Lassen SQ Reference Manual

Summary of SQ

  • Page 1

    F part number 47838-00 revision a june 2002 lassen™ sq gps receiver system designer reference manual.

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    Corporate office trimble navigation limited components technologies division 645 north mary avenue post office box 3642 sunnyvale, ca 94088-3642 u.S.A. Phone: +1-408-481-8940, 1-800-545-7762 fax: +1-408-481-7744 www.Trimble.Com support offices trimble navigation limited components technologies divis...

  • Page 3

    Warranty exclusions and disclaimer these warranties shall be applied only in the event and to the extent that: (i) the products and software are properly and correctly installed, configured, interfaced, maintained, stored, and operated in accordance with trimble’s relevant operator's manual and spec...

  • Page 5: Contents

    Lassen sq gps receiver v contents 1 starter kit product overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 starter kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 removing the lassen sq gps module . . . . . . . . . . . . . . 4 receiver performance . . . . . ...

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    Contents v i lassen sq gps receiver pulse-per-second (pps). . . . . . . . . . . . . . . . . . . . . . . . . 28 mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 gps antennas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 3 software interface start-up . . . ....

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    Contents lassen sq gps receiver v i i pdop switch. . . . . . . . . . . . . . . . . . . . . . . . . . . 56 standard operating modes . . . . . . . . . . . . . . . . . . . . . . . 57 fix modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 position accuracy . . . . . . . . . . . . . . . . ....

  • Page 8

    Contents v i i i lassen sq gps receiver elevation mask . . . . . . . . . . . . . . . . . . . . . . . . . . 81 signal level mask . . . . . . . . . . . . . . . . . . . . . . . . 82 dop mask and switch . . . . . . . . . . . . . . . . . . . . . . 83 packet descriptions . . . . . . . . . . . . . . . . . ...

  • Page 9

    Contents lassen sq gps receiver i x report packet 0x4d - oscillator offset . . . . . . . . . . . . . 107 report packet 0x4e - response to set gps time . . . . . . . . 107 report packet 0x55 - i/o options . . . . . . . . . . . . . . . . 108 report packet 0x56 - velocity fix, east-north-up (enu) . . ....

  • Page 10

    Contents x lassen sq gps receiver nmea 0183 message options . . . . . . . . . . . . . . . . . . . . . 142 nmea 0183 message formats . . . . . . . . . . . . . . . . . . . . . 143 gga - gps fix data. . . . . . . . . . . . . . . . . . . . . . . 143 gll - geographic position - latitude/longitude . . . ....

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    Contents lassen sq gps receiver x i general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 compact unpackaged antenna . . . . . . . . . . . . . . . . . . . . . 166 glossary.

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    Contents x i i lassen sq gps receiver.

  • Page 13: About This Manual

    Lassen sq gps receiver x i i i about this manual welcome to system designer reference manual for the lassen sq gps receiver . This manual describes how to integrate and operate the lassen sq gps receiver. If you are not familiar with gps, visit trimble’s website, www.Trimble.Com, for an interactive ...

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    About this manual x i v lassen sq gps receiver.

  • Page 15: Starter Kit

    C h a p t e r 1 starter kit 1 ■ product overview ■ starter kit ■ receiver performance ■ interface protocols ■ ordering starter kit components ■ starter kit interface unit ■ power ■ hardware setup ■ software toolkit.

  • Page 16: Product Overview

    1 starter kit 2 lassen sq gps receiver 1.1 product overview the lassen sq gps receiver is a full featured, ultra low power receiver on a miniature form factor, suitable for a variety of mobile, embedded applications. The lassen sq gps receiver incorporates trimble’s firstgps tm architecture in the f...

  • Page 17: Starter Kit

    Lassen sq gps receiver 3 starter kit 1 1.2 starter kit the starter kit makes it simple to evaluate the lassen sq gps receiver’s exceptional performance. The starter kit can be used as a platform for configuring the receiver module and as a platform for troubleshooting your design. The starter kit in...

  • Page 18

    1 starter kit 4 lassen sq gps receiver 1.2.1 removing the lassen sq gps module the lassen sq gps module is secured to the motherboard with double-sided adhesive tape allowing for easy removal and integration with the user’s application. (the adhesive tape used by trimble is 3m scotch, part number 49...

  • Page 19: Receiver Performance

    Lassen sq gps receiver 5 starter kit 1 1.3 receiver performance the lassen sq gps receiver is a complete 8-channel parallel tracking gps receiver designed to operate with the l1 frequency, standard position service, coarse acquisition code. Using two highly integrated trimble custom integrated circu...

  • Page 20: Interface Protocols

    1 starter kit 6 lassen sq gps receiver 1.4 interface protocols the lassen sq gps receiver operates using one of two protocols — trimble standard interface protocol (tsip) or nmea 0183. The factory default setting for the i/o port is tsip bi-directional. Protocol selection and port characteristics ar...

  • Page 21

    Lassen sq gps receiver 7 starter kit 1 1.5 ordering starter kit components the lassen sq gps receiver is available in a starter kit or as an individual module and associated antenna. The starter kit (pn 47225-00) includes all the components necessary to quickly test and integrate the module: • compa...

  • Page 22: Starter Kit Interface Unit

    1 starter kit 8 lassen sq gps receiver 1.6 starter kit interface unit the starter kit interface unit consists of a lassen sq gps module attached to an interface motherboard, housed in a sturdy metal enclosure. This packaging simplifies testing and evaluation of the module by providing an rs-232 seri...

  • Page 23

    Lassen sq gps receiver 9 starter kit 1 figure 1.1 lassen sq gps receiver module the interface motherboard includes a 9 to 32 vdc switching power supply which provides regulated +3.3 vdc power to the receiver, and contains circuitry which provides an rs-232 interface to a computer. A 3.6v lithium bac...

  • Page 24

    1 starter kit 1 0 lassen sq gps receiver the mounting plate is secured to the metal enclosure with four screws. The eight pin i/o header on the receiver module connects to a mating connector on a ribbon cable. The ribbon cable is attached to a mating i/o connector on the interface motherboard. Figur...

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    Lassen sq gps receiver 1 1 starter kit 1 1.6.1 serial port interface the starter kit interface unit is a dce (data communication equipment) device. To connect to a host computer, or dte (data terminal equipment) device, use a straight through cable. To connect a differential radio (dce device) to th...

  • Page 26

    1 starter kit 1 2 lassen sq gps receiver 1.6.2 pulse-per-second (pps) the lassen sq gps receiver provides a four microsecond wide, cmos compatible ttl level pulse-per-second (pps). The pps is a positive pulse available on pin 9 of the port 2 db9 connector of the interface unit (see table 1.3). The r...

  • Page 27: Power

    Lassen sq gps receiver 1 3 starter kit 1 1.7 power the lassen sq gps receiver receiver is designed for embedded applications and requires a regulated +3.3 vdc input (+3.0 to +3.6 vdc). The receiver provided in the starter kit is installed on a motherboard, providing a dc power regulator which conver...

  • Page 28

    1 starter kit 1 4 lassen sq gps receiver the ac/dc power converter may be used as an alternate power source for the interface unit. The ac/dc power converter converts 110 or 220 vac to a regulated 12 vdc compatible with the interface unit. The ac/dc power converter output cable is terminated with a ...

  • Page 29: Hardware Setup

    Lassen sq gps receiver 1 5 starter kit 1 1.8 hardware setup the lassen sq gps receiver supports the tsip and nmea protocols. A single port supports both the input/output of tsip messages and the output of nmea messages. Follow the steps below to setup the starter kit interface unit. Figure 1.5 illus...

  • Page 30

    1 starter kit 1 6 lassen sq gps receiver 1. When using the tsip protocol, connect one end of the 9-pin serial interface cable to port 1 of the interface unit. Connect the other end of the cable to com1 or com2 on a pc. A 9-pin-to- 25-pin adapter may be required for the serial interface connection to...

  • Page 31: Software Toolkit

    Lassen sq gps receiver 1 7 starter kit 1 1.9 software toolkit the cd provided in the starter kit contains the sq_monitor and the tsipchat interface programs used to monitor gps performance and to assist system integrators in developing a software interface for the gps module. These applications are ...

  • Page 32

    1 starter kit 1 8 lassen sq gps receiver note – if the sq_monitor program displays a question mark (?) in a data field, the receiver has not reported a status for this field. If a (?) remains in the data field, the gps module may not be communicating with the computer. Re-check the interface cable c...

  • Page 33: Hardware Integration

    C h a p t e r 2 hardware integration 2 in this chapter: ■ general description ■ connectors ■ power requirements ■ serial interface ■ pulse-per-second (pps) ■ mounting ■ gps antennas.

  • Page 34: General Description

    2 hardware integration 2 0 lassen sq gps receiver 2.1 general description trimble’s new lassen sq gps receiver adds complete gps functionality to mobile products, in a postage-stamp-sized footprint with ultra-low power consumption. Using trimble’s breakthrough firstgps™ architecture, the module deli...

  • Page 35: Connectors

    Lassen sq gps receiver 2 1 hardware integration 2 2.2 connectors 2.2.1 digital io/power connector the lassen sq gps module uses a single 8-pin (2x4) male header connector for both power and data i/o. The power and i/o connector, j2, is a surface mount micro terminal strip. This connector uses 0.09 i...

  • Page 36

    2 hardware integration 2 2 lassen sq gps receiver • cable strip mating connector a low profile, cable strip mating connector is the second i/o mating method. A recommended cable strip part is samtec’s part number ffsd-04-?-xx part. The user will need to substitute the following letters and numbers i...

  • Page 37

    Lassen sq gps receiver 2 3 hardware integration 2 2.2.2 rf connector the rf connector mounted on the lassen sq module is a hirose connector, part number h.Fl-r-smt (10) 50 ohm. The mating rf connector is hirose h.Fl-lp-xxx where xxx depends on the cable type. Figure 2.3 lassen sq gps module with con...

  • Page 38

    2 hardware integration 2 4 lassen sq gps receiver trimble offers three antennas for use with the lassen sq gps receiver receiver: the ultra-compact embedded antenna, which mates directly to the rf connector. The compact unpackaged antenna and the compact magnetic-mount antenna, which mate through th...

  • Page 39: Power Requirements

    Lassen sq gps receiver 2 5 hardware integration 2 2.3 power requirements the lassen sq gps module requires +3.3 vdc ±0.3 vdc at 33 ma, typical excluding the antenna. The on-board capacitance is 10 µf. An important design consideration for power is the module's internal clock frequency at 12.504 mhz ...

  • Page 40

    2 hardware integration 2 6 lassen sq gps receiver warning – if battery power is not present, the receiver’s power can be turned off and then back on to force a system reset and a cold start. The receiver should be off for no less than 3 minutes to ensure that the ram memory does not retain any old d...

  • Page 41: Serial Interface

    Lassen sq gps receiver 2 7 hardware integration 2 2.4 serial interface as an embedded design, the lassen sq gps module provides direct cmos compatible ttl level serial i/o. The rx and tx signals on the j2 i/o connector are driven directly by the uart on the lassen sq gps receiver. Interfacing these ...

  • Page 42: Pulse-Per-Second (Pps)

    2 hardware integration 2 8 lassen sq gps receiver 2.5 pulse-per-second (pps) the lassen sq gps receiver provides a four microsecond wide, cmos compatible ttl level pulse-per-second (pps). The pps is a positive pulse available on pin 4 of the power and i/o connector. The rising edge of the pps pulse ...

  • Page 43: Mounting

    Lassen sq gps receiver 2 9 hardware integration 2 2.6 mounting the lassen sq gps pcb is encased in a metal enclosure. The enclosure acts as a protective case. There are four mounting solder tabs on the bottom of the enclosure. When the surface-mount mating connector is used, the mounting tabs may be...

  • Page 44: Gps Antennas

    2 hardware integration 3 0 lassen sq gps receiver 2.7 gps antennas the antenna receives the gps satellite signals and passes them to the receiver. The gps signals are spread spectrum signals in the 1575 mhz range and do not penetrate conductive or opaque surfaces. Therefore, the antenna must be loca...

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    Lassen sq gps receiver 3 1 hardware integration 2 figure 2.4 ultra-compact embedded gps antenna figure 2.5 compact unpackaged gps antenna figure 2.6 compact magnetic-mount gps antenna.

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    2 hardware integration 3 2 lassen sq gps receiver.

  • Page 47: Software Interface

    C h a p t e r 3 software interface 3 in this chapter: ■ start-up ■ communicating with the lassen sq gps receiver module ■ port protocol and data output options ■ custom port configuration ■ when prompted, select the factory default option..

  • Page 48: Start-Up

    3 software interface 3 4 lassen sq gps receiver 3.1 start-up lassen sq gps module is a complete 8-channel parallel tracking gps receiver designed to operate with the l1 frequency, standard position service, coarse acquisition code. When connected to an external gps antenna, the receiver contains all...

  • Page 49: Module

    Lassen sq gps receiver 3 5 software interface 3 3.2 communicating with the lassen sq gps receiver module the lassen sq gps receiver supports two message protocols: tsip and nmea. Communication with the module is through a cmos compatible, ttl level serial port. The port characteristics can be modifi...

  • Page 50

    3 software interface 3 6 lassen sq gps receiver the lassen sq gps receiver can also be configured to output nmea messages. The industry standard port characteristics for nmea are: • baud rate: 4800 • data bits: 8 • parity: none • stop bits:1 • no flow control any standard serial communications progr...

  • Page 51

    Lassen sq gps receiver 3 7 software interface 3 3.3 port protocol and data output options 3.3.1 protocol configuration and interface the factory default protocol for the lassen sq gps receiver is the trimble standard interface protocol (tsip), for both input and output. The serial port setting is 96...

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    3 software interface 3 8 lassen sq gps receiver 3.3.2 tsip data output modes tsip is the default protocol for the lassen sq gps receiver. This binary language offers users a wide variety of commands and reports. Tsip enables the lassen sq gps receiver to operate in two data output modes, both availa...

  • Page 53

    Lassen sq gps receiver 3 9 software interface 3 • time reports option and format (byte 2 setting): – gps (not utc) time of week – seconds; 4 byte floating point – extended gps week number – weeks; 2 byte integer (int16) – gps utc offset – seconds; 4 byte floating point default 0x70 setting (byte 0, ...

  • Page 54

    3 software interface 4 0 lassen sq gps receiver five second interval: • 0x41 – (1) gps time of the week (seconds); (2) extended gsp week number; (3) gps utc offset(seconds) • 0x46 – health of receiver • 0x4b – (1) machine/code id; (2) real-time-clock availability status; (3) almanac validity status;...

  • Page 55

    Lassen sq gps receiver 4 1 software interface 3 3.3.6 nmea 0183 protocol and data output options the national marine electronics association (nmea) protocol is an industry standard data protocol which was developed for the marine industry. Trimble has chosen to adhere stringently to the nmea 0183 da...

  • Page 56: Custom Port Configuration

    3 software interface 4 2 lassen sq gps receiver 3.4 custom port configuration tsipchat can be used to customize the lassen sq gps receiver configuration settings and to save a configuration to non-volatile memory. The most recent port configuration is stored in bbram. This eliminates the need to rep...

  • Page 57

    Lassen sq gps receiver 4 3 software interface 3 5. To re-configure the port settings and protocol, type “u” and respond to the input prompts. At the end of this procedure, select the option that resets the pc com port to match the new settings. Communication should resume almost immediately. Saving ...

  • Page 58

    3 software interface 4 4 lassen sq gps receiver returning to the factory settings at any time, the receiver can be returned to the factory default configuration, using command packet 0x1e. 1. Type “^k” to invoke the 0x1e command. 2. When prompted, select the factory default option. Table 3.2 tsipcha...

  • Page 59

    Lassen sq gps receiver 4 5 software interface 3 0xbb ‘p’ gps configuration parameters – operating dimension (2d, 3d,...) – dgps mode – dynamics mode – elevation mask – snr mask – dop mask – pdop switch – dgps correction age 0xbb 0xbc ‘u’ serial port configuration – protocol: input, output – baud, da...

  • Page 60: Timing Applications

    3 software interface 4 6 lassen sq gps receiver 3.5 timing applications the lassen sq gps receiver is an excellent source for accurate system timing. Two examples of applications requiring accurate time are environmental data acquisition and synchronization of communications networks. The timing fun...

  • Page 61: Operation and Performance

    C h a p t e r 4 operation and performance 4 in this chapter: ! Introduction ! Gps satellite message ! Satellite acquisition and time to first fix ! Satellite mask settings ! Standard operating modes ! Position accuracy ! Coordinate systems ! Performance characteristics ! Gps timing ! System architec...

  • Page 62: Introduction

    4 operation and performance 4 8 lassen sq gps receiver 4.1 introduction this chapter describes the lassen sq gps receiver satellite acquisition and tracking processes, performance characteristics, and system architecture. This discussion assumes that you are familiar with the basic theory of the glo...

  • Page 63: Gps Satellite Message

    Lassen sq gps receiver 4 9 operation and performance 4 4.2 gps satellite message every gps satellite transmits the coarse/acquisition (c/a) code and satellite data modulated onto the l1 carrier frequency (1575.42 mhz). The satellite data transmitted by each satellite includes a satellite almanac for...

  • Page 64

    4 operation and performance 5 0 lassen sq gps receiver 4.3 satellite acquisition and time to first fix 4.3.1 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 alman...

  • Page 65

    Lassen sq gps receiver 5 1 operation and performance 4 4.3.2 warm start in a warm-start condition the receiver has been powered down for at least one hour but has stored a current almanac, an initial position, and time, in memory. When connected to an external back-up power source (battery back-up),...

  • Page 66

    4 operation and performance 5 2 lassen sq gps receiver 4.3.4 garage search strategy during a warm start search, the lassen sq gps receiver knows which satellites to search for, based on the system almanac, the initial position (last known position) and the current time. In some cases, the receiver m...

  • Page 67

    Lassen sq gps receiver 5 3 operation and performance 4 a hard reset is a system restart that results in satellite acquisition search using a default search set. Any data contained within ram memory is discarded and the real-time clock is re-initialized. Even if back-up power is supplied, the informa...

  • Page 68: Satellite Mask Settings

    4 operation and performance 5 4 lassen sq gps receiver 4.4 satellite mask settings once the lassen sq gps receiver has acquired and locked onto a set of satellites, which pass the mask criteria listed in this section, and has obtained a valid ephemeris for each satellite, it will output regular posi...

  • Page 69

    Lassen sq gps receiver 5 5 operation and performance 4 4.4.1 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 ...

  • Page 70

    4 operation and performance 5 6 lassen sq gps receiver multi-reflected signals, also known as multi-path, can degrade the position solution. Multi-path is most commonly found in urban environments with many tall buildings and a preponderance of mirrored glass, which is popular in modern architecture...

  • Page 71: Standard Operating Modes

    Lassen sq gps receiver 5 7 operation and performance 4 4.5 standard operating modes the tracking mode controls the allocation of the receiver's tracking channels and the method used for computing position fixes. 4.5.1 fix modes the lassen sq gps receiver offers three positioning modes: 2d manual, 3d...

  • Page 72: Position Accuracy

    4 operation and performance 5 8 lassen sq gps receiver 2d/3d automatic the default operating mode for the lassen sq gps receiver is 2d/3d automatic. In this mode, the lassen sq gps receiver attempts to generate a 3-dimensional (3d) position solution, if four or more satellites meeting the mask crite...

  • Page 73: Coordinate Systems

    Lassen sq gps receiver 5 9 operation and performance 4 4.7 coordinate systems once the lassen sq gps receiver 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 or nmea pr...

  • Page 74

    4 operation and performance 6 0 lassen sq gps receiver there are also two time coordinate systems: • gps time — gps time is determined by an ensemble of atomic clocks operated by the department of defense (dod). • utc time — utc time is the world standard maintained by an ensemble of atomic clocks o...

  • Page 75: Performance Characteristics

    Lassen sq gps receiver 6 1 operation and performance 4 4.8 performance characteristics 4.8.1 update rate the lassen sq gps receiver computes and outputs position solutions once per second, on the second. Nmea outputs can be scheduled at a slower rate using tsip command 0x7a (see appendix a). 4.8.2 d...

  • Page 76

    4 operation and performance 6 2 lassen sq gps receiver 4.8.3 re-acquisition re-acquisition time for a momentary signal blockages is typically under 2 seconds. When a satellite signal is momentarily interrupted during normal operation, the receiver continues to search for the lost signal at the satel...

  • Page 77: Gps Timing

    Lassen sq gps receiver 6 3 operation and performance 4 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 satel...

  • Page 78

    4 operation and performance 6 4 lassen sq gps receiver 4.9.1 serial time output both the tsip and nmea protocols include time messages. See report packet 41 in appendix a for a description of the time reports for each protocol. Note – gps time differs from utc (universal coordinated time) by a varia...

  • Page 79: System Architecture

    Lassen sq gps receiver 6 5 operation and performance 4 4.10 system architecture the lassen sq gps receiver (see figur e4.3) uses eight processing channels operating on the l1 frequency of 1575.42 mhz and using the coarse acquisition (c/a) code. The module uses custom integrated circuitry designed by...

  • Page 80

    4 operation and performance 6 6 lassen sq gps receiver figure 4.3 lassen sq gps receiver block diagram 3.3v 3.3v vbat 3.3v vbat rf trap loop filter pll xtal1 i lpf rf q lpf baseband filter powmon vstby xclk linear regulator 12.504mhz tcxo rf connector active l1 antenna antenna protect and monitor i_...

  • Page 81: Trimble Standard Interface

    A p p e n d i x a trimble standard interface protocol (tsip) a the trimble standard interface protocol (tsip) provides the system designer with over 20 commands that may be used to configure a gps receiver for optimum performance in a variety of applications. Tsip enables the system designer to cust...

  • Page 82: Interface Scope

    A trimble standard interface protocol (tsip) 6 8 lassen sq gps receiver a.1 interface scope the trimble standard interface protocol is used extensively in trimble receiver designs. The protocol was originally created for the trimble advanced navigation sensor (tans) and is colloquially known as the ...

  • Page 83: Packet Structure

    Lassen sq gps receiver 6 9 trimble standard interface protocol (tsip) a a.2 packet structure tsip packet structure is the same for both commands and reports. The packet format is: where: • is the byte 0x10 • is the byte 0x03 • is a packet identifier byte, which can have any value excepting and . The...

  • Page 84: Automatic Output Packets

    A trimble standard interface protocol (tsip) 7 0 lassen sq gps receiver a.3 automatic output packets the lassen sq gps receiver receiver is configured to automatically output the following packets. For minimal system implementations, these output packets provide all of the information required for o...

  • Page 85

    Lassen sq gps receiver 7 1 trimble standard interface protocol (tsip) a a.4 customizing receiver operations for information on customizing receiver operations, see the following tables on selecting report data. A.5 automatic position and velocity reports the receiver automatically outputs position a...

  • Page 86

    A trimble standard interface protocol (tsip) 7 2 lassen sq gps receiver a.6 initialization packets to speed start-up if you are not supplying the receiver with battery power when main power is off, you can still “warm-start” the receiver by sending the following commands after the receiver has compl...

  • Page 87: Timing Packets

    Lassen sq gps receiver 7 3 trimble standard interface protocol (tsip) a a.7 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 ...

  • Page 88: Satellite Data Packets

    A trimble standard interface protocol (tsip) 7 4 lassen sq gps receiver a.9 satellite data packets the following packets contain a variety of gps satellite data. A.10 backwards compatibility tsip packets implemented in the lassen sq gps receiver are backward compatible with those used in lassen sk i...

  • Page 89: Recommended Tsip Packets

    Lassen sq gps receiver 7 5 trimble standard interface protocol (tsip) a a.11 recommended tsip packets table a.7 recommended tsip packet data 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 (...

  • Page 90

    A trimble standard interface protocol (tsip) 7 6 lassen sq gps receiver a.12 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 so...

  • Page 91

    Lassen sq gps receiver 7 7 trimble standard interface protocol (tsip) a note 1 – output is determined by packet 0 x 35. See tabl ea.4 to determine which messages are output at power-up. Note 2 – no response sent if data is not available. 0x2b initial position (lat, lon, alt) -- 0x2d oscillator offse...

  • Page 92

    A trimble standard interface protocol (tsip) 7 8 lassen sq gps receiver a.13 report packets sent by the receiver to the user the table below summarizes the packets output by the receiver. The response packets may depend on user-selected options. These selections are described on page84. Table a.9 us...

  • Page 93

    Lassen sq gps receiver 7 9 trimble standard interface protocol (tsip) a a.14 key setup parameters or packet bb selecting the correct operating parameters has significant impact on receiver performance. Packet 0xbb (set receiver configuration) controls the key setup parameters. The default operating ...

  • Page 94

    A trimble standard interface protocol (tsip) 8 0 lassen sq gps receiver initially, the user must consider the environment in which the receiver is expected to operate. There is a trade-off between how frequently a position fix is output versus the absolute accuracy of the fix. The user must decide w...

  • Page 95

    Lassen sq gps receiver 8 1 trimble standard interface protocol (tsip) a when using the 2-d mode, expect fixes with accuracies which are at best as accurate as the supplied altitude. If a marine user enters sea- level as the altitude, then small errors in the horizontal solution will occur when the s...

  • Page 96

    A trimble standard interface protocol (tsip) 8 2 lassen sq gps receiver 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 avai...

  • Page 97

    Lassen sq gps receiver 8 3 trimble standard interface protocol (tsip) a a.14.5 dop mask and switch the dop mask is the maximum dop limit for any 2-d or 3-d position solution will be made. The dop switch is the level at which the receiver stops attempting a 3-d solution, and tries for a 2-d solution ...

  • Page 98: Packet Descriptions

    A trimble standard interface protocol (tsip) 8 4 lassen sq gps receiver a.15 packet descriptions a.15.1 command packet 0x1e - clear battery backup, then reset this packet commands the gps receiver to clear all battery back-up data and to perform a software reset. This packet contains one data byte. ...

  • Page 99

    Lassen sq gps receiver 8 5 trimble standard interface protocol (tsip) a a.15.2 command packet 0x1f - request software versions this packet requests information about the version of software running in the navigation and signal processors. This packet contains no data. The gps receiver returns packet...

  • Page 100

    A trimble standard interface protocol (tsip) 8 6 lassen sq gps receiver a.15.5 command packet 0x24 - request gps receiver position fix mode this packet requests current position fix mode of the gps receiver. This packet contains no data. The gps receiver returns packet 0x 6d. A.15.6 command packet 0...

  • Page 101

    Lassen sq gps receiver 8 7 trimble standard interface protocol (tsip) a the altitude flag determines whether or not the reference altitude will be used. If set, it will be used. If cleared, altitude hold (last 3-d altitude) is used. Note – with no data byte, this packet requests the current values o...

  • Page 102

    A trimble standard interface protocol (tsip) 8 8 lassen sq gps receiver a.15.10 command packet 0x2b - initial position (latitude, longitude, altitude) this packet provides the gps receiver with an approximate initial position in latitude and longitude coordinates (wgs-84). This packet is useful if t...

  • Page 103

    Lassen sq gps receiver 8 9 trimble standard interface protocol (tsip) a a.15.12 command packet 0x2e - set gps time this packet provides the approximate gps time of week and the week number to the gps receiver. The gps receiver returns packet 0x 4e. The data format is shown below. The gps week number...

  • Page 104

    A trimble standard interface protocol (tsip) 9 0 lassen sq gps receiver a.15.13 command packet 0x31 - accurate initial position (xyz cartesian ecef) 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 ...

  • Page 105

    Lassen sq gps receiver 9 1 trimble standard interface protocol (tsip) a a.15.14 command packet 0x32 - accurate initial position, (latitude, longitude, altitude) this packet is identical in content to packet 0x 2b. This packet provides the gps receiver with an accurate initial position in latitude, l...

  • Page 106

    A trimble standard interface protocol (tsip) 9 2 lassen sq gps receiver a.15.15 command packet 0x35 - set/request i/o options this packet requests the current i/o options and allows the i/o options to be set as desired. To request the option settings without making any changes, send the packet with ...

  • Page 107

    Lassen sq gps receiver 9 3 trimble standard interface protocol (tsip) a table a.19 command packets 0x35 and 0x55 data descriptions byte bit item type value definition associated packets position 0 0 (lsb) xyz ecef bit 0 1 xyz ecef output off xyz ecef output on 0x42 (single) 0x83 (double) 1 lla outpu...

  • Page 108

    A trimble standard interface protocol (tsip) 9 4 lassen sq gps receiver note 1 – in the current version of the lassen sq gps receiver, the output hae altitude is always in the wgs-84 datum. The input hae altitude is always in the wgs-84 datum. Note 2 – packet 8e must be used to specify which superpa...

  • Page 109

    Lassen sq gps receiver 9 5 trimble standard interface protocol (tsip) a a.15.16 command packet 0x37 - request status and values of last position and velocity this packet requests information regarding the last position fix and is only used when the receiver is not automatically outputting positions....

  • Page 110

    A trimble standard interface protocol (tsip) 9 6 lassen sq gps receiver warning – proper structure of satellite data is critical to lassen sq gps receiver operation. Requesting data is not hazardous; loading data improperly is hazardous. Use this packet only with extreme caution. The data should not...

  • Page 111

    Lassen sq gps receiver 9 7 trimble standard interface protocol (tsip) a a.15.18 command packet 0x3c - request current satellite tracking status this packet requests the current satellite tracking status. The gps receiver returns packet 0x 5c if data is available. A.15.19 report packet 0x41 - gps tim...

  • Page 112

    A trimble standard interface protocol (tsip) 9 8 lassen sq gps receiver the seconds count begins with “0” each sunday 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 following table shows the ...

  • Page 113

    Lassen sq gps receiver 9 9 trimble standard interface protocol (tsip) a a.15.20 report packet 0x42 - single-precision position fix, xyz ecef this packet provides current gps position fix in xyz ecef coordinates. If the i/o “position” option is set to xyz ecef (byte 0: bit 0, packet 0x35)and the i/o ...

  • Page 114

    A trimble standard interface protocol (tsip) 1 0 0 lassen sq gps receiver a.15.21 report packet 0x43 - velocity fix, xyz ecef this packet provides current 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...

  • Page 115

    Lassen sq gps receiver 1 0 1 trimble standard interface protocol (tsip) a a.15.22 report packet 0x45 - software version information 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 respons...

  • Page 116

    A trimble standard interface protocol (tsip) 1 0 2 lassen sq gps receiver a.15.23 report packet 0x46 - health of receiver 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-initiat...

  • Page 117

    Lassen sq gps receiver 1 0 3 trimble standard interface protocol (tsip) a a.15.24 report packet 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 elevation mask and h...

  • Page 118

    A trimble standard interface protocol (tsip) 1 0 4 lassen sq gps receiver a.15.25 report packet 0x4a - 20 byte format this packet provides current gps position fix in lla (latitude, longitude, and altitude) coordinates. If the i/o position option is set to lla and the i/o precision-of-position outpu...

  • Page 119

    Lassen sq gps receiver 1 0 5 trimble standard interface protocol (tsip) a a.15.26 report packet 0x4a - 9 byte format report packet 0x 4a is also sent in response to the setting or requesting of the reference altitude parameters using command packet 0x 2a. These parameters can be used in the manual 2...

  • Page 120

    A trimble standard interface protocol (tsip) 1 0 6 lassen sq gps receiver a.15.27 report packet 0x4b - machine/code id and additional status the receiver transmits this packet in response to packets 0x 25 and 0x 26 and following a change in state. In conjunction with packet 0x 46, “health of receive...

  • Page 121

    Lassen sq gps receiver 1 0 7 trimble standard interface protocol (tsip) a a.15.28 report packet 0x4d - oscillator offset this packet provides the current value of the receiver master oscillator offset in hertz at carrier. This packet contains one single precision number. The receiver sends this pack...

  • Page 122

    A trimble standard interface protocol (tsip) 1 0 8 lassen sq gps receiver a.15.30 report packet 0x55 - i/o options these abbreviations apply to the following table: alt (altitude), ecef (earth-centered, earth-fixed), xyz (cartesian coordinates), lla (latitude, longitude, altitude), hae (height above...

  • Page 123

    Lassen sq gps receiver 1 0 9 trimble standard interface protocol (tsip) a note 1 – see the associated superpacket output, described later in this appendix. Packet 8e must be used to specify which superpacket is to be output. Note 2 – automatic output of 0x5a raw measurement messages is supported in ...

  • Page 124

    A trimble standard interface protocol (tsip) 1 1 0 lassen sq gps receiver a.15.31 report packet 0x56 - velocity fix, east-north-up (enu) if east-north-up (enu) coordinates have been selected for the i/o “velocity” option (see packet 0x35), the receiver sends this packet under the following condition...

  • Page 125

    Lassen sq gps receiver 1 1 1 trimble standard interface protocol (tsip) a a.15.32 report packet 0x57 - information about last computed fix this packet provides information concerning the time and origin of the previous position fix. The receiver sends this packet, among others, in response to packet...

  • Page 126

    A trimble standard interface protocol (tsip) 1 1 2 lassen sq gps receiver a.15.33 report packet 0x58 - satellite system data/acknowledge from receiver this packet provides gps data (almanac, ephemeris, etc.). The receiver sends this packet in response to packet 0x 38 (acknowledges the loading of dat...

  • Page 127

    Lassen sq gps receiver 1 1 3 trimble standard interface protocol (tsip) a note 1 – all angles are in radians. Note 2 – if data is not available, t_zc is set to -1.0. 14-17 i_o single sec 20.3.3.5.1.2 18-21 omegadot single sec 20.3.3.5.1.2 22-25 sqrt_a single sec 20.3.3.5.1.2 26-29 omega_0 single sec...

  • Page 128

    A trimble standard interface protocol (tsip) 1 1 4 lassen sq gps receiver table a.40 byte item type definition / idc-gps-200 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 2...

  • Page 129

    Lassen sq gps receiver 1 1 5 trimble standard interface protocol (tsip) a 11 codel2 uint8 sec 20.3.3.3, table 20-i 12 l2pdata uint8 sec 20.3.3.3, table 20-i 13 svacc_raw uint8 sec 20.3.3.3, table 20-i 14 sv_health uint8 sec 20.3.3.3, table 20-i 15-16 iodc int16 sec 20.3.3.3, table 20-i 17-20 t_gd si...

  • Page 130

    A trimble standard interface protocol (tsip) 1 1 6 lassen sq gps receiver note – all angles are in radians. A.15.34 report packet 0x5c - satellite tracking status this packet provides tracking status data for a specified satellite. Some of the information is very implementation-dependent and is prov...

  • Page 131

    Lassen sq gps receiver 1 1 7 trimble standard interface protocol (tsip) a 3 ephemeris flag uint8 0 1 flag not set good ephemeris for this satellite ( hours old, good health) 4-7 signal level single same as in packet 0x47 8-11 gps time of last measurem ent single >0 no measurements have been taken. C...

  • Page 132

    A trimble standard interface protocol (tsip) 1 1 8 lassen sq gps receiver a.15.35 report packet 0x6d - all-in-view satellite selection this packet provides a list of satellites used for position fixes by the gps receiver. The packet also provides the pdop, hdop, and vdop of that set and provides the...

  • Page 133

    Lassen sq gps receiver 1 1 9 trimble standard interface protocol (tsip) a a.15.36 command packet 0x70 - filter control 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-vel...

  • Page 134

    A trimble standard interface protocol (tsip) 1 2 0 lassen sq gps receiver a.15.37 report packet 0x70 this report is sent as a response to command packet 0x70 as either a query or a set. It contains four bytes, as shown in table a.46. Table a.45 command packet 70 data formats byte item type value def...

  • Page 135

    Lassen sq gps receiver 1 2 1 trimble standard interface protocol (tsip) a a.15.38 command packet 0x7a the nmea message 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” second. Use the values shown below to deter...

  • Page 136

    A trimble standard interface protocol (tsip) 1 2 2 lassen sq gps receiver a.15.39 report packet 0x7b this packet provides the nmea settings and interval. A.15.40 report packet 0x82 - differential position fix mode this packet provides the differential position fix mode of the receiver. This packet c...

  • Page 137

    Lassen sq gps receiver 1 2 3 trimble standard interface protocol (tsip) a a.15.41 report packet 0x83 - double-precision xyz position fix and bias information 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 ...

  • Page 138

    A trimble standard interface protocol (tsip) 1 2 4 lassen sq gps receiver a.15.42 report packet 0x84 - double-precision lla position fix and bias information this packet provides current gps position fix in lla coordinates. If the i/o position option is set to lla and the precision of position optio...

  • Page 139

    Lassen sq gps receiver 1 2 5 trimble standard interface protocol (tsip) a a.15.44 command packet 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 packet replaces packets 0x2c, 0x62, 0x75, and 0x77. Tsip p...

  • Page 140

    A trimble standard interface protocol (tsip) 1 2 6 lassen sq gps receiver a.15.45 command packet 0xbc - protocol configuration 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 packet 0x bc. (see table a.4 for ...

  • Page 141

    Lassen sq gps receiver 1 2 7 trimble standard interface protocol (tsip) a note 1 – the lassen sq gps receiver requires that the input and output baud rates be identical. Warning – tsip input or output must have 8 databits (byte 3). 3 # data bits uint8 2 3 7 bits 8 bits 4 parity uint8 0 1 2 none odd ...

  • Page 142: Tsip Superpackets

    A trimble standard interface protocol (tsip) 1 2 8 lassen sq gps receiver a.16 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 indic...

  • Page 143

    Lassen sq gps receiver 1 2 9 trimble standard interface protocol (tsip) a a.16.2 report packet 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 fi...

  • Page 144

    A trimble standard interface protocol (tsip) 1 3 0 lassen sq gps receiver 27 0 fix available bit 0 1 yes no 1 dgps corrected bit 0 1 no yes 2 fix dimension bit 0 1 3d 2d 3 alt hold bit 0 1 last 3d altitude user-entered altitude 4 filtered bit 0 1 unfiltered filtered 5-7 reserved 28 numsvs uint8 numb...

  • Page 145

    Lassen sq gps receiver 1 3 1 trimble standard interface protocol (tsip) a note – velocity scale controlled by byte 24, bit 1. Overflow = 0x8000. 39 iode 4 uint8 iode of fourth satellite 40 0-5 prn 5 uint8 1-32 prn of fifth satellite 6-7 reserved 41 iode 5 uint8 iode of fifth satellite 42 0-5 prn 6 u...

  • Page 146

    A trimble standard interface protocol (tsip) 1 3 2 lassen sq gps receiver a.16.3 command packet 0x8e-26 - non-volatile memory storage the 0x 8e-26 command is issued with no data to cause the current settings to be saved to non-volatile memory. The 0x 8f-26 report is generated after the values have b...

  • Page 147

    A p p e n d i x b tsip tool kit user’s guide b the gps tool kit program disk includes several tsip interface programs designed to help developer's evaluate and integrate the gps module and create gps applications. These programs run on a pc win95, win98, win2000, or winnt platform. They are intended...

  • Page 148: Sq_Monitor

    B tsip tool kit user’s guide 1 3 4 lassen sq gps receiver dos programs and c source code tsipchat.Exe: is a 16 bit dos-based application which interfaces with the lassen sq gps receiver through a serial port. It allows the user to exercise tsip commands and may be used to view nmea output. Tsipchat ...

  • Page 149

    Lassen sq gps receiver 1 3 5 tsip tool kit user’s guide b the main window is displayed once the gps receiver is communicating with the application. Fields with question marks “?” indicate that information is not yet available. Figure b.2 sq_monitor - main window b.1.3 delta position sq_monitor displ...

  • Page 150

    B tsip tool kit user’s guide 1 3 6 lassen sq gps receiver.

  • Page 151: Nmea 0183

    A p p e n d i x c nmea 0183 c this appendix provides a brief overview of the nmea 0183 protocol, and describes both the standard and optional messages offered by the lassen sq gps receiver. Nmea 0183 is a simple, yet comprehensive ascii protocol which defines both the communication interface and the...

  • Page 152

    C nmea 0183 1 3 8 lassen sq gps receiver for a complete copy of the nmea 0183 standard, contact: nmea national office po box 3435 new bern, nc 28564-3435 u.S.A. Telephone: +1-919-638-2626 fax: +1-919-638-4885 c.1 the nmea 0183 communication interface nmea 0183 allows a single source (talker) to tran...

  • Page 153: Nmea 0183 Message Format

    Lassen sq gps receiver 1 3 9 nmea 0183 c c.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 ...

  • Page 154: Field Definitions

    C nmea 0183 1 4 0 lassen sq gps receiver c.3 field definitions many of the nmea date fields are of variable length, and the user should always use the comma delineators to parse the nmea message date field. Table c.2 specifies the definitions of all field types in the nmea messages supported by trim...

  • Page 155

    Lassen sq gps receiver 1 4 1 nmea 0183 c note – spaces are only be used in variable text fields. Note 2 – units of measure fields are appropriate characters from the symbol column (see table c.2), unless a specified unit of measure is indicated. Note 3 – fixed length field definitions show the actua...

  • Page 156: Nmea 0183 Message Options

    C nmea 0183 1 4 2 lassen sq gps receiver c.4 nmea 0183 message options the lassen sq gps receiver can output any or all of the messages listed in table c.3. In its default configuration (as shipped from the factory), the lassen sq gps receiver outputs two messages: gga and vtg. These messages are ou...

  • Page 157: Nmea 0183 Message Formats

    Lassen sq gps receiver 1 4 3 nmea 0183 c c.5 nmea 0183 message formats c.5.1 gga - gps fix data the gga message includes time, position and fix related data for the gps receiver. $gpgga,hhmmss.Ss,llll.Lll,a,nnnnn.Nnn,b,t,uu, v.V,w.W,m,x.X,m,y.Y,zzzz*hh table c.4 gga - gps fix data message parameters...

  • Page 158

    C nmea 0183 1 4 4 lassen sq gps receiver c.5.2 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. $gpgll,llll.Lll,a,yyyyy.Yyy,a,hhmmss.Ss,a,i*hh table c.5 gll - geographic pos...

  • Page 159

    Lassen sq gps receiver 1 4 5 nmea 0183 c c.5.3 gsa - gps dop and active satellites the gsa messages indicates the gps receiver's operating mode and lists the satellites used for navigation and the dop values of the position solution. $gpgsa,a,x,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx, xx,x.X,x.X,x.X*hh tab...

  • Page 160

    C nmea 0183 1 4 6 lassen sq gps receiver c.5.4 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 satelli...

  • Page 161

    Lassen sq gps receiver 1 4 7 nmea 0183 c c.5.5 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 ...

  • Page 162

    C nmea 0183 1 4 8 lassen sq gps receiver c.5.6 vtg - track made good and ground speed the vtg message conveys the actual track made good (cog) and the speed relative to the ground (sog). $gpvtg,x.X,t,x.X,m,x.X,n,x.X,k,i*hh > table c.9 vtg - track made good and ground speed message parameters field #...

  • Page 163

    Lassen sq gps receiver 1 4 9 nmea 0183 c c.5.7 zda - time & date the zda message contains utc, the day, the month, the year and the local time zone. $gpzda,hhmmss.Ss,xx,xx,xxxx,,*hh note – fields #5 and #6 are null fields in the lassen sq gps receiver output. A gps receiver cannot independently iden...

  • Page 164: Exception Behavior

    C nmea 0183 1 5 0 lassen sq gps receiver c.6 exception behavior when no position fix is available, some of the data fields in the nmea messages will be blank. A blank field has no characters between the commas. There are three general cases when no fix is available: at power-up without bbram (cold s...

  • Page 165

    Lassen sq gps receiver 1 5 1 nmea 0183 c c.6.3 interruption of gps signal if the gps signal is interrupted temporarily, the nmea will continue to be output according to the user-specified message list and output rate. Position and velocity fields will be blank until the next fix, but most other fiel...

  • Page 166

    C nmea 0183 1 5 2 lassen sq gps receiver.

  • Page 167: Drawings

    A p p e n d i x d specifications and mechanical drawings d the lassen sq gps receiver 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 dr...

  • Page 168

    D specifications and mechanical drawings 1 5 4 lassen sq gps receiver d.1 lassen sq gps receiver specifications d.1.1 performance general l1 frequency (1575.42 mhz), c/a code (standard positioning service), 8-channel, continuous tracking receiver, 32 correlators update rate tsip @ 1 hz; nmea @ 1 hz ...

  • Page 169

    Lassen sq gps receiver 1 5 5 specifications and mechanical drawings d nmea gga, vtg, gll, zda, gsa, gsv and rmc messages selectable by tsip command; selection stored in flash memory d.1.3 electrical prime power +3.0 vdc to +3.6 vdc (3.3 v typ.) consumption gps board only: 100 mw@3.3v w/ embedded ant...

  • Page 170

    D specifications and mechanical drawings 1 5 6 lassen sq gps receiver d.1.6 accessories ultra-compact embedded antenna 3.3v active miniature unpackaged antenna. Cable length: 8cm, dim: 22 mm w x 21 mm l x 8 mm h (0.866” x 0.827” x 0.315”), connector: hfl; mates directly to on-module rf connector. Co...

  • Page 171

    Lassen sq gps receiver 1 5 7 specifications and mechanical drawings d.

  • Page 172

    D specifications and mechanical drawings 1 5 8 lassen sq gps receiver 28832-xx-sd-c c evolution c 11 wednesday, february 20, 2002 title size document number r e v date: s h e e t of power vcc vcc 3.3v 3.3v vcc_3 vcc power ss1 ss3 3.3v vcc vcc ss3 vcc ss1 txdb case 3.3v vcc ss1 ss1 3.3v gnd gnd rxa r...

  • Page 173

    Lassen sq gps receiver 1 5 9 specifications and mechanical drawings d d.2 ultra compact embedded antenna d.2.1 antenna frequency range 1,575.42 ± 1.023mhz gain 90°: 3.0dbi min.; 20°: -4.0dbi min. (mounted on the 60mm x 60mm square ground plane) polarization rhcp axial ratio 90°: 4.0db max.; 10°: 6.0...

  • Page 174

    D specifications and mechanical drawings 1 6 0 lassen sq gps receiver d.2.3 overall specifications frequency range 1,575.42±1.023mhz gain 27 ± 3dbi (+25°c ± 5°c) 27 ± 4dbi (-40°c to 85°c) (mounted on the 60mm x 60mm square ground plane) output impedance 50 Ω vswr 2.0 max. Mtbf 5.13e+6hr. D.2.4 stora...

  • Page 175

    Lassen sq gps receiver 1 6 1 specifications and mechanical drawings d.

  • Page 176

    D specifications and mechanical drawings 1 6 2 lassen sq gps receiver d.3 compact magnetic mount antenna d.3.1 antenna frequency range 1,575.42+/-1.023mhz gain 90°: 3.0dbi min.; 20°: -4.0dbi min. (mounted on the 65mm x 65mm square ground plane) polarization rhcp axial ratio 90°: 4.0db max.; 10°: 6.0...

  • Page 177

    Lassen sq gps receiver 1 6 3 specifications and mechanical drawings d d.3.3 overall specifications frequency range 1,575.42 ± 1.023mhz gain 27 ± 3dbi (+25°c ± 5°c) 27 ± 4dbi (-40°c to 85°c) (mounted on the 65mm x 65mm square ground plane) output impedance 50 Ω vswr 2.0max. Esd antenna surface ± 15kv...

  • Page 178

    D specifications and mechanical drawings 1 6 4 lassen sq gps receiver d.3.6 mechanical mounting magnetic mount force of magnet 3.0kgf min. Water proof jisd0203 s2) shock 50g vertical axis 30g all axis vibration 10~200hz log sweep 3.0g (sweep time: 15 min.) 3 axis withstand min. Speed of 180km/h cabl...

  • Page 179

    Lassen sq gps receiver 1 6 5 specifications and mechanical drawings d.

  • Page 180: Compact Unpackaged Antenna

    D specifications and mechanical drawings 1 6 6 lassen sq gps receiver d.4 compact unpackaged antenna the specifications for this antenna are identical to that of the compact magnetic mount antenna described earlier in this appendix (see page 162). A drawing is provided on the following page..

  • Page 181

    Lassen sq gps receiver 1 6 7 specifications and mechanical drawings d.

  • Page 182

    D specifications and mechanical drawings 1 6 8 lassen sq gps receiver.

  • Page 183: Glossary

    Lassen sq gps receiver 1 6 9 glossary this section defines technical terms and abbreviations used in this manual. It includes terms from the field of gps technology. 2-d gps mode a procedure of determining a 2-d position using signals received from the best (or only) three available gps satellites. ...

  • Page 184

    Glossary 1 7 0 lassen sq gps receiver asynchronous communication a method of sending data in which the bits can be sent at random times. Data transmission is not synchronized to a clock. With asynchronous transmission, each character is transmitted one at a time with a “start” bit at the beginning a...

  • Page 185

    Lassen sq gps receiver 1 7 1 glossary carrier the radio signal on which information is carried. The carrier can be sensed to determine the presence of a signal. Channel either a single frequency or a pair of radio frequencies used as a communication path. Chip the length of time to transmit either a...

  • Page 186

    Glossary 1 7 2 lassen sq gps receiver differential gps a procedure of correcting gps solutions to achieve improved position accuracy. Differential gps provides 2 to 5 meter position accuracy. Differential accuracy is obtained by applying corrections determined by the stationary differential gps refe...

  • Page 187

    Lassen sq gps receiver 1 7 3 glossary doppler shift the apparent change in frequency of a received signal due to the rate of change of the range between the transmitter and receiver. Earth-centered earth-fixed cartesian coordinate system where the x direction is the intersection of the prime meridia...

  • Page 188

    Glossary 1 7 4 lassen sq gps receiver frequency the number of vibrations per second of an audio or radio signal. Measured in hertz (hz), kilohertz (khz), or megahertz (mhz). Gps frequencies are: l1 = 1575.42 mhz l2 = 1227.60 mhz gdop geometric dilution of precision. Gdop describes how much an uncert...

  • Page 189

    Lassen sq gps receiver 1 7 5 glossary 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-wide, 24 h...

  • Page 190

    Glossary 1 7 6 lassen sq gps receiver iode issue of data, ephemeris. Part of the navigation data. It is the issue number of the ephemeris information. A new ephemeris is available usually on the hour. Especially important for differential gps operation that the iode change is tracked at both the ref...

  • Page 191

    Lassen sq gps receiver 1 7 7 glossary pdop position dilution of precision. Pdop is a unitless figure of merit that describes how an uncertainty in pseudo-range affects position solutions. Pdop constellation switch a value, based on pdop, that defines when the gps receiver/processor should switch bet...

  • Page 192

    Glossary 1 7 8 lassen sq gps receiver read-only memory memory whose contents can be read, but not changed. Information is placed into rom only once. The contents of rom are not erased when the system unit's power is turned off. Real time clock an electronic clock, usually battery powered, that keeps...

  • Page 193

    Lassen sq gps receiver 1 7 9 glossary sa selective availability. This is the name of the policy and the implementation scheme by which unauthorized users of gps will have their accuracy limited to 100 meters 2d rms horizontal and 156 meters 2d rms vertical. Sep spherical error probability. The radiu...

  • Page 194

    Glossary 1 8 0 lassen sq gps receiver sv space vehicle (gps satellite). Synchronous communication a method of sending digital data in which the bits come at fixed, rather than random, times and are synchronized to a clock. Taip trimble ascii interface protocol. Designed originally for vehicle tracki...

  • Page 195

    Lassen sq gps receiver 1 8 1 glossary ura satellite user range accuracy. The ura is sent by the satellite and is computed by the gps operators. It is a statistical indicatory of the contribution of the apparent clock and ephemeris prediction accuracies to the ranging accuracies obtainable with a spe...

  • Page 196

    Glossary 1 8 2 lassen sq gps receiver.