Trimble Outdoors CopernicusTM GPS Receiver manual

R E F E R E N C E MA N U A L Coper nicus ™ GPS Receiver For Modules with firmwar e version 2.01 (or later) Part Number 58052-00[...]

NORTH AMERICA T rimble Navigation Limited Corporate Headquarters 935 Stewart Drive Sunnyvale , CA 94086 +1-800-787-4225 +1-408-481-7741 EUROPE T rimble Navigation Europe Phone: +49-6142-2100-161 K OREA T rimble Export Ltd, Korea Phone: +82 2 555 5361 CHINA T rimble Navigation Ltd, China Phone: +86-21-6391-7814 T AIW AN T rimble Navigation, T aiwan [...]

Corporate Office T rimble Navigation Limi ted 935 Stewart Dr ive Sunnyvale, CA 94085 U.S.A. Phone: +1-408-481-8000, 1-800-827-8000 www .trimble.com Support +1-800-767-4822 (USA and Canada) +1-913-338-8225 (International) Copyright and T rademar ks © 2007 T rimble Navigation Limited . All rights reserved. No part of this manual may be copied, repro[...]

THE WARRANTIES ABOVE STATE TRIMBLE ' S ENTIRE LIABILITY , AND YOUR EXCLUSIVE REMEDIES , RELATING TO PERFORMANCE OF THE PRODUCTS AND SOFTWARE . EXCEPT AS OTHERWISE EXPRESSLY PROVIDED HEREIN , THE PRODUCTS , SOFTWA RE , AND ACCOMPANYING DOCUMENTATION AND MATERIALS ARE PROVIDED “ AS - IS ” AND WITHOUT EXPRE SS OR IM PLIED WARRANTY OF ANY KIND[...]

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Copernicus GPS Receiver 1 T able of Contents T able of Content s 1 1 ST ARTER KIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Receiver Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Starter Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 [...]

T able of Contents 2 Copernicus GPS Receiver 3 INTERF ACE CHARACTERISTICS . . . . . . . . . . . . . . . . . . . . . 41 Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Pin Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Detailed Pin Descriptions . . . . .[...]

Copernicus GPS Receiver 3 T able of Contents 7 MECHANICAL SPECIFICA TIONS . . . . . . . . . . . . . . . . . . . . . 77 Mechanical Outline Drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 8 Soldering the Copernicus GPS Receiver to a PCB . . . . . . . . . . . . . . . . . . . . . . 79 Solder mask . . . . . . . . . . . . . . [...]

T abl e of Contents 4 Copernicus GPS Receiver 1 1 FIRMW ARE UPGRADE . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 Software Architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 Boot Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 Firmware Binary File Form[...]

Copernicus GPS Receiver 5 T able of Contents Command Packet 0x26 - Request Health . . . . . . . . . . . . . . . . . . . . . . . 134 Command Packet 0x27 - Request Signal Levels . . . . . . . . . . . . . . . . . . . . 134 Command Packet 0x2B - Initial Po sition (Latitude, Longitude, Alti tude). . . . . . . 134 Command Packet 0x2D - Request Oscillator[...]

T abl e of Contents 6 Copernicus GPS Receiver Command Packet 8E-18 - Request Last Po sition or Auto Report Position in UTM Double Precision Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Command Packet 0x 8E-20 - Request Last Fix with Extra Information . . . . . . . . 167 Command Packet 0x8E-26 - No n-V olatile Memory Storag[...]

Copernicus GPS Receiver 7 T able of Contents X1 Extended Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207 Communication Scheme for T AIP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208 Query for Single Sentence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208 Scheduled Reporting [...]

T abl e of Contents 8 Copernicus GPS Receiver[...]

CHAPTER 1 Copernic us GPS Receiv er 5 ST ARTER KIT 1 In this chapter:  Receiver Overview  Starter Kit  Antenna  Quick Sta rt Guide  T rimble GPS Monitor T oolkit The Copernicus GPS module is a drop-in receiver solution that provides position, velocity , and time data in a choice of three protocols. This chapter provides a detailed de[...]

1 ST AR TER KIT 6 Copernicus GPS Receiver Receiver Overview T rimble's Copernicus™ GPS receiver deliv ers proven performance and T rimble quality for a new generation of position- enabled products. The Copernicus GPS features the T rimble revolutionary T r imCore™ software t echnology enabling extremely fast startup times and high perfo rm[...]

Copernic us GPS Receiv er 7 ST AR TER KIT 1 Starter Kit The Copernicus GPS S tarter Kit provides everything y ou need to get started integrating state-of-the-art GPS capability in to your application. The reference board provides a visual layout of the Copernicus GPS receiver on a PCB including the RF signal trace, the RF connector , and the I/ O c[...]

1 ST AR TER KIT 8 Copernicus GPS Receiver Interface Unit Inside the starter kit interface unit, the Copernicus GPS reference bo ar d sits on a shelf supported by 4 standoffs above the mother board. The antenna transition cable is mounted to the outs ide of the unit and connects t o the MCX connector on the reference board. An 8-wire ribbon cable in[...]

Copernic us GPS Receiv er 9 ST AR TER KIT 1 Figure 1.3 USB Cable[...]

1 ST AR TER KIT 10 Copernicus GPS Receiver Serial P ort Interface The Copernicus GPS interface unit has a du al port USB interface that is available through a single A-type USB con nection. Be fore the starter kit can be used with a USB 2.0-equipped Microsoft W indows (2 000, XP)-based PC, th e appropriate USB 2.0 drivers must be installed on the P[...]

Copernic us GPS Receiv er 11 ST AR TER KIT 1 Interface Connections Following is a description of the Copernicus GPS interface unit (numbered references correlate to numbers in the image below). Figure 1.4 Front side of the Interface Unit 1. Antenna Connector The antenna connector is an MCX type c onnector that is inte nded to be used with the suppl[...]

1 ST AR TER KIT 12 Copernicus GPS Receiver 7. Power Connector The power connector (barrel connector) is located on the front right side of the starter kit. The power connector conn ects to the AC/DC power converter supplied with the starter kit. T he powe r converter converts 100 -240 V AC T o 12 or 24VDC. The po wer connector can accept 9 to 32 VD[...]

Copernic us GPS Receiv er 13 ST AR TER KIT 1 Removing the Reference Boar d from the Interface Unit Follow this procedure to remove the Co pernicus GPS reference board from the interface unit:. 1. Before disassembling the interface unit, disconnect the unit from any external power source and confirm that both yo u and your work surface are properly [...]

1 ST AR TER KIT 14 Copernicus GPS Receiver Antenna The Copernicus GPS S tarter Kit comes with an active mini magnetic mount 3.0 V GPS antenna. This antenna mates with the MCX connector on the interface unit. The reference board supplies power to the activ e antenna through the RF transition cable. Using a P assive Antenna T o test performance with [...]

Copernic us GPS Receiv er 15 ST AR TER KIT 1 Quick Start Guide 1. Confirm that you have the following: – The Copernicus GPS S tarter Kit. – W indows desktop or lapto p computer with a USB port. 2. Connect the computer’ s power cable to the power converter . 3. Plug the power cable in to the interface unit. Figure 1.5 Connecting Power 4. Plug [...]

1 ST AR TER KIT 16 Copernicus GPS Receiver 7. Connect the USB cable to the US B connector on the interface unit. Figure 1.7 Connecting the PC 8. Power-on your computer . 9. Insert the CD found in the starter kit box into your computer CD driv e. 10. Install the T rimble GPS Monitor Progra m from the supplied CD. (see Tri m b le GPS Monitor T oolkit[...]

Copernic us GPS Receiv er 17 ST AR TER KIT 1 T rimble GPS Monitor T oolkit The T rimble GPS Monitor T ookit is design ed to assist you in configuring your T rimble GPS receiver . The application works with a standard RS-2 32 serial interface or the USB interface supplied in the Copernicus GPS starter kit. TGM includes helpful features such as “De[...]

1 ST AR TER KIT 18 Copernicus GPS Receiver Connect the PC via the USB Cable 1. Right-click the MyComputer icon. 2. Select the Properties option to view the System Properties W indow . 3. Select the Hardware tab.[...]

Copernic us GPS Receiv er 19 ST AR TER KIT 1 4. Click the Device Manager button. 5. Open the Ports (Com & LP T) section an d note down the two USB Serial Port COM numbers. In the example ab ove th ey are COM5 and COM6. In general Port A of the GPS device will be on th e lower COM number and Port B will be on the higher .[...]

1 ST AR TER KIT 20 Copernicus GPS Receiver Start the TGM Application 1. Go to the directory in which the T rimbl e GPS Monitor application is stored and open the application. Th e main window displays .[...]

Copernic us GPS Receiv er 21 ST AR TER KIT 1 Connect to the GPS Receiver 1. Select Initialize > Detect Receiver 2. Select the port and protocol being used on the module. If you do not kn ow which protocol is being used you can select TSIP , T AIP and NMEA. TGM will try each in turn at dif ferent baud rates.[...]

1 ST AR TER KIT 22 Copernicus GPS Receiver 3. Click on Y es to accept the discovered connection parameters.[...]

Copernic us GPS Receiv er 23 ST AR TER KIT 1 Configure GPS P orts 1. Select the Configure pull down menu from the main screen, and select Receiver Configuration. 2. Select the Port Configuration tab. 3. Select the required receiver port, baud rate, parity , data bits and stop bits. 4. Select one input and one output protocol. 5. Click the Set butto[...]

1 ST AR TER KIT 24 Copernicus GPS Receiver Configure Output Formats 1. Select the Configure pull down menu from the main screen. 2. Select Receiver Configuration. 3. Select the Outputs tab. 4. After selecting the required setup options, click on Set. 5. If the configuration is to be pe rmanent, click Save Configuration. Configure GPS 1. Select the [...]

Copernic us GPS Receiv er 25 ST AR TER KIT 1 Configure PPS Output 1. Select the Configure pull down menu from the main screen. 2. Select Receiver Configuration. 3. Select the PPS Configuration tab. Note – Always ON – the PPS is pr esent even without a GPS fix, it will fr ee run until fix is obtained. Fixed-based – the P PS will on ly be outpu[...]

1 ST AR TER KIT 26 Copernicus GPS Receiver Configure T AIP Output 1. Select the Configure pull down menu from the main screen. 2. Select Receiver Configuration. 3. Select the T AIP tab. 4. After selecting the required setup options, click on Set. 5. If the configuration is to be pe rmanent, click Save Configuration. Note – This scr een can o nly [...]

Copernic us GPS Receiv er 27 ST AR TER KIT 1 Creating a Log Follow these steps to log the output of the GPS receiver . 1. Select Configure > Data Logging 2. From the available ports select the co m port that connects to your device.[...]

1 ST AR TER KIT 28 Copernicus GPS Receiver 3. Create a filename and path in the file field. Use standard file naming if appropriate with the Unit ID and T est Case number 4. Select the correct protocol and logging options. 5. Click Start Logging. Sending Raw Da ta to device 1. From the T ools Menu select the Generic Packets option. 2. Select the re[...]

Copernic us GPS Receiv er 29 ST AR TER KIT 1 3. Select one of the provided messages fro m the Presets pull down, or enter your own data in the Packet Data field. Note – If entering your own message in the Packet Data, the TGM only r equir es the user data not the surr ounding start and end bytes. In the example above TSIP user data is being enter[...]

1 ST AR TER KIT 30 Copernicus GPS Receiver[...]

CHAPTER 2 Copernic us GPS Receiv er 31 PRODUCT DESCRIPTION 2 In this chapter:  Key Features  Specifica tions  Interface  MTBF  Absolute Mini mum and Maximum Limits  Normal Oper ating Conditions  Power Consumption Over T emperatur e and V olta ge  ESD Protection  Ordering Information This chapter describes the Copernicus G[...]

2 PRODUCT DESCRIPTION 32 Copernicus GPS Receiver K ey Features The Copernicus module is a complete 12-channel GPS receiver in a 19mm x 19mm x 2.54mm, thumbnail-sized shield ed unit. The small, thin, single-sided module is packaged in tape and reel for pick and place manufacturing processes; 28 reflow- solderable edge castellations provide interface[...]

Copernic us GPS Receiv er 33 PRODUCT DESCRIPTION 2 Block Diagr am Figure 2.1 Copernicus GPS Block Diagram[...]

2 PRODUCT DESCRIPTION 34 Copernicus GPS Receiver Specifications Performance Interface Performanc e Specifications L1 (1575.42 MHz) fr equency , C/A code, 12-ch annel, continuous tracking r eceiver Update Rate TSIP 1 Hz NMEA 1 Hz TA I P 1 H z Accuracy (24 hour static) Horizontal (without SBAS) <2.5 m 50%, <5 m 90% Horizontal (with SB AS) <2[...]

Copernic us GPS Receiv er 35 PRODUCT DESCRIPTION 2 Electrical Physical Environmental Electr ical Specifications Prime Powe r +2.7 VDC to 3.3 VDC Power Consumption (typ.) 30.7 mA (82.9 mW) @ 2.7 V (typ.) 31.3 mA (93.9 mW) @ 3.0 V Backup Power +2.7 VDC to +3.3 VDC Ripple Noise Max 50 mV , peak-to-peak from 1 Hz to 1 MHz Physical Sp ecifications Enclo[...]

2 PRODUCT DESCRIPTION 36 Copernicus GPS Receiver MTBF The Mean T ime Between Failures (MTB F) of the GPS receiver module was calculated based on parts count - serial reliability usin g T elecordia Analysis and Industry field data for the PC B and T rimble Navigation's fie ld return data (i.e. similar product or te chnology parts). This is gene[...]

Copernic us GPS Receiv er 37 PRODUCT DESCRIPTION 2 Absolute Minimum and Maximum Limits Absolute maximum ratings in dicate conditions beyond which permanent damage to the device may occur . Electrical specifica tions shall not apply when operating the device outside its rate d operating conditions. Note – See Copernicus S tandby Curren t, page 55 [...]

2 PRODUCT DESCRIPTION 38 Copernicus GPS Receiver Normal Oper ating Conditions Minimum and maximum limits apply over full operating temperature range unless otherwise no ted . * The rise time to VCC MUST be greater than 140 μ secs. The u ser can use one source of power on Pin 12 (VCC) for b oth main and Standby power. ** If using two sources of pow[...]

Copernic us GPS Receiv er 39 PRODUCT DESCRIPTION 2 P ower Consumption Over T emperatur e and V oltage Run Mode (T racking with Almanac Comp lete): < 90 mW average @ 2.7 VDC, -40 to 85° C S tandby Mode: < 30 μ W @ 3.0 VDC, typical at 25° C, < 200 μ W under all conditions except during se rvice time for the 18-hour real time clock r oll [...]

2 PRODUCT DESCRIPTION 40 Copernicus GPS Receiver Order ing Information Order ing Information Copernicus GPS R eceiver Module Single m odule in metal enclos ure P/N 58048-10 Reference Board P/N 58054-10 Copernicus GP S module mounted on a carrier board with I/O a nd RF co nnectors for evaluation purposes, inclu ding the RF circuitry with the antenna[...]

CHAPTER 3 Copernic us GPS Receiv er 41 I N T E R F AC E C H A R AC T E R I S T I C S 3 In this chapter:  Pin Assignments  Pin Description  Serial Port Default Settings  GPS T iming  A-GPS  Pulse-Per-Second (P PS) This chapter provides a detailed description of the Copernicus GPS Receiver interface.[...]

3 INTERF A CE CHARACTERISTICS 42 Copernicus GPS Receiver Pin Assignments Figure 3.1 Copernicus Pin Assignments Reserved[...]

Copernic us GPS Receiv er 43 IN TE RFACE C HAR ACT ER IST IC S 3 Pin Description T able 3.1 Pin De scription G: Ground; I: Input; O: Output; P: Power Pin Name Description Function Note 1 GND Ground G Signal ground. Connect to common groun d. 2 GND RF Ground G One of two RF gr ounds adjacent to RF input. Connect to RF ground system. 3 RF Input GPS R[...]

3 INTERF A CE CHARACTERISTICS 44 Copernicus GPS Receiver Detailed Pin Descriptions RF Input The RF input pin is the 50 ohm unbalanced GPS RF input, and can be used with active or passive antenn as. Passive antennas: The RF input pin ma y be connected by a low-loss 50 ohm unbalanced transmission sy stem to the passive GPS ante nna if loss is minimal[...]

Copernic us GPS Receiv er 45 IN TE RFACE C HAR ACT ER IST IC S 3 T abl e 3.2 Antenna Status T ruth T able When using a passive antenna with the SHOR T and OPEN pins floating, the receiver will report an open condition. If a normal condition from t he receiver is desired when using a passive antenna, set the logic leve ls of the SHOR T pin High and [...]

3 INTERF A CE CHARACTERISTICS 46 Copernicus GPS Receiver RXD_A and RXD_B These logic level inputs are the primary (A) and secondary (B) serial port receive lines (data input to the module). This ou tput meets the input/output pin threshold specifications (see Absolute Minimum and Maximum Limits, page 37 .) The baud rate for the two ports is un der [...]

Copernic us GPS Receiv er 47 IN TE RFACE C HAR ACT ER IST IC S 3 Serial P ort Default Settings The Copernicus GPS Receiver supports two serial port s. T he default settings are provided in the table below . T able 3.4 Copernicu s GPS Receiver Serial Port Default Settings Note – Data Bits, Parity , Stop Bits and Flow Contr ol ar e not conf igurabl[...]

3 INTERF A CE CHARACTERISTICS 48 Copernicus GPS Receiver GPS Timing In many timing applications, such as time/frequency standards, site synchronization systems, and event measurement systems, GPS receivers are used to discipline local oscillators. The GPS constellation consists of 24 orbiting satellites. Each GPS satellite contains a highly-stable [...]

Copernic us GPS Receiv er 49 IN TE RFACE C HAR ACT ER IST IC S 3 Acquiring the Corr ect Time T o acquire the correct time: 1. Confirm that the almanac is complete and the receiver is genera ting 3D fixes. This will eliminate the UTC of fset jump. 2. Confirm that the receiver is configured for the late PPS option (i.e., it is only outputting a PPS o[...]

3 INTERF A CE CHARACTERISTICS 50 Copernicus GPS Receiver A-GPS The Copernicus GPS Receiv er is equipped with ass isted GP S (A-GPS), which enables the receiver to obtain a position fix within seconds using almanac, ephemeris, time, and position data. This position data can be uploaded to the device via TSIP packets or the T rimble GPS Monitor (TGM)[...]

Copernic us GPS Receiv er 51 IN TE RFACE C HAR ACT ER IST IC S 3 Enabling A-GPS with TSIP 1. Allow the receiver to run long enough to collect a current almanac. Note – It takes 12,5 minutes of uninterrupted Copernic us operation to collect almanac fr om the satellites. 2. Use packet 0 x 26 to request the health of the receiver . The response pack[...]

3 INTERF A CE CHARACTERISTICS 52 Copernicus GPS Receiver Pulse-Per-Second (PPS) The Copernicus GPS receiv er provides a CMOS compatible TTL level Pulse-Per- Second (PPS). The PPS is a positive pulse avail able on pin 19 of the Copernicus GPS Receiver. The rising edge of the PPS pulse is synchronized with respect to UTC. The timing accuracy is ±100[...]

CHAPTER 4 Copernic us GPS Receiv er 53 OPERA TING MODES 4 In this chapter:  Copernicus Receiver Operating Mo des  Run Mode  Standby Mode  Monitor Mode  Changing the Run/Standby Modes  18-Hour R TC Roll Over  Saving Almanac, Ephemeris and Position to Flash Memory  WAAS This chapter describes the primary Copernicus GPS Receive[...]

4 OPERA TING MODES 54 Copernicus GPS Receiver Copernicus Receiver Oper ating Modes T abl e 4.1 Copernicus GPS Receiver Operat ing Modes Run Mode The RUN mode is the co ntin uous tracking or th e normal mode. Standby Mode The Copernicus GPS Re ceiver provides a St an dby Mode in which the module's RAM memory is kept alive and the real-time cloc[...]

Copernic us GPS Receiv er 55 OPERA TING MODES 4 Changing the Run/Standby Modes There are two methods you can follow to switch the receiver between the Run Mode and the S tandby Mode. Only one of these methods may be used at a time. 1. Using the XST ANDBY pin or 2. Using the serial ports und er user control Note – If you ar e using the XST ANDBY p[...]

4 OPERA TING MODES 56 Copernicus GPS Receiver Using the XST ANDBY Pi n to Switch Modes The first method for putting th e receiver into Standby Mode or exiting this mode back to the Run Mode is through the pin XST ANDB Y , pin #16. As long as the pin is held high, the receiver will operate normally in Run Mode. Entering Standby Mode When the pin is [...]

Copernic us GPS Receiv er 57 OPERA TING MODES 4 Serial P ort Activity When the receiver enters Standby Mode through the software protocol comm ands, the first condition for exiting S t andby Mode is using serial po rt A activity or serial port B activity . The condition is id entical for both ports A and B. T o ensure the receiver detects and resp [...]

4 OPERA TING MODES 58 Copernicus GPS Receiver 18-Hour RTC Roll Over If the Standby Mode lasts longer than 18 hours, a special condition will occur . The real-time clock has a maximum time count of 18 hours, so that every 18 hours the receiver must briefly power on the proc essor and read the elapsed time before the real-time clock rolls over . The [...]

Copernic us GPS Receiv er 59 OPERA TING MODES 4 Saving Almanac, Ephemeris and P osition to Flash Memory The Almanac, Ephemeris, and recent Position data contained in RAM is automatically saved to Flash memory . Gr aceful Shutdown The Graceful Shutdown comm and is issu ed using TSIP packet 0xC0 or NMEA command R T with the store RAM to flash fl ag e[...]

4 OPERA TING MODES 60 Copernicus GPS Receiver Acquisition The Copernicus GPS Re ceiver will acquire a W AAS satellite after it has a GPS-based position fix. After a two minute position fi x outage, the Copernicus module will stop tracking and acquiring the W AAS satellite . The W AAS satellite will be re-acquired after a GPS-based position fix is r[...]

CHAPTER 5 Copernic us GPS Receiv er 61 APPLICA T ION CIRCUITS 5 In this chapter:  Passive antenna—Minimum Connections  Active Antenna—Full Connection  Active Antenna—No Antenna Status This chapter describes the Copernicus GPS Receiver passive and active antenna connections.[...]

5 APPLICA TION CIRCUITS 62 Copernicus GPS Receiver P assive antenna — Minimum Connections Figure 5.1 Passive Antenn a - Minimum Connections The minimum connection set for the Cope rnicus GPS Receiver is illustrated in Figure 5.1 . Following is a description of the schematic. • A passive antenna is us ed. The Copern icus GPS Receiver has an on-b[...]

Copernic us GPS Receiv er 63 APPLICA TION CIRCUITS 5 Figure 5.2 Passive antenna - HW Activated Standby Mode A vailabl e Following is a description of the schematic: • Passive An tenna is used. The Copernicus GPS Receiver has an on-board LNA and an Automatic Gain Control circuit. • The Pin LNA_XEN is not necessary and not connected. • There is[...]

5 APPLICA TION CIRCUITS 64 Copernicus GPS Receiver Active Antenna — Full Connection Figure 5.3 Act ive antenna - Full connect ion Following is a description of the schematic with antenna detection, when using a second source to power the unit when in Standby Mode. • An active antenna is used. • The Pin LNA_XEN is connected. • HW reset abili[...]

Copernic us GPS Receiv er 65 APPLICA TION CIRCUITS 5 • Antenna open and short detection and p r otection is provided. The combination of the two pins Open (Pin 7) and Short (Pin 8) report the an tenna status (see Ta b l e 3 . 2 ). Note – When using two power sour ces, main an d standby , an external diode pair must be used to OR the Vcc and Vba[...]

5 APPLICA TION CIRCUITS 66 Copernicus GPS Receiver Active Antenna — No Antenna Status Figure 5.4 Active antenn a - No Antenna Status[...]

Copernic us GPS Receiv er 67 APPLICA TION CIRCUITS 5 Following is a description of this schematic without antenna detection or a separate power source for Standby Mode: • An active Antenna is used. • The Pin LNA_XEN is not connected. • There is no HW reset ability throug h the pin XRESET , since XRESET pin is tied High to VCC. • HW initiate[...]

5 APPLICA TION CIRCUITS 68 Copernicus GPS Receiver[...]

CHAPTER 6 Copernic us GPS Receiv er 69 RF LA Y OUT CONSIDERA TIONS 6 In this chapter:  General Recommendations  Design considerations for RF T rack T opologies  PCB Considerations This chapter outlines RF design considerations for the Copernicus GPS Receiver.[...]

6 RF LA Y OUT CONSIDERA TIONS 70 Copernicus GPS Receiver Gener al Recommendations The design of the RF transmission line that connects the GPS antenna to the Copernicus GPS Receiver is critical to sy stem performance. If the overall RF system is not implemented correctly , the Copern icus GPS Receiver pe rformance may be degraded . The radio freque[...]

Copernic us GPS Receiv er 71 RF LA Y OUT CONSIDERA TIONS 6 In the printed circuit board (PCB) layout, it is recommended to ke ep the copper laye r on which the Copernicus GPS Receiver is mo unted clear of solder mask and copper (vias or traces) under the module. This is to insure mating of the castellations between the Copernicus GPS module and the[...]

6 RF LA Y OUT CONSIDERA TIONS 72 Copernicus GPS Receiver Design consider ations for RF T rack T opologies The following items need to be consider ed for the Copernicus GPS Receiver RF layout: • PCB track connection to the RF antenn a input must have impedance of 50 ohms. • PCB track connection to the RF antenna input must be as short as possibl[...]

Copernic us GPS Receiv er 73 RF LA Y OUT CONSIDERA TIONS 6 PCB Considerations The minimum implementation is a two-layer P CB substrate with all the RF signals on one side and a solid ground plane on the other . Multila ye r boards can also be used. T wo possible RF transmission line topolo gies include microstrip and stripline. Microstr ip T r ansm[...]

6 RF LA Y OUT CONSIDERA TIONS 74 Copernicus GPS Receiver • T o a lesser extent, PCB copper thickn ess (T) and proximity of same layer ground plane. Figure 6.2 PCB Mi crostrip T opo logy Ta b l e 6 . 1 shows typical track widths for an FR 4 material PCB substrate (permittivity ε r of 4.6 at 1.5 GHz) and dif ferent PCB thickness. One ou nce copper[...]

Copernic us GPS Receiv er 75 RF LA Y OUT CONSIDERA TIONS 6 Stripline T ransmission Lines . Figure 6.3 Stripline T ransmission Lines Ground plane design in stripline topology • The stripline topology requires t hree PCB layers: two for ground planes and one for signal. One of the ground plane layers may be the layer to which the Copernicus GPS mod[...]

6 RF LA Y OUT CONSIDERA TIONS 76 Copernicus GPS Receiver[...]

CHAPTER 7 Copernic us GPS Receiv er 77 MECHANICAL SPECIFICA TIONS 7 In this chapter:  Mechanical Outline Drawing  Soldering the Copernicus GPS Receiver to a PCB This chapter provides product drawings and instructions for soldering the Copernicus GPS Receiver to a PCB.[...]

7 MECHANICAL SPECIFICA TIONS 78 Copernicus GPS Receiver Mechanical Outline Dr awing Figure 7.1 Cop ernicus GPS Receiver , Fo otprint Figure 7.2 Copern icus GPS Receiver , Outl ine Dimensions IMAGE T O COME To p V i e w Bottom Vi ew[...]

Copernic us GPS Receiv er 79 MECHANICAL SPECIFICA TIONS 7 Soldering the Copernicus GPS Receiver to a PCB Solder mask When soldering the Copernicus GPS Recei ver to a PCB, keep an open cavity underneath the Copernicus module (i.e., do not place copper traces or solder mask underneath the module). The diagram below i llustrates the required user sold[...]

7 MECHANICAL SPECIFICA TIONS 80 Copernicus GPS Receiver Pa d Pat t e r n Below is the required user pad pattern. The un its in brackets, [ ], are in millimeters. Figure 7.4 Pad Pattern Diagram No solder mask or copper traces under the unit.[...]

Copernic us GPS Receiv er 81 MECHANICAL SPECIFICA TIONS 7 Pa s te M a sk T o ensure good mechanical bonding with sufficient solder to form a cast ellation solder joint, use a solder mask ratio of 1:1 with the solder pad. When using a 5 ±1 Mil stencil to deposit the solder paste, we reco mmend a 4 Mil toe extension on the stencil. The units in brac[...]

7 MECHANICAL SPECIFICA TIONS 82 Copernicus GPS Receiver[...]

CHAPTER 8 Copernic us GPS Receiv er 83 PA C K A G I N G 8 In this chapter:  Introduction  Reel  Ta p e s Follow the instructions in this chapter to ensure the integrity of the packaged and shipped Copernicus GPS Receiver modules.[...]

8 P ACK AGING 84 Copernicus GPS Receiver Intr oduction The Copernicus GPS modu les is packaged in tape and reel for mass productio n. The reel is sealed in a moisture proof Dry Pack bag. Please follow all the directions printed on the package for handling an d baking. The Copernicus GPS modules are pac kaged in two quantities: reel with 100 pieces [...]

Copernic us GPS Receiv er 85 PACKAG IN G 8 Reel The 13-inch reel that can be mounted in a standard feeder for the surface mount pick and place machine. The reel dimensions are the same regardless of the quantity on the reel. Figure 8.2 Reel Diagram Weight 100 pcs with reel packagi ng + desiccant + humidity indicator = approximately 0.79Kg (1.74 lbs[...]

8 P ACK AGING 86 Copernicus GPS Receiver T apes The tape dimensions illustrated in the diag ram below are in inches. The metric units appear in brackets [ ]. Figure 8.3 T ape Diagram Figure 8.4 Feeding Direction Diagram Feedin g directi on ROU ND HOL E S/N 05011234 52979-00-D Made in China 52979-0 0-D S/N 0501 1234 Made in China S/N 05011 234 52979[...]

CHAPTER 9 Copernic us GPS Receiv er 87 SHIPPING and HANDLING 9 In this chapter:  Shipping and Handling Guidelines  Moisture Precondition  Baking Procedure  Soldering Paste  Solder Reflow  Recommended Soldering Profile  Optical Inspection  Cleaning  Soldering Guidelines  Rework  Conformal Coating  Grounding the Me[...]

9 SHIPPING and HANDLING 88 Copernicus GPS Receiver Shipping and Handling Guidelines Handling The Copernicus GPS modu le is shipped in tape and reel for use with an automated surface mount machine. This is a lead-free m odule with silver pl ating. Do not allow bodily fluids or lotions to come in contact with the bottom of the module. C WAR NIN G –[...]

Copernic us GPS Receiv er 89 SHIPPING and HANDLING 9 Moistur e Precondition Precautions must be taken to minimize the effects of the reflow thermal stress on the module. Plastic molding ma terial s for integrated circuit encapsulation are hygroscopic and absorb moisture d ependent on the time and the environmen t. Absorbed moisture will vaporize du[...]

9 SHIPPING and HANDLING 90 Copernicus GPS Receiver Baking Pr ocedure If baking is necessary , T rimble recommen ds baking in a n itrogen purge oven . T emperature : 125 °C Duration: 24 Hours. After Baking: Store in a nitrogen-pur ged cabinet or dry box to prev ent absorption of moisture. C WAR NIN G – Do not bake the units with in the tape and r[...]

Copernic us GPS Receiv er 91 SHIPPING and HANDLING 9 Recommended Soldering Pr ofile Figure 9.2 R ecommended Soldering Profil e Select the final soldering thermal profile very carefully . The thermal profile depends on the choice of the solder paste, thickn ess and color of the carrier board, heat transfer , and size of the penalization. C WAR NIN G[...]

9 SHIPPING and HANDLING 92 Copernicus GPS Receiver Cleaning When the Copernicus GPS module is attached to the user board, a cleaning process voids the warranty . Ple ase use a “no-clean” process to eliminate the cleaning process. The silver plated Copernicus GPS modu le may discolor with cleaning agent or chlorinated faucet water . Any other fo[...]

Copernic us GPS Receiv er 93 SHIPPING and HANDLING 9 Grounding the Metal Shield The Copernicus GPS Receiver is des igned with numerous ground pins that, along with the metal shield, provide the best immunity to E MI and noise. Any alteration by adding ground wires to the me tal shield is done at the customer's own risk and may void the warrant[...]

9 SHIPPING and HANDLING 94 Copernicus GPS Receiver[...]

CHAPTER 10 Copernic us GPS Receiv er 95 COPERNICUS REFERENCE BO ARD 10 In this chapter:  Reference Board Block Diagram  Reference Board Schematic (page 1 of 3)  Reference Board Schematic (page 2 of 3)  Reference Board Schematic (page 3 of 3)  Reference Board I/O and Power Connector  Reference Board Power Requirement  Reference [...]

10 COPERNICUS REFERENCE BO ARD 96 Copernicus GPS Receiver Intr oduction The Copernicus surface-mount GPS receiver is installed on a carrier board defined as the Copernicus Reference Board. This board can also be used as a design reference, providing a visual layout of the Copernicus modul e on a PCB includ ing the RF signal trace, RF connector , an[...]

Copernic us GPS Receiv er 97 COPERNICUS REFERENCE BOARD 10 Figure 10.2 Copernicus GPS Reference Bo ard, Backside The Copernicus GPS reference board is installed on the starter kit motherboard to facilitate testing and evaluation of th e Copernicus GPS Receiver. It p rovides everything the user needs to get started integrating state-of-the-art GPS c[...]

10 COPERNICUS REFERENCE BO ARD 98 Copernicus GPS Receiver Refer ence Board Block Diagr am[...]

Copernic us GPS Receiv er 99 COPERNICUS REFERENCE BOARD 10 Refer ence Board Schematic (page 1 of 3) Note – Refer ence boar d schematics may differ fr om the recommendations outlined in Ta b l e 3 . 1 due to the test mode r equir em ents for T rimble’ s internal use. PPS PPS BOOT Vmain XRESET MONITOR V ant VLED GPIO_A5 LNA_XEN XST ANDBY GPIO_A6 [...]

10 COPERNICUS REFERENCE BO ARD 100 Copernicus GPS Receiver Refer ence Board Schematic (page 2 of 3) Vmain LEDPWR VLED GPIO_A4 GPIO_A5 GPIO_A6 GPIO_B5 GPIO_A11 GPIO_A10 Vmain R18 R11 J13 GPIO_A6 1 2 3 R6 R12 J14 GPIO_B5 1 2 3 R19 D1 GPIO_A10 LED 1 2 R1 D2 GPIO_A11 LED 1 2 Q1 MGSF1N02L T1 1 2 3 D3 GPIO_A4 LED 1 2 D4 GPIO_A5 LED 1 2 R7 Q2 MGSF1N02L T1[...]

Copernicus GPS Receiver 101 COPERNICUS REFERENCE BOARD 10 Refer ence Board Schematic (page 3 of 3) Figure 10.3 Copernicus Refere nce Board Schematic (Page 3) BOOT MONITOR XRESET Vmain LNA_XEN V ant SHRT OPN XST ANDBY Vmain Vmain State OPN SHRT OPEN 1 1 SHORT 0 0 OK 0 1 Undefined 1 0 MMBT A70L T1 transistor may be used for Q8 if 12-v olt back voltag[...]

10 COPERNICUS REFERENCE BO ARD 102 Copernicus GPS Receiver Refer ence Board I/O and P ower Connector The Copernicus GPS reference board power and data I/O func tions are integrated into a single 8-pin header connector designated J7. The J7 connector uses 0.15 inch (3.8 mm) high pins on 0. 0787 inch (2 mm) sp acing. See the Copernicus GPS reference [...]

Copernicus GPS Receiver 103 COPERNICUS REFERENCE BOARD 10 Refer ence Board Jumper T able T able 10.2 Copernicus Reference Board Jumper T able * See Copernicus Reference Board Schematics in this ch apter. Note – See Ta b l e 3 . 1 for pin numbers. indicates pin 1. Reference Designator Name Description J1 RF Input MCX Jack (Female Connector)50 Ohms[...]

10 COPERNICUS REFERENCE BO ARD 104 Copernicus GPS Receiver Refer ence Board Component Locations Dr awing Figure 10.4 Coperni cus Reference Board, T op Side Figure 10.5 Copernicus Reference Board Schematic, Bottom Si de[...]

CHAPTER 11 Copernicus GPS Receiver 105 FIRMW ARE UPGRADE 11 In this chapter:  This chapter describes an interface for programming (loading) firmware into the Copernicus GPS receiver . The interface can be used to develop a tool to upgrade firmware i n the field. Sample source code of a tool for Microsoft® Windows is available to demonstrate imp[...]

11 FIRMWARE UPGRADE 106 Copernicus GPS Receiver Softwar e Architectur e The Flash me mory chip of the GPS receiv er is divided into several functional sections. The Boot ROM section is loaded during production and cann ot be changed or erased without special packets with password protection. The User Da ta section is maintained by the application. [...]

Copernicus GPS Receiver 107 FIRMWARE UPGRADE 11 Firmwar e Binary File F ormat The firmware is distributed as a 16 Mbit bi nary file that includes the whole F lash image, i.e. the Copernicus GPS Firmwa re, Boot ROM, and all the other Flash sections. The Monitor protocol requ ires that the actual loadable raw data bytes be sent to the targ et to prog[...]

11 FIRMWARE UPGRADE 108 Copernicus GPS Receiver Send “force-to-monitor” command (TSIP or NM EA depending on the port used); Wait 0.5 secs to let the target switch to the monitor mode; Establish connection to target using Monitor mode protocol: Send hand-shaking packet ENQ; Wait for response packet ACK; If ACK packet not received: Exit/power-cyc[...]

Copernicus GPS Receiver 109 FIRMWARE UPGRADE 11 Pseudo-Code Explanation The following provides details about the st eps shown in the above pseudo-code for the firmware loading procedure. 1. Read firmware BIN file and load into a memory buf fer . (See Appendix A for an example functio n that shows how this is achieved.) 2. Establish a serial port co[...]

11 FIRMWARE UPGRADE 110 Copernicus GPS Receiver 4. Establish a serial port connection to the target in the Monitor mode. Once the target enters th e monitor mode, it changes the GPS receiver ’ s serial port settings to 38400 baud (port A) or 4800 baud (port B), 8 data bits, 1 stop bit, and no parity . T o establish commun ication to the tar get i[...]

Copernicus GPS Receiver 111 FIRMWARE UPGRADE 11 Error Recovery The GPS receiver is designed in such way th at the sys tem will not be damaged during a firmware update. When there is an unex pected error while loading firmware, the targ et can always be restarte d by cycling the main power . At power-up, the tar get will automatically enter the moni[...]

11 FIRMWARE UPGRADE 112 Copernicus GPS Receiver Monitor Mode P acket Descriptions ENQ , ACK, NAK ENQ, ACK, and NAK are special bytes that are sent out without being formatted as described in Protocol Format, page 11 1 . The target responds to a formatted packet with either ACK (hex byte: 0x 06) or NAK (hex byte: 0x15) unless specified otherwis e. A[...]

Copernicus GPS Receiver 113 FIRMWARE UPGRADE 11 Pa cket ID – 0x86 ( Change Ba ud Rate) This packet forces the target system to ch ange the serial baud rate to the specified rate. The valid baud rate valu es are listed in the table bel o w . The target system returns ACK in the old baud rate befo re the change and another ACK in the new baud rate [...]

11 FIRMWARE UPGRADE 114 Copernicus GPS Receiver P acket ID – 0x8B ( Start Firmware Progr amming) This packet initiates firmware loading. It has two parameters. Th e first parameter (4- byte value) contains the size of the fi rmwa re in bytes. This is the actual number of bytes that will be written to F lash. The sec ond parameter contains the sta[...]

Copernicus GPS Receiver 115 FIRMWARE UPGRADE 11 P acket ID – 0x8C ( Restart T arget) This packet returns the tar get from the monitor to the normal operating mode. As at startup, the target will initialize all system resources and perform all system tests. The target returns ACK to acknowledge the received packet before the execution. This packet[...]

11 FIRMWARE UPGRADE 116 Copernicus GPS Receiver FlashLoader T ool Reference Guide Introduc tion Flash Loader is a tool for Microsoft W indow s that loads firmware into the Flash chip of the GPS receiver . This tool is used to upload new firmware into the Copernicus GPS Receiver mounted on the Reference Bo ard installed in the Copernicus Starter Kit[...]

Copernicus GPS Receiver 117 FIRMWARE UPGRADE 11 Loading Firmware to the T a r get The function FlashPr ogrammingThr ead() defined in FlashLoaderDlg. cpp shows how to implement the firmware load ing procedure described above. Compiling and Gener ating the Executable The FlashLoader tool can be re-compiled using the provided project make files. If us[...]

11 FIRMWARE UPGRADE 118 Copernicus GPS Receiver[...]

APPENDIX A Copernicus GPS Receiver 119 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A In this appendix:  Interface Scope  Run Mode Packet Structure  Appendix , Automatic Output Packets  Automatic Position and V elocity Reports  Initialization Packe ts to Speed Start-up  Packets Output at Power-Up  T iming Packets  Satellit[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 120 Copernicus GPS Receiver Interface Scope The T rimble Standard Interface Protocol is used extensively in T rimble receiver designs. The protocol was originally created for the T rimble Advanced Navigation Sensor (T ANS) and is colloquially known as the T ANS protocol even though the protocol appli[...]

Copernicus GPS Receiver 121 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Multiple-byte numbers (integer , float, an d double) follow the ANSI/IEEE S td. 754 IEEE Standard for binar y Floating-Point Ar ithmetic. They are sent most-significant byte first. This may involve switching the order of the bytes as they are normally stored in Intel based[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 122 Copernicus GPS Receiver Automatic P osition and V elocity Reports The receiver automatically outputs position and velocity reports at set intervals. Automatic report packets are controlled by Packet 35. Setting th e control bits as indicated in the table below a llows you to control which po siti[...]

Copernicus GPS Receiver 123 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Initialization P ackets to Speed Start-up If you are not supplying the receiv er with battery p ower when main power is of f, you can still “warm-start” the receiver by send ing the following sequ ence of commands after the receiver has completed its intern al initiali[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 124 Copernicus GPS Receiver Timing P ackets If you are using the Lassen IQ GPS Receiver as a timing reference, you may ne ed to implement the following TSIP control commands. T able A.5 Timing Packets Satellite Data P ackets The following packets contain a variety of GPS satellite data. T able A.6 Sa[...]

Copernicus GPS Receiver 125 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A The dynamic modes are Land, Sea and Air • In packet description o f 0xB B , Navig ation Configuration: Byte 1, only value 0, automatic is supported Byte 2, is now used for SBAS Byte 3, only values 1, 2, and 3 are su pp orted Bytes 9-12, change AMU mask (not supported) By[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 126 Copernicus GPS Receiver Recommended TSIP P ackets T able A.7 Recommended TSIP Pac kets Note – Automatic output is determ ined by p acket 0x35. See Ta b l e A . 4 to determine messages output at startup. Function Description Input Output Protocol and port setup set/query port configuratio n 0xBC[...]

Copernicus GPS Receiver 127 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Command P ackets Sent to the Receiver The table below summarizes the command pa ckets sent to the receiver . The table includes the input Packet ID, a short descrip tion of each packet, and the associated response packet. In some cases, the respon se packets depend on user[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 128 Copernicus GPS Receiver Report P ackets Sent by the Receiver to the User The table below summarizes the packe ts ou tput by the receiver . The auto response and power-up packets may depend on user-selected options (see Ta b l e A . 2 2 ). T able A.9 Report Pa ckets Sent by the Receiver to the Use[...]

Copernicus GPS Receiver 129 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A K ey Setup Par ameters or P acket BB Selecting the correct operating para meters has significant impac t on receiver performance. Packet 0xBB (set receiver configuration) controls the key setup parameters. The default operating parameters allow th e receiver to perform wel[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 130 Copernicus GPS Receiver Elevation Mask This is the minimum elevatio n angle for satellites to be u sed in a solution output by the receiver . Satellites which are near the hori zon are typically more difficult to track due to signal attenuation, and are also gene rally less accurate due to higher[...]

Copernicus GPS Receiver 131 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A P acket Descriptions P acket Descriptions Used in Run Mode Command P acket 0x1C - Firmware V ersion 01 The comman d packet 0x1C: 01 m ay be issued to obtain the firm ware version. The product name is “Copernicus GPS Receiver” . The packet form at is defined in the foll[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 132 Copernicus GPS Receiver Command P acket 0x1C: 03 - Hardwar e Co mponent V e rsion Information • The command packet 0x1C: 03 may b e issu ed to obtain the hardware component version informati on. • The report packet is of variable le ngth, depending on the length of the hardware ID. • The se[...]

Copernicus GPS Receiver 133 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Command P acket 0x1E - Clear Battery Backup, then Reset This packet commands the GPS receiver to clear all battery back-up data and to perform a soft ware reset. This packet contains one data byte. T able A.1 5 Command Packet 0x1E C WAR NIN G – All almanac, ephemeris, cu[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 134 Copernicus GPS Receiver Command P acket 0x24 - Request GPS Receiver Position Fix Mode This packet requests current position fi x mode of the GPS receiver . This packet contains no data. The GPS receiver returns Packet 0x 6D. Command P acket 0x25 - Initiat e Soft Reset & Self T est This packet[...]

Copernicus GPS Receiver 135 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Command P acket 0x2D - Req uest Oscillator Offset This packet requests the calculated offset of the GPS receiver master oscillator . This packet contains no data. The GPS receiver returns Packet 0x 4D. This packet is used mainly for service. The permissible oscillator offs[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 136 Copernicus GPS Receiver Command P acket 0x32 - Accu rate Initial P osition, (Latitude, Longitude , Altitude) This packet is identical in content to Packet 0x 2B. This packet provides the GPS receiver with an accurate initial po sition in latitude, longitude, and altitude coordinates. However , th[...]

Copernicus GPS Receiver 137 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A This packet can also be used to set the Au tomatic output to 1/second for packets 0x47 and 0x5A. T able A.2 1 Command Packet 0x35 Data For mat Byte Bit Item Ty p e Va l u e Definition Position 0 0 (LSB) XYZ ECEF Bit 0 1 XYZ ECEF output off XYZ ECEF output on 1 LLA Output B[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 138 Copernicus GPS Receiver Note – Packet 8E must be used to specify which Superpackets ar e output. The Lassen iQ GPS su pports automatic output of 0x5A messages fo r backwar ds compatibility with old er TSIP applications. Ve lo c i ty 1 0 XYZ ECEF Bit 0 1 XYZ ECEF output off XYZ ECEF output on 1 [...]

Copernicus GPS Receiver 139 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Command P acket 0x37 - Req uest Status and V a lues of Last P osition and V elocity This packet requests inform ation regarding the last pos ition fix and should only be used when the receiver is not automatica lly outputting positions . The GPS receiver returns Report Pac[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 140 Copernicus GPS Receiver Command P acket 0x3A - Requ est Last Raw Measurement This packet requests the most recent raw measurement data for one specified satel lite. The GPS receiver returns packet 0x5A if data is available. . Command P acket 0x3C - Request Current Satellite T racking Status This [...]

Copernicus GPS Receiver 141 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A The seconds count begins with “0” each Su nday morning at midnight GPS time. A negative indicated time-of-week indicates that time is not yet known; in that case, the packet is sent only on request. The follow i ng table shows the re lationship between the information [...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 142 Copernicus GPS Receiver Report P acket 0x43 - V elocity Fix, XYZ ECEF This packet provides cu rrent GPS velocity fix in XYZ ECEF coordinates. If the I/O velocity option is set to XYZ ECEF (byte 1, bit 0, Packet 0x35), then the GPS receiver sends this packet each time a fi x is compute d. The data[...]

Copernicus GPS Receiver 143 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Report P acket 0x46 - Health of Receiver This packet provides information abou t the satellite tracking status and t he operational health of the receiver . The recei ver sends this packet after power-on or software-initiated resets, in response to Packet 0x 26 and, every [...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 144 Copernicus GPS Receiver Report P acket 0x47 - Signal Levels for all Satellites This packet provides received signal levels for all satellites currently being tracked or on which tracking is being attempted (i.e ., above the elevatio n mask and healthy according to the almanac). The receiver send [...]

Copernicus GPS Receiver 145 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Report P acket 0x4A - Single Precision LLA P osition Fix This packet provides current GPS positio n fix in LLA (latitu de, longitude, and altitude) coordinates. If the I/O Position optio n is set to LLA and the I/O Precision-of- Position Output is set to single-precision ([...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 146 Copernicus GPS Receiver Report P acket 0x4B - Machine/ Code ID and Additional Status The receiver transmits this packet in response to packets 0x 25 and 0x 26 and follo wing a change in state. In conjunction with Packet 0x 46, “health of receiv er ,” this packet identifies the receiver and ma[...]

Copernicus GPS Receiver 147 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Report P acket 0x4E - Res ponse to Set GPS Time Indicates whether the receiver accepted th e time given in a Set GPS time packet. the receiver send s this packet in response to Packet 0x 2E. This packet contains one byte. Report P acket 0x55 - I/O Options These abbreviatio[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 148 Copernicus GPS Receiver Notes – See the associated superpacket output , described later in this appendix. Packet 8E must be used to specify which superpacket is to be output. Automatic output of 0x5A raw measur ement messages is supported in the Lassen IQ GPS Receiver for backwar ds compatibili[...]

Copernicus GPS Receiver 149 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Report P acket 0x57 - Informatio n About Last Computed Fix This packet provides information concer ning the time and origin of the previous position fix. The receiver sends this pack et, among others, in response to Packet 0x 37. The data format is shown below . Report P a[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 150 Copernicus GPS Receiver Note – All angles ar e in radians. If data is not available, t_zc is set to -1.0. 38-41 a_f0 Single Sec 20.3.3.5.1.2 42-45 a_f1 Single Sec 20.3.3.5.1.2 46-49 Axis Single Sec 20.3.3.5.1.2 50-53 n Single Sec 20.3.3.5.1.2 54-57 OMEGA_n Single Sec 20.3.3.5.1.2 58-61 ODOT_n S[...]

Copernicus GPS Receiver 151 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A 37-38 WN_LSF Integer Sec 20.3.3.5.1.8 39-40 DN Integer Sec 20.3.3.5.1. 8 41-42 delta_t_LSF Integer Sec 20.3.3.5.1.8 Ta b l e A . 4 4 Byte Item Ty p e D efinition / ID C -GPS-200 4 sv_number UINT8 SV PRN number 5-8 t_ep hem Sing le time of collection (not e, if data is miss[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 152 Copernicus GPS Receiver Report P acket 0x5A - Raw Measurement Data This packet provides raw GPS measuremen t data. If the I/O Auxiliary options has been selected, the receive sends this data automatically as measurements are taken. The data format is shows in the table below . Note – Packet 0x5[...]

Copernicus GPS Receiver 153 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A The receiver codephase is expressed in 1/16th of a C/A code chip. This corresponds to: 1/16 x C/A code chip = 977.517ns/16 = 61.0948 ns = 61.0948 x speed of light, m/s = 18.3158 meter Note – The r eceiver occasionally adjusts its cloc k to maintain time accuracy within 1[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 154 Copernicus GPS Receiver Report P acket 0x6D - All -In-View Satellite Selection This packet provides a list of satellites u sed for position fixes by the GPS receiver . The packet also provides the PDOP , HDOP , and VDOP of that set and provides the current mode (automatic or manual , 3-D or 2-D).[...]

Copernicus GPS Receiver 155 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Report P acket 0x7B This packet provides the NMEA settings and interval. Command P acket 0x7E - T AIP Message Output TSIP packet 0x7E is used to setup the outp ut configuration for T AIP messages. This packet expands the features similar to what have been provided by pack [...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 156 Copernicus GPS Receiver frequency settings are not only applied when the receiver is not generating a position fix. In practice, this packet provides a comprehensive but straightforward means to set up the T AIP output configuration. It can al so be used to reset the out put configuration. For ex[...]

Copernicus GPS Receiver 157 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Command P acket 0x82 - SBAS Corr ection Status This packet provides the SBAS position fix mode of the receiver . This packet contains only one data byte to specify th e mo de . If SBAS is enabled in packet 0xBB, Copernicus will acquire a SBAS satellite af ter it has a GPS-[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 158 Copernicus GPS Receiver Report P acket 0x83 - Double-Precis ion XYZ P osition Fix and Bias Information This packet provides curre nt GPS position fix in XYZ EC EF coordinates. If the I/O Position option is set to XYZ ECEF and the I/O Precision of Position option is set to Double (see Packet 0x35)[...]

Copernicus GPS Receiver 159 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A P ackets 0x8E and 0x8F - Superpacket See page 159 for information on P ackets 0x8E and 0x8F . Command P acket 0xBB - Navigation Configuration In query mode, Packet 0x BB is sent with a single data byte and returns Report Packet 0x BB. Note – This Command Pac ket replaces[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 160 Copernicus GPS Receiver TSIP Packet 0x BC is used to set the communicati on parameters on port A. The table below lists the individual fields within the Pa cket 0x BC and provides query field descriptions. The BC command settings are retained in battery-backed RAM. Note – The Copernicus GPS r e[...]

Copernicus GPS Receiver 161 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A The table below lists the individual fields within the Packet 0xC0 and provides query field descriptions. Any combination of co nditions in byte 2 can be specified for starting up the unit from standby mode. The condition that happen s first will trigger the unit to start [...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 162 Copernicus GPS Receiver Command P acket 0xC1 - Set Bit Mask for GPIOs in Standby Mode Users may designate in div idual pins for pull-down and pull-up while the unit is in Standby Mode. T his allows th e user to select external pull-down or pull-up resistors to suit their application. Examples: ?[...]

Copernicus GPS Receiver 163 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A T abl e A.55 Comma nd Packet 0xC1 The settings will be saved to flash when th e user issues the command to “Save User Configuration to Flash” . Byte Bit Item Ty p e Va l u e Definition Position 0 0 (LSB) Pin 6, Reserved Bit 0 Reserved 1 Pin 7, OPEN Bit 0 1 0 is pull-do[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 164 Copernicus GPS Receiver Command P acket 0xC2 - SB AS SV Mask. This packet provides the SBAS SV bit mask in four bytes. The user data packet contains four bytes to specify 1 9 p oss ible SBAS prn numbers. Bit 0 represents PRN 120. A vailable W AAS PRN numbers are 135 and 138. Message format is: &l[...]

Copernicus GPS Receiver 165 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A TSIP Superpackets Several packets have been ad ded to the core TSIP protocol to provide additional capability for OEM receivers. In OEM Packets 0x 8E an d t heir 0x 8F responses, the first data byte is a sub-co de which indicates the superpacket type. For example, in Packe[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 166 Copernicus GPS Receiver Command P acket 0x8E-17 - Reque st Last P osition or Auto-Re port P osition in UTM Single Precision Format This packet requests Packet 0x8F-17 or mark s it for automatic output. If only the first byte (packet sub-code 0x17) is sent, an 0x 8F-17 report cont aining the last [...]

Copernicus GPS Receiver 167 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Command P acket 0x8E-20 - Request Last Fix with Extra Information This packet requests Packet 0x 8F-20 or marks it for automa tic output. If only the first byte (20) is sent, an 0x 8F-20 report contai ning the last available fix will be sent immediately . If two bytes are [...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 168 Copernicus GPS Receiver Command P acket 0x8E-2B - Request Fix and Chann el T r acking Info, T ype 2 This packet requests Packet 0x8F-2B or mark s it for automatic output. If only the first byte (packet sub-code 0x2B) is sent, an 0x 8F-2B report containing the last available data will be sent imme[...]

Copernicus GPS Receiver 169 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Report P acket 0x8F-15 - Current Datum V alues This packet contains 43 data by tes with the values for the datum cu rrently in use, and is sent in response to Packet 0x8E-15. Both the datum index and th e 5 double precision values for that index will be returned. T able A.[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 170 Copernicus GPS Receiver Report P acket 8F-17 - UT M Single Precision Output This packet reports position in UTM (Unive rsal T ra nsverse Mercator) format. The UTM coordinate system is typically used for U.S. and international topographical maps. The UTM coordinate system lays out a world-wide gri[...]

Copernicus GPS Receiver 171 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Report P acket 8F-18 - UT M Double Precision Output This packet reports position in UTM (Unive rsal T ra nsverse Mercator) format. The UTM coordinate system is typically used for U.S. and international topographical maps. The UTM coordinate system lays out a world-wide gri[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 172 Copernicus GPS Receiver Report P acket 0x8F-20 - Last Fix with Extra Information (binary fixed point) This packet provides complete information about the current position velocity fix in a compact, fixed-length 56-byte packet. The fields are fixed-point with precision matched to the receiver accu[...]

Copernicus GPS Receiver 173 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Note – V elocity scale contr olled by by te 24, bit 1. Overflow = 0x8000. 32 0-5 PRN 1 UINT8 1-32 PRN of first satellite 6-7 reserve d 33 IODE 1 UIN T8 IODE of first satellite 34 0-5 PRN 2 UINT8 1-32 PRN of se cond satellite 6-7 reserve d 35 IODE 2 UINT8 IODE of secon d [...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 174 Copernicus GPS Receiver Report P acket 0x8F-26 - No n-V olatile Memory Status This report will be issued after an 0x 8E-26 command. T able A.7 0 Report Packe t 0x8F-26 Report P acket 0x8F-2A - Fix and Channel T r acking Info, T ype 1 This packet provides compact fix and channe l tracking informat[...]

Copernicus GPS Receiver 175 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Note – This value is valid only if Bit 7 of the Receiver Health byte is not set. T o compute the complete GPS time of measuremen t to 1 ns r esolution, use the following formula: GPS T ime of Measur ement (nanosec) = GPS Millisec*1000000 + Fractional GPS Nanosec Note –[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 176 Copernicus GPS Receiver Report P acket 0x8F-2B - Fix and Channel T racking Info, T ype 2 This packet provides compact fix and channe l tracking information. This packet can be requested or set up for automatic ou tput by 0x8E-2B. T otal pa cket length (including header DLE, packet ID 0x8F , packe[...]

Copernicus GPS Receiver 177 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A 33 Receiver Status Code UINT8 Any 0x00 - Doing position fixes 0x01 - Don't have GPS time yet 0x03 - PDOP is too high 0x08 - No usable satel lites 0x09 - Only 1 usable satell ite 0x0A - Only 2 usable satellites 0x0B - Only 3 usable satellites Other values in dicate int[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 178 Copernicus GPS Receiver Note – T o convert to radians, multiply the r eceived latitude or longitude value by (PI/2 31 ). For longitude, if the converted value is gr eater than PI, subtract 2*PI (PI = 3.141592653 5898) to bring the final va lue to the (-PI…+PI) range. The channel tracking blo [...]

Copernicus GPS Receiver 179 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A Datums Reference: DMA TR 8350.2 Second Editio n, 1 Sept. 1991. DMA T echnical Report, Department of Defense W orld GEodetic Sy stem 1984, Definition and Relationships with Local Geodetic Systems. Tr i m b l e D a t u m Local Geodetic Datum Index Name 0W G S - 8 4 6W G S - [...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 180 Copernicus GPS Receiver Tr i m b l e D a t u m Local Ge odetic Datum Index Name Code 1T o k y o 21 Ain El Abd 1970 Bahrain Island AIN-A 51 Djakarta (Batavia) Sumatra (Indonesia) BA T 71 Hong Kong 1963 Hong Kong HKD 72 Indian 1975 Thailand INH -A 73 Indian India and Nepal IND-I 77 Kandawala Sri La[...]

Copernicus GPS Receiver 181 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A 64 European 1950 Portugal and Spai n EUR-D 65 European 1979 Mean Solu tion EUS 74 Ireland 1965 Ireland IRL 125 Ordnance Survey of Great Britain Mean Solution OGB-M 126 Ordnance Survey of Great Britain Eng land OGB-M 127 Ordnance Survey of Great Britain Isl e of Man OGB-M 1[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 182 Copernicus GPS Receiver Tr i m b l e D a t u m Local Geodetic Datu m Index Name Code 42 Bogota Observatory Columbia BOO 43 Compo Inchauspe 1969 Arg entina CAI 49 Chua Astro Paraguay CHU 50 Corrego Alegre Brazi l COA 132 Provisional Sou th Chilean 1963 Southe rn Chile (near 53ºS) H IT 133 Provisi[...]

Copernicus GPS Receiver 183 TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) A 95 Naparim a, BWI T rinidad and T obago NAP 117 Observatorio Meteo rologico 1939 Corvo and Fl ores Islands (Azores) FLO 130 Pico De Las Nieve s Canary Islands PLN 142 Puerto Rico Pu erto Rico and Virgin Islands PUR 144 Qornoq South Greenla nd QUO 146 Santa Braz Sao Miguel,[...]

A TRIMBLE ST ANDARD INTERF ACE PRO T OCOL (TSIP) 184 Copernicus GPS Receiver This report will be issued after an 0x 8E-26 command. 121 Old Hawaiian Kauai OHA-B 122 Old Hawaiian Maui OHA-C 123 Old Hawaiian Oahu OHA-D 131 Pitcairn Astro 1967Pitcairn Island PIT 147 Santo (DOS) 1952 Espirito Santo Island SAE 169 Viti Levu 1916 Viti Levu Island (Fij i I[...]

APPENDIX B Copernicus GPS Receiver 185 TRIMBLE ASCII INTERF A CE PRO T OCOL (T AIP) B In this appendix:  Protocol O verview  Messag e Format  Sample PV Messag e  T ime and Distance Reporting  Latitude and Longitude Conversion  Messag e Data Strings  Communication Scheme for T AIP This appendix describes the T rimble ASCII Inter[...]

B TRIMBLE ASCII INTERF A CE PROT OCOL (TAIP) 186 Copernicus GPS Receiver Pr otocol Overview T rimble ASCII Interface Protocol (T AI P) is a T rimble-specified digital communication interface based on printable ASCII characters over a serial data link. T AIP was designed specifically for vehicl e tracking applicatio ns but has bec om e common in a n[...]

Copernicus GPS Receiver 187 TRIMBLE ASCII INTERF ACE PRO TOCOL (T AIP) B Message Format All T AIP communication uses printable, uppercase ASCII characters. The interface provides the means to configure the output of various sentences in re sponse to queries or on a scheduled basis. Each sent ence has the following general format: >ABB{C}[;ID=DDD[...]

B TRIMBLE ASCII INTERF A CE PROT OCOL (TAIP) 188 Copernicus GPS Receiver Message Identifier A unique two character message identifier co nsisting of alphabetical characters is used to identify type message s. For example: PR for Pr otocol or VR for V ersion Number . Data String The format and length of a data string is dictated by the message quali[...]

Copernicus GPS Receiver 189 TRIMBLE ASCII INTERF ACE PRO TOCOL (T AIP) B Sample PV Message The Position/V elocity Solutio n (PV) message is one of the more comm only used T AIP messages and most receivers using T AIP are set by default to output the PV message once every 5 seconds. The following analysis of a typical PV me ssage is provided to furt[...]

B TRIMBLE ASCII INTERF A CE PROT OCOL (TAIP) 190 Copernicus GPS Receiver Time and Distance Reporting The ’D’ message qualifier allo ws you to specify a minimum distance traveled as well as a minimum and maximum time interval for the next report. Units that are stationed at a fixed location can be program med to report only when the unit moves ?[...]

Copernicus GPS Receiver 191 TRIMBLE ASCII INTERF ACE PRO TOCOL (T AIP) B Latitude and Longitude Conversion The T AIP protocol reports latitude as pos itive north decimal degrees and longitude as positive east decimal degrees, using the WGS-84 datum. For your application, you may wish to convert to degrees, minut es and seconds. The following exampl[...]

B TRIMBLE ASCII INTERF A CE PROT OCOL (TAIP) 192 Copernicus GPS Receiver Message Data Strings The following table lists all the T AIP mes sages currently de fined and comments regarding their application. Th e data string format of each message is described in the following pages. Note – The Lassen PT GPS does not support these (*) T AIP messages[...]

Copernicus GPS Receiver 193 TRIMBLE ASCII INTERF ACE PRO TOCOL (T AIP) B AL Altitude/Up V elocity Note – The first character of altitud e or vertical velocity (S) is “+” or “ - ”. Data String Format: AAAA(S)BBBBB(S)CCCDE . Altitude is above mean sea level in WGS-84 . The GPS time of day is the time of fix rounded to the nearest second. Th[...]

B TRIMBLE ASCII INTERF A CE PROT OCOL (TAIP) 194 Copernicus GPS Receiver CP Compact P osition Solution Note – The first character of latitud e or longit ude “(S)” is “+” or “ - ”. Data String Format: AAAAA(S)BBCCCC(S)DDDEEEEFG Position is in latitude (positive north) and longitude (positive east) WGS-84. The GPS time of day is the tim[...]

Copernicus GPS Receiver 195 TRIMBLE ASCII INTERF ACE PRO TOCOL (T AIP) B ID Identification Number Data String Format: AAAA This message is used to report or set the vehicle's (or receiver ’ s) unique, four character , alpha-numeric, user assigned ID. The default at cold start is 0000. Example The following message will set the vehi cle ID to[...]

B TRIMBLE ASCII INTERF A CE PROT OCOL (TAIP) 196 Copernicus GPS Receiver IP Initial Position Data String Format: (S)AA(S)BBB(S)CCCC This is a very coarse initial position that can be used t o aid the receiver in obtaining its first fix. This is particularly useful with a receiver that does not have battery backup enabled. In such cases, every time [...]

Copernicus GPS Receiver 197 TRIMBLE ASCII INTERF ACE PRO TOCOL (T AIP) B LN Long Navigation Message Note – The first character of latitude, longit ude, altitude or vertical speed (S) is“+” or “ - ”. Data String Format: AAAAA.BBB(S)CCDDDDDDD(S)EEEFFFFFFF(S)GGGGGGHHIIIJ(S)KKKLM MMNOOPPQQPPQQ...PPQQRRRRRRRRRRXT Note – At least 2 satellites[...]

B TRIMBLE ASCII INTERF A CE PROT OCOL (TAIP) 198 Copernicus GPS Receiver PR Pr otocol The protocol message (PR) is the method used to control which I/O protocols are active on the serial ports. • Off • Input only • Output only • Both input and output The PR data string format is: [;T AIP=xy] [;TSIP=xy] [;NMEA=xy] Sending the following messa[...]

Copernicus GPS Receiver 199 TRIMBLE ASCII INTERF ACE PRO TOCOL (T AIP) B PT P ort Characteristic This message defines the char acteristics for the T AIP port. Data String Format: AAAA,B,C,D Most T AIP using receivers use the fo llowing default port characteristics • 4800 baud • 8 data bits • 1 stop bit • No parity Note – The characteristi[...]

B TRIMBLE ASCII INTERF A CE PROT OCOL (TAIP) 200 Copernicus GPS Receiver PV P osition/V elocity Solution Note – The first character of latitud e or longit ude “(S)” is “+” or “ - ”. Data String Format: AAAAA(S)BBCCCCC(S)DDDEEEEEFFFGGGHI Position is in latitude (positive north) and longitude (positive east) WGS-84. Heading is in degree[...]

Copernicus GPS Receiver 201 TRIMBLE ASCII INTERF ACE PRO TOCOL (T AIP) B RM Reporting Mode Data String Format: [;ID_FLAG= A][;CS_FLAG= B][; EC_FLAG= C] [;FR_FLAG= D] [;CR_FLAG=E] ID Flag determines whether the unit is to include the vehicles ID with each report. CS Flag determines whether the unit is to include a checksum as part of each message. E[...]

B TRIMBLE ASCII INTERF A CE PROT OCOL (TAIP) 202 Copernicus GPS Receiver RT Reset Mode Data String Format: Any one of the following data strings can be set. Upper case characters are required. [ ] [COLD] [F ACT OR Y] [SA VE_CONFIG] The following procedure is used to change the Lassen iQ receiver protocol from TSIP to T AIP: 1. Use the TSIP 0x7E com[...]

Copernicus GPS Receiver 203 TRIMBLE ASCII INTERF ACE PRO TOCOL (T AIP) B ST Status Data String Format: AABCDDEFGG Note – This message pr ovides informa tion about the satellite tracking status and the operational health of the r eceiver . This in formation is contained in five status bytes which ar e output as five 2 digit hexadecimal values. The[...]

B TRIMBLE ASCII INTERF A CE PROT OCOL (TAIP) 204 Copernicus GPS Receiver Note – After the status is detected, this b it r emains set until the r eceiver is r eset. Va l u e C Meaning 0 No problems reported 1 Battery-back-up fai led; RAM not available at power-up (see Note below). Va l u e DD Meaning DD Displays th e machine ID Va l u e E Meaning [...]

Copernicus GPS Receiver 205 TRIMBLE ASCII INTERF ACE PRO TOCOL (T AIP) B TM Time/Date Data String Format: AABBCCDDDEEFFGGGGHHIJJKLLLLL . This message outputs the time and date as co mputed by the GPS receiver . The time is most accurate when the unit is doing fixes. It is less accurate but still usable when the unit is not doing fixes but the Numbe[...]

B TRIMBLE ASCII INTERF A CE PROT OCOL (TAIP) 206 Copernicus GPS Receiver VR V ersion Number Data String Format: XXXXXXX; VERSION A.AA (BB/BB/BB); . Item # of Char Units Format Product Name variable n/a n/a Major version number 4 n/a A.AA Major rele ase date 8 n/a BB/B B/BB[...]

Copernicus GPS Receiver 207 TRIMBLE ASCII INTERF ACE PRO TOCOL (T AIP) B X1 Extended Status The Lassen iQ receiver doe s not support this message.[...]

B TRIMBLE ASCII INTERF A CE PROT OCOL (TAIP) 208 Copernicus GPS Receiver Communication Scheme for T A IP Communication with the unit ta kes place in four different ways. Message qualifiers are used to differentiate between these. Query for Single Sentence The query (Q) message qualifier is used to query the GPS receiver to respond immediately with [...]

Copernicus GPS Receiver 209 TRIMBLE ASCII INTERF ACE PRO TOCOL (T AIP) B The Set Qualifier The set (S) qualifier enables the user equi pment to initialize/set-up various types of data in the GPS un it. The format is: >SAA[{B}][;ID=CCCC][;*DD]< where AA is the two character message iden tifier and {B} specifies the data string within the messa[...]

B TRIMBLE ASCII INTERF A CE PROT OCOL (TAIP) 210 Copernicus GPS Receiver The receiver will check the ID included in the message for a match with its own and then reschedule the PV message. At the next scheduled time, the receiver will respond with: >RPV15714+37394 38-1220384601512612 ;ID=1234;*7F< Note – The Lassen PT GPS does not support t[...]

APPENDIX C Copernicus GPS Receiver 211 NMEA 0183 C In this appendix:  Overview  The NMEA 0183 Communication Interface  NMEA 0183 Message Format  Field Definitions  Checksum  Exception Behavior  NMEA 0183 M essage Options  NMEA 0183 Message Formats This appendix provide s a brief overview of the NMEA 0183 protocol, and descri[...]

C NMEA 0183 212 Copernicus GPS Receiver Overview NMEA 0183 is a simple, yet comprehensive ASCII pro t oco l which defines both the communication interface and the data format. Th e NMEA 0183 protocol was originally established to a llow marine navigation equipm ent to share information. Since it is a well established ind us try standard, NMEA 0183 [...]

Copernicus GPS Receiver 213 NMEA 0183 C The NMEA 0183 Communication Interface The Copernicus GPS receiver can be config ure d for NMEA on either port A or port B, at any baud rate. Below are the defa u lt NMEA characteristics for Port B of the Copernicus GPS receiver . T able C.1 Signal Characteristic s NMEA 0183 Message Format The NMEA 0183 prot o[...]

C NMEA 0183 214 Copernicus GPS Receiver Field Definitions Many of the NMEA data fields are of variab le length, and the user should always use the comma delimiter to parse the NMEA message date field. The table below specifies the definitions of all field types in the NMEA messages supported by Tr im b l e . T abl e C.2 F ield Definitions Ty p e Sy[...]

Copernicus GPS Receiver 215 NMEA 0183 C Note – Spaces ar e only us ed in variable text fields. Units of measur e fields ar e appr opriate characters fr om the Symbol column (see Ta b l e C . 2 ), unless a specified unit of measur e is indicated. Fixed length field definitions show the ac tual number of char acters. For example, a field defined to[...]

C NMEA 0183 216 Copernicus GPS Receiver Exception Behavior When no position fix is availa ble, some of the data fields in the NMEA messages will be blank. A blank field has no characte rs between the commas. There are three general cases when no fix is available: at power-u p without back-up data on SRAM (cold start); at power-up with without back-[...]

Copernicus GPS Receiver 217 NMEA 0183 C Gener al NMEA Parser Requir ements • When no position fix is available, some of the data fields in the NME A messages will be blank (i.e., no char acters between commas), but selected messages will output every second. • T rimble varies the number of digits o f precision in variable length fields, so cust[...]

C NMEA 0183 218 Copernicus GPS Receiver NMEA 0183 Message Options The Copernicus GPS Receiver can output any or all of the messages listed i n Ta b l e C . 3 and Ta b l e C . 4 . In its default configuration (a s shipped from the factory), the Copernicus GPS Receiver outputs two m essage s: GGA and VTG . These messages are output at a 1 second inte[...]

Copernicus GPS Receiver 219 NMEA 0183 C T able C.4 Copernicus GPS Receiver Proprietary NMEA Mess ages Message Description AH Query or set Almanac Health AL Query or set almanac data for a specific satellite AS Query or set almanac status BA Query and response to antenna st atus CR Query or set GPS receiver configuration informa tion EM Set receiver[...]

C NMEA 0183 220 Copernicus GPS Receiver NMEA 0183 Message Formats GGA - GPS Fix Data The GGA message includes time, position and fi x related data for the GPS receiver . $GPGGA,hhmmss.ss,llll.lllll,a,nnnn n.nnnnn,b,t,uu, v.v,w.w,M,x.x,M,y.y,zzzz*hh <CR><L F> T able C.5 GGA - GPS Fix Data Message Parameters Field # D escr iption 1 U TC o[...]

Copernicus GPS Receiver 221 NMEA 0183 C GLL - Geographic P osition - Latitude/Longitude The GLL message contains the latitude and longitude of th e present vessel position, the time of the position fix and the status. $GPGLL,llll.lllll,a,yyyyy.yyyyy,a,hhmmss.ss,A,i*hh<CR> <LF> GSA - GPS DOP and Active Satellites The GSA messages indicat[...]

C NMEA 0183 222 Copernicus GPS Receiver GSV - GPS Satellites in View The GSV message identifies the GPS satellit es in view , including their PRN number , elevation, azimuth and SNR value. Each me ssage contains data for four satellite s. Second and third messages are sent when mo re than 4 satellites are in view . Fields #1 and #2 indicate the tot[...]

Copernicus GPS Receiver 223 NMEA 0183 C RMC - Recommended Minimum Specific GPS/T r ansit Data The RMC message contains the time, date, position, course, and speed data provided by the GPS navi gation receiver . A checksum is mandatory for this message and the transmission interval may no t exceed 2 seconds. All data fields must be provided unless t[...]

C NMEA 0183 224 Copernicus GPS Receiver ZDA - Time & Date The ZDA message contains T ime of Day in UTC: the day , the month, the year and the local time zone. $GPZDA,hhmmss.ss,xx,xx,xxxx,,*hh<C R><LF> Note – Fields #5 and #6 ar e null fields in the Copernicus GPS Receiver output. A GPS r eceiver cannot independently identify the l[...]

Copernicus GPS Receiver 225 NMEA 0183 C AH - Almanac Health This sentence can be used to query or set almanac health data. Since the maximum number of bytes that can be contained in a single NMEA sentence is less than the total almanac health length, the almanac health must be sent in two sentences. The two sentences have to be sent or received tog[...]

C NMEA 0183 226 Copernicus GPS Receiver AL - Almanac P age This sentence can be used to query or set almanac data for a specific satellite. Following is the query format: $P TNLQAL,xx*hh<CR><LF> Following is the set or response format. $P TNLaAL,xx,x.x,hh,hh hh,hh,hhhh,hhhh,h hhhhh,hhhhhh,hhhhhh ,hhhhhh,hhh,hhh* hh<CR><LF> T[...]

Copernicus GPS Receiver 227 NMEA 0183 C AS - Almanac Status This sentence can be used to query or set almanac status. The format is: $PTNLaAS,hh,xxxx,hh,hh,hh,hh,hh*hh<CR><LF> The corresponding response for the Set is: $PTNLRAS,a*hh<CR><LF> where 'a' means action stat us: A = success; V= failure BA - Antenna Status[...]

C NMEA 0183 228 Copernicus GPS Receiver CR - Configure Receiver This sentence can query or set NMEA receiver configuration information. $PTNLaCR,x.x,x.x,x.x,x.x,x.x,a,a,a,a*hh<CR><LF> EM - Enter Monitor Mode This sentence is used to set the Copernicus GPS Receiver into Monitor Mode. This is Set only , no query supported. The sentence fo[...]

Copernicus GPS Receiver 229 NMEA 0183 C EP - Ephemeris This sentence can be used to query or set ephemeris data for a specific satellite. Since the maximum number of bytes that can be contained in a single NMEA sentence is less than the total ephemeris data length, the ephemeris data must be sent in three sentences. The three sentences have to be s[...]

C NMEA 0183 230 Copernicus GPS Receiver T able C.21 Ephemeris Message Format Following is the third sentence of ephemeris format $P TNL a EP ,3 ,xx,hhhh,hhhhhhhh, hhhh,hhhhhhhh,hhhh,h hhhhhhh,hhhhhh,h hhh*hh< CR><LF> T able C.22 Ephemeris Message Format Field Description a Mode (S = set; R = Response) 2 Sentence number for EP , sentence[...]

Copernicus GPS Receiver 231 NMEA 0183 C IO Ionosphere This sentence can be used to query or set ionosphere data. $PTNLaIO,hh,hh,hh,hh,hh,hh,hh,hh*hh,<CR><LF> KG - Set Initial Position This sentence can be used to set initial position or time info d ata or both for accelerating navigation startup. T o set tim e only , send valid time fie[...]

C NMEA 0183 232 Copernicus GPS Receiver NM - Automatic Message Output This sentence may be issued by the user to configure automatic message output. The Query sentence format is: $PTNLQNM*hh<CR><LF> The Response to query sentence or Set sentence format is: $PTNLaNM,hhhh,xx*hh<CR><LF> Examples GGA Only 0001 GLL Only0002 VTG O[...]

Copernicus GPS Receiver 233 NMEA 0183 C PS - PPS Configuration This sentence can query or set PPS configuration data. $PTNLaPS,b,x...x,6,x...x*hh<CR><LF> T able C.26 PPS Configuration Field Description a Mode (Q = query; S = set; R = Response) b PP S mode, default is 1: 0 - PPS_OFF (Always Off) 1 - PPS_ON (Always On or Early PPS) 2 - PP[...]

C NMEA 0183 234 Copernicus GPS Receiver PT - Serial P ort Configuration This sent ence may be issu ed by the user for co nfiguring the current serial port. The Query sentence format is: $P TNLQP T*hh<CR><LF> The Response to query or Set sentence format is: $P TNLRP T ,xxxxxx,b,b,b,h,h*hh <CR><LF> When the Set is issued, th e[...]

Copernicus GPS Receiver 235 NMEA 0183 C RT - Reset This sentence can be used to Set th e reset type. No query is supported. $PTNLaRT,b,c,d..x*hh<CR><LF> T abl e C.28 Reset T y pe Field Descript ion a Mode (S = set; R = Resp onse) b Command C Cold softwar e reset, Erase SRAM including the custom er configurat ion in SRAM and restarts. W [...]

C NMEA 0183 236 Copernicus GPS Receiver SG - Set Bit Mask for GPIOs in Standby Mode. Users may designate in div idual pins for pull-down and pull-up while the unit is in Standby Mode. T his allows th e user to select external pull-down or pull-up resistors to suit their application. Examples: • In serial port configuration, one option would be to[...]

Copernicus GPS Receiver 237 NMEA 0183 C T able C.29 SG - Set Bit M ask for GPIOs i n Standby Mode Note – The settings will be saved to Flash me mory when the user issues the command to “Save User Configuration to Flash”. Byte Bit Item Ty p e Va l u e Definition Position 0 0 (LSB) Pin 6, Reserved Bit 0 Reserved 1 Pin 7, OPEN Bit 0 1 0 is pull-[...]

C NMEA 0183 238 Copernicus GPS Receiver SV - Set Bit Mask for SBAS SV This packet provides the SBAS SV bit mask. The user data pa cket contains four bytes to specify 19 possible SBAS prn numbers. Bit 0 represents PRN 120. $P TNLSSV , xxxxxxxx, xxxxxxx x, <CR><LF> This packet provides the SBAS SV bit mask in four bytes. The user data pac[...]

Copernicus GPS Receiver 239 NMEA 0183 C TF - Receiver Status and Position Fix This sentence may be issued by the user to get receiv er status and position fix. The Query sentence format is: $PTNLQTF*hh<CR><LF> The Response to query sentence format is: $PTNLaTF,b,c,xxxxxx,xx,x,llll.lllll,d,yyyyy.yyyyy, e,xxxxx,x.x,x.x,x.x*hh<CR><[...]

C NMEA 0183 240 Copernicus GPS Receiver UT - UTC This sentence can be used to query or set UTC data. $PTNLaUT,hhhhhhhh,hhhhhh,hh,hh,hhhh,hhhh,hh,hh*hh< CR><LF> T abl e C.31 UTC Field Description a Mode (Q = query; S = set; R = Response) hhhhhhhh A_0, HEX data conforming to GPS ICD 200. hhhhhh A_1, HEX data conforming to GPS IC D 200. hh[...]

Copernicus GPS Receiver 241 NMEA 0183 C VR - V ersion This senten ce may be issued by th e user to get version information. The Query sentence format is: $PTNLQVR,a*hh<CR><LF> where a is S = Application firmware, H=Hardware and N=Nav The Response to query sentence format is: $PTNLRaVR,b,c..c,xx.xx.xx,xx,xx,xxxx*hh<CR><LF> T [...]

C NMEA 0183 242 Copernicus GPS Receiver[...]