GXB2000-3RTC [SONY]
Telecom Circuit, 1-Func;
| 型号： | GXB2000-3RTC |
| 厂家： | 
SONY CORPORATION |
| 描述： | Telecom Circuit, 1-Func 电信 电信集成电路 |
| 文件： | 总60页 (文件大小：287K) |
| 中文： | 中文翻译 | 下载： | 下载PDF数据表文档文件 |
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
DARC
SC104 version 2.1
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.)
(5V spec.)
VDD
VCC
Topr
3.0 to 3.6
4.5 to 5.5
–40 to +85
V
V
• Operating temperature
°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
1575.42MHz L1 band, C/A code
Characteristics impedance 50Ω
Reception sensitivity
–130dBm or less
(Sony's recommended anntena input level)
Positioning system
WGS-84
Positioning accuracy
Position
Velocity
100m 2DRMS
(SA ON, PDOP = 2.5, HDOP = 1.5)
0.9m/s
(SA ON, PDOP = 2.5, HDOP = 1.5)
Positioning condition
A) DOP limit
3D: PDOP ≤ 12
2D: HDOP ≤ 6
B) Elevation mask: 5° or more
Follow-up performance
Velocity
500km/h or less
2G or less
Acceleration
Measured data update time
D-GPS function
Every 1s
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
1
TTFF (No signal break)
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
JST: CN connector
JST: SM10B-SRSS
I/O connector (Power supply, data mode)
Communication Specification
Communication method
Start-stop synchronization
9600bps
Transfer rate input/output
Electric level
TTL level
I/O code
ASCII code
Communication format
Sony/NMEA0183 switching possible
Electrical Specification
Supply voltage (3V spec.)
(5V spec.)
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
Current consumption
Backup supply voltage
current
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
Pre-amplifier power supply
Operating temperature
– 3 –
GXB2000
I/O Connector Pin
Pin Configuration
Pin
Symbol
No.
I/O
Description
1
2
VCC
—
I
Main power supply.
RESET
TXD0
RXD0
RXD1
MODE
NC
Reset input for initializing the reception unit.
3
O
I
Measured data output.
4
Command input.
5
I
D-GPS data input.
6
I
Communication format switching pin. (L = Sony, H = NMEA0183)
7
—
—
—
—
No connection.
Power supply for backup.
Fixed H level.
GND
8
+BU
9
NC
10
GND
Electrical Characteristics
(Topr = –40 to +85°C)
Unit Applicable pins
Item
Symbol
3V spec. VDD
5V spec. Vcc
Conditions
Min.
3.0
Typ. Max.
3.3
5.0
3.6
5.5
Supply voltage
Input voltage
V
V
V
1
4.5
H level
L level
H level
L level
VIH
VIL
0.7VDD
5.5
2, 4, 5
3
0.2VDD
VOH
VOL
IOH = –4mA
IOL = 4mA
VDD – 0.8
Output voltage
0.4
3.0
70
Backup supply voltage
1.8
5
V
8
8
Current consumption at backup
+BU = 3V
30
µA
– 4 –
GXB2000
Antenna Pre-amplifier Power Supply Circuit
15Ω
(1/2W)
RF connector
+3V (3/5V common specification)
1
(VCC)
10
(GND)
I/O connector
RF part
Sony Recommend Antenna Specification
Antenna part
Center frequency
Polarization
Gain
1575.42MHz
Right handed circular polarization
–5dBi or more (5° ≤ Angle of elevation)
3dB typ. (Angle of elevation = 90°)
Axis ratio
Pre-amplifier part
Gain
22dB or more (without cable loss)
2.5dB or less
Noise figure (NF)
All-round specification (antenna + pre-anplifire + cable loss)
Gain
17dBi or more (Angle of elevation = 90°)
Output impedance
Output VSWR
Supply voltage
Current consumption
50Ω
2.0 or less
2.8 to 3.2V
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
I/O connector
SM10B-SRSS (JST)
Do not connect
anything to NC.
Fixed H level
– 7 –
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
SM10B-SRSS
GXB2000-3AAC
1.2 ± 0.2
29.2
1.5
4.55
GXB2000-3AAC
Year manufactured
(End of figure for Christrian era)
Assembly plant code
Consective numbers
Week manufactured
– 8 –
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:
Baud rate:
Start bit:
Data bits:
Stop bit:
Asynchronous serial interface (UART)
9600 bps
1 bit
8 bits
1 bit
Parity bit:
None
Communication control signal: None
Output period:
Approximately 1s
1-1-2. Asynchronous serial interface
1
LSB
MSB
D0 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.
Contents
Output data
(HEX)
76543210
Setting value
1
2
11010000 Header
—
D0
01
0xxxxxxx Software version information
01
3
4
5
6
0xxxxxxx Latitude
0xxxxxxx Resolution: 0.01"
0xxxxxxx South latitude is two's complement notation.
0xxxxxxx Value range: 32400000 to –32400000
North latitude
87° 29' 10.24"
(= 314950.24")
0F
02
26
70
7
8
9
0xxxxxxx Longitude
0xxxxxxx Resolution: 0.01"
0xxxxxxx West longitude is two's complement notation.
West longitude
175° 42' 30.11"
(= –632550.11")
61
6B
1C
1D
10 0xxxxxxx Value range: 64800000 to –64800000
11 0xxxxxxx Altitude
3775m
00
1D
3F
12 0xxxxxxx Resolution: 1m
Negative altitude is two's complement notation.
Value range: 8191 to –8191
13 0xxxxxxx Speed
14 0xxxxxxx Resolution: 0.1km/h
Value range: 0 to 5150
60.5km/h
310.7°
51.2
04
5D
15 0xxxxxxx Direction
16 0xxxxxxx Resolution: 0.1°
Value range: 0 to 3599
18
23
17 0xxxxxxx PDOP value
18 0xxxxxxx Resolution: 0.1
Value range: 0 to 999
04
00
19 0xxxxxxx Current time mode
0: UTC time
1
01
1: JST time
Current time
20 0xxxxxxx Year
21 0xxxxxxx Year
22 0xxxxxxx Month
23 0xxxxxxx Date
24 0xxxxxxx Hour
25 0xxxxxxx Minute
26 0xxxxxxx Second
27 0xxxxxxx Day
1999
0F
4F
02
16
0C
36
2E
01
02
22
12
54
46
01
Measurement calculation time
28 0xxxxxxx Year
29 0xxxxxxx Year
30 0xxxxxxx Month
31 0xxxxxxx Date
32 0xxxxxxx Hour
33 0xxxxxxx Minute
34 0xxxxxxx Second
1999
0F
4F
02
16
0C
37
1E
02
22
12
55
30
S-3
GXB2000
Example
BIT
76543210
No.
Contents
Output data
(HEX)
Setting value
35 0xxxxxxx Number of visible satellites
Value range: 0 to 32
8
4
10
18
9
20
25
7
08
36 0xxxxxxx Satellite Nos. used for measurement
37 0xxxxxxx 8 satellite Nos.
38 0xxxxxxx Value range: 0 to 32
39 0xxxxxxx Satellite No.: 0 is invalid.
40 0xxxxxxx
41 0xxxxxxx
42 0xxxxxxx
43 0xxxxxxx
04
0A
12
09
14
19
07
1F
31
44 0xxxxxxx Measurement calculation mode
0: Invalid
1
01
1: 2-satellite measurement
2: 3-satellite measurement
3: 4-(or more) satellite measurement
45 0xxxxxxx Geodesic system
Value range: 0 to 25
18
12
04
46 0xxxxxxx Measurement delay time
Resolution: 0.1s
0.4s
Value range: 0 to 9
Information for 1st satellite
47 0xxxxxxx Satellite No.
Value range: 0 to 32
16
10
48 0xxxxxxx Azimuth
49 0xxxxxxx Resolution: 1°
Value range: 0 to 359°
218°
01
5A
50 0xxxxxxx Angle of elevation
Resolution: 1°
56°
3
38
03
Value range: 0 to 90°
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
52 0xxxxxxx Signal level
Resolution: 1dBHz
100
64
Value range: 0 to 100
53 to
59 to
65 to
71 to
Information for 2nd satellite
Information for 3rd satellite
Information for 4th satellite
Information for 5th satellite
S-4
GXB2000
Example
BIT
76543210
No.
Contents
Output data
(HEX)
Setting value
77 to
83 to
Information for 6th satellite
Information for 7th satellite
Information for 8th satellite
Information for 9th satellite
Information for 10th satellite
Information for 11th satellite
Information for 12th satellite
Information for 13th satellite
Information for 14th satellite
Information for 15th satellite
Information for 16th satellite
89 to
95 to
101 to
107 to
113 to
119 to
125 to
131 to
137 to
0xxxxxxx Preamplifier check
2
02
143 to
144 to
0: Normal, 1: Disconnected, 2: Short circuit
Reserved
150 1101101 Terminator. "Z" + 80H
—
DA
S-5
GXB2000
1-2-2. Expanded output
Example
BIT
No.
Contents
Output data
(HEX)
76543210
Setting value
0.0025"
150 0xxxxxxx Latitude
19
5B
03
0.001 to 0.0001" value
Value range: 0 to 99
151 0xxxxxxx Longitude
0.0091"
0.03km/h
15
0.001 to 0.0001" value
Value range: 0 to 99
152 0xxxxxxx Speed
0.01 km/h value
Value range: 0 to 9
153 0xxxxxxx Number of healthy satellites
Value range: 0 to 32
0F
154 0xxxxxxx Not related to user
155 0xxxxxxx
—
—
156 0xxxxxxx
157 0xxxxxxx Not related to user
158 0xxxxxxx Not related to user
—
—
—
—
159 0xxxxxxx SVACC
Value range: 0 to 15
13
0D
160 0xxxxxxx Error major axis radius (1σ estimated error)
161 0xxxxxxx Resolution: 1m
130
01
02
Value range: 0 to 510
162 0xxxxxxx Error minor axis radius (1σ estimated error)
163 0xxxxxxx Resolution: 1m
41
00
29
Value range: 0 to 510
164 0xxxxxxx Error major axis inclination
165 0xxxxxxx Resolution: 1°
Value range: 0 to 179
165
01
25
Angle clockwise from north
166 0xxxxxxx HDOP value
167 0xxxxxxx Resolution: 0.1
Value range: 0 to 999
51.2
51.2
1
04
00
168 0xxxxxxx VDOP value
169 0xxxxxxx Resolution: 0.1
Value range: 0 to 999
04
00
170 0xxxxxxx D-GPS measurement flag
0: Invalid
01
1: GPS measurement
2: D-GPS measurement
171 0xxxxxxx D-GPS station No.
172 0xxxxxxx Value range: 0 to 1023
1023
1
07
7F
173 0xxxxxxx D-GPS data elapsed time
Resolution: 1s
01
S-6
GXB2000
Example
BIT
76543210
No.
Contents
Output data
(HEX)
Setting value
174 0xxxxxxx DARC/RTCM mode
1
01
0: DARC
1: RTCM
175 0xxxxxxx PDOP limit value when D-GPS is on
176 0xxxxxxx HDOP limit value when D-GPS is on
177 0xxxxxxx PDOP limit value when D-GPS is off
178 0xxxxxxx HDOP limit value when D-GPS is off
179 0xxxxxxx Angle of elevation limit value
1
1
1
1
1
1
01
01
01
01
01
180 0xxxxxxx Speed limit value
181 0xxxxxxx
00
01
182 to
Reserved
190 1101101 Terminator. "Z" + 80H
—
DA
S-7
GXB2000
1-2-3. Almanac data output
Example
BIT
No.
Contents
Output data
(HEX)
76543210
Setting value
1
10100100 Header
A4
2
·
·
·
·
0xxxxxxx
·
·
·
·
·
·
44 0xxxxxxx
45 11011010 Terminator. "Z" + 80H
—
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
WORD2
WORD3
WORD4
WORD5
WORD6
WORD7
WORD8
WORD9
WORD10
Checksum
24 bits
24 bits
24 bits
24 bits
24 bits
24 bits
24 bits
24 bits
24 bits
24 bits
16 bits
(1) Relationship between word data and communication data
23
0
Before conversion
After conversion
31
0
0
0
0
0
0 0 0 0
(2) Relationship between checksum and communication data
15
0
The relationship between the above
data and the communication data is
shown to the right.
Before conversion
After conversion
23
0
0
0
0
0 0 0 0 0
S-8
GXB2000
1-3. Input Data
1-3-1. TM command (receiver clock setting)
Example
BIT
76543210
No.
1
Contents
Input data
(HEX)
Setting value
—
10100000 Header
A0
2
3
0xxxxxxx Year
0xxxxxxx
1999
0F
4F
4
5
6
7
8
9
0xxxxxxx Month
10
29
8
0A
1D
08
2E
3B
0xxxxxxx Date
0xxxxxxx Hour
0xxxxxxx Minute
46
59
0xxxxxxx Second
11011010 Terminator. "Z" + 80H
—
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
76543210
No.
1
Contents
Input data
(HEX)
Setting value
10100001 Header
—
A1
2
3
4
5
0xxxxxxx Latitude
0xxxxxxx Resolution: 0.01"
0xxxxxxx South latitude is two's complement notation.
0xxxxxxx Value range: 32400000 to –32400000
North latitude
87° 29' 10.24"
(= 314950.24")
0F
02
26
70
6
7
8
9
0xxxxxxx Longitude
0xxxxxxx Resolution: 0.01"
0xxxxxxx West longitude is two's complement notation.
0xxxxxxx Value range: 64800000 to –64800000
West longitude
175° 42' 30.11"
(= –632550.11")
61
6B
1C
1D
10 11011010 Terminator. "Z" + 80H
—
DA
After receiving the above command, the GPS side sends this command as a response.
S-9
GXB2000
1-3-3. SK command (receiver geodesic system parameter setting)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10100010 Header
—
A2
12
0xxxxxxx Geodesic system
Value range: 0 to 25
18
3
11011010 Terminator. "Z" + 80H
—
DA
After receiving the above command, the GPS side sends this command as a response.
1-3-4. AMI command (receive almanac data)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10100011 Header
—
—
A3
DA
11011010 Terminator. "Z" + 80H
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10100100 Header
—
—
A4
DA
11011010 Terminator. "Z" + 80H
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10100101 Header
—
—
A5
DA
11011010 Terminator. "Z" + 80H
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10100110 Header
—
—
A6
DA
11011010 Terminator. "Z" + 80H
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10100111 Header
—
A7
38
0xxxxxxx Angle of elevation
Resolution: 1°
56°
Value range: 0 to 90°
3
11011010 Terminator. "Z" + 80H
—
DA
After receiving the above command, the GPS side sends this command as a response.
1-3-9. BC command (clear DARC receive data)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10101000 Header
—
—
A8
DA
11011010 Terminator. "Z" + 80H
After receiving the above command, the GPS side sends this command as a response.
1-3-10. DG command (D-GPS on/off setting)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10101001 Header
—
A9
01
0xxxxxxx D-GPS on/off setting
1
0: Off
1: On
3
11011010 Terminator. "Z" + 80H
—
DA
After receiving the above command, the GPS side sends this command as a response.
S-11
GXB2000
1-3-11. GS command (4 DOP threshold value settings)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
—
1
2
10101010 Header
AA
0xxxxxxx PDOP threshold value when D-GPS is on
0xxxxxxx HDOP threshold value when D-GPS is on
0xxxxxxx PDOP threshold value when D-GPS is off
0xxxxxxx HDOP threshold value when D-GPS is off
11011010 Terminator. "Z" + 80H
64
50
64
50
40
32
40
3
4
5
6
32
—
DA
After receiving the above command, the GPS side sends this command as a response.
1-3-12. DMD command (DARC data input mode)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10101011 Header
—
—
AB
DA
11011010 Terminator. "Z" + 80H
After receiving the above command, the GPS side sends this command as a response.
1-3-13. DMR command (RTCM data input mode)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10101100 Header
—
—
AC
DA
11011010 Terminator. "Z" + 80H
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10101101 Header
—
AD
0xxxxxxx Expanded output on/off setting
1
01
0: Off
1: On
3
11011010 Terminator. "Z" + 80H
—
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10101110 Header
—
—
AE
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10101111 Header
—
AF
01
0xxxxxxx Current time mode setting
1
0: UTC
1: JST
3
11011010 Terminator. "Z" + 80H
—
DA
After receiving the above command, the GPS side sends this command as a response.
S-13
GXB2000
1-3-17. CH command (satellite No. setting during manual setting)
Example
BIT
76543210
No.
1
Contents
Input data
(HEX)
Setting value
11000000 Header
—
C0
2
3
4
5
6
7
8
9
0xxxxxxx Satellite Nos. for 16 channels
0xxxxxxx Value range: 1 to 64
0xxxxxxx 0 is invalid.
0xxxxxxx
0xxxxxxx
0xxxxxxx
9
5
18
1
20
2
09
05
12
01
14
02
06
0C
0xxxxxxx
0xxxxxxx
6
12
10 0xxxxxxx
11 0xxxxxxx
12 0xxxxxxx
13 0xxxxxxx
14 0xxxxxxx
15 0xxxxxxx
16 0xxxxxxx
17 0xxxxxxx
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
18 11011010 Terminator. "Z" + 80H
—
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)
Example
BIT
76543210
No.
1
Contents
Input data
(HEX)
Setting value
11000111 Header
—
C7
2
3
0xxxxxxx D-GPS valid time
0xxxxxxx Resolution: s
4
11011010 Terminator. "Z" + 80H
—
DA
After receiving the above command, the GPS side sends this command as a response.
1-3-19. EP1 command (receive ephemeris data)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
11001101 Header
—
—
CD
DA
11011010 Terminator. "Z" + 80H
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
11001110 Header
—
—
CE
DA
11011010 Terminator. "Z" + 80H
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)
Example
BIT
76543210
No.
1
Contents
Input data
(HEX)
Setting value
—
10110001 Header
B2
2
3
0xxxxxxx Heading filter value
0xxxxxxx Resolution: 0.1km/h
999
(99.9km/h)
07
67
4
11011010 Terminator. "Z" + 80H
—
DA
After receiving the above command, the GPS side sends this command as a response.
S-15
GXB2000
2. D-GPS Data Input Specifications
2-1. Communication
2-1-1. Serial input communication method
Interface:
Baud rate:
Start bit:
Data bits:
Stop bit:
Asynchronous serial interface (UART)
9600 bps
1 bit
8 bits
1 bit
Parity bit:
None
Communication control signal: None
Input period:
1s or more
2-1-2. Asynchronous serial interface
1
0
LSB
MSB
D0 D1 D2 D3 D4 D5 D6 D7
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
PARITY
MESSAGE
TYPE
PREAMBLE
8bit
STATION ID
10bit
WORD1
6bit
6bit
LENGTH OF FRAME
SEQ NCE NO. STATION HEALTH
30
1
WORD2
PARITY
MODIFIED Z-COUNT
13bit
3bit
5bit
3bit
6bit
PREAMBLE:
MESSAGE TYPE:
STATION ID:
PARITY:
Preamble
Message type
Reference station ID No.
Error correction code
MODIFIED Z-COUNT: Modified Z-count
SEQ NCE NO.:
Frame sequence No.
Frame length
LENGTH OF FRAME:
STATION HEALTH:
Reference station health
S-17
GXB2000
2-2-2. Message type 1 (differential GPS correction value)
SCALE FACTOR
UDRE
SATELLITE ID
1
30
PARITY
PSEUDORANGE
CORRECTION
WORD3
1bit
2bit 5bit
16bit
6bit
SCALE FACTOR
UDRE
SATELLITE ID
1
30
30
ISSUE OF
DATA
RANGE-RATE
CORRECTION
PARITY
WORD4
WORD5
2bit
1bit
6bit
8bit
8bit
6bit
1
PSEUDORANGE
CORRECTION
RANGE-RATE
CORRECTION
PARITY
6bit
16bit
8bit
SCALE FACTOR
UDRE
SATELLITE ID
PSEUDORANGE CORRECTION
(UPPER BYTE)
1
30
ISSUE OF
DATA
WORD6
PARITY
6bit
8bit
2bit
1bit
5bit
8bit
SCALE FACTOR:
UDRE:
Pseudorange correction value scale factor
User differential range error index
Satellite ID No.
SATELLITE ID:
PSEUDORANGE CORRECTION: Pseudorange correction value
RANGE-RATE CORRECTION:
ISSUE OF DATA:
Pseudorange rate-of-change correction value
Data issue No.
S-18
GXB2000
PSEUDORANGE CORRECTION
(LOWER BYTE)
1
1
30
PARITY
RANGE-RATE
CORRECTION DATA
ISSUE OF
WORD7
WORD8
WORD9
8bit
8bit
8bit
6bit
30
RANGE-RATE
CORRECTION
ISSUE OF
DATA
FILL
8bit
PARITY
6bit
8bit
8bit
1
30
ISSUE OF
DATA
FILL
16bit
PARITY
6bit
8bit
FILL: Dummy bit
S-19
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
Data packet 2
22 bytes
Checksum
1 byte
Terminator
1 byte
D-GPS
segment
18 bytes
D-GPS
segment
18 bytes
Prefix
4 bytes
Prefix
2 bytes
CRC
2 byte
xxh
0Dh
The D-GPS basic data configuration is as follows.
Bit position
Description
Number of bits
3 bits
1 to 3
4
D-GPS data ID
Correction time
1 bit
5 to 38
39 to 72
73 to 106
1st GPS satellite correction data
2nd GPS satellite correction data
3rd GPS satellite correction data
34 bits
34 bits
34 bits
34 bits
34 bits
34 bits
34 bits
34 bits
12 bits
107 to 140 4th GPS satellite correction data
141 to 174 5th GPS satellite correction data
175 to 208 6th GPS satellite correction data
209 to 242 7th GPS satellite correction data
243 to 276 8th GPS satellite correction data
277 to 288 Communication data
The GPS satellite correction data configuration is as follows.
Bit position
1
Description
Number of bits
1 bit
Scale factor
2 to 3
UDRE (User differential range error index)
GPS satellite ID
2 bits
4 to 8
5 bits
9 to 19
20 to 26
27 to 34
PRC (Pseudorange correction value)
RRC (Pseudorange rate-of-change correction value)
IODE (Ephemeris data issue No.)
11 bits
7 bits
8 bits
S-20
GXB2000
Geodetic System and Corresponding Country
Setting
value
Geodetic system
WGS-84
Reference Ellipsoid
0
WGS-84
1
2
TOKYO
Bessel 1841
Clarke 1880
Japan, Korea
ADINDAN
Ethiopia, Mali, Senegal, Sudan
Botswana, Lesotho, Malawi, Swaziland, Zaire, Zambia,
Zimbabwe
ARC 1950
Clarke 1880
3
CAPE
Clarke 1880
Clarke 1880
International
South Africa
Morocco
4
5
MERCHICH
HONG KONG 1963
SOUTH ASIA
LUZEN
Hong Kong
6
Modified Fisher 1960 Singapore
7
Clarke 1866
Everest
Philippines
8
INDIAN
Thailand, Vietnam
9
INDIAN
Everest
Bangladesh, India, Nepal
West Malaysia, Singapore
10
KERTAU 1948
Modified Everest
NORTH
AMERICAN 1927
Belize, Costa Rica, El Salvador, Guatemala,
Honduras, Nicaragua, Mexico
11
12
Clarke 1866
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
EUROPEAN 1950
EUROPEAN 1950
13
14
IRELAND 1965
Modified Airy
Airy
Ireland
ORDNANCE
SURVEY OF
England, Isle of Man, Scotland, Shetland IsIand, Wales
GREAT BRITAIN 1936
15
16
17
NAHRWAN
Clarke 1880
Clarke 1880
Helmert 1906
Masirash Island, Oman, United Arab Emirates
NAHRWAN
Saudi Arabia
Egypt
OLD EGYPTIAN
NORTH
AMERICAN 1927
18
19
20
21
22
23
Clarke 1866
Canada, Newfoundland Island
NORTH
AMERICAN 1983
Alaska, Canada, Mexico, Central America,
United States of America
GRS 80
AUSTRALIAN
GEODETIC 1984
Australian National
International
Australia, Tasmania Island
New Zealand
GEODETIC
DATUM 1949
PROVISIONAL SOUTH
AMERICAN 1956
Bolivia, Chile, Colombia, Ecuador, Guyana, Peru,
Venezuela
International
SOUTH
AMERICAN 1969
Argentina, Bolivia, Brazil, Chile, Colombia, Ecuador,
Guyana, Paraguay, Peru, Trinidad and Tobago, Venezuela
South American 1969
24
25
CAMPO INCHAUSPE
CORREGO ALEGE
International
International
Argentina
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:
I/O channel:
Baud rate:
Start bit:
Asynchronous serial interface (UART)
CH0
4800bps
1 bit
Data bits:
Stop bit:
8 bits
1 bit
Parity bit:
None
Communication control signal: None
Output period:
Approximately 1s
1-1-2. Asynchronous serial interface
1
0
LSB
MSB
D0 D1 D2 D3 D4 D5 D6 D7
Start bit
1 bit
Data bits
8 bits
Stop bit
1 bit
SS-2
GXB2000
1-2. Almanac Data Output
Example
BIT
No.
Contents
Output data
(HEX)
76543210
Setting value
1
10100100 Header
A4
2
•
0xxxxxxx
•
•
•
•
•
•
•
•
•
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
WORD2
WORD3
WORD4
WORD5
WORD6
WORD7
WORD8
WORD9
WORD10
Checksum
24 bits
24 bits
24 bits
24 bits
24 bits
24 bits
24 bits
24 bits
24 bits
24 bits
16 bits
(1) Relationship between word data and communication data
23
0
Before conversion
After conversion
31
0
0
0
0
(2) Relationship between checksum and communication data
The relationship between the above
data and the communication data is
shown to the right.
15
0
Before conversion
After conversion
23
0
0
0
0
0 0 0 0 0
SS-3
GXB2000
1-3. Input Commands
1-3-1. TM command (receiver clock setting)
Example
BIT
76543210
No.
1
Contents
Input data
(HEX)
Setting value
—
10100000 Header
A0
2
3
0xxxxxxx Year
0xxxxxxx
1999
0F
4F
4
5
6
7
8
9
0xxxxxxx Month
10
29
8
0A
1D
08
2E
3B
0xxxxxxx Date
0xxxxxxx Hour
0xxxxxxx Minute
46
59
0xxxxxxx Second
11011010 Terminator. "Z" + 80HEX
—
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
76543210
No.
1
Contents
Input data
(HEX)
Setting value
10100001 Header
—
A1
2
3
4
5
0xxxxxxx Latitude
0xxxxxxx Resolution: 0.01"
0xxxxxxx South latitude is two's complement notation.
0xxxxxxx Value range: 32400000 to –32400000
North latitude
87° 29' 10.24"
(= –314950.24")
0F
02
26
70
6
7
8
9
0xxxxxxx Longitude
0xxxxxxx Resolution: 0.01"
0xxxxxxx West longitude is two's complement notation.
0xxxxxxx Value range: 64800000 to –64800000
West longitude
175° 42' 30.11"
(= –632550.11")
61
6B
1C
1D
10 11011010 Terminator. "Z" + 80HEX
—
DA
After receiving the above command, the GPS side sends this command as a response.
SS-4
GXB2000
1-3-3. SK command (receiver geodesic system parameter setting)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10100010 Header
—
A2
12
0xxxxxxx Geodesic system
Value range: 0 to 25
18
3
11011010 Terminator. "Z" + 80HEX
—
DA
After receiving the above command, the GPS side sends this command as a response.
1-3-4. AMI command (receive almanac data)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10100011 Header
—
—
A3
DA
11011010 Terminator. "Z" + 80HEX
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10100100 Header
—
—
A4
DA
11011010 Terminator. "Z" + 80HEX
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10100101 Header
—
—
A5
DA
11011010 Terminator. "Z" + 80HEX
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10100110 Header
—
—
A6
DA
11011010 Terminator. "Z" + 80HEX
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10100111 Header
—
A7
38
0xxxxxxx Angle of elevation
Resolution: 1°
56°
Value range: 0 to 90°
3
11011010 Terminator. "Z" + 80HEX
—
DA
After receiving the above command, the GPS side sends this command as a response.
1-3-9. BC command (clear DARC receive data)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10101000 Header
—
—
A8
DA
11011010 Terminator. "Z" + 80HEX
After receiving the above command, the GPS side sends this command as a response.
1-3-10. DG command (D-GPS on/off setting)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10101001 Header
—
A9
01
0xxxxxxx D-GPS on/off setting
1
0: Off
1: On
3
11011010 Terminator. "Z" + 80HEX
—
DA
After receiving the above command, the GPS side sends this command as a response.
SS-6
GXB2000
1-3-11. GS command (4 DOP threshold value settings (up to 99 (63HEX) max.))
Example
BIT
76543210
No.
1
Contents
Input data
(HEX)
Setting value
10101010 Header
0xxxxxxx
—
AA
2
3
64
00
40
PDOP threshold value when D-GPS is on
HDOP threshold value when D-GPS is on
PDOP threshold value when D-GPS is off
HDOP threshold value when D-GPS is off
0xxxxxxx
4
5
0xxxxxxx
0xxxxxxx
50
00
32
6
7
0xxxxxxx
0xxxxxxx
135
114
01
07
8
9
0xxxxxxx
0xxxxxxx
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10101011 Header
—
—
AB
DA
11011010 Terminator. "Z" + 80HEX
After receiving the above command, the GPS side sends this command as a response.
1-3-13. DMR command (RTCM data input mode)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10101100 Header
—
—
AC
DA
11011010 Terminator. "Z" + 80HEX
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10101101 Header
—
AD
0xxxxxxx Expanded output on/off setting
1
01
0: Off
1: On
3
11011010 Terminator. "Z" + 80HEX
—
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10101110 Header
—
—
AE
DA
11011010 Terminator. "Z" + 80HEX
After receiving the above command, the GPS side sends this command as a response.
1-3-16. TC command (current time mode setting)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
10101111 Header
—
AF
01
0xxxxxxx Current time mode setting
1
0: UTC
1: JST
3
11011010 Terminator. "Z" + 80HEX
—
DA
After receiving the above command, the GPS side sends this command as a response.
SS-8
GXB2000
1-3-17. CH command (satellite No. setting during manual setting)
Example
BIT
76543210
No.
1
Contents
Input data
(HEX)
Setting value
11000000 Header
—
C0
2
3
4
5
6
7
8
9
0xxxxxxx Satellite Nos. for 16 channels
0xxxxxxx Value range: 1 to 64
0xxxxxxx 0 is invalid.
0xxxxxxx
0xxxxxxx
0xxxxxxx
9
5
18
1
20
2
09
05
12
01
14
02
06
0C
0xxxxxxx
0xxxxxxx
6
12
10 0xxxxxxx
11 0xxxxxxx
12 0xxxxxxx
13 0xxxxxxx
14 0xxxxxxx
15 0xxxxxxx
16 0xxxxxxx
17 0xxxxxxx
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
18 11011010 Terminator. "Z" + 80HEX
—
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)
Example
BIT
76543210
No.
1
Contents
Input data
(HEX)
Setting value
11000111 Header
—
C7
2
3
0xxxxxxx D-GPS valid time
0xxxxxxx Resolution: s
4
11011010 Terminator. "Z" + 80HEX
—
DA
After receiving the above command, the GPS side sends this command as a response.
1-3-19. EPI command (receive ephemeris data)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
11001101 Header
—
—
CD
DA
11011010 Terminator. "Z" + 80HEX
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)
Example
BIT
76543210
No.
Contents
Input data
(HEX)
Setting value
1
2
11001110 Header
—
—
CE
DA
11011010 Terminator. "Z" + 80HEX
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)
Example
BIT
76543210
No.
1
Contents
Input data
(HEX)
Setting value
10110001 Header
—
B2
2
3
0xxxxxxx Heading filter value
0xxxxxxx Resolution: 0.1km/h
999
(99.9km/h)
07
67
4
11011010 Terminator. "Z" + 80HEX
—
DA
After receiving the above command, the GPS side sends this command as a response.
SS-10
GXB2000
2. NMEA Output Specifications
2-1. Output Messages
2-1-1. GPGGA message
Example
BIT
No.
Contents
Output data
(HEX)
76543210
Setting value
Fixed
Header
24
1
00100100 "$"
Address field
Fixed
2
3
4
5
6
01000111 "G"
01010000 "P"
01000111 "G"
01000111 "G"
01000001 "A"
47
50
47
47
41
7
01001100 " , "
Fixed
2C
UTC time
06:22:43
8
9
xxxxxxxx Hour (10's digit)
xxxxxxxx Hour (1's digit)
00
36
32
32
34
33
10 xxxxxxxx Minute (10's digit)
11 xxxxxxxx Minute (1's digit)
12 xxxxxxxx Second (10's digit)
13 xxxxxxxx Second (1's digit)
14 01001100 " , "
Fixed
2C
Latitude
36° 03.979'
15 xxxxxxxx Degree (10's digit)
16 xxxxxxxx Degree (1's digit)
17 xxxxxxxx Minute (10's digit)
18 xxxxxxxx Minute (1's digit)
19 00101110 " . "
20 xxxxxxxx Minute (0.1's digit)
21 xxxxxxxx Minute (0.01's digit)
22 xxxxxxxx Minute (0.001's digit)
33
36
30
33
2E
39
37
39
23 01001100 " , "
Fixed
2C
Latitude direction
North latitude
24 xxxxxxxx "N" or "S"
4E
2C
25 01001100 " , "
Fixed
Longitude
140° 10.296'
26 xxxxxxxx Degree (100's digit)
27 xxxxxxxx Degree (10's digit)
28 xxxxxxxx Degree (1's digit)
29 xxxxxxxx Minute (10's digit)
30 xxxxxxxx Minute (1's digit)
31 00101110 " . "
32 xxxxxxxx Minute (0.1's digit)
33 xxxxxxxx Minute (0.01's digit)
34 xxxxxxxx Minute (0.001's digit)
31
34
30
31
30
2E
32
39
36
SS-11
GXB2000
Example
BIT
76543210
No.
Contents
Output data
(HEX)
Setting value
35 01001100 " , "
Longitude direction
Fixed
2C
West longitude
Fixed
36 xxxxxxxx "E" or "W"
57
37 01001100 " , "
2C
GPS Quality Indicator
38 xxxxxxxx "0": Invalid
"1": GPS measurement
"2": D-GPS measurement
D-GPS
measurement
32
39 01001100 " , "
Fixed
2C
Number of satellites used for measurement calculation 7-satellite
40 xxxxxxxx "00" to "12"
41 xxxxxxxx
measurement
30
37
42 01001100 " , "
Fixed
1.2
2C
HDOP
43 xxxxxxxx 10's digit
44 xxxxxxxx 1's digit
45 00101110 " . "
30
31
2E
32
46 xxxxxxxx 0.1's digit
47 01001100 " , "
Fixed
23m
2C
Altitude (m)
48 xxxxxxxx 1,000's digit
49 xxxxxxxx 100's digit
50 xxxxxxxx 10's digit
51 xxxxxxxx 1's digit
30
30
32
33
52 01001100 " , "
Fixed
Fixed
2C
Altitude units
53 01001101 "M"
4D
2C
2C
4D
2C
54 01001100 " , "
55 01001100 " , "
56 01001101 "M"
57 01001100 " , "
Fixed
Fixed
Fixed
Fixed
5s
D-GPS data elapsed time (s)
58 xxxxxxxx 100's digit
59 xxxxxxxx 10's digit
60 xxxxxxxx 1's digit
30
30
35
61 01001100 " , "
Fixed
0
2C
D-GPS reference station ID
62 xxxxxxxx 1,000's digit
63 xxxxxxxx 100's digit
64 xxxxxxxx 10's digit
65 xxxxxxxx 1's digit
30
30
30
30
66 00101010 "
"
Fixed
2A
SS-12
GXB2000
Example
BIT
76543210
No.
Contents
Output data
(HEX)
Setting value
4A
Checksum
67 xxxxxxxx Hexadecimal upper digits
68 xxxxxxxx Hexadecimal lower digits
34
41
Terminator
69 00001101 <CR>
70 00001010 <LF>
Fixed
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.
Contents
Output data
(HEX)
76543210
Setting value
Fixed
Header
00100100 "$"
24
1
Address field
01000111 "G"
01010000 "P"
01000111 "G"
01001100 "L"
01001100 "L"
Fixed
2
3
4
5
6
47
50
47
4C
4C
7
01001100 " , "
Fixed
2C
Latitude
36° 03.979'
8
9
xxxxxxxx Degree (10's digit)
xxxxxxxx Degree (1's digit)
33
36
30
33
2E
39
37
39
10 xxxxxxxx Minute (10's digit)
11 xxxxxxxx Minute (1's digit)
12 00101110 " . "
13 xxxxxxxx Minute (0.1's digit)
14 xxxxxxxx Minute (0.01's digit)
15 xxxxxxxx Minute (0.001's digit)
16 01001100 " , "
Fixed
2C
Latitude direction
North latitude
17 xxxxxxxx "N" or "S"
4E
2C
18 01001100 " , "
Fixed
Longitude
140° 10.296'
19 xxxxxxxx Degree (100's digit)
20 xxxxxxxx Degree (10's digit)
21 xxxxxxxx Degree (1's digit)
22 xxxxxxxx Minute (10's digit)
23 xxxxxxxx Minute (1's digit)
24 00101110 " . "
25 xxxxxxxx Minute (0.1's digit)
26 xxxxxxxx Minute (0.01's digit)
27 xxxxxxxx Minute (0.001's digit)
31
34
30
31
30
2E
32
39
36
28 01001100 " , "
Fixed
2C
Longitude direction
West longitude
29 xxxxxxxx "E" or "W"
57
30 01001100 " , "
Fixed
2C
UTC time
06:22:43
31 xxxxxxxx Hour (10's digit)
32 xxxxxxxx Hour (1's digit)
33 xxxxxxxx Minute (10's digit)
34 xxxxxxxx Minute (1's digit)
35 xxxxxxxx Second (10's digit)
36 xxxxxxxx Second (1's digit)
00
36
32
32
34
33
37 01001100 " , "
Fixed
2C
SS-14
GXB2000
Example
BIT
76543210
No.
Contents
Output data
(HEX)
Setting value
Valid
Status
38 xxxxxxxx "A": Data valid
"V": Data invalid
41
2A
39 00101010 "
"
Fixed
4A
Checksum
40 xxxxxxxx Hexadecimal upper digits
41 xxxxxxxx Hexadecimal lower digits
34
41
Terminator
42 00001101 <CR>
43 00001010 <LF>
Fixed
0D
0A
SS-15
GXB2000
2-1-3. GPGSA message
Example
BIT
No.
Contents
Output data
(HEX)
76543210
Setting value
Fixed
Header
24
1
00100100 "$"
Address field
Fixed
2
3
4
5
6
01000111 "G"
01010000 "P"
01000111 "G"
01010011 "S"
01000001 "A"
47
50
47
53
41
7
8
9
01001100 " , "
Fixed
2C
41
2C
33
GPS measurement switching mode
xxxxxxxx "M": Manual
"A": Auto
Fixed to "A"
01001100 " , "
GPS measurement mode
10 xxxxxxxx "1": Invalid
"2": 2D measurement
"3": 3D measurement
11 01001100 " , "
Fixed
3D measurement
Fixed
2C
Satellite Nos. used for measurement
1st satellite No.
12 xxxxxxxx 10's digit
13 xxxxxxxx 1's digit
14 01001100 " , "
15 to 17
2nd satellite No.
3rd satellite No.
4th satellite No.
5th satellite No.
6th satellite No.
7th satellite No.
8th satellite No.
9th satellite No.
10th satellite No.
11th satellite No.
12th satellite No.
PDOP
18 to 20
21 to 23
24 to 26
27 to 29
30 to 32
33 to 35
36 to 38
39 to 41
42 to 44
45 to 47
2.4
48 xxxxxxxx 10's digit
49 xxxxxxxx 1's digit
50 00101110 " . "
30
32
2E
34
51 xxxxxxxx 0.1's digit
52 01001100 " , "
Fixed
2C
SS-16
GXB2000
Example
BIT
76543210
No.
Contents
Output data
(HEX)
Setting value
1.2
HDOP
53 xxxxxxxx 10's digit
54 xxxxxxxx 1's digit
55 00101110 " . "
30
31
2E
32
56 xxxxxxxx 0.1's digit
57 01001100 " , "
Fixed
2.0
2C
VDOP
58 xxxxxxxx 10's digit
59 xxxxxxxx 1's digit
60 00101110 " . "
30
32
2E
30
61 xxxxxxxx 0.1's digit
62 00101010 "
"
Fixed
4A
2A
Checksum
63 xxxxxxxx Hexadecimal upper digits
64 xxxxxxxx Hexadecimal lower digits
34
41
Terminator
65 00001101 <CR>
66 00001010 <LF>
Fixed
0D
0A
The data length for "Satellite Nos. used for measurement" is variable in order to output the numbers of all the
satellites used for position measurement.
SS-17
GXB2000
2-1-4. GPGSV message
Example
BIT
No.
Contents
Output data
(HEX)
76543210
Setting value
Fixed
Header
00100100 "$"
24
1
Address field
01000111 "G"
01010000 "P"
01000111 "G"
01010011 "S"
01010110 "V"
Fixed
2
3
4
5
6
47
50
47
53
56
7
01001100 " , "
Fixed
2
2C
Total number of GPGSV messages
xxxxxxxx "1" to "3"
8
9
32
01001100 " , "
Fixed
1
2C
GPGSV message number
10 xxxxxxxx "1" to "3"
11 01001100 " , "
31
Fixed
08
2C
Number of satellites within field of vision
12 xxxxxxxx 10's digit
13 xxxxxxxx 1's digit
30
38
14 01001100 " , "
Fixed
2C
Information on satellites within field of vision for four satellites
Satellite No.
15 xxxxxxxx 10's digit
16 xxxxxxxx 1's digit
17 01001100 " , "
Angle of elevation (°)
18 xxxxxxxx 10's digit
19 xxxxxxxx 1's digit
20 01001100 " , "
Azimuth (°)
21 xxxxxxxx 100's digit
22 xxxxxxxx 10's digit
23 xxxxxxxx 1's digit
24 01001100 " , "
C/N (dB)
25 xxxxxxxx 10's digit
26 xxxxxxxx 1's digit
27 01001100 " , "
28 to 40
Information for 2nd satellite
Information for 3rd satellite
Information for 4th satellite
"
41 to 53
54 to 56
67 00101010 "
Fixed
4A
2A
Checksum
68 xxxxxxxx Hexadecimal upper digits
69 xxxxxxxx Hexadecimal lower digits
34
41
SS-18
GXB2000
Example
BIT
76543210
No.
Contents
Output data
(HEX)
Setting value
Fixed
Terminator
70 00001101 <CR>
71 00001010 <LF>
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.
Contents
Output data
(HEX)
76543210
Setting value
Fixed
Header
24
1
00100100 "$"
Address field
Fixed
2
3
4
5
6
01000111 "G"
01010000 "P"
01010010 "R"
01001101 "M"
01000011 "C"
47
50
52
4D
43
7
01001100 " , "
Fixed
2C
UTC time
06:22:43
8
9
xxxxxxxx Hour (10's digit)
xxxxxxxx Hour (1's digit)
00
36
32
32
34
33
10 xxxxxxxx Minute (10's digit)
11 xxxxxxxx Minute (1's digit)
12 xxxxxxxx Second (10's digit)
13 xxxxxxxx Second (1's digit)
14 01001100 " , "
Fixed
Valid
2C
41
2C
Status
15 xxxxxxxx "A": Data valid
"V": Data invalid
16 01001100 " , "
Fixed
Latitude
36° 03.979'
17 xxxxxxxx Degree (10's digit)
18 xxxxxxxx Degree (1's digit)
19 xxxxxxxx Minute (10's digit)
20 xxxxxxxx Minute (1's digit)
21 00101110 " . "
22 xxxxxxxx Minute (0.1's digit)
23 xxxxxxxx Minute (0.01's digit)
24 xxxxxxxx Minute (0.001's digit)
33
36
30
33
2E
39
37
39
25 01001100 " , "
Fixed
2C
Latitude direction
North latitude
26 xxxxxxxx "N" or "S"
4E
2C
27 01001100 " , "
Fixed
Longitude
140° 10.296'
28 xxxxxxxx Degree (100's digit)
29 xxxxxxxx Degree (10's digit)
30 xxxxxxxx Degree (1's digit)
31 xxxxxxxx Minute (10's digit)
32 xxxxxxxx Minute (1's digit)
33 00101110 " . "
34 xxxxxxxx Minute (0.1's digit)
35 xxxxxxxx Minute (0.01's digit)
36 xxxxxxxx Minute (0.001's digit)
31
34
30
31
30
2E
32
39
36
SS-20
GXB2000
Example
BIT
76543210
No.
Contents
Output data
(HEX)
Setting value
37 01001100 " , "
Longitude direction
Fixed
2C
West longitude
38 xxxxxxxx "E" or "W"
57
39 01001100 " , "
Fixed
2C
Speed (knots)
20knot/h
40 xxxxxxxx 100's digit
41 xxxxxxxx 10's digit
42 xxxxxxxx 1's digit
43 00101110 " . "
30
32
30
2E
30
44 xxxxxxxx 0.1's digit
45 01001100 " , "
Fixed
48.5°
2C
Heading (°)
46 xxxxxxxx 100's digit
47 xxxxxxxx 10's digit
48 xxxxxxxx 1's digit
49 00101110 " . "
30
34
38
2E
35
50 xxxxxxxx 0.1's digit
51 01001100 " , "
Fixed
2C
Date
52 xxxxxxxx 10's digit
53 xxxxxxxx 1's digit
Month
July 13, 1999
31
33
54 xxxxxxxx 10's digit
55 xxxxxxxx 1's digit
Year
30
37
56 xxxxxxxx 10's digit
57 xxxxxxxx 1's digit
39
39
58 01001100 " , "
59 01001100 " , "
Fixed
Fixed
Fixed
4A
2C
2C
2A
60 00101010 "
"
Checksum
61 xxxxxxxx Hexadecimal upper digits
62 xxxxxxxx Hexadecimal lower digits
34
41
Terminator
63 00001101 <CR>
64 00001010 <LF>
Fixed
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.
Contents
Output data
(HEX)
76543210
Setting value
Fixed
Header
00100100 "$"
24
1
Address field
01000111 "G"
01010000 "P"
01010110 "V"
01010100 "T"
01000111 "G"
Fixed
2
3
4
5
6
47
50
56
54
47
7
01001100 " , "
Fixed
48.5°
2C
Heading (°)
8
9
xxxxxxxx 100's digit
xxxxxxxx 10's digit
30
34
38
2E
35
10 xxxxxxxx 1's digit
11 00101110 " . "
12 xxxxxxxx 0.1's digit
13 01001100 " , "
14 01010100 "T"
15 01001100 " , "
16 01001100 " , "
17 01001101 "M"
18 01001100 " , "
Fixed
Fixed
Fixed
Fixed
Fixed
Fixed
20knot/h
2C
54
2C
2C
4D
2C
Speed (knots)
19 xxxxxxxx 100's digit
20 xxxxxxxx 10's digit
21 xxxxxxxx 1's digit
22 00101110 " . "
30
32
30
2E
30
23 xxxxxxxx 0.1's digit
24 01001100 " , "
25 01001110 "N"
26 01001100 " , "
Fixed
Fixed
Fixed
20km/h
2C
4E
2C
Speed (km/h)
27 xxxxxxxx 100's digit
28 xxxxxxxx 10's digit
29 xxxxxxxx 1's digit
30 00101110 " . "
30
32
30
2E
30
31 xxxxxxxx 0.1's digit
32 01001100 " , "
33 01001011 "K"
Fixed
Fixed
Fixed
4A
2C
4B
2A
34 00101010 "
"
Checksum
35 xxxxxxxx Hexadecimal upper digits
36 xxxxxxxx Hexadecimal lower digits
34
41
SS-22
GXB2000
Example
BIT
76543210
No.
Contents
Output data
(HEX)
Setting value
Fixed
Terminator
37 00001101 <CR>
38 00001010 <LF>
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.
Contents
Output data
(HEX)
76543210
Setting value
Fixed
Header
00100100 "$"
24
1
Address field
01000111 "G"
01010000 "P"
01011010 "Z"
01000100 "D"
01000001 "A"
Fixed
2
3
4
5
6
47
50
5A
44
41
7
01001100 " , "
Fixed
2C
UTC time
06:22:43
8
9
xxxxxxxx Hour (10's digit)
xxxxxxxx Hour (1's digit)
00
36
32
32
34
33
10 xxxxxxxx Minute (10's digit)
11 xxxxxxxx Minute (1's digit)
12 xxxxxxxx Second (10's digit)
13 xxxxxxxx Second (1's digit)
14 01001100 " , "
Fixed
13th
2C
Date
15 xxxxxxxx 10's digit
16 xxxxxxxx 1's digit
31
33
17 01001100 " , "
Fixed
July
2C
Month
18 xxxxxxxx 10's digit
19 xxxxxxxx 1's digit
30
37
20 01001100 " , "
Fixed
1999
2C
Year
21 xxxxxxxx 10's digit
22 xxxxxxxx 1's digit
39
39
23 01001100 " , "
24 01001100 " , "
Fixed
Fixed
Fixed
4A
2C
2C
2A
25 00101010 "
"
Checksum
26 xxxxxxxx Hexadecimal upper digits
27 xxxxxxxx Hexadecimal lower digits
34
41
Terminator
28 00001101 <CR>
29 00001010 <LF>
Fixed
0D
0A
The Local Zone Description parameter is not output.
(between No. 23 and No. 24, and between No. 24 and No. 25)
SS-24
GXB2000
2-1-8. PSNY message (manufacturer expanded output)
Example
BIT
76543210
No.
1
Contents
Output data
(HEX)
Setting value
Fixed
Header
00100100 "$"
24
Address field
Fixed
2
3
4
5
01010000 "P"
01010011 "S"
01011110 "N"
01011001 "Y"
50
53
5E
49
6
01001100 " , "
Fixed
Open
2C
Preamplifier status
7
xxxxxxxx "0": Normal
"1": Open
31
"2": Shorted
8
9
01001100 " , "
Fixed
2C
Geodesic system
xxxxxxxx "0" to "25"
WGS-84
30
30
10 xxxxxxxx
11 01001100 " , "
Fixed
5°
2C
Angle of elevation limit (°)
12 xxxxxxxx 10's digit
13 xxxxxxxx 1's digit
30
35
14 01001100 " , "
Fixed
2C
Speed limit (km/h)
500km/h
15 xxxxxxxx 100's digit
16 xxxxxxxx 10's digit
17 xxxxxxxx 1's digit
35
30
30
18 01001100 " , "
Fixed
4
2C
PDOP limit (D-GPS on)
19 xxxxxxxx 10's digit
20 xxxxxxxx 1's digit
30
34
21 01001100 " , "
Fixed
6
2C
HDOP limit (D-GPS on)
22 xxxxxxxx 10's digit
23 xxxxxxxx 1's digit
30
36
24 01001100 " , "
Fixed
4
2C
PDOP limit (D-GPS off)
25 xxxxxxxx 10's digit
26 xxxxxxxx 1's digit
30
34
27 01001100 " , "
Fixed
6
2C
HDOP limit (D-GPS off)
28 xxxxxxxx 10's digit
29 xxxxxxxx 1's digit
30
36
SS-25
GXB2000
Example
BIT
76543210
No.
Contents
Output data
(HEX)
Setting value
30 00101010 "
"
Fixed
2A
Checksum
4A
31 xxxxxxxx Hexadecimal upper digits
32 xxxxxxxx Hexadecimal lower digits
34
41
Terminator
33 00001101 <CR>
34 00001010 <LF>
Fixed
0D
0A
2-2. Output Timing
1s period: GPVTG, GPGGA, GPGLL, GPRMC, GPZDA
2s period: GPGSA, PSNY, GPGSV
1s
2s
3s
4s
5s
GPVTG
GPGGA
GPGLL
GPRMC
GPZDA
GPGSA
PSNY
GPVTG
GPGGA
GPGLL
GPRMC
GPZDA
GPGSV
GPVTG
GPGGA
GPGLL
GPRMC
GPZDA
GPGSA
PSNY
GPVTG
GPGGA
GPGLL
GPRMC
GPZDA
GPGSV
GPVTG
GPGGA
GPGLL
GPRMC
GPZDA
GPGSA
PSNY
SS-26
GXB2000
3. D-GPS Data Input Specifications
3-1. Communication
3-1-1. Serial input communication method
Interface:
I/O channel:
Baud rate:
Start bit:
Asynchronous serial interface (UART)
CH1
9600bps
1 bit
Data bits:
Stop bit:
8 bits
1 bit
Parity bit:
None
Communication control signal: None
Input period:
1s or more
3-1-2. Asynchronous serial interface
1
0
LSB
MSB
D0 D1 D2 D3 D4 D5 D6 D7
Start bit
1 bit
Stop bit
1 bit
Data bits
8 bits
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
PARITY
MESSAGE
TYPE
PREAMBLE
8bit
STATION ID
10bit
WORD1
6bit
6bit
LENGTH OF FRAME
SEQ NCE NO. STATION HEALTH
30
1
WORD2
PARITY
MODIFIED Z-COUNT
13bit
3bit
5bit
3bit
6bit
PREAMBLE:
MESSAGE TYPE:
STATION ID:
PARITY:
Preamble
Message type
Reference station ID No.
Error correction code
MODIFIED Z-COUNT: Modified Z-count
SEQ NCE NO.: Frame sequence No.
LENGTH OF FRAME: Frame length
STATION HEALTH: Reference station health
SS-28
GXB2000
3-2-2. Message type 1 (differential GPS correction value)
SCALE FACTOR
UDRE
SATELLITE ID
1
30
PARITY
PSEUDORANGE
CORRECTION
WORD3
1bit
2bit 5bit
16bit
6bit
SCALE FACTOR
UDRE
SATELLITE ID
1
30
30
ISSUE OF
DATA
RANGE-RATE
CORRECTION
PARITY
WORD4
WORD5
2bit
1bit
6bit
8bit
8bit
6bit
1
PSEUDORANGE
CORRECTION
RANGE-RATE
CORRECTION
PARITY
6bit
16bit
8bit
SCALE FACTOR
UDRE
SATELLITE ID
PSEUDORANGE CORRECTION
(UPPER BYTE)
1
30
ISSUE OF
DATA
WORD6
PARITY
6bit
8bit
2bit
1bit
5bit
8bit
SCALE FACTOR:
UDRE:
Pseudorange correction value scale factor
User differential range error index
Satellite ID No.
SATELLITE ID:
PSEUDORANGE CORRECTION: Pseudorange correction value
RANGE-RATE CORRECTION:
ISSUE OF DATA:
Pseudorange rate-of-change correction value
Data issue No.
SS-29
GXB2000
PSEUDORANGE CORRECTION
(LOWER BYTE)
1
1
30
PARITY
RANGE-RATE
CORRECTION DATA
ISSUE OF
WORD7
WORD8
WORD9
8bit
8bit
8bit
6bit
30
RANGE-RATE
CORRECTION
ISSUE OF
DATA
FILL
8bit
PARITY
6bit
8bit
8bit
1
30
ISSUE OF
DATA
FILL
16bit
PARITY
6bit
8bit
FILL: Dummy bit
SS-30
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
Data packet 2
22 bytes
Checksum
1 byte
Terminator
1 byte
D-GPS
segment
18 bytes
D-GPS
segment
18 bytes
CRC
2 bytes
Prefix
4 bytes
Prefix
2 bytes
xxh
0Dh
The D-GPS basic data configuration is as follows.
Bit position
1 to 3
Description
Number of bits
3 bits
D-GPS data ID
4
Correction time
1 bit
5 to 38
39 to 72
73 to 106
1st GPS satellite correction data
2nd GPS satellite correction data
3rd GPS satellite correction data
34 bits
34 bits
34 bits
34 bits
34 bits
34 bits
34 bits
34 bits
12 bits
107 to 140 4th GPS satellite correction data
141 to 174 5th GPS satellite correction data
175 to 208 6th GPS satellite correction data
209 to 242 7th GPS satellite correction data
243 to 276 8th GPS satellite correction data
277 to 288 Communication data
The GPS satellite correction data configuration is as follows.
Bit position
1
Description
Number of bits
1 bit
Scale factor
2 to 3
UDRE (User differential range error index)
GPS satellite ID
2 bits
4 to 8
5 bits
9 to 19
20 to 26
27 to 34
PRC (Pseudorange correction value)
RRC (Pseudorange rate-of-change correction value)
IODE (Ephemeris data issue No.)
11 bits
7 bits
8 bits
SS-31
相关型号：
SI9130DB
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