LC29H (EA) Moving Base

Application Note

GNSS Module Series

Version: 1.1

Date: 2024-05-11

Status: Released
 GNSS Module Series

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Safety Information

The following safety precautions must be observed during all phases of operation, such as usage, service,
or repair of any terminal or mobile incorporating the module. Manufacturers of the terminal should notify
users and operating personnel of the following safety information by incorporating these guidelines into all
product manuals. Otherwise, Quectel assumes no liability for customers’ failure to comply with these
precautions.

Ensure that the product may be used in the country and the required environment,
as well as that it conforms to the local safety and environmental regulations.

Keep away from explosive and flammable materials. The use of electronic
products in extreme power supply conditions and locations with potentially
explosive atmospheres may cause fire and explosion accidents.

The product must be powered by a stable voltage source, and the wiring shall
conform to security precautions and fire prevention regulations.

Proper ESD handling procedures must be followed throughout the mounting,

handling and operation of any devices and equipment that incorporate the module
to avoid ESD damages.

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About the Document

Document Information

Title LC29H (EA) Moving Base Application Note

Subtitle GNSS Module Series

Document Type Application Note

Document Status Released

Revision History
Version Date Description

- 2023-03-30 Creation of the document

1.0 2023-07-20 First official release

1. Updated pin functions of LC29H (EA) (Table 1).

1.1 2024-05-11
2. Added moving base operation guide (Chapter 8).

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Contents

Safety Information .................................................................................................................................... 3

About the Document ................................................................................................................................ 4
Contents .................................................................................................................................................... 5
Table Index ............................................................................................................................................... 6
Figure Index .............................................................................................................................................. 7

1 Introduction ....................................................................................................................................... 8

2 Hardware Design ............................................................................................................................... 9

2.1. Application Interfaces ........................................................................................................... 11
2.1.1. UART Interfaces .......................................................................................................... 11
2.1.2. WAKEUP ..................................................................................................................... 12
2.1.3. RESET_N .................................................................................................................... 13
2.1.4. RESET_CTL ................................................................................................................ 13

3 System Construction ...................................................................................................................... 14

3.1. Precautions for GNSS Antenna Mounting ............................................................................ 14
3.1.1. Antenna Mounting Method ........................................................................................... 14
3.1.2. Recommended Mounting for GNSS Antennas ............................................................ 15

4 Reference Frame ............................................................................................................................. 17

4.1. Local Cartesian Coordinate System (ENU) .......................................................................... 17

5 Angle Definition ............................................................................................................................... 18

5.1. Heading ................................................................................................................................ 18
5.2. Pitch...................................................................................................................................... 19

6 Configuration................................................................................................................................... 21

7 Moving Base Related Messages .................................................................................................... 22

7.1. PQTMCFGMSGRATE .......................................................................................................... 22
7.2. PQTMTAR ............................................................................................................................ 23

8 Moving Base Operation Guide ....................................................................................................... 25

8.1. Antenna Installation .............................................................................................................. 25
8.2. How to Use the Module ........................................................................................................ 26

9 Appendix A References .................................................................................................................. 29

10 Appendix B Special Characters ..................................................................................................... 31

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Table Index

Table 1: Pin Function Differences for LC29H (EA) in Different Applications ............................................. 9
Table 2: Error Codes ............................................................................................................................... 23
Table 3: Related Documents ................................................................................................................... 29
Table 4: Terms and Abbreviations........................................................................................................... 29
Table 5: Special Characters .................................................................................................................... 31

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Figure Index

Figure 1: Schematic Diagram of Connection Between Base and Rover ................................................. 10

Figure 2: Reference Design of UART1 Interface on Base ....................................................................... 11
Figure 3: Reference Design of UART1 Interface on Rover ..................................................................... 11
Figure 4: Enter/Exit Backup Mode Sequence .......................................................................................... 12
Figure 5: Reference OC Circuit for Base Reset....................................................................................... 13
Figure 6: Antenna Mounting Top View .................................................................................................... 14
Figure 7: Antenna Mounting (Same Reference Ground Plane) ............................................................... 14
Figure 8: Antenna Mounting – Drone ...................................................................................................... 15
Figure 9: Antenna Mounting – Mower ..................................................................................................... 15
Figure 10: Antenna Mounting – Vehicle .................................................................................................. 16
Figure 11: Local Cartesian Coordinate System ....................................................................................... 17
Figure 12: Heading and Pitch Angles ...................................................................................................... 18
Figure 13: Heading Angle ........................................................................................................................ 19
Figure 14: Pitch Angle ............................................................................................................................. 20
Figure 15: Antenna Installation on Test Vehicle ...................................................................................... 25
Figure 16: Moving Base Connection Diagram ......................................................................................... 26
Figure 17: Device Manager ..................................................................................................................... 27
Figure 18: Device Information Window .................................................................................................... 27
Figure 19: Open Command Console Window ......................................................................................... 28
Figure 20: Configure Output of $PQTMTAR Message ............................................................................ 28

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1 Introduction
Quectel LC29H (EA) supports multi-band RTK technology, which can output high precision position,
heading and attitude information. RTK technology includes the rover and the base. The base sends a
continuous differential correction data stream to the rover via a communication link. In standard RTK
mode, the base remains static in a known position, while the rover can move. However, in Moving Base
mode, both the base and the rover can move, making it suitable for use in drones, mowers and vehicles.

Quectel LC29H (EA) module can be implemented in two configurations:

⚫ Single unit configuration (one Quectel LC29H (EA) module for general applications).
⚫ Dual unit configuration (two Quectel LC29H (EA) modules for Moving Base application). To enable
the Moving Base function, both two LC29H (EA) modules must be installed on the same carrier
platform.

This document presents the software and hardware designs of the two LC29H (EA) modules in the
Moving Base application. The terms “base”, “rover”, “baseline”, and “heading” are used to describe the
Moving Base function.

⚫ Base: Receiver that transmits the differential correction data stream.

⚫ Rover: Receiver that receives the differential correction data stream.
⚫ Baseline: Vector connecting the base antenna to the rover antenna. The LC29H (EA) Moving Base
function supports baseline lengths varying from 0.2 m to 5 m.
⚫ Heading: Angle from true north to baseline measured in a clockwise direction.

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2 Hardware Design
In a dual unit configuration for the Moving Base application, one LC29H (EA) operates as the base and
the other as the rover. The base and rover can be distinguished in the connection diagram. The base
communicates with the MCU via its UART1, and the rover communicates with the UART2 on base via its
UART1. Figure 1: Schematic Diagram of Connection Between Base and Rover illustrates the specific
connection configuration.

The functions of pins 17–19 in a single unit configuration of LC29H (EA) are different from those in the
dual unit configuration for the Moving Base application.

Table 1: Pin Function Differences for LC29H (EA) in Different Applications

Pin Function
Pin No.
General Applications (Single Unit) Moving Base Application (Dual Unit)

17 RESERVED RESET_CTL: Controls the RESET_N of the rover

18 RESERVED TXD2: UART2 transmits data

19 RESERVED RXD2: UART2 receives data

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External Corrections

NMEA + Heading (Proprietary Messages)

MCU_RXD

MCU_TXD

GPIO_X 1 WAKEUP GND 24

2 RESERVED VCC 23 VCC_3.3 V_Base

GPIO_X 3 1PPS V_BCKP 22 V_BCKP_3.3 V_Base

4 RESERVED RXD1 21

5 RESERVED TXD1 20

6 RESERVED RXD2 19
LC29H (EA)
7 VDD_EXT TXD2 18
(Base)

GPIO_X 8 RESET_N RESET_CTL 17

9 VDD_RF RESERVED 16

10 GND RESERVED 15
Antenna
MCU Circuit
11 RF_IN ANT_ON 14

Local Corrections

Derived Heading
12 GND GND 13

GPIO_X 1 WAKEUP GND 24

2 RESERVED VCC 23 VCC_3.3 V_Rover

GPIO_X 3 1PPS V_BCKP 22 V_BCKP_3.3 V_Rover

4 RESERVED RXD1 21

5 RESERVED TXD1 20

6 RESERVED RXD2 19
LC29H (EA)
7 VDD_EXT TXD2 18
(Rover)

8 RESET_N RESET_CTL 17

9 VDD_RF RESERVED 16

10 GND RESERVED 15
Antenna 11 RF_IN ANT_ON 14
Circuit
12 GND GND 13

Direct Connection
I/O POWER GND SYSTEM ANT RESERVED Not Direct Connection

Figure 1: Schematic Diagram of Connection Between Base and Rover

⚫ External Corrections: External corrections can be obtained from the VRS provider. The MCU sends
the RTCM corrections from the VRS to the base, enabling it to perform the RTK positioning function.
⚫ Local Corrections: Local corrections are provided by the base and transmitted via its UART2
interface to the rover to calculate heading information.
⚫ Derived Heading: Heading information is calculated by the rover and sent back to the base, and
finally output by the base.
⚫ NMEA + Heading (Proprietary Messages): Positioning data (standard NMEA messages) and
heading information (proprietary NMEA messages) are sent from the base to the MCU. The
connection between the MCU and the base is required.

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NOTE

1. The modules operate at an I/O voltage of 2.8 V. If the I/O voltage of the MCU differs from this value,
a level-shifting circuit must be used.
2. It is recommended to use an OC drive circuit for the RESET_N pin of base. For more information,
see Chapter 2.1.3 RESET_N.

2.1. Application Interfaces

2.1.1. UART Interfaces

The UART1 on the base is connected to MCU, as shown below:

MCU LC29H (EA)

(Base)
MCU_TXD TXD1

MCU_RXD RXD1

GND GND

Figure 2: Reference Design of UART1 Interface on Base

The UART1 on the rover is connected to the UART2 on the base, as shown below:

LC29H (EA) LC29H (EA)

(Base) (Rover)
TXD2 TXD1

RXD2 RXD1

GND GND

Figure 3: Reference Design of UART1 Interface on Rover

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2.1.2. WAKEUP

For power-sensitive applications, the module supports a Backup mode to reduce power consumption. Pull
the WAKEUP pin high for at least 10 ms to wake up the module from the Backup mode. Keep this pin
open or pulled low before entering the Backup mode. The WAKEUP pin is pulled down internally and it
belongs to backup domain. If unused, leave the pin N/C.

The base can synchronously transmit the commands received from the MCU to the rover via UART
interfaces. Thus, the MCU sends commands to the base via UART interfaces to enable the base and the
rover enter the Backup mode at the same time.

⚫ Enter the Backup mode:

1. Send $PAIR650 to shut down internal main power supply in sequence. For more information
about the relevant software command, see document [1] protocol specification.
2. Cut off the power supply to the VCC pin and keep the V_BCKP pin powered.

⚫ Exit the Backup mode:

1. Restore VCC.
2. Pull the WAKEUP pin high for at least 10 ms.

Low power Exit Backup mode

Enter Backup mode consumption
V_BCKP

VCC below 100 mV 1s

10 ms
WAKEUP

UART Valid Invalid Valid

Continuous mode Backup mode Continuous mode
Cut off VCC Restore VCC
Send command Pull WAKEUP high

Figure 4: Enter/Exit Backup Mode Sequence

NOTE

The WAKEUP pin is pulled down internally with a 47 kΩ resistor, and the GPIO of MCU connected to the
WAKEUP pin needs to support push-pull output.

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2.1.3. RESET_N

RESET_N is an input pin. The module can be reset by driving the RESET_N pin low for at least 100 ms
and then releasing it.

For the base, the RESET_N pin is connected to the GPIO control pin of the MCU. An OC driver circuit as
shown below is recommended to control the RESET_N pin.

RESET_N

Input pulse

Figure 5: Reference OC Circuit for Base Reset

For the rover, the RESET_N pin is connected in series with the RESET_CTL pin of the base through a 0 Ω
resistor for upgrading.

2.1.4. RESET_CTL

For the base, the RESET_CTL is used to control the RESET_N of the rover for upgrading. The RESET_N
pin of the base is pulled down via the GPIO of the MCU to complete the base’s upgrading, and then the
RESET_CTL is pulled down automatically so that the RESET_N pin of the rover is also pulled down,
allowing the rover’s upgrading to be completed. The default state is 2.8 V high level, active low.

For the rover, leave the pin floating.

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3 System Construction
This chapter provides system-level recommendations for using the base and rover to develop
high-performance Moving Base solutions.

3.1. Precautions for GNSS Antenna Mounting

3.1.1. Antenna Mounting Method

In practical applications, it is important to fix GNSS antennas during mounting, as shown in the following
figure. The vector from the base antenna to the rover antenna is called the baseline. Its minimum length is
0.2 m.

Base Antenna Rover Antenna

Figure 6: Antenna Mounting Top View

If the orientation test is carried out on the same device, ensure to use two identical GNSS antennas and
place them on the same reference ground plane (with the same ground plane size, shape, angle of the
horizontal plane). However, the use of a helix antenna does not require reference ground plane.

Base Antenna Rover Antenna

Figure 7: Antenna Mounting (Same Reference Ground Plane)

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3.1.2. Recommended Mounting for GNSS Antennas

The recommended mounting for GNSS antennas depends on the application. For a drone, place the
GNSS antennas on top of the drone to avoid interference from crowded structures and motors, as shown
in the figure below:

Figure 8: Antenna Mounting – Drone

For mowers, apply the GNSS antennas in an open, unstructured environment.

Figure 9: Antenna Mounting – Mower

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For a vehicle, apply GNSS antennas in the same plane and unstructured environment.

Figure 10: Antenna Mounting – Vehicle

NOTE

For recommended antenna selection and design, see document [2] GNSS antenna selection guidance
or contact Quectel Technical Support ([email protected]).

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4 Reference Frame

4.1. Local Cartesian Coordinate System (ENU)

Local Cartesian coordinate system is a right-handed rectangular coordinate system where the coordinate
origin is located at the station center. In the Moving Base application, the phase center of the base
antenna is considered the station center, and the heading and pitch angle outputs of rover are referenced
to this coordinate system.

Sky (U)

R Rover Antenna

B East (E)
Base Antenna

Figure 11: Local Cartesian Coordinate System

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5 Angle Definition
This chapter provides the definitions of the heading and pitch angles in the LC29H (EA) Moving Base
applications.

Heading

Base Antenna B

Rover Antenna
Pitch
Roll

Figure 12: Heading and Pitch Angles

NOTE

Roll angle is not supported by the LC29H (EA) Moving Base applications.

5.1. Heading

The heading angle in the dual antenna setup is referenced to the local Cartesian coordinate system
(ENU). It is defined as the angle between the projection of the baseline vector (i.e., the vector connecting
the base antenna and rover antenna) on the horizontal plane and the true north (i.e., N-axis) with the
effective range of [0,360). For details about the heading angle output, see Chapter 7.2 PQTMTAR .

The heading angle (with north and east directions as reference planes) is illustrated below:

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North (N)

Rover
Antenna
R

East (E)

Base
Antenna
B

Figure 13: Heading Angle

NOTE

This heading angle is derived using dual antenna orientation, and it is different from the heading angle
output in RMC message.

5.2. Pitch

The pitch angle references local Cartesian coordinate system (ENU). It is the angle between the baseline
vector (base antenna to rover antenna) and the horizontal plane, with a range of [-90,+90]. Positive values
correspond to upward pitch, while negative values correspond to downward pitch. For details about the
pitch angle output, see Chapter 7.2 PQTMTAR .

The pitch angle is illustrated below:

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Sky (U)

R Rover Antenna

Base Antenna
Horizontal
Plane

Figure 14: Pitch Angle

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6 Configuration
As long as the two LC29H (EA) modules are properly connected as shown in Figure 1: Schematic
Diagram of Connection Between Base and Rover, the system automatically identifies them as rover or
base and no special configuration is required for the Moving Base application.

The heading and attitude information are provided by $PQTMTAR message on the rover. Use
$PQTMCFGMSGRATE command (see Chapter 7.1 PQTMCFGMSGRATE for details) to enable the
output of $PQTMTAR message (see Chapter 7.2 PQTMTAR for details).

Example:

//Enable $PQTMTAR message:

$PQTMCFGMSGRATE,W,PQTMTAR,1,1*09
$PQTMCFGMSGRATE,OK*29

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7 Moving Base Related Messages

7.1. PQTMCFGMSGRATE

Sets/gets the message output rate on the current port.

Type:

Set/Get

Synopsis:

//Set:
$PQTMCFGMSGRATE,W,<MsgName>,<Rate>,<MsgVer>*<Checksum><CR><LF>
//Get:
$PQTMCFGMSGRATE,R,<MsgName>,<MsgVer>*<Checksum><CR><LF>

Parameter:

Field Format Unit Description

<MsgName> String - Configuration message name.

Message output rate.

<Rate> Numeric - 0 = Output disabled.
1 = Output once every position fix.

<MsgVer> Numeric - Message version.

Result:

⚫ If successful, the module returns:

//Response to Set command:

$PQTMCFGMSGRATE,OK*<Checksum><CR><LF>
//Response to Get command:
$PQTMCFGMSGRATE,OK,<MsgName>,<Rate>,<MsgVer>*<Checksum><CR><LF>

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⚫ If failed, the module returns:

$PQTMCFGMSGRATE,ERROR,<ErrCode>*<Checksum><CR><LF>

For details about <ErrCode>, see Table 2: Error Codes.

Table 2: Error Codes

Field Format Unit Description

Error code.
<ErrCode> Numeric - 1 = Invaild parameters.
2 = Execution failed.

Example:

//Enable $PQTMTAR message:

$PQTMCFGMSGRATE,W,PQTMTAR,1,1*09
$PQTMCFGMSGRATE,OK*29

7.2. PQTMTAR

Outputs the UTC and attitude of the module (rover). This message can be enabled or disabled by
$PQTMCFGMSGRATE command.

Type:

Output

Synopsis:

$PQTMTAR,<MsgVer>,<Time>,<Quality>,<Res1>,<Length>,<Pitch>,<Res2>,<Heading>,<Acc_Pitch>,<
Res3>,<Acc_Heading>,<UsedSV>*<Checksum><CR><LF>

Parameter:

Field Format Unit Description

Message version.
<MsgVer> Numeric -
1 = Version 1 (Always 1 for this message version.)
UTC time.
hh: Hours (00–23)
<Time> hhmmss.sss -
mm: Minutes (00–59)
ss: Seconds (00–59)

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Field Format Unit Description

sss: Decimal fraction of seconds

GNSS quality indicator:

0 = Fix not available or invalid
1 = GPS SPS mode
2 = Differential GPS, SPS mode
<Quality> Numeric -
4 = Real Time Kinematic (RTK) mode. System used in
RTK mode with fixed integers.
5 = Float RTK mode. Satellite system used in RTK
mode, floating integers.

<Res1> - - Reserved. Always null.

<Length> Numeric Meter Baseline length.

Pitch angle. Range: -90.000000 to 90.000000.

<Pitch> Numeric Degree
Note that this field is null in case of an invalid value.

<Res2> Numeric Degree Reserved. Always null.

Heading angle. Range: 0.000000 to 359.999999.

<Heading> Numeric Degree
Note that this field is null in case of an invalid value.
Vehicle pitch accuracy.
<Acc_Pitch> Numeric Degree
Note that this field is null in case of an invalid value.

<Res3> Numeric Degree Reserved. Always null.

Vehicle heading accuracy.

<Acc_Heading> Numeric Degree
Note that this field is null in case of an invalid value.

<UsedSV> Numeric - Number of satellites used in heading solution.

Example:

$PQTMTAR,1,165034.000,4,,0.860,1.124780,,50.968541,0.254125,,0.012547,21*59

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8 Moving Base Operation Guide

8.1. Antenna Installation

This chapter explains how to install the GNSS antennas for accurate Moving Base operation by using
antenna installation on Quectel’s test vehicle as an example.

Requirements:

⚫ Two identical GNSS antennas compatible with LC29H (EA) which support the same GNSS
constellations.
⚫ Antennas must be firmly and stably mounted on the same reference plane. In the example of the
Quectel’s test vehicle illustrated below in Figure 15: Antenna Installation on Test Vehicle, two
identical antennas are securely affixed to the same mounting bar to ensure that they are on the same
reference plane. A rigid connection between the mounting bar and the vehicle is required for antenna
stability.

Positioning:

⚫ Place the base antenna at the rear of the vehicle and the rover antenna at the front. In this case, the
baseline direction (vector connecting the base antenna to the rover antenna) is consistent with the
direction of vehicle travel, ensuring the heading angle output by the module is the angle between the
direction of the vehicle’s front and true north.

Base Antenna Rover Antenna

Figure 15: Antenna Installation on Test Vehicle

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8.2. How to Use the Module

This chapter explains how to use the Moving Base function of the module by using Quectel
GNSS-MODULE-EVB as an example and view the output results through the QGNSS tool. For detailed
information on the EVB and QGNSS, see documents [3] EVB user guide and [4] QGNSS user guide.

Step 1: Prepare the hardware, then power on the EVB.

a. Short-circuit the pins of J101 and J103 respectively after mounting the modules.
b. Connect the antennas to the module. For details about the connection, refer to Figure 16:
Moving Base Connection Diagram.
c. Connect the EVB’s GNSS-USB interface (J0506) to the PC using a USB Type-C cable.
Then toggle the power switch (S0503) to the “ON” position.

Connect the Connect the

rover antenna base antenna

Short-circuit
J101
Short-circuit
J103

GNSS-USB interface
Toggle the power
switch to ON

Figure 16: Moving Base Connection Diagram

Step 2: Check the connection. If the connection between the EVB and the PC is normal, four random but
consecutive port numbers appear in the Device Manager, as shown in Figure 17: Device
Manager.

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Figure 17: Device Manager

Step 3: Configure the QGNSS tool, as shown in Figure 18: Device Information Window.

a. Open the QGNSS tool and click to enter the “Device Information” window.
b. Select the module model to be connected.
c. Select the COM port with the lowest number among the available four COM ports.
d. Select the baud rate corresponding to the module UART (that is, using the default baud rate
460800 bps).
e. Click “OK”.

Figure 18: Device Information Window

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Step 4: From the “Tools” drop-down menu, select the “Command Console” to open the “Command
console” window, as shown in Figure 19: Open Command Console Window.

Figure 19: Open Command Console Window

Step 5: Enable Moving Base function. Enter the “$PQTMCFGMSGRATE,W,PQTMTAR,1,1*09” in the

command field. After clicking “Send”, the module returns “$PQTMCFGMSGRATE,OK*29” and
starts to output the $PQTMTAR messages, indicating that the Moving Base functions normally,
as shown in Figure 20: Configure Output of $PQTMTAR Message.

Figure 20: Configure Output of $PQTMTAR Message

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9 Appendix A References

Table 3: Related Documents

Document Name

[1] Quectel_LC29H_Series&LC79H(AL)_GNSS_Proocol_Specification

[2] Quectel_GNSS_Antenna_Selection_Guidance

[3] Quectel_GNSS_Module_EVB_User_Guide

[4] Quectel_QGNSS_User_Guide

Table 4: Terms and Abbreviations

Abbreviation Description

ENU East North Up

EVB Evaluation Board

GNSS Global Navigation Satellite System

I/O Input/Output

MCU Microcontroller Unit/Microprogrammed Control Unit

PC Personal Computer

RF Radio Frequency

RMC Recommended Minimum Specific GNSS Data

RTK Real-Time Kinematic

RXD Receive Data (Pin)

TXD Transmit Data (Pin)

UART Universal Asynchronous Receiver/Transmitter

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Abbreviation Description

UTC Coordinated Universal Time

VRS Virtual Reference Station

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10 Appendix B Special Characters

Table 5: Special Characters

Special Character Definition

<CR> Carriage return character.

<LF> Line feed character.

<...> Parameter name. Angle brackets do not appear in the message.

[...] Optional field of a message. Square brackets do not appear in the message.

{…} Repeated field of a message. Curly brackets do not appear in the message.

Underline Default setting of a parameter.

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