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Motorola GPS Products
M12 Oncore User’s Guide Supplement
Revision 1.0  01/25/00

2. Basic Description

2.1 Receiver architecture

Channels

12 parallel

Frequency

1575.42 MHz

Code

C/A

Tracking

Carrier aided

2.2 Description

The highly integrated single board GPS receiver module is optimized specifically for automotive
applications. The GPS receiver tracks the 

NAVSTAR GPS

 constellation of satellites. The satellite

signals received by an active antenna are tracked with 12 parallel channels of L1, C/A code then
downconverted to an IF frequency and digitally processed to obtain a full navigation solution of
position, velocity, time and heading. The solution is then sent over the serial link via the 10-pin
connector.

Summary of Contents for M12 Oncore

Page 1: ...M12 User sGuide Supplement ...

Page 2: ...00 M12 Oncore User s Guide Supplement 1 Product Specifications 2 Basic Description 3 Mechanical 4 Environmental 5 Electrical 6 RF Characteristics of Receiver 7 RF Requirements for Antenna 8 Performance 9 Features 10 Serial I O Messages 11 Receiver Controller Command Descriptions ...

Page 3: ... Power Requirements 2 8 to 3 2 Vdc 50 mVp p ripple max Keep Alive BATT Power External 1 8 Vdc to 3 2 Vdc 5µA typical 2 7 Vdc 25 C Power Consumption 0 225 W 3 V without antenna Dimensions 40 0 x 60 0 x 10 0 mm 1 57 x 2 36 x 0 39 in Weight Receiver 25 g 0 9 oz Connectors Power Data 10 pin 2x5 unshrouded male header on 0 050 inch centers available in right angle or straight configuration RF right ang...

Page 4: ...GPS receiver module is optimized specifically for automotive applications The GPS receiver tracks the NAVSTAR GPS constellation of satellites The satellite signals received by an active antenna are tracked with 12 parallel channels of L1 C A code then downconverted to an IF frequency and digitally processed to obtain a full navigation solution of position velocity time and heading The solution is ...

Page 5: ...GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 3 Mechanical 3 1 Mechanical Drawings 3 1 1 M12 Oncore with right angle power data connector 3 1 2 M12 Oncore with straight power data connector ...

Page 6: ...0 C to 105 C 4 2 Relative humidity Operating 95 over dry bulb range of 38 C to 85 C 4 3 Vibration 0 04 G2 Hz 20 Hz to 1000 Hz 7 7 G per Military Standard 810E 5 Electrical 5 1 Pin Outputs Pin Signal Description 1 TTL TXD1 Transmit 3 V logic 2 TTL RXD1 Receive 3 V logic 3 3 0 V PWR 3 V regulated main power 4 1 PPS One pulse per second signal 5 GROUND Ground receiver 6 BATTERY Externally applied bac...

Page 7: ...ata oscillator learning table and operating mode 5 4 Antenna feed power out of RF connector Voltage 2 7 V to 3 2 V over current range for 3 V antenna Current 15 mA to 80 mA Flags set in serial data when limits exceeded 5 5 1PPS signal definition Level 0 V to 3 V Time mark Rising edge Width 200 ms typical 5 6 Serial I O signal definition Levels 0 V to 3 V active low Baud rate 9600 Motorola Binary 4...

Page 8: ...m at 0 elevation 7 4 Noise figure 1 8 dB typical 2 2 dB maximum 7 5 VSWR 1 5 1 typical 2 5 1 maximum 7 6 Axial ratio 3 dB typical at zenith 6 dB maximum at zenith 7 7 1 dB compression point 14 dBm typical at antenna output 7 8 3 dB frequency bandwidth 45 MHz maximum 7 9 25 dB frequency rejection 95 MHz 7 10 Ground plane 15 x 15 cm recommended 7 11 Power Voltage 2 8 V to 3 2 V or 4 75 V to 5 25 V 3...

Page 9: ...te time position almanac ephemeris 15 s Warm date time position almanac olt 45 s Cold no stored information 70 s 8 4 Reacquisition time After 60 s obstruction 3 5 s Internal 1 0 s 8 5 RFI Jamming resistance Resistant to narrow band CW jamming at the receiver input of 20dBm at less than 1525 MHz and greater than 1625 MHz for loss of lock with a signal input of 130 dBm Burnout protection Protected f...

Page 10: ... The antenna sense circuit is useful for verifying that the antenna is properly connected to the receiver and is drawing the proper amount of current The antenna sense status should be checked after installation and monitored regularly Undercurrent indication 8 mA Overcurrent indication 80 mA 9 5 Real time clock The real time clock RTC is a standard feature on the M12 Oncore It is used to minimize...

Page 11: ...e status C No dB Flag indicating satellite tracking status Flag indicating satellite is used in solution 10 4 Initialization Startup mode Acquisition based on information available Battery backup provided No initialization required No battery backup Receiver will be in default condition entering date time position and almanac will speed up acquisition process Default condition No serial messages a...

Page 12: ... AM lockp 32 Setup Velocity Filter AN filter 34 Setup RTCM Port Mode AO p2baud 36 Position Position Filter Select AQ pfilter 38 Position Position Lock Select AS locke 40 Satellite Visible Satellite Status Bb vis 42 Almanac Almanac Status Bd alm 44 Almanac Almanac Data Output Be almout 46 Ephemeris Ephemeris Data Input Bf ephin 48 Almanac Almanac Data Input Cb almin 50 Time UTC Offset Status Bo utc...

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Page 14: ...the elevation angle is greater than the satellite mask angle This parameter allows the user to control the elevation angle that was used for this decision Range 0 to 89 degrees Default value 0 degrees 14 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 15: ...orola Binary Format Poll current mask angle AgxC CR LF x 1 out of range byte ff C checksum Message length 8 bytes Change current mask angle AgdC CR LF d degrees 0 89 C checksum Message length 8 bytes To either command AgdC CR LF d degrees 0 89 C checksum Message length 8 bytes Input Command Response Message ...

Page 16: ...ore Satellite Command In addition the user can restore any previously ignored satellite IDs by issuing an Include Satellite Command This command also affects the satellite Alert Planning settings Satellites that have been removed by this command are not included in the produced Alert Planning output The user may notice a delay between issuing this command and the actual removal or inclusion of par...

Page 17: ... k 00 fixed binary constant ssss 32 bit binary field Each bit represents one SVID msb SVID 32 lsb SVID 1 1 Ignore 0 Include C checksum Message Length 12 bytes To either command AmkssssC CR LF k 00 fixed binary constant ssss 32 bit binary field Each bit represents one SVID msb SVID 32 lsb SVID 1 1 Ignore 0 Include C checksum Message Length 12 bytes 17 Motorola GPS Products M12 Oncore User s Guide S...

Page 18: ... and the user defined datum is number 50 The user instructs the GPS receiver which datum to use by sending the Select Datum command The command contains the ID number of the desired datum and the GPS receiver returns the response message which gives the user the ability to validate that the input command was accepted The user can instruct the GPS receiver to use the user defined datum by sending t...

Page 19: ...9 or 50 sssff semi major axis m sss integer part 6 000 000 7 000 000 ff fractional part 0 999 0 0 0 999 iiffff inverse flattening ii integer part 285 305 ffff fractional part 0 999 999 999 0 0 0 999999999 xx delta X 0 1 m 32 768 32 767 3276 8 3276 7 yy delta Y 0 1 m 32 768 32 767 3276 8 3276 7 zz delta Z 0 1 m 32 768 32 767 3276 8 3276 7 C checksum Message length 25 bytes Input Command 19 Motorola...

Page 20: ... defined datum stored as ID number 50 The User Datum command allows the user to define the constants used for a custom datum A datum is defined by a semi major axis an inverse flattening constant and an offset from the center of mass of the earth given as delta X delta Y and delta Z parameters Default values WGS 84 parameters ...

Page 21: ...teger part 285 305 ffff fractional part 0 999 999 999 0 0 0 999999999 xx delta X 0 1 m 32 768 32 767 3276 8 3276 7 yy delta Y 0 1 m 32 768 32 767 3276 8 3276 7 zz delta Z 0 1 m 32 768 32 767 3276 8 3276 7 C checksum Message length 25 bytes To either command ApdsssffiiffffxxyyzzC CR LF d datum ID 50 sssff semi major axis m sss integer part 6 000 000 7 000 000 ff fractional part 0 999 0 0 0 999 iiff...

Page 22: ...h s ionosphere and troposphere by using algorithms and parameters transmitted to the users by the satellites For some applications such as differential systems the atmospheric models should be disabled since the differential corrections include the atmospheric errors Default modes Ionospheric model enabled Tropospheric model disabled Motorola GPS Products M12 Oncore User s Guide Supplement Revisio...

Page 23: ...8 bytes Change current Atmospheric Correction Mode AqsC CR LF s selection 0 both models disabled 1 ionospheric model only enabled 2 tropospheric model only enabled 3 both models enabled C checksum Message length 8 bytes To either command AqsC CR LF s selection 0 both models disabled 1 ionospheric model only enabled 2 tropospheric model only enabled 3 both models enabled C checksum Message length 8...

Page 24: ...units and referenced to the same datum WGS 84 as the initial position coordinates of latitude longitude and height to the same resolution The height parameter is referenced to the GPS reference ellipsoid Note that all three parameters must be specified The valid ranges of each parameter are the same as those specified in the Combined Position Message Ga Default values Latitude 0 Equator Longitude ...

Page 25: ...0 180 hhhh height in cm 100000 1 800 000 1 000 00 18 000 00 m t height type 0 GPS height C checksum Message length 20 bytes To either command AslllloooohhhhtC CR LF llll latitude in mas 324 000 000 324 000 000 90 90 oooo longitude in mas 648 000 000 648 000 000 180 180 hhhh height in cm 100 000 1 800 000 1 000 00 18 000 00 m t height type 0 GPS height C checksum Message length 20 bytes NOTE Positi...

Page 26: ...isable the altitude hold feature The Altitude Hold Height is specified in units of meters to a resolution of 0 01 meters The height is referenced to the GPS reference ellipsoid The datum for the height is the one selected using the Select Datum command Default value 0 m 26 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 27: ...00 000 1000 00 to 18 000 00 m t height type 0 GPS height C checksum Message length 12 bytes To either command AuhhhhtC CR LF hhhh height in cm 100 000 1 800 000 1000 00 to 18 000 00 m t height type 0 GPS height C checksum Message length 12 bytes Note Altitude Hold Height is enable and disabled using the Position Control command Gd Input Command Response Message 27 Motorola GPS Products M12 Oncore ...

Page 28: ... pulse Note that if the receiver does not have the UTC parameters portion of the almanac UTC will be output as being equal to GPS time and a flag denoting the lack of UTC parameters will be set in the Position Status Data message Ha The receiver will have the UTC parameters once an almanac has been downloaded from the satellites Default mode UTC 28 Motorola GPS Products M12 Oncore User s Guide Sup...

Page 29: ...essage length 8 bytes Change current Time Mode AwmC CR LF m mode 0 GPS 1 UTC C checksum Message length 8 bytes To either command AwmC CR LF m mode 0 GPS 1 UTC C checksum Message length 8 bytes 29 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 Input Command Response Message ...

Page 30: ...time to compensate for antenna cable delay Up to one millisecond of equivalent cable delay can be removed Zero cable delay is set for a zero length antenna cable The user should consult a cable data book for the delay per foot for the particular antenna cable used in order to compute the total cable delay needed for a particular installation This parameter also allows the user to adjust the positi...

Page 31: ...rrent 1PPS Cable Delay AzttttC CR LF tttt time offset in ns 0 999 999 ns 0 0 to 0 000999999 s C checksum Message length 11 bytes To either command AzttttC CR LF tttt time offset in ns 0 999 999 ns 0 0 to 0 000999999 s C checksum Message length 11 bytes Input Command Response Message 31 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 32: ...e position will be locked if the current speed and distance traveled are both less than their respective thresholds The parameters will be remembered through power cycles if battery back up is provided Default values Speed threshold 0 5 m s Distance threshold 100 m 32 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 33: ... Speed threshold 0 255 m s f fractional part of speed threshold 0 99 cm s d distance threshold 0 65535 m C checksum Message Length 11 bytes To either command AMifddC CR LF i integer part of speed threshold 0 255 m s f fractional part of speed threshold 0 99 cm s d distance threshold 0 65535 m C checksum Message Length 11 bytes Input Command 33 Motorola GPS Products M12 Oncore User s Guide Suppleme...

Page 34: ... one Alpha is then used in the filtered velocity solution representing 10 to 100 of the last calculated velocity the remainder of which uses the previously reported velocity If a value of 10 is entered for alpha the maximum filtering will be done An alpha value this low must be used with caution the reported velocity will have extreme latency An alpha value of 100 will result in no filtering which...

Page 35: ...nt Velocity Filter parameter ANfC CR LF f filter parameter 10 100 max filtering to no filtering C checksum Message length 8 bytes To either command ANfC CR LF f filter parameter 10 100 max filtering to no filtering C checksum Message length 8 bytes Input Command 35 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 Response Message ...

Page 36: ... RTCM serial input port pin 8 The allowable baud rates are 2400 4800 and 9600 The baud rate of this secondary port is independent of the status of the primary serial port Default mode 9600 baud 36 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 37: ... Change current RTCM Port Mode AObC CR LF b RTCM port baud rate 0 9600 1 4800 2 2400 C checksum Message length 8 bytes To either command AObC CR LF b RTCM port baud rate 0 9600 1 4800 2 2400 C checksum Message length 8 bytes 37 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 Input Command Response Message ...

Page 38: ...bles the position filter The default value will be filter enabled The selection will be remembered through power cycles if battery back up is provided Default mode Enabled 38 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 39: ...Length 8 bytes Change current Position Filter Selection AQsC CR LF s selection 0 Disabled 1 Enabled C checksum Message Length 8 bytes To either command AQsC CR LF s selection 0 Disabled 1 Enabled C checksum Message Length 8 bytes Input Command Response Message 39 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 40: ...es the position lock feature The default value will be disabled The selection will be remembered through power cycles if battery back up is provided Default mode Disabled 40 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 41: ...ngth 8 bytes Change Current Position Lock Select ASeC CR LF e selection 0 Disabled 1 Enabled C checksum Message Length 8 bytes To either command ASeC CR LF e selection 0 Disabled 1 Enabled C checksum Message Length 8 bytes Response Message 41 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 Input Command ...

Page 42: ...he location of the currently visible satellites up to 12 satellites The reference position for the most recent satellite alert is the current position coordinates Note that these coordinates may not compare to the GPS receiver s actual position when initially turned on since the GPS receiver may have moved a great distance since it was last used Default mode Polled 42 Motorola GPS Products M12 Onc...

Page 43: ...aasiddeaasiddeaasiddeaasC CR LF n number of visible sats 0 12 For each visible satellite up to n fields contain the following valid data i satellite ID 1 32 dd Doppler in Hz 5000 5000 e elevation in degrees 0 90 aa azimuth in degrees 0 359 s satellite health 0 healthy and not removed 1 healthy and removed 2 unhealthy and not removed 3 unhealthy and removed C checksum Message length 92 bytes Respon...

Page 44: ...ceiver continually captures a complete new almanac to internal RAM while tracking satellites If an existing almanac is stored in RAM on power up satellite visibility information will be available immediately If no almanac data is stored in RAM on power up the receiver will download a new almanac and then compute satellite visibility information Almanac data is stored in memory only while main or b...

Page 45: ...anac valid flag 0 no almanac in receiver 1 valid almanac in receiver w almanac week number raw 0 255 ICD GPS 200 t time of almanac raw 0 147 ICD GPS 200 a number of available SVs 0 32 ssss SVs in almanac 0 SV not available 32 bit binary field 1 SV included each bit represents one SVID msb SVID 32 lsb SVID 1 rrrrrrrr reserved C checksum Message Length 23 bytes 45 Motorola GPS Products M12 Oncore Us...

Page 46: ... The data fields of each individual message correspond to words 3 through 10 of the broadcast data Each word contains 24 data bits The entire almanac data output consists of 34 output response messages corresponding to the 25 pages of subframe 5 and the 9 pages in subframe 4 that contain almanac data pages 2 through 5 7 through 10 and 25 The total message output for one output request is 1122 byte...

Page 47: ...age subframe 5 pages 1 25 or subframe 4 pages 2 5 7 10 25 xxx xxx data words words 3 10 each word is 3 bytes long format per ICD GPS 200 C checksum Message length 33 bytes NOTE If an almanac is present in the GPS receiver then the receiver outputs all of the almanac pages Otherwise it returns one output message with all of the message bytes set to zero Input Command Response Message 47 Motorola GP...

Page 48: ...e 4 hours The input format is identical to the format output by the previous Oncore Receivers using the output ephemeris command This allows the same ephemeris output file to be used by the receiver for an ephemeris input file The receiver echoes the input ephemeris data format message so the user can validate the ephemeris data with the new user supplied ephemeris upon completion of the receipt o...

Page 49: ... bytes per sat format per ICD GPS 200 C checksum Message length 80 bytes To above command Ccixxx xxxC CR LF i SVID 1 37 xxx xxx ephemeris sf 1 3 words 3 10 72 bytes per sat format per ICD GPS 200 C checksum Message length 80 bytes Response Message 49 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 Input Command ...

Page 50: ...an echo before sending the next data page The Oncore GPS receiver will collect an entire almanac in local storage then check the almanac for validity The receiver will update the internal almanac data with the new user supplied almanac upon completion of the receipt of a valid almanac Any single input message that has an invalid subframe i e not 4 or 5 will reset the almanac collection software so...

Page 51: ... xxx xxx data words words 3 10 each word is 3 bytes long format per ICD GPS 200 C checksum Message length 33 bytes To above command ChspC CR LF sp subframe page subframe 5 pages 1 25 or subframe 4 pages 2 5 7 10 25 C checksum Message length 9 bytes Input Command Response Message 51 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 52: ...iver does not currently have the portion of the almanac that contains the UTC parameters The UTC parameters are broadcast by the satellites as part of the almanac which is repeated every 12 5 minutes The message can be set to output either once polled or any time the UTC offset has been updated or changed from its previous value Default mode Polled 52 Motorola GPS Products M12 Oncore User s Guide ...

Page 53: ...C offset once polled 1 output UTC offset every time it is updated C checksum Message length 8 bytes To above command BouC CR LF u UTC offset in seconds 128 127 C checksum Message length 8 bytes Input Command Response Message 53 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 54: ...ATA OUTPUT This message allows the user to request UTC and ionospheric data decoded from the Navigation Data Message Default mode Polled Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 54 ...

Page 55: ...ale factors a α0 128 127 seconds b α1 128 127 seconds semi circle c α2 128 127 seconds semi circle 2 d α3 128 127 seconds semi circle 3 e β0 128 127 seconds f β1 128 127 seconds semi circle g β2 128 127 seconds semi circle 2 h β3 128 127 seconds semi circle 3 UTC Data see ICD GPS 200 Table 20 IX for scale factors AAAA A0 2 147 483 648 2 147 483 647 seconds aaaa A1 8 388 608 8 388 607 seconds secon...

Page 56: ...ions for up to six satellites The slave receiver uses the corrections in the input message by associating the satellite ID with the corresponding satellite channel that the slave is tracking The user can specify up to 12 satellite corrections through the use of two back to back input commands Back to back commands must be input with no time delay in between 56 Motorola GPS Products M12 Oncore User...

Page 57: ...37 0 not used 1 37 SVID ppp pseudorange corr 1 048 576 1 048 576 0 01 meter resolution 10485 76 10485 76 rr pseudorange rate corr 4096 4096 0 001 m s resolution 4 096 4 096 d issue of data ephemeris 0 255 C checksum Message length 52 bytes To above command CkC CR LF C checksum Message length 7 bytes Input Command 57 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 Res...

Page 58: ... of this command results in all continuous messages being reset to polled only output and clears the almanac and ephemeris data The time and date stored in the internal real time clock will be reset to their default values 58 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 59: ...ore GPS receiver to default values CfC CR LF C checksum Message length 7 bytes To above command CfC CR LF C checksum Message length 7 bytes Input Command Response Message 59 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 60: ...e baud rate of the port is switched from 9600 to 4800 and input commands are recognized in NMEA format only Note that the default mode of all of the NMEA output messages is off To initiate NMEA output the input commands must be utilized 60 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 61: ...t 1 NMEA C checksum Message length 8 bytes There is no response message to this input command NOTE The Motorola DOS controller software does not support NMEA messages Input Command Response Message 61 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 62: ...ID message upon request The information contained in the ID string is self explanatory The model number can be used to determine the type of receiver installed 62 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 63: ...X D R S X X X R I X X A E X X I N X X T P R X X G C X X X E I M X X H X X X N A A X T X X X X L N X X X X X X U O X 1 S X X X X X F P C 9 F X X X X X A T 9 T X X X X X C I 1 W S X X X X X T O O X X X X X U N 1 P F X X X X X R S 9 T S X X X X X 9 N W O X X X X D L x A F X X X X A I 1 2 3 4 5 6 7 8 9 10 11 12 cr lf cr lf 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 cr lf cr lf c...

Page 64: ...s being the response to the Bp message this message allows the user to input UTC and ionospheric data into the receiver which is then echoed in the response 64 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 65: ...ks n DN 1 7 days D tLSF 128 127 seconds C checksum Message Length 29 bytes To above command CoabcdefghAAAAaaaadtwWnDC CR LF Ionospheric Data see ICD GPS 200 Table 20 X for scale factors a α0 128 127 seconds b α1 128 127 seconds semi circle c α2 128 127 seconds semi circle 2 d α3 128 127 seconds semi circle 3 e β0 128 127 seconds f β1 128 127 seconds semi circle g β2 128 127 seconds semi circle 2 h...

Page 66: ... time and receiver status information The ASCII message may be a more convenient interface for certain applications The units and style of the data is similar to NMEA output Default mode Polled 66 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 67: ...ees 00 90 mm mmmm minutes 00 59 9999 n direction N North S South Longitude ddd degrees 000 180 mm mmmm minutes 00 59 9999 w direction W West E East Height s sign of height hhhhh h height in meters 1000 0 18 000 0 Velocity sss s speed in knots 000 0 999 9 hhh h heading in degrees 000 0 359 9 Receiver status m fix mode 0 autonomous 1 differential t fix type 0 no fix 1 2D fix 2 3D fix 3 propagate mod...

Page 68: ... position estimate The parameters will be remembered through power cycles if battery back up is provided Default Values Latitude 00 Longitude 00 Height 0m GPS Height Default mode Polled 68 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 69: ...0 000 1800 to 1800 hhhh height 100 000 1 800 000 cm 1000 to 18000 m t height type 0 GPS 1 MSL C checksum Message Length 20 bytes To either input command GaaaaaoooohhhhtC CR LF aaaa latitude in mas 324 000 000 324 000 000 milliarcseconds 900 to 900 oooo longitude in mas 648 000 000 648 000 000 milliarcseconds 1800 to 1800 hhhh GPS height in cm 100 000 1 800 000 cm 1000 to 18000 m t height type 0 GP...

Page 70: ... enter an initial time estimate The parameters will be remembered through power cycles if battery back up is provided Default Values 12 00 00 1 1 99 GMT offset 0 00 70 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 71: ... byte of GMT offset 00 positive ff negative h hour of GMT offset 0 23 m minutes of GMT offset 0 59 C checksum Message Length 17 bytes To above command GbmdyyhmsshmC CR LF Date m month 1 12 d day 1 31 yy year 1982 2100 Time h hours 0 23 m minutes 0 59 s seconds 0 59 s signed byte of GMT offset 00 positive ff negative h hour of GMT offset 0 23 m minutes of GMT offset 0 59 C checksum Message Length 1...

Page 72: ... choose how the 1PPS output in the receiver will behave The selection will be remembered through power cycles if battery back up is provided Default mode Continuous 72 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 73: ... 1PPS on continuously 2 pulse active only when tracking at least one satellite C checksum Message Length 8 bytes To either input command GcpC CR LF p 1PPS control 0 1PPS disabled 1 1PPS on continuously 2 pulse active only when tracking at least one satellite C checksum Message Length 8 bytes Input Command Response Message 73 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 ...

Page 74: ...o choose in which positioning mode the receiver will operate The selection will be remembered through power cycles if battery back up is provided Default mode Disabled 74 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 75: ...c control type 0 no hold or normal positioning 1 enable position hold 2 enable altitude hold C checksum Message Length 8 bytes To either input command GdcC CR LF c control type 0 no hold or normal positioning 1 enable position hold 2 enable altitude hold C checksum Message Length 8 bytes 75 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 Response Message Input Comman...

Page 76: ...lled response thus it must be requested each time leap second information is desired Leap seconds are occasionally inserted in UTC and generally occur on midnight UTC June 30 or midnight UTC December 31 The GPS control segment typically notifies GPS users of pending leap second insertions to UTC several weeks before the event When a leap second is inserted the time of day will show a value of 60 i...

Page 77: ...m month of the future leap second application d day of the future leap second application i integer part of current UTC offset seconds ffff fraction part of current UTC offset nanoseconds h hour of the leap second application 0 23 m minute of the leap second application 0 59 s second of the leap second application 0 60 C checksum Message Length 21 bytes Response Message 77 Motorola GPS Products M1...

Page 78: ...turing data block If all six are spaces the ID tag will remain unchanged Any other combination of ASCII characters from 0x20 to 0x7e will be construed as a new ID tag Any out of range character will also cause the ID tag to remain unchanged The ID tag is also output in the 12 channel Position Status Data Message Ha status message Default value Receiver Serial Number 78 Motorola GPS Products M12 On...

Page 79: ...rent ID Tag GkvvvvvvC CR LF vvvvvv ASCII ID tag 0x2B receiver serial number 6 characters 0x20 to 0x7e C checksum Message Length 13 bytes To above Command GkvvvvvvC CR LF vvvvvv ASCII ID tag 6 characters 0x20 to 0x7e C checksum Message Length 13 bytes Response Message Input Command 79 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 80: ... position and channel related data to the user at a specified update rate The output rate will be remembered through a power cycle if battery back up is provided Default mode Polled 80 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 81: ... 0 999999999 nanoseconds Position Filtered or Unfiltered Following Filter Select aaaa latitude in mas 324000000 324000000 900 to 900 oooo longitude in mas 648000000 648000000 1800 to 1800 hhhh GPS height in cm 100000 1800000 1000 to 18000m mmmm MSL height in cm 100000 1800000 1000 to 18000m Position Always Unfiltered aaaa latitude in mas 324000000 324000000 900 to 900 oooo longitude in mas 6480000...

Page 82: ...lable Bit 9 Invalid Data Bit 8 Parity Error Bit 7 Used For Position Fix Bit 6 Satellite Momentum Alert Flag Bit 5 Satellite Anti Spoof Flag Set Bit 4 Satellite Reported Unhealthy Bits 3 0 Satellite Accuracy as follows per para 20 3 3 3 1 3 ICD GPS 200 0000 0 0 00 URA 2 40 0001 1 2 40 URA 3 40 0010 2 3 40 URA 4 85 0011 3 4 85 URA 6 85 0100 4 6 85 URA 9 65 0101 5 9 65 URA 13 65 0110 6 13 65 URA 24 0...

Page 83: ... almanac almanac out of date or have almanac but time or position unknown Bit 6 Differential Fix Bit 5 Position Lock Bit 4 Autosurvey Mode Bit 3 Insufficient Visible Satellites Bit 2 1 Antenna Sense 00 OK 01 OC 10 UC 11 NV Bit 0 Code Location 0 EXTERNAL 1 INTERNAL rr Reserved Oscillator and Clock Parameters cc clock bias 32768 32767 ns oooo oscillator offset 0 250000 Hz TT temperature 110 250 half...

Page 84: ...e ignore if Bit 6 0 GMT Offset s signed byte of GMT offset 00 positive ff negative h hour of GMT offset 0 23 m minute of GMT offset 0 59 vvvvvv ID tag 6 characters 0x20 to 0x7e C checksum Message Length 154 bytes Represents UTC time offset from GPS time Offset is rounded to the nearest integer value 84 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 Response Message ...

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Page 86: ...ement Revision 1 0 01 25 00 SHORT POSITION MESSAGE 12 CHANNEL This is a shortened position message provided to the user at a specified update rate The selected rate will be remembered through a power cycle if battery back up is provided Default mode Polled ...

Page 87: ...0 2079 Time h hours 0 23 m minutes 0 59 s seconds 0 60 ffff fractional seconds 0 999999999 ns Position Filtered or Unfiltered Following the Filter Select aaaa latitude in mas 324000000 324000000 90 to 90 oooo longitude in mas 648000000 648000000 180 to 180 hhhh GPS height in cm 100000 1800000 1000 to 18000m mmmm MLS height in cm 100000 1800000 1000 to 18000m Speed Heading VV 3D speed in cm s 0 514...

Page 88: ...pagate Mode 100 Position Hold 011 Acquiring Satellites 010 Bad Geometry 001 Reserved 000 Reserved Bit 12 10 Reserved Bit 9 Fast Acquisition Position Bit 8 Filter Reset To Raw GPS Solution Bit 7 Cold Start no almanac almanac out of date or have almanac but time or position unknown Bit 6 Differential Fix Bit 5 Position Lock Bit 4 Autosurvey Mode Bit 3 Insufficient Visible Satellites Bit 2 1 Antenna ...

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Page 90: ...and is a 24 bit field where each bit of the field represents Pass Fail condition for each parameter tested When the self test is initiated the next output message may not be the response The self test may take up to ten seconds to execute Once the self test is complete the acquisition process starts all over as if the receiver were first powered on The date time position almanac and ephemeris info...

Page 91: ...ta Checksum Bit 12 Manufacturing Data Checksum Bit 11 channel 12 correlation test Bit 10 channel 11 correlation test Bit 9 channel 10 correlation test Bit 8 channel 9 correlation test Bit 7 channel 8 correlation test Bit 6 channel 7 correlation test Bit 5 channel 6 correlation test Bit 4 channel 5 correlation test Bit 3 channel 4 correlation test Bit 2 channel 3 correlation test Bit 1 channel 2 co...

Page 92: ...tput this message at a 10 second rate Receipt of this message indicates that the receiver will need to be repaired and or reprogrammed This feature keeps the receiver from being utilized when the ROM is for some reason compromised and therefore unreliable This feature helps to protect the integrity of the application 92 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00...

Page 93: ...EM POWER ON FAILURE Motorola Binary Format SzcC CR LF c constant equal to 0 C checksum Message length 8 bytes Output Command 93 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 94: ...rate is retained through a power cycle only if battery backup power is applied If the receiver has just powered up and has yet to compute a position fix GPS quality indicator field q is zero then the time hhmmss ss and HDOP y y fields will be nulled If the receiver is not currently computing a position fix sometime after the first fix GPS quality indicator field q is zero the time field hhmmss ss ...

Page 95: ...utes 00 000 59 999 n direction N North S South dddmm mmmm e longitude ddd degrees 000 180 mm mmm minutes 00 00 59 9999 e direction E East W West q GPS status indicator 0 GPS not available 1 GPS available 2 GPS differential fix ss number of sats being used 0 12 y y HDOP a a z antenna height a a height z units M meters g g z geoidal separation g g height z units M meters t t age of differential data...

Page 96: ...eiver is set to continuous output the continuous flow can be stopped by sending a one time polled output request The receiver will output the response one final time and then terminate any further message outputs The value of the periodic rate is retained through a power cycle only if battery backup power is applied If the receiver has just powered up and has yet to compute a position fix GPS qual...

Page 97: ...mm mmmm e hhmmss ss a CC CR LF ddmm mmmm n latitude dd degrees 00 90 mm mmmm minutes 00 000 59 9999 n direction N North S South dddmm mmmm e longitude ddd degrees 00 180 mm mmmm minutes 00 000 59 9999 e direction E East W West hhmmss ss UTC of position fix hh hours 00 24 mm minutes 00 59 ss ss seconds 00 00 59 99 a status A valid V invalid CC checksum 97 Motorola GPS Products M12 Oncore User s Gui...

Page 98: ...tput the continuous flow can be stopped by sending a one time polled output request The receiver will output the response one final time and then terminate any further message outputs The value of the periodic rate is retained through a power cycle only if battery backup power is applied If the receiver is not computing a position fix mode field b is one then the xDOP fields p p q q r r will be nu...

Page 99: ...p q q r r CC CR LF a sat acquisition mode M manual forced to operate in 2D or 3D mode A automatic auto switch 2D 3D b positioning mode 1 fix not available 2 2D 3 3D cc dd ee SVIDs used in solution null for unused fields ff gg hh ii jj kk mm nn oo p p PDOP 1 0 9 9 q q HDOP 1 0 9 9 r r VDOP 1 0 9 9 CC checksum Input Command Response Message 99 Motorola GPS Products M12 Oncore User s Guide Supplement...

Page 100: ...e continuously Once the receiver is set to continuous output the continuous flow can be stopped by sending a one time polled output request The receiver will output the response one final time and then terminate any further message outputs If the receiver is not tracking the satellite the SNR field ss will be nulled Further an entire group satellite ID field ii elevation field ee azimuth field aaa...

Page 101: ...aaa ss ii ee aaa ss ii ee aaa ss CC CR LF t number of messages 1 4 m message number 1 4 n total number of satellites in view For each visible satellite four groups per message ii satellite PRN number ee elevation degrees 0 90 aaa azimuth degrees True 0 359 ss SNR dB 0 99 CC checksum Response Message Input Command 101 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 102: ...ut the response one final time and then terminate any further message outputs The value of the periodic rate is retained through a power cycle only if battery backup power is applied If the receiver has just powered up and has yet to compute a position fix status field a is be invalid then the time hhmmss ss and date ddmmyy fields will be nulled If the receiver is not computing a position fix some...

Page 103: ...d V invalid ddmm mmmm n latitude dd degrees 00 90 mm mmmm minutes 00 000 59 9999 n direction N North S South dddmm mmmm w longitude ddd degrees 00 180 mm mmmm minutes 00 000 59 9999 w direction E East W West z z speed over 0 0 ground knots y y track made good 0 0 359 9 reference to true North ddmmyy UTC date of position fix dd day 01 31 mm month 01 12 yy year 00 99 d d magnetic 0 0 180 0 variation...

Page 104: ... message once polled or to output this message at the indicated update rate continuously Once the receiver is set to continuous output the continuous flow can be stopped by sending a one time polled output request The receiver will output the response one final time and then terminate any further message outputs If the receiver is not computing a position fix all numeric fields a a c c e e g g wil...

Page 105: ...econds CC optional checksum To above command GPVTG a a b c c d e e f g g h CC CR LF a a track b units T degrees true c c track d units M degrees magnetic e e speed f units N knots g g speed h units K km hr CC checksum Response Message Input Command 105 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 106: ...this message once polled or to output this message at the indicated update rate continuously Once the receiver is set to continuous output the continuous flow can be stopped by sending a one time polled output request The receiver will output the response one final time and then terminate any further message outputs Currently there is no mechanism to set the local zone description in the NMEA I O ...

Page 107: ...ional checksum To above command GPZDA hhmmss ss dd mm yyyy xx yy CC CR LF hhmmss ss UTC time hh hours 0 23 mm minutes 0 59 ss ss seconds 0 59 99 dd day 1 31 mm month 1 12 yyyy year xx local zone hours 13 13 yy local zone minutes 0 59 CC checksum Input Command 107 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 ...

Page 108: ...vision 1 0 01 25 00 SWITCH TO BINARY This utility command switches the serial data format on the primary port from NMEA 0183 to Motorola binary The baud rate of the port is switched from 4800 to 9600 and input commands are recognized in Motorola binary format only ...

Page 109: ...ormat 0 Motorola binary CC optional checksum There is no response message to this input command NOTE The Motorola DOS controller software does not support NMEA messages 109 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 Response Message Input Command ...

Page 110: ...d Position As php 113 Altitude Hold Height Au ahp 113 UTC Time Correction Select Aw utc 113 1PPS Cable Delay Az ppsdelay 114 Position Lock Parameters AM lockp 114 Velocity Filter AN filter 114 RTCM Port Mode AO p2baud 115 Position Filter Enable AQ pfilter 115 Position Lock Enable AS locke 115 Visible Satellite Status Bb vis 116 Almanac Status Bd alm 116 Almanac Data Output Be almout 117 Ephemeris ...

Page 111: ...le ignore 3 5 17 ENTER Notes Issuing this command the first time ignores the selected satellites To undo the selection issue the same command again See Also None Binary Equivalent Am Select Datum Function This command allows you to select which datum the datum Oncore receiver uses in performing position and velocity calculations Syntax datum id id 49 50 Example datum 49 ENTER Notes The WGS 84 datu...

Page 112: ...define a reference ellipsoid See Also None Binary Equivalent Ap Ionospheric Tropospheric Function Switches the GPS ionospheric and or tropospheric correction Correction models on or off ion Syntax ion 0 1 2 3 0 both models disabled 1 ionospheric model only enabled 2 tropospheric model only enabled 3 both models enabled Example ion 0 ENTER Notes Default mode 1 Ionospheric model enabled Tropospheric...

Page 113: ...xample ahp 350 98 g ENTER Notes The height is specified in meters to a resolution of 0 01 m The altitude entered is referenced to the GPS height height above the reference ellipsoid being used See Also Position Control Gd Binary Equivalent Au Time Mode Function References the time sent as part of the Position Data Message to utc GPS or UTC time Syntax utc d e d disable GPS time e enable UTC Exampl...

Page 114: ...p I f d I Integer part of speed threshold 0 255m s f fractional part of speed threshold 0 99cm s d distance threshold 0 65535m Example lockp 50 25 300 ENTER Notes The position will be locked if the current speed and distance traveled are both less than their respective thresholds See Also None Binary Equivalent AM Velocity Filter Function Used to control the amount of velocity filtering filter Syn...

Page 115: ...See Also None Binary Equivalent AO Position Filter Enable Function Enables or disables the position filter pfilter Syntax pfilter 0 1 0 disabled 1 enabled Example pfilter 0 ENTER Notes None See Also None Binary Equivalent AQ Position Lock Enable Function Enables or disables the position lock feature locke Syntax locke 0 1 0 disabled 1 enabled Example locke 1 ENTER Notes None See Also None Binary E...

Page 116: ...ibility list See Also None Binary Equivalent Bb Almanac Status Function Requests the almanac status information corresponding to the alm currently used satellite almanac data Syntax alm 0 1 0 output status once polled 1 output status when RAM almanac changes continuous Example alm 1 ENTER Notes Press F3 to view the almanac status See Also None Binary Equivalent Bd Motorola GPS Products M12 Oncore ...

Page 117: ...nput the stored almanac data to a receiver Press F4 to view the Almanac data screen See Also Input Almanac Data Input Cb Record GPS Data record Binary Equivalent Be Ephemeris Data Input Function Used to input ephemeris data one satellite at a time The entire ephin ephemeris data set is input by using the run command Syntax ephin svid byte1 byte2 byte73 Example ephin 3 ENTER Notes Use the run comma...

Page 118: ...hanges Example utcoff 1 ENTER Notes If the response to this message is zero the UTC information is not present in the receiver See Also None Binary Equivalent Bo UTC Ionospheric Data Function Requests UTC and ionospheric information from the navigation utcion message subframe 4 page 18 Syntax utcion 0 1 0 output response once polled 1 output response when either UTC or ionospheric data changes Exa...

Page 119: ...utput Be Record GPS Data record Binary Equivalent Cb Set To Defaults Function Sets all the Oncore receiver parameters to the factory default default values Syntax default Example default ENTER Notes IMPORTANT Upon executing this command the current almanac loaded in RAM is automatically deleted Before using this command make sure you have made backup copies on a separate diskette of your own alman...

Page 120: ... ioformat 1 1 NMEA Example ioformat 1 ENTER Notes None See Also None Binary Equivalent Ci Receiver ID Function Commands the Oncore receiver to output an ID message which id contains receiver copyright version and revision information Syntax id Example id ENTER Notes To view the ID message turn off or slow down all periodic messages See Also None Binary Equivalent Cj COMMAND DESCRIPTIONS ...

Page 121: ...of this format with the as8 extension by entering record as8 Press Shift F5 to view the output from this message See Also None Binary Equivalent Eq Combined Position Function Sets the initial latitude longitude and height coordinates of the compo 12 Channel Oncore receiver Syntax compo lat lon hgt g lat dd mm ss sss lon ddd mm ss sss hgt hhhhh hh g GPS height Example compo 33 24 49 417 111 58 34 8...

Page 122: ...If the receiver has acquired at least one satellite the receiver ignores the changed time and date and responds with the current time and date The receiver output time is either GMT or local time depending on the setting of the GMT offset parameter See Also None Binary Equivalent Gb 1PPS Control Function Controls how the 1PPS output in the receiver will behave ppscon Syntax ppscon 0 1 2 0 1PPS dis...

Page 123: ... only output message If a correction is pending the direction of the correction is indicated See Also None Binary Equivalent Gj ID Tag Function Sets or defaults the ID tag vin Syntax vin ID tag will be receiver serial number 6 spaces No change Any other combination of 6 ASCII characters from 0x20 to 0x7e0will be construed as a new ID tag Any out of range character will cause the ID tag to remain u...

Page 124: ...ing the filter select a always unfiltered position output at indicated rate 0 polled once Example ps12 1 f ENTER Notes None See Also None Binary Equivalent Ha Short Position Message Function Outputs a shortened position message psd Syntax psd rate rate Output rate 0 polled once 1 255 output at indicated rate Example psd 1 ENTER Notes None See Also None Binary Equivalent Hb 124 Motorola GPS Product...

Page 125: ... on the DOS controller screen View this message by requesting olt after opening an olt file with record olt See Also None Binary Equivalent Hq Self Test Message Function Causes the receiver to perform a self test selftest12 Syntax seltest12 Example selftest12 ENTER Notes None See Also None Binary Equivalent Ia 125 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 COMMA...

Page 126: ... A dos 128 Exit to DOS N A quit 128 Record GPS Data N A record 128 126 Motorola GPS Products M12 Oncore User s Guide Supplement Revision 1 0 01 25 00 11 2 Controller Command Descriptions Motorola Controller Commands may be used to configure the controller software while using the command line interface Controller Commands have no Motorola Binary equivalent ...

Page 127: ...he contents of the specified file instead of accepting input from the keyboard Syntax run filename Example run testfile dta ENTER Set Reference Point Function Enters a reference point or a waypoint to be used to refpt calculate north east and vertical offsets between the receiver calculated position and this known reference position Syntax refpt lat lon hgt g Example refpt 33 27 54 207 111 54 08 4...

Page 128: ...NTER record bin c Notes The file is opened by using the record command and files type The file is closed by repeating the record command and file type followed by a c or by invoking the quit command which closes all open files All data stored in the files is stored in either comma separated variable CSV format Motorola binary format or ASCII text depending on the file type The bin option stores al...

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