RoyalTek REV-2000 User Manual

Download

REV-2000 Operational Manual

RoyalTek Evaluation Kit

REV-2000 Operational Manual

Version 1.1

2001/7/4

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.

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

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

TEL: 886-3-3569666

FAX: 886-3-3580050

E-Mail: sales@royaltek.com

http://www.royaltek.com

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

RoyalTek Evaluation Kit REV-2000 Operational Manual

NTRODUCTION

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

Packing list.........................................................................................................................................1

ETTING STARTED

To Setup REV-2000 ...........................................................................................................................3

Setup procedure.................................................................................................................................4

O OPERATE

Install the SiRFDemo.exe...................................................................................................................5

To use Sirfdemo.exe ..........................................................................................................................5

To switch from NMEA to SiRF protocol ..............................................................................................7

To switch from SiRF protocol to NMEA protocol.................................................................................9

To Synchronize Protocol...................................................................................................................10

To Switch Trickle Power Parameters from SiRFDemo.exe...............................................................10

To change TricklePower parameters of REB-2100 from 12 pins interface. ......................................12

To upgrade GPS engine board program ..........................................................................................12

RODUCT FEATURES

RODUCT APPLICATIONS

ECHNIQUE DESCRIPTION

REB-2100 System Block Diagram......................................................................................................2

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

REV-2000 ...........................................................................................................................5

...............................................................................................................................13

..........................................................................................................................14

........................................................................................................................14

REB-12R Block diagram ....................................................................................................................3

Technique specifications ....................................................................................................................3

RDERING INFORMATION

BSOLUTE MAXIMUM RATINGS

OFTWARE INTERFACE

NMEA V2.2 Protocol ........................................................................................................................10

GGA-Global Positioning System Fixed Data....................................................................................10

GLL-Geographic Position – Latitude/Longitude................................................................................11

GSA-GNSS DOP and Active Satellites ............................................................................................11

GSV-GNSS Satellites in View ..........................................................................................................12

RMC-Recommended Minimum Specific GNSS Data.......................................................................12

VTG-Course Over Ground and Ground Speed ................................................................................13

ROPRIETARY

SIRF P

SIRF NMEA I

Set Serial Port ..................................................................................................................................14

LLA Navigation Initialization .............................................................................................................14

Set DGPS Port .................................................................................................................................15

NPUT MESSAGES

...........................................................................................................................7

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

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

NMEA I

NPUT MESSAGES

...............................................................................................................14

..........................................................................................13

Query/Rate Control ..........................................................................................................................15

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

LLA Navigation Initialization .............................................................................................................16

Development Data On/Off................................................................................................................16

Calculating Checksums for NMEA Input ..........................................................................................17

INARY PROTOCOL

SIRF B

NPUT MESSAGES FOR SI

Initialize Data Source-Message I.D. 128 ..........................................................................................18

Switch To NMEA Protocol – Message I.D. 129 ................................................................................19

Set Almanac- Message I.D. 130.......................................................................................................20

Software Version – Message I.D. 132..............................................................................................20

Mode control – Message I.D .136.....................................................................................................21

DOP Mask Control – Message I.D. 137 ...........................................................................................21

DGPS Control – Message I.D.138....................................................................................................22

Elevation Mask – Message I.D.139..................................................................................................22

Power Mask – Message I.D.140 ......................................................................................................23

Steady State Detection – Message I.D.142......................................................................................23

Static Navigation – Message I.D.144 ...............................................................................................23

Set DGPS Serial Port – Message I.D 145........................................................................................24

........................................................................................................................17

INARY PROTOCOL

RF B

.......................................................................................18

Almanac – Message I.D.146 ............................................................................................................24

Ephemeris Message I.D.147............................................................................................................24

Switch To SiRF Protocol...................................................................................................................25

Switch Operating Modes - Message I.D. 150...................................................................................25

Set Trickle Power Parameters - Message I.D. 151...........................................................................25

Computation of Duty Cycle and On Time.........................................................................................26

Push-to-Fix.......................................................................................................................................26

Poll Navigation Parameters - Message I.D. 152...............................................................................27

UTPUT MESSAGES FOR SI

Measure Navigation Data Out – Message I.D.2...............................................................................27

Measured Tracker Data Out – Message I.D.4 ..................................................................................29

Raw Tracker Data Out – Message I.D.5...........................................................................................30

Calculation of Pseudo-Range Measurements..................................................................................31

Response :Software Version String – Message I.D.6 ....................................................................32

Response :Clock Status Data – Message I.D.7.............................................................................32

50BPS Data – Message I.D.8 ..........................................................................................................33

CPU Throughput – Message I.D.9 ...................................................................................................33

INARY PROTOCOL

RF B

....................................................................................27

Command Acknowledgment – Message I.D.11................................................................................34

Command N Acknowledgment – Message I.D. 12...........................................................................34

Visible List – Message I.D.13 ...........................................................................................................34

Almanac Data – Message I.D.14......................................................................................................35

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Set Ephemeris – Message I.D.254...................................................................................................35

Development Data – Message I.D.255.............................................................................................35

iii

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Introduction

REV-2000 is an evaluation kit for RoyalTek GPS engine board series, REB-12R2/R6/ REB-2000/

REB-2001.It is convenient to test the GPS performance,cold start / warm start / hot start,position

update and so on by using the REV-2000. REV-2000 helps you understand the operation and

performance of Royaltek’s GPS engine boards in a couple of minutes. It can also provide you design

the OEM products that use RoyalTek’s GPS engine boards.

Packing list

The evaluation kit contains follows:

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

REV-2000

Evaluation

Power Core

No. Items Specification Quantity Description

REV-2000

Evaluation Board

PROVIDE POWER FOR GPS

68*88mm 1

ENGINE BOARD AND CONVERT THE SIGNAL FROM TTL TO RS-232 CONNECTING TO PC.

RS232 Cable

BNC to MCX

Cable

GPS active

antenna

2 Power Core

3 RS232 Cable 9pin/1.5M 1

RF Extension Cable

5 GPS active antenna 5M 1 GPS ACTIVE ATENNA.

(Optional)

GPS receiver

(Optional)

AC 110V or 220V

7.5V/1.0A/2.5mm/1.8M

150mm 1

REB-12R or REB-2000

AC/DC ADAPTOR. THERE ARE

TWO TYPES OF ADPATOR, 110V AND 220V.

RS-232 CABLE CONNECTING EVALUATION BOARD WITH PC.

RF EXTENSION CABLE FOR MCX TO BNC. IF YOU ORDER THE MMCX ANTENNA FOR REB-2000, YOU DON’T NEED TO ORDER THIS EXTENSION CABLE. PLEASE CONTACT

SALES@ROYALTEK.COM

FURTHER INFORMATION.

THERE ARE TWO KINDS OF GPS, REB-12R AND REB-2000 SERIES. PLEASE SELECT THE DESIRED ON.

FOR

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Getting started

To Setup REV-2000

The interface of REV-2000 is shown as follows:

DC input

+6.5V ~

Power

Power mode

jumper J1

Open: +5V

Short: +3.3V

VBT

Backup battery input 2.5V ~ 3.1V

NMEA / SiRF protocol

port

Connecting to PC/Laptop

DGPS RTCM-104 port

CON20

CON12

RESET

BOOT

Open: Normal operation

Short: Program upgrade

REB-12R2 connector

REB-2000/REB-2100

switch

jumper

Power mode jumper J1

The power core of REV-2000 is 110V AC/ 7.5V

DC adaptor. It converts the 110 AC to DC.

RoyalTek can also provide you 220V AC power

core. Beware of the AC power of your office

and tell RoyalTek’s sales person for preparing

the correct power code for you.

REV-2000 provides 3 power modes on borad,

3.3V and 5V. JP1: Open for +5V, Short for 3.3V.

The 3.3V is for REB-2000/ REB-2100. The 5V

is for REB-12R2.

BOOT jumper

The BOOT jumper is for program upgrade. It

shall be kept open for normal operation. When

the BOOT is short, the GPS engine board is

waiting for program upgrade and output

nothing when running SiRF demo program.

Please refer the

program update.

DC input

The power input can be DC input instead of

using AC power core. The input range of the

DC input is from 6.5V ~ 12V. We suggest

you use +7.5V as the DC input.

Reset

It is used for external reset.

VBT

This is for RAM backup power of

REB-2000/REB-2100 and REB-12R2. The

program upgrade

session for

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

input range is from 2.5V ~ 3.1V DC.

This is NMEA/SiRF protocol output/input port.

Please connect it to PC or Laptop RS-232

port.

This is DGPS input port.

CON12

This is the socket for REB-2000/REB-2100.

Please refer the hardware interface section

for the pin assignment.

CON20

This is the socket for REB-12R2. Please

refer the hardware interface section for the

pin assignment.

Setup procedure

(1) Plug the REB-12R2 on the CON20

(2) Plug the active antenna into the external

antenna connector. The suitable view

angle of the active antenna is necessary.

Caution: Please do not put any metal

stuff on the antenna.

(3) Connecting the RS-232 cable between

REV-2000 P1 and PC.

(4) Plug the power core. (or connecting the

DC power input, 6.5V ~ 12V)

After you finish setup, it is like as follows:

Active

GPS antenna

PC COM1 or COM2

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

PC COM1

(2) Choose the “Supplied Data” radio button.

To operate REV-2000

Install the SiRFDemo.exe

Copy the SiRFDemo.exe from the CD-ROM

\Toolkit\SiRFDemo.exe to the destination path,

e.g. “c:\RoyakTek\REV-2000\Demo.exe”. Add

a shortcut of SiRFdemo.exe on the desktop of

Windows 98.

To use Sirfdemo.exe

(1) Double click the SiRFdemo.exe.

Click the “Instrument(Measured Data)”

check box.

(3) Select the serial port, e.g. COM1. The

default baud rate of REB-2100 and

Reb-12R2 is 9600bps. Click the OK.

(4) There are 6 menus on the menu bar:

Setup, View, Action, Navigation, Poll and

Window.

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Data

source

Tracking

Signal Level

Connect/

Disconnect

Toggle button

Map

Signal Level

view

Tracking view

(5) Click the “Signal level”, “Tracking”, “Map”

Development view

buttons of the tool bar to enable the

“Signal level view”, “Tracking view” and

Map

“Map view”.

(6) Check the View / Messages /

Development to enable the development

view.

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

(7) Click the

(8) The other buttons of tool bar are explained

as follows:

: Pause the data reception.

:Log the data as a *.log file.

to start testing.

: Initialize Data Source

(9) After you click the , you can see the

NMEA output on the development view.

To switch from NMEA to SiRF protocol

Check Action / Switch to SiRF Protocol.

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

You could see the following screen after you switch to SiRF protocol.

12-Channel Signal Level Data:

Information Displayed Description

Satellite Number (SV) GPS satellite PRN number Status (St) Satellite status Azimuth (Az) Satellite azimuth (in degrees) Elevation (EI) Satellite elevation (in degrees) C/No Signal level (in dB-Hz) Signal Level (-5 sec) 5-second history

Tracking view:

Green: Satellite is tracked and used to

calculate the navigation solution.

Blue: Satellite is tracked but is not

used to calculate the navigation

solution.

Red: Satellite is lost tracked.

Development data view:

It is for

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

development purpose not for user.

Map View:

Demonstrate the GPS time,

Click the

button to initialize data

Latitude, Longitude, Altitude and

Navigation mode etc.

Initialize Data Source

source. It provides the cold start, warm

start and hot start test functions. The

receiver initialization view is like follows:

The definition of cold start, warm start and hot start is described as following table:

Option

Hot Start The Evaluation Unit restarts by using values stored in the internal of the GPS

receiver.

Warm Start (No init) This option has the same functionality as Hot Start except that Ephemeris data

and retains all other data.

Warm Start (init) This option clears all initialization data in the GPS receiver and subsequently

reloads the data that is currently displayed in the GPS receiver initialization is cleared.

Cold Start This option clears all data that is currently stored in the internal memory of the

GPS receiver including position, almanac, ephemeris, time, and clock drift.

To switch from SiRF protocol to NMEA protocol

(1)Select the “Action/Switch to NMEA Protocol” like follows.

Description

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

(2) After you select the “Switch to NMEA Protocol”, it will show up a “Select NMEA Messages” dialog.

Select the NMEA Messages that you want to use.

(3) Determine the update rate for each NMEA

message

(4) Select the baud rate that you want to use

from the Baud Rate pull down menu.

(5) Click the OK button to save or Cancel

button to exit

(6) It will switch to NMEA protocol.

To Synchronize Protocol

When you don’t know what the

protocol/baud rate is set in REB-2100 or

REB-12R2, you can use this option to

synchronize protocol. Select the

Action/Synchronize Protocol and Baud Rate.

It will synchronize the protocol and Baud

Rate.

To Switch Trickle Power Parameters

from SiRFDemo.exe

There are two modes of low power operation:

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

(1) Trickle power: In TricklePower mode, the

power to is cycled periodically, so that it

operates only a fraction of the time.

REB-2100 has the default trickle power

parameters: OnPeriod: 300ms, Update

rate: 1 second. REB-12R2 does not

provide the trickle power feature.

(2) Push to fix: In Push-to-Fix mode, the

receiver is generally off, but turns on

frequently enough to collect ephemeris.

So that, upon user request, a position fix

can be provided quickly after power-up.

REB-2100 provides push to fix function

but it is disabled default. REB-12R2 does

not provide this function.

It provides the trickle power operation in

REB-2100 default. REB-12R2 doesn’t support

the trickle power now. To enable trickle power

mode from SiRFdemo.exe, please select the

“Action/Set TricklePower Parameters” like

following picture.

Then, it will show a “TricklePower parameters”

dialog for parameters setting. There are two

parameters of Trickle power that needs to be

set, “Update Rate and On Time”. The “Update

Rate” means the navigation update frequency.

For example, “1 sec” means output once per

second and “2 sec” means output once per 2

seconds. The “On time” means running time in

the output period. For example, “200 ms”

means the running time is 200 ms per

navigation update. The duty cycle of trickle

power is determined by setting of “Update Rate”

and “On Time”. For example, if the “Update

Rate” is 1 sec and “On time” is 200ms, the duty

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

cycle is 200ms/1000ms = 20%. If the “Update

Rate” is 2 sec and “On Time” is 300 ms, the

duty cycle is 300ms/2000ms = 15%. The duty

cycle is limited to 5% ~ 50%. Since it will do

some estimation in trickle power, please tune

the proper duty cycle that can compromise the

power consumption and acceptable navigation

performance. The “ricklePower Prameters”

dialog is shown as following picture.

To change TricklePower parameters

of REB-2100 from 12 pins interface.

Since it is NMEA output default, it needs to

change to SiRF protocol before change

TricklePower parameters. The procedure is

described as follows:

(1) Use “Set Serial Port” command of SiRF

NMEA input messages.

$PSRF100,0,9600,8,1,0*0C<CR><LF>

It will switch from NMEA to SiRF protocol.

(2) Use “Set Trickle Power Parameters -

Message I.D. 151” to set the trickle power

parameters.

(3) Use “Switch To NMEA Protocol –

Message I.D. 129” to switch back to

NMEA protocol.

To upgrade GPS engine board

program

(1) Turn off the power.

(2) Keep the

(3) Turn on the power.

(4) Run the SiRFProg.exe.

(5) Select the Target Loader File. Select

dltarget.s for REB-12R2/R1. Select

dlgsp2.bin for REB-2100.

(6) Select the Target file that need to be

programmed into flash memory.

BOOT

jumper short.

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

(7) Select the COM port. Keep the Baud rate

at 19200 for REB-2100 and 9600 for

REB-12R2/R1.

(8) If you want to upload program to

Reb-2100, please assert the GPS2 check

box. But leave it unasserted for

Reb-12R2/R1.

(9) Click Upload to begin programming flash

memory.

(10) When you finish upload, turn off the power.

Keep the

power. It will run the new program that

uploaded into flash memory.

BOOT

jumper open and turn on

Product Features

REB-2100

OEM product development is fully



supported through applications

engineering and WEB technique

forum.

Small and compact footprints



measuring “ ”.

12 parallel channels



0.1 second re-acquisition time.



Trickled power enabled for power



saving.

Enhanced algorithm for navigation



stability.

NMEA-0183 compliant



protocol/custom protocol.

WAAS demodulator



RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual



REB-12R



Excellent sensitive for urban canyon

and foliage environments.

Single satellite positioning.

Dual multi path rejection.

OEM product development is fully

supported through applications

engineering and WEB technique

forum.

12 parallel channels

0.1 second re-acquisition time.

Enhanced algorithm for navigation

stability.

NMEA-0183 compliant

protocol/custom protocol.

Excellent sensitive for urban canyon

and foliage environments.

Single satellite positioning.

Dual multi path rejection.

Timing application



REB-12R

Automotive applications



Personal positioning and navigation



Marine navigation



Timing application



Technique description

REB-2100

General information.

stamp size GPS receiver. It requires +3.3V DC

power input. It can operate with an active

antenna through a MMCX connector. It

provides the antenna power through RF cable.

The default DC input of active antenna is 3.3V

+/- 10%. Since it needs 4 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 a

The REB-2100 is a

Product applications

REB-2100

Portable IA device for personal



navigation/ position commerce

(P-Commerce)

Automotive applications



Personal positioning and navigation



Marine navigation



good satellites geometry (PDOP <= 10). If the

satellites are blocked, it may take time to

determine the position.

not put any metal stuff on the antenna.

results in GPS receiver getting nothing. In

urban canyon, the fast 0.1 s re-acquisition

capability can make it determine the position

right away through the cross-intersection.

Caution: Please do

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Pictures

MMCX

Pin 1

REB-2100 System Block Diagram

Active antenna

LNA

SAW Filter

SIRF GRF2I

Flash Memory

12 pins

SiRF

GSP2e

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

REB-12R

REB-12R Block diagram

Active antenna

LNA

Ceramic

Filter

SiRF

GSP2e

SIRF

MCX

Flash

20 pins

Hitachi

SH1

SRAM

Technique specifications

REB-2100.

Operational Characteristics.

12 Channels

L1, 1575.42MHz.

C / A code, 1.023MHz chip rate.

Snap start:2second, average

Hot start 8second, average

Warm start45second, average

Cold start60second, average

Reacquisition:0.1 second, average

Navigation update rate Once per

second.

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

7.75

26.7

30527

1.3510.6

6.5

2- 2.6mm

3.56Pin Header 1.27mm

Datum: WGS-84.

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.

Physical.

REB-2100 Dimension.

Acceleration 4 g. , Max.

Power Requirements.

Regulated power for the REB-2000/

REB-2100 is required. The input voltage

shall be 3.3V ± 10 %. The power of active

antenna is supplied by

REB-2000/REB-2100. It doesn’t need to

supply the antenna from outside of

REB-2000/REB-2100. The full run (without

trickle power) maximum current is less

than 170mA.

12Px1 180

7.75

24.5

1.27 5

3.5

24.3

31.5

3.7

Weight. 8.6g Environment.

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Temperature.

Storage temperature –10 ~ +85 Degree

(Celsius).

Operating temperature -10 ~ +70 Degree

(Celsius).

GSP Antenna

Characteristics Specification

Center frequency 1575.42 ± 1.023MHz Bandwidth 2MHz Min. Gain at Zenith 2.0 dBi Min. Gain at 10° elevation -4.0 dBi Min. Polarization R.H.C.P Axial Ratio 4.0dB Max.

5V Filter/LNA:

Characteristics Specification

Center frequency (fo) 1575.42 ± 1.023MHz Gain 28dB Min. Noise Figure 2.0dB Max. Out band attenuation 2dB Min. fo ± 20MHz

12dB Min. fo ± 50MHz

22dB Min. fo ± 100MHz Output V.S.W.R. 2.0 dB max. Voltage 5.0 ± 0.5V Current 12mA Max.

Humidity.

RF connector

The RF connector is MMCX receptacle.

Active antenna.

≦95% noncondensing.

3.3V Filter/LNA:

Characteristics Specification

Center frequency (fo) 1575.42 ± 1.023MHz Gain 26dB Min. Noise Figure 2.0dB Max. Out band attenuation 2dB Min. fo ± 20MHz

12dB Min. fo ± 50MHz

22dB Min. fo ± 100MHz Output V.S.W.R. 2.0 dB max. Voltage 3.3 ± 0.3V Current 12mA Max.

REB-12R.

Operational Characteristics.

12 Channels

L1, 1575.42MHz.

C / A code, 1.023MHz chip rate.

Snap start:2second, average

Hot start 8second, average

Warm start45second, average

Cold start60second, average

Navigation update rate Once per

second.

Datum: WGS-84.

Accuracy.

Position accuracy25m CEP without SA

Velocity accuracy:0.1 meters/second

without SA

DGPS Accuracy.

Position:1 to 5 m, typical

Reacquisition:0.1 second, average

Velocity: 0.05 meters/second, typical

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

71.13

64.77

3.18

1.9

5.6

11.25

1.5

Pin header 2.0mm

Dynamics.

Altitude 18000 meters (60000 feet) Max.

Velocity 515 meters / second Max.

Acceleration 4 g. , Max.

Power Requirements.

Regulated power for the REB-12R2 is

required. The input voltage shall be 5V ± 5

4- 3.2mm

8.1

R39

C47

R13

U27

R32

C51 C5 2

R46

R19

R40

R21

C12

R41

R18

R45

R42

C13

R9C2

%. The power of active antenna is

supplied through the 2nd pin of the

interface. The maximum current is less

than 180mA without antenna.

Physical.

Dimension.

72mm x 41mm x 19mm

10Px2 180

3.18

22.85

34.29

40.65

Weight.

23gw

Environment.

Temperature.

Storage temperature –55 ~ +100 Degree

(Celsius).

Operating temperature -40 ~ +85 Degree

(Celsius).

Humidity.

≦95% noncondensing.

RF connector.

The RF connector is MCX receptacle.

Active antenna.

8.8

It is same as the one for REB-2100 except

the RF connector.

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Ordering information

For the complete pricing and delivery information, please contact:

RoyalTek Company Ltd.

1071 Chung Cheng Rd.,Suite 9F-1,Tao Yuan City,Taiwan,R.O.C.

Tel: 886-3-3569666

Fax: 886-3-3560900

Http://www.royaltek.com

e-mail: sales@royaltek.com

Hardware interface

REB-2100.

Pin NO Signal

Name

1 VCC_3 I +3.3V DC Power Input DC +3.3V ± 10%. 2 TXA O NMEA Output

3 RXA 4 GND G Ground 5 GPIOA 6 TXB 7 RXB I RTCM 104 differential GPS

8 TIMEMA

9 RESET I Reset Input, Active Low Voh>VCC_3 -1.5V

10 VANT O 11 VBAT I User Supply +2.5~3.1V DC

12 BOOTSE

I/O Description Characteristics

TTL Level 9600bps, 8 data bits, no parity, 1 stop bit

Reserved

Reserved Reserved

input.

O 1PPS Time Mark Output. TTL Level

Reserved

Power Input*

Reserved

Voh ≥ 2.4V

Vo1 ≤ 0.4V

TTL Level

Voh ≥ 2.4V

Vo1 ≤ 0.4V

Voh ≥ 2.4V

Vo1 ≤ 0.4V

Vol<0.3V

DC +3.3V ± 10%.

DC + 2.5 ~ 3.1V

Current ≤ 10uA

VCC_3 DC Power Input

RoyalTek also provides the 3.3 V version

GPS receiver. This is the main power supply

for the Engine board. Use a regulated 3.3V

supply (± 10%).

GND

GND provides the ground for the Engine

board. Connect all grounds.

Serial Data:RXA, RXB, TXA, and TXB

The GPS Engine board supports two full

duplicated serial channels. All four

connections are at TTL levels, and all

support variable baud rates. A TTL to RS232

conversion is necessary to directly

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

communicate with a PC serial port.

RXA

This is the main receiving channel and is

used to receive software commands to the

Engine board from user written software.

RXB

This is the auxiliary receive channel and is

used to input differential corrections to the

Engine board to DGPS navigation.

TXA

This is the main transmit channel and is used

to output navigation and measurement data

to user written software.

TXB

Reserved.

RESET

This pin provides an active-low reset input to

the Engine board. It causes the board to reset

and start searching for satellites. PB Reset is

an optional input and, if not used, should be

tied high.

TIMEMARK

This pin provide s one pulse per second output from

the engine board which is synchronized to within one

microsecond of GPS time. The output is a TTL

negative level signal with negative logic.

VBAT

This is the battery backup supply that

powers the SRAM and RTC when main

power is removed. Typical current draw is 10

uA. 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 be connected

or battery installed on board.

BOOTSEL

This is for software upgrade when pull high

to 3.3V. It can be left non-connected for

normal operation because of internal 68kΩ

pull low resistor.

REB-12R LXHA version

Pin NO Signal

Name

1 VANT I Antenna DC Voltage Depending on the user requirement.. 2 VCC_5 I +5V DC Power Input DC +5V ± 10%. 3 VBAT I User Supply +3.3V DC

4 Reserved Reserved DC +3V ± 10% 5 RESET I Reset Input, Active Low Vih>2.3V , Voh>VCC-1.5V

6 RESERVED - Reserved 7 RESERVED - Reserved 8 RESERVED - Reserved

9 RESERVED - Reserved 10 GND G Ground 11 TXA O NMEA Output

12 RAX I Serial Data Input A

13 GND G Ground 14 TXB O Serial Data Output B

15 RXB I RTCM 104 differential

16 GND G Ground 17 RESERVED - Reserved

I/O Description Characteristics

DC +3.3V ± 10%.

Power Input*

9600bps, 8 data bits, no parity, 1 stop bit

GPS input.

Current ≤ 10mA

Vil<0.8V , Vol<0.4V

Voh ≥ VCC-0.5, Vo1 ≤ 0.4V, Ioh =

-200uA Io 1 = 1.6mA VCC*0.7 ≤ Vih ≤ VCC+0.3V,

-0.3V ≤ Vil ≤ VCC*0.2V

Voh ≥ VCC-0.5, Vo1 ≤ 0.4V, Ioh =

-200uA Io 1 = 1.6mA

VCC*0.7 ≤ Vih ≤ VCC+0.3V

-0.3V ≤ Vil ≤ VCC*0.2V

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

18 GND G Ground 19 TIMEMARK O 1PPS Time Mark

Output.

20 RESERVED - Reserved

Voh ≥ VCC-0.4V, Vo1 ≤ 0.4V, Io h = 4mA Io1 = 4mA Pulse duration 100ms. Time reference is at the pulse negative edge. Measurements are aligned to GPS second,

1 microsecond.

VCC_5 DC Power Input

This is the main power supply for the GPS

Engine board. Use a regulated 5V supply (±

5%) capable of supplying 180mA.

VAN T

DC voltage for an active antenna. This

voltage is not required for operation with a

passive antenna.

VCC_3 DC Power Input

RoyalTek also provides the 3.3 V version

GPS receiver. This is the main power supply

for the Engine board. Use a regulated 3.3V

supply (± 5%).

GND

GND provides the ground for the Engine

board. Connect all grounds.

TXA

This is the main transmit channel and is used

to output navigation and measurement data

to user written software.

TXB

Reserved.

RESET

This pin provides an active-low reset input to

the Engine board. It causes the board to reset

and start searching for satellites. PB Reset is

an optional input and, if not used, should be

tied high.

TIMEMARK

This pin provide s one pulse per second output from

the engine board which is synchronized to within one

microsecond of GPS time. The output is a TTL

Serial Data:RXA, RXB, TXA, and TXB

The GPS Engine board supports two full

duplicated serial channels. All four

connections are at TTL levels, and all

support variable baud rates. A TTL to RS232

conversion is necessary to directly

communicate with a PC serial port.

RXA

This is the main receiving channel and is

used to receive software commands to the

Engine board from user written software.

RXB

This is the auxiliary receive channel and is

used to input differential corrections to the

Engine board to DGPS navigation.

negative level signal with negative logic.

VBAT

This is the battery backup supply that

powers the SRAM and RTC when main

power is removed. Typical current draw is 10

uA. 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 be connected

or battery installed on board.

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Absolute maximum ratings

REB-2000/REB-2100

Parameter Symbol Unit Min. Value Max. Value

Supply voltage VCC_3 V -0.3 3.6

Input pin voltage V -0.3 VCC_3 + 0.3

Output pin voltage V -0.3 VCC_3 + 0.3

Output current mA ±25

RTC power VBAT V 1.5 3.6

REB-12R

Parameter Symbol Unit Min. Value Max. Value

Supply voltage VCC_5 V -0.3 6

RTC power VBAT V -0.3 3.6

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

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

GGA-Global Positioning System

Fixed Data

Table 2 contains the values of the following

following NMEA-0183 messages:GGA, GLL,

GSA, GSV, RMC and VTG.

NMEA Output Messages

The Engine board outputs the following

messages as shown in Table 1:

example: $GPGGA, 161229.487,

3723.2475, N, 12158.3416, W, 1,

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

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

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Age of Diff. Corr. second Null fields when DGPS is not used Diff. Ref. Station ID 0000 Checksum *18

＜CR＞＜LF＞

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

GLL-Geographic Position –

End of message termination

example:$GPGLL, 3723.2475, N,

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

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

GSA-GNSS DOP and Active Satellites

Table 4 contains the values of the following

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＞

Table 4-1 Mode 1

Value Description

1 Fix not available 2 2D 3 3D

End of message termination

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

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

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 GGA 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＞

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

Table 6 GGA 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＞

End of message termination

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 GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Table 7 contains the values of the following

VTG-Course Over Ground and

Ground Speed

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

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

0.13, N, 0.2, K*6E

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

Message Identifier consists of three

numeric characters . Input messages begin

at MID 100.

Message specific data. Refer to a specific

program or using SiRFdemo.exe and

selecting Switch to NMEA Protocol from the

Action menu. 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.

Carriage Return (CR) Line Feed (LF) which

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

not printable ASCII characters , they are

omitted from the example strings, but must

message section for <data>…<data>

definition

CKSUM is a two-hex character checksum

as defined in the NMEA specification . Use

of checksums is required on all input

messages.

Each message is terminated by using

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

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

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

Input coordinates must be WGS84.

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

Message Identifier

(MID)

104 Parameters required for start using Lat/Lon/Alt1

105 Development Data messages On/Off

extensive command message set is

available. When a valid message is received,

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

Description

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

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

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

and no parity.

LLA Navigation Initialization

This command is used to initialize the

module for a warm start, which provide

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

clock offset , and time .This enables the

Evaluation Unit to search for the correct

satellite signals at the correct signal

8,71

parameters . Correct initialization

parameters enable the Evaluation Unit to

acquire signals quickly.

Table 9 contains the input values for the

following example:Switch to SiRF Binary

protocol at 9600,8,N,1 $PSRF

101,-2686700,-4304200, 3851624, 95000,

497260, 921, 12, 3*22

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

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

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. $PSRF 102,9600,8,1,0*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

when the message is accepted.

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

be polled once, or setup for periodic output.

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

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:

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

3.Disable VTG message

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

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

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

parameters . Correct initialization

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

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 0x04 Clear Memory – Cold Start =1

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

Clock Offset of the Evaluation Unit1

user to determine the source of the

command rejection. Common reasons for

input command rejection are invalid

checksum of parameter out of specified

range.

Table 16 contains the input values for the

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

following examples:

1. Debug On $PSRF 105,1*3E

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

Calculating Checksums for NMEA

Input

The Checksum is the 8-bit exclusive OR of all

the characters after $ and before *. (Not

including $ and *)

2. Debug Off $PSRF 105,1*3F

to include:

● Reliable transport of messages

● Ease of implementation

● Efficient implementation

● Independence from payload

Protocol Layers Transport Message

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

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

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

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

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,

but operates independently. The byte count

Payload

Length

Two-bytes

(15-bits)

Payload

Up to 2

(<1023 )

10-1

Message Length

Message

Checksum

Two-bytes

(15-bits)

refers to the payload byte length. Likewise,

the check sum is a sum on the payload.

The message length is transmitted high

order byte first followed by the low byte.

High Byte Low Byte

<0x3F> 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

this maximum..

15-1

) bytes practical

End

Sequence

0xB0,

0xB3

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

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

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

<0x3F Any value

The check sum is 15-bit checksum of the

bytes in the payload data .The following

by the transport. Let msgLen be the number

of bytes in the message array to be

transmitted .

Index = first

checkSum = 0

while index < msgLen

checkSum = checkSum +message[index]

checkSum = checkSum AND(210-1)

Input Messages for SiRF Binary

Protocol

Note – All input messages are sent in

BINARY

pseudo code defines the algorithm used. Let

message to be the array of bytes to be sent

format

Table 17 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 0 x 88 136 Mode Control

0 x 89 137 DOP Mask Control 0 x 8A 138 DFPS Control 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

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)

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

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

track data Debug data enabled.

Example:

A0A20019-Start Sequence and Payload

Length

Table 18 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 19 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 Reserved (must be 0) 4 Enable raw track data (YES-1,NO=0) 5 Enable raw track data(TES=1,NO=0) 6 Reserved(must be 0) 7 Reserved (must be 0)

Bytes

Binary(Hex)

Scale Example

80FFD700F9FFBE5266003AC57A000124

F80083S600039C0C33- Payload

0A91B0B3-Message Checksum and End

Sequence

Units

following example:

Description

Note - If Raw Track Data is ENABLED

then the resulting messages are message

I.D. 0x05(ASCII 5-Raw Track Data),

message I.D. 0x08(ASCII 8-50 BPS data),

and message I.D.

0x90 (ASCII 144 Clock Status). All

messages are sent at 1 Hz.

Switch To NMEA Protocol – Message

I.D. 129

Table 20 contains the input values for the

Table 20 Switch To NMEA Protocol

Name

Message ID 1 81 ASCII 129 Mode 1 02 GGA Message1 1 01 1/s Checksum2 1 01

Bytes

Binary(Hex)

Scale Example

Request the following NMEA data at 9600

baud:

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

at 1 sec GSV – ON at 1 sec , RMC – 1 sec ,

VTG – 1 sec

Example:

A0A20018 – Start Sequence and Payload

Length

8102010100010501050100010001000100010

001000112C0 – Payload

0164B0B3 – Message Checksum and End

Sequence

Units

Description

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

GLL Message 1 00 1/s Checksum 1 01 BSA 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 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 Unused Field 1 00 Recommended value Unused Field 1 01 Recommended value Baud Rate 1 12C0 38400,19200,9600,4800,2400

Payload Length: 24bytes

(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

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

Example:

A0A20002 – Start Sequence and Payload

Length

8400 – Payload

0084B0B3 – Message Checksum and End

Sequence

an almanac to the Evaluation Unit

Note – This feature is not documented in

Table 21 Software Version

Name

Message ID 1 84 ASCII 132 TBD 1 00

Payload Length: 2 bytes

Bytes

Binary(Hex)

Scale Example

Units

Description

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Example:

Mode control – Message I.D .136

Table 22 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

Out = 20, Degraded Time Out = 5, DR

Time Out = 2, Track Smoothing = Yes

Table 22 Mode Control

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

Bytes

1 05 Seconds 0 to 120

Binary(Hex)

Scale Example

Units

A0A2000W – Start Sequence and Payload

Length

88010101010100000002140501 –

Payload

00A9B0B3 – Message Checksum and

End Sequence

Description

Table 23 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

DOP Mask Control – Message I.D. 137

Table 24 contains the input values for the

following example:

Auto Pdop/Hdop, Gdop =

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

Example:

A0A20005 – Start Sequence and Payload

Length

8900080808 – Payload

00A1B0B3 – Message Checksum and

End Sequence

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Table 24 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 25 DOP Selection

Byte Value Description

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

Bytes

DGPS Control – Message I.D.138

Table 26 contains the input values for the

following example:

Set DGPS to exclusive with a time out of

30 seconds.

Binary(Hex)

Scale Example

Units

Example:

A0A20003 – Start Sequence and Payload

Length

8A011E – Payload

00A9B0B3 – Message Checksum and

End Sequence

Description

Table 26 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 27 DGPS Selection

Byte Value Description

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

Elevation Mask – Message I.D.139

Table 28 contains the input values for the

following example:

Set Navigation Mask to 15.5 degrees

(Tracking Mask is defaulted to 5 degrees).

Bytes

Binary(Hex)

Scale Example

Units

Example:

A0A20005 – Start Sequence and Payload

Length

8B0032009B – Payload

0269B0B3 – Message Checksum and End

Sequence

Description

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Table 28 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

Bytes

Power Mask – Message I.D.140

Table 29 contains the input values for the

following example: Navigation mask to

33dBHz (tracking default value of 28)

Example:

A0A20003 – Start Sequence and Payload

Table 29 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

Editing Residual – Message I.D.141

Note – Not implemented currently

Example:

Steady State Detection – Message

I.D.142

Table 30 contains the input values for the

following example: Set Stead State

Threshold to 1.5 m/sec

Table 30 Steady Detection

Name Bytes

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

Payload: 2 bytes

Binary(Hex)

Scale Example

Units

A0A20002 – Start Sequence and Payload

Length

8E0F – Payload

009DB0B3 – Message Checksum and

End Sequence

Description

Static Navigation – Message I.D.144

Table 31 Steady State Detection

Name Bytes

Message ID 1 90 ASCII 144 TBD 1 00 Reserved

Payload Length:2 bytes

Binary(Hex)

Scale Example

Units

Description

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Example:

Set DGPS Serial Port – Message I.D

145

Table 32 contains the input values for the

following example:Set DGPS Serial port to

9600.n,8,1.

Table 32 Set DGPS Serial Port

Name Bytes

Message ID 1 91 ASCII 145 Baud 4 00002580 38400,19200,9600,4800,2400,1200 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

Binary(Hex)

Scale Example

Units

A0A20009-Start Sequence and Payload

Length

910000258008010000 – Payload

013FB0B3 – Message Checksum and End

Sequence

Description

A0A20002 – Start Sequence and Payload

Almanac – Message I.D.146

Table 33 contains the input values for the

following example:Poll for the Almanac.

Example:

Table 33 Almanac

Name Bytes

Message ID 1 92 ASCII 146 TBD 1 00 Reserved

Payload Length: 2 bytes

Binary(Hex)

Scale Example

Ephemeris Message I.D.147

Table 34 contains the input values for the

following example:Poll for Ephemeris Data

for all satellites.

Example:

A0A20003 – Start Sequence and Payload

Length

9200 – Payload

0092B0B3 – Message Checksum and End

Sequence

Units

Length

930000 – Payload

0092B0B3 – Message Checksum and End

Sequence

Description

Table 34 Almanac

Name Bytes

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

Payload Length:3 bytes

1 93 ASCII 147

Binary(Hex)

Scale Example

Units

Description

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

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 35 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 35 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

A0A20009—Start Sequence and Payload

Set Trickle Power Parameters -

Message I.D. 151

Table 36 contains the input values for the

following example: Sets the receiver into

low power Modes. Example: Set receiver

into Trickle Power at 1 hz update and 200

ms On Time.

Table 36 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

Length

97000000C8000000C8—Payload

0227B0B3—Message Checksum and End

Sequence

Units

Description

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Time, use the following formula:

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

Table 37 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

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

Time)) / Duty Cycle

Update rate = Off Time + On Time

Note –

default to 1000 ms

Following are some examples of

selections:

On Time inputs of > 900 ms will

See Table 38 for supported/unsupported settings.

Table 38 Trickle Power Mode Settings

(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)

N = No (Mode NOT supported)

1 2 3 4 5 6 7 8

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.

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,

Update Rate (second) On Time

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

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

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

seconds.

Poll Navigation Parameters -

Message I.D. 152

Table C-20 contains the input values for

the following example:

Table 39 Poll Receiver for Navigation Parameters

Name

Message ID 1 98 ASCII 152 Reserved 1 00

Payload length: 2 bytes

Bytes

Binary(Hex)

Scale Example

Example: Poll receiver for current

navigation parameters.

A0A20002—Start Sequence and Payload

Length

9800—Payload

0098B0B3—Message Checksum and End

Sequence

Units

Description

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 40 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 0x09 9 Throughput CPU load 0x0B 11 Command Acknowledgment Successful request

0x0C 12 Command N Acknowledgment Unsuccessful request 0X0D 13 Visible List

0x0E 14 Almanac Data 0x0F 15 Ephemeris Data 0xFF 255 Development Data Various data messages

Measure Navigation Data Out –

Message I.D.2

Output Rate: 1 Hz

Table 41 lists the binary and ASCII

message data format for the measured

navigation data

Example:

A0A20029 – Start Sequence and Payload

Length

02FFD6F78CFFBE869E003AC004000301

04A00036B039780E3

0612190E160F04000000000000 –

Payload

09BBB0B3 – Message Checksum, and

End Sequence

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Table 41 Measured Navigation Data Out – Binary & ASCII Message Data Format

Name Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

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 CH 11 1 00 0 CH 12 1 00 0

Payload Length :41 bytes

For further information , go to Table 42

Dilution of precision (DOP) field contains

Units

For further information , go to Table 43

Scale Example

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 42 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)

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

decimal Xvel = binary Xvel /8).

Description

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Table 43 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

Measured Tracker Data Out –

Message I.D.4

Output Rate: 1 Hz

Table 44 lists the binary and ASCII

message data format for the measured

tracker data.

Description

04036C0000937F0C0EAB46003F

1A1E1D1D191D1A1A1D1F1D594

F1A1A…. – Payload ****B0B3 –

Message Checksum and End

Sequence

Example:A0A200BC – Start Sequence

and Payload Length

Table 44 Measured Tracker Data Out

Name

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

Binary(Hex) ASCII(Decimal)

Scale Example

Units

Note – Message length is fixed to 188

Scale Example

For further information, go to Table 45.

bytes with non tracking channels reporting

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

zero values

Table 45 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

A0A20033 – Start Sequence and Payload

Raw Tracker Data Out – Message

I.D.5

Output Rate:1 Hz

Table 46 lists the binary and ASCII

message data format for the raw tracker

data .

Example:

Length

05000000070013003F00EA1BD4000D03

9200009783000DF45E000105B5FF90F5

C20000242827272327242427290500000

0070013003F – Payload

0B2DB0B3 – Message Checksum and

End Sequence

Table 46 Raw Tracker Data Out

Name

Message ID 1 05 5 Channel 4 00000007 7 SVID 2 0013 19 State 2 003F Bitmap1 63 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 FF90F5C2 Cycles 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 Count Phase Loss Count

Bytes

1 05 5

1 00000007 7

Binary(Hex) ASCII(Decimal)

Scale Example

-16 00009783 Chip

-10 000DF45E Rad/2ms

Units

Scale Example

-16

-10

38787

914526

-7277118

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Integration Interval Track Loop Iteration

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

1.For further information,go to Table 45

2.Multiply by (1000÷4π)÷2

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

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

Chip Number: Current C/A code symbol being transmitted (range 0 to 1023 chips;1023

Code Phase: Fractional chip of the C/A code symbol at the time of sampling(scaled by

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

Receiver Time Tag: This is the count of the millisecond interrupts from the start of the receiver

Delta Carrier Phase: The difference between the carrier phase(current) and the carrier

Search Count: This is the number of times the tracking software has completed full satellite

C/No: Ten measurements of carrier to noise ratio(C/No) values in dBHZ at input to

Power Loss Count: The number of times the power detectors fell below the threshold between the

Phase Loss Count: The number of time the phase lock fell below the threshold between the

Integration Interval: The time in ms for carrier phase accumulation . This is the time difference (as

Track Loop Iteration: The tracking Loops are run at 2 ms and 10 ms intervals. Extrapolation values

2 0013 Ms 19

2 003F 63

to convert to Hz.

50 bps rate.

between bits)

chips=1 ms).

-16

,=1/65536)

loops.

(power on) until the measurement sample is taken. The ms interrupts are generated by the receiver clock.

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.

signal searche.s

the receiver.Each value represents 100 ms of tracker data and its sampling time is not necessarily in sync with the code phase measurement.

present code phase sample and the previous code phase sample. This task is performed every 20 ms (max count is 50).

calculated by the user clock) between the Carrier Phase(current) and the Carrier Phase(previous).

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

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

data and carrier data for each measurement

epoch.

1. Computation of initial Receiver

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

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.

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

Table 47 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

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

0598B0B3 – Message Checksum and End Sequence

Table 48 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)

Bytes

4 DAEF ms 349493999

Binary(Hex) ASCII(Decimal)

Scale Example

Units

Scale Example

08******** - Payload

****B0B3 – Message Checksum and End

Sequence

Example:A0A2002B – Start Sequence and

Payload Length

Table 49 Clock Status Data Message

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

Payload Length:43 bytes per subframe

(6subframes per page, 25 pages

Almanac)

Note – Data is logged in ICD format

(available from www.navcen.uscg.mail)

Binary(Hex) ASCII(Decimal)

Scale Example

Units

Scale Example

CPU Throughput – Message I.D.9

Output Rate:1 Hz

Example:A0A20009 – Start Sequence and

Payload Length

09003B0011001601E5 – Payload

0151B0B3 – Message Checksum and End

Sequence

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Table 50 CPU Throughput

Binary(Hex) ASCII(Decimal)

Name Bytes 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

Scale Example

Command Acknowledgment –

Message I.D.11

Output Rate: Response to successful

input message

This is successful almanac (message ID

Units

Scale Example

0x92)request example:

A0A20002 – Start Sequence and

Payload Length

0B92 – Payload

009DB0B3 – Message Checksum and

End Sequence

Table 51 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 52 Command N Acknowledgment

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

Payload Length:2 bytes

Bytes

Scale Example

Binary(Hex) ASCII(Decimal)

Scale Example

Binary(Hex) ASCII(Decimal)

Units

Scale Example

ID 0x92) request example:

A0A20002 – Start Sequence and Payload

Length

0C92 – Payload

009EB0B3 – Message Checksum and

End Sequence

Scale Example

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 53), Maximum is 12 satellites

Example:A0A2002A – Start Sequence and

Payload Length

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

****** - Payload

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

****B0B3 – Message Checksum and End Sequence

Table 53 Visible List

Binary(Hex) ASCII(Decimal)

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 CH 2 –Sv I.D 1 09 9 CH 2 –Sv Azimuth 2 0133 Degrees 307 CH 2 –Sv Elevation ……

Payload Length:62 bytes(maximum)

Bytes

Scale Example

2 0038 Degrees 56

2 002C Degrees 44

Almanac Data – Message I.D.14

Output Rate:Response to poll

Example :A0A203A1 – Start Sequence

Units

Scale Example

and Payload Length

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

****B0B3 – Message

checksum and End Sequence

Table 54 Visible List

Name

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

Payload Length: 929 bytes(maximum)

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

Bytes

Binary(Hex) ASCII(Decimal)

Scale Example

Units

Scale Example

Development Data – Message I.D.255

Output Rate: Receiver generated

Example :A0A2**** - Start Sequence

and Payload Length

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

****B0B3 – Message Checksum and End

Inc.

Sequence

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

Table 55 Visible List

Name Bytes

Message ID 1 FF 255

Payload Length:Variable

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

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

and are not necessarily output at constant

intervals.

RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual

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 - 3580050

Factory



Add : No. 40-10 San Chi Road , Wu Chieh Hsiang

I Lan Hsien , Taiwan , R.O.C.

Tel : 886 – 3 – 9605959

Fax : 886 – 3 – 9605151

Web Site : www.royaltek.com



Customer Service mail : sales@royaltek.com



RoyalTek REV-2000 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual