Rikaline GPS Receiver GPS 22 User Guide

Rikaline GPS-22  
GPS Receiver Module  
User’s Guide  
FirstGPS V1.0 Jun 28, 2003  
Positioning Accuracy:  
3m CEP (50%) or <5m CEP ((90%)  
Low Power:  
17mA typical -- tracking at 3.3 Volts, full power  
Rikaline International Corp.  
14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R.O.C  
Phone: +886-2-8973-1899 Fax: +886-2-8973-1896  
All Right Reserved  
 
GPS-22 Operating Manual  
Rikaline  
1. Introduction  
1.1 Overview  
The Rikaline GPS-22 GPS Receiver is a GPS receiver featuring the revolutionary FirstGPS™  
architecture. This complete enabled GPS receiver module provides high position and speed accuracy  
performances as well as high sensitivity and tracking capabilities in urban canyon conditions. The solution  
enables small form factor package. The GPS-22 delivers major advancements in GPS performances,  
accuracy, integration, computing power and flexibility. It is designed to simplify the embedded system  
integration process.  
This positioning application meets strict needs such as car navigation, mapping, surveying, agriculture and  
so on. Only clear view of sky and certain power supply are necessary to the unit. GPS-22 communicates  
with other electronic utilities via compatible dual-channel through TTL and saves critical satellite data in  
built–in memory backup. With low power consumption, the GPS-22 tracks up to 8 satellites at a time,  
re-acquires satellite signals in 100 ms and updates position data every second.  
1.2 Features  
The GPS-22 provides a host of features that make it easy for integration and use.  
1. Position accuracy in < 3m CEP (50%) or <5m CEP ((90%) without SA (horizontal)  
2. Ultra low power: 17mA typical -- tracking at 3.3 Volts, full power  
3. High sensitivity: to -143 dBm tracking, superior urban canyon performances  
4. Small form factor and low cost solution  
5. Ready-to-plug solution. Easily integrated into existing systems  
6. On-board RAM for GPS navigation data  
7. PPS output (User may have different interval setting from 1 second to 1 minute.  
8. Differential capability utilizes real-time RTCM corrections producing < 1 meter position accuracy.  
9. FLASH based program memory: New setting is stored permanently.  
1.3 FirstGPS Architecture Highlights  
1.3.1 Industry Leading GPS Performance  
-
-
Builds on high performance FirstGPSTM core  
Satellite signal tracking engine to perform GPS acquisition and tracking functions without CPU  
intervention  
-
-
-
-
High sensitivity: to -143 dBm tracking, superior urban canyon performances  
Position accuracy: < 3m CEP (50%) without SA (horizontal)  
Warm Start is under 42 seconds (90%)  
Hot Start is under 10 seconds (90%)  
1.3.2 Low Power  
-
-
Ultra low power integrated circuit design, optimized RF and DSP architectures  
Further power saving thanks to 4 different power down mode  
1.4 Application  
1. Car Navigation  
2. Mapping  
3. Surveying  
4. Agriculture  
5. Palmtop, Laptop, PDA  
6. Location Based Services enabled devices  
7. Asset management/tracking  
8. Handheld receivers  
1.5 Technology specifications  
1.5.1 Physical Dimension  
1. Size: 31.59(W) x 26.59(D) x 11.20(H) (mm)  
Specifications subject to change without prior notice  
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C  
Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: [email protected] web: www.rikaline.com.tw  
 
GPS-22 Operating Manual  
1.24”(W) x 1.05”(D) x 0.44”(H)  
Rikaline  
2. Weight: 25 g  
Remark:FirstGPSisthetrademarkfrom Trimble  
1.5.2 Environmental Characteristics  
1) Operating temperature: -40oC to +85oC (internal temperature)  
2) Storage temperature: -55oC to +100oC  
1.5.3 Electrical Characteristics  
1) Input voltage: +3.0 ~ 3.65 VDC.  
2) HFL antenna connector: Active or patch (3.0V antenna is recommended).  
1.5.4 Functional Block Diagram  
ANT  
Q LPF  
ILPF  
X-
APPLICATION  
PVT  
BOARD  
INTERFACE  
I
RF+  
RF  
DOW N -  
CONVERTER  
Q
GPS  
BASEBAND  
PROCESSOR  
RX  
TX  
API  
BP  
FILTER  
BP  
FILTER  
M CLKI  
SCLK  
RF-  
LNA  
FirstGPS  
SOFTW ARE  
ActiveAntenna  
TCXO  
RTOS  
1.5.5 Performance  
1) Tracks up to 8 satellites.  
2) Update rate: 1 second.  
3) Acquisition time:  
Reacquisition  
0.1 sec. (90%)  
10 sec. (90%)  
42 sec. (90%)  
120 sec. (90%)  
Hot start  
Warm start  
Cold start  
4) Position accuracy:  
Non DGPS (Differential GPS)  
Position  
Velocity  
Time  
<3m CEP (50%) or <5 m CEP (90%)  
0.1 meters/second.  
1
microsecond synchronized GPS time  
DGPS (Differential GPS)  
Position  
<1 m, typical  
Velocity  
0.05 meters/second, typical  
5) Dynamic Conditions:  
Altitude  
Velocity  
Acceleration  
Jerk  
18,000 meters(60,000 feet) max  
515 meters/second (1000 knots) max  
4 G, max  
20 meters/second³, max  
1.5.6 Interfaces  
1) Dual communication channel through TTL, with user selectable baud rate (2400, 4800-Default, 9600,  
19200, 38400, 57600, 115200).  
2) NMEA 0183 Version 2.1 ASCII output (GGA, GLL, GSV, GSA, RMC, VTG, ZDA).  
3) Real-time Differential Correction input (RTCM SC-104 message types 1, 2 and 9).  
Specifications subject to change without prior notice  
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C  
Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: [email protected] web: www.rikaline.com.tw  
 
GPS-22 Operating Manual  
Rikaline  
2. Operational characteristics  
2.1 Initialization  
As soon as the initial self-test is complete, the GPS-22 begins the process of satellite acquisition and  
tracking automatically. Under normal circumstances, it takes approximately 120 seconds to achieve a  
position fix, 42 seconds if ephemeris data is known. After a position fix has been calculated, information  
about valid position, velocity and time is transmitted over the output channel.  
The GPS-22 utilizes initial data, such as last stored position, date, time and satellite orbital data, to achieve  
maximum acquisition performance. If significant inaccuracy exists in the initial data, or the orbital data is  
obsolete, it may take more time to achieve a navigation solution. The FirstGPS™ architecture provides  
superior performance. However, acquisition performance can be improved as the host system initializes the  
GPS-22 in the following situation:  
1. Moving further than 1,500 kilometers.  
2. Failure of Data storage due to the inactive memory power back up.  
2.2 Navigation  
After the acquisition process is complete, the GPS-22 sends valid navigation information over output  
channels. These data include:  
1) Latitude/longitude/altitude  
2) Velocity  
3) Date/time  
4) Error estimates  
5) Satellite and receiver status  
The GPS-22 sets the default of auto-searching for real-time differential corrections in RTCM SC-104  
standard format, with the message types 1, 2, or 9. It accomplishes the satellite data to generate a  
differential (DGPS) solution. The host system, at its option, may also command the GPS-22 to output a  
position whenever a differential solution is available.  
Specifications subject to change without prior notice  
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C  
Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: [email protected] web: www.rikaline.com.tw  
 
GPS-22 Operating Manual  
Rikaline  
3. Hardware interface  
3.1 Physical Characters  
1. Size: 31.59(W) x 26.59(D) x 11.20(H) (mm)  
1.24”(W) x 1.05”(D) x 0.44”(H)  
2. Weight: 25 g  
3.1.1 Details Drawing  
3.2 Pin Definition  
PIN  
NAME  
TYPE  
DESCRIPTION  
1
2
3
4
5
6
7
8
9
GND  
ON/OFF  
VCC  
USPED  
RXA  
VRTCBK  
TXA  
Power and Signal Ground  
ON / Off command line  
3.0 to 3.6 Volts DC Input Power Supply  
9600/4800 Bd UART Speed  
Serial Receive Data, Port A, GPS NMEA Data  
Back-up supply for the RTC  
Serial Transmit Data, Port A, GPS NMEA Data  
One Pulse Per Second timing output  
Power and Signal Ground  
I
I
I
O
O
PPS  
GND  
10  
11  
12  
RESETN  
ALMRDY  
STY1  
Manual Reset, Active low  
1(high): almanac valid; 0 (low): almanac not valid  
Blinking function, when position fix, output “low”. When  
I
tracking, output the interval signal “high/low”.  
13  
14  
15  
16  
N.C.  
STY0  
For customer specific version  
N.C.  
Stand-by active “low”  
OSCSTOPN  
Specifications subject to change without prior notice  
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C  
Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: [email protected] web: www.rikaline.com.tw  
 
GPS-22 Operating Manual  
Rikaline  
1) All I/Os on the Data Interface are related to VCC (3 to 3.6 Volts) and GND levels.  
2) ON/OFF: control the GPS engine “ON” or “OFF”. If this pin is pulled “HIGH” whenever a reset  
condition occurs or if it is turned “HIGH” during operating, the GPS engine is turned “ON”. If this pin is  
pulled “LOW” whenever a reset condition occurs, the GPS engine is not started. If this pin is turned  
“LOW” when in operating, the GPS engine is turned “OFF”. When ON/OFF is “LOW”, the on/off state can  
be superseded with the PXEMaRT manufacturer specific NMEA sentence on RXA, as defined below.  
3) RXA and TXA: The Serial NMEA data port (RXA and TXA) is an asynchronous serial port (UART).  
4) USPED: USPED “HIGH”: 9600 Baud rate, 8 bit data, no parity check, 1 stop bit and no flow control.  
USPED “LOW”: 4800 Baud rate, 8 bit data, no parity check, 1 stop bit and no flow control .  
This setting can be modified with the PXEMaPT manufacturer specific NMEA sentence defined later.  
5) PPS: This is Pulse Per Second highly accurate timing signal generated by the on-board GPS base  
band processor at 83ms duration. After a reset condition, the default setting for this port is inactive. This  
setting can be modified with the PXEMaPS manufacturer specific NMEA sentence defined below.  
6) RESETN: The receiver has 2 reset conditions: first, on power-on, thanks to an on-board Power On Reset  
circuitry; and second an external reset when the RESETN pin is “LOW”.  
7) VCC: Main power supply.  
8) VRTCBK: This is the back-up supply for the on-board real time clock.  
9) ALMRDY: When in active mode, this indicates the on-board almanac status. Upon start up and  
whenever the almanac data are tested invalid or not up-to-date, the output level is “low”. If tested valid or  
up-to-date, the output level is “high”  
10) STANDBYIN: This input sets the receiver in stand-by mode when its level is “low”. Otherwise, the  
receiver is either in active or power save mode. See below under operating modes for details.  
3.3 Operating Modes  
Mode  
Description  
VCC pin  
On\Off Pin Standby  
pin  
Current  
cons. Type.  
17mA  
Active Receiver is running, doing  
Mode acquisition, tracking, position fixes  
Power GPS receiver functions are turned  
Save  
Mode  
Stand- GPS receiver functions are turned  
by  
Mode  
Powered  
Powered  
High  
High  
Low (or thru  
NMEA  
High  
2.2mA  
300μA  
1μA  
OFF, MCU in idle mode, MCU clock  
is running, RTC is running  
command)  
No power low  
No power low  
low  
low  
OFF, MCU clock is stopped, RTC is  
running on the Back-up supply  
Power GPS receiver functions are turned  
Down  
Mode  
OFF, MCU clock is stopped, RTC is  
running on the Back-up supply  
Specifications subject to change without prior notice  
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C  
Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: [email protected] web: www.rikaline.com.tw  
 
GPS-22 Operating Manual  
Rikaline  
4. Software Interface  
The GPS-22 interface protocol is based on the National Marine Electronics Association's NMEA 0183 ASC  
interface specification, which is defined in NMEA 0183, Version 2.1 and the Radio Technical Commission  
for Maritime Services (RTCM Recommended Standards For Differential Navstar GPS Service, Version 2.1,  
RTCM Special Committee No.104).  
4.1 NMEA Transmitted Messages  
The GPS-22 outputs data in NMEA-0183 format as defined by the National Marine Electronics Association  
(NMEA), Standard.  
The default communication parameters for NMEA output are 9600/4800 baud, 8 data bits, stop bit, and no  
parity.  
Table 4-1 NMEA-0183 Output Messages  
NMEA Record Description  
GPGGA  
GPGLL  
GPGSA  
GPGSV  
GPRMC  
GPVTG  
GPZDA  
Global positioning system fixed data  
Geographic position- latitude/longitude  
GNSS DOP and active satellites  
GNSS satellites in view  
Recommended minimum specific GNSS data  
Course over ground and ground speed  
Date & Time  
4.1.1 Global Positioning System Fix Data (GGA)  
$GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18  
Table 4-2 GGA Data Format  
Name  
Message ID  
Example  
$GPGGA  
Units  
Description  
GGA protocol header  
UTC Time  
161229.487  
Hhmmss.sss  
Latitude  
3723.2475  
Ddmm.mmmm  
N/S Indicator  
Longitude  
N
N=north or S=south  
dddmm.mmmm  
12158.3416  
E/W Indicator  
Position Fix Indicator  
Satellites Used  
HDOP  
MSL Altitude  
Units  
Geoid Separation  
Units  
Age of Diff. Corr.  
Diff. Ref. Station ID  
Checksum  
W
1
07  
1.0  
9.0  
M
E=east or W=west  
See Table 5-3  
Range 0 to 12  
Horizontal Dilution of Precision  
Meters  
Meters  
Meters  
Meters  
second  
M
Null fields when DGPS is not used  
End of message termination  
Description  
0000  
*18  
<CR> <LF>  
Table 4-3 Position Fix Indicator  
Value  
0
1
2
3
0 Fix not available or invalid  
GPS SPS Mode, fix valid  
Differential GPS, SPS Mode, fix valid  
GPS PPS Mode, fix valid  
Specifications subject to change without prior notice  
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C  
Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: [email protected] web: www.rikaline.com.tw  
 
GPS-22 Operating Manual  
4.1.2 Geographic Position with Latitude/Longitude (GLL)  
Table 4-4 contains the values for the following example:  
$GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C  
Table 4-4 GLL Data Format  
Rikaline  
Name  
Message ID  
Latitude  
N/S Indicator  
Longitude  
E/W Indicator  
UTC Position  
Status  
Example  
$GPGLL  
3723.2475  
N
12158.3416  
W
Units  
Description  
GLL protocol header  
ddmm.mmmm  
N=north or S=south  
dddmm.mmmm  
E=east or W=west  
hhmmss.sss  
161229.487  
A
A=data valid or V=data not valid  
Checksum  
<CR> <LF>  
*2C  
End of message termination  
4.1.3 GNSS DOP and Active Satellites (GSA)  
Table 4-5 contains the values for the following example:  
$GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33  
Table 4-5 GSA Data Format  
Name  
Message ID  
Mode 1  
Example  
$GPGSA  
Units  
Description  
GSA protocol header  
See Table 5-6  
A
3
Mode 2  
See Table 5-7  
Satellite Used (1)  
Satellite Used (1)  
……  
07  
02  
Sv on Channel 1  
Sv on Channel 2  
….  
Satellite Used  
PDOP  
HDOP  
VDOP  
Checksum  
<CR> <LF>  
Sv on Channel 12  
Position Dilution of Precision  
Horizontal Dilution of Precision  
Vertical Dilution of Precision  
1.8  
1.0  
1.5  
*33  
End of message termination  
(1) Satellite used in solution.  
Table 4-6 Mode 1  
Value  
Description  
M
A
Manual—forced to operate in 2D or 3D mode  
2D Automatic—allowed to automatically switch 2D/3D  
Table 4-7 Mode 2  
Value  
Description  
1
2
3
Fix Not Available  
2D  
3D  
4.1.4 GNSS Satellites in View (GSV)  
Table 4-8 contains the values for the following example:  
$GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71  
$GPGSV,2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41  
Table 4-8 GSV Data Format  
Specifications subject to change without prior notice  
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C  
Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: [email protected] web: www.rikaline.com.tw  
 
GPS-22 Operating Manual  
Rikaline  
Name  
Message ID  
Example  
$GPGSV  
2
Units  
Description  
GSV protocol header  
Number of Messages  
Message Number  
Satellites in View  
Satellite ID  
Elevation  
Range 1 to 3  
Range 1 to 3  
Range 1 to 12  
1
07  
07  
79  
Channel 1 (Range 1 to 32)  
degrees Channel 1 (Maximum 90)  
Azimuth  
SNR (C/No)  
....  
048  
42  
....  
degrees Channel 1 (True, Range 0 to 359)  
dBHz Range 0 to 99, null when not tracking  
Satellite ID  
Elevation  
27  
27  
Channel 4 (Range 1 to 32)  
degrees Channel 4 (Maximum 90)  
Azimuth  
138  
42  
*71  
degrees Channel 4 (True, Range 0 to 359)  
dBHz Range 0 to 99, null when not tracking  
SNR (C/No)  
Checksum  
<CR> <LF>  
End of message termination  
NOTE: Items <4>,<5>,<6> and <7> repeat for each satellite in view to a maximum of four (4) satellites per  
sentence. Additional satellites in view information must be sent in subsequent sentences. These fields will  
be null if unused.  
4.1.5 Recommended Minimum Specific GNSS Data (RMC)  
Table 4-9 contains the values for the following example:  
$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10  
Table 4-9 RMC Data Format  
Name  
Message ID  
UTC Time  
Status  
Latitude  
N/S Indicator  
Longitude  
E/W Indicator  
Speed Over Ground  
Course Over Ground  
Date  
Example  
$GPRMC  
161229.487  
A
3723.2475  
N
12158.3416  
W
0.13  
309.62  
120598  
Units  
Description  
RMC protocol header  
hhmmss.sss  
A=data valid or V=data not valid  
ddmm.mmmm  
N=north or S=south  
dddmm.mmmm  
E=east or W=west  
Knots  
Degrees True  
ddmmyy  
Degrees E=east or W=west  
Magnetic Variation  
Checksum  
*10  
<CR> <LF>  
End of message termination  
4.1.6 Course Over Ground and Ground Speed (VTG)  
Table 4-10 contains the values for the following example:  
$GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E  
Table 4-10 VTG Data Format  
Name  
Message ID  
Course  
Reference  
Course  
Reference  
Speed  
Example  
$GPVTG  
309.62  
T
Units  
Description  
VTG protocol header  
Degrees Measured heading  
True  
Degrees Measured heading  
Magnetic (1)  
M
0.13  
N
Knots  
Measured horizontal speed  
Knots  
Units  
Speed  
Units  
0.2  
K
Km/hr  
Measured horizontal speed  
Kilometers per hour  
Specifications subject to change without prior notice  
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C  
Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: [email protected] web: www.rikaline.com.tw  
 
GPS-22 Operating Manual  
Rikaline  
Checksum  
*6E  
<CR> <LF>  
End of message termination  
(1) All “course over ground” data are geodetic WGS84 directions.  
4.1.7 Time & Date (ZDA)  
Table 4-11 contains the values for the following example:  
$GPVTG,114523.62,12,04,2001,10,34*6E  
Table 4-11 ZDA Data Format  
Name  
Message ID  
Hour, Min, Sec, Sub  
Sec  
Example  
$GPZDA  
Units  
Description  
ZDA protocol header  
114523.62  
Hhmmss.ss  
Day  
Month  
Year  
Local Zone Hours  
12  
04  
2001  
10  
Day in UTC, 01to 12  
Month in UTC, 01 to 12  
Year in UTC  
Local zone hours, +/- 13 hours  
Local Zone Minutes  
34  
Local zone minutes, 0 to +59  
Checksum  
*6E  
<CR> <LF>  
End of message termination  
4.2 RTCM Received Data  
The default communication parameters for DGPS Input are 9600 baud, 8 data bits, stop bit, and no  
parity. Position accuracy of less than 5 meters can be achieved with the GPS-22 by using Differential GPS  
(DGPS) real-time pseudo-range correction data in RTCM SC-104 format, with message types 1, 5, or 9. As  
using DGPS receiver with different communication parameters, GPS-22 may decode the data correctly to  
generate accurate messages and save them in battery-back SRAM for later computing.  
4.3 Syntax Setting  
4.3.1 Basic Manufacturing Default:  
Datum: WGS84.  
Baud Rate: 9600/4800.  
Output: GGA, GSA, GSV, RMC or by demand.  
* Details please see paragraph 4.4  
4.3.2 Output Setting  
4.3.2.1 General Description  
The NMEA Standard v2.1 dictates that proprietary NMEA sentences have the following structure:  
$Paaaxxxxxxxxxxxxx*hh  
where aaa – mnemonic code, XEM in our case; xxxxxxxxx…– data; hh – sentence checksum  
Two types of input sentences are defined: query and set. Query sentences request certain information from  
the receiver. Set sentences allow configuring the receiver with certain configuration parameters or forcing  
the receiver to perform a specific action. For each type of input sentences, a corresponding output response  
sentence is defined.  
For a query sentence, the response sentence contains requested data. For a set sentence, the response  
sentence contains the status of the action requested in the set sentence. Taking these aspects into account,  
the following is the general structure of the specific NMEA sentence:  
Specifications subject to change without prior notice  
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C  
Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: [email protected] web: www.rikaline.com.tw  
 
GPS-22 Operating Manual  
Rikaline  
$PXEMmaa,x1,x2,x3,x4,….,xN*hh  
where m – sentence type: ‘Q’ for ‘query’, ‘S’ for ‘set’, ‘R’ for ‘response’; aa – proprietary sentence identifier  
(see below); x1…xN – data parameters (only for set and query response sentences); hh – sentence  
checksum  
NOTE: Each of the data parameters must be preceded with a comma, except for the aa sentence identifier,  
and the checksum which is preceded with a checksum delimiter character ‘*’.  
• QUERY sentence: to send a query sentence, no data fields are transmitted. The following format is used:  
$PXEMQaa*hh  
• RESPONSE sentence to QUERY: for a query sentence, a response sentence with all fields is transmitted.  
The following format is used:  
$PXEMRaa,x1,x2,x3,x4,….,xN*hh  
• SET sentence: to send a set sentence, x1…xN must contain valid values. The following format is used:  
$PXEMSaa,x1,x2,x3,x4,….,xN*hh  
• RESPONSE sentence to SET: for a set sentence, a status response sentence is transmitted. The following  
format is used:  
$PXEMRaa,s*hh  
where s is the status of the requested action: ‘A’ if the action was successful; ‘V’ otherwise.  
The following proprietary NMEA sentence identifiers are implemented:  
4.3.2.2 DI – Diagnostic Message (optional)  
This sentence outputs a diagnostic string. It is used to report various error conditions. This is a  
response-only sentence.  
$PXEMRDI,ccccccc*hh  
where ccccccc is a diagnostic string up to 50 characteristics.  
4.3.2.3 NM – Sentence Mask and Automatic Output Rate  
This sentence configures the application to automatically output standard NMEA sentences at a specified  
time interval.  
$PXEMaNM,xxxx,xx*hh  
Name  
Example  
Units  
Description  
Message ID  
$PXEMaNM  
Proprietary NM protocol header, a-mode  
(S = set; R = response)  
xxxx Output sentence mask, hex value  
(see Notes below)  
xx Automatic output sentence rate  
(00 to 99)  
Mask  
0008  
01  
Rate  
sec  
<CR><LF>  
End of message termination  
Notes:  
xxxx is a hexadecimal value representing a 2-byte bit-mask where a specific bit sets or clears automatic  
output of a particular NMEA sentence according to the table below. The mask is derived by combining all  
bits which represents the NMEA sentences which will be automatically output. For example, to automatically  
output GGA, GSA, ZDA, and RMC, the bits 0, 4, 5, and 8 are set to 1 in a 2-byte mask, resulting in a hex  
value 0x131 (0x1+0x10+0x20+0x100). This value is sent as an ASCII string ‘0131’ in the xxxx field of the NM  
sentence.  
NMEA  
xxxx  
Sentence Bit#  
Field value  
0001  
GGA  
0
Specifications subject to change without prior notice  
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Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: [email protected] web: www.rikaline.com.tw  
 
GPS-22 Operating Manual  
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GLL  
VTG  
GSV  
GSA  
ZDA  
RMC  
TF  
1
2
3
4
5
8
9
0002  
0004  
0008  
0010  
0020  
0100  
0200  
Example:  
$PXEMSNM,0008,01*6E  
(set)  
$PXEMSNM,a*6E (response to set: a – action status: A = success; V=failure)  
4.3.2.4 PS – Pulse-Per-Second Configuration  
This sentence sets the pulse-per-second (PPS) output on or off. This is a set-only sentence.  
$PXEMaPS,x*hh  
Name  
Example  
Units  
Description  
Message ID  
$PXEMaPS  
Proprietary PS protocol header, a-mode  
(S = set; R = response)  
On/Off  
<CR><LF>  
1
PPS output switch (1 = ON; 0 = OFF)  
End of message termination  
Example:  
$PXEMSPS,1*6E  
(set)  
$PXEMSPS,a*6E (response to set: a – action status: A = success; V=failure)  
4.3.2.5 PT – Port Configuration  
This sentence configures the application serial port communication parameters.  
$PXEMaPT,xxxxxx,x,a,x*hh  
Name  
Example  
Units  
Description  
Message ID  
$PXEMaPT  
Proprietary PT protocol header, a-mode  
(S = set; R = response)  
Baud rate  
009600  
xxxxxx Baud rate (115200, 057600, 038400,  
019200, 009600, 004800, 002400)  
X # of data bits (7 or 8)  
Parity (N = None; O = Odd; E = Even)  
# of stop bits (1 or 2)  
Data Length  
Parity  
Stop bit  
8
N
1
<CR><LF>  
End of message termination  
Example:  
$PXEMSPT,009600,8,N,1*6E  
(set)  
$PXEMSPT,a*6E (response to set: a – action status: A = success; V=failure)  
4.3.2.6 RT – Reset the Receiver / Start-Stop FirstGPSTM  
This sentence forces the receiver to perform a software reset. It also allows starting up and shutting down  
the FirstGPSTM library without performing a full software reset. This is a set-only sentence.  
$PXEMaRT,a*hh  
Name  
Example  
Units  
Description  
Message ID  
$PXEMaRT  
Proprietary RT protocol header, a-mode  
(S = set; R = response)  
C = cold sofrware reset  
W = warm software reset  
H = hot sofrware reset  
Command  
S
Specifications subject to change without prior notice  
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C  
Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: [email protected] web: www.rikaline.com.tw  
 
GPS-22 Operating Manual  
Rikaline  
S = start the FirstGPSTM library  
X = shut down the FirstGPSTM library  
End of message termination  
<CR><LF>  
Example:  
$PXEMSRT,W*6E  
(set)  
$PXEMSRT,a*6E (response to set: a – action status: A = success; V=failure)  
4.3.2.7 VR – Version Information (optional)  
This sentence obtains software versions for the measurement platform (MPM) firmware, FirstGPSTM API,  
FirstGPSTM Library, native RTOS, and native processor (CPU). This is a query-only sentence.  
Note: A complete VR sentence returns only the version of a particular product component one at a time  
(either MPM firmware, API, library, RTOS or CPU). The sentence must include the component type for  
which to obtain the version for any given query.  
$PXEMaVR,a,cccccc,xx,xx,xx,xx,xx,xxxx*hh  
Name  
Example  
Units  
Description  
Message ID  
$PXEMaVR  
Proprietary VR protocol header, a-mode  
(Q = set; R = response)  
Component type  
A
M = measurement platform (MPM) firmware  
A = FirstGPSTM API  
N = FirstGPSTM Library  
R = native RTOS  
U = native processor (CPU)  
Variable length field; may be up to 17  
characters long  
Name  
abcdef  
Maj version  
Min version  
Beta version  
Month  
Day  
Year  
04  
02  
03  
10  
27  
2002  
Major version number (00 to 99)  
Minor version number (00 to 99)  
Beta version number (00 to 99)  
Month of the release (01 to 12)  
Day of the release (01 to 31)  
Year of the release  
<CR><LF>  
End of message termination  
Example:  
$PXEMSVR,R*6E  
(set)  
$PXEMSVR,R,nucleus,04,03,10,27,2000*6E (response to query)  
4.3.2.8 TR – Transparent Mode  
With this type of sentence an API function call as defined in the Standard and Advanced API Function Calls  
documents are passed thru the NMEA interface. This can be a query, set, and response type of sentence.  
$PXEMaTR,c..c,x..xx, .., x..x*hh  
Example:  
$PXEMSTR,navGerBbAddr,%,s79&*6E  
$PXEMRVR,6E (response to )  
(set)  
4.4 DEFAULT Setting Details  
4.4.1 Pulse Per Second Signal  
PPS output: OFF  
4.4.2 Receiver configuration  
Receiver Mode  
Automatic (2D/3D)  
Automatic switch between 2D and 3D position  
fix depending on number of SV in view  
Specifications subject to change without prior notice  
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C  
Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: [email protected] web: www.rikaline.com.tw  
 
GPS-22 Operating Manual  
Rikaline  
Dynamics Code  
DGPS Mode  
Automobile  
DGPS Off  
Max Oscillator Offset  
6.5e-6  
Limit the search range during cold start. Must  
be larger than TCXO  
tolerance+stability+aging, for ex. 1+2.5+3=6.5  
Elevation Mask (in degrees)  
5
2
SVs for which elevation is lower are ignored to  
compute the solution  
SVs for which signal strength is lower are  
ignored to compute the solution  
Signal Level Mask (AMU)  
DOP Mask  
12  
Max Dilution Of Precision to accept the  
solution  
PDOP Switch  
6
Max Position DOP  
4.4.3 FILTER configuration  
Kalman Filter  
4.4.4 OFFSET configuration  
Offset  
0 ppm  
Window  
-1 ppm  
4.4.5 NMEA configuration  
Output interval  
1 second  
NMEA sentences  
GGA /GSA/GSV/RMC  
4.4.6 APPlication settings  
Protocol Output Port  
9600 bauds, 8 bits data, 1 start, 1 stop, no  
parity  
Number of channels  
Week epoch  
8
1024  
(The offset number of 1024 week periods  
since 6 January 1980. Setting to 1024  
includes all dates between August 22, 1999  
and March 2019.)  
4.5 Application Information  
4.5.1 Antenna recommendation  
Power supply voltage  
2.7 - 3.6 V  
1,575.42+/-1.023MHz  
27 dB at 3.0 V  
Frequency range  
LNA Gain  
LNA NF  
1.1 dB at 3.0 V  
Antenna and LNA total Gain  
25 dBi Max at 3.0 V  
Specifications subject to change without prior notice  
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C  
Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: [email protected] web: www.rikaline.com.tw  
 
GPS-22 Operating Manual  
Rikaline  
5. Earth Datums  
5.1 Earth Datums  
The GPS-22 is built in earth datum with WGS84.  
6. Ordering Information  
6.1 Products Options  
6.1.1 GPS Receiver Module  
GPS-22 Standard with 50mm flat 16-pin Cable  
6.2 Accessories  
A-10302 MCX, Active Antenna, 2M  
A-10305 MCX, Active Antenna, 5M  
56501 Connecting Cable, Screw type MCX + HFL connector + 15mm cable.  
7. Warranty  
The GPS-22 series products are warranted to be free from defects in material and functions for one year  
from the date of purchase. Any failure of this product within this period under normal conditions will be  
replaced art no charge to the customers.  
Specifications subject to change without prior notice  
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C  
Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: [email protected] web: www.rikaline.com.tw  
 

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