User manual HOLUX GM-82

GM-82 GPS Engine Board User's Guide July 18, 2003 Version 2.0 HOLUX Technology Inc. 8F, 26, Tai-Yuen Street, Tai-Yuen Hi-Tech Industrial Park, Chu Pei City 302, Hsinchu, Taiwan. Phone: +886-3-552-6268 Fax: +886-3-552-6108 E-Mail: info@holux.com.tw Web: www.holux.com.tw All Right Reserved GM-82 User's manual TABLE OF CONTENTS 1. Introduction .................................................................................................................................... 3 1.1 Overview................................................................................................................................ 3 1.2 Features ................................................................................................................................. 3 1.3 Technology Specifications............................................................................................. 3 1.3.1 Physical Dimension............................................................................................... 3 1.3.2 Environmental Characteristics ......................................................................... 3 1.3.3 Electrical Characteristics.................................................................................... 3 1.3.4 Performance............................................................................................................. 3 1.3.5 Interfaces................................................................................................................... 4 2. Operational characteristics ...................................................................................................... 4 2.1 Initialization .......................................................................................................................... 4 2.2 Navigation ............................................................................................................................. 5 2.3 Manufacturing Default: .................................................................................................... 5 3. Hardware interface ....................................................................................................................... 5 3.1 Standard Model GM-82..................................................................................................... 5 4. Software Interface ........................................................................................................................ 7 4.1 NMEA Transmitted Messages ....................................................................................... 7 4.1.1 Global Positioning System Fix Data (GGA) ................................................. 7 4.1.2 Geographic Position with Latitude/Longitude(GLL)................................. 8 4.1.3 GNSS DOP and Active Satellites (GSA) ........................................................ 8 4.1.4 GNSS Satellites in View (GSV).......................................................................... 8 4.1.5 Recommended Minimum Specific GNSS Data (RMC).............................. 9 4.1.6 Course Over Ground and Ground Speed (VTG)......................................... 9 4.1.6 MSK Receiver Signal (MSS) ............................................................................. 10 4.2 RTCM Received Data ...................................................................................................... 10 5. Earth Datums .............................................................................................................................. 10 5.1 Earth Datums ..................................................................................................................... 10 5.2 . Manufacturing Default: ................................................................................................ 12 5.2.1 Setting Syntax ....................................................................................................... 12 5.2.2 Addition Software ................................................................................................ 12 6. Ordering Information .............................................................................................................. 13 6.1 Products Options ............................................................................................................. 13 6.2 Accessories........................................................................................................................ 13 6.3 Other Products.................................................................................................................. 13 2 GM-82 User's manual 1. Introduction 1.1 Overview The HOLUX GM-82 Engine Board is a total solution GPS receiver, designed based on SiRF star II/LP Architecture. This positioning application meets strict needs such as car navigation, mapping, surveying, agriculture and so on. Only clear view of sky and certain power supply are necessary to the unit. GM-82 communicates with other electronic utilities via compatible dual-channel through RS-232 or TTL and saves critical satellite data by built­in memory backup. With low power consumption, the GM-82 tracks up to 12 satellites at a time, re-acquires satellite signals in 100 ms and updates position data every second. Trickle-Power allows the unit operates a fraction of the time and Push-to-Fix permits user to have a quick position fix even though the receiver usually stays off. 1.2 Features The GM-82 provides a host of features that make it easy for integration and use. SiRF Star II/LP chipset with embedded ARM7TDMI CPU available for customized applications in firmware 12 parallel satellite-tracking channels for fast acquisition and reacquisition High speed signal acquisition using 1920 time/frequency search channels Built-in WAAS/EGNOS Demodulator Low power consumption with Advanced Trickle-Power and Push-To-Fix mode Optional Rechargeable battery for memory and RTC backup and for fast Time To First Fix(TTFF) Support NMEA0183 v2.2 data protocol and SiRF binary code Enhanced algorithms -SnapLock and SnapStart provide superior navigation performance in urban, canyon and foliage environments For Car Navigation , Marine Navigation ,Fleet Management ,AVL and Location-Based Services , Auto Pilot ,Personal Navigation or touring devices, Tracking devices/systems and Mapping devices application 1.3 Technology Specifications 1.3.1 Physical Dimension 1) PCB Size: 40(W) x 50(D) x 12(H) (mm) 2) Weight: 18 g 1.3.2 Environmental Characteristics 1) Operating temperature: -40oC to +85oC (internal temperature) 2) Storage temperature: -45oC to +100oC 1.3.3 Electrical Characteristics 1) 2) 3) 4) Input voltage: 5.0Vdc +/-10% or 3.3Vdc +/- 10%. Input current: Less than 80mA (without antenna ) Backup power:(optional). 3V Rechargeable Lithium cell battery, up to 1000 hours discharge. MCX antenna connector: Active . 1.3.4 Performance 1) Tracks up to 12 satellites. 3 GM-82 User's manual 2) Update rate: 1 second. 3) Acquisition time: Reacquisition Hot start Warm start Cold start 4) Position accuracy: Non DGPS (Differential GPS) Position 5~25 Velocity 0.1 Time 1 DGPS (Differential GPS) Position Velocity EGNOS/WAAS Position 5) Dynamic Conditions: Altitude Velocity Acceleration Jerk 18,000 515 4 20 meters(60,000 feet) max meters/second (700 knots) max G, max meters/second³, max 1 to 5 0.05 < 2.2 <5 meter CEP meters/second. microsecond synchronized GPS time meters, typical meters/second, typical meters, horizontal 95% of time meters, vertical 95% of time 0.1 8 38 45 sec, averaged sec. averaged sec. averaged sec. averaged 1.3.5 Interfaces 1) Dual communication channel TTL or RS232 levels, with user selectable baud rate (4800-Default, 9600, 19200, 38400). 2) NMEA 0183 Version 2.2 ASCII output (GGA, GSA, GSV, RMC (VTG and GLL for optional)). 3) Real-time Differential Correction input (RTCM SC-104 message types 1, 2 and 9). 2. Operational characteristics 2.1 Initialization As soon as the initial self-test is complete, the GM-82 begins the process of satellite acquisition and tracking automatically. Under normal circumstances, it takes approximately 45 seconds to achieve a position fix, 38 seconds if ephemeris data is known. After a position fix has been calculated, information about valid position, velocity and time is transmitted over the output channel. The GM-82 utilizes initial data, such as last stored position, date, time and satellite orbital data, to achieve maximum acquisition 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 GM-82 Auto-locate feature is capable of automatically determining a navigation solution without intervention from the host system. However, acquisition performance can be improved as the host system initializes the GM-82 in the following situation: Moving further than 500 kilometers. Failure of Data storage due to the inactive internal memory battery. 4 GM-82 User's manual 2.2 Navigation After the acquisition process is complete, the GM-82 sends valid navigation information over output channels. These data include: 1) 2) 3) 4) 5) Latitude/longitude/altitude Velocity Date/time Error estimates Satellite and receiver status 2.3 Manufacturing Default: Datum: WGS84. Baud Rate: 4800. Output: GGA, GSA, GSV, RMC or by demand. DGPS: RTCM SC-104(Type 1,2,9) or WAAS (in USA area) or EGNOS (in European area) 3. Hardware interface 3.1 Standard Model GM-82 GM-82-A W/ angle MCX connector and standard hole to hole dimension 5 GM-82 User's manual J1 connector pin definition: Pin # Name 1 NC 2 VCC_5V 3 VBAT 4 NC 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 PBRESEN GPIO1 GPIO2 GPIO3 GPIO4 GND TXA RXA GND TXB RXB GND GPIO5 GND TIMEMARK NC Description No function Regulated 5.0V +/-5% input power, 80mA typical. Battery backup input. 2.5V to 3.3V ,10uA typical. No function Manual reset input, ground to reset receiver. Leave floating for normal operation. The minimum plus width is 150 ms reset signal. General purpose I/O pin 1 General purpose I/O pin 2 General purpose I/O pin 3 General purpose I/O pin 4 Ground Port A Serial Transmit Data GPS messages. Port A Serial Receive Data GPS commands. Ground Port B Serial Transmit Data. Port B Serial Receive Data DGPS messages. Ground. Reserved for re-programming flash. Ground 1PPS Time mark output No function 1. VCC_5V: + 5V DC voltage input. 2. Dual communication channel TTL levels (GM-82-T0/T1) or RS-232 levels (GM-82-A0/A1), with user selectable baud rates (4800-Default, 9600, 19200, 38400). RXA: Main Receive Channel. This input is used to receive software commands to the GM-82 from user written software. RXB: Auxiliary Receive Channel. This input is used to receive serial differential GPS data. TXA: Main Serial Output. This output provides navigation data to user written software. TXB: For user's application (not currently used). 3. PBRESEN: This pin provides an active-low reset input to the GM-82. Activation of this pin will reset and start acquisition process. It may be left open if not utilized. 4. TIMEMARK: This pin provides One-Pulse-Per-Second output from the GM-82 board, which is synchronized to GPS time. This is not available in Trickle-Power mode. 5. VBAT: Battery backup input for powering the RAM and RTC. Typical current is 10uA. Without an external backup battery the GM-82 will execute a cold start when turning on each time. To achieve the faster start-up offered by a hot or warm start, either a battery backup must be connected. A 2.5V and 3.6V power source is required in order to maximize battery lifetime. With a lithium cell battery, the data retention is 1,000 hours. 6. GPIO Functions: Several I/Os of CPU are connected to the digital interface connector for customer's applications and are labeled as GPIO1 to GPIO5. 6 GM-82 User's manual 4. Software Interface The GPS-82 interface protocol is based on the National Marine Electronics Association's NMEA 0183 ASCinterface specification, which is defined in NMEA 0183, Version 2.2 and the Radio Technical Commission for Maritime Services (RTCM Recommended Standards For Differential Navstar GPS Service, Version 2.1, RTCM Special Committee No.104). 4.1 NMEA Transmitted Messages The default communication parameters for NMEA output are 4800 baud, 8 data bits, stop bit, and no parity. Table 4-1 NMEA-0183 Output Messages Description NMEA Record Global positioning system fixed data GPGGA 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 GPMSS Radio-beacon Signal-to-noise ratio, signal strength, frequency, etc. 4.1.1 Global Positioning System Fix Data (GGA) Table 4-2 contains the values for the following example: $GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18 Table 4-2 GGA Data Format Name Example Units Description Message ID $GPGGA UTC Time 161229.487 Latitude 3723.2475 N/S Indicator N Longitude 12158.3416 E/W Indicator W Position Fix Indicator 1 Satellites Used 07 HDOP 1.0 MSL Altitude (1) 9.0 Units M Geoid Separation(1) Units M Age of Diff. Corr. Diff. Ref. Station ID 0000 Checksum *18 Table 4-3 Position Fix Indicator Value GGA protocol header hhmmss.sss ddmm.mmmm N=north or S=south dddmm.mmmm E=east or W=west See Table 5-3 Range 0 to 12 Horizontal Dilution of Precision Meters Meters Meters Meters second Null fields when DGPS is not used End of message termination (1). SiRF Technology Inc. does not support geoid corrections. Values are WGS84 ellipsoid heights. Description 0 1 2 3 0 Fix not available or invalid GPS SPS Mode, fix valid Differential GPS, SPS Mode, fix valid GPS PPS Mode, fix valid 7 GM-82 User's manual 4.1.2 Geographic Position with Latitude/Longitude(GLL) Table 4-4 contains the values for the following example: $GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C Table 4-4 GLL Data Format Name Example Units Description Message ID Latitude N/S Indicator Longitude E/W Indicator UTC Position Status Checksum $GPGLL 3723.2475 N 12158.3416 W 161229.487 A *2C GLL protocol header ddmm.mmmm N/S Indicator N N=north or S=south dddmm.mmmm E=east or W=west hhmmss.sss A=data valid or V=data not valid End of message termination 4.1.3 GNSS DOP and Active Satellites (GSA) Table 4-5 contains the values for the following example: $GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33 Table 4-5 GSA Data Format Name Example Units Description Message ID Mode 1 Mode 2 Satellite Used(1) Satellite Used(1) ...... Satellite Used(1) PDOP HDOP VDOP Checksum 1. Satellite used in solution. $GPGSA A 3 07 02 1.8 1.0 1.5 *33 GSA protocol header See Table 5-6 See Table 5-7 Sv on Channel 1 Sv on Channel 2 .... Sv on Channel 12 Position Dilution of Precision Horizontal Dilution of Precision Vertical Dilution of Precision End of message termination Table 4-6 Mode 1 Value Description M A Table 4-7 Mode 2 Value Manual--forced to operate in 2D or 3D mode 2DAutomatic--allowed to automatically switch 2D/3D Description 1 2 3 Fix Not Available 2D 3D 4.1.4 GNSS Satellites in View (GSV) Table 4-8 contains the values for the following example: $GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71 $GPGSV,2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41 8 GM-82 User's manual Table 4-8 GSV Data Format Name Example Units Description Message ID $GPGSV GSV protocol header Number of Messages(1) 2 Range 1 to 3 Message Number(1) 1 Range 1 to 3 Satellites in View 07 Satellite ID 07 Channel 1 (Range 1 to 32) Elevation 79 degrees Channel 1 (Maximum 90) Azimuth 048 degrees Channel 1 (True, Range 0 to 359) SNR (C/No) 42 dBHz Range 0 to 99, null when not tracking .... .... Satellite ID 27 Channel 4 (Range 1 to 32) Elevation 27 degrees Channel 4 (Maximum 90) Azimuth 138 degrees Channel 4 (True, Range 0 to 359) SNR (C/No) 42 dBHz Range 0 to 99, null when not tracking Checksum *71 End of message termination (1). Depending on the number of satellites tracked multiple messages of GSV data may be required. 4.1.5 Recommended Minimum Specific GNSS Data (RMC) Table 4-9 contains the values for the following example: $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10 Table 4-9 RMC Data Format Name Example Units Description Message ID UTC Time Status Latitude N/S Indicator Longitude E/W Indicator Speed Over Ground Course Over Ground Date Magnetic Variation(1) Checksum $GPRMC 161229.487 A 3723.2475 N 12158.3416 W 0.13 309.62 120598 *10 RMC protocol header hhmmss.sss A=data valid or V=data not valid ddmm.mmmm N=north or S=south dddmm.mmmm E=east or W=west knots degrees True ddmmyy degrees E=east or W=west End of message termination (1). SiRF Technology Inc. does not support magnetic declination. All "course over ground" data are geodetic WGS84 directions. 4.1.6 Course Over Ground and Ground Speed (VTG) Table 4-10 contains the values for the following example: $GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E Table 4-10 VTG Data Format Name Example Units Description Message ID Course Reference Course Reference Speed Units $GPVTG 309.62 T M 0.13 N VTG protocol header degrees Measured heading True degrees Measured heading Magnetic(1) knots Measured horizontal speed Knots 9 GM-82 User's manual Speed Units Checksum 0.2 K *6E km/hr Measured horizontal speed Kilometers per hour End of message termination (1). SiRF Technology Inc. does not support magnetic declination. All "course over ground" data are geodetic WGS84 directions. 4.1.6 MSK Receiver Signal (MSS) Table C-9 contains the values for the following example: $GPMSS,55,27,318.0,100,*66 Table C-9 MSS Data Format Name Example Message ID $GPMSS Signal Strength 55 Signal-to-Noise Ratio 27 Beacon Frequency 318.0 Beacon Bit Rate 100 Units MSS dB dB kHz Description protocol header dB SS of tracked frequency SNR of tracked frequency Currently tracked frequency 100 bits per second Note ­ The MSS NMEA message can only be polled or scheduled using the MSK NMEA input message. 4.2 RTCM Received Data The default communication parameters for DGPS Input are 9600 baud, 8 data bits, stop bit, and no parity. Position accuracy of less than 5 meters can be achieved with the GPS-82 by using Differential GPS (DGPS) real-time pseudo-range correction data in RTCM SC-104 format, with message types 1,2, or 9. As using DGPS receiver with different communication parameters, GPS-82 may decode the data correctly to generate accurate messages and save them in battery-back SRAM for later computing. 5. Earth Datums 5.1 Earth Datums The following is a list of the GM-82 earth datum index and the corresponding Item Datum Reference Ellipsoid 1 Adindan - Ethiopia Clarke 1880 2 Afgooye - Somalia Krassovsky 3 Alaska, Conus ­ North American 1983 GRS 1980 4 Argentina South American 1969 5 International Bahrain ­ Ain el ABD 1970 6 Bangladesh Everest 1830 7 Clarke 1880 Botswana ­ ARC 1950 8 Bolivia South American 1969 9 Brazil South American 1969 10 Canada ­ North American 1983 GRS 1980 11 Colombia ­ Provisional American 1956 International 12 Colombia South American 1969 13 Chile South American 1969 14 Ecuador South American 1969 15 European 1950 - Cyprus International 16 European 1950 ­ Eastern Regional Mean International 17 European 1950 ­ Egypt International 18 European 1950 ­ Finland, Norway International 19 European 1950 ­ Greece International earth datum name: Data name Data1.dat Data2.dat Data3.dat Data4.dat Data5.dat Data6.dat Data7.dat Data8.dat Data9.dat Data10.dat Data11.dat Data12.dat Data13.dat Data14.dat Data15.dat Data16.dat Data17.dat Data18.dat Data19.dat 10 GM-82 User's manual 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 European 1950 - Iran International International European 1950 ­ Italy (Sardinia) International European 1950 ­ Italy (Sicily) International European 1950 ­ Malta European 1950 ­ Northern Regional Mean International International European 1950 ­ Portugal, Spain European 1950 ­ Southern Regional Mean International International European 1950 ­ Tunisia European 1950 ­ Western Regional mean International European 1950 ­ Central Regional Mean International Guyana - South American 1969 South American 1969 Hong Kong International Hawaii-North American 1983 GRS1980 Hu_Tsu_Shan Taiwan International Indian 1960 Everest 1830 Ireland - 1965 Modified Airy Liberia - 1964 Clarke 1880 Brunel, East Malaysia Everest (Sabah & Sarawak) Mexcio, central America GRS1980 OMAN Clarke 1880 Pakistan Everest 1830 Peru1 - South American 1969 South American 1969 Paraguay - South American 1969 South American 1969 Philippines Clarke 1866 Clarke 1866 Puerto Rico ­ Virgin Islands Qatar national International International Qornoq ­ Greenland (SOUTH) International Reunion ­ Mascarene Islands Regional Mean South American 1969 International Rome 1940 ­ Italy Saudi Arabia- Ain el Abd 1970 International Singapore Modified Fischer 1960 South Africa Clarke 1880 Kenya, Tanzania- ARC 1960 Clarke 1880 Thailand 1975 Everest 1830 Trinidad, Tobago South American 1969 Venezuela ­ Provisional American 1956 International Venezuela South American 1969 WGS84 WGS84 Tokyo_Mean Bessel 1841 Tokyo_Japan Bessel 1841 Tokyo_Korea Bessel 1841 Tokyo_Okinawa Bessel 1841 Krassovsky 1940 Albania ­ S-42(Pulkovo 1942) Czechoslovakia ­ S-42(Pulkovo 1942) Krassovsky 1940 Krassovsky 1940 Hungary ­ S-42(Pulkovo 1942) Krassovsky 1940 Kazakhstan ­ S-42(Pulkovo 1942) Krassovsky 1940 Latvia ­ S-42(Pulkovo 1942) Krassovsky 1940 Poland ­ S-42(Pulkovo 1942) Krassovsky 1940 Romania ­ S-42(Pulkovo 1942) Australia Australian ­ National Potsdam Bessel 1841 Data20.dat Data21.dat Data22.dat Data23.dat Data24.dat Data25.dat Data26.dat Data27.dat Data28.dat Data29.dat Data30.dat Data31.dat Data32.dat Data33.dat Data34.dat Data35.dat Data36.dat Data37.dat Data38.dat Data39.dat Data40.dat Data41.dat Data42.dat Data43.dat Data44.dat Data45.dat Data46.dat Data47.dat Data48.dat Data49.dat Data50.dat Data51.dat Data52.dat Data53.dat Data54.dat Data55.dat Data56.dat Data57.dat Data58.dat Data59.dat Data60.dat Data61.dat Data62.dat Data63.dat Data64.dat Data65.dat Data65.dat Data67.dat Data68.dat Data69.dat Data70.dat Data71.dat 11 GM-82 User's manual 5.2 . Manufacturing Default: Parameter Input Protocol Output Protocol Baud Rate Parity None Stop Bits Data Bits Datum: Protocol Com A Com B NMEA Binary RTCM SC-104 NMEA Binary None 4800 9600 None 1 1 8 8 WGS84. GGA, GSA, GSV, RMC or by demand. 5.2.1 Setting Syntax Datum change syntax: >DOS\Sirfprog /Fdataxx.dat ­Px ­Bx ­Csh1 -Px: x is com port, 1= COM1 2 = COM2 -Bx: Baud rate, 4800, 9600, 19200 or 38400 Example: Change Datum to WGS84, Sirfprog /Fdata58.dat ­P1 ­B4800 ­Csh1 After change datum, the new datum will keep in SRAM. If long time (more than 20 days) no power supplied to GM82, user must resend datum to GM82 when power on. 5.2.2 Addition Software SiRFdemo is the Evaluation Receiver configuration and monitoring software provided with the GM-82. This software can be used to monitor real-time operation of the GM-82 Receiver, log data for analysis, upload new software to the Receiver, and configure the Receiver operation. See setup.pdf for more information on the use and operation of SiRFdemo software. 12 GM-82 User's manual 6. Ordering Information 6.1 Products Options Model No. GM-82-A0X-5 GM-82-A0X-3 GM-82-A0A-5 GM-82-A0A-3 GM-82-A1X-5 GM-82-A1X-3 GM-82-A1A-5 GM-82-A1A-3 GM-82-T0X-5 GM-82-T0X-3 GM-82-T0A-5 GM-82-T0A-3 GM-82-T1X-5 GM-82-T1X-3 GM-82-T1A-5 GM-82-T1A-3 Output Back-up battery Input Level Type Power TTL or RS-232 Lithium No Volt. RS-232 Y 5 RS-232 Y 3 RS-232 Y 5 RS-232 Y 3 RS-232 Y 5 RS-232 Y 3 RS-232 Y 5 RS-232 Y 3 TTL Y 5 TTL Y 3 TTL Y 5 TTL Y 3 TTL Y 5 TTL Y 3 TTL Y 5 TTL Y 3 Power Saving Y Y Y Y Y Y Y Y Connector Type MCX SMA Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y Y 6.2 Accessories Option Active antenna . Part No. A-10003 A-1000305 A-30503 A-3050305 Cable length 2M 5M Y Y Y Y Connector MCX SMA Y Y Y Y 6.3 Other Products SiRF START II GPS Receiver: GM-210 Palm Vx GPS Receiver: GM-250. Palm M500/505 GPS Receiver: GM-251. Handheld GPS: GM-100/GM-305/GM-101. CF CARD Type GPS Receiver: GM-270 Bluetooth GPS Receiver: GR-230 Mini GPS Receiver: GR-211 13