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your position is our focus

Table

lists

the

status

fields

(valid

flags)

for

the

different

NMEA

message

for

NMEA

standard

0183

Version

2.2

and

smaller:

NMEA

Message

Field

Position

Fix

(after

power-up,

after

losing

Satellite

lock)

Valid

Position

Fix

but

User

Limits

exceeded

Dead

Reckoning

(linear

extra-

polation)

EKF

Position

Fix

Position

Fix

Combined

GPS/EKF

Position

Fix

1/2

GGA

Status

not

available/invalid,

GPS,

SPS

de,

Fix

Valid

0=Fix
Mo

1=GPS

SPS

Mode,

Fix

valid ,

Estimated/Dead

Reckoning,2=Differential

Status

V=Data

A=Data

VALI

valid

(Navigation

Receiver

Warning)

GLL

Mode

Indicator

Not

available

this

NMEA

version

GSA

Nav

Mode

1=Fix

Not

available,

2=2D

Fix,

3=3D

Fix

Status

A=Data

VALID,

V=Data

avigation

Receiver

Warning)

valid

RMC

Mode

Indicator

Not

available

this

NMEA

version

VTG

Mode

Indicator

Not

available

this

NMEA

version

Table 33: NMEA Valid Flag (0183 Version 2.2 and smaller)

NMEA Output in case of invalid position fixes

GPS

Technology

comma-separated

fields

for

positio

ANTAR

will

not

output

data

case

invalid

position

fixes.

default,

will

outp

velocity

and

time

depicted

Table 34

Data Validity

GGA Output

Invalid

time

and

invalid

position

$GPGGA,,,,,,0,0,99.99,,,,,,0*48

Valid

time,

invalid

position

fix

$GPGGA,125749.00,,,,,0,0,99.99,,,,,,0*6A

Valid

time

and

position

fix

$GPGGA,125822.00,4717.11387,N,00833.91113,E,1,4,2.15,498.4,M,48.0,M,,0*57

are

≥

V3.00)

also

possible

configure

rece

able 34: NMEA Output in case of invalid position fixes (Firmw

ivers

output

well

invalid

solutions

(please

refert

Section 4.4.4.2

)

TIM-LR

enabled

receivers

only

For

enabled

receiver

valid

fix

always

combination

GPS

fix

with

position

based

the

attached

sensor

(turn

rate

ter)-

led

receivers

the

EKF

only

fix

considered

sensor,

odome

For

enab

valid

long

it’s

the

defined

accuracy

range.

GPS

Modules

System

Integration

Manual

(SIM)

(incl.

Reference

Design)

Receiver

Description

GPS.G4-MS4-05007-A1

Page 103

Содержание ANTARIS 4

Страница 1: ...pular TIM and LEA form factors and the even smaller NEO form factor This manual applies to all ANTARIS 4 GPS receivers based on Firmware 5 00 and above u blox AG Z rcherstrasse 68 8800 Thalwil Switzer...

Страница 2: ...e support and commercial aviation applications they shall not be used in such products In devices or systems whereby malfunction of these products can be expected to result in personal injury and casu...

Страница 3: ...m and functionality There is very useful information about the different antenna types available on the market and how to reduce interference in your design containing a GPS receiver 2 System Consider...

Страница 4: ...ontact the nearest of the Technical Support offices by email Use our service pool email addresses rather than any personal email address of our staff This makes sure that your request is processed as...

Страница 5: ...e Issues 22 1 6 1 Sources of Noise 22 1 6 2 Eliminating Digital Noise Sources 23 1 6 3 Shielding 26 1 7 High Sensitivity GPS SuperSense GPS 29 1 8 Assisted GPS A GPS 30 1 9 DGPS Differential GPS 30 1...

Страница 6: ...NTARIS 4 51 3 6 Layout 52 3 6 1 Footprint 52 3 6 2 Paste Mask 53 3 6 3 Placement 54 3 6 4 Antenna Connection and Grounding Plane Design 54 3 6 5 Antenna Micro Strip 56 3 6 6 Antenna Bias Voltage on NE...

Страница 7: ...92 4 5 7 SuperSense GPS Weak Signal GPS TIM 4H LEA 4H TIM 4S LEA 4S 93 4 5 8 Sensitivity Settings Tracking and Acquisition Modes 95 4 6 Navigation 96 4 6 1 Overview 96 4 6 2 Navigation Update Rate 97...

Страница 8: ...es 125 2 Shipment Storage and Handling 125 5 2 1 Handling 125 5 2 2 Shipment 125 5 2 3 Storage 126 5 2 4 Handling 126 5 2 5 Floor Li 127 fe 5 oc 3 Pr essing 128 5 3 1 Moisture Preconditioning 128 5 3...

Страница 9: ...1 Using u center Message View 139 7 2 2 Recording Logfiles 141 7 2 3 Firmware Upgrade with U center 141 Default Settings 147 A 1 Hardware 147 A 2 Navigation 147 A 3 Power Saving Modes 149 A 4 SBAS Con...

Страница 10: ...ration from TIM Lx to TIM 4x pin out 170 D 5 Pin Comparison ANTARIS to ANTARIS 4 171 4 D 6 Migration from TIM ST to TIM 4x 173 E Mechanical Dimensions Pinout 175 E 1 LEA Modules 175 E 2 TIM Modules 17...

Страница 11: ...analog intermediate frequency into a digital IF signal 2 GPS Channels The digital IF signal bit stream is passed to the baseband section where it is fed into the correlators It is the function of the...

Страница 12: ...ds at least 4 measurements to different satellites to calculate a position Lat Long Height for a 2D solution with an estimated altitude 3 different satellites are required Pseudo Range and Carrier Pha...

Страница 13: ...hours and the RTC has been running during that time Furthermore during the previous session the receiver must have been navigating to allow it to decode and store ephemeris data In Hotstart the receiv...

Страница 14: ...in Section 1 5 Jamming and interference The Dilution of Precision DOP is a unit less value that indicates when the satellite geometry provides the most bination of horizontal Note A point calculated...

Страница 15: ...e will provide incorrect information to the navigation solution resulting in a less accurate position If there are only a few satellites in sight the navigation solution might be wrong by several hund...

Страница 16: ...S system cannot be stated highly enough 1 5 1 Selecting the right Antenna Several different antenna designs are available on the GPS applications market The GPS signal is right hand circular polarized...

Страница 17: ...mation on antenna gain in dBic amplifier gain and amplifier noise figure 1 5 3 Patch Antennas Patch antennas are ideal for an application where the antenna sits on a flat surface e g the roof of a car...

Страница 18: ...axial ratio in the order of 10 dB which is closer to linear in the left graph of usion the correct groun compromis polarization than to circular and will result in respective losses This effect can al...

Страница 19: ...is quite similar to the style of antennas used in mobile e application is a hand held device the antenna should be designed in such a way that natural user operation results in optimum antenna orienta...

Страница 20: ...in other words this means that the antenna no longer presen nfluence The re with a different dielectric constant than air In order to analyze effects like this one would normally employ electrical fie...

Страница 21: ...matching and not signal vironment the sole purpose of the LNA is to provid 1st Choice Placement 2nd Choice Placement Recommended Antenna positions Perform raded If recommended placements are not avai...

Страница 22: ...z around GPS signal frequency will degrade the performanc Even out of band signals can affect GPS receiver performance If these jamming signals are strong enough that even antenna and front end filter...

Страница 23: ...easily mounted on top of this frame see Figure 12 Furthermore free space on the outermost Layers can be filled with ground shapes connected to the ground plane to shield radiation from internal layer...

Страница 24: ...specified capacitance In addition to resonance the capacitor will also behave like an inductor If many capacitors are connected in parallel total inductance will decrease while total capacitance will...

Страница 25: ...NPO dielectric AVX Figure 17 Temperature dependency of X7R dielectric AVX Figure 18 Temperature dependency of Y5V dielectric AVX GPS Modules System Integration Manual SIM incl Reference Design GPS Fu...

Страница 26: ...eed to route some signals from inside to outside of this box Signal Layers SupplyGroundLayer noisy Shield free of supplycurrents Signal line leavingbox FeedthroughCapacitor Figure 19 Ideal shielding T...

Страница 27: ...nce noise will be injected into the ground net Therefore one should try to place any feed trough capacitor far away from the most noise sensitive parts of the circuit To emphasize this once again one...

Страница 28: ...eturn currents to the power supply since the shield is probably connected to the supply ground at more than one location The preferred solution is shown in Figure 22 Again it is important to have a go...

Страница 29: ...ression in such a way that multipath is suppressed on channels with strong signals in order in case of poor reception in order to provide an optimal GPS coverage e at a price Customers must accept som...

Страница 30: ...tation Aiding Server Assistance Server Radio link e g GSM With GPS Receiver GPS Satellites Figure 25 Aiding Topology 1 9 DGPS Differential GPS Differential GPS DGPS provides slightly better accuracy t...

Страница 31: ...development stage and is sending test data MSAS initial Operating Capability IOC is expected early 2007 Other systems are planned for Canada CSAS India GAGAN Africa EGNOS and South America SBAS suppo...

Страница 32: ...Ocean Region Indian Ocean 131 EGNOS INMARSAT POR Pacific Ocean Region Pacific 134 WAAS PanAmSat Galaxy 15 133 degrees west 135 WAAS MT AT 2 Pacific not lau S nched yet 137 MSAS Tele at Anik F1R s st 1...

Страница 33: ...l algorithm the quality of the DR position depends very much on the quality and stability of he sensors u d An accurate model low tolerances and low thermal drifts are fundamental for reliable Th perf...

Страница 34: ...n is calculated based on the signals of the turn rate sensor and speed sensor with reference to the last reception the S and sensor based situation the GPS position values are used to calibrate the DR...

Страница 35: ...rts standard serial communication based on UART technology LEA and NEO modules also offer an integrated USB port Power consumption ANTARIS 4 runs on an optimized Continuous Power Mode For applications...

Страница 36: ...ceivers t additional interfaces for gyro odometer direction and temperature sensor signals his allows providing positions in areas with obstructed sky view e g tunnels where GPS only receivers are una...

Страница 37: ...O modules allow fully automatic assembly and soldering 2 4 2 LEA Modules LEA TOP View 16 17 18 19 20 28 27 26 25 24 23 22 21 15 14 13 12 11 1 2 3 4 5 6 7 8 9 10 Figure 32 LEA form factor The LEA form...

Страница 38: ...in 4x allowing u blox customers to profit from technological advances without having to redesign their applications TIM modules allow fully automatic assembly and soldering TIM form factor is 25 4 x...

Страница 39: ...ware upgrades is desired or if th ermanent storage of special configurat se Choose ROM based receivers for cost sensitive PVT applications System Integration Manual SIM incl Reference Design GPS G4 MS...

Страница 40: ...Antenna z z z z z z z z z z z z z z z z z Flash memory z z z z z z z z z z Serial Interfaces 2 2 2 2 2 2 2 1 2 2 1 2 1 2 1 2 1 USB port 1 1 1 1 1 1 1 1 Boot Time Configuration Pins z z z z z z TIMEPU...

Страница 41: ...Low Cost Programmable TIM LA Programmable TIM LC TIM LL TIM LP TIM LF N A TIM LH TIM 4A TIM 4P TIM 4S No LNA inside Migrati TIM 4H TIM LR TIM 4R on P h at ANTARIS ANTAR F re IS 4 igu 35 Compatibility...

Страница 42: ...of the issues to consider when selecting active or passive antenn Active Antenna Passive Antenna Active antenna connected to the GPS module Passive patch antennas chip antennas or helical antennas co...

Страница 43: ...cuitry to ANTARIS 4 reduce R5 to 33k Vant 2 6 6 0V design in Appendix C Nonetheless it pays off to do a quick sanity check of the design This section lists the most important items for a simple design...

Страница 44: ...imal Design with LEA f Connect the Power supply en powered In case of bus powered devices ect the U pow su befo B a op d conn n to all gr t the na RF nna supply V_ant ve antennas in rn e an active an...

Страница 45: ...t 1 8V output voltage reference Leave open if not used VBAT 11 I Backup voltage supply p battery to V_BAT in order to enable on the receivers Otherwise connect to GND See It s recommended to connect a...

Страница 46: ...O GPSMODE5 EXTINT1 P13 21 I O GPSMODE23 4 GPSMODE2 PCS2_N P12 22 I O GPIO GPSMODE Pin LEA 4A LEA 4S LEA 4M GPSMODE Pin leave open if default configuration is used Refer to Section 4 8 2 for further i...

Страница 47: ..._N GPSMODE6 NC TIME NC EXTIN GPSMO GPSMODE12 V_AN VCC_RF GND V_BAT A TI 4 GPSMODE5 TxD2 N PULSE T0 DE2 T Backup Battery RF_IN GND 16 17 18 19 20 30 29 28 22 21 15 14 13 27 26 25 24 23 12 11 1 2 3 4 5...

Страница 48: ...l Port 2 5V tolerant serial port input Internal pull up resistor to V_BAT Leave open if not used Note Don t use an external pull up resistor System BOOT_INT 3 I Boot mode Do not connect on TIM 4A and...

Страница 49: ...hown in n and follow layout recommendations in section 3 6 6 you nee r rmstart in your app cation connect a Backup Battery to V_BA equired in your application and connect the approp ur modu a mini p a...

Страница 50: ...al input The connection to the antenna has to be routed on the PCB Use a controlled impedance of 50 Ohm to connect RF_IN to the antenna or the antenna connector for details refer to Section 3 6 5 12 f...

Страница 51: ...6 5 The micro strip must be 50 Ohms and it must be routed in a section of the PCB where minimal interference from noise sources can be expected In case of a multi layer PCB use the thickness of the di...

Страница 52: ...tant information enabling the design of a reliable and sensitive GPS system TIM modules LEA modules 25 4 0 1 mm 1000 4 mil 25 4 0 1 mm 1000 4 mil 1 9 mm 75 mil 2 8 mm 110 mil 1 277 mm 50 27 mil 1 5 mm...

Страница 53: ...paste mask outside the module by using a step stencil and exceeding the paste mask beyond the Cu Mask as shown in Figure 41 If a step stencil is not used it is still recommended to employ the same vo...

Страница 54: ...uits Non emitting circuits Antenna Digital Part RF Part RF emitting circuits PCB Digital Analog circuits RF emitting circuits Antenna 16 17 18 19 20 21 22 23 24 25 26 27 28 29 15 14 12 11 10 9 8 7 6 5...

Страница 55: ...s This is because even a solid ground plane provides only limited isol tion The impedance of the antenna connection has to match the 50 Ohm impedance of the receiver To achieve an impedance of 50 Ohms...

Страница 56: ...d has huge tolerances up to 100 Therefore the impedance of this part of the trace cannot be controlled Use as many vias as possible to connect the ground planes In order to avoid reliability hazards t...

Страница 57: ...igure 46 Micro strip on a multi layer board Agilent AppCAD Coplanar Waveguide 3 6 6 Antenna Bias Voltage on NEO 4S and LEA 4M NEO 4S and LEA 4M do not provide the antenna bias voltage for active anten...

Страница 58: ...VCC_RF Inductor L GND GND Inductor L Microstrip RF_IN Antenna Supply Voltage e g VCC_RF Bad Figure 47 Recommended layout for connecting the antenna bias voltage for LEA 4M and NEO 4S GPS Modules Syste...

Страница 59: ...gle IF sub sampling scheme with an analogue IF of 96 764 MHz a sampling frequency of 23 104 MHz and a resulting digital IF of 4 348 MHz The baseband section contains the digital circuitry comprised of...

Страница 60: ...neration of the main clock freque An grated crystal oscillator XTO or TCXO generates the main clock frequency of 23 104 MHz ease connection of active antennas a bias T is integrated into most modules...

Страница 61: ...r certain application the sustained se of VCC ripple voltage at the module It is also a good idea to place a In case failure on pin VCC real time clock and backup RAM are supplied through pin V_bat Th...

Страница 62: ...A flows through these internal r To avoid this curren an order o bilities e receiver is in sle ich drive these pins ep or backup mode N ed off a current ttery through the pull up resistors XTINT0 a r...

Страница 63: ...Power The Continuous Tracking M Power Saving Mode FixNOW Mode FXN FixNOW Mode allows an application to request a navigation solution as required It includes additional power save functions and is the...

Страница 64: ...FXN Time to first fix as short as possible Set the on time to 35s and off time of to 1800s Position fix required on demand FixNOW Mode FXN Minim ower consumption al p Set the on time to 0s and off tim...

Страница 65: ...r consumption of the receiver 4 2 7 Power Saving Modes FixNOW Mode FXN In FixNOW Mode FXN the receiver will shut down automatically if there is no GPS signal and wake up at predef intervals in order t...

Страница 66: ...rough a reset cycle when the preprogrammed off time expires or upon hardware reset This means configuration changes not saved to battery backup RAM BBR or Flash will be lost after waking up from the B...

Страница 67: ...0xFF characters shall be send prior to the RXM POSREQ message Otherwise Note When waking up the ANTARIS 4 GPS Receiver by EXTINT0 a position will be calculated 4 2 7 5 Active Antenna Power Control wi...

Страница 68: ...Off State IF FixNow requested OR IF t T_acq_off Off State IF FixNow requested OR IF t T_off T_off will be aligned to TOW if TOW alignment is enabled Reacquisition Off State IF FixNow requested OR IF t...

Страница 69: ...s fails the receiver goes ff State for T_reacq_off After this time the receiver will startup as defined above GPS signal lost signal OK GPS signal no signal signal OK time T_reacq T_reacq_off T_acq ti...

Страница 70: ...t Fix T_off Figure 57 FXN ff Time GPS signal is lost in Full Power State If the signal is lost during the on q if this is not successful es to Off State for ceiver goes to Off State for After this tim...

Страница 71: ...n and off time to an absolute TOW based GPS time time grid after the first successful fix The parameter T_off has a slightly different meaning compared to the non aligned FixNOW mode It is the time gr...

Страница 72: ...1575 42 MHz The RF signal is connected to the RF_IN pin ANTARIS 4 GPS modules can be connected to passive or active antennas Note For ANTARIS 4 GPS receivers the total preamplifier gain minus cable an...

Страница 73: ...ctor Usually the supply voltage is fed to the antenna coaxial RF cable Active antennas require a power supply that will contribute to the total GPS system umption budget with additional 5 to 20 mA typ...

Страница 74: ...1 575 GHz Therefore it is not recommended to use digital supply nets to feed pin V_ANT An internal switch under control of the ANTARIS 4 GPS software can shutdown the supply to the external antenna wh...

Страница 75: ...limitation of the current can result in permanent damage to the receiver Therefore it s recommended to implement an R_BIAS in all risk applications such as situations where the antenna can be disconne...

Страница 76: ...antenna supp if required The ac shut the tenna to check the activ ted na for open and short The following state diagram applies The initial No Super vision Active Antenna OK Open Circuit d ted etec Sh...

Страница 77: ...On TIM 4R AADET is assigned to pin 30 since pin 27 is used for the SPI interface In case of designs where either a TIM 4x or a TIM 4R shall be populated a layout for two optional 0 Ohm resistors to pi...

Страница 78: ...it values apply for R2 10 voltage drop through R4 and therefore ADDET_N will be high indicating an open connection On the other hand if the current is small ADDET_N will be low e antenna open circuit...

Страница 79: ...M 4x LEA 4S and LEA 4A receivers feature two u able 21 Active essage on startu visor circuitry has a quiescent current of approximately 2mA This curren advanced circuitry NMEA the proprietary UBX prot...

Страница 80: ...be transmitted in the next sequence 4 4 e ort to use an autobauding mechanism This mechanism gets active if e If multiple break conditions are encountered the baud rate of the serial port is reduced...

Страница 81: ...ing any vendor product information or serial number Windows would immediately require the matching driver files Note W Table 23 USB Configuration Parameter Note When using USB port together with FixNO...

Страница 82: ...data t computer ous RS232 or USB rts following key featu ct 8 Bit binary protected is u checksum algorit M lar using a 2 stag ess Cla e ID UBX protocol of optimized s a owerful messages than N EA prot...

Страница 83: ...Time mark data Table 24 UBX Message Class ure P Values are offsets wh ltiple of 2 4 byte values shall start at a multiple of 4 and so on This can easily be achieved by placing the largest values firs...

Страница 84: ...ing the CLASS field up until but excluding the Che C ecksum checksum is calculated over the packet star cksum Field Figure 71 UBX Checksum range The checksum algorithm used is the 8 Bit Fletcher Algor...

Страница 85: ...s that can be tput by the receiver can also be polled ssage which polls any other message The UBX protocol wa h n sending a m age is polled o payload or just a single parameter which identifies the po...

Страница 86: ...s not take advantage of all the features of the ANTARIS 4 GPS Technology due to bandwidth limitations of the ASCII protocol Standard NMEA DTM Datum Reference GBS GNSS Satellite Fault Detection GGA Glo...

Страница 87: ...Long PUBX 03 Navstar Satellite Information Clock Information ssage For further details see ANTARIS 4 Protocol Specifications 9 messages Proprietary NMEA PUBX 00 PUBX 01 Navstar Position UTM PUBX 04 N...

Страница 88: ...e receiver s operation It only limits the number of SVs reported in NMEA mode this might be needed with older mapping applications which only support 8 or 12 channel receivers NMEA Flag Compatibility...

Страница 89: ...red for UBX and NMEA protocol so in most cases it s not necessary to change the port settings at all UBX CFG PRT or PUBX 41 messages 2 Activate certain messages signal level For best performance hig 5...

Страница 90: ...on during off time Once sufficient SVs are found the receiver sta 4 5 4 Aiding Assisted GPS AGPS The ANTARIS 4 aiding feature allows supplying external information to improve Time To First Fix TTFF Th...

Страница 91: ...e 2 Send UBX AID INI time clock and position message Do not forget to set the Accurate time is input with time pu Message Description AID REQ Virtual Aiding configuration message to enable aiding requ...

Страница 92: ...ine AssistNow Offline is an A GPS se S acquisition performance bringing Time To First Fix TTFF d istN ed for connectivity at start up T works by using Alman speed up acquisition enabling a p fix withi...

Страница 93: ...ave to rely on reflected signals in order to achieve position fixes see Figure 80 valid for a period of between 1 and 14 days thereafter Users can download correction data anytime they have an Interne...

Страница 94: ...ower Consumption The power consumpt higher compared to Standard ANTARIS GPS r meris Downl onger integr es also improve the acquisition sensitivity but it s not possible to reach the main issues is tha...

Страница 95: ...tivity can be reached by signal Therefore both the provide the best performance The ANTARIS 4 GPS Technology allows the sensitivity of the receiver to be modified in four steps Namely they are Auto Se...

Страница 96: ...ic models adjust the navigation engine tuning the GPS performance to the application environment Allow Almanac Navigation Enable Almanac Navigation without ephemeris data as a degraded mode to realize...

Страница 97: ...higher the dynamics of the device holding a GPS system the faster the position update shall be For most applications a 1Hz update rate would be sufficient 4 6 3 Dynamic Platform Model The ANTARIS 4 G...

Страница 98: ...able 29 Dynamic Platform odel Note Dynamic platforms designed for high acceleration systems e g AIRBORNE 2G may result in a tan rd deviation the reported sition 4 6 4 Static Hold Mode atic Hold mode t...

Страница 99: ...osition will only have an accuracy of a few kilometers Normal GPS performance requires at least 4 satellites included in the navigation solution which have ephemeris information available Almanac navi...

Страница 100: ...s exceed this threshold will be arameter may be set to eve a higher th of the first position fix used for the calculation of the first position fix This p a higher value than Min C No Nav in order to...

Страница 101: ...accuracy indicator along with the position and T accurac control the TIMEPULSE output They define when the TIMEPULSE is available 4 6 8 2 TDOP and T Accuracy Mask The TDOP y mask and within the reque...

Страница 102: ...1 2 GGA Status 0 Fix not available invalid 1 GPS SPS Mode Fix valid 12 2 Differential GPS SPS Mode Fix Valid 6 Estimated Dead Reckoning V V V A 13 A A A Status A Data VALID V Data Invalid Navigation...

Страница 103: ...NMEA Valid Flag 0183 Version 2 2 and smaller NMEA Output in case of invalid position fixes T IS 4 GPS Technology ut comma separated fields for positio he ANTAR will not output data in case of invalid...

Страница 104: ...is available in UBX protocol Status Field Message Enumeration Unit Description Pacc NAV SOL NAV POSECEF cm 3D Position Accuracy Estimate SAcc NAV SOL NAV VELECEF NAV VELNED cm s Speed Accuracy Estima...

Страница 105: ...nd used for navigation simultaneously Up to three SBAS satellites can be searched in parallel and every SBAS satellite tracked of receiver channels limits utilizes one vacant GPS receiver channel Only...

Страница 106: ...efore mission planning is crucial to determine the best possible configuration The different stages Testmode vs Operational of the various SBAS systems further complicate this task The following examp...

Страница 107: ...his GEO is atically chosen nd can change depending on signal conditions and e from the rec iver s autom distanc a e location System SBAS System which is b on WAAS EGNOS etc eing used for correcti data...

Страница 108: ...ware commands RAIM can only work with sufficient SV visibility and acceptable DOP geometry RAIM is activated by default and e The status of the RAIM system is reported in the NMEA GPGBS GNSS Satellite...

Страница 109: ...Time Source Selection whether the Time Pulse is GPS time or UTC time synchronized Cable Delay the iver Signal delay in cable from the antenna to the ANTARIS 4 GPS Rece User Delay The cable delay from...

Страница 110: ...calculates time and position at the phase center of the GPS antenna As the application using the time signal is not directly at the antenna any delays caused by cables filters and any other processes...

Страница 111: ...100 ms 1000 ms Figure 87 1PPS TIMEPULSE Output Signal 4 7 1 3 1kHz TIMEPULSE The following example shows a 1kHz rising edge triggered TIMEPULSE aligned to GPS time Parameter values Pulse Mode 1 risin...

Страница 112: ...ulse Mode 1 falling Pulse Per 60000 iod ms Pulse Length ms 1 Time Source 0 UTC Cable De ns 50 lay User Delay ns 0 Table 43 60 ligned Timepulse sett s UTC a ings UTC 8 30 00 UTC 8 31 00 TI PULSE ME 1 0...

Страница 113: ...e Mode Parameter Description disabled Time Mode disabled standard GPS positioning setting survey in Time Mode activated but the timing features are still inactive as the current position is not yet de...

Страница 114: ...version 5 00 The results are transmitted via serial port with the UBX TIM TM TM2 messages including time of the last Timemark time source validity number of marks delta time and a quantization error...

Страница 115: ...Configuration TARIS GPS poll parameter UBX CFG CFG F e o n nce L Cost r iv a of sibil s nfig ration with pin settings or further information refer to 8 2 e Media y backup RAM for Low Cost Receivers o...

Страница 116: ...SB 5 FXN UBX CFG Parameters of FixNOW mode FXN 6 9 EKF Configuration UBX CFG EKF Configuration TIM 4R only EKF 10 ANT UBX CFG ANT Antenna Configuration 11 Reserved N A Reserved 12 15 User0 User3 N A T...

Страница 117: ...y load configuration settings since they are automatically loaded at startup The ability to force a load of the settings can be useful if you changed some settings without saving them and want to rese...

Страница 118: ...vailable GPSMODE Configuration enabled Revert to default Firmware Setting Use Custom Settings No No Yes Yes Figure 93 ANTARIS 4 GPS Technology Start Up Procedure can be changed at any time sending ap...

Страница 119: ...F NMEA TXT z NMEA 19 2 High User Notice Warning Error 0 0 0 UBX 57 6 z User Notice Warning Error 0 0 1 UBX 38 4 NMEA 9 6 Med z 0 1 0 UBX 19 2 NMEA 4 8 Low User Notice Warning Error z 0 1 1 Auto Auto O...

Страница 120: ...LOCK TIM MON SCHD IO IPC RXM RAW J Default setting Table 51 ROM message set 4 8 2 4 USB Power Mode GPSMODE7 defines the USB power mode of the module A bus powered device is powered from the USB bus an...

Страница 121: ...resets the Navigation and Tracking Engine and starts them again The system is not fully restarted from scratch The Forced Reset is an asynchronous reset that immediately stops all tasks that are runn...

Страница 122: ...95 Examples for wiring RESET_N Warning Do not drive RESET_N high The maxim RESET ATR062x BOOT_INT_N Figure 96 BOOT_INT Internal connection l is only used for production tests at u blox hence no jumpe...

Страница 123: ...tware Version 2 Hardware Version 3 Current syste 4 Maximum stack usage since last reset Last exception type registers sta 6 Target USART SPI specific values Number of bytes Number of bytes Number of p...

Страница 124: ...roduction lot set up and tear down Figure 97 Reeled ANTARIS 4 GPS Receiver modules liverable in two quantities A 100pcs and a 250pcs reel The dimensions of e 5 1 1 Reels The ANTARIS 4 GPS Modules are...

Страница 125: ...y line The ndling the ANTARIS 4 GPS Receiver tection may destroy or damage the GPS modules permanently Warning According to JEDEC ISP the ANTARIS 4 GPS Modules are moisture sensitive devices Appropria...

Страница 126: ...Handling A humidity indicator are shipped on tape a card and a desiccant bag to absorb humidity are enclosed in the sealed package The parts nd reel in a hermetically sealed package If no humidity has...

Страница 127: ...to pre bake the components floor temperature and humidity condition soldered within this specified period of time Once the sealed package of the reel is opened and the parts exposed to humidity they...

Страница 128: ...ontacts This applies to all SMT devices 5 3 2 Soldering Paste prevent cracking and delamination associated with the popcorn effect during solder reflow The popcorn effect can be described as miniature...

Страница 129: ...right solder fillets with a ape Tempe ax 3 C s ote To avoid falling off the ANTARIS 4 GPS Module should be placed on the topside of the motherboard during soldering The final soldering temperature cho...

Страница 130: ...hboring pads or possibly to pad stacks and vias nearby Figure 102 Recommended soldering profile Note When soldering leadfree ANTARIS 4 temperatures PB Technology Soaktime 40 80sec Time above Liquidus...

Страница 131: ...is removed clean the pads before placing and hand soldering a new module Warning Never attempt a rework on the module itself e g replacing individual components Such actions will terminate warranty c...

Страница 132: ...ectly onto the EMI covers is done at the customer s own risk The numerous ground pins should be sufficient to provide optimum immunity to interferences and noise Note u blox makes no warranty for dama...

Страница 133: ...Therefore at the en detail to improve the production his is achie tomatic nt which deliv e verification of FLA of voltages ts of RF c g C No Figure 103 Automatic Test Equipment for Module Tests 2 Test...

Страница 134: ...dB and read the C No value again 6 Compare the results to a Golden Device or an ANTARIS 4 GPS EvalKit 6 3 2 Go No go tests for integrated devices osition with excellent visibility HDOP 3 0 Let the ngt...

Страница 135: ...c interface communication interface def COM use COM port for RS232 communication e erase thecomplete flash memory even without firmware upgrade f filename address firmware image and optional address i...

Страница 136: ...te used during the firmware download The default value is 115200 baud The lower this baud rate the longer a firmware update takes 7 If Production Mode is set to serial port with UBX protocol check the...

Страница 137: ...ress Update Button to start download Figure 106 Screenshot u center Firmware Update Tool settings for Serial Port Update GPS Modules System Integration Manual SIM incl Reference Design PC Support Tool...

Страница 138: ...ovided with every ANTARIS EvalKit and ANTARIS Software Customization Kit New continuously improved releases can be downloaded for free from our website http www u blox com Figure 110 Screenshot u cent...

Страница 139: ...scription Lock Prevents the Message View from being updated with new data when locked Clear All Erases the entire Message View Send Sends the current message to the GPS receiver Poll Polls the selecte...

Страница 140: ...hecks on input messages If an input value exceeds the permitted range u center will highlight the field in red but it is still possible to send the value to the receiver However the receiver is likely...

Страница 141: ...controls one record a log file step through or e player toolbar can be used to navigate through the same wa he series of he log file The records w ng u d on th to u ce io splay window in guide 4 for...

Страница 142: ...fy the name receive Specify and load this configuration into the ANTA receiver A lag can be set to force storing the configuration into the should do on a single message if one fail Note Sending a con...

Страница 143: ...ss ID message ID hexadecimal byte the message The byte cl d bytes payload length 2 bytes ad length bytes Th ters the e not included They will be Please ref RIS 4 Protocol for d taile 1st line it conta...

Страница 144: ...doe not directly port this since it provides a position a mation which allo user t filter the p ition according to is requirements However the within Limits flag of th NAV S ATUS messa e indicate whe...

Страница 145: ...ap seconds at the time being Though the latter approach seems to be an se of cold starts right now it is very questionable approach As the number of leap seconds will change sooner or later the earth...

Страница 146: ...n may be lost since u center AE and the GPS r l autonomously try to ad te ot enter AE autobauding feature if the G r has the autobauding flag S ports are not shown in th rt list of m p E Only ports th...

Страница 147: ...bled abled Disabled e Open circuit dete En Table 5 s C 4S LEA 4M19 TIM 4A 4S and S 6 Antenna setting Low ost ROM only GPS Receivers LEA 4A LEA TIM NEO 4 Parameter Default setting Unit Range Remark Ena...

Страница 148: ...ed D DISABL En O NOT E DGPS Timeout 60 s Fixed Altitude 500 m Table 59 NMEA Protocol UBX CFG NMEA Navigation default settings Parameter Default setting Unit Range Remark Enabl li abled bled Disabled e...

Страница 149: ...iguration default EA 4H T nd N EA S and TIM 4S Parameter Default setting Unit Range Remark GPS Mode High Sensiti Auto Normal Fast Acquisition High Sensitivity vity Low Power Mode 0 CTM 0 CTM 1 FXN Tab...

Страница 150: ...baud no parity bit 1 p bit 8 bits sto Autobauding Disabled bled Disabled Ena USART2 TARGET2 Protocol in 0 1 2 TCM ne 0 UBX 1 NMEA 2 RTC USER1 14 USER2 USER3 UBX NMEA R No M 12 USER0 13 15 Protocol out...

Страница 151: ...RXM RAW Out RXM SFRB Out RXM SVSI Out RXM RTC Out RXM ALM Out RXM EPH Out MON SCHD Out 1 MON 1 IO Out MON IPC Out MON MSGPP Out MON RXBUF Out MON TXBUF Out 1 MON HW Out MO EX Ou 1 CEPT N t MON VER Ou...

Страница 152: ...r Table 7 d INF msg 1 UBX default enable NMEA Message Type USART1 TARGET1 24 USART2 TARGET2 USB TARGET3 Range Remark INF Er 1 1 ror Out INF Warning Out 1 1 INF No 1 1 tice Out INF Test Out INF Debug O...

Страница 153: ...i Poll 1000 ms Rate Table 73 Timemark default settings Timepulse UBX CFG TP Parameter Default setting unit Range Remark Pulse Mode 1 rising 1 rising 0 disabled 1 falling Pulse riod Pe 1000 ms 1 60 000...

Страница 154: ...babwe ARF M 7 0 143 0 90 0 294 0 12 ARC 1950 Botswana ARF A 7 0 138 0 105 0 289 0 13 ARC 1950 Burundi ARF H 7 0 153 0 5 0 292 0 14 ARC 1950 Lesotho ARF B 7 0 125 0 108 0 295 0 15 ARC 1950 Malawi ARF C...

Страница 155: ...0 0 50 Indonesian 1974 IDN 19 0 24 0 15 0 5 0 51 Kandawala Sri Lanka KAN 9 0 97 0 787 0 86 0 52 rtau 1948 West Malaysia Singapore KEA 13 Ke 0 11 0 851 0 5 0 53 Nahrwan Masirah Island Oman NAH A 7 0 24...

Страница 156: ...ngland Isle of Man Wales OGB B 1 0 371 0 111 0 434 0 86 Ordnance Survey of GB 1936 Scotland Shetland Isles OGB C 1 0 384 0 111 0 425 0 87 Ordnance Survey of GB 1936 Wales OGB D 1 0 370 0 108 0 434 0 8...

Страница 157: ...3 Mexico Central America NAR D 16 0 0 0 0 0 0 0 118 B a Observatory Colombia BOO 20 0 307 0 304 0 318 0 ogot 119 Camp gentina CAI 20 0 148 0 136 0 90 0 o Inchauspe 1969 Ar 120 Chua Astro Paraguay CHU...

Страница 158: ...aciosa Pico Sao Jorge Terceira Islands Azores GRA 20 0 104 0 167 0 38 0 153 ISTS 061 Astro 1968 South Georgia Islands ISG 20 0 794 0 119 0 298 0 154 L C 5 Astro 1961 Cayman Brac Island LCF 6 0 42 0 12...

Страница 159: ...saie Astro 1 Caroline Islands States KUS of Micr 20 0 1 Philippin ana LUZ A 0 87 Luzon es excluding Mind o Island 6 0 133 0 77 0 51 1 Mindan es LUZ B 133 0 79 0 72 0 88 Luzon ao Island Philippin 6 0 1...

Страница 160: ...y 1830 6377563 39 299 3249646 2 Airy 40 189 6 Modified 63773 299 324964 3 Australian Nation 6378160 000 al 298 25 4 Bessel 1841 Nam 6377483 865 128 ibia 299 1528 5 Bessel 1841 6377397 155 299 1528128...

Страница 161: ...econds Scale 0 0 000 0 0000 0 0000 0 0000 1 220 0 0000 0 0000 0 5540 0 2 Datum ig Subcommision 0 0625 0 0470 0 045 European 1987 IAG RETr 0 1338 T 7 tation and able 7 Ro scale GPS Modules System Integ...

Страница 162: ...could b ved furth the slot would likely not be necessary and a layout similar to Figure 43 will work fine Increasing the length of this slot is not recommended and will not further im o ormance 1 Sche...

Страница 163: ...r 1 6 fo mm yo fers l u review ur esi to assure good GPS performance Plea ly nc nten The following design d rt all LEA modules on one PCB an one serial port as well as a USB connection If USB is not d...

Страница 164: ...of the pass ne r neglected if the design does not have to support Low Cost M A gure 121 LEA S rt Antenn ematic ive compo 4A nts Resisto s can be odules like LE GPS Modules System Integration Manual SI...

Страница 165: ...3W A GPSMODE5 see also section 4 8 2 3 Do not fit R6B For LEA 4S and LEA 4 fit R6A or leave open Leave R6A open for LEA 4H and LEA 4P designs R7B 100k Resisto 3W tion 4 8 2 2 Do not fit R7A For LEA d...

Страница 166: ...us C 2 3 Layout The layout is designed for a 2 layer 1mm FR4 PCB board F e op Layer igur 122 T Figure 123 Bottom Layer GPS Modules System Integration Manual SIM incl Reference Design Demo Design GPS G...

Страница 167: ...ce 4 RXD1 VDDIO level I O pull up if not used RXD1 VDDIO level I O Do not add an external pull up resistor there is one built in to V_BAT Leave open if not used 5 VDDIO 1 65 3 60V VDDIO 1 65 3 60V To...

Страница 168: ...Do not add an external pull up resistor there is one built in to V_BAT Leave open if not used 5 VDDIO 1 65 3 60V VDDIO 1 65 3 60V To be compatible to LEA LA VDDIO has to be set to Vcc to assure a 3 0V...

Страница 169: ...d USB_DM Not connected 26 NC Not connected USB_DP Not connected Placing a LEA 4x into an existing LEA LA board design will disable USB port 27 EXTINT0 Connected to VDD18OUT EXTINT0 Not connected Do no...

Страница 170: ...0V 5 0V V_ANT 3 0V 5 0 No difference 19 V_ANT V 20 VCC_RF VCC 0 1V VCC_RF VCC 0 1 No difference V 21 V_BAT 1 95 3 6V V_BAT 1 50 Uncritical for migration 3 6V Wider voltage range 22 RESET_N 1 8V RESET_...

Страница 171: ...17 RF_IN RF_IN RF_IN RF_IN RF_IN IN RF RF RF_ RF_IN RF_IN _IN RF_IN _IN RF_IN 17 18 GND GND GND GND GND GND ND G G G GND ND GND ND GND 18 19 V_ANT 3 0V 5 0V V_ANT 3 0V 5 0V V_ANT 3 0V ANT V_ V V_ 0V...

Страница 172: ...GND GND GND GND 15 16 RF_IN RF_IN RF_IN RF_IN RF_IN RF_IN 16 17 GND GND GND GND GND GND 17 18 VCC_RF VCC 0 1V VCC_RF VCC 0 1V VCC_RF VCC 0 1V 18 19 V_ANT 3 0V 5 0V V_ANT 3 0V 5 0V V_ANT 3 0V 5 0V 19...

Страница 173: ...fter decimal point requests commas between as a separator between NMEA data fields One should therefore write a parser that searches for commas and extracts everything between two commas This way the...

Страница 174: ...ence 20 VCC_RF VCC 0 1V VCC_RF VCC 0 1V No difference 21 V_BAT 1 85 3 6V V_BAT 1 50 3 6V Wider voltage range 22 RESET_N 3 0V RESET_N 1 8V Different voltage range No problem as long as this pin is not...

Страница 175: ...16 15 LEA 4M 3 0 0 3 mm 118 1 12 mil Top View 17 0 0 1 mm 669 4 mil 1 22 4 0 1 mm 881 9 4 mil TxD2 RxD2 EXTINT0 TIMEPULSE 1 10 0 1 mm 43 3 4 mil TxD1 USB_DP RxD1 VDDIO VDDUSB USB_DM VCC GND GPSMODE2...

Страница 176: ...GND GND VCC GND GND GND GND 25 4 0 1 mm 1000 4 mil 25 4 0 1 mm 1000 4 mil 1 9 0 1 mm 4 mil 8 0 1 mm 0 4 mil 0 1 mm 50 27 4 mil 0 1 mm 9 4 mil 75 2 11 1 277 1 5 5 3 11 0 0 3 mm 8 12 mil TIM 4R Top View...

Страница 177: ...NCS SCK CFG_USB MISO MOSI OT_INT SELECT USB_DM USB_DP VDDUSB ved VCC_RF GND GND RF_IN Reser Reser 3 0 0 1 mm 118 1 4 mil 16 0 1 1 0 1 mm 43 3 4 mil 1 mm 630 4 mil 1 0 0 1 mm 39 4 4 mil 0 8 0 1 mm 31 5...

Страница 178: ...J Jamming 22 42 52 54 73 L Layout 52 LEA modules 37 Load Configuration 116 Low Cost Receiver 36 115 117 Low Noise Amplifier 60 M Measurement Period 97 Message Class 83 Message View 139 Micro strip 42...

Страница 179: ...100 109 Timing Receivers 36 TTFF 42 144 turn rate sensor 32 34 99 102 103 U UBX Protocol 82 u center 138 144 14 Universal Transverse M Update Rate 96 USART 79 80 81 82 Power Mode 120 Offset 145 C Tim...

Страница 180: ...pedance of 0805 size SMD capacitors vs frequency MuRataUT 24 TUFigure 16 Temperature dependency of COG NPO dielectric AVXUT 25 TUFigure 17 Temperature dependency of X7R dielectric AVXUT 25 TUFigure 18...

Страница 181: ...eT 70 TFigure 59 FXN With On Off Time and absolute alignment after a first fixT 71 TFigure 60 Active antenna biasingT 73 TFigure 61 Supplying Antenna bias voltageT 74 TFigure 62 Recommended wiring for...

Страница 182: ...center ANTARISP P Edition Tools MenuT 136 TFigure 106 Screenshot u center Firmware Update Tool settings for Serial Port UpdateT 137 TFigure 110 Screenshot u center ANTARISP PEdition u center AE T 138...

Страница 183: ...iguration ParameterT 81 TTable 24 UBX Message ClassT 83 TTable 25 Internal Field Number FormatsT 84 TTable 26 Aiding messagesT 91 TTable 27 Overview GPS Navigation ParameterT 96 TTable 28 Navigation r...

Страница 184: ...gs of LEA 4H TIM 4H and NEO 4ST 149 TTable 64 Receiver Configuration default settings of LEA 4S and TIM 4ST 149 TTable 65 FixNOW default settingsT 149 TTable 66 SBAS Configuration default settingsT 15...

Страница 185: ...eight Above WGS84 Ellipsoid LLA Latitude Longitude and Altitude LNA Low Noise Amplifier LOS Line of sight MSL Height above Mean Sea Level or Orthometric Height NMEA 0183 ASCII based standard data comm...

Страница 186: ...05043 8 SCKit Manual CHM online help file Doc No GPS X 03017 obsolete 9 ANTARISP P4 Protocol Specifications CHM Doc No GPS G3 X 03002 10 USB Installation for ANTARISP P4 GPS Receivers Doc No GPS G4 CS...

Страница 187: ...a u blox AG Zuercherstrasse 68 CH 8800 Thalwil Switzerland Phone 41 44 722 74 77 Fax 41 44 722 74 47 E mail info u blox com Technical Support Phone 41 44 722 74 74 E mail support u blox com Asia Austr...

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