Holux GM-82 Manuale utente

GPS Engine Board

Jan 02, 2002

HOLUX

Technology Inc.

8F, 26, Tai-Yuen Street, Tai-Yuen Hi-Tech Industrial Park,

Chu Pei City 302, Hinchu, Taiwan.

Phone: +886-3-552-6268 Fax: +886-3-552-6108

E-Mail: [email protected] Web: www.holux.com.tw

User’s Guide

GM-82

GM-82 User’s manual

TABLE OF CONTENTS

1. Introduction …………………………………………………………………………..…….. 3

1.1 Overview ………………………………………………………………………………. 3

1.2 Features …………………………………………………………………………..….. 3

1.3 Technical Specifications ………………..……………………………..……………….. 3

2. Operational Characteristics ……………………………………….………………….. 4

2.1 Initialization …………………………………………………………………………... 4

2.2 Navigation …………………………………………………………………………… 5

3. Hardware Interface ……………………………………………….……………………….. 5

3.1 Standard Model ……………………………………………….……………………… 5

4. Software Interface ………………………………………………….…………………….. 7

4.1 NMEA Transmitted Sentences ………………………………..………………………... 7

4.2 RTCM Received Data ………………..…………………………….…………………. 10

5. Earth Datums ………………………………………………………..………………………. 10

5.1 Earth Datums …………………………………………………………………………. 10

5.2 Manufacture Default ……………………………………………….…………………….. 12

6. Ordering Information ……………………………………………..….………………….. 13

6.1 Product Options ……………………………………….…………………………….. 13

6.2 Accessories ……………………………………………….………………………….. 13

6.3 Other Products ………………………………………………………………………. 13

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

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 built–in 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 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。

 Support U.S. Coast Guard DGPS beacon signal。

 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) Input voltage: 5.0Vdc +/-10% or 3.3Vdc +/- 10%.

2) Backup power:(optional)。3V Rechargeable Lithium cell battery, up to 1000 hours discharge.

3) MCX antenna connector: Active or patch.

GM-82 User’s manual

1.3.4 Performance

1) Tracks up to 12 satellites.

2) Update rate: 1 second.

3) Acquisition time:

Reacquisition 0.1 sec, averaged

Hot start 8 sec. averaged

Warm start 38 sec. averaged

Cold start 45 sec. averaged

4) Position accuracy:

Non DGPS (Differential GPS)

Position 5~25 meter CEP

Velocity 0.1 meters/second.

Time 1 microsecond synchronized GPS time

DGPS (Differential GPS)

Position 1 to 5 meters, typical

Velocity 0.05 meters/second, typical

EGNOS/WAAS

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 (1000 knots) max

Acceleration 4 G, max

Jerk 20 meters/second³, max

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, GLL, GSV, GSA, RMC, VTG).

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.

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) Latitude/longitude/altitude

2) Velocity

3) Date/time

4) Error estimates

5) 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

GM-82 User’s manual

J1 connector pin definition:

Pin # Name Description

1 NC No function

2 VCC_5V Regulated 5.0V +/-5% input power, 160mA typical.

3 VBAT Battery backup input. 2.5V to 3.3V ,10uA typical.

4 NC No function

5 PBRESEN

Manual reset input, ground to reset receiver. Leave floating for

normal operation. The minimum plus width is 150 ms reset

signal.

6 GPIO1 General purpose I/O pin 1

7 GPIO2 General purpose I/O pin 2

8 GPIO3 General purpose I/O pin 3

9 GPIO4 General purpose I/O pin 4

10 GND Ground

11 TXA Port A Serial Transmit Data GPS messages.

12 RXA Port A Serial Receive Data GPS commands.

13 GND Ground

14 TXB Port B Serial Transmit Data.

15 RXB Port B Serial Receive Data DGPS messages.

16 GND Ground.

17 GPIO5 Reserved for re-programming flash.

18 GND Ground

19 TIMEMARK 1PPS Time mark output

20 NC No function

1. VCC_5V: + 5V DC voltage input.

2. Dual communication channel TTL levels (GM-82-T/T1/T2) or RS-232 levels (GM-82-A/A1/A2), 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.

GM-82 User’s manual

4. Software Interface

The GPS-82 interface protocol is based on the National Marine Electronics Association's NMEA 0183

ASCⅡinterface 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

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

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 GGA protocol header

UTC Time 161229.487 hhmmss.sss

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

Position Fix Indicator 1 See Table 5-3

Satellites Used 07 Range 0 to 12

HDOP 1.0 Horizontal Dilution of Precision

MSL Altitude (1) 9.0 Meters

Units M Meters

Geoid Separation(1) Meters

Units M Meters

Age of Diff. Corr. second Null fields when DGPS is not used

Diff. Ref. Station ID 0000

Checksum *18

<CR> <LF> End of message termination

(1). SiRF Technology Inc. does not support geoid corrections. Values are WGS84 ellipsoid heights.

Table 4-3 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

GM-82 User’s manual

4.1.2 Geographic Position wi th 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 $GPGLL GLL protocol header

Latitude 3723.2475 ddmm.mmmm

N/S Indicator N N/S Indicator N N=north or S=south

Longitude 12158.3416 dddmm.mmmm

E/W Indicator W E=east or W=west

UTC Position 161229.487 hhmmss.sss

Status A A=data valid or V=data not valid

Checksum *2C

<CR> <LF> 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 $GPGSA GSA protocol header

Mode 1 A See Table 5-6

Mode 2 3 See Table 5-7

Satellite Used(1) 07 Sv on Channel 1

Satellite Used(1) 02 Sv on Channel 2

…… ….

Satellite Used(1) Sv on Channel 12

PDOP 1.8 Position Dilution of Precision

HDOP 1.0 Horizontal Dilution of Precision

VDOP 1.5 Vertical Dilution of Precision

Checksum *33

<CR> <LF> End of message termination

1. Satellite used in solution.

Table 4-6 Mode 1

Value Description

M Manual—forced to operate in 2D or 3D mode

A2DAutomatic—allowed to automatically switch 2D/3D

Table 4-7 Mode 2

Value Description

1 Fix Not Available

2 2D

3 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

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

<CR> <LF> 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 $GPRMC RMC protocol header

UTC Time 161229.487 hhmmss.sss

Status A A=data valid or V=data not valid

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

<CR> <LF> 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 $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

GM-82 User’s manual

Speed 0.2 km/hr Measured horizontal speed

Units K Kilometers per hour

Checksum *6E

<CR> <LF> 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 Units Description

Message ID $GPMSS MSS protocol header

Signal Strength 55 dB dB SS of tracked frequency

Signal-to-Noise Ratio 27 dB SNR of tracked frequency

Beacon Frequency 318.0 kHz Currently tracked frequency

Beacon Bit Rate 100 100 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

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