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sklimkin
Russia
6 Posts |
 Posted - 22 juil. 2011 : 16:45:32
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Binary protocol Garmin & GlabalSat receiver/navigator based on SirfStar-II and SirfStar-III chipsets.
The program for work with receivers and navigators Garmin and GlobalSat constructed on chipsets SirfStar-II and SirfStar-III.
The program works under the binary report, writes down a binary stream from the receiver, creates parsing-file (human-presentation of received messages), RINEX-obs file, WGS-84 geocentric coordinates-file.
You may write points as geodetic surveying with Taheometer.
PointNumbers and codes for a "POINT" and a "POLYLINE" objects would written to RINEX-obs and Coords files for post-processing.
Work now in progress - it is pre-release version.
Supported OS/Devices:
Desktop Win-32,
Windows Mobile 2003 SE (HP iPaq 4700 FS-LOOX for example),
Windows Mobile 5 and 6 (HP iPaq 114/214 for example),
Windows Mobile 5 on HTC P3300 smart-phone.
Work with following devices is checked up:
Garmin GPS-25/35 (SirfStar-II) mouse receiver,
Garmin GPS-72/eTrex (SirfStar-II) navigator,
Garmin GPSMap-60 (SirfStar-II) navigator,
Garmin GPSMap-60cx (SirfStar-III) navigator,
GlobalSat BT-308 (SirfStar-II) receiver,
GlobalSat BT-338 (SirfStar-III) receiver,
Mitac MIO P550 (SirfStar-III) PPC-navigator,
Mitac MIO C520 (SirfStar-III) GPS-navigator.
Supported device-device interfaces:
RC-232 (pure COM-port),
RS-232 to USB cable (Prolific for example),
BlueTooth.
Work and with other receivers is possible, but it should be checked.
Link to download program on Russian forum geodesist.ru:
http://geodesist.ru/forum/printfile.php?action=attach&f=27&t=209&id=36
and prewious pages.
Program interface are on English, but connent files only on Russian.
Please test & comment a program.
Sergey.
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sklimkin
Russia
6 Posts |
Posted - 22 juil. 2011 : 17:22:23
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ATTENTION!!! it is conversion my INFO.txt from Russian into English executed by robot PROMT
Work of the program and its buttons
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1. Work with the receiver / the navigator a window Files:
a) For record to press button Write_Files and to close this window. And without record - not to open at all this window.
b) Operating mode: Static, Kinematic, SimplePOS, PseudoRTK, Track, RTK. Actually the program works in a statics mode.
Recently added functions for record in RINEX an OBS-file of changes of height of the aerial and codes of removed points it is possible to consider as transition in a kinematics mode (if I have correctly understood specification RINEX-OBSERVATION of a file).
Thus these buttons should be considered as preparation on the future - by results of processing of field testing in postprocessing programs.
c) Connection: to choose receiver/navigator type, to choose COM-port and speed of data transmission (to look the passport and receiver/navigator installations). Receivers Garmin GPS25/35/18 always after inclusion have NMEA-mode and speed 4800 baud, the program establishes them in mode Garmin-Binary and demands restart. Port COM1, speed of 9600 baud is by default put and an interval of measurements/epoch in 1 second. For all SirfStar'#1086;#1074; speed of port it is necessary to expose 38400 baud.
d) Further to press button "START" and if the program informs that are found given (receiver messages) corresponding to your installations and Date-time are received to press button "ACCEPT" (to "Apply").
e) At Message occurrence "GPS Date-Time susses!" To press OK - the program informs that has received from the navigator self-identification of the device and UTC date-time. For Garmin and GlobalSat devices of the message differ a little.
f) Upon termination of record to press button STOP, to close a window 3_Connect and then to close the main window of the program.
2. All other buttons and elements - a reserve for the future: work in a static - kinematic - OnTheFly - psevdo_RTK - simplified,
3. In window Surveying the program deduces flowing WGS-84 coordinates in Latitude (B) - Longitude (L) - Altitude (H) and/or North (X) - East (Y) - Hight (Z). Here ComboBoxes of a choice of codes of points, codes of polylines and the Radio button of attributes of points on a polyline (the beginning, continuation, the end). There is ComboBoxes of a choice of height of the aerial/mark of a Rover for reduction aerial marks to a point over wich it costs also to record in files (for RINEX-OBS a file of it it is not made yet).
In other words window Surveying for performance of manipulations during usual topographical shooting (as with El.Taheometer).
4. Window SKY - is conceived for display of companions in a firmament (if I will overcome picture programming).
5. The current information on the size of the accepted block of the data and on the accepted bytes of ALL is deduced in StatusBar (for SirfStar). At the very bottom of a window there is such strip, visible in all windows of the program. For Garmin's in the same StatusBar the data is deduced by quantity of the companions accepted to processing.
6. The program at the very beginning of work requests of the receiver/navigator self-identification and flowing date-time UTC. This information (text under the form) is written at the very beginning of a binary file for the subsequent use and not to guess: from what device and when has written down here this binary file. After a line of self-identification of the device to a binary file it is written "Almanac" and the obtained binary data and "Ephemeris" (for devices which give out Ephemeris) also the binary data.
7. I will repeat to exclude misunderstanding: THIS PROGRAM "is ground" first of all for work with the popular both cheap receivers and the navigators working under reports Garmin and SirfStar. It would be desirable to make the program, which processes both Garmin and SirfStar the binary report. In the course of debugging often arose: "It is impossible to capture immense".
8. The program still in progress but to check up on it various devices I believe it is possible. Anyway it shows in the target files in a readable kind that gives out in the binary report the device constructed on chipsets SirfStar-II and SirfStar-III such firms as Garmin and SirfStar. If something not so (it is not pleasant, doesn't arrange) I ask not to judge strictly: I'm not the programmer, I'm the geodesist and make the program from a great interest "And that can be received for a geodesy/topography from satellite receivers which price is accessible to me and my compatriots? ".
9. All measurements are executed from a balcony of my house, therefore be not surprised to small quantity of the grasped companions and "fragmentary" to kind of RINEX-files. If there is a possibility to open on viewing a binary file as text in the first lines it is possible to esteem about the device and date-time. Besides in a file GNSS-Monitor2_Parsing.txt in the short form formats of files of parsing are commented.
05-06-2011 - 10-07-2011 additions:
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10. At base station - the operating mode is involved in a window 2_Mode below at the left check-boxing BaseStation.
11. File recording RINEX-OBS of lines of transition Static <-> Kinematic changes of height of the aerial and a code of points, a correctness is added it it is necessary to check in processing of such file in postprocessing programs.
12. In a window 5_Meassurement (in view of absence of a window with a firmament) lines are deduced:
- The name of a sensor control,
- TOW (receiver time) and WN (week GPS) - at start of the program,
- Geocentric coordinates at start of the receiver X =... (m) Y =... (m) Z =... (m),
- Sateelities in View (companions visible the receiver) - numbers,
- Azimuth (azimuths of visible companions) in degrees,
- Elevation (heights of companions over horizon) in degrees.
(For Garmin's only sensor and TOW WN).
13. The program requests and writes to a binary file and parsing file messages SirfStar of receivers MID-30 (MID 0x1E).
Coordinates, speeds and time of companions which contain in it can be used for calculation of pseudo-ranges, Phase and different other things. But it will demand rather capacious for the processor of recursive and matrix calculations, for which time (in timer intervals = 1 seconds) can and not suffice. And "what for to make a fuss", if it becomes in all Postprocessing programs. In a word there is no such problem, was convinced that receivers give out and has calmed down. For economy it is necessary will exclude this message from inquiry and processing.
14. The program version under OS Win-CE/Mobile already is, but not all in it "is smooth", not all so is predicted, as in OS Windows-XP.
Work of this version on PPC HP iPaq4700 and iPaq214 under OS WinMobile 2002, WinMobile 5, WinMobile 6 is checked up with receivers Garmin GPS25, Garmin GPS72, Garmin eTrex, Garmin GPSMap60cx, GlobalSat BT308, GlobalSat BT338 on interfaces RS232, USB and BlueTooth. Results stable. Business with navigators of type Mitac MIO DigiWalker is worse is. Here and features their versions of OS WinCE and that "iron" on which are collected these navigators, and first of all my weak programmer possibilities.
But as a whole tasks in view are carried out: the program finds the receiver, establishes the parameters of communication, obtains the data and processes them to RINEX-OBS a file with record of the accepted binary stream and text representation of process and results topographical shooting. Thus topo-shooting is based on satellite measurements by household receivers or navigators.
This problem also was put at the very beginning of work.
10-07-2011 - 01-08-2011 additions:
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15. Errors of formatting of lines in RINEX-OBS a file are rectified. But also after these corrections RINEX-OBS program Topcon-Tools "understands" a file, and GNSS-Solutions informs that a format of a file the wrong.
16. In both variants (Win-Desktop and Win-CE/Mobile) there was a filling of window Meassurement. The information in this window differs for different receivers (depends on the one who and that from them can give out) a little.
17. Processing of the binary report of very interesting navigator Garmin GPSMap-60 (without any additional letters) is added. It is constructed on chipset SirfStar-II and it has appeared that at it simultaneously are present almost all Messages navigators of series Garmin eTrex/GPS-72 and message Message_34 completely repeating Message_29 receiver Garmin GPS-25/35.
While has stopped that the program will work with it on a set of messages eTrex, it will be visible further.
xx. Scopes and the problems solved by this program will be found by users if the destiny of the program is successful. Anyway the program will be useful to students at studying of satellite navigation.
Besides, that the program writes down a binary stream of the receiver and decodes it in RINEX-OBS a file, she creates 3 more files which maintenance can be processed without use of expensive programs of post-processing. Here open space for creativity under concrete needs.
I don't spread an initial code of the program only because against depravity of the juvenile. Let young programmers learn to achieve the object by own strength and possibilities.
Thanks:
1. To Don Antonio Tabernero, the professor of the Madrid university, Spain. For its researches and the programs of processing of the binary report of receivers laid out in an easy approach and navigators of firm Garmin.
2. Pelle Orinius, Stockholm, Sweden. To the programmer which has created and continues to improve a unique set of program tools PellesC. PellesC allows to create in a C programming language (without MFC without OOP) programs for OS Windows-Desktop and Windows-CE/Mobile. Thus under the statement of author PellesC is and will be free.
"Pelles C is a complete development kit for Windows and Windows Mobile".
There are other tools for #1087;#1088;#1086;#1075;#1088;#1084;#1084;#1080;#1088;#1086;#1074;#1072;#1085;#1080;#1103; for OS Windows. But only this allows to create programs which will work in without additional expenses: Win-Desktop, Win-CE, Windows -Mobile2003, -Mobile5, -Mobile6.
Sergey Klimkin, the geodesist, Moscow, 2011. |
Edited by - sklimkin on 02 août 2011 16:02:29 |
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sklimkin
Russia
6 Posts |
Posted - 01 août 2011 : 19:40:03
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Corrections in code of the program.
1. Bad string-format in outgoing RINEX-OBS file repaired.
Now Topcon-Tools work with RINEX file.
But GNSS-Solutions NOT.
2. Window "Meassurement" become fitting of data (SV's in view, azimuth, elevation, Signal dB/Hz ...)
Download & test Win-Desktop & WinCE executables:
http://geodesist.ru/forum/topic.php?forum=27&topic=242
More english page:
http://forum.pellesc.de/index.php?topic=3873.0
Sergey |
Edited by - sklimkin on 02 août 2011 16:06:02 |
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sklimkin
Russia
6 Posts |
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sklimkin
Russia
6 Posts |
Posted - 02 mars 2013 : 07:40:21
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For integration GNSS and CAD
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FREE PROGRAMMING
A) More simple variant: GNSS-Monitor4.
There is a program for satellite receiver or navigator that:
1. write binary file from Garmin & GlobalSat devices on SirfStar-II, SirfStar-III, SirfStar-IV chipsets,
2. write waypoints in a text file.
In this file lines are as follows:
ROVER
TOW 373889.96875000 WN 1700 - GPS time
B 55.65302785 L 37.56813404 H 239.240 - geodetic coordinates
X 2858970.698 Y 2199171.819 Z 5242953.156 - geocentric coordinates
Program for Garmin & GlobalSat receivers/navigators build on chipsets SirfStar-II SirfStar-III SirfStar-IV
Platform: Win32, connect-interfaces: RS-232, USB, BlueTootth.
Now tested with navigator Garmin GPSMap-60cx (SirfStar-III) and receiver GlobalSat BU-353-S4 (SirfStar-IV) only.
B) More complicated variant: GNSS-Monitor3.
Program write: binary, parsing, coordinates, RINEX-OBS, binary-almanac+aphemeris (if possible) files.
RAW-data Messages MID-28 (0x1C) fro GlobalSat now adjusted for Receiver ClockBias & ClockDrift.
Aligns the measurement to a whole second, it is important for RTK-meassurement/surveying.
It can produce on the fly RINEX-OBS file (for post-processing for example in Topcon-Tools).
Tested only with receiver GlobalSat BU-353S4 (SirfStar-IV).
C) Program for visualization and woking with GNSS-surveying - LiteCAD-Editor2.
Can now be more closely integrated with the satellite navigation LiteCAD.
Added to LiteCAD-Editor2 routine "Import GNSS-Points", which selects only the lines beginning with "X "
Added to LiteCAD-Editor2 routine "Import Survey-GNSS", which selects only two lines:
1. beginning with "TOW "
2. beginning with "PntNum "
Links to download LiteCAD:
http://www.kolbasoft.com/download.html
Links to download VeCAD (VeCAD VeCAD DLL/OCX 6.0 Free Download vecad6.zip 6.5 MB):
http://vecad-dll-ocx.soft32.com/
See attachment (GNSS-Monitor3 GNSS-Monitor4 LiteCAD-Editor2) on:
My posts & examples (VeCAD & LiteCAD) on kolbasoft forum:
http://www.kolbasoft.com/forum/viewtopic.php?f=4&t=348
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Binary protocol Garmin & GlabalSat post-processing
