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Hangzhou Zhongke Microelectronics Co., Ltd.
CASIC Multimode Satellite Navigation Receiver
Protocol specification
V4.2.0.3
2020-01-06
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Hangzhou Zhongke Microelectronics Co., Ltd.
Document description
file name
CASIC Multimode Satellite Navigation Receiver Protocol Specification
Document summary
Describes the CASIC multi-mode satellite navigation receiver protocol specifications in detail, including the general standard NMEA0183 protocol
Protocol, and a custom binary protocol.
version number
V4.2.0.3
date
2020.01.06
new version update
V3.7.0.1
2017.07.21
Modify the RXM-MEASX message to comply with the RINEX302 standard.
V3.8.0.1
2017.12.06
Expand the leap second information part (LPS) of the NMEA protocol; add NMEA-DHV
Corresponding protocol with NMEA-UTC sentences.
V3.9.0.0
2017.12.20
Increase the support and content of NMEA-GST sentences.
V4.0.0.0
2017.12.26
Supplement the information content of NMEA-LPS. The content of some sentences is updated.
V4.1.0.0
2018.3.26
Revise the meaning of some signs of binary agreement content; revise some names.
V4.2.0.0
2018.11.14
Add the corresponding protocol of NMEA-INS sentence and NAV=IMUATT message.
V4.2.0.1
2018.11.22
Corrected typos.
V4.2.0.2
2019.05.14
Modify the NMEA-INS sentence, CFG-INS.
V4.2.0.3
2020.01.06
Add PCAS60 statement and modify PCAS03 statement.
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1 NMEA protocol
1.1 NMEA protocol features
The CASIC receiver is compatible with the international standard NMEA0183 protocol, supports NMEA0183 version 4.1 by default, and is compatible with V2.3
And V3.X version, support the NMEA0183 V4.0 standard and the standard before V2.3 by sending commands.
Data is transmitted in a serial asynchronous manner. The first bit is the start bit, followed by the data bit. Data bits follow the least significant bit first
the rule of.
Data transfer method
Start bit
D0
D1
D2
D3
D4
D5
D6
D7
Stop bit
Parameters used for data transmission
Baud rate (bps)
Support 4800, 9600, 19200, 38400, 57600, 115200
Data bit
8-bit
Stop bit
1 person
Check Digit
none
1.2 NMEA protocol framework
NMEA messages are sent by the GNSS receiver and support the NMEA0183 protocol. Data format protocol framework
For detailed NMEA protocol standard refer to http://www.nmea.org/
Based on the NMEA protocol framework, this receiver protocol specification adds custom sentences to control the receiver’s
Work mode, and query the product information of the receiver, etc. The identifier of the custom statement is'P'.
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1.3 NMEA identifiers and field types
1.3.1 Transmitter identifier
NMEA sentences distinguish different GNSS modes through transmitter identifiers. The transmitter identifiers are defined as follows:
Transmitter
Identifier
Beidou Navigation Satellite System (BDS)
BD
Global Positioning System (GPS, SBAS, QZSS)
GP
Global Navigation Satellite System (GLONASS)
GL
Global Navigation Satellite System (GNSS)
GN
Custom information
P
1.3.2 Satellite number identifier
Satellite system
Satellite number identifier in NMEA
Correspondence between the satellite number of the satellite PRN and its PRN
GPS
1~32
1~32
0+PRN
SBAS
33~51
120~138
87+PRN
GLONASS
65~88
1~24
64+PRN
BDS
1~37
1~37
0+PRN
QZSS
33~37
193~197
PRN-160
1.3.3 System identifier
The CASIC receiver supports a variety of NMEA data protocol formats. The difference between different protocols is reflected in the system identifier.
The new version of the protocol has added some fields.
NMEA4.0 and below
NMEA4.1
GGA
[1]Identification
[1]Identification
ZDA
[1]Identification
[1]Identification
GLL
[1]Identification
[1]Identification
RMC
[1]Identification
[1]Identification
VTG
[1]Identification
[1]Identification
GSA
[2]Identification
[1]Identification, adding additional fields to distinguish different systems
GSV
[2]Identification
[2]Identification
[1]Identification: If only BD, GPS, GLONASS, Galileo and other satellites are used for position calculation, the transmission identifier is BD,
For GP, GL, GA, etc., if the satellites of multiple systems are used to obtain the position calculation, GN is used to transmit the identifier.
[2]Identification: GP (GPS satellite), BD (BDS satellite), GL (GLONASS satellite)
As described in section 1.1, CASIC receivers support three versions of the NMEA0183 protocol standard. Now enumerate these three standards
The differences are as follows.
The main differences between NMEA2.2 and 2.3/4.0 are:
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1) The positioning mode (Mode) in the GLL, RMC and VTG statements is not output.
2) For the positioning quality (FS) item in the GGA sentence, 1 is used for both trajectory calculation and normal positioning.
It is estimated to be 6).
NMEA 4.1 protocol adds some fields on the basis of 4.0:
1) Add systemId to the GSA statement.
2) Add signalId to the GSV statement.
3) Add navStatus to the RMC statement.
For details, please refer to the introduction of NMEA sentences in section 1.5.
1.3.4 Field Type
Field Type
symbol
definition
Special format field
state
A
Single character field:
A=Yes, the data is valid, and the alarm flag is cleared;
V=No, the data is invalid, and the alarm flag is set.
latitude
ddmm.mmmm
Fixed/variable length field
dd means a fixed length of 2 degrees, the mm before the decimal point means
Shows a fixed length of 2 minutes, mmmm after the decimal point means
Decimal points with variable length.
longitude
dddmm.mmmm
Fixed/variable length field
ddd represents a fixed length of 3 degrees,
The mm before the decimal point means a fixed length of 2 minutes, the decimal point
The mmmm after it represents a decimal point with a variable length.
time
hhmmss.sss
Fixed length field
hh means a fixed length of 2 hours, mm means a fixed length
2 minutes, ss before the decimal point means fixed length 2
Seconds, sss after the decimal point means a fixed length of 3 decimal seconds.
Determine the field
Some fields are specified for predefined constants.
Numeric field
Variable number
xx
Variable-length or floating-point numeric fields
Fixed hexadecimal field
hh___
A fixed-length hexadecimal number with the most significant bit on the left
Variable hexadecimal field
h--h
Variable-length hexadecimal number with the most significant bit on the left
Information field
Fixed letter field
aa___
Fixed-length uppercase or lowercase alphabetic character field
Fixed number field
xx___
Fixed-length numeric character field
Variable text
c--c
Variable length valid character field
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1.4 NMEA message overview
Page
Message name
Class/ID
describe
NMEA standard message
Standard message
GGA
0x4E 0x00
Receiver positioning data
GLL
0x4E 0x01
Geographical Location-Latitude/Longitude
GSA
0X4E 0x02
DOP and effective satellites
GSV
0x4E 0x03
Visible satellite
RMC
0x4E 0x04
Recommended minimum dedicated navigation data
VTG
0x4E 0x05
Ground speed and heading
GST
0x4E 0x07
Receiver pseudorange error statistics
ZDA
0x4E 0x08
Time and date
ANT
0x4E 0x11
Antenna status
LPS
0x4E 0x12
Satellite system leap second correction information
DHV
0x4E 0x13
Receiver speed information
UTC
0x4E 0x16
Receiver status, leap second correction simplified information
NMEA custom message
Custom message
CAS00
-
Save configuration information
CAS01
-
Communication protocol and serial port configuration information
CAS02
-
Set targeting update rate
CAS03
-
Enable or disable output information and its frequency
CAS04
-
Set the initialization system and the number of channels
CAS05
-
Set the sender identifier of the NMEA sentence
CAS06
-
Query module software and hardware information
CAS10
-
Start mode and auxiliary information configuration
CAS12
-
Standby mode control
CAS20
-
Online upgrade instructions
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1.5 NMEA standard message
1.5.1 GGA
information
GGA
describe
Receiver time, location and positioning related data
type
Output
Format
$--GGA,UTCtime,lat,uLat,lon,uLon,FS,numSv,HDOP,msl,uMsl,sep,uSep,diffAg
e,diffSta*CS<CR><LF>
Example
$GPGGA,235316.000,2959.9925,S,12000.0090,E,1,06,1.21,62.77,M,0.00,M,,*7B
Parameter Description
Field
name
Format
Parameter Description
1
$--GGA
String
Message ID, GGA statement header,'--' is the system identifier
2
UTCtime
hhmmss.sss
UTC time of current positioning
3
lat
ddmm.mmmm latitude, the first 2 characters indicate degrees, the following characters indicate minutes
4
uLat
character
Latitude direction: N-North, S-South
5
lon
dddmm.mmm
m
Longitude, the first 3 characters indicate degrees, the following characters indicate minutes
6
uLon
character
Longitude direction: E-East, W-West
7
FS
Numerical value
Indicates the current positioning quality (remark [1]), this field should not be empty
8
numSv
Numerical value
Number of satellites used for positioning, 00~24
9
HDOP
Numerical value
Horizontal factor of precision (HDOP)
10
msl
Numerical value
Altitude, that is, the height of the receiver antenna relative to the geoid
11
uMsl
character
Height unit, meter, fixed character M
12
sep
Numerical value
The distance between the reference ellipsoid and the geoid, "-" means the earth
The level is lower than the reference ellipsoid
13
uSep
character
Height unit, meter, fixed character M
14
diffAge
Numerical value
Differentially corrected data age, this field is empty when DGPS is not used
15
diffSta
Numerical value
ID of the differential reference station
16
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
17
<CR><LF>
character
Carriage return and line feed
Remarks [1] Positioning quality mark
Location quality mark
describe
0
Targeting is unavailable or invalid
1
SPS positioning mode, positioning is effective
6
The estimation mode (dead reckoning) is only valid for NMEA 2.3 and above
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1.5.2 GLL
information
GLL
describe
Information such as latitude, longitude, positioning time and positioning status.
type
Output
Format
$--GLL,lat,uLat,lon,uLon, UTCtime,valid,mode*CS<CR><LF>
Example
$GPGLL,2959.9925,S,12000.0090,E,235316.000,A,A*4E
Parameter Description
Field
name
Format
Parameter Description
1
$--GLL
String
Message ID, GLL statement header,'--' is the system identifier
2
lat
ddmm.mmmm latitude, the first 2 characters indicate degrees, the following characters indicate minutes
3
uLat
character
Latitude direction: N-North, S-South
4
lon
dddmm.mmm
m
Longitude, the first 3 characters indicate degrees, the following characters indicate minutes
5
uLon
character
Longitude direction: E-East, W-West
6
UTCtime
hhmmss.sss
UTC time of current positioning
7
valid
character
Data validity (note [1])
8
mode
character
Positioning mode (remarks [2]), only valid for NMEA 2.3 and above
9
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
10
<CR><LF>
character
Carriage return and line feed
Remarks [1] Data validity flag
Location quality mark
describe
A
Data is valid
V
Invalid data
Remarks [2] Positioning mode flag
Positioning mode flag
describe
A
Autonomous mode
E
Estimation mode (dead reckoning)
N
Invalid data
D
Differential mode
M
Not located, but there is an external input or a location saved in history
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1.5.3 GSA
information
GSA
describe
Satellite number and DOP information used for positioning. Output GSA regardless of positioning or availability of satellites
Sentence; when the receiver is in multi-system joint work, the available satellites of each system correspond to a GSA sentence,
Each GSA sentence contains PDOP, HDOP and VDOP obtained from the combined satellite system.
type
Output
Format
$--GSA,smode,FS{,SVID},PDOP,HDOP,VDOP*CS<CR><LF>
Example
$GPGSA,A,3,05,21,31,12,18,29,,,,,,,2.56,1.21,2.25*01
Parameter Description
Field
name
Format
Parameter Description
1
$--GSA
String
Message ID, GSA statement header,'--' is the system identifier
2
smode
character
Mode switching mode indication (Note [1])
3
FS
number
Positioning status flag (remark [2])
4
{,SVID}
Numerical value
The number of the satellite used for positioning, this field displays a total of 12 available satellites
No
Fill in the space
5
PDOP
Numerical value
Position precision factor (PDOP)
6
HDOP
Numerical value
Horizontal factor of precision (HDOP)
7
VDOP
Numerical value
Vertical Factor of Precision (VDOP)
8
systemId
Numerical value
GNSS system ID number defined by NMEA (Note [3])
Only valid for NMEA 4.1 and above
9
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
10
<CR><LF>
character
Carriage return and line feed
Remarks [1] Mode switching mode indication
Mode switch mode indication
describe
M
Switch manually. Forced to 2D or 3D working mode
A
Automatic switching. The receiver automatically switches 2D/3D working mode
Remarks [2] Positioning status flag
Positioning status
describe
1
Invalid targeting
2
2D positioning
3
3D positioning
Remarks [3] GNSS system ID
System ID
describe
1
GPS system
2
GLONASS system
4
BDS system
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1.5.4 GSV
information
GSV
describe
The satellite number of the visible satellite and its elevation angle, azimuth angle, carrier-to-noise ratio and other information. The {satellite code in each GSV sentence
Number, elevation angle, azimuth angle, carrier-to-noise ratio} The number of parameter groups is variable, the maximum is 4 groups, and the minimum is 0 groups.
type
Output
Format
$--GSV,numMsg,msgNo,numSv{,SVID,ele,az,cn0} *CS<CR><LF>
Example
$GPGSV,3,1,10,25,68,053,47,21,59,306,49,29,56,161,49,31,36,265,49*79
$GPGSV,3,2,10,12,29,048,49,05,22,123,49,18,13,000,49,01,00,000,49*72
$GPGSV,3,3,10,14,00,000,03,16,00,000,27*7C
Parameter Description
Field
name
Format
Parameter Description
1
$--GSV
String
Message ID, GSV statement header,'--' is the system identifier
2
numMsg
character
The total number of statements. Each GSV sentence can output up to 4 visible satellite signals
Therefore, when the system can see more than 4 satellites, more
GSV statement.
3
msgNo
number
Current sentence number
4
numSv
Numerical value
Total number of visible satellites
5
{,SVID,ele,
az,cn0}
Numerical value
as followed:
Satellite number;
Elevation angle, the value range is 0~90, the unit is degree;
Azimuth angle, the value range is 0~359, the unit is degree;
Carrier-to-noise ratio, the value range is 0~99, the unit is dB-Hz, if not
The current satellite is tracked and the space is filled
6
signalId
Numerical value
GNSS signal ID defined by NMEA (0 means all signals)
Only valid for NMEA 4.1 and above
7
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
8
<CR><LF>
character
Carriage return and line feed
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1.5.5 RMC
information
RMC
describe
Recommended minimum positioning information
type
Output
Format
$--RMC,UTCtime,status,lat,uLat,lon,uLon,spd,cog,date,mv,mvE,mode*CS<C
R><LF>
Example
$GPRMC,235316.000,A,2959.9925,S,12000.0090,E,0.009,75.020,020711,,,A*45
Parameter Description
Field
name
Format
Parameter Description
1
$--RMC
String
Message ID, RMC statement header,'--' is the system identifier
2
UTCtime
hhmmss.sss
UTC time of current positioning
3
status
String
Position valid flag.
V=Receiver warning, invalid data
A=Data is valid
4
lat
ddmm.mmmm latitude, the first 2 characters indicate degrees, the following characters indicate minutes
5
uLat
character
Latitude direction: N-North, S-South
6
lon
dddmm.mmm
m
Longitude, the first 3 characters indicate degrees, the following characters indicate minutes
7
uLon
character
Longitude direction: E-East, W-West
8
spd
Numerical value
Speed ​​over the ground, in knots
9
cog
Numerical value
True heading over ground, in degrees
10
date
ddmmyy
Date (dd is day, mm is month, yy is year)
11
mv
Numerical value
Magnetic declination, in degrees. Fixed empty
12
mvE
character
Magnetic declination direction: E-East, W-West. Fixed empty
13
mode
character
Positioning mode flag (remark [1])
Only valid for NMEA 2.3 and above
14
navStatus
character
Navigation status indicator (V means the system does not output navigation status information)
Only valid for NMEA 4.1 and above
15
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
16
<CR><LF>
character
Carriage return and line feed
Remarks [1] Positioning mode flag
Positioning mode flag
describe
A
Autonomous mode
E
Estimation mode (dead reckoning)
N
Invalid data
D
Differential mode
M
Not located, but there is an external input or a location saved in history
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1.5.6 VTG
information
VTG
describe
Ground speed and ground heading information.
type
Output
Format
$--VTG,cogt,T,cogm,M,sog,N,kph,K,mode*CS<CR><LF>
Example
$GPVTG,75.20,T,,M,0.009,N,0.017,K,A*02
Parameter Description
Field
name
Format
Parameter Description
1
$--VTG
String
Message ID, VTG statement header,'--' is the system identifier
2
cogt
Numerical value
True north heading over Earth, in degrees
3
T
character
True north indicator, fixed as T
4
cogm
Numerical value
Heading to geomagnetic north, in degrees
5
M
character
Magnetic north indicator, fixed as M
6
sog
Numerical value
Speed ​​over the ground, in knots
7
N
character
Speed ​​unit knot, fixed as N
8
kph
Numerical value
Ground speed in kilometers per hour
9
K
character
Speed ​​unit, kilometers per hour, fixed as K
10
mode
character
Positioning mode flag (remark [1])
Only valid for NMEA 2.3 and above
11
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
12
<CR><LF>
character
Carriage return and line feed
Remarks [1] Positioning mode flag
Positioning mode flag
describe
A
Autonomous mode
E
Estimation mode (dead reckoning)
N
Invalid data
D
Differential mode
M
Not located, but there is an external input or a location saved in history
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1.5.7 ZDA
information
ZDA
describe
Time and date information.
type
Output
Format
$--ZDA,UTCtime,day,month,year,ltzh,ltzn*CS<CR><LF>
Example
$GPZDA,235316.000,02,07,2011,00,00*51
Parameter Description
Field
name
Format
Parameter Description
1
$--ZDA
String
Message ID, ZDA statement header,'--' is the system identifier
2
UTCtime
hhmmss.sss
UTC time when positioning
3
day
Numerical value
Day, fixed two digits, value range 01~31
4
month
Numerical value
Month, fixed two digits, value range 01~12
5
year
Numerical value
Year, fixed four digits
6
ltzh
Numerical value
This time zone is hour, not supported, fixed as 00
7
ltzn
Numerical value
Minutes in this time zone, not supported, fixed as 00
8
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
9
<CR><LF>
character
Carriage return and line feed
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1.5.8 TXT
product information
information
TXT
describe
product information
type
Output, output once at boot
Format
$GPTXT,xx,yy,zz,info*hh<CR><LF>
Example
$GPTXT,01,01,02,MA=CASIC*27
Indicates the name of the manufacturer (CASIC)
$GPTXT,01,01,02,IC=ATGB03+ATGR201*71
Indicates the model of the chip or chipset (baseband chip model ATGB03, radio frequency chip model ATGR201)
$GPTXT,01,01,02,SW=URANUS2,V2.2.1.0*1D
Indicates the software name and version number (software name URANUS2, version number V2.2.1.0)
$GPTXT,01,01,02,TB=2013-06-20,13:02:49*43
Indicates the code compilation time (June 20, 2013, 13:02:49)
$GPTXT,01,01,02,MO=GB*77
Indicates the working mode of the receiver this time (GB means GPS+BDS dual-mode mode)
$GPTXT,01,01,02,CI=00000000*7A
Represents the customer number (the customer number is 00000000)
Parameter Description
Field
name
Format
Parameter Description
1
$GPTXT
String
Message ID, TXT statement header
2
xx
Numerical value
The total number of sentences in the current message is 01~99. If a message is too long,
Need to be divided into multiple information display
3
yy
Numerical value
Sentence number 01~99
4
zz
Numerical value
Text identifier.
00=error information;
01=Warning message;
02=Notification information;
07=User information.
5
info
Text message
6
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
7
<CR><LF>
character
Carriage return and line feed
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1.5.9 ANT
information
ANT
describe
Antenna status
type
Output
Format
$GPTXT,xx,yy,zz,info*hh<CR><LF>
Example
$GPTXT,01,01,01,ANTENNA OPEN*25
Indicates antenna status (open circuit)
$GPTXT,01,01,01,ANTENNA OK*35
Indicates antenna status (good)
$GPTXT,01,01,01,ANTENNA SHORT*63
Indicates the status of the antenna (short circuit)
Parameter Description
Field
name
Format
Parameter Description
1
$GPTXT
String
Message ID, TXT statement header
2
xx
Numerical value
The total number of sentences in the current message is 01~99. If a message is too long,
It needs to be divided into multiple pieces of information to display, and it is fixed to 01.
3
yy
Numerical value
The sentence number is 01~99, which is fixed to 01.
4
zz
Numerical value
Text identifier. It is fixed to 01.
5
info
Text message
ANTENNA OPEN=antenna open circuit
ANTENNA OK=The antenna is good
ANTENNA SHORT=Antenna short
6
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
7
<CR><LF>
character
Carriage return and line feed
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1.5.10 DHV
information
DHV
describe
Receiver speed details
type
Output
Format
$--DHV,UTCtime,speed3D,spdX,spdY,spdZ,gdspd*CS<CR><LF>
Example
$GNDHV,021150.000,0.03,0.006,-0.042,-0.026,0.06*65
Parameter Description
Field
name
Format
Parameter Description
1
$--DHV
String
Message ID, DHV sentence header,'--' is the system identifier
2
UTCtime
hhmmss.sss
UTC time at the current moment
3
speed3D
Numerical value
Three-dimensional speed of the receiver, in m/s
4
spdX
Numerical value
Receiver ECEF-X axis direction speed, the unit is m/s
5
spdY
Numerical value
Receiver ECEF-Y axis direction speed, the unit is m/s
6
spdZ
Numerical value
Receiver ECEF-Z axis direction speed, the unit is m/s
7
gdspd
Numerical value
The speed of the receiver in the horizontal ground direction, the unit is m/s
8
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
9
<CR><LF>
character
Carriage return and line feed
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1.5.11 LPS (only 5T support)
information
LPS (5T support only)
describe
Leap second information
type
Output
Format
$GPTXT,xx,yy,zz,LS=system,valid,utcLS,utcLSF,utcTOW,utcWNT,utcDN,utcWNF
,utcA0,utcA1,leapDt,dateLsf,lsfExp,wnExp,wnExpNum*hh<CR><LF>
Example
$GNZDA,235402.000,31,12,2016,00,00*4E
The current UTC time is December 31, 2016, 23:54:02
$GPTXT,01,01,02,LS=0,3,17,18,61,138,7,137,0,0,358,311216,,,*64
The leap second information of GPS is valid and used for time service. The current leap second and the leap second after the jump are not equal, and the leap second changes from 17 seconds to
At 18 seconds, the leap second event occurred 358 seconds later (that is, 23:59:60 on December 31, 2016). current
The GPS system of the receiver has no satellites that give warnings of abnormal UTC parameter information. No GPS week number exception is currently given
Warning satellite.
$GPTXT,01,01,02,LS=1,1,3,4,0,61,6,61,0,0,358,311216,,,*56
Beidou’s leap second information is valid and not used for time service. The current leap second is not equal to the leap second after the jump, and it jumps from 3 seconds to 4
Seconds, the leap second event occurred 358 seconds later (that is, 23:59:60 on December 31, 2016). Notice:
The leap seconds of GPS and Beidou are different because they have different time starting reference points. Current receiver Beidou series
There are no satellites that give warnings about abnormal UTC parameter information. Currently, there is no satellite that gives an abnormal warning of the Beidou week number.
Parameter Description
Field
name
Format
Parameter Description
1
$GPTXT
String
Message ID, TXT statement header
2
xx
Numerical value
The total number of sentences in the current message is 01~99. If a message is too long,
It needs to be divided into multiple pieces of information to display, and it is fixed to 01.
3
yy
Numerical value
The sentence number is 01~99, which is fixed to 01.
4
zz
Numerical value
Text identifier. Fixed at 02.
5
LS=
String
Leap second message identifier, fixed character.
6
system
character
The system corresponding to the leap second information.
0=GPS
1=BDS (Beidou)
7
valid
character
Leap second information valid sign. When multiple satellite systems are jointly positioned, only
One of the systems is used for time service (calibration of 1PPS and UTC time)
0=Invalid leap second information
1=Leap second information is valid, but the system is not used for time service
2=The leap second information is invalid, but the system has been used for time service
3=Leap second information is valid, and the system has been used for time service
8
utcLS
Numerical value
(Fields 8-15 are standard leap second 8 parameters, please refer to Beidou or
GPS ICD document)
The current leap second, in seconds, a positive number indicates that the satellite time is ahead of UTC
time. Output when the leap second parameter is valid, otherwise it is empty.
9
utcLSF
Numerical value
The predicted leap second (after the occurrence of a leap second event), in seconds, a positive number table
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It shows that the satellite time is ahead of UTC time. Output when the leap second parameter is valid,
Otherwise, it is empty.
10
utcTOW
Numerical value
The reference time for UTC correction parameters, within a week, the unit is 4096 seconds.
Output when the leap second parameter is valid, otherwise it is empty.
11
utcWNT
Numerical value
The reference time of the UTC correction parameter, the number of weeks, the unit is week, modulo 256.
Output when the leap second parameter is valid, otherwise it is empty.
12
utcDN
Numerical value
The time when the leap second occurred, the number of days in the week.
For GPS systems, the valid range of this value is 1~7.
For Beidou system, the valid range of this value is 1~6.
1 means the end of Sunday, 2 means the end of Monday, in order
Push, 7 means the end of Saturday.
Output when the leap second parameter is valid, otherwise it is empty.
13
utcWNF
Numerical value
The time when the leap second occurs, the number of weeks, the unit is week, mod 256. Leap second ginseng
Output when the number is valid, otherwise it is empty.
14
utcA0
Numerical value
The time error between UTC time and satellite time (scale factor 2^-30),
The unit is seconds. Output when the leap second parameter is valid, otherwise it is empty.
15
utcA1
Numerical value
The rate of change of the time error between UTC time and satellite time (scale factor
2^-50), the unit is second/second. Output when the leap second parameter is valid, otherwise
Is empty.
16
leapDt
Numerical value
The time between the time of the leap second event and the current UTC time
A positive number indicates that a leap second event will occur in the future. The leap second parameter is valid and
Output when there is a leap second change (utcLs≠utcLsf), otherwise it is empty.
17
dateLsf
ddmmyy
The date corresponding to the forecasted leap second occurrence time, in day/month/year format. Leap
Output when the second parameter is valid and there is a leap second change (utcLs≠utcLsf),
Otherwise, it is empty.
18
lsfExp
Hexadecimal value
The current satellite system's leap second correction time is abnormal alarm. In 8-bit
The hexadecimal value represents the relevant situation of the 32 satellites of the system. from
From the lowest to the highest, the satellites are No. 1 to No. 32.
0=The leap second correction information of this satellite is not abnormal.
1=The leap second correction information of this satellite is abnormal.
If the leap second occurrence time in the information is not the empirical time (June 30 or
December 31), the receiver will give abnormal information, but will follow the changes
The changed time is adjusted by leap second. Leap second parameter is valid and abnormal
When output, otherwise it is empty.
19
wnExp
Hexadecimal value
The current satellite system time week number is abnormal alarm (year jump alarm). By 8
The hexadecimal value represents the relevant information of the system’s 32 satellites.
condition. From the lowest position to the highest position, the satellites are No. 1 to No. 32.
0=No abnormality in the number of weeks of the satellite, no alarm
1=The satellite week number is abnormal, and an alarm is given
Output when there is an abnormality in the ephemeris time. Otherwise, it is empty.
20
wnExpNum value
The amplitude of the week number jump in the satellite message. The week number jumps forward relative to the normal value
If it changes, the value is negative; otherwise, it is positive. The unit is the number of weeks. Ephemeris
It is output when there is an abnormality. Otherwise, it is empty.
twenty one
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
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fruit
twenty two
<CR><LF>
character
Carriage return and line feed
1.5.12 UTC (5T support only)
information
UTC (5T support only)
describe
Receiver status, leap second correction simplified information
type
Output
Format
$--UTC,UTCtime,lat,uLat,lon,uLon,FS,numSv,HDOP,hgt,uMsl,date,antSta,time
Src,leapValid,dtLs,dtLsf,leapTime*CS<CR><LF>
Example
$GNUTC,235402.000,3200.00001,N,11900.00005,E,1,20,0.6,10.5,M,311216,0,0,1,
17,18,1216*3C
Parameter Description
Field
name
Format
Parameter Description
1
$--UTC
String
Message ID, UTC header
2
UTCtime
hhmmss
The UTC time of the current positioning, in the format of hour/minute/second.
3
lat
ddmm.mmmm latitude, the first 2 characters indicate degrees, the following characters indicate minutes
4
uLat
character
Latitude direction: N-North, S-South
5
lon
dddmm.mmm
m
Longitude, the first 3 characters indicate degrees, the following characters indicate minutes
6
uLon
character
Longitude direction: E-East, W-West
7
FS
Numerical value
Indicates the current positioning quality (remark [1]), this field should not be empty
8
numSv
Numerical value
Number of satellites used for positioning, 00~24
9
HDOP
Numerical value
Horizontal factor of precision (HDOP)
10
hgt
Numerical value
high
11
uMsl
character
Height unit, meter, fixed character M
12
date
ddmmyy
The current positioning date, in the format of day/month/year.
13
antSta
Numerical value
Antenna status:
0=Antenna is open
2=The antenna is normal
3=Antenna short circuit
14
timeSrc
Numerical value
Current timing source system:
0=GPS system
1=BDS system
15
leapValid
Numerical value
Leap second correction value validity flag:
0=No valid leap second value
1=Leap second value is valid
16
utcLs
Numerical value
Leap second correction value at the current moment
17
utcLsf
Numerical value
If there is a forecast leap second occurrence (in the leap second correction information, utcLs≠
utcLsf) , which means the new leap second correction value of the forecast. In the leap second event
After birth, the value will continue to be output until it receives a correction without leap second forecast.
Up to the information.
If no leap second is predicted to occur (dtls in the received leap second correction information
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Equal to dtlsf), this field is empty
18
leapTime
mmyy
If there is a forecast leap second occurrence (in the leap second correction information, utcLs≠
utcLsf) , this field indicates the predicted time of occurrence of leap second. In leap second
After the event occurs, the value will continue to be output until the leap second-free pre-
So far as the revised information is reported.
If there is no forecast leap second (dtls and
dtlsf is equal), this field is empty. The format is month/year.
19
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
20
<CR><LF>
character
Carriage return and line feed
Remarks [1] Positioning quality mark
Location quality mark
describe
0
Targeting is unavailable or invalid
1
Standard positioning mode, effective positioning
6
Estimation mode
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1.5.13 GST
information
GST
describe
Receiver pseudorange measurement accuracy details
type
Output
Format
$--GST,UTCtime,RMS,stdDevMaj,stdfDevMin,orientation,stdLat,stdLon,stdAlt*
CS<CR><LF>
Example
$BDGST,081409.000,0.5,,,,0.2,0.1,0.4*5E
Parameter Description
Field
name
Format
Parameter Description
1
$--GST
String
Message ID, DHV sentence header,'--' is the system identifier
2
UTCtime
hhmmss.sss
UTC time at the current moment
3
RMS
Numerical value
The RMS value of the standard deviation of the pseudorange error of the receiver during the positioning process, in meters
4
stdDevMaj
Numerical value
The position standard deviation in the direction of the semi-major axis of the ellipse of the receiver, not supported
5
stdfDevMin value
The position standard deviation in the direction of the semi-minor axis of the receiver ellipse, not supported
6
orientation
Numerical value
The orientation of the semi-major axis of the ellipse of the receiver, not supported
7
stdLat
Numerical value
The standard deviation of the receiver's latitude error, in meters
8
stdLon
Numerical value
The standard deviation of the longitude error of the receiver, in meters
9
stdAlt
Numerical value
The standard deviation of the receiver height error, in meters
10
CS
Hexadecimal value
Checksum, XOR result of all characters between $ and * (excluding $ and *)
11
<CR><LF>
character
Carriage return and line feed
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1.5.14 INS (only supported by 5S series)
information
INS (supported by 5S series only)
describe
Inertial Navigation System (INS) information
type
Output
Format
$GPTXT,xx,yy,zz,INS_INF=sensorID,attMode,status,sesorOK,RAM,
ramStart*hh<CR><LF>
Example
$GPTXT,01,01,02,INS_INF=1,3,5,0,0,RAM,1*11
explain:
k=1, current module sensor type 1;
l=3, when installing the X-axis of the module package, only the left side of the vehicle needs to be considered;
m=5, the module currently outputs RXM_SENSOR statements, each statement contains 5 groups of MEMS sampling data;
n=0, the integrated navigation filter does not converge.
Parameter Description
Field
name
Format
Parameter Description
1
$GPTXT
String
Message ID, TXT statement header
2
xx
Numerical value
The total number of sentences in the current message is 01~99. If a message is too long,
It needs to be divided into multiple pieces of information to display, and it is fixed to 01.
3
yy
Numerical value
The sentence number is 01~99, which is fixed to 01.
4
zz
Numerical value
Text identifier.
5
INS_INF
String
Fixed as INS_INF, used for INS information flag.
6
sensorID
Numerical value
The sensor type used by the current module: 1 or 2.
7
attMode
Numerical value
Mode configuration of the relative installation attitude of the module relative to the vehicle, possible values
Range: 0, 1, 2, 3.
0: The X axis of the module points to the front of the vehicle.
1: The X axis of the module points to the right of the vehicle.
2: The X axis of the module points to the rear of the vehicle.
3: Module X axis points to the left of the vehicle.
9: The relative attitude of the adaptive estimation module.
8
fs
Numerical value
Used only for output of internal MEMS raw data
The number of samples in the RXM_SENSOR statement. Value range: 0, 1,
2, 5, 10, 25, 50.
If m=0, it means that the RXM_SENSOR statement is not output;
If m!=0, it means that the RXM_SENSOR statement is output once every second,
A sentence contains m groups of MEMS sensor sampling data.
9
status
Numerical value
Used to display the convergence status of the integrated navigation filter, n=2 means received
Converge.
10
sesorOK
Numerical value
-
11
RAM
String
Fixed as RAM
ramStart
Numerical value
1: There is a backup power supply and the dead reckoning function is turned on immediately after power-on
0: There is a backup power supply and the dead reckoning function is turned off immediately after power-on
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Off by default
6
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
7
<CR><LF>
character
Carriage return and line feed
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1.6 NMEA custom message
1.6.1 CAS00
information
CAS00
describe
Save the current configuration information to FLASH, even if the receiver is completely powered off, the information in FLASH will not be lost.
type
enter
Format
$PCAS00*CS<CR><LF>
Example
$PCAS00*01
Parameter Description
Field
name
Format
Parameter Description
1
$PCAS00
String
Message ID, statement header
2
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
3
<CR><LF>
character
Carriage return and line feed
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1.6.2 CAS01
information
CAS01
describe
Set the baud rate of serial communication.
type
enter
Format
$PCAS01,br*CS<CR><LF>
Example
$PCAS01,1*1D
Parameter Description
Field
name
Format
Parameter Description
1
$PCAS01
String
Message ID, statement header
2
br
number
Baud rate configuration.
0=4800bps
1=9600bps
2=19200bps
3=38400bps
4=57600bps
5=115200bps
3
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
4
<CR><LF>
character
Carriage return and line feed
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1.6.3 CAS02
information
CAS02
describe
Set the positioning update rate.
type
enter
Format
$PCAS02,fixInt*CS<CR><LF>
Example
$PCAS02,1000*2E
Parameter Description
Field
name
Format
Parameter Description
1
$PCAS02
String
Message ID, statement header
2
fixInt
Numerical value
The positioning update interval, in ms.
1000=Update rate is 1Hz, output 1 positioning point per second
500=Update rate is 2Hz, output 2 positioning points per second
250=Update rate is 4Hz, output 4 positioning points per second
200=Update rate is 5Hz, output 5 positioning points per second
100=Update rate is 10Hz, output 10 positioning points per second
3
CS
Hexadecimal value
Checksum, XOR result of all characters between $ and * (excluding $ and *)
4
<CR><LF>
character
Carriage return and line feed
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1.6.4 CAS03
information
CAS03
describe
Set the NMEA sentence that requires output or stop output.
type
enter
Format
$PCAS03,nGGA,nGLL,nGSA,nGSV,nRMC,nVTG,nZDA,nANT,nDHV,nLPS,res1,r
es2,nUTC,nGST,res3,res4,res5,nTIM*CS<CR><LF>
Example
$PCAS03,1,1,1,1,1,1,1,1,0,0,,,1,1,,,,1*33
Parameter Description
Field
name
Format
Parameter Description
1
$PCAS03
String
Message ID, statement header
2
nGGA
Numerical value
GGA output frequency, sentence output frequency is based on the positioning update rate
, N (0~9) means output once every n times of positioning, 0 means no output
If the sentence is empty, the original configuration will be maintained.
3
nGLL
Numerical value
GLL output frequency, same as nGGA
4
nGSA
Numerical value
GSA output frequency, same as nGGA
5
nGSV
Numerical value
GSV output frequency, same as nGGA
6
nRMC
Numerical value
RMC output frequency, same as nGGA
7
nVTG
Numerical value
VTG output frequency, same as nGGA
8
nZDA
Numerical value
ZDA output frequency, same as nGGA
9
nANT
Numerical value
ANT output frequency, same as nGGA
10
nDHV
Numerical value
DHV output frequency, same as nGGA
11
nLPS
Numerical value
LPS output frequency, same as nGGA
12
res1
Numerical value
Reserve
13
res2
Numerical value
Reserve
14
nUTC
Numerical value
UTC output frequency, same as nGGA
15
nGST
Numerical value
GST output frequency, same as nGST
16
res3
Numerical value
Reserve
17
res4
Numerical value
Reserve
18
res5
Numerical value
Reserve
19
nTIM
Numerical value
TIM (PCAS60) output frequency, same as nGGA
20
CS
Hexadecimal value
Checksum, XOR result of all characters between $ and * (excluding $ and *)
twenty one
<CR><LF>
character
Carriage return and line feed
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1.6.5 CAS04
information
CAS04
describe
Configure the working system.
type
enter
Format
$PCAS04,mode*hh<CR><LF>
Example
$PCAS04,3*1A Beidou and GPS dual mode
$PCAS04,1*18 Single GPS working mode
$PCAS04,2*1B Single Beidou working mode
Parameter Description
Field
name
Format
Parameter Description
1
$PCAS04
String
Message ID, statement header
2
mode
number
Working system configuration. For characteristic product models, the following parts are supported
Sub-configuration.
1=GPS
2=BDS
3=GPS+BDS
4=GLONASS
5=GPS+GLONASS
6=BDS+GLONASS
7=GPS+BDS+GLONASS
3
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
4
<CR><LF>
character
Carriage return and line feed
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1.6.6 CAS05
information
CAS05
describe
Set NMEA protocol type selection. There are many types of protocols for multi-mode navigation receivers, and the data protocol standards are also
More, this receiver product can support multiple protocols (optional configuration) .
type
enter
Format
$PCAS05,ver*CS<CR><LF>
Example
$PCAS05,1*19
Parameter Description
Field
name
Format
Parameter Description
1
$PCAS05
String
Message ID, statement header
2
mode
number
NMEA protocol type selection (note [1])
3
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
4
<CR><LF>
character
Carriage return and line feed
Remarks [1] NMEA protocol type selection
2
Compatible with NMEA 4.1 and above
5
Compatible with the BDS/GPS dual-mode protocol of China Transportation Information Center, compatible with NMEA 2.3 and above, compatible
NMEA4.0 protocol
9
Compatible with single GPS NMEA0183 protocol, compatible with NMEA 2.2 version
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1.6.7 CAS06
information
CAS06
describe
Query product information
type
enter
Format
$PCAS06,info*CS<CR><LF>
Example
$PCAS06,0*1B
Parameter Description
Field
name
Format
Parameter Description
1
$PCAS06
String
Message ID, statement header
2
info
number
Query the information type of the product. For information content, refer to 1.5.8.
0=Query firmware version number
1=Query hardware model and serial number
2=Query the working mode of the multi-mode receiver
3=Query the customer number of the product
5=Query upgrade code information
3
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
4
<CR><LF>
character
Carriage return and line feed
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1.6.8 CAS10
information
CAS10
describe
Receiver restart
type
enter
Format
$PCAS10,rs*CS<CR><LF>
Example
$PCAS10,0*1C hot start
$PCAS10,1*1D warm start
$PCAS10,2*1E cold start
$PCAS10,3*1F Factory start
Parameter Description
Field
name
Format
Parameter Description
1
$PCAS10
String
Message ID, statement header
2
rs
number
Start mode configuration.
0=hot start. Do not use initialization information, back up all in the storage
The data is valid.
1=Warm start. Clear the ephemeris without using the initialization information.
2=Cold start. Do not use the initialization information, clear the backup storage except
All data outside the configuration.
3=Factory start. Clear all data in the memory and reset the receiver
To the factory default configuration.
3
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
4
<CR><LF>
character
Carriage return and line feed
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1.6.9 CAS12
information
CAS12
describe
Receiver standby mode control
5L low-power module supports this command
type
enter
Format
$PCAS12,stdbysec*CS<CR><LF>
Example
$PCAS12,60*28 The receiver enters the standby mode and automatically powers on after 60 seconds
Parameter Description
Field
name
Format
Parameter Description
1
$PCAS12
String
Message ID, statement header
2
stdbysec
Numerical value
The time for the receiver to enter standby mode, the maximum is 65535 seconds
3
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
4
<CR><LF>
character
Carriage return and line feed
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1.6.10 CAS20
information
CAS20
describe
Online upgrade instructions
type
enter
Format
$PCAS20*CS<CR><LF>
Example
$PCAS20*03
Parameter Description
Field
name
Format
Parameter Description
1
$PCAS20
String
Message ID, statement header
2
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
3
<CR><LF>
character
Carriage return and line feed
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1.6.11 CAS15
information
CAS15
describe
Satellite system control commands, you can configure whether to receive any satellite in the system
Subsequent versions of V5200 support this command
type
enter
Format
$PCAS15,X,YYYYYYYY*CS<CR><LF>
Example
$PCAS15,2,FFFFFFFF*37, turn on Beidou satellites 1-32
$PCAS15,2,FFFFFFE0*42, turn on Beidou's 6-32 satellite, and turn off Beidou 1-5
$PCAS15,4,FFFF*31, turn on satellites 1-16 of SBAS, that is, PRN=120-135
$PCAS15,5,1F*47, turn on the satellites 1-5 of QZSS, that is, PRN=193,194,195,199,197
Parameter Description
Field
name
Format
Parameter Description
1
$PCAS15
String
Message ID, statement header
2
SYS_ID
1 number
2=Beidou 1-32 satellite
3=Beidou 33-64 satellite
4=SBAS satellite (SBAS satellite No. 1-19, corresponding to PRN 120-138
No)
5=QZSS satellite (QZSS satellite 1-5, corresponding to PRN 193,
No. 194, 195, 199, 197)
3
SV_MASK
1 to 8 hexadecimal
Numerical value
Each hexadecimal character controls 4 satellites, the rightmost one controls 1-4
Satellite.
Hexadecimal characters are converted to 4bit binary, each 1bit corresponds to 1 satellite
Star, 1=receive the satellite; 0=prohibit.
For example: 3FFFFFE0, which means satellites 31, 32, 1-5 are prohibited.
4
CS
Hexadecimal value
Checksum, the exclusive OR of all characters between $ and * (not including $ and *)
fruit
5
<CR><LF>
character
Carriage return and line feed
1.6.12 CAS60
information
CAS60
describe
Receiver time information.
The subsequent version of 5T- module V5302 supports this command
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type
Output
Format
$PCAS60,UTCtime,ddmmyyyy,wn,tow,timevalid,leaps,leapsValid*CS
Example
$PCAS60,091242.000,23122019,2085,119580,1,18,1*33
$PCAS60,091222.000,23122019,,,0,,0*33
$PCAS60,092011.000,23122019,2085,120029,1,,0*33
Parameter Description
Field
name
Format
Parameter Description
1
$PCAS60
String
Message ID
2
UTCtime
hhmmss.sss
UTC time at the current moment, if leaksValid is 0, then use
Default leaks calculation
3
ddmmyyy
y
Numerical value
Current day month year
4
wn
Numerical value
GPS system weeks
5
tow
Numerical value
GPS system in seconds
6
timeValid
Numerical value
Time validity (2/3/4/5 field), 1=valid, 0=invalid
7
leaps
Numerical value
The difference between GPS time and UTC time, leap seconds
8
leapsValid value
Leaps are valid, 1=valid, 0=invalid
9
CS
Hexadecimal value
Checksum, exclusive OR of all characters between $ and (excluding $ and )
result
10
character
Carriage return and line feed
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2 CASIC protocol
2.1 CASIC protocol features
The CASIC receiver uses a custom standard interface protocol (CSIP, CASIC Standard Interface Protocol)
Send data to the host, and the data is transmitted in asynchronous serial mode.
2.2 CASIC protocol framework
CSIP packet structure
Field 1
Field 2
Field 3
Field 4
Field 5
Field 6
Message header
Payload length
Message
Message number
Payload
Check value
0xBA,0xCE
Unsigned short
2 bytes
1 byte
1 byte
<2k bytes
Unsigned integer
4 bytes
Field 1: Message header (0xBA, 0xCE)
Four hexadecimal characters are used as the starting and delimiting characters of the message (message header), occupying two bytes.
Field 2: Payload length (len)
The message length (two bytes) indicates the number of bytes occupied by the payload (field 5), excluding the message header, message type,
Message number, length, and checksum fields.
Field 3: Message class (class)
Occupies one byte, which represents the basic subset to which the current message belongs.
Field 4: Message ID (id)
After the message class is a one-byte message number.
Field 5: Payload
The payload is the specific content of the data packet transmission, and its length (number of bytes) is variable and is an integer multiple of 4.
Field 6: Check value (ckSum)
The checksum is the word-by-word of all data from field 2 to field 5 (including field 2 and field 5) (1 word includes 4
(Bytes) cumulative sum, occupying 4 bytes.
The calculation of the check value can follow the following algorithm:
ckSum = (id << 24) + (class << 16) + len;
for (i = 0; i <(len / 4); i++)
{
ckSum = ckSum + payload [i];
}
In the formula, the payload contains all the information of field 5. In the calculation process, first the part from field 2 to field 4
Assemble (4 bytes form a word), and then group the data of field 5 in the order of a group of 4 bytes (the one received first is in the low order)
Accumulate.
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2.3 CASIC type and number
Each type of interactive message of the CASIC receiver is a set of related messages.
name
type
describe
NAV
0x01
Navigation results: position, speed, time
TIM
0x02
Timing message: time pulse output, time mark result
RXM
0x03
The measurement information output by the receiver (pseudorange, carrier phase, etc.)
ACK
0x05
ACK/NAK message: response message to CFG message
CFG
0x06
Enter configuration message: configure navigation mode, baud rate, etc.
MSG
0x08
Satellite message information output by the receiver
MON
0x0A
Monitoring messages: communication status, CPU load, stack utilization, etc.
AID
0x0B
Auxiliary messages: ephemeris, almanac and other A-GPS data
2.4 CASIC payload definition rules
2.4.1 Data Encapsulation
In order to implement structured data encapsulation more conveniently, the data in the payload part is arranged in a specific way: each type of consumer
The data in the message are arranged closely, the 2-byte value is placed at an offset address that is a multiple of 2, and the 4-byte value is placed at an offset address that is a multiple of 4.
2.4.2 Message naming
The name of the message consists of a structure like "message type + message name". For example, the configuration message name for configuring PPS is:
CFG-PPS.
2.4.3 Data Type
Unless otherwise defined, all values ​​of multiple characters are arranged in little endian format. All floating-point values ​​are in accordance with IEEE754
Single-precision and double-precision standard transmission.
abbreviation
type
Number of bytes
Remark
U1
Unsigned character
1
I1
Signed character
1
Complement
U2
Unsigned short
2
I2
Signed short integer
2
Complement
U4
Unsigned long
4
I4
Signed long integer
4
Complement
R4
IEEE754 single precision
4
R8
IEEE754 double precision
8
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2.5 CASIC message exchange
Define the mechanism for the input and output of receiver messages. When the receiver receives a CFG type message, it needs to
Set whether the message processing is correct, and reply with an ACK-ACK or ACK-NACK message. Reply a received at the receiver
Before the CFG message, the sender must not send a second CFG message. Other messages received by the receiver do not need to reply.
2.6 CASIC message overview
Page
Message name
Class/ID
length
type
describe
Class NAV
NAV navigation results
NAV-STATUS
0x01 0x00
80
cycle
Receiver navigation status
NAV-DOP
0x01 0x01
28
cycle
Geometric precision factor
NAV-SOL
0x01 0x02
72
cycle
Condensed PVT navigation information
NAV-PV
0x01 0x03
80
cycle
Position and speed information
NAV-TIMEUTC
0x01 0x10
twenty four
cycle
UTC time information
NAV-CLOCK
0x01 0x11
64
cycle
Clock solving information
NAV-GPSINFO
0x01 0x20
8+12*N
cycle
GPS satellite information
NAV-BDSINFO
0x01 0x21
8+12*N
cycle
BDS satellite information
NAV-GLNINFO
0x01 0x22
8+12*N
cycle
GLONASS satellite information
Class TIM
TIM time message
TIM-TP
0x02 0x00
twenty four
cycle
Timing pulse information
Class RXM
RXM receiver measurement information
RXM-MEASX
0x03 0x10
16+32*N
cycle
Pseudorange, carrier phase raw measurement information
RXM-SVPOS
0x03 0x11
16+48*N
cycle
Satellite location information
Class ACK
ACK/NACK message
ACK-NACK
0x05 0x00
4
Reply message
Reply indicates that the message was not received correctly
ACK-ACK
0x05 0x01
4
Reply message
Reply indicates that the message was received correctly
Class CFG
CFG input configuration message
CFG-PRT
0x06 0x00
0/8
Query/setting
Query/Configure the working mode of UART
CFG-MSG
0x06 0x01
0/4
Query/setting
Query/configuration information sending frequency
CFG-RST
0x06 0x02
4
set up
Restart the receiver/clear the saved data structure
CFG-TP
0x06 0x03
0/16
Query/setting
Query/configure the relevant parameters of the receiver PPS
CFG-RATE
0x06 0x04
0/4
Query/setting
Query/Configure the navigation rate of the receiver
CFG-CFG
0x06 0x05
4
set up
Clear, save and load configuration information
CFG-TMODE
0x06 0x06
0/28
Query/setting
Query/Configure the PPS timing mode of the receiver
CFG-NAVX
0x06 0x07
0/44
Query/setting
Query/professional configuration of navigation engine parameters
CFG-GROUP
0x06 0x08
0/56
Query/setting
Query/configure GLONASS group delay parameters
Class MSG
MSG receiver satellite message information
MSG-BDSUTC
0x08 0x00
20
cycle
The receiver outputs BDS system UTC information.
MSG-BDSION
0x08 0x01
16
cycle
The receiver outputs the ionospheric information of the BDS system.
MSG-BDSEPH
0x08 0x02
92
cycle
The receiver outputs BDS system ephemeris information.
MSG-GPSUTC
0x08 0x05
20
cycle
The receiver outputs GPS system UTC information.
MSG-GPSION
0x08 0x06
16
cycle
The receiver outputs the ionospheric information of the GPS system.
MSG-GPSEPH
0x08 0x07
72
cycle
The receiver outputs GPS system ephemeris information.
MSG-GLNEPH
0x08 0x08
68
cycle
The receiver outputs GLN system ephemeris information.
Class MON
MON monitoring messages
MON-VER
0x0A 0x04
64
Respond to queries
Output version information
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MON-HW
0x0A 0x09
56
Cycle/query
Various configuration states of the hardware
Class AID
AID auxiliary message
AID-INI
0x0B 0x01
56
Query/enter
Auxiliary position, time, frequency, clock frequency deviation information
AID-HUI
0x0B 0x03
60
enter
Auxiliary health information, UTC parameters, ionospheric parameters
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2.7 NAV (0x01)
Navigation results: position, speed, time, accuracy, heading, geometric precision factor and number of satellites, etc. NAV news is divided again
There are several types, each containing different information.
2.7.1 NAV-STATUS (0x01 0x00)
information
NAV-STATUS
describe
Receiver navigation status
type
Cycle/query
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
80
0x01 0x00
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
one
Bit
describe
0
U4
-
runTime
ms
Running time from power-on/reset
4
U2
-
fixInterval
ms
Positioning interval
6
U1
-
posValid
-
Positioning mark (remark [1])
7
U1
-
velValid
-
Speed ​​mark (remark [2])
8
U1*32-
gpsMsgFlag
-
Message validity of the almanac and ephemeris of 32 GPS satellites
Logo (Remark [3])
40
U1*24-
glnMsgFlag
-
24 GLONASS satellite almanacs and ephemeris messages
Validity flag (remark [3])
64
U1*14-
bdsMsgFlag
-
Almanac and ephemeris telegram validity of 14 BDS satellites
Logo (Remark [3])
78
U1
gpsUtcionFlag
-
GPS’s UTC and ionospheric information’s message validity mark
Journal (Remarks [4])
79
U1
-
bdsUtcionFlag
-
BDS’s UTC and ionospheric information’s message validity standards
Journal (Remarks [4])
Remark [1]: Positioning mark
Numerical value
describe
0
Invalid targeting
1
External input location
2
Rough estimate of location
3
Keep the last positioning position
4
Dead reckoning
5
Quick mode positioning
6
2D positioning
7
3D positioning
8
GNSS+DR integrated navigation
Remark [2]: Speed ​​flag
Numerical value
describe
0
Invalid speed
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1
Speed ​​of external input
2
Rough estimate of speed
3
Keep the last speed
4
Speed ​​calculation
5
Speed ​​of fast mode
6
2D speed
7
3D speed
8
GNSS+DR combined navigation speed
Remark [3]: Message validity flag
The upper 4 bits represent the validity flag of the message of the almanac, the lower 4 bits represent the validity flag of the message of the ephemeris
Numerical value
describe
0
Missing
1
Unhealthy
2
Expired
3
efficient
Remark [4]: ​​Message validity flag
The upper 4 bits represent the message validity flag of UTC parameters, and the lower 4 bits represent the message validity flag of ionospheric parameters
Numerical value
describe
0
Missing
1
Unhealthy
2
Expired
3
efficient
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2.7.2 NAV-DOP (0x01 0x01)
information
NAV-DOP
describe
Positioning precision factor
type
Cycle/query
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
28
0x01 0x01
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
runtime
ms
Running time from power-on/reset
4
R4
-
pDop
-
Location DOP
8
R4
-
hDop
-
Horizontal DOP
12
R4
-
vDop
-
Vertical DOP
16
R4
-
nDop
-
Northbound DOP
20
R4
-
eDop
-
Eastbound DOP
twenty four
R4
-
tDop
-
Time DOP
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2.7.3 NAV-SOL (0x01 0x02)
information
NAV-SOL
describe
PVT navigation information in ECEF coordinate system
type
Cycle/query
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
72
0x01 0x02
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
runTime
ms
Running time from power-on/reset
4
U1
-
posValid
-
Positioning mark (remark [1])
5
U1
velValid
-
Speed ​​mark (remark [2])
6
U1
-
timeSrc
-
Time source (note [3])
7
U1
-
system
-
Multi-mode receiving mode mask of the receiver (remark [4])
8
U1
-
numSV
-
The total number of satellites involved in the solution
9
U1
-
numSVGPS
-
Number of GPS satellites participating in the calculation
10
U1
-
numSVBDS
-
Number of BDS satellites participating in the calculation
11
U1
-
numSVGLN
-
Number of GLONASS satellites participating in the calculation
12
U2
-
res
-
Reserve
14
U2
-
week
-
Week number
16
R8
-
tow
s
During the week
twenty four
R8
-
ecefX
m
X coordinate in ECEF coordinate system
32
R8
-
ecefY
m
Y coordinate in ECEF coordinate system
40
R8
-
ecefZ
m
The Z coordinate in the ECEF coordinate system
48
R4
-
pAcc
M^2
Variance of 3D position estimation accuracy error
52
R4
-
ecefVX
m/s
X speed in ECEF coordinate system
56
R4
-
ecefVY
m/s
Y speed in ECEF coordinate system
60
R4
-
ecefVZ
m/s
Z speed in ECEF coordinate system
64
R4
-
sAcc
(m/s)^2
Variance of 3D velocity estimation accuracy error
68
R4
-
pDop
-
Location DOP
Remark [1]: Positioning mark
Numerical value
describe
0
Invalid targeting
1
External input location
2
Rough estimate of location
3
Keep the last positioning position
4
Dead reckoning
5
Quick mode positioning
6
2D positioning
7
3D positioning
8
GNSS+DR integrated navigation
Remark [2]: Speed ​​flag
Numerical value
describe
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0
Invalid speed
1
Speed ​​of external input
2
Rough estimate of speed
3
Keep the last speed
4
Speed ​​calculation
5
Speed ​​of fast mode
6
2D speed
7
3D speed
8
GNSS+DR combined navigation speed
Remark [3]: Time source
Time source
describe
0
GPS time service, that is, the time of the week and the number of the week are the receiver's local time obtained from GPS satellites
1
BDS
2
GLONASS
Remark [4]: ​​Multi-mode receiving mode
Bit
describe
B0
1=GPS satellites are used for positioning
B1
1=BDS satellite is used for positioning
B2
1=GLONASS satellite is used for positioning
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2.7.4 NAV-PV (0x01 0x03)
information
NAV-PV
describe
Position and velocity information in the geodetic coordinate system
type
Cycle/query
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
80
0x01 0x03
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
runTime
ms
Running time from power-on/reset
4
U1
-
posValid
-
Positioning mark (refer to 2.7.3 Remarks [1])
5
U1
velValid
-
Speed ​​flag (refer to 2.7.3 Remark [2])
6
U1
-
system
-
Receiver's multi-mode receive mode mask
(Refer to 2.7.3 Remarks [4])
7
U1
-
numSV
-
The total number of satellites involved in the solution
8
U1
-
numSVGPS
-
Number of GPS satellites participating in the calculation
9
U1
-
numSVBDS
-
Number of BDS satellites participating in the calculation
10
U1
-
numSVGLN
-
Number of GLONASS satellites participating in the calculation
11
U1
-
res
-
Reserve
12
R4
-
pDop
-
Location DOP
16
R8
-
lon
°
longitude
twenty four
R8
-
lat
°
latitude
32
R4
-
height
m
Earth height (take ellipsoid as reference)
36
R4
-
sepGeoid
m
Altitude abnormality (the difference between the ground height and the altitude)
40
R4
-
hAcc
m^2
Variance of horizontal position accuracy error
44
R4
-
vAcc
m^2
Variance of vertical position accuracy error
48
R4
-
velN
m/s
North speed in ENU coordinate system
52
R4
-
velE
m/s
East velocity in ENU coordinate system
56
R4
-
velU
m/s
Sky speed in ENU coordinate system
60
R4
-
speed3D
m/s
3D speed
64
R4
-
speed2D
m/s
2D ground velocity
68
R4
-
heading
°
course
72
R4
-
sAcc
(m/s)^2
Variance of accuracy error of ground velocity
76
R4
-
cAcc
°^2
Variance of accuracy error of heading (variance of heading)
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2.7.5 NAV-TIMEUTC (0x01 0x10)
information
NAV-TIMEUTC
describe
UTC time information
type
Cycle/query
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
twenty four
0x01 0x10
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
runTime
ms
Running time from power-on/reset
4
R4
1/c 2
tAcc
s^2
Time estimation accuracy
8
R4
-
msErr
ms
Residual error after rounding milliseconds
12
U2
-
ms
ms
The millisecond part of UTC time, the value range is 0~999
14
U2
-
year
year
UTC year (1999~2099)
16
U1
-
month
month
UTC month (1~12)
17
U1
-
day
day
UTC day of the month (1~31)
18
U1
-
hour
hour
Hours within UTC days (0~23)
19
U1
-
min
min
UTC hour and minute (0~59)
20
U1
-
sec
s
UTC within minutes (0~59)
twenty one
U1
-
valid
-
Time valid mark (remark [1])
twenty two
U1
-
timeSrc
-
Timing system flag (Note [2])
twenty three
U1
-
dateValid
-
Date valid mark (remark [3])
Remarks[1]: Time valid sign
Numerical value
describe
B0
Valid flag within UTC week, 0=invalid, 1=valid
B1
UTC week number valid flag, 0=invalid, 1=valid
B2
UTC leap second correction valid flag, 0=invalid, 1=valid
Remarks [2]: Timing system logo
Numerical value
describe
0
GPS timing
1
BDS timing
2
GLONASS timing
Remark [3]: Date valid mark
Numerical value
describe
0
Invalid date
1
External input date
2
Get date from satellite
3
Obtain reliable dates from multiple satellites
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2.7.6 NAV-CLOCK (0x01 0x11)
information
NAV-CLOCK
describe
Clock solving information
type
Cycle/query
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
64
0x01 0x11
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
runTime
ms
Running time from power-on/reset
4
R4
1/c
freqBias
-
Clock drift (clock frequency deviation)
8
R4
1/c^2
tAcc
s^2
Time accuracy (variance)
12
R4
1/c^2
fAcc
-
Frequency accuracy (variance)
Start of the repeated part (N=0 means GPS, 1 means BDS, 2 means GLONASS)
16+16*N
R8
-
tow
ms
Time of the week
24+16*N
R4
-
dtUtc
s
The fractional second of the difference between satellite time and UTC time
28+16*N
U2
-
wn
-
Week number
30+16*N
I1
-
leapS
-
UTC leap second, the whole difference between satellite time and UTC time
A few seconds
31+16*N
U1
-
valid
-
Time validity flag
The repeating part ends, the maximum value of N is (SYSTEM_ALL-1), and the value of the current version is 2
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2.7.7 NAV-GPSINFO (0x01 0x20)
information
NAV-GPSINFO
describe
GPS satellite information
type
Cycle/query
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
8+12*N
0x01 0x20
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
runTime
-
Running time from power-on/reset
4
U1
-
numViewSv
-
The number of visible satellites, the effective range is 0~32
5
U1
-
numFixSv
-
Number of satellites used for positioning
6
U1
system
-
System type (remark [1])
7
U1
-
res
Reserve
Start of repeated part (N=numViewSv, valid range 0~32)
8+12*N
U1
-
chn
-
Channel number
9+12*N
U1
-
svid
-
Satellite number
10+12*N
U1
-
flags
-
Satellite status mask (Remarks [2])
11+12*N
U1
-
quality
-
Quality indicator for signal measurement (note [3])
12+12*N
U1
-
CN0
dB-Hz
Signal carrier-to-noise ratio
13+12*N
I1
-
elev
°
Satellite elevation angle (-90~90)
14+12*N
I2
-
azim
°
Satellite azimuth (0~360)
16+12*N
R4
-
prRes
m
Pseudorange residual
End of repetition
Remark [1]: System type
Numerical value
describe
0
GPS
1
BDS
2
GLONASS
Remark [2]: Satellite status
Bit
describe
B0
1=Satellite participates in the calculation
B1-B3
Reserve
B4
1=Invalid satellite prediction information
B5
Reserve
B7:B6
00=reserved
01=The forecast information of the satellite is based on the almanac
10=reserved
11=The prediction information of the satellite is based on the ephemeris
Remark [3]: Quality indicator of signal measurement
quality
instruction
BIT0
=1, indicating that the pseudorange measurement value prMes is valid
BIT1
=1, indicating that the carrier phase measurement value cpMes is valid
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BIT2
=1, which means the half-circle ambiguity is valid (inverted PI correction is valid)
BIT3
=1, which means that the half-cycle ambiguity is subtracted from the measured value of the carrier phase
BIT4
Reserve
BIT5
=1, which means the carrier frequency is valid
BIT6-BIT7
Reserve
2.7.8 NAV-BDSINFO (0x01 0x21)
information
NAV-BDSINFO
describe
BDS satellite information
type
Cycle/query
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
8+12*N
0x01 0x21
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
runTime
-
Running time from power-on/reset
4
U1
-
numViewSv
-
The number of visible satellites, the effective range is 0~32
5
U1
-
numFixSv
-
Number of satellites used for positioning
6
U1
-
system
-
System type (refer to 2.7.7 Remark [1])
7
U1
-
res
Reserve
Start of repeated part (N=numViewSv, valid range 0~32)
8+12*N
U1
-
chn
-
Channel number
9+12*N
U1
-
svid
-
Satellite number
10+12*N
U1
-
flags
-
Satellite status mask (Refer to 2.7.7 Remark [2])
11+12*N
U1
-
quality
-
The quality indicator of signal measurement (refer to 2.7.7 Preparation
Note [3])
12+12*N
U1
-
CN0
dB-Hz
Signal carrier-to-noise ratio
13+12*N
I1
-
elev
°
Satellite elevation angle (-90~90)
14+12*N
I2
-
azim
°
Satellite azimuth (0~360)
16+12*N
R4
-
prRes
m
Pseudorange residual
End of repetition
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2.7.9 NAV-GLNINFO (0x01 0x22)
information
NAV-GLNINFO
describe
GLONASS satellite information
type
Cycle/query
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
8+12*N
0x01 0x22
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
runTime
-
Running time from power-on/reset
4
U1
-
numViewSv
-
The number of visible satellites, the effective range is 0~32
5
U1
-
numFixSv
-
Number of satellites used for positioning
6
U1
-
system
-
System type (refer to 2.7.7 Remark [1])
7
U1
-
res
Reserve
Start of repeated part (N=numViewSv, valid range 0~32)
8+12*N
U1
-
chn
-
Channel number
9+12*N
U1
-
svid
-
Satellite number
10+12*N
U1
-
flags
-
Satellite status mask (Refer to 2.7.7 Remark [2])
11+12*N
U1
-
quality
-
The quality indicator of signal measurement (refer to 2.7.7 Preparation
Note [3])
12+12*N
U1
-
CN0
dB-Hz
Signal carrier-to-noise ratio
13+12*N
I1
-
elev
°
Satellite elevation angle (-90~90)
14+12*N
I2
-
azim
°
Satellite azimuth (0~360)
16+12*N
R4
-
prRes
m
Pseudorange residual
End of repetition
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2.7.10 NAV-IMUATT (0x01 0x06)
information
NAV-IMUATT
describe
The posture of the IMU coordinate system relative to the local navigation coordinate system (NED)
type
Cycle/query
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
32
0x01 0x06
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
tow
s
Receiver GPS within weeks (note [1])
4
U2
-
weekNum
week
Receiver GPS week number (remark [1])
6
U1
flag
-
Posture available signs (remarks [2])
7
U1
-
res
-
Reserve
8
I4
1e-5
roll
deg
Roll angle
12
I4
1e-5
pitch
deg
Pitch angle
16
I4
1e-5
heading
deg
Heading
20
U4
1e-5
rollAcc
deg
Roll angle accuracy
twenty four
U4
1e-5
pitchAcc
deg
Pitch angle accuracy
28
U4
1e-5
headingAcc
deg
Heading angle accuracy
Remark [1]: Receiver GPS within weeks
rcvTow/wn
Refer to the meaning of rcvTow/wn in RXM-MEASX.
Remark [2]: Posture available sign
flag
0x01-posture estimation is valid; 0xff posture estimation is invalid.
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2.8 TIM (0x02)
2.8.1 TIM-TP (0x02 0x00)
Message name
TIM-TP
describe
Timing pulse information
type
Cycle/query
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
twenty four
0x02 0x00
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
runTime
ms
Running time from power-on/reset
4
R4
-
qErr
s
Time quantization error corresponding to the next time pulse
8
R8
-
tow
s
The time within the week corresponding to the next time pulse
16
U2
-
wn
-
The number of weeks corresponding to the next time pulse
18
U1
-
refTime
-
Reference time (Remark [1])
19
U1
-
utcValid
-
Valid flag (remark [2])
20
U4
-
res
-
Reserve
Remark [1]: reference time of timing pulse
Value
describe
B3:B0
0: GPS time source
1: BDS time source
2: GLN time source
B7:B4
0: The time base is UTC
1: The time base is GNSS (refer to the value of B3:B0 for the specific system)
Remark [2]: UTC parameter valid flag
Value
describe
0
Missing
1
Reserve
2
Expired
3
efficient
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2.9 RXM (0x03)
Measured value message.
2.9.1 RXM-MEASX (0x03 0x10)
information
RXM-MEASX
describe
Pseudorange, carrier phase raw measurement information
type
Cycle/query
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
16+32*N
0x03 0x10
See the table below
4 Bytes
Payload content:
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
R8
-
rcvTow
s
Receiver GPS within weeks (note [1])
8
I2
-
wn
week
Receiver GPS weeks
10
I1
-
leapS
s
UTC leap second value (Note [2])
11
U1
-
numMeas
-
Number of measurement values, valid range 0~32
12
U1
-
recStat
-
Receiver status (remark [3])
13
U1
-
res1
Reserve
14
U1
-
res2
-
Reserve
15
U1
-
res3
-
Reserve
Start of repeated part (N=numMeas, valid range 0~32)
16+32*N
R8
-
prMes
m
Pseudorange measurement value (unit: meter), for
GLONASS inter-frequency deviation, receiver
It is compensated by the built-in correction table.
24+32*N
R8
-
cpMes
cycles
Carrier phase measurement value (unit: week)
(Remarks [4])
32+32*N
R4
-
doMes
Hz
Doppler measurement value (unit: Hz), close to
The Doppler of the satellite is positive.
36+32*N
U1
-
gnssid
-
System type. 0=GPS, 1=BDS,
2=GLONASS
37+32*N
U1
-
svid
-
Satellite number
38+32*N
U1
-
res4
-
Reserve
39+32*N
U1
-
freqid
-
Frequency number (offset 8), only for
GLONASS works. Valid value range
[1,14], corresponding to frequency [-7,+6].
40+32*N
U2
-
locktime
ms
Carrier phase lock time, maximum 65535ms
42+32*N
U1
-
cn0
dB-Hz
Carrier to noise ratio
43+32*N
U1
-
res5
-
Reserve
44+32*N
U1
-
res6
-
Reserve
45+32*N
U1
-
res7
-
Reserve
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46+32*N
U1
-
trkStat
-
Satellite tracking status (Note [5])
47+32*N
U1
-
res8
-
Reserve
End of repetition
Remark [1]: Receiver GPS within weeks
rcvTow
The receiver time should be aligned with the GPS time system as much as possible. RcvTow, receiving within a week of using the receiver
Machine week number week, leap second value leapS can convert time to other time systems. More about not
Please refer to the RINEX3 document for information on the simultaneous system. When the receiver works in single GLONASS mode,
The UTC time can be obtained by subtracting the leap second value leapS from the receiver time directly, without considering recStat
Whether the flag in is valid.
Remark [2]: UTC leap second value
leapS
The leap second value between GPS time and UTC time. This value is the latest value known to the receiver. recStat
The flag in indicates whether the value is valid.
Remark [3]: Receiver status
recStat
instruction
BIT0
=1, it means the leap second value leapS is valid (UTC correction parameter is valid).
BIT1
=1, it means that a clock rest has occurred, and the receiver time has a jump of an integer of milliseconds.
Remark [4]: ​​Carrier phase measurement value
cpMes
Use an approximate value to initialize the initial full-cycle ambiguity of the carrier phase so that the carrier phase measurement value
Close to the pseudorange measurement value. The clock reset mechanism acts on both the pseudorange measurement value and the load
The measured value of wave phase complies with the regulations of RINEX3.
Remark [5]: Satellite tracking status
trkStat
instruction
BIT0
=1, indicating that the pseudorange measurement value prMes is valid
BIT1
=1, indicating that the carrier phase measurement value cpMes is valid
BIT2
=1, which means the half-circle ambiguity is valid (inverted PI correction is valid)
BIT3
=1, which means that the half-cycle ambiguity is subtracted from the measured value of the carrier phase
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2.9.2 RXM-SVPOS (0x03 0x11)
information
RXM- SVPOS
describe
Satellite location information
type
Cycle/query
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
16+48*N
0x03 0x11
See the table below
4 Bytes
Payload content:
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
R8
-
rcvTow
s
Receiver GPS within weeks (Remark [1])
8
I2
-
wn
week
Receiver GPS week number (remark [1])
10
U1
-
numMeas
-
Number of measurement values, valid range 0~32
11
U1
-
res1
-
Reserve
12
I4
-
res2
-
Reserve
Start of repeated part (N=numMeas, valid range 0~32)
16+48*N
R8
-
x
m
Satellite coordinates
24+48*N
R8
-
y
m
Satellite coordinates
32+48*N
R8
-
z
m
Satellite coordinates
40+48*N
R4
-
svdt
m
Satellite clock difference
44+48*N
R4
-
svdf
m/s
Satellite frequency deviation
48+48*N
R4
-
tropDelay
m
Tropospheric delay
52+48*N
R4
-
ionoDelay
m
Ionospheric delay
56+48*N
U1
-
svid
-
Satellite number
57+48*N
U1
-
glnFreqid
-
Frequency number (offset 8), for GLONASS
efficient
58+48*N
U1
-
gnssid
-
System type, 0=GPS, 1=BDS,
2=GLONASS
59+48*N
U1
-
res3
-
Reserve
60+48*N
U4
-
res4
-
Reserve
End of repetition
Remark [1]: Receiver GPS within weeks
rcvTow/wn
Refer to the meaning of rcvTow/wn in RXM-MEASX.
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2.9.3 RXM-SENSOR (0x03 0x07)
information
RXM- SENSOR
describe
Sensor information
type
Cycle/query
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
16+16*N
0x03 0x11
See the table below
4 Bytes
Payload content:
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
R8
-
rcvTow
s
Receiver GPS within weeks (Remark [1])
8
I2
-
wn
week
Receiver GPS week number (remark [1])
10
I1
-
leapS
s
Leap second time in current GPS system
11
U1
-
numMeas
-
Number of measured values ​​(Note [2])
12
U1
-
recStat
-
Receiver status
13
U1
-
timeSrc
-
0-GPS time; 1-BDS time
14
U1
-
rcvrId
-
0
15
U1
-
res
-
Reserve
Start of repeated part (N=numMeas, valid range: 1/2/5/10/25/50 several discrete values)
16+16*N
I2
1g/16384
accX
m/s/s
Accelerometer X-axis measurement value (Note [3])
18+16*N
I2
1g/16384
accY
m/s/s
Accelerometer Y-axis measurement value
20+16*N
I2
1g/16384
accZ
m/s/s
Accelerometer Z axis measurement value
22+16*N
I2
250/32768 gyroX
deg/s
Gyro X-axis measurement value (Note [4])
24+16*N
I2
250/32768 gyroY
deg/s
Gyro Y-axis measurement value
26+16*N
I2
250/32768 gyroZ
deg/s
Gyro Z-axis measurement value
28+16*N
I2
1/326.8
temp
o C
Thermometer measurement
30+16*N
I2
-
res
-
Reserve
End of repetition
Remark [1]: Receiver GPS within weeks
rcvTow/wn
Refer to the meaning of rcvTow/wn in RXM-MEASX.
Remark [2]: Measured value data
numMeas
Configured by the CFG-MSG statement, numMeas is related to the rate in CFG-MSG. CFG-MSG
In the statement, rate=0, RXM_SENSOR statement is not output; rate is equal to 1/2/5/10/25/50
One of the discrete values, each sentence has numMeas = rate group MEMS sampling data; No
Then, numMeas=50. If the RXM_SENSOR statement is output, it will be output once every second.
Remark [3]: Accelerometer
acc
The acceleration measurement range is -2g~+2g.
Remark [4]: ​​Gyroscope
gyro
The range of the gyroscope is -250deg/s~+250deg/s.
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2.10 ACK (0x05)
ACK and NACK are used to reply to the received CFG message.
2.10.1 ACK-NACK (0x05 0x00)
information
ACK-NACK
describe
Responding to a message that was incorrectly received
type
answer
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
4
0x05 0x00
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U1
-
clsID
-
Type of incorrectly received information
1
U1
-
msgID
-
The number of the message received incorrectly
2
U2
-
res
-
Reserve
2.10.2 ACK-ACK (0x05 0x01)
information
ACK-ACK
describe
Respond to the information received correctly
type
answer
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
4
0x05 0x01
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U1
-
clsID
-
Types of information received correctly
1
U1
-
msgID
-
The number of the correct received message
2
U2
-
res
-
Reserve
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2.11 CFG (0x06)
Configuration information, such as setting dynamic mode, baud rate, etc. When the effective length is 0, it means to query the configuration information, and the system will
Output data with the same identifier.
2.11.1 CFG-PRT (0x06 0x00)
information
CFG-PRT
describe
Query the working mode of UART, including two sentences UART0 and UART1. The current UART sentence will be output at the end
type
Inquire
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
0
0x06 0x00
0
4 Bytes
information
CFG-PRT
describe
Set the working mode of UART
type
Setting/response to query
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
8
0x06 0x00
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U1
-
portID
-
Port identification symbols (0 and 1 correspond to UART0 and UART1,
0xFF means the currently connected UART)
1
U1
-
protoMask
-
Protocol control mask, each port can support several protocols at the same time
Discussion. Enable the protocol when the corresponding bit is equal to 1 (Note [1])
2
U2
-
mode
-
Bit mask of UART working mode (Remark [2])
4
U4
-
baudRate
bps
Baud rate
Remark [1]: Protocol control mask
Bit
describe
B0
1=Binary protocol input
B1
1=Text protocol input
B4
1=Binary protocol output
B5
1=Text protocol output
Remark [2]: UART working mode bit mask
Bit
Value
describe
[7:6]
00
5bits
01
6bits
10
7bits
11
8bits
[11:9]
10x
No verification
001
Odd parity
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000
Even parity
x1x
Reserve
[13:12]
00
A stop bit
01
1.5 stop bits
10
Two stop bits
11
Reserve
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2.11.2 CFG-MSG (0x06 0x01)
information
CFG-MSG
describe
Check the frequency of sending all messages
type
Inquire
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
0
0x06 0x01
0
4 Bytes
information
CFG-MSG
describe
Set the frequency of sending messages
type
set up
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
4
0x06 0x01
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U1
-
clsID
-
Information type
1
U1
-
msgID
-
Message number
2
U2
-
rate
-
Information sending frequency (remark [1])
Remark [1]: Frequency of sending information
Numerical value
describe
0
No output
1
Every time you locate, output once
2
Position twice, output once
N
N times of positioning, output once;
In particular, when clsID=0x03, msgID=0x07, rate represents the configured RXM_SENSOR information
The number of samples per second that the sensor outputs.
0xFFFF
Immediately output once, and only once, which is equivalent to query output
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2.11.3 CFG-RST (0x06 0x02)
Message name
CFG-RST
describe
Restart the receiver/clear the saved data structure
type
set up
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
4
0x06 0x02
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U2
-
navBbrMask
-
Clear battery-powered RAM. If a bit of the mask is set to
1, then clear the data indicated on this bit (note [1])
2
U1
-
resetMode
-
Reset method (note [2])
3
U1
-
startMode
-
Start method (remark [3])
Remark [1]: Clear the field
Bit
describe
B0
Ephemeris
B1
Almanac
B2
Health information
B3
Ionospheric parameters
B4
Receiver location information
B5
Clock drift (clock frequency deviation)
B6
Crystal parameters
B7
UTC correction parameters
B8
RTC
B9
Configuration information
Remark [2]: Reset method
Numerical value
describe
0
Immediate hardware reset (implemented by WATCHDOG)
1
Controlled software reset
2
Controlled software reset (GPS only)
4
Hardware reset after shutdown (realized by WATCHDOG)
Remark [3]: Startup method
Numerical value
describe
0
Hot Start
1
Warm start
2
Cold start
3
Factory boot
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2.11.4 CFG-TP (0x06 0x03)
information
CFG-TP
describe
Query time pulse parameters
type
Inquire
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
0
0x06 0x03
0
4 Bytes
information
CFG-TP
describe
Read/set time pulse parameters
type
Read/set
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
16
0x06 0x03
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
interval
us
Time interval between pulses (pulse period)
4
U4
-
width
us
Pulse Width
8
U1
-
enable
-
Enable flag (note [1])
9
U1
-
polar
-
Pulse polarity configuration (note [2)
10
U1
-
timeRef
-
Reference time (Remarks [3)
11
U1
-
timeSource
-
Time source (remarks [4)
12
R4
-
userDelay
s
User time delay
Remark [1]: Pulse enable flag
Value
describe
0
Off pulse
1
Enable pulse
2
The pulse is enabled and output continuously. When it cannot be positioned normally, the pulse update rate is automatically maintained
3
Output pulse during normal positioning, and no pulse when the receiver cannot be positioned normally
Remark [2]: Pulse polarity configuration
0
Rising edge
1
Falling edge
Remark [3]: Reference time
0
UTC time
1
Satellite time
Remark [4]: ​​Satellite time source
Numerical value
describe
0
Mandatory single GPS time service
1
Mandatory single BDS timing
2
Mandatory single GLN timing
3
Reserve
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4
Main BDS, when BDS is unavailable, it can automatically switch to other timing systems
5
Main GPS, when GPS is unavailable, it can automatically switch to other timing system
6
Mainly use GLN, when GLN is unavailable, it can automatically switch to other timing systems
7
Reserve
other
Automatic selection of timing system
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2.11.5 CFG-RATE (0x06 0x04)
Message name
CFG-RATE
describe
Query positioning time interval
type
Inquire
Annotation
The receiver supports different navigation rates (the default rate is one update per second). The navigation rate will directly affect the power consumption,
The faster the speed, the greater the burden on the CPU and communication
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
0
0x06 0x04
0
4 Bytes
Message name
CFG-RATE
describe
Set positioning interval
type
set up
Annotation
The receiver supports different navigation rates (the default rate is one update per second). The navigation rate will directly affect the power consumption,
The faster the speed, the greater the burden on the CPU and communication
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
4
0x06 0x04
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U2
-
interval
ms
Time interval between two positioning
2
U2
-
res
-
Reserve
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2.11.6 CFG-CFG (0x06 0x05)
information
CFG- CFG
describe
Clear, save and load configuration information
type
Order
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
4
0x06 0x05
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U2
-
mask
-
Mask of configuration information (Remark [1])
2
U1
-
mode
-
Operation mode for configuration information (Note [2])
3
U1
-
res
-
Reserve
Remark [1]: Configure information mask
Bit
describe
B0
IO port configuration information (CFG-PRT)
B1
Message configuration (CFG-MSG)
B2
INF message configuration (CFG-INF)
B3
Navigation configuration (CFG-RATE, CFG-TMODE)
B4
Time pulse configuration (CFG-TP)
B5
Group delay (CFG-GROUP)
Remark [2]: Operation mode
Numerical value
describe
0
Clear permanent configuration
1
Save current configuration to permanent configuration
2
Permanent configuration loaded into the current configuration
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2.11.7 CFG-TMODE (0x06 0x06)
information
CFG-TMODE
describe
Query timing mode
type
Inquire
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
0
0x06 0x06
0
4 Bytes
information
CFG-TMODE
describe
Read/set time service mode
type
Read/set
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
40
0x06 0x06
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
mode
-
Time service mode (Note [1])
4
R8
-
fixedPosX
m
X coordinate in ECEF coordinate system
12
R8
-
fixedPosY
m
Y coordinate in ECEF coordinate system
20
R8
-
fixedPosZ
m
Z coordinate in ECEF coordinate system
28
R4
-
fixedPosVar
m^2
3D variance of position
32
U4
-
svinMinDur
s
When the time service mode is 1, the minimum measurement time interval
36
R4
svinVarLimit
m^2
When the timing mode is 1, positioning error limit
Remark [1]: Time service mode
Numerical value
describe
0
Autonomous positioning and simultaneous timing
1
After autonomously positioning for a period of time to obtain the user’s position with sufficient accuracy, only use all available satellites to calculate the
User clock parameters for time service. In this mode, when the user's position is fixed, a single satellite time service can be realized
2
The user enters the current position, and only uses all available satellites to calculate the user clock parameters for timing. In this mode
Single star timing can be realized under
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2.11.8 CFG-NAVX (0x06 0x07)
Message name
CFG-NAVX
describe
Query the professional configuration of the navigation engine
type
Inquire
Annotation
Query navigation related parameters
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
0
0x06 0x07
0
4 Bytes
Message name
CFG-NAVX
describe
Navigation engine professional configuration
type
set up
Annotation
Configure navigation related parameters
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
44
0x06 0x07
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
mask
-
Parameter mask, only the corresponding bit mask is set to 1, the parameter
Application only after setting (Remark [1])
4
U1
-
dyModel
-
Dynamic mode (Remarks [2])
5
U1
-
fixMode
-
Positioning mode (note [3])
6
U1
-
minSVs
-
Minimum number of satellites used for positioning
7
U1
-
maxSVs
-
Maximum number of satellites used for positioning
8
U1
-
minCNO
dB-Hz
Minimum satellite signal carrier-to-noise ratio for positioning
9
U1
-
res1
-
Reserve
10
U1
iniFix3D
Initial positioning must be 3D positioning mark (0/1)
11
I1
-
minElev
°
Minimum elevation angle of GNSS satellite used for positioning
12
U1
-
drLimit
s
Maximum DR time without satellite signal
13
U1
-
navSystem
-
Navigation system enable flag (note [4])
14
U2
-
wnRollOver
-
GPS week number
16
R4
-
fixedAlt
m
Fixed height during 2D positioning
20
R4
-
fixedAltVar
m^2
Fixed height error during 2D positioning
twenty four
R4
-
pDop
-
Maximum position DOP
28
R4
-
tDop
-
Time DOP maximum
32
R4
-
pAcc
m^2
Maximum position accuracy
36
R4
-
tAcc
m^2
Maximum time accuracy
40
R4
-
staticHoldTh
m/s
Keep still threshold
Remarks[1]: parameter mask
Bit
describe
B0
Apply dynamic mode settings
B1
Application targeting mode settings
B2
Application of the maximum/minimum number of navigation satellites setting
B3
Apply the minimum signal-to-noise ratio setting
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B4
Reserve
B5
Apply initial positioning 3D settings
B6
Apply minimum elevation angle setting
B7
Apply DR restriction settings
B8
Application navigation system enable
B9
Apply GPS week rollover setting
B10
Application height assistance
B11
Application location DOP restrictions
B12
Application time DOP limit
B13
Apply static hold settings
Remark [2]: Dynamic mode
model
describe
0
Portable mode
1
Static mode
2
Walking mode
3
Car mode
4
Nautical mode
5
Flight mode acceleration <1g
6
Flight mode acceleration<2g
7
Flight mode acceleration<4g
Remark [3]: Positioning mode
model
describe
0
Reserve
1
2D positioning
2
3D positioning
3
2D/3D positioning automatic switching
Remark [4]: ​​Navigation system enable
Bit
describe
B0
1=GPS
B1
1=BDS
B2
1=GLONASS
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2.11.9 CFG-GROUP (0x06 0x08)
Message name
CFG-GROUP
describe
Query the group delay of GLONASS
type
Inquire
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
0
0x06 0x08
0
4 Bytes
Message name
CFG-GROUP
describe
Configure GLONASS group delay
type
set up
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
56
0x06 0x08
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
R4[14]
-
groupDealy
m
The group delay corresponding to each frequency of GLONASS,
Characterized by distance (group delay time multiplied by the speed of light to get
To distance)
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2.11.10 CFG-INS (0x06 0x10)
Message name
CFG-INS
describe
Query INS installation mode
type
Inquire
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
0
0x06 0x10
0
4 Bytes
Message name
CFG-INS
describe
Configure INS installation mode
type
set up
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
4
0x06 0x10
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U2
-
attMode
-
The relative installation attitude mode of the module relative to the vehicle
Configuration, possible value range: 0, 1, 2, 3.
0: The X axis of the module points to the front of the vehicle.
1: The X axis of the module points to the right of the vehicle.
2: The X axis of the module points to the rear of the vehicle.
3: Module X axis points to the left of the vehicle.
9: The relative attitude of the adaptive estimation module.
The default is 9.
2
U2
ramStart
-
1: The dead reckoning function is enabled immediately after the backup power is turned on
start
0: The dead reckoning function is off immediately after the backup power is turned on
close
Off by default
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2.12 MSG (0x08)
The receiver navigation message, the message type is 0x08.
2.12.1 MSG-BDSUTC (0x08 0x00)
information
MSG-BDSUTC
describe
BDS fixed-point UTC data (synchronized parameters with UTC time)
type
cycle
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
20
0x08 0x00
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
res1
-
Reserve
4
I4
2 -30
a0UTC
s
BDT clock difference relative to UTC
8
I4
2 -50
a1UTC
s/s
BDT clock speed relative to UTC
12
I1
-
dtls
s
Before the new leap second takes effect, the cumulative leap second change of BDT relative to UTC
A positive number
13
I1
-
dtlsf
s
After the new leap second takes effect, the cumulative leap second change of BDT relative to UTC
A positive number
14
U1
-
res2
-
Reserve
15
U1
-
res3
-
Reserve
16
U1
-
wnlsf
wee
k
Week count for the new leap second to take effect
17
U1
-
dn
day
Count of days of the week when the new leap second takes effect
18
U1
-
valid
-
Information available sign (remark [1])
19
U1
-
res4
-
Reserve
Remark [1]: Information available sign
Numerical value
instruction
0
invalid
1
Unhealthy
2
Expired
3
efficient
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2.12.2 MSG-BDSION (0x08 0x01)
information
MSG-BDSION
describe
BDS8 parameter fixed-point ionospheric data
type
cycle
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
16
0x08 0x01
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
res1
-
Reserve
4
I1
2 -30
alpha0
s
Ionospheric parameters
5
I1
2 -27
alpha1
Ionospheric parameters
6
I1
2 -24
alpha2
Ionospheric parameters
7
I1
2 -24
alpha3
Ionospheric parameters
8
I1
2 11
beta0
s
Ionospheric parameters
9
I1
2 14
beta1
Ionospheric parameters
10
I1
2 16
beta2
Ionospheric parameters
11
I1
2 16
beta3
Ionospheric parameters
12
U1
-
valid
-
Information available sign (remark [1])
13
U1
-
res2
-
Reserve
14
U2
-
res3
-
Reserve
Remark [1]: Information available sign
Numerical value
instruction
0
invalid
1
Unhealthy
2
Expired
3
efficient
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2.12.3 MSG-BDSEPH (0x08 0x02)
information
MSG-BDSEPH
describe
BDS Ephemeris
type
cycle
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
92
0x08 0x02
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
res1
-
Reserve
4
U4
2 -19
sqra
m 1/2
The square root of the semi-major axis of the satellite orbit
8
U4
2 -33
es
-
Satellite orbit eccentricity
12
I4
2 -31
Argument of Perigee
16
I4
2 -31
M 0
Mean anomaly of reference time
20
I4
2 -31
i 0
Orbital inclination at reference time
twenty four
I4
2 -31
0
Ascension of ascending node calculated by reference time
28
I4
2 -43
Ascension change rate of ascending node
32
I2
2 -43
The difference between the average speed of the satellite and the calculated value
34
I2
2 -43
IDOT
Orbital inclination change rate
36
I4
2 -31
cuc
rad
The cosine harmonic of the argument of latitude and the amplitude of the correction term
40
I4
2 -31
cus
rad
The sine harmonic of the argument of latitude and the amplitude of the correction term
44
I4
2 -6
crc
m
Cosine harmonics of the orbital radius and the amplitude of the correction term
48
I4
2 -6
crs
m
The sine harmonic of the orbital radius and the amplitude of the correction term
52
I4
2 -31
cic
rad
Cosine harmonic of the orbital inclination and the amplitude of the correction term
56
I4
2 -31
cis
rad
The sine harmonic of the orbital inclination and the amplitude of the correction term
60
U4
2 3
toe
s
Ephemeris reference moment
64
U2
-
wne
-
Full weeks of reference time
66
U2
-
res2
-
Reserve
68
U4
2 3
toc
s
Reference time of clock error parameter in this period
72
I4
2 -33
af0
s
Satellite Ranging Code Phase Time Offset Coefficient
76
I4
2 -50
af1
s/s
Satellite Ranging Code Phase Time Offset Coefficient
80
I2
2 -66
af2
s/s 2
Satellite Ranging Code Phase Time Offset Coefficient
82
I2
0.1
tgd
ns
Delay of on-board equipment
84
U1
-
iodc
-
Clock data age
85
U1
-
iode
-
Ephemeris data age
86
U1
-
ura
-
User distance accuracy
87
U1
-
health
-
Satellite autonomous health sign
88
U1
-
svid
-
Satellite number
89
U1
-
valid
-
Information available sign (remark [1])
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90
U2
-
res3
-
Reserve
Remark [1]: Information available sign
Numerical value
instruction
0
invalid
1
Unhealthy
2
Expired
3
efficient
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2.12.4 MSG-GPSUTC (0x08 0x05)
information
MSG-GPSUTC
describe
GPS fixed-point UTC data (synchronized parameters with UTC time)
type
cycle
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
20
0x08 0x05
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
res1
-
Reserve
4
I4
2 -30
a0UTC
s
GPST clock difference relative to UTC
8
I4
2 -50
a1UTC
s/s
GPST clock speed relative to UTC
12
I1
-
dtls
s
Before the new leap second takes effect, the cumulative BDT relative to UTC
Leap second correction
13
I1
-
dtlsf
s
After the new leap second takes effect, the cumulative BDT relative to UTC
Leap second correction
14
U1
2 12
tot
s
Reference time of UTC data
15
U1
-
wnt
week
UTC reference week number
16
U1
-
wnlsf
week
Week count for the new leap second to take effect
17
U1
-
dn
day
Count of days of the week when the new leap second takes effect
18
U1
-
valid
-
Information available sign (remark [1])
19
U1
-
res2
-
Reserve
Remark [1]: Information available sign
Numerical value
instruction
0
invalid
1
Unhealthy
2
Expired
3
efficient
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2.12.5 MSG-GPSION (0x08 0x06)
information
MSG-GPSION
describe
GPS ionospheric data
type
cycle
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
16
0x08 0x06
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
res1
-
Reserve
4
I1
2 -30
alpha0
s
Ionospheric parameters
5
I1
2 -27
alpha1
Ionospheric parameters
6
I1
2 -24
alpha2
Ionospheric parameters
7
I1
2 -24
alpha3
Ionospheric parameters
8
I1
2 11
beta0
s
Ionospheric parameters
9
I1
2 14
beta1
Ionospheric parameters
10
I1
2 16
beta2
Ionospheric parameters
11
I1
2 16
beta3
Ionospheric parameters
12
U1
-
valid
-
Information available sign (remark [1])
13
U1
-
res2
-
Reserve
14
U2
-
res3
-
Reserve
Remark [1]: Information available sign
Numerical value
instruction
0
invalid
1
Unhealthy
2
Expired
3
efficient
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2.12.6 MSG-GPSEPH (0x08 0x07)
information
RXM-GPSEPH
describe
GPS ephemeris
type
cycle
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
72
0x08 0x07
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
res1
-
Reserve
4
U4
2 -19
sqra
m 1/2
The square root of the semi-major axis of the satellite orbit
8
U4
2 -33
es
-
Satellite orbit eccentricity
12
I4
2 -31
Argument of Perigee
16
I4
2 -31
M 0
Mean anomaly of reference time
20
I4
2 -31
i 0
Orbital inclination at reference time
twenty four
I4
2 -31
0
Ascension of ascending node calculated by reference time
28
I4
2 -43
Ascension change rate of ascending node
32
I2
2 -43
The difference between the average speed of the satellite and the calculated value
34
I2
2 -43
IDOT
Orbital inclination change rate
36
I2
2 -29
cuc
rad
The cosine harmonic of the argument of latitude and the amplitude of the correction term
38
I2
2 -29
cus
rad
The sine harmonic of the argument of latitude and the amplitude of the correction term
40
I2
2 -5
crc
m
Cosine harmonics of the orbital radius and the amplitude of the correction term
42
I2
2 -5
crs
m
The sine harmonic of the orbital radius and the amplitude of the correction term
44
I2
2 -29
cic
rad
Cosine harmonic of the orbital inclination and the amplitude of the correction term
46
I2
2 -29
cis
rad
The sine harmonic of the orbital inclination and the amplitude of the correction term
48
U2
2 4
toe
s
Ephemeris reference time
50
U2
-
wne
-
Full weeks of reference time
52
U4
2 4
toc
s
Reference time of clock error parameter in this period
56
I4
2 -31
af0
s
Satellite Ranging Code Phase Time Offset Coefficient
60
I2
2 -43
af1
s/s
Satellite Ranging Code Phase Time Offset Coefficient
62
I1
2 -55
af2
s/s 2
Satellite Ranging Code Phase Time Offset Coefficient
63
I1
2 -31
tgd
s
Delay of on-board equipment
64
U2
-
iodc
-
Clock data age
66
U1
-
ura
-
User distance accuracy
67
U1
-
health-
Satellite autonomous health sign
68
U1
-
svid
-
Satellite number
69
U1
-
valid
-
Information available sign (remark [1])
70
U2
-
res2
-
Reserve
Remark [1]: Information available sign
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Numerical value
instruction
0
invalid
1
Unhealthy
2
Expired
3
efficient
2.12.7 MSG-GLNEPH (0x08 0x08)
information
RXM-GLNEPH
describe
GLONASS Ephemeris
type
cycle
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
68
0x08 0x08
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
res1
-
Reserve
4
I4
2 -30
taon
s
The correction value of the nth satellite relative to GLONASS time
8
I4
2 -11
x
km
Satellite position coordinates in PZ-90 coordinate system
12
I4
2 -11
y
km
Satellite position coordinates in PZ-90 coordinate system
16
I4
2 -11
z
km
Satellite position coordinates in PZ-90 coordinate system
20
I4
2 -20
dx
km/s
Satellite speed in PZ-90 coordinate system
twenty four
I4
2 -20
dy
km/s
Satellite speed in PZ-90 coordinate system
28
I4
2 -20
dz
km/s
Satellite speed in PZ-90 coordinate system
32
I4
2 -31
taoc
s
GLONASS time relative to UTC time scale correction amount
36
I4
2 -30
taoGPS
day
Correction amount from GLONASS time to GPS time
40
I2
2 -40
gamman-
The relative deviation of the satellite's predicted carrier frequency
42
U2
-
tk
-
Within the day of the current frame, a total of 12 bits
44
U2
-
nt
day
The current date from January of the previous leap year
46
I1
2 -30
ddx
km/s 2
Satellite acceleration in PZ-90 coordinate system
47
I1
2 -30
ddy
km/s 2
Satellite acceleration in PZ-90 coordinate system
48
I1
2 -30
ddz
km/s 2
Satellite acceleration in PZ-90 coordinate system
49
I1
2 -30
dtaon
s
The difference in propagation time between the L2 signal and the L1 signal of the nth satellite
50
U1
-
bn
-
Health sign
51
U1
900
tb
s
The intraday time of the current time (according to UTC+3)
52
U1
-
M
-
GLONASS satellite category
53
U1
-
P
-
Technical parameters of the control part
54
U1
-
ft
-
Prediction accuracy of satellite pseudorange
55
U1
-
en
day
Satellite ephemeris age
56
U1
-
p1
-
Ephemeris information update time flag
57
U1
-
p2
-
tb parity flag
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58
U1
-
p3
-
The almanac passed in the current frame contains the number of satellites
59
U1
-
p4
-
Ephemeris data update flag: 1 means updated
60
U1
-
ln
-
Satellite health sign (GLONASS-M satellite)
61
U1
-
n4
-
Time counting (starting in 1996, with a four-year cycle)
62
U1
-
svid
-
Satellite number
63
U1
-
nl
-
Frequency number
64
U1
-
valid
-
Information available sign (remark [1])
65
U1
-
res2
-
Reserve
66
U2
-
res3
-
Reserve
Remark [1]: Information available sign
Numerical value
instruction
0
invalid
1
Unhealthy
2
Expired
3
efficient
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2.13 MON (0x0A)
Monitoring information, such as configuration status, task status, etc.
2.13.1 MON-VER (0x0A 0x04)
information
MON-VER
describe
Version Information
type
Respond to queries
Annotation
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
64
0x0A 0x04
See the table below
4 Bytes
Payload content:
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
CH[32]
-
swVersion
-
Software version string
32
CH[32]
-
hwVersion
-
Hardware version string
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2.13.2 MON-HW (0x0A 0x09)
information
MON-HW
describe
Hardware status
type
Cycle/query
Annotation
Various configuration status of the hardware, including antenna status, IO port status, noise level, AGC information, etc.
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
56
0x0A 0x09
See the table below
4 Bytes
Payload content:
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
U4
-
noisePerMs0
-
DIF0 IF data noise power
4
U4
-
noisePerMs1
-
DIF1 IF data noise power
8
U4
-
noisePerMs2
-
DIF2 IF data noise power
12
U2
-
agcData0
-
The number of 1s in the amplitude bit of the DIF0 intermediate frequency data
14
U2
-
agcData1
-
The number of 1s of the amplitude bit of the DIF1 intermediate frequency data
16
U2
-
agcData2
-
The number of 1s of the amplitude bit of the DIF2 intermediate frequency data
18
U2
-
res
-
Reserve
20
U1
-
antStatus
-
Antenna status (remark [1])
twenty one
U1
-
res
-
Reserve
twenty two
U1
-
res
-
Reserve
twenty three
U1
-
res
-
Reserve
twenty four
U4[8]
2^24
jamming
-
Center frequency of interference signal (normalized)
Remark [1]: Antenna status
Numerical value
describe
0
Initialization process
1
Unknown status
2
normal
3
Short circuit
4
open circuit
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2.14 AID (0x0B)
Auxiliary information, such as the initial position and time of the receiver.
2.14.1 AID-INI (0x0B 0x01)
information
AID-INI
describe
Auxiliary position, time, frequency, clock frequency deviation information
type
Query/enter
Annotation
Configure navigation related parameters
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
56
0x0B 0x01
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
0
R8
-
ecefXOrLat
m or 1°
X coordinate or latitude in ECEF coordinate system:
If it is the ECEF coordinate system, the unit is m;
If it is latitude, the unit is degrees.
8
R8
-
ecefYOrLon
m or 1°
Y coordinate or longitude in ECEF coordinate system:
If it is the ECEF coordinate system, the unit is m;
If it is longitude, the unit is degrees.
16
R8
-
ecefZOrAlt
m
Y coordinate or height in ECEF coordinate system
twenty four
R8
-
tow
s
GPS time of the week
32
R4
300
freqBias
ppm
The clock frequency drifts. For example:
FreqBias=300, which means crystal frequency deviation
1ppm;
FreqBias=-150, which means crystal frequency deviation
-0.5ppm;
36
R4
-
pAcc
m^2
Variance of the estimation error of the 3D position
40
R4
C^2
tAcc
s^2
The variance of the estimated error of time. For example:
tAcc=9, which means the time error is
sqrt(tAcc)/C=3/3e8=10ns
44
R4
300^2 fAcc
ppm^2
The variance of the clock frequency drift error. For example:
fAcc=900, which means the time error is
sqrt(fAcc)/300=30/300=0.1ppm
48
U4
-
res
-
Reserve
52
U2
-
wn
-
GPS weekday
54
U1
-
timeSource
-
Time source
55
U1
-
flags
-
Logo mask (remark [1])
Remark [1]: Logo mask
Bit
describe
B0
1=Position valid
B1
1=Time is valid
B2
1=The clock frequency drift data is valid
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B3
Reserve
B4
1=The clock frequency data is valid
B5
1=Location is in LLA format
B6
1=Invalid height
B7
Reserve
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2.14.2 AID-HUI (0x0B 0x03)
information
AID-HUI
describe
Auxiliary health information, UTC parameters, ionospheric parameters
type
enter
Annotation
Configure navigation related parameters
information
structure
head
Length (bytes)
Identifier
Payload
Checksum
0xBA 0xCE
60
0x0B 0x03
See the table below
4 Bytes
Payload content
character
Offset
data
type
Proportion
Zoom
name
unit
describe
4
U4
-
HeaGps
-
Health information of GPS satellites (Remarks [1])
8
U4
-
HeaBds
-
Health information of BDS satellites (Remarks [1])
12
U4
-
HeaGln
-
Health information of the GLONASS satellite (Remarks [1])
16
I4
2 -30
utcGpsA0
s
UTC parameter A0, the clock difference of GPS time relative to UTC
20
I4
2 -50
utcGpsA1
s/s
UTC parameter A1, the clock speed of GPS time relative to UTC
twenty four
I1
-
utcGpsLS
s
GPS time relative to UTC before the new leap second
25
I1
-
utcGpsLSF
s
GPS time relative to UTC after the new leap second
26
U1
-
utcGpsTow
s
Reference time of the week for GPS UTC parameters
27
U1
-
utcGpsWNT
week
Reference week number of GPS UTC parameters
28
U1
-
utcGpsWNF
week
GPS new jump second effective week day
29
U1
-
utcGpsDN
day
The number of days of the week when the new GPS second jump takes effect
30
I2
-
Res
-
Reserve
32
I4
2 -30
utcBdsA0
s
UTC parameter A0, the clock difference of BDS relative to UTC
36
I4
2 -50
utcBdsA1
s/s
UTC parameters A1, with respect to the UTC clock speed when the BDS
40
I1
-
utcBdsLS
s
The jump second of BDS relative to UTC before the new jump second
41
I1
-
utcBdsLSF
s
The jump second of BDS relative to UTC after the new jump second
42
U1
-
utcBdsTow
s
Reference time of the week for UTC parameters of BDS
43
U1
-
utcBdsWNT
week
Reference week number of UTC parameter of BDS
44
U1
-
utcBdsWNF
week
BDS new jump second effective weekday
45
U1
-
utcBdsDN
day
The number of days in the week when the new BDS jump second takes effect
46
I2
-
Res
-
Reserve
48
I1
2 -30
klobA0
s/π
Klobuchar model parameter alpha0
49
I1
2 -27
klobA1
s/π 1
Klobuchar model parameter alpha1
50
I1
2 -24
klobA2
s/π 2
Klobuchar model parameter alpha2
51
I1
2 -24
klobA3
s/π 3
Klobuchar model parameter alpha3
52
I1
2 11
klobB0
s/π
Klobuchar model parameter beta0
53
I1
2 14
klobB1
s/π 1
Klobuchar model parameter beta1
54
I1
2 16
klobB2
s/π 2
Klobuchar model parameters beta2
55
I1
2 16
klobB3
s/π 3
Klobuchar model parameters beta3
56
U4
-
flags
-
Valid flag mask (remark [2])
Remarks [1]: B0 means satellite number 1, and so on, the corresponding bit is equal to 0, which means the satellite is healthy.
Remarks [2]: valid flag
Bit
describe
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B0
Health information is valid
B1
UTC parameters are valid
B2
Ionospheric parameters are valid

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