User manual HOLUX GPS RECEIVER GR-213

HOLUX GR-213 GPS Receiver User's Rev. A Guide Mar. 17, 2005 HOLUX Technology,.Inc 1F.No 30, R&D Rd. II. Hsinchu City, Science-based Industrial Park Taiwan Phone: +886-3-6687000 Fax: +886-3-6687111 E-Mail: info@holux.com.tw Web: www.holux.com.tw All Right Reserved HOLUX 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 2. Operational characteristics......................................................................................................................... 4 2.1 Initialization ........................................................................................................................................ 4 2.2 Navigation ........................................................................................................................................... 4 3. Hardware interface..................................................................................................................................... 5 3.1 Dimension ........................................................................................................................................... 5 3.2 Hardware Interface.............................................................................................................................. 5 3.3 Connector ............................................................................................................................................ 5 3.3.1 Function definition of PS-2 female composite connectors ..................................................... 6 3.4 Accessories ................................................................................................................................. 6 3.5 Optional Cigarette Adapter.............................................................................................................. 7 4. USB Driver ................................................................................................................................................ 7 4.1 System Requirements.......................................................................................................................... 7 4.2 Installation........................................................................................................................................... 7 4.3 Important ............................................................................................................................................. 8 5. Software Interface ...................................................................................................................................... 8 5.1 NMEA Transmitted Messages ............................................................................................................ 8 NMEA Record .................................................................................................................................. 8 5.1.1 Global Positioning System Fix Data (GGA)........................................................................... 8 5.1.2 Geographic Position with Latitude/Longitude(GLL).............................................................. 9 5.1.3 GNSS DOP and Active Satellites (GSA)................................................................................ 9 5.1.4 GNSS Satellites in View (GSV)............................................................................................ 10 5.1.5 Recommended Minimum Specific GNSS Data (RMC) ....................................................... 10 5.1.6 Course Over Ground and Ground Speed (VTG) .................................................................. 11 6. Earth Datums............................................................................................................................................ 12 6.2.1 Manufacturing Default: ......................................................................................................... 13 6.2.2 Datum change syntax: ........................................................................................................... 13 7. Ordering Information ............................................................................................................................... 14 Explanation of product Number ............................................................................................................... 14 8. Warranty................................................................................................................................................... 14 2 HOLUX 1. Introduction 1.1 Overview The HOLUX GR-213 Smart GPS Receiver is a total solution GPS receiver, designed based on SiRF Star III Architecture. This positioning application meets strict needs such as car navigation, mapping, surveying, security, agriculture and so on. Only clear view of sky and certain power supply are necessary to the unit. It communicates with other electronic utilities via compatible dual-channel through RS-232 or TTL and saves critical satellite data by built­in backup memory. With low power consumption, the GR-213 tracks up to 20 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 GR-213 provides a host of features that make it easy for integration and use. 1. SiRFstarIII chipset with embedded ARM7TDMI CPU available for customized applications in firmware 2. High performance receiver tracks up to 20 satellites while providing first fast fix and low power consumption. 3. Differential capability utilizes real-time RTCM corrections producing 1-5 meter position accuracy. 4. Compact design ideal for applications with minimal space. 5. A rechargeable battery sustains internal clock and memory. The battery is recharged during normal operation. 6. User initialization is not required. 7. Dual communication channels and user selectable baud rates allow maximum interface capability and flexibility. 8. Optional communication levels, RS-232 and TTL meet ordinary application and new fashions of connecting PDA with TTL or RS-232 output. 9. FLASH based program memory: New software revisions upgradeable through serial interface. 10. LED display status: The LED provides users visible positioning status. LED "ON" when power connected and "BLINKING" when GR-213 got positioned. 11. Built-in WAAS Demodulator. 12. Water proof design for industry standard. 1.3 Technology specifications 1.3.1 Physical Dimension Single construction integrated antenna/receiver. Size: 64.5 x 42 x 17.8 (mm) 2.54" x 1.65 x 0.7 (Inch). 1.3.2 Environmental Characteristics 1) Operating temperature: -40oC to +80oC(internal temperature). 2) Storage temperature: -45oC to +100oC. 1.3.3 Electrical Characteristics 1) Input voltage: +4.5 ~ 5.5 VDC without accessories. 2) Backup power: 3V Rechargeable Lithium cell battery, up to 500 hours discharge. 1.3.4 Performance 1) Tracks up to 20 satellites. 2) Update rate: 1 second. 3) Acquisition time Reacquisition 0.1 sec., averaged Hot start 1 sec., averaged Warm start 38 sec., averaged 3 HOLUX Cold start 42 sec., averaged 4) Position accuracy: A) Non DGPS (Differential GPS) Position 5-25 meter CEP without SA Velocity 0.1 meters/second, without SA Time 1 microsecond synchronized GPS time B) DGPS (Differential GPS) Position 1 to 5 meter, typical Velocity 0.05 meters/second, typical C)EGNOS/WAAS/Beacon Position < 2.2 meters, horizontal 95% of time < 5 meters, vertical 95% of time 5) Dynamic Conditions: Altitude 18,000 meters (60,000 feet) max Velocity 515 meters / second (700 knots) max Acceleration 4 G, max Jerk 20 meters/second, max 1.3.5 Interfaces 1) Dual channel RS-232 or TTL compatible level, with user selectable baud rate (4800-Default, 9600, 19200, 38400). 2) NMEA 0183 Version 2.2 ASCII output (GGA, GSA, GSV, RMC, option GLL, VTG, ZDA). 3) Real-time Differential Correction input (RTCM SC-104 message types 1,2 and 9). 4) SiRF binary protocol. 2. Operational characteristics 2.1 Initialization As soon as the initial self-test is complete, the GR-213 begins the process of satellite acquisition and tracking automatically. Under normal circumstances, it takes approximately 42 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 GR-213 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 GR-213 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 GR-213 in the following situation: 1) Moving further than 500 kilometers. 2) Failure of data storage due to the inactive internal memory battery. 2.2 Navigation After the acquisition process is complete, the GR-213 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 The GR-213 sets the default of auto-searching for real-time differential corrections in RTCM SC-104 standard format, with the message types 1, 5, or 9. It accomplishes the satellite data to generate a differential (DGPS) solution. The host system, at its option, may also command the GR-213 to output a position whenever a differential solution is available. 4 HOLUX 3. Hardware interface 3.1 Dimension sta r 3.2 Hardware Interface The GR-213 includes an antenna in a unique style waterproof gadget. Simply connect PS-2 female connector to one of the accessories linking to your notebook PC, PDA or other devices. The one-piece cigarette adapter allows you to connect GR-213 to your PDAs. Optional color, input voltage and output connector are listed and described below: 3.3 Connector The GR-213 is equipped with optional connectors. 5 HOLUX Cable Length: 2 meter 3.3.1 Function definition of PS-2 female composite connectors Signal Pin RS-232 RS232+TTL 1 Tx TX(RS232) 2 +5VDC +5VDC 3 NC Tx(TTL) 4 Ground Ground 5 DGPS IN Rx(TTL) 6 Rx RX(RS232) N. C. = No Connection 3.4 Accessories 3.4.1 CA-RS232: DB 9 pins Female and PS-2 male connector: Cable Length: To GR-213: 1 meter RS-232 to PS-2: 45 cm 3.4.1.1 DB 9 pins Female connector function definition: Pin 1 Signal Name N.C 2 Tx 3 Rx 4 N.C 5 6 N.C 7 N.C 8 N.C 9 DGPS in N.C = No connection 3.4.1.2 PS2 composite connector function definition: Pin Signal Name 1 +5V 2 N.C 3 N.C 4 Ground 5 N.C 6 N.C N.C = No connection 6 HOLUX 3.4.2 Cigarette adapter and PDA connector: reference section 7.2 3.4.3 CA-USB: USB connector The USB A Type is equipped with GR-213. The function definition is as follows: Pin 1 2 3 4 Signal Name +5V D+ DGround 3.4.4 CA-6V30V: High power connector Color Black Red Green White Orange Signal Ground +6~30VDC Tx Rx DGPS IN 3.5 Optional Cigarette Adapter The optional cigarette adapter is with 2-meter cable for using in a car or boat. Input voltage: DC12V - 26V 4. USB Driver 4.1 System Requirements IBM, Pentium or above and other compatible PC; 16 MB and above memory; Windows 98/Me/2000; VGA Graphic Adapter. 4.2 Installation 1. Copy entire folder from CD to hard disk. 2. Connect GR-213 USB connector to computer. While the computer automatically starts the installation program, please direct the driver to the folder. 7 HOLUX 3. After the installation is complete, go to and select to verify if a virtual COM port was created. 4.3 Important Verify the COM port # to start using your own navigating software. 1. Click menu, select , then enter . 2. After entering , select . 3. Select . 4. Find the and check the Virtual COM Port, which was created by the USB driver, Please note that the Virtual COM Port number might be different from every computer. Before using navigating software, please confirm the COM Port numbers created by your computer and provided by your navigation software. Otherwise, the navigating software won't receive the satellite signal, because of the un-match COM Port setting. 5. Software Interface The GR-213 interface protocol is based on the National Marine Electronics Association's NMEA 0183 ASC interface 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, Type 1,2,9) or WAAS (in USA area) or EGNOS (in European area). 5.1 NMEA Transmitted Messages The GR-213 supported by SiRF Technology Inc. also outputs data in NMEA-0183 format as defined by the National Marine Electronics Association (NMEA), Standard. The default communication parameters for NMEA output are 4800 baud, 8 data bits, stop bit, and no parity. Table 5-1 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 5.1.1 Global Positioning System Fix Data (GGA) Table 5-2 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 5-2 GGA Data Format Name Example 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 Units Description 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 20 Horizontal Dilution of Precision 8 HOLUX MSL Altitude Units Geoid Separation Units Age of Diff. Corr. Diff. Ref. Station ID Checksum 9.0 M M 0000 *18 End of message termination Meters Meters Meters Meters second Null fields when DGPS is not used Table 5-3 Position Fix Indicator Value Description 0 0 Fix not available or invalid 1 GPS SPS Mode, fix valid 2 Differential GPS, SPS Mode, fix valid 3 GPS PPS Mode, fix valid 5.1.2 Geographic Position with Latitude/Longitude(GLL) Table 5-4 contains the values for the following example: $GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C Table 5-4 GLL Data Format Name Example Message ID $GPGLL Latitude 3723.2475 N/S Indicator N Longitude 12158.3416 E/W Indicator W UTC Position 161229.487 Status A Checksum *2C Units Description 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 5.1.3 GNSS DOP and Active Satellites (GSA) Table 5-5 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 5-5 GSA Data Format Name Example Message ID $GPGSA Mode 1 A Mode 2 3 Satellite Used(1) 07 Satellite Used(1) 02 ...... Satellite Used PDOP 1.8 HDOP 1.0 VDOP 1.5 Checksum *33 1. Satellite used in solution. 9 Units Description GSA protocol header See Table 5-6 See Table 5-7 Sv on Channel 1 Sv on Channel 2 .... Sv on Channel 20 Position Dilution of Precision Horizontal Dilution of Precision Vertical Dilution of Precision End of message termination HOLUX Table 5-6 Mode 1 Value M A Table 5-7 Mode 2 Value 1 2 3 Description Manual--forced to operate in 2D or 3D mode 2DAutomatic--allowed to automatically switch 2D/3D Description Fix Not Available 2D 3D 5.1.4 GNSS Satellites in View (GSV) Table 5-8 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 Table 5-8 GSV Data Format Name Example Message ID $GPGSV Number of Messages 2 Message Number 1 Satellites in View 07 Satellite ID 07 Elevation 79 Azimuth 048 SNR (C/No) 42 .... .... Satellite ID 27 Elevation 27 Azimuth 138 SNR (C/No) 42 Checksum *71 Units Description GSV protocol header Range 1 to 3 Range 1 to 3 Range 1 to 12 Channel 1 (Range 1 to 32) Channel 1 (Maximum 90) Channel 1 (True, Range 0 to 359) Range 0 to 99, null when not tracking Channel 4 (Range 1 to 32) Channel 4 (Maximum 90) Channel 4 (True, Range 0 to 359) Range 0 to 99, null when not tracking End of message termination degrees degrees dBHz degrees degrees dBHz NOTE: Items <4>,<5>,<6> and <7> repeat for each satellite in view to a maximum of four (4) satellites per sentence. Additional satellites in view information must be sent in subsequent sentences. These fields will be null if unused. 5.1.5 Recommended Minimum Specific GNSS Data (RMC) Table 5-9 contains the values for the following example: $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10 Table 5-9 RMC Data Format Name Example Message ID $GPRMC UTC Time 161229.487 Status A Units Description RMC protocol header hhmmss.sss A=data valid or V=data not valid 10 HOLUX Latitude 3723.2475 ddmm.mmmm N/S Indicator N N=north or S=south Longitude 12158.3416 dddmm.mmmm E/W Indicator W E=east or W=west Speed Over Ground 0.13 knots Course Over Ground 309.62 degrees True Date 120598 ddmmyy Magnetic Variation(1) degrees E=east or W=west Checksum *10 End of message termination 1. SiRF Technology Inc. does not support magnetic declination. All "course over ground" data are geodetic WGS84 directions. 5.1.6 Course Over Ground and Ground Speed (VTG) Table 5-10 contains the values for the following example: $GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E Table 5-10 VTG Data Format Name Example Units Description Message ID $GPVTG VTG protocol header Course 309.62 degrees Measured heading Reference T True Course degrees Measured heading Reference M Magnetic(1) Speed 0.13 knots Measured horizontal speed Units N Knots Speed 0.2 km/hr Measured horizontal speed Units K Kilometers per hour Checksum *6E End of message termination 1. SiRF Technology Inc. does not support magnetic declination. All "course over ground" data are geodetic WGS84 directions. 5.1.7 ZDA--SiRF Timing Message Outputs the time associated with the current 1 PPS pulse. Each message will be output within a few hundred ms after the 1 PPS pulse is output and will tell the time of the pulse that just occurred. Table 5-11 contains the values for the following example: $GPZDA,181813,14,10,2003,00,00*4F Table 5-11 ZDA Data Format Name Example Message ID $GPZDA UTC Time 181813 Day Month Year Local zone hour Local zone hour Checksum 14 10 2003 00 00 4F Units knots Description ZDA protocol header Either using valid IONO/UTC or estimated from default leap seconds 01 TO 31 01 TO 12 1980 to 2079 Offset from UTC (set to 00) Offset from UTC (set to 00) End of message termination 11 HOLUX 5.2 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 GR-213 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, GR-213 may decode the data correctly to generate accurate messages and save them in battery-back SRAM for later computing. 6. Earth Datums 6.1 Earth Datums The following is a list of the GR-213 earth datum index and the corresponding earth datum name: Item 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 Datum Adindan - Ethiopia Afgooye ­ Somalia Alaska, Conus ­ North American 1983 Albania ­ S-42 (Pulkovo 1942) Argentina Australia Bahrain ­ Ain el ABD 1970 Bangladesh Bolivia Botswana ­ ARC 1950 Brazil Brunel, East Malaysia Canada ­ North American 1983 Chile Colombia Colombia ­ Provisional American 1956 Czechoslovakia ­ S-42 (Pulkovo 1942) Ecuador European 1950 ­ Central Regional Mean European 1950 ­ Cyprus European 1950 ­ Eastern Regional Mean European 1950 ­ Egypt European 1950 ­ Finland, Norway European 1950 ­ Greece European 1950 ­ Iran European 1950 ­ Italy (Sardinia) European 1950 ­ Italy (Sicily) European 1950 ­ Malta European 1950 ­ Northern Regional Mean European 1950 ­ Portugal, Spain European 1950 ­ Southern Regional Mean European 1950 ­ Tunisia European 1950 ­ Western Regional mean Guyana - South American 1969 Hawaii-North American 1983 Hong Kong Hu_Tsu_Shan Taiwan Hungary ­ S-42 (Pulkovo 1942) Indian 1960 Ireland - 1965 Kazakhstan ­ S-42 (Pulkovo 1942) Kenya, Tanzania- ARC 1960 Reference Ellipsoid Clarke 1880 Krassovsky GRS 1980 Krassovsky 1940 South American 1969 Australian ­ National International Everest 1830 South American 1969 Clarke 1880 South American 1969 Everest (Sabah & Sarawak) GRS 1980 South American 1969 South American 1969 International Krassovsky 1940 South American 1969 International International International International International International International International International International International International International International International South American 1969 GRS1980 International International Krassovsky 1940 Everest 1830 Modified Airy Krassovsky 1940 Clarke 1880 Data name Data1.dat Data2.dat Data3.dat Data63.dat Data4.dat Data70.dat Data5.dat Data6.dat Data8.dat Data7.dat Data9.dat Data37.dat Data10.dat Data13.dat Data12.dat Data11.dat Data64.dat Data14.dat Data29.dat Data15.dat Data16.dat Data17.dat Data18.dat Data19.dat Data20.dat Data21.dat Data22.dat Data23.dat Data24.dat Data25.dat Data26.dat Data27.dat Data28.dat Data30.dat Data32.dat Data31.dat Data33.dat Data65.dat Data34.dat Data35.dat Data65.dat Data53.dat 12 HOLUX 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 Latvia ­ S-42 (Pulkovo 1942) Liberia ­ 1964 Mexico, central America OMAN Pakistan Paraguay - South American 1969 Peru1 ­ South American 1969 Philippines Poland ­ S-42 (Pulkovo 1942) Potsdam Puerto Rico ­ Virgin Islands Qatar national Qornoq ­ Greenland (SOUTH) Regional Mean Reunion ­ Mascarene Islands Romania ­ S-42 (Pulkovo 1942) Rome 1940 ­ Italy Saudi Arabia ­ Ain el Abd 1970 Singapore South Africa Thailand 1975 Tokyo_Japan Tokyo_Korea Tokyo_Mean Tokyo_Okinawa Trinidad, Tobago Venezuela Venezuela ­ Provisional American 1956 WGS84 Krassovsky 1940 Clarke 1880 GRS1980 Clarke 1880 Everest 1830 South American 1969 South American 1969 Clarke 1866 Krassovsky 1940 Bessel 1841 Clarke 1866 International International South American 1969 International Krassovsky 1940 International International Modified Fischer 1960 Clarke 1880 Everest 1830 Bessel 1841 Bessel 1841 Bessel 1841 Bessel 1841 South American 1969 South American 1969 International WGS84 Data67.dat Data36.dat Data38.dat Data39.dat Data40.dat Data42.dat Data41.dat Data43.dat Data68.dat Data71.dat Data44.dat Data45.dat Data46.dat Data48.dat Data47.dat Data69.dat Data49.dat Data50.dat Data51.dat Data52.dat Data54.dat Data60.dat Data61.dat Data59.dat Data62.dat Data55.dat Data57.dat Data56.dat Data58.dat 6.2 Setting Syntax 6.2.1 Manufacturing Default: Datum: WGS84. Baud Rate: 4800. Output: GGA, GSA, GSV, RMC. 6.2.2 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 changing datum, the new datum will be kept in SRAM. If no power supplied to GR-213 for more than 30 days, user must re-set datum when power on. 13 HOLUX 7. Ordering Information 7.1 Product Options Explanation of product Number G R ­ 213 XX ­Y (1) (1) (2) (3) (2) (3) Model name:GR-213 XX: Color option Y: Output Type option 1: RS232+TTL 2: RS232 + DGPS Model Output level Option Accessories type(1) 1,2,3,4 1,3,4 GR-213-XX-1 RS-232+TTL GR-213-XX-2 RS-232+DGPS (1) Option Accessories type reference section 7.2 7.2 Accessories type Type 1 2 3 4 Name CA-RS232 CA-USB CA-6V30V A-20005 USB connector High power connector, 6-30VDC 12V-26V Cigarette Adapter /Charger Function description Convertible cable, Comport, 5VDC input. 8. Warranty The GR-213 is warranted to be free from defects in material and functions for one year from the date of purchase. Any failure of this product within this period under normal conditions will be replaced at no charge to the customers. 14