L76 Series GNSS

Protocol Specification

GNSS Module Series

Rev. L76_Series_GNSS_Protocol_Specification_V3.3

Date: 2017-07-21

www.quectel.com
 GNSS Module Series
L76 Series GNSS Protocol Specification

Our aim is to provide customers with timely and comprehensive service. For any
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Tel: +86 21 5108 6236
Email: [email protected]

Or our local office. For more information, please visit:

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http://quectel.com/support/sales.htm

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For technical support, or to report documentation errors, please visit:

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http://quectel.com/support/technical.htm

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Or Email to: [email protected]

GENERAL NOTES

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QUECTEL OFFERS THE INFORMATION AS A SERVICE TO ITS CUSTOMERS. THE INFORMATION

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PROVIDED IS BASED UPON CUSTOMERS‟ REQUIREMENTS. QUECTEL MAKES EVERY EFFORT
TO ENSURE THE QUALITY OF THE INFORMATION IT MAKES AVAILABLE. QUECTEL DOES NOT
MAKE ANY WARRANTY AS TO THE INFORMATION CONTAINED HEREIN, AND DOES NOT ACCEPT

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ANY LIABILITY FOR ANY INJURY, LOSS OR DAMAGE OF ANY KIND INCURRED BY USE OF OR
RELIANCE UPON THE INFORMATION. ALL INFORMATION SUPPLIED HEREIN IS SUBJECT TO

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CHANGE WITHOUT PRIOR NOTICE.

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COPYRIGHT

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THE INFORMATION CONTAINED HERE IS PROPRIETARY TECHNICAL INFORMATION OF
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Copyright © Quectel Wireless Solutions Co., Ltd. 2017. All rights reserved.

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About the Document

History
Revision Date

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Author Description

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1.0 2013-02-08 Ada LI Initial

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1. Modified the default baud rate of Packet Type 251.

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2. Modified „2‟=SBAS of Packet Type 301 into

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„2‟=WAAS.
1.1 2013-02-25 Ada LI

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3. Added the Release string of Packet Type 705.
4. Added the description of AIC and WAAS in Table 2.

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5. Added Packet Type 352
1. Deleted the description of RTCM.
2. Added LOCUS‟s Packet Type 183,184,185 and 622.

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1.2 2013-03-22 Dishon ZHOU
3. Deleted Packet Type 291 and 120.
4. Modified Packet Type 353.

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1. Modified the description of RMC.

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1.3 2013-09-29 Ada LI 2. Modified the Example of Packet Type 314, 352 and
514.

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1. Modified the description of GGA.
1.4 2014-08-19 Ada LI 2. Modified the description of PMTK 251.
3. Added Packet Type 220 and 223.
1. Modified the description of DGPS_MODE.
2. Added parameter for "Fix status" in GPGGA
1.5 2014-12-19 Connie ZHOU sentence.
3. Added parameter for packet type 353.
4. Modified the Notes in Chapter 2.1.
1. Added BEIDOU and Galileo sentences description
2. Modified Packet Type 353
2.0 2015-08-05 Connie ZHOU 3. Modified Packet Type 622
4. Added Packet Type 351
5. Added Packet Type 875
1. Added Packet Type 255, 256, 285 and 886
2.1 2015-10-12 Connie ZHOU
2. Added the Notes for packet type 869

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3. Deleted Packet Type 300

3.0 2016-05-03 Ziv LIAO Incorporated related information of L76-L module

3.1 2016-06-02 Ziv LIAO Added Packet Type 311

3.2 2016-08-15 Simon HU Added Packet Type 838

1. Enabled Galileo satellites system

2. Modified Packet Type 353 and 886
Matt YE/
3.3 2017-07-21 3. Added a new segment in RMC, GSA and GSV for
Simon HU
NMEA V4.10

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4. Added Packet Type 306, 308, 458 and 461

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Contents

About the Document ................................................................................................................................... 2

Contents ....................................................................................................................................................... 4
Table Index ................................................................................................................................................... 6

1 Introduction .......................................................................................................................................... 7

2 Standard NMEA Packet Protocol ....................................................................................................... 8

2.1. --RMC ........................................................................................................................................ 8
2.2. --VTG ....................................................................................................................................... 10

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2.3. --GGA....................................................................................................................................... 11
2.4. --GSA ....................................................................................................................................... 12

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2.5. --GSV ....................................................................................................................................... 14

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2.6. --GLL ........................................................................................................................................ 16

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3 MTK NMEA Packet Protocol ............................................................................................................. 17

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3.1. Packet Type: 010 PMTK_SYS_MSG ...................................................................................... 17

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3.2. Packet Type: 011 PMTK_TXT_MSG ....................................................................................... 18

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3.3. Packet Type: 001 PMTK_ACK ................................................................................................ 18

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3.4. Packet Type: 101 PMTK_CMD_HOT_START ........................................................................ 19

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3.5. Packet Type: 102 PMTK_CMD_WARM_START .................................................................... 20
3.6. Packet Type: 103 PMTK_CMD_COLD_START ...................................................................... 20
3.7. Packet Type: 104 PMTK_CMD_FULL_COLD_START ........................................................... 21

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3.8. Packet Type: 161 PMTK_CMD_STANDBY_MODE................................................................ 21
3.9. Packet Type: 183 PMTK_LOCUS_QUERY_STATUS ............................................................ 22

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3.10. Packet Type: 184 PMTK_LOCUS_ERASE_FLASH ............................................................... 23
3.11. Packet Type: 185 PMTK_LOCUS_STOP_LOGGER .............................................................. 24

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3.12. Packet Type: 622 PMTK_Q_LOCUS_DATA ........................................................................... 25
3.13. Packet Type: 220 PMTK_SET_POS_FIX ............................................................................... 25

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3.14. Packet Type: 223 PMTK_SET_AL_DEE_CFG ....................................................................... 26
3.15. Packet Type: 225 PMTK_SET_PERIODIC_MODE ................................................................ 27
3.16. Packet Type: 251 PMTK_SET_NMEA_BAUDRATE............................................................... 28
3.17. Packet Type: 255 PMTK_SET_SYNC_PPS_NMEA ............................................................... 28
3.18. Packet Type: 256 PMTK_SET_TIMING_PRODUCT .............................................................. 29
3.19. Packet Type: 285 PMTK_SET_PPS_CONFIG ....................................................................... 30
3.20. Packet Type: 286 PMTK_SET_AIC_ENABLED...................................................................... 30
3.21. Packet Type: 301 PMTK_API_SET_DGPS_MODE ............................................................... 31
3.22. Packet Type: 306 PMTK_API_SET_MIN_SNR ...................................................................... 32
3.23. Packet Type: 308 PMTK_API_SET_DR_LIMIT ...................................................................... 32
3.24. Packet Type: 311 PMTK_API_SET_ELEV_MASK ................................................................. 33
3.25. Packet Type: 313 PMTK_API_SET_SBAS_ENABLED .......................................................... 33
3.26. Packet Type: 314 PMTK_API_SET_NMEA_OUTPUT ........................................................... 34
3.27. Packet Type: 351 PMTK_API_SET_SUPPORT_QZSS_NMEA ............................................. 36
3.28. Packet Type: 352 PMTK_API_SET_STOP_QZSS ................................................................. 37

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3.29. Packet Type: 353 PMTK_API_SET_GNSS_SEARCH_MODE .............................................. 37

3.30. Packet Type: 386 PMTK_API_SET_STATIC_NAV_THD........................................................ 39
3.31. Packet Type: 400 PMTK_API_Q_FIX_CTL ............................................................................ 39
3.32. Packet Type: 401 PMTK_API_Q_DGPS_MODE .................................................................... 40
3.33. Packet Type: 413 PMTK_API_Q_SBAS_ENABLED .............................................................. 41
3.34. Packet Type: 414 PMTK_API_Q_NMEA_OUTPUT ............................................................... 41
3.35. Packet Type: 458 PMTK_API_GET_POS_XYZ...................................................................... 42
3.36. Packet Type: 461 PMTK_API_GET_VEL_XYZ ...................................................................... 42
3.37. Packet Type: 605 PMTK_Q_RELEASE .................................................................................. 43
3.38. Packet Type: 500 PMTK_DT_FIX_CTL .................................................................................. 44
3.39. Packet Type: 501 PMTK_DT_DGPS_MODE .......................................................................... 44

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3.40. Packet Type: 513 PMTK_DT_SBAS_ENABLED .................................................................... 45
3.41. Packet Type: 514 PMTK_DT_NMEA_OUTPUT ..................................................................... 46

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3.42. Packet Type: 705 PMTK_DT_RELEASE ................................................................................ 47

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3.43. Packet Type: 838 PMTK_TEST_ANTI_SPOOFING ............................................................... 48

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3.44. Packet Type: 869 PMTK_EASY_ENABLE .............................................................................. 49

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3.45. Packet Type: 875 PMTK_PMTKLSC_STN_OUTPUT ............................................................ 50

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3.46. Packet Type: 886 PMTK_FR_MODE ...................................................................................... 51

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4 Default Configurations ...................................................................................................................... 52

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5 Appendix A References..................................................................................................................... 53

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Table Index

TABLE 1: DEFAULT CONFIGURATIONS ......................................................................................................... 52

TABLE 2: RELATED DOCUMENTS .................................................................................................................. 53
TABLE 3: TERMS AND ABBREVIATIONS ........................................................................................................ 53
TABLE 4: STRUCTURE OF NMEA MESSAGE ................................................................................................ 54
TABLE 5: STRUCTURE OF MTK NMEA PACKET ........................................................................................... 55

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1 Introduction
L76 series module includes three variants (L76, L76-L and L76B) which can use GPS, GLONASS,
BeiDou and Galileo constellations and features accurate acquisition. The module supports autonomous
GNSS C/A, SBAS function (including WAAS and EGNOS) and AGPS (EASYTM function). It can be used
in the positioning, navigation and other industries.

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Now L76 supports SDK commands which are developed by Quectel. At present the SDK commands

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contain $PQGLP, $PQBAUD, $PQ1PPS, $PQEPE and so on. For more infomations please refer to

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document [4].

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This document describes the software aspects of L76 series. L76 series supports NMEA 0183 standard

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commands. MTK NMEA extended packet is enabled to control and configure L76 series module.

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L76-L, which comes with built-in LNA, provides better performance than L76 in weak signal areas.

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Please note that L76NR03A01S version of L76 and L76LNR02A01S version of L76-L use NMEA V4.10. It
will change the format of RMC, GSA and GSV sentences.

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2 Standard NMEA Packet Protocol

L76 series supports NMEA 0183 standard messages. The following table shows the structure of a NMEA
0183 standard message.

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2.1. --RMC

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RMC, Recommended Minimum Position Data (including position, velocity and time).

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Example 1:

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$GPRMC,015606.000,A,3150.7584,N,11712.0491,E,0.00,231.36,280715,,,A*67<CR><LF>

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$GNRMC,084629.000,A,3150.7822,N,11711.9323,E,0.00,119.00,240715,,,D*7C<CR><LF>

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$BDRMC,020547.000,A,3150.7813,N,11711.9212,E,0.37,229.71,280715,,,A*7C<CR><LF>

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Example 2 (for NMEA V4.10):
$GPRMC,110642.979,A,3150.7759,N,11711.9310,E,0.06,0.00,190717,,,A,V*1B<CR><LF>
$GNRMC,110604.000,A,3150.7773,N,11711.9229,E,0.09,0.00,190717,,,A,V*0C<CR><LF>
$BDRMC,110921.000,A,3150.773933,N,11711.940482,E,0.87,271.15,190717,,,A,V*00<CR><LF>

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Field Description

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$ Each NMEA message starts with „$‟

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--RMC Message ID

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UTC Time Time in format „hhmmss.sss‟

„V‟=Invalid
Data Valid
„A‟=Valid

Latitude Latitude in format „ddmm.mmmm‟ (degrees and minutes)

„N‟=North
N/S
„S‟=South

Longitude Longitude in format „dddmm.mmmm‟ (degrees and minutes)

„E‟=East
E/W
„W‟=West

Speed Speed over ground in knots

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COG Course over ground in degree

Date Date in format „ddmmyy‟

Magnetic Variation Magnetic variation in degree, not being output

E/W Magnetic variation E/W indicator, not being output

„N‟=No fix
Positioning Mode „A‟=Autonomous GNSS fix
„D‟=Differential GNSS fix
Navigational Status

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(Only supported for „V‟=Navigational status not valid
NMEA V4.10)

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* End character of data field

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Checksum Hexadecimal checksum

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<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

NOTES

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A. When the firmware supports GPS and GLONASS systems, the NMEA sentences output as below:
1. If the receiver is fixed by GPS only, it will print GPRMC, GPVTG, GPGGA, GPGSA, GPGSV and

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GPGLL.
2. If the receiver is fixed by GPS only, and can also search QZSS satellite, it will print GPRMC,

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GPVTG, GPGGA, GPGSA, QZQSA, GPGSV, QZGSV and GPGLL.
3. If the receiver is fixed by GLONASS only, it will print GNRMC, GPVTG, GPGGA, GNGSA,

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GPGSV, GLGSV and GNGLL.
4. If the receiver is fixed by GPS and GLONASS, it will print GNRMC, GPVTG, GPGGA, GNGSA,

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GPGSV, GLGSV and GNGLL.
5. In the state of no satellite positioning, it will print initial state of NMEA, such as GPRMC, GPVTG,
GPGGA, GPGSA, GPGSV and GPGLL. The time before satellite positioning after cold start,
warm start or hot start is belong to this situation.
B. When the firmware supports GPS and BeiDou systems, the NMEA sentences output as below:
1. If the receiver is fixed by GPS only, it will print GPRMC, GPVTG, GPGGA, GPGSA, GPGSV and
GPGLL.
2. If the receiver is fixed by BeiDou only, it will print BDRMC, BDVTG, BDGGA, BDGSA, BDGSV
and BDGLL.
3. If the receiver is fixed by GPS and BeiDou, it will print GNRMC, GNVTG, GNGGA,GPGSA,
BDGSA ,GPGSV, BDGSV and GNGLL.
4. In the state of no satellite positioning, it will print initial state of NMEA, such as GNRMC, GNVTG,
GNGGA and GNGLL. The time before satellite positioning after cold start, warm start or hot start
is belong to this situation.

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C. When the firmware supports GPS and Galileo systems, the NMEA sentences output as below:
1. If the receiver is fixed by GPS only, it will print GPRMC, GPVTG, GPGGA, GPGSA, GPGSV and
GPGLL.
2. If the receiver is fixed by GPS only, and can also search QZSS satellite, it will print GPRMC,
GPVTG, GPGGA, GPGSA, QZQSA, GPGSV, QZGSV and GPGLL.
3. If the receiver is fixed by Galileo only, it will print GNRMC, GPVTG, GPGGA, GNGSA, GPGSV,
GAGSV and GNGLL.
4. If the receiver is fixed by GPS and Galileo, it will print GNRMC, GPVTG, GPGGA, GNGSA,
GPGSV, GAGSV and GNGLL.
5. In the state of no satellite positioning, it will print initial state of NMEA, such as GPRMC, GPVTG,
GPGGA, GPGSA, GPGSV and GPGLL. The time before satellite positioning after cold start,

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warm start or hot start is belong to this situation.

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D. When the firmware supports GPS, GLONASS and Galileo systems, the NMEA sentences output as

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below:

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If the receiver is fixed by GPS, GLONASS and Galileo, it will print GPGGA, GNGSA, GPGSV, GLGSV,

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GAGSV, GNRMC, GPVTG and GNGLL.

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2.2. --VTG

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VTG, Track Made Good and Ground Speed.

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Example:
$GPVTG,227.15,T,,M,0.00,N,0.00,K,A*3E<CR><LF>

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$GNVTG,19.11,T,,M,0.16,N,0.30,K,A*1F<CR><LF>

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$BDVTG,229.71,T,,M,0.37,N,0.68,K,A*29<CR><LF>

Field Description

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$ Each NMEA message starts with „$‟

--VTG Message ID

COG (T) Course over ground (true) in degree

T Fixed field, true

COG(M) Course over ground (magnetic), not being output

M Fixed field, magnetic

Speed Speed over ground in knots

N Fixed field, knots

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Speed Speed over ground in km/h

K Fixed field, km/h

„N‟=No fix
Positioning Mode „A‟=Autonomous GNSS fix
„D‟=Differential GNSS fix

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

NOTE

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For the details, please refer to the notes of Chapter 2.1.

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2.3. --GGA

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GGA, Global Positioning System Fix Data, is the essential fix data which provides 3D location and
accuracy data.

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Example:
$GPGGA,015606.000,3150.7584,N,11712.0491,E,1,5,2.28,265.0,M,0.0,M,,*65<CR><LF>

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$GNGGA,083354.000,3150.7790,N,11711.9289,E,1,8,2.85,53.2,M,0.0,M,,*4B<CR><LF>
$BDGGA,020547.000,3150.7813,N,11711.9212,E,1,3,3.65,55.3,M,0.0,M,,*4C<CR><LF>

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Field Description

$ Each NMEA message starts with „$‟

--GGA Message ID

UTC Time Time in format „hhmmss.sss‟

Latitude Latitude in format „ddmm.mmmm‟ (degrees and minutes)

„N‟=North
N/S
„S‟=South

Longitude Longitude in format „dddmm.mmmm‟ (degrees and minutes)

„E‟=East
E/W
„W‟=West

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„0‟=Invalid
„1‟=GNSS fix
Fix Status
„2‟=DGPS fix
„6‟=Estimated (dead reckoning) mode

Number of SV Number of satellites being used (0~24)

HDOP Horizontal dilution of precision

Altitude Altitude in meters according to WGS84 ellipsoid

M Fixed field, meter

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Geoid Separation Height of Geoid (means sea level) above WGS84 ellipsoid, meter

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M Fixed field, meter

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DGPS Age Age of DGPS data in seconds, empty if DGPS is not used

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DGPS Station ID DGPS station ID, empty if DGPS is not used

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* End character of data field

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Checksum Hexadecimal checksum

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<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

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NOTE

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For the details, please refer to the notes of Chapter 2.1.

2.4. --GSA

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GSA, GNSS DOP and Active Satellites, which provides details on the fix and includes the number of
satellites being used in the current solution and the DOP. At most the first 12 satellite IDs are output.

Example 1:
$GPGSA,A,3,03,17,11,23,193,,,,,,,,3.72,2.85,2.39*3C<CR><LF>
$GNGSA,A,3,23,09,17,03,01,193,,,,,,,1.23,0.74,0.99*28<CR><LF>
$BDGSA,A,2,10,11,07,,,,,,,,,,3.79,3.65,1.00*18<CR><LF>
$GAGSA,A,3,12,,,,,,,,,,,,0.91,0.58,0.70*12<CR><LF>
Example 2 (for NMEA V4.10):
$GPGSA,A,3,02,05,06,30,19,,,,,,,,1.98,1.73,0.96,1*1F<CR><LF>

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$BDGSA,A,3,11,01,04,14,,,,,,,,,3.94,3.81,0.97,*35<CR><LF>
$GNGSA,A,3,15,07,06,05,29,20,30,,,,,,1.22,0.91,0.82,1*08<CR><LF>
$GNGSA,A,3,86,70,71,,,,,,,,,,1.22,0.91,0.82,2*0E<CR><LF>
$GNGSA,A,3,08,07,,,,,,,,,,,1.22,0.91,0.82,3*0F<CR><LF>

Field Description

$ Each NMEA message starts with „$‟

--GSA Message ID

Auto selection of 2D or 3D fix

Mode „M‟=Manual, forced to switch 2D/3D mode

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„A‟=Allowed to automatically switch 2D/3D mode

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„1‟=No fix

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Fix Status „2‟=2D fix

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„3‟=3D fix

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Satellite Used 1 Satellite used on channel 1

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Satellite Used 2 Satellite used on channel 2

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Satellite Used 3 Satellite used on channel 3

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Satellite Used 4 Satellite used on channel 4

Satellite Used 5 Satellite used on channel 5

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Satellite Used 6 Satellite used on channel 6

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Satellite Used 7 Satellite used on channel 7

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Satellite Used 8 Satellite used on channel 8

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Satellite Used 9 Satellite used on channel 9

Satellite Used 10 Satellite used on channel 10

Satellite Used 11 Satellite used on channel 11

Satellite Used 12 Satellite used on channel 12

PDOP Position dilution of precision

HDOP Horizontal dilution of precision

VDOP Vertical dilution of precision

GNSS System ID 1 - GPS

(Only supported for NMEA 2 - GLONASS

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V4.10) 3 - Galileo
4 - BeiDou

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

NOTE

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For the details, please refer to the notes of Chapter 2.1.

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2.5. --GSV

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GSV, GNSS Satellites in View. One GSV sentence can only provide data for at most 4 satellites, so

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several sentences might be required for full information. Since GSV includes satellites that are not used

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as part of the solution, GSV sentence contains more satellites than GGA does.

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Example 1:
$GPGSV,3,1,11,193,69,099,30,17,62,354,36,06,47,272,,03,40,054,30*4E<CR><LF>
$GPGSV,3,2,11,02,13,255,,01,12,055,19,23,11,102,25,11,05,074,24*75<CR><LF>

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$GPGSV,3,3,11,24,03,303,,47,,,,32,,,21*4D<CR><LF>
$GLGSV,3,1,11,69,48,142,39,68,43,058,51,83,40,049,51,84,40,334,43*64<CR><LF>

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$GLGSV,3,2,11,74,30,271,15,73,17,218,19,75,13,324,30,70,07,184,*6E<CR><LF>
$GLGSV,3,3,11,85,06,296,34,82,02,092,21,67,02,023,*56<CR><LF>

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$BDGSV,2,1,06,08,63,015,30,11,59,350,32,12,39,081,26,14,29,184,21*68<CR><LF>
$BDGSV,2,2,06,13,07,295,,01,,,26*50<CR><LF>

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$GAGSV,1,1,01,12,46,287,38*5E<CR><LF>
Example 2 (for NMEA V4.10):
$GPGSV,3,1,11,13,71,174,16,193,67,058,29,02,60,110,25,05,59,016,42,0*51<CR><LF>
$GPGSV,3,2,11,29,45,288,49,20,43,295,48,15,37,217,36,41,37,232,36,0*60<CR><LF>
$GPGSV,3,3,11,30,19,077,30,06,12,123,25,07,07,046,42,0*5B<CR><LF>
$GLGSV,2,1,08,86,77,291,36,71,58,344,43,85,39,164,31,72,37,263,18,1*74<CR><LF>
$GLGSV,2,2,08,70,22,037,38,87,21,331,,80,07,064,,73,03,109,,1*77<CR><LF>
$GAGSV,1,1,02,08,,,39,07,,,40,0*77<CR><LF>
$BDGSV,1,1,02,02,,,30,14,,,37,0*76<CR><LF>
Field Description

$ Each NMEA message starts with „$‟

--GSV Message ID

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Number of messages, total number of GPGSV messages being output

Number of Message
(1~3)
Sequence Number Sequence number of this entry (1~3)

Satellites in View Total satellites in view

Satellite ID 1 Satellite ID

Elevation 1 Elevation in degree (0~90)

Azimuth 1 Azimuth in degree (0~359)

SNR 1 Signal to noise ration in dBHz (0~99), empty if not tracking

l
Satellite ID 2 Satellite ID

t e
Elevation 2 Elevation in degree (0~90)

c l
Azimuth 2 Azimuth in degree (0~359)

e ia
SNR 2 Signal to noise ration in dBHz (0~99), empty if not tracking

u t
Satellite ID 3 Satellite ID

n
Elevation 3 Elevation in degree (0~90)

Q ide
Azimuth 3 Azimuth in degree (0~359)

SNR 3 Signal to noise ration in dBHz (0~99), empty if not tracking

f
Satellite ID 4 Satellite ID

n
Elevation 4 Elevation in degree (0~90)

o
Azimuth 4 Azimuth in degree (0~359)

SNR 4 Signal to noise ration in dBHz (0~99), empty if not tracking

C
Signal ID
0 - All channel
(Only supported for NMEA
1 - G1 C/A
V4.10)
* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

NOTE

1. For the details, please refer to the notes of Chapter 2.1.

2. The receiver features built-in RAIM function which filters out low quality satellites. Thus, in most
cases, there are more viewed satellites than used ones, and positioning accuracy is greatly improved.

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2.6. --GLL

GLL, Geographic Latitude and Longitude, which contains position information, time of position fix and
status.

Example:
$GPGLL,3150.7584,N,11712.0491,E,015606.000,A,A*5C<CR><LF>
$GNGLL,3150.7790,N,11711.9289,E,083354.000,A,A*4D<CR><LF>
$BDGLL,3150.7813,N,11711.9212,E,020547.000,A,A*49<CR><LF>

Field Description

l
$ Each NMEA message starts with „$‟

t e
--GLL Message ID

c l
Latitude Latitude in format „ddmm.mmmm‟ (degrees and minutes)

e ia
„N‟=North

t
N/S

u
„S‟=South

n
Longitude Longitude in format „dddmm.mmmm‟ (degrees and minutes)

Q ide
„E‟=East
E/W
„W‟=West

UTC Time Time in format „hhmmss.sss‟

f
„V‟=Invalid
Data Valid

n
„A‟=Valid
„N‟=No fix

o
Positioning Mode „A‟=Autonomous GNSS fix
„D‟=Differential GNSS fix

C
* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

NOTE

For the details, please refer to the notes of Chapter 2.1.

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3 MTK NMEA Packet Protocol

This chapter introduces the MTK NMEA packet protocol, which is a set of extension messages of standard
NMEA packet protocol. These messages are used to control and configure L76 series GNSS module. The
following table shows the structure of a MTK NMEA packet.

el
3.1. Packet Type: 010 PMTK_SYS_MSG

c t l
This message is used to automatically output system messages through GNSS module.

e t ia
Data Field:

u
None

n
Example:

Q ide
$PMTK010,001*2E<CR><LF>

Field Description

Each NMEA message starts with „$‟

f
$

n
PMTK MTK proprietary message

o
Packet Type 010

System message

C
„0‟=Unknown
Message „1‟=Startup
„2‟=Notification for the host aiding EPO
„3‟=Notification for the transition to normal mode is successfully done

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

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3.2. Packet Type: 011 PMTK_TXT_MSG

This message is used to automatically output system messages through GNSS module.

Data Field:
None
Example:
$PMTK011,MTKGPS*08<CR><LF>

Field Description

l
$ Each NMEA message starts with „$‟

e
PMTK MTK proprietary message

c t l
Packet Type 011

e ia
Message MTKGPS

u t
* End character of data field

n
Checksum Hexadecimal checksum

Q ide
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

n f
3.3. Packet Type: 001 PMTK_ACK

o
Acknowledgement of PMTK command. In order to inform the sender whether the receiver has received the

C
packet, an acknowledge packet PMTK_ACK should be returned after the receiver receives a packet.

Some commands will cause the GNSS module to restart or change the baud rate. There is no PMTK_ACK
for those commands as listed below.

 PMTK_CMD_HOT_START
 PMTK_CMD_WARM_START
 PMTK_CMD_COLD_START
 PMTK_CMD_FULL_COLD_START
 PMTK_SET_NMEA_BAUDRATE

Data Field:
$PMTK001,Cmd,Flag
Example:
$PMTK001,869,3*37<CR><LF>

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Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 001

Cmd The packet type that the acknowledge responds

„0‟=Invalid packet
„1‟=Unsupported packet type
Flag
„2‟=Valid packet, but action failed

l
„3‟=Valid packet, action succeeded

t e
* End character of data field

c l
Checksum Hexadecimal checksum

e ia
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

u n t
Q ide
3.4. Packet Type: 101 PMTK_CMD_HOT_START

This message is used to perform hot start on GNSS module (use all available data in the NV store).

f
Normally hot start means the GNSS module was powered down less than 3 hours (RTC must be alive) and
its ephemeris is still valid. As there is no need for downloading ephemeris, it‟s the fastest startup method.

o n
Data Field:
None

C
Example:
$PMTK101*32<CR><LF>

Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 101

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

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3.5. Packet Type: 102 PMTK_CMD_WARM_START

This message is used to perform warm start on GNSS module. Warm start means the GNSS module has
approximate information of time, position and coarse data on satellite positions. But it needs to download
ephemeris until it can get a fix. Using this message will force a warm restart on the GNSS module without
using the ephemeris data in NV.

Data Field:
None
Example:

l
$PMTK102*31<CR><LF>

e
Field Description

t
Each NMEA message starts with „$‟

l
$

c a
PMTK MTK proprietary message

e t i
Packet Type 102

u n
* End character of data field

Q ide
Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

n f
o
3.6. Packet Type: 103 PMTK_CMD_COLD_START

C
This message is used to perform cold start on GNSS module. Using this message will force a cold restart on
GNSS module without using any prior location information, including time, position, almanacs and
ephemeris data.

Data Field:
None
Example:
$PMTK103*30<CR><LF>

Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 103

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* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

3.7. Packet Type: 104 PMTK_CMD_FULL_COLD_START

This message is essentially a cold restart, but additionally clear system and user configurations at re-start.

l
That is, reset the GNSS module to the factory status. Full cold start means the GNSS module has no

e
information on last location. It needs to search the full time and frequency space, and also all possible

t
satellite numbers before it can get a fix.

c l
Data Field:

e ia
None

t
Example:

u
$PMTK104*37<CR><LF>

n
Field Description

Q ide
$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

f
Packet Type 104

n
* End character of data field

o
Checksum Hexadecimal checksum

C
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

3.8. Packet Type: 161 PMTK_CMD_STANDBY_MODE

This message is used to enter standby mode for power saving.

Data Field:
$PMTK161,Type
Example:
$PMTK161,0*28<CR><LF>
Response:

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$PMTK001,161,3*36<CR><LF>

Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 161

Type „0‟=Stop mode

l
* End character of data field

e
Checksum Hexadecimal checksum

t l
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

e c t ia
u
3.9. Packet Type: 183 PMTK_LOCUS_QUERY_STATUS

Q ide n
This message is used to query LOCUS logging status.

Data Field:

f
None
Example:

n
$PMTK183*38<CR><LF>

o
Response:
$PMTK001,183,3*3A<CR><LF>

C
Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 183

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

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Return:

Example:
$PMTKLOG,456,0,11,31,2,0,0,0,3769,46*48<CR><LF>

Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type LOG

l
Serial# Logging serial number: 0~65535

t e
Type Logging type-0: Overlap, 1: Fullstop

c l
Mode Logging mode-0x08: Interval logger

e ia
Content Logging contents of configuration

u t
Interval Logging interval setting (valid when interval mode is selected)

n
Distance Logging distance setting (valid when distance mode is selected)

Q ide
Speed Logging speed setting (valid when speed mode is selected)

Status Logging status-1: Stop logging, 0: Logging

n f
Number Logging number of data record

o
Percent Logging life used percentage (0%~100%)

* End character of data field

C
Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

3.10. Packet Type: 184 PMTK_LOCUS_ERASE_FLASH

This message is used to erase logger flash.

Data Field:
$PMTK184,Type
Example:

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$PMTK184,1*22<CR><LF>
Response:
$PMTK001,184,3*3D<CR><LF>

Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 184

Type „1‟=Erase all logger internal flash data

l
* End character of data field

t e
Checksum Hexadecimal checksum

c l
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

u e t ia
n
3.11. Packet Type: 185 PMTK_LOCUS_STOP_LOGGER

Q ide
This message is used to stop or start logging data.

f
Data Field:

n
$PMTK185,Stutas
Example:

o
$PMTK185,1*23<CR><LF>
Response:

C
$PMTK001,185,3*3C<CR><LF>

Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 185

„0‟=Start logging
Status
„1‟=Stop logging

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

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3.12. Packet Type: 622 PMTK_Q_LOCUS_DATA

This message is used to dump LOCUS flash data.

Data Field:
$PMTK622,Type
Example:
$PMTK622,1*29<CR><LF>
Response:
$PMTK001,622,3*36<CR><LF>

l
Field Description

e
Each NMEA message starts with „$‟

t
$

c l
PMTK MTK proprietary message

e ia
Packet Type 622

u t
Type „1‟=Dump partial in used LOCUS flash data.

n
* End character of data field

Q ide
Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

n f
o
3.13. Packet Type: 220 PMTK_SET_POS_FIX

C
This message is used to set position fix interval.

Data Field:
$PMTK220,Interval
Example:
$PMTK220,1000*1F<CR><LF>
Response:
$PMTK001,220,3*30<CR><LF>

Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

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Packet Type 220

Interval Position fix interval (msec). Range: 100~10000

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

l
3.14. Packet Type: 223 PMTK_SET_AL_DEE_CFG

t e
This message is used to config DEE.

c a l
Data Field:

e i
$PMTK223,SV,SNR,Extension threshold,Extension gap

u t
Example:

n
$PMTK223,1,30,180000,60000*3C<CR><LF>
Response:

Q ide
$PMTK001,223,3*33<CR><LF>

Field Description

f
$ Each NMEA message starts with „$‟

n
PMTK MTK proprietary message

o
Packet Type 223

C
SV Range: 1~4 (Default value: 1)

SNR Range: 25~30 (Default value: 30)

Extension Threshold Range: 40000~180000 (Default value: 180000)

Extension Gap Range: 0~3600000 (Default value: 60000)

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

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3.15. Packet Type: 225 PMTK_SET_PERIODIC_MODE

This message is used to enter periodic mode for power saving.

Data Field:
$PMTK225,Type,Run time,Sleep time,Second run time,Second sleep time
Example:
$PMTK225,8*23<CR><LF>
Response:
$PMTK001,225,3*35<CR><LF>

l
Field Description

e
Each NMEA message starts with „$‟

t
$

c l
PMTK MTK proprietary message

e ia
Packet Type 225

u t
„0‟=Back to normal mode

n
„1‟=Periodic backup mode
„2‟=Periodic standby mode

Q ide
Type
„4‟=Perpetual backup mode
„8‟=AlwaysLocateTM standby mode
„9‟=AlwaysLocateTM backup mode

f
„0‟: Disable
Run Time
>=„1000‟: Enable. Range: 1000~518400000

n
Sleep Time Range: 1000~518400000

o
„0‟: Disable
Second Run Time
>=‟1000‟: Enable. Range: 1000~518400000

C
Second Sleep Time Range: 1000~518400000

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

NOTE

The unit of run time or sleep time is msec. The second run time should be larger than the first run time
when the first run time is a non-zero value.

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3.16. Packet Type: 251 PMTK_SET_NMEA_BAUDRATE

This message is used to set NMEA port baud rate. Using PMTK251 command to setup baud rate setting,
the setting will be back to default value in the condition: Full cold start command is issued.

Data Field:
$PMTK251,Baudrate
Example:
$PMTK251,38400*27<CR><LF>

Field Description

l
$ Each NMEA message starts with „$‟

t e
PMTK MTK proprietary message

c l
Packet Type 251

e ia
Baud rate setting:

u t
9600 - default setting

n
4800
9600

Q ide
Baudrate 14400
19200
38400

f
57600
115200

n
* End character of data field

o
Checksum Hexadecimal checksum

C
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

3.17. Packet Type: 255 PMTK_SET_SYNC_PPS_NMEA

This message is used to enable or disable fix NMEA output time behind PPS function (Default: off).

Data Field:
$PMTK255,Enable
Example:
$PMTK255,0*2C<CR><LF>
Response:

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$PMTK001,255,3*32<CR><LF>

Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 255

„0‟=Disable
Enable
„1‟=Enable

l
* End character of data field

e
Checksum Hexadecimal checksum

t l
Each NMEA message ends with „CR‟ and „LF‟

c
<CR><LF>

u e t ia
3.18. Packet Type: 256 PMTK_SET_TIMING_PRODUCT

Q ide n
This message is used to enable or disable timing product mode (Default: off).

Data Field:

f
$PMTK256,Enable

n
Example:
$PMTK256,0*2F<CR><LF>

o
Response:
$PMTK001,256,3*31<CR><LF>

C
Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 256

„0‟=Disable
Enable
„1‟=Enable

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

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3.19. Packet Type: 285 PMTK_SET_PPS_CONFIG

This message is used to set PPS type.

Data Field:
$PMTK285,Type,PPSPulseWidth
Example:
$PMTK285,4,100*38<CR><LF>
Response:
$PMTK001,285,3*3F<CR><LF>

l
Field Description

e
Each NMEA message starts with „$‟

t
$

c l
PMTK MTK proprietary message

e ia
Packet Type 285

u t
„0‟=Disable

n
„1‟=After the first fix
Type „2‟=3D fix only

Q ide
„3‟=2D/3D fix only
„4‟=Always

PPSPulseWidth 2~998 (Unit: ms)

f
* End character of data field

o n
Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

C
3.20. Packet Type: 286 PMTK_SET_AIC_ENABLED

This message is used to enable or disable AIC function. It is suggested to set cold start command first and
then PMTK command.

Data Field:
$PMTK286,Enable
Example:
$PMTK286,0*22<CR><LF>
Response:
$PMTK001,286,3*3C<CR><LF>

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Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 286

„0‟=Disable
Enable
„1‟=Enable

* End character of data field

l
Checksum Hexadecimal checksum

e
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

c t a l
e i
3.21. Packet Type: 301 PMTK_API_SET_DGPS_MODE

u n t
This message is used to configure the source mode of DGPS correction data.

Q ide
Data Field:
$PMTK301,Mode
Example:

f
$PMTK301,2*2E<CR><LF>

n
Response:
$PMTK001,301,3*32<CR><LF>

o
Field Description

C
$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 301

DGPS data source mode.

„0‟=No DGPS source
Mode
„1‟=RTCM
„2‟=SBAS (Include WAAS/EGNOS/GAGAN/MSAS)

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

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3.22. Packet Type: 306 PMTK_API_SET_MIN_SNR

This message is used to set the minimum SNR of used satellites. If the minimum SNR threshold value is set,
the chip would not use the satellite whose SNR is smaller than it.

Example:
$PMTK306,15*1F<CR><LF>

Field Description

Each NMEA message starts with „$‟

l
$

e
PMTK MTK proprietary message

t l
Packet Type 306

c a
MIN_SNR Minimum SNR threshold of used satellites. Valid range: 9~37

e t i
* End character of data field

u n
Checksum Hexadecimal checksum

Q ide
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

f
3.23. Packet Type: 308 PMTK_API_SET_DR_LIMIT

o n
This message is used to set the number of estimated fix when entering the tunnel.

C
Example:
$PMTK308,0*25<CR><LF> => Disable the estimated fix when entering the tunnel.
$PMTK308,3*26<CR><LF> => Keep outputting 3 fix when entering the tunnel.

Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 308

DR_LIMIT Number of estimated fix. Valid range: 0~500

* End character of data field

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Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

3.24. Packet Type: 311 PMTK_API_SET_ELEV_MASK

This message is used to set satellite elevation mask.

l
Data Field:
$PMTK311,Type

e
Example:

t
$PMTK311,5*28<CR><LF>

c l
Response:

a
$PMTK001,311,3*33<CR><LF>

e t i
Field Description

u
Each NMEA message starts with „$‟

n
$

Q ide
PMTK MTK proprietary message

Packet Type 311

f
Satellite Elevation Mask Range: 0~90o

n
* End character of data field

o
Checksum Hexadecimal checksum

C
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

NOTE

The satellite elevation mask is recommended to be set not more than 10 degrees. As with the increase of
satellite elevation mask, the number of satellites involved in positioning will decrease.

3.25. Packet Type: 313 PMTK_API_SET_SBAS_ENABLED

This message is used to enable or disable searching a SBAS satellite. SBAS (Satellite Based Augmentation
Systems) is a system that supports wide-area or regional augmentation through geostationary satellite
broadcast messages. The geostationary satellite broadcasts GNSS integrity and correction data with the

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assistance of multiple ground stations which are located at accurately-surveyed points.

Data Field:
$PMTK313,Enable
Example:
$PMTK313,1*2E<CR><LF>
Response:
$PMTK001,313,3*31<CR><LF>

Field Description

$ Each NMEA message starts with „$‟

l
PMTK MTK proprietary message

t e
Packet Type 313

c l
„0‟=Disable
Enable

a
„1‟=Enable

e t i
* End character of data field

u n
Checksum Hexadecimal checksum

Q ide
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

f
3.26. Packet Type: 314 PMTK_API_SET_NMEA_OUTPUT

o n
This message is used to set NMEA sentence output frequencies. There are totally 19 data fields that present
output frequencies for the 19 supported NMEA sentences individually.

C
Supported Frequency Settings:

 0 - Disabled or not supported sentence

 1 - Output once every one position fix
 2 - Output once every two position fixes
 3 - Output once every three position fixes
 4 - Output once every four position fixes
 5 - Output once every five position fixes

Data Field:
None
Example:
The module only outputs RMC once every one position fix.

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$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29<CR><LF>
Response:
$PMTK001,314,3*36<CR><LF>

Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 314

0 GLL GLL interval - Geographic position - latitude longitude

l
1 RMC RMC interval - Recommended minimum specific GNSS sentence

t e
2 VTG VTG interval - Course over ground and ground speed

c l
3 GGA GGA interval - GPS fix data

e t ia
4 GSA GSA interval - GNSS DOPS and active satellites

u n
5 GSV GSV interval - GNSS satellites in view

Q ide
6 GRS GRS interval – GNSS range residuals

7 GST GST interval – GNSS pseudorange error statistics

f
8 Reserved Always 0

n
9 Reserved Always 0

o
10 Reserved Always 0

C
11 Reserved Always 0

12 Reserved Always 0

13 Reserved Always 0

14 Reserved Always 0

15 Reserved Always 0

16 Reserved Always 0

17 ZDA ZDA interval - Time and date

18 MCHN PMTKCHN interval - GNSS channel status

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* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

To restore the system default setting, use the following message:

Example:
$PMTK314,-1*04<CR><LF>

l
Field Description

e
$ Each NMEA message starts with „$‟

t l
PMTK MTK proprietary message

c a
Packet Type 314

e t i
Restore Always -1

u n
* End character of data field

Q ide
Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

n f
o
3.27. Packet Type: 351 PMTK_API_SET_SUPPORT_QZSS_NMEA

C
The receiver support new NMEA format for QZSS. The command allow users to enable or disable QZSS
NMEA format. QZSS NMEA format is disabled by defult.

Data Field:
$PMTK351,Enable
Example:
$PMTK351,1*28<CR><LF>
Response:
$PMTK001,351,3*37<CR><LF>

Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

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Packet Type 351

„0‟=Disable
QZSS_Enable
„1‟=Enable

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

l
3.28. Packet Type: 352 PMTK_API_SET_STOP_QZSS

t e l
QZSS is regional positioning service. This command is used to enable or disable QZSS function. QZSS

c
function is enabled by default.

e t ia
Data Field:

u
$PMTK352,Enable

n
Example:

Q ide
$PMTK352,0*2A<CR><LF>
Response:
$PMTK001,352,3*34<CR><LF>

f
Field Description

n
$ Each NMEA message starts with „$‟

o
PMTK MTK proprietary message

C
Packet Type 352

„0‟=Enable
QZSS_Enable
„1‟=Disable

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

3.29. Packet Type: 353 PMTK_API_SET_GNSS_SEARCH_MODE

This command is used to configure the receiver to start searching satellite system.

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Data Field:
$PMTK353,GPS_Enable,GLONASS_Enable,GALILEO_Enable,GALILEO_FULL_Enable,BEIDOU_Enable
Example:
$PMTK353,1,1,0,0,0*2B<CR><LF>: Search GPS+GLONASS
Response:
$PMTK001,353,3,1,1,0,0,0,3*36<CR><LF>

Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

l
Packet Type 353

t e
„0‟=Disable (DO NOT search GPS satellites)
GPS_Enable

l
„1‟or non-ZERO: search GPS satellites

c
„0‟=Disable (DO NOT search GLONASS satellites)

a
GLONASS_Enable

e i
„1‟or non-ZERO: search GLONASS satellites

t
„0‟=Disable (DO NOT search Galileo satellites)

u
GALILEO_Enable
„1‟or non-ZERO: search Galileo satellites

n
„0‟=Disable (DO NOT search Galileo full mode satellites)

Q ide
GALILEO_FULL_Enable
„1‟or non-ZERO: search Galileo satellites
„0‟=Disable
BEIDOU_Enable
„1‟or non-ZERO: search BeiDou satellites

f
* End character of data field

n
Checksum Hexadecimal checksum

o
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

C
NOTE

1. Actually GLONASS only, BeiDou only, and Galileo only mode is only for testing purpose. Please use
GPS+GLONASS, GPS+BeiDou, GPS+Galileo or GPS+GLONASS+Galileo in the real application.
GLONASS and BeiDou can not be enabled at the same time. Galileo and BeiDou can not be enabled
at the same time too.
2. When the receiver is fixed by GPS+GLONASS+Galileo, the maximum frequency supported is 5Hz.
3. For the details, please refer to the notes of Chapter 2.1.

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3.30. Packet Type: 386 PMTK_API_SET_STATIC_NAV_THD

This message is used to set the speed threshold for static navigation. If the actual speed is below the
threshold, output position will keep the same and output speed will be zero. If threshold value is set to 0, this
function is disabled.

Data Field:
$PMTK386,Speed_threshold
Example:
$PMTK386,0.3*3E<CR><LF>

l
Response:
$PMTK001,386,3*3D<CR><LF>

t e
Field Description

c l
$ Each NMEA message starts with „$‟

e t ia
PMTK MTK proprietary message

u n
Packet Type 386

Q ide
Speed_threshold 0~2m/s

* End character of data field

f
Checksum Hexadecimal checksum

n
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

Co
3.31. Packet Type: 400 PMTK_API_Q_FIX_CTL

This message is used to query the rate of position fixing activity.

Refer to PMTK_API_SET_FIX_CTL for setting the rate.

Refer to PMTK_DT_FIX_CTL for the result of the query.

Data Field:
None
Example:
$PMTK400*36<CR><LF>

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Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 400

* End character of data field

Checksum Hexadecimal checksum

l
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

c t e l
3.32. Packet Type: 401 PMTK_API_Q_DGPS_MODE

u e t ia
This message is used to query the setting of DGPS mode.

n
Refer to PMTK_API_SET_DGPS_MODE for setting the DGPS mode.

Q ide
Refer to PMTK_DT_DGPS_MODE for the result of the query.

f
Data Field:
None

n
Example:

o
$PMTK401*37<CR><LF>

Field Description

C
$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 401

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

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3.33. Packet Type: 413 PMTK_API_Q_SBAS_ENABLED

This message is used to query the setting of SBAS.

Refer to PMTK_API_SET_SBAS_ENABLE for SBAS setting.

Refer to PMTK_DT_SBAS_ENABLED for the result of the query.

Data Field:
None

l
Example:
$PMTK413*34<CR><LF>

t e
Field Description

c l
$ Each NMEA message starts with „$‟

e t ia
PMTK MTK proprietary message

u n
Packet Type 413

Q ide
* End character of data field

Checksum Hexadecimal checksum

f
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

o n
3.34. Packet Type: 414 PMTK_API_Q_NMEA_OUTPUT

C
This message is used to query the current NMEA sentence output frequencies.

Refer to PMTK_API_SET_NMEA_OUTPUT for the frequencies setting.

Refer to PMTK_DT_NMEA_OUTPUT for the result of the query.

Data Field:
None
Example:
$PMTK414*33<CR><LF>

Field Description

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$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 414

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

t el
3.35. Packet Type: 458 PMTK_API_GET_POS_XYZ

c l
This message is used to return the WGS84 ECEF XYZ Cartesian position vector ( metres ) with an

e ia
estimated 1-sigma accuracy.

u t
Example:

n
$PMTK458*3B<CR><LF>

Q ide
Field Description

$ Each NMEA message starts with „$‟

f
PMTK MTK proprietary message

n
Packet Type 458

o
* End character of data field

C
Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

3.36. Packet Type: 461 PMTK_API_GET_VEL_XYZ

This message is used to return the WGS84 ECEF XYZ Cartesian velocity vector ( m/s ) with an estimated
1-sigma accuracy.

Example:
$PMTK461*31<CR><LF>

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Field Description

$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 461

* End character of data field

Checksum Hexadecimal checksum

l
<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

c t e l
3.37. Packet Type: 605 PMTK_Q_RELEASE

u e t ia
This message is used to query the firmware release information.

n
Refer to PMTK_DT_RELEASE for the result of the query.

Q ide
Data Field:
None

f
Example:
$PMTK605*31<CR><LF>

n
Field Description

o
$ Each NMEA message starts with „$‟

C
PMTK MTK proprietary message

Packet Type 605

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

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3.38. Packet Type: 500 PMTK_DT_FIX_CTL

This message is the response to PMTK_API_Q_FIX_CTL.

Data Field:
$PMTK500,Fix interval
Example:
$PMTK500,1000,0,0,0,0*1A<CR><LF>

Field Description

l
$ Each NMEA message starts with „$‟

t e
PMTK MTK proprietary message

c l
Packet Type 500

e ia
Fix Interval Position fix interval (msec). Range: 100~10000

u t
Reserved Always 0

Q ide n
Reserved Always 0

Reserved Always 0

f
Reserved Always 0

n
* End character of data field

o
Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

C
3.39. Packet Type: 501 PMTK_DT_DGPS_MODE

This message is the response to PMTK_API_Q_DGPS_MODE.

Data Field:
$PMTK501,Mode
Example:
$PMTK501,1*2B<CR><LF>

Field Description

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$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

Packet Type 501

DGPS data source mode

„0‟=No DGPS source
Mode
„1‟=RTCM
„2‟=SBAS

* End character of data field

l
Checksum Hexadecimal checksum

e
Each NMEA message ends with „CR‟ and „LF‟

t
<CR><LF>

e c ia l
t
3.40. Packet Type: 513 PMTK_DT_SBAS_ENABLED

u n
This message is the response to PMTK_API_Q_SBAS_ENABLED.

Q ide
Data Field:
$PMTK513,Enable

f
Example:
$PMTK513,1*28<CR><LF>

n
Field Description

o
$ Each NMEA message starts with „$‟

C
PMTK MTK proprietary message

Packet Type 513

„0‟=Disable
Enable
„1‟=Enable

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

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3.41. Packet Type: 514 PMTK_DT_NMEA_OUTPUT

This message is the response to PMTK_API_Q_NMEA_OUTPUT.

Data Field:
None
Example:
$PMTK514,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*2E<CR><LF>

Field Description

l
$ Each NMEA message starts with „$‟

e
PMTK MTK proprietary message

c t l
Packet Type 514

e ia
0 GLL GLL interval - Geographic position - latitude longitude

u t
1 RMC RMC interval - Recommended minimum specific GNSS sentence

n
2 VTG VTG interval - Course over ground and ground speed

Q ide
3 GGA GGA interval - GPS fix data

4 GSA GSA interval - GNSS DOPS and active satellites

f
5 GSV GSV interval - GNSS satellites in view

n
6 Reserved GRS interval – GNSS range residuals

o
7 Reserved GST interval – GNSS pseudorange error statistics

C
8 Reserved

9 Reserved

10 Reserved

11 Reserved

12 Reserved

13 Reserved

14 Reserved

15 Reserved

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16 Reserved

17 ZDA ZDA interval - Time and date

18 Reserved PMTKCHN interval - GNSS channel status

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

t el
3.42. Packet Type: 705 PMTK_DT_RELEASE

c l
This message is the response to PMTK_Q_RELEASE.

e t ia
Data Field:

u
$PMTK705, Release string, Build ID, Product Model(,SDK Version)

n
Example:

Q ide
$PMTK705,AXN_3.10_3333_12102201,0000,QUECTEL-L76,*18<CR><LF>

Field Description

f
$ Each NMEA message starts with „$‟

n
PMTK MTK proprietary message

o
Packet Type 705

C
Firmware release name and version
3318: Mcore_x.x
3329: AXN_x.x
Release String
3339: AXN_x.x
3333: AXN_x.x
3337: AXN_x.x

Build ID Build ID set in CoreBuilder for firmware version control

Product Model Product model set in CoreBuilder for product identification

SDK Version
Showing SDK version if the firmware is used for SDK
(Optional)

* End character of data field

Checksum Hexadecimal checksum

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<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

3.43. Packet Type: 838 PMTK_TEST_ANTI_SPOOFING

This message is used to enable or disable jamming detection function.

Data Field:
$PMTK838,CmdType

l
Example:
$PMTK838,1*2C<CR><LF>

e
Response:

t l
$PMTK001,838,3,1*2E<CR><LF>

c
Return:

a
$PMTKSPF,1*5A => No jamming, healthy status (status 1).

e i
$PMTKSPF,2*59 => Warning status (status 2).

u t
$PMTKSPF,3*58 => Critical status (status 3).

n
Field Description

Q ide
$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

f
Packet Type 838

n
„0‟=Disable jamming detection function

o
CmdType
„1‟=Enable jamming detection function

* End character of data field

C
Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

NOTE

After jamming detection is enabled, the module starts to detect whether there is jamming.
1. If there is no jamming, “$PMTKSPF,1*5A” will be reported to indicate healthy status (status 1).
2. If there is continuous jamming, then the module status will change from 1 to 2 and finally 3.
 In the case of not being positioned: after jamming detection is enabled, the module status will be
1 at the very beginning, and then change to 2 when jamming is detected. During the process, the
module will attempt to fix position. If it still fails in positioning after 200s, the module status will
change to 3 finally.

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 In the case of being positioned: after jamming detection is enabled, the module status will be 1 at
the very beginning. When jamming is detected, the module status will change to 2 and then 3
consecutively.

3.44. Packet Type: 869 PMTK_EASY_ENABLE

This message is used to enable or disable EASYTM function, and it can also be used to query whether
EASYTM is enabled or disabled.

l
Data Field:

e
$PMTK869,CmdType[, Enabled]

t
Example:

c l
$PMTK869,1,1*35<CR><LF>

a
Response:

e i
$PMTK001,869,3*37<CR><LF>

u t
Field Description

Q ide n
$ Each NMEA message starts with „$‟

PMTK MTK proprietary message

f
Packet Type 869

n
„0‟=Query
CmdType „1‟=Set

o
„2‟=Result for query operation
„0‟=Disable
Enabled

C
„1‟=Enable

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

NOTE

1. If EASYTM is disabled, the receiver returns:

$PMTK869,2,0,0*2B<CR><LF>
2. If EASYTM is enabled and is not finished yet, the receiver may return:
$PMTK869,2,1,0*2A<CR><LF>
3. If EASYTM is enabled and is finished after 1 day, the receiver may return:

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$PMTK869,2,1,1*2B<CR><LF>
4. If EASYTM is enabled and is finished after 2 days, the receiver may return:
$PMTK869,2,1,2*28<CR><LF>
5. If EASYTM is enabled and is finished after 3 days, the receiver may return:
$PMTK869,2,1,3*29<CR><LF>

3.45. Packet Type: 875 PMTK_PMTKLSC_STN_OUTPUT

l
This message is used to enable or disable PMTKLSC sentence output. Query whether PMTKLSC sentence
output is enabled or disabled.

t e
Data Field:

c l
$PMTK875,CmdType[,Enabled]

a
Example:

e i
$PMTK875,1,1*38<CR><LF>: Enable PMTKLSC and PMTKLSCB sentence output

u t
Response:

n
$PMTKLSC,Parameter1,Parameter2,Parameter3*CS
$PMTKLSB,Parameter1,Parameter2,Parameter3*CS

Q ide
Where Parameter1: current leap second
Parameter2: leap indicator, 1 means updated from broadcast data
Parameter3: next leap second

f
Field Description

n
$ Each NMEA message starts with „$‟

o
PMTK MTK proprietary message

C
Packet Type 875

„0‟=Query
CmdType „1‟=Set
„2‟=Result for query operation
„0‟=Disable
Enabled
„1‟=Enable

* End character of data field

Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

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3.46. Packet Type: 886 PMTK_FR_MODE

This message is used to set navigation mode.

Data Field:
$PMTK886,CmdType
Example:
$PMTK886,3*2B<CR><LF>
Response:
$PMTK001,886,3*36

l
Field Description

t e
$ Each NMEA message starts with „$‟

c l
PMTK MTK proprietary message

e ia
Packet Type 886

u t
„0‟=Normal mode: For general purpose

n
„1‟=Fitness mode: For running and walking purpose that the low-speed

Q ide
(<5m/s) movement will have more effect on the position calculation.
„2‟=Aviation mode: For high-dynamic purpose that the large-acceleration
CmdType movement will have more effect on the position calculation.
„3‟=Balloon mode: For high-altitude balloon purpose that the vertical

f
movement will have more effect on the position calculation.

n
„4‟=Stationary mode: For stationary applications that zero dynamics is
assumed.

o
* End character of data field

C
Checksum Hexadecimal checksum

<CR><LF> Each NMEA message ends with „CR‟ and „LF‟

NOTE

Each mode has its altitude limitation. Please choose the appropriate mode base on the table below. If the
test scenario exceeds the limitation, the position calculation will be incorrect.
Mode Altitude Limitation
Normal mode 10000m
Fitness mode 10000m
Aviation mode 10000m
Stationary mode 10000m
Balloon mode 80000m

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4 Default Configurations

Table 1: Default Configurations

Item Default

l
NMEA Port Baud Rate 9600bps

t e
Datum WGS84

c l
Rate of Position Fixing 1Hz

e ia
DGPS Mode SBAS

u t
SBAS Enable Enable

n
NMEA Output Messages GGA, RMC, GSA, GSV, VTG and GLL

Q ide
AIC On

EASYTM On

n f
Co

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5 Appendix A References

Table 2: Related Documents

SN Document Name Remark

l
[1] Quectel_L76_Series_Hardware_Design L76 Series Hardware Design

t e
[2] Quectel_L76_Series_EVB_User Guide L76 Series EVB User Guide

c l
[3] Quectel_L76_Series_Reference_Design L76 Series Reference Design

e ia
[4] Quectel_GNSS_SDK_Commands_Manual GNSS SDK Commands Manual

u n t
Q ide
Table 3: Terms and Abbreviations

Abbreviation Description

f
AGPS Assisted Global Positioning System

n
AIC Active Interference Cancellation

o
CS Commercial Sample

DGPS Differential Global Positioning System

C
GGA NMEA: Global Positioning System Fix Data

GLL NMEA: Geographic Latitude and Longitude

GLONASS Global Navigation Satellite System (The Russian GNSS)

GNSS Global Navigation Satellite System

GPS Global Positioning System

GSA NMEA: GNSS DOP and Active Satellites

GSV NMEA: GNSS Satellites in View

HDOP Horizontal Dilution of Precision

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NMEA National Marine Electronics Association

PDOP Position Dilution of Precision

PPS Pulse Per Second

PMTK Private Protocol of MTK

RMC NMEA: Recommended Minimum Position Data

SBAS Satellite-Based Augmentation System

l
UTC Universal Time Coordinated

e
VDOP Vertical Dilution of Precision

t l
VTG NMEA: Track Made Good and Ground Speed

c a
WAAS Wide Area Augmentation System

u e n t i
Table 4: Structure of NMEA Message

Q ide
Filed Length (Bytes) Description

$ 1 Each NMEA message starts with „$‟

f
Talker IDs can be „GP‟, „GN‟ and „BD‟ when the

n
message ID is RMC, VTG, GLL or GGA.
Talker IDs can be „GP‟, „GN‟, „BD‟ and „GA‟ when

o
the message ID is GSA.
Talker ID 1~2
Talker IDs can be „GP‟, „GL‟, „BD‟ and „GA‟ when

C
the message ID is GSV.
Talker IDs can be „GN‟ when the message ID is
GBS.

NMEA Message ID 3 NMEA message ID

Variable, depends on the

Data Field Data fields, delimited by comma „,‟
NMEA message type

* 1 End character of data field

A hexadecimal number calculated by exclusive

Checksum 2
OR of all characters between „$‟ and „*‟

<CR><LF> 2 Each NMEA message ends with „CR‟ and „LF‟

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NOTE

The default output message of L76 series has the following six sentences: RMC, VTG, GGA, GSA, GSV
and GLL. But if the receiver is fixed by GPS, GLONASS and Galileo, the default output message of L76
series has the following six sentences: RMC, VTG, GGA, GSA, GSV and GBS.

Table 5: Structure of MTK NMEA Packet

Filed Length (Bytes) Description

l
$ 1 Each NMEA message starts with „$‟

e
Talker ID 1 „P‟ for proprietary message

t l
Always „MTK‟ to indicate MTK proprietary message

c
NMEA Data Type 3

a
Packet type, from „000‟ to „999‟

e
Packet Type 3

t i
Data Filed
Variable, depends

u
Packet Data Data fields, delimited by comma „,‟
on the packet type

n
* 1 End character of data field

Q ide
A hexadecimal number calculated by exclusive OR of
Checksum 2
all characters between „$‟ and „*‟

f
<CR><LF> 2 Each NMEA message ends with „CR‟ and „LF‟

o n
C
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