GPS 15H & 15L TECHNICAL SPECIFICATIONS ® Garmin International, Inc. 1200 E.
© Copyright 2004–2006 Garmin Ltd. or its subsidiaries Garmin International, Inc. 1200 East 151st Street, Olathe, Kansas 66062, U.S.A. Tel. 913/397.8200 or 800/800.1020 Fax 913/397.8282 Garmin (Europe) Ltd. Unit 5, The Quadrangle, Abbey Park Industrial Estate, Romsey, SO51 9DL, U.K. Tel. 44/0870.8501241 Fax 44/0870.8501251 Garmin Corporation No. 68, Jangshu 2nd Road, Shijr, Taipei County, Taiwan Tel. 886/2.2642.9199 Fax 886/2.2642.9099 All rights reserved.
TABLE OF CONTENTS 1 Introduction..................................................................................................................1 1.1 Cautions ............................................................................................................................................1 1.2 Limited Warranty ..............................................................................................................................2 1.3 Overview...............................................
.2.12 4.2.13 4.2.14 4.2.15 Map Datum (PGRMM) ........................................................................................................................18 Sensor Status Information (PGRMT) ...................................................................................................19 3D velocity Information (PGRMV) .....................................................................................................19 DGPS Beacon Information (PGRMB) ......................................
1 INTRODUCTION 1.1 CAUTIONS Caution The GPS system is operated by the government of the United States, which is solely responsible for its accuracy and maintenance. Although the GPS 15H & 15L sensors are precision electronic NAVigation AIDs (NAVAID), any NAVAID can be misused or misinterpreted, and therefore become unsafe. Use these products at your own risk. To reduce the risk, carefully review and understand all aspects of these Technical Specifications before using the GPS 15H & 15L.
1.2 LIMITED WARRANTY This Garmin product is warranted to be free from defects in materials or workmanship for one year from the date of purchase. Within this period, Garmin will at its sole option repair or replace any components that fail in normal use. Such repairs or replacement will be made at no charge to the customer for parts or labor, provided that the customer shall be responsible for any transportation cost.
1.3 OVERVIEW The GPS 15H & 15L are part of Garmin’s latest generation of GPS sensor boards designed for a broad spectrum of OEM (Original Equipment Manufacture) system applications. Based on the proven technology found in other Garmin 12-channel GPS receivers, the GPS 15H & 15L track up to 12 satellites at a time while providing fast time-to-first-fix, one-second navigation updates, and low power consumption.
1.5 TECHNICAL SPECIFICATIONS Specifications are subject to change without notice. 1.5.1 Physical Characteristics 1.5.1.1 Size 1.400” (35.56 mm) wide x 1.805” (45.85 mm) long x 0.327” (8.31 mm) high 1.5.1.2 Weight • GPS 15H: • GPS 15L: 0.53 oz. (15.0 g) 0.50 oz (14.1 g) 1.5.1.3 Available Connector Options • GPS 15H-F & 15L-F: 8-pin LIF (Low Insertion Force) flex connector, 1-millimeter pitch. For use with common 1 mm pitch, 8-conductor flex cable, available as Garmin Part Number 310-00040-01.
1.5.4 GPS Performance 1.5.4.1 Receiver WAAS Enabled™, 12 parallel channel GPS receiver continuously tracks and uses up to 12 satellites (up to 11 with PPS active) to compute and update your position. 1.5.4.2 Acquisition Times • Reacquisition: Less than 2 seconds • Warm: Approx. 15 seconds (all data known) • Cold: Approx.
1.5.5 Interfaces 1.5.5.1 GPS 15H & 15L Electrical Characteristics • True RS-232 output (Port 2 output not used at time of publication), asynchronous serial input compatible with RS-232 or TTL voltage levels, RS-232 polarity. • User selectable NMEA 0183 baud rate (300, 600, 1200, 2400, 4800, 9600, 19200, 38400). Factory setting is 4800 baud. 1.5.5.2 Port 1 Protocols • Configurable between NMEA 0183 Versions 2.00 and 3.00.
The total noise figure on the external antenna must be ≤ 7 dB. Refer to the table below. Noise Figure/Gain: 18.0 17.0 16.0 SNR (dB) 15.0 14.0 13.0 12.0 11.0 10.0 10.0 15.0 20.0 25.0 30.0 35.0 40.0 Gain (dB) NF=1.3dB NF=2.3dB NF=3.3dB NF=4.3dB NF=5.3dB NF=6.3dB NF=7.3dB Table 1: Gain vs. SNR for Given Noise Figure Properly bias the antenna from an on-board source or an external source: Bias voltage from on-board source: GPS 15H supplies 3.
2 GPS 15H & 15L WIRE DESCRIPTIONS AND WIRING DIAGRAMS The GPS 15H-F & 15L-F use an eight-contact flex circuit LIF (low insertion force) connector. The GPS 15H-W & 15L-W use an eight-pin JST connector (mating wire harness included). See section 1.5.1.3. 2.
2.2 GPS 15H & 15L WIRING DIAGRAMS Figure 1: Computer Serial Port Interconnection Figure 2: PDA Serial Port Interconnection Figure 3: Basic NMEA Device Interconnection 190-00266-01 GPS 15H & 15L Technical Specifications Page 9 Rev.
3 MECHANICAL CHARACTERISTICS & MOUNTING 1. Dimensions in millimeters [inches] 2. Dimension tolerance: +/-0.25 mm [±0.01”] 3. Use M2 mounting screws Figure 4: GPS 15H-F & 15L-F Dimensions 1. Dimensions identical to GPS 15H-F and GPS 15L-F 2. Use M2 mounting screws Figure 5: GPS 15H-W & 15L-W Outline Drawing 190-00266-01 GPS 15H & 15L Technical Specifications Page 10 Rev.
4 GPS 15H & 15L SOFTWARE INTERFACE The GPS 15H & 15L interface protocol design on COM 1 is based on the National Marine Electronics Association’s NMEA 0183 ASCII interface specification. The COM 2 port can receive differential GPS (DGPS) correction data using the Radio Technical Commission for Maritime Services’ RTCM SC-104 standard. These standards are fully defined in NMEA 0183, Version 3.0 (copies may be obtained from NMEA, www.nmea.
4.1.2 Sensor Initialization Information (PGRMI) The $PGRMI sentence provides information used to initialize the GPS sensor’s set position and time used for satellite acquisition. Receipt of this sentence by the GPS sensor causes the software to restart the satellite acquisition process. If there are no errors in the sentence, it is echoed upon receipt. If an error is detected, the echoed PGRMI sentence will contain the current default values.
4.1.4 Additional Sensor Configuration Information (PGRMC1) The $PGRMC1 sentence provides additional information used to configure the GPS sensor operation. Configuration parameters are stored in non-volatile memory and retained between power cycles. The GPS sensor echoes this sentence upon its receipt if no errors are detected. If an error is detected, the echoed PGRMC1 sentence will contain the current default values. Current default values can also be obtained by sending $PGRMC1E to the GPS sensor.
4.1.6 Tune DGPS Beacon Receiver (PSLIB) The $PSLIB sentence provides the ability to tune a Garmin GBR 21, GBR 23 or equivalent beacon receiver. $PSLIB,<1>,<2>*hh <1> Beacon tune frequency, 0.0, 283.5–325.0 kHz in 0.5 kHz steps <2> Beacon bit rate, 0, 25, 50, 100, or 200 bps If valid data is received, the GPS sensor stores it in the EEPROM and echoes the PSLIB command to the beacon receiver. If the GPS sensor is using any stored beacon frequency other than 0.
4.2 TRANSMITTED NMEA 0183 SENTENCES The subsequent paragraphs define the sentences that can be transmitted on COM 1 by the GPS sensor. 4.2.1 Sentence Transmission Rate Sentences are transmitted with respect to the user-selected baud rate. Regardless of the selected baud rate, the information transmitted by the GPS sensor is referenced to the one-pulse-per-second output pulse immediately preceding the GPRMC sentence, or whichever sentence is output first in the burst (see Table 3 below).
4.2.2 Transmitted Time The GPS sensor outputs UTC (Coordinated Universal Time) date and time of day in the transmitted sentences. Before the initial position fix, the on-board clock provides the date and time of day. After the initial position fix, the date and time of day are calculated using GPS satellite information and are synchronized with the one-pulse-per-second output.
4.2.5 GPS DOP and Active Satellites (GSA) $GPGSA,<1>,<2>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<3>,<4>,<5>,<6>*hh <1> <2> <3> <4> <5> <6> 4.2.6 Mode, M = manual, A = automatic Fix type, 1 = not available, 2 = 2D, 3 = 3D PRN number, 01 to 32, of satellite used in solution, up to 12 transmitted (leading zeros are transmitted) Position dilution of precision, 0.5 to 99.9 Horizontal dilution of precision, 0.5 to 99.9 Vertical dilution of precision, 0.5 to 99.
4.2.9 Geographic Position (GLL) $GPGLL,<1>,<2>,<3>,<4>,<5>,<6>,<7>*hh <1> <2> <3> <4> <5> <6> <7> Latitude, ddmm.mmmm format (leading zeros are transmitted) Latitude hemisphere, N or S Longitude, dddmm.mmmm format (leading zeros are transmitted) Longitude hemisphere, E or W UTC time of position fix, hhmmss format Status, A = Valid position, V = NAV receiver warning Mode indicator (only output if NMEA 0183 version 3.
4.2.13 Sensor Status Information (PGRMT) The Garmin Proprietary sentence $PGRMT gives information concerning the status of the GPS sensor. This sentence is transmitted once per minute regardless of the selected baud rate. $PGRMT,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>*hh <1> <2> <3> <4> <5> <6> <7> <8> <9> <10> Product, model and software version (variable length field, e.g., “GPS 15H & 15L VER 2.
4.3 BAUD RATE SELECTION Baud rate selection can be performed by sending the appropriate configuration sentence to the GPS sensor as described in the $PGRMC section 4.1.3, field <10>. 4.4 ONE-PULSE-PER-SECOND (PPS) OUTPUT The highly accurate one-pulse-per-second (PPS) output is provided for applications requiring precise timing measurements. The signal is generated after the initial position fix has been calculated and continues until power down.
APPENDIX A: EARTH DATUMS The following is a list of the Garmin GPS 15H & 15L Earth datum indices and the corresponding earth datum name (including the area of application): 0 ADINDAN - Ethiopia, Mali, Senegal, Sudan 1 AFGOOYE - Somalia 2 AIN EL ABD 1970 - Bahrain Island, Saudi Arabia 3 ANNA 1 ASTRO 1965 - Cocos Island 4 ARC 1950 - Botswana, Lesotho, Malawi, Swaziland, Zaire, Zambia, Zimbabwe 5 ARC 1960 - Kenya, Tanzania 6 ASCENSION ISLAND 1958 - Ascension Island 7 ASTRO BEACON “E” - Iwo Jima
36 HONG KONG 1963 - Hong Kong 37 INDIAN - Bangladesh, India, Nepal 38 INDIAN - Thailand, Vietnam 39 IRELAND 1965 - Ireland 40 ISTS O73 ASTRO 1969 - Diego Garcia 41 JOHNSTON ISLAND 1961 - Johnston Island 42 KANDAWALA - Sri Lanka 43 KERGUELEN ISLAND - Kerguelen Island 44 KERTAU 1948 - West Malaysia, Singapore 45 L.C.
75 PICO DE LAS NIEVES - Canary Islands 76 PITCAIRN ASTRO 1967 - Pitcairn Island 77 PUERTO RICO - Puerto Rico, Virgin Islands 78 QATAR NATIONAL - Qatar 79 QORNOQ - South Greenland 80 REUNION - Mascarene Island 81 ROME 1940 - Sardinia Island 82 RT 90 - Sweden 83 PROVISIONAL SOUTH AMERICAN 1956 - Bolivia, Chile, Colombia, Ecuador, Guyana, Peru, Venezuela 84 SOUTH AMERICAN 1969 - Argentina, Bolivia, Brazil, Chile, Colombia, Ecuador, Guyana, Paraguay, Peru, Venezuela, Trinidad and Tobago 85
APPENDIX B: BINARY PHASE OUTPUT FORMAT In binary phase output mode, GPS 15H & 15L series products transmit two types of packets once per second. One record contains primarily post-process information such as position and velocity information. The second record contains receiver measurement information. For the GPS 15H & 15L, the records are sent at a default baud rate of 9600 baud, 8 data bits, and no parity.
The status bit field represents a set of booleans described below: Bit Meaning when bit is one (1) 0 The unit has ephemeris data for the specified satellite. 1 The unit has a differential correction for the specified satellite. 2 The unit is using this satellite in the solution.
Position Record The Position Record has a record identifier of typedef struct { float alt; float epe; float eph; float epv; int fix; double gps_tow; double lat; double lon; float lon_vel; float lat_vel; float alt_vel; float msl_hght; int leap_sec; long grmn_days; } cpo_pvt_data; alt epe eph epv fix gps_tow lat lon lon_vel lat_vel alt_vel msl_hght leap_sec grmn_days Ellipsoid altitude (meters) Est pos error (meters) Pos err, horizontal (meters) Pos err, vertical (meters) 0 = no fix; 1 = no fix; 2 = 2D; 3 =
svid valid Satellite number (0-31 and 119-138 for WAAS) Note: Add 1 to offset to current svid numbers. 0 = information not valid; non-zero = information valid Sample C Code DLE and ETX bytes: Sample C code to receive the two records should filter DLE and ETX bytes as described below: typedef enum { DAT, DLE, ETX } rx_state_type; /* Declare and initialize static variables */ static char in_que[ 256 ]; static int in_que_ptr = 0; static rx_state_type rx_state = DAT; . . .
APPENDIX C: CHANGING THE BAUD RATE IN GARMIN MODE In certain cases, you may need to change the default baud rate of your Garmin GPS receiver while in Garmin mode. Follow these steps to temporarily change the baud rate. Refer to the Garmin Device Interface Specification for details on how to form and parse Garmin packets. At the time of this printing, these specs are available from the technical suppport section of our Web site: http://www.garmin.com/support/commProtocol.html. 1.
APPENDIX D: EPHEMERIS DATA DOWNLOAD (PROGRAMMING EXAMPLE) Synopsis This section describes, using an example, how to download ephemeris information from a Garmin 15, 16, 17 or 18 family GPS unit with the exception of the GPS 15-W and the GPS 15-F. Garmin Binary Format Review In order to download the ephemeris data, you must first command the unit to output information in Garmin Binary Format (Garmin mode) instead of the default NMEA output format.
Ephemeris Download Procedure The following is the sequence of events that occurs when downloading ephemeris data. Send a packet containing the command that requests ephemeris data (IOP_DOWN_LOAD_EPH).
Next, the unit sends the specified number of packets containing the ephemeris information. An example packet is shown below. Each packet should be acknowledged as before (be sure to modify the ACK packet to indicate what type of packet being acknowledged—for ephemeris data the ID is 0x35). RX Packet: Ephemeris Data Byte Description Delimiter Ephemeris data ID Number of bytes in data Ephemeris data . . . Checksum calculation Delimiter End of packet Name DLE IOP_SPC_EPH_DATA SIZE DATA . . .
An example function to complete the parsing is shown below. Note that the double data types are converted by the function cnvt_ieee_double(). This function merely swaps the upper and lower words of the double. This is necessary on GPS 15, 16, 17 series sensors due to a compatibility issue with the IEEE floating point standard): In this example, the array m_TempArray contains the data portion of the ephemeris packet (with DLE stuffing removed).
Each data member of the ephemeris data structure is indexed into the data array of the ephemeris packet and cast as the appropriate data type.
APPENDIX E: DECLARATION OF CONFORMITY Hereby, Garmin Ltd., declares that this GPS 15H/15L is in compliance with the essential requirements and other relevant provisions of Directive 1999/5/EC. For the latest free software updates (excluding map data) throughout the life of your Garmin products, visit the Garmin Web site at www.garmin.com. © Copyright 2004–2006 Garmin Ltd. or its subsidiaries Garmin International, Inc. 1200 East 151st Street, Olathe, Kansas 66062, U.S.A. Garmin (Europe) Ltd.
