Trimble SK8 manual

Lassen-SK8™ Embedded GPS Module System Designer Reference Manual Part Number: 34149-01 Firmware: 7.20-7.52 Date: August 1997 Trimble Navigation Limited Commercial Systems Group 645 North Mary Avenue Post Office Box 3642 Sunnyvale, CA 94088-3642 U.S.A. +1-800-827-8000 in North America +1-408-481-8000 International FAX: +1-408- 730-2082[...]

U.S. Technical Assistance and Repair +1-800--SOS-4-TAC in North America +1-408-481- 69 40 International FAX: +1-408-481-6020 European Technical Assistance and Repair +44-1256-1622-858-421[...]

Copyrights © 1997 Trimble Navigation Limited. All rights reserved. No part of this manual may be copied, photocopied, reproduced, translated, or reduced to any electronic medium or machine-readable form without prior written consent from Trimble Navigation Limited. Printed in the United States of America. Printed on recycled paper. Revision Notice[...]

Hardware Limited Warranty Trimble Navigation Limited products are warranted against defects in material and workmanship for a period of one year. The warranty period shall commence thirty (30) days after shipment from Trimble’s factory. Warranty service will be provided at a designated Trimble Service Center. Trimble will at its option either rep[...]

Lassen-SK8 Embedded GPS Module v Table of Contents Preface Scope and Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix Lassen-SK8 Manual Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx Technical Assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx Email . . . . [...]

vi Lassen-SK8 Embedded GPS Module 3 Software Interface 3.1 Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3.2 Software Tool Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3.3 Communicating with the Lassen-SK8 Module . . . . . . . . . . . . . . . . . . . . . . 3-2 3.[...]

Lassen-SK8 Embedded GPS Module vii 4.6.1 Selective Availability (SA) . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 4.6.2 Differential GPS (DGPS) . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 4.7 Coordinate Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 4.7.1 TSIP Coordinate Systems . . . . [...]

viii Lassen-SK8 Embedded GPS Module A.15.6 Packet 0xBB - Set DGPS Mode . . . . . . . . . . . . . . . . . . . . . . . . A-19 A.16 Packet Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-19 A.17 Packet Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-20 A.17.1 Command Packet 0[...]

Lassen-SK8 Embedded GPS Module ix A.17.35 Report Packet 0x55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-37 A.17.36 Report Packet 0x56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-39 A.17.37 Report Packet 0x57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-39 A.17.38 Report Packet 0x58 . . . . . . .[...]

x Lassen-SK8 Embedded GPS Module A.18.7 Report Packet 0x8F-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-66 A.18.8 Report Packet 0x8F-19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-67 A.18.9 Report Packet 0x8F-20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-67 A.18.10 Report Packet 0x8F-26 . . . . . . . . .[...]

Lassen-SK8 Embedded GPS Module xi E.4 NMEA 0183 Message Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-3 E.4.1 GGA - GPS Fix Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-3 E.4.2 GLL - Geographic Position - Latitude/Longitude . . . . . . . . . . . . . . . E-4 E.4.3 GSA - GPS DOP and Active Satellites . . . [...]

xii Lassen-SK8 Embedded GPS Module F.7.3 Mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-5 Glossary Index[...]

Lassen-SK8 Embedded GPS Module xiii List of Figures Figure 1-1. The Module Installed Inside the Interface Unit . . . . . . . . . . . . . . . . . . . 1-5 Figure 1-2 . Receiver Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 Figure 1-3 . Starter Kit Interface Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . [...]

xiv Lassen-SK8 Embedded GPS Module[...]

Lassen-SK8 Embedded GPS Module xv List of Tables Table 1-1 . Lassen-SK8 Starter Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 Table 1-2 . Lassen-SK8 Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 Table 1-3 . Lassen SK-8 Optional Antennas . . . . . . . . . . . . . . . . . . . . . . . . . . . 1[...]

xvi Lassen-SK8 Embedded GPS Module Table A-24 . Command Packet 0x39 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . A-28 Table A-25 . Command Packet 0x3C Data Format . . . . . . . . . . . . . . . . . . . . . . . . . A-28 Table A-26 . Report Packet 0x41 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-29 Table A-27 . P[...]

Lassen-SK8 Embedded GPS Module xvii Table A-62 . Command Packet 0x7A Data Formats for Setting NMEA Interval and Message Mask A- 55 Table A-63 . Report Packet 0x7B Message Mask Settings . . . . . . . . . . . . . . . . . . . . A-56 Table A-64 . Report Packet 0x83 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-57 Table A-65 . Repor[...]

xviii Lassen-SK8 Embedded GPS Module Table C-14 . Long Navigation Message Data String Descriptions . . . . . . . . . . . . . . . . . C-16 Table C-15 . PR Data String Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-17 Table C-16 . Port Characteristic Data String Descriptions . . . . . . . . . . . . . . . . . . . . . C-18 Tab[...]

Lassen-SK8 Embedded GPS Module xix Preface The Global Positioning System (GPS) is a satellite based navigation system operated and maintained by the U.S. Department of Defense. The GPS consists of a constellation of 24 satellites providing world-wide, 24 hour, three dimensional (3-D) coverage. Although originally conceived for military needs, GPS h[...]

xx Lassen-SK8 Embedded GPS Module Preface Lassen-SK8 Manual Organization All of the information required to integrate and operate the Lassen-SK8 is contained in this Manual. This manual contains the following chapters and appendices: Chapter 1: Starter Kit Chapter 2: Hardware Integration Chapter 3: Software Interface Chapter 4: Operation and Perfor[...]

Lassen-SK8 Embedded GPS Module xxi Preface Worldwide Web Check the Trimble worldwide web site on the Internet (http://www.trimble.com) for the latest news on new products and releases. Internet FTP Address You can visit the Trimble Public FTP site at any time to access software patches, utilities, service bulletins, and FAQs. The FTP site address i[...]

xxii Lassen-SK8 Embedded GPS Module Preface Document Conventions Italics Software menus, menu commands, dialog boxes and fields. SMALL CAPITALS DOS commands, directories, filenames, and filename extensions. Courier Represents what is printed on the computer screen. Courier Bold Information that to be typed in a software screen or window. [Return] o[...]

Lassen-SK8 Embedded GPS Module 1-1 1 Starter Kit The Lassen-SK8, based on Sierra TM GPS technology, delivers an unmatched level of performance for embedded GPS applications. Sierra technology is Trimble's 8-channel GPS architecture based on two ASICs, the Scott RF ASIC and the Scorpion DSP. The Scott RF ASIC features: • Double down-conversio[...]

1-2 Lassen-SK8 Embedded GPS Module Starter Kit The interface unit is a sturdy metal enclosure containing an interface motherboard. The motherboard accepts 9 - 32 VDC power and provides regulated +5V and +3.6V BBU power to the Lassen-SK8 receiver module. The motherboard also provides two RS-232 connectors for quick and direct connection to a PC COM [...]

Lassen-SK8 Embedded GPS Module 1-3 Starter Kit 1.1.1 Interface Protocols The Lassen-SK8 operates using either of three protocols — Trimble Standard Interface Protocol (TSIP), Trimble ASCII Interface Protocol (TAIP), and NMEA 0183 and are physically located at the following ports: • Port 1 TSIP or TAIP • Port 2 NMEA 0183 Port 1 TSIP is a power[...]

1-4 Lassen-SK8 Embedded GPS Module Starter Kit The Starter Kit components and the accessory part numbers are listed in Table 1-1 and Table 1-2. * Note – Part numbers are subject to change. Confirm part numbers with your Trimble representative when placing your order. Table 1-1 . Lassen-SK8 Starter Kit Starter Kit Part Reference Part Number Lassen[...]

Lassen-SK8 Embedded GPS Module 1-5 Starter Kit 1.2 GPS Receiver Module In the Starter Kit , the Lassen-SK8 is installed on an interface motherboard which is housed in a metal enclosure (see Figure 1-1). This packaging simplifies testing and evaluation of the module by providing an RS-232 serial interface which is compatible with most PC communicati[...]

1-6 Lassen-SK8 Embedded GPS Module Starter Kit The receiver module (see Figure 1-2) consists of a single 3.25" x 1.25" x 0.40" module. A standard SMB RF connector (J1) supports the GPS antenna connection. The center conductor supplies +5 VDC for the Low Noise Amplifier of the active antenna. An 8-pin, 0.1 inch header (J4) supports th[...]

Lassen-SK8 Embedded GPS Module 1-7 Starter Kit The interface motherboard includes a 9 to 32 VDC switching power supply which provides a regulated +5 VDC to the receiver. It also converts the TTL-level I/O to RS-232 for a direct interface to a computer. The motherboard provides an open-collector interface for the PPS and also includes a 3.6V lithium[...]

1-8 Lassen-SK8 Embedded GPS Module Starter Kit 1.3 Antenna The GPS antenna receives the GPS satellite signals and passes them to the receiver. Because the GPS signals are spread spectrum signals in the 1575 MHz range and do not penetrate conductive or opaque surfaces, the GPS antenna must be located outdoors with a clear view of the sky. The Lassen[...]

Lassen-SK8 Embedded GPS Module 1-9 Starter Kit Figure 1-7 . Bullet II GPS Antenna 1.4 Power The receiver module is designed for embedded applications and requires a regulated +5.0 VDC input (+4.75 to +5.25 VDC). See Power Requirements in Chapter 4 for detailed specifications. In the Starter Kit , the motherboard includes a DC power regulator which [...]

1-10 Lassen-SK8 Embedded GPS Module Starter Kit * Note – The yellow wire is not used in the Starter Kit . Battery back-up is provided by a factory installed 3.6V lithium battery on the motherboard. The AC/DC power converter may be used as an alternate power source for the Starter Kit module. The AC/DC power converter converts 110 or 220 VAC to a [...]

Lassen-SK8 Embedded GPS Module 1-11 Starter Kit - AC/DC Power Converter — Connect the output cable of the converter to the 3-pin power connector on the interface unit. Using the appropriate 3-prong AC power cable (not provided), connect the converter to an AC wall socket (110 VAC or 220 VAC). The AC power cable is not provided in the Starter Kit [...]

1-12 Lassen-SK8 Embedded GPS Module Starter Kit 6. At the DOS prompt, type A:INSTALL . The executable program creates a sub directory called TOOLKIT and installs the tool kit files. 7. Type the appropriate path name to execute the TSIPCHAT program (e.g. C:TOOLKITTSIPCHAT ). TSIPCHAT provides full access to the TSIP protocol. It converts binary T[...]

Lassen-SK8 Embedded GPS Module 1-13 Starter Kit When the GPS module has completed a position fix and starts transmitting position reports, the position reports will begin scrolling in the auto window. An automatic receiver health report is sent every few seconds, even when no satellites are being tracked. If the auto window is not displaying messag[...]

1-14 Lassen-SK8 Embedded GPS Module Starter Kit[...]

Lassen-SK8 Embedded GPS Module 2-1 2 Hardware Integration The integration of the Lassen-SK8 receiver module is discussed in two sections: Hardware Integration and Software Interface. This chapter, Hardware Integration , includes instructions for mounting the GPS module and physically connecting the module to the antenna, the host processor, and the[...]

2-2 Lassen-SK8 Embedded GPS Module Hardware Integration I Caution – Before disassembling the interface unit, disconnect the unit from any external power source and confirm that both you and your work surface are properly grounded for ESD protection. The interface unit motherboard contains a 3.6V lithium battery. Exercise caution when removing it [...]

Lassen-SK8 Embedded GPS Module 2-3 Hardware Integration 2.2 Interface Connector The Lassen-SK8 power and data I/O functions are integrated into a single 8-pin header connector, J4. The J4 connector uses 0.025 inch pins on 0.10 inch spacing (refer to the mechanical outline drawing in Appendix F). Pins 3 and 5 on J4 are also referred to as the primar[...]

2-4 Lassen-SK8 Embedded GPS Module Hardware Integration The receiver does not require any special power up or down sequencing. The receiver power is supplied through pin 2 of the I/O connector. Refer to Table 2-2 for the +5 VDC power specifications. The Lassen-SK8 module provides an input for battery back-up (BBU) power to keep the module's RA[...]

Lassen-SK8 Embedded GPS Module 2-5 Hardware Integration 2.5 Pulse Per Second A ten microsecond wide, CMOS compatible TTL level pulse is available on pin 6 of the J4 I/O connector. This pulse is issued once per second with the rising edge of the pulse synchronized with UTC. The pulse will be shaped by the distributed impedance of the attached signal[...]

2-6 Lassen-SK8 Embedded GPS Module Hardware Integration[...]

Lassen-SK8 Embedded GPS Module 3-1 3 Software Interface This chapter describes the Lassen-SK8 software interface, the start-up characteristics for the interface protocols, a description of the receiver operating modes, and a brief discussion of the interface protocols. 3.1 Start-up ACE GPS is a complete 8 - channel parallel tracking GPS receiver de[...]

3-2 Lassen-SK8 Embedded GPS Module Software Interface 3.3 Communicating with the Lassen-SK8 Module The Lassen-SK8 supports three I/O message protocols: TSIP, TAIP, and NMEA. The protocols are discussed at the end of this chapter, and are explained in detail in Appendices A through E. Communication with the Lassen-SK8 module is through two CMOS comp[...]

Lassen-SK8 Embedded GPS Module 3-3 Software Interface 3.4 Protocol Summary The Lassen-SK8 receiver is shipped from the factory with the following configuration: • TSIP - 9600 baud 8-odd-1 on Port 1 • NMEA out/RTCM in - 4800 baud 8-none-1 on Port 2 The receiver can easily be reconfigured for other combinations of language and port baud rate and [...]

3-4 Lassen-SK8 Embedded GPS Module Software Interface Configuring the ACE GPS receiver output protocol from TSIP to TAIP protocol. TSIP command packet 0xBC can be configured in accordance with the following procedure: 1. Run TSIPCHAT -Cx (Where x = Host Computer COM Port). 2. Once TSIPCHAT is running: a. Press [?] . The following will be displayed:[...]

Lassen-SK8 Embedded GPS Module 3-5 Software Interface 10. Set the Flow Control a. Press the [SPACE{BAR] to cycle through the options b. Select the appropriate Flow Control. TAIP is the default: TAIP =Off c. Press [Enter] 11. Set Protocol In: a. Press the [SPACE{BAR] to cycle through the options b. Select TAIP (0) c. Press [Enter] 12. Set Protocol O[...]

3-6 Lassen-SK8 Embedded GPS Module Software Interface Configuring the ACE GPS receiver output protocol from TAIP to TSIP protocol TAIP message PR Configuring the receiver output from TAIP to TSIP will display binary data in now displayed on the screen. 1. Run GPSSK /x. Press [x] to select the Host Computer COM Port 2. When the GPS Main screen appea[...]

Lassen-SK8 Embedded GPS Module 3-7 Software Interface NMEA data is output in standard ASCII sentence formats. Message identifiers are used to signify what data is contained in each sentence. Data fields are separated by commas within the NMEA sentence. In the Lassen-SK8, NMEA is an output only protocol. The NMEA protocol is described in detail in A[...]

3-8 Lassen-SK8 Embedded GPS Module Software Interface The following two known issues for previous versions of receivers exist as a result of testing a representative sample of Trimble OEM receivers. • An almanac recorded prior to WNRO is not correct after WNRO. This problem only exists when the receiver main power is OFF and battery back-up power[...]

Lassen-SK8 Embedded GPS Module 3-9 Software Interface Alternatively, you may use Trimble's TSIP packets 60h and 61h to apply differential corrections through the Lassen-SK8 port 1 (J4, pin 5). These packets can be interleaved with the TSIP command stream. Packets 60h and 61h are useful in applications which require the use of a single communic[...]

3-10 Lassen-SK8 Embedded GPS Module Software Interface[...]

Lassen-SK8 Embedded GPS Module 4-1 4 Operation and Performance This chapter describes the Lassen-SK8 satellite acquisition and tracking processes, performance characteristics and system architecture. This discussion assumes that you are familiar with the basic theory of the Global Positioning System. Before proceeding to the detailed discussion of [...]

4-2 Lassen-SK8 Embedded GPS Module Operation and Performance 4.2 Satellite Acquisition and Time to First Fix 4.2.1 Cold-Start The term “cold-start” describes the performance of a GPS receiver at power-on when no navigation data is available. “Cold” signifies that the receiver does not have a current almanac, satellite ephemeris, initial pos[...]

Lassen-SK8 Embedded GPS Module 4-3 Operation and Performance The warm start time to first fix, when the receiver has been powered down for more than 60 minutes (i.e. the ephemeris data is old) is usually less than 45 seconds. 4.2.3 Garage Search Strategy During a warm start search, the Lassen-SK8 knows which satellites to search for, based on the s[...]

4-4 Lassen-SK8 Embedded GPS Module Operation and Performance 4.3.1 Elevation Mask Satellites below a 5° elevation are not used in the position solution. Although low elevation satellites can contribute to a lower/better PDOP, the signals from low elevation satellites are poorer quality, since they suffer greater tropospheric and ionospheric distor[...]

Lassen-SK8 Embedded GPS Module 4-5 Operation and Performance 4.3.4 PDOP Switch The default positioning mode for the Lassen-SK8 is Automatic. In this mode, the receiver attempts to generate a 3-dimensional (3D) position solution, when four or more satellites meeting the mask criteria are visible. If such a satellite set cannot be found, the receiver[...]

4-6 Lassen-SK8 Embedded GPS Module Operation and Performance 3D Manual In 3D Manual mode, the Lassen-SK8 will only generate 3-dimensional (3D) position solutions (latitude, longitude, and altitude). A 3D solution requires at least four visible satellites which pass the mask criteria. If less than four conforming satellites are visible, the Lassen-S[...]

Lassen-SK8 Embedded GPS Module 4-7 Operation and Performance 4.5.4 Differential GPS Operation The Lassen-SK8 is capable of accepting and decoding RTCM SC-104 data. RTCM SC- 104 is an industry standard protocol for differential correction data. The Lassen-SK8 is configured to accept RTCM SC-104 correction data over Port 2 (J4, pin 7). Alternatively,[...]

4-8 Lassen-SK8 Embedded GPS Module Operation and Performance 4.7 Coordinate Systems Once the Lassen-SK8 achieves its first fix, it is ready to commence output of position, velocity, and time information. This information is output over serial communication channel in either the TSIP, TAIP, or NMEA protocol, as determined by the settings of the rece[...]

Lassen-SK8 Embedded GPS Module 4-9 Operation and Performance 4.7.2 NMEA 0183 The NMEA 0183 protocol only supports LLA format and UTC time. Velocity is always described as horizontal speed and heading; vertical speed is not output. 4.7.3 TAIP The TAIP protocol only supports LLA position output. Timetags are GPS, except for the TM time mark message. [...]

4-10 Lassen-SK8 Embedded GPS Module Operation and Performance 4.9 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[...]

Lassen-SK8 Embedded GPS Module 4-11 Operation and Performance 4.9.2 Timing Pulse Output (PPS) A pulse-per-second (PPS), ten microsecond wide pulse is available on the Lassen-SK8 8-pin interface connector. The pulse is sent once per second and the rising edge of the pulse is synchronized with UTC. The pulse shape is affected by the distributed capac[...]

4-12 Lassen-SK8 Embedded GPS Module Operation and Performance Figure 4-1 . Lassen-SK8 Block Diagram Ant. Pwr Protect/ Detect RTC SEE ROM 4Mb RAM 1 Mb DUART 32 BIT CPU SK8 Functional Block Diagram sk8fbd.dwg 12/28/95 Band Pass Filter PWR MON SCOTT RF/IF CUSTOM IC 8 CHANNEL GPS DSP RESET CONTROL A/D, D/A, PWM 12.5 MHz TTL 12.504 MHz 12.504 MHz Oscill[...]

Lassen-SK8 Embedded GPS Module A-1 A Trimble Standard Interface Protocol The Trimble Standard Interface Protocol (TSIP) provides the system designer with over 75 commands that may be used to configure a GPS receiver for optimum performance in a variety of applications. TSIP enables the system designer to customize the configuration of a GPS module [...]

A-2 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol This document describes in detail the format of the transmitted data, the packet identification codes, and all available information over the output channel to allow the user to choose the data required for his particular application. As will be discussed, the receiver transmits[...]

Lassen-SK8 Embedded GPS Module A-3 Trimble Standard Interface Protocol A.3 Customizing Receiver Operations To customize the Lassen-SK8 receiver output for your application: 1. Set up the receiver using TSIP commands until the receiver operation is as desired 2. Use command 0x8E-26 to store the settings in non-volatile memory These settings will con[...]

A-4 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol * Note – After setting wait 2 seconds. Table A-2. Customizing Receiver Operation I/Os Input ID Description Output ID 0xBB set/request query receiver configuration BB 0xBC set/request query port configuration BC 0x35 set input/output options 55 0x70 enable/disable PV/altitude f[...]

Lassen-SK8 Embedded GPS Module A-5 Trimble Standard Interface Protocol A.4 Automatic Position and Velocity Reports The receiver automatically outputs position and velocity reports at set intervals. Automatic report packets are controlled by Packet 35. Setting the control bits as indicated in the table below allows you to control which position and [...]

A-6 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.5 Warm Start Packets If the receiver is connected to a back-up power source such as a lithium battery, the data required to cause a warm start is retained even when main power is turned off. Before power off, check the following automatic outputs to ensure a warm start will oc[...]

Lassen-SK8 Embedded GPS Module A-7 Trimble Standard Interface Protocol A.6 Packets Output at Power-Up The following table lists the messages output by the receiver at power-up. After completing its self-diagnostics, the receiver automatically outputs a series of packets which indicate the initial operating condition of the receiver. Messages are ou[...]

A-8 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.8 Timing Packets If you are using the Lassen-SK8 as a timing system, you may need to implement the following TSIP control commands. A.9 Satellite Data Packets The following packets contain a variety of GPS satellite data. A.10 Background Packets The receiver automatically outp[...]

Lassen-SK8 Embedded GPS Module A-9 Trimble Standard Interface Protocol A.11 Backwards Incompatibility of Lassen-SK8 Packets with Previous TSIP Versions Several new TSIP command packets have been made available with the release of the Lassen-SK8 receiver module, and some existing packets have been modified or are no longer supported. Table A-10 iden[...]

A-10 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol[...]

Lassen-SK8 Embedded GPS Module A-11 Trimble Standard Interface Protocol A.12 Recommended TSIP Packets Table A-11. Recommended TSIP Packet Dat a Function Description Input Output Protocol and port setup set/query port configuration 0xBC 0xBC set/query NMEA configuration 0x7A 0x7B set/query I/O options (autoreport and format options) 0x35 0x55 Packet[...]

A-12 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol Function Description Input Output GPS system query/load GPS system data 0x38 0x58 GPS system message 0x28 0x48 Initialization full reset (clear battery backup and/or non-volatile settings) 0x1E soft reset 0x25 set GPS time 0x2E 0x4E set exact LLA 0x32 set approx. XYZ 0x23 set a[...]

Lassen-SK8 Embedded GPS Module A-13 Trimble Standard Interface Protocol A.13 Command Packets Sent to the Receiver The table below summarizes the command packets sent to the receiver. The table includes the input Packet ID, a short description of each packet, and the associated response packet. In some cases, the response packets depend on user-sele[...]

A-14 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol * Note 1. – Output is determined by Packet 0x35 settings. See Table A-5 to determine which messages are output at power-up. * Note 2. – No response sent if data is not available. * Note 3. – Not all Packet 0x39 operations have a response. See Packet 0x39 description. Inpu[...]

Lassen-SK8 Embedded GPS Module A-15 Trimble Standard Interface Protocol A.14 Report Packets Sent by the GPS Receiver to the User The table below summarizes the packets output by the receiver. The table includes the output Packet ID, a short description of each packet, and the associated input packet. In some cases, the response packets depend on us[...]

A-16 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.15 Key Setup Parameters or Packet BB Selecting the correct operating parameters has significant impact on receiver performance. Packet 0x BB (set receiver configuration) controls the key setup parameters. The default operating parameters allow the receiver to perform well in [...]

Lassen-SK8 Embedded GPS Module A-17 Trimble Standard Interface Protocol A.15.1 Packet 0xBB - Set Fix Mode Packet 0x BB is used to choose the appropriate position fix mode for your application: 2-D, 3-D or AUTO. The default mode is AUTO 2-D/3-D, where the receiver first attempts to obtain a 3-D solution with a PDOP below both the DOP mask and DOP sw[...]

A-18 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol Frequent constellation switching is undesirable because position jumps may be experienced when SA is present and DGPS is not available to remove these effects. The benefit of a low elevation mask is that more satellites are available for use in a solution and a better PDOP may [...]

Lassen-SK8 Embedded GPS Module A-19 Trimble Standard Interface Protocol A.15.6 Packet 0xBB - Set DGPS Mode Packet 0x BB is used to set the differential GPS operating mode. The factory default mode is OFF. If differential corrections are available, the recommended mode is DGPS Auto. In this mode, the receiver computes differentially corrected positi[...]

A-20 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17 Packet Descriptions A.17.1 Command Packet 0x1D This packet commands the GPS receiver to set or clear the oscillator offset in battery- backed memory. This is normally used for servicing the unit. To clear the oscillator offset, one data byte is sent: the ASCII letter &apos[...]

Lassen-SK8 Embedded GPS Module A-21 Trimble Standard Interface Protocol A.17.5 Command Packet 0x23 This packet provides the GPS receiver with an approximate initial position in XYZ coordinates. This packet is useful if the user has moved more than a 1,000 miles after the previous fix. (Note that the GPS receiver can initialize itself without any da[...]

A-22 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.11 Command Packet 0x2A * Note – This packet sets or requests the altitude parameters used for the Manual 2-D mode: Reference Altitude and Altitude Flag. Packet 0x4A (type 2) is returned. Reference Altitude is the altitude used for manual 2-D positions if the altitude fla[...]

Lassen-SK8 Embedded GPS Module A-23 Trimble Standard Interface Protocol A.17.12 Command Packet 0x2B This packet provides the GPS receiver with an approximate initial position in latitude and longitude coordinates (WGS-84). This packet is useful if the user has moved more than 1,000 miles after the previous fix. (Note that the GPS receiver can initi[...]

A-24 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.15 Command Packet 0x31 This packet is identical in content to Packet 0x 23. This packet provides an initial position to the GPS receiver in XYZ coordinates. However, the GPS receiver assumes the position provided in this packet to be accurate. This packet is used for satel[...]

Lassen-SK8 Embedded GPS Module A-25 Trimble Standard Interface Protocol Table A-21. Command Packets 0x35 and 0x55 Data Descriptions Byte Parameter Name Bit Position Default Bit Value Option Associated Packet 0 position 0 (LSB) 1 XYZ ECEF Output 0: off 1: on 0x42 or 0x83 1 0 LLA Output 0: off 1: on 0x4A or 0x84 2 0 LLA ALT Output 0: HAE (datum) 1: M[...]

A-26 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol * Note – Automatic output of 5 A messages is supported in the Lassen-SK8 for backwards compatibility with older TSIP applications. * Note – See the associated superpacket output, described later in this appendix. Packet 8E must be used to specify which superpacket is to be [...]

Lassen-SK8 Embedded GPS Module A-27 Trimble Standard Interface Protocol A.17.19 Command Packet 0x38 This packet requests current satellite data (almanac, ephemeris, etc.) or permits loading initialization data from an external source (for example, by extracting initialization data from an operating GPS receiver unit via a data logger or computer an[...]

A-28 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.20 Command Packet 0x39 Normally the GPS receiver selects only healthy satellites (based on transmitted values in the ephemeris and almanac) which satisfy all mask values, for use in the position solution. This packet allows you to override the internal logic and force the [...]

Lassen-SK8 Embedded GPS Module A-29 Trimble Standard Interface Protocol A.17.22 Report Packet 0x41 This packet provides the current GPS time of week and the week number. The GPS receiver sends this packet in response to Packet 0x 21 and during an update cycle. Update cycles occur approximately every 5 seconds. The data format is shown below. * Note[...]

A-30 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.23 Report Packet 0x42 This packet provides current GPS position fix in XYZ ECEF coordinates. If the I/O “position” option is set to “XYZ ECEF” and the I/O “precision-of-position output” is set to single-precision, then the GPS receiver sends this packet each ti[...]

Lassen-SK8 Embedded GPS Module A-31 Trimble Standard Interface Protocol A.17.25 Report Packet 0x45 This packet provides information about the version of software in the Navigation and Signal Processors. The GPS receiver sends this packet after power-on and in response to Packet 0x 1F. The first 5 bytes refer to the Navigation Processor and the seco[...]

A-32 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.26 Report Packet 0x46 This packet provides information about the satellite tracking status and the operational health of the Receiver. The receiver sends this packet after power-on or software-initiated resets, in response to Packet 0x 26 and, during an update cycle. Packe[...]

Lassen-SK8 Embedded GPS Module A-33 Trimble Standard Interface Protocol the almanac). The receiver sends this packet only in response to Packet 0x 27. The data format is shown below. Up to 8 satellite number/signal level pairs may be sent, indicated by the count field. Signal level is normally positive. If it is zero then that satellite has not yet[...]

A-34 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.30 Main 0x4A Report Packet Type The data format is shown below: The LLA conversion is done according to the datum selected using Packet 0x 8E-15. The default is WGS-84. Altitude is referred to the datum ellipsoid or the MSL Geoid, depending on which I/O “LLA altitude” [...]

Lassen-SK8 Embedded GPS Module A-35 Trimble Standard Interface Protocol Altitude Flag A flag that determines whether or not the Reference Altitude will be used. If set, it will be used. If cleared, altitude hold (last 3-D altitude) will be used. The data format is shown in the following table. A.17.32 Report Packet 0x4B The receiver transmits this [...]

A-36 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.33 Report Packet 0x4D This packet provides the current value of the receiver master oscillator offset in Hertz at carrier. This packet contains one SINGLE number. The receiver sends this packet in response to Packet 0x 2D. The permissible offset varies with the receiver un[...]

Lassen-SK8 Embedded GPS Module A-37 Trimble Standard Interface Protocol A.17.35 Report Packet 0x55 This packet requests the current I/O option states and optionally allows the I/O option states to be set as desired. These abbreviations apply to the following table: ALT (Altitude), ECEF ( Earth-centered, Earth-fixed), XYZ (Cartesian coordinates), LL[...]

A-38 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol * Note – See the associated superpacket output, described later in this appendix. Packet 8E must be used to specify which superpacket is to be output. * Note – Automatic output of 5 A messages is supported in the Lassen-SK8 for backwards compatibility with older TSIP applic[...]

Lassen-SK8 Embedded GPS Module A-39 Trimble Standard Interface Protocol A.17.36 Report Packet 0x56 If East-North-Up (ENU) coordinates have been selected for the I/O “velocity” option, the receiver sends this packet under the following conditions: • Each time that a fix is computed • In response to Packet 0x 37 (last known fix) The data form[...]

A-40 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.38 Report Packet 0x58 This packet provides GPS data (almanac, ephemeris, etc.). The receiver sends this packet under the following conditions: • On request • In response to Packet 0x 38 (acknowledges the loading of data) The data format is shown below. The binary alman[...]

Lassen-SK8 Embedded GPS Module A-41 Trimble Standard Interface Protocol * Note – All angles are in radians. Table A-42. Report Packet 0x58 Almanac Dat a Byte Item Type Meaning/FCD 200 Sec. No. 4 t_oa_raw BYTE Sec 20.3.3.5.1.2 5 SV_HEALTH BYTE Sec 20.3.3.5.1.2 6-9 e SINGLE Sec 20.3.3.5.1.2 10-13 t_oa SINGLE Sec 20.3.3.5.1.2 14-17 i_o SINGLE Sec 20[...]

A-42 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol Table A-44. Report Packet 0x58 Ionosphere Data Byte Item Type Meaning/ICD 200 Sec 4-11 --- --- not used 12-15 alpha_0 SINGLE Sec 20.3.3.5.1.9 16-19 alpha_1 SINGLE Sec 20.3.3.5.1.9 20-23 alpha_2 SINGLE Sec 20.3.3.5.1.9 24-27 alpha_3 SINGLE Sec 20.3.3.5.1.9 28-31 beta_0 SINGLE Se[...]

Lassen-SK8 Embedded GPS Module A-43 Trimble Standard Interface Protocol * Note – All angles are in radians. * Note – If data is not available, byte 3 is set to 0 and “no” data is sent. Byte Item Type Meaning/ICD 200 Sec. 25-28 a_f2 SINGLE Sec 20.3.3.3, Table 20-I 29-32 a_f1 SINGLE Sec 20.3.3.3, Table 20-I 33-36 a_f0 SINGLE Sec 20.3.3.3, Tab[...]

A-44 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.39 Report Packet 0x59 Normally the GPS receiver selects only healthy satellites (based on transmitted values in the ephemeris and almanac) which satisfy all mask values, for use in the position solution. This packet allows you to override the internal logic and force the r[...]

Lassen-SK8 Embedded GPS Module A-45 Trimble Standard Interface Protocol A.17.40 Report Packet 0x5A This packet provides raw GPS measurement data. If the I/O “auxiliary” option has been selected, the receiver sends this data automatically as measurements are taken. The data format is shown below. Note – A new Report Packet, 0x 6F has full pseu[...]

A-46 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol The receiver codephase resolution is 1/16th of a C/A code chip, this corresponds to: 1/16 * C/A code chip ≈ 977.517ns/16 ≈ 61.0948 ns ≈ 61.0948 * speed of light, m/s ≈ 18.3158 meter The integer millisecond portion of the pseudo-range must then be derived by utilizing th[...]

Lassen-SK8 Embedded GPS Module A-47 Trimble Standard Interface Protocol A.17.41 Report Packet 0x5C This packet provides tracking status data for a specified satellite. Some of the information is very implementation-dependent and is provided mainly for diagnostic purposes. The receiver sends this packet in response to Packet 0x 3C. The data format i[...]

A-48 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.42 Command Packet 0x60 - Type 1 Differential GPS Corrections This packet provides the SVeeSix with differential corrections from RTCM SC-104 record types 1 and 9, in the TSIP format. There is no response to this packet. The units and scale factors are as defined by RTCM-10[...]

Lassen-SK8 Embedded GPS Module A-49 Trimble Standard Interface Protocol A.17.43 Command Packet 0x61 - Set Differential GPS Corrections This TSIP packet provides the delta differential corrections from RTCM-104 record type 2. There is no response to this packet. Scale factors are version 1 unless the version 2 flag is set. The format for this packet[...]

A-50 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.45 Command Packet 0x65 This packet requests the status of differential corrections for a specific satellite or for all satellites for which data is available. This packet contains only one byte specifying the PRN number of the desired satellite or zero to request all avail[...]

Lassen-SK8 Embedded GPS Module A-51 Trimble Standard Interface Protocol A.17.47 Command Packet 0x6E — Set or Request Synchronized Measurement Parameters Packet 6E sets or requests the Synchronized Measurement parameters. The synchronized measurement parameters are sent by the GPS receiver in Packet 0x 6F Enable / Disable Synchronized Measurements[...]

A-52 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.48 Report Packet 0x6E — Synchronized Measurements Report Packet 0x 6E reports the setting of Synchronized Measurement parameters. The values are shown in Table A-56. See Command Packet 0x 6E for more information. A.17.49 Report Packet 0x6F, Subcode 1 Table A-56. Set Sync[...]

Lassen-SK8 Embedded GPS Module A-53 Trimble Standard Interface Protocol * Note – The sign convention provides for a carrier-phase decrease when the pseudorange increases and the doppler is negative. 28–35, 55–62,... Pseudorange DOUBLE meters Full L1 C/A Pseudorange, filtered 36–43, 63–70,... Carrier Phase DOUBLE cycles L1 band Continuous [...]

A-54 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.50 Command Packet 0x70 Trimble OEM receivers have a number of filters. Command 0x70 provides control for these filters. It returns Report 0x70. There are three filters associated with 0x70: • Position-Velocity (PV) Filter • Static Filter • Altitude Filter The Positio[...]

Lassen-SK8 Embedded GPS Module A-55 Trimble Standard Interface Protocol A.17.52 Command Packet 0x7A The NMEA message mask is a 32-bit vector which determines whether or not a given NMEA message will be output. If the bit for a message is set, the message will be sent every “interval” seconds. Hex values are “0R”ed together to produce the de[...]

A-56 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.53 Report Packet 0x7B Report Packet 0x 7B has one form. See Command Packet 0x 7A for more information about the data formats. To set the NMEA interval and message mask, use the values shown in Table A-62. A.17.54 Report Packet 0x82 This packet provides the differential pos[...]

Lassen-SK8 Embedded GPS Module A-57 Trimble Standard Interface Protocol A.17.55 Report Packet 0x83 This packet provides current GPS position fix in XYZ ECEF coordinates. If the I/O “position” option is set to “XYZ ECEF” and the I/O double position option is selected, the receiver sends this packet each time a fix is computed. The data forma[...]

A-58 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.57 Report Packet 0x85 This packet provides the status of differential corrections for a specific satellite. It is sent in response to Packet 0x 65. The format of this packet is shown in Table A-65. The summary status code is encoded in Table A-66. A.17.58 Packets 0x8E and [...]

Lassen-SK8 Embedded GPS Module A-59 Trimble Standard Interface Protocol A.17.59 Command Packet 0xBB In query mode, Packet 0x BB is sent with a single data byte and returns Report Packet 0x BB. TSIP Packet 0x BB is used to set GPS Processing options. The table below lists the individual fields within the 0x BB Packet. See A.3 for information on savi[...]

A-60 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.17.60 Report Packet 0xBB TSIP Packet 0x BB is used to report the GPS Processing options. See Table A-68. A.17.61 Command Packet 0xBC TSIP Packet 0x BC is used to query the port characteristics. In query mode, Packet 0x BC is sent with a single data byte and returns Report Pac[...]

Lassen-SK8 Embedded GPS Module A-61 Trimble Standard Interface Protocol A.17.62 Report Packet 0xBC TSIP Packet BC is used to request the communication parameters on Port 1 and Port 2. The table below lists the individual fields within Packet 0x BC. Byte # Item Type Value Meaning 6 Flow Control BYTE 0-F OR of bits: 0 = none, 1 = RTS CTS 2 = transmit[...]

A-62 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.18 TSIP Superpackets Several packets have been added to the core TSIP protocol to provide additional capability for OEM receivers. In OEM packets 0x 8E and their 0x 8F responses, the first data byte is a sub-code which indicates the superpacket type. For example, in Packet 0x[...]

Lassen-SK8 Embedded GPS Module A-63 Trimble Standard Interface Protocol * Note – Version 7.52 firmware supports only WGS-84 datum. To request the current datum setting, the command packet contains only one data byte as shown in Table A-73. Report Packet 0x 8F-15 is returned. To change to one of the internally held datum the packet must contain ex[...]

A-64 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol * Note – Eccentricity Squared is related to flattening by the following equation: e 2 =2 ρ - ρ 2 A.18.2 Command Packet 0x8E-19 This packet allows the user to enable or disable the position report in UTM (Universal Transverse Mercator) format. If bit 4, byte 0 of Command Pac[...]

Lassen-SK8 Embedded GPS Module A-65 Trimble Standard Interface Protocol * Note – Auto-report requires that superpacket output is enabled. Refer to Command Packet 35. A.18.4 Command Packet 0x8E-26 The 0x 8E-26 command is issued with no data to cause the current settings to be saved to non-volatile memory. See A.3 for information on saving the sett[...]

A-66 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.18.6 Report Packet 0x8F-17 This packet reports position in single precision UTM (Universal Transverse 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 grid consisting o[...]

Lassen-SK8 Embedded GPS Module A-67 Trimble Standard Interface Protocol A.18.8 Report Packet 0x8F-19 This packet reports whether the UTM output packets is enabled. If bit 4 byte 0 in packet 0x35 /0x55 is single precision, 0x17 will be output. A.18.9 Report Packet 0x8F-20 This packet provides complete information about the current position velocity [...]

A-68 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol 6-7 up velocity / INTEGER units 0.005 m/s or 0.020 m/s (see Byte 24). Overflow = 0x8000 Byte/ Item Type Meaning 8-11 Time Of Week / UNSIGNED LONG INTEGER GPS Time in milliseconds 12-15 Latitude / LONG INTEGER WGS-84 latitude, units = 2 -31 semicircle. Range = -2 30 to 2 30 . 16[...]

Lassen-SK8 Embedded GPS Module A-69 Trimble Standard Interface Protocol A.18.10 Report Packet 0x8F-26 This report will be issued after an 0x 8E-26 command. Byte/ Item Type Meaning 32-47 FIX SVs Repeated groups of 2 bytes, one for each satellite. There will always be 8 of these groups. The bytes are 0 if group N/A. The following table describes the [...]

A-70 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol A.19 Datums Datum selections are not available for version 7.52 firmware. Table A-85. Datum s Index DX DY DZ A-axis Eccentricity Description 0 0 0 0 6378137.000 0.00669437999014 /*WGS-84*/ 1 -128 481 664 6377397.155 0.00667437311265 /*Tokyo from old J6 values*/ 2 -8 160 176 637[...]

Lassen-SK8 Embedded GPS Module A-71 Trimble Standard Interface Protocol Index DX DY DZ A-axis Eccentricity Description 34 -205 107 53 6378388.000 0.00672267002233 /*Ascension Isl 1958*/ 35 145 75 272 6378388.000 0.00672267002233 /*Astro Beacon E 1945*/ 36 114 -116 -333 6378388.000 0.00672267002233 /*Astro B4 Sorol Atoll*/ 37 -320 550 -494 6378388.0[...]

A-72 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol Index DX DY DZ A-axis Eccentricity Description 71 -156 -271 -189 6378388.000 0.00672267002233 /*Hong Kong 1963*/ 72 209 818 290 6377276.345 0.00663784663020 /*Indian-Thai/Viet*/ 73 295 736 257 6377301.243 0.00663784663020 /*Indian-India/Nepal*/ 74 506 -122 611 6377340.189 0.006[...]

Lassen-SK8 Embedded GPS Module A-73 Trimble Standard Interface Protocol Index DX DY DZ A-axis Eccentricity Description 108 -3 143 183 6378206.4 0.00676865799761 /*NAD 27-Caribbean*/ 109 0 125 194 6378206.4 0.00676865799761 /*NAD 27-Central Amer*/ 110 -9 152 178 6378206.4 0.00676865799761 /*NAD 27-Cuba*/ 111 11 114 195 6378206.4 0.00676865799761 /*N[...]

A-74 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol Index DX DY DZ A-axis Eccentricity Description 139 -298 159 -369 6378388.0 0.00672267002233 /*Prov S.American 1956- Guyana*/ 140 -279 175 -379 6378388.0 0.00672267002233 /*Prov S.American 1956- Peru*/ 141 -295 173 -371 6378388.0 0.00672267002233 /*Prov S.American 1956- Venez*/ [...]

Lassen-SK8 Embedded GPS Module A-75 Trimble Standard Interface Protocol A.20 Reference Documents Unless otherwise indicated the issue of each document which was in effect on 1 May 1987 is the issue to be used. SS-GPS-300B System Specification for the NAVSTAR Global Positioning System ICD-GPS-200 NAVSTAR GPS Space Segment/Navigation User Interfaces [...]

A-76 Lassen-SK8 Embedded GPS Module Trimble Standard Interface Protocol Proceedings - Institute of Navigation Washington DC A series of 3 abstracts published between 1980 & 1986 of papers from the Journal of the Institute of Navigation. Essential source material for any system designer.[...]

Lassen-SK8 Embedded GPS Module B-1 B TSIP User's Guide The OEM GPS Tool Kit program disk includes several TSIP interface programs designed to help developer's evaluate and integrate the GPS module and create GPS and differential GPS applications. These programs run on a PC-DOS platform. They are intended as a base upon which to build appl[...]

B-2 Lassen-SK8 Embedded GPS Module TSIP User's Guide . TSIPCHAT TSIPCHAT is a program that provides full visibility into the TSIP interface. Source code is provided. The source code (dual windows) requires a BORLAND C compiler. Starting TSIPCHAT To start the program, type TSIPCHAT-C1 or TSIPCHAT-C2 for COM1 or COM2. the command line is: TSIPCH[...]

Lassen-SK8 Embedded GPS Module B-3 TSIP User's Guide Command Packets TSIPCHAT uses keystroke codes to send TSIP Packet packets to the receiver. For instance, the keystroke [v] sends the TSIP Packet 0x1F, requesting a TSIP Report Packet 0x45 listing the software versions. A complete list of keystrokes and their associated TSIP commands can be c[...]

B-4 Lassen-SK8 Embedded GPS Module TSIP User's Guide Quick-Start Almanac Get and Load A stored almanac can allow the receiver to be “warm-started”, reducing time to first fix. If the receiver is started 'cold', with no almanac data in memory, it performs a search for satellites in the sky, which can take a few minutes. If the rec[...]

Lassen-SK8 Embedded GPS Module B-5 TSIP User's Guide TSIPPRNT TSIPPRNT translates TSIP report packet byte streams into readable reports. It uses the same report interface routines as TSIPCHAT , but uses 'printf' rather than 'cprintf' so that output can be redirected to a file. The command line for console output is: TSIPPRN[...]

B-6 Lassen-SK8 Embedded GPS Module TSIP User's Guide Serial Port Parameters The default at start-up is 9600 baud, 8-odd-1. The serial port parameters on the computer can be adjusted by typing '^I'. The program will prompt for new serial port parameters. TCHAT TCHAT is a simplified version of TSIPCHAT . TCHAT.C provides a good basis f[...]

Lassen-SK8 Embedded GPS Module C-1 C Trimble ASCII Interface Protocol (TAIP) Trimble ASCII Interface Protocol (TAIP) is a Trimble-specified digital communication interface based on printable ASCII characters over a serial data link. TAIP was designed specifically for vehicle tracking applications but has become common in a number of other applicati[...]

C-2 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP) C.1 Message Format All TAIP communication uses printable, uppercase ASCII characters. The interface provides the means to configure the unit to output various sentences in response to queries or on a scheduled basis. Each sentence has the following general format: ABB{C}[;ID[...]

Lassen-SK8 Embedded GPS Module C-3 Trimble ASCII Interface Protocol (TAIP) C.1.3 Message Identifier A unique two character message identifier consisting of alphabetical characters is used to identify type messages. For example: PR for Protocol or VR for Version Number. C.1.4 Data String The format and length of a data string is dictated by the mess[...]

C-4 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP) C.2 Sample PV Message The Position/Velocity Solution (PV) message is one of the more commonly used TAIP messages and most sensors using TAIP are set by default to output the PV message once every 5 seconds. The following analysis of a typical PV message is provided to furthe[...]

Lassen-SK8 Embedded GPS Module C-5 Trimble ASCII Interface Protocol (TAIP) C.3 Time and Distance Reporting The “D message qualifier allows 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 programmed to report only when the unit moves [...]

C-6 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP) The D message qualifier was designed by Trimble for use by Ambulance Companies to limit communication traffic between mobile units and the base when the ambulances are stationary on-station. When the ambulance has reached its stationary dispatch site, the operator signals th[...]

Lassen-SK8 Embedded GPS Module C-7 Trimble ASCII Interface Protocol (TAIP) C.5 Message Data Strings The following table lists all the TAIP messages currently defined and comments regarding their application: Table C-5 . Message Data String Descriptions The data string format of each message is described in the following pages. * Note – The Trimbl[...]

C-8 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP) C.6 AL Altitude/Up Velocity Data String Format: AAAAABBBBBBCCCCDE Table C-6 . Altitude/Up Velocity Data String Descriptions Altitude is above mean sea level in WGS-84. The GPS time of day is the time of fix rounded to the nearest second. This message contains data obtained f[...]

Lassen-SK8 Embedded GPS Module C-9 Trimble ASCII Interface Protocol (TAIP) C.8 AP Auxiliary Port Characteristic Data String Format: AAAA,B,C,D,E,F Table C-7 . Auxiliary Port Characteristics Data String Descriptions This message defines the characteristics for the auxiliary port. The auxiliary port must be the RTCM input port on differential ready s[...]

C-10 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP) C.9 CP Compact Position Solution Data String Format: AAAAABBBCCCCDDDDEEEEFG Table C-8 . Compact Position Solutions Data String Descriptions Position is in latitude (positive north) and longitude (positive east) WGS-84. The GPS time of day is the time of fix rounded to the n[...]

Lassen-SK8 Embedded GPS Module C-11 Trimble ASCII Interface Protocol (TAIP) The format of the data string is as follows: AAAABBCC{DDEEEEFFGG} Table C-9 . RTCM-104 Record Types 1 and 9 Data String Descriptions The units and scale factors are as defined by RTCM-104 version 1. The SV PRN and health contains the SV PRN in the lower 5 bits and the healt[...]

C-12 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP) C.10 DC Differential Corrections The DC message provides the sensor with differential corrections from type-1 and type-9 RTCM-104 records. The numerical are written out in hex format producing a two digit hex number for each data byte. Data String Format: AAAABBCC{DDEEEEFFG[...]

Lassen-SK8 Embedded GPS Module C-13 Trimble ASCII Interface Protocol (TAIP) C.11 DD Delta Differential Corrections This message provides the sensor with delta differential corrections from RTCM-104 record type 2. The values are numerical values written out in hex format, thus for each byte of data there is a two digit hex number. The format of the [...]

C-14 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP) C.12 ID Identification Number Data String Format: AAAA Table C-12 . Identification Number Data String Descriptions This message is used to report or set the vehicle's (or sensor's) unique, four character, alpha-numeric, user assigned ID. The default at cold start [...]

Lassen-SK8 Embedded GPS Module C-15 Trimble ASCII Interface Protocol (TAIP) C.13 IP Initial Position Data String Format: AAABBBBCCCCC Table C-13 . Initial Position Data String Descriptions This is a very coarse initial position that the user can provide to aid the sensor in obtaining its first fix. This is specially useful with sensors that do not [...]

C-16 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP) C.14 LN Long Navigation Message Data String Format: AAAAABBBCCCDDDDDDDEEEEFFFFFFFGGGGGGGHHIIIJK KKKLMMMNOOPPQQPPQQ...PPQQRRRRRRRRRRST Table C-14 . Long Navigation Message Data String Descriptions * Note – At least 2 satellites are required to get the LN Message. Position [...]

Lassen-SK8 Embedded GPS Module C-17 Trimble ASCII Interface Protocol (TAIP) C.15 PR Protocol The protocol message (PR) is the method used to control which I/O protocols are active on each of the two Lassen-SK8 ports. Each protocol can be set to: • Off • Input Only • Output Only • Both Input and Output The PR data string format is: [;TAIP=xy[...]

C-18 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP) C.16 PT Port Characteristic Data String Format: AAAA,B,C,D Table C-16 . Port Characteristic Data String Descriptions This message defines the characteristics for the primary TAIP port. Most TAIP using sensors use the following default port characteristics (consult the Insta[...]

Lassen-SK8 Embedded GPS Module C-19 Trimble ASCII Interface Protocol (TAIP) C.17 PV Position/Velocity Solution Data String Format: AAAAABBBCCCCCDDDDEEEEEFFFGGGHI Table C-17 . Position/Velocity Solution Data String Descriptions Position is in latitude (positive north) and longitude (positive east) WGS-84. Heading is in degrees from True North increa[...]

C-20 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP) C.18 RM Reporting Mode Data String Format: [;ID_FLAG= A ][;CS_FLAG= B ][;EC_FLAG= C ] [;FR_FLAG= D ] [;CR_FLAG=E] Table C-18 . IReporting Mode Data String Descriptions ID Flag determines whether the unit is to include the vehicles ID with each report. CS Flag determines whe[...]

Lassen-SK8 Embedded GPS Module C-21 Trimble ASCII Interface Protocol (TAIP) C.19 RT Reset Mode Data String Format: Any one of the following data strings can be set. Upper case characters are required. [ ] [COLD] [FACTORY] [SAVE_CONFIG] Table C-19 . Reset Mode Data String Descriptions The only valid qualifier is SET. The SAVE_CONFIG data string is t[...]

C-22 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP) C.20 ST Status Data String Format: AABCDDEFGG * Note – This message provides information about the satellite tracking status and the operational health of the sensor. This information is contained in five status bytes which are output as five 2 digit hexadecimal values. T[...]

Lassen-SK8 Embedded GPS Module C-23 Trimble ASCII Interface Protocol (TAIP) Table C-22 . Error Codes: Nibble 1 Table C-23 . Error codes: Nibble 2 Value of B Definition Notes Antenna Feedline fault Open or Short. See note Excessive reference frequency error 0 No problems Reported 1 X 2 X 3 X X Value of C Definition Battery back- up Failed See note S[...]

C-24 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP) Table C-24 . Error Codes – Nibble 4 * Note – After this error is detected, its bit remains set until the sensor is reset. * Note – This bit is 1 if the last computed reference frequency error indicated that the reference oscillator is out of tolerance. Value of F Defi[...]

Lassen-SK8 Embedded GPS Module C-25 Trimble ASCII Interface Protocol (TAIP) C.21 TM Time/Date Data String Format: AABBCCDDDEEFFGGGGHHIJJKLLLLL Table C-25 . TM Time/Data Data String Descriptions This message outputs the time and date as computed by the GPS sensor. The time is most accurate when the unit is doing fixes. It is less accurate but still [...]

C-26 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP) The format for using the S qualifier with the TM message is: >STMAABBCCDDDEEFFFFGGGGGGGGGGG< Where: Fields AA through GGGG must be downloaded but the remaining fields may be filled with zeros (0) to create a total data stream of 28 characters. For warm-start performan[...]

Lassen-SK8 Embedded GPS Module C-27 Trimble ASCII Interface Protocol (TAIP) C.23 Communication Using TAIP Communication with the unit takes place in four different ways. Message qualifiers are used to differentiate between these. C.23.1 Query for Single Sentence The query(Q) message qualifier is used to query the GPS sensor to respond immediately w[...]

C-28 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP) C.23.3 The Set Qualifier The set (S) qualifier enables the user equipment to initialize/set-up various types of data in the GPS unit. The format is: >SAA[{B}][;ID=CCCC][;*DD]< where AA is the two character message identifier and {B} specifies the data string within th[...]

Lassen-SK8 Embedded GPS Module C-29 Trimble ASCII Interface Protocol (TAIP) Most Placer family sensors are set by default to report the PV message once every 5 seconds. To schedule the PV message from vehicle 1234 to respond once every 10 seconds, starting at 5 seconds after the top of the hour, use the following command: >FPV00100005;ID=1234<[...]

C-30 Lassen-SK8 Embedded GPS Module Trimble ASCII Interface Protocol (TAIP)[...]

Lassen-SK8 Embedded GPS Module D-1 D GPSSK User's Guide (TAIP) The TAIP Tool Kit, known as GPSSK is a software package available from Trimble Navigation to assist users of the Trimble ASCII Interface Protocol (TAIP). GPSSK supports all Trimble sensors that use TAIP. GPSSK can be used to setup, diagnose, and monitor your sensor and provides the[...]

D-2 Lassen-SK8 Embedded GPS Module GPSSK User's Guide (TAIP) D.2 TAIP.C Source File The sample source code for encoding and decoding TAIP messages is provided as a guide for the system integrator who is developing a communications controller that handles TAIP. There is no warranty of any kind on this software. Use it at your own risk. The dist[...]

Lassen-SK8 Embedded GPS Module D-3 GPSSK User's Guide (TAIP) D.5 Connecting the GPS Sensor Consult the Installation and Operator's Manual for information on installation, power requirements and cables specific to your Placer family sensor. Connect the serial port of the sensor to the computer's COM1 or COM2 port. The default serial p[...]

D-4 Lassen-SK8 Embedded GPS Module GPSSK User's Guide (TAIP)[...]

Lassen-SK8 Embedded GPS Module E-1 E NMEA 0183 NMEA 0183 is an interface protocol created by the National Marine Electronics Association. The latest release of NMEA 0183 is Version 2.1 (October 15, 1995). This protocol was originally established to allow marine navigation equipment to share information. NMEA 0183 is a simple, yet comprehensive ASCI[...]

E-2 Lassen-SK8 Embedded GPS Module NMEA 0183 E.2 NMEA 0183 Message Format The NMEA 0183 protocol covers a broad array of navigation data. This broad array of information is separated into discrete messages which convey a specific set of information. The entire protocol encompasses over 50 messages, but only a sub-set of these messages apply to a GP[...]

Lassen-SK8 Embedded GPS Module E-3 NMEA 0183 The format for each message in table C-2 is described in more detail in the next section. E.4 NMEA 0183 Message Formats E.4.1 GGA - GPS Fix Data The GGA message includes time, position and fix related data for the GPS receiver. Note – The GGA message provides 3 decimal points of precision in non-differ[...]

E-4 Lassen-SK8 Embedded GPS Module NMEA 0183 E.4.2 GLL - Geographic Position - Latitude/Longitude The GLL message contains the latitude and longitude of the present vessel position, the time of the position fix and the status. GLL,llll.lll,a,yyyyy.yyy,a,hhmmss.s,A E.4.3 GSA - GPS DOP and Active Satellites The GSA messages indicates the GPS receiver[...]

Lassen-SK8 Embedded GPS Module E-5 NMEA 0183 E.4.4 GSV - GPS Satellites in View The GSV message identifies the GPS satellites in view, including their PRN number, elevation, azimuth and SNR value. Each message contains data for four satellites. Second and third messages are sent when more than 4 satellites are in view. Fields #1 and #2 indicate the[...]

E-6 Lassen-SK8 Embedded GPS Module NMEA 0183 E.4.5 RMC - Recommended Minimum Specific GPS/Transit Data The RMC message contains the time, date, position, course and speed data provided by the GPS navigation receiver. A checksum is mandatory for this message and the transmission interval may not exceed 2 seconds. All data fields must be provided unl[...]

Lassen-SK8 Embedded GPS Module E-7 NMEA 0183 E.4.7 ZDA - Time & Date The ZDA message contains UTC, the day, the month, the year and the local time zone. ZDA,hhmmss.s,xx,xx,xxxx,xx,xx * Note – Fields #5 and #6 are null fields in the Lassen-SK8 output. A GPS receiver cannot independently identify the local time zone offsets. Table E-9 . ZDA - T[...]

E-8 Lassen-SK8 Embedded GPS Module NMEA 0183[...]

Lassen-SK8 Embedded GPS Module F-1 F Specifications and Mechanical Drawings The Lassen-SK8 module is designed for embedded industrial computing or control, mobile computing or data collection, precision timing, and vehicle tracking applications. This appendix includes the system specifications and mechanical drawings for the Lassen- SK8 receiver mo[...]

F-2 Lassen-SK8 Embedded GPS Module Specifications and Mechanical Drawings F.1.5 Acquisition Rate • Cold Start <3 minutes (90%) • Warm Start <45 seconds (90%) • Hot Start <12 seconds (90%) F.1.6 Dynamics • Altitude -1000 m to +18,000 m • Velocity 515 m/sec. (maximum) • Acceleration 4g (39.2 m/sec. 2 ) • Jerk 20 m/sec. 3 F.2 En[...]

Lassen-SK8 Embedded GPS Module F-3 Specifications and Mechanical Drawings F.3 Physical Characteristics F.3.1 Size • Receiver board: 82.6 mm x 1.30 mm x 10.2 mm (3.25" x 1.25" x 0.40") • Antenna: 47 mm x 40 mm x 13.3 mm (1.85" x 1.58" x 0.52") F.3.2 Weight • Receiver board: 19.6 g (0.7 oz) without optional shield [...]

F-4 Lassen-SK8 Embedded GPS Module Specifications and Mechanical Drawings F.5 Pulse Per Second F.5.1 Timing • Rising edge of pulse synchronized to UTC within 100 ns, nominal F.5.2 Pulse Width • 10 microsecond wide pulse; rising edge is 20 nanoseconds or less, depending upon distributed capacitance in cable F.5.3 Output • TTL level signal F.6 [...]

Lassen-SK8 Embedded GPS Module F-5 Specifications and Mechanical Drawings F.7 Lassen-SK8 Crystal Specifications F.7.1 Electrical • Operating Frequency: 16.368MHz • Crystal Frequency: 16.368MHz, Fundamental Mode • Load Capacitance, C L : 32.8pF ± 0.5pF • Tolerance: Calibration ± 10 ppm max @ 25°C Stability ± 05 ppm max @ -20°C to +70°C[...]

F-6 Lassen-SK8 Embedded GPS Module Specifications and Mechanical Drawings Figure F-1 . Lassen-SK8 Mechanical Drawing - Circuit Board[...]

Lassen-SK8 Embedded GPS Module F-7 Specifications and Mechanical Drawings Figure F-2[...]

F-8 Lassen-SK8 Embedded GPS Module Specifications and Mechanical Drawings Figure F-3 . GPS Miniture Antenna‘[...]

Lassen-SK8 Embedded GPS Module F-9 Specifications and Mechanical Drawings Figure F-4 . Bulkhead Antenna[...]

F-10 Lassen-SK8 Embedded GPS Module Specifications and Mechanical Drawings[...]

Lassen-SK8 Embedded GPS Module Glossary-1 Glossary This section defines technical terms and abbreviations used in this manual. It includes terms from the field of GPS technology. 2-D Two Dimensional. A 2-D position is defined as latitude and longitude. Altitude is assumed to be fixed. 2-D GPS mode A procedure of determining a 2-D position using sig[...]

Glossary-2 Lassen-SK8 Embedded GPS Module Glossary bandwidth The range of frequencies occupied by a signal. Also, the information carrying capability of a communication channel or line. baud A measure of the speed of data transmission. Baud and bit rate are the same for direct equipment interconnections (e.g., via RS-232). Baud and bit rate are not[...]

Lassen-SK8 Embedded GPS Module Glossary-3 Glossary DGPS reference station A device that tracks all GPS satellites in view, periodically performs inter-channel calibrations, and calculates and transmits differential corrections. differential capable A term used to describe a GPS receiver that is capable of receiving and applying differential GPS cor[...]

Glossary-4 Lassen-SK8 Embedded GPS Module Glossary elevation mask angle A measure of the minimum elevation angle, above the horizon, above which a GPS satellite must be located before the signals from the satellite will be used to compute a GPS location solution. Satellites below the elevation angle are considered unusable. The elevation mask angle[...]

Lassen-SK8 Embedded GPS Module Glossary-5 Glossary GPD GPS with differential corrections applied. GPS Global Positioning System. A constellation of 24 radio navigation (not communication) satellites which transmit signals used (by GPS receivers) to determine precise location (position, velocity, and time) solutions. GPS signals are available world-[...]

Glossary-6 Lassen-SK8 Embedded GPS Module Glossary maximum PDOP A measure of the maximum Position Dilution of Precision (PDOP) that is acceptable in order for the GPS processor to determine a location solution (see PDOP). NAVSTAR The name given to the GPS satellites, built by Rockwell International, which is an acronym formed from NAVigation System[...]

Lassen-SK8 Embedded GPS Module Glossary-7 Glossary range A term used to refer to the distance radio signals can travel before they must be received or repeated due to loss of signal strength, the curvature of the earth and the noise introduced because of moisture in the air surrounding the earth's surface. range rate The rate of change of rang[...]

Glossary-8 Lassen-SK8 Embedded GPS Module Glossary serial communication A system of sending bits of data on a single channel one after the other, rather than simultaneously. serial port A port in which each bit of information is brought in/out on a single channel. Serial ports are designed for devices that receive data one bit at a time. signal to [...]

Lassen-SK8 Embedded GPS Module Glossary-9 Glossary TSIP Trimble Standard Interface Protocol. A binary/hex packet bi-directional protocol, also known as the TANS protocol. Used by a large number of Trimble sensors. TSIP is the subset of TANS which is recognized by all Trimble sensors except the 4000 series. The TSIP protocol is defined in full in Ap[...]

Glossary-10 Lassen-SK8 Embedded GPS Module Glossary[...]

Lassen-SK8 Embedded GPS Module Index-1 Index A age of dat a C-10, C-19 almana c 4-11 altitud e C-8 antenn a 1-8 B baud rat e 3-2 C caution s xxii copyright s iii D Department of Defens e xix differential GP S 3-8, C-10 disclaimer s iii document convention s xxii E earth centered earth fixe d A-24, A-37 ECE F A-24, A-37 emai l xx addres s xx ephemer[...]

Index-2 Lassen-SK8 Embedded GPS Module Index receive r 1-6 related information emai l xx FaxBac k xxi Internet FTP Addres s xxi Technical Assistanc e xx Worldwide We b xxi revision notic e iii RTCM-10 4 C-10 S serial port baud rat e C-9, C-18 data bit s C-9 parit y C-9, C-18 stop bit s C-9, C-18 serial port characteristic s 3-2 signal processo r 4-[...]

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