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RoyalTek REV-2000 manual

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Table of contents for the manual

  • Page 1

    REV-2000 Operational Manual Roy alT ek Evaluation Kit REV-2000 Operational Manual V ersion 1.1 2001/7/4 This document contains information highly confidential to Roy alT ek Company L TD (Roy alT ek). It is provided for the sole purpose of the business discussions betw een supplier and Roy alT ek and is covered under the terms of the applicable Non-[...]

  • Page 2

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual i Roy alT ek Evaluation Kit REV-2000 Operational Manual I NTRODUCTION .........................................................................................................................................1 Packing list ...........................................................[...]

  • Page 3

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual ii LLA Navigation Initializ ation .................................................................................................. ...........16 Development Da ta On/Off ........................................................................................................ ....[...]

  • Page 4

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual iii Set Ephemeris – Message I.D.254 ................................................................................................ ...35 Development Da ta – Message I.D.255............................................................................................. 35[...]

  • Page 5

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 1 Introduction REV-2000 is an evaluation kit for Roy alT ek GPS engine board series, REB-12R2/R6/ REB-2000/ REB-2001.It is convenient to test the GPS performance,cold start / w arm start / hot start,position update and so on by using the REV-2000. REV-2000 helps y ou understand th[...]

  • Page 6

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 2 No. Items Specification Quantity Description 1 REV-2000 Evaluation Board 68*88mm 1 PROVIDE POW E R FOR GPS ENGINE BOARD AND CONVERT THE SIGNAL FROM TTL T O RS-232 CONNE CTING T O PC. 2 Power Core AC 1 10V or 220V 7.5V/1.0A/2.5mm/1.8M 1 AC/DC ADAPTOR. T HERE ARE TW O TYPES OF ADP[...]

  • Page 7

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 3 Getting sta rted To Setup REV-2000 The interface of REV-2000 is show n as follows: Power mode jumper J1 The pow er core of REV-2000 is 1 10V AC/ 7.5V DC adaptor . It converts the 1 10 AC to DC. RoyalT ek can also provide you 220V AC pow er core. Beware of the AC pow er of your o[...]

  • Page 8

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 4 input range is from 2.5V ~ 3.1V DC. P1 This is NM EA/SiRF protocol o utput/input port . Please connect it to PC or Laptop RS-232 port. P2 This is DGPS input port. CON12 This is the socket for REB-2000/REB-2100. Please refer the hardware interface section for the pin assignment. [...]

  • Page 9

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 5 T o operate REV-2000 Install the SiRFDemo.exe Copy the SiRFDemo.ex e from the CD-R OM T oolkitSiRFDemo.ex e to the destination path, e.g. “c:RoyakT ekREV-2000Demo.exe”. Add a shortcut of SiRFdemo.ex e on the desktop of W indows 98. To use Sirfdemo.exe (1) Double click t[...]

  • Page 10

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 6 (5) Click the “Signal level”, “T racking”, “M ap” buttons of the tool bar to enable the “Signal level view ”, “T racking view ” and “Map v iew”. (6) Check the View / M essages / Development to enable the development view . Signal Level T racking Map Data [...]

  • Page 11

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 7 (7) Click the to start testing. (8) The other buttons of tool bar are explained as follows: : Pause the data reception. :Log the data as a *.log file. : Initialize Data Source (9) After you click the , you can see the NM EA output on the development view . To swi tch from NM EA [...]

  • Page 12

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 8 Y ou could see the following screen after you sw itch to SiRF protocol. 12-Channel Signal Level Data: Information Di splay ed Description Satellite Number (SV) GPS satellite PRN number Status (St) Satellite status Azimuth (Az) Satellite azimuth (in degrees) Elevation (EI) Satell[...]

  • Page 13

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 9 development purpose not for user . Map View: Demonstrate the G PS time, Latitude, Longitude, Altitude and Navigation mode etc. Initialize Data Source Click the button to initialize data source. It provides the cold start, w arm start and hot start test functions. The receiver in[...]

  • Page 14

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 10 (2) After you select the “Sw itch to NMEA Protocol”, it w ill show up a “Select NM EA M essages” dialog. Select the NM EA Messages that you w ant to use. (3) Determine the update rate for each NM EA message (4) Select the baud rate that you w ant to use from the Baud Ra[...]

  • Page 15

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 11 (1) T rickle power: In T ricklePower mode, the power to is cy cled periodically , so that it operates only a fraction of the time. REB-2100 has the default trickle power parameters: OnPeriod: 300ms, Update rate: 1 second. REB-12R2 does not provide the trickle pow er feature. (2[...]

  • Page 16

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 12 cycle is 200ms/1000ms = 20%. If the “Update Rate” is 2 sec and “On T ime” is 300 ms, the duty cycle is 300ms/2000ms = 15%. T he duty cycle is limited to 5% ~ 50%. Since it w ill do some estimation in trickle power , please tune the proper duty cycle that can compromise [...]

  • Page 17

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 13 (7) Select the COM port. Keep the Baud rate at 19200 for REB-2100 and 9600 for REB-12R2/R1. (8) If you want to upload program to Reb-2100, please assert the GPS2 check box. But leav e it unasserted for Reb-12R2/R1. (9) Click Upload to begin programming flash memory . (10 ) W he[...]

  • Page 18

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 14  Excellent sensitiv e for urban canyon and foliage environments.  Single satellite positioning.  Dual multi path rejection. REB-12R  OEM product development is fully supported through applications engineering and W EB technique forum.  12 parallel [...]

  • Page 19

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 2 Pictures REB-2100 System Block Diagram LNA SIRF GRF2I SA W Filter SiRF GSP2e 12 pins Flash Memory Active antenna Pin 1 MMCX Pin[...]

  • Page 20

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 3 REB-12R REB-12R Block diagram T echnique speci ficati ons REB-2100. Operational Character istics. 12 Channels L1, 1575.42MH z. C / A code, 1.023M Hz chip rate. Snap start:2second, average Hot start  8second, average War m sta rt  45second, av erage Cold sta rt  60second[...]

  • Page 21

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 4 Datum: W GS-84. Accuracy . Position accuracy  25m CEP w ithout SA V elocity accuracy:0.1 meters/second without SA DGPS A ccuracy . Position:1 to 5 m, typical V elocity: 0.05 meters/second, typical Dy namics. Altitude  18000 meters (60000 feet) Max. V e l o c i t y  515 [...]

  • Page 22

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 5 T emperature. Storage temperature –10 ~ +85 Degree (Celsius). Operating temperature -10 ~ +70 Degree (Celsius). Humidity . ≦ 95% noncondensing. RF connector The RF connector is M M CX receptacle. Activ e antenna. GSP Antenna Characteristics Specification Center frequency 157[...]

  • Page 23

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 6 Dy namics. Altitude  18000 meters (60000 feet) Max . V e l o c i t y  515 meters / second Max . Acceleration  4 g. , Max . Power Requirements. Regulated power for the R EB-12R2 is required. The input voltage shall be 5V ± 5 %. The pow er of active antenna is supplied t[...]

  • Page 24

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 7 Ordering information For the complete pricing and delivery information, please contact: RoyalT ek Company Ltd. 1071 Chung Cheng Rd.,Suite 9F-1,T ao Y uan City ,T aiwan,R.O.C. T el: 886-3-3569666 Fax: 886-3-3560900 Http://ww w .royaltek.com e-mail: sales@royaltek.com Hardware int[...]

  • Page 25

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 8 communicate with a PC serial port. RXA This is th e main receiving channel an d is used to rece ive sof tware co mmands to t he Engine board from user written softw are. RXB This is t he aux iliary receiv e channe l and i s used to inpu t dif ferential corrections to the Engine [...]

  • Page 26

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 9 18 GND G Ground 19 TIMEM ARK O 1PPS T ime Mark Output. V oh ≥ VCC-0.4V , V o1 ≤ 0.4V , I o h = 4mA Io1 = 4 m A Pulse duration 100ms. T ime reference is at the pulse negative edge. M easurements are a l i g n e d to GPS second, ± 1 microsecond. 20 RESERVED - Reserved VCC_5 D[...]

  • Page 27

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 10 A bsolute maximum ratings REB-2000/RE B-2100 Parameter Sy mbol Unit Min. V alue Max. V alue Supply voltage VCC_3 V -0.3 3.6 Input pin voltage V -0.3 VCC_3 + 0.3 Output pin voltage V -0.3 VCC_3 + 0.3 Output current mA ±25 RT C power VBA T V 1.5 3.6 REB-12R Parameter Sy mbol Uni[...]

  • Page 28

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 11 Age of Diff. Corr . second Null fields w hen DGPS is not used Diff. Ref. Station ID 0000 Checksum *18 ＜ CR ＞＜ LF ＞ End of message termination T able 2-1 Position Fix Indicator V alue Description 0 Fix not available or inv alid 1 G PS SPS Mode, fix valid 2 Dif ferential [...]

  • Page 29

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 12 T able 4-2 Mode 2 V alue Description M Manual-forced to operate in 2D or 3D mode A Automatic-allowed to automatically sw itch 2D/3D GSV-GN SS Sa tellites in View T able 5 contains the values of the follow ing example: $G PGSV , 2, 1, 07, 07, 79, 048, 42, 02, 51, 062, 43, 26, 36[...]

  • Page 30

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 13 VTG-Course Over Ground and Ground Speed T able 7 contains the values of the follow ing example:$G PVTG, 309.62, T , , M, 0.13, N, 0.2, K*6E T able 7 VTG Data Format Name Example Units Description Message ID $G PVTG VTG protocol header Course 309.62 degrees Measured heading Refe[...]

  • Page 31

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 14 SIRF NMEA Input Messages Message Message Identifier (MID) Description Set Serial Port 100 Set PORT A Parameters and protocol Navigation Initialization 101 Parameters required for start using X/Y/Z Set DGPS Port 102 Set PORT B parameters for D GPS input Query / Rate C ontrol 103[...]

  • Page 32

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 15 T able 9 Navigation Initialization Data Format Name Example Units Description Message ID $PSRF101 PSRF101 protocol header ECEF X -2686700 Meters X coordinate position ECEF Y -4304200 Meters Y coordinate position ECEF Z 3851624 M eters Z coordinate position CLK Offset 95000 Hz C[...]

  • Page 33

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 16 T able 12 Query/Rate Control Data Format(See ex ample 1.) Name Example Units Description Message ID $PSRF103 PSRF102 protocol header Message 00 See T able 13 Mode 01 0=Set Rate, 1=Query Rate 00 seconds Output – off=0,max =255 Cksum Enable 01 0=Disable Checksum, 1=Enable Check[...]

  • Page 34

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 17 following ex amples: 1. Debug On $PSRF 105,1*3E 2. Debug Of f $PSRF 105,1*3F T able 16 Development Data On/Off Data Format Name Example Units Description Message ID $PSRF105 PSRF105 protocol header Debug 1 0=Off , 1= On Checksum *3E <CR><LF> End of message terminati[...]

  • Page 35

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 18 Pay load Data The payload data follow s the message length. It contains the number of bytes specified by the message length. The payload data may contain any 8-bit value. W here multi-byte values are in the payload data neither the alignment nor the byte order are defined as pa[...]

  • Page 36

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 19 track data Debug data enabled. Example: A0A20019-Start Sequence and Payload Length 80FFD700F9FFBE5266003AC57A000124 F80083S600039C0C33- Payload 0A91B0B3-M essage Checksum and End Sequence T able 18 Initialize Data Source Binary (Hex) N a m e By tes Scale Example Units Descripti[...]

  • Page 37

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 20 GLL M essage 1 00 1/s Checksum 1 01 BSA Message 1 05 1/s Checksum 1 01 GSV M essage 1 05 1/s Checksum 1 01 RM C Message 1 00 1/s Checksum 1 01 VTG M essage 1 00 1/s Checksum 1 01 Unused Field 1 00 Recommended value Unused Field 1 01 Recommended value Unused Field 1 00 Recommend[...]

  • Page 38

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 21 Mode control – M essage I.D .136 T able 22 contains the input values for the following ex ample: 3D M ode = Always , Alt Constraining = Y es , Degraded Mode – clock then direction , TBD = 1 , D R Mode = Y es , Altitude = 0, Alt Hold Mode = Auto, Alt Source = Last Computed ,[...]

  • Page 39

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 22 T able 24 DOP M ask Control Binary (Hex) Name By tes Scale Example Units Description Message ID 1 88 ASCII 137 DOP Selection 1 00 See T able 25 GDOP V alue 1 08 Range 1 to 50 PDOP V alue 1 08 Range 1 to 50 HDOP V alue 1 08 Range 1 to 50 Payload Length: 5 bytes T able 25 DOP Sel[...]

  • Page 40

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 23 T able 28 Elevation Ma sk Binary (Hex) Name By tes Scale Example Units Description Message ID 1 8B ASCII 139 T racking Mask 2 *10 0032 degrees Not currently used Navigation M ask 2 *10 009B degrees Range –20.0 to 90.0 Payload Length:5 bytes Pow er Mask – Message I. D.140 T [...]

  • Page 41

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 24 Set DGPS Serial Port – Message I. D 145 T able 32 contains the input values for the following ex ample:Set DGPS Serial port to 9600.n,8,1. Example: A0A20009-Start Sequence and Payload Length 910000258008010000 – Payload 013FB0B3 – M essage Checksum and End Sequence T able[...]

  • Page 42

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 25 A value of 0 requests all available ephemeris records, otherwise the ephemeris of the Sv I.D. is requested. Sw itch To SiRF Prot ocol Note – T o switch to SiR F protocol you must send a SiRF NM EA message to revert to SiRF binary mode. (See page 9, ” NMEA Input M essages ?[...]

  • Page 43

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 26 Computation of Duty Cy cle and On Tim e. The Duty Cycle is the desired time to be spent tracking.The On T ime is the duration of each tracking period (range is 200 - 900 ms). To calculate the T ricklePower update rate as a function of Duty cycle and O n Time, use the follow ing[...]

  • Page 44

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 27 seconds. Poll Nav igation Parameters - Message I.D. 152 Table C-20 contains the input v alues for the following ex ample: Example: Poll receiv er for current navigation parameters. A0A20002—Start Sequence and Payload Length 9800—Payload 0098B0B3—M essage Checksum and End [...]

  • Page 45

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 28 T able 41 Measured Navigation Data Out – Binary & ASCII Message Data Format Binary (Hex) ASCII(Decimal) Name By tes Scale Example Units Scale Example Message ID 1 02 2 X – position 4 FFD6F78C M -2689140 Y – position 4 FFBE536E M -4304018 Z – position 4 003AC004 M 38[...]

  • Page 46

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 29 T able 43 Mode 2 Mode 2 Hex ASCII Description 0x00 0 DR Sensor Data 0x01 1 V alidated / Unvalidated 0x02 2 Dead Reckoning (T ime 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 Ra[...]

  • Page 47

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 30 zero valu es T able 45 T rk. to NA V Struct. T rk._status Field Definition Field Definition Hex V alue Description ACQ_SUCCESS 0x 0001 Set if acq/reacq if done successfully DEL T A_CARPHASE_V ALI D 0x0002 Integrated carrier phase is valid BIT_SY NC_DONE 0x0004 Bit sync complete[...]

  • Page 48

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 31 Integration Interval 2 0013 Ms 19 T rack Loop Iteration 2 003F 63 Payload Length:51 bytes per satellite tracked (up to 12) 1.For further information,go to T able 45 2.Multiply by (1000 ÷ 4 π ) ÷ 2 16 to convert to Hz . The meaning of I.D.5 is described as follow ing table Me[...]

  • Page 49

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 32 data and carrier data for each measurement epoch. 1. Computation of initial Receiver T i me(RT ) in seconds. Note-W here 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 measuremen[...]

  • Page 50

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 33 0598B0B3 – M essage Checksum and End Sequence T able 48 Clock Status Data Message Binary(Hex ) ASCII(Decimal) Name Bytes Scale Example Units Scale Ex ample Message ID 1 07 7 GPS W eek 2 03BD 957 GPS T OW 4 *100 02154924 S /100 349494.12 Svs 1 08 8 Clock Drift 4 2231 Hz 74289 [...]

  • Page 51

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 34 T able 50 CPU Throughput Binary(Hex ) ASCII(Decimal) Name Bytes Scale Ex ample Units Scale Example Message ID 1 09 9 SegStatMax 2 *186 003B ms /186 .3172 SegStatLat 2 *186 001 1 ms /186 .0914 Av eT rkT ime 2 *186 0016 ms /186 .1 183 Last MS 2 01E5 ms 485 Payload Length: 9 bytes[...]

  • Page 52

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 35 ****B0B3 – Message Checksum and End Sequence T able 53 Visible List Binary (Hex) ASCII(Decimal) Name By tes Scale Example Units Scale Example Message ID 1 0D 13 Visible Svs 1 08 8 CH 1 –Sv I.D 1 07 7 CH 1 –Sv Az imuth 2 0029 Degrees 41 CH 1 –Sv Elevation 2 0038 Degrees [...]

  • Page 53

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 36 T able 55 Visible List Binary (Hex) ASCII(Decimal) Name By tes Scale Ex ample Units Scale Example Message ID 1 FF 255 Payload Length:V ariable Note – M essages are output to give the user information of receiver activity . Convert to sy mbol to assemble message (i.e., 0x4E is[...]

  • Page 54

    RoyalT ek GPS Receiver REB-2000/REB-12R REV-2000 O perational Manual 37 Contact Information Section  Contact : sales@roy altek.com  H E AD Q U AR T E R : A dd : 1071 Chung Cheng Rd., Suite 9F-1 T a o Y uan City , T aiw an , R.O.C. T el : 886 – 3 - 3569666 Fax : 886 – 3 - 3580050     Factory A dd : No. 40-10 San Chi Road , W u [...]