Levave GPS-R35 User manual

GPS-R35 User Manual
Levave www.levave.com
Levave
GPS-R35
GPS Receiver
User’s Guide
Oct.01,2005
Page 1 of 17

GPS-R35 User Manual
Levave www.levave.com
Page 2 of 17
TABLE OF CONTENTS
1. Introduction ……………………………………………………………………………………….. 3
1.1 Overview …………………………………………………………………………………….. 3
1.2 Features …………………………………………………………………………………….. 3
1.3 Technical Specifications ……………………………………………………………….. 4
2. Operational Characteristics ……………………………………………………………….… 5
2.1 Initialization …………………………………………………………………………………. 5
2.2 Navigation …………………………………………………………………………………. 5
3. Hardware Interface ………………………………………………………………………….…… 6
3.1 Hardware Connector …………………………………………………………………… 6
3.2 Interface ………………………………………………………………………………….…… 7
3.3 Accessories …………………………………………………………………………………. 7
4. USB Driver ……………………………………………………………………………………….… 8
4.1 System Requirement ……………………………………………………………………… 8
4.2 Installation ………………….…………………………………………………………….… 8
4.2 Important …………….………………………………………………………………………. 8
5. Software Interface …………………………………………………………………………….… 9
5.1 NMEA Transmitted Sentences ……………………………………………………..… 9
6. Earth Datums ………………………………………………………………………………………. 16
7. Warranty ……………………………………………………………………………………………… 17

GPS-R35 User Manual
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Page 3 of 17
1. Introduction
1.1 Overview
The Levave GPS-R35 Smart GPS Receiver is a total solution GPS receiver, designed based
on SiRFstarTMIII GPS architecture,GSC3F(High Performance GPS Single Chip) This
positioning application meets strict needs such as car navigation, mapping, surveying, security,
agriculture and so on. Only clear view of sky and certain power supply are necessary to the unit. It
communicates with other electronic utilities via compatible dual-channel through RS-232 or TTL and
saves critical satellite data by built–in backup memory. With low power consumption, the
GPS-R35 tracks up to 20 satellites at a time, re-acquires satellite signals in 100 ms and
updates position data every second. Trickle-Power allows the unit operates a fraction of the
time and Push-to-Fix permits user to have a quick position fix even though the receiver
usually stays off.
1.2 Features
The GPS-R35 provides a host of features that make it easy for integration and use.
1. High performance receiver tracks up to 20 satellites while providing first fast fix and low
power consumption.
2. Differential capability utilizes real-time RTCM corrections producing 1-5 meter position
accuracy.
3. Compact design ideal for applications with minimal space.
4. A rechargeable battery sustains internal clock and memory. The battery is recharged
during normal operation.
5. User initialization is not required.
6. Dual communication channels and user selectable baud rates allow maximum interface
capability and flexibility.
7. Optional communication levels, RS-232 and TTL meet ordinary application and new
fashions of connecting PDA with TTL or RS-232 output.
8. FLASH based program memory: New software revisions upgradeable through serial
interface.
9. Built-in WAAS Demodulator.
10.Water proof design for industry standard.

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Page 4 of 17
1.3 Technology specifications
1.3.1. Electrical Characteristics
Items Description
Chipset Chipset GSP2e/LP SiRFstar
TM
III GPS architecture
Frequency L1, 1575.42 MHz
C/A code 1.023 MHz chip rate
General
Channels 20
10 meters, 2D RMS
7 meters 2D RMS, WAAS corrected
Position
1-5 meters, DGPS corrected
Velocity 0.1 meters/second
Accuracy
Time 1 microsecond synchronized to GPS time
Default WGS-84 Datum
Other selectable for other Datum
Reacquisition 0.1 sec., average
Hot start 1 sec., average
Warm start 38 sec., average
Acquisition
Rate(Open Sky
&Stationary
Requirements)
Cold start 42 sec., average
Altitude 18,000 meters (60,000 feet) max.
Velocity 515 meters/second (1000 knots) max.
Acceleration 4g, max.
Dynamic
Conditions
Jerk 20 meters/second3, max.
Main power input 5V DC input.
Power consumption ≈0.225 W (continuous mode)
Power
Supply Current ≈45mA
Electrical interface One UART for Data INPUT (RX) and OUTPUT (TX)Serial Port
Protocol messages NMEA-0183 or SiRF Binary
1.3.2. Other Characteristics
Items Description
Operating temperature range -40 deg. C to +85 deg. C Environmental
Characteristics Storage temperature range -55 deg. C to +100 deg. C
Length 56.6mm( 2.22inch)
Width 50.6mm(1.99 inch)
Height 15.5mm(0.57 inch)
Weight 145g
Connector None
Physical
Characteristics
Cable length None

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Page 5 of 17
1.3.3. Firmware Characteristics
Items Description
Core of firmware SiRF version 2.3
Baud rate 9600
Code type NMEA-0183
Datum WGS-84
Protocol message &Output frequency GGA(1Hz), GSA(1Hz), GSV(1Hz), RMC(1Hz),VTG(1Hz)
1.3.4 Interfaces
1) Dual channel RS-232 or TTL compatible level, with user selectable baud rate
(4800-Default, 9600, 19200, 38400).
2) NMEA 0183 Version 2.4 ASCII output (GGA, GSA, GSV, RMC, option GLL, VTG, ZDA).
3) Real-time Differential Correction input (RTCM SC-104 message types 1,2 and 9).
4) SiRF binary protocol.
2. Operational characteristics
2.1 Initialization
As soon as the initial self-test is complete, the GPS-R35 begins the process of satellite
acquisition and tracking automatically. Under normal circumstances, it takes approximately
42 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 GPS-R35 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 GPS-R35 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 GPS-R35 in the following
situation:
1) Moving further than 500 kilometers.
2) Failure of data storage due to the inactive internal memory battery.
2.2 Navigation
After the acquisition process is complete, the GPS-R35 sends valid navigation
information over output channels. These data include:
1) Latitude/longitude/altitude
2) Velocity
3) Date/time
4) Error estimates
5) Satellite and receiver status
The GPS-R35 sets the default of auto-searching for real-time differential corrections in
RTCM SC-104 standard format, with the message types 1, 5, or 9. It accomplishes the
satellite data to generate a differential (DGPS) solution. The host system, at its option, may
also command the GPS-R35 to output a position whenever a differential solution is available.

GPS-R35 User Manual
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3. Hardware interface
3.1 Hardware Connector
1、Rs232 composite connectors
2、Only cable composite connectors
3、PS-2 female composite connectors
4、Function definition of Rs232 female composite connectors
Function definition of Cable composite connectors
Function definition of PS-2 female composite connectors
Signal Name Rs232 DB9 PinS Cable Ps2 PinS
Vcc Pin1 RD：read Pin2
Tx Pin2 GR：green Pin1
Rx Pin3 WT：white Pin6
Ground Pin5 BK：black Pin4
N.C Pin4、Pin6-Pin9 N.C Pin3、Pin5
N.C = No connection
Rx ：RS232 level (Data Input from PC/Notebook/PDA to GPS. )
Tx ：RS232 level (Data Output from GPS to PC/Notebook/PDA.)
Page 6 of 17

GPS-R35 User Manual
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3.2 Hardware Interface
The GPS-R35 includes an antenna in a unique style waterproof gadget. Simply
connect PS-2 female connector to one of the accessories linking to your notebook PC, PDA
or other devices. The one-piece cigarette adapter allows you to connect GPS-R35 to your
PDAs. Optional color, input voltage and output connector are listed and described below:
3.3 Accessories
3.3.1 CA-RS232: DB 9 pins Female and PS-2 male connector:
Cable Length: To GPS-R35: 4.5 meter
RS-232 to PS-2: 25 cm
3.3.1.1 DB 9 pins Female connector function definition:
Pin Signal Name
1 N.C
2 Tx
3 Rx
4 N.C
5 GND
6 N.C
7 N.C
8 N.C
9 DGPS in
N.C = No connection
3.3.1.2 PS2 composite connector function definition:
Pin Signal Name
1 +5V
2 N.C
3 N.C
4 Ground
5 N.C
6 N.C
N.C = No connection
Page 7 of 17

GPS-R35 User Manual
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3.3.2 CA-USB: USB connector
The USB A Type is equipped with GPS-R35. The function definition is as follows:
Page 8 of 17
Pin Signal Name
1 +5V
2 D +
3 D -
4 Ground
4. USB Driver
4.1 System Requirements
IBM, Pentium or above and other compatible PC; 16 MB and above memory; Windows
98/Me/2000; VGA Graphic Adapter.
4.2 Installation
1. Copy entire < GPS-R35 USB> folder from CD to hard disk.
2. Connect GPS-R35 USB connector to computer. While the computer automatically starts
the installation program, please direct the driver to the < GPS-R35 USB> folder.
3. After the installation is complete, go to <Device Manager> and select <Ports (COM &
LPT)> to verify if a virtual COM port <USB to Serial Port> was created.
4.3 Important
Verify the COM port # to start using your own navigating software.
1. Click <Start> menu, select <Settings>, then enter <Control Panel>.
2. After entering <Control Panel>, select <System>.
3. Select <Device Manager>.
4. Find the <Connect port> and check the Virtual COM Port, which was created by the
USB driver,
Please note that the Virtual COM Port number might be different from every computer.
Before using navigating software, please confirm the COM Port numbers created by your
computer and provided by your navigation software. Otherwise, the navigating software
won’t receive the satellite signal, because of the un-match COM Port setting.

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Page 9 of 17
5. Software Interface
The GPS-R35 interface protocol is based on the National Marine Electronics
Association's NMEA 0183 ASCⅡinterface specification, which is defined in 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, Type 1,2,9) or WAAS (in USA area) or EGNOS (in European area)
5.1 NMEA Transmitted Messages
OutputMessages
Table 1-1 lists each of the NMEA output messages specifically developed and defined
by SiRF for use within SiRF products.
Table 1-1 NMEA Output Message
Option Description
GGA Time, position and fix type data.
GLL Latitude, longitude, UTC time of position fix and status.
GSA GPS receiver operating mode, satellites used in the position solution, and DOP values
GSV The number of GPS satellites in view satellite ID numbers, elevation, azimuth, an
d
SNR values
RMC Time, date, position, course and speed data.
VTG Course and speed information relative to the ground.
A full description and definition of the listed NMEA messages are provided by the next
sections of this chapter.
Table 1-2 provides a summary of supported SiRF NMEA output messages by the
specific SiRF platforms.
Table 1-2 Supported NMEA
Messa
g
e SiRF Software Options
GGA Yes
GLL Yes
GSA Yes
GSV Yes
RMC Yes
VTG Yes

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Page 10 of 17
GGA ―Global Positioning System Fixed Data
Table 1-3 contains the values for the following example:
$GPGGA, 161229,487, 3537.1683,N, 13943.8511,E,1.07,1.0,9.0,M….0000*18
Table 1-3 GGA Data Format
Name Example Units Description
Message ID $GPGGA GGA protocol header
UTC Time 161229,487 hhmmsssss
Latitude 3537.1683 ddmm.mmmm
N/S Indicator N N-north or s-south
Longitude 13943.8511 ddmm.mmmm
E/W Indicator E E=east or W=west
Position Fix Indicator I See Table 1-4
Satellites Used 07 Range 0 to 12
HDOP 1.0 Horizontal Dilution of Precision
MSL Altitude 9.0 Meters
Units M Meters
Geoid Separation 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
Table 1-4 Position Fix Indicator
Value Description
0 Fix not available or invalid
1 GPS SPS Mode, fix valid
2 Differential GPS, SPS Mode, fix valid
3-5 Not supported
6 Dead Reckoning Mode, fix valid
Note – A valid position fix indicator is derived from the SiRF Binary M.I.D. 2position
mode1
See the SiRF Binary Reference Manual

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Page 11 of 17
GLL ―Geographic Position-Latitude/Longitude
Table 1-5 contains the values for following example:
$GPGLL, 3537.1683,N, 13943.8511,E,161229.487,A,A*41
Table 1-5 GLL Data Format
Name Example Units Description
Message ID $GPGLL GLL protocol header
Latitude 3537.1683 ddmm.mmmm
N/S Indicator N N=north or S=south
Longitude 13943.8511 dddmm.mmmm
E/W Indicator E E=east or W=west
UTC Time 161229.487 hhmmss.sss
Status A A= data valid or V=data not valid
Mode A A=Autonomous, D=DGPS, E=DR
Checksum *41
<CR><LF> End of message termination

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GSA ―GNSSDOP and Active Satellites
Table 1-6 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 1-6 GSA Data Format
Name Example Units Description
Message ID $GPGSA GSA protocol header
Mode 1 A See Table 1-7
Mode 2 3 See Table 1-8
Satellite Used
107 Sv on Channel 1
Satellite Used
102 Sv on Channel 2
…. ….
Satellite Used
1Sv on Channel 12
PDOP 1.8 Position Dilution of Precision
HDOP 1.0 Horizontal Dilution of Precision
VDOP 1.5 Vertical Dilution of Precision
Checksum *33
<CR><LF> End of message termination
1. Satellite used in solution
Table 1-7 Mode 1
Value Description
M Manual-forced to operate in 2D or 3D mode
A 2Dautomatic-allowed to automatically switch 2D/3D
Table 1-8 Mode 2
Value Description
1 Fix not Available
2 2D(<4SV’s used)
3 3D(>3SV’s used)

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Page 13 of 17
GSV ―GNSS Satellites in View
Table 1-9 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 1-9 GSV Data Format
Name Example Units Description
Message ID $GPGSV GSV protocol header
Number of Messages
12 Range 1 to 3
Message Number
11 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)
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.

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Page 14 of 17
RMC ―Recommanded Minimum Specific GNSS Data
Table 1-11 contains the values for the following example:
$GPRMC,161229.487,A, 3537.1683,N, 13943.8511,E,0.13,309.62,120598, ,*10
Table 1-11 RMC Data Format
Name Example Units Description
Message ID $GPRMC RMC protocol header
UTC Time 161229.487 hhmmss.mmmm
Status A A=data valid or V=data not valid
Latitude 3537.1683 ddmm.mmmm
N/S Indicator N N=north or S=south
Longitude 13943.8511 ddmm.mmmm
E/W Indicator E E=east or W=west
Speed over Ground 0.13 knots
Course over Ground 309.62 degrees True
Date 120598 ddmmyy
Magnetic Variation degrees E=east or W=west
Checksum *10
<CR><LF> End of message termination
1. A valid status is derived from the SiRF Binary. M.I.D 2 position mode 1. See the
SiRF Binary Reference Manual.
2. SiRF Technology Inc. dose not support magnetic declination. All “course over
ground” data are geodetic WGS84 directions.

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Page 15 of 17
VTG ―Course Over Ground and Ground Speed
Table 1-12 contains the values for the following example:
$GPVTG,309.62,T, ,M,0.13,N,0.2,K,A*23
table 1-12 VTG Data Format
Name Example Units Description
Message ID $GPVTG VTG protocol header
Course 309.62 degrees Measured herding
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
Mode A A=Autonomouse, D=DGPS, E=DR
Checksum *23
<CR><LF> End of message termination
1. SiRF Technology Inc. dose not support magnetic declination. All “course over
ground” data are geodetic WGS84 directions.

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Page 16 of 17
6. Earth Datums
6.1 Earth Datums
The following is a list of the GPS-R35 earth datum index and the corresponding earth
datum name:
Item Datum Reference Ellipsoid Data name
1 Adindan - Ethiopia Clarke 1880 Data1.dat
2 Afgooye – Somalia Krassovsky Data2.dat
3 Alaska, Conus – NorthAmerican 1983 GRS 1980 Data3.dat
4 Albania – S-42 (Pulkovo 1942) Krassovsky 1940 Data63.dat
5 Argentina South American 1969 Data4.dat
6 Australia Australian – National Data70.dat
7 Bahrain – Ain elABD 1970 International Data5.dat
8 Bangladesh Everest 1830 Data6.dat
9 Bolivia South American 1969 Data8.dat
10 Botswana – ARC 1950 Clarke 1880 Data7.dat
11 Brazil South American 1969 Data9.dat
12 Brunel, East Malaysia Everest (Sabah & Sarawak) Data37.dat
13 Canada – North American 1983 GRS 1980 Data10.dat
14 Chile South American 1969 Data13.dat
15 Colombia South American 1969 Data12.dat
16 Colombia – Provisional American 1956 International Data11.dat
17 Czechoslovakia – S-42 (Pulkovo 1942) Krassovsky 1940 Data64.dat
18 Ecuador South American 1969 Data14.dat
19 European 1950 – Central Regional Mean International Data29.dat
20 European 1950 – Cyprus International Data15.dat
21 European 1950 – Eastern Regional Mean International Data16.dat
22 European 1950 – Egypt International Data17.dat
23 European 1950 – Finland, Norway International Data18.dat
24 European 1950 – Greece International Data19.dat
25 European 1950 – Iran International Data20.dat
26 European 1950 – Italy (Sardinia) International Data21.dat
27 European 1950 – Italy (Sicily) International Data22.dat
28 European 1950 – Malta International Data23.dat
29 European 1950 – Northern Regional Mean International Data24.dat
30 European 1950 – Portugal, Spain International Data25.dat
31 European 1950 – Southern Regional Mean International Data26.dat
32 European 1950 – Tunisia International Data27.dat
33 European 1950 – Western Regional mean International Data28.dat
34 Guyana - South American 1969 South American 1969 Data30.dat
35 Hawaii-North American 1983 GRS1980 Data32.dat
36 Hong Kong International Data31.dat
37 Hu_Tsu_Shan Taiwan International Data33.dat
38 Hungary – S-42 (Pulkovo 1942) Krassovsky 1940 Data65.dat
39 Indian 1960 Everest 1830 Data34.dat
40 Ireland - 1965 Modified Airy Data35.dat
41 Kazakhstan – S-42 (Pulkovo 1942) Krassovsky 1940 Data65.dat
42 Kenya, Tanzania- ARC 1960 Clarke 1880 Data53.dat
43 Latvia – S-42 (Pulkovo 1942) Krassovsky 1940 Data67.dat
44 Liberia – 1964 Clarke 1880 Data36.dat
45 Mexico, central America GRS1980 Data38.dat
46 OMAN Clarke 1880 Data39.dat
47 Pakistan Everest 1830 Data40.dat
48 Paraguay - South American 1969 South American 1969 Data42.dat
49 Peru1 – South American 1969 South American 1969 Data41.dat

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50 Philippines Clarke 1866 Data43.dat
51 Poland – S-42 (Pulkovo 1942) Krassovsky 1940 Data68.dat
52 Potsdam Bessel 1841 Data71.dat
53 Puerto Rico – Virgin Islands Clarke 1866 Data44.dat
54 Qatar national International Data45.dat
55 Qornoq – Greenland (SOUTH) International Data46.dat
56 Regional Mean South American 1969 Data48.dat
57 Reunion – Mascarene Islands International Data47.dat
58 Romania – S-42 (Pulkovo 1942) Krassovsky 1940 Data69.dat
59 Rome 1940 – Italy International Data49.dat
60 Saudi Arabia – Ain el Abd 1970 International Data50.dat
61 Singapore Modified Fischer 1960 Data51.dat
62 South Africa Clarke 1880 Data52.dat
63 Thailand 1975 Everest 1830 Data54.dat
64 Tokyo_Japan Bessel 1841 Data60.dat
65 Tokyo_Korea Bessel 1841 Data61.dat
66 Tokyo_Mean Bessel 1841 Data59.dat
67 Tokyo_Okinawa Bessel 1841 Data62.dat
68 Trinidad, Tobago South American 1969 Data55.dat
69 Venezuela South American 1969 Data57.dat
70 Venezuela – ProvisionalAmerican 1956 International Data56.dat
71 WGS84 WGS84 Data58.dat
7. Warranty
The GPS-R35 is warranted to be free from defects in material and functions for one year from the date of
purchase. Any failure of this product within this period under normal conditions will be replaced at no charge to
the customers.

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