Navman Jupiter 12 Datasheet

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Jupiter 12

GPS receiver module

Data sheet

(TU35-D410 and TU35-D420 series)

Related documents

• Product brief LA010040

• Development kit: Quick start guide LA010088

• Development kit: Guide LA010089

• Designer’s guide MN002000

• Labmon application note LA010103

• DR receiver: Gyro application note LA010090

Contents

Features .............................................................................................................. 4

New features ................................................................................................................................4

Continuing the Jupiter legacy: ..................................................................................................4

1.0 Introduction .................................................................................................. 5

2.0 Technical description .................................................................................. 8

2.1 General information ..............................................................................................................8

2.2 Satellite acquisition ..............................................................................................................8

2.2.1 Hot start ...............................................................................................................................8

2.2.2 Warm start ...........................................................................................................................8

2.2.3 Cold start ..............................................................................................................................8

2.3 Navigation modes. ................................................................................................................8

2.3.1 Three-dimensional (3D) navigation .....................................................................................8

2.3.2 Two-dimensional (2D) navigation ........................................................................................8

3.0 Technical speciﬁcations ............................................................................. 9

3.1 Operational characteristics .................................................................................................9

3.1.1 Signal acquisition performance .............................................................................................9

3.1.2 Accuracy ...............................................................................................................................9

3.1.3 Solution update rate: once per second. ................................................................................9

3.1.4 Re-acquisition .......................................................................................................................9

3.1.5 Serial data output protocol ....................................................................................................9

3.2 Power requirements .............................................................................................................9

3.3 Radio frequency signal environment ..................................................................................9

3.3.1 Burnout protection ................................................................................................................9

3.4 Physical ..................................................................................................................................9

3.5 Environmental .......................................................................................................................9

3.5.1 Cooling: Convection. ............................................................................................................9

3.5.2 Temperature(operating/storage) ..........................................................................................9

3.5.3 Humidity ...............................................................................................................................9

3.5.4 Altitude (operating/storage) ..................................................................................................9

3.5.5 Maximum vehicle dynamic ...................................................................................................9

3.5.6 Vibration random (operating) ................................................................................................9

3.5.7 Vibration shock (non-operating) ...........................................................................................9

3.5.8 Drop: Shipping (in container) ................................................................................................9

3.6 OEM interface connector ...................................................................................................10

3.7 Mechanical layout ...............................................................................................................10

3.8 ESD sensitivity ....................................................................................................................10

4.0 Hardware interface .................................................................................... 13

4.1 DC input signals .................................................................................................................13

4.1.1 Pin J1-1: antenna preamp voltage input (PREAMP) ...........................................................13

4.1.2 Pins J1-2 and J1-4: primary VDC power input and (PWRIN) .............................................13

4.1.3 Pin J1-3: battery backup voltage input (VBATT) ................................................................13

4.1.4 Pin J1-5: master reset (M_RST)—active low .....................................................................13

4.1.5 Pin J1-6: heading rate gyro input (GYRO) ..........................................................................13

4.1.6 Pin J1-7: NMEA protocol select/backup (GPIO2) ...............................................................13

4.1.7 Pin J1-8: EEPROM default select (GPIO3) .........................................................................14

4.1.8 Pin J1-9: see application note speed indication (GPIO4) ...................................................14

4.2 Serial communication signals ...........................................................................................15

4.2.1 Pins J1-11, 12, 14, and 15: serial data ports SDO1, ...........................................................15

4.3 Output signals ....................................................................................................................15

4.3.1 Pin J1-19: 1PPS time mark pulse (TMARK) .......................................................................15

4.3.2 Pin J1-20: 10 kHz clock output (10 kHZ) ............................................................................15

5.0 Acronyms used in this document ............................................................ 17

Figures

Figure 1-1 Jupiter 12 GPS receiver ..............................................................................................5

Figure 1-2 Jupiter 12 GPS receiver ..............................................................................................5

Figure 1-3 Jupiter 12 block diagram ..............................................................................................6

Figure 1-4 Jupiter 12 block diagram with dead-reckoning ............................................................7

Figure 1-5 Jupiter receiver application architecture ......................................................................7

Figure 3-1. SAE composite curve (random) ................................................................................11

Figure 3-2 The 20-pin interface connector (J1) ...........................................................................11

Figure 3-3 Mechanical drawings of the Jupiter GPS receiver board ...........................................12

Tables

Table 1-1 Jupiter 12 module descriptions ......................................................................................5

Table 2-1 Jupiter receiver signal acquisition ..................................................................................8

Table 2-2 Jupiter navigational accuracies .....................................................................................9

Table 3-1 Jupiter operational power requirements (typ at 25oC) .................................................10

Table 3-2 Standard Jupiter power management table (at 25oC) .................................................10

Table 4-1 Jupiter receiver J1 interface pin descriptions ..............................................................13

Table 4-2 Jupiter digital signal requirements ...............................................................................15

Table 4-3 Jupiter receiver supported RTCM SC-104 data messages .........................................16

Table 4-4 Jupiter receiver binary data messages .......................................................................16

Table 4-5 Jupiter receiver NMEA v2.01 data messages .............................................................17

Features

New features

• power management control

• 3.3–5 V operation (autosensing)

• superior dead-reckoning (DR) capability in absence of GPS signals (DR model only)

• reliable single-chip RF containing: Fractional-N synthesiser, VCO, LNA

Continuing the Jupiter legacy:

• 12 parallel satellite tracking channels for fast acquisition and re-acquisition

• Fast Time-To-First-Fix (TTFF)

—24 second hot start

—42 seconds warm start

—Less than 2 second re-acquisition after blockages for up to 10 seconds

• enhanced algorithms for superior navigation performance in dense urban areas and foliage environments

• adaptive threshold-based signal detection for improved reception of weak signals

• maximum navigation accuracy using Standard Positioning Service (SPS)

• automatic altitude hold mode from 3D to 2D navigation

• automatic cold start acquisition process (no initialisation data entered)

• ﬂexible and conﬁgurable operation via user commands over host serial port

• position and velocity initialisation via the host serial port

• user selectable satellites

• user-speciﬁable visible satellite mask angle

• serial data output including Navman binary protocol and selected National Marine Electronics

Association (NMEA-0183) v2.1 messages

1.0 Introduction

Navman’s Jupiter 12 Global Positioning System (GPS) module is a single board, 12 parallel channel receiver that is intended as a component for an Original Equipment Manufacturer (OEM) product. The receiver continuously tracks all visible satellites, providing accurate satellite positioning data. Jupiter 12 is designed for high performance and maximum ﬂexibility in a wide range of OEM applications including handhelds, panel mounts, sensors, and in-vehicle automotive products.

The highly integrated digital receiver uses the Zodiac chipset composed of two custom SiRF devices: the CX74051 RF Front-End, and the CX11577 Scorpio Baseband Processor (BP). These two custom chips, together with memory devices and a minimum of external components, form a complete low power, high-performance, high reliability GPS receiver solution for OEMs. Different module conﬁgurations allow the OEM to design for multi-voltage operation and dead reckoning navigation that uses vehicle sensors in the absence of GPS signals. Each conﬁguration provides different options for different types of antenna connectors (refer to table 1-1).

must be selected at the time of ordering and is not available for ﬁeld retroﬁtting.

The 12-channel architecture provides rapid TTFF under all startup conditions. While the best TTFF performance is achieved when time of day and current position estimates are provided to the receiver, the ﬂexible signal acquisition system uses all available information to provide a rapid TTFF.

Acquisition is guaranteed under all initialisation conditions as long as paths to the satellites are not obscured. The receiver supports 2D positioning when fewer than four satellites are available or when required by operating conditions. Altitude information required for 2D operation is assumed by the receiver or may be provided by the OEM application.

The Jupiter 12 receiver decodes and processes signals from all visible GPS satellites. These satellites, in various orbits around the Earth, broadcast Radio Frequency (RF) ranging codes,

Figure 1-1 Jupiter 12 GPS receiver

(top view, shown approx. actual size)

timing information, and navigation data messages. The receiver uses all available signals to produce a highly accurate navigation solution that can be used in a wide variety of end product applications. The all-in-view tracking of the Jupiter receiver provides robust performance in applications that require high vehicle dynamics or that operate in areas of high signal blockage such as dense urban centres.

The Jupiter receiver is packaged on a miniature printed circuit board with a metallic RF enclosure on one side (see ﬁgures 1-1 and 1-2). The receiver is available in several conﬁgurations. The conﬁguration and type of antenna connector

Part No.* Model Antenna

TU35-D410-021 Jupiter 12, +3.3–5.0 V autosensing, standard operation right angle OSX

TU35-D410-031 Jupiter 12, +3.3–5.0 V autosensing, standard operation straight OSX

Figure 1-2 Jupiter 12 GPS receiver

(bottom view, shown approx. actual size)

TU35-D410-041 Jupiter 12, +3.3–5.0 V autosensing, standard operation right angle SMB

TU35-D420-021 Jupiter 12 DR, +3.3– 5.0 V autosensing with dead reckoning right angle OSX

(*) Contact Navman for the latest revision part numbers and optional GPS antenna connector.

Table 1-1 Jupiter 12 module descriptions

Communication with the receiver is established through one of two asynchronous serial I/O ports that support full duplex data communication. The receiver’s serial port provides navigation data and accepts commands from the OEM application in proprietary Navman binary message format. NMEA formatted message protocol is also available with software and/or hardware selection.

microprocessor and the required GPS-speciﬁc signal processing hardware. Memory and other external supporting components complete the receiver navigation system.

Product applications

The Jupiter 12 receiver is suitable for a wide range of modular

OEM GPS design applications such as:

Receiver architecture

The functional architecture of the basic Jupiter 12 receiver is shown in ﬁgure 1-3. The functional architecture of Jupiter 12 DR, with dead-reckoning circuitry, is shown in ﬁgure 1-4.

The receiver design is based on the SiRF Zodiac chipset: the RF1A and the Scorpio Baseband Processor (BP). The RF1A contains all the RF down-conversion and ampliﬁcation circuitry, and presents the In-Phase (I) and QuadraturePhase (Q) Intermediate Frequency (IF) sampled data to the BP. The BP contains an integral

CX74051

connec tor

pre-select

ﬁlter

receiver front- end

LNA

post-select

ﬁlter

down

converter

10.949 M Hz Xtal

signal samples

clock signals

A/ D control

• automotive and vehicular transport

• marine navigation

• aviation

Figure 1-5 illustrates a design that might be used to integrate the receiver with an applications processor that drives peripheral devices such as a display and keyboard.

Communication between the applications processor and the receiver is through the serial data interface.

CX1157 7

baseban d processor

serial p ort 2

serial p ort 1

1PPS, 10 kHz

12 channel

GPS

correlator

GDGPS d ata (RTCMSC-104)

OEM host i nterfac e

timing reference

serial

EEPROM

RTC

32 kHz Xta l

+3.3 or 5.0 VDC input

+3.3 or 5.0 VDC bat. backup

regulated DC power

bat. backup to SRAM & RTC

SRAM

ROM*

*contains

software

EMI ﬁltering

& power supply

ADD BUS

12C

BUS

Figure 1-3 Jupiter 12 block diagram

connec tor

pre-select

ﬁlter

CX74051

receiver front- end

LNA

post-select

ﬁlter

down

converter

10.949 M Hz Xtal

signal samples

clock signals

A/ D control

GPIO2

CX1157 7

baseban d processor

12 channel

GPS

correlator

serial p ort 2

serial p ort 1

1PPS, 10 kHz

GDGPS d ata (RTCMSC-104)

OEM host i nterfac e

timing reference

rate gyro**

conditioning circuit

forward/reverse

input**

**external to GPS receiver

GPS antenna

gyro

GPIO4

SRAM

serial

EEPROM

vehicle

wheel ticks**

regulated DC power

bat. backup to SRAM & RTC

ROM*

*contai ns

soft ware

EMI ﬁltering

& power supply

ADD BUS

12C

BUS

RTC

32 kHz Xta l

+3.3 or 5.0 VDC input

+3.3 or 5.0 VDC bat. backup

Figure 1-4 Jupiter 12 block diagram with dead-reckoning

pre-ampliﬁer

(optional)

Figure 1-5 Jupiter receiver application architecture

power supply

Jupiter 12

GPS receiver

engine

power/communications interface

OEM

application

processor

DGPS

(optional)

display

keypad

2.0 Technical description

than four hours old, hence, invalid.

2.1 General information

The Jupiter 12 requires +3.3 to +5.0 V primary DC input power. The receiver can operate from either an active or passive GPS antenna, supplied by the OEM, to receive L-band GPS carrier signals.

2.2 Satellite acquisition

As the receiver determines its position by ranging signals from three or more GPS satellites orbiting the Earth, its antenna must have a good view of the sky. This is usually not a problem when the receiver is used outdoors in the open, but when used indoors, or inside an automobile, the antenna should be positioned to allow clear view of the sky.

To establish an initial navigation ﬁx, the receiver requires three satellites in track and an entered or remembered altitude. If satellite signals are blocked, the time for the receiver to receive those signals and determine its position will be longer. If less than three satellites are being tracked, signal blockage may result in a failure to navigate. The Jupiter 12 GPS receiver supports three types of satellite signal acquisition (see table 2-1) depending on the availability of critical data.

2.2.1 Hot start

A hot start occurs when the receiver has been reset during navigation. Most recent position and time are valid in memory. Ephemerides of visible satellites are in SRAM (valid ephemerides are less than four hours old).

2.2.3 Cold start

A cold start acquisition state results when position and/or time are unknown and unavailable, either of which results in an unreliable satellite visibility list. Almanac information stored in nonvolatile memory in the receiver is used to identify previously healthy satellites.

2.3 Navigation modes.

The Jupiter receiver supports two types of navigation mode operations: Three-Dimensional (3D) and Two-Dimensional (2D).

2.3.1 Three-dimensional (3D) navigation

The receiver defaults to 3D navigation whenever at least four GPS satellites are being tracked. In 3D navigation, the receiver computes latitude, longitude, altitude, and time information from satellite measurements. Accuracies that can be obtained in 3D navigation are shown in table 2-2.

2.3.2 Two-dimensional (2D) navigation

When only three GPS satellite signals are available, a ﬁxed value of altitude can be used to produce a navigation solution. The Jupiter receiver enters the 2D navigation mode from 3D navigation by using a ﬁxed value of altitude, either as determined during prior navigation, or as provided by the OEM or zero. In 2D navigation, the navigational accuracy is primarily determined by the relationship of the ﬁxed value of altitude to the true altitude of the antenna.

2.2.2 Warm start

A warm start typically results from user supplied position and time initialisation, or from position data stored in memory and time from the RealTime Clock (RTC) maintained by backup power. Table 2-1 shows the required accuracy of initialisation data. Satellite ephemerides, are more

Satellite

acquisition

state

Hot start 24 30 100 75

Warm start 42 66 100 75

Cold start 60 180 N/A (Note 2)

Times are for a receiver operating at 25°C with no satellite signal blockage. Note 1: required accuracy of data used for initialised start. Note 2: initial error uncertainties do not apply to cold start.

Time to ﬁrst ﬁx

(seconds)

typical 90% probable position (km) velocity (m/s) time (min)

If the ﬁxed value is correct, the horizontal accuracies shown in table 2-2 are approached. Otherwise, the horizontal accuracies degrade as a function of the error in the ﬁxed altitude. In addition, due to the presence of only three satellite signals, time accuracy degrades and the computed position can be expected to show considerable effects of noise, multipath, and partial blockages.

Initial error uncertainties (Note 1)

Table 2-1 Jupiter receiver signal acquisition

Horizontal 3D Vertical

CEP (50%) 2 DRMS (95%) SEP (50%) VEP (50%) 3D (2 sigma)

Full accuracy C/A 2.8 4.9

Standard Positioning

Service (SPS)

Note 1: velocity accuracies for SPS are not speciﬁed for the GPS system.

50 100 200 173 Note 1

Table 2-2 Jupiter navigational accuracies

Position (metres)

Velocity (m/s)

5 3.2 0.1

3.0 Technical speciﬁcations

3.1 Operational characteristics

3.1.1 Signal acquisition performance

See table 2-1. The values shown are based on unobstructed satellite signals.

3.1.2 Accuracy

Accuracy is a function of the entire Navstar GPS system and geometry of the satellites at the time of measurement. In general, individual receivers have little inﬂuence over the accuracy provided.

Navigational accuracies using full accuracy C/A code (SA Off) and the SPS (SA On) are shown in table 2-2. These accuracies are based on a Position Dilution of Precision (PDOP) of 1.0 and the maximum vehicle speed of 500 m/s.

3.1.3 Solution update rate:

3.1.4 Re-acquisition

2 second typical with a 10 second blockage.

3.1.5 Serial data output protocol

Navman binary serial I/O messages and NMEA 0183 v2.1 (selected messages).

3.2 Power requirements

Regulated primary power for the Jupiter GPS receiver is required as detailed in table 3-1.

once per second.

current limiting outside of the receiver.

3.3 Radio frequency signal environment

RF Input. 1575.42 MHz (GPS L1 frequency) at a level between –130 dBW and –163 dBW. If an active antenna is used, the best results are obtained when total gain (antenna gain, ampliﬁer gain, and cable loss) is in the range of 12 to 18 dB.

3.3.1 Burnout protection

–10 dBW signal within a bandwidth of 10 MHz centred about the L1 carrier frequency.

3.4 Physical

Dimensions: 71.1 x 40.6 x 11.4 mm Weight: 25 grams.

3.5 Environmental

3.5.1 Cooling: Convection.

3.5.2 Temperature (operating/storage)

–40°C to +85°C.

3.5.3 Humidity

Relative humidity up to 95% noncondensing, or a wet-bulb temperature of +35° C, whichever is less.

3.5.4 Altitude (operating/storage)

–305m to 12,190m.

Besides regulated primary power, the board can be supplied with backup power to maintain SRAM and RTC whenever primary power is removed. Backup power can be between 2.5 and 5.0 V for all models, regardless of regulated primary power voltage, and will draw approximately 12 µA when primary power is removed.

When the receiver is operated with an active GPS antenna, the maximum preamp “pass-through” current is 100 mA at voltages up to +12 V.

NOTE: This circuit requires customer-provided

3.5.5 Maximum vehicle dynamic

500 m/s (acquisition and navigation).

3.5.6 Vibration random (operating)

Full performance, see ﬁgure 3-1.

3.5.7 Vibration shock (non-operating)

18 G peak, 5 ms duration.

3.5.8 Drop:

75 cm onto a concrete ﬂoor

Shipping (in container): 10 drops from

3.6 OEM interface connector

3.8 ESD sensitivity

The OEM communications interface is a dual row, straight 2x10 pin ﬁeld connector header. The pins are spaced on 2.0 mm centres and the pin lengths are 7.8 mm (0.3 in) off the board surface with 2.3 mm at the base for plastic form. Figure 3-2 diagrams the 20-pin I/O connector and shows the pin 1 reference location. The mating female connector is an IDC receptacle. See table 1-1 for antenna connector options.

3.7 Mechanical layout

The mechanical drawing for the Jupiter board is shown in ﬁgure 3-3.

Version Input power Backup power

voltage +3.15–5.5 VDC voltage +2.5–5.0 VDC

TU35-D410-(021/031/041)

standard

TU35-D420-021

current (typ) 85 mA current (typ) 12 uA

current (max) 100 mA current (max) 15 uA

ripple 50 mV

voltage +3.15–5.5 VDC voltage +2.5–5.0 VDC

current (typ) 95 mA current (typ) 12 uA

current (max) 110 mA current (max) 15 uA

ripple 50 mV

The Jupiter GPS receiver contains Class 1 devices. The following Electrostatic Discharge (ESD) precautions are recommended any time the unit is handled:

• protective outer garments.

• handle device in ESD safeguarded work area.

• transport device in ESD shielded containers.

• monitor and test all ESD protection equipment.

CAUTION: treat the Jupiter receiver as extremely sensitive to ESD.

Table 3-1 Jupiter operational power requirements (typ at 25oC)

Duty cycle

100% power on 85 mA 85 mA EHPE 2.2 m

50% power on 60 mA 60 mA EHPE 2.7 m

30% power on 52 mA 52 mA EHPE 3.5 m

25% power on 48 mA 48 mA EHPE 6 m

Note: internal power management may override user duty-cycle settings in order to maintain navigation solution

validity. The values above reﬂect power consumption while Navigation solution is still valid.

Avg. current @ 5 V

operation

Avg. current @ 3.3 V

operation

Accuracy degradation

with Gdop of 1.87

Table 3-2 Standard Jupiter power management table (at 25oC)

Figure 3-1. SAE composite curve (random)

Pin No. 1

PCB surface

0.50 square

20.0

18.0

Figure 3-2 The 20-pin interface connector (J1)

(measurements are in mm)

2.0

2.30

4.00

5.50

Figure 3-3 Mechanical drawings of the Jupiter GPS receiver board

4.0 Hardware interface

The electrical interface of the Jupiter GPS receiver is through a 20-pin header. The function of each pin is described in table 5-1.

4.1 DC input signals

4.1.1 Pin J1-1: antenna preamp voltage input (PREAMP)

This signal is used to supply an external voltage to the GPS antenna pre-ampliﬁer (normally +3.3 or +5, max +12 VDC). Customer-provided antenna current limiting protection will prevent damage to the GPS receiver from external short circuits.

4.1.2 Pins J1-2 and J1-4: primary VDC power input and (PWRIN)

Jupiter 12 supports 3.3 VDC and 5 VDC. The main power must be regulated and have maximum ripple of 50 mV. Note that pin 2 and pin 4 are connected together, whereas previous Jupiter versions were missing pin 2 or pin 4 depending upon model voltage rating.

4.1.3 Pin J1-3: battery backup voltage input (VBATT)

Jupiter boards contain SRAM (Static Random Access Memory) and an RTC that can run on backup power at low current if primary power is removed. Start-up time is generally improved when power is maintained to SRAM and RTC as the data required to predict satellite visibility and to compute precise satellite positions is maintained. Battery backup is required for proper operation of the DR receiver. During times when primary power to the board is off, current is typically 12 µA.

4.1.4 Pin J1-5: master reset (M_RST) —active low

This signal is the master reset, used to warm start the receiver. This pin should be tied to a logic ‘high’ with a 47 kΩ resistor.

Note: for receiver to operate normally, the M_RST signal must be pulled to a CMOS logic ‘high’ level coincident with, or after, application of prime DC power to the receiver. The M_RST signal must be held at ground level for a minimum of 1 µs to assure proper generation of a hardware reset.

4.1.5 Pin J1-6: heading rate gyro input (GYRO)

This pin is used for the heading rate gyro input on Jupiter TU35-D420 Jupiter 12 DR receivers. Characteristics of the input signal are:

• 0 to 5 V range

• 2.5 V output when gyro is not being rotated

• clockwise rotation of the gyro causes voltage to rise

• maximum voltage deviation due to rotation should occur with a turning rate of 90 degrees/second or less

The gyro should be mounted so its sensitive axis is as vertical as practical. Deviations from the vertical reduce sensitivity for heading changes in the horizontal direction. Acceptable performance can be achieved with mounting deviations of several degrees, but better performance is achieved when the gyro is mounted closer to vertical. Contact Navman for suggested sources for rate gyros.

4.1.6 Pin J1-7: NMEA protocol select/backup (GPIO2)

This pin is used to receive an optional backup signal from the vehicle on Jupiter TU35-D420

Pin No. Name Description Pin No. Name Description

1 PREAMP antenna preamp voltage input 11 SDO1 serial data output port #1

2 PWRIN primary VDC power input 12 SDI1 serial data input port #1

3 VBATT battery backup voltage input 13 GND ground

4 PWRIN primary VDC power input 14 SDO2 serial data output port #2

5 M_RST master reset input (active low) 15 SDI2 serial data input port #2

6 GYRO

7 GPIO2

8 GPIO3 EEPROM default select 18 GND ground

9 GPIO4

10 GND ground 20 10 kHz 10 kHz clock output

Note 1: Pins 6, 7, and 9 have dual functions depending on the speciﬁc Jupiter receiver conﬁguration.

DR heading rate gyro input otherwise reserved (no connect) (Note 1)

NMEA protocol select forward/reverse sensor (Note 1)

DR speed indication otherwise reserved (no connect) (Note 1)

16 GND ground

17 GND ground

19 TMARK 1PPS time mark output

Table 4-1 Jupiter receiver J1 interface pin descriptions

‘DR’ receivers. A ‘low’ on this input indicates the vehicle is in reverse gear. Use of this signal is optional; if it is not used, the effect of occasional backing by the vehicle does not signiﬁcantly degrade navigation performance.

To ensure minimum current when backup voltage is used, be sure this input is not pulled up external to the board.

For the TU35-D410 series, this pin is connected to GPIO2, which is used to allow forced selection of the NMEA messaging protocol. With these receivers, when this pin is held ‘low’ at restart or power-up, the receiver is forced into NMEA protocol at 4800 baud (no parity, 8 data bits, 1 stop bit) on serial I/O port 1. If the pin is held ‘high’ or left ﬂoating at restart or power-up, the receiver uses the last message protocol and port baud rate that was used before the restart or power-off.

generates wheel ticks that could exceed 800 Hz at the top expected vehicle speed, a ﬂip-ﬂop or digital counter should divide the wheel tick signal so that the top frequency is below 800 Hz.

The receiver periodically senses the state of pin J1-9 using a timed process. Wheel ticks must be within some broad range of frequencies for the receiver to use them. Detection limits for speed pulses are the following:

• Minimum detectable rate: 1 pulse/second

(pps)

• Maximum detectable rate: 800 pps

To illustrate how this relates to speed, assume two vehicles, one that generates 1000 ticks/km and the other 9000 ticks/km.

The minimum and maximum speeds the system can detect are computed as follows:

Both of the receiver’s NMEA and binary protocols are described in the Jupiter Designer’s guide (Navman document number MN002000).

4.1.7 Pin J1-8: EEPROM default select (GPIO3)

This signal is used to enable or disable the internal EEPROM. When this pin is grounded, the receiver uses factory defaults at restart or startup, rather than any settings or tracking history stored in EEPROM.

CAUTION: Pin J1-8 should only be grounded to recover from unusual situations. When this is done, the receiver takes longer to ﬁnd and track satellites, and all user settings are lost, including I/O port settings (baud rate, message protocol, etc.) and navigation settings.

4.1.8 Pin J1-9: see application note speed indication (GPIO4)

This pin is used to receive speed pulses (wheel ticks) from the vehicle on Jupiter TU35-D420 receivers. For the TU35-D410 series, this pin is connected to GPIO4, which is used for factory test purposes (in these cases, no connection should be made to pin J1-9).

For dead reckoning receivers, the input to this pin is a pulse train generated in the vehicle. The pulse frequency is proportional to the vehicle velocity. In most vehicles, the ABS (Anti-lock Braking System), transmission, or drive shaft generate these pulses, or wheel ticks.

System design must restrict the pulses between 0 and 12 V with a duty cycle near 50 percent. Maximum frequency for the wheel ticks at top vehicle speed is approximately 800 Hz. If a vehicle

Vehicle 1: 1000 ticks/km

minimum detectable speed:

1 tick/s 3600 s

1000 ticks/km

= 3.6 km/h (2.2 mi/h)

maximum detectable speed:

800 ticks/s 3600 s

1000 ticks/km

= 2880 km/h (1790 mi/h)

Vehicle 2: 9000 ticks/km:

minimum detectable speed:

1 tick/s 3600 s

9000 ticks/km

= 0.4 km/h (0.25 mi/h)

maximum detectable speed:

800 ticks/s 3600 s

9000 ticks/km

= 320 km/h (199 mi/h)

These examples illustrate the minimum number of wheel ticks per kilometre that gives reasonable performance and the maximum per kilometre given a broad operating range.

A higher number of ticks/km may be used if a lower maximum vehicle speed is acceptable or if a hardware divider circuit is used. For a divide-bytwo circuit, 18000 ticks/km allows the same top speed and low speed resolution as 9000 ticks/km without the divider.

To ensure minimum current when backup power is used, this input must be pulled to a CMOS low external to the board.

4.2 Serial communication signals

Note: The serial communication signals described below must be applied according to the limits

shown in table 5-2.

4.2.1 Pins J1-11, 12, 14, and 15: serial data ports SDO1,

SDI1, SDO2, and SDI2 Serial port 1 (SD01 and SDI1), also called the Host Port, is the primary communications port for the receiver. Commands to the receiver are entered through SDI1 and data from the receiver is transmitted through SDO1. Both binary and NMEA messages are transmitted and received across the Host Port’s serial I/O interface.

All of the output and input binary messages for the Jupiter receiver are listed in table 5-4 along with their corresponding message IDs.

Table 5-3 lists the speciﬁc RTCM SC-104 messages implemented in the Jupiter receivers.

4.3 Output signals

4.3.1 Pin J1-19: 1PPS time mark pulse (TMARK)

Jupiter receivers generate a 1PPS signal that is aligned with the Universal Time Coordinated (UTC) second. The signal is a positive-going pulse of approximately 25.6 ms duration. When the receiver has properly aligned the signal, the rising edge is within 50 ns (1 sigma) of the UTC second. This signal is derived from the 10 kHz clock output (pin J1-20), which is valid under the same conditions as the 1PPS time mark pulse.

To determine when the signal is properly aligned, refer to the description of Navman binary message 1108 in the Jupiter Designer’s guide (Navman document number MN002000).

All of the output and input NMEA messages are listed in table 5-5, along with their corresponding message IDs.

A complete description of each binary and NMEA message is contained in the Jupiter Designer’s guide (Navman document number MN002000).

Serial port 2 (SD02 and SDI2), also called the Auxiliary Port, is reserved for Differential GPS (DGPS) corrections sent to the receiver. Serial port 2 input (SDI2) receives DGPS messages at 9600 baud (no parity, 8 data bits, 1 stop bit). These messages are in Radio Technical Commission for Maritime services (RTCM) SC-104 format.

Symbol Parameter Limits Units

VIH (min) min high-level input voltage

VIH (max) max high-level input voltage PWRIN

VIL (min) min low-level input voltage –0.3

VIL (max) max low-level input voltage 0.3 x PWRIN

VOH (min) min high-level output voltage 0.8 x PWRIN

VOH (max) max high-level output voltage PWRIN

VOL (min) min low-level output voltage

VOL (max) max low-level output voltage 0.2 x PWRIN

tr, tf input rise and fall time 50 ns

C out max output load capacitance 25 pF

4.3.2 Pin J1-20: 10 kHz clock output (10 kHZ)

This signal is a 10 kHz square wave that is precisely aligned with the UTC second. The 1PPS time mark pulse is derived from this signal. The receiver aligns the 10 kHz clock output so that one rising edge is aligned within 50 ns (1 sigma) of UTC. Then, the receiver indicates which rising edge is aligned by causing the 1PPS Time Mark pulse to rise at the same time. Pins J1-10, 13, 16, 17, and 18: Ground (GND) DC grounds for the board. All grounds are tied together through the receiver’s Printed Wiring Board (PWB) ground plane and should be grounded externally to the receiver.

greater of

0.7 x PWRIN or 2.5

0 V

Table 4-2 Jupiter digital signal requirements

Message ID Title Used for DGPS corrections?

1 differential GPS corrections yes

2 differential GPS corrections yes

3 reference station parameters no

9 partial satellite set differential corrections yes

Table 4-3 Jupiter receiver supported RTCM SC-104 data messages

Output message Message ID Input message Message ID

geodetic position status output (*)

1000

geodetic position and velocity initialisation

channel summary (*)

visible satellites (*)

differential GPS status

channel measurement

ECEF position output

receiver ID (**)

user-settings output

raw almanac

raw ephemeris

raw ionosphere/UTC corrections

built-in test results

global output control parameters

measurement time mark

UTC time mark pulse output (*)

frequency standard parameters in use

serial port communication parameters

1002

1003

1005

1007

1009

1011

1012

1040

1041

1042

1100

1101

1102

1108

1110

1130

user-deﬁned datum deﬁnition

map datum select

satellite elevation mask control

satellite candidate select

differential GPS control

cold start control

solution validity criteria

user-entered altitude input

application platform control

nav conﬁguration

raw almanac

raw ephemeris

raw ionosphere/UTC corrections

perform built-in test command

restart command

frequency standard input parameters

in use

EEPROM update

EEPROM status

frequency standard table output data

error/status

1135

1136

1160

1190

serial port communication parameters

message protocol control

factory calibration input

raw DGPS RTCM SC-104 data

frequency standard table input data

(*) enabled by default at power-up (**) once at power-up/reset

1200

1210

1211

1212

1213

1214

1216

1217

1219

1220

1221

1240

1241

1242

1300

1303

1310

1330

1331

1350

1351

1360

Table 4-4 Jupiter receiver binary data messages

Output message

Navman proprietary built-in-test results BIT Navman proprietary built-in test command IBIT

Navman proprietary error/status ERR Navman proprietary log control message ILOG

GPS ﬁx data (*) GGA Navman proprietary receiver initialisation INIT

GPS DOP and active satellites (*) GSA Navman proprietary protocol message IPRO

GPS satellites in view (*) GSV standard query message

Navman proprietary receiver ID (**) RID

recommended minimum speciﬁc GPS data (*) RMC

track made good and ground speed VTG

Navman proprietary Zodiac channel status (*) ZCH

(*) enabled by default at power-up (**) output by default once at power-up or reset

Message

Input message

Message

Table 4-5 Jupiter receiver NMEA v2.01 data messages

5.0 Acronyms used in this document

BP: Baseband Processor DGPS: Differential Global Positioning System GND: Ground GPS: Global Positioning System NMEA: National Marine Electronics Association OEM: Original Equipment Manufacturer PDOP: Position Dilution Of Prescision PWB: Printed Wiring Board RF: Radio Frequency RTC: Real Time Clock RTCM: Radio Technical Commission for Maritime services SPS: Standard Positioning Service SRAM: Static Random Access Memory TTFF: Time To First Fix UTC: Universal Time Coordinated

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