free hit counter
  1. Manuals
  2. Brands
  3. Tri-M Systems Manuals
  4. GPS
  5. FV-25
  6. User manual

Tri-M Systems FV-25 User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Tri-M Systems, Inc.
Unit 100, 1407 Kebet way
Port Coquitlam, BC V3C 6L3
Canada
www.tri-m.com
Phone: 604.945.9565
Fax: 604.945.9566
info@tri-m.com
FV – 25
USER'S GUIDE
This document features the specification of FV-25 and describes the details on using the evaluation kit
to evaluate the performance of FV-25 and select the desired functions. It intends to help users to obtain
the maximum performance from FV-25 in users' integrating GPS systems.
Version: 1.0
Date: January 2005
1

Advertisement

Table of Contents
loading

Summary of Contents for Tri-M Systems FV-25

  • Page 1 This document features the specification of FV-25 and describes the details on using the evaluation kit to evaluate the performance of FV-25 and select the desired functions. It intends to help users to obtain the maximum performance from FV-25 in users’ integrating GPS systems.

  • Page 2: Table Of Contents

    Contents Preface………………………………………………………… Chapter 1 Introduction……………………………………….. 1.1 Supports……………………………………………………….. Chapter 2 Start……………………………………………….. 2.1 Pin Definitions and Reference Layout…………………………. 2.2 Sanav_Demo……………………………………………………. 2.2.1 Port Number & Baud Rate………………………………. 2.2.2 Comm Port Connection and Disconnection……………... 2.2.3 Constellation Map………………………………………… 2.2.4 Message View for NMEA Messages……………………… 2.2.5 Available NMEA Messages……………………………….. 2.2.6 GPS Satellite Information………………………………….
  • Page 3 4.5 Navigation Data……………………………………………………. 4.5.1 Position Format……………………………………………… 4.5.2 Datums………………………………………………………. 4.5.3 Update Rate………………………………………………….. 4.5.4 Kinematic Mode……………………………………………… 4.6 Navigation for Less Than 4 Observable Satellites…………………… 4.6.1 2D Navigation………………………………………………… 4.6.2 Dead Reckoning………………………………………………. 4.7 Almanac Navigation………………………………………………….. 4.8 DGPS – WAAS, EGNOS, & RTCM…………………………………. 4.9 Receiver Autonomous Integrity Monitoring (RAIM)………………… 4.10 Time Pulse (1 PPS)…………………………………………………..

  • Page 4: List Of Figures

    List of Figures Figure 2.1 FV-25 Pin definitions (Top View)………………………………….. Figure 2.2 A reference layout for FV-25……………………………………….. Figure 2.3 Setting of comm. port number and the value of baud rate………….. Figure 2.4 Setting of comm. port number………………………………………. Figure 2.5 Setting of the value of baud rate……………………………………..

  • Page 5: List Of Tables

    List of Tables Table 1.1 Specification of FV-25…………………………………………….. Table 2.1 Description of pin definition for FV-25…………………………… Table 4.1 Conditions for Start-Up modes……………………………………. Table 4.2 Available sensitivity modes……………………………………….. Table 7.1 The types of data………………………………………………….. Table 7.2 UBX message classes……………………………………………... Table 8.1 Troubleshooting……………………………………………………...

  • Page 6: Chapter 1 Introduction

    Preface The objective of The FV-25 User’s Guide is to help users to understand the properties of FV-25 thoroughly and, therefore, obtain the maximum performance from the module easily. This document describes and provides the useful information the FV-25 module, which includes the functions of pins on the module, configuration setting, utility, and evaluation kit.
  • Page 7 (page ?) and tables (page ?). Please read this user’s guide carefully and thoroughly before proceeding the operations of the module. If you experience questions and problems about FV-25 and the evaluation kit, please refer to the Troubleshooting section first. If further helps are needed, please feel free and go to our information service on the homepage, www.sanav.com.
  • Page 8 At the same time, let the users make the best performance out the module. The main goal of FV-25 is to be used as a part of integrated system, which can be a simple PVT (Position-Velocity-Time) system, for instance, G-mouse, or complex wireless systems, such as a system with GSM function, a system with Blue Tooth function, and a system with GPRS function.

  • Page 9: Supports

    1.1 Supports For FV-25, we will provide a evaluation kit as an optional. The evaluation kit helps the users to perform the estimation of the module, which includes the start-up times, reacquisition time, setting of NMEA sentences, baud rate setting, etc.. All those functions and evaluations are supported by Sanav_Demo, which accompanies with the kit and is developed by San Jose Navigation, Inc..
  • Page 10 Specification Performance Characteristics Receiver Type L1 frequency, C/A code, 16 Channels Position Accuracy w/o aid 3.3 m CEP DGPS 2.6 m (WAAS, EGNOS,RTCM) AGPS Support Start-up Time Hot start < 3 s Warm start 35 s Cold start 41 s Reacquisition Time <...

  • Page 11: Table 1.1 Specification Of

    Input Power limit (Active) < -17 dBm Gain (Active) up to 25 dB Supervision Build-in short circuit detection, External open circuit detection Note: For using the passive antenna, Pin VANT has to be connected to GND. Table 1.1 Specification of FV-25.

  • Page 12: Chapter 2 Start

    Chapter 2 Start 2.1 Pin Definitions and Reference Layout Figure 2.1 shows the pin definitions of FV-25. Table 2.1 describes the corresponding definitions for pins. Note that only either use V (DC 5 ~ 12V) or V (DC 3.3V) IN-1 IN-2 for voltage input.

  • Page 13: Table 2.1 Description Of Pin Definition For Fv-25................................. Table 4.1 Conditions For Start-Up Modes

    Serial port 1 (leave open if not used) Reserve Boot mode (in normal operation, leave open if not used) Table 2.1 Description of pin definition for FV-25 Note: Only either V or V can be used for voltage input, while V...

  • Page 14: Sanav_Demo

    2.2 Sanav_Demo Sanav_Demo is required to run on a PC with at least 4 MB RAM and Windows 98 that has at least one available serial comm. port (from 1 to 24). 2.2.1 Port Number & Baud Rate When users implement Sanav_Demo, the first window appeared on the screen is the setting of comm.

  • Page 15: Comm Port Connection And Disconnection

    Figure 2.4 Setting of comm. port number. For setting the value of baud rate, pull the scroll-down window for the “Baud rate” item and the desired window shows that the available range of baud rate is from 2400 bps to 115200 bps, as shown in Figure 2.5. The users select the right one that will communicate the module with the host PC.

  • Page 16: Constellation Map

    subsequent window will be the one shown in Figure 2.6, i.e., the navigation data from the module are displayed in the corresponding sub-windows. If the setting values are not correct or the connection hasn’t established yet, Sanav_Demo will prompt a warning sentence “Comm port couldn’t be open, please check the device”.

  • Page 17: Message View For Nmea Messages

    Figure 2.7 Constellation Map of GPS satellites. 2.2.4 Message View for NMEA Messages Figure 2.8 is the window for showing the desired (user-selected) output NMEA messages. There are two ways to show the “Message View” window. Click the item “Windows/Terminal View” or the shortcut button ?. The default window for “Message View”...

  • Page 18: Available Nmea Messages

    Setting” window, as shown in Figure 2.10. There are two ways to show this sub-window: “Windows/User Setting” or the shortcut button ?. The available NMEA messages for FV-25 are GGA, GLL, GRS, GSA, GSV, GST, RMC, TXT, VTG, and ZDA. The default output NMEA messages include the above all except TXT message.

  • Page 19: Gps Satellite Information

    Figure 2.10 Available NMEA messages. NOTE: The output NMEA messages will be discarded or not transmitted if the values of the baud rate is not sufficient to transmit the desired messages. Also, the discarded part won’t be output in the next epoch. NOTE: The maximum update rate is 4 Hz.

  • Page 20: Receiver Information

    Figure 2.11 GPS satellite information. 2.2.7 Receiver Information Figure 2.12 describes the receiver information. They are: : day/month/year; UTC Date : hour:minute:second; UTC Time : latitude xxyy.yyyy xx: degree, yy.yyyy: minute, -: southern hemisphere; : longitude xxxyy.yyyy xxx: degree, yy.yyyy: minute, -: western hemisphere; : altitude (meter);...

  • Page 21: Tracking View

    Figure 2.12 Receiver Information. NOTE: Data displayed in the sub-windows (Figures 2.7, 2.9, 2.11, and 2.12) depend on the user-selected output NMEA messages, i.e., if, for example, the module doesn’t output GSV message, the associated information, such as elevation, azimuth, SNR, etc., will not be displayed in the corresponding sub-windows.

  • Page 22: User Setting

    Figure 2.13 Tracking View. 2.2.9 User Setting Clicking “Windows/User Setting” or the shortcut button ?, the “User Setting” window is activated, as shown in Figure 2.14. Click “ ” to move among the tags. 2.2.9.1 Position This function sets the initial latitude and longitude, as shown in Figure 2.14. For the initial values of latitude and longitude, users can select the degree (first column from left) and the integral part of minute (second column) from the “scroll-down”...

  • Page 23: Time And Day

    The output position will be updated as the position is fixed. 2.2.9.2 Time and day This function sets the initial UTC date and time, as shown in Figure 2.15. The format for UTC date is “YYYY (year), MM (month), DD (day)” and the format for UTC time is “hh (hour), mm (minute), ss (second)”.

  • Page 24: Restart

    Figure 2.16 Local time zone. 2.2.9.4 Restart This function sets the initial start-up mode, such as cold-start, warm-start, and hot-start, for the module, as shown in Figure 2.17. Figure 2.17 Restart. NOTE: For implementing the hot and warm starts, the module need a backed-up battery to run RTC and support BBR, which is used to save updated position, ephemeris, and almanac data.

  • Page 25: Dgps

    2.2.9.5 DGPS This function activates the differential GPS functions of the module, such as RTCM and WAAS/EGNOS, or only GPS function without aids, as shown in Figure 2.18. Figure 2.18 DGPS. 2.2.9.6 Interval Referred to Section 2.2.5. 2.2.9.7 Geodetic ID This function sets coordinate datum that users prefer, as shown in Figure 2.19.

  • Page 26: Chapter 3 Alternative Start

    Chapter 3 Alternative Start This chapter introduces an alternative utility, HyperTerminal (from Windows), to display the NMEA information. And, Using the utility, users can send a request to poll the desired NMEA information or implement other configurations from the module without the aid of Sanav_Demo.

  • Page 27: Saving The Data

    the mode of connection. Figure 3.2 Connection settings. After setting all the necessary data, click the connection button, which is the fifth shortcut button from right. If the setting is correct, the HyperTerminal window will show desired output (NMEA messages), as shown in Figure 3.3, and if not, the window will show random characters or nothing at all.

  • Page 28: Setting Configuration Or Polling Information From Module

    will ask users to input the file name and folder. 3.3 Setting Configuration or Polling Information from Module For setting or polling the desired information, click “Transfer/Send Text File…” button to send a “.txt” file, which contains command sentences, to activate the module. The file is created by users before click the button, and the formats for the command sentences are referred to Chapter 7.

  • Page 29: Chapter 4 Navigation

    Chapter 4 Navigation 4.1 Operating Modes 4.1.1 Continuous Tracking Mode (CTM) CTM is the default setting of the module. While the CTM is on, the module tracks GPS signals and estimates position continuously, i.e., satellite acquisition, reacquisition, and tracking are the states in the CTM. This is the standard operating mode for the general GPS receivers.

  • Page 30: Aiding - Agps

    Conditions Time Position Almanac Ephemeris Modes Cold Start None None None None Warm Start None Hot Start Table 4.1 Conditions for Start-Up modes. For the cold-start mode, the module assigns all the available SVs to 16 channels in a defaulted order. As a satellite is acquired, GPS time, associated ephemeris and almanac data, which will take 12.5 minutes to download the data for all the available satellites, are being downloaded and decoded, and the module’s status is then transferred to tracking start.

  • Page 31: Sensitivity

    will improve on TTFF depends on the accuracy of position and time from a near base station (service center) as well as hardware synchronization. The AGPS function of the module is activated by sending u-blox binary protocol UBX-AID-REQ. If there is no data available from a near base station, the module is back to its normal start-up modes.

  • Page 32: Navigation Data

    ECEF (Earth-Centered Earth-Fixed) frame, or Universal Transverse Mercator (UTM) frame. To poll the navigation information from the module, send the request UBX-CFG-NAV. For FV-25, the default position settings are expressed in the format of local geodetic frame, which can be retrieved from message UBX-NAV-POSLLH, and ECEF frame, which can be retrieved from message UBX-NAV-POSECEF.

  • Page 33: Dead Reckoning

    initial/assumed value of the altitude is 500 m. If the 2D position fix occurs after the 3D position fix (number of observable satellites drops from at least 4 to 3), the value of the altitude will keep the last known value of the altitude from the previous 3D position fix.

  • Page 34: Receiver Autonomous Integrity Monitoring (Raim)

    RTCM protocol, please refer to the web site http://www.rtcm.org/. The DGPS parameters can be changed in the UBX-CFG-NAV message, like DGPS Timetag Rounding. Do not change them under no specific reasons because the default values are based on real tests with DGPS function. NOTE: The correction data from the RTCM messages can be monitored by the UBX-NAV-DGPS message, which doesn’t provide the supervision on WAAS and...

  • Page 35: Chapter 5 Evaluation Kit

    Chapter 5 Evaluation Kit The evaluation kit is an optional accessory while purchasing the module. It will provide an easy way to estimate the performance of our module. The users can also follow the reference circuit design in Chapter 2 to test the performance of the module. In this chapter, all the information about the evaluation kit, which includes the output ports, buttons, and LED lights, is described.

  • Page 36: Figure 5.2 Front Panel Of The Evaluation Kit

    re-start up the GPS module in the either Continuous Tracking Mode or FixNow mode. Figure 5.2 Front panel of the evaluation kit. Figure 5.3 shows the back panel of the evaluation kit. It includes (from left to right) the Antenna Input, Comm. Port 1, 1PPS Output, and Power Input. The Antenna Input is a SMA female connecter which is for 3.0 V or 5.0 V active antenna depending on the jump position (J16).
  • Page 37 Both Comm. ports are the bi-directional ports, i.e., the ports also accepts user software commands. For receiving RTCM message, either port can be used to accept the data through software command.

  • Page 38: Chapter 6 Antennas

    Chapter 6 Antennas To get the maximum performance from the module, in addition to the own properties of the module, one of the important factors is how to select fitted antennas for the module because the quality of the received signals is determined as soon as the signals enter the RF section and can not be improved much by the subsequent filters and amplifiers.

  • Page 39: Active Antennas

    10 cm. The same advice also goes for users without much experience on the RF design. For FV-25, the active antenna gain should not exceeds 25 dB because an saturation (overload) condition might occur for high gain (> 25 dB) cases.

  • Page 40: Active Antenna Supervisor - Short Circuit Protection

    6.3 Active Antenna Supervisor - Short Circuit Protection This is a built-in function that is monitored by the BaseBand processor. If an abnormal current occurs and is detected, the voltage supply at pin VANT (from the external or internal power supply) will be turned off by the BaseBand processor. The way to reset the operation of the module is to have a hardware reset of the module, such as turning off and then on the module or pressing the reset button.

  • Page 41: Chapter 7 Available Nmea And Ubx Messages

    The NMEA protocol expresses the data in the format of ASCII. This is a standard format for GPS applications. The module (FV-25) outputs two types of NMEA messages. One is the standard NMEA messages, that are widely accepted by plotters and GPS related devices, and the other is u-blox proprietary NMEA messages.
  • Page 42 the “PDOP Accuracy Mask”.
  • Page 43 GGA – GPS Fix Data Position fix related data, such as position, time, number of satellites in use, etc.. $GPGGA,gga1,gga2,gga3,gga4,gga5,gga6,gga7,gga8,gga9,gga10,gga11,gga12,gga 13,gga14*hh<CR><LF> Parameters Descriptions Notes gga1 UTC time as position is fixed hhmmss.ss: hh – hour; mm – minute; ss.ss – second gga2 Latitude ddmm.mmmmm: dd –...
  • Page 44 GLL – Geographic Position – Latitude/Longitude Navigation data and status. $GPGLL,gll1,gll2,gll3,gll4,gll5,gll6,gll7*hh<CR><LF> Parameters Descriptions Notes gll1 Latitude ddmm.mmmmm: – degree; mm.mmmmm – minute (0 ~ 90 gll2 Latitude sector N – North; S – South gll3 Longitude dddmm.mmmmm: – degree; mm.mmmmm – minute (0 ~ 180 gll4 Longitude sector...
  • Page 45 GRS – GNSS Range Residual This message is used to monitor and support RAIM. $GPGRS,grs1,grs2,(grs3*12)*hh<CR><LF> Parameters Descriptions Notes grs1 UTC time from the GGA hhmmss.ss: hh – hour; mm – minute; ss.ss – second grs2 Mode to indicate the way to calculate Always in Mode 1 the range residuals.
  • Page 46 GSA – GNSS DOP and Active Satellites Receiver operating mode, the values of DOPs, and PRN numbers for satellites used in the GGA position solution. $GPGSA,gsa1,gsa2,(gsa3*12),gsa4,gsa5,gsa6*hh<CR><LF> Parameters Descriptions Notes gsa1 gsa2 Mode for position fix 1 – fix not available; 2 –...
  • Page 47 GST – GNSS Pseudorange Error Statistics This message is used to monitor and support RAIM. $GPGST,gst1,gst2,gst3,gst4,gst5,gst6,gst7,gst8*hh<CR><LF> Parameters Descriptions Notes gst1 UTC time from the GGA hhmmss.ss: hh – hour; mm – minute; ss.ss – second gst2 RMS value of the standard deviation of the range gst3 Standard deviation of semi-major axis of...
  • Page 48 GSV – GNSS Satellites in View This message indicates the observable satellites’ information, such as PRN numbers, elevation, azimuth, SNR, and number of satellites in view. $GPGSV,gsv1,gsv2,gsv3,((gsv4,gsv5,gsv6,gsv7)*n)*hh<CR><LF> Parameters Descriptions Notes gsv1 Total number of messages 1 ~ 9 gsv2 Message number 1 ~ 9 gsv3 Total number of satellites in view...
  • Page 49 RMC – Recommended Minimum Specific GNSS Data This message transmits the necessary navigation data, such as time, position, speed, course, and so on. $GPRMC,rmc1,rmc2,rmc3,rmc4,rmc5,rmc6,rmc7,rmc8,rmc9,rmc10,rmc11,rmc 12*hh<CR><LF> Parameters Descriptions Notes rmc1 UTC time as position is fixed hhmmss.ss: hh – hour; mm – minute;...
  • Page 50 TXT – Text Transmission The message is used to transmit short text messages. Transmitting a longer message needs multi-TXT messages. $GPTXT,txt1,txt2,txt3,txt4*hh<CR><LF> Parameters Descriptions Notes txt1 Total number of messages 01 ~ 99 txt2 Message number 01 ~ 99 txt3 Text identifier 00 –...
  • Page 51 VTG – Course Over Ground and Ground Speed This message transmits the speed and course relative to ground. $GPVTG,vtg1,vtg2,vtg3,vtg4,vtg5,vtg6,vtg7,vtg8,vtg9*hh<CR><LF> Parameters Descriptions Notes vtg1 Course over ground (degrees) Referenced to true north (000.00 ~ 359.99 vtg2 Indicator of course reference T – true north vtg3 Course over ground (degrees) Referenced...
  • Page 52 ZDA – Time & Date This message transmits UTC time and date, and local time zone. $GPZDA,zda1,zda2,zda3,zda4,zda5,zda6*hh<CR><LF> Parameters Descriptions Notes zda1 UTC time hhmmss.ss: hh – hour; mm – minute; ss.ss – second zda2 UTC day 01 ~ 31 zda3 UTC month 01 ~ 12 zda4...

  • Page 53: Proprietary Nmea Messages

    7.1.2 Proprietary NMEA Messages The non-standard NMEA messages is proposed by u-blox. The proprietary (non-standard) NMEA messages are grouped into two categories: Proprietary NMEA (PUBX) PUBX,00 – Latitude/Longitude Position Data PUBX,01 – UTM Position Data PUBX,03 – Satellite Status PUBX,04 – Time of Day and Clock Information PUBX,40 –...
  • Page 54 PUBX, 00 – Latitude/Longitude Position Data Output message. This message transmits navigation data defined in the local geodetic frame. $PUBX,00,p00x1,p00x2,p00x3,p00x4,p00x5,p00x6,p00x7,p00x8,p00x9,p00x10,p0 0x11,p00x12,p00x13,p00x14,p00x15,p00x16,p00x17,p00x18,p00x19*hh<CR><LF > Parameters Descriptions Notes p00x1 UTC time hhmmss.ss: hh – hour; mm – minute; ss.ss – second p00x2 Latitude ddmm.mmmmm: dd –...
  • Page 55 the position calculation p00x18 Number of GLONASS satellites Always 0 used in the position calculation p00x19 Dead reckoning used 0 – No; 1 – Yes Checksum hex number (2 – character) <CR><LF> End of message...
  • Page 56 PUBX, 01 – UTM Position Data Output message. This message transmits navigation data defined in the Universal Transverse Mercator (UTM) frame. $PUBX,01,p01x1,p01x2,p01x3,p01x4,p01x5,p01x6,p01x7,p01x8,p01x9,p01x10,p0 1x11,p01x12,p01x13,p01x14,p01x15,p01x16,p01x17,p01x18,p01x19*hh<CR><LF > Parameters Descriptions Notes p01x1 UTC time hhmmss.ss: hh – hour; mm – minute; ss.ss – second p01x2 UTM Easting (meters) p01x3...
  • Page 57 used in the position calculation p01x19 Dead reckoning used 0 – No; 1 – Yes Checksum hex number (2 – character) <CR><LF> End of message...
  • Page 58 PUBX,03 – Satellite Status Output message. $PUBX,03,p03x1,((p03x2,p03x3,p03x4,p03x5,p03x6,p03x7)*n)*hh<CR><LF> Parameters Descriptions Notes p03x1 Number of GPS satellites tracked p03x2 PRN number 01 ~ 32 p03x3 Satellite status - – not used U – used e – available for navigation, but no ephemeris p03x4 Azimuth (degrees) 000 ~ 359...
  • Page 59 PUBX,04 – Time of Day and Clock Information Output message. This message transmits UTC time, week number, and clock offset. $PUBX,04,p04x1,p04x2,p04x3,p04x4,p04x5,p04x6,p04x7,p04x8*hh<CR><LF> Parameters Descriptions Notes p04x1 UTC time hhmmss.ss: hh – hour; mm – minute; ss.ss – second p04x2 UTC date ddmmyy: dd –...
  • Page 60 GPQ – Poll Message Input message. Poll a standard NMEA message. $xxGPQ,gpq1*hh<CR><LF> Parameters Descriptions Notes $xxGPQ NMEA message header xx: talker device identifier gpq1 NMEA message ids String format: GGA, GLL, GRS, GSA, GST, GSV, RMC, TXT, VTG, and ZDA Checksum hex number (2 –...
  • Page 61 PUBX – Poll a PUBX Message Input message. Poll the proprietary PUBX messages. $PUBX,p1*hh<CR><LF> Parameters Descriptions Notes Proprietary message ids xx: 00, 01, 03, and 04 Checksum hex number (2 – character) <CR><LF> End of message...
  • Page 62 PUBX,40 – Set NMEA Message Output Rate Input message. $PUBX,40,p40x1,p40x2,p40x3,p40x4,p40x5*hh<CR><LF> Parameters Descriptions Notes p40x1 NMEA message ids String format: GGA, GLL, GRS, GSA, GST, GSV, RMC, TXT, VTG, and ZDA p40x2 Number of cycles USART 0 output rate 0 – disabled 1 - enabled p40x3 Number of cycles...
  • Page 63 PUBX,41 – Set Protocols and Baudrate Input message. $PUBX,41,p41x1,p41x2,p41x3,p41x4,p41x5*hh<CR><LF> Parameters Descriptions Notes p41x1 USART id 0, 1, 0r 2 p41x1 Input protocol mask 0 – UBX 1 – NMEA 2 – RTCM 12 – 15: USER0 ~ USER3 p41x1 Output protocol mask 0 –...

  • Page 64: Ubx Binary Protocol

    7.2 UBX Binary Protocol To obtain the maximum performance from GPS chips, which mainly consists of FV-25, u-blox proposed a proprietary binary protocol. The binary protocol can set and poll all the available actions and messages from the module. Using asynchronous RS232 ports, the module communicates with a host platform in terms of the alternative, UBX protocol, to carry GPS data.

  • Page 65: Data Format

    For the calculation of the checksum, u-blox utilizes the low-overhead checksum algorithm, which is the TCP standard (RFC 1145). The calculation of the checksum covers the range from the CLASS ID byte (included) to DATA bytes (included). It can be described as CK_A=0;...

  • Page 66: Classification Of Ubx Messages

    1023 1023 IEEE754 Double -1*2 ~Value*2 Precision ASCII 8859.1 Encoding Table 7.1 The types of data. 7.2.2 Classification of UBX Messages The u-blox proprietary messages are classified into 9 groups. Based on a specific topic, each group contains the associated information. They are summarized in Table 7.2.

  • Page 67: Ubx Messages

    7.2.4 UBX Messages UBX Class ACK This class is used for responding a CFG message. ACK – ACK (0x05 0x01) Message acknowledged. Header Data Length Data Checksum 0xB5 0x62 0x05 0x01 See below CK_A CK_B Data Offset bytes Format Descriptions Notes Class ID for the desired acknowledged message...
  • Page 68 ACK – NAK (0x05 0x00) Message not-acknowledged. Header Data Length Data Checksum 0xB5 0x62 0x05 0x00 See below CK_A CK_B Data Offset bytes Format Descriptions Notes Class ID for the desired not-acknowledged message Message ID for the desired not-acknowledged message...
  • Page 69 UBX Class AID This class is used to support AGPS function or send aiding data, such as time, position, almanac, and ephemeris, to the GPS receiver. AID – REQ (0x0B 0x00) It’s a virtual request to poll all GPS aiding data (AID-DATA). The character of AID-REQ is determined by CFG-MSG.
  • Page 70 AID – DATA (0x0B 0x10) It’s a request to poll all the GPS initial aiding data. This message will activate the sending of AID-INI, AID-HUI, AID-EPH, and AID-ALM as it is received by the module. Header Data Length Data Checksum 0xB5 0x62 0x0B 0x10 None...
  • Page 71 AID – INI (0x0B 0x01) It’s a poll request when “data length” is equal to 0. Poll GPS initial aiding data. Header Data Length Data Checksum 0xB5 0x62 0x0B 0x01 None CK_A CK_B AID – INI (0x0B 0x01) This is an I/O message. It contains the information of position and time. As an output message, the value of the clock drift is always 0 and assigned invalid.
  • Page 72 AID – HUI (0x0B 0x02) It’s a poll request when “data length” is equal to 0. Poll GPS health, UTC, and Ionosphere data. Header Data Length Data Checksum 0xB5 0x62 0x0B 0x02 None CK_A CK_B AID – HUI (0x0B 0x02) It’s an I/O message.
  • Page 73 Alpha3 Klobuchar parameters Beta0 Klobuchar parameters Beta1 Klobuchar parameters Beta2 Klobuchar parameters Beta3 Klobuchar parameters Flag3 0x1 – valid health bit mask fields – valid parameter fields 0x4 – valid Klobuchar parameter fields...
  • Page 74 AID – ALM (0x0B 0x30) It’s a poll request when “data length” is equal to 0. Poll all available aiding almanac data. Header Data Length Data Checksum 0xB5 0x62 0x0B 0x30 None CK_A CK_B AID – ALM (0x0B 0x30) It’s also a poll request. Poll a specific aiding almanac data. Header Data Length Data...
  • Page 75 Almanac – WORD5 Almanac – WORD6 Almanac – WORD7 NOTE: 1. WORD0 ~ WORD7 contain the data following the Hand-Over Word (HOW) in the navigation message. The data are from the sub-frame 4 of Pages 1 ~ 24 and the sub-frame 5 of Pages 2 ~ 10. More information about almanac data structure is referred to ICD-GPS-200.
  • Page 76 AID – EPH (0x0B 0x31) It’s a poll request when “data length” is equal to 0. Poll all available aiding ephemeris data. Header Data Length Data Checksum 0xB5 0x62 0x0B 0x31 None CK_A CK_B AID – EPH (0x0B 0x31) It’s also a poll request. Poll a specific aiding ephemeris data. Header Data Length Data...
  • Page 77 32+n*96 Sub-frame 1 – WORD6 36+n*96 Sub-frame 1 – WORD7 40+n*96 Sub-frame 2 – WORD0 44+n*96 Sub-frame 2 – WORD1 48+n*96 Sub-frame 2 – WORD2 52+n*96 Sub-frame 2 – WORD3 56+n*96 Sub-frame 2 – WORD4 60+n*96 Sub-frame 2 – WORD5 64+n*96 Sub-frame 2 –...
  • Page 78 UBX Class CFG This class is used to configure the GPS module and output the current configuration of the GPS module. The module will respond the ACK-ACK message if the request is proceeded correctly and ACK-NAK message if the request is failed. CFG –...
  • Page 79 10 – 2 stop bit ; 11 – reserved Bit[16] 0 – LSB first bit order 1 – MSB first bit order Bit[19] 0 – 16x oversampling 1 – 8x oversampling 8+N*20 Baud rate (bps) 12+N*20 Input protocol for a single port. Bit mask Multi-protocols can be selected 0x0001 –...
  • Page 80 CFG – MSG (0x06 0x01) It’s a poll request. Poll a message configuration. Header Data Length Data Checksum 0xB5 0x62 0x06 0x01 See below CK_A CK_B Data Offset bytes Format Descriptions Notes Class ID Message ID CFG – MSG (0x06 0x01) It’s an I/O message.
  • Page 81 Data Offset bytes Format Descriptions Notes Class ID Message ID Message rate on the current target...
  • Page 82 CFG – NMEA (0x06 0x17) It’s a poll request. Poll the NMEA protocol configuration. Header Data Length Data Checksum 0xB5 0x62 0x06 0x17 None CK_A CK_B CFG – NMEA (0x06 0x17) It’s an input message. Set the desired NMEA protocol. Header Data Length Data...
  • Page 83 CFG – RATE (0x06 0x08) It’s a poll request. Poll the current navigation/measurement rate setting. The module will respond the same message defined below (I/O message). Header Data Length Data Checksum 0xB5 0x62 0x06 0x08 None CK_A CK_B CFG – RATE (0x06 0x08) It’s an I/O message.
  • Page 84 CFG – CFG (0x06 0x09) It’s a command message. The message will clear, save, and load configurations. The command consists of the three masks (clear, save, and load) in each individual bit. Header Data Length Data Checksum 0xB5 0x62 0x06 0x09 See below CK_A CK_B Data...
  • Page 85 UBX-CFG-ANT) Reserved 12 ~ 15 Reserved for user applications 16 ~ 31 Reserved...
  • Page 86 CFG – TP (0x06 0x07) It’s a poll request. Poll time pulse information. The module will respond the same message defined below (I/O message). Header Data Length Data Checksum 0xB5 0x62 0x06 0x07 None CK_A CK_B CFG – TP (0x06 0x07) It’s an I/O message.
  • Page 87 CFG – NAV (0x06 0x03) It’s a poll request. Poll engine settings for navigation. The module will respond the same message defined below (I/O message). Header Data Length Data Checksum 0xB5 0x62 0x06 0x03 None CK_A CK_B CFG – NAV (0x06 0x03) It’s an I/O message.
  • Page 88 used in the navigation solution DGPS timetag rounding 1 – enable 0 – disable Timeout differential correction data (s) Timeout pseudorange correction data (s) Timeout carrier phase correction data (s) Carrier Lock Time (CLT): conditional lower limit (ms) CLT: absolute lower limit (ms) Epochs for DR Navigation options Bit mask...
  • Page 89 CFG – DAT (0x06 0x06) It’s a poll request. Poll datum setting. The module will respond the same message defined below (I/O message). Header Data Length Data Checksum 0xB5 0x62 0x06 0x06 None CK_A CK_B CFG – DAT (0x06 0x06) It’s an input message.
  • Page 90 seconds) Scale change (ppm) 0.0 ~ 50.0 CFG – DAT (0x06 0x06) It’s an output message. Poll the current datum. If the datum number is –1, the module is using the user-defined datum and only the value for semi-major axis is valid and the rest of them are not valid.
  • Page 91 CFG – INF (0x06 0x02) It’s a poll request. It’s used to identify the output protocol. Header Data Length Data Checksum 0xB5 0x62 0x06 0x02 See below CK_A CK_B Data Offset bytes Format Descriptions Notes Protocol ID 0 – UBX protocol 1 –...
  • Page 92 13 – User1-defined protocol 14 – User2-defined protocol 15 – User3-defined protocol 16 ~ 255 – reserved 1+N*8 Reserved 2+N*8 Reserved 4+N*8 Information message enabled Bit mask. (INF class) at I/O target 0 Referred to INF class, such as (USART 0) INF-ERROR INF-WARNING 5+N*8...
  • Page 93 CFG – RST (0x06 0x04) It’s an input message. It’s used to reset receiver or clear backup data structure. Header Data Length Data Checksum 0xB5 0x62 0x06 0x04 See below CK_A CK_B Data Offset bytes Format Descriptions Notes Clear backup data in BBR 0x0001 –...
  • Page 94 CFG – RXM (0x06 0x11) It’s a poll request. It’s used to poll RXM configuration. The module responds the same message defined below. Header Data Length Data Checksum 0xB5 0x62 0x06 0x11 None CK_A CK_B CFG – RXM (0x06 0x11) It’s an I/O message.
  • Page 95 CFG – ANT (0x06 0x13) It’s a poll request. It’s used to poll antenna control settings. The module responds the same message defined below. Header Data Length Data Checksum 0xB5 0x62 0x06 0x13 None CK_A CK_B CFG – ANT (0x06 0x13) It’s an I/O message.
  • Page 96 CFG – FXN (0x06 0x0E) It’s a poll request. It’s used to poll power saving (FixNow) mode configuration. The module responds the same message defined below. Header Data Length Data Checksum 0xB5 0x62 0x06 0x0E None CK_A CK_B CFG – FXN (0x06 0x0E) It’s a command message.
  • Page 97 CFG – SBAS (0x06 0x16) It’s a command message. It’s used to configure SBAS systems, such as WAAS, EGNOS, and MSAS. More information about SBAS services is referred to document RTCA/DO-229C (www.rtca.org). Header Data Length Data Checksum 0xB5 0x62 0x06 0x16 See below CK_A CK_B Data...
  • Page 98 CFG – TM (0x06 0x10) It’s a poll request. It’s used to poll time mark configuration. Header Data Length Data Checksum 0xB5 0x62 0x06 0x10 None CK_A CK_B CFG – TM (0x06 0x10) It’s an I/O message. It’s used to set/get time mark configuration. Header Data Length Data...
  • Page 99 CFG – EKF (0x06 0x12) It’s a poll request. It’s used to poll EKF configuration. The module responds the same message defined below. Header Data Length Data Checksum 0xB5 0x62 0x06 0x12 None CK_A CK_B CFG – EKF (0x06 0x12) It’s an I/O message.
  • Page 100 Reserved Inverse_flags Bit 0 – invert meaning of direction pin; 0: High=Forwards; 1: High=Backwards Bit 1 – invert meaning of gyro rotation sense; clockwise positive; counterclockwise positive Reserved Always 0 Nominal pulses per kilometer 1100 ~ 45000 Nominal gyro zero point output 2000 ~ 3000 (mV) Nominal...
  • Page 101 UBX Class INF Basically, the INF class is an output class. It outputs strings with a printf-style call. INF – ERROR (0x04 0x00) It outputs an ASCII string to indicate error message. Header Data Length Data Checksum 0xB5 0x62 0x04 0x00 See below CK_A CK_B Data...
  • Page 102 INF – WARNING (0x04 0x01) It outputs an ASCII string to indicate warning message. Header Data Length Data Checksum 0xB5 0x62 0x04 0x01 See below CK_A CK_B Data Offset bytes Format Descriptions Notes The following data will be repeated N times (variable length). 0+N*1 ASCII character...
  • Page 103 INF – NOTICE (0x04 0x02) It outputs an ASCII string to transmit informational contents. Header Data Length Data Checksum 0xB5 0x62 0x04 0x02 See below CK_A CK_B Data Offset bytes Format Descriptions Notes The following data will be repeated N times (variable length). 0+N*1 ASCII character...
  • Page 104 INF – TEST (0x04 0x03) It outputs an ASCII string to indicate test message. Header Data Length Data Checksum 0xB5 0x62 0x04 0x03 See below CK_A CK_B Data Offset bytes Format Descriptions Notes The following data will be repeated N times (variable length). 0+N*1 ASCII character...
  • Page 105 INF – DEBUG (0x04 0x04) It outputs an ASCII string to indicate debug message. Header Data Length Data Checksum 0xB5 0x62 0x04 0x04 See below CK_A CK_B Data Offset bytes Format Descriptions Notes The following data will be repeated N times (variable length). 0+N*1 ASCII character...
  • Page 106 INF – USER (0x04 0x07) It outputs an ASCII string to indicate user output message. Header Data Length Data Checksum 0xB5 0x62 0x04 0x07 See below CK_A CK_B Data Offset bytes Format Descriptions Notes The following data will be repeated N times (variable length). 0+N*1 ASCII character...
  • Page 107 UBX Class MON This message is used to transmit GPS receiver status, such as CPU status, I/O status, etc.. MON – SCHD (0x0A 0x01) It periodically polls the status of system scheduler. Header Data Length Data Checksum 0xB5 0x62 0x0A 0x01 See below CK_A CK_B Data...
  • Page 108 MON – IO (0x0A 0x02) It periodically polls the I/O status. Header Data Length Data Checksum 0xB5 0x62 0x0A 0x02 See below CK_A CK_B Data Offset bytes Format Descriptions Notes The following data will be repeated four times (N = 4). 0+N*20 Number of bytes which are received (bytes)
  • Page 109 MON – MAGPP (0x0A 0x06) It periodically polls message parse and process status. Header Data Length Data Checksum 0xB5 0x62 0x0A 0x06 See below CK_A CK_B Data Offset bytes Format Descriptions Notes U2[16] Number of successful parsed message for each protocol on Target 0 U2[16] Number of successful parsed...
  • Page 110 MON – RXBUF (0x0A 0x07) It periodically polls the status of receiver buffer. Header Data Length Data Checksum 0xB5 0x62 0x0A 0x07 See below CK_A CK_B Data Offset bytes Format Descriptions Notes U2[4] Number of pending bytes in receiver buffer on each target (bytes) U1[4] Maximum usage receiver buffer...
  • Page 111 MON – TXBUF (0x0A 0x08) It periodically polls the status of transmitter buffer. Header Data Length Data Checksum 0xB5 0x62 0x0A 0x08 See below CK_A CK_B Data Offset bytes Format Descriptions Notes U2[4] Number of pending bytes in receiver buffer on each target (bytes) U1[4] Maximum usage receiver buffer...
  • Page 112 MON – VER (0x0A 0x04) It is used to poll the hardware/software version. Header Data Length Data Checksum 0xB5 0x62 0x0A 0x04 40+N*30 See below CK_A CK_B Data Offset bytes Format Descriptions Notes CH[30] Software version CH[10] Hardware version The following data will be repeated N times. 40+N*30 CH[30] Extension package version...
  • Page 113 UBX Class NAV The messages in this class transmit navigation data, status flags, and accuracy information. NAV – POSECEF (0x01 0x01) It periodically polls the receiver’s position in the ECEF frame. Header Data Length Data Checksum 0xB5 0x62 0x01 0x01 See below CK_A CK_B Data...
  • Page 114 NAV – POSLLH (0x01 0x02) It periodically polls the receiver’s position in the local geodetic frame. Header Data Length Data Checksum 0xB5 0x62 0x01 0x02 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week (ms) Longitude (degrees) In the local geodetic frame Scaling: 1E-07...
  • Page 115 NAV – POSUTM (0x01 0x08) It periodically polls the receiver’s position in the UTM frame. Header Data Length Data Checksum 0xB5 0x62 0x01 0x08 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week (ms) Easting component (cm) In the UTM frame Northing component (cm) In the UTM frame...
  • Page 116 NAV – DOP (0x01 0x04) It periodically polls the values of DOPs. Header Data Length Data Checksum 0xB5 0x62 0x01 0x04 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week (ms) GDOP Geometric DOP PDOP Positional DOP TDOP Time DOP...
  • Page 117 NAV – STATUS (0x01 0x03) It periodically polls navigation status. Header Data Length Data Checksum 0xB5 0x62 0x01 0x03 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week (ms) Navigation modes 0x00 – no fix 0x01 –...
  • Page 118 NAV – SOL (0x01 0x06) It periodically polls the information about navigation solution. Header Data Length Data Checksum 0xB5 0x62 0x01 0x06 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week (ms) Remainder of rounded GPS time -500000 ~ 500000 week relative...
  • Page 119 NAV – VELECEF (0x01 0x11) It periodically polls velocity solution in the ECEF frame. Header Data Length Data Checksum 0xB5 0x62 0x01 0x11 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week (ms) X velocity (cm/s) In the ECEF frame Y velocity (cm/s) In the ECEF frame...
  • Page 120 NAV – VELNED (0x01 0x12) It periodically polls velocity solution in the NED frame. Header Data Length Data Checksum 0xB5 0x62 0x01 0x12 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week (ms) North velocity (cm/s) In the NED frame East velocity (cm/s) In the NED frame...
  • Page 121 NAV – TIMEGPS (0x01 0x20) It periodically polls the information about GPS time. Header Data Length Data Checksum 0xB5 0x62 0x01 0x20 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week (ms) Remainder of rounded GPS time -500000 ~ 500000 week relative...
  • Page 122 NAV – TIMEUTC (0x01 0x21) It periodically polls the information about UTC time. Header Data Length Data Checksum 0xB5 0x62 0x01 0x21 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week (ms) Time accuracy (ns) Nanoseconds of second (UTC) -500000000 ~ 500000000 Year (UTC)
  • Page 123 NAV – CLOCK (0x01 0x22) It periodically polls receiver clock information. Header Data Length Data Checksum 0xB5 0x62 0x01 0x22 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week (ms) Clock bias (ns) Clock drift (ns/s) Time accuracy (ns) Frequency accuracy (ps/s)
  • Page 124 NAV – SVINFO (0x01 0x30) It periodically polls the information about UTC time. Header Data Length Data Checksum 0xB5 0x62 0x01 0x30 8+N*12 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week (ms) Number of channels 1 ~ 16 Reserved Reserved...
  • Page 125 NAV – DGPS (0x01 0x31) It periodically polls DGPS correction data that are used in the navigation solution. Header Data Length Data Checksum 0xB5 0x62 0x01 0x31 16+N*12 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week (ms) Age of newest correction data (ms) DGPS reference station ID...
  • Page 126 NAV – SBAS (0x01 0x32) It periodically polls the status of SBAS. Header Data Length Data Checksum 0xB5 0x62 0x01 0x32 12+N*12 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week (ms) PRN number for SBAS, e.g. WAAS, EGNOS.
  • Page 127 17+N*12 Reserved 18+N*12 Pseudo range correction (cm) 20+N*12 Reserved 22+N*12 Ionosphere correction (cm)
  • Page 128 UBX Class RXM This class transmits the status of receiver manager and received raw data, e.g. pseudorange and carrier phase measurements, ephemeris, and almanac data. RXM – RAW (0x02 0x10) It periodically outputs raw measurement data. It defines all the necessary data for a RINEX file.
  • Page 129 RXM – SFRB (0x02 0x11) It periodically outputs the data in the subframe of navigation message. Header Data Length Data Checksum 0xB5 0x62 0x02 0x11 See below CK_A CK_B Data Offset bytes Format Descriptions Notes Channel number PRN number WORD0 WORD1 WORD2 WORD3...
  • Page 130 RXM – SVSI (0x02 0x20) It periodically polls the information of SV status. Header Data Length Data Checksum 0xB5 0x62 0x02 0x20 8+N*6 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week (ms) GPS week number Number of observable satellites Number satellite...
  • Page 131 RXM – ALM (0x02 0x30) It’s an input request for polling almanac data. The receiver responds with all available (32) RXM-ALM messages defined below. Header Data Length Data Checksum 0xB5 0x62 0x02 0x30 None CK_A CK_B RXM – ALM (0x02 0x30) It’s an input request for polling almanac data of one specific SV.
  • Page 132 not valid. 2. WORD0 ~ WORD7 contain the data following the Hand-Over Word (HOW) in the navigation message. The data are from the sub-frame 4 of Pages 1 ~ 24 and the sub-frame 5 of Pages 2 ~ 10. More information about almanac data structure is referred to ICD-GPS-200.
  • Page 133 RXM – EPH (0x02 0x31) It’s an input request for polling ephemeris data. The receiver responds with all available RXM-EPH messages defined below. Header Data Length Data Checksum 0xB5 0x62 0x02 0x31 None CK_A CK_B RXM – EPH (0x02 0x31) It’s an input request for polling ephemeris data of one specific SV.
  • Page 134 36+n*96 Sub-frame 1 – WORD7 40+n*96 Sub-frame 2 – WORD0 44+n*96 Sub-frame 2 – WORD1 48+n*96 Sub-frame 2 – WORD2 52+n*96 Sub-frame 2 – WORD3 56+n*96 Sub-frame 2 – WORD4 60+n*96 Sub-frame 2 – WORD5 64+n*96 Sub-frame 2 – WORD6 68+n*96 Sub-frame 2 –...
  • Page 135 RXM – POSREQ (0x02 0x40) It’s an input message for requesting a position fix in the FixNow mode (power saving mode). Header Data Length Data Checksum 0xB5 0x62 0x02 0x40 None CK_A CK_B...
  • Page 136 UBX Class TIM This class transmits the information of time pulse and time mark. TIM – TM (0x0D 0x02) It periodically polls the time mark data. Header Data Length Data Checksum 0xB5 0x62 0x0D 0x02 See below CK_A CK_B Data Offset bytes Format Descriptions...
  • Page 137 TIM – TP (0x0D 0x01) It periodically polls the time pulse data. Header Data Length Data Checksum 0xB5 0x62 0x0D 0x01 See below CK_A CK_B Data Offset bytes Format Descriptions Notes GPS time of week: time pulse (ms) Sub-millisecond part of “GPS time of week”...
  • Page 138 UBX Class UPD This class is used to update the firmware. UPD – DOWNL (0x09 0x01) It is an I/O message. It is used to download data to memory. Header Data Length Data Checksum 0xB5 0x62 0x09 0x01 8+N*1 See below CK_A CK_B Data Offset bytes...
  • Page 139 UPD – UPLOAD (0x09 0x02) It is an I/O message. It is used to upload data from memory. Header Data Length Data Checksum 0xB5 0x62 0x09 0x02 12+N*1 See below CK_A CK_B Data Offset bytes Format Descriptions Notes Upload starting address Data size Flags 0 –...

  • Page 140: Chapter 8 Troubleshooting

    Chapter 8 Troubleshooting The following table lists questions/problems that you might encounter for operating the module and possible suggested resolutions for the questions/problems. If you have further questions/problems that cannot be resolved in this table, please feel free to contact us. Questions/Problems Suggestions 1.

  • Page 141: Table 8.1 Troubleshooting

    6. The estimated positions have steadily Make sure the estimated position and expressed about a few meters or up to a reference position are expressed in the few hundred meters off the reference same coordinate frame. The default datum position. of the module is WGS 84.
  • Page 142 Appendix A Geodetic ID: Coordinate Datum Rotation Ellipsoid and Scale Index Name Acronym DX (m) DY(m) DZ (m) Index (See (See below) below) World Geodetic System - WGS 84 World Geodetic System - WGS 72 Earth-90 - GLONASS ETH 90 Coordinate system Adindan - Mean Solution ADI-M...
  • Page 143 ARC 1950 - Zambia ARF-F -147.0 -74.0 -283.0 ARC 1950 - Zimbabwe ARF-G -142.0 -96.0 -293.0 ARC 1960 - Mean -160.0 -6.0 -302.0 (Kenya, Tanzania) Ayabelle Lighthouse - -79.0 -129.0 145.0 Djibouti Bissau - Guinea-Bissau -173.0 253.0 27.0 Cape - South Africa -136.0 -108.0 -292.0 Carthage - Tunisia -263.0...
  • Page 144 Djakarta (Batavia)- -377.0 681.0 -50.0 Sumatra (Indonesia) Hong Kong 1963 - Hong -156.0 -271.0 -189.0 Kong Hu-Tzu-Shan - Taiwan -637.0 -549.0 -203.0 Indian - Bangladesh IND-B 282.0 726.0 254.0 Indian - India & Nepal IND-I 295.0 736.0 257.0 Indian 1954 - Thailand INF-A 217.0 823.0...
  • Page 145 Tokyo - Okinawa TOY-C -158.0 507.0 676.0 Tokyo - South Korea TOY-B -146.0 507.0 687.0 Australian Geodetic 1966 -133.0 -48.0 148.0 - Australia & Tasmania Australian Geodetic 1984 -134.0 -48.0 149.0 - Australia & Tasmania European 1950 - Mean (AU, B, DK, FN, F, G, EUR-M -87.0 -98.0...
  • Page 146 European 1979 - Mean Solution (AU, FN, NL, -86.0 -98.0 -119.0 N, E, S, CH) Hjorsey 1955 - Iceland -73.0 46.0 -86.0 Ireland 1965 506.0 -122.0 611.0 Ordnance Survey of GB 1936 - Mean (E, IoM, S, OGB-M 375.0 -111.0 431.0 ShI, W) Ordnance Survey of GB...
  • Page 147 Alaska (excluding Aleutian Islands) N. American 1927 - Aleutian Islands, East of NAS-V -2.0 152.0 149.0 180W N. American 1927 - Aleutian Islands, West of NAS-W 204.0 105.0 180W N. American 1927 - Bahamas (excluding San NAS-Q -4.0 154.0 178.0 Salvador Island) N.
  • Page 148 Caribbean N. American 1927 - NAS-N 125.0 194.0 Central America N. American 1927 - Cuba NAS-T -9.0 152.0 178.0 N. American 1927 - Greenland (Hayes NAS-U 11.0 114.0 195.0 Peninsula) N. American 1927 - NAS-L -12.0 130.0 190.0 Mexico N. American 1983 - Alaska (excluding NAR-A Aleutian Islands)
  • Page 149 Bolivia Prov S. American 1956 - Northern Chile (near PRP-B -270.0 183.0 -390.0 19S) Prov S. American 1956 - Southern Chile (near PRP-C -305.0 243.0 -442.0 43S) Prov S. American 1956 - PRP-D -282.0 169.0 -371.0 Colombia Prov S. American 1956 - PRP-E -278.0 171.0...
  • Page 150 Galapagos Islands) South American 1969 - SAN-J -47.0 26.0 -42.0 Baltra, Galapagos Islands South American 1969 - SAN-G -53.0 -47.0 Guyana South American 1969 - SAN-H -61.0 -33.0 Paraguay South American 1969 - SAN-I -58.0 -44.0 Peru South American 1969 - SAN-K -45.0 12.0...
  • Page 151 L.C. 5 Astro 1961 - 42.0 124.0 147.0 Cayman Brac Island Montserrat Island Astro 1958 - Montserrat 174.0 359.0 365.0 Leeward Islands Naparima, BWI - -10.0 375.0 165.0 Trinidad & Tobago Observatorio Meteorologico 1939 - -425.0 -169.0 81.0 Corvo and Flores Islands (Azores) Pico De Las Nieves - -307.0...
  • Page 152 Diego Garcia Kerguelen Island 1949 - 145.0 -187.0 103.0 Kerguelen Island Mahe 1971 - Mahe Island 41.0 -220.0 -134.0 Reunion - Mascarene 94.0 -948.0 -1262.0 Islands American Samoa 1962 - -115.0 118.0 426.0 American Samoa Islands Astro Beacon "E" 1945 - 145.0 75.0 -272.0...
  • Page 153 Johnston Island 1961 - 189.0 -79.0 -202.0 Johnston Island Kusaie Astro 1951 - Caroline Islands, Fed. 647.0 1777.0 -1124.0 States of Micronesia Luzon - Philippines (excluding Mindanao LUZ-A -133.0 -77.0 -51.0 Island) Luzon - Mindanao Island LUZ-B -133.0 -79.0 -72.0 (Philippines) Midway Astro 1961 - 912.0...
  • Page 154 Antarctica European 1950 - Iraq, Israel, Jordan, Kuwait, EUR-S -103.0 -106.0 -141.0 Lebanon, Saudi Arabia & Syria Gunung Segara - GSE" -403.0 684.0 41.0 Kalimantan (Indonesia) Herat North - -333.0 -222.0 114.0 Afghanistan Indian - Pakistan IND-P 283.0 682.0 231.0 Pulkovo 1942 - Russia 28.0 -130.0...
  • Page 155 Ellipsoids Index Name Semi Major Axis (m) 1/Flattening WGS 84 6378137.000 298.257223563 Airy 1830 6377563.396 299.3249646 Modified Airy 6377340.189 299.3249646 Australian National 6378160.000 298.25 Bessel 1841 (Namibia) 6377483.865 299.1528128 Bessel 1841 6377397.155 299.1528128 Clarke 1866 6378206.400 294.9786982 Clarke 1880 6378249.145 293.465 Earth 90 6378136.000...
  • Page 156 Rotation and Scale Table Rot. X Rot. Y Rot. Z Scale Index Name (seconds) (seconds) (seconds) +0.0000 +0.0000 +0.0000 0.000 0.0000 0.0000 -0.5540 0.220 European Datum 1987 IAG RETrig 0.1338 -0.0625 -0.0470 0.045 Subcommision.
  • Page 157 Appendix B Acronyms Battery Backed-up RAM Carrier Lock Time Carrier to Noise Ratio Course Over Ground Continuous Tracking Mode DGPS Differential GPS Dilution of Precision Dead Reckoning ECEF Earth-Centered Earth-Fixed EDOP Easting Dilution of Precision EGNOS the European Geostationary Navigation Overlay Service Extended Kalman filter GDOP Geometric Dilution of Precision...
  • Page 158 References 1. ANTARIS Chipset – System Integration- Manual for San Jose Navigation, Doc. No. GPS.G3-DK-03014. 2. ANTARIS Protocol Specifications, Doc. No. GPS.G3-X-03002. 3. NMEA 0183, Standard For Interfacing Marine Electronic Devices, Version 2.30, March 1, 1998.

Table of Contents