Trimble Copernicus II, Copernicus IIA Reference Manual
REFERENCE MANUAL
Copernicus® II
GPS Receiver
REFERENCE MANUAL
®
Copernicus
Modules with firmware version 1.07, for use with:
Copernicus IIA (P/N 67415-00)
Copernicus II (P/N 63530-00)
Copernicus II (P/N 63530-10)
Silvana antenna companion module (P/N 68677-30)
Anapala antenna companion module (P/N 68677-60)
Silvana starter kit (P/N 75976-25)
II GPS Receiver
Copernicus II on carrier board (P/N 63531-00)
Version 1.0
Revision A
Part Number 68340-06-ENG
July 2011
F
Corporate Office
Trimble Nav igatio n Limited
Component Technologies
935 Stewart Drive
Sunnyvale, CA 94085
U.S .A.
Phone: 1-800-767-4822
www.trimble.com
Support Offices
Trimble Nav igatio n Limited
Component Technologies
935 Stewart Drive
Sunnyvale, CA 94085
U.S .A.
Phone: 1-800-767-4822
Legal Notices
Copyright and Trademarks
© 2009–2011, Trimble Navigation Limited.
Trimble, the Globe & Triangle logo, and th
Colossus, FirstGPS, Lassen, Copernicus, and Copernicus II are trademarks of
Trimble Navigation Limited, registered in the United States and in other
countries. TrimCore is a trademark of Trimble Navigation Limited.
Microsoft and Windows Visual C++ are either registered trademarks or
r
ademarks of Microsoft Corporation in the United States and/or other
t
countries.
e Sextant logo with Trimble,
All other trademarks are the property of their respective owners.
All rights reserved. No part of this manual may be copied, reproduced,
ated, or reduced to any electronic medium or machine-readable form for
transl
any use other than with the Copernicus II® GPS Receiver.
Release Notice
pernicus II GPS Receiver
This is the July 2011 release (Revision B) of the C
Reference Manual, part number 68340-06-ENG.
LIMITED WARRANTY TERMS AND CONDITIONS
o
Product Limited Warranty
Subject to the following terms and conditions, Trimble Navigation Limited
(“T
rimble”) warrants that for a period of one (1) year from date of purchase this
Trimble product (the “Product”) will substantially conform to Trimble's
publicly available specifications for the P roduct and that the hardware and any
storage media components of the Product will be substantially free from
defects in materials and workmanship.
Product Software
Product software , whether built into hardware circuitr y as firmware, provi ded
t
andalone computer software product, embedded in flash memory, or
as a s
stored on magnetic or other media, is licensed solely for use with or as an
integral part of the Product and is not sold. If accompanied by a separate end
user license agreement (“EULA”), use of any such software will be subject to the
terms of such end user license agreement (including any differing limited
warranty terms, exclusions, and limitations), which shall control over the
terms and conditions set forth in this limited warranty.
Software Fixes
During the limited warranty period you will be entitled to receive such Fixes to
roduct software that Trimble releases and makes commercially available
e P
th
and for which it does not charge separately, subject to the procedures for
delive ry to purch asers of Trimbl e products g enerally. If you have purchas ed the
Product from an authorized Trimble dealer rather than from Trimble directly,
Trimble may, at its option, forward the software Fix to the Trimble dealer for
final distribution to you. Minor Updates, Major Upgrades, new products, or
substantially new software releases, as identified by Trimble, are expressly
excluded from this update process and limited warranty. Receipt of software
Fixes or other enhancements shall not serve to extend the limited warranty
period.
For purposes of this warranty the following definitions shall apply: (1) “ Fix(es)”
e
ans an error correction or other update created to fix a previous software
m
version that does not substantially conform to its Trimble specifications; (2)
“Minor Update” occurs when enhancements are made to current features in a
software program; and (3) “Major Upgrade” occurs when significant new
features are added to software, or when a new product containing new features
replaces the further development of a current product line. Trimble reserves
the right to determine, in its sole discretion, what constitutes a Fix, Minor
Update, or Major Upgrade.
Warranty Remedies
If the Trimble Product fails during the warranty period for reasons covered by
s
limited warranty and you notify Trimble of such failure during the
thi
warranty period, Trimble will repair OR replace the nonconforming Product
with new, equivalent to new, or reconditioned parts or Product, OR refund the
Product purchase price paid by you, at Trimble’s option, upon your return of
the Product in accordance with Trimble's product return procedures then in
effect.
How to Obtain Warranty Service
To obtain warranty service for the Product, please contact your local Trimble
u
thorized dealer. Alternatively, you may contact Trimble to request warranty
a
service at +1-408-481-6940 (24 hours a day) or e-mail your request to
trimble_support@trimble.com. Please be prepared to provide:
– your name, address, and telephone numbers
– proof of purchase
– a copy of this Trimble warranty
– a description of the nonconforming Product including the model number
– an explanation of the problem
The customer service representative may need additional information from
u depending on the nature of the problem.
o
y
Warranty Exclusions and Disclaimer
This Product limited warranty shall only apply in the event and to the extent
at
(a) the Product is properly and correctly installed, configured, interfaced,
th
maintained, stored, and operated in accordance with Trimble's applicable
operator's manual and specifications, and; (b) the Product is not modified or
misused. This Product limited warranty 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 with hardware or software products,
information, data, systems, interfaces, or devices not made, supplied, or
specified by Trimble; (ii) the operation of the Product under any specification
other than, or in addition to, Trimble's standard specifications for its products;
(iii) the unauthorized installation, modification, or use of the Product; (iv)
damage caused by: accident, lightning or other electrical discharge, fresh or
salt water immersion or spray (outside of Product specifications); or exposure
to environmental conditions for which the P roduct is not intended; (v) normal
wear and tear on consumable parts (e.g., batteries); or (vi) cosmetic damage.
Trimble does not warrant or guarantee the results obtained through the use of
the Product, or that software components will operate error free.
NOTICE REGARDING PROD UCTS EQUIPPED WITH TECHNOLOGY
CAPABLE OF TRACKING SATELLITE SI GNALS FROM SATELLITE BASED
AUGMENTATION SYSTEM S (SBAS) (WAAS/EGNOS, AND MSAS),
OMNISTAR, GPS, MODERNIZED GPS OR GLONASS SATELLITES, OR
FROM IALA BEACON SOURCES: TRIMBLE IS NOT RESPONSI BLE FOR
THE OPERATION OR FAILURE OF OPERATION OF ANY SATELLITE BASED
POSITIONING SYSTEM OR THE AVAILABILITY OF ANY SATELLITE BASED
POSITIONING SIGNALS.
THE FOREGOING LIM ITED WARRANTY TERMS STATE TRIMBLE’S ENTIRE
LIABILITY, AND YOUR EXCLUSIVE REMEDI ES, RELATING TO TH E TRIMBLE
PRODUCT. EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN, THE
PRODUCT, AND ACCOMPANYING DOCUMENTATION AND MATERIALS ARE
PROVIDED “AS-IS” AND WITHOUT EXPRESS OR IMPLIED WARRANTY OF ANY
KIND, BY EITHER TRIMBL E OR ANYONE WHO HAS BEEN INVOLVED IN ITS
CREATION, PRODUCTION, INSTALLATION, OR DISTRIBUTION, INCLUDING, BUT
NOT LIMITED TO, THE IMPLI ED 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 PRODUCT. BECAUSE SOME STATES AND JURIS DICTIONS DO NOT
ALLOW LIMITATIONS ON DURATION OR THE EXCLUSION OF AN IMPLIED
WARRANTY, THE ABOVE LIMITATION MAY NOT APPLY OR FULLY APPLY TO
YOU.
Limitation of Liability
TRIMBLE'S ENTIRE LIABILITY UNDER ANY PROVISION HEREIN SHALL BE
LIMITED TO THE AMOUNT PAID BY YOU FOR THE PRODUCT. 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 DAMAGE WHATSOEVER UNDER ANY CIRCUMSTANCE OR
LEGAL THEORY RELAT ING IN ANYWAY TO THE PRODUCTS, SOFTWARE AND
ACCOMPANYING DOCUMENTATION AND MATERIALS, (INCLUDING, WITHOUT
LIMITATION, DAMAGES FOR LOSS OF BUSIN ESS PROFITS, BUSINESS
INTERRUPTION, LOSS OF DATA, OR ANY OTHER PECUNIARY LOSS), REGARDLESS
OF WHETHER TRIMBLE HAS BEEN ADVISED OF THE POSSIBILITY OF ANY SUCH
LOSS AND REGARDLE SS 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 OR FULLY APPLY TO YOU.
PLEASE NOTE: THE ABOVE TRIMBLE LIMIT ED WARRANTY PROVISIONS
WILL NOT APPLY TO PRODUCTS PURCHASED IN THOSE JURISDICTIONS
E.G., MEMBER STATES OF THE EUROPEAN ECONOMIC AREA) IN WHICH
(
PRODUCT WARRANTIES ARE THE RESPON SIBILITY OF THE LOCAL
TRIMBLE AUTHORIZED DEALER FROM WHOM THE PRODUCTS ARE
ACQUIRED. IN SUCH A CASE, PLEASE CONTACT YOUR LOCAL TRIMBLE
AUTHORIZED DEALER FOR APPLICABLE WARRANTY INFORMATION.
Official Language
THE OFFI CIAL LANGUAGE OF THESE TERMS AND CONDITIONS IS ENGLISH. IN
THE EVENT OF A CONFLICT BETWEEN ENGLISH AND OTHER LANGUAGE
VERSIONS, THE ENGLISH LANGUAGE SHALL CONTROL.
Notice to Our European Union Customers
For product recycling instructions and more information, please go to
www.trimble.com/ev.shtml.
Recycling in Europe: To recycle Tri
Electronic Equipment, products that run on electrical power.), Call
+31 497 53 24 30,
ecycling instructions to:
for r
Trimble Euro pe BV
c/o Menlo Worldwide Logistics
Meerheide 45
5521 DZ Eersel, NL
and ask for the "WEEE Associate". Or, mail a request
m
ble WEEE (Waste Electrical and
2 Copernicus II GPS Receiver Reference Manual
Contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Starter kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Use and care . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Technical assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Starter Kit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Starter kit components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Interface unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interface connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Removing the reference board from the interface unit . . . . . . . . . . . . . . . . . . . . . 19
Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Using a passive antenna. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Copernicus II GPS Receiver: Features and Performance Specification. . . 21
Key features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Feature differences between the Copernicus II and Copernicus IIA . . . . . . . . . . . . . 22
Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Physical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Absolute minimum and maximum limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input/Output pin threshold levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Normal operating conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power consumption over temperature and voltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Run mo
ESD protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
de . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . 12
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. 26
26
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4 Receiver Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Detailed pin descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Port B serial communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Serial port default settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GPS timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Serial time output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Assisted GPS (A-GPS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Copernicus II GPS Receiver Reference Manual 3
. . . . . . . . . . . 31
. . . 32
. . . . . . . . 35
. 36
. . . . . . . . 36
. . . . . . . . . . . 36
. . . . . . 37
. . . . . . . . 38
Contents
Enabling A-GPS with the Trimble GPS Studio software . . . . . . . . . . . . . . . . . . . . . 38
Enabling A-GPS with TSIP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Pulse-Per-Second (PPS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Stationary mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . 39
. . . . . . 40
5 Operating Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Copernicus II GPS receiver operating modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Run mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Standby mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Monitor mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Switching between operating modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Using the XSTANDBY pin to switch modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Using serial ports to switch modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Saving almanac, ephemeris, and position data to Flash memory. . . . . . . . . . . . . . . 44
Graceful Shutdown. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SBAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
WAAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GPS receiver acquisition sensitivity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . 44
. . . . . . . . 42
. . . . . . 42
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. . . 42
43
. . . . . . 44
. . . . . . . . . 44
. . . . 45
6 Application Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Passive antenna—Minimum connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Passive antenna—Hardware activated standby . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Active antenna—Full connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Active antenna—Short circuit connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Active antenna—No antenna status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . 50
49
. 52
. . . 54
7 RF Layout Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
General recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Design considerations for RF track topologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PCB considerations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Microstrip transmission lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Stripline transmission lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . 58
. 57
. . . 58
. . . 59
8 Mechanical Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Mechanical outline drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Soldering the Copernicus II GPS receiver to a PCB . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Solder mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Pad pattern. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Paste mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . 63
. . . . . . . . 64
. . . . . . . . 65
63
9 Packaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Reel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Weight. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tapes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . . . 69
. . . . . . . . 69
. . . . . . . . . . . . . 70
4 Copernicus II GPS Receiver Reference Manual
Contents
10 Shipping and Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Shipping and handling guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Shipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Moisture indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Floor life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Moisture precondition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Baking procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Soldering paste . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Solder reflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Recommended soldering profile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Optical inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . 76
Soldering guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Repeated reflow soldering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wave soldering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hand soldering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Rework. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . 76
Conformal coating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Grounding the metal shield. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . 72
. . . . . . . . 72
. . . . . . . . . 72
. . . . 72
. . . . . . . . . 72
. . . . . . . . 73
. . . . . . . . . 74
. . . . . . . . . . . 74
. . . . . . . . . . . 74
. . . . 75
. . . . . . . . . 75
. . . . . . . . . 76
. . . 76
. . . . . . 76
. . . . . . 76
. . . . . . . . . 76
. . . . . . 77
11 Copernicus II Reference Board . . . . . . . . . . . . . . . . . . . . . . . . . 79
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Reference board block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference board schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LED status circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Antenna status detection circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference board I/O and power connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference board power requirement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference board component locations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Top of board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Bottom of board. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . 81
. . . . . . 82
. . . . . . 83
. 84
. 85
. . . 85
. . . 86
. . . . . . . . 86
. . . . . . 86
A Trimble Standard Interface Protocol. . . . . . . . . . . . . . . . . . . . . . 87
Interface scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Run mode packet structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Automatic output packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Automatic position and velocity reports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notes on usage of TSIP packets with UTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Initialization packets to speed start-up . . . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . 92
Packets output at start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Timing packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Satellite data packets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . 88
. . . . . . 89
. . . 90
. 91
. . . . . . . . 92
. . . . . . . . . 92
. . . . . . . . . 93
Copernicus II GPS Receiver Reference Manual 5
Contents
Backwards compatibility to Lassen iQ receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Recommended TSIP packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Command packets sent to the receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Report packets sent by the receiver to the user . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Key setup parameters or packet BB. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dynamics code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Elevation mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Packet descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Packet descriptions used in Run mode . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .100
. . . . . . . . .100
Command packet 0x1E – Clear battery backup, then reset . . . . . . . . . . . . . . . . . .101
Command packet 0x1F – Request software versions . . . . . . . . . . . . . . . . . . . . . .102
Command packet 0x21 – Request current time. . . . . . . . . . . .
. . . . . . . . . . . . . . 102
Command packet 0x23 – Initial position (XYZ ECEF). . . . . . . . . . . . . . . . . . . . . .102
Command packet 0x24 – Request GPS receiver position fix mode . . . . . . . . . . . . . .102
Command packet 0x25 – Initiate soft reset & self test. . . . . . . . . . . . . . . . . . . . . . 102
Command packet 0x26 – Request health . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Command packet 0x27 – Request signal levels . . . . . . . . . . . . . . . . . . . . . . . . . .103
Command packet 0x2B – Initial position (Latitude, Longitude, Altitude). . . . . . . . . . 103
Command packet 0x2D – Request oscillator offset . . . . . . . . . . . . . . . . . . . . . . . 103
Command packet 0x2E – Set GPS time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Command packet 0x31 – Accurate initial position (XYZ ECEF) . . . . . . . . . . . . . . . 104
Command packet 0x32 – Accurate initial position, (Lati
tude, Longitude, Altitude) . . . 104
Command packet 0x35 – Set request I/O options . . . . . . . . . . . . . . . . . . . . . . . .104
Command packet 0x37 – Request status and values of last position and velocity . . . .106
Command packet 0x38 – Request/load satellite system data . . . . . . . . . . . . . . . . .107
Command packet 0x3A – Request last raw measurement . . . . . . . . . . . . . . . . . . .107
Command packet 0x3C – Request current satellite tracking st
atus . . . . . . . . . . . . .108
Report packet 0x41 – GPS Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Report packet 0x42 – Single-precision position fix, XYZ ECEF . . . . . . . . . . . . . . . .109
Report packet 0x43 – Velocity fix, XYZ ECEF . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Report packet 0x45 – Software version information
. . . . . . . . . . . . . . . . . . . . . . .110
Report packet 0x46 – Health of receiver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
Report packet 0x47 - Signal levels for all satellites . . . . . . . . . . . . . . . . . . . . . . . .111
Report packet 0x4A – Single precision LLA position fix. . . . . . .
. . . . . . . . . . . . . . 112
Report packet 0x4B – Machine/code ID and additional status . . . . . . . . . . . . . . . . 113
Report packet 0x4D – Oscillator offset . .
. . . . . . . . . . . . . . . . . . . . . . . . . . . . .113
Report packet 0x4E – Response to set GPS time . . . . . . . . . . . . . . . . . . . . . . . . . 113
Report packet 0x55 – I/O options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Report packet 0x56 – Velocity fix, East-North-Up (ENU) . . . . . . . . . . . . . . . . . . . .115
Report packet 0x57 – Information about last computed fix . . . . . . . . . . . . . . . . . .115
Report packet 0x58 – Satellite system data/acknowledge f
rom receiver . . . . . . . . . .116
Report packet 0x5A – Raw measurement data . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Report packet 0x5C – Satellite tracking status . . . . . . . . . . . . . . . . . . . . . . . . . .120
Report packet 0x5F – Diagnostic use only . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120
. . . 96
. 97
. . . . 98
. . . . . . 98
. . . . . . 99
.108
11
114
6 Copernicus II GPS Receiver Reference Manual
Command packet 0x69 – Receiver acquisition sensitivity mode . . . . . . . . . . . . . . .120
Report packet 0x6D – All-in-view satellite selection . . . . . . . . . . . . . . . . . . . . . . . 121
Command packet 0x7A – NMEA settings and interval . . . . . . . . . . . . . . . . . . . . . 122
Report packet 0x7B – NMEA settings and interval . . . . . . . . . . . . . . . . . . . . . . . .122
Command packet 0x7E – TAIP message output . . . . . . . . . . . . . . . . . . . . . . . . .122
Report packet 0x82 – SBAS correction status . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Report packet 0x83 – Double-precision XYZ position fi
Report packet 0x84 – Double-precision LLA position f
x and bias information . . . . . .125
ix and bias information . . . . . .126
Report packet 0x89 – Receiver acquisition sensitivity mode . . . . . . . . . . . . . . . . . . 126
Packets 0x8E and 0x8F – Superpacket. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
Command packet 0xBB – Navigation configuration . . . . . . . . . . . . . . . . . . . . . . . 126
Command packet 0xBC – Protocol configuration . . . . . . . . . . . . . . . . . . . . . . . .127
Command packet 0xC0 – Graceful Shutdown and Go To Standb
y mode. . . . . . . . . . 128
Command packet 0xC2 – SBAS SV mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
TSIP Superpackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . .130
Command packet 8E-15 – Set/request datum. . . . . . . . . . . . . . . . . . . . . . . . . . .130
Command packet 0x8E-17 – Request last position or auto-report position in UTM single
precision format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Command packet 8E-18 – Request last position or
auto-report position in UTM double
precision format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Command packet 0x8E-20 – Request last fix with extra information .
Command packet 0x8E-21 – Request accuracy information. . . . .
Command packet 0x8E-23 – Request last compact fix information
. . . . . . . . . . .131
. . . . . . . . . . . . . 132
. . . . . . . . . . . . .132
Command packet 0x8E-26 – Non-volatile memory storage . . . . . . . . . . . . . . . . . .132
Command packet 0x8E-2A – Request fix and channel tracking
Command packet 0x8E-2B – Request fix and channel tracking
info, type 1 . . . . . . . .133
info, type 2 . . . . . . . .133
Command packet 8E-4A – Set/request Copernicus II GPS receiver cable delay and PPS
polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . .133
Command packet 0x8E-4F – Set PPS width . . . . . . . . . . . . . . . . . . . . . . . . . . . .134
Report packet 0x8F-15 – Current datum values. . . . . . . . . . . . . . . . . . . . . . . . . . 134
Report packet 8F-17 – UTM single precision output. . . . . . . . .
. . . . . . . . . . . . . . 134
Report packet 8F-18 – UTM double precision output . . . . . . . . . . . . . . . . . . . . . . 135
Report packet 0x8F-20 – Last fix with extra information (b
Report packet 0x8F-21 – Request accuracy information .
Report packet 0x8F-23 – Request last compact fix information. . .
inary fixed point) . . . . . . . 136
. . . . . . . . . . . . . . . . . . . 138
. . . . . . . . . . . . . 138
Report packet 0x8F-26 – Non-volatile memory status. . . . . . . . . . . . . . . . . . . . . .139
Report packet 0x8F-2A – Fix and channel tracking info, type 1 . . . . . . . . . . . . . . . .139
Report packet 0x8F-2B – Fix and channel tracking info, type 2 . . .
Response packet 8f-4A – Copernicus II GPS receiv
er cable delay and POS polarity . . . 143
. . . . . . . . . . . . .141
Report packet 0x8F-4F – Set PPS width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Datums . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . . . . . . 143
Contents
6
. . . .131
. . . .131
3
B Trimble ASCII Interface Protocol (TAIP) . . . . . . . . . . . . . . . . . . . 151
Protocol overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152
Message format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Copernicus II GPS Receiver Reference Manual 7
. . . . . . . . .153
Contents
Start of a new message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Message qualifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Message identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data string . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Vehicle ID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Message delimiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sample PV message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Time and distance reporting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Latitude and longitude conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Message data strings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AL – Altitude/up velocity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CP – Compact position solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ID – Identification number. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IP – Initial position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LN – Long navigation message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PR – Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT – Port characteristic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PV – Position/velocity solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RM – Reporting mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RT – Reset mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ST – Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TM – Time/date . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR – Version number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
X1 – Extended status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication scheme for TAIP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Query for single sentence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scheduled reporting frequency interval. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
The Response to query or scheduled report . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
The set qualifier. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sample communication session . . . . . . . . .
. . . . . . . . . . . . . . . . . . . . . . . . . .169
. . . . . .153
. . . . . . . .154
. . . . . . . .154
. . . . . . . .154
. . . .154
. . . . . . . .155
. . . . . .155
. . . .156
. . . . . . . . .157
. . .158
.159
. . .159
. . . . . . .160
.160
. . . . . . . .161
. . . .162
.163
. . .164
. . . .165
. . . . . . . .165
. . . .167
. . . .167
. . . .168
. . . .168
. . .168
8
. . . . . .169
C NMEA 0183 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
The NMEA 0183 communication interface . . . . . . .
Port B serial communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NMEA 0183 message format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Field definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Invalid command set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Checksum. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Exception behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power-up with no back-up data on SRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Power-up with back-up data on SRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .176
Interruption of GPS signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 Copernicus II GPS Receiver Reference Manual
. . . . . . . . . . . . . . . . . . . . . . . . . .172
.172
. . . .173
. . . . . . . . . . .174
. . . .175
. . . . . . . . . . .175
. . . . . . . . .175
. . .176
Contents
General NMEA parser requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .176
NMEA 0183 message options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .176
NMEA 0183 message formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GGA – GPS fix data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . .178
. . . .178
GLL – Geographic position (Latitude/Longitude) . . . . . . . . . . . . . . . . . . . . . . . .178
GSA – GPS DOP and active satellites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GST – GPS accuracy information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GSV – GPS satellites in view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
179
179
. . .179
RMC – Recommended minimum specific GPS/transit data . . . . . . . . . . . . . . . . . .180
VTG – Track made good and ground speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
ZDA – Time & Date . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AH – Almanac health . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AL – Almanac page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AS – Almanac status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BA – Antenna status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CR – Configure receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EM – Enter monitor mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EP – Ephemeris . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FS – Acquisition sensitivity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IO – Ionosphere . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
KG – Set initial position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NM – Automatic message output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PS – PPS configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT – Serial port configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RT – Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SV – Set bit mask for SBAS SV. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TF – Receiver status and position fix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
UT – UTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VR – Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . .181
. . . .182
. . . .183
. . . .183
. . . .184
. . . .184
. . .185
. . . . . .185
.187
. . . . . .187
. . . .188
188
. . . .190
. . .190
. . . . . . . .191
.192
193
. . . . . . . .193
. . . . . . . .194
D Silvana and Anapala Antenna Companion Modules . . . . . . . . . . . . 195
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .196
Environmental specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Product specifications (Silvana and Anapala) . . . . . . . . . . . . . . . . . . . . . . . . . . .198
Tracking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . . .198
Low-profile SMT connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TXD (pin 3). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RXD (pin 5). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Vin (pin 7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Enable (pin 8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . .199
. . . . . . . .199
. . . . . . . .199
. . . . . . . .199
Open / Short (pin 12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PPS (pin 20) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
. . . . . . . .199
XRESET (pin 22) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reserved pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Copernicus II GPS Receiver Reference Manual 9
. . . . . .198
. . . . . .200
. . . . . .200
.198
. . . .199
Contents
Communicating with the GPS receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Mechanical specification Silvana with U.FL connector . . . . . . . . . . . . . . . . . . . . . . . . . 201
10 Copernicus II GPS Receiver Reference Manual
CHAPTER
1
Introduction 1
In this chapter:
Operation
Starter kit
Use and care
Technical assistance
The Copernicus II GPS Receiver Reference Manual
describes how to integrate and operate the
Tri mble
instructions in this manual assume that you
know how to use the primary functions of a
Microsoft
The Trimble Copernicus II GPS module is a
drop-i
and time data in three different protocols.
For more information on GPS, go to
htt
®
Copernicus® II GPS module. The
®
Windows® operating system.
n receiver that provides position, velocity,
p://www.trimble.com/gps/index.shtml.
Copernicus II GPS Receiver Reference Manual 11
1 Introduction
Operation
The Trimble Copernicus II GPS receiver delivers proven performance and Trimble
quality for a new generation of position-enabled products. It features the TrimCore
™
GPS navigation software for extremely fast startup times and high performance in
foliage canopy and urban canyon environments.
The Copernicus II module is a complete 12-channel GPS receiver in a 19 mm x 19 mm
m
x 2.54 m
thumbnail-sized module. The module is packaged in tape and reel for high
speed pick-and-place manufacturing processes; 28 edge castellations provide RF and
I/O interface without the need for connectors.
The sensitive Copernicus II GPS receiver can autonomously acquire GPS satellite
si
gnals and quickly generate reliable position fixes in extremely challenging
environments and under poor signal conditions. The unit also accepts aided GPS
(A-GPS) data for faster startups in very weak conditions.
In Stationary Mode the Copernicus II GPS receiver can produce an accurate and stable
PP
S with an indoor antenna.
Features include:
• Self survey
Starter kit
• TRAIM on clock and frequency
• Noise filter to reduce PPS variance
The Copernicus II GPS module is a complete drop-in, ready-to-go receiver that
pr
ovides position, velocity, and time data in a user’s choice of three protocols:
• The powerful Trimble 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 version 3.0 protocol offers industry-standard
data messages and a command set for easy interface to mapping software.
The starter kit makes it simple to evaluate the performance of the Copernicus II
module. It can be used as a platform for configuring the receiver software or as a
platform for troubleshooting your design.
For a complete description of the starter kit, see Chapter 2, Starter Kit.
Use and care
The Copernicus II GPS receiver is a high-precision electronic instrument and should
be treated with reasonable care.
12 Copernicus II GPS Receiver Reference Manual
Introduction 1
C
CAUTION – There are no user-serviceable parts inside the Copernicus II and any
modification to the unit by the user voids the warranty.
Technical assistance
If you have a problem and cannot find the information you need in the product
documentation, contact the Trimble Technical Assistance Center at 800-767-4822 or
email ctsupport@trimble.com.
Copernicus II GPS Receiver Reference Manual 13
1 Introduction
14 Copernicus II GPS Receiver Reference Manual
CHAPTER
2
Starter Kit 2
In this chapter:
Starter kit components
Interface unit
Interface connections
Antenna
This chapter provides a detailed description of
the starter kit components.
The starter kit provides everything you need to
int
grate state-of-the-art GPS capability into
e
your application.
For complete instructions on connecting the
sta
rter kit, download the Trimble GPS Studio User
Guide. Go to:
http://www.trimble.com/embeddedsystems/
o
pernicus2.aspx?dtID=support
c
Copernicus II GPS Receiver Reference Manual 15
2 Starter Kit
Starter kit components
The RoHS compliant (lead-free) Copernicus II GPS starter kit includes the following:
• An interface unit with reference board. The reference board provides a visual
layout of the Copernicus II GPS receiver on a printed circuit board (PCB), and
includes the RF signal trace, the RF connector, and the I/O connections of the 28
signal pins.
• Copernicus II GPS receivers (3)
• 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
• Quick Start Guide
• Software to evaluate the Copernicus II GPS when it is added to your
application—download the software from the Trimble Support website
Interface unit
Inside the starter kit interface unit, the Copernicus II GPS reference board is placed on
a shelf above the motherboard. It is supported by 4 standoffs. 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 the motherboard.
16 Copernicus II GPS Receiver Reference Manual
The following image shows the AC/DC power supply converter:
The following image shows the USB cable:
Starter Kit 2
Copernicus II GPS Receiver Reference Manual 17
2 Starter Kit
c
d
efgh
ij
k
Interface connections
The front of the Copernicus II GPS interface unit has the following items:
Element Description
Antenna connector MCX-type connector for use with the supplied 3.0 V antenna. It
c
USB connector A-type USB connector that is USB 2.0 and 1.1 compatible. You
d
Port A-TX LED Blinks red if the user device is transmitting data to the
e
Port A-RX LED Blinks red if the Copernicus II GPS receiver is transmitting data to
f
Port B-TX LED Blinks red if the user device is transmitting data to the
g
Port B-RX LED Blinks red if the Copernicus II GPS receiver is transmitting data to
h
Power connector
i
(barrel connector)
Power LED Indicates that the receiver is powered by main power (VCC) from
j
Power switch Turns on or turns off the receiver.
k
connects to the Copernicus II GPS reference board antenna
connector.
can also use this connection to power the starter kit and GPS
receiver.
When you use the USB connection for power
run on AC power (not battery power), to ensure proper voltage
levels to the interface unit.
Copernicus II GPS receiver on port A.
the user device on port A.
Copernicus II GPS receiver on port B.
the user device on port B.
Connects to the AC/DC power converter supplied with the
starter kit. The power converter converts 100–240 VAC to 12 or
24 VDC. The power connector can accept 9 to 32 VDC.
the main power connector.
Main power is controlled by the power switch (see below). When
the switch
supplied to the receiver. When the switch is OFF, the LED is not lit
and the receiver is powered only by the standby regulator or
battery.
Note – For the Copernicus II
standby power, the power source must be from the main power
connector (#6), not from the USB connector.
is ON, the LED illuminates green and main power is
GPS receiver to operate with
the computer must
,
PPS BNC is located on the back of the interface unit. The BNC connector provides a
5 V TTL
by th
18 Copernicus II GPS Receiver Reference Manual
level PPS pulse output by the receiver. The output configuration is controlled
e receiver, not the starter kit driver circuit. This output can drive a 50 Ω 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 the
Copernicus II GPS receiver.
Removing the reference board from the interface unit
To remove the Copernicus II GPS reference board from the interface unit:
Starter Kit 2
Antenna
1. Before disassembling the interface unit, disc
onnect the unit from any external
power source and confirm that both you and your work surface are correctly
grounded for ESD protection.
2. Remove the four screws that secure the bottom plate of the interface unit to the
base o
f the metal enclosure. Set the bottom plate aside.
3. Remove the two screws that secure the Copernicus II GPS reference board to the
s
andoffs. These screws are located at opposite ends of the receiver module.
t
4. Disconnect the 8-way ribbon cable.
5. Remove the RF connector.
The Copernicus II receiver can work with both an active and a passive antenna:
• An "active" GPS antenna has a Low Noise Amplifier (LNA). The LNA makes up
for the signal loss that is inherent in all antenna cables. Active antennas require
power from the GPS receiver to power the LNA, which puts extra drain on the
receiver’s batteries.
• A “passive” GPS antenna does not include an LNA and therefore does not require
power. Because this type of GPS antenna is not powered, cable length usually
cannot exceed one meter.
The Copernicus II GPS starter kit comes with
an active mini magnetic mount 3.0 V GPS
e
nna. This antenna connects to the MCX
ant
connector on the interface unit. The reference
board supplies power to the active antenna
through the RF transition cable.
Using a passive antenna
To test performance with a passive antenna (not supplied in the Copernicus II GPS
Starter Kit) and ensure minimal signal loss, connect it directly to the MCX connector
on the reference board.
Copernicus II GPS Receiver Reference Manual 19
2 Starter Kit
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 patch antenna (DC open),
the firmware reports an antenna open condition.
20 Copernicus II GPS Receiver Reference Manual
CHAPTER
3
Copernicus II GPS Receiver: Features and Performance Specification
In this chapter:
Key features
Specifications
Absolute minimum and maximum
limits
Normal operating conditions
Power consumption over
temperature and voltage
ESD protection
This chapter describes the Copernicus II GPS
receiver features and performance specifications.
Note – Th
he Copernicus II and the Copernicus IIA unless
t
explicitly stated otherwise.
e content in this chapter applies to both
3
Copernicus II GPS Receiver Reference Manual 21
3 Copernicus II GPS Receiver: Features and Performance Specification
Key features
• Thumbnail-sized shielded unit
• Ultra-thin design (2.54 mm)
• No I/O or RF connector—28 reflow-solderable edge castellations
• Ultra-low power usage, typically less than 132 mW
• Highly sensitive:
– −160 dBm tracking sensitivity
– –148 dBm acquisition sensitivity (hot start with ephemeris, otherwise
–144 dBm)
• Fast Time To First Fix (TTFF) from cold start
• Supports active or passive antenna designs
• 12-channel simultaneous operation
• Supports SBAS
• Supports NMEA 0183, TSIP, and TAIP protocols
• RoHS-compliant (lead-free)
• Manufactured and factory tested to Trimble highest quality standards
• Fast installation—tape and reel packaging, pick and place assembly
• Reference board and starter kit available for Copernicus II only. For Silvana and
Anapala options that contain the Copernicus IIA GPS module, see Appendix D,
Silvana and Anapala Antenna Companion Modules.
Feature differences between the Copernicus II and Copernicus IIA
Feature 63530-00 63530-10 67415-00
Standby serial command supported No Yes No
SHORT pin can be pulled HIGH when not used Yes Yes No (SHORT must be "no
co
ect" if not used)
nn
22 Copernicus II GPS Receiver Reference Manual
Block diagram
Copernicus II GPS Receiver: Features and Performance Specification 3
Copernicus II GPS Receiver Reference Manual 23
3 Copernicus II GPS Receiver: Features and Performance Specification
Specifications
The following specifications apply to both the Copernicus II and the Copernicus IIA
module, unless explicitly stated otherwise.
Performance
The GPS module is an 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 (24 hour static)
Horizontal (without SBAS) <2.5 m 50%, <5 m 90%
Horizontal (with SBAS) <2.0 m 50%, <4 m 90%
Altitude (without SBAS) <5 m 50%, <8 m 90%
Altitude (with SBAS) <3 m 50%, <5 m 90%
Velocity 0.06 m/sec
PPS (static) ±60 ns RMS
PPS (stationary mode indoors at –145 dBm) ±350 ns RMS
Acquisition (autonomous operation)
Re-acquisition 2 sec
Hot start 3 sec
Hot start without battery back-up 8 sec (ephemeris not older than 4 hours)
Warm start 35 sec
Cold start 38 sec
Out of the box 41 sec
Sensitivity
Tracking –160 dBm
Acquisition sensitivity (standard sensitivity mode) –142 dBm
Acquisition sensitivity (high sensitivity mode) –148 dBm (hot start with ephemeris);
Operational
Speed limit 515 m/s
–144 dBm (otherwise)
24 Copernicus II GPS Receiver Reference Manual
Interface
Connectors 28 surface-mounted edge castellations
Serial port 2 serial ports (transmit/receive)
PPS 3.0 V CMOS-compatible TTL-level pulse, once per second
Protocols Trimble Standard Interface Protocol (TSIP)
Electrical
Prime power 2.7 VDC to 3.3 VDC
Power consumption
(typical)
Backup power 2.7 VDC to 3.3 VDC
Ripple noise Max 50 mV, peak-to-peak from 1 Hz to 1 MHz
Copernicus II GPS Receiver: Features and Performance Specification 3
Trimble ASCII Interface Protocol (TAIP)
National Marine Electronics Association (NMEA) 0183 version 3.0
(bi-directional NM
44 mA (132 mW) at 3.0 V
EA messages)
Physical
Enclosure Metal shield
Dimensions (W x L x H) 19 mm x 19 mm x 2.54 mm (0.75" x 0.75" x 0.1")
Weight 1.7 grams (0.06 ounce), including shield
Environmental
Operating temperature –40 °C to +85 °C ( –40 °F to 185 °F)
Storage temperature –55 °C to +105 °C ( –67 °F to 221 °F)
Vibration 0.008 g
Operating humidity 5% to 95% R.H. n
2
/Hz, 5 Hz to 20 Hz
2
0.05 g
/Hz, 20 Hz to 100 Hz
-3 dB/octave, 100 Hz to 900 Hz
on-condensing, at 60 °C (140 °F)
Copernicus II GPS Receiver Reference Manual 25
3 Copernicus II GPS Receiver: Features and Performance Specification
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.
Parameter Min Max Unit
Power supply
Power supply voltage (VCC) on Pin 12
Standby voltage (Vbat) on Pin 6
Antenna
Input power at RF input +10 dBm
Input gain at RF input 0 (passive antenna) 36 dB
-0.3 3.6 V
-0.3 3.6 V
Note – See S
tandby mode, page 42 for information on the standby current.
Input/Output pin threshold levels
Input pin voltage (RXD-A, RXD-B, Open, Short, Reserved Pins,XSTANDBY)
Status Min Max Unit
High 2.0 3.6 V
Low 0 0.8 V
Input pin voltage (XRESET)
Status Min Max Unit
High 2.0 3.6 V
Low 0 0.1 V
Output pin voltage (TXD-A, TXD-B, LNA_XEN)
Status Min Max Unit
High (loh = 1 mA) 0.8 * VCC VCC V
Low (lol = 1 mA) 0 0.2 * VCC V
26 Copernicus II GPS Receiver Reference Manual
Copernicus II GPS Receiver: Features and Performance Specification 3
Normal operating conditions
Minimum and maximum limits apply over full operating temperature range unless
otherwise noted.
Parameter Conditions Min Typ Max Unit
Primary supply voltage The rise time to VCC must
140 μsecs. The user can use one source of
power
on Pin 12 (VCC) for both main and
standby power.
Current draw, continuous
tracking,
Power consumption,
nuous tracking,
conti
Power consumption
Absolute maximum
Current draw
Standby mode (XSTANDBY)
Standby mode (software)
Supply ripple noise 1 Hz to 1MHz
Typical: 25 °C (77 °F), 3.0 V 44 mA
Typical: 25 °C (77 °F), 3.0 V 132 mW
Typical: 25 °C (77 °F), 3.0 V
be greater than
2.7 3.3 * V
60
180
7
12
50
mA
mW
uA
uA
mVpp
GPS TCXO frequency 16.368 MHz ± 5 kHz
Hardware reset Assert XRESET pin to clear standby memory 100 us
1
Power consumption over temperature and voltage
Run mode
• Tracking with almanac complete: < 132 mW average at 2.7 VDC, –40 °C to +85 °C
(–40 °F to 185 °F)
• Standby mode: < 30 μW at 3.0 VDC, typical at 25 °C (77 °F); < 200 μW under all
conditions.
At 2.7 V Average current (mA) Average power consumption (mW)
–40 °C (–40 °F) 40 108
Room temperature 43 116
85 °C (185 °F) 46 124
At 3.0 V Average current (mA) Average power consumption (mW)
–40 °C (–40 °F) 40 120
Room temperature 43 129
85 °C (185 °F) 46 138
mVpp
Copernicus II GPS Receiver Reference Manual 27
3 Copernicus II GPS Receiver: Features and Performance Specification
At 3.3 V Average current (mA) Average power consumption (mW)
–40 °C (–40 °F) 41 135
Room temperature 44 145
85 °C (185 °F) 47 155
ESD protection
ESD testing was performed using JDEC test standard JESD-A114C.01. All inputs and
outputs are protected to ±500 V ESD level. The RF input pin is protected up to 1 kV.
If a higher level of compliance is required, additional electrostatic and surge protection
st be added.
mu
28 Copernicus II GPS Receiver Reference Manual
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