Quectel L26 Command Manual Download Page 28

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GNSS Module Series

GNSS SDK Commands Manual

GNSS_SDK_Commands_Manual Confidential / Released 27 / 28

PZ90

Parametry Zemli 1990

RAIM

Receiver Autonomous Integrity Monitoring

RMC

Recommended Minimum Specific GNSS Data

RLM

Return Link Message

RLS

Return Link Service

URC

Unsolicited Result Code

3.3. Datum Sentence Definition

The datum sentence definition for $GNDTM,xxx,x,xx.xxxx,x,xx.xxxx,x,xxx,xxx*hh<CR><LF> is illustrated

below:

Table 4: Datum Sentence Definition

Field

Meaning

Local datum code (xxx):

W84 - WGS84

W72 - WGS72

S85 - SGS85

P90 - PZ-90

Local datum sub code (x)

Latitude offset in minutes (xx.xxxx)

Latitude offset mark (N: +, S: -) (x)

Longitude offset in minutes (xx.xxxx)

Longitude offset mark (E: +, W: -) (x)

Altitude offset in meters.

Datum (xxx):

W84 - WGS84

W72 - WGS72

S85 - SGS85

P90 - PZ-90

Checksum

Quectel

Confidential

Summary of Contents for L26

Page 1: ...GNSS SDK Commands Manual GNSS Module Series Rev GNSS_SDK_Commands_Manual_V1 4 Date 2017 07 21 www quectel com ...

Page 2: ...FORMATION PROVIDED IS BASED UPON CUSTOMERS REQUIREMENTS QUECTEL MAKES EVERY EFFORT TO ENSURE THE QUALITY OF THE INFORMATION IT MAKES AVAILABLE QUECTEL DOES NOT MAKE ANY WARRANTY AS TO THE INFORMATION CONTAINED HEREIN AND DOES NOT ACCEPT ANY LIABILITY FOR ANY INJURY LOSS OR DAMAGE OF ANY KIND INCURRED BY USE OF OR RELIANCE UPON THE INFORMATION ALL INFORMATION SUPPLIED HEREIN IS SUBJECT TO CHANGE WI...

Page 3: ...mon HU 1 Added the following new commands PQECEF PQODO PQPZ90 PQGLP PQVEL 2 Added L76 and L76 L in Table 1 3 Added the Chapter 3 Appendix References 1 3 2016 08 15 Simon HU 1 Added L26 in Table 1 2 Improved the function of PQODO to enable initial distance setting 1 4 2017 07 21 Matt YE Simon HU 1 Updated notes for PQODO in Chapter 2 8 2 Added the following new commands PQJAM Chapter 2 12 PQRLM Cha...

Page 4: ...F Enable Disable ECEFPOSVEL Sentence Output 12 2 8 PQODO Start Stop Odometer Reading 13 2 9 PQPZ90 Enable Disable Switching from WGS84 to PZ 90 11 14 2 10 PQGLP Set the Module into GLP Mode 15 2 11 PQVEL Enable Disable 3 Ways Velocity Sentence Output 16 2 12 PQJAM Enable Disable Jamming Detection Function 17 2 13 PQRLM Enable Disable Return Link Message Output 18 2 14 PQGEO Configure Parameters of...

Page 5: ..._Commands_Manual Confidential Released 4 28 Table Index TABLE 1 CURRENT SUPPORTED SDK COMMANDS 5 TABLE 2 RELATED DOCUMENTS 26 TABLE 3 TERMS AND ABBREVIATIONS 26 TABLE 4 DATUM SENTENCE DEFINITION 27 TABLE 5 GBS SENTENCE DEFINITION 28 Quectel Confidential ...

Page 6: ...PQBAUD Change NMEA Port Default Baud Rate Y Y Y Y Y Y PQEPE Enable Disable PQEPE Sentence Output Y Y Y Y Y Y PQ1PPS Set the Type and Pulse Width of 1PPS Output Y Y Y Y Y Y PQFLP Set the Module into FLP Fitness Low Power Mode Y Y N N N N PQTXT Enable Disable GPTXT Sentence Output N Y N N Y Y PQECEF Enable Disable ECEFPOSVEL Sentence Output N N Y Y Y Y PQODO Start Stop Odometer Reading N N Y Y Y Y P...

Page 7: ...ased 6 28 1 Y means supported N means not supported 2 For more details about the usage of PQFLP and PQGLP commands please refer to document 1 PQPREC Configure Parameter Precision in NMEA Sentences N N Y Y Y Y PQGBS Enable Disable GBS Sentence Output N N Y Y Y Y NOTES Quectel Confidential ...

Page 8: ...et Contents Preamble One byte character TalkerID Two bytes character string PQ PktType 1 10 bytes character string An identifier used to tell the decoder how to decode the packet DataField The DataFileld has variable lengths depending on the packet type A command symbol must be inserted ahead of each data filed to help the decoder process the DataField 1 byte character The star symbol is used to m...

Page 9: ...E Sentence Output PQBAUD Change NMEA Port Default Baud Rate Write Command PQBAUD W baudrate Checksum C R LF Response PQBAUD W OK Checksum CR LF If there is any error response PQBAUD W ERROR Checksum CR LF Reference baudrate NMEA port baud rate default value is 9600bps and can be set to 4800bps 14400bps 19200bps 38400bps 57600bps and 115200bps PQEPE Enable Disable PQEPE Sentence Output Write Comman...

Page 10: ...l position error Example PQEPE 5 3050 3 2000 53 Reference mode Operation 0 Disable the URC including EPE data 1 Enable the URC including EPE data save Save operation 0 Parameter is not saved and ineffective after restart 1 Parameter is saved in flash and effective after restart PQ1PPS Set the Type and Pulse Width of 1PPS Output Write Command PQ1PPS W type width Checksu m CR LF Response PQ1PPS W OK...

Page 11: ...ode Parameter 1 Send 1PPS after the first fix 2 Send 1PPS after 3D fix 3 Send 1PPS after 2D fix 4 Send 1PPS always width PPS pulse width in millisecond Range 2 998 PQFLP Set the Module into FLP Mode Write Command PQFLP W mode save Checksu m CR LF Response PQFLP W OK Checksum CR LF If there is any error response PQFLP W ERROR Checksum CR LF Read Command PQFLP R Checksum CR LF Response PQFLP R mode ...

Page 12: ...e Checksu m CR LF Response PQTXT W OK Checksum CR LF If there is any error response PQTXT W ERROR Checksum CR LF URC Message GPTXT 01 01 02 status Checksum CR LF Parameter status Status of antenna ANTSTATUS OK antenna is well connected ANTSTATUS OPEN antenna has been disconnected ANTSTATUS SHORT antenna is short circuited Example GPTXT 01 01 02 ANTSTATUS OK 3B Reference mode Operation 0 Disable GP...

Page 13: ... Response PQECEF W OK ChkSum CR LF If there is any error response PQECEF W ERROR ChkSum CR LF Read Command PQECEF R ChkSum CR LF Response PQECEF R mode ChkSum CR LF URC Message ECEFPOSVEL time x y z v_x v_y v_z C hkSum CR LF Parameter time UTC from the internal real time clock x The value of X axis in ECEF y The value of Y axis in ECEF z The value of Z axis in ECEF v_x Velocity component of X axis...

Page 14: ...ut 1 Enable ECEFPOSVEL sentence output save Save operation 0 Parameter is not saved and ineffective after restart 1 Parameter is saved in flash and effective after restart PQODO Start Stop Odometer Reading Write Command PQODO W mode initial distance ChkSum CR LF Response PQODO W OK ChkSum CR LF If there is any error response PQODO W ERROR ChkSum CR LF Read Command PQODO R ChkSum CR LF Response PQO...

Page 15: ...nd is not supported in backup mode 2 9 PQPZ90 Enable Disable Switching from WGS84 to PZ 90 11 mode Start or stop odometer reading 0 Stop odometer reading and remember the distance value 1 Start odometer reading and initialize the distance according to the initial distance initial distance Set the initial distance range 0 1e09 unit meter When mode is 1 this parameter can be omitted and its default ...

Page 16: ...rom WGS84 to PZ 90 11 is enabled and effective the coordinate values in RMC and GGA sentences will be switched to PZ 90 11 after fixing Also a DTM sentence will be displayed to identify the datum used 2 10 PQGLP Set the Module into GLP Mode Parameter definition is available in Table 4 Reference Chapter 3 3 mode Operation 0 Disable switching from WGS84 to PZ 90 11 1 Enable switching from WGS84 to P...

Page 17: ...eration mode 0 Normal mode 1 GLP mode save Save operation 0 Parameter is not saved and ineffective after restart 1 Parameter is saved in flash and effective after restart PQVEL Enable Disable 3 Ways Velocity Sentence Output Write Command PQVEL W mode save ChkSum CR LF Response PQVEL W OK ChkSum CR LF If there is any error response PQVEL W ERROR ChkSum CR LF Read Command PQVEL R ChkSum CR LF Respon...

Page 18: ...l Down velocity Example PQVEL 1 000000 2 000000 0 000000 42 Reference mode Enable disable 3 ways velocity sentence output 0 Disable 1 Enable save Save operation 0 Parameter is not saved and ineffective after restart 1 Parameter is saved in flash and effective after restart PQJAM Enable Disable Jamming Detection Function Write Command PQJAM W mode save ChkSum CR LF Response PQJAM W OK ChkSum CR LF ...

Page 19: ...ion function PQJAM W OK 14 Set OK PQJAM R 39 Read operation mode PQJAM R 1 24 Read OK 1 The command will be effective immediately after setting 2 The command is not supported in backup mode 2 13 PQRLM Enable Disable Return Link Message Output Parameter status Jamming status 1 No jamming healthy status 2 Warning status 3 Critical status Example PMTKSPF 1 5A Reference PQRLM Enable Disable Return Lin...

Page 20: ... msg_code para ChkSum CR LF Parameter beacon_id Beacon ID of RLM gps_second The GPS second when receiving RLM msg_code Message code para The data parameters provided by RLS short message contains 4 hex characters long message contains 24 hex characters Example PQRLM 0a0a0a0a0a0a0a8 955065733 1 8aa1 3E PQRLM 050505050505052 955065709 15 5555555555555 55555 Reference mode Enable disable return link ...

Page 21: ...ude2 longitude2 latitude 3 longitude3 ChkSum CR LF If there is any error response PQGEO R ERROR ChkSum CR LF Inquire Command PQGEO Q GEO ID ChkSum CR LF Response PQGEO Q GEO ID status ChkSum CR LF If there is any error response PQGEO Q ERROR ChkSum CR LF URC Message PQGEO GEO ID action Fix status UTC date Time Latitude Longitude MSL Altitude Speed Over Ground Course Over Ground Fix Mode Reserved1 ...

Page 22: ... altitude Unit meter Speed Over Ground Speed over ground Unit km h Course Over Ground Course over ground Unit degree Range 0 360 00 Fix Mode Fix mode 0 No fix 1 Estimated mode 2 Position fixed 3 Position fixed in DGPS mode Reserved1 Reserved1 HDOP Horizontal dilution of precision PDOP Position dilution of precision VDOP Vertical dilution of precision Reserved2 Reserved2 GPS Satellites in View GPS ...

Page 23: ... fence circular region or the first point Unit degree Format ddd dddddd range 180 000000 180 000000 latitude1 radius When shape is 0 this parameter is radius unit meter range 0 6000000 0 When shape is other values this parameter is latitude1 Unit degree Format dd dddddd range 90 000000 90 000000 If shape is 0 the parameters after latitude1 radius must be omitted longitude1 The longitude of second ...

Page 24: ...is only supported on L76 module and the GEO ID must be 0 3 PQGEO R 10 1F command can inquire parameters of all geofences 4 The command will be effective immediately after setting and the parameters will be automatically saved into flash 5 Input the latitude and longitude in sequence in clockwise or counter clockwise order 2 15 PQPREC Configure Parameter Precision in NMEA Sentences The command is u...

Page 25: ...ting 2 16 PQGBS Enable Disable GBS Sentence Output The packet can enable or disable the output of GBS sentence which is used to support receiver autonomous integrity monitoring RAIM latitude bits The number of digits after the decimal point of latitude in NMEA sentences 4 6 The default value is 4 longitude bits The number of digits after the decimal point of longitude in NMEA sentences 4 6 The def...

Page 26: ...any error response PQGBS W ERROR ChkSum CR LF Read Command PQGBS R ChkSum CR LF Response PQGBS R mode ChkSum CR LF URC Message GBS hhmmss ss x x x x x x xx x x x x x x hh CR LF Parameter definition is available in Table 5 Example GNGBS 035459 000 8 30 4 43 9 41 22 0 0 162 6 29 2 1 0 6D Reference mode Module operation mode 0 Disable GBS sentence output 1 Enable GBS sentence output save Save operati...

Page 27: ...ower Mode Application Note 3 2 Terms and Abbreviations Table 3 Terms and Abbreviations Abbreviation Description 1PPS 1 Pulse Per Second ECEF Earth centered Earth fixed EPE Estimated Position Error FLP Fitness Low Power GBS GNSS Satellite Fault Detection GGA Global Positioning System Fixed Data GLP GNSS Low Power GNSS Global Navigation Satellite System MLS Mean Sea Level NMEA National Marine Electr...

Page 28: ...tence Definition The datum sentence definition for GNDTM xxx x xx xxxx x xx xxxx x xxx xxx hh CR LF is illustrated below Table 4 Datum Sentence Definition Field Meaning 1 Local datum code xxx W84 WGS84 W72 WGS72 S85 SGS85 P90 PZ 90 2 Local datum sub code x 3 Latitude offset in minutes xx xxxx 4 Latitude offset mark N S x 5 Longitude offset in minutes xx xxxx 6 Longitude offset mark E W x 7 Altitud...

Page 29: ...mber of most likely failed satellite 6 Probability of missed detection for most likely failed satellite 7 Estimate of bias in meters on most likely failed satellite 8 Standard deviation of bias estimate 9 GNSS system ID 1 GPS 2 GLONASS 3 Galileo 4 RESERVED 10 GNSS signal ID 0 All channel 1 G1 C A 11 Checksum If only GPS GLONASS etc is used for the reported position solution the talker ID of GBS is...

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