Operational Manual
RGM-3000/REB-3000
Operational Manual
Version 1.3
2002/5/29
This document contains information highly confidential to RoyalTek Company LTD (RoyalTek). It
is provided for the sole purpose of the business discussions between supplier and RoyalTek and
is covered under the terms of the applicable Non-Disclosure Agreements. Disclosure of this
information to other parties is prohibited without the written consent of RoyalTek.
Prepared by
RoyalTek Company LTD.
A Company of Royal Group
1071, Chung Cheng Rd., Suite 9F-1
Tao Yuan City, Taiwan, R.O.C.
TEL: 886-3-3569666
FAX: 886-3-3560900
E-Mail: sales@royaltek.com
http://www.royaltek.com
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
1
RoyalTek GPS Module: RGM-3000/REB-3000101 Operational Manual
I
NTRODUCTION
.........................................................................................................................................1
P
RODUCT FEATURES
................................................................................................................................1
P
RODUCT APPLICATIONS
...........................................................................................................................1
T
ECHNIQUE DESCRIPTION
..........................................................................................................................1
P
ICTURE
..................................................................................................................................................2
RGM-3000E.......................................................................................................................................2
RGM-3000L.......................................................................................................................................2
RGM-3000M ......................................................................................................................................2
REB-3000..........................................................................................................................................3
RGM-3000/REB-3000 S
ERIES SYSTEM BLOCK DIAGRAM
..........................................................................3
T
ECHNIQUE SPECIFICATIONS
......................................................................................................................5
RGM-3000/REB-3000 Mechanical Layout.........................................................................................6
H
ARDWARE INTERFACE
.............................................................................................................................9
A
BSOLUTE MAXIMUM RATINGS
..................................................................................................................10
C
RITICAL DESIGN GUIDE AND DIAGRAM
......................................................................................................10
D
ESIGN LAYOUT DIAGRAM
...................................................................................................................... 11
NMEA V2.2 P
ROTOCOL
.........................................................................................................................12
GGA-Global Positioning System Fixed Data....................................................................................13
GLL-Geographic Position – Latitude/Longitude ...............................................................................13
GSA-GNSS DOP and Active Satellites............................................................................................13
GSV-GNSS Satellites in View..........................................................................................................14
RMC-Recommended Minimum Specific GNSS Data.......................................................................14
VTG-Course Over Ground and Ground Speed................................................................................15
SIRF P
ROPRIETARY
NMEA I
NPUT MESSAGES
..........................................................................................15
SIRF NMEA Input Messages...........................................................................................................16
Set Serial Port..................................................................................................................................16
Set DGPS Port.................................................................................................................................17
Query/Rate Control..........................................................................................................................17
LLA Navigation Initialization.............................................................................................................18
Development Data On/Off................................................................................................................19
Calculating Checksums for NMEA Input..........................................................................................19
SIRF B
INARY PROTOCOL
........................................................................................................................19
Initialize Data Source-Message I.D. 128..........................................................................................21
Switch To NMEA Protocol – Message I.D. 129................................................................................22
Set Almanac- Message I.D. 130 ......................................................................................................22
DGPS Source – Message I.D. 133 ..................................................................................................23
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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Set Main Serial Port-Message I.D. 134............................................................................................24
Mode control – Message I.D .136....................................................................................................24
DOP Mask Control – Message I.D. 137...........................................................................................25
DGPS Control – Message I.D.138...................................................................................................25
Elevation Mask – Message I.D.139..................................................................................................26
Power Mask – Message I.D.140......................................................................................................26
Editing Residual – Message I.D.141................................................................................................27
Steady State Detection – Message I.D.142.....................................................................................27
Static Navigation – Message I.D.144...............................................................................................27
Almanac – Message I.D.146............................................................................................................27
Ephemeris Message I.D.147............................................................................................................28
Switch To SiRF Protocol ..................................................................................................................28
Switch Operating Modes - Message I.D. 150...................................................................................28
Set Trickle Power Parameters - Message I.D. 151 ..........................................................................28
Computation of Duty Cycle and On Time.........................................................................................29
Push-to-Fix ......................................................................................................................................30
Poll Navigation Parameters - Message I.D. 152 ..............................................................................30
Set UART Configuration - Message I.D. 165...................................................................................30
Set Message Rate - Message I.D. 166............................................................................................31
Low Power Acquisition Parameters - Message I.D. 167..................................................................32
O
UTPUT MESSAGES FOR SI
RF B
INARY PROTOCOL
...................................................................................32
Measured Tracker Data Out – Message I.D.4..................................................................................34
Raw Tracker Data Out – Message I.D.5..........................................................................................35
Calculation of Pseudo-Range Measurements..................................................................................37
Response :Software Version String – Message I.D.6....................................................................37
Response :Clock Status Data – Message I.D.7 ............................................................................38
50BPS Data – Message I.D.8..........................................................................................................38
CPU Throughput – Message I.D.9...................................................................................................39
Command Acknowledgment – Message I.D.11 ...............................................................................39
Command N Acknowledgment – Message I.D. 12...........................................................................39
Visible List – Message I.D.13...........................................................................................................40
Almanac Data – Message I.D.14 .....................................................................................................40
OkToSend - Message I.D. 18...........................................................................................................40
Navigation Parameters (Response to Poll) – Message I.D. 19........................................................41
Navigation Library Measurement Data - Message I.D. 28 ...............................................................42
Navigation Library DGPS Data - Message I.D. 29...........................................................................42
Navigation Library SV State Data - Message I.D. 30.......................................................................43
Navigation Library Initialization Data - Message I.D. 31...................................................................43
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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RoyalTek Navigation Data – Message I.D.100.................................................................................44
Set Ephemeris – Message I.D.254 ..................................................................................................45
Development Data – Message I.D.255............................................................................................45
GPS Receiver User’s Tip.................................................................................................................46
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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RoyualTek GPS Module:
RGM-3000/REB-3000
Operational Manual
Introduction
RGM-3000/REB-3000 is the third generation of
RoyalTek GPS Receiver. RGM-3000(E,M)
consists of active antenna and GPS receiver.
REB-3000(or RGM-3000L) consists of GPS
receiver without active antenna. The GPS
receiver is powered by SiRF Star II technology
and RoyalTek proprietary navigation algorithm
that providing you more stable navigation data.
The miniature design is the best choice to be
embedded in a portable device like PDA,
mobile phone, person locator and vehicle
locator. It supports TricklePower function which
can be enabled by external command for
power saving. The excellent sensitivity of
RGM-3000 gets the great performance when
going though the urban canyon and foliage.
Product Features
RGM-3000/REB-3000
OEM product development is fully
supported through applications
engineering and WEB technique
forum.
Small form factor.
12 parallel channels
0.1 second re-acquisition time.
Enhanced algorithm for navigation stability.
NMEA-0183 compliant protocol/custom
protocol.
WAAS demodulator
Excellent sensitive for urban canyon and
foliage environments.
Single satellite positioning.
Dual multi path rejection.
Data-log capability – At least 1 Mega-bits
memory space will be implement in the
product
Product applications
RGM-3000/REB-3000
Portable IA device for personal navigation/
position commerce (P-Commerce)
Automotive applications
Personal positioning and navigation
Marine navigation
Timing application
Extendable I/O capability –
provide programming I/O function and
development tool kit for customer
Technique description
RGM-3000M, RGM-3000E
General information. The RGM-3000 is a
stamp size GPS receiver with an active
antenna. It provides the antenna power
through RF cable. The default DC input of
active antenna is 2.8 ~3.3V. Since it needs 3
satellites or more to do the first position fix.
The suitable view angle of the active antenna
is necessary. It will determine the first time
position update after getting good satellites
geometry. If the satellites are blocked, it may
take time to determine the position. Caution:
Please do not put any metal stuff on the
antenna. It results in GPS receiver getting
nothing. In urban canyon, the fast 0.1 second
re-acquisition capability can make it determine
the position right away through the
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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cross-intersection.
REB-3000,RGM-3000L
General Information. This is a stamp size GPS
receiver without active antenna. It provides the
external antenna power (2.8DCV ± 5%)
through RF cable. There are 2 models for
versatile antenna connectors:
1) RGM-3000L: with SMA RF cable.
3) REB-3000: with HRS type of antenna
connector (male) which you can connect to
versatile types of antenna.
Picture
RGM-3000E
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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RGM-3000L
RGM-3000M
The cable length can be adjusted by
customer’s requirement (standard:10cm)
SMA connector
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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REB-3000
RGM-3000/REB-3000 Series System Block Diagram
The RGM-3000/REB-3000 series consists of SiRF star II chipsets technology, RoyalTek LNA and
proprietary software. The system is described as follows.
RGM-3000M/RGM-3000E
LNA
SIRF
GRF2I
SAW
Filter
SiRF
GSP2e
Patch ANT
Flash
Memory
RS232 port (TTL) x 2
Programming I/O port x 7
Control line x 4
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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RGM-3000L/REB-3000
LNA
SIRF
GRF2I
SAW
Filter
SiRF
GSP2e
Flash
Memory
RS232 port (TTL) x 2
Programming I/O port x 7
Control line x 4
GPS.receiver w/o patch
ANT.
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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Technique specifications
RGM-3000/REB-3000 series.
Operational Characteristics.
12 Channels
L1, 1575.42MHz.
C / A code, 1.023MHz chip rate.
Snap start: 3 seconds, typical
Hot start: 8 seconds, typical
Warm start: 40 seconds, typical
Cold start: 48 seconds, typical
Reacquisition:0.1 second, typical
Navigation update rate: Once per second.
Datum: WGS-84.
(The above specification is for standard
version software . The specification for ES
version of software may vary.)
Accuracy.
Position accuracy: 25m CEP without SA
Velocity accuracy:0.1 meters/second
without SA
DGPS Accuracy.
Position:1 to 5 m, typical
Velocity: 0.05 meters/second, typical
Dynamics.
Altitude: 18000 meters (60000 feet) Max.
Velocity: 515 meters / second Max.
Acceleration: 4 g. , Max.
Power Requirements.
The input voltage is 3.3V±10%, ripple ≦
200mV. The power of active antenna is
supplied by RGM-3000/REB-3000 series.
The full run (without trickle power)
maximum current is less than 180mA.
Weight. 30g(RGM-3000),15g(REB-3000)
Environment.
Temperature.
Operating temperature -40 ~ +85 Degree
(Celsius).
Storage temperature: -40 ~ +85 Degree
(Celsius).
Humidity ≦95% noncondensing.
GPS Antenna Specification(RGM-3000E,
RGM-3000M)
Center Frequency: 1575.42±1.023MHz
Bandwidth (-10dB return loss):9MHz min
Gain at Zenith: 3.0dBi Typ
Gain at 10° elevation :-1.0 dBi Typ
Polarization :R.H.C.P
Axial Ratio : 2.0dB max
LNA Specification:(External ANT for
RGM-3000E )
Center Frequency: 1575.42±1.023MHz
Gain : 12dB Typ
Noise Figure : 1.8dB Typ
Out Band Attenuation : 7dB min for ±20MHz
20dB min for ±50MHz
30dB min for ±100MHz
Output V.S.W.R 2.0dB max
Voltage DC 2.8.0±0.5V
Current 12mA max
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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Mechanical Layout
RGM-3000/REB-3000 Mechanical Layout
RGM-3000E
RGM-3000L
Pin 1
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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RGM-3000M
REB-3000
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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Flexible Flat Circuit & Connectot
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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Hardware interface
RGM-3000/REB-3000.
Pin
NO
Name I/O Description Characteristic
1 VCC System Power DC 3.3V ± 10%
2 VCC System Power DC 3.3V ± 10%
3 TXA O Navigation Data Output
TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
4 RXA I Serial Data Input
TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC
5 TXB O Reserved
TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
6 RXB I RTCM 104 Differential
GPS Input
TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC
7 TIMEMARK O 1 Pulse per second time
mark Output
Vil≦0.2V，Pulse Width≧10ms
8 RESET I
System Reset ， Active
Low
Vil≦0.2V，Pulse Width≧1ms
9 BOOTSEL I
Internal boot，Active High TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC
10 WAKEUP I Active low wakeup from
the RTC
TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
11 VBAT External Backup Power
Input
2.1V≦ Vbat ≦3.6V
12 RESERVED
13 GPIO3 I/O General Purpose I/O Pin
TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
14 GPIO5 I/O General Purpose I/O Pin
TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
15 GPIO6 I/O General Purpose I/O Pin
TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
16 GPIO7 I/O General Purpose I/O Pin
TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
17 GPIO10 I/O General Purpose I/O Pin
TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
18 GPIO13 I/O General Purpose I/O Pin
TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
19 GPIO15 I/O General Purpose I/O Pin
TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
20 GND System GND
21 GND System GND
22 GND System GND
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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VCC DC Power Input
This is the main power supply for the Engine
board. The power range is from 3.3V±10%,
ripple ≤ 200mV. The maximum current of
RGM-3000 is ≤ 200mA.
GND
GND provides the ground for the Engine
board. Connect all grounds.
VBAT
This is the battery backup supply that
powers the SRAM and RTC when main
power is removed. The input voltage level is
from 2.1V~3.6V. Max current draw is 10 uA
at 3.3volt. Without an external backup
battery or on board battery, engine board will
execute a cold start after every turn on. To
achieve the faster start-up offered by a hot
or warm start, either a backup battery must
be connected or battery installed on board.
TXA
This is the main transmit channel and is
used to output navigation and measurement
data to user written software. The default
setup is NMEA Output, 4800bps, 8 data bits,
no parity, 1 stop bit. The default sentences
are GPGGA, GPGSA, GPRMC once per
second and GPGSV once per 5 seconds.
Please refer to “software interface” for the
detail protocol.
RXA
This is the main receiving channel and is
used to receive software commands to the
Engine board from user written software.
Please refer to “software interface” for the
detail protocol.
RXB
This is used for DGPS differential input .
BOOTSEL
Pull Bootsel pin high & reset , then it will get
to boot mode.
GPIO
This pin can be programmed to input or
output. For more application, please contact
Royaltek’s sales.
Absolute maximum ratings
Parameter Symbol Unit Min. Value Max. Value
Supply voltage VCC V 2.97 3.63
Output current mA 200
Critical design guide and diagram
1. It is recommanded to attach GNDu plate (30*30MM) below RGM3000M module or the antenna
module of RGM-3000E to increase the intensity of reception . Please refers to “Design Layout
Diagram “ .
2. During design of integrated layout, please isolate high frequency noise source (power Switch,data
or address signal lines ) from GPS antenna.
3. Please don’t place metal object above patch antenna.
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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Design Layout Diagram
Recommanded Ground plate for RGM-3000M
RGM-3000M with ground plate
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