For U-blox, Fastrax IT500 Series GPS/GNSS Modules Manual

For u-blox, Fastrax IT500 series GPS/GNSS modulesManualAbstractThis document provides NMEA command manual for u-blox, FastraxIT500 series GPS/GNSS modules based on MediaTek chipset. ThisNMEA command manual serves as a reference tool.www.u-blox.comlocate, communicate, accelerateNMEA Manual based on MediaTekchipset

NMEA Manual based on MediaTek chipset - ManualDocument InformationTitleNMEA Manual based on MediaTek chipsetSubtitleFor u-blox, Fastrax IT500 series GPS/GNSS modulesDocument typeManualDocument numberFTX-HW-13002-ADocument statusPreliminaryDocument status informationObjectiveThis document contains target values. Revised and supplementary data will be publishedSpecificationlater.AdvanceThis document contains data based on early testing. Revised and supplementary data willInformationbe published later.This document contains data from product verification. Revised and supplementary dataPreliminarymay be published later.ReleasedThis document contains the final product specification.This document applies to the following products:NameROM/FLASH versionPCN hN/AUP501RIT520FlashFlashN/AN/AIT500FlashN/AThis document and the use of any information contained therein, is subject to the acceptance of the u-blox terms and conditions. Theycan 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 makechanges 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 withoutexpress permission is strictly prohibited. Copyright 2013, u-blox AG.u-blox is a registered trademark of u-blox Holding AG in the EU and other countries.FTX-HW-13002-APage 2 of 39

NMEA Manual based on MediaTek chipset - ManualContentsContents. 312NMEA default output messages. 51.1GGA - Global Positioning System Fix Data . 51.21.5GLL – Geographic Position – Latitude/Longitude . 5RMC - Recommended Minimum Specific GNSS Data. . 61.6GSV - Satellites in view . 61.71.8GSA - DOP and Active Satellites . 7VTG – Course Over Ground and Ground Speed . 81.9ZDA – Time and Date. 8NMEA commands . 92.1PMTK000 TEST . 102.2PMTK001 ACK . 102.32.4PMTK010 Startup message . 11PMTK011 Output System Text . 112.5PMTK101 CMD HOT START . 112.62.7PMTK102 CMD WARM START . 11PMTK103 CMD COLD START . 122.8PMTK104 CMD FULL COLD START . 122.92.10PMTK120 CLEAR FLASH AID . 12PMTK127 CLEAR EPO FILE . 122.11PMTK161 ENTER STANDBY MODE . 132.122.13PMTK183 LOCUS QUERY LOGGING STATUS . 13PMTK184 LOCUS ERASE FLASH . 142.14PMTK185 LOCUS START/STOP LOGGER . 142.152.16PMTK186 LOCUS LOG NOW . 14PMTK622 LOCUS QUERY DATA . 152.17PMTK869 ENABLE EASY . 162.182.19PMTK220 SET POS FIX . 16PMTK223 SET ALWAYS LOCATE DEFAULT CONFIGURATION . 172.20PMTK225 SET PERIODIC MODE . 172.21 PMTK251 SET NMEA BAUD RATE . 182.21.1 Setting 5 Hz navigation . 192.21.2Setting 10 Hz navigation . 192.222.23PMTK286 ENABLE AIC . 19PMTK300 Set Fix Interval . 202.24PMTK301 API SET DGPS MODE . 202.252.26PMTK313 API SET SBAS ENABLED . 20PMTK314 API SET NMEA OUTPUT . 212.27PMTK330 API SET DATUM . 22FTX-HW-13002-APreliminaryPage 3 of 39

NMEA Manual based on MediaTek chipset - Manual2.282.29PMTK331 API SET DATUM ADVANCE. 22PMTK335 API SET RTC TIME . 232.30PMTK351 SET QZSS NMEA FORMAT . 232.312.32PMTK352 SET QZSS SUPPORT . 23PMTK353 API SET GNSS SEARCH MODE . 242.33PMTK386 API SET STATIC NAV THD MT333X . 242.342.35PMTK397 API SET STATIC NAV THD MT332X . 25PMTK390 API SET USER OPTION . 252.35.12.362.3734Setting 4800 baud rate permanently . 26PMTK740 SET UTC TIME . 26PMTK741 SET INITIAL POSITION AND TIME . 26Query commands . 283.13.2PMTK400 API Q FIX CTL . 28PMTK401 API Q DGPS MODE . 283.3PMTK413 API Q SBAS ENABLED . 283.43.5PMTK414 API Q NMEA OUTPUT . 28PMTK430 API Q DATUM . 293.6PMTK431 API Q DATUM ADVANCE . 293.7PMTK490 API GET USER OPTION . 29Firmware STATUS . 304.14.2PMTK605 QUERY FIRMWARE INFO. 30PMTK607 QUERY EPO STATUS . 304.3PMTK660 Q AVAILABLE SV EPH . 304.4PMTK661 Q AVAILABLE SV ALM . 315FIX Valid Flag . 326Appendix A . 33Table 1: Map datums. 37Related documents. 37Revision history . 38Contact . 39FTX-HW-13002-APreliminaryPage 4 of 39

NMEA Manual based on MediaTek chipset - Manual1 NMEA default output messagesIT500 series receivers support standard NMEA0183 messages.In the default configuration, output messages are GGA, RMC, GSV and GSA messages. The receiver can beconfigured 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 messagescover most of the applications.1.1GGA - Global Positioning System Fix DataTime, position and fix related data for a GPS receiver.Example: 1,35.2,M,19.5,M,,*50Format: 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 TypeDescriptionhhmmss.ddUTC time of the fix.hh hours; mm minutes; ss seconds; dd decimal part of secondsLatitude coordinate.xx degrees; mm minutes; dddd decimal part of minutesCharacter denoting either N North or S South.xxmm.dddd N/S yyymm.dddd E/W vLongitude coordinate.yyy degrees; mm minutes; dddd decimal part of minutesCharacter denoting either E East or W West.ssFix valid indicator1 GPS fix (SPS)2 DGPS fix3 PPS fix4 Real Time Kinematic5 Float RTK6 estimated (dead reckoning) (2.3 feature)7 Manual input mode8 Simulation modeNumber of satellites used in position fix, 00-12. Notice: Fixed length field of two letters.d.dh.hHDOP - Horizontal Dilution Of Precision.Altitude (mean-sea-level, geoid)Mg.gLetter M.Difference between the WGS-84 reference ellipsoid surface and the mean-sea-level altitude.MLetter M.a.axxxx-1.2GLL – Geographic Position – Latitude/LongitudeLatitude and Longitude, UTC time of fix and status.Example: rmat: GPGLL,xxmm.dddd, N S ,yyymm.dddd, E W ,hhmmss.ddd,S,M*hh CR LF FTX-HW-13002-APreliminaryPage 5 of 39

NMEA Manual based on MediaTek chipset - ManualTypeDescriptionxxmm.ddddLatitude coordinate.xx degrees; mm minutes; dddd decimal part of minutes N S yyymm.ddddCharacter denoting either N North or S South.Longitude coordinate.yyy degrees; mm minutes; dddd decimal part of minutes E W Character denoting either E East or W West.hhmmss.dddUTC time of the fix.hh hours; mm minutes; ss seconds; ddd decimal part of secondsSStatus indicator.A valid; V invalidMMode indicator.A autonomous; N data not valid1.5RMC - 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: .00,121009,,,A*69Example IT530M hybrid mode: .00,061112,,,D*70Format: 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 TypeDescriptionhhmmss.ddUTC time of the fix.hh hours; mm minutes; ss seconds; dd decimal part of secondsSxxmm.dddd N S yyymm.ddddStatus indicator.A valid; V invalidLatitude coordinate.xx degrees; mm minutes; dddd decimal part of minutesCharacter denoting either N North or S South. E W Longitude coordinate.yyy degrees; mm minutes; dddd decimal part of minutesCharacter denoting either E East or W West.s.sSpeed in knots.h.hHeadingddmmyyUTC Date of the fix.dd day of month; mm month; yy yeard.dMagnetic variation in degrees, not supported E W Letter denoting direction of magnetic variation. Either E East or W West. Not supportedMMode indicatorA autonomous; N data not valid1.6GSV - Satellites in viewNumber of satellites in view, satellite ID (PRN) numbers, elevation, azimuth and SNR value. The information forfour 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.FTX-HW-13002-APreliminaryPage 6 of 39

NMEA Manual based on MediaTek chipset - ManualMessage starting with “ GNGSV” will be output in IT530M default mode, including both GPS andGlonass constellation satellite data.Example: 5,02,38,062,44*7C 5,04,11,040,34*70 0*4EFormat: GPGSV,n,m,ss,xx,ee,aaa,cn, . ,xx,ee,aaa,cn*hh CR LF TypeDescriptionnTotal number of messages, 1 to 9mMessage number, 1 to 9ssTotal number of satellites in viewxxSatellite ID (PRN) numbereeSatellite elevation, degrees 90 maxaaaSatellite azimuth, degrees True, 000 to 359chSignal-to-noise ration (C/No) 00-99 dB-Hz. Value of zero means that the satellite is predicted tobe on the visible sky but it isn't being tracked.1.7GSA - DOP and Active SatellitesGPS receiver operating mode, satellites used in the navigation solution reported by the GGA sentence, and DOPvalues.Message starting with “ GNGSA” will be output in IT530M default mode including both GPS andGlonass constellation satellite data.Example: 1,1.06*02Example IT530M hybrid mode: ,0.55,0.87*1D 0.87*19Format: h.h,v.v*hh CR LF TypeDescriptionaMode:M Manual, forced to operate in 2D or 3D mode.A Automatic, allowed to automatically switch 2D/3D.bMode:1 Fix not available,2 2D,3 3DxxID (PRN) numbers of GPS satellites used in naryPage 7 of 39

NMEA Manual based on MediaTek chipset - Manual1.8VTG – Course Over Ground and Ground SpeedCourse and speed.Example: GPVTG,0.00,T,,M,0.00,N,0.00,K,A*3DFormat: GPVTG,h.hh,T,m.m,M,s.ss,N,s.ss,K,M*hh CR LF TypeDescriptionh.hhHeading in degrees.TLetter 'T' denoting True heading in degrees.m.mMagnetic heading in degrees.MLetter 'M' denoting Magnetic heading in degrees.s.ssSpeed in knots.NLetter 'N' denoting speed in knots.s.ssSpeed, km/h.KLetter 'K' denoting speed in km/h.MMode indicator.A autonomous; N data not valid1.9ZDA – Time and DateCurrent UTC time and date.Example: GPZDA,071850.000,31,08,2011,,*55Format: nhhmmss.dddUTC time in hours, minutes, seconds and fractions of a second.ddUTC day of monthmmUTC monthyyyyUTC yearxxLocal zone hours. Not implementedyyLocal zone minutes. Not implementedFTX-HW-13002-APreliminaryPage 8 of 39

NMEA Manual based on MediaTek chipset - Manual2 NMEA commandsNMEA 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.Figure 1: Tera Term terminal setupOther possible terminal emulators to use include Putty and HyperTerminal.FTX-HW-13002-APreliminaryPage 9 of 39

NMEA Manual based on MediaTek chipset - ManualFigure 2: HyperTerminal setup2.1PMTK000 TESTCommand purpose:Test the communication between the receiver and host.Command number: 000DataField: NoneExample: PMTK000*32 CR LF Reply: see next chapter.2.2PMTK001 ACKCommand purpose:Acknowledge a PMTK000 command.Command number: 001DataField:PMTK001,Cmd,FlagCmd: The command / packet type to be acknowledged.Flag:0 Invalid command / packet.1 Unsupported command / packet type2 Valid command / packet, but action failed3 Valid command / packet, and action succeededExample: PMTK001,604,3*32 CR LF FTX-HW-13002-APreliminaryPage 10 of 39

NMEA Manual based on MediaTek chipset - Manual2.3PMTK010 Star

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