GR-213U GPS Receiver User's Guide Technology, Inc. No. 1-1, Innovation Road 1,Science-Based Industrial Park, Hsinchu Taiwan Phone: +886-3-6687000 Fax: +886-3-6687111 E-Mail: info@holux.com.tw Web: www.holux.com All Right Reserved TABLE OF CONTENTS 1. Introduction................................................................................. 3 1.1 Overview ............................................................................................................. 3 1.2 Features .............................................................................................................. 3 1.3 Technology specifications.................................................................................... 3 2. Operational characteristics........................................................ 4 2.1 Initialization.......................................................................................................... 4 2.2 Navigation ........................................................................................................... 4 3. Hardware interface ..................................................................... 5 3.1 Dimension ........................................................................................................... 5 3.2 Hardware Connection.......................................................................................... 5 4. USB Driver................................................................................... 6 4.1 System Requirements ......................................................................................... 6 4.2 Installation ........................................................................................................... 6 4.3 Important ............................................................................................................. 6 5. Software Interface....................................................................... 6 5.1 NMEA Transmitted Messages ............................................................................. 6 6. Warranty ...................................................................................... 100 2 1. Introduction 1.1 Overview GR-213U 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 USB interface and saves critical satellite data by built­in backup memory. With low power consumption, the GR-213U 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-213U 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. Compact design ideal for applications with minimal space. 4. A rechargeable battery sustains internal clock and memory. The battery is recharged during normal operation. 5. Users can adjust power-saving percentage (20%~80%), which achieves the best power efficiency. 6. User initialization is not required. 7. LED display status: The LED provides users visible positioning status. LED "ON" when power connected and "BLINKING" when GR-213U got positioned. 8. 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: -10 C to +60 C (internal temperature). 2) Storage temperature: -20oC to +70oC. o o 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 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 3 B) 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 USB Interfaces 1) USB interface 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) SiRF binary protocol. 2. Operational characteristics 2.1 Initialization As soon as the initial self-test is complete, the GR-213U 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-213U 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-213U 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-213U 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-213U 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 4 3. Hardware interface 3.1 Dimension 3.2 Hardware Connection 1) The GR-213U includes an antenna in a unique style waterproof gadget. With the USB connector, you can easily access to your notebook PC, or other USB devices. 2) USB connector The USB A Type is equipped with GR-213U. The function definition is as follows: Pin 1 2 3 4 Signal Name +5V D+ DGround 5 4. USB Driver 4.1 System Requirements IBM, Pentium compatible PC and above. 16 MB memory and above Windows 98/Me/2000/XP; VGA Graphic Adapter. 4.2 Installation 1. Copy the GR-213U->English->USB Driver->Win98_2k_XPUSB-V2.1.0.exe from CD to hard disk. 2. Install USB-V2.1.0.exe. 3. Plug the GR-213U USB connector into the computer, the computer will search plug and play (P&P) device automatically, and the installation of GR-213U USB Driver is complete. 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. "#" sign represents the COM port number that being created by USB port. Usually the value will be COM1 in normal navigation software. So the correct COM port of the navigation software needs to be the same as the one in PC that created by USB port, and then the navigation is able to receive correct data. 5. Software Interface The GR-213U 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-213U 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 6 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 MSL Altitude 9.0 Units M Geoid Separation Units M Age of Diff. Corr. Diff. Ref. Station ID 0000 Checksum *18 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 Meters Meters Meters Meters second Null fields when DGPS is not used End of message termination 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 7 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. 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 Table 5-6 Mode 1 Value M A Description Manual--forced to operate in 2D or 3D mode 2DAutomatic--allowed to automatically switch 2D/3D Table 5-7 Mode 2 Value 1 2 3 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 degrees degrees dBHz 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 8 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 Units Description Message ID $GPRMC RMC protocol header UT ...