Rikaline CF GPS GPS-6020 User manual

Rikaline GPS-6020
CF GPS
Rikaline International Corp.
10F, 64, Kang-Ding Road, Taipei 108, Taiwan, R.O.C.
Phone: [phone] Fax: [phone]
E-Mail: [email protected] Web: www.rikaline.com.tw
All Right Reserved
User’s Guide
High Accuracy --- 3 Meters (50%) or 5 Meters (90%)
Low Power -------- 29mA at 3.3V in Continuous Mode and
With Active Antenna
May 08, 2003

GPS-6020 Operating Manual Rikaline
Specifications subject to change without prior notice
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw
2
TABLE OF CONTENTS
1. Introduction ……………………………………………………………………………………….. 3
1.1 Overview …………………………………………………………………………………….. 3
1.2 Features …………………………………………………………………………………….. 3
1.3 FirstGPSTM
Architecture Highlights …………………………………………………. 3
1.4 Technical Specifications ……………………………………………………………….. 3
2. Operational Characteristics ……………………………………………………………….… 5
2.1 Initialization …………………………………………………………………………………. 5
2.2 Navigation …………………………………………………………………………………. 5
3. Hardware Interface ………………………………………………………………………….…… 6
3.1 Dimension ………………………………………………………………………………….… 6
3.2 Hardware Interface
…..……………………………………………………………….…… 6
3.3 Connector ………………………………………………………………………………….… 6
3.4 Accessories …………………………………………………………………………………. 6
4. Software Interface …………………………………………………………………………….… 7
4.1 NMEA Transmitted Sentences ……………………………………………………..… 7
4.2 RTCM Received Data ………………………………………………………………….. 10
5. Ordering Information ………………………………………………………………………..… 11
7.1 Product Options ………………………………………………………………….………… 11
6. Warranty ……………………………………………………………………………………………… 11

GPS-6020 Operating Manual Rikaline
Specifications subject to change without prior notice
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw
3
1. INTRODUCTION
1.1 Overview
The Rikaline GPS-6020 CF GPS is a total solution GPS Receiver designed for use with PDA, Tablet
PC, Webpad PC or any portable PCs. features the revolutionary FirstGPS™ architecture. This complete enabled
GPS receiver provides high position and speed accuracy performances as well as high sensitivity and tracking
capabilities in urban canyon conditions. The GPS-6020 delivers major advancements in GPS performances,
accuracy, integration, computing power and flexibility. 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.
1.2 Features
1. Facilitating FirstGPSTM
core technology.
2. High sensitivity: to -143 dBm tracking, superior urban canyon performances
3. High positioning accuracy: < 3m CEP (50%), OR <5M CEP (90%) without SA (horizontal)
4. Ultra low power: 29mA typical with active antenna -- tracking at 3.3 Volts, full power
5. A rechargeable battery sustains internal clock and memory and is recharged during normal operation.
6. Dual communication channels and user selectable baud rates allow maximum interface capability and
flexibility.
7. LED display status: The LED provides users visible positioning status. LED “BLINKING” when power
connected and “ON” when GPS-6020 got position fix. No more extra device needed.
8. Low Cost.
1.3 FirstGPSTM
Architecture Highlights
1.3.1 Industry Leading GPS Performance
1. Builds on high performance FirstGPSTM
core
2. Satellite signal tracking engine to perform GPS acquisition and tracking functions without CPU intervention
3. High sensitivity: to -143 dBm tracking, superior urban canyon performances
4. Position accuracy: < 3m CEP (50%) or < 5m (90%) without SA (horizontal)
5. Warm Start is under 42 seconds (90%)
6. Hot Start is under 10 seconds (90%)
1.3.2 Low Power
1. Ultra low power integrated circuit design, optimized RF and DSP architectures
2. Further power saving thanks to 4 different power down mode
1.4 Technology specifications
1.4.1 Physical Dimension
Single construction integrated antenna and receiver.
Size: 85.0(W) x 42.0(D) x 20.6(H) (mm)
3.35"(W) x 1.65"(D) x 0.81"(H).
1.4.2 Environmental Characteristics
1) Operating temperature: -40oC to +85oC(internal temperature).
2) Storage temperature: -55oC to +100oC.
1.4.3 Environmental Characteristics
1) Operating temperature: -40oC to +85oC(internal temperature).
2) Storage temperature: -55oC to +100oC.
Remark: FirstGPS™ is a trademark from Trimble.

GPS-6020 Operating Manual Rikaline
Specifications subject to change without prior notice
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw
4
1.4.4 Electrical Characteristics
1) Input voltage: +2.6 ~ 5.5 VDC.
2) Backup power: 3V Rechargeable Lithium cell battery, up to 200 hours discharge.
1.4.5 Performance
1) Tracks up to 8 satellites.
2) Update rate: 1 second.
3) Acquisition time
Reacquisition 1 sec.,
Hot start 10 sec. (90%)
Warm start 42 sec. (90%)
Cold start 120 sec. (90%)
4) Position accuracy:
NON-DGPS
Position <3 meter (50%) or <5 meter (90%)
Velocity 0.05 meters/second, typical
DGPS(DifferentialGPS)
Position <1 meter, typical
Velocity 0.05 meters/second, typical
5) Dynamic Conditions:
Altitude 18,000 meters (60,000 feet) max
Velocity 515 meters / second (1000 knots) max
Acceleration 4 G, max
Jerk 20 meters/second, max
1.4.6 Important Characters
Receiver L1, C/A code
Channels 8
Update Rate 1/second down to 1/min
Satellite Reacquisition Time < 1 second
Hot Start < 10 seconds (90%)
Warm Start < 42 seconds (90%)
Cold Start < 120 seconds (90%)
Tracking Sensitivity -143 dBm
Power Consumption (Full Power) < 20 mA at 3.3 Volts (Typically: 17 mA)
Voltage Supply 3.0 – 3.65 Volts
Protocol NMEA 0183 V2.1
Position Accuracy 3 meters CEP (50%) horizontal, SA off
< 1 meter, DGPS corrected
1.4.7 Interfaces
1) Dual channel RS-232 or TTL compatible level, with user selectable baud rate (2400, 4800-Default, 9600,
19200, 38400, 57600, 115200).
2) NMEA 0183 Version 2.1 ASCII output (GPGGA, GPGLL, GPGSA, GPGSV, GPRMC, GPVTG, GPZDA).
3) Real-time Differential Correction input (RTCM SC-104 message types 1, 5 and 9).

GPS-6020 Operating Manual Rikaline
Specifications subject to change without prior notice
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw
5
2. Operational characteristics
2.1 Initialization
As soon as the initial self-test is complete, the GPS-6020 begins the process of satellite acquisition and
tracking automatically. Under normal circumstances, it takes approximately 120 seconds to achieve a position fix,
42 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-6020 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 FirstGPS™ feature is to provide fast and
accurate position. However, acquisition performance can be improved when the host system initializes the
GPS-6020 in the following situation:
1) Moving further than 1,500 kilometers.
2) Failure of data storage due to the inactive internal memory battery.
2.2 Navigation
After the acquisition process is complete, the GPS-6020 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-6020 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-6020 to output a position
whenever a differential solution is available.

GPS-6020 Operating Manual Rikaline
Specifications subject to change without prior notice
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw
6
3. Hardware interface
3.1 Dimension
Size: 85.0(W) x 42.0(D) x 20.6(H) (mm)
3.35"(W) x 1.65"(D) x 0.81"(H).
3.2 Hardware Interface
The GPS-6020 includes an active antenna in a unique style gadget. Simply insert it into the CF slot of a
PDA or other devices or insert it in a PCMCIA adapter.
3.3 Connector
Standard 50 pins CF type I connectors.

GPS-6020 Operating Manual Rikaline
Specifications subject to change without prior notice
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw
7
4. Software Interface
The GPS-6020 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).
4.1 NMEA Transmitted Messages
The GPS-6020 outputs data in NMEA-0183 format as defined by the National Marine Electronics
Association (NMEA), Standard.
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 Sentence 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
GPVTG Course over ground and ground speed
GPZDA Date and Time
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 4-3
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 4-3 Position Fix Indicator
Value Description
0 0 Fix not available or invalid

GPS-6020 Operating Manual Rikaline
Specifications subject to change without prior notice
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw
8
1 GPS SPS Mode, fix valid
2 Differential GPS, SPS Mode, fix valid
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=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 4-6
Mode 2 3 See Table 4-7
Satellite Used (1) 07 Sv on Channel 1
Satellite Used (1) 02 Sv on Channel 2
…… ….
Satellite Used 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
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
A2D Automatic—allowed to automatically switch 2D/3D
Table 4-7 Mode 2
Value Description
1 Fix Not Available
2 2D
3 3D

GPS-6020 Operating Manual Rikaline
Specifications subject to change without prior notice
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw
9
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 2 Range 1 to 3
Message Number 1 Range 1 to 3
Satellites in View 07 Range 1 to 12
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
NOTE: Items <4>,<5>,<6> and <7> repeat for each satellite in view to a maximum of four (4) satellites per
sentence. Additional satellites in view information must be sent in subsequent sentences. These fields will be
null if unused.
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 Degrees E=east or W=west
Checksum *10
<CR> <LF> End of message termination
4.1.6 Course Over Ground and Ground Speed (VTG)
Table 4-10 contains the values for the following example:

GPS-6020 Operating Manual Rikaline
Specifications subject to change without prior notice
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw
10
$GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E
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) All “course over ground” data are geodetic WGS84 directions.
4.1.7 Time & Date (ZDA)
Table 4-11 contains the values for the following example:
$GPVTG,114523.62,12,04,2001,10,34*6E
Table 4-11 zda Data Format
Name Example Units Description
Message ID $GPZDA ZDA protocol header
Hour, Min, Sec, Sub
Sec 114523.62 Hhmmss.ss
Day 12 Day in UTC, 01to 12
Month 04 Month in UTC, 01 to 12
Year 2001 Year in UTC
Local Zone Hours 10 Local zone hours, +/- 13 hours
Local Zone Minutes 34 Local zone minutes, 0 to +59
Checksum *6E
<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-6020 by using Differential GPS (DGPS)
real-time pseudo-range correction data in RTCM SC-104 format, with message types 1, 5, or 9. As using
DGPS receiver with different communication parameters, GPS-6020 may decode the data correctly to generate
accurate messages and save them in battery-back SRAM for later computing.

GPS-6020 Operating Manual Rikaline
Specifications subject to change without prior notice
Rikaline International Corp. 10F, 64, Kang-Ding Road, Taipei 108, Taiwan
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected] web: www.rikaline.com.tw
11
5. Ordering Information
5.1 Product Options
GPS-6020
5.1.2 Color Option
BK Black (Standard)
Other Color: by demand
6. Warranty
The GPS-6020 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.