Quectel L70, L80, L76-L, L76, L86 Command Manual

GNSS SDK

Commands Manual

GNSS Module Series

Rev. GNSS_SDK_Commands_Manual_V1.4

Date: 2017-07-21

www.quectel.com

GNSS Module Series

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Revision

Date

Author

Description

1.0

2015-09-11

Hyman DING

Initial

1.1

2016-01-18

Connie ZHOU

Added the current supported SDK commands in Table 1.

1.2

2016-05-20

Simon 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 (Chapter 2.13)  PQGEO (Chapter 2.14)  PQPREC (Chapter 2.15)  PQGBS (Chapter 2.16)

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About the Document

History

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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

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SDK Commands

Description

L70

L80

L76

L76-L

L86

L26

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

PQPZ90

Enable/Disable Switching from WGS84 to PZ-90.11

N N Y Y Y Y PQGLP

Set the Module into GLP (GNSS Low Power) Mode

N N Y Y Y Y PQVEL

Enable/Disable 3 Ways Velocity Sentence Output

N N Y Y Y Y PQJAM

Enable/Disable Jamming Detection Function

N N Y Y Y Y PQRLM

Enable/Disable Return Link Message Output

N N Y Y Y

Y

PQGEO

Configure Parameters of Geo-fence

Y N Y Y Y

Y

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1 Introduction

Quectel GNSS modules support SDK commands which are defined and developed by Quectel. This document describes these SDK commands. The configuration parameters saved by SDK commands will still exist in flash even after upgrading the modules’ firmware.

This document is applicable to Quectel L70, L80, L76, L76-L, L86 and L26 modules. Their supported SDK commands are shown in the table below:

Table 1: Current Supported SDK Commands

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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

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Preamble

TalkerID

PktType

DataField

*

CHK1

CHK2

CR

LF

The maximum length of each packet is restricted to 255 bytes.

NOTE

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2 Quectel NMEA Packet Protocol

This chapter introduces the Quectel NMEA packet protocol which is a set of extension messages of the standard NMEA packet protocol. These messages are used to control and configure Quectel L70, L80, L76, L76-L, L86 and L26 modules.

The structure of Quectel NMEA packet is shown as below:

2.1. Quectel NMEA Packet Format

Packet 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 mark the end of DataField. CHK1, CHK2: Two bytes character string. CHK1 and CHK2 are the check sum of the data between Preamble and ‘*’. CR, LF: Two bytes binary data. The two bytes are used to identify the end of a packet.

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1. The command will be effective immediately after setting.

2. Parameter is automatically saved.

3. If the baud rate is changed, then there is no response returned in the current baud rate.

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 Command

$PQEPE,W,<mode>,<save>*Checksu m<CR><LF>

Response

$PQEPE,W,OK*Checksum<CR><LF>

If there is any error, response:

$PQEPE,W,ERROR*Checksum<CR><LF>

URC Message

$PQEPE,<EPE_hori>,<EPE_vert>*Checksum<CR><LF>

Parameter

<EPE_hori> Estimated horizontal position error

NOTES

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2.2. PQBAUD Change NMEA Port Default Baud Rate

Parameter

Example

$PQBAUD,W,115200*43 //Change NMEA port default baud rate to 115200bps

$PQBAUD,W,OK*40 //Set OK

2.3. POEPE Enable/Disable PQEPE Sentence Output

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The command will be effective immediately after setting.

<EPE_vert> Estimated vertical 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*Checksum<CR><LF>

If there is any error, response:

$PQ1PPS,W,ERROR*Checksum<CR><LF>

Reference

<type> The type of 1PPS output

0 Disable 1PPS output

NOTE

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Parameter

Example

$PQEPE,W,1,1*2A //Enable the URC including EPE data, and save parameters into flash

$PQEPE,W,OK*02 //Set OK

2.4. PQ1PPS Set the Type and Pulse Width of 1PPS Output

Parameter

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1. The command will be effective immediately after setting.

2. The parameters is automatically saved.

3. If <type> is set as 0, <width> could be set as 0-998.

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>*Checksum<CR><LF>

Reference

<mode> Module operation mode

0 Normal mode

1 FLP mode <save> Save operation 0 Parameter is not saved, and ineffective after restart 1 Parameter is saved in flash, and effective after restart

NOTES

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Example

$PQ1PPS,W,4,100*1D //Set the type of 1PPS output and PPS pulse width

$PQ1PPS,W,OK*30 //Set OK

$PQ1PPS,W,0,0*18 //Disable 1PPS output

$PQ1PPS,W,OK*30 //Set OK

2.5. PQFLP Set the Module into FLP Mode

Parameter

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The command will be effective immediately after setting.

PQTXT Enable/Disable GPTXT Sentence Output

Write Command

$PQTXT,W,<mode>,<save>*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 GPTXT sentence output

1 Enable GPTXT sentence output <save> Save operation 0 Parameter is not saved, and ineffective after restart 1 Parameter is saved in flash, and effective after restart

NOTE

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Example

$PQFLP,W,1,1*20 //Change to FLP mode

$PQFLP,W,OK*08 //Set OK

$PQFLP,R*25 //Read mode

$PQFLP,R,1*38 //Read OK, FLP mode is enabled

2.6. PQTXT Enable/Disable GPTXT Sentence Output

Parameter

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The command will be effective immediately after setting.

PQECEF Enable/Disable ECEFPOSVEL Sentence Output

Write Command

$PQECEF,W,<mode>,<save>*ChkSu m<CR><LF>

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 in ECEF <v_y> Velocity component of Y axis in ECEF <v_z> Velocity component of Z axis in ECEF

Example

$ECEFPOSVEL,052743.000,-1526672.867459,6191083.982 801,143008.780911,0,0,0*14

Reference

NOTE

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Example

$PQTXT,W,1,1*22 //Enable GPTXT sentence output and save the parameter into flash

$PQTXT,W,OK*0A //Set OK

2.7. PQECEF Enable/Disable ECEFPOSVEL Sentence Output

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The command will be effective immediately after setting.

<mode> Operation

0 Disable ECEFPOSVEL sentence output

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 $PQODO,R,<mode>*ChkSum<CR><LF>

If there is any error, response: $PQODO,R,ERROR*ChkSum<CR><LF>

Query Command

$PQODO,Q*ChkSum<CR><LF>

Response $PQODO,Q,<distance>*ChkSum<CR><LF>

If there is any error, response $PQODO,Q,ERROR*ChkSum<CR><LF>

Reference

NOTE

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Parameter

Example

$PQECEF,W,1,1*7F //Enable ECEFPOSVEL sentence output, and save the parameter into flash

$PQECEF,W,OK*57 //Set OK

$PQECEF,R*7A //Read mode

$PQECEF,R,1*67 //Read OK, ECEFPOSVEL sentence output is enabled

2.8. PQODO Start/Stop Odometer Reading

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1. The command will be effective immediately after setting.

2. After module is restarted, the PQODO write command must be executed again to re-start odometer

reading.

3. The command is not supported in backup mode.

<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 value is 0

When <mode> is 0, this parameter must be omitted

<distance> Current distance. Unit: meter

PQPZ90 Enable/Disable Switching from WGS84 to PZ-90.11

Write Command

$PQPZ90,W,<mode>,<save>*ChkSum <CR><LF>

Response

$PQPZ90,W,OK*ChkSum<CR><LF>

If there is any error, response: $PQPZ90,W,ERROR*ChkSum<CR><LF>

Read Command

$PQPZ90,R*ChkSum<CR><LF>

Response $PQPZ90,R,<mode>*ChkSum<CR><LF>

URC Message

$GNDTM,P90,x,xx.xxxx,x,xx.xxxx,x,xxx,W84*hh<CR><LF >

NOTES

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Parameter

Example

$PQODO,W,1*23 //Start odometer reading, and initial distance is 0m.

$PQODO,W,OK*16 //Set OK

$PQODO,W,1,1000000*3E //Start odometer reading, and initial distance is 1,000,000m.

$PQODO,W,OK*16 //Set OK

$PQODO,R*3B //Read mode

$PQODO,R,1*26 //Read OK, odometer reading has already been started

$PQODO,Q*38 //Query the distance value

$PQODO,Q,123.45*0B //Current distance value is returned

2.9. PQPZ90 Enable/Disable Switching from WGS84 to PZ-90.11

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1. The command will be effective immediately after setting <save> to 0. However, when <save> is set

to 1, it will be effective only after restart for versions earlier than L76NR03A01S (on L76 module), L76LNR02A01S (on L76-L module), L86NR02A01S (on L86 module) and L26NR02A01S (on L26 module).

2. If switching from 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.

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 PZ-90.11 <save> Save operation 0 Parameter is not saved, and ineffective after restart 1 Parameter is saved in flash, and effective after restart

PQGLP Set the Module into GLP Mode

Write Command

$PQGLP,W,<mode>,<save>*ChkSum <CR><LF>

Response

$PQGLP,W,OK*ChkSum<CR><LF>

If there is any error, response: $PQGLP,W,ERROR*ChkSum<CR><LF>

Read Command

$PQGLP,R*ChkSum<CR><LF>

Response

$PQGLP,R,<mode>*ChkSum<CR><LF>

NOTES

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Parameter

Example

$PQPZ90,W,1,1*79 //Enable switching from WGS84 to PZ-90.11, and save the parameter into flash

$PQPZ90,W,OK*51 //Set OK

$PQPZ90,R*7C //Read mode

$PQPZ90,R,0*60 //Read OK, switching from WGS84 to PZ-90.11 is enabled

2.10. PQGLP Set the Module into GLP Mode

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The command will be effective immediately after setting.

Reference

<mode> Module operation 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>

Response $PQVEL,R,<mode>*ChkSum<CR><LF>

URC Message

$PQVEL,<north_vel>,<east_vel>,<down_vel>*ChkSum<C R><LF>

Parameter

<north_vel> North velocity <east_vel> East velocity

NOTE

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Parameter

Example

$PQGLP,W,1,1*21 //Change to GLP mode

$PQGLP,W,OK*09 //Set OK

$PQGLP,R*24 //Read mode

$PQGLP,R,1*39 //Read OK, GLP mode is enabled

2.11. PQVEL Enable/Disable 3 Ways Velocity Sentence Output

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The command will be effective immediately after setting.

<down_vel> 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>

If there is any error, response:

$PQJAM,W,ERROR*ChkSum<CR><LF>

Read Command

$PQJAM,R*ChkSum<CR><LF>

Response

$PQJAM,R,<mode>*ChkSum<CR><LF>

URC Message

$PMTKSPF, <status>*ChkSum<CR><LF>

NOTE

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Parameter

Example

$PQVEL,W,1,1*25 //Enable 3 ways velocity sentence output

$PQVEL,W,OK*0D //Set OK

$PQVEL,R*20 //Read mode

$PQVEL,R,1*3D //Read OK, 3 ways velocity sentence output is enabled

2.12. PQJAM Enable/Disable Jamming Detection Function

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<mode> Operation mode

0 Disable jamming detection function

1 Enable jamming detection function <save> Save operation 0 Parameter is not saved, and ineffective after restart

1 Parameter is saved in flash, and effective after restart

1. The command will be effective immediately after setting.

2. The command is not supported in backup mode.

Parameter <status> Jamming status

1 No jamming, healthy status. 2 Warning status. 3 Critical status

Example

$PMTKSPF,1*5A

Reference

PQRLM Enable/Disable Return Link Message Output

Write Command

$PQRLM,W,<mode>,<save>*ChkSum <CR><LF>

Response

$PQRLM,W,OK*ChkSum<CR><LF>

If there is any error, response:

$PQRLM,W,ERROR*ChkSum<CR><LF>

NOTES

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Parameter

Example

$PQJAM,W,1,1*3C //Enable jamming detection function

$PQJAM,W,OK*14 //Set OK

$PQJAM,R*39 //Read operation mode

$PQJAM,R,1*24 //Read OK

2.13. PQRLM Enable/Disable Return Link Message Output

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The command will be effective immediately after setting.

Read Command

$PQRLM,R*ChkSum<CR><LF>

Response

$PQRLM,R,<mode>*ChkSum<CR><LF>

URC Message

$PQRLM,<beacon_id>,<gps_second>,<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 message 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

NOTE

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Parameter

Example

$PQRLM,W,1,1*29 //Enable return link message output

$PQRLM,W,OK*01 //Set OK

$PQRLM,R*2C //Read mode

$PQRLM,R,1*31 //Read OK

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PQGEO Configure Parameters of Geo-fence

Write Command

$PQGEO,W,<GEO ID>,<mode>,<shape>,<latitude0>,<lo ngitude0>,<latitude1/radius>,<longitu de1>,<latitude2>,<longitude2>,<latitu de3>,<longitude3>*ChkSum<CR><LF >

Response

$PQGEO,W,OK*ChkSum<CR><LF>

If there is any error, response:

$PQGEO,W,ERROR*ChkSum<CR><LF>

Read Command

$PQGEO,R,<GEO ID>*ChkSum<CR><LF>

Response

$PQGEO,R,<GEO ID>,<mode>,<shape>,<latitude0>,<longitude0>,<latitude1 /radius>,<longitude1>,<latitude2>,<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>,<HDOP>,<PDOP>,<VDOP>,<Reserv ed2>,<GPS Satellites in View>,<GPS Satellites Used>,*ChkSum<CR><LF>

Parameters

<GEO ID> Geo-fence ID is from 0 to 9. <action> The current action of the module

1 Enters a geo-fence 2 Leaves a geo-fence <Fix status> Fix status

0 No fix

1 2D fix

2 3D fix

<UTC date & Time> UTC time

Format: DyyMMddThhmmss.sss

D: char ‘D’, refers to date

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2.14. PQGEO Configure Parameters of Geo-fence

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yy: current year-2000 MM: 1-12 dd: 1-31 T: char ‘T’, refers to time

hh: 0-23

mm: 0-59

ss.sss: 00.000-59.9999 <Latitude> The latitude of current position

Unit: degree Format: ±dd.dddddd Range: -90.000000~90.000000 <Longitude> The longitude of current position

Unit: degree

Format: ±ddd.dddddd Range: -180.000000~180.000000

<MSL Altitude> Mean sea level (MSL) 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 satellites in view <GPS Satellites Used> GPS satellites used

Example

$PQGEO,0,1,2,D150506T070127.000,31.856038,117.19711 0,49.4,14.92,0.18,2,,1.11,2.95,2.74,,14,9*5D

Reference

<GEO ID> Geo-fence ID, range: 0-9 <mode> Report mode

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Parameter

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0 Do not report when to enter or leave the geo-fence 1 Report when to enter the geo-fence 2 Report when to leave the geo-fence

3 Report when to enter or leave the geo-fence If <mode> is 0, the parameters after <mode> can be omitted. <shape> Fence shape 0 Circularity with center and radius

1 Circularity with center and one point on the circle 2 Triangle 3 Quadrangle <latitude0> The latitude of a point which is defined as the center of the geo-fence circular

region or the first point, Unit: degree

Format: ±dd.dddddd, range: -90.000000~90.000000 <longitude0> The longitude of a point which is defined as the center of the geo-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 point. Unit: degree

Format: ±ddd.dddddd, range: -180.000000~180.000000

If <shape> is 1, the parameters after <longitude1> must be omitted.

<latitude2> The latitude of third point. Unit: degree

Format: ±dd.dddddd, range: -90.000000~90.000000 <longitude2> The longitude of third point. Unit: degree

Format: ±ddd.dddddd, range: -180.000000~180.000000 If <shape> is 2, the parameters after <longitude2> must be omitted. <latitude3> The latitude of fourth point. Unit: degree

Format: ±dd.dddddd, range: -90.000000~90.000000 <longitude3> The longitude of fourth point. Unit: degree

Format: ±ddd.dddddd, range: -180.000000~180.000000 <status> The status of current position. 0 Unknown position 1 Inside the geo-fence 2 Outside the geo-fence

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Example

$PQGEO,W,0,1,0,31.85913,117.1933,500.0*26 //<shape> is 0.

$PQGEO,W,OK*1F

$PQGEO,W,4,3,1,31.91133,117.1129,31.994856,117.070281*1C //<shape> is 1.

$PQGEO,W,OK*1F

$PQGEO,W,3,0*34 //Delete geo-fence 3.

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1. If <mode> is 0 and there are no parameters after <mode>, this command can delete the geo-fence.

2. If <mode> is 1 (or 2), when the module enters (or leaves) the geo-fence, the Reserved2 pin (pin 17)

level will change from high to low; when the module leaves (or enters) the geo-fence, the Reserved2 pin (pin 17) level will change from low to high or keep unchanged. If <mode> is 0 or 3, the Reserved2 (17th) pin level will always keep high. This function 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.

PQPREC Configure Parameter Precision in NMEA Sentences

Write Command

$PQPREC,W,<latitude bits>,<longitude bits>[,<altitude bits>],<save>*ChkSum<CR><LF>

Response

$PQPREC,W,OK*ChkSum<CR><LF>

If there is any error, response: $PQPREC,W,ERROR*ChkSum<CR><LF>

Read Command

$PQPREC,R*ChkSum<CR><LF>

Response

$PQPREC,R,<latitude bits>,<longitude bits>,<altitude bits>*ChkSum<CR><LF>

Reference

NOTES

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$PQGEO,W,OK*1F

$PQGEO,R,0*2E

$PQGEO,R,0,1,0,31.859130,117.193300,500.0*13

$PQGEO,R,4*2A

$PQGEO,R,4,3,1,31.911330,117.112900,31.994856,117.070281*29

$PQGEO,Q,0*2D

$PQGEO,Q,0,1*30

$PQGEO,Q,4*29

$PQGEO,Q,4,2*37

2.15. PQPREC Configure Parameter Precision in NMEA Sentences

The command is used to configure the parameter (latitude/longitude/altitude) precision in NMEA sentences, through setting the number of digits after the decimal point.

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The command will be effective immediately after setting.

<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 default value is 4 <altitude bits> The number of digits after the decimal point of altitude and geoidal separation in

NMEA sentences. This parameter can be omitted

1 - 3 The default value is 1 <save> Save operation 0 Configuration is not saved, and ineffective after restart

1 Configuration is saved in flash, and effective after restart

PQGBS Enable/Disable GBS Sentence Output

Write Command

$PQGBS,W,<mode>,<save>*ChkSum <CR><LF>

Response

$PQGBS,W,OK*ChkSum<CR><LF>

NOTE

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Parameter

Example

$PQPREC,W,5,5,2,1*7D //Set the number of digits after the decimal point of latitude and longitude

to 5, and altitude to 2, then save the parameter into flash.

$PQPREC,W,OK*56 //Set OK

//The following parameters in bold are variables: $xxRMC,030037.000,A,3150.77801,N,11711.95112,E,0.00,37.74,070816,,,A*xx $xxGGA,030037.000,3150.77801,N,11711.95112,E,1,6,1.66,96.54,M,0.01,M,,*xx $xxGLL,3150.77801,N,11711.95112,E,030037.000,A,A*xx

$PQPREC,R*7B //Read parameter precision setting in NMEA sentences.

$PQPREC,R,5,5,2*65 //Read OK

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).

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The command will be effective immediately after setting.

If there is 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 operation 0 Parameter is not saved, and ineffective after restart 1 Parameter is saved in flash, and effective after restart

NOTE

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Parameter

Example

$PQGBS,W,1,1*2C //Enable GBS sentence output and saved into flash

$PQGBS,W,OK*04 //Set OK

$PQGBS,R*29 //Read mode

$PQGBS,R,1*34 //Read OK, GBS sentence output is enabled

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SN

Document Name

Remark

[1]

Quectel_GNSS_Low_Power_Mode_Application _Note

GNSS Low Power Mode Application Note

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 Electronics Association

ODO

Odometer

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3 Appendix References

3.1. Related Documents

Table 2: Related Documents

3.2. Terms and Abbreviations

Table 3: Terms and Abbreviations

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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

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

Altitude offset in meters.

8

Datum (xxx): W84 - WGS84 W72 - WGS72 S85 - SGS85 P90 - PZ-90

9

Checksum

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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

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Field

Meaning

1

UTC time of the GGA or GNS fix associated with this sentence.

2

Expected Error in latitude

3

Expected Error in longitude

4

Expected Error in altitude

5

ID number 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 GP, GL, etc., and the errors pertain to the individual system. If satellites from multiple systems are used to obtain the reported position solution, the talker ID is GN and the errors pertain to the combined solution.

NOTE

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3.4. GBS Sentence Definition

The GBS sentence definition for $--GBS,hhmmss.ss,x.x,x.x,x.x,xx,x.x,x.x,x.x,x,x*hh<CR><LF> is illustrated below:

Table 5: GBS Sentence Definition

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Quectel L70, L80, L76-L, L76, L86 Command Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

About the Document

Contents

Table Index

1 Introduction

2 Quectel NMEA Packet Protocol

2.1. Quectel NMEA Packet Format

2.2. PQBAUD Change NMEA Port Default Baud Rate

2.3. POEPE Enable/Disable PQEPE Sentence Output

2.4. PQ1PPS Set the Type and Pulse Width of 1PPS Output

2.5. PQFLP Set the Module into FLP Mode

2.6. PQTXT Enable/Disable GPTXT Sentence Output

2.7. PQECEF Enable/Disable ECEFPOSVEL Sentence Output

2.8. PQODO Start/Stop Odometer Reading

2.9. PQPZ90 Enable/Disable Switching from WGS84 to PZ-90.11

2.10. PQGLP Set the Module into GLP Mode

2.11. PQVEL Enable/Disable 3 Ways Velocity Sentence Output

2.12. PQJAM Enable/Disable Jamming Detection Function

2.13. PQRLM Enable/Disable Return Link Message Output

2.14. PQGEO Configure Parameters of Geo-fence

2.15. PQPREC Configure Parameter Precision in NMEA Sentences

2.16. PQGBS Enable/Disable GBS Sentence Output

3 Appendix References

3.1. Related Documents

3.2. Terms and Abbreviations

3.3. Datum Sentence Definition

3.4. GBS Sentence Definition