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

SC104 version 2.1

DARC

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.)

3.0 to 3.6

(5V spec.)

4.5 to 5.5

· Operating temperature

Topr

40 to +85

°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.

E99658-PS

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.

GXB2000

GXB2000

Specification

Specification of reception unit

Reception method

Parallel 16 channels

RF input

Reception frequency

1575.42MHz L1 band, C/A code

Characteristics impedance

Reception sensitivity

130dBm or less

(Sony's recommended anntena input level)

Positioning system

WGS-84

Positioning accuracy

Position

100m 2DRMS

(SA ON, PDOP = 2.5, HDOP = 1.5)

Velocity

0.9m/s

(SA ON, PDOP = 2.5, HDOP = 1.5)

Positioning condition

A) DOP limit

3D: PDOP

2D: HDOP

B) Elevation mask: 5° or more

Follow-up performance

Velocity

500km/h or less

Acceleration

2G or less

Measured data update time

Every 1s

D-GPS function

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

GXB2000

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

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

I/O connector (Power supply, data mode)

JST: SM10B-SRSS

Communication Specification

Communication method

Start-stop synchronization

Transfer rate input/output

9600bps

Electric level

TTL level

I/O code

ASCII code

Communication format

Sony/NMEA0183 switching possible

Electrical Specification

Supply voltage (3V spec.)

3.1 to 3.6V Ripple 50mVp-p or less

(5V spec.)

4.5 to 5.5V Ripple 50mVp-p or less

Current consumption

82mA typ. (Vcc = 3.3V, 25°C)

Backup supply voltage

1.8 to 3.0V

current

30µA typ. (+B = 3.0V, 25°C)

70µA max. (+B = 3.0V, 85°C)

Pre-amplifier power supply

2.7 to 3.6V, 10 to 30mA

Operating temperature

40 to +85°C

GXB2000

I/O Connector Pin

Pin Configuration

No.

Symbol

I/O

Description

RESET

TXD0

RXD0

RXD1

MODE

+BU

GND

Main power supply.

Reset input for initializing the reception unit.

Measured data output.

Command input.

D-GPS data input.

Communication format switching pin. (L = Sony, H = NMEA0183)

No connection.

Power supply for backup.

Fixed H level.

GND

Item

Symbol

Conditions

Min.

Typ.

Max.

Unit Applicable pins

3V spec.

5V spec.

H level

L level

H level

L level

Vcc

= 4mA

+BU = 3V

3.0

4.5

0.7V

0.8

1.8

3.3

5.0

3.6

5.5

0.2V

0.4

3.0

µA

2, 4, 5

Supply voltage

Input voltage

Output voltage

Backup supply voltage

Current consumption at backup

Electrical Characteristics

(Topr = 40 to +85°C)

GXB2000

Antenna Pre-amplifier Power Supply Circuit

)

(GND)

I/O connector

+3V (3/5V common specification)

RF connector

(1/2W)

RF part

Sony Recommend Antenna Specification

Antenna part

Center frequency

1575.42MHz

Polarization

Right handed circular polarization

Gain

5dBi or more (5°

Angle of elevation)

Axis ratio

3dB typ. (Angle of elevation = 90°)

Pre-amplifier part

Gain

22dB or more (without cable loss)

Noise figure (NF)

2.5dB or less

All-round specification (antenna + pre-anplifire + cable loss)

Gain

17dBi or more (Angle of elevation = 90°)

Output impedance

Output VSWR

2.0 or less

Supply voltage

2.8 to 3.2V

Current consumption

30mA or less

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)

= 3.0 to 3.6V, V

= 4.5 to 5.5V, temperature = 40 to +85°C

Initialization During Operation

= 3.0 to 3.6V, V

= 4.5 to 5.5V, temperature = 40 to +85°C

RESET (Pin 2)

or V

GND

Power
supply

100ms or more

RESET (Pin 2)

or V

GND

Power supply

100

s or more

GXB2000

Antenna part

GPS antenna

Pre-amplifier part

RF cable with CN connector

Coaxial cable

GXB2000

GPS reception unit

I/O connector
SM10B-SRSS (JST)

Do not connect
anything to NC.

-
-

1

-
-

2

-
-

3

-
-

4

-
-

5

-
-

6

-
-

7

-
-

8

-
-

9

-
-

1

Fixed H level

GXB2000 GPS Reception Unit Composition

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

SM10B-SRSS

GXB2000-3AAC

29.2

37.9

9.0

0.2

.
1

.
5

.
0

7.0

0.2

1.2

0.2

.
7

.
1

1.5

4.55

GXB2000-3AAC

Year manufactured
(End of figure for Christrian era)

Assembly plant code

Consective numbers

Week manufactured

Quality of case materials: JIS63303

Electroplated tin

S-2

GXB2000

1. I/O Data Input/Output Specifications

1-1. Communication

1-1-1. Serial input/output communication method

Interface:

Asynchronous serial interface (UART)

Baud rate:

9600 bps

Start bit:

1 bit

Data bits:

8 bits

Stop bit:

1 bit

Parity bit:

None

Communication control signal: None

Output period:

Approximately 1s

1-1-2. Asynchronous serial interface

LSB

MSB

Stop bit
1 bit

Start bit
1 bit

Data bits
8 bits

S-3

GXB2000

1-2. Output Data

1-2-1. Standard output

No.

BIT

76543210

Contents

Example

Setting value

Output data

(HEX)

3
4
5
6

7
8
9

11
12

13
14

15
16

17
18

20
21
22
23
24
25
26
27

28
29
30
31
32
33
34

11010000

0xxxxxxx

0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx

0xxxxxxx
0xxxxxxx

0xxxxxxx

0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx

0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx

Header

Software version information

Latitude
Resolution: 0.01"
South latitude is two's complement notation.
Value range: 32400000 to 32400000

Longitude
Resolution: 0.01"
West longitude is two's complement notation.
Value range: 64800000 to 64800000

Altitude
Resolution: 1m
Negative altitude is two's complement notation.
Value range: 8191 to 8191

Speed
Resolution: 0.1km/h
Value range: 0 to 5150

Direction
Resolution: 0.1°
Value range: 0 to 3599

PDOP value
Resolution: 0.1
Value range: 0 to 999

Current time mode
0: UTC time
1: JST time

Current time
Year
Year
Month
Date
Hour
Minute
Second
Day

Measurement calculation time
Year
Year
Month
Date
Hour
Minute
Second

North latitude
87° 29' 10.24"
(= 314950.24")

West longitude
175° 42' 30.11"
(= 632550.11")

3775m

60.5km/h

310.7°

51.2

1999

02
22
12
54
46
01

1999

02
22
12
55
30

0F
02
26
70

61
6B
1C
1D

00
1D
3F

04
5D

18
23

04
00

0F
4F
02
16
0C
36
2E
01

0F
4F
02
16
0C
37
1E

S-4

GXB2000

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

36
37
38
39
40
41
42
43

48
49

53 to

59 to

65 to

71 to

0xxxxxxx

0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx

0xxxxxxx

0xxxxxxx
0xxxxxxx

0xxxxxxx

Number of visible satellites
Value range: 0 to 32

Satellite Nos. used for measurement
8 satellite Nos.
Value range: 0 to 32
Satellite No.: 0 is invalid.

Measurement calculation mode
0: Invalid
1: 2-satellite measurement
2: 3-satellite measurement
3: 4-(or more) satellite measurement

Geodesic system
Value range: 0 to 25

Measurement delay time
Resolution: 0.1s
Value range: 0 to 9

Information for 1st satellite

Satellite No.
Value range: 0 to 32

Azimuth
Resolution: 1°
Value range: 0 to 359°

Angle of elevation
Resolution: 1°
Value range: 0 to 90°

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

Signal level
Resolution: 1dBHz
Value range: 0 to 100

Information for 2nd satellite

Information for 3rd satellite

Information for 4th satellite

Information for 5th satellite

4
10
18
9
20
25
7
31

0.4s

218°

56°

100

04
0A
12
09
14
19
07
1F

01
5A

Example

S-5

GXB2000

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

77 to

83 to

89 to

95 to

101 to

107 to

113 to

119 to

125 to

131 to

137 to

143 to

144 to

150

0xxxxxxx

1101101

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

Preamplifier check
0: Normal, 1: Disconnected, 2: Short circuit

Reserved

Terminator. "Z" + 80H

Example

S-6

GXB2000

1-2-2. Expanded output

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

150

151

152

153

154
155
156

157

158

159

160
161

162
163

164
165

166
167

168
169

170

171
172

173

0xxxxxxx

0xxxxxxx
0xxxxxxx
0xxxxxxx

0xxxxxxx

0xxxxxxx
0xxxxxxx

0xxxxxxx

0xxxxxxx
0xxxxxxx

0xxxxxxx

Latitude
0.001 to 0.0001" value
Value range: 0 to 99

Longitude
0.001 to 0.0001" value
Value range: 0 to 99

Speed
0.01 km/h value
Value range: 0 to 9

Number of healthy satellites
Value range: 0 to 32

Not related to user

SVACC
Value range: 0 to 15

Error major axis radius (1

estimated error)

Resolution: 1m
Value range: 0 to 510

Error minor axis radius (1

estimated error)

Resolution: 1m
Value range: 0 to 510

Error major axis inclination
Resolution: 1°
Value range: 0 to 179
Angle clockwise from north

HDOP value
Resolution: 0.1
Value range: 0 to 999

VDOP value
Resolution: 0.1
Value range: 0 to 999

D-GPS measurement flag
0: Invalid
1: GPS measurement
2: D-GPS measurement

D-GPS station No.
Value range: 0 to 1023

D-GPS data elapsed time
Resolution: 1s

0.0025"

0.0091"

0.03km/h

130

165

51.2

1023

01
02

00
29

01
25

04
00

07
7F

Example

S-7

GXB2000

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

174

175

176

177

178

179

180
181

182 to

190

0xxxxxxx

0xxxxxxx
0xxxxxxx

1101101

DARC/RTCM mode
0: DARC
1: RTCM

PDOP limit value when D-GPS is on

HDOP limit value when D-GPS is on

PDOP limit value when D-GPS is off

HDOP limit value when D-GPS is off

Angle of elevation limit value

Speed limit value

Reserved

Terminator. "Z" + 80H

00
01

Example

S-8

GXB2000

1-2-3. Almanac data output

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

·
·
·
·
·

10100100

0xxxxxxx
·
·
·
·
·
0xxxxxxx

11011010

Header

Terminator. "Z" + 80H

Example

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

24 bits

WORD2

24 bits

WORD3

24 bits

WORD4

24 bits

WORD5

24 bits

WORD6

24 bits

WORD7

24 bits

WORD8

24 bits

WORD9

24 bits

WORD10

24 bits

Checksum

16 bits

The relationship between the above

data and the communication data is

shown to the right.

(1) Relationship between word data and communication data

Before conversion

After conversion

0 0 0 0

Before conversion

After conversion

0 0 0 0 0

(2) Relationship between checksum and communication data

S-9

GXB2000

1-3. Input Data

1-3-1. TM command (receiver clock setting)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

2
3

10100000

0xxxxxxx
0xxxxxxx

0xxxxxxx

11011010

Header

Year

Month

Date

Hour

Minute

Second

Terminator. "Z" + 80H

1999

0F
4F

Example

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

2
3
4
5

6
7
8
9

10100001

0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx

11011010

Header

Latitude
Resolution: 0.01"
South latitude is two's complement notation.
Value range: 32400000 to 32400000

Longitude
Resolution: 0.01"
West longitude is two's complement notation.
Value range: 64800000 to 64800000

Terminator. "Z" + 80H

North latitude
87° 29' 10.24"
(= 314950.24")

West longitude
175° 42' 30.11"
(= 632550.11")

0F
02
26
70

61
6B
1C
1D

Example

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)

After receiving the above command, the GPS side sends this command as a response.

S-10

GXB2000

1-3-3. SK command (receiver geodesic system parameter setting)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10100010

0xxxxxxx

11011010

Header

Geodesic system
Value range: 0 to 25

Terminator. "Z" + 80H

Example

After receiving the above command, the GPS side sends this command as a response.

1-3-4. AMI command (receive almanac data)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10100011

11011010

Header

Terminator. "Z" + 80H

Example

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10100100

11011010

Header

Terminator. "Z" + 80H

Example

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)

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)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10100101

11011010

Header

Terminator. "Z" + 80H

Example

After receiving the above command, the GPS side sends this command as a response.

S-11

GXB2000

1-3-7. SR command (wait 400ms and hot start)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10100110

11011010

Header

Terminator. "Z" + 80H

Example

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10100111

0xxxxxxx

11011010

Header

Angle of elevation
Resolution: 1°
Value range: 0 to 90°

Terminator. "Z" + 80H

56°

Example

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)

After receiving the above command, the GPS side sends this command as a response.

1-3-9. BC command (clear DARC receive data)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101000

11011010

Header

Terminator. "Z" + 80H

Example

After receiving the above command, the GPS side sends this command as a response.

1-3-10. DG command (D-GPS on/off setting)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101001

0xxxxxxx

11011010

Header

D-GPS on/off setting
0: Off
1: On

Terminator. "Z" + 80H

Example

After receiving the above command, the GPS side sends this command as a response.

S-12

GXB2000

1-3-11. GS command (4 DOP threshold value settings)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101010

0xxxxxxx

11011010

Header

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

Terminator. "Z" + 80H

Example

After receiving the above command, the GPS side sends this command as a response.

1-3-12. DMD command (DARC data input mode)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101011

11011010

Header

Terminator. "Z" + 80H

Example

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101100

11011010

Header

Terminator. "Z" + 80H

Example

After receiving the above command, the GPS side sends this command as a response.

1-3-13. DMR command (RTCM data input mode)

After receiving the above command, the GPS side sends this command as a response.

S-13

GXB2000

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101101

0xxxxxxx

11011010

Header

Expanded output on/off setting
0: Off
1: On

Terminator. "Z" + 80H

Example

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101111

0xxxxxxx

11011010

Header

Current time mode setting
0: UTC
1: JST

Terminator. "Z" + 80H

Example

After receiving the above command, the GPS side sends this command as a response.

1-3-15. SW command (eliminate ephemeris and warm start)

1-3-14. EX command (expanded output mode on/off)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101110

11011010

Header

Terminator. "Z" + 80H

Example

After receiving the above command, the GPS side sends this command as a response.

1-3-16. TC command (current time mode setting)

After receiving the above command, the GPS side sends this command as a response.

S-14

GXB2000

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

2
3
4
5
6
7
8
9

10
11
12
13
14
15
16
17

11000000

0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx

11011010

Header

Satellite Nos. for 16 channels
Value range: 1 to 64
0 is invalid.

Terminator. "Z" + 80H

9
5
18
1
20
2
6
12

--
--
--
--
--
--
--
--

09
05
12
01
14
02
06
0C

--
--
--
--
--
--
--
--

Example

After receiving the above command, the GPS side sends this command as a response.

1-3-18. LF command (D-GPS valid time setting)

1-3-17. CH command (satellite No. setting during manual setting)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

2
3

11000111

0xxxxxxx
0xxxxxxx

11011010

Header

D-GPS valid time
Resolution: s

Terminator. "Z" + 80H

After receiving the above command, the GPS side sends this command as a response.

1-3-19. EP1 command (receive ephemeris data)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

11001101

11011010

Header

Terminator. "Z" + 80H

Example

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.

Example

S-15

GXB2000

1-3-20. EP0 command (transmit ephemeris data)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

2
3

10110001

0xxxxxxx
0xxxxxxx

11011010

Header

Heading filter value
Resolution: 0.1km/h

Terminator. "Z" + 80H

999
(99.9km/h)

07
67

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)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

11001110

11011010

Header

Terminator. "Z" + 80H

Example

After receiving the above command, the GPS side sends this command as a response.

Example

S-16

GXB2000

2. D-GPS Data Input Specifications

2-1. Communication

2-1-1. Serial input communication method

Interface:

Asynchronous serial interface (UART)

Baud rate:

9600 bps

Start bit:

1 bit

Data bits:

8 bits

Stop bit:

1 bit

Parity bit:

None

Communication control signal: None

Input period:

1s or more

2-1-2. Asynchronous serial interface

LSB

MSB

Stop bit
1 bit

Start bit
1 bit

Data bits
8 bits

S-17

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

PREAMBLE

STATION ID

PARITY

6bit

10bit

6bit

8bit

WORD1

MESSAGE

TYPE

MODIFIED Z-COUNT

PARITY

STATION HEALTH

SEQ NCE NO.

LENGTH OF FRAME

6bit

3bit

5bit

3bit

13bit

WORD2

PREAMBLE:

Preamble

MESSAGE TYPE:

Message type

STATION ID:

Reference station ID No.

PARITY:

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

S-18

GXB2000

2-2-2. Message type 1 (differential GPS correction value)

SATELLITE ID

UDRE

SCALE FACTOR

PSEUDORANGE
CORRECTION

PARITY

6bit

16bit

5bit

1bit

2bit

WORD3

RANGE-RATE
CORRECTION

ISSUE OF
DATA

PARITY

SATELLITE ID

SCALE FACTOR

UDRE

6bit

2bit

1bit

8bit

WORD4

WORD5

ISSUE OF
DATA

SATELLITE ID

PARITY

6bit

8bit

5bit

2bit

1bit

8bit

WORD6

SCALE FACTOR

PSEUDORANGE CORRECTION
(UPPER BYTE)

UDRE

RANGE-RATE
CORRECTION

PARITY

PSEUDORANGE
CORRECTION

6bit

8bit

16bit

SCALE FACTOR:

Pseudorange correction value scale factor

UDRE:

User differential range error index

SATELLITE ID:

Satellite ID No.

PSEUDORANGE CORRECTION: Pseudorange correction value

RANGE-RATE CORRECTION:

Pseudorange rate-of-change correction value

ISSUE OF DATA:

Data issue No.

S-20

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).

The D-GPS basic data configuration is as follows.

The GPS satellite correction data configuration is as follows.

Data packet 1

22 bytes

Data packet 2

22 bytes

Checksum

1 byte

Terminator

1 byte

Prefix

4 bytes

Bit position

1 to 3

5 to 38

39 to 72

73 to 106

107 to 140

141 to 174

175 to 208

209 to 242

243 to 276

277 to 288

Description

D-GPS data ID

Correction time

1st GPS satellite correction data

2nd GPS satellite correction data

3rd GPS satellite correction data

4th GPS satellite correction data

5th GPS satellite correction data

6th GPS satellite correction data

7th GPS satellite correction data

8th GPS satellite correction data

Communication data

Number of bits

3 bits

1 bit

34 bits

12 bits

D-GPS

segment

18 bytes

Prefix

2 bytes

D-GPS

segment

18 bytes

CRC

2 byte

xxh

0Dh

Bit position

2 to 3

4 to 8

9 to 19

20 to 26

27 to 34

Description

Scale factor

UDRE (User differential range error index)

GPS satellite ID

PRC (Pseudorange correction value)

RRC (Pseudorange rate-of-change correction value)

IODE (Ephemeris data issue No.)

Number of bits

1 bit

2 bits

5 bits

11 bits

7 bits

8 bits

S-21

GXB2000

Geodetic System and Corresponding Country

Setting

value

Japan, Korea

Ethiopia, Mali, Senegal, Sudan

Botswana, Lesotho, Malawi, Swaziland, Zaire, Zambia,
Zimbabwe

South Africa

Morocco

Hong Kong

Singapore

Philippines

Thailand, Vietnam

Bangladesh, India, Nepal

West Malaysia, Singapore

Belize, Costa Rica, El Salvador, Guatemala,
Honduras, Nicaragua, Mexico

Austria, Belgium, Cyprus, Channel Islands, Denmark,
England, Finland, France, Germany, Gibraltar, Greece,
Ireland, Italy, Luxembourg, Netherlands, Norway,
Portugal, Scotland, Shetland Island, Spain, Sweden,
Switzerland

Ireland

England, Isle of Man, Scotland, Shetland IsIand, Wales

Masirash Island, Oman, United Arab Emirates

Saudi Arabia

Egypt

Canada, Newfoundland Island

Alaska, Canada, Mexico, Central America,
United States of America

Australia, Tasmania Island

New Zealand

Bolivia, Chile, Colombia, Ecuador, Guyana, Peru,
Venezuela

Argentina, Bolivia, Brazil, Chile, Colombia, Ecuador,
Guyana, Paraguay, Peru, Trinidad and Tobago, Venezuela

Argentina

Brazil

Geodetic system

Reference Ellipsoid

WGS-84

TOKYO

ADINDAN

ARC 1950

CAPE

MERCHICH

HONG KONG 1963

SOUTH ASIA

LUZEN

INDIAN

KERTAU 1948

NORTH
AMERICAN 1927

EUROPEAN 1950
EUROPEAN 1950

IRELAND 1965

ORDNANCE
SURVEY OF
GREAT BRITAIN 1936

NAHRWAN

OLD EGYPTIAN

NORTH
AMERICAN 1927

NORTH
AMERICAN 1983

AUSTRALIAN
GEODETIC 1984

GEODETIC
DATUM 1949

PROVISIONAL SOUTH
AMERICAN 1956

SOUTH
AMERICAN 1969

CAMPO INCHAUSPE

CORREGO ALEGE

WGS-84

Bessel 1841

Clarke 1880

International

Modified Fisher 1960

Clarke 1866

Everest

Modified Everest

Clarke 1866

International

Modified Airy

Airy

Clarke 1880

Helmert 1906

Clarke 1866

GRS 80

Australian National

International

South American 1969

International

SS-1

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-2

GXB2000

1. I/O Data Input/Output Specifications

1-1. Communication

1-1-1. Serial input/output communication method

Interface:

Asynchronous serial interface (UART)

I/O channel:

CH0

Baud rate:

4800bps

Start bit:

1 bit

Data bits:

8 bits

Stop bit:

1 bit

Parity bit:

None

Communication control signal: None

Output period:

Approximately 1s

1-1-2. Asynchronous serial interface

LSB

MSB

Stop bit
1 bit

Start bit
1 bit

Data bits
8 bits

SS-3

GXB2000

1-2. Almanac Data Output

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

10100100

0xxxxxxx

11011010

Header

Terminator. "Z" + 80HEX

Example

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

24 bits

WORD2

24 bits

WORD3

24 bits

WORD4

24 bits

WORD5

24 bits

WORD6

24 bits

WORD7

24 bits

WORD8

24 bits

WORD9

24 bits

WORD10

24 bits

Checksum

16 bits

The relationship between the above

data and the communication data is

shown to the right.

(1) Relationship between word data and communication data

Before conversion

After conversion

Before conversion

After conversion

0 0 0 0 0

(2) Relationship between checksum and communication data

SS-4

GXB2000

1-3. Input Commands

1-3-1. TM command (receiver clock setting)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

2
3

10100000

0xxxxxxx
0xxxxxxx

0xxxxxxx

11011010

Header

Year

Month

Date

Hour

Minute

Second

Terminator. "Z" + 80HEX

1999

0F
4F

Example

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

2
3
4
5

6
7
8
9

10100001

0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx

11011010

Header

Latitude
Resolution: 0.01"
South latitude is two's complement notation.
Value range: 32400000 to 32400000

Longitude
Resolution: 0.01"
West longitude is two's complement notation.
Value range: 64800000 to 64800000

Terminator. "Z" + 80HEX

North latitude
87° 29' 10.24"
(= 314950.24")

West longitude
175° 42' 30.11"
(= 632550.11")

0F
02
26
70

61
6B
1C
1D

Example

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)

After receiving the above command, the GPS side sends this command as a response.

SS-5

GXB2000

1-3-3. SK command (receiver geodesic system parameter setting)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10100010

0xxxxxxx

11011010

Header

Geodesic system
Value range: 0 to 25

Terminator. "Z" + 80HEX

Example

After receiving the above command, the GPS side sends this command as a response.

1-3-4. AMI command (receive almanac data)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10100011

11011010

Header

Terminator. "Z" + 80HEX

Example

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10100100

11011010

Header

Terminator. "Z" + 80HEX

Example

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)

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)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10100101

11011010

Header

Terminator. "Z" + 80HEX

Example

After receiving the above command, the GPS side sends this command as a response.

SS-6

GXB2000

1-3-7. SR command (wait 400ms and hot start)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10100110

11011010

Header

Terminator. "Z" + 80HEX

Example

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10100111

0xxxxxxx

11011010

Header

Angle of elevation
Resolution: 1°
Value range: 0 to 90°

Terminator. "Z" + 80HEX

56°

Example

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)

After receiving the above command, the GPS side sends this command as a response.

1-3-9. BC command (clear DARC receive data)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101000

11011010

Header

Terminator. "Z" + 80HEX

Example

After receiving the above command, the GPS side sends this command as a response.

1-3-10. DG command (D-GPS on/off setting)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101001

0xxxxxxx

11011010

Header

D-GPS on/off setting
0: Off
1: On

Terminator. "Z" + 80HEX

Example

After receiving the above command, the GPS side sends this command as a response.

SS-7

GXB2000

1-3-11. GS command (4 DOP threshold value settings (up to 99 (63HEX) max.))

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

2
3

4
5

6
7

8
9

10101010

0xxxxxxx
0xxxxxxx

11011010

Header

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

Terminator. "Z" + 80HEX

135

114

00
40

00
32

01
07

00
72

Example

After receiving the above command, the GPS side sends this command as a response.

1-3-12. DMD command (DARC data input mode)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101011

11011010

Header

Terminator. "Z" + 80HEX

Example

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101100

11011010

Header

Terminator. "Z" + 80HEX

Example

After receiving the above command, the GPS side sends this command as a response.

1-3-13. DMR command (RTCM data input mode)

After receiving the above command, the GPS side sends this command as a response.

SS-8

GXB2000

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101101

0xxxxxxx

11011010

Header

Expanded output on/off setting
0: Off
1: On

Terminator. "Z" + 80HEX

Example

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101111

0xxxxxxx

11011010

Header

Current time mode setting
0: UTC
1: JST

Terminator. "Z" + 80HEX

Example

After receiving the above command, the GPS side sends this command as a response.

1-3-15. SW command (eliminate ephemeris and warm start)

1-3-14. EX command (expanded output mode on/off)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

10101110

11011010

Header

Terminator. "Z" + 80HEX

Example

After receiving the above command, the GPS side sends this command as a response.

1-3-16. TC command (current time mode setting)

After receiving the above command, the GPS side sends this command as a response.

SS-9

GXB2000

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

2
3
4
5
6
7
8
9

10
11
12
13
14
15
16
17

11000000

0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx
0xxxxxxx

11011010

Header

Satellite Nos. for 16 channels
Value range: 1 to 64
0 is invalid.

Terminator. "Z" + 80HEX

9
5
18
1
20
2
6
12

--
--
--
--
--
--
--
--

09
05
12
01
14
02
06
0C

--
--
--
--
--
--
--
--

Example

After receiving the above command, the GPS side sends this command as a response.

1-3-18. LF command (D-GPS valid time setting)

1-3-17. CH command (satellite No. setting during manual setting)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

2
3

11000111

0xxxxxxx
0xxxxxxx

11011010

Header

D-GPS valid time
Resolution: s

Terminator. "Z" + 80HEX

After receiving the above command, the GPS side sends this command as a response.

1-3-19. EPI command (receive ephemeris data)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

11001101

11011010

Header

Terminator. "Z" + 80HEX

Example

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.

Example

SS-10

GXB2000

1-3-20. EP0 command (transmit ephemeris data)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

2
3

10110001

0xxxxxxx
0xxxxxxx

11011010

Header

Heading filter value
Resolution: 0.1km/h

Terminator. "Z" + 80HEX

999
(99.9km/h)

07
67

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)

No.

BIT

76543210

Contents

Setting value

Input data

(HEX)

11001110

11011010

Header

Terminator. "Z" + 80HEX

Example

After receiving the above command, the GPS side sends this command as a response.

Example

SS-11

GXB2000

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

2
3
4
5
6

8
9

10
11
12
13

15
16
17
18
19
20
21
22

26
27
28
29
30
31
32
33
34

00100100

01000111
01010000
01000111
01000111
01000001

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx
xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx
xxxxxxxx
xxxxxxxx

Header
"$"

Address field
"G"
"P"
"G"
"G"
"A"

" , "

UTC time
Hour (10's digit)
Hour (1's digit)
Minute (10's digit)
Minute (1's digit)
Second (10's digit)
Second (1's digit)

" , "

Latitude
Degree (10's digit)
Degree (1's digit)
Minute (10's digit)
Minute (1's digit)
" . "
Minute (0.1's digit)
Minute (0.01's digit)
Minute (0.001's digit)

" , "

Latitude direction
"N" or "S"

" , "

Longitude
Degree (100's digit)
Degree (10's digit)
Degree (1's digit)
Minute (10's digit)
Minute (1's digit)
" . "
Minute (0.1's digit)
Minute (0.01's digit)
Minute (0.001's digit)

Fixed

06:22:43

Fixed

36° 03.979'

Fixed

North latitude

Fixed

140° 10.296'

47
50
47
47
41

00
36
32
32
34
33

33
36
30
33
2E
39
37
39

31
34
30
31
30
2E
32
39
36

Example

2. NMEA Output Specifications

2-1. Output Messages

2-1-1. GPGGA message

SS-12

GXB2000

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

40
41

43
44
45
46

48
49
50
51

58
59
60

62
63
64
65

01001100

xxxxxxxx

01001100

xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx

01001100

01001101

01001100

01001101

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx

00101010

" , "

Longitude direction
"E" or "W"

" , "

GPS Quality Indicator
"0": Invalid
"1": GPS measurement
"2": D-GPS measurement

" , "

Number of satellites used for measurement calculation
"00" to "12"

" , "

HDOP
10's digit
1's digit
" . "
0.1's digit

" , "

Altitude (m)
1,000's digit
100's digit
10's digit
1's digit

" , "

Altitude units
"M"

" , "

"M"

" , "

D-GPS data elapsed time (s)
100's digit
10's digit
1's digit

" , "

D-GPS reference station ID
1,000's digit
100's digit
10's digit
1's digit

Fixed

West longitude

Fixed

D-GPS
measurement

Fixed

7-satellite
measurement

Fixed

1.2

Fixed

23m

Fixed

30
37

30
31
2E
32

30
30
32
33

30
30
35

30
30
30
30

Example

SS-14

GXB2000

2-1-2. GPGLL message

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

2
3
4
5
6

8
9

10
11
12
13
14
15

19
20
21
22
23
24
25
26
27

31
32
33
34
35
36

00100100

01000111
01010000
01000111
01001100
01001100

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx
xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx
xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx

01001100

Header
"$"

Address field
"G"
"P"
"G"
"L"
"L"

" , "

Latitude
Degree (10's digit)
Degree (1's digit)
Minute (10's digit)
Minute (1's digit)
" . "
Minute (0.1's digit)
Minute (0.01's digit)
Minute (0.001's digit)

" , "

Latitude direction
"N" or "S"

" , "

Longitude
Degree (100's digit)
Degree (10's digit)
Degree (1's digit)
Minute (10's digit)
Minute (1's digit)
" . "
Minute (0.1's digit)
Minute (0.01's digit)
Minute (0.001's digit)

" , "

Longitude direction
"E" or "W"

" , "

UTC time
Hour (10's digit)
Hour (1's digit)
Minute (10's digit)
Minute (1's digit)
Second (10's digit)
Second (1's digit)

" , "

Fixed

36° 03.979'

Fixed

North latitude

Fixed

140° 10.296'

Fixed

West longitude

Fixed

06:22:43

Fixed

47
50
47
4C
4C

33
36
30
33
2E
39
37
39

31
34
30
31
30
2E
32
39
36

00
36
32
32
34
33

Example

SS-16

GXB2000

2-1-3. GPGSA message

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

2
3
4
5
6

12
13
14

15 to 17

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

48
49
50
51

00100100

01000111
01010000
01000111
01010011
01000001

01001100

xxxxxxxx

01001100

xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
01001100

xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx

01001100

Header
"$"

Address field
"G"
"P"
"G"
"S"
"A"

" , "

GPS measurement switching mode
"M": Manual
"A": Auto

" , "

GPS measurement mode
"1": Invalid
"2": 2D measurement
"3": 3D measurement

" , "

Satellite Nos. used for measurement
1st satellite No.
10's digit
1's digit
" , "

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
10's digit
1's digit
" . "
0.1's digit

" , "

Fixed

Fixed to "A"

Fixed

3D measurement

Fixed

2.4

Fixed

47
50
47
53
41

30
32
2E
34

Example

SS-17

GXB2000

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

53
54
55
56

58
59
60
61

63
64

65
66

xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx

00101010

xxxxxxxx
xxxxxxxx

00001101
00001010

HDOP
10's digit
1's digit
" . "
0.1's digit

" , "

VDOP
10's digit
1's digit
" . "
0.1's digit

Checksum
Hexadecimal upper digits
Hexadecimal lower digits

Terminator
<CR>
<LF>

1.2

Fixed

2.0

Fixed

30
31
2E
32

30
32
2E
30

34
41

0D
0A

Example

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-18

GXB2000

2-1-4. GPGSV message

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

2
3
4
5
6

12
13

15
16
17

18
19
20

21
22
23
24

25
26
27

28 to 40

41 to 53

54 to 56

68
69

00100100

01000111
01010000
01000111
01010011
01010110

01001100

xxxxxxxx

01001100

xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
01001100

xxxxxxxx
xxxxxxxx
01001100

00101010

xxxxxxxx
xxxxxxxx

Header
"$"

Address field
"G"
"P"
"G"
"S"
"V"

" , "

Total number of GPGSV messages
"1" to "3"

" , "

GPGSV message number
"1" to "3"

" , "

Number of satellites within field of vision
10's digit
1's digit

" , "

Information on satellites within field of vision for four satellites
Satellite No.
10's digit
1's digit
" , "
Angle of elevation (°)
10's digit
1's digit
" , "
Azimuth (°)
100's digit
10's digit
1's digit
" , "
C/N (dB)
10's digit
1's digit
" , "

Information for 2nd satellite

Information for 3rd satellite

Information for 4th satellite

Checksum
Hexadecimal upper digits
Hexadecimal lower digits

Fixed

47
50
47
53
56

30
38

34
41

Example

SS-19

GXB2000

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

70
71

00001101
00001010

Terminator
<CR>
<LF>

Fixed

0D
0A

Example

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-20

GXB2000

2-1-5. GPRMC message

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

2
3
4
5
6

8
9

10
11
12
13

17
18
19
20
21
22
23
24

28
29
30
31
32
33
34
35
36

00100100

01000111
01010000
01010010
01001101
01000011

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx
xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx
xxxxxxxx
xxxxxxxx

Header
"$"

Address field
"G"
"P"
"R"
"M"
"C"

" , "

UTC time
Hour (10's digit)
Hour (1's digit)
Minute (10's digit)
Minute (1's digit)
Second (10's digit)
Second (1's digit)

" , "

Status
"A": Data valid
"V": Data invalid

" , "

Latitude
Degree (10's digit)
Degree (1's digit)
Minute (10's digit)
Minute (1's digit)
" . "
Minute (0.1's digit)
Minute (0.01's digit)
Minute (0.001's digit)

" , "

Latitude direction
"N" or "S"

" , "

Longitude
Degree (100's digit)
Degree (10's digit)
Degree (1's digit)
Minute (10's digit)
Minute (1's digit)
" . "
Minute (0.1's digit)
Minute (0.01's digit)
Minute (0.001's digit)

Fixed

06:22:43

Fixed

Valid

Fixed

36° 03.979'

Fixed

North latitude

Fixed

140° 10.296'

47
50
52
4D
43

00
36
32
32
34
33

33
36
30
33
2E
39
37
39

31
34
30
31
30
2E
32
39
36

Example

SS-21

GXB2000

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

40
41
42
43
44

46
47
48
49
50

52
53

54
55

56
57

61
62

63
64

01001100

xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx

01001100

00101010

xxxxxxxx
xxxxxxxx

00001101
00001010

" , "

Longitude direction
"E" or "W"

" , "

Speed (knots)
100's digit
10's digit
1's digit
" . "
0.1's digit

" , "

Heading (°)
100's digit
10's digit
1's digit
" . "
0.1's digit

" , "

Date
10's digit
1's digit
Month
10's digit
1's digit
Year
10's digit
1's digit

" , "

Checksum
Hexadecimal upper digits
Hexadecimal lower digits

Terminator
<CR>
<LF>

Fixed

West longitude

Fixed

20knot/h

Fixed

48.5°

Fixed

July 13, 1999

Fixed

30
32
30
2E
30

30
34
38
2E
35

31
33

30
37

39
39

34
41

0D
0A

Example

The Magnetic Variation parameter is not output.

(between No. 58 and No. 59, and between No. 59 and No. 60)

SS-22

GXB2000

2-1-6. GPVTG message

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

2
3
4
5
6

8
9

10
11
12

19
20
21
22
23

27
28
29
30
31

35
36

00100100

01000111
01010000
01010110
01010100
01000111

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx

01001100

01010100

01001100

01001101

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx

01001100

01001110

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
00101110
xxxxxxxx

01001100

01001011

00101010

xxxxxxxx
xxxxxxxx

Header
"$"

Address field
"G"
"P"
"V"
"T"
"G"

" , "

Heading (°)
100's digit
10's digit
1's digit
" . "
0.1's digit

" , "

"T"

" , "

"M"

" , "

Speed (knots)
100's digit
10's digit
1's digit
" . "
0.1's digit

" , "

"N"

" , "

Speed (km/h)
100's digit
10's digit
1's digit
" . "
0.1's digit

" , "

"K"

Checksum
Hexadecimal upper digits
Hexadecimal lower digits

Fixed

48.5°

Fixed

20knot/h

Fixed

20km/h

Fixed

47
50
56
54
47

30
34
38
2E
35

30
32
30
2E
30

34
41

Example

SS-24

GXB2000

2-1-7. GPZDA message

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

2
3
4
5
6

8
9

10
11
12
13

15
16

18
19

21
22

26
27

28
29

00100100

01000111
01010000
01011010
01000100
01000001

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx

01001100

00101010

xxxxxxxx
xxxxxxxx

00001101
00001010

Header
"$"

Address field
"G"
"P"
"Z"
"D"
"A"

" , "

UTC time
Hour (10's digit)
Hour (1's digit)
Minute (10's digit)
Minute (1's digit)
Second (10's digit)
Second (1's digit)

" , "

Date
10's digit
1's digit

" , "

Month
10's digit
1's digit

" , "

Year
10's digit
1's digit

" , "

Checksum
Hexadecimal upper digits
Hexadecimal lower digits

Terminator
<CR>
<LF>

Fixed

06:22:43

Fixed

13th

Fixed

July

Fixed

1999

Fixed

47
50
5A
44
41

00
36
32
32
34
33

31
33

30
37

39
39

34
41

0D
0A

Example

The Local Zone Description parameter is not output.

(between No. 23 and No. 24, and between No. 24 and No. 25)

SS-25

GXB2000

2-1-8. PSNY message (manufacturer expanded output)

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

2
3
4
5

12
13

15
16
17

19
20

22
23

25
26

28
29

00100100

01010000
01010011
01011110
01011001

01001100

xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx

01001100

xxxxxxxx
xxxxxxxx

Header
"$"

Address field
"P"
"S"
"N"
"Y"

" , "

Preamplifier status
"0": Normal
"1": Open
"2": Shorted

" , "

Geodesic system
"0" to "25"

" , "

Angle of elevation limit (°)
10's digit
1's digit

" , "

Speed limit (km/h)
100's digit
10's digit
1's digit

" , "

PDOP limit (D-GPS on)
10's digit
1's digit

" , "

HDOP limit (D-GPS on)
10's digit
1's digit

" , "

PDOP limit (D-GPS off)
10's digit
1's digit

" , "

HDOP limit (D-GPS off)
10's digit
1's digit

Fixed

Open

Fixed

WGS-84

Fixed

5°

Fixed

500km/h

Fixed

50
53
5E
49

30
30

30
35

35
30
30

30
34

30
36

30
34

30
36

Example

SS-26

GXB2000

No.

BIT

76543210

Contents

Setting value

Output data

(HEX)

31
32

33
34

00101010

xxxxxxxx
xxxxxxxx

00001101
00001010

Checksum
Hexadecimal upper digits
Hexadecimal lower digits

Terminator
<CR>
<LF>

Fixed

34
41

0D
0A

Example

2-2. Output Timing

1s period: GPVTG, GPGGA, GPGLL, GPRMC, GPZDA

2s period: GPGSA, PSNY, GPGSV

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-27

GXB2000

3. D-GPS Data Input Specifications

3-1. Communication

3-1-1. Serial input communication method

Interface:

Asynchronous serial interface (UART)

I/O channel:

CH1

Baud rate:

9600bps

Start bit:

1 bit

Data bits:

8 bits

Stop bit:

1 bit

Parity bit:

None

Communication control signal: None

Input period:

1s or more

3-1-2. Asynchronous serial interface

LSB

MSB

Stop bit
1 bit

Start bit
1 bit

Data bits
8 bits

SS-28

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

PREAMBLE

STATION ID

PARITY

6bit

10bit

6bit

8bit

WORD1

MESSAGE

TYPE

MODIFIED Z-COUNT

PARITY

STATION HEALTH

SEQ NCE NO.

LENGTH OF FRAME

6bit

3bit

5bit

3bit

13bit

WORD2

PREAMBLE:

Preamble

MESSAGE TYPE:

Message type

STATION ID:

Reference station ID No.

PARITY:

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-29

GXB2000

3-2-2. Message type 1 (differential GPS correction value)

SATELLITE ID

UDRE

SCALE FACTOR

PSEUDORANGE
CORRECTION

PARITY

6bit

16bit

5bit

1bit

2bit

WORD3

RANGE-RATE
CORRECTION

ISSUE OF
DATA

PARITY

SATELLITE ID

SCALE FACTOR

UDRE

6bit

2bit

1bit

8bit

WORD4

WORD5

ISSUE OF
DATA

SATELLITE ID

PARITY

6bit

8bit

5bit

2bit

1bit

8bit

WORD6

SCALE FACTOR

PSEUDORANGE CORRECTION
(UPPER BYTE)

UDRE

RANGE-RATE
CORRECTION

PARITY

PSEUDORANGE
CORRECTION

6bit

8bit

16bit

SCALE FACTOR:

Pseudorange correction value scale factor

UDRE:

User differential range error index

SATELLITE ID:

Satellite ID No.

PSEUDORANGE CORRECTION: Pseudorange correction value

RANGE-RATE CORRECTION:

Pseudorange rate-of-change correction value

ISSUE OF DATA:

Data issue No.

SS-31

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).

The D-GPS basic data configuration is as follows.

The GPS satellite correction data configuration is as follows.

Data packet 1

22 bytes

Data packet 2

22 bytes

Checksum

1 byte

Terminator

1 byte

Prefix

4 bytes

Bit position

1 to 3

5 to 38

39 to 72

73 to 106

107 to 140

141 to 174

175 to 208

209 to 242

243 to 276

277 to 288

Description

D-GPS data ID

Correction time

1st GPS satellite correction data

2nd GPS satellite correction data

3rd GPS satellite correction data

4th GPS satellite correction data

5th GPS satellite correction data

6th GPS satellite correction data

7th GPS satellite correction data

8th GPS satellite correction data

Communication data

Number of bits

3 bits

1 bit

34 bits

12 bits

D-GPS

segment

18 bytes

Prefix

2 bytes

D-GPS

segment

18 bytes

CRC

2 bytes

xxh

0Dh

Bit position

2 to 3

4 to 8

9 to 19

20 to 26

27 to 34

Description

Scale factor

UDRE (User differential range error index)

GPS satellite ID

PRC (Pseudorange correction value)

RRC (Pseudorange rate-of-change correction value)

IODE (Ephemeris data issue No.)

Number of bits

1 bit

2 bits

5 bits

11 bits

7 bits

8 bits

Ð­Ð»ÐµÐºÑ‚Ñ€Ð¾Ð½Ð½Ñ‹Ð¹ ÐºÐ¾Ð¼Ð¿Ð¾Ð½ÐµÐ½Ñ‚: GXB2000

ÐÐ»ÐµÐºÑ‚Ñ€Ð¾Ð½Ð½Ñ‹Ð¹ ÐºÐ¾Ð¼Ð¿Ð¾Ð½ÐµÐ½Ñ‚: GXB2000