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GXB2000
16-Channel GPS Receiver Module
Description The GXB2000 is a 16-channel GPS receiver module. The GXB2000 is a small and light device, and it includes all the functions required for GPS except for the antenna. The GXB2000 can be support the various kinds of the portable applications as well as the car navigation system. Features * 16-channel GPS receiver capable of simultaneously receiving 16 satellites * All-in-view measurement * 2-satellite measurement * D-GPS (Differential GPS) RTCM SC104 version 2.1 DARC BTA R-003 standard * Low current consumption (270mW, Typ) * Small and light package type * The countermeasure of EMI (electromagnetic wave impediment) Recommended Operating Conditions * Supply voltage (3V spec.) VDD 3.0 to 3.6 (5V spec.) VCC 4.5 to 5.5 * Operating temperature Topr -40 to +85
V V C
GPS (Global Positioning System) is the position measurrment system that the U.S. control and operate. It have some posibility of the position measurement deterioration that depends on the working GPS. It dose not gurantee the standard,etc in this material including the case above.
Sony reserves the right to change products and specifications without prior notice. This information does not convey any license by any implication or otherwise under any patents or other right. Application circuits shown, if any, are typical examples illustrating the operation of the devices. Sony cannot assume responsibility for any problems arising out of the use of these circuits.
-1-
E99658-PS
GXB2000
Specification Specification of reception unit Reception method RF input Reception frequency Characteristics impedance Reception sensitivity Parallel 16 channels 1575.42MHz L1 band, C/A code 50 -130dBm or less (Sony's recommended anntena input level) WGS-84 Position Velocity 100m 2DRMS (SA ON, PDOP = 2.5, HDOP = 1.5) 0.9m/s (SA ON, PDOP = 2.5, HDOP = 1.5) A) DOP limit 3D: PDOP 12 2D: HDOP 6 B) Elevation mask: 5 or more Velocity Acceleration 500km/h or less 2G or less Every 1s DARC BTA R-003 standard RTCM SC104 version 2.1 (6 of 8 format) Using type 1 data for correct caluculation All-in-view measurement 2-satellite measurement
Positioning system Positioning accuracy
Positioning condition
Follow-up performance
Measured data update time D-GPS function
Measurement method
-2-
GXB2000
TTFF (No signal break) 1 Hot Start (time, position, with ephemeris and almanac) 7 to 20s Warm Start (time, position, without ephemeris, with almanac) 33 to 50s Cold Start (time, position, without ephemeris and almanac) 35 to 60s Reacquisition Time (interrupt recovery time) The case of the interrupt less than 5 minutes 2 to 6s The case of the interrupt more than 5 minutes 6 to 10s 1 Condition: The case of meeting positioning condition and receiving 8 satellites continuously and normally. Conditons of Cold Start Abnormal RAM data and abnormal RTC data for the command input JST: CN connector JST: SM10B-SRSS
RF input connector I/O connector (Power supply, data mode) Communication Specification Communication method Transfer rate input/output Electric level I/O code Communication format Electrical Specification Supply voltage (3V spec.) (5V spec.) Current consumption Backup supply voltage current Pre-amplifier power supply Operating temperature
Start-stop synchronization 9600bps TTL level ASCII code Sony/NMEA0183 switching possible
3.1 to 3.6V Ripple 50mVp-p or less 4.5 to 5.5V Ripple 50mVp-p or less 82mA typ. (Vcc = 3.3V, 25C) 1.8 to 3.0V 30A typ. (+B = 3.0V, 25C) 70A max. (+B = 3.0V, 85C) 2.7 to 3.6V, 10 to 30mA -40 to +85C
-3-
GXB2000
I/O Connector Pin Pin Configuration Pin No. 1 2 3 4 5 6 7 8 9 10 Symbol VCC RESET TXD0 RXD0 RXD1 MODE NC +BU NC GND I/O -- I O I I I -- -- -- -- Main power supply. Reset input for initializing the reception unit. Measured data output. Command input. D-GPS data input. Communication format switching pin. (L = Sony, H = NMEA0183) No connection. Power supply for backup. Fixed H level. GND Description
Electrical Characteristics Item Supply voltage 3V spec. 5V spec. H level L level H level L level Symbol VDD Vcc VIH VIL VOH VOL IOH = -4mA IOL = 4mA 1.8 +BU = 3V 5 30 VDD - 0.8 0.4 3.0 70 Conditions Min. 3.0 4.5 0.7VDD Typ. 3.3 5.0 Max. 3.6 5.5 5.5 0.2VDD
(Topr = -40 to +85C) Unit Applicable pins V 1
Input voltage
V
2, 4, 5
Output voltage Backup supply voltage
V V A
3 8 8
Current consumption at backup
-4-
GXB2000
Antenna Pre-amplifier Power Supply Circuit
15 (1/2W) 1 (VCC) 10 (GND) I/O connector
RF connector +3V (3/5V common specification)
RF part
Sony Recommend Antenna Specification Antenna part Center frequency Polarization Gain Axis ratio Pre-amplifier part Gain Noise figure (NF)
1575.42MHz Right handed circular polarization -5dBi or more (5 Angle of elevation) 3dB typ. (Angle of elevation = 90)
22dB or more (without cable loss) 2.5dB or less
All-round specification (antenna + pre-anplifire + cable loss) Gain 17dBi or more (Angle of elevation = 90) Output impedance 50 Output VSWR 2.0 or less Supply voltage 2.8 to 3.2V Current consumption 30mA or less
-5-
GXB2000
Reception Unit Initialization and Operation The GXB2000 operation is started by setting the reset input signal RESET (Pin 2) for the reception unit initialization to high level. The timing should satisfy the conditions noted below. During Power-on (power-on reset) VDD = 3.0 to 3.6V, VCC = 4.5 to 5.5V, temperature = -40 to +85C
VDD/VCC
RESET (Pin 2) 100ms or more Power supply
VDD or VCC/2
GND
Initialization During Operation VDD = 3.0 to 3.6V, VCC = 4.5 to 5.5V, temperature = -40 to +85C
Power supply VDD/VCC
RESET (Pin 2) 100s or more
VDD or VCC/2
GND
-6-
GXB2000
GXB2000 GPS Reception Unit Composition
GPS antenna
Antenna part Pre-amplifier part
Coaxial cable
RF cable with CN connector
GXB2000 GPS reception unit
I/O connector SM10B-SRSS (JST)
+BU -- 8
NC -- 9
RESET -- 2
MODE -- 6
GND -- 10
Vcc -- 1
TXD0 -- 3
RXD0 -- 4
RXD1 -- 5
NC -- 7
Do not connect anything to NC. Fixed H level
-7-
GXB2000
Specification of form name GXB20 C Advance of software: An English letter (A to Z) Advance of hardware: An English letter (A to Z) Supply voltage: 3V spec. = 3, 5V spec. = 5 Customer code: Figure (0 to 99)
Package Outline
Unit: mm
Quality of case materials: JIS63303 Electroplated tin
9.0 0.2 7.0 0.2 37.9 SM10B-SRSS 10 5.7 0.1 2.0 1.2 0.2
GXB2000-3AAC
26.5 1 3.1 1.5 4.55
29.2
GXB2000-3AAC
Year manufactured (End of figure for Christrian era) Week manufactured
Assembly plant code Consective numbers
-8-
7
GXB2000
GPS Receiver Data Input/Output Specifications Contents 1. I/O Data Input/Output Specifications .......................................................................................................... S-2 2. D-GPS Data Input Specifications ............................................................................................................. S-16
S-1
GXB2000
1. I/O Data Input/Output Specifications 1-1. Communication 1-1-1. Serial input/output communication method Interface: Asynchronous serial interface (UART) Baud rate: 9600 bps Start bit: 1 bit Data bits: 8 bits Stop bit: 1 bit Parity bit: None Communication control signal: None Output period: Approximately 1s 1-1-2. Asynchronous serial interface
1 LSB D0 0 D1 D2 D3 D4 D5 D6 MSB D7
Start bit 1 bit
Data bits 8 bits
Stop bit 1 bit
S-2
GXB2000
1-2. Output Data 1-2-1. Standard output BIT No. 76543210 1 2 3 4 5 6 7 8 9 10 11 12 11010000 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx Header Software version information Latitude Resolution: 0.01" South latitude is two's complement notation. Value range: 32400000 to -32400000 Longitude Resolution: 0.01" West longitude is two's complement notation. Value range: 64800000 to -64800000 Altitude Resolution: 1m Negative altitude is two's complement notation. Value range: 8191 to -8191 Speed Resolution: 0.1km/h Value range: 0 to 5150 Direction Resolution: 0.1 Value range: 0 to 3599 PDOP value Resolution: 0.1 Value range: 0 to 999 Current time mode 0: UTC time 1: JST time Current time Year Year Month Date Hour Minute Second Day Measurement calculation time Year Year Month Date Hour Minute Second S-3 01 North latitude 87 29' 10.24" (= 314950.24") West longitude 175 42' 30.11" (= -632550.11") 3775m Example Contents Setting value -- Output data (HEX) D0 01 0F 02 26 70 61 6B 1C 1D 00 1D 3F 04 5D 18 23 04 00 01
13 14 15 16 17 18 19
0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx
60.5km/h
310.7
51.2
1
20 21 22 23 24 25 26 27 28 29 30 31 32 33 34
0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx
1999 02 22 12 54 46 01 1999 02 22 12 55 30
0F 4F 02 16 0C 36 2E 01 0F 4F 02 16 0C 37 1E
GXB2000
No. 35 36 37 38 39 40 41 42 43 44
BIT 76543210 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx
Example Contents Number of visible satellites Value range: 0 to 32 Satellite Nos. used for measurement 8 satellite Nos. Value range: 0 to 32 Satellite No.: 0 is invalid. 8 4 10 18 9 20 25 7 31 1 Setting value Output data (HEX) 08 04 0A 12 09 14 19 07 1F 01
Measurement calculation mode 0: Invalid 1: 2-satellite measurement 2: 3-satellite measurement 3: 4-(or more) satellite measurement Geodesic system Value range: 0 to 25 Measurement delay time Resolution: 0.1s Value range: 0 to 9 Information for 1st satellite
45 46
0xxxxxxx 0xxxxxxx
18 0.4s
12 04
47 48 49 50
0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx
Satellite No. Value range: 0 to 32 Azimuth Resolution: 1 Value range: 0 to 359 Angle of elevation Resolution: 1 Value range: 0 to 90 Reception status 0: Searching 1: Acquired 2: Usable for calculation 3: Radio waves cut off; interpolating 4: Satellite Unhealth 5: Currently being used for position calculation Signal level Resolution: 1dBHz Value range: 0 to 100 Information for 2nd satellite Information for 3rd satellite Information for 4th satellite Information for 5th satellite
16 218
10 01 5A 38
56
51
0xxxxxxx
3
03
52
0xxxxxxx
100
64
53 to 59 to 65 to 71 to
S-4
GXB2000
No. 77 to 83 to 89 to 95 to 101 to 107 to 113 to 119 to 125 to 131 to 137 to 143 to 144 to 150
BIT 76543210
Example Contents Information for 6th satellite Information for 7th satellite Information for 8th satellite Information for 9th satellite Information for 10th satellite Information for 11th satellite Information for 12th satellite Information for 13th satellite Information for 14th satellite Information for 15th satellite Information for 16th satellite Setting value Output data (HEX)
0xxxxxxx
Preamplifier check 0: Normal, 1: Disconnected, 2: Short circuit Reserved
2
02
1101101
Terminator. "Z" + 80H
--
DA
S-5
GXB2000
1-2-2. Expanded output BIT No. 76543210 150 0xxxxxxx Latitude 0.001 to 0.0001" value Value range: 0 to 99 Longitude 0.001 to 0.0001" value Value range: 0 to 99 Speed 0.01 km/h value Value range: 0 to 9 Number of healthy satellites Value range: 0 to 32 Not related to user Example Contents Setting value 0.0025" Output data (HEX) 19
151
0xxxxxxx
0.0091"
5B
152
0xxxxxxx
0.03km/h
03
153 154 155 156 157 158 159 160 161 162 163 164 165
0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx
15 --
0F --
Not related to user Not related to user SVACC Value range: 0 to 15 Error major axis radius (1 estimated error) Resolution: 1m Value range: 0 to 510 Error minor axis radius (1 estimated error) Resolution: 1m Value range: 0 to 510 Error major axis inclination Resolution: 1 Value range: 0 to 179 Angle clockwise from north HDOP value Resolution: 0.1 Value range: 0 to 999 VDOP value Resolution: 0.1 Value range: 0 to 999 D-GPS measurement flag 0: Invalid 1: GPS measurement 2: D-GPS measurement D-GPS station No. Value range: 0 to 1023 D-GPS data elapsed time Resolution: 1s S-6 13 130
-- -- 0D 01 02 00 29 01 25
-- --
41
165
166 167 168 169 170
0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx
51.2
04 00 04 00 01
51.2
1
171 172 173
0xxxxxxx 0xxxxxxx 0xxxxxxx
1023 1
07 7F 01
GXB2000
No. 174
BIT 76543210 0xxxxxxx DARC/RTCM mode 0: DARC 1: RTCM
Example Contents 1 Setting value Output data (HEX) 01
175 176 177 178 179 180 181 182 to 190
0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx
PDOP limit value when D-GPS is on HDOP limit value when D-GPS is on PDOP limit value when D-GPS is off HDOP limit value when D-GPS is off Angle of elevation limit value Speed limit value Reserved
1 1 1 1 1 1
01 01 01 01 01 00 01
1101101
Terminator. "Z" + 80H
--
DA
S-7
GXB2000
1-2-3. Almanac data output BIT No. 76543210 1 2 * * * * * 44 45 10100100 Header 0xxxxxxx * * * * * 0xxxxxxx 11011010 Terminator. "Z" + 80H -- DA Example Contents Setting value Output data (HEX) A4
After the receiver receives an almanac output request, it transmits a response and then outputs the almanac data. The above format is for 1 subframe of the almanac data, and 64 frames of this data are sent in succession. Almanac communication data is sent by dividing the original data into 7-bit sections. The almanac data stored in the GPS receiver memory has the configuration shown below. Normally each word of the almanac data has 6-bit parity, but this is eliminated when the data is stored in the memory. In addition, a 16-bit checksum is added in consideration of communication.
WORD1 WORD2 WORD3 WORD4 WORD5 WORD6 WORD7 WORD8 WORD9 WORD10 Checksum
24 bits 24 bits 24 bits 24 bits 24 bits 24 bits 24 bits 24 bits 24 bits 24 bits 16 bits (2) Relationship between checksum and communication data
15 Before conversion 0 After conversion 31 0 0 0 0 0 0000 Before conversion
(1) Relationship between word data and communication data
23 0
The relationship between the above data and the communication data is shown to the right.
23 After conversion 0 0 0
0 00000
S-8
GXB2000
1-3. Input Data 1-3-1. TM command (receiver clock setting) BIT No. 76543210 1 2 3 4 5 6 7 8 9 10100000 Header 0xxxxxxx Year 0xxxxxxx 0xxxxxxx Month 0xxxxxxx Date 0xxxxxxx Hour 0xxxxxxx Minute 0xxxxxxx Second 11011010 Terminator. "Z" + 80H 1999 10 29 8 46 59 -- Example Contents Setting value -- Input data (HEX) A0 0F 4F 0A 1D 08 2E 3B DA
After receiving the above command, the GPS side sends this command as a response.
1-3-2. PT command (receiver latitude and longitude initial value settings) BIT No. 76543210 1 2 3 4 5 6 7 8 9 10 10100001 Header 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx Latitude Resolution: 0.01" South latitude is two's complement notation. Value range: 32400000 to -32400000 Longitude Resolution: 0.01" West longitude is two's complement notation. Value range: 64800000 to -64800000 Example Contents Setting value -- North latitude 87 29' 10.24" (= 314950.24") West longitude 175 42' 30.11" (= -632550.11") -- Input data (HEX) A1 0F 02 26 70 61 6B 1C 1D DA
11011010 Terminator. "Z" + 80H
After receiving the above command, the GPS side sends this command as a response.
S-9
GXB2000
1-3-3. SK command (receiver geodesic system parameter setting) BIT No. 76543210 1 2 3 10100010 Header 0xxxxxxx Geodesic system Value range: 0 to 25 11011010 Terminator. "Z" + 80H 18 -- Example Contents Setting value -- Input data (HEX) A2 12 DA
After receiving the above command, the GPS side sends this command as a response.
1-3-4. AMI command (receive almanac data) BIT No. 76543210 1 2 10100011 Header 11011010 Terminator. "Z" + 80H Example Contents Setting value -- -- Input data (HEX) A3 DA
After receiving the above command, the GPS side sends this command as a response. The NAVI (PC) side receives this command and then sends the almanac data to the GPS side.
1-3-5. AMO command (transmit almanac data) BIT No. 76543210 1 2 10100100 Header 11011010 Terminator. "Z" + 80H Example Contents Setting value -- -- Input data (HEX) A4 DA
After receiving the above command, the GPS side sends this command as a response, followed by the almanac data.
1-3-6. CD command (initialize almanac data area and cold start) BIT No. 76543210 1 2 10100101 Header 11011010 Terminator. "Z" + 80H Example Contents Setting value -- -- Input data (HEX) A5 DA
After receiving the above command, the GPS side sends this command as a response.
S-10
GXB2000
1-3-7. SR command (wait 400ms and hot start) BIT No. 76543210 1 2 10100110 Header 11011010 Terminator. "Z" + 80H Example Contents Setting value -- -- Input data (HEX) A6 DA
After receiving the above command, the GPS side sends this command as a response.
1-3-8. EL command (angle of elevation limit value setting) BIT 76543210 10100111 Header 0xxxxxxx Angle of elevation Resolution: 1 Value range: 0 to 90 11011010 Terminator. "Z" + 80H 56 Example Contents Setting value -- Input data (HEX) A7 38
No. 1 2
3
--
DA
After receiving the above command, the GPS side sends this command as a response.
1-3-9. BC command (clear DARC receive data) BIT 76543210 10101000 Header 11011010 Terminator. "Z" + 80H Example Contents Setting value -- -- Input data (HEX) A8 DA
No. 1 2
After receiving the above command, the GPS side sends this command as a response.
1-3-10. DG command (D-GPS on/off setting) BIT 76543210 10101001 Header 0xxxxxxx D-GPS on/off setting 0: Off 1: On 11011010 Terminator. "Z" + 80H 1 Example Contents Setting value -- Input data (HEX) A9 01
No. 1 2
3
--
DA
After receiving the above command, the GPS side sends this command as a response. S-11
GXB2000
1-3-11. GS command (4 DOP threshold value settings) BIT No. 76543210 1 2 3 4 5 6 10101010 Header 0xxxxxxx PDOP threshold value when D-GPS is on 0xxxxxxx HDOP threshold value when D-GPS is on 0xxxxxxx PDOP threshold value when D-GPS is off 0xxxxxxx HDOP threshold value when D-GPS is off 11011010 Terminator. "Z" + 80H 64 40 50 32 64 40 50 32 -- DA Example Contents Setting value -- Input data (HEX) AA
After receiving the above command, the GPS side sends this command as a response.
1-3-12. DMD command (DARC data input mode) BIT No. 76543210 1 2 10101011 Header 11011010 Terminator. "Z" + 80H Example Contents Setting value -- -- Input data (HEX) AB DA
After receiving the above command, the GPS side sends this command as a response.
1-3-13. DMR command (RTCM data input mode) BIT 76543210 10101100 Header 11011010 Terminator. "Z" + 80H Example Contents Setting value -- -- Input data (HEX) AC DA
No. 1 2
After receiving the above command, the GPS side sends this command as a response.
S-12
GXB2000
1-3-14. EX command (expanded output mode on/off) BIT 76543210 10101101 Header 0xxxxxxx Expanded output on/off setting 0: Off 1: On 11011010 Terminator. "Z" + 80H 1 Example Contents Setting value -- Input data (HEX) AD 01
No. 1 2
3
--
DA
After receiving the above command, the GPS side sends this command as a response.
1-3-15. SW command (eliminate ephemeris and warm start) BIT 76543210 10101110 Header 11011010 Terminator. "Z" + 80H Example Contents Setting value -- -- Input data (HEX) AE DA
No. 1 2
After receiving the above command, the GPS side sends this command as a response.
1-3-16. TC command (current time mode setting) BIT 76543210 10101111 Header 0xxxxxxx Current time mode setting 0: UTC 1: JST 11011010 Terminator. "Z" + 80H 1 Example Contents Setting value -- Input data (HEX) AF 01
No. 1 2
3
--
DA
After receiving the above command, the GPS side sends this command as a response.
S-13
GXB2000
1-3-17. CH command (satellite No. setting during manual setting) BIT 76543210 11000000 Header 0xxxxxxx Satellite Nos. for 16 channels 0xxxxxxx Value range: 1 to 64 0xxxxxxx 0 is invalid. 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 11011010 Terminator. "Z" + 80H 9 5 18 1 20 2 6 12 -- -- -- -- -- -- -- -- -- DA Example Contents Setting value -- Input data (HEX) C0 09 05 12 01 14 02 06 0C -- -- -- -- -- -- -- --
No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
After receiving the above command, the GPS side sends this command as a response.
1-3-18. LF command (D-GPS valid time setting) BIT No. 76543210 1 2 3 4 11000111 Header 0xxxxxxx D-GPS valid time 0xxxxxxx Resolution: s 11011010 Terminator. "Z" + 80H -- DA Example Contents Setting value -- Input data (HEX) C7
After receiving the above command, the GPS side sends this command as a response.
1-3-19. EP1 command (receive ephemeris data) BIT 76543210 11001101 Header 11011010 Terminator. "Z" + 80H Example Contents Setting value -- -- Input data (HEX) CD DA
No. 1 2
After receiving the above command, the GPS side sends this command as a response. The NAVI (PC) side receives this command and then sends the ephemeris data to the GPS side. S-14
GXB2000
1-3-20. EP0 command (transmit ephemeris data) BIT 76543210 11001110 Header 11011010 Terminator. "Z" + 80H Example Contents Setting value -- -- Input data (HEX) CE DA
No. 1 2
After receiving the above command, the GPS side sends this command as a response, followed by the ephemeris data.
1-3-21. VF command (heading filter value setting) BIT No. 76543210 1 2 3 4 10110001 Header 0xxxxxxx Heading filter value 0xxxxxxx Resolution: 0.1km/h 11011010 Terminator. "Z" + 80H Example Contents Setting value -- 999 (99.9km/h) -- Input data (HEX) B2 07 67 DA
After receiving the above command, the GPS side sends this command as a response.
S-15
GXB2000
2. D-GPS Data Input Specifications 2-1. Communication 2-1-1. Serial input communication method Interface: Asynchronous serial interface (UART) Baud rate: 9600 bps Start bit: 1 bit Data bits: 8 bits Stop bit: 1 bit Parity bit: None Communication control signal: None Input period: 1s or more 2-1-2. Asynchronous serial interface
1 LSB D0 0 D1 D2 D3 D4 D5 D6 MSB D7
Start bit 1 bit
Data bits 8 bits
Stop bit 1 bit
S-16
GXB2000
2-2. RTCM Data Input RTCM data input conforms to the RTCM SC-104 format and supports message type 1. The message type shared header and message type 1 format are shown below. These data are sent in the "6 of 8" format. In this format, each word is divided into 6-bit units, the bits are reordered so that the LSB comes first and the MSB comes last, and then "01" is added to the head of the bits. 2-2-1. Message type shared header
1 PREAMBLE 8bit MESSAGE TYPE 6bit STATION ID 10bit 30 PARITY 6bit WORD1
LENGTH OF FRAME SEQ NCE NO. 1 MODIFIED Z-COUNT 13bit 3bit 5bit 3bit STATION HEALTH 30 PARITY 6bit WORD2
PREAMBLE: MESSAGE TYPE: STATION ID: PARITY: MODIFIED Z-COUNT: SEQ NCE NO.: LENGTH OF FRAME: STATION HEALTH:
Preamble Message type Reference station ID No. Error correction code Modified Z-count Frame sequence No. Frame length Reference station health
S-17
GXB2000
2-2-2. Message type 1 (differential GPS correction value)
SCALE FACTOR UDRE SATELLITE ID 1 PSEUDORANGE CORRECTION 1bit 2bit 5bit 16bit
30 PARITY 6bit WORD3
SCALE FACTOR UDRE SATELLITE ID 1 RANGE-RATE CORRECTION 8bit 1 PSEUDORANGE CORRECTION 16bit ISSUE OF DATA 8bit 2bit 1bit RANGE-RATE CORRECTION 8bit 6bit 30 PARITY 6bit 30 PARITY 6bit WORD5 WORD4
1 ISSUE OF DATA 8bit
SCALE FACTOR UDRE PSEUDORANGE CORRECTION SATELLITE ID (UPPER BYTE) 30 PARITY 2bit 1bit 5bit 8bit 6bit WORD6
SCALE FACTOR: UDRE: SATELLITE ID: PSEUDORANGE CORRECTION: RANGE-RATE CORRECTION: ISSUE OF DATA:
Pseudorange correction value scale factor User differential range error index Satellite ID No. Pseudorange correction value Pseudorange rate-of-change correction value Data issue No.
S-18
GXB2000
PSEUDORANGE CORRECTION (LOWER BYTE) 1 RANGE-RATE CORRECTION 8bit 1 RANGE-RATE CORRECTION 8bit 1 ISSUE OF DATA 8bit FILL 16bit ISSUE OF DATA 8bit FILL 8bit 8bit ISSUE OF DATA 8bit 30 PARITY 6bit 30 PARITY 6bit 30 PARITY 6bit WORD9 WORD8 WORD7
FILL: Dummy bit
S-19
GXB2000
2-3. DARC Data Input DARC data is output in the communication format noted below. The D-GPS basic data is located in the D-GPS segments. The D-GPS basic data is comprised of 288 bits (36 bytes). Data packet 1 22 bytes Prefix 4 bytes D-GPS segment 18 bytes Prefix 2 bytes Data packet 2 22 bytes D-GPS segment 18 bytes CRC 2 byte Checksum 1 byte xxh Terminator 1 byte 0Dh
The D-GPS basic data configuration is as follows. Bit position 1 to 3 4 5 to 38 39 to 72 73 to 106 107 to 140 141 to 174 175 to 208 209 to 242 243 to 276 277 to 288 D-GPS data ID Correction time 1st GPS satellite correction data 2nd GPS satellite correction data 3rd GPS satellite correction data 4th GPS satellite correction data 5th GPS satellite correction data 6th GPS satellite correction data 7th GPS satellite correction data 8th GPS satellite correction data Communication data Description Number of bits 3 bits 1 bit 34 bits 34 bits 34 bits 34 bits 34 bits 34 bits 34 bits 34 bits 12 bits
The GPS satellite correction data configuration is as follows. Bit position 1 2 to 3 4 to 8 9 to 19 20 to 26 27 to 34 Scale factor UDRE (User differential range error index) GPS satellite ID PRC (Pseudorange correction value) RRC (Pseudorange rate-of-change correction value) IODE (Ephemeris data issue No.) Description Number of bits 1 bit 2 bits 5 bits 11 bits 7 bits 8 bits
S-20
GXB2000
Geodetic System and Corresponding Country Setting value 0 1 2 3 4 5 6 7 8 9 10 11 Geodetic system WGS-84 TOKYO ADINDAN ARC 1950 CAPE MERCHICH HONG KONG 1963 SOUTH ASIA LUZEN INDIAN INDIAN KERTAU 1948 NORTH AMERICAN 1927 Reference Ellipsoid WGS-84 Bessel 1841 Clarke 1880 Clarke 1880 Clarke 1880 Clarke 1880 International Modified Fisher 1960 Clarke 1866 Everest Everest Modified Everest Clarke 1866 Japan, Korea Ethiopia, Mali, Senegal, Sudan Botswana, Lesotho, Malawi, Swaziland, Zaire, Zambia, Zimbabwe South Africa Morocco Hong Kong Singapore Philippines Thailand, Vietnam Bangladesh, India, Nepal West Malaysia, Singapore Belize, Costa Rica, El Salvador, Guatemala, Honduras, Nicaragua, Mexico Austria, Belgium, Cyprus, Channel Islands, Denmark, England, Finland, France, Germany, Gibraltar, Greece, Ireland, Italy, Luxembourg, Netherlands, Norway, Portugal, Scotland, Shetland Island, Spain, Sweden, Switzerland Ireland England, Isle of Man, Scotland, Shetland IsIand, Wales Masirash Island, Oman, United Arab Emirates Saudi Arabia Egypt Canada, Newfoundland Island Alaska, Canada, Mexico, Central America, United States of America Australia, Tasmania Island New Zealand Bolivia, Chile, Colombia, Ecuador, Guyana, Peru, Venezuela Argentina, Bolivia, Brazil, Chile, Colombia, Ecuador, Guyana, Paraguay, Peru, Trinidad and Tobago, Venezuela Argentina Brazil S-21
12
EUROPEAN 1950 EUROPEAN 1950
International
13 14 15 16 17 18 19 20 21 22 23 24 25
IRELAND 1965 ORDNANCE SURVEY OF GREAT BRITAIN 1936 NAHRWAN NAHRWAN OLD EGYPTIAN NORTH AMERICAN 1927 NORTH AMERICAN 1983 AUSTRALIAN GEODETIC 1984 GEODETIC DATUM 1949 PROVISIONAL SOUTH AMERICAN 1956 SOUTH AMERICAN 1969 CAMPO INCHAUSPE CORREGO ALEGE
Modified Airy Airy Clarke 1880 Clarke 1880 Helmert 1906 Clarke 1866 GRS 80 Australian National International International South American 1969 International International
GXB2000
GPS Receiver NMEA-0183 Input/Output Specifications Contents 1. I/O Data Input/Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SS-2 2. NMEA Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SS-11 3. D-GPS Data Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SS-27
SS-1
GXB2000
1. I/O Data Input/Output Specifications 1-1. Communication 1-1-1. Serial input/output communication method Interface: Asynchronous serial interface (UART) I/O channel: CH0 Baud rate: 4800bps Start bit: 1 bit Data bits: 8 bits Stop bit: 1 bit Parity bit: None Communication control signal: None Output period: Approximately 1s 1-1-2. Asynchronous serial interface
1
LSB D0 D1 D2 D3 D4 D5 D6
MSB D7
0
Start bit 1 bit
Data bits 8 bits
Stop bit 1 bit
SS-2
GXB2000
1-2. Almanac Data Output BIT 76543210 10100100 Header 0xxxxxxx
* * * * *
Example Contents Setting value Output data (HEX) A4
No. 1 2
* * * * *
44 45
0xxxxxxx 11011010 Terminator. "Z" + 80HEX -- DA
After the receiver receives an almanac output request, it transmits a response and then outputs the almanac data. The above format is for 1 subframe of the almanac data, and 64 frames of this data are sent in succession. Almanac communication data is sent by dividing the original data into 7-bit sections. The almanac data stored in the GPS receiver memory has the configuration shown below. Normally each word of the almanac data has 6-bit parity, but this is eliminated when the data is stored in the memory. In addition, a 16-bit checksum is added in consideration of communication.
WORD1 WORD2 WORD3 WORD4 WORD5 WORD6 WORD7 WORD8 WORD9 WORD10 Checksum
24 bits 24 bits 24 bits 24 bits 24 bits 24 bits
31 Before conversion
(1) Relationship between word data and communication data
23 0
24 bits 24 bits 24 bits 24 bits 16 bits
After conversion
0
0
0
0
(2) Relationship between checksum and communication data
The relationship between the above data and the communication data is shown to the right.
15 Before conversion
0
23 After conversion 0 0 0
0 00000
SS-3
GXB2000
1-3. Input Commands 1-3-1. TM command (receiver clock setting) BIT No. 76543210 1 2 3 4 5 6 7 8 9 10100000 Header 0xxxxxxx Year 0xxxxxxx 0xxxxxxx Month 0xxxxxxx Date 0xxxxxxx Hour 0xxxxxxx Minute 0xxxxxxx Second 11011010 Terminator. "Z" + 80HEX 1999 10 29 8 46 59 -- Example Contents Setting value -- Input data (HEX) A0 0F 4F 0A 1D 08 2E 3B DA
After receiving the above command, the GPS side sends this command as a response.
1-3-2. PT command (receiver latitude and longitude initial value settings) BIT 76543210 10100001 Header 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx Latitude Resolution: 0.01" South latitude is two's complement notation. Value range: 32400000 to -32400000 Longitude Resolution: 0.01" West longitude is two's complement notation. Value range: 64800000 to -64800000 Example Contents Setting value -- North latitude 87 29' 10.24" (= -314950.24") West longitude 175 42' 30.11" (= -632550.11") -- Input data (HEX) A1 0F 02 26 70 61 6B 1C 1D DA
No. 1 2 3 4 5 6 7 8 9 10
11011010 Terminator. "Z" + 80HEX
After receiving the above command, the GPS side sends this command as a response.
SS-4
GXB2000
1-3-3. SK command (receiver geodesic system parameter setting) BIT No. 76543210 1 2 3 10100010 Header 0xxxxxxx Geodesic system Value range: 0 to 25 11011010 Terminator. "Z" + 80HEX 18 -- Example Contents Setting value -- Input data (HEX) A2 12 DA
After receiving the above command, the GPS side sends this command as a response.
1-3-4. AMI command (receive almanac data) BIT No. 76543210 1 2 10100011 Header 11011010 Terminator. "Z" + 80HEX Example Contents Setting value -- -- Input data (HEX) A3 DA
After receiving the above command, the GPS side sends this command as a response. The NAVI (PC) side receives this command and then sends the almanac data to the GPS side.
1-3-5. AMO command (transmit almanac data) BIT No. 76543210 1 2 10100100 Header 11011010 Terminator. "Z" + 80HEX Example Contents Setting value -- -- Input data (HEX) A4 DA
After receiving the above command, the GPS side sends this command as a response, followed by the almanac data.
1-3-6. CD command (initialize almanac data area and cold start) BIT No. 76543210 1 2 10100101 Header 11011010 Terminator. "Z" + 80HEX Example Contents Setting value -- -- Input data (HEX) A5 DA
After receiving the above command, the GPS side sends this command as a response.
SS-5
GXB2000
1-3-7. SR command (wait 400ms and hot start) BIT 76543210 10100110 Header 11011010 Terminator. "Z" + 80HEX Example Contents Setting value -- -- Input data (HEX) A6 DA
No. 1 2
After receiving the above command, the GPS side sends this command as a response.
1-3-8. EL command (angle of elevation limit value setting) BIT No. 76543210 1 2 10100111 Header 0xxxxxxx Angle of elevation Resolution: 1 Value range: 0 to 90 11011010 Terminator. "Z" + 80HEX 56 Example Contents Setting value -- Input data (HEX) A7 38
3
--
DA
After receiving the above command, the GPS side sends this command as a response.
1-3-9. BC command (clear DARC receive data) BIT 76543210 10101000 Header 11011010 Terminator. "Z" + 80HEX Example Contents Setting value -- -- Input data (HEX) A8 DA
No. 1 2
After receiving the above command, the GPS side sends this command as a response.
1-3-10. DG command (D-GPS on/off setting) BIT 76543210 10101001 Header 0xxxxxxx D-GPS on/off setting 0: Off 1: On 11011010 Terminator. "Z" + 80HEX 1 Example Contents Setting value -- Input data (HEX) A9 01
No. 1 2
3
--
DA
After receiving the above command, the GPS side sends this command as a response. SS-6
GXB2000
1-3-11. GS command (4 DOP threshold value settings (up to 99 (63HEX) max.)) BIT 76543210 10101010 Header 0xxxxxxx PDOP threshold value when D-GPS is on 0xxxxxxx 0xxxxxxx HDOP threshold value when D-GPS is on 0xxxxxxx 0xxxxxxx PDOP threshold value when D-GPS is off 0xxxxxxx 0xxxxxxx HDOP threshold value when D-GPS is off 0xxxxxxx 11011010 Terminator. "Z" + 80HEX 64 50 135 114 -- Example Contents Setting value -- Input data (HEX) AA 00 40 00 32 01 07 00 72 DA
No. 1 2 3 4 5 6 7 8 9 10
After receiving the above command, the GPS side sends this command as a response.
1-3-12. DMD command (DARC data input mode) BIT 76543210 10101011 Header 11011010 Terminator. "Z" + 80HEX Example Contents Setting value -- -- Input data (HEX) AB DA
No. 1 2
After receiving the above command, the GPS side sends this command as a response.
1-3-13. DMR command (RTCM data input mode) BIT 76543210 10101100 Header 11011010 Terminator. "Z" + 80HEX Example Contents Setting value -- -- Input data (HEX) AC DA
No. 1 2
After receiving the above command, the GPS side sends this command as a response.
SS-7
GXB2000
1-3-14. EX command (expanded output mode on/off) BIT 76543210 10101101 Header 0xxxxxxx Expanded output on/off setting 0: Off 1: On 11011010 Terminator. "Z" + 80HEX 1 Example Contents Setting value -- Input data (HEX) AD 01
No. 1 2
3
--
DA
After receiving the above command, the GPS side sends this command as a response.
1-3-15. SW command (eliminate ephemeris and warm start) BIT 76543210 10101110 Header 11011010 Terminator. "Z" + 80HEX Example Contents Setting value -- -- Input data (HEX) AE DA
No. 1 2
After receiving the above command, the GPS side sends this command as a response.
1-3-16. TC command (current time mode setting) BIT No. 76543210 1 2 10101111 Header 0xxxxxxx Current time mode setting 0: UTC 1: JST 11011010 Terminator. "Z" + 80HEX 1 Example Contents Setting value -- Input data (HEX) AF 01
3
--
DA
After receiving the above command, the GPS side sends this command as a response.
SS-8
GXB2000
1-3-17. CH command (satellite No. setting during manual setting) BIT 76543210 11000000 Header 0xxxxxxx Satellite Nos. for 16 channels 0xxxxxxx Value range: 1 to 64 0xxxxxxx 0 is invalid. 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 11011010 Terminator. "Z" + 80HEX 9 5 18 1 20 2 6 12 -- -- -- -- -- -- -- -- -- DA Example Contents Setting value -- Input data (HEX) C0 09 05 12 01 14 02 06 0C -- -- -- -- -- -- -- --
No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
After receiving the above command, the GPS side sends this command as a response.
1-3-18. LF command (D-GPS valid time setting) BIT 76543210 11000111 Header 0xxxxxxx D-GPS valid time 0xxxxxxx Resolution: s 11011010 Terminator. "Z" + 80HEX -- DA Example Contents Setting value -- Input data (HEX) C7
No. 1 2 3 4
After receiving the above command, the GPS side sends this command as a response.
1-3-19. EPI command (receive ephemeris data) BIT 76543210 11001101 Header 11011010 Terminator. "Z" + 80HEX Example Contents Setting value -- -- Input data (HEX) CD DA
No. 1 2
After receiving the above command, the GPS side sends this command as a response. The NAVI (PC) side receives this command and then sends the ephemeris data to the GPS side. SS-9
GXB2000
1-3-20. EP0 command (transmit ephemeris data) BIT 76543210 11001110 Header 11011010 Terminator. "Z" + 80HEX Example Contents Setting value -- -- Input data (HEX) CE DA
No. 1 2
After receiving the above command, the GPS side sends this command as a response, followed by the ephemeris data.
1-3-21. VF command (heading filter value setting) BIT 76543210 10110001 Header 0xxxxxxx Heading filter value 0xxxxxxx Resolution: 0.1km/h 11011010 Terminator. "Z" + 80HEX Example Contents Setting value -- 999 (99.9km/h) -- Input data (HEX) B2 07 67 DA
No. 1 2 3 4
After receiving the above command, the GPS side sends this command as a response.
SS-10
GXB2000
2. NMEA Output Specifications 2-1. Output Messages 2-1-1. GPGGA message BIT No. 76543210 Header 00100100 "$" 01000111 01010000 01000111 01000111 01000001 Address field "G" "P" "G" "G" "A" Example Contents Setting value Fixed Fixed 47 50 47 47 41 Fixed 06:22:43 00 36 32 32 34 33 Fixed 36 03.979' 33 36 30 33 2E 39 37 39 Fixed North latitude 4E Fixed 140 10.296' 31 34 30 31 30 2E 32 39 36 SS-11 2C 2C 2C 2C Output data (HEX) 24
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34
01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx UTC time Hour (10's digit) Hour (1's digit) Minute (10's digit) Minute (1's digit) Second (10's digit) Second (1's digit)
01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx Latitude Degree (10's digit) Degree (1's digit) Minute (10's digit) Minute (1's digit) "." Minute (0.1's digit) Minute (0.01's digit) Minute (0.001's digit)
01001100 " , " Latitude direction xxxxxxxx "N" or "S" 01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx Longitude Degree (100's digit) Degree (10's digit) Degree (1's digit) Minute (10's digit) Minute (1's digit) "." Minute (0.1's digit) Minute (0.01's digit) Minute (0.001's digit)
GXB2000
No. 35 36 37 38
BIT 76543210 01001100 " , " Longitude direction xxxxxxxx "E" or "W" 01001100 " , "
Example Contents Setting value Fixed West longitude 57 Fixed D-GPS measurement 2C 32 Output data (HEX) 2C
GPS Quality Indicator xxxxxxxx "0": Invalid "1": GPS measurement "2": D-GPS measurement 01001100 " , " Number of satellites used for measurement calculation xxxxxxxx "00" to "12" xxxxxxxx 01001100 " , " xxxxxxxx xxxxxxxx 00101110 xxxxxxxx HDOP 10's digit 1's digit "." 0.1's digit
39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66
Fixed 7-satellite measurement Fixed 1.2
2C 30 37 2C 30 31 2E 32
01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx Altitude (m) 1,000's digit 100's digit 10's digit 1's digit
Fixed 23m
2C 30 30 32 33
01001100 " , " Altitude units 01001101 "M" 01001100 " , " 01001100 " , " 01001101 "M" 01001100 " , " D-GPS data elapsed time (s) xxxxxxxx 100's digit xxxxxxxx 10's digit xxxxxxxx 1's digit 01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx D-GPS reference station ID 1,000's digit 100's digit 10's digit 1's digit
Fixed Fixed
2C 4D
Fixed Fixed Fixed Fixed 5s
2C 2C 4D 2C 30 30 35
Fixed 0
2C 30 30 30 30
00101010 " " SS-12
Fixed
2A
GXB2000
BIT No. 76543210
Example Contents Setting value 4A 34 41 Fixed 0D 0A Output data (HEX)
67 68 69 70
Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits Terminator 00001101 00001010
The Geoidal Separation parameter is not output (between No. 54 and No. 55).
SS-13
GXB2000
2-1-2. GPGLL message BIT No. 76543210 Header 00100100 "$" 01000111 01010000 01000111 01001100 01001100 Address field "G" "P" "G" "L" "L" Example Contents Setting value Fixed Fixed 47 50 47 4C 4C Fixed 36 03.979' 33 36 30 33 2E 39 37 39 Fixed North latitude 4E Fixed 140 10.296' 31 34 30 31 30 2E 32 39 36 Fixed West longitude 57 Fixed 06:22:43 00 36 32 32 34 33 Fixed SS-14 2C 2C 2C 2C 2C 2C Output data (HEX) 24
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37
01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx Latitude Degree (10's digit) Degree (1's digit) Minute (10's digit) Minute (1's digit) "." Minute (0.1's digit) Minute (0.01's digit) Minute (0.001's digit)
01001100 " , " Latitude direction xxxxxxxx "N" or "S" 01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx Longitude Degree (100's digit) Degree (10's digit) Degree (1's digit) Minute (10's digit) Minute (1's digit) "." Minute (0.1's digit) Minute (0.01's digit) Minute (0.001's digit)
01001100 " , " Longitude direction xxxxxxxx "E" or "W" 01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx UTC time Hour (10's digit) Hour (1's digit) Minute (10's digit) Minute (1's digit) Second (10's digit) Second (1's digit)
01001100 " , "
GXB2000
No.
BIT 76543210 Status xxxxxxxx "A": Data valid "V": Data invalid 00101010 " "
Example Contents Setting value Valid 41 Fixed 4A 34 41 Fixed 0D 0A 2A Output data (HEX)
38 39 40 41 42 43
Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits Terminator 00001101 00001010
SS-15
GXB2000
2-1-3. GPGSA message BIT 76543210 Header 00100100 "$" 01000111 01010000 01000111 01010011 01000001 Address field "G" "P" "G" "S" "A" Example Contents Setting value Fixed Fixed 47 50 47 53 41 Fixed Fixed to "A" 41 Fixed 3D measurement 33 2C 2C Output data (HEX) 24
No.
1 2 3 4 5 6 7 8 9 10
01001100 " , " GPS measurement switching mode xxxxxxxx "M": Manual "A": Auto 01001100 " , " GPS measurement mode xxxxxxxx "1": Invalid "2": 2D measurement "3": 3D measurement 01001100 " , " Satellite Nos. used for measurement 1st satellite No. xxxxxxxx 10's digit xxxxxxxx 1's digit 01001100 " , " 2nd satellite No. 3rd satellite No. 4th satellite No. 5th satellite No. 6th satellite No. 7th satellite No. 8th satellite No. 9th satellite No. 10th satellite No. 11th satellite No. 12th satellite No. xxxxxxxx xxxxxxxx 00101110 xxxxxxxx PDOP 10's digit 1's digit "." 0.1's digit
11
Fixed
2C
12 13 14 15 to 17 18 to 20 21 to 23 24 to 26 27 to 29 30 to 32 33 to 35 36 to 38 39 to 41 42 to 44 45 to 47 48 49 50 51 52
2.4 30 32 2E 34 Fixed SS-16 2C
01001100 " , "
GXB2000
No.
BIT 76543210 HDOP 10's digit 1's digit "." 0.1's digit
Example Contents Setting value 1.2 30 31 2E 32 Fixed 2.0 30 32 2E 30 Fixed 4A 34 41 Fixed 0D 0A 2A 2C Output data (HEX)
53 54 55 56 57 58 59 60 61 62 63 64 65 66
xxxxxxxx xxxxxxxx 00101110 xxxxxxxx
01001100 " , " xxxxxxxx xxxxxxxx 00101110 xxxxxxxx VDOP 10's digit 1's digit "." 0.1's digit
00101010 " " Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits Terminator 00001101 00001010
The data length for "Satellite Nos. used for measurement" is variable in order to output the numbers of all the satellites used for position measurement.
SS-17
GXB2000
2-1-4. GPGSV message BIT No. 76543210 Header 00100100 "$" 01000111 01010000 01000111 01010011 01010110 Address field "G" "P" "G" "S" "V" Example Contents Setting value Fixed Fixed 47 50 47 53 56 Fixed 2 32 Fixed 1 31 Fixed 08 30 38 Fixed 2C 2C 2C 2C Output data (HEX) 24
1 2 3 4 5 6 7 8 9 10 11 12 13 14
01001100 " , " Total number of GPGSV messages xxxxxxxx "1" to "3" 01001100 " , " GPGSV message number xxxxxxxx "1" to "3" 01001100 " , " Number of satellites within field of vision xxxxxxxx 10's digit xxxxxxxx 1's digit 01001100 " , " Information on satellites within field of vision for four satellites Satellite No. 10's digit 1's digit "," Angle of elevation () 10's digit 1's digit "," Azimuth () 100's digit 10's digit 1's digit "," C/N (dB) 10's digit 1's digit "," Information for 2nd satellite Information for 3rd satellite Information for 4th satellite 00101010 " " Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits SS-18
15 16 17 18 19 20 21 22 23 24 25 26 27 28 to 40 41 to 53 54 to 56 67 68 69
xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100
Fixed 4A
2A 34 41
GXB2000
No.
BIT 76543210 Terminator 00001101 00001010
Example Contents Setting value Fixed 0D 0A Output data (HEX)
70 71
The satellite information for up to four satellites can be sent with a single GPGSV message, so multiple GPGSV messages (up to three messages) are sent when there are four or more satellites within the field of vision. When there are fewer than four satellites, the information for that number of satellites is sent.
SS-19
GXB2000
2-1-5. GPRMC message BIT No. 76543210 Header 00100100 "$" 01000111 01010000 01010010 01001101 01000011 Address field "G" "P" "R" "M" "C" Example Contents Setting value Fixed Fixed 47 50 52 4D 43 Fixed 06:22:43 00 36 32 32 34 33 Fixed Valid 41 Fixed 36 03.979' 33 36 30 33 2E 39 37 39 Fixed North latitude 4E Fixed 140 10.296' 31 34 30 31 30 2E 32 39 36 SS-20 2C 2C 2C 2C 2C Output data (HEX) 24
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36
01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx UTC time Hour (10's digit) Hour (1's digit) Minute (10's digit) Minute (1's digit) Second (10's digit) Second (1's digit)
01001100 " , " Status xxxxxxxx "A": Data valid "V": Data invalid 01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx Latitude Degree (10's digit) Degree (1's digit) Minute (10's digit) Minute (1's digit) "." Minute (0.1's digit) Minute (0.01's digit) Minute (0.001's digit)
01001100 " , " Latitude direction xxxxxxxx "N" or "S" 01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx Longitude Degree (100's digit) Degree (10's digit) Degree (1's digit) Minute (10's digit) Minute (1's digit) "." Minute (0.1's digit) Minute (0.01's digit) Minute (0.001's digit)
GXB2000
No. 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64
BIT 76543210 01001100 " , " Longitude direction xxxxxxxx "E" or "W" 01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx Speed (knots) 100's digit 10's digit 1's digit "." 0.1's digit
Example Contents Setting value Fixed West longitude 57 Fixed 20knot/h 30 32 30 2E 30 Fixed 48.5 30 34 38 2E 35 Fixed July 13, 1999 31 33 30 37 39 39 Fixed Fixed Fixed 4A 34 41 Fixed 0D 0A 2C 2C 2A 2C 2C 2C Output data (HEX) 2C
01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx Heading () 100's digit 10's digit 1's digit "." 0.1's digit
01001100 " , " Date xxxxxxxx 10's digit xxxxxxxx 1's digit Month xxxxxxxx 10's digit xxxxxxxx 1's digit Year xxxxxxxx 10's digit xxxxxxxx 1's digit 01001100 " , " 01001100 " , " 00101010 " " Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits Terminator 00001101 00001010
The Magnetic Variation parameter is not output. (between No. 58 and No. 59, and between No. 59 and No. 60)
SS-21
GXB2000
2-1-6. GPVTG message BIT No. 76543210 Header 00100100 "$" 01000111 01010000 01010110 01010100 01000111 Address field "G" "P" "V" "T" "G" Example Contents Setting value Fixed Fixed 47 50 56 54 47 Fixed 48.5 30 34 38 2E 35 Fixed Fixed Fixed Fixed Fixed Fixed 20knot/h 30 32 30 2E 30 Fixed Fixed Fixed 20km/h 30 32 30 2E 30 Fixed Fixed Fixed 4A 34 41 SS-22 2C 4B 2A 2C 4E 2C 2C 54 2C 2C 4D 2C 2C Output data (HEX) 24
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36
01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx Heading () 100's digit 10's digit 1's digit "." 0.1's digit
01001100 " , " 01010100 "T" 01001100 " , " 01001100 " , " 01001101 "M" 01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx Speed (knots) 100's digit 10's digit 1's digit "." 0.1's digit
01001100 " , " 01001110 "N" 01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx Speed (km/h) 100's digit 10's digit 1's digit "." 0.1's digit
01001100 " , " 01001011 "K" 00101010 " " Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits
GXB2000
No.
BIT 76543210 Terminator 00001101 00001010
Example Contents Setting value Fixed 0D 0A Output data (HEX)
37 38
The Course Over Ground and Degree Magnetic parameters are not output. (between No. 15 and No. 16)
SS-23
GXB2000
2-1-7. GPZDA message BIT No. 76543210 Header 00100100 "$" 01000111 01010000 01011010 01000100 01000001 Address field "G" "P" "Z" "D" "A" Example Contents Setting value Fixed Fixed 47 50 5A 44 41 Fixed 06:22:43 00 36 32 32 34 33 Fixed 13th 31 33 Fixed July 30 37 Fixed 1999 39 39 Fixed Fixed Fixed 4A 34 41 Fixed 0D 0A 2C 2C 2A 2C 2C 2C 2C Output data (HEX) 24
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29
01001100 " , " xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx UTC time Hour (10's digit) Hour (1's digit) Minute (10's digit) Minute (1's digit) Second (10's digit) Second (1's digit)
01001100 " , " Date xxxxxxxx 10's digit xxxxxxxx 1's digit 01001100 " , " Month xxxxxxxx 10's digit xxxxxxxx 1's digit 01001100 " , " Year xxxxxxxx 10's digit xxxxxxxx 1's digit 01001100 " , " 01001100 " , " 00101010 " " Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits Terminator 00001101 00001010
The Local Zone Description parameter is not output. (between No. 23 and No. 24, and between No. 24 and No. 25)
SS-24
GXB2000
2-1-8. PSNY message (manufacturer expanded output) BIT No. 76543210 Header 00100100 "$" 01010000 01010011 01011110 01011001 Address field "P" "S" "N" "Y" Example Contents Setting value Fixed Fixed 50 53 5E 49 Fixed Open 31 2C Output data (HEX) 24
1 2 3 4 5 6 7
01001100 " , " Preamplifier status xxxxxxxx "0": Normal "1": Open "2": Shorted 01001100 " , " Geodesic system xxxxxxxx "0" to "25" xxxxxxxx 01001100 " , " Angle of elevation limit () xxxxxxxx 10's digit xxxxxxxx 1's digit 01001100 " , " Speed limit (km/h) xxxxxxxx 100's digit xxxxxxxx 10's digit xxxxxxxx 1's digit 01001100 " , " PDOP limit (D-GPS on) xxxxxxxx 10's digit xxxxxxxx 1's digit 01001100 " , " HDOP limit (D-GPS on) xxxxxxxx 10's digit xxxxxxxx 1's digit 01001100 " , " PDOP limit (D-GPS off) xxxxxxxx 10's digit xxxxxxxx 1's digit 01001100 " , " HDOP limit (D-GPS off) xxxxxxxx 10's digit xxxxxxxx 1's digit SS-25
8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29
Fixed WGS-84
2C 30 30
Fixed 5
2C 30 35
Fixed 500km/h
2C 35 30 30
Fixed 4
2C 30 34
Fixed 6
2C 30 36
Fixed 4
2C 30 34
Fixed 6
2C 30 36
GXB2000
No. 30 31 32 33 34
BIT 76543210 00101010 " "
Example Contents Setting value Fixed 4A 34 41 Fixed 0D 0A Output data (HEX) 2A
Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits Terminator 00001101 00001010
2-2. Output Timing 1s period: GPVTG, GPGGA, GPGLL, GPRMC, GPZDA 2s period: GPGSA, PSNY, GPGSV
1s
2s
3s
4s
5s
GPVTG GPGGA GPGLL GPRMC GPZDA GPGSA PSNY
GPVTG GPGGA GPGLL GPRMC GPZDA GPGSV
GPVTG GPGGA GPGLL GPRMC GPZDA GPGSA PSNY
GPVTG GPGGA GPGLL GPRMC GPZDA GPGSV
GPVTG GPGGA GPGLL GPRMC GPZDA GPGSA PSNY
SS-26
GXB2000
3. D-GPS Data Input Specifications 3-1. Communication 3-1-1. Serial input communication method Interface: Asynchronous serial interface (UART) I/O channel: CH1 Baud rate: 9600bps Start bit: 1 bit Data bits: 8 bits Stop bit: 1 bit Parity bit: None Communication control signal: None Input period: 1s or more 3-1-2. Asynchronous serial interface
1
LSB D0 D1 D2 D3 D4 D5 D6
MSB D7
0
Start bit 1 bit
Data bits 8 bits
Stop bit 1 bit
SS-27
GXB2000
3-2. RTCM Data Input RTCM data input conforms to the RTCM SC-104 format and supports message type 1. The message type shared header and message type 1 format are shown below. These data are sent in the "6 of 8" format. In this format, each word is divided into 6-bit units, the bits are reordered so that the LSB comes first and the MSB comes last, and then "01" is added to the head of the bits. 3-2-1. Message type shared header
1 PREAMBLE 8bit MESSAGE TYPE 6bit STATION ID 10bit 30 PARITY 6bit WORD1
LENGTH OF FRAME SEQ NCE NO. 1 MODIFIED Z-COUNT 13bit 3bit 5bit 3bit STATION HEALTH 30 PARITY 6bit WORD2
PREAMBLE: MESSAGE TYPE: STATION ID: PARITY: MODIFIED Z-COUNT: SEQ NCE NO.: LENGTH OF FRAME: STATION HEALTH:
Preamble Message type Reference station ID No. Error correction code Modified Z-count Frame sequence No. Frame length Reference station health
SS-28
GXB2000
3-2-2. Message type 1 (differential GPS correction value)
SCALE FACTOR UDRE SATELLITE ID 1 PSEUDORANGE CORRECTION 1bit 2bit 5bit 16bit
30 PARITY 6bit WORD3
SCALE FACTOR UDRE SATELLITE ID 1 RANGE-RATE CORRECTION 8bit 1 PSEUDORANGE CORRECTION 16bit ISSUE OF DATA 8bit 2bit 1bit RANGE-RATE CORRECTION 8bit 6bit 30 PARITY 6bit 30 PARITY 6bit WORD5 WORD4
1 ISSUE OF DATA 8bit
SCALE FACTOR UDRE PSEUDORANGE CORRECTION SATELLITE ID (UPPER BYTE) 30 PARITY 2bit 1bit 5bit 8bit 6bit WORD6
SCALE FACTOR: UDRE: SATELLITE ID: PSEUDORANGE CORRECTION: RANGE-RATE CORRECTION: ISSUE OF DATA:
Pseudorange correction value scale factor User differential range error index Satellite ID No. Pseudorange correction value Pseudorange rate-of-change correction value Data issue No.
SS-29
GXB2000
PSEUDORANGE CORRECTION (LOWER BYTE) 1 RANGE-RATE CORRECTION 8bit 1 RANGE-RATE CORRECTION 8bit 1 ISSUE OF DATA 8bit FILL 16bit ISSUE OF DATA 8bit FILL 8bit 8bit ISSUE OF DATA 8bit 30 PARITY 6bit 30 PARITY 6bit 30 PARITY 6bit WORD9 WORD8 WORD7
FILL: Dummy bit
SS-30
GXB2000
3-3. DARC Data Input DARC data is output in the communication format noted below. The D-GPS basic data is located in the D-GPS segments. The D-GPS basic data is comprised of 288 bits (36 bytes). Data packet 1 22 bytes Prefix 4 bytes D-GPS segment 18 bytes Prefix 2 bytes Data packet 2 22 bytes D-GPS segment 18 bytes CRC 2 bytes Checksum 1 byte xxh Terminator 1 byte 0Dh
The D-GPS basic data configuration is as follows. Bit position 1 to 3 4 5 to 38 39 to 72 73 to 106 107 to 140 141 to 174 175 to 208 209 to 242 243 to 276 277 to 288 D-GPS data ID Correction time 1st GPS satellite correction data 2nd GPS satellite correction data 3rd GPS satellite correction data 4th GPS satellite correction data 5th GPS satellite correction data 6th GPS satellite correction data 7th GPS satellite correction data 8th GPS satellite correction data Communication data Description Number of bits 3 bits 1 bit 34 bits 34 bits 34 bits 34 bits 34 bits 34 bits 34 bits 34 bits 12 bits
The GPS satellite correction data configuration is as follows. Bit position 1 2 to 3 4 to 8 9 to 19 20 to 26 27 to 34 Scale factor UDRE (User differential range error index) GPS satellite ID PRC (Pseudorange correction value) RRC (Pseudorange rate-of-change correction value) IODE (Ephemeris data issue No.) Description Number of bits 1 bit 2 bits 5 bits 11 bits 7 bits 8 bits
SS-31

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