GPS Product series With HOLUX, You never lose the way! GR-90 GPS Engine Board User's Guide October 01, 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 RTCM Received Data ....................................................................................13 4.3 Manufacturing Default:..................................................................................14 5. Mechanical Dimensions .............................................................................15 5.1 GR-90 outline: ...............................................................................................15 5.2 Pin Assignment: .............................................................................................17 6. Operation and Test.....................................................................................19 Appendix A : Reference Design .....................................................................22 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-90 series consists of SiRF GSC2x chipsets technology, LNA and proprietary software. The system function block is described as follows. GPS Antenna CMOS 3V RX TX signal GSC2x filter LNA HOLUX GR-90 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 12 channel GPS receivers and SiRF GSC2x 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. It's far reaching capability meets the sensitivity requirements of car navigation as well as other location-based applications. Therefore, HOLUX GR-90 engine board is very fit to the customers who devote themselves to AVL system integration and location-based service. The GR-90 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 RS-232 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 GSC2x chipset. Average Cold Start time and under 48 seconds. Low power consumption 12 channels "All-in-View" tracking. High speed signal acquisition using 1920 time/frequency search channels Integrated ARM7TDMI CPU with software engineering services and available for embedded customer defined applications. On chip 1Mb SRAM for GPS Navigation Dual CMOS 3V serial ports with one for GPS receiver command message interface, another one for RTCM-104 DGPS input. 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 RTCM SC-104 DGPS and 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). Frequency L1, 1575.42 MHz 2). C/A code 1.023 MHz chip rate 3). Channels 12 3.1.2 Accuracy (Open Sky) 1). Position 2). 3). 4). 5). <10 meters, 2D RMS < 5 meters 2D RMS, WAAS corrected 1-5 meters, DGPS corrected Altitude < ± 35m Vertical in term of 95% Velocity 0.1 meters/second 6). Time 1 microsecond synchronized to GPS time 3.1.3 Datum 1). Default WGS-84 2). Other Support different datum by request 3.1.4 Acquisition Rate (Open sky, stationary requirements) 1). 2). 3). 4). Reacquisition 0.1 sec., average Hot start 8 sec., average Warm start 38 sec., average Cold start 48 sec., average 3.1.5 Dynamic Conditions 1). 2). 3). 4). Altitude : 18,000 meters (60,000 feet)max Velocity 515 meters/second (1000 knots) max Acceleration 4G, max Jerk 20 meters/second, max 3.1.6 Power 1). Input power 3.3~5.5 VDC 2). Input current: Less than 40mA (without antenna) 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! 3.1.7 RF interface 1). Minimum signal tracked: -142 dBm. (Based on SiRF GSC2x spec.) 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). DGPS protocol RTCM SC-104 message types 1, 2 and 9 4). 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 -25 2). Storage temperature range -40 . to +80 to +85 3.3. Physical Characteristics 1) Active Size: 2) Weight: 3 g 25.4(W) x 25.4(D) x 3(H) (mm) 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-90 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). As soon as the initial self-test is complete, the GR-90 begins the process of satellite acquisition and tracking automatically. Under normal circumstances, it takes approximately 48 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-90 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-90 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-90 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 Description Global positioning system fixed data Geographic position- latitude/longitude GNSS DOP and active satellites GNSS satellites in view Recommended minimum specific GNSS data 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! GPVTG GPMSS GPZDA Course over ground and ground speed Radio-beacon Signal-to-noise ratio, signal strength, frequency, etc. 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 0 Fix not available or invalid GPS SPS Mode, fix valid Differential GPS, SPS 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! 3 GPS PPS Mode, fix valid 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 1.8 1.0 1.5 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 With HOLUX, You never lose the way! Checksum 1. Satellite used in solution. *33 End of message termination 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 Example Unit ...