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Tri-M Systems FV-25, User Manual

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Tri-M Systems FV-25 User Manual Download Page 120

 

120

NAV – VELNED (0x01 0x12) 

It periodically polls velocity solution in the NED frame. 

 

Header ID 

Data 

Length 

Data 

Checksum 

0xB5 0x62 

0x01 0x12 

36 

See below 

CK_A CK_B 

 

Data 

Offset bytes 

Format   

Descriptions 

Notes 

0 

U4 

GPS time of week (ms) 

 

4 

I4 

North velocity (cm/s) 

In the NED frame 

8 

I4 

East velocity (cm/s)   

In the NED frame 

12 

I4 

Down velocity (cm/s) 

In the NED frame 

16 U4 

Speed 

(cm/s) 

3D 

20 

U4 

Ground speed (cm/s) 

2D 

24 I4 

Heading 

(degrees) 2D 

Scaling: 1E-05   

28 

U4 

Speed accuracy (cm/s) 

 

32 U4 

Course/Heading 

accuracy 

(degrees( 

Scaling: 1E-05 

 

Summary of Contents for FV-25

Page 1: ...ri m com FV 25 USER S GUIDE This document features the specification of FV 25 and describes the details on using the evaluation kit to evaluate the performance of FV 25 and select the desired functions It intends to help users to obtain the maximum performance from FV 25 in users integrating GPS systems Version 1 0 Date January 2005 ...

Page 2: ...S Satellite Information 2 2 7 Receiver Information 2 2 8 Tracking View 2 2 9 User Setting 2 2 9 1 Position 2 2 9 2 Time and day 2 2 9 3 Local time zone 2 2 9 4 Restart 2 2 9 5 DGPS 2 2 9 6 Interval 2 2 9 7 Geodetic ID Chapter 3 Alternative Start 3 1 Connection Settings 3 2 Saving the Data 3 3 Setting Configuration or Polling Information from Module Chapter 4 Navigation 4 1 Operating Modes 4 1 1 Co...

Page 3: ...lse 1 PPS Chapter 5 Evaluation Kit Chapter 6 Antennas 6 1 Passive Antennas 6 2 Active Antennas 6 3 Active Antenna Supervisor Short Circuit Protection Chapter 7 Available NMEA and UBX Messages 7 1 NMEA Protocol 7 1 1 Standard NMEA Messages 7 1 2 Proprietary NMEA Messages 7 2 UBX Binary Protocol 7 2 1 Data Format 7 2 2 Classification of UBX Messages 7 2 3 Responses to the Users Inputs 7 2 4 UBX Mess...

Page 4: ...Show all MS window Figure 2 10 Available NMEA messages Figure 2 11 GPS satellite information Figure 2 12 Receiver Information Figure 2 13 Tracking View Figure 2 14 Initial position Figure 2 15 Initial UTC time and day Figure 2 16 Local time zone Figure 2 17 Restart Figure 2 18 DGPS Figure 2 19 Setting of coordinate datum Figure 3 1 HyperTerminal application Figure 3 2 Connection settings Figure 3 ...

Page 5: ...cification of FV 25 Table 2 1 Description of pin definition for FV 25 Table 4 1 Conditions for Start Up modes Table 4 2 Available sensitivity modes Table 7 1 The types of data Table 7 2 UBX message classes Table 8 1 Troubleshooting ...

Page 6: ...mple reference layout of peripheral connections around the module The utility Sanav_Demo exe is used to display satellite and receiver information and set configuration for FV 25 All the information about Sanav_Demo exe is introduced step by step Chapter 3 Alternative Start This chapter suggests an alternative utility HyperTerminal for users to show satellite and receiver information in terms of N...

Page 7: ...g section first If further helps are needed please feel free and go to our information service on the homepage www sanav com We are glad to answer and resolve your questions and problems Technical Support Address 9F No 105 Shi Cheng Road Pan Chiao City Taipei Hsien Taiwan R O C Phone 886 2 2687 9500 Fax 886 2 2687 8893 E mail Address sanav sanav com When you send a request to us please prepare the...

Page 8: ...anges and carrier phases can be output in the format of UBX binary message FV 25 mainly consists of ATR0600 RF front end IC ATR0610 LNA IC and ATR0620 Baseband IC 2 as well as 8 Mbit flash memory Since the low noise amplifier LNA ATR0610 is built in the RF section the passive and active antennas are the available options for the module The Baseband IC ATR0620 mainly includes a CPU ARM7 SRAM ROM Ba...

Page 9: ...matically assembled and proceeded in a standard pick and place equipment and reflow soldering in high volume Therefore the cost of module can be reduced 1 1 Supports For FV 25 we will provide a evaluation kit as an optional The evaluation kit helps the users to perform the estimation of the module which includes the start up times reacquisition time setting of NMEA sentences baud rate setting etc ...

Page 10: ...g Update Rate up to 4 Hz Timing Accuracy 50 ns RMS Sensitivity Acquisition 140 dBm Tracking 149 dBm Power Input Voltage 5 0 12 0 V DC Backup Voltage 1 95 3 3V DC Power Consumption Acquisition 101 mA 3 V Tracking 84 mA 3 V Sleep mode 20 mA 3 V I O Protocols NMEA UBX binary RTCM Serial Ports Two RS232s 3 3 V 1 PPS 1 8 V Raw Measurements Pseudorange and Carrier Phase Environment Operating Temperature...

Page 11: ...ype External Active or Passive Antenna Input Voltage VANT 1 8 V 8 V DC Input Power limit Active 17 dBm Gain Active up to 25 dB Supervision Build in short circuit detection External open circuit detection Note For using the passive antenna Pin VANT has to be connected to GND Table 1 1 Specification of FV 25 ...

Page 12: ...iver s and satellites data for the users The default setting for comm 1 either Pins 5 and 10 or Pins l and m is to input output the information in the ASCII format which is NMEA with the default baud rate 4800 bps and the default setting for comm 2 either Pins 4 and 9 or Pins j and k is to input output the information in the binary format which is UBX proprietary messages with the default baud rat...

Page 13: ...Serial port 1 leave open if not used m TX1 O Serial port 1 leave open if not used n Reserve I Boot mode in normal operation leave open if not used Table 2 1 Description of pin definition for FV 25 Note Only either VIN 1 or VIN 2 can be used for voltage input while VIN 2 is the pin for DC 3 3V and VIN 1 is for DC 5 12V Pin No Title I O Note 1 VANT I Antenna bias voltage input DC 1 8 8 0V connect to...

Page 14: ...ng value of baud rate as shown in Figure 2 3 To open or close the Setting window click the selection File Port or the short cut button Figure 2 3 Setting of comm port number and the value of baud rate For selecting the comm port number pull the scroll down window for the Comm port item and there are twenty four comm port number available i e com1 com24 as shown in Figure 2 4 Users can scroll down ...

Page 15: ...baud rate is from 2400 bps to 115200 bps as shown in Figure 2 5 The users select the right one that will communicate the module with the host PC Figure 2 5 Setting of the value of baud rate 2 2 2 Comm Port Connection and Disconnection After the setting is completed click the Connect button to make the connection between the GPS receiver module and host PC If the setting is correct the ...

Page 16: ...nect button in the Setting window as Sanav_Demo is in the connected mode Otherwise if users send a new setting to the module during the connected mode there will be no response for the request Figure 2 6 Window after correct setting 2 2 3 Constellation Map There are two ways to show the constellation of GPS satellites as shown in Figure 2 7 Click the selection Windows Map View or the short cut but...

Page 17: ...ssages There are two ways to show the Message View window Click the item Windows Terminal View or the shortcut button The default window for Message View is only showing the output NMEA messages at current epoch one epoch like the one shown in Figure 2 6 Figure 2 8 Window for showing NMEA messages Clicking the Show all MS button the NMEA messages will be displayed ...

Page 18: ...r defined file Figure 2 9 Show all MS window 2 2 5 Available NMEA Messages The output of NMEA messages can be selected through Interval under the User Setting window as shown in Figure 2 10 There are two ways to show this sub window Windows User Setting or the shortcut button The available NMEA messages for FV 25 are GGA GLL GRS GSA GSV GST RMC TXT VTG and ZDA The default output NMEA messages incl...

Page 19: ...2 11 shows the observable GPS satellite information which includes SV PRN numbers the corresponding values for elevation azimuth and SNR and indication for utilization of satellite information in the calculation of the receiver s position For a satellite not used in the calculation of the receiver s position the satellite will be marked by x in the corresponding row of Used in Position and gray co...

Page 20: ...de meter SVs Used All number of satellites used for position calculation number of the observable satellites Mode 2D or 3D position PDOP Position Dilution Of Precision geometry among the receiver and GPS satellites Speed module s speed knot True Course module s moving direction with respect to North clockwise degree Datum type of coordinate frame default WGS 84 GPS Quality SPS or PPS mode position...

Page 21: ...ill not be displayed in the corresponding sub windows 2 2 8 Tracking View Clicking Windows Tracking View the global position differences relative to the first position fix will be depicted as shown in Figure 2 13 The corresponding unit is meter or kilometer which is indicated in the upper right corner of the sub window In Figure 2 13 there are two available functions that change the scale of the c...

Page 22: ...g the tags 2 2 9 1 Position This function sets the initial latitude and longitude as shown in Figure 2 14 For the initial values of latitude and longitude users can select the degree first column from left and the integral part of minute second column from the scroll down windows and input the fractional part of minute 0 9999 in the last third column Figure 2 14 Initial position ...

Page 23: ...re 2 15 Initial UTC time and day The initial UTC time and date will be updated as GPS satellites are acquired 2 2 9 3 Local time zone This function sets the time difference between the local and Greenwich UTC reference as shown in Figure 2 16 The first column from left is local zone hour ranged from 13 to 13 i e East West of Greenwich and its corresponding format is hh i e the left digit might be ...

Page 24: ...up mode such as cold start warm start and hot start for the module as shown in Figure 2 17 Figure 2 17 Restart NOTE For implementing the hot and warm starts the module need a backed up battery to run RTC and support BBR which is used to save updated position ephemeris and almanac data ...

Page 25: ...NOS or only GPS function without aids as shown in Figure 2 18 Figure 2 18 DGPS 2 2 9 6 Interval Referred to Section 2 2 5 2 2 9 7 Geodetic ID This function sets coordinate datum that users prefer as shown in Figure 2 19 A list of datum ID is summarized in the Appendix A Figure 2 19 Setting of coordinate datum ...

Page 26: ...nting the communication users have to set the comm port number port setting i e baud rate data bits parity stop bits and flow control and so on The connection communication setting can be done by clicking File Properties or the first shortcut button from right The resulting window is shown in Figure 3 2 But before a user sets any connection settings HyperTerminal has to be in the mode of disconnec...

Page 27: ...shortcut button from right If the setting is correct the HyperTerminal window will show desired output NMEA messages as shown in Figure 3 3 and if not the window will show random characters or nothing at all Figure 3 3 Correct connection settings 3 2 Saving the Data For saving the output data click Transfer Capture Text The subsequent window ...

Page 28: ...ation from Module For setting or polling the desired information click Transfer Send Text File button to send a txt file which contains command sentences to activate the module The file is created by users before click the button and the formats for the command sentences are referred to Chapter 7 ...

Page 29: ...nto Sleep State This mode is especially important for power concerned products such as handheld devices During this mode the navigation data is computed as required or at the predefined intervals This navigation data can be done by using the UBX RXM POSREQ or Pin 6 Extint 0 to wake up the module and then calculate a Position Velocity Time PVT solution during the off time of FixNOW Mode The other w...

Page 30: ... are acquired time and almanac data are updated if needed and the corresponding ephemeredes are downloaded and decoded As soon as the module are tracking at least three GPS satellites the position is calculated and updated and the module is in the navigation mode For the hot start mode based on the available time position almanac and ephemeris data the channels up to 12 are assigned with observabl...

Page 31: ...nsitivity 3 dB When the C N0 ratio of the strongest GPS signal is less than 45 dB this mode can be used Table 4 2 Available sensitivity modes When the module tracks the weak GPS signals the High Sensitivity mode is preferable as compared with the case for tracking strong GPS signals in which the Fast Acquisition is preferable Different modes correspond to different TTFF times under different start...

Page 32: ...hapter 7 4 5 2 Datums The position expressed in WGS 84 format default can be transferred to the user s preferable format based on more than 200 standard datums referred to Appendix A or a user defined datum which is activated by sending the UBX CFG DAT message 4 5 3 Update Rate The module supports the update rates up to 4 Hz This function is activated by sending the UBX CFG RATE message The defaul...

Page 33: ...oaded completely Therefore the TTFF times are much faster for Almanac Navigation than normal navigation using ephemeredes to estimate position However the deviation of position can be up to a few kilometers However this event might be particularly useful when users or carriers need position desperately such as emergency and security systems but ephemeris position is not available The activation of...

Page 34: ...s and ensure the message data from satellites which are valid for estimating navigation solution With five observable GPS satellites a bad satellite could be detected if existed For the case with at least six observable satellites an existed bad satellite could be detected and neglected in the estimation of navigation solution The default setting for RAIM is on and can be controlled by three param...

Page 35: ...ll of those functions can be achieved by using software commands The settings and commands are described in Chapters 2 and 7 As shown in Figure 5 1 the appearance of the evaluation kit is depicted The whole kit should include in addition to the main box itself a 12 V adapter an active antenna with SMA male connector two RS232 cables Figure 5 1 Main box of the evaluation kit Figure 5 2 shows the fr...

Page 36: ...tput and Power Input The Antenna Input is a SMA female connecter which is for 3 0 V or 5 0 V active antenna depending on the jump position J16 The Comm Port 1 outputs NMEA messages at the baud rate of 19200 bps as the default setting The 1PPS Output which is a BNC female output port is used to output a time pulse per second For the Power Input of the kit it accepts the input voltage in the range o...

Page 37: ...37 Both Comm ports are the bi directional ports i e the ports also accepts user software commands For receiving RTCM message either port can be used to accept the data through software command ...

Page 38: ...es appeared there is no way to avoid this problem low SNR even with the aid of an amplifier after the antenna Therefore for retrieving the most information a large size antennas are preferable and even for special applications e g surveying a special mechanism structure design is desirable such as choke ring antenna which is used for mitigating multipath effect As a result an antenna with large si...

Page 39: ...PS signals Therefore the placement of the active antenna can be away from the possible noise sources for example the module and peripheral circuits and the active antenna will have good performance if it is located far from the noise sources This will ease the circuit design and the received signals is less sensitive to jamming But the active antenna will increase the power consumption of the whol...

Page 40: ...voltage supply at pin VANT from the external or internal power supply will be turned off by the BaseBand processor The way to reset the operation of the module is to have a hardware reset of the module such as turning off and then on the module or pressing the reset button NOTE Without the short circuit protection the large current will cause the damage on the module permanently ...

Page 41: ...und and Ground Speed ZDA Time Date The default output messages include all messages except the TXT message Those messages are output at comm port 1 at the rate of 19200 bps default setting The request for outputting user selected standard NMEA messages is the xxGPQ message referred to the following interpretation for GPQ The port settings can be performed by sending the PUBX 41 message ASCII forma...

Page 42: ...42 the PDOP Accuracy Mask ...

Page 43: ...dmm mmmmm dd degree mm mmmmm minute 0o 180o gga5 Longitude sector E East W West gga6 GPS quality indicator 0 No fixed or invalid position 1 SPS Position available 2 Differential GPS SPS 6 Estimated position DR gga7 Number of SVs used in position estimation xx 00 12 gga8 HDOP xx x 00 0 99 9 gga9 Altitude above mean sea level geoid gga10 Unit for Altitude M meter gga11 Geoidal separation gga12 Unit ...

Page 44: ... gll2 Latitude sector N North S South gll3 Longitude dddmm mmmmm ddd degree mm mmmmm minute 0o 180o gll4 Longitude sector E East W West gll5 UTC time as position is fixed hhmmss ss hh hour mm minute ss ss second gll6 Status for position fix A Valid V Invalid gll7 Navigation mode indicator A Autonomous mode fix D Differential mode fix E DR fix N not valid hh Checksum hex number 2 character CR LF En...

Page 45: ...ls while the GGA position is estimated 1 recalculate the range residuals after the GGA position is estimated Always in Mode 1 grs3 12 Range residuals for satellites used in position calculation There will be 12 available fields for residuals If number of satellites is less than 12 the remaining fields will be left as empty fields If number of satellites is greater than 12 only the values of the fi...

Page 46: ...n fix 1 fix not available 2 2D 3 3D gsa3 12 PRN numbers for satellites used in the position solution There will be 12 available fields for PRN numbers If number of satellites is less than 12 the remaining fields will be left as empty fields If number of satellites is greater than 12 only the values of the first 12 satellites will be output xx gsa4 PDOP 0 99 9 gsa5 HDOP 0 99 9 gsa6 VDOP 0 99 9 hh C...

Page 47: ...n of the range gst3 Standard deviation of semi major axis of error ellipse meters Not supported empty field gst4 Standard deviation of semi minor axis of error ellipse meters Not supported empty field gst5 Orientation of semi major axis of error ellipse Not supported empty field gst6 Standard deviation of latitude error meters gst7 Standard deviation of longitude error meters gst8 Standard deviati...

Page 48: ...2 Message number 1 9 gsv3 Total number of satellites in view gsv4 PRN number gsv5 Elevation degrees 90o maximum gsv6 Azimuth degrees 0o 360o gsv7 SNR C N0 0 99 dB Hz null when not tracking hh Checksum hex number 2 character CR LF End of message The message can carry at most four gsv4 gsv5 gsv6 gsv7 sets of observable satellites For a less than four set case the message only transmits available set...

Page 49: ...eiver warning rmc3 Latitude ddmm mmmmm dd degree mm mmmmm minute 0o 90o rmc4 Latitude sector N North S South rmc5 Longitude dddmm mmmmm ddd degree mm mmmmm minute 0o 180o rmc6 Longitude sector dddmm mmmmm ddd degree mm mmmmm minute 0o 180o rmc7 Speed over ground SOG knots rmc8 Course over ground COG degrees Referenced to true north rmc9 UTC Date ddmmyy dd day mm month yy year rmc10 Magnetic variat...

Page 50: ...r message needs multi TXT messages GPTXT txt1 txt2 txt3 txt4 hh CR LF Parameters Descriptions Notes txt1 Total number of messages 01 99 txt2 Message number 01 99 txt3 Text identifier 00 error 01 warning 02 notice 07 user txt4 Text ASCII format hh Checksum hex number 2 character CR LF End of message ...

Page 51: ...g2 Indicator of course reference T true north vtg3 Course over ground degrees Referenced to magnetic north 000 00o 359 99o vtg4 Indicator of course reference M magnetic north vtg5 Speed over ground knots vtg6 Unit of speed N nautical miles per hour vtg7 Speed over ground km hr vtg8 Unit of speed K kilometers per hour vtg9 Navigation mode indicator A Autonomous mode fix D Differential mode fix E DR...

Page 52: ... hh CR LF Parameters Descriptions Notes zda1 UTC time hhmmss ss hh hour mm minute ss ss second zda2 UTC day 01 31 zda3 UTC month 01 12 zda4 UTC year xxxx 4 digits zda5 Local zone hours Not supported default 00 zda6 Local zone minutes Not supported default 00 hh Checksum hex number 2 character CR LF End of message ...

Page 53: ...es are grouped into two categories Proprietary NMEA PUBX PUBX 00 Latitude Longitude Position Data PUBX 01 UTM Position Data PUBX 03 Satellite Status PUBX 04 Time of Day and Clock Information PUBX 40 Set NMEA Message Update Rate PUBX 41 Set Protocols and Baudrate Queries GPQ Polls a Standard NMEA Message PUBX Polls a PUBX Message ...

Page 54: ...ree mm mmmmm minute 0o 180o p00x5 Longitude sector E East W West p00x6 Altitude above ellipsoid meters p00x7 Navigation mode NF not fix DR dead reckoning solution G2 2D G3 3D D2 differential 2D D3 differential 3D p00x8 Position accuracy in the horizontal direction meters 0 9999 p00x9 Position accuracy in the vertical direction meters 0 9999 p00x10 Speed over ground km hr 999 99 999 99 p00x11 Cours...

Page 55: ...55 the position calculation p00x18 Number of GLONASS satellites used in the position calculation Always 0 p00x19 Dead reckoning used 0 No 1 Yes hh Checksum hex number 2 character CR LF End of message ...

Page 56: ...Altitude above ellipsoid meters p01x7 Navigation mode NF not fix DR dead reckoning solution G2 2D G3 3D D2 differential 2D D3 differential 3D p01x8 Position accuracy in the horizontal direction meters 0 9999 p01x9 Position accuracy in the vertical direction meters 0 9999 p01x10 Speed over ground km hr 999 99 999 99 p01x11 Course over ground degrees 000 00 359 99 p01x12 Velocity in the vertical dir...

Page 57: ...57 used in the position calculation p01x19 Dead reckoning used 0 No 1 Yes hh Checksum hex number 2 character CR LF End of message ...

Page 58: ...not used U used e available for navigation but no ephemeris p03x4 Azimuth degrees 000 359 p03x5 Elevation degrees 00 90 p03x6 SNR dB Hz 00 55 p03x7 Carrier lock time seconds 0 255 0 code lock only 255 lock time at least 255 seconds hh Checksum hex number 2 character CR LF End of message The message will repeatedly output the format p03x2 p03x3 p03x4 p03x5 p03x6 p03x7 n times which is equal to the ...

Page 59: ... LF Parameters Descriptions Notes p04x1 UTC time hhmmss ss hh hour mm minute ss ss second p04x2 UTC date ddmmyy dd day mm month yy year p04x3 UTC time of week seconds p04x4 GPS week number p04x5 Reserved p04x6 Receiver clock bias nanoseconds p04x7 Receiver clock drift nanoseconds second p04x8 Time pulse granularity nanoseconds hh Checksum hex number 2 character CR LF End of message ...

Page 60: ...NMEA message xxGPQ gpq1 hh CR LF Parameters Descriptions Notes xxGPQ NMEA message header xx talker device identifier gpq1 NMEA message ids String format GGA GLL GRS GSA GST GSV RMC TXT VTG and ZDA hh Checksum hex number 2 character CR LF End of message ...

Page 61: ... a PUBX Message Input message Poll the proprietary PUBX messages PUBX p1 hh CR LF Parameters Descriptions Notes p1 Proprietary message ids xx 00 01 03 and 04 hh Checksum hex number 2 character CR LF End of message ...

Page 62: ...ions Notes p40x1 NMEA message ids String format GGA GLL GRS GSA GST GSV RMC TXT VTG and ZDA p40x2 Number of cycles USART 0 output rate 0 disabled 1 enabled p40x3 Number of cycles USART 1 output rate p40x4 Number of cycles USART 2 output rate p40x5 Reserved Always 0 hh Checksum hex number 2 character CR LF End of message ...

Page 63: ...col mask 0 UBX 1 NMEA 2 RAW 12 15 USER0 USER3 p41x1 Baudrate bps p41x1 Autobauding 0 disabled 1 enabled hh Checksum hex number 2 character CR LF End of message The Autobauding function will adjust the baud rate of the serial port automatically based on the detected conditions such as multiple break and framing error conditions NOTE If the comm port of your host PC experiences errors frequently ple...

Page 64: ...corresponding length i e the value of DATA LENGTH For those multi byte values the rule of little Endian is adopted for transmitting the values It is noticeable that the DATA LENGTH is the value to indicate the length that only contains the subsequent input output DATA and doesn t include the checksum bytes SYNC CHAR 1 SYNC CHAR 2 CLASS ID MESSAGE ID DATA LENGTH Little Endian DATA Little Endian CHE...

Page 65: ...t contains the desired data The two checksums have to be masked with 0xFF after the operations in the loop if large sized integer values are executed 7 2 1 Data Format Table 7 1 describes the types of data that are used in the module On the basis of IEEE754 single double precision the floating point values are defined Acronym Date Type Size bytes Range Resolution Note U1 Unsigned Char 1 0 255 1 I1...

Page 66: ...ver Manager 0x02 Receiver manager messages Pseudorange Channel status TIM Timing 0x0D Time pulse data 1 PPS UPD Update 0x09 Firmware update messages Table 7 2 UBX message classes 7 2 3 Responses to the Users Inputs Basically there are two kinds of module s responses for the users requests Acknowledgement and Polling Mechanism When users send the Class CFG messages to the module the module will rep...

Page 67: ...FG message ACK ACK 0x05 0x01 Message acknowledged Header ID Data Length Data Checksum 0xB5 0x62 0x05 0x01 2 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U1 Class ID for the desired acknowledged message 1 U1 Message ID for the desired acknowledged message ...

Page 68: ...ledged Header ID Data Length Data Checksum 0xB5 0x62 0x05 0x00 2 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U1 Class ID for the desired not acknowledged message 1 U1 Message ID for the desired not acknowledged message ...

Page 69: ...t to poll all GPS aiding data AID DATA The character of AID REQ is determined by CFG MSG If AID REQ is set as the output message and the internal stored data i e time position almanac and ephemeris don t allow the receiver to execute a hot start the receiver will request to poll all the aiding data after startup Header ID Data Length Data Checksum 0xB5 0x62 0x0B 0x00 0 None CK_A CK_B ...

Page 70: ...request to poll all the GPS initial aiding data This message will activate the sending of AID INI AID HUI AID EPH and AID ALM as it is received by the module Header ID Data Length Data Checksum 0xB5 0x62 0x0B 0x10 0 None CK_A CK_B ...

Page 71: ...ons Notes 0 I4 X coordinate in the ECEF frame cm 4 I4 Y coordinate in the ECEF frame cm 8 I4 Z coordinate in the ECEF frame cm 12 U4 Position accuracy cm Standard deviation 16 U2 Time mark configuration 0x01 enable time mark 0x02 falling edge Pin used for time mark 0x00 Extint 0 0x10 Extint 1 0x20 Extint 2 18 U2 GPS week number 20 U4 GPS time of week ms 24 I4 Subms part of GPS time ns 28 U4 Millis...

Page 72: ...t mask Every bit represents the health of a GPS satellite 1 32 1 health 0 not health 4 R8 UTC parameter A1 12 R8 UTC parameter A0 20 I4 UTC reference time of week 24 I2 UTC reference week number 26 I2 UTC time difference because of leap seconds before event occurs 28 I2 UTC week number when the next leap second event occurs 30 I2 UTC day of week when the next leap second event occurs 32 I2 UTC tim...

Page 73: ...R4 Beta0 Klobuchar parameters 56 R4 Beta1 Klobuchar parameters 60 R4 Beta2 Klobuchar parameters 64 R4 Beta3 Klobuchar parameters 68 U4 Flag3 0x1 valid health bit mask fields 0x2 valid UCT parameter fields 0x4 valid Klobuchar parameter fields ...

Page 74: ...ions Notes 0 U1 PRN number This will request the desired almanac data for the specific GPS satellite AID ALM 0x0B 0x30 It s an I O message Poll aiding almanac data Header ID Data Length Data Checksum 0xB5 0x62 0x0B 0x30 40 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 PRN number The following data are for this specific satellite 4 U4 Issue date of Almanac GPS week number If ...

Page 75: ...e navigation message The data are from the sub frame 4 of Pages 1 24 and the sub frame 5 of Pages 2 10 More information about almanac data structure is referred to ICD GPS 200 2 WORD0 WORD7 don t include the data of the parity bits Hence Bits 0 23 is used to locate the 24 bits of the data and Bits 24 31 are the sign extension of the data ...

Page 76: ... desired almanac data for the specific GPS satellite AID EPH 0x0B 0x31 It s an I O message Poll aiding almanac data Header ID Data Length Data Checksum 0xB5 0x62 0x0B 0x31 8 n 96 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 PRN number The following data are for this specific satellite 4 U4 Hand Over Word HOW of the first sub frame 0 invalid ephemeris data The following data...

Page 77: ...D2 84 n 96 U4 Sub frame 3 WORD3 88 n 96 U4 Sub frame 3 WORD4 92 n 96 U4 Sub frame 3 WORD5 96 n 96 U4 Sub frame 3 WORD6 100 n 96 U4 Sub frame 3 WORD7 NOTE 1 Sub frame 1 WORD0 Sub frame 3 WORD7 contain the data following the Hand Over Word HOW in the navigation message The data are from the sub frame 1 to sub frame 3 More information about ephemeris data structure is referred to ICD GPS 200 2 Sub fr...

Page 78: ...er CFG PRT 0x06 0x00 It s an I O message As an input message the port configurations for several ports can be put together into one input sentence As an output message the message only transmits the configuration from one specific comm port Header ID Data Length Data Checksum 0xB5 0x62 0x06 0x00 N 20 See below CK_A CK_B Data Offset bytes Format Descriptions Notes The following data will be repeate...

Page 79: ... 0x2000 User1 defined protocol 0x4000 User2 defined protocol 0x8000 User3 defined protocol The rest of bits are reserved 14 N 20 U2 Output protocol for a single port Multi protocols can be selected for a single port Bit mask 0x0001 UBX protocol 0x0002 NMEA protocol 0x0008 RAW protocol 0x1000 User0 defined protocol 0x2000 User1 defined protocol 0x4000 User2 defined protocol 0x8000 User3 defined pro...

Page 80: ... transmits one message rate configuration from one target Header ID Data Length Data Checksum 0xB5 0x62 0x06 0x01 N 6 See below CK_A CK_B Data Offset bytes Format Descriptions Notes The following data will be repeated N times number of targets if needed 0 N 6 U1 Class ID 1 N 6 U1 Message ID 2 N 6 U1 Message rate on I O Target 0 3 N 6 U1 Message rate on I O Target 1 4 N 6 U1 Message rate on I O Tar...

Page 81: ...81 Data Offset bytes Format Descriptions Notes 0 U1 Class ID 1 U1 Message ID 2 U1 Message rate on the current target ...

Page 82: ...an input message Set the desired NMEA protocol Header ID Data Length Data Checksum 0xB5 0x62 0x06 0x17 4 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U1 Filtering Disable or not Bit 0 position filtering Bit 1 masked position filtering Bit 2 time filtering Bit 3 date filtering 1 U1 NMEA version 0x23 version 2 3 Only version 2 3 is supported 2 U1 2 Reserved ...

Page 83: ...CK_A CK_B CFG RATE 0x06 0x08 It s an I O message It polls or sets the navigation measurement rate Header ID Data Length Data Checksum 0xB5 0x62 0x06 0x08 6 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U2 Measurement rate ms 2 U2 Navigation rate cycles Number of measurement cycles 4 U2 Alignment to reference time 0 UTC time 0 GPS time NOTE Navigation Update Rate 1 s 1000 Naviga...

Page 84: ...low for bit definitions 8 U4 Load configurations Load configurations from non volatile memory to active settings See below for bit definitions Bit Definitions Bits Descriptions 0 I O port assignments protocols and baud rates referred to UBX CFG PRT 1 Message configuration referred to UBX CFG MSG and UBX CFG NMEA 2 INF message configuration referred to UBX CFG INF 3 Navigation configuration referre...

Page 85: ...85 UBX CFG ANT 11 Reserved 12 15 Reserved for user applications 16 31 Reserved ...

Page 86: ... message Poll and set time pulse information Header ID Data Length Data Checksum 0xB5 0x62 0x06 0x07 20 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 Time interval for time pulse us 4 U4 Length of time pulse us 8 I1 Status of time pulse 0 positive 0 off 0 negative 9 U1 Reference time 0 UTC time 0 GPS time 10 U2 Reserved 12 I2 Delay due to antenna cable ns 14 I2 RF group dela...

Page 87: ...et bytes Format Descriptions Notes 0 U1 Kinematic model 1 stationary 2 pedestrian 3 automotive 4 sea 5 airborne with acceleration 1g 6 airborne with acceleration 2g 7 airborne with acceleration 4g 8 255 reserved 1 U1 Minimum number of SVs for navigation 1 16 2 U1 Maximum number of SVs for navigation 1 16 3 U1 C N0 conditional lower limit This condition will be applied if and only if enough satelli...

Page 88: ...T absolute lower limit ms 14 U1 Epochs for DR 15 U1 Navigation options Bit mask 0x01 enable pseudorange check 0x02 enable Doppler check 0x04 enable Delta range check 0x08 enable ALM EPH consistency check 0x10 enable almanac navigation 0x20 reserved 0x40 reserved 0x80 reserved 16 U2 PDOP mask Scaling 0 1 18 U2 TDOP mask Scaling 0 1 20 U2 Position accuracy mask m 22 U2 Time accuracy mask m 24 U2 Fre...

Page 89: ...r Referred to Appendix A CFG DAT 0x06 0x06 It s an input message Set user defined datum Header ID Data Length Data Checksum 0xB5 0x62 0x06 0x06 44 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 R8 Semi major axis m 6 300 000 0 6 500 000 0 8 R8 1 0 flattening 0 0 500 0 16 R4 Offset from the origin X axis m 5000 0 5000 0 20 R4 Offset from the origin Y axis m 5000 0 5000 0 24 R4 Of...

Page 90: ... CK_B Data Offset bytes Format Descriptions Notes 0 U2 Datum number 2 CH 6 Datum name ASCII format 8 R8 Semi major axis m 6 300 000 0 6 500 000 0 16 R8 1 0 flattening 0 0 500 0 24 R4 Offset from the origin X axis m 5000 0 5000 0 28 R4 Offset from the origin Y axis m 5000 0 5000 0 32 R4 Offset from the origin Z axis m 5000 0 5000 0 36 R4 Rotation about X axis milli arc seconds 20 0 20 0 40 R4 Rotat...

Page 91: ...ined protocol 16 255 reserved CFG INF 0x06 0x02 It s an I O message It s used to set get message configuration As an input message several message configurations can be put into as one input sentence But as an output message the sentence only transmits one message configuration Header ID Data Length Data Checksum 0xB5 0x62 0x06 0x02 N 8 See below CK_A CK_B Data Offset bytes Format Descriptions Not...

Page 92: ... enabled INF class at I O target 0 USART 0 Bit mask Referred to INF class such as INF ERROR and INF WARNING 5 N 8 U1 Information message enabled INF class at I O target 1 USART 1 Same as above 6 N 8 U1 Information message enabled INF class at I O target 2 USART 2 Same as above 7 N 8 U1 Information message enabled INF class at I O target 3 reserved Same as above ...

Page 93: ...U2 Clear backup data in BBR 0x0001 ephemeris 0x0002 almanac 0x0004 health 0x0008 Klobuchar 0x0010 position 0x0020 clock drift 0x0040 oscillation parameter 0x0080 UTC correction parameters 0x0100 RTC 0x0000 hot start 0x0001 warm start 0xFFFF cold start 2 U1 Reset 0x00 hardware reset watchdog 0x01 controlled software reset 0x02 controlled software reset GPS only 0x08 controlled GPS stop 0x09 control...

Page 94: ...0 None CK_A CK_B CFG RXM 0x06 0x11 It s an I O message It s used to set get RXM configuration Header ID Data Length Data Checksum 0xB5 0x62 0x06 0x11 2 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U1 GPS sensitivity mode 0 Normal 1 Fast acquisition 2 High sensitivity 2 Reserved 1 U1 Power mode 0 Continuous tracking mode 1 FixNow mode power saving mode 1 Reserved ...

Page 95: ...5 0x62 0x06 0x13 0 None CK_A CK_B CFG ANT 0x06 0x13 It s an I O message It s used to set get antenna control settings Header ID Data Length Data Checksum 0xB5 0x62 0x06 0x13 4 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U2 Antenna flag mask Bit 0 enable 2 U2 Antenna pin configuration 0 Continuous tracking mode 1 FixNow mode power saving mode 1 Reserved ...

Page 96: ...ow CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 FixNow mode configuration Bit mask 0x02 set Sleep state 0x04 reserved never set this bit 0x08 absolute alignment on off time 0x10 use on off time the rest of bits not set 4 U4 Last fix timeout ms 8 U4 Sleep time ms After a last fix timeout 12 U4 Last reset timeout ms 16 U4 Sleep time ms After a last reset timeout 20 U4 On time ms Start ...

Page 97: ... Bit mask Bit 0 1 SBAS enabled 0 SBAS disabled Bit 1 SBAS testbed 1 use data anyhow 0 ignore data when in test mode SBAS Msg 0 Bits 2 7 reserved 1 U1 SBAS usage Bit mask Bit 0 use ranges for navigation solution Bit 1 use differential correction Bit 2 use integrity information 2 U1 Maximum number of channels for searching SBAS satellites 0 3 3 U1 Reserved 4 U4 SBAS PRN numbers in searching channels...

Page 98: ...configuration Header ID Data Length Data Checksum 0xB5 0x62 0x06 0x10 12 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 Time mark input source EXTINT 0 31 EXTINT 1 30 EXTINT 2 29 4 U4 Rate of time mark task ms 8 U4 Flags for time mark task Bit mask Bit 0 0 time mark disabled 1 time mark enabled Bit 1 0 time mark on rising edge 1 time mark on falling edge Bit 2 0 based on GPS ...

Page 99: ...es 0 U1 EKF status 1 disabled 0 enabled 1 U1 Flags Bit 0 reserved always 0 Bit 1 clear temperature compensation table Bit 2 clear stored calibration Bit 3 reserved always 0 Bit 4 set nominal tacho pulses as defined in Field Nominal pulses per kilometer Bit 5 set nominal gyro values as defined in Fields Nominal gyro zero point output and Nominal gyro sensitivity Bit 6 set temperature table configur...

Page 100: ...ive 1 counterclockwise positive 4 U4 Reserved Always 0 8 U2 Nominal pulses per kilometer 1100 45000 10 U2 Nominal gyro zero point output mV 2000 3000 12 U1 Nominal gyro sensitivity mV deg s 20 40 13 U1 Maximum allowable RMS threshold mV For zero velocity temperature compensation 1 10 Scaling 0 1 14 U2 The time interval for saving temperature table to flash s Minimum 9 ...

Page 101: ...f style call INF ERROR 0x04 0x00 It outputs an ASCII string to indicate error message Header ID Data Length Data Checksum 0xB5 0x62 0x04 0x00 N 1 See below CK_A CK_B Data Offset bytes Format Descriptions Notes The following data will be repeated N times variable length 0 N 1 U1 ASCII character ...

Page 102: ...I string to indicate warning message Header ID Data Length Data Checksum 0xB5 0x62 0x04 0x01 N 1 See below CK_A CK_B Data Offset bytes Format Descriptions Notes The following data will be repeated N times variable length 0 N 1 U1 ASCII character ...

Page 103: ...ring to transmit informational contents Header ID Data Length Data Checksum 0xB5 0x62 0x04 0x02 N 1 See below CK_A CK_B Data Offset bytes Format Descriptions Notes The following data will be repeated N times variable length 0 N 1 U1 ASCII character ...

Page 104: ...I string to indicate test message Header ID Data Length Data Checksum 0xB5 0x62 0x04 0x03 N 1 See below CK_A CK_B Data Offset bytes Format Descriptions Notes The following data will be repeated N times variable length 0 N 1 U1 ASCII character ...

Page 105: ...I string to indicate debug message Header ID Data Length Data Checksum 0xB5 0x62 0x04 0x04 N 1 See below CK_A CK_B Data Offset bytes Format Descriptions Notes The following data will be repeated N times variable length 0 N 1 U1 ASCII character ...

Page 106: ...tring to indicate user output message Header ID Data Length Data Checksum 0xB5 0x62 0x04 0x07 N 1 See below CK_A CK_B Data Offset bytes Format Descriptions Notes The following data will be repeated N times variable length 0 N 1 U1 ASCII character ...

Page 107: ...riptions Notes 0 U4 Status indicating which tasks have run Bit mask 4 U4 Status indicating which tasks are scheduled to run Bit mask 8 U4 Status indicating which tasks are overrun Bit mask 12 U4 Status indicating which task IDs have a registered task function Bit mask 16 U2 Number of bytes used for system stack bytes 18 U2 Stack size in bytes 20 U2 CPU idle time in the scale of 1 1000 22 U1 Number...

Page 108: ...ber of bytes which are received bytes 4 N 20 U4 Number of bytes which are sent bytes 8 N 20 U2 Number of 100 ms slots which have overrun errors 10 N 20 U2 Number of 100 ms slots which have framing errors 12 N 20 U2 Number of 100 ms slots which have overrun errors 14 N 20 U2 Number of 100 ms slots which have break conditions 16 N 20 U1 Flag Indicating that receiver is busy 17 N 20 U1 Flag Indicatin...

Page 109: ...es Format Descriptions Notes 0 U2 16 Number of successful parsed message for each protocol on Target 0 32 U2 16 Number of successful parsed message for each protocol on Target 1 64 U2 16 Number of successful parsed message for each protocol on Target 2 96 U2 16 Number of successful parsed message for each protocol on Target 3 128 U4 4 Number of skipped bytes for each target ...

Page 110: ...m 0xB5 0x62 0x0A 0x07 16 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U2 4 Number of pending bytes in receiver buffer on each target bytes 8 U1 4 Maximum usage receiver buffer for the last system monitoring period of each target 12 U1 4 Maximum current usage receiver buffer for each target ...

Page 111: ...h target bytes 8 U1 4 Maximum usage receiver buffer for the last system monitoring period of each target 12 U1 4 Maximum current usage receiver buffer for each target 16 U1 Maximum usage receiver buffer for the last system monitoring period of all targets 17 U1 Maximum current usage receiver buffer for all targets 18 U1 Error flags Bit mask Bits 0 3 buffer limit of corresponding target Bits 4 6 re...

Page 112: ...sion Header ID Data Length Data Checksum 0xB5 0x62 0x0A 0x04 40 N 30 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 CH 30 Software version 30 CH 10 Hardware version The following data will be repeated N times 40 N 30 CH 30 Extension package version ...

Page 113: ...lly polls the receiver s position in the ECEF frame Header ID Data Length Data Checksum 0xB5 0x62 0x01 0x01 20 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 I4 X coordinate cm In the ECEF frame 8 I4 Y coordinate cm In the ECEF frame 12 I4 Z coordinate cm In the ECEF frame 16 U4 Position accuracy cm ...

Page 114: ...elow CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 I4 Longitude degrees In the local geodetic frame Scaling 1E 07 8 I4 Latitude degrees In the local geodetic frame Scaling 1E 07 12 I4 Height above ellipsoid mm In the local geodetic frame 16 I4 Height above mean see level mm 20 U4 Horizontal accuracy mm 24 U4 Vertical accuracy mm ...

Page 115: ...riptions Notes 0 U4 GPS time of week ms 4 I4 Easting component cm In the UTM frame 8 I4 Northing component cm In the UTM frame 12 I4 Altitude cm In the UTM frame 16 I1 UTM zone number 17 I1 Hemisphere sector 0 north 1 south NOTE 1 Doesn t output zone characters i e northing element of a zone description 2 Doesn t support the irregularities of UTM grids in the areas of North Pole and Scandinavian ...

Page 116: ...xB5 0x62 0x01 0x04 18 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 U2 GDOP Geometric DOP 6 U2 PDOP Positional DOP 8 U2 TDOP Time DOP 10 U2 VDOP Vertical DOP 12 U2 HDOP Horizontal DOP 14 U2 NDOP Northing DOP 16 U2 EDOP Easting DOP NOTE All have Scaling 0 01 ...

Page 117: ...D fix 0x03 3D fix 0x04 GPS dead reckoning 0x05 0xFF reserved 5 U1 Flags 0x01 GPS fix ok under DOP and accuracy masks 0x02 DGPS used 0x04 week number valid 0x08 time of week valid the rest of them reserved 6 U1 Differential status Bits 1 0 DGPS input status 00 none 01 PR PRR correction 10 PR PRR CP correction 11 high accuracy PR PRR CP correction the rest of bits reserved 7 U1 Reserved 8 U4 Time to...

Page 118: ... 2D fix 0x03 3D fix 0x04 GPS dead reckoning 0x05 0xFF reserved 11 U1 Flags 0x01 GPS fix ok under DOP and accuracy masks 0x02 DGPS used 0x04 week number valid 0x08 time of week valid the rest of them reserved 12 I4 X coordinate cm In the ECEF frame 16 I4 Y coordinate cm In the ECEF frame 20 I4 Z coordinate cm In the ECEF frame 24 U4 3D position accuracy cm 28 I4 X velocity cm s In the ECEF frame 32...

Page 119: ...der ID Data Length Data Checksum 0xB5 0x62 0x01 0x11 20 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 I4 X velocity cm s In the ECEF frame 8 I4 Y velocity cm s In the ECEF frame 12 I4 Z velocity cm s In the ECEF frame 16 U4 Speed accuracy cm s ...

Page 120: ..._B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 I4 North velocity cm s In the NED frame 8 I4 East velocity cm s In the NED frame 12 I4 Down velocity cm s In the NED frame 16 U4 Speed cm s 3D 20 U4 Ground speed cm s 2D 24 I4 Heading degrees 2D Scaling 1E 05 28 U4 Speed accuracy cm s 32 U4 Course Heading accuracy degrees Scaling 1E 05 ...

Page 121: ...0 16 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 I4 Remainder of rounded GPS time of week relative to GPS millisecond time of week ns 500000 500000 8 I2 GPS week 10 I1 Leap seconds s GPS UTC 11 U1 Flags 0x01 valid time of week 0x02 valid week number 0x04 valid UTC 12 U4 Time accuracy ns ...

Page 122: ...ow CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 U4 Time accuracy ns 8 I4 Nanoseconds of second UTC 500000000 500000000 12 U2 Year UTC 1999 2099 14 U1 Month UTC 15 U1 Day UTC 16 U1 Hour UTC 0 23 17 U1 Minute UTC 0 59 18 U1 Second UTC 0 59 19 U1 Flags 0x01 valid time of week 0x02 valid week number 0x04 valid UTC ...

Page 123: ...lock information Header ID Data Length Data Checksum 0xB5 0x62 0x01 0x22 20 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week ms 4 I4 Clock bias ns 8 I4 Clock drift ns s 12 U4 Time accuracy ns 16 U4 Frequency accuracy ps s ...

Page 124: ...1 Flags for the above specified SV Bit mask 0x01 used for navigation 0x02 differential correction data available 0x04 ephemeris or almanac available 0x08 ephemeris available 0x10 unhealth status shall not be used 0x20 0x40 0x80 reserved 11 N 12 I1 Signal quality indicator for the above specified SV 0 idle 1 2 searching 3 signal detected but unused 4 code lock 5 6 code and carrier locks 7 code and ...

Page 125: ... ID 10 I2 Health status for DGPS station 12 U1 Number of channels correction data is following 13 U1 DGPS data type 00 none 01 PR PRR correction 10 PR PRR CP correction 11 high accuracy PR PRR CP correction 14 U2 Reserved The following data will be repeated N times number of channels 16 N 12 U1 PRN number SV ID 17 N 12 U1 Flags Bit mask 0x01 0x08 channel number 0x10 DGPS used 0x20 0x80 reserved 18...

Page 126: ...ntegrity 2 enabled test mode 6 I1 SBAS type 1 unknown 0 WAAS 1 EGNOS 2 MSAS 16 GPS 7 U1 SBAS services Bit 0 ranging Bit 1 corrections Bit 2 integrity Bit 3 test mode 8 U1 Number of SV data following 9 U1 3 Reserved The following data will be repeated N times number of SVs 12 N 12 U1 PRN number SV ID 13 N 12 U1 Flags 14 N 12 U1 Monitoring status 15 N 12 U1 SBAS type 1 unknown 0 WAAS 1 EGNOS 2 MSAS ...

Page 127: ...127 17 N 12 U1 Reserved 18 N 12 I2 Pseudo range correction cm 20 N 12 I2 Reserved 22 N 12 I2 Ionosphere correction cm ...

Page 128: ...ormat Descriptions Notes 0 I4 GPS time of week ms Receiver time 4 I2 GPS week number Receiver time 6 U1 Number of satellites following 7 U1 Reserved The following data will be repeated N times number of satellites 8 N 24 R8 Carrier phase measurement cycles L1 frequency CP 16 N 24 R8 Pseudorange measurement m PR 24 N 24 R4 Doppler measurement Hz DO 28 N 24 U1 PRN number 29 N 24 I1 Measurement quali...

Page 129: ...8 I4 WORD9 NOTE For GPS satellites each word contains the parity checked subframe data in 24 bits Bits 23 0 and the rest of 8 bits in each word are undefined The higher order bits receive data first For more information about GPS navigation message please refer to the documentation ICD GPS 200 For SBAS satellites the first 7 words WORD0 WORD6 contain 224 bits of data for the 250 bit message block ...

Page 130: ...tellites 7 U1 Number of satellite data following The following data will be repeated N times number of satellites 8 N 6 U1 PRN number 9 N 6 U1 Flags 0x01 health SV 0x02 ephemeris valid 0x04 almanac valid 10 N 6 I2 Azimuth degrees 12 N 6 I1 Elevation degrees 13 N 6 U1 Age of almanac ALM and ephemeris EPH Bits 0 3 age of ALM in days offset by 4 Bits 4 7 age of EPH in hours offset by 4 i e the refere...

Page 131: ...Header ID Data Length Data Checksum 0xB5 0x62 0x02 0x30 1 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U1 PRN number 1 32 RXM ALM 0x02 0x30 It s an output message that carries almanac data of one specific SV Header ID Data Length Data Checksum 0xB5 0x62 0x02 0x30 40 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 PRN number 1 32 1 U4 GPS week number 2 U4 W...

Page 132: ...ta are from the sub frame 4 of Pages 1 24 and the sub frame 5 of Pages 2 10 More information about almanac data structure is referred to ICD GPS 200 3 WORD0 WORD7 don t include the data of the parity bits Hence Bits 0 23 is used to locate the 24 bits of the data and Bits 24 31 are the sign extension of the data ...

Page 133: ...escriptions Notes 0 U1 PRN number 1 32 RXM EPH 0x02 0x31 It s an output message that carries almanac data of one specific SV Header ID Data Length Data Checksum 0xB5 0x62 0x02 0x31 8 n 96 See below CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 PRN number The following data are for this specific satellite 4 U4 Hand Over Word HOW of the first sub frame 0 invalid ephemeris data The follo...

Page 134: ...Sub frame 3 WORD3 88 n 96 U4 Sub frame 3 WORD4 92 n 96 U4 Sub frame 3 WORD5 96 n 96 U4 Sub frame 3 WORD6 100 n 96 U4 Sub frame 3 WORD7 NOTE 1 Sub frame 1 WORD0 Sub frame 3 WORD7 contain the data following the Hand Over Word HOW in the navigation message The data are from the sub frame 1 to sub frame 3 More information about ephemeris data structure is referred to ICD GPS 200 2 Sub frame 1 WORD0 su...

Page 135: ...135 RXM POSREQ 0x02 0x40 It s an input message for requesting a position fix in the FixNow mode power saving mode Header ID Data Length Data Checksum 0xB5 0x62 0x02 0x40 0 None CK_A CK_B ...

Page 136: ...s Notes 0 U4 Counter difference since last polled time 4 U4 Time difference since last polled time ms 8 U4 Sub millisecond part of time difference ms 2 32 12 U4 Quantization ms 2 32 16 U4 GPS time of week ms Time pulse 20 U4 Sub millisecond part of GPS time of week ms 2 32 24 U2 GPS week number Time pulse 26 U1 Flags Bit 0 0 GPS time base 1 UTC time base Bit 1 0 UTC not available 1 UTC available B...

Page 137: ...elow CK_A CK_B Data Offset bytes Format Descriptions Notes 0 U4 GPS time of week time pulse ms 4 U4 Sub millisecond part of GPS time of week ms 2 32 8 I4 Quantization error of time pulse ps 12 U2 GPS week number Time pulse 14 U1 Flags Bit 0 0 GPS time base 1 UTC time base Bit 1 0 UTC not available 1 UTC available 15 U1 Reserved ...

Page 138: ...Data Offset bytes Format Descriptions Notes 0 U4 Download starting address 4 U4 Flags 0 download 1 download ACK 2 download NACK The following data will be repeated N times depending on the length of data 8 N 1 U1 Data NOTE A block of data may be downloaded to memory by implementing several UPD DOWNL messages The starting addresses are increased for the following UPD DOWNL messages based on the alr...

Page 139: ...iptions Notes 0 U4 Upload starting address 4 U4 Data size 8 U4 Flags 0 upload 1 upload ACK 2 upload NACK The following data will be repeated N times depending on the length of data 12 N 1 U1 Data NOTE A block of data may be uploaded from memory by implementing several UPD UPLOAD messages The starting addresses are increased for the following UPD UPLOAD messages based on the already received bytes ...

Page 140: ...e antenna is not good Move the antenna to open space or remove the blockages 2 Check the antenna matching problem For the active antennas the antenna gain cannot exceed 25 dB 3 The module doesn t output the desired messages 1 Check the module whether the desired messages are activated or not 2 Check the port setting whether the baud rate is sufficient or not 4 Comm port numbers are not shown in th...

Page 141: ...lometer away from the reference position The module may execute almanac navigation 8 The module doesn t perform well in TTFFs of warm start and hot start A back up battery is needed to support the running of RTC and Battery backed up RAM BBR The update position ephemeris and almanac can be retrieved from BBR or flash memory 9 The module doesn t perform the last configuration settings Save the conf...

Page 142: ... ADI F 134 0 2 0 210 0 7 0 6 Adindan Ethiopia ADI A 165 0 11 0 206 0 7 0 7 Adindan Mali ADI C 123 0 20 0 220 0 7 0 8 Adindan Senegal ADI D 128 0 18 0 224 0 7 0 9 Adindan Sudan ADI B 161 0 14 0 205 0 7 0 10 Afgooye Somalia AFG 43 0 163 0 45 0 21 0 11 ARC 1950 Mean Botswana Lesotho Malawi Swaziland Zaire Zambia Zimbabwe ARF M 143 0 90 0 294 0 7 0 12 ARC 1950 Botswana ARF A 138 0 105 0 289 0 7 0 13 A...

Page 143: ... 28 Massawa Eritrea Ethiopia MAS 639 0 405 0 60 0 5 0 29 Merchich Morocco MER 31 0 146 0 47 0 7 0 30 Minna Cameroon MIN A 81 0 84 0 115 0 7 0 31 Minna Nigeria MIN B 92 0 93 0 122 0 7 0 32 M Poraloko Gabon MPO 74 0 130 0 42 0 7 0 33 North Sahara 1959 Algeria NSD 186 0 93 0 310 0 7 0 34 Old Egyptian 1907 Egypt OEG 130 0 110 0 13 0 17 0 35 Point 58 Mean Solution Burkina Faso Niger PTB 106 0 129 0 165...

Page 144: ...NH A 209 0 818 0 290 0 9 0 50 Indonesian 1974 IDN 24 0 15 0 5 0 19 0 51 Kandawala Sri Lanka KAN 97 0 787 0 86 0 9 0 52 Kertau 1948 West Malaysia Singapore KEA 11 0 851 0 5 0 13 0 53 Nahrwan Masirah Island Oman NAH A 247 0 148 0 369 0 7 0 54 Nahrwan United Arab Emirates NAH B 249 0 156 0 381 0 7 0 55 Nahrwan Saudi Arabia NAH C 243 0 192 0 477 0 7 0 56 Oman FAH 346 0 1 0 224 0 7 0 57 Qatar National ...

Page 145: ...0 0 69 European 1950 Egypt EUR F 130 0 117 0 151 0 20 0 70 European 1950 England Wales Scotland Channel Islands EUR G 86 0 96 0 120 0 20 0 71 European 1950 England Wales Scotland Ireland EUR K 86 0 96 0 120 0 20 0 72 European 1950 Greece EUR B 84 0 95 0 130 0 20 0 73 European 1950 Iran EUR H 117 0 132 0 164 0 20 0 74 European 1950 Italy Sardinia EUR I 97 0 103 0 120 0 20 0 75 European 1950 Italy S...

Page 146: ...e Survey of GB 1936 Scotland Shetland Isles OGB C 384 0 111 0 425 0 1 0 87 Ordnance Survey of GB 1936 Wales OGB D 370 0 108 0 434 0 1 0 88 Rome 1940 Sardinia Island MOD 225 0 65 0 9 0 20 0 89 S 42 Pulkovo 1942 Hungary SPK 28 0 121 0 77 0 21 0 90 S JTSK Czechoslavakia prior to 1 Jan 1993 CCD 589 0 76 0 480 0 5 0 91 Cape Canaveral Mean Solution Florida Bahamas CAC 2 0 151 0 181 0 6 0 92 N American 1...

Page 147: ...1927 Canada Mean Solution including Newfoundland NAS E 10 0 158 0 187 0 6 0 101 N American 1927 Alberta British Columbia NAS F 7 0 162 0 188 0 6 0 102 N American 1927 Eastern Canada Newfoundland New Brunswick Nova Scotia Quebec NAS G 22 0 160 0 190 0 6 0 103 N American 1927 Manitoba Ontario NAS H 9 0 157 0 184 0 6 0 104 N American 1927 Northwest Territories Saskatchewan NAS I 4 0 159 0 188 0 6 0 1...

Page 148: ...14 N American 1983 Canada NAR B 0 0 0 0 0 0 16 0 115 N American 1983 Mean Solution CONUS NAR C 0 0 0 0 0 0 16 0 116 N American 1983 Hawaii NAR H 1 0 1 0 1 0 16 0 117 N American 1983 Mexico Central America NAR D 0 0 0 0 0 0 16 0 118 Bogota Observatory Colombia BOO 307 0 304 0 318 0 20 0 119 Campo Inchauspe 1969 Argentina CAI 148 0 136 0 90 0 20 0 120 Chua Astro Paraguay CHU 134 0 229 0 29 0 20 0 12...

Page 149: ... 175 0 379 0 20 0 130 Prov S American 1956 Venezuela PRP H 295 0 173 0 371 0 20 0 131 Prov South Chilean 1963 HIT 16 0 196 0 93 0 20 0 132 South American 1969 Mean Solution Arg Bol Bra Chi Col Ecu Guy Par Per Tri Tob Ven SAN M 57 0 1 0 41 0 22 0 133 South American 1969 Argentina SAN A 62 0 1 0 37 0 22 0 134 South American 1969 Bolivia SAN B 61 0 2 0 48 0 22 0 135 South American 1969 Brazil SAN C 6...

Page 150: ...ij Suriname ZAN 265 0 120 0 358 0 20 0 146 Antigua Island Astro 1943 Antigua Leeward Islands AIA 270 0 13 0 62 0 7 0 147 Ascension Island 1958 ASC 205 0 107 0 53 0 20 0 148 Astro Dos 71 4 St Helena Island SHB 320 0 550 0 494 0 20 0 149 Bermuda 1957 Bermuda Islands BER 73 0 213 0 296 0 6 0 150 Deception Island Antarctica DID 260 0 12 0 147 0 7 0 151 Fort Thomas 1955 Nevis St Kitts Leeward Islands F...

Page 151: ... Islands POS 499 0 249 0 314 0 20 0 160 Puerto Rico Puerto Rico Virgin Islands PUR 11 0 72 0 101 0 6 0 161 Qornoq South Greenland QUO 164 0 138 0 189 0 20 0 162 Sao Braz Soa Miguel Santa Maria Islands Azores SAO 203 0 141 0 53 0 20 0 163 Sapper Hill 1943 East Falkland Island SAP 355 0 21 0 72 0 20 0 164 Selvagem Grande 1938 Salvage Islands SGM 289 0 124 0 60 0 20 0 165 Tristan Astro 1968 Tristan d...

Page 152: ...952 Marcus Island ASQ 124 0 234 0 25 0 20 0 176 Bellevue IGN Efate and Erromango Islands IBE 127 0 769 0 472 0 20 0 177 Canton Astro 1966 Phoenix Islands CAO 298 0 304 0 375 0 20 0 178 Chatham Island Astro 1971 Chatham Island New Zeland CHI 175 0 38 0 113 0 20 0 179 DOS 1968 Gizo Island New Georgia Islands GIZ 230 0 199 0 752 0 20 0 180 Easter Island 1967 Easter Island EAS 211 0 147 0 111 0 20 0 1...

Page 153: ...A A 89 0 279 0 183 0 6 0 192 Old Hawaiian Kauai OHA B 45 0 290 0 172 0 6 0 193 Old Hawaiian Maui OHA C 65 0 290 0 190 0 6 0 194 Old Hawaiian Oahu OHA D 58 0 283 0 182 0 6 0 195 Pitcairn Astro 1967 Pitcairn Island PIT 185 0 165 0 42 0 20 0 196 Santo Dos 1965 Espirito Santo Island SAE 170 0 42 0 84 0 20 0 197 Viti Levu 1916 Viti Levu Island Fiji Islands MVS 51 0 391 0 36 0 7 0 198 Wake Eniwetok 1960...

Page 154: ... Observatory 1925 Madagascar TAN 189 0 242 0 91 0 20 0 208 Yacare Uruguay YAC 155 0 171 0 37 0 20 0 209 Krassovsky 1942 Russia KRA42 26 0 139 0 80 0 21 0 210 Lommel Datum 1950 Belgium Luxembourg BLG50 55 0 49 0 158 0 20 0 211 Reseau National Belge 1972 Belgium RNB72 104 0 80 0 75 0 20 0 212 NTF Nouvelle Triangulation de la France NTF 168 0 60 0 320 0 7 0 213 Netherlands 1921 Netherlands NL21 719 0...

Page 155: ... 9 Everest India 1830 6377276 345 300 8017 10 Everest Sabah Sarawak 6377298 556 300 8017 11 Everest India 1956 6377301 243 300 8017 12 Everest Malaysia 1969 6377295 664 300 8017 13 Everest Malay Singapore 1948 6377304 063 300 8017 14 Everest Pakistan 6377309 613 300 8017 15 Modified Fischer 1960 6378155 000 298 3 16 GRS 80 6378137 000 298 257222101 17 Helmert 1906 6378200 000 298 3 18 Hough 1960 6...

Page 156: ...tion and Scale Table Index Name Rot X seconds Rot Y seconds Rot Z seconds Scale 0 0 0000 0 0000 0 0000 0 000 1 0 0000 0 0000 0 5540 0 220 2 European Datum 1987 IAG RETrig Subcommision 0 1338 0 0625 0 0470 0 045 ...

Page 157: ...cision HOW Hand Over Word LNA Low Noise Amplifier MSAS MTSAT Based Augmentation System NDOP Northing Dilution of Precision NMEA the National Marine Electronics Association PDOP Positional Dilution of Precision PRN Pseudorandom Noise PVT Position Velocity Time RINEX Receiver Independent Exchange Format RTC Real Time Clock RTCM the Radio Technical Commission for Maritime Services SBAS Satellite Base...

Page 158: ...Chipset System Integration Manual for San Jose Navigation Doc No GPS G3 DK 03014 2 ANTARIS R Protocol Specifications Doc No GPS G3 X 03002 3 NMEA 0183 Standard For Interfacing Marine Electronic Devices Version 2 30 March 1 1998 ...

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