Holux GR-90 User Manual

GPS

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GR-90

GPS Engine Board

User’s Guide

October 01, 2006

V ersion 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 .hol ux.com.tw

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TABLE OF CONTENTS

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

2. Main Feature................................................................................................4

3. Technical S pecifications...............................................................................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 RTCM Received Data....................................................................................13

4.3 Manufacturing Default:..................................................................................14

5. Mechanical Dimensions.............................................................................15

5.1 GR-90 outline: ...............................................................................................15

5.2 Pin Assignment:.............................................................................................17

6. Operation and Test.....................................................................................19

Appendix A : Reference Design.....................................................................22

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1. Introduction

The GR-90 series consists of SiRF GSC2x chipsets technology, LNA and

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

GPS Antenna

CMOS 3

V signal

RX

TX

GSC 2 x filter LNA

HOLUX GR-90 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 12 channel GPS receivers and SiRF GSC2x 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. It’s far reaching capability
meets the sensitivity requirements of car navigation as well as other
location-based applications. Therefore, HOLUX GR-90 engine board is very fit
to the customers who devote themselves to AVL system integration and
location-based service.

The GR-90 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 RS-232 compatible
bi-directional communication channels with CMOS 3V voltage level.

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2. Main Feature

z Build on high performance SiRF GSC2x chipset.

※1

z Average Cold Start time and under 48 seconds.
z Low power consumption

※2

z 12 channels “All-in-View” tracking.

z High speed signal acquisition using 1920 time/frequency search channels

2

z Integrated ARM7TDMI CPU with software engineering services and

available for embedded customer defined applications.

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

interface, another one for RTCM-104 DGPS input.
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 RTCM SC-104 DGPS and 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：12 ※2

3.1.2 Accuracy (Open Sky)

1). Position：<10 meters, 2D RMS

2). < 5 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

※2

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). Reacquisition：0.1 sec., average

2). Hot start：8 sec., average

3). Warm start：38 sec., average

4). Cold start：48 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

※2

※1

3.1.6 Power

1). Input power：3.3~5.5 VDC

2). Input current: Less than 40mA (without antenna)

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3.1.7 RF interface

1). Minimum signal tracked: -142 dBm. (Based on SiRF GSC2x spec.)

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). DGPS protocol RTCM SC-104 message types 1, 2 and 9

4). 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

※2

4). Measurements Aligned to GPS second,

3.2. Environmental Characteristics

1). Operating temperature range -25 ℃ to +80 ℃

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

±1 microsecond

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4. Software Interface

The GR-90 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-90 begins the process of
satellite acquisition and tracking automatically. Under normal circumstances, it
takes approximately 48 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-90 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-90 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-90 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

Description

GPGGA Global positioning system fixed data

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

GPRMC Recommended minimum specific GNSS data

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GPVTG Course over ground and ground speed

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GPMSS

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

Example Units

Description

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
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

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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

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Example Units

Description

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Checksum *33
<CR> <LF> End of message termination

1. Satellite used in solution.

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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

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)

Example Units

Description

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)
Elevation 27 degrees Channel 4 (Maximum 90)
Azimuth 138 degrees Channel 4 (True, Range 0 to 359)

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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

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Example Units

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Message ID $GPVTG VTG protocol header
Course 309.62 degrees Measured heading
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

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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

Table 4-12 ZDA Data Format

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 GR-90 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 Addition Software

SiRFdemo is the evaluation receiver configuration and monitoring software
provided with the GR-90. This software can be used to monitor real-time
operation of the GR-90. 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-90 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

GND

3

BOOT_SEL

4

RXDA

5

TXDA

6

TXDB

7

RXDB

8

GPIO14

9

RF_ON

10
11
12
13
14
15

GND
GND
GND
GND
GND
GND

I 3.3 ~ 5.5 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
20
21
22
23
24
25
26
27
28
29

30

GND

RF_IN

GND

V_ANT_IN

VCC_RF_O

V_BA T

nRESET

GPIO10

GPIO1
GPIO2

GPIO0
GPIO13
GPIO15

1 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

2.85V DC 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 1PPS (GSC2x GPIO9)

This pin default is provides 1 microsecond pulse per second output from
the GR-90 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 (GSC2x 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-90 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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※1 Test result on open sky
※2 Cit. SiRF’s original chipset spec

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