Holux GR-89 User Manual

GPS

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GR-89

GPS Engine Board

User’s Guide

June 22, 2006

Version A

Holux Technology Inc.

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

All Right Reserved

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1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park)
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................................................................................................4

3. Technical Specifications ...............................................................................5

3.1. Electrical Characteristics....................................................................5

3.2. Environmental Characteristics ...........................................................6

3.3. Physical Characteristics.....................................................................6

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

4.1 NMEA Transmitted Messages.............................................................7

4.2 Manufacture Default .........................................................................13

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

5.1 . GR-89 outline:.................................................................................14

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

6. Operation and Test.....................................................................................18

Appendix A : Reference Design.....................................................................21

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1. Introduction

The GR-89 series consists of SiRF GSC3f chipsets technology, LNA and

proprietary software. The system function block is described as follows.

HOLUX GR-89 is a high performance, low power consumption, small size,
very easy integrated GPS engine board 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 GSC3f chipset
solution. The GPS engine board will track up to 12 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-89 engine board
is very fit to the customers who devote themselves to AVL system integration
and location-based service.

The GR-89 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 two RS232 compatible
bi-directional communication channels with CMOS 3V voltage level.

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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 200,000+ effective correlators for fast TTFF and high sensitivity

acquisitions
z Integrated ARM7TDMI CPU with software engineering services and

available for embedded customer defined applications.

z On chip 1Mb SRAM.
z Dual CMOS 3V serial ports with one for GPS receiver command message

interface.
z Compact Board Size 25.4x25.4x3 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 On-board 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

1). Position：10 meters, 2D RMS

2). 7 meters 2D RMS, WAAS corrected

3). 1-5 meters, DGPS corrected

4). Altitude ：< ± 35m Vertical in term of 95%

5). Velocity：0.1 meters/second

※

(Open Sky)

6). 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). Hot start：1 sec., average

2). Warm start：38 sec., average

3). Cold start：42 sec., average

3.1.5 Dynamic Conditions

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

2). Velocity：515 meters/second (1000 knots) max※

3). Acceleration：4g, max

4). Jerk：20 meters/second, max

3.1.6 Power

1). Input power：3.3~5.5 VDC

2). Input current: Less than 65 mA (without antenna)

3.1.7 RF interface

1). RF signal input to RFIN pin from external antenna. DC supply from

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VCC_ANT_IN (pin 19). If 2.85 V is used, VC_ANT_IN can be
connected with VCC_RF_O (pin 20).

2). Minimum signal tracked: -159 dBm※.

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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 microsecond

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: 25.4(W) x 25.4(D) x 3(H) (mm)

2) Weight: 3 g

※: According to SiRF GSC3 specification.

±1 microsecond

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4. Software Interface

The GR-89 interface protocol is based on the National Marine Electronics
Association's NMEA 0183 ASCII interface specification, which is defined in
NMEA 0183, Version 2.2.

As soon as the initial self-test is complete, the GR-89 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-89 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-89 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-89 in the following situation:

z Moving further than 500 kilometers.
z Failure of Data storage due to the inactive internal memory battery.

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

Description

GPGLL Geographic position- latitude/longitude
GPGSA GNSS DOP and active satellites

GPGSV GNSS satellites in view

GPRMC Recommended minimum specific GNSS data

GPVTG Course over ground and ground speed

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

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frequency, etc.

GPZDA PPS timing message (synchronized to PPS)

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

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4.1.2 Geographic Position with Latitude/Longitude(GLL)

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

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

Table 4-4 GLL Data Format

Name

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

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Example Units

Description

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1. Satellite used in solution.

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

Example Units

Description

.... ....

Satellite ID 27 Channel 4 (Range 1 to 32)

Elevation 27 degrees Channel 4 (Maximum 90)

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

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

Checksum *71

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<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

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Example Units

Description

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Reference T True

Course degrees Measured heading

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.

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

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

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 Manufacture Default

Parameter Com A Com B
Input protocol NMEA None
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 Addition Software

SiRFdemo is the Evaluation Receiver configuration and monitoring
software provided with the GR-89. This software can be used to monitor
real-time operation of the GR-89 Receiver, log data for analysis, upload new
software to the Receiver, and configure the Receiver operation..

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5. Mechanical Dimensions

5.1 GR-89 outline

z Picture

z Mechanical dimension (unit mm)

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Recommended PCB

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5.2 Pin assignment:

Table 5-1 pin definition:

Pin Pin Name Type Function description

1

VCC_IN

2

3

BOOT_SEL

4

5

6

7

8

GPIO14

9

10

11

12

13

14

15

GND

RXDA

TXDA

TXDB

RXDB

RF_ON

GND

GND

GND

GND

GND

GND

I 3.3 ~ 5 V supply input

G Ground

I Boot selection. Pull high this pin at power on stage for flash

programming.

I Serial Data input A

O Serial Data Output A

O Serial Data Output B

I Serial Data input B

I/O General purpose I/O. flash at 1Hz when position is fixed.

O Indication for RF power supply. Flashes in trickle power mode.

G Ground

G Ground

G Ground

G Ground

G Ground

G Ground

16

17

18

19

V_ANT_IN

20

VCC_RF_O

21

22

nRESET

23

24

25

26

27

28

29

30

GND

RF_IN

GND

V_BAT

GPIO10

GPIO1

GPIO2

GPIO0

GPIO13

GPIO15

PPS

GND

G Ground

I GPS signal input

I Ground

I Antenna power supply input

O Antenna power supply, 2.85V

I RTC and backup SRAM power, 2.6 ~ 3.6 VDC.

I Reset, active low

I/O General purpose I/O

I/O General purpose I/O

I/O General purpose I/O

I/O General purpose I/O

I/O General purpose I/O

I/O General purpose I/O

O 1 PPS output, synchronized with GPS time. TIME_MARK 1

PPS output, 1us/s

G Ground

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5.3.1 VCC_IN

This is the main DC power supply for a +3.3~ 5.5 V engine board.

5.3.2 BOOT_SEL

Pull high at power on stage for flash programming.

5.3.3 RF_ON

Indication of RF power staus. The pin will change in trickle power mode.
RF_ON is high when voltage is supplied to RF part of the chip.

5.3.4 V_ANT_IN

Power supply for active antenna. If 2.85V is used, this pin can be
connected to VCC_RF. For 5V active antenna, connect the DC power supply
respectively.

5.3.5 VCC_RF_O

2.85 VDC power supply for active antenna.

5.3.6 V_BAT

Power supply to RTC and backup SRAM.

5.3.7 NRESET

Reset whole board. Active low.

5.3.8 TXA

This is the main transmitting channel and is used to output navigation and
measurement data for user written software

5.3.9 RXA

This is the main receiving channel and is used to receive software
commands to the board from user written software

5.3.10 RXB

This is the auxiliary receiving channel and is used to input differential
corrections to the board to enable DGPS navigation

5.3.11 GND

GND provides the ground for the board. Connect all grounds

5.3.12 PPS (GSC3f GPIO9)

This pin default is provides 1 microsecond pulse per second output from
the GR-89 which is synchronized to within 1 microsecond of GPS time. The
output is a CMOS 3V positive level signal. Only upon a situation of tracking or
navigating will output once per second. This is not available in Trickle-Power
mode.

5.3.13 LED_ONOFF (GSC3f GPIO14)

This pin can drive an LED. A 1K resistor must be connected. The LED will

flash in tracking mode.

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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 GPN”
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-89 connects to RS-232 transceiver solutions intended for

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

(Fig A-1)

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