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