Globalsat ER-506 Hardware Data Sheet And User Manual

GLOBALSAT GPS Module

Hardware Data Sheet

Product No : ER-506

User Manual Version 1.1

Globalsat Technology Corporation

16F., No. 186, Jian-Yi Road, Chung-Ho City, Taipei
Hsien 235, Taiwan

Tel: [phone] Fax: [phone]

E-mail : [e-mail]

Website: www.globalsat.com.tw

Issue Date

APPR

2013/10/08

Ray

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ER-506
High Performance GPS Module

Product Description

Product Description

ER-506 GPS module features high sensitivity, low power and ultra small form factor. This GPS
module is powered by SiRF Star IV, it can provide you with superior sensitivity and performance
even in urban canyon and dense foliage environment. With SiRF CGEE (Client Generated
Extended Ephemeris) technology, it predicts satellite positions for up to 3 days and delivers
CGEE-start time of less than 15 seconds under most conditions, without any network assistance.
Besides, MicroPower Mode allows GPS module to stay in a hot-start condition nearly continuously
while consuming very little power. ER-506 is suitable for the following applications:

 Automotive navigation
 Fleet management
 Marine navigation

Product Features

 SiRF Star IV high performance GPS Chipset
 Very high sensitivity (Tracking Sensitivity: -163 dBm)
 Extremely fast TTFF (Time To First Fix) at low signal level
 Support RS-232 interface.
 Built-in LNA(with in CHIP)
 Compact size (30.0mm x 30.0 mm x 10.7mm) suitable for space-sensitive application
 Support NMEA 0183 V3.0 (GGA, GSA, GSV, RMC, VTG, GLL, ZDA)
 Support OSP protocol
 Support SBAS (WASS, EGNOS, MSAS, GAGAN)

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Product Pin Description

PIN Number(s)

Name Type

Description Note

1,5

2

3 RXD I

4

6

GND P Ground.

VIN P

TXD O

Directive O

Electrical Specification

Absolute Maximums Ratings

Parameter Min. Typ. Max. Conditions Unit

POWER Supply

This is the main power supply to the engine
board. (4.5Vdc to 6.5Vdc)
This is the main receive channel for

receiving software commands to the engine
board from SiRFdemo software or from user
written software. Baud rate based on flash
memory setting.

This is the main transmits channel for
outputting navigation and measurement
data to user’s navigation software or user
written software.

This pin indicates the GPS states.

Main power supply(VCC) 4.5 5.0 6.5 V

Main power supply Current

RF

Input Impendance 50 Ω

Operating Frequency 1.575 Ghz

45 50 55 GPS is not 3D Fixed. mA

33 34 38 GPS is 3D Fixed. mA

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High Performance GPS Module

DC Electrical characteristics

Parameter Symbol Min. Typ. Max. Conditions Units

Low Level Output Voltage VOL 0.4 V

High Level Output Voltage VOH 3.3 V

-232 Low Level Output Voltage VI L -6 V

-232 High Level Output Voltage VI H 6 V

Receiver Performance

Sensitivity

Time-To-First-Fix

Horizontal Position Accuracy

Velocity Accuracy

Reacquisition 0.1 second, average

Update Rate 1 Sec / 5 Sec

Maximum Altitude < 18,000 meter

Maximum Velocity < 515 meter/ second

Maximum Acceleration < 4G

Tracking :
Autonomous acquisition :

Cold Start – Autonomous

1

Warm Start – Autonomous

Hot Start – Autonomous

4

Autonomous < 2.5m

Speed

5

Heading

2

3

-163dBm

-160 dBm

< 35s

<15s (with CGEE)

< 35s

< 15s(with CGEE)

< 1s

< 0.01 m/s

< 0.01 degrees

<Note>

1. 50% -130dBm Fu 0.5ppm Tu ±2s Pu 30Km

2. Commanded Warm START

3. Commanded Hot START

4. 50% 24hr static, -130dBm

5. 50% @ 30m/s

Environmental Characteristics

Parameter Min Typ Max Unit

Humidity Range 5 95 % non-condensing
Operation Temperature -40 25 85

Storage Temperature -40 85

℃
℃

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Physical Characteristic

OPERATING Description

GND

This is Ground pin for the baseband circuit.

VIN

This is the main power supply to the engine board. (4.5Vdc to 6.5Vdc)

RXD

This is the main channel for receiving software commands from SiRFdemo software or from your
proprietary software.

TXD

This is the main transmits channel for outputting navigation and measurement data to user’s
navigation software or user written software.

Directive

This pin exports signal to indicate the GPS states.
GPS unfix: always low level.
GPS fixed: one second high level, one second low level.

LED

LED indicator for GPS fix or not fix
LED OFF: Receiver switch off
LED ON: No fixed, Signal searching
LED Flashing: Position Fixed

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SOFTWARE COMMAND

NMEA Output Command

GGA - Global Positioning System Fixed Data

Note – Fields marked in italic red apply only to NMEA version 2.3 (and later) in this NMEA
message description

Table B-2 contains the values for the following example:

$GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M,-34.2,M,,0000*18

Table B-2 GGA Data Format

Name Example Units Description

Message ID $GPGGA GGA protocol header

UTC Time 161229.487 hhmmss.sss

Latitude 3723.2475 ddmm.mmmm
N/S Indicator N N=north or S=south

Longitude 12158.3416 dddmm.mmmm

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

Position Fix Indicator 1 See Table B-3
Satellites Used 07 Range 0 to 12

HDOP 1.0 Horizontal Dilution of Precision

MSL Altitude 9.0 meters

Units M meters
Geoid Separation1 -34.2 meters Geoid-to-ellipsoid separation.

Ellipsoid altitude=MSL Altitude + Geoid
Separation

Units M meters

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

Diff. Ref. Station ID 0000
Checksum *18

<CR><LF> End of message termination

Table B-3 Position Fix Indicator

Value Description
0 Fix not available or invalid

1 GPS SPS Mode, fix valid

2 Differential GPS, SPS Mode , fix valid

3 Not supported

6 Dead Reckoning Mode, fix valid

Note:
A valid status is derived from all the parameters set in the software. This includes the minimum

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number of satellites required, any DOP mask setting, presence of DGPS corrections, etc. If the
default or current software setting requires that a factor is met, then if that factor is not met the
solution will be marked as invalid.

GLL - Geographic Position-Latitude/Longitude

Note – Fields marked in italic red apply only to NMEA version 2.3 (and later) in this NMEA
message description

Table B-4 contains the values for the following example:

$GPGLL,3723.2475,N,12158.3416,W,161229.487,A,A*41

Table B-4 GLL Data Format

Name Example Units Description

Message ID $GPGLL GLL protocol header

Latitude 3723.2475 ddmm.mmmm

N/S Indicator n N=north or S=south
Longitude 12158.3416 dddmm.mmmm

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

UTC Position 161229.487 hhmmss.sss

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

Mode A A=Autonomous, D=DGPS,

E=DR

N=Output Data Not Valid

R= Coarse Position

1

S=Simulator

Checksum *41

<CR><LF> End of message termination

1. Position was calculated based on one or more of the SVs having their states derived from
almanac parameters, as opposed to ephemerides.

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allowed to automatically switch 2D/3D

High Performance GPS Module

GSA - GNSS DOP and Active Satellites

Table B-5 contains the values for the following example:

$GPGSA,A,3,07,02,26,27,09,04,15,,,,,,1.8,1.0,1.5*33

Table B-5 GSA Data Format

Name Example Units Description

Message ID $GPGSA GSA protocol header

Mode 1 A See Table B-6
Mode 2 3 See Table B-7

Satellite Used1 07 Sv on Channel 1

Satellite Used1 02 Sv on Channel 2

…..
Satellite Used1 Sv on Channel 12

PDOP2 1.8 Position dilution of Precision

HDOP2 1.0 Horizontal dilution of Precision

VDOP2 1.5 Vertical dilution of Precision
Checksum *33

<CR><LF> End of message termination

1. Satellite used in solution.

2. Maximum DOP value reported is 50. When 50 is reported, the actual DOP may be much larger.

Table B-6 Mode1

Value Description
M Manual-forced to operate in 2D or 3D mode

A 2Dautomatic-

Table B-7 Mode 2

Value Description

1 Fix Not Available

2 2D (<4 SVs used)

3 3D (>3 SVs used)

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GSV - GNSS Satellites in View

Table B-8 contains the values for the following example:

$GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71
$GPGSV,2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41

Table B-8 GSV Data Format

Name Example Units Description

Message ID $GPGSV GSV protocol header

Number of Messages
Message Number

Satellites in View

Satellite ID 07 Channel 1(Range 1 to 32)

Elevation 79 degrees Channel 1(Maximum90)
Azimuth 048 degrees Channel 1(True, Range 0 to 359)

SNR(C/No) 42 dBHz Range 0 to 99,null when not tracking

……. …….

1

2 Range 1 to 3

1

1

1 Range 1 to 3

07

Satellite ID 27 Channel 4 (Range 1 to 32)
Elevation 27 Degrees Channel 4(Maximum90)

Azimuth 138 Degrees Channel 4(True, Range 0 to 359)

SNR(C/No) 42 dBHz Range 0 to 99,null when not tracking

Checksum *71
<CR><LF> End of message termination

1. Depending on the number of satellites tracked, multiple messages of GSV data may be
required. In some software versions, the maximum number of satellites reported as visible is
limited to 12, even though more may be visible.

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High Performance GPS Module

RMC - Recommended Minimum Specific GNSS Data

Note – Fields marked in italic red apply only to NMEA version 2.3 (and later) in this NMEA
message description

Table B-9 contains the values for the following example:

$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598,,,A*10

Table B-9 RMC Data Format

Name Example Units Description

Message ID $GPRMC RMC protocol header

UTC Time 161229.487 hhmmss.sss
Status1 A A=data valid or V=data not valid

Latitude 3723.2475 ddmm.mmmm

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

Longitude 12158.3416 dddmm.mmmm

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

Speed Over Ground 0.13 knots

Course Over Ground 309.62 degrees True

Date 120598 ddmmyy
Magnetic Variation2 degrees E=east or W=west

East/West Indicator

2

E E=east

Mode A A=Autonomous, D=DGPS,

E=DR

N=Output Data Not Valid

R= Coarse Position

3

S=Simulator

Checksum *10

<CR><LF> End of message termination

1. A valid status is derived from all the parameters set in the software. This includes the
minimum number of satellites required, any DOP mask setting, presence of DGPS
corrections, etc. If the default or current software setting requires that a factor is met, then if
that factor is not met the solution will be marked as invalid.

2. SiRF Technology Inc. does not support magnetic declination. All “course over ground” data
are geodetic WGS84 directions relative to true North.

3. Position was calculated based on one or more of the SVs having their states derived from
almanac parameters, as opposed to ephemerides.

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High Performance GPS Module

VTG - Course Over Ground and Ground Speed

Note – Fields marked in italic red apply only to NMEA version 2.3 (and later) in this NMEA
message description

Table B-10 contains the values for the following example:

$GPVTG,309.62,T,,M,0.13,N,0.2,K,A*23

Table B-10 VTG Data Format

Name Example Units Description

Message ID $GPVTG VTG protocol header

Course 309.62 degrees Measured heading
Reference T True

Course degrees Measured heading

Reference M Magnetic1

Speed 0.13 knots Measured horizontal speed

Units N Knots

Speed 0.2 Km/hr Measured horizontal speed

Units K Kilometers per hour

Mode A A=Autonomous, D=DGPS,

E=DR

N=Output Data Not Valid

R= Coarse Position

2

S=Simulator

Checksum *23

<CR><LF> End of message termination

1. SiRF Technology Inc. does not support magnetic declination. All “course over ground” data
are geodetic WGS84 directions.

2. Position was calculated based on one or more of the SVs having their states derived from
almanac parameters, as opposed to ephemerides.

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ER-506

hhmmss

High Performance GPS Module

ZDA - Time and Date

This message is included only with systems which support a time-mark output pulse identified as
"1PPS". Outputs the time associated with the current 1PPS pulse. Each message is output within
a few hundred ms after the 1PPS pulse is output and tells the time of the pulse that just occurred.

Table B-11 contains the values for the following example:

$GPZDA,181813,14,10,2003,,*4F<CR><LF>
Table B-11: ZDA Data Format

Name Example

Message ID $GPZDA

Unit Description

ZDA protocol header

The UTC time units are:
hh=UTC hours from 00 to 23 mm=UTC minutes
from 00 to 59 ss=UTC seconds from 00 to 59 Either
using valid IONO/UTC or estimated from default

UTC Time 181813

Day 14

Month 10

Year 2003

Local zone hour

1

Local zone minutes

1

Checksum *4F

hour Offset from UTC (set to 00)

minute Offset from UTC (set to 00)

leap seconds

Day of the month, range 1 to 31

Month of the year, range 1 to 12

Year

<CR><LF> End of message termination

1. Not supported by CSR, reported as 00.

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ER-506

<DataBits>

High Performance GPS Module

NMEA Input Command

A). Set Serial Port ID: 100 Set PORTA parameters and protocol

This command message is used to set the protocol (SiRF Binary, NMEA, or USER1) and/or the
communication parameters (baud, data bits, stop bits, parity). Generally, this command would be
used to switch the module back to SiRF Binary protocol mode where a more extensive command
message set is available. For example, to change navigation parameters. When a valid message
is received, the parameters will be stored in battery backed SRAM and then the receiver will
restart using the saved parameters.

Format:

$PSRF100,<protocol>,<baud>,<DataBits>,<StopBits>,<Parity>*CKSUM<CR><LF>

<protocol> 0=SiRF Binary, 1=NMEA, 4=USER1
<baud> 1200, 2400, 4800, 9600, 19200, 38400

8,7. Note that SiRF protocol is only valid f8 Data bits

<StopBits> 0,1

<Parity> 0=None, 1=Odd, 2=Even

Example 1: Switch to SiRF Binary protocol at 9600,8,N,1

$PSRF100,0,9600,8,1,0*0C<CR><LF>

Example 2: Switch to User1 protocol at 38400,8,N,1

$PSRF100,4,38400,8,1,0*38<CR><LF>

**Checksum Field: The absolute value calculated by exclusive-OR the 8 data bits of each
character in the Sentence, between, but excluding “$” and “*”. The hexadecimal value of the most
significant and least significant 4 bits of the result are convertted to two ASCII characters (0-9, A-F)
for transmission. The most significant character is transmitted first.

**<CR><LF> : Hex 0D 0A

B). Navigation lnitialization ID：：：：101 Parameters required for start

This command is used to initialize the module for a warm start, by providing current position （in X,
Y, Z coordinates）,clock offset, and time. This enables the receiver to search for the correct

satellite signals at the correct signal parameters. Correct initialization parameters will enable the
receiver to acquire signals more quickly, and thus, produce a faster navigational solution.
When a valid Navigation Initialization command is received, the receiver will restart using the input
parameters as a basis for satellite selection and acquisition.

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ER-506

Differential receivers may output corrections using different communication parameters.

High Performance GPS Module

Format：：：：

$PSRF101,<X>,<Y>,<Z>,<ClkOffset>,<TimeOfWeek>,<WeekNo>,<chnlCount>,<ResetCfg>*CK
SUM<CR><LF>

<X> X coordinate position

INT32

<Y> Y coordinate position

INT32

<Z> Z coordinate position

INT32

<ClkOffset> Clock offset of the receiver in Hz, Use 0 for last saved value if available. If

this is unavailable, a default value of 75000 for GSP1, 95000 for GSP 1/LX
will be used.
INT32

<TimeOf Week> GPS Time Of Week

UINT32

<WeekNo> GPS Week Number

UINT16
（ Week No and Time Of Week calculation from UTC time）

<chnlCount> Number of channels to use.1-12. If your CPU throughput is not high enough,

you could decrease needed throughput by reducing the number of active
channels
UBYTE

<ResetCfg> bit mask

0×01=Data Valid warm/hot start=1
0×02=clear ephemeris warm start=1
0×04=clear memory. Cold start=1
UBYTE

Example: Start using known position and time.

＄PSRF101,-2686700,-4304200,3851624,96000,497260,921,12,3*7F

C). Set DGPS Port ID: 102 Set PORT B parameters for DGPS input

This command is used to control Serial Port B that is an input only serial port used to receive
RTCM differential corrections.

The default communication parameters for PORT B are 9600Baud, 8data bits, 0 stop bits, and no
parity. If a DGPS receiver is used which has different communication parameters, use this
command to allow the receiver to correctly decode the data. When a valid message is received,
the parameters will be stored in battery backed SRAM and then the receiver will restart using the
saved parameters.

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High Performance GPS Module

Format:

＄PSRF102,<Baud>,<DataBits>,<StopBits>,<Parity>*CKSUM<CR><LF>

<baud> 1200,2400,4800,9600,19200,38400

<DataBits> 8

<StopBits> 0,1
<Parity> 0=None, Odd=1,Even=2

Example: Set DGPS Port to be 9600,8,N,1
＄PSRF102,9600,8,1.0*12

D). Query/Rate Control ID: 103 Query standard NMEA message and/or set output rate

This command is used to control the output of standard NMEA message GGA, GLL, GSA, GSV,
RMC, VTG. Using this command message, standard NMEA message may be polled once, or
setup for periodic output. Checksums may also be enabled or disabled depending on the needs of
the receiving program. NMEA message settings are saved in battery backed memory for each
entry when the message is accepted.

Format:
＄PSRF103,<msg>,<mode>,<rate>,<cksumEnable>*CKSUM<CR><LF>

<msg> 0=GGA,

1=GLL,
2=GSA,
3=GSV,
4=RMC,
5=VTG
6=MSS(if internal beacon is supported)
7=Not defined
8=ZDA(if 1PPS output supported)
9=Not defined

<mode> 0=SetRate

1=Query
2=ABP On

3=ABP Off
<rate> Output every <rate>seconds, off=0,max=255

<cksumEnable> 0=disable Checksum,1=Enable checksum for specified message

Example 1: Query the GGA message with checksum enabled
＄PSRF103,00,01,00,01*25

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Example 2: Enable VTG message for a 1Hz constant output with checksum enabled
＄PSRF103,05,00,01,01*20

Example 3: Disable VTG message
＄PSRF103,05,00,00,01*21

E). LLA Navigation lnitialization ID: 104 Parameters required to start using Lat/Lon/Alt

This command is used to initialize the module for a warm start, by providing current position (in
Latitude, Longitude, Altitude coordinates), clock offset, and time. This enables the receiver to
search for the correct satellite signals at the correct signal parameters. Correct initialization
parameters will enable the receiver to acquire signals more quickly, and thus, will produce a faster
navigational soution.
When a valid LLA Navigation Initialization command is received, the receiver will restart using the
input parameters as a basis for satellite selection and acquisition.

Format:
＄PSRF104,<Lat>,<Lon>,<Alt>,<ClkOffset>,<TimeOfWeek>,<WeekNo>,<ChannelCount>,

<ResetCfg>*CKSUM<CR><LF>

<Lat> Latitude position, assumed positive north of equator and negative south of

equator float, possibly signed

<Lon> Longitude position, it is assumed positive east of Greenwich and negative

west of Greenwich Float, possibly signed

<Alt> Altitude position float, possibly signed
<ClkOffset> Clock Offset of the receiver in Hz, use 0 for last saved value if available. If

this is unavailable, a default value of 75000 for GSP1, 95000 for GSP1/LX

will be used.

INT32

<TimeOfWeek> GPS Time Of Week

UINT32

<WeekNo> GPS Week Number

UINT16

<ChannelCount> Number of channels to use. 1-12 UBYTE
<ResetCfg> bit mask

0×01=Data Valid warm/hot starts=1

0×02=clear ephemeris warm start=1

0×04=clear memory. Cold start=1

UBYTE

Example: Start using known position and time.

＄PSRF104,37.3875111,-121.97232,0,96000,237759,922,12,3*37

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High Performance GPS Module

F). Development Data On/Off ID: 105 Switch Development Data Messages On/Off

Use this command to enable development debug information if you are having trouble getting
commands accepted. Invalid commands will generate debug information that should enable the
user to determine the source of the command rejection. Common reasons for input command
rejection are invalid checksum or parameter out of specified range. This setting is not preserved
across a module reset.

Format: ＄PSRF105,<debug>*CKSUM<CR><LF>

<debug> 0=Off, 1=On
Example: Debug On
Example: Debug Off

＄PSRF105,1*3E
＄PSRF105,0*3F

G). Select Datum ID: 106 Selection of datum to be used for coordinate Transformations

GPS receivers perform initial position and velocity calculations using an earth-centered earth-fixed
(ECEF) coordinate system. Results may be converted to an earth model (geoid) defined by the
selected datum. The default datum is WGS 84 (World Geodetic System 1984) which provides a
worldwide common grid system that may be translated into local coordinate systems or map
datums. (Local map datums are a best fit to the local shape of the earth and not valid worldwide.)

Examples:
Datum select TOKYO_MEAN

$PSRF106,178*32

Name Example Unit Description

Message ID $PSRF106 PSRF106 protocol

header

Datum 178 21=WGS84

178=TOKYO_MEAN
179=TOKYO_JAPAN
180=TOKYO_KOREA
181=TOKYO_OKINAWA

Debug
Checksum *32

<CR><LF> End of message

termination

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High Performance GPS Module

RoHS / Lead Free Compliance

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High Performance GPS Module

Reversion history

Reversion Date Name Status / Comments

V1.0 20130925 Mason Initial Version

V1.1 20131008 Mason Modify pin 1PPS to Directive

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