Rikaline GPS-6020
CF GPS
User’s Guide
Oct.06,2002
High Accuracy ---
Low Power --------
3 Meters (50%) or 5 Meters (90%)
29mA at 3.3V in Continuous Mode and
With Active Antenna
Attractive Price --
Better Price than ordinary CF GPS
Rikaline Marketing Corp.
5F-1, 125, Roosevelt Rd., Sec. 5, Taipei 116, Taiwan, R.O.C.
Phone: +886-2-2934-5456 Fax: +886-2-2934-4373
All Right Reserved
GPS-6020 Operating Manual
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1. INTRODUCTION
1.1 Overview
The Rikaline GPS-6020 CF GPS is a total solution GPS Receiver designed for use with PDA, Tablet
PC, Wall plate PC or any portable PCs. features the revolutionary FirstGPS™ architecture. This complete
enabled GPS receiver provides high position and speed accuracy performances as well as high sensitivity and
tracking capabilities in urban canyon conditions. The GPS-6020 delivers major advancements in GPS
performances, accuracy, integration, computing power and flexibility. This positioning application meets strict
needs such as car navigation, mapping, surveying, security, agriculture and so on. Only clear view of sky and
certain power supply are necessary to the unit.
1.2 Features
1. Facilitating FirstGPSTM core technology.
2. High sensitivity: to -173 dBW tracking, superior urban canyon performances
3. High positioning accuracy: < 3m CEP (50%), OR <5M CEP (90%) without SA (horizontal)
4. Ultra low power: 26mA typical with active antenna -- tracking at 3.3 Volts, full power
5. A rechargeable battery sustains internal clock and memory and is recharged during normal operation.
6. Dual communication channels and user selectable baud rates allow maximum interface capability and
flexibility.
7. LED display status: The LED provides users visible positioning status. LED “ON” when power connected
and “BLINKING” when GPS-6020 got positioned. No more extra device needed.
8. Low Cost.
1.3 FirstGPSTM Architecture Highlights
1.3.1 Industry Leading GPS Performance
1. Builds on high performance FirstGPSTM core
2. Satellite signal tracking engine to perform GPS acquisition and tracking functions without CPU intervention
3. High sensitivity: to -143 dBm (-173dBW) tracking, superior urban canyon performances
4. Position accuracy: < 3m CEP (50%) or < 5m (90%) without SA (horizontal)
5. Warm Start is under 42 seconds (90%)
6. Hot Start is under 10 seconds (90%)
1.3.2 Low Power
1. Ultra low power integrated circuit design, optimized RF and DSP architectures
2. Further power saving thanks to 4 different power down mode
1.4 Technology specifications
1.4.1 Physical Dimension
Single construction integrated antenna and receiver.
Size: 85.0(W) x 42.0(D) x 20.6(H) (mm)
3.35"(W) x 1.65"(D) x 0.81"(H).
1.4.2 Environmental Characteristics
1) Operating temperature: -40oC to +85oC(internal temperature).
2) Storage temperature: -55oC to +100oC.
1.4.3 Environmental Characteristics
1) Operating temperature: -40oC to +85oC(internal temperature).
2) Storage temperature: -55oC to +100oC.
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5F-1, 125, Roosevelt Road, Sec. 5, Taipei, Taiwan 116
GPS-6020 Operating Manual
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1.4.4 Electrical Characteristics
1) Input voltage: +2.6 ~ 5.5 VDC.
2) Backup power: 3V Rechargeable Lithium cell battery, up to 200 hours discharge.
1R.e4m.5arPk:eFrifrostrGmPaSn™cies a trademark from Trimble.
1) Tracks up to 8 satellites.
2) Update rate: 1 second.
3) Acquisition time
Reacquisition
Hot start
Warm start
Cold start
1 sec.,
10 sec. (90%)
42 sec. (90%)
120 sec. (90%)
4) Position accuracy:
NON-DGPS
Position
Velocity
<3 meter (50%) or <5 meter (90%)
0.05 meters/second, typical
DGPS (Differential GPS)
Position
<1 meter, typical
Velocity
0.05 meters/second, typical
5) Dynamic Conditions:
Altitude
18,000 meters (60,000 feet) max
515 meters / second (1000 knots) max
4 G, max
Velocity
Acceleration
Jerk
20
meters/second, max
1.4.6 Important Characters
Receiver
L1, C/A code
8
Channels
Update Rate
1/second down to 1/min
< 1 second
Satellite Reacquisition Time
Hot Start
< 10 seconds (90%)
< 42 seconds (90%)
Warm Start
Cold Start
< 120 seconds (90%)
-173 dBW
Tracking Sensitivity
Power Consumption (Full Power)
Voltage Supply
Protocol
< 20 mA at 3.3 Volts (Typically: 17 mA)
3.0 – 3.65 Volts
NMEA 0183 V2.1
Position Accuracy
3 meters CEP (50%) horizontal, SA off
< 1 meter, DGPS corrected
1.4.7 Interfaces
1) Dual channel RS-232 or TTL compatible level, with user selectable baud rate (2400, 4800-Default, 9600,
19200, 38400, 57600, 115200).
2) NMEA 0183 Version 2.1 ASCII output (GPGGA, GPGLL, GPGSA, GPGSV, GPRMC, GPVTG, GPZDA).
3) Real-time Differential Correction input (RTCM SC-104 message types 1, 5 and 9).
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GPS-6020 Operating Manual
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2. Operational characteristics
2.1 Initialization
As soon as the initial self-test is complete, the GPS-6020 begins the process of satellite acquisition and
tracking automatically. Under normal circumstances, it takes approximately 120 seconds to achieve a position fix,
42 seconds if ephemeris data is known. After a position fix has been calculated, information about valid position,
velocity and time is transmitted over the output channel.
The GPS-6020 utilizes initial data, such as last stored position, date, time and satellite orbital data, to
achieve maximum acquisition performance. If significant inaccuracy exists in the initial data, or the orbital data is
obsolete, it may take more time to achieve a navigation solution. The FirstGPS™ feature is to provide fast and
accurate position. However, acquisition performance can be improved when the host system initializes the
GPS-6020 in the following situation:
1) Moving further than 500 kilometers.
2) Failure of data storage due to the inactive internal memory battery.
2.2 Navigation
After the acquisition process is complete, the GPS-6020 sends valid navigation information over output
channels. These data include:
1) Latitude/longitude/altitude
2) Velocity
3) Date/time
4) Error estimates
5) Satellite and receiver status
The GPS-6020 sets the default of auto-searching for real-time differential corrections in RTCM SC-104
standard format, with the message types 1, 5, or 9. It accomplishes the satellite data to generate a differential
(DGPS) solution. The host system, at its option, may also command the GPS-6020 to output a position
whenever a differential solution is available.
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GPS-6020 Operating Manual
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3. Hardware interface
3.1 Dimension
Size: 85.0(W) x 42.0(D) x 20.6(H) (mm)
3.35"(W) x 1.65"(D) x 0.81"(H).
3.2 Hardware Interface
The GPS-6020 includes an antenna in a unique style gadget. Simply insert it into the CF slot of a PDA or
other devices or insert it in a PCMCIA adapter.
3.3 Connector
Standard 50 pins CF type I connectors.
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GPS-6020 Operating Manual
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4. Software Interface
The GPS-6020 interface protocol is based on the National Marine Electronics Association's NMEA 0183
ASCⅡ interface specification, which is defined in NMEA 0183, Version 2.2 and the Radio Technical Commission
for Maritime Services (RTCM Recommended Standards For Differential Navstar GPS Service, Version 2.1,
RTCM Special Committee No.104).
4.1 NMEA Transmitted Messages
The GPS-6020 outputs data in NMEA-0183 format as defined by the National Marine Electronics
Association (NMEA), Standard.
The default communication parameters for NMEA output are 4800 baud, 8 data bits, stop bit, and no parity.
Table 4-1 NMEA-0183 Output Messages
NMEA Sentence
GPGGA
Description
Global positioning system fixed data
Geographic position latitude \ longitude
GNSS DOP and active satellites
GNSS satellites in view.
GPGLL
GPGSA
GPGSV
GPRMC
GPVTG
GPZDA
Recommended minimum specific GNSS data
Coruse over ground and ground speed
Date and Time
4.1.1 Global Positioning System Fix Data (GGA)
Table 4-2 contains the values for the following example:
$GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18
Table 4-2 GGA Data Format
Name
Message ID
Example
$GPGGA
Units
Description
GGA protocol header
UTC Time
161229.487
Hhmmss.sss
Latitude
3723.2475
ddmm.mmmm
N/S Indicator
Longitude
N
N=north or S=south
dddmm.mmmm
12158.3416
E/W Indicator
Position Fix Indicator
Satellites Used
HDOP
MSL Altitude
Units
Geoid Separation
Units
Age of Diff. Corr.
Diff. Ref. Station ID
Checksum
W
1
07
1.0
9.0
M
E=east or W=west
See Table 4-3
Range 0 to 12
Horizontal Dilution of Precision
Meters
Meters
Meters
Meters
second
M
Null fields when DGPS is not used
End of message termination
Description
0000
*18
<CR> <LF>
Table 4-3 Position Fix Indicator
Value
0
0 Fix not available or invalid
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GPS-6020 Operating Manual
GPS SPS Mode, fix valid
Differential GPS, SPS Mode, fix valid
GPS PPS Mode, fix valid
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1
2
3
4.1.2 Geographic Position with Latitude/Longitude (GLL)
Table 4-4 contains the values for the following example:
$GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C
Table 4-4 GLL Data Format
Name
Message ID
Latitude
N/S Indicator
Longitude
E/W Indicator
UTC Position
Status
Example
$GPGLL
3723.2475
N
12158.3416
W
Units
Description
GLL protocol header
ddmm.mmmm
N=north or S=south
dddmm.mmmm
E=east or W=west
hhmmss.sss
161229.487
A
A=data valid or V=data not valid
Checksum
<CR> <LF>
*2C
End of message termination
4.1.3 GNSS DOP and Active Satellites (GSA)
Table 4-5 contains the values for the following example:
$GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33
Table 4-5 GSA Data Format
Name
Message ID
Mode 1
Example
$GPGSA
Units
Description
GSA protocol header
A
3
See Table 4-6
See Table 4-7
Mode 2
Satellite Used (1)
Satellite Used (1)
……
07
02
Sv on Channel 1
Sv on Channel 2
….
Satellite Used
PDOP
HDOP
VDOP
Checksum
<CR> <LF>
Sv on Channel 12
Position Dilution of Precision
Horizontal Dilution of Precision
Vertical Dilution of Precision
1.8
1.0
1.5
*33
End of message termination
(1) Satellite used in solution.
Table 4-6 Mode 1
Value
Description
M
A
Manual—forced to operate in 2D or 3D mode
2D Automatic—allowed to automatically switch 2D/3D
Table 4-7 Mode 2
Value
Description
1
2
3
Fix Not Available
2D
3D
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GPS-6020 Operating Manual
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4.1.4 GNSS Satellites in View (GSV)
Table 4-8 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
Table 4-8 GSV Data Format
Name
Message ID
Example
$GPGSV
2
Units
Description
GSV protocol header
Range 1 to 3
Range 1 to 3
Range 1 to 12
Number of Messages
Message Number
Satellites in View
Satellite ID
Elevation
1
07
07
79
Channel 1 (Range 1 to 32)
degrees Channel 1 (Maximum 90)
Azimuth
SNR (C/No)
....
048
42
....
degrees Channel 1 (True, Range 0 to 359)
dBHz Range 0 to 99, null when not tracking
Satellite ID
Elevation
27
27
Channel 4 (Range 1 to 32)
degrees Channel 4 (Maximum 90)
Azimuth
138
42
*71
degrees Channel 4 (True, Range 0 to 359)
dBHz Range 0 to 99, null when not tracking
SNR (C/No)
Checksum
<CR> <LF>
End of message termination
NOTE: Items <4>,<5>,<6> and <7> repeat for each satellite in view to a maximum of four (4) satellites per
sentence. Additional satellites in view information must be sent in subsequent sentences. These fields will be
null if unused.
4.1.5 Recommended Minimum Specific GNSS Data (RMC)
Table 4-9 contains the values for the following example:
$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, ,*10
Table 4-9 RMC Data Format
Name
Message ID
UTC Time
Example
$GPRMC
161229.487
A
3723.2475
N
12158.3416
W
0.13
309.62
120598
Units
Description
RMC protocol header
hhmmss.sss
Status
Latitude
A=data valid or V=data not valid
ddmm.mmmm
N=north or S=south
dddmm.mmmm
N/S Indicator
Longitude
E/W Indicator
Speed Over Ground
Course Over Ground
Date
E=east or W=west
Knots
Degrees True
ddmmyy
Degrees E=east or W=west
Magnetic Variation
Checksum
*10
<CR> <LF>
End of message termination
4.1.6 Course Over Ground and Ground Speed (VTG)
Table 4-10 contains the values for the following example:
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GPS-6020 Operating Manual
$GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E
Table 4-10 VTG Data Format
Rik a lin e
Name
Message ID
Course
Reference
Course
Example
$GPVTG
309.62
T
Units
Description
VTG protocol header
Degrees Measured heading
True
Degrees Measured heading
Magnetic (1)
Reference
Speed
M
0.13
N
Knots
Measured horizontal speed
Knots
Units
Speed
Units
0.2
K
Km/hr
Measured horizontal speed
Kilometers per hour
Checksum
<CR> <LF>
*6E
End of message termination
(1) All “course over ground” data are geodetic WGS84 directions.
4.1.7 Time & Date (ZDA)
Table 4-11 contains the values for the following example:
$GPVTG,114523.62,12,04,2001,10,34*6E
Table 4-11 zda Data Format
Name
Message ID
Hour, Min, Sec, Sub
Sec
Example
$GPZDA
Units
Description
ZDA protocol header
114523.62
Hhmmss.ss
Day
Month
Year
Local Zone Hours
12
04
2001
10
Day in UTC, 01to 12
Month in UTC, 01 to 12
Year in UTC
Local zone hours, +/- 13 hours
Local Zone Minutes
34
Local zone minutes, 0 to +59
Checksum
*6E
<CR> <LF>
End of message termination
4.2 RTCM Received Data
The default communication parameters for DGPS Input are 9600 baud, 8 data bits, stop bit, and no parity.
Position accuracy of less than 5 meters can be achieved with the GPS-6020 by using Differential GPS (DGPS)
real-time pseudo-range correction data in RTCM SC-104 format, with message types 1, 5, or 9. As using
DGPS receiver with different communication parameters, GPS-6020 may decode the data correctly to generate
accurate messages and save them in battery-back SRAM for later computing.
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GPS-6020 Operating Manual
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5. Ordering Information
5.1 Product Options
GPS-6020
5.1.2 Color Option
BK Black (Standard)
Other Color: by demand
6. Warranty
The GPS-6020 is warranted to be free from defects in material and functions for one year from the date of
purchase. Any failure of this product within this period under normal conditions will be replaced at no charge to
the customers.
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