Global Sat EM-406a Bedienungsanleitung

EM-406a

Specifications are subject to be changed without notice.

Page 1 of 13

Version 1.4.1

GPS Engine Board

EM-406a

Globalsat Technology Corporation

16F., No. 186, Jian-Yi Road, Chung-Ho City, Taipei Hsien 235, Taiwan

Tel: 886-2-8226-3799/ Fax: 886-2-8226-3899

service@globalsat.com.tw

www.globalsat.com.tw

USGlobalSat, Inc.

14740 Yorba Court, Chino, CA 91710

Tel: 909.597.8525 / Fax: 909.597.8532

oem@usglobalsat.com

www.usglobalsat.com

EM-406a

Specifications are subject to be changed without notice.

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Version 1.4.1

1. Product Information

Product Part I.D. EM-406a

Product Description

The EM-406a GPS engine board is low cost but maintains high reliability and accuracy making it an

ideal choice for integration with OEM/ODM systems. The EM-406a features an integrated patch

antenna for complete implementation.

Product Features

9SiRF Star III high performance GPS chipset

9Very high sensitivity (Tracking Sensitivity: -159dBm)

9Extremely fast TTFF (Time To First Fix) at low signal levels

9Supports the NMEA 0183 data protocol

9Built-in SuperCap to maintain system data for rapid satellite acquisition

9Built-in patch antenna

9Foliage Lock for weak signal tracking

9Compact in size

9All-in-view 20-channel parallel processing

9Snap Lock 100ms re-acquisition time

9Superior urban canyon performance

9WAAS / EGNOS /MSAS support

9RoHS compliant

Product Specifications

GPS Receiver

Chipset SiRF Star III/LP Single

Frequency L1, 1575.42 MHz

Code 1.023 MHz chip rate

Protocol Electrical Level: TTL level,

Output Voltage Level: 0V~2.85V

Baud Rate: 4800 bps

Output Message: NMEA 0183 GGA, GSA,

GSV, RMC (VTG, GLL optional)

Channels 20

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Version 1.4.1

Sensitivity -159dBm

Cold Start 42 seconds average

Warm Start 38 seconds average

Hot Start 8 second average

Reacquisition 0.1 second average

Accuracy Position: 10 meters, 2D RMS

5 meters, 2D RMS, WAAS enabled

Velocity: 0.1 ms

Time: 1µs synchronized to GPS time

Maximum Altitude 18,000 meters (60,000 feet) max

Maximum Velocity 515 meter/second (1000 knots) max

Maximum Acceleration 4G

Datum WGS-84

Jerk Limit 20m/sec **3

Interface

I/O Connector Type

External Antenna Port

Physical Characteristic

Dimensions 1.2” x 1.2” x 0.4” (30mm x 30mm x 10.5mm)

DC Characteristics

Power Supply 4.5V~6.5V DC Input

Backup Voltage +2.5V to +3.6V

Power Consumption 44mA (Continuous Mode)

25mA (Trickle Power Mode)

Backup Current 10uA typical

Environmental Range

Humidity Range 5% to 95% non-condensing

Operation Temperature -40F to +176F (-40C to 85C)

Differences between the EM-406 and EM-406a:

a.) RoHS lead-free

b.) 1 PPS added to pin #6

EM-406a

Specifications are subject to be changed without notice.

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Version 1.4.1

2. Technical Information

Physical Characteristics

Digi-Key Crimp Pin #455-1561-1-ND (part number #455-1561-2-ND is the tape & reel format)

EM-406a

Specifications are subject to be changed without notice.

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Version 1.4.1

Pin Assignment

Pin Explanation

VCC (DC power input): This is the main DC supply for a 4.5V ~ 6.5V power module board.

TX: This is the main transmit channel for outputting navigation and measurement data to user’s

navigation software or user-written software.

RX: This is the main receive channel for receiving software commands to the engine board from

SiRfdemo software or from user-written software. (NOTE:When not in use this pin must be

kept “HIGH” for operation. From Vcc connect a 470 Ohm resistor in series with a 3.2v Zener

diode to Ground. Then, connect the Rx input to Zener’s cathode to pull the input “HIGH”.)

GND: GND provides the ground for the engine boards. Be sure to connect all grounds

PPS: This pin provides a one pulse-per-second output from the engine board that is synchronized to

the GPS time.

3. Software Commands

NMEA Output Command

GGA-Global Positioning System Fixed Data

Table B-2 contains the values for the following example:

$GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M,,,,0000*18

Table B-2 GGA Data Format

Name Example Units Description

Message ID $GPGGA GGA protocol header

EM-406a

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Version 1.4.1

UTC Time 161229.487 hhmmss.sss

Latitude 3723.2475 ddmm.mmmm

N/S Indicator N N=north or S=south

Longitude 12158.3416 dddmm.mmmm

E/W Indicator W E=east or W=west

Position Fix Indicator 1 See Table B-3

Satellites Used 07 Range 0 to 12

HDOP 1.0 Horizontal Dilution of Precision

MSL Altitude19.0 meters

Units M meters

Geoid Separation1meters

Units M meters

Age of Diff. Corr. second Null fields when DGPS is not used

Diff. Ref. Station ID 0000

Checksum *18

<CR><LF> End of message termination

SiRF Technology Inc. does not support geoid corrections. Values are WGS84 ellipsoid heights.

Table B-3 Position Fix Indicator

Value Description

0 Fix not available or invalid

1 GPS SPS Mode, fix valid

2 Differential GPS, SPS Mode , fix valid

3 GPS PPS Mode, fix valid

GLL-Geographic Position-Latitude/Longitude

Table B-4 contains the values for the following example:

$GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C

Table B-4 GLL Data Format

Name Example Units Description

Message ID $GPGLL GLL protocol header

Latitude 3723.2475 ddmm.mmmm

N/S Indicator n N=north or S=south

Longitude 12158.3416 dddmm.mmmm

E/W Indicator W E=east or W=west

UTC Position 161229.487 hhmmss.sss

Status A A=data valid or V=data not valid

Checksum *2C

<CR><LF> End of message termination

EM-406a

Specifications are subject to be changed without notice.

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Version 1.4.1

GSA-GNSS DOP and Active Satellites

Table B-5 contains the values for the following example:

$GPGSA,A,3,07,02,26,27,09,04,15,,,,,,1.8,1.0,1.5*33

TableB-5GSADataFormat

Name Example Units Description

Message ID $GPGSA GSA protocol header

Mode1 A See Table B-6

Mode2 3 See Table B-7

Satellite Used107 Sv on Channel 1

Satellite Used102 Sv on Channel 2

Satellite Used1Sv on Channel 12

PDOP 1.8 Position dilution of Precision

HDOP 1.0 Horizontal dilution of Precision

VDOP 1.5 Vertical dilution of Precision

Checksum *33

<CR><LF> End of message termination

1. Satellite used in solution.

TableB-6Mode1

Value Description

M Manual-forced to operate in 2D or 3D mode

A 2D automatic-allowed to automatically switch 2D/3D

TableB-7Mode2

Value Description

1 Fix Not Available

2 2D

3 3D

GSV-GNSS Satellites in View

Table B-8 contains the values for the following example:

$GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71

$GPGSV,2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41

TableB-8GSVDataFormat

Name Example Units Description

Message ID $GPGSV GSV protocol header

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Version 1.4.1

Number of Messages12 Range 1 to 3

Message Number11 Range 1 to 3

Satellites in View 07

Satellite ID 07 Channel 1(Range 1 to 32)

Elevation 79 degrees Channel 1(Maximum90)

Azimuth 048 degrees Channel 1(True, Range 0 to 3

SNR(C/No) 42 dBHz Range 0 to 99,null when not tr

……. …….

Satellite ID 27 Channel 4 (Range 1 to 32)

Elevation 27 Degrees Channel 4(Maximum90)

Azimuth 138 Degrees Channel 4(True, Range 0 to 3

SNR(C/No) 42 dBHz Range 0 to 99,null when not tr

Checksum *71

<CR><LF> End of message termination

Depending on the number of satellites tracked multiple messages of GSV data may be required.

RMC-Recommended Minimum Specific GNSS Data

Table B-9 contains the values for the following example:

$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598,,*10

Table B-9 RMC Data Format

Name Example Units Description

Message ID $GPRMC RMC protocol header

UTC Time 161229.487 hhmmss.sss

Status A A=data valid or V=data not valid

Latitude 3723.2475 ddmm.mmmm

N/S Indicator N N=north or S=south

Longitude 12158.3416 dddmm.mmmm

E/W Indicator W E=east or W=west

Speed Over Ground 0.13 knots

Course Over Ground 309.62 degrees True

Date 120598 ddmmyy

Magnetic Variation2degrees E=east or W=west

Checksum *10

<CR><LF> End of message termination

SiRF Technology Inc. does not support magnetic declination. All “course over ground” data are

Geodetic WGS48 directions.

VTG-Course Over Ground and Ground Speed

$GPVTG,309.62,T,,M,0.13,N,0.2,K*6E

Table B-9 VTG Data Format

EM-406a

Specifications are subject to be changed without notice.

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Version 1.4.1

Name Example Units Description

Message ID $GPVTG VTG protocol header

Course 309.62 degrees Measured heading

Reference T True

Course degrees Measured heading

Reference M Magnetic

Speed 0.13 knots Measured horizontal speed

Units N Knots

Speed 0.2 Km/hr Measured horizontal speed

Units K Kilometers per hour

Checksum *6E

<CR><LF> End of message termination

■NMEA Input Command

A.) Set Serial Port ID:100 Set PORTA parameters and protocol

This command message is used to set the protocol (SiRF Binary, NMEA, or USER1) and/or the

communication parameters (baud, data bits, stop bits, parity). Generally, this command is utilize to

switch the GPS module back to SiRF Binary protocol mode, where an extensive message commands

are readily available. In example, whenever users are interested in altering navigation parameters, a

valid message sent and is receive by the recipient module, the new parameters will be stored in

battery backed SRAM and then the receiver will restart using the saved parameters.

Format:

$PSRF100,<protocol>,<baud>,<DataBits>,<StopBits>,<Parity>*CKSUM

<protocol> 0=SiRF Binary, 1=NMEA, 4=USER1

<baud> 1200, 2400, 4800, 9600, 19200, 38400

<DataBits> 8,7. Note that SiRF protocol is only valid f8 Data bits

<StopBits> 0,1

<Parity> 0=None, 1=Odd, 2=Even

Example 1: Switch to SiRF Binary protocol at 9600,8,N,1

$PSRF100,0,9600,8,1,0*0C<CR><LF>

Example 2: Switch to User1 protocol at 38400,8,N,1

$PSRF100,4,38400,8,1,0*38<CR><LF>

**Checksum Field: The absolute value calculated by exclusive-OR the 8 data bits of each character

in the Sentence, between, but, excluding “$” and “*”. The hexadecimal value of the most significant

and least significant 4 bits of the result are converted to two ASCII characters (0-9,A-F) for

transmission. First, the most significant character is transmitted.

**<CR><LF> : Hex 0D 0A

B.) Navigation initialization ID:101 Parameters required for start

This command is used to initialize the GPS module for a “Warm” start, by providing real-time position

EM-406a

Specifications are subject to be changed without notice.

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Version 1.4.1

（in X, Y, Z coordinates), clock offset, and time. This action enables the GPS receiver to search for the

necessary satellite signals at the correct signal parameters. The newly acquired and stored satellite

data will enable the receiver to acquire signals more quickly, and thus, generate a rapid navigational

solution.

When a valid Navigation Initialization command is receive, the receiver will restart using the input

parameters as a basis for satellite selection and acquisition.

Format

$PSRF101,<X>,<Y>,<Z>,<ClkOffset>,<TimeOfWeek>,<WeekNo>,<chnlCount>,<ResetCfg>

*CKSUM<CR><LF>

<X> X coordinate position

INT32

<Y> Y coordinate position

INT32

<Z> Z coordinate position

INT32

<ClkOffset> Clock offset of the receiver in Hz, Use 0 for last saved value if available.

If this is unavailable, a default value of 75000 for GSP1, 95000 for GSP 1/LX

is used.

INT32

<TimeOf Week> GPS Time Of Week

UINT32

<WeekNo> GPSWeekNumber

UINT16

Week No and Time Of Week calculation from UTC time

<chnlCount> Number of channels to use.1-12. If your CPU throughput is not high enough,

you could decrease needed throughput by reducing the number of active

channels

UBYTE

<ResetCfg> bitmask

0×01=Data Valid warm/hotstarts=1

0×02=clear ephemeris warm start=1

0×04=clearmemory.Coldstart=1

UBYTE

Example: Start using known position and time.

$PSRF101,-2686700,-4304200,3851624,96000,497260,921,12,3*7F

C.) Set DGPS Port ID:102 Set PORT B parameters for DGPS input

This command is used to control Serial Port B, an input serial only port used to receive RTCM

differential corrections. Differential receivers may output corrections using different communication

parameters. The default communication parameters for PORT B are set for 9600 Baud, 8data bits, 0

stop bits, and no parity. If a DGPS receiver is used which has different communication parameters,

use this command to allow the receiver decode data correctly. When a valid message is received, the

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