RoyalTek REB-3000 Quick start guide

Operational Manual
RGM-3000/REB-3000
Operational Manual
Version 1.3
2002/5/29
This document contains information highly confidential to RoyalTek Company LTD (RoyalTek). It
is provided for the sole purpose of the business discussions between supplier and RoyalTek and
is covered under the terms of the applicable Non-Disclosure Agreements. Disclosure of this
information to other parties is prohibited without the written consent of RoyalTek.
Prepared by
RoyalTek Company LTD.
A Company of Royal Group
1071, Chung Cheng Rd., Suite 9F-1
Tao Yuan City, Taiwan, R.O.C.
TEL: [phone]
FAX: [phone]
E-Mail: [email protected]
http://www.royaltek.com

RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
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RoyalTek GPS Module: RGM-3000/REB-3000101 Operational Manual
INTRODUCTION.........................................................................................................................................1
PRODUCT FEATURES ................................................................................................................................1
PRODUCT APPLICATIONS ...........................................................................................................................1
TECHNIQUE DESCRIPTION.......................................................................................................................... 1
PICTURE..................................................................................................................................................2
RGM-3000E.......................................................................................................................................2
RGM-3000L.......................................................................................................................................2
RGM-3000M ......................................................................................................................................2
REB-3000..........................................................................................................................................3
RGM-3000/REB-3000 SERIES SYSTEM BLOCK DIAGRAM .......................................................................... 3
TECHNIQUE SPECIFICATIONS...................................................................................................................... 5
RGM-3000/REB-3000 Mechanical Layout.........................................................................................6
HARDWARE INTERFACE ............................................................................................................................. 9
ABSOLUTE MAXIMUM RATINGS..................................................................................................................10
CRITICAL DESIGN GUIDE AND DIAGRAM......................................................................................................10
DESIGN LAYOUT DIAGRAM ...................................................................................................................... 11
NMEA V2.2 PROTOCOL......................................................................................................................... 12
GGA-Global Positioning System Fixed Data....................................................................................13
GLL-Geographic Position – Latitude/Longitude ...............................................................................13
GSA-GNSS DOP and Active Satellites............................................................................................13
GSV-GNSS Satellites in View..........................................................................................................14
RMC-Recommended Minimum Specific GNSS Data.......................................................................14
VTG-Course Over Ground and Ground Speed................................................................................15
SIRF PROPRIETARY NMEA INPUT MESSAGES.......................................................................................... 15
SIRF NMEA Input Messages...........................................................................................................16
Set Serial Port..................................................................................................................................16
Set DGPS Port.................................................................................................................................17
Query/Rate Control..........................................................................................................................17
LLA Navigation Initialization.............................................................................................................18
Development Data On/Off................................................................................................................19
Calculating Checksums for NMEA Input..........................................................................................19
SIRF BINARY PROTOCOL........................................................................................................................ 19
Initialize Data Source-Message I.D. 128..........................................................................................21
Switch To NMEA Protocol – Message I.D. 129................................................................................22
Set Almanac- Message I.D. 130 ......................................................................................................22
DGPS Source – Message I.D. 133 ..................................................................................................23

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Set Main Serial Port-Message I.D. 134............................................................................................24
Mode control – Message I.D .136....................................................................................................24
DOP Mask Control – Message I.D. 137...........................................................................................25
DGPS Control – Message I.D.138...................................................................................................25
Elevation Mask – Message I.D.139..................................................................................................26
Power Mask – Message I.D.140......................................................................................................26
Editing Residual – Message I.D.141................................................................................................27
Steady State Detection – Message I.D.142.....................................................................................27
Static Navigation – Message I.D.144...............................................................................................27
Almanac – Message I.D.146............................................................................................................27
Ephemeris Message I.D.147............................................................................................................28
Switch To SiRF Protocol ..................................................................................................................28
Switch Operating Modes - Message I.D. 150...................................................................................28
Set Trickle Power Parameters - Message I.D. 151 ..........................................................................28
Computation of Duty Cycle and On Time.........................................................................................29
Push-to-Fix ......................................................................................................................................30
Poll Navigation Parameters - Message I.D. 152 ..............................................................................30
Set UART Configuration - Message I.D. 165...................................................................................30
Set Message Rate - Message I.D. 166............................................................................................31
Low Power Acquisition Parameters - Message I.D. 167..................................................................32
OUTPUT MESSAGES FOR SIRF BINARY PROTOCOL ...................................................................................32
Measured Tracker Data Out – Message I.D.4..................................................................................34
Raw Tracker Data Out – Message I.D.5 ..........................................................................................35
Calculation of Pseudo-Range Measurements..................................................................................37
Response :Software Version String – Message I.D.6....................................................................37
Response :Clock Status Data – Message I.D.7 ............................................................................38
50BPS Data – Message I.D.8..........................................................................................................38
CPU Throughput – Message I.D.9...................................................................................................39
Command Acknowledgment – Message I.D.11 ...............................................................................39
Command N Acknowledgment – Message I.D. 12...........................................................................39
Visible List – Message I.D.13...........................................................................................................40
Almanac Data – Message I.D.14 .....................................................................................................40
OkToSend - Message I.D. 18...........................................................................................................40
Navigation Parameters (Response to Poll) – Message I.D. 19........................................................41
Navigation Library Measurement Data - Message I.D. 28 ...............................................................42
Navigation Library DGPS Data - Message I.D. 29...........................................................................42
Navigation Library SV State Data - Message I.D. 30.......................................................................43
Navigation Library Initialization Data - Message I.D. 31...................................................................43

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GPS Module Operational Manual)
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RoyalTek Navigation Data – Message I.D.100.................................................................................44
Set Ephemeris – Message I.D.254 ..................................................................................................45
Development Data – Message I.D.255............................................................................................45
GPS Receiver User’s Tip.................................................................................................................46

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GPS Module Operational Manual)
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RoyualTek GPS Module:
RGM-3000/REB-3000
Operational Manual
Introduction
RGM-3000/REB-3000 is the third generation of
RoyalTek GPS Receiver. RGM-3000(E,M)
consists of active antenna and GPS receiver.
REB-3000(or RGM-3000L) consists of GPS
receiver without active antenna. The GPS
receiver is powered by SiRF Star II technology
and RoyalTek proprietary navigation algorithm
that providing you more stable navigation data.
The miniature design is the best choice to be
embedded in a portable device like PDA,
mobile phone, person locator and vehicle
locator. It supports TricklePower function which
can be enabled by external command for
power saving. The excellent sensitivity of
RGM-3000 gets the great performance when
going though the urban canyon and foliage.
Product Features
RGM-3000/REB-3000
 OEM product development is fully
supported through applications
engineering and WEB technique
forum.
 Small form factor.
 12 parallel channels
 0.1 second re-acquisition time.
 Enhanced algorithm for navigation stability.
 NMEA-0183 compliant protocol/custom
protocol.
 WAAS demodulator
 Excellent sensitive for urban canyon and
foliage environments.
 Single satellite positioning.
 Dual multi path rejection.
 Data-log capability – At least 1 Mega-bits
memory space will be implement in the
product
Product applications
RGM-3000/REB-3000
 Portable IA device for personal navigation/
position commerce (P-Commerce)
 Automotive applications
 Personal positioning and navigation
 Marine navigation
 Timing application
 Extendable I/O capability –
provide programming I/O function and
development tool kit for customer
Technique description
RGM-3000M, RGM-3000E
General information. The RGM-3000 is a
stamp size GPS receiver with an active
antenna. It provides the antenna power
through RF cable. The default DC input of
active antenna is 2.8 ~3.3V. Since it needs 3
satellites or more to do the first position fix.
The suitable view angle of the active antenna
is necessary. It will determine the first time
position update after getting good satellites
geometry. If the satellites are blocked, it may
take time to determine the position. Caution:
Please do not put any metal stuff on the
antenna. It results in GPS receiver getting
nothing. In urban canyon, the fast 0.1 second
re-acquisition capability can make it determine
the position right away through the

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GPS Module Operational Manual)
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cross-intersection.
REB-3000,RGM-3000L
General Information. This is a stamp size GPS
receiver without active antenna. It provides the
external antenna power (2.8DCV ± 5%)
through RF cable. There are 2 models for
versatile antenna connectors:
1) RGM-3000L: with SMA RF cable.
3) REB-3000: with HRS type of antenna
connector (male) which you can connect to
versatile types of antenna.
Picture
RGM-3000E

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GPS Module Operational Manual)
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RGM-3000L
RGM-3000M
The cable length can be adjusted by
customer’s requirement (standard:10cm)
SMA connector

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GPS Module Operational Manual)
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REB-3000
RGM-3000/REB-3000 Series System Block Diagram
The RGM-3000/REB-3000 series consists of SiRF star II chipsets technology, RoyalTek LNA and
proprietary software. The system is described as follows.
RGM-3000M/RGM-3000E
LNA
SIRF
GRF2I
SAW
Filter
SiRF
GSP2e
Patch ANT
Flash
Memory RS232 port (TTL) x 2
Programming I/O port x 7
Control line x 4

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GPS Module Operational Manual)
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RGM-3000L/REB-3000
LNA
SIRF
GRF2I
SAW
Filter
SiRF
GSP2e
Flash
Memory
RS232 port (TTL) x 2
Programming I/O port x 7
Control line x 4
GPS.receiver w/o patch
ANT.

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GPS Module Operational Manual)
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Technique specifications
RGM-3000/REB-3000 series.
Operational Characteristics.
12 Channels
L1, 1575.42MHz.
C / A code, 1.023MHz chip rate.
Snap start: 3 seconds, typical
Hot start: 8 seconds, typical
Warm start: 40 seconds, typical
Cold start: 48 seconds, typical
Reacquisition:0.1 second, typical
Navigation update rate: Once per second.
Datum: WGS-84.
(The above specification is for standard
version software . The specification for ES
version of software may vary.)
Accuracy.
Position accuracy: 25m CEP without SA
Velocity accuracy:0.1 meters/second
without SA
DGPS Accuracy.
Position:1 to 5 m, typical
Velocity: 0.05 meters/second, typical
Dynamics.
Altitude: 18000 meters (60000 feet) Max.
Velocity: 515 meters / second Max.
Acceleration: 4 g. , Max.
Power Requirements.
The input voltage is 3.3V±10%, ripple ≦
200mV. The power of active antenna is
supplied by RGM-3000/REB-3000 series.
The full run (without trickle power)
maximum current is less than 180mA.
Weight. 30g(RGM-3000),15g(REB-3000)
Environment.
Temperature.
Operating temperature -40 ~ +85 Degree
(Celsius).
Storage temperature: -40 ~ +85 Degree
(Celsius).
Humidity ≦95% noncondensing.
GPS Antenna Specification(RGM-3000E,
RGM-3000M)
Center Frequency: 1575.42±1.023MHz
Bandwidth (-10dB return loss):9MHz min
Gain at Zenith: 3.0dBi Typ
Gain at 10°elevation :-1.0 dBi Typ
Polarization :R.H.C.P
Axial Ratio : 2.0dB max
LNA Specification:(External ANT for
RGM-3000E )
Center Frequency: 1575.42±1.023MHz
Gain : 12dB Typ
Noise Figure : 1.8dB Typ
Out Band Attenuation : 7dB min for ±20MHz
20dB min for ±50MHz
30dB min for ±100MHz
OutputV.S.W.R 2.0dBmax
Voltage DC 2.8.0±0.5V
Current 12mAmax

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GPS Module Operational Manual)
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Mechanical Layout
RGM-3000/REB-3000 Mechanical Layout
RGM-3000E
RGM-3000L
Pin 1

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GPS Module Operational Manual)
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RGM-3000M
REB-3000

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GPS Module Operational Manual)
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Flexible Flat Circuit & Connectot

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GPS Module Operational Manual)
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Hardware interface
RGM-3000/REB-3000.
Pin
NO Name I/O Description Characteristic
1 VCC System Power DC 3.3V ± 10%
2 VCC System Power DC 3.3V ± 10%
3 TXA O Navigation Data Output TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
4 RXA I Serial Data Input TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC
5 TXB O Reserved TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
6 RXB I RTCM 104 Differential
GPS Input
TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC
7 TIMEMARK O 1 Pulse per second time
mark Output
Vil≦0.2V，Pulse Width≧10ms
8 RESET I
System Reset ，Active
Low
Vil≦0.2V，Pulse Width≧1ms
9 BOOTSEL I
Internal boot，Active High TTL Level；Vih≧0.7*VCC；Vil≦0.3*VCC
10 WAKEUP I Active low wakeup from
the RTC
TTL Level；Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
11 VBAT External Backup Power
Input
2.1V≦Vbat ≦3.6V
12 RESERVED
13 GPIO3 I/O General Purpose I/O Pin TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
14 GPIO5 I/O General Purpose I/O Pin TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
15 GPIO6 I/O General Purpose I/O Pin TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
16 GPIO7 I/O General Purpose I/O Pin TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
17 GPIO10 I/O General Purpose I/O Pin TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
18 GPIO13 I/O General Purpose I/O Pin TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
19 GPIO15 I/O General Purpose I/O Pin TTL Level；
Output：Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA
Input：Vih≧0.7*VCC；Vil≦0.3*VCC
20 GND System GND
21 GND System GND
22 GND System GND

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GPS Module Operational Manual)
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VCC DC Power Input
This is the main power supply for the Engine
board. The power range is from 3.3V±10%,
ripple ≤200mV. The maximum current of
RGM-3000 is ≤200mA.
GND
GND provides the ground for the Engine
board. Connect all grounds.
VBAT
This is the battery backup supply that
powers the SRAM and RTC when main
power is removed. The input voltage level is
from 2.1V~3.6V. Max current draw is 10 uA
at 3.3volt. Without an external backup
battery or on board battery, engine board will
execute a cold start after every turn on. To
achieve the faster start-up offered by a hot
or warm start, either a backup battery must
be connected or battery installed on board.
TXA
This is the main transmit channel and is
used to output navigation and measurement
data to user written software. The default
setup is NMEA Output, 4800bps, 8 data bits,
no parity, 1 stop bit. The default sentences
are GPGGA, GPGSA, GPRMC once per
second and GPGSV once per 5 seconds.
Please refer to “software interface” for the
detail protocol.
RXA
This is the main receiving channel and is
used to receive software commands to the
Engine board from user written software.
Please refer to “software interface” for the
detail protocol.
RXB
This is used for DGPS differential input .
BOOTSEL
Pull Bootsel pin high & reset , then it will get
to boot mode.
GPIO
This pin can be programmed to input or
output. For more application, please contact
Royaltek’s sales.
Absolute maximum ratings
Parameter Symbol Unit Min. Value Max. Value
Supply voltage VCC V 2.97 3.63
Output current mA 200
Critical design guide and diagram
1.It is recommanded to attach GNDu plate (30*30MM) below RGM3000M module or the antenna
module of RGM-3000E to increase the intensity of reception . Please refers to “Design Layout
Diagram “ .
2.During design of integrated layout, please isolate high frequency noise source (power Switch,data
or address signal lines ) from GPS antenna.
3. Please don’t place metal object above patch antenna.

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GPS Module Operational Manual)
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Design Layout Diagram
Recommanded Ground plate for RGM-3000M
RGM-3000M with ground plate

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GPS Module Operational Manual)
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Recommanded RGM-3000-A Antenna Ground Plate
Connector tool (Option, not included in standard kit)
It is used to remove or install FPC on connector.
Software interface
NMEA V2.2 Protocol
It is the RS-232 interface:9600 bps, 8 bit
data, 1 stop bit and no parity. It supports the
following NMEA-0183 messages:GGA, GLL,
GSA, GSV, RMC and VTG.
NMEA Output Messages
The Engine board outputs the following
messages as shown in Table 1:
Table 1 NMEA-0183 Output Messages
NMEA Record Description
GGA Global positioning system fixed data
GLL Geographic position – latitude / longitude
GSA GNSS DOP and active satellites
GSV GNSS satellites in view
RMC Recommended minimum specific GNSS data
VTG Course over ground and ground speed

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GPS Module Operational Manual)
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GGA-Global Positioning System
Fixed Data
Table 2 contains the values of the following
example: $GPGGA, 161229.487,
3723.2475, N, 12158.3416, W, 1,
07, 1.0, 9.0, M, , , ,0000*18
Table 2 GGA Data Format
Name Example Units Description
Message ID $GPGGA GGA protocol header
UTC Position 161229.487 hhmmss.sss
Latitude 3723.2475 ddmm.mmmm
N/S Indicator N N=north or S=south
Longitude 12158.3416 dddmm.mmmm
E/W Indicator W E=east or W=west
Position Fix Indicator 1 See Table 2-1
Satellites Used 07 Range 0 to 12
HDOP 1.0 Horizontal Dilution of Precision
MSL Altitude 9.0 meters
Units M meters
Geoid Separation meters
Units M meters
Age of Diff. Corr. second Null fields when DGPS is not used
Diff. Ref. Station ID 0000
Checksum *18
＜CR＞＜LF＞End of message termination
Table 2-1 Position Fix Indicator
Value Description
0 Fix not available or invalid
1 GPS SPS Mode, fix valid
2 Differential GPS, SPS Mode, fix valid
3 GPS PPS Mode, fix valid
GLL-Geographic Position –
Latitude/Longitude
Table 3 contains the values of the following
example:$GPGLL, 3723.2475, N,
12158.3416, W, 161229.487, A*2C
Table 3 GLL Data Format
Name Example Units Description
Message ID $GPGLL GLL protocol header
Latitude 3723.2475 ddmm.mmmm
N/S Indicator N N=north or S=south
Longitude 12158.3416 Dddmm.mmmm
E/W Indicator W E=east or W=west
UTC Position 161229.487 hhmmss.ss
Status A A=data valid or V=data not valid
Checksum *2C
＜CR＞＜LF＞End of message termination
GSA-GNSS DOP and Active Satellites
Table 4 contains the values of the following
example:$GPGSA, A, 3, 07, 02, 26,
27, 09, 04, 15, , , , , , 1.8,1.0,1.5*33

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GPS Module Operational Manual)
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Table 4 GSA Data Format
Name Example Units Description
Message ID $GPGSA GSA protocol header
Mode 1 A See Table 4-2
Mode 2 3 See Table 4-1
Satellite Used 07 Sv on Channel 1
Satellite Used 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
Table 4-1 Mode 1
Value Description
1 Fix not available
2 2D
3 3D
Table 4-2 Mode 2
Value Description
M Manual-forced to operate in 2D or 3D mode
A Automatic-allowed to automatically switch 2D/3D
GSV-GNSS Satellites in View
Table 5 contains the values of 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 5 GSV Data Format
Name Example Units Description
Message ID $GPGSV GSV protocol header
Number of Messages12 Range 1 to 3
Messages Number11 Range 1 to 3
Satellites in View 07
Satellite ID 07 Channel 1(Range 1 to 32)
Elevation 79 degrees Channel 1(Maximum 90)
Azimuth 048 degrees Channel 1(True, Range 0 to 359)
SNR (C/No) 42 dBHz Range 0 to 99, null when not tracking
…. ….
Satellite ID 27 Channel 4(Range 1 to 32)
Elevation 27 degrees Channel 4(Maximum 90)
Azimuth 138 degrees Channel 4(True, Range 0 to 359)
SNR (C/No) 42 dBHz Range 0 to 99, null when not tracking
Checksum *71
＜CR＞＜LF＞End of message termination
1Depending on the number of satellites
tracked multiple messages of GSV data may
be required.
RMC-Recommended Minimum
Specific GNSS Data
Table 6 contains the values of the following
example: $GPRMC, 161229.487, A,
3723.2475, N, 12158.3416, W, 0.13,
309.62, 120598, ,*10

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GPS Module Operational Manual)
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Table 6 RMC Data Format
Name Example Units Description
Message ID $GPRMC RMC protocol header
UTC Position 161229.487 hhmmss.sss
Status A A=data valid or V=data not valid
Latitude 3723.2475 ddmm.mmmm
N/S Indicator N N=north or S=south
Longitude 12158.3416 dddmm.mmmm
E/W Indicator W E=east or W=west
Speed Over Ground 0.13 knots
Course Over Ground 309.62 degrees True
Date 120598 ddmmyy
Magnetic Variation degrees E=east or W=west
Checksum *10
＜CR＞＜LF＞End of message termination
VTG-Course Over Ground and
Ground Speed
Table 7 contains the values of the following
example:$GPVTG, 309.62, T, , M, 0.13, N,
0.2, K*6E
Table 7 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
Speed 0.13 knots Measured horizontal speed
Units N Knots
Speed 0.2 km/hr Measured horizontal speed
Units K Kilometer per hour
Checksum *6E
＜CR＞＜LF＞End of message termination
SiRF Proprietary NMEA Input
Messages
NMEA input messages allow you to control
the Evaluation Unit in NMEA protocol mode.
The Evaluation Unit may be put into NMEA
mode by sending the SiRF Binary protocol
message “ Switch To NMEA Protocol –
Message I.D.129 ” on page 17 using a user
program or using SiRFdemo.exe and
selecting Switch to NMEA Protocol from the
Action manual. If the receiver is in SiRF
Binary mode, all the NMEA input messages
are ignored. Once the receiver is put into
NMEA mode, the following messages may
be used to command the module.
Transport Message
Start Sequence Payload Checksum End Sequence
$PSRF<MID>1Data2*CKSUM3<CR><LF>4
1Message Identifier consists of three
numeric characters . Input messages begin
at MID 100.
2Message specific data. Refer to a specific