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Quectel_L76K_GNSS_Protocol_Specification_V1.1(Quectel_L76K_GNSS_Protocol_Specification_V1.1).pdf
About the Document
Contents
Table Index
Figure Index
1 Introduction
2 NMEA Protocol
2.1. Structure of NMEA Protocol Messages
2.2. Standard Messages
2.2.1. RMC
2.2.2. GGA
2.2.3. GSV
2.2.4. GSA
2.2.5. VTG
2.2.6. GLL
2.2.7. TXT
2.2.8. ZDA
2.3. PCAS Messages
2.3.1. PCAS01
2.3.2. PCAS02
2.3.3. PCAS03
2.3.4. PCAS04
2.3.5. PCAS10
3 CASIC Protocol
3.1. Structure of CASIC Protocol Messages
3.1.1. Data Type
3.1.2. Message Overview
3.2. CASIC Messages
3.2.1. ACK
3.2.1.1. ACK-NACK (0x05 0x00)
3.2.1.2. ACK-ACK (0x05 0x01)
3.2.2. CFG
3.2.2.1. CFG-PRT (0x06 0x00)
3.2.2.2. CFG-MSG (0x06 0x01)
3.2.2.3. CFG-RST (0x06 0x02)
3.2.2.4. CFG-RATE (0x06 0x04)
4 Appendix A References
5 Appendix B GNSS Numbering
6 Appendix C Default Configuration
L76K GNSS Protocol
Specification
GNSS Module Series
Version: 1.1
Date: 2021-12-16
Status: Released
GNSS Module Series
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L76K_GNSS_Protocol_Specification 1 / 41
GNSS Module Series
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a) We acknowledge no liability for any injury or damage arising from the reliance upon the information.
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Copyright © Quectel Wireless Solutions Co., Ltd. 2021. All rights reserved.
L76K_GNSS_Protocol_Specification 2 / 41
GNSS Module Series
About the Document
Document Information
Title
Subtitle
L76K GNSS Protocol Specification
GNSS Module Series
Document Type
GNSS Protocol Specification
Document Status
Released
Revision History
Version Date
Description
-
2020-07-28 Creation of the document
1.0
2021-09-10
First official release
1. Updated the in BeiDou satellite configuration (Table 2).
2. Updated the description of and parameters in GGA
(Chapter 2.2.2).
3. Updated the examples of GSV, VTG and ZDA (Chapter 2.2.3, 2.2.5 and
1.1
2021-12-16
2.2.8).
4. Changed the parameter name from to of PCAS02
(Chapter 2.3.2).
5. Updated the message type of CFG-PRT, CFG-MSG and CFG-RATE
(Chapter 3.2.2.1, 3.2.2.2 and 3.2.2.4).
L76K_GNSS_Protocol_Specification 3 / 41
GNSS Module Series
Contents
About the Document .................................................................................................................................. 3
Contents ...................................................................................................................................................... 4
Table Index .................................................................................................................................................. 5
Figure Index ................................................................................................................................................ 6
1
Introduction ......................................................................................................................................... 7
2.1.
2.2.
2 NMEA Protocol .................................................................................................................................... 8
Structure of NMEA Protocol Messages .................................................................................. 8
Standard Messages ............................................................................................................... 9
2.2.1. RMC ................................................................................................................................ 9
2.2.2. GGA............................................................................................................................... 12
2.2.3. GSV ............................................................................................................................... 14
2.2.4. GSA ............................................................................................................................... 15
2.2.5. VTG ............................................................................................................................... 17
2.2.6. GLL ................................................................................................................................ 18
2.2.7. TXT ................................................................................................................................ 20
2.2.8. ZDA ............................................................................................................................... 20
PCAS Messages .................................................................................................................. 22
2.3.1. PCAS01 ......................................................................................................................... 22
2.3.2. PCAS02 ......................................................................................................................... 22
2.3.3. PCAS03 ......................................................................................................................... 23
2.3.4. PCAS04 ......................................................................................................................... 25
2.3.5. PCAS10 ......................................................................................................................... 26
2.3.
3.2.
3.1.
3 CASIC Protocol ................................................................................................................................. 27
Structure of CASIC Protocol Messages ............................................................................... 27
3.1.1. Data Type ...................................................................................................................... 28
3.1.2. Message Overview ........................................................................................................ 28
CASIC Messages ................................................................................................................. 29
3.2.1. ACK ............................................................................................................................... 29
3.2.1.1. ACK-NACK (0x05 0x00) ....................................................................................... 29
3.2.1.2. ACK-ACK (0x05 0x01) .......................................................................................... 30
3.2.2. CFG ............................................................................................................................... 30
3.2.2.1. CFG-PRT (0x06 0x00) .......................................................................................... 30
3.2.2.2. CFG-MSG (0x06 0x01) ......................................................................................... 33
3.2.2.3. CFG-RST (0x06 0x02) .......................................................................................... 34
3.2.2.4. CFG-RATE (0x06 0x04) ....................................................................................... 35
4 Appendix A References .................................................................................................................... 37
5 Appendix B GNSS Numbering ......................................................................................................... 40
6 Appendix C Default Configuration .................................................................................................. 41
L76K_GNSS_Protocol_Specification 4 / 41
GNSS Module Series
Table Index
Table 1: Structure of NMEA Protocol Messages .......................................................................................... 8
Table 2: NMEA TalkerID ............................................................................................................................... 9
Table 3: Structure of CASIC Protocol Messages ....................................................................................... 27
Table 4: Data Type ..................................................................................................................................... 28
Table 5: Message Overview ....................................................................................................................... 28
Table 6: ACK-NACK Message Payload ..................................................................................................... 29
Table 7: ACK-ACK Message Payload ........................................................................................................ 30
Table 8: CFG-PRT Message Payload ........................................................................................................ 31
Table 9: ProtoMask ..................................................................................................................................... 31
Table 10: Mode Flag Bits ............................................................................................................................ 31
Table 11: CFG-MSG Message Payload ..................................................................................................... 33
Table 12: CFG-RST Message Payload ...................................................................................................... 34
Table 13: CFG-RATE Message Payload .................................................................................................... 35
Table 14: Related Documents .................................................................................................................... 37
Table 15: Terms and Abbreviations ............................................................................................................ 37
Table 16: GNSS Numbering ....................................................................................................................... 40
Table 17: Default Configurations ................................................................................................................ 41
L76K_GNSS_Protocol_Specification 5 / 41
GNSS Module Series
Figure Index
Figure 1: Structure of NMEA Protocol Messages ........................................................................................ 8
Figure 2: Structure of CASIC Protocol Messages ..................................................................................... 27
L76K_GNSS_Protocol_Specification 6 / 41
GNSS Module Series
1 Introduction
Quectel L76K GNSS module supports GPS, GLONASS, BeiDou and QZSS constellations. Concurrent
tracking of GPS L1 C/A, GLONASS L1, BeiDou B1, and QZSS L1 frequency bands provides fast and
accurate acquisition and makes this module the ideal solution for positioning and navigation in various
vertical markets.
This document describes the software commands that are needed to control and modify the module
configuration. The software commands are NMEA proprietary commands defined by the chipset supplier
(PCAS commands) and CASIC commands. To report GNSS information, the module supports output
messages in NMEA 0183 standard protocol or CASIC protocol format.
NOTE
1. The default configuration is GPS + BeiDou. QZSS is always enabled and can not be disabled.
2. Only use the commands listed in this document. Quectel assumes no responsibility if other
commands are used.
L76K_GNSS_Protocol_Specification 7 / 41
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