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Trimble Outdoors SK8 User Manual

Lassen-SK8™ Embedded GPS Module
System Designer Reference Manual
Part Number: 34149-01 Firmware: 7.20-7.52 Date: August 1997
Trimble Navigation Limited Commercial Systems Group 645 North Mary Avenue Post Office Box 3642 Sunnyvale, CA 94088-3642 U.S.A.
+1-800-827-8000 in North America +1-408-481-8000 International FAX: +1-408-730-2082
U.S. Technical Assistance and Repair
+1-800--SOS-4-TAC in North America +1-408-481-6940 International FAX: +1-408-481-6020
European Technical Assistance and Repair
+44-1256-1622-858-421
Copyrights
© 1997 Trimble Navigation Limited. All rights reserved. No part of this manual may be copied, photocopied, reproduced, translated, or reduced to any electronic medium or machine-readable form without prior written consent from Trimble Navigation Limited.
Printed in the United States of America. Printed on recycled paper.
Revision Notice
This is the first release of the Lassen-SK8™ Embedded GPS Module System Designer Reference Manual, Part Number 34149-01, August 1997.
This manual supersedes the Lassen-SK8™ GPS Board for Embedded Applications, System Designer Reference Manual, Part Number 29473-00, Revision B, June 1997, © 1996 Trimble Navigation Limited.
Trademarks
SVeeSix, SVeeSix-CM3, LASSEN-SK8, Acutis, Acutime, AcutimeII, and TSIP are trademarks of Trimble Navigation Limited. IBM is a registered trademark of International Business Machines, Inc. MS-DOS and Windows is a trademark of Microsoft Corporation. Intel is a trademark of Intel Corporation. All other brand names are trademarks of their respective holders.
Disclaimer of Warranty
EXCEPT AS INDICATED IN “LIMITED WARRANTY” HEREIN, TRIMBLE HARDWARE, SOFTWARE, FIRMWARE AND DOCUMENTATION IS PROVIDED “AS IS” AND WITHOUT EXPRESS OR LIMITED WARRANTY OF ANY KIND BY EITHER TRIMBLE OR ANYONE WHO HAS BEEN INVOLVED IN ITS CREATION, PRODUCTION, OR DISTRIBUTION INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK, AS TO THE QUALITY AND PERFORMANCE OF THE TRIMBLE HARDWARE, SOFTWARE, FIRMWARE AND DOCUMENTATION, IS WITH YOU. SOME STATES DO NOT ALLOW THE EXCLUSION OF IMPLIED WARRANTIES, SO THE ABOVE EXCLUSION MAY NOT APPLY TO YOU.
Limitation of Liability
IN NO EVENT WILL TRIMBLE OR ANY PERSON INVOLVED IN THE CREATION, PRODUCTION, OR DISTRIBUTION OF THE TRIMBLE PRODUCT BE LIABLE TO YOU ON ACCOUNT OF ANY CLAIM FOR ANY DAMAGES, INCLUDING ANY LOST PROFITS, LOST SAVINGS, OR OTHER SPECIAL, INCIDENTAL, CONSEQUENTIAL, OR EXEMPLARY DAMAGES, INCLUDING BUT NOT LIMITED TO ANY DAMAGES ASSESSED AGAINST OR PAID BY YOU TO ANY THIRD PARTY, RISING OUT OF THE USE, LIABILITY TO USE, QUALITY OR PERFORMANCE OF SUCH TRIMBLE PRODUCT INCLUDING HARDWARE, SOFTWARE, FIRMWARE, AND DOCUMENTATION, EVEN IF TRIMBLE OR ANY SUCH PERSON OR ENTITY HAS BEEN ADVISED OF THE POSSIBILITY OF DAMAGES, OR FOR ANY CLAIM BY ANY OTHER PARTY. SOME STATES DO NOT ALLOW THE LIMITATION OR EXCLUSION OF LIABILITY FOR INCIDENTAL OR CONSEQUENTIAL DAMAGES SO, THE ABOVE LIMITATIONS MAY NOT APPLY TO YOU.
Software and Firmware Limited Warranty
Trimble warrants that Software and Firmware products will substantially conform to the published specifications provided it is used with the Trimble products, computer products, and operating system for which it was designed. For a period of ninety (90) days, commencing thirty (30) days after shipment from Trimble, Trimble also warrants that the magnetic media on which Software and Firmware are distributed and the documentation are free from defects in materials and workmanship. During the ninety (90) day warranty period, Trimble will replace defective media or documentation, or correct substantial program errors at no charge. If Trimble is unable to replace defective media or documentation, or correct program errors, Trimble will refund the price paid for The Software. These are your sole remedies for any breach in warranty.
Hardware Limited Warranty
Trimble Navigation Limited products are warranted against defects in material and workmanship for a period of one year. The warranty period shall commence thirty (30) days after shipment from Trimble’s factory. Warranty service will be provided at a designated Trimble Service Center. Trimble will at its option either repair or replace products that prove to be defective. The Customer shall pay all shipping charges for products returned to Trimble for warranty service. Trimble shall pay all shipping charges for the return of products to the Customer.
This warranty shall not apply to defects resulting from one or more of the following:
• Improper or inadequate maintenance by the buyer
• Buyer-supplied software or interfacing
• Unauthorized modification or misuse
• Operation outside of the environmental specifications of the product
• Improper installation, where applicable
• Lightning or other electrical discharge
• Fresh or salt water immersion or spray
• Normal wear and tear on consumable parts (for example, batteries)
No other warranty is expressed or implied. Trimble Navigation Limited specifically disclaims the implied warranties of fitness for a particular purpose and merchantability.

Table of Contents

Preface
Scope and Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix
Lassen-SK8 Manual Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx
Technical Assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx
Email. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx
Worldwide Web . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi
Internet FTP Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi
FaxBack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi
Reader Comment Form. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxi
Document Conventions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii
Notes, Tips, Cautions, and Warnings. . . . . . . . . . . . . . . . . . . . . . . . . . . xxii
1 Starter Kit
1.1 Lassen-SK8 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1.1.1 Interface Protocols. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Port 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
Port 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.1.2 Starter Kit Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1.2 GPS Receiver Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1.3 Antenna. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1.4 Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.5 Hardware Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.6 Running the TSIP Interface Program . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
2 Hardware Integration
2.1 The Lassen-SK8 Receiver Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Interface Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.3 Power Requirement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2.4 Serial Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2.5 Pulse Per Second . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.6 Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2.7 RF Shield . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
Lassen-SK8 Embedded GPS Module v
3 Software Interface
3.1 Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Software Tool Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.3 Communicating with the Lassen-SK8 Module. . . . . . . . . . . . . . . . . . . . . . 3-2
3.4 Protocol Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3.4.1 TSIP Data Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Configuring the SK 8 receiver output protocol from TSIP to TAIP protocol. 3-4
3.4.2 TAIP Data Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Configuring the SK 8 receiver output protocol from TAIP to TSIP protocol
TAIP message PR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.4.3 NMEA 0183 Data Output . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3.5 Timing Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
3.5.1 Effect of GPS Week Number Roll-over (WNRO) . . . . . . . . . . . . . . 3-7
Lassen/Palisade Family Firmware Version 7.xx Software Modifications . . 3-8
3.6 Differential GPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8
4 Operation and Performance
4.1 GPS Satellite Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
4.2 Satellite Acquisition and Time to First Fix. . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.1 Cold-Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.2 Warm Start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4.2.3 Garage Search Strategy . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.2.4 Hot Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.3 Satellite Mask Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.3.1 Elevation Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.3.2 SNR Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.3.3 PDOP Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.3.4 PDOP Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.4 Standard Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4.4.1 Fix Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
2D Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
3D Manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
2D/3D Automatic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.5 Differential GPS Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.5.1 DGPS On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.5.2 DGPS Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.5.3 DGPS Automatic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4.5.4 Differential GPS Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.6 Position Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
vi Lassen-SK8 Embedded GPS Module
4.6.1 Selective Availability (SA) . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.6.2 Differential GPS (DGPS) . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4.7 Coordinate Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.7.1 TSIP Coordinate Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4.7.2 NMEA 0183 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.7.3 TAIP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.8 Performance Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.8.1 Update Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.8.2 Dynamic Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.8.3 Re-Acquisition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4.9 GPS Timing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.9.1 Serial Time Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4.9.2 Timing Pulse Output (PPS) . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.10 System Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
A Trimble Standard Interface Protocol
A.1 Interface Scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-1
A.2 Automatic Output Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
A.3 Customizing Receiver Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
A.3.1 TAIP Customizing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
A.3.2 NMEA Customizing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
A.3.3 Reconfiguring to Factory Default Settings . . . . . . . . . . . . . . . . . . A-3
A.4 Automatic Position and Velocity Reports . . . . . . . . . . . . . . . . . . . . . . . . A-5
A.5 Warm Start Packets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
A.6 Packets Output at Power-Up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7
A.7 Differential GPS Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-7
A.8 Timing Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8
A.9 Satellite Data Packets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8
A.10 Background Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8
A.11 Backwards Incompatibility of Lassen-SK8 Packets with Previous TSIP Versions . . . A-9
A.12 Recommended TSIP Packets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-11
A.13 Command Packets Sent to the Receiver . . . . . . . . . . . . . . . . . . . . . . . . . A-13
A.14 Report Packets Sent by the GPS Receiver to the User . . . . . . . . . . . . . . . . . . A-15
A.15 Key Setup Parameters or Packet BB . . . . . . . . . . . . . . . . . . . . . . . . . . . A-16
A.15.1 Packet 0xBB - Set Fix Mode . . . . . . . . . . . . . . . . . . . . . . . . . A-17
A.15.2 Dynamics Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-17
A.15.3 Elevation Mask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-17
A.15.4 Signal Level Mask. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-18
A.15.5 DOP Mask and Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-18
Lassen-SK8 Embedded GPS Module vii
A.15.6 Packet 0xBB - Set DGPS Mode . . . . . . . . . . . . . . . . . . . . . . . . A-19
A.16 Packet Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-19
A.17 Packet Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-20
A.17.1 Command Packet 0x1D . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-20
A.17.2 Command Packet 0x1E . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-20
A.17.3 Command Packet 0x1F . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-20
A.17.4 Command Packet 0x21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-20
A.17.5 Command Packet 0x23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-21
A.17.6 Command Packet 0x24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-21
A.17.7 Command Packet 0x25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-21
A.17.8 Command Packet 0x26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-21
A.17.9 Command Packet 0x27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-21
A.17.10 Command Packet 0x28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-21
A.17.11 Command Packet 0x2A . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-22
A.17.12 Command Packet 0x2B . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-23
A.17.13 Command Packet 0x2D . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-23
A.17.14 Command Packet 0x2E . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-23
A.17.15 Command Packet 0x31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-24
A.17.16 Command Packet 0x32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-24
A.17.17 Command Packet 0x35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-24
A.17.18 Command Packet 0x37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-26
A.17.19 Command Packet 0x38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-27
A.17.20 Command Packet 0x39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-28
A.17.21 Command Packet 0x3C . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-28
A.17.22 Report Packet 0x41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-29
A.17.23 Report Packet 0x42 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-30
A.17.24 Report Packet 0x43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-30
A.17.25 Report Packet 0x45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-31
A.17.26 Report Packet 0x46 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-32
A.17.27 Report Packet 0x47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-33
A.17.28 Report Packet 0x48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-33
A.17.29 Report Packet 0x4A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-33
A.17.30 Main 0x4A Report Packet Type. . . . . . . . . . . . . . . . . . . . . . . . A-34
A.17.31 Second 0x4A Packet Type. . . . . . . . . . . . . . . . . . . . . . . . . . . A-34
Reference Altitude. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-34
Altitude Flag. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-35
A.17.32 Report Packet 0x4B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-35
A.17.33 Report Packet 0x4D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-36
A.17.34 Report Packet 0x4E . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-36
viii Lassen-SK8 Embedded GPS Module
A.17.35 Report Packet 0x55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-37
A.17.36 Report Packet 0x56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-39
A.17.37 Report Packet 0x57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-39
A.17.38 Report Packet 0x58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-40
A.17.39 Report Packet 0x59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-44
A.17.40 Report Packet 0x5A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-45
A.17.41 Report Packet 0x5C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-47
A.17.42 Command Packet 0x60 -. . . . . . . . . . . . . . . . . . . . . . . . . . . . Type
1 Differential GPS CorrectionsA-48
A.17.43 Command Packet 0x61 -. . . . . . . . . . . . . . . . . . . . . . . . . . . . Set
Differential GPS CorrectionsA-49
A.17.44 Command Packet 0x62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-49
A.17.45 Command Packet 0x65 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-50
A.17.46 Report Packet 0x6D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-50
A.17.47 Command Packet 0x6E — Set or Request Synchronized
Measurement Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . A-51
Enable / Disable Synchronized Measurements . . . . . . . . . . . . . . . . A-51
Output Level. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-51
A.17.48 Report Packet 0x6E — Synchronized Measurements. . . . . . . . . . . . . A-52
A.17.49 Report Packet 0x6F, Subcode 1 . . . . . . . . . . . . . . . . . . . . . . . . A-52
A.17.50 Command Packet 0x70 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-54
A.17.51 Report 0x70 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-54
A.17.52 Command Packet 0x7A . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-55
A.17.53 Report Packet 0x7B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-56
A.17.54 Report Packet 0x82 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-56
A.17.55 Report Packet 0x83 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-57
A.17.56 Report Packet 0x84 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-57
A.17.57 Report Packet 0x85 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-58
A.17.58 Packets 0x8E and 0x8F . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-58
A.17.59 Command Packet 0xBB. . . . . . . . . . . . . . . . . . . . . . . . . . . . A-59
A.17.60 Report Packet 0xBB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-60
A.17.61 Command Packet 0xBC. . . . . . . . . . . . . . . . . . . . . . . . . . . . A-60
A.17.62 Report Packet 0xBC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-61
A.18 TSIP Superpackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-62
A.18.1 Command Packet 0x8E-15 - Set/Request Datum . . . . . . . . . . . . . . . A-62
A.18.2 Command Packet 0x8E-19 . . . . . . . . . . . . . . . . . . . . . . . . . . A-64
A.18.3 Command Packet 0x8E-20 . . . . . . . . . . . . . . . . . . . . . . . . . . A-64
A.18.4 Command Packet 0x8E-26 . . . . . . . . . . . . . . . . . . . . . . . . . . A-65
A.18.5 Report Packet 0x8F-15 - Current Datum Values . . . . . . . . . . . . . . . A-65
A.18.6 Report Packet 0x8F-17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-66
Lassen-SK8 Embedded GPS Module ix
A.18.7 Report Packet 0x8F-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-66
A.18.8 Report Packet 0x8F-19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-67
A.18.9 Report Packet 0x8F-20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-67
A.18.10 Report Packet 0x8F-26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-69
A.19 Datums . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-70
A.20 Reference Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-75
B TSIP User's Guide C Trimble ASCII Interface Protocol (TAIP)
C.1 Message Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
C.1.1 Start of a New Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
C.1.2 Message Qualifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
C.1.3 Message Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
C.1.4 Data String. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
C.1.5 Vehicle ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
C.1.6 Checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
C.1.7 Message Delimiter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-3
C.2 Sample PV Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-4
C.3 Time and Distance Reporting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-5
C.4 Latitude and Longitude Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . C-6
C.5 Message Data Strings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-7
C.23 Communication Using TAIP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-27
C.23.1 Query for Single Sentence. . . . . . . . . . . . . . . . . . . . . . . . . . . C-27
C.23.2 The Response to Query or Scheduled Report . . . . . . . . . . . . . . . . . C-27
C.23.3 The Set Qualifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-28
C.23.4 Sample Communication Session . . . . . . . . . . . . . . . . . . . . . . . C-28
D GPSSK User's Guide (TAIP)
D.1 The GPSSK Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-1
D.2 TAIP.C Source File. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2
D.3 GPSSK Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2
D.4 On-line Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-2
D.5 Connecting the GPS Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D-3
E NMEA 0183
E.1 The NMEA 0183 Communication Interface . . . . . . . . . . . . . . . . . . . . . . . E-1
E.2 NMEA 0183 Message Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-2
E.3 NMEA 0183 Message Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-2
x Lassen-SK8 Embedded GPS Module
E.4 NMEA 0183 Message Formats. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-3
E.4.1 GGA - GPS Fix Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-3
E.4.2 GLL - Geographic Position - Latitude/Longitude. . . . . . . . . . . . . . . E-4
E.4.3 GSA - GPS DOP and Active Satellites . . . . . . . . . . . . . . . . . . . . E-4
E.4.4 GSV - GPS Satellites in View. . . . . . . . . . . . . . . . . . . . . . . . . E-5
E.4.5 RMC - Recommended Minimum Specific GPS/Transit Data. . . . . . . . . E-6
E.4.6 VTG - Track Made Good and Ground Speed . . . . . . . . . . . . . . . . . E-6
E.4.7 ZDA - Time & Date . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-7
F Specifications and Mechanical Drawings
F.1 GPS Receiver. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-1
F.1.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-1
F.1.2 Accuracy. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-1
F.1.3 DGPS Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-1
F.1.4 Datum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-1
F.1.5 Acquisition Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-2
F.1.6 Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-2
F.2 Environmental Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-2
F.2.1 Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-2
F.2.2 Vibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-2
F.2.3 Altitude . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-2
F.2.4 Humidity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-2
F.3 Physical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-3
F.3.1 Size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-3
F.3.2 Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-3
F.3.3 Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-3
F.4 Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-3
F.4.1 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-3
F.4.2 Protocols Available . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-3
F.5 Pulse Per Second . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-4
F.5.1 Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-4
F.5.2 Pulse Width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-4
F.5.3 Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-4
F.6 RF Interference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-4
F.6.1 Jamming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-4
F.6.2 Burnout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-4
F.7 Lassen-SK8 Crystal Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . F-5
F.7.1 Electrical. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-5
F.7.2 Environmental . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-5
Lassen-SK8 Embedded GPS Module xi
F.7.3 Mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-5
Glossary Index
xii Lassen-SK8 Embedded GPS Module

List of Figures

Figure 1-1. The Module Installed Inside the Interface Unit . . . . . . . . . . . . . . . . . . . 1-5
Figure 1-2. Receiver Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Figure 1-3. Starter Kit Interface Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Figure 1-4. Open Collector PPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Figure 1-5. Magnetic Mount GPS Antenna. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Figure 1-6. Hard Mount GPS Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
Figure 1-7. Bullet II GPS Antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Figure 1-8. DC Power Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Figure 1-9. AC/DC Power Converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
Figure 1-10. Interconnect Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
Figure 1-11. TSIPCHAT Command Window and Report Window . . . . . . . . . . . . . . . . 1-12
Figure 2-1. Motherboard Connection Points . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Figure 2-2. Removing the Receiver Module . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Figure 2-3. Interface Connector Pin Identification . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Figure 4-1. Lassen-SK8 Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
Figure F-1. Lassen-SK8 Mechanical Drawing - Circuit Board and Shield. . . . . . . . . . . . F-6
Figure F-2. Lassen-SK8 Mechanical Drawing - Motherboard Schematic . . . . . . . . . . . . F-7
Figure F-3. Lassen-SK8 Mechanical Drawing - Miniature Antenna . . . . . . . . . . . . . . . F-8
Figure F-4. Lassen-SK8 Mechanical Drawing - Trimble Bulkhead Antenna . . . . . . . . . . F-9
Figure F-5. Lassen-SK8 Mechanical Drawing - Bullet II Antenna . . . . . . . . . . . . . . . . F-10
Lassen-SK8 Embedded GPS Module xiii
xiv Lassen-SK8 Embedded GPS Module

List of Tables

Table 1-1. Lassen-SK8 Starter Kit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Table 1-2. Lassen-SK8 Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Table 1-3. Lassen SK-8 Optional Antennas . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Table 2-1. I/O Connector Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Table 2-2. Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
Table 3-1. Default Serial Port Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Table 3-2. TSIP Message Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
Table 4-1. Default Satellite Mask Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
Table 4-2. Lassen-SK8 Operating Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
Table A-1. Automatic Output Packets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
Table A-2. Customizing Receiver Operation I/Os . . . . . . . . . . . . . . . . . . . . . . . . A-4
Table A-3. Automatic Position and Velocity Reports Control Setting Bits . . . . . . . . . . . A-5
Table A-4. Warm Start Packet Commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . A-6
Table A-5. Packet Power-up Output Messages. . . . . . . . . . . . . . . . . . . . . . . . . . A-7
Table A-6. Differential GPS Packet TSIP Control Commands . . . . . . . . . . . . . . . . . A-7
Table A-7. Timing Packet TSIP Control Commands . . . . . . . . . . . . . . . . . . . . . . A-8
Table A-8. Satellite Date Packet Data I/O Descriptions . . . . . . . . . . . . . . . . . . . . . A-8
Table A-9. Background Packet Output Messages . . . . . . . . . . . . . . . . . . . . . . . . A-8
Table A-10. Supported Auto-Output Packet Command Backward Compatibility . . . . . . . . A-9
Table A-11. TSIP Command Backward Incompatibility . . . . . . . . . . . . . . . . . . . . . A-10
Table A-12. Recommended TSIP Packet Data . . . . . . . . . . . . . . . . . . . . . . . . . . A-11
Table A-13. User-Selected Command Packet Options . . . . . . . . . . . . . . . . . . . . . . A-13
Table A-14. User-Selected Report Packet Options . . . . . . . . . . . . . . . . . . . . . . . . A-15
Table A-15. Setup Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-16
Table A-16. Command Packet 0x1E Format . . . . . . . . . . . . . . . . . . . . . . . . . . . A-20
Table A-17 Command Packet 0x23 Data Format. . . . . . . . . . . . . . . . . . . . . . . . . A-21
Table A-18. Packet 0x2A Set Altitude Only Description . . . . . . . . . . . . . . . . . . . . . A-22
Table A-19. Reset Altitude Flag Description . . . . . . . . . . . . . . . . . . . . . . . . . . . A-22
Table A-20. Command Packet 0x23 Data Format. . . . . . . . . . . . . . . . . . . . . . . . . A-23
Table A-21. Command Packet 0x2E Data Formats . . . . . . . . . . . . . . . . . . . . . . . . A-23
Table A-22. Command Packets 0x35 and 0x55 Data Descriptions . . . . . . . . . . . . . . . . A-25
Table A-23. Command Packet 0x38 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . A-27
Lassen-SK8 Embedded GPS Module xv
Table A-24. Command Packet 0x39 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . A-28
Table A-25. Command Packet 0x3C Data Format. . . . . . . . . . . . . . . . . . . . . . . . . A-28
Table A-26. Report Packet 0x41 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-29
Table A-27. Packets 0x41 and 0x46 Status Code Relationships. . . . . . . . . . . . . . . . . . A-29
Table A-28. Report Packet 0x42 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-30
Table A-29. Report Packet 0x43 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-30
Table A-30. Report Packet 0x45 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-31
Table A-31. Report Packet 0x46 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-32
Table A-32. Report Packet 0x46 Bit Positions and Descriptions . . . . . . . . . . . . . . . . . A-32
Table A-33. Report Packet 0x47 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-33
Table A-34. Report Packet 0x4A Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-34
Table A-35. Reference Altitude . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-35
Table A-36. Report Packet 0x4B Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-35
Table A-37. Report Packet 0x4B Bit Positions and Descriptions . . . . . . . . . . . . . . . . . A-35
Table A-38. Report Packet 0x4E Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-36
Table A-39. Command Packets 0x55 and 0x35 Data Descriptions . . . . . . . . . . . . . . . . A-37
Table A-40. Report Packet 0x56 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-39
Table A-41. Report Packet 0x57 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-39
Table A-42. Report Packet 0x58 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-40
Table A-43. Report Packet 0x58 Almanac Data . . . . . . . . . . . . . . . . . . . . . . . . . . A-41
Table A-44. Report Packet 0x58 Almanac Health Data . . . . . . . . . . . . . . . . . . . . . . A-41
Table A-45. Report Packet 0x58 Ionosphere Data. . . . . . . . . . . . . . . . . . . . . . . . . A-42
Table A-46. Report Packet 0x58 UTC Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-42
Table A-47. Report Packet 0x58 Ephemeris Data . . . . . . . . . . . . . . . . . . . . . . . . . A-42
Table A-48. Report Packet 0x59 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-44
Table A-49. Report Packet 0x5A Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-45
Table A-50. Report Packet 0x5C Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-47
Table A-51. Report Packet 0x60 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-48
Table A-52. Report Packet 0x60 Data Formats for Health and Power . . . . . . . . . . . . . . A-48
Table A-53. Command Packet 0x61 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . A-49
Table A-54. Report Packet 0x6D Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-50
Table A-55. Set Synchronized Measurement Parameters . . . . . . . . . . . . . . . . . . . . . A-51
Table A-56. Request Synchronized Measurement Parameters . . . . . . . . . . . . . . . . . . A-51
Table A-57. Set Synchronized Measurement Parameters . . . . . . . . . . . . . . . . . . . . . A-52
Table A-58 Synchronized Measurements Report . . . . . . . . . . . . . . . . . . . . . . . . . A-52
Table A-59 FLAGS1 Bit Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-53
Table A-60. Command and Report Packet 0x70 Field Descriptions . . . . . . . . . . . . . . . A-54
Table A-61. Command Packet 0x7A Data Formats . . . . . . . . . . . . . . . . . . . . . . . . A-55
xvi Lassen-SK8 Embedded GPS Module
Table A-62. Command Packet 0x7A Data Formats for Setting NMEA Interval and Message MaskA­55
Table A-63. Report Packet 0x7B Message Mask Settings . . . . . . . . . . . . . . . . . . . . A-56
Table A-64. Report Packet 0x83 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-57
Table A-65. Report Packet 0x84 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-57
Table A-66. Report Packet 0x85 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-58
Table A-67. Report Packet 0x85 Summary Status Code Encoding . . . . . . . . . . . . . . . . A-58
Table A-68. Command Packet 0xBB Query Mode Data Format . . . . . . . . . . . . . . . . . A-59
Table A-69. Command and Report Packet 0xBB Field Descriptions . . . . . . . . . . . . . . . A-59
Table A-70. Command Packet 0xBC Port Characteristics Query Field Descriptions. . . . . . . A-60
Table A-71. Command Packet 0xBC Field Descriptions . . . . . . . . . . . . . . . . . . . . . A-60
Table A-72. Report Packet 0xBC Field Descriptions . . . . . . . . . . . . . . . . . . . . . . . A-61
Table A-73. Command Packet 0x8E-15 Field Descriptions. . . . . . . . . . . . . . . . . . . . A-63
Table A-74. Command Packet 0x8E-15 Datum Index Field Descriptions . . . . . . . . . . . . A-63
Table A-75. Command Packet 0x8E-15 Eccentricity of the Ellipse Parameter Field Descriptions A-63
Table A-76. Command Packet 0x8E-19Field Description . . . . . . . . . . . . . . . . . . . . A-64
Table A-77. Command Packet 0x8E-20 Field Descriptions. . . . . . . . . . . . . . . . . . . . A-64
Table A-78. Command Packet 0x8E-26 Definitions . . . . . . . . . . . . . . . . . . . . . . . A-65
Table A-79. Report Packet 0x8F-15 Field Descriptions for Converting Ellipsoid
ECFF XYZ to Coordinate System LLA . . . . . . . . . . . . . . . . . . . . . . . A-65
Table A-80. Report Packet 0x8F-17 Field Descriptions. . . . . . . . . . . . . . . . . . . . . . A-66
Table A-81. Report Packet 8F-18 Field Descriptions . . . . . . . . . . . . . . . . . . . . . . . A-67
Table A-82. Command Packet 0x8F-19 Field Descriptions . . . . . . . . . . . . . . . . . . . . A-67
Table A-83. Report Packet 0x8F-20 Data formats. . . . . . . . . . . . . . . . . . . . . . . . . A-67
Table A-84. Report Packet 0x8F-20 Fix SVs . . . . . . . . . . . . . . . . . . . . . . . . . . . A-69
Table A-85. Report Packet 0x8F-26 Field Descriptions. . . . . . . . . . . . . . . . . . . . . . A-69
Table A-86. Datums . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-70
Table C-1. Message Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
Table C-2 Message Format Qualifiers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-2
Table C-3. Time and Distance Reporting Message Format Qualifiers. . . . . . . . . . . . . . C-4
Table C-4. Time and Distance Reporting Message Format Qualifiers. . . . . . . . . . . . . . C-5
Table C-5. Message Data String Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . C-7
Table C-6. Altitude/Up Velocity Data String Descriptions . . . . . . . . . . . . . . . . . . . C-8
Table C-7. Auxiliary Port Characteristics Data String Descriptions. . . . . . . . . . . . . . . C-9
Table C-8. Compact Position Solutions Data String Descriptions . . . . . . . . . . . . . . . . C-10
Table C-9. RTCM-104 Record Types 1 and 9 Data String Descriptions . . . . . . . . . . . . C-11
Table C-10. Delta Differential Corrections Data String Descriptions. . . . . . . . . . . . . . . C-12
Table C-11. Delta Differential Corrections Data String Descriptions. . . . . . . . . . . . . . . C-13
Table C-12. Identification Number Data String Descriptions . . . . . . . . . . . . . . . . . . . C-14
Table C-13. Initial Position Data String Descriptions . . . . . . . . . . . . . . . . . . . . . . . C-15
Lassen-SK8 Embedded GPS Module xvii
Table C-14. Long Navigation Message Data String Descriptions. . . . . . . . . . . . . . . . . C-16
Table C-15. PR Data String Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-17
Table C-16. Port Characteristic Data String Descriptions . . . . . . . . . . . . . . . . . . . . . C-18
Table C-17. Position/Velocity Solution Data String Descriptions. . . . . . . . . . . . . . . . . C-19
Table C-18. IReporting Mode Data String Descriptions. . . . . . . . . . . . . . . . . . . . . . C-20
Table C-19. Reset Mode Data String Descriptions . . . . . . . . . . . . . . . . . . . . . . . . C-21
Table C-20. IData String Hex Characters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-22
Table C-21. Tracking Status Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-22
Table C-22. Error Codes: Nibble 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-23
Table C-23. Error codes: Nibble 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-23
Table C-24. Error Codes – Nibble 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-24
Table C-25. TM Time/Data Data String Descriptions . . . . . . . . . . . . . . . . . . . . . . . C-25
Table C-26. Version Number Data String Descriptions . . . . . . . . . . . . . . . . . . . . . . C-26
Table E-1. NMEA 0183 Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-1
Table E-2. Lassen-SK8 NMEA Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-3
Table E-3. GGA - GPS Fix Data Message Parameters. . . . . . . . . . . . . . . . . . . . . . E-3
Table E-4. GLL - Geographic Position - Latitude / Longitude Message Parameters . . . . . . E-4
Table E-5. GSA - GPS DOP and Active Satellites Message Parameters . . . . . . . . . . . . E-4
Table E-6. GSV - GPS Satellites in View Message Parameters . . . . . . . . . . . . . . . . . E-5
Table E-7. RMC - Recommended Minimum Specific GPS / Transit Data Message Parameters E-6
Table E-8. VTG - Track Made Good and Ground Speed Message Parameters . . . . . . . . . E-6
Table E-9. ZDA - Time & Date Message Parameters . . . . . . . . . . . . . . . . . . . . . . E-7
xviii Lassen-SK8 Embedded GPS Module

Preface

The Global Positioning System (GPS) is a satellite based navigation system operated and maintained by the U.S. Department of Defense. The GPS consists of a constellation of 24 satellites providing world-wide, 24 hour, three dimensional (3-D) coverage. Although originally conceived for military needs, GPS has a broad array of civilian applications including surveying, marine, land, aviation, and vehicle navigation. GPS is the most accurate technology available for vehicle navigation.
As a satellite based system, GPS is immune to the limitations of land based systems such as Loran. Loran navigation is limited in coverage and is encumbered by adverse weather. In addition, the accuracy of Loran navigation varies with geographic location and, even under ideal conditions, cannot compare with GPS. By computing the distance to GPS satellites orbiting the earth, a GPS receiver can calculate an accurate position. This process is called satellite ranging. A 2-D position calculation requires three satellite ranges. A 3-D position calculation, which includes altitude, requires four satellite ranges. GPS receivers can also provide precise time, speed, and course measurements which are beneficial for vehicle navigation.
Differential GPS (DGPS) is a sophisticated form of GPS navigation which provides even greater positioning accuracy. Differential GPS relies on error corrections transmitted from a GPS receiver placed at a known location. This receiver, called a reference station, calculates the error in the satellite range data and outputs corrections for use by other GPS receivers. These GPS receivers are designated as mobile units and can be dispersed as far as 100 Km from the base station. Differential GPS eliminates virtually all the measurement error in the satellite ranges and enables a highly accurate position calculation. The Lassen-SK8 is differential-ready for applications requiring DGPS accuracy.

Scope and Audience

Even if you have used other Global Positioning System (GPS) receivers, we recommend that you spend some time reading this manual. The following section provides you with a guide to this manual, as well as to other documentation included with this product.
Lassen-SK8 Embedded GPS Module xix
Preface

Lassen-SK8 Manual Organization

All of the information required to integrate and operate theLassen-SK8 is contained in this Manual. This manual contains the following chapters and appendices:
Chapter 1: Starter Kit Chapter 2: Hardware Integration Chapter 3: Software Interface Chapter 4: Operation and Performance Appendix A:Trimble Standard Interface Protocol Appendix B:TSIP User's Guide Appendix C:Trimble ASCII Interface Protocol (TAIP) Appendix D:GPSSK User's Guide (TAIP) Appendix E:NMEA 0183 Appendix F:Specifications and Mechanical Drawings Glossary The Lassen-SK8 is easy to integrate and simple to use. Before proceeding with Chapter 1,
please review the information contained in this Preface for an overview of the Global Positioning System.

Technical Assistance

If you have problems and cannot find the information you need in this document, call the Trimble Technical Assistance Center (TAC). The phone numbers are:
You can call the Technical Assistance Center phones between 6 AM (0600) to 5:30 PM (1730) Pacific Standard Time. A support technician will take your call, help you determine the source of your problem, and provide you with any technical assistance you might need.
Email
You can send email to the Technical Assistance Center at any time. Asupport technician will respond to your email questions or comments. The email address is:
+1-800-SOS-4TAC (North America) +1-408-481-6940 (International) +1-408-481-6020 (FAX)
trimble_support@trimble.com.
xx Lassen-SK8 Embedded GPS Module
Worldwide Web
Check the Trimble worldwide web site on the Internet (http://www.trimble.com) for the latest news on new products and releases.
Internet FTP Address
You can visit the Trimble Public FTP site at any time to access software patches, utilities, service bulletins, and FAQs. The FTP site address is:
ftp.trimble.com/pub/sct/embeded/bin.
FaxBack
FaxBack is a completely automated fax response system for selecting documents and catalogs (lists of available documents) to be faxed back to a fax machine. Call from a tone­dialing phone and FaxBack guides you through the call by playing a pre-recorded voice message.
The FaxBack system is available 24 hours a day, seven days a week. You can order a variety of documents, including; data sheets, application notes, technical documentation, configuration guides, assembly drawings, and general information.
Preface
To call the FaxBack service, dial the following number and follow the instructions:
+1-408-481-7704

Reader Comment Form

A reader comment form is provided at the end of this guide. If this form is not available, comments and suggestions can be sent to:
Trimble Navigation Limited 645 North Mary Avenue Post Office Box 3642, Sunnyvale, CA 94088-3642
All comments and suggestions become the property of Trimble Navigation Limited.
Lassen-SK8 Embedded GPS Module xxi
Preface
Document Conventions
Italics Software menus, menu commands, dialog boxes and fields.
SMALL CAPITALS DOS commands, directories, filenames, and filename extensions.
Courier Represents what is printed on the computer screen.
Courier Bold Information that to be typed in a software screen or window.
[Return] or [Ctrl] + [C] Identifies a hardware function key or key combination that must be pressed on
a computer keyboard.
Helvetica Bold represents a software command button.
Notes, Tips, Cautions, and Warnings
Notes, tips, cautions, and warnings are used to emphasize important information.
*
F
I
M
Note – Notes give additional significant information about the subject to increase your knowledge, or guide your actions. A note can precede or follow the text it references.
Tip – Indicates a shortcut or other time or labor-saving hint that can help you make better use of the product.
Caution – Cautions alert you to situations that could cause hardware damage or software error. A caution precedes the text it references.
Warning – Warnings alert you to situations that could cause personal injury or unrecoverable data loss. A warning precedes the text it references.
xxii Lassen-SK8 Embedded GPS Module

1 Starter Kit

The Lassen-SK8, based on SierraTM GPS technology, delivers an unmatched level of performance for embedded GPS applications. Sierra technology is Trimble's 8-channel GPS architecture based on two ASICs, the Scott RF ASIC and the Scorpion DSP.
The Scott RF ASIC features:
• Double down-conversion process
• Higher sensitivity
• Lowest power consumption
The double down-conversion process improves immunity to in-band jammers. The system provides a higher sensitivity which allows Lassen-SK8 to track weak satellites and improves position availability in environments with obscured coverage.
The Scorpion ASIC provides the following features in a single package:
• Integrates an 8-channel DSP with 4 correlators per channel
• 32-bit microprocessor
• Real-time clock
• DUART
The 8-channel, 32-correlator design provides extremely fast cold starts while delivering 2 meter DGPS performance. The high level of integration provides a small footprint (3.25" x 1.25" x 0.40") and contributes to the lowest power consumption (.75 watts) for a complete GPS receiver. The combination of small size and low power consumption allows Lassen-SK8 to be embedded in small battery operated devices and in devices where heat dissipation must be minimized.
The Starter Kit makes it simple to evaluate the Lassen-SK8 module's exceptional performance. The kit includes the following:
• Lassen-SK8 receiver installed inside an interface unit
• Magnetic mount antenna
• AC power adapter
• Serial interface cable
• GPS Tool Kit Software used to communicate with the GPS module
Lassen-SK8 Embedded GPS Module 1-1
Starter Kit
The interface unit is a sturdy metal enclosure containing an interface motherboard. The motherboard accepts 9 - 32 VDC power and provides regulated +5V and +3.6V BBU power to the Lassen-SK8 receiver module. The motherboard also provides two RS-232 connectors for quick and direct connection to a PC COM port. The Lassen-SK8 board can be removed from the motherboard for integration into the user's application (see Chapter 2, Hardware Integration).

1.1 Lassen-SK8 Overview

The Lassen-SK8 is a complete 8-channel parallel tracking GPS receiver designed to operate with the L1 frequency, Standard Position Service, Coarse Acquisition code. Using two highly integrated Trimble custom integrated circuits, the receiver is designed in a modular format especially suited for embedded applications. The Lassen-SK8 features Trimble's latest signal processing code, a high-gain RF section for compatibility with standard 25 dB active gain GPS antennas, and a CMOS TTL level pulse-per-second (PPS) output for timing applications or as a general purpose synchronization signal
The Lassen-SK8 acquires a position fix with minimal delay after power cycling. The information necessary to help track satellites is stored in RAM using backup power for the following:
M
• Almanac
• Ephemeris
• Real-time clock
• Last position
User settings, including port parameters and receiver processing options, are stored in a non-volatile electrically erasable ROM (EEROM) that does not require backup power.
The Lassen-SK8 has two independently configurable serial I/O communication ports. Port1 is a bi-directional control and data port utilizing the Trimble Standard Interface Protocol (TSIP) or Trimble ASCII interface protocol TAIP. Port 2 is a bi-directional port used to receive differential GPS (DGPS) corrections in industry standard RTCMSC-104 format and for output of industry standard ASCII NMEA sentences. The dual data I/O port characteristics and other options are user programmable and stored in non-volatile memory.
Warning – When customizing port assignments or characteristics, confirm that your changes do not effect your ability to communicate with the receiver module (see Chapter 3, Software Interface).
1-2 Lassen-SK8 Embedded GPS Module

1.1.1 Interface Protocols

The Lassen-SK8 operates using either of three protocols — Trimble Standard Interface Protocol (TSIP), Trimble ASCII Interface Protocol (TAIP), and NMEA 0183 and are physically located at the following ports:
• Port 1 TSIP or TAIP
• Port 2 NMEA 0183
Port 1
TSIP is a powerful binary packet protocol that allows the system designer maximum configuration control over the GPS receiver for optimum performance in any number of applications. TSIP supports over 40 commands and their associated response packets for use in configuring the Lassen-SK8 receiver module to meet user requirements.
TAIP is designed for easy integration using programmable ASCII characters in the form of 2-character message types which provide position.
Port 2
NMEA 0183 is an industry standard protocol common to marine applications. NMEA provides direct compatibility with other NMEA-capable devices such as chart plotters, radars, etc. The Lassen-SK8 receiver module supports most NMEA messages for GPS navigation. NMEA messages and output rates can be user selected as required. RTCM SC­104 is the GPS industry standard for differential correction data. The receive side of port 2 is configured to accept RTCM data.
Starter Kit

1.1.2 Starter Kit Components

The Lassen-SK8 is available in a developer's Starter Kit or as individual boards. The Starter Kit includes all the components necessary to quickly test and integrate the module.
Lassen-SK8 Embedded GPS Module 1-3
Starter Kit
The Starter Kit components and the accessory part numbers are listed in Table 1-1 and Table 1-2.
Table 1-1. Lassen-SK8 Starter Kit
Starter Kit Part Reference Part Number
Lassen-SK8 Starter Kit 29467-00 8-channel Lassen-SK8 receiver module (Socketed) 28479-99-D SK8 Interface Unit 28832-10 Magnetic Mount GPS Antenna with Cable 28367-00 AC Power Adapter 29938 Power Cable 20260 Interface Cable DB9M/DB9F 19309-00 GPS Toolkit Disk 30643-01 System Designer Reference Manual 34149-01
Table 1-2. Lassen-SK8 Modules
*
Starter Kit Part Reference Part Number
Standard Temperature Module 28835-10 Extended Temperature Module 28835-20
Table 1-3. Lassen SK-8 Optional Antennas
Antenna Reference Part Number
Hard Mount GPS Antenna 28367-70 Rooftop Antenna Kit with 75 foot cable 23726-00
Note – Part numbers are subject to change. Confirm part numbers with your Trimble representative when placing your order.
1-4 Lassen-SK8 Embedded GPS Module

1.2 GPS Receiver Module

In the Starter Kit, the Lassen-SK8 is installed on an interface motherboard which is housed in a metal enclosure (see Figure 1-1). This packaging simplifies testing and evaluation of the module by providing an RS-232 serial interface which is compatible with most PC communication ports, and by providing a DC power supply which converts a 9 to 32 volts DC input to the regulated 5 volts required by the module. The DB9 connectors provide an easy connection to the PC's serial port using the interface cable provided in the kit. The metal enclosure protects the module and motherboard for testing outside of the laboratory environment.
Starter Kit
Figure 1-1. The Module Installed Inside the Interface Unit
Lassen-SK8 Embedded GPS Module 1-5
Starter Kit
The receiver module (see Figure 1-2) consists of a single 3.25" x 1.25" x 0.40" module. A standard SMB RF connector (J1) supports the GPS antenna connection. The center conductor supplies +5 VDC for the Low Noise Amplifier of the active antenna. An 8-pin,
0.1 inch header (J4) supports the serial interface (CMOS TTL level), the pulse-per-second (PPS) signal (CMOS TTL level), and the input power (+5 VDC). This module connects to the motherboard via the 8-pin header and is secured by two standoffs. An RF-interface cable connects the antenna port to an SMB connector on the enclosure panel.
*
Figure 1-2. Receiver Module
Note – The receiver included in the Starter Kit contains a socket for the firmware ROM.
This socketed board may be used to evaluate future releases of firmware. The standard OEM module is not equipped with a socket.
1-6 Lassen-SK8 Embedded GPS Module
Starter Kit
The interface motherboard includes a 9 to 32 VDC switching power supply which provides a regulated +5 VDC to the receiver. It also converts the TTL-level I/O to RS-232 for a direct interface to a computer. The motherboard provides an open-collector interface for the PPS and also includes a 3.6V lithium backup battery enabling lightening-fast hot starts. The Starter Kit includes an AC/DC converter for powering the module from an AC wall socket. The metal enclosure (see Figure 1-3) provides 2 interface port connectors, an antenna connector and a power connector. The mounting plate is secured to the metal enclosure with four screws. The eight pin header plugs into the corresponding 8-pin socket on the motherboard as shown in Figure 1-3.
*
Figure 1-3. Starter Kit Interface Unit
Note – Due to the open-collector interface, the polarity of the PPS signal is inverted. The
pulse is a 10µs negative-going pulse with the falling edge synchronized to UTC. When removed from the motherboard, the receiver provides a TTL level, positive-going pulse. In order to pull up the 1pps use a 10k pull up resister as shown in the following illustration.
.
+5Vdc
10K ohm
PORT 1
Pin 9
Figure 1-4. Open Collector PPS
The Starter Kit interface unit provides fifty percent of the duty cycle on the PPS line.
•
PPS
Pin 9
Lassen-SK8 Embedded GPS Module 1-7
Starter Kit

1.3 Antenna

The GPS antenna receives the GPS satellite signals and passes them to the receiver. Because the GPS signals are spread spectrum signals in the 1575 MHz range and do not penetrate conductive or opaque surfaces, the GPS antenna must be located outdoors with a clear view of the sky. The Lassen-SK8 requires an active antenna. The received GPS signals are very low power, approximately -140 dB, at the surface of the earth. Trimble's active antennas include a preamplifier that filters and amplifies the GPS signals before delivery to the receiver.
Trimble offers a variety of antennas for use with the Lassen-SK8. The compact magnetic mount GPS antenna and integral cable supplied with the Starter Kit is ideal for portable and mobile applications. A permanent, bulkhead mount antenna is also available. A compact, pole-mount rooftop antenna is available for fixed-site installations. Refer to Appendix F for mechanical outline drawings of the GPS antennas.
Figure 1-5. Magnetic Mount GPS Antenna
Figure 1-6. Hard Mount GPS Antenna
1-8 Lassen-SK8 Embedded GPS Module
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