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Quectel_L76_Series_GNSS_Protocol_Specification_V3.3(Quectel_L76_Series_GNSS_Protocol_Specification_V3.3).pdf
About the Document
Contents
Table Index
1 Introduction
2 Standard NMEA Packet Protocol
2.1. --RMC
2.2. --VTG
2.3. --GGA
2.4. --GSA
2.5. --GSV
2.6. --GLL
3 MTK NMEA Packet Protocol
3.1. Packet Type: 010 PMTK_SYS_MSG
3.2. Packet Type: 011 PMTK_TXT_MSG
3.3. Packet Type: 001 PMTK_ACK
3.4. Packet Type: 101 PMTK_CMD_HOT_START
3.5. Packet Type: 102 PMTK_CMD_WARM_START
3.6. Packet Type: 103 PMTK_CMD_COLD_START
3.7. Packet Type: 104 PMTK_CMD_FULL_COLD_START
3.8. Packet Type: 161 PMTK_CMD_STANDBY_MODE
3.9. Packet Type: 183 PMTK_LOCUS_QUERY_STATUS
3.10. Packet Type: 184 PMTK_LOCUS_ERASE_FLASH
3.11. Packet Type: 185 PMTK_LOCUS_STOP_LOGGER
3.12. Packet Type: 622 PMTK_Q_LOCUS_DATA
3.13. Packet Type: 220 PMTK_SET_POS_FIX
3.14. Packet Type: 223 PMTK_SET_AL_DEE_CFG
3.15. Packet Type: 225 PMTK_SET_PERIODIC_MODE
3.16. Packet Type: 251 PMTK_SET_NMEA_BAUDRATE
3.17. Packet Type: 255 PMTK_SET_SYNC_PPS_NMEA
3.18. Packet Type: 256 PMTK_SET_TIMING_PRODUCT
3.19. Packet Type: 285 PMTK_SET_PPS_CONFIG
3.20. Packet Type: 286 PMTK_SET_AIC_ENABLED
3.21. Packet Type: 301 PMTK_API_SET_DGPS_MODE
3.22. Packet Type: 306 PMTK_API_SET_MIN_SNR
3.23. Packet Type: 308 PMTK_API_SET_DR_LIMIT
3.24. Packet Type: 311 PMTK_API_SET_ELEV_MASK
3.25. Packet Type: 313 PMTK_API_SET_SBAS_ENABLED
3.26. Packet Type: 314 PMTK_API_SET_NMEA_OUTPUT
3.27. Packet Type: 351 PMTK_API_SET_SUPPORT_QZSS_NMEA
3.28. Packet Type: 352 PMTK_API_SET_STOP_QZSS
3.29. Packet Type: 353 PMTK_API_SET_GNSS_SEARCH_MODE
3.30. Packet Type: 386 PMTK_API_SET_STATIC_NAV_THD
3.31. Packet Type: 400 PMTK_API_Q_FIX_CTL
3.32. Packet Type: 401 PMTK_API_Q_DGPS_MODE
3.33. Packet Type: 413 PMTK_API_Q_SBAS_ENABLED
3.34. Packet Type: 414 PMTK_API_Q_NMEA_OUTPUT
3.35. Packet Type: 458 PMTK_API_GET_POS_XYZ
3.36. Packet Type: 461 PMTK_API_GET_VEL_XYZ
3.37. Packet Type: 605 PMTK_Q_RELEASE
3.38. Packet Type: 500 PMTK_DT_FIX_CTL
3.39. Packet Type: 501 PMTK_DT_DGPS_MODE
3.40. Packet Type: 513 PMTK_DT_SBAS_ENABLED
3.41. Packet Type: 514 PMTK_DT_NMEA_OUTPUT
3.42. Packet Type: 705 PMTK_DT_RELEASE
3.43. Packet Type: 838 PMTK_TEST_ANTI_SPOOFING
3.44. Packet Type: 869 PMTK_EASY_ENABLE
3.45. Packet Type: 875 PMTK_PMTKLSC_STN_OUTPUT
3.46. Packet Type: 886 PMTK_FR_MODE
4 Default Configurations
5 Appendix A References
L76 Series GNSS
Protocol Specification
GNSS Module Series
Rev. L76_Series_GNSS_Protocol_Specification_V3.3
Date: 2017-07-21
www.quectel.com
GNSS Module Series
L76 Series GNSS Protocol Specification
Our aim is to provide customers with timely and comprehensive service. For any
assistance, please contact our company headquarters:
Quectel Wireless Solutions Co., Ltd.
7th Floor, Hongye Building, No.1801 Hongmei Road, Xuhui District, Shanghai 200233, China
Tel: +86 21 5108 6236
Email: info@quectel.com
Or our local office. For more information, please visit:
http://quectel.com/support/sales.htm
For technical support, or to report documentation errors, please visit:
http://quectel.com/support/technical.htm
Or Email to: support@quectel.com
GENERAL NOTES
QUECTEL OFFERS THE INFORMATION AS A SERVICE TO ITS CUSTOMERS. THE INFORMATION
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 WITHOUT PRIOR NOTICE.
COPYRIGHT
THE INFORMATION CONTAINED HERE IS PROPRIETARY TECHNICAL INFORMATION OF
QUECTEL CO., LTD. TRANSMITTING, REPRODUCTION, DISSEMINATION AND EDITING OF THIS
DOCUMENT AS WELL AS UTILIZATION OF THE CONTENT ARE FORBIDDEN WITHOUT
PERMISSION. OFFENDERS WILL BE HELD LIABLE FOR PAYMENT OF DAMAGES. ALL RIGHTS
ARE RESERVED IN THE EVENT OF A PATENT GRANT OR REGISTRATION OF A UTILITY MODEL
OR DESIGN.
Copyright © Quectel Wireless Solutions Co., Ltd. 2017. All rights reserved.
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L76 Series GNSS Protocol Specification
About the Document
History
Revision Date
Author
Description
1.0
2013-02-08
Ada LI
Initial
1.1
2013-02-25
Ada LI
1.2
2013-03-22
Dishon ZHOU
1. Modified the default baud rate of Packet Type 251.
2. Modified
„2‟=SBAS of Packet Type 301
into
„2‟=WAAS.
3. Added the Release string of Packet Type 705.
4. Added the description of AIC and WAAS in Table 2.
5. Added Packet Type 352
1. Deleted the description of RTCM.
2. Added LOCUS‟s Packet Type 183,184,185 and 622.
3. Deleted Packet Type 291 and 120.
4. Modified Packet Type 353.
1. Modified the description of RMC.
1.3
2013-09-29
Ada LI
2. Modified the Example of Packet Type 314, 352 and
1.4
2014-08-19
Ada LI
2. Modified the description of PMTK 251.
514.
1. Modified the description of GGA.
3. Added Packet Type 220 and 223.
1. Modified the description of DGPS_MODE.
2. Added parameter
for "Fix status"
in GPGGA
1.5
2014-12-19
Connie ZHOU
sentence.
3. Added parameter for packet type 353.
4. Modified the Notes in Chapter 2.1.
1. Added BEIDOU and Galileo sentences description
2. Modified Packet Type 353
2.0
2015-08-05
Connie ZHOU
3. Modified Packet Type 622
4. Added Packet Type 351
5. Added Packet Type 875
2.1
2015-10-12
Connie ZHOU
1. Added Packet Type 255, 256, 285 and 886
2. Added the Notes for packet type 869
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3. Deleted Packet Type 300
3.0
3.1
3.2
2016-05-03
Ziv LIAO
Incorporated related information of L76-L module
2016-06-02
Ziv LIAO
Added Packet Type 311
2016-08-15
Simon HU
Added Packet Type 838
3.3
2017-07-21
Matt YE/
Simon HU
1. Enabled Galileo satellites system
2. Modified Packet Type 353 and 886
3. Added a new segment in RMC, GSA and GSV for
NMEA V4.10
4. Added Packet Type 306, 308, 458 and 461
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L76 Series GNSS Protocol Specification
Contents
About the Document ................................................................................................................................... 2
Contents ....................................................................................................................................................... 4
Table Index ................................................................................................................................................... 6
1
Introduction .......................................................................................................................................... 7
2 Standard NMEA Packet Protocol ....................................................................................................... 8
2.1.
2.2.
2.3.
2.4.
2.5.
2.6.
--RMC ........................................................................................................................................ 8
--VTG ....................................................................................................................................... 10
--GGA ....................................................................................................................................... 11
--GSA ....................................................................................................................................... 12
--GSV ....................................................................................................................................... 14
--GLL ........................................................................................................................................ 16
3 MTK NMEA Packet Protocol ............................................................................................................. 17
3.1.
3.2.
3.3.
3.4.
3.5.
3.6.
3.7.
3.8.
3.9.
Packet Type: 010 PMTK_SYS_MSG ...................................................................................... 17
Packet Type: 011 PMTK_TXT_MSG ....................................................................................... 18
Packet Type: 001 PMTK_ACK ................................................................................................ 18
Packet Type: 101 PMTK_CMD_HOT_START ........................................................................ 19
Packet Type: 102 PMTK_CMD_WARM_START .................................................................... 20
Packet Type: 103 PMTK_CMD_COLD_START ...................................................................... 20
Packet Type: 104 PMTK_CMD_FULL_COLD_START ........................................................... 21
Packet Type: 161 PMTK_CMD_STANDBY_MODE ................................................................ 21
Packet Type: 183 PMTK_LOCUS_QUERY_STATUS ............................................................ 22
3.10. Packet Type: 184 PMTK_LOCUS_ERASE_FLASH ............................................................... 23
3.11. Packet Type: 185 PMTK_LOCUS_STOP_LOGGER .............................................................. 24
3.12. Packet Type: 622 PMTK_Q_LOCUS_DATA ........................................................................... 25
3.13. Packet Type: 220 PMTK_SET_POS_FIX ............................................................................... 25
3.14. Packet Type: 223 PMTK_SET_AL_DEE_CFG ....................................................................... 26
3.15. Packet Type: 225 PMTK_SET_PERIODIC_MODE ................................................................ 27
3.16. Packet Type: 251 PMTK_SET_NMEA_BAUDRATE ............................................................... 28
3.17. Packet Type: 255 PMTK_SET_SYNC_PPS_NMEA ............................................................... 28
3.18. Packet Type: 256 PMTK_SET_TIMING_PRODUCT .............................................................. 29
3.19. Packet Type: 285 PMTK_SET_PPS_CONFIG ....................................................................... 30
3.20. Packet Type: 286 PMTK_SET_AIC_ENABLED ...................................................................... 30
3.21. Packet Type: 301 PMTK_API_SET_DGPS_MODE ............................................................... 31
3.22. Packet Type: 306 PMTK_API_SET_MIN_SNR ...................................................................... 32
3.23. Packet Type: 308 PMTK_API_SET_DR_LIMIT ...................................................................... 32
3.24. Packet Type: 311 PMTK_API_SET_ELEV_MASK ................................................................. 33
3.25. Packet Type: 313 PMTK_API_SET_SBAS_ENABLED .......................................................... 33
3.26. Packet Type: 314 PMTK_API_SET_NMEA_OUTPUT ........................................................... 34
3.27. Packet Type: 351 PMTK_API_SET_SUPPORT_QZSS_NMEA ............................................. 36
3.28. Packet Type: 352 PMTK_API_SET_STOP_QZSS ................................................................. 37
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3.29. Packet Type: 353 PMTK_API_SET_GNSS_SEARCH_MODE .............................................. 37
3.30. Packet Type: 386 PMTK_API_SET_STATIC_NAV_THD ........................................................ 39
3.31. Packet Type: 400 PMTK_API_Q_FIX_CTL ............................................................................ 39
3.32. Packet Type: 401 PMTK_API_Q_DGPS_MODE .................................................................... 40
3.33. Packet Type: 413 PMTK_API_Q_SBAS_ENABLED .............................................................. 41
3.34. Packet Type: 414 PMTK_API_Q_NMEA_OUTPUT ............................................................... 41
3.35. Packet Type: 458 PMTK_API_GET_POS_XYZ ...................................................................... 42
3.36. Packet Type: 461 PMTK_API_GET_VEL_XYZ ...................................................................... 42
3.37. Packet Type: 605 PMTK_Q_RELEASE .................................................................................. 43
3.38. Packet Type: 500 PMTK_DT_FIX_CTL .................................................................................. 44
3.39. Packet Type: 501 PMTK_DT_DGPS_MODE .......................................................................... 44
3.40. Packet Type: 513 PMTK_DT_SBAS_ENABLED .................................................................... 45
3.41. Packet Type: 514 PMTK_DT_NMEA_OUTPUT ..................................................................... 46
3.42. Packet Type: 705 PMTK_DT_RELEASE ................................................................................ 47
3.43. Packet Type: 838 PMTK_TEST_ANTI_SPOOFING ............................................................... 48
3.44. Packet Type: 869 PMTK_EASY_ENABLE .............................................................................. 49
3.45. Packet Type: 875 PMTK_PMTKLSC_STN_OUTPUT ............................................................ 50
3.46. Packet Type: 886 PMTK_FR_MODE ...................................................................................... 51
4 Default Configurations ...................................................................................................................... 52
5 Appendix A References ..................................................................................................................... 53
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Table Index
TABLE 1: DEFAULT CONFIGURATIONS ......................................................................................................... 52
TABLE 2: RELATED DOCUMENTS .................................................................................................................. 53
TABLE 3: TERMS AND ABBREVIATIONS ........................................................................................................ 53
TABLE 4: STRUCTURE OF NMEA MESSAGE ................................................................................................ 54
TABLE 5: STRUCTURE OF MTK NMEA PACKET ........................................................................................... 55
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L76 Series GNSS Protocol Specification
1 Introduction
L76 series module includes three variants (L76, L76-L and L76B) which can use GPS, GLONASS,
BeiDou and Galileo constellations and features accurate acquisition. The module supports autonomous
GNSS C/A, SBAS function (including WAAS and EGNOS) and AGPS (EASYTM function). It can be used
in the positioning, navigation and other industries.
Now L76 supports SDK commands which are developed by Quectel. At present the SDK commands
contain $PQGLP, $PQBAUD, $PQ1PPS, $PQEPE and so on. For more infomations please refer to
document [4].
This document describes the software aspects of L76 series. L76 series supports NMEA 0183 standard
commands. MTK NMEA extended packet is enabled to control and configure L76 series module.
L76-L, which comes with built-in LNA, provides better performance than L76 in weak signal areas.
Please note that L76NR03A01S version of L76 and L76LNR02A01S version of L76-L use NMEA V4.10. It
will change the format of RMC, GSA and GSV sentences.
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