Trimble Outdoors CopernicusTM GPS Receiver, 58052-00 User Manual

REFERENCE MANUAL

Copernicus™ GPS Receiver

For Modules with firmware version 2.01 (or later)

Part Number 58052-00

NORTH AMERICA

Trimble Navigation Limited
Corporate Headquarters
935 Stewart Drive
Sunnyvale, CA 94086
[phone]
[phone]

EUROPE

Trimble Navigation Europe
Phone: [phone]

KOREA

Trimble Export Ltd, Korea
Phone: [phone]

CHINA

Trimble Navigation Ltd, China
Phone: [phone]

TAIWAN

Trimble Navigation, Taiwan
Phone: [phone]

www.trimble.com

Corporate Office

Hardware Limited Warranty

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

Support

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

Copyright and Trademarks

© 2007 Trimble Navigation Limited. All rights reserved. No
part of this manual may be copied, reproduced, translated, or
reduced to any electronic medium or machine-readable form
for any use other than with the Copernicus™ GPS Receiver.

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

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

All other trademarks are the property of their respective
owners.

Release Notice

This is the October 2007 release (Revision B) of the
Copernicus™ GPS Receiver System Designer Reference
Manual, part number 58052-00.

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

Software and Firmware License, Limited Warranty

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

Warranty Remedies

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

Warranty Exclusions and Disclaimer

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

Waste Electrical and Electronic Equipment (WEEE)
Notice

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

Restriction on Hazardous Substances

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

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

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

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

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

Limitation of Liability

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

Table of Contents

Table of Contents 1

1 STARTER KIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

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

Starter Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Starter Kit Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Interface Unit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Serial Port Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Removing the Reference Board from the Interface Unit. . . . . . . . . . . . . . . . 13

Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Using a Passive Antenna. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Quick Start Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Trimble GPS Monitor Toolkit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Install the FTDI USB/Serial Driver Software . . . . . . . . . . . . . . . . . . . . . 17

Connect the PC via the USB Cable . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Start the TGM Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Connect to the GPS Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

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

Configure Output Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Configure GPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Configure PPS Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

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

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

Creating a Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Sending Raw Data to device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2 PRODUCT DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . 31

Key Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Physical. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

MTBF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Absolute Minimum and Maximum Limits . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Normal Operating Conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Power Consumption Over Temperature and Voltage . . . . . . . . . . . . . . . . . . . . . 39

Run Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

ESD Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Ordering Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Copernicus GPS Receiver 1

Table of Contents

3 INTERFACE CHARACTERISTICS . . . . . . . . . . . . . . . . . . . . . 41

Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

Pin Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Detailed Pin Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Serial Port Default Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

GPS Timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Serial Time Output. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

A-GPS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Enabling A-GPS with the Trimble GPS Monitor Application (TGM) . . . . . . . . 50

Enabling A-GPS with TSIP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Pulse-Per-Second (PPS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

4 OPERATING MODES . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Copernicus Receiver Operating Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Run Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Standby Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Changing the Run/Standby Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Copernicus Standby Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Using the XSTANDBY Pin to Switch Modes . . . . . . . . . . . . . . . . . . . . . 56

Using Serial Ports to Switch Modes . . . . . . . . . . . . . . . . . . . . . . . . . . 56

18-Hour RTC Roll Over . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Saving Almanac, Ephemeris and Position to Flash Memory. . . . . . . . . . . . . . . . . 59

Graceful Shutdown. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

SBAS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

WAAS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Number of channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Acquisition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Usage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Almanac collection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

Ephemeris collection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

5 APPLICATION CIRCUITS . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Passive antenna—Minimum Connections . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Active Antenna—Full Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Active Antenna—No Antenna Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

6 RF LAYOUT CONSIDERATIONS. . . . . . . . . . . . . . . . . . . . . . 69

General Recommendations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Design considerations for RF Track Topologies . . . . . . . . . . . . . . . . . . . . . . . 72

PCB Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Microstrip Transmission Lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Stripline Transmission Lines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

2 Copernicus GPS Receiver

Table of Contents

7 MECHANICAL SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . 77

Mechanical Outline Drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

Soldering the Copernicus GPS Receiver to a PCB . . . . . . . . . . . . . . . . . . . . . . 79

Solder mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Pad Pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Paste Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

8 PACKAGING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

Reel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

Tapes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

9 SHIPPING and HANDLING . . . . . . . . . . . . . . . . . . . . . . . . . 87

Shipping and Handling Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Shipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Moisture Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Floor Life. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Moisture Precondition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

Baking Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Soldering Paste . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Solder Reflow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

Recommended Soldering Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Optical Inspection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Cleaning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Soldering Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Repeated Reflow Soldering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Wave Soldering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Hand Soldering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Rework . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Conformal Coating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Grounding the Metal Shield. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

10 COPERNICUS REFERENCE BOARD . . . . . . . . . . . . . . . . . . . 95

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

Reference Board Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

Reference Board Schematic (page 1 of 3) . . . . . . . . . . . . . . . . . . . . . . . . . . 99

Reference Board Schematic (page 2 of 3) . . . . . . . . . . . . . . . . . . . . . . . . . . 100

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

Reference Board I/O and Power Connector . . . . . . . . . . . . . . . . . . . . . . . . .102

Reference Board Power Requirement. . . . . . . . . . . . . . . . . . . . . . . . . . . . .102

Reference Board Jumper Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103

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

Copernicus GPS Receiver 3

Table of Contents

11 FIRMWARE UPGRADE. . . . . . . . . . . . . . . . . . . . . . . . . . . 105

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

A TRIMBLE STANDARD INTERFACE PROTOCOL (TSIP) . . . . . . . . . 119

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

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

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

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

Initialization Packets to Speed Start-up. . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

Packets Output at Power-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

Timing Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .124

Satellite Data Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .124

Backwards Compatibility to Lassen iQ. . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

Recommended TSIP Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

Command Packets Sent to the Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

Report Packets Sent by the Receiver to the User . . . . . . . . . . . . . . . . . . . . . . . 128

Key Setup Parameters or Packet BB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

Dynamics Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .129

Elevation Mask. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130

Packet Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

Packet Descriptions Used in Run Mode . . . . . . . . . . . . . . . . . . . . . . . . 131

Command Packet 0x1E - Clear Battery Backup, then Reset. . . . . . . . . . . . . . 133

Command Packet 0x1F - Request Software Versions . . . . . . . . . . . . . . . . .133

Command Packet 0x21 - Request Current Time. . . . . . . . . . . . . . . . . . . .133

Command Packet 0x23 - Initial Position (XYZ ECEF) . . . . . . . . . . . . . . . . 133

Command Packet 0x24 - Request GPS Receiver Position Fix Mode . . . . . . . . . 134

Command Packet 0x25 - Initiate Soft Reset & Self Test . . . . . . . . . . . . . . .134

4 Copernicus GPS Receiver

Table of Contents

Command Packet 0x26 - Request Health . . . . . . . . . . . . . . . . . . . . . . . 134

Command Packet 0x27 - Request Signal Levels. . . . . . . . . . . . . . . . . . . .134

Command Packet 0x2B - Initial Position (Latitude, Longitude, Altitude). . . . . . .134

Command Packet 0x2D - Request Oscillator Offset. . . . . . . . . . . . . . . . . .135

Command Packet 0x2E - Set GPS Time. . . . . . . . . . . . . . . . . . . . . . . .135

Command Packet 0x31 - Accurate Initial Position (XYZ ECEF) . . . . . . . . . . .135

Command Packet 0x32 - Accurate Initial Position,

(Latitude, Longitude, Altitude) . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

Command Packet 0x35 - Set Request I/O Options . . . . . . . . . . . . . . . . . .136

Command Packet 0x37 - Request Status and Values of Last Position and Velocity. . 139

Command Packet 0x38 - Request/Load Satellite System Data . . . . . . . . . . . .139

Command Packet 0x3A - Request Last Raw Measurement . . . . . . . . . . . . . . 140

Command Packet 0x3C - Request Current Satellite Tracking Status . . . . . . . . . 140

Report Packet 0x41 - GPS Time . . . . . . . . . . . . . . . . . . . . . . . . . . . .140

Report Packet 0x42 - Single-Precision Position Fix, XYZ ECEF . . . . . . . . . . .141

Report Packet 0x43 - Velocity Fix, XYZ ECEF . . . . . . . . . . . . . . . . . . . .142

Report Packet 0x45 - Software Version Information . . . . . . . . . . . . . . . . . 142

Report Packet 0x46 - Health of Receiver . . . . . . . . . . . . . . . . . . . . . . .143

Report Packet 0x47 - Signal Levels for all Satellites . . . . . . . . . . . . . . . . .144

Report Packet 0x4A - Single Precision LLA Position Fix. . . . . . . . . . . . . . .145

Report Packet 0x4B - Machine/Code ID and Additional Status. . . . . . . . . . . . 146

Report Packet 0x4D - Oscillator Offset . . . . . . . . . . . . . . . . . . . . . . . . 146

Report Packet 0x4E - Response to Set GPS Time . . . . . . . . . . . . . . . . . . .147

Report Packet 0x55 - I/O Options . . . . . . . . . . . . . . . . . . . . . . . . . . .147

Report Packet 0x56 - Velocity Fix, East-North-Up (ENU) . . . . . . . . . . . . . . 148

Report Packet 0x57 - Information About Last Computed Fix. . . . . . . . . . . . . 149

Report Packet 0x58 - Satellite System Data/Acknowledge from Receiver . . . . . . 149

Report Packet 0x5A - Raw Measurement Data . . . . . . . . . . . . . . . . . . . .152

Report Packet 0x5F . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .153

Report Packet 0x5C - Satellite Tracking Status . . . . . . . . . . . . . . . . . . . .153

Report Packet 0x6D - All-In-View Satellite Selection. . . . . . . . . . . . . . . . . 154

Command Packet 0x7A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .154

Report Packet 0x7B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .155

Command Packet 0x7E - TAIP Message Output . . . . . . . . . . . . . . . . . . . 155

Command Packet 0x82 - SBAS Correction Status . . . . . . . . . . . . . . . . . . . . . .157

Report Packet 0x83 - Double-Precision XYZ Position Fix and Bias Information. . . 158
Report Packet 0x84 - Double-Precision LLA Position Fix and Bias Information. . . 158

Packets 0x8E and 0x8F - Superpacket . . . . . . . . . . . . . . . . . . . . . . . . .159

Command Packet 0xBB - Navigation Configuration . . . . . . . . . . . . . . . . .159

Command Packet 0xBC - Protocol Configuration. . . . . . . . . . . . . . . . . . . 159

Command Packet 0xC0 - Graceful Shutdown and Go To Standby Mode . . . . . . . 160

Command Packet 0xC1 - Set Bit Mask for GPIOs in Standby Mode . . . . . . . . . 162

Command Packet 0xC2 - SBAS SV Mask. . . . . . . . . . . . . . . . . . . . . . .164

TSIP Superpackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

Command Packet 8E-15 - Set/Request Datum. . . . . . . . . . . . . . . . . . . . .165

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

Single Precision Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .166

Copernicus GPS Receiver 5

Table of Contents

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

Double Precision Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .166

Command Packet 0x8E-20 - Request Last Fix with Extra Information . . . . . . . .167

Command Packet 0x8E-26 - Non-Volatile Memory Storage . . . . . . . . . . . . . 167

Command Packet 0x8E-2A - Request Fix and Channel Tracking Info, Type 1 . . . . 167

Command Packet 0x8E-2B - Request Fix and Channel Tracking Info, Type 2 . . . . 168

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

and PPS Polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168

Command Packet 0x8E-4F - Set PPS Width. . . . . . . . . . . . . . . . . . . . . . 168

Report Packet 0x8F-15 - Current Datum Values. . . . . . . . . . . . . . . . . . . . 169

Report Packet 8F-17 - UTM Single Precision Output . . . . . . . . . . . . . . . . . 170

Report Packet 8F-18 - UTM Double Precision Output . . . . . . . . . . . . . . . .171

Report Packet 0x8F-20 - Last Fix with Extra Information (binary fixed point) . . . . 172

Report Packet 0x8F-26 - Non-Volatile Memory Status . . . . . . . . . . . . . . . .174

Report Packet 0x8F-2A - Fix and Channel Tracking Info, Type 1 . . . . . . . . . .174

Report Packet 0x8F-2B - Fix and Channel Tracking Info, Type 2. . . . . . . . . . . 176

Report Packet 0x8F-4F - Set PPS Width. . . . . . . . . . . . . . . . . . . . . . . . 178

Datums . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .179

B TRIMBLE ASCII INTERFACE PROTOCOL (TAIP). . . . . . . . . . . . .185

Protocol Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

Message Format. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

Start of a New Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .187

Message Qualifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

Message Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

Data String . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

Vehicle ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .188

Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .188

Message Delimiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .188

Sample PV Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189

Time and Distance Reporting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .190

Latitude and Longitude Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

Message Data Strings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

AL Altitude/Up Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .193

CP Compact Position Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .194

ID Identification Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195

IP Initial Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .196

LN Long Navigation Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .197

PR Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .198

PT Port Characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199

PV Position/Velocity Solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

RM Reporting Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .201

RT Reset Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

ST Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .203

TM Time/Date . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .205

VR Version Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .206

6 Copernicus GPS Receiver

Table of Contents

X1 Extended Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .207

Communication Scheme for TAIP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

Query for Single Sentence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

Scheduled Reporting Frequency Interval . . . . . . . . . . . . . . . . . . . . . . . 208

The Response to Query or Scheduled Report . . . . . . . . . . . . . . . . . . . . . 208

The Set Qualifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

Sample Communication Session. . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

C NMEA 0183 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

The NMEA 0183 Communication Interface . . . . . . . . . . . . . . . . . . . . . . . . . 213

NMEA 0183 Message Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .213

Field Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

Invalid Command Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215

Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .215

Exception Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216

Power-up with No Back-up Data on SRAM. . . . . . . . . . . . . . . . . . . . . . 216

Power-up with Back-up Data on SRAM. . . . . . . . . . . . . . . . . . . . . . . .216

Interruption of GPS Signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216

General NMEA Parser Requirements . . . . . . . . . . . . . . . . . . . . . . . . . 217

NMEA 0183 Message Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

NMEA 0183 Message Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

GGA - GPS Fix Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .220

GLL - Geographic Position - Latitude/Longitude . . . . . . . . . . . . . . . . . . . 221

GSA - GPS DOP and Active Satellites . . . . . . . . . . . . . . . . . . . . . . . .221

GSV - GPS Satellites in View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

RMC - Recommended Minimum Specific GPS/Transit Data . . . . . . . . . . . . . 223

VTG - Track Made Good and Ground Speed . . . . . . . . . . . . . . . . . . . . .223

ZDA - Time & Date . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

AH - Almanac Health . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

AL - Almanac Page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

AS - Almanac Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227

BA - Antenna Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227

CR - Configure Receiver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

EM - Enter Monitor Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

EP - Ephemeris. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

IO Ionosphere . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .231

KG - Set Initial Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

NM - Automatic Message Output . . . . . . . . . . . . . . . . . . . . . . . . . . .232

PS - PPS Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

PT - Serial Port Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

RT - Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

SG - Set Bit Mask for GPIOs in Standby Mode.. . . . . . . . . . . . . . . . . . . .236

SV - Set Bit Mask for SBAS SV. . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

TF - Receiver Status and Position Fix . . . . . . . . . . . . . . . . . . . . . . . . . 239

UT - UTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .240

VR - Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .241

Copernicus GPS Receiver 7

Table of Contents

8 Copernicus GPS Receiver

CHAPTER

1

STARTER KIT 1

In this chapter:

 Receiver Overview

 Starter Kit

 Antenna

 Quick Start Guide

 Trimble GPS Monitor

Toolkit

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

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

Copernicus GPS Receiver 5

1 STARTER KIT

Receiver Overview

Trimble's Copernicus™ GPS receiver delivers proven performance and Trimble
quality for a new generation of position-enabled products. The Copernicus GPS
features the Trimble revolutionary T rimCore™ software technology enabling
extremely fast startup times and high performance in foliage canopy, multipath and
urban canyon environments.

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

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

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

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

6 Copernicus GPS Receiver

Starter Kit

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

Starter Kit Components

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

• Interface unit with reference board and Copernicus GPS receiver

• AC/DC power supply converter

• Universal power adapters for the major standard wall outlets

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

• USB cable

STARTER KIT 1

• Cigarette lighter adapter power cable

• Copernicus GPS SMT receivers (3 pieces)

• 14 Jumpers

• Quick Start Guide

• CD containing the SW tools and the Copernicus GPS Reference Manual

Copernicus GPS Receiver 7

1 STARTER KIT

Interface Unit

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

Figure 1.1 Starter Kit Interface Unit

Figure 1.2 AC/DC Power Supply Converter

8 Copernicus GPS Receiver

Figure 1.3 USB Cable

STARTER KIT 1

Copernicus GPS Receiver 9

1 STARTER KIT

Serial Port Interface

The Copernicus GPS interface unit has a dual port USB interface that is available
through a single A-type USB connection. Before the starter kit can be used with a
USB 2.0-equipped Microsoft Windows (2000, XP)-based PC, the appropriate USB

2.0 drivers must be installed on the PC.

Loading the FTDI Driver

The Copernicus GPS uses a USB 2.0 interface chip from Future T echnology Devices
International Ltd. (FTDI). The FTDI driver must be downloaded and installed on
your PC before you can run the Trimble GPS Monitor (TGM) application used to
communicate with the Copernicus GPS.

1. Use the following URL to access the FTDI drivers:
http://www.ftdichip.com/Drivers/VCP.htm

2. Download and install the appropriate VCP (Virtual COM Port) driver for your
operating system (Win'98 / ME /2000 / XP). Select the option with FT2232C
series support. Follow the instructions provided on the Web site and with the
driver. (http://www.ftdichip.com/Documents/InstallGuides.htm)

3. Use the supplied USB cable to connect the Copernicus GPS interface unit to
your PC. The FTDI driver automatically assigns two (2) virtual COM ports to
the USB port. Use the Windows Device Manager to determine which COM
Ports have been assigned to the USB port.

Default Settings

The default settings on the interface unit USB Port are provided in Table 1.1.

Table 1.1 Serial Port Default Settings

Virtual
Ports

ATXD-A

BTXD-B

Port
Direction

RXD-A

RXD-B

Protocol Baud Rate Data Bits Parity Stop Bits Flow

Control

TSIP-Out
TSIP-IN

NMEA-Out
NMEA-IN

38.4 K

38.4 K

4800
4800

8
8

8
8

None
None

None
None

1
1

1
1

NO
NO

NO
NO

10 Copernicus GPS Receiver

STARTER KIT 1

Interface Connections

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

8

9

Figure 1.4 Front side of the Interface Unit

6 5 4 3

1. Antenna Connector

The antenna connector is an MCX type connector that is intended to be used
with the supplied 3.0V antenna. This interfaces to the Copernicus GPS
reference board antenna connector.

2. USB Connector

The USB connector is an A-type USB connector that is USB 2.0 and 1.1
compatible. This connection can also be used to power the starter kit and GPS
receiver.

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

3. Port A-TX LED

When blinking red, user is transmitting data to the Copernicus GPS receiver on
port A.

4. Port A-RX LED

2

When blinking red, the Copernicus GPS receiver is transmitting data to the
user device on port A.

5. Port B-TX LED

When blinking red, user is transmitting data to the Copernicus GPS receiver on
port B.

6. Port B-RX LED

When blinking red, the Copernicus GPS receiver is transmitting data to the
user device on port B.

Copernicus GPS Receiver 11

1 STARTER KIT

7. Power Connector

The power connector (barrel connector) is located on the front right side of the
starter kit. The power connector connects to the AC/DC power converter
supplied with the starter kit. The power converter converts 100 -240 VAC To
12 or 24VDC. The power connector can accept 9 to 32 VDC.

8. Power LED

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

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

9. Power Switch

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

10. PPS BNC (located on the backside of the interface unit)

The BNC connector provides a 5V TTL level PPS pulse output by the receiver .
The output configuration is controlled by the receiver, not the starter kit driver
circuit. This output is able to drive a 50ohm load.

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

12 Copernicus GPS Receiver

Removing the Reference Board from the Interface Unit

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

1. Before disassembling the interface unit, disconnect the unit from any external
power source and confirm that both you and your work surface are properly
grounded for ESD protection.

2. Remove the four screws, which secure the bottom plate of the interface unit to
the base of the metal enclosure. Set the bottom plate aside.

3. Remove the two screws securing the Copernicus GPS reference board to the
standoffs. These screws are located at opposite ends of the receiver module.

STARTER KIT 1

Copernicus GPS Receiver 13

1 STARTER KIT

Antenna

Using a Passive Antenna

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

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

14 Copernicus GPS Receiver

Quick Start Guide

1. Confirm that you have the following:

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

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

3. Plug the power cable into the interface unit.

STARTER KIT 1

Figure 1.5 Connecting Power

4. Plug the power cable into a wall outlet.

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

Figure 1.6 Antenna Connection

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

Copernicus GPS Receiver 15

1 STARTER KIT

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

Figure 1.7 Connecting the PC

8. Power-on your computer.

9. Insert the CD found in the starter kit box into your computer CD drive.

10. Install the Trimble GPS Monitor Program from the supplied CD. (see Trimble

GPS Monitor Toolkit, page 17).

11. Download and install the appropriate FTDI driver on your PC (see Install the

FTDI USB/Serial Driver Software, page 17).

12. Execute the Trimble GPS Monitor Program.

13. Select one of the USB virtual COM ports. Either the TSIP or NMEA data
stream is visible on your monitor. To view the other protocol, select a different
USB virtual COM port.

16 Copernicus GPS Receiver

Trimble GPS Monitor Toolkit

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

TGM includes helpful features such as “Detect Receiver” to test a GPS receiver port
for protocol and baud rate in the event that these settings are lost, the ability to log the
output of multiple GPS devices simultaneously, and the ability send and view
received raw data.

Prior to using the TGM application with a USB interface, you must first download
and install the FTDI USB serial driver software (see instructions below).

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

Install the FTDI USB/Serial Driver Software

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

STARTER KIT 1

1. Confirm that you have the following:

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

2000 Service Pack 4 installed and a free USB port.

– Internet access to complete the installation

2. Download the software for your Trimble product from the Trimble Support
web site http://www.trimble.com/support.shtml, and select the relevant product
link and then the Software Tools option.

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

4. Install the FTDI driver on your PC.

5. Locate the file called “CDM_Setup.exe” you just saved, and double click it. If
properly installed you should see a FTDI CDM Driver Installation popup
window with the message “FTDI CDM Drivers have been successfully
installed”. Click the OK button.

Copernicus GPS Receiver 17

1 STARTER KIT

Connect the PC via the USB Cable

1. Right-click the MyComputer icon.

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

3. Select the Hardware tab.

18 Copernicus GPS Receiver

STARTER KIT 1

4. Click the Device Manager button.

5. Open the Ports (Com & LPT) section and note down the two USB Serial Port
COM numbers. In the example above they are COM5 and COM6. In general
Port A of the GPS device will be on the lower COM number and Port B will be
on the higher.

Copernicus GPS Receiver 19

1 STARTER KIT

Start the TGM Application

1. Go to the directory in which the Trimbl e GPS Monitor application is stored and
open the application. The main window displays.

20 Copernicus GPS Receiver

Connect to the GPS Receiver

1. Select Initialize > Detect Receiver

STARTER KIT 1

2. Select the port and protocol being used on the module.
If you do not know which protocol is being used you can select TSIP, TA IP and
NMEA. TGM will try each in turn at different baud rates.

Copernicus GPS Receiver 21