Rikaline GPS Receiver 24A User Guide

Rikaline GPS-24 / 24A  
GPS Receiver Board  
User’s Guide  
Nemerix V1.0 Feb 28, 2005  
Rikaline International Corp.  
10F, 64, Kang-Ding Road, Taipei 108, Taiwan, R.O.C.  
Phone: +886-2-2370-4688 Fax: +886-2-2370-4686  
E-Mail: info@rikaline.com.tw Web: www.rikaline.com.tw  
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Tracking: -152dBm  
Acquisition: -139dBm  
3) Acquisition time:  
Reacquisition  
Hot start  
Warm start  
Cold start  
0.1 sec. (90%)  
12 sec. (90%)  
38 sec. (90%)  
60 sec. (90%)  
4) Position accuracy:  
Non DGPS (Differential GPS)  
Position  
Velocity  
Time  
<7m CEP (90%) with S\A off  
0.1 meters/second.  
1
microsecond synchronized GPS time  
DGPS (Differential GPS)  
Position  
Velocity  
<1 m, typical  
0.05 meters/second, typical  
5) Dynamic Conditions:  
Altitude  
10,000 meters(32,800 feet) max  
Velocity  
Horisontal  
Vertical  
300 Km/Hr  
36 Km/Hr  
Acceleration  
Jerk  
2 G, max  
4 meters/second³, max  
6) Time-1PPS Pulse (optional)  
Level  
TTL  
Pulse duration  
Time reference  
Measurements  
100ms  
at the pulse positive edge  
Aligned to GPS second, +-1 microsecond  
7) 2.1.10 Recommended External Antenna Specification  
Gain  
20dB (including cable loss)  
Noise figure  
Current  
Operate Voltage  
1.5dB  
3 ~ 30mA  
2.5 ~ 2.8V  
1.4.5 Interfaces  
1) Dual communication channel through TTL, with user selectable baud rate (4800, 9600-Default, 19200,  
38400).  
2) NMEA 0183 Version 3.0 ASCII output (GGA, GSV(3), GSA(3), RMC, VTG).  
3) Real-time Differential Correction input (RTCM SC-104 message types 1, 2 and 9).  
Specifications subject to change without prior notice  
10F, 64, Kang-Din Road, Taipei 108, Taiwan  
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2. Operational characteristics  
2.1 Initialization  
As soon as the initial self-test is complete, the GPS-22 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-22 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 If significant inaccuracy exists in the initial data, or the orbital data is  
obsolete, it may take more time to achieve a navigation solution.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™ architecture provides  
superior performance. However, acquisition performance can be improved as the host system initializes the  
GPS-22 in the following situation:  
1. Moving further than 1,500 kilometers.  
2. Failure of Data storage due to the inactive memory power back up.  
2.2 Navigation  
After the acquisition process is complete, the GPS-22 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-22 sets the default of auto-searching for real-time differential corrections in RTCM SC-104  
standard format, with the message types 1, 2, or 9. It accomplishes the satellite data to generate a  
differential (DGPS) solution. The host system, at its option, may also command the GPS-22 to output a  
position whenever a differential solution is available.  
Specifications subject to change without prior notice  
10F, 64, Kang-Din Road, Taipei 108, Taiwan  
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3. Hardware interface  
3.1 Physical Characters  
1. Size: 25.9(W) x 25.9(D) x 2.7(H) (mm)  
1.02”(W) x 1.02”(D) x 0.11”(H)  
2. Weight: 25 g  
3.1.1 Details Drawing  
3.1.1.1GPS-24 (to be equipped with active antenna only)  
PinD1  
PinA1  
Pin1  
Pin1  
PinD1  
PinA1  
1// Antenna connector: 1.27 mm pitch, 3 pin board to board  
2// Interface connector: 1.27 mm pitch, 10 pin board to board  
3// Debug connector: 1.27mm pitch, 6 pin board to board  
3.1.1.1GPS-24A (to be equipped with passive antenna or/and active antenna)  
Specifications subject to change without prior notice  
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3.2 Pin Definition  
PIN  
NAME  
TYPE  
DESCRIPTION  
GPS Status  
Reserved, keep float  
NMEA Serial Data Output  
NMEA Serial Data Input  
Reserved, keep float  
Remarks  
1
2
3
4
5
GPIO(4)  
I \ O  
NU  
I \ O  
I \ O  
NC (MODE)  
NMEA Tx  
NMEA Rx  
NC (WAKE UP) NU  
6
7
Reset  
VBAT  
I
I
Low Active, keep float if not use *1 Will not effect hot, or cold start  
Backup Battery Input (1.2~2V)  
8
GND  
PWR Ground  
9
VCC  
PWR +3.0~3.6V DC Power Input  
10  
A1  
A2  
A3  
D1  
D2  
D3  
D4  
D5  
D6  
GPIO(0)  
RF GND  
RF IN  
RF GND  
DSUMUX  
DSUEN  
DSUBRE  
DSUTX  
DSURX  
DSUACT  
I \ O  
ANT  
ANT  
ANT  
I
I
I
O
I
O
SW dependent functions  
Antenna ground  
Antenna +  
Antenna ground  
Serial / DSU select  
DSU enable  
DSU break enable  
DSU transmitter  
DSU receiver  
DSU active  
3.3 Operating Modes  
3.3.1 GPIO(1) & (4)  
It design as spare I\O. You may leave it disconnect of desire.  
3.3.2 Reset:  
It always requires reset when power-up. Max voltage is 2.0VDC  
And will not effect cold start or hot start.  
3.3.3 Debug Pins  
All pins from D1 to D6 is for development purposes, not for end users except downloading new  
software.  
3.3.4 Developing Kit  
Available at part no. GPS-24-SDK  
3.4 Other Electrical Specification  
Table 3-1 Absolute Maximum Ratings  
Parameter  
Power Supply Voltage  
Input Pin Voltage  
Output Pin Voltage  
Reset Pin Voltage  
Storage Temperature  
Back-up Voltage  
Symbol  
VDD  
VIN  
VOUT  
Vreset  
TSTG  
BAT  
Min  
-0.3  
-0.3  
-0.3  
-0.3  
-40  
Max  
3.6  
3.3  
3
2.0  
100  
2.2  
Units  
V
V
V
V
°C  
V
Table 3-2 Operating Conditions  
Parameter  
Power Supply Voltage  
Input Pin Voltage  
Operating Temperature  
Operating Current ZX4120  
Symbol  
VCC  
VIN  
TOPR  
ICC  
Min  
Typ  
3.3  
3
Max  
3.6  
3.3  
Units  
3
V
V
°C  
mA  
2.7  
-40  
85  
27  
Specifications subject to change without prior notice  
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Table 3-3 Backup Battery Conditions  
Parameter  
RTC(Battery) Power  
Supply Current  
Symbol  
Min  
1.2  
Typ  
1.8  
10  
Max  
2
Units  
V
µA  
BAT  
Table 3-4 DC Characteristics  
Parameter  
Input High Level  
Input Low Level  
Output High Level  
Output Low Level  
Input Leakage Current  
Symbol  
Min  
Max  
3.5  
0.8  
3.4  
0.4  
2
Units  
Vih  
Vil  
2.5  
0
V
V
Voh  
Vol  
Li  
2.4  
0
2
V
V
µA  
Specifications subject to change without prior notice  
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4. Software Interface  
The GPS-24 / 24A interface protocol is based on the National Marine Electronics Association's NMEA 0183  
ASCinterface specification, which is defined in NMEA 0183, Version 3.0 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-24 / 24A outputs data in NMEA-0183 format as defined by the National Marine Electronics  
Association (NMEA), Standard.  
The default communication parameters for NMEA output are 9600 baud, 8 data bits, stop bit, and no parity.  
Table 4-1 NMEA-0183 Output Messages  
NMEA Record Description  
GPGGA  
GPGLL  
GPGSA  
GPGSV  
GPRMC  
GPVTG  
GPZDA  
Global positioning system fixed data  
Geographic position- latitude/longitude  
GNSS DOP and active satellites  
GNSS satellites in view  
Recommended minimum specific GNSS data  
Course over ground and ground speed  
Date & Time  
Detailed NMEA information is in Appendix A  
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-24 / 24A 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-24 / 24A may decode the data  
correctly to generate accurate messages and save them in battery-back SRAM for later computing.  
4.3 Earth Datums  
The GPS-24 / 24A is built in earth datum with WGS84.  
Specifications subject to change without prior notice  
10F, 64, Kang-Din Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: info@rikaline.com.tw Web: www.rikaline.com.tw  
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5. Ordering Information  
5.1 Products Options  
5.1.1 GPS Receiver Module  
GPS-24 Standard with TTL level.  
GPS-24-A Standard with TTL level, and available to attach patch antenna on top of the board.  
5.2 Accessories  
A-10302-M Active Antenna, 2M, MMCX connector.  
A-10305-M Active Antenna, 5M, MMCX connector.  
6. Warranty  
The GPS-24 / 24A series products are 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 art no charge to the customers.  
Specifications subject to change without prior notice  
10F, 64, Kang-Din Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: info@rikaline.com.tw Web: www.rikaline.com.tw  
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GPS Receiver Board  
GPS-24 / 24A Operating Manual  
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Appendix A Software Interface  
The GPS-24 / 24A interface protocol is based on the National Marine Electronics Association's NMEA 0183  
ASCinterface specification, which is defined in NMEA 0183, Version 3.0 and the Radio Technical  
Commission for Maritime Services (RTCM Recommended Standards For Differential Navstar GPS Service,  
Version 2.1, RTCM Special Committee No.104).  
A.1 NMEA Transmitted Messages  
The GPS-24 / 24A outputs data in NMEA-0183 format as defined by the National Marine Electronics  
Association (NMEA), Standard.  
The default communication parameters for NMEA output are 9600 baud, 8 data bits, stop bit, and no parity.  
Table A-1 NMEA-0183 Output Messages  
NMEA Record Description  
GPGGA  
GPGLL  
GPGSA  
GPGSV  
GPRMC  
GPVTG  
GPZDA  
Global positioning system fixed data  
Geographic position- latitude/longitude  
GNSS DOP and active satellites  
GNSS satellites in view  
Recommended minimum specific GNSS data  
Course over ground and ground speed  
Date & Time  
A.1.1 Global Positioning System Fix Data (GGA)  
$GPGGA,161229.487,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M, , , ,0000*18  
Table A-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 5-3  
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 A-3 Position Fix Indicator  
Value  
0
1
2
3
0 Fix not available or invalid  
GPS SPS Mode, fix valid  
Differential GPS, SPS Mode, fix valid  
GPS PPS Mode, fix valid  
A.1.2 Geographic Position with Latitude/Longitude (GLL)  
Specifications subject to change without prior notice  
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Table 4-4 contains the values for the following example:  
$GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C  
Table A-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 A-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 A-5 GSA Data Format  
Name  
Message ID  
Mode 1  
Example  
$GPGSA  
Units  
Description  
GSA protocol header  
See Table 5-6  
A
3
Mode 2  
See Table 5-7  
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 A-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 A-7 Mode 2  
Value  
Description  
1
2
3
Fix Not Available  
2D  
3D  
A.1.4 GNSS Satellites in View (GSV)  
Table A-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 A-8 GSV Data Format  
Name  
Message ID  
Number of Messages  
Example  
$GPGSV  
2
Units  
Description  
GSV protocol header  
Range 1 to 3  
Specifications subject to change without prior notice  
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Message Number  
1
Range 1 to 3  
Satellites in View  
Satellite ID  
Elevation  
Azimuth  
SNR (C/No)  
....  
07  
07  
79  
048  
42  
....  
Range 1 to 12  
Channel 1 (Range 1 to 32)  
degrees Channel 1 (Maximum 90)  
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.  
A.1.5 Recommended Minimum Specific GNSS Data (RMC)  
Table A-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 A-9 RMC Data Format  
Name  
Message ID  
UTC Time  
Status  
Latitude  
N/S Indicator  
Longitude  
E/W Indicator  
Speed Over Ground  
Course Over Ground  
Date  
Example  
$GPRMC  
161229.487  
A
3723.2475  
N
12158.3416  
W
0.13  
309.62  
120598  
Units  
Description  
RMC protocol header  
hhmmss.sss  
A=data valid or V=data not valid  
ddmm.mmmm  
N=north or S=south  
dddmm.mmmm  
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  
A.1.6 Course Over Ground and Ground Speed (VTG)  
Table A-10 contains the values for the following example:  
$GPVTG,309.62,T, ,M,0.13,N,0.2,K*6E  
Table A-10 VTG Data Format  
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.  
Specifications subject to change without prior notice  
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A.1.7 Time & Date (ZDA)  
Table A-11 contains the values for the following example:  
$GPVTG,114523.62,12,04,2001,10,34*6E  
Table A-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  
Specifications subject to change without prior notice  
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Appendix B Reference Design  
Specifications subject to change without prior notice  
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Appendix C Developer’s Setting  
For all $PNMRX messages, it is possible to configure an alternative string to replace the NMRX part,  
the node always responds to the $PNMRX strings and can be configured to generate and respond to  
the alternative string.  
C.1 $PNMRX100, Set serial port mode  
This message is sent to control the serial communications port parameters. The $PNMRX100  
message format is shown below.  
Field  
Format  
Min chars Max  
chars  
Notes  
Message ID  
Protocol  
$PNMRX100  
Char  
6
1
6
PNMRX100 protocol header.  
1
6
1
0
1
NMEA mode  
NemeriX Binary Mode (under dev)  
Baud  
Int  
4
1
1200 / 2400 / 4800 / 9600 / 19200 / 38400 /  
57600.  
0. None.  
1. Odd.  
Parity  
Char  
2. Even.  
2 digits.  
ASCII 13, ASCII 10.  
Checksum  
Message terminator <CR> <LF>  
*xx  
(0) 3  
2
3
2
Examples:  
$PNMRX100,0,4800,0*xx: sets the UART baud rate to 4800 bps and no parity.  
C.2 $PNMRX101, Navigation Initialization  
This message is sent to initialize navigation parameters to speed up initial acquisition time. The  
$PNMRX101 message format is shown below.  
Field  
Format  
Min  
chars  
Max  
chars  
8
(-)7  
(-)7  
(-)7  
6
Notes  
Message ID  
ECEF_X  
ECEF_Y  
ECEF_Z  
Clock offset  
$PNMRX101  
6
PNMRX101 protocol header.  
Int  
Int  
Int  
Int  
(-)7  
(-)7  
(-)7  
(0) 1  
Signed ECEF x co-ordinate in meters  
Signed ECEF y co-ordinate in meters  
Signed ECEF z co-ordinate in meters  
Clock offset of GPS receiver, in [Hz x 100] wrt L1.  
This changes the clock bias stored in the settings  
not the actual clock bias used by the system. A cold  
start is necessary, in order to use this value.  
Offset from start of week in seconds  
GPS week number  
Time of week  
Week number Int  
Channel count Int  
Checksum  
Message  
terminator  
Int  
1
1
1
6
4
2
3
2
Maximum number of TM to be used. Min 12, max 16.  
2 digits.  
*xx  
<CR> <LF>  
(0) 3  
2
ASCII 13, ASCII 10.  
Note: 1// If used, all three X,Y, and Z components of the ECEF position must be provided, otherwise the  
message is declared invalid as a whole  
2// Modifying the ECEF coordinates triggers a software system reset after successful execution of the  
message  
Examples:  
$PNMRX101,,,,,,,,8,*xx:  
Executes a factory reset  
$PNMRX101,-742507,-5462738, 3196706,*xx: Sets the receiver position to ECEF (,) and executes a  
software reset  
$PNMRX101, 4,*xx:  
Sets the fix procedure mode the cold start. This will be  
valid after each reset, until this value is changed.  
Specifications subject to change without prior notice  
10F, 64, Kang-Din Road, Taipei 108, Taiwan  
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GPS-24 / 24A Operating Manual  
Rikaline  
C.3 $PNMRX103, NMEA rate control  
This message is being sent to enable or to disable the output of an NMEA message and to determine its  
output rate. The sequence of the output sequence is determined by the $PNMRX107 message. The  
$PNMRX103 message format is shown below. The rate of each message can individually be set. If ‘0’ is  
used, the output of the message is skipped (according to the message sequence). The message length is  
limited to 80 characters, in the event that the message length would exceed 80 characters it is divided into 2  
messages. This message is supported also in a variable length format, where only the necessary fields are  
used.  
Field  
Format  
Min  
Max  
Notes  
chars chars  
Message ID  
Mask ID  
$PNMRX103  
Int  
8
3
8
3
PNMRX103 protocol header.  
Mask identifier: possibilities are  
GGA / GLL / GSA / GSV  
RMC / VTG / ZDA  
ALL (applies to all messages)  
Output rate in seconds (0=paused)  
Mask identifier.  
Mask value  
Mask ID  
Int  
Int  
1
2
1
2
Checksum  
Message terminator <CR> <LF>  
*xx  
(0) 3  
2
3
2
2 digits.  
ASCII 13, ASCII 10.  
Examples:  
$PNMRX103, GSV, 2,GGA, 1,ZDA, 0*xx: GSV is output every 2s,GGA every 1s and ZDA is skipped.  
$PNMRX103, GSV, 2, GGA, 1, ZDA, 0,*xx: same as above, but using a fixed length message  
$PNMRX103, ALL, 2*xx: all messages are output every 2s.  
$PNMRX103, ALL, 0*xx: skips all messages.  
C.4 $PNMRX104, LLA navigation initialization  
This message enables the receiver to be initialized using LLA data to speed up satellite acquisition. The first  
4 values defining the position (if used) must be all present in the message. Otherwise the whole massage is  
considered invalid.  
Field  
Format  
Min  
Max  
Notes  
chars char  
s
Message ID  
Latitude  
N/S Indicator  
Latitude  
E/W Indicator  
Altitude  
Clock offset  
$PNMRX104  
Float  
Char  
Float  
Char  
8
1,2.1  
1
1,2.1  
1
(-) 1  
(0) 1  
8
PNMRX104 protocol header. (Under dev.)  
3,2.4 Degrees * 100 + minutes. (Under dev.)  
N=north or S=south. (Under dev.)  
3,2.4 Degrees * 100 + minutes. (Under dev.)  
1
1
(-) 6  
6
E=east or W=west. (Under dev.)  
Altitude above MSL, in meters.  
Clock offset of GPS receiver. These changes the clock  
bias stored in the settings, not the actual clock bias used  
by the system. A cold start is necessary, in order to use  
this value.  
Int  
Int  
Time of week  
Week number  
Channel count  
Checksum  
Int  
Int  
Int  
*xx  
1
1
1
(0) 3  
2
6
4
2
3
2
Offset from start of week in seconds. (Under dev.)  
GPS week number.  
Maximum number of TM to be used. Min12, max 16.  
2 digits.  
Message  
<CR> <LF>  
ASCII 13, ASCII 10.  
terminator  
Note: 1// If used, all five components (Lat, N/S, Long E/W, alt) of the LLA position must be provided.  
Otherwise, the message is declared invalid as a whole  
2// Modifying the LLA coordinates triggers a software system reset after successful execution of the  
message.  
Specifications subject to change without prior notice  
10F, 64, Kang-Din Road, Taipei 108, Taiwan  
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GPS-24 / 24A Operating Manual  
Rikaline  
C4.5 $PNMRX106, Datum  
This message defines the conversion model used for mapping the ECEF coordinates into the LLA ones. The  
default transformation uses WGS84 approximation. The transformation method can be changed into one  
using a reference Ellipsoid combined with a local datum, to obtain a specific estimation of the local earth  
geometry. Once the datum has been changed it will be applied to all LLA data, including the LLA navigation  
initialization Data. This message enables the receiver to be configured to use map datum from an internal  
table, or datum supplied as part of the message.  
Field  
Format  
Min  
Max  
Notes  
chars chars  
Message ID  
Correction Mode Unsigned  
$PNMRX106  
6
1
8
1
PNMRX106 protocol header.  
If 1 apply EGM96 geoids correction (warning:  
should be applied only when Map Datum is equal to  
216). If 0 there is no EGM96 geoids correction.  
Reference number of the appropriate map datum to  
apply.  
Map Datum  
Int  
(0) 1  
3
0-218 Map datum from internal table  
500 User defined Datum  
Dx  
Dy  
Dz  
Iflat  
Int  
Int  
Int  
Int  
(0)  
(-)1  
(0)  
(-)1  
(0)  
(-)5  
(-)5  
(-)5  
8
X offset in meters (-9999 to 9999)  
Y offset in meters (-9999 to 9999)  
Z offset in meters (-9999 to 9999)  
(-)1  
(0) 1  
Inverse flatness of reference geode. The value to  
be used is (IFlat – 290) * 1000000).  
The value must be in the range [6000000,  
12000000]  
Majora  
Int  
(0) 1  
8
Semi major axis of reference geode. The values to  
be used is (MajorA – 6370000) * 1000).  
The value must be in the range [6000000,  
9000000]  
Checksum  
Message  
terminator  
*xx  
<CR> <LF>  
(0) 3  
2
3
2
2 digits.  
ASCII 13, ASCII 10.  
Examples:  
$PNMRX106, 0,500, -2000,-2000,-2000, 8257224, 8137000*00*xx: User defined Datum  
$PNMRX106, 1, 216,*xx:  
WGS 84 Datum  
C.6 $PNMRX107, Messages rate control  
This message is sent to set the automatic update rate, and to configure which messages will be  
automatically output, it is also sent from the node to report which messages are currently configured for  
automatic transmission. The $PNMRX107 message format is shown below. This message can be used to  
enable and disable multiple messages by including up to 4 message codes and associated fields in each  
$PNMRX107 message.  
The message length is limited to 80 characters, in the event that the message length would exceed 80  
characters it is divided into 2 messages. This message is supported also in a variable length format, where  
only the necessary fields are used.  
Field  
Format  
Min  
Max  
Notes  
chars chars  
Message ID $PNMRX107  
8
3
8
3
PNMRX107 protocol header.  
Determines which message is being configured.  
300 PNMRX300 Almanac Data  
Message  
code  
Char  
301 PNMRX301 Ephemeris Data  
302 PNMRX302 lonospheric corrections  
303 PNMRX303 UTC Time  
304 PNMRX304 GPS constellation health  
ALL Applies to all messages  
Specifications subject to change without prior notice  
17  
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10F, 64, Kang-Din Road, Taipei 108, Taiwan  
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GPS-24 / 24A Operating Manual  
Rikaline  
Mode  
Int  
1
1
0
1
2
3
Disable message  
Send message now  
Send message on change  
Send message now and on change  
Checksum  
Message  
*xx  
<CR> <LF>  
(0) 3  
2
3
2
2 digits.  
ASCII 13, ASCII 10.  
terminator  
Examples:  
$PNMRX107, 300, 1*xx: Output the almanac stored in NVRAM  
$PNMRX107, 301, 2*xx: Output Ephemeris will be output on change  
$PNMRX107, ALL, 2*xx: Output all ZX4120 output messages (300,301,302,303,304)  
C.7 $PNMRX108, NMEA message sequence  
This message is used to set the sequence used to output the NMEA messages. All messages in the list are  
set to be output with a default output rate. The messages that are not included are disabled. Once the  
sequence is defined, individual settings for the messages can be changed by means of the $PNMRX103  
message. This message is supported also in a variable length format, where only the necessary fields are  
used.  
Field  
Format  
Min  
Max  
Notes  
chars chars  
Message ID $PNMRX108  
6
3
8
3
PNMRX108 protocol header.  
Mask ID  
Int  
Mask identifier: possibilities are  
GGA / GLL / GSA / GSV  
RMC / VTG / ZDA  
Mask Identifier.  
2 digits.  
ASCII 13, ASCII 10.  
Mask ID  
Int  
3
(0) 3  
2
3
3
2
Checksum  
Message  
terminator  
*xx  
<CR> <LF>  
Examples:  
$PNMRX108, GGA, GLL, and GSA*xx: Enables the GGA, GLL and GSA in this sequence, output  
Every second. All other messages are disabled  
C.7 $PNMRX110, Fix Settings  
This message is used to set various settings and masks which control how the software will behave in  
relationship to the satellites in view, for example a mask can be set for the minimum satellite elevation,  
minimum SNR etc. The message consists of a varying number of fields depending on the number of masks  
to be set. Each mask setting consists if a mask identifier and new value pair. The $PNMRX110 message  
format is shown below.  
PNMRX110 field list  
Field  
Format  
Min  
Max  
Notes  
chars chars  
Message ID  
Mask ID  
Value  
$PNMRX110  
Int  
Variant  
6
2
1
8
2
8
PNMRX110 protocol header.  
Mask identifier, see below.  
New value for mask, dependent on the preceding  
field, see below.  
Mask ID  
Value  
Int  
Variant  
2
1
2
8
Mask identifier.  
New value for mask, dependent on the preceding  
field.  
Checksum  
Message terminator <CR> <LF>  
*xx  
(0) 3  
2
3
2
2 digits.  
ASCII 13, ASCII 10.  
PNMRX110 Mask Field interpretation  
Mask Id  
mask  
format  
Int: unsigned  
Unsigned  
width  
2:2  
4
units  
Hours : Minutes  
x10, [0-100]  
x10, [0-100]  
0
1
2
Local Time Zone  
Maximum PDOP1  
Maximum HDOP  
Unsigned  
4
Specifications subject to change without prior notice  
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10F, 64, Kang-Din Road, Taipei 108, Taiwan  
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GPS-24 / 24A Operating Manual  
Rikaline  
3
4
5
Maximum VDOP1  
Minimum SNR  
Unsigned  
Unsigned  
4
2
2
4
1
x10, [0-100]  
dB/Hz, [20-45]  
Degrees, [0-90]  
-, [400-1000]  
1
2
4
Minimum Elevation Unsigned  
6
7
Noise Floor  
Unsigned  
Navigation Mode 11 Unsigned  
= Auto (hold alt)  
= 2D Mode  
= 3D Mode (calc alt)  
8
9
2D Mode Altitude1  
Navigation Mode 21 Boolean  
Unsigned  
6
1
Meters above MSL  
0
1
= Auto  
= Static  
10  
Maximum Altitude  
Unsigned  
6
Meters.  
Examples:  
$PNMRX110, 0,-2:0*xx: Set the local time to –2 hours 0 minutes.  
$PNMRX110, 4, 35*xx: Set the minimum SNR to 35  
C.8 $PNMRX111, Software reset  
This message is used to reset the systems. If the message is sent without parameters the receiver reboots  
according to the fix procedure (hot, warm or cold) configured with the PNMRX101 or PNMRX104 messages.  
A second parameter can optionally be used to specify which actions are executed after the reset. If the last  
bit field is set to ‘1’, then the actions are repeated permanently at each reset, until this bit is cleared.  
Field  
Format  
Min  
chars  
6
Max  
chars  
Notes  
Message ID $PNMRX111  
Invalidate  
parameter  
8
7
PNMRX111 protocol header.  
If integer, the bit field have the following  
meaning (the action described is executed if the  
bit is 1):  
Integer OR  
String  
1
Field Action  
0
1
Reload settings from Flash  
Clear almanac data and don’t load if  
from flash  
2
3
Clear Ephemeris data  
Clear ionosphere and troposphere  
corrections  
4
5
6
7
Invalidate stored position  
Invalidate stored time  
Copy oscillator offset from Settings  
Sticky bit –if ‘1’ the action are repeated  
at each reset  
If String, the following values are allowed:  
FACTORY See Section 2.1 for definition.  
COLD  
WARM  
HOT  
See Section 2.1 for definition.  
See Section 2.1 for definition.  
See Section 2.1 for definition.  
Checksum  
Message  
terminator  
*xx  
<CR> <LF>  
(0) 3  
2
3
2
2 digits.  
ASCII 13, ASCII 10.  
Examples:  
$PNMRX111*xx: Resets the system  
C.8 $PNMRX112, Power Mode Control  
This message is used to configure the operating modes of the receiver. Low power modes can be activated  
and configured. Low power mode starts to work only after the receiver has a complete and up to date  
almanac and it can produce the fix.  
Specifications subject to change without prior notice  
10F, 64, Kang-Din Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: info@rikaline.com.tw Web: www.rikaline.com.tw  
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GPS Receiver Board  
GPS-24 / 24A Operating Manual  
Rikaline  
Field  
Format  
Min  
Max  
Notes  
chars  
chars  
Message ID  
Operating Mode  
$PNMRX112  
Into  
6
1
8
1
PNMRX112 protocol header.  
0
1
= Fully Active  
= LDCM1  
OFF period  
Checksum  
Message  
Into  
*xx  
<CR> <LF>  
1
(0) 3  
2
2
3
2
RF off time in seconds [5:10]  
2 digits.  
ASCII 13, ASCII 10.  
terminator  
Examples:  
$PNMRX112, 1, 5*xx: enable low power mode (with 5 seconds off time between 2 fixes)  
C.9 $PNMRX113, GPS Core Activity Control  
This message is used to disable GPS Core activities (data extraction and fix generation) on the node. The  
goal of this message is to disable these two functions when they need to be overwritten by external values  
for test purpose. A reset message must be set after the PNMRX113 in order to resume operation. For  
instance if a different almanac needs to be downloaded to the receiver then, data extraction must be  
disabled, then the new almanac can be downloaded. Areset command will then be used to restore operation  
with hen new almanac.  
Field  
Format  
Min  
Max  
Notes  
chars  
chars  
Message ID  
Checksum  
Message  
$PNMRX113  
*xx  
<CR> <LF>  
6
(0) 3  
2
8
3
2
PNMRX113 protocol header.  
2 digits.  
ASCII 13, ASCII 10.  
terminator  
Examples:  
$PNMRX113*xx: Stops GPS Core activities.  
C.10 $PNMRX300, Almanac Data Transfer  
This message format is used to transfer the almanac data between nodes; it uses a packed hexadecimal  
format to transfer almanac data for each of the available SV’s. Since the Almanac data is large and can take  
time to transfer over a slow serial interface, the data is divided into individual messages for each of the SV’s.  
These messages are transmitted sequentially and can be interleaved with other messages to prevent the  
Almanac data blocking higher priority messages such as scheduled PVT information. The data for these  
messages is expressed as signed or unsigned fixed point values which have been scaled from the floating  
point values used in the position solution. The appropriate scaling factors are included in the table. There is  
1 message for each satellite for which data is available. When transmitted these messages are generated in  
ascending order of SV Id, when being sent to the node these can be sent in any order, each message is  
individually interpreted and processed.  
Field  
Message ID  
SV Id  
Format  
$PNMRX300  
Int  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
width  
scale  
Notes  
PNMRX300 protocol header.  
Decimal Satellite vehicle Id from 1 to 32.  
16 bit signed int, scale.  
Bitmap of satellite health.  
Week Number  
16 bit signed int.  
16 bit signed int.  
24 bit unsigned int.  
24 bit signed int.  
24 bit signed int.  
8
2
4
2
2
4
4
6
6
6
6
6
6
6
e
2-21  
Health  
Toa  
δi  
2-19  
2-38  
2-11  
2-23  
2-23  
2-23  
2-23  
2-20  
2-68  
Omega dot  
Root_A  
Omegazero  
Perigee  
Mean  
Mean anomaly  
af0  
af1  
24 bit signed int.  
24 bit signed int.  
11 bit signed int.  
11 bit signed int.  
Checksum  
*xx  
(0) 3  
2 digits.  
Specifications subject to change without prior notice  
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GPS-24 / 24A Operating Manual  
<CR> <LF> ASCII 13, ASCII 10.  
Rikaline  
Message  
2
terminator  
C.11 $PNMRX301, Ephemeris Data Transfer  
This message format is used to transfer the ephemeris data between nodes; it uses a packed hexadecimal  
format to transfer ephemeris data for each of the available SV’s. Since the Ephemeris data is large and can  
take time to transfer over a slow serial interface, the data is divided into individual messages for each of the  
SV’s. These messages are transmitted sequentially and can be interleaved with other messages to prevent  
the Ephemeris data blocking higher priority messages such as scheduled PVT information. The data for  
these messages is expressed as signed or unsigned fixed point values which have been scaled from the  
floating point values used in the position solution. The appropriate scaling factors are included in the table.  
The ephemeris data for each satellite is divided into 3 separate messages with sequence numbers to  
identify them, the contents of these frames reflects the contents of the appropriate subframes 1,2,3  
transmitted from the SV’s. When transmitted these messages are generated in ascending order of SV Id and  
sequence number, when being sent to the node these can be sent in any order, provided that the 3  
messages for any individual satellite are grouped together, each message is individually interpreted and  
after a group of 3 valid messages for an SV the ephemeris for that SV is updated independently. The 3  
message formats are illustrated in the following tables  
PNMRX301 message 1 field list  
Field  
Message ID  
Satellite vehicle Id Int  
Format  
$PNMRX301  
width  
scale  
Units  
Notes  
PNMRX301 protocol header.  
Decimal satellite vehicle Id  
from 1 to 32.  
8
2
Subframe Id  
Week number  
Health  
Int  
1
3
2
1
2
Subframe number 1.  
10 bit week number.  
6 bits.  
User range accuracy.  
8 bits.  
Hex  
Hex  
Hex  
Weeks  
URA  
Time Group Delay Hex  
2-31  
Seconds  
IODC  
Toc  
Af2  
Af1  
Af0  
Checksum  
Message  
terminator  
Hex  
Hex  
Hex  
Hex  
Hex  
*xx  
<CR> <LF>  
3
4
2
4
6
(0) 3  
2
10 bit integer.  
16 bits.  
8 bit signed integer.  
16 bit signed integer.  
22 bit signed integer.  
2 digits.  
2-4  
2-31  
2-43  
2-31  
sec/sec2  
sec/sec  
Seconds  
ASCII 13, ASCII 10.  
PNMRX301 message 2 field list  
Field  
Message ID  
Satellite Vehicle Id Int  
Format  
$PNMRX301  
width  
scale  
units  
Notes  
PNMRX301 protocol header.  
Decimal satellite vehicle id from  
1 to 32.  
8
2
Subframe Id  
Iode  
Int  
Hex  
1
2
Subframe number 2.  
8 bits, lower 8 bits of matching  
iodc.  
16 bit signed integer.  
16 bit signed integer.  
Crs  
Hex  
Hex  
4
4
2-5  
Meters  
Semi-  
circles/sec  
Motion difference  
(n)  
Mean anomaly  
Cuc  
E
Cuc  
Root A  
Toe  
Checksum  
Message  
terminator  
2-43  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
*xx  
<CR> <LF>  
8
4
8
4
8
4
(0) 3  
2
2-31  
2-29  
2-33  
2-29  
2-19  
24  
Semi- circles 32 bit signed integer.  
Radians  
16 bit signed integer.  
32 bit signed integer.  
16 bit signed integer.  
32 bit signed integer.  
16 bit unsigned integer.  
2 digits.  
Radians  
Meters 1/4  
seconds  
ASCII 13, ASCII 10.  
Specifications subject to change without prior notice  
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GPS-24 / 24A Operating Manual  
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PNMRX301 message 3 field list  
Field  
Message ID  
Satellite  
Vehicle Id  
Subframe Id  
Cic  
Omega zero  
Cis  
I Zero  
Format  
$PNMRX301  
Int  
width  
scale  
units  
Notes  
8
2
PNMRX301 protocol header.  
Decimal satellite vehicle id  
from 1 to 32.  
Int  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
*xx  
<CR> <LF>  
1
4
8
4
4
4
8
6
2
Subframe number 3.  
16 bit signed integer.  
32 bit signed integer.  
16 bit signed integer.  
32 bit signed integer.  
16 bit signed integer.  
32 bit signed integer.  
24 bit signed integer.  
Lower 8 bits of matching iodc.  
14 bit signed integer.  
2 digits.  
2-29  
2-31  
2-29  
2-31  
2-5  
Radians  
Semi- circles  
radians  
Semi- circles  
Meters  
Semi- circles  
Semi- circles/sec  
Crc  
Perigree  
Omega dot  
Iode  
2-31  
2-43  
I dot  
4
(0) 3  
2
2-43  
Semi- circles/sec  
Checksum  
Message  
terminator  
ASCII 13, ASCII 10.  
C.12 $PNMRX302, Ionospheric correction  
Field  
Format  
width  
scale  
units  
Notes  
Message ID  
Satellite Vehicle Id Int  
$PNMRX302  
8
2
PNMRX301 protocol header.  
Decimal satellite vehicle id  
from 1 to 32.  
α 0  
α 1  
α 2  
α 3  
β 0  
β 1  
β 2  
β 3  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
2
2
2
2
2
2
2
2
2-30  
2-27  
2-24  
2-24  
211  
214  
216  
216  
Checksum  
Message  
terminator  
*xx  
<CR> <LF>  
(0) 3  
2
2 digits.  
ASCII 13, ASCII 10.  
C.13 $PNMRX303,UTC time  
Field  
Message ID  
Satellite  
Vehicle Id  
Data – A0  
Data – A1  
Delta t LS  
Tot  
Format  
$PNMRX303  
Int  
width scale  
units  
Notes  
8
8
PNMRX301 protocol header.  
Decimal satellite vehicle id from 1 to 32.  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
2
2
2
2
2
2
Constant term of the polynomial  
First-order term of the polynomial.  
Delta time due to leap seconds.  
Reference time for UTC.  
UTC reference week number  
Week number at which the leap second  
becomes effective.  
WNt  
WNlsf  
DN  
Delta t LSF  
Hex  
Hex  
2
2
Day number B2.  
Delta time due to leap seconds if leap  
second is ini the past.  
NumBlocks  
Time Offset  
Checksum  
Message  
Hex  
Hex  
*xx  
<CR> <LF>  
2
2
(0) 3  
2
Number of 20 year blocks  
Time offset for current time zone  
2 digits.  
ASCII 13, ASCII 10.  
terminator  
Specifications subject to change without prior notice  
10F, 64, Kang-Din Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: info@rikaline.com.tw Web: www.rikaline.com.tw  
22  
Rikaline International Corp.  
 
GPS Receiver Board  
GPS-24 / 24A Operating Manual  
Rikaline  
C.14 $PNMRX304, GPS Constellation Health  
Field  
Format  
Min  
chars  
8
Max chars  
Notes  
Message ID $PNMRX304  
8
PNMRX110 protocol header.  
Health  
Code  
Health  
Char  
Char  
TBD  
TBD  
SV health code if 0.  
TBD  
TBD  
SV health code if 0.  
Code  
Checksum  
Message  
terminator  
*xx  
<CR> <LF>  
(0) 3  
2
3
2
2 digits.  
ASCII 13, ASCII 10.  
C.15 $PNMRX600, Report Software Version  
By sending the $PNMRX600*00 string to the receiver, the version of the software is output.  
C.16 $PNMRX601, Enter ISP mode  
By sending the $PNMRX601*00 string to the receiver, the receiver enters ISP mode.  
C.17 $PNMRX603, Settings report  
By sending the $PNMRX603*00 string to the receiver, the current value of the settings is output. The content  
of settings is split in 4 messages.  
PNMRX603 message 0  
Field  
Format  
Min  
Max chars  
Notes  
chars  
Message ID  
Message Nb Int  
Message  
Sequence  
(7 times)  
Message  
Delay  
$PNMRX603  
8
1
1
8
1
1
PNMRX603 protocol header.  
0
Message Sequence  
7xInt  
7xInt  
Hex  
1
8
1
8
Message Delay  
(7 times)  
NMRX  
Nemerix Message Enabled  
Message  
Enabled  
Uart Settings Hex  
8
(0) 3  
2
8
3
2
Uart settings  
2 digits.  
ASCII 13, ASCII 10.  
Checksum  
Message  
terminator  
*xx  
<CR> <LF>  
PNMRX603 message 1  
Field  
Format  
Min  
Max  
Notes  
chars chars  
Message ID  
Message Nb  
$PNMRX603  
Int  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
Hex  
8
1
2
2
2
2
2
2
2
8
1
2
2
2
2
2
2
2
PNMRX603 protocol header.  
1
Ionospheric Data A0  
Ionospheric Data A1  
Ionospheric Data A2  
Ionospheric Data A3  
Ionospheric Data B0  
Ionospheric Data B1  
Ionospheric Data B2  
Ionospheric Data B3  
Ionospheric correction α0 coefficient.  
Ionospheric correction α1 coefficient.  
Ionospheric correction α2 coefficient.  
Ionospheric correction α3 coefficient.  
Ionospheric correction β0 coefficient.  
Ionospheric correction β1 coefficient.  
Ionospheric correction β2 coefficient.  
Ionospheric correction β3 coefficient.  
Ionospheric Data Valid. If 0 the data are  
invalid.  
Hex  
2
1
2
1
Ionospheric Data Valid Hex  
Num Blocks  
Time Offset (Local  
Hex  
Int  
1
(-)2  
1
(-)2  
Number of 20 year blocks  
Offset of local time zone (-13) to 13  
Specifications subject to change without prior notice  
23  
Rikaline International Corp.  
10F, 64, Kang-Din Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: info@rikaline.com.tw Web: www.rikaline.com.tw  
 
GPS Receiver Board  
GPS-24 / 24A Operating Manual  
Rikaline  
zone hours)  
Time Offset (Local  
zone minutes)  
Checksum  
Int  
(-)2  
(-)2  
*xx  
<CR> <LF>  
(0) 3  
2
3
2
2 digits.  
ASCII 13, ASCII 10.  
Message terminator  
NMRX603 message 2  
Field  
Format  
Min  
Max  
Notes  
chars chars  
Message ID  
Message Nb  
MaxPDOP  
MaxHDOP  
Invalid Sv  
$PNMRX603  
Int  
Float  
Float  
Hex  
8
1
8
1
PNMRX603 protocol header.  
2
8
8
Min CNO  
Min Elevation  
Max TM  
Float  
Float  
Int  
2
2
(0) 3  
2
2
2
3
2
Max Sv for fix  
Checksum  
Message terminator  
Int  
*xx  
<CR> <LF>  
2 digits.  
ASCII 13, ASCII 10.  
PNMRX603 message 3  
Field  
Format  
Min  
Max  
Notes  
chars chars  
Message ID  
Message Nb  
$PNMRX603  
Int  
Int  
Int  
Int  
Hex  
Int  
*xx  
8
1
3
3
3
1
1
(0) 3  
2
8
1
8
8
8
1
8
3
2
PNMRX603 protocol header.  
3
Acq threshold 1  
Acq threshold 2  
Noise floor  
Kalman Mode  
Default altitude  
Checksum  
2 digits.  
ASCII 13, ASCII 10.  
Message terminator  
<CR> <LF>  
PNMRX603 message 4  
Field  
Format  
Min  
Max  
Notes  
chars chars  
Message ID  
$PNMRX603  
8
1
1
1
8
1
1
8
PNMRX603 protocol header.  
4
EGM96 geoids correction  
Reference number of the appropriate map  
datum to apply  
Message Nb  
Correction Mode  
Map Datum  
Int  
Int  
Int  
Dx  
Dy  
Dz  
Int  
Int  
Int  
Int  
1
1
1
1
1
8
8
8
8
8
3
2
x offset in meters  
y offset in meters  
z offset in meters  
Inverse flatness of reference geode  
Semi major axis of reference geode  
2 digits.  
Inverse flatness  
Major axis  
Checksum  
Message terminator  
Int  
*xx  
<CR> <LF>  
(0) 3  
2
ASCII 13, ASCII 10.  
Examples:  
$PNMRX603*xx: Display the content of the Settings stored in NVRam  
Specifications subject to change without prior notice  
24  
Rikaline International Corp.  
10F, 64, Kang-Din Road, Taipei 108, Taiwan  
Tel: ++886 2 2370 4688 Fax: ++886 2 2370 4686 E-Mail: info@rikaline.com.tw Web: www.rikaline.com.tw  
 

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