Rikaline GPS Receiver GPS 6020 CF GPS User Guide

Rikaline GPS-6020  
CF GPS  
User’s Guide  
May 08, 2003  
High Accuracy ---  
Low Power --------  
3 Meters (50%) or 5 Meters (90%)  
29mA at 3.3V in Continuous Mode and  
With Active Antenna  
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  
Download from Www.Somanuals.com. All Manuals Search And Download.  
GPS-6020 Operating Manual  
Rikaline  
1. INTRODUCTION  
1.1 Overview  
The Rikaline GPS-6020 CF GPS is a total solution GPS Receiver designed for use with PDA, Tablet  
PC, Webpad PC or any portable PCs. features the revolutionary FirstGPS™ architecture. This complete enabled  
GPS receiver provides high position and speed accuracy performances as well as high sensitivity and tracking  
capabilities in urban canyon conditions. The GPS-6020 delivers major advancements in GPS performances,  
accuracy, integration, computing power and flexibility. 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.  
1.2 Features  
1. Facilitating FirstGPSTM core technology.  
2. High sensitivity: to -143 dBm tracking, superior urban canyon performances  
3. High positioning accuracy: < 3m CEP (50%), OR <5M CEP (90%) without SA (horizontal)  
4. Ultra low power: 29mA typical with active antenna -- tracking at 3.3 Volts, full power  
5. A rechargeable battery sustains internal clock and memory and is recharged during normal operation.  
6. Dual communication channels and user selectable baud rates allow maximum interface capability and  
flexibility.  
7. LED display status: The LED provides users visible positioning status. LED “BLINKING” when power  
connected and “ON” when GPS-6020 got position fix. No more extra device needed.  
8. Low Cost.  
1.3 FirstGPSTM Architecture Highlights  
1.3.1 Industry Leading GPS Performance  
1. Builds on high performance FirstGPSTM core  
2. Satellite signal tracking engine to perform GPS acquisition and tracking functions without CPU intervention  
3. High sensitivity: to -143 dBm tracking, superior urban canyon performances  
4. Position accuracy: < 3m CEP (50%) or < 5m (90%) without SA (horizontal)  
5. Warm Start is under 42 seconds (90%)  
6. Hot Start is under 10 seconds (90%)  
1.3.2 Low Power  
1. Ultra low power integrated circuit design, optimized RF and DSP architectures  
2. Further power saving thanks to 4 different power down mode  
1.4 Technology specifications  
1.4.1 Physical Dimension  
Single construction integrated antenna and receiver.  
Size: 85.0(W) x 42.0(D) x 20.6(H) (mm)  
3.35"(W) x 1.65"(D) x 0.81"(H).  
1.4.2 Environmental Characteristics  
1) Operating temperature: -40oC to +85oC(internal temperature).  
2) Storage temperature: -55oC to +100oC.  
1.4.3 Environmental Characteristics  
1) Operating temperature: -40oC to +85oC(internal temperature).  
2) Storage temperature: -55oC to +100oC.  
3
Specifications subject to change without prior notice  
Remark: FirstGPS™ is a trademark from Trimble.  
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw  
Download from Www.Somanuals.com. All Manuals Search And Download.  
GPS-6020 Operating Manual  
Rikaline  
1.4.4 Electrical Characteristics  
1) Input voltage: +2.6 ~ 5.5 VDC.  
2) Backup power: 3V Rechargeable Lithium cell battery, up to 200 hours discharge.  
1.4.5 Performance  
1) Tracks up to 8 satellites.  
2) Update rate: 1 second.  
3) Acquisition time  
Reacquisition  
Hot start  
Warm start  
Cold start  
1 sec.,  
10 sec. (90%)  
42 sec. (90%)  
120 sec. (90%)  
4) Position accuracy:  
NON-DGPS  
Position  
Velocity  
<3 meter (50%) or <5 meter (90%)  
0.05 meters/second, typical  
DGPS (Differential GPS)  
Position  
<1 meter, typical  
Velocity  
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/second, max  
1.4.6 Important Characters  
Receiver  
L1, C/A code  
8
Channels  
Update Rate  
1/second down to 1/min  
< 1 second  
Satellite Reacquisition Time  
Hot Start  
< 10 seconds (90%)  
< 42 seconds (90%)  
Warm Start  
Cold Start  
< 120 seconds (90%)  
-143 dBm  
Tracking Sensitivity  
Power Consumption (Full Power)  
Voltage Supply  
Protocol  
< 20 mA at 3.3 Volts (Typically: 17 mA)  
3.0 – 3.65 Volts  
NMEA 0183 V2.1  
Position Accuracy  
3 meters CEP (50%) horizontal, SA off  
< 1 meter, DGPS corrected  
1.4.7 Interfaces  
1) Dual channel RS-232 or TTL compatible level, with user selectable baud rate (2400, 4800-Default, 9600,  
19200, 38400, 57600, 115200).  
2) NMEA 0183 Version 2.1 ASCII output (GPGGA, GPGLL, GPGSA, GPGSV, GPRMC, GPVTG, GPZDA).  
3) Real-time Differential Correction input (RTCM SC-104 message types 1, 5 and 9).  
4
Specifications subject to change without prior notice  
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw  
Download from Www.Somanuals.com. All Manuals Search And Download.  
GPS-6020 Operating Manual  
Rikaline  
2. Operational characteristics  
2.1 Initialization  
As soon as the initial self-test is complete, the GPS-6020 begins the process of satellite acquisition and  
tracking automatically. Under normal circumstances, it takes approximately 120 seconds to achieve a position fix,  
42 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-6020 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 FirstGPS™ feature is to provide fast and  
accurate position. However, acquisition performance can be improved when the host system initializes the  
GPS-6020 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-6020 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-6020 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-6020 to output a position  
whenever a differential solution is available.  
5
Specifications subject to change without prior notice  
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw  
Download from Www.Somanuals.com. All Manuals Search And Download.  
GPS-6020 Operating Manual  
Rikaline  
3. Hardware interface  
3.1 Dimension  
Size: 85.0(W) x 42.0(D) x 20.6(H) (mm)  
3.35"(W) x 1.65"(D) x 0.81"(H).  
3.2 Hardware Interface  
The GPS-6020 includes an active antenna in a unique style gadget. Simply insert it into the CF slot of a  
PDA or other devices or insert it in a PCMCIA adapter.  
3.3 Connector  
Standard 50 pins CF type I connectors.  
6
Specifications subject to change without prior notice  
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw  
Download from Www.Somanuals.com. All Manuals Search And Download.  
GPS-6020 Operating Manual  
Rikaline  
4. Software Interface  
The GPS-6020 interface protocol is based on the National Marine Electronics Association's NMEA 0183  
ASCinterface 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).  
4.1 NMEA Transmitted Messages  
The GPS-6020 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 4-1 NMEA-0183 Output Messages  
NMEA Sentence  
GPGGA  
Description  
Global positioning system fixed data  
Geographic position latitude \ longitude  
GNSS DOP and active satellites  
GNSS satellites in view.  
GPGLL  
GPGSA  
GPGSV  
GPRMC  
GPVTG  
GPZDA  
Recommended minimum specific GNSS data  
Course over ground and ground speed  
Date and Time  
4.1.1 Global Positioning System Fix Data (GGA)  
Table 4-2 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 4-2 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 4-3  
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 4-3 Position Fix Indicator  
Value  
0
0 Fix not available or invalid  
7
Specifications subject to change without prior notice  
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw  
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GPS-6020 Operating Manual  
Rikaline  
1
2
3
GPS SPS Mode, fix valid  
Differential GPS, SPS Mode, fix valid  
GPS PPS Mode, fix valid  
4.1.2 Geographic Position with Latitude/Longitude (GLL)  
Table 4-4 contains the values for the following example:  
$GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C  
Table 4-4 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  
4.1.3 GNSS DOP and Active Satellites (GSA)  
Table 4-5 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 4-5 GSA Data Format  
Name  
Message ID  
Mode 1  
Example  
$GPGSA  
Units  
Description  
GSA protocol header  
A
3
See Table 4-6  
See Table 4-7  
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 4-6 Mode 1  
Value  
Description  
M
A
Manual—forced to operate in 2D or 3D mode  
2D Automatic—allowed to automatically switch 2D/3D  
Table 4-7 Mode 2  
Value  
Description  
1
2
3
Fix Not Available  
2D  
3D  
8
Specifications subject to change without prior notice  
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw  
Download from Www.Somanuals.com. All Manuals Search And Download.  
GPS-6020 Operating Manual  
Rikaline  
4.1.4 GNSS Satellites in View (GSV)  
Table 4-8 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 4-8 GSV Data Format  
Name  
Message ID  
Example  
$GPGSV  
2
Units  
Description  
GSV protocol header  
Range 1 to 3  
Range 1 to 3  
Range 1 to 12  
Number of Messages  
Message Number  
Satellites in View  
Satellite ID  
Elevation  
1
07  
07  
79  
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.  
4.1.5 Recommended Minimum Specific GNSS Data (RMC)  
Table 4-9 contains the values for the following example:  
$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10  
Table 4-9 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  
Checksum  
*10  
<CR> <LF>  
End of message termination  
4.1.6 Course Over Ground and Ground Speed (VTG)  
Table 4-10 contains the values for the following example:  
9
Specifications subject to change without prior notice  
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw  
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GPS-6020 Operating Manual  
Rikaline  
$GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E  
Table 4-10 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  
Magnetic (1)  
Reference  
Speed  
M
0.13  
N
Knots  
Measured horizontal speed  
Knots  
Units  
Speed  
Units  
0.2  
K
Km/hr  
Measured horizontal speed  
Kilometers per hour  
Checksum  
<CR> <LF>  
*6E  
End of message termination  
(1) All “course over ground” data are geodetic WGS84 directions.  
4.1.7 Time & Date (ZDA)  
Table 4-11 contains the values for the following example:  
$GPVTG,114523.62,12,04,2001,10,34*6E  
Table 4-11 zda Data Format  
Name  
Message ID  
Hour, Min, Sec, Sub  
Sec  
Example  
$GPZDA  
Units  
Description  
ZDA protocol header  
114523.62  
Hhmmss.ss  
Day  
Month  
Year  
Local Zone Hours  
12  
04  
2001  
10  
Day in UTC, 01to 12  
Month in UTC, 01 to 12  
Year in UTC  
Local zone hours, +/- 13 hours  
Local Zone Minutes  
34  
Local zone minutes, 0 to +59  
Checksum  
*6E  
<CR> <LF>  
End of message termination  
4.2 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-6020 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-6020 may decode the data correctly to generate  
accurate messages and save them in battery-back SRAM for later computing.  
10  
Specifications subject to change without prior notice  
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw  
Download from Www.Somanuals.com. All Manuals Search And Download.  
GPS-6020 Operating Manual  
Rikaline  
5. Ordering Information  
5.1 Product Options  
GPS-6020  
5.1.2 Color Option  
BK Black (Standard)  
Other Color: by demand  
6. Warranty  
The GPS-6020 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.  
11  
Specifications subject to change without prior notice  
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw  
Download from Www.Somanuals.com. All Manuals Search And Download.  

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