UNICORECOMM UM220-INS NF User manual

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User Manual
UM220-INS NF
GNSS Integrated
Navigation Positioning
Module
Copyright© 2009-2019, Unicore Communications, Inc.
Data subject to change without notice.

I
Revision History
Version
Revision History
Date
Ver. 1.0
Initial Edition
Jun. 2018
Ver. 1.0.2
Alpha release version
OCT.2018
Ver. 1.0.4
Beta release version
May.2019
Ver. 1.0.6
Beta release version: Align with the Chinese
version
Aug. 2019
R1.1
Merge the contents of the guide manual in
chapter 4.6
Chapter 6.2: add the shelf life
Sep. 2019
Disclaimer
Information in this document is subject to change without notice and does not
represent a commitment on the part of Unicore Communications, Inc. No part of this
manual may be reproduced or transmitted in any form or by any means, electronic or
mechanical, including photocopying and recording, for any purpose without the express
written permission of a duly authorized representative of Unicore Communications, Inc.
The information contained within this manual is believed to be true and correct at the
time of publication. © Copyright 2009-2019 Unicore Communications, Inc. All rights
reserved.

UM220 User Manual
II
Foreword
This document offers you information in the features of the hardware, the installation,
specification and use of Unicore UM220-INS NF product.
Readers it applies to
This document is applied to the technicians who know GNSS Receiver to some extent
but not to the general readers.
Structure of the file
This document includes the followings:
Introduction: Briefly explaining the functions, performances and installing of the product
Installation: Contains the list of the product package and the details of product
installation
Technical Specification: Offering technical specifications of the product
Hardware Specification: Offering all the information of hardware interface of the product
Mechanical Features: Offering UM220-INS NF dimensions, layout, and top views.

III
Contents
1INTRODUCTION ........................................... 1
1.1 OVERVIEW........................................................................................................................................ 1
1.2 KEY FEATURES................................................................................................................................... 2
1.3 INTERFACES ...................................................................................................................................... 3
2TESTING ................................................ 4
2.1 ESD HANDLING PRECAUTIONS ............................................................................................................. 4
2.2 HARDWARE INSTALLATION................................................................................................................... 5
3TECHNICAL SPECIFICATIONS................................ 6
3.1 ELECTRICAL SPECIFICATIONS................................................................................................................. 6
3.2 OPERATION CONDITION ...................................................................................................................... 6
3.3 DIMENSIONS..................................................................................................................................... 7
3.4 PIN DEFINITION (TOP VIEW）............................................................................................................. 8
3.5 PCB PACKAGING ............................................................................................................................... 9
4HARDWARE DESIGN ....................................... 10
4.1 DESIGN IN CONSIDERATIONS .............................................................................................................. 10
4.2 ANTENNA....................................................................................................................................... 11
4.3 SERIAL PORT ................................................................................................................................... 11
4.4 ODOMETER INSTALLATION................................................................................................................. 12
4.5 CALIBRATION .................................................................................................................................. 12
4.6 INSTALLATION ................................................................................................................................. 13
4.6.1 Installation Instructions .......................................................................................................... 13
4.6.2 Installation Angle Definition ................................................................................................... 14
4.6.3 Free Installation and Self-Calibration ..................................................................................... 14
4.6.4 Fixed Installation and Self-Calibration .................................................................................... 16
4.7 MEMS.......................................................................................................................................... 17
5DISASSEMBLY ........................................... 18
6PACKAGE ............................................... 18
6.1 PRODUCT LABEL DESCRIPTION............................................................................................................ 18
6.2 PACKAGE DESCRIPTION ..................................................................................................................... 18
7CLEAN ................................................. 19
8REFLOW SOLDERING ...................................... 19

1
1Introduction
1.1 Overview
UM220-INS NF is a BDS/GPS+MEMS dual-system module designed for In-dash automotive navigation
and high-end navigation, based on Unicore low power GNSS SoC- Firebird(UC6226). With its built-in
6 axis MEMS, and the support of BDS+GPS, UM220-INS NF can output GNSS+MEMS inertial
positioning result, most suitable for applications requiring high accuracy, high reliability, and high
continuity positioning.
Figure 1-1 UM220-INS NF Module
Variant
PN
Specification
System*
Interface
Data
Update
Rate*
Industry Grade
Positioning chip for
automotive
applications
Full module for
automotive
applications
GPS
BDS*
GLONASS*
GALILEO
QZSS
UART1
UART2
UM220-INS NL*
2310408000012
●
●
●
●
●
●
●
●
1Hz
UM220-INS NF
2310408000014
●
●
●
●
●
1HZ
The BDS system cannot run in parallel with the GLONASS system
UM220-INS NL products will be released in the future
The default data update rate of the module is 1HZ, which can be configured into 5HZ and 10HZ
The internal positioning chip of UM220-INS NF conforms to AEC-Q100 standard, and the full
module of UM220-INS NQ conforms to AEC-Q104 standard
UM220-INS NF will support QZSS in the future

UM220 User Manual
2
1.2 Key Features
Power
Voltage
+2.8V~3.6V VDC
Power Consumption1
105mW
RF Input
Frequency
1559～1577MHz
Input VSWR
≤1.5
Input impedance
50Ω
Antenna gain
15～30dB
Physical Characters
Dimension
16.0*12.2*2.6mm
Environment
Operating Temperature
-40℃~ +85℃
Storage Temperature
-45℃~ +90℃
Input/ Output Data Interface
UART
UART*2, LVTTL.
Acceptable Baud Rate: 4800~115200bps, 9600bps by
default
GNSS Performance
Frequency
BDS B1: 1561.098MHz
GPS L1 : 1575.42MHz
TTFF
(Time to First Fix)
Cold Start: 30s
Hot Start: 1s
Reacquisition: 1s
Positioning Accuracy(RMS)
2.0m CEP
Velocity Accuracy (RMS)
0.1m/s
Update Rate
1Hz/5Hz/10Hz
Sensitivity
GN
BDS
GPS
Tracking
-161dBm
-159dBm
-161dBm
Acquisition
-147dBm
-144dBm
-147dBm
Hot
-154dBm
-149dBm
-154dBm
Reacquisition
-156dBm
-156dBm
-156dBm
Data Output2
NMEA 0183, Unicore Protocol
1PPS(RMS)3
20ns
1
Continuous positioning, typical values
2
User configurable. See Unicore UM220-INS NF Protocol Specification Ver.1.0.3 or updated version for more details.
3
Statistical values within one hour, not recommended for timing application

3
1.3 Interfaces
RF_IN LNA
UFirebird
MEMS
（Gyro，Acc）
UART
RST
SRAM
GNSS RF
CPU
ROM
GNSS Baseband
Interface
UM220-INS NF Vbackup
RTC
VCC
1PPS
TCXO
FWD
WHEEL TICK
SAW
Figure 1-2 Structure
UART
UM220-INS NF module support 2 configurable UART ports, the signal input/output level is LVTTL. The
default baud rate is 9600bps, and is adjustable, can be configured up to 115200bps.
COM1 is the primary serial port, which supports data transfer and firmware upgrade function.
During design in, please ensure that COM1 is connected to a PC or an external processor for
firmware upgrades.
For routine starts of the module, please keep COM1 ‘s input pin at a constant high or constant low
level 1 second after the reset signal goes high.
COM2 only supports data transmission, and can’t be used for firmware upgrade purpose, reserved for
future use.
Odometer (FWD/WHEELTICK)
The UM220-INS NF module has an odometer input interface that includes FWD and WHEELTICK, which
are useful for improving the module’s location accuracy.
MEMS
UM220-INS NF integrated sis axis MEMS on board, 3 axis gyro and 3 axis accelerator. MEMS provide
vehicle dynamic changing info and UM220-INS NF combine them with GNSS calculation and output
the inertial positioning result directly. This combination ensures the positioning experience for users,
much more continuous than the pure GNSS module, especially under GNSS signal loss scenario such
as tunnels and underground parking.

UM220 User Manual
4
1PPS
UM220-INS NF outputs 1 PPS with adjustable pulse width and polarity.
1PPS is not for timing application.
nReset
Low voltage valid (low voltage last for less than 2 millisecond is required).
2Testing
2.1 ESD Handling Precautions
UM220-INS NF Modules are Electrostatic Sensitive Devices (ESD) and require special precautions
when handling.
Follow the steps in section 2.2 in the correct order
Electrostatic discharge (ESD) may cause damage to the device. All operations mentioned in this
chapter shall be carried out in an antistatic workbench, using both wearing an antistatic wrist
strap and a conductive foam pad. If antistatic workbench is not available, wear an antistatic
wrist strap and connect the other end to a metal frame to play a role in anti-static
Hold the edge of the module, not in direct contact with the components
Please check carefully whether the module has obviously loose or damaged components. If you
have questions, please contact us or your local dealer.
Figure 2-1 shows the typical installation of UM220-INS NF EVK suites.
Antenna
PC
Figure 2-1 Typical Installation of UM220-INS NF EVK
Please check the contents of the package carefully after receiving the package of UM220-INS NF.
UM220-INS NF EVK suite (with AC Adapter)
UM220-INS NF User manual

5
uSTAR application package
Qualified antenna, support GPS L1 and BDS B1
Antenna connection cable
Direct serial cable and USB
PC or Laptop with serial ports (Windows 2000/XP/Win7）
Please keep the box and anti-static plastic bags for storage and handling
2.2 Hardware Installation
After the above preparation is complete, follow the steps below to install:
Step 1: Make sure to make full anti-static measures, such as anti-static wrist strap, grounding the
workbench;
Step 2: Open the UM220-INS NF evaluation kit;
Step 3: Select the GNSS antenna with appropriate gain, fix it in the non-block area, using the
appropriate cable to connect the antenna with UM220 EVK;
Step 4: Connect the PC to the EVK serial port through direct serial cable;
Step 5: Power supply for UM220-INS initialization;
Step 6: Open the uSTAR software on the PC;
Step 7: Controlled the receiver through uSTAR to display constellations view, log messages, and
receiver status.

UM220 User Manual
6
3Technical Specifications
3.1 Electrical Specifications
Absolute Maximum Ratings
Item
Pin
Min
Max
Unit
Description
Power Supply (VCC)
Vcc
-0.5
3.6
V
Main power
Backup Voltage
V_BCKP
-0.5
3.6
V
Backup
power
supply for
RTC
Digital IO (RXD1，RXD2) 4
Vin
-0.5
3.6
VV
VCC Ripple (Rated Max.)
Vrpp
0
50
mVpp
RF_IN
RF_IN
-
+3
dBm
Max input
power of
antenna
Storage Temperature
Tstg
-45
90
°C
SMT Reflow Temperature
TSLDR
-
+260
°C
Maximum ESD stress
VESD(HBM)
2000
V
All
pins,HBM
3.2 Operation Condition
Item
Pin
Min.
Typical
Value
Max.
Unit
Condition
Power Supply (VCC)
Vcc
2.8
3.3
3.6
V
Ripple Voltage
Vp-p
50
mV
Peak current
Iccp
54
mA
Vcc = 3.0 V
Tracking average
current
IACQ
27
31
34
mA
Vcc = 3.0V
LOW Level Input
Voltage
VIL
-0.3
0.2*Vcc
V
High Level Input
Voltage
VIH
0.7*Vcc
Vcc+0.3
V
LOW Level Output
Voltage
VOL
0
0.4
V
Iout = -2 mA
High Level Output
Voltage
VOH
Vcc–0.4
Vcc
V
Iout = 2 mA
Antenna Gain5
GANT
15
20
30
dB
Noise Figure
NF
1.5
dB
Operating
Temperature
TOPR
-40
85
°C
4
Including nRESET，TIMEPULSE，WHEELTICK，TXD2，RXD2，FWD，TXD1，RXD1
5
The antenna gain range refers to the gain range of the preamplifier before RF_IN of the module.

7
3.3 Dimensions
Table 3-1 Dimensions
Symbol
Min（mm）
Type（mm）
Max（mm）
A
15.9
16.0
16.5
B
12.05
12.2
12.35
C
2.4
2.6
2.8
D
0.9
1.0
1.3
E
1.0
1.1
1.2
F
2.9
3.0
3.1
G
0.9
1.0
1.3
H
0.9
1.0
1.1
K
0.7
0.8
0.9
N
0.4
0.5
0.6
M
0.8
0.9
1.0
Figure 3-1Mechanical Layout

UM220 User Manual
8
3.4 Pin Definition (Top View ）
NC
NC
TXD1
RXD1
VCC
TIME PULSE
WHEELTICK
NC
NC
FWD
NC
nRESET
VCC_RF
GND
RF_IN
GND
V_BCKP
GND
GND
NC
NC
TXD2
RXD2
NC
Top View
1
2
3
4
5
6
7
8
9
10
11
12
24
23
22
21
20
19
18
17
16
15
14
13
Figure 3-2 Top View
Pin No.
Name
I/O
Electrical Level
Description
1
nRESET
I
LVTTL
For reset
1=normal
0=reset
2
NC
—
—
Reserve
3
TIMEPUL
SE
O
LVTTL
Time pulse(1PPS)
4
WHEELTI
CK
I
LVTTL
Odometer speed pulse
Incorrect signals of the odometer will lead to
serious problems in the use of the product.
Please make sure the signal is correct.
5
NC
—
—
Reserve
6
TXD2
O
LVTTL
UART 2-TX
7
RXD2
I
LVTTL
UART 2-RX
8
NC
—
—
Reserve
9
VCC_RF6
O
Output Voltage RF section
10
GND
—
—
Ground
11
RF_IN
I
—
GNSS signal input (BD2 B1+GPS L1)
12
GND
—
—
Ground
13
GND
—
—
Ground
14
NC
—
—
Reserve
15
FWD
I
LVTTL
Odometer forward
6
The maximum output current for VCC_RF is 60 mA, with current limiting protection function. However,
long-term short circuit will still cause irreparable damage to the module.

9
Pin No.
Name
I/O
Electrical Level
Description
1=forward
0=backward
Incorrect signals of the odometer will lead to
serious problems in the use of the product.
Please make sure the signal is correct.
16
NC
—
—
Reserve
17
NC
—
—
Reserve
18
NC
—
—
Reserve
19
NC
—
—
Reserve
20
TXD1
O
LVTTL
UART 1-TX
21
RXD1
I
LVTTL
UART 1-RX
22
V_BCKP
I
1.4V~3.6V
Backup voltage supply, applicable for hot
start.
23
VCC
—
2.8V~3.6 V
Supply voltage
24
GND
—
—
Ground
3.5 PCB Packaging
Figure 3-3 UM220-INS NF Recommended PCB Packaging（unit: mil, in brackets: mm）
In the design of PCB solder, make sure the area below the UM220-INS NF
modules are fully covered with solder layer.

UM220 User Manual
10
4Hardware Design
4.1 Design in Considerations
To make UM220-INS NF to work properly, you need to properly connect the following:
Provide reliable power to the VCC pin
Connect all the GND pins to ground
Connect GNSS_ANT signal to the antenna, and make sure it is 50 ohm impedance matching.
Ensure COM1 is connected to a PC or an external processor, users can use this serial port to
receive position data. COM1 is also necessary for firmware upgrades
In order to obtain good performance, special concern should be paid during the design:
Power supply: Stable and low ripple power is necessary for good performance.
- Using LDO to ensure the purity of power supply
- Try to place LDO close to the module in layout
- Widening the power circuit or use copper pour surface to transmit current
- Avoid walking through the high–power or high inductance devices such as magnetic coil
- Make sure the peak to peak voltage ripple does not exceed 50mV
UART interfaces: Ensure that the signals and baud rate of main equipment match UM220-INS NF
module’s
Antenna interface: Make sure the antenna impedance matching, and the circuit is short and
smooth, try to avoid acute angle
Try to avoid circuits below UM220-INS NF；
This module is a temperature sensitive device, dramatic changes in temperature will result in
reduced performance, keep it as far away from the high-power high-temperature air and heating
devices as possible

11
4.2 Antenna
The module's antenna input pin VCC_RF provides a +3V antenna feed, when an active antenna of
+3.3V is adopted, it can be power supplied by directly connecting to the VCC_RF pin of UM220-INS.
UM220-INS NF
RF_IN
VCC_RF
Figure 4-1 UM220-INS Active Antenna (+3V) Solution
When using VCC_RF to feed the antenna, VCC_RF is between vcc-0.3v and vcc-0.1v. Between VCC
and VCC_RF ESRDC is 6Ω, so it can be carried out in accordance with the following formula VCC_RF
voltage calculation.
VCC_RF≈VCC-6Ω×IANT
When an active antenna other than +3V is adopted, it is necessary to power the antenna.
V_BIAS
UM220-INS NF
RF_IN
VCC_RF
Figure 4-2 UM220-INS NF Active Antenna (Other than +3V) Solution
4.3 Serial Port
UM220-INS NF’s COMS ports are of LVTTL level, for PC connection, please use a RS232 voltage level
converter.
UM220
-INS NF PC
RS232
Converter
UART1
UART2
RS232 1
RS232 2
Figure 4-3 Connect COM to PC

UM220 User Manual
12
4.4 Odometer Installation
The best installation position of the UM220-INS NF module is the centroid of the car body, and it is
kept rigid connection with the car body and fixed installation. The best installation position of antenna
is roof or other space that does not affect satellite signal reception. In the carbody coordinate system,
the installation location of the module and the antenna must meet the following requirements;
UM220-INS NF module has direction (FWD) and velocity pulse (WHEELTICK) signals connected with
odometer. If the module obtains effective direction and velocity pulse signals, it will help to improve
the accuracy of module positioning trajectory.
The odometer signal of vehicles is generally 12V level, and the signal quality is poor. Therefore, vehicle
odometer signals generally need signal filtering, optocoupler isolation and level conversion to provide
UM220-INS NF for use.
odometer UM220-INS
NF
signal
filtering,
optocouple
r
isolation
and level
conversion
Orientation
Pulse
FWD
WHEELTICK
Figure 4-4 Odometer Connect
4.5 Calibration
UM220-INS NF internal inertial navigation device is an important component supporting integrated
navigation, and the inertial navigation device needs to complete initialization calibration before it
can work normally.
Successful completion of initialization requires the following conditions:
Guarantee the number of visible satellites is at least 6 and CN0 to be above 30 dBm
Park for 3 min after launching self-calibration
Need not less than 5 times faster than 0.5m/s2
Drive at 36 km/h or faster
After the first alignment of inertial navigation (insstatus 2), it still needs to travel for about 15 minutes
in normal open environment.

13
XY
Z
Figure 4-5 Module Coordinate System
Figure 4-6 Car Coordinate System
The normal direction of the shielding cover is Z axis, the long axis is Y and the
short axis is X.
Modular coordinate system and vehicle coordinate system are defined as: X-axis
and R-axis are parallel in the same direction, Y-axis and F-axis are parallel in the
same direction, Z-axis and U-axis are parallel in the same direction
4.6 Installation
The installation of UM220-INS NF module on the vehicle shall be fixed.
4.6.1 Installation Instructions
The UM220-INS NF module must be fixedly connected with the vehicle to prevent any offsets or
vibrations between the module and the vehicle. UM220-INS NF cannot be installed in the suspension
part of the vehicle (with elastic part). When the vehicle is moving, any position offset relative to the
vehicle-based coordinates will cause devastating damage to stop the UM220-INS NF module from
working normally, especially the direction offset.
U
R
F

UM220 User Manual
14
4.6.2 Installation Angle Definition
The vehicle coordinate is RFU, and the module coordinate is xyz, as shown in figure 4-6 and figure 4-7.
AngleR, angleF, and angleU of the module installation angle are defined as below:
1. Overlap the initial state of the two coordinates of RFU and xyz
2. Rotate γangle of the module along the z axis
3. Rotate angle of the module along the new x axis
4. Rotate angle of the module along the new y axis
5. The module is now in the same state as the actual installation, with that, angleR=
angleF= angleU=
Figure 4-7 The Module Coordinate System (RFU)
4.6.3 Free Installation and Self-Calibration
Free Installation (Default Mode)
UM220-INS NF integrates a three-axis gyroscope and a triaxial accelerometer, and a complex self-
calibration algorithm is designed to support the free installation of the module with respect to any
installation angle of the body coordinate system, such as the full horizontal installation, tilted angle
installation and flip installation.
Self-Calibration
After the installation of the UM220-INS NF module, the self-calibration is required to ensure the
accuracy of the module output. In the process of the self-calibration, the module estimates
installation status parameters and sensor parameters. The module is in full
The module coordinate
z axis
y axis
x axis
The module coordinate system is consistent with the body coordinate
Rotate γangle of the module along
the z axis (right handed screw)
Rotate α angle of the module
along the new x axis (right
handed screw)
Rotate βangle of the module
along the new y axis (right
handed screw)

15
satellite navigation mode before the self-calibration is completed, and is in satellite navigation and
inertial navigation compact combination Mode after the self-calibration is completed.
Conditions of Completing Self-Calibration
−A three-minute stop after the self-calibration is triggered;
−Good satellite visibility is guaranteed in the self-calibration process (the number of
visible satellites is not less than six, and Cn0 is above 30);
−It's required to drive at the acceleration greater than 0.5m/s squared for no less than 5
times under the premise of normal driving. The longer the acceleration time is, the faster
the calibration will be;
−Keep the forward driving speed is above 36 km/hour under the premise of normal
driving. The longer the driving time is, the faster the calibration will be.
After the first alignment of inertial navigation (insstatus 3), it is still necessary to drive for about
15 minutes in the normal open environment to train the inertial navigation device adequately.
For example, the navigation precision may be slightly worse if the inertial navigation device
enters the complex environment such as the tunnel and garage immediately after the first
alignment.
The normal use of the module only requires a self-calibration process.
Related Message Protocol Description
1. CFGROTAT
Message format: $ CFGROTAT,angleR, angleF, angleU, mode
Description: Set or output the installation angle configurations of the module with respect
to the vehicle coordinate system
Parameters:
◆angleR, angleF and angleU, refer to the 4.6.2 for details with the unit of 0.01°
◆mode, which stands for the installation angle configuration mode:
0 –General installation mode, the input value of the installation angle is relatively coarse
(within 10deg)
2 –Automatic installation mode, no installation angle is required.
Remark:
1. Choose 2 for free installation mode
2. If the free installation mode is specified by the user, the input angler, angleF, and angleU
is meaningless.
3. Any configuration on the INS will cause the INS module to be re-initialized during normal
operation or after power-off and restart, and the previously completed or ongoing
calibration operations will be reset;
2. SNRSTAT
Message format: $SNRSTAT,insstatus,odostatus, InstallState, Mapstat
Description: Output initial status (applicable for both fixed installation mode and free
installation mode)
Parameters:
◆insstatus: Initial status of INS
-1: IMU device failure
0: Disabled
1: initialized

UM220 User Manual
16
2: The installation angle is known
3: Initialization is completed
◆odostatus: Odometer initialization status
-1: Odometer device failure
0: Disabled
1: Initialize the scale factor
2: The scale factor initialization is completed
3: The calibration of the scale factor is completed
◆InstallState：
0: In the progress of the calibration
1: The current quality of satellite information is insufficient and requires better satellite
conditions
2: The current maneuver conditions of the carrier is insufficient and requires to be
accelerated
3: The current speed of the carrier is too low and it's required to be increased.
◆Mapstat：
-1 No serial port is configured to enter MAP information
0 No MAP message is received by the serial port or the sent MAP message is timeout
1 MAP information is received but not applied to the composite navigation
2 MAP information is received and applied to the composite navigation
The Test Method of the Omni-Directional Free Installation Mode
1. Fully free installation of the module
2. Input the command $CFGROTAT,0,0,0,2 (no configuration is required for the factory
mode)
3. Input the command $ CFGSAVE(no configuration is required for the factory mode)
4. The process of self-calibration should satisfy above conditions of parking, satellite quality
and maneuver, and etc. Observe the $SNRSTAT output to confirm whether the self-
calibration is completed, and when the insstatus becomes 3, the self-calibration is
completed.
5. Confirm that the self-calibration is completed and then enter the road with poor satellite
quality.
6. If the function of hot start in the basement is needed, Vbackup requires to be powered
continuously;
4.6.4 Fixed Installation and Self-Calibration
Fixed Installation
According to the installation Angle definition rule, the accurate installation Angle is manually
configured into the module. This installation method takes a short calibration time.
Related Message Protocol Description
1. CFGROTAT
Message format: $ CFGROTAT,angleR, angleF, angleU, mode
Description: Set or output the installation angle configurations of the module with respect
to the vehicle coordinate system
Parameters:
◆angleR, angleF, and angleU refer to the 4.6.2 for details with the unit of 0.01°