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

1 STARTER KIT

3. Click on Yes to accept the discovered connection parameters.

22 Copernicus GPS Receiver

Configure GPS Ports

1. Select the Configure pull down menu from the main screen, and select
Receiver Configuration.

STARTER KIT 1

2. Select the Port Configuration tab.

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

4. Select one input and one output protocol.

5. Click the Set button.

6. If the configuration is to be permanent, click Save Configuration.

Copernicus GPS Receiver 23

1 STARTER KIT

Configure Output Formats

1. Select the Configure pull down menu from the main screen.

2. Select Receiver Configuration.

3. Select the Outputs tab.

4. After selecting the required setup options, click on Set.

5. If the configuration is to be permanent, click Save Configuration.

Configure GPS

1. Select the Configure pull down menu from the main screen.

2. Select Receiver Configuration.

3. Select the GPS Configuration tab.

4. After selecting the required setup options, click on Set.

5. If the configuration is to be permanent, click Save Configuration.

24 Copernicus GPS Receiver

Configure PPS Output

1. Select the Configure pull down menu from the main screen.

2. Select Receiver Configuration.

3. Select the PPS Configuration tab.

STARTER KIT 1

Note – Always ON – the PPS is present even without a GPS fix, it will free run until
fix is obtained. Fixed-based – the PPS will only be output when the r eceiver has a fix.

4. After selecting the required setup options, click on Set.

5. If the configuration is to be permanent, click Save Configuration.

Configure NMEA Output

1. Select the Configure pull down menu from the main screen.

2. Select Receiver Configuration.

3. Select the NMEA tab.

4. After selecting the required setup options, click on Set.

5. If the configuration is to be permanent, click Save Configuration.

Copernicus GPS Receiver 25

1 STARTER KIT

Configure TAIP Output

1. Select the Configure pull down menu from the main screen.

2. Select Receiver Configuration.

3. Select the TAIP tab.

4. After selecting the required setup options, click on Set.

5. If the configuration is to be permanent, click Save Configuration.

Note – This screen can only be edited if TAIP is enabled as a port output.

26 Copernicus GPS Receiver

Creating a Log

Follow these steps to log the output of the GPS receiver.

1. Select Configure > Data Logging

STARTER KIT 1

2. From the available ports select the com port that connects to your device.

Copernicus GPS Receiver 27

1 STARTER KIT

Sending Raw Data to device

3. Create a filename and path in the file field. Use standard file naming if
appropriate with the Unit ID and Test Case number

4. Select the correct protocol and logging options.

5. Click Start Logging.

1. From the Tools Menu select the Generic Packets option.

2. Select the required protocol to send the raw data.

28 Copernicus GPS Receiver

STARTER KIT 1

3. Select one of the provided messages from the Presets pull down, or enter your
own data in the Packet Data field.

Note – If entering your own message in the Packet Data, the TGM only requires the
user data not the surrounding start and end bytes. In the example above TSIP user
data is being entered, but TGM already adds the starting DLE and ending DLE/ETX.

4. Click View Raw Data.

5. To view the sent and received data, select the Show Sent Data box.

Copernicus GPS Receiver 29

1 STARTER KIT

30 Copernicus GPS Receiver

CHAPTER

2

PRODUCT DESCRIPTION 2

In this chapter:

 Key Features

 Specifications

 Interface

 MTBF

 Absolute Minimum and

Maximum Limits

 Normal Operating

Conditions

 Power Consumption Over

Temperature and Voltage

 ESD Protection

 Ordering Information

This chapter describes the Copernicus GPS
Receiver features and performance
specifications.

Copernicus GPS Receiver 31

2 PRODUCT DESCRIPTION

Key Features

The Copernicus module is a complete 12-channel GPS receiver in a 19mm x 19mm x

2.54mm, thumbnail-sized shielded unit. The small, thin, single-sided module is
packaged in tape and reel for pick and place manufacturing processes; 28 reflow­solderable edge castellations provide interface to your design without costly I/O and
RF connectors. Each module is manufactured and factory tested to Trimble's highest
quality standards.

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

• Ultra-thin design, 2.54 mm H (0.1")

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

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

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

• Highly sensitive:

solderable

−150 dBm Tracking Sensitivity

−142 dBm Acquisition Sensitivity

• Fast TTFF (cold start): 39.7 sec

• Supports active or passive antenna designs

• 12-channel simultaneous operation

• Supports SBAS

• Supports NMEA 0183, TSIP and TAIP protocols

• Reference board and starter kit available

• RoHS compliant (lead-free)

32 Copernicus GPS Receiver

Block Diagram

PRODUCT DESCRIPTION 2

Figure 2.1 Copernicus GPS Block Diagram

Copernicus GPS Receiver 33

2 PRODUCT DESCRIPTION

Specifications

Performance

Performance Specifications

L1 (1575.42 MHz) frequency, C/A code, 12-channel, continuous
tracking receiver

Update Rate

TSIP 1 Hz

NMEA 1 Hz

TAIP 1 Hz

Accuracy (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)

Acquisition (Autonomous Operation)

Reacquisition 2 sec

Hot Start 3.1 sec

Warm Start 35.4 sec

Cold Start 39.4 sec

Out of the Box 41 sec

Sensitivity

Tracking -150 dBm

Acquisition -142 dBm

Operational

Speed Limit 515 m/s

±100 ns RMS

Interface

34 Copernicus GPS Receiver

Interface Characteristics

Connectors 28 surface mount edge castellations

Serial Port 2 serial ports (transmit/receive)

PPS 3.0 V CMOS-compatible TTL-level pulse, once

per second

Protocols Supports the Trimble Standard Interface

Protocol (TSIP), the Trimble ASCII Interface
Protocol (TAIP), and the National Marine
Electronics Association (NMEA) 0183 v3.0
Bi-directional NMEA Messages

Electrical

Electrical Specifications

Prime Power +2.7 VDC to 3.3 VDC

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

Backup Power +2.7 VDC to +3.3 VDC

Ripple Noise Max 50 mV, peak-to-peak from 1 Hz to 1 MHz

Physical

Physical Specifications

Enclosure Metal shield

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

Weight 1.7 grams (0.06 ounce) including shield

Environmental

PRODUCT DESCRIPTION 2

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

0.75" L x 0.1" H)

Environmental Specifications

Operating Temperature -40° C to +85° C

Storage Temperature -55° C to +105° C

Vibration 0.008 g

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

2

/Hz 5 Hz to 20 Hz

2

/Hz 20 Hz to 100 Hz

0.05 g

-3 dB/octave 100 Hz to 900 Hz

Copernicus GPS Receiver 35

2 PRODUCT DESCRIPTION

MTBF

The Mean Time Between Failures (MTBF) of the GPS receiver module was
calculated based on parts count - serial reliability using Telecordia Analysis and
Industry field data for the PCB and Trimble Navigation's field return data (i.e. similar
product or technology parts). This is generally referred to as the Trimble Navigation
Reliability Database, and it consists of the following components:

• Repair Center Data and Field Assessment Analysis

• Supplier FIT goals collected through Commodities Engineering

• Commercial Databases (i.e. Telecordia and MIL-STD-217)

• Trirnble Navigation's Internal Qualification Test Data

• Assumed Duty Cycle, 8760 hours per year

• MTBF at Rated Duty Cycle, 819050 hours MTBF

36 Copernicus GPS Receiver

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 (VCC) on Pin
12 *

Antenna

Input Power at RF Input +10 dBm

Input Gain at RF Input 0 (passive

-0.3 3.6 V

-0.3 3.6 V

antenna)

PRODUCT DESCRIPTION 2

36 dB

Note – See

current.

Input / Output Pin Threshold Levels

Input Pin Voltage (RXD-A, RXD-B, Open, Short, Reserved Pins, Xreset, Xstandby)

Status Min Max Unit

High 2.0 3.6 V

Low 0 0.8 V

Output Pin Voltage (TXD-A, TXD-B, LNA_XEN)

Status Min Max Unit

High (loh = 1 mA) 0.8 * VCC VCC V

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

Copernicus Standby Current, page 55 for information on the standby

Copernicus GPS Receiver 37

2 PRODUCT DESCRIPTION

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

be greater than 140 μsecs

Current Draw
Continuous Tracking,

Power Consumption
Continuous Tracking,

Power Consumption
Absolute Maximum

Current Draw **
Standby Mode

Current Draw Standby
Mode RTC Service

Supply Ripple Noise 1Hz to 1MHz

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

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

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

C, 3.3 V

2.7 3.3 * V

23.9 34.8 38.3 mA

79 93.9 115 mW

50
165

7.1 8.5 60 uA

30
Please see section

Serial Port Activity

50

mA
mW

mA

mVpp

GPS TCXO
Frequency

Hardware RESET Assert XRESET pin to clear

STANDBY memory

* The rise time to VCC MUST be greater than 140 μsecs. The user can use one source of power on Pin 12 (VCC) for both
main and Standby power.

** If using two sources of power, the Main and Standby power must be connected to VCC via an external diode-pair.
During the Standby Mode, the main power can be removed so the unit can be run on Standby power. Standby power
must be at least 0.3V less than main power. The voltage at Pin 12 must be 2.7V to 3.3V including the diode voltage drop.
(See Chapter 5 for information on application circuits.)

±5kHz

100 us

1

mVpp

38 Copernicus GPS Receiver

PRODUCT DESCRIPTION 2

Power Consumption Over Temperature and Voltage

Run Mode

(Tracking with Almanac Complete): < 90 mW average @ 2.7 VDC, -40 to 85° C
Standby Mode: < 30 μW @ 3.0 VDC, typical at 25° C, < 200 μW under all

conditions except during service time for the 18-hour real time clock roll over.

At 2.7 volts Avg Current (mA) Avg power consumption (mW)

-40° C 29.7 80.2

Room Temp 30.7 82.9

85

° C 31.5 85.1

At 3.0 volts Avg Current (mA) Avg power consumption (mW)

-40

° C 30.3 90.9

Room Temp 31.3 93.4

85

° C 34.9 104.7

At 3.3 volts Avg Current (mA) Avg power consumption (mW)

-40° C 31.5 104

Room temp 31.4 104

85 v 31.9 105

ESD Protection

ESD testing was performed using JDEC test standard JESD-A114C.01. All inputs
and outputs are protected to ±500 volts ESD level. The RF IN pin is protected up to
1kV.If a higher level of compliance is required, additional electrostatic and surge
protection must be added.

Copernicus GPS Receiver 39

2 PRODUCT DESCRIPTION

Ordering Information

Ordering Information

Copernicus GPS Receiver Module Single module in metal enclosure

Reference Board P/N 58054-10

Starter Kit RoHS (Lead-free version): P/N 58050-20

P/N 58048-10

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

Includes Copernicus Reference Board mounted
on interface motherboard in a durable metal
enclosure, AC/DC power converter, compact
magnetic-mount GPS antenna, serial interface
cable, cigarette lighter adapter, TSIP, NMEA,
and TAIP protocols.

40 Copernicus GPS Receiver

CHAPTER

3

INTERFACE CHARACTERISTICS 3

In this chapter:

 Pin Assignments

 Pin Description

 Serial Port Default Settings

 GPS Timing

 A-GPS

 Pulse-Per-Second (PPS)

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

Copernicus GPS Receiver 41

3 INTERFACE CHARACTERISTICS

Pin Assignments

Reserved

Figure 3.1 Copernicus Pin Assignments

42 Copernicus GPS Receiver

INTERFACE CHARACTERISTICS 3

Pin Description

Table 3.1 Pin Description

Pin Name Description Function Note

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

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

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

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

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

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

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

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

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

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

Copernicus GPS Receiver 43

3 INTERFACE CHARACTERISTICS

Detailed Pin Descriptions

RF Input

The RF input pin is the 50 ohm unbalanced GPS RF input, and can be used with
active or passive antennas.

Passive antennas: The RF input pin may be connected by a low-loss 50 ohm
unbalanced transmission system to the passive GPS antenna if loss is minimal
(< 2 dB). It is recommend that you use an external LNA with a passive antenna.

Active Antennas: The RF input pin can also be connected to the output of an external
low-noise amplifier, which is amplifying GPS signals from the antenna. The gain of
the LNA must be great enough to overcome transmission losses from the LNA output
to this pin. The specification for noise figure for the module is < 3 dB at room
temperature and < 4 dB over the specified temperature range, -40 to +85 C. The
external LNA must be located such that the loss from the GPS antenna connection to
the LNA input is minimized, preferably < 1 dB. The noise figure of the LNA should
be as low as possible, preferably< 2 dB. 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

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

Open/Short Pins

When using an active antenna, it is recommended that you implement an antenna
detection circuit with short circuit protection. There are two pins provided for
reporting the antenna status: OPEN and SHORT.

The logic level inputs outlined in Table 3.2 may be used with a detection circuit (with
or without protection) to monitor the status of the external LNA of an active antenna
by the module.

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

A typical active antenna draws between 10 to 20mA.The antenna Protect/Detect
circuit will trip as a short circuit at around 100mA. It is best to keep the antenna
current below 75mA. An open circuit will be determined if the antenna current falls
below approximately 2mA.

44 Copernicus GPS Receiver

INTERFACE CHARACTERISTICS 3

Table 3.2 Antenna Status Truth Table

Condition of logic signals

ANTENNA REPORTS SHORT OPEN

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

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

XRESET

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

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

Minimum and Maximum Limits, page 37 for pin threshold values.

VCC

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

XSTANDBY

This logic level input is used to control the RUN/STANDBY state of the module. If
this signal is High, the unit will run normally. If this signal is Low, the unit will go to
“STANDBY” mode. See Absolute Minimum and Maximum Limits, page 37 for pin
threshold values.

PPS

Pulse-per-second. This logic level output provides a 1 Hz timing signal to external
devices. The positive going 4.2 usec pulse width is controllable by T SIP packet 0x8E­4F. 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 37.)

Copernicus GPS Receiver 45

3 INTERFACE CHARACTERISTICS

RXD_A and RXD_B

These logic level inputs are the primary (A) and secondary (B) serial port receive
lines (data input to the module). This output meets the input/output pin threshold
specifications (see Absolute Minimum and Maximum Limits, page 37.) The baud rate
for the two ports is under software control.

TXD_A and TXD_B

These logic level outputs are the primary (A) and secondary (B) serial port transmit
lines (data moving away from the module). This output meets the input/output pin
threshold specifications (see Absolute Minimum and Maximum Limits, page 37.)
The baud rate for the two ports is under firmware control.

Reserved Pins

There are 8 reserved pins on the Copernicus GPS Receiver. For the recommended pin
connections for these reserved pins, see Table 3.1.

Protocols

Table 3.3 Copernicus GPS Receiver Available protocols

Protocols Specification Direction Serial Port

Support

NMEA NMEA 0183 v3.0; Bi-

directional with extended
NMEA sentences

TSIP (Trimble
Standard Interface
Protocol)

TAIP (Trimble ASCII
Interface Protocol)

Trimble propriety binary
protocol

Trimble propriety ASCII
protocol

Input / Output Both Serial Ports

Input / Output Both Serial Ports

Input / Output Both Serial Ports

46 Copernicus GPS Receiver

Serial Port Default Settings

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

Table 3.4 Copernicus GPS Receiver Serial Port Default Settings

INTERFACE CHARACTERISTICS 3

Port Port

Direction

A TX D-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 – Data Bits, Parity, Stop Bits and Flow Control are not configurable. Only
Protocol and Baud rates are configurable. Detailed descriptions of these protocols
are defined in the Appendices.

Copernicus GPS Receiver 47

3 INTERFACE CHARACTERISTICS

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
highly-stable atomic (Cesium) clock, which 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.

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 GPS 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 ±100 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

Time must be taken from the timing messages in the TSIP, TAIP, or NMEA protocols
because position messages contain a timestamp which is usually 1 to 2 seconds in the
past.

Table 3.5 Serial Time Output

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 number of seconds UTC=(GPS time)-(GPS UTC offset).

As of January 2006, the GPS UTC offset was 14 seconds. The offset has historically
increased by 1 second about every 18 months. System designers should plan to 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.

48 Copernicus GPS Receiver

INTERFACE CHARACTERISTICS 3

Acquiring the Correct Time

To acquire the correct time:

1. Confirm that the almanac is complete and the receiver is generating 3D fixes.
This will eliminate the UTC offset jump.

2. Confirm that the receiver is configured for the late PPS option (i.e., it is only
outputting a PPS on a 3D fix).

3. Capture the time from TSIP packet 0x41 or TSIP packet 0x8F-20 (if using
TSIP).

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

Note – The minimum time resolution is 1 second.

Copernicus GPS Receiver 49

3 INTERFACE CHARACTERISTICS

A-GPS

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

Follow the procedures below to download current almanac, ephemeris, time, and
position information, and then upload this data to the starter kit module via TGM or
TSIP (to upload position data within the customer application).

C

Warning – To ensure proper format of the ephemeris file and almanac file, a Trimble receiver must
be used to gather this data. Almanac files from non-Trimble receivers may not be in proper format
and thus may not work, (i.e. almanac files downloaded from the Internet).

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

1. Attach the Copernicus GPS interface unit to your PC.

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 confirming
that the receiver has collected a current almanac.

Note – It takes 12,5 minutes of uninterrupted Copernicus operation to collect
almanac from the satellites.

5. Click on the initialized pull-down menu and use the download features on the
bottom of the pull-down to download the almanac, position, time and
ephemeris files on your PC.

6. Now that you have collected these files, you can upload them using the upload
features on the initialize pull-down window in TGM.

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

50 Copernicus GPS Receiver

INTERFACE CHARACTERISTICS 3

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 Copernicus operation to collect
almanac from the satellites.

2. Use packet 0 x 26 to request the health of the receiver. The response packets
0x46 and 0x4B indicate when the almanac is complete and current.

3. Use packet 0x38 to request the almanac and the ephemeris. The receiver
responds with packet 0 x 58.

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 procedures in the
specified order:

1. Upload the time using TSIP packet 0x2E. Wait for upload confirmation report
packet 0x41.

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

3. Upload the ephemeris using TSIP packet 0x38. Wait for the upload
confirmation report TSIP packet 0x58.

Note – See Appendix A for details on the TSIP protocol.

Copernicus GPS Receiver 51

3 INTERFACE CHARACTERISTICS

Pulse-Per-Second (PPS)

The Copernicus GPS receiver provides a CMOS compatible TTL level Pulse-Per­Second (PPS). The PPS is a positive pulse available on pin 19 of the Copernicus GPS
Receiver. The rising edge of the PPS pulse is synchronized with respect to UTC. The
timing accuracy is ±100 rms when valid position fixes are being reported.

The precise UTC or GPS time is reported in TSIP message 0x41 and NMEA message
EDA. The line reports are sent within 500ms after the corresponding PPS.

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

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

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

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

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

52 Copernicus GPS Receiver

CHAPTER

4

OPERATING MODES 4

In this chapter:

 Copernicus Receiver

Operating Modes

 Run Mode

 Standby Mode

 Monitor Mode

 Changing the Run/Standby

Modes

 18-Hour RTC Roll Over

 Saving Almanac, Ephemeris

and Position to Flash
Memory

 WAAS

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

Copernicus GPS Receiver 53

4 OPERATING MODES

Copernicus Receiver Operating Modes

Table 4.1 Copernicus GPS Receiver Operating Modes

Operating Modes Description

Run Mode Continuous tracking or

normal mode

Standby Mode Backup power or low

power mode

Monitor Mode Flash upgrading mode

Run Mode

The RUN mode is the continuous tracking or the normal mode.

Standby Mode

The Copernicus GPS Receiver provides a S tandby Mode in which the module's RAM
memory is kept alive and the real-time clock is running 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
clock, the receiver normally provides faster startup times. The type of start-up after
Standby Mode depends on the state of the receiver prior to entering Standby Mode
and on the length of time the receiver spent in the Standby Mode.

If the receiver has almanac, ephemeris, and position information before entering
Standby Mode, and the time spent in Standby Mode is less than two hours, the
receiver will typically perform a hot start.

If the receiver has all of the information listed above, but the time spent in Standby
Mode is more than two hours, the receiver will typically perform a warm start.

The GPS almanac, ephemeris and recent position are automatically stored in non­volatile Flash memory. Even without time, the recei ver can use the information stored
in Flash memory to shorten the start-up time. In all cases, the receiver will use all of
the available information to do the fastest start-up possible.

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

Copernicus Standby Current, page 55.

Monitor Mode

Monitor Mode is the operating mode for upgrading the firmware stored in the Flash
memory. See Chapter 11 for the firmware upgrade procedure.

54 Copernicus GPS Receiver

Changing the Run/Standby Modes

There are two methods you can follow to switch the receiver between the Run Mode
and the Standby Mode. Only one of these methods may be used at a time.

1. Using the XSTANDBY pin or

2. Using the serial ports under user control

Note – If you are using the XSTANDBY pin, do not use the serial ports for controlling
the modes. If you are using the serial port option, the XSTANDBY pin should always
be held high. You cannot use serial ports to switch to RUN mode if the XSTANDBY
pin was used to enter STANDBY mode.

Copernicus Standby Current

When the Copernicus GPS Receiver is sent a command to go into Standby Mode,
there is a period of time between 10 and 200 ms (milli seconds) when the power
supply still has to supply almost full operating current. Only after this period has
elapsed will the current draw go down to the specified standby current which is
typically 8.5 uA (micro Amps).

OPERATING MODES 4

Copernicus GPS Receiver 55

4 OPERATING MODES

Using the XSTANDBY Pin to Switch Modes

The first method for putting the receiver into Standby Mode or exiti ng this mode back
to the Run Mode is through the pin XSTANDBY, pin #16. As long as the pin is held
high, the receiver will operate normally in Run Mode.

Entering Standby Mode

When the pin is taken low, the receiver will go to the STANDBY mode.

Exiting Standby Mode

When the pin is taken high again, the receiver will perform a hot or warm restart and
return to normal operation. The receiver will hot start if the ephemeris is still valid.

Note – Excessive noise on the XSTANDBY pin could trigger the receiver to reset.

Using Serial Ports to Switch Modes

The second method for putting the receiver into Standby Mode is with TSIP packet
0xC0 or NMEA packet RT.

There are two possible conditions that would trigger the receiver to exit Standby
Mode and reset to normal operations:

1. Serial port activity

2. Exit after X elapsed seconds

56 Copernicus GPS Receiver

OPERATING MODES 4

Serial Port Activity

When the receiver enters Standby Mode through the software protocol commands,
the first 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 the receiver detects and responds to serial port activity, issue a NULL
character 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.

There are two exceptions where serial activity may not trigger the unit to exit Standby
Mode:

• During the 3 seconds following the command to enter Standby Mode.

The Copernicus GPS receiver may not detect serial port activity during the 3
seconds immediately after receiving a software command to enter Standby
Mode. During that 3 seconds, the unit is processing the shut-down command
and will ignore serial port activity. Therefore the minimum time between
issuing the shut-down command and the use of serial port activity to return the
unit to Run Mode is 3 seconds. Standby time cannot be less than 3 seconds.

• During the 10 msec RTC service time.

During the 10 msec RTC service time, there exists a 91.6 μsec window where
the receiver cannot detect serial port activity. Using a series of three NULL
characters in a row should ensure that the unit responds. (See 18-Hour RTC

Roll Over, page 58 for an explanation of the RTC service time.)

Exit after X elapsed seconds.

The second condition that will trigger the receiver to exit Standby Mode is the elapse
of a pre-defined time. When the receiver is placed into the Standby Mode using
protocol commands, the receiver can be made to exit the Standby Mode after a
defined elapsed time using TSIP comman d Pac ket 0 xC0 or N MEA packe t RT. In this
case, the user specifies the number of seconds the receiver should stay in Standby
Mode. After this time has elapsed, the unit will perform a reset and start operating
normally.

Note – These conditions are provided to the receiver in the serial command packet,
and the user can specify any combination of these conditions as desired. For exiting
the Standby Mode, either of the 2 methods can be applied. The first one that occurs
will bring the receiver to the RUN Mode to start normal operations.

Copernicus GPS Receiver 57

4 OPERATING MODES

18-Hour RTC Roll Over

If the Standby Mode lasts longer than 18 hours, a special condition will occur. The
real-time clock has a maximum time count of 18 hours, so that every 18 hours the
receiver must briefly power on the processor and read the elapsed time before the
real-time clock rolls over.

The Diagram below describes the Copernicus GPS Receiver current draw levels after
initiating a Standby command, as well as the service time for the 18-hour real time
clock roll over.

IMAGE TO COME

Figure 4.1 Current Draw Levels in Standby Mode

During the 10 msec RTC service is time, there exists a 91.6 μsec window where the
receiver cannot detect state transitions on the RX pins. If NULL characters are being
used to bring the unit out of Standby as described earlier, using three NULL
characters in a row should ensure that one of the NULL characters happens outside of
the vulnerable window so that the serial port activity is detected.

3 Null

= 70 μsec

Figure 4.2 Issuing three (3) NULL Characters for Exiting Standby Mode

91.6

μsec

58 Copernicus GPS Receiver

OPERATING MODES 4

Saving Almanac, Ephemeris and Position to Flash Memory

The Almanac, Ephemeris, and recent Position data contained in RAM is
automatically saved to Flash memory.

Graceful Shutdown

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 will depend on
the Graceful Shutdown command parameters. On start-up, the unit will use the
almanac, ephemeris, and position from RAM first. If RAM is not available, the unit
will use the almanac from the Flash Memory.

SBAS

The Satellite Based Augmentation System (SBAS) includes implementation of the
current standard for WAAS and the European Geostationary Navigation Overlay
Service (EGNOS) operated by the European Space Agency and other compatible
systems that will come online in the future.

WAAS

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 necessary 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 is achieved via a network of ground stations located throughout North America,
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 W AAS-enabled GPS receivers apply the corrections to
their computed GPS position.

Number of channels

The Copernicus GPS Receiver tracks one WAAS satellite at a time. When acquiring
and tracking a WAAS satellite, one tracking channel is set aside for this purpose,
leaving eleven tracking channels which are used for the GPS satellites.

Copernicus GPS Receiver 59

4 OPERATING MODES

Acquisition

The Copernicus GPS Receiver will acquire a WAAS satellite after it has a GPS-based
position fix. After a two minute position fix outage, the Copernicus module will stop
tracking and acquiring the WAAS satellite. The WAAS satellite will be re-acquired
after a GPS-based position fix is re-established.

Usage

The Copernicus GPS Receiver will only use the data from a WAAS satellite for
position fix corrections. It shall not use a WAAS satellite for the position solution
computation.

Almanac collection

The Copernicus GPS Receiver collects WAAS almanac data and automatically stores
the WAAS Satellite location, and abbreviated almanac and health data to BBRAM
and NVS storage.

Ephemeris collection

The Copernicus GPS Receiver will NOT collect or store WAAS ephemeris data. The
module stores 1 set of WAAS corrections.

60 Copernicus GPS Receiver

CHAPTER

5

APPLICATION CIRCUITS 5

In this chapter:

 Passive antenna—Minimum

Connections

 Active Antenna—Full

Connection

 Active Antenna—No

Antenna Status

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

Copernicus GPS Receiver 61

5 APPLICATION CIRCUITS

Passive antenna—Minimum Connections

IMAGE TO COME

Figure 5.1 Passive Antenna - Minimum Connections

The minimum connection set for the Copernicus GPS Receiver is illustrated in

Figure 5.1. Following is a description of the schematic.

• A passive antenna is used. The Copernicus GPS Receiver has an on-board

LNA and an Automatic Gain Control circuit.

• The Pin LNA_XEN is not necessary and not connected.

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

• If the Open (Pin 7) and Short (Pin 8) are kept unconnected (floating), the

Copernicus GPS Receiver reports an open antenna condition. If a normal
condition report is desired, tie Open low and Short high. (See Table 3.2).

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

tied High to VCC.

• There is no HW 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 utilized.

62 Copernicus GPS Receiver

Figure 5.2 Passive antenna - HW Activated Standby Mode Available

Following is a description of the schematic:

• Passive Antenna is used. The Copernicus GPS Receiver has an on-board LNA

and an Automatic Gain Control circuit.

APPLICATION CIRCUITS 5

• The Pin LNA_XEN is not necessary and not connected.

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

tied High to VCC.

• HW 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.

• There is no separate power for STANDBY power.

• One serial port is utilized.

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

(Pin 7) and Short (Pin 8) are kept unconnected (floating), the Copernicus GPS
Receiver reports an open antenna condition. If a normal condition is desired, tie
Open Low and Short High. See Table 3.2.

Copernicus GPS Receiver 63

5 APPLICATION CIRCUITS

Active Antenna—Full Connection

Figure 5.3 Active antenna - Full connection

Following is a description of the schematic with antenna detection, when using a
second source to power the unit when in Standby Mode.

• An active antenna is used.

• The Pin LNA_XEN is connected.

• HW reset ability through the pin XRESET is possible, since XRESET pin is

not tied High to VCC.

• HW initiated Standby Mode through the Pin XSTANDBY is possible, since

XSTANDBY pin is not tied High to VCC. Serial Command to Standby Mode
can still apply as the second method to force the module to Standby Mode.

• A second power source for the standby voltage is applied (see the note below).

• Both serial ports are utilized.

64 Copernicus GPS Receiver

APPLICATION CIRCUITS 5

• 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

Table 3.2).

Note – When using two power sources, main an d standby , an external di ode pair must
be used to OR the Vcc and Vbackup power to ensure that the voltage at the module
VCC pin is always 2.7-3.3 VDC.

Table 5.2 Component Information

Component Description Manufacturer Part Number

C1 18 PF, 0402 capacitor,

C0G

C2 0.1 uF, 0402 capacitor,

X7R

J1 MCX Connector Johnson Components 133-3711-312

L1 100 nH, 0603 inductor,

surface mount

Q2 PNP Transistor Central Semiconductor CMPT404A

Q3 NPN Transistor Philips MMBT3904

Q4 PNP Transistor Philips MMBT3906

Q5 PNP Transistor Philips MMBT3906

U1 Dual schottky diode Diodes Inc. BAT 54 CT

DI Switching Diode ON Semiconductor MMBD914LTIG

KEMET C0402C180J5GAC

CAL-CHIP GMC04X7R104K16NTLF

Coil Craft 0603CS - R10XJLU

(MMBTA70LT1 may be
used if 12 Volt back
voltage tolerance is not
required)

Copernicus GPS Receiver 65

5 APPLICATION CIRCUITS

Active Antenna—No Antenna Status

Figure 5.4 Active antenna - No Antenna Status

66 Copernicus GPS Receiver

APPLICATION CIRCUITS 5

Following is a description of this schematic without antenna detection or a separate
power source for Standby Mode:

• An active Antenna is used.

• The Pin LNA_XEN is not connected.

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

tied High to VCC.

• HW initiated Standby Mode through the Pin XSTANDBY is possible, since

XSTANDBY pin is not tied High to VCC. Serial Command to Standby Mode
can still apply as the second method to force the module to Standby Mode.

• There is no separate power for STANDBY power.

• Both serial ports are utilized.

• 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
(see Table 3.2).

Copernicus GPS Receiver 67

5 APPLICATION CIRCUITS

68 Copernicus GPS Receiver

CHAPTER

6

RF LAYOUT CONSIDERATIONS 6

In this chapter:

 General Recommendations

 Design considerations for

RF Track Topologies

 PCB Considerations

This chapter outlines RF design considerations
for the Copernicus GPS Receiver.

Copernicus GPS Receiver 69

6 RF LAYOUT CONSIDERATIONS

General Recommendations

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

The radio frequency (RF) input on the Copernicus GPS module is a 50 ohm,
unbalanced input. There are ground castellations, pins 2 and 4, on both sides of the
RF input 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
ohm, unbalanced transmission line system.

In the case where the GPS antenna must be located any significant distance from the
Copernicus GPS Receiver, the use of an LNA at the antenna location is necessary to
overcome the transmission losses from the antenna to the Copernicus GPS module. It
is recommended that in the case of a passive antenna, the transmission line losses
from the antenna to the module be 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. The
specification of noise figure for the Copernicus GPS module is 3 dB at room
temperature and 4 dB over the temperature range −40 C to ±85 C. The noise figure for
this external LNA should be as low as possible, with a recommended maximum of

1.5 dB. It is recommended that the gain of this LNA exceed 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. In order to keep losses at the LNA input to a minimum, it is recommended that
the antenna be connected directly to the LNA input, with as minimum loss as
possible.

Connections to either the LNA output or to a passive antenna must be made using a
50 ohm unbalanced transmission system. This transmission system may take any
form, such as microstrip, coaxial, stripline or any 50 ohm characteristic impedance
unbalanced, low-loss system.

It is important to keep any noise sources with frequencies at or near 1575 MHz away
from the RF input. In the case of a passive antenna, it is important that the antenna is
not placed in a noisy location (such as too close to digital circuitry) or performance
may be degraded. Shielded transmission line systems (stripline, coaxial) may be used
to route this signal if noise ingress is a concern.

If an active antenna is used and it is desired to power this antenna from the RF
transmission line, a bias-tee will be required at the Copernicus 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. An
open/short detection and over current protection circuit may also be employed. Please
see Chapter 5, APPLICATION CIRCUITS.

70 Copernicus GPS Receiver

RF LAYOUT CONSIDERATIONS 6

In the printed circuit board (PCB) layout, it is recommended to ke ep the copper layer
on which the Copernicus GPS Receiver is mounted clear of solder mask and copper
(vias or traces) under the module. This is to insure mating of the castellations between
the Copernicus GPS module and the board to which it is mounted, and that there is no
interference with features beneath the Copernicus GPS Receiver causing it to lift
during the re-flow solder process.

For a microstrip RF transmission line topology, it is recommended that the layer
immediately below the one to which the Copernicus GPS Receiver is mounted be
ground plane. Pins 2 and 4 should be directly connected to this ground plane with low
inductance connections. Pin 3, the RF input, can be routed on the top layer using the
proper geometry for a 50 ohm system.

Copernicus GPS Receiver 71

6 RF LAYOUT CONSIDERATIONS

Design considerations for RF Track Topologies

The following items need to be considered for the Copernicus GPS Receiver RF
layout:

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

ohms.

• PCB track connection to the RF antenna input must be as short as possible.

• If an external antenna is used, PCB track connection to the RF antenna input

must transition from the circuit board to the external antenna cable, which is
typically a RF connector.

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

refer to the Coplaner Waveguide design. Not covered in this manual.

• PCB track connection to the RF antenna input must be routed away from

potential noise sources such as oscillators, transmitters, digital circuits,
switching power supplies and other sources of noise.

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

low-inductance via

• Active or passive antennas may be used. If using a passive antenna the

connection to the antenna input shall be very short. It is possible to mount the
patch antenna on the same PCB as the Copernicus GPS module. Designers
must be aware of noise generating circuitry and proper design precautions
taken (shielding,.).

The PCB track connection to the RF antenna input must not have:

• Sharp bends.

• Components overlaying the track.

• Routing between components to avoid undesirable coupling.

72 Copernicus GPS Receiver

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. Multilayer boards can also be used.

Two possible RF transmission line topologies include microstrip and stripline.

Microstrip Transmission Lines

RF LAYOUT CONSIDERATIONS 6

Figure 6.1 Microstrip Transmission Lines

Ground Plane Design Recommendation

Use a complete ground plane immediately under the PCB layer on which the
Copernicus module is mounted. Around the signal tracks on the same layer as the
module, flood or “copper pour” and connect to the ground p lane using low inductan ce
vias. A single ground plane is adequate for both analog and digital signals.

Design of Microstrip Transmission Line

Connections to either the LNA output or to a passive antenna must be made using a
50 ohm unbalanced transmission system. The PCB parameters that affect impedance
are:

• Track width (W)

• PCB substrate thickness (H)

• PCB substrate permittivity (ε

)

r

Copernicus GPS Receiver 73

6 RF LAYOUT CONSIDERATIONS

• To a lesser extent, PCB copper thickness (T) and proximity of same layer

ground plane.

Figure 6.2 PCB Microstrip Topology

Table 6.1 shows typical track widths for an FR4 material PCB substrate (permittivity

of 4.6 at 1.5 GHz) and different PCB thickness. One ounce copper is assumed for

ε

r

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

Table 6.1 Typical Track Widths for an FR4 material PCB Substrate in Microstrip

Topology

Substrate Material Permittivity Substrate Thickness

H (mm)

1.6 2.91

1.2 2.12

1.0 1.81

FR4 4.6 0.8 1.44

0.6 1.07

0.4 0.71

0.2 0.34

Track Width
W (MM)

Microstrip Design Recommendations

It is recommended that the antenna connection PCB track be routed around the
outside of the module outline, kept on a single layer and have no bends greater than
45 degrees. It is not recommended, for production reasons, to route the track under
the module.

74 Copernicus GPS Receiver

Stripline Transmission Lines

.

Figure 6.3 Stripline Transmission Lines

Ground plane design in stripline topology

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

one for signal. One of the ground plane layers may be the layer to which the
Copernicus GPS module is mounted. If this is the case,

RF LAYOUT CONSIDERATIONS 6

• The top layer must be flooded with ground plane and connected to all ground

castellations on the Copernicus GPS module.

• The RF input should be connected to the signal layer below using a via.

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

• Connect the two ground planes with vias typically adjacent to the signal trace.

• Other signals of the Copernicus GPS module may be routed to additional layer

using vias.

For the symmetric stripline topology where the signal trace is equal distance from
each ground plane, the following table applies:.

Table 6.2 Typical track widths for an FR4 material PCB substrate in Stripline topology

Substrate Material Permittivity Substrate Thickness

H (mm)

1.6 0.631

1.2 0.438

1.0 0.372

FR4 4.6 0.8 0.286

0.6 0.2

0.4 0.111

0.2 N/A

Track Width
W (MM)

Copernicus GPS Receiver 75

6 RF LAYOUT CONSIDERATIONS

76 Copernicus GPS Receiver

CHAPTER

7

MECHANICAL SPECIFICATIONS 7

In this chapter:

 Mechanical Outline

Drawing

 Soldering the Copernicus

GPS Receiver to a PCB

This chapter provides product drawings and
instructions for soldering the Copernicus GPS
Receiver to a PCB.

Copernicus GPS Receiver 77

7 MECHANICAL SPECIFICATIONS

Mechanical Outline Drawing

IMAGE TO COME

Top View

Figure 7.1 Copernicus GPS Receiver, Footprint

Figure 7.2 Copernicus GPS Receiver, Outline Dimensions

Bottom View

78 Copernicus GPS Receiver

MECHANICAL SPECIFICATIONS 7

Soldering the Copernicus GPS Receiver to a PCB

Solder mask

When soldering the Copernicus GPS Receiver to a PCB, keep an open cavity
underneath the Copernicus 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.

No solder mask
or copper traces
under the unit.

Figure 7.3 Solder Mask Diagram

Copernicus GPS Receiver 79

7 MECHANICAL SPECIFICATIONS

Pad Pattern

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

No solder mask
or copper traces
under the unit.

Figure 7.4 Pad Pattern Diagram

80 Copernicus GPS Receiver

MECHANICAL SPECIFICATIONS 7

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.

Figure 7.5 Paste Mask Diagram

Copernicus GPS Receiver 81

7 MECHANICAL SPECIFICATIONS

82 Copernicus GPS Receiver

CHAPTER

8

PACKAGING 8

In this chapter:

 Introduction

 Reel

 Tapes

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

Copernicus GPS Receiver 83

8 PACKAGING

Introduction

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

The Copernicus GPS modules are packaged in two quantities: reel with 100 pieces
and reel with 500 pieces.

Figure 8.1 Copernicus GPS Receiver Packaged in Tape

84 Copernicus GPS Receiver

Reel

PACKAGING 8

The 13-inch reel that 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 8.2 Reel Diagram

Weight

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

0.79Kg (1.74 lbs.)
500 pcs with reel packaging + desiccant + humidity indicator = approximately

1.47Kg (3.24 lbs.)
100 pcs with reel packaging + desiccant + humidity indicator + white pizza box =

approximately 1.02Kg (2.24 lbs.)
500 pcs with reel packaging + desiccant + humidity indicator + white pizza box =

approximately 1.70Kg (3.74 lbs.)

Copernicus GPS Receiver 85

8 PACKAGING

Tapes

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

Figure 8.3 Tape Diagram

Made in China

S/N 05011234

52979-00-D

Made in China

Made in China

S/N 05011234

52979-00-D

Figure 8.4 Feeding Direction Diagram

Made in China

S/N 05011234

52979-00-D

Feeding direction

S/N 05011234

52979-00-D

ROUND HOLE

Made in China

Made in China

S/N 05011234

52979-00-D

S/N 05011234

52979-00-D

86 Copernicus GPS Receiver

CHAPTER

9

SHIPPING and HANDLING 9

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 GPS
Receiver to ensure compliance with the product
warranty.

Copernicus GPS Receiver 87

9 SHIPPING and HANDLING

Shipping and Handling Guidelines

Handling

The Copernicus 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 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 GPS modules is packed in a hermetically sealed moisture
barrier bag (DryPac) 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 bake as
necessary. See Baking Procedure, page 90 for baking instructions.

Floor Life

The reel of Copernicus 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 GPS is a lead free component for RoHS compliance. This unit is also
plated with immersion silver for better solderability . The silver may tarnish over time
and show yellow in color, but tarnish should not affect the solderability.

C

88 Copernicus GPS Receiver

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 9

Figure 9.1 Moisture Precondition Label

Copernicus GPS Receiver 89

9 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 cabinet or dry box to prevent

absorption of moisture.

C

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

processes will reduce the solderablity.

Soldering Paste

The Copernicus GPS module itself is not hermetically sealed, Trimble strongly
recommends using the “No Clean” soldering paste and process. The castellation
solder pad on this 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%

Liquidus 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
procedures.

Copper

Solder Reflow

A hot air convection oven is strongly recommended for solder reflow. For the lead­free 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

90 Copernicus GPS Receiver

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 9

Figure 9.2 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 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 GPS Receiver 91