ,Checksum ), the max log days can up to 2 days under AlwaysLocate™ condition .

AIC_Multi-tone active interference canceller

Because different application (Wi-Fi , GSM/GPRS,3G/4G,Bluetooth )are integrated into navigation system , the

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深圳市天工测控技术有限公司 SKM66D-Datasheet harmonic of RF signal will influence the GPS reception , The multi- tone active-interference canceller can reject external RF interference which come from other active components on the main board , to improve the capacity of GPS reception without any needed HW change in the design .SKM66D can cancel up to 12 independent channel interference continuous wave.

GNSS

The SKM66D GNSS modules can receive and track multiple GNSS systems (e.g. GPS, GLONASS and BeiDou signals). The SKM66D can be configure to start searching of which satellite system. By default the receivers are configured for concurrent GPS and GLONASS reception.

Performance Specification

Parameter

Receiver Type

Specification

GPS,GLONASS,GALILEO

Accuracy

Acquisition Time

Assisted GPS support

Power Consumption

Navigation Data Update Rate

Operational Limits

Electrical Characteristics

Absolute Maximum Rating

Parameter

Power Supply

Power Supply Volt.

Input Pins

Input voltage on any input connection

Acquisition

Position

Velocity

Timing (PPS)

Cold Start

Warm Start

Hot Start

Re-Acquisition

EPO

Tracking

Acquisition

Max 10Hz

Altitude

Velocity

Acceleration

Symbol

VCC

-148dBm Typical

3.0m CEP50 without SA(Typical Open Sky)

0.1m/s without SA

10ns RMS

23s(Typical Open Sky)

2-3s

1s

<1s

35mA @5V Typical

40mA @5V

Default 5Hz

Max 18,000m

Max 515m/s

Less than 4g

Min

-0.3

Max

5.5

Units

V

V IO -0.3 V

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RF input power RF_IN -40 dBm

Human Body Model ESD capability RF_IN 2000 V

Machine Model ESD capability RF_IN 100 V

Environment

Storage Temperature

Peak Reflow Soldering Temperature <10s

Tstg

Tpeak

-40 85 °C

260 °C

Humidity 95 %

Note: Absolute maximum ratings are stress ratings only, and functional operation at the maxims is not guaranteed.

Stress beyond the limits specified in this table may affect device reliability or cause permanent damage to the device.

For functional operating conditions, refer to the operating conditions tables as follow.

The SKM66D module is Electrostatic Sensitive Device (ESD) and may be damaged with ESD or spike voltage.

Although it has built-in ESD protection circuitry at digital I/O, please handle with care to avoid permanent malfunction or performance degradation. Note that RFIN has no ESD protection circuits.

Operating Conditions

Parameter

Power supply voltage

Power supply voltage ripple

Supply current, navigation

Input high voltage

Input low voltage

Output high voltage

Output low voltage

Operating temperature

Symbol Condition

Vcc

Min Typ Max Units

3.3 5 5.5 V

Vcc_PP

Icc

Vcc=5V

Vcc=5V

30 mV

35 40 mA

V

IH

V

IL

V

OH

V

OL

Topr

2 3.6 V

-0.3 0.8 V

2.4 3.1 V

-0.3 0.4 V

-40 85 °C

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Mechanical Specification

Connector Specification

Figure 3: SKM66D Dimensions

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Figure 4: SKM66D Connector

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Reference design schematic

Figure 5: SKM66D Typical Reference design schematic

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深圳市天工测控技术有限公司 SKM66D-Datasheet

Software Protocol

NMEA 0183 Protocol

The NMEA protocol is an ASCII-based protocol,

Records start with a $ and with carriage return/line feed.

GPS specific messages all start with $GNxxx where xxx is a three-letter identifier of the message data that follows. NMEA messages have a checksum, which allows detection of corrupted data transfers.

Table 1: NMEA-0183 Output Messages

NMEA Record Description

The Skylab SKM66D supports the following

NMEA-0183 messages: GGA, GLL, GSA, GSV, RMC

VTG, ZDA. The module default NMEA-0183 output is set up GGA、GSA、RMC、GSV , and default baud rate is set up 38400bps.

GNGLL

GPGSA

GLGSA

BDGSA

GPGSV

GLGSV

BDGSV

GNRMC

GNVTG

Geographic position—latitude/longitude

GNSS DOP and active satellites for GPS

GNSS DOP and active satellites for GLONASS

Beidou DOP and active satellites for BD

GNSS satellites in view for GPS

GNSS satellites in view for GLONASS

Beidou satellites in view for BD

Recommended minimum specific GNSS data

Course over ground and ground speed

Y

N

Y

Y

Default

Y

N

Y

N

Y

N

N

GGA-Global Positioning System Fixed Data

This sentence contains the position, time and quality of the navigation fix.

See RMC for Fix Status, Fix Mode, Fix Date, Speed, and True Course.

See GSA for Fix Type, PDOP, and VDOP.

$GNGGA,021514.000,2232.1799,N,11401.1823,E,1,6,1.25,84.0,M,-2.2,M,,*6A

Table 2: GGA Data Format

Name Example Units Description

Message ID

UTC Position

$GNGGA

021514.000

Latitude 2232.1799

N/S indicator N

GGA protocol header hhmmss.sss ddmm.mmmm

N=north or S=south

Longitude 11401.1823

E/W Indicator E

Position Fix Indicator

Satellites Used

HDOP

1

6

1.25 dddmm.mmmm

E=east or W=west

See Table 2-1

Range 0 to 12

Horizontal Dilution of Precision

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MSL Altitude 84.0 meters Altitude (referenced to the Ellipsoid)

Age of Diff.Corr.

Diff.Ref.Station ID

<Null>

<Null> second

Checksum *6A

EOL <CR> <LF>

Table 2-1: Position Fix Indicators

Value

0

1

2

Description

Fix not available or invalid

fix valid

Differential GPS, fix valid

GLL-Geographic Position – Latitude/Longitude

Geoidal

Null fields when it is not Used

Null fields when it is not Used

End of message termination

This sentence contains the fix latitude and longitude.

$GNGLL,2232.1799,N,11401.1824,E,021513.000,A,A*4E

Table 3: GLL Data Format

Name Example Units

Message ID

Latitude

N/S Indicator

Longitude

$GNGLL

2232.1799

N

11401.1824

E/W Indicator

UTC Position

Fix Status

Fix Mode

Checksum

EOL

E

A

A

*4E

021513.000

<CR> <LF>

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

A=autonomous, N = No fix, D=DGPS, E=DR

End of message temination

GSA-GNSS DOP and Active Satellites

This sentence contains the mode of operation, type of fix, PRNs of the satellites used in the solution as well as PDOP, HDOP and VDOP.

GPS GSA message: $GPGSA,……

$GPGSA,A,3,28,20,04,17,10,193,08,,,,,,1.14,0.75,0.85*31

GLONASS GSA message: $GLGSA,……

$GLGSA,A,3,67,81,80,66,82,79,,,,,,,1.14,0.75,0.85*11

BD GSA message: $BDGSA,……

$BDGSA,A,3,10,,,,,,,,,,,,1.54,1.26,0.88*17

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Table 4: GSA Data Format

Name Example Units Description

Message

Mode 1

Mode 2

ID of satellite used

$GPGSA

A

3

28

ID of satellite used 20

… …

ID of satellite used

PDOP

<Null>

1.14

HDOP

VDOP

Checksum

EOL

0.75

0.85

*31

<CR> <LF>

GSA protocol header

See Table 4-2

See Table 4-1

Sv on Channel 1

Sv on Channel 2

…

Sv on Channel 12 (Null fields when it is not Used)

Position Dilution of Precision

Horizontal Dilution of Precision

Vertical Dilution of Precision

End of message termination

Table 4-1: Mode 2

Value

1

2

3

Table 4-2: Mode 1

Value

M

A

Description

Fix not available

2D Fix

3D Fix

Description

Manual-forced to operate in 2D or 3D mode

Automatic-allowed to automatically switch 2D/3D

GSV-GNSS Satellites in View

This sentence contains the PRNs, azimuth, elevation, and signal strength of all satellites in view.

GPS GSV message: $GPGSV,……

$GPGSV,4,1,14,28,86,009,35,193,70,056,38,04,44,258,29,17,44,338,44*48

GLONASS GSV message: $GLGSV,……

$GLGSV,3,1,10,79,42,239,15,66,40,076,31,67,37,143,29,81,33,025,14*66

BD GSV message: $BDGSV,……

$BDGSV,1,1,03,10,46,329,31,08,43,161,,09,40,217,*52

Table 5: GSV Data Format

Name

Message ID

Number of Message

Example

$GPGSV

4

Units Description

GSV protocol header

Total number of GSV sentences (Range 1 to 3)

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Message Number 1 Sentence number of the total (Range 1 to 3)

Satellites in View 14 Number of satellites in view

Satellite ID

Elevation

Azinmuth

SNR(C/NO)

…

Satellite ID

Elevation

28

86

009

35

17

44

degrees

degrees

dB-Hz

degrees

Channel 1

Channel 1(Range 00 to 90)

Channel 1(Range 000 to 359)

Channel 1(Range 00 to 99, null when not tracking)

…

Channel 4

Channel 4(Range 00 to 90)

Azimuth

SNR(C/NO)

Checksum

EOL

338

44

*48

degrees

dB-Hz

<CR> <LF>

Channel 4(Range 000 to 359)

Channel 4(Range 00 to 99, null when not tracking)

End of message termination

Depending on the number of satellites tracked multiple messages of GSV data may be required.

RMC-Recommended Minimum Specific GNSS Data

This sentence contains the recommended minimum fix information.

See GGA for Fix Quality, Sats Used, HDOP, Altitude, Geoidal Separation, and DGPS data.

See GSA for Fix Type, PDOP and VDOP.

$GNRMC,023345.000,A,2232.1767,N,11401.1953,E,0.18,151.55,100410,,,A*76

Table 6: RMC Data Format

Name Example Units Description

Message ID

UTS Position

Status

Latitude

$GNRMC

023345.000

A

2232.1767

RMC protocol header

hhmmss.sss

A=data valid or V=data not valid

ddmm.mmmm

N/S Indicator

Longitude

E/W Indicator

Speed Over Ground

N

11401.1953

E

0.18 Knots

Course Over Ground

Date(UTC)

151.55

100410

Magnetic variation <Null>

Magnetic Variation Direction <Null>

Degrees

Degrees

Fix Mode

Checksum

EOL

A

*76

<CR> <LF>

N=north or S=south

dddmm.mmmm

E=east or W=west

True Course

ddmmyy

Null fields when it is not Used

E=east or W=west (Null fields when it is not Used)

A=autonomous, N = No fix, D=DGPS, E=DR

End of message termination

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深圳市天工测控技术有限公司 SKM66D-Datasheet

VTG-Course Over Ground and Ground Speed

This sentence contains the course and speed of the navigation solution.

$GNVTG,148.81,T,,M,0.13,N,0.24,K,A*23

Table 7: VTG Data Format

Name Example Units Description

Message ID

Tcourse

Reference

Mcourse

$GPVTG

148.81

T

<Null>

Degrees

Degrees

VTG protocol header

True Course

T = True

Magnetic Course (Null fields when it is not Used)

Reference

Speed over ground

Units

Speed over ground

Units

Mode

Checksum

EOL

M

0.13

N

0.24

K

A

*23

Knots

Km/hr

<CR> <LF>

M = Magnetic (Null fields when it is not Used)

Nautical Miles per Hour

Knots

in Kilometers per Hour

Kilometer per hour

A=Autonomous, N=No fix, D=DGPS, E=DR

End of message termination

ZDA-Date and Time

This sentence contains UTC date & time, and local time zone offset information.

$GNZDA,023345.000,10,04,2010,,*4D

Table 8: ZDA Data Format

Name

Message ID

UTC Time

Day

Example

$GPZDA

Units Description

023345.000

10

ZDA protocol header

hhmmss.sss

UTC time: day (01 ... 31) dd

Month

Year

04

2010

local zone hours <null>

local zone minutes <null>

*4D

<CR> <LF>

Checksum

EOL

UTC time: month (01 ... 12) mm

UTC time: year (4 digit year) yyyy

Local Time Zone Offset Hours (Null fields when it is not Used)

Local Time Zone Offset Minutes (Null fields when it is not Used)

End of message termination

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CMD List

Table 9: CMD List

CMD TYPE

Hot Restart

Warm Restart

Cold Restart

Full Cold Restart

Search GLONASS satellites only

Search GPS satellites only

Search GPS and GLONASS satellites

Search BEIDOU satellites only

Search GPS and BEIDOU satellites

CMD Example:

$PMTK101*32<CR><LF>

$PMTK102*31<CR><LF>

$PMTK103*30<CR><LF>

$PMTK104*37<CR><LF>

$PMTK353,0,1,0,0,0*2A<CR><LF>

$PMTK353,1,0,0,0,0*2A<CR><LF>

$PMTK353,1,1,0,0,0*2B<CR><LF>

$PMTK353,0,0,0,0,1*2A<CR><LF>

$PMTK353,1,0,0,0,1*2B<CR><LF>

Skylab M&C Technology Co., Ltd.

Address:

9 th

Floor, Zhongguang Building, Yayuan Road, Bantian, Shenzhen

Phone: 86-755 8340 8210（Sales Support）

Phone: 86-755 8340 8130（Technical Support）

Fax: 86-755-8340 8560

E-Mail: [email protected]

Website: www.skylab.com.cn

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