STANDARD POSITIONING

PROTOCOL

WWW.UNICORECOMM.COM

Standard Positioning
Products

Copyright© 2009-2023, Unicore Communications, Inc.

Data subject to change without notice.
 Standard Positioning Products Protocol Specification

Revision History
Version Revision History Date
Ver. 1.0.0
Initial release revision Jul, 2017
Primary
Ver.2.0.0
Perfect the NMEA protocol Aug, 2017
Alpha release
Ver.3.2.1 Beta
Mass production release Dec, 2017
release

 Add BD3 satellite with the number of 15-37

 Update QZSS ID to 193/194/195/199
Ver.3.3.0 Beta
 Limited to output GGA/GSA/GSV/RMC messages by Apr, 2019
release
default
 Add AIDTIME/AIDPOS/AIDINFO command

Ver.3.4.0 Beta  Add SBAS

Jun, 2019
release  Add echo with #...

 Revise table 1.4.2.2

 Revise CFGPRT echo
 Revise CFGDYN echo
R3.5  Revise GGA Altref 2020-03-30

 Revise RMC spd

 Add CFGGEOID and discrepancy instructions for
multi-version firmware

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

 Add CFGBLK command

 Add FCTATEST command and update talker ID of
GLL/VTG/GST
R4.3  Remove CFGDYN command 2021-04-08

 Change the bit2 of CFGSAVE mask field to reserve

 Update checksum description in section 1.2
 Update default configuration of NOTICE

i
  Add CFGDYN, and revise the parameter description of
CFGMOD
R4.4  Update the field description of ANTSTAT1/ 2021-06-24

CFGLOWPOWER
 Update NAVTIME

 Add ABNORMAL message

R4.5 2021-10-15
 Add the baud rate of R3.4.0.19 version

 Add EPHABNORMAL command;

 Add information about the firmware R3.2.20.100;
R4.6 2022-03-28
 Revise the message syntax, examples, and
descriptions according to the test results

 Add CFGNAV message

 Revise the satellite ID of SBAS
R4.7 2022-08-09
 Add raw observation message
 Revise the parameter of the cold start reset

 Add firmware R3.4.20.0 and R3.4.21.0 in CFGCLR

 Add OSNMA message
R4.8 2023-02-08
 The baud rate 460800 is supported by specific
versions of firmware

Legal right notice

This manual provides information and details on the products of Unicore

Communication, Inc. (“Unicore”) referred to herein.

All rights, title and interest to this document and the information such as data, designs,
layouts contained in this manual are fully reserved, including but not limited to the
copyrights, patents, trademarks and other proprietary rights as relevant governing laws
may grant, and such rights may evolve and be approved, registered or granted from the
whole information aforesaid or any part(s) of it or any combination of those parts.

Unicore holds the trademarks of “和芯星通”, “UNICORECOMM” and other trade name,

trademark, icon, logo, brand name and/or service mark of Unicore products or their
product serial referred to in this manual (collectively “Unicore Trademarks”).

This manual or any part of it, shall not be deemed as, either expressly, implied, by
estoppel or any other form, the granting or transferring of Unicore rights and/or

ii
 Standard Positioning Products Protocol Specification

interests (including but not limited to the aforementioned trademark rights), in whole or
in part.

Disclaimer

The information contained in this manual is provided “as is” and is believed to be true
and correct at the time of its publication or revision. This manual does not represent,
and in any case, shall not be construed as a commitments or warranty on the part of
Unicore with respect to the fitness for a particular purpose/use, the accuracy, reliability
and correctness of the information contained herein.

Information, such as product specifications, descriptions, features and user guide in this
manual, are subject to change by Unicore at any time without prior notice, which may
not be completely consistent with such information of the specific product you
purchase.

Should you purchase our product and encounter any inconsistency, please contact us or
our local authorized distributor for the most up-to-date version of this manual along with
any addenda or corrigenda.

iii
 Contents
1 General Protocol..................................................................................... 1
1.1 Messages ......................................................................................................... 1
1.2 Checksum ......................................................................................................... 2
1.3 Formats ............................................................................................................ 2
1.4 Coordinates ...................................................................................................... 3
1.5 Message Definition ........................................................................................... 3
1.5.1 Common Message ................................................................................................... 3
1.5.1.1 PDTINFO ...................................................................................................3
1.5.1.2 RESET ........................................................................................................4
1.5.1.3 Command Echo(1) .....................................................................................5
1.5.1.4 OK ..............................................................................................................6
1.5.1.5 FAIL ...........................................................................................................6
1.5.2 Config Message ....................................................................................................... 7
1.5.2.1 CFGPRT .....................................................................................................7
1.5.2.2 CFGMSG ....................................................................................................8
1.5.2.3 CFGTP .................................................................................................... 11
1.5.2.4 CFGNMEA .............................................................................................. 13
1.5.2.5 CFGSYS .................................................................................................. 13
1.5.2.6 CFGDYN ................................................................................................. 14
1.5.2.7 CFGGEOID .............................................................................................. 16
1.5.2.8 CFGSAVE ................................................................................................ 16
1.5.2.9 CFGCLR .................................................................................................. 17
1.5.2.10 CFGCWOUT .......................................................................................... 17
1.5.2.11 AIDTIME ............................................................................................... 18
1.5.2.12 AIDPOS................................................................................................. 19
1.5.2.13 AIDINFO ............................................................................................... 19
1.5.2.14 CFGMOD .............................................................................................. 21
1.5.2.15 CFGNAV ............................................................................................... 22
1.5.3 NMEA Message ...................................................................................................... 23
1.5.3.1 NmeaVer h51 ......................................................................................... 23
1.5.3.2 NmeaVer h30 ......................................................................................... 36
1.5.4 Navigation Result Message .................................................................................. 48
1.5.4.1 NAVPOS ................................................................................................. 48
1.5.4.2 NAVVEL .................................................................................................. 49
1.5.4.3 NAVTIME ................................................................................................ 50
1.5.4.4 NAVACC.................................................................................................. 51

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 Standard Positioning Products Protocol Specification

1.5.5 Misc Message ........................................................................................................ 52

1.5.5.1 ANTSTAT ................................................................................................ 52
1.5.5.2 LSF ......................................................................................................... 53
1.5.5.3 CWOUT ................................................................................................... 56
1.5.5.4 FCTATEST .............................................................................................. 57
1.5.5.5 ABNORMAL ............................................................................................ 57
1.5.5.6 EPHABNORMAL .................................................................................... 58
1.5.5.7 OSNMA ................................................................................................... 59
1.5.6 Raw Observation Message ................................................................................... 59
1.5.6.1 Raw observation Output ....................................................................... 59
1.5.6.2 Raw Ephemeris Output ......................................................................... 60

II
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.

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 Standard Positioning Products Protocol Specification

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
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

2
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.

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

Read product information, the receiver outputs PDTINFO message after

Description
receiving this command

Input/Output Input

No parameters

3
 Standard Positioning Products Protocol Specification

Output the Product Information

Syntax $PDTINFO,pdtName,config,hwVer,fwVer,PN,SN

$PDTINFO,UM220,G1B1,V4.1,R3.0Build13260,080101000001,000101114
Example
303845

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

Reset type

UINT 0 - Software reset

type
(optional) 1 - Chip-level reset (watchdog reset)

2 - Board-level reset

4
 3 - Receiver stopped

Reset to clear the receiver's saved information. Setting the

bit to 1 clears the signal upon reset.

bit0 – Clear ephemeris

bit1 – Reserve0

bit2 – Clear receiver position and time

bit3 – Reserve1

bit4 – Clear ionospheric correction and UTC parameters

UINT
clrMask bit5 – Reserve2
(optional)
bit6 – Reserve3

bit7 – Clear almanac

Several commonly used startup methods, the parameters

are listed as follow:

h00 – Hot start

h01 – Warm start

hff – Cold start

The parameter of the cold start reset command is hff, 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

5
 Standard Positioning Products Protocol Specification

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.

1.5.1.4 OK

Syntax $OK

Example $OK

A response that the receiver executes command correctly

Description
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

A response that the input command is incorrect

Description
The message is only output on the port where the command is received

Input/Output Output

Parameter Definition

Parameter Format Description

Error code

errorCode UINT 0 –Illegal instruction or incorrect parameter

1 –Checksum error

6
1.5.2 Config Message

1.5.2.1 CFGPRT

Read Port Configuration

Syntax $CFGPRT,portID

Example $CFGPRT,1

Read the receiver port configuration. The receiver outputs a CFGPRT

Description
message after receiving this command.

Input/Output Input

Parameter Definition

Parameter Format Description

UINT Port number,1~2

portID
(optional) 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

Port number:

UINT 1 – UART1
portID
(optional) 2 – UART2

If empty, configure the current UART

addr UINT H0

baud UINT Optional baud rate for UART:

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 Standard Positioning Products Protocol Specification

(optional) 9600/115200/230400/460800(1)

Meaningless if the output port is not UART.

Input protocol of the port, enabled by setting the

corresponding bit to 1

bit0 – UNICORE(2)
UINT
inProto bit5 - Reserve
(optional)
bit7 - RTCM3.2

bit9 - Reserve

bit10 - Reserve

Output protocol of the port, enabled by setting the

corresponding bit to 1

UINT bit0 - UNICORE

outProto
(optional) 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 specific versions of firmware.
(2) COM1 cannot disable the Unicore input protocol.
(3) Only supported by firmware R3.2.10.0, R3.2.20.0, R3.4.0.0 and above.

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

Read the message configuration. The receiver outputs CFGMSG

Description
configuration information after receiving this command.

8
 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

UINT
msgID Message ID
(optional)

switch UINT Message control

Message Class ID Message Control

0 0 0: disable
GGA
1: enable

0 1 0: disable
GLL
1: enable

0 2 0: disable
GSA
1: enable

0 3 0: disable
GSV
1: enable

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 Standard Positioning Products Protocol Specification

0 4 0: disable
RMC
1: enable

0 5 0: disable
VTG
1: enable

0 6 0: disable
ZDA
1: enable

0 7 0: disable
GST
1: enable

1 0 0: disable
NAVPOS
1: enable

1 1 0: disable
NAVVEL
1: enable

1 2 0: disable
NAVTIME
1: enable

1 3 0: disable
NAVACC
1: enable

3 0 0: disable
LSF
1: enable

3 1 0: disable
ANTSTAT
1: enable

Reserved Reserved Reserved Reserved

3 3 0: disable
ANTSTAT1
1: enable

5 1 0: disable
OSNMA(1)
1: enable

6 0 0: disable
NOTICE(2)
1: enable

6 4 0: disable
ABNORMAL(3)
5: enable

6 2 0: disable
EPHABNORMAL(4)
10: enable

10
(1): Only supported by customized firmware.

(2): Only supported by the firmware R3.2.10.0, R3.2.10.100 and R3.2.20.100.

(3): Only supported by the firmware R3.4.0.19.

(4): Only supported by the firmware R3.2.20.0.

1.5.2.3 CFGTP

Read Timing Pulse Configuration

Syntax $CFGTP

Example $CFGTP

Read the current timing pulse configuration. The receiver outputs a CFGTP
Description
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

UINT
interval Timing pulse frequency, unit: μs; set to 1000000 by default
(optional)

Timing pulse width, unit: μs, and the maximum value is no

UINT more than interval – 1 μs. (High-level width when the rising
length edge is aligned with the integral timing pulse frequency ,
(optional) and low-level width when the falling edge is aligned with
the integral timing pulse frequency )

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 Standard Positioning Products Protocol Specification

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

UINT
flag 1 – Falling edge aligned to an integral number of seconds
(optional)
bit2

0 – Output when the timing is reliable

1 – Always output timing pulses

bit3

0 –Disable TIMTP

1 – Enable TIMTP

INT
antDelay Antenna delay, unit: ns; (-32768 ~ 32767)
(optional)

INT
rfDelay RF unit delay, unit: ns; (-32768~32767)
(optional)

User-set delay, unit: ns, range: -32768~32767

INT
usrDelay Set the latency to a negative value leads the delay of timing
(optional) pulse edge. Modify the delay may decrease the precision of
the pulse in the completely tuning period.

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1.5.2.4 CFGNMEA

Read NMEA Configuration

Syntax $CFGNMEA

Example $CFGNMEA

Read the NMEA configuration. The receiver outputs a CFGNMEA message

Description
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

Output NMEA protocol version

h30 – Extend Beidou related statements based on NMEA

nmeaVer UINT 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

13
 Standard Positioning Products Protocol Specification

CFGSYS message after receiving this command.

Input/Output Input

No parameters

Set/Output Satellite System Configuration

Syntax $CFGSYS,sysMask

Example $CFGSYS,H11

Set or output satellite system configuration.

Description 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

H01(1) –GPS L1+SBAS+QZSS joint positioning

H10 – BDS B1

sysMask UINT 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

14
 Read the current dynamic configuration. The receiver outputs a
Description
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

Domain to be configured, enabled by

UINT setting the corresponding bit to 1

Mask
(optional) bit0 – dynModel

bit1 - staticHoldThresh

Dynamic model

0 – Portable
dynModel UINT
1 – Static

The current default configuration is 0

Speed threshold in cm/s in static hold

staticHoldThresh UINT mode

If this value is 0, static hold mode is off

15
 Standard Positioning Products Protocol Specification

1.5.2.7 CFGGEOID

Read Elevation Configuration

Syntax $CFGGEOID

Example $CFGGEOID

Read the current elevation configuration. The receiver outputs a CFGGEOID

Description
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

UINT 0 - Elevation output is ellipsoid

Model
(optional) 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

Do NOT cut off the power within one second after inputting $cfgsave. Power off will

16
 damage the configuration of the receiver, and the receiver will be restored to factory
settings.

1.5.2.9 CFGCLR

Syntax $CFGCLR

Example $CFGCLR

Clear the current receiver configuration, the current configuration and

Description 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, R3.4.20.0 and R3.4.21.0 versions, the configuration will not be cleared after
sending this command.

1.5.2.10 CFGCWOUT

Query Interference Detection Command Configuration

Syntax $CFGCWOUT

Example $CFGCWOUT

Query the output configuration of the interference detection command

Description
CWOUT.

Input/Output Input

No parameters

Set Interference Detection Command Configuration

Syntax $CFGCWOUT,CWOutCtrl

Example $CFGCWOUT,1

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 Standard Positioning Products Protocol Specification

Description Control the output of interference detection command

Input/Output Input/output

Parameter Definition

Parameter Format Description

1: Enable CWOUT output

CWOutCtrl UINT
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.

18
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 in the format of ddmm.mmmmmm

Latitude DOUBLE dd - Degree

mm.mmmmmm - Minute

North or South latitude indication

N STRING N - North latitude

S - South latitude

Longitude in the format of dddmm.mmmmmm

Longitude DOUBLE ddd - Degree

mm.mmmmmm - Minute

East longitude or west longitude indication

E STRING E - East longitude

W - West longitude

altitude DOUBLE Ellipsoid height in the unit of meter

1.5.2.13 AIDINFO

Query the Status of Assisted Data

Syntax $AIDINFO

Example $AIDINFO

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 Standard Positioning Products Protocol Specification

Query the status of assisted data, the receiver outputs $AIDINFO

Description
message after receiving this command

Input/Output Input

No parameters

Output the Status and Types of Assisted Data

Syntax $AIDINFO,GPSRS,GPSUS,BDSRS,BDSUS,GALRS,GALUS,GLORS,GLOUS,AType

Example $AIDINFO,0x0FF7FFFBFF,0x0FF7FFFBFF,,,,,,,0x0311*27

Description Output status and types of assisted data

Input/Output Output

Parameter Definition

Parameter Format Description

Receiving state of GPS ephemeris, as long as the received data

GPSRS UINT64 is verified, the corresponding bit is set to 1.

If the GPS system is not enabled, this field is empty

GPS ephemeris is valid and can be used for positioning, the

GPSUS UINT64 corresponding bit is set to 1, if the GPS system is not enabled,
this field is empty

Receiving state of BDS ephemeris, as long as the received data

BDSRS UINT64 is verified, the corresponding bit is set to 1.

If the BDS system is not enabled, this field is empty

BDS ephemeris is valid and can be used for positioning, the

BDSUS UINT64 corresponding bit is set to 1, if the BDS system is not enabled,
this field is empty

Receiving state of GAL ephemeris, as long as the received data

GALRS UINT64 is verified, the corresponding bit is set to 1.

If the GAL system is not enabled, this field is empty

GAL ephemeris is valid and can be used for positioning, the

GALUS UINT64 corresponding bit is set to 1, if the GAL system is not enabled,
this field is empty

20
 Receiving state of GLO ephemeris, as long as the received data

GLORS UINT64 is verified, the corresponding bit is set to 1.

If the GLO system is not enabled, this field is empty

GLO ephemeris is valid and can be used for positioning, the

GLOUS UINT64 corresponding bit is set to 1, if the GLO system is not enabled,
this field is empty

Assisted data type:

bit0-3: with GPS/BDS/GAL/GLO ephemeris assistance

bit4: assisted position is valid

Bit5: use assisted position

Atype UINT
Bit6-7: reserve

Bit8: assisted time is valid

Bit9: use assisted time

Bit10-15: reserve

The AIDINFO command is applicable to firmware versions of R3.2.10.100 and above.

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

0 – Disable static application mode

Model UINT
1 – Enable static application mode

21
 Standard Positioning Products Protocol Specification

Only supported by the firmware with the version of R3.2.10.100 and R3.2.20.100

This mode cannot be used in conjunction with dynamic speed threshold mode (CFGDYN)

1.5.2.15 CFGNAV

Read the Navigation Configuration

Syntax $CFGNAV

Example $CFGNAV

Description Read the navigation configuration

Input/Output Input

No parameters

Set/Output the Navigation Configuration

Syntax $CFGNAV,measRate,navRate,correctionMask

Example $CFGNAV,200,1000,3

Description Set/output the navigation configuration

Input/Output Input/output

Parameter Definition

Parameter Format Description

Observation measurement rate, unit: ms

UINT
measRate 1000 - 1Hz
(optional)
200 - 5Hz

Positioning rate, unit: ms

navRate UINT
1000 - 1Hz

Atmosphere correction, enabled if the corresponding bit is

UINT set to 1.
correctionMask
(optional)
bit0 – ionospheric correction

22
 bit1 –tropospheric correction

Only supported by R3.6.2.0 and R3.6.3.0.

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

23
 Standard Positioning Products Protocol Specification

Parameter Definition

Parameter Format Description

Positioning system flag

GP - GPS+SBAS(1)+QZSS joint positioning

GB - BDS system standalone positioning

-- STR
GA - Galileo system standalone positioning

GL - GLONASS system standalone positioning

GN - Multiple system joint positioning

UTC time, in the format of hhmmss.ss

hh – Hour
time STR
mm – Minutes

ss.ss – Seconds

Latitude, in the format of ddmm.mmmmm

Lat STR dd - Degrees

mm.mmmmm - Minutes

North or south latitude indicator

N STR N - North latitude

S - South latitude

Longitude, in the format of dddmm.mmmmm

Lon STR ddd - Degrees

mm.mmmmm - Minutes

East longitude or west longitude indicator

E STR E - East longitude

W - West longitude

Positioning status indicator

FS UINT
0-Invalid

24
 1-Point positioning

2-Differential positioning

6-Recursive positioning(2)

NoSV UINT Number of satellites participating in positioning

Horizontal dilution of precision, 0.00 ~ 99.99, the value is 99.99

HDOP DOUBLE
when not positioning

Ellipsoid height, fixed output one decimal place or altitude

msl DOUBLE
(CFGGEOID is set to 1)

Unit of ellipsoid height or altitude, specified to constant M. The field

M STR
is empty when not positioning.

Sea level separation, only valid when CFGGEOID is set to 1,

Altref DOUBLE
otherwise it is fixed to empty.

Unit of Sea level separation, specified to constant M. The field is

M STR
empty when not positioning.

Differential correction latency in seconds

DiffAge DOUBLE
Null for non-differential positioning

Reference station ID
DiffStation DOUBLE
Null for non-differential positioning

Checksum

cs STR 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

25
 Standard Positioning Products Protocol Specification

Description Geographic longitude/latitude

Input/Output Output

Parameter Definition

Parameter Format Description

Positioning system flag

GP - GPS+SBAS(1)+QZSS joint positioning

GB - BDS system standalone positioning

-- STR
GA - Galileo system standalone positioning

GL - GLONASS system standalone positioning

GN - Multiple system joint positioning

Latitude, in the format of ddmm.mmmmm

Lat STR dd - Degrees

mm.mmmmm - Minutes

North or south latitude indicator

N STR N – North latitude

S – South latitude

Longitude, in the format of dddmm.mmmmm

Lon STR ddd - Degrees

mm.mmmmm - Minutes

East longitude or west longitude indicator

E STR E – East longitude

W – West longitude

UTC time, in the format of hhmmss.ss

hh - Hours
time STR
mm - Minutes

ss.ss - Seconds

26
 Position valid indicator

Valid STR V – Invalid

A – Valid

Positioning system mode indicator

N – Not positioning
Mode STR
A – Point positioning

D – Differential positioning

Checksum

cs STR A hexadecimal number obtained by calculating an XOR of all

characters from '$' to '*' in this statement

(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.

GSA

$--
Syntax GSA,Smode,FS,sv1,sv2,sv3,sv4,sv5,sv6,sv7,sv8,sv9,sv10,sv11,sv12,PDOP,H
DOP,VDOP,systemID*cs

Example $GPGSA,A,3,02,03,06,09,12,17,19,23,28,25,,,1.34,0.85,1.04,1*1E

Description GNSS dilution of precision and effective satellite information

Input/Output Output

Parameter Definition

Parameter Format Description

Positioning system flag

GP - GPS+SBAS(1)+QZSS joint positioning

-- STR GB - BDS system standalone positioning

GA - Galileo system standalone positioning

GL - GLONASS system standalone positioning

27
 Standard Positioning Products Protocol Specification

GN - Multiple system joint positioning

Positioning mode specified states

Smode STR M– Manually specify 2D or 3D positioning

A– Automatically switch to 2D or 3D positioning

Positioning mode

1– Not positioning
FS UINT
2– 2D positioning

3– 3D positioning

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

sv1 ~ sv12 UINT BDS satellite ID is 01 ~ 37

GLO satellite ID is 65 ~ 92(2)

GAL satellite ID is 01 ~ 36(3)

SBAS satellite ID is 33~64(4)

QZSS satellite ID: 193, 194, 195, 199

Position dilution of precision, 0.00~99.99, the value is 99.99

PDOP DOUBLE
when not positioning

Horizontal dilution of precision, 0.00 ~ 99.99, the value is 99.99

HDOP DOUBLE
when not positioning

Vertical dilution of precision, 0.00 ~ 99.99, the value is 99.99

VDOP DOUBLE
when not positioning

GNSS system ID as defined by the NMEA protocol

1 - GPS system ID
systemID UINT
2 - GLO system ID(5)

3 - GAL System ID (6)

28
 4 - BDS System ID

Checksum

cs STR A hexadecimal number obtained by calculating an XOR of all

characters from '$' to '*' in this statement

(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.

(2) (3) (4) (5) (6): Only supported by firmware with the version of R3.4.0.0 or above.

GSV

$--
Syntax GSV,NoMsg,MsgNo,NoSv,sv1,elv1,az1,cn01,sv2,elv2,az2,cn02,sv3,elv3,az3,
cn03,sv4,elv4,az4,cn04, signalID*cs

$GPGSV,3,01,11,02,34,277,41,03,16,043,35,05,04,215,35,06,69,333,48,0*57

$GPGSV,3,02,11,09,25,110,41,12,31,305,43,17,55,116,46,19,76,088,46,0*56

$GPGSV,3,03,11,23,23,077,40,25,04,328,32,28,05,171,36,0*67
Example
$GBGSV,3,01,12,01,37,145,42,02,34,225,39,03,44,188,42,04,25,123,37,0*4C

$GBGSV,3,02,12,05,17,249,36,06,30,169,38,07,03,188,31,08,69,027,43,0*4E

$GBGSV,3,03,12,09,09,186,34,10,15,211,36,12,26,306,40,13,60,316,44,0*48

Visible GNSS satellites

Description 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

System identification

-- STR GP-GPS satellite information

GB-BDS satellite information

29
 Standard Positioning Products Protocol Specification

GL-GLO satellite Information(1)

GA-GAL satellite Information(2)

Total number of GSV messages, the minimum value is 1

NoMsg is the total number of GSV messages in this system, for

NoMsg UINT example:

NoMsg in GPGSV is the total number of GPGSV messages,

excluding the number of GBGSV messages

Number of this GSV message. The minimum value is 1.

MsgNo UINT
MsgNo is the number of the GSV message in this system

NoSv UINT Total number of visible satellites in this system

Satellite number of the first to fourth satellite

GPS satellite number is 01 ~ 32

BDS satellite number is 01 ~ 37

sv1 ~ sv4 UINT GLO satellite number is 65 ~ 92 (3)

GAL satellite number is 01 ~ 36 (4)

QZSS satellites are 193, 194, 195, 199

SBAS(5) satellite number is 33~64

Elevation angle of the first to fourth satellite (0 ~ 90 degrees),

elv1 ~ elv4 UINT
fixed output of 2 digits, add leading zeros if less than 2 digits

Azimuth of the first to fourth satellite (0 ~ 359 degrees), fixed

az1 ~ az4 UINT
output of 3 digits, add leading zeros if less than 3 digits

CNR of the first to fourth satellite (0 ~ 90dBHz), fixed output of 2

cn01~cn04 UINT digits, add leading zeros if less than 2 digits

fill null for untracked satellites

signalID UINT Signal ID defined by NMEA protocol (fixedly output 0)

Checksum

cs STR A hexadecimal number obtained by calculating an XOR of all

characters from '$' to '*' in this statement

30
(1) (2) (3) (4) (5): Only supported by firmware with the version of R3.4.0.0 or above.

Due to the excessive number of satellites in GN mode, at 9600 baud rate, GSV will have
the problem of incomplete printing of satellite information. For complete satellite
information, please switch the baud rate to 115200

RMC

Syntax $--RMC,time,status,Lat,N,Lon,E,spd,cog,date,mv,mvE,mode,navStates*cs

Example $GPRMC,060845.00,A,4004.74005,N,11614.19613,E,,,180817,,,A,V*0B

Description The recommended minimum data

Input/Output Output

Parameter Definition

Parameter Format Description

Positioning system flag

GP - GPS+ SBAS (1)+QZSS joint positioning

GB - BDS system standalone positioning

-- STR
GA - Galileo system standalone positioning

GL - GLONASS system standalone positioning

GN - Multiple system joint positioning

UTC time, in the format of hhmmss.ss

hh - Hours
time STR
mm - Minutes

ss.ss - Seconds

Position valid indicator

status STR V – Invalid

A – Valid

Lat STR Latitude, in the format of ddmm.mmmmm

31
 Standard Positioning Products Protocol Specification

dd - Degrees

mm.mmmmm - Minutes

North or south latitude indicator

N STR N - North latitude

S – South latitude

Longitude, in the format of dddmm.mmmmm

Lon STR ddd - Degrees

mm.mmmmm - Minutes

East longitude or west longitude indicator

E STR E – East longitude

W – West longitude

spd DOUBLE Speed over ground, unit: knot

Course over ground, unit: degree

cog DOUBLE Calculated clockwise from north. If the speed measurement fails
or the static scene speed is extremely small, the output is empty.

UTC date, in the format of ddmmyy

dd - Day
date STR
mm - Month

yy - Year

mv DOUBLE Magnetic declination, specified to null

mvE STR Magnetic declination direction, specified to null

Positioning mode

N – Not positioning
mode STR
A – Point positioning

D – Differential positioning

navStates STR Navigation states flag, fixedly output ‘V’

32
 V-Device does not provide navigation state information

Checksum

cs STR A hexadecimal number obtained by calculating an XOR of all

characters from '$' to '*' in this statement

(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.

VTG

Syntax $--VTG,cogt,T,cogm,M,sog,N,kph,K,mode*cs

Example $GPVTG,,T,,M,0.000,N,0.000,K,A*23

Description Course over ground and ground speed

Input/Output Output

Parameter Definition

Parameter Format Description

Positioning system flag

GP - GPS+SBAS (1)+QZSS joint positioning

GB - BDS system standalone positioning

-- STR
GA - Galileo system standalone positioning

GL - GLONASS system standalone positioning

GN - Multiple system joint positioning

Course over ground with reference to true north (0.00 ~ 359.99

cogt DOUBLE 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

Course over ground with reference to MN (0.000 ~ 359.999

cogm DOUBLE
degrees). The field is empty by default.

M STR Course flag, specified to constant M

sog DOUBLE Speed over ground, unit: knot

33
 Standard Positioning Products Protocol Specification

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

Positioning mode

N – Not positioning
mode STR
A – Point positioning

D – Differential positioning

Checksum

cs STR A hexadecimal number obtained by calculating an XOR of all

characters from '$' to '*' in this statement

(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.

ZDA

Syntax $--ZDA,time,day,mon,year,ltzh,ltzn*cs

Example $GPZDA,060845.00,18,08,2017,00,00*6C

Description Date and time

Input/Output Output

Parameter Definition

Parameter Format Description

Positioning system flag

GP - GPS+SBAS (1)+QZSS joint positioning

GB - BDS system standalone positioning

-- STR
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

34
 hh - Hours

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)

Checksum

cs STR A hexadecimal number obtained by calculating an XOR of all

characters from '$' to '*' in this statement

(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.

GST

Syntax $--GST,time,rngRMS,stdMajor,stdMinor,hdg,stdLat,stdLon,stdAlt*cs

Example $GPGST,060845.00,0.6,,,,0.07,0.09,0.09*47

Description GNSS pseudorange error statistics

Input/Output Output

Parameter Definition

Parameter Format Description

Positioning system flag

GP - GPS+SBAS (1)+QZSS joint positioning

GB - BDS system standalone positioning

-- STR
GA - Galileo system standalone positioning

GL - GLONASS system standalone positioning

GN - Multiple system joint positioning

35
 Standard Positioning Products Protocol Specification

UTC time, in the format of hhmmss.ss

hh - Hours
time STR
mm - Minutes

ss.ss - Seconds

Standard deviation of pseudorange error in meters, with a

rngRMS DOUBLE
maximum of 3750000

Semi-major axis of the error ellipse, in meters.

stdMajor DOUBLE
Specified to null

Semi-minor axis of the error ellipse, in meters.

stdMinor DOUBLE
Specified to null

Semi-major axis direction of the error ellipse in degrees,

hdg DOUBLE
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

Checksum

cs STR 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

$GPGGA,063952.000,4002.229934,N,11618.096855,E,1,4,2.788,37.254,M,0
Example
,M,,*71

Description GNSS positioning data

36
Input/Output Output

Parameter Definition

Parameter Format Description

Positioning system flag

GP - GPS+SBAS(1)+QZSS joint positioning

BD - BDS system standalone positioning

-- STR
GA - Galileo system standalone positioning

GL - GLONASS system standalone positioning

GN - Multiple system joint positioning

UTC time, in the format of hhmmss.sss

hh - Hours
time STR
mm - Minutes

ss.sss - Seconds

Latitude, in the format of ddmm.mmmmmm

Lat STR dd - Degrees

mm.mmmmmm - Minutes

North or south latitude indicator

N STR N – North latitude

S – South latitude

Longitude, in the format of dddmm.mmmmmm

Lon STR ddd - Degrees

mm.mmmmmm - Minutes

East longitude or west longitude indicator

E STR E – East longitude

W – West longitude

37
 Standard Positioning Products Protocol Specification

Positioning status indicator

0-Invalid

FS UINT 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

Ellipsoid height, fixed output one decimal place or altitude

Msl DOUBLE
(CFGGEOID is set to 1)

Unit of ellipsoid height or altitude, specified to constant M. The

M STR
field is empty when not positioning.

Sea level separation, only valid when CFGGEOID is set to 1,

Altref DOUBLE
otherwise it is fixed to empty.

Unit of Sea level separation, specified to constant M. The field

M STR
is empty when not positioning.

Differential correction latency in seconds

DiffAge DOUBLE
Null for non-differential positioning

Reference station ID
DiffStation DOUBLE
Null for non-differential positioning

Checksum

cs STR 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.

38
GLL

Syntax $--GLL,Lat,N,Lon,E,time,Valid,Mode*cs

Example $GPGLL,4002.217867,N,11618.105743,E,123400.000,A,A*5B

Description Geographic longitude/latitude

Input/Output Output

Parameter Definition

Parameter Format Description

Positioning system flag

GP - GPS+SBAS(1)+QZSS joint positioning

BD - BDS system standalone positioning

-- STR
GA - Galileo system standalone positioning

GL - GLONASS system standalone positioning

GN - Multiple system joint positioning

Latitude, in the format of ddmm.mmmmmm

Lat STR dd - Degrees

mm.mmmmmm - Minutes

North or south latitude indicator

N STR N – North latitude

S – South latitude

Longitude, in the format of dddmm.mmmmmm

Lon STR ddd - Degrees

mm.mmmmmm - Minutes

East longitude or west longitude indicator

E STR E – East longitude

W – West longitude

39
 Standard Positioning Products Protocol Specification

UTC time, in the format of hhmmss.sss

hh - Hours
time STR
mm - Minutes

ss.sss - Seconds

Position valid indicator

Valid STR V – Invalid

A – Valid

Positioning mode

N – Not positioning
Mode STR
A – Point positioning

D – Differential positioning

Checksum

cs STR A hexadecimal number obtained by calculating an XOR of all

characters from '$' to '*' in this statement

(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.

GSA

$--
Syntax GSA,Smode,FS,sv1,sv2,sv3,sv4,sv5,sv6,sv7,sv8,sv9,sv10,sv11,sv12,PDOP,H
DOP,VDOP*cs

Example $GPGSA,A,3,14,22,18,31,,,,,,,,,5.572,2.788,4.824*36

Description GNSS dilution of precision and effective satellite information

Input/Output Output

Parameter Definition

Parameter Format Description

Positioning system flag

-- STR
GP - GPS+SBAS(1)+QZSS joint positioning

40
 BD - BDS system standalone positioning

GA - Galileo system standalone positioning

GL - GLONASS system standalone positioning

GN - Multiple system joint positioning

Positioning mode specified states

Smode STR M – Manually specify 2D or 3D positioning

A – Automatically switch to 2D or 3D positioning

Positioning mode

1– Not positioning
FS UINT
2– 2D positioning

3– 3D positioning

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

sv1 ~ sv12 UINT 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 33~64(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

Checksum
cs STR
A hexadecimal number obtained by calculating an XOR of all

41
 Standard Positioning Products Protocol Specification

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.

GSV

$--
Syntax GSV,NoMsg,MsgNo,NoSv,sv1,elv1,az1,cn01,sv2,elv2,az2,cn02,sv3,elv3,az3,
cn03,sv4,elv4,az4,cn04*cs

$GPGSV,3,1,11,3,82,133,50,6,70,73,50,7,21,311,45,13,46,275,50*75

$GPGSV,3,2,11,16,52,51,49,19,52,194,49,21,12,49,37,23,40,222,49*7C

Example $GPGSV,3,3,11,30,31,69,46,31,8,127,19,1,5,,44*77

$BDGSV,2,1,5,161,35,140,47,163,33,224,47,164,24,124,43,167,47,73,48*54

$BDGSV,2,2,5,168,5,,50*52

Visible GNSS satellites

Description 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

Positioning system flag

GP - GPS+SBAS(1)+QZSS satellite information

-- STR BD - BDS satellite information

GA - Galileo satellite information

GL - GLONASS satellite information

Total number of GSV messages, the minimum value is 1

NoMsg UINT NoMsg is the total number of GSV messages in this system,
for example:

42
 NoMsg in GPGSV is the total number of GPGSV messages,
excluding the number of BDGSV messages

Number of this GSV message. The minimum value is 1.

MsgNo UINT MsgNo is the number of this GSV message in this system.
Continuous output GPGSV and BDGSV are numbered
separately

NoSv UINT Total number of visible satellites in this system

Satellite number of the first to fourth satellite

GPS satellite number is 1 ~ 32

BDS satellite number is 161 ~ 197 (160 + BDS PRN)

sv1 ~ sv4 UINT 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 33~64

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)

CNR of the 1st to 4th satellites (0 ~ 90dBHz), fill null for

cn01~cn04 UINT
untracked satellites

Checksum

cs STR 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

43
 Standard Positioning Products Protocol Specification

RMC

Syntax $--RMC,time,status,Lat,N,Lon,E,spd,cog,date,mv,mvE,mode*cs

$GPRMC,123400.000,A,4002.217821,N,11618.105743,E,0.026,181.631,180
Example
411,,E,A*2C

Description The minimum recommended data

Input/Output Output

Parameter Definition

Parameter Format Description

Positioning system flag

GP - GPS+SBAS(1)+QZSS joint positioning

BD - BDS system standalone positioning

-- STR
GA - Galileo system standalone positioning

GL - GLONASS system standalone positioning

GN - Multiple system joint positioning

UTC time, in the format of hhmmss.sss

hh - Hours
time STR
mm - Minutes

ss.sss - Seconds

Position valid indicator

status STR V – Invalid

A – Valid

Latitude, in the format of ddmm.mmmmmm

Lat STR dd - Degrees

mm.mmmmmm - Minutes

North or south latitude indicator

N STR
N – North latitude

44
 S – South latitude

Longitude, in the format of dddmm.mmmmmm

Lon STR ddd - Degrees

mm.mmmmmm - Minutes

East longitude or west longitude indicator

E STR E – East longitude

W – West longitude

spd DOUBLE Speed over ground, unit: knot

Course over ground, unit: degree

cog DOUBLE Calculated clockwise from north. If the speed measurement fails
or the static scene speed is extremely small, the output is empty.

UTC date, in the format of ddmmyy

dd - Day

mm - Month
date STR
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

Positioning mode

N – Not positioning
mode STR
A – Point positioning

D – Differential positioning

Checksum

cs STR A hexadecimal number obtained by calculating an XOR of all

characters from '$' to '*' in this statement

45
 Standard Positioning Products Protocol Specification

(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.

VTG

Syntax $--VTG,cogt,T,cogm,M,sog,N,kph,K,mode*cs

Example $GNVTG,0.000,T,,M,0.000,N,0.000,K,A*13

Description Course over groundand ground speed

Input/Output Output

Parameter Definition

Parameter Format Description

Positioning system flag

GP - GPS+SBAS(1)+QZSS joint positioning

BD - BDS system standalone positioning

-- STR
GA - Galileo system standalone positioning

GL - GLONASS system standalone positioning

GN - Multiple system joint positioning

Course over ground with reference to true north (0.000 ~

cogt DOUBLE 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

Course over ground with reference to MN (0.000 ~ 359.999

cogm DOUBLE
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

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 N – Not positioning

A – Point positioning

Checksum

cs STR A hexadecimal number obtained by calculating an XOR of all

characters from '$' to '*' in this statement

(1): SBAS is only supported by firmware with the version of R3.4.0.0 or above.

ZDA

Syntax $--ZDA,time,day,mon,year,ltzh,ltzn*cs

Example $GNZDA,083927.000,21,11,2013,00,00*4C

Description Date and time

Input/Output Output

Parameter Definition

Parameter Format Description

Positioning system flag

GP - GPS+SBAS(1)+QZSS joint positioning

BD - BDS system standalone positioning

-- STR
GA - Galileo system standalone positioning

GL - GLONASS system standalone positioning

GN - Multiple system joint positioning

UTC time, in the format of hhmmss.sss

hh - Hours
time STR
mm - Minutes

ss.sss - Seconds

day UINT UTC day with two digits, 01 ~ 31

mon UINT UTC month with two digits, 01 ~ 12

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 Standard Positioning Products Protocol Specification

year UINT UTC year with four digits

ltzh UINT Hours in local time zone (fixedly output 00)

ltzn UINT Minutes in local time zone (fixedly output 00)

Checksum

cs STR 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

$NAVPOS,282201000,5,3,-
Example 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 corresponding to the positioning solution

time UINT The time definition depends on the current positioning

system, the priority is GPS>BDS>GAL>GLO

Current positioning system

bit0-GPS

system UINT bit2-BDS

bit5-GAL

bit4-GLO

quality UINT Current positioning quality

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 0 - Invalid

1 - External configuration

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

The latitude of the receiver, which is positive in north latitude

lat DOUBLE
and negative in south latitude, in degrees

The longitude of the receiver, which is positive in east

lon DOUBLE
longitude and negative in west longitude, in degrees

height DOUBLE The ellipsoidal height of the receiver, in meters

Checksum

cs STR 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

49
 Standard Positioning Products Protocol Specification

Vx DOUBLE Vx of ECEF coordinate system, in m/s

Vy DOUBLE Vy of ECEF coordinate system, in m/s

Vz DOUBLE Vz of ECEF coordinate system, in m/s

clockDrift DOUBLE Equivalent speed of crystal drift, in m/s

Checksum

cs STR A hexadecimal number obtained by calculating an XOR of all

characters from '$' to '*' in this statement

1.5.4.3 NAVTIME

$NAVTIME,GPSW,GPST,GPSQ,GLOY,GLOD,GLOT,GLOQ,BDW,BDT,BDQ,BDG
Syntax
PSDiff,GLOGPSDiff*cs

$NAVTIME,1848,282201.000291049,3,0,0,0.000000000,0,492,282187.00
Example
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

GPS time quality

0 - Invalid

GPSQ UINT 1 - External configuration

2 - Coarse

3 - Precise

GLOY UINT GLONASS year

GLOD UINT GLONASS day

GLOT DOUBLE GLONASS seconds of day

50
 GLONASS time quality, the definition is same as that of
GLOQ UINT
GPSQ

BDW UINT BDS week

BDT DOUBLE BDS seconds of week

BDQ UINT BDS time quality, the definition is same as that of GPSQ

Time difference between BDS time and GPS time, in

BDGPSDiff DOUBLE
seconds

Time difference between GLONASS time and GPS time, in

GLOGPSDiff DOUBLE
seconds

Checksum

cs STR 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

UTC time, in the format of hhmmss.sss

hh - Hours
time STR
mm - Minutes

ss.sss - Seconds

Data validity identification

status UINT
V - Invalid

51
 Standard Positioning Products Protocol Specification

A - Valid

Horizontal positioning accuracy, standard deviation of two-

pAcc UINT
dimensional horizontal positioning error, in 0.001m

Accuracy of horizontal velocity measurement, standard

vAcc UINT deviation of two-dimensional horizontal velocity error, unit:
0.001 m/s

cAcc UINT Ground course accuracy, in 0.001 degrees

Checksum

cs STR 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

antType:

Null: External
Type
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

52
 Input/Output Output

Parameter Definition

Parameter Format Description

Antenna detection status, as defined below:

$ANTSTAT,0,0 Normal, active antenna

status1,Status2 INT $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

Query leap seconds forecast information of the specified satellite system,

Description
the receiver outputs LSF message after receiving the command

Input/Output Input

Parameter Definition

53
 Standard Positioning Products Protocol Specification

Parameter Format Description

Query the system corresponding to the leap seconds forecast

information

0: GPS
system UINT
1: BDS

2: GLO

3: GAL

Output Leap Seconds Forecast Information

$LSF,system,flag,utcTLS,utcTLSF,utcTOT,utcWN,utcDN,utcWNLSF,
Syntax
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

The system corresponding to the output of leap second

System UINT forecast information, which is the same as the query
instruction parameter

Valid flag of leap second forecast information

Flag UINT 0: Invalid

1: Valid

Time difference between UTC and system before a leap second

utcTLS UINT event, in seconds;

GLO system does not have this parameter

Time difference between UTC and system after a leap second

event, in seconds;
utcTLSF UINT

GLO system does not have this parameter；

54
 UTC reference seconds of week, in seconds(BDS system

utcTOT UINT parameter is 0)

GLO system: the parameter corresponds to GLO UTC A0;

Number of UTC reference week, in weeks (BDS system

utcWN UINT parameter is 0)

GLO system: the parameter corresponds to GLO UTC A1;

Days of week when leap second event occurs, in days.

utcDN UINT
GLO system: the parameter corresponds to GLO UTC DN;

Number of UTC week when leap second event occurs, in weeks

utcWNLSF UINT
GLO system: the parameter corresponds to GLO UTC KP;

Constant coefficient A0 of UTC polynomial (scale factor 2-30) ,

utcA0 INT in s

GLO system: the parameter corresponds to GLO UTC tc;

First-order coefficient A1 of UTC polynomial (scale factor 2-

utcA1 INT 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

55
 Standard Positioning Products Protocol Specification

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

Interference

1: No interference
CWFlagOut UINT
2: Interference detected

3: Strong interference, has affected the receiver positioning

Interference intensity, 0~255, 0 means no interference, 255

CWRatioOut UINT
means strong interference

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

0: disable
Model UINT
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

57
 Standard Positioning Products Protocol Specification

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.

The absence level of the number of predicted ephemerides

AbnLevel INT 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.

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.

1.5.5.7 OSNMA
Output Galileo I/NAV Message

Syntax $PNAVMSG,svid,wordtype,x1,x2,x3,…,x30

Example $PNAVMSG,1,0,BE,DA,49,72,CB,C3,80,EA,AA,AA,4D,41,0A,3F,40

Description Output Galileo I/NAV message

Input/Output Output

Parameter Definition

Parameter Format Description

svid UINT Satellite ID

wordtype UINT Galileo I/NAV message word type, range: 1~32

x1, x2, x3, …, x30 UINT Odd and even part of I/NAV message, range: -128~127

This command is only supported by customized firmware.

1.5.6 Raw Observation Message

1.5.6.1 Raw observation Output

Raw observations are output via the RTCM MSM. The message number of each GNSS
MSM is defined as follows:

Message Number of each GNSS MSM

GNSS Message Number

GPS 1075

59
 Standard Positioning Products Protocol Specification

GNSS Message Number

GAL 1095

BDS 1125

QZSS 1115

Base Station Information:

Base station information is transmitted via the RTCM protocol message 1005 or 1006.

1.5.6.2 Raw Ephemeris Output

Raw ephemeris data are output via the RTCM EPH messages in RTCM version 3.3.

The following contents are excerpted from the RTCM STANDARD 10403.3 for your
reference.

No. Items Chapters in RTCM STANDARD 10403.3

1 TRANSPORT LAYER 4 TRANSPORT LAYER

Ephemerides

3.5.8 GPS Ephemerides: Table 3.5-21 Contents of GPS

2 GPS Ephemerides
Satellite Ephemeris Data, Message Type 1019

3.5.20 BDS Ephemerides: Table 3.5-113 Contents of BDS

3 BDS Ephemerides
Satellite Ephemeris Data, Message Type 1042

3.5.18.2 Galileo I/NAV Ephemeris: Table 3.5-111 Contents

5 GAL Ephemerides of Galileo I/NAV Satellite Ephemeris Data, Message Type
1046

3.5.19 QZSS Ephemerides: Table 3.5-112 Contents of

6 QZSS Ephemerides
QZSS Satellite Ephemeris Data, Message Type 1044

Differential data

3.5.16.3.4 General Message Structure: Table 3.5-77

7 MSM Structure
Content of an MSM Message, and Sequence of Blocks

3.5.16.3.5 Message Header Description: Table 3.5-78

8 Message Header Content of Message Header for MSM1, MSM2, MSM3,
MSM4, MSM5, MSM6 and MSM7

60
No. Items Chapters in RTCM STANDARD 10403.3

3.5.16.3.6 Satellite Data Description: Table 3.5-80 Content

9 Satellite Data
of Satellite Data for MSM4 and MSM6

3.5.16.3.7 Message Types Signal Data Description: Table

10 Signal Data
3.5-85 Content of Signal Data for MSM4

3.5.3 Stationary Antenna Reference Point Messages:

Base Station Table 3.5-6 Contents of the Type 1005 Message –
11
Information Stationary Antenna Reference Point, No Height
Information

12 Data Types 3.3 Data Types: Table 3.3-1 Data Type Table

13 Data Fields 3.4 Data Fields: Table 3.4-1 Data Field Table

Only supported by firmware R3.6.2.0 and R3.6.3.0. Output raw observations of GPS, BDS,
Galileo, and QZSS.

61
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

[email protected]

www.unicorecomm.com
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