| 485 | | [=#copernicus] |
| 486 | | === '''Trimble Copernicus''' 63530-00 (GW2350, GW2355, GW2358, GW16033, GW16039) === |
| 487 | | |
| 488 | | References: |
| 489 | | * [http://dev.gateworks.com/datasheets/trimble/Trimble_CopernicusII_reference_manual.pdf Copernicus II Reference Manual] |
| 490 | | * [http://dev.gateworks.com/datasheets/trimble/Copernicus-II_DS.pdf Copernicus II Datasheet] |
| 491 | | * [http://dev.gateworks.com/datasheets/trimble/Trimble_TSIP_reference_manual.pdf TSIP reference manual] |
| 492 | | * [http://dev.gateworks.com/datasheets/trimble/Trimble_TAIP-reference.pdf TAIP Protocol Reference] |
| 493 | | |
| 494 | | Features: |
| 495 | | * 12-channel continuous tracking receiver: |
| 496 | | - [#gps GPS]: L1C/A (1575.42MHz) |
| 497 | | - [#sbas SBAS]: WAAS/EGNOS/MSAS: L1C/A (1575.42MHz) |
| 498 | | * [#dgps Differential GPS] (DGPS) |
| 499 | | * Acquisition: cold start - 38 sec 50% |
| 500 | | * Sensitivity: Tracking -160dBm / Acqusition -142dBm |
| 501 | | * Accuracy: |
| 502 | | * Horizontal w/o SBAS: <2.5m 50%, <5m 90% |
| 503 | | * Horizontal w/ SBAS: <2.0m 50%, <4m 90% |
| 504 | | * Altitude w/o SBAS: <5m 50%, <8m 90% |
| 505 | | * Altitude w/ SBAS: <3m 50%, <5m 90% |
| 506 | | * Velocity: 0.06m/sec |
| 507 | | * PPS: +60ns RMS |
| 508 | | * Communication: |
| 509 | | * 8 data bits, no parity, 1 stop bit (aka '''8N1''' or '''cs8'''), no flow control |
| 510 | | * baudrate: can vary between 4800 and 115200 - refer to user guide for details on changing baudrate |
| 511 | | * [#nmea0183 NMEA 0183] v3.0, 1Hz - 5Hz update rate, supports: ZDA, GGA, GLL, VTG, GSA, GSV, RMC messages (output in that order) |
| 512 | | * TSIP (Trimble Standard Interface Protocol) |
| 513 | | * TAIP (Trimble ASCII Interface Protocol) |
| 514 | | * [#pps PPS]: |
| 515 | | * ±350ns accuracy, 1Hz, configurable edge, configurable width between 100us and 500ms, configurable delay, and configurable fix type |
| 516 | | * Configuration is done via TSIP packets (Trimble Standard Interface Protocol) or NMEA PTNLSPS message see Trimble_CopernicusII_reference_manual for details: |
| 517 | | {{{#!bash |
| 518 | | echo -n -e "\$PTNLSPS,1,1000000,1,0*73\r\n" > /dev/ttygps # 100ms pulse width no fix |
| 519 | | echo -n -e "\$PTNLSPS,2,1000000,1,0*70\r\n" > /dev/ttygps # 100ms pulse width fix required |
| 520 | | echo -n -e "\$PTNLQPS\r\n" > /dev/ttygps # query |
| 521 | | echo -n -e "\$PTNLSRT,F\r\n" > /dev/ttygps # factory reset (erase customer config, almanac, ephemeris, and last pos) |
| 522 | | }}} |
| 523 | | |
| 524 | | Power-on Default configuration: |
| 525 | | * 4800 baud |
| 526 | | * output NMEA {{{GGA}}}, {{{VTG}}} messages 1 time for every position fix (1Hz) |
| 527 | | * 1Hz, rising edge, 4.2uS duration |
| 528 | | |
