SPECIFICATION › taoglas › datasheet › GRS.01.A.024KSSX1.pdfDigital IO High level output VCC_IO–0.4 V (lol = 4mA) Max. Input Power at RF_IN 15 dBm Power Consumption DC 4V-6V

DSP-14-8-082/A/EW Page 1 of 31

DRAFT SPECIFICATION

Part No. : GRS.01.A.024KSSX1

Product Name : Stealth GPS/GNSS/Beidou Smart Antenna Receiver

System

Features : Covers GPS, GLONASS, GALLILEO, Beidou, and QZSS

Combines low power consumption and high sensitivity

Integrates u-blox new M8 semiconductor platform

Easy integration on UAV with APM 2.x platform

Capable 1° to 2° Compass heading accuracy

Uses a High IIP3, High Gain, and Low Noise Amplifier

Includes ESD protection 15KV (Air)

Compass I2C Interface

Wide Magnetic Field Range (+/-8 Oe)

Fast 160 Hz Maximum Output Rate for Compass

Dimensions: 64.5mm*60.0mm*178.1mm

RoHS Compliant


1. Introduction

The GRS.01 GPS/Glonass/Beidou smart antenna receiver system is a complete

receiver and antenna based on the u-Blox M8 solution. It is the most advanced small

form factor smart antenna receiver system on the market today.

Featuring the u-blox M8 multi-GNSS (GPS, GLONASS, Beidou, QZSS and SBAS)

engine, the MAX-8 series delivers high sensitivity and minimal acquisition times in the

industry proven MAX form factor. A wide-band, specially tuned, advanced 35mm

dielectric ceramic patch antenna is integrated directly with the receiver for best

receive sensitivity.

In addition, an electronic compass function is included for direction finding.

This system allows continuous position coverage in most application environments.

Furthermore, it’s very easy to operate this antenna via I2C serial bus, since the

protocols and commands support APM version 2.x which is popular in drone UAV

application field.

Typical Applications

- Navigation-Automotive/Pedestrian/Marine

- Positioning-Geotagging/Journey/LBS

- Tracking-Security/Safety

- Asset Tracking

- First Person View applications

- Other location-aware consumer devices

If you have any questions, please Contact your regional Taoglas office for support

http://www.taoglas.com/contact/


2. Specification Table

ELECTRICAL

Receiver Type

72-channel u-blox M8 concurrent GNSS receiver

GPS/QZSS L1 C/A, GLONASS L10F,BeiDou B1,

SBAS L1 C/A: WAAS, EGNOS, MSAS

GPS+GNSS GPS+BEIDOU GPS

TTFF

Cold start 26s 27s 29s

Hot start 1s 1s 1s

Aided Starts 2s 3s 2s

Sensitivity

Tracking &

Navigation -167 dBm -165 dBm -166 dBm

Reacquisition -160 dBm -160 dBm -160 dBm

Cold Start: -148 dBm -148 dBm -148 dBm

Hot Start -156 dBm -156 dBm -156 dBm

Horizontal position accuracy Autonomous :2.5m

SBAS :2.0m

Accuracy of time pulse signal RMS:30ns

99%:60ns

Frequency of time pulse

signal Configurable 0.25 Hz to 10 MHz (config)

Max navigation update rate Single GNSS: up to 18 Hz

Concurrent GNSS: up to 10 Hz

Velocity accuracy 0.05 m/s

Heading accuracy 0.3 degrees

Altitude 50000m

Velocity 500m/s

Schmitt trigger input SCL &

SDA

Fall 0.2*VDDIO (VDDIO = 1.8V)

Rise 0.8*VDDIO (VDDIO = 1.8V)

Digital IO Low level input 0 ~ 0.2*VCC_IO (VCC = 5.0V typical)

Digital IO High level input 0.7*VCC_IO ~ VCC_IO+0.5 (VCC = 5.0V typical)

Digital IO Low level output 0.4 V (lol = 4mA)


Digital IO High level output VCC_IO–0.4 V (lol = 4mA)

Max. Input Power at RF_IN 15 dBm

Power Consumption DC 4V-6V (5V Typical)

DC 30mA-50mA (40mA Typical)

Center Frequency GPS

1575.42MHz

GNSS

1602MHz

Beidou

1561MHz

Return Loss 10.26 dB -23.32 dB -10.48 dB

V.S.W.R 2.05 1.24 1.93

Antenna Gain

-1.19 dBi(typ.)

@ Zenith XZ

-0.51 dBi(typ.)

@ Zenith YZ

1.13 dBi(typ.)

@ Zenith XZ

1.33 dBi(typ.)

@ Zenith YZ

-1.41 dBi(typ.)

@ Zenith XZ

0.23 dBi(typ.)

@ Zenith YZ

Axial Ratio 9.19 19.47 20.26

MECHANICAL

Housing Material ABS

Cable UART TTL serial bus (GPS/GLONASS/BEIDOU)

UART I2C serial bus (COMPASS)

Connector 1.25mm Wafer Horizontal SMT Single Row 04 & 05 contacts

Stand 164mm*39mm

Weight 55g

ENVIRONMENTAL

Operation Temperature -40°C ~ +85°C

Storage Temperature -40°C ~ +90°C


3. Electrical Specifications

3.1. System Block Diagram

3.2. Return Loss

–10.48 dB@1561MHz

–10.26 [email protected]

–23.32 [email protected]


3.3. Impedance

Impedance：28.63–j4.28Ohm

Impedance：74.81–j24.85Ohm

Impedance：52.80+j5.13Ohm


3.4. VSWR

1.93@1561MHz

[email protected]

[email protected]


3.5. Radiation Pattern


3.5.1. 1561MHz

XZ-Plane

Peak Gain Zenith Gain

-1.03 dBi -1.41 dBi

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YZ-Plane


0.38 dBi 0.23 dBi

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Gain Pattern Value

Angle XZ-Plane YZ-Plane

90° -4.82 -4.10

75° -4.46 -3.05

60° -3.75 -2.55

45° -3.02 -2.45

30° -2.37 -2.02

15° -1.81 -0.76

0° -1.41 0.23

345° -1.04 0.06

330° -1.14 -0.75

315° -1.72 -0.13

300° -2.82 0.17

285° -4.21 -1.41

270° -5.36 -2.77

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3.5.2. 1575.42MHz

XZ-Plane


-1.03 dBi -1.41 dBi

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YZ-Plane


0.38 dBi 0.23 dBi

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Gain Pattern Value


90° -3.25 -8.95

75° -3.19 -6.48

60° -2.85 -4.25

45° -2.37 -2.66

30° -1.89 -1.54

15° -1.47 -0.77

0° -1.19 -0.51

345° -1.05 -1.33

330° -1.27 -2.63

315° -1.86 -3.67

300° -2.74 -4.65

285° -3.65 -6.47

270° -4.30 -7.53

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3.5.3. 1602.6MHz

XZ-Plane


-1.03 dBi -1.41 dBi

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YZ-Plane


0.38 dBi 0.23 dBi

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Gain Pattern Value


90° -3.16 -3.87

75° -1.86 -1.72

60° -0.72 -0.71

45° 0.20 -0.18

30° 0.87 0.46

15° 1.25 1.19

0° 1.31 1.33

345° 0.88 -0.37

330° 0.04 -1.40

315° -1.16 0.15

300° -2.71 0.45

285° -4.53 -1.60

270° -6.28 -2.81

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3.6. Axial Ratio

3.6.1. 1561MHz

Angle Axial Ratio

90° 12.76

75° 10.98

60° 16.34

45° 8.73

30° 21.74

15° 13.00

0° 20.26

345° 14.42

330° 24.00

315° 18.98

300° 20.69

285° 17.01

270° 15.01

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3.6.2. 1575.42MHz

Angle Axial Ratio

90° 13.45

75° 11.26

60° 10.68

45° 10.50

30° 9.94

15° 11.10

0° 9.19

345° 13.18

330° 10.68

315° 16.74

300° 10.38

285° 23.00

270° 16.67

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3.6.3. 1602.6MHz

Angle Axial Ratio

90° 20.24

75° 9.83

60° 3.53

45° 2.73

30° 9.91

15° 15.45

0° 19.47

345° 11.19

330° 7.15

315° 5.87

300° 11.46

285° 20.46

270° 34.80

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4. Mechanical Specifications

4.1. Enclosure Dimensions (60*64.5*178.14 mm)

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4.2. Cable Definition

Color Description

Blue SDA

Orange SCL

Black GND

Red VCC

Green TX (Input)

Yellow RX (Output)

Vcc Range:4V~6V Typ:5V

Current Range:30mA~50mA Typ:40mA

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4.3. Connector Drawings

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4.4. Outdoor Test (Smart Antenna on Device)

This is a screen shot of UAV controller. The image shows the GRS.01 is functional with

fixed GPS 3D position, Hdop and Sat value.

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5. Protocols

5.1. NMEA Output Sentences

Its output signal level is TTL. It can support the following NMEA-0183

Messages: GGA, GLL, GSA, GSV, RMC and VTG. NMEA Output Messages: the Engine

board outputs the following messages as shown in Table1

Table1:NMEA-0183 Output Messages

NMEA Record Description

GGA Global positioning system fixed data.

GLL Geographic-latitude/Longitude

GBS system ID, signal ID

GNS nav status

GRS system ID, signal ID

GSA GNSS DOP and active satellites

GSV GNSS satellites in view

RMC Recommended minimum specific GNSS data

VTG Course over ground speed

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Table-2 contains the values for the following example：

$GPGGA,022043.00,2312.16435,N,14029.45462,E,1,06,2.74,65.4,M,19.2,M,,*61

Table-2:GGA Data Format

Name Example Units Description

Message ID ＄GPGGA GGA protocol header

UTC Time 022043.0

0 hhmmss.sss

Latitude 2312.164

35 ddmm.mmmm

N/S Indicator N N=north or S=south

Longitude 14029.45

462 dddmm.mmmm

E/W Indicator E E=east or W=west

Position Fix

Indicator 1 See Table-3

Satellites Used 06 Range 0 to 14

HDOP 2.74 Horizontal Dilution of

Precision

MSL Altitude 65.4 Meters

Antenna Altitude

above/below

mean-sae-level

Units M Meters Units of antenna altitude

Geoidal

Separation 19.2 Meters

Units M Meters Units of geoid separation

Age of Diff.Corr. Second Null field when DGPS is not

used

Checksum *61

<CR><LF> End of message

termination

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Table-3:Position Fix Indicator

Value Description

0 Fix not available

1 GPS fix

2 Differential

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GSA-GNSS DOP and Active Satellites

Table-4 contains the values for the following example:

$GPGSA,A,3,10,21,26,15,18,09,06,10,,,,,1.62,0.95,2.37*00

Table-4:GSA Data Format


Message ID ＄GPGSA GSA protocol header

Mode 1 A See Table-5

Mode 2 3 See Table-6

Satellite Used 10 SV on channel 1

Satellite Used 21 SV on channel 2

…. …. …. ….

Satellite Used SV on channel 12

PDOP 1.62 Position Dilution of

Precision

HDOP 0.95 Horizontal Dilution of

Precision

VDOP 2.37 Vertical Dilution of

Precision

Checksum *00


termination

Table-5 Mode 1

Value Description

M Manual-forced to operate in 2D or 3D

A 2D Automatic-allowed to automatically switch 2D/3D

Table-6 Mode 2

Value Description

1 Fix not available

2 2D(<4 SVs used)

3 3D(≧4 SVs used)

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GSV—GNSS Satellites in View


$GPGSV,3,1,09,29,36,029,42,21,46,314,43,26,44,020,43,16,25,124,39*7D

$GPGSV,3,2,09,18,26,314,40,09,57,170,44,06,20,229,37,10,26,084,

$GPGSV,3,3,09,07,,,26*73

Table-7:GSV Data Format


Message ID ＄GPGSV GSV protocol

Number of

Messages 3

Range 1 to 3

(Depending on the number

of satellites tracked,

multiple messages of

GSV data may be

required.)

Message

Number1 1 Range 1 to 3

Satellites on View 09

Satellite ID 29 Channel 1(Range 1 to 32)

Elevation 36 Channel 1(Maximum 90)

Azimuth 029 Channel 1(True, Range 0 to

359)

SNR(C/No) 42 Range 0 to 99,

(null when not tracking)

…. …. …. ….

Satellite ID 16 Channel 4(Range 1 to 32)

Elevation 25 Channel 4(Maximum 90)

Azimuth 125 Channel 4(True, Range 0 to

359)

SNR(C/No) 39 Range 0 to 99,

(null when not tracking)

Checksum *7D


termination

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RMC—Recommended Minimum Navigation Information


$GPRMC,064951.000,A,2307.1256,N,12016.4438,E,0.03,165.48,260406,

3.05,W,A*55

Table-8 RMC Data Format


Message ID ＄GPRMC RMC protocol header

UTC 064951.0

00 hhmmss.ss

Status A A=date valid or V=date not

valid

Latitude 2307.125

6 ddmm.mmmm

N/S Indicator N N=North or S=South

Longitude 12016.44

38 dddmm.mmmm

E/W Indicator E E=East or W=West

Speed over

Ground 0.03 Knots

Course over

Ground 165.48 Degrees True

Date 260406 ddmmyy

Magnetic

Variation 3.05,W degrees E=East or W=West

Mode A

A=Autonomous mode

D=Differential mode

E=Estimated mode

Checksum *55


termination

DSP-14-8-082/A/EW Page 31 of 31

VTG—Course and speed information relative to the ground

Table-9 contains the values for the following example:

$GPVTG,165.48,T,,M,0.03,N,0.06,K,A*37

Table-9 VTG Data Format


Message ID ＄GPVT VTG protocol header

Course 165.48 degrees Measured heading

Reference T True

Course degrees Measured heading

Reference M Magnetic

Speed 0.03 Knots Measured horizontal speed

Units N Knots

Speed 0.06 Km/hr Measured horizontal speed

Units K Kilometers per hour

Mode A

A=Autonomous mode

D=Differential mode

E=Estimated mode

Checksum *06


termination

SPECIFICATION › taoglas › datasheet › GRS.01.A.024KSSX1.pdfDigital IO High level output VCC_IO–0.4 V (lol = 4mA) Max. Input Power at RF_IN 15 dBm Power Consumption DC 4V-6V

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