RoyalTek REB-3000, Operational Manual

Page 1: ... discussions between supplier and RoyalTek and is covered under the terms of the applicable Non Disclosure Agreements Disclosure of this information to other parties is prohibited without the written consent of RoyalTek Prepared by RoyalTek Company LTD A Company of Royal Group 1071 Chung Cheng Rd Suite 9F 1 Tao Yuan City Taiwan R O C TEL 886 3 3569666 FAX 886 3 3560900 E Mail sales royaltek com ht...

Page 2: ...GRAM 11 NMEA V2 2 PROTOCOL 12 GGA Global Positioning System Fixed Data 13 GLL Geographic Position Latitude Longitude 13 GSA GNSS DOP and Active Satellites 13 GSV GNSS Satellites in View 14 RMC Recommended Minimum Specific GNSS Data 14 VTG Course Over Ground and Ground Speed 15 SIRF PROPRIETARY NMEA INPUT MESSAGES 15 SIRF NMEA Input Messages 16 Set Serial Port 16 Set DGPS Port 17 Query Rate Control...

Page 3: ...tion Message I D 165 30 Set Message Rate Message I D 166 31 Low Power Acquisition Parameters Message I D 167 32 OUTPUT MESSAGES FOR SIRF BINARY PROTOCOL 32 Measured Tracker Data Out Message I D 4 34 Raw Tracker Data Out Message I D 5 35 Calculation of Pseudo Range Measurements 37 Response Software Version String Message I D 6 37 Response Clock Status Data Message I D 7 38 50BPS Data Message I D 8 ...

Page 4: ...RoyalTek RGM 3000 REB 3000 GPS Module Operational Manual 3 RoyalTek Navigation Data Message I D 100 44 Set Ephemeris Message I D 254 45 Development Data Message I D 255 45 GPS Receiver User s Tip 46 ...

Page 5: ...protocol custom protocol WAAS demodulator Excellent sensitive for urban canyon and foliage environments Single satellite positioning Dual multi path rejection Data log capability At least 1 Mega bits memory space will be implement in the product Product applications RGM 3000 REB 3000 Portable IA device for personal navigation position commerce P Commerce Automotive applications Personal positionin...

Page 6: ...s is a stamp size GPS receiver without active antenna It provides the external antenna power 2 8DCV 5 through RF cable There are 2 models for versatile antenna connectors 1 RGM 3000L with SMA RF cable 3 REB 3000 with HRS type of antenna connector male which you can connect to versatile types of antenna Picture RGM 3000E ...

Page 7: ...RoyalTek RGM 3000 REB 3000 GPS Module Operational Manual 2 RGM 3000L RGM 3000M The cable length can be adjusted by customer s requirement standard 10cm SMA connector ...

Page 8: ...Block Diagram The RGM 3000 REB 3000 series consists of SiRF star II chipsets technology RoyalTek LNA and proprietary software The system is described as follows RGM 3000M RGM 3000E LNA SIRF GRF2I SAW Filter SiRF GSP2e Patch ANT Flash Memory RS232 port TTL x 2 Programming I O port x 7 Control line x 4 ...

Page 9: ...k RGM 3000 REB 3000 GPS Module Operational Manual 4 RGM 3000L REB 3000 LNA SIRF GRF2I SAW Filter SiRF GSP2e Flash Memory RS232 port TTL x 2 Programming I O port x 7 Control line x 4 GPS receiver w o patch ANT ...

Page 10: ...0000 feet Max Velocity 515 meters second Max Acceleration 4 g Max Power Requirements The input voltage is 3 3V 10 ripple 200mV The power of active antenna is supplied by RGM 3000 REB 3000 series The full run without trickle power maximum current is less than 180mA Weight 30g RGM 3000 15g REB 3000 Environment Temperature Operating temperature 40 85 Degree Celsius Storage temperature 40 85 Degree Ce...

Page 11: ...RoyalTek RGM 3000 REB 3000 GPS Module Operational Manual 6 Mechanical Layout RGM 3000 REB 3000 Mechanical Layout RGM 3000E RGM 3000L Pin 1 ...

Page 12: ...RoyalTek RGM 3000 REB 3000 GPS Module Operational Manual 7 RGM 3000M REB 3000 ...

Page 13: ...RoyalTek RGM 3000 REB 3000 GPS Module Operational Manual 8 Flexible Flat Circuit Connectot ...

Page 14: ...0 4V Ioh Iol 2mA 11 VBAT External Backup Power Input 2 1V Vbat 3 6V 12 RESERVED 13 GPIO3 I O General Purpose I O Pin TTL Level Output Voh 2 4V Vol 0 4V Ioh Iol 2mA Input Vih 0 7 VCC Vil 0 3 VCC 14 GPIO5 I O General Purpose I O Pin TTL Level Output Voh 2 4V Vol 0 4V Ioh Iol 2mA Input Vih 0 7 VCC Vil 0 3 VCC 15 GPIO6 I O General Purpose I O Pin TTL Level Output Voh 2 4V Vol 0 4V Ioh Iol 2mA Input Vi...

Page 15: ... stop bit The default sentences are GPGGA GPGSA GPRMC once per second and GPGSV once per 5 seconds Please refer to software interface for the detail protocol RXA This is the main receiving channel and is used to receive software commands to the Engine board from user written software Please refer to software interface for the detail protocol RXB This is used for DGPS differential input BOOTSEL Pul...

Page 16: ...RoyalTek RGM 3000 REB 3000 GPS Module Operational Manual 11 Design Layout Diagram Recommanded Ground plate for RGM 3000M RGM 3000M with ground plate ...

Page 17: ...it data 1 stop bit and no parity It supports the following NMEA 0183 messages GGA GLL GSA GSV RMC and VTG NMEA Output Messages The Engine board outputs the following messages as shown in Table 1 Table 1 NMEA 0183 Output Messages NMEA Record Description GGA Global positioning system fixed data GLL Geographic position latitude longitude GSA GNSS DOP and active satellites GSV GNSS satellites in view ...

Page 18: ...Null fields when DGPS is not used Diff Ref Station ID 0000 Checksum 18 CR LF End of message termination Table 2 1 Position Fix Indicator Value Description 0 Fix not available or invalid 1 GPS SPS Mode fix valid 2 Differential GPS SPS Mode fix valid 3 GPS PPS Mode fix valid GLL Geographic Position Latitude Longitude Table 3 contains the values of the following example GPGLL 3723 2475 N 12158 3416 W...

Page 19: ... 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 5 GSV Data Format Name Example Units Description Message ID GPGSV GSV protocol header Number of Messages 1 2 Range 1 to 3 Messages Number1 1 Range 1 to 3 Satellites in View 07 Satellite ID 07 Channel 1 Range 1 to 32 Elevation 79 degrees Channel 1 Maximum 90 Azimuth 048 degrees Channel 1 T...

Page 20: ... T True Course degrees Measured heading Reference M Magnetic Speed 0 13 knots Measured horizontal speed Units N Knots Speed 0 2 km hr Measured horizontal speed Units K Kilometer per hour Checksum 6E CR LF End of message termination SiRF Proprietary NMEA Input Messages NMEA input messages allow you to control the Evaluation Unit in NMEA protocol mode The Evaluation Unit may be put into NMEA mode by...

Page 21: ...ters required for start using Lat Lon Alt1 Development Data On Off 105 Development Data messages On Off Input coordinates must be WGS84 Set Serial Port This command message is used to set the protocol SiRF Binary or NMEA and or the communication parameters baud data bits stop bits parity Generally this command is used to switch the module back to SiRF Binary protocol mode where a more extensive co...

Page 22: ...m Hot Starts 1 0x02 Clear Ephemeris Warm Start 1 0x04 Clear Memory Cold Start 1 Set DGPS Port This command is used to control Serial Port B which is an input only serial port used to receive RTCM differential corrections Differential receivers may output corrections using different communication parameters The default communication parameters for PORT B are 9600 baud 8 data bits stop bit and no pa...

Page 23: ...s clock offset and time This enables the receiver to search for the correct satellite signals at the correct signal parameters Correct initialization parameters enable the receiver to acquire signals quickly Table 14 contains the input values for the following example Start using known position and time PSRF104 37 3875111 121 97232 0 95000 237759 922 12 3 3A Table 14 LLA Navigation Initialization ...

Page 24: ...s after and before Not including and SiRF Binary Protocol The serial communication protocol is designed to include Reliable transport of messages Ease of implementation Efficient implementation Independence from payload Protocol Layers Transport Message Start Sequence Payload Length Payload Message Checksum EndSequence 0xA01 0xA2 Two bytes 15 bits Up to 210 1 1023 Two bytes 15 bits 0xB0 0xB3 0xYY ...

Page 25: ...endian order Checksum The check sum is transmitted high order byte first followed byte the low byte This is the so called big endian order High Byte Low Byte 0x7F Any value The check sum is 15 bit checksum of the bytes in the payload data The following pseudo code defines the algorithm used Let message to be the array of bytes to be sent by the transport Let msgLen be the number of bytes in the me...

Page 26: ...sage Checksum and End Sequence Table 20 Initialize Data Source Binary Hex Name Bytes Scale Example Units Description Message ID 1 80 ASCII 128 ECEF X 4 FFD700F9 meters ECEF Y 4 FFBE5266 meters ECEF Z 4 003AC57A meters Clock Offset 4 000124F8 Hz Time of Week 4 100 0083D600 seconds Week Number 2 039C Channels 1 0C Range 1 12 Reset Config 1 33 See Table 19 Payload Length 25 bytes Table 21 Initialize ...

Page 27: ...ield 1 00 Recommended value Unused Field 1 01 Recommended value Unused Field 1 00 Recommended value Unused Field 1 01 Recommended value Unused Field 1 00 Recommended value Unused Field 1 01 Recommended value Baud Rate 1 12C0 38400 19200 9600 4800 2400 Payload Length 24bytes 1 A value of 0x00 implies NOT to send message otherwise data is sent at 1 message every X seconds requested i e to request a ...

Page 28: ...le Units Description Message ID 1 85 Message identifier DGPS Source 1 00 See Table B 8 DGPS Source Selections Internal Beacon 4 00000000 Hz See Table B 9 Internal Beacon Search setting Internal Beacon Bit Rate 1 0 BPS See Table B 9 Internal Beacon Search setting Payload 7Bytes Example2 Set the DGPS source to Internal DGPS Beacon Receiver Search Frequency 310000 Bit Rate 200 A0A20007 Start Sequence...

Page 29: ...ble B 10 contains the input values for the following example Set Main Serial port to 9600 n 8 1 Example A0A20009 Start Sequence and Payload Length 860000258008010000 Payload 0134B0B3 Message Checksum and End Sequence Table B 10 Set Main Serial Port Binary Hex Name Bytes Scale Example Units Description Message ID 1 86 Message identifier Baud 4 00002580 38400 19200 9600 4800 2400 1200 Data Bits 1 08...

Page 30: ...Hold 1 Use Clock then Direction Hold 2 Direction Curb Hold Only 3 Clock Time Hold Only 4 Disable Degraded Modes DOP Mask Control Message I D 137 Table 26 contains the input values for the following example Auto Pdop Hdop Gdop 8 default Pdop 8 Hdop 8 Example A0A20005 Start Sequence and Payload Length 8900080808 Payload 00A1B0B3 Message Checksum and End Sequence Table 26 DOP Mask Control Binary Hex ...

Page 31: ...5 degrees Example A0A20005 Start Sequence and Payload Length 8B0032009B Payload 0269B0B3 Message Checksum and End Sequence Table 30 Elevation Mask Binary Hex Name Bytes Scale Example Units Description Message ID 1 8B ASCII 139 Tracking Mask 2 10 0032 degrees Not currently used Navigation Mask 2 10 009B degrees Range 20 0 to 90 0 Payload Length 5 bytes Power Mask Message I D 140 Table 31 contains t...

Page 32: ...nits Description Message ID 1 90 ASCII 144 TBD 1 00 Reserved Payload Length 2 bytes Set DGPS Serial Port Message I D 145 Table 34 contains the input values for the following example Set DGPS Serial port to 9600 n 8 1 Example A0A20009 Start Sequence and Payload Length 910000258008010000 Payload 013FB0B3 Message Checksum and End Sequence Table 34 Set DGPS Serial Port Binary Hex Name Bytes Scale Exam...

Page 33: ...ords otherwise the ephemeris of the Sv I D is requested Switch To SiRF Protocol Note To switch to SiRF protocol you must send a SiRF NMEA message to revert to SiRF binary mode See page 9 NMEA Input Messages for more information Switch Operating Modes Message I D 150 Table 37 contains the input values for the following example Sets the receiver to track a single satellite on all channels Example A0...

Page 34: ...ion of each tracking period range is 200 900 ms To calculate the TricklePower update rate as a function of Duty cycle and On Time use the following formula Off Time On Time Duty Cycle On Time Duty Cycle Update rate Off Time On Time Note On Time inputs of 900 ms will default to 1000 ms Following are some examples of selections Table 39 Example of selections for Trickle Power Mode of Operation Mode ...

Page 35: ...sition velocity fixes can generally be computed within SnapStart times when requested by the user on the order of 3 seconds Poll Navigation Parameters Message I D 152 Table C 20 contains the input values for the following example Example Poll receiver for current navigation parameters A0A20002 Start Sequence and Payload Length 9800 Payload 0098B0B3 Message Checksum and End Sequence Table C 20 Poll...

Page 36: ...rotocol 1 01 For UART 2 Out Protocol 1 01 For UART 2 Baud Rate 4 00000000 For UART 2 Data bits 1 08 For UART 2 Stop bits 1 01 For UART 2 Parity 1 00 For UART 2 Reserved 1 00 For UART 2 Reserved 1 00 For UART 2 Port 1 00 For UART 3 In Protocol 1 01 For UART 3 Out Protocol 1 01 For UART 3 Baud Rate 4 00000000 For UART 3 Data bits 1 08 For UART 3 Stop bits 1 01 For UART 3 Parity 1 00 For UART 3 Reser...

Page 37: ...ayload 02E1B0B3 Message Checksum and End Sequence Table B 30 Set Low Power Acquisition Parameters Binary Hex Name Bytes Scale Example Units Description Message ID 1 A7 Decimal 167 Max Off Time 4 00007530 ms Maximum time for sleep mode Max Search Time 4 0001D4C0 ms Max satellite search time TBD 4 00000000 Reserved TBD 4 00000000 Reserved TBD 4 00000000 Reserved TBD 4 00000000 Reserved Payload Lengt...

Page 38: ...re Navigation Data Out Message I D 2 Output Rate 1 Hz Table 43 lists the binary and ASCII message data format for the measured navigation data Example A0A20029 Start Sequence and Payload Length 02FFD6F78CFFBE869E003AC004000301 04A00036B039780E3 0612190E160F04000000000000 Payload 09BBB0B3 Message Checksum and End Sequence Table 43 Measured Navigation Data Out Binary ASCII Message Data Format Binary...

Page 39: ...4 4 4 Satellite Solution 3D 0x05 5 2D Point Solution Krause 0x06 6 3D Point Solution Krause 0x07 7 Dead Reckoning Time Out Table 45 Mode 2 Mode 2 Hex ASCII Description 0x00 0 DR Sensor Data 0x01 1 Validated Unvalidated 0x02 2 Dead Reckoning Time Out 0x03 3 Output Edited by UI 0x04 4 Reserved 0x05 5 Reserved 0x06 6 Reserved 0x07 7 Reserved Measured Tracker Data Out Message I D 4 Output Rate 1 Hz Ta...

Page 40: ...if done successfully DELTA_CARPHASE_VALID 0x0002 Integrated carrier phase is valid BIT_SYNC_DONE 0x0004 Bit sync completed flag SUBFRAME_SYNC_DONE 0x0008 Subframe sync has been done CARRIER_PULLIN_DONE 0x0010 Carrier pull in done CODE_LOCKED 0x0020 Code locked ACQ_FAILED 0x0040 Failed to acquire S V GOT_EPHEMERIS 0x0080 Ephemeris data available Note When a channel is fully locked and all data is v...

Page 41: ...lapsed time since the last received bit 20 ms between bits Chip Number Current C A code symbol being transmitted range 0 to 1023 chips 1023 chips 1 ms Code Phase Fractional chip of the C A code symbol at the time of sampling scaled by 2 16 1 65536 Carrier Doppler The current value of the carrier frequency as maintained by the tracking loops Receiver Time Tag This is the count of the millisecond in...

Page 42: ...putation of initial Receiver Time RT in seconds Note Where the initial arbitrary value chosen at start up to make the PR reasonable i e set equal to TT 70ms and then incriminated by one second for each measurement epoch 2 Computation of Transmit Time TT in seconds 3 Calculate Pseudo range at a common receiver time of the first channel of the measurement data set Note All channel measurements are N...

Page 43: ...nd End Sequence Table 50 Clock Status Data Message Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 07 7 GPS Week 2 03BD 957 GPS TOW 4 100 02154924 S 100 349494 12 Svs 1 08 8 Clock Drift 4 2231 Hz 74289 Clock Bias 4 7923 ns 128743715 Estimated GPS Time 4 DAEF ms 349493999 Payload Length 20 bytes 50BPS Data Message I D 8 Output Rate As available 12 5 minute downloa...

Page 44: ...te Response to successful input message This is successful almanac message ID 0x92 request example A0A20002 Start Sequence and Payload Length 0B92 Payload 009DB0B3 Message Checksum and End Sequence Table 53 Command Acknowledgment Binary Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 0B 11 Ack I D 1 92 146 Payload Length 2 bytes Command N Acknowledgment Message I D 12 O...

Page 45: ...Sv Azimuth 2 0029 Degrees 41 CH 1 Sv Elevation 2 0038 Degrees 56 CH 2 Sv I D 1 09 9 CH 2 Sv Azimuth 2 0133 Degrees 307 CH 2 Sv Elevation 2 002C Degrees 44 Payload Length 62 bytes maximum Almanac Data Message I D 14 Output Rate Response to poll Example A0A203A1 Start Sequence and Payload Length 0E01 Payload B0B3 Message checksum and End Sequence Table 56 Visible List Binary Hex ASCII Decimal Name B...

Page 46: ...ry Hex ASCII Decimal Name Bytes Scale Example Units Scale Example Message ID 1 13 19 Reserved 4 00000000 Altitude Hold Mode 1 00 0 Altitude Hold Source 1 00 0 Altitude Input Source 2 0000 meters 0 Degraded Mode 1 1 01 1 Degraded Timeout 1 1E seconds 30 DR Timeout 1 3C seconds 60 Track Smooth Mode 1 01 1 Static Navigation 1 3SV Least Squares 1 Reserved 4 DOP MASK Mode 2 1 04 4 Navigation Elevation ...

Page 47: ...F3FBE95E 417B235C m Carrier Frequency 4 468C6964 Carrier Phase 8 B8FBC582 415CF1C3 Time in Track 2 7530 ms Sync Flags 1 17 C No1 1 34 C No2 1 C No3 1 C No4 1 C No5 1 C No6 1 C No7 1 C No8 1 C No9 1 C No10 1 Delta Range Interval 2 03E801F4 m Mean Delta Range Time 2 01F4 ms Extrapolation Time 2 0000 ms Phase Error Count 1 00 Low Power Count 1 00 Payload Length 56 bytes Navigation Library DGPS Data M...

Page 48: ...Name Bytes Scale Example Units Scale Example Message ID 1 1E 30 Satellite ID 1 15 21 GPS Time 8 s Position X 8 m Position Y 8 m Position Z 8 m Velocity X 8 m s Velocity Y 8 m s Velocity Z 8 m s Clock Bias 8 s Clock Drift 4 2C64E99D s 744810909 Ephemeris Flag1 1 01 1 Reserved 8 Ionospheric Delay 4 408906C8 m 1082721992 Payload Length 83 bytes 1 0 no valid SV state 1 SV state calculated from ephemer...

Page 49: ...ft Init Source 8 1 02 2 Payload Length 84 bytes 1 0 Use last know altitude 1 Use user input altitude 2 Use dynamic input from external source 2 0 Use direction hold and then time hold 1 Use time hold and then direction hold 2 Only use direction hold 3 Only use time hold 4 Degraded mode is disabled 3 0 True and 1 False 4 0 Use DGPS if available 1 Only navigate if DGPS corrections are available 2 Ne...

Page 50: ...0 012C 10 30 0 Payload Length 42 bytes This protocol is provided from RoyalTek firmware Ver 1 7 release hh CR LF Check Sum and sentence termination delimiter Set Ephemeris Message I D 254 This command enables the user to upload an ephemeris to the Evaluation unit Note This feature is not documented in this manual For information on implementation contact SiRF Technology Inc Development Data Messag...

Page 51: ... radio wave sources such as mobile phone base stations f Bad or heavy cloudy weather 4 If the satellite signals can not be locked or encounter receiving problem while in the urban area the following steps are suggested a Please plug the external active antenna into GPS receiver and put the antenna on outdoor or the roof of the vehicle for better receiving performance b Move to another open space o...