Rikaline GPS-6051 User manual
Marine GPS
Sep. 24, 2004
V1.1
Rikaline
International Corp.
14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R.O.C
Phone: +886-2-8973-1899 Fax: +886-2-8973-1896
All Right Reserved
User’s Guide
GPS-6051
R
ikalin
e
Marine GPS GPS-6051 Operating Manual
Rikaline
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C
2
TABLE OF CONTENTS
0. Quick Use ……….………………………………………………………………………………….. 3
0.1 Check GPS Package ..………………………………………………………………….. 3
0.2 Check Pin Assignment …..……………………………………………………………….. 3
0.3 Manufacturing Default …………………………..………………………………………. 3
0.4 Important Features …………………………………….………………………………….. 3
0.5 Different Models ……………………………………….…………………………………… 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
3.5 Installation Instruction ……………………………………………………………………. 9
4. USB Driver ……………………………………………………………………………………….… 10
4.1 System Requirement ……………………………………………………………………… 10
4.2 Installation ………………….…………………………………………………………….… 10
4.3 Important …………….………………………………………………………………………. 10
5. Ordering Information .……………………………………………………………………….… 10
5.1 Product Option ……………………..……………………………………………………… 10
5.2 Accessories ………………….…………………………………………………………….… 10
6. Warranty .………………………………………………………………………………………….… 11
Appendix A Software Inferface ……………………………………………………………. 12
A.1 NMEA Transmitted Sentences ………………………………………..…………..… 12
A.2 RTCM Received Data ………………………………………………………………….. 15
Appendix B Earth Datums and Output Setting ……………………………………… 16
B.1 Earth Datums ………..…………………………………………………………………….. 16
B.2 Setting ……..……………………………………………………………………………….… 16
Marine GPS GPS-6051 Operating Manual
Rikaline
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C
3
Marine GPS GPS-6051 Operating Manual
Rikaline
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C
4
0. Quick Use
0.1 Check GPS Package
0.1.1 Standard Package
GPS-6051 (RS-422 Version): GPS Unit + Warranty Card + Quick Reference + 10 Meter Cable.
GPS-6051-U(USB Version): GPS Unit + Warranty Card + Quick Reference + 10 Meter Cable + USB
Driver CD)
0.1.2 Optional Cable
1. A-6026-10 RS-422 Cable, 10 Meter
2. A-6026-20 RS-422 Cable, 20 Meter
3. A-6026-30 RS-422 Cable, 30 Meter
4. A-6026-50 RS-422 Cable, 50 Meter
1. A-6026-10U USB Cable, 10 Meter
2. A-6026-20U USB Cable, 20 Meter
3. A-6026-30U USB Cable, 30 Meter
5. A-6026-50U USB Cable, 50 Meter
0.2 Check Pin Assignment
1. Connect GPS with suitable power (8-25Vdc) to your system for RS-422 version.
2. Connect the USB port to your system if you use USB version.
3. When you use USB version, you need a USB driver as enclosed in the package. Connect GPS to your
system and install the driver.
0.3 Manufacturing Default
1. Sentence: GGA, GSA, GSV, RMC, VTG
2. Baud Rate: 4800
3. Datum: WGS84
4. WAAS: OFF. Demand for WAAS ON could be special built.
0.4 Important features
1. Waterproof.
2. Anti-UVmaterial.
3. Operating temperature range from -40oC to +85oC (internal temperature)
0.5 Different Models
1. GPS-6051: RS-422 interface.
2. GPS-6051-U: USB interface.
Marine GPS GPS-6051 Operating Manual
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Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C
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1. Introduction
1.1 Overview
The
Rikaline
GPS-6051 Marine GPS is a total solution GPS receiver, designed based on SiRF Star II
Architecture. 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-422 or USB interface and
saves critical satellite data by built–in backup memory. With low power consumption, the GPS-6051 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-6051 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 (Optional model) utilizes real-time RTCM corrections producing 1-5 meter position
accuracy.
4. A rechargeable battery sustains internal clock and memory. It is recharged during normal operation.
5. User initialization is not required.
6. Optional communication levels, RS-422 or USB meet various applications.
7. FLASH based program memory: New software revisions upgradeable through serial interface.
8. Built-in WAAS demodulator (Optional for special demand).
9. Water proof designed for all weather.
1.3 Technology specifications
1.3.1 Physical Dimension
Single construction integrated antenna/receiver.
Size: 75.6.0(OD) x 72.7(H) (mm)
2.98"(OD) x 2.86"(H).
Weight: 400g (including 10-meter cable)
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: +8.0 ~ 25.0 VDC.
2) Backup power: 3V Rechargeable Lithium cell battery, up to 460 hours (19 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
Hot start 8 sec., averaged
Warm start 38 sec., averaged
Cold start 45 sec., averaged
4) Position accuracy:
Marine GPS GPS-6051 Operating Manual
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Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C
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A) Non DGPS (Differential GPS)
Position 5-25 meter CEP with SA off
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/second, max
(DGPS function built by demand)
1.3.5 Interfaces
1) Dual channel RS-422 or USB compatible 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 (for optional model).
Marine GPS GPS-6051 Operating Manual
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Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C
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2. Operational characteristics
2.1 Initialization
As soon as the initial self-test is complete, the GPS-6051 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-6051 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-6051 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-6051 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-6051 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-6051 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-6051 to output a position
whenever a differential solution is available.
Marine GPS GPS-6051 Operating Manual
Rikaline
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C
Tel: ++886 2 8973-1899 Fax: ++886 2 8973-1896 E-Mail: info@rikaline.com.tw web: www.rikaline.com.tw
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3. Hardware interface
3.1 Dimension
Size: 75.6.0(OD) x 72.7(H) (mm)
2.98"(OD) x 2.86"(H).
3.2 Hardware Interface
The GPS-6051 includes an antenna in a unique style waterproof gadget. Simply connect the 7-pin male
connector to one of the optional accessories you choose and link it to your navigation devices.
3.3 Connector
Standard cable: 100mm with male 7-pin connector.
3.3.1 Function definition of standard female 7-pin connector
Pin Signal
1 NC
2 RS-422 Tx +
3 RS-422 Tx -
4 RS-422 Rx +
5 RS-422 Rx -
6 GND
7 + 8~25Vdc
8 Shield
* NC: not connected
1
2
3
4
5
6
7
10 Meter
A-6026-10U USB
A-6026-10 RS-422 GPS-6051
205 mm
Marine GPS GPS-6051 Operating Manual
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3.4 Accessories
3.4.1 Standard Cable
A-6026-10 10-meter, RS-422 interface for GPS-6051
A-6026-10U 10-meter, USB interface for GPS-6051-U
3.4.1.1 xxxxxx Female connector function definition:
3.4.1.2 USB Connector
The function definition of the A type USB connector is as follows:
3.4.2 Optional Cable
3.4.2.1 For GPS-6051
A-6026-20 20-meter, RS-422 interface
A-6026-30 30-meter, RS-422 interface
A-6026-50 50-meter, RS-422 interface
Pin Signal
1 NC
2 RS-422 Tx +
3 RS-422 Tx -
4 RS-422 Rx +
5 RS-422 Rx -
6 GND
7 + 8~25Vdc
8 Shield
* NC: not connected
Color Signal
Brown RS-422 Tx +
Yellow RS-422 Tx -
Violet RS-422 Rx +
White RS-422 Rx -
Green GND
Blue + 8~25Vdc
Shield Shield
* NC: not connected
5
2
3
4
6
7
1
PIN Signal
1 + 5V
2 D +
3 D -
4 Ground
Marine GPS GPS-6051 Operating Manual
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Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C
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3.4.2.1 For GPS-6051-U
A-6026-20U 20-meter, USB interface
A-6026-30U 30-meter, USB interface
A-6026-50U 50-meter, USB interface
3.5 Installation Instruction
3.5.1 Location of Installation
3.5.1.1 Suitable place on Boat
3.5.1.2 Minimum distance to other Antenna PositiontoRadar
3.5.2 Installation
BEST BEST
GOOD
Do not Install
Close to the Engine Rikaline A-6051
Rikaline A-6051
Rikaline A-6051
Rikaline A-6051
EMI
Rikaline
1 Meter
3' Rikaline A-6051
Rikaline A-60 51
Radar
Rikaline A-60 51
Rikaline A-60 51
BELOW-OK
ABOVE-OK
Antenna Mount
Connectrors
Power/Data Cable
GPS-6051
Marine GPS GPS-6051 Operating Manual
Rikaline
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C
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Marine GPS GPS-6051 Operating Manual
Rikaline
Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C
12
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-6051 USB> folder from CD to hard disk.
2. Connect GPS-6051 USB connector to computer. While the computer automatically starts the installation
program, please direct the driver to the <GPS-6051 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. They must be the same Com Port numbers. Otherwise, the navigating software won’t receive the
satellite signal for the un-match COM Port setting.
5. Ordering Information
5.1 Product Options
5.1.1 OutPut Level (or Data)
GPS-6051: RS-422 Interface With 10-meter Cable.
GPS-6051-U: USB Interface With 10-meter Cable.
5.1.2 Color Option
White (Standard)
Other Color: by demand
5.2 Accessories
5.2.1 RS-422 Cables
A-6026-10 10-meter, RS-422 interface for GPS-6051
A-6026-20 20-meter, RS-422 interface for GPS-6051
A-6026-30 30-meter, RS-422 interface for GPS-6051
A-6026-50 50-meter, RS-422 interface for GPS-6051
5.2.2 USB Cables
A-6026-10U 10-meter, USB interface for GPS-6051-U
A-6026-20U 20-meter, USB interface for GPS-6051-U
A-6026-30U 30-meter, USB interface for GPS-6051-U
A-6026-50U 50-meter, USB interface for GPS-6051-U
Marine GPS GPS-6051 Operating Manual
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Rikaline International Corp. 14F, 171, ChengGong Rd., Sanchong City, Taipei 241, Taiwan, R. O.C
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6. Warranty
The GPS-6051 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.
Marine GPS GPS-6051 Operating Manual
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Appendix A Software Interface (For professional users only)
The GPS-6051 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-6051 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 Course 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
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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)
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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
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 $GPRMC RMC protocol header
UTC Time 161229.487 hhmmss.sss
Status A A=data valid or V=data not valid
Latitude 3723.2475 ddmm.mmmm
N/S Indicator N N=north or S=south
Longitude 12158.3416 dddmm.mmmm
E/W Indicator W E=east or W=west
Speed Over Ground 0.13 Knots
Course Over Ground 309.62 Degrees True
Date 120598 ddmmyy
Magnetic Variation (1) Degrees E=east or W=west
Checksum *10
<CR> <LF> End of message termination
(1) SiRF Technology Inc. does not support magnetic declination. All “course over ground” data are
geodetic WGS84 directions.
A.1.6 Course Over Ground and Ground Speed (VTG)
Table A-10 contains the values for the following example:
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$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
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-6051 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-6051 may decode the data correctly to generate
accurate messages and save them in battery-back SRAM for later computing.
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Appendix B Earth Datums & Output Setting
(For professional users only)
B.1 Earth Datums
The GPS-6051 is built in earth datum with WGS84.
B.2 Setting
B.2.1 Manufacturing Default
Datum:WGS84.
Baud Rate: 4800.
Output: GGA, GSA, GSV, RMC, VTG.
B.2.2 Baud Rate and Output Sentences Setting
B.2.2.1 By SiRFdemo Program
1// Connect your GPS-6051 to PC (either COM or USB)
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-6051 for more than
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.
Table of contents
