Trimble Copernicus Reference Manual

Copernicus™ GPS Receiver

Reference Manual

Part Number 58052-00

Revision A

July 2006

Corporate Office

Hardware Limited Warranty

Trimble Navigation Limited
935 Stewart Drive
Sunnyvale, CA 94085
U.S.A.
Phone: [phone]
www.trimble.com

Support

[phone] (USA and Canada)
[phone] (International)

Copyright and Trademarks

© 2006 Trimble Navigation Limited. All rights reserved. No
part of this manual may be copied, reproduced, translated, or
reduced to any electronic medium or machine-readable form
for any use other than with the Copernicus™ GPS Receiver.

The Globe & Triangle logo, Trimble, Colossus, FirstGPS, and
Lassen, are trademarks of Trimble Navigation Limited.

The Sextant logo with Trimble is a trademark of Trimble
Navigation Limited, registered in the United States Patent and
Trademark Off ice .

All other trademarks are the property of their respective
owners.

Release Notice

This is the May 2006 release (Revision A) of the Copernicus™
GPS Receiver System Designer Reference Manual, part
number 58052-00.

Trimble warrants that this Trimble hardware product (the
“Product”) shall be free from defects in materials and
workmanship and will substantially conform to Trimble’s
applicable published specifications for the Product for a period
of one (1) year, starting from the date of delivery. The warranty
set forth in this paragraph shall not apply to software/firmware
products.

Software and Firmware License, Limited Warranty

This Trimble software and/or firmware product (the
“Software”) is licensed and not sold. Its use is governed by the
provisions of the applicable End User License Agreement
(“EULA”), if any, included with the Software. In the absence
of a separate EULA included with the Software providing
different limited warranty terms, exclusions, and limitations,
the following terms and conditions shall apply. Trimble
warrants that this Trimble Software product will substantially
conform to Trimble’s applicable published specifications for
the Software for a period of ninety (90) days, starting from the
date of delivery.

Warranty Remedies

Trimble's sole liability and your exclusive remedy under the
warranties set forth above shall be, at Trimble’s option, to
repair or replace any Product or Software that fails to conform
to such warranty (“Nonconforming Product”), or refund the
purchase price paid by you for any such Nonconforming
Product, upon your return of any Nonconforming Product to
Trimble in accordance with Trimble’s standard return material
authorization procedures.

Warranty Exclusions and Disclaimer

The following limited warranties give you specific legal rights.
You may have others, which vary from state/jurisdiction to
state/jurisdiction.

Waste Electrical and Electronic Equipment (WEEE)
Notice

This Trimble product is furnished on an OEM basis. By
incorporating this Trimble product with your finished goods
product(s) you shall be deemed the “producer” of all such
products under any laws, regulations or other statutory scheme
providing for the marking, collection, recycling and/or
disposal of electrical and electronic equipment (collectively,
“WEEE Regulations”) in any jurisdiction whatsoever, (such as
for example national laws implementing EC Directive 2002/96
on waste electrical and electronic equipment, as amended), and
shall be solely responsible for complying with all such
applicable WEEE Regulations.

Restriction on Hazardous Substances

As of July 1, 2006, the Product is compliant in all material
respects with DIRECTIVE 2002/95/EC OF THE EUROPEAN
P ARLIAMENT AND OF THE C OUNCIL of 27 January 2003
on the restriction of the use of certain hazardous substances in
electrical and electronic equipment (RoHS Directive) and
Amendment 2005/618/EC filed under C(2005) 3143, with
exemptions for lead in solder pursuant to Paragraph 7 of the
Annex to the RoHS Directive applied. The foregoing is limited
to Product placed on the market in the Member States of the
European Union on or after 1 July 2006. Trimble has relied on
representations made by its suppliers in certifying this Product
as RoHS compliant.

These warranties shall be applied only in the event and to the
extent that: (i) the Products and Software are properly and
correctly installed, configured, interfaced, maintained, stored,
and operated in accordance with Trimble’s relevant operator's
manual and specifications, and; (ii) the Products and Software
are not modified or misused.

The preceding warranties shall not apply to, and Trimble shall
not be responsible for defects or performance problems
resulting from (i) the combination or utilization of the Product
or Software with products, information, data, systems or
devices not made, supplied or specified by Trimble; (ii) the
operation of the Product or Software under any specification
other than, or in addition to, Trimble's standard specifications
for its products; (iii) the unauthorized modification or use of
the Product or Software; (iv) damage caused by accident,
lightning or other electrical discharge, fresh or salt water
immersion or spray; or (v) normal wear and tear on
consumable parts (e.g., batteries).

THE WARRANTIES ABOVE STATE TRIMBLE'S ENTIRE
LIABILITY, AND YOUR EXCLUSIVE REMEDIES, RELATING
TO PERFORMANCE OF THE PRODUCTS AND SOFTWARE.
EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN,
THE PRODUCTS, SOFTWARE, AND ACCOMPANYING
DOCUMENTATION AND MATERIALS ARE PROVIDED “AS-
IS” AND WITHOUT EXPRESS OR IMPLIED WARRANTY OF
ANY KIND BY EITHER TRIMBLE NAVIGATION LIMITED OR
ANYONE WHO HAS BEEN INVOLVED IN ITS CREATION,
PRODUCTION, INSTALLATION, OR DISTRIBUTION,
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
PARTICULAR PURPOSE, TITLE, AND NONINFRINGEMENT.
THE STATED EXPRESS WARRANTIES ARE IN LIEU OF ALL
OBLIGATIONS OR LIABILITIES ON THE PART OF TRIMBLE
ARISING OUT OF, OR IN CONNECTION WITH, ANY
PRODUCTS OR SOFTWARE. SOME STATES AND
JURISDICTIONS DO NOT ALLOW LIMITATIONS ON
DURATION OR THE EXCLUSION OF AN IMPLIED
WARRANTY, SO THE ABOVE LIMITATION MAY NOT APPLY
TO YOU.

TRIMBLE NAVIGATION LIMITED IS NOT RESPONSIBLE FOR
THE OPERATION OR FAILURE OF OPERATION OF GPS
SATELLITES OR THE AVAILABILITY OF GPS SATELLITE
SIGNALS.

Limitation of Liability

TRIMBLE’S ENTIRE LIABILITY UNDER ANY PROVISION
HEREIN SHALL BE LIMITED TO THE GREATER OF THE
AMOUNT PAID BY YOU FOR THE PRODUCT OR SOFTWARE
LICENSE OR U.S.$25.00. TO THE MAXIMUM EXTENT
PERMITTED BY APPLICABLE LAW, IN NO EVENT SHALL
TRIMBLE OR ITS SUPPLIERS BE LIABLE FOR ANY
INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL
DAMAGES WHATSOEVER UNDER ANY CIRCUMSTANCE OR
LEGAL THEORY RELATING IN ANY WAY TO THE
PRODUCTS, SOFTWARE, AND ACCOMPANYING
DOCUMENTATION AND MATERIALS, (INCLUDING,
WITHOUT LIMITATION, DAMAGES FOR LOSS OF BUSINESS
PROFITS, BUSINESS INTERRUPTION, LOSS OF BUSINESS
INFORMATION, OR ANY OTHER PECUNIARY LOSS),
REGARDLESS OF WHETHER TRIMBLE HAS BEEN ADVISED
OF THE POSSIBILITY OF ANY SUCH LOSS AND
REGARDLESS OF THE COURSE OF DEALING WHICH
DEVELOPS OR HAS DEVELOPED BETWEEN YOU AND
TRIMBLE. BECAUSE SOME STATES AND JURISDICTIONS
DO NOT ALLOW THE EXCLUSION OR LIMITATION OF
LIABILITY FOR CONSEQUENTIAL OR INCIDENTAL
DAMAGES, THE ABOVE LIMITATION MAY NOT APPLY TO
YOU.

Table of Contents

Table of Contents

1 GENERAL DESCRIPTION

Receiver Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Starter Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Key Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Interface Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Physical Characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Environmental Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Ordering Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2 INTERFACE CHARACTERISTICS

Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Pin Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Detailed Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Serial Ports Default Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Pulse-Per-Second (PPS) in Copernicus Receiver. . . . . . . . . . . . . . . . . . . . . . . . . . 18

3 ELECTRICAL SPECIFICATIONS

Absolute Minimum and Maximum Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Normal Operating Conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Power Consumption over Temperature and Voltage . . . . . . . . . . . . . . . . . . . . . . . . 22

ESD Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4 OPERATING MODES

Copernicus Receiver Operating Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Run Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Standby Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Monitor Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Changing the RUN/STANDBY modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Using the XSTANDBY Pin to Switch Modes . . . . . . . . . . . . . . . . . . . . . . . . 25

Using Serial Ports to Switch Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Saving the Almanac into the Flash Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Graceful Shutdown. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Almanac in Flash Updating Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

18-Hour RTC Roll Over . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Copernicus GPS Receiver v

Table of Contents

5 COPERNICUS GPS APPLICATION CIRCUITS

Passive antenna—Minimum Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Active Antenna—Full Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Active Antenna—No Antenna Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

6 RF LAYOUT CONSIDERATIONS

General Recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Design considerations for RF Track Topologies . . . . . . . . . . . . . . . . . . . . . . . . . . 37

PCB Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

MIcrostrip Transmission Lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Stripline Transmission Lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

7 MECHANICAL SPECIFICATIONS

Mechanical Outline Drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Guidelines for soldering the Copernicus module to a PCB. . . . . . . . . . . . . . . . . . . . . 43

Solder mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Pad Pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Paste Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

8 PACKAGING

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Reel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Tapes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

9 SHIPPING AND HANDLING

Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Shipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Moisture Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Floor Life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Moisture Precondition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Recommended Baking Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Soldering Paste . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Solder Reflow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Recommended Soldering Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Optical Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Cleaning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Repeated Reflow Soldering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Wave Soldering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Hand Soldering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Rework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Conformal Coating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Grounding the Metal Shield. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

vi Copernicus GPS Receiver

Table of Contents

10 COPERNICUS REFERENCE BOARD

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Copernicus Reference Board Block Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Copernicus Reference Board Schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

Copernicus Reference Board I/O and power Connector . . . . . . . . . . . . . . . . . . . . . . 65

Copernicus Reference Board Power Requirement . . . . . . . . . . . . . . . . . . . . . . . . . 65

Copernicus Reference Board Jumper Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Reference Board Component Locations Drawing . . . . . . . . . . . . . . . . . . . . . . . . . 67

11 COPERNICUS STARTER KIT

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Interface Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Serial Port Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Loading the FTDI Driver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Default Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Starter Kit Interface Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Removing the Reference Board from the Interface Unit . . . . . . . . . . . . . . . . . . . . . . 75

Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Using a Passive Antenna. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Pulse-Per-Second (PPS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Quick Start Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

12 FIRMWARE UPGRADE

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Software Architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Boot Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Firmware Binary File Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Firmware Loading Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Pseudo-code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Pseudo-Code Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Error Recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Monitor Interface Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Protocol Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Data Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Monitor Mode Packet Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

ENQ, ACK, NAK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Packet ID – 0x96 (Boot ROM Version Report) . . . . . . . . . . . . . . . . . . . . . . . 90

Packet ID – 0x8F (Erase Firmware Section). . . . . . . . . . . . . . . . . . . . . . . . . 91

FlashLoader Tool Reference Guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

File and Folder Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Source Code Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Compiling and Generating the Executable. . . . . . . . . . . . . . . . . . . . . . . . . . 95

Copernicus GPS Receiver vii

Table of Contents

A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)

Interface Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Run Mode Packet Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Automatic Output Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100

Customizing Receiver Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100

Automatic Position and Velocity Reports. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101

Initialization Packets to Speed Start-up. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102

Packets Output at Power-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102

Timing Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103

Satellite Data Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103

Backwards Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103

Guidelines for Use with Copernicus GPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104

Recommended TSIP Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 06

Command Packets Sent to the Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Report Packets Sent by the Receiver to the User . . . . . . . . . . . . . . . . . . . . . . . . . .108

Key Setup Parameters or Packet BB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109

Dynamics Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109

Elevation Mask. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110

Signal Level Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110

Packet Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111

Packet Descriptions Used in Run Mode . . . . . . . . . . . . . . . . . . . . . . . . . . .111

Command Packet 0x1E - Clear Battery Backup, then Reset. . . . . . . . . . . . . . . . .113

Command Packet 0x1F - Request Software Versions . . . . . . . . . . . . . . . . . . . .113

Command Packet 0x21 - Request Current Time. . . . . . . . . . . . . . . . . . . . . . .113

Command Packet 0x23 - Initial Position (XYZ ECEF) . . . . . . . . . . . . . . . . . . .113

Command Packet 0x24 - Request GPS Receiver Position Fix Mode . . . . . . . . . . . .114

Command Packet 0x25 - Initiate Soft Reset & Self Test . . . . . . . . . . . . . . . . . .114

Command Packet 0x26 - Request Health . . . . . . . . . . . . . . . . . . . . . . . . . .114

Command Packet 0x27 - Request Signal Levels. . . . . . . . . . . . . . . . . . . . . . .114

Command Packet 0x2B - Initial Position (Latitude, Longitude, Altitude). . . . . . . . . .114

Command Packet 0x2D - Request Oscillator Offset. . . . . . . . . . . . . . . . . . . . .115

Command Packet 0x2E - Set GPS Time. . . . . . . . . . . . . . . . . . . . . . . . . . .115

Command Packet 0x31 - Accurate Initial Position (XYZ ECEF). . . . . . . . . . . . . .115

Command Packet 0x32 - Accurate Initial Position, (Latitude, Longitude, Altitude) . . . .116

Command Packet 0x35 - Set Request I/O Options . . . . . . . . . . . . . . . . . . . . .117

Command Packet 0x37 - Request Status and Values of Last Position and Velocity. . . . .119

Command Packet 0x38 - Request/Load Satellite System Data . . . . . . . . . . . . . . .119

Command Packet 0x3A - Request Last Raw Measurement . . . . . . . . . . . . . . . . .120

Command Packet 0x3C - Request Current Satellite Tracking Status . . . . . . . . . . . .120

Report Packet 0x41 - GPS Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120

Report Packet 0x42 - Single-Precision Position Fix, XYZ ECEF . . . . . . . . . . . . . .121

Report Packet 0x43 - Velocity Fix, XYZ ECEF . . . . . . . . . . . . . . . . . . . . . . .122

viii Copernicus GPS Receiver

Table of Contents

Report Packet 0x45 - Software Version Information . . . . . . . . . . . . . . . . . . . .122

Report Packet 0x46 - Health of Receiver . . . . . . . . . . . . . . . . . . . . . . . . . .123

Report Packet 0x47 - Signal Levels for all Satellites . . . . . . . . . . . . . . . . . . . .123

Report Packet 0x4A - Single Precision LLA Position Fix. . . . . . . . . . . . . . . . . .124

Report Packet 0x4B - Machine/Code ID and Additional Status. . . . . . . . . . . . . . .125

Report Packet 0x4D - Oscillator Offset . . . . . . . . . . . . . . . . . . . . . . . . . . .125

Report Packet 0x4E - Response to Set GPS Time . . . . . . . . . . . . . . . . . . . . . .126

Report Packet 0x55 - I/O Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .126

Report Packet 0x56 - Velocity Fix, East-North-Up (ENU) . . . . . . . . . . . . . . . . .127

Report Packet 0x57 - Information About Last Computed Fix. . . . . . . . . . . . . . . .128

Report Packet 0x58 - Satellite System Data/Acknowledge from Receiver . . . . . . . . .128

Report Packet 0x5A - Raw Measurement Data . . . . . . . . . . . . . . . . . . . . . . .131

Report Packet 0x5C - Satellite Tracking Status . . . . . . . . . . . . . . . . . . . . . . .133

Report Packet 0x6D - All-In-View Satellite Selection. . . . . . . . . . . . . . . . . . . .134

Command Packet 0x7A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .134

Report Packet 0x7B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .135

Command Packet 0x7E - TAIP Message Output . . . . . . . . . . . . . . . . . . . . . .136

Report Packet 0x83 - Double-Precision XYZ Position Fix and Bias Information. . . . . .138

Report Packet 0x84 - Double-Precision LLA Position Fix and Bias Information. . . . . .139

Packets 0x8E and 0x8F - Superpacket . . . . . . . . . . . . . . . . . . . . . . . . . . . .139

Command Packet 0xBB - Navigation Configuration . . . . . . . . . . . . . . . . . . . .140

Command Packet 0xBC - Protocol Configuration. . . . . . . . . . . . . . . . . . . . . .141

Command Packet 0xC0 - Graceful Shutdown and Go To Standby Mode . . . . . . . . . .143

TSIP Superpackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .145

Command Packet 8E-4A - Set/Request Copernicus GPS Cable Delay

and PPS Polarity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .145

Command Packet 8E-4A - Set/Request Copernicus GPS Cable Delay

and PPS Polarity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .146

Command Packet 8E-15 - Set/Request Datum. . . . . . . . . . . . . . . . . . . . . . . .146

Command Packet 0x8E-17 - Request Last Position or Auto-Report Position in UTM Single

Precision Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .147

Command Packet 8E-18 - Request Last Position or Auto Report Position in UTM Double

Precision Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .147

Report Packet 0x8F-15 - Current Datum Values. . . . . . . . . . . . . . . . . . . . . . .148

Report Packet 8F-17 - UTM Single Precision Output . . . . . . . . . . . . . . . . . . . .149

Report Packet 8F-18 - UTM Double Precision Output . . . . . . . . . . . . . . . . . . .150

Command Packet 0x8E-20 - Request Last Fix with Extra Information . . . . . . . . . . .151

Report Packet 0x8F-20 - Last Fix with Extra Information (binary fixed point) . . . . . . .151

Command Packet 0x8E-26 - Non-Volatile Memory Storage . . . . . . . . . . . . . . . .153

Report Packet 0x8F-26 - Non-Volatile Memory Status . . . . . . . . . . . . . . . . . . .154

Datums . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .155

Copernicus GPS Receiver ix

Table of Contents

B COPERNICUS MONITOR USER’S GUIDE

Copernicus Monitor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .164

TSIP Reader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .164

TSIP Demo. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .164

Copernicus Monitor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .165

Data Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .166

TSIP and NMEA Support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .166

C NMEA 0183

The NMEA 0183 Communication Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . .168

NMEA 0183 Message Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .169

Field Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .170

Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171

Exception Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .172

Power-up with No Back-up Data on SRAM. . . . . . . . . . . . . . . . . . . . . . . . .172

Power-up with Back-up Data on SRAM. . . . . . . . . . . . . . . . . . . . . . . . . . .172

Interruption of GPS Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .172

NMEA 0183 Message Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .173

NMEA 0183 Message Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .175

GGA - GPS Fix Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

GLL - Geographic Position - Latitude/Longitude . . . . . . . . . . . . . . . . . . . . . .176

GSA - GPS DOP and Active Satellites . . . . . . . . . . . . . . . . . . . . . . . . . . .176

GSV - GPS Satellites in View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .177

RMC - Recommended Minimum Specific GPS/Transit Data . . . . . . . . . . . . . . . .177

VTG - Track Made Good and Ground Speed . . . . . . . . . . . . . . . . . . . . . . . .178

ZDA - Time & Date . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .179

AH - Almanac Health . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .180

AL - Almanac Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .182

AS - Almanac Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .183

BA - Antenna Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184

CR - Configure Receiver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .185

DM - Datum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .186

EM - Enter Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

EP - Ephemeris. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .187

IO Ionosphere . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189

KG - Set Initial Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189

NM - Automatic Message Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .190

PS - PPS Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .191

PT - Serial Port Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192

RT - Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193

TF - Receiver Status and Position Fix . . . . . . . . . . . . . . . . . . . . . . . . . . . .194

UT - UTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195

VR - Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195

x Copernicus GPS Receiver

Table of Contents

D TRIMBLE ASCII INTERFACE PROT OCOL (TAIP)

Message Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199

Start of a New Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199

Message Qualifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .200

Message Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .200

Data String . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

Vehicle ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .200

Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .201

Message Delimiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .201

Sample PV Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .202

Time and Distance Reporting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .203

Latitude and Longitude Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .205

Message Data Strings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .206

AL Altitude/Up Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .207

CP Compact Position Solution. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .208

ID Identification Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209

IP Initial Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .210

LN Long Navigation Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .211

PR Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

PT Port Characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .213

PV Position/Velocity Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .214

RM Reporting Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .215

RT Reset Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216

ST Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .217

TM Time/Date . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .219

VR Version Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220

X1 Extended Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .221

Communication Scheme for TAIP221

Query for Single Sentence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .221

Scheduled Reporting Frequency Interval . . . . . . . . . . . . . . . . . . . . . . . . . .221

The Response to Query or Scheduled Report . . . . . . . . . . . . . . . . . . . . . . . .222

The Set Qualifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .222

Sample Communication Session. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

E TAIP MONITOR USER’S GUIDE

TAIP Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .226

Data Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227

Copernicus GPS Receiver xi

Table of Contents

xii Copernicus GPS Receiver

List of Figures

List of Figures

Figure 1.1 Copernicus Block Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Figure 2.1 Copernicus Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Figure 4.1 Current Draw Levels in Standby Mode. . . . . . . . . . . . . . . . . . . . . . . . . . 28

Figure 4.2 Issuing three (3) NULL characters for exiting Standby Mode . . . . . . . . . . . . . . 28

Figure 5.1 Application Drawing: Passive Antenna - Minimum Connections . . . . . . . . . . . . 30

Figure 5.2 Passive antenna - HW Activated Standby Mode Available . . . . . . . . . . . . . . . 31

Figure 5.3 Application Drawing: Active antenna - Full connection . . . . . . . . . . . . . . . . . 32

Figure 5.4 Application Drawing: Active antenna - No Antenna Status . . . . . . . . . . . . . . . 34

Figure 6.1 Microstrip Transmission Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Figure 6.2 PCB Microstrip Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Figure 6.3 Stripline Transmission Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Figure 7.1 Copernicus GPS Receiver, Footprint. . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Figure 7.2 Copernicus GPS Receiver, Outline Dimensions . . . . . . . . . . . . . . . . . . . . . 42

Figure 7.3 Solder Mask Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Figure 7.4 Pad Pattern Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Figure 7.5 Paste Mask Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Figure 8.1 Copernicus GPS Receiver Packaged in Tape. . . . . . . . . . . . . . . . . . . . . . . 48

Figure 8.2 Reel Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Figure 8.3 Tape Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Figure 8.4 Feeding Direction Diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Figure 9.1 Moisture Precondition Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Figure 9.2 Recommended Soldering Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Figure 10.1 Copernicus Reference Board, Frontside . . . . . . . . . . . . . . . . . . . . . . . . . 60

Figure 10.2 Copernicus Reference Board, Backside . . . . . . . . . . . . . . . . . . . . . . . . . 61

Figure 10.3 Copernicus Reference Board Block Diagram . . . . . . . . . . . . . . . . . . . . . . 62

Figure 10.4 Copernicus Reference Board Schematic (Page 1) . . . . . . . . . . . . . . . . . . . . 63

Figure 10.5 Copernicus Reference Board Schematic (Page 2) . . . . . . . . . . . . . . . . . . . . 64

Figure 10.6 Copernicus Reference Board Schematic (Page 3) . . . . . . . . . . . . . . . . . . . . 64

Figure 10.7 Copernicus Reference Board, Top Side . . . . . . . . . . . . . . . . . . . . . . . . . 67

Figure 10.8 Copernicus Reference Board Schematic, Bottom Side. . . . . . . . . . . . . . . . . . 67

Figure 11.1 Interface Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Figure 11.2 AC/DC Power Supply Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Figure 11.3 USB Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Figure 11.4 Front side of the Interface Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Figure 11.5 Connecting Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Figure 11.6 Conxall Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Figure 11.7 Connecting the Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Copernicus GPS Receiver xiii

List of Figures

Figure B.1 Copernicus Monitor Serial Port Selection . . . . . . . . . . . . . . . . . . . . . . . .165

Figure B.2 Copernicus Monitor - Main Window. . . . . . . . . . . . . . . . . . . . . . . . . . .165

Figure E.1 TAIP Monitor - Serial Port Selection. . . . . . . . . . . . . . . . . . . . . . . . . . .226

Figure E.2 TAIP Monitor - Main Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227

xiv Copernicus GPS Receiver

CHAPTER

1

GENERAL DESCRIPTION 1

In this chapter:

• Receiver Overview

•Starter Kit

• Key Features

• Block Diagram

• Performance Specifications

• Interface Characteristics

• Electrical Characteristics

• Physical Characteristics

• Environmental Specifications

• Ordering Information

1 GENERAL DESCRIPTION

1.1 Receiver Overview

Trimble's Copernicus™ GPS receiver delivers proven performance and Trimble quality
for a new generation of position-enabled products. It features the Trimble revolutionary
TrimCore™ software technology for extremely fast startup times and high performance in
foliage canopy, multipath and urban canyon environments.

Designed for the demands of automated, pick and place, high-volume production
processes, the Copernicus module is a complete 12-channel GPS receiver in a 19mm x
19mm x 2.54mm, thumbnail-sized shielded unit. The small, thin, single-sided module is
packaged in tape and reel for pick and place manufacturing processes; 28 reflow­solderable edge castellations provide interface to your design without costly I/O and RF
connectors. Each module is manufactured and factory tested to Trimble's highest quality
standards.

The ultra-sensitive Copernicus GPS receiver can acquire GPS satellite signals and
generate fast position fixes with high accuracy in extremely challenging environments and
under poor signal conditions. The module consumes less than 94 mW typically at full
power with continuous tracking. The Copernicus GPS receiver has been designed to meet
restrictions on the use of hazardous substances under the RoHS European Directive.

The Copernicus GPS module is a complete drop-in, ready-to-go receiver that provides
position, velocity and time data in a choice of three protocols. Trimble's powerful TSIP
protocol offers complete control over receiver operation and provides detailed satellite
information. The TAIP protocol is an easy-to-use ASCII protocol designed specifically for
track and trace applications. The bi-directional NMEA 0183 v3.0 protocol offers industry­standard data messages and a command set for easy interface to mapping software.

Compatible with active or passive antenna designs, the Copernicus GPS receiver is perfect
for portable handheld, battery-powered applications. The receiver's small size and low
power requirement make it ideal for use in Bluetooth appliances, sport accessories,
personal navigators, cameras, computer and communication peripherals, as well as,
vehicle and asset tracking, navigation, and security applications.

1.2 Starter Kit

The Copernicus Starter Kit provides everything you need to get started integrating state­of-the-art GPS capability into your application. The kit includes the reference interface
board, which gives designers a visual layout of the Copernicus module on a PCB including
the RF signal trace and RF connector, as well as the I/O connections of the 28 signal pins.
Also included are a power converter, power adapter, GPS antennas, and the software for
the user to readily evaluate the ease of adding Copernicus GPS to an application.

6 Copernicus GPS Receiver

1.3 Key Features

• Thumbnail-sized: 19 mm W x 19 mm L (0.75" W x 0.75" L)

• Ultra-thin design: 2.54 mm H (0.1")

• Fast manufacturing: Pick & place assembly, Tape & reel packaging, Reflow
solderable

• No I/O or RF connector; 28 Edge castellations

• Ultra-low power usage: less than 94 mW (typical)

• Highly sensitive:

−152 dBm Tracking Sensitivity

−142 dBm Acquisition Sensitivity

• Fast TTFF (cold start): 39 sec

• Supports active or passive antenna designs

• 12-channel simultaneous operation

• Supports NMEA 0183, TSIP and TAIP protoc ols

GENERAL DESCRIPTION 1

• Reference board and starter kit available

• RoHS compliant (Lead-free)

• High quality, low price

1.3.1 Block Diagram

Figure 1.1 Copernicus Block Diagram

Copernicus GPS Receiver 7

1 GENERAL DESCRIPTION

1.4 Performance Specifications

Performance Specifications
L1 (1575.42 MHz) frequency, C/A code, 12-channel, continuous

tracking receiver

Update Rate

TSIP 1 Hz
NMEA 1 Hz
TAIP 1 Hz

Accuracy

Horizontal <3 meters (50%), <8 meters

Altitude <10 meters (50%), <16 meters

Velocity 0.06 m/sec
PPS (static) ±50 nanoseconds

Acquisition (Autonomous Operation)

Reacquisition 2 sec
Hot Start 9 sec
Warm Start 35 sec
Cold Start 39 sec
Out of the Box 41 sec

Sensitivity

Tracking -152 dBm
Acquisition -142 dBm

Operational

Speed Limit 515 m/s

(90%)

(90%)

1.5 Interface Characteristics

Interface Characteristics
Connectors 28 surface mount edge castellations

Serial Port 2 serial ports (transmit/receive)
PPS 3.0 V CMOS-compatible TTL-level pulse,

Protocols Supports TSIP*, TAIP** and NMEA*** 0183

The following abbreviations are used to refer to the interface protocols:

• Trimble Standard Interface Protocol, TSIP

• Trimble ASCII Interface Protocol, TAIP

• National Marine Electronics Association, NMEA

8 Copernicus GPS Receiver

once per second

v3.0 Bi-directional NMEA Messages

1.6 Electrical Characteristics

Electrical Specifications
Prime Power +2.7 VDC to 3.3 VDC

Power Consumption (typ.) 30.7 mA (82.9 mW) @ 2.7 V

Backup Power +2.7 VDC to +3.3 VDC
Ripple Noise Max 50 mV, peak-to-peak from 1 Hz to 1 MHz

1.7 Physical Characteristics

Physical Specifications
Enclosure Metal shield

Dimensions 19 mm W x 19 mm L x 2.54 mm H (0.75" W x

Weight 1.7 grams (0.06 ounce) including shield

GENERAL DESCRIPTION 1

(typ.) 31.3 mA (93.9 mW) @ 3.0 V

0.75" L x 0.1" H)

1.8 Environmental S pecifications

Electrical Specifications
Operating Temperature -40° C to +85° C

Storage Temperature -55° C to +105° C
Vibration 0.008 g2/Hz 5 Hz to 20 Hz

Operating Humidity 5% to 95% R.H. non-condensing, at +60° C

0.05 g2/Hz 20 Hz to 100 Hz

-3 dB/octave 100 Hz to 900 Hz

Copernicus GPS Receiver 9

1 GENERAL DESCRIPTION

1.9 Ordering Information

Ordering Information
Copernicus GPS Receiver Module Single module in metal enclos u re

Reference Board P/N 58054-00

Starter Kit Non-RoHS: PN 58050-00

P/N 58048-00

Copernicus GPS module mounted on a carrier
board with I/O and RF connectors for evaluation
purposes, including the RF circuitry with the
antenna open detection, as well as antenna short
detection and protection.

RoHS (Lead-free version): P/N 58050-05
Includes Copernicus Reference Board

mounted on interface motherboard in a
durable metal enclosure, AC/DC power
converter, compact magnetic-mount GPS
antenna, serial interface cable, cigarette
lighter adapter, TSIP, NMEA, and TAIP
protocols, software toolkit and manual on
CD-ROM.

10 Copernicus GPS Receiver

CHAPTER

2

INTERFACE CHARACTERISTICS 2

In this chapter:

• Pin Assignments

• Pin Description

• Protocols

• Serial Ports Default Settings

• Pulse-Per-Second (PPS) in Copernicus Receiver

2 INTERFACE CHARACTERISTICS

2.1 Pin Assignments

Figure 2.1 Copernicus Pin Assignments

12 Copernicus GPS Receiver

INTERFACE CHARACTERISTICS 2

2.2 Pin Description

T able 2.1 Pin Description

Pin Name Description Function Note

1 GND Ground G Signal ground. Connect to common ground.
2 GND RF Ground G One of two RF grounds adjacent to RF input.

Connect to RF ground system.
3 RF Input GPS RF input I 50-ohm unbalanced (coaxial) RF input.
4 GND RF Ground G One of two RF grounds adjacent to RF input.

Connect to RF ground system.
5 LNA_XEN LNA Enable O Can be used with active antennas only. Active

low logic level signal to control external LNA.
6 Reserved Reserved I/O Do not connect.
7 OPEN Antenna OPEN I Logic level from external antenna detection

circuit. See “Antenna Detect Truth Table”.
8 SHORT Antenna SHORT I Logic level from external antenna detection

circuit. See “Antenna Detect Truth Table”.
9 Reserved Reserved I Connect to VCC.
10 Reserved Reserved I Connect to VCC.
1 1 XRESET Reset I Active low logic level reset. Connect to VCC with

or without a pullup resistor, if not used.
12 VCC Supply voltage P Module power supply 2.7 - 3.3 VDC
13 GND Ground G Signal ground. Connect to common ground.
14 GND Ground G Signal ground. Connect to common ground.
15 GND Ground G Signal ground. Connect to common ground.
16 XST ANDBY Run/Standby I Selects “RUN” or “STANDBY” mode. Connect to

VCC if not used (run only).
17 Reserved Reserved I/O Do not connect.
18 Reserved Reserved I/O Do not connect.
19 PPS Pulse per second O Logic level timing signal at 1 Hz. Do not connect

if not used.
20 RXD_B Serial port B receive I Logic level secondary serial port receive.
21 RXD_A Serial port A receive I Logic level primary serial port receive.
22 Reserved Reserved I/O Do not connect.
23 TXD_A Serial port A transmit O Logic level primary serial port transmit.
24 TXD_B Serial port B transmit O Logic level secondary serial port transmit.
25 Reserved Reserved I/O Do not connect.
26 Reserved Reserved I/O Do not connect.
27 GND Ground G Signal ground. Connect to common ground.
28 GND Ground G Signal ground. Connect to common ground.

Index: G: Ground; I: Input; O: Output; P: Power

Copernicus GPS Receiver 13

2 INTERFACE CHARACTERISTICS

2.2.1 Detailed Pin Descriptions

RF Input

This pin is the 50 ohm unbalanced GPS RF input. It can be used with active or passive
antennas.

Passive antennas: This pin may be connected by a low-loss 50 ohm unbalanced
transmission system to the passive GPS antenna if loss is minimal (< 2 dB).

Active Antennas: It can also be connected to the output of an external low-noise amplifier,
which is amplifying GPS signals from an antenna. The gain of the LNA must be great
enough to overcome transmission losses from the LNA output to this pin. The
specification for noise figure for the module is < 3 dB at room temperature and < 4 dB
over the specified temperature range, -40 to +85 C. The external LNA must be located
such that the loss from the GPS antenna connection to the LNA input is minimized,
preferably < 1 dB. The noise figure of the LNA should be as low as possible, preferably
< 2 dB. The specifications are provided so that a cascaded noise figure design calculation
can be used. Active antennas must be powered with a single bias-Tee circuit. (See
applications circuits in Chapter 5.)

LNA_XEN

This logic level output can be used to control power to an external LNA or other circuitry.
The logic of this signal is such that when the module is running (not in standby), this signal
is low. During “STANDBY” mode, this signal is high. This pin may be used to control the
gate of a p-channel FET used as a switch.

Open/Short Pins

If using an active antenna, Trimble recommends that the user implement an antenna
detection circuit with short circuit protection. There are two pins provided for reporting the
antenna status: OPEN and SHORT.

The following logic level inputs may be used with a detection circuit (with or without
protection) to monitor the status of the external LNA of an active antenna by the module.

The truth table for the logic of these signals is provided below. These input pins conform
to the Input / Output Pin threshold levels specified in Table 3.2.

14 Copernicus GPS Receiver

INTERFACE CHARACTERISTICS 2

Table 2.2 Antenna Status Truth Table

Condition of logic signals

ANTENNA REPORTS SHORT OPEN

Antenna Open Reported 1 1
Antenna Normal Reported 1 0
Antenna Shorted Reported 0 0
Undefined 0 1

If using a passive antenna and the SHORT and OPEN pins are floating, the receiver will
report an open condition. If a normal condition from the receiver is desired when using a
passive antenna, set the logic levels of the SHORT pin High and the OPEN pin Low.

XRESET

This logic-level, active low input is used to issue hardware or power-on reset to the
module. It may be connected to external logic or to a processor to issue reset, if desired. To
reset the module, take this pin low for at least 100 microseconds. This pin must be tied to
VCC with a resistance of less than 10 K Ohms if not used.

The hardware reset deletes all the information saved in SRAM (position time, almanac,
ephemeris and customers' user set configurations if not previously saved in non-volatile
Flash memory) and restarts the Copernicus receiver.

VCC

This is the primary voltage supply pin for the module. This pin also provides power during
Standby Mode (Backup Mode). If it is desired to have separate power supplies for main
power and Standby Mode (Backup Mode) power, an external diode-pair must be provided.

XSTANDBY

This logic level input is used to control the RUN/STANDBY state of the module. If this
signal is high, the unit will run normally. If this signal is low, the unit will go to
“STANDBY” mode.

PPS

Pulse-per-second. This logic level output provides a 1 Hz timing signal to external devices.
The positive going 4.2 usec pulse delay is controllable by firmware packet 0x35. This
output meets the Input / Output Pin Threshold Specifications in Table 3.2.

RXD_A and RXD_B

These logic level inputs are the primary (A) and secondary (B) serial port receive lines
(data input to the module). These inputs meet the Input / Output Pin Threshold
Specifications in Table 3.2. The baud rate for the two ports is under firmware control.

Copernicus GPS Receiver 15

2 INTERFACE CHARACTERISTICS

TXD_A and TXD_B

These logic level outputs are the primary (A) and secondary (B) serial port transmit lines
(data moving away from the module). These outputs meet the Input / Output Pin Threshold
Specifications in Table 3.2. The baud rate for the two ports is under firmware control.

Reserved Pins

There are 8 reserved pins on the Copernicus GPS Receiver. For the recommended pin
connections for these reserved pins, please refer to Table 2.1.

2.3 Protocols

T able 2.3 Copernicus GPS Receiver Available protocols

Protocols Specification Direction Serial Port Support

NMEA NMEA 0183 v3.0; Bi-directional

with extended NMEA sentences

TSIP (Trimble S tandard
Interface Protocol)

T AIP (Trimble ASCII
Interface Protocol)

Trimble propriety binary protocol Input / Output Both Serial Ports

Trimble propriety ASCII protocol Input / Output Both Serial Ports

Input / Output Both Serial Ports

16 Copernicus GPS Receiver

INTERFACE CHARACTERISTICS 2

2.4 Serial Ports Default Settings

Copernicus GPS receiver supports two serial ports. The default settings are provided in the
table below.

Table 2.4 Copernicu s GPS Receiver Serial ports default set tin gs

Port Port Direction Pin # Protocol Characteristics

Baud Rate Data Bits* Parity* Stop Bits* Flow Control *

A TXD-A 23 TSIP-Out 38.4 K 8 None 1 NO

RXD-A 21 TSIP-IN 38.4 K 8 None 1 NO

B TXD-B 24 NMEA-Out 4800 8 None 1 NO

RXD-B 20 NMEA-IN 4800 8 None 1 NO

* Data Bits, Parity, Stop Bits and Flow Control are not configurable. Only Protocol and Baud rates are configurable by
the user.

Note – Detailed descriptions of the protocols are defined in the Appendices.

Copernicus GPS Receiver 17

2 INTERFACE CHARACTERISTICS

2.5 Pulse-Per-Second (PPS) in Copernicus Receiver

The Copernicus GPS receiver provides a CMOS compatible TTL level Pulse-Per-Second
(PPS). The PPS is a positive pulse available on pin 19 of Copernicus GPS Receiver. The
rising edge of the PPS pulse is synchronized with respect to UTC. The timing accuracy is
±50 nanoseconds when valid position fixes are being reported.

The rising edge of the pulse is typically less than 6 nanoseconds. The distributed
impedance of the attached signal line and input circuit can affect the pulse shape and rise
time. The PPS can drive a load up to 1mA without damaging the module. The falling edge
of the pulse should not be used.

The Copernicus' default PPS output mode is Always On, sometimes called or “Early PPS”.
In Always On mode, PPS is output immediately after main power is applied. The PPS is
driven by the Real Time Clock (RTC) until the receiver acquires GPS time from the
satellite and begins outputting fixes. In Always On mode, the PPS continues even if the
receiver loses GPS lock. The drift of the PPS, when the Copernicus GPS receiver is not
tracking satellites, is unspecified and should not be used for synchronization.

The PPS output modes can be controlled with TSIP packet 0x35 and NMEA “PS” Packet.
The modes are Always On (default), Fix Based, or Always Off. Cable delay compensation
is available through the use of TSIP packet 0x8E-4A and NMEA “PS” Packet.

After a specific mode is selected, it can be stored in non-volatile memory (FLASH) using
TSIP command 0x8E-26.

Note – PPS can be configured as positive or negative polarity; factory default is positive.
The PPS pulse width is also configurable; factory default is 4.2 microseconds.

18 Copernicus GPS Receiver

CHAPTER

3

ELECTRICAL SPECIFICATIONS 3

In this chapter:

• Absolute Minimum and Maximum Limits

• Normal Operating Conditions

• Power Consumption over Temperature and Voltage

• ESD Protection

3 ELECTRICAL SPECIFICATIONS

3.1 Absolute Minimum and Maximum Limits

Absolute maximum ratings indicate conditions beyond which permanent damage to the
device may occur. Electrical specifications shall not apply when operating the device
outside its rated operating conditions.

Table 3.1 Copernicus GPS Receiver, Absolute Limits

Parameter Min Max Unit
Power Supply

Power Supply Voltage (VCC) on Pin 12
STANDBY Voltage (VCC) on Pin 12 *

Antenna

Input Power at RF Input +10 dBm
Input Gain at RF Input 0 (passive antenna) 36 dB

* See the application note on STANDBY circuitry

Table 3.2 Input / Output Pin Threshold levels

Input / Output Pin Threshold levels
Input Pin Voltage (RXD-A, RXD-B, Open, Short, Reserved Pins, Xreset, Xstandby)
Status Min Max Unit

High 2.0 3.6 V
Low 0 0.8 V

Output Pin Voltage (TXD-A, TXD-B, LNA_XEN)
Status Min Max Unit

High (loh = 1 mA) 0.8 * VCC VCC
Low (lol = 1 mA) 0 0.22 * VCC V

-0.3 3 .6 V

-0.3 3.6 V

3.2 Normal Operating Conditions

Minimum and maximum limits apply over full operating temperature range unless
otherwise noted.

T able 3.3 Copernicus GPS Receiver Normal Operating Conditions

Parameter Conditions Min Typ Max Unit

Primary Supply Voltage * 2.7 3.3 * V
Current Draw Continuous

Tracking,

Power Consumption
Continuous Tracking,

20 Copernicus GPS Receiver

Max: 85
Min: -40 °C, 2.7V
Typ: 25 °C, 3.0 V

Max: 85 °C, 3.3 V
Min: -40 °C, 2.7V
Typ: 25 °C, 3.0 V

°C, 3.3 V

23.9 34.8 38.3 mA

79 93.9 115 mW