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$GPVTG

This message transfers Velocity, course over ground, and ground speed. The $GPVTG message

format is shown below.

Field

Format

Min chars

Max chars

Notes

Message ID

$GPVTG

6

6

VTG protocol header.

Course (true)

Float

1.1

3.2

Measured heading in degrees.

Reference

Char

1

1

T = true heading.

Course (magnetic)

Float

1.1

3.2

Measured heading (blank).

Reference

Char

1

1

M = magnetic heading.

Speed

Float

1.1

4.2

Speed in knots.

Units

Char

1

1

N = knots.

Speed

Float

1.1

4.2

Speed

units

Char

1

1

K = Km/h.

Mode

Char

1

1

A Autonomous

Checksum

*xx

(0) 3

3

2 digits.

Message terminator

<CR> <LF>

2

2

ASCII 13, ASCII 10.

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Summary of Contents for GM-Q772

Page 1: ...Ultra Low Power High Sensitivity GPS Smart Receiver User s Guide ...

Page 2: ...tellite signals in 1 second average and updates position data every second 1 2 Features The GPS smart receiver provides a host of features that make it easy for integration and use 1 Ultra low power design 2 High performance receiver tracks up to 16 satellites 3 Compact design ideal for applications with minimal space 4 A rechargeable battery sustains internal clock and memory It is recharged duri...

Page 3: ...ntenna in a unique style waterproof gadget Simply connect PS 2 female connector to one of the optional accessories and link to either your notebook PC PDA or other devices The one piece cigarette adapter allows you to connect smart receiver to your PDAs Optional connectors are listed and described below Connector Standard cable 2 meters with female PS 2 connector ...

Page 4: ... PS 2 Din Jack Accessories Mini Din Female and PS 2 male connector Cable Length To GPS 6010 1 meter RS 232 to PS 2 45 cm Mini Din Female connector function definition Pin Signal 1 Tx RS 232 2 5VDC 3 Tx TTL 4 GND 5 Rx TTL 6 Rx RS 232 Pin Signal 1 N C 2 TX 3 RX 4 N C 5 GND 6 N C 7 N C 8 N C 9 N C ...

Page 5: ... composite connector function definition to PC USB connector The function definition of the A Type USB connector is as follows Pin Signal 1 5VDC 2 N C 3 N C 4 GND 5 N C 6 N C Pin Signal 1 5VDC 2 D 3 D 4 GND ...

Page 6: ... menu select Settings then enter Control Panel 2 After entering Control Panel select System 3 Select Device Manager 4 Find the Connect Port and check the Virtual COM Port which was created by the USB driver Please note that the Virtual COM Port number might be different from every computer Before using navigating software please confirm the COM Port numbers created by your computer and provided by...

Page 7: ...ions NMEA Message Prefix Format Direction PNMRX100 Set serial port parameters In PNMRX101 Navigation initialization In PNMRX103 NMEA message rate control In PNMRX104 LLA navigation initialization In PNMRX106 Set Datum In PNMRX107 NemeriX messages rate control In PNMRX108 NMEA message sequence control In PNMRX110 Fix Settings In PNMRX111 Software Reset In PNMRX112 Operating Mode Control In PNMRX113...

Page 8: ...rtain fields may be omitted if they are not used in which case the field position is reserved using commas to ensure correct interpretation of subsequent fields The tables below indicate the maximum and minimum widths of the fields to allow for buffer size allocation GPGGA This message transfers global positioning system fix data The GPGGA message structure is shown below Field Format Min chars Ma...

Page 9: ...sition Latitude Longitude and time The GPGLL message structure is shown below Field Format Min chars Max chars Notes Message ID GPGLL 6 6 GLL protocol header Latitude Float 1 2 1 3 2 4 Degree 100 minutes N S Indicator Char 1 1 N north or S south Longitude Float 1 2 1 3 2 4 Degree 100 minutes E W indicator Character 1 1 E east or W west UTC Time hhmmss sss 1 2 2 1 2 2 2 3 Fix time to 1ms accuracy S...

Page 10: ... 1 1 M Manual forced to operate in selected mode A Automatic switching between modes Mode Int 1 1 1 Fix not available 2 2D position fix 3 3D position fix Satellites Used Int 2 2 SV on channel 1 Satellites Used Int 2 2 SV on channel 2 Satellites Used Int 2 2 SV on channel 12 PDOP Float 1 1 3 1 HDOP Float 1 1 3 1 VDOP Float 1 1 3 1 Checksum xx 0 3 2 digits Message terminator CR LF 2 2 ASCII 13 ASCII...

Page 11: ...n Int 1 3 Elevation of satellite in degrees Azimuth Int 1 3 Azimuth of satellite in degrees SNR Int 0 1 2 Signal to noise ration in dBHz null if the sv is not in tracking Satellite Id Int 2 2 Satellite vehicle 2 Elevation Int 1 3 Elevation of satellite in degrees Azimuth Int 1 3 Azimuth of satellite in degrees SNR Int 0 1 2 Signal to noise ration in dBHz null if the sv is not in tracking Satellite...

Page 12: ...ude Float 1 2 1 3 2 4 Degrees 100 minutes N S Indicator Char 1 1 N north or S south Longitude Float 1 2 1 3 2 4 Degrees 100 minutes E W indicator Char 1 1 E east or W west Speed over ground Float 1 1 5 3 Speed over ground in knots Course over ground Float 1 1 3 2 Course over ground in degrees Date ddmmyy 2 2 2 2 2 2 Current date Magnetic variation Blank 0 0 Not used E W indicator Blank 0 0 Not use...

Page 13: ...header Course true Float 1 1 3 2 Measured heading in degrees Reference Char 1 1 T true heading Course magnetic Float 1 1 3 2 Measured heading blank Reference Char 1 1 M magnetic heading Speed Float 1 1 4 2 Speed in knots Units Char 1 1 N knots Speed Float 1 1 4 2 Speed units Char 1 1 K Km h Mode Char 1 1 A Autonomous Checksum xx 0 3 3 2 digits Message terminator CR LF 2 2 ASCII 13 ASCII 10 ...

Page 14: ...me zone 13 to 13 Local zone minutes Unsigned 2 2 Checksum xx 0 3 3 2 digits Message terminator CR LF 2 2 ASCII 13 ASCII 10 Extensions Specification For all PNMRX messages it is possible to configure an alternative string to replace the NMRX part the node always responds to the PNMRX strings and can be configured to generate and respond to the alternative string PNMRX100 Set serial port mode This m...

Page 15: ...bias stored in the settings not the actual clock bias used by the system A cold start is necessary in order to use this value Time of week Int 1 6 Offset from start of week in seconds Week number Int 1 4 GPS week number Channel count Int 1 2 Maximum number of TM to be used Min 12 max 16 Checksum xx 0 3 3 2 digits Message terminator CR LF 2 2 ASCII 13 ASCII 10 If used all three X Y and Z components...

Page 16: ...essages This message is supported also in a variable length format where only the necessary fields are used Field Format Min chars Max chars Notes Message ID PNMRX103 8 8 PNMRX103 protocol header Mask ID Int 3 3 Mask identifier possibilities are GGA GLL GSA GSV RMC VTG ZDA ALL applies to all messages Mask value Int 1 1 Output rate in seconds 0 paused Mask ID Int 2 2 Mask identifier Checksum xx 0 3...

Page 17: ...1 E east or W west under dev Altitude Int 1 6 Altitude above MSL in meters Clock offset Int 0 1 6 Clock offset of GPS receiver This changes the clock bias stored in the settings not the actual clock bias used by the system A cold start is necessary in order to use this value Time of week Int 1 6 Offset from start of week in seconds under dev Week number Int 1 4 GPS week number Channel count Int 1 ...

Page 18: ...Unsigned 1 1 If 1 apply EGM96 geoid correction warning should be applied only when Map Datum is equal to 216 If 0 there is no EGM96 geoid correction Reference number of the appropriate map datum to apply Map Datum Int 0 1 3 0 218 Map datum from internal table 500 User defined Datum Dx Int 0 1 5 X offset in meters 9999 to 9999 Dy Int 0 1 5 Y offset in meters 9999 to 9999 Dz Int 0 1 5 Z offset in me...

Page 19: ...ssage is supported also in a variable length format where only the necessary fields are used Field Format Min chars Max chars Notes Message ID PNMRX107 8 8 PNMRX107 protocol header Determines which message is being configured Message code Char 3 3 300 PNMRX300 Almanac Data 301 PNMRX301 Ephemeris Data 302 PNMRX302 lonospheric corrections 303 PNMRX303 UTC Time 304 PNMRX304 GPS constellation health A...

Page 20: ... the PNMRX103 message This message is supported also in a variable length format where only the necessary fields are used Field Format Min chars Max chars Notes Message ID PNMRX108 6 8 PNMRX108 protocol header Mask ID Int 3 3 Mask identifier possibilities are GGA GLL GSA GSV RMC VTG ZDA Mask ID Int 3 3 Mask Identifier Checksum xx 0 3 3 2 digits Message terminator CR LF 2 2 ASCII 13 ASCII 10 Exampl...

Page 21: ...ceding field see below Mask ID Int 2 2 Mask identifier Value Variant 1 8 New value for mask dependent on the preceding field Checksum xx 0 3 3 2 digits Message terminator CR LF 2 2 ASCII 13 ASCII 10 PNMRX110 Mask Field interpretation Mask Id mask format width units 0 Local Time Zone Int unsigned 2 2 Hours Miuntes 1 Maximum PDOP1 Unsigned 4 x10 0 100 2 Maximum HDOP Unsigned 4 x10 0 100 3 Maximum VD...

Page 22: ...rameter Integer OR String 1 7 If integer the bit field have the following meaning the action described is executed if the bit is 1 Field Action 0 Reload settings from Flash 1 Clear almanac data and don t load if from flash 2 Clear Ephemeris data 3 Clear lonospheric and tropospheric corrections 4 Invalidate stored position 5 Invalidate stored time 6 Copy oscillator offset from Settings 7 Sticky bit...

Page 23: ...me between 2 fixes PNMRX113 GPS Core Activity Control This message is used to disable GPS Core activities data extraction and fix generation on the node The goal of this message is to disable these two functions when they need to be overwritten by external values for test purpose A reset message must be set after the PNMRX113 in order to resume operation For instance if a different almanac needs t...

Page 24: ...caling factors are included in the table There is 1 message for each satellite for which data is available When transmitted these messages are generated in ascending order of SV Id when being sent to the node these can be sent in any order each message is individually interpreted and processed Field Format width scale Notes Message ID PNMRX300 8 PNMRX300 protocol header SV Id Int 2 Decimal Satelli...

Page 25: ...cts the contents of the appropriate subframes 1 2 3 transmitted from the SV s When transmitted these messages are generated in ascending order of SV Id and sequence number when being sent to the node these can be sent in any order provided that the 3 messages for any individual satellite are grouped together each message is individually interpreted and after a group of 3 valid messages for an SV t...

Page 26: ... iodc Crs Hex 4 2 5 Meters 16 bit signed integer Motion difference Hex 4 2 43 Semi circles sec 16 bit signed integer Mean anomaly Hex 8 2 31 Semi circles 32 bit signed integer Cuc Hex 4 2 29 Radians 16 bit signed integer E Hex 8 2 33 32 bit signed integer Cuc Hex 4 2 29 Radians 16 bit signed integer Root A Hex 8 2 19 Meters 1 4 32 bit signed integer Toe Hex 4 24 seconds 16 bit unsigned integer Che...

Page 27: ... zero Hex 8 2 31 Semi circles 32 bit signed integer Cis Hex 4 2 29 radians 16 bit signed integer I Zero Hex 4 2 31 Semi circles 32 bit signed integer Crc Hex 4 2 5 Meters 16 bit signed integer Perigree Hex 8 2 31 Semi circles 32 bit signed integer Omega dot Hex 6 2 43 Semi circles sec 24 bit signed integer Iode Hex 2 Lower 8 bits of matching iodc I dot Hex 4 2 43 Semi circles sec 14 bit signed int...

Page 28: ...RX303 8 PNMRX301 protocol header Satellite Vehicle Id Int 8 Decimal satellite vehicle id from 1 to 32 Data A0 Hex 2 Constant term of the polynomial Data A1 Hex 2 First order term of the polynomial Delta t LS Hex 2 Delta time due to leap seconds Tot Hex 2 Reference time for UTC WNt Hex 2 UTC reference week number WNlsf Hex 2 Week number at which the leap second becomes effective DN Hex 2 Day number...

Page 29: ... By sending the PNMRX601 00 string to the receiver the receiver enters ISP mode PNMRX603 Settings report By sending the PNMRX603 00 string to the receiver the current value of the settings is output The content of settings is split in 4 messages PNMRX603 message 0 Field Format Min chars Max chars Notes Message ID PNMRX603 8 8 PNMRX603 protocol header Message Nb Int 1 1 0 Message Sequence 7 times 7...

Page 30: ...coefficient Ionospheric Data B0 Hex 2 2 Ionospheric correction ß0 coefficient Ionospheric Data B1 Hex 2 2 Ionospheric correction ß1 coefficient Ionospheric Data B2 Hex 2 2 Ionospheric correction ß2 coefficient Ionospheric Data B3 Hex 2 2 Ionospheric correction ß3 coefficient Ionospheric Data Valid Hex 1 1 Ionospheric Data Valid If 0 the data are invalid Num Blocks Hex 1 1 Number of 20 year blocks ...

Page 31: ...Int 2 2 Max Sv for fix Int 2 2 Checksum xx 0 3 3 2 digits Message terminator CR LF 2 2 ASCII 13 ASCII 10 PNMRX603 message 3 Field Format Min chars Max chars Notes Message ID PNMRX603 8 8 PNMRX603 protocol header Message Nb Int 1 1 3 Acq threshold 1 Int 3 8 Acq threshold 2 Int 3 8 Noise floor Int 3 8 Kalman Mode Hex 1 1 Default altitude Int 1 8 Checksum xx 0 3 3 2 digits Message terminator CR LF 2 ...

Page 32: ...rence number of the appropriate map datum to apply Dx Int 1 8 x offset in meters Dy Int 1 8 y offset in meters Dz Int 1 8 z offset in meters Inverse flatness Int 1 8 Inverse flatness of reference geode Major axis Int 1 8 Semi major axis of reference geode Checksum xx 0 3 3 2 digits Message terminator CR LF 2 2 ASCII 13 ASCII 10 Examples PNMRX603 xx Display the content of the Settings stored in NVR...

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