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
GPS-22 Operating Manual
1.24”(W) x 1.05”(D) x 0.44”(H)
Rikaline
2. Weight: 25 g
Remark:FirstGPS™ isthetrademarkfrom 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
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
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
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
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
Ⅱ 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
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
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
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
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
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C
GPS-22 Operating Manual
Rikaline
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
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
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
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
|