iWAVE 01

iWave GPS Module User Manual
REL1.9

iW-PRDLT-UM-01-R2.0 REL 1.9 th 27 June, 2009
Authors APPROVAL Name
SMK, RD
Function
Organisation
Date
Signature
Distribution
Contact Info Name iWave Systems Tech. Pvt. Ltd. 7/B, 29th Main, BTM Layout, 2nd Stage, Bangalore 560 076, India. Telephone +91-80-2678-3956 +91-80-2668-3700 e-mail prdlt@iwavesystems.com
iWave Systems Technologies Pvt. Ltd. (Confidential)
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DOCUMENT IDENTIFICATION
Project Name Document Name Document Home Revision No Status Audience iWave GPS Module User Manual
Rel 1.9
DOCUMENT REVISION HISTORY

Revision 1.0 1.1 1.2 1.3 1.4 1.5 Date 12th Dec, 2008 08th Jan, 2009 10th Jan, 2009 20th Jan, 2009 27th Jan, 2009 Change Description Draft Author SMK, RD RD RD RD SMK SMK
08th Jan, 2009 Updated IO Connector Pin Details Table Section 3.1 is removed Test Jig detail is added Details added to Test jig block Removed test jig information, added Active patch antennapicture.Size of module changed and weight added. Temperature rating updated.
1.6 1.7 1.8 1.81 1.9
24th Feb, 2009 Active patch antenna details is removed 29th Mar,2009 Updated in section Technical spec & about IO connector
RD RD SMK RD RD
08th Apr,2009 Updated electric, mechanical,NMEA data 21st May,2009 Updated as per the mounting of SMA & IO connector 27th Jun, 2009 Updated Technical spec & added Annexure
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PROPRIETARY NOTICE: This document contains proprietary material for the sole use of the intended recipient(s). Do not read this document further if you are not the intended recipient. Any review, use, distribution or disclosure by others is strictly prohibited. If you are not the intended recipient (or authorized to receive for the recipient), you are hereby notified that any disclosure, copy or distribution or use of any of the information contained within this document is STRICTLY PROHIBITED. Thank you. iWave Systems Tech. Pvt. Ltd.
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Table of Contents
1 2 3 TECHNICAL SPECIFICATIONS...................................................................................7 IWAVE GPS MODULE....................................................................................................9 IWAVE GPS MODULE INTERFACE ..........................................................................10 3.1 3.2 4 5 6
IWAVE GPS MODULE IO CONNECTOR .........................................................................10 ANTENNA INTERFACE DETAILS TO IWAVE GPS MODULE ..............................................10
APPLICATION CIRCUIT .............................................................................................11 MECHANICAL DIMENSION .......................................................................................12 NMEA PROTOCOL .......................................................................................................14 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 GENERAL FORMAT .....................................................................................................14 GGA GLOBAL POSITIONING SYSTEM FIXED DATA...................................................15 GLLGEOGRAPHIC POSITION - LATITUDE/LONGITUDE ..............................................16 GSAGNSS DOP AND ACTIVE SATELLITES .............................................................17 GSVGNSS SATELLITES IN VIEW ............................................................................18 RMCRECOMMENDED MINIMUM SPECIFIC GNSS DATA ...........................................19 VTGCOURSE OVER GROUND AND GROUND SPEED..................................................20 ZDATIME & DATE .................................................................................................21
7 8
PCB DESIGN GUIDELINES .........................................................................................22 ANNEXURE ....................................................................................................................23
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List of Figures
FIGURE 1: IWAVE GPS MODULE R2.0 ..........................................................................................9 FIGURE 2: APPLICATION CIRCUIT ................................................................................................11 FIGURE 3: GPS MODULE PCB DIMENSION (TOP VIEW)................................................................12 FIGURE 4: GPS MODULE PCB DIMENSION WITH SHIELDING SLOT .................................................13
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List of Tables
TABLE 1: IWAVE GPS MODULE SPECIFICATION ............................................................................7 TABLE 2: IO CONNECTOR PIN DETAILS.......................................................................................10 TABLE 3: NMEA MESSAGE ........................................................................................................14 TABLE 4: GGA DATA FORMAT....................................................................................................15 TABLE 5: GLL DATA FORMAT.....................................................................................................16 TABLE 6: GSA DATA FORMAT ....................................................................................................17 TABLE 7: GSV DATA FORMAT ....................................................................................................18 TABLE 8: RMC DATA FORMAT ...................................................................................................19 TABLE 9: VTG DATA FORMAT ....................................................................................................20 TABLE 10: ZDA DATA FORMAT ..................................................................................................21 TABLE 11: NMEA INPUT MESSAGES ..........................................................................................23 TABLE 12:TRANSPORT MESSAGE PARAMETERS ...........................................................................23 TABLE 13: SET SERIAL PORT DATA FORMAT ..............................................................................25 TABLE 14: NAVIGATION INITIALIZATION DATA FORMAT.............................................................26 TABLE 15: RESET CONFIGURATION - NON SIRFLOC PLATFORMS ................................................26 TABLE 16: QUERY/RATE CONTROL DATA FORMAT .....................................................................27 TABLE 17: LLA NAVIGATION INITIALIZATION DATA FORMAT ....................................................28 TABLE 18: RESET CONFIGURATION.............................................................................................28
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Technical Specifications
Table 1: iWave GPS module Specification
Feature Chipset Processor Info
Item
Description SiRF StarIII GSC3f/LPx-7989 ARM7TDMI CPU 50 MHz 16 Bit Bus access for internal Flash only 4Mb 1Mb L1 Frequency (1575.42MHz) 20 (Max) Autonomous: 10 meter (Open Sky) 1 microsecond synchronized to GPS time 18000 meter 514 meter/second maximum
Processor Type Processor Speed Data Bus Internal Flash Internal RAM Frequency Channels Position Time Maximum Altitude Maximum Speed GPS Datum (GPS coordinate systems) Protocol Output Protocol message Baud Rate Max.Update Rate
General
GPS receiver function
Software
WGS-84 NMEA GGA,GSA,GSV,RMC,VTG 9600 1Hz
Time To First Fix (Open Sky and Stationary Requirement)
Reacquisition Hot Start Cold Start Chip Sensitivity
1.0 Sec <2 sec average < 41 sec average -159dBm
Sensitivity
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Power
Main Power Input Power Consumption Supply Current (Avg.) Backup Power
3.3V 132mW 40mA 3.0V
Serial Port (UART CMOS)
Port A (TX and RX only)
NMEA Protocol message Active Antenna supported SMA connector provided for Antenna interface.
Antenna Environmental Characteristics
Antenna Type
Operating Temperature Storage Temperature Length Width Height Weight 6 Pin
-25 deg. C to +80 deg.C -25 deg. C to +85 deg.C 27mm 25mm 11.67mm (Including SMA Connector) <25 grams Battery backup (3V) 3.3V Main Power Input Ground (DC-ve) UARTA TX Output from Module (2.85V Output , 3.3V tolerant) UARTA RX Input to Module (2.85V Input , 3.3V tolerant) 1 GPIO to IO connector (No connect)
Physical Characteristics
IO connector
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2
iWave GPS Module top view.
iWave GPS Module
Figure 1: iWave GPS Module R2.0
IWave GPS module bare PCB size is 23mmX 27mm, after assembling components the size is 25mm X 27mm because of IO connector. IWave GPS module can be directly connected to external Active GPS antenna using SMA connector as shown in Figure 1.
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iWave GPS Module Interface
3.1 iWave GPS module IO Connector

The IO connector is a Single Row 1.25mm pitch Miniature Crimping type Connector from Protectron. It is a Right Angle Pin Header (TH): P9056R29-19-6 which can be mated with Single Row 1.25mm pitch Receptacle Housing: P9056H29-00-6.Crimp Terminal for 1.25mm pitch Housing: P9056T00-19 The pin details are provided in the table given below. Pin No Pin Name 1 VBCKP 2 3 4 3.3V Main Ground TXA Description RTC Backup Battery Input (Input) Main power supply for the module (Input) Ground Transmit pin of the module (Output) Receive pin of the module (Input) GPIO Line Characteristics Nominal: DC 3.0 V Range: DC 2.5V to 3.6V Max. Nominal: DC 3.3V Range: DC 3.1V to 3.6V Max. Reference Ground (DC -ve) 2.85V Interface VOH: 2.65V(min) VOL: 0.2V(max) 2.85V Interface (3.3V Tolerant) VIH: 2V(min) to 3.15V(max) VIL: -0.3V(min) to 0.8V(max) (No Connection)
RXA
GPIO
Table 2: IO Connector Pin Details
3.2 Antenna interface details to iWave GPS module

Only Active Antenna support is provided, 2.85V is provided to external connector. Gain of the Antenna tested is approximately 28 +/- 2 dB. Recommended LNA gain of the active antenna is 16dB < 28dB Better to have noise figure < 2dB. External antenna should work with 2.85V. SMA connector is used to interface external Active antenna to iWave GPS Module.
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Application Circuit
Figure 2: Application circuit
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5
iWave GPS module PCB dimension
Mechanical dimension
Figure 3: GPS module PCB dimension (Top View)
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REL1.9 iWave GPS module PCB dimension
Figure 4: GPS module PCB dimension with shielding slot
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6 6.1 General Format
NMEA Protocol
SiRF products support a subset of the NMEA-0183 standard
NMEA 0183 messages use the ASCII character set and have a defined format. Each message begins with a $ (hex 0x24) and end with a carriage return and line feed (hex 0x0D 0x0A, represented as <CR><LF>). Each message consists of one or more fields of ASCII letters and numbers, separated by commas. After the last field, and before the <CR><LF> can be an optional checksum consisting of an asterisk (*, hex 0x2A) followed by two ASCII characters representing the hexadecimal value of the checksum. The checksum is computed as the exclusive OR of all characters between the $ and * characters. Message GGA GLL GSA GSV RMC VTG ZDA Description Time, position and fix type data Latitude, longitude, UTC time of position fix and status GPS receiver operating mode, satellites used in the position solution, and DOP values Number of GPS satellites in view satellite ID numbers, elevation, azimuth, & SNR values Time, date, position, course and speed data Course and speed information relative to the ground PPS timing message (synchronized to PPS)
Table 3: NMEA Message
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6.2 GGA Global Positioning System Fixed Data

Note Fields marked in italic red apply only to NMEA version 2.3 (and later) in this NMEA message description. Table 4 contains the values for the following example: $GPGGA,002153.000,3342.6618,N,11751.3858,W,1,10,1.2,27.0,M,-34.2,M,,0000*5E GGA data format
Position fix indicator
Table 4: GGA data format
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6.3 GLLGeographic Position - Latitude/Longitude

Table 5 contains the values for the following example: $GPGLL,3723.2475,N,12158.3416,W,161229.487,A,A*41 GLL data format
Table 5: GLL data format
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6.4 GSAGNSS DOP and Active Satellites

Table 6 contains the values for the following example: $GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33 GSA data format
Table 6: GSA data format
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6.5 GSVGNSS Satellites in View

Table 7 contains the values for the following example: $GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71 $GPGSV,2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41 GSV data format
Table 7: GSV data format
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6.6 RMCRecommended Minimum Specific GNSS Data

Table 8 contains the values for the following example: $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10 RMC data format
Table 8: RMC data format
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6.7 VTGCourse Over Ground and Ground Speed

Table 9 contains the values for the following example: $GPVTG,309.62,T, ,M,0.13,N,0.2,K,A*23 VTG data format
Table 9: VTG data format
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6.8 ZDATime & Date

Table 10 contains the values for the following example: $GPZDA,181813,14,10,2003,,*4F ZDA data format
Table 10: ZDA data format
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PCB Design Guidelines
Avoid routing high frequency signals on the top layer of the customer PCB, just below GPS module. Better to provide ground shape on the top layer of customer PCB, just below GPS module. Do not provide any open mask on top layer of customer PCB, just below GPS module. RF shielding on GPS module is connected to ground (-Ve DC), please take care when fixing the GPS module to customer PCB.
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8
NMEA Input Message:
Annexure
The below table lists out the NMEA Input Messages Message Set Serial Port Navigation Initialization Set DGPS Port Query/Rate Control LLA Navigation Initialization Development Data On/Off Select Datum MSK Receiver Interface MID1 100 101 102 103 104 105 106 MSK Description Set PORT A parameters and protocol Parameters required for start using X/Y/Z.2 Set PORT B parameters for DGPS input Query standard NMEA message and/or set output rate Parameters required for start using Lat/Lon/Alt.3 Development Data messages On/Off Selection of datum to be used for coordinate transformations Command message to a MSK radio-beacon receiver.
Table 11: NMEA Input Messages
1. Message Identification (MID) 2. .Input coordinates must be 3. WGS84.Input coordinates must be WGS84.
Transport Message Start Sequence $PSRF<MID>1 Payload Data2 checksum Checksum3 End Sequence End Sequence4
Table 12:Transport Message parameters
1. Message Identifier consisting of three numeric characters. Input messages begin at MID 100. 2. Message specific data. Refer to a specific message section for <data>...<data> definition.
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REL1.9 3. *CKSUM3. CKSUM is a two-hex character checksum as defined in the NMEA specification, NMEA-0183 Standard For Interfacing Marine Electronic Devices. Use of checksums is required on all input messages. 4. Each message is terminated using Carriage Return (CR) Line Feed (LF) which is \r\n which is hex 0D 0A. Because \r\n are not printable ASCII characters, they are omitted from the example strings, but must be sent to terminate the message and cause the receiver to process that input message. Note: The message is sent with a checksum field (*<hex digit><hex digit>) at the end. Compute the checksum by exclusive ORing all characters after the $ and before the *, then turning the result into hex and sending the hex as 2 ASCII characters
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REL1.9 100Set Serial Port : This command message is used to set the protocol (SiRF binary or NMEA) and/or the communication parameters (Baud, data bits, stop bits, and parity). Generally, this command is used to switch the module back to SiRF binary protocol mode where a more extensive command message set is available. When a valid message is received, the parameters are stored in batterybacked SRAM and the Evaluation Receiver restarts using the saved parameters. Table 13contains the input values for the following example: Switch to SiRF binary protocol at 9600,8,N,1 $PSRF100,0,9600,8,1,0*0C
Table 13: Set Serial Port Data Format
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REL1.9 101Navigation Initialization: This command is used to initialize the Evaluation Receiver by providing current position (in X, Y, Z coordinates), clock offset, and time. This enables the Evaluation Receiver to search for the correct satellite signals at the correct signal parameters. Correct initialization parameters enable the Evaluation Receiver to acquire signals quickly. Table 14 contains the input values for the following example: Start using known position and time. $PSRF101,-2686700,-4304200,3851624,96000,497260,921,12,3*1C
Table 14: Navigation Initialization Data Format
Table 15: Reset Configuration - Non SiRFLoc Platforms
102Set DGPS Port: Not supported in iWave GPS module
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103Query/Rate Control: This command is used to control the output of standard NMEA messages GGA, GLL, GSA, GSV, RMC, and VTG. Using this command message, standard NMEA messages may be polled once, or setup for periodic output. Checksums may also be enabled or disabled depending on the needs of the receiving program. NMEA message settings are saved in battery-backed memory for each entry when the message is accepted. Table 16 contains the input values for the following examples: 1. Query the GGA message with checksum enabled $PSRF103,00,01,00,01*25 2. Enable VTG message for a 1 Hz constant output with checksum enabled $PSRF103,05,00,01,01*20 3. Disable VTG message $PSRF103,05,00,00,01*21
Table 16: Query/Rate Control Data Format
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REL1.9 104LLA Navigation Initialization: This command is used to initialize the Evaluation Receiver by providing current position (in latitude, longitude, and altitude coordinates), clock offset, and time. This enables the receiver to search for the correct satellite signals at the correct signal parameters. Correct initialization parameters enable the receiver to acquire signals quickly. Table 17 contains the input values for the following example: Start using known position and time. $PSRF104,37.3875111,-121.97232,0,96000,237759,1946,12,1*07
Table 17: LLA Navigation Initialization Data Format
Table 18: Reset Configuration
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REL1.9 Example commands 1. For disable GGA message: $PSRF103,00,00,00,01*24 2. For disable GLL message: $PSRF103,01,00,00,01*25 3. For disable GSA message: $PSRF103,02,00,00,01*26 4. For disable GSV message: $PSRF103,03,00,00,01*27 5. For disable VTG message: $PSRF103,05,00,00,01*21 6. For disable RMC message: $PSRF103,04,00,00,01*20 7. For enable GGA message: $PSRF103,00,00,01,01*25 8. For enable GLL message: $PSRF103,01,00,01,01*24 9. For enable GSA message: $PSRF103,02,00,01,01*27 10. For enable GSV message: $PSRF103,03,00,01,01*26 11. For enable VTG message: $PSRF103,05,00,01,01*20 12. For enable RMC message: $PSRF103,04,00,01,01*21 You can check the working of iWave GPS module as a stand alone unit, just by connecting it to PC through RS232 Transceiver and You can download NMEA Monitor from below given link. http://homepage2.nifty.com/k8/gps/file/NmeaMon.htm

Double click on NMEA icon. From the Option setting window make appropriate com port & baud rate settings & click OK. To send any command goto GPS command from Tools window. Type the command you want to send (Do not write checksum). for ex: $PSRF103,00,00,00,01;disable GGA Click on Chk-sum, Cr, Lf boxes. Then send the command
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iWave GPS Module User Manual

iWave GPS Module User Manual

Authors APPROVAL Name

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual

DOCUMENT REVISION HISTORY

1.6 1.7 1.8 1.81 1.9

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual

PCB DESIGN GUIDELINES .........................................................................................22 ANNEXURE ....................................................................................................................23

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual

Table 1: iWave GPS module Specification

Feature Chipset Processor Info

GPS receiver function

WGS-84 NMEA GGA,GSA,GSV,RMC,VTG 9600 1Hz

Time To First Fix (Open Sky and Stationary Requirement)

Reacquisition Hot Start Cold Start Chip Sensitivity

1.0 Sec <2 sec average < 41 sec average -159dBm

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual

3.3V 132mW 40mA 3.0V

Serial Port (UART CMOS)

Port A (TX and RX only)

Antenna Environmental Characteristics

Operating Temperature Storage Temperature Length Width Height Weight 6 Pin

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual

iWave GPS Module

Figure 1: iWave GPS Module R2.0

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual

iWave GPS Module Interface

3.1 iWave GPS module IO Connector

Table 2: IO Connector Pin Details

3.2 Antenna interface details to iWave GPS module

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual

Figure 2: Application circuit

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual

Figure 3: GPS module PCB dimension (Top View)

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual

Figure 4: GPS module PCB dimension with shielding slot

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual

6 6.1 General Format

SiRF products support a subset of the NMEA-0183 standard

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual

6.2 GGA Global Positioning System Fixed Data

Position fix indicator

Table 4: GGA data format

iWave Systems Technologies Pvt. Ltd. (Confidential)

iWave GPS Module User Manual