Coordinate systems, NMEA 0183 standard and testing of u-blox 5 : part of [mobile tool for inspection of fixed structures]

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Coordinate systems, NMEA 0183 standard and testing of u-blox 5 : part of [mobile tool for inspection of fixed structures]

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http://irc.nrc-cnrc.gc.ca C o o r d i n a t e s y s t e m s , N M E A 0 1 8 3 s t a n d a r d a n d t e s t i n g o f u - b l o x 5 : p a r t o f [ m o b i l e t o o l f o r i n s p e c t i o n o f f i x e d s t r u c t u r e s ] O R A L - 8 7 6 W o n g , B .

A version of this document is published in / Une version de ce document se trouve dans: NRC-IRC Internal Powerpoint Presentation, London, Ontario, June 11, 2008, pp. 1-43

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Coordinate Systems, NMEA 0183

Standard and Testing of u-blox 5

Part of [Mobile Tool for Inspection of Fixed Structures]

Brian Wong

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Overview

• Introduction

- Earth-Centred, Earth-Fixed Coordinate Reference

• Coordinates Systems

- Latitude and Longitude

- Universal Transverse Mercator

• NMEA 0183 Standard • Testing of u-blox 5

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Image

200805231615 The Earth Coordinate Reference.bmp

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Image

200805231609 The Earth-Centred Earth-Fixed Coordinate Reference.bmp

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Coordinate Systems (Two Commonly Used)

1. Latitude and Longitude (Lat/Long)

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Image

200805261152 The Earth Latitude Coordinate Reference.bmp

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Latitude and Longitude (Lat/Long)

Latitude [-90° <= Lat <= +90°]

- Distance Measurement in degrees (°)

• North (N) or South (S) from the Equator

- Range:

• 90°N (+90°) at the North Pole • 0° at the Equator

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Image

200805261543 The Earth Longitude Coordinate Reference.bmp

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Latitude and Longitude (Lat/Long)

Longitude [-180° <= Long <= +180°] - Distance Measurement in degrees (°)

• East (E) or West (W) of the Meridian at Greenwich, England

- Range to cover the full circle (360°) of Earth:

• 180°W (-180°) at the Pacific Ocean • 0° at the Meridian

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Latitude and Longitude (Different Formats)

Example:

NW Corner, Parking Lot, NRC London Latitude Longitude

+43.016111° -81.279167° 43°00’58”N 081°16’45”W +43°00’58” -081°16’45”

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Image

200805011007 Google Satellite Image - NRC London - NW corner of the parking lot.bmp

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Image

200805281744 The Earth UTM Longitudinal Zones Coordinate Reference.bmp

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Image

200805281839 The Earth UTM Latitudinal Zones Coordinate Reference.bmp

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Universal Transverse Mercator (UTM)

Breaks the world into *(with a few exceptions): • 60 Longitudinal Zones (6° Each)*

From 1 to 60 [-180° <= Longitude <= +180°]

• 20 Latitudinal Zones (8° Each)*

From C to X [-80° <= Latitude <= +84°] with no I and O

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Example:

17T 4

79

623E 47

60

845N

⁭ ⁭ ⁭

Zone Easting Northing

Easting = 479,623 meters East of Zone 17 Longitudinal Reference Grid Line

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Example:

NW Corner, Parking Lot, NRC London 17 4

77

251E 47

62

642N

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Image

200805301222 Google Satellite Image – UTM Position Examples - 1.bmp

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Image

200805301233 Google Satellite Image - UTM Position Examples - 1 - Zoom In.bmp

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Image

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Image

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NMEA 0183 Standard

National Marine Electronics Association (NMEA) 0183 Standard

defines

Electrical Specification and Data Protocol

for

Communications between Navigation Devices

on

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Navigation Devices are classified into

Talkers and Listeners (some devices being both).

The Standard allows a single talker and many listeners on each data bus.

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Data Communications

between talker and listener(s)

are done by transmitting messages called

sentences that contain

printable ASCII characters, carriage return (<CR>) and line feed (<LF>) only.

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Each NMEA 0183 sentence

begins with “$” character, using comma “,” character(s) to delimit the data in-between, with no spaces and ends with <CR><LF>.

Three Types of Sentences: 1. Talker Sentence

2. Proprietary Sentence 3. Query Sentence

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NMEA 0183 Talker Sentence Format

$ttsss,d1,d2,…,dn<CR><LF>

where

tt = 2-Letter Talker Identifier

sss = 3-Letter Sentence Identifier d1 = Data Associated with the sss d2 = Data Associated with the sss dn = Data Associated with the sss

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Talker Sentence Example

$GPGLL,4300.9667,N,08116.7500,W,221529.4 87,A,A*4A<CR><LF>

where

GP = Talker Identifier for GPS Receiver

GLL = Sentence Identifier for Geographic Position - Latitude/Longitude

4300.9667 = Latitude in “ddmm.mmmm” format (d=degree, m=minute)

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Talker Sentence Example (Continued) $GPGLL,4300.9667,N,08116.7500,W,221529.4 87,A,A*4A<CR><LF> where 08116.7500 = Longitude in “dddmm.mmmm” format (d=degree, m=minute)

W = East (E) or West (W) Indicator

221529.487 = UTC Time in “hhmmss.sss” format

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Talker Sentence Example (Continued) $GPGLL,4300.9667,N,08116.7500,W,221529.4 87,A,A*4A<CR><LF> where A = Mode (A=Autonomous, D=DGPS, E=DR)

* = Delimiter for Checksum

4A = Checksum (Exclusive OR of all

characters between “$” and “*”)

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NMEA 0183 Proprietary Sentence Format

$Pxxxp0,p1,p2,…,pn<CR><LF>

where

P = Proprietary Sentence

xxx = 3-Letter Manufacturer’s Mnemonic Code p0 = Proprietary Data (Sometimes No Data Here)

p1 = Proprietary Data (Sometimes Associated with p0)

p2 = Proprietary Data Associated with p0 or p1

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NMEA 0183 Query Sentence Format

$ttllQ,sss<CR><LF>

where

tt = 2-Letter Talker Identifier (The Requester)

ll = 2-Letter Talker Identifier

(The Listener being requested) Q = Query Sentence

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Query Sentence Example

$CCGPQ,GLL<CR><LF>

where

“CC” device is requesting from

“GP” device [Talker Identifier for GPS Receiver]

the GLL sentence [Geographic Position - Latitude/Longitude]

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Image

200805291857 u-blox 5 GPS and Galileo Receiver Evaluation and Development Kit EVK-5H - KEY.bmp

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Testing of u-blox 5 GPS Device

• USB Connection for Power

• RS232 Connection for Data Communication

- Settings (in Windows 2000 Professional)

BAUD: 9600 Data bits: 8 Parity: None Stop bits: 1 Flow control: None

- Serial Cable Specification

Connectors: DB-9 Male to DB-9 Female Wiring: 3 Straight-Through Wires

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Image

200806041319 u-blox u-center 5.00 Application Evaluation Software - Labelled.bmp

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Testing of u-blox 5 GPS Device

NRC London Indoor Reception Floor 100-Level: None

(except for 2 or 3 places) Floor 200-Level: Varies or None

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Image

200805301804 Google Satellite Image - NRC London - Testing of u-blox 5.bmp

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Testing of u-blox 5

NRC London: Corridor 159 North

Data Latitude (°) Longitude (°) Altitude (m)

001 +43.016349 -81.277832 190.40 002 +43.016318 -81.277775 231.60 003 +43.016182 -81.277652 216.50 P. Woodard’s GPS Device by J. Nagata of NRC

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Image

200805301927 Google Satellite Image - NRC London - Testing of u-blox 5 - Zoom In.bmp

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NRC London: Corridor 159 South

001 +43.015963 -81.277688 221.70

002 +43.016071 -81.277506 228.50

003 +43.016006 -81.277676 214.10

P. Woodard’s GPS Device by J. Nagata of NRC

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NRC London: Stair No 3 Top

001 +43.015746 -81.278253 238.90

002 +43.015716 -81.278288 192.70

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Questions & Discussions -I R C London S tra tegy De ve lop m ent

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Enquiry and/or Feedback

Please contact Mr. Brian Wong as follows:

Address: National Research Council of Canada 800 Collip Circle

London, Ontario N6G 4X8 Phone: (519) 430-7083

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