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Summary of Contents for Mitel GPS Orion-S/-HD Receiver
- Page 1 Space Flight Technology, German Space Operations Center (GSOC) Deutsches Zentrum für Luft- und Raumfahrt (DLR) e.V. User’s Manual for the GPS Orion-S/-HD Receiver O. Montenbruck, M. Markgraf Doc. No. Version Date GTN-MAN-0110 June 22, 2003...
- Page 2 Document Title: User’s Manual for the GPS Orion-S/-HD Receiver Document Change Record Issue Date Pages June 22, 2003 all Disclaimer Information in this manual has been compiled with adequate care and represents the best knowledge of the authors. Any errors remaining after its release will be fixed upon notifica- tion.
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Page 3: Table Of Contents
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver Table of Contents Document Change Record... ii Table of Contents... iii Scope and Applicability ... 1 Acronyms and Abbreviations... 2 1. Introduction... 3 1.1 GPS Orion Receiver ... 3 1.2 Functional Overview ... 3 1.3 Receiver Versions ... - Page 4 Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.3.4.3 LO – Load Orbit...30 4.3.4.4 TO – Transmit Orbit...30 4.3.4.5 LE – Load Epoch...31 4.3.4.6 LT – Load Trajectory...31 4.3.4.7 ET – End Trajectory ...31 4.3.4.8 TT – Transmit Trajectory...31 4.4 Output Messages (WinMon Format) ...
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Page 5: Scope And Applicability
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver Scope and Applicability This manual provides a user’s guide for the DLR’s GPS Orion receivers for space and high dynamics applications. It describes the hard and software interfaces required for operating the receiver in standalone and embedded applications. -
Page 6: Acronyms And Abbreviations
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver Acronyms and Abbreviations Ampere Automatic Gain Control ASCII American Standard Code for Information Interchange Carrier-to-Noise Ratio Communication Decibel Direct current Deutsches Zentrum für Luft- und Raumfahrt EPROM Erasable Programmable Read Only Memory... -
Page 7: Introduction
Fig. 1.1 GPS Orion main board A basic software for the GPS Orion receiver has earlier been made available by Mitel Semi- conductor as part of the GPS Architect Development Kit. It is restricted to purely terrestrial applications and has received numerous extensions and modifications to provide accurate navigation under the rapidly varying signal conditions encountered in typical space missions. -
Page 8: Receiver Versions
The Orion receiver is available in various versions, which basically differ by the employed receiver software. Aside from the standard receiver (Mitel reference design [3], [4]), which is restricted to terrestrial applications, a space (-S) version and a high dynamics (-HD) version are available. -
Page 9: Receiver Hardware
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 2. Receiver Hardware 2.1 Main Board A block diagram of the GPS Orion receiver main board is shown in Fig. 2.1 ([4]). The receiver is designed to work with an active antenna and +5 V power supply for the preamplifier is pro- vided on the central antenna feed. - Page 10 Document Title: User’s Manual for the GPS Orion-S/-HD Receiver RAM memory. The EPROM is arranged into two 16 bit wide chips (256 kB total), while RAM is partitioned into four 8 bit wide memory chips with a total size 512 kB. The RAM memory contents can be maintained by a dedicated backup power supply line with a current of ap- proximately 0.1 mA.
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Page 11: Interface Board
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 2.2 Interface Board The interface board provides auxiliary devices that are required for standalone operation of the Orion receivers. It comprises a switching regulator allowing operation from unregulated power supplies, a rechargeable battery to maintain the non-volatile memory and real-time clock during power down times and two RS232 serial line drivers for communication with standard peripheral devices. -
Page 12: Operations Guide
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 3. Operations Guide 3.1 Basic Receiver Handling 3.1.1 Hardware Setup For operating the GPS Orion receiver in a ground based test environment, the following hardware items are typically required: Orion main board... -
Page 13: Start-Up And Initialization
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver For proper communication, these values must match the settings of the PC communication port. While the Orion receiver is most conveniently used via a dedicated monitoring and control program (e.g. OrionMonitor), elementary operations may likewise be carried out via a stan- dard terminal program. -
Page 14: Output Selection
Fur- thermore messages can be polled once or disabled completely. The data rate selection is available for the F00/03/04/05/08 WinMon messages (i.e. the standard Mitel message set of the original Orion receiver firmware), the F40/41/42/43/45/46/47/48 WinMon messages (spe- cific for the Orion-S and/or –HD receiver) as well as a limited set of standard and proprietary... -
Page 15: Pulse-Per-Second Signal
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 3.1.6 Pulse-per-Second Signal Supporting receiver versions provide a one-pulse-per-second signal (CMOS TTL level) at pin 10 of the interface connector. The PPS signal is available in case of valid navigation. It has a one millisecond duration and its starting edge is aligned to the occurrence of an integer GPS second with an accuracy of better than 1 s. -
Page 16: Special Applications
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 3.2 Special Applications 3.2.1 Aiding for Ballistic Trajectories To allow a rapid acquisition and an optimal channel allocation in case of high vehicle dynam- ics the Orion-HD receiver can be aided by a priori trajectory information. For sounding rock- ets or other ballistic missions the nominal flight path is represented by a piecewise, low order polynomial approximation stored within the receiver (Fig. -
Page 17: Lift-Off Signal
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver nals and ensures near-continuous tracking throughout the boost and free-flight phase of the ballistic trajectory. The command interface of the Orion-HD receiver supports a total of six different instructions to support the handling of ballistic trajectory information: The LT (Load Trajectory) command initiates the upload of a set of trajectory polyno- mials. - Page 18 Document Title: User’s Manual for the GPS Orion-S/-HD Receiver play of the IIP allows the range safety officer to discern whether the rocket would eventually land outside the permissible range area and thus necessitate an abort of the boosted flight or even a destruction of the malfunctioning vehicle.
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Page 19: Aiding For Leo Satellites
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 3.2.4 Aiding for LEO Satellites The Orion-S receiver provides a dedicated aiding mode to support the GPS signal acquisition onboard a low Earth orbiting (LEO) satellite. Similar to the HD receiver, it uses a coarse ap- proximations of the nominal trajectory to forecast the visible GPS satellites and the expected line-of-sight Doppler shift. -
Page 20: Relative Navigation
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver Aided operation of the Orion-S receiver is supported by a variety of dedicated commands: For configuring the orbital elements of the user satellite, the LO (Load Orbit) com- mand is used. The first and second line of the elements set are each embedded into a separate LO command and consecutively transmitted to the receiver. -
Page 21: External Lna Power Supply
User’s Manual for the GPS Orion-S/-HD Receiver 3.2.6 External LNA Power Supply The antenna line of the Orion GPS receiver provides a +5V DC power level to feed a low noise amplifier with a maximum current consumption of about 50 mA. In some cases this specification may not be appropriate and an external power supply be required. -
Page 22: Command And Output Message Reference
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4. Command and Output Message Reference 4.1 Overview A summary of the available commands and output messages for the Orion-HD and –S re- ceivers is provided in the subsequent table: Table 4.1 GPS Orion commands and output messages... - Page 23 Document Title: User’s Manual for the GPS Orion-S/-HD Receiver WinMon out, in WinMon WinMon WinMon $GPGGA NMEA $PASHR,POS NMEA $PDLRM,IIP NMEA $PDLRM,XSD NMEA $PDLRM,RAW NMEA Document No. GTN-MAN-0110 DLR/GSOCNo part of this document shall be reproduced in any form or disclosed to third parties without prior authorization.
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Page 24: Protocol Description
User’s Manual for the GPS Orion-S/-HD Receiver 4.2 Protocol Description The Orion-S and –HD receivers employ the Mitel proprietary WinMon format for commands and output messages. In addition, selected NMEA type output messages are supported. Other than in the standard GPS Orion firmware (cf. [2]), the choice of WinMon and/or NMEA messages is not controlled by the discrete input pin (slide switch) but configured by com- mand. -
Page 25: Nmea Format
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.2.2 NMEA Format For compatibility reasons, a limited set of NMEA output messages is available in the Orion-S and –HD receivers. Even though the NMEA format could likewise be applied for command- ing, this option is not presently supported. -
Page 26: Commands
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.3 Commands The GPS Orion receiver scans the primary communication port for WinMon sentences em- bedded in the <STX>/<ETX> frame and starts the command processing, if the checksum test is passed. Commands that are syntactically correct but do not match a supported command identifier are ignored. -
Page 27: Basic Receiver Configuration
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.3.1 Basic Receiver Configuration 4.3.1.1 UR – Update Rate The navigation solution update rate can be selected using the UR command within the limits specified for a given receiver. Upon execution, the revised settings are acknowledged by one... -
Page 28: Dr - Data Rate
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.3.1.2 DR – Data Rate The DR command provides the means for an individual configuration of receiver output mes- sages. Sentences can be deactivated completely, polled once or issued at selected intervals. -
Page 29: Mc - Media Correction
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.3.1.4 MC – Media Correction The MC command controls the application of media corrections to the raw measurements prior to computing the navigation solution. The resulting status of the tropospheric correction... -
Page 30: Status Queries
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.3.2 Status Queries 4.3.2.1 TA – Transmit Almanac The TA command initiates the output of 32 messages (F13) containing the current GPS al- manac data. CmdID Chars. Format Description Transmit Almanacs <STX>... -
Page 31: Initialization
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.3.3 Initialization 4.3.3.1 PV – Position-Velocity The PV command sets the Cartesian position and velocity vector. It should be used instead of the Initial Position (IP) command to initialise the receiver in unaided mode whenever its velocity is larger than 50 m/s. -
Page 32: Dw - Doppler Window
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.3.3.2 DW – Doppler Window If code lock for an allocated GPS satellite is not acquired within a given time, the search is extended in neighbouring frequency bins at steps of ±500 Hz. The maximum Doppler offset considered in this search can be specified by the DW command. -
Page 33: Reference Trajectory Aiding
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.3.4 Reference Trajectory Aiding The Orion-S and –HD software versions support a software based aiding of the signal acqui- sition using reference trajectory information in the form of trajectory polynomials (for ballistic flights) or twoline elements (for satellites in low Earth orbit). -
Page 34: Lo - Load Orbit
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.3.4.3 LO – Load Orbit Twoline orbital elements for aiding the Orion receiver onboard a LEO satellite are loaded using the LO command. One command each is required to upload the first and second line of orbital parameters. -
Page 35: Le - Load Epoch
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.3.4.5 LE – Load Epoch CmdID Chars. Format Description Load Epoch <STX> 2 xx Command Id (=LE) 4 xxxx Year 2 xx Month 2 xx 2 xx Hours 2 xx Minutes 4 xx.x... -
Page 36: Output Messages (Winmon Format)
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.4 Output Messages (WinMon Format) 4.4.1 Periodic Receiver Data 4.4.1.1 F00 – Geographic Navigation Data (Mitel) See [2] for a complete message description. 4.4.1.2 F03 – Channel Status Data (Mitel) See [2] for a complete message description. -
Page 37: F40 - Cartesian Navigation Data
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.4.1.6 F40 – Cartesian Navigation Data The F40 message provides the Cartesian state vector (position and velocity) of the host ve- hicle in the Earth-fixed WGS84 system. It is aligned to the instance of an integer GPS sec- ond once the receiver has a achieved continuous 3D navigation fix. -
Page 38: F41 - Pseudorange And Range Rate (Smoothed)
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.4.1.7 F41 – Pseudorange and Range Rate (Smoothed) Carrier phase smoothed pseudoranges and carrier phase based range rate measurements for each of the twelve channels are provided in the F41 message. The data are identical to those employed by the receiver in the computation of the navigation solution for the same epoch. -
Page 39: F42 - Pseudorange, Carrier Phase And Range Rate (Raw)
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.4.1.8 F42 – Pseudorange, Carrier Phase and Range Rate (Raw) Complementary to the smoothed measurements given in the F41 message, the F42 mes- sage provide the unprocessed, raw pseudorange, carrier phase and range rate (Doppler) measurements for the 12 tracking channels. -
Page 40: F43 - Channel Status
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.4.1.9 F43 – Channel Status The F43 message indicates the current tracking status of each channel. It provides informa- tion on the predicted and measured Doppler shift, the signal-to-noise ratio and the currently achieved lock status. - Page 41 Document Title: User’s Manual for the GPS Orion-S/-HD Receiver and narrowband (20 ms) IQ-vector powers during 1 s intervals. Both values are em- pirically related by the expression [db-Hz] = 41.5 + 1.1· (SNR [db] – 13.0) which is also used to compute C/N with representative antenna systems range from a minimum of 5 dB to a maximum of 20 dB.
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Page 42: F44 - Clock Data
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.4.1.10 F44 – Clock Data This message provides information related to the receiver internal clock model. MsgID Chars. Format 3 xxx 4 xxxx 12 xxxxxx.xxxxx 2 xx 8 xxxxxxxx 8 xxxxxxxx 4 xxxx 12 xxxxxx.xxxxx... -
Page 43: F45- Relative Navigation Data (Wgs-84 System)
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.4.1.11 F45– Relative Navigation Data (WGS-84 System) MsgID Chars. Format 3 xxx 4 xxxx 12 xxxxxx.xxxxx 2 xx 12 sxxxxxxxx.xx 12 sxxxxxxxx.xx 12 sxxxxxxxx.xx 12 sxxxxx.xxxxx 12 sxxxxx.xxxxx 12 sxxxxx.xxxxx 2 xx 4 xx.x... -
Page 44: F47 - Iip Prediction
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.4.1.13 F47 – IIP Prediction MsgID Chars. Format 3 xxx 4 xxxx 12 xxxxxx.xxxxx 2 xx 9 sxxx.xxxx 8 sxx.xxxx 6 xxxx.x 2 xx Example: <STX>F471195 45245.5000013 4.4.1.14 F48 – Configuration and Status Parameters MsgID Chars. -
Page 45: Working Parameters
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.4.2 Working Parameters 4.4.2.1 F50 – Reference Epoch for Trajectory Polynomials MsgID Chars. Format 3 xxx 4 xxxx 2 xx 2 xx 2 xx 2 xx 4 xx.x 3 xxx Example: <STX>F502003 4 1 52813.2UTC04<ETX>... -
Page 46: F52 - User Spacecraft Mean Elements
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.4.2.3 F52 – User Spacecraft Mean Elements MsgID Chars. Format 3 xxx 4 xxxx 11 xxxxxxx.xxx 11 xxxxxx.xxxx 11 xx.xxxxxxxx 9 xxxxx.xxxx 10 xxxxx.xxxx 10 xxxxx.xxxx 10 xxxxx.xxxx 12 xxx.xxxxxxxx 2 xx Example: <STX>F521079 475200.000... -
Page 47: Diagnosis Messages
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.4.3 Diagnosis Messages 4.4.3.1 F98 – Command Response MsgID Chars. Format 3 xxx 4 xxxx 8 xxxxxx.x 2 xx 2 xx Examples: <STX>F981139172809.2-I-MC-Ionospheric correction enabled1C<ETX> <STX>F981139172809.2-E-XX-Ignored unknown command6F<ETX> Document No. GTN-MAN-0110 DLR/GSOCNo part of this document shall be reproduced in any form or disclosed to third parties without prior authorization. -
Page 48: Output Messages (Nmea Format)
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.5 Output Messages (NMEA Format) 4.5.1 $PASHR,POS Navigation Data The $PASHR,POS sentence provides the position and velocity fix as well as the satellite tracking status. The following specification describes only those fields supported by the Orion GPS receiver implementation of the $PASHR,POS message. - Page 49 Document Title: User’s Manual for the GPS Orion-S/-HD Receiver Example: $PASHR,POS,0,08,120210.00,6801.29229,N,02103.64356,E,+313516.69,,351.76,193.33,+ 2595.47,02.2,,,,D06E*26<CR><LF> If no navigation fix is available (e.g. due to an insufficient number of tracked satellites) a re- duced sentence is transmitted: Quantity Sentence identifier single comma Secondary identifier...
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Page 50: Pdlrm,Iip Instantaneous Impact Point Data
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.5.2 $PDLRM,IIP Instantaneous Impact Point Data The $PDLRM,IIP sentence provides the predicted instantaneous impact point and time to impact. If valid navigation data are available and a prediction for the impact point is computed then... - Page 51 Document Title: User’s Manual for the GPS Orion-S/-HD Receiver If no valid navigation fix is available for an IIP prediction a reduced sentence is transmitted: Quantity Sentence identifier single comma Secondary identifier single comma Current receiver time hhmmss.ss single comma...
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Page 52: Pdlrm,Xsd Extended Status Data
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.5.3 $PDLRM,XSD Extended Status Data The $PDLRR,XSD sentence contains channel and receiver status information. Quantity Format Sentence identifier CCCCC single comma Secondary identifier single comma UTC (time) hhmmss.ss single comma Current Date... -
Page 53: Pdlrm,Raw Raw Measurement Data
Document Title: User’s Manual for the GPS Orion-S/-HD Receiver 4.5.4 $PDLRM,RAW Raw Measurement Data The $PDLRR,RAW sentence contains carrier phase smoothed pseudorange and range rate data. Quantity Format Sentence identifier CCCCC single comma Secondary identifier single comma UTC (time) hhmmss.ss... -
Page 54: References
User’s Manual for the GPS Orion-S/-HD Receiver References [1] GPS Orion 12 Channel GPS Receiver Design; DS4808; Mitel Semiconductor; Issue 1.3, August 1997. [2] GPS Orion - GP2000 Series Demonstrator Board User’s Guide; DM4922; Mitel Semiconductor; Issue 4, March 1998.