T 5 1908 001 GNSS - Protocol - Specification V2.3

ALLYSTAR GNSS Receiver
Protocol Specification V2.3
www.allystar.com
ALLYSTAR GNSS Receiver Protocol Specification V2.3
TABLE OF CONTENT
TABLE OF CONTENT ................................................................................ 2

PERFACE ................................................................................................. 5
1 NMEA MESSAGES ........................................................................... 5
1.1 Background Information ............................................................................................ 5
1.2 ALLYSTAR GNSS Receiver supported messages .......................................................... 5
1.3 Setting message output rate ...................................................................................... 5
2 NMEA MESSAGES FORMAT ............................................................. 6

2.1 GGA - Global Positioning System Fix Data.................................................................. 7
2.2 GSA - GNSS DOP and Active Satellites........................................................................ 8
2.3 GRS - GNSS Range Residuals .................................................................................... 11
2.4 GSV - GNSS Satellites in View ................................................................................... 13
2.5 RMC - Recommended Minimum Specific GNSS Data .............................................. 16
2.6 VTG - Course Over Ground and Ground Speed ........................................................ 17
2.7 ZDA - Time & Date .................................................................................................... 17
2.8 GLL - Geographic Position - Latitude/Longitude ...................................................... 18
2.9 GST- GNSS Pseudorange Error Statistics .................................................................. 18
2.10 TXT - system or user defined message ..................................................................... 18
2.11 SBAS Description ...................................................................................................... 20
3 BINARY MESSAGES ....................................................................... 21

3.1 Packet field description ............................................................................................ 22
3.1.1 Start Sequence .................................................................................................................. 22
3.1.2 Message ID ........................................................................................................................ 22
3.1.3 Payload Length .................................................................................................................. 22
3.1.4 Payload.............................................................................................................................. 22
3.1.5 End Sequence ................................................................................................................... 22
3.2 Protocol data transfer .............................................................................................. 23
3.2.1 CFG Packet Scenario .......................................................................................................... 23
3.2.2 Poll Packet Scenario .......................................................................................................... 23
3.2.3 Others ............................................................................................................................... 24
4 BINARY PACKET OVERVIEW .......................................................... 25

5 DETAILED PACKET DESCRIPTION ................................................... 27
5.1 Navigation messages (NAV) ..................................................................................... 27
5.1.1 NAV-POSECEF .................................................................................................................... 27
5.1.2 NAV-POSLLH ...................................................................................................................... 28
Confidential 5 Copyright © ALLYSTAR Page 2 of 79

5.1.3 NAV-DOP ........................................................................................................................... 28

5.1.4 NAV-TIME .......................................................................................................................... 30
5.1.5 NAV-TIMEUTC ................................................................................................................... 31
5.1.6 NAV-CLOCK ........................................................................................................................ 32
5.1.7 NAV-SVINFO ...................................................................................................................... 33
5.2 Receiver Manager Messages ................................................................................... 34
5.2.1 RXM-DUM ......................................................................................................................... 34
5.2.2 RXM-GALSAR ..................................................................................................................... 34
5.3 Message Acknowledge (ACK) ................................................................................... 36
5.3.1 ACK-NAK ............................................................................................................................ 36
5.3.2 ACK-ACK ............................................................................................................................ 36
5.4 Configuration Input Messages (CFG) ....................................................................... 37
5.4.1 CFG-PRT ............................................................................................................................ 37
5.4.2 CFG-MSG ........................................................................................................................... 38
5.4.3 CFG-PPS ............................................................................................................................. 39
5.4.4 CFG-CFG ............................................................................................................................ 41
5.4.5 CFG-DOP ........................................................................................................................... 42
5.4.6 CFG-ELEV ........................................................................................................................... 43
5.4.7 CFG-NAVSAT ...................................................................................................................... 44
5.4.8 CFG-HEIGHT ...................................................................................................................... 45
5.4.9 CFG-SBAS .......................................................................................................................... 46
5.4.10 CFG-SPDHOLD ................................................................................................................... 47
5.4.11 CFG-EPHSAVE .................................................................................................................... 48
5.4.12 CFG-NUMSV ...................................................................................................................... 49
5.4.13 CFG-SURVEY ...................................................................................................................... 50
5.4.14 CFG-FIXEDLLA .................................................................................................................... 51
5.4.15 CFG-FIXEDECEF ................................................................................................................. 52
5.4.16 CFG-ANTIJAM .................................................................................................................... 53
5.4.17 CFG-BDGEO ....................................................................................................................... 54
5.4.18 CFG-CARRSMOOTH ........................................................................................................... 55
5.4.19 CFG-SIMPLERST ................................................................................................................. 56
5.4.20 CFG-SLEEP ......................................................................................................................... 57
5.4.21 CFG-PWRCTL ..................................................................................................................... 58
5.4.22 CFG-NMEAVER .................................................................................................................. 59
5.4.23 CFG-PWRCTL2 ................................................................................................................... 60
5.4.24 CFG-FWUP......................................................................................................................... 61
5.4.25 CFG-PVTLOG...................................................................................................................... 62
5.5 Monitor Receiver Status (MON)............................................................................... 64
5.5.1 MON-VER .......................................................................................................................... 64
5.5.2 MON-INFO ........................................................................................................................ 65
5.5.3 MON-TRKCHAN ................................................................................................................. 66
5.5.4 MON-RCVCLK .................................................................................................................... 66
5.5.5 MON-CWI .......................................................................................................................... 68

5.6 Assistance GNSS Messages（AID） ........................................................................ 68

5.6.1 AID-INI ............................................................................................................................... 68
5.6.2 AID-POS ............................................................................................................................. 70
5.6.3 AID-TIME ........................................................................................................................... 71
5.6.4 AID-PEPH-GPS ................................................................................................................... 72
5.6.5 AID-PEPH-BDS ................................................................................................................... 74
6 RTCM PROTOCOL ......................................................................... 76

6.1 Background Information .......................................................................................... 76
6.2 Support messages .................................................................................................... 76
6.3 ALLYSTAR proprietary RTCM messages .................................................................... 77
6.3.1 Sub-id ................................................................................................................................ 77
6.4 Configuration ........................................................................................................... 77
7 REVISION HISTORY ....................................................................... 78

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
1.1 Background Information
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/
1.2 ALLYSTAR GNSS Receiver supported messages
ALLYSTAR GNSS receiver supports most of the general NMEA standard messages. They include GGA, GLL, GSA,
GRS, GSV, RMC, VTG, ZDA，GST and TXT.
1.3 Setting message output rate
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

2 NMEA MESSAGES FORMAT

NMEA is the standard of GNSS protocol. ALLYSTAR GNSS receiver supports several NMEA sentences: GGA, GSV,
GSA, RMC, VTG, ZDA, GLL, GRS ,GST and TXT. This data set includes the complete PVT (position, velocity, time)
solution computed by the GNSS receiver.
Each sentence has a prefix beginning with a '$' and ends with a carriage return/line feed sequence and can be
no longer than 80 characters of visible text (plus the line terminators). There is a provision for a checksum at
the end of each sentence which may or may not be checked by the unit that reads the data. The checksum
field consists of a '*' and two hex digits representing an 8 bit exclusive OR of all characters between, but not
including, the '$' and '*'. A checksum is required on some sentences.
Different prefix indicates the global position satellite systems for sentences GRS, GSA and GSV:
 $GP for GPS-QZSS-SBAS
 $BD for BEIDOU-only
 $GL for GLONASS-only
 $GI for INSAT-only
 $GA for GALILEO-only
 $GN is for GNSS, combination of different global position satellite systems.

2.1 GGA - Global Positioning System Fix Data
ID GGA (support NMEA version 3.01/4.00/4.10)

Description Time, position and fix related data for a GNSS receiver
Format $GNGGA,hhmmss.fff,llll.lllll,a,yyyyy.yyyyy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh<CR><LF>
Content hhmmss.fff HourMinuteSecond.fraction (UTC)
(Shown in llll.lllll Latitude (HD9300/HD9400 series llll.lllllll)
sequence) a N or S (North or South)
yyyyy.yyyyy Longitude (HD9300/HD9400 series yyyyy.yyyyyyy)
a E or W (East or West)
x GNSS Quality Indicator
- 0 - fix not available
- 1 - GNSS fix
- 2 - Differential GNSS fix
(values above 2 are 2.3 features)
- 3 = PPS fix
- 4 = Real Time Kinematic
- 5 = Float RTK
- 6 = estimated (dead reckoning)
- 7 = Manual input mode
- 8 = Simulation mode
xx Number of satellites in use (range: 00-40)
x.x Horizontal Dilution of Precision (meters)
x.x Antenna Altitude above/below mean-sea-level (geoid) (in
meters)
M Units of antenna altitude, meters
x.x Geoidal separation, the difference between the WGS-84 earth
ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level
below ellipsoid
M Units of geoidal separation, meters
x Age of differential GNSS data, time in seconds since Last SC104,
type 1 or 9 update, null field when DGPS is not used
xxxx Differential reference station ID, 0000-1023
hh Checksum
$GNGGA,175722.000,0045.94406,N,00028.67819,E,1,10,1.19,35.8,M,18.2,M,,*50
Example $GNGGA,071113.000,3957.7995312,N,11619.0286230,E,4,16,0.99,103.965,M,-
8.408,M,1.0,4042*40 ( 93series )

2.2 GSA - GNSS DOP and Active Satellites
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.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
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)
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

2.3 GRS - GNSS Range Residuals
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
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

GN_NMEA_IDBASE_SBAS (87) 127~141

GN_NMEA_IDBASE_GPS (0) 01~32
GN_NMEA_IDBASE_GPSL1C (GN_NMEA_IDBASE_GPS + 400) 401~432
GN_NMEA_IDBASE_GPSL2CM (GN_NMEA_IDBASE_GPS + 500) 501~532
GN_NMEA_IDBASE_GPSL5 (GN_NMEA_IDBASE_GPS + 650) 651~682
GN_NMEA_IDBASE_GLONASS (64) 65~96
GN_NMEA_IDBASE_GLNG2 (GN_NMEA_IDBASE_GLONASS + 500) 565~596
GN_NMEA_IDBASE_BEIDOU (200) 201~ 237
Dual frequence GN_NMEA_IDBASE_BDSB1C (GN_NMEA_IDBASE_BEIDOU + 400) 601~637
Signal ID GN_NMEA_IDBASE_BDSB2I (GN_NMEA_IDBASE_BEIDOU + 500) 701~737
GN_NMEA_IDBASE_BDSB3I (GN_NMEA_IDBASE_BEIDOU + 600) 801~837
GN_NMEA_IDBASE_BDSB2A (GN_NMEA_IDBASE_BEIDOU + 650) 851~887
GN_NMEA_IDBASE_GALILEO (300) 301-336
GN_NMEA_IDBASE_GALE5A (GN_NMEA_IDBASE_GALILEO + 650) 951~986
GN_NMEA_IDBASE_QZSS (192) 193~199
GN_NMEA_IDBASE_QZSSL5 (GN_NMEA_IDBASE_QZSS+ 650) 843~849
GN_NMEA_IDBASE_IRNSSL5 (GN_NMEA_IDBASE_GPS + 900) 901~917

2.4 GSV - GNSS Satellites in View
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”

GN_NMEA_IDBASE_SBAS (87) 127~141

GN_NMEA_IDBASE_GPS (0) 01~32
GN_NMEA_IDBASE_GPSL1C (GN_NMEA_IDBASE_GPS + 400) 401~432
GN_NMEA_IDBASE_GPSL2CM (GN_NMEA_IDBASE_GPS + 500) 501~532
GN_NMEA_IDBASE_GPSL5 (GN_NMEA_IDBASE_GPS + 650) 651~682
GN_NMEA_IDBASE_GLONASS (64) 65~96
GN_NMEA_IDBASE_GLNG2 (GN_NMEA_IDBASE_GLONASS + 500) 565~596
GN_NMEA_IDBASE_BEIDOU (200) 201~ 237
Dual frequence GN_NMEA_IDBASE_BDSB1C (GN_NMEA_IDBASE_BEIDOU + 400) 601~637
SAT ID GN_NMEA_IDBASE_BDSB2I (GN_NMEA_IDBASE_BEIDOU + 500) 701~737
GN_NMEA_IDBASE_BDSB3I (GN_NMEA_IDBASE_BEIDOU + 600) 801~837
GN_NMEA_IDBASE_BDSB2A (GN_NMEA_IDBASE_BEIDOU + 650) 851~887
GN_NMEA_IDBASE_GALILEO (300) 301-336
GN_NMEA_IDBASE_GALE5A (GN_NMEA_IDBASE_GALILEO + 650) 951~986
GN_NMEA_IDBASE_QZSS (192) 193~199
GN_NMEA_IDBASE_QZSSL5 (GN_NMEA_IDBASE_QZSS+ 650) 843~849
GN_NMEA_IDBASE_IRNSSL5 (GN_NMEA_IDBASE_GPS + 900) 901~917
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)

2.5 RMC - Recommended Minimum Specific GNSS Data
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>
(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

2.6 VTG - Course Over Ground and Ground Speed
ID VTG (support NMEA version 3.01/4.00/4.10)

Description The actual course and speed relative to the ground
Format $GNVTG,x.x,T,x.x,M,x.x,N,x.x,K,a*hh<CR><LF>
Content x.x Track Degrees
(Shown in T True
sequence) x.x Magnetic Degrees
M Magnetic
x.x Speed Knots
N Knots
x.x Speed Kilometers Per Hour
K Kilometers Per Hour
A Mode Indicator: V = Invalid, A= Autonomous and D
=Differential
hh Checksum
Example $GNVTG,0.50,T,,M,0.000,N,0.000,K,A*26
2.7 ZDA - Time & Date
ID ZDA (support NMEA version 4.10/3.01/4.00)

Description Time & Date - UTC, day, month, year and local time zone
Format $GNZDA,hhmmss.fff,dd,mm,yyyy,xx,yy*hh<CR><LF>
(Shown in dd Day
sequence) mm Month
yyyy Year
xx Local zone hours -13..13
yy Local zone minutes 0..59
hh Checksum
Example $GNZDA,072319.000,14,10,2015,-7,45*5F

2.8 GLL - Geographic Position - Latitude/Longitude
ID GLL(support NMEA version 4.10/3.01/4.00)

Description Latitude and Longitude of vessel position, time of position fix and status.
Format support $GNGLL,llll.lllll,a,yyyyy.yyyyy,a,hhmmss.fff,A,a*hh<CR><LF>
Content llll.lllll Latitude ( HD9300/HD9400 series llll.lllllll)
(Shown in a N or S (North or South)
sequence) yyyyy.yyyyy Longitude ( HD9300/HD9400 series yyyyy.yyyyyyy)
a E or W (East or West)
hhmmss.fff HourMinuteSecond.fraction (UTC)
A Status A - Data Valid, V - Data Invalid
a Mode Indicator: V = Invalid, A= Autonomous and D
=Differential
hh Checksum
Example $GNGLL,2225.56149,N,11412.68190,E,074822.001,A,A*44
2.9 GST- GNSS Pseudorange Error Statistics
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>
(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
2.10 TXT - system or user defined message
ID TXT(support NMEA version 4.10/3.01/4.00)

Description System or user defined message
Format support $GNTXT,xx,xx,xx,ccc*hh<CR><LF>
Content xx total number $xxTXT in the current period
(Shown in xx subsequent ID, counting from 01, 02 and so on
sequence) xx message of system first starting
ccc ALLYSTAR or ANT_OK or customer flag
hh Checksum

Example $GNTXT,02,01,01,ALLYSTAR*5F (after hardware reset)

$GNTXT,02,01,02,ALLYSTAR*5C (after reset by start command)

2.11 SBAS Description
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.
ALLYSTAR Binary message packet
Start Message Payload End

Payload
sequence ID length sequence
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 Packet field description
3.1.1 Start Sequence

Start sequences is needed for every binary message packet in order to distinguish the start of a message.
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
3.1.3 Payload Length

This is a 2 byte long field describing length of the payload. It does not include any length other than the
payload (Start sequence, Message ID, etc.). Which means the smallest possible value of payload length can be
zero. The 2 byte payload length is aligned with Little endian format.
3.1.4 Payload
Payload refers to the content of a message. Payload content and their respective details will be discussed later.
3.1.5 End Sequence

End sequence includes a 16 Bit checksum. Its calculation is the 8-Bit Fletcher Algorithm. The checksum value is
calculated from the start byte of Message ID to the last byte of payload content, start sequence is ignored
when calculating checksum.
Algorithm:
1 Ckecksum1 = 0
2 Checksum2 = 0
3 For each byte B from Message ID to last byte of payload
4 Ckecksum1 = Ckecksum1 + B
5 Checksum2 = Checksum2 + Ckecksum1
6 Mask Ckecksum1 with 0xFF
7 Mask Checksum2 with 0xFF
* The result 2 bytes checksum sequence would be {Checksum1, Checksum2}.

3.2 Protocol data transfer
3.2.1 CFG Packet Scenario

An Acknowledge (ACK) or a NOT Acknowledge (NACK) packet will be sent back to sender after any set action
of the CFG group command received. Implication of the ACK/NACK packet is message dependent. ACK/NACK
message is ONLY sent when CFG message received.
Usr Receiver Usr Receiver
Done x Lost
3.2.2 Poll Packet Scenario

Some of the packet can be polled through sending a poll packet. The poll packet is also a standard binary
message and has the same group ID and sub ID with the packet being polled. Unless specified, a poll packet
usually contains empty payload.
Usr Receiver
Done

3.2.3 Others
For some other packets, ALLYSTAR GNSS receiver would neither ACK nor response to sender.
Usr Receiver
Done

4 BINARY PACKET OVERVIEW

Name Msg. ID Length Type Description
NAV-POSECEF 0x01 0x01 0 Poll Position solution in ECEF
NAV-POSECEF 0x01 0x01 20 Get Position solution in ECEF
NAV-POSLLH 0x01 0x02 0 Poll Geodetic Position
NAV-POSLLH 0x01 0x02 28 Get Geodetic Position
NAV-DOP 0x01 0x04 0 Poll Dilution of precision
NAV-DOP 0x01 0x04 18 Get Dilution of precision
NAV-CLOCK 0x01 0x22 0 Poll Clock solution
NAV-CLOCK 0x01 0x22 20 Get Clock solution
NAV-SVINFO 0x01 0x30 0 Poll Satellite information
NAV-SVINFO 0x01 0x30 8 + 24N Get Satellite information
NAV-TIME 0x01 0x05 1 Poll Time solution command
NAV-TIME 0x01 0x05 16 Polled GNSS (GPS or BD) Time solution
message
ACK-NACK 0x05 0x00 2 Response Message not-acknowledge
ACK-ACK 0x05 0x01 2 Response Message acknowledge
CFG-PRT 0x06 0x00 1 Poll Port Configuration
CFG-PRT 0x06 0x00 8 Polled / Set Port Configuration
CFG-MSG 0x06 0x01 2 Poll Message Rate Configuration
CFG-MSG 0x06 0x01 3 Polled / Set Message Rate Configuration
CFG-PPS 0x06 0x07 0 Poll Pulse per second
CFG-PPS 0x06 0x07 5 Polled / Set Pulse per second
CFG-DOP 0x06 0x0A 0 Poll DOP mask for navigation use
CFG-DOP 0x06 0x0A 4 Polled / Set DOP mask for navigation use
CFG-ELEV 0x06 0x0B 0 Poll Elevation mask for navigation use
CFG-ELEV 0x06 0x0B 4 Polled / Set Elevation mask for navigation use
CFG-NAVSAT 0x06 0x0C 0 Poll Navigation satellite mask
CFG-NAVSAT 0x06 0x0C 4 Polled/Set Navigation satellite mask
CFG-HEIGHT 0x06 0x0D 0 Poll Get the height limitation
CFG-HEIGHT 0x06 0x0D 16 Polled/Set Config the height limitation
CFG-SBAS 0x06 0x0E 26 Poll SBAS status for use
CFG-SBAS 0x06 0x0E 26 Polled / Set SBAS status configuration
CFG-SPDHOLD 0x06 0x0F 0 Poll Query static hold speed for navigation
use
CFG-SPDHOLD 0x06 0x0F 2 Polled / Set Configuration static hold speed for
navigation use
CFG-SIMPLERST 0x06 0x40 1 Set Simple startup command
CFG-NMEAVER 0x06 0x43 0 Poll Get the version of NMEA
CFG-NMEAVER 0x06 0x43 1 Polled/Set Set the version of NMEA
MON-VER 0x0A 0x04 0 Poll Software/Hardware version
MON-VER 0x0A 0x04 32 Polled Software/Hardware version

Name Msg. ID Length Type Description

MON-INFO 0x0A 0x05 0 Poll Special customized information
MON-INFO 0x0A 0x05 2+N Polled/Set Special customized information
AID-INI 0x0B 0x01 0 Poll Initial Aiding Data
AID-INI 0x0B 0x01 48 Polled / Set Initial Aiding Data
AID-EPH-GPS 0x0B 0x32 1 Poll Ephemeris Data for particular svid (if 0,
for all GPS)
AID-EPH-GPS 0x0B 0x32 65 Polled / Set Ephemeris Data
AID-EPH-BD 0x0B 0x33 1 Poll Ephemeris Data for particular svid (if 0,
for all BD)
AID-EPH-BD 0x0B 0x33 92 Polled / Set Ephemeris Data

5 DETAILED PACKET DESCRIPTION

In this section, all binary messages content will be discussed in details.
In the payload contents sections of the following tables, byte offset refers to the byte offset starting from the
first byte in the payload.
To abbreviate data type names, we have the following definitions table for data type.
Symbol Name Size in bytes
U1 Unsigned char 1
S1 Signed char 1
U2 Unsigned short 2
S2 Signed short 2
U4 Unsigned integer 4
S4 Signed integer 4
R4 float 4
* The examples after binary message descriptions table are hexadecimals. Spaces between two hexadecimals (e.g. space between F1
D9) are delimiters for better present, and they should not be included when communicating with GNSS receivers.
5.1 Navigation messages (NAV)
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 -
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 -
No Payload
MESSAGE NAV-POSLLH
Description Position solution in LLA
Type Polled
Comment -
Payload Contents:
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 -
No Payload
MESSAGE NAV-DOP
Description Dilution of precision
Type Polled

Comment -
Payload Contents:
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 -
Payload Contents:
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
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

5.1.5 NAV-TIMEUTC
MESSAGE NAV-TIMEUTC
Description UTC Time Solution
Type Poll
Comment -
No Payload
MESSAGE NAV-TIMEUTC
Description UTC Time Solution
Type Polled
Comment -
Payload Contents:
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
ValidFlag bit description

Bit number ValidFlag Description
0 Valid TOW 1 means valid time of week
1 Valid WKN 1 means valid week number
2 Valid UTC 1 means valid UTC time

3 reserved reserved
7~4 utcStandard UTC standard identifier (four bits make the value from 0~15).
0: Information not available
1: National Time Service Center, China (NTSC)
2: U.S. Naval Observatory (USNO)
4: European Laboratory (EUL)
5: Former Soviet Union (SU)
6: India(INDIA)
Others : Unknown
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.
No Payload
MESSAGE NAV-CLOCK
Description Clock Solution
Type Polled
Comment -
Payload Contents:
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 -
No Payload
MESSAGE NAV-SVINFO
Description Space Vehicle Information
Type Polled
Comment -
Structure 0xF1 0xD9 0x01 0x30 8+ See below CK_1 CK_2
24N
Payload Contents:
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 Receiver Manager Messages
5.2.1 RXM-DUM
MESSAGE RXM-DUM
Description Enable/disable dump rawdata message
Type Set
Comment Periodic output raw message
Payload Contents:
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
Payload Contents:
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
Payload Contents:
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 Message Acknowledge (ACK)
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
Payload Contents:
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
Payload Contents:
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 Configuration Input Messages (CFG)
5.4.1 CFG-PRT
MESSAGE CFG-PRT
Description Query communication port configuration
Type Poll
Comment Support UART0 and UART1
Payload Contents:
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
Payload Contents:
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 -
Payload Contents:
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 -
Payload Contents:
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 -
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)
12
Payload Contents:
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

MESSAGE CFG-PPS (For Cynosure II/III)

Description Pulse per second
Type Polled/Set
Comment Extend to support cynosure II format
Payload Contents:
0 U4 period us One elapsed cycle time of
PPS in microsecond
4 S4 Offset ns Pulse delay defined by
user. The default value is 0
which means the function
disabled and the GPIO
output low.
8 U4 10-6 Duty Cycle % Ratio of Active part in PPS
12 U1 Polarity - Pulse polarity at the start
of PPS, 0 = falling edge at
start of second
13 U1 GPIO 0~15
14 U1 Sync 0- Only output PPS when
fixing
1- Keep PPS even there is
no position fix
Example:
In cynosure II, to set 1PPS with pulse length 500us and positive polarity high on GPIO13 with PPS output even
there is no position fix.
F1 D9 06 07 0F 00 40 42 0F 00 00 00 00 00 10 27 00 00 01 0D 01 F3 86
The calculator of PPS:
dutycycle period
The pulse width of the PPS =  s
10 6 10 6

5.4.4 CFG-CFG
MESSAGE CFG-CFG
Description Clear, Save current configurations
Type Set
Comment Clear / Write system configuration on/into nonvolatile memory
Payload Contents:
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
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
Structure 0xF1 0xD9 0x06 0x0A 4 See below CK_1 CK_2
Payload Contents:
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
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
Structure 0xF1 0xD9 0x06 0x0B 8 See below CK_1 CK_2
Payload Contents:
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
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
Structure 0xF1 0xD9 0x06 0x0C 4 See below CK_1 CK_2
Payload Contents:
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 -
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
Structure 0xF1 0xD9 0x06 0x0D 16 See below CK_1 CK_2
Payload Contents:
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
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.
Structure 0xF1 0xD9 0x06 0x0E 2xn See below CK_1 CK_2
Payload Contents:
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
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
Structure 0xF1 0xD9 0x06 0x0F 2 See below CK_1 CK_2
Payload Contents:
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
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
Payload Contents:
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
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
Payload Contents:
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
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
Type Polled/Set
Comment Set the duration and accuracy requirement of survey mode
Payload Contents:
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
Type Poll
Comment Poll the constant stationary LLA position
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
Type Polled/Set
Comment Set the constant stationary LLA position
Payload Contents:
-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
Type Poll
Comment Poll the constant stationary ECEF position
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
Type Polled/Set
Comment Set the constant stationary ECEF position
Payload Contents:
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
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
Payload Contents:
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
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
Structure 0xF1 0xD9 0x06 0x16 2*N See below CK_1 CK_2
Payload Contents:
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
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
Payload Contents:
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
Payload Contents:
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
5 Cynosure II
Payload Contents:
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 -
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
Payload Contents:
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 -
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.
Payload Contents:
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
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
Payload Contents:
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)
Payload Contents:
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
Structure 0xF1 0xD9 0x06 0xB0 1 See below CK_1 CK_2
Payload Contents:
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
Structure 0xF1 0xD9 0x06 0xB0 3 See below CK_1 CK_2
Payload Contents:
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

Structure 0xF1 0xD9 0x06 0xB0 32*32 See below CK_1 CK_2
Payload Contents:
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
14 D0

5.5 Monitor Receiver Status (MON)
5.5.1 MON-VER
MESSAGE MON-VER
Description Software/Hardware version
Type Poll
Comment Poll software/hardware version
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 -
Payload Contents:
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
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
Structure 0xF1 0xD9 0x0A 0x05 N See below CK_1 CK_2
Payload Contents:
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 -
Payload Contents:
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
Payload Contents:
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 -
Payload Contents:

0 U2 - nmeaprn - The prn number of the

satellite
Example:
Poll the clock of PRN = 5
For example: Poll the clock of PRN =5
F1 D9 0A 09 02 00 05 00 1A 7B
MESSAGE MON- RCVCLK
Description Receiver clock value
Type Polled
Comment Set the configuration (baudrate) of communication port
Payload Contents:
0 U4 - clkfreq - Receiver true clock
frequency
Example:
Return the current receiver clock measured by the given satellite 5
F1 D9 0A 09 04 00 AE BA 8C 01 0C A6

5.5.5 MON-CWI
MESSAGE MON- CWI
Description CWI check
Type Poll
Comment Poll cwi peak frequency
Structure 0xF1 0xD9 0x0A 0x0A 2 See below CK_1 CK_2
Payload Contents:
Example:
F1 D9 0A 0A 00 00 14 46
MESSAGE MON- CWI

Description CWI check
Type Polled
Comment Output CWI check result
Structure 0xF1 0xD9 0x0A 0x0A 8 See below CK_1 CK_2
Payload Contents:
0 S4 Frequency Hz Frequency offset from
offset 1575.42MHz
4 S4 Peak value Measured peak value at
peak frequency
Example:
Offset 100Hz, peak value 70000
F1 D9 0A 0A 08 00 64 00 00 00 70 11 01 00 02 4B
5.6 Assistance GNSS Messages（AID）
5.6.1 AID-INI
MESSAGE AID-INI
Description Initial Aiding Data
Type Poll
Comment Poll current GNSS receiver data
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

Comment Get/Set reference for GNSS receiver

Payload Contents:
0 S4 1e-7 Lat Degrees Latitude
4 S4 1e-7 Lon degrees Longitude
8 S4 Alt cm Altitude
12 U4 posAcc cm Position accuracy (stddev)
16 S2 Reserved
18 U2 wn Actual week number
20 U4 tow ms Actual time of week
24 S4 towNs ns Sub-millisecond part of
time of week
28 U4 tAccMs ms Milliseconds part of time
accuracy
32 U4 res1 Reserved
36 S4 clkD ns/s Clock drift
40 U4 res2 Reserved
44 S4 res3 Reserved

5.6.2 AID-POS
MESSAGE AID-POS
Description Initial Aiding Data (position)
Type Set
Comment Cynosure II, LLA or ECEF could be selected
Payload Contents:
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
Payload Contents:
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
Payload Contents:
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
Description Proprietary Ephemeris Data for GPS
Type Polled/Set
Comment Cynosure II/III
Payload Contents:
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)

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
^-55
^-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.
Payload Contents:
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
Description Proprietary Ephemeris Data for Beidou
Type Polled/Set
Comment Allows the delivery of BeiDou ephemeris assistance to a receiver.
Payload Contents:
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)

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
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
the vertical delay
^-24
the vertical delay
^-24
the vertical delay
^11
82 S1 2 Beta0 coef. for the period of the
model
^14
model
^16
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
6.1 Background Information
HD9300/HD9400 series support differential GNSS data according to RTCM version 3 .The messages of RTCM
are described as the following table.
6.2 Support messages
HD9300/HD9400 series supports following RTCM3.3 input messages:

Message Type Description
1005 Stationary RTK Reference Station ARP
1006 Stationary RTK Reference Station ARP with Antenna Height
1074 GPS MSM4
1075 GPS MSM5
1077 GPS MSM7
1084 GLO MSM4
1085 GLO MSM5
1087 GLO MSM7
1094 GAL MSM4
1095 GAL MSM5
1097 GAL MSM7
1114 QZS MSM4
1115 QZS MSM5
1117 QZS MSM7
1124 BDS MSM4
1125 BDS MSM5
1127 BDS MSM7
4065 sub-id 0 Reference station PVT (ALLYSTAR Proprietary RTCM Message)
HD9300/HD9400 series supports following RTCM3.3 output messages:
Message Type Group ID/ Sub Id Description

1005 0xF8 ; 0x05 Stationary RTK Reference Sation ARP
1019 0xF8 ; 0x13 GPS Ephemerides
1020 0xF8 ; 0x14 GLO Ephemerides
1042 0xF8 ; 0x2A BDS Ephemerides
1044 0xF8 ; 0x2C QZS Ephemerides
1046 0xF8 ; 0x2D GAL /NAV Ephemerides
1074 TBD GPS MSM4
1075 TBD GPS MSM5
1077 0xF8 ; 0x4D GPS MSM7
1084 TBD GLO MSM4

1085 TBD GLO MSM5

1087 0xF8 ; 0x57 GLO MSM7
1094 TBD GAL MSM4
1095 TBD GAL MSM5
1097 0xF8 ; 0x61 GAL MSM7
1114 TBD QZS MSM4
1115 TBD QZS MSM5
1117 0xF8 ; 0x75 QZS MSM7
1124 TBD BDS MSM4
1125 TBD BDS MSM5
1127 0xF8 ; 0x7F BDS MSM7
4065 sub-id 0 0xF8 ; 0x41 Reference station PVT (ALLYSTAR Proprietary RTCM Message)
6.3 ALLYSTAR proprietary RTCM messages
Message Type Organization Contact

4065 ALLYSTAR Technology CO. Ltd http://www.allystar.com
Approved by RTCM SPECIAL COMMITTEE in 2017
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
0xA Raw sensor measurements TBD

The reference message (type 4065, sub-id 0) must be used in combination with MSM7 observation messages.
6.4 Configuration
The RTCM version 3 protocol can be disabled/enabled and set update rate on communication interfaces by CFG-MSG.

7 REVISION HISTORY
Revision Date Author Status / Comments
V1.0 2017-04-24 LH Initial release
V1.1 2017-05-26 LH Added the TXT sentence.
Added MON-RCVCLK, EPH-SAVE, CFG-FWUP, NAV-
TIME, GPS-EPH, BD-EPH, MON-RCVCLK command,
V1.2 2017-09-22 LH
removed POSTIME command, modified the PPS
command. Added the description for GLONASS PRN.
V1.3 2017-10-20 Daisy Format update
V1.4 2018-01-25 Daisy Add DR command messages
Delete NAV-AUTO, NAV-AHTS, CFG-EPHSAVE, MON-
V1.5 2018-01-30 Daisy BIT, MON-TRK, MON-RCVCLK and BOOT2 ROM
BINARY MESSAGES.
Add the command CFG-NUMSV, CFG-SURVEY, CFG-
V1.6 2018-04-08 Daisy FIXEDLLA, CFG-FIXEDECEF; Add the command CFG-
ANTIJAM,RAW-DUMPRAW,RXM-GALSAR
V1.7 2018-05-04 Daisy Delete DR command messages to a basic version.
Modified the CFG-SBAS, GSV and GSA,CFG-ANTIJAM;
V1.8 2018-07-25 Xiaoli Add the cmd MON-INFOADD, MON-BIT, MON-TRK,
MON-RCVCLK
Add CFG-BDGEO, CFG-CARRSMOOTH; Modified CFG-
V1.9 2018-11-07 Xiaoli
NAVSAT ,GSV and GSA for 8040
Modified the cmd demo of CFG-NMEAVER and CFG-
V1.9.1 2018-11-12 Xiaoli
PWRCTL
Add NMEA for IRNSS, update the CFT-NMEAVER for
V1.9.2 2019-01-29 Xiaoli
IRNSS
V1.9.3 2019-06-27 Charles Add RTK protocol;Modified descriptive error
V2.2 2019-07-11 xiaoli Update the GSA and GSV as 8040 dual frequence
Add NAV-TIMEUTC,CFG-PWRCTL2,MON-TRKCHAN;
V2.3 2019-08-01 Xiaoli
modified GNTXT and CFG-NAK
www.allystar.com
[email protected]
5F, Building No.4, Winlead Intelligent Park, No.3, FaDa road
(middle), Bantian Subdistrict, LongGang District, Shenzhen City,
Guangdong Province, China.

T 5 1908 001 GNSS - Protocol - Specification V2.3

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T 5 1908 001 GNSS - Protocol - Specification V2.3

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ALLYSTAR GNSS Receiver

Protocol Specification V2.3

TABLE OF CONTENT ................................................................................ 2

2 NMEA MESSAGES FORMAT ............................................................. 6

3 BINARY MESSAGES ....................................................................... 21

4 BINARY PACKET OVERVIEW .......................................................... 25

Confidential 5 Copyright © ALLYSTAR Page 2 of 79

5.1.3 NAV-DOP ........................................................................................................................... 28

Confidential 5 Copyright © ALLYSTAR Page 3 of 79

5.6 Assistance GNSS Messages（AID） ........................................................................ 68

6 RTCM PROTOCOL ......................................................................... 76

7 REVISION HISTORY ....................................................................... 78

Confidential 5 Copyright © ALLYSTAR Page 4 of 79

1.1 Background Information

1.2 ALLYSTAR GNSS Receiver supported messages

GRS, GSV, RMC, VTG, ZDA，GST and TXT.

1.3 Setting message output rate

Confidential 5 Copyright © ALLYSTAR Page 5 of 79

2 NMEA MESSAGES FORMAT

Confidential 5 Copyright © ALLYSTAR Page 6 of 79

2.1 GGA - Global Positioning System Fix Data

ID GGA (support NMEA version 3.01/4.00/4.10)

Confidential 5 Copyright © ALLYSTAR Page 7 of 79

2.2 GSA - GNSS DOP and Active Satellites

Confidential 5 Copyright © ALLYSTAR Page 8 of 79

Confidential 5 Copyright © ALLYSTAR Page 9 of 79

Confidential 5 Copyright © ALLYSTAR Page 10 of 79

2.3 GRS - GNSS Range Residuals

Confidential 5 Copyright © ALLYSTAR Page 11 of 79

GN_NMEA_IDBASE_SBAS (87) 127~141

Confidential 5 Copyright © ALLYSTAR Page 12 of 79

2.4 GSV - GNSS Satellites in View

Confidential 5 Copyright © ALLYSTAR Page 13 of 79

Confidential 5 Copyright © ALLYSTAR Page 14 of 79

GN_NMEA_IDBASE_SBAS (87) 127~141

Confidential 5 Copyright © ALLYSTAR Page 15 of 79

2.5 RMC - Recommended Minimum Specific GNSS Data

Confidential 5 Copyright © ALLYSTAR Page 16 of 79

2.6 VTG - Course Over Ground and Ground Speed

ID VTG (support NMEA version 3.01/4.00/4.10)

2.7 ZDA - Time & Date

ID ZDA (support NMEA version 4.10/3.01/4.00)

Confidential 5 Copyright © ALLYSTAR Page 17 of 79

2.8 GLL - Geographic Position - Latitude/Longitude

ID GLL(support NMEA version 4.10/3.01/4.00)

2.9 GST- GNSS Pseudorange Error Statistics

2.10 TXT - system or user defined message

ID TXT(support NMEA version 4.10/3.01/4.00)

Confidential 5 Copyright © ALLYSTAR Page 18 of 79

Example $GNTXT,02,01,01,ALLYSTAR*5F (after hardware reset)

Confidential 5 Copyright © ALLYSTAR Page 19 of 79

2.11 SBAS Description

Confidential 5 Copyright © ALLYSTAR Page 20 of 79

ALLYSTAR Binary message packet

Start Message Payload End

Confidential 5 Copyright © ALLYSTAR Page 21 of 79

3.1 Packet field description

3.1.1 Start Sequence

3.1.3 Payload Length