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Astro/Starlight documentation covering hardware specs, pinout,
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# Document Metadata
**Format:** PDF 1.5
**Title:** UFirebird_Standard Positioning Products Protocol Specification_EN
**Author:** joyfulmaggie
**Creator:** Microsoft® Word 2016
**Producer:** Microsoft® Word 2016
**Creation Date:** D:20220328135555+08'00'
**Mod Date:** D:20220328135722+08'00'
---
## Page 1
STANDARD POSITIONING
PROTOCOL
WWW.UNICORECOMM.COM
Copyright© 2009-2022, Unicore Communications, Inc.
Data subject to change without notice.
Standard Positioning
Products
![Image 1 from page 1](../images/gnss-protocol_page_1_img_1.png)
![Image 2 from page 1](../images/gnss-protocol_page_1_img_2.png)
## Page 2
i
Revision History
Version
Revision History
Date
Ver. 1.0.0
Primary
Initial release revision
Jul, 2017
Ver.2.0.0
Alpha release
Perfect the NMEA protocol
Aug, 2017
Ver.3.2.1 Beta
release
Mass production release
Dec, 2017
Ver.3.3.0 Beta
release
Add BD3 satellite with the number of 15-37
Update QZSS ID to 193/194/195/199
Limited to output GGA/GSA/GSV/RMC messages by
default
Add AIDTIME/AIDPOS/AIDINFO command
Apr, 2019
Ver.3.4.0 Beta
release
Add SBAS
Add echo with \#...
Jun, 2019
R3.5
Revise table 1.4.2.2
Revise CFGPRT echo
Revise CFGDYN echo
Revise GGA Altref
Revise RMC spd
Add CFGGEOID and discrepancy instructions for
multi-version firmware
2020-03-30
R4
Add protocols supported by R3.2.10.0
2020-09-12
R4.1
Add protocols supported by R3.2.10.100
2020-12-04
R4.2
Update parameters of NMEA message
2020-12-31
R4.3
Add CFGBLK command
Add FCTATEST command and update talker ID of
GLL/VTG/GST
Remove CFGDYN command
Change the bit2 of CFGSAVE mask field to reserve
Update checksum description in section 1.2
Update default configuration of NOTICE
2021-04-08
![Image 1 from page 2](../images/gnss-protocol_page_2_img_1.png)
## Page 3
Standard Positioning Products Protocol Specification
ii
R4.4
Add CFGDYN, and revise the parameter description of
CFGMOD
Update the field description of ANTSTAT1/
CFGLOWPOWER
Update NAVTIME
2021-06-24
R4.5
Add ABNORMAL message
Add the baud rate of R3.4.0.19 version
2021-10-15
R4.6
Add EPHABNORMAL command;
Add information about the firmware R3.2.20.100;
Revise the message syntax, examples, and
descriptions according to the test results
2022-03-28
Disclaimer
This manual provides information about the products of Unicore Communications, Inc.
This document does not transfer the patent, trademark, copyright of the company or any
third party, or any right or permission under it by implication, estoppel or otherwise.
Except as stated in the sales terms and conditions of the products, the company shall
not assume any other responsibilities. Furthermore, Unicore Communications, Inc.
makes no warranty, express or implied, for the sale and/or use of its products, including
the suitability of a particular purpose and marketability of products, or liability for
infringement of any patent, copyright or other intellectual property rights. If the
connection or operation is not in accordance with the manual, the company is not liable.
Unicore Communications, Inc. may make changes to product specifications and product
descriptions at any time without prior notice.
The company's products may contain certain design defects or errors, which will be
included in the corrigendum once found, and may therefore result in differences
between the products’ actual specifications and the published ones. Updated
corrigendum is available upon request.
Before placing an order, please contact our company or local distributors for the latest
specifications.
* Unicore Communications, UNICORECOMM, UFirebird and its logo have been applied
for trademark registration by Unicore Communications, Inc.
Other names and brands are the property of their respective owners.
© Copyright 2009-2022 Unicore Communications, Inc. All rights reserved.
## Page 4
I
Contents
1
General Protocol ..................................................................................... 1
1.1
Messages ......................................................................................................... 1
1.2
Checksum ......................................................................................................... 1
1.3
Formats ............................................................................................................ 2
1.4
Coordinates ...................................................................................................... 3
1.5
Message Definition ........................................................................................... 3
1.5.1
Common Message ................................................................................................... 3
1.5.2
Config Message ....................................................................................................... 7
1.5.3
NMEA Message ...................................................................................................... 22
1.5.4
Navigation Result Message .................................................................................. 47
1.5.5
Misc Message ........................................................................................................ 51
1.6
Default Configuration ...................................................................................... 58
1.6.1
Serial Port Configuration (CFGPRT) ..................................................................... 58
1.6.2
Message Configuration (CFGMSG)....................................................................... 59
1.6.3
NMEA Configuration (CFGNMEA) ......................................................................... 60
1.6.4
Satellite System Configuration (CFGSYS) ............................................................ 60
1.6.5
Interference Detection Configuration (CFGCWOUT) ........................................... 61
1.6.6
Dynamic Configuration (CFGDYN) ........................................................................ 61
1.6.7
Elevation Configuration (CFGGEOID) .................................................................... 61
1.6.8
Static Mode (CFGMOD) ......................................................................................... 61
![Image 1 from page 4](../images/gnss-protocol_page_4_img_1.png)
## Page 5
Standard Positioning Products Protocol Specification
1
1 General Protocol
1.1
Messages
In the Unicore protocol, input and output statements are collectively called messages.
Each message is a string of full ASCII characters.
The basic format of the message is:
$MSGNAME,data1,data2,data3,…[\*CC]\r\n
All messages contain three data blocks:
The first data block is the message header, which starts with ‘$’ (0x24）.
The second data block is the data field consisting of a number of parameters or data. The
message header and data field are separated by ‘,’ (0x2C).
The last data block is an optional checksum, which is separated from the previous data
with ‘\*'(0x2A).
The input message ends with ‘\r' (0x0D) or ‘\n' (0x0A) or any combination of the two.
The output message ends with ‘\r\n'. The total length of each message does not exceed
128 bytes.
Message header and parameters, as well as letters in checksums are not case-sensitive.
Certain parameters of certain input commands can be omitted (marked as optional in the
command description). These parameters can be empty, that is, there is no character
between the two commas.
Then, if there is no special instruction, this parameter will be ignored and the options it
controls will remain unchanged.
Most of the message headers can be used for both input commands and output
messages. The same message header is used as input to set parameters or to query the
current configuration, and as output to output receiver information or configuration.
1.2
Checksum
The two characters after ‘\*'(0x2A) in the message are the checksum, which is calculated
as the xor of all characters (excluding ‘$' and ‘\*') from ‘$' to ‘\*', in hexadecimal (calculate
## Page 6
2
the checksum according to the uppercase letters corresponding to the input
information).
The checksum in the input command is optional. If the input statement contains ‘\*'
followed by the two characters, the checksum is examined. If the examination result is
wrong, the command is not executed, and the receiver outputs the $fail message, in
which a checksum error is indicated. If the statement does not contain a checksum, the
command is executed directly.
If the parameters of the input message are empty and a checksum needs to be added, it
should be followed by ‘,'. It's not allowed to add an extra ‘,' when the parameter is not
null.
Example: $PDTINFO,\*62
The output message always contains a checksum. The description of the checksum in
the Unicore protocol will be omitted in the following message definition.
1.3
Formats
In the Unicore protocol, the data in the message contains the following types:
String (STR)
The string consists of up to 32 ASCII characters except ‘\ r' and ‘\ n', such as GPSL1.
Unsigned Integer（UINT）
Unsigned integers range from 0 to 4294967295, and are defined in both decimal and
hexadecimal. A decimal unsigned integer consists of ASCII characters from 0 to 9. Such
as 123, 4291075193. A hexadecimal unsigned integer starts with the character h or H,
followed by a string of 0 to 9 and a-f (or A-F), with a maximum of 8 characters
(excluding the starting h or H). Such as hE10, hE41BA7C0.
Unsigned Long Integer (UINT64)
Unsigned long integers range from 0~18446744073709551615, and are defined in both
decimal and hexadecimal. A decimal unsigned long integer consists of ASCII characters
from 0 to 9. Such as 123 and 4291075193. A hexadecimal unsigned long integer starts
with h, or H, or 0x, or 0X, followed by a string of characters from 0 to 9 and a-f (or A-F),
with a maximum of 16 characters (excluding the starting h, H, 0x, or 0X). Such as hE10
and hE41BA7C0, or 0xFFFFFF and 0XFFFFF.
![Image 1 from page 6](../images/gnss-protocol_page_6_img_1.png)
## Page 7
Standard Positioning Products Protocol Specification
3
Signed Integer (INT)
Signed integers are composed of ASCII characters from 0 to 9 and a negative sign, with
a range of-2147483648 to 2147483647. Such as 123217754, -245278.
DOUBLE
Double-precision floating-point data consists of ASCII characters from 0 to 9, with a
negative sign and a decimal point, ranging from -2^1023 to 2^1023. Such as 3.1415926,
-9024.12367225
1.4
Coordinates
The position value observed by the product is based on the WGS84 coordinate system.
If the position value of the output message is based on other coordinate system, it will
be noted in the message explanation of this documentation. If the user expects to use a
different reference coordinate, the position is very likely to be off by tens or even
hundreds of meters.
1.5
Message Definition
1.5.1 Common Message
1.5.1.1
PDTINFO
Read Product Information
Syntax
$PDTINFO
Example
$PDTINFO
Description
Read product information, the receiver outputs PDTINFO message after
receiving this command
Input/Output
Input
No parameters
Output the Product Information
Syntax
$PDTINFO,pdtName,config,hwVer,fwVer,PN,SN
Example
$PDTINFO,UM220,G1B1,V4.1,R3.0Build13260,080101000001,000101114
303845
## Page 8
4
Description
The receiver outputs the message of the product information
Input/Output
Output
Parameter Definition
Parameter
Format
Description
pdtName
STR
Product name
Config
STR
Product configuration
hwVer
STR
Hardware version
fwVer
STR
Firmware version
PN
STR
Product number
SN
STR
Product serial number
1.5.1.2
RESET
Syntax
$RESET,type,clrMask
Example
$RESET,0,h01 (Warm start)
Description
Receiver reset
Input/Output
Input
Parameter Definition
Parameter
Format
Description
type
UINT
(optional)
Reset type
0 - Software reset
1 - Chip-level reset (watchdog reset)
2 - Board-level reset
3 - Receiver stopped
clrMask
UINT
(optional)
Reset to clear the receiver's saved information. Setting the
bit to 1 clears the signal upon reset.
![Image 1 from page 8](../images/gnss-protocol_page_8_img_1.png)
## Page 9
Standard Positioning Products Protocol Specification
5
bit0 – Clear ephemeris
bit1 – Reserve0
bit2 – Clear receiver position and time
bit3 – Reserve1
bit4 – Clear ionospheric correction and UTC parameters
bit5 – Reserve2
bit6 – Reserve3
bit7 – Clear almanac
Several commonly used startup methods, the parameters
are listed as follow:
h00 – Hot start
h01 – Warm start
h85 – Cold start
The parameter of the cold start reset command is h85, and the mismatch of the reset
parameters will cause the receiver to start in an incorrect state
When a leap second occurs, the receiver may take up to 25 minutes to sync to UTC time
after a cold start reset.
1.5.1.3
Command Echo(1)
Syntax
\#User command
Example
\#CFGPRT,1,h0,115200,3,35
Description
Display the current Unicore command input by users
Input/Output
Output
No parameters
(1): This command is only supported by the firmware of R3.2.10.0, R3.2.20.0, R3.4.0.0 and
above.
![Image 1 from page 9](../images/gnss-protocol_page_9_img_1.png)
## Page 10
6
1.5.1.4
OK
Syntax
$OK
Example
$OK
Description
A response that the receiver executes command correctly
The message is only output on the port where the command is received
Input/Output
Output
No parameters
1.5.1.5
FAIL
Syntax
$FAIL,errorCode
Example
$FAIL,0
Description
A response that the input command is incorrect
The message is only output on the port where the command is received
Input/Output
Output
Parameter Definition
Parameter
Format
Description
errorCode
UINT
Error code
0 –Illegal instruction or incorrect parameter
1 –Checksum error
![Image 1 from page 10](../images/gnss-protocol_page_10_img_1.png)
## Page 11
Standard Positioning Products Protocol Specification
7
1.5.2 Config Message
1.5.2.1
CFGPRT
Read Port Configuration
Syntax
$CFGPRT,portID
Example
$CFGPRT,1
Description
Read the receiver port configuration. The receiver outputs a CFGPRT
message after receiving this command.
Input/Output
Input
Parameter Definition
Parameter
Format
Description
portID
UINT
(optional)
Port number,1~2
If empty, output the current port configuration
Set/Output the Port Configuration
Syntax
$CFGPRT,portID,addr,baud,inProto,outProto
Example
$CFGPRT,1,h0,115200,1,3
Description
Set or output the port configuration
Input/Output
Input/output
Parameter Definition
Parameter
Format
Description
portID
UINT
(optional)
Port number:
1 – UART1
2 – UART2
If empty, configure the current UART
addr
UINT
H0
baud
UINT
Optional baud rate for UART:
## Page 12
8
(optional)
9600/115200/230400/460800(1)
Meaningless if the output port is not UART.
inProto
UINT
(optional)
Input protocol of the port, enabled by setting the
corresponding bit to 1
bit0 – UNICORE(2)
bit5 - Reserve
bit7 - RTCM3.2
bit9 - Reserve
bit10 - Reserve
outProto
UINT
(optional)
Output protocol of the port, enabled by setting the
corresponding bit to 1
bit0 - UNICORE
bit1 - NMEA
bit2 - RTCM3.2 (Set the baud rate to 115200 and above.)
bit5 - Command echo(3)
(1) The baud rate of 460800 is only supported by firmware R3.4.0.19.
(2) COM1 cannot disable the Unicore input protocol.
(3) Only supported by firmware R3.2.10.0, R3.2.20.0, and R3.4.0.0.
The format of A-GNSS assisted positioning data complies with RTCM3.2.
Concurrent output of RTCM 3.2 protocol at two serial ports is not supported.
When continuously sending CFGPRT command, the time interval should be larger than 1s.
1.5.2.2
CFGMSG
Read Message Output Configuration
Syntax
$CFGMSG,msgClass,msgID
Example
$CFGMSG,0,1
![Image 1 from page 12](../images/gnss-protocol_page_12_img_1.png)
![Image 2 from page 12](../images/gnss-protocol_page_12_img_2.png)
## Page 13
Standard Positioning Products Protocol Specification
9
Description
Read the message configuration. The receiver outputs CFGMSG
configuration information after receiving this command.
Input/Output
input
Parameter Definition
Parameter
Format
Description
msgClass
UINT
Message class
msgID
UINT
Message ID
Set/Output Message Output Configuration
Syntax
$CFGMSG,msgClass,msgID,rate
Example
$CFGMSG,0,1,1
Description
Set or output the message output configuration
Input/Output
Input/output
Parameter Definition
Parameter
Format
Description
msgClass
UINT
Message class
msgID
UINT
(optional)
Message ID
switch
UINT
Message control
Message
Class
ID
Message Control
GGA
0
0
0: disable
1: enable
GLL
0
1
0: disable
1: enable
GSA
0
2
0: disable
1: enable
## Page 14
10
GSV
0
3
0: disable
1: enable
RMC
0
4
0: disable
1: enable
VTG
0
5
0: disable
1: enable
ZDA
0
6
0: disable
1: enable
GST
0
7
0: disable
1: enable
NAVPOS
1
0
0: disable
1: enable
NAVVEL
1
1
0: disable
1: enable
NAVTIME
1
2
0: disable
1: enable
NAVACC
1
3
0: disable
1: enable
LSF
3
0
0: disable
1: enable
ANTSTAT
3
1
0: disable
1: enable
Reserved
Reserved
Reserved
Reserved
ANTSTAT1
3
3
0: disable
1: enable
NOTICE(1)
6
0
0: disable
1: enable
ABNORMAL(2)
6
4
0: disable
5: enable
![Image 1 from page 14](../images/gnss-protocol_page_14_img_1.png)
## Page 15
Standard Positioning Products Protocol Specification
11
EPHABNORMAL(3)
6
2
0: disable
10: enable
(1): Only supported by the firmware R3.2.10.0, R3.2.10.100 and R3.2.20.100.
(2): Only supported by the firmware R3.4.0.19.
(3): Only supported by the firmware R3.2.20.0.
1.5.2.3
CFGTP
Read Timing Pulse Configuration
Syntax
$CFGTP
Example
$CFGTP
Description
Read the current timing pulse configuration. The receiver outputs a CFGTP
message after receiving this command.
Input/Output
Input
No parameters
Set Timing Pulse Configuration
Syntax
$CFGTP,interval,length,flag,antDelay,rfDelay,usrDelay
Example
$CFGTP,1000000,500000,1,0,800,0
Description
Set or output timing pulse configuration
Input/Output
Input/output
Parameter Definition
Parameter
Format
Description
interval
UINT
(optional)
Timing pulse frequency, unit: μs; set to 1000000 by default
length
UINT
(optional)
Timing pulse width, unit: μs, and the maximum value is no
more than interval – 1 μs. (High-level width when the rising
edge is aligned with the integral timing pulse frequency ,
and low-level width when the falling edge is aligned with
## Page 16
12
the integral timing pulse frequency )
flag
UINT
(optional)
Configuration of the timing pulse:
bit0
0 – Disable the time pulse output
1 – Enable the time pulse output
bit1
0 – Rising edge aligned to an integral number of seconds
1 – Falling edge aligned to an integral number of seconds
bit2
0 – Output when the timing is reliable
1 – Always output timing pulses
bit3
0 –Disable TIMTP
1 – Enable TIMTP
antDelay
INT
(optional)
Antenna delay, unit: ns; (-32768 ~ 32767)
rfDelay
INT
(optional)
RF unit delay, unit: ns; (-32768~32767)
usrDelay
INT
(optional)
User-set delay, unit: ns, range: -32768~32767
Set the latency to a negative value leads the delay of timing
pulse edge. Modify the delay may decrease the precision of
the pulse in the completely tuning period.
![Image 1 from page 16](../images/gnss-protocol_page_16_img_1.png)
## Page 17
Standard Positioning Products Protocol Specification
13
1.5.2.4
CFGNMEA
Read NMEA Configuration
Syntax
$CFGNMEA
Example
$CFGNMEA
Description
Read the NMEA configuration. The receiver outputs a CFGNMEA message
after receiving this command.
Input/Output
Input
No parameters
Set/Output NMEA Configuration
Syntax
$CFGNMEA,nmeaVer
Example
$CFGNMEA,h30
Description
Set or output the NMEA configuration
Input/Output
Input/output
Parameter Definition
Parameter
Format
Description
nmeaVer
UINT
Output NMEA protocol version
h30 – Extend Beidou related statements based on NMEA
standard version 3.0 (NMEA 3.0)
h51 –Extend Beidou related statements based on standard
NMEA 4.1 (NMEA 4.1)
1.5.2.5
CFGSYS
Read Satellite System Configuration
Syntax
$CFGSYS
Example
$CFGSYS
Description
Read the current satellite system configuration. The receiver outputs a
CFGSYS message after receiving this command.
## Page 18
14
Input/Output
Input
No parameters
Set/Output Satellite System Configuration
Syntax
$CFGSYS,sysMask
Example
$CFGSYS,H11
Description
Set or output satellite system configuration.
The receiver automatically reset while receiving the command, the
configuration of enabling the satellite system works after the reset.
Input/Output
Input/output
Parameter Definition
Parameter
Format
Description
sysMask
UINT
H01(1) –GPS L1+SBAS+QZSS joint positioning
H10 – BDS B1
H101(2)– GPS+GLONASS+GALILEO+SBAS+QZSS joint
positioning
H11(3)– GPS+BDS+GALILEO+SBAS+QZSS joint positioning
(1): Firmware below R3.4.0.0 only supports GPS L1++QZSS joint positioning, R3.4.0.0 and
above support GPS L1 + SBAS + QZSS joint positioning
(2): Only supported by the firmware with the version of R3.4.0.0 and above
(3): Firmware below R3.4.0.0 only supports GPS L1+BDS B1+QZSS, R3.4.0 and above
support GPS+BDS+GALILEO+SBAS+QZSS joint positioning.
1.5.2.6
CFGDYN
Read Dynamic Configuration
Syntax
$CFGDYN
Example
$CFGDYN
![Image 1 from page 18](../images/gnss-protocol_page_18_img_1.png)
## Page 19
Standard Positioning Products Protocol Specification
15
Description
Read the current dynamic configuration. The receiver outputs a
CFGDYN message after receiving this command.
Input/Output
Input
No parameters
Set/Output Dynamic Configuration
Syntax
$CFGDYN,mask,dynModel,staticHoldThresh
Example
$CFGDYN,h01,0,1000
Description
Set/output dynamic configuration
Input/Output
Input/output
Parameter Definition
Parameter
Format
Description
Mask
UINT
(optional)
Domain to be configured, enabled by
setting the corresponding bit to 1
bit0 – dynModel
bit1 - staticHoldThresh
dynModel
UINT
Dynamic model
0 – Portable
1 – Static
The current default configuration is 0
staticHoldThresh
UINT
Speed threshold in cm/s in static hold
mode
If this value is 0, static hold mode is off
## Page 20
16
1.5.2.7
CFGGEOID
Read Elevation Configuration
Syntax
$CFGGEOID
Example
$CFGGEOID
Description
Read the current elevation configuration. The receiver outputs a CFGGEOID
message after receiving this command.
Input/Output
Input
No parameters
Set/Output Elevation Configuration
Syntax
$CFGGEOID,Model
Example
$CFGGEOID,0
Description
Set/Output elevation Configuration
Input/Output
Input/output
Parameter Definition
Parameter
Format
Description
Model
UINT
(optional)
0 - Elevation output is ellipsoid
1 - Elevation output is altitude
1.5.2.8
CFGSAVE
Syntax
$CFGSAVE
Example
$CFGSAVE
Description
Save the current receiver configuration, which is stored in NOR Flash
Input/Output
Input
No parameters
![Image 1 from page 20](../images/gnss-protocol_page_20_img_1.png)
## Page 21
Standard Positioning Products Protocol Specification
17
Do NOT cut off the power within one second after inputting $cfgsave. Power off will
damage the configuration of the receiver, and the receiver will be restored to factory
settings.
1.5.2.9
CFGCLR
Syntax
$CFGCLR
Example
$CFGCLR
Description
Clear the current receiver configuration, the current configuration and
that saved in Flash are restored to factory settings concurrently, which
takes effect after the receiver is reboot or powered on again.
Input/Output
Input
No parameters
The configuration modified by this command takes effect after resetting the receiver.
For R3.4.0.0 version, the configuration will not be cleared after sending this command.
1.5.2.10 CFGCWOUT
Query Interference Detection Command Configuration
Syntax
$CFGCWOUT
Example
$CFGCWOUT
Description
Query the output configuration of the interference detection command
CWOUT.
Input/Output
Input
No parameters
Set Interference Detection Command Configuration
Syntax
$CFGCWOUT,CWOutCtrl
Example
$CFGCWOUT,1
Description
Control the output of interference detection command
![Image 1 from page 21](../images/gnss-protocol_page_21_img_1.png)
## Page 22
18
Input/Output
Input/output
Parameter Definition
Parameter
Format
Description
CWOutCtrl
UINT
1: Enable CWOUT output
0: Disable CWOUT output
1.5.2.11 AIDTIME
Syntax
$AIDTIME,year,month,day,hour,minute,second,millisecond
Example
$AIDTIME,2018,4,9,17,41,36,200
Description
Input time assistance information, UTC time
Input/Output
Input
Parameter Definition
Parameter
Format
Description
year
UINT
Year, > 1980
month
UINT
Month, 1~12
day
UINT
Day, 1~31
hour
UINT
Hour, 0~23
minute
UINT
Minute, 0~59
second
UINT
Second, 0~59
millisecond
UINT
Millisecond, 0~999
The input information should be in accordance with the current time. Wrong input will
cause the function to fail.
![Image 1 from page 22](../images/gnss-protocol_page_22_img_1.png)
![Image 2 from page 22](../images/gnss-protocol_page_22_img_2.png)
## Page 23
Standard Positioning Products Protocol Specification
19
1.5.2.12 AIDPOS
Syntax
$AIDPOS,Latitude,N,Longitude,E,altitude
Example
$AIDPOS,4002.229934,N,11618.096855,E,37.254
Description
Input position assistance information
Input/Output
Input
Parameter Definition
Parameter
Format
Description
Latitude
DOUBLE
Latitude in the format of ddmm.mmmmmm
dd - Degree
mm.mmmmmm - Minute
N
STRING
North or South latitude indication
N - North latitude
S - South latitude
Longitude
DOUBLE
Longitude in the format of dddmm.mmmmmm
ddd - Degree
mm.mmmmmm - Minute
E
STRING
East longitude or west longitude indication
E - East longitude
W - West longitude
altitude
DOUBLE
Ellipsoid height in the unit of meter
1.5.2.13 AIDINFO
Query the Status of Auxiliary Data
Syntax
$AIDINFO
Example
$AIDINFO
## Page 24
20
Description
Query the status of auxiliary data, the receiver outputs $AIDINFO
message after receiving this command
Input/Output
Input
No parameters
Output the Status and Types of Auxiliary Data
Syntax
$AIDINFO,GPSRS,GPSUS,BDSRS,BDSUS,GALRS,GALUS,GLORS,GLOUS,AType
Example
$AIDINFO,0x0FF7FFFBFF,0x0FF7FFFBFF,,,,,,,0x0311\*27
Description
Output status and types of auxiliary data
Input/Output
Output
Parameter Definition
Parameter
Format
Description
GPSRS
UINT64
Receiving state of GPS ephemeris, as long as the received data
is verified, the corresponding bit is set to 1.
If the GPS system is not enabled, this field is empty
GPSUS
UINT64
GPS ephemeris is valid and can be used for positioning, the
corresponding bit is set to 1, if the GPS system is not enabled,
this field is empty
BDSRS
UINT64
Receiving state of BDS ephemeris, as long as the received data
is verified, the corresponding bit is set to 1.
If the BDS system is not enabled, this field is empty
BDSUS
UINT64
BDS ephemeris is valid and can be used for positioning, the
corresponding bit is set to 1, if the BDS system is not enabled,
this field is empty
GALRS
UINT64
Receiving state of GAL ephemeris, as long as the received data
is verified, the corresponding bit is set to 1.
If the GAL system is not enabled, this field is empty
GALUS
UINT64
GAL ephemeris is valid and can be used for positioning, the
corresponding bit is set to 1, if the GAL system is not enabled,
![Image 1 from page 24](../images/gnss-protocol_page_24_img_1.png)
## Page 25
Standard Positioning Products Protocol Specification
21
this field is empty
GLORS
UINT64
Receiving state of GLO ephemeris, as long as the received data
is verified, the corresponding bit is set to 1.
If the GLO system is not enabled, this field is empty
GLOUS
UINT64
GLO ephemeris is valid and can be used for positioning, the
corresponding bit is set to 1, if the GLO system is not enabled,
this field is empty
Atype
UINT
Auxiliary Type:
bit0-3: with GPS/BDS/GAL/GLO ephemeris assistance
bit4: auxiliary position is valid
Bit5: use auxiliary position
Bit6-7: reserve
Bit8: auxiliary time is valid
Bit9: use auxiliary time
Bit10-15: reserve
1.5.2.14 CFGMOD
Set to Static Application Mode
Syntax
$CFGMOD, Model
Example
$CFGMOD,0
Description
Set or output positioning configuration
Input/Output
Input
Parameter Definition
Parameter
Format
Description
Model
UINT
0 – Disable static application mode
1 – Enable static application mode
Only supported by the firmware with the version of R3.2.10.100 and R3.2.20.100
![Image 1 from page 25](../images/gnss-protocol_page_25_img_1.png)
## Page 26
22
This mode cannot be used in conjunction with dynamic speed threshold mode (CFGDYN)
1.5.3 NMEA Message
The message format described in this section is for the versions shown as below:
The version of Beidou related messages extended on the basis of NMEA 3.0
(nmeaVer in CFGNMEA command is h30)
The version of Beidou related messages extended on the basis of standard NMEA
4.1 ($GBGSA, nmeaVer in CFGNMEA command is h51)
BD3 satellites are involved in NMEA4.1 to support BDS satellites with number of 1~37.
With the increasing of satellites, only output GGA, GSV, GSA and RMC messages by
default to prevent data loss at the rate of 9600. When the amount of data at 9600 baud
rate is allowed, the maximum number of satellites will be output, but it is limited to the
amount of output data at 9600 baud rate. Under the strong sky signal, there will be a
phenomenon of incomplete output of the number of satellites. If the user inputs other
commands, priority is given to ensuring the complete output of the message added by
the user. The number of satellites and satellite information in the GSV message will be
reduced accordingly.
The baud rate of 115200 is supported, which is able to output all satellite information,
and the default output messages include GGA, GSV, GSA and RMC after switching. If
other messages are required, send the command separately.
1.5.3.1
NmeaVer h51
GGA
Syntax
$--GGA,time,Lat,N,Lon,E,FS,NoSV,HDOP,msl,M,Altref,M,DiffAge,DiffStation\*cs
Example
$GPGGA,060845.00,4004.74005,N,11614.19613,E,1,10,0.85,53.5,M,,M,,\*7B
Description
GNSS positioning data
Input/Output
Output
Parameter Definition
![Image 1 from page 26](../images/gnss-protocol_page_26_img_1.png)
![Image 2 from page 26](../images/gnss-protocol_page_26_img_2.png)
## Page 27
Standard Positioning Products Protocol Specification
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Parameter
Format
Description
--
STR
Positioning system flag
GP - GPS+SBAS(1)+QZSS joint positioning
GB - BDS system standalone positioning
GA - Galileo system standalone positioning
GL - GLONASS system standalone positioning
GN - Multiple system joint positioning
time
STR
UTC time, in the format of hhmmss.ss
hh – Hour
mm – Minutes
ss.ss – Seconds
Lat
STR
Latitude, in the format of ddmm.mmmmm
dd - Degrees
mm.mmmmm - Minutes
N
STR
North or south latitude indicator
N - North latitude
S - South latitude
Lon
STR
Longitude, in the format of dddmm.mmmmm
ddd - Degrees
mm.mmmmm - Minutes
E
STR
East longitude or west longitude indicator
E - East longitude
W - West longitude
FS
UINT
Positioning status indicator
0-Invalid
1-Point positioning
## Page 28
24
2-Differential positioning
6-Recursive positioning(2)
NoSV
UINT
Number of satellites participating in positioning
HDOP
DOUBLE
Horizontal dilution of precision, 0.00 ~ 99.99, the value is 99.99
when not positioning
msl
DOUBLE
Ellipsoid height, fixed output one decimal place or altitude
(CFGGEOID is set to 1)
M
STR
Unit of ellipsoid height or altitude, specified to constant M. The field
is empty when not positioning.
Altref
DOUBLE
Sea level separation, only valid when CFGGEOID is set to 1,
otherwise it is fixed to empty.
M
STR
Unit of Sea level separation, specified to constant M. The field is
empty when not positioning.
DiffAge
DOUBLE
Differential correction latency in seconds
Null for non-differential positioning
DiffStation
DOUBLE
Reference station ID
Null for non-differential positioning
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.
(2): Only supported by R3.2.10.0.
GLL
Syntax
$--GLL,Lat,N,Lon,E,time,Valid,Mode\*cs
Example
$GPGLL,4004.74005,N,11614.19613,E,060845.00,A,A\*6F
Description
Geographic longitude/latitude
![Image 1 from page 28](../images/gnss-protocol_page_28_img_1.png)
## Page 29
Standard Positioning Products Protocol Specification
25
Input/Output
Output
Parameter Definition
Parameter
Format
Description
--
STR
Positioning system flag
GP - GPS+SBAS(1)+QZSS joint positioning
GB - BDS system standalone positioning
GA - Galileo system standalone positioning
GL - GLONASS system standalone positioning
GN - Multiple system joint positioning
Lat
STR
Latitude, in the format of ddmm.mmmmm
dd - Degrees
mm.mmmmm - Minutes
N
STR
North or south latitude indicator
N – North latitude
S – South latitude
Lon
STR
Longitude, in the format of dddmm.mmmmm
ddd - Degrees
mm.mmmmm - Minutes
E
STR
East longitude or west longitude indicator
E – East longitude
W – West longitude
time
STR
UTC time, in the format of hhmmss.ss
hh - Hours
mm - Minutes
ss.ss - Seconds
Valid
STR
Position valid indicator
## Page 30
26
V – Invalid
A – Valid
Mode
STR
Positioning system mode indicator
N – Not positioning
A – Point positioning
D – Differential positioning
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.
GSA
Syntax
$--
GSA,Smode,FS,sv1,sv2,sv3,sv4,sv5,sv6,sv7,sv8,sv9,sv10,sv11,sv12,PDOP,H
DOP,VDOP,systemID\*cs
Example
$GPGSA,A,3,02,03,06,09,12,17,19,23,28,25,,,1.34,0.85,1.04,1\*1E
Description
GNSS dilution of precision and effective satellite information
Input/Output
Output
Parameter Definition
Parameter
Format
Description
--
STR
Positioning system flag
GP - GPS+SBAS(1)+QZSS joint positioning
GB - BDS system standalone positioning
GA - Galileo system standalone positioning
GL - GLONASS system standalone positioning
GN - Multiple system joint positioning
![Image 1 from page 30](../images/gnss-protocol_page_30_img_1.png)
## Page 31
Standard Positioning Products Protocol Specification
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Smode
STR
Positioning mode specified states
M– Manually specify 2D or 3D positioning
A– Automatically switch to 2D or 3D positioning
FS
UINT
Positioning mode
1– Not positioning
2– 2D positioning
3– 3D positioning
sv1 ~ sv12
UINT
Participating satellite ID
When there are less than 12 satellites participating in the
positioning, the insufficient area is filled in empty and it only
outputs the first 12 satellites if there are more than 12 satellites
GPS satellite ID is 01 ~ 32
BDS satellite ID is 01 ~ 37
GLO satellite ID is 65 ~ 92(2)
GAL satellite ID is 01 ~ 36(3)
SBAS satellite ID is 33~51(4)
QZSS satellite ID: 193, 194, 195, 199
PDOP
DOUBLE
Position dilution of precision, 0.00~99.99, the value is 99.99
when not positioning
HDOP
DOUBLE
Horizontal dilution of precision, 0.00 ~ 99.99, the value is 99.99
when not positioning
VDOP
DOUBLE
Vertical dilution of precision, 0.00 ~ 99.99, the value is 99.99
when not positioning
systemID
UINT
GNSS system ID as defined by the NMEA protocol
1 - GPS system ID
2 - GLO system ID(5)
3 - GAL System ID (6)
4 - BDS System ID
## Page 32
28
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.
(2) (3) (4) (5) (6): Only supported by firmware with the version of R3.4.0.0 or above.
GSV
Syntax
$--
GSV,NoMsg,MsgNo,NoSv,sv1,elv1,az1,cn01,sv2,elv2,az2,cn02,sv3,elv3,az3,
cn03,sv4,elv4,az4,cn04, signalID\*cs
Example
$GPGSV,3,01,11,02,34,277,41,03,16,043,35,05,04,215,35,06,69,333,48,0\*57
$GPGSV,3,02,11,09,25,110,41,12,31,305,43,17,55,116,46,19,76,088,46,0\*56
$GPGSV,3,03,11,23,23,077,40,25,04,328,32,28,05,171,36,0\*67
$GBGSV,3,01,12,01,37,145,42,02,34,225,39,03,44,188,42,04,25,123,37,0\*4C
$GBGSV,3,02,12,05,17,249,36,06,30,169,38,07,03,188,31,08,69,027,43,0\*4E
$GBGSV,3,03,12,09,09,186,34,10,15,211,36,12,26,306,40,13,60,316,44,0\*48
Description
Visible GNSS satellites
Each GSV message contains information for only 4 satellites. When the
number of satellites exceeds 4, the receiver sends multiple GSV messages
continuously
Input/Output
Output
Parameter Definition
Parameter
Format
Description
--
STR
System identification
GP-GPS satellite information
GB-BDS satellite information
GL-GLO satellite Information(1)
![Image 1 from page 32](../images/gnss-protocol_page_32_img_1.png)
## Page 33
Standard Positioning Products Protocol Specification
29
GA-GAL satellite Information(2)
NoMsg
UINT
Total number of GSV messages, the minimum value is 1
NoMsg is the total number of GSV messages in this system, for
example:
NoMsg in GPGSV is the total number of GPGSV messages,
excluding the number of GBGSV messages
MsgNo
UINT
Number of this GSV message. The minimum value is 1.
MsgNo is the number of the GSV message in this system
NoSv
UINT
Total number of visible satellites in this system
sv1 ~ sv4
UINT
Satellite number of the first to fourth satellite
GPS satellite number is 01 ~ 32
BDS satellite number is 01 ~ 37
GLO satellite number is 65 ~ 92 (3)
GAL satellite number is 01 ~ 36 (4)
QZSS satellites are 193, 194, 195, 199
SBAS(5) satellite number is 33~51
elv1 ~ elv4
UINT
Elevation angle of the first to fourth satellite (0 ~ 90 degrees),
fixed output of 2 digits, add zero up front if less than 2 digits
az1 ~ az4
UINT
Azimuth of the first to fourth satellite (0 ~ 359 degrees), fixed
output of 3 digits, add zero up front if less than 3 digits
cn01~cn04
UINT
CNR of the first to fourth satellite (0 ~ 90dBHz), fixed output of 2
digits, add zero up front if less than 2 digits
fill null for untracked satellites
signalID
UINT
Signal ID defined by NMEA protocol (fixedly output 0)
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1) (2) (3) (4) (5): Only supported by firmware with the version of R3.4.0.0 or above.
## Page 34
30
Due to the excessive number of satellites in GN mode, at 9600 baud rate, GSV will have
the problem of incomplete printing of satellite information. For complete satellite
information, please switch the baud rate to 115200
RMC
Syntax
$--RMC,time,status,Lat,N,Lon,E,spd,cog,date,mv,mvE,mode,navStates\*cs
Example
$GPRMC,060845.00,A,4004.74005,N,11614.19613,E,,,180817,,,A,V\*0B
Description
The recommended minimum data
Input/Output
Output
Parameter Definition
Parameter
Format
Description
--
STR
Positioning system flag
GP - GPS+ SBAS (1)+QZSS joint positioning
GB - BDS system standalone positioning
GA - Galileo system standalone positioning
GL - GLONASS system standalone positioning
GN - Multiple system joint positioning
time
STR
UTC time, in the format of hhmmss.ss
hh - Hours
mm - Minutes
ss.ss - Seconds
status
STR
Position valid indicator
V – Invalid
A – Valid
Lat
STR
Latitude, in the format of ddmm.mmmmm
dd - Degrees
![Image 1 from page 34](../images/gnss-protocol_page_34_img_1.png)
![Image 2 from page 34](../images/gnss-protocol_page_34_img_2.png)
## Page 35
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mm.mmmmm - Minutes
N
STR
North or south latitude indicator
N - North latitude
S – South latitude
Lon
STR
Longitude, in the format of dddmm.mmmmm
ddd - Degrees
mm.mmmmm - Minutes
E
STR
East longitude or west longitude indicator
E – East longitude
W – West longitude
spd
DOUBLE
Speed over ground, unit: knot
cog
DOUBLE
Course over ground, unit: degree
Calculated clockwise from north. If the speed measurement fails
or the static scene speed is extremely small, the output is empty.
date
STR
UTC date, in the format of ddmmyy
dd - Day
mm - Month
yy - Year
mv
DOUBLE
Magnetic declination, specified to null
mvE
STR
Magnetic declination direction, specified to null
mode
STR
Positioning mode
N – Not positioning
A – Point positioning
D – Differential positioning
navStates
STR
Navigation states flag, fixedly output ‘V’
V-Device does not provide navigation state information
## Page 36
32
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.
VTG
Syntax
$--VTG,cogt,T,cogm,M,sog,N,kph,K,mode\*cs
Example
$GPVTG,,T,,M,0.000,N,0.000,K,A\*23
Description
Course over ground and ground speed
Input/Output
Output
Parameter Definition
Parameter
Format
Description
--
STR
Positioning system flag
GP - GPS+SBAS (1)+QZSS joint positioning
GB - BDS system standalone positioning
GA - Galileo system standalone positioning
GL - GLONASS system standalone positioning
GN - Multiple system joint positioning
cogt
DOUBLE
Course over ground with reference to true north (0.00 ~ 359.99
degrees). If the speed measurement fails or the static scene
speed is extremely small, the output is empty.
T
STR
Course flag, specified to constant T
cogm
DOUBLE
Course over ground with reference to MN (0.000 ~ 359.999
degrees). The field is empty by default.
M
STR
Course flag, specified to constant M
sog
DOUBLE
Speed over ground, unit: knot
N
STR
Unit of speed, specified to constant N
![Image 1 from page 36](../images/gnss-protocol_page_36_img_1.png)
## Page 37
Standard Positioning Products Protocol Specification
33
kph
DOUBLE
Speed over ground, unit: km/h
K
STR
Unit of speed, specified to constant K
mode
STR
Positioning mode
N – Not positioning
A – Point positioning
D – Differential positioning
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.
ZDA
Syntax
$--ZDA,time,day,mon,year,ltzh,ltzn\*cs
Example
$GPZDA,060845.00,18,08,2017,00,00\*6C
Description
Date and time
Input/Output
Output
Parameter Definition
Parameter
Format
Description
--
STR
Positioning system flag
GP - GPS+SBAS (1)+QZSS joint positioning
GB - BDS system standalone positioning
GA - Galileo system standalone positioning
GL - GLONASS system standalone positioning
GN - Multiple system joint positioning
time
STR
UTC time, in the format of hhmmss.ss
hh - Hours
## Page 38
34
mm - Minutes
ss.ss - Seconds
day
UINT
UTC day with two digits, 01 ~ 31
mon
UINT
UTC month with two digits, 01 ~ 12
year
UINT
UTC year with four digits
ltzh
UINT
Hours in local time zone (fixed output 00)
ltzn
UINT
Minutes in local time zone (fixed output 00)
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.
GST
Syntax
$--GST,time,rngRMS,stdMajor,stdMinor,hdg,stdLat,stdLon,stdAlt\*cs
Example
$GPGST,060845.00,0.6,,,,0.07,0.09,0.09\*47
Description
GNSS pseudorange error statistics
Input/Output
Output
Parameter Definition
Parameter
Format
Description
--
STR
Positioning system flag
GP - GPS+SBAS (1)+QZSS joint positioning
GB - BDS system standalone positioning
GA - Galileo system standalone positioning
GL - GLONASS system standalone positioning
GN - Multiple system joint positioning
time
STR
UTC time, in the format of hhmmss.ss
![Image 1 from page 38](../images/gnss-protocol_page_38_img_1.png)
## Page 39
Standard Positioning Products Protocol Specification
35
hh - Hours
mm - Minutes
ss.ss - Seconds
rngRMS
DOUBLE
Standard deviation of pseudorange error in meters, with a
maximum of 3750000
stdMajor
DOUBLE
Semi-major axis of the error ellipse, in meters.
Specified to null
stdMinor
DOUBLE
Semi-minor axis of the error ellipse, in meters.
Specified to null
hdg
DOUBLE
Semi-major axis direction of the error ellipse in degrees,
clockwise from north. Specified to null
stdLat
DOUBLE
Standard deviation of latitude error, in meters
stdLon
DOUBLE
Standard deviation of longitude error, in meters
stdAlt
DOUBLE
Standard deviation of altitude error, in meters
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.
1.5.3.2
NmeaVer h30
GGA
Syntax
$--
GGA,time,Lat,N,Lon,E,FS,NoSV,HDOP,msl,M,Altref,M,DiffAge,DiffStation\*cs
Example
$GPGGA,063952.000,4002.229934,N,11618.096855,E,1,4,2.788,37.254,M,0
,M,,\*71
Description
GNSS positioning data
Input/Output
Output
## Page 40
36
Parameter Definition
Parameter
Format
Description
--
STR
Positioning system flag
GP - GPS+SBAS(1)+QZSS joint positioning
BD - BDS system standalone positioning
GA - Galileo system standalone positioning
GL - GLONASS system standalone positioning
GN - Multiple system joint positioning
time
STR
UTC time, in the format of hhmmss.sss
hh - Hours
mm - Minutes
ss.sss - Seconds
Lat
STR
Latitude, in the format of ddmm.mmmmmm
dd - Degrees
mm.mmmmmm - Minutes
N
STR
North or south latitude indicator
N – North latitude
S – South latitude
Lon
STR
Longitude, in the format of dddmm.mmmmmm
ddd - Degrees
mm.mmmmmm - Minutes
E
STR
East longitude or west longitude indicator
E – East longitude
W – West longitude
FS
UINT
Positioning status indicator
![Image 1 from page 40](../images/gnss-protocol_page_40_img_1.png)
## Page 41
Standard Positioning Products Protocol Specification
37
0-Invalid
1-Point positioning
2-Differential positioning
6-Recursive positioning(2)
NoSV
UINT
Number of satellites participating in positioning
HDOP
DOUBLE
Horizontal dilution of precision, 0.0~127.000
Msl
DOUBLE
Ellipsoid height, fixed output one decimal place or altitude
(CFGGEOID is set to 1)
M
STR
Unit of ellipsoid height or altitude, specified to constant M. The
field is empty when not positioning.
Altref
DOUBLE
Sea level separation, only valid when CFGGEOID is set to 1,
otherwise it is fixed to empty.
M
STR
Unit of Sea level separation, specified to constant M. The field
is empty when not positioning.
DiffAge
DOUBLE
Differential correction latency in seconds
Null for non-differential positioning
DiffStation
DOUBLE
Reference station ID
Null for non-differential positioning
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.
(2): Only supported by R3.2.10.0.
GLL
Syntax
$--GLL,Lat,N,Lon,E,time,Valid,Mode\*cs
Example
$GPGLL,4002.217867,N,11618.105743,E,123400.000,A,A\*5B
## Page 42
38
Description
Geographic longitude/latitude
Input/Output
Output
Parameter Definition
Parameter
Format
Description
--
STR
Positioning system flag
GP - GPS+SBAS(1)+QZSS joint positioning
BD - BDS system standalone positioning
GA - Galileo system standalone positioning
GL - GLONASS system standalone positioning
GN - Multiple system joint positioning
Lat
STR
Latitude, in the format of ddmm.mmmmmm
dd - Degrees
mm.mmmmmm - Minutes
N
STR
North or south latitude indicator
N – North latitude
S – South latitude
Lon
STR
Longitude, in the format of dddmm.mmmmmm
ddd - Degrees
mm.mmmmmm - Minutes
E
STR
East longitude or west longitude indicator
E – East longitude
W – West longitude
time
STR
UTC time, in the format of hhmmss.sss
hh - Hours
mm - Minutes
![Image 1 from page 42](../images/gnss-protocol_page_42_img_1.png)
## Page 43
Standard Positioning Products Protocol Specification
39
ss.sss - Seconds
Valid
STR
Position valid indicator
V – Invalid
A – Valid
Mode
STR
Positioning mode
N – Not positioning
A – Point positioning
D – Differential positioning
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.
GSA
Syntax
$--
GSA,Smode,FS,sv1,sv2,sv3,sv4,sv5,sv6,sv7,sv8,sv9,sv10,sv11,sv12,PDOP,H
DOP,VDOP\*cs
Example
$GPGSA,A,3,14,22,18,31,,,,,,,,,5.572,2.788,4.824\*36
Description
GNSS dilution of precision and effective satellite information
Input/Output
Output
Parameter Definition
Parameter
Format
Description
--
STR
Positioning system flag
GP - GPS+SBAS(1)+QZSS joint positioning
BD - BDS system standalone positioning
GA - Galileo system standalone positioning
GL - GLONASS system standalone positioning
## Page 44
40
GN - Multiple system joint positioning
Smode
STR
Positioning mode specified states
M – Manually specify 2D or 3D positioning
A – Automatically switch to 2D or 3D positioning
FS
UINT
Positioning mode
1– Not positioning
2– 2D positioning
3– 3D positioning
sv1 ~ sv12
UINT
Participating satellite ID
When there are less than 12 satellites participating in the
positioning, the insufficient area is filled in empty and it only
output the first 12 satellites if there are more than 12 satellites
GPS satellite ID is 1 ~ 32
BDS satellite ID is 161 ~ 197(160 +BDS PRN)
GLONASS satellite ID is 65 ~ 92(2)
Galileo satellite ID is 101~136(3)
QZSS satellite ID is 193, 194 , 195, 199
SBAS satellite ID is 33~51(4)
PDOP
DOUBLE
Position dilution of precision, 0.0~127.000
HDOP
DOUBLE
Horizontal dilution of precision, 0.0~127.000
VDOP
DOUBLE
Vertical dilution of precision, 0.0~127.000
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.
(2) (3) (4): Only supported by firmware with the version of R3.4.0.0 or above.
![Image 1 from page 44](../images/gnss-protocol_page_44_img_1.png)
## Page 45
Standard Positioning Products Protocol Specification
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GSV
Syntax
$--
GSV,NoMsg,MsgNo,NoSv,sv1,elv1,az1,cn01,sv2,elv2,az2,cn02,sv3,elv3,az3,
cn03,sv4,elv4,az4,cn04\*cs
Example
$GPGSV,3,1,11,3,82,133,50,6,70,73,50,7,21,311,45,13,46,275,50\*75
$GPGSV,3,2,11,16,52,51,49,19,52,194,49,21,12,49,37,23,40,222,49\*7C
$GPGSV,3,3,11,30,31,69,46,31,8,127,19,1,5,,44\*77
$BDGSV,2,1,5,161,35,140,47,163,33,224,47,164,24,124,43,167,47,73,48\*54
$BDGSV,2,2,5,168,5,,50\*52
Description
Visible GNSS satellites
Each GSV message contains information for only 4 satellites. When the
number of satellites exceeds 4, the receiver sends multiple GSV messages
continuously
Input/Output
Output
Parameter Definition
Parameter
Format
Description
--
STR
Positioning system flag
GP - GPS+SBAS(1)+QZSS satellite information
BD - BDS satellite information
GA - Galileo satellite information
GL - GLONASS satellite information
NoMsg
UINT
Total number of GSV messages, the minimum value is 1
NoMsg is the total number of GSV messages in this system,
for example:
NoMsg in GPGSV is the total number of GPGSV messages,
excluding the number of BDGSV messages
MsgNo
UINT
Number of this GSV message. The minimum value is 1.
MsgNo is the number of this GSV message in this system.
## Page 46
42
Continuous output GPGSV and BDGSV are numbered
separately
NoSv
UINT
Total number of visible satellites in this system
sv1 ~ sv4
UINT
Satellite number of the first to fourth satellite
GPS satellite number is 1 ~ 32
BDS satellite number is 161 ~ 197 (160 + BDS PRN)
GLONASS satellite number is 65 ~ 92(2)
Galileo satellite number is 101~136(3)
QZSS satellite number is 193, 194 , 195 , 199
SBAS(4) satellite number is 33~51
elv1 ~ elv4
UINT
Elevation of the first to fourth satellite (0 ~ 90 degrees)
az1 ~ az4
UINT
Azimuth of the first to fourth satellite (0 ~ 359 degrees)
cn01~cn04
UINT
CNR of the 1st to 4th satellites (0 ~ 90dBHz), fill null for
untracked satellites
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.
(2) (3) (4): Only supported by firmware with the version of R3.4.0.0 or above.
Due to the excessive number of satellites in GN mode, GSV at 9600 baud rate will have
the problem of incomplete printing of satellite information. For complete satellite
information, please switch the baud rate to 115200
RMC
Syntax
$--RMC,time,status,Lat,N,Lon,E,spd,cog,date,mv,mvE,mode\*cs
Example
$GPRMC,123400.000,A,4002.217821,N,11618.105743,E,0.026,181.631,180
411,,E,A\*2C
![Image 1 from page 46](../images/gnss-protocol_page_46_img_1.png)
![Image 2 from page 46](../images/gnss-protocol_page_46_img_2.png)
## Page 47
Standard Positioning Products Protocol Specification
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Description
The minimum recommended data
Input/Output
Output
Parameter Definition
Parameter
Format
Description
--
STR
Positioning system flag
GP - GPS+SBAS(1)+QZSS joint positioning
BD - BDS system standalone positioning
GA - Galileo system standalone positioning
GL - GLONASS system standalone positioning
GN - Multiple system joint positioning
time
STR
UTC time, in the format of hhmmss.sss
hh - Hours
mm - Minutes
ss.sss - Seconds
status
STR
Position valid indicator
V – Invalid
A – Valid
Lat
STR
Latitude, in the format of ddmm.mmmmmm
dd - Degrees
mm.mmmmmm - Minutes
N
STR
North or south latitude indicator
N – North latitude
S – South latitude
Lon
STR
Longitude, in the format of dddmm.mmmmmm
ddd - Degrees
mm.mmmmmm - Minutes
## Page 48
44
E
STR
East longitude or west longitude indicator
E – East longitude
W – West longitude
spd
DOUBLE
Speed over ground, unit: knot
cog
DOUBLE
Course over ground, unit: degree
Calculated clockwise from north. If the speed measurement fails
or the static scene speed is extremely small, the output is empty.
date
STR
UTC date, in the format of ddmmyy
dd - Day
mm - Month
yy - Year
If the exact year, month, and day are not parsed, the date part
appears blank
mv
DOUBLE
Magnetic declination, specified to null
mvE
STR
Magnetic declination direction, specified to constant E
mode
STR
Positioning mode
N – Not positioning
A – Point positioning
D – Differential positioning
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.
![Image 1 from page 48](../images/gnss-protocol_page_48_img_1.png)
## Page 49
Standard Positioning Products Protocol Specification
45
VTG
Syntax
$--VTG,cogt,T,cogm,M,sog,N,kph,K,mode\*cs
Example
$GNVTG,0.000,T,,M,0.000,N,0.000,K,A\*13
Description
Course over groundand ground speed
Input/Output
Output
Parameter Definition
Parameter
Format
Description
--
STR
Positioning system flag
GP - GPS+SBAS(1)+QZSS joint positioning
BD - BDS system standalone positioning
GA - Galileo system standalone positioning
GL - GLONASS system standalone positioning
GN - Multiple system joint positioning
cogt
DOUBLE
Course over ground with reference to true north (0.000 ~
359.999 degrees). If the speed measurement fails or the
static scene speed is extremely small, the output is empty.
T
STR
Course flag, specified to constant T
cogm
DOUBLE
Course over ground with reference to MN (0.000 ~ 359.999
degrees). The field is empty by default.
M
STR
Course flag, specified to constant M
sog
DOUBLE
Speed over ground, unit: knot
N
STR
Unit of speed, specified to constant N
kph
DOUBLE
Speed over ground, unit: km/h
K
STR
Unit of speed, specified to constant K
mode
STR
Positioning mode
N – Not positioning
A – Point positioning
## Page 50
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cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.
ZDA
Syntax
$--ZDA,time,day,mon,year,ltzh,ltzn\*cs
Example
$GNZDA,083927.000,21,11,2013,00,00\*4C
Description
Date and time
Input/Output
Output
Parameter Definition
Parameter
Format
Description
--
STR
Positioning system flag
GP - GPS+SBAS(1)+QZSS joint positioning
BD - BDS system standalone positioning
GA - Galileo system standalone positioning
GL - GLONASS system standalone positioning
GN - Multiple system joint positioning
time
STR
UTC time, in the format of hhmmss.sss
hh - Hours
mm - Minutes
ss.sss - Seconds
day
UINT
UTC day with two digits, 01 ~ 31
mon
UINT
UTC month with two digits, 01 ~ 12
year
UINT
UTC year with four digits
ltzh
UINT
Hours in local time zone (fixedly output 00)
![Image 1 from page 50](../images/gnss-protocol_page_50_img_1.png)
## Page 51
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ltzn
UINT
Minutes in local time zone (fixedly output 00)
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.
1.5.4 Navigation Result Message
1.5.4.1
NAVPOS
Syntax
$NAVPOS,time,system,quality,X,Y,Z,lat,lon,height\*cs
Example
$NAVPOS,282201000,5,3,-
2160481.168,4383619.182,4084735.203,40.078998,116.236534,52.84384
7\*1C
Description
Output the receiver position information
Input/Output
Output
Parameter Definition
Parameter
Format
Description
time
UINT
Time corresponding to the positioning solution
The time definition depends on the current positioning
system, the priority is GPS>BDS>GAL>GLO
system
UINT
Current positioning system
bit0-GPS
bit2-BDS
bit5-GAL
bit4-GLO
quality
UINT
Current positioning quality
0 - Invalid
1 - External configuration
## Page 52
48
2 - Coarse
3 - Precise
X
DOUBLE
X of ECEF, in meters
Y
DOUBLE
Y of ECEF, in meters
Z
DOUBLE
Z of ECEF, in meters
lat
DOUBLE
The latitude of the receiver, which is positive in north latitude
and negative in south latitude, in degrees
lon
DOUBLE
The longitude of the receiver, which is positive in east
longitude and negative in west longitude, in degrees
height
DOUBLE
The ellipsoidal height of the receiver, in meters
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
1.5.4.2
NAVVEL
Syntax
$NAVVEL,time,system,quality,Vx,Vy,Vz,clockDrift\*cs
Example
$NAVVEL,282201000,5,3,0.000,0.000,0.000,31.785\*2F
Description
Output the receiver velocity information
Input/Output
Output
Parameter Definition
Parameter
Format
Description
time
UINT
Same as time definition in NAVPOS
system
UINT
Same as system definition in NAVPOS
quality
UINT
Same as quality definition in NAVPOS
Vx
DOUBLE
Vx of ECEF coordinate system, in m/s
Vy
DOUBLE
Vy of ECEF coordinate system, in m/s
![Image 1 from page 52](../images/gnss-protocol_page_52_img_1.png)
## Page 53
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Vz
DOUBLE
Vz of ECEF coordinate system, in m/s
clockDrift
DOUBLE
Equivalent speed of crystal drift, in m/s
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
1.5.4.3
NAVTIME
Syntax
$NAVTIME,GPSW,GPST,GPSQ,GLOY,GLOD,GLOT,GLOQ,BDW,BDT,BDQ,BDG
PSDiff,GLOGPSDiff\*cs
Example
$NAVTIME,1848,282201.000291049,3,0,0,0.000000000,0,492,282187.00
0291134,3,0.000000085,0.000000000\*63
Description
Output the receiver time information
Input/Output
Output
Parameter Definition
Parameter
Format
Description
GPSW
UINT
GPS week
GPST
DOUBLE
GPS seconds of week
GPSQ
UINT
GPS time quality
0 - Invalid
1 - External configuration
2 - Coarse
3 - Precise
GLOY
UINT
GLONASS year
GLOD
UINT
GLONASS day
GLOT
DOUBLE
GLONASS seconds of day
GLOQ
UINT
GLONASS time quality, the definition is same as that of
GPSQ
## Page 54
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BDW
UINT
BDS week
BDT
DOUBLE
BDS seconds of week
BDQ
UINT
BDS time quality, the definition is same as that of GPSQ
BDGPSDiff
DOUBLE
Time difference between BDS time and GPS time, in
seconds
GLOGPSDiff
DOUBLE
Time difference between GLONASS time and GPS time, in
seconds
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of
all characters from '$' to '\*' in this statement
1.5.4.4
NAVACC
Syntax
$NAVACC,time,status,pAcc,vAcc,cAcc\*cs
Example
$NAVACC,085206.00,A,2480, 70,1250\*7D
Description
Output accuracy information of receiver positioning speed measurement
Input/Output
Output
Parameter Definition
Parameter
Format
Description
time
STR
UTC time, in the format of hhmmss.sss
hh - Hours
mm - Minutes
ss.sss - Seconds
status
UINT
Data validity identification
V - Invalid
A - Valid
![Image 1 from page 54](../images/gnss-protocol_page_54_img_1.png)
## Page 55
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pAcc
UINT
Horizontal positioning accuracy, standard deviation of two-
dimensional horizontal positioning error, in 0.001m
vAcc
UINT
Accuracy of horizontal velocity measurement, standard
deviation of two-dimensional horizontal velocity error, unit:
0.001 m/s
cAcc
UINT
Ground course accuracy, in 0.001 degrees
cs
STR
Checksum
A hexadecimal number obtained by calculating an XOR of all
characters from '$' to '\*' in this statement
1.5.5 Misc Message
1.5.5.1
ANTSTAT
Query Antenna Detection Information
Syntax
$ANTSTAT,antType
Example
$ANTSTAT,1
Description
Query antenna detection information
Type
antType:
Null: External
0: External
1: Internal
No parameters
Output Antenna Detection Information
Syntax
$ANTSTAT,status1,status2
Example
$ANTSTAT,0,0
Description
Output antenna detection information and antenna type
Input/Output
Output
## Page 56
52
Parameter Definition
Parameter
Format
Description
status1,Status2
INT
Antenna detection status, as defined below:
$ANTSTAT,0,0 Normal, active antenna
$ANTSTAT,0,1 Short-circuit
$ANTSTAT,1,0 Open-circuit or passive antenna
$ANTSTAT,1,1 Hardware abnormality
When the external antenna detection circuit does not exist, the information of the antenna
detection output (type: external) is invalid.
For the antenna detection circuit, please refer to the hardware reference design.
PIO\_14 (ANT\_OPEN)
PIO\_15 (ANT\_SHORT)
GPIO Status
Input- Level triggered
Input- Level triggered
No active antenna connected
1
0
Active antenna connected
0
0
Active Antenna shorted out
0
1
1.5.5.2
LSF
Query Leap Seconds Forecast Information
Syntax
$LSF,system
Example
$LSF,0
Description
Query leap seconds forecast information of the specified satellite system,
the receiver outputs LSF message after receiving the command
Input/Output
Input
Parameter Definition
Parameter
Format
Description
![Image 1 from page 56](../images/gnss-protocol_page_56_img_1.png)
![Image 2 from page 56](../images/gnss-protocol_page_56_img_2.png)
## Page 57
Standard Positioning Products Protocol Specification
53
system
UINT
Query the system corresponding to the leap seconds forecast
information
0: GPS
1: BDS
2: GLO
3: GAL
Output Leap Seconds Forecast Information
Syntax
$LSF,system,flag,utcTLS,utcTLSF,utcTOT,utcWN,utcDN,utcWNLSF,
utcA0,utcA1
Example
$LSF,0,1,15,16,462836,82,6,86,7811626,14
Description
Input/output leap seconds forecast information
Input/Output
Input/output
Parameter Definition
Parameter
Format
Description
System
UINT
The system corresponding to the output of leap second
forecast information, which is the same as the query
instruction parameter
Flag
UINT
Valid flag of leap second forecast information
0: Invalid
1: Valid
utcTLS
UINT
Time difference between UTC and system before a leap second
event, in seconds;
GLO system does not have this parameter
utcTLSF
UINT
Time difference between UTC and system after a leap second
event, in seconds;
GLO system does not have this parameter；
## Page 58
54
utcTOT
UINT
UTC reference seconds of week, in seconds(BDS system
parameter is 0)
GLO system: the parameter corresponds to GLO UTC A0;
utcWN
UINT
Number of UTC reference week, in weeks (BDS system
parameter is 0)
GLO system: the parameter corresponds to GLO UTC A1;
utcDN
UINT
Days of week when leap second event occurs, in days.
GLO system: the parameter corresponds to GLO UTC DN;
utcWNLSF
UINT
Number of UTC week when leap second event occurs, in weeks
GLO system: the parameter corresponds to GLO UTC KP;
utcA0
INT
Constant coefficient A0 of UTC polynomial (scale factor 2-30) ,
in s
GLO system: the parameter corresponds to GLO UTC tc;
utcA1
INT
First-order coefficient A1 of UTC polynomial (scale factor 2-
50) , in s/s
GLO system: the parameter corresponds to GLO UTC tg;
GPS Week (GPS Week) is the time system adopted in the GPS system. Time Zero is
defined as: 0 a.m. on January 6, 1980. Every 1024 weeks (7168 days) is a cycle. The first
GPS cycle point is 0000:00 and 000:00 on August 22, 1999. That is, from this moment
on, the number of weeks starts again from zero. The rule for counting the number of
weeks is: Sunday is 1, and in turn is 1-7.
The Beidou satellite navigation time system starts at 000:00 and 000:00 UTC ON 1
January 2006. Use Week and seconds into the week count. The rule for counting the
number of weeks is: Sunday is 0, and in turn is 0-6
utcWNLSF: A decimal number converted from the lower eight bits of the binary week
when a leap second occurs. For example: A leap second occurs in the 900th week
(binary: 1110000100) and it is broadcast in 132 (Binary: 10000100).
Conversion method of GPS leap second occurrence week:
STEP1: Convert GPSW in Navtime to binary, set the lower eight bits to zero, and then
![Image 1 from page 58](../images/gnss-protocol_page_58_img_1.png)
![Image 2 from page 58](../images/gnss-protocol_page_58_img_2.png)
## Page 59
Standard Positioning Products Protocol Specification
55
convert to decimal.
STEP2: Add the number in STEP1 to utcWNLSF to get the week when a leap second
occurs.
Conversion method of BDS leap second occurrence week:
STEP1: Convert the BDW in Navtime to binary, set the lower eight bits to zero, and then
convert to decimal.
STEP2: Add utcWNLSF to the number in STEP1 to get the week when a leap second
occurs.
UTCDN: Days of the week in which a leap seconds occurs: GPS: 1-7 from Sunday to
Saturday; BDS: 0-6 from Sunday to Saturday
Leap seconds occur at 23:59:59
1.5.5.3
CWOUT
Output Interference Detection Information
Syntax
$CWOUT,CWFlagOut,CWRatioOut
Example
$CWOUT,1,0
Description
Output interference detection information
Input/Output
Output
Parameter Definition
Parameter
Format
Description
CWFlagOut
UINT
Interference
1: No interference
2: Interference detected
3: Strong interference, has affected the receiver positioning
CWRatioOut
UINT
Interference intensity, 0~255, 0 means no interference, 255
means strong interference
![Image 1 from page 59](../images/gnss-protocol_page_59_img_1.png)
## Page 60
56
1.5.5.4
FCTATEST
Production Test Mode
Syntax
$fctatest,Model
Example
$fctatest,1
Description
Enable test mode of CW wave
Input/Output
Input
Parameter Definition
Parameter
Format
Description
Model
UINT
0: disable
1: enable
This test mode only supports carrier-to-noise ratio detection of signals modulated with
carrier and pseudo code, and the command can only be used for production line test. In
actual positioning application, abnormal positioning may occur when sending the
command, and power off the receiver or disable the command to recover
1.5.5.5
ABNORMAL
Query the Output Configuration of the Injected Ephemeris
Syntax
$CFGMSG,msgClass,msgID
Example
$CFGMSG,6,4
Description
Read the output configuration of $ABNORMAL message
Input/Output
Input
No parameters
Output the Status of the Injected Ephemeris
Syntax
$ABNORMAL,DataLen,AbnLevel
Example
$ABNORMAL,0,3\*13
![Image 1 from page 60](../images/gnss-protocol_page_60_img_1.png)
![Image 2 from page 60](../images/gnss-protocol_page_60_img_2.png)
## Page 61
Standard Positioning Products Protocol Specification
57
Description
Output the status of the injected ephemeris
Input/Output
Output
Parameter Definition
Parameter
Format
Description
DataLen
INT
Input data length from the serial port after starting up.
AbnLevel
INT
The absence level of the number of predicted ephemerides
that have been injected, of which the value could be 0, 1, 2, 3.
The larger the value is, the more absent satellites there are.
Note: This statement is output every 5s. If the satellite absence level is 0, it will not be
output. Only supported by R3.4.0.19 version.
1.5.5.6
EPHABNORMAL
Query the Status of the Injected Ephemeris
Syntax
$CFGMSG,msgClass,msgID
Example
$CFGMSG,6,2
Description
Read the output configuration of $EPHABNORMAL message
Input/Output
Input
No parameters
Output the Status of the Injected Ephemeris
Syntax
$EPHABNORMAL,status
Example
$EPHABNORMAL,1\*50
Description
Output the status of the injected ephemeris
Input/Output
Output
Parameter Definition
Parameter
Format
Description
status
INT
Value 1 means incomplete ephemeris.
![Image 1 from page 61](../images/gnss-protocol_page_61_img_1.png)
## Page 62
58
Note: The value is fixed at 1. The output of the message indicates the incompleteness of
the ephemeris injection, and the default output frequency is once every 10s.
This command is only applicable to version R3.2.20.100, and only when the ephemeris
injection is incomplete will this message be output.
1.6
Default Configuration
1.6.1 Serial Port Configuration (CFGPRT)
Parameter
Default
Configuration
Description
UART1
baud
115200/9600
‒
115200: Default baud rate for the firmware with the
version of R3.2.0.12, R3.2.0.0, R3.4.0.0, R3.2.10.100,
R3.2.10.0 and R3.2.20.100
‒ 9600: Default baud rate for the firmware with the
version of R3.1.10.0
‒ 460800: Default baud rate for the firmware with the
version of R3.4.0.19
inProto
161/129
‒ 161: Default configuration for the firmware with the
version of R3.2.0.12, R3.2.0.0, R3.4.0.0, R3.1.10.0 and
R3.4.0.19, input UNICORE +RTCM3.2 + RTCM2.3
protocol
‒ 129: Default configuration for the firmware with the
version of R3.2.10.0, R3.2.10.100 and R3.2.20.100,
input UNICORE +RTCM3.2 protocol
outProto
35/3
‒ 35: Default configuration for the firmware with the
version of R3.4.0.0, R3.2.10.0, R3.2.10.100,
R3.2.20.100 and R3.4.0.19, output
UNICORE+NMEA+command echo
‒ 3: Default configuration for the firmware with the
version of R3.1.10.0, R3.2.0.12and R3.2.0.0, output
UNICORE+NMEA protocol
![Image 1 from page 62](../images/gnss-protocol_page_62_img_1.png)
![Image 2 from page 62](../images/gnss-protocol_page_62_img_2.png)
## Page 63
Standard Positioning Products Protocol Specification
59
UART2
baud
115200/9600
‒ 115200: Default baud rate for the firmware with the
version of R3.2.0.12, R3.2.0.0, R3.4.0.0, and R3.2.10.0
‒ 9600: Default baud rate for the firmware with the
version of R3.1.10.0
inProto
1
Input UNICORE protocol
outProto
35/3
‒ 35: Default configuration for the firmware with the
version of R3.4.0.0 and R3.2.10.0, output UNICORE
+NMEA +command echo protocol
‒ 3: Default configuration for the firmware with the
version of R3.1.10.0, R3.2.0.12 and R3.2.0.0, output
UNICORE+NMEA protocol
1.6.2 Message Configuration (CFGMSG)
Message Output Frequency
Parameter
Default
Configuration
Description
NMEA Message
GGA
1
Output at 1Hz
GLL
0/1
‒ 0: Firmware with the version of R3.2.0.0, R3.2.10.0,
R3.1.10.0, R3.4.0.0, R3.2.10.100, R3.2.20.100 and
R3.4.0.19 defaults to 0, disabled
‒ 1: Firmware with the version of R3.2.0.12 defaults to
1, Output at 1Hz
GSA
1
Output at 1Hz
GSV
1
Output at 1Hz
RMC
1
Output at 1Hz
VTG
0/1
‒ 0: Firmware with the version of R3.1.10.0, R3.2.10.0,
R3.2.0.0, R3.4.0.0, R3.2.10.100, R3.2.20.100 and
R3.4.0.19 defaults to 0, disabled
‒ 1: Firmware with the version of R3.2.0.12 defaults to
## Page 64
60
1, Output at 1Hz
ZDA
0
Disabled
GST
0
Disabled
Navigation Result Message
POS
0
Disabled
VEL
0
Disabled
TIME
0
Disabled
ACC
0
Disabled
Maintenance and Detection Message
NOTICE
0
Output at 1Hz
EPHABNORMAL
10
Output once every 10s by default, and only when the
ephemeris injection is incomplete will this message be
output.
1.6.3 NMEA Configuration (CFGNMEA)
Parameter
Default
Configuration
Description
nmeaVer
H51
Extended BEIDOU messages Based on NMEA standard
version 4.1
1.6.4 Satellite System Configuration (CFGSYS)
Parameter
Default
Configuration
Description
sysMask
H11
‒ Firmware with the version of R3.4.0.0 and R3.4.0.19
defaults to support GPS+BDS+Galileo+SBAS+QZSS
‒ Firmware with the version of ‒ R3.1.10.0, R3.2.0.12,
R3.2.0.0, R3.2.10.0, R3.2.10.100 and R3.2.20.100
defaults to support GPS+BDS+QZSS
![Image 1 from page 64](../images/gnss-protocol_page_64_img_1.png)
## Page 65
Standard Positioning Products Protocol Specification
61
1.6.5 Interference Detection Configuration (CFGCWOUT)
Parameter
Default Configuration
Description
CWOutCtrl
0
Disable the interference detection
1.6.6 Dynamic Configuration (CFGDYN)
Parameter
Default Configuration
Description
mask
h00
Domain to be configured, disabled by
setting the corresponding bit to 0
dynModel
0
Set the dynamic mode to portable
staticHoldThresh
0
Disable the static hold mode
1.6.7 Elevation Configuration (CFGGEOID)
Parameter
Default Configuration
Description
Model
0
Elevation is ellipsoidal height
1.6.8 Static Mode (CFGMOD)
Parameter
Default Configuration
Description
Model
0
Disable the static mode
## Page 66
62
和芯星通科技（北京）有限公司
Unicore Communications, Inc.
北京市海淀区丰贤东路7 号北斗星通大厦三层
F3, No.7, Fengxian East Road, Haidian, Beijing, P.R.China,
100094
www.unicorecomm.com
Phone: 86-10-69939800
Fax: 86-10-69939888
info@unicorecomm.com
![Image 1 from page 66](../images/gnss-protocol_page_66_img_1.png)
![Image 2 from page 66](../images/gnss-protocol_page_66_img_2.png)
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