Trimble COPERNICUS II Reference Manual

Copernicus® II GPS Receiver

Reference Manual

For Modules with Firmware Version 1.05

Part Number 68340-00

Revision A

September 2009

Corporate Office

Restriction on Hazardous Substances

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

© 2009 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 II® GPS Receiver.

The Globe & Triangle logo, Trimble, Colossus, FirstGPS,
Lassen, Copernicus, and Copernicus II 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 November 2008 release (Revision A) of the
Copernicus II® GPS Receiver System Designer Reference
Manual, part number 58052-20.

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.

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 COUNCIL 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 limit ed
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.

Hardware Limited Warranty

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

Limitation of Liability

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 st andard 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’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.

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

Table of Contents 1

1STARTER KIT

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

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

Interface Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Interface Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Removing the Reference Board from the Interface Unit. . . . . . . . . . . . . . . . . . . 11

Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Using a Passive Antenna. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Quick Start Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Trimble GPS Studio. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Installing the FTDI USB/Serial Driver Software. . . . . . . . . . . . . . . . . . . . . . . 15

Connect the PC via the USB serial interface. . . . . . . . . . . . . . . . . . . . . . . . . 16

Start the TGS Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Connect to the GPS Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Configure the GPS Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Configure the Output Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Configure GPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Configure PPS Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Configure NMEA Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Configure TAIP Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Create a Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Sending Raw Data to Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Data Converter Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

2 PRODUCT DESCRIPTION

Key Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Physical. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Absolute Minimum and Maximum Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Normal Operating Conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Power Consumption Over Temperature and Voltage . . . . . . . . . . . . . . . . . . . . . . . . 40

Run Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

ESD Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Ordering Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Copernicus II GPS Receiver 1

3 INTERFACE CHARACTERISTICS

Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Pin Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Detailed Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Serial Port Default Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

GPS Timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Serial Time Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

A-GPS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Enabling A-GPS with the Trimble GPS Studio Application (TGS) . . . . . . . . . . . . . 52

Enabling A-GPS with TSIP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Pulse-Per-Second (PPS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Stationary Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

4 OPERATING MODES

Copernicus II GPS Receiver Operating Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Run Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Standby Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Changing the Run/Standby Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Copernicus II GPS Receiver Standby Current. . . . . . . . . . . . . . . . . . . . . . . . 57

Using the XSTANDBY Pin to Switch Modes . . . . . . . . . . . . . . . . . . . . . . . . 58

Using Serial Ports to Switch Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Saving Almanac, Ephemeris and Position to Flash Memory. . . . . . . . . . . . . . . . . . . . 60

Graceful Shutdown. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

SBAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

WAAS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Number of channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Acquisition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Usage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Almanac collection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Ephemeris collection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

GPS Receiver Acquisition Sensitivity Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

5 APPLICATION CIRCUITS

Passive Antenna—Minimum Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Passive Antenna—Hardware Activated Standby . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Active Antenna—Full Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Active Antenna—Short Circuit Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Active Antenna—No Antenna Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

2 Copernicus II GPS Receiver

6 RF LAYOUT CONSIDERAT IONS

General Recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Design considerations for RF Track Topologies . . . . . . . . . . . . . . . . . . . . . . . . . . 74

PCB Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Microstrip Transmission Lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Stripline Transmission Lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

7 MECHANICAL SPECIFICATIONS

Mechanical Outline Drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Soldering the Copernicus II GPS Receiver to a PCB. . . . . . . . . . . . . . . . . . . . . . . . 81

Solder mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

Pad Pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Paste Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

8 PACKAGING

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

Reel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Tapes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

9 SHIPPING AND HANDLING

Shipping and Handling Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Shipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Moisture Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Floor Life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Moisture Precondition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Baking Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Soldering Paste . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Solder Reflow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Recommended Soldering Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Optical Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Cleaning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Soldering Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Repeated Reflow Soldering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Wave Soldering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Hand Soldering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Rework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Conformal Coating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

Grounding the Metal Shield. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Copernicus II GPS Receiver 3

10 COPERNICUS II REFERENCE BOARD

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Reference Board Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Reference Board Schematic (1 of 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100

Reference Board Schematic (2 of 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101

Reference Board Schematic (3 of 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102

Reference Board I/O and Power Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . .103

Reference Board Power Requirement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103

Reference Board Component Locations Drawing . . . . . . . . . . . . . . . . . . . . . . . . .104

1 1 FIRMWARE UPLOAD

Software Architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106

Boot Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106

Firmware Binary File Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107

Firmware Loading Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107

Pseudo-code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .107

Pseudo-Code Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .109

Error Recovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Monitor Interface Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111

Protocol Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

Data Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .111

Monitor Mode Packet Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112

ENQ, ACK, NAK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112

Packet ID – 0x96 (Boot ROM Version Report) . . . . . . . . . . . . . . . . . . . . . . .112

Packet ID – 0x8F (Erase Firmware Section). . . . . . . . . . . . . . . . . . . . . . . . .113

FlashLoader Tool Reference Guide. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116

File and Folder Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116

Source Code Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .116

Compiling and Generating the Executable. . . . . . . . . . . . . . . . . . . . . . . . . .117

A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP)

Interface Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120

Run Mode Packet Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120

Automatic Output Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .121

Automatic Position and Velocity Reports. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .122

Notes on Usage of TSIP Packets with UTC . . . . . . . . . . . . . . . . . . . . . . . . . . . .123

Initialization Packets to Speed Start-up. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .124

Packets Output at Power-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .124

Timing Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125

Satellite Data Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125

Backwards Compatibility to Lassen iQ. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .125

Recommended TSIP Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127

4 Copernicus II GPS Receiver

Command Packets Sent to the Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .128

Report Packets Sent by the Receiver to the User . . . . . . . . . . . . . . . . . . . . . . . . . .129

Key Setup Parameters or Packet BB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130

Dynamics Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .131

Elevation Mask. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .131

Packet Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .132

Packet Descriptions Used in Run Mode . . . . . . . . . . . . . . . . . . . . . . . . . . .132

Command Packet 0x1E - Clear Battery Backup, then Reset. . . . . . . . . . . . . . . . .134

Command Packet 0x1F - Request Software Versions . . . . . . . . . . . . . . . . . . . .134

Command Packet 0x21 - Request Current Time. . . . . . . . . . . . . . . . . . . . . . .134

Command Packet 0x23 - Initial Position (XYZ ECEF) . . . . . . . . . . . . . . . . . . .134

Command Packet 0x24 - Request GPS Receiver Position Fix Mode . . . . . . . . . . . .135

Command Packet 0x25 - Initiate Soft Reset & Self Test . . . . . . . . . . . . . . . . . .135

Command Packet 0x26 - Request Health . . . . . . . . . . . . . . . . . . . . . . . . . .135

Command Packet 0x27 - Request Signal Levels. . . . . . . . . . . . . . . . . . . . . . .135

Command Packet 0x2B - Initial Position (Latitude, Longitude, Altitude). . . . . . . . . .135

Command Packet 0x2D - Request Oscillator Offset. . . . . . . . . . . . . . . . . . . . .136

Command Packet 0x2E - Set GPS Time. . . . . . . . . . . . . . . . . . . . . . . . . . .136

Command Packet 0x31 - Accurate Initial Position (XYZ ECEF) . . . . . . . . . . . . . . 136

Command Packet 0x32 - Accurate Initial Position, (LLA) . . . . . . . . . . . . . . . . .137

Command Packet 0x35 - Set Request I/O Options . . . . . . . . . . . . . . . . . . . . .137

Command Packet 0x37 - Request Status and Values of Last Position and Velocity. . . . .140

Command Packet 0x38 - Request/Load Satellite System Data . . . . . . . . . . . . . . .140

Command Packet 0x3A - Request Last Raw Measurement . . . . . . . . . . . . . . . . .141

Command Packet 0x3C - Request Current Satellite Tracking Status . . . . . . . . . . . .141

Report Packet 0x41 - GPS Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .141

Report Packet 0x42 - Single-Precision Position Fix, XYZ ECEF . . . . . . . . . . . . . .142

Report Packet 0x43 - Velocity Fix, XYZ ECEF . . . . . . . . . . . . . . . . . . . . . . .143

Report Packet 0x45 - Software Version Information . . . . . . . . . . . . . . . . . . . .143

Report Packet 0x46 - Health of Receiver . . . . . . . . . . . . . . . . . . . . . . . . . .144

Report Packet 0x47 - Signal Levels for all Satellites . . . . . . . . . . . . . . . . . . . .145

Report Packet 0x4A - Single Precision LLA Position Fix. . . . . . . . . . . . . . . . . .146

Report Packet 0x4B - Machine/Code ID and Additional Status. . . . . . . . . . . . . . .147

Report Packet 0x4D - Oscillator Offset . . . . . . . . . . . . . . . . . . . . . . . . . . .147

Report Packet 0x4E - Response to Set GPS Time . . . . . . . . . . . . . . . . . . . . . .148

Report Packet 0x55 - I/O Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .148

Report Packet 0x56 - Velocity Fix, East-North-Up (ENU) . . . . . . . . . . . . . . . . .149

Report Packet 0x57 - Information About Last Computed Fix. . . . . . . . . . . . . . . .150

Report Packet 0x58 - Satellite System Data/Acknowledge from Receiver . . . . . . . . .150

Report Packet 0x5A - Raw Measurement Data . . . . . . . . . . . . . . . . . . . . . . .153

Report Packet 0x5C - Satellite Tracking Status . . . . . . . . . . . . . . . . . . . . . . .154

Report Packet 0x5F - Diagnostic Use Only . . . . . . . . . . . . . . . . . . . . . . . . .155

Copernicus II GPS Receiver 5

Command Packet 0x69 - Receiver Acquisition Sensitivity Mode. . . . . . . . . . . . . .155

Report Packet 0x6D - All-In-View Satellite Selection. . . . . . . . . . . . . . . . . . . .156

Command Packet 0x7A- NMEA Settings and Interval . . . . . . . . . . . . . . . . . . .157

Report Packet 0x7B- NMEA Settings and Interval . . . . . . . . . . . . . . . . . . . . .158

Command Packet 0x7E - TAIP Message Output . . . . . . . . . . . . . . . . . . . . . .158

Report Packet 0x82 - SBAS Correction Status . . . . . . . . . . . . . . . . . . . . . . .160

Report Packet 0x83 - Double-Precision XYZ Position Fix and Bias Information. . . . . .161

Report Packet 0x84 - Double-Precision LLA Position Fix and Bias Information. . . . . .161

Report Packet 0x89 -Receiver Acquisition Sensitivity Mode . . . . . . . . . . . . . . . .162

Packets 0x8E and 0x8F - Superpacket . . . . . . . . . . . . . . . . . . . . . . . . . . . .162

Command Packet 0xBB - Navigation Configuration . . . . . . . . . . . . . . . . . . . .162

Command Packet 0xBC - Protocol Configuration. . . . . . . . . . . . . . . . . . . . . .163

Command Packet 0xC0 - Graceful Shutdown and Go To Standby Mode . . . . . . . . . .165

Command Packet 0xC2 - SBAS SV Mask. . . . . . . . . . . . . . . . . . . . . . . . . . 166

TSIP Superpackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .167

Command Packet 8E-15 - Set/Request Datum. . . . . . . . . . . . . . . . . . . . . . . .167

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

Precision Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168

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

Precision Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168

Command Packet 0x8E-20 - Request Last Fix with Extra Information . . . . . . . . . . .169

Command Packet 0x8E-21 - Request Accuracy Information . . . . . . . . . . . . . . . .169

Command Packet 0x8E-23 - Request Last Compact Fix Information. . . . . . . . . . . .170

Command Packet 0x8E-26 - Non-Volatile Memory Storage . . . . . . . . . . . . . . . .170

Command Packet 0x8E-2A - Request Fix and Channel Tracking Info, Type 1 . . . . . . .170

Command Packet 0x8E-2B - Request Fix and Channel Tracking Info, Type 2 . . . . . . .171

Command Packet 8E-4A - Set/Request Cable Delay and PPS Polarity . . . . . . . . . . .171

Command Packet 0x8E-4F - Set PPS Width. . . . . . . . . . . . . . . . . . . . . . . . .171

Report Packet 0x8F-15 - Current Datum Values. . . . . . . . . . . . . . . . . . . . . . .172

Report Packet 8F-17 - UTM Single Precision Output . . . . . . . . . . . . . . . . . . . .173

Report Packet 8F-18 - UTM Double Precision Output . . . . . . . . . . . . . . . . . . .174

Report Packet 0x8F-20 - Last Fix with Extra Information (binary fixed point). . . . . . .175

Report Packet 0x8F-21 - Request Accuracy Information . . . . . . . . . . . . . . . . . .177

Report Packet 0x8F-23 - Request Last Compact Fix Information. . . . . . . . . . . . . .177

Report Packet 0x8F-26 - Non-Volatile Memory Status . . . . . . . . . . . . . . . . . . .178

Report Packet 0x8F-2A - Fix and Channel Tracking Info, Type 1 . . . . . . . . . . . . .179

Report Packet 0x8F-2B - Fix and Channel Tracking Info, Ty pe 2. . . . . . . . . . . . . .181

Response Packet 8f-4A - Copernicus II GPS Receiver Cable Delay and POS Polarity. . .183

Report Packet 0x8F-4F - Set PPS Width. . . . . . . . . . . . . . . . . . . . . . . . . . .183

Datums . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184

6 Copernicus II GPS Receiver

B TRIMBLE ASCII INTERFACE PROT OCOL (TAIP)

Protocol Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .192

Message Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193

Start of a New Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193

Message Qualifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193

Message Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194

Data String . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194

Vehicle ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194

Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194

Message Delimiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194

Sample PV Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195

Time and Distance Reporting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .196

Latitude and Longitude Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197

Message Data Strings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .198

AL Altitude/Up Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199

CP Compact Position Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .200

ID Identification Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .201

IP Initial Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .202

LN Long Navigation Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .203

PR Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204

PT Port Characteristic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .205

PV Position/Velocity Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

RM Reporting Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .207

RT Reset Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

ST Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .209

TM Time/Date . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .211

VR Version Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .212

X1 Extended Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .213

Communication Scheme for TAIP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .214

Query for Single Sentence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .214

Scheduled Reporting Frequency Interval . . . . . . . . . . . . . . . . . . . . . . . . . .214

The Response to Query or Scheduled Report . . . . . . . . . . . . . . . . . . . . . . . .214

The Set Qualifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .215

Sample Communication Session. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .215

Copernicus II GPS Receiver 7

C NMEA 0183

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .218

The NMEA 0183 Communication Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . .219

NMEA 0183 Message Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .219

Field Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220

Invalid Command Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .221

Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .221

Exception Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .222

Power-up with No Back-up Data on SRAM. . . . . . . . . . . . . . . . . . . . . . . . .222

Power-up with Back-up Data on SRAM. . . . . . . . . . . . . . . . . . . . . . . . . . .222

Interruption of GPS Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .222

General NMEA Parser Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . .222

NMEA 0183 Message Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .224

NMEA 0183 Message Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .226

GGA - GPS Fix Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .226

GLL - Geographic Position - Latitude/Longitude . . . . . . . . . . . . . . . . . . . . . .227

GSA - GPS DOP and Active Satellites . . . . . . . . . . . . . . . . . . . . . . . . . . .227

GST - GPS Accuracy Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .228

GSV - GPS Satellites in View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .228

RMC - Recommended Minimum Specific GPS/Transit Data . . . . . . . . . . . . . . . .229

VTG - Track Made Good and Ground Speed . . . . . . . . . . . . . . . . . . . . . . . .229

ZDA - Time & Date . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .230

AH - Almanac Health . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .231

AL - Almanac Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .232

AS - Almanac Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .233

BA - Antenna Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .233

CR - Configure Receiver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .234

EM - Enter Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

EP - Ephemeris. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 5

FS - Acquisition Sensitivity Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .237

IO Ionosphere . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .238

KG - Set Initial Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .238

NM - Automatic Message Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .239

PS - PPS Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .240

PT - Serial Port Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .240

RT - Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .242

SV - Set Bit Mask for SBAS SV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .243

TF - Receiver Status and Position Fix . . . . . . . . . . . . . . . . . . . . . . . . . . . .244

UT - UTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .245

VR - Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .245

8 Copernicus II GPS Receiver

CHAPTER

1

STARTER KIT 1

In this chapter:

 Introduction

 Interface Unit

 Interface Connections

 Antenna

 Quick Start Guide

 Trimble GPS Studio

The Copernicus II GPS module is a drop-in
receiver solution that provides position,
velocity, and time data in a choice of three
protocols.

This chapter provides a detailed description of
the starter kit components and instructions for
getting started with interface, hardware setup,
and configuration procedures.

Copernicus II GPS Receiver 5

1 STARTER KIT

Introduction

Starter Kit Components

The Copernicus II GPS Starter Kit provides everything you need to get started
integrating state-of-the-art GPS capability into your application. The reference board
provides a visual layout of the Copernicus II GPS receiver on a PCB including the RF
signal trace, the RF connector, and the I/O connections of the 28 signal pins. In
addition, the starter kit contains a power converter, power adapter, a GPS antenna,
and software to evaluate the ease with which you can add Copernicus II GPS to your
application.

The RoHS compliant (lead-free) Copernicus II GPS Starter Kit includes the
following:

• Interface unit with reference board and Copernicus II GPS receiver

• AC/DC power supply converter

• Universal power adapters for the major standard wall outlets

• Magnetic-mount GPS antenna, 3.3 V, MCX connector, 5 meter cable

• USB cable

• Cigarette lighter adapter power cable

• Copernicus II GPS receivers (3 pieces)

• Quick Start Guide

6 Copernicus II GPS Receiver

Interface Unit

Inside the starter kit interface unit, the Copernicus II GPS reference board sits on a
shelf supported by 4 standoffs above the motherboard. The antenna transition cable is
mounted to the outside of the unit and connects to the MCX connector on the
reference board. An 8-wire ribbon cable interfaces the power and I/O between the
reference board and motherboard.

STARTER KIT 1

Figure 1.1 Starter Kit Interface Unit

Figure 1.2 AC/DC Power Supply Converter

Copernicus II GPS Receiver 7

1 STARTER KIT

Figure 1.3 USB Cable

8 Copernicus II GPS Receiver

Interface Connections

Following is a description of the Copernicus II GPS interface unit (numbered
references correlate to numbers in the image below).

STARTER KIT 1

8

9

Figure 1.4 Front side of the Interface Unit

6 5 4 3

2

1. Antenna Connector
The antenna connector is an MCX type connector that is intended to be used

with the supplied 3.0V antenna. This interfaces to the Copernicus II GPS
reference board antenna connector.

2. USB Connector
The USB connector is an A-type USB connector that is USB 2.0 and 1.1

compatible. This connection can also be used to power the starter kit and GPS
receiver.

When using the USB connection for power, the PC should be running on AC
power (not battery power) to ensure proper voltage levels to the interface unit.

3. Port A-TX LED
When blinking red, user is transmitting data to the Copernicus II GPS receiver

on port A.

4. Port A-RX LED
When blinking red, the Copernicus II GPS receiver is transmitting data to the

user device on port A.

5. Port B-TX LED
When blinking red, user is transmitting data to the Copernicus II GPS receiver

on port B.

6. Port B-RX LED
When blinking red, the Copernicus II GPS receiver is transmitting data to the

user device on port B.

Copernicus II GPS Receiver 9

1 STARTER KIT

7. Power Connector
The power connector (barrel connector) is located on the front right side of the

starter kit. The power connector connects to the AC/DC power converter
supplied with the starter kit. The power converter converts 100 -240 VAC To
12 or 24VDC. The power connector can accept 9 to 32 VDC.

8. Power LED
The Power LED indicates when main power, VCC, is available to the receiver.

Main power is controlled by the Power Switch (#8). When the switch is in the
ON position the LED illuminates Green and VCC is supplied to the receiver.
When the switch is in the OFF position the LED is not lit and the receiver is
powered only by the standby regulator or battery.

Note – For the Copernicus II GPS receiver to operate with standby power, the power
source must be from the main power connector (#6) (not from the USB connector).

9. Power Switch
The power switch is used to enable or disable VCC to the receiver.

10. PPS BNC (located on the backside of the interface unit)
The BNC connector provides a 5V TTL level PPS pulse output by the receiver .

The output configuration is controlled by the receiver, not the starter kit driver
circuit. This output is able to drive a 50ohm load.

Note – The Starter Kit motherboard contains a number of configuration jumpers for
use with various Trimble GPS receivers. Jumpers JP5 and JP15 must be in place for
use with Copernicus II GPS receiver.

10 Copernicus II GPS Receiver

Removing the Reference Board from the Interface Unit

Follow this procedure to remove the Copernicus II GPS reference board from the
interface unit:.

1. Before disassembling the interface unit, disconnect the unit from any external

power source and confirm that both you and your work surface are properly
grounded for ESD protection.

2. Remove the four screws, which secure the bottom plate of the interface unit to

the base of the metal enclosure. Set the bottom plate aside.

3. Remove the two screws securing the Copernicus II GPS reference board to the

standoffs. These screws are located at opposite ends of the receiver module.

4. Disconnect the 8 way ribbon cable.

5. Remove the RF connector.

STARTER KIT 1

Copernicus II GPS Receiver 11

1 STARTER KIT

Antenna

Using a Passive Antenna

The Copernicus II GPS Starter Kit comes with an active mini magnetic mount 3.0 V
GPS antenna. This antenna mates with the MCX connector on the interface unit. The
reference board supplies power to the active antenna through the RF transition cable.

To test performance with a passive antenna (not supplied in the Copernicus II GPS
Starter Kit) the passive antenna should be connected directly to the MCX connector
on the reference board, to ensure minimal signal loss. Since the passive antenna has
no LNA, the antenna detection and short circuit will not report a true antenna
condition. If the passive antenna is a (DC open) patch antenna, the FW reports an
antenna open condition. If the antenna power jumper is removed, the antenna is
reported as shorted.

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Quick Start Guide

1. Confirm that you have the following:

– The Copernicus II GPS Starter Kit.
– Windows desktop or laptop computer with a USB port.

2. Connect the computer’s power cable to the power converter.

3. Plug the power cable into the interface unit.

STARTER KIT 1

Figure 1.5 Connecting Power

4. Plug the power cable into a wall outlet.

5. Connect the magnetic mount GPS antenna to the interface unit.

Figure 1.6 Antenna Connection

6. Place the antenna on the window sill or put the antenna outside.

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7. Connect the USB cable to the USB connector on the interface unit.

Figure 1.7 Connecting the PC

8. Power-on your computer.

9. Download and install the appropriate FTDI driver on your PC (see Installing

the FTDI USB/Serial Driver Software., page 15).

10. Download and unzip the file containing the Trimble GPS Studio software from

the Trimble Copernicus support web page:
http://www.trimble.com/embeddedsystems/copernicus.aspx?dtID=support

11. Execute the Trimble GPS Studio.

12. Select one of the USB virtual COM ports. Either the TSIP or NMEA data

stream is visible on your monitor. To view the other protocol, select a different
USB virtual COM port.

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Trimble GPS Studio

The Trimble GPS Studio (TGS) is designed to assist you in configuring your Trimble
GPS receiver. The application works with a standard RS-232 serial interface or the
USB interface supplied in the Copernicus II GPS starter kit.

TGS includes helpful features such as “Detect Receiver” to test a GPS receiver port
for protocol and baud rate in the event that these settings are lost, the ability to log the
output of multiple GPS devices simultaneously, and the ability to view received raw
data. Prior to using the TGS application with a USB interface, you must first
download and install the FTDI USB serial driver software (see instructions below).

Note – The Trimble GPS Studio (TGS) replaces many of the previous “monitor” and
“chat” programs used for Trimble Embedded and Resolution T products.

Installing the FTDI USB/Serial Driver Software.

The Copernicus GPS starter kit uses a USB 2.0 dual serial port emulator interface
chip from Future Technology Devices International Ltd. (FTDI). Prior to using the
TGS application with a USB interface, you must first download and install the FTDI
USB serial driver software on your PC.

STARTER KIT 1

1. Confirm that you have the following:

– A PC with Windows Vista, Windows XP Service Pack 2, or Windows

2000 Service Pack 4 installed and a free USB port.

– Internet access to complete the installation

2. Download the software for your Trimble product from the Trimble Support

web site http://www.trimble.com/support.shtml, and select the relevant product
link and then the Software Tools option.

3. Select and Save all files to a directory on the hard drive.

4. Locate the file called “CDM_Setup.exe” you just saved, and double click it. If

properly installed you should see a FTDI CDM Driver Installation popup
window with the message “FTDI CDM Drivers have been successfully
installed”. Click the OK button.

5. Install the FTDI driver on your PC.

– The starter kit uses a USB 2.0 dual serial port emulator interface chip from

Future Technology Devices International Ltd. (FTDI). In order to use the
TGS application to communicate with the GPS receiver, you must first
install the FTDI driver on your PC.

– Use MS Explorer to locate the file called “CDM_Setup.exe” you just

saved, and double click it. If properly installed you should see a FTDI
CDM Driver Installation popup window with a message that says “FTDI
CDM Drivers have been successfully installed”. Click the OK button.

Note – You may also download the setup executable version of the FTDI driver from
www.ftdichip.com/Drivers/VCP.htm

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Connect the PC via the USB serial interface.

1. Right-click the MyComputer icon.

2. Select the Properties option to view the System Properties Window.

3. Select the Hardware tab.

4. Click the Device Manager button.

16 Copernicus II GPS Receiver

STARTER KIT 1

5. Select the Mice and other pointing devices option. If Microsoft Serial BallPoint

is displayed, right-click the option and select Disable. If the Mouse Pointer is
jumping around the screen, turn off the Starter Kit.

6. Scroll down to the Ports (Com & LP T) optio n and note the two USB Serial Port

COM numbers. In the example below they are COM30 and COM31.

Note – In general Port A of the GPS device will be on the lower COM number and
Port B will be on the higher.

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1 STARTER KIT

Start the TGS Application

1. Locate the directory in which the Trimble GPS Studio is stored and open the

Trimble GPS Studio application. The main window displays.

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Connect to the GPS Receiver

1. Select Connections > Auto Detect.

The GPS receiver is connected.

STARTER KIT 1

2. Select the port and protocol being used on the module.

Note – If you do not know which protocol is being used, select TSIP, TAIP and NMEA.
The TGS will try each in turn at different baud rates.

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Configure the GPS Ports

3. Click the Yes button to accept the connection parameters.

1. Select the Receiver > Configure.

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STARTER KIT 1

2. Select the Port Configuration tab.

3. Select the required receiver port, baud rate, parity, data bits and stop bits.

4. Select one input and one output protocol.

5. Click the Set button.

6. To permanently save this configuration, click the Save Configuration button.

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Configure the Output Formats

1. Select the Receiver > Configure.

2. Select the Outputs tab.

3. Select the required setup options.

4. Click the Set button.

5. To permanently save this configuration, click the Save Configuration button.

22 Copernicus II GPS Receiver