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Trimble Outdoors 58059-00 Table 41: List of Kalman Filter Configuration parameters

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DR + GPS

STARTER KIT REFERENCE MANUAL

Lassen DR + GPS Reference Manual 71

Table 41: List of Kalman Filter Configuration parameters

Subcode Name Type LSB Range Default Meaning

0x01 MinGainIndex U32 1 ms < 40000 0 minimum settling time of code-

carrier filter

0x02 MinSVs U32 [3, # of

channels]

3 Minimum number of SVs for fix

0x03 NoEditAMU5 U32 0.2 AMU < 16.0 AMU 14.0 AMU maximum AMU value at which

editing is allowed

0x04 MinAMU5 U32 0.2 AMU < 16.0 AMU 2.0 AMU Minimum acceptable AMU

value

0x05 MaxEdits U32 [0, 232-1] 60 Maximum number of fix

rejections before KF reset

0x06 MaxGPSPropTime U32 Not currently used

0x07 MaxAcc FLT (m/s2) [0, 20] 6.0 vehicle acceleration limit

0x08 MaxVel FLT (m/s) [0, 126] 150.0

vehicle velocity limit

0x09 SigmaHorizAcc FLT (m/s2) [0, 20] 0.5 typical horizontal acceleration

0x0A SigmaFreqAcc FLT (m/s2) [0, 20] 1.0 typical frequency drift

0x0B CarrSigSq FLT (m/s) [0, 2] (0.07)2 Doppler error variance

0x0C MaxAcceptSigmaSq FLT

(σ2) [0, 1012] (4.0)2 edit limit for residuals

0x0D InitPosVar FLT (m2) [0, 1012] (1000.)2 initial position error variance

0x0E InitBiasVar FLT (m2) [0, 1012] (1000.)2 initial clock bias error variance

0x0F ClockModelError FLT (m2) [0, 106] (1.0)2 extra clock process noise (to

de couple clock model)

0x10 RejectSSR FLT

(σ2) [0, 1012] (6.0)2 rejection limit for normalized a

posteriori residual

0x11 SigSlope1Sq FLT (slope2) [0, 4] (0.1)2 typical velocity slope

0x12 SigSlope2Sq FLT (slope2) [0, 4] (0.05)2 typical change-in-position

slope

0x13 MaxSlope3Sq FLT (slope2) [0, 4] (0.3)2 rejection limit for velocity slope

0x14 MinVVelSq FLT (m/s) [0, 16] 1.0 minimum vertical velocity for

slope rejection

0x15 Alt2Dvar FLT (m2) [0, 108] (1.0)2 Variance of 2D altitude-hold

altitude measurement

0x16 Tacho Delay Time S32 1 ms 0 Not currently used

0x17 Bit Flag Controls U32 [0, 232-1] 0 1 = suppress map match

commands

Contents

Main www.trimble.com Page Corporate Office LIMITED WARRANTY TERMS AND CONDITIONS Product Limited Warranty Product Software Software Fixes Warranty Remedies How to Obtain Warranty Service Warranty Exclusions and Disclaimer Page T ABOUT THIS MANUAL ..........................................................................10 CHAPTER 1: LASSEN DR+GPS STARTER KIT....................................... 11 CHAPTER 2: COMMON OPERATIONS .....................................................18 APPENDIX A: NMEA 0183.............................................................. 33 APPENDIX B: HIPPO....................................................................... 44 Page APPENDIX C: SPECIFICATIONS.................................................. 126 ABOUT THIS MANUAL Technical Assistance L In this chapter: INTRODUCTION Starter Kit Contents Starter Kit Interface Unit Ordering Starter Kit Components Table 1: Ordering Products Q UICK S T ART G 1. 5-Wire Interface Cable S OFTWARE T Interface Protocol NMEA Tools HIPPO Tools C OMMON O NMEA Enable NMEA Mode Page View NMEA Output Changing NMEA Output and Report Rates Page C HANGE THE O UTPUT P Change from the Default NMEA Output to HIPPO Page Page HIPPO Commands to Change Protocol HIPPO Commands to Change NMEA to HIPPO: HIPPO Commands to Change HIPPO to NMEA: Save the Calibration Settings U SE NMEA Page Page NMEA A INTRODUCTION T HE NMEA Table 2: NMEA 0183 Characteristics NMEA 0183 MESSAGE FORMAT FIELD DEFINITIONS Table 3: Field Type Summary Page NMEA 0183 MESSAGE OPTIONS Table 4: NMEA Messages NMEA 0183 MESSAGE FORMATS GGA-GPS Fix Data Table 5: GGA Message GSA - GPS DOP and Active Satellites Table 6: GSA Message GSV - GPS Satellites in View Table 7: GSV Message RMC - Recommended Minimum Specific GPS/Transit Data Table 8: RMC Message VTG - Track Made Good and Ground Speed Table 9: VTG Message E XCEPTION B HIPPO B HIPPO General Message Structure Rules Report Message Structure (Module to Host) Table 10: HIPPO Report Message Structure Table 11: HIPPO Report Message Structure (Indexed Data) Command Message Structure (Host to Module) Table 12: HIPPO Command Message Structure Table 13: HIPPO Query Message Structure for Indexed Data Chained Messages Post-Formatting: HCC Stuffing Before Transmission Pre-Parsing: HCC Unstuffing After Reception COMMAND MESSAGES Set Class Table 14: Set Class Message Structure Table 15: Example of GPS Configuration Message Parameter Query Class Table 16: Query Class Message Structure Table 17: Indexed Query Class Message Structure Table 18: Example of Query for Operating Dimension parameter System Class Reset Receiver Table 19: 0x03: Receiver Reset Command Messages REPORT CLASS Report Message Code Assignment Table 20: Message Codes DR + GPS STARTER KIT REFERENCE MANUAL Lassen DR + GPS Reference Manual 57 Table 21: Message Codes (continued) Code Subcode Indexed by Message Q S Table 22: Message Codes (continued) System Report Packets 0x10: Acknowledge / Error Response to Command Packets DR + GPS STARTER KIT REFERENCE MANUAL Lassen DR + GPS Reference Manual 60 Table 23: 0x10: Non-indexed Set and Query Acknowledge For system commands, the data length is two bytes. Byte Name Type Value Meaning Table 24: 0x10: Indexed Set and Query Acknowledge Byte Name Type Value Meaning Table 25: 0x10-03: System Command Acknowledge 0x11: Version Report Table 26: 0x11: Version Report Message 0x12-01: Start-Up Report Table 27: 0x12-01: Start-Up Report Message 0x12-02: Software Mode Report Table 28: 0x12-02: Software Mode Report Message 0x12-03: Production Information Report Table 29: Table 27: 0x12-03: Production Info Report Message 0x12-04: Hardware ID Report Table 30: 0x12-04: Hardware ID packet 0x14-01: Soft Event Log Report Table 31: 0x14-01: Soft event log entry report 0x14-02: Fatal Error Log Report Table 32: 0x14-02: Fatal error log entry report 0x15: Data Stored in Non-erasable Flash Report Table 33: 0x15: Data Stored in Non-erasable Flash Report 0x16-01: Health Status Report Table 34: 0x16-01: Health status report 0x16-02: Repeat Start-Up Report with System Time Table 35: 0x16-02: Repeat Start-Up with System Time Message DR + GPS STARTER KIT REFERENCE MANUAL Lassen DR + GPS Reference Manual 68 Configuration Report packets Byte Name Type Value Units Meaning 0x22-02: NMEA Output Control Table 37: 0x22: Format of NMEA Output Control Parameters 0x24: GPS Configuration Table 38: 0x24: Format of GPS Configuration Message Parameter Table 39: List of GPS Configuration Message Parameters 0x25: Kalman Filter Configuration Table 40: 0x25: Format of Kalman Filter Configuration Parameter DR + GPS STARTER KIT REFERENCE MANUAL Lassen DR + GPS Reference Manual 71 Table 41: List of Kalman Filter Configuration parameters Subcode Name Type LSB Range Default Meaning 0x26-01: Available Report Codes Table 42: 0x26-01: Available Report Code Report Message 0x26-02: Available Report Subcodes Table 43: 0x26-02: Available Report Subcode Report Message 0x26-03, 0x26-04, 0x26-05: DPP Speed Model Table 44: 0x26-03: DPP Model Message Table 45: 0x26-04: DPP Minimum Calibration Speed Message Table 46: 0x26-05: DPP Maximum Calibration Speed Message 0x27: DR Filter Configuration Table 47: 0x27: Format of DR Filter Configuration Parameter DR + GPS STARTER KIT REFERENCE MANUAL Lassen DR + GPS Reference Manual 76 Table 48: List of DR Filter Configuration Integer Parameters Subcode Name Type Units Range Default Meaning DR + GPS STARTER KIT REFERENCE MANUAL Lassen DR + GPS Reference Manual 77 Table 49: List of DR Filter Configuration Float Parameters Subcode Name Type Units Range Default Meaning DR + GPS STARTER KIT REFERENCE MANUAL (*) Lassen DR + GPS Reference Manual 78 0x2A, 0x2B, 0x2C; 0x2D: Output Interval Control DR + GPS STARTER KIT REFERENCE MANUAL Lassen DR + GPS Reference Manual 80 Table 50: Automatic Output Event Trigger Report Message Byte Name Type Value Meaning Table 51: Automatic Output Time Interval Trigger Report Message Byte Name Type Value Units Meaning Table 52: Automatic Output Distance Traveled Trigger Report Table 53: Automatic Output Heading Change Trigger Report Table 54: List of Automatic Output Trigger Defaults 0x2E-01: Soft Event Report Mask Table 55: 0x2E-01: Event Report Mask Message 0x2F-02: Data Positioning Collection Test Interval Control Table 56: 0x2F-02: Data Positioning Collection Mode Control 0x2F-04: Gyro Bench Test Interval Control Table 57: 0x2F-04: Gyro Bench Test Interval Report Message 0x2F-06: Tacho/Reverse Production Test Interval Control Table 58: 0x2F-06: Tacho/Reverse Production Test Control 0x21-01: DR Engine Rate Control Table 59: 0x21-01:DR Engine Rate Control Data Report Packets 0x30-02: Fast Fix with Raw DR Data Message Table 60: 0x30-02: Fast Fix with Raw DR Data Message Table 61: Fast Fix Data Sources DR + GPS STARTER KIT REFERENCE MANUAL Lassen DR + GPS Reference Manual 88 0x31-01: GPS Fix Message Table 62: 0x31-01: GPS Fix Message Byte Name Type Units / LSB Range / Value Meaning DR + GPS STARTER KIT REFERENCE MANUAL Lassen DR + GPS Reference Manual 89 Byte Name Type Units Range / Value Meaning DR + GPS STARTER KIT REFERENCE MANUAL Lassen DR + GPS Reference Manual 90 0x32-02: Constellation Summary Message Table 64: 0x32-02: Constellation Summary Byte Name Type Units Range / Value Meaning 0x32-03: UTC Time Message Table 65: 0x32-03: UTC Time Message 0x33-01: GPS Channel Measurement Short Status Table 66: 0x33-01: GPS Channel Measurement Short Status 0x36: DR Calibration Messages Table 67: 0x36-03: ZRO Calibration Message DR + GPS STARTER KIT REFERENCE MANUAL Lassen DR + GPS Reference Manual 94 Table 68: 0x36-04: Gyro Linearity Calibration Message Byte Name Type Units / LSB Range / Value Meaning Table 69: 0x36-05: Direction Switch Calibration Message Byte Name Type Units / LSB Range / Value Meaning Table 70: 0x36-07: DPP Calibration Message Table 71: 0x36-08: ZRO Rate Calibration Message 0x3F-01: ADC and Gyro Self-test Data Table 72: 0x3F-01: ADC and Gyro Self-Test Report Message 0x3F-03: Data Positioning Collection Test Data (ROM 15 and after) Table 73: 0x3F-03:Data Positioning Collection Test Data 0x3F-04: Gyro Bench Test Data Table 74: 0x3F-04: Gyro Bench Test Report Message 0x3F-06: Tacho/Reverse Production Test Data Table 75: 0x3F-06: Tacho/Reverse Production Test Report 0x30-03: Buffered Cumulative DR message DR + GPS STARTER KIT REFERENCE MANUAL Lassen DR + GPS Reference Manual 100 Table 76: 0x30-03: Buffered Cumulative DR Message Byte Name Type Units / LSB Range / Value Meaning Initialization Information 0x28-12: Almanac Initialization Table 77: 0x28-12: Almanac Fixed Point Report Message 0x28-13: Almanac Health Initialization Table 78: 0x28-13: Compressed Almanac Health Report Message 0x28-14: GPS Ionospheric Model and UTC Parameters Initialization Table 79: 0x28-14: GPS Ionospheric Fixed Point Model Report 0x28-16: Ephemeris Initialization Table 80: 0x28-16: GPS Ephemeris Fixed Point Model Report 0x29-01: Time Initialization Table 81: 0x29-01: Time Initialization Report Message 0x29-02: Latitude / Longitude Initialization Table 82: 0x29-02: Latitude / Longitude Initialization Report 0x29-03: Altitude Initialization Table 83: 0x29-03: Altitude Initialization Report Message 0x29-04: Local Oscillator (LO) Frequency Offset Initialization Table 84: 0x29-04: Local Oscillator (LO) Frequency Offset Initialization Report Message 0x29-05: Heading Initialization Table 85: 0x29-05: Heading Initialization Report Message Real-Time Input Data 0x29-07: Short Map-Match Data Table 86: 0x29-07: Map-Match Report Message 0x29-08: Tacho Data Table 87: 0x29-08: Tacho Report Message E VENT L OG Q 2. Flow of Execution Fatal Errors Table 88: Fatal Error Code Table 89: Format of fatal error log entry Table 90: Block Format for Status Code 10xx Table 91: Block Format for Status Code 12xx Table 92: Block Format for Status Code 2xxx Soft Events DR + GPS STARTER KIT REFERENCE MANUAL Lassen DR + GPS Reference Manual 118 Table 93: Soft Event Identity Code Soft event/Event Descriptions S/C Table 94: Soft Event Condition Code Table 95: Format of Soft Event Log Entry Event Messages Invalid BBRAM detected on startup. Position recovery, solution snapped to GPS. Heading recovery, solution snapped to GPS. DPP recovery, solution snapped to GPS. GPS receiver fixes not reasonable; try to recover. Gyro readings do not stay within specification No Tacho data when GPS is detecting movement Excessive tacho data is received for a long period of time Reverse signal opposite to direction determined by GPS. Large jump at power-up Oscillator values are not within specification. Antenna open detected. Antenna short detected. Failure to connect to GPS DSP. RTC disagreed with GPS time Gyro Failure. ADC Failure. Gyro Shorted to 3.3 V. C DR + GPS STARTER KIT REFERENCE MANUAL Lassen DR + GPS Reference Manual 127 Table 96: Power Supply for Internal DR Module Characteristic Conditions Min. Typical Max. Unit NOTE All specifications are over the entire temperature range, -40C to +85C Table 97: Power Supply for DR+GPS Starter Kit Unit Data I/O Table 100: Data I/O Table 101: PPS Table 102: PPS Characteristics Table 103: Gyro Table 104: 3 Volt Gyros Page Table 105: 5 Volt Gyros GPS Antenna 2. Reference Board Diagram (5V Gyro) 3. Reference Board Diagram (3V Gyro) Table 106: Table 115: DR Module Pin Assignments