Holux GR-87 User manual

GPS
Productseries With HOLUX, You never lose the way!
HOLUX Technology, Inc.
1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park)
TEL: [phone] FAX:[phone] E-mail:[email protected]om.tw Website:www.holux.com.tw
1
GPS Engine Board
Feb. 21, 2006
Version A
OUX Technology Inc.
1F, No. 30, R&D Rd. II, Hsinchu City 300, Science-based Industrial Park, Taiwan.
Phone: [phone] Fax: [phone]
E-Mail: [email protected] Web: www.holux.com.tw
All Right Reserved
User’s Guide
GR-87

GPS
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HOLUX Technology, Inc.
1F, No.30, R&D Road, Hsinchu 300, Taiwan (Hsinchu Science Industrial Park)
TEL: [phone] FAX:[phone] E-mail:[e-mail] Website:www.holux.com.tw
2
TABLE OF CONTENTS
1.Introduction ...................................................................................................3
2. Main Feature................................................................................................4
3. Technical Specifications ...............................................................................5
3.1. Electrical Characteristics....................................................................5
3.2. Environmental Characteristics ...........................................................6
3.3. Physical Characteristics.....................................................................6
4. Software Interface........................................................................................7
4.1 NMEA Transmitted Messages.............................................................7
4.2 RTCM Received Data .......................................................................13
4.3 . Manufacturing Default:....................................................................14
5. Mechanical Dimensions .............................................................................15
5.1 . GR-87-T0A, GR-87-T0C outline: ....................................................15
5.2 . GR-87-T0B, GR-87-T0D outline: ....................................................16
5.3 . Pin assignment of connector :.........................................................17
6. Operation and Test.....................................................................................19
7. Ordering Information ..................................................................................22
7.1 Products Options ..............................................................................22
7.2 Accessories.......................................................................................22
7.3 Other Products..................................................................................22
Appendix A : Reference Design.....................................................................23
Appendix B : Connector .................................................................................23

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1.Introduction
The GR-87 series consists of SiRF star III chipsets technology, LNA and
proprietary software. The system function block is described as follows.
GSP3 GRF3W filter LNA
RX
TX
GPS Antenna
TTL RS-232 signal
HOLUX GR-87 is a high performance, low power consumption, small size,
very easy integrated GPS engine board designed for a broad spectrum of
OEM system applications. This product is based on the proven technology
found in other HOLUX 20 channel GPS receivers and SiRFstar III chipset
solution. The GPS engine board will track up to 12 satellites at a time while
providing fast time-to-first-fix and one-second navigation updates. Its far
reaching capability meets the sensitivity requirements of car navigation as well
as other location-based applications. Therefore, HOLUX GR-87 engine board
is very fit to the customers who devote themselves to AVL system integration
and location-based service.
The GR-87 design utilizes the latest surface mount technology (BGA) and
high level circuit integration to achieve superior performance while minimizing
space and power requirements. This hardware capability combined with
software intelligence makes the board easy to be integrated and used in all
kinds of navigation applications or products. The application system may
communicate with the engine board set via two RS232 compatible
bi-directional communication channels with CMOS/CMOS 3V voltage level.

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2. Main Feature
zBuild on high performance SiRF StarIII chipset.
zAverage Cold Start time and under 45 seconds.
zLow power consumption
z20 channels “All-in-View” tracking.
z200,000+ effective correlators for fast TTFF and high sensitivity
acquisitions
zIntegrated ARM7TDMI CPU with software engineering services and
available for embedded customer defined applications.
zOn chip 1Mb SRAM.
zDual CMOS 3V level serial ports with one for GPS receiver command
message interface, another one for RTCM-104 DGPS input.
zCompact Board Size 1”x1”x0.27”(25.4x25.4x7mm) for easy integration
into hand-held device.
zReacquisition Time 0.1 seconds
zSupport Standard NMEA-0183 and SiRF Binary protocol
zSupport Accurate 1PPS Output Signal Aligned with GPS Timing
zMulti-path Mitigation Hardware
zOn-board RTCM SC-104 DGPS and WAAS /EGNOS Demodulator
zBuilt-in a lithium battery make GPS fast positioning

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3. Technical Specifications
3.1. Electrical Characteristics
3.1.1 General
1). Frequency：L1, 1575.42 MHz.
2). C/A code：1.023 MHz chip rate.
3). Channels：20.
3.1.2 Accuracy (Open Sky)
1). Position：10 meters, 2D RMS.
2). 7 meters 2D RMS, WAAS corrected.
3). 1-5 meters, DGPS corrected.
4). Altitude ：< ± 35m Vertical in term of 95%.
5). Velocity：0.1 meters/second.
6). Time 1 microsecond synchronized to GPS time.
3.1.3 Datum
1). Default：WGS-84.
2). Other Support different datum by request.
3.1.4 Acquisition Rate (Open sky, stationary requirements)
1). Reacquisition：0.1 sec., average.
2). Hot start：1 sec., average.
3). Warm start：38 sec., average.
4). Cold start：42 sec., average.
3.1.5 Dynamic Conditions
1). Altitude : 18,000 meters (60,000 feet)max.
2). Velocity：515 meters/second (1000 knots) max.
3). Acceleration：4g, max.
4). Jerk：20 meters/second, max.
3.1.6 Power
1). Input power input：3.3~5.5 VDC input.
2). Input current: Less than 80 mA (without antenna) .
3). Backup power: 3V Rechargeable Lithium cell battery, up to 500 hours
discharge.

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3.1.7 RF interface
1). Antenna connector type: MMCX, 2.8 VDC output. (optional output
VCC_IN)
2). Minimum signal tracked: -159 dBm.
3.1.8 Serial Port
1). Two full duplex serial communication, CMOS 3V interface, with user
selectable baud rate (4800-Default, 9600, 19200, 38400).
2). NMEA 0183 Version 2.2 ASCII output (GGA, GSA, GSV, RMC (VTG ,
GLL and ZDA for optional)).
3). DGPS protocol RTCM SC-104 message types 1, 2 and 9.
4). SiRF binary-position, velocity, altitude, status output.
3.1.9 TIMEMARK-1PPS Pulse
1). Level CMOS 3V.
2). Pulse duration 1 microsecond.
3). Time reference At the pulse positive edge.
4). Measurements Aligned to GPS second, ±1 microsecond.
3.2. Environmental Characteristics
1). Operating temperature range -10 ℃to +60 ℃.
2). Storage temperature range -20 ℃to +85 ℃.
.
3.3. Physical Characteristics
1) Active Size: 25.4(W) x 25.4(D) x 7(H) (mm) .
2) Weight: 7 g.
3) Interface connector 6-pin straight male header, 1.25 mm pitch .
(Please refer to the appendix B)

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4. Software Interface
The GR-87 interface protocol is based on the National Marine Electronics
Association's NMEA 0183 ASC interface specification, which is defined inⅡ
NMEA 0183, Version 2.2 and the Radio Technical Commission for Maritime
Services (RTCM Recommended Standards For Differential Navstar GPS
Service, Version 2.1, RTCM Special Committee No.104).
As soon as the initial self-test is complete, the GR-87 begins the process
of satellite acquisition and tracking automatically. Under normal circumstances,
it takes approximately 45 seconds to achieve a position fix, 38 seconds if
ephemeris data is known. After a position fix has been calculated, information
about valid position, velocity and time is transmitted over the output channel.
The GR-87 utilizes initial data, such as last stored position, date, time and
satellite orbital data, to achieve maximum acquisition performance. If
significant inaccuracy exists in the initial data, or the orbital data is obsolete, it
may take more time to achieve a navigation solution. The GR-87 Auto-locate
feature is capable of automatically determining a navigation solution without
intervention from the host system. However, acquisition performance can be
improved as the host system initializes the GR-87 in the following situation:
zMoving further than 500 kilometers.
zFailure of Data storage due to the inactive internal memory battery.
4.1 NMEA Transmitted Messages
The default communication parameters for NMEA output are 4800 baud, 8
data bits, stop bit, and no parity.
Table 4-1 NMEA-0183 Output Messages
NMEA Record Description
GPGGA Global positioning system fixed data
GPGLL Geographic position- latitude/longitude
GPGSA GNSS DOP and active satellites
GPGSV GNSS satellites in view
GPRMC Recommended minimum specific GNSS data

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GPVTG Course over ground and ground speed
GPMSS Radio-beacon Signal-to-noise ratio, signal strength,
frequency, etc.
GPZDA PPS timing message (synchronized to PPS)
4.1.1 Global Positioning System Fix Data (GGA)
Table 4-2 contains the values for the following example:
$GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18
Table 4-2 GGA Data Format
Name Example Units Description
Message ID $GPGGA GGA protocol header
UTC Time 161229.487 hhmmss.sss
Latitude 3723.2475 ddmm.mmmm
N/S Indicator N N=north or S=south
Longitude 12158.3416 dddmm.mmmm
E/W Indicator W E=east or W=west
Position Fix Indicator 1 See Table 5-3
Satellites Used 07 Range 0 to 12
HDOP 1.0 Horizontal Dilution of Precision
MSL Altitude (1) 9.0 Meters
Units M Meters
Geoid Separation(1) Meters
Units M Meters
Age of Diff. Corr. second Null fields when DGPS is not used
Diff. Ref. Station ID 0000
Checksum *18
<CR> <LF> End of message termination
(1). SiRF Technology Inc. does not support geoid corrections. Values are WGS84 ellipsoid heights.
Table 4-3 Position Fix Indicator
Value Description
0 0 Fix not available or invalid
1 GPS SPS Mode, fix valid
2 Differential GPS, SPS Mode, fix valid

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3 GPS PPS Mode, fix valid
4.1.2 Geographic Position with Latitude/Longitude(GLL)
Table 4-4 contains the values for the following example:
$GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C
Table 4-4 GLL Data Format
Name Example Units Description
Message ID $GPGLL GLL protocol header
Latitude 3723.2475 ddmm.mmmm
N/S Indicator N N/S Indicator N N=north or S=south
Longitude 12158.3416 dddmm.mmmm
E/W Indicator W E=east or W=west
UTC Position 161229.487 hhmmss.sss
Status A A=data valid or V=data not valid
Checksum *2C
<CR> <LF> End of message termination
4.1.3 GNSS DOP and Active Satellites (GSA)
Table 4-5 contains the values for the following example:
$GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33
Table 4-5 GSA Data Format
Name Example Units Description
Message ID $GPGSA GSA protocol header
Mode 1 A See Table 5-6
Mode 2 3 See Table 5-7
Satellite Used(1) 07 Sv on Channel 1
Satellite Used(1) 02 Sv on Channel 2
…… ….
Satellite Used(1) Sv on Channel 12
PDOP 1.8 Position Dilution of Precision
HDOP 1.0 Horizontal Dilution of Precision
VDOP 1.5 Vertical Dilution of Precision

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Checksum *33
<CR> <LF> End of message termination
1. Satellite used in solution.
Table 4-6 Mode 1
Value Description
M Manual—forced to operate in 2D or 3D mode
A2DAutomatic—allowed to automatically switch 2D/3D
Table 4-7 Mode 2
Value Description
1 Fix Not Available
2 2D
3 3D
4.1.4 GNSS Satellites in View (GSV)
Table 4-8 contains the values for the following example:
$GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71
$GPGSV,2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41
Table 4-8 GSV Data Format
Name Example Units Description
Message ID $GPGSV GSV protocol header
Number of Messages(1) 2 Range 1 to 3
Message Number(1) 1 Range 1 to 3
Satellites in View 07
Satellite ID 07 Channel 1 (Range 1 to 32)
Elevation 79 degrees Channel 1 (Maximum 90)
Azimuth 048 degrees Channel 1 (True, Range 0 to 359)
SNR (C/No) 42 dBHz Range 0 to 99, null when not tracking
.... ....
Satellite ID 27 Channel 4 (Range 1 to 32)
Elevation 27 degrees Channel 4 (Maximum 90)
Azimuth 138 degrees Channel 4 (True, Range 0 to 359)

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SNR (C/No) 42 dBHz Range 0 to 99, null when not tracking
Checksum *71
<CR> <LF> End of message termination
(1). Depending on the number of satellites tracked multiple messages of GSV data may be required.
4.1.5 Recommended Minimum Specific GNSS Data (RMC)
Table 4-9 contains the values for the following example:
$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10
Table 4-9 RMC Data Format
Name Example Units Description
Message ID $GPRMC RMC protocol header
UTC Time 161229.487 hhmmss.sss
Status A A=data valid or V=data not valid
Latitude 3723.2475 ddmm.mmmm
N/S Indicator N N=north or S=south
Longitude 12158.3416 dddmm.mmmm
E/W Indicator W E=east or W=west
Speed Over Ground 0.13 knots
Course Over Ground 309.62 degrees True
Date 120598 ddmmyy
Magnetic Variation(1) degrees E=east or W=west
Checksum *10
<CR> <LF> End of message termination
(1). SiRF Technology Inc. does not support magnetic declination. All “course over ground” data are geodetic WGS84
directions.
4.1.6 Course Over Ground and Ground Speed (VTG)
Table 4-10 contains the values for the following example:
$GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E

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Table 4-10 VTG Data Format
Name Example Units Description
Message ID $GPVTG VTG protocol header
Course 309.62 degrees Measured heading
Reference T True
Course degrees Measured heading
Reference M Magnetic(1)
Speed 0.13 knots Measured horizontal speed
Units N Knots
Speed 0.2 km/hr Measured horizontal speed
Units K Kilometers per hour
Checksum *6E
<CR> <LF> End of message termination
(1). SiRF Technology Inc. does not support magnetic declination. All “course over ground” data are geodetic WGS84
directions.
4.1.7 MSK Receiver Signal (MSS)
Table 4-11 contains the values for the following example:
$GPMSS,55,27,318.0,100,*66
Table 4-11 MSS Data Format
Name Example Units Description
Message ID $GPMSS MSS protocol header
Signal Strength 55 dB dB SS of tracked frequency
Signal-to-Noise
Ratio
27 dB SNR of tracked frequency
Beacon Frequency 318.0 kHz Currently tracked frequency
Beacon Bit Rate 100 100 bits per second
Checksum 66
<CR> <LF> End of message termination
Note – The MSS NMEA message can only be polled or scheduled using the
MSK NMEA input message.

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4.1.8 ZDA—SiRF Timing Message
Outputs the time associated with the current 1 PPS pulse. Each message
will be output within a few hundred ms after the 1 PPS pulse is output and will
tell the time of the pulse that just occurred.
Table 4-12 contains the values for the following example:
$GPZDA,181813,14,10,2003,00,00*4F
Table 4-12 ZDA Data Format
Name Example Units Description
Message ID $GPZDA ZDA protocol header
UTC Time 181813 Either using valid IONO/UTC or
estimated from default leap seconds
Day 14 01 TO 31
Month 10 01 TO 12
Year 2003 1980 to 2079
Local zone hour 00 knots Offset from UTC (set to 00)
Local zone hour 00 Offset from UTC (set to 00)
Checksum 4F
<CR> <LF> End of message termination
4.2 RTCM Received Data
The default communication parameters for DGPS Input are 9600 baud, 8
data bits, stop bit, and no parity. Position accuracy of less than 5 meters can be
achieved with the GPS-82 by using Differential GPS (DGPS) real-time
pseudo-range correction data in RTCM SC-104 format, with message types
1,2, or 9. As using DGPS receiver with different communication parameters,
GPS-82 may decode the data correctly to generate accurate messages and
save them in battery-back SRAM for later computing.

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4.3 . Manufacturing Default:
Parameter ComA ComB
Input Protocol NMEA Binary RTCM SC-104
OutputProtocol NMEA Binary None
Baud Rate 4800 9600
ParityNone None
StopBits 1 1
DataBits 8 8
Datum: WGS84.
Protocol GGA, GSA, GSV, RMC or by demand.
4.3.1 Setting Syntax
Datum change syntax:
>DOS\Sirfprog /Fdataxx.dat –Px –Bx –Csh1
-Px: x is com port, 1= COM1 2 = COM2
-Bx: Baud rate, 4800, 9600, 19200 or 38400
Example:
Change Datum to WGS84,
Sirfprog /Fdata58.dat –P1 –B4800 –Csh1 <Entry>
After change datum, the new datum will keep in SRAM. If long time (more
than 7 days) no power supplied to GR-87, user must resend datum to GR-87
when power on.
4.3.2 Addition Software
SiRFdemo is the Evaluation Receiver configuration and monitoring
software provided with the GR-87. This software can be used to monitor
real-time operation of the GR-87 Receiver, log data for analysis, upload new
software to the Receiver, and configure the Receiver operation. See setup.pdf
for more information on the use and operation of SiRFdemo software.

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5. Mechanical Dimensions
5.1 . GR-87-T0A, GR-87-T0C outline:
zPicture
zDesign Layout Diagram: (unit mm)
Pin 1
J1 Connector
MMCX Active Ant connector

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5.2 . GR-87-T0B, GR-87-T0D outline:
zPicture
zDesign Layout Diagram: (unit mm)
J1 Connector
MMCX Active Ant connector
Pin 1

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5.3 . Pin assignment of connector :
Table 5-1 is pin list of the 6-Pin Interface Connector. Connector is Male
header 1.25mm pitch DIP R/A type. Actual pin size see appendix B.
Table 5-1 J1 connector pin definition:
Pin Pin Name Function description
1 VCC_5V +3.5~5.5Vdc power input
2 TXA
Serial Data output port A(CMOS 3V Level:
Voh 2.4V Vol 0.4V Ioh=Iol=2mA)≧≦
3 RXA
Serial Data input port A(CMOS 3V Level
Vih≧0.7*VCC Vil≦0.3*VCC)
4 RXB
Serial Data input port B(CMOS 3V Level
Vih≧0.7*VCC Vil≦0.3*VCC)
5 GND Power ground
6 TIMEMARK/
RESET (option)
TIMEMARK: 1PPS Time mark output(Vil≦0.2V Pulse
Width 10ms).
RESET: Reset Input (Active Low)(option function)
5.3.1 VCC_5V
This is the main DC power supply for a +3.3~ 5.5 V engine board.
5.3.2 TXA
This is the main transmitting channel and is used to output navigation and
measurement data for user written software.
5.3.3 RXA
This is the main receiving channel and is used to receive software
commands to the board from user written software.
5.3.4 RXB
This is the auxiliary receiving channel and is used to input differential
corrections to the board to enable DGPS navigation.
5.3.5 GND
GND provides the ground for the board. Connect all grounds.

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5.3.6 TIMEMARK (default)/ RESET (option)
This pin default is provides 1 pulse per second output from the GR-87
engine board, which is synchronized to within 1 microsecond of GPS time. The
output is a CMOS 3V positive level signal. Only upon a situation of tracking or
navigating will output once per second. This is not available in Trickle-Power
mode.
The secondary option function is provides an active-low reset input to the
engine board. It causes the engine board to reset and start searching for
satellites. (This second function setting need contact factory).

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6. Operation and Test
The customers can use HOLUX GPSView.exe to test the engine board.
GPSViewer.exe is compatible with Microsoft Pocket PC or other operation
system alike.
1). Install Microsoft ActiveSync to your PC, refer to your Pocket PC
manual for installation procedure, as Fig. 6.1.
2). Setup your Pocket PC cradle to Desktop PC UART port. The Microsoft
ActiveSync will detect your Pocket PC automatically.
Setup your Pocket PC cradle to Desktop PC UART port. The Microsoft
ActiveSync will detect your Pocket PC automatically, as Fig. 6.1.
(Fig. 6.1)
3). Double click the GPSViewer.exe on your PC, then Holux
GPSViewer.exe program will install automatically, as Fig. 6.2.
(Fig. 6.2)

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4) Open “GPSViewer” on PC, as Fig. 6.3.
(Fig. 6.3)
5) The following window is show after executing
6) GPSViewer, as Fig. 6.4.
(Fig. 6.4)
7) Setup Baud rate: 4800, then push “Scan” bottom to scan your COM
Port . Select your COM Port (COM1 ~ COM10), then push “Open GPN”
bottom, as Fig. 6.5, Fig. 6.6, and Fig. 6.7.
(Fig.6.5) (Fig.6.6) (Fig.6.7)