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Summary of Contents for Quectel LC29H
- Page 1 LC29H (EA) Moving Base Application Note GNSS Module Series Version: 1.0 Date: 2023-07-20 Status: Released...
- Page 2 GNSS Module Series At Quectel, our aim is to provide timely and comprehensive services to our customers. If you require any assistance, please contact our headquarters: Quectel Wireless Solutions Co., Ltd. Building 5, Shanghai Business Park Phase III (Area B), No.1016 Tianlin Road, Minhang District, Shanghai...
- Page 3 Except as otherwise set forth herein, nothing in this document shall be construed as conferring any rights to use any trademark, trade name or name, abbreviation, or counterfeit product thereof owned by Quectel or any third party in advertising, publicity, or other aspects.
- Page 4 Manufacturers of the terminal should notify users and operating personnel of the following safety information by incorporating these guidelines into all product manuals. Otherwise, Quectel assumes no liability for customers’ failure to comply with these precautions.
- Page 5 GNSS Module Series About the Document Document Information Title LC29H (EA) Moving Base Application Note Subtitle GNSS Module Series Document Type Application Note Document Status Released Revision History Version Date Description 2023-03-30 Creation of the document 2023-07-20 First official release...
- Page 6 Heading ........................... 18 5.2. Pitch ............................19 Configuration ............................21 Moving Base Related Messages ...................... 22 7.1. PQTMCFGMSGRATE Message ..................... 22 7.2. PQTMTAR Message ....................... 23 Appendix A References ........................25 Appendix B Special Characters ....................... 26 LC29H(EA)_Moving_Base_Application_Note 5 / 26...
- Page 7 GNSS Module Series Table Index Table 1: Pin Function Differences for LC29H (EA) in Different Applications ..........9 Table 2: Error Codes ..........................23 Table 3: Related Documents ........................25 Table 4: Terms and Abbreviations ......................25 Table 5: Special Characters ........................26...
- Page 8 Figure 10: Antenna Mounting – Vehicle ..................... 16 Figure 11: Local Cartesian Coordinate System ..................17 Figure 12: Heading and Pitch Angles ......................18 Figure 13: Heading Angle .......................... 19 Figure 14: Pitch Angle ..........................20 LC29H(EA)_Moving_Base_Application_Note 7 / 26...
- Page 9 GNSS Module Series Introduction This document presents the software and hardware designs of the two LC29H (EA) modules in the Moving Base application. Quectel LC29H (EA) supports multi-band RTK technology, which can output high precision position, heading and attitude information. RTK technology includes the rover and the base.
- Page 10 Hardware Design For two LC29H (EA) modules, one can be select as a base and the other as a rover. The base and rover can be distinguished from the connection diagram. The base communicates with the MCU via its UART1, and the rover communicates with the UART2 on base via its UART1.
- Page 11 NMEA + Heading (Proprietary Messages) MCU_RXD MCU_TXD GPIO_X WAKEUP RESERVED VCC_3.3 V_Base GPIO_X 1PPS V_BCKP V_BCKP_3.3 V_Base RESERVED RXD1 RESERVED TXD1 RESERVED RXD2 LC29H (EA) TXD2 VDD_EXT (Base) GPIO_X RESET_N RESET_CTL VDD_RF RESERVED RESERVED Antenna RF_IN ANT_ON Circuit GPIO_X WAKEUP RESERVED VCC_3.3 V_Rover...
- Page 12 2.1.2. WAKEUP For power-sensitive applications, the module supports a Backup mode to reduce power consumption. Pull the WAKEUP pin high for at least 10 ms to wake up the module from the Backup mode. Keep this pin LC29H(EA)_Moving_Base_Application_Note 11 / 26...
- Page 13 RESET_N is an input pin. The module can be reset by driving the RESET_N pin low for at least 100 ms and then releasing it. For the base, the RESET_N pin is connected to the GPIO control pin of the MCU. An OC driver circuit as shown below is recommended to control the RESET_N pin. LC29H(EA)_Moving_Base_Application_Note 12 / 26...
- Page 14 RESET_CTL is pulled down automatically so that the RESET_N pin of the rover is also pulled down, allowing the rover’s upgrading to be completed. The default state is 2.8 V high level, active low. For the rover, leave the pin floating. LC29H(EA)_Moving_Base_Application_Note 13 / 26...
- Page 15 (with the same ground plane size, shape, angle of the horizontal plane). However, the use of a helix antenna does not require reference ground plane. Base Antenna Rover Antenna Figure 7: Antenna Mounting (Same Reference Ground Plane) LC29H(EA)_Moving_Base_Application_Note 14 / 26...
- Page 16 GNSS antennas on top of the drone to avoid interference from crowded structures and motors, as shown in the figure below: Figure 8: Antenna Mounting – Drone For mowers, apply the GNSS antennas in an open, unstructured environment. Figure 9: Antenna Mounting – Mower LC29H(EA)_Moving_Base_Application_Note 15 / 26...
- Page 17 For a vehicle, apply GNSS antennas in the same plane and unstructured environment. Figure 10: Antenna Mounting – Vehicle NOTE For recommended antenna selection and design, see document [2] GNSS antenna selection guidance or contact Quectel Technical Support (support@quectel.com). LC29H(EA)_Moving_Base_Application_Note 16 / 26...
- Page 18 In the Moving Base application, the phase center of the base antenna is considered the station center, and the heading and pitch angle outputs of rover are referenced to this coordinate system. Sky (U) Rover Antenna East (E) Base Antenna Figure 11: Local Cartesian Coordinate System LC29H(EA)_Moving_Base_Application_Note 17 / 26...
- Page 19 GNSS Module Series Angle Definition This chapter provides the definitions of the heading and pitch angles in the LC29H (EA) Moving Base applications. Figure 12: Heading and Pitch Angles NOTE Roll angle is not supported by the LC29H (EA) Moving Base applications.
- Page 20 (base antenna to rover antenna) and the horizontal plane, with a range of [-90,+90]. Positive values correspond to upward pitch, while negative values correspond to downward pitch. For details about the pitch angle output, see Chapter 7.2 PQTMTAR Message. The pitch angle is illustrated below: LC29H(EA)_Moving_Base_Application_Note 19 / 26...
- Page 21 GNSS Module Series Figure 14: Pitch Angle LC29H(EA)_Moving_Base_Application_Note 20 / 26...
- Page 22 GNSS Module Series Configuration As long as the two LC29H (EA) modules are properly connected as shown in Figure 1: Schematic Diagram of Connection Between Base and Rover, the system automatically identifies them as rover or base and no special configuration is required for the Moving Base application.
- Page 23 Message output rate. <Rate> Numeric 0 = Output disabled. 1 = Output once every position fix. <MsgVer> Numeric Message version. Result: ⚫ If successful, the module returns: //Response to Set command: $PQTMCFGMSGRATE,OK*<Checksum><CR><LF> //Response to Get command: $PQTMCFGMSGRATE,OK,<MsgName>,<Rate>,<MsgVer>*<Checksum><CR><LF> LC29H(EA)_Moving_Base_Application_Note 22 / 26...
- Page 24 [1] protocol specification for details) and resetting the module. 7.2. PQTMTAR Message Outputs the UTC and attitude of the module (rover). This message can be enabled or disabled by $PQTMCFGMSGRATE command. Type: Output Synopsis: $PQTMTAR,<MsgVer>,<Time>,<Quality>,<Res1>,<Length>,<Pitch>,<Res2>,<Heading>,<Acc_Pitch>,< Res3>,<Acc_Heading>,<UsedSV>*<Checksum><CR><LF> LC29H(EA)_Moving_Base_Application_Note 23 / 26...
- Page 25 Note that this field is null in case of an invalid value. <Res3> Numeric Degree Reserved. Always null. Vehicle heading accuracy. <Acc_Heading> Numeric Degree Note that this field is null in case of an invalid value. <UsedSV> Numeric Number of satellites used in heading solution. Example: $PQTMTAR,1,165034.000,4,,0.860,1.124780,,50.968541,0.254125,,0.012547,21*59 LC29H(EA)_Moving_Base_Application_Note 24 / 26...
- Page 26 East North Up GNSS Global Navigation Satellite System Input/Output Microcontroller Unit/Microprogrammed Control Unit Radio Frequency Recommended Minimum Specific GNSS Data Real-Time Kinematic Receive Data (Pin) Transmit Data (Pin) UART Universal Asynchronous Receiver/Transmitter Coordinated Universal Time Virtual Reference Station LC29H(EA)_Moving_Base_Application_Note 25 / 26...
- Page 27 Parameter name. Angle brackets do not appear in the message. [...] Optional field of a message. Square brackets do not appear in the message. {…} Repeated field of a message. Curly brackets do not appear in the message. Underline Default setting of a parameter. LC29H(EA)_Moving_Base_Application_Note 26 / 26...
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