RoyalTek REB-3000, RGM-3000 User Manual

Operational Manual

RGM-3000/REB-3000

Operational Manual

Version 1.3

2002/5/29

This document contains information highly confidential to RoyalTek Company LTD (RoyalTek). It is provided for the sole purpose of the business discussions between supplier and RoyalTek and is covered under the terms of the applicable Non-Disclosure Agreements. Disclosure of this information to other parties is prohibited without the written consent of RoyalTek.

Prepared by

RoyalTek Company LTD.

A Company of Royal Group

1071, Chung Cheng Rd., Suite 9F-1

Tao Yuan City, Taiwan, R.O.C.

TEL: 886-3-3569666 FAX: 886-3-3560900

E-Mail: sales@royaltek.com

http://www.royaltek.com

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

RoyalTek GPS Module: RGM-3000/REB-3000101 Operational Manual

NTRODUCTION

I

RODUCT FEATURES

P

RODUCT APPLICATIONS

P

ECHNIQUE DESCRIPTION

T

ICTURE

P

RGM-3000E.......................................................................................................................................2

RGM-3000L.......................................................................................................................................2

RGM-3000M ......................................................................................................................................2

REB-3000..........................................................................................................................................3

.........................................................................................................................................1

................................................................................................................................1

...........................................................................................................................1

..........................................................................................................................1

..................................................................................................................................................2

RGM-3000/REB-3000 S

ECHNIQUE SPECIFICATIONS

T

ERIES SYSTEM BLOCK DIAGRAM

..........................................................................3

......................................................................................................................5

RGM-3000/REB-3000 Mechanical Layout.........................................................................................6

ARDWARE INTERFACE

H

BSOLUTE MAXIMUM RATINGS

A

RITICAL DESIGN GUIDE AND DIAGRAM

C

ESIGN LAYOUT DIAGRAM

D

NMEA V2.2 P

ROTOCOL

.............................................................................................................................9

..................................................................................................................10

......................................................................................................10

...................................................................................................................... 11

.........................................................................................................................12

GGA-Global Positioning System Fixed Data....................................................................................13

GLL-Geographic Position – Latitude/Longitude ...............................................................................13

GSA-GNSS DOP and Active Satellites............................................................................................13

GSV-GNSS Satellites in View..........................................................................................................14

RMC-Recommended Minimum Specific GNSS Data.......................................................................14

VTG-Course Over Ground and Ground Speed................................................................................15

SIRF P

ROPRIETARY

NMEA I

NPUT MESSAGES

..........................................................................................15

SIRF NMEA Input Messages...........................................................................................................16

Set Serial Port..................................................................................................................................16

Set DGPS Port.................................................................................................................................17

Query/Rate Control..........................................................................................................................17

LLA Navigation Initialization.............................................................................................................18

Development Data On/Off................................................................................................................19

Calculating Checksums for NMEA Input..........................................................................................19

INARY PROTOCOL

SIRF B

........................................................................................................................19

Initialize Data Source-Message I.D. 128..........................................................................................21

Switch To NMEA Protocol – Message I.D. 129................................................................................22

Set Almanac- Message I.D. 130 ......................................................................................................22

DGPS Source – Message I.D. 133 ..................................................................................................23

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RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Set Main Serial Port-Message I.D. 134 ............................................................................................24

Mode control – Message I.D .136....................................................................................................24

DOP Mask Control – Message I.D. 137...........................................................................................25

DGPS Control – Message I.D.138...................................................................................................25

Elevation Mask – Message I.D.139..................................................................................................26

Power Mask – Message I.D.140......................................................................................................26

Editing Residual – Message I.D.141................................................................................................27

Steady State Detection – Message I.D.142.....................................................................................27

Static Navigation – Message I.D.144...............................................................................................27

Almanac – Message I.D.146............................................................................................................27

Ephemeris Message I.D.147............................................................................................................28

Switch To SiRF Protocol ..................................................................................................................28

Switch Operating Modes - Message I.D. 150...................................................................................28

Set Trickle Power Parameters - Message I.D. 151 ..........................................................................28

Computation of Duty Cycle and On Time.........................................................................................29

Push-to-Fix ......................................................................................................................................30

Poll Navigation Parameters - Message I.D. 152 ..............................................................................30

Set UART Configuration - Message I.D. 165...................................................................................30

Set Message Rate - Message I.D. 166............................................................................................31

Low Power Acquisition Parameters - Message I.D. 167..................................................................32

UTPUT MESSAGES FOR SI

O

Measured Tracker Data Out – Message I.D.4..................................................................................34

Raw Tracker Data Out – Message I.D.5..........................................................................................35

Calculation of Pseudo-Range Measurements..................................................................................37

Response :Software Version String – Message I.D.6....................................................................37

Response :Clock Status Data – Message I.D.7 ............................................................................38

50BPS Data – Message I.D.8..........................................................................................................38

CPU Throughput – Message I.D.9...................................................................................................39

Command Acknowledgment – Message I.D.11 ...............................................................................39

Command N Acknowledgment – Message I.D. 12...........................................................................39

Visible List – Message I.D.13...........................................................................................................40

Almanac Data – Message I.D.14 .....................................................................................................40

INARY PROTOCOL

RF B

...................................................................................32

OkToSend - Message I.D. 18...........................................................................................................40

Navigation Parameters (Response to Poll) – Message I.D. 19........................................................41

Navigation Library Measurement Data - Message I.D. 28 ...............................................................42

Navigation Library DGPS Data - Message I.D. 29...........................................................................42

Navigation Library SV State Data - Message I.D. 30.......................................................................43

Navigation Library Initialization Data - Message I.D. 31...................................................................43

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RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

RoyalTek Navigation Data – Message I.D.100.................................................................................44

Set Ephemeris – Message I.D.254 ..................................................................................................45

Development Data – Message I.D.255............................................................................................45

GPS Receiver User’s Tip.................................................................................................................46

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RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

RoyualTek GPS Module:

RGM-3000/REB-3000

Operational Manual

 WAAS demodulator

 Excellent sensitive for urban canyon and

foliage environments.

 Single satellite positioning.

 Dual multi path rejection.

 Data-log capability – At least 1 Mega-bits

memory space will be implement in the

Introduction

RGM-3000/REB-3000 is the third generation of

RoyalTek GPS Receiver. RGM-3000(E,M)

consists of active antenna and GPS receiver.

REB-3000(or RGM-3000L) consists of GPS

receiver without active antenna. The GPS

receiver is powered by SiRF Star II technology

and RoyalTek proprietary navigation algorithm

that providing you more stable navigation data.

The miniature design is the best choice to be

embedded in a portable device like PDA,

mobile phone, person locator and vehicle

locator. It supports TricklePower function which

can be enabled by external command for

power saving. The excellent sensitivity of

RGM-3000 gets the great performance when

going though the urban canyon and foliage.

product

Product applications

RGM-3000/REB-3000

 Portable IA device for personal navigation/

position commerce (P-Commerce)

 Automotive applications

 Personal positioning and navigation

 Marine navigation

 Timing application

 Extendable I/O capability –

provide programming I/O function and development tool kit for customer

Technique description

RGM-3000M, RGM-3000E

General information. The RGM-3000 is a

stamp size GPS receiver with an active

antenna. It provides the antenna power

Product Features

RGM-3000/REB-3000

 OEM product development is fully

supported through applications

engineering and WEB technique

forum.

 Small form factor.

 12 parallel channels

 0.1 second re-acquisition time.

 Enhanced algorithm for navigation stability.

 NMEA-0183 compliant protocol/custom

protocol.

through RF cable. The default DC input of

active antenna is 2.8 ~3.3V. Since it needs 3

satellites or more to do the first position fix.

The suitable view angle of the active antenna

is necessary. It will determine the first time

position update after getting good satellites

geometry. If the satellites are blocked, it may take time to determine the position. Caution:

Please do not put any metal stuff on the antenna. It results in GPS receiver getting

nothing. In urban canyon, the fast 0.1 second

re-acquisition capability can make it determine

the position right away through the

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RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

cross-intersection.

REB-3000,RGM-3000L

General Information. This is a stamp size GPS receiver without active antenna. It provides the

external antenna power (2.8DCV ± 5%)

through RF cable. There are 2 models for

Picture

RGM-3000E

versatile antenna connectors:

1) RGM-3000L: with SMA RF cable.

3) REB-3000: with HRS type of antenna

connector (male) which you can connect to

versatile types of antenna.

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RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

RGM-3000L

The cable length can be adjusted by

customer’s requirement (standard:10cm)

SMA connector

RGM-3000M

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RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

REB-3000

RGM-3000/REB-3000 Series System Block Diagram

The RGM-3000/REB-3000 series consists of SiRF star II chipsets technology, RoyalTek LNA and

proprietary software. The system is described as follows.

RGM-3000M/RGM-3000E

Patch ANT

Flash

LNA

Memory

RS232 port (TTL) x 2

SAW

Filter

SIRF GRF2I

SiRF

GSP2e

3

Programming I/O port x 7

Control line x 4

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

RGM-3000L/REB-3000

LNA

SAW

Filter

GPS.receiver w/o patch

ANT.

Flash

Memory

SIRF GRF2I

SiRF

GSP2e

RS232 port (TTL) x 2

Programming I/O port x 7

Control line x 4

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RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

supplied by RGM-3000/REB-3000 series.

Technique specifications

RGM-3000/REB-3000 series. Operational Characteristics.

12 Channels

L1, 1575.42MHz.

C / A code, 1.023MHz chip rate.

Snap start: 3 seconds, typical

Hot start: 8 seconds, typical

Warm start: 40 seconds, typical

Cold start: 48 seconds, typical

Reacquisition:0.1 second, typical

Navigation update rate: Once per second.

Datum: WGS-84.

(The above specification is for standard

version software . The specification for ES

version of software may vary.)

Accuracy.

Position accuracy: 25m CEP without SA

Velocity accuracy:0.1 meters/second

without SA

DGPS Accuracy.

Position:1 to 5 m, typical

Velocity: 0.05 meters/second, typical

Dynamics.

Altitude: 18000 meters (60000 feet) Max.

Velocity: 515 meters / second Max.

Acceleration: 4 g. , Max.

Power Requirements.

The input voltage is 3.3V±10%, ripple ≦

The full run (without trickle power)

maximum current is less than 180mA.

Weight. 30g(RGM-3000),15g(REB-3000) Environment.

Temperature.

Operating temperature -40 ~ +85 Degree

(Celsius).

Storage temperature: -40 ~ +85 Degree

(Celsius).

Humidity ≦95% noncondensing.

GPS Antenna Specification(RGM-3000E, RGM-3000M)

Center Frequency: 1575.42±1.023MHz

Bandwidth (-10dB return loss):9MHz min

Gain at Zenith: 3.0dBi Typ

Gain at 10° elevation :-1.0 dBi Typ

Polarization :R.H.C.P

Axial Ratio : 2.0dB max

LNA Specification:(External ANT for

RGM-3000E )

Center Frequency: 1575.42±1.023MHz

Gain : 12dB Typ

Noise Figure : 1.8dB Typ

Out Band Attenuation : 7dB min for ±20MHz 20dB min for ±50MHz

30dB min for ±100MHz

Output V.S.W.R 2.0dB max

Voltage DC 2.8.0±0.5V Current 12mA max

200mV. The power of active antenna is

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RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Mechanical Layout

RGM-3000/REB-3000 Mechanical Layout

RGM-3000E

Pin 1

RGM-3000L

6

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

RGM-3000M

REB-3000

7

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Flexible Flat Circuit & Connectot

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RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Hardware interface

RGM-3000/REB-3000.

Pin NO

1 VCC System Power DC 3.3V ± 10% 2 VCC System Power DC 3.3V ± 10% 3 TXA O Navigation Data Output

4 RXA I Serial Data Input 5 TXB O Reserved 6 RXB I RTCM 104 Differential

7 TIMEMARK O 1 Pulse per second time

8 RESET I

9 BOOTSEL I

10 WAKEUP I Active low wakeup from

11 VBAT External Backup Power

12 RESERVED 13 GPIO3 I/O General Purpose I/O Pin

14 GPIO5 I/O General Purpose I/O Pin

15 GPIO6 I/O General Purpose I/O Pin

16 GPIO7 I/O General Purpose I/O Pin

17 GPIO10 I/O General Purpose I/O Pin

18 GPIO13 I/O General Purpose I/O Pin

19 GPIO15 I/O General Purpose I/O Pin

20 GND System GND 21 GND System GND 22 GND System GND

Name I/O Description Characteristic

TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC

GPS Input

Vil≦0.2V，Pulse Width≧10ms

mark Output System Reset ， Active

Vil≦0.2V，Pulse Width≧1ms

Low Internal boot，Active High TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC

TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA

the RTC

2.1V≦ Vbat ≦3.6V

Input

TTL Level； Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA Input：Vih≧0.7*VCC；Vil≦0.3*VCC TTL Level； Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA Input：Vih≧0.7*VCC；Vil≦0.3*VCC TTL Level； Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA Input：Vih≧0.7*VCC；Vil≦0.3*VCC TTL Level； Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA Input：Vih≧0.7*VCC；Vil≦0.3*VCC TTL Level； Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA Input：Vih≧0.7*VCC；Vil≦0.3*VCC TTL Level； Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA Input：Vih≧0.7*VCC；Vil≦0.3*VCC TTL Level； Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA Input：Vih≧0.7*VCC；Vil≦0.3*VCC

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RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

VCC DC Power Input

This is the main power supply for the Engine

board. The power range is from 3.3V±10%,

ripple ≤ 200mV. The maximum current of RGM-3000 is ≤ 200mA.

GND

GND provides the ground for the Engine

board. Connect all grounds.

VBAT

This is the battery backup supply that

powers the SRAM and RTC when main

power is removed. The input voltage level is

from 2.1V~3.6V. Max current draw is 10 uA

at 3.3volt. Without an external backup

battery or on board battery, engine board will

execute a cold start after every turn on. To

achieve the faster start-up offered by a hot

or warm start, either a backup battery must

setup is NMEA Output, 4800bps, 8 data bits,

no parity, 1 stop bit. The default sentences

are GPGGA, GPGSA, GPRMC once per

second and GPGSV once per 5 seconds.

Please refer to “software interface” for the

detail protocol.

RXA

This is the main receiving channel and is

used to receive software commands to the

Engine board from user written software.

Please refer to “software interface” for the

detail protocol.

RXB

This is used for DGPS differential input .

BOOTSEL

Pull Bootsel pin high & reset , then it will get

to boot mode.

GPIO

be connected or battery installed on board. TXA

This is the main transmit channel and is

used to output navigation and measurement

data to user written software. The default

This pin can be programmed to input or

output. For more application, please contact

Royaltek’s sales.

Absolute maximum ratings

Parameter Symbol Unit Min. Value Max. Value

Supply voltage VCC V 2.97 3.63 Output current mA 200

Critical design guide and diagram

1. It is recommanded to attach GNDu plate (30*30MM) below RGM3000M module or the antenna

module of RGM-3000E to increase the intensity of reception . Please refers to “Design Layout

Diagram “ .

2. During design of integrated layout, please isolate high frequency noise source (power Switch,data

or address signal lines ) from GPS antenna.

3. Please don’t place metal object above patch antenna.

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RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Design Layout Diagram

Recommanded Ground plate for RGM-3000M

RGM-3000M with ground plate

11

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Recommanded RGM-3000-A Antenna Ground Plate

Connector tool (Option, not included in standard kit)

It is used to remove or install FPC on connector.

Software interface

NMEA V2.2 Protocol

It is the RS-232 interface:9600 bps, 8 bit

data, 1 stop bit and no parity. It supports the

following NMEA-0183 messages:GGA, GLL,

Table 1 NMEA-0183 Output Messages

NMEA Record Description

GGA Global positioning system fixed data

GLL Geographic position – latitude / longitude GSA GNSS DOP and active satellites GSV GNSS satellites in view

RMC Recommended minimum specific GNSS data

VTG Course over ground and ground speed

GSA, GSV, RMC and VTG.

NMEA Output Messages

The Engine board outputs the following

messages as shown in Table 1:

12

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

3723.2475, N, 12158.3416, W, 1,

GGA-Global Positioning System

07, 1.0, 9.0, M, , , ,0000*18

Fixed Data

Table 2 contains the values of the following

example: $GPGGA, 161229.487,

Table 2 GGA Data Format

Name Example Units Description

Message ID $GPGGA GGA protocol header UTC Position 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 2-1 Satellites Used 07 Range 0 to 12 HDOP 1.0 Horizontal Dilution of Precision MSL Altitude 9.0 meters Units M meters Geoid Separation 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

Table 2-1 Position Fix Indicator

Value Description

0 Fix not available or invalid 1 GPS SPS Mode, fix valid 2 Differential GPS, SPS Mode, fix valid 3 GPS PPS Mode, fix valid

example:$GPGLL, 3723.2475, N,

GLL-Geographic Position –

12158.3416, W, 161229.487, A*2C

Latitude/Longitude

Table 3 contains the values of the following

Table 3 GLL Data Format

Name Example Units Description

Message ID $GPGLL GLL protocol header Latitude 3723.2475 ddmm.mmmm N/S Indicator N N=north or S=south Longitude 12158.3416 Dddmm.mmmm E/W Indicator W E=east or W=west UTC Position 161229.487 hhmmss.ss Status A A=data valid or V=data not valid Checksum *2C ＜CR＞＜LF＞ End of message termination

GSA-GNSS DOP and Active Satellites

Table 4 contains the values of the following

13

example:$GPGSA, A, 3, 07, 02, 26,

27, 09, 04, 15, , , , , , 1.8,1.0,1.5*33

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Table 4 GSA Data Format

Name Example Units Description

Message ID $GPGSA GSA protocol header Mode 1 A See Table 4-2 Mode 2 3 See Table 4-1 Satellite Used 07 Sv on Channel 1 Satellite Used 02 Sv on Channel 2 …. …. Satellite Used 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

Table 4-1 Mode 1

Value Description

1 Fix not available 2 2D 3 3D

Table 4-2 Mode 2

Value Description

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

A Automatic-allowed to automatically switch 2D/3D

256, 42, 27, 27, 138,

GSV-GNSS Satellites in View

Table 5 contains the values of the following

example: $GPGSV, 2, 1, 07, 07, 79,

048, 42, 02, 51, 062, 43, 26, 36,

Table 5 GSV Data Format

Name Example Units Description

Message ID $GPGSV GSV protocol header Number of Messages1 2 Range 1 to 3 Messages Number1 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) 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＞

1

Depending on the number of satellites

End of message termination

Specific GNSS Data

42*71$GPGSV, 2, 2, 07, 09, 23,

313, 42, 04, 19, 159, 41, 15, 12,

041, 42*41

tracked multiple messages of GSV data may

be required.

RMC-Recommended Minimum

14

Table 6 contains the values of the following

example: $GPRMC, 161229.487, A,

3723.2475, N, 12158.3416, W, 0.13,

309.62, 120598, ,*10

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Table 6 RMC Data Format

Name Example Units Description

Message ID $GPRMC RMC protocol header UTC Position 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 degrees E=east or W=west Checksum *10 ＜CR＞＜LF＞

VTG-Course Over Ground and

End of message termination

example:$GPVTG, 309.62, T, , M, 0.13, N,

0.2, K*6E

Ground Speed

Table 7 contains the values of the following

Table 7 VTG Data Format

Name Example Units Description

Message ID $GPVTG VTG protocol header Course 309.62 degrees Measured heading Reference T True Course degrees Measured heading Reference M Magnetic Speed 0.13 knots Measured horizontal speed Units N Knots Speed 0.2 km/hr Measured horizontal speed Units K Kilometer per hour Checksum *6E ＜CR＞＜LF＞

End of message termination

Message I.D.129 ” on page 17 using a user

SiRF Proprietary NMEA Input Messages

NMEA input messages allow you to control

the Evaluation Unit in NMEA protocol mode.

The Evaluation Unit may be put into NMEA

mode by sending the SiRF Binary protocol

message “ Switch To NMEA Protocol –

Transport Message

Start Sequence Payload Checksum End Sequence

$PSRF<MID>1 Data2 *CKSUM3 <CR><LF>4

1

Message Identifier consists of three

numeric characters . Input messages begin

program or using SiRFdemo.exe and

selecting Switch to NMEA Protocol from the

Action manual. If the receiver is in SiRF

Binary mode, all the NMEA input messages

are ignored. Once the receiver is put into

NMEA mode, the following messages may

be used to command the module.

at MID 100.

2

Message specific data. Refer to a specific

15

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

message section for <data>…<data>

definition

3

CKSUM is a two-hex character checksum

as defined in the NMEA specification . Use

of checksums is required on all input

messages.

4

Each message is terminated by using

Carriage Return (CR) Line Feed (LF) which

not printable ASCII characters , they are

omitted from the example strings, but must

be sent to terminate the message and cause

the receiver to process that input message.

Note – All fields in all proprietary NMEA

messages are required, none are exceptional.

All NMEA messages are comma delimited

is \r\n which is hex 0D 0A. Because \r\n are

SIRF NMEA Input Messages

Message

Set Serial Port 100 Set PORT A Parameters and protocol Navigation Initialization 101 Parameters required for start using X/Y/Z Set DGPS Port 102 Set PORT B parameters for DGPS input Query / Rate Control 103 Query standard NMEA message and/or set output rate LLA Navigation Initialization Development Data On/Off 105 Development Data messages On/Off

Input coordinates must be WGS84.

Message Identifier

Description

(MID)

104 Parameters required for start using Lat/Lon/Alt1

extensive command message set is

available. When a valid message is received,

Set Serial Port

This command message is used to set the

protocol (SiRF Binary or NMEA) and/or the

communication parameters (baud , data bits,

stop bits, parity). Generally, this command is

used to switch the module back to SiRF

Binary protocol mode where a more

the parameters are stored in battery-backed

SRAM and then the Evaluation Unit restarts

using the saved parameters.

Table 8 contains the input values for the

following example:Switch to SIRF Binary

protocol at 9600,8,N,1

$PSRF100,0,9600,8,1,0*0C

Table 8 Set Serial Port Data Format

Name Example Units Description

Message ID $PSRF100 PSRF100 protocol header Protocol 0 0=SiRF Binary, 1=NMEA Baud 9600 4800,9600,19200,38400 Data Bits 8

8,71 Stop Bits 1 0,1 Parity 0 0=None ,1=Odd,2=Even Checksum *0C <CR><LF> End of message termination

1

SiRF protocol is only valid for 8data bits, 1 stop bit,

and no parity.

LLA Navigation Initialization

This command is used to initialize the

16

module for a warm start, which provide

current position (in X, Y, Z coordinates),

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

clock offset , and time .This enables the

Evaluation Unit to search for the correct

satellite signals at the correct signal

parameters . Correct initialization

parameters enable the Evaluation Unit to

acquire signals quickly.

Table 9 Navigation Initialization Data Format

Name Example Units Description

Message ID $PSRF101 PSRF101 protocol header ECEF X -2686700 Meters X coordinate position ECEF Y -4304200 Meters Y coordinate position ECEF Z 3851624 Meters Z coordinate position CLK Offset 95000 Hz

Time Of Week 497260 seconds GPS Time OF Week Week No 921 GPS Week Number Channel Count 12 Range 1 to 12 Reset Cfh 3 See Table 10 Checksum *22 <CR><LF> End of message termination

Use 0 for last saved value if available . If this is unavailable, a default value of 96,000 will be used…

Table 10 Reset Configuration

Hex Description

0x01 Data Valid – Warm /Hot Starts=1 0x02 Clear Ephemeris – Warm Start=1 0x04 Clear Memory – Cold Start =1

Set DGPS Port

This command is used to control Serial Port

B which is an input – only serial port used to

receive RTCM differential corrections.

Differential receivers may output corrections

using different communication parameters.

The default communication parameters for

Table 9 contains the input values for the

following example:Switch to SiRF Binary

protocol at 9600,8,N,1

$PSRF101,-2686700,-4304200, 3851624,

95000, 497260, 921, 12, 3*22

Clock Offset of the Evaluation Unit1

PORT B are 9600 baud, 8 data bits, stop bit,

and no parity. If a DGPS received , the

parameters are stored in battery – backed

SRAM and then the receiver restarts using

the saved parameters.

Table 11 contains the input values for the

following example:Set DGPS Port to be

9600,8,N,1. $PSRF102,9600,8,1,0*3C

Table 11 Set DGPS Port Data Format

Name Example Units Description

Message ID $PSRF102 PSRF102 protocol header Baud 9600 4800,9600,19200,38400 Data Bits 8 8,7 Stop Bits 1 0,1 Parity 0 0==None, 1=Odd, 2=Even Checksum *3C <CR><LF> End of message termination

be polled once, or setup for periodic output.

Query/Rate Control

This command is used to control the output

of standard NMEA messages GGA, GLL,

GSA, RMC, and VTG. Using this command

message, standard NMEA messages may

17

Checksums may also be enabled or disabled

depending on the needs of the receiving

program. NMEA message settings are saved

in battery-backed memory for each entry

when the message is accepted.

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Table 12 Query/Rate Control Data

Format(See example 1.)

1.Quety the GGA message with checksum

enabled: $PSRF103,00,01,00,01*25

2.Enable VTG message for a 1 Hz

constant output with checksum enabled:

Table 12 Query/Rate Control Data Format(See example 1.)

Name Example Units Description

Message ID $PSRF103 PSRF102 protocol header Message 00 See Table 13 Mode 01 0=Set Rate, 1=Query Rate 00 seconds Output – off=0,max=255 Cksum Enable 01 0=Disable Checksum, 1=Enable Checksum Checksum *25 <CR><LF> End of message termination

Table 13 Messages

Value Description

0 GGA 1 GLL 2 GSA 3 GSV 4 RMC 5 VTG

LLA Navigation Initialization

This command is used to initialize the

module for a warm start , by providing

current position(in latitude, longitude, and

altitude coordinates), clock offset, and time.

This enables the receiver to search for the

correct satellite signals at the correct signal

$PSRF103,05,00,01,01*20

3.Disable VTG message

$PSRF103,05,00,00,01*21

parameters . Correct initialization

parameters enable the receiver to acquire

signals quickly.

Table 14 contains the input values for the

following example: Start using known

position and time $PSRF104, 37.3875111,

-121.97232, 0, 95000, 237759, 922, 12,

3*3A

Table 14 LLA Navigation Initialization Data Format

Name Example Units Description

Message ID $PSRF104 PSRF104 protocol header Lat 37.3875111 Degrees Latitude position (Range 90 to –90) Lon -121.97232 Degrees Longitude position (Range 180 to –180) Alt 0 Meters Altitude position CLK Offset 95000 Hz

Time Of Week 237759 Seconds GPS Time Of Week Week No 922 GPS Week Number Channel Count 12 Range 1 to 12 Reset Cfg 3 See Table 15 Checksum *3A <CR><LF> End of message termination

Use 0 for last saved value if available. If this is unavailable, a default value of 96,000 will be used.

Table 15 Reset Configuration

Hex Description

0x01 Data Valid – Warm /Hot Starts=1 0x02 Clear Ephemeris – Warm Start=1

Clock Offset of the Evaluation Unit1

18

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

0x04 Clear Memory – Cold Start =1

checksum of parameter out of specified

Development Data On/Off

Use this command to enable development

data information if you can not get the

commands accepted. Invalid commands

generate debug information that enables the

user to determine the source of the

command rejection. Common reasons for

input command rejection are invalid

Table 16 Development Data On/Off Data Format

Name Example Units Description

Message ID $PSRF105 PSRF105 protocol header Debug 1 0=Off , 1= On Checksum *3E <CR><LF> End of message termination

range.

Table 16 contains the input values for the

following examples:

1. Debug On $PSRF105,1*3E

2. Debug Off $PSRF 105,0*3F

Calculating Checksums for NMEA Input

The Checksum is the 8-bit exclusive OR of all

the characters after $ and before *. (Not

including $ and *)

SiRF Binary Protocol

The serial communication protocol is designed

Start

Sequence

0xA01,

0xA2

0xYY denotes a hexadecimal byte value. 0xA0 equals 160.

Transport

The transport layer of the protocol

Payload

Length

Two-bytes

(15-bits)

Payload

Up to 2

(<1023 )

10-1

to include:

● Reliable transport of messages

● Ease of implementation

● Efficient implementation

● Independence from payload

Protocol Layers Transport Message

Message

Checksum

Two-bytes

(15-bits)

two-byte (15- bit)message length and a

two-byte(15-bit) choice of a 15-bit values for

EndSequence

0xB0,

0xB3

encapsulates a GPS message in two start

characters and two stop characters. The

values are chosen to be easily identifiable

and such that they are unlikely to occur

frequently in the data. In addition, the

transport layer prefixes the message with a

length and check sum are designed such

that both message length and check sum

can not alias with either the stop of start

code.

Message Validation

The validation layer is of part of the transport,

19

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

but operates independently. The byte count

refers to the payload byte length. Likewise,

the check sum is a sum on the payload.

Message Length

The message length is transmitted high

order byte first followed by the low byte.

High Byte Low Byte

<0x7F> Any value

Even though the protocol has a maximum

length of (2

considerations require the SiRF GPS

module implementation to limit this value to

a smaller number. Likewise, the SiRF

receiving programs (e.g., SiRF demo) may

limit the actual size to something less than

15

-1) bytes practical

data neither the alignment nor the byte order

are defined as part of the transport although

SiRF payloads will use the big-endian order.

Checksum

The check sum is transmitted high order

byte first followed byte the low byte. This is

the so-called big- endian order

High Byte Low Byte

<0x7F Any value

The check sum is 15-bit checksum of the

bytes in the payload data .The following

pseudo code defines the algorithm used. Let

message to be the array of bytes to be sent

by the transport. Let msgLen be the number

of bytes in the message array to be

transmitted .

Index = first

this maximum..

Payload Data

The payload data follows the message

length. It contains the number of bytes

specified by the message length. The

payload data may contain any 8-bit value.

Where multi-byte values are in the payload

Input Messages for SiRF Binary Protocol

Note – All input messages are sent in BINARY

format

Table 19 SiRF Messages – Input Message List

Hex ASCII Name

0 x 80 128 Initialize Data Source 0 x 81 129 Switch to NMEA Protocol 0 x 82 130 Set Almanac 0 x 84 132 Software Version

0x 85 133 DGPS Source Control

0x 86 134 Set Main Serial Port 0 x 88 136 Mode Control 0 x 89 137 DOP Mask Control 0 x 8A 138 DGPS Mode 0 x 8B 139 Elevation Mask 0 x 8C 140 Power Mask 0 x 8D 141 Editing Residual 0 x 8E 142 Steady-State Detection 0 x 8F 143 Static Navigation 0 x 90 144 Clock Status 0 x 91 145 Set DGPS Serial Port

checkSum = 0

while index < msgLen

checkSum = checkSum +message[index]

checkSum = checkSum AND(215-1)

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RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

0 x 92 146 Almanac 0 x 93 147 Ephemeris 0 x 95 149 Set Ephemeris 0 x 96 150 Switch Operating Mode 0 x 97 151 Set Trickle Power Parameters 0 x 98 152 Navigation Parameters (Poll)

0x A5 165 Change UART Configuration

0x A6 166 Set Message Rate

0x A7 167 Low Power Acquisition Parameters

Initialize Data Source-Message I.D. 128

Table 18 contains the input values for the

following example:Warm start the receiver

with the following initialization data:ECEF

WYZ (-2686727 m,-4304282 m,3851642

m),Clock Offset (75,000 Hz),Time of

Week(86,400 s),Week Number(924),Week

Number(924),and Channels(12). Raw

track data Debug data enabled.

Example:

A0A20019-Start Sequence and Payload

Length

80FFD700F9FFBE5266003AC57A000124

F80083S600039C0C33- Payload

0A91B0B3-Message Checksum and End

Sequence

Table 20 Initialize Data Source

Name

Message ID 1 80 ASCII 128 ECEF X 4 FFD700F9 meters ECEF Y 4 FFBE5266 meters ECEF Z 4 003AC57A meters Clock Offset 4 000124F8 Hz Time of Week 4 *100 0083D600 seconds Week Number 2 039C Channels 1 0C Range 1-12 Reset Config. 1 33 See Table 19

Payload Length: 25 bytes

Table 21 Initialize Data Source

Bit Description

0 Data valid flag-set warm/hot start 1 Clear ephemeris-set warm start 2 Clear memory-set cold start 3 Factory Reset 4 Enable Nav Lib data (YES=1,NO=0) 5 Enable debug data for SiRF binary protocol(YES=1,NO=0) 6 Enable debug data for NMEA protocol(YES=1,NO=0) 7 Reserved (must be 0)

Bytes

Binary(Hex)

Scale Example

NL Initialize Data (MID 31). All messages are

Units

Description

Note - If Nav Lib data is ENABLED then the

resulting messages are enabled. Clock

Status (MID 7), 50 BPS (MID 8), Raw DGPS

(17), NL Measurement Data (MID 28), GPS

Data (MID 29), SV State Data (MID 30), and

21

sent at 1 Hz and the baud rate will be automatically set to 57600.

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Switch To NMEA – Message I.D. 129

Table 20 contains the input values for the

following example:

Request the following NMEA data at 9600

baud:

GGA – ON at 1 sec , GLL – 0sec , GSA – ON

at 5 sec GSV – ON at 5 sec , RMC – 0 sec ,

VTG – 0 sec

Table 22 Switch To NMEA Protocol

Name

Message ID 1 81 ASCII 129 Mode 1 02 GGA Message1 1 01 1/s Checksum2 1 01 GLL Message 1 00 1/s Checksum 1 01 GSA Message 1 05 1/s Checksum 1 01 GSV Message 1 05 1/s Checksum 1 01 RMC Message 1 00 1/s Checksum 1 01 VTG Message 1 00 1/s Checksum 1 01 MSS Message 1 00 Recommended value Checksum 1 01 Recommended value Unused Field 1 00 Recommended value Unused Field 1 01 Recommended value Unused Field 1 00 Recommended value Unused Field 1 01 Recommended value Unused Field 1 00 Recommended value Unused Field 1 01 Recommended value Baud Rate 1 12C0 38400,19200,9600,4800,2400

Payload Length: 24bytes

Bytes

Binary(Hex)

Scale Example

Example:

A0A20018 – Start Sequence and Payload

Length

8102010100010501050100010001000100010

001000112C0 – Payload

016AB0B3 – Message Checksum and End

Sequence

Units

Description

(1) A value of 0x00 implies NOT to send

message, otherwise data is sent at 1

message every X seconds requested

(i.e., to request a message to be sent

every 5 seconds, request the message

using a value of 0x05.)Maximum rate is

1/255s.

(2) A value of 0x00 implies the checksum

is NOT calculated OR transmitted with

the message (not recommended ) .A

value of 0x01 will have a checksum

calculated and transmitted as part of the

message (recommended).

Set Almanac- Message I.D. 130

This command enables the user to upload

an almanac to the Evaluation Unit

Note – This feature is not documented in

this manual. For information on

implementation contact SiRF Technology

Inc.

Software Version – Message I.D. 132

Table 21 contains the input values for the

following example:Poll the software

version

22

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Example:

A0A20002 – Start Sequence and Payload

Length

Table 23 Software Version

Name

Message ID 1 84 ASCII 132 TBD 1 00

Payload Length: 2 bytes

Bytes

Binary(Hex)

Scale Example

8400 – Payload

0084B0B3 – Message Checksum and End

Sequence

Units

Description

Example 1: Set the DGPS source to External

DGPS Source – Message I.D. 133

This command allows the user to select the source for DGPS corrections. Options available are:

RTCM Data A0A20007—Start Sequence and Payload Length 85020000000000—Payload 0087B0B3—Checksum and End Sequence

External RTCM Data (any serial port) WAAS (subject to WAAS satellite availability) Internal DGPS beacon receiver

Table B-6 DGPS Source Selection (Example 1)

Name

Message ID 1 85 Message identifier DGPS Source 1 00 See Table B-8. DGPS Source Selections Internal Beacon 4 00000000 Hz See Table B-9. Internal Beacon Search

Internal Beacon Bit Rate

Payload: 7Bytes.

Bytes

1 0 BPS See Table B-9. Internal Beacon Search

Binary(Hex)

Scale Example

Units

Description

setting.

Example2: Set the DGPS source to Internal DGPS Beacon Receiver Search Frequency 310000, Bit Rate 200

Table B-7 DGPS Source Selection (Example 2)

Name

Message ID 1 85 Message identifier DGPS Source 1 03 See Table B-8. DGPS Source Selections Internal Beacon 4

Internal Beacon Bit Rate

Payload: 7Bytes.

Table B- 8 DGPS Source Selections

DGPS Source Hex Decim

None 00 0

Bytes

1 C8 BPS See Table B-9. Internal Beacon Search

Binary(Hex)

Scale Example

0004BAF0

al

A0A20007—Start Sequence and Payload Length 85030004BAF0C802—Payload

02FEB0B3—Checksum and End Sequence

Units

Hz See Table B-9. Internal Beacon Search

setting.

Description

DGPS corrections will not be used (even if available).

Description

23

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

WAAS External RTCM Data 02 2 Internal DGPS Beacon Receiver

Table B- 9 Internal Beacon Search Settings

Search Type Frequen

Auto Scan

Full Frequency Scan 0 Non zero

Full Bit Rate Scan

Specific Search

01 1

03 3

Bit Rate Description

cy

0 0

Non

Zero

Non

Zero

0

Non Zero

Set Main Serial Port-Message I.D. 134

Table B-10 contains the input values for the

following example:

Set Main Serial port to 9600,n,8,1.

Uses WAAS Satellite (subject to availability). External RTCM input source (i.e., Coast Guard Beacon). Internal DGPS beacon receiver.

Auto scanning of all frequencies and bit rates are performed. Auto scanning of all frequencies and specified bit rate are performed. Auto scanning of all bit rates and specified frequency are performed. Only the specified frequency and bit rate search are performed.

Length

860000258008010000—Payload

0134B0B3—Message Checksum and End

Sequence

Example:

A0A20009—Start Sequence and Payload

Table B- 10 Set Main Serial Port

Name

Message ID 1 86 Message identifier Baud 4 00002580

Data Bits 1 08 8,7 Stop Bit 1 01 0,1 Parity 1 00 None=0, Odd=1, Even=2 Pad 1 00 Reserved

Bytes

Binary(Hex)

Scale Example

Units

Description

38400,19200,9600,4800,2400,1200

Payload Length: 9 bytes

Example:

Mode control – Message I.D .136

Table 24 contains the input values for the

following example: 3D Mode = Always , Alt

Constraining = Yes , Degraded Mode –

clock then direction , TBD = 1 , DR Mode

= Yes , Altitude = 0, Alt Hold Mode = Auto,

Alt Source = Last Computed , Coast Time

A0A2000W – Start Sequence and Payload

Length

88010101010100000002140501 –

Payload

00A9B0B3 – Message Checksum and

End Sequence

Out = 20, Degraded Time Out = 5, DR

Time Out = 2, Track Smoothing = Yes

Table 24 Mode Control

24

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Name

Message ID 1 88 ASCII 136 3D Mode 1 01 1 (always true=1) Alt Constraint 1 01 YES = 1,NO = 0 Degraded Mode 1 01 See Table C-7 TBD 1 01 Reserved DR Mode 1 01 YES = 1,NO = 0 Altitude 2 0000 Meters Range –1,000 to 10,000 Alt Hold Mode 1 00 Auto = 0,Always=1,Disable=2 Alt Source 1 02 Last Computed=0,Fixed to=1 Coast Time Out 1 14 Seconds 0 to 120 Degraded Time Out Dr Time Out 1 01 Seconds 0 to 120 Track Smoothing 1 01 YES = 1,NO = 0

Payload Length:14 bytes

Table 25 Degraded Mode Byte Value

Byte Value Description

0 Use Direction then Clock Hold 1 Use Clock then Direction Hold 2 Direction(Curb)Hold Only 3 Clock(Time)Hold Only 4 Disable Degraded Modes

Bytes

1 05 Seconds 0 to 120

Binary(Hex)

Scale Example

Units

Description

Example:

DOP Mask Control – Message I.D. 137

Table 26 contains the input values for the

following example:

Auto Pdop/Hdop, Gdop =

8(default),Pdop=8,Hdop=8

Table 26 DOP Mask Control

Name

Message ID 1 88 ASCII 137 DOP Selection 1 00 See Table 25 GDOP Value 1 08 Range 1 to 50 PDOP Value 1 08 Range 1 to 50 HDOP Value 1 08 Range 1 to 50

Payload Length: 5 bytes

Table 27 DOP Selection

Byte Value Description

0 Auto PDOP/HDOP 1 PDOP 2 HDOP 3 GDOP 4 Do Not Use

Bytes

Binary(Hex)

Scale Example

A0A20005 – Start Sequence and Payload

Length

8900080808 – Payload

00A1B0B3 – Message Checksum and

End Sequence

Units

Description

DGPS Control – Message I.D.138

Table 28 contains the input values for the

following example:

25

Set DGPS to exclusive with a time out of

30 seconds.

Example:

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

A0A20003 – Start Sequence and Payload

Length

8A011E – Payload

00A9B0B3 – Message Checksum and

Table 28 DGPS Control

Name

Message ID 1 8A ASCII 138 DGPS Selection 1 01 See Table 27 DGPS Time Out 1 1E Seconds Range 1 to 120

Payload Length:3 bytes

Table 29 DGPS Selection

Byte Value Description

0 Auto 1 Exclusive 2 Never 3 Mixed (not recommended)

Bytes

Binary(Hex)

Scale Example

Elevation Mask – Message I.D.139

Table 30 contains the input values for the

following example:

Set Navigation Mask to 15.5 degrees

(Tracking Mask is defaulted to 5 degrees).

End Sequence

Units

Example:

A0A20005 – Start Sequence and Payload

Length

8B0032009B – Payload

0269B0B3 – Message Checksum and End

Sequence

Description

Table 30 Elevation Mask

Name

Message ID 1 8B ASCII 139 Tracking Mask 2 *10 0032 degrees Not currently used Navigation Mask 2 *10 009B degrees Range –20.0 to 90.0

Payload Length:5 bytes

Power Mask – Message I.D.140

Table 31 contains the input values for the

following example: Navigation mask to

33dBHz (tracking default value of 28)

Example:

A0A20003 – Start Sequence and Payload

Table 31 Power Mask

Name

Message ID 1 8C ASCII 140 Tracking Mask 1 1C dBHz Not currently implemented Navigation Mask 1 21 dBHz Range –28 to 50

Payload Length:3 bytes

Bytes

Binary(Hex)

Scale Example

Binary(Hex)

Scale Example

Units

Length

8C1C21 – Payload

00C9B0B3 – Message Checksum and

End Sequence

Units

Description

26

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Editing Residual – Message I.D.141

Note – Not implemented currently

Example:

Steady State Detection – Message I.D.142

Table 32 contains the input values for the

following example: Set Stead State

Threshold to 1.5 m/sec2

Table 32 Steady Detection

Name

Message ID 1 8E ASCII 142 Threshold 1 0F M /sec2 Range 0 to 20

Payload: 2 bytes

Bytes

Binary(Hex)

Scale Example

A0A20002 – Start Sequence and Payload

Length

8E0F – Payload

009DB0B3 – Message Checksum and

End Sequence

Units

Description

Static Navigation – Message I.D.144

Table 33 Steady State Detection

Name

Message ID 1 90 ASCII 144 TBD 1 00 Reserved

Payload Length:2 bytes

Set DGPS Serial Port – Message I.D 145

Table 34 contains the input values for the

following example:Set DGPS Serial port to

9600.n,8,1.

Example:

Table 34 Set DGPS Serial Port

Name

Message ID 1 91 ASCII 145 Baud 4 00002580 38400,19200,9600,4800,2400,

Data Bits 1 08 8,7 Stop Bit 1 01 0,1 Parity 1 00 None=0,Odd=1,Even=2 Pad 1 00 Reserved

Payload Length: 9 bytes

Bytes

Binary(Hex)

Scale Example

Binary(Hex)

Scale Example

Units

A0A20009-Start Sequence and Payload

Length

910000258008010000 – Payload

013FB0B3 – Message Checksum and End

Sequence

Units

1200

Description

Almanac – Message I.D.146

Table 35 contains the input values for the

following example:Poll for the Almanac.

Example:

Table 35 Almanac

27

A0A20002 – Start Sequence and Payload

Length

9200 – Payload

0092B0B3 – Message Checksum and End

Sequence

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Name

Message ID 1 92 ASCII 146 TBD 1 00 Reserved

Payload Length: 2 bytes

Bytes

Ephemeris Message I.D.147

Table 36 contains the input values for the

following example:Poll for Ephemeris Data

for all satellites.

Example:

A0A20003 – Start Sequence and Payload

Table 36 Almanac

Name

Message ID 1 93 ASCII 147 Sv I.D.1 1 00 Range 0 to 32 TBD 1 00 Reserved

Payload Length:3 bytes

Bytes

Binary(Hex)

Scale Example

Binary(Hex)

Scale Example

Units

Length

930000 – Payload

0092B0B3 – Message Checksum and End

Sequence

Units

Description

A value of 0 requests all available

ephemeris records, otherwise the

ephemeris of the Sv I.D. is requested.

Switch To SiRF Protocol

Note – To switch to SiRF protocol you

must send a SiRF NMEA message to

revert to SiRF binary mode. (See page 9, ”

NMEA Input Messages “ for more

information)

Table 37 Switch Operating Mode I.D. 150

Name

Message ID 1 96 ASCII 150 Mode 2 1E51 1E51=test, 0=nomal SvID 2 0006 Satellite to Track Period 2 001E seconds Duration of Track

Payload length: 7 bytes

Bytes

Binary(Hex)

Scale Example

Switch Operating Modes - Message I.D. 150

Table 37 contains the input values for the

following example:

Sets the receiver to track a single satellite

on all channels.

Example:

A0A20007—Start Sequence and Payload

Length

961E510006001E—Payload

0129B0B3—Message Checksum and End

Sequence

Units

Description

Set Trickle Power Parameters -

Message I.D. 151

Table 38 contains the input values for the

28

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

following example: Sets the receiver into

low power Modes. Example: Set receiver

into Trickle Power at 1 hz update and 200

ms On Time.

A0A20009—Start Sequence and Payload

Table 38 Set Trickle Power Parameters I.D. 151

Name

Message ID 1 97 ASCII 151 Push To FixMode 2 0000 ON=1, OFF=0 Duty Cycle 2 *10 00C8 % % Time on Milli Seconds On Time

Payload Length: 9bytes.

Bytes

4 000000C8 ms Range 200 ~ 500 ms

Binary(Hex)

Scale Example

Computation of Duty Cycle and On Time.

The Duty Cycle is the desired time to be

spent tracking.The On Time is the duration

of each tracking period (range is 200 - 900

ms). To calculate the TricklePower update

rate as a function of Duty cycle and On

Length

97000000C8000000C8—Payload

0227B0B3—Message Checksum and End

Sequence

Units

Time, use the following formula:

Off Time = (On Time - (Duty Cycle * On

Time)) / Duty Cycle

Update rate = Off Time + On Time Note – On Time inputs of > 900 ms will

default to 1000 ms

Following are some examples of

selections:

Description

Table 39 Example of selections for Trickle Power Mode of Operation

Mode On Time (ms) Duty Cycle (%) Update rate (1/Hz)

Continuous 1000 100 1 Trickle Power 200 20 1 Trickle Power 200 10 2 Trickle Power 300 10 3 Trickle power 500 5 10

See Table 40 for supported/unsupported settings.

Table 40 Trickle Power Mode Settings

On Time (ms)

200 Y Y N N N N N N 300 Y Y Y Y Y Y N N 400 Y Y Y Y Y Y Y Y 500 Y Y Y Y Y Y Y Y 600 Y Y Y Y Y Y Y Y 700 Y Y Y Y Y Y Y Y 800 Y Y Y Y Y Y Y Y 900 Y Y Y Y Y Y Y Y

Y = Yes (Mode supported)

1 2 3 4 5 6 7 8

Update Rate (second)

N = No (Mode NOT supported)

29

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Push-to-Fix

In this mode the receiver will turn on every

30 minutes to perform a system update

consisting of a RTC calibration and

satellite ephemeris data collection if

required (i.e., a new satellite has become

visible) as well as all software tasks to

support SnapStart in the event of an NMI.

approximately On Period/1800, or about

1%. Push-to-Fix keeps the ephemeris for

all visible satellites up to date so

position/velocity fixes can generally be

computed within SnapStart times (when

requested by the user) on the order of 3

seconds.

Ephemeris collection time in general this

takes 18 to 30 seconds. If ephemeris data

is not required then the system will

re-calibrate and shut down. In either case,

the amount of time the receiver remains

off will be in proportion to how long it

stayed on:

Off period = (On Period*(1-Duty Cycle) /

Duty Cycle)

Off Period is limited to 30 minutes. The

duty cycle will not be less than

Table C-20 Poll Receiver for Navigation Parameters

Name

Message ID 1 98 ASCII 152 Reserved 1 00

Payload length: 2 bytes

Bytes

Binary(Hex)

Scale Example

Poll Navigation Parameters Message I.D. 152

Table C-20 contains the input values for

the following example:

Example: Poll receiver for current

navigation parameters.

A0A20002—Start Sequence and Payload

Length

9800—Payload

0098B0B3—Message Checksum and End

Sequence

Units

Description

Set UART Configuration - Message I.D. 165

Table B-28 contains the input values for the

following example:

Example: Set port 0 to NMEA with 9600 baud,

8 data bits, 1 stop bit, no parity. Set

port 1 to SiRF binary with 57600 baud, 8

data bits, 1 stop bit, no parity. Do not

configure ports 2 and 3.

Example:

30

A0A20031—Start Sequence and Payload

Length

A5000101000025800801000000010000000

0E1000801000000FF050500000000000

0000000FF0505000000000000000000—Pa

yload

0452B0B3—Message Checksum and End

Sequence

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Table B- 28 Set UART Configuration

Name

Bytes

Message ID 1 A5 Decimal 165 Port 1 00 For UART 0 In Protocol1 1 01 For UART 0 Out Protocol 1 01 For UART 0 (Set to In protocol) Baud Rate2 4 00002580 For UART 0 Data bits3 1 08 For UART 0 Stop bits4 1 01 For UART 0 Parity5 1 00 For UART 0 Reserved 1 00 For UART 0 Reserved 1 00 For UART 0 Port 1 00 For UART 1 In Protocol 1 01 For UART 1 Out Protocol 1 01 For UART 1 Baud Rate 4 0000E100 For UART 1 Data bits 1 08 For UART 1 Stop bits 1 01 For UART 1 Parity 1 00 For UART 1 Reserved 1 00 For UART 1 Reserved 1 00 For UART 1 Port 1 00 For UART 1 In Protocol 1 01 For UART 2 Out Protocol 1 01 For UART 2 Baud Rate 4 00000000 For UART 2 Data bits 1 08 For UART 2 Stop bits 1 01 For UART 2 Parity 1 00 For UART 2 Reserved 1 00 For UART 2 Reserved 1 00 For UART 2 Port 1 00 For UART 3 In Protocol 1 01 For UART 3 Out Protocol 1 01 For UART 3 Baud Rate 4 00000000 For UART 3 Data bits 1 08 For UART 3 Stop bits 1 01 For UART 3 Parity 1 00 For UART 3 Reserved 1 00 For UART 3 Reserved 1 00 For UART 3

Payload Length: 49 bytes

Binary(Hex)

Scale Example

Units

Description

1. 0 = SiRF Binary, 1 = NMEA, 2 = ASCII, 3 = RTCM, 4 = User1, 5 = No Protocol.

2. Valid values are 1200, 2400, 4800, 9600, 19200, 38400, and 57600.

3. Valid values are 7 and 8.

4. Valid values are 1 and 2.

5. 0 = None, 1 = Odd, 2 = Even.

Set Message Rate - Message I.D. 166

Table B-29 contains the input values for the following example:

Set message ID 2 to output every 5 seconds starting immediately.

Example:

A0A20008—Start Sequence and Payload Length

A601020500000000—Payload

31

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

00AEB0B3—Message Checksum and End Sequence Table B- 29 Set Message Rate

Name

Message ID 1 A6 Decimal 166 Send Now1 1 01 Poll message MID to set 1 02 Update Rate 1 05 sec Range= 1 - 30 TBD 1 00 Reserved TBD 1 00 Reserved TBD 1 00 Reserved TBD 1 00 Reserved

Payload Length: 8 bytes

1. 0 = No, 1 = Yes, if no update rate the message will be polled.

Bytes

Low Power Acquisition Parameters Message I.D. 167

Table B-30 contains the input values for the

following example:

Set maximum off and search times for

re-acquisition while receiver is in low power.

Binary(Hex)

Scale Example

Units

Example:

A0A20019—Start Sequence and Payload

Length

A7000075300001D4C000000000000000000

000000000000000—Payload

02E1B0B3—Message Checksum and End

Sequence

Description

Table B- 30 Set Low Power Acquisition Parameters

Name

Message ID 1 A7 Decimal 167 Max Off Time 4 00007530 ms

Max Search Time 4 0001D4C0 ms TBD 4 00000000 Reserved

TBD 4 00000000 Reserved TBD 4 00000000 Reserved TBD 4 00000000 Reserved

Payload Length: 25 bytes

Bytes

Binary(Hex)

Scale Example

Units

Description

Maximum time for sleep mode Max. satellite search time

Output Messages for SiRF Binary Protocol

Note – All output messages are received in BINARY format. SiRF demo interprets the binary data

and saves if to the log file in ASCII format.

Table 42 lists the message list for the SiRF output messages

Hex ASCII Name Description

0x02 2 Measured Navigation Data Position, velocity, and time 0x04 4 Measured Tracking Data Signal to noise information 0x05 5 Raw Track Data Measurement information 0x06 6 SW version Receiver software 0x07 7 Clock Status 0x08 8 50 BPS Subframe Date Standard ICD format

32

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

0x09 9 Throughput CPU load

0x0B 11 Command Acknowledgment Successful request 0x0C 12 Command N Acknowledgment Unsuccessful request

0X0D 13 Visible List Auto Output

0x0E 14 Almanac Data

0x0F 15 Ephemeris Data

0x11 17 Differential Corrections 0x12 18 OkToSend 0x13 19 Navigation Parameters

0x1C 28 0x1D 29 0x1E 30

0x1F 31 0x64 100 RoyalTek Navigation Data UTC , lat , lon, validate output

0xFF 255 Development Data Various data messages

Nav. Lib. Measurement Data Measurement Data Nav. Lib. DGPS Data Differential GPS Data Nav. Lib. SV State Data Satellite State Data Nav. Lib. Initialization Data Initialization Data

Received from DGPS broadcast CPU ON / OFF (Trickle Power) Response to Poll

Measure Navigation Data Out – Message I.D.2

Output Rate: 1 Hz

Table 43 lists the binary and ASCII

message data format for the measured

navigation data

Example:

A0A20029 – Start Sequence and Payload

Length

Table 43 Measured Navigation Data Out – Binary & ASCII Message Data Format

Name

Message ID 1 02 2 X – position 4 FFD6F78C M -2689140 Y – position 4 FFBE536E M -4304018 Z – position 4 003AC004 M 3850244 X – velocity 2 *8 00 M/s Vx/8 0 Y – velocity 2 *8 03 M/s Vy/8 0.375 Z – velocity 2 *8 01 M/s /8 0.125 Mode1 1 04 Bitmap1 4 DOP2 1 *5 A /5 2.0 Mode3 1 00 Bitmap3 0 GPS Week 2 036B 875 GPS TOW 4 *100 039780E3 seconds /100 602605.79 SVs in Fix 1 06 6 CH 1 1 12 18 CH 2 1 19 25 CH 3 1 0E 14 CH 4 1 16 22 CH 5 1 0F 15 CH 6 1 04 4 CH 7 1 00 0 CH 8 1 00 0 CH 9 1 00 0 CH 10 1 00 0

Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

02FFD6F78CFFBE869E003AC004000301

04A00036B039780E3

0612190E160F04000000000000 –

Payload

09BBB0B3 – Message Checksum, and

End Sequence

Units

Scale Example

33

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

CH 11 1 00 0 CH 12 1 00 0

Payload Length :41 bytes

1

For further information , go to Table 42

2

Dilution of precision (DOP) field contains

3

For further information , go to Table 43

Note – Binary units scaled to integer

values need to be divided by the scale

value of PDOP when Position is obtained

using 3D solution and HDOP in all other

cases.

Table 44 Mode 1

Mode 1

Hex ASCII

0x00 0 No Navigation Solution 0x01 1 1 Satellite Solution 0x02 2 2 Satellite Solution 0x03 3 3 Satellite Solution (2D) 0x04 4 >=4 Satellite Solution (3D) 0x05 5 2D Point Solution(Krause) 0x06 6 3D Point Solution(Krause) 0x07 7 Dead Reckoning (Time Out)

Table 45 Mode 2

Mode 2

Hex ASCII

0x00 0 DR Sensor Data 0x01 1 Validated / Unvalidated 0x02 2 Dead Reckoning (Time Out) 0x03 3 Output Edited by UI 0x04 4 Reserved 0x05 5 Reserved 0x06 6 Reserved 0x07 7 Reserved

value to receive true decimal value (i.e.,

decimal Xvel = binary Xvel /8).

Description

04036C0000937F0C0EAB46003F

Measured Tracker Data Out – Message I.D.4

Output Rate: 1 Hz

Table 46 lists the binary and ASCII

message data format for the measured

1A1E1D1D191D1A1A1D1F1D594

23

F1A1A…. – Payload ****B0B3 –

Message Checksum and End

Sequence

tracker data.

Example:A0A200BC – Start Sequence

and Payload Length

Table 46 Measured Tracker Data Out

Name

Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

Units

Scale Example

Message ID 1 04 None 4 GPS Week 2 036C 876 GPS TOW 4 S*100 0000937F S S/100 37759

34

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Channels 1 0C 12 1st Sv ID 1 0E 14 Azimuth 1 Az*[2/3] AB Degree /[2/3] 256.5 Elev. 1 EI*2 46 Degree /2 35 State 2 003F Bitmap1 63 C/NO 1 1 1A 26 C/NO 2 1 1E 30 C/NO 3 1 1D 29 C/NO 4 1 1D 29 C/NO 5 1 19 25 C/NO 6 1 1D 29 C/NO 7 1 1A 26 C/NO 8 1 1A 26 C/NO 9 1 1D 29 C/NO 10 1 1F 31 2nd Sv ID 1 1D 29 Azimuth 1 Az*[2/3] 59 Degree /[2/3] 89 Elev. 1 EI*2 42 Degree /2 66 State 2 3F Bitmap1 63 C/NO 1 1 1A 26 C/NO 2 1 1A 63 …..

Payload Length: 188 bytes

bytes with non tracking channels reporting

For further information, go to Table 45.

Note – Message length is fixed to 188

Table 47 Trk. to NAV Struct. Trk._status Field Definition

Field Definition Hex Value Description

ACQ_SUCCESS 0x0001 Set if acq/reacq if done successfully DELTA_CARPHASE_VALID 0x0002 Integrated carrier phase is valid BIT_SYNC_DONE 0x0004 Bit sync completed flag SUBFRAME_SYNC_DONE 0x0008 Subframe sync has been done CARRIER_PULLIN_DONE 0x0010 Carrier pull in done CODE_LOCKED 0x0020 Code locked ACQ_FAILED 0x0040 Failed to acquire S/V GOT_EPHEMERIS 0x0080 Ephemeris data available

Note – When a channel is fully locked and all data is valid , the status shown is 0xBF

Raw Tracker Data Out – Message I.D.5

Output Rate:1 Hz

Table 48 lists the binary and ASCII

message data format for the raw tracker

data .

Example:

zero values

A0A20033 – Start Sequence and Payload

Length

05000000070013003F00EA1BD4000D03

9200009783000DF45E000105B5FF90F5

C20000242827272327242427290500000

0070013003F – Payload

0B2DB0B3 – Message Checksum and

End Sequence

Table 48 Raw Tracker Data Out

Name

Message ID 1 05 5 Channel 4 00000007 7 SVID 2 0013 19 State 2 003F Bitmap1 63

Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

35

Units

Scale Example

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Bits 4 00EA1BD4 Bit 15342548 Ms 2 000D Ms 13 Chips 2 0392 Chip 914 Code Phase 4

Carrier Doppler 4 Time Tag 4 000105B5 Ms 66997

Delta Carrier2 4 2-10 Search Count 2 0000 0

C/NO 1 1 24 dBHz 36 C/NO 2 1 28 dBHz 40 C/NO 3 1 27 dBHz 39 C/NO 4 1 27 dBHz 39 C/NO 5 1 23 dBHz 35 C/NO 6 1 27 dBHz 39 C/NO 7 1 24 dBHz 36 C/NO 8 1 24 dBHz 36 C/NO 9 1 27 dBHz 39 C/NO 10 1 29 dBHz 41 Power Loss

1 05 5 Count Phase Loss

1 00000007 7 Count Integration

2 0013 Ms 19 Interval Track Loop

2 003F 63 Iteration

Payload Length:51 bytes per satellite tracked (up to 12)

-16

2

-10

2

00009783 Chip

000DF45E Rad/2ms

FF90F5C2 Cycles

-16

/2

-10

/2

-10

/2

38787

914526

-7277118

1.For further information,go to Table 45

2.Multiply by (1000÷4π)÷2

16

to convert to Hz.

The meaning of I.D.5 is described as following table

Message ID: Each SiRF binary message is defined based on the ID. Channel: Receiver channel where data was measured (range 1-12). SVID: PRN number of the satellite on current channel. State: Current channel tracking state (see Table 45) Bit Number: Number of GPS bits transmitted since Sat-Sun midnight (in Greenwich)

at a 50 bps rate. Millisecond Number:

Number of milliseconds of elapsed time since the last received bit(20

ms between bits) Chip Number: Current C/A code symbol being transmitted (range 0 to 1023

chips;1023 chips=1 ms). Code Phase: Fractional chip of the C/A code symbol at the time of sampling(scaled

by 2

-16

,=1/65536)

Carrier Doppler: The current value of the carrier frequency as maintained by the

tracking loops. Receiver Time Tag:

This is the count of the millisecond interrupts from the start of the

receiver (power on) until the measurement sample is taken. The ms

interrupts are generated by the receiver clock. Delta Carrier Phase:

The difference between the carrier phase(current) and the carrier phase(previous). Units are in carrier cycles with the LSB= 0.00185 carrier cycles. The delta time for the accumulation must be known.

Note –Carrier phase measurements are not necessarily in sync with

code phase measurement for each measurement epoch. Search Count: This is the number of times the tracking software has completed full

satellite signal searche.s C/No: Ten measurements of carrier to noise ratio(C/No) values in dBHZ at

input to the receiver.Each value represents 100 ms of tracker data and

its sampling time is not necessarily in sync with the code phase

measurement. Power Loss Count:

The number of times the power detectors fell below the threshold between the present code phase sample and the previous code phase sample. This task is performed every 20 ms (max count is 50).

36

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Phase Loss Count:

Integration Interval:

Track Loop Iteration:

The number of time the phase lock fell below the threshold between the present code phase sample and the previous code phase sample. This task is performed every 20 ms (max count is 50). The time in ms for carrier phase accumulation . This is the time difference (as calculated by the user clock) between the Carrier Phase(current) and the Carrier Phase(previous). The tracking Loops are run at 2 ms and 10 ms intervals. Extrapolation values for each interval is 1 ms and 5 ms for range computations.

Calculation of Pseudo-Range Measurements

The pseudo-range measurement in meters

can be determined from the raw track data

by solving the following equation:

Pseudo-range (PR) = {Received Tine

(RT) – Transmit Time (TT)} * C

where C = speed of light

The following variables from the raw track

data are required for each satellite:

Bit Number (BN) – 50 bits per second

Millisecond Number (MSN)

Chip Number (CN)

Code Phase (CP)

Receiver Time Tag (RTTag)

Delta Carrier Phase (DCP)

The following steps are taken to get the psr

data and carrier data for each measurement

epoch.

1. Computation of initial Receiver

channel measurements are NOT

taken at the same time. Therefore, all

ranges must be extrapolated to a

common measurement epoch. For

simplicity, the first channel of each

measurement set is used as the

reference to which all other

measurements are extrapolated.

4. Extrapolate the pseudo-range based

on the correlation interval to improve

precision.

5. Compute the delta range.

If the accumulation time of the Dalta Carrier

Phase is 1000 ms then the measurement is

valid and can be added to the previous Delta

Carrier Phase to get Accumulated Carrier

Phase data. If the accumulation time of the

Delta Carrier Phase is not equal to 1000 ms

then the measurement is not valid and the

accumulation time must be restarted to get

Accumulated Carrier Phase data.

Time(RT) in seconds. Note-Where the

initial arbitrary value chosen at start

up to make the PR reasonable

(i.e.,set equal to TT+70ms) and then

incriminated by one second for each

measurement epoch.

2. Computation of Transmit Time (TT) in

seconds.

3. Calculate Pseudo-range at a common

receiver time of the first channel of

the measurement data set. Note-All

Response :Software Version String – Message I.D.6

Output Rate:Response to polling message

Example:

A0A20015 – Start Sequence and Payload

Length

0606312E322E30444B495431313920534

D0000000000-Payload

0382B0B3 – Message Checksum and End

Sequence

37

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Table 49 Software Tracker Data Out

Name

Message ID 1 06 6 Character 20 1 2

Payload Length: 21 bytes

Note – Convert to symbol to assemble message (i.e., 0x4E is ’N’). These are low priority task and

are not necessarily output at constant intervals.

Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

Units

Scale Example

Response :Clock Status Data – Message I.D.7

Output Rate:1Hz or response to polling message

Example:

A0A20014 – Start Sequence and Payload Length

0703BD021549240822317923DAEF – Payload

0598B0B3 – Message Checksum and End Sequence

Table 50 Clock Status Data Message

Name

Message ID 1 07 7 GPS Week 2 03BD 957 GPS TOW 4 *100 02154924 S /100 349494.12 Svs 1 08 8 Clock Drift 4 2231 Hz 74289 Clock Bias 4 7923 ns 128743715 Estimated GPS Time

Payload Length:20 bytes

50BPS Data – Message I.D.8

Output Rate:As available (12.5 minute

download time)

Example:A0A2002B – Start Sequence and

Payload Length

Bytes

4 DAEF ms 349493999

Binary(Hex) ASCII(Decimal)

Scale Example

Units

08******** - Payload

****B0B3 – Message Checksum and End

Sequence

Scale Example

Table 51 Clock Status Data Message

Name

Message ID 1 08 8 Channel 1 Sv ID 1 Word [10] 40

Payload Length:43 bytes per subframe

(6subframes per page, 25 pages

Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

38

Units

Almanac)

Note – Data is logged in ICD format

Scale Example

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

(available from www.navcen.uscg.mail)

CPU Throughput – Message I.D.9

Output Rate:1 Hz

Table 52 CPU Throughput

Name

Message ID 1 09 9 SegStatMax 2 *186 003B ms /186 .3172 SegStatLat 2 *186 0011 ms /186 .0914 AveTrkTime 2 *186 0016 ms /186 .1183 Last MS 2 01E5 ms 485

Payload Length: 9 bytes

Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

Command Acknowledgment – Message I.D.11

Output Rate: Response to successful

input message

This is successful almanac (message ID

Example:A0A20009 – Start Sequence and

Payload Length

09003B0011001601E5 – Payload

0151B0B3 – Message Checksum and End

Sequence

Units

0x92)request example:

Scale Example

A0A20002 – Start Sequence and

Payload Length

0B92 – Payload

009DB0B3 – Message Checksum and

End Sequence

Table 53 Command Acknowledgment

Name

Message ID 1 0B 11 Ack.I.D. 1 92 146

Payload Length: 2 bytes

Command N Acknowledgment – Message I.D. 12

Output Rate: Response to rejected Input

message

This is unsuccessful almanac (message

Table 54 Command N Acknowledgment

Name Bytes

Message ID 1 0C 12 N Ack. I.D 1 92 146

Payload Length:2 bytes

Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

Binary(Hex) ASCII(Decimal)

Scale Example

Units

ID 0x92) request example:

A0A20002 – Start Sequence and Payload

Length

0C92 – Payload

009EB0B3 – Message Checksum and

End Sequence

Units

Scale Example

39

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Payload Length

Visible List – Message I.D.13

Output Rate:Updated approximately every

2minutes. Note – This is a variable length

message. Only the number of visible

satellites are reported(as define by visible

Svs in Table 55), Maximum is 12 satellites

Example:A0A2002A – Start Sequence and

Table 55 Visible List

Name

Message ID 1 0D 13 Visible Svs 1 08 8 CH 1 –Sv I.D 1 07 7 CH 1 –Sv Azimuth 2 0029 Degrees 41 CH 1 –Sv Elevation 2 0038 Degrees 56 CH 2 –Sv I.D 1 09 9 CH 2 –Sv Azimuth 2 0133 Degrees 307 CH 2 –Sv Elevation 2 002C Degrees 44 ……

Payload Length:62 bytes(maximum)

Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

0D080700290038090133002C*************

****** - Payload

****B0B3 – Message Checksum and End

Sequence

Units

Scale Example

and Payload Length

Almanac Data – Message I.D.14

Output Rate:Response to poll

Example :A0A203A1 – Start Sequence

Table 56 Visible List

Name

Message ID 1 0E 14 Sv I.D.(1) 1 01 1 Almanac Data[14][2] 28 …. Sv I.D.(32) 1 20 32 Almanac Data[14][2] 28

Payload Length: 929 bytes(maximum)

Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

Units

0E01************* - Payload

****B0B3 – Message

checksum and End Sequence

Scale Example

OkToSend - Message I.D. 18

Output Rate: Trickle Power CPU on/off indicator

Example:

A0A20002—Start Sequence and Payload Length

1200—Payload

0012B0B3—Message Checksum and End Sequence

Table B- 52 Almanac Data

40

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Name

Message ID 1 12 18 Send indicator1 1 00 00

Payload Length: 2 bytes

1.

0 implies that CPU is about to go OFF, OkToSend==NO, 1 implies CPU has just come ON, OkToSend==YES

Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

Units

Scale Example

Navigation Parameters (Response to Poll) – Message I.D. 19

Output Rate:1 Response to Poll

Example:

A0A20018—Start Sequence and Payload Length

130100000000011E3C0104001E004B1E00000500016400C8—Payload

022DB0B3—Message Checksum and End Sequence

Table B- 53 Navigation Parameters

Name

Message ID 1 13 19 Reserved 4 00000000 Altitude Hold Mode 1 00 0 Altitude Hold Source 1 00 0 Altitude Input Source 2 0000 meters 0 Degraded Mode1 1 01 1 Degraded Timeout 1 1E seconds 30 DR Timeout 1 3C seconds 60 Track Smooth Mode 1 01 1 Static Navigation 1 3SV Least Squares 1 Reserved 4 DOP MASK Mode Navigation Elevation Mask Navigation Power Mask 1 Reserved 4 DGPS Source 1 DGPS Mode3 1 00 0 DGPS Timeout 1 1E seconds 30 Reserved 4 LP Push-to-Fix 1 LP On-Time 4 LP Interval 4 LP User Tasks Enabled 1 LP User Task Interval 4 LP Power Cycling Enabled LP Max. Acq. Search Time LP Max. Off Time 4 Reserved 4 Reserved 4

Payload Length: 65 bytes

2

Bytes

1 04 4 2

1

4

Binary(Hex) ASCII(Decimal)

Scale Example

Units

Scale Example

1. See Table 22.

2. See Table 24.

3. See Table 26.

41

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Length

Navigation Library Measurement Data - Message I.D. 28

Output Rate: Every measurement cycle (full

power / continuous : 1Hz)

Example:

A0A20038—Start Sequence and Payload

Table B- 54 Measurement Data

Name

Message ID 1 1C 28 Channel 1 00 Time Tag 4 000660D0 ms Satellite ID 1 15 GPS Software Time 8

Pseudo Range 8

Carrier Frequency Carrier Phase

Time in Track Sync Flags

C/No1 1 34 C/No2 1 C/No3 1 C/No4 1 C/No5 1 C/No6 1 C/No7 1 C/No8 1 C/No9 1 C/No10 1

Delta Range Interval Mean Delta Range Time Extrapolation Time Phase Error Count Low Power Count

Payload Length: 56 bytes

Bytes

4 8

2 7530 ms 1 17

2 2 01F4 ms 2 0000 ms 1 00 1 00

Binary(Hex) ASCII(Decimal)

Scale Example

F143F62C

4113F42F

F3FBE95E

417B235C

468C6964

B8FBC582

415CF1C3

03E801F4

1C00000660D015F143F62C4113F42FF3FB

E95E417B235C468C6964B8FBC5824

15CF1C375301734.....03E801F400000000

—Payload

1533B0B3—Message Checksum and End

Sequence

Units

ms

m

Scale Example

A0A2001A—Start Sequence and Payload

Navigation Library DGPS Data Message I.D. 29

Output Rate: Every measurement cycle (full

power / continuous : 1Hz)

Example:

Table B- 55 Measurement Data

Name

Message ID 1 1D 29

Satellite ID IOD

1

Source

Bytes

2 2 00B5 181 1 01 1

Binary(Hex) ASCII(Decimal)

Scale Example

42

Length

1D000F00B501BFC97C673CAAAAAB3FBF

FE1240A0000040A00000—Payload

0956B0B3—Message Checksum and End

Sequence

000F

Units

15

Scale Example

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Pseudo-range Correction Pseudo-range Rate Correction Correction Age Reserved 4 Reserved 4

Payload Length: 26 bytes

1. 0 = Use no corrections, 1 = Use WAAS channel, 2 = Use external source, 3 = Use Internal Beacon, 4 = Set DGPS Corrections

4 4 3CAAAAAB m/s

4

Navigation Library SV State Data Message I.D. 30

Output Rate: Every measurement cycle (full

power / continuous : 1Hz)

Example:

Table B- 56 SV State Data

Name

Message ID 1 1E 30 Satellite ID GPS Time 8 s Position X 8 m Position Y 8 m Position Z 8 m Velocity X 8 m/s Velocity Y 8 m/s Velocity Z 8 m/s Clock Bias 8 s Clock Drift 4

Ephemeris Flag Reserved Ionospheric Delay

Payload Length: 83 bytes

1

Bytes

1 15 21

1 8 4

Scale Example

BFC97C67

3FBFFE12

m

s

A0A20053—Start Sequence and Payload

Length

3217652839 1017817771

1069547026

1E15....2C64E99D01....408906C8—Paylo

ad

2360B0B3—Message Checksum and End

Sequence

Binary(Hex) ASCII(Decimal)

2C64E99D

01

408906C8

Units

s

m

Scale Example

744810909

1

1082721992

1. 0 = no valid SV state, 1 = SV state calculated from ephemeris, 2 = Satellite state calculated from almanac

1F....00000000000001001E000F....00....000

Navigation Library Initialization Data Message I.D. 31

Output Rate: Every measurement cycle (full

power / continuous : 1Hz)

Example:

A0A20054—Start Sequence and Payload

Length

Table B- 57 Measurement Data

Name

Message ID 1 1F 31 Reserved 1

Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

43

000000F....00....02....043402....

....02—Payload

0E27B0B3—Message Checksum and End

Sequence

Units

Scale Example

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

Altitude Mode Altitude Source 1 00 0 Altitude 4 00000000 0 Degraded Mode Degraded Timeout 2 001E 30 Dead-Reckoning Timeout 2 000F 15 Reserved 2 Track Smoothing Mode Reserved 1 Reserved 2 Reserved 2 Reserved 2

DGPS Selection DGPS Timeout Elevation Nav. Mask Reserved Reserved Reserved Reserved Reserved Static Nav. Mode Reserved Position X Position Y Position Z Position Init. Source GPS Time GPS Week Time Init. Source 7 Drift Drift Init. Source 8

Payload Length: 84 bytes

1

2

1 00 0

1 01 1

3

1 00 0

4

1 2 2 2 1 2 1

5

2 1 2 8 8

6

8 1 8 2 1 8 1

00

0000

000F

00

02

0434

02

0 0

15

0

2

1076

2

1. 0 = Use last know altitude 1 = Use user

input altitude 2 = Use dynamic input from

external source

2. 0 = Use direction hold and then time hold

1 = Use time hold and then direction hold

2 = Only use direction hold

3 = Only use time hold

4 = Degraded mode is disabled

3. 0 = True and 1 = False

4. 0 = Use DGPS if available

1 = Only navigate if DGPS corrections are

available 2 = Never use DGPS corrections

5. 0 = True 1 = False

RoyalTek Navigation Data – Message I.D.100

6. 0 = ROM position

1 = User position

2 = SRAM position

3 = Network assisted position

7. 0 = ROM time

1 = User time

2 = SRAM time

3 = RTC time

4 = Network assisted time

8. 0 = ROM clock

1 = User clock

2 = SRAM clock

3 = Calibration clock

4 = Network assisted clock

Output Rate: 1Hz

Example :A0A2001A – Start Sequence

44

and Payload Length

6407D1*********** - Payload

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

****B0B3 – Message checksum and End Sequence

Table 57 Royaltek Navigation Data

Name

Message ID 1 64 100 Year 2 07D1 2001 Month 2 000C 12 Day 2 0005 5 Hours 2 0011 17 Minutes 2 001E 30 Seconds 4 *1000 5202 Sec. Degree of Latitude 2 19 degree 25 Minutes of Latitude 4 *10000 0001818C Min. Degree of Longitude 2 79 degree 121 Minute of Longitude 4 *10000 0002BA64 Min. Altitude 4 000000FA meter 250 Validity 1 01 1 Speed 2 *10 0064 Km/h Course over ground 2 0080 Degree 128 PDOP 2 *10 012C HDOP 2 *10 012C VDOP 2 *10 012C

Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

Units

Scale Example

÷1000

÷10000

÷10

÷10 ÷10 ÷10

20.994

9.8700

17.8788

10.0

30.0

Payload Length: 42 bytes. This protocol is provided from RoyalTek firmware Ver. 1.7. release

* *hh<CR><LF> Check Sum and sentence termination delimiter

Set Ephemeris – Message I.D.254

This command enables the user to upload an ephemeris to the Evaluation unit.

Note – This feature is not documented in this manual . For information on implementation contact

SiRF Technology Inc.

Development Data – Message I.D.255

Output Rate: Receiver generated

Example :A0A2**** - Start Sequence and Payload Length

FF************* - Payload

****B0B3 – Message Checksum and End Sequence

Table 58 Development Data

Name

Message ID 1 FF 255

Payload Length:Variable

Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

Units

Scale Example

Note – Messages are output to give the

user information of receiver activity.

Convert to symbol to assemble message

45

(i.e., 0x4E is ‘N’) these are low priority task

and are not necessarily output at constant

intervals.

RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual)

GPS Receiver User’s Tip

1. GPS signal will be affected by weather and environment conditions, thus suggest to use the GPS receiver under less shielding environments to ensure GPS receiver has better receiving performance.

2. When GPS receiver is moving, it will prolong the time to fix the position, so suggest to wait for the satellite signals to be locked at a fixed point when first power-on the GPS receiver to ensure to lock the GPS signal at the shortest time.

3. The following situation will affect the GPS receiving performance: a. Solar control filmed windows. b. Metal shielded, such as umbrella, or in vehicle. c. Among high buildings. d. Under bridges or tunnels. e. Under high voltage cables or near by radio wave sources, such as mobile phone base

stations.

f. Bad or heavy cloudy weather.

4. If the satellite signals can not be locked or encounter receiving problem (while in the urban area), the following steps are suggested: a. Please plug the external active antenna into GPS receiver and put the antenna on outdoor or the

roof of the vehicle for better receiving performance. b. Move to another open space or reposition GPS receiver toward the direction with less blockage. c. Move the GPS receiver away from the interferences resources. d. Wait until the weather condition is improved.

5. While a GPS with a backup battery, the GPS receiver can fix a position immediately at next power-on if the build-in backup battery is full-recharged.

Contact Information Section

 Contact : sales@royaltek.com

 HEADQUARTER :

Add : 1071 Chung Cheng Rd., Suite 9F-1 Tao Yuan City , Taiwan , R.O.C. Tel ：886 – 3 - 3569666 Fax ：886 – 3 - 3560900

 Web Site : www.royaltek.com

Customer Service mail : sales@royaltek.com

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RoyalTek REB-3000, RGM-3000 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual