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LEA-4R / TIM-4R
System Integration Manual / Reference Design
Abstract
This docu
ment
de
scribes the atures
LEA-4R / TIM-4R low power DR GPS modules. It guides through a
design and provides information to get maximum GPS
performance at very low power consumption.
your position is our focus
fe
an
d specifications of the
u-blox AG
Zürcherstrasse 68
8800 Thalwil
Switzerland
www.u-blox.com
Phone +41 1722 7444
Fax +41 1722 7447
info@u-blox.com
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Table of Contents
Related Manuals for u-blox LEA-4R
Summary of Contents for u-blox LEA-4R
- Page 1 u-blox AG Zürcherstrasse 68 8800 Thalwil Switzerland www.u-blox.com Phone +41 1722 7444 Fax +41 1722 7447 info@u-blox.com LEA-4R / TIM-4R System Integration Manual / Reference Design Abstract ...
- Page 2 therein. This ...
- Page 3 Preface The LEA-4R / TIM-4R System Integration Manual provides the necessary information to successfully design in and ® configure these ANTARIS 4-based GPS receivers. This document specifically refers to the Dead Reckoning ® technology available in the LEA-4R and TIM-4R. It does not explain the ANTARIS 4 system. For detailed ® ® information regarding ANTARIS 4 technology, see the ANTARIS 4 System Integration Manual [5]. ...
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Page 4: Table Of Contents
your position is our focus Contents 1 Dead Reckoning Fundamentals ...................7 1.1 Dead Reckoning enabled GPS (DR)................7 1.2 Dead Reckoning Principle....................7 1.3 Dead Reckoning Performance ..................8 2 Design-In........................10 2.1 Schematic Design-In Checklist for LEA-4R/TIM-4R .............10 2.2 TIM-4R/LEA-4R Design ....................11 2.2.1 Forward / Backward Indication................11 2.2.2 Odometer / Speedpulses..................11 2.2.3 Power Supply for Gyroscope, Temperature Sensor and A/D Converter....11 2.2.4 SPI Interface for Gyroscope and Temperature Sensor ..........12 2.3 Pinout tables ......................13 ®... - Page 5 5 Product Testing......................32 5.1 u-blox In-Series Production Test ................32 5.2 Test Parameters for OEM Manufacturer ..............32 5.3 System Sensitivity Test ....................33 5.3.1 Guidelines for Sensitivity Tests ................33 5.3.2 ‘Go/No go’ tests for integrated devices ...............33 5.4 Testing of LEA-4R/TIM-4R Designs ................34 5.4.1 Direction Signal ....................34 5.4.2 Speedpulse Signal ....................34 5.4.3 Gyroscope (Rate) Input ..................34 5.4.4 Temperature Sensor ...................34 5.4.5 Erase Calibration ....................34 6 PC Support Tools ......................35 ...
- Page 6 your position is our focus C Reference Design for TIM-4R..................42 D Mechanical Data ......................43 D.1 Dimensions.......................43 D.2 Specification......................44 Glossary ..........................45 LEA-4R / TIM-4R - System Integration Manual / Reference Design Content GPS.G4-MS4-05043 Page 6 ...
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Page 7: 1 Dead Reckoning Fundamentals
+ dy + dx δ Known parameters: s = Traveled distance (odometer, direction) δ = New angle (gyroscope) dy = s cos ( δ ) dx = s sin ( δ ) = last GPS position = DR position Figure 2: Dead Reckoning Principle Parameters used for the relative position calculation are: An odometer is by definition a device, which measures linear distance traveled. GPS receivers can also include software (also known as an odometer) used to calculate this distance. LEA-4R / TIM-4R - System Integration Manual / Reference Design Dead Reckoning Fundamentals GPS.G4-MS4-05043 Page 7 ... -
Page 8: Dead Reckoning Performance
GPS Positioning is weighted more heavily as long as the GPS parameter (e.g. DOP, number of satellites, signal quality) indicates good and reliable performance. In situations, where the GPS signals are poor, reflected from buildings (multipath) or jammed the DR solution is used with a higher weighting. No GPS Poor GPS Good GPS Extrapolation Blending Calibration Position, Velocity, Time Position, Velocity, Time Position, Velocity, Time from real-time clock Altitude held constant Figure 4: Dead Reckoning Blending LEA-4R / TIM-4R - System Integration Manual / Reference Design Dead Reckoning Fundamentals GPS.G4-MS4-05043 Page 8 ... - Page 9 With good GPS performance and optimal sky view, the GPS position has a higher weight than the DR/sensor based position on the overall navigation solution. In this situation, the GPS position values are used to calibrate the DR sensors or to perform sensor integrity checks (to establish if the sensors are well calibrated). LEA-4R / TIM-4R - System Integration Manual / Reference Design Dead Reckoning Fundamentals GPS.G4-MS4-05043 Page 9 ...
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Page 10: 2 Design-In
your position is our focus 2 Design-In This section provides a Design-In Checklist as well as Reference Schematics for new designs with LEA-4R/TIM-4R. For migration of existing TIM-LR product designs to TIM-4R please refer to Appendix A. 2.1 Schematic Design-In Checklist for LEA-4R/TIM-4R Designing-in a LEA-4R/TIM-4R GPS receiver is easy, especially when a design is based on the reference design in Appendix C. Nonetheless, it pays to do a quick sanity check of the design. This section lists the most important items for a simple design check. The Layout Checklist in Section 2.4 also helps to avoid an unnecessary respin of the PCB and helps to achieve the best possible performance. ® Note It’s highly recommended to follow the Design-In Checklist when developing any ANTARIS 4 GPS applications. This can shorten the time to market and significantly reduce the development cost. -
Page 11: Tim-4R/Lea-4R Design
Sensor (MOSI) leave open (BOOT_INT) leave open Figure 5: Block Schematic of a complete LEA-4R / TIM-4R Design 2.2.1 Forward / Backward Indication Use of the forward / backward indication signal FWD is optional but strongly recommended for good dead reckoning performance. Connect to VDD18_OUT (1.8V) if not used. You need to check the voltage levels and the quality of the vehicle signals. They may be of different voltage ... -
Page 12: Spi Interface For Gyroscope And Temperature Sensor
Selects A/D converter for gyro signal 9 PCS0_N Output Selects temperature sensor with SPI interface 23 SCK Output SPI clock 2 MISO Input Serial data (Master In / Slave Out) 1 MOSI Output Serial data (Master Out / Slave In), leave open Table 1: SPI pin for LEA-4R Signal name Direction Usage 24 PCS1_N Output Selects A/D converter for gyro signal 25 PCS0_N Output Selects temperature sensor with SPI interface 26 SCK Output SPI clock 27 ... -
Page 13: Pinout Tables
Add appropriate coupling capacitances according to the recommendations in the data sheets of the illustrated semiconductor products. All shown resistors shall have 5% accuracy or better. All shown capacitors (X7R types) shall have 10% accuracy or better. Note For correct operation with the LEA-4R/TIM-4R firmware, this circuit must be adopted without making any modifications such as, but not limited to, using different types of semiconductor devices and changing signal assignment. 2.3 Pinout tables LEA-4R TIM-4R Name ... -
Page 14: Layout Design-In Checklist For Antaris 4
For improved shielding, add as many vias as possible around the micro strip, around the serial communication lines, underneath the GPS module etc. Calculation of the micro strip The micro strip must be 50 Ohms and it must be routed in a section of the PCB where minimal interference from noise sources can be expected. In case of a multi-layer PCB, use the thickness of the dielectric between the signal and the 1st GND layer (typically the 2nd layer) for the micro strip calculation. If the distance between the micro strip and the adjacent GND area (on the same layer) does not exceed 5 times the track width of the micro strip, use the “Coplanar Waveguide” model in AppCad to calculate the micro strip and not the “micro strip” model. 2.5 Layout ® Please refer to the Antaris 4 System Integration Manual [5] for layout recommendations. LEA-4R / TIM-4R - System Integration Manual / Reference Design Design-In GPS.G4-MS4-05043 Page 14 ... -
Page 15: 3 Receiver Description
Two serial ports are available for communication (see Section on Serial ® Communication in Antaris 4 System Integration Manual [5]) and are freely configurable for NMEA or u-blox proprietary protocols. It provides a TIMEPULSE signal for timing synchronization (see Section on Timing in ®... - Page 16 The INF message: “ERROR: EKF disabled. Tick data inconsistent.” indicates a shutdown of the DR algorithm due to inconsistency of the speedpulses/ odometer signal. It happens if the speed signal line or the sensor is broken. To recover, check the odometer signal and reset the receiver. If it happens again, reset all calibration data and repeat an initial calibration. LEA-4R / TIM-4R - System Integration Manual / Reference Design Receiver Description GPS.G4-MS4-05043 Page 16 ...
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Page 17: Input Signals/ Sensors
Consult the datasheet of the gyro carefully to choose the appropriate mounting technique as well the right parameter settings (e.g. Gyro Sensitivity, Polarity, max angle of inclination etc.) Z axis Angle of incline Gyro Y axis X axis z axis Figure 10: Mounting of the gyroscope LEA-4R / TIM-4R - System Integration Manual / Reference Design Receiver Description GPS.G4-MS4-05043 Page 17 ... - Page 18 your position is our focus Refer to the LEA-4R/TIM-4R datasheets for recommendations about the selection of gyros. Note Please follow design recommendations from the gyroscope manufacturers for proper analog signal conditioning. 3.1.2.2 Temperature sensor The Output of the Gyroscope (especially Gyro Offset) is very sensitive to temperature changes. Therefore ...
- Page 19 Good GPS coverage The direction signal indicates the For short distances the influence of the right direction mismatching direction signal can be neglected (in order of meters, e.g. Good DR performance maneuvering a car into a parking lot). For longer distances it might have significant impact to the calibration parameter. Table 5: Consequences of a missing direction signal Note As the forward/backward direction signal is not available in all cars, try to make use of the reverse gear light. LEA-4R / TIM-4R - System Integration Manual / Reference Design Receiver Description GPS.G4-MS4-05043 Page 19 ...
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Page 20: Dr Specific Parameters
DR specific GPS configuration As the GPS Kalman Filter and the Enhanced Kalman Filter are optimized by u-blox, do not change the Power Mode in UBX-CFG (Config) – RXM (Receiver Manager) or any of the UBX-CFG (Config) – NAV (Navigation) ... -
Page 21: Dr Calibration
3.1.4. Table 7: DR Navigation Parameter Warning Do not change any navigation configurations (refer to Section 4) settings when using LEA-4R/TIM-4R, as it may influence the performance of the Enhanced Kalman Filter. 3.1.4 DR Calibration The calibration of the DR sensors is a transparent and continuously ongoing process during periods of good GPS reception: •... - Page 22 The above instructions shall not be made a rule towards any end user. They shall only be applied in a testing environment where sufficient care is taken that these driving instructions can be carried out without creating any risk of accidents or violation of regulations. LEA-4R / TIM-4R - System Integration Manual / Reference Design Receiver Description GPS.G4-MS4-05043 Page 22 ...
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Page 23: Storage Of Parameters
At startup, the previously stored heading will be retrieved in order to continue accurate dead reckoning navigation in the right direction until sufficient number of satellites is visible again to calculate an absolute position fix. LEA-4R / TIM-4R - System Integration Manual / Reference Design Receiver Description GPS.G4-MS4-05043 Page 23 ... -
Page 24: Static Position
your position is our focus All DR specific information is stored in 30-minute intervals into Flash EPROM. The interval is configurable in UBX – CFG (Config) – EKF (EKF Settings). If a backup supply voltage is applied to V_BAT pin, the information above is stored in 1s intervals into battery-backup RAM. Note Provision of a backup power supply to DR enabled GPS receivers (e.g. LEA-4R/TIM-4R) is required. 3.1.6 Static Position When DR enabled receiver is not moving (i.e. it receives no pulses from the odometer), it will always output DR Mode, regardless of whether or not GPS coverage is available. In this case, position data will be kept constant (except altitude as this is a DR independent parameter). During this time the Gyro Bias will be calibrated, as it is expected that the object is not moving. Note Do not confuse this with Static Hold Mode from the GPS Kalman Filter. 3.2 Power Saving Modes Please note that FIXNOW is not supported by the LEA-4R/TIM-4R 3.3 Antenna and Antenna Supervisor ® For information regarding the antenna and antenna supervisor please refer to the ANTARIS 4 System Integration Manual [5]. ... -
Page 25: 4 Navigation
(Latitude, Longitude and Altitude), ECEF coordinate frame or Universal Transverse Mercator (UTM) format. The LLA output can be configured to one out of more than 200 pre-defined datums, or to a user datum. ® Map Datum The ANTARIS 4 GPS Technology supports more than 200 different map datums (including one user specific datum) and Universal Transverse Locator (UTM) ® Navigation Update Rate The ANTARIS 4 GPS Technology supports navigation update rates higher than 1 update per second. For LEA-4R/TIM-4R the Navigation Update Rate is fixed at 1Hz. Dynamic models adjust the navigation engine, tuning the GPS performance Dynamic Platform Model to the application environment. Do not change for LEA-4R/TIM-4R Allow Almanac Navigation Enable Almanac Navigation (without ephemeris data) as a degraded mode to realize fast fixes with reduced position accuracy. Navigation Input Filters Applies a mask to the input parameters of the navigation engine to filter the input data. It screens potentially poor quality data preventing its use in the navigation engine. Navigation Output Filters Applies a mask to the position fixes to prevent poor quality from being output. Internally, the positions are still calculated to further track the SVs. ... -
Page 26: Dynamic Platform Model
(heading is equal to the last calculated heading) until the Dead Reckoning Timeout is reached. The position is extrapolated but it’s indicated as “NoFix” (except for NMEA V2.1). Note For sensor based Dead Reckoning GPS solutions, u-blox offers Dead Reckoning enabled GPS modules (LEA-4R/TIM-4R). It allows high accuracy position solutions for automotive applications at places with poor or no GPS coverage. This technology relies on additional inputs from a turn rate sensor (gyro) and a ... -
Page 27: Navigation Input Filters
Min C/No Initial Min C/No Minimum C/N0 for the initial fix. Only satellites exceed this threshold will be used for the calculation of the first position fix. This parameter may be set to a higher value than "Min C/No (Nav)" in order to achieve a higher confidence in the accuracy of the first position fix. Min SV Elevation Minimum elevation of a satellite above the horizon in order to be used in the navigation solution. Low elevation satellites may provide degraded accuracy, because of the long signal path through the atmosphere. DR (Dead Reckoning) The time during which the receiver provides an extrapolated solution. After the DR timeout has expired no GPS solution is provided at all. Don not Timeout change for LEA-4R/TIM-4R. Table 11: Navigation Input Filter parameters (UBX-CFG-NAV2) Does not apply to DR enabled receivers (like TIM-LR) LEA-4R / TIM-4R - System Integration Manual / Reference Design Navigation GPS.G4-MS4-05043 Page 27 ... -
Page 28: Navigation Output Filters
NMEA Valid Flag (Position Fix Indicator) A position fix is declared as valid if all of the conditions below are met: • ® Position fix with at least 3 satellites (2D or 3D fix). In order to ensure a good accuracy, the ANTARIS 4 GPS Technology does not support 1D fixes. • The ‘3D Position Accuracy Estimate’ needs to be below the ‘Position Accuracy Mask’ • The PDOP value needs to be below the ‘PDOP Accuracy Mask’. Note The ‘Position Accuracy Mask’ and the ‘PDOP Mask’ are configurable. This allows customizing the behavior of the valid flag to application requirements (see Section 4.1.8). LEA-4R / TIM-4R - System Integration Manual / Reference Design Navigation GPS.G4-MS4-05043 Page 28 ... - Page 29 TIM-LR / DR enabled receivers only For DR enabled receiver a valid fix is always a combination of a GPS fix with a DR position based on the attached DR sensor (turn rate sensor, odometer)- For DR enabled receivers the EKF only fix is considered as valid as long as it’s within the defined accuracy range. LEA-4R / TIM-4R - System Integration Manual / Reference Design Navigation GPS.G4-MS4-05043 Page 29 ...
- Page 30 TIM-4R / DR enabled receivers only For DR enabled receiver a valid fix is always a combination of a GPS fix with a DR position based on the attached DR sensor (turn rate sensor, odometer)- For DR enabled receivers the EKF only fix is considered as valid as long as it’s in the defined accuracy range. LEA-4R / TIM-4R - System Integration Manual / Reference Design Navigation GPS.G4-MS4-05043 Page 30 ...
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Page 31: Dgps (Differential Gps)
4.1.11 SBAS (Satellite Based Augmentation Systems) • Please note that the LEA-4/TIM-4R does not support SBAS. 4.1.12 RAIM (Receiver Autonomous Integrity Monitoring) RAIM is a process where the GPS unit itself uses various techniques to monitor the signals it is receiving from the satellites, ensuring that the information used in the navigation solution is valid. Four SVs are required for a 3D navigation solution. The presence of one bad SV could be detected if five SVs were available. A bad SV could be identified and eliminated from the solution if six or more SVs are available (Fault Detection and Exclusion (FDE)). ® The ANTARIS 4 Technology supports RAIM and has the ability to enable/disable this feature using software commands. RAIM can only function with sufficient SV visibility and acceptable DOP geometry. RAIM is activated by default and it is recommended to have it enabled at all times. The status of the RAIM system is reported in the NMEA – GPGBS (GNSS Satellite Fault Detection) message. LEA-4R / TIM-4R - System Integration Manual / Reference Design Navigation GPS.G4-MS4-05043 Page 31 ... -
Page 32: 5 Product Testing
5 Product Testing 5.1 u-blox In-Series Production Test u-blox focuses on a high quality of its products. To achieve a high standard it’s our philosophy to supply fully tested units. Therefore at the end of the production process, every unit will be tested. Defective units will be ... -
Page 33: System Sensitivity Test
As the electro-magnetic field of a redistribution antenna is not homogenous, indoor tests are in most cases not reliable. This kind of tests may be useful as a ‘go/no go’ test but not for sensitivity measurements. LEA-4R / TIM-4R - System Integration Manual / Reference Design Product Testing GPS.G4-MS4-05043 Page 33 ... -
Page 34: Testing Of Lea-4R/Tim-4R Designs
your position is our focus 5.4 Testing of LEA-4R/TIM-4R Designs The GPS functionality should be checked as outlined in Section 5.3. Note When testing the design ensure that no GPS signals are being received. Failure to do so can eventually result in operation errors. 5.4.1 Direction Signal This input shall be set once to high level and once to low level. In both states the software parameters are read back with the UBX-NAV-EKFSTATUS. The direction flag shall read FWD_HIGH = 1 (forward) for a high level at the FWD input and FWD_LOW = -1 (backward) for a low level at the FORWARD input. 5.4.2 Speedpulse Signal A rectangular waveform with 2kHz frequency shall be fed into the SPEED input. The result can be read back with the UBX-NAV-EKFSTATUS message. The number of speed pulses during the last update period divided by the ... -
Page 35: 6 Pc Support Tools
your position is our focus 6 PC Support Tools ® For information on various PC Support Tools for the LEA-4R/TIM-4R please see the ANTARIS 4 System Integration Manual [5]. LEA-4R / TIM-4R - System Integration Manual / Reference Design PC Support Tools GPS.G4-MS4-05043 Page 35 ... -
Page 36: A Migration From Tim-Lr To Tim-4R
TIM-LR R14 18k 47k R32 47k R36 5k6 47k R39 47k Table 23: Resistor values by migration from TIM-LR to TIM-4R • The UBX-CFG-NAV message (TIM-LR only) has been replaced by the UBX-CFG-NAV2 message (TIM-4R) 0Ω Resistor 0Ω Resistor LEA-4R / TIM-4R - System Integration Manual / Reference Design Migration from TIM-LR to TIM-4R GPS.G4-MS4-05043 Page 36 ... -
Page 37: A.1 Migration From Tim-Lr To Tim-4R Pin Out
PCS0_N PCS0_N Different voltage level MISO Not connected MISO Not connected MOSI/ MOSI 1.8V I/O (LP: 3.0V) 3.0V I/O 1.8V out TIMEPULSE TIMEPULSE 3.0V out Same functionality but different output voltage. (LP: 3.0V) 1.8V I/O (LP: 3.0V), 3.0V I/O, not Different voltage level AADET_N AADET_N not connected connected : Pins to be checked carefully Table 25: Pin-out comparison TIM-LR vs. TIM-4R LEA-4R / TIM-4R - System Integration Manual / Reference Design Migration from TIM-LR to TIM-4R GPS.G4-MS4-05043 Page 37 ... -
Page 38: B Default Settings
P Accuracy 100 m T Accuracy 300 m Fix Mode Auto 2D/3D # Auto 2D/3D – 2D only – 3D only Enabled Enabled - Disabled; DO NOT DISABLE! RAIM 60 s DGPS Timeout Fixed Altitude 500 m Table 31: Navigation default settings LEA-4R / TIM-4R - System Integration Manual / Reference Design Default Settings GPS.G4-MS4-05043 Page 38 ... -
Page 39: B.3 Power Saving Modes
120 s T_acq_off 600 s Last Fix – Timeout T_reacq 120 s T_reacq_off 600 s System Mode Sleep On; Sleep; Backup Table 39: FixNOW™ default settings LEA-4R / TIM-4R - System Integration Manual / Reference Design Default Settings GPS.G4-MS4-05043 Page 39 ... -
Page 40: B.4 Communications Interface
1 MON-IO Out 1 MON-IPC Out MON-MSGPP Out 5 7600 Baud: LEA-4P, LEA-4H, LEA-4t, TIM-4P, TIM-4H 38400 Baud: LEA-4S, LEA-4A, TIM-4A, TIM-4S The Number entered under Target1 – Target2 defines the output cycle: 1 means every measurement cycle, 2 every 2 measurement etc. LEA-4R / TIM-4R - System Integration Manual / Reference Design Default Settings GPS.G4-MS4-05043 Page 40 ... -
Page 41: B.6 Messages (Ubx - Cfg - Inf)
INF-Test Out INF-Debug Out INF-User Out 1 Table 47: UBX default enabled INF msg The Number entered under Target1 – Target2 defines the output cycle: 1 means every measurement cycle, 2 every 2 measurement etc. The Number entered under Target1 – Target2 defines the output cycle: 1 means every measurement cycle, 2 every 2 measurement etc. LEA-4R / TIM-4R - System Integration Manual / Reference Design Default Settings GPS.G4-MS4-05043 Page 41 ... -
Page 42: B.7 Timing Settings
Table 51: Timepulse default settings C Reference Design for TIM-4R For a Reference Design for the TIM-4R including design, reference schematic, bill of material and a reference layout please consult the Application Note: Reference Design for TIM-4R [6]. The Number entered under Target1 – Target2 defines the output cycle: 1 means every measurement cycle, 2 every 2 measurement etc. LEA-4R / TIM-4R - System Integration Manual / Reference Design Reference Design for TIM-4R GPS.G4-MS4-05043 Page 42 ... -
Page 43: D Mechanical Data
Top View V_ANT 1.9 ± 0.1 mm [75 ± 4 mil] VCC_RF 2.8 ± 0.1 mm [110 ± 4 mil] V_BAT VDD18OUT RESET_N EXTINT1 SPEED PCS1_N RxD2 PCS0_N TxD2 TxD1 MISO RxD1 MOSI BOOT_INT TIMEPULSE 1.277 ± 0.1 mm [50.27 ± 4 mil] AADET_N 1.5 ± 0.1 mm [59 ± 4 mil] 3.0 ± 0.3 mm [118 ± 12 mil] Figure 19: TIM-4R Dimensions LEA-4R / TIM-4R - System Integration Manual / Reference Design Mechanical Data GPS.G4-MS4-05043 Page 43 ... -
Page 44: D.2 Specification
22.4±.1mm [881 ±4mil] TIM-4R 25.4±.1mm [1000 ±4mil] Width LEA-4R 17.0±.1mm [669 ±4mil] TIM-4R 25.4±.1mm [1000 ±4mil] Thickness LEA-4R 3.0 ±0.3mm [118 ±12mil] TIM-4R 3.0 ±0.3mm [118 ±12mil] Pitch RF pins LEA-4R 1.9±0.1mm [75 ±4mil] TIM-4R 1.9±0.1mm [75 ±4mil] Pitch Digital pins LEA-4R 1.277±0.1mm [50 ±4mil] TIM-4R 1.277±0.1mm [50 ±4mil] Weight LEA-4R 2.1g TIM-4R 3g Table 53: Mechanical Specification LEA-4R/TIM-4R LEA-4R / TIM-4R - System Integration Manual / Reference Design Mechanical Data GPS.G4-MS4-05043 Page 44 ... -
Page 45: Glossary
File extension for u-center log file or short form for the UBX protocol ® UBX Protocol A proprietary binary protocol used by the ANTARIS GPS technology UTM Universal Transverse Mercator ® u-center AE u-center ANTARIS Edition Related Documents [1] GPS Basics, Introduction to the system – Application overview, Doc No GPS-X-02007 [2] u-blox’ GPS Dictionary, Doc No GPS-X-00001 ® [3] ANTARIS 4 GPS Technology Protocol Specifications, Doc No GPS.G3-X-03002 [4] TIM-4x Datasheet, Doc No GPS.G4-MS4-07013 ® [5] ANTARIS 4 System Integration Manual, Doc No GPS.G4-MS4-05007-A [6] Reference Design for TIM-4R, Doc No GPS.G4-CS-07035 All these documents are available on our homepage (http://www.u-blox.com). LEA-4R / TIM-4R - System Integration Manual / Reference Design Glossary GPS.G4-MS4-05043 Page 45 ... - Page 46 +41 44 722 74 44 Fax: +41 44 722 74 47 E-mail: info@u-blox.com www.u-blox.com Sales Offices North, Central and South America Europe, Middle East, Africa Asia, Australia, Pacific u-blox America, Inc. u-blox AG u-blox Singapore Pte. Ltd. 1902 Campus Commons Drive Zuercherstrasse 68 435 Orchard Road Suite 310 CH-8800 Thalwil #19-02, Wisma Atria, Reston, VA 20191 Switzerland Singapore 238877 USA Phone: ...