User manual HOLUX GR-89

GPS Product series With HOLUX, You never lose the way! GR-89 GPS Engine Board User's Guide June 22, 2006 Version A Holux Technology Inc. 1F, No. 30, R&D Rd. II, Hsinchu City 300, 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 Technology, Inc. 1 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! TABLE OF CONTENTS 1. Introduction ..................................................................................................3 2. Main Feature................................................................................................4 3. Technical Specifications ...............................................................................5 3.1. Electrical Characteristics....................................................................5 3.2. Environmental Characteristics ...........................................................6 3.3. Physical Characteristics.....................................................................6 4. Software Interface........................................................................................7 4.1 NMEA Transmitted Messages.............................................................7 4.2 Manufacture Default .........................................................................13 5. Mechanical Dimensions .............................................................................14 5.1 . GR-89 outline:.................................................................................14 5.2 . Pin assignment: ..............................................................................16 6. Operation and Test.....................................................................................18 Appendix A : Reference Design .....................................................................21 HOLUX Technology, Inc. 2 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! 1. Introduction The GR-89 series consists of SiRF GSC3f chipsets technology, LNA and proprietary software. The system function block is described as follows. HOLUX GR-89 is a high performance, low power consumption, small size, very easy integrated GPS engine board designed for a broad spectrum of OEM system applications. This product is based on the proven technology found in other HOLUX 20 channel GPS receivers and SiRF GSC3f chipset solution. The GPS engine board will track up to 12 satellites at a time while providing fast time-to-first-fix and one-second navigation updates. Its far reaching capability meets the sensitivity requirements of car navigation as well as other location-based applications. Therefore, HOLUX GR-89 engine board is very fit to the customers who devote themselves to AVL system integration and location-based service. The GR-89 design utilizes the latest surface mount technology (BGA) and high level circuit integration to achieve superior performance while minimizing space and power requirements. This hardware capability combined with software intelligence makes the board easy to be integrated and used in all kinds of navigation applications or products. The application system may communicate with the engine board set via two RS232 compatible bi-directional communication channels with CMOS 3V voltage level. HOLUX Technology, Inc. 3 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! 2. Main Feature Build on high performance SiRF GSC3f chipset. Average Cold Start time and under 42 seconds. Low power consumption 20 channels "All-in-View" tracking. 200,000+ effective correlators for fast TTFF and high sensitivity acquisitions Integrated ARM7TDMI CPU with software engineering services and available for embedded customer defined applications. On chip 1Mb SRAM. Dual CMOS 3V serial ports with one for GPS receiver command message interface. Compact Board Size 25.4x25.4x3 mm for easy integration into hand-held device. Reacquisition Time 0.1 seconds Support Standard NMEA-0183 and SiRF Binary protocol Support Accurate 1PPS Output Signal Aligned with GPS Timing Multi-path Mitigation Hardware On-board WAAS/EGNOS Demodulator HOLUX Technology, Inc. 4 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! 3. Technical Specifications 3.1. Electrical Characteristics 3.1.1 General 1). FrequencyL1, 1575.42 MHz 2). C/A code1.023 MHz chip rate 3). Channels20 3.1.2 Accuracy (Open Sky) 1). Position10 meters, 2D RMS 2). 3). 4). 5). 7 meters 2D RMS, WAAS corrected 1-5 meters, DGPS corrected Altitude < ± 35m Vertical in term of 95% Velocity0.1 meters/second 6). Time 1 microsecond synchronized to GPS time 3.1.3 Datum 1). DefaultWGS-84 2). Other Support different datum by request 3.1.4 Acquisition Rate (Open sky, stationary requirements) 1). Hot start1 sec., average 2). Warm start38 sec., average 3). Cold start42 sec., average 3.1.5 Dynamic Conditions 1). 2). 3). 4). Altitude : 18,000 meters (60,000 feet) max Velocity515 meters/second (1000 knots) max Acceleration4g, max Jerk20 meters/second, max 3.1.6 Power 1). Input power3.3~5.5 VDC 2). Input current: Less than 65 mA (without antenna) 3.1.7 RF interface 1). RF signal input to RFIN pin from external antenna. DC supply from HOLUX Technology, Inc. 5 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! VCC_ANT_IN (pin 19). If 2.85 V is used, VC_ANT_IN can be connected with VCC_RF_O (pin 20). 2). Minimum signal tracked: -159 dBm. 3.1.8 Serial Port 1). Two full duplex serial communication, CMOS 3V interface, with user selectable baud rate (4800-Default, 9600, 19200, 38400) 2). NMEA 0183 Version 2.2 ASCII output (GGA, GSA, GSV, RMC (VTG , GLL and ZDA for optional)) 3). SiRF binary-position, velocity, altitude, status output 3.1.9 TIMEMARK-1PPS Pulse 1). 2). 3). 4). Level CMOS 3V Pulse duration 1 microsecond Time reference At the pulse positive edge Measurements aligned to GPS second, ±1 microsecond 3.2. Environmental Characteristics 1). Operating temperature range -20 to +70 2). Storage temperature range -40 to +85 . 3.3. Physical Characteristics 1) Active Size: 2) Weight: 3 g 25.4(W) x 25.4(D) x 3(H) (mm) : According to SiRF GSC3 specification. HOLUX Technology, Inc. 6 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! 4. Software Interface The GR-89 interface protocol is based on the National Marine Electronics Association's NMEA 0183 ASCII interface specification, which is defined in NMEA 0183, Version 2.2. As soon as the initial self-test is complete, the GR-89 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-89 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-89 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-89 in the following situation: Moving further than 500 kilometers. Failure of Data storage due to the inactive internal memory battery. 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 NMEA Record GPGGA GPGLL GPGSA GPGSV GPRMC GPVTG GPMSS Description Global positioning system fixed data Geographic position- latitude/longitude GNSS DOP and active satellites GNSS satellites in view Recommended minimum specific GNSS data Course over ground and ground speed Radio-beacon Signal-to-noise ratio, signal strength, HOLUX Technology, Inc. 7 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! frequency, etc. GPZDA PPS timing message (synchronized to PPS) 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 Message ID UTC Time Latitude N/S Indicator Longitude E/W Indicator Position Fix Indicator Satellites Used HDOP MSL Altitude (1) Units Geoid Separation(1) Units Age of Diff. Corr. Diff. Ref. Station ID Checksum 0000 *18 End of message termination M Example 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 12 Horizontal Dilution of Precision $GPGGA 161229.487 3723.2475 N 12158.3416 W 1 07 1.0 9.0 M Meters Meters Meters Meters second Null fields when DGPS is not used (1). SiRF Technology Inc. does not support geoid corrections. Values are WGS84 ellipsoid heights. Table 4-3 Position Fix Indicator Value 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 HOLUX Technology, Inc. 8 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! 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 Message ID Latitude N/S Indicator Longitude E/W Indicator UTC Position Status Checksum Example 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 $GPGLL 3723.2475 N 12158.3416 W 161229.487 A *2C 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 Message ID Mode 1 Mode 2 Satellite Used(1) Satellite Used(1) ...... Satellite Used(1) PDOP HDOP VDOP Checksum 1.8 1.0 1.5 *33 End of message termination Example Units Description 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 $GPGSA A 3 07 02 HOLUX Technology, Inc. 9 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series 1. Satellite used in solution. With HOLUX, You never lose the way! Table 4-6 Mode 1 Value Description M A Manual--forced to operate in 2D or 3D mode 2DAutomatic--allowed to automatically switch 2D/3D Table 4-7 Mode 2 Value 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 Table 4-8 GSV Data Format Name Message ID Number of Messages(1) Message Number(1) Satellites in View Satellite ID Elevation Azimuth SNR (C/No) .... Satellite ID Elevation Azimuth SNR (C/No) Checksum Example Units Description GSV protocol header Range 1 to 3 Range 1 to 3 Channel 1 (Range 1 to 32) $GPGSV 2 1 07 07 79 048 42 .... 27 27 138 42 *71 degrees Channel 1 (Maximum 90) degrees Channel 1 (True, Range 0 to 359) dBHz Range 0 to 99, null when not tracking Channel 4 (Range 1 to 32) degrees Channel 4 (Maximum 90) degrees Channel 4 (True, Range 0 to 359) dBHz Range 0 to 99, null when not tracking HOLUX Technology, Inc. 10 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! 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 Message ID UTC Time Status Latitude N/S Indicator Longitude E/W Indicator Speed Over Ground Course Over Ground Date Magnetic Variation(1) Checksum directions. Example Units Description $GPRMC 161229.487 A 3723.2475 N 12158.3416 W 0.13 309.62 120598 *10 knots 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 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 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 Message ID Course Example Units Description VTG protocol header $GPVTG 309.62 degrees Measured heading HOLUX Technology, Inc. 11 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! Reference Course Reference Speed Units Speed Units Checksum directions. T M 0.13 N 0.2 K *6E km/hr knots True degrees Measured heading Magnetic(1) Measured horizontal speed Knots 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 4.1.7 MSK Receiver Signal (MSS) Table 4-11 contains the values for the following example: $GPMSS,55,27,318.0,100,*66 Table 4-11 MSS Data Format Name Message ID Signal Strength Signal-to-Noise Ratio Beacon Frequency Beacon Bit Rate Checksum Example Units Description protocol header dB SS of tracked frequency SNR of tracked frequency Currently tracked frequency 100 bits per second End of message termination $GPMSS 55 27 318.0 100 66 MSS dB dB kHz Note ­ The MSS NMEA message can only be polled or scheduled using the MSK NMEA input message. 4.1.8 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. HOLUX Technology, Inc. 12 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! Table 4-12 contains the values for the following example: $GPZDA,181813,14,10,2003,00,00*4F Table 4-12 ZDA Data Format Name Message ID UTC Time Day Month Year Local zone hour Local zone hour Checksum Example Units Description ZDA protocol header Either using valid IONO/UTC or estimated from default leap seconds 01 TO 31 01 TO 12 1980 to 2079 $GPZDA 181813 14 10 2003 00 00 4F knots Offset from UTC (set to 00) Offset from UTC (set to 00) End of message termination 4.2 Manufacture Default Parameter Input protocol Output protocol Baud rate Parity Stop bit Data bits Datum Protocol Com A NMEA NMEA 4800 None 1 8 WGS84 GGA,GSA,GSV,RMC or by demand Com B None None 9600 1 8 4.3.1 Addition Software SiRFdemo is the Evaluation Receiver configuration and monitoring software provided with the GR-89. This software can be used to monitor real-time operation of the GR-89 Receiver, log data for analysis, upload new software to the Receiver, and configure the Receiver operation.. HOLUX Technology, Inc. 13 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! 5. Mechanical Dimensions 5.1 GR-89 outline Picture Mechanical dimension (unit mm) HOLUX Technology, Inc. 14 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! Recommended PCB HOLUX Technology, Inc. 15 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! 5.2 Pin assignment: Table 5-1 pin definition: Pin 1 2 3 Pin Name VCC_IN GND BOOT_SEL Type I G I Function description 3.3 ~ 5 V supply input Ground Boot selection. Pull high this pin at power on stage for flash programming. 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 RXDA TXDA TXDB RXDB GPIO14 RF_ON GND GND GND GND GND GND GND RF_IN GND V_ANT_IN I O O I I/O O G G G G G G G I I I O I I I/O I/O I/O I/O I/O I/O O Serial Data input A Serial Data Output A Serial Data Output B Serial Data input B General purpose I/O. flash at 1Hz when position is fixed. Indication for RF power supply. Flashes in trickle power mode. Ground Ground Ground Ground Ground Ground Ground GPS signal input Ground Antenna power supply input Antenna power supply, 2.85V RTC and backup SRAM power, 2.6 ~ 3.6 VDC. Reset, active low General purpose I/O General purpose I/O General purpose I/O General purpose I/O General purpose I/O General purpose I/O 1 PPS output, synchronized with GPS time. TIME_MARK 1 PPS output, 1us/s 30 GND G Ground 20 VCC_RF_O 21 22 23 24 25 26 27 28 29 V_BAT nRESET GPIO10 GPIO1 GPIO2 GPIO0 GPIO13 GPIO15 PPS HOLUX Technology, Inc. 16 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! 5.3.1 VCC_IN This is the main DC power supply for a +3.3~ 5.5 V engine board. 5.3.2 BOOT_SEL Pull high at power on stage for flash programming. 5.3.3 RF_ON Indication of RF power staus. The pin will change in trickle power mode. RF_ON is high when voltage is supplied to RF part of the chip. 5.3.4 V_ANT_IN Power supply for active antenna. If 2.85V is used, this pin can be connected to VCC_RF. For 5V active antenna, connect the DC power supply respectively. 5.3.5 VCC_RF_O 2.85 VDC power supply for active antenna. 5.3.6 V_BAT Power supply to RTC and backup SRAM. 5.3.7 NRESET Reset whole board. Active low. 5.3.8 TXA This is the main transmitting channel and is used to output navigation and measurement data for user written software 5.3.9 RXA This is the main receiving channel and is used to receive software commands to the board from user written software 5.3.10 RXB This is the auxiliary receiving channel and is used to input differential corrections to the board to enable DGPS navigation 5.3.11 GND GND provides the ground for the board. Connect all grounds 5.3.12 PPS (GSC3f GPIO9) This pin default is provides 1 microsecond pulse per second output from the GR-89 which is synchronized to within 1 microsecond of GPS time. The output is a CMOS 3V positive level signal. Only upon a situation of tracking or navigating will output once per second. This is not available in Trickle-Power mode. 5.3.13 LED_ONOFF (GSC3f GPIO14) This pin can drive an LED. A 1K resistor must be connected. The LED will flash in tracking mode. HOLUX Technology, Inc. 17 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! 6. Operation and Test The customers can use HOLUX GPSView.exe to test the engine board. GPSViewer.exe is compatible with Microsoft Pocket PC or other operation system alike. 1). Install Microsoft ActiveSync to your PC, refer to your Pocket PC manual for installation procedure, as Fig. 6.1. 2). Setup your Pocket PC cradle to Desktop PC UART port. The Microsoft ActiveSync will detect your Pocket PC automatically. Setup your Pocket PC cradle to Desktop PC UART port. The Microsoft ActiveSync will detect your Pocket PC automatically, as Fig. 6.1. (Fig. 6.1) 3). Double click the GPSViewer.exe on your PC, then Holux GPSViewer.exe program will install automatically, as Fig. 6.2. (Fig. 6.2) HOLUX Technology, Inc. 18 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! 4) Open "GPSViewer" on PC, as Fig. 6.3. (Fig. 6.3) 5) The following window is show after executing 6) GPSViewer, as Fig. 6.4. (Fig. 6.4) 7) Setup Baud rate: 4800, then push "Scan" bottom to scan your COM Port . Select your COM Port (COM1 ~ COM10), then push "Open GPN" bottom, as Fig. 6.5, Fig. 6.6, and Fig. 6.7. (Fig. 6.5) (Fig. 6.6) (Fig. 6.7) HOLUX Technology, Inc. 19 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! 8) Select "GPS Status" to show the satellite diagram like below, as Fig. 6.8. (Fig. 6.8) HOLUX Technology, Inc. 20 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw GPS Product series With HOLUX, You never lose the way! Appendix A : Reference Design Fig A-1 is GR-89 connects to RS-232 transceiver solutions intended for portable or hand-held applications such as notebook and palmtop computers. (Fig A-1) HOLUX Technology, Inc. 21 1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park) TEL: 886-3-6687000 FAX:886-3-6687111 E-mail:info@holux.com.tw Website:www.holux.com.tw