Navman 12 GPS Receiver User Manual

User manual for the device Navman 12 GPS Receiver

Navman 12 GPS Receiver User Manual

Extracts of contents

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Jupiter GPS receiver moduleDesigner’s guide(11/12/T/Pico/Pico T series)Related productsJupiter 11 (low power)• Development kit TU10-D007-051Jupiter 11 (standard 5 V)• Development kit TU10-D007-061Jupiter 11 (dead-reckoning)• Development kit TU10-D007-101Jupiter 12 (standard)• Development kit TU10-D007-351Jupiter 12 (dead-reckoning)• DR Development kit TU10-D007-352Jupiter Pico (standard)• Development kit TU10-D007-361Jupiter Pico (timing)• Development kit TU10-D007-363Related doc

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ContentsFeatures .................................................................................................................................51.0 Introduction .................................................................................................. 61.1 Product overview ............................................................................................................61.1.1 Description ........................................................................................

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3.5.2.13 Message 1303 (restart command). .............................................................................. 413.5.2.14 Message 1310 (frequency standard input parameters). .............................................. 423.5.2.15 Message 1317 (power management control). ..............................................................433.5.2.16 Message 1330 (serial port communication parameters). ............................................443.5.2.17 Message 1331 (message protocol contro

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4.5.2.2 Parallel acquisition ..........................................................................................................624.5.2.3 Adaptive threshold-based signal detection.....................................................................624.5.2.4 Overall search process ...................................................................................................624.5.3 Data collection .........................................................................................

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FeaturesThe Jupiter series of GPS receivers offers the following physical, operational, and support features:• OEM product development that is fully supported through application’s engineering.• compact GPS receiver footprint.• 12 parallel satellite tracking channels.• supports NMEA-0183 data protocol.• direct, differential RTCM SC-104 data capability for improved positioning accuracy (available in bothNavman binary and NMEA host modes.)• static navigation enhancements to minimise

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1.0 IntroductionThis document provides technical informationcommon to the entire Navman Jupiter series.Navman’s Jupiter series of Global PositioningSystem (GPS) receivers are single-board,12 parallel-channel receiver engines. Eachboard is intended as a component for an OriginalEquipment Manufacturer (OEM) product.GPS satellites, in various orbits around the Earth,broadcast Radio Frequency (RF) ranging codesand navigational data messages. The NavmanJupiter series GPS receivers continuously trac

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2. The Scorpio device, which contains anintegral microprocessor and all GPS specificsignal processing hardware.In addition, memory and other supportingcomponents configure the receiver into a completenavigation system. Figure 1-3 illustrates anarchitecture that might be used to integrate aparticular Jupiter receiver with an applicationprocessor that drives peripheral devices such as adisplay and keyboard. The interface between theapplication’s processor and the Jupiter receiver isthrough the

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2.0 Hardware interfaceEach binary message consists of a headerportion and a data portion, each with its ownchecksum. Each message will have a header, butsome messages may not have data. Messageacknowledgements are in the form of a header,and message requests are also made usingheaders. Table 3-1 shows the data types usedto define the elements of the binary interfacemessages.Details of the specific Jupiter GPS receiver’selectrical interface are contained in the applicabledata sheet for the re

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independently for each message request. The usersets the request (R) bit and either the acknowledge(A) bit or negative acknowledge (N) bit, or both, toselect the proper acknowledge behaviour. With thisapproach, the user can configure requests onlyto be NAKed, alerting the user when a problemarises without incurring the overhead necessary tocontinuously process ACKs.Figure 3-1 Binary message header format3.2 Binary message headerThe binary message header format has beenmodified slightly from th

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during the next output interval. Standard logrequests will be accepted if the log (L) bit is setand if the required data parameters are present inthe data portion of the request message.3.2.5 Message header word 5Word 5 of the message header is the datachecksum, used to validate the header portion ofthe message. It is computed by summing (modulo216) all words (including the word containingDEL and SOH) contained in the header and thenperforming a two’s complement on the sum.4SUM = Mod 216 Σ i=

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The maximum number of characters in a sentenceis 82, consisting of a maximum of 79 charactersbetween the starting delimiter ‘$’ and theterminating and . Since the number ofdata fields can vary from sentence to sentence,it is important that the ‘listener’ (or applicationsoftware) locate fields by counting delimitersrather than counting the total number of charactersreceived from the start of the sentence.RMC: recommended minimum specific GPSdataThe Jupiter receiver also suppor

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Field TypeSymbolDefinitionSpecial format fieldsSingle character field:A = yes, data valid, warning flag clearV = no, data invalid, warning flag setFixed/variable length field (degrees/minutes.decimal) two fixed digits of degrees, two fixeddigits of minutes, and a variable number of digits for decimal-fraction of minutesLatitude1111.11Note: Leading zeros always included for degrees and minutes to maintain fixed length (thedecimal point and associated decimal-fraction are optional if full

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Output message nameMessage IDGeodetic position status output (*)1000Channel summary (*)1002Input message nameGeodetic position and velocityinitialisationUser-defined datum definitionMessage ID12001210Visible satellites (*)1003Map datum select1211Differential GPS status1005Satellite elevation mask control1212Channel measurement1007Satellite candidate select1213ECEF position output1009Differential GPS control1214Receiver I D (**)1011Cold start control1216User-settings output1012Solution validity

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3.5 Jupiter binary data messagesThis section describes the binary data messagesof the Jupiter GPS receiver. All output and inputbinary messages are listed in Table 3-4 togetherwith their corresponding message IDs. Power-updefault messages are also identified.Binary messages are transmitted and receivedacross the host port serial I/O interface (RS-232),default communication parameters are: 9600 bps,no parity, 8 data bits, 1 stop bit3.5.1 Binary output message descriptionsThis section provides de

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Word No1314NameNon-DR link: polar navigationDR navigation link:Bit 0 = polar navigationBit 15 to 1 = heading uncertainty standarddeviation (Note 12)GPS week numberTypeUnitsResolution1 = trueBitBitUIUIRangedegreesweeks1 = true0 to 3000 to 32 76715-16GPS seconds from epochUDIs0 to 604 79917-18GPS nanoseconds from epochUDIns0 to 999 999 99919UTC dayUIday1 to 3120UTC monthUImonth1 to 1221UTC yearUIyear1980 to 207922UTC hoursUIh0 to 2323UTC minutesUImin0 to 590.0124UTC secondsUIs0 to 5925-26UTC nanos

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3.5.1.2 Message 1002 (channel summary)This message provides a summary form of thesatellite range measurements and signal trackinginformation on a per- channel basis. The contentsof the ‘channel summary’ message are describedin Table 3-6Message ID: 1002Rate: Variable; defaults to 1 HzMessage Length: 51 wordsWord No.Name1-4Message headerTypeUnitsRange10 ms ticks0 to 4 294 967 2955Header checksum6-7Set time (Note 1)UDI8Sequence number (Note 2)Satellite measurement sequence number(Note 3)GPS wee

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3.5.1.3 Message 1003 (visible satellites)This message outputs the list of satellites visibleto the receiver and their corresponding elevationsand azimuths. The best possible DOPs, calculatedfrom this visible list, are also provided. Thecontents of the ‘visible satellites’ message aredescribed in Table 3-7.Message ID: 1003Rate: Variable; default on updateMessage Length: 51 wordsWord No.NameTypeUnits10 ms ticksRangeResolution1-4Message header5Header checksum6-7Set time (Note 1)UDI8Sequence num

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processed by the receiver. The contents of the‘DGPS status’ message are described in Table3-8.3.5.1.4 Message 1005 (DGPS Status)This message contains DGPS status informationderived from the last set of differential correctionsMessage ID: 1005Rate: VariableMessage Length: 25 wordsWord No.Name1-4Message header5Header checksum6-7Set time (Note 1)8Sequence number (Note 2)TypeUnitsRangeUDI10 ms ticks0 to 4 294 967 295I0 to 32 767Status (9.0-9.15)9.0Station healthBit1 = station bad9.1User disabled

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3.5.1.5 Message 1007 (channel measurement)This message provides measurement andassociated data for each of the receiver’s12 channels. The contents of the ‘channelmeasurement’ message are described inTable 3-9.Message ID: 1007Rate: VariableMessage Length: 154 wordsWord No.Name1-4Message headerTypeUnitsRangeResolution5Header checksum6-7Set time (Note 1)UDI8Sequence number (Note 2)I0 to 32 7679Satellite measurement sequence number (Note 3)I0 to 32 76710 + 12*jPseudo-range (Note 4)TIm±1.41410

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12 channels. The contents of the ‘channelmeasurement’ message are described inTable 3-10.3.5.1.6 Message 1009 (reduced ECEF positionstatus output)This message provides measurement andassociated data for each of the receiver’sMessage ID: 1009Rate: variableMessage length: 22 wordsWord No.Name1-4Message header5Header checksum6-7Set time (Note 1)89TypeUDIUnits10 ms ticksSequence number (Note 2)ISatellite measurement sequence numberI(Note 3)ECEF navigation solutionRangeResolution0 to 4 294 967

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