Rikaline CF GPS Receiver User manual

【High Sensitivity】
CF GPS Receiver
May. 08, 2003
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
Rikaline GPS-6021-X6

High Sensitivity GPS-6021-X6 Operating Manual Rikaline
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]m.tw Web: www.rikaline.com.tw
2
TABLE OF CONTENTS
0. Quick USe ……….………………………………………………………………………………….. 3
0.1 Check GPS Package ..………………………………………………………………….. 3
0.2 Check Connector …..…………………………………………………………………….. 3
0.3 Connect GPS-6021-X6 to your machine ….………………………………………. 3
0.4 Turn on your machine …………………………………………………………………….. 3
0.5 Basic Specs …………………………………………………………………………………. 3
1. Introduction ……………………………………………………………………………………….. 4
1.1 Overview …………………………………………………………………………………….. 4
1.2 Features …………………………………………………………………………………….. 4
1.3 Technical Specifications ……………………………………………………………….. 4
2. Operational Characteristics ……………………………………………………………….… 6
2.1 Initialization …………………………………………………………………………………. 6
2.2 Navigation …………………………………………………………………………………. 6
3. Hardware Interface ………………………………………………………………………….…… 7
3.1 Dimension ………………………………………………………………………………….… 7
3.2 Hardware Interface
…..……………………………………………………………….…… 7
3.3 Connector ………………………………………………………………………………….… 7
3.4 Accessories …………………………………………………………………………………. 8
4. PCMCIA Installation File …………………………………………………………………….… 8
4.1 System Requirement
……………………………………………………………………… 8
4.2 Installation ………………….…………………………………………………………….… 8
5. Waranty …………………………………………………………………………………………….… 8
Appendix A Software Inferface ……………………………………………………………. 9
A.1 NMEA Transmitted Sentences ……………………………………………………..… 9
A.2 RTCM Received Data ………………………………………………………………….. 12
Appendix B Earth Datums and Output Setting ……………………………………… 13
B.1 Earth Datums ………..…………………………………………………………………….. 13
B.2 Setting ……..……………………………………………………………………………….… 13
Appendix C Products Information ……………………………………………………….. 14
C.1 Product Options ……………………………………………………………….………… 14
C.2 Optional Accessories …………………………………………………………….……… 14

High Sensitivity GPS-6021-X6 Operating Manual Rikaline
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]m.tw Web: www.rikaline.com.tw
3
0. Quick Use
0.1 Check GPS Package
0.1.1 Standard Package
GPS-6021-X6 (GPS Receiver) + CD + Warranty Card + quick installation reference.
0.1.2 Optional Package
The shop may bundle different accessories for you as follows:
1. Active Antenna
2. PCMCIA Adapter
3. PDAHolder
4. Software (Navigation Software + Digital Map)
5. Others
0.2 Check CF Card Slot
1. The GPS-6021-X6 is a Type I CF device. Many new PDAs are equipped with Type II CF slot. Make
sure to slot in properly to avoid damage.
2. When you connect GPS-6021-X6 with your PC (Webpad PC, Tablet PC, Laptop PC or other PCs) with
PCMCIA adapter, you need to point to an installation file included in the CD.
0.3 Connect GPS-6021-X6 to your machine.
0.4 Turn on your machine & Start GPS function.
You may need to execute navigation software, then link to GPS device. YOur GPS-6021-X6 starts to
provide you full GPS function.
0.5 Basic Specifications
1. CF type I: Suitable to CF Type I and Type II slot.

High Sensitivity GPS-6021-X6 Operating Manual Rikaline
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]m.tw Web: www.rikaline.com.tw
4
1. Introduction
1.1 Overview
The Rikaline GPS-6021-X6 High Sensitivity CF GPS Receiver is a total solution GPS receiver, designed
based on SiRF Star II Architecture with the newest high sensitivity system. This revolutionary system
provides you unbelievable positioning sensitivity allowing you to have easy position fix in urban canyon
conditions. 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 and saves critical
satellite data by built–in backup memory. With low power consumption, the GPS-6021-X6 tracks up to 12
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-6021-X6 provides a host of features that make it easy for integration and use.
1. SiRF Star II chipset with embedded ARM7TDMI CPU available for customized applications in firmware.
2. High performance receiver tracks up to 12 satellites while providing first fast fix and low power
consumption.
3. Differential capability utilizes real-time RTCM corrections producing 1-5 meter position accuracy.
4. Compact design ideal for applications with minimal space.
5. A rechargeable battery sustains internal clock and memory. It is recharged during normal operation.
6. User initialization is not required.
7. Dual communication channels and user selectable baud rates allow maximum interface capability and
flexibility.
8. FLASH based program memory: New software revisions upgradeable through serial interface.
9. LED display status: The LED will be “ON” when power connected.
10. Built-in WAAS / EGNOS demodulator.
11. Small size.
1.3 Technology specifications
1.3.1 Physical Dimension
Single construction integrated antenna/receiver.
Size: 83.0(H) x 47.5(W) x 14.5(D) (mm)
3.27"(H) x 1.87"(W) x 0.57"(D).
1.3.2 Environmental Characteristics
1) Operating temperature: -40oC to +85oC(internal temperature).
2) Storage temperature: -55oC to +100oC.
1.3.3 Electrical Characteristics
1) Input voltage: +2.5 ~ 5.5 VDC without accessories.
2) Backup power: 3V Rechargeable Lithium cell battery, up to 767 hours (31.9 days) discharge.
1.3.4 Performance
1) Tracks up to 12 satellites.
2) Update rate: 1 second.
3) Acquisition time
Reacquisition 0.1 sec., averaged
Snap start 2 sec., averaged
Hot start 8 sec., averaged
Warm start 38 sec., averaged

High Sensitivity GPS-6021-X6 Operating Manual Rikaline
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]m.tw Web: www.rikaline.com.tw
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Cold start 45 sec., averaged
4) Position Accuracy
A) Non DGPS (Differential GPS)
Position 15-meter 2D RMS
7-meter 2D RMS with WAAS corrected
Velocity 0.1 meters/second, with SA off
Time 1 microsecond synchronized GPS time
B) DGPS (Differential GPS)
Position 1 to 5 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/second3
, max
1.3.5 Interfaces
1) Dual channel RS-232 level, with user selectable baud rate (4800-Default, 9600, 19200, 38400).
2) NMEA 0183 Version 2.2 ASCII output (GPGGA, GPGLL, GPGSA, GPGSV, GPRMC, GPVTG).
3) Real-time Differential Correction input (RTCM SC-104 message types 1, 5 and 9).
4) SiRF protocol.

High Sensitivity GPS-6021-X6 Operating Manual Rikaline
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]m.tw Web: www.rikaline.com.tw
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2. Operational characteristics
2.1 Initialization
As soon as the initial self-test is complete, the GPS-6021-X6 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 GPS-6021-X6 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-6021-X6 Auto-locate feature is
capable of automatically determining a navigation solution without intervention from the host system. However,
acquisition performance can be improved when the host system initializes the GPS-6021-X6 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-6021-X6 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-6021-X6 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-6021-X6 to output a position
whenever a differential solution is available.

High Sensitivity GPS-6021-X6 Operating Manual Rikaline
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]m.tw Web: www.rikaline.com.tw
7
3. Hardware interface
3.1 Dimension
Size: 83.0(H) x 47.5(W) x 14.5(D) (mm)
3.27"(H) x 1.87"(W) x 0.57"(D).
3.2 Hardware Interface
The GPS-6021-X6 includes an antenna in a unique style gadget. Simply put it into a CF card slot or
insert it into PCMCIA slot through a PCMCIA adapter of any type of PC with Windows OS. The interface is
through a standard 50-pin PCMCIA connector with RS-232 level.
.3 Connector
1) Standard 50-pin CF female connector.
2) Optional active antenna female connector.
3.3.1 Function definition of CF card connector
Please download detail at http://compactflash.org/specdl1.htm
3.4 Accessories
3.4.1 Active Antenna
A-10302-M Active Antenna with 2 meter 180°MMCX connector
A-10305-M Active Antenna with 5 meter 180°MMCX connector

High Sensitivity GPS-6021-X6 Operating Manual Rikaline
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]m.tw Web: www.rikaline.com.tw
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4. PCMCA Installation File
4.1 System Requirements
IBM, Pentium or other compatible PC, Windows 98/Me/2000.
4.2 Installation
1. Turn your PC.
2. Your PC will show new device found.
3. Indicate to the direction you store GPS-6021-X6.inf file.
4. Click “Yes”. Your PC will installation the file automatically.
Note: 1// The GPS-6021-X6.inf installation file is needed when a PCMCIA adapter used.
2// PDA does not need to install any extra file.
5. Warranty
The GPS-6021-X6 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.

High Sensitivity GPS-6021-X6 Operating Manual Rikaline
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]m.tw Web: www.rikaline.com.tw
9
Appendix A Software Interface
The GPS-6021-X6 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).
A.1 NMEA Transmitted Messages
The GPS-6021-X6 supported by SiRF Technology Inc. also 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 A-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 Coruse over ground and ground speed
A.1.1 Global Positioning System Fix Data (GGA)
Table A-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 A-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 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 A-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
3 GPS PPS Mode, fix valid

High Sensitivity GPS-6021-X6 Operating Manual Rikaline
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]m.tw Web: www.rikaline.com.tw
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A.1.2 Geographic Position with Latitude/Longitude (GLL)
Table A-4 contains the values for the following example:
$GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C
Table A-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
A.1.3 GNSS DOP and Active Satellites (GSA)
Table A-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 A-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 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 A-6 Mode 1
Value Description
M Manual—forced to operate in 2D or 3D mode
A2D Automatic—allowed to automatically switch 2D/3D
Table A-7 Mode 2
Value Description
1 Fix Not Available
2 2D
3 3D
A.1.4 GNSS Satellites in View (GSV)
Table A-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

High Sensitivity GPS-6021-X6 Operating Manual Rikaline
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]m.tw Web: www.rikaline.com.tw
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Table A-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.
A.1.5 Recommended Minimum Specific GNSS Data (RMC)
Table A-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 A-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.
A.1.6 Course Over Ground and Ground Speed
Table A-10 contains the values for the following example:
$GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E
Table A-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

High Sensitivity GPS-6021-X6 Operating Manual Rikaline
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]m.tw Web: www.rikaline.com.tw
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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.
A.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-6021-X6 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-6021-X6 may decode the data correctly to
generate accurate messages and save them in battery-back SRAM for later computing.

High Sensitivity GPS-6021-X6 Operating Manual Rikaline
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]m.tw Web: www.rikaline.com.tw
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Appendix B Earth Datums & Output Setting
B.1 Setting
B.1.1 Manufacturing Default
Datum:WGS84.
Baud Rate: 4800.
Output: GGA, GSA, GSV, RMC.
B.1.2 Baud Rate and Output Sentences Setting
B.1.2.1 By SiRFdemo Program
1// Connect your GPS-6021-X6 to PC (through PCMCIA adapter)
2// Execute SiRFdemo.exe (Program is in the CD)
3// When “Data Source Setup” shows, select the port (COM 1, 2 or 3….) you used, click “OK”.
4// Click “Action”, select “Open Data Source”, Then you will see lots of sentences shows. All the sentences
start with $GPxxxx. This is NMEA protocol. If you do not see these sentences, please click “View”,
“Select Message”, then click “Development”. The message will appear. If it still shows nothing, then
continue below steps.
5// There is a screen “Selection of Target Receiver Software” might appear, please select “SiRFstar II”.
6// Click “Action”, Select “Switch to SiRF Protocol”. Then you will see SiRF binary and the sentences start
with #Time, shows every 4 lines and you can not see the sentences start with $GP. These sentences
are for setting or viewing the GPS receiver’s performance. If your software is using standard NMEA
protocol, please do the following:
7// Click “Action”, Select “Switch to NMEA Protocol”. You will see GGA, GSV, GSA and RMC in black and
the Baud Rate is 4800. These are the default we put inside the receiver. Please click “OK”. Then you
can use it as a standard GPS receiver. If your software uses different sentence, please choose the
sentences you need.
After above actions, the new setting will be kept in SRAM. If no power supplied to GPS-6021-X6 for more
than 30 days, user must re-set again when power on.
B.2.2.2 By other SiRF based demo program
There are a few companies or private website providing some very good demo software.
B.2 Earth Datums
The GPS-6021-X6 is built in earth datum with WGS84.
B.2.1 Built –in Earth Datums
The GPS-6021-X6 supports 219 datums. You may change it by following Change Datum step by step.
Note: dX, dY and dZ are the 3 dimension tolerance with WGS-84 (scale: meter).
Datum dX dY dZ Ellipsoid Region of use Name in GM-305
1. WGS-84 00 0 WGS 84 Global WGS 1984
2. Adindan -118 -14 218 Clarke 1880 Burkina Faso
A
dindan- Burkina Faso
3. Adindan -134 -2 210 Clarke 1880 Cameroon Adindan- Cameroon
4. Adindan -165 -11 206 Clarke 1880 Ethiopia Adindan- Ethiopia
5. Adindan -123 -20 220 Clarke 1880 Mali Adindan- Mali
6. Adindan -166 -15 204 Clarke 1880 Mean for Ethiopia; Sudan
A
dindan-Regional Mean
7. Adindan -128 -18 224 Clarke 1880 Senegal Adindan- Senegal
8. Adindan -161 -14 205 Clarke 1880 Sudan Adindan- Sudan
9. Afgooye -43 -163 45 Krassovsky 1940 Somalia Afgooye- Somalia
10. Ain el Abd 1970 -150 -250 -1 International 1924 Bahrain
A
in el Abd’70- Bahrain
11. Ain el Abd 1970 -143 -236 7 International 1924 Saudi Arabia
A
in el Abd’70- Saudi
A
rabia
12.
A
merican Samoa 1962 -115 118 426 Clarke 1866 American Samoa Islands American Samoa’62
13. Anna 1 Astro 1965 -491 -22 435 Australian National Cocos Islands Anna 1 Astro’65

High Sensitivity GPS-6021-X6 Operating Manual Rikaline
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Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: [email protected]m.tw Web: www.rikaline.com.tw
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14. Antigua Island Astro
1943 -270 13 62 Clarke 1880 Antigua (Leeward Islands)
A
ntigua Island Astro’43
15. Arc 1950 -138 -105 -289 Clarke 1880 Botswana Arc’50- Botswana
16. Arc 1950 -153 -5 -292 Clarke 1880 Burundi Arc’50- Burundi
17. Arc 1950 -125 -108 -295 Clarke 1880 Lesotho Arc’50- Lesotho
18. Arc 1950 -161 -73 -317 Clarke 1880 Malawi Arc’50- Malawi
19. Arc 1950 -143 -90 -294 Clarke 1880
Mean for Botswana; Lesotho;
Malawi; Swaziland; Zaire;
Zambia; Zimbabwe
Arc’50-Regional Mean
20. Arc 1950 -134 -105 -295 Clarke 1880 Swaziland Arc’50- Swaziland
21. Arc 1950 -169 -19 -278 Clarke 1880 Zaire Arc’50- Zaire
22. Arc 1950 -147 -74 -283 Clarke 1880 Zambia Arc’50- Zambia
23. Arc 1950 -142 -96 -293 Clarke 1880 Zimbabwe Arc’50- Zimbabwe
24. Arc 1960 -160 -6 -302 Clarke 1880 MEAN FOR Kenya;
Tanzania
Arc’60- Mean of
Kenya, Tanzania
25. Arc 1960 -157 -2 -299 Clarke 1880 Kenya Arc’60- Kenya
26. Arc 1960 -175 -23 -303 Clarke 1880 Tanzania Arc’60- Tanzania
27.
A
scension Island 1958 -205 107 53 International 1924 Ascension Island Ascension Island’58
28. Astro Beacon E 1945 145 75 -272 International 1924 Iwo Jima Astro Beacon E’45
29. Astro DOS 71/4 -320 550 -494 International 1924 St Helena Island Astro DOS 71/4
30. Astro Tern Island
(FRIG) 1961 114 -116 -333 International 1924 Tern Island Astro Tern Island
31.
A
stronomical Station
1952 124 -234 -25 International 1924 Marcus Island
A
stronomical Station’52
32.
A
ustralian Geodetic 1966 -133 -48 148 Australian National Australia; Tasmania
A
ustralian Geodetic’66
33.
A
ustralian Geodetic 1984 -134 -48 149 Australian National Australia; Tasmania
A
ustralian Geodetic’84
34. Ayabelle Lighthouse -79 -129 145 Clarke 1880 Djibouti Ayabelle Lighthouse
35. Bellevue (IGN) -127 -769 472 International 1924 Efate & Erromango IslandsBellevue
36. Bermuda 1957 -73 213 296 Clarke 1866 Bermuda Bermuda 1957
37. Bissau -173 253 27 International 1924 Guinea-Bissau Bissau
38. Bogota Observatory 307 304 -318 International 1924 Colombia Bogota Observatory
39. Bukit Rimpah -384 664 -48 Bessel 1841 Indonesia (Bangka &
Belitung Ids) Bukit Rimpah
40. Camp Area Astro -104 -129 239 International 1924 Antarctica (McMurdo
Camp Area) Camp Area Astro
41. Campo Inchauspe -148 136 90 International 1924 Argentina Campo Inchauspe
42. Canton Astro 1966 298 -304 -375 International 1924 Phoenix Islands Canton Astro’66
43. Cape -136 -108 -292 Clarke 1880 South Africa Cape- South Africa
44. Cape Canaveral -2 151 181 Clarke 1866 Bahamas; Florida Cape Canaveral
45. Carthage -263 6 431 Clarke 1880 Tunisia Carthage- Tunisia
46. Chatham Island
Astro 1971 175 -38 113 International 1924 New Zealand (Chatham Island)
Chatham Island
Astro’71
47. Chua Astro -134 229 -29 International 1924 Paraguay Chua Astro- Paraguay
48. Corrego Alegre -206 172 -6 International 1924 Brazil Corrego Alegre
49. Dabola -83 37 124 Clarke 1880 Guinea Dabola- Guinea
50. Deception Island 260 12 -147 Clarke 1880 Deception Island; AntarctiaDeception Island
51. Djakarta (Batavia) -377 681 -50 Bessel 1841 Indonesia (Sumatra) Djakarta-Batavia
52. DOS 1968 230 -199 -752 International 1924 New Georgia Islands (Gizo
Island) DOS 1968
53. Easter Island 1967 211 147 111 International 1924 Easter Island Easter Island’67
54. Estonia Coordinate
System 1937 374 150 588 Bessel 1841 Estonia Estonia Coord Sys’37
55. European 1950 -104 -101 -140 International 1924 Cyprus Euro’50- Cyprus
56. European 1950 -130 -117 -151 International 1924 Egypt Euro’50- Egypt
57. European 1950 -86 -96 -120 International 1924 England; Channel Islands;
Scotland; Shetland Islands Euro’50- England
58. European 1950 -86 -96 -120 International 1924 England; Ireland; Scotland;
Shetland Islands
Euro’50- North
Regional Mean
59. European 1950 -87 -95 -120 International 1924 Finland; Norway Euro’50- Finland,Norway
60. European 1950 -84 -95 -130 International 1924 Greece Euro’50- Greece
61. European 1950 -117 -132 -164 International 1924 Iran Euro’50- Iran

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62. European 1950 -97 -103 -120 International 1924 Italy (Sardinia) Euro’50-Italy-Sardinia
63. European 1950 -97 -88 -135 International 1924 Italy (Sicily) Euro’50-Italy-Sicily
64. European 1950 -107 -88 -149 International 1924 Malta Euro’50-Malta
65. European 1950 -87 -98 -121 International 1924
Mean for Austria; Belgium;
Denmark; Finland; France; W
Germany; Gibraltar; Greece;
Italy; Luxembourg;
Netherlands; Norway; Portugal;
Spain; Sweden; Switzerland
Euro’50-West Regional
Mean
66. European 1950 -87 -96 -120 International 1924
Mean for Austria; Denmark;
France; W Germany;
Netherlands; Switzerland
Euro’50-East Regional
Mean
67. European 1950 -103 -106 -141 International 1924
Mean for Iraq; Israel; Jordan;
Lebanon; Kuwait; Saudi
A
rabia; Syria
Euro’50-South
Regional Mean
68. European 1950 -84 -107 -120 International 1924 Portugal; Spain Euro’50- Portugal,Spain
69. European 1950 -112 -77 -145 International 1924 Tunisia Euro’50- Tunisia
70. European 1979 -86 -98 -119 International 1924
Mean for Austria; Finland;
Netherlands; Norway; Spain;
Sweden; Switzerland
European 1979
71. Fort Thomas 1955 -7 215 225 Clarke 1880 Nevis; St. Kitts (Leeward
Islands) Fort Thomas 1955
72. Gan 1970 -133 -321 50 International 1924 Republic of Maldives Gan 1970
73. Geodetic Datum 1949 84 -22 209 International 1924 New Zealand Geodetic Datum’49
74. Graciosa Base SW
1948 -104 167 -38 International 1924 Azores (Faial; Graciosa; Pico; Sao Jorge; Terceira)
Graciosa Base SW’48
75. Guam 1963 -100 -248 259 Clarke 1866 Guam Guam’63 Guam
76. Gunung Segara -403 684 41 Bessel 1841 Indonesia (Kalimantan) Gunung Segara
77. GUX 1 Astro 252 -209 -751 International 1924 Guadalcanal Island GUX 1 Astro
78. Herat North -333 -222 114 International 1924 Afghanistan Herat North
79. Hermannskogel
Datum 653 -212 449 Bessel 1841
(Namibia)
Croatia -Serbia,
Bosnia-Herzegovina Hermannskogel Datum
80. Hjorsey 1955 -73 46 -86 International 1924 Iceland Hjorsey 1955
81. Hong Kong 1963 -156 -271 -189 International 1924 Hong Kong Hong Kong’63
82. Hu-Tzu-Shan -637 -549 -203 International 1924 Taiwan Hu-Tzu-Shan
83. Indian 282 726 254 Everest (India 1830) Bangladesh Indian- Bangladesh
84. Indian 295 736 257 Everest (India 1956) India; Nepal Indian- India,Nepal
85. Indian 283 682 231 Everest (Pakistan) Pakistan Indian- Pakistan
86. Indian 1954 217 823 299 Everest (India 1830) Thailand Indian 1954
87. Indian 1960 182 915 344 Everest (India 1830) Vietnam (Con Son Island) Indian’60- Con Son Island
88. Indian 1960 198 881 317 Everest (India 1830) Vietnam (Near 16øN)) Indian’60-Vietnam
89. Indian 1975 210 814 289 Everest (India 1830) Thailand Indian 1975
90. Indonesian 1974 -24 -15 5 Indonesian 1974 Indonesia Indonesian’74
91. Ireland 1965 506 -122 611 Modified Airy Ireland Ireland 1965
92. ISTS 061 Astro 1968 -794 119 -298 International 1924 South Georgia Islands ISTS 061 Astro’68
93. ISTS 073 Astro 1969 208 -435 -229 International 1924 Diego Garcia ISTS 073 Astro’69
94. Johnston Island 1961 189 -79 -202 International 1924 Johnston Island Johnston Island’61
95. Kandawala -97 787 86 Everest (India 1830) Sri Lanka Kandawala
96. Kerguelen Island 1949 145 -187 103 International 1924 Kerguelen Island Kerguelen Island’49
97. Kertau 1948 -11 851 5 Everest (Malay. &
Sing)
West Malaysia &
Singapore Kertau 1948
98. Kusaie Astro 1951 647 177
7 -1124 International 1924 Caroline Islands Kusaie Astro’51
99. Korean Geodetic
System 00 0
GRS 80 South Korea Korean Geo Sys
100L. C. 5 Astro 1961 42 124 147 Clarke 1866 Cayman Brac Island L. C. 5 Astro’61
101Leigon -130 29 364 Clarke 1880 Ghana Leigon
102Liberia 1964 -90 40 88 Clarke 1880 Liberia Liberia 1964
103Luzon -133 -77 -51 Clarke 1866 Philippines (Excluding
Mindanao) Luzon-Philip
104Luzon -133 -79 -72 Clarke 1866 Philippines (Mindanao) Luzon-Philip- Mindanao
105M'Poraloko -74 -130 42 Clarke 1880 Gabon M'Poraloko

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106Mahe 1971 41 -220 -134 Clarke 1880 Mahe Island Mahe 1971
107Massawa 639 405 60 Bessel 1841 Ethiopia (Eritrea) Massawa
108Merchich 31 146 47 Clarke 1880 Morocco Merchich
109Midway Astro 1961 912 -58 1227 International 1924 Midway Islands Midway Astro’61
110Minna -81 -84 115 Clarke 1880 Cameroon Minna- Cameroon
111Minna -92 -93 122 Clarke 1880 Nigeria Minna- Nigeria
112Montserrat Island
Astro 1958 174 359 365 Clarke 1880 Montserrat (Leeward Islands)
Montserrat Island
Astro’58
113Nahrwan -247 -148 369 Clarke 1880 Oman (Masirah Island) Nahrwan-Oman-Masir
ah Island
114Nahrwan -243 -192 477 Clarke 1880 Saudi Arabia Nahrwan- Saudi Arabia
115Nahrwan -249 -156 381 Clarke 1880 United Arab Emirates Nahrwan- United Arab
Emirates
116Naparima BWI -10 375 165 International 1924 Trinidad & Tobago Naparima BWI
117North American 1927 -5 135 172 Clarke 1866
A
laska (Excluding Aleutian Ids) N-Amer’27-Alaska
118North American 1927 -2 152 149 Clarke 1866 Alaska (Aleutian Ids East
of 180øW)
N-Amer’27-Aleutian
Ids E
119North American 1927 2 204 105 Clarke 1866 Alaska (Aleutian Ids West
of 180øW)
N-Amer’27-Aleutian
Ids W
120North American 1927 -4 154 178 Clarke 1866 Bahamas (Except San
Salvador Id) N-Amer’27-Bahamas
121North American 1927 1 140 165 Clarke 1866 Bahamas (San Salvador
Island)
N-Amer’27-San
Salvador
122North American 1927 -7 162 188 Clarke 1866 Canada (Alberta; British
Columbia) N-Amer’27-Alberta
123North American 1927 -9 157 184 Clarke 1866 Canada (Manitoba;
Ontario)
N-Amer’27- Manitoba,
Ontario
124North American 1927 -22 160 190 Clarke 1866
Canada (New Brunswick;
Newfoundland; Nova
Scotia; Quebec)
N-Amer’27- New
Brunswick
125North American 1927 4 159 188 Clarke 1866 Canada (Northwest
Territories; Saskatchewan)
N-Amer’27-
Saskatchewan
126North American 1927 -7 139 181 Clarke 1866 Canada (Yukon) N-Amer’27- Yukon
127North American 1927 0 125 201 Clarke 1866 Canal Zone N-Amer’27-Canal Zone
128North American 1927 -9 152 178 Clarke 1866 Cuba N-Amer’27-Cuba
129North American 1927 11 114 195 Clarke 1866 Greenland (Hayes Peninsula) N-Amer’27-Greenland
130North American 1927 -3 142 183 Clarke 1866
Mean for Antigua; Barbados;
Barbuda; Caicos Islands; Cuba;
Dominican Republic; Grand
Cayman; Jamaica; Turks
Islands
N-Amer’27-Antigua,
Barbados
131North American 1927 0 125 194 Clarke 1866
Mean for Belize; Costa Rica;
El Salvador; Guatemala;
Honduras; Nicaragua
N-Amer’27-Costa Rica,
El Salvador
132North American 1927 -10 158 187 Clarke 1866 Mean for Canada N-Amer’27- Mean of
Canada
133North American 1927 -8 160 176 Clarke 1866 Mean for Conus N-Amer’27-Mean of
Conus
134North American 1927 -9 161 179 Clarke 1866
Mean for Conus (East of
Mississippi; River Including
Louisiana; Missouri;
Minnesota)
N-Amer’27-E-Mississip
pi
135North American 1927 -8 159 175 Clarke 1866
Mean for Conus (West of
Mississippi; River Excluding
Louisiana; Minnesota;
Missouri)
N-Amer’27-W-Mississi
ppi
136North American 1927 -12 130 190 Clarke 1866 Mexico N-Amer’27-Mexico
137North American 1983 00 0 GRS 80
A
laska (Excluding Aleutian Ids) N-Amer’83-Alaska
138.
North American 1983 -2 0 4 GRS 80
A
leutian Ids N-Amer’83-Aleutian Ids
139North American 1983 00 0 GRS 80 Canada N-Amer’83-Canada
140North American 1983 00 0 GRS 80 Conus N-Amer’83-Conus

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141North American 1983 11 -1 GRS 80 Hawaii N-Amer’83-Hawaii
142North American 1983 00 0 GRS 80 Mexico; Central America N-Amer’83-Mexico,
Central America
143North Sahara 1959 -186 -93 310 Clarke 1880 Algeria North Sahara’59
144Observatorio
Meteorologico 1939 -425 -169 81 International 1924 Azores (Corvo & Flores Islands)
Observatorio
Meteorologico’39
145Old Egyptian 1907 -130 110 -13 Helmert 1906 Egypt Old Egyptian 1907
146Old Hawaiian 89 -279 -183 Clarke 1866 Hawaii Old Hawaiian- Hawaii
147Old Hawaiian 45 -290 -172 Clarke 1866 Kauai Old Hawaiian- Kauai
148Old Hawaiian 65 -290 -190 Clarke 1866 Maui Old Hawaiian- Maui
149Old Hawaiian 61 -285 -181 Clarke 1866 Mean For Hawaii; Kauai;
Maui; Oahu
Old Hawaiian-Regional
Mean
150Old Hawaiian 58 -283 -182 Clarke 1866 Oahu Old Hawaiian- Oahu
151Oman -346 -1 224 Clarke 1880 Oman Oman
152Ordnance Survey
Great Britain 1936 371 -112 434 Airy 1830 England Ord Sur GB’36- England
153Ordnance Survey
Great Britain 1936 371 -111 434 Airy 1830 England; Isle of Man; Wales
Ord Sur GB’36- Isle of
Man
154Ordnance Survey
Great Britain 1936 375 -111 431 Airy 1830
Mean For England; Isle of
Man; Scotland; Shetland
Islands; Wales
Ord Sur
GB’36-Regional Mean
155Ordnance Survey
Great Britain 1936 384 -111 425 Airy 1830 Scotland; Shetland Islands
Ord Sur GB’36-
Scotland, Shetland
156Ordnance Survey
Great Britain 1936 370 -108 434 Airy 1830 Wales Ord Sur GB’36- Wales
157Pico de las Nieves -307 -92 127 International 1924 Canary Islands Pico de las Nieves
158Pitcairn Astro 1967 185 165 42 International 1924 Pitcairn Island Pitcairn Astro 1967
159Point 58 -106 -129 165 Clarke 1880 MEAN FOR Burkina Faso &
Niger Point 58
160Pointe Noire 1948 -148 51 -291 Clarke 1880 Congo Pointe Noire 1948
161Porto Santo 1936 -499 -249 314 International 1924 Porto Santo; Madeira Islands Porto Santo 1936
162Provisional South
American 1956 -270 188 -388 International 1924 Bolivia Prov S-Amer’56- Bolivia
163Provisional South
American 1956 -270 183 -390 International 1924 Chile (Northern; Near 19 øS)
Prov
S-Amer’56-Chile-North
164Provisional South
American 1956 -305 243 -442 International 1924 Chile (Southern; Near 43 øS)
Prov
S-Amer’56-Chile-South
165Provisional South
American 1956 -282 169 -371 International 1924 Colombia Prov S-Amer’56- Colombia
166Provisional South
American 1956 -278 171 -367 International 1924 Ecuador Prov S-Amer’56- Ecuador
167Provisional South
American 1956 -298 159 -369 International 1924 Guyana Prov S-Amer’56- Guyana
168Provisional South
American 1956 -288 175 -376 International 1924
Mean for Bolivia; Chile;
Colombia; Ecuador;
Guyana; Peru; Venezuela
Prov
S-Amer’56-Regional
Mean
169Provisional South
American 1956 -279 175 -379 International 1924 Peru Prov S-Amer’56- Peru
170Provisional South
American 1956 -295 173 -371 International 1924 Venezuela Prov S-Amer’56- Venezuela
171Provisional South
Chilean 1963 16 196 93 International 1924 Chile (Near 53 øS) (Hito XVIII) Prov S-Chilean’63
172Puerto Rico 11 72 -101 Clarke 1866 Puerto Rico; Virgin Islands Puerto Rico
173Pulkovo 1942 28 -130 -95 Krassovsky 1940 Russia Pulkovo 1942
174Qatar National -128 -283 22 International 1924 Qatar Qatar National
175Qornoq 164 138 -189 International 1924 Greenland (South) Qornoq
176Reunion 94 -948 -1262 International 1924 Mascarene Islands Reunion
177Rome 1940 -225 -65 9 International 1924 Italy (Sardinia) Rome 1940
178S-42 (Pulkovo 1942) 28 -121 -77 Krassovsky 1940 Hungary S-42 Pul’42- Hungary
179S-42 (Pulkovo 1942) 23 -124 -82 Krassovsky 1940 Poland S-42 Pul’42- Poland
180S-42 (Pulkovo 1942) 26 -121 -78 Krassovsky 1940 Czechoslavakia S-42 Pul’42-

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Czechoslavakia
181S-42 (Pulkovo 1942) 24 -124 -82 Krassovsky 1940 Latvia S-42 Pul’42- Latvia
182S-42 (Pulkovo 1942) 15 -130 -84 Krassovsky 1940 Kazakhstan S-42 Pul’42- Kazakhstan
183S-42 (Pulkovo 1942) 24 -130 -92 Krassovsky 1940 Albania S-42 Pul’42- Albania
184S-42 (Pulkovo 1942) 28 -121 -77 Krassovsky 1940 Romania S-42 Pul’42- Romania
185S-JTSK 589 76 480 Bessel 1841 Czechoslavakia (Prior 1
JAN 1993) S-JTSK
186Santo (DOS) 1965 170 42 84 International 1924 Espirito Santo Island Santo DOS’65
187Sao Braz -203 141 53 International 1924 Azores (Sao Miguel; Santa
Maria Ids) Sao Braz
188Sapper Hill 1943 -355 21 72 International 1924 East Falkland Island Sapper Hill’43
189Schwarzeck 616 97 -251
Bessel 1841
(Namibia) Namibia Schwarzeck
190Selvagem Grande 1938 -289 -124 60 International 1924 Salvage Islands Selvagem Grande’38
191Sierra Leone 1960 -88 4 101 Clarke 1880 Sierra Leone Sierra Leone’60
192South American 1969 -62 -1 -37 South American 1969 Argentina S-Amer’69- Argentina
193South American 1969, -61 2 -48 South American 1969 Bolivia S-Amer’69- Bolivia
194South American 1969, -60 -2 -41 South American 1969 Brazil S-Amer’69- Brazil
195South American 1969, -75 -1 -44 South American 1969 Chile S-Amer’69- Chile
196South American 1969, -44 6 -36 South American 1969 Colombia S-Amer’69- Colombia
197South American 1969, -48 3 -44 South American 1969 Ecuador S-Amer’69- Ecuador
198South American 1969, -47 26 -42 South American 1969 Ecuador (Baltra;
Galapagos)
S-Amer’69- Baltra,
Galapagos
199South American 1969, -53 3 -47 South American 1969 Guyana S-Amer’69- Guyana
200South American 1969, -57 1 -41 South American 1969
Mean for Argentina; Bolivia;
Brazil; Chile; Colombia;
Ecuador; Guyana; Paraguay;
Peru; Trinidad & Tobago;
Venezuela
S-Amer’69-Regional
Mean
201South American 1969, -61 2 -33 South American 1969 Paraguay S-Amer’69- Paraguay
202South American 1969, -58 0 -44 South American 1969 Peru S-Amer’69- Peru
203South American
1969, -45 12 -33 South American 1969 Trinidad & Tobago S-Amer’69- Trinidad,Tobago
204South American
1969, -45 8 -33 South American 1969 Venezuela S-Amer’69- Venezuela
205South Asia 7 -10 -26
Modified Fischer
1960 Singapore South Asia
206Tananarive
Observatory 1925 -189 -242 -91 International 1924 Madagascar Tananarive Observ’25
207Timbalai 1948 -679 669 -48 Everest (Sabah
Sarawak)
Brunei; E. Malaysia
(Sabah Sarawak) Timbalai 1948
208Tokyo -148 507 685 Bessel 1841 Japan Tokyo- Japan
209Tokyo -148 507 685 Bessel 1841 Mean for Japan; South
Korea; Okinawa Tokyo-Regional Mean
210Tokyo -158 507 676 Bessel 1841 Okinawa Tokyo- Okinawa
211Tokyo -147 506 687 Bessel 1841 South Korea Tokyo- South Korea
212Tristan Astro 1968 -632 438 -609 International 1924 Tristan da Cunha Tristan Astro’68
213Viti Levu 1916 51 391 -36 Clarke 1880 Fiji (Viti Levu Island) Viti Levu 1916
214Voirol 1960 -123 -206 219 Clarke 1880 Algeria Voirol 1960
215Wake Island Astro 1952 276 -57 149 International 1924 Wake Atoll Wake Island Astro’52
216Wake-Eniwetok 1960 102 52 -38 Hough 1960 Marshall Islands Wake-Eniwetok’60
217WGS 1972 00 0 WGS 72 Global Definition WGS 1972
218Yacare -155 171 37 International 1924 Uruguay Yacare
219Zanderij -265 120 -358 International 1924 Suriname Zanderij

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Appendix C Ordering Information
C.1 Product Options
C.1.1 Standard Package
GPS-6021-X6: CF GPS with main unit, CD, Warranty card and quick reference.
C.1.2 Optional Accessories
C.1.2.1 Active Antenna
A-10302-M Active Antenna with 2 meter 180°MMCX connector
A-10305-M Active Antenna with 5 meter 180°MMCX connector
C.1.2.1 PDA Holder
1 A-2001 PDA Holder, Suction Cup, 150mm, Short Arm
2 A-2001-L PDA Holder, Suction Cup, 150-320mm Adjustable
3 A-2002 PDA Holder, Suction Cup, 150mm, Short Arm, Magnetic Pad
4 A-2002-L PDA Holder, Suction Cup, 320mm, Long Arm, Magnetic Pad
5 A-2005 PDA Holder, Suction Cup, 150mm, Short Arm, 4-Claw
6 A-2005-L PDA Holder, Suction Cup, 320mm Long Arm, 4-Claw
7 A-2006 PDA Holder, Suction Cup, 150mm Short Arm, 3-Claw
8 A-2006-L PDA Holder, Suction Cup, 150mm Long Arm, 3-Claw