Sensors/GPS

GPS Receivers

For now 2 GPS receivers are supported.

For the Tiny the new LEA-4P from u-blox is used. It features their new antaris-4 technology. This GPS runs at 4hz and is reprogrammed to use u-blox’s more efficient UBX protocol.

[attachment:lea_big.jpg] ublox LEA GPS Receiver

The other boards use a stand alone module from u-blox called the SAM-LS. It is an integrated TIM-LP module with a ceramic patch antenna. This processor also runs on 4hz and is reprogrammed to run on UBX protocol. Both modules have proven reliable and robust. With battery back up they show hot starts of around a couple seconds. The LEA-LA processor weighs a couple grams, while the SAM-LS module with antenna and shielding weighs about 20grams.

[attachment:ublox_SAM-LS.jpg] ublox SAM-LS GPS Smart Antenna

This section should be rather short as the GPS receivers from Ublox are pretty much ready to go when you get them. Some things are different in protocol however so you will need to program them using Ublox's software.

The hardware really depends on the board you are using, so we will section it that way.

GPS & Control Boards

Tiny AP

This board is designed with the GPS onboard, it accepts any of the LEA series from Ublox. Keep in mind if you dont get a GPS with flash(LEA-LA) you will need to configure the AP to send boot commands to the GPS on start up.

Classix and Lite AP

These boards are configured for the use of a SAM-LS module, which runs at 3.3v(Lite uses a resistor bridge). The only suggestion here is to remove the case on bottom, and solder the 4 wires directly to the TIM GPS module(GND (pin 1) ,VCC (pin 2),TX (Pin 5),RX (pin 4)) Ublox has the pinout in the manual for the GPS.

1.2.1 AVR and RoboStix AP

This board requires a GPS board which includes a 3.3v regulator and a resistor bridge. The PCB files for this board are in the CVS under SAM-LS

GPS configuration using U-Center

U-Center is a GPS evalutation software from Ublox. It allows you to graphically view the status of your GPS and to configure it. It's available for download at the Ublox web site. Unfortunatly it's only available for Windows.

In order to configure your module for use with your AP, you first need to connect it to your computer. Keep in mind that the Uart from the module is running at TTL level, not RS232. So you can either use a MAX232 or use a USB-serial adapter (TTL) such the pololu: http://www.pololu.com/products/pololu/0391/ or the sparkfun: http://www.sparkfun.com/commerce/product_info.php?products_id=199. Using these USB device has the additional advantage that you can use the 3.3V regulator that is built in to supply your GPS.

Once it's connected, start U-center, choose your com port from the pull down list under the connect button. Choose your baudrate from the pull down box right of the connect button.

Then you need to open the message window (menu View->messages view) to start the configuration process. Here's the list of steps that needs to be done:

  1. Right Click on the NMEA Icon and choose disable child
  2.

     Choose ubx->cfg->nav2 - set it to use Airborne 4G
  3.

     Ubx->cfg->rate - change the period to 250ms
  4.

     ubx->cfg->prt - set USART0 to 38400bps
  5. Change the baudrate of U-Center to 38400bps
  6.

     ubx->cfg->sbas : Disable
  7.

     ubx->nav (not cfg->nav): double click on posutm, status, svinfo, velned. They should change from grey to black
  8.

     ubx->cfg->cfg : save current config, click send 

To save the configuration to a file: under the tools menu, choose GPS config, then click GPS>>file

Antennas

Sangshin

KSA-ST1580MS13

Size: 13 x 13 mm
Center Frequency: 1580 MHz
Bandwidth: 5 MHz
@Fo: -15 dB
GAIN (dBi): 0 dBi
Ground Plane: 50 x 50 mm