Download RoyalTek RGM-3000 Specifications

Operational Manual
RGM-3000/REB-3000
Operational Manual
Version 1.3
2002/5/29
This document contains information highly confidential to RoyalTek Company LTD (RoyalTek). It
is provided for the sole purpose of the business discussions between supplier and RoyalTek and
is covered under the terms of the applicable Non-Disclosure Agreements. Disclosure of this
information to other parties is prohibited without the written consent of RoyalTek.
Prepared by
RoyalTek Company LTD.
A Company of Royal Group
1071, Chung Cheng Rd., Suite 9F-1
Tao Yuan City, Taiwan, R.O.C.
TEL: 886-3-3569666
FAX: 886-3-3560900
E-Mail: [email protected]
http://www.royaltek.com
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
RoyalTek GPS Module: RGM-3000/REB-3000101 Operational Manual
INTRODUCTION ......................................................................................................................................... 1
PRODUCT FEATURES ................................................................................................................................ 1
PRODUCT APPLICATIONS ........................................................................................................................... 1
TECHNIQUE DESCRIPTION .......................................................................................................................... 1
PICTURE.................................................................................................................................................. 2
RGM-3000E....................................................................................................................................... 2
RGM-3000L ....................................................................................................................................... 2
RGM-3000M ...................................................................................................................................... 2
REB-3000 .......................................................................................................................................... 3
RGM-3000/REB-3000 SERIES SYSTEM BLOCK DIAGRAM .......................................................................... 3
TECHNIQUE SPECIFICATIONS ...................................................................................................................... 5
RGM-3000/REB-3000 Mechanical Layout ......................................................................................... 6
HARDWARE INTERFACE ............................................................................................................................. 9
ABSOLUTE MAXIMUM RATINGS .................................................................................................................. 10
CRITICAL DESIGN GUIDE AND DIAGRAM ...................................................................................................... 10
DESIGN LAYOUT DIAGRAM ...................................................................................................................... 11
NMEA V2.2 PROTOCOL......................................................................................................................... 12
GGA-Global Positioning System Fixed Data.................................................................................... 13
GLL-Geographic Position – Latitude/Longitude ............................................................................... 13
GSA-GNSS DOP and Active Satellites ............................................................................................ 13
GSV-GNSS Satellites in View .......................................................................................................... 14
RMC-Recommended Minimum Specific GNSS Data....................................................................... 14
VTG-Course Over Ground and Ground Speed................................................................................ 15
SIRF PROPRIETARY NMEA INPUT MESSAGES.......................................................................................... 15
SIRF NMEA Input Messages ........................................................................................................... 16
Set Serial Port.................................................................................................................................. 16
Set DGPS Port................................................................................................................................. 17
Query/Rate Control .......................................................................................................................... 17
LLA Navigation Initialization............................................................................................................. 18
Development Data On/Off................................................................................................................ 19
Calculating Checksums for NMEA Input .......................................................................................... 19
SIRF BINARY PROTOCOL ........................................................................................................................ 19
Initialize Data Source-Message I.D. 128.......................................................................................... 21
Switch To NMEA Protocol – Message I.D. 129 ................................................................................ 22
Set Almanac- Message I.D. 130 ...................................................................................................... 22
DGPS Source – Message I.D. 133 .................................................................................................. 23
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Set Main Serial Port-Message I.D. 134............................................................................................ 24
Mode control – Message I.D .136 .................................................................................................... 24
DOP Mask Control – Message I.D. 137 ........................................................................................... 25
DGPS Control – Message I.D.138 ................................................................................................... 25
Elevation Mask – Message I.D.139.................................................................................................. 26
Power Mask – Message I.D.140 ...................................................................................................... 26
Editing Residual – Message I.D.141 ................................................................................................ 27
Steady State Detection – Message I.D.142 ..................................................................................... 27
Static Navigation – Message I.D.144 ............................................................................................... 27
Almanac – Message I.D.146............................................................................................................ 27
Ephemeris Message I.D.147............................................................................................................ 28
Switch To SiRF Protocol .................................................................................................................. 28
Switch Operating Modes - Message I.D. 150................................................................................... 28
Set Trickle Power Parameters - Message I.D. 151 .......................................................................... 28
Computation of Duty Cycle and On Time......................................................................................... 29
Push-to-Fix ...................................................................................................................................... 30
Poll Navigation Parameters - Message I.D. 152 .............................................................................. 30
Set UART Configuration - Message I.D. 165 ................................................................................... 30
Set Message Rate - Message I.D. 166 ............................................................................................ 31
Low Power Acquisition Parameters - Message I.D. 167 .................................................................. 32
OUTPUT MESSAGES FOR SIRF BINARY PROTOCOL ................................................................................... 32
Measured Tracker Data Out – Message I.D.4.................................................................................. 34
Raw Tracker Data Out – Message I.D.5 .......................................................................................... 35
Calculation of Pseudo-Range Measurements.................................................................................. 37
Response
:Software Version String – Message I.D.6.................................................................... 37
Response
:Clock Status Data – Message I.D.7 ............................................................................ 38
50BPS Data – Message I.D.8 .......................................................................................................... 38
CPU Throughput – Message I.D.9 ................................................................................................... 39
Command Acknowledgment – Message I.D.11 ............................................................................... 39
Command N Acknowledgment – Message I.D. 12........................................................................... 39
Visible List – Message I.D.13........................................................................................................... 40
Almanac Data – Message I.D.14 ..................................................................................................... 40
OkToSend - Message I.D. 18........................................................................................................... 40
Navigation Parameters (Response to Poll) – Message I.D. 19 ........................................................ 41
Navigation Library Measurement Data - Message I.D. 28 ............................................................... 42
Navigation Library DGPS Data - Message I.D. 29 ........................................................................... 42
Navigation Library SV State Data - Message I.D. 30 ....................................................................... 43
Navigation Library Initialization Data - Message I.D. 31................................................................... 43
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
RoyalTek Navigation Data – Message I.D.100................................................................................. 44
Set Ephemeris – Message I.D.254 .................................................................................................. 45
Development Data – Message I.D.255 ............................................................................................ 45
GPS Receiver User’s Tip ................................................................................................................. 46
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
WAAS demodulator
RoyualTek GPS Module:
Excellent sensitive for urban canyon and
foliage environments.
RGM-3000/REB-3000
Single satellite positioning.
Dual multi path rejection.
Operational Manual
Data-log capability – At least 1 Mega-bits
memory space will be implement in the
product
Introduction
Product applications
RGM-3000/REB-3000 is the third generation of
RGM-3000/REB-3000
RoyalTek GPS Receiver. RGM-3000(E,M)
Portable IA device for personal navigation/
consists of active antenna and GPS receiver.
position commerce (P-Commerce)
REB-3000(or RGM-3000L) consists of GPS
Automotive applications
receiver without active antenna. The GPS
Personal positioning and navigation
receiver is powered by SiRF Star II technology
Marine navigation
and RoyalTek proprietary navigation algorithm
Timing application
that providing you more stable navigation data.
Extendable I/O capability –
The miniature design is the best choice to be
provide programming I/O function and
embedded in a portable device like PDA,
development tool kit for customer
mobile phone, person locator and vehicle
locator. It supports TricklePower function which
Technique description
can be enabled by external command for
RGM-3000M, RGM-3000E
power saving. The excellent sensitivity of
General information. The RGM-3000 is a
RGM-3000 gets the great performance when
stamp size GPS receiver with an active
going though the urban canyon and foliage.
antenna. It provides the antenna power
through RF cable. The default DC input of
Product Features
active antenna is 2.8 ~3.3V. Since it needs 3
satellites or more to do the first position fix.
RGM-3000/REB-3000
OEM product development is fully
The suitable view angle of the active antenna
supported through applications
is necessary. It will determine the first time
engineering and WEB technique
position update after getting good satellites
forum.
geometry. If the satellites are blocked, it may
Small form factor.
take time to determine the position. Caution:
12 parallel channels
Please do not put any metal stuff on the
0.1 second re-acquisition time.
antenna. It results in GPS receiver getting
Enhanced algorithm for navigation stability.
nothing. In urban canyon, the fast 0.1 second
NMEA-0183 compliant protocol/custom
re-acquisition capability can make it determine
protocol.
the position right away through the
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
cross-intersection.
versatile antenna connectors:
REB-3000,RGM-3000L
1) RGM-3000L: with SMA RF cable.
General Information. This is a stamp size GPS
3) REB-3000: with HRS type of antenna
receiver without active antenna. It provides the
connector (male) which you can connect to
external antenna power (2.8DCV ± 5%)
versatile types of antenna.
through RF cable. There are 2 models for
Picture
RGM-3000E
2
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
RGM-3000L
The cable length can be adjusted by
customer’s requirement (standard:10cm)
SMA connector
RGM-3000M
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
REB-3000
RGM-3000/REB-3000 Series System Block Diagram
The RGM-3000/REB-3000 series consists of SiRF star II chipsets technology, RoyalTek LNA and
proprietary software. The system is described as follows.
RGM-3000M/RGM-3000E
Patch ANT
Flash
Memory
LNA
SAW
Filter
SIRF
GRF2I
RS232 port (TTL) x 2
SiRF
Programming I/O port x 7
GSP2e
Control line x 4
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
RGM-3000L/REB-3000
GPS.receiver w/o patch
ANT.
Flash
LNA
SAW
Filter
Memory
SIRF
GRF2I
SiRF
GSP2e
4
RS232 port (TTL) x 2
Programming I/O port x 7
Control line x 4
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
supplied by RGM-3000/REB-3000 series.
The full run (without trickle power)
Technique specifications
maximum current is less than 180mA.
RGM-3000/REB-3000 series.
Weight. 30g(RGM-3000),15g(REB-3000)
Operational Characteristics.
Environment.
12 Channels
Temperature.
L1, 1575.42MHz.
Operating temperature -40 ~ +85 Degree
C / A code, 1.023MHz chip rate.
(Celsius).
Snap start: 3 seconds, typical
Storage temperature: -40 ~ +85 Degree
Hot start: 8 seconds, typical
(Celsius).
Warm start: 40 seconds, typical
Humidity ≦95% noncondensing.
Cold start: 48 seconds, typical
GPS Antenna Specification(RGM-3000E,
Reacquisition:0.1 second, typical
RGM-3000M)
Navigation update rate: Once per second.
Center Frequency: 1575.42±1.023MHz
Datum: WGS-84.
Bandwidth (-10dB return loss):9MHz min
(The above specification is for standard
Gain at Zenith: 3.0dBi Typ
version software . The specification for ES
Gain at 10° elevation :-1.0 dBi Typ
version of software may vary.)
Polarization :R.H.C.P
Accuracy.
Axial Ratio : 2.0dB max
Position accuracy: 25m CEP without SA
LNA Specification:(External ANT for
Velocity accuracy:0.1 meters/second
RGM-3000E )
without SA
Center Frequency: 1575.42±1.023MHz
DGPS Accuracy.
Gain : 12dB Typ
Position:1 to 5 m, typical
Noise Figure : 1.8dB Typ
Velocity: 0.05 meters/second, typical
Out Band Attenuation : 7dB min for ±20MHz
Dynamics.
20dB min for ±50MHz
Altitude: 18000 meters (60000 feet) Max.
30dB min for ±100MHz
Velocity: 515 meters / second Max.
Acceleration: 4 g. , Max.
Power Requirements.
The input voltage is 3.3V±10%, ripple ≦
200mV. The power of active antenna is
5
Output V.S.W.R
2.0dB max
Voltage
DC 2.8.0±0.5V
Current
12mA max
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Mechanical Layout
RGM-3000/REB-3000 Mechanical Layout
RGM-3000E
Pin 1
RGM-3000L
6
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
RGM-3000M
REB-3000
7
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Flexible Flat Circuit & Connectot
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Hardware interface
RGM-3000/REB-3000.
Pin
NO
Name
I/O
1
2
3
4
5
6
VCC
VCC
TXA
RXA
TXB
RXB
O
I
O
I
7
TIMEMARK
O
8
RESET
I
9
10
BOOTSEL
WAKEUP
I
I
11
VBAT
12
13
RESERVED
GPIO3
14
GPIO5
15
GPIO6
16
GPIO7
17
GPIO10
18
GPIO13
19
GPIO15
20
21
22
GND
GND
GND
Description
Characteristic
System Power
DC 3.3V ± 10%
System Power
DC 3.3V ± 10%
Navigation Data Output TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Serial Data Input
TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC
Reserved
TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
RTCM 104 Differential TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC
GPS Input
1 Pulse per second time Vil≦0.2V，Pulse Width≧10ms
mark Output
System Reset ， Active Vil≦0.2V，Pulse Width≧1ms
Low
Internal boot，Active High TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC
Active low wakeup from TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
the RTC
External Backup Power 2.1V≦ Vbat ≦3.6V
Input
I/O General Purpose I/O Pin TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
I/O General Purpose I/O Pin TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
I/O General Purpose I/O Pin TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
I/O General Purpose I/O Pin TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
I/O General Purpose I/O Pin TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
I/O General Purpose I/O Pin TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
I/O General Purpose I/O Pin TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
System GND
System GND
System GND
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
VCC DC Power Input
setup is NMEA Output, 4800bps, 8 data bits,
This is the main power supply for the Engine
no parity, 1 stop bit. The default sentences
board. The power range is from 3.3V±10%,
are GPGGA, GPGSA, GPRMC once per
ripple ≤ 200mV. The maximum current of
second and GPGSV once per 5 seconds.
RGM-3000 is ≤ 200mA.
Please refer to “software interface” for the
GND
detail protocol.
GND provides the ground for the Engine
RXA
board. Connect all grounds.
This is the main receiving channel and is
used to receive software commands to the
VBAT
Engine board from user written software.
This is the battery backup supply that
Please refer to “software interface” for the
powers the SRAM and RTC when main
detail protocol.
power is removed. The input voltage level is
RXB
from 2.1V~3.6V. Max current draw is 10 uA
This is used for DGPS differential input .
at 3.3volt. Without an external backup
BOOTSEL
battery or on board battery, engine board will
Pull Bootsel pin high & reset , then it will get
execute a cold start after every turn on. To
to boot mode.
achieve the faster start-up offered by a hot
or warm start, either a backup battery must
GPIO
be connected or battery installed on board.
This pin can be programmed to input or
TXA
output. For more application, please contact
This is the main transmit channel and is
Royaltek’s sales.
used to output navigation and measurement
data to user written software. The default
Absolute maximum ratings
Parameter
Supply voltage
Output current
Symbol
VCC
Unit
V
mA
Min. Value
2.97
Max. Value
3.63
200
Critical design guide and diagram
1. It is recommanded to attach GNDu plate (30*30MM) below RGM3000M module or the antenna
module of RGM-3000E to increase the intensity of reception . Please refers to “Design Layout
Diagram “ .
2. During design of integrated layout, please isolate high frequency noise source (power Switch,data
or address signal lines ) from GPS antenna.
3. Please don’t place metal object above patch antenna.
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Design Layout Diagram
Recommanded Ground plate for RGM-3000M
RGM-3000M with ground plate
11
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Recommanded RGM-3000-A Antenna Ground Plate
Connector tool (Option, not included in standard kit)
It is used to remove or install FPC on connector.
Software interface
NMEA V2.2 Protocol
GSA, GSV, RMC and VTG.
It is the RS-232 interface:9600 bps, 8 bit
NMEA Output Messages
data, 1 stop bit and no parity. It supports the
The Engine board outputs the following
following NMEA-0183 messages:GGA, GLL,
messages as shown in Table 1:
Table 1 NMEA-0183 Output Messages
NMEA Record
GGA
GLL
GSA
GSV
RMC
VTG
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
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
3723.2475, N, 12158.3416, W, 1,
GGA-Global Positioning System
07, 1.0, 9.0, M, , , ,0000*18
Fixed Data
Table 2 contains the values of the following
example: $GPGGA, 161229.487,
Table 2 GGA Data Format
Name
Message ID
UTC Position
Latitude
N/S Indicator
Longitude
E/W Indicator
Position Fix Indicator
Satellites Used
HDOP
MSL Altitude
Units
Geoid Separation
Units
Age of Diff. Corr.
Diff. Ref. Station ID
Checksum
＜CR＞＜LF＞
Example
$GPGGA
161229.487
3723.2475
N
12158.3416
W
1
07
1.0
9.0
M
M
Units
meters
meters
meters
meters
second
Description
GGA protocol header
hhmmss.sss
ddmm.mmmm
N=north or S=south
dddmm.mmmm
E=east or W=west
See Table 2-1
Range 0 to 12
Horizontal Dilution of Precision
Null fields when DGPS is not used
0000
*18
End of message termination
Table 2-1 Position Fix Indicator
Value
0
1
2
3
Description
Fix not available or invalid
GPS SPS Mode, fix valid
Differential GPS, SPS Mode, fix valid
GPS PPS Mode, fix valid
example:$GPGLL, 3723.2475, N,
GLL-Geographic Position –
12158.3416, W, 161229.487, A*2C
Latitude/Longitude
Table 3 contains the values of the following
Table 3 GLL Data Format
Name
Message ID
Latitude
N/S Indicator
Longitude
E/W Indicator
UTC Position
Status
Checksum
＜CR＞＜LF＞
Example
$GPGLL
3723.2475
N
12158.3416
W
161229.487
A
*2C
Units
Description
GLL protocol header
ddmm.mmmm
N=north or S=south
Dddmm.mmmm
E=east or W=west
hhmmss.ss
A=data valid or V=data not valid
End of message termination
example:$GPGSA, A, 3, 07, 02, 26,
GSA-GNSS DOP and Active Satellites
27, 09, 04, 15, , , , , , 1.8,1.0,1.5*33
Table 4 contains the values of the following
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Table 4 GSA Data Format
Name
Message ID
Mode 1
Mode 2
Satellite Used
Satellite Used
….
Satellite Used
PDOP
HDOP
VDOP
Checksum
＜CR＞＜LF＞
Example
$GPGSA
A
3
07
02
Units
Description
GSA protocol header
See Table 4-2
See Table 4-1
Sv on Channel 1
Sv on Channel 2
….
Sv on Channel 12
Position Dilution of Precision
Horizontal Dilution of Precision
Vertical Dilution of Precision
1.8
1.0
1.5
*33
End of message termination
Table 4-1 Mode 1
Value
1
2
3
Description
Fix not available
2D
3D
Table 4-2 Mode 2
Value
M
A
Description
Manual-forced to operate in 2D or 3D mode
Automatic-allowed to automatically switch 2D/3D
256, 42, 27, 27, 138,
GSV-GNSS Satellites in View
42*71$GPGSV, 2, 2, 07, 09, 23,
Table 5 contains the values of the following
313, 42, 04, 19, 159, 41, 15, 12,
example: $GPGSV, 2, 1, 07, 07, 79,
041, 42*41
048, 42, 02, 51, 062, 43, 26, 36,
Table 5 GSV Data Format
Name
Message ID
Number of Messages1
Messages Number1
Satellites in View
Satellite ID
Elevation
Azimuth
SNR (C/No)
….
Satellite ID
Elevation
Azimuth
SNR (C/No)
Checksum
＜CR＞＜LF＞
1
Example
$GPGSV
2
1
07
07
79
048
42
27
27
138
42
*71
Units
degrees
degrees
dBHz
degrees
degrees
dBHz
Description
GSV protocol header
Range 1 to 3
Range 1 to 3
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
Depending on the number of satellites
Specific GNSS Data
tracked multiple messages of GSV data may
Table 6 contains the values of the following
be required.
example: $GPRMC, 161229.487, A,
3723.2475, N, 12158.3416, W, 0.13,
RMC-Recommended Minimum
309.62, 120598, ,*10
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Table 6 RMC Data Format
Name
Message ID
UTC Position
Status
Latitude
N/S Indicator
Longitude
E/W Indicator
Speed Over Ground
Course Over Ground
Date
Magnetic Variation
Checksum
＜CR＞＜LF＞
Example
$GPRMC
161229.487
A
3723.2475
N
12158.3416
W
0.13
309.62
120598
Units
Description
RMC protocol header
hhmmss.sss
A=data valid or V=data not valid
ddmm.mmmm
N=north or S=south
dddmm.mmmm
E=east or W=west
knots
degrees
True
ddmmyy
E=east or W=west
degrees
*10
End of message termination
example:$GPVTG, 309.62, T,
VTG-Course Over Ground and
, M, 0.13, N,
0.2, K*6E
Ground Speed
Table 7 contains the values of the following
Table 7 VTG Data Format
Name
Message ID
Course
Reference
Course
Reference
Speed
Units
Speed
Units
Checksum
＜CR＞＜LF＞
Example
$GPVTG
309.62
T
Units
degrees
degrees
M
0.13
N
0.2
K
*6E
knots
km/hr
Description
VTG protocol header
Measured heading
True
Measured heading
Magnetic
Measured horizontal speed
Knots
Measured horizontal speed
Kilometer per hour
End of message termination
Message I.D.129 ” on page 17 using a user
program or using SiRFdemo.exe and
SiRF Proprietary NMEA Input
selecting Switch to NMEA Protocol from the
Messages
Action manual. If the receiver is in SiRF
NMEA input messages allow you to control
Binary mode, all the NMEA input messages
the Evaluation Unit in NMEA protocol mode.
are ignored. Once the receiver is put into
The Evaluation Unit may be put into NMEA
NMEA mode, the following messages may
mode by sending the SiRF Binary protocol
be used to command the module.
message “ Switch To NMEA Protocol –
Transport Message
Start Sequence
$PSRF<MID>1
1
Payload
Data2
Checksum
*CKSUM3
Message Identifier consists of three
End Sequence
<CR><LF>4
at MID 100.
2
numeric characters . Input messages begin
15
Message specific data. Refer to a specific
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
message section for <data>…<data>
not printable ASCII characters , they are
definition
omitted from the example strings, but must
3
CKSUM is a two-hex character checksum
be sent to terminate the message and cause
as defined in the NMEA specification . Use
the receiver to process that input message.
of checksums is required on all input
messages.
Note – All fields in all proprietary NMEA
4
messages are required, none are exceptional.
Each message is terminated by using
Carriage Return (CR) Line Feed (LF) which
All NMEA messages are comma delimited
is \r\n which is hex 0D 0A. Because \r\n are
SIRF NMEA Input Messages
Message
Set Serial Port
Navigation Initialization
Set DGPS Port
Query / Rate Control
LLA Navigation
Initialization
Development Data On/Off
Message
Identifier
(MID)
100
101
102
103
104
105
Description
Set PORT A Parameters and protocol
Parameters required for start using X/Y/Z
Set PORT B parameters for DGPS input
Query standard NMEA message and/or set output rate
Parameters required for start using Lat/Lon/Alt1
Development Data messages On/Off
Input coordinates must be WGS84.
extensive command message set is
available. When a valid message is received,
Set Serial Port
the parameters are stored in battery-backed
This command message is used to set the
SRAM and then the Evaluation Unit restarts
protocol (SiRF Binary or NMEA) and/or the
using the saved parameters.
communication parameters (baud , data bits,
Table 8 contains the input values for the
stop bits, parity). Generally, this command is
following example:Switch to SIRF Binary
used to switch the module back to SiRF
protocol at 9600,8,N,1
Binary protocol mode where a more
$PSRF100,0,9600,8,1,0*0C
Table 8 Set Serial Port Data Format
Name
Message ID
Protocol
Baud
Data Bits
Example
$PSRF100
0
9600
8
Stop Bits
Parity
Checksum
<CR><LF>
1
0
*0C
1
Units
Description
PSRF100 protocol header
0=SiRF Binary, 1=NMEA
4800,9600,19200,38400
8,71
0,1
0=None ,1=Odd,2=Even
End of message termination
SiRF protocol is only valid for 8data bits, 1 stop bit,
and no parity.
LLA Navigation Initialization
module for a warm start, which provide
This command is used to initialize the
current position (in X, Y, Z coordinates),
16
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
clock offset , and time .This enables the
Table 9 contains the input values for the
Evaluation Unit to search for the correct
following example:Switch to SiRF Binary
satellite signals at the correct signal
protocol at 9600,8,N,1
parameters . Correct initialization
$PSRF101,-2686700,-4304200, 3851624,
parameters enable the Evaluation Unit to
95000, 497260, 921, 12, 3*22
acquire signals quickly.
Table 9 Navigation Initialization Data Format
Name
Message ID
ECEF X
ECEF Y
ECEF Z
CLK Offset
Time Of Week
Week No
Channel Count
Reset Cfh
Checksum
<CR><LF>
Example
$PSRF101
-2686700
-4304200
3851624
95000
Units
Meters
Meters
Meters
Hz
497260
921
12
3
*22
seconds
Description
PSRF101 protocol header
X coordinate position
Y coordinate position
Z coordinate position
Clock Offset of the Evaluation Unit1
GPS Time OF Week
GPS Week Number
Range 1 to 12
See Table 10
End of message termination
Use 0 for last saved value if available . If this is unavailable, a default value of 96,000 will be used…
Table 10 Reset Configuration
Hex
0x01
0x02
0x04
Description
Data Valid – Warm /Hot Starts=1
Clear Ephemeris – Warm Start=1
Clear Memory – Cold Start =1
PORT B are 9600 baud, 8 data bits, stop bit,
Set DGPS Port
and no parity. If a DGPS received , the
This command is used to control Serial Port
parameters are stored in battery – backed
B which is an input – only serial port used to
SRAM and then the receiver restarts using
receive RTCM differential corrections.
the saved parameters.
Differential receivers may output corrections
Table 11 contains the input values for the
using different communication parameters.
following example:Set DGPS Port to be
The default communication parameters for
9600,8,N,1. $PSRF102,9600,8,1,0*3C
Table 11 Set DGPS Port Data Format
Name
Message ID
Baud
Data Bits
Stop Bits
Parity
Checksum
<CR><LF>
Example
$PSRF102
9600
8
1
0
*3C
Units
Description
PSRF102 protocol header
4800,9600,19200,38400
8,7
0,1
0==None, 1=Odd, 2=Even
End of message termination
be polled once, or setup for periodic output.
Query/Rate Control
Checksums may also be enabled or disabled
This command is used to control the output
depending on the needs of the receiving
of standard NMEA messages GGA, GLL,
program. NMEA message settings are saved
GSA, RMC, and VTG. Using this command
in battery-backed memory for each entry
message, standard NMEA messages may
when the message is accepted.
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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Table 12 Query/Rate Control Data
$PSRF103,05,00,01,01*20
Format(See example 1.)
3.Disable VTG message
1.Quety the GGA message with checksum
$PSRF103,05,00,00,01*21
enabled: $PSRF103,00,01,00,01*25
2.Enable VTG message for a 1 Hz
constant output with checksum enabled:
Table 12 Query/Rate Control Data Format(See example 1.)
Name
Message ID
Message
Mode
Rate
Cksum Enable
Checksum
<CR><LF>
Example
$PSRF103
00
01
00
01
*25
Units
seconds
Description
PSRF102 protocol header
See Table 13
0=Set Rate, 1=Query
Output – off=0,max=255
0=Disable Checksum, 1=Enable Checksum
End of message termination
Table 13 Messages
Value
0
1
2
3
4
5
Description
GGA
GLL
GSA
GSV
RMC
VTG
parameters . Correct initialization
LLA Navigation Initialization
parameters enable the receiver to acquire
This command is used to initialize the
signals quickly.
module for a warm start , by providing
Table 14 contains the input values for the
current position(in latitude, longitude, and
following example: Start using known
altitude coordinates), clock offset, and time.
position and time $PSRF104, 37.3875111,
This enables the receiver to search for the
-121.97232, 0, 95000, 237759, 922, 12,
correct satellite signals at the correct signal
3*3A
Table 14 LLA Navigation Initialization Data Format
Name
Message ID
Lat
Lon
Alt
CLK Offset
Time Of Week
Week No
Channel Count
Reset Cfg
Checksum
<CR><LF>
Example
$PSRF104
37.3875111
-121.97232
0
95000
237759
922
12
3
*3A
Units
Description
PSRF104 protocol header
Latitude position (Range 90 to –90)
Longitude position (Range 180 to –180)
Altitude position
Clock Offset of the Evaluation Unit1
Degrees
Degrees
Meters
Hz
Seconds
GPS Time Of Week
GPS Week Number
Range 1 to 12
See Table 15
End of message termination
Use 0 for last saved value if available. If this is unavailable, a default value of 96,000 will be used.
Table 15 Reset Configuration
Hex
0x01
0x02
Description
Data Valid – Warm /Hot Starts=1
Clear Ephemeris – Warm Start=1
18
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
0x04
Clear Memory – Cold Start =1
checksum of parameter out of specified
Development Data On/Off
range.
Use this command to enable development
Table 16 contains the input values for the
data information if you can not get the
following examples:
commands accepted. Invalid commands
generate debug information that enables the
1.
Debug On $PSRF105,1*3E
2.
Debug Off $PSRF 105,0*3F
user to determine the source of the
command rejection. Common reasons for
input command rejection are invalid
Table 16 Development Data On/Off Data Format
Name
Message ID
Debug
Checksum
<CR><LF>
Example
$PSRF105
1
*3E
Units
Description
PSRF105 protocol header
0=Off , 1= On
End of message termination
to include:
Calculating Checksums for NMEA
● Reliable transport of messages
Input
● Ease of implementation
The Checksum is the 8-bit exclusive OR of all
● Efficient implementation
the characters after $ and before *. (Not
● Independence from payload
including $ and *)
Protocol Layers Transport Message
SiRF Binary Protocol
The serial communication protocol is designed
Start
Sequence
0xA01,
0xA2
Payload
Length
Two-bytes
(15-bits)
Payload
Up to 210-1
(<1023 )
Message
Checksum
Two-bytes
(15-bits)
EndSequence
0xB0,
0xB3
0xYY denotes a hexadecimal byte value. 0xA0 equals 160.
two-byte (15- bit)message length and a
Transport
The transport layer of the protocol
two-byte(15-bit) choice of a 15-bit values for
encapsulates a GPS message in two start
length and check sum are designed such
characters and two stop characters. The
that both message length and check sum
values are chosen to be easily identifiable
can not alias with either the stop of start
and such that they are unlikely to occur
code.
frequently in the data. In addition, the
Message Validation
transport layer prefixes the message with a
The validation layer is of part of the transport,
19
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
but operates independently. The byte count
data neither the alignment nor the byte order
refers to the payload byte length. Likewise,
are defined as part of the transport although
the check sum is a sum on the payload.
SiRF payloads will use the big-endian order.
Checksum
Message Length
The message length is transmitted high
The check sum is transmitted high order
order byte first followed by the low byte.
byte first followed byte the low byte. This is
the so-called big- endian order
High Byte
<0x7F>
High Byte
<0x7F
Low Byte
Any value
Low Byte
Any value
The check sum is 15-bit checksum of the
Even though the protocol has a maximum
bytes in the payload data .The following
length of (215 -1) bytes practical
pseudo code defines the algorithm used. Let
considerations require the SiRF GPS
message to be the array of bytes to be sent
module implementation to limit this value to
by the transport. Let msgLen be the number
a smaller number. Likewise, the SiRF
of bytes in the message array to be
receiving programs (e.g., SiRF demo) may
transmitted .
limit the actual size to something less than
Index = first
this maximum..
checkSum = 0
while index < msgLen
Payload Data
The payload data follows the message
checkSum = checkSum +message[index]
length. It contains the number of bytes
15
checkSum = checkSum AND(2 -1)
specified by the message length. The
payload data may contain any 8-bit value.
Where multi-byte values are in the payload
Input Messages for SiRF Binary Protocol
Note – All input messages are sent in BINARY
format
Table 19 SiRF Messages – Input Message List
Hex
0 x 80
0 x 81
0 x 82
0 x 84
0x 85
0x 86
0 x 88
0 x 89
0 x 8A
0 x 8B
0 x 8C
0 x 8D
0 x 8E
0 x 8F
0 x 90
0 x 91
ASCII
128
129
130
132
133
134
136
137
138
139
140
141
142
143
144
145
Name
Initialize Data Source
Switch to NMEA Protocol
Set Almanac
Software Version
DGPS Source Control
Set Main Serial Port
Mode Control
DOP Mask Control
DGPS Mode
Elevation Mask
Power Mask
Editing Residual
Steady-State Detection
Static Navigation
Clock Status
Set DGPS Serial Port
20
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
0 x 92
0 x 93
0 x 95
0 x 96
0 x 97
0 x 98
0x A5
0x A6
0x A7
146
147
149
150
151
152
165
166
167
Almanac
Ephemeris
Set Ephemeris
Switch Operating Mode
Set Trickle Power Parameters
Navigation Parameters (Poll)
Change UART Configuration
Set Message Rate
Low Power Acquisition Parameters
Number(924),and Channels(12). Raw
Initialize Data Source-Message I.D.
track data Debug data enabled.
128
Example:
Table 18 contains the input values for the
A0A20019-Start Sequence and Payload
following example:Warm start the receiver
Length
with the following initialization data:ECEF
80FFD700F9FFBE5266003AC57A000124
WYZ (-2686727 m,-4304282 m,3851642
F80083S600039C0C33- Payload
m),Clock Offset (75,000 Hz),Time of
0A91B0B3-Message Checksum and End
Week(86,400 s),Week Number(924),Week
Sequence
Table 20 Initialize Data Source
Name
Message ID
ECEF X
ECEF Y
ECEF Z
Clock Offset
Time of Week
Week Number
Channels
Reset Config.
Binary(Hex)
Scale
Example
80
FFD700F9
FFBE5266
003AC57A
000124F8
*100
0083D600
039C
0C
33
Bytes
1
4
4
4
4
4
2
1
1
Units
Description
ASCII 128
meters
meters
meters
Hz
seconds
Range 1-12
See Table 19
Payload Length: 25 bytes
Table 21 Initialize Data Source
Bit
0
1
2
3
4
5
6
7
Description
Data valid flag-set warm/hot start
Clear ephemeris-set warm start
Clear memory-set cold start
Factory Reset
Enable Nav Lib data (YES=1,NO=0)
Enable debug data for SiRF binary protocol(YES=1,NO=0)
Enable debug data for NMEA protocol(YES=1,NO=0)
Reserved (must be 0)
NL Initialize Data (MID 31). All messages are
Note - If Nav Lib data is ENABLED then the
sent at 1 Hz and the baud rate will be
resulting messages are enabled. Clock
automatically set to 57600.
Status (MID 7), 50 BPS (MID 8), Raw DGPS
(17), NL Measurement Data (MID 28), GPS
Data (MID 29), SV State Data (MID 30), and
21
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Example:
Switch To NMEA – Message I.D. 129
Table 20 contains the input values for the
A0A20018 – Start Sequence and Payload
following example:
Length
Request the following NMEA data at 9600
8102010100010501050100010001000100010
baud:
001000112C0 – Payload
GGA – ON at 1 sec , GLL – 0sec , GSA – ON
016AB0B3 – Message Checksum and End
at 5 sec GSV – ON at 5 sec , RMC – 0 sec ,
Sequence
VTG – 0 sec
Table 22 Switch To NMEA Protocol
Name
Message ID
Mode
GGA Message1
Checksum2
GLL Message
Checksum
GSA Message
Checksum
GSV Message
Checksum
RMC Message
Checksum
VTG Message
Checksum
MSS Message
Checksum
Unused Field
Unused Field
Unused Field
Unused Field
Unused Field
Unused Field
Baud Rate
Bytes
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Binary(Hex)
Scale Example
81
02
01
01
00
01
05
01
05
01
00
01
00
01
00
01
00
01
00
01
00
01
12C0
Units
Description
ASCII 129
1/s
1/s
1/s
1/s
1/s
1/s
Recommended value
Recommended value
Recommended value
Recommended value
Recommended value
Recommended value
Recommended value
Recommended value
38400,19200,9600,4800,2400
Payload Length: 24bytes
(1)
A value of 0x00 implies NOT to send
message (recommended).
message, otherwise data is sent at 1
Set Almanac- Message I.D. 130
message every X seconds requested
This command enables the user to upload
(i.e., to request a message to be sent
an almanac to the Evaluation Unit
every 5 seconds, request the message
Note – This feature is not documented in
using a value of 0x05.)Maximum rate is
this manual. For information on
1/255s.
(2)
implementation contact SiRF Technology
A value of 0x00 implies the checksum
Inc.
is NOT calculated OR transmitted with
Software Version – Message I.D. 132
the message (not recommended ) .A
Table 21 contains the input values for the
value of 0x01 will have a checksum
following example:Poll the software
calculated and transmitted as part of the
version
22
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Example:
8400 – Payload
A0A20002 – Start Sequence and Payload
0084B0B3 – Message Checksum and End
Length
Sequence
Table 23 Software Version
Name
Message ID
TBD
Bytes
1
1
Binary(Hex)
Scale
Example
84
00
Units
Description
ASCII 132
Payload Length: 2 bytes
Example 1: Set the DGPS source to External
DGPS Source – Message I.D. 133
RTCM Data
This command allows the user to select the
A0A20007—Start Sequence and Payload Length
source for DGPS corrections. Options available
85020000000000—Payload
are:
0087B0B3—Checksum and End Sequence
External RTCM Data (any serial port)
WAAS (subject to WAAS satellite availability)
Internal DGPS beacon receiver
Table B-6 DGPS Source Selection (Example 1)
Name
Message ID
DGPS Source
Internal Beacon
Bytes
1
1
4
Internal Beacon
Bit Rate
1
Binary(Hex)
Scale Example
85
00
00000000
0
Units
Hz
BPS
Description
Message identifier
See Table B-8. DGPS Source Selections
See Table B-9. Internal Beacon Search
setting.
See Table B-9. Internal Beacon Search
setting.
Payload: 7Bytes.
Example2: Set the DGPS source to Internal
A0A20007—Start Sequence and Payload Length
DGPS Beacon Receiver
85030004BAF0C802—Payload
Search Frequency 310000, Bit Rate 200
02FEB0B3—Checksum and End Sequence
Table B-7 DGPS Source Selection (Example 2)
Name
Message ID
DGPS Source
Internal Beacon
Bytes
1
1
4
Internal Beacon
Bit Rate
1
Binary(Hex)
Scale Example
85
03
0004BAF0
C8
Units
Hz
BPS
Description
Message identifier
See Table B-8. DGPS Source Selections
See Table B-9. Internal Beacon Search
setting.
See Table B-9. Internal Beacon Search
setting.
Payload: 7Bytes.
Table B- 8 DGPS Source Selections
DGPS Source
None
Hex
00
Decim
al
0
Description
DGPS corrections will not be used (even if available).
23
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
01
02
03
WAAS
External RTCM Data
Internal DGPS
Beacon Receiver
1
2
3
Uses WAAS Satellite (subject to availability).
External RTCM input source (i.e., Coast Guard Beacon).
Internal DGPS beacon receiver.
Table B- 9 Internal Beacon Search Settings
Search Type
Auto Scan
Frequen
cy
0
Bit Rate
Description
0
0
Non zero
Non
Zero
Non
Zero
0
Auto scanning of all frequencies and bit rates are
performed.
Auto scanning of all frequencies and specified bit rate
are performed.
Auto scanning of all bit rates and specified frequency
are performed.
Only the specified frequency and bit rate search are
performed.
Full Frequency Scan
Full Bit Rate Scan
Specific Search
Non Zero
Length
Set Main Serial Port-Message I.D. 134
860000258008010000—Payload
Table B-10 contains the input values for the
0134B0B3—Message Checksum and End
following example:
Sequence
Set Main Serial port to 9600,n,8,1.
Example:
A0A20009—Start Sequence and Payload
Table B- 10 Set Main Serial Port
Name
Message ID
Baud
Data Bits
Stop Bit
Parity
Pad
Bytes
1
4
1
1
1
1
Binary(Hex)
Scale Example
86
00002580
08
01
00
00
Units
Description
Message identifier
38400,19200,9600,4800,2400,1200
8,7
0,1
None=0, Odd=1, Even=2
Reserved
Payload Length: 9 bytes
Example:
Mode control – Message I.D .136
A0A2000W – Start Sequence and Payload
Table 24 contains the input values for the
Length
following example: 3D Mode = Always , Alt
88010101010100000002140501 –
Constraining = Yes , Degraded Mode –
Payload
clock then direction , TBD = 1 , DR Mode
00A9B0B3 – Message Checksum and
= Yes , Altitude = 0, Alt Hold Mode = Auto,
End Sequence
Alt Source = Last Computed , Coast Time
Out = 20, Degraded Time Out = 5, DR
Time Out = 2, Track Smoothing = Yes
Table 24 Mode Control
24
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Name
Message ID
3D Mode
Alt Constraint
Degraded Mode
TBD
DR Mode
Altitude
Alt Hold Mode
Alt Source
Coast Time Out
Degraded Time
Out
Dr Time Out
Track Smoothing
Bytes
1
1
1
1
1
1
2
1
1
1
1
Binary(Hex)
Units
Description
Scale Example
88
ASCII 136
01
1 (always true=1)
01
YES = 1,NO = 0
01
See Table C-7
01
Reserved
01
YES = 1,NO = 0
0000
Meters Range –1,000 to 10,000
00
Auto = 0,Always=1,Disable=2
02
Last Computed=0,Fixed to=1
14
Seconds 0 to 120
05
Seconds 0 to 120
1
1
01
01
Seconds 0 to 120
YES = 1,NO = 0
Payload Length:14 bytes
Table 25 Degraded Mode Byte Value
Byte Value
0
1
2
3
4
Description
Use Direction then Clock Hold
Use Clock then Direction Hold
Direction(Curb)Hold Only
Clock(Time)Hold Only
Disable Degraded Modes
Example:
DOP Mask Control – Message I.D. 137
A0A20005 – Start Sequence and Payload
Table 26 contains the input values for the
Length
following example:
8900080808 – Payload
Auto Pdop/Hdop, Gdop =
00A1B0B3 – Message Checksum and
8(default),Pdop=8,Hdop=8
End Sequence
Table 26 DOP Mask Control
Name
Message ID
DOP Selection
GDOP Value
PDOP Value
HDOP Value
Bytes
1
1
1
1
1
Binary(Hex)
Scale
Example
88
00
08
08
08
Units
Description
ASCII 137
See Table 25
Range 1 to 50
Range 1 to 50
Range 1 to 50
Payload Length: 5 bytes
Table 27 DOP Selection
Byte Value
0
1
2
3
4
Description
Auto PDOP/HDOP
PDOP
HDOP
GDOP
Do Not Use
Set DGPS to exclusive with a time out of
DGPS Control – Message I.D.138
30 seconds.
Table 28 contains the input values for the
Example:
following example:
25
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
A0A20003 – Start Sequence and Payload
End Sequence
Length
8A011E – Payload
00A9B0B3 – Message Checksum and
Table 28 DGPS Control
Name
Message ID
DGPS Selection
DGPS Time Out
Binary(Hex)
Scale
Example
8A
01
1E
Bytes
1
1
1
Units
Description
ASCII 138
See Table 27
Range 1 to 120
Seconds
Payload Length:3 bytes
Table 29 DGPS Selection
Byte Value
0
1
2
3
Description
Auto
Exclusive
Never
Mixed (not recommended)
Example:
Elevation Mask – Message I.D.139
A0A20005 – Start Sequence and Payload
Table 30 contains the input values for the
Length
following example:
8B0032009B – Payload
Set Navigation Mask to 15.5 degrees
0269B0B3 – Message Checksum and End
(Tracking Mask is defaulted to 5 degrees).
Sequence
Table 30 Elevation Mask
Name
Message ID
Tracking Mask
Navigation Mask
Bytes
1
2
2
Binary(Hex)
Scale
Example
8B
*10
0032
*10
009B
Units
degrees
degrees
Description
ASCII 139
Not currently used
Range –20.0 to 90.0
Payload Length:5 bytes
Length
Power Mask – Message I.D.140
8C1C21 – Payload
Table 31 contains the input values for the
00C9B0B3 – Message Checksum and
following example: Navigation mask to
End Sequence
33dBHz (tracking default value of 28)
Example:
A0A20003 – Start Sequence and Payload
Table 31 Power Mask
Name
Message ID
Tracking Mask
Navigation Mask
Bytes
1
1
1
Binary(Hex)
Scale
Example
8C
1C
21
Payload Length:3 bytes
26
Units
dBHz
dBHz
Description
ASCII 140
Not currently implemented
Range –28 to 50
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Editing Residual – Message I.D.141
Note – Not implemented currently
Example:
Steady State Detection – Message
A0A20002 – Start Sequence and Payload
I.D.142
Length
Table 32 contains the input values for the
8E0F – Payload
following example: Set Stead State
009DB0B3 – Message Checksum and
Threshold to 1.5 m/sec2
End Sequence
Table 32 Steady Detection
Name
Message ID
Threshold
Bytes
1
1
Binary(Hex)
Scale
Example
8E
0F
Units
Description
ASCII 142
Range 0 to 20
M /sec2
Payload: 2 bytes
Static Navigation – Message I.D.144
Table 33 Steady State Detection
Name
Message ID
TBD
Bytes
1
1
Binary(Hex)
Scale
Example
90
00
Units
Description
ASCII 144
Reserved
Payload Length:2 bytes
A0A20009-Start Sequence and Payload
Set DGPS Serial Port – Message I.D 145
Table 34 contains the input values for the
Length
following example:Set DGPS Serial port to
910000258008010000 – Payload
9600.n,8,1.
013FB0B3 – Message Checksum and End
Example:
Sequence
Table 34 Set DGPS Serial Port
Name
Message ID
Baud
Data Bits
Stop Bit
Parity
Pad
Bytes
1
4
Binary(Hex)
Scale
Example
91
00002580
1
1
1
1
Units
08
01
00
00
Description
ASCII 145
38400,19200,9600,4800,2400,
1200
8,7
0,1
None=0,Odd=1,Even=2
Reserved
Payload Length: 9 bytes
A0A20002 – Start Sequence and Payload
Almanac – Message I.D.146
Length
Table 35 contains the input values for the
9200 – Payload
following example:Poll for the Almanac.
0092B0B3 – Message Checksum and End
Example:
Sequence
Table 35 Almanac
27
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Name
Message ID
TBD
Binary(Hex)
Scale
Example
92
00
Bytes
1
1
Units
Description
ASCII 146
Reserved
Payload Length: 2 bytes
Length
Ephemeris Message I.D.147
930000 – Payload
Table 36 contains the input values for the
0092B0B3 – Message Checksum and End
following example:Poll for Ephemeris Data
Sequence
for all satellites.
Example:
A0A20003 – Start Sequence and Payload
Table 36 Almanac
Name
Message ID
Sv I.D.1
TBD
Binary(Hex)
Scale
Example
93
00
00
Bytes
1
1
1
Units
Description
ASCII 147
Range 0 to 32
Reserved
Payload Length:3 bytes
A value of 0 requests all available
Switch Operating Modes - Message
ephemeris records, otherwise the
I.D. 150
ephemeris of the Sv I.D. is requested.
Table 37 contains the input values for the
following example:
Switch To SiRF Protocol
Note – To switch to SiRF protocol you
Sets the receiver to track a single satellite
must send a SiRF NMEA message to
on all channels.
revert to SiRF binary mode. (See page 9, ”
Example:
NMEA Input Messages “ for more
A0A20007—Start Sequence and Payload
information)
Length
961E510006001E—Payload
0129B0B3—Message Checksum and End
Sequence
Table 37 Switch Operating Mode I.D. 150
Name
Message ID
Mode
SvID
Period
Bytes
1
2
2
2
Binary(Hex)
Scale
Example
96
1E51
0006
001E
Units
seconds
Description
ASCII 150
1E51=test, 0=nomal
Satellite to Track
Duration of Track
Payload length: 7 bytes
Message I.D. 151
Set Trickle Power Parameters -
Table 38 contains the input values for the
28
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
following example: Sets the receiver into
Length
low power Modes. Example: Set receiver
97000000C8000000C8—Payload
into Trickle Power at 1 hz update and 200
0227B0B3—Message Checksum and End
ms On Time.
Sequence
A0A20009—Start Sequence and Payload
Table 38 Set Trickle Power Parameters I.D. 151
Binary(Hex)
Name
Bytes
Scale
Example
Message ID
1
97
Push To FixMode
2
0000
Duty Cycle
2
*10
00C8
Milli Seconds On
4
000000C8
Time
Units
Description
ASCII 151
ON=1, OFF=0
% Time on
Range 200 ~ 500 ms
%
ms
Payload Length: 9bytes.
Time, use the following formula:
Computation of Duty Cycle and On
Off Time = (On Time - (Duty Cycle * On
Time.
Time)) / Duty Cycle
The Duty Cycle is the desired time to be
Update rate = Off Time + On Time
spent tracking.The On Time is the duration
Note – On Time inputs of > 900 ms will
of each tracking period (range is 200 - 900
default to 1000 ms
ms). To calculate the TricklePower update
Following are some examples of
rate as a function of Duty cycle and On
selections:
Table 39 Example of selections for Trickle Power Mode of Operation
Mode
Continuous
Trickle Power
Trickle Power
Trickle Power
Trickle power
On Time (ms)
1000
200
200
300
500
Duty Cycle (%)
100
20
10
10
5
Update rate (1/Hz)
1
1
2
3
10
See Table 40 for supported/unsupported settings.
Table 40 Trickle Power Mode Settings
On
Time
(ms)
200
300
400
500
600
700
800
900
1
2
3
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
N
Y
Y
Y
Y
Y
Y
Y
Update Rate (second)
4
5
N
Y
Y
Y
Y
Y
Y
Y
Y = Yes (Mode supported)
N = No (Mode NOT supported)
29
N
Y
Y
Y
Y
Y
Y
Y
6
7
8
N
Y
Y
Y
Y
Y
Y
Y
N
N
Y
Y
Y
Y
Y
Y
N
N
Y
Y
Y
Y
Y
Y
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
approximately On Period/1800, or about
Push-to-Fix
1%. Push-to-Fix keeps the ephemeris for
In this mode the receiver will turn on every
all visible satellites up to date so
30 minutes to perform a system update
position/velocity fixes can generally be
consisting of a RTC calibration and
computed within SnapStart times (when
satellite ephemeris data collection if
requested by the user) on the order of 3
required (i.e., a new satellite has become
seconds.
visible) as well as all software tasks to
support SnapStart in the event of an NMI.
Ephemeris collection time in general this
Poll Navigation Parameters -
takes 18 to 30 seconds. If ephemeris data
Message I.D. 152
is not required then the system will
Table C-20 contains the input values for
re-calibrate and shut down. In either case,
the following example:
the amount of time the receiver remains
Example: Poll receiver for current
off will be in proportion to how long it
navigation parameters.
stayed on:
A0A20002—Start Sequence and Payload
Off period = (On Period*(1-Duty Cycle) /
Length
Duty Cycle)
9800—Payload
Off Period is limited to 30 minutes. The
0098B0B3—Message Checksum and End
duty cycle will not be less than
Sequence
Table C-20 Poll Receiver for Navigation Parameters
Name
Message ID
Reserved
Bytes
1
1
Binary(Hex)
Scale
Example
98
00
Units
Description
ASCII 152
Payload length: 2 bytes
A0A20031—Start Sequence and Payload
Set UART Configuration - Message
Length
I.D. 165
A5000101000025800801000000010000000
Table B-28 contains the input values for the
0E1000801000000FF050500000000000
following example:
0000000FF0505000000000000000000—Pa
Example: Set port 0 to NMEA with 9600 baud,
yload
8 data bits, 1 stop bit, no parity. Set
0452B0B3—Message Checksum and End
port 1 to SiRF binary with 57600 baud, 8
Sequence
data bits, 1 stop bit, no parity. Do not
configure ports 2 and 3.
Example:
30
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Table B- 28 Set UART Configuration
Name
Message ID
Port
In Protocol1
Out Protocol
Baud Rate2
Data bits3
Stop bits4
Parity5
Reserved
Reserved
Port
In Protocol
Out Protocol
Baud Rate
Data bits
Stop bits
Parity
Reserved
Reserved
Port
In Protocol
Out Protocol
Baud Rate
Data bits
Stop bits
Parity
Reserved
Reserved
Port
In Protocol
Out Protocol
Baud Rate
Data bits
Stop bits
Parity
Reserved
Reserved
Bytes
1
1
1
1
4
1
1
1
1
1
1
1
1
4
1
1
1
1
1
1
1
1
4
1
1
1
1
1
1
1
1
4
1
1
1
1
1
Binary(Hex)
Scale
Example
A5
00
01
01
00002580
08
01
00
00
00
00
01
01
0000E100
08
01
00
00
00
00
01
01
00000000
08
01
00
00
00
00
01
01
00000000
08
01
00
00
00
Units
Description
Decimal 165
For UART 0
For UART 0
For UART 0 (Set to In protocol)
For UART 0
For UART 0
For UART 0
For UART 0
For UART 0
For UART 0
For UART 1
For UART 1
For UART 1
For UART 1
For UART 1
For UART 1
For UART 1
For UART 1
For UART 1
For UART 1
For UART 2
For UART 2
For UART 2
For UART 2
For UART 2
For UART 2
For UART 2
For UART 2
For UART 3
For UART 3
For UART 3
For UART 3
For UART 3
For UART 3
For UART 3
For UART 3
For UART 3
Payload Length: 49 bytes
1. 0 = SiRF Binary, 1 = NMEA, 2 = ASCII, 3 = RTCM, 4 = User1, 5 = No Protocol.
2. Valid values are 1200, 2400, 4800, 9600, 19200, 38400, and 57600.
3. Valid values are 7 and 8.
4. Valid values are 1 and 2.
5. 0 = None, 1 = Odd, 2 = Even.
Set Message Rate - Message I.D. 166
Table B-29 contains the input values for the following example:
Set message ID 2 to output every 5 seconds starting immediately.
Example:
A0A20008—Start Sequence and Payload Length
A601020500000000—Payload
31
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
00AEB0B3—Message Checksum and End Sequence
Table B- 29 Set Message Rate
Name
Message ID
Send Now1
MID to set
Update Rate
TBD
TBD
TBD
TBD
Bytes
1
1
1
1
1
1
1
1
Binary(Hex)
Scale
Example
A6
01
02
05
00
00
00
00
Units
sec
Description
Decimal 166
Poll message
Range= 1 - 30
Reserved
Reserved
Reserved
Reserved
Payload Length: 8 bytes
1. 0 = No, 1 = Yes, if no update rate the message will be polled.
Example:
Low Power Acquisition Parameters -
A0A20019—Start Sequence and Payload
Message I.D. 167
Length
Table B-30 contains the input values for the
A7000075300001D4C000000000000000000
following example:
000000000000000—Payload
Set maximum off and search times for
02E1B0B3—Message Checksum and End
re-acquisition while receiver is in low power.
Sequence
Table B- 30 Set Low Power Acquisition Parameters
Name
Bytes
Message ID
1
Max Off Time
4
Max Search Time
4
TBD
4
TBD
4
TBD
4
TBD
4
Binary(Hex)
Scale
Example
A7
00007530
0001D4C0
00000000
00000000
00000000
00000000
Units
ms
ms
Description
Decimal 167
Maximum time for sleep mode
Max. satellite search time
Reserved
Reserved
Reserved
Reserved
Payload Length: 25 bytes
Output Messages for SiRF Binary Protocol
Note – All output messages are received in BINARY format. SiRF demo interprets the binary data
and saves if to the log file in ASCII format.
Table 42 lists the message list for the SiRF output messages
Hex
0x02
0x04
0x05
0x06
0x07
0x08
ASCII
2
4
5
6
7
8
Name
Measured Navigation Data
Measured Tracking Data
Raw Track Data
SW version
Clock Status
50 BPS Subframe Date
32
Description
Position, velocity, and time
Signal to noise information
Measurement information
Receiver software
Standard ICD format
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
0x09
0x0B
0x0C
0X0D
0x0E
0x0F
0x11
0x12
0x13
0x1C
0x1D
0x1E
0x1F
0x64
0xFF
9
11
12
13
14
15
17
18
19
28
29
30
31
100
255
Throughput
Command Acknowledgment
Command N Acknowledgment
Visible List
Almanac Data
Ephemeris Data
Differential Corrections
OkToSend
Navigation Parameters
Nav. Lib. Measurement Data
Nav. Lib. DGPS Data
Nav. Lib. SV State Data
Nav. Lib. Initialization Data
RoyalTek Navigation Data
Development Data
CPU load
Successful request
Unsuccessful request
Auto Output
Received from DGPS broadcast
CPU ON / OFF (Trickle Power)
Response to Poll
Measurement Data
Differential GPS Data
Satellite State Data
Initialization Data
UTC , lat , lon, validate output
Various data messages
Measure Navigation Data Out –
02FFD6F78CFFBE869E003AC004000301
Message I.D.2
04A00036B039780E3
Output Rate: 1 Hz
0612190E160F04000000000000 –
Table 43 lists the binary and ASCII
Payload
message data format for the measured
09BBB0B3 – Message Checksum, and
navigation data
End Sequence
Example:
A0A20029 – Start Sequence and Payload
Length
Table 43 Measured Navigation Data Out – Binary & ASCII Message Data Format
Name
Message ID
X – position
Y – position
Z – position
X – velocity
Y – velocity
Z – velocity
Mode1
DOP2
Mode3
GPS Week
GPS TOW
SVs in Fix
CH 1
CH 2
CH 3
CH 4
CH 5
CH 6
CH 7
CH 8
CH 9
CH 10
Bytes
1
4
4
4
2
2
2
1
1
1
2
4
1
1
1
1
1
1
1
1
1
1
1
Binary(Hex)
Scale
Example
02
FFD6F78C
FFBE536E
003AC004
*8
00
*8
03
*8
01
04
*5
A
00
036B
*100
039780E3
06
12
19
0E
16
0F
04
00
00
00
00
33
Units
M
M
M
M/s
M/s
M/s
Bitmap1
Bitmap3
seconds
ASCII(Decimal)
Scale
Example
2
-2689140
-4304018
3850244
Vx/8
0
Vy/8
0.375
/8
0.125
4
/5
2.0
0
875
/100
602605.79
6
18
25
14
22
15
4
0
0
0
0
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
CH 11
CH 12
1
1
00
00
0
0
Payload Length :41 bytes
3
1
For further information , go to Table 42
Note – Binary units scaled to integer
2
Dilution of precision (DOP) field contains
values need to be divided by the scale
For further information , go to Table 43
value of PDOP when Position is obtained
value to receive true decimal value (i.e.,
using 3D solution and HDOP in all other
decimal Xvel = binary Xvel /8).
cases.
Table 44 Mode 1
Description
Mode 1
Hex
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
ASCII
0
1
2
3
4
5
6
7
No Navigation Solution
1 Satellite Solution
2 Satellite Solution
3 Satellite Solution (2D)
>=4 Satellite Solution (3D)
2D Point Solution(Krause)
3D Point Solution(Krause)
Dead Reckoning (Time Out)
Table 45 Mode 2
Mode 2
Hex
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
Description
ASCII
0
1
2
3
4
5
6
7
DR Sensor Data
Validated / Unvalidated
Dead Reckoning (Time Out)
Output Edited by UI
Reserved
Reserved
Reserved
Reserved
04036C0000937F0C0EAB46003F
Measured Tracker Data Out –
1A1E1D1D191D1A1A1D1F1D594
Message I.D.4
23
Output Rate: 1 Hz
F1A1A…. – Payload ****B0B3 –
Table 46 lists the binary and ASCII
Message Checksum and End
message data format for the measured
Sequence
tracker data.
Example:A0A200BC – Start Sequence
and Payload Length
Table 46 Measured Tracker Data Out
Name
Message ID
GPS Week
GPS TOW
Bytes
1
2
4
Binary(Hex)
Scale
Example
04
036C
S*100
0000937F
34
Units
None
S
ASCII(Decimal)
Scale
Example
4
876
S/100
37759
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Channels
1st Sv ID
Azimuth
Elev.
State
C/NO 1
C/NO 2
C/NO 3
C/NO 4
C/NO 5
C/NO 6
C/NO 7
C/NO 8
C/NO 9
C/NO 10
2nd Sv ID
Azimuth
Elev.
State
C/NO 1
C/NO 2
…..
1
1
1
1
2
1
1
1
1
1
1
1
1
1
1
1
1
1
2
1
1
0C
0E
AB
46
003F
1A
1E
1D
1D
19
1D
1A
1A
1D
1F
1D
59
42
3F
1A
1A
Az*[2/3]
EI*2
Az*[2/3]
EI*2
Degree
Degree
Bitmap1
/[2/3]
/2
Degree
Degree
Bitmap1
/[2/3]
/2
12
14
256.5
35
63
26
30
29
29
25
29
26
26
29
31
29
89
66
63
26
63
Payload Length: 188 bytes
bytes with non tracking channels reporting
For further information, go to Table 45.
zero values
Note – Message length is fixed to 188
Table 47 Trk. to NAV Struct. Trk._status Field Definition
Field Definition
ACQ_SUCCESS
DELTA_CARPHASE_VALID
BIT_SYNC_DONE
SUBFRAME_SYNC_DONE
CARRIER_PULLIN_DONE
CODE_LOCKED
ACQ_FAILED
GOT_EPHEMERIS
Hex Value
0x0001
0x0002
0x0004
0x0008
0x0010
0x0020
0x0040
0x0080
Description
Set if acq/reacq if done successfully
Integrated carrier phase is valid
Bit sync completed flag
Subframe sync has been done
Carrier pull in done
Code locked
Failed to acquire S/V
Ephemeris data available
Note – When a channel is fully locked and all data is valid , the status shown is 0xBF
A0A20033 – Start Sequence and Payload
Raw Tracker Data Out – Message
Length
I.D.5
05000000070013003F00EA1BD4000D03
Output Rate:1 Hz
9200009783000DF45E000105B5FF90F5
Table 48 lists the binary and ASCII
C20000242827272327242427290500000
message data format for the raw tracker
0070013003F – Payload
data .
0B2DB0B3 – Message Checksum and
Example:
End Sequence
Table 48 Raw Tracker Data Out
Name
Message ID
Channel
SVID
State
Bytes
1
4
2
2
Binary(Hex)
Scale
Example
05
00000007
0013
003F
35
Units
Bitmap1
ASCII(Decimal)
Scale
Example
5
7
19
63
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Bits
Ms
Chips
Code Phase
4
2
2
4
00EA1BD4
000D
0392
00009783
Bit
Ms
Chip
Chip
Carrier Doppler
4
2-16
2-10
000DF45E
Rad/2ms
/2-16
/2-10
Time Tag
Delta Carrier2
4
4
2-10
000105B5
FF90F5C2
Ms
Cycles
/2-10
Search Count
C/NO 1
C/NO 2
C/NO 3
C/NO 4
C/NO 5
C/NO 6
C/NO 7
C/NO 8
C/NO 9
C/NO 10
Power Loss
Count
Phase Loss
Count
Integration
Interval
Track Loop
Iteration
2
1
1
1
1
1
1
1
1
1
1
1
0000
24
28
27
27
23
27
24
24
27
29
05
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
1
00000007
2
0013
2
003F
15342548
13
914
38787
914526
66997
-7277118
0
36
40
39
39
35
39
36
36
39
41
5
7
Ms
19
63
Payload Length:51 bytes per satellite tracked (up to 12)
1.For further information,go to Table 45
2.Multiply by (1000÷4π)÷216 to convert to Hz.
The meaning of I.D.5 is described as following table
Message ID:
Channel:
SVID:
State:
Bit Number:
Each SiRF binary message is defined based on the ID.
Receiver channel where data was measured (range 1-12).
PRN number of the satellite on current channel.
Current channel tracking state (see Table 45)
Number of GPS bits transmitted since Sat-Sun midnight (in Greenwich)
at a 50 bps rate.
Millisecond
Number of milliseconds of elapsed time since the last received bit(20
Number:
ms between bits)
Chip Number:
Current C/A code symbol being transmitted (range 0 to 1023
chips;1023 chips=1 ms).
Code Phase:
Fractional chip of the C/A code symbol at the time of sampling(scaled
-16
by 2 ,=1/65536)
Carrier Doppler:
The current value of the carrier frequency as maintained by the
tracking loops.
Receiver Time
This is the count of the millisecond interrupts from the start of the
Tag:
receiver (power on) until the measurement sample is taken. The ms
interrupts are generated by the receiver clock.
Delta Carrier
The difference between the carrier phase(current) and the carrier
Phase:
phase(previous). Units are in carrier cycles with the LSB= 0.00185 carrier
cycles. The delta time for the accumulation must be known.
Note –Carrier phase measurements are not necessarily in sync with
code phase measurement for each measurement epoch.
Search Count:
This is the number of times the tracking software has completed full
satellite signal searche.s
C/No:
Ten measurements of carrier to noise ratio(C/No) values in dBHZ at
input to the receiver.Each value represents 100 ms of tracker data and
its sampling time is not necessarily in sync with the code phase
measurement.
Power Loss
The number of times the power detectors fell below the threshold between the
Count:
present code phase sample and the previous code phase sample. This task is
performed every 20 ms (max count is 50).
36
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Phase Loss
Count:
Integration
Interval:
Track Loop
Iteration:
The number of time the phase lock fell below the threshold between the
present code phase sample and the previous code phase sample. This task is
performed every 20 ms (max count is 50).
The time in ms for carrier phase accumulation . This is the time difference (as
calculated by the user clock) between the Carrier Phase(current) and the
Carrier Phase(previous).
The tracking Loops are run at 2 ms and 10 ms intervals. Extrapolation values
for each interval is 1 ms and 5 ms for range computations.
channel measurements are NOT
Calculation of Pseudo-Range
taken at the same time. Therefore, all
Measurements
ranges must be extrapolated to a
The pseudo-range measurement in meters
common measurement epoch. For
can be determined from the raw track data
simplicity, the first channel of each
by solving the following equation:
measurement set is used as the
Pseudo-range (PR) = {Received Tine
reference to which all other
(RT) – Transmit Time (TT)} * C
measurements are extrapolated.
where C = speed of light
4.
The following variables from the raw track
Extrapolate the pseudo-range based
on the correlation interval to improve
data are required for each satellite:
precision.
Bit Number (BN) – 50 bits per second
5.
Millisecond Number (MSN)
Compute the delta range.
If the accumulation time of the Dalta Carrier
Chip Number (CN)
Phase is 1000 ms then the measurement is
Code Phase (CP)
valid and can be added to the previous Delta
Receiver Time Tag (RTTag)
Carrier Phase to get Accumulated Carrier
Delta Carrier Phase (DCP)
Phase data. If the accumulation time of the
The following steps are taken to get the psr
Delta Carrier Phase is not equal to 1000 ms
data and carrier data for each measurement
then the measurement is not valid and the
epoch.
accumulation time must be restarted to get
Accumulated Carrier Phase data.
1.
2.
3.
Computation of initial Receiver
Time(RT) in seconds. Note-Where the
Response
initial arbitrary value chosen at start
String – Message I.D.6
:Software Version
up to make the PR reasonable
Output Rate:Response to polling message
(i.e.,set equal to TT+70ms) and then
Example:
incriminated by one second for each
A0A20015 – Start Sequence and Payload
measurement epoch.
Length
Computation of Transmit Time (TT) in
0606312E322E30444B495431313920534
seconds.
D0000000000-Payload
Calculate Pseudo-range at a common
0382B0B3 – Message Checksum and End
receiver time of the first channel of
Sequence
the measurement data set. Note-All
37
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Table 49 Software Tracker Data Out
Name
Message ID
Character
Bytes
1
20
Binary(Hex)
Scale
Example
06
1
ASCII(Decimal)
Scale
Example
6
2
Units
Payload Length: 21 bytes
Note – Convert to symbol to assemble message (i.e., 0x4E is ’N’). These are low priority task and
are not necessarily output at constant intervals.
Response
:Clock Status Data – Message I.D.7
Output Rate:1Hz or response to polling message
Example:
A0A20014 – Start Sequence and Payload Length
0703BD021549240822317923DAEF – Payload
0598B0B3 – Message Checksum and End Sequence
Table 50 Clock Status Data Message
Name
Message ID
GPS Week
GPS TOW
Svs
Clock Drift
Clock Bias
Estimated GPS
Time
Bytes
1
2
4
1
4
4
4
Binary(Hex)
Scale
Example
07
03BD
*100
02154924
08
2231
7923
DAEF
Units
S
Hz
ns
ms
ASCII(Decimal)
Scale
Example
7
957
/100
349494.12
8
74289
128743715
349493999
Payload Length:20 bytes
08******** - Payload
50BPS Data – Message I.D.8
****B0B3 – Message Checksum and End
Output Rate:As available (12.5 minute
Sequence
download time)
Example:A0A2002B – Start Sequence and
Payload Length
Table 51 Clock Status Data Message
Name
Message ID
Channel
Sv ID
Word [10]
Bytes
1
1
1
40
Binary(Hex)
Scale
Example
08
Units
ASCII(Decimal)
Scale
Example
8
Payload Length:43 bytes per subframe
Almanac)
(6subframes per page, 25 pages
Note – Data is logged in ICD format
38
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
(available from www.navcen.uscg.mail)
Example:A0A20009 – Start Sequence and
Payload Length
09003B0011001601E5 – Payload
CPU Throughput – Message I.D.9
0151B0B3 – Message Checksum and End
Output Rate:1 Hz
Sequence
Table 52 CPU Throughput
Name
Message ID
SegStatMax
SegStatLat
AveTrkTime
Last MS
Binary(Hex)
Bytes Scale
Example
1
09
2
*186
003B
2
*186
0011
2
*186
0016
2
01E5
ASCII(Decimal)
Scale
Example
9
/186
.3172
/186
.0914
/186
.1183
485
Units
ms
ms
ms
ms
Payload Length: 9 bytes
0x92)request example:
Command Acknowledgment –
A0A20002 – Start Sequence and
Message I.D.11
Payload Length
Output Rate: Response to successful
0B92 – Payload
input message
009DB0B3 – Message Checksum and
This is successful almanac (message ID
End Sequence
Table 53 Command Acknowledgment
Name
Message ID
Ack.I.D.
Bytes
1
1
Binary(Hex)
Scale
Example
0B
92
ASCII(Decimal)
Scale
Example
11
146
Units
Payload Length: 2 bytes
ID 0x92) request example:
Command N Acknowledgment –
A0A20002 – Start Sequence and Payload
Message I.D. 12
Length
Output Rate: Response to rejected Input
0C92 – Payload
message
009EB0B3 – Message Checksum and
This is unsuccessful almanac (message
End Sequence
Table 54 Command N Acknowledgment
Name
Bytes
Message ID
1
N Ack. I.D
1
Binary(Hex)
Scale
Example
0C
92
Units
Payload Length:2 bytes
39
ASCII(Decimal)
Scale
Example
12
146
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Payload Length
Visible List – Message I.D.13
0D080700290038090133002C*************
Output Rate:Updated approximately every
****** - Payload
2minutes. Note – This is a variable length
****B0B3 – Message Checksum and End
message. Only the number of visible
Sequence
satellites are reported(as define by visible
Svs in Table 55), Maximum is 12 satellites
Example:A0A2002A – Start Sequence and
Table 55 Visible List
Name
Message ID
Visible Svs
CH 1 –Sv I.D
CH 1 –Sv Azimuth
CH 1 –Sv Elevation
CH 2 –Sv I.D
CH 2 –Sv Azimuth
CH 2 –Sv Elevation
……
Bytes
1
1
1
2
2
1
2
2
Binary(Hex)
Scale
Example
0D
08
07
0029
0038
09
0133
002C
Units
Degrees
Degrees
Degrees
Degrees
ASCII(Decimal)
Scale
Example
13
8
7
41
56
9
307
44
Payload Length:62 bytes(maximum)
and Payload Length
Almanac Data – Message I.D.14
0E01************* - Payload
Output Rate:Response to poll
Example
****B0B3 – Message
:A0A203A1 – Start Sequence
checksum and End Sequence
Table 56 Visible List
Name
Message ID
Sv I.D.(1)
Almanac Data[14][2]
….
Sv I.D.(32)
Almanac Data[14][2]
Bytes
1
1
28
Binary(Hex)
Scale
Example
0E
01
1
28
20
Payload Length: 929 bytes(maximum)
OkToSend - Message I.D. 18
Output Rate: Trickle Power CPU on/off indicator
Example:
A0A20002—Start Sequence and Payload Length
1200—Payload
0012B0B3—Message Checksum and End Sequence
Table B- 52 Almanac Data
40
Units
ASCII(Decimal)
Scale
Example
14
1
32
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Name
Message ID
Send indicator1
Bytes
1
1
Binary(Hex)
Scale
Example
12
00
Units
ASCII(Decimal)
Scale
Example
18
00
Payload Length: 2 bytes
1. 0 implies that CPU is about to go OFF, OkToSend==NO, 1 implies CPU has just come ON, OkToSend==YES
Navigation Parameters (Response to Poll) – Message I.D. 19
Output Rate:1 Response to Poll
Example:
A0A20018—Start Sequence and Payload Length
130100000000011E3C0104001E004B1E00000500016400C8—Payload
022DB0B3—Message Checksum and End Sequence
Table B- 53 Navigation Parameters
Name
Message ID
Reserved
Altitude Hold Mode
Altitude Hold Source
Altitude Input Source
Degraded Mode1
Degraded Timeout
DR Timeout
Track Smooth Mode
Static Navigation
3SV Least Squares
Reserved
DOP MASK Mode2
Navigation Elevation
Mask
Navigation Power Mask
Reserved
DGPS Source
DGPS Mode3
DGPS Timeout
Reserved
LP Push-to-Fix
LP On-Time
LP Interval
LP User Tasks Enabled
LP User Task Interval
LP Power Cycling
Enabled
LP Max. Acq. Search
Time
LP Max. Off Time
Reserved
Reserved
Bytes
1
4
1
1
2
1
1
1
1
1
1
4
1
2
1
4
1
1
1
4
1
4
4
1
4
1
Binary(Hex)
Units
Scale
Example
13
00000000
00
00
0000
meters
01
1E
seconds
3C
seconds
01
04
00
1E
4
4
4
4
Payload Length: 65 bytes
1. See Table 22.
2. See Table 24.
3. See Table 26.
41
ASCII(Decimal)
Scale
Example
19
0
0
0
1
30
60
1
4
seconds
0
30
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Length
Navigation Library Measurement
1C00000660D015F143F62C4113F42FF3FB
Data - Message I.D. 28
E95E417B235C468C6964B8FBC5824
Output Rate: Every measurement cycle (full
15CF1C375301734.....03E801F400000000
power / continuous : 1Hz)
—Payload
Example:
1533B0B3—Message Checksum and End
A0A20038—Start Sequence and Payload
Sequence
Table B- 54 Measurement Data
Name
Message ID
Channel
Time Tag
Satellite ID
GPS Software Time
Bytes
1
1
4
1
8
Pseudo Range
8
Carrier Frequency
Carrier Phase
4
8
Time in Track
Sync Flags
C/No1
C/No2
C/No3
C/No4
C/No5
C/No6
C/No7
C/No8
C/No9
C/No10
Delta Range Interval
Mean Delta Range Time
Extrapolation Time
Phase Error Count
Low Power Count
2
1
1
1
1
1
1
1
1
1
1
1
2
2
2
1
1
Binary(Hex)
Scale
Example
1C
00
000660D0
15
F143F62C
4113F42F
F3FBE95E
417B235C
468C6964
B8FBC582
415CF1C3
7530
17
34
03E801F4
01F4
0000
00
00
Units
ASCII(Decimal)
Scale
Example
28
ms
ms
m
ms
m
ms
ms
Payload Length: 56 bytes
A0A2001A—Start Sequence and Payload
Navigation Library DGPS Data -
Length
Message I.D. 29
1D000F00B501BFC97C673CAAAAAB3FBF
Output Rate: Every measurement cycle (full
FE1240A0000040A00000—Payload
power / continuous : 1Hz)
0956B0B3—Message Checksum and End
Example:
Sequence
Table B- 55 Measurement Data
Name
Message ID
Satellite ID
IOD
Source1
Bytes
1
2
2
1
Binary(Hex)
Scale
Example
1D
000F
00B5
01
42
Units
ASCII(Decimal)
Scale
Example
29
15
181
1
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Pseudo-range Correction
Pseudo-range Rate
Correction
Correction Age
Reserved
Reserved
4
4
BFC97C67
3CAAAAAB
m
m/s
3217652839
1017817771
4
4
4
3FBFFE12
s
1069547026
Payload Length: 26 bytes
1. 0 = Use no corrections, 1 = Use WAAS channel, 2 = Use external source, 3 = Use Internal
Beacon, 4 = Set DGPS Corrections
A0A20053—Start Sequence and Payload
Navigation Library SV State Data -
Length
Message I.D. 30
1E15....2C64E99D01....408906C8—Paylo
Output Rate: Every measurement cycle (full
ad
power / continuous : 1Hz)
2360B0B3—Message Checksum and End
Example:
Sequence
Table B- 56 SV State Data
Name
Message ID
Satellite ID
GPS Time
Position X
Position Y
Position Z
Velocity X
Velocity Y
Velocity Z
Clock Bias
Clock Drift
Ephemeris Flag1
Reserved
Ionospheric Delay
Bytes
1
1
8
8
8
8
8
8
8
8
4
1
8
4
Binary(Hex)
Scale
Example
1E
15
Units
2C64E99D
01
408906C8
ASCII(Decimal)
Scale
Example
30
21
s
m
m
m
m/s
m/s
m/s
s
s
744810909
1
m
1082721992
Payload Length: 83 bytes
1. 0 = no valid SV state, 1 = SV state calculated from ephemeris, 2 = Satellite state calculated from almanac
1F....00000000000001001E000F....00....000
Navigation Library Initialization Data -
000000F....00....02....043402....
Message I.D. 31
....02—Payload
Output Rate: Every measurement cycle (full
0E27B0B3—Message Checksum and End
power / continuous : 1Hz)
Sequence
Example:
A0A20054—Start Sequence and Payload
Length
Table B- 57 Measurement Data
Name
Message ID
Reserved
Bytes
1
1
Binary(Hex)
Scale
Example
1F
43
Units
ASCII(Decimal)
Scale
Example
31
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
Altitude Mode1
Altitude Source
Altitude
Degraded Mode2
Degraded Timeout
Dead-Reckoning Timeout
Reserved
Track Smoothing Mode3
Reserved
Reserved
Reserved
Reserved
DGPS Selection4
DGPS Timeout
Elevation Nav. Mask
Reserved
Reserved
Reserved
Reserved
Reserved
Static Nav. Mode5
Reserved
Position X
Position Y
Position Z
Position Init. Source6
GPS Time
GPS Week
Time Init. Source 7
Drift
Drift Init. Source 8
1
1
4
1
2
2
2
1
1
2
2
2
1
2
2
2
1
2
1
2
1
2
8
8
8
1
8
2
1
8
1
00
00
00000000
01
001E
000F
0
0
0
1
30
15
00
0
00
0000
000F
0
0
15
00
0
02
2
0434
02
1076
2
02
2
Payload Length: 84 bytes
1. 0 = Use last know altitude 1 = Use user
6. 0 = ROM position
input altitude 2 = Use dynamic input from
1 = User position
external source
2 = SRAM position
2. 0 = Use direction hold and then time hold
3 = Network assisted position
1 = Use time hold and then direction hold
7. 0 = ROM time
2 = Only use direction hold
1 = User time
3 = Only use time hold
2 = SRAM time
4 = Degraded mode is disabled
3 = RTC time
3. 0 = True and 1 = False
4 = Network assisted time
4. 0 = Use DGPS if available
8. 0 = ROM clock
1 = Only navigate if DGPS corrections are
1 = User clock
available
2 = SRAM clock
2 = Never use DGPS corrections
3 = Calibration clock
5. 0 = True 1 = False
4 = Network assisted clock
RoyalTek Navigation Data – Message I.D.100
Output Rate: 1Hz
Example
and Payload Length
:A0A2001A – Start Sequence
6407D1*********** - Payload
44
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
****B0B3 – Message
checksum and End Sequence
Table 57 Royaltek Navigation Data
Name
Message ID
Year
Month
Day
Hours
Minutes
Seconds
Degree of Latitude
Minutes of Latitude
Degree of Longitude
Minute of Longitude
Altitude
Validity
Speed
Course over ground
PDOP
HDOP
VDOP
Bytes
1
2
2
2
2
2
4
2
4
2
4
4
1
2
2
2
2
2
Binary(Hex)
Scale
Example
64
07D1
000C
0005
0011
001E
*1000
5202
19
*10000
0001818C
79
*10000
0002BA64
000000FA
01
*10
0064
0080
*10
012C
*10
012C
*10
012C
Units
Sec.
degree
Min.
degree
Min.
meter
Km/h
Degree
ASCII(Decimal)
Scale
Example
100
2001
12
5
17
30
20.994
÷1000
25
9.8700
÷10000
121
17.8788
÷10000
250
1
10.0
÷10
128
30.0
÷10
30.0
÷10
30.0
÷10
Payload Length: 42 bytes. This protocol is provided from RoyalTek firmware Ver. 1.7. release
*
*hh<CR><LF> Check Sum and sentence termination delimiter
Set Ephemeris – Message I.D.254
This command enables the user to upload an ephemeris to the Evaluation unit.
Note – This feature is not documented in this manual . For information on implementation contact
SiRF Technology Inc.
Development Data – Message I.D.255
Output Rate: Receiver generated
Example
:A0A2**** - Start Sequence and Payload Length
FF************* - Payload
****B0B3 – Message Checksum and End Sequence
Table 58 Development Data
Name
Message ID
Bytes
1
Binary(Hex)
Scale
Example
FF
Units
ASCII(Decimal)
Scale
Example
255
Payload Length:Variable
Note – Messages are output to give the
(i.e., 0x4E is ‘N’) these are low priority task
user information of receiver activity.
and are not necessarily output at constant
Convert to symbol to assemble message
intervals.
45
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
GPS Receiver User’s Tip
1. GPS signal will be affected by weather and environment conditions, thus suggest to use the GPS
receiver under less shielding environments to ensure GPS receiver has better receiving performance.
2. When GPS receiver is moving, it will prolong the time to fix the position, so suggest to wait for the
satellite signals to be locked at a fixed point when first power-on the GPS receiver to ensure to lock
the GPS signal at the shortest time.
3. The following situation will affect the GPS receiving performance:
a.
Solar control filmed windows.
b.
Metal shielded, such as umbrella, or in vehicle.
c.
Among high buildings.
d.
Under bridges or tunnels.
e.
Under high voltage cables or near by radio wave sources, such as mobile phone base
stations.
f.
Bad or heavy cloudy weather.
4. If the satellite signals can not be locked or encounter receiving problem (while in the urban area), the
following steps are suggested:
a. Please plug the external active antenna into GPS receiver and put the antenna on outdoor or the
roof of the vehicle for better receiving performance.
b. Move to another open space or reposition GPS receiver toward the direction with less blockage.
c. Move the GPS receiver away from the interferences resources.
d. Wait until the weather condition is improved.
5. While a GPS with a backup battery, the GPS receiver can fix a position immediately at next power-on
if the build-in backup battery is full-recharged.
Contact Information Section
Contact : [email protected]
HEADQUARTER :
Add : 1071 Chung Cheng Rd., Suite 9F-1
Tao Yuan City , Taiwan , R.O.C.
Tel ：886 – 3 - 3569666
Fax ：886 – 3 - 3560900
Web Site : www.royaltek.com
Customer Service mail : [email protected]
46