2.1 General Description

The Designer Systems sHLD-GPM+ is a highly integrated 99 Channel simultaneous GPS and

GLONASS GNSS positioning module allowing your robotic application to determine its location

and speed on the earth’s surface. Specifically designed for the Arduino UNO user (can also be

used on all the other Arduino variants) the sHLD-GPM+ features I2C communication to leave

the Arduino UART for other functions eg. debug etc.

GNSS data received by the sHLD-GPM+ is stored within internal registers which are updated

once per second and include Latitude (i.e. vertical), Longitude (i.e. horizontal), Altitude

(meters), Time & date (UTC), Heading (True), Speed (kilometres per hour) and satellites

detected.

In addition the sHLD-GPM+ features an on-board 3 Axis Accelerometer which can be used to

determine inclination for rover and aircraft applications and raw ‘g’ force for

acceleration/impact detection.

GPS data received by the sHLD-GPM+ is stored within internal registers which are updated

once per second.

Due to compact form factor, ultra-low power consumption and extended temperature range,

sHLD-GPM+ is a best choice for a wide range of positional, speed and altitude applications.

The module fully complies with the RoHS directive of the European Union

2.2 Key Features

The following table describes the key features of the sHLD-GPM.

Table 1: Key Features

Features Details

Power Supply  Supply Voltage: 5.0 ~ 12.0VDC

 Typical Supply Voltage: 9.0VDC

Frequency band  GPS L1 Band Receiver (1575.42MHz)

 GLONASS L1 Band Receiver (1601.71MHz)

Accuracy Autonomous < 2.5 m CEP @ -130dBm

Velocity Accuracy Without aid <0.1m/s

Acceleration Accuracy Without aid 0.1m/s²

Reacquisition Time < 1 second

Cold Start 35 seconds @ -130dBm typ.

Warm Start < 5 seconds @ -130dBm typ.

Hot Start < 1second @ -130dBm typ.

Sensitivity

 Acquisition -149dBm

 Tracking -167dBm

 Re-acquisition -161dBm

Environmental  Operating Temperature -40℃ to 85℃

 Storage Temperature -45℃ to 125℃

Dynamic Performance

 Maximum Altitude Max.18000m

 Maximum Velocity Max.515m/s

 Maximum Acceleration 4G

Accelerometer range 0 to 2G

Accelerometer inclination -50 to +50 degrees (pitch and roll)

I2C Speed 400kHz max.

Dimensions 56 x 53 x 8.5mm

Weight 16g approx.

3 Application

3.1 GPS Basics

The heart of the sHLD-GPM+ is a Global Positioning System receiver module and antenna that

receive signals from satellites orbiting the earth.

There are 32 of these satellites in the American run GPS system, 24 in the Russian GLONASS

system, each sending its own unique signal to the earth’s surface for pickup by any GPS

receiver, which searches the sky for available satellites.

Upon detecting the satellites in view and their current position the receiver uses the satellites

with highest signal strength to calculate, using triangulation, the receiver’s latitude, longitude

& altitude** (position).

Should the receiver also be moving, speed in kilometres per hour, and heading, in degrees

true north, can also be determined. The GPS parameters stored are listed below.

For example the offices of Designer Systems in Truro, UK are located 50 degrees, 15.817

minutes North latitude and 5 degrees, 3.549 minutes West longitude.

** LLA format to WGS-84 ellipsoid.

Table 2: GPS Parameters

Parameter Description

Time UTC time in format HH:MM:SS

Date UTC date in format DD/MM/YY

Latitude Latitude in format DD M.MMMM either North or South of the equator

Longitude Longitude in format DDD M.MMMM either West or East of an imaginary line

drawn vertically through Greenwich in the UK

Altitude Altitude in format MMMMM metres above sea level

Speed Speed in format KKK.K kilometres per hour

Heading Heading in format DDD.D degrees