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| 16-channel gps receiver module description the gxb1000 is a 16-channel gps receiver module. the gxb1000 is a small and light device, and it includes all the functions required for gps except for the antenna. the gxb1000 can 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 (275mw, typ.) small and light package type the countermeasure of emi (electromagnetic wave impediment) recommended operating conditions supply voltage (3v spec.) v dd 3.0 to 3.6 v (5v spec.) v cc 4.5 to 5.5 v operating temperature topr ?0 to +85 ? gps (global positioning system) is the position measurrment system that the u.s. control and operate. it have some posibility o f the position measurement deterioration that depends on the working gps. it dose not gurantee the standard,etc in this material including the case above. ?1 e99657-ps sony reserves the right to change products and specifications without prior notice. this information does not convey any licens e by any implication or otherwise under any patents or other right. application circuits shown, if any, are typical examples illustr ating the operation of the devices. sony cannot assume responsibility for any problems arising out of the use of these circuits. gxb1000
? 2 gxb1000 specification specification of reception unit reception method parallel 16 channels rf input reception frequency 1575.42mhz l1 band, c/a code characteristics impedance 50 reception sensitivity ?30dbm or less (sony's recommended anntena input level) positioning system wgs-84 positioning accuracy position 100m 2drms (sa on, pdop = 2.5, hdop = 1.5) velocity 0.9m/s (sa on, pdop = 2.5, hdop = 1.5) positioning condition a) dop limit 3d: pdop 12 2d: hdop 6 b) elevation mask: 5 or more follow-up performance velocity 500km/h or less acceleration 2g or less measured data update time every 1s d-gps function darc bta r-003 standard rtcm sc104 version 2.1 (6 of 8 format) using type 1 data for correct caluculation measurement method all-in-view measurement 2-satellite measurement ? 3 gxb1000 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 rf input connector jst: cn connector i/o connector (power supply, data mode) jst: sm10b-srss communication specification communication method start-stop synchronization transfer rate input/output 9600bps electric level ttl level i/o code ascii code communication format sony/nmea0183 switching possible electrical specification supply voltage (3v spec.) 3.1 to 3.6v ripple 50mvp-p or less (5v spec.) 4.5 to 5.5v ripple 50mvp-p or less current consumption 83ma typ. (vcc = 3.3v, 25 c) backup supply voltage 1.8 to 3.0v current 30 a typ. (+b = 3.0v, 25 c) 70 a max. (+b = 3.0v, 85 c) pre-amplifier power supply 2.7 to 3.6v, 10 to 30ma operating temperature ?0 to +85 c ? 4 gxb1000 i/o connector pin pin configuration pin no. symbol i/o description 1 2 3 4 5 6 7 8 9 10 v cc reset txd0 rxd0 rxd1 mode nc +bu nc gnd 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) fixed h level. power supply for backup. no connection. gnd item symbol conditions min. typ. max. unit applicable pins 3v spec. 5v spec. h level l level h level l level v dd vcc v ih v il v oh v ol i oh = ?ma i ol = 4ma +bu = 3v 3.0 4.5 0.7v dd v dd ?0.8 1.8 5 3.3 5.0 30 3.6 5.5 5.5 0.2v dd 0.4 3.0 70 v v v v a 1 2, 4, 5 3 8 8 supply voltage input voltage output voltage backup supply voltage current consumption at backup electrical characteristics (topr = ?0 to +85 c) ? 5 gxb1000 antenna pre-amplifier power supply circuit 1 ( v c c ) 1 0 ( g n d ) i / o c o n n e c t o r + 3 v ( 3 / 5 v c o m m o n s p e c i f i c a t i o n ) r f c o n n e c t o r 1 5 ( 1 / 2 w ) r f p a r t sony recommend antenna specification antenna part center frequency 1575.42mhz polarization right handed circular polarization gain ?dbi or more (5 angle of elevation) axis ratio 3db typ. (angle of elevation = 90 ) pre-amplifier part gain 22db or more (without cable loss) noise figure (nf) 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 ? 6 gxb1000 reception unit initialization and operation the gxb1000 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) v dd = 3.0 to 3.6v, v cc = 4.5 to 5.5v, temperature = ?0 to +85 c initialization during operation v dd = 3.0 to 3.6v, v cc = 4.5 to 5.5v, temperature = ?0 to +85 c v d d / v c c r e s e t ( p i n 2 ) v d d o r v c c / 2 g n d p o w e r s u p p l y 1 0 0 m s o r m o r e v d d / v c c r e s e t ( p i n 2 ) v d d o r v c c / 2 g n d p o w e r s u p p l y 1 0 0 s o r m o r e ? 7 gxb1000 a n t e n n a p a r t g p s a n t e n n a p r e - a m p l i f i e r p a r t r f c a b l e w i t h c n c o n n e c t o r c o a x i a l c a b l e g x b 1 0 0 0 g p s r e c e p t i o n u n i t i / o c o n n e c t o r s m 1 0 b - s r s s ( j s t ) d o n o t c o n n e c t a n y t h i n g t o n c . v c c - - 1 r e s e t - - 2 t x d 0 - - 3 r x d 0 - - 4 r x d 1 - - 5 m o d e - - 6 n c - - 7 + b u - - 8 n c * - - 9 g n d - - 1 0 * f i x e d h l e v e l gxb1000 gps reception unit composition ? 8 gxb1000 gxb1000 gps reception unit external figure (connector type) specification of form name gxb10 - 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 s m 1 0 b - s r s s 1 0 g x b 1 0 0 0 - 3 a a c 1 4 0 . 0 0 . 3 4 . 5 5 0 . 2 2 0 . 0 0 . 1 5 2 0 . 0 0 . 1 5 4 8 . 5 0 . 3 9 . 0 0 . 3 7 . 0 0 . 3 3 . 1 0 . 2 2 6 . 5 0 . 3 f 2 . 0 7 . 0 0 . 3 1 . 2 0 . 2 5 . 7 0 . 2 1 . 5 0 . 1 g x b 1 0 0 0 - 3 a a c y e a r m a n u f a c t u r e d ( e n d o f f i g u r e f o r c h r i s t r i a n e r a ) a s s e m b l y p l a n t c o d e c o n s e c t i v e n u m b e r s w e e k m a n u f a c t u r e d q u a l i t y o f c a s e m a t e r i a l s : j i s 6 3 3 0 3 e l e c t r o p l a t e d t i n gxb1000 gps reception unit external figure (pin type) specification of form name gxb10 - p 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 ? 9 gxb1000 4 9 . 1 0 . 2 2 9 . 8 0 . 2 f 2 . 0 9 . 0 0 . 2 2 9 . 8 0 . 2 2 . 5 2 4 . 4 0 . 2 4 9 . 1 0 . 2 g p s 1 4 . 7 5 0 . 2 1 9 . 2 5 0 . 2 4 . 0 5 2 . 0 1 p i n 1 0 p i n g x b 1 0 0 0 - 3 a a p 7 . 6 0 . 2 2 . 2 0 . 2 1 0 1 1 . 2 0 . 2 7 . 3 0 . 2 8 . 9 0 . 2 g x b 1 0 0 0 - 3 a a p y e a r m a n u f a c t u r e d ( e n d o f f i g u r e f o r c h r i s t r i a n e r a ) a s s e m b l y p l a n t c o d e c o n s e c t i v e n u m b e r s w e e k m a n u f a c t u r e d q u a l i t y o f c a s e m a t e r i a l s : j i s 6 3 3 0 3 e l e c t r o p l a t e d t i n s-1 gxb1000 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- 2 gxb1000 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 l s b m s b s t o p b i t 1 b i t s t a r t b i t 1 b i t d a t a b i t s 8 b i t s d 0 d 1 d 2 d 3 d 4 d 5 d 6 d 7 0 s- 3 gxb1000 1-2. output data 1-2-1. standard output no. bit 76543210 contents example setting value output data (hex) 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 11010000 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 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 ?2400000 longitude resolution: 0.01" west longitude is two's complement notation. value range: 64800000 to ?4800000 altitude resolution: 1m negative altitude is two's complement notation. value range: 8191 to ?191 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 01 north latitude 87 29' 10.24" (= 314950.24") west longitude 175 42' 30.11" (= ?32550.11") 3775m 60.5km/h 310.7 51.2 1 1999 02 22 12 54 46 01 1999 02 22 12 55 30 d0 01 0f 02 26 70 61 6b 1c 1d 00 1d 3f 04 5d 18 23 04 00 01 0f 4f 02 16 0c 36 2e 01 0f 4f 02 16 0c 37 1e s- 4 gxb1000 no. bit 76543210 contents setting value output data (hex) 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 to 59 to 65 to 71 to 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 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. 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 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 8 4 10 18 9 20 25 7 31 1 18 0.4s 16 218 56 3 100 08 04 0a 12 09 14 19 07 1f 01 12 04 10 01 5a 38 03 64 example s- 5 gxb1000 no. bit 76543210 contents setting value output data (hex) 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 0xxxxxxx 1101101 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 preamplifier check 0: normal, 1: disconnected, 2: short circuit reserved terminator. "z" + 80h 2 02 da example s- 6 gxb1000 1-2-2. expanded output no. bit 76543210 contents setting value output data (hex) 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 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 not related to user not related to user svacc value range: 0 to 15 error major axis radius (1 s estimated error) resolution: 1m value range: 0 to 510 error minor axis radius (1 s 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 0.0025" 0.0091" 0.03km/h 15 13 130 41 165 51.2 51.2 1 1023 1 19 5b 03 0f 0d 01 02 00 29 01 25 04 00 04 00 01 07 7f 01 example s- 7 gxb1000 no. bit 76543210 contents setting value output data (hex) 174 175 176 177 178 179 180 181 182 to 190 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 1101101 darc/rtcm mode 0: darc 1: rtcm 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 terminator. "z" + 80h 1 1 1 1 1 1 1 01 01 01 01 01 01 00 01 da example s- 8 gxb1000 1-2-3. almanac data output no. bit 76543210 contents setting value output data (hex) 1 2 44 45 10100100 0xxxxxxx 0xxxxxxx 11011010 header terminator. "z" + 80h a4 da example 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 24 bits word2 24 bits word3 24 bits word4 24 bits word5 24 bits word6 24 bits word7 24 bits word8 24 bits word9 24 bits word10 24 bits checksum 16 bits the relationship between the above data and the communication data is shown to the right. (1) relationship between word data and communication data 2 3 b e f o r e c o n v e r s i o n a f t e r c o n v e r s i o n 3 1 0 0 0 0 0 0 0 0 0 0 1 5 b e f o r e c o n v e r s i o n a f t e r c o n v e r s i o n 2 3 0 0 0 0 0 0 0 0 0 0 (2) relationship between checksum and communication data s- 9 gxb1000 1-3. input data 1-3-1. tm command (receiver clock setting) no. bit 76543210 contents setting value input data (hex) 1 2 3 4 5 6 7 8 9 10100000 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 11011010 header year month date hour minute second terminator. "z" + 80h 1999 10 29 8 46 59 a0 0f 4f 0a 1d 08 2e 3b da example no. bit 76543210 contents setting value input data (hex) 1 2 3 4 5 6 7 8 9 10 10100001 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 11011010 header latitude resolution: 0.01" south latitude is two's complement notation. value range: 32400000 to ?2400000 longitude resolution: 0.01" west longitude is two's complement notation. value range: 64800000 to ?4800000 terminator. "z" + 80h north latitude 87 29' 10.24" (= 314950.24") west longitude 175 42' 30.11" (= ?32550.11") a1 0f 02 26 70 61 6b 1c 1d da example 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) after receiving the above command, the gps side sends this command as a response. s- 10 gxb1000 1-3-3. sk command (receiver geodesic system parameter setting) no. bit 76543210 contents setting value input data (hex) 1 2 3 10100010 0xxxxxxx 11011010 header geodesic system value range: 0 to 25 terminator. "z" + 80h 18 a2 12 da example after receiving the above command, the gps side sends this command as a response. 1-3-4. ami command (receive almanac data) no. bit 76543210 contents setting value input data (hex) 1 2 10100011 11011010 header terminator. "z" + 80h a3 da example no. bit 76543210 contents setting value input data (hex) 1 2 10100100 11011010 header terminator. "z" + 80h a4 da example 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) 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) no. bit 76543210 contents setting value input data (hex) 1 2 10100101 11011010 header terminator. "z" + 80h a5 da example after receiving the above command, the gps side sends this command as a response. s- 11 gxb1000 1-3-7. sr command (wait 400ms and hot start) no. bit 76543210 contents setting value input data (hex) 1 2 10100110 11011010 header terminator. "z" + 80h a6 da example no. bit 76543210 contents setting value input data (hex) 1 2 3 10100111 0xxxxxxx 11011010 header angle of elevation resolution: 1 value range: 0 to 90 terminator. "z" + 80h 56 a7 38 da example 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) after receiving the above command, the gps side sends this command as a response. 1-3-9. bc command (clear darc receive data) no. bit 76543210 contents setting value input data (hex) 1 2 10101000 11011010 header terminator. "z" + 80h a8 da example after receiving the above command, the gps side sends this command as a response. 1-3-10. dg command (d-gps on/off setting) no. bit 76543210 contents setting value input data (hex) 1 2 3 10101001 0xxxxxxx 11011010 header d-gps on/off setting 0: off 1: on terminator. "z" + 80h 1 a9 01 da example after receiving the above command, the gps side sends this command as a response. s- 12 gxb1000 1-3-11. gs command (4 dop threshold value settings) no. bit 76543210 contents setting value input data (hex) 1 2 3 4 5 6 10101010 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 11011010 header pdop threshold value when d-gps is on hdop threshold value when d-gps is on pdop threshold value when d-gps is off hdop threshold value when d-gps is off terminator. "z" + 80h 64 50 64 50 aa 40 32 40 32 da example after receiving the above command, the gps side sends this command as a response. 1-3-12. dmd command (darc data input mode) no. bit 76543210 contents setting value input data (hex) 1 2 10101011 11011010 header terminator. "z" + 80h ab da example no. bit 76543210 contents setting value input data (hex) 1 2 10101100 11011010 header terminator. "z" + 80h ac da example after receiving the above command, the gps side sends this command as a response. 1-3-13. dmr command (rtcm data input mode) after receiving the above command, the gps side sends this command as a response. s- 13 gxb1000 no. bit 76543210 contents setting value input data (hex) 1 2 3 10101101 0xxxxxxx 11011010 header expanded output on/off setting 0: off 1: on terminator. "z" + 80h 1 ad 01 da example no. bit 76543210 contents setting value input data (hex) 1 2 3 10101111 0xxxxxxx 11011010 header current time mode setting 0: utc 1: jst terminator. "z" + 80h 1 af 01 da example after receiving the above command, the gps side sends this command as a response. 1-3-15. sw command (eliminate ephemeris and warm start) 1-3-14. ex command (expanded output mode on/off) no. bit 76543210 contents setting value input data (hex) 1 2 10101110 11011010 header terminator. "z" + 80h ae da example after receiving the above command, the gps side sends this command as a response. 1-3-16. tc command (current time mode setting) after receiving the above command, the gps side sends this command as a response. s- 14 gxb1000 no. bit 76543210 contents setting value input data (hex) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 11000000 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 11011010 header satellite nos. for 16 channels value range: 1 to 64 0 is invalid. terminator. "z" + 80h 9 5 18 1 20 2 6 12 c0 09 05 12 01 14 02 06 0c da example after receiving the above command, the gps side sends this command as a response. 1-3-18. lf command (d-gps valid time setting) 1-3-17. ch command (satellite no. setting during manual setting) no. bit 76543210 contents setting value input data (hex) 1 2 3 4 11000111 0xxxxxxx 0xxxxxxx 11011010 header d-gps valid time resolution: s terminator. "z" + 80h c7 da after receiving the above command, the gps side sends this command as a response. 1-3-19. ep1 command (receive ephemeris data) no. bit 76543210 contents setting value input data (hex) 1 2 11001101 11011010 header terminator. "z" + 80h cd da example 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. example s- 15 gxb1000 1-3-20. ep0 command (transmit ephemeris data) no. bit 76543210 contents setting value input data (hex) 1 2 3 4 10110001 0xxxxxxx 0xxxxxxx 11011010 header heading filter value resolution: 0.1km/h terminator. "z" + 80h 999 (99.9km/h) b2 07 67 da 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) no. bit 76543210 contents setting value input data (hex) 1 2 11001110 11011010 header terminator. "z" + 80h ce da example after receiving the above command, the gps side sends this command as a response. example s- 16 gxb1000 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 l s b m s b s t o p b i t 1 b i t s t a r t b i t 1 b i t d a t a b i t s 8 b i t s d 0 d 1 d 2 d 3 d 4 d 5 d 6 d 7 0 s- 17 gxb1000 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 p r e a m b l e s t a t i o n i d p a r i t y 6 b i t 1 0 b i t 6 b i t 8 b i t 3 0 1 3 0 1 w o r d 1 m e s s a g e t y p e m o d i f i e d z - c o u n t p a r i t y s t a t i o n h e a l t h s e q n c e n o . l e n g t h o f f r a m e 6 b i t 3 b i t 5 b i t 3 b i t 1 3 b i t w o r d 2 preamble: preamble message type: message type station id: reference station id no. parity: error correction code modified z-count: modified z-count seq nce no.: frame sequence no. length of frame: frame length station health: reference station health s- 18 gxb1000 2-2-2. message type 1 (differential gps correction value) s a t e l l i t e i d u d r e s c a l e f a c t o r p s e u d o r a n g e c o r r e c t i o n p a r i t y 6 b i t 1 6 b i t 5 b i t 1 b i t 2 b i t 3 0 1 3 0 1 w o r d 3 r a n g e - r a t e c o r r e c t i o n i s s u e o f d a t a p a r i t y s a t e l l i t e i d s c a l e f a c t o r u d r e 6 b i t 6 b i t 2 b i t 1 b i t 8 b i t 8 b i t w o r d 4 w o r d 5 3 0 1 i s s u e o f d a t a s a t e l l i t e i d p a r i t y 6 b i t 8 b i t 5 b i t 2 b i t 1 b i t 8 b i t w o r d 6 s c a l e f a c t o r p s e u d o r a n g e c o r r e c t i o n ( u p p e r b y t e ) u d r e 3 0 1 r a n g e - r a t e c o r r e c t i o n p a r i t y p s e u d o r a n g e c o r r e c t i o n 6 b i t 8 b i t 1 6 b i t scale factor: pseudorange correction value scale factor udre: user differential range error index satellite id: satellite id no. pseudorange correction: pseudorange correction value range-rate correction: pseudorange rate-of-change correction value issue of data: data issue no. s- 19 gxb1000 i s s u e o f d a t a p a r i t y 6 b i t 8 b i t 8 b i t 8 b i t 3 0 1 w o r d 7 r a n g e - r a t e c o r r e c t i o n i s s u e o f d a t a p a r i t y f i l l 6 b i t 8 b i t 8 b i t 8 b i t 3 0 1 w o r d 8 r a n g e - r a t e c o r r e c t i o n i s s u e o f d a t a p a r i t y f i l l 6 b i t 1 6 b i t 8 b i t 3 0 1 w o r d 9 p s e u d o r a n g e c o r r e c t i o n ( l o w e r b y t e ) fill: dummy bit s- 20 gxb1000 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). the d-gps basic data configuration is as follows. the gps satellite correction data configuration is as follows. data packet 1 22 bytes data packet 2 22 bytes checksum 1 byte terminator 1 byte prefix 4 bytes 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 description 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 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 d-gps segment 18 bytes prefix 2 bytes d-gps segment 18 bytes crc 2 byte xxh 0dh bit position 1 2 to 3 4 to 8 9 to 19 20 to 26 27 to 34 description 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.) number of bits 1 bit 2 bits 5 bits 11 bits 7 bits 8 bits s- 21 gxb1000 geodetic system and corresponding country setting value 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 geodetic system reference ellipsoid 0 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 wgs-84 tokyo adindan arc 1950 cape merchich hong kong 1963 south asia luzen indian indian kertau 1948 north american 1927 european 1950 european 1950 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 wgs-84 bessel 1841 clarke 1880 clarke 1880 clarke 1880 clarke 1880 international modified fisher 1960 clarke 1866 everest everest modified everest clarke 1866 international modified airy airy clarke 1880 clarke 1880 helmert 1906 clarke 1866 grs 80 australian national international international south american 1969 international international ss-1 gxb1000 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-2 gxb1000 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 l s b m s b s t o p b i t 1 b i t s t a r t b i t 1 b i t d a t a b i t s 8 b i t s d 0 d 1 d 2 d 3 d 4 d 5 d 6 d 7 0 ss-3 gxb1000 1-2. almanac data output no. bit 76543210 contents setting value output data (hex) 1 2 44 45 10100100 0xxxxxxx 0xxxxxxx 11011010 header terminator. "z" + 80hex a4 da example 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 24 bits word2 24 bits word3 24 bits word4 24 bits word5 24 bits word6 24 bits word7 24 bits word8 24 bits word9 24 bits word10 24 bits checksum 16 bits the relationship between the above data and the communication data is shown to the right. (1) relationship between word data and communication data 2 3 b e f o r e c o n v e r s i o n a f t e r c o n v e r s i o n 3 1 0 0 0 0 0 1 5 b e f o r e c o n v e r s i o n a f t e r c o n v e r s i o n 2 3 0 0 0 0 0 0 0 0 0 0 (2) relationship between checksum and communication data ss-4 gxb1000 1-3. input commands 1-3-1. tm command (receiver clock setting) no. bit 76543210 contents setting value input data (hex) 1 2 3 4 5 6 7 8 9 10100000 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 11011010 header year month date hour minute second terminator. "z" + 80hex 1999 10 29 8 46 59 a0 0f 4f 0a 1d 08 2e 3b da example no. bit 76543210 contents setting value input data (hex) 1 2 3 4 5 6 7 8 9 10 10100001 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 11011010 header latitude resolution: 0.01" south latitude is two's complement notation. value range: 32400000 to ?2400000 longitude resolution: 0.01" west longitude is two's complement notation. value range: 64800000 to ?4800000 terminator. "z" + 80hex north latitude 87 29' 10.24" (= ?14950.24") west longitude 175 42' 30.11" (= ?32550.11") a1 0f 02 26 70 61 6b 1c 1d da example 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) after receiving the above command, the gps side sends this command as a response. ss-5 gxb1000 1-3-3. sk command (receiver geodesic system parameter setting) no. bit 76543210 contents setting value input data (hex) 1 2 3 10100010 0xxxxxxx 11011010 header geodesic system value range: 0 to 25 terminator. "z" + 80hex 18 a2 12 da example after receiving the above command, the gps side sends this command as a response. 1-3-4. ami command (receive almanac data) no. bit 76543210 contents setting value input data (hex) 1 2 10100011 11011010 header terminator. "z" + 80hex a3 da example no. bit 76543210 contents setting value input data (hex) 1 2 10100100 11011010 header terminator. "z" + 80hex a4 da example 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) 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) no. bit 76543210 contents setting value input data (hex) 1 2 10100101 11011010 header terminator. "z" + 80hex a5 da example after receiving the above command, the gps side sends this command as a response. ss-6 gxb1000 1-3-7. sr command (wait 400ms and hot start) no. bit 76543210 contents setting value input data (hex) 1 2 10100110 11011010 header terminator. "z" + 80hex a6 da example no. bit 76543210 contents setting value input data (hex) 1 2 3 10100111 0xxxxxxx 11011010 header angle of elevation resolution: 1 value range: 0 to 90 terminator. "z" + 80hex 56 a7 38 da example 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) after receiving the above command, the gps side sends this command as a response. 1-3-9. bc command (clear darc receive data) no. bit 76543210 contents setting value input data (hex) 1 2 10101000 11011010 header terminator. "z" + 80hex a8 da example after receiving the above command, the gps side sends this command as a response. 1-3-10. dg command (d-gps on/off setting) no. bit 76543210 contents setting value input data (hex) 1 2 3 10101001 0xxxxxxx 11011010 header d-gps on/off setting 0: off 1: on terminator. "z" + 80hex 1 a9 01 da example after receiving the above command, the gps side sends this command as a response. ss-7 gxb1000 1-3-11. gs command (4 dop threshold value settings (up to 99 (63hex) max.)) no. bit 76543210 contents setting value input data (hex) 1 2 3 4 5 6 7 8 9 10 10101010 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 11011010 header pdop threshold value when d-gps is on hdop threshold value when d-gps is on pdop threshold value when d-gps is off hdop threshold value when d-gps is off terminator. "z" + 80hex 64 50 135 114 aa 00 40 00 32 01 07 00 72 da example after receiving the above command, the gps side sends this command as a response. 1-3-12. dmd command (darc data input mode) no. bit 76543210 contents setting value input data (hex) 1 2 10101011 11011010 header terminator. "z" + 80hex ab da example no. bit 76543210 contents setting value input data (hex) 1 2 10101100 11011010 header terminator. "z" + 80hex ac da example after receiving the above command, the gps side sends this command as a response. 1-3-13. dmr command (rtcm data input mode) after receiving the above command, the gps side sends this command as a response. ss-8 gxb1000 no. bit 76543210 contents setting value input data (hex) 1 2 3 10101101 0xxxxxxx 11011010 header expanded output on/off setting 0: off 1: on terminator. "z" + 80hex 1 ad 01 da example no. bit 76543210 contents setting value input data (hex) 1 2 3 10101111 0xxxxxxx 11011010 header current time mode setting 0: utc 1: jst terminator. "z" + 80hex 1 af 01 da example after receiving the above command, the gps side sends this command as a response. 1-3-15. sw command (eliminate ephemeris and warm start) 1-3-14. ex command (expanded output mode on/off) no. bit 76543210 contents setting value input data (hex) 1 2 10101110 11011010 header terminator. "z" + 80hex ae da example after receiving the above command, the gps side sends this command as a response. 1-3-16. tc command (current time mode setting) after receiving the above command, the gps side sends this command as a response. ss-9 gxb1000 no. bit 76543210 contents setting value input data (hex) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 11000000 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 11011010 header satellite nos. for 16 channels value range: 1 to 64 0 is invalid. terminator. "z" + 80hex 9 5 18 1 20 2 6 12 c0 09 05 12 01 14 02 06 0c da example after receiving the above command, the gps side sends this command as a response. 1-3-18. lf command (d-gps valid time setting) 1-3-17. ch command (satellite no. setting during manual setting) no. bit 76543210 contents setting value input data (hex) 1 2 3 4 11000111 0xxxxxxx 0xxxxxxx 11011010 header d-gps valid time resolution: s terminator. "z" + 80hex c7 da after receiving the above command, the gps side sends this command as a response. 1-3-19. epi command (receive ephemeris data) no. bit 76543210 contents setting value input data (hex) 1 2 11001101 11011010 header terminator. "z" + 80hex cd da example 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. example ss-10 gxb1000 1-3-20. ep0 command (transmit ephemeris data) no. bit 76543210 contents setting value input data (hex) 1 2 3 4 10110001 0xxxxxxx 0xxxxxxx 11011010 header heading filter value resolution: 0.1km/h terminator. "z" + 80hex 999 (99.9km/h) b2 07 67 da 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) no. bit 76543210 contents setting value input data (hex) 1 2 11001110 11011010 header terminator. "z" + 80hex ce da example after receiving the above command, the gps side sends this command as a response. example ss-11 gxb1000 no. bit 76543210 contents setting value output data (hex) 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 00100100 01000111 01010000 01000111 01000111 01000001 01001100 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx 01001100 xxxxxxxx 01001100 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx header "$" address field "g" "p" "g" "g" "a" " , " 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) " , " 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) " , " latitude direction "n" or "s" " , " 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) fixed fixed fixed 06:22:43 fixed 36 03.979' fixed north latitude fixed 140 10.296' 24 47 50 47 47 41 2c 00 36 32 32 34 33 2c 33 36 30 33 2e 39 37 39 2c 4e 2c 31 34 30 31 30 2e 32 39 36 example 2. nmea output specifications 2-1. output messages 2-1-1. gpgga message ss-12 gxb1000 no. bit 76543210 contents setting value output data (hex) 35 36 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 65 66 01001100 xxxxxxxx 01001100 xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 01001100 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 01001100 01001101 01001100 01001100 01001101 01001100 xxxxxxxx xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101010 " , " longitude direction "e" or "w" " , " gps quality indicator "0": invalid "1": gps measurement "2": d-gps measurement " , " number of satellites used for measurement calculation "00" to "12" " , " hdop 10's digit 1's digit " . " 0.1's digit " , " altitude (m) 1,000's digit 100's digit 10's digit 1's digit " , " altitude units "m" " , " " , " "m" " , " d-gps data elapsed time (s) 100's digit 10's digit 1's digit " , " d-gps reference station id 1,000's digit 100's digit 10's digit 1's digit " * " fixed west longitude fixed d-gps measurement fixed 7-satellite measurement fixed 1.2 fixed 23m fixed fixed fixed fixed fixed fixed 5s fixed 0 fixed 2c 57 2c 32 2c 30 37 2c 30 31 2e 32 2c 30 30 32 33 2c 4d 2c 2c 4d 2c 30 30 35 2c 30 30 30 30 2a example ss-13 gxb1000 no. bit 76543210 contents setting value output data (hex) 67 68 69 70 xxxxxxxx xxxxxxxx 00001101 00001010 checksum hexadecimal upper digits hexadecimal lower digits terminator ss-14 gxb1000 2-1-2. gpgll message no. bit 76543210 contents setting value output data (hex) 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 00100100 01000111 01010000 01000111 01001100 01001100 01001100 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx 01001100 xxxxxxxx 01001100 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx 01001100 xxxxxxxx 01001100 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 01001100 header "$" address field "g" "p" "g" "l" "l" " , " 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) " , " latitude direction "n" or "s" " , " 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) " , " longitude direction "e" or "w" " , " 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) " , " fixed fixed fixed 36 03.979' fixed north latitude fixed 140 10.296' fixed west longitude fixed 06:22:43 fixed 24 47 50 47 4c 4c 2c 33 36 30 33 2e 39 37 39 2c 4e 2c 31 34 30 31 30 2e 32 39 36 2c 57 2c 00 36 32 32 34 33 2c example ss-15 gxb1000 no. bit 76543210 contents setting value output data (hex) 38 39 40 41 42 43 xxxxxxxx 00101010 xxxxxxxx xxxxxxxx 00001101 00001010 status "a": data valid "v": data invalid " * " checksum hexadecimal upper digits hexadecimal lower digits terminator ss-16 gxb1000 2-1-3. gpgsa message no. bit 76543210 contents setting value output data (hex) 1 2 3 4 5 6 7 8 9 10 11 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 00100100 01000111 01010000 01000111 01010011 01000001 01001100 xxxxxxxx 01001100 xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 01001100 header "$" address field "g" "p" "g" "s" "a" " , " gps measurement switching mode "m": manual "a": auto " , " gps measurement mode "1": invalid "2": 2d measurement "3": 3d measurement " , " satellite nos. used for measurement 1st satellite no. 10's digit 1's digit " , " 2nd satellite no. 3rd satellite no. 4th satellite no. 5th satellite no. 6th satellite no. 7th satellite no. 8th satellite no. 9th satellite no. 10th satellite no. 11th satellite no. 12th satellite no. pdop 10's digit 1's digit " . " 0.1's digit " , " fixed fixed fixed fixed to "a" fixed 3d measurement fixed 2.4 fixed 24 47 50 47 53 41 2c 41 2c 33 2c 30 32 2e 34 2c example ss-17 gxb1000 no. bit 76543210 contents setting value output data (hex) 53 54 55 56 57 58 59 60 61 62 63 64 65 66 xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 00101010 xxxxxxxx xxxxxxxx 00001101 00001010 hdop 10's digit 1's digit " . " 0.1's digit " , " vdop 10's digit 1's digit " . " 0.1's digit " * " checksum hexadecimal upper digits hexadecimal lower digits terminator ss-18 gxb1000 2-1-4. gpgsv message no. bit 76543210 contents setting value output data (hex) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 to 40 41 to 53 54 to 56 67 68 69 00100100 01000111 01010000 01000111 01010011 01010110 01001100 xxxxxxxx 01001100 xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 00101010 xxxxxxxx xxxxxxxx header "$" address field "g" "p" "g" "s" "v" " , " total number of gpgsv messages "1" to "3" " , " gpgsv message number "1" to "3" " , " number of satellites within field of vision 10's digit 1's digit " , " 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 " * " checksum hexadecimal upper digits hexadecimal lower digits fixed fixed fixed 2 fixed 1 fixed 08 fixed fixed 4a 24 47 50 47 53 56 2c 32 2c 31 2c 30 38 2c 2a 34 41 example ss-19 gxb1000 no. bit 76543210 contents setting value output data (hex) 70 71 00001101 00001010 terminator ss-20 gxb1000 2-1-5. gprmc message no. bit 76543210 contents setting value output data (hex) 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 00100100 01000111 01010000 01010010 01001101 01000011 01001100 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 01001100 xxxxxxxx 01001100 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx 01001100 xxxxxxxx 01001100 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx header "$" address field "g" "p" "r" "m" "c" " , " 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) " , " status "a": data valid "v": data invalid " , " 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) " , " latitude direction "n" or "s" " , " 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) fixed fixed fixed 06:22:43 fixed valid fixed 36 03.979' fixed north latitude fixed 140 10.296' 24 47 50 52 4d 43 2c 00 36 32 32 34 33 2c 41 2c 33 36 30 33 2e 39 37 39 2c 4e 2c 31 34 30 31 30 2e 32 39 36 example ss-21 gxb1000 no. bit 76543210 contents setting value output data (hex) 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 01001100 xxxxxxxx 01001100 xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 01001100 xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 01001100 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 01001100 01001100 00101010 xxxxxxxx xxxxxxxx 00001101 00001010 " , " longitude direction "e" or "w" " , " speed (knots) 100's digit 10's digit 1's digit " . " 0.1's digit " , " heading ( ) 100's digit 10's digit 1's digit " . " 0.1's digit " , " date 10's digit 1's digit month 10's digit 1's digit year 10's digit 1's digit " , " " , " " * " checksum hexadecimal upper digits hexadecimal lower digits terminator ss-22 gxb1000 2-1-6. gpvtg message no. bit 76543210 contents setting value output data (hex) 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 00100100 01000111 01010000 01010110 01010100 01000111 01001100 xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 01001100 01010100 01001100 01001100 01001101 01001100 xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 01001100 01001110 01001100 xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 01001100 01001011 00101010 xxxxxxxx xxxxxxxx header "$" address field "g" "p" "v" "t" "g" " , " heading ( ) 100's digit 10's digit 1's digit " . " 0.1's digit " , " "t" " , " " , " "m" " , " speed (knots) 100's digit 10's digit 1's digit " . " 0.1's digit " , " "n" " , " speed (km/h) 100's digit 10's digit 1's digit " . " 0.1's digit " , " "k" " * " checksum hexadecimal upper digits hexadecimal lower digits fixed fixed fixed 48.5 fixed fixed fixed fixed fixed fixed 20knot/h fixed fixed fixed 20km/h fixed fixed fixed 4a 24 47 50 56 54 47 2c 30 34 38 2e 35 2c 54 2c 2c 4d 2c 30 32 30 2e 30 2c 4e 2c 30 32 30 2e 30 2c 4b 2a 34 41 example ss-23 gxb1000 no. bit 76543210 contents setting value output data (hex) 37 38 00001101 00001010 terminator ss-24 gxb1000 2-1-7. gpzda message no. bit 76543210 contents setting value output data (hex) 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 00100100 01000111 01010000 01011010 01000100 01000001 01001100 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 01001100 00101010 xxxxxxxx xxxxxxxx 00001101 00001010 header "$" address field "g" "p" "z" "d" "a" " , " utc time hour (10's digit) hour (1's digit) minute (10's digit) minute (1's digit) second (10's digit) second (1's digit) " , " date 10's digit 1's digit " , " month 10's digit 1's digit " , " year 10's digit 1's digit " , " " , " " * " checksum hexadecimal upper digits hexadecimal lower digits terminator ss-25 gxb1000 2-1-8. psny message (manufacturer expanded output) no. bit 76543210 contents setting value output data (hex) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 00100100 01010000 01010011 01011110 01011001 01001100 xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx 01001100 xxxxxxxx xxxxxxxx header "$" address field "p" "s" "n" "y" " , " preamplifier status "0": normal "1": open "2": shorted " , " geodesic system "0" to "25" " , " angle of elevation limit ( ) 10's digit 1's digit " , " speed limit (km/h) 100's digit 10's digit 1's digit " , " pdop limit (d-gps on) 10's digit 1's digit " , " hdop limit (d-gps on) 10's digit 1's digit " , " pdop limit (d-gps off) 10's digit 1's digit " , " hdop limit (d-gps off) 10's digit 1's digit fixed fixed fixed open fixed wgs-84 fixed 5 fixed 500km/h fixed 4 fixed 6 fixed 4 fixed 6 24 50 53 5e 49 2c 31 2c 30 30 2c 30 35 2c 35 30 30 2c 30 34 2c 30 36 2c 30 34 2c 30 36 example ss-26 gxb1000 no. bit 76543210 contents setting value output data (hex) 30 31 32 33 34 00101010 xxxxxxxx xxxxxxxx 00001101 00001010 " * " checksum hexadecimal upper digits hexadecimal lower digits terminator ss-27 gxb1000 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 l s b m s b s t o p b i t 1 b i t s t a r t b i t 1 b i t d a t a b i t s 8 b i t s d 0 d 1 d 2 d 3 d 4 d 5 d 6 d 7 0 ss-28 gxb1000 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 p r e a m b l e s t a t i o n i d p a r i t y 6 b i t 1 0 b i t 6 b i t 8 b i t 3 0 1 3 0 1 w o r d 1 m e s s a g e t y p e m o d i f i e d z - c o u n t p a r i t y s t a t i o n h e a l t h s e q n c e n o . l e n g t h o f f r a m e 6 b i t 3 b i t 5 b i t 3 b i t 1 3 b i t w o r d 2 preamble: preamble message type: message type station id: reference station id no. parity: error correction code modified z-count: modified z-count seq nce no.: frame sequence no. length of frame: frame length station health: reference station health ss-29 gxb1000 3-2-2. message type 1 (differential gps correction value) s a t e l l i t e i d u d r e s c a l e f a c t o r p s e u d o r a n g e c o r r e c t i o n p a r i t y 6 b i t 1 6 b i t 5 b i t 1 b i t 2 b i t 3 0 1 3 0 1 w o r d 3 r a n g e - r a t e c o r r e c t i o n i s s u e o f d a t a p a r i t y s a t e l l i t e i d s c a l e f a c t o r u d r e 6 b i t 6 b i t 2 b i t 1 b i t 8 b i t 8 b i t w o r d 4 w o r d 5 3 0 1 i s s u e o f d a t a s a t e l l i t e i d p a r i t y 6 b i t 8 b i t 5 b i t 2 b i t 1 b i t 8 b i t w o r d 6 s c a l e f a c t o r p s e u d o r a n g e c o r r e c t i o n ( u p p e r b y t e ) u d r e 3 0 1 r a n g e - r a t e c o r r e c t i o n p a r i t y p s e u d o r a n g e c o r r e c t i o n 6 b i t 8 b i t 1 6 b i t scale factor: pseudorange correction value scale factor udre: user differential range error index satellite id: satellite id no. pseudorange correction: pseudorange correction value range-rate correction: pseudorange rate-of-change correction value issue of data: data issue no. ss-30 gxb1000 i s s u e o f d a t a p a r i t y 6 b i t 8 b i t 8 b i t 8 b i t 3 0 1 w o r d 7 r a n g e - r a t e c o r r e c t i o n i s s u e o f d a t a p a r i t y f i l l 6 b i t 8 b i t 8 b i t 8 b i t 3 0 1 w o r d 8 r a n g e - r a t e c o r r e c t i o n i s s u e o f d a t a p a r i t y f i l l 6 b i t 1 6 b i t 8 b i t 3 0 1 w o r d 9 p s e u d o r a n g e c o r r e c t i o n ( l o w e r b y t e ) fill: dummy bit ss-31 gxb1000 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). the d-gps basic data configuration is as follows. the gps satellite correction data configuration is as follows. data packet 1 22 bytes data packet 2 22 bytes checksum 1 byte terminator 1 byte prefix 4 bytes 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 description 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 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 d-gps segment 18 bytes prefix 2 bytes d-gps segment 18 bytes crc 2 bytes xxh 0dh bit position 1 2 to 3 4 to 8 9 to 19 20 to 26 27 to 34 description 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.) number of bits 1 bit 2 bits 5 bits 11 bits 7 bits 8 bits |
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