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UNICORECOMM Unicore Command Reference Manual

High precision gnss board and module
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Command Reference Manual
Unicore
Reference Commands Manual for
High Precision GNSS Board and
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Summary of Contents for UNICORECOMM Unicore

  • Page 1 Command Reference Manual Unicore Reference Commands Manual for High Precision GNSS Board and Module...
  • Page 2 Information in this document is subject to change without notice and does not represent a commitment on the part of Unicore Communications, Inc. No part of this manual may be reproduced or transmitted in any form or by any means, electronic or...

  • Page 3: Table Of Contents

    Command and Log Reference Content: Frequently Used Commands ................5 1.1. Base Station Configuration ............... 6 1.2. Rover Station Configuration ..............7 1.3. Moving Base Configuration ............... 7 1.4. Heading Configuration ................8 1.5. Inertial Navigation..................8 Command Types Introduction ................. 9 MODE Command .....................
  • Page 4 Command and Log Reference 6.1.9 GPGSV GNSS Satellites in View ............... 38 6.1.10 GPHDT Heading Log ................. 39 6.1.11 GPRMC GNSS Recommended Information ........40 6.1.12 GNRMC GNSS Recommended Information ........41 Binary Information .................. 42 6.2.1 OBSVM Oberservation ................44 6.2.2 OBSVH Oberservation ................

  • Page 5: Frequently Used Commands

    Command and Log Reference 1. Frequently Used Commands Unicore high precision receivers support abbreviated ASCII format. Without CRC bits, abbreviated ASCII is easy to use for users’ input. All commands compose with command header and configuration parameters. Header field contains the command name or the message header.

  • Page 6: Base Station Configuration

    Command and Log Reference mode movingbase Set the moving base station mode mode rover Set the default rover station mode (disable base station mode) rtcm1033 comx 10 Set base station to transfer RTCM messages to rover rtcm1006 comx 10 receivers via the serial port comx. rtcm1074 comx 1 The serial port can be assigned as com1、com2、com3.

  • Page 7: Rover Station Configuration

    Command and Log Reference saveconfig Save configuration If base station coordinate is unknown, we provide you obtain the average values from a period time of positioning results in specific conditions. The following instructions required to enter and save at the base station: Table 1-3: Self-Optimizing Base Station Configuration Number Command...

  • Page 8: Heading Configuration

    Command and Log Reference Base station antenna coordinate rtcm1006 com2 1 (antenna height included) rtcm1033 com2 1 Receiver and antenna description rtcm1074 com2 1 GPS system correction data rtcm1124 com2 1 BDS system correction data rtcm1084 com2 1 Glonass system correction data rtcm1094 com2 1 Galileo system correction data saveconfig...

  • Page 9: Command Types Introduction

    Command and Log Reference 2. Unicore Command Types Introduction The Unicore commands for High precision GNSS board and modules can be catageoriezed into the following types. Unicore UB4B0，UB482 boards and UM4B0, UM482, UM440 modules comply with the command reference. Table 2-1: Command Types...

  • Page 10: Base Station Mode Configuration

    Command and Log Reference Set the Heading mode HEADING TIMING Set the Timing mode Set the TDIF mode TDIF ARTK Set the ARTK mode Set the PPP mode Base Station Mode Configuration The fixed base station antenna will be installed in a fixed position, without moving during use.

  • Page 11: Fixed Base Station With Ecef Coordinate

    Command and Log Reference MODE BASE 1 40.45628476579 116.2859754968 58.0984 Table 3-2: Base Station Mode with Fixed Coordinates Comma Mode Field Paramet Parameters Description Latitude coordinate in degree Latitude (±90) MODE BASE Longitude coordinate in degree Longitude (±180) Height Height in meter(±30000) 3.1.2 Fixed Base Station with ECEF Coordinate Set fixed ECEF coordinate of the base station antenna to make the receiver work...

  • Page 12: Self-Optimizing Base Station Mode

    Command and Log Reference 60 seconds positioning results are set as the base station coordinates. When time is up to 60 seconds, or the optimized coordinates accuracy of the horizontal and vertical reach 0.5m, the receiver will stop the self-optimizing calculation and the final optimized coordinates are set as the base station coordinates.

  • Page 13: Set Base Station Id

    Command and Log Reference Horizontal error tolerance of param1 average position (default = 0.5m) Vertical error tolerance of average param2 position (default = 0.5m) 3.1.5 Set base station ID Set base station ID, 0≤ID<1024 positive integers. Command Format: MODE BASE [ID] Input Example: MODE BASE 1 Table 3-6: Base Station ID Parameter...

  • Page 14: Rover Station Mode Configuration

    Command and Log Reference Abbreviated ASCII Syntax: MODE MOVINGBASE MODE MOVINGBASE DISABLE Table 3-7: Moving Base Station Work Mode Parameters Command Mode Parameter Parameters Description —— Enable moving base station mode MODE MOVINGBASE DISABLE Disable moving base station mode Rover Station Mode Configuration Rover Station receives the real-time differential correction data sent by the base station.

  • Page 15: Config Command

    Command and Log Reference Abbreviated ASCII Syntax: MODE HEADING //Enable fixed baseline heading MODE HEADING FIXLENGTH //Enable fixed baseline heading MODE HEADING STATIC //Enalbe static baseline heading Table 3-9: Heading Mode Parameters Command Mode Parameter Parameters Description Between two antennas (static or dynamic) of moving base station and heading receiver, the relative positions or distance keeps relative stationary...

  • Page 16: Configure Antenna

    Command and Log Reference Device Device Description Name COM1 serial port: port settings related to COM1, such as baud COM1 rate, parity bit. COM2 serial port: port settings related to COM2, such as baud COM2 rate, parity bit. COM3 serial port: port settings related to COM3, such as baud COM3 rate, parity bit.

  • Page 17: Configure Serial Port

    Command and Log Reference Abbreviated ASCII Syntax: CONFIG UNDULATION 9.7 Table 4-3: Undulation Configuration ASCII Parameters Description Command Device Parameter Value Use built-in geoid undulation auto grid table UNDULATIO CONFIG OPTION Use user-specified undulation separation value, ranged from -1000m to +1000m Configure RTK Command This command is used to resets the RTK engine and to clear the RTK parameters.

  • Page 18: Configure Pps

    Command and Log Reference Abbreviated ASCII Syntax: CONFIG DGPS 100 Table 4-5: DGPS Maximum Age Configuration ASCII Parameters Description Command Device Parameter Value Disable the DGPS positioning Option for maximum age of CONFIG DGPS DELAY 1-1000 differential corrections data (default = 300), in units of seconds Configure PPS This command sets the PPS pulse signal with a specific period and pulse width, and can compensate for the delay of the PPS.
  • Page 19 Command and Log Reference Configure Serial Port This command is to configure the data communication parameters for the physical serial port: setting the baud rate, data bits, parity, stop bit properties of the serial port. High-precision GNSS receivers maximumly support 3 serial ports, COM1, COM2, COM3 respectively.

  • Page 20: Configure Ins Devices To Be Enabled

    With onboard MEMS devices, Unicore High-precision receivers support GNSS and INS combined navigation to provide continuous, high quality and high output positioning results under complicated environment. This command is used to enable/disable the inertial navigation devices, to configure the inertial divece’s installation angle.

  • Page 21: Configure Ins Device Installation Angel

    Command and Log Reference Disable Disable INS 4.7.2 Configure INS device installation angel This command is used to set the installation angle of the board relative to the vehicle’s XYZ direction. The receiver is labeled with the XYZ axis direction of the inertial navigation device.

  • Page 22: Configure Ins Alignment Velocity Threshold

    Command and Log Reference CONFIG INS TIMEOUT [time] Abbreviated ASCII Syntax： CONFIG INS TIMEOUT 60 Table 4-12：INS Maximum Prediction Time Configuration Command Device Field ASCII Value Parameters Description Disable INS positioning The maximum time allow INS to CONFIG timeout positioning after no GNSS 1-1000 satellite signal (default = 200), seconds...

  • Page 23: Unmask Set Satellite System

    Command and Log Reference Input Example: Disable receiver tracking GPS/BDS/GLO/GAL satellite system： MASK GPS/BDS/GLO/GAL Enable receiver tracking GPS/BDS/GLO/GAL satellite system： MASK -GPS/BDS/GLO/GAL Set cut-off angle of the receiver tracking satellite： MASK 10 Set cut-off angle of GPS/BDS/GLO/GAL satellite： MASK 10 GPS/BDS/GLO/GAL Disable the receiver to track BDS B1 signal：...
  • Page 24 Command and Log Reference LOG [device] [output rate {0-9*.{0-9}| onchanged]| Rules: If the message begins with “GN” and without special instructions, the output is multi-system calucating results by default. If the message begins with 3-letter(BDS/GPS/GLO/GAL) and without special instructions, the output is single system calucating results. BDS indicates BDS system, GPS indicates GPS system, GLO indicates GLONASS system, GAL indicates Galileo system.
  • Page 25 Command and Log Reference Information of GPS satellites in view: PRN 0.05、0.1、 COM1 number, elevation, azimuth and SNR value 0.2、0.5、 GPGSV COM2 1、 COM3 5、10…… Information of receiver operating mode, 0.05、0.1、 COM1 all satellites involved positioning and DOP 0.2、0.5、 GNGSA COM2 values 1、...
  • Page 26 Command and Log Reference Information of track made good and 0.05、0.1、 COM1 speed relative to the ground 0.2、0.5、 GPVTG COM2 1、 COM3 5、10…… Information of UTC time and date 0.05、0.1、 COM1 0.2、0.5、 GPZDA COM2 1、 COM3 5、10…… NMEA0183 0.05、0.1、 COM1 0.2、0.5、...
  • Page 27 Command and Log Reference RTCM 0.05、0.1、 COM1 0.2、0.5、 RTCM1019 COM2 1、 COM3 5、10…… RTCM 0.05、0.1、 COM1 0.2、0.5、 RTCM1020 COM2 1、 COM3 5、10…… RTCM 0.05、0.1、 COM1 0.2、0.5、 RTCM1033 COM2 1、 COM3 5、10…… 0.05、0.1、 RTCM COM1 0.2、0.5、 RTCM1104 COM2 1、 COM3 5、10…… 0.05、0.1、...

  • Page 28: Gngga Gnss Multi-System Positioning Output

    Command and Log Reference Base station description 0.05、0.1、 COM1 0.2、0.5、 CMRDESC COM2 1、 COM3 5、10…… 6.1.1 GNGGA GNSS Multi-System Positioning Output This command is used to log time, multi-system positioning fix data of the receiver. The message begins with GNGGA. Recommend Input: Output 1Hz GNGGA message from current serial port: GNGGA 1...

  • Page 29: Gpgga Gnss Fix Data Output By Gpgga

    Command and Log Reference Field Description Symbol Example sea level a-units Units of antenna height (M = meter) Undulation: the vertical separation undulation between the geoid and the WGS84 -15.174 ellipsoid u-units Units of undulation (M = meter) This value is set to Age of differential correction data, when seconds...

  • Page 30: Gpsgga Gps Fix Data Output

    Command and Log Reference Field Description Symbol Example Latitude direction (N = North, S = lat dir South) Longitude (DDDmm.mm) yyyyy.yy 11600.3622 Longitude direction (E = East, W = lon dir West) Quality indicators of positioning results: 0 = Positioning not available or invalid 1 = Single point GPS quality 2 = Pseudorange differential or SBAS...
  • Page 31 Command and Log Reference Recommend Input: Output 1Hz GPSGGA message from current serial port: GPSGGA 1 Output 1Hz GPSGGA message from com2: GPSGGA COM2 1 LOG output: $GPSGGA,025754.00,4004.74102107,N,11614.19532779,E,1,18,0.7,63 .3224,M,-9.7848,M,00,0000*58 Table 6-4: GPSGGA Message Description Field Description Symbol Example $GPSGGA Log header $GPSGGA UTC time of the current position (hours/minutes/seconds/...

  • Page 32: Bdsgga Bds Fix Data Output

    Command and Log Reference Field Description Symbol Example correction data available This value is set to Differential base station ID, between when stn ID xxxx 0000 and 1023 correction data available Checksum [CR][LF] Sentence terminator [CR][LF] 6.1.4 BDSGGA BDS Fix Data Output This command is used to log time, BDS system positioning fix data of the receiver.

  • Page 33: Glogga Glonass Fix Data Output

    Command and Log Reference Field Description Symbol Example 4 = RTK fixed solution 5 = RTK floating solution 6 = INS 7 = User fixed position Number of satellites in use, may not # sats the same as the number in view. hdop Horizontal dilution of precision Antenna height, above/below the...
  • Page 34 Command and Log Reference Field Description Symbol Example $GLOGGA Log header $GLOGGA UTC time of the current position (hours/minutes/seconds/ hhmmss.ss 170659.00 decimal seconds) Latitude (DDmm.mm) IIII.II 4001.1220 Latitude direction (N = North, S = lat dir South) Longitude (DDDmm.mm) yyyyy.yy 11600.3622 Longitude direction (E = East, W = lon dir...

  • Page 35: Galgga Galileo Fix Data Output

    Command and Log Reference 6.1.6 GALGGA Galileo Fix Data Output This command is used to log time, Galileo system positioning fix data of the receiver. The message begins with “$GALGGA”. Recommend Input: Output 1Hz GALGGA message from current serial port： GALGGA 1 Output 1Hz GALGGA message from com2: GALGGA COM2 1...

  • Page 36: Gpgsa Gps Dop And Active Satellites

    Command and Log Reference Field Description Symbol Example between the geoid and the WGS84 ellipsoid u-units Units of undulation(M = meter) This value is set to Age of differential correction data, when seconds correction data available This value is set to Differential base station ID, between when stn ID...

  • Page 37: Gpgst Pseudorange Measurement Noise Statistics

    Command and Log Reference Field Description Symbol Example GLONASS=38 to 74 GALILEO = 75 to 119 BD2 = 161 to 197 pdop Position dilution of precision hdop Horizontal dilution of precision vdop Vertical dilution of precision Checksum [CR][LF] Sentence terminator [CR][LF] 6.1.8 GPGST Pseudorange measurement noise statistics...

  • Page 38: Gpgsv Gnss Satellites In View

    Command and Log Reference Field Description Symbol Example $GPGST Log header $GPGST UTC time of the current position (hours/minutes/seconds/ hhmmss.ss 173653.00 decimal seconds) RMS value of the standard deviation of the range involved in positioning. The range include pseudoranges and DGPS 2.73 corrections Standard deviation of semi-major axis...

  • Page 39: Gphdt Heading Log

    Command and Log Reference Field Description Symbol Example # msgs Total number of message, 1 to 9 msg # Message number, 1 to 9 Total number of satellites in view, may not # sats the same as the number in use. Satellite PRN number: GPS=1~32 GLONASS=38~74...

  • Page 40: Gprmc Gnss Recommended Information

    Command and Log Reference Checksum [CR][LF] Sentence terminator [CR][LF] 6.1.11 GPRMC GNSS Recommended Information This command is used to log time, date, position, heading and velocity data calculated by receivers. RMC is the recommended minimum navigation data for receivers. The GPRMC log outputs these messages without waiting for a valid almanac. Instead, it uses a UTC time, calculating with default parameters.

  • Page 41: Gnrmc Gnss Recommended Information

    Command and Log Reference Field Description Symbol Example E = Estimated (dead reckoning) mode M = Manual input mode S = Simulator mode N = Data not valid Checksum [CR][LF] Sentence terminator [CR][LF] 6.1.12 GNRMC GNSS Recommended Information This log contains time, date, position, heading and velocity data calculated by receivers.

  • Page 42: Binary Information

    Command and Log Reference Field Description Symbol Example (E = East, W = West) Positioning mode indicator: A = Autonomous mode D = Differential mode mode ind E = Estimated (dead reckoning) mode M = Manual input mode S = Simulator mode N = Data not valid Checksum [CR][LF]...
  • Page 43 Command and Log Reference Binary Binary Field Type Description Bytes Offset Message ID Ushort Message ID number of the log The length in bytes of the Message Ushort message body, excluding the Length header and the CRC Time Ref UChar Reference time of GPS or BDS Time Status Uchar...

  • Page 44: Obsvm Oberservation

    Command and Log Reference 6.2.1 OBSVM Oberservation OBSVM contains measurement informations of the current receiver’s tracking satellites. For dual-antenna receivers, the “OBSVM” are corresponding to the main antenna. Message ID: 10 Recommend Input: OBSVM 1 LOG output: $OBSVM,94,GPS,FINE,1971,280488800,0,0,18,1,0;85,0,2,212224 12.195,-111524532.194196,4,54,- 1782.123,4719,0,425.609,28101c24,0,2,21222405.863,- 86902205.519989,8,81,- 1388.729,4411,0,422.200,21301c2b,0,5,20411034.146,- 107260712.085988,4,50,-...
  • Page 45 Command and Log Reference 173.232,4410,0,421.800,21301ceb,0,29,21187654.757,- 86759901.075208,5,62,- 173.102,4557,0,278.000,22301ceb,0,30,23713834.684,- 124617041.851852,9,87,1030.285,4054,0,425.609,28101d04,0,30,23 713834.462,- 97104182.152488,20,202,803.465,3657,0,159.800,21301d0b,0,30,23 713835.930,- 93058184.972318,5,62,769.370,4556,0,425.609,21d01d00,0,30,2371 3835.374,- 97104185.157783,9,85,802.748,4091,0,420.600,22301d0b,0,21,2553 6540.787,- 134195417.985644,12,111,2945.978,3721,0,395.600,28101d64,0,21, 25536539.796,- 104567879.721552,44,377,2294.391,2987,0,13.800,21301d6b,0,47,2 4088022.124,-128402710.573309,11,99,- 467.297,3816,0,145.000,28111c24,0,47,24088030.933,- 99868824.817024,21,216,- 363.421,3024,0,421.000,20b11c2b,3,39,19373536.406,- 103380902.901757,4,50,- 650.151,4929,0,421.000,28111c44,3,39,19373540.876,- 80407388.032978,4,50,- 505.675,4992,0,421.000,20b11c4b,4,55,21181385.664,- 113067681.816258,4,55,3256.230,4692,0,423.000,28111c64,4,55,21 181389.609,- 87941532.413022,5,59,2532.627,4602,0,423.000,20b11c6b,7,48,238 28924.976,- 127334550.440490,7,74,2191.618,4302,0,423.000,28111c84,7,48,23 828930.491,- 99038014.262927,10,91,1704.585,3979,0,423.000,20b11c8b,8,38,22 348894.598,-119467652.873635,7,70,- 3389.813,4399,0,423.000,28111ca4,8,38,22348898.130,- 92919305.012375,11,97,- 2636.373,3857,0,423.000,20b11cab,9,61,21534072.897,- 115152363.389579,10,91,- 3937.846,3980,0,47.000,28111cc4,9,61,21534074.725,- 89562957.661143,16,152,- 3062.768,3450,0,423.000,20b11ccb,11,54,19169428.543,- 102579481.097235,4,50,- 467.535,4919,0,421.000,28111ce4,11,54,19169427.813,-...
  • Page 46 Command and Log Reference 8203.146,-198179055.329748,8,80,- 17.748,4195,0,429.209,2c141c24,0,1,38058191.636,- 153244568.938695,4,55,- 13.751,4683,0,427.209,26341c2b,0,1,38058194.464,- 161036675.262810,6,62,- 14.456,4550,0,427.609,26a41c20,0,2,37980441.830,- 197774134.361522,11,99,- 11.797,3814,0,425.809,2c141c44,0,2,37980434.014,- 152931471.984884,5,61,- 9.076,4575,0,427.409,26341c4b,0,2,37980437.293,- 160707659.255514,6,67,- 9.558,4453,0,427.809,26a41c40,0,3,37520296.484,- 195378031.357099,9,86,- 26.363,4068,0,429.209,2c141c64,0,3,37520289.036,- 151078660.605401,4,51,- 20.336,4772,0,427.609,26341c6b,0,3,37520290.972,- 158760630.041439,5,61,- 21.367,4570,0,427.609,26a41c60,0,4,38936240.668,- 202751230.928856,11,100,- 23.196,3800,0,429.209,2c141c84,0,4,38936234.049,- 156780081.759398,6,67,- 17.886,4441,0,427.409,26341c8b,0,4,38936235.116,- 164751955.098402,9,82,- 18.862,4152,0,427.609,26a41c80,0,5,39849559.838,- 207507123.809685,13,120,- 9.338,3662,0,429.209,2c141ca4,0,5,39849553.652,- 160457641.631816,7,74,- 7.064,4319,0,426.009,26341cab,0,5,39849554.576,- 168616505.129904,10,89,- 7.527,4020,0,426.009,26a41ca0,0,6,36206998.273,- 188539348.434993,6,62,211.339,4548,0,428.609,28141cc4,0,6,3620 6991.026,- 145790550.817916,4,50,163.479,5156,0,423.600,22341ccb,0,6,3620 6991.028,- 153203626.957558,4,50,171.762,5047,0,423.600,22a41cc0,0,8,3672 5569.798,-191239681.033605,7,71,- 864.311,4379,0,428.609,28141ce4,0,8,36725561.871,- 147878620.056780,4,50,- 668.303,4938,0,423.600,22341ceb,0,8,36725561.526,-...
  • Page 47 Command and Log Reference 242.959,5039,0,423.600,22341d0b,0,13,35554342.382,- 150442056.635603,4,50,- 255.287,5057,0,423.600,22a41d00,0,14,23334957.821,- 121511248.468354,6,63,- 2184.181,4540,0,428.009,28141d24,0,14,23334951.618,- 93960181.346592,4,50,- 1688.921,5003,0,423.600,22341d2b,0,14,23334950.507,- 98737810.615348,4,50,- 1774.786,4952,0,423.600,22a41d20,0,9,37652644.421,- 196067202.836501,9,81,645.307,4163,0,428.009,28141d44,0,9,3765 2639.893,- 151611579.737359,4,50,499.054,4897,0,423.600,22341d4b,0,9,3765 2637.797,- 159320632.687244,4,54,524.425,4706,0,423.600,22a41d40,0,3,2318 3584.743,-121830562.192879,4,50,- 181.086,4862,0,425.809,28331c24,0,3,23183584.764,- 90977365.113084,4,50,- 135.177,5124,0,425.809,21931c2b,0,3,23183582.116,- 93350679.010208,4,50,- 138.716,5411,0,426.809,22331c20,0,5,25507209.112,- 134041287.534354,7,69,- 2264.297,4417,0,424.209,28331c44,0,5,25507210.183,- 100095768.136885,6,62,- 1690.830,4543,0,418.000,21931c4b,0,5,25507207.050,- 102706952.424800,4,52,- 1734.882,4754,0,426.209,22331c40,0,8,23294166.581,- 122411677.195573,8,75,2056.258,4299,0,424.609,28331c64,0,8,232 94166.911,- 91411315.900560,6,63,1535.476,4527,0,424.609,21931c6b,0,8,2329 4163.796,- 93795949.141695,4,50,1575.635,4855,0,426.809,22331c60,0,18,284 33603.739,-149419595.945807,16,147,- 3788.807,3484,0,0.800,28331c84,0,18,28433614.471,- 111579593.878126,11,94,- 2829.213,3916,0,418.000,21931c8b,0,18,28433608.918,- 114490346.606701,10,92,- 2903.180,3941,0,424.809,22331c80,0,22,22981047.706,- 120766218.441556,6,64,- 2409.453,4520,0,425.409,28331ca4,0,22,22981047.503,-...
  • Page 48 Command and Log Reference Descri Binary Binary Field Type ption Bytes Offset Obsvm Log header header Number of corresponding observation Ulong Number information System Satellite system UShort Freqency PRN/ slot Satellite PRN number(starting from 1) UShort pseudorange measurement, meter Double Carrier phase(accumulated Doppler Double H+16...
  • Page 49 Command and Log Reference Nibble # Bit # Mask Description Range Value Table 6-18: Tracking State 0x00000001 0x00000002 Tracking state 0x00000004 0x00000008 0x00000010 0x00000020 0-n (0 = first, n = last) n depends on the receiver used 0x00000040 SV channel 0x00000080 number 0x00000100...

  • Page 50: Obsvh Oberservation

    Command and Log Reference Nibble # Bit # Mask Description Range Value 0x40000000 Reserved 0x80000000 Reserved Grouping: each channel has other channels associated with it(L1/L2 or B1/B2/B3 are grouped) 6.2.2 OBSVH Oberservation OBSVM contains measurement informations of the current receiver’s tracking satellites.
  • Page 51 Command and Log Reference 61619.331,- 112256072.151839,6,62,1961.747,4542,0,496.209,28101cc4,0,20,21 361615.322,- 87472246.432987,11,96,1528.788,4189,0,492.600,21301ccb,0,29,21 190975.160,-111359330.458807,4,50,- 271.602,4930,0,496.209,28101ce4,0,29,21190971.856,- 86773488.135554,8,78,- 210.876,4447,0,492.400,21301ceb,0,29,21190972.483,- 86773486.150078,5,61,- 211.724,4564,0,348.600,22301ceb,0,30,23700243.112,- 124545618.437952,9,83,993.097,4129,0,496.209,28101d04,0,30,237 00242.980,- 97048527.546666,19,192,774.696,3703,0,230.400,21301d0b,0,30,23 700244.562,- 93004849.353541,5,62,741.552,4554,0,496.209,21d01d00,0,30,2370 0243.893,- 97048530.576957,9,83,773.849,4123,0,491.200,22301d0b,0,21,2549 6948.404,- 133987359.827841,11,97,2948.176,3846,0,466.200,28101d64,0,21,2 5496945.670,- 104405756.653349,44,388,2298.442,3076,0,17.400,21301d6b,0,47,2 4094588.963,-128437714.785108,14,127,- 524.247,3615,0,215.600,28111c24,0,47,24094597.834,- 99896050.327367,20,210,- 407.528,3063,0,491.600,20b11c2b,3,39,19382371.366,- 103428047.664277,4,50,- 685.150,4903,0,491.600,28111c44,3,39,19382375.781,- 80444056.206854,4,50,- 532.934,5015,0,491.600,20b11c4b,4,55,21138566.935,- 112839112.011195,4,55,3218.809,4692,0,493.600,28111c64,4,55,21 138570.781,- 87763755.970497,5,58,2503.524,4633,0,493.600,20b11c6b,7,48,238 00230.876,- 127181217.513352,7,74,2152.102,4310,0,493.600,28111c84,7,48,23 800236.238,- 98918755.471575,10,87,1673.842,4047,0,493.600,20b11c8b,8,38,22 393689.968,-119707109.737196,7,69,- 3393.510,4406,0,493.600,28111ca4,8,38,22393693.479,- 93105549.181113,11,96,-...
  • Page 52 Command and Log Reference 102614752.527436,4,50,- 531.554,4898,0,491.600,28111ce4,11,54,19176019.165,- 79811469.703518,4,50,- 413.449,5052,0,493.600,20b11ceb,12,40,21287928.841,- 113955937.368650,6,66,2480.915,4477,0,493.600,28111d04,12,40,2 1287927.629,- 88632401.666176,4,55,1929.630,4692,0,493.600,20b11d0b,0,1,3805 8449.391,-198180337.735370,8,80,- 18.549,4182,0,499.809,2c141c24,0,1,38058437.844,- 153245560.550125,4,54,- 14.347,4708,0,497.809,26341c2b,0,1,38058440.711,- 161037717.307865,6,63,- 15.071,4529,0,498.209,26a41c20,0,2,37980610.307,- 197775012.106405,12,100,- 13.054,3793,0,496.409,2c141c44,0,2,37980602.521,- 152932150.749658,5,60,- 10.147,4599,0,498.009,26341c4b,0,2,37980605.798,- 160708372.535672,6,68,- 10.666,4435,0,498.409,26a41c40,0,3,37520658.963,- 195379919.180620,9,87,- 27.164,4056,0,499.809,2c141c64,0,3,37520651.428,- 151080120.448378,4,50,- 21.044,4797,0,498.209,26341c6b,0,3,37520653.418,- 158762164.117300,5,62,- 22.121,4554,0,498.209,26a41c60,0,4,38936560.986,- 202752899.790897,12,102,- 24.053,3784,0,499.809,2c141c84,0,4,38936554.390,- 156781372.255777,6,66,- 18.622,4468,0,498.009,26341c8b,0,4,38936555.554,- 164753311.205573,9,83,- 19.607,4129,0,498.209,26a41c80,0,5,39849693.104,- 207507817.825727,13,124,- 10.409,3638,0,499.809,2c141ca4,0,5,39849686.908,- 160458178.348569,7,73,- 8.098,4339,0,496.609,26341cab,0,5,39849687.772,- 168617069.112898,10,89,- 8.487,4000,0,496.609,26a41ca0,0,6,36204179.624,- 188524671.355730,6,62,204.503,4543,0,499.209,28141cc4,0,6,3620 4172.334,-...
  • Page 53 Command and Log Reference 147926118.697148,4,50,- 677.188,4950,0,494.200,22341ceb,0,8,36737357.765,- 155447782.710365,4,50,- 711.617,4836,0,494.200,22a41ce0,0,13,35558681.030,- 185163389.740799,4,51,- 325.438,4761,0,498.809,28141d04,0,13,35558680.456,- 143180072.212451,4,50,- 251.630,5061,0,494.200,22341d0b,0,13,35558679.398,- 150460407.906754,4,50,- 264.479,5044,0,494.200,22a41d00,0,14,23364625.316,- 121665734.377409,6,67,- 2192.042,4457,0,498.609,28141d24,0,14,23364618.930,- 94079639.637225,4,50,- 1695.031,5000,0,494.200,22341d2b,0,14,23364617.795,- 98863343.053086,4,50,- 1781.213,4939,0,494.200,22a41d20,0,9,37643948.924,- 196021923.587074,9,83,637.549,4135,0,498.609,28141d44,0,9,3764 3944.361,- 151576566.991013,4,50,492.925,4915,0,494.200,22341d4b,0,9,3764 3942.290,- 159283839.623689,4,55,517.999,4691,0,494.200,22a41d40,0,3,2318 6169.438,-121844145.804248,4,50,- 203.606,4833,0,496.409,28331c24,0,3,23186169.669,- 90987508.756380,4,50,- 152.034,5100,0,496.409,21931c2b,0,3,23186166.942,- 93361087.256507,4,50,- 155.992,5404,0,497.409,22331c20,0,5,25537681.241,- 134201421.471488,7,71,- 2271.943,4373,0,494.809,28331c44,0,5,25537682.609,- 100215348.656667,6,65,- 1696.623,4486,0,488.600,21931c4b,0,5,25537679.489,- 102829652.441565,4,52,- 1740.861,4742,0,496.809,22331c40,0,8,23266657.315,- 122267114.589514,8,76,2039.056,4276,0,495.209,28331c64,0,8,232 66657.382,- 91303363.371759,6,65,1522.727,4498,0,495.209,21931c6b,0,8,2326 6654.529,- 93685180.464955,4,50,1562.410,4925,0,497.409,22331c60,0,18,284 84323.274,-149686128.604221,34,289,-...

  • Page 54: Ion Ionosphere Parameters

    Command and Log Reference 120937058.902399,6,65,- 2430.128,4496,0,496.009,28331ca4,0,22,23013557.352,- 90310137.827397,4,51,- 1814.649,4769,0,496.009,21931cab,0,22,23013554.227,- 92666044.851554,4,50,-1862.045,5008,0,497.409,22331ca0*41 Table 6-20: Obsvh Message Descri Binary Binary Field Type ption Bytes Offset Obsvh Log header header Number of corresponding observation Ulong Number information System Satellite system UShort Freqency PRN/ slot Satellite PRN number(starting from 1) UShort pseudorange measurement, meter Double...

  • Page 55: Utc Coordinated Universal Time

    Command and Log Reference Recommend Input: IONA ONCHANGED Table 6-21: Ionospheric Model Parameters Field Description Format Binary Binary Bytes Offset Log header Constant term of parameter Alpha Double order term of parameter Alpha Double order term of parameter Alpha Double H+16 order term of parameter Alpha Double...

  • Page 56: Gloephem Glonass Ephemeris

    Command and Log Reference Field Description Format Binary Binary Bytes Offset deltat ls Existing leap seconds of BDT relative Long H+32 to UTC before the next leap second arriving deltat lsf Future total leap seconds of BDT Long H+36 relative to UTC when a leap second newly added deltat utc Time offset of BDT relative to UTC...
  • Page 57 Command and Log Reference -9.313225746154785e-07,-1.862645149230957e-06,- 1.133931800723076e-04,-2.793967724e-09,9.094947017729282e- 13,45150,2,2,0,12*b7cd873d #GLOEPHEMERISA,COM1,0,83.0,FINE,1971,121080.000,577928,577 938,18;47,0,1,0,1971,117918000,10782,655,0,0,47,0,- 1.134552539062500e+07,- 4.513038085937500e+06,2.239658691406250e+07,2.536255836486816e +03,-1.732788085937500e+03,9.272031784057617e+02,- 0.000001862645149,-9.313225746154785e-07,-2.793967723846436e- 06,-9.001232683658600e-06,8.381903172e- 09,0.000000000000000e+00,42270,2,3,0,4*45223ac0 #GLOEPHEMERISA,COM1,0,83.0,FINE,1971,121080.000,577928,577 938,18;48,7,1,0,1971,121518000,10782,655,0,0,51,0,- 1.515490087890625e+07,3.172944335937500e+06,2.030857031250000e +07,1.826836585998535e+03,- 2.088369369506836e+03,1.686817169189453e+03,- 0.000002793967724,-0.000000000000000e+00,-1.862645149230957e- 06,1.241173595190048e-05,2.793967724e-09,- 0.000000000000000e+00,45000,2,2,0,13*b453771f #GLOEPHEMERISA,COM1,0,83.0,FINE,1971,121080.000,577928,577 939,18;49,6,1,0,1971,121518000,10782,655,0,0,51,0,- 1.780039746093750e+07,1.643404443359375e+07,7.877607910156250e +06,8.098993301391602e+02,- 7.367382049560547e+02,3.372859001159668e+03,- 0.000002793967724,-1.862645149230957e-06,-9.313225746154785e- 07,2.159643918275833e-05,7.450580597e-09,-9.094947017729282e- 13,45000,2,3,0,13*aa06e715 #GLOEPHEMERISA,COM1,0,83.0,FINE,1971,121080.000,577928,577 939,18;54,11,1,0,1971,121518000,10782,655,0,0,51,0,1.066629492 187500e+07,2.278390820312500e+07,4.087210937500000e+06,3.75474 9298095703e+02,4.565658569335938e+02,- 3.532135009765625e+03,0.000001862645149,-1.862645149230957e- 06,-0.000000000000000e+00,-7.885787636041641e- 05,0.000000000e+00,1.818989403545856e- 12,45000,2,1,0,13*454a5260 #GLOEPHEMERISA,COM1,0,83.0,FINE,1971,121080.000,577928,577 939,18;55,4,1,0,1971,121518000,10782,655,0,0,51,0,1.3415126953 12500e+07,1.126978271484375e+07,1.857166259765625e+07,1.026165 008544922e+03,2.328159332275391e+03,-...
  • Page 58 Command and Log Reference 68750e+06,2.540404296875000e+07,- 5.895527343750000e+05,2.107028961181641e+02,- 9.823799133300781e+01,- 3.594802856445313e+03,0.000001862645149,-9.313225746154785e- 07,0.000000000000000e+00,1.571131870150566e-04,2.793967724e- 09,-0.000000000000000e+00,42240,2,4,0,12*68db014f Table 6-23: Glonass Ephemeris Message Field Description Format Binary Binary Bytes Offset GLOEPHEM Log header header sloto Glonass satellite PRN number Ushort freqo Satellite frequency channel offset, Ushort between 0 and 20 sat type Satellite type: Uchar...
  • Page 59 Command and Log Reference Field Description Format Binary Binary Bytes Offset time(PZ-90.02), meters/second vel y Satellite Y-axis velocity at reference Double H+60 time(PZ-90.02), meters/second vel z Satellite Z-axis velocity at reference Double H+68 time(PZ-90.02), meters/second LS acc x Lunisolar X-axis acceleration Double H+76...

  • Page 60: Gpsephem Gps Ephemeris

    Command and Log Reference information within current subframe Reserved Table 6-25: P1 Flags Range Values state Description 0 minute 30 minutes 45 minutes 60 minutes 6.2.6 GPSEPHEM GPS Ephemeris This log contains GPS ephemeris. Message ID: 7 Recommend Input: GPSEPHEMA ONCHANGED LOG output: #GPSEPHEMA,COM1,0,90.0,FINE,1971,298163.800,206351627,206351636,18;...
  • Page 61 Command and Log Reference subframe 1(tow week) Reference time of GPS ephemeris, Double H+32 seconds Semi-major axis of satellite orbit, meters Double H+40 ΔN Correction of satellite Mean angular Double H+48 velocity, radians/second Mean anomaly of TOE time, radians Double H+56 Eccentricity of satellite orbit Double...

  • Page 62: Bdsephem Bds Ephemeris

    Command and Log Reference 6.2.7 BDSEPHEM BDS Ephemeris This log contains BDS ephemeris. Message ID: 1047 Recommend Input: BDSEPHEMA ONCHANGED LOG output: #BD2EPHEMA,COM1,0,83.0,FINE,1971,121080.000,577928,577936, 18;1,121050.0,0,1,1,1971,1971,118800.0,4.216468048e+07,7.53959 9769e-10,1.863292914e+00,3.8039823994e-04,-2.6667999416e+00,- 7.872469723e-06,2.252077684e-05,-6.79968750e+02,- 2.40328125e+02,-3.818422556e-08,-2.281740308e- 08,1.1047950166e-01,2.500104139e-12,-6.552244124e- 01,1.89650757e-10,0,118800.0,1.420000000e-08,-1.040000000e- 08,-1.29431e-04,4.63602e-11,0.00000e+00,FALSE,7.292058730e- 05,4.00000000e+00*ede59ac4 Table 6-27: BDS Ephemeris Message Field Description Format Binary Binary Bytes Offset...

  • Page 63: Galephem Galileo Ephemeris

    Command and Log Reference Field Description Format Binary Binary Bytes Offset radians) Argument of Latitude(amplitude of sine, Double H+88 radians) Orbit radius(amplitude of cosine , meters) Double H+96 Orbit radius(amplitude of sine, meters) Double H+104 Inclination(amplitude of cosine, radians) Double H+112 Inclination(amplitude of sine, radians) Double...
  • Page 64 Command and Log Reference Recommend Input: GALEPHEMA ONCHANGED LOG output: #GALEPHEMERISA,COM1,0,97.0,FINE,1916,285525.800,00000000,3 935238,0;72,TRUE,TRUE,0,0,0,0,0,0,107,0,309,285000,5.44062828e +03,3.0373e-09,2.05419566e+00,3.211809089e-04,- 1.066763838e+00,4.2263e-06,1.0300e-05,1.192e+02,9.212e+01,- 5.9605e-08,5.7742e-08,9.593394346e-01,5.6574e-10,- 2.883462182e+00,-5.53880214e-09,285000,1.215380675e- 03,3.917222e-10,0.0e+00,285000,1.215380442e-03,3.917222e- 10,0.0e+00,-5.355e-09,-6.752e-09*5194ad77 Table 6-28: Galileo Ephemeris Message Field Description Format Binary Binary Bytes Offset GALEPHEM Log header header Galileo satellite PRN umber(75 to 119) Ulong FNAVReceived Indicator of FNAV ephemeris data received Bool...
  • Page 65 Command and Log Reference Field Description Format Binary Binary Bytes Offset Eccentricity of satellite orbit Double H+52 ω Argument of perigee, radians Double H+60 Argument of Latitude(amplitude of cosine, Double H+68 radians) Argument of Latitude(amplitude of sine, Double H+76 radians) Orbit radius(amplitude of cosine , meters) Double H+84...

  • Page 66: Timing Command

    Command and Log Reference Field Description Format Binary Binary Bytes Offset E1E5bBGD E1, E5b broadcast group delay Double H+212 xxxx 32-bit CRC(for ASCII and Binary only) H+220 [CR][LF] Sentence terminator(for ASCII only) 7. TIMING Command This command is used to set high precision timing mode for the receiver. There are three kinds of GNSS receiver timing modes according to different application requirements: self-optimizing timing, timing with fixed coordinate, and default high- precision timing mode.

  • Page 67: Self-Optimized Timing

    Command and Log Reference Input Example: MODE TIMING fix 40.245757 116.24323987 56.862 Self-optimized Timing Self-optimized timing, refers that the receiver makes an autonomous positioning optimization according to user’s input of time, horizontal accuracy, elevation accuracy. Only when the time length, horizontal accuracy, elevation accuracy satisfies the optimization requirements simultaneously, the coordinate becomes a normal optimized coordinate.

  • Page 68: Freset Clear Selected Data From Nvm And Reset Receiver

    Command and Log Reference Field ASCII Value Description UNLOG Header port Serial port Serial port to be stopped message Any valid message ID Name of the message to be stopped Freset Clear selected data from NVM and Reset receiver This command clears all user specified configurations, satellite ephemeris, position information, factory settings stored in non-volatile memory and force to reset receiver.

  • Page 69: Antenna Detect

    Command and Log Reference ANTENNA Detect UM4B0 and UM482 support antenna working status query, the antenna state includes normal, open circuit, and short circuit. Hardware detection and software query output indicates hardware functions, software output data protocol, and command format. 1.

  • Page 70: Saveconfig Save Current Configuration Into Nvm

    Command and Log Reference The antenna status output ASCII and abbreviated ASCII in the Unicore ASCII format, in the sequence of the above binary number, output in packages splited by “,”. Saveconfig Save current configuration into NVM This command used to save current user configuration into non-volatile memory (NVM), including LOG (except logs with ONCE trigger), port configuration, etc.
  • Page 71 Command and Log Reference RTCM1010 Extended GLONASS L1-Only RTK RTCM1011 GLONASS L1/L2 RTK RTCM1012 Extended GLONASS L1/L2 RTK RTCM1071 MSM1 GPS Code Measurements RTCM1074 MSM4 GPS Code, Phase and CNR Measurements RTCM1075 MSM5 GPS Code, Phase, CNR and Doppler Measurements RTCM1081 MSM1 GLONASS Code Measurements RTCM1084 MSM4 GLONASS Code, Phase and CNR Measurements RTCM1085 MSM5 GLONASS Code, Phase, CNR and Doppler Measurements...

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