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GPS Receiver Board

GPS-24 / 24A Operating Manual

Rikaline

Specifications subject to change without prior notice

Rikaline

International Corp.

14F, 171, ChengGong Rd, Sanchong CityTaipei 241, Taiwan

Tel: ++886 2 8973 1899 Fax: ++886 2 8973 1896 E-Mail:

[email protected]

Web: www.rikaline.com.tw

Appendix A Software Interface

The GPS-24 / 24A interface protocol is based on the National Marine Electronics Association's NMEA 0183
ASC

Ⅱ

interface specification, which is defined in NMEA 0183, Version 3.0 and the Radio Technical

Commission for Maritime Services (RTCM Recommended Standards For Differential Navstar GPS Service,
Version 2.1, RTCM Special Committee No.104).

A.1 NMEA Transmitted Messages

The GPS-24 / 24A outputs data in NMEA-0183 format as defined by the National Marine Electronics
Association (NMEA), Standard.

The default communication parameters for NMEA output are 9600 baud, 8 data bits, stop bit, and no parity.

Table A-1 NMEA-0183 Output Messages

NMEA Record Description

GPGGA

Global positioning system fixed data

GPGLL

Geographic position- latitude/longitude

GPGSA

GNSS DOP and active satellites

GPGSV

GNSS satellites in view

GPRMC

Recommended minimum specific GNSS data

GPVTG

Course over ground and ground speed

GPZDA

Date & Time

A.1.1 Global Positioning System Fix Data (GGA)

$GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18

Table A-2 GGA Data Format

Name

Example Units

Description

Message ID

$GPGGA

GGA protocol header

UTC Time

161229.487

Hhmmss.sss

Latitude 3723.2475

Ddmm.mmmm

N/S Indicator

N=north or S=south

Longitude 12158.3416

dddmm.mmmm

E/W Indicator

E=east or W=west

Position Fix Indicator

See Table 5-3

Satellites Used

Range 0 to 12

HDOP

1.0

Horizontal Dilution of Precision

MSL Altitude

9.0

Meters

Units M

Meters

Geoid Separation

Meters

Units M

Meters

Age of Diff. Corr.

second

Null fields when DGPS is not used

Diff. Ref. Station ID

0000

Checksum *18

End of message termination

Table A-3 Position Fix Indicator

Value Description

0 Fix not available or invalid

GPS SPS Mode, fix valid

Differential GPS, SPS Mode, fix valid

GPS PPS Mode, fix valid

A.1.2 Geographic Position with Latitude/Longitude (GLL)

Содержание GPS-24

Страница 1: ...Rikaline International Corp 14F 171 ChengGong Rd Sanchong City Taipei 241 Taiwan R O C Phone 886 2 8973 1899 Fax 886 2 8973 1896 E Mail info rikaline com tw Web www rikaline com tw All Right Reserved...

Страница 2: ...es satellite signals in 100 ms and updates position data every second 1 2 Features The GPS 24 24A provides a host of features that make it easy for integration and use 1 Position accuracy in 7m CEP 90...

Страница 3: ...Differential GPS Position 1 m typical Velocity 0 05 meters second typical 5 Dynamic Conditions Altitude 10 000 meters 32 800 feet max Velocity Horisontal 300 Km Hr Vertical 36 Km Hr Acceleration 2 G m...

Страница 4: ...cquisition performance If significant inaccuracy exists in the initial data or the orbital data is obsolete it may take more time to achieve a navigation solution The FirstGPS architecture provides su...

Страница 5: ...tw 5 3 Hardware interface 3 1 Physical Characters 1 Size 25 9 W x 25 9 D x 2 7 H mm 2 Weight 25 g 1 02 W x 1 02 D x 0 11 H 3 1 1 Details Drawing 3 1 1 1GPS 24 to be equipped with active antenna only...

Страница 6: ...ct D2 DSUEN I DSU enable D3 DSUBRE I DSU break enable D4 DSUTX O DSU transmitter D5 DSURX I DSU receiver D6 DSUACT O DSU active 3 3 Operating Modes 3 3 1 GPIO 1 4 It design as spare I O You may leave...

Страница 7: ...Fax 886 2 8973 1896 E Mail info rikaline com tw Web www rikaline com tw 7 Table 3 3 Backup Battery Conditions Parameter Symbol Min Typ Max Units RTC Battery Power BAT 1 2 1 8 2 V Supply Current 10 A T...

Страница 8: ...n parameters for NMEA output are 9600 baud 8 data bits stop bit and no parity Table 4 1 NMEA 0183 Output Messages NMEA Record Description GPGGA Global positioning system fixed data GPGLL Geographic po...

Страница 9: ...ptions 5 1 1 GPS Receiver Module GPS 24 Standard with TTL level GPS 24 A Standard with TTL level and available to attach patch antenna on top of the board 5 2 Accessories A 10302 M Active Antenna 2M M...

Страница 10: ...GA Global positioning system fixed data GPGLL Geographic position latitude longitude GPGSA GNSS DOP and active satellites GPGSV GNSS satellites in view GPRMC Recommended minimum specific GNSS data GPV...

Страница 11: ...le GPGSA A 3 07 02 26 27 09 04 15 1 8 1 0 1 5 33 Table A 5 GSA Data Format Name Example Units Description Message ID GPGSA GSA protocol header Mode 1 A See Table 5 6 Mode 2 3 See Table 5 7 Satellite U...

Страница 12: ...ed Minimum Specific GNSS Data RMC Table A 9 contains the values for the following example GPRMC 161229 487 A 3723 2475 N 12158 3416 W 0 13 309 62 120598 10 Table A 9 RMC Data Format Name Example Units...

Страница 13: ...om tw 13 A 1 7 Time Date ZDA Table A 11 contains the values for the following example GPVTG 114523 62 12 04 2001 10 34 6E Table A 11 ZDA Data Format Name Example Units Description Message ID GPZDA ZDA...

Страница 14: ...Specifications subject to change without prior notice Rikaline International Corp 14F 171 ChengGong Rd Sanchong CityTaipei 241 Taiwan Tel 886 2 8973 1899 Fax 886 2 8973 1896 E Mail info rikaline com t...

Страница 15: ...ent to initialize navigation parameters to speed up initial acquisition time The PNMRX101 message format is shown below Field Format Min chars Max chars Notes Message ID PNMRX101 6 8 PNMRX101 protocol...

Страница 16: ...GA every 1s and ZDA is skipped PNMRX103 GSV 2 GGA 1 ZDA 0 xx same as above but using a fixed length message PNMRX103 ALL 2 xx all messages are output every 2s PNMRX103 ALL 0 xx skips all messages C 4...

Страница 17: ...9999 Dz Int 0 1 5 Z offset in meters 9999 to 9999 Iflat Int 0 1 8 Inverse flatness of reference geode The value to be used is IFlat 290 1000000 The value must be in the range 6000000 12000000 Majora I...

Страница 18: ...otocol 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 Ex...

Страница 19: ...e executed after the reset If the last bit field is set to 1 then the actions are repeated permanently at each reset until this bit is cleared Field Format Min chars Max chars Notes Message ID PNMRX11...

Страница 20: ...ties C 10 PNMRX300 Almanac Data Transfer This message format is used to transfer the almanac data between nodes it uses a packed hexadecimal format to transfer almanac data for each of the available S...

Страница 21: ...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...

Страница 22: ...ger Checksum xx 0 3 2 digits Message terminator CR LF 2 ASCII 13 ASCII 10 C 12 PNMRX302 Ionospheric correction Field Format width scale units Notes Message ID PNMRX302 8 PNMRX301 protocol header Satel...

Страница 23: ...ield Format Min chars Max chars Notes Message ID PNMRX603 8 8 PNMRX603 protocol header Message Nb Int 1 1 0 Message Sequence 7 times 7xInt 1 1 Message Sequence Message Delay 7 times 7xInt 1 1 Message...

Страница 24: ...CII 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...

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