Holux GR-86 User Manual

GPS

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GR-86

GPS Engine Board

User’s Guide

March 2, 2006

Version D

OUX

1F, No. 30, R&D Rd. II, Hsinchu City 300, Science-based Industrial Park, Taiwan.

Phone: [phone] Fax: [phone]

E-Mail: [e-mail] Web: www.holux.com.tw

Technology Inc.

All Right Reserved

HOLUX Technology, Inc.
1F, No.30, R&D Rd.II, Hsin-Chu City 300, Science-based Industrial Park, Taiwan
TEL: [phone] FAX: [phone] E-mail:[e-mail] Website:www.holux.com.tw

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TABLE OF CONTENTS

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

2. Main Feature................................................................................................3

3. Technical Specifications ...............................................................................4

3.1. Electrical Characteristics....................................................................4

3.2. Environmental Characteristics ...........................................................5

3.3. Physical Characteristics.....................................................................5

4. Software Interface........................................................................................6

4.1 NMEA Transmitted Messages.............................................................6

4.2 RTCM Received Data.......................................................................12

4.3 . Manufacturing Default.....................................................................13

5. Mechanical Dimensions .............................................................................14

5.1. GR-86 outline...................................................................................14

5.2 Pin assignment .................................................................................16

6. Operation and Test.....................................................................................17

Appendix A : Reference Design.....................................................................20

Appendix B: Ordering information..................................................................20

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1. Introduction

HOLUX GR-86 Ver D is a high performance, low power consumption,
small size, very easy integrated GPS module designed for a broad spectrum of
OEM system applications. This product is based on the proven technology
found in other HOLUX 20 channel GPS receivers and SiRF GSC3 chipset
solution. The GPS module will track up to 20 satellites at a time while providing
fast time-to-first-fix and one-second navigation updates. Its far reaching
capability meets the sensitivity requirements of car navigation as well as other
location-based applications. Therefore, HOLUX GR-86 module is very fit to the
customers who devote themselves to AVL system integration and
location-based service.

The GR-86 design utilizes the latest surface mount technology (BGA) and
high level circuit integration to achieve superior performance while minimizing
space and power requirements. This hardware capability combined with
software intelligence makes the board easy to be integrated and used in all
kinds of navigation applications or products. The application system may
communicate with the engine board set via CMOS 3V voltage level.

2. Main Feature

z Build on high performance SiRF GSC3f chipset.
z Average Cold Start time and under 42 seconds.
z Low power consumption
z 20 channels “All-in-View” tracking.
z Integrated ARM7TDMI CPU with software engineering services and

available for embedded customer defined applications.

z On chip 1Mb SRAM.
z On-board LNA and saw filter.
z Dual CMOS 3V serial ports with one for GPS receiver command message

interface.
z Compact board size 24x24x3 mm for easy integration into hand-held

device.

z Reacquisition Time 0.1 seconds
z Support Standard NMEA-0183 and SiRF Binary protocol
z Support Accurate 1PPS Output Signal Aligned with GPS Timing

z Multi-path Mitigation Hardware

z WAAS /EGNOS Demodulator

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3. Technical Specifications

3.1. Electrical Characteristics

3.1.1 General

1). Frequency：L1, 1575.42 MHz.

2). C/A code：1.023 MHz chip rate.

3). Channels：20

3.1.2 Accuracy (Open Sky)

1). Position：10 meters, 2D RMS.

2). 7 meters 2D RMS, WAAS corrected.

3). 1-5 meters, DGPS corrected.

4). Time 1 microsecond synchronized to GPS time.

3.1.3 Datum

1). Default：WGS-84.

2). Other Support different datum by request.

3.1.4 Acquisition Rate (Open sky, stationary requirements)

1). Reacquisition：0.1 sec., average.

2). Hot start：1 sec., average.

3). Warm start：38 sec., average.

4). Cold start：42 sec., average.

3.1.5 Dynamic Conditions

1). Altitude : 18,000 meters (60,000 feet) Max

2). Velocity：515 m/s (1,000 knots) Max

3). Acceleration：4 G, Max

4). Jerk：20 meters/second, Max

3.1.6 Power

1). Input power input：3.3~5.5VDC input

2). Input current: Less than 75 mA (without antenna)

3.1.7 RF interface

1). Minimum signal tracked: -159 dBm (based on GSC3f chip spec.)

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3.1.8 Serial Port

1). Two full duplex serial communication, CMOS 3V interface, with user
selectable baud rate (4800-Default, 9600, 19200, 38400)

2). NMEA 0183 Version 2.2 ASCII output (GGA, GSA, GSV, RMC (VTG ,
GLL and ZDA for optional))

3). SiRF binary-position, velocity, altitude, status output

3.1.9 TIMEMARK-1PPS Pulse

1). Level CMOS 3V

2). Pulse duration 1 usec

3). Time reference at the pulse positive edge

4). Measurements Aligned to GPS second,

3.2. Environmental Characteristics

1). Operating temperature range -20 ℃ to +70 ℃

2). Storage temperature range -40 ℃ to +85 ℃

.

3.3. Physical Characteristics

1) Active Size: 24(W) x 24(L) x 3(H) (mm)

2) Weight: less than 4 g

±1 microsecond

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4. Software Interface

The GR-86 interface protocol is based on the National Marine Electronics
Association's NMEA 0183 ASC interface specification, which is defined in Ⅱ
NMEA 0183, Version 2.2 and the Radio Technical Commission for Maritime
Services (RTCM Recommended Standards For Differential Navstar GPS
Service, Version 2.1, RTCM Special Committee No.104).

As soon as the initial self-test is complete, the GR-86 begins the process
of satellite acquisition and tracking automatically. Under normal circumstances,
it takes approximately 42 seconds to achieve a position fix, 38 seconds if
ephemeris data is known. After a position fix has been calculated, information
about valid position, velocity and time is transmitted over the output channel.

The GR-86 utilizes initial data, such as last stored position, date, time and
satellite orbital data, to achieve maximum acquisition performance. If
significant inaccuracy exists in the initial data, or the orbital data is obsolete, it
may take more time to achieve a navigation solution. The GR-86 Auto-locate
feature is capable of automatically determining a navigation solution without
intervention from the host system. However, acquisition performance can be
improved as the host system initializes the GR-86 in the following situation:

4.1 NMEA Transmitted Messages

The default communication parameters for NMEA output are 4800 baud, 8

data bits, stop bit, and no parity.

Table 4-1 NMEA-0183 Output Messages

NMEA Record

GPGGA Global positioning system fixed data

GPGLL Geographic position- latitude/longitude

GPGSA GNSS DOP and active satellites

Description

GPGSV GNSS satellites in view

GPRMC Recommended minimum specific GNSS data

GPVTG Course over ground and ground speed

Radio-beacon Signal-to-noise ratio, signal strength,

GPMSS

frequency, etc.

GPZDA PPS timing message (synchronized to PPS)

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4.1.1 Global Positioning System Fix Data (GGA)

Table 4-2 contains the values for the following example:

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

Table 4-2 GGA Data Format

Name

Message ID $GPGGA GGA protocol header

UTC Time 161229.487 hhmmss.sss

Latitude 3723.2475 ddmm.mmmm

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

Longitude 12158.3416 dddmm.mmmm

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

Position Fix Indicator 1 See Table 5-3

Satellites Used 07 Range 0 to 12

HDOP 1.0 Horizontal Dilution of Precision

MSL Altitude (1) 9.0 Meters

Units M Meters

Geoid Separation(1) Meters

Units M Meters

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

Diff. Ref. Station ID 0000

Example Units

Description

Checksum *18

<CR> <LF> End of message termination

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

Table 4-3 Position Fix Indicator

Value Description

0 0 Fix not available or invalid

1 GPS SPS Mode, fix valid

2 Differential GPS, SPS Mode, fix valid

3 GPS PPS Mode, fix valid

4.1.2 Geographic Position with Latitude/Longitude(GLL)

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

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$GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C

Table 4-4 GLL Data Format

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Name

Message ID $GPGLL GLL protocol header

Latitude 3723.2475 ddmm.mmmm

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

Longitude 12158.3416 dddmm.mmmm

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

UTC Position 161229.487 hhmmss.sss

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

Checksum *2C

<CR> <LF> End of message termination

Example

Units Description

4.1.3 GNSS DOP and Active Satellites (GSA)

Table 4-5 contains the values for the following example:

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

Table 4-5 GSA Data Format

Name

Message ID $GPGSA GSA protocol header

Mode 1 A See Table 5-6

Mode 2 3 See Table 5-7

Satellite Used(1) 07 Sv on Channel 1

Satellite Used(1) 02 Sv on Channel 2

…… ….

Satellite Used(1) Sv on Channel 12

PDOP 1.8 Position Dilution of Precision

HDOP 1.0 Horizontal Dilution of Precision

VDOP 1.5 Vertical Dilution of Precision

Checksum *33

<CR> <LF> End of message termination

1. Satellite used in solution.

Example Units

Description

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Table 4-6 Mode 1

Value Description

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

A 2DAutomatic—allowed to automatically switch 2D/3D

Table 4-7 Mode 2

Value Description

1 Fix Not Available

2 2D

3 3D

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4.1.4 GNSS Satellites in View (GSV)

Table 4-8 contains the values for the following example:

$GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71

$GPGSV,2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41

Table 4-8 GSV Data Format

Name

Message ID $GPGSV GSV protocol header

Number of Messages(1) 2 Range 1 to 3

Message Number(1) 1 Range 1 to 3

Satellites in View 07

Satellite ID 07 Channel 1 (Range 1 to 32)

Elevation 79 degrees Channel 1 (Maximum 90)

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

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

.... ....

Satellite ID 27 Channel 4 (Range 1 to 32)

Example Units

Description

Elevation 27 degrees Channel 4 (Maximum 90)

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

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

Checksum *71

<CR> <LF> End of message termination

(1). Depending on the number of satellites tracked multiple messages of GSV data may be required.

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4.1.5 Recommended Minimum Specific GNSS Data (RMC)

Table 4-9 contains the values for the following example:

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

Table 4-9 RMC Data Format

Name

Message ID $GPRMC RMC protocol header

UTC Time 161229.487 hhmmss.sss

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

Latitude 3723.2475 ddmm.mmmm

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

Longitude 12158.3416 dddmm.mmmm

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

Speed Over Ground 0.13 knots

Course Over Ground 309.62 degrees True

Date 120598 ddmmyy

Magnetic Variation(1) degrees E=east or W=west

Checksum *10

<CR> <LF> End of message termination

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

directions.

Example Units Description

4.1.6 Course Over Ground and Ground Speed (VTG)

Table 4-10 contains the values for the following example:

$GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E

Table 4-10 VTG Data Format

Name

Message ID $GPVTG VTG protocol header

Course 309.62 degrees Measured heading

Reference T True

Course degrees Measured heading

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Example Units

Description

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Reference M Magnetic(1)

Speed 0.13 knots Measured horizontal speed

Units N Knots

Speed 0.2 km/hr Measured horizontal speed

Units K Kilometers per hour

Checksum *6E

<CR> <LF> End of message termination

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

directions.

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4.1.7 MSK Receiver Signal (MSS)

Table 4-11 contains the values for the following example:

$GPMSS,55,27,318.0,100,*66

Table 4-11 MSS Data Format

Name

Message ID $GPMSS
Signal Strength 55
Signal-to-Noise

Example Units

MSS protocol header

dB dB SS of tracked frequency

27

dB SNR of tracked frequency

Description

Ratio
Beacon Frequency 318.0
Beacon Bit Rate 100

Checksum 66

<CR> <LF> End of message termination

kHz Currently tracked frequency

100 bits per second

Note – The MSS NMEA message can only be polled or scheduled using the
MSK NMEA input message.

4.1.8 ZDA—SiRF Timing Message

Outputs the time associated with the current 1 PPS pulse. Each message

will be output within a few hundred ms after the 1 PPS pulse is output

and will tell the time of the pulse that just occurred.

Table 4-12 contains the values for the following example:

$GPZDA,181813,14,10,2003,00,00*4F

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Table 4-12 ZDA Data Format

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Name

Message ID $GPZDA ZDA protocol header

UTC Time

Day 14 01 TO 31

Month 10 01 TO 12

Year 2003 1980 to 2079

Local zone hour 00 knots Offset from UTC (set to 00)

Local zone hour 00 Offset from UTC (set to 00)

Checksum 4F

<CR> <LF> End of message termination

Example Units

181813 Either using valid IONO/UTC or

estimated from default leap seconds

Description

4.2 RTCM Received Data

The default communication parameters for DGPS Input are 9600 baud, 8
data bits, stop bit, and no parity. Position accuracy of less than 5 meters can be
achieved with the GPS-82 by using Differential GPS (DGPS) real-time
pseudo-range correction data in RTCM SC-104 format, with message types
1,2, or 9. As using DGPS receiver with different communication parameters,
GPS-82 may decode the data correctly to generate accurate messages and
save them in battery-back SRAM for later computing.

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4.3 . Manufacturing Default

Parameter Com A Com B

Input protocol NMEA RTCM SC-104
Output protocol NMEA None
Baud rate 4800 9600
Parity None
Stop bit 1 1
Data bits 8 8
Datum WGS84
Protocol GGA,GSA,GSV,RMC or

by demand

4.3.1 Setting Syntax

Datum change syntax:

>DOS\Sirfprog /Fdataxx.dat –Px –Bx –Csh1

-Px: x is com port, 1= COM1 2 = COM2

-Bx: Baud rate, 4800, 9600, 19200 or 38400
Example:
Change Datum to WGS84,
Sirfprog /Fdata58.dat –P1 –B4800 –Csh1 <Entry>

After change datum, the new datum will keep in SRAM. If long time (more
than 7 days) no power supplied to GR-86, user must resend datum to GR-86
when power on.

4.3.2 Addition Software

SiRFdemo is the Evaluation Receiver configuration and monitoring
software provided with the GR-86. This software can be used to monitor
real-time operation of the GR-86 Receiver, log data for analysis, upload new
software to the Receiver, and configure the Receiver operation. See setup.pdf
for more information on the use and operation of SiRFdemo software.

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5. Mechanical Dimensions

5.1. GR-86 outline

Picture

Outline Drawing

24.0 mm.

(0,21)

(0,19)
(0,17)
(0,15)
(0,13)
(0,11)
(0,9)
(0,7)
(0,5)
(0,3)

(5,24)

1

10

(8.5,24)

3.5 mm.

0.2 mm.

20

(24,21)
(24,19)
(24,17)
(24,15)

(24,13)
(24,11)

(24,9)
(24,7)
(24,5)
(24,3)

11

.
m
m

5

.
1

(0,0)

24.0 mm.

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(16 ,0)

5.0 mm.
(21 ,0)

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Recommend PCB layout

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5.2 Pin assignment

Table 5-1 is pin list of the 20-pin Interface Connector.

Table 5-1

Pin Pin Name Type Function description

1

2

3

4

5

NRESET

6

LED_ONOFF

7

BATTERY

8

NSLEEP

9

10

11

12

13

14

15

16

VCC_IN

RXDB

TXDA

RXDA

BOOT_SEL

TIMER_SYNC

GND

RFIN

GND

GND

GND

GND

PWR Ground

I RF signal input

PWR Ground

PWR Ground

I Reset, active low. Keep floating if not used.

O 1 HZ High/Low pulse output in tracking mode

PWR Backup battery input (2.5–3.3V)

I Power down module, low active

PWR 3.3 ~ 5.5 VDC supply input

PWR Ground

I Serial Data input B

O Serial Data Output A

I Serial Data Input A

I Pull high for firmware download mode. Keep NC if not used.

PWR Ground

I Reserve for future feature

17

AMP_INTR

18

FREQ_XFER

19

TIMEMARK

20

GND

I Reserve for future feature

I Reserve for future feature

O

1 µsec pulse per second when tracking

PWR Ground

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6. Operation and Test

The customers can use HOLUX GPSView.exe to test the engine board.
GPSViewer.exe is compatible with Microsoft Pocket PC or other operation
system alike.

1). Install Microsoft ActiveSync to your PC, refer to your Pocket PC
manual for installation procedure, as Fig. 6.1.

2). Setup your Pocket PC cradle to Desktop PC UART port. The Microsoft
ActiveSync will detect your Pocket PC automatically.

Setup your Pocket PC cradle to Desktop PC UART port. The Microsoft
ActiveSync will detect your Pocket PC automatically, as Fig. 6.1.

(Fig. 6.1)

3). Double click the GPSViewer.exe on your PC, then Holux
GPSViewer.exe program will install automatically, as Fig. 6.2.

(Fig. 6.2)

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4) Open “GPSViewer” on PC, as Fig. 6.3.

(Fig. 6.3)

5) The following window is show after executing

6) GPSViewer, as Fig. 6.4.

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(Fig. 6.4)

7) Setup Baud rate: 4800, then push “Scan” bottom to scan your COM
Port . Select your COM Port (COM1 ~ COM10), then push “Open GPS”
bottom, as Fig. 6.5, Fig. 6.6, and Fig. 6.7.

(Fig. 6.5) (Fig. 6.6) (Fig. 6.7)

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8) Select “GPS Status” to show the satellite diagram like below, as Fig.

6.8.

(Fig. 6.8)

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Appendix A : Reference Design

Fig A-1 is GR-86 connects to RS-232 transceiver solutions intended for

portable or hand-held applications such as notebook and palmtop computers.

VCC

T1_232

T2_232
R1_232
R2_232

GND

VCC

0.1uF

C1

1 2

19

3

1 2

V+

7

1 2

V-

17
8
16

DGPSINRXDB

9

11

18

C5

0.1uF

C6 0.1uF

GND

GND

Antenna

VCC_IN(9) GND(10)

GND(3)
RFIN(2)
GND(1)

GR-86 engine board

GND

TXDA(12)
RXDA(13)
RXDB(11)

VCC

GND

VCC

12

12

GND

U1 SP3223EEA-SSOP20

2

C2

0.1uF

C3

0.1uF

TXDA

RXDA

12

C4

0.1uF

GND

C1+

4

C1-

5

C2+

6

C2-

13

T1_TTL

12

T2_TTL

15

R1_TTL

10

R2_TTL

1

EN
ON
OFF

INVALID

14
20

(Fig A-1)

Appendix B: Ordering information

Model No.

GR-86-A GSC3f RF antenna power 2.8 VDC from GR-86

GR-86-B GSC3f RF antenna power supply from VCC_IN

Chipset RF interface output voltage (V)

CON/DB9/90D/F

1
6
2
7
3
8
4
9
5

J26

10 11

GND

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