Timax Ti125 Manuel utilisateur

TiMax Ti125

Receiver

User Manual

Issue: R02

Bulletin SG171

Revision 02

Date 13 April 2010

SG171 Ti125 User Manual Page 2 of 50 Rev: 02 Date: 04/13/10

1. DESCRIPTION ................................................................................................................................................................4-6

1.1 Introduction....................................................................................................................................................4

1.2 Global Positioning System .............................................................................................................................5

1.3 GPS Positioning and Navitation .....................................................................................................................5

1.4 Standard Positioning Service (SPS) ..............................................................................................................6

1.5 Precise Positioning Service (PPS) .................................................................................................................6

2. SPECIFICATION .............................................................................................................................................................7-8

2.1 Performance .................................................................................................................................................7

2.2 Recommended Ratings ................................................................................................................................. 7

2.3 Absolute Maximum Ratings ........................................................................................................................... 8

2.4 Block Diagram ............................................................................................................................................... 8

3. PHYSICAL CHARACTERISTICS .................................................................................................................................9-10

3.1 Physical Interface Details ..............................................................................................................................9

3.2 MCM Dimensions ........................................................................................................................................ 10

3.3 Solder Pad Size and Placement ..................................................................................................................10

4. SIGNAL DESCRIPTION..............................................................................................................................................11-14

4.1 Power Signals .............................................................................................................................................. 11

4.2 RF Signals ...................................................................................................................................................12

4.3 Emulation/Test Signals .................................................................................................................................12

4.4 Control Signals ............................................................................................................................................ 13

4.5 I/O Signals ..............................................................................................................................................13-14

5. FEATURES .......................................................................................................................................................................15

5.1 Power on Reset ...........................................................................................................................................15

5.2 Time Transfer ............................................................................................................................................... 15

5.3 Ti125 Embedded Identiﬁcation ................................................................................................................... 15

5.4 Build Options ............................................................................................................................................... 15

6.OPERATING MODES .......................................................................................................................................................16

6.1 Stand Alone Operation ................................................................................................................................16

6.2 Net Assisted Operation ............................................................................................................................... 16

7. POWER MANAGEMENT .................................................................................................................................................16

7.1 Coma Mode ................................................................................................................................................ 16

8. COMMUNICATIONS PROTOCOLS ............................................................................................................................17-30

8.1 Port Conﬁgurations ...................................................................................................................................... 17

8.2 Output Format ........................................................................................................................................17-24

8.2.1 NMEA Messages ................................................................................................................................17

8.2.1.1 GPGLL - Geographic position, Lat/Lon ......................................................................................17

8.2.1.2 GPGGA - GPS ﬁx data ................................................................................................................18

8.2.1.3 GPGSA - GPS DOP and Active satellites ....................................................................................18

8.2.1.4 GPGSV - GPS Satellites in View ..................................................................................................19

8.2.1.5 GPRMC - Recommended Minimum data ................................................................................... 19

8.2.1.6 PVTG - Course over ground and Ground speed. .......................................................................20

8.2.1.7 GPZDA - UTC Time and Date .....................................................................................................20

8.2.1.8 POLYT - Time of Day ................................................................................................................... 20

8.2.1.9 POLYP- Position Data .................................................................................................................. 21

8.2.1.10 POLYS - Satellite Status ............................................................................................................22

8.2.1.11 POLYI, Additional Information Message ...................................................................................22

8.2.2 Debug Messages ..........................................................................................................................23-24

8.2.2.1 Navigation and Timing Summary ($11) ...................................................................................... 23

8.2.2.2 RF & AGC data ($52) ..................................................................................................................24

TABLE OF CONTENTS

SG171 Ti125 User Manual Page 3 of 50 Rev: 02 Date: 04/13/10

8.3 Command Format * ................................................................................................................................25-29

8.3.1 PRTH<Q|R>, VERS: Software Version ................................................................................................ 25

8.3.2 PRTH<Q|S|R>, DYNA: RECEIVER DYNAMICS .................................................................................. 26

8.3.3 PRTH<Q|S|R>, ITIM: INITIALISE TIME AND DATE ............................................................................. 26

8.3.4 PRTH<Q|S|R>, RSET: RE-SET THE RECEIVER ..................................................................................27

8.3.5 PRTH<Q|S|R>, INTM: INTERMITTENT OPERATION PARAMETERS .................................................. 27

8.3.6 PRTH<Q|S|R>, ILLH: INITIALIZED LAT, LONG, HEIGHT POSITION ..................................................28

8.3.7 PRTH<Q|S|R>, COMA: COMA MODE ................................................................................................28

8.3.8 PRTH<Q|S|R>, FRQD: FREQUENCY OUTPUT SELECT ....................................................................28

8.3.9 PRTH<Q|S|R>, MMSV: MIN & MAX SATELLITES FOR A POSITION SOLUTION ...............................29

8.3.10 PRTH<Q|S|R>, DRLM: DEAD RECKONING LIMIT ...........................................................................29

8.3.11 PRTH<Q|S|R>, ELVM: SATELLITE ELEVATION MASK .....................................................................29

8.4 Network Assistance Input ............................................................................................................................ 30

8.4.1 Message Deﬁnition ............................................................................................................................. 30

9. NMEA and UART Conﬁguration Details ...................................................................................................................31-32

9.1 NMEA Conﬁguration Query ($PRTHQ, UxOP): ...........................................................................................31

9.2 NMEA Conﬁguration Set ($PRTHS,UxOP): ..................................................................................................31

9.3 UART Conﬁguration Query ($PRTHQ, UxCM): ............................................................................................32

9.4 UART Conﬁguration Set ($PRTHQ,UxCM) ..................................................................................................32

10. LED INTERFACE ...........................................................................................................................................................32

11. ILD NETWORK ASSIST MESSAGE FORMAT.........................................................................................................33-39

11.1 Message Deﬁnitions .......................................................................................................................34-39

11.1.1 #EPH, Ephemeris Sub frame Message ........................................................................................34

11.1.2 #ALM, Almanac Subframe Message ...........................................................................................34

11.1.3 #KLB, Klobuchar Ionospheric Parameters Message ................................................................... 35

11.1.4 #UCP, UTC Correction Parameters Message ..............................................................................35

11.1.5 #TIM, Time Input Message ..........................................................................................................36

11.1.6 #LOC, Location Message ............................................................................................................36

11.1.7 Example Sequence Of Messages ..........................................................................................37-39

12. TIME PULSE INTERFACE .............................................................................................................................................40

13. FREQUENCY OUTPUT .................................................................................................................................................40

14. APPLICATION HINTS ...............................................................................................................................................41-43

14.1 Power Supply ......................................................................................................................................41

14.2 RF Connection ..................................................................................................................................... 41

14.3 Grounding............................................................................................................................................42

14.4 Battery Backup .................................................................................................................................... 42

14.5 Over Voltage & Reverse Polarity Protection ........................................................................................ 43

14.6 Reset Generation ................................................................................................................................. 43

14.7 Boot Options ........................................................................................................................................ 43

14.7.1 Flash Programming ......................................................................................................................43

APPENDIX 1 ...................................................................................................................................................................44-46

Glossary .................................................................................................................................................44-46

APPENDIX 2 ........................................................................................................................................................................47

Contact Details ............................................................................................................................................47

APPENDIX 3 ........................................................................................................................................................................47

World Wide Web Information .......................................................................................................................47

APPENDIX 4 ........................................................................................................................................................................48

Tape & Reel Speciﬁcations ..........................................................................................................................48

Solder Proﬁle ............................................................................................................................................... 48

TABLE OF CONTENTS

SG171 Ti125 User Manual Page 4 of 50 Rev: 02 Date: 04/13/10

1. DESCRIPTION

1.1 Introduction

The Ti125 GPS receiver is a small size GPS OEM module that has been speciﬁcally designed for use in weak signal GPS envi-

ronments and for rapid integration into host systems, while maintaining all the features of a standard GPS solution, such as high

accuracy.

Normal GPS systems cannot track satellites below –176 dBW (-146 dBm) however the Ti125 can track down a further 10

dB resulting in tracking down to –186 dBW (-156 dBm). This makes it possible to track a person, asset or vehicle as they enter

buildings, move under dense vegetation, or drive through urban canyons. Furthermore, the Ti125 can acquire the satellites in

these locations when using Network Assistance techniques, or pre-loaded information. In order to obtain this level of perfor-

mance the Ti125 uses an innovative GPS engine built into its BB25 IC, which enables the system to search in parallel 12,288 time/

frequency bins. Not only does this enable better sensitivity but makes for rapid acquisition of the satellites. At outdoor signal

levels the time taken to obtain a ‘hot’ position ﬁx is under 2 seconds.

With a size of just over an inch square (25 x 27 mm) the Ti125 is speciﬁcally designed to be integrated with communications

devices such as GSM, CDMA, UMTS modems or any other communications medium. The Ti125 is also optimized for the output

of time/ frequency information.

Key Features of the Ti125 include:

• Enables indoor use

–155 dBm acquisition with network assist

–156 dBm tracking

–473 dBW acquisition stand alone

• Rapid Time To Fix

<2 second outdoor

<5 second indoor (-148dBm)

• Stand-alone Ti125 module

No GPS knowledge required for hardware integration

• Module dimensions 25 mm x 27 mm x 4.2 mm

This document provides information on the Hardware and Software elements of the Ti125.

Key information includes:

• Speciﬁcation

• Physical Characteristics

Ti125 Dimensions, castellation information

Solder Pad and placement information

• Signal Descriptions

• Features

• Application Information

The Ti125 is available in a number of standard software builds, depending on the application for which it is to be used. In special

cases, the Ti125 may be supplied with a slightly different hardware build. The speciﬁcations in this manual refer to the standard

builds.

SG171 Ti125 User Manual Page 5 of 50 Rev: 02 Date: 04/13/10

1. DESCRIPTION continued

1.2 GLOBAL POSITIONING SYSTEM (GPS)

The Global Positioning System (GPS) is a military satellite based navigation system developed by the U.S. Department of De-

fence, which is made freely available to civil users.

Civilian use of GPS is made available at the user’s own risk, subject to the prevailing DoD policy or limitations, and to indi-

viduals understanding of how to use the GPS.

In today’s satellite constellation there are a minimum of 24 operational satellites (plus several operational spares) in 6 orbital

planes, at an altitude of about 22,000 km. The GPS system can give accurate 3-D position, velocity, time, and frequency, 24

hours a day, anywhere around the world.

GPS satellites transmit a code for timing purposes, and also a ‘Navigation message’, which includes their exact orbital lo-

cation and system integrity data. Receivers use this information, together with data from their internal almanacs, to precisely

establish the satellite location. The receiver determines position by measuring the time taken for these signals to arrive. At least

three satellites are required to determine latitude and longitude if your altitude is known (e.g. a ship at sea), and at least a fourth

to obtain a 3-D ﬁx.

1.3 GPS Positioning and Navigation

The Ti125 Receiver needs to be able to see at least 4 satellite vehicles (SV’s) to obtain an accurate 3-D position ﬁx. When trav-

elling in a valley or built-up area, or under heavy tree cover, you will experience difﬁculty acquiring and maintaining a coherent

satellite lock. Complete satellite lock may be lost, or only enough satellites (3) tracked to be able to compute a 2-D position ﬁx or

even a poor 3D ﬁx due to insufﬁcient satellite geometry (i.e. poor DOP). Inside a building or beneath a bridge, it probably will not

be possible to update a position ﬁx. The Receiver can operate in 2-D mode if it goes down to seeing only 3 satellites by assum-

ing its height remains constant. But this assumption can lead to large errors, especially when a change in height does occur. A

2-D position ﬁx is not to be considered a good or accurate ﬁx; it is simply “better than nothing”.

The receiver’s antenna must have a clear view of the sky to acquire satellite lock. Remember, it is the location of the antenna

that will be given as the position ﬁx. If the antenna is mounted on a vehicle, survey pole, or backpack, allowance for this must be

made when using the solution.

To measure the range from the satellite to the receiver, two criteria are required: signal transmission time, and signal recep-

tion time. All GPS satellites have several atomic clocks that keep precise time and these are used to time-tag the message (i.e.

code the transmission time onto the signal) and to control the transmission sequence of the coded signal. The receiver has an

internal clock to precisely identify the arrival time of the signal. Transit speed of the signal is a known constant (the speed of

light), therefore: time x speed of light = distance.

Once the receiver calculates the range to a satellite, it knows that it lies somewhere on an imaginary sphere whose radius is

equal to this range. If a second satellite is then found, a second sphere can again be calculated from this range information. The

receiver will now know that it lies somewhere on the circle of points produced where these two spheres intersect.

When a third satellite is detected and a range determined, a third sphere would intersect the area formed by the other two.

This intersection occurs at two points. The correct point is apparent to the user, who will at least have a very rough idea of posi-

tion. A fourth satellite is then used to synchronize the receiver clock to the satellite clocks.

In practice, just 4 satellite measurements are sufﬁcient for the receiver to determine a position, as one of the two points will be

unrealistic (possibly many kilometers out into space).

This assumes the satellite and receiver timing is identical. In reality, when the Ti125 Receiver compares the incoming signal

with its own internal copy of the code and clock, the two will no longer be synchronized. Timing error in the satellite clocks, the

Receiver, and other anomalies, mean that the measurement of the signals transit time is in error. This effectively, is a constant

for all satellites, since each measurement is made simultaneously on parallel tracking channels. Because of this, the resulting

ranges calculated are known as “pseudo-ranges”.

To overcome these errors, the Ti125 Receiver then matches or “skews” its own code to become synchronous with the satel-

lite signal. This is repeated for all satellites in turn, thus measuring the relative transit times of individual signals. By accurately

knowing all satellite positions, and measuring the signal transit times, the user’s position can be accurately determined.

Utilizing its considerable processing power, the Ti125 Receiver rapidly updates these calculations from satellite data to pro-

vide a real time position ﬁx. Memory options allow storage of navigation and position data for subsequent post-processing or

post-mission analysis, all within a single unit.

SG171 Ti125 User Manual Page 6 of 50 Rev: 02 Date: 04/13/10

1.4 Standard positioning service (SPS)

Civil users worldwide are able to use the SPS without restriction or charge.

Dilution Of Precision (DOP) is a measure of the satellite geometry, and is an indicator of the potential quality of the solutions.

The lower the numerical value, the better the potential accuracy (for example, a PDOP below 3 indicates good satellite geom-

etry). For 3-D positioning, ﬂuctuations in DOP can be harmful to the solution, especially in Kinematic/Dynamic modes.

The following DOP terms are computed by Ti125:

HDOP Horizontal Dilution of Precision (Latitude, Longitude)

VDOP Vertical Dilution of Precision (Height)

TDOP Time Dilution of Precision (Timing errors)

PDOP Position Dilution of Precision (3-D positioning)

GDOP Geometric Dilution of Precision (3-D position & Time)

Estimated accuracy = DOP x measurement accuracy

While each of these terms can be individually computed, they are formed from co-variances, and are not independent of

each other. For example, a high TDOP will cause receiver clock errors that will eventually result in increased position errors.

Horizontal accuracy ﬁgure of 95% is the equivalent to 2RMS (twice root-mean-square), or twice the standard deviation radial

error.

Similarly, for vertical and time errors, a ﬁgure of 95% is the value of 2 standard deviations of vertical or time error.

• Root-mean-square (RMS) error is the value of one standard deviation (67%) of error.

• Circular Error Probability (CEP) is the value of the radius of a circle, centred at a position containing 50% of the position estimates.

• Spherical Error Probability (SEP) is the spherical equivalent of CEP, which is centred at a position containing 50% of the position

estimates.

CEP and SEP are not affected by large errors, which could make the values an overly optimistic measurement. These prob-

ability statistics are not suitable for use in a high accuracy positioning system. The Ti125 reports all accuracies in the form of a

standard deviation (RMS) value.

1.5 Precise positioning service (PPS)

This service is only available to authorized users with cryptographic equipment and special receivers. Access is limited to the

U.S. and allied military, U.S. Government agencies, and selected civil users speciﬁcally approved by the U.S. Government.

1. DESCRIPTION continued

SG171 Ti125 User Manual Page 7 of 50 Rev: 02 Date: 04/13/10

2. SPECIFICATION

2.1 Performance

Ti125 GPS RECEIVER SPECIFICATIONS1

Physical Module dimensions 25mm (D) x 27mm (W) x 4.2mm (H)

Supply voltages 3V3 (Digital I/O), 3V3 (RF), 1V8 (Core option), 3V (Standby Battery)

Operating Temp -30°C to +80°C 2

Storage Temp -40°C to +85°C 2

Humidity 5% to 95% non-condensing

Max Velocity / Altitude 515ms-1 / 18,000m

(increased rating version available subject to export license)

Max Acceleration / Jerk 4g / 1gs-1 (sustained for less than 5 seconds)

Sensitivity Acquisition with network assist -155dBm

Tracking -156dBm

Acquisition Stand Alone -143dBm

Acquisition Hot Start with network assist Outdoor: <2s

Time Indoor (-148dBm): <5s

Stand Alone (Outdoor) Cold: <45s

Warm: <38s

Hot: <5s

Re-acquisition: <1s (90% conﬁdence)

Accuracy Position: Outdoor / Indoor <5m rms / <50m rms

Velocity <0.05ms-1

Latency <200ms

Raw Measurement Accuracy Pseudorange <0.3m rms, Carrier phase <5mm rms

Tracking Code and carrier coherent

Power 1 ﬁx per second 0.6W typically

Coma Mode Current <10mA

(RF3V3+DIG3V3)

Standby Current (VBATT) 1.5µA

Interfaces Serial 3 UART ports, CMOS levels

Multi function I/O 1PPS

Frequency Output available on GPIO [0]

Event Counter/Timer Input

Up to 4 x GPIO (multi-function)

2 x LED Status Drive

I2C, External Clock (on special build)

Protocols Network Assist, NMEA 0183, Proprietary ASCII and binary message formats

1pps Timing Output 10nS rms accuracy, <5nS resolution, Factory customizable pulse width

Event Input 30nS rms accuracy, <10nS resolution

Frequency Output (GPIO [0]) 0 MHz to 20 MHz (Ti125-NAV)

10 Hz to 30 MHz (Ti125-TIM)

Receiver Type 12 parallel channel x 32 taps up to 32 point FFT. Channels, taps

and FFT can be switched off to minimize power or simulate

simpler designs.

General Processor ARM 966E-S on a 0.18 micron process at up to 120 MHz.

Note: 1. The features listed above may require speciﬁc software builds and may not all be available in the initial release.

2. Please contact factory for other temperature options.

Table 1 Ti125 Speciﬁcation

2.2 Recommended Ratings

Symbol Parameter Min Max Units

RF_3V3 RF Supply Voltage +3.0 +3.6 Volts

DIG_3V3 Digital Supply Voltage +3.0 +3.6 Volts

DIG_1V8 Digital Supply Voltage +1.65 +1.95 Volts

VBATT Battery Backup Voltage +2.7 +3.5 Volts

ANT_SUPPLY Antenna Supply Voltage +3.0 +12 Volts

Table 2 Absolute Maximum Ratings

SG171 Ti125 User Manual Page 8 of 50 Rev: 02 Date: 04/13/10

Figure 1 Block Diagram

RF Block

Front

End

Filter

Clock

Filter

Regulator

& Reset

Regulator

ANT_SUPPLY RF_3V3 DIG_3V3

RF_IN

TRIM/EXT_CLK

DIG_1V8/+1V8_OUT

RTC &

EEPROM

NPOR VBATT

I2C

Control

Emulation

Comms & I/O

RF25IC BB25IC

2.4 Block Diagram

2.3 Absolute Maximum Ratings

Symbol Parameter Min Max Units

RF_3V3 RF Supply Voltage -0.3 +6.5 Volts

DIG_1V8 Digital Supply Voltage -0.3 +2.0 Volts

DIG_3V3 Digital Supply Voltage -0.3 +3.7 Volts

VBATT Battery Backup Voltage -0.5 +7.0 Volts

ANT_SUPPLY Antenna Supply Voltage -15 +15 Volts

DIG_SIG_IN Any Digital Input Signal -0.3 +5.5 Volts

RF_IN RF Input -15 +15 Volts

TSTORE Storage temperature -40 +85 °C

IOUT Digital Signal Output Current -6 +6 mA

Table 3 Absolute Maximum Ratings

2. SPECIFICATION continued

SG171 Ti125 User Manual Page 9 of 50 Rev: 02 Date: 04/13/10

3. PHYSICAL CHARACTERISTICS

The Ti125 is a multi-chip module (MCM) built on an FR4 ﬁberglass PCB. All digital and power connections to the MCM are via

castellations on the 25 x 27 mm PCB. The RF connection is via castellations or an RF connector. The general arrangement of

the Ti125 is shown in the diagram below. Dimensions are in mm (inches/1000).

: . - -

HIROSE H.FL CONNECTOR

PART NO: H.FL-R-SMT

Figure 2 Ti125 Form and Size

3.1 Physical Interface Details

The interface to the Ti125 is via 1mm castellation on a 2mm pitch. There are 42 connections in all. There is also an RF connec-

tor for connecting to the GPS antenna. The details of the interface connections are given below.

Pin Function Pin Function

1 TX [0] 22 TMS

2 RX [0] 23 RF_GND

3 TX [2] 24 RF_IN

4 RX [2]/EV2_IN 25 RF_GND

5 TX [1] 26 ANT_SUPPLY

6 RX [1] 27 VBATT

7 EXT_CLK 28 N2WCK

8 LED_RED 29 N2WDA

9 LED_GRN 30 USBP

10 NRESET 31 USBN

11 BOOTSEL 32 FREQ_OUT 3

12 TRIM 33 +1V8_OUT

13 TDO 34 DIG_1V8

14 TDI 35 DIG_GND

15 NTRST 36 DIG_3V3

16 NPOR 37 EVENT_IN

17 RFV_OUT 38 1PPS

18 RF_GND 39 GPIO [0]/PWM_OUT

19 RF_3V3 40 GPIO [1]/TIME_SYNC

20 TCK 41 GPIO [2]/NEXT_INT

21 JTAGSEL/RTCK 42 GPIO [3]/FREQ_IN

Note: 3. Frequency Output is available on pin 32 (FREQ_OUT) with custom software only.

Table 4 Ti125 Signal List

SG171 Ti125 User Manual Page 10 of 50 Rev: 02 Date: 04/13/10

RF_IN

PIN 22

Figure 3 MCM Dimensions

Figure 4 Solder Pad Size and Placement

3.3 Solder Pad Size and Placement

It is recommended that the footprint of the solder pad under each castellation be 2mm x 1mm, centered on the nominal center

point of the radius of the castellation. The castellations are gold plated and so are lead free. Note that if the RF_IN connector is

being used, there should not be a pad or solder resist under the RF_IN castellation. If the RF_IN castellation is to be used, the

pad should be shortened by 0.5mm underneath the Ti125 and standard RF design practices must be observed. The diagram

below shows the placement of the pads under the castellations.

3.2 MCM Dimensions

The ﬁgure below provides the dimensions of the positioning of the Ti125 castellations. Dimensions are in mm (inches/1000).

3. PHYSICAL CHARACTERISTICS continued

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