T 5 1908 001 GNSS - Protocol - Specification V2.3
T 5 1908 001 GNSS - Protocol - Specification V2.3
T 5 1908 001 GNSS - Protocol - Specification V2.3
www.allystar.com
ALLYSTAR GNSS Receiver Protocol Specification V2.3
TABLE OF CONTENT
PERFACE
Protocol Specification is a reference describing the messages used by ALLYSTAR GNSS receiver and is organized by the
specific NMEA, BINARY and RTCM messages.
1 NMEA MESSAGES
NMEA messages sent from GNSS receiver follow the standard NMEA 0183 Version 3.01/4.00/4.10. For further
information about NMEA messages, please visit http://www.nmea.org/
ALLYSTAR GNSS receiver supports most of the general NMEA standard messages. They include GGA, GLL, GSA,
The default output is GGA, GSA, GSV and RMC in 1 second period. Message output rate for individual NMEA
messages can be set through binary message CFG-MSG. Setting output rate to zero is equivalent to disable
message output. The group ID for NMEA message is 0xF0. The following table describes the suitable sub ID to
use:
Message Sub ID Description
GGA 0x00 Position fix information
GLL 0x01 Latitude/Longitude data
GSA 0x02 GNSS Overall satellite data
GRS 0x03 GNSS range residuals
GSV 0x04 GNSS Detailed satellite data
RMC 0x05 Recommended minimal data for GNSS
VTG 0x06 Course over ground and ground speed
ZDA 0x07 Date and time
TXT 0x20 Antenna status message
ID GSA
Description GNSS receiver operating mode, satellites used in the navigation solution reported by the
GGA, and DOP values.
Format (In V3.01) $GNGSA,a,m,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x*hh<CR><LF>
Format (In V4.00) $GPGSA,a,m,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x,h*hh<CR><LF>
$BDGSA,a,m,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x,h*hh<CR><LF>
$GAGSA,a,m,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x,h*hh<CR><LF>
$GLGSA,a,m,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x,h*hh<CR><LF>
$GIGSA,a,m,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x,h*hh<CR><LF>
Format (In V4.00) $GNGSA,a,m,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x*hh<CR><LF>
Format (In V4.10) $GNGSA,a,m,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x,h*hh<CR><LF>
Content a Selection mode
(Shown in M=Manual, forced to operate in 2D or 3D,
sequence) A=Automatic, 3D/2D
m Mode (1 = no fix, 2 = 2D fix, 3 = 3D fix)
Note: 2D fix hint that the receiver position error meets the
2D level. Maybe under this condition the used satellite
number is little more than 4.
x ID of 1st satellite used for fix
x ID of 2nd satellite used for fix
x ID of 3rd satellite used for fix
x ID of 4th satellite used for fix
x ID of 5th satellite used for fix
x ID of 6th satellite used for fix
x ID of 7th satellite used for fix
x ID of 8th satellite used for fix
x ID of 9th satellite used for fix
x ID of 10th satellite used for fix
x ID of 11th satellite used for fix
x ID of 12th satellite used for fix
x.x PDOP
x.x HDOP
x.x VDOP
h System ID Note: NMEA v4.10 and V4.00
hh Checksum
ID GSA
$GNGSA,A,3,19,17,208,06,212,213,193,203,201,217,202,210,1.34,0.79,1.08*20
Note: SVID_GPS:01~32
SVID_GLONASS:65~96
Example NMEA SVID_GALILEO: 301~336
version 3.01 SVID_BEIDOU:201~ 237
SVID_IRNSS:901~918
SVID_QZSS = 193~199
SVID_SBAS = 40~54
$GPGSA,A,3,19,17,06,193,02,12,28,23,09,,,,1.46,0.82,1.21,1*24
$BDGSA,A,3,220,203,229,201,213,204,230,208,202,235,206,,1.25,0.69,1.05,4*30
$GLGSA,A,3,88,65,87,72,79,78,81,,,,,,1.51,0.86,1.24,2*0D
$GAGSA,A,3,315,303,327,330,,,,,,,,,1.25,0.69,1.05,3*00
$GIGSA,A,3,904,907,903,909,902,905,,,,,,,1.52,0.86,1.26,6*02
Note: SVID_GPS: 01~32
SVID_GLONASS: 65~96
SVID_GALILEO: 301~336
Example NMEA SVID_BEIDOU : 201~237
version 4.00 SVID_IRNSS: 901~918
SVID_QZSS = 193~194
SVID_SBAS = 40~54
ID System
1 GPS
2 GLONASS
3 GALILEO
4 BEIDOU
6 IRNSS
$GNGSA,A,3,06,02,05,12,195,193,199,25,,,,,1.25,0.69,1.04*22
$GNGSA,A,3,81,66,88,65,79,,,,,,,,1.25,0.69,1.04*14
$GNGSA,A,3,315,303,327,330,,,,,,,,,1.25,0.69,1.04*11
$GNGSA,A,3,229,220,208,213,203,230,235,201,204,202,206,,1.25,0.69,1.04*26
Note: SVID_GPS: 01~32
Example NMEA
SVID_GLONASS: 65~96
version 4.01
SVID_GALILEO: 301~336
SVID_BEIDOU : 201~237
SVID_IRNSS: 901~918
SVID_QZSS = 193~194
SVID_SBAS = 40~54
ID GSA
$GNGSA,A,3,19,17,06,193,02,12,28,23,09,,,,1.48,0.83,1.22,1*36 (GPS)
$GNGSA,A,3,01,08,14,15,02,,,,,,,,1.48,0.86,1.21,2*09(GlONASS)
$GNGSA,A,3,12,19,24,11,04,,,,,,,,1.48,0.86,1.21,3*0B(GALILEO)
$GNGSA,A,3,08,12,13,03,01,17,02,10,04,05,07,,1.48,0.83,1.22,4*0B(BEIDOU)
$GNGSA,A,3,04,07,03,09,05,02,,,,,,,2.41,1.40,1.96,6*04 (IRNSS)
Note: SVID_GPS: 1~32
SVID_GLONASS: 1~24,65~96 ( HD9300/HD9400 series )
SVID_GALILEO: 1~30
SVID_BEIDOU: 1~ 36
Example NMEA
SVID_IRNSS: 1~18
version 4.10
SVID_QZSS = 193~194
SVID_SBAS = 40~54
System ID Identification Table
ID System
1 GPS
2 GLONASS
3 GALILEO
4 BEIDOU
6 IRNSS
ID GRS
Description GNSS Satellite Range Residuals information
Format (In $GNGRS,hhmmss.fff,m,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx*hh<CR><LF>
V3.01/4.00/4.01)
Format (In V4.10) $GNGRS,hhmmss.fff,m,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,h,h*hh<CR><LF>
Content hhmmss.fff HourMinuteSecond. fraction (UTC)
(Shown in m 0 = Residuals used in GGA, 1 = residuals
sequence) Calculated after GGA
xx Satellite 1 residual in meters
xx Satellite 2 residual in meters
xx Satellite 3 residual in meters
xx Satellite 4 residual in meters
xx Satellite 5 residual in meters
xx Satellite 6 residual in meters
xx Satellite 7 residual in meters
xx Satellite 8 residual in meters
xx Satellite 9 residual in meters
xx Satellite 10 residual in meters
xx Satellite 11 residual in meters
xx Satellite 12 residual in meters
h System ID Note: NMEA v4.10 and above only
h Signal ID Note: NMEA v4.10 and above only
hh Checksum
Example NMEA
version $GNGRS,175722.00,1,0.1,-0.3,-0.6,-0.5,0.9,0.6,0.4,-0.3,0.3,-0.6,,*6B
3.01/4.00/4.01
Example NMEA
$GNGRS,085329.00,0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,2,1*54
version 4.10
ID GSV
Description Number of satellites (SV) in view, satellite ID numbers, elevation, azimuth, and SNR
value.
Format (In V3.01) $GNGSV,x,x,x,x,x,x,x,...*hh<CR><LF>
Format (In $GPGSV,x,x,x,x,x,x,x,...*hh<CR><LF>
V4.00/V4.01) $BDGSV,x,x,x,x,x,x,x,...*hh<CR><LF>
Format (In V4.10) $GPGSV,x,x,x,x,x,x,x,...h*hh<CR><LF>
$BDGSV,x,x,x,x,x,x,x,...h*hh<CR><LF>
Content x Total number of GSV messages to be transmitted in this group
(Shown in x Origin number of this GSV message within current group
sequence) x Total number of satellites in view (leading zeros sent)
x Satellite PRN number (leading zeros sent)
x Elevation in degrees (00-90) (leading zeros sent)
x Azimuth in degrees to true north (000-359) (leading zeros sent)
SNR in dB (00-99) (leading zeros sent)
x More satellite info quadruples like 4-7n)
… …
Signal ID Note: NMEA v4.10 and above only
h Checksum
hh
$GNGSV,6,1,24,19,73,351,51,17,69,86,54,208,68,358,49,6,65,298,55*5E
$GNGSV,6,2,24,212,64,331,51,213,60,305,50,193,56,134,48,203,44,190,45*6C
$GNGSV,6,3,24,53,38,212,46,201,37,145,44,217,35,140,43,50,35,139,39*6F
$GNGSV,6,2,23,193,59,133,46,88,55,351,47,65,55,127,49,319,43,114,36*65
$GNGSV,6,4,22,909,19,255,40,16,25,216,39,50,35,139,38,905,17,189,37*69
Note: SVID_GPS:01~32
Example NMEA
SVID_GLONASS:65~96
version 3.01
SVID_GALILEO: 301-336
SVID_BEIDOU:201~ 237
SVID_IRNSS:901~918
SVID_QZSS = 193~194
SVID_SBAS = 40~54
For more please see below in “Dual frequence Sat ID”
$GPGSV,3,2,12,53,38,212,46,50,35,139,42,41,32,226,42,28,25,173,44*77
$GPGSV,3,3,12,2,22,264,42,12,21,318,43,23,17,93,42,9,12,126,37*43
$BDGSV,3,1,12,8,68,354,49,12,61,326,51,13,60,302,50,3,44,190,45*6D
$GLGSV,2,2,08,79,24,299,45,78,22,254,49,81,18,303,45,66,10,181,44*6F
$GAGSV,2,1,05,12,69,355,46,19,42,115,42,24,30,246,45,11,27,290,40*60
$GIGSV,2,1,06,904,67,205,47,907,45,158,45,903,34,227,44,909,20,257,40*63
Example NMEA Note: SVID_GPS:01~32
version 4.00 SVID_GLONASS:65~96
SVID_GALILEO: 301-336
SVID_BEIDOU=201~237
SVID_IRNSS = 901~918
SVID_QZSS = 193~194
SVID_SBAS = 40~54
For more please see below in “Dual frequence Sat ID”
$GPGSV,3,2,11,19,32,147,42,41,32,226,42,12,27,254,43,25,19,296,39,1*66
$GPGSV,3,4,10,25,17,310,40,8*5C
$BDGSV,4,4,16,10,18,213,35,1*4C
$BDGSV,4,5,16,29,83,343,45,20,76,109,45,30,38,124,42,4*40
$GLGSV,2,1,06,81,48,335,48,88,61,73,43,66,53,182,38,65,52,44,37,1*73
$GAGSV,2,1,06,15,78,354,48,8,33,201,42,13,28,311,41,5,31,47,27,6*40
$GAGSV,2,2,06,15,78,354,46,13,28,311,41,2*75
Example NMEA $GIGSV,2,1,07,5,75,208,46,7,39,160,43,3,30,225,42,1,,,40*50
version 4.10 Note: SVID_GPS:01~32
SVID_GLONASS: 01~24
SVID_GALILEO: 01~30
SVID_BEIDOU: 01~36
SVID_IRNSS: 01~18
SVID_QZSS = 193~194
SVID_SBAS = 40~54
For signal ID, please see below “Mutifrequence Signal ID”
SIGID_GPS_L1CA (1)
SIGID_GPS_L1P (2)
SIGID_GPS_L1M (3)
SIGID_GPS_L2CM (5)
SIGID_GPS_L2CL (6)
SIGID_GPS_L5I (7)
SIGID_GPS_L5Q (8)
SIGID_GPS_L1C (9)
SIGID_GPS_L6 (11)
SIGID_GLN_G1CA (1)
Mutifrequence
SIGID_GLN_G2CA (3)
Signal ID
SIGID_GAL_E5A (1)
SIGID_GAL_E5B (2)
SIGID_GAL_L1A (6)
SIGID_GAL_L1BC (7)
SIGID_BDS_B1I (1)
SIGID_BDS_B2I (2)
SIGID_BDS_B3I (3)
SIGID_BDS_B2A (4)
SIGID_BDS_B1C (9)
ID RMC
Description Time, date, position, course and speed data provided by a GNSS navigation receiver.
Format $GNRMC,hhmmss.fff,A,llll.lllll,a,yyyyy.yyyyy,a,x.x,x.x,ddmmyy,x.x,a,a*hh<CR><LF>
Content hhmmss.fff HourMinuteSecond. fraction (UTC)
(Shown in A Status, V=Navigation receiver warning A=Valid
sequence) llll.lllll Latitude ( HD9300/HD9400 series llll.lllllll )
a N or S
yyyyy.yyyyy Longitude ( HD9300/HD9400 series yyyyy.yyyyyyy)
a E or W
x.x Speed over ground, knot
x.x Degrees to true north
ddmmyy Date
x.x Magnetic variation
a Degrees E/W
a Mode Indicator: V = Invalid, A= Autonomous and D
=Differential, F = Float RTK, P = Precise and R=Real Time
Kinematic
a navStatus Note: NMEA v4.10 and above only
hh Checksum
Example
$GNRMC,115332.000,A,4006.20852,N,11628.14483,E,0.000,0.50,041215,,,A*48
3.01/4.00
Example NMEA
$GNRMC,115522.000,A,4006.20885,N,11628.14498,E,0.000,0.50,041215,,,A,S*30
version 4.10
ID GST
Description Reports statistical information on the quality of the position solution.
Format support $GPGST,hhmmss.fff,x.x,x.x,x.x,x.x,x.x,x.x,x.x*hh<CR><LF>
$GNGST,hhmmss.fff,x.x,x.x,x.x,x.x,x.x,x.x,x.x*hh<CR><LF>
Content hhmmss.fff HourMinuteSecond. fraction (UTC)
(Shown in x.x RMS value of the standard deviation of the
sequence) x.x Standard deviation of semi-major axis
x.x Standard deviation of semi-minor axis
x.x Orientation of semi-major axis
x.x Standard deviation of latitude error
x.x Standard deviation of longitude error
x.x Standard deviation of altitude error
hh Checksum
Example $GPGST,082356.00,1.8,,,,1.7,1.3,2.2*7E
There are several compatible SBAS systems available or in development all around the world:
WAAS (Wide Area Augmentation System) for North America has been in operation since 2003.
MSAS (Multi-Functional Satellite Augmentation System) for Asia has been in operation since 2007.
EGNOS (European Geostationary Navigation Overlay Service) has been in operation since 2009.
GAGAN (GPS Aided Geo Augmented Navigation)
SDCM (Difference correction and monitoring system)
The following table shows the PRN value in ALLYSTAR NMEA protocol.
WAAS EGNOS GAGAN MSAS SDCM
NMEA
ORIGINAL AS ORIGINAL AS ORIGINAL AS ORIGINAL AS ORIGINAL AS
Versio
- PRN PRN - PRN PRN - PRN PRN - PRN PRN - PRN
n
PRN
135 48 120 33 127 40 129 42 140 53
138 51 124 37 128 41 137 50 125 38
3.01
133 46 126 39 - - - - - -
- - 136 49 - - - - - -
135 135 120 120 127 127 129 129 140 140
138 138 124 124 128 128 137 137 125 125
4.00
133 133 126 126 - - - - - -
- - 136 136 - - - - - -
135 48 120 33 127 40 129 42 140 53
138 51 124 37 128 41 137 50 125 38
4.10
133 46 126 39 - - - - - -
- - 136 49 - - - - - -
* In NMEA V3.01 and 4.10 the SBAS PRN offset value set with -87, and in the V4.00 the SBAS PRN offset value set with 0.
3 BINARY MESSAGES
All binary messages start with a fixed start sequence followed by a message ID in order to identify the packet
type. Some message has payload with dynamic length, therefore a payload length is included to locate the
payload region. At the same time, a 16 bit checksum will be padded after payload for message integrity.
16 Bit
Length in Message checksum
Dec 241 Dec 217 Group ID Sub ID
Hex F1 Hex D9
Little Endian dependant
(1 byte) (1 byte) {CK1, CK2}
(2 bytes) (0 - N bytes)
(2 bytes)
3.1.2 Message ID
Message ID is divided into group ID and sub ID. Messages in the same group are with similar content for
multipurpose usage while sub ID are used to distinguish between different packets.
The following table describes each group:
Symbol ID(HEX) Description
NAV 0x01 Receiver status information
ACK 0x05 Response packets for CFG type packets
CFG 0x06 Configure receiver’s options
MON 0x0A Monitoring receiver status
AID 0x0B GNSS aiding information
3.1.4 Payload
Payload refers to the content of a message. Payload content and their respective details will be discussed later.
Done x Lost
Usr Receiver
Done
3.2.3 Others
For some other packets, ALLYSTAR GNSS receiver would neither ACK nor response to sender.
Usr Receiver
Done
5.1.1 NAV-POSECEF
MESSAGE NAV-POSECEF
Description Position solution in ECEF
Type Poll
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x01 0x01 0 See below CK_1 CK_2
No Payload
MESSAGE NAV-POSECEF
Description Position solution in ECEF
Type Polled
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x01 0x01 20 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U4 iTow ms GNSS Millisecond
Time of Week
4 S4 ecefX cm ECEF X coordinate
8 S4 ecefY cm ECEF Y coordinate
12 S4 ecefZ cm ECEF Z coordinate
16 U4 pAcc cm Position Accuracy
Estimate
5.1.2 NAV-POSLLH
MESSAGE NAV-POSLLH
Description Position solution in LLA
Type Poll
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x01 0x02 0 See below CK_1 CK_2
No Payload
MESSAGE NAV-POSLLH
Description Position solution in LLA
Type Polled
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x01 0x02 28 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U4 iTow ms GNSS Millisecond
Time of Week
4 S4 1e-7 lon degrees Longitude
8 S4 1e-7 lat degrees Latitude
12 S4 height mm Height above
Ellipsoid
16 S4 hMSL mm Height above mean
sea level
20 U4 hAcc mm Horizontal Accuracy
Estimate
24 U4 vAcc mm Vertical Accuracy
Estimate
5.1.3 NAV-DOP
MESSAGE NAV-DOP
Description Dilution of precision
Type Poll
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x01 0x04 0 See below CK_1 CK_2
No Payload
MESSAGE NAV-DOP
Description Dilution of precision
Type Polled
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x01 0x04 18 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U4 iTow ms GNSS Millisecond
Time of Week
4 U2 0.01 gDOP Geometric DOP
6 U2 0.01 pDOP Position DOP
8 U2 0.01 tDOP Time DOP
10 U2 0.01 vDOP Vertical DOP
12 U2 0.01 hDOP Horizontal DOP
14 U2 0.01 nDOP Northing DOP
16 U2 0.01 eDOP Easting DOP
5.1.4 NAV-TIME
MESSAGE NAV-TIME
Description GNSS time solution
Type Poll
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x01 0x05 1 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 navSys 0 : GPS
1 : BDs
Example:
Poll current GPS time message
F1 D9 01 05 01 00 00 07 1C
MESSAGE NAV-TIME
Description GNSS(GPS or BD) Time solution message
Type Polled
Comment
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x01 0x05 16 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Name Unit Description
0 U1 navSys 0: GPS
1: BD
1 U1 flag 1: valid 0: invalid
Bit0 : week
Bit1: second
Bit2: Leapsecond
2 S2 Fractow ns Fraction part of GNSS Time of week
4 U4 refTow ms Reference GNSS Time
8 U2 Week Week in GNSS time
10 S2 leapSec s Leap second to UTC
12 U4 timeErr ns Possible error in time
Example:
Get the GPS time
F1 D9 01 05 10 00 00 07 2C 79 FF 55 3E 16 10 00 12 00 06 00 00 00 92 5A
MESSAGE NAV-TIMEUTC
Description UTC Time Solution
Type Polled
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x01 0x21 20 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U4 iTow ms GNSS Millisecond
Time of Week
4 U4 tAcc ns Time Accuracy
Estimate
8 S4 nano ns Nanoseconds of
second, range -
500000000~5000000
00 (UTC)
12 U2 year y Year, range
1999~2099 (UTC)
14 U1 month m Month, range 1~12
(UTC)
15 U1 day d Day of Month, range
1~31 (UTC)
16 U1 hour h Hour of Day, range
0~23 (UTC)
17 U1 min m Minute of Hour,
range 0~59 (UTC)
18 U1 sec s Second of Min, range
0~59 (UTC)
19 U1 ValidFlag Please see below
5.1.6 NAV-CLOCK
MESSAGE NAV-CLOCK
Description Clock Solution
Type Poll
Comment Get the clock status when the receiver position, the value of clock drift/1000 is the clock
error. If the TXCO SPEC is 0.5 ppm, the value should not be larger than it.
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x01 0x22 0 See below CK_1 CK_2
No Payload
MESSAGE NAV-CLOCK
Description Clock Solution
Type Polled
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x01 0x22 20 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U4 iTow ms GNSS Millisecond
Time of Week
4 S4 clkB ns Clock bias in
nanoseconds
8 S4 clkD ns/s Clock drift in
nanoseconds per
second
12 U4 tAcc ns Time Accuracy
Estimate
16 U4 fAcc ps/s Frequency Accuracy
Estimate
5.1.7 NAV-SVINFO
MESSAGE NAV-SVINFO
Description Request Space Vehicle Information
Type Poll
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x01 0x30 0 See below CK_1 CK_2
No Payload
MESSAGE NAV-SVINFO
Description Space Vehicle Information
Type Polled
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x01 0x30 8+ See below CK_1 CK_2
24N
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U4 iTow ms GNSS Millisecond
Time of Week
4 U4 numCh Number of channels
Start of repeated block (n>=0)
8+24*n U1 channel Channel number, 255
for SVs not assigned
to a channel
9+24*n U1 svid Satellite ID
10+24*n S1 flags Bitmask (Refer to
manual)
11+24*n S1 quality Bitfield (Refer to
manual)
12+24*n U1 cno dbHz Carrier to Noise Ratio
(Signal Strength)
13+24*n S1 elev degrees Elevation in integer
degrees
14+24*n S2 azim degrees Azimuth in integer
degrees
16+24*n S4 prRes cm Pseudo range
residual in
centimetres
20+24*n R4 pseudorangeRate m/s Pseudo range rate
24+24*n R8 pseudorange m Pseudo range
5.2.1 RXM-DUM
MESSAGE RXM-DUM
Description Enable/disable dump rawdata message
Type Set
Comment Periodic output raw message
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x02 0x01 01 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 type 0: disable
1: enable
Example:
Enable the rawdata output
F1 D9 02 01 01 00 01 05 12
Disable the rawdata output
F1 D9 02 01 01 00 00 04 11
5.2.2 RXM-GALSAR
MESSAGE RXM-GALSAR
Description Galileo Search and Rescue (SAR) Short Return Link Message detected by the receiver
Type Output
Comment Periodic output binary message
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x02 0x02 16 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 version Message version
1 U1 - type - Message type (0x01 for
Short-RLM)
2 U1 svid - Satellite ID
3 U1 reserved1 Reserved
4 U1[8] - beacon - Beacon identifier (60 bits),
most significant byte send
first. Top four bits of first
byte are zero.
12 U1 message - Message code (4 bits)
13 U1[2] - params - Parameters (16 bits), most
significant byte send first
send first.
15 U1 reserved2 - Reserved
Example:
F1 D9 02 02 10 00 00 01 01 00 00 00 00 00 00 00 00 00 00 00 00 00 16 8B
MESSAGE RXM-GALSAR
Description Galileo Search and Rescue (SAR) Long Return Link Message (RLM) detected by the
receiver
Type Output
Comment Periodic output binary message
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x02 0x02 28 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 version Message version
1 U1 - type - Message type (0x02 for
Long-RLM)
2 U1 svid - Satellite ID
3 U1 reserved1 Reserved
4 U1[8] - beacon - Beacon identifier (60 bits),
most significant byte send
first. Top four bits of first
byte are zero
12 U1 message - Message code (4 bits)
13 U1[12] - params - Parameters (96 bits), most
significant byte send first
25 U1[3] reserved2 - Reserved
Example:
F1 D9 02 02 1C 00 00 02 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 23 16
5.3.1 ACK-NAK
MESSAGE ACK-NCK
Description Message not-acknowledge
Type Response
Comment The response message for a message ID which is invalid or not recognized
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x05 0x00 2 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 groupID Group ID of the not
acknowledge signal
1 U1 subID Sub ID of the not-
acknowledge signal
Example:
Receiver NOT acknowledge message CFG-MSG which include invalid payload content
(GroupID: 0x06, SubID: 0x01)
F1 D9 05 00 02 00 06 01 0E 33
5.3.2 ACK-ACK
MESSAGE ACK-ACK
Description Message acknowledge
Type Response
Comment The response message for a message ID which is valid and recognized
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x05 0x01 2 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 groupID Group ID of the
acknowledge signal
1 U1 subID Sub ID of the acknowledge
signal
Example:
Receiver acknowledge message CFG-SIMPLERST (GroupID: 0x06, SubID: 0x40)
F1 D9 05 01 02 00 06 40 4E 77
5.4.1 CFG-PRT
MESSAGE CFG-PRT
Description Query communication port configuration
Type Poll
Comment Support UART0 and UART1
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x00 1 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 portID Port Identifier Number
0 : UART0
1 : UART1
Example:
Poll current UART1 configuration
F1 D9 06 00 01 00 00 07 21
MESSAGE CFG-PRT
Description Port Configuration
Type Polled/Set
Comment Set the configuration (baudrate) of communication port
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x00 8 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 portID Port Identifier Number
0: UART0
1: UART1
1 U1[3] res Reserved
4 U4 baudrate Bits/s Baudrate
Example:
To set UART1 at 9600
F1 D9 06 00 08 00 01 00 00 00 80 25 00 00 B4 0F
To set UART0 at 115200
F1 D9 06 00 08 00 00 00 00 00 00 C2 01 00 D1 E0
5.4.2 CFG-MSG
MESSAGE CFG-MSG
Description Query message configurations
Type Poll
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x01 2 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 msggroup Message Group
1 U1 subID Message Sub ID
Example:
Poll current message rate of NMEA GGA message
F1 D9 06 01 02 00 F0 00 F9 11
MESSAGE CFG-MSG
Description Message configurations
Type Polled/Set
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x01 3 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 Class ID Message Group
1 U1 Message ID Message Sub ID
2 U1 Period Period of message
Example:
Set NMEA GSV message rate to 1 per 2 seconds
F1 D9 06 01 03 00 F0 04 02 00 19
Set NMEA GLL message rate to 1 per 5 seconds
F1 D9 06 01 03 00 F0 01 05 00 16
Disable NMEA VTG message
F1 D9 06 01 03 00 F0 06 00 00 1B
Set RTCM3 1005 message rate to 5 (per update rate)
F1 D9 06 01 03 00 F8 05 05 0C 36
5.4.3 CFG-PPS
MESSAGE CFG-PPS
Description Query Pulse per second configuration
Type Poll
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x07 0 See below CK_1 CK_2
No Payload
Example:
To poll current PPS configuration
F1 D9 06 07 00 00 0D 2D
MESSAGE CFG-PPS (For Cynosure I)
Description Pulse per second
Type Polled/Set
Comment (FOR CYNOSUE I ONLY)
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x07 5 See below CK_1 CK_2
12
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U4 Length us Pulse Width in micro-
second
1 R1 Polarity Pulse polarity at the start
of PPS, 0 = falling edge at
start of second
5.4.4 CFG-CFG
MESSAGE CFG-CFG
Description Clear, Save current configurations
Type Set
Comment Clear / Write system configuration on/into nonvolatile memory
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x09 8 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U4 action 0: Save
1: Load
2: Clear
4 U4 mask Bit 0: Baudrate
Bit 1: NMEA message rate
Bit 2: Navigation settings
Bit 3: Reserved
Bit 5: Reserved
0xFFFFFFFF: Factory reset
Example:
Write baudrate and NMEA message rate configuration into involatile memory
F1 D9 06 09 08 00 00 00 00 00 03 00 00 00 1A 07
Write navigation related settings (DOP mask, Elev mask, height limit, satellite to use, nmea version,alt, ecef
position,ephemeris saving etc.) into involatile memory
Example: F1 D9 06 09 08 00 00 00 00 00 04 00 00 00 1B 0B
Factory reset:
F1 D9 06 09 08 00 02 00 00 00 FF FF FF FF 15 01
5.4.5 CFG-DOP
MESSAGE CFG-DOP
Description Query DOP mask for navigation use
Type Poll
Comment Poll current DOP mask configuration
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x0A 0 See below CK_1 CK_2
No Payload
Example:
Poll current DOP mask configuration
F1 D9 06 0A 00 00 10 36
MESSAGE CFG-DOP
Description DOP mask for navigation use
Type Polled/Set
Comment Position unfix if DOP value is larger than the mask
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x0A 4 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U2 0.01 pDOP Position DOP
2 U2 0.01 tDOP Time DOP
Example:
Configure DOP mask of PDOP and TDOP to 50
F1 D9 06 0A 04 00 88 13 88 13 4A 0A
5.4.6 CFG-ELEV
MESSAGE CFG-ELEV
Description Query satellite elevation mask for navigation use
Type Poll
Comment Poll current ELEV mask configuration
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x0B 0 See below CK_1 CK_2
No Payload
Example:
Poll current ELEV mask configuration
F1 D9 06 0B 00 00 11 39
MESSAGE CFG-ELEV
Description Elevation mask for navigation use
Type Polled/Set
Comment Satellite is not used in position fix if its elevation angle is less than the mask
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x0B 8 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 R4 trkMask radian Track elevation angle mask
4 R4 naviMask radian Navigation elevation angle
mask
Example:
Configure ELEV with track mask and navigation mask to 0
F1 D9 06 0B 04 00 00 00 00 00 15 95
5.4.7 CFG-NAVSAT
MESSAGE CFG-NAVSAT
Description Control satellites to use in navigation
Type Poll
Comment Poll current satellite for navigation mask configuration
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x0C 0 See below CK_1 CK_2
No Payload
Example:
Poll current satellite for navigation mask
F1 D9 06 0C 00 00 12 3C
MESSAGE CFG-NAVSAT
Description Control satellites to use in navigation
Type Polled/Set
Comment Select the type of satellites to use
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x0C 4 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U4 enableMask Bit Mask of enabled
satellite type, enabled
when bit mask is 1
0x00000001: GPS L1
0x00000002: GLONASS G1
0x00000004: BEIDOU B1
0x00000010: GALILEO E1
0x00000020: QZSS L1
0x00000040: SBAS L1
0x00000080: IRNSS L5
0x00000400: GPS L2C
0x00000200: GPS L5
0x00002000: GLONASS G2
0x00004000: BEIDOU B1C
0x00040000: BEIDOU B2
0x00008000: BEIDOU B2A
0x00010000: BEIDOU B3I
0x00020000: BEIDOU B5
0x00100000: GALILEO E5A
0x08000000: QZSS L2C
0x04000000: QZSS L5
Example:
Set to use GPS L1, BEIDOU B1 GPS L5, BEIDOU B2A
F1 D9 06 0C 04 00 05 82 00 00 9D 36
5.4.8 CFG-HEIGHT
MESSAGE CFG-HEIGHT
Description Query height limitation for position fix
Type Poll
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x0D 0 See below CK_1 CK_2
No Payload
Example:
Poll height limitation for position fix
F1 D9 06 0D 00 00 13 3F
MESSAGE CFG-HEIGHT
Description Control height limitation for position fix
Type Polled/Set
Comment Set height limitation for position fix
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x0D 16 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 R8 upperLimit m Upper limit of height
8 R8 lowerLimit m Lower limit of height
Example:
Set height limitation for position fix to -1000 and 20000
F1 D9 06 0D 10 00 00 00 00 00 00 88 D3 40 00 00 00 00 00 40 8F C0 4D 83
5.4.9 CFG-SBAS
MESSAGE CFG-SBAS
Description request SBAS satellites to use in navigation
Type Poll
Comment Poll current satellite for navigation mask configuration
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x0E 0 See below CK_1 CK_2
No Payload
Example:
Poll current satellite for navigation mask
F1 D9 06 0E 00 00 14 42
MESSAGE CFG-SBAS
Description Control individual SBAS satellites to use in navigation
Type Polled/Set
Comment Select the type of satellites to use. This function is only valid when SBAS is turned on,
and the satellite with defined PRN is supported. If no, receiver returns NACK.
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x0E 2xn See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 PRN EGNOS
INMARSAT3F2 = 120,
ARTEMIS = 124,
INMARSAT4F2 = 126,
SES5 = 136,
GAGAN
GSAT8 = 127,
GSAT10 = 128,
MSAS
MTSAT1R = 129,
MTSAT2 = 137,
SDCM
LUCH5A = 140,
LUCH5B = 125,
WAAS
GALAXY15 = 135,
ANIKF1R = 138,
INMARSAT4F3 = 133,
1 U1 flag 0:disable, 1: enable
Example:
Set to enable SBAS satellite GSAT8 and GSAT10
F1 D9 06 0E 14 00 89 00 7F 01 80 01 78 00 7B 00 87 00 8A 00 8C 00 7D 00 8D 00 4C 8C
5.4.10 CFG-SPDHOLD
MESSAGE CFG-SPDHOLD
Description Query static hold speed for navigation use
Type Poll
Comment Poll current static hold speed configuration
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x0F 0 See below CK_1 CK_2
No Payload
Example:
Poll static hold speed configuration
F1 D9 06 0F 00 00 15 45
MESSAGE CFG-SPDHOLD
Description Polled/Set static hold speed for navigation use
Type Polled/Set
Comment Set the static hold speed
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x0F 2 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U2 0.01 static hold Cm/s static hold speed for
speed navigation
Example:
Configure the static hold speed 0.06m/s-> 6cm/s to nav
F1 D9 06 0F 02 00 06 00 1D 83
5.4.11 CFG-EPHSAVE
MESSAGE CFG-EPHSAVE
Description Query the status of ephemeris saving
Type Poll
Comment Poll current ephemeris saving configuration
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x10 0 See below CK_1 CK_2
No Payload
Example:
Poll current ephemeris saving configuration
F1 D9 06 10 00 00 16 48
MESSAGE CFG-EPHSAVE
Description Polled/Set ephemeris saving status
Type Polled/Set
Comment Enable or disable the ephemeris saving
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x10 1 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 Enable or 1: enable ephemeris
disable saving
0: disable ephemeris
saving
Example:
Enable the ephemeris saving automatically
F1 D9 06 10 01 00 01 18 62
5.4.12 CFG-NUMSV
MESSAGE CFG-NUMSV
Description Query the maximum and minimum number of satellite used in the receiver
Type Poll
Comment Poll the maximum and minimum number of satellite used in the receiver
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x11 0 See below CK_1 CK_2
No Payload
Example:
Poll maximum and minimum number of satellite used in the receiver
F1 D9 06 11 00 00 17 4B
MESSAGE CFG-NUMSV
Description Polled/Set the maximum and minimum number of satellite used in the receiver
Type Polled/Set
Comment Set the maximum and minimum number of satellite used in the receiver
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x11 2 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 minsv Minimum number of
satellite used
1 U1 maxsv Maximum number of
satellite used
Example:
Set minimum to 4, maximum to 16
F1 D9 06 11 02 00 04 10 2D 99
5.4.13 CFG-SURVEY
MESSAGE CFG-SURVEY
Description Query the duration and accuracy requirement of survey mode
(HD9300/HD9400 series only)
Type Poll
Comment Poll the duration and accuracy requirement of survey mode
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x12 0 See below CK_1 CK_2
No Payload
Example:
Poll duration and accuracy requirement of survey mode
F1 D9 06 12 00 00 18 4E
MESSAGE CFG-SURVEY
Description Polled/Set the duration and accuracy requirement of survey mode
(HD9300/HD9400 series only)
Type Polled/Set
Comment Set the duration and accuracy requirement of survey mode
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x12 8 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U4 mindur second Minimal survey time
4 U4 acclimit mm Accuracy requirement
Example:
Set survey time to 5s, accuracy requirement to 100mm
F1 D9 06 12 08 00 05 00 00 00 64 00 00 00 89 16
5.4.14 CFG-FIXEDLLA
MESSAGE CFG-FIXEDLLA
Description Query the constant stationary LLA position
(HD9300/HD9400 series only)
Type Poll
Comment Poll the constant stationary LLA position
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x13 0 See below CK_1 CK_2
No Payload
Example:
Poll constant stationary LLA position
F1 D9 06 13 00 00 19 51
MESSAGE CFG-FIXEDLLA
Description Polled/Set the constant stationary LLA position
(HD9300/HD9400 series only)
Type Polled/Set
Comment Set the constant stationary LLA position
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x13 12 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
-7
0 S4 10 lat degrees Latitude
-7
4 S4 10 lon degrees Longitude
8 S4 alt cm Altitude
5.4.15 CFG-FIXEDECEF
MESSAGE CFG-FIXEDECEF
Description Query the constant stationary ECEF position
(HD9300/HD9400 series only)
Type Poll
Comment Poll the constant stationary ECEF position
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x14 0 See below CK_1 CK_2
No Payload
Example:
Poll constant stationary LLA position
F1 D9 06 14 00 00 1A 54
MESSAGE CFG-FIXEDECEF
Description Polled/Set the constant stationary ECEF position
(HD9300/HD9400 series only)
Type Polled/Set
Comment Set the constant stationary ECEF position
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x14 12 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 S4 x cm ECEF X coordinate
4 S4 y cm ECEF Y coordinate
8 S4 z cm ECEF Z coordinate
5.4.16 CFG-ANTIJAM
MESSAGE CFG-ANTIJAM
Description Poll anti-jamming setting
Type Poll
Comment Poll anti-jamming setting
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x15 0 See below CK_1 CK_2
No Payload
Example:
Poll anti-jamming setting
F1 D9 06 15 00 00 1B 57
MESSAGE CFG-ANTIJAM
Description Control anti-jamming satellite system and threshold
Type Polled/Set
Comment Select the type of satellites to set
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x15 3 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U2 satsys_mask Bit Mask of satellite type,
enabled when bit mask is 1
0x0002: GPS
0x0004: QZSS
0x0008: SBAS
0x0010: GALILEO
0x0020: BEIDOU
0x0040: GLONASS
2 U1 threshold dB Power threshold that
activate the anti-jamming
mechanic
Example:
Set to GPS threshold 10dB
F1 D9 06 15 03 00 02 00 0A 2A C7
5.4.17 CFG-BDGEO
MESSAGE CFG-BDGEO
Description Request BD-GEO satellites using in navigation
Type Poll
Comment Poll current satellite for navigation mask configuration
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x16 0 See below CK_1 CK_2
No Payload
Example:
Poll current BD-GEO satellites to use in navigation
F1 D9 06 16 00 00 1C 5A
MESSAGE CFG-BDGEO
Description Control individual BD-GEO satellites to use in navigation
Type Polled/Set
Comment Select the BD GEO satellites to use. This function is only valid when BD is turned on, and
the satellite with defined PRN is supported. If no, receiver returns NACK
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x16 2*N See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 PRN BDGEO PRN: 01, 02, 03,
04, 05, 17
1 U1 flag 0:disable, 1: enable
Example:
Set to enable BDGEO satellite 1, 2, 3, disable 4, 5, 17
F1 D9 06 16 0C 00 01 01 02 01 03 01 04 00 05 00 11 00 4B F3
5.4.18 CFG-CARRSMOOTH
MESSAGE CFG-CARRSMOOTH
Description Query maximum windows used in carrier smoothing
Type Poll
Comment Query maximum windows used in carrier smoothing
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x17 0 See below CK_1 CK_2
No Payload
Example:
Poll carrier smoothing status
F1 D9 06 17 00 00 1D 5D
MESSAGE CFG-CARRSMOOTH
Description Set maximum windows used in carrier smoothing
Type Polled/Set
Comment Set maximum windows used in carrier smoothing
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x17 1 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 S1 windows value -1: Enable carrier
smoothing with auto
config
0: Disable carrier
smoothing
1 or higher: Enable carrier
smoothing with windows
value x+1
Example:
Enable carrier smoothing using windows value 2
F1 D9 06 17 01 00 01 1F 7E
5.4.19 CFG-SIMPLERST
MESSAGE CFG-SIMPLERST
Description Simple startup command
Type Set
Comment Control GNSS task
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x40 1 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 Mode 0x00: Reset,
0x01: Cold start,
0x02: Warm start,
0x03: Hot start,
0x10: Stop,
0x11: Start,
0x80: Clear All TRK
Channels
Example:
Configure soft reset (as system command, there is NO ACK)
F1 D9 06 40 01 00 00 47 21
Configure a cold start (as system command, there is NO ACK)
F1 D9 06 40 01 00 01 48 22
Configure a warm start (as system command, there is NO ACK)
F1 D9 06 40 01 00 02 49 23
Configure a hot start (as system command, there is NO ACK)
F1 D9 06 40 01 00 03 4A 24
Configure GNSS stop (if successful, it would return ACK, else return NAK)
F1 D9 06 40 01 00 10 57 31
Configure GNSS start (if successful, it would return ACK, else return NAK)
F1 D9 06 40 01 00 11 58 32
Configure Clear All TRK Channels (if successful, it would return ACK, else return NAK)
F1 D9 06 40 01 00 80 C7 A1
5.4.20 CFG-SLEEP
MESSAGE CFG-SLEEP
Description Sleep command
Type Set
Comment Set GNSS task to sleep and restart after a while defined by period. It is one time
command. It is a one-time command
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x41 4 See below CK_1 CK_2
5 Cynosure II
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U4 period ms Sleep time
Extension to Cynosure II
4 U1 action 0: sleep
1: deep sleep
2: Reserved
3: power down
4: RTC stand only(cyno3
support only)
Example:
Set GNSS task to deep sleep for 5000ms
F1 D9 06 41 05 00 88 13 00 00 01 E8 56
5.4.21 CFG-PWRCTL
MESSAGE CFG- PWRCTL
Description Query Power control profile
Type Poll
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x42 0 See below CK_1 CK_2
No Payload
Example:
Poll message of power control
F1 D9 06 42 00 00 48 DE
MESSAGE CFG-PWRCTL
Description Power control command
Type Polled/Set
Comment Set receiver power control profile
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x42 20 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 mode 0: Disable (normal)
1: reserved
2: Cyclic short sleep
3: Cyclic long sleep
1 U1 fix_cnt reserved
2 U1 Sat_cnt reserved
3 U1 padding reserved
4 U4 sleep_ms ms sleep time when fix
8 U4 timeout_ms ms reserved
12 U4 timeout_off_ms ms reserved
16 U4 tracking_ms ms reserved
Example:
Set receiver into cyclic sleep mode
F1 D9 06 42 14 00 00 05 00 00 B8 0B 00 00 60 EA 00 00 D0 07 00 00 00 00 00 00 45 F9
5.4.22 CFG-NMEAVER
MESSAGE CFG- NMEAVER
Description Query current NMEA version
Type Poll
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x43 0 See below CK_1 CK_2
No Payload
Example:
Poll NMEA version
F1 D9 06 43 00 00 49 E1
MESSAGE CFG-NMEA-VER
Description Set NMEA version
Type Polled/Set
Comment Select from V3.01, V4.00 and V4.10. All support GNSS and individual Satellite system.
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x43 1 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 version 0: (not support)
1: V3.01
2: V4.00
3: V4.10
Example:
Set NMEA version to V4.00
F1 D9 06 43 01 00 02 4C 2F
5.4.23 CFG-PWRCTL2
MESSAGE CFG- PWRCTL2
Description Query Periodic sleep Power control profile
Type Poll
Comment - periodic sleep function
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x44 0 See below CK_1 CK_2
No Payload
Example:
Poll message of periodic power control mode
F1 D9 06 44 00 00 4A E4
MESSAGE CFG-PWRCTL2
Description Periodic sleep Power control command
Type Polled/Set
Comment Set receiver Periodic sleep power control profile
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x44 16 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 mode Power mode
0: Disable (normal)
1: reserved
2: Cyclic short sleep
3: Cyclic long sleep
1 U1 padding reserved
2 U2 ontime ms The minimum duration in
second that won't enter
low power mode, must be
smaller than
update_period_ms
4 S4 fixfreq Position fix frequency.
Negative means the
frequency is (1 / fixfreq)
8 U4 Update_period ms Position fix period.
_ms Receiver will never try to
fix if set to 0, wait for
external event instead
12 U4 tracking_ms ms Minimum tracking time.
0 means auto
Example:
Set receiver into cyclic short sleep mode: fixfreq = 1, update period = 2000, Tracking duration = 200
F1 D9 06 44 10 00 02 00 64 00 01 00 00 00 D0 07 00 00 C8 00 00 00 60 19
5.4.24 CFG-FWUP
MESSAGE CFG- FWUP
Description Start FW update in Y-Modem protocol
Type Poll
Comment (internal message)
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0x50 1 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 Freq Port Identifier Number
0 : 16.369M
1 : 26M
Example:
Set Firmware update
F1 D9 06 50 01 00 01 13 3F
5.4.25 CFG-PVTLOG
MESSAGE CFG-PVTLOG
Description Poll PVT DATA LOG
Type Poll
Comment Support UART0 and UART1
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0xB0 1 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 Log 0~31
sector The max is 31,the min is 0
0 U1 Txt read log 0: binary log mode
1: txt log mode
Example:
Poll pvt data log of the sector 0
F1 D9 06 B0 01 00 00 B7 E1
MESSAGE CFG-PVTLOG
Description Control the output and frequence of PVTLOG
Type Polled/Set
Comment Make PVT log to be written every setting second
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0xB0 3 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 Flash mode 2:log erase
1: log written enable
0: log written disable
2 U2 period second 1-3600 (it’s useful only
when flash mode=1)
3 U1 PVT Repeat 0:repeat save log
flag 1:one save log
Example:
Set to enable the pvt written every 2 seconds:
F1 D9 06 B0 04 00 01 02 00 00 BD 22
Stop writing:
F1 D9 06 B0 04 00 00 00 00 00 BA 18
Erase flash for PVT log:
F1 D9 06 B0 04 00 02 01 00 00 BD 23
MESSAGE CFG-PVTLOG
Description The PVT log in flash
Type Polled
Comment Set the constant stationary LLA position
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x06 0xB0 32*32 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U2+N month UTC month
2 U2+N date UTC date
4 U2+N hour UTC hour
6 U2+N minute UTC minute
8 U4+N 10 second UTC second
12 U4+N year UTC year
16 float+N lat deg Latitude
20 float+N lon deg Longitude
24 float+N altmsl m Altitude above mean sea
level
28 float+N gspd m/s Ground speed (2-D)
Example:
Get the pvt log:
F1 D9 06 B0 00 04 05 00 04 00 06 00 1E 00 08 02 00 00 E2 07 00 00 75 DA 1F 42 64 A2 E8 42 BA 07 CF 42 CD
CE 11 3C 05 00 04 00 06 00 1E 00 CC 01 00 00 E2 07 00 00 75 DA 1F 42 64 A2 E8 42 FA 8C CE 42 B0 1F 97 3C 05
00 04 00 06 00 1E 00 90 01 00 00 E2 07 00 00 76 DA 1F 42 64 A2 E8 42 E3 21 CE 42 B8 E7 0F 3C 05 00 04 00 06
00 1E 00 54 01 00 00 E2 07 00 00 76 DA 1F 42 64 A2 E8 42 67 E2 CD 42 78 73 56 3C 05 00 04 00 06 00 1E 00 18
01 00 00 E2 07 00 00 75 DA 1F 42 64 A2 E8 42 B4 D6 CD 42 ED B9 F9 3B 05 00 04 00 06 00 1E 00 DC 00 00 00
E2 07 00 00 75 DA 1F 42 65 A2 E8 42 FB D9 CD 42 79 C7 17 3B 05 00 04 00 06 00 1E 00 A0 00 00 00 E2 07 00
00 75 DA 1F 42 66 A2 E8 42 AD 7B CD 42 E2 2E 39 3C FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF
14 D0
5.5.1 MON-VER
MESSAGE MON-VER
Description Software/Hardware version
Type Poll
Comment Poll software/hardware version
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0A 0x04 0 See below CK_1 CK_2
No Payload
Example:
Poll software/hardware version
F1 D9 0A 04 00 00 0E 34
MESSAGE MON-VER
Description Software/Hardware version
Type Polled
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0A 0x04 32 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 S1[16] swVersion Software version string
16 S1[16] hwVersion Hardware version string
5.5.2 MON-INFO
MESSAGE MON-INFO
Description Info configuration
Type Poll
Comment Poll receiver special information
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0A 0x05 0 See below CK_1 CK_2
No Payload
Example:
Poll receiver special information
F1 D9 0A 05 00 00 0F 37
MESSAGE MON-INFO
Description Info configuration
Type Polled/Set
Comment Output/Set receiver special information
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0A 0x05 N See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
Start of repeated block
n U1 info Contents, n>=0 n<=16
Example:
Set receiver special information to "Hello”
F1 D9 0A 05 05 00 48 65 6C 6C 6F 08 2C
5.5.3 MON-TRKCHAN
MESSAGE MON- TRKCHAN
Description Get the TRACK CHANNEL STATUS
Type Poll
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0A 0x08 8 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U2 - nmeaprn - The prn number of the
satellite
2 U2 CN0 The test CN0 of the
satellite
4 U4 waitime second Single channel test time
Example:
Set the parameter for Track
For example: setting waiting 30 second to test SATID 3 with cn0 36
F1 D9 0A 08 08 00 03 00 24 00 1E 00 00 00 5F 88
MESSAGE MON- TRKCHAN
Description TEST STATUS
Type Polled
Comment Get the track channel test status
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0A 0x08 1 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 - Status of TRK - 0: abnormal
channel 1: normal
Example:
Output no error
F1 D9 0A 08 01 00 01 14 56
5.5.4 MON-RCVCLK
MESSAGE MON- RCVCLK
Description Get the current receiver clock measured by the specific satellite
Type Poll
Comment -
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0A 0x09 2 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
5.5.5 MON-CWI
MESSAGE MON- CWI
Description CWI check
Type Poll
Comment Poll cwi peak frequency
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0A 0x0A 2 See below CK_1 CK_2
Payload Contents:
Example:
F1 D9 0A 0A 00 00 14 46
5.6.1 AID-INI
MESSAGE AID-INI
Description Initial Aiding Data
Type Poll
Comment Poll current GNSS receiver data
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0B 0x01 0 See below CK_1 CK_2
No Payload
Example:
Poll current GNSS receiver data
F1 D9 0B 01 00 00 0C 2F
MESSAGE AID-INI
Description Initial Aiding Data
Type Polled/Set
5.6.2 AID-POS
MESSAGE AID-POS
Description Initial Aiding Data (position)
Type Set
Comment Cynosure II, LLA or ECEF could be selected
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0B 0x10 17 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 - type - Position type
(1: LLA, 0: ECEF)
LLA
1 S4 10-7 Lat degree Latitude
-7
5 S4 10 Lon degree Longitude
9 S4 Alt cm Altitude
13 U4 Pos_acc - Position accuracy
ECEF
1 S4 ECEF.x cm Position x
5 S4 ECEF.y cm Position y
9 S4 ECEF.z cm Position z
13 U4 Pos_acc - Position accuracy
Example:
Inject position (0x0B10), lat = 22.5006727, lon = 114.2424747, alt = -882.55
Command: F1 D9 0B 10 11 00 01 87 54 69 0D AB 04 18 44 41 A7 FE FF 00 00 00 00 6E 4A
5.6.3 AID-TIME
MESSAGE AID-TIME
Description Initial Aiding Data (time)
Type Set
Comment Cynosure II, TOW or UTC could be selected
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0B 0x11 20 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 Type - Time type
(1: TOW 0: UTC)
1 U1 - - - Reserved
Tow:
2 U1 Gnss_id - Source of time information
0: GPS time
1: BD time
2: GLONASS time
3 U2 Week_no - Week number
5 U4 Tow_s - Time of week
9 U4 Tow_ns - Nanoseconds time of
week, from 0 to
999,999,999
13 U2 Tacc_s - Seconds part of time
accuracy
15 U4 Tacc_ns - Sub-millisecond part of
time accuracy
19 U1 Reserved - Reserved
UTC
2 U1 Leap_sec Number of leap seconds
since 1980
(or <0 if unknown)
3 U2 Year
5 U1 Month
6 U1 Day
7 U1 Hour
8 U1 Minute
9 U1 Second
10 U4 Sec_ns Nanoseconds, from 0 to
999,999,999
14 U2 Tacc_s Seconds part of time
accuracy
16 U4 Tacc_ns Sub-millisecond part of
time accuracy
Example:
Inject time (0x0B11), 2016-6-22 15:56:03.288393, tacc = 0.600796, leapsecond = 17.
Command: F1 D9 0B 11 14 00 00 00 11 E0 07 06 16 0F 38 03 28 87 30 11 00 00 60 6B CF 23 3B A3
5.6.4 AID-PEPH-GPS
MESSAGE AID-PEPH-GPS
Description Request GPS proprietary ephemeris data
Type Poll
Comment Cynosure II/III
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0B 0x32 1 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
1 U1 svid SV ID defined in each
satellite system ,if 0,
means all
Example:
Poll ephemeris of all GPS satellites
F1 D9 0B 32 01 00 00 3E 02
MESSAGE AID-PEPH-GPS
Description Proprietary Ephemeris Data for GPS
Type Polled/Set
Comment Cynosure II/III
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0B 0x32 65 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 reserved
1 U1 svid SV ID defined in GPS
Satellite system
^-19
2 U4 2 sqrtA Semi-major axis
^-33
6 U4 2 e eccentricity
10 S4 2^-31π M0 Mean Anomaly (radian)
14 S2 2^-43π Delta_n Mean motion correction
(radian/sec)
^4
16 U2 2 toe Ref time of Ephemeris
^-31
18 S4 2 π i0 Inclination angle (radian)
^-43
22 S2 2 π iDot Inclination rate
(radian/sec)
^-31
24 S4 2 π Omega0 Longitude of ascending
node at weekly epoch
(radian)
MESSAGE AID-PEPH-GPS
28 S4 2^-43π OmegaDot Right Ascension Rate
(radian/sec)
^-31
32 S4 2 π w Argument of Perigee
(radian)
^-29
36 S2 2 Cuc correction coefficients in
ICD
^-29
38 S2 2 Cus correction coefficients in
ICD
^--5
40 S2 2 Crc correction coefficients in
ICD
^--5
42 S2 2 Crs correction coefficients in
ICD
^--29
44 S2 2 Cic correction coefficients in
ICD
46 S2 2^-29 Cis correction coefficients in
ICD
^4
48 U2 2 toc Ref time of clock
^-31
50 S4 2 af0 SV clock correction term 0
^-43
54 S2 2 af1 SV clock correction term 1
^-55
56 S1 2 af2 SV clock correction term 2
^-31
57 S1 2 tGD Group Delay
58 i2 weeknum Ref. week number
60 U2 IODC Issue of data, clock
62 U1 IODE Issue of data Ephemeris
63 U1 ura User range accuracy
64 U1 health Usage status
5.6.5 AID-PEPH-BDS
MESSAGE AID-PEPH-BDS
Description Request BDS proprietary ephemeris data
Type Poll
Comment Allows the delivery of BeiDou ephemeris assistance to a receiver.
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0B 0x33 1 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
1 U1 svid SV ID defined in each
satellite system, if 0,
means all
Example:
Poll ephemeris of all BD satellites
F1 D9 0B 33 01 00 00 3B F1
MESSAGE AID-PEPH-BDS
Description Proprietary Ephemeris Data for Beidou
Type Polled/Set
Comment Allows the delivery of BeiDou ephemeris assistance to a receiver.
Message Header ID Length (Bytes) Payload Checksum
Structure 0xF1 0xD9 0x0B 0x33 92 See below CK_1 CK_2
Payload Contents:
Byte Offset Data Type Scale Name Unit Description
0 U1 reserved
1 U1 svid SV ID defined in each BDS
system
^-19
2 U4 2 sqrtA Semi-major axis
^-33
6 U4 2 e eccentricity
^-31
10 S4 2 π M0 Mean Anomaly (radian)
^-43
14 S2 2 π Delta_n Mean motion correction
(radian/sec)
^3
16 U4 2 toe Ref time of Ephemeris
^-31
20 S4 2 π i0 Inclination angle (radian)
^-43
24 S2 2 π iDot Inclination rate
(radian/sec)
26 S4 2^-31π Omega0 Longitude of ascending
node at weekly epoch
(radian)
^-43
30 S4 2 π OmegaDot Right Ascension Rate
(radian/sec)
^-31
34 S4 2 π w Argument of Perigee
(radian)
MESSAGE AID-PEPH-BDS
38 S4 2^-31 Cuc correction coefficients in
ICD
^-31
42 S4 2 Cus correction coefficients in
ICD
^-6
46 S4 2 Crc correction coefficients in
ICD
^-6
50 S4 2 Crs correction coefficients in
ICD
^-31
54 S4 2 Cic correction coefficients in
ICD
^-31
58 S4 2 Cis correction coefficients in
ICD
^3
62 U4 2 toc Ref time of clock
^-33
66 S4 2 af0 SV clock correction term 0
70 S4 2^-50 af1 SV clock correction term 1
74 S2 2^-66 af2 SV clock correction term 2
76 S2 0.1e-9 tGD Group Delay
^-30
78 S1 2 Alpha0 coef. for the amplitude of
the vertical delay
^-27
79 S1 2 Alpha1 coef. for the amplitude of
the vertical delay
^-24
80 S1 2 Alpha2 coef. for the amplitude of
the vertical delay
^-24
81 S1 2 Alpha3 coef. for the amplitude of
the vertical delay
^11
82 S1 2 Beta0 coef. for the period of the
model
^14
83 S1 2 Beta1 coef. for the period of the
model
^16
84 S1 2 Beta2 coef. for the period of the
model
85 S1 2^16 Beta3 coef. for the period of the
model
86 U2 weeknum Ref. week number
88 U1 IODC Issue of data, clock
89 U1 IODE Issue of data, Ephemeris
90 U1 ura User range Accuracy
91 U1 health Usage status
6 RTCM PROTOCOL
HD9300/HD9400 series support differential GNSS data according to RTCM version 3 .The messages of RTCM
are described as the following table.
6.3.1 Sub-id
There are different available sub-ids of the RTCM message type 4065. The table below shows the available RTCM
4065 sub-ids.
Message Type Sub-id Number Description Note
0XFE1 (4065) 0x0 Reference Station PVT For moving base application
0x1 Navigation PVT Solution
0x2 Attitude Determination By multi-antenna
6.4 Configuration
The RTCM version 3 protocol can be disabled/enabled and set update rate on communication interfaces by CFG-MSG.