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: [phone]

www.trimble.com

Support Offices

Trimble Nav igatio n Limited
Component Technologies
935 Stewart Drive
Sunnyvale, CA 94085
U.S .A.

Phone: [phone]

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 [phone] (24 hours a day) or e-mail your request to

[e-mail]. 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
[phone],

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

. . . . . . . . . . . 12

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. . . . . . . . . . . 16

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. . . . . . 23

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. . . . . . . . . 25

. . . . . . . . . 25

. . . . . . . . . 25

. . . . . . 25

. 26

26

. . . . . . 27

. . . . . . . . 27

. . . . . . . . . 28

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

. . . . . . 42

. . . 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 [e-mail].

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

CHAPTER

4

Receiver Interface 4

In this chapter:

 Pin assignments

 Pin description

 Serial port default settings

 GPS timing

 Assisted GPS (A-GPS)

 Pulse-Per-Second (PPS)

This chapter provides a detailed description of
the Copernicus II GPS receiver interface.

Copernicus II GPS Receiver Reference Manual 29

4 Receiver Interface

Pin assignments

30 Copernicus II GPS Receiver Reference Manual

Receiver Interface 4

Pin description

Pin Name Description Function Note

1 GND Ground Ground Signal ground.

Connect to common ground.

2 GND RF Ground Ground One of two RF grounds adjacent to RF input.

Connect to RF ground system.

3 RF Input GPS RF input Input 50 Ω unbalanced (coaxial) RF input.

4 GND RF Ground Ground One of two RF grounds adjacent to RF input.

Connect to RF ground system.

5 LNA_XEN LNA Enable Output Can be used with active antennas only. Active low

lo

level signal to control external LNA.

gic

6 Vbat Battery backup Power Voltage supply for backup battery 2.7

7 OPEN Antenna OPEN Input Logic level from external antenna detection circuit.

S

ee the antenna detect truth table on page 33.

8 SHORT Antenna SHORT Input/

Output

9 Reserved Reserved Input Do not connect.

10 Reserved Reserved Input Do not connect.

11 XRESET Reset Input Active low logic level reset.

12 VCC Supply voltage Power Module power supply, 2.7 VDC to 3.3 VDC.

13 GND Ground Ground Signal ground.

14 GND Ground Ground Signal ground.

15 GND Ground Ground Signal ground.

16 XSTANDBY Run/Standby Input Selects “RUN” or “STANDBY” mode. ‘

17 Reserved Reserved Input/

Output

18 Reserved Reserved Input/

Output

19 PPS Pulse per second Output Logic level timing signal at 1 Hz.

20 RXD_B Serial port B receive Input Logic level secondary serial port

21 RX

22 Reserved

23 TXD_A Serial port A transmit Output Logic level primary serial port tr

24 TXD_B Serial port B transmit Output Logic level secondary serial port transmit.

25 Reserved Reserved I

D_A Serial port A receive Input Logic level primary serial port receive.

Reserved Input/

Output

nput/

Output

Logic level from external antenna detection circuit.
S

ee the antenna detect truth table on page 33.

Do not connect if not used.

Connect to common ground.

Connect to common ground.

Connect to common ground.

Connect to VCC if not used (run only).

Do not connect.

Do not connect.

Do not connect if not used.

Pull HIGH

Do not connect.

Do not connect.

if not co

nnected.

V to 3.3 V.

receive.

ansmit.

Copernicus II GPS Receiver Reference Manual 31

4 Receiver Interface

Pin Name Description Function Note

26 Reserved Reserved Input/

Output

27 GND Ground Ground Signal ground.

28 GND Ground Ground Signal ground.

Do not connect.

Connect to common ground.

Connect to common ground.

Detailed pin descriptions

RF input

The RF input pin is the 50 Ω unbalanced GPS RF input, and can be used with active or
pa

ssive antennas.

• Passive antennas: You can connect the RF input pin to the passive GPS

antenna by a low-loss 50 Ω unbalanced transmission system if loss is minimal
(< 2 dB). Trimble recommends that you use an external LNA with a passive

enna.

ant

• Active antennas: You can also connect the RF input pin to the output of an

external low-noise amplifier, which amplifies GPS signals from the antenna. The
LNA gain must be great enough to overcome transmission losses from the LNA
output to this pin. The specification for noise for the module is < 3 dB at room
temperature and <4 dB over the specified temperature range, –40 °C to +85 °C
(–40 °F to +185 °F). Locate the external LNA so that the loss from the GPS

t

enna connection to the LNA input is minimized, preferably <1 dB. The noise

an
figure of the LNA should be as low as possible, preferably <2 dB. This
specification is provided to enable a cascaded noise figure design calculation.

Active antennas must be powered with a single bias-tee circuit.

LNA_XEN

Use this logic level output to control power to an external LNA or other circuitry. The
lo

gic of this signal is such that when the module is running (that is, not in standby
mode), the signal is low. In standby mode, the signal is high. You can use this pin to
control the gate of a p-channel FET that is used as a switch.

Open/Short pins

When you use an active antenna, Trimble recommends that you implement an

nna detection circuit with short circuit protection. Two pins are provided for

ante
reporting the antenna status: OPEN and SHORT.

You can use the logic level inputs in the
detection circuit (with or without protection) to monitor the status of the external

f an active antenna by the module.

LNA o

32 Copernicus II GPS Receiver Reference Manual

antenna detect truth table on page 33 with a

Receiver Interface 4

The truth table for the logic of these signals is provided in the table below. These input
pins conform to the Input / Output Pin threshold levels described on page 26.

A typical active antenna draws between 10 mA to 20 mA.The antenna protect/detect
ci

cuit trips as a short circuit at around 100 mA. It is therefore advisable to keep the

r
antenna current below 75 mA. An open circuit is determined if the antenna current
falls below approximately 2 mA.

The antenna detect truth table below shows the condition of the logic signals:

Antenna reports Short Open

Antenna open reported 1 1

Antenna normal teported 1 0

Antenna shorted reported 0 0

Undefined 0 1

When you use a passive antenna with the OPEN pin floating, the receiver reports an

condition. If a normal condition from the receiver is required when using a

open
passive antenna, leave the SHORT pin unconnected (there is an internal pull-up) and
set the logic level of the OPEN pin to low.

XRESET

This logic-level, active low input is used to issue hardware or power-on reset to the

le. It may be connected to external logic or to a processor to issue reset. To reset

modu
the module, take this pin low for at least 100 microseconds. Do not connect the pin if
not used. See Absolute minimum and maximum limits, page 26 for pin threshold
values.

Copernicus II GPS Receiver Reference Manual 33

4 Receiver Interface

XRESET circuit recommendations

The XRESET pin has to be pulled below 100 mV for at least 100 us to assure correct

set operation. The Copernicus II module should be externally reset by a

re
power-on-supervisor or host CPU.

The XRESET pin should be driven actively by an external power-on-reset circuit. It will

e c

ompatible with a CMOS totem-pole or open-drain driver:

b

The circuit below shows an example of a FET circuit used to invert a positive RESET
sig

nal:

VCC

This is the primary voltage supply pin for the module.

34 Copernicus II GPS Receiver Reference Manual

Receiver Interface 4

Vbat

This pin provides power during standby mode (backup mode).

XSTANDBY

This logic level input is used to control the run/standby state of the module. If this
si

gnal is high, the unit runs normally. If it is low, the unit goes to standby mode. See

Absolute minimum and maximum limits, page 26 for pin threshold values.

PPS

Pulse-per-second. This logic level output provides a 1 Hz timing signal to external
device

s. The positive going 4.2 μsec pulse width is controllable by TSIP packet 0x8E-4F.
The cable delay and polarity is controllable by TSIP packet 0x8E-4A. The PPS mode is
set by TSIP packet 0x35. This output meets the input/output pin threshold
specifications (see Absolute minimum and maximum limits, page 26.)

RXD_A and RXD_B

These logic level inputs are the primary (A) and secondary (B) serial port receive lines
(d

ata input to the module). This meets the input/output pin threshold specifications
(see Absolute minimum and maximum limits, page 26). The baud rate for the two
ports is under software control.

RXD_A should be pulled High if not used. RXD_B already has an internal pull up.

TXD_A and TXD_B

These logic level outputs are the primary (A) and secondary (B) serial port transmit
line

s (data moving away from the module). This output meets the input/output pin
threshold specifications (see Absolute minimum and maximum limits, page 26). The
baud rate for the two ports is under firmware control

.

Reserved pins

There are 7 reserved pins on the Copernicus II GPS receiver. For the recommended pin
conn

ections for these reserved pins, see the Pin description table, page 31.

Protocols

The following protocols are available for the Copernicus II GPS receiver:

Protocols Specification Direction Serial port

support

NMEA 0183,
version 3.0

TSIP Trimble proprietory binary protocol Input / Output Both serial ports

TAIP Trimble proprietory ASCII protocol Input / Output Both serial ports

Bidirectional with extended NMEA
sentences

Input / Output Both serial ports

Copernicus II GPS Receiver Reference Manual 35

4 Receiver Interface

Port B serial communication

Note the following to avoid problems with missing or mistimed NMEA messages.

• How does Port B affect Port A? Every second, GPS data comes out on Port A

first, then on Port B. If Port B generates a lot of serial traffic and takes up a
significant amount of time, Port A will not send out data on time during the
following second.

For example, if the Trimble GPS Studio application is used with AUTO-QUERY

at a 4800 baud rate on Port B, this will overload the unit. To run the Trimble

ON
GPS Studio application on Port B with minimum impact, change the baud rate
appropriately. A count of the bytes sent will determine which baud rates will
work correctly.

• If Port B is not used, turn it off completely with this TSIP 0xBC Protocol

Configuration command:

10 BC 01 06 06 03 00 00 00 00 00 00 10 03

Serial port default settings

The Copernicus II GPS receiver supports two serial ports. The default settings are:

Port Port

direction

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

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

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

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

Pin # Protocol Characteristics

Baud rate Data bits Parity Stop bits Flow control

Note – You can configure the protocol and Baud rates on

ly. For a detailed description of

these protocols, see the Appendices.

GPS timing

In many timing applications, such as time/frequency standards, site synchronization
systems, and event measurement systems, GPS receivers are used to discipline local
oscillators.

The GPS constellation consists of 24 orbiting satellites. Each GPS satellite contains a
hig

hly-stable atomic (Cesium) clock that is continuously monitored and corrected by
the GPS control segment. Consequently, the GPS constellation can be considered a set
of 24 orbiting clocks with worldwide 24-hour coverage.

36 Copernicus II GPS Receiver Reference Manual

Receiver Interface 4

GPS receivers use the signals from these GPS clocks to correct their internal clock
which is not as stable or accurate as the GPS atomic clocks. GPS receivers like the
Copernicus II output a highly accurate timing pulse (PPS) generated by an internal
clock which is constantly corrected using the GPS clocks. This timing pulse is
synchronized to UTC within ±60 ns rms.

In addition to serving as a highly accurate stand-alone time source, GPS receivers are
used to

synchronize distant clocks in communication or data networks. This
synchronization is possible since all GPS satellite clocks are corrected to a common
master clock. Therefore, the relative clock error is the same, regardless of which
satellite or satellites are used. For timing applications requiring a common clock, GPS
is the ideal solution.

Position and time errors are related by the speed

of light. Therefore, a position error of
100 meters corresponds to a time error of approximately 333 ns. The hardware and
software implementation affects the GPS receiver's PPS accuracy level. The receiver's
clocking rate determines the PPS steering resolution.

Serial time output

You must take time from the timing messages in the protocol you are using as position
messages contain a timestamp that is usually 1 to 2 seconds in the past.

Protocol Timing Message

TSIP Report packets 41 and 8F-21

TAIP TM message

NMEA ZDA message

Note – GPS time differs from UTC (Universal Coordinated Time) by a variable, integer
n

umber of seconds UTC=(GPS time) – (GPS UTC offset). As of January 2009, the UTC offset
is 15 seconds. Read the offset value as a part of the timing interface to obtain UTC. The
GPS week number is in reference to a base week (Week #0), starting January 6, 1980.

Acquiring the correct time

Do the following:

1. Confirm that the almanac is complete and that the receiver is generating 3D
fi

xes. This eliminates the UTC offset jump.

2. Confirm that the receiver is configured for the late PPS option (that is, it only
outp

uts a PPS on a 3D fix).

3. If you are using TSIP, capture the time from TSIP packet 0x41 or TSIP packet
0x

0.

8F-2

4. Once time is acquired, add 1 to the whole second on the next PPS to read the

rrect time.

co

Note – The minimum time resolution is 1 second.

Copernicus II GPS Receiver Reference Manual 37

4 Receiver Interface

Assisted GPS (A-GPS)

The Copernicus II GPS receiver is equipped with assisted GPS (A-GPS), which enables
it to obtain a position fix within seconds using almanac, ephemeris, time, and position
data. This position data can be uploaded to the device using TSIP packets or the
Trimble GPS Studio application. When A-GPS is enabled, the Copernicus II GPS
receiver can achieve fast start-up times that are characteristic of a hot start.

To download current almanac, ephemeris, time, and position information, and then
uplo

ad this data to the starter kit module through TSIP or the Trimble GPS Studio

application do the following:

C

CAUTION – To ensure correct formatting of the ephemeris file and almanac file, you must
use a Trimble receiver to gather this data. Almanac files from non-Trimble receivers or
elsewhere (for example, downloaded from the Internet) may not be in the correct format
and may not work.

Enabling A-GPS with the Trimble GPS Studio software

1. Attach the Copernicus II interface unit to your computer.

2. Place the GPS antenna where there is a clear view of sky.

3. Allow the starter kit to run and calculate fixes.

4. On the main screen, wait for the almanac indicator to turn green. This confirms
th

at the receiver has collected a current almanac.

Note – It takes 12½ minutes of uninterrupted Coper
from the satellites.

5. Click the initialized drop-down menu and
bottom of the menu to download the almanac, position, time, and ephemeris
files to your computer.

6. Use the upload features on the initiali
interface to upload the features.

nicus II operation to collect almanac

the download features at the

use

ze pull-down window in the Trimble

Note – The collected ephemeris is only good for approximately 2 hours.

Enabling A-GPS with TSIP

1. Allow the receiver to run long enough to collect a current almanac.

Note – It takes 12.5 minutes of uninterrupted Coper
from the satellites.

2. Use packet 0 x 26 to request the health of the receiver. The response packets

and 0x4B indicate when the almanac is complete and current.

0x46

3. Use packet 0x38 to request the almanac and the ephemeris. The receiver
re

sponds with packet 0 x 58.

38 Copernicus II GPS Receiver Reference Manual

nicus II operation to collect almanac

Receiver Interface 4

4. Use packet 0 x 21 to request time from the receiver. The receiver responds with
packet 0x 41. This data can be used to set your own off-board clock.

5. Use packets 0x42, 0x4A, 0x83 0r 0x84 to request a position from the receiver.

To upload this information back to the receiver, follow this procedure in the specified
or

er:

d

1. Upload the time using TSIP packet 0x2E. Wait for upload confirmation report
pac

et 0x41.

k

2. Upload position using TSIP packet 0x31 or 0x32. No confirmation report packet

ailable.

av

3. Upload the ephemeris using TSIP packet 0x38. Wa
report TSIP packet 0x58.

Note – S

ee Appendix A for details on the TSIP protocol.

Pulse-Per-Second (PPS)

The Copernicus II GPS receiver provides a CMOS compatible TTL level
Pulse-Per-Second (PPS). The PPS is a positive pulse and is available on pin 19 of the
Copernicus II GPS receiver. The rising edge of the PPS pulse is synchronized with
respect to UTC. The timing accuracy is ±60 ns when valid position fixes are reported.

The precise UTC or GPS time is reported in TSIP message 0x41 and NMEA message
EDA

. The line reports are sent within 500 ms after the corresponding PPS is sent.

The rising edge of the pulse is typically less than 6 nanoseconds. The distributed
imp

ance of the attached signal line and input circuit can affect the pulse shape and

ed
rise time. The PPS can drive a load up to 1mA without damaging the module. The
falling edge of the pulse should not be used.

The Copernicus II default PPS output mode is Always On, sometimes called “Early
PP

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

it for the upload confirmation

The PPS output modes can be controlled with TSIP packet 0x35 and the NMEA PS
packet. Th
compensation is available through the use of TSIP packet 0x8E-4A and the NMEA PS
packet. PPS pulse width is controlled by TSIP packet 0x8E-4F and the NMEA PS
packet.

After a specific mode is selected, it can be st
TSIP command 0x8E-26.

e modes are Always On (default), Fix Based, or Always Off. Cable delay

ored in non-volatile (Flash) memory, using

Copernicus II GPS Receiver Reference Manual 39

4 Receiver Interface

Stationary mode

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

In addition to the LAND, SEA, and AIR dynamics mode, the Copernicus II can operate
in Stationary mode to produce an accurate and stable PPS using an indoor antenna. In
this mode, the receiver conducts a self-survey of about 10 minutes with a clear view, or
for a longer period with an obstructed view. When the self-survey is complete, the
device outputs PPS while tracking one or more satellites.

Features include:

• TRAIM on clock and frequency

• Noise filter to reduce PPS variance

Note – Use TSIP Command 0xBB or NMEA Command CR to set Stationary mode. When

he receiver is in Stationary mode, the dimension type in TSIP packet 0x6D and in the

t
NMEA GSA messages is 2D.

40 Copernicus II GPS Receiver Reference Manual

CHAPTER

5

Operating Modes 5

In this chapter:

 Copernicus II GPS receiver

operating modes

 Switching between operating

modes

 SBAS

 GPS receiver acquisition

sensitivity

This chapter describes the primary Copernicus II
GPS receiver operating modes and provides
guidelines for receiver operation.

Copernicus II GPS Receiver Reference Manual 41

5 Operating Modes

Copernicus II GPS receiver operating modes

Run mode

This is the continuous tracking or normal mode.

Standby mode

This is backup power or low power mode.

In Standby mode the Copernicus II GPS receiver's RAM memory is kept alive and the
rea

l-time clock runs while the rest of the receiver is turned off. RAM memory is used to

store the GPS almanac, ephemeris, and last position.

Using this information, together with the time information provided by the real-time
cloc

k, the receiver normally provides faster startup times. The type of start-up after
Standby mode depends on the state of the receiver before entering Standby mode and
on the length of time the receiver spent in Standby mode.

If the receiver has almanac, ephemeris, an
Standby mode, and the time spent in Standby mode is less than two hours, the receiver
typically performs a hot start.

If the receiver has all of the information list
mode is more than two hours, the receiver typically performs a warm start.

The GPS almanac, ephemeris and recent position are automatically stored in
non-

olatile Flash memory. Even without time, the receiver can use the information

v
stored in Flash memory to shorten the start-up time. In all cases, the receiver uses all of
the available information to start up as quickly as possible.

Note – In Standby mode, the power consumption of the unit is very low. See St

page 42.

Monitor mode

Monitor mode is Flash upgrading mode.

Monitor mode is the operating mode for upgrading the firmware stored in the Flash
mem

ory. See also Chapter 12, Firmware Upload.

Switching between operating modes

d position information before entering

ed above, but the time spent in Standby

andby mode,

To switch the receiver between Run mode and Standby mode, you can do one of the
following:

• Use the XSTANDBY pin, see page 43.

• Use the serial ports under user control, see page 43.

42 Copernicus II GPS Receiver Reference Manual User Guide

Operating Modes 5

Note – If you use the XSTANDBY pin, do not use the serial ports to control the modes. If you
use the serial port option, the XSTANDBY pin must be held high. You cannot use serial
ports to switch to RUN mode if the XSTANDBY pin was used to enter STANDBY mode.

Using the XSTANDBY pin to switch modes

Use the XSTANDBY pin (pin #16) to put the receiver into Standby mode or switch back
to Run mode.

As long as the pin is held high, the receiver operates normally in Run mode. When the

taken low, the receiver goes to Standby mode.

pin is

When the pin is taken high again, the receiver performs a hot or warm restart and
re

turns to normal operation. The receiver will hot start if the ephemeris is still valid.

Note – E

xcessive noise on the XSTANDBY pin can trigger the receiver to reset.

Using serial ports to switch modes

Alternatively, using TSIP packet 0xC0 or NMEA packet RT to put the receiver into
Standby mode.

There are two conditions that could trigger the receiver to exit Standby mode and reset
to no

rmal operations:

• Serial port activity

• Exit after elapsed time

These conditions are described below.

Serial port activity

When the receiver enters Standby mode through the software protocol commands, the
fi

rst condition for exiting Standby mode is using serial port A activity or serial port B

activity. The condition is identical for both ports A and B.

To ensure that the receiver detects and responds to serial port activity, issue a null
chara

cter on the selected serial port to bring the unit out of Standby mode. In Standby
mode, the receiver samples for serial port activity at a rate of 32.768 kHz. A null
character will bring the selected RX line low for 9 bits so even at the highest baud rate
of 115200, a null character should be detectable at the sample rate.

When shutting down, it may take up to 3 seconds to enter Standby mode. Once in
Stand

by mode wait for at least 3 seconds before returning the unit to Run mode.

Exit after elapsed time

Use the TSIP command Packet 0xC0 or NMEA packet R

T to force the receiver to exit
Standby mode after a defined elapsed time. Specify the number of seconds the receiver
should remain in Standby mode. Once this time has elapsed, the receiver resets and
starts operating normally.

Copernicus II GPS Receiver Reference Manual User Guide 43

5 Operating Modes

Saving almanac, ephemeris, and position data to Flash memory

Graceful Shutdown

SBAS

The almanac, ephemeris, and recent position data contained in RAM is automatically
saved to Flash memory.

The Graceful Shutdown command is issued using TSIP packet 0xC0 or NMEA
command RT with the “Store RAM to Flash” flag enabled. The reset type depends on
the Graceful Shutdown command parameters. On start-up, the unit uses the almanac,
ephemeris, and position from RAM first. If the RAM is not available, the unit uses the
almanac from the Flash memory.

The Satellite Based Augmentation System (SBAS) includes implementation of the
current standard for the Wide Area Augmentation System (WAAS) and the European
Geostationary Navigation Overlay Service (EGNOS) operated by the European Space
Agency, as well as other compatible systems that will be available in the future.

WAAS

The Wide Area Augmentation System (WAAS) is an extremely accurate navigation
system developed for civil aviation by the Federal Aviation Administration (FAA). The
system augments GPS to provide the additional accuracy, integrity, and availability
information to enable users to rely on GPS for all phases of flight for all qualified
airports within the WAAS coverage area.

The worst-case accuracy is within 7.6 meters of the true position 95% of the time. This

achieved using a network of ground stations located throughout North America,

is
which monitor and measure the GPS signal. Measurements from the reference stations
are routed to two master stations, which generate and send the correction messages to
geostationary satellites. Those satellites broadcast the correction messages back to
Earth, where WAAS-enabled GPS receivers apply the corrections to their computed
GPS position.

Number of channels

The Copernicus II GPS receiver tracks one WA
and tracking a WAAS satellite, one tracking channel is set aside for this purpose,
leaving eleven tracking channels which are used for GPS satellites.

AS satellite at a time. When acquiring

44 Copernicus II GPS Receiver Reference Manual User Guide

Operating Modes 5

Acquisition

The receiver acquires a WAAS satellite after it has a GPS-based position fix. After a

o-minute position fix outage, the receiver stops tracking and acquires the WAAS

tw
satellite. The WAAS satellite is re-acquired once the GPS-based position fix is re­established.

Usage

The receiver only uses the data from a WAAS satellite for position fix corrections. It
does

not use a WAAS satellite for computing position solutions.

Almanac collection

The receiver collects WAAS almanac data and automatically stores the WAAS satellite
lo

, and abbreviated almanac and health data.

cation

The receiver does no
set of WAAS corrections.

ollect or store WAAS ephemeris data. The module stores one

t c

GPS receiver acquisition sensitivity

By default, the Copernicus II GPS receiver’s Acquisition Sensitivity is set to Standard. If
your application requires frequent operation indoors or in obscured GPS signal
conditions, switch to High Sensitivity Mode. When High Sensitivity mode is enabled, if
the initial search fails to find a strong GPS signal, then the receiver enters deep search
mode and the time-to-first fix may take longer than normal. If during this period the
receiver is moved into bright signal conditions, the time-to-first-fix may also take
longer than normal. To avoid this issue, operate the receiver in the Standard
Acquisition Sensitivity mode.

Note – The Acquisition Sensitivity Mode setting does not affect tracking sensitivity
pe

rformance.

Copernicus II GPS Receiver Reference Manual User Guide 45

5 Operating Modes

46 Copernicus II GPS Receiver Reference Manual User Guide

CHAPTER

6

Application Circuits 6

In this chapter:

 Passive antenna—Minimum

connections

 Passive antenna—Hardware

activated standby

 Active antenna—Full connection

 Active antenna—Short circuit

connection

 Active antenna—No antenna

status

This chapter describes the Copernicus II GPS
receiver passive and active antenna connections.

For a description of passive and active antenna
co

nections, see page 19.

n

Copernicus II GPS Receiver Reference Manual User Guide 47

6 Application Circuits

Passive antenna—Minimum connections

The minimum connection set for the Copernicus II GPS receiver is shown above:

• A passive antenna is used. The receiver has an on-board LNA and an automatic

gain control circuit.

• The pin LNA_XEN is not necessary and is not connected.

• There is no hardware reset ability through the pin XRESET, since the XRESET

pin is not connected.

• There is no hardware-initiated Standby mode through the pin XSTANDBY, since

XSTANDBY pin is tied High to VCC. The software serial command to Standby
mode will still apply.

• There is no separate power for STANDBY power.

• One serial port is used.

• No Antenna open and short detection or protection is provided. When Open

(Pin 7) and Short (Pin 8) are kept unconnected ( floating), the receiver reports an
open antenna condition. If a normal condition is desired, tie Open Low. See the
antenna detect truth table on page 33.

48 Copernicus II GPS Receiver Reference Manual User Guide

Passive antenna—Hardware activated standby

Application Circuits 6

In the figure above:

• A passive antenna is used. The receiver has an on-board LNA and an automatic

gain control circuit.

• The pin LNA_XEN is not necessary and not connected.

• There is no hardware reset ability through the pin XRESET.

• Hardware-initiated Standby mode through the pin XSTANDBY is possible, since

XSTANDBY pin is not tied High to VCC. The software serial command to
Standby mode can still be used as a second method to force the module into
Standby mode. See Switching between operating modes, page 42.

• There is no separate power for STANDBY power.

• One serial port is used.

• No Antenna open and short detection or protection is provided. When Open

(Pin 7) and Short (Pin 8) are kept unconnected ( floating), the receiver reports an
open antenna condition. If a normal condition is desired, tie Open Low. See the
antenna detect truth table on page 33.

Copernicus II GPS Receiver Reference Manual User Guide 49

6 Application Circuits

Active antenna—Full connection

In the figure above, the Copernicus II GPS receiver has short circuit antenna detection,
and uses a second source to power the unit when it is in Standby mode:

• An active antenna is used.

• The pin LNA_XEN is connected.

• Hardware reset ability is possible through pin XRESET.

• Hardware-initiated Standby mode is possible through pin XSTANDBY, since

XSTANDBY pin is not tied High to VCC. See Standby mode, page 42.

• A second power source is applied for the standby voltage.

• Both serial ports are used.

• Antenna open and short detection and protection is provided. The combination

of the two pins Open (pin 7) and Short (pin 8) report the antenna status (see

Open/Short pins, page 32).

50 Copernicus II GPS Receiver Reference Manual User Guide

Application Circuits 6

• The component information is shown below:

Component Description Manufacturer Part Number

C1 0.1 uF, 0402 capacitor, X7R CAL-CHIP GMC04X7R104K16NTLF

C2 18 PF, 0402 capacitor, C0G KEMET C0402C180J5GAC

Q1A P-Channel MOSFET Fairchild FDG6316P

J1 MCX Connector Johnson Components 133-3711-312

L1 100 nH, 0603 inductor,

surface mount

Q2 PNP Transistor Central Semiconductor CMPT404A (MMBTA70LT1 may be used

Q3 NPN Transistor Philips MMBT3904

Q4 PNP Transistor Philips MMBT3906

Q5 PNP Transistor Philips MMBT3906

DI Switching Diode ON Semiconductor MMBD914LTIG

Coil Craft 0603CS - R10XJLU

if 12 V
required)

lt back voltage tolerance is not

o

Copernicus II GPS Receiver Reference Manual User Guide 51

6 Application Circuits

Active antenna—Short circuit connection

In the figure above, the Copernicus II GPS receiver has short circuit antenna detection,
and uses a second source to power the unit when it is in Standby mode:

• An active antenna is used.

• The pin LNA_XEN is connected.

• Hardware reset ability is possible through pin XRESET.

• Hardware-initiated Standby mode is possible through pin XSTANDBY, since the

pin is not tied High to VCC. See Standby mode, page 42.

• A second power source is applied for the standby voltage.

• Both serial ports are used.

• Antenna short detection and protection is provided. The combination of the

two pins Open (pin 7) and Short (pin 8) report the antenna status (see

Open/Short pins, page 32).

52 Copernicus II GPS Receiver Reference Manual User Guide

Application Circuits 6

• Component information is shown below:

Component Description Manufacturer Part Number

C1 0.1 uF, 0402 capacitor, X7R CAL-CHIP GMC04X7R104K16NTLF

C2 18 PF, 0402 capacitor, C0G KEMET C0402C180J5GAC

Q1A P-Channel MOSFET Fairchild FDG6316P

J1 MCX Connector Johnson Components 133-3711-312

L1 100 nH, 0603 inductor, surface

mo

unt

Q2 PNP Transistor Central Semiconductor CMPT404A (MMBTA70LT1 may be

Q3 NPN Transistor Philips MMBT3904

DI Switching Diode ON Semiconductor MMBD914LTIG

Co

il Craft 0603CS - R10XJLU

used

if 12 Volt back voltage

tolerance is not required)

Copernicus II GPS Receiver Reference Manual User Guide 53

6 Application Circuits

Active antenna—No antenna status

In the figure above, the Copernicus II GPS receiver has no antenna detection and no
separate power source for Standby mode:

• An active antenna is used.

• The pin LNA_XEN is not connected.

• There is no hardware reset ability through the pin XRESET.

• Hardware-initiated Standby mode is possible through the pin XSTANDBY, since

XSTANDBY pin is not tied High to VCC. See Standby mode, page 42.

• There is no separate power for STANDBY power.

• Both serial ports are used.

• Antenna open and short detection or protection is not provided. If pins 7 and 8

are left floating, they will cause the unit to report an antenna open condition. If a
normal condition is desired, tie Open Low (see Open/Short pins, page 32).

54 Copernicus II GPS Receiver Reference Manual User Guide

CHAPTER

7

RF Layout Considerations 7

In this chapter:

 General recommendations

 Design considerations for RF track

topologies

 PCB considerations

This chapter outlines RF and PCB design
considerations for the Copernicus II GPS
receiver.

Copernicus II GPS Receiver Reference Manual 55

7 RF Layout Considerations

General recommendations

The design of the RF transmission line that connects the GPS antenna to the
Copernicus II GPS receiver is critical to system performance. If the overall RF system is
not implemented correctly, the receiver performance may be degraded.

The radio frequency (RF) input on the Copernicus II GPS module is a 50 Ω, unbalanced
input. T
castellation on pin 3. This RF input may be connected to the output of an LNA which
has a GPS antenna at its input or to a passive antenna via a low-loss 50 Ω, unbalanced
tr

If the GPS antenna must be located any significant distance from the receiver, the use
o
from the antenna to the Copernicus II GPS module. Trimble recommends that, in the
case of a passive antenna, the transmission line losses from the antenna to the module
are less than 2 dB. Otherwise an LNA should be added to the system.

The specifications for the external LNA required can be determined as follows:

here are ground castellations, pins 2 and 4, on both sides of the RF input

ansmission line system.

an LNA at the antenna location is necessary to overcome the transmission losses

f

• The specification of noise figure for the Copernicus II GPS module is 3 dB at

room temperature and 4 dB over the temperature range −40 °C to ± 85 °C (−40 °F
to ± 185 °F).

• The noise figure for the external LNA should be as low as possible, with a

recommended maximum of 1.5 dB. Trimble recommends that the gain of the
LNA exceeds the loss as measured from the LNA output to the module input by
10 dB. For example, if the loss from the external LNA output is 10 dB, the
recommended minimum gain for the LNA is 20 dB. To keep losses at the LNA
input to a minimum, Trimble recommends that you connect the antenna
directly to the LNA input, to ensure the minimum loss possible.

• Connections to either the LNA output or to a passive antenna must be made

using a 50 Ω unbalanced transmission system. This transmission system may

any form, such as microstrip, coaxial, stripline or any 50 Ω characteristic

take
imp

edance unbalanced, low-loss system.

• You must keep noise sources with frequencies at or near 1575 MHz away from

the RF input. In the case of a passive antenna, the antenna must not be placed in
a noisy location (such as too close to digital circuitry) as this may degrade
performance. You may use shielded transmission line systems (stripline, coaxial)
to route the signal if noise ingress is a concern.

• If you use an active antenna and you want to power this antenna from the RF

transmission line, a bias-tee will be required at the Copernicus II GPS module
end. A simple series inductor (that is parallel resonant at 1575 MHz) and shunt
capacitor (series resonant at 1575 MHz) to which the bias voltage is supplied is
sufficient. You can also use an open/short detection and over-current
protection circuit. See Chapter 6, Application Circuits.

56 Copernicus II GPS Receiver Reference Manual

• In the printed circuit board (PCB) layout, Trimble recommends that you keep

the copper layer on which the receiver is mounted clear of solder mask and
copper (vias or traces) under the module. This is to ensure mating of the
castellations between the Copernicus II GPS module and the board to which it is
mounted, so that there is no interference with features beneath the receiver that
cause it to lift during the re-flow solder process.

• For a microstrip RF transmission line topology, Trimble recommends that the

layer immediately below the one to which the receiver is mounted is the ground
plane. Use low-inductance connections to connect pins 2 and 4 directly to the
ground plane. You can use the correct geometry for a 50 Ω to route pin 3 (the RF

put) on the top layer.

in

Design considerations for RF track topologies

For the RF layout of the Copernicus II GPS receiver, consider the following:

• PCB track connection to the RF antenna input must have an impedance of 50 Ω

and be as short as possible.

• If you are using an external antenna, the PCB track connection to the RF

antenna input must transition from the circuit board to the external antenna
cable. This is typically an RF connector.

RF Layout Considerations 7

• If there are any ground planes on the same layer as the microstrip trace, see the

Coplaner Waveguide design. This is not included in this user guide.

• Route PCB track connection to the RF antenna input away from potential noise

sources such as oscillators, transmitters, digital circuits, switching power
supplies, and so on.

• RF and bypass grounding must be direct to the ground plane through its own

low-inductance via.

• You may use active or passive antennas. When using a passive antenna, the

connection to the antenna input must be very short. You can mount the patch
antenna on the same PCB as the Copernicus II GPS module. Designers must be
aware of noise generating circuitry and must ensure correct design precautions
( for example, shielding) are taken.

v

The PCB track connection to the RF antenna input must not ha

• Sharp bends.

• Components overlaying the track.

• Routing between components to avoid undesirable coupling.

e:

Copernicus II GPS Receiver Reference Manual 57

7 RF Layout Considerations

PCB considerations

The minimum implementation is a two-layer PCB substrate with all the RF signals on
one side and a solid ground plane on the other. You can also use multilayer boards.

Two possible RF transmission line topologies are microstrip and stripline.

Microstrip transmission lines

Ground plane design

Trimble recommends that you use a complete ground plane immediately under the

B layer on which the Copernicus II GPS module is mounted. Around the signal

PC
tracks on the same layer as the module, flood or “copper pour” and then use low­inductance vias to connect the module to the ground plane. A single ground plane is
adequate for both analog and digital signals.

Microstrip transmission line design

You must use a 50 Ω unbalanced transmission system to connect to the LNA output or
to a pass

• Track width (W)

• PCB substrate thickness (H)

• PCB substrate permittivity (ε

• To a lesser extent, PCB copper thickness

ive antenna. The following PCB parameters affect impedance:

)

r

(T) and proximity of same layer ground
plane.

58 Copernicus II GPS Receiver Reference Manual

RF Layout Considerations 7

The following table shows typical track widths for an FR4 material PCB substrate
(permittivity ε

of 4.6 at 1.5 GHz) and different PCB thicknesses. One ounce copper is

r

assumed for the thickness of the top layer. If a multilayer PCB is used, the thickness is
the distance from signal track to nearest ground plane:

Substrate
material

FR4 4.6 1.6 2.91

Permittivity Substrate thickness

H (mm)

1.2 2.12

1.0 1.81

0.8 1.44

0.6 1.07

0.4 0.71

0.2 0.34

Track width
W (mm)

Microstrip design

Trimble recommends that you route the antenna connection PCB track around the

ide of the module outline, keep it on a single layer and make sure that there are no

outs
bends greater than 45 degrees. For production reasons, do not route the track under
the module.

Stripline transmission lines.

Ground plane design

The stripline topology requires three PCB layers: two for ground planes and one for

gnal. One of the ground plane layers may be the layer to which the Copernicus II GPS

si
module is mounted. If this is the case:

• Flood the top layer with ground plane and connect the top layer to all ground

castellations on the Copernicus II GPS module.

• Use a via to connect the RF input to the signal layer below.

• The layer below the signal layer is the second ground plane.

Copernicus II GPS Receiver Reference Manual 59

7 RF Layout Considerations

• Use the vias adjacent to the signal trace to connect the two ground planes.

• Use vias to route other signals of the Copernicus II GPS module to additional

For the symmetric stripline topology where the signal trace is equal distance from each
gr

ound plane, the following table applies:

layers.

Substrate
material

FR4 4.6 1.6 0.631

Permittivity Substrate thickness

H (mm)

1.2 0.438

1.0 0.372

0.8 0.286

0.6 0.2

0.4 0.111

0.2 N/A

Tra c k widt h
W (mm)

60 Copernicus II GPS Receiver Reference Manual

CHAPTER

8

Mechanical Specifications 8

In this chapter:

 Mechanical outline drawing

 Soldering the Copernicus II GPS

receiver to a PCB

This chapter provides product drawings and
instructions for soldering the Copernicus II GPS
receiver to a printed circuit board (PCB).

Copernicus II GPS Receiver Reference Manual 61

8 Mechanical Specifications

IMAGE TO COME

Top v iew

Bottom view

Mechanical outline drawing

The outline dimensions are:

62 Copernicus II GPS Receiver Reference Manual

Soldering the Copernicus II GPS receiver to a PCB

No solder mask
or copper traces
under the unit.

Solder mask

When soldering the Copernicus II GPS receiver to a PCB, keep an open cavity
underneath the Copernicus II GPS module (i.e., do not place copper traces or solder
mask underneath the module). The diagram below illustrates the required user solder
mask. The units in brackets, [], are in millimeters:

Mechanical Specifications 8

Copernicus II GPS Receiver Reference Manual 63

8 Mechanical Specifications

No solder mask
or copper traces
under the unit.

Pad pattern

Below is the required user pad pattern. The units in brackets, [], are in millimeters.

64 Copernicus II GPS Receiver Reference Manual

Mechanical Specifications 8

Paste mask

To ensure good mechanical bonding with sufficient solder to form a castellation solder
joint, use a solder mask ratio of 1:1 with the solder pad. When using a 5 ±1 Mil stencil
to deposit the solder paste, we recommend a 4 Mil toe extension on the stencil. The
units in brackets, [], are in millimeters.

Copernicus II GPS Receiver Reference Manual 65

8 Mechanical Specifications

66 Copernicus II GPS Receiver Reference Manual

CHAPTER

9

Packaging 9

In this chapter:

 Introduction

 Reel

 Tapes

Follow the instructions in this chapter to ensure
the integrity of the packaged and shipped
Copernicus II GPS receiver modules.

Copernicus II GPS Receiver Reference Manual 67

9 Packaging

Introduction

The Copernicus GPS modules are packaged in tape and reel for mass production. The
reel is sealed in a moisture proof Dry Pack bag. Follow all the directions printed on the
package for handling and baking.

The Copernicus GPS modules are packaged in two quantities: a reel with 100 pieces
and a r

The following image shows the Copernicus II GPS receiver packaged in tape:

eel with 500 pieces, 20 piece trays are also available.

68 Copernicus II GPS Receiver Reference Manual

Reel

Packaging 9

The 13-inch reel can be mounted in a standard feeder for the surface mount pick and
place machine. The reel dimensions are the same regardless of the quantity on the reel.

Figure 9.1 Reel Diagram

Weight

100 pieces with reel packaging + desiccant + humidity indicator = approximately

0.79 kg (1.74 lb).

500 pieces with reel packaging + desiccant + humidi

1.47 kg (3.24 lb).

100 pieces with reel packaging + desiccant +

humi

approximately 1.02 kg (2.24 lb).

500 pieces with reel packaging + desiccant + humi
approximately 1.70 kg (3.74 lb).

ty indicator = approximately

dity indicator + white pizza box =

dity indicator + white pizza box =

Copernicus II GPS Receiver Reference Manual 69

9 Packaging

Feeding direction

ROUND HOLE

S/N 05011234

52979-00-D

Made in China

52979-00-D

S/N 05011234

Made in China

S/N 05011234

52979-00-D

Made in China

S/N 05011234

52979-00-D

Made in China

S/N 05011234

52979-00-D

Made in China

S/N 05011234

52979-00-D

Made in China

Tapes

The tape dimensions illustrated in the diagram below are in inches. The metric units
appear in brackets [].

The feeding direction is shown below:

70 Copernicus II GPS Receiver Reference Manual

CHAPTER

10

Shipping and Handling 10

In this chapter:

 Shipping and handling guidelines

 Moisture precondition

 Baking procedure

 Soldering paste

 Solder reflow

 Recommended soldering profile

 Optical inspection

 Cleaning

 Soldering guidelines

 Rework

 Conformal coating

 Grounding the metal shield

This chapter provides detailed guidelines for
shipping and handling the Copernicus II GPS
receiver to ensure compliance with the product
warranty.

Copernicus II GPS Receiver Reference Manual 71

10 Shipping and Handling

Shipping and handling guidelines

Handling

The Copernicus II GPS module is shipped in tape and reel for use with an automated
surface mount machine. This is a lead-free module with silver plating. Do not allow
bodily fluids or lotions to come in contact with the bottom of the module.

C

WARNING – The Copernicus II GPS module is packed according to ANSI/EIA-481-B and

J-STD-033A. All of the handling and precaution procedures must be followed. Deviation
from following handling procedures and precautions voids the warranty.

Shipment

The reel of Copernicus II GPS modules is packed in a hermetically sealed moisture
barrier bag (DryPac) and then placed in an individual carton. Handle with care to avoid
breaking the moisture barrier.

Storage

The shelf life for the sealed DryPac is 12 months and it must be stored at <40 °C and
<90% relative humidity.

Moisture indicator

A moisture indicator is packed individually in each DryPac to monitor the
environment. All five indicating spots are shown blue from the factory. If the indicator
shows pink, follow the instructions printed on the indicator and then bake as
necessary. See Baking procedure, page 74 for baking instructions.

Floor life

The reel of Copernicus II GPS modules is vacuum sealed in a moisture barrier bag
(DryPac). Once the bag is opened, moisture will bond with the modules. In a
production floor environment, an open reel needs to be processed within 72 hours,
unless it is kept in a nitrogen purged dry chamber. If the moisture indicator has
changed to pink, follow the baking instructions printed on the moisture barrier.

The Copernicus II GPS module is a lead free component for RoHS compliance. The

also plated with immersion silver for better solderability. The silver may tarnish

unit is
over time and show yellow in color, but tarnish should not affect the solderability.

C

72 Copernicus II GPS Receiver Reference Manual

WARNING – Operators should not touch the bottom silver solder pads by hand or with

contaminated gloves. No hand lotion or regular chlorinated faucet water can be in
contact with this module before soldering.

Moisture precondition

Precautions must be taken to minimize the effects of the reflow thermal stress on the
module. Plastic molding materials for integrated circuit encapsulation are hygroscopic
and absorb moisture dependent on the time and the environment. Absorbed moisture
will vaporize during the rapid heating of the solder reflow process, generating pressure
to all the interface areas in the package, followed by swelling, delamination, and even
cracking of the plastic. Components that do not exhibit external cracking can have
internal delamination or cracking which affects yield and reliability.

Shipping and Handling 10

Figure 10.1 Moisture precondition label

Copernicus II GPS Receiver Reference Manual 73

10 Shipping and Handling

Baking procedure

If baking is necessary, Trimble recommends baking in a nitrogen purge oven.

Temperature: 125 °C

Duration: 24 hours.

After baking: Store in a nitrogen-purged cabi

C

WARNING – Do not bake the units within the tape and reel packaging. Repeated baking

processes reduce the solderablity.

Soldering paste

The Copernicus II GPS module itself is not hermetically sealed. Trimble strongly
recommends using the “No Clean” soldering paste and process. The castellation solder
pad on the module is plated with silver plating. Use Type 3 or above soldering paste to
maximize the solder volume. An example is provided below:

Solder paste: Kester EM909

Alloy composition: Sn96.5Ag3Cu.5 (SAC305) 96.5% Tin/ 3%Silver/ 0.5% Copper

Liquid Temperature: 221 °C

Stencil Thickness: 5 Mil (0.005")

Stencil opening requires 4-mil toe over paste in the X and Y directions.

Note – Consult solder paste manufacturer and the assembly process for the approved

rocedures.

p

net or dry box to prevent absorption

of moisture.

Solder reflow

A hot air convection oven is strongly recommended for solder reflow. For the lead-free
solder reflow, we recommend using a nitrogen-purged oven to increase the solder
wetting. Reference IPC-610D for the lead free solder surface appearance.

C

74 Copernicus II GPS Receiver Reference Manual

WARNING – Follow the thermal reflow guidelines from the IPC-JEDEC J-STD-020C.

The size of this module is 916.9 mm3. According to J-STD-020C, the peak component
temperature during reflow is 245 +0 °C.

Recommended soldering profile

Shipping and Handling 10

Figure 10.2 Recommended soldering profile

Select the final soldering thermal profile very carefully. The thermal profile depends on
the choice of the solder paste, thickness and color of the carrier board, heat transfer,
and size of the penalization.

C

WARNING – For a double-sided surface-mount carrier board, the unit must be placed on

the secondary side to prevent falling off during reflow.

Optical inspection

After soldering the Copernicus II GPS module to the carrier board, follow IPC-610
specification to visually inspect using 3X magnification lens to verify the following:

• Each pin is properly aligned with mount pad.

• Pads are properly soldered.

• No solder is bridged to the adjacent pads. X-ray the bottom pad if necessary.

Copernicus II GPS Receiver Reference Manual 75

10 Shipping and Handling

Cleaning

When the Copernicus II GPS module is attached to the user board, a cleaning process
voids the warranty. Use a “no-clean” process to eliminate the cleaning process. The
silver plated Copernicus II GPS module may discolor with cleaning agent or
chlorinated faucet water.

C

WARNING – Any other form of cleaning solder residual may cause permanent damage

and will void the warranty.

Soldering guidelines

Repeated reflow soldering

The Copernicus II GPS lead-free silver plated module can withstand two-reflow solder
processes. If the unit must mount on the first side for surface-mount reflow, add glue
on the bottom of the module to prevent falling off when processing the second side.

Wave soldering

The Copernicus II GPS module cannot soak in the solder pot. If the carrier board is
mixed with through-hole components and surface mount devices, it can be processed
with one single lead-free wave process. The temperature of the unit will depend on the
size and the thickness of the board. Measure the temperature on the module to ensure
that it remains under 180 °C.

Hand soldering

For the lead-free Copernicus II GPS module, use a lead-free solder core, such as Kester
275 Sn96.5/Ag3/Cu0.5. When soldering the module by hand, keep the soldering iron
below 260 °C.

Rework

The Copernicus II GPS module can withstand one rework cycle. The module can heat
up to the reflow temperature to precede the rework. Never remove the metal shield
and rework on the module itself.

Conformal coating

Conformal coating on the Copernicus II GPS module is not allowed. Conformal
coating will void the warranty.

76 Copernicus II GPS Receiver Reference Manual

Grounding the metal shield

The Copernicus II GPS module is designed with numerous ground pins that, along
with the metal shield, provide the best immunity to EMI and noise. Any alteration by
adding ground wires to the metal shield is done at the customer's own risk and may
void the warranty.

Shipping and Handling 10

Copernicus II GPS Receiver Reference Manual 77

10 Shipping and Handling

78 Copernicus II GPS Receiver Reference Manual

CHAPTER

11

Copernicus II Reference Board 11

In this chapter:

 Description

 Reference board block diagram

 Reference board schematic

 Reference board I/O and power

connector

 Reference board power

requirement

 Reference board component

locations

This chapter provides schematics for the
Copernicus II reference board.

Copernicus II GPS Receiver Reference Manual 79

11 Copernicus II Reference Board

Description

The Copernicus II GPS surface-mount receiver is installed on a carrier board defined
as the Copernicus II GPS Reference Board. This board can also be used as a design
reference, providing a visual layout of the Copernicus II GPS module on a PCB
including the RF signal trace, RF connector, and the I/O connections of the 28 signal
pins. The reference board demonstrates how an 8-pin header connector can be
connected to the I/O and power sections of Copernicus II GPS, and how an RF
connector can be attached to the RF section. An antenna open and short detection
and protection application circuit has also been included on the reference board. The
Copernicus II GPS reference board is RoHS compliant (lead-free).

The Copernicus II GPS reference board is installed on the starter kit motherboard to
fa

cilitate testing and evaluation of the Copernicus II GPS receiver. It provides
everything the user needs to integrate state-of-the-art GPS capability into an
application.

80 Copernicus II GPS Receiver Reference Manual

Reference board block diagram

Copernicus II Reference Board 11

Copernicus II GPS Receiver Reference Manual 81

11 Copernicus II Reference Board

Reference board schematic

Note – Reference board schematics may differ from the recommendations outlined in Pin

description, page 31 due to the test mode requirements for Trimble’s internal use..

82 Copernicus II GPS Receiver Reference Manual

LED status circuit

Copernicus II Reference Board 11

Copernicus II GPS Receiver Reference Manual 83

11 Copernicus II Reference Board

Antenna status detection circuit

84 Copernicus II GPS Receiver Reference Manual

Reference board I/O and power connector

The Copernicus II GPS reference board power and data I/O functions are integrated
into a single 8-pin header connector designated J2. The J2 connector uses 0.15 inch
(3.8 mm) high pins on 0.0787 inch (2 mm) spacing.

Pin # Function Description

1 TXD-B Port B transmit, CMOS/TTL

2 VCC 3.0 VDC to 3.6 VDC

3 TXD-A Port A transmit, CMOS/TTL

4 Vback 3.0 VDC to 3.3 VDC

The STANDBY supply shall be at least 0.3V less than VCC.

5 RXD-A Port A receive, CMOS/TTL

6 1 PPS Pulse-Per-Second, CMOS/TTL

7 RXD-B Port B receive, CMOS/TTL

8 GND Ground, Power and Signal

Reference board power requirement

Copernicus II Reference Board 11

The Copernicus II GPS reference board requires +3.0 VDC to 3.6 VDC. The receiver
power is supplied through pin 2 of the I/O connector.

The Copernicus II GPS reference board also prov

ides an input for back-up power used
in Standby mode and when prime power is turned off. Back-up power is used to keep
the receiver RAM memory alive and to power the real-time clock. RAM memory is
used to store the GPS almanac, ephemeris, last position, and user configuration data,
including port parameters.

Copernicus II GPS Receiver Reference Manual 85

11 Copernicus II Reference Board

Reference board component locations

Top of board

Bottom of board

86 Copernicus II GPS Receiver Reference Manual

APPENDIX

A

Trimble Standard Interface Protocol A

In this appendix:

 Interface scope

 Run mode packet structure

 Automatic output packets

 Automatic position and velocity

reports

 Initialization packets to speed

start-up

 Packets output at start-up

 Timing packets

 Satellite data packets

 Backwards compatibility to

Lassen iQ receiver

 Recommended TSIP packets

 Command packets sent to the

receiver

 Report packets sent by the

receiver to the user

The Trimble Standard Interface Protocol (TSIP)
provides the system designer with over 20
commands that may be used to configure a GPS
receiver for optimum performance in a variety of
applications. TSIP enables the system designer to
customize the configuration of a GPS module to
meet the requirements of a specific application.

This appendix provides the information needed
to mak

e judicious use of the powerful features
TSIP has to offer, to greatly enhance overall
system performance, and to reduce the total
development time. The provided reference tables
will help you determine which packets apply to
your application. See page 98 for a detailed
description of key setup parameters. Application
gu

idelines are provided for each TSIP command

packet, beginning on page 100.

 Key setup parameters or packet

BB

 Packet descriptions

 TSIP Superpackets

 Datums

Copernicus II GPS Receiver Reference Manual 87

A Trimble Standard Interface Protocol

Interface scope

The Trimble Standard Interface Protocol (TSIP) is used extensively in Trimble receiver
designs.

The Copernicus II GPS receiver has two serial I/O communication ports, a
b

directional control and a data port. You can program the data I/O port

i
characteristics, protocol definitions, and other options and store them in non-volatile
Flash memory.

The TSIP protocol is based on the transmission of packets of information between the
user equipment and th
representing 2 hexadecimal digits) that identifies the meaning and format of the data
that follows. Each packet begins and ends with control characters.

This appendix describes the format of the transmitted data, the packet identification

des, and all available information over the output channel to allow you to choose the

co
data required for your application. As will be discussed, the receiver transmits some of
the information (position and velocity solutions, and so on) automatically when it is
available, while other information is transmitted only on request. Additional packets
may be defined for particular products and these will be covered in the specifications
for those products as required.

e unit. Each packet includes an identification code (1 byte,

The Copernicus II GPS monitor included in the to
TSIP packets.

Run mode packet structure

The TSIP packet structure is the same for both commands and reports. The packet
format is:

<DLE> <id> <data string bytes> <DLE> <ETX>

Where:

<DLE>

<ETX>

<id>

The bytes in the data string can have any value. To prevent confusion with the frame
sequen
preceded by an extra
(“stuffed”) before sending a packet and removed after receiving the packet.

Note – A simple
as these can be bytes in the middle of a data string. The end of a packet is
by an odd number of

is the byte 0x10

is the byte 0x03

is a packet identifier byte that can have any value excepting <ETX> and <DLE>

ces

<DLE> <ID> and <DLE> <ETX>, every <DLE> byte in the data string is

<DLE> byte (“stuffing”). These extra <DLE> bytes must be added

<DLE> <ETX> sequence does not necessarily signify the end of the packet,

<DLE> bytes.

o

l kit is designed to use many of the

<ETX>, preceded

Multiple-byte numbers (integer, float, and double) follow the ANSI / IEEE Std. 754 IEEE

dard for binary Floating-Point Arithmetic. They are sent most-significant byte

Stan
first. You must switch the byte order on Intel-based machines.

88 Copernicus II GPS Receiver Reference Manual

The data types used in the Copernicus II TSIP are as follows:

Data type Description

UINT8 Byte: An 8- bit unsigned number.

SINT8 Word: An 8-bit unsigned integer.

INT16 Integer: A 16-bit integer.

INT32 Long: A 32-bit integer

UINT32 ULong: A 32-bit unsigned integer

Single Float (4 byte REAL), 24 bit precision, roughly 6.5 digits.

Double Float (8 bytes REAL) 52- bit precision, a little better than 15 digits

Automatic output packets

The Copernicus II GPS receiver is configured to automatically output the following
packets. For minimal system implementations, these output packets provide all the
information required for operation including time, position, velocity, and receiver and
satellite status and health. Position and velocity are reported using one or more of the
packets listed below, depending on the selected I/O options. While other packets are
automatically output, the following packets provide the information most commonly
used. No input packets are required.

Trimble Standard Interface Protocol A

Output packet ID Description Reporting interval

0x41 GPS time 1 second

0x42, 0x83, 0x4A, 0x84,
0x8

F-20

0x43, 0x56, 0x8F-20 Velocity (choose packet with I/O opt

0x46 Health of receiver 1 second

0x4B Machine code/status (includes antenna

0x6D All-in-view satellite selection, DOPs, Fix Mode 1 second

0x82 SBAS fix mode (always the last packet of the

osition (choose packet with I/O options) 1 second

P

ions) 1 second

1 second

1 second

tect)

de

fix inf

rmation)

o

fault

Copernicus II GPS Receiver Reference Manual 89

A Trimble Standard Interface Protocol

Automatic position and velocity reports

The receiver automatically outputs position and velocity reports at set intervals.
Automatic report packets are controlled by packet 35. Setting the control bits as
indicated in the table below allows you to control which position and velocity packets
are output.

Packet 0x35, Byte 0 Packet 0x35, Byte 1

Report
packet ID

0x42 Single precision

0x83 Double-precision

0x4A Single-precision

0x84 Double-precision

0x43 Velocity fix (XYZ,

0x5

6 Velocity fix (ENU) 1

0x8F-20 LLA and ENU 1

Request
settings

Z position

XY

XY

Z position

LLA po

sition

LLA po

sition

ECEF)

Bit 0 Bit 1 Bit 4 Bit 5 Bit 0 Bit 1

1 0

1 1

1 0

1

(default)

1

1

(default)

Note – In packets 0x42, 0x83, 0x4A, 0x84, 0x43, 0x5

6, 0x8F-17, and 0x8F-18 when the Time
of Fix parameter is reported as -1, this means that the fix information is not calculated by
the Copernicus II GPS receiver, but comes from another source such as SRAM, Flash
memory, or user input. In packet 8F-20, this information is denoted by the Invalid Fix
parameter: if this is set to 1 then the fix comes from another source besides the Copernicus
II GPS receiver.

90 Copernicus II GPS Receiver Reference Manual

Notes on usage of TSIP packets with UTC

Many TSIP messages give the option of outputting the time of fix in UTC time rather
than GPS time. UTC time in these messages is output as time-of-week, rather than the
UTC standard (year / month / day - hour: min: second). In the following instances,
conversion from time-of-week to time-of-day may be inaccurate or may require some
interpretation:

• At startup, there may be no knowledge of the UTC-GPS offset. In this case, the

time-of-week is GPS time. When the UTC-GPS offset is decoded from the GPS
broadcast, you will see a jump backward in time of over 10 seconds. This
condition can be detected by looking at the UTC offset data field in the TSIP
0x41 messages, which are automatically output. If the UTC-GPS offset is
unknown, the UTC-GPS offset value in the 0x41 is zero, and you should
anticipate the backward leap in time tag within the first fifteen minutes of
clear-view.

• Every few months a leap second is added, and the UTC-GPS offset increments

by one. This is done at the end of the UTC day on 30 June or 31 December. For
the remainder of the week, the conversion of the UTC time-of-week to the UTC
time-of-day is out by one second. In most applications, this is acceptable. If it is
critical to maintain correct UTC time, the condition can be detected as follows:

Trimble Standard Interface Protocol A

– Query the GPS broadcast message TSIP 0x58-05, which contains the

current UTC-GPS offset LS, the future UTC-GPS offset LSF, and the
week-number (WNLSF) and day-of-week (DLSF) of the change to LSF.

– If LS does not equal LSF, and the current week number = WNLS, and the

time-of-week is after the end of the day specified by DLS, the UTC time
should be adjusted by (LSF - LS).

Copernicus II GPS Receiver Reference Manual 91

A Trimble Standard Interface Protocol

Initialization packets to speed start-up

If you are not supplying the receiver with battery power when main power is off, you
can still “warm-start” the receiver by sending the following sequence of commands
after the receiver has completed its internal initialization and has sent packet 82.

Hot start times can be achieved using packet 0x38-06 to upload the ephemeris. Only
time

and position are necessary for the hot start since the almanac and ephemeris are

stored in flash. Position is also stored in flash which improves first fix accuracy.

Input byte Description

0x2E Initial time

0x38 Almanac (for each SV)

0x38 Ephemeris

0x38 Ionosphere page

0x38 UTC corrections

0x38 Almanac health

0x2B Initial position

Packets output at start-up

The following table lists the messages output by the receiver at power-up:

Output ID Description Notes

0x45 software version --

0x46 receiver health --

0x4B machine code/status --

As chosen, default: 0x84, 0x56 position/velocity output As chosen, see page 90.

0x41 GPS time

0x82 SBAS fix mode See command 0xBB to

After completing its self-diagnostics, the receiver automatically outputs a series of
packets

which indicate the initial operating condition of the receiver. Messages are
output as listed in the table below. After packet 82 is output, the sequence is complete
and the receiver is ready to accept commands.

Timing packets

If you are using the Copernicus II GPS as a timing reference, you may need to
implement the following TSIP control commands:

e

able/disable SBAS

n

Input ID Description Output ID

0x21 Get the current GPS time 0x41

0x38-05 Request UTC parameters 0x58-05

92 Copernicus II GPS Receiver Reference Manual

Trimble Standard Interface Protocol A

Satellite data packets

The following packets contain a variety of GPS satellite data:

Input ID Description Output ID

0x27 Request signal levels 0x47

0x38 Request/load satellite system data 0x58

0x3C Request tracking status 0x5C

Backwards compatibility to Lassen iQ receiver

The following list describes the differences between TSIP used in the Lassen® iQ/SQ
receiver and the Copernicus II GPS receiver:

• 0x41, 0x46, 0x4B automatic packets are output every 1 second instead of every 5

seconds.

• DGPS is not supported in the Copernicus II GPS receiver. Thus the following

packets are not supported:

– 0x60 /0x61

– 0x65/0x85

• 0x70 packet is not supported in the Copernicus II GPS receiver. The receiver

supports only Kalman Filter and it cannot be turned off. A PV filter is not
available for the Copernicus II GPS receiver.

• Packet 0xC0 – Graceful Shutdown and Go To Standby Mode is supported in the

Copernicus II GPS receiver.

• In Key Setup Parameters of Packet BB, Packet BB is still the same, but:

– Cannot set signal mask.

– Fix mode/DOP mask/DOP switch/DGPS correction age are not supported.

– The dynamic modes are Land, Sea, and Air.

• In the packet description of 0xBB, navigation configuration:

– Byte 1: only value 0, automatic is supported

– Byte 2: now used for SBAS

– Byte 3: only values 1, 2, and 3 are supported

– Bytes 9-12: change AMU mask (not supported)

– Bytes 13-21: are changed to reserved.

• In packet 0x1E, byte 0 – add 0x4D for enter Monitor mode. The response packet

is 0x5F-FF-‘*’-‘*’-‘*’-‘ ‘-‘M’-‘O’-‘N’-‘I’-‘T’-‘O’-‘R’-‘ ‘-‘*’-‘*’-‘*’.

• 0x35/0x55 packets – Filtered PR’s in 5A is not supported.

Copernicus II GPS Receiver Reference Manual 93

A Trimble Standard Interface Protocol

• 0x3A/0x5A packets, Raw Measurement diagnostic packets have been added to

the Copernicus II GPS receiver.

• 0x45 packet, Byte 9, “Year number minus 1900” instead of “Year number minus

2000.

• In the 0x7A packet of the Copernicus II GPS receiver, the NMEA sentences TF

and BA have been added.

• 0xBC, Protocol Configuration:

– Byte 1: Two new baud rates have been added: value 10 (57600 baud), and

value 11 (115200 baud)

– Byte 3: only value 3 (8 data bits) is supported.

– Byte 4: only value 0 (No Parity) is supported.

– Byte 5: only value 0 (1 Stop Bit) is supported.

• 8E-4A, PPS Configuration, byte 3, Polarity, BYTE, 0 = Positive, 1 = Negative

• 0x8E-17/0x8E-18, Set/Request UTM output are supported in Copernicus II GPS

receiver.

• The new packet 0x1C has been added to the Copernicus II GPS receiver. Lassen

iQ FW v1.16 also supports this packet.

94 Copernicus II GPS Receiver Reference Manual

Recommended TSIP packets

Function Description Input Output

Protocol and port setup Set/query port configuration 0xBC 0xBC

Set/query NMEA configuration 0x7A 0x7B

Set/query I/O options (autoreport and
format options)

Navigation GPS time 0x21 0x41

Position & velocity (s

Double-precision LLA 0x37/auto 0x84

Double-precision XYZ ECEF 0x37/auto 0x83

ENU velocity 0x37/auto 0x56

XYZ ECEF velocity 0x37/auto 0x43

Satellite and tracking
informat

Receiver settings Query software version 0x1C 0x1C-81

GPS system
initialization

ion

ery receiver state (health) 0x26 0x46,

Qu

Query current satellite selection 0x24 0x6D

Query signal levels 0x27 0x47

Query satellite information (azimuth,
e

evation, etc.)

l

Query receiver ID & error status 0x26 0x4B,

query receiver configuration 0xBB 0xBB

Set/

Query/load GPS system data 0x38 0x58

Full reset (clear battery backup and/or
no

n-

Soft reset 0x25

Set GPS time 0x2E 0x4E

Set approx. LLA 0x2B

Set approx. XYZ ECEF 0x23

Set exact LLA 0x32

Set exact XYZ ECEF 0x31

volatile settings)

Trimble Standard Interface Protocol A

0x35 0x55

erpacket) 0x8E-20 or

up

0x37 or
auto

0x3C 0x5C

0x1E

0x8F-20

0x4B

0x

46

Note – Automatic output is determined by packet 0x35. See Command packet 0x35 – Set

request I/O options, page 104 to determine messages output at startup.

Copernicus II GPS Receiver Reference Manual 95

A Trimble Standard Interface Protocol

Command packets sent to the receiver

The table below summarizes the command packets sent to the receiver. The table
includes the input packet ID, a short description of each packet, and the associated
response packet. In some cases, the response packets depend on user-selected options.
These selections are covered in the packet descriptions beginning on page 100.

Input ID Packet description Output ID

0x1C Hardware and firmware versions numbers 0x1

0x1E Clear battery back-up/reset

0x1F Software version 0x45

0x21 Current time 0x41

0x23 Initial position (XYZ ECEF) --

0x24 Request receiver position fix mode 0x6D

0x25 Soft reset & self-test

0x26 Receiver health 0x46, 0x4B

0x27 Signal levels 0x47

0x2B Initial position (LLA) --

0x2D Oscillator offset 0x4D

0x2E Set GPS time 0x4E

0x31 Accurate initial position (XYZ ECEF) --

0x32 Accurate initial position --

0x35 I/O options 0x55

0x37 Status and values of last

0x38 Load or request satellite sy

0x3C Tracking status 0x5C

0x69 Receiver acquisition sensitivity mode 0x89

0x7A Set/request NMEA output configuration 0x7B

0x8E-20 Last fix with extra info

0X8E-21 Request accuracy information 0x8F-21

0x8E-23 Request last compact fix information 0x8F-23

0x8E-26 Store settings in Flash memory. 0x8F-26

0x8E-4A Set Copernicus II GPS Cable Delay and PPS Polarity 0x8F-4A

0xBB Set receiver configuration 0xBB

0xBC Set port configuration 0xBC

0xC0 Go to BBRAM backup state and/or store BBRAM to flash

0xC2 SBAS SV Mask 0xC2

position and velocity 0x5

stem data 0x58

rm

ation (fixed point) 0x8F-20

C-81

7

Note –

Automatic output is determined by packet 0x35. See Command packet 0x35 – Set

request I/O options, page 104 to determine which messages are output at power-up. No

response sent if data is not available.

96 Copernicus II GPS Receiver Reference Manual

Trimble Standard Interface Protocol A

Report packets sent by the receiver to the user

The table below summarizes the packets output by the receiver. The auto response and
power-up packets may depend on user-selected options (see Report packet 0x57 –

Information about last computed fix, page 115).

Output ID Packet Description Input ID

0x13

0x1C-81 Hardware and firmware version numbers 0x1C

0x41 GPS time 0x21, auto

0x42 Single-precision XY

0x43 Velocity fix (XYZ ECEF) 0x37, auto

0x45 Software version information 0x1F, power-up

0x46 Health of Receiver 0x26, auto, power-up

0x47 Signal level for all satellites 0x27

0x4A Single-precision LLA

0x4B Machine code/status 0x26, auto, power-up

0x4D Oscillator offset 0x2D

0x4E Response to set GPS time 0x2E

0x55 I/O options 0x35

0x56 Velocity fix (ENU) 0x37, auto

0x57 Information about last computed

0x58 GPS system data/ack

0x5C Satellite tracking status 0x3C

0x6D All-in-view satellite selection 0x24, auto

0x82 SBAS position fix mode 0x62, auto

0x83 Double-precision XYZ auto, 0x37

0x84 Double-precision LLA auto, 0x37

0x89 Receiver acquisition sensitivity mode 0x69

0x8F-20 Last fix with extra informati

0x8F-21 Request accuracy information 0x8E-21

0x8F-23 Request last compact

0x8F-2A Request Fix and Channel Tracking info, Type 1 0x8E-2A

0x8F-2B Request Fix and Channel Tracking info, Type 2 0x8E-2B

0x8F-4A Set Copernicus II GPS Cable Delay and PPS polarity 0x8E-4A

0xBB GPS navigation configuration 0xBB

0xBC Receiver port configuration 0xBC

0xC1 Bit Mask for GPIOs in Standby Mode 0xC1

0xC2 SBAS SV Mask 0xC2

Indicates that there was an error in parsing the

TSIP command packet

Z position 0x

position 0x37, auto

fix 0x

nowledge 0x38

on (fixed point) auto, 0x37, 0x8E-20

information 0x8E-23

fix

37, auto

37

Copernicus II GPS Receiver Reference Manual 97

A Trimble Standard Interface Protocol

Key setup parameters or packet BB

Selecting the correct operating parameters has a significant impact on receiver
performance. Packet 0xBB (set receiver configuration) controls the key setup
parameters.

The default operating parameters allow the receiver to perform well in almost any
env

ironment. The user can optimize the receiver to a particular application if the
vehicle dynamics and expected level of obscuration are understood. If the receiver is
then taken out of this environment, the specifically tuned receiver may not operate as
well as a receiver with the default options:

Parameter Factory Default

Dynamics code Land

Elevation mask 5°

SBAS on/off WAAS_Auto

The default values in the table above allow the receiver to operate well under the most
varied and
parameters if the receiver is only required to perform in a specific or limited
environment. The user should be warned that when the receiver is exposed to
operating conditions which are different from the conditions described by the user
setup, then the performance may be degraded.

demanding conditions. A user may choose to change the default

Initially, the user must consider the environment in which the receiver is expected to
oper

ate. There is a trade-off between how frequently a position fix is output versus the
absolute accuracy of the fix. The user must decide which takes priority and then make
the appropriate selections. This becomes increasingly important when frequent
satellite blockages are expected, as in downtown “urban canyon” environments and
heavily foliated areas.

Following is a description of the key fields in packet 0xBB.

Dynamics code

The feature default is LAND mode, where the receiver assumes a moderate dynamic
environment. In this case, the satellite search and re-acquisition routines are
optimized for vehicle type environments. In SEA mode, the search and re-acquisition
routines assume a low acceleration environment. In AIR mode, the search and
re-acquisition routines are optimized for high acceleration conditions.

t

There are a number of operational sanity limi
exceeded the receiver will cease data output until the device is back within operational
range.

• Dynamics mode

Land: Altitude [-2000 m, 9000 m] Speed < 120 m/s Acceleration < 10 m/s^2

s in the Copernicus II GPS that when

• Dynamics mode

Sea: Altitude [-2000 m, 9000 m] Speed < 45 m/s Acceleration < 10 m/s^2

98 Copernicus II GPS Receiver Reference Manual