Rikaline GPS-6010 Bedienungsanleitung

GPS Receiver

Sep. 24, 2002

Rikaline Marketing Corp.

5F-1, 125, Roosevelt Rd., Taipei 116, Taiwan, R.O.C.

Phone: +886-2-2934-5456 Fax: +886-2-2934-4373

E-Mail: [email protected] Web: www.rikaline.com.tw

User’s Guide

GPS-6010

Rikaline

TABLE OF CONTENTS

1. Introduction ……………………………………………………………………………………….. 3

1.1 Overview …………………………………………………………………………………….. 3

1.2 Features …………………………………………………………………………………….. 3

1.3 Technical Specifications ……………………………………………………………….. 3

2. Operational Characteristics ……………………………………………………………….… 4

2.1 Initialization …………………………………………………………………………………. 4

2.2 Navigation …………………………………………………………………………………. 4

3. Hardware Interface ………………………………………………………………………….…… 5

3.1 Dimension ………………………………………………………………………………….… 5

3.2 Hardware Interface

…..……………………………………………………………….…… 5

3.3 Connector ………………………………………………………………………………….… 5

3.4 Accessories …………………………………………………………………………………. 6

4. USB Driver ……………………………………………………………………………………….… 7

4.1 System Requirement

……………………………………………………………………… 7

4.2 Installation ………………….…………………………………………………………….… 7

4.3 Important …………….………………………………………………………………………. 7

5. Software Interface …………………………………………………………………………….… 8

5.1 NMEA Transmitted Sentences ……………………………………………………..… 8

5.2 RTCM Received Data ………………………………………………………………….. 11

6. Earth Datums ………………………………………………………………………………………. 11

6.1 Earth Datums ……………………………………………………………………………….. 11

6.2 Setting Syntax …………………………………………………………………………….… 12

7. Ordering Information ………………………………………………………………………..… 13

7.1 Product Options ………………………………………………………………….………… 13

7.2 Accessories ………………………………………………………………………….……… 13

7.3 Products Combination ………….………………………………………………………… 13

8. Warranty ……………………………………………………………………………………………… 13

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1. Introduction

1.1 Overview

The Rikaline GPS-6010 Smart GPS Receiver is a total solution GPS receiver, designed based on SiRF

Star II Architecture. This positioning application meets strict needs such as car navigation, mapping,

surveying, security, agriculture and so on. Only clear view of sky and certain power supply are necessary to the

unit. It communicates with other electronic utilities via compatible dual-channel through RS-232 or TTL and

saves critical satellite data by built–in backup memory. With low power consumption, the GPS-6010 tracks up

to 12 satellites at a time, re-acquires satellite signals in 100 ms and updates position data every second.

Trickle-Power allows the unit operates a fraction of the time and Push-to-Fix permits user to have a quick

position fix even though the receiver usually stays off.

1.2 Features

The GPS-6010 provides a host of features that make it easy for integration and use.

1. SiRF Star II chipset with embedded ARM7TDMI CPU available for customized applications in firmware.

2. High performance receiver tracks up to 12 satellites while providing first fast fix and low power

consumption.

3. Differential capability utilizes real-time RTCM corrections producing 1-5 meter position accuracy.

4. Compact design ideal for applications with minimal space.

5. A rechargeable battery sustains internal clock and memory. The battery is recharged during normal

operation.

6. User initialization is not required.

7. Dual communication channels and user selectable baud rates allow maximum interface capability and

flexibility.

8. Optional communication levels, RS-232 and TTL meet ordinary application and new fashions of connecting

PDA with TTL or RS-232 output.

9. FLASH based program memory: New software revisions upgradeable through serial interface.

10. LED display status: The LED provides users visible positioning status. LED “ON” when power connected

and “BLINKING” when GPS-6010 position identified. No more extra device needed.

11. Built-in WAAS demodulator.

12. Water proof design for all weather.

1.3 Technology specifications

1.3.1 Physical Dimension

Single construction integrated antenna/receiver.

Size: 59.0(W) x 51.0 (47.3)(D) x 20.6(H) (mm)

2.32"(W) x 2.00"(1.86)(D) x 0.81"(H).

1.3.2 Environmental Characteristics

1) Operating temperature: -40oC to +85oC(internal temperature).

2) Storage temperature: -55oC to +100oC.

1.3.3 Electrical Characteristics

1) Input voltage: +4.75 ~ 5.5 VDC without accessories.

+6 ~ 30VDC with accessory A-6014.

2) Backup power: 3V Rechargeable Lithium cell battery, up to 1,000 hours (41.7 days) discharge.

1.3.4 Performance

1) Tracks up to 12 satellites.

2) Update rate: 1 second.

3) Acquisition time

Reacquisition 0.1 sec., averaged

Hot start 8 sec., averaged

Warm start 38 sec., averaged

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Cold start 45 sec., averaged

4) Position accuracy:

A) Non DGPS (Differential GPS)

Position 5-25 meter CEP without SA

Velocity 0.1 meters/second, without SA

Time 1 microsecond synchronized GPS time

B) DGPS (Differential GPS)

Position 1 to 5 meter, typical

Velocity 0.05 meters/second, typical

5) Dynamic Conditions:

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

Velocity 515 meters / second (1000 knots) max

Acceleration 4 G, max

Jerk 20 meters/second, max

1.3.5 Interfaces

1) Dual channel RS-232 or TTL compatible level, with user selectable baud rate (4800-Default, 9600, 19200,

38400).

2) NMEA 0183 Version 2.2 ASCII output (GPGGA, GPGLL, GPGSA, GPGSV, GPRMC, GPVTG).

3) Real-time Differential Correction input (RTCM SC-104 message types 1, 5 and 9).

4) SiRF protocol.

2. Operational characteristics

2.1 Initialization

As soon as the initial self-test is complete, the GPS-6010 begins the process of satellite acquisition and

tracking automatically. Under normal circumstances, it takes approximately 45 seconds to achieve a position fix,

38 seconds if ephemeris data is known. After a position fix has been calculated, information about valid position,

velocity and time is transmitted over the output channel.

The GPS-6010 utilizes initial data, such as last stored position, date, time and satellite orbital data, to

achieve maximum acquisition performance. If significant inaccuracy exists in the initial data, or the orbital data

is obsolete, it may take more time to achieve a navigation solution. The GPS-6010 Auto-locate feature is

capable of automatically determining a navigation solution without intervention from the host system. However,

acquisition performance can be improved when the host system initializes the GPS-6010 in the following

situation:

1) Moving further than 500 kilometers.

2) Failure of data storage due to the inactive internal memory battery.

2.2 Navigation

After the acquisition process is complete, the GPS-6010 sends valid navigation information over output

channels. These data include:

1) Latitude/longitude/altitude

2) Velocity

3) Date/time

4) Error estimates

5) Satellite and receiver status

The GPS-6010 sets the default of auto-searching for real-time differential corrections in RTCM SC-104

standard format, with the message types 1, 5, or 9. It accomplishes the satellite data to generate a differential

(DGPS) solution. The host system, at its option, may also command the GPS-6010 to output a position

whenever a differential solution is available.

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3. Hardware interface

3.1 Dimension

Size: 59.0(W) x 51.0 (47.3)(D) x 20.6(H) (mm)

2.32"(W) x 2.00"(1.86)(D) x 0.81"(H).

3.2 Hardware Interface

The GPS-6010 includes an antenna in a unique style waterproof gadget. Simply connect PS-2 female

connector to one of the accessories linking to your notebook PC, PDA or other devices. The one-piece

cigarette adapter allows you to connect GPS-6010 to your PDAs. Optional color, input voltage and output

connector are listed and described below:

3.3 Connector

Standard cable: 2 meters with female PS-2 connector.

The GPS-6010 is also equipped with optional connectors.

3.3.1 Function definition of standard PS-2 composite connector

3.4 Accessories

Pin Signal

1 Tx (RS-232)

2 +5VDC

3 Tx (TTL)

4 Ground

5 Rx (TTL)

6 Rx (RS-232)

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3.4.1 A-6011 Mini Din Female and PS-2 male connector:

Cable Length: To GPS-6010: 1 meter

RS-232 to PS-2: 45 cm

3.4.1.1 Mini Din Female connector function definition:

Pin Si

nal Name

1 N.C

2 Tx

3 Rx

4 N.C

5 Ground

6 N.C

7 N.C

8 N.C

9 DGPS in

N.C = No connection

3.4.1.2 PS2 composite connector function definition (to PC):

Pin Si

nal Name

1 +5V

2 N.C

3 N.C

4 Ground

5 N.C

6 N.C

N.C = No connection

3.4.2 A-6012 Cigarette adapter and PDA connector:

Part No. Application Part No. Application

A-6012-A ASUA A-6012-P Palm

A-6012-B BESTA I-WINNA A-6012-Q I-Paq

A-6012-H HP Jornada A-6012-S Sony Series

A-6012-L Siemens LOOX A-6012-T Toshiba Series

A-6012-M Mitac Mio A-6012-X O2-XDA / T-Mobile - MDA

A-6012-N NEC

3.4.3 A-6013 USB connector

The function definition of the A Type USB connector is as follows:

Pin Si

nal Name

1 +5V

2 D +

3 D -

4 Ground

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3.4.4 A-6014 High power connector

3.4.5 A-6015 Magnetic Pad (and Mounting Bracket)

The GPS-6010 is also equipped with a standard magnetic pad (Mounting Bracket), A-6015 for putting on

top of the car, a plan surface or mounting on a base.

Used as Mounting Bracket

Fasten 3 screws (Enclosed) through the magnet pad as a fixed holder.

3.4.6 A-6016 Optional Cigarette Adapter

The optional cigarette adapter with 2-meter core cable is for using in a car or boat. It must be used

together with A-6011.

Input voltage: DC12V - 26V

4. USB Driver

4.1 System Requirements

IBM, Pentium or above and other compatible PC; 16 MB and above memory; Windows 98/Me/2000; VGA

Graphic Adapter.

4.2 Installation

1. Copy entire <GPS-6010 USB> folder from CD to hard disk.

2. Connect GPS-6010 USB connector to computer. While the computer automatically starts the installation

program, please direct the driver to the <GPS-6010 USB> folder.

Color Signal

Black Ground

Red +6~30 VDC

Green Tx

White Rx

Orange DGPS IN

Top View

Front View

Push GPS-6010

Magnet

pad

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3. After the installation is complete, go to <Device Manager> and select <Ports (COM & LPT)> to verify if a

virtual COM port <USB to Serial Port> was created.

4.3 Important

Verify the COM port # to start using your own navigating software.

1. Click <Start> menu, select <Settings>, then enter <Control Panel>.

2. After entering <Control Panel>, select <System>.

3. Select <Device Manager>.

4. Find the <Connect Port> and check the Virtual COM Port, which was created by the USB driver. Please

note that the Virtual COM Port number might be different from every computer. Before using navigating

software, please confirm the COM Port numbers created by your computer and provided by your navigation

software. They must be the same Com Port numbers. Otherwise, the navigating software won’t receive the

satellite signal for the un-match COM Port setting.

5. Software Interface

The GPS-6010 interface protocol is based on the National Marine Electronics Association's NMEA 0183

ASC Ⅱinterface specification, which is defined in NMEA 0183, Version 2.2 and the Radio Technical

Commission for Maritime Services (RTCM Recommended Standards For Differential Navstar GPS Service,

Version 2.1, RTCM Special Committee No.104).

5.1 NMEA Transmitted Messages

The GPS-6010 supported by SiRF Technology Inc. also outputs data in NMEA-0183 format as defined by

the National Marine Electronics Association (NMEA), Standard.

The default communication parameters for NMEA output are 4800 baud, 8 data bits, stop bit, and no parity.

Table 5-1 NMEA-0183 Output Messages

NMEA Sentence Description

GPGGA Global positioning system fixed data

GPGLL Geographic position latitude \ longitude

GPGSA GNSS DOP and active satellites

GPGSV GNSS satellites in view.

GPRMC Recommended minimum specific GNSS data

GPVTG Coruse over ground and ground speed

5.1.1 Global Positioning System Fix Data (GGA)

Table 5-2 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 5-2 GGA Data Format

Name Example Units Description

Message ID $GPGGA GGA protocol header

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 5-3

Satellites Used 07 Range 0 to 12

HDOP 1.0 Horizontal Dilution of Precision

MSL Altitude 9.0 Meters

Units M Meters

Geoid Separation Meters

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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

Table 5-3 Position Fix Indicator

Value Description

0 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

5.1.2 Geographic Position with Latitude/Longitude (GLL)

Table 5-4 contains the values for the following example:

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

Table 5-4 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

5.1.3 GNSS DOP and Active Satellites (GSA)

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

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

Table 5-5 GSA Data Format

Name Example Units Description

Message ID $GPGSA GSA protocol header

Mode 1 A See Table 5-6

Mode 2 3 See Table 5-7

Satellite Used (1) 07 Sv on Channel 1

Satellite Used (1) 02 Sv on Channel 2

…… ….

Satellite Used Sv 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.

Table 5-6 Mode 1

Value Description

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

A2D Automatic—allowed to automatically switch 2D/3D

Table 5-7 Mode 2

Value Description

1 Fix Not Available

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2 2D

3 3D

5.1.4 GNSS Satellites in View (GSV)

Table 5-8 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

Table 5-8 GSV Data Format

Name Example Units Description

Message ID $GPGSV GSV protocol header

Number of Messages 2 Range 1 to 3

Message Number 1 Range 1 to 3

Satellites in View 07 Range 1 to 12

Satellite ID 07 Channel 1 (Range 1 to 32)

Elevation 79 degrees Channel 1 (Maximum 90)

Azimuth 048 degrees Channel 1 (True, Range 0 to 359)

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

.... ....

Satellite ID 27 Channel 4 (Range 1 to 32)

Elevation 27 degrees Channel 4 (Maximum 90)

Azimuth 138 degrees Channel 4 (True, Range 0 to 359)

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

Checksum *71

<CR> <LF> End of message termination

NOTE: Items <4>,<5>,<6> and <7> repeat for each satellite in view to a maximum of four (4) satellites per

sentence. Additional satellites in view information must be sent in subsequent sentences. These fields will be

null if unused.

5.1.5 Recommended Minimum Specific GNSS Data (RMC)

Table 5-9 contains the values for the following example:

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

Table 5-9 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 Variation (1) Degrees E=east or W=west

Checksum *10

<CR> <LF> End of message termination

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

geodetic WGS84 directions.

5.1.6 Course Over Ground and Ground Speed

Table 5-10 contains the values for the following example:

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