GNSS Protocol Specification V1.1

1 Introduction Quectel LC29H and LC79H series GNSS modules support GPS, GLONASS, Galileo, BDS and QZSS constellations. Concurrent tracking of GPS L1 C/A, GLONASS L1, Galileo E1, BDS B1I, QZSS L1 C/A, GPS L5, Galileo E5a, BDS B2a and QZSS L5 frequency bands 1) provides fast and accurate acquisition and makes these modules ideal solutions for positioning and navigation in various vertical markets. This document describes the software commands that are needed to control and modify the module configuration. The software commands are NMEA proprietary commands defined by the chipset supplier (PAIR messages). To report GNSS information, the modules support output messages in NMEA 0183 standard protocol format and RTCM protocol format. This document is applicable to the following Quectel GNSS modules and variants: Table 1: Applicable Modules and Variants Supported Module Variant LC29H series LC29H (AA) LC29H (BA) LC29H (CA) LC29H (DA) LC29H (EA)* LC79H series LC79H (AL) LC79H (BA)

1. Quectel assumes no responsibility if commands other than the ones listed herein are used.

1. LC79H (BA) supports concurrent tracking of GPS L1 C/A, GLONASS L1, Galileo E1, BDS B1I and QZSS L1 C/A. NOTE

1.1. Special Mark Table 2: Special Mark Mark Definition * Unless otherwise specified, when an asterisk (*) is used after a function, feature, interface, pin name, or argument, it indicates that the function, feature, interface, pin, or argument is under development and currently not supported; and the asterisk (*) after a model indicates that the model sample is currently unavailable.

2 NMEA Protocol 2.1. Structure of NMEA Protocol Messages <Address> (<TalkerID><SentenceFormatter>) $ [,<Data>] *<Checksum> The range for checksum calculation The start character of the frame, always ‘$’ Address field, contains talker Identifier and sentence formatter Data field(s), delimited by ‘,’ End frame, always <CR><LF> <CR><LF> Start with a ‘*’, 8-bit checksum value convert to two ASCII characters Figure 1: Structure of NMEA Protocol Messages Table 3: Structure of NMEA Protocol Messages Field Description $ Start of the sentence (Hex 0x24). <Address> In Standard Messages: In NMEA standard messages, this field consists of a two-character talker identifier (TalkerID) and a three-character sentence formatter (SentenceFormatter). The talker identifier serves to define the nature of the data being transmitted. For more information on the TalkerID, see Table 4: NMEA Talker ID. The sentence formatter is used to define data format and type. In Proprietary Messages: In NMEA proprietary messages, this field consists of the proprietary character P followed by a three-character Manufacturer’s Mnemonic Code, used to identify the TALKER issuing a proprietary sentence, and any additional characters as required.

Table 4: NMEA Talker ID The TalkerID of QZSS in NMEA 0183 V4.10 is GQ for LC29H (BA, CA, DA, EA*). 2.2. Standard Messages This chapter explains the NMEA 0183 V3.01 and NMEA 0183 V4.10 standard messages supported by the modules. 2.2.1. RMC Recommended Minimum Specific GNSS Data. Time, date, position, course, and speed data provided by a GNSS receiver. Type: Output <Data> Data fields, delimited by comma (,). Variable length (depends on the NMEA message type). <Checksum> The checksum field follows the checksum delimiter character *. The checksum is the 8-bit exclusive OR of all characters in the sentence, including the comma (,) delimiter, between but not including the $ and the * delimiters. <CR><LF> End of the sentence (Hex 0x0D 0x0A). GNSS Constellation Configuration TalkerID (NMEA 0183 V3.01) TalkerID (NMEA 0183 V4.10) GPS GP GP GLONASS GL GL Galileo GA GA BDS GB GB QZSS GP GP Combination of Multiple Satellite Systems GN GN NOTE

Synopsis: Format for NMEA 0183 V3.01: $<TalkerID>RMC,<UTC>,<Status>,<Lat>,<N/S>,<Lon>,<E/W>,<SOG>,<COG>,<Date>,<MagVar>,<Ma gVarDir>,<ModeInd>*<Checksum><CR><LF> Format for NMEA 0183 V4.10 (default): $<TalkerID>RMC,<UTC>,<Status>,<Lat>,<N/S>,<Lon>,<E/W>,<SOG>,<COG>,<Date>,<MagVar>,<Ma gVarDir>,<ModeInd>,<NavStatus>*<Checksum><CR><LF> Parameter: Field Format Unit Example Description $

$ Each NMEA message starts with $. <TalkerID> String, 2 characters

GN Talker identifier. See Table 4: NMEA Talker ID. RMC String, 3 characters

RMC Recommended Minimum Specific GNSS Data. <UTC> hhmmss.sss

093316.000 Position fix UTC. hh: Hours (00–23) mm: Minutes (00–59) ss: Seconds (00–59) sss: Decimal fraction of seconds <Status> Character

A Positioning system status. A = Data valid V = Navigation receiver warning <Lat> ddmm.mmmmmm

3149.332558 Latitude. dd: Degrees (00–90) mm: Minutes (00–59) mmmmmm: Decimal fraction of minutes (variable length) Note that this field is empty in case of an invalid value. <N/S> Character

N Latitude direction. N = North S = South Note that this field is empty in case of an invalid value. <Lon> dddmm.mmmmmm

11706.912570 Longitude. ddd: Degrees (000–180) mm: Minutes (00–59) mmmmmm: Decimal fraction of

Field Format Unit Example Description minutes Note that this field is empty in case of an invalid value. <E/W> Character

E Longitude direction. E = East W = West Note that this field is empty in case of an invalid value. <SOG> Numeric Knot 0.00 Speed over ground. Variable length. Note that this field is empty in case of an invalid value. <COG> Numeric Degree 237.67 Course over ground. Variable length. Maximum value: 359.99. Note that this field is empty in case of an invalid value. <Date> ddmmyy

140122 Date. dd: Day of month mm: Month yy: Year <MagVar>

Magnetic variation. Not supported. <MagVarDir>

The direction of magnetic variation. Not supported. <ModeInd> Character

A Mode indicator. A = Autonomous mode. Satellite system used in non-differential mode in position fix. D = Differential mode. Satellite system used in differential mode in position fix. Corrections from ground stations or Satellite Based Augmentation System (SBAS). E = Estimated (dead reckoning) mode. F = Float RTK. Satellite system used in RTK mode with floating integers. M = Manual input mode. N = No fix. Satellite system not used in position fix, or fix not valid. R = Real Time Kinematic (RTK). Satellite system used in RTK mode with fixed integers.

Example for NMEA 0183 V3.01: $GNRMC,093423.000,A,3149.332006,N,11706.913200,E,0.01,0.00,140122,,,A*79 Example for NMEA 0183 V4.10: $GNRMC,093316.000,A,3149.332558,N,11706.912570,E,0.00,237.67,140122,,,A,V*0B 2.2.2. GGA Global Positioning System Fix Data. Time, position, and fix-related data for a GNSS receiver. Type: Output Synopsis: Format for NMEA 0183 V3.01: $<TalkerID>GGA,<UTC>,<Lat>,<N/S>,<Lon>,<E/W>,<Quality>,<NumSatUsed>,<HDOP>,<Alt>,M,<Se p>,M,<DiffAge>,<DiffStation>*<Checksum><CR><LF> Format for NMEA 0183 V4.10 (default): $<TalkerID>GGA,<UTC>,<Lat>,<N/S>,<Lon>,<E/W>,<Quality>,<NumSatUsed>,<HDOP>,<Alt>,M,<Se p>,M,<DiffAge>,<DiffStation>*<Checksum><CR><LF> Parameter: Field Format Unit Example Description <NavStatus> Character

V Navigational status. Not supported. Always “V” (Invalid. The device cannot provide navigational status indication). Please note that this parameter is only available in NMEA 0183 V4.10 and above. <Checksum> Hexadecimal

0B Checksum <CR><LF> Character

Carriage return and line feed. Field Format Unit Example Description $

$ Each NMEA message starts with $.

Field Format Unit Example Description <TalkerID> String, 2 characters

GN Talker identifier. See Table 4: NMEA Talker ID. GGA String, 3 characters

GGA Global Positioning System Fix Data. <UTC> hhmmss.sss

093316.000 Position fix UTC. hh: Hours (00–23) mm: Minutes (00–59) ss: Seconds (00–59) sss: Decimal fraction of seconds <Lat> ddmm.mmmmmm

3149.332558 Latitude. dd: Degrees (00–90) mm: Minutes (00–59) mmmmmm: Decimal fraction of minutes Note that this field is empty in case of an invalid value. <N/S> Character

N Latitude direction. N = North S = South Note that this field is empty in case of an invalid value. <Lon> dddmm.mmmmmm

11706.912570 Longitude. ddd: Degrees (000–180) mm: Minutes (00–59) mmmmmm: Decimal fraction of minutes Note that this field is empty in case of an invalid value. <E/W> Character

E Longitude direction. E = East W = West Note that this field is empty in case of an invalid value. <Quality> Numeric, 1 digit

1 GPS quality indicator. 0 = Fix not available or invalid 1 = GPS SPS Mode, fix valid 2 = Differential GPS, SPS Mode, or Satellite Based Augmentation. System (SBAS), fix valid 3 = GPS PPS Mode, fix valid 4 = Real Time Kinematic (RTK) System used in RTK mode with

Example for NMEA 0183 V3.01: $GNGGA,093423.000,3149.332006,N,11706.913200,E,1,22,0.75,45.346,M,-0.337,M,,*56 Example for NMEA 0183 V4.10: $GNGGA,093316.000,3149.332558,N,11706.912570,E,1,28,0.67,54.481,M,-0.337,M,,*5D Field Format Unit Example Description fixed integers 5 = Float RTK. Satellite system used in RTK mode, floating integers. 6 = Estimated (dead reckoning) mode <NumSatUsed> 1) Numeric, 2 digits

28 Number of satellites in use. <HDOP> Numeric

0.67 Horizontal dilution of precision. Variable length. Note that this field is empty in case of an invalid value. <Alt> Numeric Meter 54.481 Altitude above mean-sea-level (geoid). Variable length. Note that this field is empty in case of an invalid value. M Character

M Unit of <Alt>. “M” = meter. <Sep> Numeric Meter -0.337 Geoid separation (the difference between the earth ellipsoid surface and the mean-sea-level (geoid) surface defined by the reference datum used in the position solution). Variable length. Note that this field is empty in case of an invalid value. M Character

M Unit of <Sep>. “M” = meter. <DiffAge>

Differential GPS data age. Not supported. <DiffStation>

Differential reference station ID. Not supported. <Checksum> Hexadecimal

*5D Checksum <CR><LF> Character

Carriage return and line feed.

The NMEA 0183 specification indicates that GGA messages are GPS specific. However, when the receiver is configured for multi-constellations, the content of GGA messages will be generated from the multi-constellation solution. 2.

1. According to the NMEA 0183 specification, the number of satellites in use is between 00 and 12. However, in the multi-constellation solution, the number of satellites in use may exceed 12. 2.2.3. GSV GNSS Satellites in View. The GSV sentence provides the number of satellites in view (SV), satellite ID numbers, elevation, azimuth, and SNR value, and it contains maximum four satellites per transmission. Therefore, it may take several sentences to get complete information. The total number of sentences being transmitted and the sentence number are indicated in the first two data fields. Type: Output Synopsis: Format for NMEA 0183 V3.01: $<TalkerID>GSV,<TotalNumSen>,<SenNum>,<TotalNumSat>{,<SatID>,<SatElev>,<SatAz>,<SatCN0>}* <Checksum><CR><LF> Format for NMEA 0183 V4.10 (default): $<TalkerID>GSV,<TotalNumSen>,<SenNum>,<TotalNumSat>{,<SatID>,<SatElev>,<SatAz>,<SatCN0>}, <SignalID>*<Checksum><CR><LF> Parameter: Field Format Unit Example Description $

$ Each NMEA message starts with $. <TalkerID> String, 2 characters

GP Talker identifier. See Table 4: NMEA Talker ID. GSV String, 3 characters

GSV GNSS Satellites in View. <TotalNumSen> Numeric

3 Total number of sentences. Range: 1–9. <SenNum> Numeric

1 Sentence number. Range: 1–<TotalNumSen>. NOTE

Example for NMEA 0183 V3.01: $GPGSV,3,1,12,08,75,355,46,195,68,113,44,194,64,081,42,199,51,162,36*47 $GPGSV,3,2,12,27,45,037,44,21,44,156,43,16,30,072,39,30,18,317,38*72 $GPGSV,3,3,12,03,,,19,04,,,37,09,,,40,07,,,43*7C $GPGSV,2,1,08,08,75,355,38,195,68,113,38,194,64,081,38,199,51,162,38*4C $GPGSV,2,2,08,27,45,037,38,30,18,317,31,04,,,29,09,,,32*70 $GLGSV,1,1,04,86,63,182,32,85,59,041,42,76,36,333,41,66,07,278,*6A $GAGSV,1,1,00*68 $GAGSV,1,1,00*68 $GBGSV,3,1,12,29,82,083,41,07,64,319,41,09,54,220,40,36,47,113,45*66 $GBGSV,3,2,12,06,45,201,39,39,34,192,40,01,,,38,30,,,40*69 $GBGSV,3,3,12,16,,,41,05,,,31,02,,,36,13,,,35*6E $GBGSV,1,1,04,29,82,083,36,36,47,113,36,39,34,192,32,30,,,28*5F Example for NMEA 0183 V4.10: $GPGSV,3,1,11,08,76,353,46,195,68,113,44,194,64,080,42,199,51,162,37,1*5C $GPGSV,3,2,11,27,45,037,43,07,44,315,43,21,43,156,44,16,30,071,39,1*6B $GPGSV,3,3,11,09,28,244,40,04,20,206,37,30,,,38,1*6F $GPGSV,2,1,08,08,76,353,35,195,68,113,34,194,64,080,33,199,51,162,34,8*5A $GPGSV,2,2,08,27,45,037,33,09,28,244,28,04,20,206,26,30,,,27,8*5E $GLGSV,1,1,03,85,59,042,41,76,35,333,40,66,07,279,32,1*43 $GAGSV,1,1,00,7*73 <TotalNumSat> Numeric

11 Total number of satellites in view. Start of repeat block. Repeat times: 1–4. <SatID> Numeric

08 Satellite ID. See Table 8: GNSS Numbering. <SatElev> Numeric Degree 76 Satellite elevation. Range: 00–90. <SatAz> Numeric Degree 353 Satellite azimuth, with true north as the reference plane. Range: 000–359. <SatCN0> Numeric dB-Hz 46 Satellite C/N0. Range 00–99. Null when not tracking. End of repeat block. <SignalID> Numeric

1 GNSS signal ID. See Table 8: GNSS Numbering. Please note that this parameter is only available in NMEA V4.10 or higher. <Checksum> Hexadecimal

*5C Checksum <CR><LF> Character

Carriage return and line feed.

$GAGSV,1,1,00,1*75 $GBGSV,4,1,13,07,64,319,41,40,61,345,43,36,47,113,43,06,45,201,40,1*7E $GBGSV,4,2,13,16,41,195,41,35,40,213,45,26,17,313,39,56,,,19,1*49 $GBGSV,4,3,13,57,,,37,01,,,39,02,,,36,60,,,40,1*7B $GBGSV,4,4,13,03,,,40,1*73 $GBGSV,1,1,04,40,61,345,32,36,47,113,32,35,40,213,29,26,17,313,23,5*79 GN cannot be used for GSV sentences. If satellites of multiple constellations are in view, GSV sentences are output with the corresponding talker ID for each constellation, respectively. 2.2.4. GSA GNSS DOP and Active Satellites. GNSS receiver operating mode, satellites used in the navigation solution reported by the GGA sentence, and DOP values. Type: Output Synopsis: Format for NMEA 0183 V3.01: $<TalkerID>GSA,<Mode>,<FixMode>{,<SatID>},<PDOP>,<HDOP>,<VDOP>*<Checksum><CR><LF> Format for NMEA 0183 V4.10 (default): $<TalkerID>GSA,<Mode>,<FixMode>{,<SatID>},<PDOP>,<HDOP>,<VDOP><SystemID>*<Checksum> <CR><LF> Parameter: Field Format Unit Example Description $

$ Each NMEA message starts with $. <TalkerID> String, 2 characters

GN Talker identifier. See Table 4: NMEA Talker ID. GSA String, 3 characters

GSA GNSS DOP and Active Satellites. <Mode> Character

A Auto selection of 2D or 3D fix: M = Manual, forced to operate in 2D or 3D mode. A = Automatic, allowed to automatically NOTE

Example for NMEA 0183 V3.01: $GPGSA,A,3,08,195,194,199,27,21,16,30,,,,,1.09,0.75,0.79*3C $GLGSA,A,3,86,85,76,,,,,,,,,,1.09,0.75,0.79*18 $GAGSA,A,3,,,,,,,,,,,,,1.09,0.75,0.79*17 $GBGSA,A,3,07,09,36,06,39,,,,,,,,1.09,0.75,0.79*13 Example for NMEA 0183 V4.10: $GNGSA,A,3,08,195,194,199,27,07,21,16,09,04,,,1.03,0.67,0.78,1*3E $GNGSA,A,3,85,76,66,,,,,,,,,,1.03,0.67,0.78,2*02 switch to 2D/3D. <FixMode> Numeric

3 Fix mode. 1 = Fix not available 2 = 2D 3 = 3D Start of repeat block. Repeat times: 12. <SatID> Numeric

08 ID numbers of satellites used in solution. See Table 8: GNSS Numbering. Note that this field is empty in case of an invalid value. End of repeat block. <PDOP> Numeric

1.03 Position dilution of precision. Maximum value: 99.00. Note that this field is empty in case of an invalid value. <HDOP> Numeric

0.67 Horizontal dilution of precision. Maximum value: 99.00. Note that this field is empty in case of an invalid value. <VDOP> Numeric

0.78 Vertical dilution of precision. Maximum value: 99.00. Note that this field is empty in case of an invalid value. <SystemID> Numeric

1 GNSS system ID. See Table 8: GNSS Numbering. Please note that this parameter is only available in NMEA 4.10 or higher. <Checksum> Hexadecimal

*3E Checksum <CR><LF> Character

Carriage return and line feed.

$GNGSA,A,3,,,,,,,,,,,,,1.03,0.67,0.78,3*0F $GNGSA,A,3,07,40,36,06,16,35,26,,,,,,1.03,0.67,0.78,4*0D If less than 12 satellites are used for navigation, the remaining <SatID> fields are left empty. If more than 12 satellites are used, multiple GSA sentences containing all satellite IDs will be output. 2.2.5. VTG Course Over Ground & Ground Speed. The actual course and speed relative to the ground. Type: Output Synopsis: Format for NMEA 0183 V3.01: $<TalkerID>VTG,<COGT>,T,<COGM>,M,<SOGN>,N,<SOGK>,K,<ModeInd>*<Checksum><CR><LF> Format for NMEA 0183 V4.10 (default): $<TalkerID>VTG,<COGT>,T,<COGM>,M,<SOGN>,N,<SOGK>,K,<ModeInd>*<Checksum><CR><LF> Parameter: Field Format Unit Example Description $

$ Each NMEA message starts with $. <TalkerID> String, 2 characters

GN Talker identifier. See Table 4: NMEA Talker ID. VTG String, 3 characters

VTG Course Over Ground & Ground Speed. <COGT> Numeric Degrees 237.67 Course over ground, in true north course direction. Note that this field is empty in case of an invalid value. T Character

T Course over ground. (degrees true, fixed field) <COGM> Numeric Degrees

Course over ground (magnetic). Not supported. M Character

M Course over ground. (degrees magnetic, fixed field) NOTE

Example for NMEA 0183 V3.01: $GNVTG,0.00,T,,M,0.01,N,0.02,K,A*20 Example for NMEA 0183 V4.10: $GNVTG,237.67,T,,M,0.00,N,0.00,K,A*24 2.2.6. GLL Geographic Position – Latitude/Longitude. Latitude and longitude of the GNSS receiver position, the time of position fix and status. Type: Output Field Format Unit Example Description <SOGN> Numeric Knots 0.00 Speed over ground in knots. Variable length. Note that this field is empty in case of an invalid value. N Character

N Speed over ground (knots, fixed field). <SOGK> Numeric km/h 0.00 Speed over ground in kilometers per hour. Variable length. Note that this field is empty in case of an invalid value. K Character

K Speed over ground. (kilometers per hour, fixed field). <ModeInd> Character

A Mode indicator: A = Autonomous mode D = Differential mode E = Estimated (dead reckoning) mode F = Float RTK. Satellite system used in real time kinematic mode with floating integers. M = Manual input mode N = No fix. Satellite system not used in position fix, or fix not valid. <Checksum> Hexadecimal

*24 Checksum <CR><LF> Character

Carriage return and line feed.

Synopsis: Format for NMEA 0183 V3.01: $<TalkerID>GLL,<Lat>,<N/S>,<Lon>,<E/W>,<UTC>,<Status>,<ModeInd>*<Checksum><CR><LF> Format for NMEA 0183 V4.10 (default): $<TalkerID>GLL,<Lat>,<N/S>,<Lon>,<E/W>,<UTC>,<Status>,<ModeInd>*<Checksum><CR><LF> Parameter: Field Format Unit Example Description $

$ Each NMEA message starts with $. <TalkerID> String, 2 characters

GN Talker identifier. See Table 4: NMEA Talker ID. GLL String, 3 characters

GLL Geographic Position – Latitude/Longitude. <Lat> ddmm.mmmmmm

3149.332558 Latitude. dd: Degrees (00–90) mm: Minutes (00–59) mmmmmm: Decimal fraction of minutes Note that this field is empty in case of an invalid value. <N/S> Character

N Latitude direction. N = North S = South Note that this field is empty in case of an invalid value. <Lon> dddmm.mmmmmm

11706.912570 Longitude. ddd: Degrees (000–180) mm: Minutes (00–59) mmmmmm: Decimal fraction of minutes Note that this field is empty in case of an invalid value. <E/W> Character

E Longitude direction. E = East W = West Note that this field is empty in case of an invalid value. <UTC> hhmmss.sss

093316.000 Position fix UTC. hh: Hours (00–23) mm: Minutes (00–59) ss: Seconds (00–59)

Example for NMEA 0183 V3.01: $GNGLL,3149.332006,N,11706.913200,E,093423.000,A,A*4B Example for NMEA 0183 V4.10: $GNGLL,3149.332558,N,11706.912570,E,093316.000,A,A*45 2.2.7. ZDA Time & Date. UTC, day, month, year and local time zone. Type: Output Synopsis: Format for NMEA 0183 V3.01: $<TalkerID>ZDA,<UTC>,<Day>,<Month>,<Year>,<LocalHour>,<LocalMin>*<Checksum><CR><LF> Format for NMEA 0183 V4.10 (default): $<TalkerID>ZDA,<UTC>,<Day>,<Month>,<Year>,<LocalHour>,<LocalMin>*<Checksum><CR><LF> Field Format Unit Example Description sss: Decimal fraction of seconds <Status> Character

A Positioning system status. A = Data valid V = Data not valid <ModeInd> Character

A Mode indicator. A = Autonomous mode D = Differential mode E = Estimated (dead reckoning) mode F = Float RTK. Satellite system used in real time kinematic mode with floating integers M = Manual input mode N = No fix. Satellite system not used in position fix, or fix not valid. <Checksum> Hexadecimal

*45 Checksum <CR><LF> Character

Carriage return and line feed.

Parameter: Example for NMEA 0183 V3.01: $GNZDA,093423.000,14,01,2022,,*41 Example for NMEA 0183 V4.10: $GNZDA,093316.000,14,01,2022,,*40 ZDA is not supported for LC29H (BA, CA, DA, EA*). 2.2.8. GRS GNSS range residuals. This sentence supports Receiver Autonomous Integrity Monitoring (RAIM). Range Field Format Unit Example Description $

$ Each NMEA message starts with $. <TalkerID> String, 2 characters

GN Talker identifier. See Table 4: NMEA Talker ID. ZDA String, 3 characters

ZDA Time & Date. UTC, day, month, year and local time zone. <UTC> hhmmss.sss

093316.000 Position fix UTC. hh: Hours (00–23) mm: Minutes (00–59) ss: Seconds (00–59) sss: Decimal fraction of seconds <Day> Numeric

14 Day of month. Range: 01–31. <Month> Numeric

01 Month. Range: 01–12. <Year> Numeric

2022 Year. <LocalHour> Numeric

Local zone hours, 00 to ±13 hours. Not supported. <LocalMin> Numeric

Local zone minutes, 00 to 59 minutes. Not supported. <Checksum> Hexadecimal

*40 Checksum. <CR><LF> Character

Carriage return and line feed. NOTE

residuals can be computed in two ways for this process. The basic measurement integration cycle of most navigation filters generates a set of residuals and uses these to update the position state of the receiver. Type: Output Synopsis: Format for NMEA 0183 V3.01: $<TalkerID>GRS,<UTC>,<Mode>{,<Resi>}*<Checksum><CR><LF> Format for NMEA 0183 V4.10 (default): $<TalkerID>GRS,<UTC>,<Mode>{,<Resi>},<SystemID>,<SignalID>*<Checksum><CR><LF> Parameter: Field Format Unit Example Description $

$ Each NMEA message starts with $. <TalkerID> String, 2 characters

GN Talker identifier. See Table 4: NMEA Talker ID. GRS String, 3 characters

GRS GNSS range residuals. <UTC> hhmmss.sss

061549.000 Position fix UTC. hh: Hours (00–23) mm: Minutes (00–59) ss: Seconds (00–59) sss: Decimal fraction of seconds <Mode> Numeric

1 Computation method used. 0 = Residuals were used to calculate the position given in the matching GGA or GNS sentence. 1 = Residuals were recomputed after the GGA or GNS position was computed. Start of repeat block. Repeat time: 12. <Resi> Numeric m 6.2 Range residuals for SVs used in navigation. Range: -999 to 999. Note that this field is empty in case of an invalid value. End of repeat block. <SystemID> Numeric

1 GNSS system ID.

Example for NMEA 0183 V3.01: $GNGRS,072520.000,1,-4.5,-133,-6.9,2.3,-4.3,-144,-4.9,-4.4,-2.2,-131,-76.7,-3.3*61 $GNGRS,072520.000,1,-4.5,,,,-4.3,,,-4.4,,,,-3.3*64 $GNGRS,072520.000,1,-2.3,0.3,-2.0,,,,,,,,,*4C $GNGRS,072520.000,1,-3.9,-4.6,3.0,-15.1,0.7,,,,,,,*58 $GNGRS,072520.000,1,-3.9,-4.6,3.0,-15.1,0.7,,,,,,,*58 $GNGRS,072520.000,1,-4.1,0.3,-0.2,6.1,-4.3,3.8,-0.2,-10.3,-6.6,1.8,12.2,-15.5*79 $GNGRS,072520.000,1,6.5,-6.3,1.9,-4.1,-141,0.5,,,,,,*5B $GNGRS,072520.000,1,-4.1,0.3,-0.2,,,,-0.2,,-6.6,,12.2,*55 $GNGRS,072520.000,1,,,1.9,,,0.5,,,,,,*6F Example for NMEA 0183 V4.10: $GNGRS,061549.000,1,6.2,-7.5,0.4,-0.7,0.8,-8.6,4.0,4.1,7.7,7.2,2.0,-6.3,1,1*6F $GNGRS,061549.000,1,-4.8,5.2,-82.4,1.7,,,,,,,,,1,1*5C $GNGRS,061549.000,1,6.2,-7.5,,,0.8,-8.6,,4.1,,,,,1,8*4D $GNGRS,061549.000,1,-4.8,5.2,,,,,,,,,,,1,8*40 $GNGRS,061549.000,1,-2.5,11.2,-16.4,-1.5,,,,,,,,,2,1*43 $GNGRS,061549.000,1,-9.8,8.0,8.0,74.7,-16.2,-6.2,-101,,,,,,3,7*5F $GNGRS,061549.000,1,-9.8,8.0,8.0,74.7,-16.2,-6.2,,,,,,,3,1*44 $GNGRS,061549.000,1,-0.6,-2.0,-6.4,1.0,12.7,7.8,-18.0,3.3,-5.3,16.5,-7.6,-91.2,4,1*4D $GNGRS,061549.000,1,-3.8,5.9,-0.4,1.1,-107,-5.2,,,,,,,4,1*76 $GNGRS,061549.000,1,-0.6,-2.0,-6.4,,,,,3.3,,,,,4,4*44 $GNGRS,061549.000,1,-3.8,5.9,-0.4,1.1,,,,,,,,,4,4*6C 1. GRS is not supported for LC29H (BA, CA, DA, EA*). 2. The SV order matches the order of the satellite ID numbers in GSA sentence. If the range residual exceeds +99.9 meters, then the decimal part is dropped, resulting in an integer. The maximum value Field Format Unit Example Description See Table 8: GNSS Numbering. Please note that this parameter is only available in NMEA 0183 V4.10 or higher. <SignalID> Numeric

1 GNSS signal ID. See Table 8: GNSS Numbering. Please note that this parameter is only available in NMEA 0183 V4.10 or higher. <Checksum> Hexadecimal

*6F Checksum. <CR><LF> Character

Carriage return and line feed. NOTE

for <Resi> is +999. 3. If less than 12 satellites are used for navigation, the remaining <Resi>s are left empty. If more than 12 satellites are used, multiple GRS sentences containing all <Resi>s will be output. 2.2.9. GST GNSS Pseudorange Error Statistics. This sentence supports Receiver Autonomous Integrity Monitoring (RAIM). Pseudorange measurement error statistics can be translated in the position domain in order to give statistical measures of the quality of the position solution. Type: Output Synopsis: Format for NMEA 0183 V3.01: $<TalkerID>GST,<UTC>,<RMS_D>,<MajorD>,<MinorD>,<Orient>,<LatD>,<LonD>,<AltD>*<Checksum> <CR><LF> Format for NMEA 0183 V4.10 (default): $<TalkerID>GST,<UTC>,<RMS_D>,<MajorD>,<MinorD>,<Orient>,<LatD>,<LonD>,<AltD>*<Checksum> <CR><LF> Parameter: Field Format Unit Example Description $

$ Each NMEA message starts with $. <TalkerID> String, 2 characters

GN Talker identifier. See Table 4: NMEA Talker ID. GST String, 3 characters

GST GNSS pseudorange error statistics. <UTC> hhmmss.sss

061549.000 Position fix UTC. hh: Hours (00–23) mm: Minutes (00–59) ss: Seconds (00–59) sss: Decimal fraction of seconds <RMS_D> Numeric Meter 8.2 RMS value of the standard deviation of the range inputs to the navigation process. <MajorD> Numeric Meter 2.6 Standard deviation of semi-major axis of error ellipse.

Example for NMEA 0183 V3.01: $GNGST,072520.000,6.5,2.9,2.3,98.2,2.3,2.9,11.2*79 Example for NMEA 0183 V4.10: $GNGST,061549.000,8.2,2.6,2.4,74.7,2.4,2.6,8.5*45 GST is not supported for LC29H (BA, CA, DA, EA*). 2.3. PAIR Messages This chapter explains PAIR messages (proprietary NMEA messages defined by the chipset supplier). “P” means proprietary message, and “AIR” means the command defined by the chipset supplier. 2.3.1. Packet Type: 001 PAIR_ACK Acknowledges a PAIR command. An acknowledgement packet $PAIR001 is returned to inform the sender that the receiver has received the packet. Type: Output Field Format Unit Example Description <MinorD> Numeric Meter 2.4 Standard deviation of semi-minor axis of error ellipse. <Orient> Numeric Degree 74.7 Orientation of semi-major axis of error ellipse. <LatD> Numeric Meter 2.4 Standard deviation of latitude error. <LonD> Numeric Meter 2.6 Standard deviation of longitude error. <AltD> Numeric Meter 8.5 Standard deviation of altitude error. <Checksum> Hexadecimal

*45 Checksum. <CR><LF> Character

Carriage return and line feed. NOTE

Synopsis: $PAIR001,<CommandID>,<Result>*<Checksum><CR><LF> Parameter: Example: $PAIR001,004,0*3F 2.3.2. Packet Type: 002 PAIR_GNSS_SUBSYS_POWER_ON Powers on the GNSS system, including DSP, RF, PE and clock. Type: Command Synopsis: $PAIR002*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message. Example: $PAIR002*38 $PAIR001,002,1*38 $PAIR001,002,0*39 Field Format Unit Description <CommandID> Numeric

Type of command/packet to be acknowledged. <Result> Numeric

0 = Command has been successfully sent. 1 = Command is being processed. Please wait for the result. 2 = Command sending failed. 3 = <CommandID> is not supported 4 = Command parameter error. Out of range/Some parameters were lost/Checksum error. 5 = MNL service is busy. You can try again soon.

2.3.3. Packet Type: 003 PAIR_GNSS_SUBSYS_POWER_OFF Powers off the GNSS system, including DSP, RF, PE and clock. Type: Command Synopsis: $PAIR003*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message. Example: $PAIR003*39 $PAIR001,003,1*39 $PAIR001,003,0*38 1. If the module receives $PAIR382,1*2E before $PAIR003*39, and $PAIR001,382,0*32 is returned correctly, then it can still receive other commands. Otherwise, any other commands will not be received. 2. For software versions supporting I2C communication, the module can receive commands after sending $PAIR003*39. 2.3.4. Packet Type: 004 PAIR_GNSS_SUBSYS_HOT_START Performs a hot start (uses all available data in the NVRAM). Normally a hot start means that the GNSS module has been powered down for less than 2 hours (RTC must be alive) with its ephemeris still valid. Therefore, there is no need to download an ephemeris again upon a hot start, thus making this startup method the fastest. Type: Command NOTE

Synopsis: $PAIR004*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message. Example: $PAIR004*3E $PAIR001,004,0*3F 2.3.5. Packet Type: 005 PAIR_GNSS_SUBSYS_WARM_START Performs a warm start. A warm start means that the GNSS module remembers only rough time, position, and almanac data, and thus needs to download an ephemeris before it can fix a position. Type: Command Synopsis: $PAIR005*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message. Example: $PAIR005*3F $PAIR001,005,0*3E 2.3.6. Packet Type: 006 PAIR_GNSS_SUBSYS_COLD_START Performs a cold start, which means that there is no location information stored in the receiver, including time, position, and almanacs and ephemeris data.

Type: Command Synopsis: $PAIR006*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message. Example: $PAIR006*3C $PAIR001,006,0*3D 2.3.7. Packet Type: 007 PAIR_GNSS_SUBSYS_FULL_COLD_START Performs a cold start and clears system and user configurations at the start, i.e., resets the module to its factory settings. Upon a full cold start, the module loses all data on the previous position. Therefore, it needs to search over the full frequency spectrum for all visible satellites before it can fix a position. Type: Command Synopsis: $PAIR007*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message. Example: $PAIR007*3D $PAIR001,007,0*3C

2.3.8. Packet Type: 010 PAIR_REQUEST_AIDING Notifies the expiration of GNSS aiding data stored in the module. This message is automatically output when the module powers on. Type: Output Synopsis: $PAIR010,<Type>,<GNSS_System>,<WN>,<TOW>*<Checksum><CR><LF> Parameter: Example: $PAIR010,0,0,2044,369413*33 The GNSS system sends this message automatically. Do not send $PAIR010 manually. 2.3.9. Packet Type: 050 PAIR_COMMON_SET_FIX_RATE Sets position fix interval. Field Format Unit Description <Type> Numeric

Type of data to be updated. 0 = EPO data 1 = Time 2 = Location <GNSS_System> Numeric

Type of required GNSS data. 0 = GPS data 1 = GLONASS data 2 = Galileo data 3 = BDS data 4 = QZSS data <WN> Numeric Week Week Number (accommodating roll-over). <TOW> Numeric Second Time of Week. NOTE

Type: Set Synopsis: $PAIR050,<Time>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: $PAIR050,1000*12 $PAIR001,050,0*3E 1. If the default value is not given for any parameter in a Set command, you can query it with the corresponding Get command when the default setting has not been changed. If the default setting had been changed with the Set command, contact Quectel Technical Support (support@quectel.com) for the default setting. 2. If the set frequency is greater than 1 Hz, only RMC and GGA massages will be output at the set frequency, whereas VTG and GLL messages will not be output. Other NMEA messages are kept output at 1 Hz. 3. For LC29H (BA) with LC29HBANR01A01S_CSA4 or higher software versions, LC29H (CA) with LC29HCANR01A01S_DSA4 or higher software versions, as well as LC29H (EA*) modules: 1) <Time> can be set only to 100 or 1000. 2) $PAIR050 will take effect after you reboot the module. 4. $PAIR050 is not supported for LC29H (BA) with LC29HBANR01A01S_CSA2 or higher software versions, LC29H (CA) with LC29HCANR01A01S_DSA2 or LC29HCANR01A01S_DTB2 or their higher versions, as well as LC29H (DA) modules. 2.3.10. Packet Type: 051 PAIR_COMMON_GET_FIX_RATE Gets the position fix interval. Field Format Unit Description <Time> Numeric Millisecond Position fix interval. Range: 100–1000. Default value: 1000. NOTE

Type: Get Synopsis: $PAIR051*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR051,<Time>*<Checksum><CR><LF> Parameter included in the result: Example: $PAIR051*3E $PAIR001,051,0*3F $PAIR051,1000*13 This command is not supported for LC29H (BA) with LC29HBANR01A01S_CSA2 or higher software versions, LC29H (CA) with LC29HCANR01A01S_DSA2 or LC29HCANR01A01S_DTB2 or their higher versions, as well as LC29H (DA) modules. 2.3.11. Packet Type: 058 PAIR_COMMON_SET_MIN_SNR Sets the minimum SNR of satellites in use. If the minimum SNR threshold is set, the module will not use the satellites with SNR below the threshold. Type: Set Field Format Unit Description <Time> Numeric Millisecond Position fix interval. Range: 100–1000. Default value: 1000. NOTE

Synopsis: $PAIR058,<MIN_SNR>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: $PAIR058,15*1F $PAIR001,058,0*36 This command is not supported for LC29H (BA, CA, DA, EA*). 2.3.12. Packet Type: 059 PAIR_COMMON_GET_MIN_SNR Gets the minimum SNR of satellites in use. Type: Get Synopsis: $PAIR059*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR059,<MIN_SNR>*<Checksum><CR><LF> Field Format Unit Description <MIN_SNR> Numeric dB Minimum SNR threshold of satellites in use. Range: 9–37. Default value: 9 NOTE

Parameter included in the result: Example: $PAIR059*36 $PAIR001,059,0*37 $PAIR059,15*1E This command is not supported for LC29H (BA, CA, DA, EA*). 2.3.13. Packet Type: 062 PAIR_COMMON_SET_NMEA_OUTPUT_RATE Sets the output rate of standard NMEA sentences of each type. Type: Set Synopsis: $PAIR062,<Type>,<OutputRate>*<Checksum><CR><LF> Parameter: Field Format Unit Description <MIN_SNR> Numeric dB Minimum SNR threshold of satellites in use. Range: 9–37. Default value: 9. Field Format Unit Description <Type> Numeric

Type of standard NMEA sentence. -1 = Reset the output rates of all types of sentences to default values 0 = NMEA_SEN_GGA 1 = NMEA_SEN_GLL 2 = NMEA_SEN_GSA 3 = NMEA_SEN_GSV 4 = NMEA_SEN_RMC 5 = NMEA_SEN_VTG 6 = NMEA_SEN_ZDA 7 = NMEA_SEN_GRS 8 = NMEA_SEN_GST NOTE

Result: Returns $PAIR001 message. Example: $PAIR062,0,3*3D $PAIR001,062,0*3F 1. LC29H (BA, CA, DA, EA*) only supports setting <Type> to 0–5. 2. LC29H (BA, CA, DA, EA*) only supports setting <OutputRate> to 0 or 1. 2.3.14. Packet Type: 063 PAIR_COMMON_GET_NMEA_OUTPUT_RATE Gets the output rate of standard NMEA sentences of each type. Type: Get Synopsis: $PAIR063,<Type>*<Checksum><CR><LF> Parameter: <OutputRate> Numeric

Message output rate setting. 0 = Disable sentence output N = Output message once every N position fix(es) Range of N: 0–20. Default value: 1. Field Format Unit Description <Type> Numeric

Type of standard NMEA sentence. -1 = Return the output rates of all types of standard NMEA sentences 0 = NMEA_SEN_GGA 1 = NMEA_SEN_GLL 2 = NMEA_SEN_GSA 3 = NMEA_SEN_GSV 4 = NMEA_SEN_RMC 5 = NMEA_SEN_VTG 6 = NMEA_SEN_ZDA NOTE

Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR063,<Type>,<OutputRate>*<Checksum><CR><LF> Parameters included in the result: Example: $PAIR063,0*23 $PAIR001,063,0*3E $PAIR063,0,3*3C LC29H (BA, CA, DA, EA*) only supports setting <Type> to 0–5. 2.3.15. Packet Type: 066 PAIR_COMMON_SET_GNSS_SEARCH_MODE Sets the GNSS search mode. The setting is valid when the NVRAM data are valid. 7 = NMEA_SEN_GRS 8 = NMEA_SEN_GST Field Format Unit Description <Type> Numeric

Type of standard NMEA sentence. 0 = NMEA_SEN_GGA 1 = NMEA_SEN_GLL 2 = NMEA_SEN_GSA 3 = NMEA_SEN_GSV 4 = NMEA_SEN_RMC 5 = NMEA_SEN_VTG 6 = NMEA_SEN_ZDA 7 = NMEA_SEN_GRS 8 = NMEA_SEN_GST <OutputRate> Numeric

Message output rate setting. 0 = Disabled or not supported. N = Output message once every N position fix(es) Range of N: 1–20. NOTE

Type: Set Synopsis: $PAIR066,<GPS_Enabled>,<GLONASS_Enabled>,<Galileo_Enabled>,<BDS_Enabled>,<QZSS_Enabl ed>,<Reserved>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: //Search for GPS + GLONASS + Galileo + BDS satellites: $PAIR066,1,1,1,1,0,0*3A $PAIR001,066,0*3B 1. QZSS is always enabled by default. 2. Supported GNSS search modes: ⚫ GPS only ⚫ GPS + QZSS ⚫ GPS + GLONASS ⚫ GPS + QZSS + GLONASS ⚫ GPS + Galileo ⚫ GPS + QZSS + Galileo Field Format Unit Description <GPS_Enabled> Numeric

0 = Disable (DO NOT search for GPS satellites) 1 = Search for GPS satellites <GLONASS_Enabled> Numeric

0 = Disable (DO NOT search for GLONASS satellites) 1 = Search for GLONASS satellites <Galileo_Enabled> Numeric

0 = Disable (DO NOT search for Galileo satellites) 1 = Search for Galileo satellites <BDS_Enabled> Numeric

0 = Disable (DO NOT search for BDS satellites) 1 = Search for BDS satellites <QZSS_Enabled> Numeric

0 = Disable (DO NOT search for QZSS satellites) 1 = Search for QZSS satellites <Reserved> Numeric

Always “0” NOTE

⚫ GPS + BDS ⚫ GPS + QZSS + BDS ⚫ GPS + GLONASS + Galileo + BDS ⚫ GPS + QZSS + GLONASS + Galileo + BDS 3. This command is not supported for LC29H (BA, CA, DA, EA*). 2.3.16. Packet Type: 067 PAIR_COMMON_GET_GNSS_SEARCH_MODE Gets the GNSS search mode. Type: Get Synopsis: $PAIR067*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR067,<GPS_Enabled>,<GLONASS_Enabled>,<Galileo_Enabled>,<BDS_Enabled>,<QZSS_Enabl ed>,<Reserved>*<Checksum><CR><LF> Parameters included in the result: Field Format Unit Description <GPS_Enabled> Numeric

0 = Disabled (DO NOT search for GPS satellites) 1 = Search for GPS satellites <GLONASS_Enabled> Numeric

0 = Disabled (DO NOT search for GLONASS satellites) 1 = Search for GLONASS satellites <Galileo_Enabled> Numeric

0 = Disabled (DO NOT search for Galileo satellites) 1 = Search for Galileo satellites <BDS_Enabled> Numeric

0 = Disabled (DO NOT search for BDS satellites) 1 = Search for BDS satellites <QZSS_Enabled> Numeric

0 = Disabled (DO NOT search for QZSS satellites) 1 or other non-zero values = Search for QZSS satellites

Example: $PAIR067*3B $PAIR001,067,0*3A $PAIR067,1,1,1,1,1,0*3A This command is not supported for LC29H (BA, CA, DA, EA*). 2.3.17. Packet Type: 070 PAIR_COMMON_SET_STATIC_THRESHOLD Sets the static navigation speed threshold. If the actual speed is below the threshold, the output position remains unchanged and the output speed is 0. If the threshold value is set to 0, this function is disabled. Type: Set Synopsis: $PAIR070,<SpeedThreshold>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: $PAIR070,4*25 $PAIR001,070,0*3C <Reserved> Numeric

Always “0”. Field Format Unit Description <SpeedThreshold> Numeric dm/s Speed threshold. Range: 0–20. Default value: 0. NOTE

This command is not supported for LC29H (BA, CA, DA, EA*). 2.3.18. Packet Type: 071 PAIR_COMMON_GET_STATIC_THRESHOLD Gets the static navigation speed threshold. Type: Get Synopsis: $PAIR071*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR071,<SpeedThreshold>*<Checksum><CR><LF> Parameter included in the result: Example: $PAIR071*3C $PAIR001,071,0*3D $PAIR071,0.4*3A This command is not supported for LC29H (BA, CA, DA, EA*). Field Format Unit Description <SpeedThreshold> Numeric m/s Static navigation speed threshold. Range: 0–2. Default value: 0. NOTE NOTE

2.3.19. Packet Type: 072 PAIR_COMMON_SET_ELEV_MASK Sets satellite elevation mask. Type: Set Synopsis: $PAIR072,<Degree>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: $PAIR072,5*26 $PAIR001,072,0*3E

1. The satellites below the elevation mask are not used for positioning.
2. This command is not supported for LC29H (BA, CA, DA, EA*). 2.3.20. Packet Type: 073 PAIR_COMMON_GET_ELEV_MASK Gets satellite elevation mask. Type: Get Synopsis $PAIR073*<Checksum><CR><LF> Field Format Unit Description <Degree> Numeric Degree Satellite elevation mask. Range: -90 to 90. Default value: 5. NOTE

Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR073,<Degree>*<Checksum><CR><LF> Parameter included in the result: Example: $PAIR073*3E $PAIR001,073,0*3F $PAIR073,5*27 This command is not supported for LC29H (BA, CA, DA, EA*). 2.3.21. Packet Type: 074 PAIR_COMMON_SET_AIC_ENABLE Enables/disables the active interference cancellation (AIC) function. For details about AIC function, see documents [1] and [2]. Type: Set Synopsis $PAIR074,<Enabled>*<Checksum><CR><LF> Parameter: Field Format Unit Description <Degree> Numeric Degree Satellite elevation mask Range: -90 to 90. Field Format Unit Description <Enabled> Numeric

Enable/disable AIC function. NOTE

Result: Returns $PAIR001 message. Example: $PAIR074,1*24 $PAIR001,074,0*38 2.3.22. Packet Type: 075 PAIR_COMMON_GET_AIC_STATUS Queries the status of active interference cancellation (AIC) function. Type: Get Synopsis $PAIR075*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR075,<Status>*<Checksum><CR><LF> Parameter included in the result: Example: $PAIR075*38 $PAIR001,075,0*39 0 = Disable 1 = Enable (default) Field Format Unit Description <Status> Numeric

Status of AIC function. 0 = Disabled 1 = Enabled

$PAIR075,1*25 2.3.23. Packet Type: 080 PAIR_COMMON_SET_NAVIGATION_MODE Sets navigation mode. Type: Set Synopsis: $PAIR080,<NavMode>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: $PAIR080,1*2F $PAIR001,080,0*33 Field Format Unit Description <NavMode > Numeric

Navigation mode. 0 = Normal mode. For general purposes. (Default) 1 = Fitness mode. Used for running and walking purposes, making low-speed movement (< 5 m/s) more impactful on position calculation. 2 = Reserved. 3 = Reserved. 4 = Stationary mode. For stationary applications where zero dynamics is assumed. 5 = Drone mode. Used for drone applications with equivalent dynamics range and vertical acceleration at different flight phases (for example, hovering, cruising). 6 = Reserved. 7 = Swimming mode. Used for swimming purposes to smooth the trajectory and improve the accuracy of distance calculation. 8 = Reserved. 9 = Bike mode. For sharing bike applications.

2.3.24. Packet Type: 081 PAIR_COMMON_GET_NAVIGATION_MODE Queries navigation mode. Type: Get Synopsis: $PAIR081*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR081,<NavMode>*<Checksum><CR><LF> Parameter included in the result: Field Format Unit Description <NavMode> Numeric

Navigation mode. 0 = Normal mode. For general purposes. (Default) 1 = Fitness mode. Used for running and walking purposes, making low-speed movement (< 5 m/s) more impactful on position calculation. 2 = Reserved. 3 = Reserved. 4 = Stationary mode. For stationary applications where zero dynamics is assumed. 5 = Drone mode. Used for drone applications with equivalent dynamics range and vertical acceleration at different flight phases (for example, hovering, cruising). 6 = Reserved. 7 = Swimming mode. Used for swimming purposes to smooth the trajectory and improve the accuracy of distance calculation. 8 = Reserved. 9 = Bike mode. For sharing bike applications.

Example: $PAIR081*33 $PAIR001,081,0*32 $PAIR081,0*2F 2.3.25. Packet Type: 086 PAIR_COMMON_SET_DEBUGLOG_OUTPUT Enables/disables debug log output in binary format. Type: Set Synopsis $PAIR086,<Status>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: $PAIR086,1*29 $PAIR001,086,0*35 2.3.26. Packet Type: 087 PAIR_COMMON_GET_DEBUGLOG_OUTPUT Queries the debug log output setting. Type: Get Synopsis $PAIR087*<Checksum><CR><LF> Field Format Unit Description <Status> Numeric

Debug log output setting. 0 = Disable (default) 1 = Enable with full debug log output 2 = Enable with lite debug log output

Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR087,<Status>*<Checksum><CR><LF> Parameter included in the result: Example: $PAIR087*35 $PAIR001,087,0*34 $PAIR087,0*29 2.3.27. Packet Type: 100 PAIR_COMMON_SET_NMEA_OUTPUT_MODE Sets output mode of standard NMEA sentences. Type: Set Synopsis: $PAIR100,<NMEA_Mode>,<Res>*<Checksum><CR><LF> Parameter: Field Format Unit Description <Status> Numeric

Debug log output setting. 0 = Disabled 1 = Enabled with full debug log output 2 = Enabled with lite debug log output Field Format Unit Description <NMEA_Mode> Numeric

Output mode of standard NMEA sentences. 0 = Disabled 1 = ASCII NMEA 0183 V4.10 output enabled (default) 2 = ASCII NMEA 0183 V3.01 output enabled

Result: Returns $PAIR001 message. Example: $PAIR100,1,0*3A $PAIR001,100,0*3A For LC29H (BA, CA, DA, EA*), standard NMEA sentences are output in NMEA 0183 V4.10 format and this command is not supported. 2.3.28. Packet Type: 101 PAIR_COMMON_GET_NMEA_OUTPUT_MODE Queries output mode of standard NMEA sentences. Type: Get Synopsis: $PAIR101*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR101,<NMEA_Mode>,<Res>*<Checksum><CR><LF> Parameters included in the result: <Res> Numeric

Reserved. Default value: 0. Field Format Unit Description <NMEA_Mode> Numeric

Output mode of standard NMEA sentences. 0 = Disabled NOTE

Example: $PAIR101*3A $PAIR001,101,0*3B $PAIR101,1,0*3B This command is not supported for LC29H (BA, CA, DA, EA*). 2.3.29. Packet Type: 104 PAIR_COMMON_SET_DUAL_BAND Enables/disables the Dual Band feature when the GNSS system is powered off. Type: Set Synopsis: $PAIR104,<DualBandEnabled>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: $PAIR104,0*23 $PAIR001,104,0*3E 1 = ASCII NMEA 0183 V4.10 output enabled (default) 2 = ASCII NMEA 0183 V3.01 output enabled <Res> Numeric

Reserved. Default value: 0. Field Format Unit Description <DualBandEnabled> Numeric

Enable/disable the Dual Band feature. 0 = Disable 1 = Enable (default) NOTE

This command is not supported for LC79H (BA) and LC29H (BA, CA, DA, EA*). 2. Before setting the Dual Band feature by $PAIR104, send $PAIR382,1*2E and $PAIR003*39 in sequence to power off the GNSS system. After the Dual Band feature has been set, send $PAIR002*38 to power on the module. 2.3.30. Packet Type: 105 PAIR_COMMON_GET_DUAL_BAND Queries whether the Dual Band feature is enabled or disabled. Type: Get Synopsis: $PAIR105*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR105,<Enabled>*<Checksum><CR><LF> Parameter included in the result: Example: $PAIR105*3E $PAIR001,105,0*3F $PAIR105,1*23 Field Format Unit Description <Enabled> Numeric

Status of the Dual Band feature. 0 = Disabled 1 = Enabled NOTE

This command is not supported for LC79H (BA) and LC29H (BA, CA, DA, EA*). 2.3.31. Packet Type: 382 PAIR_TEST_LOCK_SYSTEM_SLEEP Enables/disables the locking of Sleep mode. The CPU core will lock into the power off mode after the command is sent. Type: Set Synopsis: $PAIR382,<Enabled>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: $PAIR382,1*2E $PAIR001,382,0*32 1. This configuration will not be saved in the flash or RTC RAM. Please send this command every time after the GNSS subsystem or main power reboots. 2. The module can still receive commands if it receives $PAIR382,1*2E before $PAIR003*39 and $PAIR001,382,0*32 is returned correctly. Otherwise, any other commands cannot be received. 2.3.32. Packet Type: 391 PAIR_TEST_JAMMING_DETECT Enables/disables jamming detection. Jamming status messages will be returned when jamming detection Field Format Unit Description <Enabled> Numeric

Sleep mode locking setting. 0 = Disabled (default) 1 = Enabled NOTE NOTE

is enabled. Type: Set/Output Synopsis: $PAIR391,<CmdType>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message and enable $PAIRSPF message output periodically (at 1 Hz). Query result message format: $PAIRSPF,<Status>*<Checksum><CR><LF> $PAIRSPF5,<Status>*<Checksum><CR><LF> Parameter included in the result: Example: $PAIR391,1*2C $PAIR001,391,0*30 //Unknown status: $PAIRSPF,0*53 $PAIRSPF5,0*66 //Good status: $PAIRSPF,1*52 $PAIRSPF5,1*67 //Warning status: Field Format Unit Description <CmdType> Numeric

Enable/disable jamming detection. 0 = Disable (default) 1 = Enable Field Format Unit Description <Status> Numeric

Jamming status. 0 = Unknown status 1 = No jamming, good status 2 = Warning status 3 = Critical status

$PAIRSPF,2*51 $PAIRSPF5,2*64 //Critical status: $PAIRSPF,3*50 $PAIRSPF5,3*65 1. The $PAIRSPF,<Status>*<Checksum><CR><LF> sentence indicates L1 jamming status. 2. The $PAIRSPF5,<Status>*<Checksum><CR><LF> sentence indicates L5 jamming status. This message will not be output when only L1 band signals are received and tracked. 3. The module starts jamming detection once the feature is enabled. ⚫ If there is no jamming, $PAIRSPF,1*52, or $PAIRSPF,1*52 and $PAIRSPF5,1*62, will be reported to indicate good status (<Status> = 1). ⚫ In case of continuous jamming, the jamming status will change from 1 to 2 and finally to 3. 1) When no position fix has been completed: module status is 1 right after the jamming detection is enabled, and then changes to 2 when jamming is detected. During this process, the module keeps attempting to get a fix; if the anti-jamming repair fails, the jamming status changes to 3 at last. 2) After a successful position fix: jamming status is 1 right after jamming detection is enabled, and changes to 2 and 3 consecutively when jamming is detected. 2.3.33. Packet Type: 400 PAIR_DGPS_SET_MODE Sets the DGPS correction data source. Type: Set Synopsis: $PAIR400,<Mode>*<Checksum><CR><LF> Parameter: Field Format Unit Description <Mode> Numeric

DGPS data source. 0 = No DGPS data source 1 = RTCM 2 = SBAS (including WAAS/EGNOS/GAGAN/MSAS) (default) NOTE

Result: Retuns $PAIR001 message. Example: $PAIR400,2*20 $PAIR001,400,0*3F Since DGPS feature is not supported by LC29H (BA, CA, DA, EA*), this command is not supported either. 2.3.34. Packet Type: 401 PAIR_DGPS_GET_MODE Queries the DGPS correction data source. Type: Get Synopsis: $PAIR401*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR401,<Mode>*<Checksum><CR><LF> Parameter included in the result: Field Format Unit Description <Mode> Numeric

DGPS data source. 0 = No DGPS data source 1 = RTCM 2 = SBAS (including WAAS/EGNOS/GAGAN/MSAS) NOTE

Example: $PAIR401*3F $PAIR001,401,0*3E $PAIR401,2*21 This command is not supported by LC29H (BA, CA, DA, EA*). 2.3.35. Packet Type: 410 PAIR_SBAS_ENABLE Enables/disables SBAS satellite search. SBAS supports wide-area or regional augmentation through geostationary satellite broadcast messages. The geostationary satellites broadcast GNSS integrity and correction data with the assistance of multiple ground stations that are located at accurately-surveyed points. Type: Set Synopsis $PAIR410,<Enabled>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: $PAIR410,1*22 $PAIR001,410,0*3E Field Format Unit Description <Enabled> Numeric

Enable or disable the search of SBAS satellites. 0 = Disable 1 = Enable (default) NOTE

When the navigation mode is Fitness or Swimming mode (see command $PAIR080), SBAS is not supported. 2. Since SBAS feature is not supported by LC29H (BA, CA, DA, EA*), this command is not supported either. 2.3.36. Packet Type: 411 PAIR_SBAS_GET_STATUS Queries the status of SBAS satellite search. Type: Get Synopsis $PAIR411*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR411,<Enabled>*<Checksum><CR><LF> Parameter included in the result: Example: $PAIR411*3E $PAIR001,411,0*3F $PAIR411,1*23 Field Format Unit Description <Enabled> Numeric

Status of SBAS satellite search. 0 = Disabled 1 = Enabled NOTE

When the navigation mode is Fitness or Swimming mode (see command $PAIR080), SBAS is not supported. 2. This command is not supported by LC29H (BA, CA, DA, EA*). 2.3.37. Packet Type: 432 PAIR_RTCM_SET_OUTPUT_MODE Sets RTCM output mode. Type: Set Synopsis $PAIR432,<Mode>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: $PAIR432,1*22 $PAIR001,432,0*3E LC79H (BA ) module does not support this command. 2.3.38. Packet Type: 433 PAIR_RTCM_GET_OUTPUT_MODE Queries RTCM output mode. Field Format Unit Description <Mode> Numeric

RTCM output mode setting. -1 = Disable outputting RTCM (default) 0 = Enable output RTCM3 with message type MSM4 1 = Enable output RTCM3 with message type MSM7 NOTE NOTE

Type: Get Synopsis $PAIR433*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR433,<Mode>*<Checksum><CR><LF> Parameter included in the result: Example: $PAIR433*3E $PAIR001,433,0*3F $PAIR433,-1*0E LC79H (BA) module does not support this command. 2.3.39. Packet Type: 434 PAIR_RTCM_SET_OUTPUT_ANT_PNT Enables/disables outputting stationary antenna reference point in RTCM format. Type: Set Field Format Unit Description <Mode> Numeric

RTCM output mode setting. -1 = Outputting RTCM disabled 0 = Outputting RTCM3 with message type MSM4 enabled 1 = Outputting RTCM3 with message type MSM7 enabled NOTE

Synopsis $PAIR434,<Enable>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: $PAIR434,1*24 $PAIR001,434,0*38 LC79H (BA) module does not support this command. 2.3.40. Packet Type: 435 PAIR_RTCM_GET_OUTPUT_ANT_PNT Queries the setting of outputting stationary antenna reference point in RTCM format. Type: Get Synopsis $PAIR435*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message and the query result. Field Format Unit Description <Enable> Numeric

Enable/disable outputting outputting stationary antenna reference point (message type 1005). 0 = Disable (default) 1 = Enable NOTE

Query result message format: $PAIR435,<Enable>*<Checksum><CR><LF> Parameter included in the result: Example: $PAIR435*38 $PAIR001,435,0*39 $PAIR435,1*25 LC79H (BA) module does not support this command. 2.3.41. Packet Type: 436 PAIR_RTCM_SET_OUTPUT_EPHEMERIS Enables/disables outputting satellite ephemeris in RTCM format. Type: Set Synopsis $PAIR436,<Enable>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Field Format Unit Description <Enable> Numeric

Status of outputting stationary antenna reference point (message type 1005). 0 = Disabled 1 = Enabled Field Format Unit Description <Enable> Numeric

Enable/disable outputting satellite ephemeris. 0 = Disable (default) 1 = Enable NOTE

Example: $PAIR436,1*26 $PAIR001,436,0*3A LC79H (BA) module does not support this command. 2.3.42. Packet Type: 437 PAIR_RTCM_GET_OUTPUT_EPHEMERIS Queries the status of satellite ephemeris in RTCM format. Type: Get Synopsis $PAIR437*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR437,<Enable>*<Checksum><CR><LF> Parameter included in the result: Example: $PAIR437*3A $PAIR001,437,0*3B $PAIR437,1*27 Field Format Unit Description <Enable> Numeric

Status of outputting satellite ephemeris. 0 = Disabled 1 = Enabled NOTE

LC79H (BA) module does not support this command. 2.3.43. Packet Type: 490 PAIR_EASY_ENABLE Enables/disables EASY function. Type: Set Synopsis: $PAIR490,<Enabled>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: $PAIR490,1*2A $PAIR001,490,0*36 Since EASY feature is not supported by LC29H (BA, CA, DA, EA*), this command is not supported either. 2.3.44. Packet Type: 491 PAIR_EASY_GET_STATUS Queries the status of EASY function. Type: Get Field Format Unit Description <Enabled> Numeric

EASY function setting. 0 = Disable 1 = Enable (default) NOTE NOTE

Synopsis: $PAIR491*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message and the query result. Query result message format: $PAIR491,<Enabled>,<Status>*<Checksum><CR><LF> Parameters included in the result: Example: $PAIR491*36 $PAIR001,491,0*37 $PAIR491,1,0*37 1. If EASY function is disabled, only the <Enabled> value will be returned after executing this command. 2. This command is not supported by LC29H (BA, CA, DA, EA*). 2.3.45. Packet Type: 511 PAIR_NVRAM_SAVE_NAVIGATION_DATA Saves current navigation data from RTC RAM to flash. Field Format Unit Description <Enabled> Numeric

EASY function setting. 0 = Disabled 1 = Enabled <Status> Numeric

EASY data extension status. 0 = Not finished 1 = 1-day extension finished 2 = 2-day extension finished 3 = 3-day extension finished NOTE

Type: Command Synopsis $PAIR511*<Checksum><CR><LF> Parameter: None Result: Returns $PAIR001 message. Example: $PAIR511*3F $PAIR001,511,1*3F $PAIR001,511,0*3E 1. If the backup domain cannot be powered after the power supply of the module is cut off, this command needs to be sent every time the parameters are modified. 2. In case the position fix rate is greater than 1 Hz, power off the GNSS system with $PAIR382,1*2E and $PAIR003*39 in sequence before sending this command. After sending $PAIR511*3F, send $PAIR002*38 to re-power the module. This limitation does not apply to fix rate below 1 Hz. 2.3.46. Packet Type: 513 PAIR_NVRAM_SAVE_SETTING Saves the current configurations from RTC RAM to flash. Type: Command Synopsis: $PAIR513*<Checksum><CR><LF> Parameter: None NOTE

Result: Returns $PAIR001 message. Example: $PAIR513*3D $PAIR001,513,0*3C 1. If the backup domain cannot be powered after the power supply of the module is cut off, this command needs to be sent every time the parameters are modified. 2. In case the position fix rate is greater than 1 Hz, power off the GNSS system with $PAIR382,1*2E and $PAIR003*39 in sequence before sending this command. After sending $PAIR513*3D, send $PAIR002*38 to re-power the module. This limitation does not apply to fix rate below 1 Hz. 2.3.47. Packet Type: 650 PAIR_LOW_POWER_ENTRY_RTC_MODE Shuts down the GNSS system, except the clock. The CPU core will be set to the Backup mode after the command is sent, in which it cannot receive any commands. For details about Backup mode, see documents [1] and [2]. Type: Set Synopsis: $PAIR650,<Second>*<Checksum><CR><LF> Parameter: Result: ⚫ If there is no error, the module will be set to Backup mode and cannot receive any commands. ⚫ In case of any command parameter error, the $PAIR001 message will be returned. Example: $PAIR650,1*24 Field Format Unit Description <Second> Numeric Second Time to stay in Backup mode before exiting. Range: 0 and 10–62208000 (2 years); 0 means entering the Backup mode without any timer. NOTE

$PAIR001,650,4*3C Refer to documents [1] and [2] for details about entering/exiting the Backup mode. 2.3.48. Packet Type: 690 PAIR_PERIODIC_SET_MODE Sets Periodic Power Saving mode configurations. Type: Set Synopsis: $PAIR690,<Mode>,<FirstRun>,<FirstSleep>,<SecondRun>,<SecondSleep>*<Checksum><CR><LF> Parameter: Result: Returns a $PAIR001 message. Example: $PAIR690,1,21,39,48,72*28 $PAIR001,690,0*34 Field Format Unit Description <Mode> Numeric

State of Periodic Power Saving mode. 0 = Disabled (default) 1 = Smart periodic mode enabled 2 = Strict periodic mode enabled <FirstRun> Numeric Second Run time. Range: 3–518400. <FirstSleep> Numeric Second Sleep time. Range: 3–518400. <SecondRun> Numeric Second Second run time. Range: 0 or 3–518400. <SecondSleep> Numeric Second Second sleep time. Range: 0 or 3–518400. NOTE

<FirstRun>: Interval in seconds after exiting the Sleep mode and getting a new position fix. 2. <FirstSleep>: Duration in seconds for staying in the Sleep mode after getting a fix (or attempting to get a fix). 3. <SecondRun>: GNSS module will use “second run time” instead of “first run time” setting when there is no signal. The second run time can be “0” only when the second sleep time is “0”. 4. <SecondSleep>: GNSS module will use “second sleep time” instead of “first sleep time” setting when there is no signal. The second sleep time can be “0” only when the second run time is “0”. 2.3.49. Packet Type: 691 PAIR_PERIODIC_GET_MODE Queries Periodic Power Saving Mode configurations. Type: Get Synopsis: $PAIR691*<Checksum><CR><LF> Parameter: None Result: Returns a $PAIR001 message and the query result. Query result message format: $PAIR691,<Mode>,<FirstRun>,<FirstSleep>,<SecondRun>,<SecondSleep>*<Checksum><CR><LF> Parameters included in the result: Field Format Unit Description <Mode> Numeric

State of Periodic Power Saving mode. 0 = Disabled 1 = Smart periodic mode enabled 2 = Strict periodic mode enabled <FirstRun> Numeric Second Run time. Range: 3–518400. <FirstSleep> Numeric Second Sleep time. Range: 3–518400. NOTE

Example: $PAIR691*34 $PAIR001,691,1*34 $PAIR001,691,0*35 $PAIR691,0,3,12,18,72*14 2.3.50. Packet Type: 752 PAIR_PPS_SET_CONFIG_CMD Sets PPS configurations. Type: Set Synopsis: $PAIR752,<PPSType>,<PPSPulseWidth>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: $PAIR752,2,100*39 $PAIR001,752,0*3B <SecondRun> Numeric Second Second run time. Range: 0 or 3–518400. <SecondSleep> Numeric Second Second sleep time. Range: 0 or 3–518400. Field Format Unit Description <PPSType> Numeric

PPS pulse type. 0 = Disable 1 = After the first fix 2 = 3D fix only (default) 3 = 2D/3D fix only 4 = Always <PPSPulseWidth> Numeric Millisecond PPS Pulse Width. Range: 1–999. Default value: 100.

2.3.51. Packet Type: 830 PAIR_RAW_ENABLE Enables/disables outputting binary raw measurement. Type: Set Synopsis: $PAIR830,<Enable>*<Checksum><CR><LF> Parameter: Result: Returns $PAIR001 message. Example: $PAIR830,1*2C $PAIR001,830,0*30 2.3.52. Packet Type: 831 PAIR_RAW_GET_STATUS Gets the binary raw measurement output setting. Type: Get Synopsis: $PAIR831*<Checksum><CR><LF> Parameter: None Field Format Unit Description <Enable> Numeric

Raw measurement output setting. 0 = Disabled 1 = Raw measurement 2 = Raw measurement + SV information + PVT (including time offset data between GPS and GLONASS/Galileo/BDS)

Result: Returns $PAIR001 and the query result. Query result message format: $PAIR831,<Enable>*<Checksum><CR><LF> Parameter included in the result: Example: $PAIR831*30 $PAIR001,831,0*31 $PAIR831,1*2D 2.3.53. Packet Type: 864 PAIR_IO_SET_BAUDRATE Sets the baud rate of UART interface. Type: Set Synopsis: $PAIR864,<PortType>,<PortIndex>,<Baudrate>*<Checksum><CR><LF> Parameter: Field Format Unit Description <Enable> Numeric

Raw measurement output setting. 0 = Disabled 1 = Raw measurement 2 = Raw measurement + SV information + PVT (including time offset data between GPS and GLONASS/Galileo/BDS) Field Format Unit Description <PortType> Numeric

Hardware port type. 0 = UART <PortIndex> Numeric

Hardware port index. 0 = UART0 <Baudrate> Numeric bps Baud rate. 4800

Result: Returns $PAIR001 message. Example: $PAIR864,0,0,115200*1B $PAIR001,864,0*31 1. The module must be rebooted after changing the port baud rate, and the change will take effect after the reboot. 2. For LC29H series and LC79H (AL) modules, messages may be lost when the output baud rate is lower than 115200 bps. 3. For LC79H (BA), messages may be lost when the output baud rate is lower than 9600 bps. 2.3.54. Packet Type: 865 PAIR_IO_GET_BAUDRATE Gets the baud rate of UART interface. Type: Get Synopsis: $PAIR865,<PortType>,<PortIndex>*<Checksum><CR><LF> Parameter: 9600 19200 38400 57600 115200 230400 460800 921600 3000000 Field Format Unit Description <PortType> Numeric

Hardware port type. 0 = UART NOTE

Result: Returns $PAIR001 and the query result. Query result message format: $PAIR865,<Baudrate>*<Checksum><CR><LF> Parameter included in the result: Example: $PAIR865,0,0*31 $PAIR001,865,0*30 $PAIR865,115200*1A 2.3.55. Packet Type: 866 PAIR_IO_SET_FLOW_CONTROL Sets UART flow control. Type: Set Synopsis: $PAIR866,<PortType>,<PortIndex>,<FlowControl>*<Checksum><CR><LF> <PortIndex> Numeric

Hardware port index. 0 = UART0 Field Format Unit Description <Baudrate> Numeric bps Baud rate. 4800 9600 19200 38400 57600 115200 230400 460800 921600 3000000

Parameter: Result: Returns $PAIR001 message. Example: $PAIR866,0,0,1*2F $PAIR001,866,0*33 The module must be rebooted after changing the port baud rate, and the change will take effect after the reboot. 2.3.56. Packet Type: 867 PAIR_IO_GET_FLOW_CONTROL Gets UART flow control setting. Type: Get Synopsis: $PAIR867,<PortType>,<PortIndex>*<Checksum><CR><LF> Parameter: Field Format Unit Description <PortType> Numeric

Hardware port type. 0 = UART <PortIndex> Numeric

Hardware port index. 0 = UART0 <FlowControl> Numeric

Flow control setting. 0 = Flow control disabled (default) 1 = Software flow control enabled 2 = Hardware flow control enabled Field Format Unit Description <PortType> Numeric

Hardware port type. 0 = UART NOTE

Result: Returns $PAIR001 and the query result. Query result message format: $PAIR867,<FlowControl>*<Checksum><CR><LF> Parameter included in the result: Example: $PAIR867,0,0*33 $PAIR001,867,0*32 $PAIR867,0*2F <PortIndex> Numeric

Hardware port index. 0 = UART0 Field Format Unit Description <FlowControl> Numeric

Flow control setting. 0 = Flow control disabled 1 = Software flow control enabled 2 = Hardware flow control enabled

3 RTCM Protocol The LC79H (AL) and LC29H series modules support the RTCM protocol which is in accordance with RTCM STANDARD 10403.3 DIFFERENTIAL GNSS (GLOBAL NAVIGATION SATELLITE SYSTEMS) SERVICES - VERSION 3. This protocol is used to transfer GNSS raw measurement data and is available from https://www.rtcm.org/. Table 5: Supported RTCM3 Messages Message Type Mode Message Name 1005 Output Stationary RTK Reference Station ARP. 1019 Output GPS Ephemerides. 1020 Output GLONASS Ephemerides. 1042 Output BDS Satellite Ephemeris Data. 1044 Output QZSS Ephemerides. 1046 Output Galileo I/NAV Satellite Ephemeris Data. 1074 Output GPS MSM4. 1077 Output GPS MSM7. 1084 Output GLONASS MSM4. 1087 Output GLONASS MSM7. 1094 Output Galileo MSM4. 1097 Output Galileo MSM7. 1114 Output QZSS MSM4. 1117 Output QZSS MSM7. 1124 Output BDS MSM4. 1127 Output BDS MSM7.

The $PAIR432 command can enable/disable MSM4/MSM7 (1074, 1077, 1084, 1087, 1094, 1097,1114, 1117, 1124 and 1127) messages if the corresponding constellation is enabled. 2. The $PAIR434 command can enable/disable Stationary RTK Reference Station ARP (1005) message. 3. The $PAIR436 command can enable/disable ephemeris (1019, 1020, 1042, 1044 and 1046) messages if the corresponding constellation is enabled. NOTE

4 Appendix A References Table 6: Related Documents Table 7: Terms and Abbreviations Document Name [1] Quectel_LC29H_Series_Hardware_Design [2] Quectel_LC79H_Hardware_Design Abbreviation Description 2D 2 Dimension 3D 3 Dimension ACK Acknowledgement AIC Active Interference Cancellation ARP Antenna Reference Point BDS BeiDou Navigation Satellite System DGPS Differential Global Positioning System DOP Dilution of Precision DSP Digital Signal Processing EGNOS European Geostationary Navigation Overlay Service EPO Extended Prediction Orbit GAGAN GPS-aided GEO Augmented Navigation Galileo Galileo Satellite Navigation System (EU) GGA Global Positioning System Fix Data GLL Geographic Position – Latitude/Longitude

GNSS Global Navigation Satellite System GPS Global Positioning System GRS GNSS Range Residuals GSA GNSS DOP and Active Satellites GST GNSS Pseudorange Error Statistics GSV GNSS Satellites in View RMS Root Mean Square HDOP Horizontal Dilution of Precision ID Identifier MNL MTK Navigation Lib MSAS Multi-functional Satellite Augmentation System NMEA NMEA (National Marine Electronics Association) 0183 Interface Standard NVRAM Non-Volatile Random Access Memory PAIR Proprietary Protocol of MTK PDOP Position Dilution of Precision PE Positioning Engine PPS Pulse Per Second QZSS Quasi-Zenith Satellite System RF Radio Frequency RMC Recommended Minimum Specific GNSS Data RTC Real-time Clock RTK Real Time Kinematic SBAS Satellite-Based Augmentation System SNR Signal-to-noise Ratio SV Satellites in View PVT Position, Velocity, and Timing UART Universal Asynchronous Receiver/Transmitter ULP Ultra-Low Power

UTC Coordinated Universal Time VDOP Vertical Dilution of Precision VTG Course Over Ground and Ground Speed WAAS Wide Area Augmentation System ZDA Time & Date

5 Appendix B GNSS Numbering Table 8: GNSS Numbering QZSS Satellite ID numbers range from 1 to 10 for LC29H (BA, CA, DA, EA*). GNSS Type System ID Satellite ID Signal ID GPS 1 1–32 1 = L1 C/A 8 = L5 GLONASS 2 65–88 1 = L1 Galileo 3 1–36 1 = E5a 7 = E1 BDS 4 1–63 1 = B1I 5 = B2a QZSS 5 193–199 1 = L1 C/A 8 = L5 SBAS

33–51

NOTE