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NMEA Manual based on MediaTek
chipset
For u-blox, Fastrax IT500 series GPS/GNSS modules
Manual
Abstract
This document provides NMEA command manual for u-blox, Fastrax
IT500 series GPS/GNSS modules based on MediaTek chipset. This
NMEA command manual serves as a reference tool.
NMEA Manual based on MediaTek chipset - Manual
Document Information
Title NMEA Manual based on MediaTek chipset
Subtitle For u-blox, Fastrax IT500 series GPS/GNSS modules
Document type Manual
Document number FTX-HW-13002-A
Document status Preliminary
Document status information
Objective
Specification
Advance
Information
Preliminary
This document contains target values. Revised and supplementary data will be published
later.
This document contains data based on early testing. Revised and supplementary data will
be published later.
This document contains data from product verification. Revised and supplementary data
may be published later.
Released This document contains the final product specification.
This document applies to the following products:
Name ROM/FLASH version PCN reference
IT530M Flash N/A
IT530 Flash N/A
UC530M Flash N/A
UC530 Flash N/A
UP501 Flash N/A
UP501B Flash N/A
UP501D Flash N/A
UP501R Flash N/A
IT520 Flash N/A
IT500 Flash N/A
This document and the use of any information contained therein, is subject to the acceptance of the u-blox terms and conditions. They
can be downloaded from www.u-blox.com.
u-blox makes no warranties based on the accuracy or completeness of the contents of this document and reserves the right to make
changes to specifications and product descriptions at any time without notice.
u-blox reserves all rights to this document and the information contained herein. Reproduction, use or disclosure to third parties without
express permission is strictly prohibited. Copyright © 2013, u-blox AG.
®
is a registered trademark of u-blox Holding AG in the EU and other countries.
u-blox
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Contents
Contents .............................................................................................................................. 3
1 NMEA default output messages.................................................................................. 5
1.1 GGA - Global Positioning System Fix Data ............................................................................................ 5
1.2 GLL – Geographic Position – Latitude/Longitude ................................................................................... 5
1.5 RMC - Recommended Minimum Specific GNSS Data. ........................................................................... 6
1.6 GSV - Satellites in view ......................................................................................................................... 6
1.7 GSA - DOP and Active Satellites ............................................................................................................ 7
1.8 VTG – Course Over Ground and Ground Speed .................................................................................... 8
1.9 ZDA – Time and Date............................................................................................................................ 8
2 NMEA commands ......................................................................................................... 9
2.1 PMTK000 TEST ................................................................................................................................... 10
2.2 PMTK001 ACK ................................................................................................................................... 10
2.3 PMTK010 Startup message ................................................................................................................. 11
2.4 PMTK011 Output System Text ............................................................................................................ 11
2.5 PMTK101 CMD HOT START ................................................................................................................ 11
2.6 PMTK102 CMD WARM START ........................................................................................................... 11
2.7 PMTK103 CMD COLD START ............................................................................................................. 12
2.8 PMTK104 CMD FULL COLD START ..................................................................................................... 12
2.9 PMTK120 CLEAR FLASH AID ............................................................................................................... 12
2.10 PMTK127 CLEAR EPO FILE .................................................................................................................. 12
2.11 PMTK161 ENTER STANDBY MODE ..................................................................................................... 13
2.12 PMTK183 LOCUS QUERY LOGGING STATUS ...................................................................................... 13
2.13 PMTK184 LOCUS ERASE FLASH .......................................................................................................... 14
2.14 PMTK185 LOCUS START/STOP LOGGER ............................................................................................. 14
2.15 PMTK186 LOCUS LOG NOW .............................................................................................................. 14
2.16 PMTK622 LOCUS QUERY DATA ......................................................................................................... 15
2.17 PMTK869 ENABLE EASY ..................................................................................................................... 16
2.18 PMTK220 SET POS FIX ........................................................................................................................ 16
2.19 PMTK223 SET ALWAYS LOCATE DEFAULT CONFIGURATION ............................................................. 17
2.20 PMTK225 SET PERIODIC MODE .......................................................................................................... 17
2.21 PMTK251 SET NMEA BAUD RATE ....................................................................................................... 18
2.21.1 Setting 5 Hz navigation ............................................................................................................... 19
2.21.2 Setting 10 Hz navigation ............................................................................................................. 19
2.22 PMTK286 ENABLE AIC ........................................................................................................................ 19
2.23 PMTK300 Set Fix Interval .................................................................................................................... 20
2.24 PMTK301 API SET DGPS MODE .......................................................................................................... 20
2.25 PMTK313 API SET SBAS ENABLED ...................................................................................................... 20
2.26 PMTK314 API SET NMEA OUTPUT ...................................................................................................... 21
2.27 PMTK330 API SET DATUM .................................................................................................................. 22
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2.28 PMTK331 API SET DATUM ADVANCE................................................................................................. 22
2.29 PMTK335 API SET RTC TIME ............................................................................................................... 23
2.30 PMTK351 SET QZSS NMEA FORMAT .................................................................................................. 23
2.31 PMTK352 SET QZSS SUPPORT ............................................................................................................. 23
2.32 PMTK353 API SET GNSS SEARCH MODE ............................................................................................ 24
2.33 PMTK386 API SET STATIC NAV THD MT333X ..................................................................................... 24
2.34 PMTK397 API SET STATIC NAV THD MT332X ..................................................................................... 25
2.35 PMTK390 API SET USER OPTION ......................................................................................................... 25
2.35.1 Setting 4800 baud rate permanently ........................................................................................... 26
2.36 PMTK740 SET UTC TIME ..................................................................................................................... 26
2.37 PMTK741 SET INITIAL POSITION AND TIME ......................................................................................... 26
3 Query commands ....................................................................................................... 28
3.1 PMTK400 API Q FIX CTL ..................................................................................................................... 28
3.2 PMTK401 API Q DGPS MODE ............................................................................................................. 28
3.3 PMTK413 API Q SBAS ENABLED ......................................................................................................... 28
3.4 PMTK414 API Q NMEA OUTPUT ......................................................................................................... 28
3.5 PMTK430 API Q DATUM .................................................................................................................... 29
3.6 PMTK431 API Q DATUM ADVANCE ................................................................................................... 29
3.7 PMTK490 API GET USER OPTION ........................................................................................................ 29
4 Firmware STATUS ....................................................................................................... 30
4.1 PMTK605 QUERY FIRMWARE INFO ..................................................................................................... 30
4.2 PMTK607 QUERY EPO STATUS ........................................................................................................... 30
4.3 PMTK660 Q AVAILABLE SV EPH ......................................................................................................... 30
4.4 PMTK661 Q AVAILABLE SV ALM ........................................................................................................ 31
5 FIX Valid Flag .............................................................................................................. 32
6 Appendix A ................................................................................................................. 33
Table 1: Map datums........................................................................................................ 37
Related documents........................................................................................................... 37
Revision history ................................................................................................................ 38
Contact .............................................................................................................................. 39
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xx=degrees; mm=minutes; dddd=decimal part of minutes
1 NMEA default output messages
IT500 series receivers support standard NMEA0183 messages.
In the default configuration, output messages are GGA, RMC, GSV and GSA messages. The receiver can be
configured to have a user defined set of output messages, by command PMTK314 as described in chapter 2.12.
Output messages are utilized in Fastrax Workbench 5 to visualize the GPS/GNSS data. Default output messages
cover most of the applications.
1.1 GGA - Global Positioning System Fix Data
Time, position and fix related data for a GPS receiver.
Example:
$GPGGA,114353.000,6016.3245,N,02458.3270,E,1,10,0.81,35.2,M,19.5,M,,*50
Format:
$GPGGA,hhmmss.dd,xxmm.dddd,<N|S>,yyymm.dddd,<E|W>,v,ss,d.d,h.h,M,g.g,M,a.a,xxxx*hh<CR><LF>
Type Description
hhmmss.dd UTC time of the fix.
xxmm.dddd Latitude coordinate.
hh=hours; mm=minutes; ss=seconds; dd=decimal part of seconds
<N/S> Character denoting either N=North or S=South.
yyymm.dddd Longitude coordinate.
<E/W> Character denoting either E=East or W=West.
v Fix valid indicator
ss Number of satellites used in position fix, 00-12. Notice: Fixed length field of two letters.
d.d HDOP - Horizontal Dilution Of Precision.
h.h Altitude (mean-sea-level, geoid)
M Letter M.
g.g Difference between the WGS-84 reference ellipsoid surface and the mean-sea-level altitude.
M Letter M.
a.a xxxx -
yyy=degrees; mm=minutes; dddd=decimal part of minutes
1 = GPS fix (SPS)
2 = DGPS fix
3 = PPS fix
4 = Real Time Kinematic
5 = Float RTK
6 = estimated (dead reckoning) (2.3 feature)
7 = Manual input mode
8 = Simulation mode
1.2 GLL – Geographic Position – Latitude/Longitude
Latitude and Longitude, UTC time of fix and status.
Example:
$GPGLL,6012.5674,N,02449.6545,E,072022.000,A,A*50
Format:
$GPGLL,xxmm.dddd,<N|S>,yyymm.dddd,<E|W>,hhmmss.ddd,S,M*hh<CR><LF>
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hh=hours; mm=minutes; ss=seconds; ddd=decimal part of seconds
A=valid; V=invalid
A=autonomous; N=data not valid
hh=hours; mm=minutes; ss=seconds; dd=decimal part of seconds
A=valid; V=invalid
s.s
Speed in knots.
h.h
Heading
dd=day of month; mm=month; yy=year
d.d
Magnetic variation in degrees, not supported
<E|W>
Letter denoting direction of magnetic variation. Either E=East or W=West. Not supported
A=autonomous; N=data not valid
Type Description
xxmm.dddd Latitude coordinate.
<N|S> Character denoting either N=North or S=South.
yyymm.dddd Longitude coordinate.
<E|W> Character denoting either E=East or W=West.
hhmmss.ddd
xx=degrees; mm=minutes; dddd=decimal part of minutes
yyy=degrees; mm=minutes; dddd=decimal part of minutes
UTC time of the fix.
S
M
Status indicator.
Mode indicator.
1.5 RMC - Recommended Minimum Specific GNSS Data.
Time, date, position, course and speed data.
Message start as “$GNRMC” in IT530M default mode both GPS and Glonass constellation.
Example:
$GPRMC,114353.000,A,6016.3245,N,02458.3270,E,0.01,0.00,121009,,,A*69
Example IT530M hybrid mode:
$GNRMC,105440.000,A,6012.5669,N,02449.6536,E,0.00,0.00,061112,,,D*70
Format:
$GPRMC,hhmmss.dd,S,xxmm.dddd,<N|S>,yyymm.dddd,<E|W>,s.s,h.h,ddmmyy,d.d, <E|W>,M*hh<CR><LF>
Type Description
hhmmss.dd
S
xxmm.dddd Latitude coordinate.
<N|S> Character denoting either N=North or S=South.
yyymm.dddd Longitude coordinate.
<E|W> Character denoting either E=East or W=West.
UTC time of the fix.
Status indicator.
xx=degrees; mm=minutes; dddd=decimal part of minutes
yyy=degrees; mm=minutes; dddd=decimal part of minutes
ddmmyy
M
UTC Date of the fix.
Mode indicator
1.6 GSV - Satellites in view
Number of satellites in view, satellite ID (PRN) numbers, elevation, azimuth and SNR value. The information for
four satellites is a maximum per one message, additional messages up to maximum of eight are sent if needed.
The satellites are in PRN number order.
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n
Total number of messages, 1 to 9
m
Message number, 1 to 9
ss
Total number of satellites in view
xx
Satellite ID (PRN) number
ee
Satellite elevation, degrees 90 max
aaa
Satellite azimuth, degrees True, 000 to 359
be on the visible sky but it isn't being tracked.
Type
Description
A = Automatic, allowed to automatically switch 2D/3D.
3 = 3D
xx
ID (PRN) numbers of GPS satellites used in solution
p.p
PDOP
h.h
HDOP
Message starting with “$GNGSV” will be output in IT530M default mode, including both GPS and
Glonass constellation satellite data.
Example:
$GPGSV,3,1,11,29,68,228,47,30,59,151,47,31,44,284,45,02,38,062,44*7C
$GPGSV,3,2,11,12,28,130,41,10,14,102,35,05,12,110,35,04,11,040,34*70
$GPGSV,3,3,11,21,05,196,29,16,05,297,28,13,02,021,30*4E
Format:
$GPGSV,n,m,ss,xx,ee,aaa,cn,…………. ,xx,ee,aaa,cn*hh<CR><LF>
Type Description
ch
Signal-to-noise ration (C/No) 00-99 dB-Hz. Value of zero means that the satellite is predicted to
1.7 GSA - DOP and Active Satellites
GPS receiver operating mode, satellites used in the navigation solution reported by the GGA sentence, and DOP
values.
Message starting with “$GNGSA” will be output in IT530M default mode including both GPS and
Glonass constellation satellite data.
Example:
$GPGSA,A,3,02,21,30,04,16,05,10,12,31,29,,,1.33,0.81,1.06*02
Example IT530M hybrid mode:
$GNGSA,A,3,26,21,16,22,18,06,19,15,30,03,07,08,1.03,0.55,0.87*1D
$GNGSA,A,3,78,71,80,86,65,79,88,87,72,,,,1.03,0.55,0.87*19
Format:
$GPGSA,a,b,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,xx,p.p,h.h,v.v*hh<CR><LF>
Mode:
a
b
M = Manual, forced to operate in 2D or 3D mode.
Mode:
1 = Fix not available,
2 = 2D,
v.v VDOP
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h.hh
Heading in degrees.
T
Letter 'T' denoting True heading in degrees.
m.m
Magnetic heading in degrees.
M
Letter 'M' denoting Magnetic heading in degrees.
s.ss
Speed in knots.
N
Letter 'N' denoting speed in knots.
s.ss
Speed, km/h.
K
Letter 'K' denoting speed in km/h.
A=autonomous; N=data not valid
hhmmss.ddd
UTC time in hours, minutes, seconds and fractions of a second.
dd
UTC day of month
mm
UTC month
yyyy
UTC year
xx
Local zone hours. Not implemented
yy
Local zone minutes. Not implemented
1.8 VTG – Course Over Ground and Ground Speed
Course and speed.
Example:
$GPVTG,0.00,T,,M,0.00,N,0.00,K,A*3D
Format:
$GPVTG,h.hh,T,m.m,M,s.ss,N,s.ss,K,M*hh<CR><LF>
Type Description
M
Mode indicator.
1.9 ZDA – Time and Date
Current UTC time and date.
Example:
$GPZDA,071850.000,31,08,2011,,*55
Format:
$GPZDA,hhmmss.ddd,dd,mm,yyyy,xx,yy*hh
Type Description
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2 NMEA commands
NMEA commands are used to change or query settings of the module.
Command Length:
The maximum length of each packet is restricted to 255 bytes.
Command Contents:
Preamble: One byte character. ‘$’
NMEA ID: This will identify for the NMEA parser that it will receive commands for MediaTek.
Four bytes character string. “PMTK”
Command Number: Three-byte character string.
An identifier, from “000” to “999”, is used to tell the decoder how to decode the command.
DataField:
The DataField has a variable length depending on the command type.
A comma symbol ‘,’ must be inserted before each data field to help the decoder process the DataField.
*: 1 byte character.
The star symbol is used to mark the end of DataField.
CHK1, CHK2: Two-byte character string.
CHK1 and CHK2 are the checksum of the data between Preamble and ‘*’.
CR, LF: Two bytes binary data.
The two bytes are used to identify the end of a command.
Sample Command:
$PMTK000*32<CR><LF>
You can use your preferred terminal emulator to enter commands. For example, you can use TeraTerm,
whichcan be downloaded from here:
Remember to set the CR+LF for sending the command from the terminal program.
http://en.sourceforge.jp/projects/ttssh2/releases/
Figure 1: Tera Term terminal setup
Other possible terminal emulators to use include Putty and HyperTerminal.
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Figure 2: HyperTerminal setup
NMEA Manual based on MediaTek chipset - Manual
2.1 PMTK000 TEST
Command purpose:
Test the communication between the receiver and host.
Command number: 000
DataField: None
Example:
$PMTK000*32<CR><LF>
Reply: see next chapter.
2.2 PMTK001 ACK
Command purpose:
Acknowledge a PMTK000 command.
Command number: 001
DataField:
PMTK001,Cmd,Flag
Cmd: The command / packet type to be acknowledged.
Flag: 0 = Invalid command / packet.
1 = Unsupported command / packet type
2 = Valid command / packet, but action failed
3 = Valid command / packet, and action succeeded
Example:
$PMTK001,604,3*32<CR><LF>
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2.3 PMTK010 Startup message
Command purpose:
Output system message.
Command number: 010
DataField:
Msg: The system message.
‘0’: UNKNOWN
‘1’: STARTUP
‘2’: Notification for the host aiding EPO
‘3’: Notification for the transition to Normal mode is successfully done
Message ‘2’ and ‘3’ apply only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
Example:
$PMTK010,001*2E<CR><LF>
2.4 PMTK011 Output System Text
Command purpose:
Output system text message.
Command number: 011
DataField:
Message of this is MTK GPS
Example:
$PMTK011,MTKGPS*08 <CR><LF>
2.5 PMTK101 CMD HOT START
Command purpose:
Hot restart: Use all available data in the NV Store.
Command number: 101
DataField: None
Example:
$PMTK101*32<CR><LF>
2.6 PMTK102 CMD WARM START
Command purpose:
Warm restart: Don't use ephemeris at re-start.
Command number: 102
DataField: None
Example:
$PMTK102*31<CR><LF>
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2.7 PMTK103 CMD COLD START
Command purpose:
Cold restart: Don't use time, position, almanacs and ephemeris data at re-start.
Command number: 103
DataField: None
Example:
$PMTK103*30<CR><LF>
2.8 PMTK104 CMD FULL COLD START
Command purpose:
Full cold restart: It’s essentially a cold restart, but additionally it clears system/user configurations at re-start. That
is, reset the receiver to the factory status.
Command number: 104
DataField: None
Example:
$PMTK104*37<CR><LF>
2.9 PMTK120 CLEAR FLASH AID
Command purpose:
Erase aiding data stored in the flash memory.
Command number: 120
DataField: none
Example:
$PMTK120*31<CR><LF>
Reply:
$PMTK001,120,3*33
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.10 PMTK127 CLEAR EPO FILE
Command purpose:
Clear predicted ephemeris file (EPO) from flash memory.
Command number: 127
DataField: ‘0’ Clear
Example:
$PMTK127,0*2A<CR><LF>
Reply:
$PMTK001,127,3*34
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
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2.11 PMTK161 ENTER STANDBY MODE
Command purpose:
Enter standby mode for power saving.
In this mode the receiver stops navigation and the internal processor enters standby state.
The receiver will wake up as soon as any command or text is sent to the receiver.
Command number: 220
DataField:
’0’ = Stop mode
’1’ = Sleep mode
Example:
$PMTK161,0*28<CR><LF>
Reply:
None – receiver stop output.
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.12 PMTK183 LOCUS QUERY LOGGING STATUS
Command purpose:
Query LOCUS logging status.
Command number: 183
DataField: None
Return:
$PMTKLOG, Serial#, Type, Mode, Content, Interval, Distance, Speed, Status, Number, Percent*CH
Serial#: Logging serial number: 0~65535
Type: Logging type -0: Overlap, 1: FullStop
Mode: Logging mode – 0x08: Interval logger
Content: Logging contents of configuration
Interval: Logging interval setting (valid when Interval mode selected)
Distance: Logging distance setting (valid when Distance mode selected)
Speed: Logging speed setting (valid when Speed mode selected)
Status: Logging status – 1: Stop Logging, 2: Logging
Number: Logging number of data record
Percent: Logging life used percentage (0%~100%)
Example:
Input: $PMTK183*38<CR><LF>
Output: $PMTKLOG,456,0,11,31,2,0,0,0,3769,46*48
Reply:
$PMTK001,183,3*3A
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
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2.13 PMTK184 LOCUS ERASE FLASH
Command purpose:
Erase logger flash
Command number: 184
DataField:
$PMTK184, Type
Type: Erase type -1:erase all logger internal flash data
Example:
$PMTK184*3F<CR><LF>
Reply:
$PMTK001,184,3*3D
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.14 PMTK185 LOCUS START/STOP LOGGER
Command purpose:
Stop or start logging data.
Command number: 185
DataField:
$PMTK185, Status
Status: Stop logging - 0: Stop logging
1: Start logging
Example:
$PMTK185,1*23<CR><LF>
Reply:
$PMTK001,185,3*3C
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.15 PMTK186 LOCUS LOG NOW
Command purpose:
Snapshot write log.
Command number: 186
DataField:
$PMTK185, Type
Type: 1 means snapshot log data
Example:
$PMTK186,1*20<CR><LF>
Reply:
$PMTK001,186,3*3F
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
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2.16 PMTK622 LOCUS QUERY DATA
Command purpose:
Dump Locus flash data
Command number: 622
DataField:
$PMTK622, Type
Type: 0: dump full flash data
1: dump partial in used flash data
Output data:
PMTKLOX packet type:
Type1: LOCUS start (n is the number PMTKLOX packets will be sent
PMTKLOX,0,n
Type2: LOCUS data (data will be sent by 8-byte HEX sting, at most 24 events)
(“FFFFFFFF” if empty) commas separate one log item.
Type3: LOCUS end
PMTKLOX,2
UTC: 4 bytes
Fix: 1 byte
Lat: 4 bytes
Lon: 4 bytes
Alt: 2 bytes
Spd: 2 bytes
Sat: 2 bytes
Cks: 1 byte
Example:
Input: $PMTK622,1*29<CR><LF>
Output:
$PMTKLOX,0,43*6E
$PMTKLOX,1,0,0100010B,1F000000,0F000000,0000100B,00000000,7FFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFF
F,FFFFFFFF,FFFFFF
FF,00FC8C1C,0B37464F,027FD670,42DC9EC6,4113007A,1A37464F,027FD670,42DC9EC6,4113006B*25
$PMTKLOX,1,1,2037464F,027FD670,42DD9EC6,41130050,2437464F,027FD670,42DD9EC6,41130054,2837464F,027FD670,42DD9EC6,4
1130058,2B37464F,027FD670,42DD9E
C6,4113005B,2E37464F,027FD670,42DD9EC6,4113005E,3D37464F,027FD670,42DC9EC6,4113004C*59
$PMTKLOX,1,2,4C37464F,027FD670,42DC9EC6,4113003D,5B37464F,027FD670,42DC9EC6,4113002A,6A37464F,027FD670,42DD9EC6,
4113001A,7937464F,027FD670,42DD9E
C6,41130009,8837464F,027FD670,42DD9EC6,411300F8,9737464F,027FD670,42DD9EC6,411300E7*5C
$PMTKLOX,1,3,A637464F,027FD670,42DD9EC6,411300D6,B537464F,027FD670,42DD9EC6,411300C5,C437464F,027FD670,42DD9EC6,
411300B4,D337464F,027FD670,42DD9E
C6,411300A3,E237464F,027FD670,42DD9EC6,41130092,F137464F,027FD670,42DD9EC6,41130081*59
$PMTKLOX,1,4,0038464F,027FD670,42DD9EC6,4113007F,0F38464F,027FD670,42DC9EC6,41130071,1E38464F,027FD670,42DC9EC6,41
130060,2D38464F,027FD670,42DC9E
C6,41130053,3C38464F,027FD670,42DC9EC6,41130042,4B38464F,027FD670,42DD9EC6,41130034*58
$PMTKLOX,1,5,5A38464F,027FD670,42DD9EC6,41130025,6938464F,027FD670,42DC9EC6,41130017,7838464F,027FD670,42DC9EC6,4
1130006,8738464F,027FD670,42DC9E
C6,411300F9,9638464F,027FD670,42DC9EC6,411300E8,A538464F,027FD670,42DD9EC6,411300DA*5D
$PMTKLOX,1,6,B438464F,027FD670,42DC9EC6,411300CA,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFF
F,FFFFFFFF,FFFFFF
FF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF*58
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$PMTKLOX,1,7,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF
,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF,FFFFFFFF*58
...
$PMTKLOX,2*47
$PMTK001,622,3*36
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.17 PMTK869 ENABLE EASY
Command purpose:
Enable or disable EASY function. Query if EASY is enabled or disabled.
Command number: 869
DataField:
$PMTK869, Cmd Type, [Enable]
CmdType: Set or query
‘0’ = Query
‘1’ = Set
‘2’ = Result for Query operation
Enable: Enable or Disable
‘0’ = Disable
‘1’ = Enable
Example:
To query if EASY is enabled or disabled, use
$PMTK869,0*29<CR><LF>
If EASY is enabled, the receiver returns
$PMTK869,2,1*36<CR><LF>
If EASY is disabled, the receiver returns
$PMTK869,2,0*37<CR><LF>
To Enable EASY, use
$PMTK869,1,1*35<CR><LF>
To Disable EASY, use
$PMTK869,1,0*36<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.18 PMTK220 SET POS FIX
Command purpose:
Set position fix interval.
Command number: 220
DataField:
Interval: Position fix interval [msec]. Must be larger than 200.
Example:
$PMTK220,1000*1F<CR><LF>
Reply:
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$PMTK001,220,3 *30<CR><LF>
2.19 PMTK223 SET ALWAYS LOCATE DEFAULT CONFIGURATION
Command purpose:
Set Always Locate default configuration.
Command number: 223
DataField:
$PMTK223,SV,SNR,Extension threshold, Extension gap
SV: Default value 1, Range 1 ~4
SNR: Default value 30, Range 25 ~30
Extension threshold = 180000 msec, Range: 40000 ~180000
Extension gap = 60000 msec, Range 0 ~3600000
(Extension gap is the limitation between neighbor DEE)
Example:
$PMTK223,1,25,180000,60000*38<CR><LF>
Reply:
$PMTK001,223,3*33<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.20 PMTK225 SET PERIODIC MODE
Command purpose:
Periodic Power Saving Mode Settings: (See following chart)
In RUN stage, the GPS receiver measures and calculates positions.
In SLEEP stage, the GPS receiver may enter two different power saving modes. One is “Periodic Standby Mode”,
and another is “Periodic Backup Mode”. Due to hardware limitations, the maximum power down duration
(SLEEP) is 2047 seconds. If the configured “SLEEP” interval is larger than 2047 seconds, the GPS firmware will
automatically extend the interval by software method. However, the GPS system will be powered on for the
interval extension and powered down again after the extension is done.
With mode (type) AlwaysLocate
are controlled automatically.
Command number: 225
DataField:
$PMTK225, Type, Run time, Sleep time, Second run time, Second sleep time*CS<CR><LF>
Type: Set operation mode of power saving
‘0’: Back to normal mode
‘1’ Periodc backup mode
‘2’ Periodic standby mode
‘4’: Perpetual backup mode
‘8’: AlwaysLocate
‘9’: AlwaysLocate
Run time: Duration [msec] to fix for (or attempt to fix for) before switching from running mode back to a
minimum power sleep mode. With AlwaysLocate
automatically.
TM
, you can leave other parameters set to zero, because the wake and sleep times
TM
standby mode
TM
backup mode
TM
you cannot set run time, since sleep and wakeup is controlled
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‘0’: Disable
>= ‘1000’: Enable
[Range: 1000~518400000]
Sleep time: Interval [msec] to come out of a minimum power sleep mode and start running in order to get a
new position fix. With AlwaysLocate
TM
you cannot set sleep time, since sleep and wakeup are controlled
automatically.
[Range: 1000~518400000]
Second run time: Duration [msec] to fix for (or attempt to fix for) before switching from running mode back to
a minimum power sleep mode. With AlwaysLocate
TM
you cannot set second run time, since sleep and wakeup
are controlled automatically.
‘0’: Disable
>= ‘1000’: Enable
[Range: Second set both 0 or 1000~518400000]
Second sleep time: Interval [msec] to come out of a minimum power sleep mode and start running in order to
get a new position fix.
[Range: Second set both 0 or 1000~518400000]
Note the second run time should be larger than the first run time when non-zero value.
Example: How to enter Periodic modes
Periodic Backup mode
$PMTK225,0*2B
$PMTK223,1,25,180000,60000*38
$PMTK225,1,3000,12000,18000,72000*16
Periodic Standby mode
$PMTK225,0*2B
$PMTK223,1,25,180000,60000*38
$PMTK225,2,3000,12000,18000,72000*15
Example: How to enter AlwaysLocate modes
TM
AlwaysLocate
Standby
$PMTK225,0*2B
$PMTK225,8*23
AlwaysLocate
TM
Backup
$PMTK225,0*2B
$PMTK225,9*22
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.21 PMTK251 SET NMEA BAUD RATE
Command purpose:
Set NMEA port baud rate.
Command number: 251
DataField:
PMTK251,Baud rate
Baud rate: Baud rate setting
0 – default setting
4800
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9600
14400
19200
38400
57600
115200
Example:
$PMTK251,38400*27<CR><LF>
2.21.1 Setting 5 Hz navigation
For 5 Hz you need to change the baud rate to 38400 in order to handle the increased message load in serial
port.
Command for changing the baud rate to 38400:
$PMTK251,38400*27
The output in the terminal should show obscured data.
Then you need to change the baud rate from the terminal program to 38400.
After you can see NMEA sentences again, you are ready to give next command.
Command for setting the Fix Rate to 5 Hz:
$PMTK300,200,0,0,0,0*2F
2.21.2 Setting 10 Hz navigation
10 Hz setting works only with IT500 receiver
You can do it with first giving command PMTK251(baud rate) followed by command PMTK300(fixrate).
Command for changing the baud rate to 115200:
$PMTK251,115200*1F
The output in the terminal should show obscured data.
Then you need to change the baud rate from the terminal program to 115200.
After you can see NMEA sentences again, you are ready to give next command.
Command for setting the Fix Rate to 10 Hz:
$PMTK300,100,0,0,0,0*2C
You can reset the settings by powering off the module and removing the backup battery jumper from
application board.
Remember to set the CR+LF for sending the command from the terminal program.
E.g. in the Tera Term program, see Figure 1 for the settings.
2.22 PMTK286 ENABLE AIC
Command purpose:
Enable Active Interference Cancellation (AIC).
The Active Interference cancellation feature provides effective narrow-band interference and jamming
elimination. The GPS signal could be recovered from the jammed signal and let the user get better navigation
quality.
By default this feature is disabled.
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Command number: 286
DataField:
Enabled: Enable or disable
‘0’ = Disable
‘1’ = Enable
Example:
$PMTK286,1*23<CR><LF>
Reply:
$PMTK001,286,3*3C<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.23 PMTK300 Set Fix Interval
Command purpose:
Set fix interval.
Command number: 300
DataField:
PMTK300,Fixinterval,0,0,0,0
Fixinterval: Unit is milliseconds [Range: 100 ~ 10000]
Example:
$PMTK300,1000,0,0,0,0*1C<CR><LF> :Set fix interval to 1000 milliseconds
Reply:
$PMTK001,300,3*33
2.24 PMTK301 API SET DGPS MODE
Command purpose:
DGPS correction data source mode.
Command number: 301
DataField:
PMTK301,Mode
Mode: DGPS data source mode.
‘0’: No DGPS source
‘1’: RTCM
‘2’: WAAS
Example:
$PMTK301,1*2D<CR><LF>
Reply:
$PMTK001,301,3*32
2.25 PMTK313 API SET SBAS ENABLED
Command purpose:
Enable/disable search of SBAS satellite.
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Command number: 313
DataField:
Enabled: Enable or disable
‘0’ = Disable
‘1’ = Enable
Example:
$PMTK313,1*2E<CR><LF>
Reply:
$PMTK001,313,3*31<CR><LF>
SBAS can be used only with 1Hz (Default) output rate!
2.26 PMTK314 API SET NMEA OUTPUT
Command purpose:
Set NMEA sentence output frequencies.
Command number: 314
DataField:
There are totally 19 data fields that present output frequencies for the 19 supported NMEA sentences
individually.
Supported NMEA Sentences
0 NMEA_SEN_GLL, // GPGLL interval - Geographic Position - Latitude longitude
1 NMEA_SEN_RMC, // GPRMC interval - Recomended Minimum Specific GNSS Sentence
2 NMEA_SEN_VTG, // GPVTG interval - Course Over Ground and Ground Speed
3 NMEA_SEN_GGA, // GPGGA interval - GPS Fix Data
4 NMEA_SEN_GSA, // GPGSA interval - GNSS DOPS and Active Satellites
5 NMEA_SEN_GSV, // GPGSV interval - GNSS Satellites in View
6 NMEA_SEN_GRS, // GPGRS interval - GNSS Range Residuals (not supported on fw 150M)
7 NMEA_SEN_GST, // GPGST interval - GNSS Pseudorange Erros Statistics (not supported on fw
150M)
13 NMEA_SEN_MALM, // PMTKALM interval - GPS almanac information (not supported, all versions)
14 NMEA_SEN_MEPH, // PMTKEPH interval - GPS ephmeris information (not supported, all versions)
15 NMEA_SEN_MDGP, // PMTKDGP interval - GPS differential correction information (not supported,
all versions)
16 NMEA_SEN_MDBG, // PMTKDBG interval – MTK debug information (not supported, all versions)
17 NMEA_SEN_ZDA, // GPZDA interval – Time & Date
18 NMEA_SEN_MCHN, // PMTKCHN interval – GPS channel status
Supported Frequency Setting
0 - Disabled or not supported sentence
1 - Output once every one position fix
2 - Output once every two position fixes
3 - Output once every three position fixes
4 - Output once every four position fixes
5 - Output once every five position fixes
Example:
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$PMTK314,1,1,1,1,1,5,1,1,1,1,1,1,0,1,1,1,1,1,1*2C<CR><LF>
This command set GLL output frequency to be outputting once every 1 position fix, and RMC to be outputting
once every 1 position fix, and so on.
Reply:
$PMTK001,314,3*36<CR><LF>
You can also restore the system default setting via issue:
$PMTK314,-1*04<CR><LF>
Messages ALM, EPH, DGB and DBG are not currently supported.
Messages GRS, GST, ZDA and MCHN are not supported on 150M firmware.
2.27 PMTK330 API SET DATUM
Command purpose:
Set default datum.
Command number: 330
DataField:
PMTK330,Datum
Datum: 0: WGS84
1: TOKYO-M
2: TOKYO-A
Support 219 different datums. The total datums list in Appendix A.
Example:
$PMTK330,0*2E<CR><LF>
Reply:
$PMTK001,330,3*30<CR><LF>
2.28 PMTK331 API SET DATUM ADVANCE
Command purpose:
Set user defined datum.
Command number: 331
DataField:
PMTK331,majA,ecc,dX,dY,dZ
majA: User defined datum semi-major axis [m]
ecc: User defined datumeccentric [m]
dX: User defined datum to WGS84 X axis offset [m]
dY: User defined datum to WGS84 X axis offset [m]
dZ: User defined datum to WGS84 X axis offset [m]
Example:
$PMTK331, 6377397.155, 299.1528128, -148.0, 507.0,685.0*16<CR><LF>
Reply:
$PMTK001,331,3*31<CR><LF>
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2.29 PMTK335 API SET RTC TIME
Command purpose:
This command sets RTC UTC time.
The command doesn’t update the GPS time, which is maintained by GPS receiver. After setting, the RTC
UTC time finally may be updated by GPS receiver with more accurate time after 60 seconds.
Command number: 335
DataField:
PMTK335,Year,Month,Day,Hour,Min,Sec
Year: Year
Month: 1 ~ 12
Day: 1 ~ 31
Hour: 0 ~ 23
Min: 0 ~ 59
Sec: 0 ~ 59
Example:
$PMTK335,2007,1,1,0,0,0*02<CR><LF>
Reply:
$PMTK001,335,3*35<CR><LF>
2.30 PMTK351 SET QZSS NMEA FORMAT
Command purpose:
The receiver supports the new NMEA format for QZSS. The command allows the user to enable or disable QZSS
NMEA format. Default is to disable QZSS NMEA format (use NMEA 0183|V3.01).
Command number: 351
DataField:
PMTK351,Enabled
Enabled: ‘0’: Disable
‘1’: Enable
Example:
$PMTK351,0*29: Disable QZSS NMEA format
$PMTK351,1*28: Enable QZSS NMEA format
Reply:
$PMTK001,351,3*37<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.31 PMTK352 SET QZSS SUPPORT
Command purpose:
Since QZSS is a regional positioning service, the command allows the user to enable or disable the QZSS
function.
Default is to enable the QZSS function.
Command number: 352
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DataField:
PMTK352,Enabled
Enabled: ‘0’: Disable
‘1’: Enable
Example:
$PMTK352,0*2A : Disable QZSS
$PMTK352,1*2B : Enable QZSS
Reply:
$PMTK001,352,3*34<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.32 PMTK353 API SET GNSS SEARCH MODE
Command purpose:
This command is used to configure the constellations used in navigation.
Default setting is both Glonass and GPS enabled.
Command number: 353
DataField:
PMTK353,GPS_Enabled,GLONASS_Enabled
GPS_Enabled: ‘0’: disable (DO NOT search GPS satellites)
‘1’ or non-Zero: search GPS satellites
GLONASS_Enabled: ‘0’: disable (DO NOT search GLONASS satellites)
‘1’ or non-ZERO: search GLONASS satellites
Example:
$PMTK353,0,1*36<CR><LF> : Search GLONASS satellites only
$PMTK353,1,0*36<CR><LF> : Search GPS satellites only
$PMTK353,1,1*37 : Search GPS and GLONASS satellites
Reply:
$PMTK001,353,3*35<CR><LF>
This message applies only for MT3339 based receivers IT530M and UC530M
2.33 PMTK386 API SET STATIC NAV THD MT333X
Command purpose:
Set the speed threshold for static navigation. If the actual speed is below the threshold, then the output position
will stay the same, and the output speed will be zero. If the threshold value is set to 0, this function is disabled.
Command number: 386
DataField:
PMTK386,speed_threshold
speed_threshold: 0=disable; >0 = speed threshold in m/s
The minimum is 0.1 m/s, the maximum is 2.0 m/s.
Example:
$PMTK386,0.7*3A<CR><LF>
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Reply:
$PMTK001,386,3*3D<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.34 PMTK397 API SET STATIC NAV THD MT332X
Command purpose:
Set the speed threshold for static navigation. If the actual speed is below the threshold, output position will keep
the same and output speed will be zero. If threshold value is set to 0, this function is disabled.
Command number: 397
DataField:
PMTK397,speed_threshold
speed_threshold: 0=disable; >0 = speed threshold in m/s
Example:
$PMTK397,0.7*3A<CR><LF>
Reply:
$PMTK001,337,3*3D<CR><LF>
This message applies only for MT332X based IT500, IT520 and UP501.
2.35 PMTK390 API SET USER OPTION
Command purpose:
Change default settings of the NMEA output permanently. Write the user setting to the flash to override the
default setting. Maximum 8 times without erase the chip.
Command number: 390
DataField:
PMTK390, Lock, Update_Rate, Baud_Rate, GLL_Period, RMC_Period, VTG_Period, GSA_Period, GSV_Period,
GGA_Period, ZDA_Period, MCHN_Period, Datum, DGPS_Mode, RTCM_Baud_Rate
Lock: nonzero: freeze the setting; 0: allow further setting.
Update_Rate: 1~5 (Hz)
Baud_Rate: 115200, 57600, 38400, 19200, 14400, 9600, 4800
RTCM_Baud_Rate: 115200, 57600, 38400, 19200, 14400, 9600, 4800
XXX_Period: NMEA sentence output period
DGPS_Mode: 0 (disable), 1 (RTCM), 2 (SBAS)
Datum: We support more than 200 datum. Please refer to Appendix A for the supported datum list.
The typical value is: 0 (WGS84), 1 (Tokyo-M), 2 (Tokyo-A)
Example:
$PMTK390,0,1,38400,1,1,1,1,1,1,1,0,0,2,9600*0A<CR><LF>
Reply:
$PMTK001,390,3
Keep the lockbit zero. If you enable lockbit, you might corrupt the firmware!
This message applies only for MT332X based IT500, IT520 and UP501.
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2.35.1 Setting 4800 baud rate permanently
This setting is not supported with UP500 AGPS enabled firmware. 5Hz is the maximum rate that can be
set for navigation with this command.
Please note that with the default NMEA message mask, the 4800 baud rate is not enough in conditions where
there are many tracked satellites. GSV messages might have four lines and exceed the capacity of 4800
bit/second.
$PMTK390,0,1,4800,0,1,0,1,1,1,0,0,0,2,9600*38
and back to default 9600:
$PMTK390,0,1,9600,0,1,0,1,1,1,0,0,0,2,4800*38
Command PMTK390 settings are stored to non-volatile flash memory. It is restricted to allow only 8
setting changes per module. If exceeding the limit, settings cannot be changed until the module is re-
flashed.
This message applies only for MT332X based IT500, IT520 and UP501.
2.36 PMTK740 SET UTC TIME
Command purpose:
Init UTC time. Please do not use local time, which has time-zone offset.
To have faster TTFF, the accuracy of reference UTC should be less than 3 seconds.
Command number: 740
DataField:
PMTK740,YYY,MM,DD,hh,mm,ss*CS<CR><LF>
YYYY: year in 4 digits, range >1980
MM: month, range 1 - 12
DD: day, range 1 - 31
hh: hour, range 0 – 23
mm: minute, range 0 – 59
ss: second, range 0 – 59
CS: Checksum
Example:
$PMTK740,2012,9,28,10,29,00*09<CR><LF>
Reply:
$PMTK001,740,3*33<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
2.37 PMTK741 SET INITIAL POSITION AND TIME
Command purpose:
Initialize position and UTC in cold starts. To have faster TTFF, the accuracy of the location should be better than
30km.
The accuracy of reference UTC should be less than 3 seconds.
Command number: 741
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DataField:
PMTK741,Lat,Long,Alt,YYYY,MM,DD,hh,mm,ss*CS<CR><LF>
Lat: WGS84 geodetic latitude. Note: suggest to express this value in floating-point with 6 decimal
points, Minus:south; Plus: north, Range -90.0 ~90.0
Long: WGS84 geodetic longitude. Note: suggest to express this value in floating-point with 6 decimal
points, Minus:west; Plus: east, Range -180.0 ~180.0
Alt: WGS84 ellipsoidal altitude in meters.
YYYY: year in 4 digits, range >1980
MM: month, range 1 - 12
DD: day, range 1 - 31
hh: hour, range 0 – 23
mm: minute, range 0 – 59
ss: second, range 0 – 59
CS: Checksum
Example:
$PMTK741,24.772816,121.022636,160,2012,9,28,10,29,00*29<CR><LF>
Reply:
$PMTK001,741,3*32<CR><LF>
This message applies only for MT333X based receivers IT530, IT530M, UC530 and UC530M.
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3 Query commands
These commands are for querying the settings on the receiver.
3.1 PMTK400 API Q FIX CTL
Command purpose:
Query Position fix interval.
Command number: 400
DataField: None
Return:
PMTK_DT_FIX_CTL
Example:
$PMTK400*36<CR><LF>
3.2 PMTK401 API Q DGPS MODE
Command purpose:
Query DGPS mode.
Command number: 401
DataField: None
Return:
PMTK500 DT DGPS MODE
Example:
$PMTK401*37<CR><LF>
3.3 PMTK413 API Q SBAS ENABLED
Command purpose:
Query SBAS status.
Command number: 413
DataField: None
Return:
PMTK513 DT SBAS ENABLED
Example:
$PMTK413*34<CR><LF>
3.4 PMTK414 API Q NMEA OUTPUT
Command purpose:
Query current NMEA sentence output frequencies.
Command number: 414
DataField: None
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Return:
PMTK514 DT NMEA OUTPUT
Example:
$PMTK414*33<CR><LF>
3.5 PMTK430 API Q DATUM
Command purpose:
Query default datum.
Command number: 430
DataField: None
Return:
PMTK530 DT DATUM
Example:
$PMTK430*35<CR><LF>
3.6 PMTK431 API Q DATUM ADVANCE
NMEA Manual based on MediaTek chipset - Manual
Command purpose:
Query user defined datum.
Command number: 431
DataField: None
Return:
PMTK_DT_DATUM
Example:
$PMTK431*34<CR><LF>
Reply:
$PMTK530,6377397.155,299.152812800,-148.0,507.0,685.0*11
3.7 PMTK490 API GET USER OPTION
Command purpose:
Returns the current user setting from the flash memory.
Command number: 490
DataField: None
Return:
PMTK590 DT FLASH USER OPTION
Example:
$PMTK490*3F<CR><LF>
Reply:
$PMTK590,8,1,9600,0,1,0,1,1,1,0,0,0,0,9600*37
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4 Firmware STATUS
4.1 PMTK605 QUERY FIRMWARE INFO
Command purpose:
Query the firmware release information.
Command number: 605
DataField: NONE
Return:
PMTK705 DT RELEASE
Example:
$PMTK605*31<CR><LF>
Reply:
$PMTK705,AXN_1.50,1139,Fastrax IT500,*6C
4.2 PMTK607 QUERY EPO STATUS
Command purpose:
Query the status of EPO file loaded into flash memory.
Command number: 607
DataField:
‘0’ Status
Example:
$PMTK607,0*2F<CR><LF>
Reply:
PMTK707,56,1565,345600,1567,324000,1565,367200,1565,367200*1E
Explanation:
Receive: PMTK_DT_EPO_INFO
Number Epoch:56
First Epoch Week:1565
First Epoch TOW:345600
Final Epoch Week:1567
Final Epoch TOW:324000
Crnt Min Epoch Week:1565
Crnt Min Epoch TOW:388800
Crnt Max Epoch Week:1565
Crnt Max Epoch TOW:388800
4.3 PMTK660 Q AVAILABLE SV EPH
Command purpose:
Query valid ephemeris after specified interval.
Support PMTK660 which report valid ephemeris SV
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(a) Host -> MT3329: A PMTK660 command to request the EPH info, together with a time interval
parameter
(for example, 1800sec).
(b) MT3329 -> Host: Reply 32-bit flags of 32SV to indicate which EPHs will be available after the specified
time interval.
Command number: 660
DataField:
PMTK660, Time interval
Time interval: Set the time interval for MT3329 to reply 32-bit flags of 32SV. Note that the Time interval > 0 and
<= 7200 (2 hours).
Example:
$PMTK660,1800*17<CR><LF>
Reply:
$PMTK001,660,3,40449464*17<CR><LF>
The Hex 40449464 means 0100 0000 0100 0100 1001 0100 0110 0100 and the Valid SV’s numbers
are 3, 6, 7, 11, 13, 16, 19, 23, 31.
4.4 PMTK661 Q AVAILABLE SV ALM
Command purpose:
Query valid almanac after specified interval.
(a) Host -> MT3329: A PMTK661 command to request the almanac info, together with a time interval
parameter (for example, 30 days).
(b) MT3329 -> Host: Reply 32-bit flags of 32SV to indicate which almanac will be available after the
specified time interval.
Command number: 661
DataField:
PMTK661, Time interval
Time interval: Set the time interval for MT3329 to reply 32-bit flags of 32SV. Note that the Time interval > 0
Example:
Indicate which almanac will be available after 30 days
$PMTK661,30*1C<CR><LF>
Reply:
$PMTK001,661,3,fec0bfff*49<CR><LF>
The Hex fec0bfff means 11111110110000001011111111111111 and the Valid SV’s numbers are
1,2,3,4,5,6,7,8,9,10,11,12,13,14,16,23,24,26,27,28,29,30,31,32.
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NMEA Manual based on MediaTek chipset - Manual
5 FIX Valid Flag
This chapter concerns only the UP500 antenna module.
It is important to note that the current UP500 receiver firmware output position coordinates in RMC and GGA
messages even if the position is flagged as invalid in the NMEA RMC message.
This is contrary to most other GPS receivers, and the consequence is that a trace displayed on a map might look
inaccurate. The advantage for some applications is that you do get some kind of position even if you know the
output is not validated.
This is a feature that can very easily be filtered by monitoring Valid "A" flag and invalid "V" flag in the RMC
message.
Here is an example of a NOT VALID output fix:
$GPRMC,000040.026,V,6016.3376,N,02458.3604,E,0.00,0.00,060180,,,N*73
$GPVTG,0.00,T,,M,0.00,N,0.00,K,N*32
$GPGGA,000041.026,6016.3376,N,02458.3604,E,0,0,,130.5,M,19.5,M,,*42
$GPGSA,A,1,,,,,,,,,,,,,,,*1E
$GPGSV,1,1,00*79
And here is an example of a VALID output fix:
$GPRMC,065343.000,A,6016.3204,N,02458.3279,E,0.02,0.00,190309,,,A*69
$GPVTG,0.00,T,,M,0.02,N,0.03,K,A*3C
$GPGGA,065344.000,6016.3206,N,02458.3278,E,1,7,1.06,29.3,M,19.5,M,,*6A
$GPGSA,A,3,03,22,16,21,27,06,08,,,,,,1.33,1.06,0.81*01
$GPGSV,3,1,12,06,66,201,48,03,65,236,48,22,56,163,48,21,30,090,42*7E
$GPGSV,3,2,12,37,21,183,,08,14,331,34,16,13,204,33,27,09,026,33*76
$GPGSV,3,3,12,07,03,296,30,19,,,45,18,,,48,15,,,37*4C
FTX-HW-13002-A Preliminary
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6 Appendix A
Zambia, Zimbabwe
NMEA Manual based on MediaTek chipset - Manual
No Datum
0 WGS1984
1 Tokyo
2 Tokyo
3 User Setting User Setting
4 Adindan
5 Adindan Cameroon
6 Adindan
7 Adindan
8 Adindan
9 Adindan
10 Adindan Sudan
11 Afgooye
12 Ain El Abd1970 Bahrain
13 Ain El Abd1970
14 American Samoa1962
15 Anna 1 Astro1965
16 Antigua Island Astro1943
17 Arc1950 Botswana
18 Arc1950
19 Arc1950 Lesotho
20 Arc1950
21 Arc1950
22 Arc1950
23 Arc1950
24 Arc1950 Zambia
25 Arc1950
26 Arc1960 Mean for Kenya Tanzania
27 Arc1960
28 Arc1960
29 Ascension Island1958
30 Astro Beacon E 1945
31 Astro Dos 71/4 St Helena Island
32 Astro Tern Island (FRIG) 1961
33 Astronomical Station 1952 Marcus Island
34 Australian Geodetic 1966
35 Australian Geodetic 1984
36 Ayabelle Lighthouse
37 Bellevue (IGN)
38 Bermuda 1957 Bermuda
39 Bissau
40 Bogota Observatory Colombia
41 Bukit Rimpah
42 Camp Area Astro Antarctica(McMurdi Camp Area)
43 Campo Inchauspe
44 Canton Astro1966
45 Cape South Africa
46 Cape Canaveral
47 Carthage Tunisia
48 Chatham Island Astro1971
Region
International
Japan
Mean For Japan, South Korea, Okinawa
Burkina Faso
Ethiopia
Mali
Mean for Ethiopia, Sudan
Senegal
Somalia
Saudi Arabia
American Samoa Islands
Cocos Island
Antigua(Leeward Islands)
Burundi
Malawi
Mean for Botswana, Lesotho, Malawi, Swaziland, Zaire,
Swaziland
Zaire
Zimbabwe
Kenya
Tamzamia
Ascension Island
Iwo Jima
Tern Island
Australia, Tasmania
Australia, Tasmania
Djibouti
Efate and Erromango Islands
Guuinea-Bissau
Indonesia(Bangka and Belitung Ids)
Argentina
Phoenix Island
Bahamas, Florida
New Zealand(Chatham Island)
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Mean for Austria, Belgium,Denmark, Finland, France, W
Germany, Gibraltar, Greece, Italy, Luxembourg,
Portuga,l Spain, Sweden,
Switzerland
Austria, Debnmark,France, W Germany,
Switzerland
Mean for Irag, Israel, Jordan, Lebanon, Kuwait, Saudi
Mean for Austria, Finland ,Netherlands ,Norway, Spain,
Sweden, Switzerland
49 Chua Astro
50 Corrego Alegre Brazil
51 Dabola
52 Deception Island Deception Island, Antarctia
53 Djakarta (Batavia)
54 Dos 1968
55 Easter Island 1967
56 Estonia Coordinate System1937
57 European 1950 Cyprus
58 European 1950
59 European 1950 England, Channel Islands, Scotland, Shetland Islands
60 European 1950
61 European 1950
62 European 1950
63 European 1950
64 European 1950 Italy (Sardinia)
65 European 1950
66 European 1950 Malta
67 European 1950
68 European 1950
Paraguay
Guinea
Indonesia(Sumatra)
New Georgia Islands (Gizo Island)
Easter Island
Estonia
Egypt
England, Ireland, Scotland, Shetland Islands
Finland, Norway
Greece
Iran
Italy (Slcily)
Netherlands, Norway,
Mean for
Netherland ,
69 European 1950
70 European 1950
71 European 1950
72 European 1979
73 Fort Thomas 1955
74 Gan 1970 Republic Of Maldives
75 Geodetic Dataum 1970
76 Graciosa Base SW1948
77 Guam1963 Guam
78 Gunung Segara
79 Gux l Astro Guadalcanal Island
80 Herat North
81 Hermannskogel Datum Croatia-Serbia, Bosnia-Herzegoivna
82 Hjorsey 1955
83 Hongkong 1963
84 Hu Tzu Shan
85 Indian
86 Indian India,Nepal
87 Indian
88 Indian 1954 Thailand
89 Indian 1960
90 Indian 1960
91 Indian 1975
92 Indonesian 1974
93 Ireland 1965 Ireland
94 ISTS 061 Astro 1968
Arabia, Syria
Portugal, Spain
Tunisia,
Nevis St Kitts (Leeward Islands)
New Zealand
Azores (Faial, Graciosa, Pico, Sao, Jorge, Terceria)
Indonesia (Kalimantan)
Afghanistan
Iceland
Hongkong
Taiwan
Bangladesh
Pakistan
Vietnam (Con Son Island)
Vietnam (Near 16 deg N)
Thailand
Indonesian
South Georgia Islands
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NMEA Manual based on MediaTek chipset - Manual
Canada (New Brunswick, Newfoundland, Nova Scotia,
Qubec)
Mean for Antigua, Barbados, Barbuda, Caicos Islands,
Cuba, Dominican, Grand Cayman, Jamaica, Turks
Islands
Mean for Belize, Costa Rica, El Salvador, Guatemala,
Nicaragua
Mean for Conus (East of Mississippi, River Including
Mean for Conus (West of Mississippi, Rive Excluding
Minnesota, Missouri)
95 ISTS 073 Astro 1969
96 Johnston Island 1961 Johnston Island
97 Kandawala
98 Kerguelen Island 1949 Kerguelen Island
99 Kertau 1948
100 Kusaie Astro 1951
101 Korean Geodetic System
102 LC5 Astro 1961
103 Leigon Ghana
104 Liberia 1964
105 Luzon Philippines (Excluding Mindanao)
106 Luzon
107 M'Poraloko
108 Mahe 1971
109 Massawa
110 Merchich Morocco
111 Midway Astro 1961
112 Minna Cameroon
113 Minna
114 Montserrat Island Astro 1958
115 Nahrwan
116 Nahrwan
117 Nahrwan United Arab Emirates
118 Naparima BWI
119 North American 1927 Alaska (Excluding Aleutian Ids)
120 North American 1927
121 North American 1927
122 North American 1927
123 North American 1927
124 North American 1927 Canada (Alberta, British Columbia)
125 North American 1927
126 North American 1927
127 North American 1927
128 North American 1927
129 North American 1927
130 North American 1927
131 North American 1927 Greenland (Hayes Peninsula)
132 North American 1927
Diego Garcia
Sri Lanka
West Malaysia and Singapore
Caroline Islands
South Korea
Cayman Brac Island
Liberia
Philippines (Mindanao)
Gabon
Mahe Island
Ethiopia (Eritrea)
Midway Islands
Nigeria
Montserrat (Leeward Island)
Oman (Masirah Island)
Saudi Arabia
Trinidad and Tobago
Alaska (Aleutian Ids East of 180 degW)
Alaska (Aleutian Ids West of 180 degW)
Bahamas (Except San Salvador Islands)
Bahamas (San Salvador Islands)
Canada (Manitoba, Ontario)
Canada (Northwest Territories, Saskatchewan)
Canada (Yukon)
Canal Zone
Cuba
133 North American 1927
134 North American 1927 Mean for Canada
135 North American 1927
136 North American 1927
137 North American 1927
138 North American 1927 Mexico
139 North American 1983
FTX-HW-13002-A Preliminary
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Honduras,
Mean for Conus
Louisiana,Missouri, Minnesota)
Louisiana,
Alaska (Excluding Aleutian Ids)
NMEA Manual based on MediaTek chipset - Manual
Mean for England ,Isle of Man, Scotland, Shetland
Island, Wales
Mean for Bolivia Chile,Colombia, Ecuador, Guyana,
Peru, Venezuela
140 North American 1983
141 North American 1983 Canada
142 North American 1983
143 North American 1983 Hahawii
144 North American 1983
145 North Sahara 1959
146 Observatorio Meteorologico 1939
147 Old Egyptian 1907
148 Old Hawaiian Hawaii
149 Old Hawaiian
150 Old Hawaiian Maui
151 Old Hawaiian
152 Old Hawaiian
153 Oman
154 Ordnance Survey Great Britian 1936
155 Ordnance Survey Great Britian 1936 England, Isle of Man, Wales
156 Ordnance Survey Great Britian 1936
157 Ordnance Survey Great Britian 1936 Scotland, Shetland Islands
158 Ordnance Survey Great Britian 1936
159 Pico de las Nieves
160 Pitcairn Astro 1967 Pitcairn Island
161 Point 58
162 Pointe Noire 1948 Congo
163 Porto Santo 1936
164 Provisional South American 1956 Bolovia
165 Provisional South American 1956
166 Provisional South American 1956
167 Provisional South American 1956
168 Provisional South American 1956
169 Provisional South American 1956 Guyana
170 Provisional South American 1956
171 Provisional South American 1956 Peru
172 Provisional South American 1956
173 Provisional South Chilean 1963
174 Puerto Rico Puerto Rico, Virgin Islands
175 Pulkovo 1942
176 Qatar National Qatar
177 Qornoq
178 Reunion Mascarene Island
179 Rome 1940
180 S-42 (Pulkovo 1942)
181 S-42 (Pulkovo 1942)
182 S-42 (Pulkovo 1942)
183 S-42 (Pulkovo 1942) Lativa
184 S-42 (Pulkovo 1942)
185 S-42 (Pulkovo 1942) Albania
186 S-42 (Pulkovo 1942)
187 S-JTSK
188 Santo (Dos) 1965
189 Sao Braz
190 Sapper Hill 1943 East Falkland Island
191 Schwarzeck
192 Selvagem Grande 1938 Salvage Islands
Aleutian Ids
Conus
Mexico, Central America
Algeria
Azores (Corvo and Flores Islands)
Egypt
Kauai
Mean for Hawaii, Kauai, Maui, Oahu
Oahu
Oman
England
Wales
Canary Islands
Mean for Burkina Faso and Niger
Porto Santo, Maderia Islands
Chile (Northern Near 19 deg S)
Chile (Southern Near 43 deg S)
Colombia
Ecuador
Venezuela
Chile (Near 53 deg S) (Hito XVIII)
Russia
Greenland (South)
Italy (Sardinia)
Hungary
Poland
Czechoslavakia
Kazakhstan
Romania
Czechoslavakia (Prior 1 Jan1993)
Espirito Santo Island
Azores (Sao Miguel, Santa Maria Ids)
Namibia
FTX-HW-13002-A Preliminary
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NMEA Manual based on MediaTek chipset - Manual
Mean for Argentina, Bolivia, Brazil,Chile, Colombia,
Venezuela
193 Sierra Leone 1960
194 South American 1969 Argentina
195 South American 1969
196 South American 1969 Brazial
197 South American 1969
198 South American 1969
199 South American 1969
200 South American 1969
201 South American 1969 Guyana
202 South American 1969
203 South American 1969 Paraguay
204 South American 1969
205 South American 1969 Trinidad and Tobago
206 South American 1969
207 South Asia Singapore
208 Tananarive Observatory 1925
209 Timbalai 1948
210 Tokyo Japan
211 Tokyo
212 Tokyo Okinawa
213 Tokyo
214 Tristan Astro 1968 Tristam Da Cunha
215 Viti Levu 1916
216 Voirol 1960
217 Wake Island Astro 1952 Wake Atoll
218 Wake-Eniwetok 1960
219 WGS 1972 Global Definition
220 WGS 1984
221 Yacare Uruguay
222 Zanderij
Table 1: Map datums
Sierra Leone
Bolivia
Chile
Colombia
Ecuador
Ecuador (Baltra, Galapagos)
Ecuador, Guyana, Paraguay, Peru, Trinidad and Tobago,
Peru
Venezuela
Madagascar
Brunei, E Malaysia (Sabah Sarawak)
Mean for Japan, South Korea, Okinawa
South Korea
Fiji (Viti Levu Island)
Algeria
Marshall Islands
Global Definition
Suriname
Related documents
[1] NMEA0183 specification.
FTX-HW-13002-A Preliminary
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NMEA Manual based on MediaTek chipset - Manual
1.0
02.June.2009
kkai
Initial release
that are not supported in all IT500 series receivers. Corrected
Revision history
Revision Date Name Status / Comments
1.1 09.Jun.2009 kkai Added chapters 2.9.1 and 2.92. Fixed some typos. Added notes to
1.2 15.Sep.2009 kkai Added numbering into command title. Removed chapter 2.14.2 and
1.3 09.Oct.2009 kkai Added description of default output messages.
1.4 20.Nov.2009 kkai Some changes to command 300 text.
1.5 17.Feb.2010 kkai Addition to GGA message status field.
1.6 18.Apr.2010 kkai GGA message fix valid indicator values updated.
1.7 21.Jul.2010 kkai Added datums. Fixed PMTK30x responses.
1.8 31.Aug.2011 kkai PMTK390: modified msg support.
1.9 23.Feb.2012 kkai Added support to IT530 specific commands and messages.
2.0 kkai Some notes added to PMTK225 Set Periodic Mode. Notes added on
2.1 kkai Added GNSS message support to default output messages.
A 29.Jan.2013 julu Transfer to u-blox version
2.14.2 and 2.14.3.
2.14.3.
Added clear EPO and query EPO status commands.
Integrated reply messages to configuration commands.
Note for enabling SBAS with PMTK313.
Added note about supported NMEA messages.
Changed lockbit to zero on example.
Added message descriptions:
GLL – Geographic position
VTG – Course and speed
ZDA – Time and date
PMTK010 added two items.
PMTK127 Clear EPO file.
PMTK161 Enter standby mode.
PMTK120 Clear Flash aid.
PMTK225 Set Periodic Mode.
PMTK286 Enable AIC.
PMTK300 Set Fix Interval.
PMTK352 Set QZSS support.
PMTK183 LOCUS query logging status.
PMTK184 LOCUS erase flash.
PMTK185 LOCUS stop logger.
PMTK186 LOCUS log now.
PMTK869 Enable or disable EASY
messages
checksum on examples.
Added messages:
PMTK223 SET AL DEE CFG
PMTK351 SET support for QZSS NMEA format
PMTK352 SET QZSS SUPPORT
PMTK353 API SET GNSS SEARCH MODE
PMTK386 API SET STATIC NAV THD MT333X
PMTK740 SET UTC TIME
PMTK741 SET INITIAL POSITION AND TIME
FTX-HW-13002-A Preliminary
Page 38 of 39
NMEA Manual based on MediaTek chipset - Manual
Contact
For complete contact information visit us at www.u-blox.com
Offices
North, Central and South America
u-blox America, Inc.
Phone: +1 (703) 483 3180
E-mail: info_us@u-blox.com
Regional Office West Coast:
Phone: +1 (703) 483 3184
E-mail: info_us@u-blox.com
Technical Support:
Phone: +1 (703) 483 3185
E-mail: support_us@u-blox.com
Headquarters
Europe, Middle East, Africa
u-blox AG
Phone: +41 44 722 74 44
E-mail: info@u-blox.com
Technical Support:
Phone: +41 44 722 74 44
E-mail: support@u-blox.com
Asia, Australia, Pacific
u-blox Singapore Pte. Ltd.
Phone: +65 6734 3811
E-mail: info_ap@u-blox.com
Support: support_ap@u-blox.com
Regional Office China:
Phone: +86 10 68 133 545
E-mail: info_cn@u-blox.com
Support: support_cn@u-blox.com
Regional Office Japan:
Phone: +81 3 5775 3850
E-mail: info_jp@u-blox.com
Support: support_jp@u-blox.com
Regional Office Korea:
Phone: +82 2 542 0861
E-mail: info_kr@u-blox.com
Support: support_kr@u-blox.com
Regional Office Taiwan:
Phone: +886 2 2657 1090
E-mail: info_tw@u-blox.com
Support: support_tw@u-blox.com
FTX-HW-13002-A Preliminary
Page 39 of 39
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