Features:

SiRF starⅢ high performance GPS Chip Set

Very high sensitivity (Tracking Sensitivity: -159 dBm)

Extremely fast TTFF (Time To First Fix) at low signal level

Support NMEA 0183 data protocol

Built-in SuperCap to reserve system data for rapid satellite acquisition

Built-in patch antenna

LED indicator for GPS fix or not fix

LED OFF:

Receiver switch off

LED ON:

No fixed, Signal searching

LED Flashing:

Position Fixed

Specification:

General

Chipset

SiRF StarⅢ

Frequency

L1, 1575.42 MHz

C/A code

1.023 MHz chip rate

Channels

20 channel all-in-view tracking

Sensitivity

-159 dBm

Accuracy

Position

10 meters, 2D RMS

5 meters, 2D RMS, WAAS enabled

Velocity

0.1 m/s

Time

1us synchronized to GPS time

Datum

Default

WGS-84

Acquisition Time

Reacquisition

0.1 sec., average

Hot start

1 sec., average

Warm start

38 sec., average

Cold start

42 sec., average

Dynamic Conditions

Altitude

18,000 meters (60,000 feet) max

Velocity

515 meters /second (1000 knots) max

Acceleration

Less than 4g

Jerk

20m/sec **3

Power

Main power input

4.5V ~ 6.5V DC input

Power consumption

44mA

Protocol

Electrical level

TTL level, Output voltage level: 0V ~ 2.85V

RS-232 level

Baud rate

4,800 bps

Output message

NMEA 0183 GGA, GSA, GSV, RMC, VTG, GLL

Physical Characteristics

Dimension

30mm*30mm*10.5mm ±0.2mm

Operating temperature

-40℃ to +85℃

Pin Assignment

Pin description

* VIN (DC power input):

This is the main DC supply for a 4.5V ~6.5 DC input power.

* TX:

This is the main transmits channel for outputting navigation and measurement

data to user’ s navigation software or user written software.

* RX:

This is the main receive channel for receiving software commands to the engine

board from SiRFdemo software or from user written software.

* GND:

GND provides the ground for the engine board. Connect all grounds.

* 1PPS

This pin provides one pulse-per-second output from the engine board that is

synchronized to GPS time.

SOFTWARE COMMAND

NMEA Output Command

GGA-Global Positioning System Fixed Data

Table B-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 B-2 GGA Data Format

Name

Example

Units

Description

Message ID

$GPGGA

GGA protocol header

UTC Time

161229.487

hhmmss.sss

Latitude

3723.2475

ddmm.mmmm

N/S Indicator

N=north or S=south

Longitude

12158.3416

dddmm.mmmm

E/W Indicator

E=east or W=west

Position Fix Indicator

See Table B-3

Satellites Used

Range 0 to 12

HDOP

1.0

Horizontal Dilution of Precision

MSL Altitude¹

9.0

meters

Units

meters

Geoid Separation¹

meters

Units

meters

Age of Diff. Corr.

second

Null fields when DGPS is not used

Diff. Ref. Station ID

0000

Checksum

*18

End of message termination

SiRF Technology Inc. does not support geoid corrections. Values are WGS84 ellipsoid heights.

Table B-3 Position Fix Indicator

Value

Description

Fix not available or invalid

GPS SPS Mode, fix valid

Differential GPS, SPS Mode , fix valid

GPS PPS Mode, fix valid

GLL-Geographic Position-Latitude/Longitude

Table B-4 contains the values for the following example:

$GPGLL,3723.2475,N,12158.3416,W,161229.487,A*2C

Table B-4 GLL Data Format

Name

Example

Units

Description

Message ID

$GPGLL

GLL protocol header

Latitude

3723.2475

ddmm.mmmm

N/S Indicator

N=north or S=south

Longitude

12158.3416

dddmm.mmmm

E/W Indicator

E=east or W=west

UTC Position

161229.487

hhmmss.sss

Status

A=data valid or V=data not valid

Checksum

*2C

End of message termination

GSA-GNSS DOP and Active Satellites

Table B-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 B-5 GSA Data Format

Name

Example

Units

Description

Message ID

$GPGSA

GSA protocol header

Mode1

See Table B-6

Mode2

See Table B-7

Satellite Used¹

Sv on Channel 1

Satellite Used¹

Sv on Channel 2

…

Satellite Used¹

Sv on Channel 12

PDOP

1.8

Position dilution of Precision

HDOP

1.0

Horizontal dilution of Precision

VDOP

1.5

Vertical dilution of Precision

Checksum

*33

End of message termination

Satellite used in solution.

Table B-6 Mode1

Value

Description

Manual-forced to operate in 2D or 3D mode

2Dautomatic-allowed to automatically switch 2D/3D

Table B-7 Mode 2

Value

Description

Fix Not Available

GSV-GNSS Satellites in View

Table B-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 B-8 GSV Data Format

Name

Example

Description

Message ID

$GPGSV

GSV protocol header

Number of Messages¹

Range 1 to 3

Message Number¹

Range 1 to 3

Satellites in View

Satellite ID

Channel 1(Range 1 to 32)

Elevation

degrees

Channel 1(Maximum90)

Azimuth

048

degrees

Channel 1(True, Range 0 to 359)

SNR(C/No)

dBHz

Range 0 to 99,null when not tracking

…….

Satellite ID

Channel 4 (Range 1 to 32)

Elevation

Degrees

Channel 4(Maximum90)

Azimuth

138

Degrees

Channel 4(True, Range 0 to 359)

SNR(C/No)

dBHz

Range 0 to 99,null when not tracking

Checksum

*71

End of message termination

Depending on the number of satellites tracked multiple messages of GSV data may be required.

RMC-Recommended Minimum Specific GNSS Data

Table B-10 contains the values for the following example:

$GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598,,*10

Table B-10 RMC Data Format

Name

Example

Units

Description

Message ID

$GPRMC

RMC protocol header

UTC Time

161229.487

hhmmss.sss

Status

A=data valid or V=data not valid

Latitude

3723.2475

ddmm.mmmm

N/S Indicator

N=north or S=south

Longitude

12158.3416

dddmm.mmmm

E/W Indicator

E=east or W=west

Speed Over Ground

0.13

knots

Course Over Ground

309.62

degrees

True

Date

120598

ddmmyy

Magnetic Variation²

degrees

E=east or W=west

Checksum

*10

End of message termination

SiRF Technology Inc. does not support magnetic declination. All “course over ground” data are

geodetic WGS48 directions.

VTG-Course Over Ground and Ground Speed

$GPVTG,309.62,T,,M,0.13,N,0.2,K*6E

Name

Example

Units

Description

Message ID

$GPVTG

VTG protocol header

Course

309.62

degrees

Measured heading

Reference

True

Course

degrees

Measured heading

Reference

Magnetic

Speed

0.13

knots

Measured horizontal speed

Units

Knots

Speed

0.2

Km/hr

Measured horizontal speed

Units

Kilometers per hour

Checksum

*6E

End of message termination

NMEA Input Command

A). Set Serial Port

ID:100

Set PORTA parameters and protocol

This command message is used to set the protocol(SiRF Binary, NMEA, or

USER1) and/or the communication parameters(baud, data bits, stop bits, parity).

Generally,this command would be used to switch the module back to SiRF Binary

protocol mode where a more extensive command message set is available. For

example,to change navigation parameters. When a valid message is received,the

parameters will be stored in battery backed SRAM and then the receiver will restart

using the saved parameters.

Format:

$PSRF100,<protocol>,<baud>,<DataBits>,<StopBits>,<Parity>*CKSUM

0=SiRF Binary, 1=NMEA, 4=USER1

<baud>

1200, 2400, 4800, 9600, 19200, 38400

8,7. Note that SiRF protocol is only valid f8

Data bits

0,1

0=None, 1=Odd, 2=Even

Example 1: Switch to SiRF Binary protocol at 9600,8,N,1

$PSRF100,0,9600,8,1,0*0C<CR><LF>

Example 2: Switch to User1 protocol at 38400,8,N,1

$PSRF100,4,38400,8,1,0*38<CR><LF>

**Checksum Field: The absolute value calculated by exclusive-OR the

8 data bits of each character in the Sentence,between, but

excluding

“$” and

“*”. The hexadecimal value of the most

significant and least significant 4 bits of the result are convertted

to two ASCII characters (0-9,A-F) for transmission. The most

significant character is transmitted first.

**<CR><LF>

: Hex 0D 0A

B). Navigation lnitialization ID

101 Parameters required for

start

This command is used to initialize the module for a warm start, by providing current

position （in X, Y, Z coordinates）,clock offset, and time. This enables the receiver

to search for the correct satellite signals at the correct signal parameters. Correct

initialization parameters will enable the receiver to acquire signals more quickly, and

thus, produce a faster navigational solution.

When a valid Navigation Initialization command is received, the receiver will restart

using the input parameters as a basis for satellite selection and acquisition.

Format

$PSRF101,<X>,<Y>,<Z>,<ClkOffset>,<TimeOfWeek>,<WeekNo>,<chnlCount>,<R

esetCfg>

*CKSUM<CR><LF>

<X>

X coordinate position

INT32

<Y>

Y coordinate position

INT32

<Z>

Z coordinate position

INT32

Clock offset of the receiver in Hz, Use 0 for

last saved value if available. If this is

unavailable, a default value of 75000 for

GSP1, 95000 for GSP 1/LX will be used.

INT32

GPS Time Of Week

UINT32

GPS Week Number

UINT16

（ Week No and Time Of Week calculation

from UTC time）

Number of channels to use.1-12. If your

CPU throughput is not high enough, you

could decrease needed throughput by

reducing the number of active channels

UBYTE

bit mask

0×01=Data Valid warm/hotstarts=1

0×02=clear ephemeris warm start=1

0×04=clear memory. Cold start=1

UBYTE

Example: Start using known position and time.

＄PSRF101,-2686700,-4304200,3851624,96000,497260,921,12,3*7F

C). Set DGPS Port ID:102 Set PORT B parameters for DGPS input

This command is used to control Serial Port B that is an input only serial port

used to receive

RTCM differential corrections.

Differential receivers may output corrections using different

communication parameters.

The default communication parameters for PORT B are 9600

Baud, 8data bits, 0 stop bits, and no parity.

If a DGPS receiver is used which has different communication parameters, use

this command to allow the receiver to correctly decode the data. When a valid

message is received, the parameters will be stored in battery backed SRAM and

then the receiver will restart using the saved parameters.

Format:

＄PSRF102,<Baud>,<DataBits>,<StopBits>,<Parity>*CKSUM<CR><LF>

<baud>

1200,2400,4800,9600,19200,38400

0,1

0=None,Odd=1,Even=2

Example: Set DGPS Port to be 9600,8,N,1

＄PSRF102,9600,8,1.0*12

D). Query/Rate Control ID:103 Query standard NMEA message and/or set

output rate

This command is used to control the output of standard NMEA message GGA,

GLL, GSA, GSV

RMC, VTG. Using this command message, standard NMEA message may be

polled once, or setup for periodic output. Checksums may also be enabled

or disabled depending on the needs of the receiving program. NMEA

message settings are saved in battery backed memory for each entry when the

message is accepted.

Format:

＄PSRF103,<msg>,<mode>,<rate>,<cksumEnable>*CKSUM<CR><LF>

<msg>

0=GGA,1=GLL,2=GSA,3=GSV,4=RMC,5=VTG

<mode>

0=SetRate,1=Query

<rate>

Output every <rate>seconds, off=0,max=255

0=disable Checksum,1=Enable checksum

for specified message

Example 1: Query the GGA message with checksum enabled

＄PSRF103,00,01,00,01*25

Example 2: Enable VTG message for a 1Hz constant output with checksum

enabled

＄PSRF103,05,00,01,01*20

Example 3: Disable VTG message

＄PSRF103,05,00,00,01*21

E). LLA Navigation lnitialization ID:104 Parameters required to start

using Lat/Lon/Alt

This command is used to initialize the module for a warm start, by providing

current position (in Latitude, Longitude, Altitude coordinates), clock offset, and

time. This enables the receiver to search for the correct satellite signals at

the correct signal parameters. Correct initialization parameters will enable

the receiver to acquire signals more quickly, and thus, will produce a faster

navigational soution.

When a valid LLANavigationInitialization command is received,the receiver will

restart using the input parameters as a basis for satellite selection and acquisition.

Format:

＄PSRF104,<Lat>,<Lon>,<Alt>,<ClkOffset>,<TimeOfWeek>,<WeekNo>,

<ChannelCount>, <ResetCfg>*CKSUM<CR><LF>

<Lat>

Latitude position, assumed positive north of equator and

negative south of equator float, possibly signed

<Lon>

Longitude position, it is assumed positive east of Greenwich

and negative west of Greenwich

Float, possibly signed

<Alt>

Altitude position

float, possibly signed

Clock Offset of the receiver in Hz, use 0 for last saved value if

available. If this is unavailable, a default value of 75000 for

GSP1, 95000 for GSP1/LX will be used.

INT32

<TimeOfWeek> GPS Time Of Week

UINT32

GPS Week Number

UINT16

<ChannelCount> Number of channels to use. 1-12

UBYTE

bit mask

0×01=Data Valid warm/hot starts=1

0×02=clear ephemeris warm start=1

0×04=clear memory. Cold start=1

UBYTE

Example: Start using known position and time.

＄PSRF104,37.3875111,-121.97232,0,96000,237759,922,12,3*37

F). Development Data On/Off

ID:105

Switch Development Data

Messages On/Off

Use this command to enable development debug information if you are having

trouble getting commands accepted. Invalid commands will generate debug

information that should enable the user to determine the source of the

command rejection. Common reasons for input command rejection are invalid

checksum or parameter out of specified range. This setting is not preserved

across a module reset.

Format:

＄PSRF105,<debug>*CKSUM<CR><LF>

<debug>

0=Off,1=On

Example: Debug On

＄PSRF105,1*3E

Example: Debug Off

＄PSRF105,0*3F

G). Select Datum

ID:106

Selection of datum to be used for coordinate

Transformations

GPS receivers perform initial position and velocity calculations using an earth-centered

earth-fixed (ECEF) coordinate system. Results may be converted to an earth model (geoid)

defined by the selected datum. The default datum is WGS 84 (World Geodetic System 1984)

which provides a worldwide common grid system that may be translated into local coordinate

systems or map datums. (Local map datums are a best fit to the local shape of the earth and not

valid worldwide.)

Examples:

Datum select TOKYO_MEAN

$PSRF106,178*32