Download RoyalTek REV-2000 Specifications

REV-2000 Operational Manual
RoyalTek Evaluation Kit
REV-2000 Operational Manual
Version 1.1
2001/7/4
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.
1071, Chung Cheng Rd., Suite 9F-1
Tao Yuan City, Taiwan, R.O.C.
TEL: 886-3-3569666
FAX: 886-3-3580050
E-Mail: [email protected]
http://www.royaltek.com
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
RoyalTek Evaluation Kit REV-2000 Operational Manual
INTRODUCTION .........................................................................................................................................1
Packing list .........................................................................................................................................1
GETTING STARTED ....................................................................................................................................3
To Setup REV-2000 ...........................................................................................................................3
Setup procedure.................................................................................................................................4
TO OPERATE REV-2000 ...........................................................................................................................5
Install the SiRFDemo.exe...................................................................................................................5
To use Sirfdemo.exe ..........................................................................................................................5
To switch from NMEA to SiRF protocol ..............................................................................................7
To switch from SiRF protocol to NMEA protocol.................................................................................9
To Synchronize Protocol...................................................................................................................10
To Switch Trickle Power Parameters from SiRFDemo.exe...............................................................10
To change TricklePower parameters of REB-2100 from 12 pins interface. ......................................12
To upgrade GPS engine board program ..........................................................................................12
PRODUCT FEATURES...............................................................................................................................13
PRODUCT APPLICATIONS ..........................................................................................................................14
TECHNIQUE DESCRIPTION ........................................................................................................................14
REB-2100 System Block Diagram......................................................................................................2
REB-12R Block diagram ....................................................................................................................3
Technique specifications ....................................................................................................................3
ORDERING INFORMATION ...........................................................................................................................7
ABSOLUTE MAXIMUM RATINGS ..................................................................................................................10
SOFTWARE INTERFACE ............................................................................................................................10
NMEA V2.2 Protocol ........................................................................................................................10
GGA-Global Positioning System Fixed Data ....................................................................................10
GLL-Geographic Position – Latitude/Longitude................................................................................11
GSA-GNSS DOP and Active Satellites ............................................................................................11
GSV-GNSS Satellites in View ..........................................................................................................12
RMC-Recommended Minimum Specific GNSS Data.......................................................................12
VTG-Course Over Ground and Ground Speed ................................................................................13
SIRF PROPRIETARY NMEA INPUT MESSAGES ..........................................................................................13
SIRF NMEA INPUT MESSAGES ...............................................................................................................14
Set Serial Port ..................................................................................................................................14
LLA Navigation Initialization .............................................................................................................14
Set DGPS Port .................................................................................................................................15
Query/Rate Control ..........................................................................................................................15
i
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
LLA Navigation Initialization .............................................................................................................16
Development Data On/Off ................................................................................................................16
Calculating Checksums for NMEA Input ..........................................................................................17
SIRF BINARY PROTOCOL ........................................................................................................................17
INPUT MESSAGES FOR SIRF BINARY PROTOCOL .......................................................................................18
Initialize Data Source-Message I.D. 128 ..........................................................................................18
Switch To NMEA Protocol – Message I.D. 129 ................................................................................19
Set Almanac- Message I.D. 130.......................................................................................................20
Software Version – Message I.D. 132 ..............................................................................................20
Mode control – Message I.D .136.....................................................................................................21
DOP Mask Control – Message I.D. 137 ...........................................................................................21
DGPS Control – Message I.D.138....................................................................................................22
Elevation Mask – Message I.D.139..................................................................................................22
Power Mask – Message I.D.140 ......................................................................................................23
Steady State Detection – Message I.D.142......................................................................................23
Static Navigation – Message I.D.144 ...............................................................................................23
Set DGPS Serial Port – Message I.D 145 ........................................................................................24
Almanac – Message I.D.146 ............................................................................................................24
Ephemeris Message I.D.147 ............................................................................................................24
Switch To SiRF Protocol...................................................................................................................25
Switch Operating Modes - Message I.D. 150 ...................................................................................25
Set Trickle Power Parameters - Message I.D. 151...........................................................................25
Computation of Duty Cycle and On Time. ........................................................................................26
Push-to-Fix.......................................................................................................................................26
Poll Navigation Parameters - Message I.D. 152...............................................................................27
OUTPUT MESSAGES FOR SIRF BINARY PROTOCOL ....................................................................................27
Measure Navigation Data Out – Message I.D.2 ...............................................................................27
Measured Tracker Data Out – Message I.D.4 ..................................................................................29
Raw Tracker Data Out – Message I.D.5...........................................................................................30
Calculation of Pseudo-Range Measurements ..................................................................................31
Response
:Software Version String – Message I.D.6 ....................................................................32
Response
:Clock Status Data – Message I.D.7.............................................................................32
50BPS Data – Message I.D.8 ..........................................................................................................33
CPU Throughput – Message I.D.9 ...................................................................................................33
Command Acknowledgment – Message I.D.11................................................................................34
Command N Acknowledgment – Message I.D. 12...........................................................................34
Visible List – Message I.D.13 ...........................................................................................................34
Almanac Data – Message I.D.14......................................................................................................35
ii
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Set Ephemeris – Message I.D.254...................................................................................................35
Development Data – Message I.D.255.............................................................................................35
iii
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Introduction
REV-2000 is an evaluation kit for RoyalTek GPS engine board series, REB-12R2/R6/ REB-2000/
REB-2001.It is convenient to test the GPS performance,cold start / warm start / hot start,position
update and so on by using the REV-2000. REV-2000 helps you understand the operation and
performance of Royaltek’s GPS engine boards in a couple of minutes. It can also provide you design
the OEM products that use RoyalTek’s GPS engine boards.
Packing list
The evaluation kit contains follows:
1
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000
REV-2000 Operational Manual
1.
Evaluation
3.
Power Core
2.
4.
5.
RS232 Cable
BNC to MCX
Cable
GPS active
antenna
No.
Items
Specification
Quantity
Description
1
REV-2000
Evaluation Board
68*88mm
1
PROVIDE POWER FOR GPS
ENGINE BOARD AND CONVERT
THE SIGNAL FROM TTL TO
RS-232 CONNECTING TO PC.
2
Power Core
AC 110V or 220V
7.5V/1.0A/2.5mm/1.8M
1
AC/DC ADAPTOR. THERE ARE
TWO TYPES OF ADPATOR, 110V
AND 220V.
3
RS232 Cable
9pin/1.5M
1
RS-232 CABLE CONNECTING
EVALUATION BOARD WITH PC.
4
RF Extension Cable
(Optional)
150mm
1
RF EXTENSION CABLE FOR MCX
TO BNC. IF YOU ORDER THE
MMCX ANTENNA FOR REB-2000,
YOU DON’T NEED TO ORDER
THIS EXTENSION CABLE. PLEASE
CONTACT
[email protected] FOR
FURTHER INFORMATION.
5
GPS active antenna
5M
1
GPS ACTIVE ATENNA.
6
GPS receiver
(Optional)
REB-12R or REB-2000
2
THERE ARE TWO KINDS OF GPS,
REB-12R AND REB-2000 SERIES.
PLEASE SELECT THE DESIRED
ON.
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Getting started
To Setup REV-2000
The interface of REV-2000 is shown as follows:
VBT
Backup battery input 2.5V ~ 3.1V
CON20 REB-12R2 connector
DC input
+6.5V ~
CON12 REB-2000/REB-2100
RESET switch
Power
BOOT jumper
Open: Normal operation
Power mode
Short: Program upgrade
jumper J1
Open: +5V
Short: +3.3V
P2 DGPS RTCM-104 port
P1 NMEA / SiRF protocol
port
Connecting to PC/Laptop
Power mode jumper J1
waiting for program upgrade and output
The power core of REV-2000 is 110V AC/ 7.5V
nothing when running SiRF demo program.
DC adaptor. It converts the 110 AC to DC.
Please refer the program upgrade session for
RoyalTek can also provide you 220V AC power
program update.
core. Beware of the AC power of your office
DC input
and tell RoyalTek’s sales person for preparing
the correct power code for you.
The power input can be DC input instead of
REV-2000 provides 3 power modes on borad,
using AC power core. The input range of the
3.3V and 5V. JP1: Open for +5V, Short for 3.3V.
DC input is from 6.5V ~ 12V. We suggest
The 3.3V is for REB-2000/ REB-2100. The 5V
you use +7.5V as the DC input.
Reset
is for REB-12R2.
BOOT jumper
It is used for external reset.
VBT
The BOOT jumper is for program upgrade. It
shall be kept open for normal operation. When
This is for RAM backup power of
the BOOT is short, the GPS engine board is
REB-2000/REB-2100 and REB-12R2. The
3
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Setup procedure
input range is from 2.5V ~ 3.1V DC.
P1
(1) Plug the REB-12R2 on the CON20
This is NMEA/SiRF protocol output/input port.
(2) Plug the active antenna into the external
Please connect it to PC or Laptop RS-232
antenna connector. The suitable view
port.
angle of the active antenna is necessary.
P2
Caution: Please do not put any metal
This is DGPS input port.
stuff on the antenna.
CON12
(3) Connecting the RS-232 cable between
This is the socket for REB-2000/REB-2100.
REV-2000 P1 and PC.
Please refer the hardware interface section
(4) Plug the power core. (or connecting the
for the pin assignment.
DC power input, 6.5V ~ 12V)
CON20
After you finish setup, it is like as follows:
This is the socket for REB-12R2. Please
refer the hardware interface section for the
pin assignment.
Active
GPS antenna
AC
PC
4
COM1 or COM2
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
PC
COM1
(2) Choose the “Supplied Data” radio button.
Click the “Instrument(Measured Data)”
To operate REV-2000
check box.
(3) Select the serial port, e.g. COM1. The
Install the SiRFDemo.exe
Copy the SiRFDemo.exe from the CD-ROM
default baud rate of REB-2100 and
\Toolkit\SiRFDemo.exe to the destination path,
Reb-12R2 is 9600bps. Click the OK.
(4) There are 6 menus on the menu bar:
e.g. “c:\RoyakTek\REV-2000\Demo.exe”. Add
a shortcut of SiRFdemo.exe on the desktop of
Setup, View, Action, Navigation, Poll and
Windows 98.
Window.
To use Sirfdemo.exe
(1) Double click the SiRFdemo.exe.
5
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Connect/
Data
source
Tracking
Signal Level
Disconnect
Signal Level
Toggle button
view
Tracking view
Map
Map
Development view
“Map view”.
(5) Click the “Signal level”, “Tracking”, “Map”
(6) Check the View / Messages /
buttons of the tool bar to enable the
Development to enable the development
“Signal level view”, “Tracking view” and
view.
6
RoyalTek GPS Receiver REB-2000/REB-12R
(7) Click the
REV-2000 Operational Manual
to start testing.
: Initialize Data Source
(8) The other buttons of tool bar are explained
(9) After you click the
as follows:
, you can see the
NMEA output on the development view.
: Pause the data reception.
:Log the data as a *.log file.
To switch from NMEA to SiRF protocol
Check Action / Switch to SiRF Protocol.
7
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
You could see the following screen after you switch to SiRF protocol.
12-Channel Signal Level Data:
Information Displayed
Satellite Number (SV)
Status (St)
Azimuth (Az)
Elevation (EI)
C/No
Signal Level (-5 sec)
Description
GPS satellite PRN number
Satellite status
Satellite azimuth (in degrees)
Satellite elevation (in degrees)
Signal level (in dB-Hz)
5-second history
Tracking view:
used to calculate the navigation
Green: Satellite is tracked and used to
solution.
calculate the navigation solution.
Red: Satellite is lost tracked.
Blue: Satellite is tracked but is not
Development data view: It is for
8
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
development purpose not for user.
Map View: Demonstrate the GPS time,
Click the
Latitude, Longitude, Altitude and
source. It provides the cold start, warm
Navigation mode etc.
start and hot start test functions. The
button to initialize data
receiver initialization view is like follows:
Initialize Data Source
The definition of cold start, warm start and hot start is described as following table:
Option
Description
The Evaluation Unit restarts by using values stored in the internal of the GPS
receiver.
Warm Start (No init) This option has the same functionality as Hot Start except that Ephemeris data
and retains all other data.
Warm Start (init)
This option clears all initialization data in the GPS receiver and subsequently
reloads the data that is currently displayed in the GPS receiver initialization is
cleared.
Cold Start
This option clears all data that is currently stored in the internal memory of the
GPS receiver including position, almanac, ephemeris, time, and clock drift.
Hot Start
To switch from SiRF protocol to NMEA protocol
(1)Select the “Action/Switch to NMEA Protocol” like follows.
9
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
(2) After you select the “Switch to NMEA Protocol”, it will show up a “Select NMEA Messages” dialog.
Select the NMEA Messages that you want to use.
(3) Determine the update rate for each NMEA
protocol/baud rate is set in REB-2100 or
message
REB-12R2, you can use this option to
(4) Select the baud rate that you want to use
synchronize protocol. Select the
from the Baud Rate pull down menu.
Action/Synchronize Protocol and Baud Rate.
(5) Click the OK button to save or Cancel
It will synchronize the protocol and Baud
button to exit
Rate.
(6) It will switch to NMEA protocol.
To Switch Trickle Power Parameters
from SiRFDemo.exe
To Synchronize Protocol
When you don’t know what the
There are two modes of low power operation:
10
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
(1) Trickle power: In TricklePower mode, the
can be provided quickly after power-up.
power to is cycled periodically, so that it
REB-2100 provides push to fix function
operates only a fraction of the time.
but it is disabled default. REB-12R2 does
REB-2100 has the default trickle power
not provide this function.
parameters: OnPeriod: 300ms, Update
It provides the trickle power operation in
rate: 1 second. REB-12R2 does not
REB-2100 default. REB-12R2 doesn’t support
provide the trickle power feature.
the trickle power now. To enable trickle power
(2) Push to fix: In Push-to-Fix mode, the
mode from SiRFdemo.exe, please select the
receiver is generally off, but turns on
“Action/Set TricklePower Parameters” like
frequently enough to collect ephemeris.
following picture.
So that, upon user request, a position fix
Then, it will show a “TricklePower parameters”
seconds. The “On time” means running time in
dialog for parameters setting. There are two
the output period. For example, “200 ms”
parameters of Trickle power that needs to be
means the running time is 200 ms per
set, “Update Rate and On Time”. The “Update
navigation update. The duty cycle of trickle
Rate” means the navigation update frequency.
power is determined by setting of “Update Rate”
For example, “1 sec” means output once per
and “On Time”. For example, if the “Update
second and “2 sec” means output once per 2
Rate” is 1 sec and “On time” is 200ms, the duty
11
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
cycle is 200ms/1000ms = 20%. If the “Update
the proper duty cycle that can compromise the
Rate” is 2 sec and “On Time” is 300 ms, the
power consumption and acceptable navigation
duty cycle is 300ms/2000ms = 15%. The duty
performance. The “ricklePower Prameters”
cycle is limited to 5% ~ 50%. Since it will do
dialog is shown as following picture.
some estimation in trickle power, please tune
Message I.D. 129” to switch back to
To change TricklePower parameters
NMEA protocol.
of REB-2100 from 12 pins interface.
Since it is NMEA output default, it needs to
change to SiRF protocol before change
To upgrade GPS engine board
TricklePower parameters. The procedure is
program
described as follows:
(1) Turn off the power.
(1) Use “Set Serial Port” command of SiRF
(2) Keep the BOOT jumper short.
NMEA input messages.
(3) Turn on the power.
$PSRF100,0,9600,8,1,0*0C<CR><LF>
(4) Run the SiRFProg.exe.
It will switch from NMEA to SiRF protocol.
(5) Select the Target Loader File. Select
dltarget.s for REB-12R2/R1. Select
(2) Use “Set Trickle Power Parameters -
dlgsp2.bin for REB-2100.
Message I.D. 151” to set the trickle power
(6) Select the Target file that need to be
parameters.
programmed into flash memory.
(3) Use “Switch To NMEA Protocol –
12
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
(7) Select the COM port. Keep the Baud rate
memory.
at 19200 for REB-2100 and 9600 for
(10) When you finish upload, turn off the power.
Keep the BOOT jumper open and turn on
REB-12R2/R1.
(8) If you want to upload program to
power. It will run the new program that
Reb-2100, please assert the GPS2 check
uploaded into flash memory.
box. But leave it unasserted for
Reb-12R2/R1.
(9) Click Upload to begin programming flash
— 12 parallel channels
— 0.1 second re-acquisition time.
Product Features
— Trickled power enabled for power
REB-2100
saving.
— OEM product development is fully
— Enhanced algorithm for navigation
supported through applications
stability.
engineering and WEB technique
— NMEA-0183 compliant
forum.
protocol/custom protocol.
— Small and compact footprints
— WAAS demodulator
measuring “ ”.
13
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
— Excellent sensitive for urban canyon
— Timing application
REB-12R
and foliage environments.
— Single satellite positioning.
— Automotive applications
— Dual multi path rejection.
— Personal positioning and navigation
REB-12R
— Marine navigation
— OEM product development is fully
— Timing application
supported through applications
engineering and WEB technique
forum.
Technique description
— 12 parallel channels
REB-2100
— 0.1 second re-acquisition time.
General information. The REB-2100 is a
— Enhanced algorithm for navigation
stamp size GPS receiver. It requires +3.3V DC
stability.
power input. It can operate with an active
— NMEA-0183 compliant
antenna through a MMCX connector. It
protocol/custom protocol.
provides the antenna power through RF cable.
— Excellent sensitive for urban canyon
The default DC input of active antenna is 3.3V
and foliage environments.
+/- 10%. Since it needs 4 satellites or more to
— Single satellite positioning.
do the first position fix. The suitable view angle
— Dual multi path rejection.
of the active antenna is necessary. It will
determine the first time position update after a
good satellites geometry (PDOP <= 10). If the
Product applications
satellites are blocked, it may take time to
REB-2100
determine the position. Caution: Please do
— Portable IA device for personal
not put any metal stuff on the antenna. It
navigation/ position commerce
results in GPS receiver getting nothing. In
(P-Commerce)
urban canyon, the fast 0.1 s re-acquisition
— Automotive applications
capability can make it determine the position
— Personal positioning and navigation
right away through the cross-intersection.
— Marine navigation
14
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Pin 1
Pictures
MMCX
Pin
REB-2100 System Block Diagram
Active antenna
Flash Memory
12 pins
LNA
SiRF
SAW Filter
SIRF GRF2I
2
GSP2e
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
REB-12R
MCX
Pin
REB-12R Block diagram
Active antenna
Flash
memory
LNA
SiRF
20 pins
GSP2e
Hitachi
SH1
Ceramic
Filter
SIRF
GRF1/LX
SRAM
Snap start:2second, average
Technique specifications
Hot start
REB-2100.
Warm start
Operational Characteristics.
Cold start
12 Channels
8second, average
45second, average
60second, average
Reacquisition:0.1 second, average
L1, 1575.42MHz.
Navigation update rate
C / A code, 1.023MHz chip rate.
second.
3
Once per
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Datum: WGS-84.
Acceleration
Accuracy.
4 g. , Max.
Power Requirements.
Position accuracy
25m CEP without SA
Regulated power for the REB-2000/
Velocity accuracy:0.1 meters/second
REB-2100 is required. The input voltage
without SA
shall be 3.3V ± 10 %. The power of active
DGPS Accuracy.
antenna is supplied by
Position:1 to 5 m, typical
REB-2000/REB-2100. It doesn’t need to
Velocity: 0.05 meters/second, typical
supply the antenna from outside of
Dynamics.
Altitude
REB-2000/REB-2100. The full run (without
18000 meters (60000 feet)
trickle power) maximum current is less
Max.
than 170mA.
Velocity
515 meters / second Max.
Physical.
REB-2100 Dimension.
Pin Header 1.27mm
12Px1
180
7.75
7.75
24.5
1.27
2-
3.5
5
3.5
2.6mm
5
6
31.5 24.3
27
3.7
1.3
1
26.7
5
30
6.5
10.6
40
Weight. 8.6g
Environment.
4
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Temperature.
Humidity. ≦95% noncondensing.
RF connector
Storage temperature –10 ~ +85 Degree
(Celsius).
The RF connector is MMCX receptacle.
Active antenna.
Operating temperature -10 ~ +70 Degree
(Celsius).
GSP Antenna
Characteristics
Center frequency
Bandwidth
Gain at Zenith
Gain at 10° elevation
Polarization
Axial Ratio
Specification
1575.42 ± 1.023MHz
2MHz Min.
2.0 dBi Min.
-4.0 dBi Min.
R.H.C.P
4.0dB Max.
5V Filter/LNA:
Characteristics
Center frequency (fo)
Gain
Noise Figure
Out band attenuation
Output V.S.W.R.
Voltage
Current
Specification
1575.42 ± 1.023MHz
28dB Min.
2.0dB Max.
2dB Min. fo ± 20MHz
12dB Min. fo ± 50MHz
22dB Min. fo ± 100MHz
2.0 dB max.
5.0 ± 0.5V
12mA Max.
3.3V Filter/LNA:
Characteristics
Center frequency (fo)
Gain
Noise Figure
Out band attenuation
Output V.S.W.R.
Voltage
Current
Specification
1575.42 ± 1.023MHz
26dB Min.
2.0dB Max.
2dB Min. fo ± 20MHz
12dB Min. fo ± 50MHz
22dB Min. fo ± 100MHz
2.0 dB max.
3.3 ± 0.3V
12mA Max.
REB-12R.
Navigation update rate
Operational Characteristics.
Once per
second.
12 Channels
Datum: WGS-84.
Accuracy.
L1, 1575.42MHz.
C / A code, 1.023MHz chip rate.
Position accuracy
Snap start:2second, average
Velocity accuracy:0.1 meters/second
Hot start
without SA
Warm start
Cold start
8second, average
25m CEP without SA
DGPS Accuracy.
45second, average
60second, average
Position:1 to 5 m, typical
Reacquisition:0.1 second, average
Velocity: 0.05 meters/second, typical
5
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Dynamics.
Altitude
%. The power of active antenna is
18000 meters (60000 feet) Max.
supplied through the 2
nd
pin of the
Velocity
515 meters / second Max.
interface. The maximum current is less
Acceleration
4 g. , Max.
than 180mA without antenna.
Physical.
Power Requirements.
Dimension. 72mm x 41mm x 19mm
Regulated power for the REB-12R2 is
required. The input voltage shall be 5V ± 5
Pin header 2.0mm
10Px2
180
4-
3.2mm
8.1
1.9
J1
3.18
C3
R46
B1
U4
D1
R39
C47
R19
R21
R40
U6
R13
D2
U7
C12
R18
R45
C5
R41
R42
64.77
71.13
C13
R4
C2 R9
U27
Z1
Z2
R32
C51 C52
22.85
1.5
3.18
8.8
5.6
34.29
11.25
40.65
Weight. 23gw
It is same as the one for REB-2100 except
Environment.
the RF connector.
Temperature.
Storage temperature –55 ~ +100 Degree
(Celsius).
Operating temperature -40 ~ +85 Degree
(Celsius).
Humidity. ≦95% noncondensing.
RF connector.
The RF connector is MCX receptacle.
Active antenna.
6
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Ordering information
For the complete pricing and delivery information, please contact:
RoyalTek Company Ltd.
1071 Chung Cheng Rd.,Suite 9F-1,Tao Yuan City,Taiwan,R.O.C.
Tel: 886-3-3569666
Fax: 886-3-3560900
Http://www.royaltek.com
e-mail: [email protected]
Hardware interface
REB-2100.
Pin NO
1
2
Signal
Name
VCC_3
TXA
I/O
Description
3
4
5
6
7
RXA
GND
GPIOA
TXB
RXB
I
O
+3.3V DC Power Input
NMEA Output
9600bps, 8 data bits, no
parity, 1 stop bit
Reserved
Ground
Reserved
Reserved
RTCM 104 differential GPS
input.
8
TIMEMA
RK
O
9
RESET
I
10
11
VANT
VBAT
O
I
12
BOOTSE
T
G
I
Characteristics
DC +3.3V ± 10%.
TTL Level
Voh ≥ 2.4V
Vo1 ≤ 0.4V
TTL Level
Voh ≥ 2.4V
Vo1 ≤ 0.4V
1PPS Time Mark Output. TTL Level
Voh ≥ 2.4V
Vo1 ≤ 0.4V
Reset Input, Active Low
Voh>VCC_3 -1.5V
Vol<0.3V
Reserved
DC +3.3V ± 10%.
User Supply +2.5~3.1V DC DC + 2.5 ~ 3.1V
Power Input*
Current ≤ 10uA
Reserved
VCC_3 DC Power Input
board. Connect all grounds.
RoyalTek also provides the 3.3 V version
Serial Data:RXA, RXB, TXA, and TXB
GPS receiver. This is the main power supply
The GPS Engine board supports two full
for the Engine board. Use a regulated 3.3V
duplicated
supply (± 10%).
connections are at TTL levels, and all
GND
support variable baud rates. A TTL to RS232
GND provides the ground for the Engine
conversion
7
serial
is
channels.
necessary
All
to
four
directly
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
communicate with a PC serial port.
tied high.
RXA
TIMEMARK
This is the main receiving channel and is
This pin provides one pulse per second output from
used to receive software commands to the
the engine board which is synchronized to within one
Engine board from user written software.
microsecond of GPS time. The output is a TTL
RXB
negative level signal with negative logic.
This is the auxiliary receive channel and is
VBAT
used to input differential corrections to the
This is the battery backup supply that
Engine board to DGPS navigation.
powers the SRAM and RTC when main
TXA
power is removed. Typical current draw is 10
uA. Without an external backup battery or on
This is the main transmit channel and is used
board battery, engine board will execute a
to output navigation and measurement data
cold start after every turn on. To achieve the
to user written software.
faster start-up offered by a hot or warm start,
TXB
either a backup battery must be connected
Reserved.
or battery installed on board.
RESET
BOOTSEL
This pin provides an active-low reset input to
This is for software upgrade when pull high
the Engine board. It causes the board to reset
to 3.3V. It can be left non-connected for
and start searching for satellites. PB Reset is
normal operation because of internal 68kΩ
an optional input and, if not used, should be
pull low resistor.
REB-12R LXHA version
Pin NO
1
2
3
Signal
Name
VANT
VCC_5
VBAT
I/O
4
5
Reserved
RESET
I
6
7
8
9
10
11
RESERVED
RESERVED
RESERVED
RESERVED
GND
TXA
G
O
12
RAX
I
13
14
GND
TXB
G
O
15
RXB
I
16
17
GND
RESERVED
G
-
I
I
I
Description
Characteristics
Antenna DC Voltage
Depending on the user requirement..
+5V DC Power Input
DC +5V ± 10%.
User Supply +3.3V DC DC +3.3V ± 10%.
Power Input*
Current ≤ 10mA
Reserved
DC +3V ± 10%
Reset Input, Active Low Vih>2.3V , Voh>VCC-1.5V
Vil<0.8V , Vol<0.4V
Reserved
Reserved
Reserved
Reserved
Ground
NMEA Output
Voh ≥ VCC-0.5, Vo1 ≤ 0.4V, I o h =
9600bps, 8 data bits, -200uA
no parity, 1 stop bit
I o 1 = 1.6mA
Serial Data Input A
VCC*0.7 ≤ Vih ≤ VCC+0.3V,
-0.3V ≤ Vil ≤ VCC*0.2V
Ground
Serial Data Output B
Voh ≥ VCC-0.5, Vo1 ≤ 0.4V, I o h =
-200uA
I o 1 = 1.6mA
RTCM 104 differential VCC*0.7 ≤ Vih ≤ VCC+0.3V
GPS input.
-0.3V ≤ Vil ≤ VCC*0.2V
Ground
Reserved
8
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
18
19
GND
TIMEMARK
G
O
Ground
1PPS Time Mark
Output.
20
RESERVED
-
Reserved
Voh ≥ VCC-0.4V, Vo1 ≤ 0.4V, I o h = 4mA
I o 1 = 4mA
Pulse duration 100ms. Time reference is at
the pulse negative edge. Measurements are
aligned to GPS second,
± 1 microsecond.
VCC_5 DC Power Input
TXA
This is the main power supply for the GPS
This is the main transmit channel and is used
Engine board. Use a regulated 5V supply (±
to output navigation and measurement data
5%) capable of supplying 180mA.
to user written software.
VANT
TXB
DC voltage for an active antenna. This
Reserved.
voltage is not required for operation with a
RESET
passive antenna.
This pin provides an active-low reset input to
VCC_3 DC Power Input
the Engine board. It causes the board to reset
RoyalTek also provides the 3.3 V version
and start searching for satellites. PB Reset is
GPS receiver. This is the main power supply
an optional input and, if not used, should be
for the Engine board. Use a regulated 3.3V
tied high.
supply (± 5%).
TIMEMARK
GND
This pin provides one pulse per second output from
GND provides the ground for the Engine
the engine board which is synchronized to within one
board. Connect all grounds.
microsecond of GPS time. The output is a TTL
Serial Data:RXA, RXB, TXA, and TXB
negative level signal with negative logic.
The GPS Engine board supports two full
VBAT
duplicated
This is the battery backup supply that
serial
channels.
All
four
connections are at TTL levels, and all
powers the SRAM and RTC when main
support variable baud rates. A TTL to RS232
power is removed. Typical current draw is 10
conversion
uA. Without an external backup battery or on
is
necessary
to
directly
communicate with a PC serial port.
board battery, engine board will execute a
RXA
cold start after every turn on. To achieve the
faster start-up offered by a hot or warm start,
This is the main receiving channel and is
either a backup battery must be connected
used to receive software commands to the
or battery installed on board.
Engine board from user written software.
RXB
This is the auxiliary receive channel and is
used to input differential corrections to the
Engine board to DGPS navigation.
9
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Absolute maximum ratings
REB-2000/REB-2100
Parameter
Supply voltage
Input pin voltage
Output pin voltage
Output current
RTC power
Symbol
VCC_3
Min. Value
-0.3
-0.3
-0.3
VBAT
Unit
V
V
V
mA
V
1.5
Max. Value
3.6
VCC_3 + 0.3
VCC_3 + 0.3
±25
3.6
Symbol
VCC_5
VBAT
Unit
V
V
Min. Value
-0.3
-0.3
Max. Value
6
3.6
REB-12R
Parameter
Supply voltage
RTC power
Software interface
following NMEA-0183 messages:GGA, GLL,
GSA, GSV, RMC and VTG.
NMEA V2.2 Protocol
NMEA Output Messages
It is the RS-232 interface:9600 bps, 8 bit
The Engine board outputs the following
data, 1 stop bit and no parity. It supports the
Table 1
messages as shown in 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
example: $GPGGA, 161229.487,
GGA-Global Positioning System
3723.2475, N, 12158.3416, W, 1,
Fixed Data
07, 1.0, 9.0, M, , , ,0000*18
Table 2 contains the values of the following
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
Example
$GPGGA
161229.487
3723.2475
N
12158.3416
W
1
07
1.0
9.0
M
M
Units
meters
meters
meters
meters
10
Description
GGA protocol header
hhmmss.sss
ddmm.mmmm
N=north or S=south
dddmm.mmmm
E=east or W=west
See Table 2-1
Range 0 to 12
Horizontal Dilution of Precision
RoyalTek GPS Receiver REB-2000/REB-12R
Age of Diff. Corr.
Diff. Ref. Station ID
Checksum
＜CR＞＜LF＞
Table 2-1
REV-2000 Operational Manual
second
Null fields when DGPS is not used
0000
*18
End of message termination
Position Fix Indicator
Value
0
1
2
3
Description
Fix not available or invalid
GPS SPS Mode, fix valid
Differential GPS, SPS Mode, fix valid
GPS PPS Mode, fix valid
example:$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
Units
Description
$GPGLL
GLL protocol header
3723.2475
ddmm.mmmm
N
N=north or S=south
12158.3416
Dddmm.mmmm
W
E=east or W=west
161229.487
hhmmss.ss
A
A=data valid or V=data not valid
*2C
End of message termination
example:$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
Table 4
GSA Data Format
Name
Message ID
Mode 1
Mode 2
Satellite Used
Satellite Used
….
Satellite Used
PDOP
HDOP
VDOP
Checksum
＜CR＞＜LF＞
Table 4-1
Value
1
2
3
Example
$GPGSA
A
3
07
02
1.8
1.0
1.5
*33
Units
Description
GSA protocol header
See Table 4-2
See Table 4-1
Sv on Channel 1
Sv on Channel 2
….
Sv on Channel 12
Position Dilution of Precision
Horizontal Dilution of Precision
Vertical Dilution of Precision
End of message termination
Mode 1
Description
Fix not available
2D
3D
11
RoyalTek GPS Receiver REB-2000/REB-12R
Table 4-2
REV-2000 Operational Manual
Mode 2
Value
M
A
Description
Manual-forced to operate in 2D or 3D mode
Automatic-allowed to automatically switch 2D/3D
256, 42, 27, 27, 138,
GSV-GNSS Satellites in View
42*71$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
GGA Data Format
Name
Message ID
1
Number of Messages
1
Messages Number
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
Description
GSV protocol header
Range 1 to 3
Range 1 to 3
Channel 1(Range 1 to 32)
degrees Channel 1(Maximum 90)
degrees Channel 1(True, Range 0 to 359)
dBHz Range 0 to 99, null when not tracking
….
Channel 4(Range 1 to 32)
degrees Channel 4(Maximum 90)
degrees Channel 4(True, Range 0 to 359)
dBHz Range 0 to 99, null when not tracking
End of message termination
Specific GNSS Data
Depending on the number of satellites
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
Table 6
309.62, 120598, ,*10
GGA Data Format
Name
Example
Units
Message ID
$GPRMC
UTC Position
161229.487
Status
A
Latitude
3723.2475
N/S Indicator
N
Longitude
12158.3416
E/W Indicator
W
Speed Over Ground
0.13
knots
Course Over Ground
309.62 degrees
Date
120598
Magnetic Variation
degrees
Checksum
*10
＜CR＞＜LF＞
Description
RMC protocol header
hhmmss.sss
A=data valid or V=data not valid
ddmm.mmmm
N=north or S=south
dddmm.mmmm
E=east or W=west
True
ddmmyy
E=east or W=west
End of message termination
12
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Table 7 contains the values of the following
VTG-Course Over Ground and
example:$GPVTG, 309.62, T,
Ground Speed
Table 7
, M,
0.13, N, 0.2, K*6E
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 menu. If the receiver is in SiRF Binary
NMEA input messages allow you to control
mode, all the NMEA input messages are
the Evaluation Unit in NMEA protocol mode.
ignored. Once the receiver is put into NMEA
The Evaluation Unit may be put into NMEA
mode, the following messages may be used
mode by sending the SiRF Binary protocol
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
Carriage Return (CR) Line Feed (LF) which
numeric characters . Input messages begin
is \r\n which is hex 0D 0A. Because \r\n are
at MID 100.
not printable ASCII characters , they are
2
omitted from the example strings, but must
Message specific data. Refer to a specific
message section for <data>…<data>
be sent to terminate the message and cause
definition
the receiver to process that input message.
3
CKSUM is a two-hex character checksum
as defined in the NMEA specification . Use
Note – All fields in all proprietary NMEA
of checksums is required on all input
messages are required, none are exceptional.
messages.
All NMEA messages are comma delimited
4
Each message is terminated by using
13
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
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
Table 8
Set Serial Port Data Format
Name
Message ID
Protocol
Baud
Data Bits
Stop Bits
Parity
Checksum
<CR><LF>
1
$PSRF100,0,9600,8,1,0*0C
Example
$PSRF100
0
9600
8
Units
1
0
*0C
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.
parameters . Correct initialization
LLA Navigation Initialization
parameters enable the Evaluation Unit to
This command is used to initialize the
acquire signals quickly.
module for a warm start, which provide
Table 9 contains the input values for the
current position (in X, Y, Z coordinates),
following example:Switch to SiRF Binary
clock offset , and time .This enables the
protocol at 9600,8,N,1 $PSRF
Evaluation Unit to search for the correct
101,-2686700,-4304200, 3851624, 95000,
satellite signals at the correct signal
497260, 921, 12, 3*22
14
RoyalTek GPS Receiver REB-2000/REB-12R
Table 9
REV-2000 Operational Manual
Navigation Initialization Data Format
Name
Message ID
ECEF X
ECEF Y
ECEF Z
CLK Offset
Example
$PSRF101
-2686700
-4304200
3851624
95000
Time Of Week
Week No
Channel Count
Reset Cfh
Checksum
<CR><LF>
497260
921
12
3
*22
Units
Description
PSRF101 protocol header
X coordinate position
Y coordinate position
Z coordinate position
Meters
Meters
Meters
Hz
seconds
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
Table 11
9600,8,N,1. $PSRF 102,9600,8,1,0*3C
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
when the message is accepted.
Query/Rate Control
Table 12 Query/Rate Control Data
This command is used to control the output
Format(See example 1.)
of standard NMEA messages GGA, GLL,
1.Quety the GGA message with checksum
GSA, RMC, and VTG. Using this command
enabled: $PSRF103,00,01,00,01*25
message, standard NMEA messages may
2.Enable VTG message for a 1 Hz
be polled once, or setup for periodic output.
constant output with checksum enabled:
Checksums may also be enabled or disabled
$PSRF103,05,00,01,01*20
depending on the needs of the receiving
3.Disable VTG message
program. NMEA message settings are saved
$PSRF103,05,00,00,01*21
in battery-backed memory for each entry
15
RoyalTek GPS Receiver REB-2000/REB-12R
Table 12
Query/Rate Control Data Format(See example 1.)
Name
Message ID
Message
Mode
Rate
Cksum Enable
Checksum
<CR><LF>
Table 13
REV-2000 Operational Manual
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
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
Table 14
3*3A
LLA Navigation Initialization Data Format
Name
Message ID
Lat
Lon
Alt
CLK Offset
Example
$PSRF104
37.3875111
-121.97232
0
95000
Time Of Week
Week No
Channel Count
Reset Cfg
Checksum
<CR><LF>
237759
922
12
3
*3A
Units
Degrees
Degrees
Meters
Hz
Seconds
Description
PSRF104 protocol header
Latitude position (Range 90 to –90)
Longitude position (Range 180 to –180)
Altitude position
Clock Offset of the Evaluation Unit1
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
0x04
Description
Data Valid – Warm /Hot Starts=1
Clear Ephemeris – Warm Start=1
Clear Memory – Cold Start =1
user to determine the source of the
Development Data On/Off
command rejection. Common reasons for
Use this command to enable development
input command rejection are invalid
data information if you can not get the
checksum of parameter out of specified
commands accepted. Invalid commands
range.
generate debug information that enables the
Table 16 contains the input values for the
16
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
following examples:
1.
2.
Debug Off $PSRF 105,1*3F
Debug On $PSRF 105,1*3E
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)
Message
Checksum
Two-bytes
(15-bits)
Payload
Up to 210-1
(<1023 )
End
Sequence
0xB0,
0xB3
0xYY denotes a hexadecimal byte value. 0xA0 equals 160.
Transport
refers to the payload byte length. Likewise,
The transport layer of the protocol
the check sum is a sum on the payload.
Message Length
encapsulates a GPS message in two start
characters and two stop characters. The
The message length is transmitted high
values are chosen to be easily identifiable
order byte first followed by the low byte.
and such that they are unlikely to occur
High Byte
<0x3F>
frequently in the data. In addition, the
Low Byte
Any value
transport layer prefixes the message with a
two-byte (15- bit)message length and a
Even though the protocol has a maximum
two-byte(15-bit) choice of a 15-bit values for
length of (215-1) bytes practical
length and check sum are designed such
considerations require the SiRF GPS
that both message length and check sum
module implementation to limit this value to
can not alias with either the stop of start
a smaller number. Likewise, the SiRF
code.
receiving programs (e.g., SiRF demo) may
Message Validation
limit the actual size to something less than
The validation layer is of part of the transport,
this maximum..
but operates independently. The byte count
17
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Payload Data
by the transport. Let msgLen be the number
The payload data follows the message
of bytes in the message array to be
length. It contains the number of bytes
transmitted .
specified by the message length. The
Index = first
payload data may contain any 8-bit value.
checkSum = 0
Where multi-byte values are in the payload
while index < msgLen
data neither the alignment nor the byte order
checkSum = checkSum +message[index]
are defined as part of the transport although
checkSum = checkSum AND(210-1)
SiRF payloads will use the big-endian order.
Checksum
The check sum is transmitted high order
Input Messages for SiRF Binary
byte first followed byte the low byte. This is
Protocol
the so-called big- endian order
High Byte
<0x3F
Low Byte
Any value
Note – All input messages are sent in
BINARY
The check sum is 15-bit checksum of the
bytes in the payload data .The following
pseudo code defines the algorithm used. Let
message to be the array of bytes to be sent
format
Table 17
SiRF Messages – Input Message List
Hex
0 x 80
0 x 81
0 x 82
0 x 84
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
0 x 92
0 x 93
0 x 95
0 x 96
0 x 97
0 x 98
ASCII
128
129
130
132
136
137
138
139
140
141
142
143
144
145
146
147
149
150
151
152
Name
Initialize Data Source
Switch to NMEA Protocol
Set Almanac
Software Version
Mode Control
DOP Mask Control
DFPS Control
Elevation Mask
Power Mask
Editing Residual
Steady-State Detection
Static Navigation
Clock Status
Set DGPS Serial Port
Almanac
Ephemeris
Set Ephemeris
Switch Operating Mode
Set Trickle Power Parameters
Navigation Parameters (Poll)
with the following initialization data:ECEF
Initialize Data Source-Message I.D.
WYZ (-2686727 m,-4304282 m,3851642
128
m),Clock Offset (75,000 Hz),Time of
Table 18 contains the input values for the
Week(86,400 s),Week Number(924),Week
following example:Warm start the receiver
Number(924),and Channels(12). Raw
18
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
track data Debug data enabled.
80FFD700F9FFBE5266003AC57A000124
Example:
F80083S600039C0C33- Payload
A0A20019-Start Sequence and Payload
0A91B0B3-Message Checksum and End
Length
Sequence
Table 18
Initialize Data Source
Name
Message ID
ECEF X
ECEF Y
ECEF Z
Clock Offset
Time of Week
Week Number
Channels
Reset Config.
Bytes
1
4
4
4
4
4
2
1
1
Binary(Hex)
Scale
Example
80
FFD700F9
FFBE5266
003AC57A
000124F8
*100
0083D600
039C
0C
33
Units
Description
ASCII 128
meters
meters
meters
Hz
seconds
Range 1-12
See Table 19
Payload Length: 25 bytes
Table 19
Initialize Data Source
Bit
Description
Data valid flag-set warm/hot start
Clear ephemeris-set warm start
Clear memory-set cold start
Reserved (must be 0)
Enable raw track data (YES-1,NO=0)
Enable raw track data(TES=1,NO=0)
Reserved(must be 0)
Reserved (must be 0)
0
1
2
3
4
5
6
7
following example:
Note - If Raw Track Data is ENABLED
Request the following NMEA data at 9600
then the resulting messages are message
baud:
I.D. 0x05(ASCII 5-Raw Track Data),
GGA – ON at 1 sec , GLL – 1sec , GSA – ON
message I.D. 0x08(ASCII 8-50 BPS data),
at 1 sec GSV – ON at 1 sec , RMC – 1 sec ,
and message I.D.
VTG – 1 sec
0x90 (ASCII 144 Clock Status). All
Example:
messages are sent at 1 Hz.
A0A20018 – Start Sequence and Payload
Length
8102010100010501050100010001000100010
Switch To NMEA Protocol – Message
001000112C0 – Payload
I.D. 129
0164B0B3 – Message Checksum and End
Table 20 contains the input values for the
Table 20
Sequence
Switch To NMEA Protocol
Name
Message ID
Mode
1
GGA Message
2
Checksum
Bytes
1
1
1
1
Binary(Hex)
Scale Example
81
02
01
01
Units
Description
ASCII 129
1/s
19
RoyalTek GPS Receiver REB-2000/REB-12R
GLL Message
Checksum
BSA Message
Checksum
GSV Message
Checksum
RMC Message
Checksum
VTG Message
Checksum
Unused Field
Unused Field
Unused Field
Unused Field
Unused Field
Unused Field
Unused Field
Unused Field
Baud Rate
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
REV-2000 Operational Manual
00
01
05
01
05
01
00
01
00
01
00
01
00
01
00
01
00
01
12C0
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
this manual. For information on
message, otherwise data is sent at 1
implementation contact SiRF Technology
message every X seconds requested
Inc.
(i.e., to request a message to be sent
Software Version – Message I.D. 132
every 5 seconds, request the
Table 21 contains the input values for the
message using a value of
following example:Poll the software
0x05.)Maximum rate is 1/255s.
version
(2) A value of 0x00 implies the checksum
Example:
is NOT calculated OR transmitted
A0A20002 – Start Sequence and Payload
with the message (not
Length
recommended ) .A value of 0x01 will
8400 – Payload
have a checksum calculated and
0084B0B3 – Message Checksum and End
transmitted as part of the message
Sequence
(recommended).
Set Almanac- Message I.D. 130
This command enables the user to upload
an almanac to the Evaluation Unit
Note – This feature is not documented in
Table 21
Name
Message ID
TBD
Software Version
Bytes
1
1
Payload Length:
Binary(Hex)
Scale
Example
84
00
2 bytes
20
Units
Description
ASCII 132
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Example:
Mode control – Message I.D .136
A0A2000W – Start Sequence and Payload
Table 22 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 22
Mode Control
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
Binary(Hex)
Scale Example
88
01
01
01
01
01
0000
00
02
14
05
Bytes
1
1
1
1
1
1
2
1
1
1
1
1
1
01
01
Units
Meters
Seconds
Seconds
Seconds
Description
ASCII 136
1 (always true=1)
YES = 1,NO = 0
See Table C-7
Reserved
YES = 1,NO = 0
Range –1,000 to 10,000
Auto = 0,Always=1,Disable=2
Last Computed=0,Fixed to=1
0 to 120
0 to 120
0 to 120
YES = 1,NO = 0
Payload Length:14 bytes
Table 23
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 24 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
21
RoyalTek GPS Receiver REB-2000/REB-12R
Table 24
REV-2000 Operational Manual
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 25
DOP Selection
Byte Value
0
1
2
3
4
Description
Auto PDOP/HDOP
PDOP
HDOP
GDOP
Do Not Use
Example:
DGPS Control – Message I.D.138
A0A20003 – Start Sequence and Payload
Table 26 contains the input values for the
Length
following example:
8A011E – Payload
Set DGPS to exclusive with a time out of
00A9B0B3 – Message Checksum and
30 seconds.
Table 26
End Sequence
DGPS Control
Name
Message ID
DGPS Selection
DGPS Time Out
Bytes
1
1
1
Binary(Hex)
Scale
Example
8A
01
1E
Units
Seconds
Description
ASCII 138
See Table 27
Range 1 to 120
Payload Length:3 bytes
Table 27
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 28 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
22
RoyalTek GPS Receiver REB-2000/REB-12R
Table 28
REV-2000 Operational Manual
Elevation Mask
Name
Message ID
Tracking Mask
Navigation Mask
Binary(Hex)
Scale
Example
8B
*10
0032
*10
009B
Bytes
1
2
2
Units
Description
ASCII 139
Not currently used
Range –20.0 to 90.0
degrees
degrees
Payload Length:5 bytes
Length
Power Mask – Message I.D.140
8C1C21 – Payload
Table 29 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 29
Power Mask
Name
Message ID
Tracking Mask
Navigation Mask
Binary(Hex)
Scale
Example
8C
1C
21
Bytes
1
1
1
Units
dBHz
dBHz
Description
ASCII 140
Not currently implemented
Range –28 to 50
Payload Length:3 bytes
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 30 contains the input values for the
8E0F – Payload
following example: Set Stead State
Threshold to 1.5 m/sec
Table 30
Name
Message ID
Threshold
009DB0B3 – Message Checksum and
2
End Sequence
Steady Detection
Bytes
1
1
Binary(Hex)
Scale
Example
8E
0F
Units
M /sec2
Description
ASCII 142
Range 0 to 20
Payload: 2 bytes
Static Navigation – Message I.D.144
Table 31
Name
Message ID
TBD
Steady State Detection
Bytes
1
1
Binary(Hex)
Scale
Example
90
00
Units
Payload Length:2 bytes
23
Description
ASCII 144
Reserved
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
Example:
Set DGPS Serial Port – Message I.D
A0A20009-Start Sequence and Payload
145
Length
Table 32 contains the input values for the
910000258008010000 – Payload
following example:Set DGPS Serial port to
013FB0B3 – Message Checksum and End
9600.n,8,1.
Table 32
Name
Message ID
Baud
Data Bits
Stop Bit
Parity
Pad
Sequence
Set DGPS Serial Port
Bytes
1
4
1
1
1
1
Binary(Hex)
Scale
Example
91
00002580
08
01
00
00
Units
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 33 contains the input values for the
9200 – Payload
following example:Poll for the Almanac.
0092B0B3 – Message Checksum and End
Example:
Table 33
Name
Message ID
TBD
Sequence
Almanac
Bytes
1
1
Binary(Hex)
Scale
Example
92
00
Units
Description
ASCII 146
Reserved
Payload Length: 2 bytes
Length
Ephemeris Message I.D.147
930000 – Payload
Table 34 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 34
Name
Message
ID
Sv I.D.1
TBD
Almanac
Bytes
1
Scale
1
1
Binary(Hex)
Example
93
00
00
Units
Description
ASCII 147
Range 0 to 32
Reserved
Payload Length:3 bytes
24
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
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 35 contains the input values for the
following example:
Switch To SiRF Protocol
Sets the receiver to track a single satellite
Note – To switch to SiRF protocol you
on all channels.
must send a SiRF NMEA message to
Example:
revert to SiRF binary mode. (See page 9, ”
A0A20007—Start Sequence and Payload
NMEA Input Messages “ for more
Length
information)
961E510006001E—Payload
0129B0B3—Message Checksum and End
Sequence
Table 35 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
A0A20009—Start Sequence and Payload
Set Trickle Power Parameters -
Length
Message I.D. 151
97000000C8000000C8—Payload
Table 36 contains the input values for the
0227B0B3—Message Checksum and End
following example: Sets the receiver into
Sequence
low power Modes. Example: Set receiver
into Trickle Power at 1 hz update and 200
ms On Time.
Table 36 Set Trickle Power Parameters I.D. 151
Binary(Hex)
Name
Bytes Scale
Units
Example
Message ID
1
97
Push To FixMode
2
0000
Duty Cycle
2
*10
00C8
%
Milli Seconds On
4
000000C8 ms
Time
Payload Length: 9bytes.
25
Description
ASCII 151
ON=1, OFF=0
% Time on
Range 200 ~ 500 ms
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
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 37 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 38 for supported/unsupported settings.
Table 38 Trickle Power Mode Settings
On Time
(ms)
200
300
400
500
600
700
800
900
1
Y
Y
Y
Y
Y
Y
Y
Y
2
Y
Y
Y
Y
Y
Y
Y
Y
3
N
Y
Y
Y
Y
Y
Y
Y
Update Rate (second)
4
5
N
N
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
Y
6
N
Y
Y
Y
Y
Y
Y
Y
7
N
N
Y
Y
Y
Y
Y
Y
8
N
N
Y
Y
Y
Y
Y
Y
Y = Yes (Mode supported)
N = No (Mode NOT supported)
the amount of time the receiver remains
Push-to-Fix
off will be in proportion to how long it
In this mode the receiver will turn on every
stayed on:
30 minutes to perform a system update
Off period = (On Period*(1-Duty Cycle) /
consisting of a RTC calibration and
Duty Cycle)
satellite ephemeris data collection if
Off Period is limited to 30 minutes. The
required (i.e., a new satellite has become
duty cycle will not be less than
visible) as well as all software tasks to
approximately On Period/1800, or about
support SnapStart in the event of an NMI.
1%. Push-to-Fix keeps the ephemeris for
Ephemeris collection time in general this
all visible satellites up to date so
takes 18 to 30 seconds. If ephemeris data
position/velocity fixes can generally be
is not required then the system will
computed within SnapStart times (when
re-calibrate and shut down. In either case,
requested by the user) on the order of 3
26
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
seconds.
Example: Poll receiver for current
navigation parameters.
A0A20002—Start Sequence and Payload
Poll Navigation Parameters -
Length
Message I.D. 152
9800—Payload
Table C-20 contains the input values for
0098B0B3—Message Checksum and End
the following example:
Sequence
Table 39 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
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 40
Hex
0x02
0x04
0x05
0x06
0x07
0x08
0x09
0x0B
0x0C
0X0D
0x0E
0x0F
0xFF
lists the message list for the SiRF output messages
ASCII
2
4
5
6
7
8
9
11
12
13
14
15
255
Name
Measured Navigation Data
Measured Tracking Data
Raw Track Data
SW version
Clock Status
50 BPS Subframe Date
Throughput
Command Acknowledgment
Command N Acknowledgment
Visible List
Almanac Data
Ephemeris Data
Development Data
Description
Position, velocity, and time
Signal to noise information
Measurement information
Receiver software
Standard ICD format
CPU load
Successful request
Unsuccessful request
Various data messages
A0A20029 – Start Sequence and Payload
Length
Measure Navigation Data Out –
Message I.D.2
02FFD6F78CFFBE869E003AC004000301
Output Rate: 1 Hz
04A00036B039780E3
Table 41 lists the binary and ASCII
0612190E160F04000000000000 –
message data format for the measured
Payload
navigation data
09BBB0B3 – Message Checksum, and
Example:
End Sequence
27
RoyalTek GPS Receiver REB-2000/REB-12R
Table 41
REV-2000 Operational Manual
Measured Navigation Data Out – Binary & ASCII Message Data Format
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
00
00
Name
Bytes
Message ID
1
X – position
4
Y – position
4
Z – position
4
X – velocity
2
Y – velocity
2
Z – velocity
2
1
Mode
1
2
DOP
1
3
Mode
1
GPS Week
2
GPS TOW
4
SVs in Fix
1
CH 1
1
CH 2
1
CH 3
1
CH 4
1
CH 5
1
CH 6
1
CH 7
1
CH 8
1
CH 9
1
CH 10
1
CH 11
1
CH 12
1
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
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 42
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)
28
RoyalTek GPS Receiver REB-2000/REB-12R
Table 43
REV-2000 Operational Manual
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
Table 44 lists the binary and ASCII
****B0B3 –
Message Checksum and End
message data format for the measured
Sequence
tracker data.
Example:A0A200BC – Start Sequence
and Payload Length
Table 44
Name
Message ID
GPS Week
GPS TOW
Channels
st
1 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
nd
2 Sv ID
Azimuth
Elev.
State
C/NO 1
C/NO 2
…..
Measured Tracker Data Out
Bytes
1
2
4
1
1
1
1
2
1
1
1
1
1
1
1
1
1
1
1
1
1
2
1
1
Binary(Hex)
Scale
Example
04
036C
S*100
0000937F
0C
0E
Az*[2/3]
AB
EI*2
46
003F
1A
1E
1D
1D
19
1D
1A
1A
1D
1F
1D
Az*[2/3]
59
EI*2
42
3F
1A
1A
Units
None
S
Degree
Degree
Bitmap1
Degree
Degree
Bitmap1
ASCII(Decimal)
Scale
Example
4
876
S/100
37759
12
14
/[2/3]
256.5
/2
35
63
26
30
29
29
25
29
26
26
29
31
29
/[2/3]
89
/2
66
63
26
63
Payload Length: 188 bytes
Note – Message length is fixed to 188
For further information, go to Table 45.
bytes with non tracking channels reporting
29
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
zero values
Table 45
Trk. to NAV Struct. Trk._status Field Definition
Field Definition
Hex Value
ACQ_SUCCESS
0x0001
DELTA_CARPHASE_VALI
0x0002
D
BIT_SYNC_DONE
0x0004
SUBFRAME_SYNC_DONE
0x0008
CARRIER_PULLIN_DONE
0x0010
CODE_LOCKED
0x0020
ACQ_FAILED
0x0040
GOT_EPHEMERIS
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 46 lists the binary and ASCII
C20000242827272327242427290500000
message data format for the raw tracker
0070013003F – Payload
data .
0B2DB0B3 – Message Checksum and
Example:
Table 46
End Sequence
Raw Tracker Data Out
Binary(Hex)
Bytes Scale
Example
1
05
4
00000007
2
0013
2
003F
4
00EA1BD4
2
000D
2
0392
4
-16
00009783
2
Carrier Doppler
4
000DF45E
2-10
Name
Message ID
Channel
SVID
State
Bits
Ms
Chips
Code Phase
Bitmap
Bit
Ms
Chip
Chip
1
ASCII(Decimal)
Scale
Example
5
7
19
63
15342548
13
914
38787
/2-16
Rad/2ms
/2-10
914526
000105B5
FF90F5C2
Ms
Cycles
/2-10
66997
-7277118
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
dBHz
Time Tag
Delta Carrier2
4
4
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
2
1
1
1
1
1
1
1
1
1
1
1
0000
24
28
27
27
23
27
24
24
27
29
05
1
00000007
2-10
Units
0
36
40
39
39
35
39
36
36
39
41
5
7
30
RoyalTek GPS Receiver REB-2000/REB-12R
Integration
Interval
Track Loop
Iteration
2
0013
2
003F
REV-2000 Operational Manual
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)÷2
16
to convert to Hz.
The meaning of I.D.5 is described as following table
Message ID:
Channel:
SVID:
State:
Bit Number:
Millisecond Number:
Chip Number:
Code Phase:
Carrier Doppler:
Receiver Time Tag:
Delta Carrier Phase:
Search Count:
C/No:
Power Loss Count:
Phase Loss Count:
Integration Interval:
Track Loop Iteration:
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.
Number of milliseconds of elapsed time since the last received bit(20 ms
between bits)
Current C/A code symbol being transmitted (range 0 to 1023 chips;1023
chips=1 ms).
Fractional chip of the C/A code symbol at the time of sampling(scaled by
-16
2 ,=1/65536)
The current value of the carrier frequency as maintained by the tracking
loops.
This is the count of the millisecond interrupts from the start of the receiver
(power on) until the measurement sample is taken. The ms interrupts are
generated by the receiver clock.
The difference between the carrier phase(current) and the carrier
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.
This is the number of times the tracking software has completed full satellite
signal searche.s
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.
The number of times the power detectors 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 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.
The following variables from the raw track
Calculation of Pseudo-Range
data are required for each satellite:
Measurements
Bit Number (BN) – 50 bits per second
The pseudo-range measurement in meters
Millisecond Number (MSN)
can be determined from the raw track data
Chip Number (CN)
by solving the following equation:
Code Phase (CP)
Pseudo-range (PR) = {Received Tine
Receiver Time Tag (RTTag)
(RT) – Transmit Time (TT)} * C
Delta Carrier Phase (DCP)
where C = speed of light
The following steps are taken to get the psr
31
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
data and carrier data for each measurement
on the correlation interval to improve
epoch.
precision.
5.
1.
2.
3.
Compute the delta range.
Computation of initial Receiver
If the accumulation time of the Dalta Carrier
Time(RT) in seconds. Note-Where the
Phase is 1000 ms then the measurement is
initial arbitrary value chosen at start
valid and can be added to the previous Delta
up to make the PR reasonable
Carrier Phase to get Accumulated Carrier
(i.e.,set equal to TT+70ms) and then
Phase data. If the accumulation time of the
incriminated by one second for each
Delta Carrier Phase is not equal to 1000 ms
measurement epoch.
then the measurement is not valid and the
Computation of Transmit Time (TT) in
accumulation time must be restarted to get
seconds.
Accumulated Carrier Phase data.
Calculate Pseudo-range at a common
receiver time of the first channel of
Response :Software Version
the measurement data set. Note-All
String – Message I.D.6
channel measurements are NOT
Output Rate:Response to polling message
taken at the same time. Therefore, all
Example:
ranges must be extrapolated to a
A0A20015 – Start Sequence and Payload
common measurement epoch. For
Length
simplicity, the first channel of each
0606312E322E30444B495431313920534
measurement set is used as the
D0000000000-Payload
reference to which all other
0382B0B3 – Message Checksum and End
measurements are extrapolated.
4.
Sequence
Extrapolate the pseudo-range based
Table 47
Name
Message ID
Character
Software Tracker Data Out
Bytes
1
20
Payload Length:
21
Binary(Hex)
Scale Example Units
06
1
Scale
ASCII(Decimal)
Example
6
2
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
32
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
0598B0B3 – Message Checksum and End Sequence
Table 48
Clock Status Data Message
Name
Message ID
GPS Week
GPS TOW
Svs
Clock Drift
Clock Bias
Estimated GPS
Time
Binary(Hex)
Bytes Scale
Example
1
07
2
03BD
4
*100
02154924
1
08
4
2231
4
7923
4
DAEF
Units
S
Hz
ns
ms
ASCII(Decimal)
Example
7
957
/100
349494.12
8
74289
128743715
349493999
Scale
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 49
Name
Message ID
Channel
Sv ID
Word [10]
Clock Status Data Message
Bytes
1
1
1
40
Binary(Hex)
Scale Example
08
ASCII(Decimal)
Units
Scale
Example
8
Payload Length:43 bytes per subframe
CPU Throughput – Message I.D.9
(6subframes per page, 25 pages
Output Rate:1 Hz
Almanac)
Example:A0A20009 – Start Sequence and
Note – Data is logged in ICD format
Payload Length
(available from www.navcen.uscg.mail)
09003B0011001601E5 – Payload
0151B0B3 – Message Checksum and End
Sequence
33
RoyalTek GPS Receiver REB-2000/REB-12R
Table 50
REV-2000 Operational Manual
CPU Throughput
Binary(Hex)
Name
Bytes Scale Example
Message ID
1
09
SegStatMax
2
*186
003B
SegStatLat
2
*186
0011
AveTrkTime
2
*186
0016
Last MS
2
01E5
Units
Scale
ms
ms
ms
ms
/186
/186
/186
ASCII(Decimal)
Example
9
.3172
.0914
.1183
485
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
Table 51
Name
Message ID
Ack.I.D.
End Sequence
Command Acknowledgment
Bytes
1
1
Payload Length:
Binary(Hex)
Scale Example Units
0B
92
Scale
ASCII(Decimal)
Example
11
146
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
Table 52
Name
Message ID
N Ack. I.D
End Sequence
Command N Acknowledgment
Bytes
1
1
Binary(Hex)
Scale Example
0C
92
Units
Scale
ASCII(Decimal)
Example
12
146
Payload Length:2 bytes
Svs in Table 53), Maximum is 12 satellites
Visible List – Message I.D.13
Example:A0A2002A – Start Sequence and
Output Rate:Updated approximately every
Payload Length
2minutes. Note – This is a variable length
0D080700290038090133002C*************
message. Only the number of visible
****** - Payload
satellites are reported(as define by visible
34
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
****B0B3 – Message Checksum and End
Table 53
Sequence
Visible List
Binary(Hex)
Scale Example
0D
08
07
0029
0038
Name
Bytes
Message ID
1
Visible Svs
1
CH 1 –Sv I.D
1
CH 1 –Sv Azimuth
2
CH 1 –Sv
2
Elevation
CH 2 –Sv I.D
1
CH 2 –Sv Azimuth
2
CH 2 –Sv
2
Elevation
……
09
0133
002C
Units
Scale
Degrees
Degrees
ASCII(Decimal)
Example
13
8
7
41
56
9
307
44
Degrees
Degrees
Payload Length:62 bytes(maximum)
and Payload Length
Almanac Data – Message I.D.14
0E01************* - Payload
Output Rate:Response to poll
Example
Table 54
Name
Message ID
Sv I.D.(1)
Almanac
Data[14][2]
….
Sv I.D.(32)
Almanac
Data[14][2]
****B0B3 – Message
:A0A203A1 – Start Sequence
checksum and End Sequence
Visible List
Bytes
1
1
28
Binary(Hex)
Scale Example
0E
01
1
28
Payload Length: 929
Units
Scale
ASCII(Decimal)
Example
14
1
20
32
bytes(maximum)
Set Ephemeris – Message I.D.254
Development Data – Message I.D.255
This command enables the user to upload
Output Rate: Receiver generated
an ephemeris to the Evaluation unit.
Example
Note – This feature is not documented in
and Payload Length
this manual . For information on
FF************* - Payload
implementation contact SiRF Technology
****B0B3 – Message Checksum and End
Inc.
Sequence
35
:A0A2**** - Start Sequence
RoyalTek GPS Receiver REB-2000/REB-12R
Table 55
Name
Message ID
REV-2000 Operational Manual
Visible List
Bytes
1
Binary(Hex)
Scale Example
FF
Units
Scale
ASCII(Decimal)
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.
36
RoyalTek GPS Receiver REB-2000/REB-12R
REV-2000 Operational Manual
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 - 3580050
„ Factory
Add : No. 40-10 San Chi Road , Wu Chieh Hsiang
I Lan Hsien , Taiwan , R.O.C.
Tel : 886 – 3 – 9605959
Fax : 886 – 3 – 9605151
„ Web Site :
www.royaltek.com
„Customer Service mail : [email protected]
37