Nokia 9000 User manual

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Copyright. 1999. Nokia Mobile Phones. All right reserved
Quick Guide for
Nokia 9000/9000i/9110 Communicator
GPS – SMS Application
Version 1.0
By
Nokia Mobile Phones

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Copyright. 1999. Nokia Mobile Phones. All right reserved
Table of Contents
1. ABBREVIATIONS............................................................................................................................. 3
2. APPLICATION................................................................................................................................. 6
2.1 THE SERIAL PORT CONNECTION.............................................................................................. 6
2.2 THE USER INTERFACE............................................................................................................. 6
2.3 THE SMS SENDING SUPPORT. .............................................................................................. 10
3. GPS FRAME STRUCTURE............................................................................................................. 11
3.1 GGA FRAME......................................................................................................................... 11
3.2 VTG FRAME......................................................................................................................... 12
4. SMS STRUCTURE........................................................................................................................ 13
5. LEGAL NOTICE ............................................................................................................................ 13

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1. ABBREVIATIONS
This section defines some technical terms and abbreviations used in the field of GPS technology.
Almanac A reduced-precision subset of the ephemeris parameters. Used by the
receiver to compute the elevation angle, azimuth angle and estimated
Doppler of the satellites. Each satellite broadcasts the almanac for all the
satellites in the system
C/A code The Coarse/Acquisition code. This is the civilian code made available by
the Department of Defense (DOD). It is subject to selective availability
(SA). Users can reduce the effects of SA using differential GPS.
DGPS Differential GPS is a procedure for correcting GPS solutions to achieve
improved position accuracy. Differential GPS provides 2 to 5 meter
position accuracy. Differential accuracy is obtained by applying
corrections determined by the stationary Differential GPS Reference
Station to the GPS data collected by the RPU unit on board the vehicle.
Differential Relative
Positioning Determination of the relative coordinates of two or more receivers which are simultaneously tracking the same satellites. Static differential GPS
involves determining baseline vectors between pairs of receivers.
DOP (Dilution of
precision) A description of the purely geometrical contribution to the uncertainly in a position fix, given by the expression DOP = SQRT TRACE (AA) where
AA is the design matrix for the instantaneous position solution
(dependent on satellite-receiver geometry). Standard terms for the GPS
application are:
GDOP: Geometric (three position coordinates plus clock offset in the
solution)
PDOP: Position (three coordinates)
HDOP: Horizontal (two horizontal coordinates)
VDOP: Vertical (height only)
TDOP: Time (clock offset only)
Epoch Measurement interval or data frequency, as in making observations every
15 seconds. Loading data using 30-second epochs means loading every
other measurement
GDOP Geometric Dilution of Precision. GDOP describes how much an
uncertainly in pseudo-range and time affects the uncertainty in a position
solution. GDOP depends on where the satellites are relative to the GPS
receiver and on the GPS clock offsets.
Geoidal separation Geoidal separation is the difference between the WGS-84 earth ellipsoid
and mean-sea-level

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GPD GPS with differential corrections applied.
GPS Global Positioning System. A constellation of 24 radio navigation
satellites which transmit signals used (by GPS receivers) to determine
precise location (position, velocity and time) solutions. GPS signals are
available worldwide, 24 hours a day, in all weather conditions. This
system also includes 5 monitor ground stations, 1 master control ground
station and 3 upload ground stations. GPS provides 20 to 50 meter
position accuracy without differential correction.
GPS Antenna An antenna designed to receive GPS radio navigation signals.
GPS Receiver The combination of a GPS antenna and a GPS processor.
GPS Time The length of the second is fixed and is determined by primary atomic
frequency standards. Leap seconds are not used, as they are in UTC.
Therefore, GPS time and UTC differ by a variable whole number of
seconds.
Maximum PDOP A measure of the maximum Position Dilution of Precision that is
acceptable in order for a GPS processor to determine a location solution.
NAVSTAR The name given to the GPS satellites, built by Rockwell International,
which is an acronym formed from NAVigation System with Time And
Ranging.
NMEA National Marine Electronics Association. An association that defines
marine electronics interface standards for the purpose of serving the
public interest.
NMEA 0183 message The NMEA 0183 is a standard for interfacing marine electronics
navigational devices. The standard specifies the message format used to
communicate with marine devices/components.
PDOP Position Dilution of Precision. PDOP is a unitless figure of merit that
describes how an uncertainty in pseudo-range affects a position solution.
Relative Positioning The process of determining the vector distance between two points and
the coordinates of one spot relative to another. This technique yields a
GPS position with greater precision than single point positioning mode
can.
RS-232 A communication standard for digital data.
RxD Received Data. RS-232 Signal Function Connector Pin Designation.
SA Selective Availability

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Satellite masks As satellites approach the horizon, their signals can become weak and
distorted, preventing the receiver from gathering accurate data. Satellite
masks enable you to establish criteria for using satellite data in a position
solution. There are three types of satellite masks: Elevation, SNR and
PDOP.
SMS Short Message Service
SMS-C Short Message Service Centre
SPS Standard positioning service. Refers to the GPS as available to the
authorized user.
TAIP Trimble ASCII Interface Protocol
TANS Trimble Advanced Navigation Sensor
TSIP Trimble Standard Interface Protocol
TxD Transmitted Data. RS-232 Signal Function Connector Pin Designation.
UTC Universal Time Coordinates. Uniform atomic time system/standard that is
maintained by the US Naval Observatory. UTC defines the local solar
mean time at the Greenwich Meridian
UTC offset The difference between local time and UTC time (Example: UTC – EST =
5 hours)

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2. APPLICATION
There are three main parts in the application:
•The serial port connection
•The User Interface
•The SMS sending support.
This application has been successfully used with a GPS receiver which has Trimble's ACE II 8-
channel GPS receiver board and Aztec's OEM4000 RDS board. It uses Trimble's miniature OEM
Antenna. However this application can also be used without the RDS board. This application
supports the NMEA 0183 protocol and GGA and VTG frames.
2.1 The Serial Port Connection
The application receives defined location frames from a GPS device using serial cable. The frame
structure is explained later on in this document (Section 3). There is no need to edit frames in the
communicator. The line feed (\n) between the GGA frame and the VTG frame is erased by the
application. Only Ground and RxD pins are needed on the communicator end. The GPS device
uses only Ground and TxD pins to send the frames. The easiest way is to use the communicator's
normal PC-cable (DLR-1 or DLR-2) and pin-converter, if needed.
One example of a pin-converter is shown in Figure 1.
Figure 1. Example of a Pin-Converter.
2.2 The User Interface.
There are four selectable functions on the main UI (Figure 2):
1. The Start button starts sending position information according to the settings.
2. The Reset button clears the current position information.
3. The Settings button opens the settings screen.
4. The Quit button exits from the software.
More exact UI Figures are specified later on in this section.
Communicator
PC-cable
(female)
Converter
(male)
Pin 5 GND
Pin 2 RxD
Pin 3 TxD
Converter
(female)
Pin 5 GND
Pin 9 RxD (RDS)
Pin 7 TxD (NMEA)
GPS receiver
(male)

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Here are a few captures from the Nokia 9110 Communicator screens. The Nokia 9000/9000i
Communicator screens are very similar. Only the grey status bar on the left side differs a bit from
the Nokia 9110 Communicator status bar.
Figure 2 shows the main view of the application when it has been started from the Communicator's
"Extras" menu.
Figure 2. The Application Main View.
The text “No link to the GPS device yet” means that the cable between the communicator and the
GPS receiver is out of order or is not connected properly.
After the both connections from the satellite to the GPS and from the GPS to the communicator are
OK, the next menu is shown to the user (Figure 3). First the only information given is the number of
satellites that the GPS receiver has made contact with, the time and the GPS quality; later on other
information (latitude, longitude, speed…) is displayed as shown in Figures 4 and 5.
Figure 3. The Menu after a valid connection has been established.

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In Figure 4 the DGPS is OFF (No FM antenna contacted). The coordinates are only given correct to
3 decimal places and the GPS quality is GPS. In this Figure the Speed is 0.0 km/h and the Direction
is 0.0 because the GPS receiver with antenna is not moving.
Figure 4. The Menu when the GPS quality is GPS.
In Figure 5 the DGPS in ON (FM antenna contacted). The coordinates are given correct to 4
decimal places and the GPS quality is DGPS. In this Figure the Speed is 0.0 km/h and the Direction
is 0.0 because the GPS receiver with antenna is not moving.
Figure 5. The Menu when the GPS quality is DGPS.
The Settings button opens the settings screen. There are three settings:
1. SMS centre number
2. Receiver’s (Destination) number
3. Sending frequency in seconds.

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The user can simply type the required "SMS-c number", "Destination number" and "Sending
frequency in sec’s" to the settings screen as shown in Figure 6. The sending frequency is limited to
between 1 and 999 seconds. Settings can be saved by pressing the Save button. Pressing the
Cancel button cancels the latest setting changes.
Figure 6. The Settings View.
After the settings are OK and saved/cancelled the application returns to the menu shown in Figures
4 or 5 depending on the GPS quality.
When the user presses the Start button (Figure 4 or Figure 5) the application starts to send SMS
messages according to the Settings. The next menu (Figure 7) is shown to the user. In Figure 7
there is a GPS information screen. The information included in the last received frame is seen. As
soon as new frames are again received from the GPS device to the communicator the information is
rewritten on the screen.
Figure 7. The GPS information view.
Please note that the Stop button is the only indication that the software is sending position
information. Pressing the Stop button stops the SMS sending and the menu in Figure 4/5 is shown.
Received information can be reset by pressing the Reset button (Figures 4 and 5).

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2.3 The SMS Sending Support.
The unedited frames (edited line exchange) coming from the GPS device are forwarded to the
receiving phone number via the selected SMS-C using SMS messages. The SMS messages are
always shorter than 160 characters.
When the SMS is sent from the "Document outbox", the message “SMS sending” can be seen in the
menu when the “clock” changes to the sending “logo”. The actual SMS sending from the SMS-C to
the receiver can be checked from the “delivery report” (Figure 8) if it is set to ON. You can see the
delivery report by pressing the SMS main menu button and by choosing Delivery Reports from the
menu. This delivery report is service-provider dependent.
Figure 8. Delivery Reports.

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3. GPS FRAME STRUCTURE
The "GPS information" is needed to check whether the frames from the GPS device are received by
the communicator. From your GPS device manual you can see how the receiver indicates if there
are connections to satellites. The two GPS frames have a different amount of characters depending
on the GPS quality (see Section 3.1) and both are sent automatically from the GPS device once a
second.
Please note that the application needs both NMEA 0183 protocol frames (GGA and VTG) to
function. These frames are described in the next two sections.
3.1 GGA frame
The GGA message includes time, position and fix related data for the GPS receiver. The GGA
message provides 3 decimal points of precision in non-differential (GPS) mode and 4 decimal points
of accuracy differential (DGPS) mode.
The $GPGGA frame:
$GPGGA,085042.0,6126.7939,N,02351.7650,E,2,7,1.02,00174,M,020,M,01,0000*67
Description The example frame
Time (hhmmss.0), UTC of Position 085042.0
Latitude (abcd.efgh), N (North) or S (South) 6126.7939,N
Longitude (abcde.fghi), E (East) or W (West) 02351.7650,E
GPS Quality: 0 = no GPS, 1 = GPS, 2 = DGPS 2
Number of satellites in use 7
Horizontal Dilution of Precision (HDOP) (a.bc) 1.02
Antenna altitude in meters, M = meters 00174,M
Geoidal separation in Meters, M=Meters 020,M
Age of Differential GPS Data. Time in seconds
since the last Type 1 or 9 Update 01
Differential Reference Station ID (0000 to 1023) 0000
Checksum delimiter (asterisk) *
The checksum field, two ASCII characters 67

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3.2 VTG Frame
The VTG message conveys the actual track made good (COG) and the speed relative to the ground
(SOG).
The $GPVTG frame:
$GPVTG,000.0,T,354.8,M,000.00,N,000.00,K*44
Description The example frame
Track made good in degrees true, T = true 000.0,T
Track made good in degrees magnetic, M =
magnetic 354.8,M
Speed over the ground (SOG) in knots 000.00,N
Speed over the ground (SOG) in km/h, K = km/h 000.00,K
Checksum delimiter (asterisk) *
The checksum field, two ASCII characters 44
NOTE
GPS receiver related questions:
•See the GPS receiver manual or contact the device reseller or the manufacturer.
Map Server Software questions:
•See the Map Server Software manual or contact the software reseller or the
manufacturer

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4. SMS STRUCTURE
An SMS format is the same as the GPS frame structure. The only difference is that there is no line
feed (\n) between GGA and VTG frames. The same bytes coming from the GPS device are
forwarded to the selected destination GSM number via the selected SMS-C. The SIM card used
specifies the user. No additional individual numbering is needed.
Below is one example of SMS frame structure. The content of this SMS message is described in
Section 3.
$GPGGA,085042.0,6126.7939,N,02351.7650,E,2,7,1.02,00174,M,020,M,01,0000*67$GPVTG,000.
0,T,354.8,M,000.00,N,000.00,K*44
5. LEGAL NOTICE
The content of this document is copyright Nokia 1995 - 1999. All rights reserved. Reproduction,
transfer, distribution or storage of part or all of the contents in any form without the prior written
permission of Nokia is prohibited.
Nokia is a registered trademark of the Nokia Corporation. Nokia's product names are either
trademarks or registered trademarks of Nokia. Other product and company names mentioned
herein may be trademarks of their respective owners.
The contents of this document are provided "as is". Except as required by the applicable law, no
warranty of any kind, either express or implied, is made in relation to the accuracy, reliability or
content of the document. Nokia reserves the rights to revise the document or withdraw it at any time
without prior notice.
Nokia is not responsible for any lost data, income or any consequential damage howsoever caused.