RoyalTek REB-3000 Operational Manual
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RoyalTek REB-3000 Operational Manual

Royaltek rgm-3000/reb-3000 operational manual
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Operational Manual
RGM-3000/REB-3000
Operational Manual
Version 1.3
2002/5/29
This document contains information highly confidential to RoyalTek Company LTD (RoyalTek). It
is provided for the sole purpose of the business discussions between supplier and RoyalTek and
is covered under the terms of the applicable Non-Disclosure Agreements. Disclosure of this
information to other parties is prohibited without the written consent of RoyalTek.
Prepared by
RoyalTek Company LTD.
A Company of Royal Group
1071, Chung Cheng Rd., Suite 9F-1
Tao Yuan City, Taiwan, R.O.C.
TEL: 886-3-3569666
FAX: 886-3-3560900
E-Mail:
sales@royaltek.com
http://www.royaltek.com

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Summary of Contents for RoyalTek REB-3000

  • Page 1 This document contains information highly confidential to RoyalTek Company LTD (RoyalTek). It is provided for the sole purpose of the business discussions between supplier and RoyalTek and is covered under the terms of the applicable Non-Disclosure Agreements. Disclosure of this information to other parties is prohibited without the written consent of RoyalTek.

  • Page 2: Table Of Contents

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) RoyalTek GPS Module: RGM-3000/REB-3000101 Operational Manual ... 1 NTRODUCTION ... 1 RODUCT EATURES ... 1 RODUCT APPLICATIONS ... 1 ECHNIQUE DESCRIPTION ... 2 ICTURE RGM-3000E... 2 RGM-3000L ... 2 RGM-3000M ... 2 REB-3000 ... 3...
  • Page 3 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Set Main Serial Port-Message I.D. 134... 24 Mode control – Message I.D .136 ... 24 DOP Mask Control – Message I.D. 137 ... 25 DGPS Control – Message I.D.138 ... 25 Elevation Mask – Message I.D.139... 26 Power Mask –...
  • Page 4 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) RoyalTek Navigation Data – Message I.D.100... 44 Set Ephemeris – Message I.D.254 ... 45 Development Data – Message I.D.255 ... 45 GPS Receiver User’s Tip ... 46...

  • Page 5: Royaltek Rgm-3000/Reb

    GPS Module Operational Manual) RoyualTek GPS Module: RGM-3000/REB-3000 Operational Manual Introduction RGM-3000/REB-3000 is the third generation of RoyalTek GPS Receiver. RGM-3000(E,M) consists of active antenna and GPS receiver. REB-3000(or RGM-3000L) consists of GPS receiver without active antenna. The GPS receiver is powered by SiRF Star II technology and RoyalTek proprietary navigation algorithm that providing you more stable navigation data.

  • Page 6: Picture

    (2.8DCV ± 5%) through RF cable. There are 2 models for Picture RGM-3000E versatile antenna connectors: 1) RGM-3000L: with SMA RF cable. 3) REB-3000: with HRS type of antenna connector (male) which you can connect to versatile types of antenna.

  • Page 7: Rgm-3000L

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) RGM-3000L RGM-3000M The cable length can be adjusted by customer’s requirement (standard:10cm) SMA connector...
  • Page 8 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) REB-3000 RGM-3000/REB-3000 Series System Block Diagram The RGM-3000/REB-3000 series consists of SiRF star II chipsets technology, RoyalTek LNA and proprietary software. The system is described as follows. RGM-3000M/RGM-3000E Patch ANT SIRF GRF2I Filter Flash...

  • Page 9: Reb-3000

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) RGM-3000L/REB-3000 GPS.receiver w/o patch SIRF Filter GRF2I ANT. Flash Memory SiRF GSP2e RS232 port (TTL) x 2 Programming I/O port x 7 Control line x 4...

  • Page 10: Rgm-3000/Reb-3000 Series

    Acceleration: 4 g. , Max. Power Requirements. The input voltage is 3.3V±10%, ripple ≦ 200mV. The power of active antenna is supplied by RGM-3000/REB-3000 series. The full run (without trickle power) maximum current is less than 180mA. Weight. 30g(RGM-3000),15g(REB-3000) Environment.

  • Page 11: Rgm-3000/Reb-3000 Mechanical Layout

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Mechanical Layout RGM-3000/REB-3000 Mechanical Layout RGM-3000E Pin 1 RGM-3000L...
  • Page 12 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) RGM-3000M REB-3000...
  • Page 13 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Flexible Flat Circuit & Connectot...

  • Page 14: Hardware Interface

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Hardware interface RGM-3000/REB-3000. Name System Power System Power Navigation Data Output TTL Level ； Voh≧2.4V，Vol≦0.4V；Ioh=Iol=2mA Serial Data Input Reserved RTCM 104 Differential GPS Input TIMEMARK 1 Pulse per second time mark Output RESET System Reset ， Active BOOTSEL Internal boot ，...

  • Page 15: Absolute Maximum Ratings

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) VCC DC Power Input This is the main power supply for the Engine board. The power range is from 3.3V±10%, ripple 200mV. The maximum current of RGM-3000 is 200mA. GND provides the ground for the Engine board.

  • Page 16: Design Layout Diagram

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Design Layout Diagram Recommanded Ground plate for RGM-3000M RGM-3000M with ground plate...

  • Page 17: Software Interface

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Recommanded RGM-3000-A Antenna Ground Plate Connector tool (Option, not included in standard kit) It is used to remove or install FPC on connector. Software interface NMEA V2.2 Protocol It is the RS-232 interface:9600 bps, 8 bit data, 1 stop bit and no parity.
  • Page 18 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) GGA-Global Positioning System Fixed Data Table 2 contains the values of the following example: $GPGGA, 161229.487, Table 2 GGA Data Format Name Example Message ID $GPGGA UTC Position 161229.487 Latitude 3723.2475 N/S Indicator Longitude 12158.3416...
  • Page 19 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Table 4 GSA Data Format Name Example Message ID $GPGSA Mode 1 Mode 2 Satellite Used Satellite Used …. Satellite Used PDOP HDOP VDOP Checksum ＜CR＞＜LF＞ Table 4-1 Mode 1 Value Table 4-2 Mode 2...

  • Page 20: Ground Speed

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Table 6 RMC Data Format Name Message ID UTC Position 161229.487 Status Latitude N/S Indicator Longitude 12158.3416 E/W Indicator Speed Over Ground Course Over Ground Date Magnetic Variation Checksum ＜CR＞＜LF＞ VTG-Course Over Ground and...

  • Page 21: Sirf Nmea Input Messages

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) message section for <data>…<data> definition CKSUM is a two-hex character checksum as defined in the NMEA specification . Use of checksums is required on all input messages. Each message is terminated by using Carriage Return (CR) Line Feed (LF) which is \r\n which is hex 0D 0A.
  • Page 22 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) clock offset , and time .This enables the Evaluation Unit to search for the correct satellite signals at the correct signal parameters . Correct initialization parameters enable the Evaluation Unit to acquire signals quickly.

  • Page 23: Lla Navigation Initialization

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Table 12 Query/Rate Control Data Format(See example 1.) 1.Quety the GGA message with checksum enabled: $PSRF103,00,01,00,01*25 2.Enable VTG message for a 1 Hz constant output with checksum enabled: Table 12 Query/Rate Control Data Format(See example 1.)

  • Page 24: Development Data On/Off

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) 0x04 Clear Memory – Cold Start =1 Development Data On/Off Use this command to enable development data information if you can not get the commands accepted. Invalid commands generate debug information that enables the user to determine the source of the command rejection.
  • Page 25 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) but operates independently. The byte count refers to the payload byte length. Likewise, the check sum is a sum on the payload. Message Length The message length is transmitted high order byte first followed by the low byte.

  • Page 26: Initialize Data Source-Message I.d. 128

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) 0 x 92 0 x 93 0 x 95 0 x 96 0 x 97 0 x 98 0x A5 0x A6 0x A7 Initialize Data Source-Message I.D. Table 18 contains the input values for the...

  • Page 27: Set Almanac- Message I.d. 130

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Switch To NMEA – Message I.D. 129 Table 20 contains the input values for the following example: Request the following NMEA data at 9600 baud: GGA – ON at 1 sec , GLL – 0sec , GSA – ON at 5 sec GSV –...

  • Page 28: Dgps Source – Message I.d. 133

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Example: A0A20002 – Start Sequence and Payload Length Table 23 Software Version Name Bytes Scale Message ID Payload Length: 2 bytes DGPS Source – Message I.D. 133 This command allows the user to select the source for DGPS corrections.

  • Page 29: Set Main Serial Port-Message I.d. 134

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) WAAS External RTCM Data Internal DGPS Beacon Receiver Table B- 9 Internal Beacon Search Settings Search Type Frequen Auto Scan Full Frequency Scan Full Bit Rate Scan Zero Specific Search Zero Set Main Serial Port-Message I.D. 134...

  • Page 30: Dop Mask Control - Message I.d. 137

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Scale Example Name Bytes Message ID 3D Mode Alt Constraint Degraded Mode DR Mode Altitude Alt Hold Mode Alt Source Coast Time Out Degraded Time Dr Time Out Track Smoothing Payload Length:14 bytes Table 25 Degraded Mode Byte Value...

  • Page 31: Elevation Mask - Message I.d.139

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) A0A20003 – Start Sequence and Payload Length 8A011E – Payload 00A9B0B3 – Message Checksum and Table 28 DGPS Control Name Bytes Message ID DGPS Selection DGPS Time Out Payload Length:3 bytes Table 29 DGPS Selection...

  • Page 32: Editing Residual - Message I.d.141

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Editing Residual – Message I.D.141 Note – Not implemented currently Steady State Detection – Message I.D.142 Table 32 contains the input values for the following example: Set Stead State Threshold to 1.5 m/sec Table 32 Steady Detection...

  • Page 33: Ephemeris Message I.d.147

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Name Bytes Message ID Payload Length: 2 bytes Ephemeris Message I.D.147 Table 36 contains the input values for the following example:Poll for Ephemeris Data for all satellites. Example: A0A20003 – Start Sequence and Payload...

  • Page 34: Computation Of Duty Cycle And On Time

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) following example: Sets the receiver into low power Modes. Example: Set receiver into Trickle Power at 1 hz update and 200 ms On Time. A0A20009—Start Sequence and Payload Table 38 Set Trickle Power Parameters I.D. 151...

  • Page 35: Push-To-Fix

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Push-to-Fix In this mode the receiver will turn on every 30 minutes to perform a system update consisting of a RTC calibration and satellite ephemeris data collection if required (i.e., a new satellite has become visible) as well as all software tasks to support SnapStart in the event of an NMI.

  • Page 36: Set Message Rate - Message I.d. 166

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Table B- 28 Set UART Configuration Name Bytes Scale Message ID Port In Protocol Out Protocol Baud Rate Data bits Stop bits Parity Reserved Reserved Port In Protocol Out Protocol Baud Rate Data bits...

  • Page 37: Low Power Acquisition Parameters - Message I.d. 167

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) 00AEB0B3—Message Checksum and End Sequence Table B- 29 Set Message Rate Name Bytes Scale Message ID Send Now MID to set Update Rate Payload Length: 8 bytes 1. 0 = No, 1 = Yes, if no update rate the message will be polled.
  • Page 38 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) 0x09 Throughput 0x0B Command Acknowledgment 0x0C Command N Acknowledgment 0X0D Visible List 0x0E Almanac Data 0x0F Ephemeris Data 0x11 Differential Corrections 0x12 OkToSend 0x13 Navigation Parameters 0x1C Nav. Lib. Measurement Data 0x1D Nav. Lib. DGPS Data 0x1E Nav.

  • Page 39: Measured Tracker Data Out - Message I.d.4

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) CH 11 CH 12 Payload Length :41 bytes For further information , go to Table 42 Dilution of precision (DOP) field contains value of PDOP when Position is obtained using 3D solution and HDOP in all other cases.

  • Page 40: Raw Tracker Data Out - Message I.d.5

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Channels Sv ID Azimuth Az*[2/3] Elev. State C/NO 1 C/NO 2 C/NO 3 C/NO 4 C/NO 5 C/NO 6 C/NO 7 C/NO 8 C/NO 9 C/NO 10 Sv ID Azimuth Az*[2/3] Elev. State C/NO 1 C/NO 2 …..
  • Page 41 RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Bits Chips Code Phase 2 -16 Carrier Doppler 2 -10 Time Tag Delta Carrier 2 -10 Search Count C/NO 1 C/NO 2 C/NO 3 C/NO 4 C/NO 5 C/NO 6 C/NO 7 C/NO 8...

  • Page 42: Calculation Of Pseudo-Range Measurements

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Phase Loss The number of time the phase lock fell below the threshold between the Count: present code phase sample and the previous code phase sample. This task is performed every 20 ms (max count is 50).

  • Page 43: Response :Clock Status Data – Message I.d.7

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Table 49 Software Tracker Data Out Scale Name Bytes Message ID Character Payload Length: 21 bytes Note – Convert to symbol to assemble message (i.e., 0x4E is ’N’). These are low priority task and are not necessarily output at constant intervals.

  • Page 44: Command N Acknowledgment – Message I.d. 12

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) (available from www.navcen.uscg.mail) CPU Throughput – Message I.D.9 Output Rate:1 Hz Table 52 CPU Throughput Scale Name Bytes Message ID SegStatMax *186 SegStatLat *186 AveTrkTime *186 Last MS Payload Length: 9 bytes Command Acknowledgment –...

  • Page 45: Visible List – Message I.d.13

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Visible List – Message I.D.13 Output Rate:Updated approximately every 2minutes. Note – This is a variable length message. Only the number of visible satellites are reported(as define by visible Svs in Table 55), Maximum is 12 satellites Example:A0A2002A –...

  • Page 46: Navigation Parameters (Response To Poll) – Message I.d. 19

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Name Bytes Message ID Send indicator Payload Length: 2 bytes 0 implies that CPU is about to go OFF, OkToSend==NO, 1 implies CPU has just come ON, OkToSend==YES Navigation Parameters (Response to Poll) – Message I.D. 19...

  • Page 47: Navigation Library Measurement Data - Message I.d. 28

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Navigation Library Measurement Data - Message I.D. 28 Output Rate: Every measurement cycle (full power / continuous : 1Hz) Example: A0A20038—Start Sequence and Payload Table B- 54 Measurement Data Name Bytes Message ID Channel...

  • Page 48: Navigation Library Initialization Data - Message I.d. 31

    RoyalTek RGM-3000/REB-3000 GPS Module Operational Manual) Pseudo-range Correction Pseudo-range Rate Correction Correction Age Reserved Reserved Payload Length: 26 bytes 1. 0 = Use no corrections, 1 = Use WAAS channel, 2 = Use external source, 3 = Use Internal Beacon, 4 = Set DGPS Corrections Navigation Library SV State Data - Message I.D.

  • Page 49: Royaltek Navigation Data - Message I.d.100

    4. 0 = Use DGPS if available 1 = Only navigate if DGPS corrections are available 2 = Never use DGPS corrections 5. 0 = True 1 = False RoyalTek Navigation Data – Message I.D.100 Output Rate: 1Hz Example :A0A2001A – Start Sequence 00000000...

  • Page 50: Set Ephemeris - Message I.d.254

    PDOP HDOP VDOP Payload Length: 42 bytes. This protocol is provided from RoyalTek firmware Ver. 1.7. release *hh<CR><LF> Check Sum and sentence termination delimiter Set Ephemeris – Message I.D.254 This command enables the user to upload an ephemeris to the Evaluation unit.

  • Page 51: Gps Receiver User's Tip

    GPS receiver has better receiving performance. 2. When GPS receiver is moving, it will prolong the time to fix the position, so suggest to wait for the satellite signals to be locked at a fixed point when first power-on the GPS receiver to ensure to lock the GPS signal at the shortest time.

This manual is also suitable for:

Rgm-3000Rgm-3000mRgm-3000eRgm-3000l

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