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Lassen-SK8™
System Designer Reference Manual
Part Number: 34149-01
Firmware: 7.20-7.52
Date: August 1997
Trimble Navigation Limited
Commercial Systems Group
645 North Mary Avenue
Post Office Box 3642
Sunnyvale, CA 94088-3642
U.S.A.
+1-800-827-8000 in North America
+1-408-481-8000 International
FAX: +1-408- 730-2082
Embedded GPS Module
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U.S. Technical Assistance and Repair +1-800--SOS-4-TAC in North America +1-408-481- 69 40 International FAX: +1-408-481-6020 European Technical Assistance and Repair +44-1256-1622-858-421
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Copyrights © 1997 Trimble Navigation Limited. All rights reserved. No part of this manual may be copied, photocopied, reproduced, translated, or reduced to any electronic medium or machine-readable form without prior written consent from Trimble Navigation Limited. Printed in the United States of America. Printed on recycled paper. Revision Notice This is the first release of the Lassen-SK8™ Embedded GPS Module System Designer Reference Manual, Part Number 34149-01 August 1997. This manual su
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Hardware Limited Warranty Trimble Navigation Limited products are warranted against defects in material and workmanship for a period of one year. The warranty period shall commence thirty (30) days after shipment from Trimble’s factory. Warranty service will be provided at a designated Trimble Service Center. Trimble will at its option either repair or replace products that prove to be defective. The Customer shall pay all shipping charges for products returned to Trimble for warranty servic
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Preface Scope and Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix Lassen-SK8 Manual Organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx Technical Assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xx Email . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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3 Software Interface 3.1 Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3.2 Software Tool Kits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3.3 Communicating with the Lassen-SK8 Module . . . . . . . . . . . . . . . . . . . . . . 3-2 3.4 Protocol Summary . . . . . . . . . . . . . . . . . . . . . .
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4.6.1 Selective Availability (SA) . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 4.6.2 Differential GPS (DGPS) . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7 4.7 Coordinate Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 4.7.1 TSIP Coordinate Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8 4.7.2 NMEA 0183 .
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A.15.6 Packet 0xBB - Set DGPS Mode . . . . . . . . . . . . . . . . . . . . . . . . A-19 A.16 Packet Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-19 A.17 Packet Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-20 A.17.1 Command Packet 0x1D . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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A.17.35 Report Packet 0x55 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-37 A.17.36 Report Packet 0x56 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-39 A.17.37 Report Packet 0x57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-39 A.17.38 Report Packet 0x58 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-40 A.17.39
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A.18.7 Report Packet 0x8F-18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-66 A.18.8 Report Packet 0x8F-19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-67 A.18.9 Report Packet 0x8F-20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-67 A.18.10 Report Packet 0x8F-26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-69 A.19 Datums . . . .
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E.4 NMEA 0183 Message Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-3 E.4.1 GGA - GPS Fix Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E-3 E.4.2 GLL - Geographic Position - Latitude/Longitude . . . . . . . . . . . . . . . E-4 E.4.3 GSA - GPS DOP and Active Satellites . . . . . . . . . . . . . . . . . . . . E-4 E.4.4 GSV - GPS Satellites in View . . . . . .
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F.7.3 Mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . F-5 Glossary Index xii Lassen-SK8 Embedded GPS Module
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Figure 1-1. The Module Installed Inside the Interface Unit . . . . . . . . . . . . . . . . . . . 1-5 Figure 1-2 . Receiver Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 Figure 1-3 . Starter Kit Interface Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 Figure 1-4 . Open Collector PPS . . . . . . . . . . . . . . . . . . . . . . . .
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xiv Lassen-SK8 Embedded GPS Module
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Table 1-1 . Lassen-SK8 Starter Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 Table 1-2 . Lassen-SK8 Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 Table 1-3 . Lassen SK-8 Optional Antennas . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 Table 2-1 . I/O Connector Signals . . . . . . . . . . . . . . . . . . . . . . .
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Table A-24 . Command Packet 0x39 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . A-28 Table A-25 . Command Packet 0x3C Data Format . . . . . . . . . . . . . . . . . . . . . . . . . A-28 Table A-26 . Report Packet 0x41 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-29 Table A-27 . Packets 0x41 and 0x46 Status Code Relationships . . . . . . . . . . . . . . . . . . A-29 Ta
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Table A-62 . Command Packet 0x7A Data Formats for Setting NMEA Interval and Message Mask A- 55 Table A-63 . Report Packet 0x7B Message Mask Settings . . . . . . . . . . . . . . . . . . . . A-56 Table A-64 . Report Packet 0x83 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-57 Table A-65 . Report Packet 0x84 Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . A-57 Table A-66 . Report Packet 0x
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Table C-14 . Long Navigation Message Data String Descriptions . . . . . . . . . . . . . . . . . C-16 Table C-15 . PR Data String Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-17 Table C-16 . Port Characteristic Data String Descriptions . . . . . . . . . . . . . . . . . . . . . C-18 Table C-17 . Position/Velocity Solution Data String Descriptions . . . . . . . . . . . . . . . . . C-19 Ta
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The Global Positioning System (GPS) is a satellite based navigation system operated and maintained by the U.S. Department of Defense. The GPS consists of a constellation of 24 satellites providing world-wide, 24 hour, three dimensional (3-D) coverage. Although originally conceived for military needs, GPS has a broad array of civilian applications including surveying, marine, land, aviation, and vehicle navigation. GPS is the most accurate technology available for vehicle navigation. As a sa
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Preface Lassen-SK8 Manual Organization All of the information required to integrate and operate the Lassen-SK8 is contained in this Manual. This manual contains the following chapters and appendices: Chapter 1: Starter Kit Chapter 2: Hardware Integration Chapter 3: Software Interface Chapter 4: Operation and Performance Appendix A: Trimble Standard Interface Protocol Appendix B: TSIP User's Guide Appendix C: Trimble ASCII Interface Protocol (TAIP) Appendix D: GPSSK User's Guide (TAIP) Appendix
