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Customized NMEA Sentences

Rev 3.1 Jul.20

41113737

$PSWIEPE Details

EPE is the horizontal and vertical estimated position error based on HDOP and

VDOP.
The following table explains the $PSWIEPE sentence format:
$PSWIEPE,20190905,060310.00,10.5,7.6,4.6,6.0,7.3*56

Note: "Uncertainty" is the predicted error between the NMEA position and the actual position.
This uncertainty is tuned so that the actual position is inside the circle of uncertainty with
around 1-sigma.

Table 6

5: $PSWIEPE Data Format

Name

Example

Units

Description

Message ID

$PSWIEPE

$PSWIEPE header

UTC Date

20190904

Coordinated Universal Date Format:

yyyymmdd

UTC Time

060310.00

Coordinated Universal Time Format:

hhmmss.ss

3D EPE

10.5

meter

Position 3D uncertainty

2D EPE

7.6

meter

Position 2D uncertainty

Latitude EPE

4.6

meter

Latitude uncertainty

Longitude EPE

6.0

meter

Longitude uncertainty

Height EPE

7.3

meter

Height uncertainty

Checksum

Termination

End of message termination

Содержание AirPrime XP2210

Страница 1: ...AirPrime XS1110 AT Command Reference Guide 41113737 Rev 3 1 ...

Страница 2: ...ght In aircraft the Sierra Wireless product MUST BE POWERED OFF When operating the Sierra Wireless product can transmit signals that could interfere with various onboard systems Note Some airlines may permit the use of cellular phones while the aircraft is on the ground and the door is open Sierra Wireless products may be used at this time The driver or operator of any vehicle should not operate t...

Страница 3: ...ormation Revision History Sales information and technical support including warranty and returns Web sierrawireless com company contact us Global toll free number 1 877 687 7795 6 00 am to 5 00 pm PST Corporate and product information Web sierrawireless com Revision number Release date Changes 1 0 March 09 2020 Creation 2 0 April 09 2020 Added Boot up message Changed example for Response formats U...

Страница 4: ...te AT command Updated period parameter under AT GNSSSLP Updated mode parameter under AT GNSSUMODE Updated Table 2 3 and Table 2 4 Added Normal Mode and Low Power Tracking Updated AT GNSSPVTL Example Added PVT Log Table 3 1 July 2020 Minor edits for Normal Mode and Low Power Tracking Revision number Release date Changes ...

Страница 5: ...rmats 7 References 8 Abbreviations and Terms Used 8 Document structure 8 General Commands 11 Introduction 11 Command summary 11 Normal Mode 28 Low Power Tracking 28 Other Commands 30 Introduction 30 Command summary 30 AGNSS Commands 37 Introduction 37 Command Summary 37 Command References 38 System Commands 41 Introduction 41 Command summary 41 Command reference 42 ...

Страница 6: ...Rev 3 1 Jul 20 6 41113737 Customized NMEA Sentences 45 Introduction 45 Command summary 45 Command reference 46 PSWIGEOFEN Details 46 PSWIVELW Details 47 PSWIRAW Details 48 PSWIEPE Details 49 Error Codes 50 Abbreviations 51 PVT Log Table 53 ...

Страница 7: ...y to avoid these errors Boot up message When the XS1110 module initializes the following message is shown SWIXS1110 READY 20 CR LF Escape sequence The AT sequence can be used to exit the GNSSLLE injection data mode Result codes The result code OK is typically returned when the command has been executed An ERROR code may be returned if parameters are out of range It is also returned if the command ...

Страница 8: ...p positioning and enter standby states 12 AT GNSSSTART Execute GNSS startup process 12 AT GNSSSATE Configure and query GNSS search mode 13 AT GNSSLOWP Configure and acquire GNSS low power tracking 14 AT GNSSSLP Transfer receiver into sleep states 15 AT GNSSUMODE Configure and query navigation algorithm to fit different scenarios 16 AT GNSSUTC Acquire current UTC Time 17 AT GNSSUTCCOR Acquire the U...

Страница 9: ...SSPVTL Configure and query the log and configuration of PVT log in flash 35 Table 1 3 AGNSS Commands Summary Command Description Page AT GNSSLLE Configure connecting AGNSS function and acquire the status 38 AT GNSSSGE Enable disable autonomous AGNSS function and acquire the status 40 Table 1 4 System Commands Summary Command Description Page AT GNSSFER Erase the currently saved firmware 42 AT GNSS...

Страница 10: ...41113737 Custom NMEA Sentences Normal output sentences developed by Sierra Wireless Table 1 5 Other Commands Summary Command Description Page PSWIGEOFEN PSWIGEOFEN Details 46 PSWIRAW PSWIRAW Details 48 PSWIVELW PSWIVELW Details 47 PSWIEPE PSWIEPE Details 49 ...

Страница 11: ...nd acquire GNSS low power tracking 14 AT GNSSSLP Transfer receiver into sleep states 15 AT GNSSUMODE Configure and query navigation algorithm to fit different scenarios 16 AT GNSSUTC Acquire current UTC Time 17 AT GNSSUTCCOR Acquire the UTC time correction information 18 AT GNSSGPST Acquire current GPS Time 19 AT GNSSPOS Set position information into receiver 20 AT GNSSCONFIG Recover user configur...

Страница 12: ...e Configure module into standby mode Examples Stop positioning AT GNSSSTOP CR LF GNSSSTOP OK 39 CR LF AT GNSSSTART Execute GNSS startup process Usage Write AT GNSSSTART mode Response AT GNSSSTART mode OK or GNSSSTART error code Purpose Configure module to restart by specified mode Parameters mode Restart mode 0 Cold Start 1 Warm Start 2 Hot Start Examples Cold Start AT GNSSSTART 0 CR LF GNSSSTART ...

Страница 13: ...tem used for positioning Parameters GP GPS configuration Note that the GPS is mandatory it is always enabled 1 Enable GL GLONASS configuration 0 Disable 1 Enable GA Galileo configuration 0 Disable 1 Enable Reserved Reserved field BD BeiDou configuration 0 Disable 1 Enable QZ QZSS configuration 0 Disable 1 Enable SBAS SBAS configuration 0 Disable 1 Enable Note Refer to Table 2 4 for details on sate...

Страница 14: ...NSSLOWP status OK or GNSSLOWP error code Purpose Enable or disable low power tracking Read AT GNSSLOWP Response GNSSLOWP status OK or GNSSLOWP error code Purpose Get the status of low power tracking Parameters status Low power tracking status 0 Disable Default 1 Enable Note For details on sleep states see Figure 2 4 Example Disable low power tracking AT GNSSLOWP 0 CR LF GNSSLOWP 0 OK 39 CR LF Enab...

Страница 15: ...ule into sleep mode with specified period Parameters mode Sleep mode 0 Sleep 0 mode Default 1 Sleep 1 mode period Sleep time unit second 0 Manual wake up 1 604800s Sleep period Note For details on sleep states see Table 2 3 Examples Set module to sleep 1 mode AT GNSSSLP 1 0 CR LF GNSSSLP 1 0 OK CR LF Set module to sleep 0 mode and to sleep 5 seconds AT GNSSSLP 0 5 CR LF GNSSSLP 0 5 OK 6B CR LF GNS...

Страница 16: ...pose Read the navigation mode configuration Parameters mode Navigation mode 0 Fitness mode default is used for low velocity speed 25 km hr activities such as running or walking 1 Swimming mode is used for swimming activities 2 Driving mode is used for high velocity speed 25 km hr activities such as driving or riding motorcycles Examples Set module to fitness mode AT GNSSUMODE 0 CR LF GNSSUMODE 0 O...

Страница 17: ...eters year UTC Year Range 1980 2099 month UTC Month Range 1 12 day UTC Day Range 1 31 hour UTC Hour Range 0 23 min UTC Minute Range 0 59 sec UTC Second Range 0 59 usec UTC Microsecond Range 0 999999 Note The starting UTC time is from 1980 1 6 0 0 0 00 UTC format yyyy mm dd hh mm ffffff Year Month Day Hour Minute Second Microsecond Examples Acquire GNSS UTC Time AT GNSSUTC CR LF GNSSUTC 2013 07 02 ...

Страница 18: ...er A0 Unit seconds 2 30 A1 UTC parameter A1 Unit seconds second 2 50 dtLS UTC time difference due to leap seconds before event Unit seconds Tot UTC reference time of week Unit seconds WNt UTC reference week number Unit weeks WNlsf UTC week number when next leap second event occurs Unit weeks Dn UTC day of week when next leap second event occurs Unit days DTlsf UTC time difference due to leap secon...

Страница 19: ...GPST date time OK or GNSSGPST error code Purpose Get GPS time from module Parameters date GPS Date Format yyyymmdd YearMonthDay time GPS Time Format hhmmss HourMinuteSecond Examples Acquire GNSS GPS Time AT GNSSGPST CR LF GNSSGPST 20190806 032526 OK CR LF Table 2 2 General Commands Detail Continued Command Description ...

Страница 20: ...um decimal precision 6 East positive West negative Range 180 0 180 0 alt Altitude unit meter Maximum decimal precision 3 Range 500 0 20000 0 Example Write position latitude 23 09615 longitude 120 2837 altitude 17 2 to module AT GNSSPOS 23 09615 120 2837 17 2 CR LF GNSSPOS 23 096150 120 283700 17 200 OK 6C CR LF Read the position of module AT GNSSPOS CR LF GNSSPOS 25 033328 121 750005 21 479 OK 40 ...

Страница 21: ...NMEA GGA GLL GSA GSV GNS RMC VTG ZDA SIX_DEC OK or GNSSNMEA error code Purpose Get the state of all NMEA type Parameters action 2 Set the specified NMEA type to default configuration 3 Set the specified NMEA type outputting state NMEA_type Type of general NMEA 0 Erase all Only available in mode 2 1 GGA 2 GLL 3 GSA 4 GSV 5 GNS 6 RMC 7 VTG 8 ZDA 9 Six Decimals state Enable disable regular output In ...

Страница 22: ...1 Enable Default ZDA Time and data 0 Disable 1 Enable Default SIX_DEC 0 Four decimals Default 1 Six decimals Example Enable GNSS NMEA Output GSV on AT GNSSNMEA 3 4 1 CR LF GNSSNMEA 3 4 1 OK 3C CR LF Disable GNSS NMEA Output GLL AT GNSSNMEA 3 2 0 CR LF GNSSNMEA 3 2 0 OK 3B CR LF Set GNSS NMEA Output GGA to default AT GNSSNMEA 2 1 CR LF GNSSNMEA 2 1 OK 25 CR LF Acquire GNSS NMEA Output with GGA GSA ...

Страница 23: ...de Purpose Set the configuration of the specified ID region Read AT GNSSGEOFEN Response GNSSGEOFEN sentence_status region_1_data region_2_data region_3_data OK or GNSSGEOFEN error code Purpose Get whole region setting value Parameters mode 0 Disable PSWIGEOFEN sentence 1 Enable PSWIGEOFEN sentence 2 Erase the specified region configuration 3 Set the specified region configuration ID Region ID Rang...

Страница 24: ... output AT GNSSGEOFEN 1 CR LF GNSSGEOFEN 1 OK 3C CR LF Write for erasing settings for all regions AT GNSSGEOFEN 2 0 CR LF GNSSGEOFEN 2 0 OK 23 CR LF Write for setting 1st region latitude 60 472 longitude 96 2527 radius 100 AT GNSSGEOFEN 3 1 60 472 95 2527 100 CR LF GNSSGEOFEN 3 1 60 472 95 2527 100 OK 08 CR LF Read the geo fencing status of the module The module has exceeded the position of all re...

Страница 25: ...SPPS error code Purpose Get the 1PPS output mode Parameters mode 1PPS mode 0 Disable 1 PPS output mode 1 Only outputs PPS when time is adjusted 2 PPS output mode 2 Always outputs PPS 3 PPS output mode 3 Only outputs PPS when position is fixed and also the default mode Note For details on the 1PPS output types see Figure 2 4 on page 29 pulse_width 1PPS pulse width unit millisecond Default 125 ms On...

Страница 26: ...re still powered Thus when the module wakes up it continues to execute the previous program Since data for the backup RAM is retained the module can execute a hot start When the module wakes up it responds with GNSSLP WAKEUP OK There are three ways to wake up the module from a Sleep 0 state module timeout using the wakeup pin interrupting via interface Sending any data on the UART I2C can wake up ...

Страница 27: ... can wake the module from the Sleep 1 state It is recommended to send a dummy data before sending an actual command to prevent losing transmission data when the module wakes up Sleep 1 State Note Sleep 1 has a lower consumption than Sleep 0 but the TTFF time for Sleep 1 is slower For details see the AirPrime XS1110 Product Technical Specification Model GNSS Kernel Version Support Satellite System ...

Страница 28: ...nce the XS1110 wakes up it outputs GNSSLOWP WAKEUP OK to indicate that the module has woken up and will start updating the navigation message The module executes hot start internally after waking up every time then it acquires satellite information for about 30 seconds to update the TOW time of the week The module will check all of the satellite ephemeris status and ensure that all updated data is...

Страница 29: ...General Commands Rev 3 1 Jul 20 29 41113737 Figure 2 3 Low Power Tracking Behavior Figure 2 4 1PPS Output Types ...

Страница 30: ...ands Summary Command Description Page AT GNSSTHRES Configure and query the GNSS threshold 31 AT GNSSRAW Acquire specific data from the GNSS receiver 32 AT GNSSEPE Configure and query the horizontal and vertical estimated position error EPE based on HDOP and VDOP 33 AT GNSSVELWARN Configure and query GNSS speed warning feature 34 AT GNSSPVTL Configure and query the log and configuration of PVT log ...

Страница 31: ...reshold for positioning Read AT GNSSTHRES Response GNSSTHRES CNR elevation reserved horizontal HDOP static_states height OK or GNSSTHRES error code Purpose Get all threshold values Parameters action Status of configuring threshold 2 Erase 3 Set threshold_mode The mode of threshold 0 All threshold 1 CNR 2 Elevation 3 Used satellite 4 Horizontal accuracy 5 HDOP 6 Static states 7 Height CNR Minimal C...

Страница 32: ...fault AT GNSSTHRES 2 0 CR LF GNSSTHRES 2 0 OK 7B CR LF Read setting for all threshold AT GNSSTHRES CR LF GNSSTHRES 0 5 0 0 0 1 0 0 0 15 OK 66 CR LF AT GNSSRAW Acquire specific data from the GNSS receiver Usage Write AT GNSSRAW status Response GNSSRAW status OK or GNSSRAW error code Purpose Configure the output mode for PSWIRAW Read AT GNSSRAW Response GNSSRAW status OK or GNSSRAW error code Purpos...

Страница 33: ...SEPE error code Purpose Get the output mode status for PSWIEPE Parameters status PSWIEPE outputting mode 0 Disable 1 Enable Note See PSWIEPE Details on page 49 for the format of PSWIEPE 3D 3D EPE Unit meter 2D 2D EPE Unit meter lat Latitude EPE Unit meter lon Longitude EPE Unit meter height Altitude EPE Unit meter Examples Enable PSWIEPE output AT GNSSEPE 1 CR LF GNSSEPE 1 OK 6C CR LF Read the sta...

Страница 34: ... warning configuration Parameters action 0 Disable PSWIVELW sentence 1 Enable PSWIVELW sentence 2 Erase velocity threshold 3 Set velocity threshold Note See PSWIVELW Details on page 47 for the format of PSWIVELW velocity Threshold of velocity Unit m s meter second Default setting 5 m s Range 0 100 GPS_velocity Current velocity Unit m s meter second status Overspeed status 0 Underspeed criteria 1 O...

Страница 35: ...cycle Response GNSSPVTL action override_mode cycle OK or GNSSPVTL error code Purpose Configure the record mode for recording PVT log or Disable recording the PVT log Execute AT GNSSPVTL Response GNSSPVTL log size OK GNSSPVTL sector log_data log_data log_data log_data log_data OK or GNSSPVTL error code Purpose Get PVT log data Requirement Disable recording the PVT log Read AT GNSSPVTL Response GNSS...

Страница 36: ...value 48 log size PVT log size Unit byte log_data The binary data of PVT Log Note Enter the execute disable comment 0 before reading or executing the erase and write parameters Examples Enable PVT log AT GNSSPVTL 1 CR LF GNSSPVTL 1 OK 22 CR LF Set override mode to stop recording data and cycle to 5 seconds AT GNSSPVTL 3 0 5 CR LF GNSSPVTL 3 0 5 OK 25 CR LF Get PVT Log data GNSSPVTL 01 90000064DC04...

Страница 37: ... commands Command Summary The following table lists the commands described in this chapter Table 4 1 AGNSS Commands Summary Command Description Page AT GNSSLLE Configure connecting AGNSS function and acquire the status 38 AT GNSSSGE Enable disable autonomous AGNSS function and acquire the status 40 ...

Страница 38: ... 1 This indicates that the module does not have an LLE data Write action 3 AT GNSSLLE action packet_num Response GNSSLLE packet_num CONNECT GNSSLLE packet_num packet_size OK or GNSSLLE error code Purpose Set the LLE data into flash Write action 4 AT GNSSLLE action Response GNSSLLE action OK or GNSSLLE error code Purpose Check the integrity of the injected LLE data Read AT GNSSLLE Response GNSSLLE ...

Страница 39: ...Galileo BDS BeiDou start_time_xxx start time of the LLE data of the xxx satellite system Format YYYYMMDD YearMonthDay packet_size Single packet size lle_select 0 LLE function is disable 1 LLE function is enable Example Enable LLE function AT GNSSLLE 1 CR LF GNSSLLE 1 OK 69 CR LF Write configuration for setting LLE data to flash AT GNSSLLE 3 0 CR LF GNSSLLE 0 CONNECT 22 CR LF Inject LLE data exit d...

Страница 40: ...GPS 0 Disable Default 1 Enable 2 Erase satellite A Satellite have already generated AGNSS data Value AAAAAAAA Bit 0 SV1 Bit 2 SV2 Bit 31 SV32 satellite B Satellite waiting for the ephemeris to generate AGNSS data Value BBBBBBBB Bit 0 SV1 Bit 1 SV2 Bit 31 SV32 Note The SGE function is only needed to capture the 12 5 minute ephemeris data from the satellite It automatically calculates and predicts u...

Страница 41: ...Description Page AT GNSSFER Erase the currently saved firmware 42 AT GNSSFSN Acquire the serial number of the GNSS module 42 AT GNSSVERS Acquire the SWIR defined firmware version 42 AT GNSSRTC Get CPU time and the elapsed time since system startup 43 AT GNSSBRATE Set the baud rate of communication interface 43 AT GNSSRTCXO Acquire TCXO offset value 44 AT GNSSREBOOT Reboot module 44 AT GNSSSTACK Ge...

Страница 42: ...T GNSSFSN Acquire the serial number of the GNSS module Usage Read AT GNSSFSN Response GNSSFSN fsn OK or GNSSFSN error code Parameters fsn Serial number Example Read the serial number of the module AT GNSSFSN CR LF GNSSFSN 03891419444620 OK 59 CR LF AT GNSSVERS Acquire the SWIR defined firmware version Usage Read AT GNSSVERS Response GNSSVERS ver OK or GNSSVERS error code Parameters ver Firmware ve...

Страница 43: ...interface Note The module will reboot after the baud rate is set Usage Write AT GNSSBRATE baud_rate Response GNSSBRATE baud_rate OK or GNSSBRATE error code Purpose Configure the module s baud rate Read AT GNSSBRATE Response GNSSBRATE baud_rate OK or GNSSBRATE error code Purpose Get the module s baud rate Parameters baud_rate Baud Rate 0 115200 Default 1 460800 Example Changed baud rate to 115200 A...

Страница 44: ...age Exec AT GNSSREBOOT Response GNSSREBOOT OK or GNSSREBOOT error code Purpose Reboot module Example Reboot module AT GNSSREBOOT CR LF GNSSREBOOT OK 19 CR LF Note This AT command erases all of the RAM data AT GNSSSTACK Get a size of unused stack Usage Read AT GNSSSTACK Response GNSSSTACK size OK or GNSSSTACK error code Purpose Get a size of unused stack Parameters size Unused stack size Unit byte ...

Страница 45: ...ra Wireless These sentences will output with NMEA when the user enables it by command Command summary The following table lists the commands described in this chapter Table 6 1 Other Commands Summary Command Description Page PSWIGEOFEN PSWIGEOFEN Details 46 PSWIRAW PSWIRAW Details 48 PSWIVELW PSWIVELW Details 47 PSWIEPE PSWIEPE Details 49 ...

Страница 46: ...OFEN 20190904 083257 000000 1 1 2 0 3 0 3E Table 6 2 PSWIGEOFEN Data Format Name Example Description Message ID PSWIGEOFEN PSWIGEOFEN header UTC Date 20190904 Coordinated Universal Date Format yyyymmdd UTC Time 083257 000000 Coordinated Universal Time Format hhmmss ssssss Sector number 1 Status of first sector 1 0 Outside 1 Inside 3 No position information Sector number 2 Status of second sector 0...

Страница 47: ...ivated The following table explains the PSWIVELW sentence format PSWIVELW 20190905 055601 00 1 27 Table 6 3 PSWIVELW Data Format Name Example Description Message ID PSWIVELW PSWIVELW header UTC Date 20190904 Coordinated Universal Date Format yyyymmdd UTC Time 095849 00 Coordinated Universal Time Format hhmmss ss Status 1 The status of overspeed Checksum 56 Termination CR LF End of message terminat...

Страница 48: ...ss ss System ID 1 1 GPS 2 GLONASS 3 Galileo 4 BeiDou 5 QZSS Satellite ID 015 Identifies the number of each satellite CNR 37 13 dB Hz Quality of received signals Pseudo range 21442795 307 meter Raw GNSS measurement Time sync carrier phase 695888 540 cycle Carrier phase measurement synchronized to the GPS time Doppler frequency 1813 7 Hz Raw GNSS measurement Cycle slip flag 1 Index for cycle slip in...

Страница 49: ...ed so that the actual position is inside the circle of uncertainty with around 1 sigma Table 6 5 PSWIEPE Data Format Name Example Units Description Message ID PSWIEPE PSWIEPE header UTC Date 20190904 Coordinated Universal Date Format yyyymmdd UTC Time 060310 00 Coordinated Universal Time Format hhmmss ss 3D EPE 10 5 meter Position 3D uncertainty 2D EPE 7 6 meter Position 2D uncertainty Latitude EP...

Страница 50: ...FAIL Function executes with wrong result 2 GRECO_AT_COMMAND_RESPONSE_NOT_ATCMD Unsupportable command 3 GRECO_AT_COMMAND_RESPONSE_WRONG_PARAMETER Unsupportable parameter 4 GRECO_AT_COMMAND_RESPONSE_WRONG_TYPE Unsupportable AT command type 5 GRECO_AT_COMMAND_RESPONSE_NO_DATA Data is not ready cannot be reached 6 GRECO_AT_COMMAND_RESPONSE_WRONG_PARAMETER_LENGTH Incorrect length of command argument 7 ...

Страница 51: ... a wide range of factors can have impacts on this reference such as multipath number of satellites SNR satellites elevations and period of time GPS unit is switched on prior to recording and how long users stay in one location to record the position Geofencing Geofencing defines a geographic boundary For example if this virtual barrier is established in the module the further application is able t...

Страница 52: ... to have an accurate time SBAS Satellite based Augmentation Systems The accuracy and reliability of GNSS information are improved by SBAS via correcting signal measurement errors and via providing information about the accuracy integrity continuity and availability of its signals These systems also support wide area or regional augmentation by applying the additional satellite broadcast messages C...

Страница 53: ...s 60 67 Longitude degrees 68 Longitude symbol 0 Plus east longitude 1 Minus west longitude 69 72 Altitude Altitude decimal places 73 89 Altitude integer Unit m 90 Altitude symbol 0 Plus 1 Minus 91 94 Horizontal speed Horizontal speed decimal places 95 101 Horizontal speed integer Unit m s 102 105 Vertical speed Vertical speed decimal places 106 110 Vertical speed integer Unit m 111 Vertical speed ...

Страница 54: ...Reference Rev 3 1 Jul 20 54 41113737 142 148 Date UTC Year 149 153 Day 154 157 Month 158 159 Positioning mode Mode 0 Not fixed 1 Fixed 2 Assisted GPS 3 Dead Recording Table C 1 PVT Log Payload Continued Bit Definition Parameters ...

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