GXB2000 16-Channel GPS Receiver Module Description The GXB2000 is a 16-channel GPS receiver module. The GXB2000 is a small and light device, and it includes all the functions required for GPS except for the antenna. The GXB2000 can be support the various kinds of the portable applications as well as the car navigation system. Features • 16-channel GPS receiver capable of simultaneously receiving 16 satellites • All-in-view measurement • 2-satellite measurement • D-GPS (Differential GPS) RTCM SC104 version 2.1 DARC BTA R-003 standard • Low current consumption (270mW, Typ) • Small and light package type • The countermeasure of EMI (electromagnetic wave impediment) Recommended Operating Conditions • Supply voltage (3V spec.) VDD 3.0 to 3.6 (5V spec.) VCC 4.5 to 5.5 • Operating temperature Topr –40 to +85 V V °C GPS (Global Positioning System) is the position measurrment system that the U.S. control and operate. It have some posibility of the position measurement deterioration that depends on the working GPS. It dose not gurantee the standard,etc in this material including the case above. Sony reserves the right to change products and specifications without prior notice. This information does not convey any license by any implication or otherwise under any patents or other right. Application circuits shown, if any, are typical examples illustrating the operation of the devices. Sony cannot assume responsibility for any problems arising out of the use of these circuits. –1– E99658-PS GXB2000 Specification Specification of reception unit Reception method RF input Parallel 16 channels Reception frequency Characteristics impedance Reception sensitivity Positioning system Positioning accuracy WGS-84 Position 100m 2DRMS (SA ON, PDOP = 2.5, HDOP = 1.5) 0.9m/s (SA ON, PDOP = 2.5, HDOP = 1.5) Velocity Positioning condition Follow-up performance 1575.42MHz L1 band, C/A code 50Ω –130dBm or less (Sony's recommended anntena input level) A) DOP limit 3D: PDOP ≤ 12 2D: HDOP ≤ 6 B) Elevation mask: 5° or more Velocity Acceleration 500km/h or less 2G or less Measured data update time Every 1s D-GPS function DARC BTA R-003 standard RTCM SC104 version 2.1 (6 of 8 format) Using type 1 data for correct caluculation Measurement method All-in-view measurement 2-satellite measurement –2– GXB2000 TTFF (No signal break) ∗1 Hot Start (time, position, with ephemeris and almanac) 7 to 20s Warm Start (time, position, without ephemeris, with almanac) 33 to 50s Cold Start (time, position, without ephemeris and almanac) 35 to 60s Reacquisition Time (interrupt recovery time) The case of the interrupt less than 5 minutes 2 to 6s The case of the interrupt more than 5 minutes 6 to 10s ∗1 Condition: The case of meeting positioning condition and receiving 8 satellites continuously and normally. Conditons of Cold Start Abnormal RAM data and abnormal RTC data for the command input RF input connector I/O connector (Power supply, data mode) JST: CN connector JST: SM10B-SRSS Communication Specification Communication method Transfer rate input/output Electric level I/O code Communication format Start-stop synchronization 9600bps TTL level ASCII code Sony/NMEA0183 switching possible Electrical Specification Supply voltage (3V spec.) (5V spec.) Current consumption Backup supply voltage current Pre-amplifier power supply Operating temperature –3– 3.1 to 3.6V Ripple 50mVp-p or less 4.5 to 5.5V Ripple 50mVp-p or less 82mA typ. (Vcc = 3.3V, 25°C) 1.8 to 3.0V 30µA typ. (+B = 3.0V, 25°C) 70µA max. (+B = 3.0V, 85°C) 2.7 to 3.6V, 10 to 30mA –40 to +85°C GXB2000 I/O Connector Pin Pin Configuration Pin No. Symbol I/O Description 1 VCC 2 RESET I Reset input for initializing the reception unit. 3 TXD0 O Measured data output. 4 RXD0 I Command input. 5 RXD1 I D-GPS data input. 6 MODE I Communication format switching pin. (L = Sony, H = NMEA0183) 7 NC — No connection. 8 +BU — Power supply for backup. 9 NC — Fixed H level. 10 GND — GND — Main power supply. Electrical Characteristics Item Supply voltage Input voltage Output voltage (Topr = –40 to +85°C) Symbol Conditions Min. Typ. Max. 3V spec. VDD 3.0 3.3 3.6 5V spec. Vcc 4.5 5.0 5.5 H level VIH 0.7VDD L level VIL H level VOH IOH = –4mA L level VOL IOL = 4mA Current consumption at backup V 1 V 2, 4, 5 V 3 3.0 V 8 70 µA 8 5.5 0.2VDD Backup supply voltage VDD – 0.8 0.4 1.8 +BU = 3V –4– 5 30 Unit Applicable pins GXB2000 Antenna Pre-amplifier Power Supply Circuit 15Ω (1/2W) RF connector 1 (VCC) +3V (3/5V common specification) 10 (GND) I/O connector RF part Sony Recommend Antenna Specification Antenna part Center frequency Polarization Gain Axis ratio 1575.42MHz Right handed circular polarization –5dBi or more (5° ≤ Angle of elevation) 3dB typ. (Angle of elevation = 90°) Pre-amplifier part Gain Noise figure (NF) 22dB or more (without cable loss) 2.5dB or less All-round specification (antenna + pre-anplifire + cable loss) Gain 17dBi or more (Angle of elevation = 90°) Output impedance 50Ω Output VSWR 2.0 or less Supply voltage 2.8 to 3.2V Current consumption 30mA or less –5– GXB2000 Reception Unit Initialization and Operation The GXB2000 operation is started by setting the reset input signal RESET (Pin 2) for the reception unit initialization to high level. The timing should satisfy the conditions noted below. During Power-on (power-on reset) VDD = 3.0 to 3.6V, VCC = 4.5 to 5.5V, temperature = –40 to +85°C VDD/VCC RESET (Pin 2) 100ms or more VDD or VCC/2 Power supply GND Initialization During Operation VDD = 3.0 to 3.6V, VCC = 4.5 to 5.5V, temperature = –40 to +85°C Power supply VDD/VCC RESET (Pin 2) 100µs or more VDD or VCC/2 GND –6– GXB2000 GXB2000 GPS Reception Unit Composition GPS antenna Antenna part Pre-amplifier part Coaxial cable RF cable with CN connector GXB2000 GPS reception unit –7– GND -- 10 NC∗ -- 9 +BU -- 8 NC -- 7 MODE -- 6 RXD1 -- 5 RXD0 -- 4 TXD0 -- 3 RESET -- 2 Vcc -- 1 I/O connector SM10B-SRSS (JST) Do not connect anything to NC. ∗ Fixed H level GXB2000 Specification of form name GXB20 C Advance of software: An English letter (A to Z) Advance of hardware: An English letter (A to Z) Supply voltage: 3V spec. = 3, 5V spec. = 5 Customer code: Figure (0 to 99) Package Outline Unit: mm Quality of case materials: JIS63303 Electroplated tin 9.0 ± 0.2 7.0 ± 0.2 37.9 GXB2000-3AAC 1 26.5 1.2 ± 0.2 φ2.0 29.2 3.1 7 5.7 ± 0.1 10 SM10B-SRSS 1.5 4.55 GXB2000-3AAC Year manufactured (End of figure for Christrian era) Assembly plant code Week manufactured –8– Consective numbers GXB2000 GPS Receiver Data Input/Output Specifications Contents 1. I/O Data Input/Output Specifications .......................................................................................................... S-2 2. D-GPS Data Input Specifications ............................................................................................................. S-16 S-1 GXB2000 1. I/O Data Input/Output Specifications 1-1. Communication 1-1-1. Serial input/output communication method Interface: Asynchronous serial interface (UART) Baud rate: 9600 bps Start bit: 1 bit Data bits: 8 bits Stop bit: 1 bit Parity bit: None Communication control signal: None Output period: Approximately 1s 1-1-2. Asynchronous serial interface 1 LSB D0 MSB D1 D2 D3 D4 D5 D6 D7 0 Start bit 1 bit Data bits 8 bits Stop bit 1 bit S-2 GXB2000 1-2. Output Data 1-2-1. Standard output Example BIT No. 76543210 Contents Setting value Output data (HEX) 1 11010000 Header 2 0xxxxxxx Software version information 01 01 3 4 5 6 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx Latitude Resolution: 0.01" South latitude is two's complement notation. Value range: 32400000 to –32400000 North latitude 87° 29' 10.24" (= 314950.24") 0F 02 26 70 7 8 9 10 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx Longitude Resolution: 0.01" West longitude is two's complement notation. Value range: 64800000 to –64800000 West longitude 175° 42' 30.11" (= –632550.11") 61 6B 1C 1D 11 12 0xxxxxxx 0xxxxxxx Altitude Resolution: 1m Negative altitude is two's complement notation. Value range: 8191 to –8191 3775m 00 1D 3F 13 14 0xxxxxxx 0xxxxxxx Speed Resolution: 0.1km/h Value range: 0 to 5150 60.5km/h 04 5D 15 16 0xxxxxxx 0xxxxxxx Direction Resolution: 0.1° Value range: 0 to 3599 310.7° 18 23 17 18 0xxxxxxx 0xxxxxxx PDOP value Resolution: 0.1 Value range: 0 to 999 51.2 04 00 19 0xxxxxxx Current time mode 0: UTC time 1: JST time 1 01 20 21 22 23 24 25 26 27 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx Current time Year Year Month Date Hour Minute Second Day 1999 0F 4F 02 16 0C 36 2E 01 28 29 30 31 32 33 34 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx Measurement calculation time Year Year Month Date Hour Minute Second — 02 22 12 54 46 01 1999 02 22 12 55 30 S-3 D0 0F 4F 02 16 0C 37 1E GXB2000 Example No. BIT 76543210 35 0xxxxxxx Number of visible satellites Value range: 0 to 32 8 08 36 37 38 39 40 41 42 43 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx Satellite Nos. used for measurement 8 satellite Nos. Value range: 0 to 32 Satellite No.: 0 is invalid. 4 10 18 9 20 25 7 31 04 0A 12 09 14 19 07 1F 44 0xxxxxxx Measurement calculation mode 0: Invalid 1: 2-satellite measurement 2: 3-satellite measurement 3: 4-(or more) satellite measurement 1 01 45 0xxxxxxx Geodesic system Value range: 0 to 25 18 12 46 0xxxxxxx Measurement delay time Resolution: 0.1s Value range: 0 to 9 0.4s 04 Contents Setting value Output data (HEX) Information for 1st satellite 47 0xxxxxxx Satellite No. Value range: 0 to 32 16 10 48 49 0xxxxxxx 0xxxxxxx Azimuth Resolution: 1° Value range: 0 to 359° 218° 01 5A 50 0xxxxxxx Angle of elevation Resolution: 1° Value range: 0 to 90° 56° 38 51 0xxxxxxx Reception status 0: Searching 1: Acquired 2: Usable for calculation 3: Radio waves cut off; interpolating 4: Satellite Unhealth 5: Currently being used for position calculation 3 03 52 0xxxxxxx Signal level Resolution: 1dBHz Value range: 0 to 100 100 64 53 to Information for 2nd satellite 59 to Information for 3rd satellite 65 to Information for 4th satellite 71 to Information for 5th satellite S-4 GXB2000 No. Example BIT 76543210 Contents 77 to Information for 6th satellite 83 to Information for 7th satellite 89 to Information for 8th satellite 95 to Information for 9th satellite 101 to Information for 10th satellite 107 to Information for 11th satellite 113 to Information for 12th satellite 119 to Information for 13th satellite 125 to Information for 14th satellite 131 to Information for 15th satellite 137 to Information for 16th satellite 143 to 0xxxxxxx 144 to 150 Setting value Preamplifier check 0: Normal, 1: Disconnected, 2: Short circuit 2 Output data (HEX) 02 Reserved 1101101 Terminator. "Z" + 80H — S-5 DA GXB2000 1-2-2. Expanded output Example BIT No. 76543210 Contents Setting value Output data (HEX) 150 0xxxxxxx Latitude 0.001 to 0.0001" value Value range: 0 to 99 0.0025" 19 151 0xxxxxxx Longitude 0.001 to 0.0001" value Value range: 0 to 99 0.0091" 5B 152 0xxxxxxx Speed 0.01 km/h value Value range: 0 to 9 0.03km/h 03 153 0xxxxxxx Number of healthy satellites Value range: 0 to 32 15 0F 154 155 156 0xxxxxxx 0xxxxxxx 0xxxxxxx Not related to user — — 157 0xxxxxxx Not related to user — — 158 0xxxxxxx Not related to user — — 159 0xxxxxxx SVACC Value range: 0 to 15 13 0D 160 161 0xxxxxxx 0xxxxxxx Error major axis radius (1σ estimated error) Resolution: 1m Value range: 0 to 510 130 01 02 162 163 0xxxxxxx 0xxxxxxx Error minor axis radius (1σ estimated error) Resolution: 1m Value range: 0 to 510 41 00 29 164 165 0xxxxxxx 0xxxxxxx Error major axis inclination Resolution: 1° Value range: 0 to 179 Angle clockwise from north 165 01 25 166 167 0xxxxxxx 0xxxxxxx HDOP value Resolution: 0.1 Value range: 0 to 999 51.2 04 00 168 169 0xxxxxxx 0xxxxxxx VDOP value Resolution: 0.1 Value range: 0 to 999 51.2 04 00 170 0xxxxxxx D-GPS measurement flag 0: Invalid 1: GPS measurement 2: D-GPS measurement 1 01 171 172 0xxxxxxx 0xxxxxxx D-GPS station No. Value range: 0 to 1023 1023 07 7F 173 0xxxxxxx D-GPS data elapsed time Resolution: 1s 1 01 S-6 GXB2000 Example No. BIT 76543210 174 0xxxxxxx DARC/RTCM mode 0: DARC 1: RTCM 1 01 175 0xxxxxxx PDOP limit value when D-GPS is on 1 01 176 0xxxxxxx HDOP limit value when D-GPS is on 1 01 177 0xxxxxxx PDOP limit value when D-GPS is off 1 01 178 0xxxxxxx HDOP limit value when D-GPS is off 1 01 179 0xxxxxxx Angle of elevation limit value 1 01 180 181 0xxxxxxx 0xxxxxxx Speed limit value 1 00 01 182 to 190 Contents Setting value Output data (HEX) Reserved 1101101 Terminator. "Z" + 80H — S-7 DA GXB2000 1-2-3. Almanac data output Example BIT No. 76543210 Contents 1 10100100 Header 2 · · · · · 44 0xxxxxxx · · · · · 0xxxxxxx 45 11011010 Terminator. "Z" + 80H Output data (HEX) Setting value A4 — DA After the receiver receives an almanac output request, it transmits a response and then outputs the almanac data. The above format is for 1 subframe of the almanac data, and 64 frames of this data are sent in succession. Almanac communication data is sent by dividing the original data into 7-bit sections. The almanac data stored in the GPS receiver memory has the configuration shown below. Normally each word of the almanac data has 6-bit parity, but this is eliminated when the data is stored in the memory. In addition, a 16-bit checksum is added in consideration of communication. WORD1 24 bits WORD2 24 bits WORD3 24 bits WORD4 24 bits WORD5 24 bits WORD6 24 bits WORD7 24 bits WORD8 24 bits WORD9 24 bits WORD10 24 bits Checksum 16 bits The relationship between the above data and the communication data is shown to the right. (1) Relationship between word data and communication data 0 23 Before conversion 31 After conversion 0 0 0 0 0000 0 (2) Relationship between checksum and communication data 15 0 Before conversion 23 After conversion S-8 0 0 0 0 00000 GXB2000 1-3. Input Data 1-3-1. TM command (receiver clock setting) Example BIT No. 76543210 Contents Input data (HEX) Setting value 1 10100000 Header 2 3 0xxxxxxx Year 0xxxxxxx 1999 0F 4F 4 0xxxxxxx Month 10 0A 5 0xxxxxxx Date 29 1D 6 0xxxxxxx Hour 8 08 7 0xxxxxxx Minute 46 2E 8 0xxxxxxx Second 59 3B 9 11011010 Terminator. "Z" + 80H — A0 — DA After receiving the above command, the GPS side sends this command as a response. 1-3-2. PT command (receiver latitude and longitude initial value settings) Example BIT No. 76543210 Contents Setting value — Input data (HEX) 1 10100001 Header 2 3 4 5 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx Latitude Resolution: 0.01" South latitude is two's complement notation. Value range: 32400000 to –32400000 North latitude 87° 29' 10.24" (= 314950.24") 0F 02 26 70 6 7 8 9 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx Longitude Resolution: 0.01" West longitude is two's complement notation. Value range: 64800000 to –64800000 West longitude 175° 42' 30.11" (= –632550.11") 61 6B 1C 1D 10 11011010 Terminator. "Z" + 80H — After receiving the above command, the GPS side sends this command as a response. S-9 A1 DA GXB2000 1-3-3. SK command (receiver geodesic system parameter setting) BIT No. 76543210 1 10100010 Header 2 0xxxxxxx Geodesic system Value range: 0 to 25 3 11011010 Terminator. "Z" + 80H Example Contents Input data (HEX) Setting value — A2 18 12 — DA After receiving the above command, the GPS side sends this command as a response. 1-3-4. AMI command (receive almanac data) BIT No. 76543210 Example Contents Input data (HEX) Setting value 1 10100011 Header — A3 2 11011010 Terminator. "Z" + 80H — DA After receiving the above command, the GPS side sends this command as a response. The NAVI (PC) side receives this command and then sends the almanac data to the GPS side. 1-3-5. AMO command (transmit almanac data) BIT No. 76543210 Example Contents Input data (HEX) Setting value 1 10100100 Header — A4 2 11011010 Terminator. "Z" + 80H — DA After receiving the above command, the GPS side sends this command as a response, followed by the almanac data. 1-3-6. CD command (initialize almanac data area and cold start) BIT No. 76543210 Example Contents Setting value Input data (HEX) 1 10100101 Header — A5 2 11011010 Terminator. "Z" + 80H — DA After receiving the above command, the GPS side sends this command as a response. S-10 GXB2000 1-3-7. SR command (wait 400ms and hot start) BIT No. 76543210 Example Contents Input data (HEX) Setting value 1 10100110 Header — A6 2 11011010 Terminator. "Z" + 80H — DA After receiving the above command, the GPS side sends this command as a response. 1-3-8. EL command (angle of elevation limit value setting) No. BIT 76543210 1 10100111 Header 2 0xxxxxxx Angle of elevation Resolution: 1° Value range: 0 to 90° 3 11011010 Terminator. "Z" + 80H Example Contents Input data (HEX) Setting value — A7 56° 38 — DA After receiving the above command, the GPS side sends this command as a response. 1-3-9. BC command (clear DARC receive data) No. BIT 76543210 Example Contents Input data (HEX) Setting value 1 10101000 Header — A8 2 11011010 Terminator. "Z" + 80H — DA After receiving the above command, the GPS side sends this command as a response. 1-3-10. DG command (D-GPS on/off setting) No. BIT 76543210 1 10101001 Header 2 0xxxxxxx D-GPS on/off setting 0: Off 1: On 3 11011010 Terminator. "Z" + 80H Example Contents Setting value — 1 A9 01 — After receiving the above command, the GPS side sends this command as a response. S-11 Input data (HEX) DA GXB2000 1-3-11. GS command (4 DOP threshold value settings) BIT No. 76543210 Example Contents Input data (HEX) Setting value 1 10101010 Header — 2 0xxxxxxx PDOP threshold value when D-GPS is on AA 64 40 3 0xxxxxxx HDOP threshold value when D-GPS is on 50 32 4 0xxxxxxx PDOP threshold value when D-GPS is off 64 40 5 0xxxxxxx HDOP threshold value when D-GPS is off 50 32 6 11011010 Terminator. "Z" + 80H — DA After receiving the above command, the GPS side sends this command as a response. 1-3-12. DMD command (DARC data input mode) BIT No. 76543210 Example Contents Input data (HEX) Setting value 1 10101011 Header — AB 2 11011010 Terminator. "Z" + 80H — DA After receiving the above command, the GPS side sends this command as a response. 1-3-13. DMR command (RTCM data input mode) No. BIT 76543210 Example Contents Setting value Input data (HEX) 1 10101100 Header — AC 2 11011010 Terminator. "Z" + 80H — DA After receiving the above command, the GPS side sends this command as a response. S-12 GXB2000 1-3-14. EX command (expanded output mode on/off) No. BIT 76543210 Example Contents 1 10101101 Header 2 0xxxxxxx Expanded output on/off setting 0: Off 1: On 3 11011010 Terminator. "Z" + 80H Input data (HEX) Setting value — AD 1 01 — DA After receiving the above command, the GPS side sends this command as a response. 1-3-15. SW command (eliminate ephemeris and warm start) No. BIT 76543210 Example Contents Input data (HEX) Setting value 1 10101110 Header — AE 2 11011010 Terminator. "Z" + 80H — DA After receiving the above command, the GPS side sends this command as a response. 1-3-16. TC command (current time mode setting) No. BIT 76543210 Example Contents 1 10101111 Header 2 0xxxxxxx Current time mode setting 0: UTC 1: JST 3 11011010 Terminator. "Z" + 80H Setting value — 1 AF 01 — After receiving the above command, the GPS side sends this command as a response. S-13 Input data (HEX) DA GXB2000 1-3-17. CH command (satellite No. setting during manual setting) No. BIT 76543210 Example Contents 1 11000000 Header 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 0xxxxxxx Satellite Nos. for 16 channels 0xxxxxxx Value range: 1 to 64 0xxxxxxx 0 is invalid. 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 18 11011010 Terminator. "Z" + 80H Input data (HEX) Setting value C0 — 09 05 12 01 14 02 06 0C 9 5 18 1 20 2 6 12 — — — — — — — — — — — — — — — — DA — After receiving the above command, the GPS side sends this command as a response. 1-3-18. LF command (D-GPS valid time setting) BIT No. 76543210 1 11000111 Header 2 3 0xxxxxxx D-GPS valid time 0xxxxxxx Resolution: s 4 11011010 Terminator. "Z" + 80H Example Contents Input data (HEX) Setting value — C7 — DA After receiving the above command, the GPS side sends this command as a response. 1-3-19. EP1 command (receive ephemeris data) No. BIT 76543210 Example Contents Setting value Input data (HEX) 1 11001101 Header — CD 2 11011010 Terminator. "Z" + 80H — DA After receiving the above command, the GPS side sends this command as a response. The NAVI (PC) side receives this command and then sends the ephemeris data to the GPS side. S-14 GXB2000 1-3-20. EP0 command (transmit ephemeris data) No. BIT 76543210 Example Contents Input data (HEX) Setting value 1 11001110 Header — CE 2 11011010 Terminator. "Z" + 80H — DA After receiving the above command, the GPS side sends this command as a response, followed by the ephemeris data. 1-3-21. VF command (heading filter value setting) BIT No. 76543210 1 10110001 Header 2 3 0xxxxxxx Heading filter value 0xxxxxxx Resolution: 0.1km/h 4 11011010 Terminator. "Z" + 80H Example Contents Setting value — 999 (99.9km/h) — After receiving the above command, the GPS side sends this command as a response. S-15 Input data (HEX) B2 07 67 DA GXB2000 2. D-GPS Data Input Specifications 2-1. Communication 2-1-1. Serial input communication method Interface: Asynchronous serial interface (UART) Baud rate: 9600 bps Start bit: 1 bit Data bits: 8 bits Stop bit: 1 bit Parity bit: None Communication control signal: None Input period: 1s or more 2-1-2. Asynchronous serial interface 1 LSB D0 MSB D1 D2 D3 D4 D5 D6 D7 0 Start bit 1 bit Stop bit 1 bit Data bits 8 bits S-16 GXB2000 2-2. RTCM Data Input RTCM data input conforms to the RTCM SC-104 format and supports message type 1. The message type shared header and message type 1 format are shown below. These data are sent in the "6 of 8" format. In this format, each word is divided into 6-bit units, the bits are reordered so that the LSB comes first and the MSB comes last, and then "01" is added to the head of the bits. 2-2-1. Message type shared header 1 30 PREAMBLE MESSAGE TYPE STATION ID PARITY 8bit 6bit 10bit 6bit WORD1 LENGTH OF FRAME SEQ NCE NO. STATION HEALTH 1 30 PARITY MODIFIED Z-COUNT 13bit 3bit PREAMBLE: MESSAGE TYPE: STATION ID: PARITY: MODIFIED Z-COUNT: SEQ NCE NO.: LENGTH OF FRAME: STATION HEALTH: 5bit 3bit 6bit Preamble Message type Reference station ID No. Error correction code Modified Z-count Frame sequence No. Frame length Reference station health S-17 WORD2 GXB2000 2-2-2. Message type 1 (differential GPS correction value) SCALE FACTOR UDRE SATELLITE ID 1 1bit 2bit 30 PSEUDORANGE CORRECTION PARITY 16bit 6bit 5bit WORD3 SCALE FACTOR UDRE SATELLITE ID 1 30 ISSUE OF DATA RANGE-RATE CORRECTION 8bit 8bit PARITY 2bit 6bit 6bit 1bit 1 PSEUDORANGE CORRECTION 16bit WORD4 30 RANGE-RATE CORRECTION PARITY 8bit 6bit WORD5 SCALE FACTOR UDRE PSEUDORANGE CORRECTION SATELLITE ID (UPPER BYTE) 30 1 ISSUE OF DATA 8bit PARITY 2bit 5bit 8bit WORD6 6bit 1bit SCALE FACTOR: UDRE: SATELLITE ID: PSEUDORANGE CORRECTION: RANGE-RATE CORRECTION: ISSUE OF DATA: Pseudorange correction value scale factor User differential range error index Satellite ID No. Pseudorange correction value Pseudorange rate-of-change correction value Data issue No. S-18 GXB2000 PSEUDORANGE CORRECTION (LOWER BYTE) 1 30 RANGE-RATE CORRECTION ISSUE OF DATA PARITY 8bit 8bit 6bit 8bit 1 WORD7 30 RANGE-RATE CORRECTION ISSUE OF DATA FILL PARITY 8bit 8bit 8bit 6bit 1 WORD8 30 ISSUE OF DATA FILL PARITY 8bit 16bit 6bit FILL: Dummy bit S-19 WORD9 GXB2000 2-3. DARC Data Input DARC data is output in the communication format noted below. The D-GPS basic data is located in the D-GPS segments. The D-GPS basic data is comprised of 288 bits (36 bytes). Data packet 1 22 bytes Prefix 4 bytes D-GPS segment 18 bytes Data packet 2 22 bytes D-GPS segment 18 bytes Prefix 2 bytes CRC 2 byte Checksum 1 byte Terminator 1 byte xxh 0Dh The D-GPS basic data configuration is as follows. Bit position Description Number of bits 1 to 3 D-GPS data ID 3 bits 4 Correction time 1 bit 5 to 38 1st GPS satellite correction data 34 bits 39 to 72 2nd GPS satellite correction data 34 bits 73 to 106 3rd GPS satellite correction data 34 bits 107 to 140 4th GPS satellite correction data 34 bits 141 to 174 5th GPS satellite correction data 34 bits 175 to 208 6th GPS satellite correction data 34 bits 209 to 242 7th GPS satellite correction data 34 bits 243 to 276 8th GPS satellite correction data 34 bits 277 to 288 Communication data 12 bits The GPS satellite correction data configuration is as follows. Bit position 1 Description Number of bits Scale factor 1 bit 2 to 3 UDRE (User differential range error index) 2 bits 4 to 8 GPS satellite ID 5 bits 9 to 19 PRC (Pseudorange correction value) 11 bits 20 to 26 RRC (Pseudorange rate-of-change correction value) 7 bits 27 to 34 IODE (Ephemeris data issue No.) 8 bits S-20 GXB2000 Geodetic System and Corresponding Country Setting value Geodetic system Reference Ellipsoid 0 WGS-84 WGS-84 1 TOKYO Bessel 1841 Japan, Korea 2 ADINDAN Clarke 1880 Ethiopia, Mali, Senegal, Sudan ARC 1950 Clarke 1880 Botswana, Lesotho, Malawi, Swaziland, Zaire, Zambia, Zimbabwe CAPE Clarke 1880 South Africa 4 MERCHICH Clarke 1880 Morocco 5 HONG KONG 1963 International Hong Kong 6 SOUTH ASIA Modified Fisher 1960 Singapore 7 LUZEN Clarke 1866 Philippines 8 INDIAN Everest Thailand, Vietnam 9 INDIAN Everest Bangladesh, India, Nepal 10 KERTAU 1948 Modified Everest West Malaysia, Singapore 11 NORTH AMERICAN 1927 Clarke 1866 Belize, Costa Rica, El Salvador, Guatemala, Honduras, Nicaragua, Mexico 3 12 EUROPEAN 1950 EUROPEAN 1950 International Austria, Belgium, Cyprus, Channel Islands, Denmark, England, Finland, France, Germany, Gibraltar, Greece, Ireland, Italy, Luxembourg, Netherlands, Norway, Portugal, Scotland, Shetland Island, Spain, Sweden, Switzerland 13 IRELAND 1965 Modified Airy Ireland 14 ORDNANCE SURVEY OF GREAT BRITAIN 1936 Airy England, Isle of Man, Scotland, Shetland IsIand, Wales 15 NAHRWAN Clarke 1880 Masirash Island, Oman, United Arab Emirates 16 NAHRWAN Clarke 1880 Saudi Arabia 17 OLD EGYPTIAN Helmert 1906 Egypt 18 NORTH AMERICAN 1927 Clarke 1866 Canada, Newfoundland Island 19 NORTH AMERICAN 1983 GRS 80 Alaska, Canada, Mexico, Central America, United States of America 20 AUSTRALIAN GEODETIC 1984 Australian National Australia, Tasmania Island 21 GEODETIC DATUM 1949 International New Zealand 22 PROVISIONAL SOUTH AMERICAN 1956 International Bolivia, Chile, Colombia, Ecuador, Guyana, Peru, Venezuela 23 SOUTH AMERICAN 1969 South American 1969 Argentina, Bolivia, Brazil, Chile, Colombia, Ecuador, Guyana, Paraguay, Peru, Trinidad and Tobago, Venezuela 24 CAMPO INCHAUSPE International Argentina 25 CORREGO ALEGE International Brazil S-21 GXB2000 GPS Receiver NMEA-0183 Input/Output Specifications Contents 1. I/O Data Input/Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SS-2 2. NMEA Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SS-11 3. D-GPS Data Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SS-27 SS-1 GXB2000 1. I/O Data Input/Output Specifications 1-1. Communication 1-1-1. Serial input/output communication method Interface: Asynchronous serial interface (UART) I/O channel: CH0 Baud rate: 4800bps Start bit: 1 bit Data bits: 8 bits Stop bit: 1 bit Parity bit: None Communication control signal: None Output period: Approximately 1s 1-1-2. Asynchronous serial interface 1 LSB D0 MSB D1 D2 D3 D4 D5 D6 D7 0 Start bit 1 bit Data bits 8 bits Stop bit 1 bit SS-2 GXB2000 1-2. Almanac Data Output No. Example BIT 76543210 Contents 1 10100100 Header 2 0xxxxxxx • • • • • • • • Setting value Output data (HEX) A4 • • 44 0xxxxxxx 45 11011010 Terminator. "Z" + 80HEX — DA After the receiver receives an almanac output request, it transmits a response and then outputs the almanac data. The above format is for 1 subframe of the almanac data, and 64 frames of this data are sent in succession. Almanac communication data is sent by dividing the original data into 7-bit sections. The almanac data stored in the GPS receiver memory has the configuration shown below. Normally each word of the almanac data has 6-bit parity, but this is eliminated when the data is stored in the memory. In addition, a 16-bit checksum is added in consideration of communication. WORD1 24 bits WORD2 24 bits WORD3 24 bits WORD4 24 bits WORD5 24 bits WORD6 24 bits WORD7 24 bits WORD8 24 bits WORD9 24 bits WORD10 24 bits Checksum 16 bits (1) Relationship between word data and communication data 23 0 Before conversion 31 The relationship between the above data and the communication data is shown to the right. After conversion 0 0 0 0 (2) Relationship between checksum and communication data 15 0 Before conversion 23 After conversion SS-3 0 0 0 0 00000 GXB2000 1-3. Input Commands 1-3-1. TM command (receiver clock setting) Example BIT No. 76543210 Contents Input data (HEX) Setting value 1 10100000 Header — 2 3 0xxxxxxx Year 0xxxxxxx 1999 0F 4F 4 0xxxxxxx Month 10 0A 5 0xxxxxxx Date 29 1D 6 0xxxxxxx Hour 8 08 7 0xxxxxxx Minute 46 2E 8 0xxxxxxx Second 59 3B 9 11011010 Terminator. "Z" + 80HEX A0 — DA After receiving the above command, the GPS side sends this command as a response. 1-3-2. PT command (receiver latitude and longitude initial value settings) No. Example BIT 76543210 Contents Setting value — Input data (HEX) 1 10100001 Header 2 3 4 5 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx Latitude Resolution: 0.01" South latitude is two's complement notation. Value range: 32400000 to –32400000 North latitude 87° 29' 10.24" (= –314950.24") 0F 02 26 70 6 7 8 9 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx Longitude Resolution: 0.01" West longitude is two's complement notation. Value range: 64800000 to –64800000 West longitude 175° 42' 30.11" (= –632550.11") 61 6B 1C 1D 10 11011010 Terminator. "Z" + 80HEX — After receiving the above command, the GPS side sends this command as a response. SS-4 A1 DA GXB2000 1-3-3. SK command (receiver geodesic system parameter setting) BIT No. 76543210 Example Contents 1 10100010 Header 2 0xxxxxxx Geodesic system Value range: 0 to 25 3 11011010 Terminator. "Z" + 80HEX Input data (HEX) Setting value — A2 18 12 — DA After receiving the above command, the GPS side sends this command as a response. 1-3-4. AMI command (receive almanac data) BIT No. 76543210 Example Contents Input data (HEX) Setting value 1 10100011 Header — A3 2 11011010 Terminator. "Z" + 80HEX — DA After receiving the above command, the GPS side sends this command as a response. The NAVI (PC) side receives this command and then sends the almanac data to the GPS side. 1-3-5. AMO command (transmit almanac data) BIT No. 76543210 Example Contents Input data (HEX) Setting value 1 10100100 Header — A4 2 11011010 Terminator. "Z" + 80HEX — DA After receiving the above command, the GPS side sends this command as a response, followed by the almanac data. 1-3-6. CD command (initialize almanac data area and cold start) BIT No. 76543210 Example Contents Setting value Input data (HEX) 1 10100101 Header — A5 2 11011010 Terminator. "Z" + 80HEX — DA After receiving the above command, the GPS side sends this command as a response. SS-5 GXB2000 1-3-7. SR command (wait 400ms and hot start) No. BIT 76543210 Example Contents Input data (HEX) Setting value 1 10100110 Header — A6 2 11011010 Terminator. "Z" + 80HEX — DA After receiving the above command, the GPS side sends this command as a response. 1-3-8. EL command (angle of elevation limit value setting) BIT No. 76543210 Example Contents 1 10100111 Header 2 0xxxxxxx Angle of elevation Resolution: 1° Value range: 0 to 90° 3 11011010 Terminator. "Z" + 80HEX Input data (HEX) Setting value — A7 56° 38 — DA After receiving the above command, the GPS side sends this command as a response. 1-3-9. BC command (clear DARC receive data) No. BIT 76543210 Example Contents Input data (HEX) Setting value 1 10101000 Header — A8 2 11011010 Terminator. "Z" + 80HEX — DA After receiving the above command, the GPS side sends this command as a response. 1-3-10. DG command (D-GPS on/off setting) No. BIT 76543210 Example Contents 1 10101001 Header 2 0xxxxxxx D-GPS on/off setting 0: Off 1: On 3 11011010 Terminator. "Z" + 80HEX Setting value — 1 Input data (HEX) A9 01 — After receiving the above command, the GPS side sends this command as a response. SS-6 DA GXB2000 1-3-11. GS command (4 DOP threshold value settings (up to 99 (63HEX) max.)) No. BIT 76543210 Example Contents Input data (HEX) Setting value 1 10101010 Header — AA 2 3 0xxxxxxx PDOP threshold value when D-GPS is on 0xxxxxxx 64 00 40 4 5 0xxxxxxx HDOP threshold value when D-GPS is on 0xxxxxxx 50 00 32 6 7 0xxxxxxx PDOP threshold value when D-GPS is off 0xxxxxxx 135 01 07 8 9 0xxxxxxx HDOP threshold value when D-GPS is off 0xxxxxxx 114 00 72 10 11011010 Terminator. "Z" + 80HEX — DA After receiving the above command, the GPS side sends this command as a response. 1-3-12. DMD command (DARC data input mode) No. BIT 76543210 Example Contents Input data (HEX) Setting value 1 10101011 Header — AB 2 11011010 Terminator. "Z" + 80HEX — DA After receiving the above command, the GPS side sends this command as a response. 1-3-13. DMR command (RTCM data input mode) No. BIT 76543210 Example Contents Setting value Input data (HEX) 1 10101100 Header — AC 2 11011010 Terminator. "Z" + 80HEX — DA After receiving the above command, the GPS side sends this command as a response. SS-7 GXB2000 1-3-14. EX command (expanded output mode on/off) No. BIT 76543210 Example Contents 1 10101101 Header 2 0xxxxxxx Expanded output on/off setting 0: Off 1: On 3 11011010 Terminator. "Z" + 80HEX Input data (HEX) Setting value — AD 1 01 — DA After receiving the above command, the GPS side sends this command as a response. 1-3-15. SW command (eliminate ephemeris and warm start) No. BIT 76543210 Example Contents Input data (HEX) Setting value 1 10101110 Header — AE 2 11011010 Terminator. "Z" + 80HEX — DA After receiving the above command, the GPS side sends this command as a response. 1-3-16. TC command (current time mode setting) BIT No. 76543210 Example Contents 1 10101111 Header 2 0xxxxxxx Current time mode setting 0: UTC 1: JST 3 11011010 Terminator. "Z" + 80HEX Setting value — 1 AF 01 — After receiving the above command, the GPS side sends this command as a response. SS-8 Input data (HEX) DA GXB2000 1-3-17. CH command (satellite No. setting during manual setting) No. BIT 76543210 Example Contents 1 11000000 Header 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 0xxxxxxx Satellite Nos. for 16 channels 0xxxxxxx Value range: 1 to 64 0xxxxxxx 0 is invalid. 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 0xxxxxxx 18 11011010 Terminator. "Z" + 80HEX Input data (HEX) Setting value C0 — 09 05 12 01 14 02 06 0C 9 5 18 1 20 2 6 12 — — — — — — — — — — — — — — — — DA — After receiving the above command, the GPS side sends this command as a response. 1-3-18. LF command (D-GPS valid time setting) No. BIT 76543210 Example Contents 1 11000111 Header 2 3 0xxxxxxx D-GPS valid time 0xxxxxxx Resolution: s 4 11011010 Terminator. "Z" + 80HEX Input data (HEX) Setting value — C7 — DA After receiving the above command, the GPS side sends this command as a response. 1-3-19. EPI command (receive ephemeris data) No. BIT 76543210 Example Contents Setting value Input data (HEX) 1 11001101 Header — CD 2 11011010 Terminator. "Z" + 80HEX — DA After receiving the above command, the GPS side sends this command as a response. The NAVI (PC) side receives this command and then sends the ephemeris data to the GPS side. SS-9 GXB2000 1-3-20. EP0 command (transmit ephemeris data) No. BIT 76543210 Example Contents Input data (HEX) Setting value 1 11001110 Header — CE 2 11011010 Terminator. "Z" + 80HEX — DA After receiving the above command, the GPS side sends this command as a response, followed by the ephemeris data. 1-3-21. VF command (heading filter value setting) No. BIT 76543210 Example Contents 1 10110001 Header 2 3 0xxxxxxx Heading filter value 0xxxxxxx Resolution: 0.1km/h 4 11011010 Terminator. "Z" + 80HEX Setting value — 999 (99.9km/h) — After receiving the above command, the GPS side sends this command as a response. SS-10 Input data (HEX) B2 07 67 DA GXB2000 2. NMEA Output Specifications 2-1. Output Messages 2-1-1. GPGGA message Example BIT No. 76543210 Contents Setting value 1 Header 00100100 "$" 2 3 4 5 6 01000111 01010000 01000111 01000111 01000001 7 01001100 " , " 8 9 10 11 12 13 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 14 01001100 " , " 15 16 17 18 19 20 21 22 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx 23 01001100 " , " Fixed Latitude direction xxxxxxxx "N" or "S" North latitude 24 25 01001100 " , " Fixed 26 27 28 29 30 31 32 33 34 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx Fixed Address field "G" "P" "G" "G" "A" Output data (HEX) 24 Fixed 47 50 47 47 41 Fixed UTC time Hour (10's digit) Hour (1's digit) Minute (10's digit) Minute (1's digit) Second (10's digit) Second (1's digit) 2C 06:22:43 00 36 32 32 34 33 Fixed Latitude Degree (10's digit) Degree (1's digit) Minute (10's digit) Minute (1's digit) "." Minute (0.1's digit) Minute (0.01's digit) Minute (0.001's digit) 2C 36° 03.979' 33 36 30 33 2E 39 37 39 2C 4E Longitude Degree (100's digit) Degree (10's digit) Degree (1's digit) Minute (10's digit) Minute (1's digit) "." Minute (0.1's digit) Minute (0.01's digit) Minute (0.001's digit) 2C 140° 10.296' 31 34 30 31 30 2E 32 39 36 SS-11 GXB2000 Example No. BIT 76543210 35 01001100 " , " Fixed Longitude direction xxxxxxxx "E" or "W" West longitude 36 37 01001100 " , " Fixed 2C GPS Quality Indicator xxxxxxxx "0": Invalid "1": GPS measurement "2": D-GPS measurement D-GPS measurement 32 39 01001100 " , " Fixed 2C 40 41 Number of satellites used for measurement calculation xxxxxxxx "00" to "12" xxxxxxxx 7-satellite measurement 42 01001100 " , " Fixed 43 44 45 46 xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 47 01001100 " , " 48 49 50 51 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 52 01001100 " , " Fixed Altitude units 01001101 "M" Fixed 53 54 01001100 " , " Fixed 2C 55 01001100 " , " Fixed 2C 56 01001101 "M" Fixed 4D 57 01001100 " , " Fixed 2C D-GPS data elapsed time (s) xxxxxxxx 100's digit xxxxxxxx 10's digit xxxxxxxx 1's digit 5s 58 59 60 61 01001100 " , " Fixed 62 63 64 65 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 66 00101010 " ∗ " 38 Contents Setting value Output data (HEX) 2C 57 30 37 2C 1.2 HDOP 10's digit 1's digit "." 0.1's digit 30 31 2E 32 Fixed 2C 23m Altitude (m) 1,000's digit 100's digit 10's digit 1's digit 30 30 32 33 2C 4D 30 30 35 D-GPS reference station ID 1,000's digit 100's digit 10's digit 1's digit 2C 0 30 30 30 30 Fixed SS-12 2A GXB2000 BIT No. 76543210 Example Contents Setting value Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits 4A 67 68 Terminator 00001101 <CR> 00001010 <LF> Fixed 69 70 Output data (HEX) 34 41 0D 0A The Geoidal Separation parameter is not output (between No. 54 and No. 55). SS-13 GXB2000 2-1-2. GPGLL message Example BIT No. 76543210 Contents Setting value 1 Header 00100100 "$" 2 3 4 5 6 01000111 01010000 01000111 01001100 01001100 7 01001100 " , " 8 9 10 11 12 13 14 15 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx 16 01001100 " , " Fixed Latitude direction xxxxxxxx "N" or "S" North latitude 17 18 01001100 " , " Fixed 19 20 21 22 23 24 25 26 27 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx 28 01001100 " , " Fixed Longitude direction xxxxxxxx "E" or "W" West longitude 29 30 01001100 " , " Fixed 31 32 33 34 35 36 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 37 01001100 " , " Fixed Address field "G" "P" "G" "L" "L" Output data (HEX) 24 Fixed 47 50 47 4C 4C Fixed Latitude Degree (10's digit) Degree (1's digit) Minute (10's digit) Minute (1's digit) "." Minute (0.1's digit) Minute (0.01's digit) Minute (0.001's digit) 2C 36° 03.979' 33 36 30 33 2E 39 37 39 2C 4E Longitude Degree (100's digit) Degree (10's digit) Degree (1's digit) Minute (10's digit) Minute (1's digit) "." Minute (0.1's digit) Minute (0.01's digit) Minute (0.001's digit) 2C 140° 10.296' 31 34 30 31 30 2E 32 39 36 2C 57 UTC time Hour (10's digit) Hour (1's digit) Minute (10's digit) Minute (1's digit) Second (10's digit) Second (1's digit) 2C 06:22:43 00 36 32 32 34 33 Fixed SS-14 2C GXB2000 Example No. BIT 76543210 Status xxxxxxxx "A": Data valid "V": Data invalid Valid 38 39 00101010 " ∗ " Fixed Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits 4A 40 41 Terminator 00001101 <CR> 00001010 <LF> Fixed 42 43 Contents Setting value Output data (HEX) 41 2A 34 41 0D 0A SS-15 GXB2000 2-1-3. GPGSA message No. Example BIT 76543210 Contents Setting value 1 Header 00100100 "$" 2 3 4 5 6 01000111 01010000 01000111 01010011 01000001 7 01001100 " , " Fixed GPS measurement switching mode xxxxxxxx "M": Manual "A": Auto Fixed to "A" 8 9 01001100 " , " Fixed GPS measurement mode xxxxxxxx "1": Invalid "2": 2D measurement "3": 3D measurement 3D measurement 11 01001100 " , " Fixed 12 13 14 Satellite Nos. used for measurement 1st satellite No. xxxxxxxx 10's digit xxxxxxxx 1's digit 01001100 " , " 10 Fixed Address field "G" "P" "G" "S" "A" 15 to 17 2nd satellite No. 18 to 20 3rd satellite No. 21 to 23 4th satellite No. 24 to 26 5th satellite No. 27 to 29 6th satellite No. 30 to 32 7th satellite No. 33 to 35 8th satellite No. 36 to 38 9th satellite No. 39 to 41 10th satellite No. 42 to 44 11th satellite No. 45 to 47 12th satellite No. xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 52 01001100 " , " 24 Fixed 47 50 47 53 41 2C 41 2C 33 PDOP 10's digit 1's digit "." 0.1's digit 48 49 50 51 Output data (HEX) 2C 2.4 30 32 2E 34 Fixed SS-16 2C GXB2000 Example No. BIT 76543210 53 54 55 56 xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 57 01001100 " , " 58 59 60 61 xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 62 00101010 " ∗ " Fixed Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits 4A 63 64 Terminator 00001101 <CR> 00001010 <LF> Fixed 65 66 Contents Setting value HDOP 10's digit 1's digit "." 0.1's digit Output data (HEX) 1.2 30 31 2E 32 Fixed VDOP 10's digit 1's digit "." 0.1's digit 2C 2.0 30 32 2E 30 2A 34 41 0D 0A The data length for "Satellite Nos. used for measurement" is variable in order to output the numbers of all the satellites used for position measurement. SS-17 GXB2000 2-1-4. GPGSV message Example BIT No. 76543210 Contents Setting value Output data (HEX) 1 Header 00100100 "$" 2 3 4 5 6 01000111 01010000 01000111 01010011 01010110 7 01001100 " , " Fixed Total number of GPGSV messages xxxxxxxx "1" to "3" 2 8 9 01001100 " , " Fixed GPGSV message number xxxxxxxx "1" to "3" 1 10 11 01001100 " , " Fixed Number of satellites within field of vision xxxxxxxx 10's digit xxxxxxxx 1's digit 08 12 13 14 01001100 " , " Fixed 2C 2A 15 16 17 xxxxxxxx xxxxxxxx 01001100 18 19 20 xxxxxxxx xxxxxxxx 01001100 21 22 23 24 xxxxxxxx xxxxxxxx xxxxxxxx 01001100 25 26 27 xxxxxxxx xxxxxxxx 01001100 Fixed Address field "G" "P" "G" "S" "V" 24 Fixed 47 50 47 53 56 2C 32 2C 31 2C 30 38 Information on satellites within field of vision for four satellites Satellite No. 10's digit 1's digit "," Angle of elevation (°) 10's digit 1's digit "," Azimuth (°) 100's digit 10's digit 1's digit "," C/N (dB) 10's digit 1's digit "," 28 to 40 Information for 2nd satellite 41 to 53 Information for 3rd satellite 54 to 56 Information for 4th satellite 67 00101010 " ∗ " Fixed Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits 4A 68 69 34 41 SS-18 GXB2000 No. 70 71 BIT 76543210 Example Contents Setting value Terminator 00001101 <CR> 00001010 <LF> Output data (HEX) Fixed 0D 0A The satellite information for up to four satellites can be sent with a single GPGSV message, so multiple GPGSV messages (up to three messages) are sent when there are four or more satellites within the field of vision. When there are fewer than four satellites, the information for that number of satellites is sent. SS-19 GXB2000 2-1-5. GPRMC message Example BIT No. 76543210 Contents Setting value 1 Header 00100100 "$" 2 3 4 5 6 01000111 01010000 01010010 01001101 01000011 7 01001100 " , " 8 9 10 11 12 13 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 14 01001100 " , " Fixed Status xxxxxxxx "A": Data valid "V": Data invalid Valid 15 16 01001100 " , " Fixed 17 18 19 20 21 22 23 24 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx 25 01001100 " , " Fixed Latitude direction xxxxxxxx "N" or "S" North latitude 26 27 01001100 " , " Fixed 28 29 30 31 32 33 34 35 36 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx xxxxxxxx xxxxxxxx Fixed Address field "G" "P" "R" "M" "C" Output data (HEX) 24 Fixed 47 50 52 4D 43 Fixed UTC time Hour (10's digit) Hour (1's digit) Minute (10's digit) Minute (1's digit) Second (10's digit) Second (1's digit) 2C 06:22:43 00 36 32 32 34 33 2C 41 Latitude Degree (10's digit) Degree (1's digit) Minute (10's digit) Minute (1's digit) "." Minute (0.1's digit) Minute (0.01's digit) Minute (0.001's digit) 2C 36° 03.979' 33 36 30 33 2E 39 37 39 2C 4E Longitude Degree (100's digit) Degree (10's digit) Degree (1's digit) Minute (10's digit) Minute (1's digit) "." Minute (0.1's digit) Minute (0.01's digit) Minute (0.001's digit) 2C 140° 10.296' 31 34 30 31 30 2E 32 39 36 SS-20 GXB2000 Example No. BIT 76543210 37 01001100 " , " Fixed Longitude direction xxxxxxxx "E" or "W" West longitude 38 39 01001100 " , " Fixed 40 41 42 43 44 xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 45 01001100 " , " 46 47 48 49 50 xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 51 01001100 " , " Fixed July 13, 1999 56 57 Date xxxxxxxx 10's digit xxxxxxxx 1's digit Month xxxxxxxx 10's digit xxxxxxxx 1's digit Year xxxxxxxx 10's digit xxxxxxxx 1's digit 58 01001100 " , " Fixed 2C 59 01001100 " , " Fixed 2C 60 00101010 " ∗ " Fixed 2A Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits 4A 61 62 Terminator 00001101 <CR> 00001010 <LF> Fixed 63 64 52 53 54 55 Contents Setting value Output data (HEX) 2C 57 Speed (knots) 100's digit 10's digit 1's digit "." 0.1's digit 2C 20knot/h 30 32 30 2E 30 Fixed Heading (°) 100's digit 10's digit 1's digit "." 0.1's digit 2C 48.5° 30 34 38 2E 35 2C 31 33 30 37 39 39 34 41 0D 0A The Magnetic Variation parameter is not output. (between No. 58 and No. 59, and between No. 59 and No. 60) SS-21 GXB2000 2-1-6. GPVTG message Example BIT No. 76543210 Contents Setting value Fixed Output data (HEX) 24 1 Header 00100100 "$" 2 3 4 5 6 01000111 01010000 01010110 01010100 01000111 7 01001100 " , " 8 9 10 11 12 xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 13 01001100 " , " Fixed 2C 14 01010100 "T" Fixed 54 15 01001100 " , " Fixed 2C 16 01001100 " , " Fixed 2C 17 01001101 "M" Fixed 4D 18 01001100 " , " Fixed 2C 19 20 21 22 23 xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 24 01001100 " , " Fixed 2C 25 01001110 "N" Fixed 4E 26 01001100 " , " Fixed 2C 27 28 29 30 31 xxxxxxxx xxxxxxxx xxxxxxxx 00101110 xxxxxxxx 32 01001100 " , " Fixed 2C 33 01001011 "K" Fixed 4B 34 00101010 " ∗ " Fixed 2A Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits 4A 35 36 Address field "G" "P" "V" "T" "G" Fixed 47 50 56 54 47 Fixed Heading (°) 100's digit 10's digit 1's digit "." 0.1's digit 2C 48.5° 30 34 38 2E 35 Speed (knots) 100's digit 10's digit 1's digit "." 0.1's digit 20knot/h 30 32 30 2E 30 Speed (km/h) 100's digit 10's digit 1's digit "." 0.1's digit 20km/h 30 32 30 2E 30 34 41 SS-22 GXB2000 No. 37 38 BIT 76543210 Example Contents Setting value Terminator 00001101 <CR> 00001010 <LF> Output data (HEX) Fixed 0D 0A The Course Over Ground and Degree Magnetic parameters are not output. (between No. 15 and No. 16) SS-23 GXB2000 2-1-7. GPZDA message Example BIT No. 76543210 Contents Setting value Fixed Output data (HEX) 24 1 Header 00100100 "$" 2 3 4 5 6 01000111 01010000 01011010 01000100 01000001 7 01001100 " , " 8 9 10 11 12 13 xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx xxxxxxxx 14 01001100 " , " Fixed Date xxxxxxxx 10's digit xxxxxxxx 1's digit 13th 15 16 17 01001100 " , " Fixed Month xxxxxxxx 10's digit xxxxxxxx 1's digit July 18 19 20 01001100 " , " Fixed Year xxxxxxxx 10's digit xxxxxxxx 1's digit 1999 21 22 23 01001100 " , " Fixed 2C 24 01001100 " , " Fixed 2C 25 00101010 " ∗ " Fixed 2A Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits 4A 26 27 Terminator 00001101 <CR> 00001010 <LF> Fixed 28 29 Address field "G" "P" "Z" "D" "A" Fixed 47 50 5A 44 41 Fixed UTC time Hour (10's digit) Hour (1's digit) Minute (10's digit) Minute (1's digit) Second (10's digit) Second (1's digit) 2C 06:22:43 00 36 32 32 34 33 2C 31 33 2C 30 37 2C 39 39 34 41 0D 0A The Local Zone Description parameter is not output. (between No. 23 and No. 24, and between No. 24 and No. 25) SS-24 GXB2000 2-1-8. PSNY message (manufacturer expanded output) Example BIT No. 76543210 Contents Setting value 1 Header 00100100 "$" 2 3 4 5 01010000 01010011 01011110 01011001 6 01001100 " , " Fixed Preamplifier status xxxxxxxx "0": Normal "1": Open "2": Shorted Open 8 01001100 " , " Fixed Geodesic system xxxxxxxx "0" to "25" xxxxxxxx WGS-84 9 10 11 01001100 " , " Fixed Angle of elevation limit (°) xxxxxxxx 10's digit xxxxxxxx 1's digit 5° 12 13 14 01001100 " , " Fixed Speed limit (km/h) xxxxxxxx 100's digit xxxxxxxx 10's digit xxxxxxxx 1's digit 500km/h 15 16 17 18 01001100 " , " Fixed PDOP limit (D-GPS on) xxxxxxxx 10's digit xxxxxxxx 1's digit 4 19 20 21 01001100 " , " Fixed HDOP limit (D-GPS on) xxxxxxxx 10's digit xxxxxxxx 1's digit 6 22 23 24 01001100 " , " Fixed PDOP limit (D-GPS off) xxxxxxxx 10's digit xxxxxxxx 1's digit 4 25 26 27 01001100 " , " Fixed HDOP limit (D-GPS off) xxxxxxxx 10's digit xxxxxxxx 1's digit 6 28 29 7 Fixed Address field "P" "S" "N" "Y" Output data (HEX) 24 Fixed 50 53 5E 49 2C 31 2C 30 30 2C 30 35 2C 35 30 30 2C 30 34 2C 30 36 2C 30 34 2C 30 36 SS-25 GXB2000 Example No. BIT 76543210 30 00101010 " ∗ " Fixed Checksum xxxxxxxx Hexadecimal upper digits xxxxxxxx Hexadecimal lower digits 4A 31 32 Terminator 00001101 <CR> 00001010 <LF> Fixed 33 34 Contents Setting value 2A 34 41 0D 0A 2-2. Output Timing 1s period: GPVTG, GPGGA, GPGLL, GPRMC, GPZDA 2s period: GPGSA, PSNY, GPGSV 1s 2s 3s 4s 5s GPVTG GPVTG GPVTG GPVTG GPVTG GPGGA GPGGA GPGGA GPGGA GPGGA GPGLL GPGLL GPGLL GPGLL GPGLL GPRMC GPRMC GPRMC GPRMC GPRMC GPZDA GPZDA GPZDA GPZDA GPZDA GPGSA GPGSV GPGSA GPGSV GPGSA PSNY Output data (HEX) PSNY PSNY SS-26 GXB2000 3. D-GPS Data Input Specifications 3-1. Communication 3-1-1. Serial input communication method Interface: Asynchronous serial interface (UART) I/O channel: CH1 Baud rate: 9600bps Start bit: 1 bit Data bits: 8 bits Stop bit: 1 bit Parity bit: None Communication control signal: None Input period: 1s or more 3-1-2. Asynchronous serial interface 1 LSB D0 MSB D1 D2 D3 D4 D5 D6 D7 0 Start bit 1 bit Data bits 8 bits Stop bit 1 bit SS-27 GXB2000 3-2. RTCM Data Input RTCM data input conforms to the RTCM SC-104 format and supports message type 1. The message type shared header and message type 1 format are shown below. These data are sent in the "6 of 8" format. In this format, each word is divided into 6-bit units, the bits are reordered so that the LSB comes first and the MSB comes last, and then "01" is added to the head of the bits. 3-2-1. Message type shared header 1 30 PREAMBLE MESSAGE TYPE STATION ID PARITY 8bit 6bit 10bit 6bit WORD1 LENGTH OF FRAME SEQ NCE NO. STATION HEALTH 1 30 PARITY MODIFIED Z-COUNT 13bit 3bit PREAMBLE: MESSAGE TYPE: STATION ID: PARITY: MODIFIED Z-COUNT: SEQ NCE NO.: LENGTH OF FRAME: STATION HEALTH: 5bit 3bit 6bit Preamble Message type Reference station ID No. Error correction code Modified Z-count Frame sequence No. Frame length Reference station health SS-28 WORD2 GXB2000 3-2-2. Message type 1 (differential GPS correction value) SCALE FACTOR UDRE SATELLITE ID 1 1bit 2bit 30 PSEUDORANGE CORRECTION PARITY 16bit 6bit 5bit WORD3 SCALE FACTOR UDRE SATELLITE ID 1 30 ISSUE OF DATA RANGE-RATE CORRECTION 8bit 8bit PARITY 2bit 6bit 6bit 1bit 1 PSEUDORANGE CORRECTION 16bit WORD4 30 RANGE-RATE CORRECTION PARITY 8bit 6bit WORD5 SCALE FACTOR UDRE PSEUDORANGE CORRECTION SATELLITE ID (UPPER BYTE) 30 1 ISSUE OF DATA 8bit PARITY 2bit 5bit 8bit WORD6 6bit 1bit SCALE FACTOR: UDRE: SATELLITE ID: PSEUDORANGE CORRECTION: RANGE-RATE CORRECTION: ISSUE OF DATA: Pseudorange correction value scale factor User differential range error index Satellite ID No. Pseudorange correction value Pseudorange rate-of-change correction value Data issue No. SS-29 GXB2000 PSEUDORANGE CORRECTION (LOWER BYTE) 1 30 RANGE-RATE CORRECTION ISSUE OF DATA PARITY 8bit 8bit 6bit 8bit 1 WORD7 30 RANGE-RATE CORRECTION ISSUE OF DATA FILL PARITY 8bit 8bit 8bit 6bit 1 WORD8 30 ISSUE OF DATA FILL PARITY 8bit 16bit 6bit FILL: Dummy bit SS-30 WORD9 GXB2000 3-3. DARC Data Input DARC data is output in the communication format noted below. The D-GPS basic data is located in the D-GPS segments. The D-GPS basic data is comprised of 288 bits (36 bytes). Data packet 1 22 bytes Prefix 4 bytes D-GPS segment 18 bytes Data packet 2 22 bytes D-GPS segment 18 bytes Prefix 2 bytes CRC 2 bytes Checksum 1 byte Terminator 1 byte xxh 0Dh The D-GPS basic data configuration is as follows. Bit position Description Number of bits 1 to 3 D-GPS data ID 3 bits 4 Correction time 1 bit 5 to 38 1st GPS satellite correction data 34 bits 39 to 72 2nd GPS satellite correction data 34 bits 73 to 106 3rd GPS satellite correction data 34 bits 107 to 140 4th GPS satellite correction data 34 bits 141 to 174 5th GPS satellite correction data 34 bits 175 to 208 6th GPS satellite correction data 34 bits 209 to 242 7th GPS satellite correction data 34 bits 243 to 276 8th GPS satellite correction data 34 bits 277 to 288 Communication data 12 bits The GPS satellite correction data configuration is as follows. Bit position 1 Description Number of bits Scale factor 1 bit 2 to 3 UDRE (User differential range error index) 2 bits 4 to 8 GPS satellite ID 5 bits 9 to 19 PRC (Pseudorange correction value) 11 bits 20 to 26 RRC (Pseudorange rate-of-change correction value) 7 bits 27 to 34 IODE (Ephemeris data issue No.) 8 bits SS-31