RFG-1000
GPS Receiver
User Manual
RFG-1000 Ver1.5,
Jan/21/03’
1
Contents
WHAT IS RFG-1000 ?.............................................................................................................3
RFG-1000 ARCHITECTURE................................................................................................. 3
WHAT IS INSIDE ?.................................................................................................................4
WHAT IS GPS ?.......................................................................................................................4
WHAT’S INSIDE THE PACKAGE?.....................................................................................4
START-UP FOR RFG-1000( RS-232 & USB)?.....................................................................6
START-UP FOR RFG-1000( PDA)? ......................................................................................7
USB DRIVER INSTALLATION FOR WINDOWS OPERATION SYSTEM?................8
USB DRIVER UN-INSTALLATION FOR WINDOWS OPERATION SYSTEM?.........9
ROYALTEK GPS DRIVER INSTALLATION( PC AND PDA VERSION) ....................10
ROYALTEK GPS DRIVER OPERATION(FOR PDA VERSION).................................. 11
ROYALTEK GPS DRIVER USER GUIDE(PC VERSION).............................................13
HOW TO TEST RFG-1000(PDA VERSION ONLY)......................................................... 15
HOW TO TEST RFG-1000(PC VERSION ONLY)............................................................17
ROYALTEK GPS DRIVER UN-INSTALLATION (FOR PDA VERSION)....................18
ROYALTEK GPS DRIVER UN-INSTALLATION (FOR PC VERSION) ......................18
SPECIFICATIONS ................................................................................................................19
SOFTWARE DATA................................................................................................................ 21
TROUBLESHOOTING.........................................................................................................25
APPENDIX : CONNECTOR INTERFACE........................................................................26
LIMITED WARRANTY........................................................................................................ 27
2
What is RFG-1000 ?
RFG-1000 introduces a First GPS module in G-mouse type.
The RFG-1000 provides a GPS measurement platform that performs the
processor-intensive GPS tracking and processing tasks and FirstGPS software. It
enables the host CPU–based software to calculate the actual position, velocity and
time (PVT) solutions at its own pace, without burdening the other applications
running on the device.
RFG-1000 Architecture
Navigation Program
RFG-1000
ROYALTEK GPS
NMEA Output
GPS port
3
What Is Inside ?
Before you start up, make sure that your package includes the following items. If any
items are missing or damaged, contact RoyalTek immediately. Please refer to the
contact information on the last page of this manual.
◆GPS Receiver ◆ Cable(RS-232 , USB, or PDA adaptor)
◆RFG-1000 install CD Disc
What Is GPS ?
In 1974 the USA Department of Defense set about developing a Global Positioning
System (GPS), a constellation of 24 satellites that Orbits 12,000 miles above the Earth.
Using triangulation of signals from four of the satellites, a receiving unit on earth can
pinpoint its current location to within a few meters. A GPS device receive the data,
then convert the longitude, latitude, and altitude (LLA) data into a location point.
Position and navigation information is vital to a wide range of professional and
recreational activities covering surveying, search and rescue, tracking, hiking,
navigating, and so forth.
What’s Inside the Package?
Before you start up, make sure your package includes the following items. If any item
is missing or damaged, contact your dealer immediately. Please refer to the contact
information on the last page of this manual.
◆ GPS Receiver ◆ Application CD
◆ Cable for RS232 , USB , or PDA adaptor(depending on what you buy
)
4
RFG-1000
IPAQ
36xx/37xx/38xx
Series
HP Jornada 565
RS-232/PS2 USB
Car cigarette adaptor
12V
5
Start-Up for RFG-1000( RS-232 & USB)?
Getting Started
Step 1: Plug-in RS-232 or USB cable to your laptop or desktop PC.
Step 2:Install USB driver if you use USB cable to connect RFG-1000 to your PC.(for
detail , please go to USB driver installation for Windows Operation System
Step 3:Install & run RoyalTek GPS Driver program.(for detail, please refer
RS-232
PS2
)
RoyalTek GPS Driver installation and RoyalTek GPS Driver operation )
Step 4:Choose the correct COM port and baud rate (4800bps) for map or navigation
software.
Notice:
(1) For safety reason, please do not install RFG-1000 while driving.
(2) The formats of NMEA messages are illustrated on Software Data section.
(3) It is strongly recommend that user doesn’t plug and unplug this connector
frequently.
6
Start-Up for RFG-1000( PDA)?
Getting Started
Step 1: Plug-in PDA connector to your PDA.
Step 2: Connect the car cigarette adaptor to your car.
Step 3 Run RoyalTek GPS Driver program.(for detail, please refer RoyalTek GPS
Driver installation and RoyalTek GPS Driver operation )
Step 4:Choose the correct COM port and baud rate (4800bps) for map or navigation
software.
7
USB Driver Installation for Windows Operation
System?
Getting Started
Step 1:Plug USB connector to USB port of your laptop or desktop PC.
Step 2: After plugging in RFG-1000, it will automatically detect hardware .
Step 3: Insert RFG-1000 CD, system will automatically search and find the correct
USB driver.
Caution: During USB driver installation, a message box “Driver is not certificated
Step 4:Please go to Control Panel>System>Universal Serial Bus Controllers to check
by Microsoft” may pop-up. Please crick “Continue” to continue the USB
driver installation.
USB driver is successfully installed or not!
Step5. You can check COM port number of RFG-1000 from System properties now.
The default COM port is COM3 in this example.
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Step 6:Place RFG-1000 on the roof of your vehicle with magnetic base.
Step 7:Choose the correct COM port and baud rate (4800bps) for map or navigation
software.
Caution: Sometimes, USB driver can’t work properly after recovering from
power-saving mode. To solve this problem, please restart your PC and disable
power-saving function.
USB Driver Un-Installation for Windows
Operation System?
To completely remove the USB-driver , please run “DRemover98_2K.exe” in
RFG-1000 CD.
9
RoyalTek GPS Driver Installation( PC and PDA
version)
1. The RFG-1000 Installation CD provides the whole set of the RoyalTek GPS
Driver installation for PC and PDA. If you want to install RoyalTek
GPS Driver on PDA, you should check the following items:
(1) Install Microsoft ActiveSync to your PC. Refer to your Pocket PC
manual for installation procedure.
(2) Setup your PDA cradle to Desktop PC UART port . Microsoft
ActiveSync will detect your Pocket PC automatically.
2. Insert the RFG-1000 Install CD to your PC’s CD-ROM, the installation
program will execute automatically. If the installation program does not
start-up automatically, you can run the setup.exe file at the CD content.
3. You should choose the type of driver that you need to install, if you just need
to install this driver to Pocket PC then you can choose Pocket PC item.
If you need to install the driver to PC then you should choose PC item,
then click the setup icon for running installation.
10
RoyalTek GPS Driver Operation(for PDA
version)
1. RFG-1000 needs RoyalTek GPS Driver program running at your PDA to
process the signal received from the RFG-1000.
2. Once you install the RoyalTek GPS Driver, the RoyalTek GPS Driver
program will add to your computer “Startup” directory. In manual mode, if
you want to run RoyalTek GPS Driver, you can run “RoyalTek GPS
Driver.exe” which is located at Windows\Start Menu\Programs
Main screen of RoyalTek GPS
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Minimize
Operation mode
Satellite Status
Satellite Status:
Green : RFG-1000 fixed the satellites and got its position(2D or 3D)
Red : Searching the satellite signal
GPS(NMEA) OUTPUT: COM port which is assigned to your map or navigation
software. For this example, you should select COM5 .
Operation Mode:
Plug and Play : RoyalTek GPS Driver will detect RFG-1000 automatically.
Manual Mode :RoyalTek GPS Driver will be executed by user manually. If user
unplug RFG-1000 , program will quit . When user plugs RFG-1000 ,RoyalTek
GPS Driver will NOT be executed automatically. User needs to execute RoyalTek
GPS Driver manually.
X: Minimize the RoyalTek GPS Driver program.
12
RoyalTek GPS Driver User Guide(PC version)
This version provides the RoyalTek GPS Driver program that make the RFG-1000
working at PC.
Hardware Status:
Display the hardware status, which is one of the following conditions:
1) RoyalTek USB Cable GPS: RFG-1000 with USB interface.
2) Royaltek serial cable device: RFG-1000 with RS-232 interface
3) No hardware detected.
GPS(NMEA) Output:
GPS Port. You should assign this COM port for map or navigation software.
Satellite status:
Display the RFG-1000 status, which is one of the following conditions:
1) Green: Show green color when the program is running., and the position is
fixed.(2D or 3D)
2) Red: Show red color when the program is running, but the position is not fixed.
3) Grey: Show gray icon when the program is not running.
Running Time:
Display GPS running time from power on.
13
Connection Settings
Connection Settings:
Connection SettingsConnection Settings
Enable/Disable COM port
check
In this page, firmware version
and built date were displayed
here.
14
How to test RFG-1000(PDA version only)
1. Once you start RoyalTek RFG Monitor, the
RoyalTek GPS Driver will be activated
automatically.
2. Execute RoyalTek RFG Monitor by double
clicking the RoyalTek RFG Monitor Icon
as shown .
3. Please choose the COM port specified by RoyalTek GPS Driver.
“Function” scroll bar:
1) About: Display the version of driver
2) Cold start: Initialize a cold start
3) Warm start: Initialize a warm start
4) Hot start: Initialize a hot start.
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The baud rate of the RFG-1000 was defaulted as 4800 bps. RFG-1000 only work
at the StrongArm CPU Pocket PC, so if your Pocket PC CPU is not this type
then RFG-1000 cannot be activated.
4. If everything is OK, it will show the position information and satellite’s
constellation.
5. If you want to cold start the GPS receiver, select “Cold Start” from the “Function”
menu and click “Action” icon, the system will clear the RFG-1000 module data and
initialize a cold start on GPS receiver.
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How to test RFG-1000(PC version only)
1. Once you start RoyalTek RFG Monitor, the RoyalTek GPS Driver will be
activated automatically.
2. To execute RoyalTek RFG Monitor, please Go to Start
up>Program>Royaltek>RFG-1000>RoyalTek RFG Monitor by double clicking
the RoyalTek RFG Monitor.
3. Please choose the COM port specified by RoyalTek GPS Driver.
“Function” scroll bar:
5) About: Display the version of driver
6) Cold start: Initialize a cold start
7) Warm start: Initialize a warm start
8) Hot start: Initialize a hot start.
The baud rate of the RFG-1000 was defaulted as 4800 bps. RFG-1000
only work at the StrongArm CPU Pocket PC, so if your Pocket PC
CPU is not this type then RFG-1000 cannot be activated.
4. If everything is OK, it will show the position information and satellite’s
constellation.
5. If you want to cold start the GPS receiver, select “Cold Start” from the “Function”
menu and click “Action” icon, the system will clear the RFG-1000 module data and
initialize a cold start on GPS receiver.
17
RoyalTek GPS Driver Un-Installation (for PDA
version)
Go to Start->Setting->System and select “Royaltek GPS Driver” for un-installation.
RoyalTek GPS Driver Un-Installation (for PC
version)
1. Quit RoyalTek GPS Driver program.
2. Go to Control panel>Remove & Install Program
3. Choose “Royaltek GPS Driver” for Win98,Me,2000 or XP
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Specifications
Physical characteristics
Dimension: 50±0.3(length) X 57 ±0.3(width) X 15.5 ±0.3(height)
Weight 25 grams
Temperature characteristics
Storage temperature: -40℃ ~ +85℃.
Operating temperature: -40℃ ~ +85℃.
General
Channels 8 channels
L1 1575.42 MHz.
C／A code 1.023MHz chip rate.
Accuracy
Position accuracy：25m, CEP without SA(50%).
Velocity accuracy：0.1 meter / second without SA
Datum
WGS-84.
Position update rate
Once per second.
Dynamic conditions
Altitude ：18000 meters (60000 feet) max.
Velocity ：514 meters / second max.
Jerk ：20 meters / second3, max.
Acceleration ：4 G, max.
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Power
PS2/USB input power: DC 5V ± 5 %, 25mA, typical
Car cigarette power adaptor: +9V ~ +16V.
Certification
FCC/CE compliant
Waterproof standard
IEC 68-2-18 test Ra1
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Software Data
NMEA V2.2 Protocol
It is the RS-232 interface：4800 bps, 8 bit data, 1 stop bit and no parity.
NMEA Output Messages
The Sapphire outputs the following messages as shown in Table 1：
TABLE 1 NMEA OUTPUT MESSAGES
NMEA Record Description
GGA Global positioning system fixed data
GSA GNSS DOP and active satellites
GSV GNSS satellites in view
RMC Recommended minimum specific GNSS data
GGA－－－－Global Positioning System Fixed Data
Table 2 contains the values of the following 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 5-1
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
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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
GSA－－－－GNSS DOP and Active Satellites
Table 3 contains the values of the following example：
$GPGSA, A, 3, 07, 02, 26, 27, 09, 04, 15, , , , , , 1.8,1.0,1.5*33
TABLE 3 GSA DATA FORMAT
Name Example Units Description
Message ID $GPGSA GSA protocol header
Mode 1 A See Table 3-2
Mode 2 3 See Table 3-1
Satellite Used1 07 Sv on Channel 1
Satellite Used1 02 Sv on Channel 2
…. ….
Satellite Used1 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
22
Table 3-1 Mode 1
Value Description
1 Fix not available
2 2D
3 3D
TABLE 3-2 MODE 2
Value Description
M
A
Manual－forced to operate in 2D or 3D mode
Automatic－allowed to automatically switch 2D/3D
GSV－－－－GNSS Satellites in View
Table 4 contains the values of the following example：
$GPGSV, 2, 1, 07, 07, 79, 048, 42, 02, 51, 062, 43, 26, 36, 256, 42, 27, 27, 138,
42*71
TABLE 4 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＞
End of message termination
23
RMC－－－－Recommended Minimum Specific GNSS Data
Table 5 contains the values of the following example： $GPRMC, 161229.487, A,
3723.2475, N, 12158.3416, W, 0.13, 309.62, 120598, ,*10
TABLE 5 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＞
End of message termination
24
Troubleshooting
Problem Reason Solution
No position
output but
timer is
counting
Execute Fail Wrong Pocket PC Type RFG-1000 support Pocket PC(iPaq 3600 series)
COM port
Can’t Find
GPS Module
PC can’t
detect
RFG-1000 via
USB cable.
At outdoor space but GPS signal is
blocked by buildings
Some other application is using the
COM port.
PDA Low Battery Using AC/DC charge for recharge
Poor connection Check the RFG-1000 is inserted correctly.
Sometimes, PC will detect
RFG-1000 as ballpoint or serial
mouse when you plugged in
RFG-1000.
Go outdoors where you can see clear sky and
press Reset Button to try again,
and Pocket PC 2002 with StrongArm type of
CPU. Make sure your Pocket PC is this type
Reset the Pocket PC. Can’t Open
1. First, disconnect RFG-1000 with your PC.
2. Plug-in the USB cable only to PC.
3. Connect USB cable with RFG-1000 core
module.
No GPS
signal output
No action for few minutes may
cause Pocket PC entering power
saving mode. It will close the
COM port at the same time.
The RoyalTek GPS Driver did not
run
Close the application and execute it again to
reopen the COM port.
Check if the RoyalTek GPS Driver is in
“Running” status
Note
Please don’t expose the unit under the sun for long period of time.
Please don’t leave the unit in the vehicle while not using.
Before installing RoyalTek GPS Driver (ver2.3) ,please be sure to remove
RoyalTek GPS Driver(Ver2.1) completely.
Please perform Cold start if last fixed position is more than 500km away
from the present position.
Please adjust your PDA system time to correct local time to achieve better
GPS performance. Incorrect PDA system time may cause poor TTFF(Time
To First Fix).
25
Appendix : Connector Interface
9 pin D-SUB
Pin NO Signal
I/O Description Characteristics
Name
1 No connect
2 TX O Serial Data Output High: -3V ~ -15V
Low: +3V ~ +15V
3 RX I Serial Data Input High: -3V ~ -15V
Low: +3V ~ +15V
4 No connect
5 GND G Ground
6 No connect
7 No connect
8 No connect
9 No connect
6 pin mini din
Pin NO Signal
Name
1 No connect
2 No connect
3 GND G Ground
4 VCC I +5V DC Power
5 No connect
6 No connect
I/O Description Characteristics
DC +5V ± 10%.
Input
15
234
69
78
2
4
6
1
3
5
USB A Type Connector
Pin NO Signal
Description Characteristics
Name I/O
1 GND - Ground Ground
2 D+ I/O Data plus Data plus
3 D- I/O Data Minus Data Minus
4 VCC + +5V DC Power
Input
+5V DC Power
Input
26
Limited Warranty
Distributor for RFG-1000 grants a warranty for this product for one year starting from
the date of purchasing of the product. Please retain the sales receipt as proof of
purchase. During the warranty period, the product is eligible for replacement in case
of defects in material and workmanship. In such case, the defective unit will be
repaired or replaced according to an assessment by Manufacturer. However this
warranty does not cover damages caused by improper use or from unauthorized
modifications by third parties. In addition, this warranty does not cover expendable
materials and defects, which constitute as normal wear or tear. Please contact us as
following:
27
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