Wave-radio iGPS-M User manual

iGPS-M USER’S MANUAL
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iGPS-M USER’S MANUAL
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Installation .................................................................. 3
Troubleshooting ............................................................... 5
iGPS-M Introduction ........................................................... 6
iGPS-M Key Feature ......................................................... 6
Possible Application ....................................................... 6
Familiarize your iGPS-M ....................................................... 7
Dimensions ................................................................. 7
Interface .................................................................. 7
Water-proof housing with magnet on the bottom .............................. 7
LED Light .................................................................. 7
iGPS-M Computer/Lap top and handheld device cable .......................... 8
Software Interface ............................................................ 9
NMEA Protocol .............................................................. 9
NMEA Messages .............................................................. 9
GLL –Geographic Position –Latitude/Longitude ............................. 9
GGA –Global Positioning System Fix Data .................................. 10
VTG –Course over Ground and Ground Speed ................................. 10
RMC –Recommended Minimum Specific GNSS Data .............................. 11
GSA –DOP and Active Satellites ........................................... 11
GSV –Satellites in view .................................................. 12
PFST,FOM –Position figure of merit ....................................... 12
PFST,PPS –PPS signal ..................................................... 13

iGPS-M USER’S MANUAL
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Installation
Step I：Check your iGPS-M package
Please check the iGPS-M package. If any items are missing or damaging, please
contact our distributor immediately.
The standard package of iGPS-M contains:
liGPS-M Receiver
liGPS-M Driver & Utility CD
lWarranty Card
lQuick Installation Guide
lRS-232 cable or USB cable
With different brand/type of handheld device, the iGPS-M receiver needs to use
different type of car charger. Our company provides all kinds of car chargers,
please refer to the section of iGPS-M car chargers and cables on page 7. If the
iGPS-M receiver you purchased provides a car charger, please make sure it is suitable
for your handheld device.
Step II：Connect iGPS-M receiver to PC/Lap top or handheld device
lUsing RS-232 cable: please follow the illustration as below.
lUsing USB connector: please follow the illustration as below. Before the
USB connector plugs in your PC/Lap top, please have your USB Driver
Installation ready. (See the USB Driver installation guide for detail
information). Remember to plug in the USB connector after your PC/Lap
top started properly. Otherwise, your PC/Lap top operating system might
judge iGPS-M as a mouse and affect the normal operation.
To DB-9 port on PC/Lap top
To USB port on PC/Lap Top

iGPS-M USER’S MANUAL
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lUsing car charger: Please follows the illustration as below. You have
to plug in the connector into Car Socket in order to have power supply
for both iGPS-M receiver and handheld device.
Step III：Check if the LED is flashing.
Once your PC/Lap top or car charger supplies power, the iGPS-M receiver starts
to provide the positioning function. At meantime, the LED will be flashing and
it means iGPS-M is operating.
To USB port on PC/Lap top
To Input/output port of
handheld device
Connect to Car Socket

iGPS-M USER’S MANUAL
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Troubleshooting
When your iGPS-M receiver could not operate, please follow the instruction to
do the troubleshooting as below.
1. iGPS-M receiver’s LED is not flashing
lIt means iGPS-M does not have power supply. Please check if theconnector
plugs in properly as the step II.
2. iGPS-M receiver’s LED is flashing, but the connection between iGPS-M receiver
and the E-map can not be established. Please make sure the settings of COM
Port Number and Baud rate are correct.
lMost of E-map provides scan function to search COM Port. Please scan
it for the correct COM Port number that iGPS-M receiver is utilizing.
lIf a RS232 cable is used to connect to PC/Lap top, the COM Port number
would COM1 usually.
lThe default Baud rate is 4800.
lIf a USB cable is used to connect to PC/Lap top, please make sure the
UBS driver is installed successfully.

iGPS-M USER’S MANUAL
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iGPS-M Introduction
The iGPS-M is an outstanding high sensitivity GPS receiver. Its
excellent performance easily conquers the most difficult tasks.
Inaddition,itprovidesvariousfunctionstomeetcustomers’demand.
iGPS-M employs uNav’s powerful GPS solution. It provides marvelous
navigation performance under dynamic conditions in areas with limited
sky view like urban canyons. It also has high sensitivity for weak signal
operation without compromising accuracy. U ndoubtedly, iGPS-M is the best
choice for you.
Market Leading System Performance
Ultra-low, user configurable power management makes iGPS-M the lowest power consuming,
complete 12-channel iGPS receiver on the market. Nevertheless, there are no compromises
in performance. The iGPS receiver has a navigation sensitivity as low as–150dBm making
it applicable even for extremely demanding applications and environments.
iGPS-M Key Feature
qBuilt in uNav chipset
qSensitivity: -150dBm (Tracking)
qThin module form factor – 45mm(L) x 45mm(W) x 8.5mm(H)
qRTC back up and for first time to Fast Fix (TTFF)
qiTALK and NMEA0183 v3.0 data protocols
qAccurate 1PPS timing output
q8MBit Flash Memory
q3Sec Quick Start
qWater resistant
Possible Application
qMapping devices for PC & Pocket PC
qPersonal Navigation or touring devices
qAVL and Location-Based service system
qData logging for marine Navigation
qSupport 1pps output for timer
qTracking devices/system
qMileage Management
qFleet Management
qCar Navigation

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Familiarize your iGPS-M
Dimensions
Length：64 mm Width：57 mm Height：16.5 mm Weight：85+/-5 gram
Interface
As shown in the illustration on the right, thelength of the wire on iGPS-M receiver
is 2 meters. There is a 6 -pin connector for the connection to PC/Lap top or handheld
device. The ping assignment is shown below.
A. SP6-Pin Female Connector
B. PSII Female Connector
Water-proof housing with magnet on the bottom
There are 4 magnets on the bottom side of iGPS-M receiver for adsorbing on your
car. The housing of iGPS-M receiver has waterproof, it can avoid the water permeates
your iGPS-M receiver while you adsorb it outside of the car.
LED Light
There is an LED light near the output cable on the back of iGPS-M receiver. When
the iGPS-M supplied 5V DC power, the LED will be flashing. It means iGPS-M receiver
starts to provide the positioning function.
Ping No.
Function
1Rx TTL
2Tx TTL
3DC 5V
4RS232 Rx
5GND
6RS232 Tx
6-pin female connector
2 meters long wire
Ping No.
Signal
1Tx (RS-232)
2+5VDC
3Tx (TTL)
4Ground
5Rx (TTL)
6Rx (RS-232)

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iGPS-M Computer/Lap top and handheld device cable
Following table lists each kind of cables for connecting different type of PC/Lap
top or handheld device.
Category Model Number Type
RS232 cable iGPS-M-RS232C RS232 as I/O, power by USB
USB cable iGPS-M-USBC USB for both I/O and power
iGPS-M-CA-ACER N20 ACER N20
iGPS-M-CA-ACER S60 ACER S60
iGPS-M-CA-ASUS A600 ASUS A600
iGPS-M-CA-ASUS A620 ASUS A620
iGPS-M-CA-CASIO E115 Casio E115
iGPS-M-CA-CASIO E125/EM500 Casio E125/EM500
iGPS-M-CA-CASIO E200 Casio E200
iGPS-M-CA-Dell Axim X3 Dell Axim X3
iGPS-M-CA-Dell Axim X5 Dell Axim X5
iGPS-M-CA-Eten P300 Eten P300
iGPS-M-CA-I-PAQ 2200i/38xx/39xx
I-PAQ 2200i38xx/39xx series
iGPS-M-CA-I-PAQ 36xx/37xx I-PAQ 36xx/37xx series
iGPS-M-CA-Mitac Mio 338/528 Mitac Mio 338/528
iGPS-M-CA-NEC Pocket PC NEC Pocket PC
iGPS-M-CA-O2 XDA II/T-Mobile MDA
O2 XDA II/T-Mobile MDA
iGPS-M-CA-O2 XDA/T-Mobile MDA O2 XDA/T-Mobile MDA
iGPS-M-CA-Palm 500/505/T3 Palm 500/505/Tungsten T3
iGPS-M-CA-Palm Vx Palm Vx
iGPS-M-CA-Siemens LOOX Siemens LOOX
iGPS-M-CA-Sony N series Sony N series
iGPS-M-CA-Sony T series Sony T series
iGPS-M-CA-Toshiba e330/e740 Toshiba e330/e740
iGPS-M-CA-Toshiba e400 Toshiba e400
iGPS-M-CA-Toshiba e570 Toshiba e570
iGPS-M-CA-Toshiba e800 Toshiba e800
iGPS-M-CA-Yakumo Delta 300 Yakumo Delta 300
Handheld device
cable
Remark:
While using the
iGPS-M with handheld
device, Car charger
would supply power for
both iGPS-M and
handheld device
iGPS-M-CA-Yakumo Omnikron Yakumo Omnikron
RS-232 cable
USB cable
GPS/PDA Car charger

iGPS-M USER’S MANUAL
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Software Interface
NMEA Protocol
iGPS-M receiver currently supported 21NMEA commands and 7 NMEA messages. The NMEA
commands include NMEA, START, STOP, STORE, RESTORE, AUTOSTART, FIXRATE, DATUM, PWRDOWN,
PPSMODE, SURVEYLEN, CABLEDEL,PPSPOS, PULSEPOS, PULSELEN, INITAID, ALTAID, SETLIMIT,
SYNCMODE, SW, and HW. The respond messages include GPGLL, GPGGA, GPVTG, GPRMC, GPGSA,
GPGSV, and “PFST,FOM”.
NMEA Messages
The NMEA-0813 message consists of fields as following:
$GP<message id>,<data field>,<data field>,,, ..*<checksum><CR><LF>
Message starts with ‘$GP’ followed by message id field. Message data fields are separated
by commas ( , ) and the message ends after checksum field and carriage return <CR>
and line feed <LF> control characters. Delimiter ‘*’ precedes the checksum field.
Note that data fields may be NULL (missing). Null data fields contain no characters
but are still separated by commas, for example:
$GPGGA,134158.48,6016.3072,N,02458.3788,E,1,08,1.2,,,,,,0000*1E
GLL –Geographic Position –Latitude/Longitude
Latitude and Longitude, UTC time of fix and status.
Format: $GPGLL,xxmm.dddd,<N|S>, yyymm.dddd,<E|W>,hhmmss.dd,S,M*hh<CR><LF>
Example: $GPGLL,6016.3073,N,02458.3791,E,134157.48,A,A*26
Parameter Description Example
xxmm.dddd Latitude, xx = degrees, mm = minutes, dddd = de
cimal
part of minutes 60 deg. 16.3073 min.
<N|S> Either character N or character S,
N = North, S = South North
yyymm.dddd Longitude, yyy = degrees, mm = minutes
dddd = decimal part of minutes 24 deg.
58.3791 min
<E|W> Either character E or character W,
E = East, W = West East
hhmmss.dd UTC time, hh = hours, mm = minutes, ss = seconds
dd = decimal part of seconds 13:41:51.48
SStatus indicator, A = valid, V = invalid Valid
MMode indicator, A =autonomous, N =data not valid
Autonomous
hh Check sum 26

iGPS-M USER’S MANUAL
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GGA –Global Positioning System Fix Data
Time, position and fix related data for a GPS receiver.
Format:$GPGGA,hhmmss.dd,xxmm.dddd,<N|S>,yyymm.dddd,<E|W>,v,ss,d.d,h.h,M,g.g,M,a.
a,xxxx*hh<CR><LF>
Example: $GPGGA,134829.48,1126.6639,S,11133.3299,W,1,07,1.0,,,,,,*15
Parameter Description Example
hhmmss.dd UTC time, hh = hours, mm = minutes, ss = seconds,
dd = decimal part of seconds 13:48:29.48
xxmm.dddd Latitude, xx = degrees, mm = minutes,
dddd = decimal part of minutes 11 deg. 26.6639 min.
<N|S> Either character N or character S,
N = North, S = South South
yyymm.dddd Longitude, yyy = degrees, mm = minutes,
dddd = decimal part of minutes 111 deg. 33.3299 min.
<E|W> Either character E or character W,
E = East, W = West West
vFix valid indicator, 0=Fix not valid, 1=Fix valid
Fix valid
ss Number of satellites used in position fix,
00-12. Fixed length 7 satellites
d.d HDOP – Horizontal Dilution Of Precision HDOP = 1.0
h.h Altitude (mean-sea-level, geoid)
MNULL (missing)
g.g NULL (missing)
MNULL (missing)
a.a NULL (missing)
xxxx NULL (missing)
hh Check sum 15
VTG –Course over Ground and Ground Speed
Course and speed
Format: $GPVTG,h.h,T,m.m,M,s.s,N,s.s,K,M*hh<CR><LF>
Example: $GPVTG,202.60,T,,,0.38,N,0.7,K,A*0D
Parameter Description Example
h.h Heading 202.60
TDegrees (heading units). Degree
m.m Magnetic heading. Currently NULL (missing).
MDegrees. Magnetic heading units.
Currently NULL (missing).
s.s Speed, knots. Speed = 0.38
NKnots (Speed unit) Knots
s.s Speed, km/h. Speed = 0.7
Kkm/h (Speed units). km/h
MMode indicator, A =autonomous, N =data not valid
Autonomous
hh Check sum 0D

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RMC –Recommended Minimum Specific GNSS Data
Time, date, position, course and speed data.
Format: $GPRMC,hhmmss.dd,S,xxmm.dddd,<N|S>,yyymm.dddd,<E|W>,s.s,h.h,ddmmyy,d.d,
<E|W>,M*hh<CR><LF>
Example: $GPRMC,134829.486,A,1126.6639,S,11133.3299,W,58.31,309.62,110200,,,A*14
Parameter Description Example
hhmmss.dd UTC time, h = hours, mm = minutes, ss = seconds,
dd = decimal part of seconds 13:48:29.486
SStatus indicator, A = valid, V = invalid Valid
xxmm.dddd Latitude, xx = degrees, mm = minutes,
dddd = decimal part of minutes 11 deg.
<N|S> Either character N or character S,
N = North, S = South 26.6639 min.
yyymm.dddd Longitude, yyy = degrees, mm = minutes,
dddd = decimal part of minutes 111 deg. 33.3299 min.
<E|W> Either character E or character W,
E = East, W = West West
s.s Speed, knots. 58.31 Knots
h.h Heading 309.62 deg.
ddmmyy Date, dd = date, mm = month, yy = year 11th, Aug. 2000
d.d Magnetic variation
<E|W> Declination. Either character E or character W,
E = East, W = West
MMode indicator, A =autonomous, N =data not valid
Autonomous
hh Check sum 14
GSA –DOP and Active Satellites
GPS receiver operating mode, satellites used in the navigation solution reported by
the GGA sentence, and DOP values.
Format: $GPGSA,a,b,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,p.p,h.h,v.v*hh<CR><LF>
Example: $GPGSA,A,3,03,15,17,18,22,23,,,,,,,4.7,3.7,2.9*37
Note:
Parameter Description Example
a
Mode: M = Manual, forced to operate in 2D or 3D mode.
A = Automatic, allowed to automatically switch 2D/3D. Automatic
bMode: 1 = Fix not available, 2 = 2D, 3 = 3D 3D
xx
ID (PRN) numbers of GPS satellites used in solution
03,15,17,18,
22,23
p.p PDOP PDOP = 4.7
h.h HDOP HDOP = 3.7
v.v VDOP VDOP = 2.9
hh Check sum 37

iGPS-M USER’S MANUAL
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GSV –Satellites in view
Number of satellites in view, satellite ID (PRN) numbers, elevation, azimuth, and
SNR value. The information for four satellites maximum per one message, additional
messages up to maximum of eight sent as needed. The satellites are in PRN number order.
Before a position fix is acquired the information contains only the SNR (signal to
noise ratio) value. After a fix is acquired, also the elevation and azimuth angles
are added. Note that there can be also “theoretical” satellites in the GSV message.
These are satellites of which the angles (elevation, azimuth) are known but for some
reason, e.g. due to an obstruction, have not been found by iTrax02. The
SNR value for these satellites is therefore zero.
Format: $GPGSV,n,m,ss,xx,ee,aaa,cn,…………. ,xx,ee,aaa,cn*hh<CR><LF>
Example:
$GPGSV,4,1,14,03,66,207,50,08,09,322,44,11,01,266,42,14,00,155,00*79
$GPGSV,4,2,14,15,41,088,48,17,21,083,44,18,57,087,51,21,57,173,50*78
$GPGSV,4,3,14,22,05,203,00,23,52,074,49,26,17,028,44,27,00,300,00*79
$GPGSV,4,4,14,28,32,243,00,31,48,286,00*70
Note: There are 14 satellites in view. The examples in following table only explain
the information of satellite No.03 on the first message.
Parameter Description Example
nTotal number of messages, 1 to 9 4 messages
mMessage number, 1 to 9 Message No.1
ss Total number of satellites in view 14 satellites
xx Satellite ID (PRN) number No.03
ee Satellite elevation, degrees 90 max 66 deg.
aa Satellite azimuth, degrees True, 000 to 359 207 deg.
cn SNR ( C/No) 00-99 dB-Hz. zero when not tracking 50 dB-Hz
hh Check sum 79
PFST,FOM –Position figure of merit
Figure of merit (FOM) value for the position fix. Indicates the accuracy of the position
in meters. The FOM value cannot be calculated before at least one fix has been made
with more than four observations (five satellites, or four satellites and an altitude
aid); before that a value “ –1” is reported, indicating that FOM is not available yet.
After this the FOM value is always available the only exception being the altitude
aiding modes when a fix has been calculated using three satellites.
Format: $PFST,FOM,n*hh<CR><LF>
Example: $PFST,FOM,3*66
Parameter Description Example
nPosition FOM value,
i.e. the position accuracy in meters. 3 meters
hh Check sum 66

iGPS-M USER’S MANUAL
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PFST,PPS –PPS signal
The pulse per second message. Indicates the parameters of the PPS pulse that will
shortly be outputted. Provides the current GPS time and timing correction of the coming
PPS pulse.
Format: $PFST,PPS,wwww,tttttt,n,xxxx*hh <CR><LF>
Example: $PFST,PPS,1161,309566,9,495*67
Parameter Description Example
wwww GPS Week, i.e. number of full weeks elapsed since
midnight 5-6 January 1980. 1161 weeks
tttttt
Time of Week (seconds from the beginning of the current
GPS week). 309566 sec.
n Number of satellites used when calculating the
solution. 9 satellites
xxxx Short-
time pulse offset of the physical PPS pulse signal
(units of 0.01 ns, in range of approx. -
15.3 .. 15.3
ns). The correct pulse time can be calculated by
subtracting this
offset from the physical PPS pulse
instant.
4.95 ns
hh Check sum 67