warehack.ing/heltec-wireless-tracker-docs

Ryan Malloy e3642cbc4e Initial commit: Heltec Wireless Tracker documentation site

Astro/Starlight documentation covering hardware specs, pinout,
schematics, GNSS protocol, LoRa frequencies, and getting started
guides. Includes extracted datasheet images and Docker deployment.

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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'

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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

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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.

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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

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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

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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.

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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

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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.

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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.

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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

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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:

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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

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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

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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

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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

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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.

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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.

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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

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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

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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

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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

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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.

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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

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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,

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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

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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

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Standard Positioning Products Protocol Specification 23 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

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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

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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

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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,systemIDcs 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

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Standard Positioning Products Protocol Specification 27 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

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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, signalIDcs Example $GPGSV,3,01,11,02,34,277,41,03,16,043,35,05,04,215,35,06,69,333,48,057 $GPGSV,3,02,11,09,25,110,41,12,31,305,43,17,55,116,46,19,76,088,46,056 $GPGSV,3,03,11,23,23,077,40,25,04,328,32,28,05,171,36,067 $GBGSV,3,01,12,01,37,145,42,02,34,225,39,03,44,188,42,04,25,123,37,04C $GBGSV,3,02,12,05,17,249,36,06,30,169,38,07,03,188,31,08,69,027,43,04E $GBGSV,3,03,12,09,09,186,34,10,15,211,36,12,26,306,40,13,60,316,44,048 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)

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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 3351 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 cn01cn04 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.

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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,navStatescs Example $GPRMC,060845.00,A,4004.74005,N,11614.19613,E,,,180817,,,A,V0B Description The recommended minimum data Input/Output Output Parameter Definition Parameter Format Description

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Standard Positioning Products Protocol Specification 31 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

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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,modecs 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

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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,ltzncs Example $GPZDA,060845.00,18,08,2017,00,00*6C Description Date and time Input/Output Output Parameter Definition Parameter Format Description

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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,stdAltcs 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

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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

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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

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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

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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

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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,VDOPcs 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

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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.

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Standard Positioning Products Protocol Specification 41 GSV Syntax $-- GSV,NoMsg,MsgNo,NoSv,sv1,elv1,az1,cn01,sv2,elv2,az2,cn02,sv3,elv3,az3, cn03,sv4,elv4,az4,cn04cs Example $GPGSV,3,1,11,3,82,133,50,6,70,73,50,7,21,311,45,13,46,275,5075 $GPGSV,3,2,11,16,52,51,49,19,52,194,49,21,12,49,37,23,40,222,497C $GPGSV,3,3,11,30,31,69,46,31,8,127,19,1,5,,4477 $BDGSV,2,1,5,161,35,140,47,163,33,224,47,164,24,124,43,167,47,73,4854 $BDGSV,2,2,5,168,5,,5052 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.

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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

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Standard Positioning Products Protocol Specification 43 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

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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.

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Standard Positioning Products Protocol Specification 45 VTG Syntax $--VTG,cogt,T,cogm,M,sog,N,kph,K,modecs Example $GNVTG,0.000,T,,M,0.000,N,0.000,K,A13 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

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46 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,ltzncs 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)

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Standard Positioning Products Protocol Specification 47 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

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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

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Standard Positioning Products Protocol Specification 49 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

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50 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

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Standard Positioning Products Protocol Specification 51 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

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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

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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；

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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

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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

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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

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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.

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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

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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

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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

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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

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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

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