Rikaline GPS-6021-X6
【High Sensitivity】
CF GPS Receiver
User’s Guide
May. 08, 2003
Rikaline International Corp.
10F, 64, Kang-Ding Road, Taipei 108, Taiwan, R.O.C.
Phone: +886-2-2370-4688 Fax: +886-2-2370-4686
All Right Reserved
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GPS-6021-X6 Operating Manual
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0. Quick Use
0.1 Check GPS Package
0.1.1 Standard Package
GPS-6021-X6 (GPS Receiver) + CD + Warranty Card + quick installation reference.
0.1.2 Optional Package
The shop may bundle different accessories for you as follows:
1. Active Antenna
2. PCMCIA Adapter
3. PDA Holder
4. Software (Navigation Software + Digital Map)
5. Others
0.2 Check CF Card Slot
1. The GPS-6021-X6 is a Type I CF device. Many new PDAs are equipped with Type II CF slot. Make
sure to slot in properly to avoid damage.
2. When you connect GPS-6021-X6 with your PC (Webpad PC, Tablet PC, Laptop PC or other PCs) with
PCMCIA adapter, you need to point to an installation file included in the CD.
0.3 Connect GPS-6021-X6 to your machine.
0.4 Turn on your machine & Start GPS function.
You may need to execute navigation software, then link to GPS device. YOur GPS-6021-X6 starts to
provide you full GPS function.
0.5 Basic Specifications
1. CF type I: Suitable to CF Type I and Type II slot.
3
Rikaline International Corp.
10F, 64, Kang-Ding Road, Taipei 108, Taiwan
E-Mail: [email protected]
Tel: ++886 2 2370 4688
Fax: ++886 2 2370 4686
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GPS-6021-X6 Operating Manual
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1. Introduction
1.1 Overview
The Rikaline GPS-6021-X6 High Sensitivity CF GPS Receiver is a total solution GPS receiver, designed
based on SiRF Star II Architecture with the newest high sensitivity system. This revolutionary system
provides you unbelievable positioning sensitivity allowing you to have easy position fix in urban canyon
conditions. 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 and saves critical
satellite data by built–in backup memory. With low power consumption, the GPS-6021-X6 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-6021-X6 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. It 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. FLASH based program memory: New software revisions upgradeable through serial interface.
9. LED display status: The LED will be “ON” when power connected.
10. Built-in WAAS / EGNOS demodulator.
11. Small size.
1.3 Technology specifications
1.3.1 Physical Dimension
Single construction integrated antenna/receiver.
Size: 83.0(H) x 47.5(W) x 14.5(D) (mm)
3.27"(H) x 1.87"(W) x 0.57"(D).
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: +2.5 ~ 5.5 VDC without accessories.
2) Backup power: 3V Rechargeable Lithium cell battery, up to 767 hours (31.9 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
Snap start
Hot start
2
8
sec., averaged
sec., averaged
Warm start
38 sec., averaged
4
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GPS-6021-X6 Operating Manual
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Cold start
45 sec., averaged
4) Position Accuracy
A) Non DGPS (Differential GPS)
Position
15-meter 2D RMS
7-meter 2D RMS with WAAS corrected
0.1 meters/second, with SA off
Velocity
Time
1
microsecond synchronized GPS time
B) DGPS (Differential GPS)
Position
Velocity
1 to 5 meter, typical
0.05 meters/second, typical
5) Dynamic Conditions:
Altitude
18,000 meters (60,000 feet) max
515 meters / second (1000 knots) max
4 G, max
Velocity
Acceleration
Jerk
20
meters/second3 , max
1.3.5 Interfaces
1) Dual channel RS-232 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.
5
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E-Mail: [email protected]
Tel: ++886 2 2370 4688
Fax: ++886 2 2370 4686
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GPS-6021-X6 Operating Manual
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2. Operational characteristics
2.1 Initialization
As soon as the initial self-test is complete, the GPS-6021-X6 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-6021-X6 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-6021-X6 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-6021-X6 in the following
situation:
1) Moving further than 1,500 kilometers.
2) Failure of data storage due to the inactive internal memory battery.
2.2 Navigation
After the acquisition process is complete, the GPS-6021-X6 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-6021-X6 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-6021-X6 to output a position
whenever a differential solution is available.
6
Rikaline International Corp.
10F, 64, Kang-Ding Road, Taipei 108, Taiwan
E-Mail: [email protected]
Tel: ++886 2 2370 4688
Fax: ++886 2 2370 4686
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GPS-6021-X6 Operating Manual
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3. Hardware interface
3.1 Dimension
Size: 83.0(H) x 47.5(W) x 14.5(D) (mm)
3.27"(H) x 1.87"(W) x 0.57"(D).
3.2 Hardware Interface
The GPS-6021-X6 includes an antenna in a unique style gadget. Simply put it into a CF card slot or
insert it into PCMCIA slot through a PCMCIA adapter of any type of PC with Windows OS. The interface is
through a standard 50-pin PCMCIA connector with RS-232 level.
.3 Connector
1) Standard 50-pin CF female connector.
2) Optional active antenna female connector.
3.3.1 Function definition of CF card connector
3.4 Accessories
3.4.1 Active Antenna
A-10302-M Active Antenna with 2 meter 180° MMCX connector
A-10305-M Active Antenna with 5 meter 180° MMCX connector
7
Rikaline International Corp.
10F, 64, Kang-Ding Road, Taipei 108, Taiwan
E-Mail: [email protected]
Tel: ++886 2 2370 4688
Fax: ++886 2 2370 4686
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4. PCMCA Installation File
4.1 System Requirements
IBM, Pentium or other compatible PC, Windows 98/Me/2000.
4.2 Installation
1. Turn your PC.
2. Your PC will show new device found.
3. Indicate to the direction you store GPS-6021-X6.inf file.
4. Click “Yes”. Your PC will installation the file automatically.
Note: 1// The GPS-6021-X6.inf installation file is needed when a PCMCIA adapter used.
2// PDA does not need to install any extra file.
5. Warranty
The GPS-6021-X6 is warranted to be free from defects in material and functions for one year from the
date of purchase. Any failure of this product within this period under normal conditions will be replaced at no
charge to the customers.
8
Rikaline International Corp.
10F, 64, Kang-Ding Road, Taipei 108, Taiwan
E-Mail: [email protected]
Tel: ++886 2 2370 4688
Fax: ++886 2 2370 4686
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GPS-6021-X6 Operating Manual
Rikaline
Appendix A
Software Interface
The GPS-6021-X6 interface protocol is based on the National Marine Electronics Association's NMEA
0183 ASCⅡ interface 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).
A.1 NMEA Transmitted Messages
The GPS-6021-X6 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 A-1 NMEA-0183 Output Messages
NMEA Sentence
GPGGA
Description
Global positioning system fixed data
Geographic position latitude \ longitude
GNSS DOP and active satellites
GPGLL
GPGSA
GPGSV
GNSS satellites in view.
GPRMC
GPVTG
Recommended minimum specific GNSS data
Coruse over ground and ground speed
A.1.1 Global Positioning System Fix Data (GGA)
Table A-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 A-2 GGA Data Format
Name
Message ID
Example
$GPGGA
Units
Description
GGA protocol header
UTC Time
161229.487
Hhmmss.sss
Latitude
3723.2475
ddmm.mmmm
N/S Indicator
Longitude
N
N=north or S=south
dddmm.mmmm
12158.3416
E/W Indicator
Position Fix Indicator
Satellites Used
HDOP
MSL Altitude
Units
Geoid Separation
Units
Age of Diff. Corr.
Diff. Ref. Station ID
Checksum
W
1
07
1.0
9.0
M
E=east or W=west
See Table 5-3
Range 0 to 12
Horizontal Dilution of Precision
Meters
Meters
Meters
Meters
second
M
Null fields when DGPS is not used
End of message termination
Description
0000
*18
<CR> <LF>
Table A-3 Position Fix Indicator
Value
0
1
2
3
0 Fix not available or invalid
GPS SPS Mode, fix valid
Differential GPS, SPS Mode, fix valid
GPS PPS Mode, fix valid
9
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10F, 64, Kang-Ding Road, Taipei 108, Taiwan
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A.1.2 Geographic Position with Latitude/Longitude (GLL)
Table A-4 contains the values for the following example:
$GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C
Table A-4 GLL Data Format
Name
Message ID
Latitude
N/S Indicator
Longitude
E/W Indicator
UTC Position
Status
Example
$GPGLL
3723.2475
N
12158.3416
W
Units
Description
GLL protocol header
ddmm.mmmm
N=north or S=south
dddmm.mmmm
E=east or W=west
hhmmss.sss
161229.487
A
A=data valid or V=data not valid
Checksum
<CR> <LF>
*2C
End of message termination
A.1.3 GNSS DOP and Active Satellites (GSA)
Table A-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 A-5 GSA Data Format
Name
Message ID
Mode 1
Example
$GPGSA
Units
Description
GSA protocol header
A
3
See Table 5-6
See Table 5-7
Mode 2
Satellite Used (1)
Satellite Used (1)
……
07
02
Sv on Channel 1
Sv on Channel 2
….
Satellite Used
PDOP
HDOP
VDOP
Checksum
<CR> <LF>
Sv on Channel 12
Position Dilution of Precision
Horizontal Dilution of Precision
Vertical Dilution of Precision
1.8
1.0
1.5
*33
End of message termination
(1) Satellite used in solution.
Table A-6 Mode 1
Value
Description
M
A
Manual—forced to operate in 2D or 3D mode
2D Automatic—allowed to automatically switch 2D/3D
Table A-7 Mode 2
Value
Description
1
2
3
Fix Not Available
2D
3D
A.1.4 GNSS Satellites in View (GSV)
Table A-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
10
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Table A-8 GSV Data Format
Name
Message ID
Example
$GPGSV
2
Units
Description
GSV protocol header
Range 1 to 3
Number of Messages
Message Number
Satellites in View
Satellite ID
Elevation
1
07
07
79
Range 1 to 3
Range 1 to 12
Channel 1 (Range 1 to 32)
degrees Channel 1 (Maximum 90)
Azimuth
SNR (C/No)
....
048
42
....
degrees Channel 1 (True, Range 0 to 359)
dBHz Range 0 to 99, null when not tracking
Satellite ID
Elevation
27
27
Channel 4 (Range 1 to 32)
degrees Channel 4 (Maximum 90)
Azimuth
138
42
*71
degrees Channel 4 (True, Range 0 to 359)
dBHz Range 0 to 99, null when not tracking
SNR (C/No)
Checksum
<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.
A.1.5 Recommended Minimum Specific GNSS Data (RMC)
Table A-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 A-9 RMC Data Format
Name
Message ID
UTC Time
Example
$GPRMC
161229.487
A
3723.2475
N
12158.3416
W
0.13
309.62
120598
Units
Description
RMC protocol header
hhmmss.sss
Status
Latitude
A=data valid or V=data not valid
ddmm.mmmm
N=north or S=south
dddmm.mmmm
N/S Indicator
Longitude
E/W Indicator
Speed Over Ground
Course Over Ground
Date
E=east or W=west
Knots
Degrees True
ddmmyy
Degrees E=east or W=west
Magnetic Variation (1)
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.
A.1.6 Course Over Ground and Ground Speed
Table A-10 contains the values for the following example:
$GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E
Table A-10 VTG Data Format
Name
Message ID
Course
Reference
Course
Example
$GPVTG
309.62
T
Units
Description
VTG protocol header
Degrees Measured heading
True
Degrees Measured heading
11
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Reference
Speed
Units
Speed
Units
M
0.13
N
0.2
K
Magnetic (1)
Measured horizontal speed
Knots
Measured horizontal speed
Kilometers per hour
Knots
Km/hr
Checksum
<CR> <LF>
*6E
End of message termination
(1) SiRF Technology Inc. does not support magnetic declination. All “course over ground” data are
geodetic WGS84 directions.
A.2 RTCM Received Data
The default communication parameters for DGPS Input are 9600 baud, 8 data bits, stop bit, and no parity.
Position accuracy of less than 5 meters can be achieved with the GPS-6021-X6 by using Differential GPS
(DGPS) real-time pseudo-range correction data in RTCM SC-104 format, with message types 1, 5, or 9. As
using DGPS receiver with different communication parameters, GPS-6021-X6 may decode the data correctly to
generate accurate messages and save them in battery-back SRAM for later computing.
12
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Appendix B Earth Datums & Output Setting
B.1 Setting
B.1.1 Manufacturing Default
Datum: WGS84.
Baud Rate: 4800.
Output: GGA, GSA, GSV, RMC.
B.1.2 Baud Rate and Output Sentences Setting
B.1.2.1 By SiRFdemo Program
1// Connect your GPS-6021-X6 to PC (through PCMCIA adapter)
2// Execute SiRFdemo.exe (Program is in the CD)
3// When “Data Source Setup” shows, select the port (COM 1, 2 or 3….) you used, click “OK”.
4// Click “Action”, select “Open Data Source”, Then you will see lots of sentences shows. All the sentences
start with $GPxxxx. This is NMEA protocol. If you do not see these sentences, please click “View”,
“Select Message”, then click “Development”. The message will appear. If it still shows nothing, then
continue below steps.
5// There is a screen “Selection of Target Receiver Software” might appear, please select “SiRFstar II”.
6// Click “Action”, Select “Switch to SiRF Protocol”. Then you will see SiRF binary and the sentences start
with #Time, shows every 4 lines and you can not see the sentences start with $GP. These sentences
are for setting or viewing the GPS receiver’s performance. If your software is using standard NMEA
protocol, please do the following:
7// Click “Action”, Select “Switch to NMEA Protocol”. You will see GGA, GSV, GSA and RMC in black and
the Baud Rate is 4800. These are the default we put inside the receiver. Please click “OK”. Then you
can use it as a standard GPS receiver. If your software uses different sentence, please choose the
sentences you need.
After above actions, the new setting will be kept in SRAM. If no power supplied to GPS-6021-X6 for more
than 30 days, user must re-set again when power on.
B.2.2.2 By other SiRF based demo program
There are a few companies or private website providing some very good demo software.
B.2 Earth Datums
The GPS-6021-X6 is built in earth datum with WGS84.
B.2.1 Built –in Earth Datums
The GPS-6021-X6 supports 219 datums. You may change it by following Change Datum step by step.
Note: dX, dY and dZ are the 3 dimension tolerance with WGS-84 (scale: meter).
dX dY dZ
Datum
1. WGS-84
Ellipsoid
WGS 84
Region of use
Global
Name in GM-305
WGS 1984
0
0
0
-118 -14 218
-134 -2 210
-165 -11 206
-123 -20 220
-166 -15 204
-128 -18 224
-161 -14 205
-43 -163 45
-150 -250 -1
Adindan- Burkina Faso
Adindan- Cameroon
Adindan- Ethiopia
Adindan- Mali
Adindan-Regional Mean
Adindan- Senegal
Adindan- Sudan
Afgooye- Somalia
Ain el Abd’70- Bahrain
Ain el Abd’70- Saudi
Arabia
2. Adindan
3. Adindan
4. Adindan
5. Adindan
6. Adindan
7. Adindan
8. Adindan
9. Afgooye
10. Ain el Abd 1970
Clarke 1880
Clarke 1880
Clarke 1880
Clarke 1880
Clarke 1880
Clarke 1880
Clarke 1880
Burkina Faso
Cameroon
Ethiopia
Mali
Mean for Ethiopia; Sudan
Senegal
Sudan
Krassovsky 1940 Somalia
International 1924 Bahrain
-143 -236
7
11. Ain el Abd 1970
International 1924 Saudi Arabia
American Samoa 1962 -115 118 426
12.
Clarke 1866
American Samoa Islands American Samoa’62
-491 -22 435
13. Anna 1 Astro 1965
Australian National Cocos Islands
Anna 1 Astro’65
13
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Antigua Island Astro
1943
-270 13 62
14.
Clarke 1880
Antigua (Leeward Islands) Antigua Island Astro’43
-138 -105 -289
-153 -5 -292
-125 -108 -295
-161 -73 -317
15. Arc 1950
16. Arc 1950
17. Arc 1950
18. Arc 1950
Clarke 1880
Clarke 1880
Clarke 1880
Clarke 1880
Botswana
Burundi
Lesotho
Arc’50- Botswana
Arc’50- Burundi
Arc’50- Lesotho
Arc’50- Malawi
Malawi
Mean for Botswana; Lesotho;
Malawi; Swaziland; Zaire;
Zambia; Zimbabwe
Swaziland
Zaire
Zambia
Zimbabwe
MEAN FOR Kenya;
Tanzania
Kenya
-143 -90 -294
19. Arc 1950
Clarke 1880
Arc’50-Regional Mean
-134 -105 -295
-169 -19 -278
-147 -74 -283
-142 -96 -293
20. Arc 1950
21. Arc 1950
22. Arc 1950
23. Arc 1950
Clarke 1880
Clarke 1880
Clarke 1880
Clarke 1880
Arc’50- Swaziland
Arc’50- Zaire
Arc’50- Zambia
Arc’50- Zimbabwe
Arc’60- Mean of
Kenya, Tanzania
Arc’60- Kenya
Arc’60- Tanzania
Ascension Island’58
Astro Beacon E’45
Astro DOS 71/4
-160 -6 -302
24. Arc 1960
Clarke 1880
-157 -2 -299
-175 -23 -303
Ascension Island 1958 -205 107 53
25. Arc 1960
26. Arc 1960
27.
28. Astro Beacon E 1945
29. Astro DOS 71/4
Clarke 1880
Clarke 1880
Tanzania
International 1924 Ascension Island
International 1924 Iwo Jima
International 1924 St Helena Island
145 75 -272
-320 550 -494
Astro Tern Island
(FRIG) 1961
Astronomical Station
114 -116 -333
124 -234 -25
30.
International 1924 Tern Island
Astro Tern Island
Astronomical Station’52
31.
International 1924 Marcus Island
1952
Australian Geodetic 1966
32.
-133 -48 148
-134 -48 149
-79 -129 145
-127 -769 472
-73 213 296
-173 253 27
307 304 -318
Australian Geodetic’66
Australian Geodetic’84
Ayabelle Lighthouse
Australian National Australia; Tasmania
Australian National Australia; Tasmania
Australian Geodetic 1984
33.
34. Ayabelle Lighthouse
35. Bellevue (IGN)
36. Bermuda 1957
37. Bissau
Clarke 1880
Djibouti
International 1924 Efate & Erromango IslandsBellevue
Clarke 1866
Bermuda
Bermuda 1957
Bissau
Bogota Observatory
International 1924 Guinea-Bissau
International 1924 Colombia
38. Bogota Observatory
Indonesia (Bangka &
Belitung Ids)
Antarctica (McMurdo
Camp Area)
-384 664 -48
-104 -129 239
39. Bukit Rimpah
Bessel 1841
Bukit Rimpah
40. Camp Area Astro
International 1924
Camp Area Astro
-148 136 90
298 -304 -375
-136 -108 -292
-2 151 181
41. Campo Inchauspe
42. Canton Astro 1966
43. Cape
44. Cape Canaveral
45. Carthage
International 1924 Argentina
International 1924 Phoenix Islands
Campo Inchauspe
Canton Astro’66
Cape- South Africa
Cape Canaveral
Carthage- Tunisia
Clarke 1880
Clarke 1866
431
Clarke 1880
South Africa
Bahamas; Florida
Tunisia
-263
6
Chatham Island
Astro 1971
New Zealand (Chatham Chatham Island
175 -38 113
46.
International 1924
Island)
Astro’71
-134 229 -29
-206 172 -6
-83 37 124
260 12 -147
-377 681 -50
Chua Astro- Paraguay
Corrego Alegre
Dabola- Guinea
47. Chua Astro
48. Corrego Alegre
49. Dabola
50. Deception Island
51. Djakarta (Batavia)
International 1924 Paraguay
International 1924 Brazil
Clarke 1880
Clarke 1880
Bessel 1841
Guinea
Deception Island; AntarctiaDeception Island
Indonesia (Sumatra)
New Georgia Islands (Gizo
Island)
Djakarta-Batavia
230 -199 -752
211 147 111
374 150 588
52. DOS 1968
International 1924
DOS 1968
53. Easter Island 1967
International 1924 Easter Island
Bessel 1841 Estonia
Easter Island’67
Estonia Coord Sys’37
Estonia Coordinate
System 1937
54.
-104 -101 -140
-130 -117 -151
55. European 1950
56. European 1950
International 1924 Cyprus
International 1924 Egypt
Euro’50- Cyprus
Euro’50- Egypt
England; Channel Islands;
Scotland; Shetland Islands
England; Ireland; Scotland;
Shetland Islands
-86 -96 -120
-86 -96 -120
57. European 1950
International 1924
Euro’50- England
Euro’50- North
58. European 1950
International 1924
Regional Mean
Euro’50- Finland,Norway
Euro’50- Greece
Euro’50- Iran
-87 -95 -120
-84 -95 -130
-117 -132 -164
59. European 1950
60. European 1950
61. European 1950
International 1924 Finland; Norway
International 1924 Greece
International 1924 Iran
14
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High Sensitivity
GPS-6021-X6 Operating Manual
Rikaline
-97 -103 -120
-97 -88 -135
-107 -88 -149
62. European 1950
63. European 1950
64. European 1950
International 1924 Italy (Sardinia)
International 1924 Italy (Sicily)
International 1924 Malta
Euro’50-Italy-Sardinia
Euro’50-Italy-Sicily
Euro’50-Malta
Mean for Austria; Belgium;
Denmark; Finland; France; W
Germany; Gibraltar; Greece;
Italy; Luxembourg;
Netherlands; Norway; Portugal;
Spain; Sweden; Switzerland
Mean for Austria; Denmark;
France; W Germany;
Netherlands; Switzerland
Mean for Iraq; Israel; Jordan;
Lebanon; Kuwait; Saudi
Arabia; Syria
Euro’50-West Regional
Mean
-87 -98 -121
65. European 1950
International 1924
Euro’50-East Regional
Mean
-87 -96 -120
-103 -106 -141
66. European 1950
67. European 1950
International 1924
International 1924
Euro’50-South
Regional Mean
-84 -107 -120
-112 -77 -145
Euro’50- Portugal,Spain
Euro’50- Tunisia
68. European 1950
69. European 1950
International 1924 Portugal; Spain
International 1924 Tunisia
Mean for Austria; Finland;
-86 -98 -119
Netherlands; Norway; Spain;
Sweden; Switzerland
Nevis; St. Kitts (Leeward
Islands)
70. European 1979
International 1924
European 1979
-7 215 225
71. Fort Thomas 1955
72. Gan 1970
Clarke 1880
Fort Thomas 1955
-133 -321 50
84 -22 209
International 1924 Republic of Maldives
International 1924 New Zealand
Gan 1970
Geodetic Datum’49
Geodetic Datum 1949
Graciosa Base SW
1948
73.
Azores (Faial; Graciosa;
Pico; Sao Jorge; Terceira)
-104 167 -38
74.
International 1924
Graciosa Base SW’48
-100 -248 259
-403 684 41
252 -209 -751
-333 -222 114
75. Guam 1963
76. Gunung Segara
77. GUX 1 Astro
78. Herat North
Clarke 1866
Bessel 1841
International 1924 Guadalcanal Island
International 1924 Afghanistan
Guam
Indonesia (Kalimantan)
Guam’63 Guam
Gunung Segara
GUX 1 Astro
Herat North
Hermannskogel
Datum
Bessel 1841
(Namibia)
Croatia -Serbia,
Bosnia-Herzegovina
653 -212 449
79.
Hermannskogel Datum
-73 46 -86
-156 -271 -189
-637 -549 -203
282 726 254 Everest (India 1830)
295 736 257 Everest (India 1956)
283 682 231 Everest (Pakistan)
217 823 299 Everest (India 1830)
182 915 344 Everest (India 1830)
198 881 317 Everest (India 1830)
210 814 289 Everest (India 1830)
80. Hjorsey 1955
81. Hong Kong 1963
82. Hu-Tzu-Shan
83. Indian
84. Indian
85. Indian
86. Indian 1954
87. Indian 1960
88. Indian 1960
89. Indian 1975
90. Indonesian 1974
91. Ireland 1965
92. ISTS 061 Astro 1968
93. ISTS 073 Astro 1969
94. Johnston Island 1961
95. Kandawala
International 1924 Iceland
International 1924 Hong Kong
International 1924 Taiwan
Hjorsey 1955
Hong Kong’63
Hu-Tzu-Shan
Indian- Bangladesh
Indian- India,Nepal
Indian- Pakistan
Indian 1954
Indian’60- Con Son Island
Indian’60-Vietnam
Indian 1975
Indonesian’74
Ireland 1965
ISTS 061 Astro’68
ISTS 073 Astro’69
Johnston Island’61
Kandawala
Bangladesh
India; Nepal
Pakistan
Thailand
Vietnam (Con Son Island)
Vietnam (Near 16øN))
Thailand
-24 -15
5
Indonesian 1974
Modified Airy
Indonesia
Ireland
506 -122 611
-794 119 -298
208 -435 -229
189 -79 -202
South Georgia Islands
International 1924
International 1924 Diego Garcia
International 1924 Johnston Island
-97 787 86 Everest (India 1830)
Sri Lanka
Kerguelen Island 1949 145 -187 103
96.
International 1924 Kerguelen Island
Kerguelen Island’49
Everest (Malay. & West Malaysia &
-11 851
5
-1124
0
97. Kertau 1948
Kertau 1948
Sing)
Singapore
177
647
7
98. Kusaie Astro 1951
International 1924 Caroline Islands
Kusaie Astro’51
Korean Geo Sys
Korean Geodetic
System
0
0
99.
GRS 80
South Korea
42 124 147
-130 29 364
-90 40 88
100L. C. 5 Astro 1961
101Leigon
102Liberia 1964
Clarke 1866
Clarke 1880
Clarke 1880
Cayman Brac Island
Ghana
Liberia
L. C. 5 Astro’61
Leigon
Liberia 1964
Philippines (Excluding
Mindanao)
-133 -77 -51
103Luzon
Clarke 1866
Luzon-Philip
-133 -79 -72
-74 -130 42
Luzon-Philip- Mindanao
M'Poraloko
104Luzon
105M'Poraloko
Clarke 1866
Clarke 1880
Philippines (Mindanao)
Gabon
15
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High Sensitivity
GPS-6021-X6 Operating Manual
Rikaline
41 -220 -134
639 405 60
31 146 47
912 -58 1227
-81 -84 115
-92 -93 122
106Mahe 1971
Clarke 1880
Bessel 1841
Clarke 1880
International 1924 Midway Islands
Clarke 1880
Clarke 1880
Mahe Island
Ethiopia (Eritrea)
Morocco
Mahe 1971
Massawa
Merchich
Midway Astro’61
Minna- Cameroon
Minna- Nigeria
107Massawa
108Merchich
109Midway Astro 1961
110Minna
Cameroon
Nigeria
111Minna
Montserrat Island
Astro 1958
Montserrat (Leeward
Islands)
Montserrat Island
Astro’58
174 359 365
112
Clarke 1880
Nahrwan-Oman-Masir
ah Island
Nahrwan- Saudi Arabia
Nahrwan- United Arab
Emirates
-247 -148 369
-243 -192 477
-249 -156 381
113Nahrwan
114Nahrwan
115Nahrwan
Clarke 1880
Clarke 1880
Clarke 1880
Oman (Masirah Island)
Saudi Arabia
United Arab Emirates
-10 375 165
-5 135 172
116Naparima BWI
117North American 1927
International 1924 Trinidad & Tobago
Naparima BWI
Alaska (Excluding Aleutian Ids)
Clarke 1866
N-Amer’27-Alaska
Alaska (Aleutian Ids East N-Amer’27-Aleutian
-2 152 149
118North American 1927
119North American 1927
120North American 1927
121North American 1927
122North American 1927
123North American 1927
Clarke 1866
of 180øW)
Ids E
Alaska (Aleutian Ids West N-Amer’27-Aleutian
of 180øW)
Bahamas (Except San
Salvador Id)
Bahamas (San Salvador N-Amer’27-San
Island)
Canada (Alberta; British
Columbia)
Canada (Manitoba;
Ontario)
2
204 105
Clarke 1866
Clarke 1866
Clarke 1866
Clarke 1866
Clarke 1866
Ids W
-4 154 178
140 165
N-Amer’27-Bahamas
1
Salvador
-7 162 188
-9 157 184
N-Amer’27-Alberta
N-Amer’27- Manitoba,
Ontario
Canada (New Brunswick;
Newfoundland; Nova
Scotia; Quebec)
N-Amer’27- New
Brunswick
-22 160 190
124North American 1927
Clarke 1866
N-Amer’27-
Saskatchewan
Canada (Northwest
Territories; Saskatchewan)
4
159 188
125North American 1927
Clarke 1866
-7 139 181
126North American 1927
127North American 1927
128North American 1927
129North American 1927
Clarke 1866
Clarke 1866
Clarke 1866
Clarke 1866
Canada (Yukon)
Canal Zone
Cuba
Greenland (Hayes Peninsula)
Mean for Antigua; Barbados;
Barbuda; Caicos Islands; Cuba;
Dominican Republic; Grand
Cayman; Jamaica; Turks
Islands
N-Amer’27- Yukon
N-Amer’27-Canal Zone
N-Amer’27-Cuba
N-Amer’27-Greenland
0
125 201
-9 152 178
11 114 195
N-Amer’27-Antigua,
Barbados
-3 142 183
130North American 1927
131North American 1927
Clarke 1866
125 194
Clarke 1866
Mean for Belize; Costa Rica;
El Salvador; Guatemala;
Honduras; Nicaragua
N-Amer’27-Costa Rica,
El Salvador
0
N-Amer’27- Mean of
Canada
N-Amer’27-Mean of
Conus
-10 158 187
-8 160 176
132North American 1927
133North American 1927
Clarke 1866
Clarke 1866
Mean for Canada
Mean for Conus
Mean for Conus (East of
Mississippi; River Including
Louisiana; Missouri;
Minnesota)
Mean for Conus (West of
Mississippi; River Excluding
Louisiana; Minnesota;
Missouri)
N-Amer’27-E-Mississip
pi
-9 161 179
134North American 1927
135North American 1927
Clarke 1866
Clarke 1866
N-Amer’27-W-Mississi
ppi
-8 159 175
-12 130 190
136North American 1927
137North American 1983
Clarke 1866
GRS 80
Mexico
Alaska (Excluding Aleutian Ids)
N-Amer’27-Mexico
N-Amer’83-Alaska
0
0
0
138.North American 1983
-2
0
4
GRS 80
Aleutian Ids
N-Amer’83-Aleutian Ids
0
0
0
0
0
0
139North American 1983
140North American 1983
GRS 80
GRS 80
Canada
Conus
N-Amer’83-Canada
N-Amer’83-Conus
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High Sensitivity
GPS-6021-X6 Operating Manual
Rikaline
1
0
1
0
-1
0
141North American 1983
142North American 1983
GRS 80
Hawaii
N-Amer’83-Hawaii
N-Amer’83-Mexico,
Central America
GRS 80
Mexico; Central America
-186 -93 310
-425 -169 81
143North Sahara 1959
Clarke 1880
International 1924
Algeria
Azores (Corvo & Flores
Islands)
Egypt
Hawaii
Kauai
Maui
North Sahara’59
Observatorio
Observatorio
Meteorologico 1939
144
Meteorologico’39
Old Egyptian 1907
Old Hawaiian- Hawaii
Old Hawaiian- Kauai
Old Hawaiian- Maui
-130 110 -13
89 -279 -183
45 -290 -172
65 -290 -190
145Old Egyptian 1907
146Old Hawaiian
147Old Hawaiian
148Old Hawaiian
Helmert 1906
Clarke 1866
Clarke 1866
Clarke 1866
Mean For Hawaii; Kauai;
Maui; Oahu
Oahu
Old Hawaiian-Regional
Mean
61 -285 -181
149Old Hawaiian
Clarke 1866
58 -283 -182
-346 -1 224
150Old Hawaiian
151Oman
Clarke 1866
Clarke 1880
Old Hawaiian- Oahu
Oman
Oman
Ordnance Survey
Great Britain 1936
Ordnance Survey
Great Britain 1936
Ord Sur GB’36-
England
Ord Sur GB’36- Isle of
Man
371 -112 434
371 -111 434
152
Airy 1830
Airy 1830
England
England; Isle of Man;
Wales
153
Mean For England; Isle of
Man; Scotland; Shetland
Islands; Wales
Ordnance Survey
154
Ord Sur
GB’36-Regional Mean
375 -111 431
Airy 1830
Great Britain 1936
Ordnance Survey
155
Ord Sur GB’36-
Scotland, Shetland
384 -111 425
370 -108 434
Airy 1830
Airy 1830
Scotland; Shetland Islands
Wales
Great Britain 1936
Ordnance Survey
156
Ord Sur GB’36- Wales
Great Britain 1936
-307 -92 127
185 165 42
157Pico de las Nieves
158Pitcairn Astro 1967
International 1924 Canary Islands
International 1924 Pitcairn Island
Pico de las Nieves
Pitcairn Astro 1967
MEAN FOR Burkina Faso &
Niger
-106 -129 165
159Point 58
Clarke 1880
Point 58
-148 51 -291
-499 -249 314
160Pointe Noire 1948
161Porto Santo 1936
Clarke 1880
International 1924
Congo
Porto Santo; Madeira Islands
Pointe Noire 1948
Porto Santo 1936
Prov S-Amer’56-
Bolivia
Provisional South
American 1956
-270 188 -388
-270 183 -390
-305 243 -442
-282 169 -371
-278 171 -367
-298 159 -369
162
International 1924 Bolivia
Provisional South
American 1956
Chile (Northern; Near 19
øS)
Chile (Southern; Near 43 Prov
øS) S-Amer’56-Chile-South
Prov
163
International 1924
International 1924
S-Amer’56-Chile-North
Provisional South
American 1956
164
Provisional South
American 1956
Prov S-Amer’56-
Colombia
Prov S-Amer’56-
Ecuador
Prov S-Amer’56-
Guyana
165
International 1924 Colombia
International 1924 Ecuador
International 1924 Guyana
Provisional South
American 1956
166
Provisional South
American 1956
167
Mean for Bolivia; Chile;
International 1924 Colombia; Ecuador;
Prov
Provisional South
168
-288 175 -376
S-Amer’56-Regional
American 1956
Guyana; Peru; Venezuela Mean
Provisional South
169
-279 175 -379
-295 173 -371
16 196 93
International 1924 Peru
Prov S-Amer’56- Peru
American 1956
Provisional South
American 1956
Prov S-Amer’56-
Venezuela
170
International 1924 Venezuela
Provisional South
Chilean 1963
Chile (Near 53 øS) (Hito
XVIII)
171
International 1924
Prov S-Chilean’63
11 72 -101
28 -130 -95
-128 -283 22
164 138 -189
94 -948 -1262
172Puerto Rico
Clarke 1866
Krassovsky 1940 Russia
International 1924 Qatar
International 1924 Greenland (South)
International 1924 Mascarene Islands
International 1924 Italy (Sardinia)
Krassovsky 1940 Hungary
Krassovsky 1940 Poland
Puerto Rico; Virgin Islands Puerto Rico
173Pulkovo 1942
174Qatar National
175Qornoq
176Reunion
177Rome 1940
178S-42 (Pulkovo 1942)
179S-42 (Pulkovo 1942)
180S-42 (Pulkovo 1942)
Pulkovo 1942
Qatar National
Qornoq
Reunion
Rome 1940
S-42 Pul’42- Hungary
S-42 Pul’42- Poland
S-42 Pul’42-
-225 -65
9
28 -121 -77
23 -124 -82
26 -121 -78
Krassovsky 1940 Czechoslavakia
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High Sensitivity
GPS-6021-X6 Operating Manual
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Czechoslavakia
24 -124 -82
15 -130 -84
24 -130 -92
28 -121 -77
181S-42 (Pulkovo 1942)
182S-42 (Pulkovo 1942)
183S-42 (Pulkovo 1942)
184S-42 (Pulkovo 1942)
Krassovsky 1940 Latvia
Krassovsky 1940 Kazakhstan
Krassovsky 1940 Albania
Krassovsky 1940 Romania
S-42 Pul’42- Latvia
S-42 Pul’42- Kazakhstan
S-42 Pul’42- Albania
S-42 Pul’42- Romania
Czechoslavakia (Prior 1
JAN 1993)
International 1924 Espirito Santo Island
Azores (Sao Miguel; Santa
Maria Ids)
International 1924 East Falkland Island
589 76 480
170 42 84
185S-JTSK
Bessel 1841
S-JTSK
186Santo (DOS) 1965
Santo DOS’65
Sao Braz
-203 141 53
-355 21 72
616 97 -251
187Sao Braz
International 1924
188Sapper Hill 1943
189Schwarzeck
Sapper Hill’43
Schwarzeck
Bessel 1841
(Namibia)
Namibia
Selvagem Grande 1938 -289 -124 60
190
International 1924 Salvage Islands
Selvagem Grande’38
Sierra Leone’60
-88
4
101
Clarke 1880
191Sierra Leone 1960
Sierra Leone
Argentina
-48 South American 1969
Bolivia
South American 1969 -62 -1 -37 South American 1969
South American 1969, -61
192
193
194
195
196
197
S-Amer’69- Argentina
S-Amer’69- Bolivia
S-Amer’69- Brazil
S-Amer’69- Chile
S-Amer’69- Colombia
S-Amer’69- Ecuador
S-Amer’69- Baltra,
Galapagos
2
South American 1969, -60 -2 -41 South American 1969
South American 1969, -75 -1 -44 South American 1969
Brazil
Chile
Colombia
Ecuador
Ecuador (Baltra;
Galapagos)
South American 1969, -44
South American 1969, -48
6
3
-36 South American 1969
-44 South American 1969
South American 1969, -47 26 -42 South American 1969
198
199
South American 1969, -53
3
-47 South American 1969
Guyana
S-Amer’69- Guyana
Mean for Argentina; Bolivia;
Brazil; Chile; Colombia;
-41 South American 1969 Ecuador; Guyana; Paraguay;
Peru; Trinidad & Tobago;
S-Amer’69-Regional
Mean
South American 1969, -57
1
200
Venezuela
South American 1969, -61
South American 1969, -58
South American
2
0
-33 South American 1969
-44 South American 1969
201
202
Paraguay
Peru
S-Amer’69- Paraguay
S-Amer’69- Peru
S-Amer’69-
-45 12 -33 South American 1969
203
204
Trinidad & Tobago
Venezuela
1969,
Trinidad,Tobago
South American
1969,
-45
7
8
-33 South American 1969
Modified Fischer
S-Amer’69- Venezuela
South Asia
-10 -26
205South Asia
Singapore
1960
Tananarive
206
-189 -242 -91
International 1924 Madagascar
Tananarive Observ’25
Observatory 1925
Everest (Sabah
Sarawak)
Bessel 1841
Brunei; E. Malaysia
(Sabah Sarawak)
Japan
Mean for Japan; South
Korea; Okinawa
Okinawa
-679 669 -48
-148 507 685
-148 507 685
207Timbalai 1948
208Tokyo
Timbalai 1948
Tokyo- Japan
209Tokyo
Bessel 1841
Tokyo-Regional Mean
-158 507 676
-147 506 687
-632 438 -609
51 391 -36
-123 -206 219
210Tokyo
211Tokyo
212Tristan Astro 1968
213Viti Levu 1916
214Voirol 1960
Bessel 1841
Bessel 1841
International 1924 Tristan da Cunha
Clarke 1880
Clarke 1880
Tokyo- Okinawa
Tokyo- South Korea
Tristan Astro’68
Viti Levu 1916
Voirol 1960
South Korea
Fiji (Viti Levu Island)
Algeria
Wake Island Astro 1952 276 -57 149
215
International 1924 Wake Atoll
Wake Island Astro’52
Wake-Eniwetok’60
WGS 1972
Yacare
Zanderij
102 52 -38
216Wake-Eniwetok 1960
217WGS 1972
218Yacare
Hough 1960
WGS 72
Marshall Islands
Global Definition
0
0
0
-155 171 37
-265 120 -358
International 1924 Uruguay
International 1924 Suriname
219Zanderij
18
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High Sensitivity
GPS-6021-X6 Operating Manual
Rikaline
Appendix C Ordering Information
C.1 Product Options
C.1.1 Standard Package
GPS-6021-X6: CF GPS with main unit, CD, Warranty card and quick reference.
C.1.2 Optional Accessories
C.1.2.1 Active Antenna
A-10302-M Active Antenna with 2 meter 180° MMCX connector
A-10305-M Active Antenna with 5 meter 180° MMCX connector
C.1.2.1 PDA Holder
1
2
3
4
5
6
7
8
PDA Holder, Suction Cup, 150mm, Short Arm
PDA Holder, Suction Cup, 150-320mm Adjustable
A-2001
A-2001-L
A-2002
PDA Holder, Suction Cup, 150mm, Short Arm, Magnetic Pad
PDA Holder, Suction Cup, 320mm, Long Arm, Magnetic Pad
PDA Holder, Suction Cup, 150mm, Short Arm, 4-Claw
PDA Holder, Suction Cup, 320mm Long Arm, 4-Claw
PDA Holder, Suction Cup, 150mm Short Arm, 3-Claw
PDA Holder, Suction Cup, 150mm Long Arm, 3-Claw
A-2002-L
A-2005
A-2005-L
A-2006
A-2006-L
19
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